diff --git a/.appveyor.yml b/.appveyor.yml
new file mode 100644
index 00000000..f378c89d
--- /dev/null
+++ b/.appveyor.yml
@@ -0,0 +1,59 @@
+branches:
+  only:
+    - devel
+
+# Build worker image (VM template)
+image: Visual Studio 2015
+
+# clone directory
+clone_folder: c:\projects\vcglib
+# Build Configuration, i.e. Debug, Release, etc.
+configuration:
+  - release
+#  - debug
+  
+environment:
+  matrix:
+    # MinGW 32bit
+    - QTDIR: C:\Qt\5.6\mingw49_32
+      SPEC: win32-g++
+      COMPILER: mingw32-make
+      #ARTIFACT: $(APPVEYOR_PROJECT_NAME)-%APPVEYOR_REPO_TAG_NAME%.%APPVEYOR_BUILD_NUMBER%-win32.zip
+      #ARTIFACT: $(APPVEYOR_PROJECT_NAME)-%APPVEYOR_REPO_TAG_NAME%-win32.zip
+    # Microsoft Visual Studio 64bit
+    - QTDIR: C:\Qt\5.6\msvc2015_64
+      VSVER: 14.0
+      SPEC: win32-msvc2015
+      COMPILER: nmake
+      #ARTIFACT: $(APPVEYOR_PROJECT_NAME)-%APPVEYOR_REPO_TAG_NAME%.%APPVEYOR_BUILD_NUMBER%-win64.zip
+      #ARTIFACT: $(APPVEYOR_PROJECT_NAME)-%APPVEYOR_REPO_TAG_NAME%-win64.zip
+
+
+
+# Set paths, etc.
+before_build:
+  # Set paths
+  #- '%QTDIR%\bin\qtenv2.bat'
+  - call "%QTDIR%\bin\qtenv2.bat"
+  # Show qmake and make version
+  - qmake -v
+  - if %COMPILER%==mingw32-make call %COMPILER% -v
+  # Detect architecture (32bit or 64bit)
+  - if %QTDIR:_64=%==%QTDIR% (set ARCH=x86) else (set ARCH=x64)
+  # Set more... if Microsoft Visual Studio
+  - if %COMPILER%==nmake call "%ProgramFiles(x86)%\Microsoft Visual Studio %VSVER%\VC\vcvarsall.bat" %ARCH%
+  # Show build folder
+  #- echo %APPVEYOR_BUILD_FOLDER%
+  #- echo %CONFIGURATION%
+
+# To run your custom scripts instead of automatic MSBuild
+build_script:
+  # Go to clone directory
+  - cd %APPVEYOR_BUILD_FOLDER%
+  - cd apps
+  - cd sample
+  # Run qmake
+  - qmake sample.pro -r -spec %SPEC% "CONFIG+=%CONFIGURATION%"
+  # Run compiler
+  #- '%COMPILER%'
+  - call %COMPILER%
diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
new file mode 100644
index 00000000..e81cb6a9
--- /dev/null
+++ b/.github/pull_request_template.md
@@ -0,0 +1,14 @@
+## Thank you for sending a Pull Request to the VCGLib! 
+
+VCGLib is fully owned by CNR, and all the VCGLib contributors that do not work at the VCLab of CNR must first sign the contributor license agreement that you can find at the following link: https://github.com/cnr-isti-vclab/vcglib/blob/devel/docs/ContributorLicenseAgreement.pdf
+
+If you will sign the CLA, then we will be able to merge your pull request after reviewing it.
+Please send the signed document to muntoni.alessandro@gmail.com and paolo.cignoni@isti.cnr.it .
+If you will not sign the CLA, we will review and then apply your changes as soon as possible.
+
+Before opening the PR, please leave the follwing form with a check for your particluar case:
+
+##### Check with `[x]` what is your case:
+- [ ] I already signed and sent via email the CLA;
+- [ ] I wil sign and send the CLA via email as soon as possible;
+- [ ] I don't want to sign the CLA.
\ No newline at end of file
diff --git a/.github/workflows/BuildSamplesMacOS.yml b/.github/workflows/BuildSamplesMacOS.yml
new file mode 100644
index 00000000..7640a8ea
--- /dev/null
+++ b/.github/workflows/BuildSamplesMacOS.yml
@@ -0,0 +1,18 @@
+name: BuildSamplesMacOS
+
+on:
+  [push, pull_request]
+
+jobs:
+  macos_build_tests:
+    name: Build Samples (MacOS)
+    runs-on: macos-latest
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Install Qt
+      uses: jurplel/install-qt-action@v2
+    - name: Build Samples
+      run: |
+        qmake apps/sample/sample.pro
+        make -j4
diff --git a/.github/workflows/BuildSamplesUbuntu.yml b/.github/workflows/BuildSamplesUbuntu.yml
new file mode 100644
index 00000000..9601bba4
--- /dev/null
+++ b/.github/workflows/BuildSamplesUbuntu.yml
@@ -0,0 +1,18 @@
+name: BuildSamplesUbuntu
+
+on:
+  [push, pull_request]
+
+jobs:
+  ubuntu_build_tests:
+    name: Build Samples (Ubuntu)
+    runs-on: ubuntu-latest #in order to deploy, need to use oldest supported version
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Install Qt
+      uses: jurplel/install-qt-action@v2
+    - name: Build Samples
+      run: |
+        qmake apps/sample/sample.pro
+        make -j4
diff --git a/.github/workflows/BuildSamplesWindows.yml b/.github/workflows/BuildSamplesWindows.yml
new file mode 100644
index 00000000..999008ea
--- /dev/null
+++ b/.github/workflows/BuildSamplesWindows.yml
@@ -0,0 +1,29 @@
+name: BuildSamplesWindows
+
+on: [push, pull_request]
+
+jobs:
+  windows_build_tests:
+    name: Build Samples (Windows)
+    runs-on: windows-latest
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Downlaod Jom
+      run: |
+        Invoke-WebRequest -Uri "http://download.qt.io/official_releases/jom/jom_1_1_3.zip" -OutFile "jom_1_1_3.zip"
+        New-Item -Name "jom" -ItemType "directory"
+        Expand-Archive -Path jom_1_1_3.zip -DestinationPath .\jom
+        echo "::add-path::$(Get-Location)\jom"
+    - name: Setup env variables
+      id: envs
+      run: |
+        echo '::set-env name=VCINSTALLDIR::C:\Program Files (x86)\Microsoft Visual Studio\2019\Enterprise\VC'
+    - name: Setup MSVC
+      uses: ilammy/msvc-dev-cmd@v1
+    - name: Install Qt
+      uses: jurplel/install-qt-action@v2
+    - name: Build Samples
+      run: |
+        qmake apps/sample/sample.pro
+        jom -j4
diff --git a/.gitignore b/.gitignore
index caf98bf3..1019c660 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,3 +1,7 @@
+# Please do not add here all kind of intermediate files just by extension. 
+# Try whenever possible to match folder and to try to use 
+# building rules that put all the generated files into separate folders
+
 # QTCreator user prefs
 *.user
 
@@ -9,4 +13,15 @@ release/
 /docs/Doxygen/html/
 
 # Intermediate Files
-*.bc
\ No newline at end of file
+*.bc
+
+# Visual Studio Project files
+*.vcxproj
+*.vcxproj.filters
+*.suo
+*.ply
+wrap/nanoply/nanoply_vcg/nanoply_vcg.sln
+*.db
+wrap/nanoply/nanoply_vcg/nanoply_vcg.VC.VC.opendb
+wrap/nanoply/nanoply_vcg/.vs/nanoply_vcg/v15/ipch/AutoPCH/NANOPLY_VCG-1b6b1a83/MAIN-5f62d91f/MAIN.ipch
+*.sln
diff --git a/.travis.yml b/.travis.yml
new file mode 100644
index 00000000..9c7935a6
--- /dev/null
+++ b/.travis.yml
@@ -0,0 +1,49 @@
+
+# Enable C++ support
+language: cpp
+
+os:
+  - linux
+  - osx
+
+
+# Compiler selection
+compiler:
+  - clang
+  - gcc
+
+addons:
+  apt:
+    sources:
+    - ubuntu-toolchain-r-test
+    packages:
+    - gcc-4.8
+    - g++-4.8
+    - clang
+
+matrix:
+    exclude:
+    - os: osx
+      compiler: gcc
+
+
+install:
+# Linux Setup 
+  - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then wget --no-check-certificate http://cmake.org/files/v3.1/cmake-3.1.3-Linux-x86_64.tar.gz   ;fi
+  - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then tar -xzf cmake-3.1.3-Linux-x86_64.tar.gz                                                  ;fi
+  - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then if [ "$CXX" = "g++" ]; then export CXX="g++-4.8" CC="gcc-4.8" ;fi                         ;fi
+  - if [[ "$TRAVIS_OS_NAME" == "linux" ]]; then export PATH=$PWD/cmake-3.1.3-Linux-x86_64/bin:$PATH                                       ;fi 
+# OSX Setup 
+  - if [[ "$TRAVIS_OS_NAME" == "osx"   ]]; then which cmake                                                                               ;fi
+  - if [[ "$TRAVIS_OS_NAME" == "osx"   ]]; then wget --no-check-certificate http://cmake.org/files/v3.7/cmake-3.7.2-Darwin-x86_64.tar.gz  ;fi
+  - if [[ "$TRAVIS_OS_NAME" == "osx"   ]]; then tar -xzf cmake-3.7.2-Darwin-x86_64.tar.gz                                                 ;fi
+  - if [[ "$TRAVIS_OS_NAME" == "osx"   ]]; then export PATH=$PWD/cmake-3.1.3-Darwin-x86_64/CMake.app/Contents/bin:$PATH                   ;fi 
+  - if [[ "$TRAVIS_OS_NAME" == "osx"   ]]; then which cmake                                                                               ;fi
+  
+# Build steps
+script:
+  - cd apps
+  - mkdir build
+  - cd build
+  - cmake ..
+  - make
diff --git a/README.md b/README.md
index a808ab46..f9065e7e 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,10 @@
 The **_Visualization and Computer Graphics Library_** (VCGlib for short) is a open source, portable, C++, templated, no dependency, library for manipulation, processing, cleaning, simplifying triangle meshes.
 
-The library, composed by more than 100k lines of code, is released under the GPL license, and it is the base of most of the software tools of the [Visual Computing Lab](http://vcg.isti.cnr.it) of the Italian National Research Council Institute ISTI , like MeshLab, metro and many others.
+![BuildSamplesUbuntu](https://github.com/cnr-isti-vclab/vcglib/workflows/BuildSamplesUbuntu/badge.svg)
+![BuildSamplesMacOS](https://github.com/cnr-isti-vclab/vcglib/workflows/BuildSamplesMacOS/badge.svg)
+![BuildSamplesWindows](https://github.com/cnr-isti-vclab/vcglib/workflows/BuildSamplesWindows/badge.svg)
+
+The library, composed by more than 100k lines of code, is released under the GPL license, and it is the base of most of the software tools of the [Visual Computing Lab](http://vcg.isti.cnr.it) of the Italian National Research Council Institute ISTI, like MeshLab, metro and many others.
 
 The VCG library is tailored to mostly manage triangular meshes: The library is fairly large and offers many state of the art functionalities for processing meshes, like:
 
diff --git a/apps/CMakeLists.txt b/apps/CMakeLists.txt
new file mode 100644
index 00000000..dc516ffe
--- /dev/null
+++ b/apps/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 3.1.0 FATAL_ERROR)
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_CXX_STANDARD_REQUIRED ON) #...is required...
+set(CMAKE_CXX_EXTENSIONS OFF) #...without compiler extensions like gnu++11
+include_directories(../)
+include_directories(../eigenlib)
+add_subdirectory(metro)
+add_subdirectory(tridecimator)
diff --git a/apps/sample/img_filters/img_filters.cpp b/apps/QT/img_filters/img_filters.cpp
similarity index 100%
rename from apps/sample/img_filters/img_filters.cpp
rename to apps/QT/img_filters/img_filters.cpp
diff --git a/apps/sample/img_filters/img_filters.pro b/apps/QT/img_filters/img_filters.pro
similarity index 100%
rename from apps/sample/img_filters/img_filters.pro
rename to apps/QT/img_filters/img_filters.pro
diff --git a/apps/sample/trimesh_QT/glarea.cpp b/apps/QT/trimesh_QT/glarea.cpp
similarity index 100%
rename from apps/sample/trimesh_QT/glarea.cpp
rename to apps/QT/trimesh_QT/glarea.cpp
diff --git a/apps/sample/trimesh_QT/glarea.h b/apps/QT/trimesh_QT/glarea.h
similarity index 100%
rename from apps/sample/trimesh_QT/glarea.h
rename to apps/QT/trimesh_QT/glarea.h
diff --git a/apps/sample/trimesh_QT/main.cpp b/apps/QT/trimesh_QT/main.cpp
similarity index 100%
rename from apps/sample/trimesh_QT/main.cpp
rename to apps/QT/trimesh_QT/main.cpp
diff --git a/apps/sample/trimesh_QT/mainwindow.cpp b/apps/QT/trimesh_QT/mainwindow.cpp
similarity index 100%
rename from apps/sample/trimesh_QT/mainwindow.cpp
rename to apps/QT/trimesh_QT/mainwindow.cpp
diff --git a/apps/sample/trimesh_QT/mainwindow.h b/apps/QT/trimesh_QT/mainwindow.h
similarity index 100%
rename from apps/sample/trimesh_QT/mainwindow.h
rename to apps/QT/trimesh_QT/mainwindow.h
diff --git a/apps/sample/trimesh_QT/mainwindow.ui b/apps/QT/trimesh_QT/mainwindow.ui
similarity index 100%
rename from apps/sample/trimesh_QT/mainwindow.ui
rename to apps/QT/trimesh_QT/mainwindow.ui
diff --git a/apps/sample/trimesh_QT/trimesh_qt.pro b/apps/QT/trimesh_QT/trimesh_qt.pro
similarity index 95%
rename from apps/sample/trimesh_QT/trimesh_qt.pro
rename to apps/QT/trimesh_QT/trimesh_qt.pro
index 8a3c7fc6..fd1e6692 100644
--- a/apps/sample/trimesh_QT/trimesh_qt.pro
+++ b/apps/QT/trimesh_QT/trimesh_qt.pro
@@ -17,6 +17,7 @@ OBJECTS_DIR = build/obj
 # Lib headers
 INCLUDEPATH += .
 INCLUDEPATH += ../../..
+INCLUDEPATH += ../../../eigenlib
 
 # Lib sources
 SOURCES += ../../../wrap/ply/plylib.cpp
diff --git a/apps/sample/trimesh_QT_shared/glarea.cpp b/apps/QT/trimesh_QT_shared/glarea.cpp
similarity index 100%
rename from apps/sample/trimesh_QT_shared/glarea.cpp
rename to apps/QT/trimesh_QT_shared/glarea.cpp
diff --git a/apps/sample/trimesh_QT_shared/glarea.h b/apps/QT/trimesh_QT_shared/glarea.h
similarity index 100%
rename from apps/sample/trimesh_QT_shared/glarea.h
rename to apps/QT/trimesh_QT_shared/glarea.h
diff --git a/apps/sample/trimesh_QT_shared/main.cpp b/apps/QT/trimesh_QT_shared/main.cpp
similarity index 100%
rename from apps/sample/trimesh_QT_shared/main.cpp
rename to apps/QT/trimesh_QT_shared/main.cpp
diff --git a/apps/sample/trimesh_QT_shared/mainwindow.cpp b/apps/QT/trimesh_QT_shared/mainwindow.cpp
similarity index 100%
rename from apps/sample/trimesh_QT_shared/mainwindow.cpp
rename to apps/QT/trimesh_QT_shared/mainwindow.cpp
diff --git a/apps/sample/trimesh_QT_shared/mainwindow.h b/apps/QT/trimesh_QT_shared/mainwindow.h
similarity index 100%
rename from apps/sample/trimesh_QT_shared/mainwindow.h
rename to apps/QT/trimesh_QT_shared/mainwindow.h
diff --git a/apps/sample/trimesh_QT_shared/mainwindow.ui b/apps/QT/trimesh_QT_shared/mainwindow.ui
similarity index 100%
rename from apps/sample/trimesh_QT_shared/mainwindow.ui
rename to apps/QT/trimesh_QT_shared/mainwindow.ui
diff --git a/apps/sample/trimesh_QT_shared/mesh.h b/apps/QT/trimesh_QT_shared/mesh.h
similarity index 100%
rename from apps/sample/trimesh_QT_shared/mesh.h
rename to apps/QT/trimesh_QT_shared/mesh.h
diff --git a/apps/sample/trimesh_QT_shared/trimesh_qt.pro b/apps/QT/trimesh_QT_shared/trimesh_qt.pro
similarity index 100%
rename from apps/sample/trimesh_QT_shared/trimesh_qt.pro
rename to apps/QT/trimesh_QT_shared/trimesh_qt.pro
diff --git a/apps/sample/trimesh_ant_freeglut/main.cpp b/apps/QT/trimesh_ant_freeglut/main.cpp
similarity index 100%
rename from apps/sample/trimesh_ant_freeglut/main.cpp
rename to apps/QT/trimesh_ant_freeglut/main.cpp
diff --git a/apps/sample/trimesh_ant_freeglut/trimesh_ant_freeglut.pro b/apps/QT/trimesh_ant_freeglut/trimesh_ant_freeglut.pro
similarity index 100%
rename from apps/sample/trimesh_ant_freeglut/trimesh_ant_freeglut.pro
rename to apps/QT/trimesh_ant_freeglut/trimesh_ant_freeglut.pro
diff --git a/apps/sample/trimesh_ant_qt/glwidget.cpp b/apps/QT/trimesh_ant_qt/glwidget.cpp
similarity index 100%
rename from apps/sample/trimesh_ant_qt/glwidget.cpp
rename to apps/QT/trimesh_ant_qt/glwidget.cpp
diff --git a/apps/sample/trimesh_ant_qt/glwidget.h b/apps/QT/trimesh_ant_qt/glwidget.h
similarity index 100%
rename from apps/sample/trimesh_ant_qt/glwidget.h
rename to apps/QT/trimesh_ant_qt/glwidget.h
diff --git a/apps/sample/trimesh_ant_qt/main.cpp b/apps/QT/trimesh_ant_qt/main.cpp
similarity index 100%
rename from apps/sample/trimesh_ant_qt/main.cpp
rename to apps/QT/trimesh_ant_qt/main.cpp
diff --git a/apps/sample/trimesh_ant_qt/trimesh_ant_qt.pro b/apps/QT/trimesh_ant_qt/trimesh_ant_qt.pro
similarity index 100%
rename from apps/sample/trimesh_ant_qt/trimesh_ant_qt.pro
rename to apps/QT/trimesh_ant_qt/trimesh_ant_qt.pro
diff --git a/apps/sample/trimesh_pos_demo/glwidget.cpp b/apps/QT/trimesh_pos_demo/glwidget.cpp
similarity index 100%
rename from apps/sample/trimesh_pos_demo/glwidget.cpp
rename to apps/QT/trimesh_pos_demo/glwidget.cpp
diff --git a/apps/sample/trimesh_pos_demo/glwidget.h b/apps/QT/trimesh_pos_demo/glwidget.h
similarity index 100%
rename from apps/sample/trimesh_pos_demo/glwidget.h
rename to apps/QT/trimesh_pos_demo/glwidget.h
diff --git a/apps/sample/trimesh_pos_demo/main.cpp b/apps/QT/trimesh_pos_demo/main.cpp
similarity index 100%
rename from apps/sample/trimesh_pos_demo/main.cpp
rename to apps/QT/trimesh_pos_demo/main.cpp
diff --git a/apps/sample/trimesh_pos_demo/mesh_type.h b/apps/QT/trimesh_pos_demo/mesh_type.h
similarity index 100%
rename from apps/sample/trimesh_pos_demo/mesh_type.h
rename to apps/QT/trimesh_pos_demo/mesh_type.h
diff --git a/apps/sample/trimesh_pos_demo/trimesh_pos_demo.cpp b/apps/QT/trimesh_pos_demo/trimesh_pos_demo.cpp
similarity index 100%
rename from apps/sample/trimesh_pos_demo/trimesh_pos_demo.cpp
rename to apps/QT/trimesh_pos_demo/trimesh_pos_demo.cpp
diff --git a/apps/sample/trimesh_pos_demo/trimesh_pos_demo.pro b/apps/QT/trimesh_pos_demo/trimesh_pos_demo.pro
similarity index 100%
rename from apps/sample/trimesh_pos_demo/trimesh_pos_demo.pro
rename to apps/QT/trimesh_pos_demo/trimesh_pos_demo.pro
diff --git a/apps/sample/trimesh_pos_demo/trimesh_vfiter_demo.cpp b/apps/QT/trimesh_pos_demo/trimesh_vfiter_demo.cpp
similarity index 100%
rename from apps/sample/trimesh_pos_demo/trimesh_vfiter_demo.cpp
rename to apps/QT/trimesh_pos_demo/trimesh_vfiter_demo.cpp
diff --git a/apps/sample/trimesh_pos_demo/window.cpp b/apps/QT/trimesh_pos_demo/window.cpp
similarity index 100%
rename from apps/sample/trimesh_pos_demo/window.cpp
rename to apps/QT/trimesh_pos_demo/window.cpp
diff --git a/apps/sample/trimesh_pos_demo/window.h b/apps/QT/trimesh_pos_demo/window.h
similarity index 100%
rename from apps/sample/trimesh_pos_demo/window.h
rename to apps/QT/trimesh_pos_demo/window.h
diff --git a/apps/tridecimator/Tetraascii.ply b/apps/meshes/Tetraascii.ply
similarity index 100%
rename from apps/tridecimator/Tetraascii.ply
rename to apps/meshes/Tetraascii.ply
diff --git a/apps/meshes/bunny10k_textured.ply b/apps/meshes/bunny10k_textured.ply
new file mode 100644
index 00000000..9078b785
Binary files /dev/null and b/apps/meshes/bunny10k_textured.ply differ
diff --git a/apps/meshes/fertility_quad.off b/apps/meshes/fertility_quad.off
new file mode 100644
index 00000000..71e65932
--- /dev/null
+++ b/apps/meshes/fertility_quad.off
@@ -0,0 +1,6710 @@
+OFF
+3351 3357 0
+35.9285 -50.2381 -12.0492
+-24.8407 17.2262 -29.2736
+71.0249 -1.29784 8.58448
+-34.5355 -27.1603 11.1006
+-72.9157 8.42514 -5.56033
+-9.02854 -66.0225 -21.0998
+-49.4875 -25.9743 10.9294
+-28.4619 -24.2512 10.6897
+-5.835 16.3062 8.42862
+-51.8354 -23.6496 11.3374
+-25.55 -22.3941 10.4583
+48.4563 -46.2103 9.7392
+44.6894 -47.5118 9.75445
+-28.1236 -72.6779 -18.7199
+-60.3455 -46.3775 11.5019
+60.5998 7.62518 -9.71539
+33.1924 -51.5341 9.65536
+120.705 -20.724 9.62496
+66.6786 -20.4812 10.5293
+-26.4976 5.88317 -35.7713
+50.1343 -25.8816 -19.9277
+-22.7056 -20.3203 10.2332
+-60.9041 -5.02256 -21.6629
+-52.4352 -15.0932 9.5208
+17.1383 -15.7396 9.4032
+9.14322 -60.0607 8.9416
+41.2714 -30.8565 22.9474
+-6.07153 40.3262 -22.1844
+40.1564 -48.9092 -3.43749
+98.3678 -5.08936 -20.59
+-3.04882 -64.3777 8.31014
+31.9261 -51.5351 -16.2614
+96.232 -2.76146 -18.6417
+-36.8927 34.6707 -3.4727
+79.5985 -35.7696 27.0353
+-16.5366 -68.786 -16.3895
+69.8365 17.7919 -9.70226
+-31.9813 -74.467 9.01034
+18.255 -7.88019 11.783
+-3.14631 31.4783 -19.4845
+21.6712 -6.63316 8.80284
+-4.45086 28.2663 -21.3752
+-49.4475 64.0114 9.45205
+-63.3557 -0.665773 -21.1971
+1.00768 -47.768 -24.4844
+-20.7438 59.8727 9.68561
+-10.1279 -6.3935 8.80732
+-40.8866 0.996043 -19.6595
+-50.0698 -7.12318 10.004
+76.5583 -6.21765 10.3915
+18.7586 26.523 10.0734
+-30.6899 3.61054 -35.726
+-20.4629 -30.7475 20.5551
+-25.0089 56.9407 9.54915
+9.55309 -5.30344 17.6106
+-13.8748 24.1983 -21.9144
+-0.0201912 21.8745 -9.16729
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diff --git a/apps/meshes/fertility_tri.off b/apps/meshes/fertility_tri.off
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diff --git a/apps/tridecimator/quad.ply b/apps/meshes/quad.ply
similarity index 100%
rename from apps/tridecimator/quad.ply
rename to apps/meshes/quad.ply
diff --git a/apps/tridecimator/quad4.ply b/apps/meshes/quad4.ply
similarity index 100%
rename from apps/tridecimator/quad4.ply
rename to apps/meshes/quad4.ply
diff --git a/apps/tridecimator/quad5.ply b/apps/meshes/quad5.ply
similarity index 100%
rename from apps/tridecimator/quad5.ply
rename to apps/meshes/quad5.ply
diff --git a/apps/metro/CMakeLists.txt b/apps/metro/CMakeLists.txt
new file mode 100644
index 00000000..f628ace7
--- /dev/null
+++ b/apps/metro/CMakeLists.txt
@@ -0,0 +1,2 @@
+project (metro)
+add_executable(metro metro.cpp ../../wrap/ply/plylib.cpp)
diff --git a/apps/metro/metro.cpp b/apps/metro/metro.cpp
index 12ae3948..bedc8858 100644
--- a/apps/metro/metro.cpp
+++ b/apps/metro/metro.cpp
@@ -20,91 +20,14 @@
 * for more details.                                                         *
 *                                                                           *
 ****************************************************************************/
-/****************************************************************************
-  History
-
-$Log: not supported by cvs2svn $
-Revision 1.23  2007/05/04 16:50:23  ganovelli
-added plus types version (#ifdef _PLUS_TYPES_ to use it ).
-
-Revision 1.22  2006/10/25 12:40:19  fiorin
-Added possibility to use Octree as search structure:
-
-Revision 1.21  2006/05/03 21:22:39  cignoni
-added missing Include
-
-Revision 1.20  2006/04/20 08:30:24  cignoni
-small GCC compiling issues
-
-Revision 1.19  2006/03/27 04:17:07  cignoni
-moved to generic export.h
-
-Revision 1.18  2006/01/10 13:20:40  cignoni
-Changed ply::PlyMask to io::Mask
-
-Revision 1.17  2005/10/02 23:11:00  cignoni
-Version 4.06, Added possibility of using three different search structures UG Hash and AABB
-
-Revision 1.16  2005/09/16 11:52:14  cignoni
-removed wrong %v in vertex number printing
-
-Revision 1.15  2005/04/04 10:36:36  cignoni
-Release 4.05
-Added saving of Error Histogram
-
-Revision 1.14  2005/01/26 22:45:34  cignoni
-Release 4.04
-final updates for gcc compiling issues
-
-Revision 1.13  2005/01/24 15:46:48  cignoni
-Release 4.04
-Moved to the library core the code for computing min distance froma a point to a mesh using a uniform grid.
-Slightly faster.
-
-Revision 1.12  2005/01/03 11:28:52  cignoni
-Release 4.03
-Better ply compatibility, and improved error reporting
-
-Revision 1.11  2004/11/29 09:07:04  cignoni
-Release 4.02
-removed bug in printing Hausdorf distance,
-removed bug in command line parsing,
-upgraded import mesh library to support off format
-
-Revision 1.10  2004/09/21 23:52:50  cignoni
-Release 4.01
-
-Revision 1.9  2004/09/20 16:29:08  ponchio
-Minimal changes.
-
-Revision 1.8  2004/09/20 15:17:28  cignoni
-Removed bug in displays msec and better usage messages
-
-Revision 1.7  2004/09/09 22:59:15  cignoni
-Removed many small warnings
-
-Revision 1.6  2004/07/15 00:15:16  cignoni
-inflate -> offset
-
-Revision 1.5  2004/06/24 09:08:31  cignoni
-Official Release of Metro 4.00
-
-Revision 1.4  2004/05/14 13:53:12  ganovelli
-GPL  added
-
-****************************************************************************/
-
-// -----------------------------------------------------------------------------------------------
 
 // standard libraries
 #include <time.h>
-
-
 #include <vcg/math/histogram.h>
 #include <vcg/complex/complex.h>
-#include <vcg/simplex/face/component_ep.h>
 #include <wrap/io_trimesh/import.h>
 #include <wrap/io_trimesh/export.h>
+#include <vcg/simplex/face/component_ep.h>
 #include <vcg/complex/algorithms/update/component_ep.h>
 #include <vcg/complex/algorithms/update/bounding.h>
 #include "sampling.h"
@@ -218,7 +141,7 @@ int main(int argc, char**argv)
     printf("-------------------------------\n"
            "         Metro V.4.07 \n"
            "     http://vcg.isti.cnr.it\n"
-           "   release date: "__DATE__"\n"
+           "   release date: " __DATE__ "\n"
            "-------------------------------\n\n");
 
     if(argc <= 2)    Usage();
@@ -373,15 +296,14 @@ int main(int argc, char**argv)
     // save error files.
     if(flags & SamplingFlags::SAVE_ERROR)
     {
-      vcg::tri::io::PlyInfo p;
-      p.mask|=vcg::tri::io::Mask::IOM_VERTCOLOR | vcg::tri::io::Mask::IOM_VERTQUALITY /* | vcg::ply::PLYMask::PM_VERTQUALITY*/ ;
+      int saveMask = vcg::tri::io::Mask::IOM_VERTCOLOR | vcg::tri::io::Mask::IOM_VERTQUALITY /* | vcg::ply::PLYMask::PM_VERTQUALITY*/ ;
       //p.mask|=vcg::ply::PLYMask::PM_VERTCOLOR|vcg::ply::PLYMask::PM_VERTQUALITY;
       if(ColorMax!=0 || ColorMin != 0){
         vcg::tri::UpdateColor<CMesh>::PerVertexQualityRamp(S1,ColorMin,ColorMax);
         vcg::tri::UpdateColor<CMesh>::PerVertexQualityRamp(S2,ColorMin,ColorMax);
       }
-      tri::io::ExporterPLY<CMesh>::Save( S1,S1NewName.c_str(),true,p);
-      tri::io::ExporterPLY<CMesh>::Save( S2,S2NewName.c_str(),true,p);
+      tri::io::ExporterPLY<CMesh>::Save( S1,S1NewName.c_str(),saveMask);
+      tri::io::ExporterPLY<CMesh>::Save( S2,S2NewName.c_str(),saveMask);
     }
 
     // save error files.
diff --git a/apps/metro/metro.pro b/apps/metro/metro.pro
index 7081fb40..58aed5f3 100644
--- a/apps/metro/metro.pro
+++ b/apps/metro/metro.pro
@@ -1,9 +1,9 @@
 
 TARGET = metro
-INCLUDEPATH += . ../..
-CONFIG += console stl
+DEPENDPATH += ../..
+INCLUDEPATH += . ../.. ../../eigenlib
+CONFIG += console stl  c++11 debug_and_release
 TEMPLATE = app
-HEADERS += sampling.h
 SOURCES += metro.cpp ../../wrap/ply/plylib.cpp
 
 # Mac specific Config required to avoid to make application bundles
diff --git a/apps/metro/sampling.h b/apps/metro/sampling.h
index ff5f1498..a7edcba1 100644
--- a/apps/metro/sampling.h
+++ b/apps/metro/sampling.h
@@ -548,7 +548,6 @@ void Sampling<MetroMesh>::Hausdorff()
 {
         Box3< ScalarType> bbox;
 
-    typedef typename std::vector<FaceType>::iterator  FaceVecIterator;
     // set grid meshes.
     if(Flags & SamplingFlags::USE_HASH_GRID)   hS2.Set(S2.face.begin(),S2.face.end());
     if(Flags & SamplingFlags::USE_AABB_TREE)   tS2.Set(S2.face.begin(),S2.face.end());
diff --git a/apps/plyrefine/main.cpp b/apps/plyrefine/main.cpp
deleted file mode 100644
index d96de2f9..00000000
--- a/apps/plyrefine/main.cpp
+++ /dev/null
@@ -1,168 +0,0 @@
-	
-// mesh definition 
-#include <vcg/simplex/vertex/with/afvn.h>
-#include <vcg/simplex/face/with/af.h>
-#include <vcg/complex/complex.h>
-
-#include <vcg/complex/algorithms/update/topology.h>
-#include <vcg/complex/algorithms/update/flag.h>
-#include <vcg/complex/algorithms/update/normal.h>
-#include <vcg/complex/algorithms/refine.h>
-
-// input output
-#include <wrap/io_trimesh/import_ply.h>
-#include <wrap/io_trimesh/export_ply.h>
-
-// std
-#include <vector>
-
-using namespace vcg;
-using namespace std;
-
-struct MyFace;
-struct MyTetra;
-struct MyEdge;
-struct MyVertex: public VertexAFVNf<MyEdge,MyFace,MyTetra>{};
-struct MyFace: public FaceAF<MyVertex,MyEdge,MyFace>{};
-struct MyMesh: public tri::TriMesh< vector<MyVertex>, vector<MyFace> >{};
-
-
-
-
-#define FLAT	0
-#define ARC		1
-#define BUTTERFLY 2
-//#define BUTTERFLY2 3
-
-//#define PLANE 4
-//#define SPHERE 5
-
-#define LENGTH 6
-#define ONLY_SEL 7
-
-
-int  main(int argc, char **argv){
-		if(argc<4)
-	{
-		printf(
-		"\n                  PlyRefine ("__DATE__")\n"
-			"						Visual Computing Group I.S.T.I. C.N.R.\n"
-			"Usage: PlyRefine filein.ply fileout.ply [command list]\n"
-			"Commands: \n"
-			" Refinement rules:\n"
-			"     -m# midpoint flat \n"
-			"     -a# midpoint arc\n"
-			"     -b# butterfly\n"
-			//"     -p# clip with plane   \n"
-			//"     -s# clip with sphere   \n"
-			" Selective Refinement\n"
-			"     -L# refine only if the the edge is longer than #(default 0.0)\n"
-			"     -S(0|1)  refine only selected faces\n"
-			);
-		exit(0);
-	}
-
-	typedef	pair<int,float> OP_TYPE;
-	vector<OP_TYPE > operations;
-	bool only_selected=false;
-	int i=3; int n_steps;float length=0;
-	while(i<argc)
-		{
-			if(argv[i][0]!='-')
-				{printf("Error unable to parse option '%s'\n",argv[i]); exit(0);}
-			operations.push_back(OP_TYPE()); OP_TYPE & op = operations.back();
-			switch(argv[i][1])
-			{
-				
-				case 'm' :	
-										n_steps = atof(argv[i]+2); n_steps=max(1,n_steps);
-										op.first = FLAT;op.second = n_steps; break;
-				case 'a' :	
-										n_steps = atof(argv[i]+2); n_steps=max(1,n_steps);
-										op.first = ARC;op.second = n_steps; break;
-				case 'b' :	
-										n_steps = atof(argv[i]+2); n_steps=max(1,n_steps);
-										op.first = BUTTERFLY;op.second = n_steps; break;
-				//case 'v' :	
-				//						n_steps = atof(argv[i]+2); n_steps=max(1,n_steps);
-				//						op.first = BUTTERFLY2;op.second = n_steps; break;
-				//case 'p' :	
-				//						n_steps = atof(argv[i]+2); n_steps=max(1,n_steps);
-				//						op.first = PLANE;op.second = n_steps; break;
-				//case 's' :	
-				//						n_steps = atof(argv[i]+2); n_steps=max(1,n_steps);
-				//						op.first = SPHERE;op.second = n_steps; break;
-				case 'L' :	
-										n_steps = atof(argv[i]+2); n_steps=max(1,n_steps);
-										op.first = LENGTH;op.second = n_steps; break;
-				case 'S' :	
-										n_steps = atof(argv[i]+2); n_steps=max(1,n_steps);
-										op.first = ONLY_SEL;op.second = n_steps; break;
-				default : {printf("Error unable to parse option '%s'\n",argv[i]); exit(0);}
-			}
-			++i;
-		}
-
-
-	MyMesh m;
-		if(vcg::tri::io::ImporterPLY<MyMesh>::Open(m,argv[1])!=0)
-			{
-			printf("Error reading file  %s\n",argv[1]);
-			exit(0);
-		}
-
-		
-
-	vcg::tri::UpdateTopology<MyMesh>::FaceFace(m);
-	vcg::tri::UpdateTopology<MyMesh>::FaceBorderFlags(m);
-	vcg::tri::UpdateNormals<MyMesh>::PerVertexNormalized(m);
-
-	int h;
-	for(i=0;i < operations.size();++i){
-					
-				switch(operations[i].first){
-					case FLAT:
-										for(h=0;h<operations[i].second;++h){
-											Refine(m,MidPoint<MyMesh>(),length,only_selected);
-											}
-									 break;
-					case ARC:
-								for(h=0;h<operations[i].second;++h){
-											Refine(m,MidPointArc<MyMesh>(),length,only_selected);}
-								 break;
-					case BUTTERFLY:
-								for(h=0;h<operations[i].second;++h){
-											Refine(m,MidPointButterfly<MyMesh>(),length,only_selected); }
-										break;
-					//case BUTTERFLY2:
-					//			for(h=0;h<operations[i].second;++h){
-					//						m.ComputeNormalizedVertexNormal();
-					//						Refine(m,MidPointButterfly2<MyMesh>(),length,only_selected);
-					//				}
-					//						break;
-	/*				case PLANE:
-								for(h=0;h<operations[i].second;++h){
-										m.ComputeNormalizedVertexNormal();
-										Refine(m,MidPointPlane<MyMesh>(),length,only_selected);
-									}
-									 break;
-					case SPHERE:
-								for(h=0;h<operations[i].second;++h){
-											m.ComputeNormalizedVertexNormal();
-											Refine(m,MidPointSphere<MyMesh>(),length,only_selected);
-									}
-							break;
-	*/				case LENGTH:
-										length = operations[i].second; break;
-					case ONLY_SEL:
-										only_selected = (bool)operations[i].second; break;
-			}
-		}
-	
-	
-	//m.ComputeNormalizedVertexNormal();
-	//Refine(m,MidPointArc<MyMesh>(),0);
-	vcg::tri::io::PlyInfo pi;
-	vcg::tri::io::ExporterPLY<MyMesh>::Save(m,argv[2],pi.mask);
-	return 0;
-	}
diff --git a/apps/sample/colorspace/colorspace.cpp b/apps/sample/colorspace/colorspace.cpp
index 6e58a340..b42b86af 100644
--- a/apps/sample/colorspace/colorspace.cpp
+++ b/apps/sample/colorspace/colorspace.cpp
@@ -1,3 +1,25 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
 
 // Standard headers
 #include <iostream>
diff --git a/apps/sample/colorspace/colorspace.pro b/apps/sample/colorspace/colorspace.pro
index cb5f1612..76787855 100644
--- a/apps/sample/colorspace/colorspace.pro
+++ b/apps/sample/colorspace/colorspace.pro
@@ -1,7 +1,3 @@
+include(../common.pri)
 TARGET = colorspace
-LIBPATH += 
-DEPENDPATH += . 
-INCLUDEPATH += . ../../..
-CONFIG += console stl 
-TEMPLATE = app
-SOURCES += colorspace.cpp
\ No newline at end of file
+SOURCES += colorspace.cpp
diff --git a/apps/sample/common.pri b/apps/sample/common.pri
index e908b112..070301f5 100644
--- a/apps/sample/common.pri
+++ b/apps/sample/common.pri
@@ -1,8 +1,23 @@
-DEPENDPATH += . ../../..
-INCLUDEPATH += . ../../..
-CONFIG += console c++11
+DEPENDPATH += \
+	. \
+	../../..
+
+INCLUDEPATH += \
+	. \
+	../../.. \
+	../../../eigenlib
+
+
+CONFIG += c++11
 TEMPLATE = app
+
 # Mac specific Config required to avoid to make application bundles
 CONFIG -= app_bundle
 
 QMAKE_CXXFLAGS += -std=c++11
+
+unix {
+	CONFIG(release, debug|release) {
+		DEFINES *= NDEBUG
+	}
+}
diff --git a/apps/sample/edgemesh_sampling/edgemesh_sampling.cpp b/apps/sample/edgemesh_sampling/edgemesh_sampling.cpp
index 45198fb0..3d2ee0aa 100644
--- a/apps/sample/edgemesh_sampling/edgemesh_sampling.cpp
+++ b/apps/sample/edgemesh_sampling/edgemesh_sampling.cpp
@@ -74,11 +74,11 @@ int main( int argc, char **argv )
 
   tri::UpdateTopology<MyMesh>::VertexEdge(e);
   tri::Clean<MyMesh>::SelectNonManifoldVertexOnEdgeMesh(e);
-  printf("Selected vertices %i\n",tri::UpdateSelection<MyMesh>::VertexCount(e));
+  printf("Selected vertices %lu\n",tri::UpdateSelection<MyMesh>::VertexCount(e));
   tri::Clean<MyMesh>::SplitSelectedVertexOnEdgeMesh(e);
   printf("Out mesh has %i vert %i edges\n",e.vn,e.en);
   tri::Clean<MyMesh>::SelectCreaseVertexOnEdgeMesh(e,math::ToRad(30.f));
-  printf("Selected vertices %i\n",tri::UpdateSelection<MyMesh>::VertexCount(e));
+  printf("Selected vertices %lu\n",tri::UpdateSelection<MyMesh>::VertexCount(e));
   tri::Clean<MyMesh>::SplitSelectedVertexOnEdgeMesh(e);
   printf("Out mesh has %i vert %i edges\n",e.vn,e.en);
 
diff --git a/apps/sample/polygonmesh_base/polygonmesh.cpp b/apps/sample/polygonmesh_base/polygonmesh.cpp
index c67eb5f5..69fba553 100644
--- a/apps/sample/polygonmesh_base/polygonmesh.cpp
+++ b/apps/sample/polygonmesh_base/polygonmesh.cpp
@@ -23,20 +23,12 @@
 
 #include <vcg/complex/complex.h>
 
-/*include the algorithms for updating: */
-#include <vcg/complex/algorithms/update/topology.h>
-#include <vcg/complex/algorithms/update/bounding.h>
-#include <vcg/complex/algorithms/update/normal.h>
-
 #include <vcg/complex/algorithms/clean.h>
 #include <vcg/complex/algorithms/create/platonic.h>
 
 #include <wrap/io_trimesh/import.h>
 #include <wrap/io_trimesh/export_ply.h>
 
-/* include the support for polygon meshes (function to convert from/to trimesh)*/
-//#include <vcg/complex/algorithms/polygon_support.h>
-
 /* include the support for half edges */
 #include <vcg/complex/algorithms/update/halfedge_indexed.h>
 
@@ -44,16 +36,11 @@
 using namespace vcg;
 using namespace std;
 
-// forward declarations
 class TFace;
 class TVertex;
 
 struct TUsedTypes: public vcg::UsedTypes< vcg::Use<TVertex>::AsVertexType, vcg::Use<TFace>::AsFaceType >{};
 
-
-
-/* Definition of a mesh of triangles
-*/
 class TVertex : public Vertex< TUsedTypes,
     vertex::BitFlags,
     vertex::Coord3f,
@@ -126,7 +113,7 @@ class PMesh: public
 PMesh pm;
 TMesh tm0;
 
-int	main(int argc, char *argv[]) {
+int	main(int /*argc*/, char *argv[]) {
 
     int loadmask;
 
@@ -209,9 +196,8 @@ else
     TMesh tm1;
     vcg::tri::PolygonSupport<TMesh,PMesh>::ImportFromPolyMesh(tm1,pm);
 
-    vcg::tri::io::PlyInfo pi;
-    vcg::tri::io::ExporterPLY<TMesh>::Save(tm1,"converted_tri.ply",false,pi);
-    vcg::tri::io::ExporterPLY<PMesh>::Save(pm,"converted_poly.ply",false,pi);
+    vcg::tri::io::ExporterPLY<TMesh>::Save(tm1,"converted_tri.ply",false);
+    vcg::tri::io::ExporterPLY<PMesh>::Save(pm,"converted_poly.ply",false);
 }
 
 
diff --git a/apps/sample/polygonmesh_dual/polygonmesh_dual.cpp b/apps/sample/polygonmesh_dual/polygonmesh_dual.cpp
new file mode 100644
index 00000000..d01b5d5c
--- /dev/null
+++ b/apps/sample/polygonmesh_dual/polygonmesh_dual.cpp
@@ -0,0 +1,122 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+#include <vcg/complex/complex.h>
+
+/*include the algorithms for updating: */
+#include <vcg/complex/algorithms/update/bounding.h>
+#include <vcg/complex/algorithms/update/normal.h>
+
+#include <vcg/complex/algorithms/clean.h>
+#include <vcg/complex/algorithms/create/platonic.h>
+
+#include <wrap/io_trimesh/export_obj.h>
+#include <wrap/io_trimesh/import_obj.h>
+
+#include <vcg/complex/algorithms/dual_meshing.h>
+
+#include <vcg/complex/algorithms/polygon_support.h>
+
+using namespace vcg;
+using namespace std;
+
+// forward declarations
+class TFace;
+class TVertex;
+
+struct TUsedTypes: public vcg::UsedTypes< vcg::Use<TVertex>::AsVertexType, vcg::Use<TFace>::AsFaceType >{};
+
+/* Definition of a mesh of triangles
+*/
+class TVertex : public Vertex< TUsedTypes,
+    vertex::BitFlags,
+    vertex::Coord3f,
+    vertex::Normal3f,
+    vertex::Mark >{};
+
+class TFace   : public Face<   TUsedTypes,
+    face::VertexRef,	// three pointers to vertices
+    face::Normal3f,		// normal
+    face::BitFlags,		// flags
+    face::FFAdj			// three pointers to adjacent faces
+> {};
+
+/* the mesh is a container of vertices and a container of faces */
+class TMesh   : public vcg::tri::TriMesh< vector<TVertex>, vector<TFace> > {};
+
+
+/* Definition of a mesh of polygons that also supports half-edges
+*/
+class PFace;
+class PVertex;
+
+struct PUsedTypes: public vcg::UsedTypes<vcg::Use<PVertex>  ::AsVertexType,
+                                          vcg::Use<PFace>	::AsFaceType>{};
+
+class PVertex:public vcg::Vertex<	PUsedTypes,
+    vcg::vertex::Coord3f,
+    vcg::vertex::Normal3f,
+    vcg::vertex::Mark,
+    vcg::vertex::Qualityf,
+    vcg::vertex::BitFlags>{} ;
+
+class PFace:public vcg::Face<
+     PUsedTypes
+    ,vcg::face::PolyInfo // this is necessary  if you use component in vcg/simplex/face/component_polygon.h
+                         // It says "this class is a polygon and the memory for its components (e.g. pointer to its vertices
+                         // will be allocated dynamically")
+    ,vcg::face::PFVAdj	 // Pointer to the vertices (just like FVAdj )
+    ,vcg::face::PFVAdj
+    ,vcg::face::PFFAdj	 // Pointer to edge-adjacent face (just like FFAdj )
+    ,vcg::face::BitFlags // bit flags
+    ,vcg::face::Qualityf // quality
+    ,vcg::face::Normal3f // normal
+> {};
+
+class PMesh: public
+    vcg::tri::TriMesh<
+    std::vector<PVertex>,	// the vector of vertices
+    std::vector<PFace >     // the vector of faces
+    >{};
+
+TMesh primalT;
+PMesh primal,dual;
+
+int	main(int argc, char *argv[])
+{
+    (void)argc;
+    (void)argv;
+
+    vcg::tri::Sphere<TMesh>(primalT,2);
+    vcg::tri::PolygonSupport<TMesh,PMesh>::ImportFromTriMesh(primal,primalT);
+
+    vcg::tri::DualMeshing<PMesh>::MakeDual(primal,dual);
+    vcg::tri::io::ExporterOBJ<PMesh>::Save(dual,"./dual.obj",vcg::tri::io::Mask::IOM_BITPOLYGONAL);
+
+    vcg::tri::DualMeshing<PMesh>::MakeDual(dual,primal);
+    vcg::tri::io::ExporterOBJ<PMesh>::Save(primal,"./dual_dual.obj",vcg::tri::io::Mask::IOM_BITPOLYGONAL);
+
+}
+
+
+
diff --git a/apps/sample/polygonmesh_dual/polygonmesh_dual.pro b/apps/sample/polygonmesh_dual/polygonmesh_dual.pro
new file mode 100644
index 00000000..169072de
--- /dev/null
+++ b/apps/sample/polygonmesh_dual/polygonmesh_dual.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = polygonmesh_base
+SOURCES += polygonmesh_dual.cpp ../../../wrap/ply/plylib.cpp
diff --git a/apps/sample/polygonmesh_optimize/polygonmesh_optimize.cpp b/apps/sample/polygonmesh_optimize/polygonmesh_optimize.cpp
new file mode 100644
index 00000000..7abe03ce
--- /dev/null
+++ b/apps/sample/polygonmesh_optimize/polygonmesh_optimize.cpp
@@ -0,0 +1,180 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+#include <vcg/complex/complex.h>
+
+/*include the algorithms for updating: */
+#include <vcg/complex/algorithms/update/bounding.h>
+#include <vcg/complex/algorithms/update/normal.h>
+
+#include <vcg/complex/algorithms/clean.h>
+#include <vcg/complex/algorithms/create/platonic.h>
+
+#include <wrap/io_trimesh/export_obj.h>
+#include <wrap/io_trimesh/import_ply.h>
+
+#include <vcg/complex/algorithms/dual_meshing.h>
+
+#include <vcg/complex/algorithms/polygon_support.h>
+
+#include <vcg/complex/algorithms/polygonal_algorithms.h>
+
+#include <vcg/complex/algorithms/update/quality.h>
+
+using namespace vcg;
+using namespace std;
+
+// forward declarations
+class TFace;
+class TVertex;
+
+struct TUsedTypes: public vcg::UsedTypes< vcg::Use<TVertex>::AsVertexType, vcg::Use<TFace>::AsFaceType >{};
+
+/* Definition of a mesh of triangles
+*/
+class TVertex : public Vertex< TUsedTypes,
+    vertex::BitFlags,
+    vertex::Coord3f,
+    vertex::Normal3f,
+    vertex::Mark >{};
+
+class TFace   : public Face<   TUsedTypes,
+    face::VertexRef,	// three pointers to vertices
+    face::Normal3f,		// normal
+    face::BitFlags,		// flags
+    face::FFAdj        // three pointers to adjacent faces
+> {};
+
+/* the mesh is a container of vertices and a container of faces */
+class TMesh   : public vcg::tri::TriMesh< vector<TVertex>, vector<TFace> > {};
+
+
+/* Definition of a mesh of polygons that also supports half-edges
+*/
+class PFace;
+class PVertex;
+
+struct PUsedTypes: public vcg::UsedTypes<vcg::Use<PVertex>  ::AsVertexType,
+                                          vcg::Use<PFace>	::AsFaceType>{};
+
+class PVertex:public vcg::Vertex<	PUsedTypes,
+                                    vcg::vertex::Coord3f,
+                                    vcg::vertex::Normal3f,
+                                    vcg::vertex::Mark,
+                                    vcg::vertex::BitFlags>{} ;
+
+class PFace:public vcg::Face<
+     PUsedTypes
+    ,vcg::face::PolyInfo // this is necessary  if you use component in vcg/simplex/face/component_polygon.h
+                         // It says "this class is a polygon and the memory for its components (e.g. pointer to its vertices
+                         // will be allocated dynamically")
+    ,vcg::face::PFVAdj	 // Pointer to the vertices (just like FVAdj )
+    ,vcg::face::PFVAdj
+    ,vcg::face::PFFAdj	 // Pointer to edge-adjacent face (just like FFAdj )
+    ,vcg::face::BitFlags // bit flags
+    ,vcg::face::Normal3f // normal
+    ,face::Qualityd      // face quality
+> {};
+
+class PMesh: public
+    vcg::tri::TriMesh<
+    std::vector<PVertex>,	// the vector of vertices
+    std::vector<PFace >     // the vector of faces
+    >{};
+
+TMesh primalT;
+PMesh primal,dual,dual_opt,dual_flat;
+
+int	main(int argc, char *argv[])
+{
+    assert(argc>1);
+
+    std::cout<<"Opening file " << argv[0] << std::endl;
+
+    int res=vcg::tri::io::ImporterPLY<TMesh>::Open(primalT,argv[1]);
+    assert(res==vcg::ply::E_NOERROR);
+    vcg::tri::PolygonSupport<TMesh,PMesh>::ImportFromTriMesh(primal,primalT);
+
+    vcg::tri::DualMeshing<PMesh>::MakeDual(primal,dual);
+    vcg::tri::io::ExporterOBJ<PMesh>::Save(dual,"./dual_no_optimized.obj",vcg::tri::io::Mask::IOM_BITPOLYGONAL);
+
+    //copy the mesh
+    vcg::tri::Append<PMesh,PMesh>::Mesh(dual_opt,dual);
+    vcg::tri::Append<PMesh,PMesh>::Mesh(dual_flat,dual);
+
+    vcg::PolygonalAlgorithm<PMesh>::SmoothReprojectPCA(dual_opt);
+
+    vcg::tri::io::ExporterOBJ<PMesh>::Save(dual_opt,"./dual_optimized.obj",vcg::tri::io::Mask::IOM_BITPOLYGONAL);
+
+    vcg::PolygonalAlgorithm<PMesh>::FlattenFaces(dual_flat);
+    vcg::tri::io::ExporterOBJ<PMesh>::Save(dual_flat,"./dual_flattened.obj",vcg::tri::io::Mask::IOM_BITPOLYGONAL);
+
+    //update the quality as template
+    std::pair<typename PMesh::ScalarType,typename PMesh::ScalarType> minmax_dual,minmax_dual_opt,minmax_dual_flat;
+    typename PMesh::ScalarType Avg_dual,Avg_dual_opt,Avg_dual_flat;
+
+    vcg::PolygonalAlgorithm<PMesh>::UpdateQuality(dual,PolygonalAlgorithm<PMesh>::QTemplate);
+    minmax_dual=tri::Stat<PMesh>::ComputePerFaceQualityMinMax(dual);
+    Avg_dual=tri::Stat<PMesh>::ComputePerFaceQualityAvg(dual);
+
+    vcg::PolygonalAlgorithm<PMesh>::UpdateQuality(dual_opt,PolygonalAlgorithm<PMesh>::QTemplate);
+    minmax_dual_opt=tri::Stat<PMesh>::ComputePerFaceQualityMinMax(dual_opt);
+    Avg_dual_opt=tri::Stat<PMesh>::ComputePerFaceQualityAvg(dual_opt);
+
+    vcg::PolygonalAlgorithm<PMesh>::UpdateQuality(dual_flat,PolygonalAlgorithm<PMesh>::QTemplate);
+    minmax_dual_flat=tri::Stat<PMesh>::ComputePerFaceQualityMinMax(dual_flat);
+    Avg_dual_flat=tri::Stat<PMesh>::ComputePerFaceQualityAvg(dual_flat);
+
+    std::cout<<std::endl<<std::endl<<"Template Quality No Optimized min / max " <<minmax_dual.first<<" / "<<minmax_dual.second<<std::endl;
+    std::cout<<"Template Quality Optimized min / max " <<minmax_dual_opt.first<<" / "<<minmax_dual_opt.second<<std::endl;
+    std::cout<<"Template Quality Flattened min / max " <<minmax_dual_flat.first<<" / "<<minmax_dual_flat.second<<std::endl<<std::endl;
+
+    std::cout<<"Template Quality No Optimized Average " <<Avg_dual<<std::endl;
+    std::cout<<"Template Quality Optimized Average " <<Avg_dual_opt<<std::endl;
+    std::cout<<"Template Quality Flattened Average " <<Avg_dual_flat<<std::endl<<std::endl<<std::endl<<std::endl;
+
+
+    vcg::PolygonalAlgorithm<PMesh>::UpdateQuality(dual,PolygonalAlgorithm<PMesh>::QPlanar);
+    minmax_dual=tri::Stat<PMesh>::ComputePerFaceQualityMinMax(dual);
+    Avg_dual=tri::Stat<PMesh>::ComputePerFaceQualityAvg(dual);
+
+    vcg::PolygonalAlgorithm<PMesh>::UpdateQuality(dual_opt,PolygonalAlgorithm<PMesh>::QPlanar);
+    minmax_dual_opt=tri::Stat<PMesh>::ComputePerFaceQualityMinMax(dual_opt);
+    Avg_dual_opt=tri::Stat<PMesh>::ComputePerFaceQualityAvg(dual_opt);
+
+    vcg::PolygonalAlgorithm<PMesh>::UpdateQuality(dual_flat,PolygonalAlgorithm<PMesh>::QPlanar);
+    minmax_dual_flat=tri::Stat<PMesh>::ComputePerFaceQualityMinMax(dual_flat);
+    Avg_dual_flat=tri::Stat<PMesh>::ComputePerFaceQualityAvg(dual_flat);
+
+    std::cout<<"Flatness Quality No Optimized min / max " <<minmax_dual.first<<" / "<<minmax_dual.second<<std::endl;
+    std::cout<<"Flatness Quality Optimized min / max " <<minmax_dual_opt.first<<" / "<<minmax_dual_opt.second<<std::endl;
+    std::cout<<"Flatness Quality Flattened min / max " <<minmax_dual_flat.first<<" / "<<minmax_dual_flat.second<<std::endl<<std::endl;
+
+    std::cout<<"Flatness Quality No Optimized Average " <<Avg_dual<<std::endl;
+    std::cout<<"Flatness Quality Optimized Average " <<Avg_dual_opt<<std::endl;
+    std::cout<<"Flatness Quality Flattened Average " <<Avg_dual_flat<<std::endl;
+
+}
+
+
+
diff --git a/apps/sample/polygonmesh_optimize/polygonmesh_optimize.pro b/apps/sample/polygonmesh_optimize/polygonmesh_optimize.pro
new file mode 100644
index 00000000..1bbfbcf3
--- /dev/null
+++ b/apps/sample/polygonmesh_optimize/polygonmesh_optimize.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = polygonmesh_base
+SOURCES += polygonmesh_optimize.cpp ../../../wrap/ply/plylib.cpp
diff --git a/apps/sample/polygonmesh_smooth/polygonmesh_smooth.cpp b/apps/sample/polygonmesh_smooth/polygonmesh_smooth.cpp
new file mode 100644
index 00000000..07301709
--- /dev/null
+++ b/apps/sample/polygonmesh_smooth/polygonmesh_smooth.cpp
@@ -0,0 +1,132 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+#include <vcg/complex/complex.h>
+
+#include <vcg/complex/algorithms/clean.h>
+#include <vcg/complex/algorithms/create/platonic.h>
+#include <vcg/complex/algorithms/polygonal_algorithms.h>
+
+#include <wrap/io_trimesh/export_obj.h>
+#include <wrap/io_trimesh/import_ply.h>
+#include <wrap/io_trimesh/export_off.h>
+#include <wrap/io_trimesh/import_off.h>
+
+using namespace vcg;
+using namespace std;
+
+// forward declarations
+class TFace;
+class TVertex;
+
+struct TUsedTypes: public vcg::UsedTypes< vcg::Use<TVertex>::AsVertexType, vcg::Use<TFace>::AsFaceType >{};
+
+/* Definition of a mesh of triangles
+*/
+class TVertex : public Vertex< TUsedTypes,
+    vertex::BitFlags,
+    vertex::Coord3f,
+    vertex::Normal3f,
+    vertex::Mark >{};
+
+class TFace   : public Face<   TUsedTypes,
+    face::VertexRef,	// three pointers to vertices
+    face::Normal3f,		// normal
+    face::BitFlags,		// flags
+    face::Mark,     // incremental mark
+    face::FFAdj			// three pointers to adjacent faces
+> {};
+
+/* the mesh is a container of vertices and a container of faces */
+class TMesh   : public vcg::tri::TriMesh< vector<TVertex>, vector<TFace> > {};
+
+
+/* Definition of a mesh of polygons that also supports half-edges
+*/
+class PFace;
+class PVertex;
+
+struct PUsedTypes: public vcg::UsedTypes<vcg::Use<PVertex>  ::AsVertexType,
+                                          vcg::Use<PFace>	::AsFaceType>{};
+
+class PVertex:public vcg::Vertex<	PUsedTypes,
+    vcg::vertex::Coord3f,
+    vcg::vertex::Normal3f,
+    vcg::vertex::Mark,
+    vcg::vertex::Qualityf,
+    vcg::vertex::Mark,
+    vcg::vertex::BitFlags>{} ;
+
+class PFace:public vcg::Face<
+     PUsedTypes
+    ,vcg::face::PolyInfo // this is necessary  if you use component in vcg/simplex/face/component_polygon.h
+                         // It says "this class is a polygon and the memory for its components (e.g. pointer to its vertices
+                         // will be allocated dynamically")
+    ,vcg::face::PFVAdj	 // Pointer to the vertices (just like FVAdj )
+    ,vcg::face::PFVAdj
+    ,vcg::face::PFFAdj	 // Pointer to edge-adjacent face (just like FFAdj )
+    ,vcg::face::BitFlags // bit flags
+    ,vcg::face::Qualityf // quality
+    ,vcg::face::Mark     // incremental mark
+    ,vcg::face::Normal3f // normal
+> {};
+
+class PMesh: public
+    vcg::tri::TriMesh<
+    std::vector<PVertex>,	// the vector of vertices
+    std::vector<PFace >     // the vector of faces
+    >{};
+
+using namespace vcg;
+
+int	main(int, char **)
+{
+  TMesh tm;
+  PMesh pm;
+  math::MarsenneTwisterRNG RndGen;
+  tri::io::ImporterOFF<PMesh>::Open(pm,"../../meshes/fertility_quad.off");
+  tri::UpdateBounding<PMesh>::Box(pm);
+  tri::UpdateSelection<PMesh>::VertexClear(pm);
+  // randomly displace half of the vertices
+  float randScale = pm.bbox.Diag()/200.0f;
+  ForEachVertex(pm,[&](PVertex &v){
+    if(v.P()[0] < pm.bbox.Center()[0]) 
+      v.P() += math::GeneratePointInUnitBallUniform<float,math::MarsenneTwisterRNG>(RndGen)*randScale;       
+  });
+  
+  // Select half of the vertices 
+  ForEachVertex(pm,[&](PVertex &v){
+    if(v.P()[2] < pm.bbox.Center()[2]) 
+      v.SetS();  
+  });
+  printf("Input quad mesh has %i %i (sel %i)\n",pm.VN(), pm.FN(), tri::UpdateSelection<PMesh>::VertexCount(pm) );
+  
+  tri::io::ImporterPLY<TMesh>::Open(tm,"../../meshes/fertility_tri.ply");
+  tri::UpdateNormal<TMesh>::PerVertexNormalizedPerFaceNormalized(tm);
+  printf("Input tri mesh has %i %i\n",tm.VN(), tm.FN());
+  tri::io::ExporterOFF<PMesh>::Save(pm,"./smooth.off");
+  PolygonalAlgorithm<PMesh>::LaplacianReproject(pm,tm,100,0.6,0.3,true);
+  tri::io::ExporterOFF<PMesh>::Save(pm,"./smooth2.off");  
+}
+
+
diff --git a/apps/sample/polygonmesh_smooth/polygonmesh_smooth.pro b/apps/sample/polygonmesh_smooth/polygonmesh_smooth.pro
new file mode 100644
index 00000000..439aca55
--- /dev/null
+++ b/apps/sample/polygonmesh_smooth/polygonmesh_smooth.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = polygonmesh_smooth
+SOURCES += polygonmesh_smooth.cpp ../../../wrap/ply/plylib.cpp
diff --git a/apps/sample/polygonmesh_zonohedra/polygonmesh_zonohedra.cpp b/apps/sample/polygonmesh_zonohedra/polygonmesh_zonohedra.cpp
index 75b1a1d6..809b4496 100644
--- a/apps/sample/polygonmesh_zonohedra/polygonmesh_zonohedra.cpp
+++ b/apps/sample/polygonmesh_zonohedra/polygonmesh_zonohedra.cpp
@@ -42,7 +42,7 @@ class MyEdge : public vcg::Edge< MyUsedTypes > {};
 class MyFace : public vcg::Face< MyUsedTypes,
     vcg::face::FFAdj,
     vcg::face::VertexRef,
-  vcg::face::Normal3f,
+    vcg::face::Normal3f,
     vcg::face::BitFlags > {};
 
 // the main mesh class
@@ -89,7 +89,7 @@ void example2(){
             z.addVector(a,b,c);
         }
 
-        printf("Building %s from %d vectors...\n",fullMeshFilename, z.vectors().size() );
+        printf("Building %s from %lu vectors...\n",fullMeshFilename, z.vectors().size() );
 
         MyMesh m;
         z.createMesh(m);
@@ -106,7 +106,7 @@ void example2(){
 
 }
 
-int main(int argc, char *argv[]){
+int main(int , char **){
     example1();
     example2();
     return 0;
diff --git a/apps/sample/sample.pro b/apps/sample/sample.pro
index d2ad96c6..1036b4d2 100644
--- a/apps/sample/sample.pro
+++ b/apps/sample/sample.pro
@@ -1,42 +1,63 @@
+TEMPLATE = subdirs
 
-TEMPLATE      = subdirs
-SUBDIRS       = trimesh_base  \
-                trimesh_allocate \
-                trimesh_attribute \
-                trimesh_ball_pivoting \
-                trimesh_closest \
-                trimesh_copy \
-                trimesh_color \
-                trimesh_curvature \
-                trimesh_clustering \
-                trimesh_edge \
-                trimesh_fitting \
-                trimesh_geodesic \
-#                trimesh_ext_mc \
-                trimesh_hole \
-                trimesh_inertia \
-                trimesh_intersection \
-                trimesh_isosurface \
-                trimesh_join \
-                trimesh_kdtree \
-                trimesh_normal \
-                trimesh_optional \
-                trimesh_pointmatching \
-                trimesh_ray \
-                trimesh_refine \
-                trimesh_sampling \
-                trimesh_smooth \
-                trimesh_split_vertex \
-                trimesh_texture \
-                trimesh_topology \
-                trimesh_voronoi \
-                trimesh_voronoiatlas \
-                trimesh_voronoiclustering \
-                trimesh_voronoisampling \
-                edgemesh_sampling \
-                polygonmesh_base \
-                colorspace \ 
-                space_index_2d \
-                space_packer
-#                aabb_binary_tree
-
+SUBDIRS = \
+	aabb_binary_tree \
+	colorspace \
+	#edgemesh_sampling \
+	polygonmesh_base \
+	polygonmesh_dual \
+	polygonmesh_optimize \
+	polygonmesh_polychord_collapse \
+	#polygonmesh_quadsimpl \
+	polygonmesh_smooth \
+	#polygonmesh_zonohedra \
+	space_index_2d \
+	#space_minimal \
+	space_packer \
+	space_rasterized_packer \
+	trimesh_align_pair \
+	trimesh_allocate \
+	trimesh_attribute \
+	trimesh_attribute_saving \
+	trimesh_ball_pivoting \
+	trimesh_base  \
+	trimesh_closest \
+	trimesh_clustering \
+	trimesh_color \
+	trimesh_copy \
+	trimesh_create \
+	trimesh_curvature \
+	trimesh_cylinder_clipping \
+	trimesh_disk_parametrization \
+	trimesh_fitting \
+	trimesh_geodesic \
+	trimesh_harmonic \
+	trimesh_hole \
+	trimesh_implicit_smooth \
+	trimesh_indexing \
+	trimesh_inertia \
+	trimesh_intersection_plane \
+	trimesh_intersection_mesh \
+	trimesh_isosurface \
+	trimesh_join \
+	trimesh_kdtree \
+	trimesh_montecarlo_sampling \
+	trimesh_normal \
+	trimesh_optional \
+	trimesh_pointmatching \
+	trimesh_pointcloud_sampling \
+	trimesh_ray \
+	trimesh_refine \
+	trimesh_remeshing \
+	trimesh_sampling \
+	trimesh_select \
+	trimesh_smooth \
+	trimesh_split_vertex \
+	trimesh_texture \
+	trimesh_texture_clean \
+	trimesh_topology \
+	trimesh_topological_cut \
+	trimesh_voronoi \
+	trimesh_voronoiatlas \
+	trimesh_voronoiclustering \
+	trimesh_voronoisampling \
diff --git a/apps/sample/space_index_2d/space_index_2d.cpp b/apps/sample/space_index_2d/space_index_2d.cpp
index a2d731e6..69678381 100644
--- a/apps/sample/space_index_2d/space_index_2d.cpp
+++ b/apps/sample/space_index_2d/space_index_2d.cpp
@@ -23,10 +23,10 @@
 #include <stdio.h>
 #include <time.h>
 #include <vcg/space/distance2.h>
-#include<vcg/space/segment2.h>
-#include<vcg/space/index/grid_static_ptr2d.h>
-#include<vcg/space/index/grid_closest2d.h>
-#include<vcg/space/intersection2.h>
+#include <vcg/space/segment2.h>
+#include <vcg/space/index/grid_static_ptr2d.h>
+#include <vcg/space/index/grid_closest2d.h>
+#include <vcg/space/intersection2.h>
 
 typedef double MyScalarType;
 typedef vcg::Point2<MyScalarType> MyCoordType;
diff --git a/apps/sample/space_packer/space_packer.cpp b/apps/sample/space_packer/space_packer.cpp
index d6ccf321..bfa2b6bd 100644
--- a/apps/sample/space_packer/space_packer.cpp
+++ b/apps/sample/space_packer/space_packer.cpp
@@ -57,7 +57,7 @@ static void buildRandRectSet(int rectNum, vector<Box2f> &rectVec)
   }
 }
 
-int main( int argc, char **argv )
+int main( int /*argc*/, char **/*argv*/ )
 {
   vector<Similarity2f> trVec;
   vector<Similarity2f> trPolyVec;
@@ -115,7 +115,6 @@ int main( int argc, char **argv )
 
   packingParam.costFunction  = RasterizedOutline2Packer<float, QtOutline2Rasterizer>::Parameters::LowestHorizon;
   packingParam.doubleHorizon = true;
-  packingParam.cellSize = 4;
   packingParam.rotationNum = 16; //number of rasterizations in 90°
 
   RasterizedOutline2Packer<float, QtOutline2Rasterizer>::Pack(outline2Vec,containerSize,trVec,packingParam);
diff --git a/apps/sample/space_rasterized_packer/space_rasterized_packer.cpp b/apps/sample/space_rasterized_packer/space_rasterized_packer.cpp
new file mode 100644
index 00000000..7f9a173d
--- /dev/null
+++ b/apps/sample/space_rasterized_packer/space_rasterized_packer.cpp
@@ -0,0 +1,146 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2019                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+#include <iostream>
+#include <vector>
+#include <cassert>
+#include <string>
+
+#include <vcg/space/point2.h>
+#include <vcg/space/point3.h>
+#include <vcg/complex/algorithms/outline_support.h>
+#include <wrap/qt/outline2_rasterizer.h>
+#include <vcg/space/rasterized_outline2_packer.h>
+
+#include <wrap/qt/Outline2ToQImage.h>
+
+// This sample shows how to pack a sequence of outlines at the given scale into
+// a number of containers not known in advance using the PackBestEffort()
+// function
+
+typedef std::vector<vcg::Point2f> Outline2f;
+typedef vcg::RasterizedOutline2Packer<float,QtOutline2Rasterizer> RasterizedPacker;
+typedef RasterizedPacker::Parameters PackingParams;
+
+
+void FillOutlineVec(std::vector<Outline2f>& outlines)
+{
+    vcg::tri::OutlineUtil<float>::BuildRandomOutlineVec(30, outlines);
+    for (auto& outline : outlines)
+        for (auto& p : outline)
+            p *= 200.0;
+}
+
+int main(int argc, char **argv)
+{
+    // the vector of outlines to pack
+    std::vector<Outline2f> outlines;
+    FillOutlineVec(outlines);
+
+    // containerIndices maps each outline index to the container in which is packed
+    std::vector<int> containerIndices(outlines.size(), -1); // -1 means not packed to any container
+
+    // packingTransforms maps each outline index to its transform */
+    std::vector<vcg::Similarity2f> packingTransforms(outlines.size(), vcg::Similarity2f{});
+
+    /* size of the packing area */
+    const vcg::Point2i grid_size(400, 600);
+
+    PackingParams params;
+    params.costFunction  = PackingParams::LowestHorizon;
+    params.doubleHorizon = true;
+    params.innerHorizon  = true;   /* use inner horizons to pack charts in between gaps */
+    params.permutations  = false;  /* do not use permutations (they are ignored by PackBestEffort() */
+    params.rotationNum   = 16;     /* 16 rotations per chart */
+    params.gutterWidth   = 2;      /* 2 pixels gutter */
+    params.minmax        = false;  /* do not combine costs of the two horizons when evaluating placements */
+
+    int totPacked = 0;
+    int nc = 0; /* current container index */
+    while (true) {
+
+        std::cout << "Packing into container " << nc << std::endl;
+
+        // build a vector with the outlines not yet packed, and a corresponding vector
+        // of indices into the 'outlines' vector
+        std::vector<int> outlineIndex_iter;
+        std::vector<Outline2f> outlines_iter;
+        for (unsigned i = 0; i < containerIndices.size(); ++i) {
+            if (containerIndices[i] == -1) {
+                outlineIndex_iter.push_back(i);
+                outlines_iter.push_back(outlines[i]);
+            }
+        }
+
+        std::vector<vcg::Similarity2f> transforms;
+        std::vector<int> polyToContainer;
+        int numPacked = RasterizedPacker::PackBestEffort(outlines_iter, {grid_size}, transforms, polyToContainer, params);
+
+        totPacked += numPacked;
+
+        if (numPacked == 0) {
+            std::cerr << "Failed to pack any outline at the current iteration. Stopping." << std::endl;
+            std::exit(-1);
+        } else {
+            for (unsigned i = 0; i < outlines_iter.size(); ++i) {
+                if (polyToContainer[i] != -1) {
+                    assert(polyToContainer[i] == 0); // We only use a single container in this example
+                    int outline_i = outlineIndex_iter[i];
+                    assert(containerIndices[outline_i] == -1);
+                    containerIndices[outline_i] = nc;
+                    packingTransforms[outline_i] = transforms[i];
+                }
+            }
+        }
+
+        if (totPacked == outlines.size())
+            break;
+        else
+            nc++;
+
+        if (nc > 10)
+            std::cerr << "Warning: packing into more than 10 containers! (nc = " << nc << ")" << std::endl;
+    }
+
+    /* for each container, generate an image */
+    for (int i = 0; i < nc + 1; ++i) {
+        std::vector<Outline2f> outlines_iter;
+        std::vector<vcg::Similarity2f> transforms_iter;
+        for (unsigned k = 0; k < containerIndices.size(); ++k) {
+            assert(containerIndices[k] != -1 && "Some outlines were not packed");
+            if (containerIndices[k] == i) {
+                outlines_iter.push_back(outlines[k]);
+                transforms_iter.push_back(packingTransforms[k]);
+            }
+        }
+        std::string filename = std::string("container_") + std::to_string(i) + std::string(".png");
+        Outline2Dumper::Param pp;
+        pp.width = grid_size.X();
+        pp.height = grid_size.Y();
+        pp.fill = true;
+        pp.randomColor = true;
+
+        Outline2Dumper::dumpOutline2VecPNG(filename.c_str(), outlines_iter, transforms_iter, pp);
+    }
+}
+
+
diff --git a/apps/sample/space_rasterized_packer/space_rasterized_packer.pro b/apps/sample/space_rasterized_packer/space_rasterized_packer.pro
new file mode 100644
index 00000000..b9da699f
--- /dev/null
+++ b/apps/sample/space_rasterized_packer/space_rasterized_packer.pro
@@ -0,0 +1,6 @@
+include(../common.pri)
+QT += opengl svg
+TARGET = space_rasterized_packer
+SOURCES += space_rasterized_packer.cpp  \
+../../../../vcglib/wrap/qt/Outline2ToQImage.cpp \
+../../../../vcglib/wrap/qt/outline2_rasterizer.cpp
diff --git a/apps/sample/trimesh_align_pair/trimesh_align_pair.cpp b/apps/sample/trimesh_align_pair/trimesh_align_pair.cpp
new file mode 100644
index 00000000..b7903151
--- /dev/null
+++ b/apps/sample/trimesh_align_pair/trimesh_align_pair.cpp
@@ -0,0 +1,149 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+/*! \file trimesh_align_pair.cpp
+\ingroup code_sample
+
+\brief the minimal example for aligning two meshes
+
+This file contain a minimal example for aligning two meshs.
+
+Example call:
+./trimesh_align_pair mesh1.ply mesh2.ply output.ply
+
+output.ply will contain mesh2.ply rotated in order to be aligned to mesh1.ply
+
+*/
+
+#include <vcg/complex/complex.h>
+
+#include <vcg/complex/algorithms/align_pair.h>
+
+#include <wrap/io_trimesh/import.h>
+#include <wrap/io_trimesh/export_ply.h>
+
+class MyFace;
+class MyVertex;
+
+struct MyUsedTypes :
+		public vcg::UsedTypes<	vcg::Use<MyVertex>::AsVertexType,
+		vcg::Use<MyFace>::AsFaceType>
+{};
+
+class MyVertex :
+		public vcg::Vertex< MyUsedTypes, vcg::vertex::Coord3d, vcg::vertex::Normal3d, vcg::vertex::Color4b, vcg::vertex::BitFlags>
+{};
+
+class MyFace :
+		public vcg::Face < MyUsedTypes, vcg::face::VertexRef, vcg::face::Normal3d, vcg::face::FFAdj, vcg::face::Mark, vcg::face::BitFlags >
+{};
+
+class MyMesh :
+		public vcg::tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> >
+{};
+
+using namespace vcg;
+using namespace std;
+
+std::vector<vcg::Point3d>* vcg::PointMatchingScale::fix;
+std::vector<vcg::Point3d>* vcg::PointMatchingScale::mov;
+vcg::Box3d vcg::PointMatchingScale::b;
+
+int main(int argc,char ** argv)
+{
+	if(argc<3) {
+		printf("Usage: trimesh_smooth <filename> <filename>\n");
+		return 0;
+	}
+	std::string outputname = "output.ply";
+	if (argc == 4){
+		outputname = std::string(argv[3]);
+	}
+
+	MyMesh m1, m2;
+
+	//open first mesh
+	int err = tri::io::Importer<MyMesh>::Open(m1,argv[1]);
+	if(err) { // all the importers return 0 in case of success
+		printf("Error in reading %s: '%s'\n", argv[1], tri::io::Importer<MyMesh>::ErrorMsg(err));
+		exit(-1);
+	}
+
+	//open second mesh
+	err = tri::io::Importer<MyMesh>::Open(m2,argv[2]);
+	if(err) { // all the importers return 0 in case of success
+		printf("Error in reading %s: '%s'\n", argv[2], tri::io::Importer<MyMesh>::ErrorMsg(err));
+		exit(-1);
+	}
+
+	//update normals
+	vcg::tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFace(m1);
+	vcg::tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFace(m2);
+
+	////PARAMS
+	vcg::AlignPair::Result result;
+	vcg::AlignPair::Param ap;
+	vcg::AlignPair::A2Mesh fix;
+	vcg::AlignPair aa;
+
+	// 1) Convert fixed mesh and put it into the grid.
+	aa.convertMesh<MyMesh>(m1,fix);
+
+	vcg::AlignPair::A2Grid UG;
+	vcg::AlignPair::A2GridVert VG;
+
+	if(m1.fn==0 || ap.UseVertexOnly) {
+		fix.initVert(vcg::Matrix44d::Identity());
+		vcg::AlignPair::InitFixVert(&fix,ap,VG);
+	}
+	else {
+		fix.init(vcg::Matrix44d::Identity());
+		vcg::AlignPair::initFix(&fix, ap, UG);
+	}
+
+
+	// 2) Convert the second mesh and sample a <ap.SampleNum> points on it.
+	std::vector<vcg::AlignPair::A2Vertex> tmpmv;
+	aa.convertVertex(m2.vert,tmpmv);
+	aa.sampleMovVert(tmpmv, ap.SampleNum, ap.SampleMode);
+
+	aa.mov=&tmpmv;
+	aa.fix=&fix;
+	aa.ap = ap;
+
+	//use identity as first matrix
+	vcg::Matrix44d In;
+	In.SetIdentity();
+
+	// Perform the ICP algorithm
+	aa.align(In,UG,VG,result);
+
+	//rotate m2 using the resulting transformation
+	tri::UpdatePosition<MyMesh>::Matrix(m2, result.Tr, true);
+	tri::UpdateBounding<MyMesh>::Box(m2);
+
+	//saves the rotated mesh
+	tri::io::ExporterPLY<MyMesh>::Save(m2 ,outputname.c_str());
+
+	return 0;
+}
+
diff --git a/apps/sample/trimesh_align_pair/trimesh_align_pair.pro b/apps/sample/trimesh_align_pair/trimesh_align_pair.pro
new file mode 100644
index 00000000..0fba0c03
--- /dev/null
+++ b/apps/sample/trimesh_align_pair/trimesh_align_pair.pro
@@ -0,0 +1,7 @@
+include(../common.pri)
+
+TARGET = trimesh_align_pair
+
+SOURCES += \
+	trimesh_align_pair.cpp \
+	../../../wrap/ply/plylib.cpp
diff --git a/apps/sample/trimesh_allocate/trimesh_allocate.cpp b/apps/sample/trimesh_allocate/trimesh_allocate.cpp
index 78cdc4d5..83b67675 100644
--- a/apps/sample/trimesh_allocate/trimesh_allocate.cpp
+++ b/apps/sample/trimesh_allocate/trimesh_allocate.cpp
@@ -81,11 +81,12 @@ int main()
   vcg::tri::Allocator<MyMesh>::DeleteFace(m,m.face[3]);
 
   // If you loop in a mesh with deleted elements you have to skip them!
+  MyMesh::CoordType b(0,0,0);
   for(fi = m.face.begin(); fi!=m.face.end(); ++fi )
   {
      if(!fi->IsD()) //    <---- Check added
        {
-        MyMesh::CoordType b = vcg::Barycenter(*fi);
+        b += vcg::Barycenter(*fi);
        }
   }
 
@@ -94,7 +95,7 @@ int main()
   {
      if(!fi->IsD())
        {
-        MyMesh::CoordType b = vcg::Barycenter(*fi);
+       b += vcg::Barycenter(*fi);
        }
   }
 
diff --git a/apps/sample/trimesh_attribute/trimesh_attribute.pro b/apps/sample/trimesh_attribute/trimesh_attribute.pro
index 8da4c00d..16654d1e 100644
--- a/apps/sample/trimesh_attribute/trimesh_attribute.pro
+++ b/apps/sample/trimesh_attribute/trimesh_attribute.pro
@@ -1,3 +1,3 @@
 include(../common.pri)
 TARGET = trimesh_attribute
-SOURCES += trimesh_attribute.cpp ../../../wrap/ply/plylib.cpp
+SOURCES += trimesh_attribute.cpp
diff --git a/apps/sample/trimesh_attribute_saving/trimesh_attribute_saving.cpp b/apps/sample/trimesh_attribute_saving/trimesh_attribute_saving.cpp
new file mode 100644
index 00000000..7afe64ee
--- /dev/null
+++ b/apps/sample/trimesh_attribute_saving/trimesh_attribute_saving.cpp
@@ -0,0 +1,78 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+/*! \file trimesh_attribute.cpp
+\ingroup code_sample
+
+\brief the minimal example of using the attributes
+
+Attributes are a simple mechanism to associate user-defined 'attributes' to the simplicies and to the mesh.
+See the page '\ref attributes' for more details.
+*/
+
+#include<vcg/complex/complex.h>
+#include<vcg/complex/algorithms/create/platonic.h>
+#include<wrap/io_trimesh/export_ply.h>
+class MyEdge;
+class MyFace;
+class MyVertex;
+struct MyUsedTypes : public vcg::UsedTypes<	vcg::Use<MyVertex>::AsVertexType,
+                                            vcg::Use<MyFace>  ::AsFaceType>{};
+
+class MyVertex  : public vcg::Vertex< MyUsedTypes, vcg::vertex::Coord3f,vcg::vertex::Normal3f, vcg::vertex::BitFlags>{};
+class MyFace    : public vcg::Face< MyUsedTypes, vcg::face::VertexRef, vcg::face::Normal3f, vcg::face::BitFlags> {};
+
+class MyMesh : public vcg::tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> > {};
+int main()
+{
+  MyMesh m;
+  Torus<MyMesh>(m, 3.0f, 1.0f);
+  //! [Adding a few attributes]
+  // add a per-vertex attribute with type float named "GaussianCurvature"
+  MyMesh::PerVertexAttributeHandle<float> 
+      hvf = vcg::tri::Allocator<MyMesh>:: GetPerVertexAttribute<float> (m,std::string("GaussianCurvature"));
+  
+  MyMesh::PerVertexAttributeHandle<vcg::Point3f> 
+      hv3f = vcg::tri::Allocator<MyMesh>:: GetPerVertexAttribute<vcg::Point3f> (m,std::string("InvertedNormal"));
+  
+  // add a per-face attribute with type float named "FaceArea"
+  MyMesh::PerFaceAttributeHandle<float> 
+      hff = vcg::tri::Allocator<MyMesh>:: GetPerFaceAttribute<float> (m,std::string("FaceArea"));
+  //! [filling the attribute]
+  vcg::tri::Allocator<MyMesh>::ClearPerVertexAttribute<float>(m,hvf, float(M_PI*2));
+  vcg::tri::Allocator<MyMesh>::ClearPerVertexAttribute<vcg::Point3f>(m,hv3f, vcg::Point3f(0,0,0));
+  
+  ForEachFace(m, [&](MyFace &f){
+    hff[&f]=vcg::DoubleArea(f)*0.5f;
+    for(int i=0;i<3;++i){
+      hvf[f.V(i)] -= vcg::Angle(f.P1(i)-f.P0(i),f.P2(i)-f.P0(i)); 
+      hv3f[f.V(i)] -= vcg::NormalizedTriangleNormal(f);
+    }
+  }); 
+  
+  //! [Saving 3 attributes in ply, one of the 3 disguised as quality]
+  vcg::tri::io::PlyInfo pi;
+  pi.AddPerVertexFloatAttribute("GaussianCurvature","quality");
+  pi.AddPerFaceFloatAttribute("FaceArea");
+  pi.AddPerVertexPoint3fAttribute(m,"InvertedNormal");
+  vcg::tri::io::ExporterPLY<MyMesh>::Save(m,"MeshWithCurvature.ply",false,pi);     
+}
diff --git a/apps/sample/trimesh_attribute_saving/trimesh_attribute_saving.pro b/apps/sample/trimesh_attribute_saving/trimesh_attribute_saving.pro
new file mode 100644
index 00000000..78228a1e
--- /dev/null
+++ b/apps/sample/trimesh_attribute_saving/trimesh_attribute_saving.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = trimesh_attribute_saving
+SOURCES += trimesh_attribute_saving.cpp ../../../wrap/ply/plylib.cpp
diff --git a/apps/sample/trimesh_ball_pivoting/trimesh_ball_pivoting.cpp b/apps/sample/trimesh_ball_pivoting/trimesh_ball_pivoting.cpp
index d8dfcd65..644b1063 100644
--- a/apps/sample/trimesh_ball_pivoting/trimesh_ball_pivoting.cpp
+++ b/apps/sample/trimesh_ball_pivoting/trimesh_ball_pivoting.cpp
@@ -21,11 +21,6 @@
 *                                                                           *
 ****************************************************************************/
 #include<vcg/complex/complex.h>
-
-#include <vcg/complex/algorithms/update/bounding.h>
-#include <vcg/complex/algorithms/update/topology.h>
-#include <vcg/complex/algorithms/update/normal.h>
-#include <vcg/complex/algorithms/update/flag.h>
 #include <vcg/complex/algorithms/create/ball_pivoting.h>
 
 // input output
@@ -107,8 +102,7 @@ int  main(int argc, char **argv)
   printf("Output mesh vn:%i fn:%i\n",m.VN(),m.FN());
   printf("Created in :%i msec (%i+%i)\n",t2-t0,t1-t0,t2-t1);
 
-  vcg::tri::io::PlyInfo pi;
-  vcg::tri::io::ExporterPLY<MyMesh>::Save(m,argv[2],pi.mask);
+  vcg::tri::io::ExporterPLY<MyMesh>::Save(m,argv[2]);
   return 0;
 
 }
diff --git a/apps/sample/trimesh_base/CMakeLists.txt b/apps/sample/trimesh_base/CMakeLists.txt
new file mode 100644
index 00000000..8939a675
--- /dev/null
+++ b/apps/sample/trimesh_base/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.1.0 FATAL_ERROR)
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON) #...is required...
+set(CMAKE_CXX_EXTENSIONS OFF) #...without compiler extensions like gnu++11
+project (trimesh_base)
+add_executable(trimesh_base trimesh_base.cpp)
+include_directories(../../..)
+include_directories(../../../eigenlib)
diff --git a/apps/sample/trimesh_base/trimesh_base.cpp b/apps/sample/trimesh_base/trimesh_base.cpp
index d766df1f..729c79d7 100644
--- a/apps/sample/trimesh_base/trimesh_base.cpp
+++ b/apps/sample/trimesh_base/trimesh_base.cpp
@@ -31,8 +31,6 @@ This file contain a minimal example of the library, showing how to load a mesh a
 
 #include<vcg/complex/complex.h>
 #include<wrap/io_trimesh/import_off.h>
-#include<vcg/complex/algorithms/update/topology.h>
-#include<vcg/complex/algorithms/update/normal.h>
 
 class MyVertex; class MyEdge; class MyFace;
 struct MyUsedTypes : public vcg::UsedTypes<vcg::Use<MyVertex>   ::AsVertexType,
diff --git a/apps/sample/trimesh_closest/trimesh_closest.cpp b/apps/sample/trimesh_closest/trimesh_closest.cpp
index fe72e45c..4fdc5d0a 100644
--- a/apps/sample/trimesh_closest/trimesh_closest.cpp
+++ b/apps/sample/trimesh_closest/trimesh_closest.cpp
@@ -1,21 +1,35 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
 
 // stuff to define the mesh
 #include <vcg/complex/complex.h>
 #include <vcg/simplex/face/component_ep.h>
-#include <vcg/complex/algorithms/point_sampling.h>
 #include <vcg/complex/algorithms/update/component_ep.h>
-#include <vcg/complex/algorithms/update/normal.h>
+#include <vcg/complex/algorithms/point_sampling.h>
 
-// io
 #include <wrap/io_trimesh/import.h>
 #include <wrap/io_trimesh/export_ply.h>
 
-#include <cstdlib>
-
-#include <sys/timeb.h>
-#include <iostream>
-#include <string>
-
 
 class BaseVertex;
 class BaseEdge;
diff --git a/apps/sample/trimesh_clustering/trimesh_clustering.cpp b/apps/sample/trimesh_clustering/trimesh_clustering.cpp
index 80ffbadf..b8ae8d53 100644
--- a/apps/sample/trimesh_clustering/trimesh_clustering.cpp
+++ b/apps/sample/trimesh_clustering/trimesh_clustering.cpp
@@ -28,13 +28,8 @@
 */
 #include<vcg/complex/complex.h>
 
-#include <vcg/complex/algorithms/update/bounding.h>
-#include <vcg/complex/algorithms/update/topology.h>
-#include <vcg/complex/algorithms/update/normal.h>
-#include <vcg/complex/algorithms/update/flag.h>
 #include <vcg/complex/algorithms/clustering.h>
 
-// input output
 #include <wrap/io_trimesh/import.h>
 #include <wrap/io_trimesh/export.h>
 
diff --git a/apps/sample/trimesh_color/trimesh_color.cpp b/apps/sample/trimesh_color/trimesh_color.cpp
index d5bf60e5..ad474ccb 100644
--- a/apps/sample/trimesh_color/trimesh_color.cpp
+++ b/apps/sample/trimesh_color/trimesh_color.cpp
@@ -28,11 +28,7 @@
 */
 #include<vcg/complex/complex.h>
 
-#include <vcg/complex/algorithms/update/bounding.h>
 #include <vcg/complex/algorithms/update/color.h>
-#include <vcg/complex/algorithms/update/normal.h>
-#include <vcg/complex/algorithms/update/flag.h>
-#include <vcg/complex/algorithms/clustering.h>
 
 // input output
 #include <wrap/io_trimesh/import.h>
diff --git a/apps/sample/trimesh_copy/trimesh_copy.cpp b/apps/sample/trimesh_copy/trimesh_copy.cpp
index 302f7861..dca09167 100644
--- a/apps/sample/trimesh_copy/trimesh_copy.cpp
+++ b/apps/sample/trimesh_copy/trimesh_copy.cpp
@@ -1,27 +1,15 @@
 
-// stuff to define the mesh
 #include <vcg/complex/complex.h>
-#include <vcg/complex/append.h>
-// io
 #include <wrap/io_trimesh/import.h>
 #include <wrap/io_trimesh/export_ply.h>
 
-#include <cstdlib>
-
-#include <sys/timeb.h>
-#include <iostream>
-#include <string>
-
-
 class MyVertex;
 class MyEdge;
 class MyFace;
 
 struct MyUsedTypes: public vcg::UsedTypes<vcg::Use<MyVertex>::AsVertexType,vcg::Use<MyEdge>::AsEdgeType,vcg::Use<MyFace>::AsFaceType>{};
 
-class MyVertex  : public vcg::Vertex< MyUsedTypes,vcg::vertex::VFAdj,vcg::vertex::Coord3f,vcg::vertex::Normal3f,vcg::vertex::Mark,vcg::vertex::BitFlags  >
-{
-};
+class MyVertex  : public vcg::Vertex< MyUsedTypes,vcg::vertex::VFAdj,vcg::vertex::Coord3f,vcg::vertex::Normal3f,vcg::vertex::Mark,vcg::vertex::BitFlags  > {};
 
 class MyEdge : public vcg::Edge< MyUsedTypes> {};
 
diff --git a/apps/sample/trimesh_create/trimesh_create.cpp b/apps/sample/trimesh_create/trimesh_create.cpp
new file mode 100644
index 00000000..269e1d78
--- /dev/null
+++ b/apps/sample/trimesh_create/trimesh_create.cpp
@@ -0,0 +1,83 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+/*! \file trimesh_create.cpp
+\ingroup code_sample
+
+\brief Some examples of building meshes out of nothing
+
+*/
+#include<vcg/complex/complex.h>
+#include<vcg/complex/algorithms/create/platonic.h>
+
+// input output
+#include <wrap/io_trimesh/export_off.h>
+
+class MyFace;
+class MyVertex;
+
+struct MyUsedTypes : public vcg::UsedTypes<	vcg::Use<MyVertex>::AsVertexType,    vcg::Use<MyFace>::AsFaceType>{};
+
+class MyVertex  : public vcg::Vertex< MyUsedTypes, vcg::vertex::Coord3f, vcg::vertex::Normal3f, vcg::vertex::Color4b, vcg::vertex::BitFlags  >{};
+class MyFace    : public vcg::Face < MyUsedTypes, vcg::face::VertexRef, vcg::face::Normal3f, vcg::face::FFAdj, vcg::face::BitFlags > {};
+class MyMesh    : public vcg::tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> > {};
+
+using namespace std;
+using namespace vcg;
+
+int  main()
+{
+  MyMesh diskMesh;
+
+  // Create a simple triangle mesh using just a vector of coords and a vector of indexes
+  vector<Point3f> coordVec;
+  vector<Point3i> indexVec;
+  coordVec.push_back(Point3f(0,0,0));
+  for(int i=0;i<36;++i) {
+    float angleRad = float(i)*M_PI/18.0;
+    coordVec.push_back(Point3f(sin(angleRad),cos(angleRad),0));
+    indexVec.push_back(Point3i(0,i+1,1+(i+1)%36));
+  }
+
+  tri::BuildMeshFromCoordVectorIndexVector(diskMesh,coordVec,indexVec);
+  tri::io::ExporterOFF<MyMesh>::Save(diskMesh,"disc.off");
+
+  // Create the platonic solids  
+  MyMesh platonicMesh;
+  tri::Tetrahedron(platonicMesh);
+  tri::io::ExporterOFF<MyMesh>::Save(platonicMesh,"tetrahedron.off");
+  tri::Octahedron(platonicMesh);
+  tri::io::ExporterOFF<MyMesh>::Save(platonicMesh,"octahedron.off");
+  tri::Hexahedron(platonicMesh);
+  tri::io::ExporterOFF<MyMesh>::Save(platonicMesh,"hexahedron.off");
+  tri::Dodecahedron(platonicMesh);
+  tri::io::ExporterOFF<MyMesh>::Save(platonicMesh,"dodecahedron.off");
+  tri::Icosahedron(platonicMesh);
+  tri::io::ExporterOFF<MyMesh>::Save(platonicMesh,"icosahedron.off");
+  
+  // Procedurally transform a mesh into a solid collection of triangular prisms
+  MyMesh facePrismMesh;
+  tri::BuildPrismFaceShell(platonicMesh, facePrismMesh, 0.1f, 0.1f);
+  tri::io::ExporterOFF<MyMesh>::Save(facePrismMesh,"facePrism.off");
+  
+  return 0;
+}
diff --git a/apps/sample/trimesh_create/trimesh_create.pro b/apps/sample/trimesh_create/trimesh_create.pro
new file mode 100644
index 00000000..a2e83bff
--- /dev/null
+++ b/apps/sample/trimesh_create/trimesh_create.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = trimesh_create
+SOURCES += trimesh_create.cpp 
diff --git a/apps/sample/trimesh_curvature/trimesh_curvature.cpp b/apps/sample/trimesh_curvature/trimesh_curvature.cpp
index edd787fc..8569c6e5 100644
--- a/apps/sample/trimesh_curvature/trimesh_curvature.cpp
+++ b/apps/sample/trimesh_curvature/trimesh_curvature.cpp
@@ -25,16 +25,13 @@
 
 \brief an example showing the various techniques for computing curvatures
 
-This file contain a minimal example of the library
-
 */
-#include<vcg/complex/complex.h>
+#include <vcg/complex/complex.h>
+
+#include <vcg/complex/algorithms/create/platonic.h>
+#include <vcg/complex/algorithms/update/curvature.h>
 
 #include<wrap/io_trimesh/export_off.h>
-#include <vcg/complex/algorithms/create/platonic.h>
-
-#include<vcg/complex/algorithms/update/curvature.h>
-#include<vcg/complex/algorithms/update/normal.h>
 
 class MyEdge;
 class MyFace;
@@ -43,8 +40,8 @@ struct MyUsedTypes : public vcg::UsedTypes<	vcg::Use<MyVertex>   ::AsVertexType,
                                             vcg::Use<MyEdge>     ::AsEdgeType,
                                             vcg::Use<MyFace>     ::AsFaceType>{};
 
-class MyVertex  : public vcg::Vertex<MyUsedTypes, vcg::vertex::Coord3f, vcg::vertex::Normal3f, vcg::vertex::BitFlags  >{};
-class MyFace    : public vcg::Face< MyUsedTypes, vcg::face::FFAdj,  vcg::face::VertexRef, vcg::face::BitFlags > {};
+class MyVertex  : public vcg::Vertex<MyUsedTypes, vcg::vertex::Coord3f, vcg::vertex::Normal3f, vcg::vertex::VFAdj, vcg::vertex::CurvatureDirf, vcg::vertex::Curvaturef, vcg::vertex::BitFlags  >{};
+class MyFace    : public vcg::Face< MyUsedTypes, vcg::face::FFAdj, vcg::face::VFAdj, vcg::face::VertexRef, vcg::face::BitFlags > {};
 class MyEdge    : public vcg::Edge<MyUsedTypes>{};
 class MyMesh    : public vcg::tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> , std::vector<MyEdge>  > {};
 
@@ -52,18 +49,20 @@ int main( int /*argc*/, char **/*argv*/ )
 {
   MyMesh m;
   vcg::tri::Torus(m,30,10);
-  vcg::tri::io::ExporterOFF<MyMesh>::Save(m,"torus.off");
-
+  
   vcg::tri::UpdateTopology<MyMesh>::FaceFace(m);
-//  vcg::tri::UpdateCurvature<MyMesh>::VertexCurvature(m);
+  vcg::tri::UpdateTopology<MyMesh>::VertexFace(m);
+  
+  // Two different techniques for computing Discrete Gaussian and Mean Curvature
+  // they require the presence of the vertex::Curvature component
+  vcg::tri::UpdateCurvature<MyMesh>::PerVertex(m);
   vcg::tri::UpdateCurvature<MyMesh>::MeanAndGaussian(m);
+  
+  // Two different techniques for computing Principal Curvature Directions 
+  // they require the presence of the vertex::CurvatureDir component
   vcg::tri::UpdateCurvature<MyMesh>::PrincipalDirections(m);
-  //vcg::tri::UpdateCurvature<MyMesh>::PrincipalDirectionsNormalCycles(m);
-  vcg::tri::UpdateCurvature<MyMesh>::PrincipalDirectionsPCA(m,m.bbox.Diag()/100);
-
-  vcg::tri::UpdateNormal<MyMesh>::PerVertexNormalized(m);
+  vcg::tri::UpdateCurvature<MyMesh>::PrincipalDirectionsNormalCycle(m);
   printf("Input mesh  vn:%i fn:%i\n",m.VN(),m.FN());
-  printf( "Mesh has %i vert and %i faces\n", m.VN(), m.FN() );
 
   return 0;
 }
diff --git a/apps/sample/trimesh_cylclip/trimesh_cylclip.pro b/apps/sample/trimesh_cylclip/trimesh_cylclip.pro
deleted file mode 100644
index f4d46b74..00000000
--- a/apps/sample/trimesh_cylclip/trimesh_cylclip.pro
+++ /dev/null
@@ -1,5 +0,0 @@
-include(../common.pri)
-SOURCES += trimesh_cylclip.cpp ../../../wrap/ply/plylib.cpp
-
-HEADERS += \
-    cylinder_clip.h
diff --git a/apps/sample/trimesh_cylclip/trimesh_cylclip.cpp b/apps/sample/trimesh_cylinder_clipping/trimesh_cylinder_clipping.cpp
similarity index 100%
rename from apps/sample/trimesh_cylclip/trimesh_cylclip.cpp
rename to apps/sample/trimesh_cylinder_clipping/trimesh_cylinder_clipping.cpp
diff --git a/apps/sample/trimesh_cylinder_clipping/trimesh_cylinder_clipping.pro b/apps/sample/trimesh_cylinder_clipping/trimesh_cylinder_clipping.pro
new file mode 100644
index 00000000..13251b8f
--- /dev/null
+++ b/apps/sample/trimesh_cylinder_clipping/trimesh_cylinder_clipping.pro
@@ -0,0 +1,2 @@
+include(../common.pri)
+SOURCES += trimesh_cylinder_clipping.cpp ../../../wrap/ply/plylib.cpp
diff --git a/apps/sample/trimesh_diskparam/trimesh_diskparam.cpp b/apps/sample/trimesh_disk_parametrization/trimesh_disk_parametrization.cpp
similarity index 94%
rename from apps/sample/trimesh_diskparam/trimesh_diskparam.cpp
rename to apps/sample/trimesh_disk_parametrization/trimesh_disk_parametrization.cpp
index c02b62c3..ba7406d7 100644
--- a/apps/sample/trimesh_diskparam/trimesh_diskparam.cpp
+++ b/apps/sample/trimesh_disk_parametrization/trimesh_disk_parametrization.cpp
@@ -21,13 +21,6 @@
 *                                                                           *
 ****************************************************************************/
 
-#include<vcg/simplex/vertex/base.h>
-#include<vcg/simplex/vertex/component.h>
-
-#include <vcg/complex/used_types.h>
-
-#include<vcg/simplex/face/base.h>
-#include<vcg/simplex/face/component.h>
 #include<vcg/complex/complex.h>
 #include<vcg/complex/algorithms/create/platonic.h>
 #include<vcg/complex/algorithms/parametrization/poisson_solver.h>
@@ -67,7 +60,7 @@ int main( int argc, char **argv )
   printf("Mesh has %i vn %i fn\n",m.VN(),m.FN());
   tri::PoissonSolver<MyMesh> PS(m);
 
-  if(!PS.IsFeaseable())
+  if(!PS.IsFeasible())
   {
     printf("mesh is not homeomorphic to a disk\n");
     return -1;
diff --git a/apps/sample/trimesh_disk_parametrization/trimesh_disk_parametrization.pro b/apps/sample/trimesh_disk_parametrization/trimesh_disk_parametrization.pro
new file mode 100644
index 00000000..5f133c00
--- /dev/null
+++ b/apps/sample/trimesh_disk_parametrization/trimesh_disk_parametrization.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = trimesh_disk_parametrization
+SOURCES += trimesh_disk_parametrization.cpp ../../../wrap/ply/plylib.cpp
diff --git a/apps/sample/trimesh_diskparam/trimesh_diskparam.pro b/apps/sample/trimesh_diskparam/trimesh_diskparam.pro
deleted file mode 100644
index 966c1d09..00000000
--- a/apps/sample/trimesh_diskparam/trimesh_diskparam.pro
+++ /dev/null
@@ -1,13 +0,0 @@
-#DEFINES += VCG_USE_EIGEN
-
-TARGET = trimesh_diskparam
-DEPENDPATH += . ../../..
-
-INCLUDEPATH += . ../../..
-
-CONFIG += console stl
-TEMPLATE = app
-SOURCES += trimesh_diskparam.cpp ../../../wrap/ply/plylib.cpp
-
-# Mac specific Config required to avoid to make application bundles
-CONFIG -= app_bundle
diff --git a/apps/sample/trimesh_edge/trimesh_edge.cpp b/apps/sample/trimesh_edge/trimesh_edge.cpp
index ab7f74b7..4fc94767 100644
--- a/apps/sample/trimesh_edge/trimesh_edge.cpp
+++ b/apps/sample/trimesh_edge/trimesh_edge.cpp
@@ -21,12 +21,13 @@
 *                                                                           *
 ****************************************************************************/
 
-// This sample require gl.
+// This sample requires gl.
 #ifndef GLU_VERSIONS
 #ifdef __APPLE__
 #include <OpenGL/gl.h>
 #else
 #ifdef _WIN32
+#define NOMINMAX
   #include <windows.h>
 #endif
 #include <GL/gl.h>
@@ -34,16 +35,12 @@
 #endif
 
 #include<vcg/complex/complex.h>
-#include<vcg/complex/append.h>
 
 // input output
 #include<wrap/io_trimesh/import.h>
 #include<wrap/io_trimesh/export.h>
 
 // topology computation
-#include<vcg/complex/algorithms/update/topology.h>
-#include<vcg/complex/algorithms/update/bounding.h>
-#include<vcg/complex/algorithms/update/normal.h>
 #include <vcg/complex/algorithms/update/position.h>
 #include <vcg/complex/algorithms/update/quality.h>
 #include <vcg/complex/algorithms/stat.h>
diff --git a/apps/sample/trimesh_fitting/trimesh_fitting.cpp b/apps/sample/trimesh_fitting/trimesh_fitting.cpp
index b4a21e62..d6f27ef7 100644
--- a/apps/sample/trimesh_fitting/trimesh_fitting.cpp
+++ b/apps/sample/trimesh_fitting/trimesh_fitting.cpp
@@ -32,8 +32,6 @@ Given a mesh (an icosahedron) for each face we get a few random samples over it,
 */
 
 #include<vcg/complex/complex.h>
-#include<vcg/complex/algorithms/update/topology.h>
-#include<vcg/complex/algorithms/update/normal.h>
 #include<vcg/complex/algorithms/create/platonic.h>
 #include<vcg/complex/algorithms/point_sampling.h>
 #include<wrap/io_trimesh/import_off.h>
diff --git a/apps/sample/trimesh_geodesic/trimesh_geodesic.cpp b/apps/sample/trimesh_geodesic/trimesh_geodesic.cpp
index f458e3a5..fd166f58 100644
--- a/apps/sample/trimesh_geodesic/trimesh_geodesic.cpp
+++ b/apps/sample/trimesh_geodesic/trimesh_geodesic.cpp
@@ -84,7 +84,7 @@ int main( int argc, char **argv )
   printf("min %f max %f\n",minmax.first,minmax.second);
   tri::io::ExporterPLY<MyMesh>::Save(m,"base.ply",tri::io::Mask::IOM_VERTCOLOR | tri::io::Mask::IOM_VERTQUALITY);
   int t0=clock();
-  tri::Geodesic<MyMesh>::PerVertexDijsktraCompute(m,seedVec,ed);
+  tri::Geodesic<MyMesh>::PerVertexDijkstraCompute(m,seedVec,ed);
   int t1=clock();
   printf("Geodesic dijkstra %6.3f\n",float(t1-t0)/CLOCKS_PER_SEC);
   tri::UpdateColor<MyMesh>::PerVertexQualityRamp(m);
diff --git a/apps/sample/trimesh_hole/trimesh_hole.cpp b/apps/sample/trimesh_hole/trimesh_hole.cpp
index 1ed126bc..814e6ff2 100644
--- a/apps/sample/trimesh_hole/trimesh_hole.cpp
+++ b/apps/sample/trimesh_hole/trimesh_hole.cpp
@@ -29,16 +29,6 @@
 #include<vcg/complex/algorithms/smooth.h>
 #include<vcg/complex/algorithms/refine.h>
 
-#include<vcg/complex/algorithms/update/selection.h>
-
-// topology computation
-#include<vcg/complex/algorithms/update/topology.h>
-#include <vcg/complex/algorithms/update/flag.h>
-#include <vcg/complex/algorithms/update/normal.h>
-
-// half edge iterators
-#include<vcg/simplex/face/pos.h>
-
 // input output
 #include <wrap/io_trimesh/import_ply.h>
 #include <wrap/io_trimesh/export_ply.h>
diff --git a/apps/sample/trimesh_import_fbx/trimesh_import_fbx.cpp b/apps/sample/trimesh_import_fbx/trimesh_import_fbx.cpp
new file mode 100644
index 00000000..185d5ddb
--- /dev/null
+++ b/apps/sample/trimesh_import_fbx/trimesh_import_fbx.cpp
@@ -0,0 +1,60 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+/*! \file trimesh_create.cpp
+\ingroup code_sample
+
+\brief A very simple example that open a fbx file and save it as an obj. 
+Just as an example of what you should add to your project to compile it:
+  ../../../wrap/openfbx/src/ofbx.cpp 
+  ../../../wrap/openfbx/src/miniz.c
+
+
+*/
+#include <vcg/complex/complex.h>
+#include <wrap/io_trimesh/import_fbx.h>
+#include <wrap/io_trimesh/export_obj.h>
+#include <stdio.h>
+
+using namespace vcg;
+
+class MyFace;
+class MyEdge;
+class MyVertex;
+
+struct MyUsedTypes : public UsedTypes<Use<MyVertex>::AsVertexType, Use<MyFace>::AsFaceType>{};
+
+class MyVertex  : public Vertex< MyUsedTypes, vertex::Coord3f, vertex::Normal3f, vertex::Qualityf, vertex::Color4b,vertex::BitFlags  >{};
+class MyFace    : public Face  < MyUsedTypes, face::VertexRef,  face::Normal3f, face::Qualityf, face::WedgeTexCoord2f, face::Color4b, face::BitFlags > {};
+class MyMesh    : public tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> >{};
+
+int  main()
+{
+  MyMesh openMesh;
+  
+//    tri::io::ImporterFBX<MyMesh>::Open(openMesh,"Arabic_Censer/Arabic_Censer.FBX");
+//  tri::io::ImporterFBX<MyMesh>::Open(openMesh,"elephant/ELEPHANT_M.fbx");
+  tri::io::ImporterFBX<MyMesh>::Open(openMesh,"liontemple/sketchfabTemp.obj.fbx");
+ 
+  tri::io::ExporterOBJ<MyMesh>::Save(openMesh,"sphere.obj",tri::io::Mask::IOM_WEDGTEXCOORD);
+  return 0;
+}
diff --git a/apps/sample/trimesh_import_fbx/trimesh_import_fbx.pro b/apps/sample/trimesh_import_fbx/trimesh_import_fbx.pro
new file mode 100644
index 00000000..48864523
--- /dev/null
+++ b/apps/sample/trimesh_import_fbx/trimesh_import_fbx.pro
@@ -0,0 +1,8 @@
+include(../common.pri)
+TARGET = trimesh_import_fbx
+SOURCES += trimesh_import_fbx.cpp  \
+  ../../../wrap/openfbx/src/ofbx.cpp \
+  ../../../wrap/openfbx/src/miniz.c
+
+CONFIG += c++11
+
diff --git a/apps/sample/trimesh_indexing/trimesh_indexing.cpp b/apps/sample/trimesh_indexing/trimesh_indexing.cpp
index 1cbffbac..ce7b6a8a 100644
--- a/apps/sample/trimesh_indexing/trimesh_indexing.cpp
+++ b/apps/sample/trimesh_indexing/trimesh_indexing.cpp
@@ -1,5 +1,4 @@
 #include <iostream>
-#include <QTime>
 #ifdef _OPENMP
 #include <omp.h>
 #endif
@@ -21,7 +20,7 @@
 int num_test = 1000;
 int kNearest = 256;
 float queryDist = 0.0037;
-float ratio = 1000.0f;
+float bboxratio = 1000.0f;
 
 
 class CVertex;
@@ -34,6 +33,10 @@ class CFace			: public vcg::Face < CUsedTypes, vcg::face::VertexRef>{};
 
 class CMesh			: public vcg::tri::TriMesh < std::vector< CVertex >, std::vector< CFace > > {};
 
+int elapsed(int t)
+{
+  return ((clock()-t)*1000.0)/CLOCKS_PER_SEC;
+}
 
 template <typename T>
 struct PointCloud
@@ -72,21 +75,19 @@ void testKDTree(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::vecto
 {
     std::cout << "==================================================="<< std::endl;
     std::cout << "KDTree" << std::endl;
-    QTime time;
-    time.start();
-
+    int t0=clock();
     // Construction of the kdTree
     vcg::ConstDataWrapper<CMesh::VertexType::CoordType> wrapperVcg(&mesh.vert[0].P(), mesh.vert.size(), size_t(mesh.vert[1].P().V()) - size_t(mesh.vert[0].P().V()));
     vcg::KdTree<CMesh::ScalarType> kdTreeVcg(wrapperVcg);
-    std::cout << "Build: " << time.elapsed() <<  " ms" << std::endl;
+    std::cout << "Build: " << elapsed(t0) <<  " ms" << std::endl;
     int nn=1;
     // Computation of the point radius
     float mAveragePointSpacing = 0;
-    time.restart();
+    t0=clock();
     #pragma omp parallel for reduction(+: mAveragePointSpacing) schedule(dynamic, 10)
     for (int i = 0; i < mesh.vert.size(); i++)
     {
-#ifdef #ifdef _OPENMP
+#ifdef _OPENMP
       nn =omp_get_num_threads();
 #endif
         vcg::KdTree<CMesh::ScalarType>::PriorityQueue queue;
@@ -98,7 +99,7 @@ void testKDTree(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::vecto
     std::cout << "Num trhread " << nn << std::endl;
     mAveragePointSpacing /= mesh.vert.size();
     std::cout << "Average point radius (OpenMP with" << nn << " threads) " << mAveragePointSpacing << std::endl;
-    std::cout << "Time (OpenMP): " << time.elapsed() << " ms" << std::endl;
+    std::cout << "Time (OpenMP): " << elapsed(t0) << " ms" << std::endl;
 
     queryDist = mAveragePointSpacing * 150;
 
@@ -107,11 +108,11 @@ void testKDTree(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::vecto
     float avgTime = 0.0f;
     for (int ii = 0; ii < num_test; ii++)
     {
-        time.restart();
+        int t0=clock();
         std::vector<unsigned int> indeces;
         std::vector<float> dists;
         kdTreeVcg.doQueryDist(mesh.vert[test_indeces[ii]].cP(), queryDist, indeces, dists);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time (radius = " << queryDist << "): " << avgTime << " ms (mean " << avgTime / num_test << "ms)"  << std::endl;
 
@@ -120,10 +121,10 @@ void testKDTree(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::vecto
     avgTime = 0.0f;
     for (int ii = 0; ii < num_test * 10; ii++)
     {
-        time.restart();
+      int t0=clock();
         vcg::KdTree<CMesh::ScalarType>::PriorityQueue queue;
         kdTreeVcg.doQueryK(mesh.vert[test_indeces[ii]].cP(), kNearest, queue);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time (k = " << kNearest << "): " << avgTime << " ms (mean " << avgTime / (num_test * 10) << "ms)"  << std::endl;
 
@@ -132,11 +133,11 @@ void testKDTree(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::vecto
     avgTime = 0.0f;
     for (int ii = 0; ii < num_test * 10; ii++)
     {
-        time.restart();
+      int t0=clock();
         unsigned int index;
         float minDist;
         kdTreeVcg.doQueryClosest(randomSamples[ii], index, minDist);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time : " << avgTime << " ms (mean " << avgTime / (num_test * 10) << "ms)"  << std::endl << std::endl;
 }
@@ -163,11 +164,10 @@ void testNanoFLANN(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::ve
         > my_kd_tree_t;
 
     // Construction of the nanoFLANN KDtree
-    QTime time;
-    time.start();
+    int t0=clock();
     my_kd_tree_t   index(3, cloud, nanoflann::KDTreeSingleIndexAdaptorParams(16) );
     index.buildIndex();
-    std::cout << "Build nanoFlann: " << time.elapsed() <<  " ms" << std::endl;
+    std::cout << "Build nanoFlann: " << elapsed(t0) <<  " ms" << std::endl;
 
     // Test with the radius search
     std::cout << "Radius search (" << num_test << " tests)"<< std::endl;
@@ -176,9 +176,9 @@ void testNanoFLANN(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::ve
     nanoflann::SearchParams params;
     for (int ii = 0; ii < num_test; ii++)
     {
-        time.restart();
+        t0=clock();
         const size_t nMatches = index.radiusSearch(mesh.vert[test_indeces[ii]].P().V(), queryDist, ret_matches, params);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time (radius = " << queryDist << "): " << avgTime << " ms (mean " << avgTime / num_test << "ms)"  << std::endl;
 
@@ -189,9 +189,9 @@ void testNanoFLANN(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::ve
     std::vector<float> out_dist_sqr(kNearest);
     for (int ii = 0; ii < num_test * 10; ii++)
     {
-        time.restart();
+        t0=clock();
         index.knnSearch(mesh.vert[test_indeces[ii]].P().V(), kNearest, &ret_index[0], &out_dist_sqr[0]);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time (k = " << kNearest << "): " << avgTime << " ms (mean " << avgTime / (num_test * 10) << "ms)"  << std::endl;
 
@@ -202,9 +202,9 @@ void testNanoFLANN(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::ve
     std::vector<float> out_dist_sqr_clos(1);
     for (int ii = 0; ii < num_test * 10; ii++)
     {
-        time.restart();
+        t0=clock();
         index.knnSearch(randomSamples[ii].V(), 1, &ret_index_clos[0], &out_dist_sqr_clos[0]);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time : " << avgTime << " ms (mean " << avgTime / (num_test * 10) << "ms)"  << std::endl << std::endl;
 }
@@ -214,26 +214,25 @@ void testUniformGrid(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::
 {
     std::cout << "==================================================="<< std::endl;
     std::cout << "Uniform Grid" << std::endl;
-    QTime time;
-    time.start();
+    int t0=clock();
 
     // Construction of the uniform grid
     typedef vcg::GridStaticPtr<CMesh::VertexType, CMesh::VertexType::ScalarType> MeshGrid;
     MeshGrid uniformGrid;
     uniformGrid.Set(mesh.vert.begin(), mesh.vert.end());
-    std::cout << "Build: " << time.elapsed() <<  " ms" << std::endl;
+    std::cout << "Build: " << elapsed(t0) <<  " ms" << std::endl;
 
     // Test with the radius search
     std::cout << "Radius search (" << num_test << " tests)"<< std::endl;
     float  avgTime = 0.0f;
     for (int ii = 0; ii < num_test; ii++)
     {
-        time.restart();
+      t0=clock();
         std::vector<CMesh::VertexPointer> vertexPtr;
         std::vector<CMesh::VertexType::CoordType> points;
         std::vector<float> dists;
         vcg::tri::GetInSphereVertex(mesh, uniformGrid, mesh.vert[test_indeces[ii]].cP(), queryDist, vertexPtr, dists, points);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time (radius = " << queryDist << "): " << avgTime << " ms (mean " << avgTime / num_test << "ms)"  << std::endl;
 
@@ -242,12 +241,12 @@ void testUniformGrid(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::
     avgTime = 0.0f;
     for (int ii = 0; ii < num_test * 10; ii++)
     {
-        time.restart();
+        t0=clock();
         std::vector<CMesh::VertexPointer> vertexPtr;
         std::vector<CMesh::VertexType::CoordType> points;
         std::vector<float> dists;
         vcg::tri::GetKClosestVertex(mesh, uniformGrid, kNearest, mesh.vert[test_indeces[ii]].cP(), mesh.bbox.Diag(), vertexPtr, dists, points);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time (k = " << kNearest << "): " << avgTime << " ms (mean " << avgTime / (num_test * 10) << "ms)"  << std::endl;
 
@@ -256,10 +255,10 @@ void testUniformGrid(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::
     avgTime = 0.0f;
     for (int ii = 0; ii < num_test * 10; ii++)
     {
-        time.restart();
+        t0=clock();
         float minDist;
         vcg::tri::GetClosestVertex(mesh, uniformGrid, randomSamples[ii], mesh.bbox.Diag(), minDist);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time : " << avgTime << " ms (mean " << avgTime / (num_test * 10) << "ms)"  << std::endl << std::endl;
 }
@@ -270,26 +269,25 @@ void testSpatialHashing(CMesh& mesh, std::vector<unsigned int>& test_indeces, st
 {
     std::cout << "==================================================="<< std::endl;
     std::cout << "Spatial Hashing" << std::endl;
-    QTime time;
-    time.start();
+    int t0=clock();
 
     // Construction of the uniform grid
     typedef vcg::SpatialHashTable<CMesh::VertexType, CMesh::VertexType::ScalarType> MeshGrid;
     MeshGrid uniformGrid;
     uniformGrid.Set(mesh.vert.begin(), mesh.vert.end());
-    std::cout << "Build: " << time.elapsed() <<  " ms" << std::endl;
+    std::cout << "Build: " << elapsed(t0) <<  " ms" << std::endl;
 
     // Test with the radius search
     std::cout << "Radius search (" << num_test << " tests)"<< std::endl;
     float  avgTime = 0.0f;
     for (int ii = 0; ii < num_test; ii++)
     {
-        time.restart();
+        t0=clock();
         std::vector<CMesh::VertexPointer> vertexPtr;
         std::vector<CMesh::VertexType::CoordType> points;
         std::vector<float> dists;
         vcg::tri::GetInSphereVertex(mesh, uniformGrid, mesh.vert[test_indeces[ii]].cP(), queryDist, vertexPtr, dists, points);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time (radius = " << queryDist << "): " << avgTime << " ms (mean " << avgTime / num_test << "ms)"  << std::endl;
 
@@ -298,12 +296,12 @@ void testSpatialHashing(CMesh& mesh, std::vector<unsigned int>& test_indeces, st
     avgTime = 0.0f;
     for (int ii = 0; ii < num_test * 10; ii++)
     {
-        time.restart();
+        t0=clock();
         std::vector<CMesh::VertexPointer> vertexPtr;
         std::vector<CMesh::VertexType::CoordType> points;
         std::vector<float> dists;
         vcg::tri::GetKClosestVertex(mesh, uniformGrid, kNearest, mesh.vert[test_indeces[ii]].cP(), mesh.bbox.Diag(), vertexPtr, dists, points);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time (k = " << kNearest << "): " << avgTime << " ms (mean " << avgTime / (num_test * 10) << "ms)"  << std::endl;
 
@@ -312,10 +310,10 @@ void testSpatialHashing(CMesh& mesh, std::vector<unsigned int>& test_indeces, st
     avgTime = 0.0f;
     for (int ii = 0; ii < num_test * 10; ii++)
     {
-        time.restart();
+        t0=clock();
         float minDist;
         vcg::tri::GetClosestVertex(mesh, uniformGrid, randomSamples[ii], mesh.bbox.Diag(), minDist);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time : " << avgTime << " ms (mean " << avgTime / (num_test * 10) << "ms)"  << std::endl << std::endl;
 }
@@ -326,26 +324,25 @@ void testPerfectSpatialHashing(CMesh& mesh, std::vector<unsigned int>& test_inde
 {
     std::cout << "==================================================="<< std::endl;
     std::cout << "Perfect Spatial Hashing" << std::endl;
-    QTime time;
-    time.start();
+    int t0=clock();
 
     // Construction of the uniform grid
     typedef vcg::SpatialHashTable<CMesh::VertexType, CMesh::VertexType::ScalarType> MeshGrid;
     MeshGrid uniformGrid;
     uniformGrid.Set(mesh.vert.begin(), mesh.vert.end());
-    std::cout << "Build: " << time.elapsed() <<  " ms" << std::endl;
+    std::cout << "Build: " << elapsed(t0) <<  " ms" << std::endl;
 
     // Test with the radius search
     std::cout << "Radius search (" << num_test << " tests)"<< std::endl;
     float  avgTime = 0.0f;
     for (int ii = 0; ii < num_test; ii++)
     {
-        time.restart();
+        t0=clock();
         std::vector<CMesh::VertexPointer> vertexPtr;
         std::vector<CMesh::VertexType::CoordType> points;
         std::vector<float> dists;
         vcg::tri::GetInSphereVertex(mesh, uniformGrid, mesh.vert[test_indeces[ii]].cP(), queryDist, vertexPtr, dists, points);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time (radius = " << queryDist << "): " << avgTime << " ms (mean " << avgTime / num_test << "ms)"  << std::endl << std::endl;
 }
@@ -355,26 +352,25 @@ void testOctree(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::vecto
 {
     std::cout << "==================================================="<< std::endl;
     std::cout << "Octree" << std::endl;
-    QTime time;
-    time.start();
+    int t0=clock();
 
     // Construction of the uniform grid
     typedef vcg::Octree<CMesh::VertexType, CMesh::VertexType::ScalarType> MeshGrid;
     MeshGrid uniformGrid;
     uniformGrid.Set(mesh.vert.begin(), mesh.vert.end());
-    std::cout << "Build: " << time.elapsed() <<  " ms" << std::endl;
+    std::cout << "Build: " << elapsed(t0) <<  " ms" << std::endl;
 
     // Test with the radius search
     std::cout << "Radius search (" << num_test << " tests)"<< std::endl;
     float  avgTime = 0.0f;
     for (int ii = 0; ii < num_test; ii++)
     {
-        time.restart();
+        t0=clock();
         std::vector<CMesh::VertexPointer> vertexPtr;
         std::vector<CMesh::VertexType::CoordType> points;
         std::vector<float> dists;
         vcg::tri::GetInSphereVertex(mesh, uniformGrid, mesh.vert[test_indeces[ii]].cP(), queryDist, vertexPtr, dists, points);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time (radius = " << queryDist << "): " << avgTime << " ms (mean " << avgTime / num_test << "ms)"  << std::endl;
 
@@ -383,12 +379,12 @@ void testOctree(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::vecto
     avgTime = 0.0f;
     for (int ii = 0; ii < num_test * 10; ii++)
     {
-        time.restart();
+        t0=clock();
         std::vector<CMesh::VertexPointer> vertexPtr;
         std::vector<CMesh::VertexType::CoordType> points;
         std::vector<float> dists;
         vcg::tri::GetKClosestVertex(mesh, uniformGrid, kNearest, mesh.vert[test_indeces[ii]].cP(), mesh.bbox.Diag(), vertexPtr, dists, points);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time (k = " << kNearest << "): " << avgTime << " ms (mean " << avgTime / (num_test * 10) << "ms)"  << std::endl;
 
@@ -397,10 +393,10 @@ void testOctree(CMesh& mesh, std::vector<unsigned int>& test_indeces, std::vecto
     avgTime = 0.0f;
     for (int ii = 0; ii < num_test * 10; ii++)
     {
-        time.restart();
+        t0=clock();
         float minDist;
         vcg::tri::GetClosestVertex(mesh, uniformGrid, randomSamples[ii], mesh.bbox.Diag(), minDist);
-        avgTime += time.elapsed();
+        avgTime += elapsed(t0);
     }
     std::cout << "Time : " << avgTime << " ms (mean " << avgTime / (num_test * 10) << "ms)"  << std::endl << std::endl;
 }
@@ -424,7 +420,7 @@ int main( int argc, char * argv[] )
     randGen.initialize(0);
     std::vector<vcg::Point3f> randomSamples;
     for (int i = 0; i < num_test * 10; i++)
-        randomSamples.push_back(vcg::math::GeneratePointOnUnitSphereUniform<float>(randGen) * randGen.generate01() * mesh.bbox.Diag() / ratio);
+        randomSamples.push_back(vcg::math::GeneratePointOnUnitSphereUniform<float>(randGen) * randGen.generate01() * mesh.bbox.Diag() / bboxratio);
 
     std::vector<unsigned int> test_indeces;
     for (int i = 0; i < num_test * 10; i++)
diff --git a/apps/sample/trimesh_indexing/trimesh_indexing.pro b/apps/sample/trimesh_indexing/trimesh_indexing.pro
index fd8cd688..29aaaeb5 100644
--- a/apps/sample/trimesh_indexing/trimesh_indexing.pro
+++ b/apps/sample/trimesh_indexing/trimesh_indexing.pro
@@ -1,22 +1,4 @@
 include(../common.pri)
 TARGET		 = kdTree_test
-
-HEADERS		 =  nanoflann.hpp
-
 SOURCES		 =  trimesh_indexing.cpp \
 				../../../wrap/ply/plylib.cpp
-
-win32-msvc2010:QMAKE_CXXFLAGS   += /openmp
-win32-msvc2012:QMAKE_CXXFLAGS   += /openmp
-
-win32-g++:QMAKE_CXXFLAGS    += -fopenmp
-win32-g++:QMAKE_LIB   		+= -lgomp
-
-mac-g++:QMAKE_CXXFLAGS    	+= -fopenmp
-mac-g++:QMAKE_LIB   		+= -lgomp
-
-
-				
-win32{
-  DEFINES += NOMINMAX
-}
\ No newline at end of file
diff --git a/apps/sample/trimesh_intersection/trimesh_intersection.cpp b/apps/sample/trimesh_intersection/trimesh_intersection.cpp
deleted file mode 100644
index 8f3c0e94..00000000
--- a/apps/sample/trimesh_intersection/trimesh_intersection.cpp
+++ /dev/null
@@ -1,122 +0,0 @@
-/****************************************************************************
-* VCGLib                                                            o o     *
-* Visual and Computer Graphics Library                            o     o   *
-*                                                                _   O  _   *
-* Copyright(C) 2004-2016                                           \/)\/    *
-* Visual Computing Lab                                            /\/|      *
-* ISTI - Italian National Research Council                           |      *
-*                                                                    \      *
-* All rights reserved.                                                      *
-*                                                                           *
-* This program is free software; you can redistribute it and/or modify      *
-* it under the terms of the GNU General Public License as published by      *
-* the Free Software Foundation; either version 2 of the License, or         *
-* (at your option) any later version.                                       *
-*                                                                           *
-* This program is distributed in the hope that it will be useful,           *
-* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
-* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
-* for more details.                                                         *
-*                                                                           *
-****************************************************************************/
-
-#include <vcg/complex/complex.h>
-#include <vcg/complex/algorithms/update/topology.h>
-#include <vcg/complex/algorithms/update/bounding.h>
-#include <vcg/complex/algorithms/update/flag.h>
-#include <vcg/complex/algorithms/clean.h>
-#include <vcg/complex/algorithms/intersection.h>
-#include <vcg/space/index/grid_static_ptr.h>
-
-// VCG File Format Importer/Exporter
-#include <wrap/io_trimesh/import.h>
-#include <wrap/io_edgemesh/export_svg.h>
-#include <wrap/io_edgemesh/export_dxf.h>
-
-using namespace std;
-using namespace vcg;
-
-class MyFace;
-class MyEdge;
-class MyVertex;
-
-struct MyUsedTypes : public UsedTypes<	Use<MyVertex>		::AsVertexType,
-																				Use<MyEdge>			::AsEdgeType,
-																				Use<MyFace>			::AsFaceType>{};
-
-
-class MyVertex  : public Vertex< MyUsedTypes, vertex::Coord3f, vertex::BitFlags, vertex::Normal3f, vertex::Mark>{};
-class MyEdge    : public Edge< MyUsedTypes, edge::VertexRef, edge::EVAdj> {};
-class MyFace    : public Face  <MyUsedTypes, face::VertexRef,face::FFAdj, face::BitFlags, face::Normal3f> {};
-
-class MyEdgeMesh: public tri::TriMesh< vector<MyVertex>, vector<MyEdge> > {};
-class MyMesh : public tri::TriMesh< vector<MyVertex>, vector<MyFace > >{};
-
-
-typedef vcg::GridStaticPtr<MyMesh::FaceType, MyMesh::ScalarType> TriMeshGrid;
-
-int main(int argc,char ** argv)
-{
-	if (argc<6) 
-	{
-		printf("\n");
-		printf("    Usage: trimesh_intersection <filename> <a> <b> <c> <d>\n\n");
-		printf("       <filename>        Mesh model to intersect (PLY format).\n");
-		printf("       <a> <b> <c> <d>   The coefficients that specifying a plane in the form:\n\n");
-		printf("                             a*x + b*y + c*z + d = 0\n\n\n");
-
-		printf("       Example: trimesh_intersection bunny.ply 0.0 1.0 0.0 0.0\n\n");
-
-		return 0;
-	}
-
-	MyMesh m;
-
-	// open a mesh
-	int err = tri::io::Importer<MyMesh>::Open(m,argv[1]);
-	if(err) 
-	{
-		printf("Error in reading %s: '%s'\n",argv[1],tri::io::Importer<MyMesh>::ErrorMsg(err));
-		exit(-1);  
-	}
-
-	// some cleaning to get rid of bad file formats like stl that duplicate vertexes..
-	int dup = tri::Clean<MyMesh>::RemoveDuplicateVertex(m);
-	int unref =  tri::Clean<MyMesh>::RemoveUnreferencedVertex(m);
-
-	if (dup > 0 || unref > 0)
-		printf("Removed %i duplicate and %i unreferenced vertices from mesh %s\n",dup,unref,argv[1]);
-
-	// Compute cross-intersection with the given plane
-	/////////////////////////////////////////////////////////
-
-	MyMesh::ScalarType a = static_cast<MyMesh::ScalarType>(atof(argv[2]));
-	MyMesh::ScalarType b = static_cast<MyMesh::ScalarType>(atof(argv[3]));
-	MyMesh::ScalarType c = static_cast<MyMesh::ScalarType>(atof(argv[4]));
-	MyMesh::ScalarType d = static_cast<MyMesh::ScalarType>(atof(argv[5]));
-
-	vcg::Point3<MyMesh::ScalarType> direction(a, b, c);
-	MyMesh::ScalarType distance = -d / direction.Norm();
-	direction.Normalize();
-
-	vcg::Plane3<MyMesh::ScalarType> plane(distance, direction);
-
-	MyEdgeMesh edge_mesh;  // returned EdgeMesh (i.e. the cross-section)
-
-	vcg::IntersectionPlaneMesh<MyMesh, MyEdgeMesh, MyMesh::ScalarType>(m, plane, edge_mesh);
-
-	// Compute bounding box
-	vcg::tri::UpdateBounding<MyEdgeMesh>::Box(edge_mesh);
-
-	// export the cross-section
-	tri::io::SVGProperties pro;
-	if (tri::io::ExporterSVG<MyEdgeMesh>::Save(edge_mesh, "out.svg",pro))
-		printf("    The cross-intersection has been successfully saved (OUT.SVG).\n");
-	else
-		printf("    The cross-intersection cannot be saved.\n");
-
-
-	return 0;
-}
-
diff --git a/apps/sample/trimesh_intersection/trimesh_intersection.pro b/apps/sample/trimesh_intersection/trimesh_intersection.pro
deleted file mode 100644
index e3b6b91e..00000000
--- a/apps/sample/trimesh_intersection/trimesh_intersection.pro
+++ /dev/null
@@ -1,3 +0,0 @@
-include(../common.pri)
-TARGET = trimesh_intersection
-SOURCES += trimesh_intersection.cpp ../../../wrap/ply/plylib.cpp
diff --git a/apps/sample/trimesh_intersection_mesh/trimesh_intersection_mesh.cpp b/apps/sample/trimesh_intersection_mesh/trimesh_intersection_mesh.cpp
new file mode 100644
index 00000000..e60e7f10
--- /dev/null
+++ b/apps/sample/trimesh_intersection_mesh/trimesh_intersection_mesh.cpp
@@ -0,0 +1,97 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+/*! \file trimesh_intersection_mesh.cpp
+\ingroup code_sample
+
+\brief An example of adaptively remeshing the intersection between a cube and a sphere
+
+*/
+
+#include <vcg/complex/complex.h>
+#include <vcg/complex/algorithms/clean.h>
+#include <vcg/complex/algorithms/intersection.h>
+#include <vcg/complex/algorithms/refine.h>
+#include <vcg/complex/algorithms/update/color.h>
+#include <vcg/complex/algorithms/create/platonic.h>
+#include<vcg/complex/algorithms/isotropic_remeshing.h>
+
+#include <wrap/io_trimesh/export_off.h>
+
+using namespace std;
+using namespace vcg;
+
+class MyFace;
+class MyVertex;
+
+struct MyUsedTypes : public UsedTypes<	
+    Use<MyVertex>::AsVertexType,
+    Use<MyFace>  ::AsFaceType>{};
+
+
+class MyVertex  : public Vertex< MyUsedTypes, vertex::Coord3f, vertex::VFAdj, vertex::BitFlags, vertex::Normal3f, vertex::Qualityf, vertex::Mark>{};
+class MyFace    : public Face  < MyUsedTypes, face::VertexRef, face::VFAdj, face::FFAdj, face::Color4b, face::BitFlags, face::Mark, face::Normal3f> {};
+
+class MyMesh:     public tri::TriMesh< vector<MyVertex>, vector<MyFace > >{};
+
+int main(int ,char **)
+{  
+  MyMesh m1, m2;
+  Sphere(m1);
+  Hexahedron(m2);
+  printf("Created a sphere mesh of %i vertices %i edges\n",m1.VN(),m1.FN());
+  printf("Created a cube mesh of %i vertices %i edges\n",m2.VN(),m2.FN());
+  
+  math::MarsenneTwisterRNG rnd(clock());
+  Point3f direction = vcg::math::GeneratePointOnUnitSphereUniform<float,math::MarsenneTwisterRNG>(rnd);
+  tri::UpdatePosition<MyMesh>::Translate(m1,direction);
+  for(int i=0;i<6;++i)
+  {
+    tri::Clean<MyMesh>::SelectIntersectingFaces(m1,m2);
+    tri::UpdateSelection<MyMesh>::FaceDilate(m1);
+    tri::Clean<MyMesh>::SelectIntersectingFaces(m2,m1);
+    tri::UpdateSelection<MyMesh>::FaceDilate(m2);
+    IsotropicRemeshing<MyMesh>::Params params;
+    
+    float len = (tri::Stat<MyMesh>::ComputeFaceEdgeLengthAverage(m1,true) + tri::Stat<MyMesh>::ComputeFaceEdgeLengthAverage(m1,true));
+    params.SetTargetLen(len*0.8f);
+    params.SetFeatureAngleDeg(10);
+    params.iter=1; // just one iteration to avoid overtessellating.
+    params.selectedOnly=true;
+    printf(" Input mesh %8i v %8i f\n",m1.VN(),m1.FN());
+    IsotropicRemeshing<MyMesh>::Do(m1, params);
+    IsotropicRemeshing<MyMesh>::Do(m2, params);
+    printf(" Input mesh %8i v %8i f\n",m1.VN(),m1.FN());
+  }
+  tri::Clean<MyMesh>::SelectIntersectingFaces(m1,m2);
+  tri::Clean<MyMesh>::SelectIntersectingFaces(m2,m1);  
+  int selCnt= tri::UpdateColor<MyMesh>::PerFaceConstant(m1,Color4b::Red,true);
+  printf("Intersected %i faces on sphere\n",selCnt);
+  selCnt= tri::UpdateColor<MyMesh>::PerFaceConstant(m2,Color4b::Red,true);
+  printf("Intersected %i faces on cube\n",selCnt);
+  
+  tri::io::ExporterOFF<MyMesh>::Save(m1,"sphere.off",tri::io::Mask::IOM_FACECOLOR);
+  tri::io::ExporterOFF<MyMesh>::Save(m2,"cube.off",tri::io::Mask::IOM_FACECOLOR);
+  
+  return 0;
+}
+
diff --git a/apps/sample/trimesh_intersection_mesh/trimesh_intersection_mesh.pro b/apps/sample/trimesh_intersection_mesh/trimesh_intersection_mesh.pro
new file mode 100644
index 00000000..9d676c3c
--- /dev/null
+++ b/apps/sample/trimesh_intersection_mesh/trimesh_intersection_mesh.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = trimesh_intersection_mesh
+SOURCES += trimesh_intersection_mesh.cpp
diff --git a/apps/sample/trimesh_intersection_plane/trimesh_intersection_plane.cpp b/apps/sample/trimesh_intersection_plane/trimesh_intersection_plane.cpp
new file mode 100644
index 00000000..7431770b
--- /dev/null
+++ b/apps/sample/trimesh_intersection_plane/trimesh_intersection_plane.cpp
@@ -0,0 +1,106 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+/*! \file trimesh_intersection_plane.cpp
+\ingroup code_sample
+
+\brief An example of computing the intersection of a mesh with a plane, 
+saving this polyline as a well projected 2D SVG 
+and splicing the mesh in the two components below and over the plane
+
+*/
+
+#include <vcg/complex/complex.h>
+#include <vcg/complex/algorithms/clean.h>
+#include <vcg/complex/algorithms/intersection.h>
+#include <vcg/complex/algorithms/refine.h>
+#include <vcg/complex/algorithms/create/platonic.h>
+
+#include <wrap/io_edgemesh/export_svg.h>
+#include <wrap/io_edgemesh/export_dxf.h>
+#include <wrap/io_trimesh/export_off.h>
+
+using namespace std;
+using namespace vcg;
+
+class MyFace;
+class MyEdge;
+class MyVertex;
+
+struct MyUsedTypes : public UsedTypes<	
+    Use<MyVertex>::AsVertexType,
+    Use<MyEdge>  ::AsEdgeType,
+    Use<MyFace>  ::AsFaceType>{};
+
+
+class MyVertex  : public Vertex< MyUsedTypes, vertex::Coord3f, vertex::BitFlags, vertex::Normal3f, vertex::Qualityf, vertex::Mark>{};
+class MyEdge    : public Edge  < MyUsedTypes, edge::VertexRef, edge::EVAdj> {};
+class MyFace    : public Face  < MyUsedTypes, face::VertexRef, face::FFAdj, face::BitFlags, face::Normal3f> {};
+
+class MyEdgeMesh: public tri::TriMesh< vector<MyVertex>, vector<MyEdge> > {};
+class MyMesh:     public tri::TriMesh< vector<MyVertex>, vector<MyFace > >{};
+
+int main(int ,char **)
+{  
+  MyMesh m, m_over, m_under;;
+  Sphere(m);
+  printf("Created a sphere mesh of %i vertices %i edges\n",m.VN(),m.FN());
+  
+  // Compute intersection with a random plane
+  math::MarsenneTwisterRNG rnd;
+  Point3f direction = vcg::math::GeneratePointOnUnitSphereUniform<float,math::MarsenneTwisterRNG>(rnd);
+  float distance = rnd.generate01();
+  vcg::Plane3<MyMesh::ScalarType> plane(distance, direction);
+  
+  printf("Intersecting a sphere with a plane %4.2f %4.2f %4.2f off: %4.2f\n",direction[0],direction[1],direction[2],distance);
+  MyEdgeMesh edge_mesh;  // the cross-section
+  vcg::IntersectionPlaneMesh<MyMesh, MyEdgeMesh, MyMesh::ScalarType>(m, plane, edge_mesh);
+  
+  // Compute bounding box
+  vcg::tri::UpdateBounding<MyEdgeMesh>::Box(edge_mesh);
+  printf("Created a edge mesh of %i vertices %i edges\n",edge_mesh.VN(),edge_mesh.EN());
+  
+  // export the cross-section (projected along the plane normal direction) 
+  tri::io::SVGProperties pro;
+  pro.projDir = plane.Direction(); 
+  tri::io::ExporterSVG<MyEdgeMesh>::Save(edge_mesh, "trimesh_intersection.svg",pro);
+  
+  // Now actually cut the mesh using the refine framework 
+  tri::UpdateQuality<MyMesh>::VertexFromPlane(m, plane);
+  tri::QualityMidPointFunctor<MyMesh> slicingfunc(0.0);
+  tri::QualityEdgePredicate<MyMesh> slicingpred(0.0,0.0);
+  tri::UpdateTopology<MyMesh>::FaceFace(m);
+  tri::RefineE<MyMesh, tri::QualityMidPointFunctor<MyMesh>, tri::QualityEdgePredicate<MyMesh> > (m, slicingfunc, slicingpred, false);
+  
+  tri::UpdateSelection<MyMesh>::VertexFromQualityRange(m,0,std::numeric_limits<float>::max());
+  tri::UpdateSelection<MyMesh>::FaceFromVertexStrict(m);
+  tri::Append<MyMesh,MyMesh>::Mesh(m_over,m,true);
+  tri::UpdateSelection<MyMesh>::FaceInvert(m);
+  tri::Append<MyMesh,MyMesh>::Mesh(m_under,m,true);
+  printf("Created a sphere mesh of %i vertices %i edges\n",m_over.VN(),m_over.FN());
+  tri::io::ExporterOFF<MyMesh>::Save(m_over,"trimesh_intersection_over.off");
+  printf("Created a sphere mesh of %i vertices %i edges\n",m_under.VN(),m_under.FN());
+  tri::io::ExporterOFF<MyMesh>::Save(m_under,"trimesh_intersection_under.off");
+  
+  return 0;
+}
+
diff --git a/apps/sample/trimesh_intersection_plane/trimesh_intersection_plane.pro b/apps/sample/trimesh_intersection_plane/trimesh_intersection_plane.pro
new file mode 100644
index 00000000..901b8ad6
--- /dev/null
+++ b/apps/sample/trimesh_intersection_plane/trimesh_intersection_plane.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = trimesh_intersection_plane
+SOURCES += trimesh_intersection_plane.cpp
diff --git a/apps/sample/trimesh_join/trimesh_join.cpp b/apps/sample/trimesh_join/trimesh_join.cpp
index f7d86a87..15daf89c 100644
--- a/apps/sample/trimesh_join/trimesh_join.cpp
+++ b/apps/sample/trimesh_join/trimesh_join.cpp
@@ -21,18 +21,13 @@
 *                                                                           *
 ****************************************************************************/
 #include<vcg/complex/complex.h>
-#include<vcg/complex/append.h>
 #include<vcg/complex/algorithms/clean.h>
 #include<vcg/complex/algorithms/clip.h>
-#include<vcg/complex/algorithms/update/bounding.h>
 
 // input output
 #include <wrap/io_trimesh/import_ply.h>
 #include <wrap/io_trimesh/export_ply.h>
 
-// std
-#include <vector>
-
 using namespace vcg;
 using namespace std;
 
diff --git a/apps/sample/trimesh_kdtree/trimesh_kdtree.cpp b/apps/sample/trimesh_kdtree/trimesh_kdtree.cpp
index b6de67ea..c25519cd 100644
--- a/apps/sample/trimesh_kdtree/trimesh_kdtree.cpp
+++ b/apps/sample/trimesh_kdtree/trimesh_kdtree.cpp
@@ -56,7 +56,7 @@ class MyMesh    : public tri::TriMesh< vector<MyVertex>, vector<MyFace> , vector
 
 int main( int argc, char **argv )
 {
-  if(argc<2) argv[1]="../../meshes/torus_irregular.ply";
+  if(argc<2) argv[1]=(char *)"../../meshes/torus_irregular.ply";
 
   MyMesh m;
   if(tri::io::Importer<MyMesh>::Open(m,argv[1])!=0)
diff --git a/apps/sample/trimesh_montecarlo_sampling/trimesh_montecarlo_sampling.cpp b/apps/sample/trimesh_montecarlo_sampling/trimesh_montecarlo_sampling.cpp
new file mode 100644
index 00000000..2b5e5a4d
--- /dev/null
+++ b/apps/sample/trimesh_montecarlo_sampling/trimesh_montecarlo_sampling.cpp
@@ -0,0 +1,77 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2012                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+#include<vcg/complex/complex.h>
+
+#include<wrap/io_trimesh/import_off.h>
+#include<wrap/io_trimesh/export_off.h>
+
+#include<vcg/complex/algorithms/point_sampling.h>
+#include<vcg/complex/algorithms/create/platonic.h>
+
+using namespace vcg;
+using namespace std;
+
+class MyEdge;
+class MyFace;
+class MyVertex;
+struct MyUsedTypes : public UsedTypes<	Use<MyVertex>   ::AsVertexType,
+                                        Use<MyEdge>     ::AsEdgeType,
+                                        Use<MyFace>     ::AsFaceType>{};
+
+class MyVertex  : public Vertex<MyUsedTypes, vertex::Coord3f, vertex::Normal3f, vertex::BitFlags  >{};
+class MyFace    : public Face< MyUsedTypes, face::FFAdj,  face::Normal3f, face::VertexRef, face::BitFlags > {};
+class MyEdge    : public Edge<MyUsedTypes>{};
+class MyMesh    : public tri::TriMesh< vector<MyVertex>, vector<MyFace> , vector<MyEdge>  > {};
+
+int main( int argc, char **argv )
+{
+  if(argc<2)
+  {
+    printf("Usage trimesh_base <meshfilename.obj> radius\n");
+    return -1;
+  }
+
+  MyMesh m;
+
+  if(tri::io::ImporterOFF<MyMesh>::Open(m,argv[1])!=0)
+  {
+    printf("Error reading file  %s\n",argv[1]);
+    exit(0);
+  }
+  tri::SurfaceSampling<MyMesh,tri::TrivialSampler<MyMesh> >::SamplingRandomGenerator().initialize(time(0));
+
+  //----------------------------------------------------------------------
+  // Advanced Sample
+  // Make a feature dependent Poisson Disk sampling
+  MyMesh MontecarloSurfaceMesh;
+
+  std::vector<Point3f> sampleVec;
+  tri::TrivialSampler<MyMesh> mps(sampleVec);
+  int t0=clock();
+  tri::SurfaceSampling<MyMesh,tri::TrivialSampler<MyMesh> >::Montecarlo(m,mps,10000000);
+  int t1=clock();
+
+  printf("Computed a montecarlo distribution of %lu vertices radius is %6.3f\n",sampleVec.size(),float(t1-t0)/float(CLOCKS_PER_SEC));
+
+  return 0;
+}
diff --git a/apps/sample/trimesh_montecarlo_sampling/trimesh_montecarlo_sampling.pro b/apps/sample/trimesh_montecarlo_sampling/trimesh_montecarlo_sampling.pro
new file mode 100644
index 00000000..6e74042b
--- /dev/null
+++ b/apps/sample/trimesh_montecarlo_sampling/trimesh_montecarlo_sampling.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = trimesh_montecarlo_sampling
+SOURCES += trimesh_montecarlo_sampling.cpp
diff --git a/apps/sample/trimesh_normal/trimesh_normal.cpp b/apps/sample/trimesh_normal/trimesh_normal.cpp
index fc7b928d..bbac413c 100644
--- a/apps/sample/trimesh_normal/trimesh_normal.cpp
+++ b/apps/sample/trimesh_normal/trimesh_normal.cpp
@@ -30,8 +30,6 @@
 
 #include<wrap/io_trimesh/import_off.h>
 
-#include<vcg/complex/algorithms/update/normal.h>
-
 using namespace vcg;
 using namespace std;
 
diff --git a/apps/sample/trimesh_optional/trimesh_optional.cpp b/apps/sample/trimesh_optional/trimesh_optional.cpp
index 18f21370..04f58057 100644
--- a/apps/sample/trimesh_optional/trimesh_optional.cpp
+++ b/apps/sample/trimesh_optional/trimesh_optional.cpp
@@ -34,10 +34,6 @@ This file shows how to dynamically allocate component that you do not need most
 #include<vcg/complex/complex.h>
 
 #include<vcg/complex/algorithms/create/platonic.h>
-#include<vcg/complex/algorithms/update/topology.h>
-#include<vcg/complex/algorithms/update/flag.h>
-#include<vcg/complex/algorithms/update/normal.h>
-#include<vcg/complex/algorithms/update/bounding.h>
 #include<vcg/complex/algorithms/update/curvature.h>
 #include <vcg/complex/algorithms/refine_loop.h>
 #include <wrap/io_trimesh/export_off.h>
diff --git a/apps/sample/trimesh_pointcloud_sampling/trimesh_pointcloud_sampling.cpp b/apps/sample/trimesh_pointcloud_sampling/trimesh_pointcloud_sampling.cpp
index e4b0f0ac..9ce7e8d4 100644
--- a/apps/sample/trimesh_pointcloud_sampling/trimesh_pointcloud_sampling.cpp
+++ b/apps/sample/trimesh_pointcloud_sampling/trimesh_pointcloud_sampling.cpp
@@ -70,11 +70,10 @@ int main( int argc, char **argv )
   float radius = m.bbox.Diag() * perc;
   printf("Subsampling a PointCloud of %i vert with %f radius\n",m.VN(),radius);
   tri::SurfaceSampling<MyMesh,tri::MeshSampler<MyMesh> >::PoissonDiskParam pp;
-  tri::SurfaceSampling<MyMesh,tri::MeshSampler<MyMesh> >::PoissonDiskParam::Stat pds; pp.pds=&pds;
   pp.bestSampleChoiceFlag=false;
   tri::SurfaceSampling<MyMesh,tri::MeshSampler<MyMesh> >::PoissonDiskPruning(mps, m, radius, pp);
   tri::io::ExporterPLY<MyMesh>::Save(subM,"PoissonMesh.ply");
-  printf("Sampled %i vertices in %5.2f\n",subM.VN(), float(pds.pruneTime+pds.gridTime)/float(CLOCKS_PER_SEC));
+  printf("Sampled %i vertices in %5.2f\n",subM.VN(), float(pp.pds.pruneTime+pp.pds.gridTime)/float(CLOCKS_PER_SEC));
 
   int t0=clock();
   tri::Clustering<MyMesh, vcg::tri::AverageColorCell<MyMesh> > ClusteringGrid;
diff --git a/apps/sample/trimesh_pointmatching/trimesh_pointmatching.cpp b/apps/sample/trimesh_pointmatching/trimesh_pointmatching.cpp
index fbf28bdd..5241fcc0 100644
--- a/apps/sample/trimesh_pointmatching/trimesh_pointmatching.cpp
+++ b/apps/sample/trimesh_pointmatching/trimesh_pointmatching.cpp
@@ -32,8 +32,6 @@ Given a mesh (an icosahedron) for each face we get a few random samples over it,
 */
 
 #include<vcg/complex/complex.h>
-#include<vcg/complex/algorithms/update/topology.h>
-#include<vcg/complex/algorithms/update/normal.h>
 #include<vcg/complex/algorithms/create/platonic.h>
 #include<vcg/complex/algorithms/point_sampling.h>
 #include<wrap/io_trimesh/import_off.h>
diff --git a/apps/sample/trimesh_ray/trimesh_ray.cpp b/apps/sample/trimesh_ray/trimesh_ray.cpp
index 1543da91..8ad9ba93 100644
--- a/apps/sample/trimesh_ray/trimesh_ray.cpp
+++ b/apps/sample/trimesh_ray/trimesh_ray.cpp
@@ -1,15 +1,30 @@
-#include <vector>
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
 
-using namespace std;
-
-// VCG headers for triangular mesh processing
 #include <vcg/complex/complex.h>
-#include <vcg/complex/algorithms/update/topology.h>
 #include <vcg/complex/algorithms/update/component_ep.h>
-#include <vcg/complex/algorithms/update/bounding.h>
 #include <vcg/complex/algorithms/update/quality.h>
 #include <vcg/complex/algorithms/update/color.h>
-#include <vcg/complex/algorithms/update/flag.h>
 #include <vcg/complex/algorithms/stat.h>
 #include <vcg/complex/algorithms/clean.h>
 #include <vcg/complex/algorithms/intersection.h>
@@ -21,6 +36,7 @@ using namespace std;
 #include <wrap/io_trimesh/import.h>
 #include <wrap/io_trimesh/export_ply.h>
 
+using namespace std;
 using namespace vcg;
 
 class MyFace;
diff --git a/apps/sample/trimesh_refine/trimesh_refine.cpp b/apps/sample/trimesh_refine/trimesh_refine.cpp
index 348b180d..7fae4830 100644
--- a/apps/sample/trimesh_refine/trimesh_refine.cpp
+++ b/apps/sample/trimesh_refine/trimesh_refine.cpp
@@ -1,8 +1,27 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
 #include<vcg/complex/complex.h>
 
-#include <vcg/complex/algorithms/update/topology.h>
-#include <vcg/complex/algorithms/update/normal.h>
-#include <vcg/complex/algorithms/update/flag.h>
 #include <vcg/complex/algorithms/refine.h>
 #include <vcg/complex/algorithms/refine_loop.h>
 
@@ -118,8 +137,6 @@ int  main(int argc, char **argv)
   
   printf("Output mesh vn:%i fn:%i\n",m.VN(),m.FN());
 
-  vcg::tri::io::PlyInfo pi;
-  pi.mask|=vcg::tri::io::Mask::IOM_BITPOLYGONAL;
-  vcg::tri::io::Exporter<MyMesh>::Save(m,argv[2],pi.mask);
+  vcg::tri::io::Exporter<MyMesh>::Save(m,argv[2],vcg::tri::io::Mask::IOM_BITPOLYGONAL);
   return 0;
 }
diff --git a/apps/sample/trimesh_remeshing/trimesh_remeshing.cpp b/apps/sample/trimesh_remeshing/trimesh_remeshing.cpp
new file mode 100644
index 00000000..895e83f5
--- /dev/null
+++ b/apps/sample/trimesh_remeshing/trimesh_remeshing.cpp
@@ -0,0 +1,119 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2012                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+/*! \file trimesh_normal.cpp
+\ingroup code_sample
+
+\brief An example of all the methods for computing normals over a mesh.
+
+*/
+#include<vcg/complex/complex.h>
+
+#include<wrap/io_trimesh/import.h>
+#include<wrap/io_trimesh/export.h>
+
+#include<vcg/complex/algorithms/clean.h>
+#include<vcg/complex/algorithms/isotropic_remeshing.h>
+
+using namespace vcg;
+using namespace std;
+
+class MyEdge;
+class MyFace;
+class MyVertex;
+struct MyUsedTypes : public UsedTypes<	Use<MyVertex>   ::AsVertexType,
+        Use<MyEdge>     ::AsEdgeType,
+        Use<MyFace>     ::AsFaceType>{};
+
+class MyVertex  : public Vertex<MyUsedTypes, vertex::Coord3f, vertex::Normal3f, vertex::VFAdj, vertex::Qualityf, vertex::BitFlags,  vertex::Mark>{};
+class MyFace    : public Face< MyUsedTypes, face::Mark,  face::VertexRef, face::VFAdj, face::FFAdj, face::Normal3f, face::BitFlags > {};
+class MyEdge    : public Edge<MyUsedTypes>{};
+class MyMesh    : public tri::TriMesh< vector<MyVertex>, vector<MyFace> , vector<MyEdge>  > {};
+
+int main( int argc, char **argv )
+{
+	MyMesh original,toremesh;
+	if(argc<2)
+	{
+		printf("Usage: trimesh_remesh <filename> [[targetLen (bbox perc)] [iterNum] [creaseAngle] [maxSurfDist (bbox perc)]]");
+		exit(0);
+	}
+
+	if(tri::io::Importer<MyMesh>::Open(original,argv[1])!=0)
+	{
+		printf("Error reading file  %s\n",argv[1]);
+		exit(0);
+	}
+	float targetLenPerc=.2f;
+	int iterNum=20;
+	float creaseAngle = 30.f;
+	float maxSurfDistPerc = 0.001f;
+	if(argc>=3) targetLenPerc = atof(argv[2]);
+	if(argc>=4) iterNum = atoi(argv[3]);
+	if(argc>=5) creaseAngle = atof(argv[4]);
+	if(argc>=6) maxSurfDistPerc = atof(argv[5]);
+
+
+	// Mesh cleaning
+	tri::Clean<MyMesh>::RemoveUnreferencedVertex(original);
+	Allocator<MyMesh>::CompactEveryVector(original);
+
+
+	tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFaceNormalized(original);
+	tri::UpdateBounding<MyMesh>::Box(original);
+
+	vcg::tri::Append<MyMesh,MyMesh>::MeshCopy(toremesh,original);
+	tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFaceNormalized(toremesh);
+	tri::UpdateBounding<MyMesh>::Box(toremesh);
+
+	tri::UpdateTopology<MyMesh>::FaceFace(toremesh);
+	float lengthThr = targetLenPerc*(original.bbox.Diag()/100.f);
+	float maxSurfDist = maxSurfDistPerc*(original.bbox.Diag()/100.f);
+	printf("Length Thr: %8.3f ~ %4.2f %% on %5.3f\n",lengthThr,targetLenPerc,original.bbox.Diag());
+
+	IsotropicRemeshing<MyMesh>::Params params;
+	params.SetTargetLen(lengthThr);
+	params.SetFeatureAngleDeg(creaseAngle);
+	params.iter=iterNum;
+
+	if (maxSurfDistPerc != 0)
+	{
+		params.surfDistCheck = true;
+		params.maxSurfDist = maxSurfDist;
+	}
+	else
+	{
+		params.surfDistCheck = false;
+	}
+
+	params.cleanFlag = true;
+	params.userSelectedCreases = false;
+
+
+
+	printf(" Input mesh %8i v %8i f\n",toremesh.VN(),toremesh.FN());
+	IsotropicRemeshing<MyMesh>::Do(toremesh, original, params);
+	vcg::tri::io::ExporterPLY<MyMesh>::Save(toremesh, "remesh.ply");
+	printf("Output mesh %8i v %8i f\n",toremesh.VN(),toremesh.FN());
+
+	return 0;
+}
diff --git a/apps/sample/trimesh_remeshing/trimesh_remeshing.pro b/apps/sample/trimesh_remeshing/trimesh_remeshing.pro
new file mode 100644
index 00000000..9e4b95cf
--- /dev/null
+++ b/apps/sample/trimesh_remeshing/trimesh_remeshing.pro
@@ -0,0 +1,4 @@
+include(../common.pri)
+TARGET = trimesh_remeshing
+SOURCES += trimesh_remeshing.cpp ../../../wrap/ply/plylib.cpp
+
diff --git a/apps/sample/trimesh_resampler/trimesh_resampler.cpp b/apps/sample/trimesh_resampler/trimesh_resampler.cpp
new file mode 100644
index 00000000..cb60cf8e
--- /dev/null
+++ b/apps/sample/trimesh_resampler/trimesh_resampler.cpp
@@ -0,0 +1,60 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+#include <vcg/complex/complex.h>
+#include <vcg/math/perlin_noise.h>
+#include <vcg/complex/algorithms/create/platonic.h>
+#include <vcg/complex/algorithms/create/resampler.h>
+#include <wrap/io_trimesh/export_ply.h>
+
+using namespace std;
+using namespace vcg;
+
+typedef float ScalarType;
+
+class MyFace;
+class MyVertex;
+
+struct MyUsedTypes : public UsedTypes<	Use<MyVertex>::AsVertexType,
+                                        Use<MyFace>  ::AsFaceType>{};
+
+class MyVertex     : public Vertex< MyUsedTypes, vertex::Coord3f, vertex::Normal3f, vertex::BitFlags>{};
+class MyFace       : public Face< MyUsedTypes, face::VertexRef, face::Normal3f, face::BitFlags> {};
+
+class MyMesh       : public tri::TriMesh< std::vector< MyVertex>, std::vector< MyFace > > {};
+
+int main(int /*argc*/ , char **/*argv*/)
+{
+  MyMesh base_mesh,resampled_mesh;
+  tri::Torus(base_mesh,10,3);
+  vcg::tri::UpdateBounding<MyMesh>::Box(base_mesh);
+  Box3f bb = base_mesh.bbox; 
+  float cell_side = bb.Diag()/30.0;
+  bb.Offset(cell_side);
+  Point3i box_size(bb.DimX()/cell_side,bb.DimY()/cell_side,bb.DimZ()/cell_side);
+  
+  tri::Resampler<MyMesh,MyMesh>::Resample(base_mesh,resampled_mesh,bb,box_size,cell_side*5);
+  
+  vcg::tri::io::ExporterPLY<MyMesh>::Save( resampled_mesh, "resampled_torus.ply");
+  
+  printf("OK!\n");
+};
diff --git a/apps/sample/trimesh_resampler/trimesh_resampler.pro b/apps/sample/trimesh_resampler/trimesh_resampler.pro
new file mode 100644
index 00000000..f83391ce
--- /dev/null
+++ b/apps/sample/trimesh_resampler/trimesh_resampler.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = trimesh_resampler
+SOURCES += trimesh_resampler.cpp ../../../wrap/ply/plylib.cpp
diff --git a/apps/sample/trimesh_sampling/trimesh_sampling.cpp b/apps/sample/trimesh_sampling/trimesh_sampling.cpp
index a7eed20c..3a065e90 100644
--- a/apps/sample/trimesh_sampling/trimesh_sampling.cpp
+++ b/apps/sample/trimesh_sampling/trimesh_sampling.cpp
@@ -89,7 +89,7 @@ int main( int argc, char **argv )
   tri::TrivialSampler<MyMesh> mps(sampleVec);
   tri::UpdateTopology<MyMesh>::FaceFace(m);
   tri::UpdateNormal<MyMesh>::PerFace(m);
-  tri::UpdateFlags<MyMesh>::FaceFauxCrease(m,math::ToRad(40.0f));
+  tri::UpdateFlags<MyMesh>::FaceEdgeSelCrease(m,math::ToRad(40.0f));
   tri::SurfaceSampling<MyMesh,tri::TrivialSampler<MyMesh> >::EdgeMontecarlo(m,mps,10000,false);
   tri::BuildMeshFromCoordVector(MontecarloEdgeMesh,sampleVec);
   tri::io::ExporterOFF<MyMesh>::Save(MontecarloEdgeMesh,"MontecarloEdgeMesh.off");
diff --git a/apps/sample/trimesh_select/trimesh_select.cpp b/apps/sample/trimesh_select/trimesh_select.cpp
new file mode 100644
index 00000000..951c2f6c
--- /dev/null
+++ b/apps/sample/trimesh_select/trimesh_select.cpp
@@ -0,0 +1,63 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+/*! \file trimesh_select.cpp
+\ingroup code_sample
+
+\brief the minimal example of using the selection functionality
+*/
+
+#include<vcg/complex/complex.h>
+#include<vcg/complex/algorithms/create/platonic.h>
+
+using namespace vcg;
+using namespace std;
+
+
+class MyFace;
+class MyVertex;
+
+struct MyUsedTypes : public UsedTypes<	Use<MyVertex>::AsVertexType, Use<MyFace>::AsFaceType>{};
+class MyVertex  : public Vertex< MyUsedTypes, vertex::VFAdj, vertex::Coord3f, vertex::Normal3f, vertex::BitFlags  >{};
+class MyFace    : public Face  < MyUsedTypes, face::VFAdj, face::Normal3f, face::VertexRef, face::BitFlags > {};
+class MyMesh    : public vcg::tri::TriMesh<vector<MyVertex>, vector<MyFace> > {};
+
+int main(int ,char ** )
+{
+  MyMesh m; 
+  // build a 10x10 grid of 100 vertices and 200 faces. 
+  tri::Grid(m,10,10,1.0f,1.0f);
+  tri::UpdateFlags<MyMesh>::VertexBorderFromNone(m);
+  int cornerNum = tri::UpdateSelection<MyMesh>::VertexCornerBorder(m,math::ToRad(100.0f));
+  printf("Mesh has %i vertexes  %i faces and %i corners\n",m.VN(),m.FN(),cornerNum);
+  
+  int borderNum = tri::UpdateSelection<MyMesh>::VertexFromBorderFlag(m);
+  int internalNum = tri::UpdateSelection<MyMesh>::VertexInvert(m);
+  int faceNotOnBoundaryNum = tri::UpdateSelection<MyMesh>::FaceFromVertexStrict(m);
+  printf("%i vertexes are on the boundary and %i internal and internal faces are %i \n",borderNum,internalNum,faceNotOnBoundaryNum);
+  int innerFacesNum = tri::UpdateSelection<MyMesh>::FaceErode(m);
+  printf("Eroding the face selection of on ring of faces bring it to %i faces\n",innerFacesNum);
+  
+  
+  return 0;
+}
+
diff --git a/apps/sample/trimesh_select/trimesh_select.pro b/apps/sample/trimesh_select/trimesh_select.pro
new file mode 100644
index 00000000..938f5273
--- /dev/null
+++ b/apps/sample/trimesh_select/trimesh_select.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = trimesh_select
+SOURCES += trimesh_select.cpp 
diff --git a/apps/sample/trimesh_selfintersection/trimesh_selfintersection.cpp b/apps/sample/trimesh_selfintersection/trimesh_selfintersection.cpp
new file mode 100644
index 00000000..94ab61d2
--- /dev/null
+++ b/apps/sample/trimesh_selfintersection/trimesh_selfintersection.cpp
@@ -0,0 +1,66 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2012                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+/*! \file trimesh_normal.cpp
+\ingroup code_sample
+
+\brief An example of all the methods for computing normals over a mesh.
+
+*/
+#include<vcg/complex/complex.h>
+
+#include<wrap/io_trimesh/import_ply.h>
+
+#include<vcg/complex/algorithms/clean.h>
+#include<vcg/complex/algorithms/update/bounding.h>
+
+using namespace vcg;
+using namespace std;
+
+class MyEdge;
+class MyFace;
+class MyVertex;
+struct MyUsedTypes : public UsedTypes<	Use<MyVertex>   ::AsVertexType,
+                                        Use<MyEdge>     ::AsEdgeType,
+                                        Use<MyFace>     ::AsFaceType>{};
+
+class MyVertex  : public Vertex<MyUsedTypes, vertex::Coord3f, vertex::Normal3f, vertex::BitFlags  >{};
+class MyFace    : public Face< MyUsedTypes, face::Mark,  face::VertexRef, face::Normal3f, face::BitFlags > {};
+class MyEdge    : public Edge<MyUsedTypes>{};
+class MyMesh    : public tri::TriMesh< vector<MyVertex>, vector<MyFace> , vector<MyEdge>  > {};
+
+int main( int argc, char **argv )
+{
+  MyMesh m;
+
+  if(tri::io::ImporterPLY<MyMesh>::Open(m,"../../meshes/SelfIntersection2.ply")!=0)
+  {
+    printf("Error reading file  %s\n",argv[1]);
+    exit(0);
+  }
+  std::vector<MyFace *> retVec;
+  tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFaceNormalized(m);
+  tri::UpdateBounding<MyMesh>::Box(m);
+  tri::Clean<MyMesh>::SelfIntersections(m, retVec);
+  printf("Mesh has %i selfintersecting faces\n",retVec.size());
+  return 0;
+}
diff --git a/apps/sample/trimesh_selfintersection/trimesh_selfintersection.pro b/apps/sample/trimesh_selfintersection/trimesh_selfintersection.pro
new file mode 100644
index 00000000..9b047ba4
--- /dev/null
+++ b/apps/sample/trimesh_selfintersection/trimesh_selfintersection.pro
@@ -0,0 +1,4 @@
+include(../common.pri)
+TARGET = trimesh_selfintersection
+SOURCES += trimesh_selfintersection.cpp ../../../wrap/ply/plylib.cpp
+
diff --git a/apps/sample/trimesh_smooth/trimesh_smooth.cpp b/apps/sample/trimesh_smooth/trimesh_smooth.cpp
index 590f2b53..2fa35900 100644
--- a/apps/sample/trimesh_smooth/trimesh_smooth.cpp
+++ b/apps/sample/trimesh_smooth/trimesh_smooth.cpp
@@ -30,13 +30,10 @@ This file contain a minimal example of the library
 */
 
 #include<vcg/complex/complex.h>
-#include <vcg/complex/algorithms/update/topology.h>
-#include <vcg/complex/algorithms/update/normal.h>
 
 #include<vcg/complex/algorithms/clean.h>
 #include<vcg/complex/algorithms/smooth.h>
 
-// input output
 #include <wrap/io_trimesh/import.h>
 #include <wrap/io_trimesh/export_ply.h>
 
diff --git a/apps/sample/trimesh_texture/trimesh_texture.cpp b/apps/sample/trimesh_texture/trimesh_texture.cpp
index e8a56bea..f226a6f2 100644
--- a/apps/sample/trimesh_texture/trimesh_texture.cpp
+++ b/apps/sample/trimesh_texture/trimesh_texture.cpp
@@ -20,24 +20,27 @@
 * for more details.                                                         *
 *                                                                           *
 ****************************************************************************/
-#include <QtOpenGL/QtOpenGL>
-
 #include<vcg/complex/complex.h>
 
 // input output
 #include <wrap/io_trimesh/import_ply.h>
 #include <wrap/io_trimesh/export_ply.h>
 
-#include<vcg/complex/algorithms/update/topology.h>
 #include<vcg/complex/algorithms/outline_support.h>
 
-#include<vcg/simplex/face/pos.h>
-
 #include <vcg/space/outline2_packer.h>
 #include <wrap/qt/outline2_rasterizer.h>
 
 #include <vcg/space/rasterized_outline2_packer.h>
 #include <wrap/qt/Outline2ToQImage.h>
+/*! \file trimesh_texture.cpp
+\ingroup code_sample
+
+\brief a small example about packing texture regions
+
+It takes a sample mesh as input, computes the connected
+components of its parametrization and pack them again using two different strategies
+*/
 
 using namespace vcg;
 
@@ -56,27 +59,26 @@ int main(int ,char ** )
   MyMesh m,tm;
   tri::io::ImporterPLY<MyMesh>::Open(m,"../../meshes/bunny10k_textured.ply");
 
-  tri::Allocator<MyMesh>::AddVertices(tm,m.fn*3);
-  tri::Allocator<MyMesh>::AddFaces(tm,m.fn);
-
-  for(size_t i=0;i<m.fn;++i)
+  // 1) Build a mesh with tex coords as coords. 
+  
+  for( auto &&f : m.face)
   {
-    for(int j=0;j<3;++j)
-    {
-      tm.face[i].V(j)=&tm.vert[i*3+j];
-      tm.vert[i*3+j].P()[0] = m.face[i].WT(j).U();
-      tm.vert[i*3+j].P()[1] = m.face[i].WT(j).V();
-      tm.vert[i*3+j].P()[2] = 0;
-    }
+   tri::Allocator<MyMesh>::AddFace(tm,
+                                   Point3f(f.WT(0).U(),f.WT(0).V(),0),
+                                   Point3f(f.WT(1).U(),f.WT(1).V(),0),
+                                   Point3f(f.WT(2).U(),f.WT(2).V(),0));
   }
+  
+  // 2) compute connected components (e.g. texture regions in an atlas)
   tri::Clean<MyMesh>::RemoveDuplicateVertex(tm);
-  std::vector<std::pair<int,MyMesh::FacePointer> > fpVec;
   tri::UpdateTopology<MyMesh>::FaceFace(tm);
+  std::vector<std::pair<int,MyMesh::FacePointer> > fpVec;
   tri::Clean<MyMesh>::ConnectedComponents(tm,fpVec);
   printf("Mesh has %lu texture components\n",fpVec.size());
   tri::io::ExporterPLY<MyMesh>::Save(tm,"out.ply");
   std::vector< std::vector<Point2f> > outline2Vec;
-
+  
+  // build the 2D outlines of each regions
   for(size_t i=0; i<fpVec.size();++i)
   {
     tri::UpdateSelection<MyMesh>::FaceClear(tm);
@@ -106,25 +108,29 @@ int main(int ,char ** )
   sim.sca=1024.0f;
   std::vector<Similarity2f> trVec(outline2Vec.size(),sim);
   printf("Mesh has %lu texture components\n",outline2Vec.size());
+  
+  // Dump the original parametrization as a png
   Outline2Dumper::dumpOutline2VecPNG("PrePack.png",outline2Vec,trVec,pp);
 
+  // Pack using Axis Aligned Rect
   const Point2i containerSize(1024,1024);
   Point2f finalSize(1024,1024);
   PolyPacker<float>::PackAsAxisAlignedRect(outline2Vec,containerSize,trVec,finalSize);
 
   Outline2Dumper::dumpOutline2VecPNG("PostPack.png",outline2Vec,trVec,pp);
 
+   // Pack using Oriented Rect
   RasterizedOutline2Packer<float, QtOutline2Rasterizer>::Parameters packingParam;
-
   packingParam.costFunction  = RasterizedOutline2Packer<float, QtOutline2Rasterizer>::Parameters::LowestHorizon;
   packingParam.doubleHorizon = true;
-  packingParam.cellSize = 4;
+  packingParam.innerHorizon = true;
+  packingParam.permutations = false;
   packingParam.rotationNum = 16; //number of rasterizations in 90°
+  packingParam.gutterWidth = 2;
 
   RasterizedOutline2Packer<float, QtOutline2Rasterizer>::Pack(outline2Vec,containerSize,trVec,packingParam);
   Outline2Dumper::dumpOutline2VecPNG("PostPackRR.png",outline2Vec,trVec,pp);
 
-
   return 0;
 }
 
diff --git a/apps/sample/trimesh_texture_clean/trimesh_texture_clean.cpp b/apps/sample/trimesh_texture_clean/trimesh_texture_clean.cpp
new file mode 100644
index 00000000..e6e5029e
--- /dev/null
+++ b/apps/sample/trimesh_texture_clean/trimesh_texture_clean.cpp
@@ -0,0 +1,79 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+#include<vcg/complex/complex.h>
+
+#include <wrap/io_trimesh/export_obj.h>
+#include <vcg/complex/algorithms/update/texture.h>
+#include <vcg/complex/algorithms/create/platonic.h>
+
+/*! \file trimesh_texture_clean.cpp
+\ingroup code_sample
+
+\brief a small example about removing fake texture seams eventually generated by rounding error in a texture param  
+
+*/
+
+using namespace vcg;
+
+class MyEdge;
+class MyFace;
+class MyVertex;
+struct MyUsedTypes : public UsedTypes<	Use<MyVertex>::AsVertexType, Use<MyFace>::AsFaceType>{};
+
+class MyVertex  : public Vertex< MyUsedTypes, vertex::Coord3f, vertex::VFAdj, vertex::Normal3f, vertex::BitFlags  >{};
+class MyFace    : public Face  < MyUsedTypes, face::VertexRef, face::VFAdj, face::WedgeTexCoord2f, face::Mark, face::BitFlags > {};
+class MyMesh    : public tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace > >{};
+
+
+int main(int ,char ** )
+{
+  MyMesh m;
+  int mask = tri::io::Mask::IOM_WEDGTEXCOORD;
+  
+  // generate a simple 2D grid 
+  Grid(m,20,20,1,1);
+  // assign it a simple planar parametrization 
+  tri:UpdateTexture<MyMesh>::WedgeTexFromPlane(m,Point3f(1.0f,0,0),Point3f(0,1.0f,0),true);
+  tri::io::ExporterOBJ<MyMesh>::Save(m,"grid_0.obj",mask);
+  
+  // randomly perturb a few coord textures introducing fake seams
+  for(MyFace &f : m.face)
+  {
+    for(int i=0;i<3;++i)
+      if(rand()%20==0)
+      {
+        f.WT(i).U()+=0.0000001;
+        f.WT(i).V()-=0.0000001;
+      }
+  }
+  tri::io::ExporterOBJ<MyMesh>::Save(m,"grid_1.obj",mask);
+    
+  // Merge texture coords that very close
+  tri::UpdateTopology<MyMesh>::VertexFace(m);
+  tri::UpdateTexture<MyMesh>::WedgeTexMergeClose(m);
+  
+  tri::io::ExporterOBJ<MyMesh>::Save(m,"grid_2.obj",mask);
+    
+  return 0;
+}
+
diff --git a/apps/sample/trimesh_texture_clean/trimesh_texture_clean.pro b/apps/sample/trimesh_texture_clean/trimesh_texture_clean.pro
new file mode 100644
index 00000000..2c0f4f29
--- /dev/null
+++ b/apps/sample/trimesh_texture_clean/trimesh_texture_clean.pro
@@ -0,0 +1,4 @@
+include(../common.pri)
+TARGET = trimesh_texture_clean
+SOURCES += trimesh_texture_clean.cpp 
+
diff --git a/apps/sample/trimesh_topological_cut/trimesh_topological_cut.cpp b/apps/sample/trimesh_topological_cut/trimesh_topological_cut.cpp
new file mode 100644
index 00000000..8584e585
--- /dev/null
+++ b/apps/sample/trimesh_topological_cut/trimesh_topological_cut.cpp
@@ -0,0 +1,117 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2012                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+#include<vcg/complex/complex.h>
+#include<wrap/io_trimesh/import.h>
+#include<wrap/io_trimesh/export.h>
+
+
+#include<vcg/complex/algorithms/cut_tree.h>
+#include<vcg/complex/algorithms/curve_on_manifold.h>
+#include<vcg/complex/algorithms/crease_cut.h>
+
+using namespace vcg;
+
+class MyEdge;
+class MyFace;
+class MyVertex;
+struct MyUsedTypes : public UsedTypes<Use<MyVertex>::AsVertexType, Use<MyEdge>::AsEdgeType, Use<MyFace>::AsFaceType>{};
+
+class MyVertex  : public Vertex< MyUsedTypes, vertex::Coord3f, vertex::Normal3f, vertex::Qualityf, vertex::Color4b, vertex::VEAdj, vertex::VFAdj,vertex::BitFlags  >{};
+class MyEdge    : public Edge<   MyUsedTypes, edge::VertexRef, edge::VEAdj,     edge::EEAdj, edge::BitFlags> {};
+class MyFace    : public Face  < MyUsedTypes, face::VertexRef,  face::Normal3f, face::Qualityf, face::Color4b, face::VFAdj, face::FFAdj, face::Mark, face::Color4b, face::BitFlags > {};
+class MyMesh : public tri::TriMesh< std::vector<MyVertex>, std::vector<MyEdge>, std::vector<MyFace> >{};
+
+/**
+ * In this sample we take a torus we compute a poly line on it that open it into a disk and we open it. 
+ * Then using the COM (Curve On Manifold) framework we smooth this polyline keeping 
+ * it on the surface of the torus and then first we refine the torus surface with this 
+ * smooth polyline and then we open it along these new edges. 
+ * 
+ * Optionally you can use your own mesh and polyline by passing them as parameters. 
+ */
+int main(int argc,char ** argv )
+{
+  MyMesh base, basecopy, poly;
+  int ret0=0, ret1=0;
+  if(argc>1) ret0 = tri::io::Importer<MyMesh>::Open(base,argv[1]);
+  
+  if(base.FN() == 0)   Torus(base,10,4,48,24);
+
+  if(argc>2) ret1 = tri::io::Importer<MyMesh>::Open(poly,argv[2]); 
+  tri::UpdateBounding<MyMesh>::Box(base);
+  printf( "Mesh %s has %i vert and %i faces\n", argv[1], base.VN(), base.FN() );
+  printf( "Poly %s has %i vert and %i edges\n", argv[2], poly.VN(), poly.EN() );
+  if(poly.EN() == 0) {
+    srand(time(nullptr));
+    tri::CutTree<MyMesh> ct(base);
+    ct.Build(poly,rand()%base.fn);
+  }
+  tri::io::ExporterPLY<MyMesh>::Save(poly,"0_cut_tree.ply",tri::io::Mask::IOM_EDGEINDEX);  
+
+  tri::CoM<MyMesh> cc(base);
+  cc.Init();
+  bool ret = cc.TagFaceEdgeSelWithPolyLine(poly);
+  if(ret)
+  {
+    tri::Append<MyMesh,MyMesh>::MeshCopy(basecopy,base);  
+    tri::UpdateTopology<MyMesh>::FaceFace(basecopy);
+    tri::CutMeshAlongSelectedFaceEdges<MyMesh>(basecopy);
+    tri::io::ExporterPLY<MyMesh>::Save(basecopy,"base_cut_with_tree.ply");  
+  }
+  // Selected vertices are 'locked' during the smoothing. 
+  cc.SelectBoundaryVertex(poly);
+//  cc.SelectUniformlyDistributed(poly,10); // lock some vertices uniformly just for fun
+  
+  // Two smoothing runs,
+  // the first that allows fast movement over the surface (long edges that can skim surface details)
+  cc.par.surfDistThr = base.bbox.Diag()/100.0f;
+  cc.par.maxSimpEdgeLen = base.bbox.Diag()/50.0f;
+  cc.par.minRefEdgeLen = base.bbox.Diag()/100.0f;
+  cc.SmoothProject(poly,30,0.7f,.3f);
+  tri::io::ExporterPLY<MyMesh>::Save(poly,"1_poly_smooth.ply",tri::io::Mask::IOM_EDGEINDEX+tri::io::Mask::IOM_VERTCOLOR+tri::io::Mask::IOM_VERTQUALITY);
+
+  // The second smooting run more accurate to adapt to the surface
+  cc.par.surfDistThr = base.bbox.Diag()/1000.0f;
+  cc.par.maxSimpEdgeLen = base.bbox.Diag()/1000.0f;
+  cc.par.minRefEdgeLen = base.bbox.Diag()/2000.0f;
+  cc.SmoothProject(poly,10,0.01f,.99f);
+  tri::io::ExporterPLY<MyMesh>::Save(poly,"2_poly_smooth.ply",tri::io::Mask::IOM_EDGEINDEX+tri::io::Mask::IOM_VERTCOLOR+tri::io::Mask::IOM_VERTQUALITY);
+
+  Distribution<float> dist;  
+  cc.EvaluateHausdorffDistance(poly, dist );
+  
+  // Adapt the polyline to the mesh (in the end it will have vertices only on edges and vertices of the base mesh)
+  cc.RefineCurveByBaseMesh(poly);
+  tri::io::ExporterPLY<MyMesh>::Save(poly,"3_poly_refined.ply",tri::io::Mask::IOM_EDGEINDEX+tri::io::Mask::IOM_VERTCOLOR+tri::io::Mask::IOM_VERTQUALITY);   
+  // Safely split the mesh with this refined polyline
+  cc.SplitMeshWithPolyline(poly);
+  tri::io::ExporterPLY<MyMesh>::Save(base,"3_mesh_refined.ply",tri::io::Mask::IOM_VERTCOLOR+tri::io::Mask::IOM_VERTQUALITY);
+  // Now the two meshes should have coincident edges
+  cc.TagFaceEdgeSelWithPolyLine(poly);
+  CutMeshAlongSelectedFaceEdges(base);
+  tri::io::ExporterPLY<MyMesh>::Save(base,"4_mesh_cut.ply",tri::io::Mask::IOM_VERTCOLOR+tri::io::Mask::IOM_VERTQUALITY);
+  
+  return 0;
+}
+
diff --git a/apps/sample/trimesh_topological_cut/trimesh_topological_cut.pro b/apps/sample/trimesh_topological_cut/trimesh_topological_cut.pro
new file mode 100644
index 00000000..087c1b29
--- /dev/null
+++ b/apps/sample/trimesh_topological_cut/trimesh_topological_cut.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = trimesh_topological_cut
+SOURCES += trimesh_topological_cut.cpp ../../../wrap/ply/plylib.cpp
diff --git a/apps/sample/trimesh_topology/trimesh_topology.cpp b/apps/sample/trimesh_topology/trimesh_topology.cpp
index 553206fe..7a7ba174 100644
--- a/apps/sample/trimesh_topology/trimesh_topology.cpp
+++ b/apps/sample/trimesh_topology/trimesh_topology.cpp
@@ -24,10 +24,6 @@
 #include<vcg/complex/complex.h>
 #include<vcg/complex/algorithms/create/platonic.h>
 
-#include<vcg/complex/algorithms/update/topology.h>
-
-#include<vcg/simplex/face/pos.h>
-
 using namespace vcg;
 
 class MyEdge;
diff --git a/apps/sample/trimesh_volumesampling/trimesh_volumesampling.cpp b/apps/sample/trimesh_volumesampling/trimesh_volumesampling.cpp
new file mode 100644
index 00000000..bfc9d6e2
--- /dev/null
+++ b/apps/sample/trimesh_volumesampling/trimesh_volumesampling.cpp
@@ -0,0 +1,122 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2009                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+#include<vcg/complex/complex.h>
+#include<vcg/complex/algorithms/create/platonic.h>
+#include<wrap/io_trimesh/import_ply.h>
+#include<wrap/io_trimesh/export_off.h>
+#include<wrap/io_trimesh/export_ply.h>
+#include<wrap/io_trimesh/export_dxf.h>
+#include<vcg/complex/algorithms/point_sampling.h>
+#include<vcg/complex/algorithms/voronoi_processing.h>
+#include<vcg/complex/algorithms/voronoi_volume_sampling.h>
+
+
+using namespace vcg;
+using namespace std;
+
+class MyEdge;
+class MyFace;
+class MyVertex;
+struct MyUsedTypes : public UsedTypes<	Use<MyVertex>   ::AsVertexType,
+                                        Use<MyEdge>     ::AsEdgeType,
+                                        Use<MyFace>     ::AsFaceType>{};
+
+class MyVertex  : public Vertex<MyUsedTypes,  vertex::Coord3f, vertex::Normal3f, vertex::VFAdj, vertex::Qualityf, vertex::Color4b, vertex::BitFlags  >{};
+class MyFace    : public Face< MyUsedTypes,   face::VertexRef, face::Normal3f, face::BitFlags, face::Mark, face::VFAdj, face::FFAdj > {};
+class MyEdge    : public Edge< MyUsedTypes, edge::VertexRef, edge::BitFlags>{};
+class MyMesh    : public tri::TriMesh< vector<MyVertex>, vector<MyEdge>, vector<MyFace>   > {};
+
+class EmEdge;
+class EmFace;
+class EmVertex;
+struct EmUsedTypes : public UsedTypes<	Use<EmVertex>   ::AsVertexType,
+                                        Use<EmEdge>     ::AsEdgeType,
+                                        Use<EmFace>     ::AsFaceType>{};
+
+class EmVertex  : public Vertex<EmUsedTypes,  vertex::Coord3f, vertex::Normal3f, vertex::VFAdj , vertex::Qualityf, vertex::Color4b, vertex::BitFlags  >{};
+class EmFace    : public Face< EmUsedTypes,   face::VertexRef, face::BitFlags, face::VFAdj > {};
+class EmEdge    : public Edge< EmUsedTypes, edge::VertexRef> {};
+class EmMesh    : public tri::TriMesh< vector<EmVertex>, vector<EmEdge>, vector<EmFace>   > {};
+
+
+int main( int argc, char **argv )
+{
+  MyMesh mSur; // the original surface
+  MyMesh mOff; // the offsetted surface
+  if(argc < 3 )
+  {
+    printf("Usage trimesh_voronoisampling origSurf offsetSurf radius \n"
+           "radius is expressed as a perc bbox diag  (e.g. 0.1 -> 10 % of bbox diag) \n");
+     return -1;
+  }
+  
+  tri::io::ImporterPLY<MyMesh>::Open(mSur,argv[1]);
+  tri::io::ImporterPLY<MyMesh>::Open(mOff,argv[2]);
+  tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFaceNormalized(mOff);
+  tri::UpdateNormal<MyMesh>::PerVertexNormalizedPerFaceNormalized(mSur);
+  
+  std::vector<Point3f> sampleSurVec, sampleOffVec;
+//  MontecarloSampling(mSur, sampleSurVec,50000);
+  MontecarloSampling(mOff, sampleOffVec,50000);
+  sampleSurVec.insert( sampleSurVec.end(), sampleOffVec.begin(), sampleOffVec.end() );
+  
+  
+  printf("Read %i vn %i fn \n",mOff.vn, mOff.fn);
+  
+  float poissonRadius = mOff.bbox.Diag()*atof(argv[3]); 
+//  float poissonRadius = mOff.bbox.Diag()/10; 
+  printf("Poisson Radius %f\n",poissonRadius);
+  
+  float sampleSurfRadius=mOff.bbox.Diag()/100.0f;
+  int montecarloSampleNum = 100000;
+ 
+  MyMesh  seedM; 
+  VoronoiVolumeSampling<MyMesh> vvs(mOff, seedM);
+  printf("Sampling Surface at a radius %f ",sampleSurfRadius);
+  vvs.Init(sampleSurfRadius);
+  tri::BuildMeshFromCoordVector(vvs.seedDomainMesh, sampleSurVec);
+  printf("Sampled\n");
+  vvs.BuildVolumeSampling(montecarloSampleNum,0,poissonRadius);
+
+  
+  tri::io::ExporterPLY<MyMesh>::Save(vvs.seedDomainMesh,"seedDomainMesh.ply");
+  tri::io::ExporterPLY<MyMesh>::Save(vvs.poissonSurfaceMesh,"poissonSurfaceMesh.ply");
+  tri::io::ExporterPLY<MyMesh>::Save(vvs.montecarloVolumeMesh,"montecarloVolumeMesh.ply");
+  tri::io::ExporterPLY<MyMesh>::Save(seedM,"seedMesh0.ply");
+//  vvs.restrictedRelaxationFlag=true;
+//  vvs.BarycentricRelaxVoronoiSamples(10);
+  vvs.QuadricRelaxVoronoiSamples(10);
+  
+  tri::UpdateColor<MyMesh>::PerVertexQualityRamp(seedM);
+  tri::io::ExporterPLY<MyMesh>::Save(seedM,"seedMesh1.ply",tri::io::Mask::IOM_VERTCOLOR | tri::io::Mask::IOM_VERTQUALITY );
+  vvs.QuadricRelaxVoronoiSamples(10);
+  
+  tri::UpdateColor<MyMesh>::PerVertexQualityRamp(seedM);
+  tri::io::ExporterPLY<MyMesh>::Save(seedM,"seedMesh2.ply",tri::io::Mask::IOM_VERTCOLOR | tri::io::Mask::IOM_VERTQUALITY );
+  printf("\n Saved %i points \n",seedM.vn);
+  // Second Pipeline 
+  return true;
+  
+  return 0;
+}
diff --git a/apps/sample/trimesh_volumesampling/trimesh_volumesampling.pro b/apps/sample/trimesh_volumesampling/trimesh_volumesampling.pro
new file mode 100644
index 00000000..646b9839
--- /dev/null
+++ b/apps/sample/trimesh_volumesampling/trimesh_volumesampling.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = trimesh_volumesampling
+SOURCES += trimesh_volumesampling.cpp ../../../wrap/ply/plylib.cpp
diff --git a/apps/sample/trimesh_voronoi/trimesh_voronoi.cpp b/apps/sample/trimesh_voronoi/trimesh_voronoi.cpp
index 8b76f940..58e36a5b 100644
--- a/apps/sample/trimesh_voronoi/trimesh_voronoi.cpp
+++ b/apps/sample/trimesh_voronoi/trimesh_voronoi.cpp
@@ -51,7 +51,7 @@ int main( int argc, char **argv )
   MyMesh baseMesh,voronoiMesh, voronoiPoly, delaunayMesh;
   if(argc < 6 )
   {
-    printf("Usage: trimesh_voronoi mesh [sampleNum] voronoiRelaxIter delaunayRefinementStep delaunayRelaxStep \n");
+    printf("Usage: trimesh_voronoi mesh sampleNum voronoiRelaxIter delaunayRefinementStep delaunayRelaxStep \n");
      return -1;
   }
   int sampleNum = atoi(argv[2]);
@@ -82,7 +82,7 @@ int main( int argc, char **argv )
   tri::VoronoiProcessing<MyMesh>::SeedToVertexConversion(baseMesh,pointVec,seedVec);
 
   int t2=clock();
-  printf("Preprocessed %30s (%7i vn %7i fn) Computed   %i seed (asked %i) (radius %f) in %6.3f\n",
+  printf("Preprocessed %30s (%7i vn %7i fn) Computed   %lu seed (asked %i) (radius %f) in %6.3f\n",
          argv[1],baseMesh.vn,baseMesh.fn, seedVec.size(), sampleNum, radius, float(t2-t1)/CLOCKS_PER_SEC);
 
   tri::EuclideanDistance<MyMesh> df;
diff --git a/apps/sample/trimesh_voronoi_remesh/trimesh_voronoi_remesh.cpp b/apps/sample/trimesh_voronoi_remesh/trimesh_voronoi_remesh.cpp
new file mode 100644
index 00000000..58b88ffc
--- /dev/null
+++ b/apps/sample/trimesh_voronoi_remesh/trimesh_voronoi_remesh.cpp
@@ -0,0 +1,87 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2009                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+#include<vcg/complex/complex.h>
+#include<wrap/io_trimesh/import.h>
+#include<wrap/io_trimesh/export_ply.h>
+#include <vcg/complex/algorithms/voronoi_remesher.h>
+
+using namespace vcg;
+using namespace std;
+
+class MyVertex;
+class MyFace;
+class MyEdge;
+
+struct MyUsedTypes : public vcg::UsedTypes<
+        vcg::Use<MyVertex>::AsVertexType,
+        vcg::Use<MyFace>::AsFaceType,
+        vcg::Use<MyEdge>::AsEdgeType> {};
+
+class MyVertex: public vcg::Vertex<MyUsedTypes,
+         vcg::vertex::Coord3f,  vcg::vertex::Normal3f,
+         vcg::vertex::Color4b,  vcg::vertex::Qualityd,
+         vcg::vertex::VFAdj,    vcg::vertex::VEAdj,
+         vcg::vertex::BitFlags, vcg::vertex::Mark> {};
+class MyFace   : public vcg::Face<MyUsedTypes,
+         vcg::face::VertexRef, vcg::face::Normal3f,
+         vcg::face::Color4b, vcg::face::BitFlags,
+         vcg::face::VFAdj, vcg::face::FFAdj,
+         vcg::face::Mark> {};
+class MyEdge: public vcg::Edge<MyUsedTypes,
+         vcg::edge::VertexRef, vcg::edge::BitFlags,
+         vcg::edge::EEAdj,    vcg::edge::VEAdj> {};
+
+class MyMesh   : public vcg::tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> > {};
+
+int main( int argc, char **argv )
+{
+  MyMesh startMesh;
+  if(argc < 2 )
+  {
+    printf("Usage trimesh_voro mesh samplingRadius\n"
+           "samplingRadius is in the same unit of the mesh and is approximately the expected edge length");
+    return -1;
+  }
+  printf("Reading %s  \n",argv[1]);
+  int ret = tri::io::Importer<MyMesh>::Open(startMesh,argv[1]);
+  if(ret!=0)
+  {
+    printf("Unable to open %s: '%s'\n",argv[1],tri::io::ImporterPLY<MyMesh>::ErrorMsg(ret));
+    return -1;
+  }
+  tri::UpdateBounding<MyMesh>::Box(startMesh);
+
+  float samplingRadius = startMesh.bbox.Diag() * 0.005f;
+  if (argc == 3)
+  {
+	  try {
+		samplingRadius = stof(string(argv[2]));
+	  } catch (exception &) {}
+  }
+  std::cout << "Remeshing using sampling radius: " << samplingRadius << std::endl;
+  auto remeshed = Remesher<MyMesh>::Remesh(startMesh, samplingRadius, 70.0);
+  
+  
+  tri::io::ExporterPLY<MyMesh>::Save(*remeshed,"Full.ply",tri::io::Mask::IOM_VERTCOLOR|tri::io::Mask::IOM_WEDGTEXCOORD );
+  return 0;
+}
diff --git a/apps/sample/trimesh_voronoi_remesh/trimesh_voronoi_remesh.pro b/apps/sample/trimesh_voronoi_remesh/trimesh_voronoi_remesh.pro
new file mode 100644
index 00000000..cba125e8
--- /dev/null
+++ b/apps/sample/trimesh_voronoi_remesh/trimesh_voronoi_remesh.pro
@@ -0,0 +1,3 @@
+include(../common.pri)
+TARGET = trimesh_voronoi_remesh
+SOURCES += trimesh_voronoi_remesh.cpp ../../../wrap/ply/plylib.cpp
diff --git a/apps/sample/trimesh_voronoisampling/trimesh_voronoisampling.cpp b/apps/sample/trimesh_voronoisampling/trimesh_voronoisampling.cpp
index 42a819a5..58fcae97 100644
--- a/apps/sample/trimesh_voronoisampling/trimesh_voronoisampling.cpp
+++ b/apps/sample/trimesh_voronoisampling/trimesh_voronoisampling.cpp
@@ -120,7 +120,7 @@ int main( int argc, char **argv )
       // Now save the corner as Fixed Seeds for later...
       std::vector<MyVertex *> fixedSeedVec;
       tri::VoronoiProcessing<MyMesh>::SeedToVertexConversion(baseMesh,sampleVec,fixedSeedVec);
-      tri::VoronoiProcessing<MyMesh, tri::EuclideanDistance<MyMesh> >::FixVertexVector(baseMesh,fixedSeedVec);
+      tri::VoronoiProcessing<MyMesh, tri::EuclideanDistance<MyMesh> >::MarkVertexVectorAsFixed(baseMesh,fixedSeedVec);
       vpp.preserveFixedSeed=true;
     }
 
diff --git a/apps/tridecimator/CMakeLists.txt b/apps/tridecimator/CMakeLists.txt
new file mode 100644
index 00000000..7f337fcb
--- /dev/null
+++ b/apps/tridecimator/CMakeLists.txt
@@ -0,0 +1,2 @@
+project (tridecimator)
+add_executable(tridecimator tridecimator.cpp ../../wrap/ply/plylib.cpp)
diff --git a/apps/tridecimator/history.txt b/apps/tridecimator/history.txt
deleted file mode 100644
index 5c1495aa..00000000
--- a/apps/tridecimator/history.txt
+++ /dev/null
@@ -1,28 +0,0 @@
-
-   VCGLib  http://vcg.sf.net                                         o o     
-   Visual and Computer Graphics Library                            o     o   
-                                                                  _   O  _   
-   Copyright(C) 2005-2006                                           \/)\/    
-   Visual Computing Lab  http://vcg.isti.cnr.it                    /\/|      
-   ISTI - Italian National Research Council                           |      
-                                                                      \      
-   Metro 4.04 25/01/2005
-   All rights reserved.                                                      
-   
-
-
-2005/04/04 Release 4.05
-Added saving of Error Histogram
-
-2005/01/26 Release 4.04
-Gcc compiling issues
-Moved to the library core the code for computing min distance froma a point to a mesh using a uniform grid.
-Slightly faster.
-
-2005/01/03 Release 4.03
-Better ply compatibility, and improved error reporting
-
-2004/11/29 Release 4.02
-removed bug in printing Hausdorf distance,
-removed bug in command line parsing,
-upgraded import mesh library to support off format
diff --git a/apps/tridecimator/readme.txt b/apps/tridecimator/readme.md
similarity index 54%
rename from apps/tridecimator/readme.txt
rename to apps/tridecimator/readme.md
index 900b948d..cffc814f 100644
--- a/apps/tridecimator/readme.txt
+++ b/apps/tridecimator/readme.md
@@ -1,13 +1,8 @@
 
-   VCGLib  http://www.vcglib.net                                         o o     
-   Visual and Computer Graphics Library                            o     o   
-                                                                  _   O  _   
-   Copyright(C) 2005-2006                                           \/)\/    
-   Visual Computing Lab  http://vcg.isti.cnr.it                    /\/|      
-   ISTI - Italian National Research Council                           |      
-                                                                      \      
-   TriDecimator 1.00 2/10/2005
-   All rights reserved.                                                      
+   VCGLib  http://www.vcglib.net 
+    Copyright(C) 2005-2006             
+   Visual Computing Lab  http://vcg.isti.cnr.it          
+   ISTI - Italian National Research Council                 
    
 
                                                                        
@@ -24,28 +19,32 @@ for more details.
 
 --- Synopsis ---
 
-tridecimator fileIn fileOut face_num [opt]\
-Where opt can be:\
-    -e# QuadricError threshold  (range [0,inf) default inf)
-    -b# Boundary Weight (default .5)
-    -q# Quality threshold (range [0.0, 0.866],  default .3 )
-    -n# Normal threshold  (degree range [0,180] default 90)
-    -E# Minimal admitted quadric value (default 1e-15, must be >0)
-    -Q[y|n]  Use or not Quality Threshold (default yes)
-    -N[y|n]  Use or not Normal Threshold (default no)
-    -A[y|n]  Use or not Area Weighted Quadrics (default yes)
-    -O[y|n]  Use or not vertex optimal placement (default yes)
-    -S[y|n]  Use or not Scale Independent quadric measure(default yes) 
-    -B[y|n]  Preserve or not mesh boundary (default no)
-    -T[y|n]  Preserve or not Topology (default no)
-    -H[y|n]  Use or not Safe Heap Update (default no)
-    -P       Before simplification, remove duplicate & unreferenced vertices
+`tridecimator fileIn fileOut face_num [opt]`
+
+Tridecimator is a commandline mesh simplifier based on a variant of the quadric error edge collapse strategy. 
+It supports `PLY, OFF, OBJ` format for input and output and require a target number of faces. 
+The following options are supported:
+
+-e# QuadricError threshold  (range [0,inf) default inf) 
+-b# Boundary Weight (default .5) 
+-p# Quality quadric Weight (default .5) 
+-q# Quality threshold (range [0.0, 0.866],  default .3 ) 
+-n# Normal threshold  (degree range [0,180] default 90) 
+-w# Quality weight factor  (10) 
+-E# Minimal admitted quadric value (default 1e-15, must be >0) 
+-Q[y|n]  Use or not Face Quality Threshold (default yes) 
+-H[y|n]  Use or not HardQualityCheck (default no) 
+-N[y|n]  Use or not Face Normal Threshold (default no) 
+-P[y|n]  Add or not QualityQuadric (default no) 
+-A[y|n]  Use or not Area Checking (default no) 
+-O[y|n]  Use or not vertex optimal placement (default yes) 
+-S[y|n]  Use or not Scale Independent quadric measure(default yes)  
+-B[y|n]  Preserve or not mesh boundary (default no) 
+-T[y|n]  Preserve or not Topology (default no) 
+-W[y|n]  Use or not per vertex Quality to weight the quadric error (default no) 
+-C       Before simplification, remove duplicate & unreferenced vertices 
     
 
-Supported formats: PLY, OFF, STL
-
--- Some technical notes -- 
-
 This simplification tool employ a quadric error based edge collapse iterative approach. 
 Each possible collapse is scored taking into account
 - its quadric error
@@ -57,7 +56,7 @@ The simplification can ends when the desired number of triangles has been reache
 
 The 'Safe Heap Update' change the set of edges re-inserted in the heap
 after a collapse resulting in a vertex v; this option put back in the
-heap not only incident in the vbut all the edges of the triangles incident
+heap not only incident in the v, but all the edges of the triangles incident
 in v. It slows down a lot.
 
 The 'Scale Independent quadric' is useful when you want simplify 
diff --git a/apps/tridecimator/tridecimator.cpp b/apps/tridecimator/tridecimator.cpp
index 51c66bec..e67907a3 100644
--- a/apps/tridecimator/tridecimator.cpp
+++ b/apps/tridecimator/tridecimator.cpp
@@ -37,7 +37,6 @@ struct MyUsedTypes: public UsedTypes<Use<MyVertex>::AsVertexType,Use<MyEdge>::As
 class MyVertex  : public Vertex< MyUsedTypes,
     vertex::VFAdj,
     vertex::Coord3f,
-    vertex::Normal3f,
     vertex::Mark,
     vertex::Qualityf,
     vertex::BitFlags  >{
@@ -81,14 +80,16 @@ void Usage()
           "Where opt can be:\n"\
           "     -e# QuadricError threshold  (range [0,inf) default inf)\n"
           "     -b# Boundary Weight (default .5)\n"
+          "     -p# Quality quadric Weight (default .5)\n"
           "     -q# Quality threshold (range [0.0, 0.866],  default .3 )\n"
           "     -n# Normal threshold  (degree range [0,180] default 90)\n"
           "     -w# Quality weight factor  (10)\n"
           "     -E# Minimal admitted quadric value (default 1e-15, must be >0)\n"
           "     -Q[y|n]  Use or not Face Quality Threshold (default yes)\n"
-          "     -P[y|n]  Add or not QualityQuadric (default no)\n"
+          "     -H[y|n]  Use or not HardQualityCheck (default no)\n"
           "     -N[y|n]  Use or not Face Normal Threshold (default no)\n"
-          "     -A[y|n]  Use or not Area Weighted Quadrics (default yes)\n"
+          "     -P[y|n]  Add or not QualityQuadric (default no)\n"
+          "     -A[y|n]  Use or not Area Checking (default no)\n"
           "     -O[y|n]  Use or not vertex optimal placement (default yes)\n"
           "     -S[y|n]  Use or not Scale Independent quadric measure(default yes) \n"
           "     -B[y|n]  Preserve or not mesh boundary (default no)\n"
@@ -116,7 +117,7 @@ int main(int argc ,char**argv)
 
   TriEdgeCollapseQuadricParameter qparams;
   qparams.QualityThr  =.3;
-  float TargetError=std::numeric_limits<float>::max();
+  double TargetError=std::numeric_limits<double >::max();
   bool CleaningFlag =false;
      // parse command line.
     for(int i=4; i < argc;)
@@ -124,28 +125,35 @@ int main(int argc ,char**argv)
       if(argv[i][0]=='-')
         switch(argv[i][1])
       {
-        case 'Q' : if(argv[i][2]=='y') { qparams.QualityCheck	= true;  printf("Using Quality Checking\n");	}
-                                  else { qparams.QualityCheck	= false; printf("NOT Using Quality Checking\n");	}                break;
-        case 'N' : if(argv[i][2]=='y') { qparams.NormalCheck	= true;  printf("Using Normal Deviation Checking\n");	}
-                                  else { qparams.NormalCheck	= false; printf("NOT Using Normal Deviation Checking\n");	}        break;
-        case 'O' : if(argv[i][2]=='y') { qparams.OptimalPlacement	= true;  printf("Using OptimalPlacement\n");	}
-                                  else { qparams.OptimalPlacement	= false; printf("NOT Using OptimalPlacement\n");	}        break;
-        case 'S' : if(argv[i][2]=='y') { qparams.ScaleIndependent	= true;  printf("Using ScaleIndependent\n");	}
-                                  else { qparams.ScaleIndependent	= false; printf("NOT Using ScaleIndependent\n");	}        break;
-        case 'B' : if(argv[i][2]=='y') { qparams.PreserveBoundary	= true;  printf("Preserving Boundary\n");	}
-                                  else { qparams.PreserveBoundary	= false; printf("NOT Preserving Boundary\n");	}        break;
-        case 'T' : if(argv[i][2]=='y') { qparams.PreserveTopology	= true;  printf("Preserving Topology\n");	}
-                                  else { qparams.PreserveTopology	= false; printf("NOT Preserving Topology\n");	}        break;
-        case 'P' : if(argv[i][2]=='y') { qparams.QualityQuadric 	= true;  printf("Adding Quality Quadrics\n");	}
-                                  else { qparams.QualityQuadric 	= false; printf("NOT Adding Quality Quadrics\n");	}        break;
-        case 'W' : if(argv[i][2]=='y') { qparams.QualityWeight 	= true;  printf("Using per vertex Quality as Weight\n");	}
-                                  else { qparams.QualityWeight 	= false; printf("NOT Using per vertex Quality as Weight\n");	}        break;
-        case 'w' :	qparams.QualityWeightFactor	= atof(argv[i]+2);	           printf("Setting Quality Weight factor to %f\n",atof(argv[i]+2)); 	 break;
-        case 'q' :	qparams.QualityThr	= atof(argv[i]+2);	           printf("Setting Quality Thr to %f\n",atof(argv[i]+2)); 	 break;
-        case 'n' :	qparams.NormalThrRad = math::ToRad(atof(argv[i]+2));  printf("Setting Normal Thr to %f deg\n",atof(argv[i]+2)); break;
-        case 'b' :	qparams.BoundaryWeight  = atof(argv[i]+2);			printf("Setting Boundary Weight to %f\n",atof(argv[i]+2)); break;
-        case 'e' :	TargetError = float(atof(argv[i]+2));			printf("Setting TargetError to %g\n",atof(argv[i]+2)); break;
-        case 'C' :	CleaningFlag=true;  printf("Cleaning mesh before simplification\n"); break;
+        case 'Q' : if(argv[i][2]=='y') { qparams.QualityCheck     = true;  printf("Using Quality Checking\n"); }
+                                  else { qparams.QualityCheck     = false; printf("NOT Using Quality Checking\n"); }          break;
+        case 'H' : if(argv[i][2]=='y') { qparams.HardQualityCheck = true;  printf("Using HardQualityCheck Checking\n");	}
+                                  else { qparams.HardQualityCheck = false; printf("NOT Using HardQualityCheck Checking\n");	}  break;
+        case 'N' : if(argv[i][2]=='y') { qparams.NormalCheck      = true;  printf("Using Normal Deviation Checking\n");	}
+                                  else { qparams.NormalCheck      = false; printf("NOT Using Normal Deviation Checking\n");	}  break;
+        case 'A' : if(argv[i][2]=='y') { qparams.AreaCheck        = true;  printf("Using Area Checking\n");	}
+                                  else { qparams.AreaCheck        = false; printf("NOT Using Area Checking\n");	}              break;          
+        case 'O' : if(argv[i][2]=='y') { qparams.OptimalPlacement = true;  printf("Using OptimalPlacement\n"); }
+                                  else { qparams.OptimalPlacement = false; printf("NOT Using OptimalPlacement\n");}            break;
+        case 'S' : if(argv[i][2]=='y') { qparams.ScaleIndependent = true;  printf("Using ScaleIndependent\n"); }
+                                  else { qparams.ScaleIndependent = false; printf("NOT Using ScaleIndependent\n");	}          break;
+        case 'B' : if(argv[i][2]=='y') { qparams.PreserveBoundary = true;  printf("Preserving Boundary\n");	}
+                                  else { qparams.PreserveBoundary = false; printf("NOT Preserving Boundary\n");	}              break;
+        case 'T' : if(argv[i][2]=='y') { qparams.PreserveTopology = true;  printf("Preserving Topology\n");	}
+                                  else { qparams.PreserveTopology = false; printf("NOT Preserving Topology\n");	}              break;
+        case 'P' : if(argv[i][2]=='y') { qparams.QualityQuadric   = true;  printf("Adding Quality Quadrics\n");	}
+                                  else { qparams.QualityQuadric   = false; printf("NOT Adding Quality Quadrics\n");	}          break;
+        case 'W' : if(argv[i][2]=='y') { qparams.QualityWeight    = true;  printf("Using per vertex Quality as Weight\n");	}
+                                  else { qparams.QualityWeight    = false; printf("NOT Using per vertex Quality as Weight\n");	}        break;
+        case 'p' : qparams.QualityQuadricWeight   = atof(argv[i]+2);       printf("Setting QualityQuadricWeight factor to %f\n",atof(argv[i]+2)); 	 break;
+        case 'w' : qparams.QualityWeightFactor	   = atof(argv[i]+2);      printf("Setting Quality Weight factor to %f\n",atof(argv[i]+2)); 	 break;
+        case 'q' : qparams.QualityThr             = atof(argv[i]+2);       printf("Setting Quality Thr to %f\n",atof(argv[i]+2)); 	 break;
+        case 'h' : qparams.HardQualityThr         = atof(argv[i]+2);       printf("Setting HardQuality Thr to %f\n",atof(argv[i]+2)); 	 break;
+        case 'n' : qparams.NormalThrRad    = math::ToRad(atof(argv[i]+2)); printf("Setting Normal Thr to %f deg\n",atof(argv[i]+2)); break;
+        case 'b' : qparams.BoundaryQuadricWeight  = atof(argv[i]+2);       printf("Setting Boundary Weight to %f\n",atof(argv[i]+2)); break;
+        case 'E' : qparams.QuadricEpsilon         = atof(argv[i]+2);       printf("Setting QuadricEpsilon to %f\n",atof(argv[i]+2)); break;
+        case 'e' : TargetError                    = atof(argv[i]+2);       printf("Setting TargetError to %g\n",atof(argv[i]+2)); break;
+        case 'C' : CleaningFlag=true;  printf("Cleaning mesh before simplification\n"); break;
 
         default  :  printf("Unknown option '%s'\n", argv[i]);
           exit(0);
@@ -153,8 +161,6 @@ int main(int argc ,char**argv)
       i++;
     }
 
-
-
   if(CleaningFlag){
       int dup = tri::Clean<MyMesh>::RemoveDuplicateVertex(mesh);
       int unref =  tri::Clean<MyMesh>::RemoveUnreferencedVertex(mesh);
@@ -176,15 +182,15 @@ int main(int argc ,char**argv)
 
   DeciSession.SetTargetSimplices(FinalSize);
   DeciSession.SetTimeBudget(0.5f);
+  DeciSession.SetTargetOperations(100000);
   if(TargetError< std::numeric_limits<float>::max() ) DeciSession.SetTargetMetric(TargetError);
 
   while(DeciSession.DoOptimization() && mesh.fn>FinalSize && DeciSession.currMetric < TargetError)
-    printf("Current Mesh size %7i heap sz %9i err %9g \r",mesh.fn, int(DeciSession.h.size()),DeciSession.currMetric);
+    printf("Current Mesh size %7i heap sz %9i err %9g \n",mesh.fn, int(DeciSession.h.size()),DeciSession.currMetric);
 
   int t3=clock();
   printf("mesh  %d %d Error %g \n",mesh.vn,mesh.fn,DeciSession.currMetric);
   printf("\nCompleted in (%5.3f+%5.3f) sec\n",float(t2-t1)/CLOCKS_PER_SEC,float(t3-t2)/CLOCKS_PER_SEC);
-
   vcg::tri::io::ExporterPLY<MyMesh>::Save(mesh,argv[2]);
     return 0;
 
diff --git a/apps/tridecimator/tridecimator.pro b/apps/tridecimator/tridecimator.pro
index e410f4f3..3c7db7c3 100644
--- a/apps/tridecimator/tridecimator.pro
+++ b/apps/tridecimator/tridecimator.pro
@@ -1,7 +1,7 @@
 
 TARGET = tridecimator
 DEPENDPATH += ../..
-INCLUDEPATH += . ../..
+INCLUDEPATH += . ../.. ../../eigenlib
 CONFIG += console stl  c++11 debug_and_release
 TEMPLATE = app
 HEADERS += 
diff --git a/apps/trimeshinfo/trimeshinfo1.00/trimeshinfo100.zip b/apps/trimeshinfo/trimeshinfo1.00/trimeshinfo100.zip
deleted file mode 100644
index 754fd97c..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.00/trimeshinfo100.zip and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101.zip b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101.zip
deleted file mode 100644
index 0bc82a0c..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101.zip and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101/defs.h b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101/defs.h
deleted file mode 100644
index 1122dc4f..00000000
--- a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101/defs.h
+++ /dev/null
@@ -1,48 +0,0 @@
-// -----------------------------------------------------------------------------------------------
-#ifndef _DEFS_H
-#define _DEFS_H
-// -----------------------------------------------------------------------------------------------
-
-// command line parameters
-#define CMD_LINE_ARG_HIST                           'H'
-#define CMD_LINE_ARG_VERTEX_SAMPLE                  'V'
-#define CMD_LINE_ARG_EDGE_SAMPLE                    'E'
-#define CMD_LINE_ARG_FACE_SAMPLE                    'F'
-#define CMD_LINE_ARG_SAMPLE_TYPE                    'S'
-#define CMD_LINE_ARG_MONTECARLO_SAMPLING            'M'
-#define CMD_LINE_ARG_SUBDIVISION_SAMPLING           'S'
-#define CMD_LINE_ARG_SIMILAR_TRIANGLES_SAMPLING     'T'
-#define CMD_LINE_ARG_N_SAMPLES                      'N'
-#define CMD_LINE_ARG_SAMPLES_PER_AREA_UNIT          'A'
-#define CMD_LINE_ARG_SAVE_DISPLACEMENT              'O'
-#define CMD_LINE_ARG_SAVE_ERROR_AS_COLOUR           'C'
-
-
-// error messages
-#define MSG_ERR_N_ARGS                  "\nUsage:  "\
-                                        "trimeshinfo filename \n"
-
-#define MSG_ERR_MESH_LOAD               "error loading the input meshes.\n"
-#define MSG_ERR_INVALID_OPTION          "unable to parse option '%s'\n"
-#define MSG_ERR_FILE_OPEN               "unable to open the output file.'n"
-#define MSG_ERR_UNKNOWN_FORMAT          "unknown file format '%s'.\n"
-
-// global constants
-#define NO_SAMPLES_PER_FACE             10
-#define N_SAMPLES_EDGE_TO_FACE_RATIO    0.1
-#define BBOX_FACTOR                     0.1
-#define INFLATE_PERCENTAGE			    0.02
-#define MIN_SIZE					    125		/* 125 = 5^3 */
-#define N_HIST_BINS                     256
-#define PRINT_EVERY_N_ELEMENTS          1000
-#define FILE_EXT_SMF                    "smf"
-#define FILE_EXT_PLY                    "ply"
-
-// strings
-#define STR_HIST_FILENAME_DEFAULT       "hist.txt"
-#define STR_NEW_MESH_FILENAME_DEFAULT   "error.ply"
-#define STR_NEW_MESH_FILENAME_DEFAULT_2 "error_colour.ply"
-
-// -----------------------------------------------------------------------------------------------
-#endif
-// -----------------------------------------------------------------------------------------------
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101/main.cpp b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101/main.cpp
deleted file mode 100644
index a29b0a0d..00000000
--- a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101/main.cpp
+++ /dev/null
@@ -1,683 +0,0 @@
-/****************************************************************************
-* VCGLib                                                            o o     *
-* Visual and Computer Graphics Library                            o     o   *
-*                                                                _   O  _   *
-* Copyright(C) 2004-2016                                           \/)\/    *
-* Visual Computing Lab                                            /\/|      *
-* ISTI - Italian National Research Council                           |      *
-*                                                                    \      *
-* All rights reserved.                                                      *
-*                                                                           *
-* This program is free software; you can redistribute it and/or modify      *   
-* it under the terms of the GNU General Public License as published by      *
-* the Free Software Foundation; either version 2 of the License, or         *
-* (at your option) any later version.                                       *
-*                                                                           *
-* This program is distributed in the hope that it will be useful,           *
-* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
-* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
-* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
-* for more details.                                                         *
-*                                                                           *
-****************************************************************************/
-/****************************************************************************
-  History
-
-$Log: not supported by cvs2svn $
-Revision 1.7  2005/02/07 15:44:31  rita_borgo
-Fixed Color and Volume
-
-Revision 1.6  2005/02/01 17:37:53  rita_borgo
-Fixed Volume and Color
-
-Revision 1.5  2005/01/18 16:33:12  rita_borgo
-Added OFF file Option
-
-Revision 1.4  2005/01/17 18:19:00  rita_borgo
-Added new routines.
-Self-intersection first release
-
-Revision 1.2  2005/01/03 16:13:09  rita_borgo
-Added Standard comments
-
-
-
-****************************************************************************/
-#include <vector>
-#include <string>  
-#include <stack>
-
-
-using namespace std;
-
-
-#include<vcg/simplex/vertex/vertex.h>
-#include<vcg/simplex/face/with/afav.h>
-#include<vcg/simplex/face/topology.h>
-#include<vcg/simplex/face/pos.h>   // mi sembra di averlo aggiunto!
-
-
-#include<vcg/complex/complex.h>
-#include<vcg/complex/algorithms/update/topology.h>
-#include <vcg/complex/algorithms/update/edges.h>
-#include <vcg/complex/algorithms/update/bounding.h>
-#include <vcg/complex/algorithms/clean.h>
-#include <vcg/space/intersection/triangle_triangle3.h>
-#include <vcg/math/histogram.h>
-#include <wrap/io_trimesh/import.h>
-#include <wrap/io_trimesh/export_ply.h>
-
-
-// loader 
-#include<wrap/io_trimesh/import_ply.h>
-
-#include "defs.h"
-
-using namespace vcg;
-using namespace tri;
-using namespace face;
-
-class MyFace;
-class MyEdge;
-class MyVertex:public Vertex<float,MyEdge,MyFace>{};
-class MyFace :public FaceAFAV<MyVertex,MyEdge,MyFace>{};
-class MyMesh: public tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace > >{};
-
-void OpenMesh(const char *filename, MyMesh &m)
-{
-  int err = tri::io::Importer<MyMesh>::Open(m,filename);
-  if(err) {
-      printf("Error in reading %s: '%s'\n",filename,tri::io::Importer<MyMesh>::ErrorMsg(err));
-      exit(-1);
-    }
-  printf("read mesh `%s'\n", filename);		  
-}
-
-
-inline char* GetExtension(char* filename)
-{
-    for(int i=strlen(filename)-1; i >= 0; i--)
-        if(filename[i] == '.')
-            break;
-    if(i > 0)
-        return &(filename[i+1]);
-    else
-        return NULL;
-}
-
-
-typedef MyMesh::VertexPointer  VertexPointer;
-typedef MyMesh::VertexIterator  VertexIterator;
-
-/* classe di confronto per l'algoritmo di individuazione vertici duplicati*/
-template <class VertexIterator>
-class DuplicateVert_Compare{
-public:
-	inline bool operator() (VertexIterator a, VertexIterator b)
-		{
-			return *a < *b;
-		}
-};
-
-static int DuplicateVertex( MyMesh & m )    // V1.0
-{
-	if(m.vert.size()==0 || m.vn==0)
-		return 0;
-	std::map<VertexPointer, VertexPointer> mp;
-	int i,j;
-	VertexIterator vi; 
-	int deleted=0;
-	int k=0;
-	int num_vert = m.vert.size();
-	vector<VertexPointer> perm(num_vert);
-	for(vi=m.vert.begin(); vi!=m.vert.end(); ++vi, ++k)
-		perm[k] = &(*vi);
-
-	DuplicateVert_Compare<VertexPointer> c_obj;
-
-	std::sort(perm.begin(),perm.end(),c_obj);
-	j = 0;
-  i = j;
-  mp[perm[i]] = perm[j];
-  ++i;
-  for(;i!=num_vert;)
-	{
-		if( (! (*perm[i]).IsD()) && 
-        (! (*perm[j]).IsD()) && 
-				(*perm[i]).P() == (*perm[j]).cP() )
-		{
-			VertexPointer t = perm[i];
-	    mp[perm[i]] = perm[j];
-	    ++i;
-			(*t).SetD();
-			deleted++;
-		}
-		else
-		{
-			j = i;
-	    ++i;
-		}
-	}
-	return deleted;
-}
-void main(int argc,char ** argv){
-
-	char                 *fmt;
-	MyMesh m;
-	bool DEBUG = false;
-	//load the mesh
-	//argv[1]=(char*)"c:\\checkup\\debug\\column1m.ply";
-	//argv[1] = "C:\\sf\\apps\\msvc\\trimeshinfo\\Release\\prism.off";
-//argv[1] = "C:\\sf\\apps\\msvc\\trimeshinfo\\Release\\prova1.ply";
-
-    // print program info
-    printf("-------------------------------\n"
-           "         TriMeshInfo V.1.01 \n"
-           "     http://vcg.isti.cnr.it\n"
-           "   release date: "__DATE__"\n"
-           "-------------------------------\n\n");
-
-
- if(DEBUG)
-	argv[1] = "C:\\sf\\apps\\msvc\\trimeshinfo\\Release\\cube1.stl";
- 
- else
- {
- // load input meshes.
-  if(argc <= 1)
-  {
-     printf(MSG_ERR_N_ARGS);
-     exit(-1);
-  }
- }
-
-
-  OpenMesh(argv[1],m);
-
-
-
-  FILE * index;
-	index = fopen((string(argv[1])+string("2.html")).c_str(),"w");
-	fprintf(index,"<p>Mesh info: %s </p>\n\n\n", argv[1]);
-	
-	fprintf(index,"<p>GENERAL INFO </p>\n\n");
-	fprintf(index,"<p>Number of vertices: %d </p>\n", m.vn);
-	fprintf(index,"<p>Number of faces: %d </p>\n", m.fn);
-	printf("Mesh info:\n");
-	printf("	M: '%s'\n\t Number of vertices: %d \n", argv[1], m.vn);
-	printf("\t Number of faces: %d \n", m.fn);
-
-	if(m.HasPerFaceColor()||m.HasPerVertexColor())
-	{
-		Color4b Color=m.C();
-		fprintf(index, "<p>Object color(4b): %f %f %f </p>\n\n", Color[0], Color[1], Color[2]);
-		printf( "\t Object color(4b): %f %f %f \n", Color[0], Color[1], Color[2]);
-	}
-	
-	
-		vcg::tri::UpdateTopology<MyMesh>::FaceFace(m);
-	
-	// IS MANIFOLD
-	
-	MyMesh::FaceIterator f;
-	MyMesh::FaceIterator g;
-	vcg::face::Pos<MyMesh::FaceType> he;
-	vcg::face::Pos<MyMesh::FaceType> hei;
-	int j;
-	int man=0;
-	bool Manifold = true;
-	
-	MyMesh::FaceIterator prova;
-	prova = m.face.end();
-	for(f=m.face.begin();f!=m.face.end();++f)
-	{
-		for (j=0;j<3;++j)
-		{
-			if(!IsManifold(*f,j))
-			{
-				Manifold = false;
-				f= m.face.end();
-				--f;
-				j=3;
-			}
-		}
-	}
-	if (!Manifold)
-	{
-		fprintf(index, "<p> Manifold: NO </p>"); 
-	  printf( "\t Manifold: NO\n"); 
-	}
-	else
-	{
-		fprintf(index, "<p> Manifold: YES </p>"); 
-	  printf( "\t Manifold: YES\n "); 
-	}
-
-	// COUNT EDGES
-
-	MyMesh::FaceIterator fi;
-	int count_e = 0;
-	bool counted=false;
-	for(fi=m.face.begin();fi!=m.face.end();++fi)
-		(*fi).ClearS();
-
-	for(fi=m.face.begin();fi!=m.face.end();++fi)
-		{
-			(*fi).SetS();
-			count_e +=3;
-			for(int i=0; i<3; ++i)
-			{
-				if (IsManifold(*fi,i))
-				{
-					if((*fi).FFp(i)->IsS()) 
-						count_e--;
-				}
-				else
-				{
-					hei.Set(&(*fi), i , fi->V(i));
-					he=hei;
-					he.NextF();
-					while (he.f!=hei.f)
-					{
-						if (he.f->IsS())
-						{
-							counted=true;
-							break;
-						}
-						else 
-						{
-							he.NextF();
-						}
-					}
-					if (counted)
-					{
-						count_e--;
-						counted=false;
-					}
-				}
-			}
-		}
-	fprintf(index, "<p>Number of edges: %d </p>\n", count_e);
-  printf("\t Number of edges: %d \n", count_e);
-
-
-	// DA QUI IN POI!!!
-	
-	// DEGENERATED FACES
-
-	int count_fd = 0;
-	for(fi=m.face.begin(); fi!=m.face.end();++fi)
-		if((*fi).Area() == 0)
-			count_fd++;
-	fprintf(index, "<p>Number of degenerated faces: %d </p>\n", count_fd);
-  printf("\t Number of degenerated faces: %d \n", count_fd);
-
-	// UNREFERENCED VERTEX
-
-	int count_uv = 0;
-	MyMesh::VertexIterator v;
-	
-	
-	
-	for(v=m.vert.begin();v!=m.vert.end();++v)
-		(*v).ClearV();
-
-	for(f=m.face.begin();f!=m.face.end();++f)
-			for(j=0;j<3;++j)
-					(*f).V(j)->SetV();
-
-	for(v=m.vert.begin();v!=m.vert.end();++v)
-		if( !(*v).IsV() )
-			++count_uv;
-	fprintf(index,"<p>Number of unreferenced vertices: %d</p>\n",count_uv);
-  printf("\t Number of unreferenced vertices: %d\n",count_uv);
-
-
-// HOLES COUNT	
-
-	for(f=m.face.begin();f!=m.face.end();++f)
-		(*f).ClearS();
-	g=m.face.begin(); f=g;
-	
-	int BEdges=0; int numholes=0;
-	
-
-	if (Manifold)
-	{
-        for(f=g;f!=m.face.end();++f)
-		{
-			if(!(*f).IsS())
-			{	
-				for(j=0;j<3;j++)
-				{
-					if ((*f).IsBorder(j))
-					{
-						BEdges++;
-						
-						if(!(IsManifold(*f,j)))
-						{
-							(*f).SetS();
-							hei.Set(&(*f),j,f->V(j));
-							he=hei;
-							do
-							{
-								he.NextB();
-								he.f->SetS();
-							//	BEdges++;
-							}
-							while (he.f!=hei.f);
-							//BEdges--;
-							numholes++;
-						}
-					}
-				}
-			}
-		}
-	}
-	else
-	{
-		for(f=g;f!=m.face.end();++f)
-		{
-			for(j=0;j<3;j++)
-				{
-					if ((*f).IsBorder(j))
-					{
-						BEdges++;
-					}
-				}
-		}
-	}
-	if (Manifold)
-	{
-        fprintf(index, "<p> Number of holes: %d </p> \n <p> Number of border edges: %d </p>", numholes, BEdges); 
-        printf("\t Number of holes: %d \n", numholes, BEdges); 
-        printf("\t Number of border edges: %d\n", numholes, BEdges); 
-	}
-	else
-	{
-        fprintf(index, "<p> Number of border edges: %d </p>", BEdges); 
-        printf("\t Number of border edges: %d\n", BEdges); 
-	}
-
-	// Mesh Volume
-	float vol = m.Volume();
-	int nuh = numholes;
-	if((m.Volume()>0.)&&(Manifold)&&(numholes==0))
-	{
-        fprintf(index,"<p>Volume: %d </p>\n", m.Volume());
-        printf("\t Volume: %f \n", m.Volume());
-	}
-
-
-	// CONNECTED COMPONENTS
-
-
-	for(f=m.face.begin();f!=m.face.end();++f)
-		(*f).ClearS();
-	g=m.face.begin(); f=g;
-	int CountComp=0; int CountOrient=0;
-	stack<MyMesh::FaceIterator> sf;	
-	MyMesh::FaceType *l;
-	for(f=m.face.begin();f!=m.face.end();++f)
-	{
-		if (!(*f).IsS())
-		{
-			(*f).SetS();
-			sf.push(f);
-			while (!sf.empty())
-			{
-				g=sf.top();
-				he.Set(&(*g),0,g->V(0));
-				sf.pop();
-				for(j=0;j<3;++j)
-						if( !(*g).IsBorder(j) )
-							{
-								l=he.f->FFp(j);
-								if( !(*l).IsS() )
-									{
-										(*l).SetS();
-										sf.push(l);
-									}
-							}
-			}
-		CountComp++;
-		}
-	}
-	fprintf(index, "<p> Number of connected components: %d </p>", CountComp); 
-  printf("\t Number of connected components: %d\n", CountComp); 
-	
-	if(CountComp ==1)
-	{
-		int eulero; //v-e+f 
-		eulero = (m.vn-count_uv)- (count_e+BEdges)+m.fn;
-		if(Manifold)
-		{
-			int genus = (2-eulero)>>1;
-			fprintf(index, "<p> Genus: %d </p> \n ", genus); 
-		  printf( "\t Genus: %d \n", genus); 
-		}
-	}
-// REGULARITY
-
-	bool Regular=true;
-	bool Semiregular=true;
-	int inc=0;
-	for(v=m.vert.begin();v!=m.vert.end();++v)
-		(*v).ClearS();
-	for(f=m.face.begin();f!=m.face.end();++f)
-	{
-		for (j=0; j<3; j++)
-		{
-			he.Set(&(*f),j,f->V(j));
-			if (!(*f).IsBorder(j) && !(*f).IsBorder((j+2)%3) && !f->V(j)->IsS())
-			{
-				hei=he;
-				inc=1;
-				he.FlipE();
-				he.NextF();
-				while (he.f!=hei.f)
-				{
-					he.FlipE();
-					if (he.IsBorder())
-					{
-						inc=6;
-						break;
-					}
-					he.NextF();
-					inc++;
-				}
-				if (inc!=6)
-					Regular=false;
-				if (inc!=6 && inc!=5)
-					Semiregular=false;
-				f->V(j)->SetS();
-
-			}
-			else
-				f->V(j)->SetS();
-		}
-		if (Semiregular==false)
-			break;
-
-	}
-
-	if (Regular)
-	{
-			fprintf(index, "<p> Type of Mesh: REGULAR</p>"); 
-		  printf("\t Type of Mesh: REGULAR\n"); 
-	}
-	else if (Semiregular)
-	{
-			fprintf(index, "<p> Type of Mesh: SEMIREGULAR</p>");
-		  printf("\t Type of Mesh: SEMIREGULAR\n");
-	}
-	else 
-	{
-		fprintf(index, "<p> Type of Mesh: IRREGULAR</p>"); 
-	  printf("\t Type of Mesh: IRREGULAR\n"); 
-	}
-// ORIENTABLE E ORIENTED MESH
-
-	bool Orientable=true;
-	bool Oriented=true;
-	if (!Manifold)
-	{
-		fprintf(index, "<p> Orientable Mesh: NO</p>"); 
-	  printf( "\t Orientable Mesh: NO\n"); 
-	}
-	else
-	{
-		for(f=m.face.begin();f!=m.face.end();++f)
-		{
-			(*f).ClearS();
-			(*f).ClearUserBit(0);
-		}
-		g=m.face.begin(); f=g; 
-		for(f=m.face.begin();f!=m.face.end();++f)
-		{
-			if (!(*f).IsS())
-			{
-				(*f).SetS();
-				sf.push(f);
-				
-				while (!sf.empty())
-				{
-					g=sf.top();
-					sf.pop();
-					for(j=0;j<3;++j)
-					{
-						if( !(*g).IsBorder(j) )
-						{
-							he.Set(&(*g),0,g->V(0));
-							l=he.f->FFp(j);
-							he.Set(&(*g),j,g->V(j));								
-							hei.Set(he.f->FFp(j),he.f->FFi(j), (he.f->FFp(j))->V(he.f->FFi(j)));
-							if( !(*g).IsUserBit(0) )
-							{
-								if (he.v!=hei.v)    // bene
-								{
-									if ((*l).IsS() && (*l).IsUserBit(0))
-									{
-										Orientable=false;
-										break;
-									}
-									else if (!(*l).IsS())
-									{
-										(*l).SetS();
-										sf.push(l);
-									}
-								}	
-								else if (!(*l).IsS())
-								{
-									Oriented=false;
-									(*l).SetS();
-									(*l).SetUserBit(0);
-									sf.push(l);
-								}
-								else if ((*l).IsS() && !(*l).IsUserBit(0))
-								{
-									Orientable=false;
-									break;
-								}
-							}
-							else if (he.v==hei.v)    // bene
-							{
-								if ((*l).IsS() && (*l).IsUserBit(0))
-								{
-									Orientable=false;
-									break;
-								}
-								else if (!(*l).IsS())
-								{
-									(*l).SetS();
-									sf.push(l);
-								}
-							}	
-							else if (!(*l).IsS())
-							{
-								Oriented=false;
-								(*l).SetS();
-								(*l).SetUserBit(0);
-								sf.push(l);
-							}
-							else if ((*l).IsS() && !(*l).IsUserBit(0))
-							{
-								Orientable=false;
-								break;
-							}
-						}
-					}
-				}
-			}
-			if (!Orientable)
-				break;
-		}
-		if (Orientable)
-		{
-				fprintf(index, "<p> Orientable Mesh: YES</p>"); 
-			  printf( "\t Orientable Mesh: YES\n"); 
-		}
-		else
-		{
-				fprintf(index, "<p> Orientable Mesh: NO</p>"); 
-			  printf( "\t Orientable Mesh: NO\n"); 
-		}
-	}
-	if (Oriented && Manifold)
-	{
-			fprintf(index, "<p> Oriented Mesh: YES</p>"); 
-		  printf( "\t Oriented Mesh: YES\n"); 
-	}
-	else
-	{
-			fprintf(index, "<p> Oriented Mesh: NO</p>"); 
-		  printf( "\t Oriented Mesh: NO\n"); 
-	}
-	int dv = DuplicateVertex(m);
-	if(dv>0)
-	{
-		fprintf(index, "<p> Duplicated vertices: %d</p>", dv); 
-		printf( "\t Duplicated vertices: %d\n",dv);
-	}
-	else
-	{
-		fprintf(index, "<p> Duplicated vertices: NO</p>"); 
-		printf( "\t Duplicated vertices: NO\n");
-	}
-	// SELF INTERSECTION
-
-	if (m.fn<300000)
-	{
-		bool SelfInt=false;
-		for(f=m.face.begin();f!=m.face.end();++f)
-		{
-			for(g=++f , f--;g!=m.face.end();++g)
-			{
-				if ((*f).FFp(0)!=&(*g) && (*f).FFp(1)!=&(*g) && (*f).FFp(2)!=&(*g) &&
-					f->V(0)!=g->V(0) && f->V(0)!=g->V(1) && f->V(0)!=g->V(2) &&
-					f->V(1)!=g->V(0) && f->V(1)!=g->V(1) && f->V(1)!=g->V(2) &&
-					f->V(2)!=g->V(0) && f->V(2)!=g->V(1) && f->V(2)!=g->V(2))
-				{
-					if (NoDivTriTriIsect(f->V(0)->P(), f->V(1)->P(), f->V(2)->P(),g->V(0)->P(), g->V(1)->P(), g->V(2)->P()) )
-						SelfInt=true;
-				}
-			}
-			if (SelfInt)
-				break;			
-		}
-		if (SelfInt)
-		{
-			fprintf(index, "<p> Self Intersection: YES</p>"); 
-			printf( "\t Self Intersection: YES\n");
-		}
-		else
-		{
-			fprintf(index, "<p> Self Intersection: NO</p>"); 
-			 printf( "\t Self Intersection: NO\n"); 
-		}
-	}
-
-
-	fclose(index);
-}
-
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101/readme.txt b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101/readme.txt
deleted file mode 100644
index e2f349c1..00000000
--- a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101/readme.txt
+++ /dev/null
@@ -1,58 +0,0 @@
-
-   VCGLib  http://www.vcglib.net                                     o o     
-   Visual and Computer Graphics Library                            o     o   
-                                                                  _   O  _   
-   Copyright(C) 2004-2005                                           \/)\/    
-   Visual Computing Lab  http://vcg.isti.cnr.it                    /\/|      
-   ISTI - Italian National Research Council                           |      
-                                                                      \      
-   TriMeshInfo 1.01 14/02/2005
-   All rights reserved.                                                      
-   
-
-                                                                       
-This program is free software; you can redistribute it and/or modify      
-it under the terms of the GNU General Public License as published by      
-the Free Software Foundation; either version 2 of the License, or         
-(at your option) any later version.                                       
-                                                                          
-This program is distributed in the hope that it will be useful,           
-but WITHOUT ANY WARRANTY; without even the implied warranty of            
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             
-GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          
-for more details.                                                 
-
---- Synopsis ---
-
-TriMeshInfo is a tool designed to inspect 3D models and retrieve all the 
-topological related information. It can be used to automate the process 
-of decoding 3D mesh inherent properties and ease data classification 
-and retrieval. 
-
-
-For each analyzed dataset the following information are extracted: 
-
-* Number of Vertices (Unreferenced vertices are listed separately) 
-* Number of Faces 
-* Number of Edges 
-* Number of Connected Components 
-* Number of Boundaries 
-* Number of Isolated Vertices (i.e. Unreferenced) 
-* Manifold 
-* Volume (Computed only for Closed Manifold Datasets)
-* Color  (Computed only if the information is embedded in the model)
-* Genus (Computed only for Manifold Datasets) 
-* Orientability 
-* Orientation 
-* Regularity (We consider as regular those meshes generated through 
-  regular subdivision. Each non boundary vertex of a regular mesh has 
-  6 incident edges, if there are only 5 incident edges the mesh is said to be 
-  semi-regular, irregular in all other cases) 
-* Number of Duplicated Vertices
-* Self-Intersection (Currently computed only for Datasets with less than 3M faces) 
-
-The application has no graphical interface but works as the "Metro" tool on command line.
-The application works under both Windows and Linux/Unix platforms.
-
-TriMeshInfo is written in C++ and makes use of the VCL library. 
-The tool supports two file formats ply and off (as described in http://www.geomview.org/docs/html/geomview_41.html#SEC44) . 
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101/resource.h b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101/resource.h
deleted file mode 100644
index f8ed1d14..00000000
--- a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfo101/resource.h
+++ /dev/null
@@ -1,17 +0,0 @@
-//{{NO_DEPENDENCIES}}
-// Microsoft Visual C++ generated include file.
-// Used by trimeshinfo.rc
-//
-#define IDI_ICON1                       112
-#define IDI_ICON2                       113
-
-// Next default values for new objects
-// 
-#ifdef APSTUDIO_INVOKED
-#ifndef APSTUDIO_READONLY_SYMBOLS
-#define _APS_NEXT_RESOURCE_VALUE        114
-#define _APS_NEXT_COMMAND_VALUE         40001
-#define _APS_NEXT_CONTROL_VALUE         1001
-#define _APS_NEXT_SYMED_VALUE           101
-#endif
-#endif
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample.zip b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample.zip
deleted file mode 100644
index 0c08b38d..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample.zip and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/kleine.ply b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/kleine.ply
deleted file mode 100644
index 1f0ec480..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/kleine.ply and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/kleine.ply2.html b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/kleine.ply2.html
deleted file mode 100644
index 08cf9875..00000000
--- a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/kleine.ply2.html
+++ /dev/null
@@ -1,11 +0,0 @@
-<p>Mesh info: C:\sf\apps\trimeshinfo\trimeshinfo1.01\trimeshinfosample\kleine.ply </p>
-
-
-<p>GENERAL INFO </p>
-
-<p>Number of vertices: 255 </p>
-<p>Number of faces: 520 </p>
-<p> Manifold: NO </p><p>Number of edges: 776 </p>
-<p>Number of degenerated faces: 0 </p>
-<p>Number of unreferenced vertices: 0</p>
-<p> Number of border edges: 0 </p><p> Number of connected components: 1 </p><p> Type of Mesh: IRREGULAR</p><p> Orientable Mesh: NO</p><p> Oriented Mesh: NO</p><p> Duplicated vertices: NO</p><p> Self Intersection: NO</p>
\ No newline at end of file
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/knot_orig.ply b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/knot_orig.ply
deleted file mode 100644
index 966f556e..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/knot_orig.ply and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/knot_orig.ply2.html b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/knot_orig.ply2.html
deleted file mode 100644
index 2d4f8f45..00000000
--- a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/knot_orig.ply2.html
+++ /dev/null
@@ -1,13 +0,0 @@
-<p>Mesh info: C:\sf\apps\trimeshinfo\trimeshinfo1.01\trimeshinfosample\knot_orig.ply </p>
-
-
-<p>GENERAL INFO </p>
-
-<p>Number of vertices: 12800 </p>
-<p>Number of faces: 25600 </p>
-<p> Manifold: YES </p><p>Number of edges: 38400 </p>
-<p>Number of degenerated faces: 0 </p>
-<p>Number of unreferenced vertices: 0</p>
-<p> Number of holes: 0 </p> 
- <p> Number of border edges: 0 </p><p> Number of connected components: 1 </p><p> Genus: 1 </p> 
- <p> Type of Mesh: REGULAR</p><p> Orientable Mesh: YES</p><p> Oriented Mesh: YES</p><p> Duplicated vertices: NO</p><p> Self Intersection: NO</p>
\ No newline at end of file
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/knot_subsampled.ply b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/knot_subsampled.ply
deleted file mode 100644
index af5151f7..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/knot_subsampled.ply and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/knot_vcg_simplified.ply b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/knot_vcg_simplified.ply
deleted file mode 100644
index 999980ef..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/knot_vcg_simplified.ply and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/moebius.ply b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/moebius.ply
deleted file mode 100644
index 12961381..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/moebius.ply and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/moebius_big.ply b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/moebius_big.ply
deleted file mode 100644
index cb83d571..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/moebius_big.ply and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/moebius_big.ply2.html b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/moebius_big.ply2.html
deleted file mode 100644
index 259b4be3..00000000
--- a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/moebius_big.ply2.html
+++ /dev/null
@@ -1,13 +0,0 @@
-<p>Mesh info: C:\sf\apps\trimeshinfo\trimeshinfo1.01\trimeshinfosample\moebius_big.ply </p>
-
-
-<p>GENERAL INFO </p>
-
-<p>Number of vertices: 320 </p>
-<p>Number of faces: 480 </p>
-<p> Manifold: YES </p><p>Number of edges: 640 </p>
-<p>Number of degenerated faces: 0 </p>
-<p>Number of unreferenced vertices: 0</p>
-<p> Number of holes: 0 </p> 
- <p> Number of border edges: 160 </p><p> Number of connected components: 1 </p><p> Genus: 1 </p> 
- <p> Type of Mesh: IRREGULAR</p><p> Orientable Mesh: NO</p><p> Oriented Mesh: NO</p><p> Duplicated vertices: NO</p><p> Self Intersection: NO</p>
\ No newline at end of file
diff --git a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/readme.txt b/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/readme.txt
deleted file mode 100644
index 633e8bbc..00000000
--- a/apps/trimeshinfo/trimeshinfo1.01/trimeshinfosample/readme.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-This directory contains six 3d models that can be used to test trimeshinfo. 
-The models represent a toroidal knot at two different level of details:
-
-- knot_orig.ply           12800 vertexes, 25600 triangles: the original high resolution mesh
-- knot_subsampled.ply       800 vertexes,  1600 triangles: a low res model obtained by simple uniform subsampling
-- knot_vcg_simplified.ply   800 vertexes,  1600 triangles: a low res model obtained by our library simplification code
-
-a low resolution model of the Kleine bottle:
-
-- kleine.ply		    255 vertexes, 520 triangles
-
-two low resolution models of the moebius strip:
-
-- moebius.ply		     80 vertexes, 160 triangles
-- moebius_big.ply	    320 vertexes, 480 triangles
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfo1.02/readme.txt b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfo1.02/readme.txt
deleted file mode 100644
index 4b550b82..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfo1.02/readme.txt
+++ /dev/null
@@ -1,54 +0,0 @@
-
-   VCGLib  http://www.vcglib.net                                         o o     
-   Visual and Computer Graphics Library                            o     o   
-                                                                  _   O  _   
-   Copyright(C) 2004-2005                                           \/)\/    
-   Visual Computing Lab  http://vcg.isti.cnr.it                    /\/|      
-   ISTI - Italian National Research Council                           |      
-                                                                      \      
-   TriMeshInfo 1.0 21/09/2004
-   All rights reserved.                                                      
-   
-
-                                                                       
-This program is free software; you can redistribute it and/or modify      
-it under the terms of the GNU General Public License as published by      
-the Free Software Foundation; either version 2 of the License, or         
-(at your option) any later version.                                       
-                                                                          
-This program is distributed in the hope that it will be useful,           
-but WITHOUT ANY WARRANTY; without even the implied warranty of            
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             
-GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          
-for more details.                                                 
-
---- Synopsis ---
-
-TriMeshInfo is a tool designed to inspect 3D models and retrieve all the 
-topological related information. It can be used to automate the process 
-of decoding 3D mesh inherent properties and ease data classification 
-and retrieval. 
-
-
-For each analyzed dataset the following information are extracted: 
-
-* Number of Vertices (Unreferenced vertices are listed separately) 
-* Number of Faces 
-* Number of Edges 
-* Number of Connected Components 
-* Number of Boundaries 
-* Number of Isolated Vertices (i.e. Unreferenced) 
-* Manifold 
-* Genus (Computed only for Manifold Datasets) 
-* Self-Intersection (Currently computed only for Datasets with less than 3M faces) 
-* Orientability 
-* Orientation 
-* Regularity (We consider as regular those meshes generated through 
-  regular subdivision. Each non boundary vertex of a regular mesh has 
-  6 incident edges, if there are only 5 incident edges the mesh is said to be 
-  semi-regular, irregular in all other cases) 
-
-The application has no graphical interface but works as the "Metro" tool on command line. 
-
-TriMeshInfo is written in C++ and makes use of the VCL library. 
-The tool supports two file formats ply and off (as described in http://www.geomview.org/docs/html/geomview_41.html#SEC44) . 
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfo1.02/trimeshinfo.exe b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfo1.02/trimeshinfo.exe
deleted file mode 100644
index 55d625e8..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfo1.02/trimeshinfo.exe and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfo102.zip b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfo102.zip
deleted file mode 100644
index 1d1c3748..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfo102.zip and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample.zip b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample.zip
deleted file mode 100644
index 8b623401..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample.zip and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/degenerate.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/degenerate.ply
deleted file mode 100644
index f37a6bbe..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/degenerate.ply
+++ /dev/null
@@ -1,19 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 6
-property float x
-property float y
-property float z
-element face 3
-property list uchar int vertex_indices
-end_header
--0.5 3 0
-0.5 3 0
--1 4 0
-0 4 0
-1 4 0
-0 6 0
-3 0 3 2
-3 1 4 3
-3 2 4 5
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/degenerate2.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/degenerate2.ply
deleted file mode 100644
index c87debe4..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/degenerate2.ply
+++ /dev/null
@@ -1,19 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 6
-property float x
-property float y
-property float z
-element face 3
-property list uchar int vertex_indices
-end_header
--0.5 3 0
-0.5 3 0
--1 4 0
-0 3.5 0
-1 4 0
-0 6 0
-3 0 3 2
-3 1 4 3
-3 2 4 5
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/degenerate3.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/degenerate3.ply
deleted file mode 100644
index b020b6a9..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/degenerate3.ply
+++ /dev/null
@@ -1,19 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 6
-property float x
-property float y
-property float z
-element face 3
-property list uchar int vertex_indices
-end_header
--0.5 3 0
-0.5 3 0
--1 4 0
-0 4.01 0
-1 4 0
-0 6 0
-3 0 3 2
-3 1 4 3
-3 2 4 5
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/eight2D.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/eight2D.ply
deleted file mode 100644
index a79cb0e5..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/eight2D.ply
+++ /dev/null
@@ -1,50 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 19
-property float x
-property float y
-property float z
-element face 20
-property list uchar int vertex_indices
-end_header
-0 0 0
--1 1 0
-0 1 0
-1 1 0
--2 2 0
--1 2 0
-1 2 0
-2 2 0
--1 3 0
-0 3 0
-1 3 0
--2 4 0
--1 4 0
-1 4 0
-2 4 0
--1 5 0
-0 5 0
-1 5 0
-0 6 0
-3 0 2 1
-3 0 3 2
-3 1 5 4
-3 2 5 1
-3 3 6 2
-3 3 7 6
-3 5 8 4
-3 5 9 8
-3 6 10 9
-3 7 10 6
-3 8 12 11
-3 9 12 8
-3 10 13 9
-3 10 14 13
-3 12 15 11
-3 12 16 15
-3 13 17 16
-3 14 17 13
-3 16 18 15
-3 17 18 16
-
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/eight3D.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/eight3D.ply
deleted file mode 100644
index 5a4813ef..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/eight3D.ply
+++ /dev/null
@@ -1,2313 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 766
-property float x
-property float y
-property float z
-element face 1536
-property list uchar int vertex_indices
-end_header
-0.0834504 0.0913934 0.0353825
-0.0420765 0.0989266 0.0400468
-0.0894223 0.0848361 0.087783
-0.0432475 0.101112 -0.00163271
-0 0.10404 0
-0.0802498 0.0931889 -0.0105816
-0.00452381 0.100839 -0.0386612
--0.0420765 0.0989266 -0.0400468
--0.0296409 0.0907689 -0.0746682
--0.0894223 0.0848361 -0.087783
-0.0169126 0.0914325 -0.0732631
-0.0469945 0.0977166 -0.0421936
-0.0564403 0.0888173 -0.080523
-0.0825527 0.0911593 -0.0544496
-0.0894614 0.0844848 -0.0971116
--0.0834504 0.0913934 -0.0353825
--0.0432475 0.101112 0.00163271
--0.0802498 0.0931889 0.0105816
--0.00452381 0.100839 0.0386612
-0.0296409 0.0907689 0.0746682
--0.0169126 0.0914325 0.0732631
--0.0469945 0.0977166 0.0421936
--0.0564403 0.0888173 0.080523
--0.0825527 0.0911593 0.0544496
--0.0894614 0.0844848 0.0971116
-0.0394223 -0.0998634 0.0398126
-0.0769321 -0.0941647 0.0360422
-0.0782592 -0.0885051 0.085363
-0.0406714 -0.10123 -0.00121585
-0.079313 -0.0927596 -0.00927791
-0 -0.10404 0
-0.0446136 -0.0967408 -0.041413
-0.0872756 -0.0876464 -0.0532006
-0.051249 -0.0870999 -0.0784153
-0.10082 -0.0803084 -0.0979703
-0.00722873 -0.0910422 -0.0729118
-0.0020765 -0.1008 -0.0383411
--0.0350703 -0.0915496 -0.0758782
--0.0394223 -0.0998634 -0.0398126
--0.0782592 -0.0885051 -0.085363
--0.0769321 -0.0941647 -0.0360422
--0.0406714 -0.10123 0.00121585
--0.079313 -0.0927596 0.00927791
--0.0446136 -0.0967408 0.041413
--0.0872756 -0.0876464 0.0532006
--0.051249 -0.0870999 0.0784153
--0.10082 -0.0803084 0.0979703
--0.00722873 -0.0910422 0.0729118
--0.0020765 -0.1008 0.0383411
-0.0350703 -0.0915496 0.0758782
--0.157494 0.0418618 0.0298126
--0.164871 0.0309329 -0.0311475
--0.171897 9.17252e-005 -0.00202147
--0.138212 0.0605972 0.000883685
--0.150546 0.0556011 -0.052498
--0.135988 0.0687939 0.0542155
--0.114676 0.0783568 -0.0204098
--0.127361 0.074961 -0.0701015
--0.110304 0.0816354 0.0282943
--0.112607 0.0831577 0.0761124
--0.158041 -0.0416276 -0.0334504
--0.164871 -0.0307884 0.0275332
--0.138564 -0.060363 -0.00207416
--0.151249 -0.0551717 0.0511319
--0.136105 -0.0687549 -0.0555425
--0.115847 -0.077459 0.0258509
--0.130679 -0.0732436 0.0737315
--0.109446 -0.0818696 -0.0227361
--0.109953 -0.0843677 -0.0720921
-0.157494 0.0418618 -0.0298126
-0.164871 0.0309329 0.0311475
-0.171897 9.17252e-005 0.00202147
-0.138212 0.0605972 -0.000883685
-0.150546 0.0556011 0.052498
-0.135988 0.0687939 -0.0542155
-0.114676 0.0783568 0.0204098
-0.127361 0.074961 0.0701015
-0.110304 0.0816354 -0.0282943
-0.112607 0.0831577 -0.0761124
-0.158041 -0.0416276 0.0334504
-0.164871 -0.0307884 -0.0275332
-0.138564 -0.060363 0.00207416
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-3  746 752 748
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-3  755 733 735
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-3  756 751 755
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-3  757 729 731
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-3  761 760 758
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-3  500 494 763
-3  500 763 749
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-3  764 762 745
-3  765 759 760
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-3  765 494 492
-3  765 492 759
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-3  765 760 764
-3  763 494 765
-3  763 765 764
-
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/eight3D.ply2.html b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/eight3D.ply2.html
deleted file mode 100644
index e69de29b..00000000
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/four_twoconnected.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/four_twoconnected.ply
deleted file mode 100644
index 1f4ece5a..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/four_twoconnected.ply
+++ /dev/null
@@ -1,24 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 10
-property float x
-property float y
-property float z
-element face 4
-property list uchar int vertex_indices
-end_header
-1.05 0.05 1
-1.05 1.05 2
-0.05 1.05 1
-0 0 0
-1 0 1
-0 1 1
-2 2 2
-2 1 1
-3 1 2
-3 1 0
-3 0 1 2
-3 3 4 5
-3 6 7 8
-3 8 7 9
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kite.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kite.ply
deleted file mode 100644
index 4d71765e..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kite.ply
+++ /dev/null
@@ -1,44 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 16
-property float x
-property float y
-property float z
-element face 18
-property list uchar int vertex_indices
-end_header
-0 0 0
--0.5 1 0
-0.5 1 0
--1 2 0
-0 2 0
-1 2 0
--1.5 3 0
--0.5 3 0
-0.5 3 0
-1.5 3 0
--1 4 0
-0 4 0
-1 4 0
--0.5 5 0
-0.5 5 0
-0 6 0
-3 0 2 1
-3 1 4 3
-3 1 2 4
-3 2 5 4
-3 3 7 6
-3 3 4 7
-3 4 8 7
-3 4 5 8
-3 5 9 8
-3 6 7 10
-3 7 11 10
-3 7 8 11
-3 8 12 11
-3 8 9 12
-3 10 11 13
-3 11 14 13
-3 11 12 14
-3 13 14 15
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kite_degenerate.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kite_degenerate.ply
deleted file mode 100644
index 106429ff..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kite_degenerate.ply
+++ /dev/null
@@ -1,39 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 14
-property float x
-property float y
-property float z
-element face 15
-property list uchar int vertex_indices
-end_header
-0 0 0
--0.5 1 0
-0.5 1 0
--1 2 0
-0 2 0
-1 2 0
--1.5 3 0
--0.5 3 0
-0.5 3 0
-1.5 3 0
--1 4 0
-0 4 0
-1 4 0
-0 6 0
-3 0 2 1
-3 1 4 3
-3 1 2 4
-3 2 5 4
-3 3 7 6
-3 3 4 7
-3 4 8 7
-3 4 5 8
-3 5 9 8
-3 6 7 10
-3 7 11 10
-3 7 8 11
-3 8 12 11
-3 8 9 12
-3 10 12 13
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kite_degenerate2.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kite_degenerate2.ply
deleted file mode 100644
index c5459855..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kite_degenerate2.ply
+++ /dev/null
@@ -1,39 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 14
-property float x
-property float y
-property float z
-element face 15
-property list uchar int vertex_indices
-end_header
-0 0 0
--0.5 1 0
-0.5 1 0
--1 2 0
-0 2 0
-1 2 0
--1.5 3 0
--0.5 3 0
-0.5 3 0
-1.5 3 0
--1 4 0
-0 3.5 0
-1 4 0
-0 6 0
-3 0 2 1
-3 1 4 3
-3 1 2 4
-3 2 5 4
-3 3 7 6
-3 3 4 7
-3 4 8 7
-3 4 5 8
-3 5 9 8
-3 6 7 10
-3 7 11 10
-3 7 8 11
-3 8 12 11
-3 8 9 12
-3 10 12 13
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kite_hole.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kite_hole.ply
deleted file mode 100644
index 954c8c8c..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kite_hole.ply
+++ /dev/null
@@ -1,42 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 16
-property float x
-property float y
-property float z
-element face 16
-property list uchar int vertex_indices
-end_header
-0 0 0
--0.5 1 0
-0.5 1 0
--1 2 0
-0 2 0
-1 2 0
--1.5 3 0
--0.5 3 0
-0.5 3 0
-1.5 3 0
--1 4 0
-0 4 0
-1 4 0
--0.5 5 0
-0.5 5 0
-0 6 0
-3 0 2 1
-3 1 4 3
-3 1 2 4
-3 2 5 4
-3 3 7 6
-3 3 4 7
-3 4 5 8
-3 5 9 8
-3 6 7 10
-3 7 11 10
-3 8 12 11
-3 8 9 12
-3 10 11 13
-3 11 14 13
-3 11 12 14
-3 13 14 15
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kleine.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kleine.ply
deleted file mode 100644
index 1f0ec480..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/kleine.ply and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/knot_orig.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/knot_orig.ply
deleted file mode 100644
index 966f556e..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/knot_orig.ply and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/knot_subsampled.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/knot_subsampled.ply
deleted file mode 100644
index af5151f7..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/knot_subsampled.ply and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/knot_vcg_simplified.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/knot_vcg_simplified.ply
deleted file mode 100644
index 999980ef..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/knot_vcg_simplified.ply and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/moebius.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/moebius.ply
deleted file mode 100644
index 12961381..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/moebius.ply and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/moebius_big.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/moebius_big.ply
deleted file mode 100644
index cb83d571..00000000
Binary files a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/moebius_big.ply and /dev/null differ
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/nonmanifold.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/nonmanifold.ply
deleted file mode 100644
index 9716997f..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/nonmanifold.ply
+++ /dev/null
@@ -1,26 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 11
-property float x
-property float y
-property float z
-element face 5
-property list uchar int vertex_indices
-end_header
-1.05 0.05 1
-1.05 1.05 2
-0.05 1.05 1
-0 0 0
-1 0 1
-0 1 1
-2 2 2
-2 1 1
-3 1 2
-3 1 0
-1.5 1 2
-3 0 1 2
-3 3 4 5
-3 6 7 8
-3 8 7 9
-3 8 10 7
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/one.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/one.ply
deleted file mode 100644
index 1ed77f0a..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/one.ply
+++ /dev/null
@@ -1,14 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 3
-property float x
-property float y
-property float z
-element face 1
-property list uchar int vertex_indices
-end_header
-0 0 0
-1 0 1
-0 1 1
-3 0 1 2
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/readme.txt b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/readme.txt
deleted file mode 100644
index 633e8bbc..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/readme.txt
+++ /dev/null
@@ -1,15 +0,0 @@
-This directory contains six 3d models that can be used to test trimeshinfo. 
-The models represent a toroidal knot at two different level of details:
-
-- knot_orig.ply           12800 vertexes, 25600 triangles: the original high resolution mesh
-- knot_subsampled.ply       800 vertexes,  1600 triangles: a low res model obtained by simple uniform subsampling
-- knot_vcg_simplified.ply   800 vertexes,  1600 triangles: a low res model obtained by our library simplification code
-
-a low resolution model of the Kleine bottle:
-
-- kleine.ply		    255 vertexes, 520 triangles
-
-two low resolution models of the moebius strip:
-
-- moebius.ply		     80 vertexes, 160 triangles
-- moebius_big.ply	    320 vertexes, 480 triangles
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/test1.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/test1.ply
deleted file mode 100644
index e1d336c8..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/test1.ply
+++ /dev/null
@@ -1,46013 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 15512
-property float x
-property float y
-property float z
-element face 30491
-property list uchar int vertex_indices
-end_header
--28.4 0 5.725 
--28 0 6.55 
--27.6 0 7.35 
--27.2 0 8.075 
--26.8 0 8.775 
--26.4 0 9.525 
--26 0 10.075 
--25.6 0 10.7 
--25.2 0 11.275 
--24.8 0 11.725 
--24.4 0 12.075 
--24 0 12.475 
--23.6 0 13 
--23.2 0 13.275 
--22.8 0 13.375 
--22.4 0 13.425 
--22 0 13.5 
--21.6 0 13.5 
--21.2 0 13.475 
--20.8 0 13.55 
--20.4 0 13.9 
--20 0 14.275 
--19.6 0 14.625 
--19.2 0 14.975 
--18.8 0 15.4 
--18.4 0 15.75 
--18 0 16.175 
--17.6 0 16.575 
--17.2 0 17.225 
--16.8 0 18.025 
--16.4 0 18.9 
--16 0 20.3 
--15.6 0 22.325 
--15.2 0 24.45 
--14.8 0 25.4 
--14.4 0 25.85 
--14 0 26.125 
--13.6 0 26.375 
--13.2 0 26.5 
--12.8 0 26.575 
--12.4 0 26.675 
--12 0 26.675 
--11.6 0 26.65 
--11.2 0 26.575 
--10.8 0 26.575 
--10.4 0 26.6 
--10 0 26.75 
--9.6 0 27.175 
--9.2 0 27.575 
--8.8 0 27.875 
--8.4 0 28.1 
--8 0 28.275 
--7.6 0 28.35 
--7.2 0 28.225 
--6.8 0 28.15 
--6.4 0 28.1 
--6 0 28.525 
--5.6 0 28.15 
--5.2 0 27.325 
--4.8 0 28.25 
--4.4 0 28.65 
--4 0 29.4 
--3.6 0 29.85 
--3.2 0 30.275 
--2.8 0 30.575 
--2.4 0 30.775 
--2 0 31.05 
--1.6 0 31.325 
--1.2 0 31.525 
--0.799999 0 31.625 
--0.399999 0 31.675 
-5.96046e-007 0 31.75 
-0.400001 0 31.75 
-0.800001 0 31.8 
-1.2 0 31.725 
-1.6 0 31.625 
-2 0 31.575 
-2.4 0 31.425 
-2.8 0 31.275 
-3.2 0 31.075 
-3.6 0 30.8 
-4 0 30.45 
-4.4 0 30.1 
-4.8 0 29.675 
-5.2 0 29.275 
-5.6 0 28.9 
-6 0 28.45 
-6.4 0 28.025 
-6.8 0 27.55 
-7.2 0 27.1 
-7.6 0 26.625 
-8 0 26.15 
-8.4 0 25.775 
-8.8 0 25.325 
-9.2 0 24.85 
-9.6 0 24.425 
-10 0 24 
-10.4 0 23.6 
-10.8 0 23.2 
-11.2 0 22.725 
-11.6 0 22.275 
-12 0 21.875 
-12.4 0 21.5 
-12.8 0 21.025 
-13.2 0 20.525 
-13.6 0 20.125 
-14 0 19.675 
-14.4 0 19.025 
-14.8 0 18.475 
-15.2 0 17.8 
-15.6 0 17.175 
-16 0 16.525 
-16.4 0 16.05 
-16.8 0 15.675 
-17.2 0 15.425 
-17.6 0 15.2 
-18 0 14.925 
-18.4 0 14.675 
-18.8 0 14.425 
-19.2 0 14.1 
-19.6 0 13.7 
-20 0 13.2 
-20.4 0 12.6 
-20.8 0 11.9 
-21.2 0 10.975 
-21.6 0 9.925 
--28.4 0.4 5.675 
--28 0.4 6.725 
--27.6 0.4 7.575 
--27.2 0.4 8.325 
--26.8 0.4 9.075 
--26.4 0.4 9.85 
--26 0.4 10.4 
--25.6 0.4 10.975 
--25.2 0.4 11.525 
--24.8 0.4 11.875 
--24.4 0.4 12.475 
--24 0.4 12.975 
--23.6 0.4 13.3 
--23.2 0.4 13.475 
--22.8 0.4 13.55 
--22.4 0.4 13.55 
--22 0.4 13.5 
--21.6 0.4 13.525 
--21.2 0.4 13.55 
--20.8 0.4 13.65 
--20.4 0.4 14.025 
--20 0.4 14.475 
--19.6 0.4 14.75 
--19.2 0.4 15.125 
--18.8 0.4 15.55 
--18.4 0.4 15.9 
--18 0.4 16.3 
--17.6 0.4 16.775 
--17.2 0.4 17.5 
--16.8 0.4 18.2 
--16.4 0.4 19.35 
--16 0.4 20.875 
--15.6 0.4 23.15 
--15.2 0.4 24.875 
--14.8 0.4 25.725 
--14.4 0.4 26 
--14 0.4 26.275 
--13.6 0.4 26.425 
--13.2 0.4 26.55 
--12.8 0.4 26.625 
--12.4 0.4 26.625 
--12 0.4 26.575 
--11.6 0.4 26.6 
--11.2 0.4 26.525 
--10.8 0.4 26.45 
--10.4 0.4 26.575 
--10 0.4 26.925 
--9.6 0.4 27.35 
--9.2 0.4 27.675 
--8.8 0.4 27.9 
--8.4 0.4 28.075 
--8 0.4 28.2 
--7.6 0.4 28.175 
--7.2 0.4 28.2 
--6.8 0.4 28.15 
--6.4 0.4 28.525 
--6 0.4 29.075 
--5.6 0.4 28.55 
--5.2 0.4 27.325 
--4.8 0.4 28.275 
--4.4 0.4 28.7 
--4 0.4 29.225 
--3.6 0.4 29.775 
--3.2 0.4 30.175 
--2.8 0.4 30.475 
--2.4 0.4 30.625 
--2 0.4 30.775 
--1.6 0.4 31.125 
--1.2 0.4 31.45 
--0.799999 0.4 31.6 
--0.399999 0.4 31.725 
-5.96046e-007 0.4 31.875 
-0.400001 0.4 31.95 
-0.800001 0.4 31.9 
-1.2 0.4 31.9 
-1.6 0.4 31.9 
-2 0.4 31.75 
-2.4 0.4 31.6 
-2.8 0.4 31.4 
-3.2 0.4 31.175 
-3.6 0.4 30.95 
-4 0.4 30.7 
-4.4 0.4 30.4 
-4.8 0.4 30 
-5.2 0.4 29.575 
-5.6 0.4 29.15 
-6 0.4 28.675 
-6.4 0.4 28.3 
-6.8 0.4 27.9 
-7.2 0.4 27.4 
-7.6 0.4 26.9 
-8 0.4 26.5 
-8.4 0.4 26.075 
-8.8 0.4 25.6 
-9.2 0.4 25.175 
-9.6 0.4 24.775 
-10 0.4 24.35 
-10.4 0.4 23.9 
-10.8 0.4 23.475 
-11.2 0.4 23.05 
-11.6 0.4 22.725 
-12 0.4 22.3 
-12.4 0.4 21.75 
-12.8 0.4 21.3 
-13.2 0.4 20.9 
-13.6 0.4 20.45 
-14 0.4 19.925 
-14.4 0.4 19.425 
-14.8 0.4 18.925 
-15.2 0.4 18.175 
-15.6 0.4 17.575 
-16 0.4 16.875 
-16.4 0.4 16.3 
-16.8 0.4 15.875 
-17.2 0.4 15.575 
-17.6 0.4 15.35 
-18 0.4 15.125 
-18.4 0.4 14.925 
-18.8 0.4 14.725 
-19.2 0.4 14.4 
-19.6 0.4 14.1 
-20 0.4 13.675 
-20.4 0.4 13.15 
-20.8 0.4 12.55 
-21.2 0.4 11.7 
-21.6 0.4 10.525 
--28.8 0.8 5.2 
--28.4 0.8 5.9 
--28 0.8 6.9 
--27.6 0.8 7.775 
--27.2 0.8 8.5 
--26.8 0.8 9.225 
--26.4 0.8 9.875 
--26 0.8 10.625 
--25.6 0.8 11.15 
--25.2 0.8 11.575 
--24.8 0.8 12.125 
--24.4 0.8 12.7 
--24 0.8 13.15 
--23.6 0.8 13.4 
--23.2 0.8 13.55 
--22.8 0.8 13.575 
--22.4 0.8 13.6 
--22 0.8 13.6 
--21.6 0.8 13.575 
--21.2 0.8 13.65 
--20.8 0.8 13.8 
--20.4 0.8 14.1 
--20 0.8 14.475 
--19.6 0.8 14.875 
--19.2 0.8 15.225 
--18.8 0.8 15.6 
--18.4 0.8 16.05 
--18 0.8 16.55 
--17.6 0.8 17 
--17.2 0.8 17.85 
--16.8 0.8 18.65 
--16.4 0.8 19.75 
--16 0.8 21.7 
--15.6 0.8 24.025 
--15.2 0.8 25.475 
--14.8 0.8 25.9 
--14.4 0.8 26.175 
--14 0.8 26.35 
--13.6 0.8 26.5 
--13.2 0.8 26.55 
--12.8 0.8 26.5 
--12.4 0.8 26.5 
--12 0.8 26.45 
--11.6 0.8 26.45 
--11.2 0.8 26.45 
--10.8 0.8 26.375 
--10.4 0.8 26.55 
--10 0.8 26.95 
--9.6 0.8 27.4 
--9.2 0.8 27.8 
--8.8 0.8 28 
--8.4 0.8 28.1 
--8 0.8 28.275 
--7.6 0.8 28.3 
--7.2 0.8 28.275 
--6.8 0.8 28.175 
--6.4 0.8 27.975 
--6 0.8 27.85 
--5.6 0.8 27.725 
--5.2 0.8 27.275 
--4.8 0.8 28.2 
--4.4 0.8 28.625 
--4 0.8 29.175 
--3.6 0.8 29.85 
--3.2 0.8 30.25 
--2.8 0.8 30.45 
--2.4 0.8 30.55 
--2 0.8 30.675 
--1.6 0.8 30.9 
--1.2 0.8 31.325 
--0.799999 0.8 31.6 
--0.399999 0.8 31.725 
-5.96046e-007 0.8 31.875 
-0.400001 0.8 31.9 
-0.800001 0.8 31.9 
-1.2 0.8 31.9 
-1.6 0.8 31.875 
-2 0.8 31.8 
-2.4 0.8 31.6 
-2.8 0.8 31.475 
-3.2 0.8 31.45 
-3.6 0.8 31.225 
-4 0.8 30.85 
-4.4 0.8 30.575 
-4.8 0.8 30.175 
-5.2 0.8 29.8 
-5.6 0.8 29.425 
-6 0.8 29.05 
-6.4 0.8 28.55 
-6.8 0.8 28.1 
-7.2 0.8 27.675 
-7.6 0.8 27.25 
-8 0.8 26.8 
-8.4 0.8 26.325 
-8.8 0.8 25.9 
-9.2 0.8 25.525 
-9.6 0.8 25.05 
-10 0.8 24.65 
-10.4 0.8 24.225 
-10.8 0.8 23.8 
-11.2 0.8 23.4 
-11.6 0.8 22.975 
-12 0.8 22.475 
-12.4 0.8 22.05 
-12.8 0.8 21.625 
-13.2 0.8 21.15 
-13.6 0.8 20.675 
-14 0.8 20.225 
-14.4 0.8 19.725 
-14.8 0.8 19.15 
-15.2 0.8 18.55 
-15.6 0.8 17.725 
-16 0.8 17.05 
-16.4 0.8 16.525 
-16.8 0.8 16.15 
-17.2 0.8 15.8 
-17.6 0.8 15.525 
-18 0.8 15.325 
-18.4 0.8 15.125 
-18.8 0.8 14.925 
-19.2 0.8 14.65 
-19.6 0.8 14.375 
-20 0.8 13.975 
-20.4 0.8 13.5 
-20.8 0.8 12.925 
-21.2 0.8 12.275 
-21.6 0.8 11.475 
-22 0.8 10.775 
--28.8 1.2 5.25 
--28.4 1.2 6.3 
--28 1.2 6.9 
--27.6 1.2 7.825 
--27.2 1.2 8.775 
--26.8 1.2 9.35 
--26.4 1.2 9.975 
--26 1.2 10.65 
--25.6 1.2 11.45 
--25.2 1.2 11.875 
--24.8 1.2 12.35 
--24.4 1.2 13.075 
--24 1.2 13.375 
--23.6 1.2 13.475 
--23.2 1.2 13.525 
--22.8 1.2 13.55 
--22.4 1.2 13.6 
--22 1.2 13.55 
--21.6 1.2 13.55 
--21.2 1.2 13.65 
--20.8 1.2 13.925 
--20.4 1.2 14.325 
--20 1.2 14.625 
--19.6 1.2 14.95 
--19.2 1.2 15.35 
--18.8 1.2 15.75 
--18.4 1.2 16.2 
--18 1.2 16.6 
--17.6 1.2 17.2 
--17.2 1.2 18.05 
--16.8 1.2 18.875 
--16.4 1.2 20.275 
--16 1.2 22.5 
--15.6 1.2 24.675 
--15.2 1.2 25.55 
--14.8 1.2 25.9 
--14.4 1.2 26.175 
--14 1.2 26.4 
--13.6 1.2 26.525 
--13.2 1.2 26.6 
--12.8 1.2 26.6 
--12.4 1.2 26.55 
--12 1.2 26.425 
--11.6 1.2 26.325 
--11.2 1.2 26.35 
--10.8 1.2 26.35 
--10.4 1.2 26.55 
--10 1.2 27.1 
--9.6 1.2 27.5 
--9.2 1.2 27.825 
--8.8 1.2 28.15 
--8.4 1.2 28.275 
--8 1.2 28.375 
--7.6 1.2 28.35 
--7.2 1.2 28.25 
--6.8 1.2 28.175 
--6.4 1.2 29.2 
--6 1.2 28.8 
--5.6 1.2 28.275 
--5.2 1.2 27.25 
--4.8 1.2 28.15 
--4.4 1.2 28.55 
--4 1.2 29.275 
--3.6 1.2 29.775 
--3.2 1.2 30.225 
--2.8 1.2 30.425 
--2.4 1.2 30.425 
--2 1.2 30.375 
--1.6 1.2 30.575 
--1.2 1.2 31.1 
--0.799999 1.2 31.475 
--0.399999 1.2 31.675 
-5.96046e-007 1.2 31.8 
-0.400001 1.2 31.875 
-0.800001 1.2 31.925 
-1.2 1.2 31.95 
-1.6 1.2 31.95 
-2 1.2 31.9 
-2.4 1.2 31.8 
-2.8 1.2 31.675 
-3.2 1.2 31.525 
-3.6 1.2 31.35 
-4 1.2 31.05 
-4.4 1.2 30.85 
-4.8 1.2 30.525 
-5.2 1.2 30.075 
-5.6 1.2 29.725 
-6 1.2 29.325 
-6.4 1.2 28.925 
-6.8 1.2 28.475 
-7.2 1.2 28 
-7.6 1.2 27.55 
-8 1.2 27.125 
-8.4 1.2 26.65 
-8.8 1.2 26.225 
-9.2 1.2 25.8 
-9.6 1.2 25.375 
-10 1.2 24.9 
-10.4 1.2 24.475 
-10.8 1.2 24.075 
-11.2 1.2 23.65 
-11.6 1.2 23.2 
-12 1.2 22.75 
-12.4 1.2 22.375 
-12.8 1.2 21.95 
-13.2 1.2 21.475 
-13.6 1.2 21.025 
-14 1.2 20.55 
-14.4 1.2 20.025 
-14.8 1.2 19.475 
-15.2 1.2 18.925 
-15.6 1.2 18.2 
-16 1.2 17.475 
-16.4 1.2 16.75 
-16.8 1.2 16.325 
-17.2 1.2 16 
-17.6 1.2 15.7 
-18 1.2 15.475 
-18.4 1.2 15.25 
-18.8 1.2 15.05 
-19.2 1.2 14.875 
-19.6 1.2 14.575 
-20 1.2 14.25 
-20.4 1.2 13.85 
-20.8 1.2 13.3 
-21.2 1.2 12.8 
-21.6 1.2 11.975 
-22 1.2 11.125 
--28.8 1.6 5.2 
--28.4 1.6 6.225 
--28 1.6 6.975 
--27.6 1.6 8.05 
--27.2 1.6 8.825 
--26.8 1.6 9.5 
--26.4 1.6 10.375 
--26 1.6 11.025 
--25.6 1.6 11.8 
--25.2 1.6 12.175 
--24.8 1.6 12.525 
--24.4 1.6 13 
--24 1.6 13.35 
--23.6 1.6 13.55 
--23.2 1.6 13.625 
--22.8 1.6 13.625 
--22.4 1.6 13.6 
--22 1.6 13.5 
--21.6 1.6 13.5 
--21.2 1.6 13.725 
--20.8 1.6 14.025 
--20.4 1.6 14.325 
--20 1.6 14.7 
--19.6 1.6 15.1 
--19.2 1.6 15.45 
--18.8 1.6 15.9 
--18.4 1.6 16.4 
--18 1.6 16.925 
--17.6 1.6 17.475 
--17.2 1.6 18.25 
--16.8 1.6 19.45 
--16.4 1.6 21.025 
--16 1.6 23.575 
--15.6 1.6 25.075 
--15.2 1.6 25.725 
--14.8 1.6 26.025 
--14.4 1.6 26.2 
--14 1.6 26.275 
--13.6 1.6 26.325 
--13.2 1.6 26.475 
--12.8 1.6 26.525 
--12.4 1.6 26.425 
--12 1.6 26.325 
--11.6 1.6 26.2 
--11.2 1.6 26.125 
--10.8 1.6 26.25 
--10.4 1.6 26.575 
--10 1.6 27.1 
--9.6 1.6 27.625 
--9.2 1.6 27.95 
--8.8 1.6 28.15 
--8.4 1.6 28.225 
--8 1.6 28.275 
--7.6 1.6 28.275 
--7.2 1.6 28.2 
--6.8 1.6 28.125 
--6.4 1.6 27.95 
--6 1.6 28.175 
--5.6 1.6 28.175 
--5.2 1.6 27.2 
--4.8 1.6 28.05 
--4.4 1.6 28.575 
--4 1.6 29.2 
--3.6 1.6 29.7 
--3.2 1.6 30.1 
--2.8 1.6 30.45 
--2.4 1.6 30.525 
--2 1.6 30.325 
--1.6 1.6 30.25 
--1.2 1.6 30.7 
--0.799999 1.6 31.4 
--0.399999 1.6 31.6 
-5.96046e-007 1.6 31.75 
-0.400001 1.6 31.85 
-0.800001 1.6 31.925 
-1.2 1.6 31.95 
-1.6 1.6 31.9 
-2 1.6 31.9 
-2.4 1.6 31.85 
-2.8 1.6 31.775 
-3.2 1.6 31.65 
-3.6 1.6 31.5 
-4 1.6 31.25 
-4.4 1.6 30.925 
-4.8 1.6 30.625 
-5.2 1.6 30.4 
-5.6 1.6 30 
-6 1.6 29.5 
-6.4 1.6 29.1 
-6.8 1.6 28.7 
-7.2 1.6 28.25 
-7.6 1.6 27.85 
-8 1.6 27.425 
-8.4 1.6 27 
-8.8 1.6 26.55 
-9.2 1.6 26.025 
-9.6 1.6 25.575 
-10 1.6 25.2 
-10.4 1.6 24.775 
-10.8 1.6 24.3 
-11.2 1.6 23.95 
-11.6 1.6 23.6 
-12 1.6 23.075 
-12.4 1.6 22.6 
-12.8 1.6 22.175 
-13.2 1.6 21.775 
-13.6 1.6 21.325 
-14 1.6 20.8 
-14.4 1.6 20.325 
-14.8 1.6 19.75 
-15.2 1.6 19.2 
-15.6 1.6 18.5 
-16 1.6 17.8 
-16.4 1.6 16.975 
-16.8 1.6 16.475 
-17.2 1.6 16.075 
-17.6 1.6 15.8 
-18 1.6 15.55 
-18.4 1.6 15.35 
-18.8 1.6 15.15 
-19.2 1.6 15 
-19.6 1.6 14.8 
-20 1.6 14.525 
-20.4 1.6 14.15 
-20.8 1.6 13.625 
-21.2 1.6 13.075 
-21.6 1.6 12.525 
-22 1.6 11.575 
--28.8 2 5.05 
--28.4 2 6.35 
--28 2 7.225 
--27.6 2 8.2 
--27.2 2 8.925 
--26.8 2 9.85 
--26.4 2 10.6 
--26 2 11.25 
--25.6 2 11.95 
--25.2 2 12.425 
--24.8 2 12.8 
--24.4 2 13.275 
--24 2 13.575 
--23.6 2 13.65 
--23.2 2 13.675 
--22.8 2 13.675 
--22.4 2 13.675 
--22 2 13.625 
--21.6 2 13.575 
--21.2 2 13.725 
--20.8 2 14.05 
--20.4 2 14.45 
--20 2 14.8 
--19.6 2 15.125 
--19.2 2 15.525 
--18.8 2 15.95 
--18.4 2 16.475 
--18 2 17.125 
--17.6 2 17.725 
--17.2 2 18.6 
--16.8 2 20.05 
--16.4 2 22.025 
--16 2 24.175 
--15.6 2 25.35 
--15.2 2 25.675 
--14.8 2 25.925 
--14.4 2 26.175 
--14 2 26.3 
--13.6 2 26.4 
--13.2 2 26.45 
--12.8 2 26.4 
--12.4 2 26.3 
--12 2 26.225 
--11.6 2 26.1 
--11.2 2 25.975 
--10.8 2 26.05 
--10.4 2 26.5 
--10 2 27.075 
--9.6 2 27.625 
--9.2 2 28 
--8.8 2 28.125 
--8.4 2 28.25 
--8 2 28.3 
--7.6 2 28.25 
--7.2 2 28.2 
--6.8 2 28.1 
--6.4 2 28.325 
--6 2 28.75 
--5.6 2 28.375 
--5.2 2 27.2 
--4.8 2 28.1 
--4.4 2 28.6 
--4 2 29.2 
--3.6 2 29.675 
--3.2 2 30 
--2.8 2 30.275 
--2.4 2 30.35 
--2 2 30.25 
--1.6 2 30.15 
--1.2 2 30.4 
--0.799999 2 31.325 
--0.399999 2 31.55 
-5.96046e-007 2 31.75 
-0.400001 2 31.8 
-0.800001 2 31.875 
-1.2 2 31.95 
-1.6 2 31.975 
-2 2 31.825 
-2.4 2 31.725 
-2.8 2 31.75 
-3.2 2 31.675 
-3.6 2 31.525 
-4 2 31.4 
-4.4 2 31.125 
-4.8 2 30.85 
-5.2 2 30.5 
-5.6 2 30.15 
-6 2 29.725 
-6.4 2 29.35 
-6.8 2 28.975 
-7.2 2 28.475 
-7.6 2 28.025 
-8 2 27.575 
-8.4 2 27.175 
-8.8 2 26.8 
-9.2 2 26.35 
-9.6 2 25.9 
-10 2 25.45 
-10.4 2 25 
-10.8 2 24.575 
-11.2 2 24.2 
-11.6 2 23.825 
-12 2 23.375 
-12.4 2 22.9 
-12.8 2 22.375 
-13.2 2 21.95 
-13.6 2 21.5 
-14 2 21.075 
-14.4 2 20.575 
-14.8 2 20.05 
-15.2 2 19.35 
-15.6 2 18.8 
-16 2 17.95 
-16.4 2 17.35 
-16.8 2 16.675 
-17.2 2 16.225 
-17.6 2 15.975 
-18 2 15.725 
-18.4 2 15.5 
-18.8 2 15.325 
-19.2 2 15.15 
-19.6 2 14.95 
-20 2 14.725 
-20.4 2 14.375 
-20.8 2 14 
-21.2 2 13.5 
-21.6 2 12.875 
-22 2 12.225 
-22.4 2 11.425 
--28.8 2.4 5.15 
--28.4 2.4 6.25 
--28 2.4 7.325 
--27.6 2.4 8.225 
--27.2 2.4 9.1 
--26.8 2.4 10.05 
--26.4 2.4 10.725 
--26 2.4 11.575 
--25.6 2.4 12.175 
--25.2 2.4 12.6 
--24.8 2.4 13.05 
--24.4 2.4 13.525 
--24 2.4 13.725 
--23.6 2.4 13.75 
--23.2 2.4 13.675 
--22.8 2.4 13.65 
--22.4 2.4 13.6 
--22 2.4 13.55 
--21.6 2.4 13.625 
--21.2 2.4 13.825 
--20.8 2.4 14.125 
--20.4 2.4 14.525 
--20 2.4 14.9 
--19.6 2.4 15.2 
--19.2 2.4 15.6 
--18.8 2.4 16.125 
--18.4 2.4 16.625 
--18 2.4 17.275 
--17.6 2.4 18.075 
--17.2 2.4 19.125 
--16.8 2.4 20.475 
--16.4 2.4 22.8 
--16 2.4 24.85 
--15.6 2.4 25.45 
--15.2 2.4 25.8 
--14.8 2.4 25.975 
--14.4 2.4 26.1 
--14 2.4 26.2 
--13.6 2.4 26.225 
--13.2 2.4 26.325 
--12.8 2.4 26.35 
--12.4 2.4 26.3 
--12 2.4 26.225 
--11.6 2.4 26.075 
--11.2 2.4 25.875 
--10.8 2.4 26.05 
--10.4 2.4 26.675 
--10 2.4 27.125 
--9.6 2.4 27.625 
--9.2 2.4 28 
--8.8 2.4 28.175 
--8.4 2.4 28.3 
--8 2.4 28.375 
--7.6 2.4 28.375 
--7.2 2.4 28.3 
--6.8 2.4 28.15 
--6.4 2.4 27.875 
--6 2.4 27.875 
--5.6 2.4 27.975 
--5.2 2.4 27.25 
--4.8 2.4 27.975 
--4.4 2.4 28.5 
--4 2.4 29.125 
--3.6 2.4 29.675 
--3.2 2.4 30.025 
--2.8 2.4 30.2 
--2.4 2.4 30.25 
--2 2.4 30.125 
--1.6 2.4 29.875 
--1.2 2.4 29.825 
--0.799999 2.4 30.75 
--0.399999 2.4 31.4 
-5.96046e-007 2.4 31.575 
-0.400001 2.4 31.7 
-0.800001 2.4 31.85 
-1.2 2.4 31.9 
-1.6 2.4 31.825 
-2 2.4 31.85 
-2.4 2.4 31.9 
-2.8 2.4 31.85 
-3.2 2.4 31.775 
-3.6 2.4 31.575 
-4 2.4 31.375 
-4.4 2.4 31.25 
-4.8 2.4 30.975 
-5.2 2.4 30.675 
-5.6 2.4 30.375 
-6 2.4 30.025 
-6.4 2.4 29.65 
-6.8 2.4 29.225 
-7.2 2.4 28.775 
-7.6 2.4 28.35 
-8 2.4 27.9 
-8.4 2.4 27.4 
-8.8 2.4 27 
-9.2 2.4 26.6 
-9.6 2.4 26.175 
-10 2.4 25.775 
-10.4 2.4 25.275 
-10.8 2.4 24.825 
-11.2 2.4 24.45 
-11.6 2.4 24.05 
-12 2.4 23.55 
-12.4 2.4 23.1 
-12.8 2.4 22.725 
-13.2 2.4 22.3 
-13.6 2.4 21.85 
-14 2.4 21.375 
-14.4 2.4 20.875 
-14.8 2.4 20.35 
-15.2 2.4 19.75 
-15.6 2.4 19.075 
-16 2.4 18.3 
-16.4 2.4 17.7 
-16.8 2.4 17.025 
-17.2 2.4 16.375 
-17.6 2.4 16.075 
-18 2.4 15.85 
-18.4 2.4 15.625 
-18.8 2.4 15.45 
-19.2 2.4 15.325 
-19.6 2.4 15.175 
-20 2.4 14.9 
-20.4 2.4 14.575 
-20.8 2.4 14.275 
-21.2 2.4 13.9 
-21.6 2.4 13.375 
-22 2.4 12.8 
-22.4 2.4 11.825 
-22.8 2.4 11.275 
--28.8 2.8 5.05 
--28.4 2.8 6.325 
--28 2.8 7.275 
--27.6 2.8 8.35 
--27.2 2.8 9.2 
--26.8 2.8 10.3 
--26.4 2.8 11.025 
--26 2.8 11.8 
--25.6 2.8 12.475 
--25.2 2.8 12.9 
--24.8 2.8 13.3 
--24.4 2.8 13.525 
--24 2.8 13.5 
--23.6 2.8 13.625 
--23.2 2.8 13.65 
--22.8 2.8 13.65 
--22.4 2.8 13.6 
--22 2.8 13.55 
--21.6 2.8 13.65 
--21.2 2.8 13.9 
--20.8 2.8 14.25 
--20.4 2.8 14.625 
--20 2.8 15.05 
--19.6 2.8 15.325 
--19.2 2.8 15.7 
--18.8 2.8 16.225 
--18.4 2.8 16.85 
--18 2.8 17.65 
--17.6 2.8 18.425 
--17.2 2.8 19.625 
--16.8 2.8 21.375 
--16.4 2.8 23.55 
--16 2.8 25.025 
--15.6 2.8 25.525 
--15.2 2.8 25.8 
--14.8 2.8 25.95 
--14.4 2.8 26.15 
--14 2.8 26.225 
--13.6 2.8 26.3 
--13.2 2.8 26.325 
--12.8 2.8 26.175 
--12.4 2.8 26 
--12 2.8 26.275 
--11.6 2.8 26.275 
--11.2 2.8 25.65 
--10.8 2.8 25.975 
--10.4 2.8 26.65 
--10 2.8 27.275 
--9.6 2.8 27.675 
--9.2 2.8 28 
--8.8 2.8 28.3 
--8.4 2.8 28.4 
--8 2.8 28.325 
--7.6 2.8 28.3 
--7.2 2.8 28.2 
--6.8 2.8 28.05 
--6.4 2.8 27.925 
--6 2.8 28.3 
--5.6 2.8 28 
--5.2 2.8 27.175 
--4.8 2.8 27.85 
--4.4 2.8 28.5 
--4 2.8 29.1 
--3.6 2.8 29.625 
--3.2 2.8 30.05 
--2.8 2.8 30.225 
--2.4 2.8 30.2 
--2 2.8 30.1 
--1.6 2.8 29.875 
--1.2 2.8 29.625 
--0.799999 2.8 29.7 
--0.399999 2.8 31.125 
-5.96046e-007 2.8 31.525 
-0.400001 2.8 31.7 
-0.800001 2.8 31.7 
-1.2 2.8 31.85 
-1.6 2.8 31.925 
-2 2.8 31.9 
-2.4 2.8 31.825 
-2.8 2.8 31.775 
-3.2 2.8 31.775 
-3.6 2.8 31.7 
-4 2.8 31.575 
-4.4 2.8 31.4 
-4.8 2.8 31.2 
-5.2 2.8 30.95 
-5.6 2.8 30.675 
-6 2.8 30.25 
-6.4 2.8 29.825 
-6.8 2.8 29.45 
-7.2 2.8 29.075 
-7.6 2.8 28.625 
-8 2.8 28.2 
-8.4 2.8 27.725 
-8.8 2.8 27.325 
-9.2 2.8 26.925 
-9.6 2.8 26.475 
-10 2.8 26.05 
-10.4 2.8 25.6 
-10.8 2.8 25.15 
-11.2 2.8 24.7 
-11.6 2.8 24.275 
-12 2.8 23.85 
-12.4 2.8 23.375 
-12.8 2.8 22.975 
-13.2 2.8 22.55 
-13.6 2.8 22.1 
-14 2.8 21.65 
-14.4 2.8 21.1 
-14.8 2.8 20.525 
-15.2 2.8 19.95 
-15.6 2.8 19.375 
-16 2.8 18.65 
-16.4 2.8 17.75 
-16.8 2.8 17.1 
-17.2 2.8 16.575 
-17.6 2.8 16.15 
-18 2.8 15.85 
-18.4 2.8 15.675 
-18.8 2.8 15.5 
-19.2 2.8 15.375 
-19.6 2.8 15.2 
-20 2.8 15 
-20.4 2.8 14.8 
-20.8 2.8 14.5 
-21.2 2.8 14.175 
-21.6 2.8 13.675 
-22 2.8 13.125 
-22.4 2.8 12.475 
-22.8 2.8 11.625 
--28.8 3.2 5.025 
--28.4 3.2 6.325 
--28 3.2 7.475 
--27.6 3.2 8.525 
--27.2 3.2 9.5 
--26.8 3.2 10.5 
--26.4 3.2 11.5 
--26 3.2 12.35 
--25.6 3.2 12.625 
--25.2 3.2 12.9 
--24.8 3.2 13.375 
--24.4 3.2 13.7 
--24 3.2 13.8 
--23.6 3.2 13.775 
--23.2 3.2 13.725 
--22.8 3.2 13.65 
--22.4 3.2 13.625 
--22 3.2 13.675 
--21.6 3.2 13.725 
--21.2 3.2 13.95 
--20.8 3.2 14.325 
--20.4 3.2 14.7 
--20 3.2 15.1 
--19.6 3.2 15.525 
--19.2 3.2 15.9 
--18.8 3.2 16.425 
--18.4 3.2 17.125 
--18 3.2 17.95 
--17.6 3.2 19.05 
--17.2 3.2 20.4 
--16.8 3.2 22.175 
--16.4 3.2 24.075 
--16 3.2 25.175 
--15.6 3.2 25.625 
--15.2 3.2 25.775 
--14.8 3.2 25.9 
--14.4 3.2 26.075 
--14 3.2 26.15 
--13.6 3.2 26.2 
--13.2 3.2 26.2 
--12.8 3.2 26.1 
--12.4 3.2 26.3 
--12 3.2 26.75 
--11.6 3.2 26.075 
--11.2 3.2 25.35 
--10.8 3.2 25.775 
--10.4 3.2 26.75 
--10 3.2 27.225 
--9.6 3.2 27.75 
--9.2 3.2 28.1 
--8.8 3.2 28.3 
--8.4 3.2 28.4 
--8 3.2 28.35 
--7.6 3.2 28.3 
--7.2 3.2 28.225 
--6.8 3.2 28.025 
--6.4 3.2 27.925 
--6 3.2 28.725 
--5.6 3.2 28.55 
--5.2 3.2 27 
--4.8 3.2 27.975 
--4.4 3.2 28.425 
--4 3.2 29.125 
--3.6 3.2 29.55 
--3.2 3.2 29.925 
--2.8 3.2 30.1 
--2.4 3.2 30.1 
--2 3.2 30.025 
--1.6 3.2 29.775 
--1.2 3.2 29.525 
--0.799999 3.2 29.325 
--0.399999 3.2 30.175 
-5.96046e-007 3.2 31.275 
-0.400001 3.2 31.5 
-0.800001 3.2 31.6 
-1.2 3.2 31.7 
-1.6 3.2 31.875 
-2 3.2 31.9 
-2.4 3.2 31.9 
-2.8 3.2 31.85 
-3.2 3.2 31.825 
-3.6 3.2 31.775 
-4 3.2 31.6 
-4.4 3.2 31.4 
-4.8 3.2 31.25 
-5.2 3.2 30.975 
-5.6 3.2 30.7 
-6 3.2 30.45 
-6.4 3.2 30.075 
-6.8 3.2 29.625 
-7.2 3.2 29.25 
-7.6 3.2 28.85 
-8 3.2 28.5 
-8.4 3.2 28.075 
-8.8 3.2 27.5 
-9.2 3.2 27 
-9.6 3.2 26.625 
-10 3.2 26.225 
-10.4 3.2 25.825 
-10.8 3.2 25.375 
-11.2 3.2 24.95 
-11.6 3.2 24.55 
-12 3.2 24.05 
-12.4 3.2 23.625 
-12.8 3.2 23.25 
-13.2 3.2 22.825 
-13.6 3.2 22.3 
-14 3.2 21.85 
-14.4 3.2 21.4 
-14.8 3.2 20.925 
-15.2 3.2 20.225 
-15.6 3.2 19.525 
-16 3.2 18.925 
-16.4 3.2 18.175 
-16.8 3.2 17.375 
-17.2 3.2 16.7 
-17.6 3.2 16.25 
-18 3.2 15.975 
-18.4 3.2 15.725 
-18.8 3.2 15.6 
-19.2 3.2 15.475 
-19.6 3.2 15.275 
-20 3.2 15.15 
-20.4 3.2 14.95 
-20.8 3.2 14.675 
-21.2 3.2 14.425 
-21.6 3.2 14.025 
-22 3.2 13.525 
-22.4 3.2 12.825 
-22.8 3.2 12.05 
--29.2 3.6 3.85 
--28.8 3.6 5.1 
--28.4 3.6 6.4 
--28 3.6 7.5 
--27.6 3.6 8.8 
--27.2 3.6 9.825 
--26.8 3.6 10.85 
--26.4 3.6 11.775 
--26 3.6 12.45 
--25.6 3.6 12.8 
--25.2 3.6 13.2 
--24.8 3.6 13.575 
--24.4 3.6 13.75 
--24 3.6 13.775 
--23.6 3.6 13.8 
--23.2 3.6 13.725 
--22.8 3.6 13.675 
--22.4 3.6 13.65 
--22 3.6 13.65 
--21.6 3.6 13.75 
--21.2 3.6 14.075 
--20.8 3.6 14.45 
--20.4 3.6 14.775 
--20 3.6 15.15 
--19.6 3.6 15.6 
--19.2 3.6 16.05 
--18.8 3.6 16.7 
--18.4 3.6 17.4 
--18 3.6 18.4 
--17.6 3.6 19.325 
--17.2 3.6 21.05 
--16.8 3.6 23.05 
--16.4 3.6 24.575 
--16 3.6 25.175 
--15.6 3.6 25.65 
--15.2 3.6 25.85 
--14.8 3.6 25.925 
--14.4 3.6 26 
--14 3.6 26.05 
--13.6 3.6 26.075 
--13.2 3.6 26.1 
--12.8 3.6 26.125 
--12.4 3.6 27.375 
--12 3.6 27 
--11.6 3.6 25.45 
--11.2 3.6 25.075 
--10.8 3.6 25.75 
--10.4 3.6 26.8 
--10 3.6 27.275 
--9.6 3.6 27.85 
--9.2 3.6 28.175 
--8.8 3.6 28.3 
--8.4 3.6 28.35 
--8 3.6 28.375 
--7.6 3.6 28.3 
--7.2 3.6 28.125 
--6.8 3.6 27.925 
--6.4 3.6 27.875 
--6 3.6 29.05 
--5.6 3.6 29 
--5.2 3.6 26.925 
--4.8 3.6 27.825 
--4.4 3.6 28.45 
--4 3.6 29.125 
--3.6 3.6 29.625 
--3.2 3.6 29.925 
--2.8 3.6 30.05 
--2.4 3.6 30.075 
--2 3.6 29.9 
--1.6 3.6 29.675 
--1.2 3.6 29.375 
--0.799999 3.6 29.15 
--0.399999 3.6 29.475 
-5.96046e-007 3.6 30.675 
-0.400001 3.6 31.225 
-0.800001 3.6 31.525 
-1.2 3.6 31.7 
-1.6 3.6 31.8 
-2 3.6 31.85 
-2.4 3.6 31.9 
-2.8 3.6 31.85 
-3.2 3.6 31.775 
-3.6 3.6 31.725 
-4 3.6 31.625 
-4.4 3.6 31.45 
-4.8 3.6 31.25 
-5.2 3.6 31.1 
-5.6 3.6 30.875 
-6 3.6 30.575 
-6.4 3.6 30.325 
-6.8 3.6 29.875 
-7.2 3.6 29.475 
-7.6 3.6 29.15 
-8 3.6 28.7 
-8.4 3.6 28.25 
-8.8 3.6 27.825 
-9.2 3.6 27.325 
-9.6 3.6 26.9 
-10 3.6 26.5 
-10.4 3.6 26.05 
-10.8 3.6 25.625 
-11.2 3.6 25.2 
-11.6 3.6 24.75 
-12 3.6 24.35 
-12.4 3.6 23.975 
-12.8 3.6 23.5 
-13.2 3.6 22.975 
-13.6 3.6 22.55 
-14 3.6 22.1 
-14.4 3.6 21.625 
-14.8 3.6 20.95 
-15.2 3.6 20.475 
-15.6 3.6 19.95 
-16 3.6 19.25 
-16.4 3.6 18.575 
-16.8 3.6 17.675 
-17.2 3.6 16.9 
-17.6 3.6 16.425 
-18 3.6 16.05 
-18.4 3.6 15.8 
-18.8 3.6 15.6 
-19.2 3.6 15.45 
-19.6 3.6 15.35 
-20 3.6 15.2 
-20.4 3.6 15.025 
-20.8 3.6 14.825 
-21.2 3.6 14.55 
-21.6 3.6 14.25 
-22 3.6 13.825 
-22.4 3.6 13.275 
-22.8 3.6 12.525 
-23.2 3.6 11.8 
--29.2 4 3.975 
--28.8 4 5.225 
--28.4 4 6.45 
--28 4 7.625 
--27.6 4 8.95 
--27.2 4 10.275 
--26.8 4 11.4 
--26.4 4 12.05 
--26 4 12.625 
--25.6 4 13.05 
--25.2 4 13.3 
--24.8 4 13.6 
--24.4 4 13.775 
--24 4 13.825 
--23.6 4 13.8 
--23.2 4 13.75 
--22.8 4 13.65 
--22.4 4 13.6 
--22 4 13.625 
--21.6 4 13.775 
--21.2 4 14.125 
--20.8 4 14.5 
--20.4 4 14.875 
--20 4 15.275 
--19.6 4 15.725 
--19.2 4 16.2 
--18.8 4 16.95 
--18.4 4 17.775 
--18 4 18.725 
--17.6 4 20.35 
--17.2 4 22.175 
--16.8 4 23.85 
--16.4 4 25.05 
--16 4 25.325 
--15.6 4 25.5 
--15.2 4 25.625 
--14.8 4 25.8 
--14.4 4 25.925 
--14 4 25.875 
--13.6 4 25.825 
--13.2 4 25.825 
--12.8 4 26.05 
--12.4 4 27.45 
--12 4 26.95 
--11.6 4 25.75 
--11.2 4 25.025 
--10.8 4 25.95 
--10.4 4 26.875 
--10 4 27.325 
--9.6 4 27.825 
--9.2 4 28.125 
--8.8 4 28.3 
--8.4 4 28.425 
--8 4 28.425 
--7.6 4 28.275 
--7.2 4 28.075 
--6.8 4 27.825 
--6.4 4 27.775 
--6 4 28.85 
--5.6 4 28.475 
--5.2 4 26.85 
--4.8 4 27.7 
--4.4 4 28.375 
--4 4 28.975 
--3.6 4 29.45 
--3.2 4 29.775 
--2.8 4 29.95 
--2.4 4 30 
--2 4 29.875 
--1.6 4 29.55 
--1.2 4 29.175 
--0.799999 4 28.9 
--0.399999 4 28.9 
-5.96046e-007 4 30.175 
-0.400001 4 31.05 
-0.800001 4 31.25 
-1.2 4 31.475 
-1.6 4 31.625 
-2 4 31.75 
-2.4 4 31.725 
-2.8 4 31.675 
-3.2 4 31.6 
-3.6 4 31.65 
-4 4 31.625 
-4.4 4 31.5 
-4.8 4 31.375 
-5.2 4 31.2 
-5.6 4 30.9 
-6 4 30.675 
-6.4 4 30.375 
-6.8 4 30.025 
-7.2 4 29.7 
-7.6 4 29.275 
-8 4 28.875 
-8.4 4 28.475 
-8.8 4 28 
-9.2 4 27.625 
-9.6 4 27.225 
-10 4 26.775 
-10.4 4 26.325 
-10.8 4 25.875 
-11.2 4 25.425 
-11.6 4 25 
-12 4 24.55 
-12.4 4 24.1 
-12.8 4 23.6 
-13.2 4 23.125 
-13.6 4 22.7 
-14 4 22.225 
-14.4 4 21.775 
-14.8 4 21.25 
-15.2 4 20.75 
-15.6 4 20.2 
-16 4 19.45 
-16.4 4 18.8 
-16.8 4 17.85 
-17.2 4 17.125 
-17.6 4 16.475 
-18 4 16.05 
-18.4 4 15.825 
-18.8 4 15.725 
-19.2 4 15.625 
-19.6 4 15.45 
-20 4 15.275 
-20.4 4 15.125 
-20.8 4 14.975 
-21.2 4 14.8 
-21.6 4 14.475 
-22 4 14.075 
-22.4 4 13.525 
-22.8 4 12.975 
-23.2 4 12.05 
-23.6 4 11.475 
--29.2 4.4 4.3 
--28.8 4.4 5.25 
--28.4 4.4 6.675 
--28 4.4 7.925 
--27.6 4.4 9.2 
--27.2 4.4 10.65 
--26.8 4.4 12 
--26.4 4.4 12.175 
--26 4.4 12.45 
--25.6 4.4 13.05 
--25.2 4.4 13.4 
--24.8 4.4 13.7 
--24.4 4.4 13.8 
--24 4.4 13.775 
--23.6 4.4 13.75 
--23.2 4.4 13.725 
--22.8 4.4 13.675 
--22.4 4.4 13.65 
--22 4.4 13.7 
--21.6 4.4 13.9 
--21.2 4.4 14.2 
--20.8 4.4 14.525 
--20.4 4.4 14.9 
--20 4.4 15.425 
--19.6 4.4 15.925 
--19.2 4.4 16.45 
--18.8 4.4 17.225 
--18.4 4.4 18.275 
--18 4.4 19.475 
--17.6 4.4 21.25 
--17.2 4.4 22.95 
--16.8 4.4 24.475 
--16.4 4.4 24.925 
--16 4.4 25.2 
--15.6 4.4 25.475 
--15.2 4.4 25.65 
--14.8 4.4 25.7 
--14.4 4.4 25.75 
--14 4.4 25.75 
--13.6 4.4 25.7 
--13.2 4.4 25.625 
--12.8 4.4 26.975 
--12.4 4.4 27.025 
--12 4.4 26.45 
--11.6 4.4 24.75 
--11.2 4.4 24.775 
--10.8 4.4 26.425 
--10.4 4.4 26.95 
--10 4.4 27.55 
--9.6 4.4 27.925 
--9.2 4.4 28.2 
--8.8 4.4 28.3 
--8.4 4.4 28.275 
--8 4.4 28.3 
--7.6 4.4 28.25 
--7.2 4.4 28.075 
--6.8 4.4 27.8 
--6.4 4.4 27.75 
--6 4.4 28.55 
--5.6 4.4 28.4 
--5.2 4.4 26.925 
--4.8 4.4 27.65 
--4.4 4.4 28.4 
--4 4.4 29.025 
--3.6 4.4 29.45 
--3.2 4.4 29.75 
--2.8 4.4 29.925 
--2.4 4.4 29.875 
--2 4.4 29.725 
--1.6 4.4 29.425 
--1.2 4.4 28.975 
--0.799999 4.4 28.65 
--0.399999 4.4 28.45 
-5.96046e-007 4.4 29 
-0.400001 4.4 30.55 
-0.800001 4.4 31.025 
-1.2 4.4 31.25 
-1.6 4.4 31.475 
-2 4.4 31.675 
-2.4 4.4 31.65 
-2.8 4.4 31.675 
-3.2 4.4 31.725 
-3.6 4.4 31.725 
-4 4.4 31.65 
-4.4 4.4 31.525 
-4.8 4.4 31.35 
-5.2 4.4 31.2 
-5.6 4.4 31 
-6 4.4 30.775 
-6.4 4.4 30.5 
-6.8 4.4 30.175 
-7.2 4.4 29.875 
-7.6 4.4 29.475 
-8 4.4 29.1 
-8.4 4.4 28.75 
-8.8 4.4 28.275 
-9.2 4.4 27.825 
-9.6 4.4 27.35 
-10 4.4 26.925 
-10.4 4.4 26.55 
-10.8 4.4 26.1 
-11.2 4.4 25.65 
-11.6 4.4 25.2 
-12 4.4 24.75 
-12.4 4.4 24.3 
-12.8 4.4 23.85 
-13.2 4.4 23.375 
-13.6 4.4 23 
-14 4.4 22.525 
-14.4 4.4 22.025 
-14.8 4.4 21.525 
-15.2 4.4 20.95 
-15.6 4.4 20.425 
-16 4.4 19.85 
-16.4 4.4 19.025 
-16.8 4.4 18.225 
-17.2 4.4 17.325 
-17.6 4.4 16.7 
-18 4.4 16.25 
-18.4 4.4 15.975 
-18.8 4.4 15.775 
-19.2 4.4 15.6 
-19.6 4.4 15.4 
-20 4.4 15.3 
-20.4 4.4 15.175 
-20.8 4.4 15 
-21.2 4.4 14.825 
-21.6 4.4 14.55 
-22 4.4 14.225 
-22.4 4.4 13.775 
-22.8 4.4 13.225 
-23.2 4.4 12.525 
-23.6 4.4 11.775 
--29.2 4.8 4.45 
--28.8 4.8 5.65 
--28.4 4.8 6.875 
--28 4.8 8.125 
--27.6 4.8 9.7 
--27.2 4.8 11.2 
--26.8 4.8 12.3 
--26.4 4.8 12.65 
--26 4.8 12.925 
--25.6 4.8 13.325 
--25.2 4.8 13.675 
--24.8 4.8 13.825 
--24.4 4.8 13.875 
--24 4.8 13.85 
--23.6 4.8 13.8 
--23.2 4.8 13.725 
--22.8 4.8 13.675 
--22.4 4.8 13.675 
--22 4.8 13.725 
--21.6 4.8 13.95 
--21.2 4.8 14.275 
--20.8 4.8 14.65 
--20.4 4.8 15.075 
--20 4.8 15.5 
--19.6 4.8 16 
--19.2 4.8 16.85 
--18.8 4.8 17.75 
--18.4 4.8 18.725 
--18 4.8 20.4 
--17.6 4.8 22.1 
--17.2 4.8 23.7 
--16.8 4.8 24.675 
--16.4 4.8 24.975 
--16 4.8 25.175 
--15.6 4.8 25.45 
--15.2 4.8 25.6 
--14.8 4.8 25.575 
--14.4 4.8 25.575 
--14 4.8 25.6 
--13.6 4.8 25.6 
--13.2 4.8 25.5 
--12.8 4.8 25.375 
--12.4 4.8 25.85 
--12 4.8 25.775 
--11.6 4.8 24.6 
--11.2 4.8 24.65 
--10.8 4.8 26.325 
--10.4 4.8 26.975 
--10 4.8 27.675 
--9.6 4.8 28.025 
--9.2 4.8 28.225 
--8.8 4.8 28.375 
--8.4 4.8 28.425 
--8 4.8 28.35 
--7.6 4.8 28.225 
--7.2 4.8 28.025 
--6.8 4.8 27.75 
--6.4 4.8 27.725 
--6 4.8 28.775 
--5.6 4.8 28.575 
--5.2 4.8 26.85 
--4.8 4.8 27.55 
--4.4 4.8 28.5 
--4 4.8 28.9 
--3.6 4.8 29.425 
--3.2 4.8 29.775 
--2.8 4.8 29.875 
--2.4 4.8 29.85 
--2 4.8 29.65 
--1.6 4.8 29.475 
--1.2 4.8 29.5 
--0.799999 4.8 28.725 
--0.399999 4.8 28.325 
-5.96046e-007 4.8 28.225 
-0.400001 4.8 28.8 
-0.800001 4.8 30.8 
-1.2 4.8 31.05 
-1.6 4.8 31.25 
-2 4.8 31.5 
-2.4 4.8 31.65 
-2.8 4.8 31.65 
-3.2 4.8 31.625 
-3.6 4.8 31.575 
-4 4.8 31.525 
-4.4 4.8 31.45 
-4.8 4.8 31.375 
-5.2 4.8 31.275 
-5.6 4.8 31.1 
-6 4.8 30.85 
-6.4 4.8 30.625 
-6.8 4.8 30.35 
-7.2 4.8 30.05 
-7.6 4.8 29.675 
-8 4.8 29.3 
-8.4 4.8 28.975 
-8.8 4.8 28.475 
-9.2 4.8 28.1 
-9.6 4.8 27.7 
-10 4.8 27.25 
-10.4 4.8 26.825 
-10.8 4.8 26.3 
-11.2 4.8 25.8 
-11.6 4.8 25.375 
-12 4.8 25 
-12.4 4.8 24.55 
-12.8 4.8 24.025 
-13.2 4.8 23.6 
-13.6 4.8 23.225 
-14 4.8 22.75 
-14.4 4.8 22.175 
-14.8 4.8 21.65 
-15.2 4.8 21.2 
-15.6 4.8 20.675 
-16 4.8 20 
-16.4 4.8 19.375 
-16.8 4.8 18.45 
-17.2 4.8 17.6 
-17.6 4.8 16.8 
-18 4.8 16.35 
-18.4 4.8 16.075 
-18.8 4.8 15.85 
-19.2 4.8 15.65 
-19.6 4.8 15.525 
-20 4.8 15.4 
-20.4 4.8 15.3 
-20.8 4.8 15.15 
-21.2 4.8 14.975 
-21.6 4.8 14.7 
-22 4.8 14.35 
-22.4 4.8 14 
-22.8 4.8 13.525 
-23.2 4.8 12.875 
-23.6 4.8 11.95 
-24 4.8 10.8 
--29.2 5.2 4.725 
--28.8 5.2 5.775 
--28.4 5.2 7.175 
--28 5.2 8.3 
--27.6 5.2 10.125 
--27.2 5.2 11.825 
--26.8 5.2 12.475 
--26.4 5.2 12.825 
--26 5.2 13.15 
--25.6 5.2 13.525 
--25.2 5.2 13.775 
--24.8 5.2 13.875 
--24.4 5.2 13.9 
--24 5.2 13.85 
--23.6 5.2 13.775 
--23.2 5.2 13.7 
--22.8 5.2 13.625 
--22.4 5.2 13.575 
--22 5.2 13.725 
--21.6 5.2 13.95 
--21.2 5.2 14.35 
--20.8 5.2 14.75 
--20.4 5.2 15.15 
--20 5.2 15.65 
--19.6 5.2 16.3 
--19.2 5.2 17.3 
--18.8 5.2 18.225 
--18.4 5.2 19.45 
--18 5.2 21.3 
--17.6 5.2 22.825 
--17.2 5.2 23.975 
--16.8 5.2 24.575 
--16.4 5.2 24.9 
--16 5.2 25.15 
--15.6 5.2 25.35 
--15.2 5.2 25.4 
--14.8 5.2 25.425 
--14.4 5.2 25.5 
--14 5.2 25.55 
--13.6 5.2 25.5 
--13.2 5.2 25.3 
--12.8 5.2 25.05 
--12.4 5.2 24.85 
--12 5.2 24.7 
--11.6 5.2 24.425 
--11.2 5.2 25.4 
--10.8 5.2 26.325 
--10.4 5.2 27 
--10 5.2 27.625 
--9.6 5.2 28.05 
--9.2 5.2 28.25 
--8.8 5.2 28.325 
--8.4 5.2 28.275 
--8 5.2 28.2 
--7.6 5.2 28.1 
--7.2 5.2 27.875 
--6.8 5.2 27.6 
--6.4 5.2 27.475 
--6 5.2 28.4 
--5.6 5.2 28.3 
--5.2 5.2 26.875 
--4.8 5.2 27.475 
--4.4 5.2 28.3 
--4 5.2 28.825 
--3.6 5.2 29.275 
--3.2 5.2 29.6 
--2.8 5.2 29.725 
--2.4 5.2 29.775 
--2 5.2 29.65 
--1.6 5.2 29.325 
--1.2 5.2 29.05 
--0.799999 5.2 29.1 
--0.399999 5.2 27.975 
-5.96046e-007 5.2 27.85 
-0.400001 5.2 28.05 
-0.800001 5.2 30.25 
-1.2 5.2 30.825 
-1.6 5.2 31.1 
-2 5.2 31.275 
-2.4 5.2 31.45 
-2.8 5.2 31.6 
-3.2 5.2 31.65 
-3.6 5.2 31.65 
-4 5.2 31.55 
-4.4 5.2 31.375 
-4.8 5.2 31.3 
-5.2 5.2 31.225 
-5.6 5.2 31.125 
-6 5.2 30.975 
-6.4 5.2 30.725 
-6.8 5.2 30.4 
-7.2 5.2 30.15 
-7.6 5.2 29.825 
-8 5.2 29.4 
-8.4 5.2 29.025 
-8.8 5.2 28.625 
-9.2 5.2 28.25 
-9.6 5.2 27.85 
-10 5.2 27.425 
-10.4 5.2 26.925 
-10.8 5.2 26.475 
-11.2 5.2 26.025 
-11.6 5.2 25.6 
-12 5.2 25.225 
-12.4 5.2 24.75 
-12.8 5.2 24.2 
-13.2 5.2 23.75 
-13.6 5.2 23.325 
-14 5.2 22.875 
-14.4 5.2 22.425 
-14.8 5.2 21.9 
-15.2 5.2 21.3 
-15.6 5.2 20.775 
-16 5.2 20.2 
-16.4 5.2 19.475 
-16.8 5.2 18.9 
-17.2 5.2 17.975 
-17.6 5.2 17.15 
-18 5.2 16.425 
-18.4 5.2 16.075 
-18.8 5.2 15.875 
-19.2 5.2 15.7 
-19.6 5.2 15.525 
-20 5.2 15.425 
-20.4 5.2 15.325 
-20.8 5.2 15.2 
-21.2 5.2 15.025 
-21.6 5.2 14.825 
-22 5.2 14.55 
-22.4 5.2 14.175 
-22.8 5.2 13.65 
-23.2 5.2 13.075 
-23.6 5.2 12.35 
-24 5.2 11.35 
--29.2 5.6 5 
--28.8 5.6 6.175 
--28.4 5.6 7.425 
--28 5.6 9.05 
--27.6 5.6 10.85 
--27.2 5.6 12.3 
--26.8 5.6 12.675 
--26.4 5.6 13 
--26 5.6 13.325 
--25.6 5.6 13.675 
--25.2 5.6 13.825 
--24.8 5.6 13.875 
--24.4 5.6 13.875 
--24 5.6 13.85 
--23.6 5.6 13.725 
--23.2 5.6 13.6 
--22.8 5.6 13.575 
--22.4 5.6 13.625 
--22 5.6 13.775 
--21.6 5.6 14 
--21.2 5.6 14.325 
--20.8 5.6 14.8 
--20.4 5.6 15.275 
--20 5.6 15.8 
--19.6 5.6 16.7 
--19.2 5.6 17.725 
--18.8 5.6 18.85 
--18.4 5.6 20.625 
--18 5.6 22.075 
--17.6 5.6 23.275 
--17.2 5.6 24.225 
--16.8 5.6 24.625 
--16.4 5.6 24.9 
--16 5.6 25.1 
--15.6 5.6 25.2 
--15.2 5.6 25.25 
--14.8 5.6 25.25 
--14.4 5.6 25.25 
--14 5.6 25.25 
--13.6 5.6 25.2 
--13.2 5.6 25.05 
--12.8 5.6 25 
--12.4 5.6 25.15 
--12 5.6 24.75 
--11.6 5.6 24.025 
--11.2 5.6 25.275 
--10.8 5.6 26.3 
--10.4 5.6 27.075 
--10 5.6 27.65 
--9.6 5.6 28.025 
--9.2 5.6 28.25 
--8.8 5.6 28.275 
--8.4 5.6 28.25 
--8 5.6 28.225 
--7.6 5.6 28.1 
--7.2 5.6 27.85 
--6.8 5.6 27.6 
--6.4 5.6 27.45 
--6 5.6 28.5 
--5.6 5.6 28.45 
--5.2 5.6 27.15 
--4.8 5.6 27.425 
--4.4 5.6 28.25 
--4 5.6 28.875 
--3.6 5.6 29.3 
--3.2 5.6 29.575 
--2.8 5.6 29.7 
--2.4 5.6 29.6 
--2 5.6 29.375 
--1.6 5.6 29.1 
--1.2 5.6 29.55 
--0.799999 5.6 29.6 
--0.399999 5.6 28.25 
-5.96046e-007 5.6 27.625 
-0.400001 5.6 27.525 
-0.800001 5.6 28.85 
-1.2 5.6 30.575 
-1.6 5.6 30.825 
-2 5.6 31.075 
-2.4 5.6 31.225 
-2.8 5.6 31.45 
-3.2 5.6 31.525 
-3.6 5.6 31.5 
-4 5.6 31.45 
-4.4 5.6 31.375 
-4.8 5.6 31.4 
-5.2 5.6 31.4 
-5.6 5.6 31.25 
-6 5.6 31 
-6.4 5.6 30.775 
-6.8 5.6 30.575 
-7.2 5.6 30.275 
-7.6 5.6 29.95 
-8 5.6 29.575 
-8.4 5.6 29.225 
-8.8 5.6 28.85 
-9.2 5.6 28.4 
-9.6 5.6 28.025 
-10 5.6 27.625 
-10.4 5.6 27.125 
-10.8 5.6 26.7 
-11.2 5.6 26.25 
-11.6 5.6 25.8 
-12 5.6 25.35 
-12.4 5.6 24.875 
-12.8 5.6 24.4 
-13.2 5.6 23.95 
-13.6 5.6 23.575 
-14 5.6 23.125 
-14.4 5.6 22.5 
-14.8 5.6 22.025 
-15.2 5.6 21.525 
-15.6 5.6 21 
-16 5.6 20.425 
-16.4 5.6 19.775 
-16.8 5.6 19.2 
-17.2 5.6 18.625 
-17.6 5.6 17.775 
-18 5.6 16.5 
-18.4 5.6 16.075 
-18.8 5.6 15.825 
-19.2 5.6 15.7 
-19.6 5.6 15.575 
-20 5.6 15.475 
-20.4 5.6 15.35 
-20.8 5.6 15.175 
-21.2 5.6 15 
-21.6 5.6 14.85 
-22 5.6 14.675 
-22.4 5.6 14.25 
-22.8 5.6 13.8 
-23.2 5.6 13.325 
-23.6 5.6 12.775 
-24 5.6 11.725 
-24.4 5.6 10.875 
--29.2 6 5.275 
--28.8 6 6.5 
--28.4 6 7.825 
--28 6 9.725 
--27.6 6 11.525 
--27.2 6 12.525 
--26.8 6 12.9 
--26.4 6 13.275 
--26 6 13.525 
--25.6 6 13.75 
--25.2 6 13.875 
--24.8 6 13.925 
--24.4 6 13.95 
--24 6 13.9 
--23.6 6 13.775 
--23.2 6 13.675 
--22.8 6 13.625 
--22.4 6 13.6 
--22 6 13.75 
--21.6 6 14.05 
--21.2 6 14.425 
--20.8 6 14.85 
--20.4 6 15.45 
--20 6 16.125 
--19.6 6 17.15 
--19.2 6 18.25 
--18.8 6 19.775 
--18.4 6 21.375 
--18 6 22.8 
--17.6 6 23.55 
--17.2 6 24.3 
--16.8 6 24.675 
--16.4 6 24.85 
--16 6 25 
--15.6 6 25.05 
--15.2 6 25.1 
--14.8 6 25.125 
--14.4 6 25.075 
--14 6 25.025 
--13.6 6 24.975 
--13.2 6 24.85 
--12.8 6 24.6 
--12.4 6 24.725 
--12 6 24.25 
--11.6 6 23.8 
--11.2 6 25.325 
--10.8 6 26.3 
--10.4 6 27.25 
--10 6 27.675 
--9.6 6 28.025 
--9.2 6 28.175 
--8.8 6 28.275 
--8.4 6 28.25 
--8 6 28.125 
--7.6 6 28 
--7.2 6 27.775 
--6.8 6 27.5 
--6.4 6 27.35 
--6 6 28.275 
--5.6 6 28.15 
--5.2 6 27.25 
--4.8 6 27.325 
--4.4 6 28.2 
--4 6 28.75 
--3.6 6 29.275 
--3.2 6 29.525 
--2.8 6 29.575 
--2.4 6 29.55 
--2 6 29.425 
--1.6 6 29.1 
--1.2 6 28.725 
--0.799999 6 29 
--0.399999 6 28.725 
-5.96046e-007 6 27.4 
-0.400001 6 27.25 
-0.800001 6 28.15 
-1.2 6 29.9 
-1.6 6 30.4 
-2 6 30.725 
-2.4 6 31 
-2.8 6 31.2 
-3.2 6 31.275 
-3.6 6 31.3 
-4 6 31.375 
-4.4 6 31.4 
-4.8 6 31.35 
-5.2 6 31.225 
-5.6 6 31.075 
-6 6 30.975 
-6.4 6 30.725 
-6.8 6 30.45 
-7.2 6 30.3 
-7.6 6 30.05 
-8 6 29.75 
-8.4 6 29.4 
-8.8 6 28.975 
-9.2 6 28.6 
-9.6 6 28.2 
-10 6 27.75 
-10.4 6 27.325 
-10.8 6 26.9 
-11.2 6 26.375 
-11.6 6 25.95 
-12 6 25.525 
-12.4 6 25.125 
-12.8 6 24.65 
-13.2 6 24.15 
-13.6 6 23.7 
-14 6 23.2 
-14.4 6 22.8 
-14.8 6 22.375 
-15.2 6 21.75 
-15.6 6 21.275 
-16 6 20.6 
-16.4 6 20 
-16.8 6 19.5 
-17.2 6 19.5 
-17.6 6 18.85 
-18 6 16.6 
-18.4 6 16.175 
-18.8 6 15.85 
-19.2 6 15.7 
-19.6 6 15.625 
-20 6 15.475 
-20.4 6 15.3 
-20.8 6 15.2 
-21.2 6 15.125 
-21.6 6 14.875 
-22 6 14.65 
-22.4 6 14.4 
-22.8 6 14 
-23.2 6 13.4 
-23.6 6 12.875 
-24 6 12.025 
-24.4 6 10.825 
-24.8 6 8.825 
--29.2 6.4 5.6 
--28.8 6.4 6.975 
--28.4 6.4 8.425 
--28 6.4 10.375 
--27.6 6.4 12.25 
--27.2 6.4 12.7 
--26.8 6.4 13.175 
--26.4 6.4 13.5 
--26 6.4 13.7 
--25.6 6.4 13.875 
--25.2 6.4 13.975 
--24.8 6.4 13.9 
--24.4 6.4 13.85 
--24 6.4 13.825 
--23.6 6.4 13.725 
--23.2 6.4 13.6 
--22.8 6.4 13.6 
--22.4 6.4 13.6 
--22 6.4 13.725 
--21.6 6.4 14.1 
--21.2 6.4 14.525 
--20.8 6.4 15 
--20.4 6.4 15.7 
--20 6.4 16.575 
--19.6 6.4 17.675 
--19.2 6.4 19 
--18.8 6.4 20.625 
--18.4 6.4 21.975 
--18 6.4 23.075 
--17.6 6.4 23.8 
--17.2 6.4 24.25 
--16.8 6.4 24.55 
--16.4 6.4 24.7 
--16 6.4 24.8 
--15.6 6.4 24.825 
--15.2 6.4 24.9 
--14.8 6.4 24.9 
--14.4 6.4 24.875 
--14 6.4 24.8 
--13.6 6.4 24.75 
--13.2 6.4 24.575 
--12.8 6.4 24.3 
--12.4 6.4 24.15 
--12 6.4 23.875 
--11.6 6.4 23.575 
--11.2 6.4 25.25 
--10.8 6.4 26.525 
--10.4 6.4 27.275 
--10 6.4 27.625 
--9.6 6.4 27.9 
--9.2 6.4 28.1 
--8.8 6.4 28.2 
--8.4 6.4 28.175 
--8 6.4 28.075 
--7.6 6.4 27.85 
--7.2 6.4 27.7 
--6.8 6.4 27.475 
--6.4 6.4 27.225 
--6 6.4 28.35 
--5.6 6.4 28.225 
--5.2 6.4 27.2 
--4.8 6.4 27.225 
--4.4 6.4 28.05 
--4 6.4 28.8 
--3.6 6.4 29.175 
--3.2 6.4 29.475 
--2.8 6.4 29.425 
--2.4 6.4 29.35 
--2 6.4 29.2 
--1.6 6.4 28.875 
--1.2 6.4 28.55 
--0.799999 6.4 28.65 
--0.399999 6.4 28.675 
-5.96046e-007 6.4 27.55 
-0.400001 6.4 26.925 
-0.800001 6.4 26.7 
-1.2 6.4 29.275 
-1.6 6.4 30.05 
-2 6.4 30.375 
-2.4 6.4 30.725 
-2.8 6.4 30.975 
-3.2 6.4 31.1 
-3.6 6.4 31.175 
-4 6.4 31.25 
-4.4 6.4 31.325 
-4.8 6.4 31.2 
-5.2 6.4 31.125 
-5.6 6.4 31.025 
-6 6.4 30.875 
-6.4 6.4 30.775 
-6.8 6.4 30.65 
-7.2 6.4 30.35 
-7.6 6.4 30.075 
-8 6.4 29.775 
-8.4 6.4 29.55 
-8.8 6.4 29.2 
-9.2 6.4 28.675 
-9.6 6.4 28.325 
-10 6.4 27.975 
-10.4 6.4 27.45 
-10.8 6.4 27.025 
-11.2 6.4 26.625 
-11.6 6.4 26.15 
-12 6.4 25.75 
-12.4 6.4 25.275 
-12.8 6.4 24.775 
-13.2 6.4 24.275 
-13.6 6.4 23.825 
-14 6.4 23.35 
-14.4 6.4 22.9 
-14.8 6.4 22.4 
-15.2 6.4 21.875 
-15.6 6.4 21.375 
-16 6.4 20.825 
-16.4 6.4 20.3 
-16.8 6.4 19.6 
-17.2 6.4 19.65 
-17.6 6.4 19.675 
-18 6.4 17.25 
-18.4 6.4 16.3 
-18.8 6.4 15.925 
-19.2 6.4 15.75 
-19.6 6.4 15.55 
-20 6.4 15.4 
-20.4 6.4 15.275 
-20.8 6.4 15.175 
-21.2 6.4 15.125 
-21.6 6.4 14.975 
-22 6.4 14.775 
-22.4 6.4 14.525 
-22.8 6.4 14.125 
-23.2 6.4 13.575 
-23.6 6.4 13 
-24 6.4 12.375 
-24.4 6.4 11.5 
-24.8 6.4 8.875 
-25.2 6.4 6.5 
--29.6 6.8 4.925 
--29.2 6.8 6.45 
--28.8 6.8 7.35 
--28.4 6.8 9.15 
--28 6.8 11.725 
--27.6 6.8 12.6 
--27.2 6.8 13.05 
--26.8 6.8 13.425 
--26.4 6.8 13.675 
--26 6.8 13.9 
--25.6 6.8 13.975 
--25.2 6.8 13.975 
--24.8 6.8 13.95 
--24.4 6.8 13.9 
--24 6.8 13.825 
--23.6 6.8 13.675 
--23.2 6.8 13.525 
--22.8 6.8 13.525 
--22.4 6.8 13.6 
--22 6.8 13.75 
--21.6 6.8 14.05 
--21.2 6.8 14.575 
--20.8 6.8 15.15 
--20.4 6.8 15.85 
--20 6.8 16.925 
--19.6 6.8 18.35 
--19.2 6.8 20.075 
--18.8 6.8 21.425 
--18.4 6.8 22.525 
--18 6.8 23.3 
--17.6 6.8 23.8 
--17.2 6.8 24.2 
--16.8 6.8 24.4 
--16.4 6.8 24.575 
--16 6.8 24.575 
--15.6 6.8 24.625 
--15.2 6.8 24.75 
--14.8 6.8 24.7 
--14.4 6.8 24.7 
--14 6.8 24.625 
--13.6 6.8 24.5 
--13.2 6.8 24.25 
--12.8 6.8 23.95 
--12.4 6.8 23.65 
--12 6.8 23.425 
--11.6 6.8 23.75 
--11.2 6.8 25.5 
--10.8 6.8 26.625 
--10.4 6.8 27.025 
--10 6.8 27.6 
--9.6 6.8 27.825 
--9.2 6.8 27.925 
--8.8 6.8 28.15 
--8.4 6.8 28.15 
--8 6.8 28.025 
--7.6 6.8 27.875 
--7.2 6.8 27.65 
--6.8 6.8 27.425 
--6.4 6.8 27.225 
--6 6.8 28.375 
--5.6 6.8 28.175 
--5.2 6.8 27.4 
--4.8 6.8 27.25 
--4.4 6.8 28.05 
--4 6.8 28.65 
--3.6 6.8 29.075 
--3.2 6.8 29.3 
--2.8 6.8 29.4 
--2.4 6.8 29.3 
--2 6.8 29.1 
--1.6 6.8 28.875 
--1.2 6.8 28.525 
--0.799999 6.8 28.475 
--0.399999 6.8 28.825 
-5.96046e-007 6.8 27.85 
-0.400001 6.8 26.7 
-0.800001 6.8 26.475 
-1.2 6.8 27.025 
-1.6 6.8 29.575 
-2 6.8 30.075 
-2.4 6.8 30.425 
-2.8 6.8 30.675 
-3.2 6.8 30.875 
-3.6 6.8 31.1 
-4 6.8 31.15 
-4.4 6.8 31.1 
-4.8 6.8 31.075 
-5.2 6.8 31.075 
-5.6 6.8 31.05 
-6 6.8 30.95 
-6.4 6.8 30.825 
-6.8 6.8 30.675 
-7.2 6.8 30.45 
-7.6 6.8 30.175 
-8 6.8 29.9 
-8.4 6.8 29.625 
-8.8 6.8 29.25 
-9.2 6.8 28.85 
-9.6 6.8 28.475 
-10 6.8 28.125 
-10.4 6.8 27.65 
-10.8 6.8 27.175 
-11.2 6.8 26.8 
-11.6 6.8 26.425 
-12 6.8 25.85 
-12.4 6.8 25.4 
-12.8 6.8 24.925 
-13.2 6.8 24.45 
-13.6 6.8 24.025 
-14 6.8 23.55 
-14.4 6.8 23.05 
-14.8 6.8 22.6 
-15.2 6.8 22.075 
-15.6 6.8 21.575 
-16 6.8 21.025 
-16.4 6.8 20.45 
-16.8 6.8 19.8 
-17.2 6.8 20.1 
-17.6 6.8 20.475 
-18 6.8 17.95 
-18.4 6.8 16.5 
-18.8 6.8 16.075 
-19.2 6.8 15.8 
-19.6 6.8 15.575 
-20 6.8 15.425 
-20.4 6.8 15.325 
-20.8 6.8 15.25 
-21.2 6.8 15.1 
-21.6 6.8 14.9 
-22 6.8 14.725 
-22.4 6.8 14.475 
-22.8 6.8 14.175 
-23.2 6.8 13.7 
-23.6 6.8 13.15 
-24 6.8 12.475 
-24.4 6.8 11.775 
-24.8 6.8 10.225 
-25.2 6.8 7.925 
--29.6 7.2 5.475 
--29.2 7.2 6.75 
--28.8 7.2 8.075 
--28.4 7.2 10.325 
--28 7.2 12.425 
--27.6 7.2 12.75 
--27.2 7.2 13.125 
--26.8 7.2 13.525 
--26.4 7.2 13.8 
--26 7.2 14 
--25.6 7.2 14.05 
--25.2 7.2 13.975 
--24.8 7.2 13.9 
--24.4 7.2 13.925 
--24 7.2 13.875 
--23.6 7.2 13.725 
--23.2 7.2 13.525 
--22.8 7.2 13.475 
--22.4 7.2 13.5 
--22 7.2 13.7 
--21.6 7.2 14.125 
--21.2 7.2 14.7 
--20.8 7.2 15.4 
--20.4 7.2 16.35 
--20 7.2 17.75 
--19.6 7.2 19.3 
--19.2 7.2 20.8 
--18.8 7.2 21.975 
--18.4 7.2 22.75 
--18 7.2 23.475 
--17.6 7.2 23.875 
--17.2 7.2 24.1 
--16.8 7.2 24.325 
--16.4 7.2 24.45 
--16 7.2 24.45 
--15.6 7.2 24.475 
--15.2 7.2 24.55 
--14.8 7.2 24.475 
--14.4 7.2 24.4 
--14 7.2 24.4 
--13.6 7.2 24.225 
--13.2 7.2 23.975 
--12.8 7.2 23.675 
--12.4 7.2 23.4 
--12 7.2 23.25 
--11.6 7.2 23.7 
--11.2 7.2 25.625 
--10.8 7.2 26.525 
--10.4 7.2 27.1 
--10 7.2 27.55 
--9.6 7.2 27.85 
--9.2 7.2 28.05 
--8.8 7.2 28.1 
--8.4 7.2 28.125 
--8 7.2 28 
--7.6 7.2 27.85 
--7.2 7.2 27.7 
--6.8 7.2 27.475 
--6.4 7.2 27.175 
--6 7.2 27.65 
--5.6 7.2 28.075 
--5.2 7.2 27.325 
--4.8 7.2 25.975 
--4.4 7.2 28.15 
--4 7.2 28.625 
--3.6 7.2 29.025 
--3.2 7.2 29.275 
--2.8 7.2 29.325 
--2.4 7.2 29.225 
--2 7.2 29.025 
--1.6 7.2 28.75 
--1.2 7.2 28.4 
--0.799999 7.2 27.925 
--0.399999 7.2 28.075 
-5.96046e-007 7.2 27.75 
-0.400001 7.2 26.425 
-0.800001 7.2 26.2 
-1.2 7.2 26.4 
-1.6 7.2 28.85 
-2 7.2 29.7 
-2.4 7.2 30.075 
-2.8 7.2 30.425 
-3.2 7.2 30.625 
-3.6 7.2 30.875 
-4 7.2 30.925 
-4.4 7.2 30.925 
-4.8 7.2 30.95 
-5.2 7.2 30.95 
-5.6 7.2 30.95 
-6 7.2 30.9 
-6.4 7.2 30.8 
-6.8 7.2 30.6 
-7.2 7.2 30.425 
-7.6 7.2 30.2 
-8 7.2 29.95 
-8.4 7.2 29.675 
-8.8 7.2 29.325 
-9.2 7.2 28.95 
-9.6 7.2 28.55 
-10 7.2 28.15 
-10.4 7.2 27.775 
-10.8 7.2 27.35 
-11.2 7.2 26.95 
-11.6 7.2 26.475 
-12 7.2 25.925 
-12.4 7.2 25.5 
-12.8 7.2 25.1 
-13.2 7.2 24.65 
-13.6 7.2 24.2 
-14 7.2 23.7 
-14.4 7.2 23.225 
-14.8 7.2 22.675 
-15.2 7.2 22.15 
-15.6 7.2 21.675 
-16 7.2 21.175 
-16.4 7.2 20.675 
-16.8 7.2 19.975 
-17.2 7.2 19.45 
-17.6 7.2 20.4 
-18 7.2 19.725 
-18.4 7.2 16.475 
-18.8 7.2 16.05 
-19.2 7.2 15.825 
-19.6 7.2 15.675 
-20 7.2 15.525 
-20.4 7.2 15.425 
-20.8 7.2 15.25 
-21.2 7.2 15.075 
-21.6 7.2 14.95 
-22 7.2 14.725 
-22.4 7.2 14.5 
-22.8 7.2 14.175 
-23.2 7.2 13.775 
-23.6 7.2 13.25 
-24 7.2 12.55 
-24.4 7.2 11.975 
-24.8 7.2 10.9 
-25.2 7.2 9.075 
-25.6 7.2 8.05 
--29.6 7.6 5.975 
--29.2 7.6 7.4 
--28.8 7.6 9.025 
--28.4 7.6 11.575 
--28 7.6 12.55 
--27.6 7.6 12.95 
--27.2 7.6 13.3 
--26.8 7.6 13.65 
--26.4 7.6 13.875 
--26 7.6 13.875 
--25.6 7.6 13.875 
--25.2 7.6 13.95 
--24.8 7.6 13.925 
--24.4 7.6 13.8 
--24 7.6 13.725 
--23.6 7.6 13.625 
--23.2 7.6 13.6 
--22.8 7.6 13.575 
--22.4 7.6 13.525 
--22 7.6 13.75 
--21.6 7.6 14.25 
--21.2 7.6 15.025 
--20.8 7.6 15.825 
--20.4 7.6 17.025 
--20 7.6 18.575 
--19.6 7.6 20.1 
--19.2 7.6 21.3 
--18.8 7.6 22.175 
--18.4 7.6 23.05 
--18 7.6 23.475 
--17.6 7.6 23.8 
--17.2 7.6 24.025 
--16.8 7.6 24.125 
--16.4 7.6 24.2 
--16 7.6 24.25 
--15.6 7.6 24.3 
--15.2 7.6 24.3 
--14.8 7.6 24.275 
--14.4 7.6 24.2 
--14 7.6 24.075 
--13.6 7.6 23.925 
--13.2 7.6 23.7 
--12.8 7.6 23.325 
--12.4 7.6 23.075 
--12 7.6 22.95 
--11.6 7.6 23.25 
--11.2 7.6 25.575 
--10.8 7.6 26.475 
--10.4 7.6 26.975 
--10 7.6 27.475 
--9.6 7.6 27.75 
--9.2 7.6 27.925 
--8.8 7.6 28 
--8.4 7.6 27.975 
--8 7.6 27.925 
--7.6 7.6 27.85 
--7.2 7.6 27.6 
--6.8 7.6 27.25 
--6.4 7.6 27.25 
--6 7.6 28.575 
--5.6 7.6 28.3 
--5.2 7.6 27.05 
--4.8 7.6 26.975 
--4.4 7.6 28 
--4 7.6 28.55 
--3.6 7.6 28.925 
--3.2 7.6 29.075 
--2.8 7.6 29.125 
--2.4 7.6 29.05 
--2 7.6 28.85 
--1.6 7.6 28.65 
--1.2 7.6 28.25 
--0.799999 7.6 27.85 
--0.399999 7.6 27.45 
-5.96046e-007 7.6 27.2 
-0.400001 7.6 26.15 
-0.800001 7.6 25.775 
-1.2 7.6 25.65 
-1.6 7.6 27.3 
-2 7.6 29.25 
-2.4 7.6 29.675 
-2.8 7.6 30.025 
-3.2 7.6 30.325 
-3.6 7.6 30.525 
-4 7.6 30.65 
-4.4 7.6 30.75 
-4.8 7.6 30.8 
-5.2 7.6 30.8 
-5.6 7.6 30.85 
-6 7.6 30.75 
-6.4 7.6 30.675 
-6.8 7.6 30.575 
-7.2 7.6 30.35 
-7.6 7.6 30.2 
-8 7.6 29.925 
-8.4 7.6 29.7 
-8.8 7.6 29.4 
-9.2 7.6 29 
-9.6 7.6 28.625 
-10 7.6 28.275 
-10.4 7.6 27.825 
-10.8 7.6 27.425 
-11.2 7.6 27 
-11.6 7.6 26.575 
-12 7.6 26.2 
-12.4 7.6 25.775 
-12.8 7.6 25.2 
-13.2 7.6 24.675 
-13.6 7.6 24.25 
-14 7.6 23.825 
-14.4 7.6 23.35 
-14.8 7.6 22.85 
-15.2 7.6 22.375 
-15.6 7.6 21.85 
-16 7.6 21.3 
-16.4 7.6 20.8 
-16.8 7.6 20.15 
-17.2 7.6 19.625 
-17.6 7.6 20.425 
-18 7.6 20.025 
-18.4 7.6 16.825 
-18.8 7.6 16.05 
-19.2 7.6 15.8 
-19.6 7.6 15.65 
-20 7.6 15.45 
-20.4 7.6 15.325 
-20.8 7.6 15.25 
-21.2 7.6 15.15 
-21.6 7.6 15.05 
-22 7.6 14.85 
-22.4 7.6 14.55 
-22.8 7.6 14.2 
-23.2 7.6 13.725 
-23.6 7.6 13.2 
-24 7.6 12.575 
-24.4 7.6 11.9 
-24.8 7.6 10.9 
-25.2 7.6 9.55 
-25.6 7.6 8.075 
--30 8 5.525 
--29.6 8 6.725 
--29.2 8 8.375 
--28.8 8 10.225 
--28.4 8 12.225 
--28 8 12.675 
--27.6 8 13.075 
--27.2 8 13.475 
--26.8 8 13.825 
--26.4 8 13.95 
--26 8 13.9 
--25.6 8 13.9 
--25.2 8 13.95 
--24.8 8 13.95 
--24.4 8 13.825 
--24 8 13.675 
--23.6 8 13.575 
--23.2 8 13.55 
--22.8 8 13.5 
--22.4 8 13.575 
--22 8 13.8 
--21.6 8 14.25 
--21.2 8 15.25 
--20.8 8 16.35 
--20.4 8 17.925 
--20 8 19.5 
--19.6 8 20.775 
--19.2 8 21.7 
--18.8 8 22.475 
--18.4 8 23.075 
--18 8 23.4 
--17.6 8 23.65 
--17.2 8 23.85 
--16.8 8 23.975 
--16.4 8 24.05 
--16 8 24.075 
--15.6 8 24.1 
--15.2 8 24.15 
--14.8 8 24.1 
--14.4 8 23.975 
--14 8 23.875 
--13.6 8 23.675 
--13.2 8 23.35 
--12.8 8 23 
--12.4 8 22.775 
--12 8 22.625 
--11.6 8 22.95 
--11.2 8 25.275 
--10.8 8 26.55 
--10.4 8 26.975 
--10 8 27.4 
--9.6 8 27.675 
--9.2 8 27.85 
--8.8 8 28 
--8.4 8 28 
--8 8 27.9 
--7.6 8 27.675 
--7.2 8 27.425 
--6.8 8 27.225 
--6.4 8 27.025 
--6 8 27.175 
--5.6 8 27.275 
--5.2 8 26.425 
--4.8 8 27.175 
--4.4 8 27.875 
--4 8 28.45 
--3.6 8 28.8 
--3.2 8 29.025 
--2.8 8 29.05 
--2.4 8 28.975 
--2 8 28.825 
--1.6 8 28.55 
--1.2 8 28.125 
--0.799999 8 27.6 
--0.399999 8 27.075 
-5.96046e-007 8 26.625 
-0.400001 8 26.1 
-0.800001 8 25.35 
-1.2 8 25.275 
-1.6 8 26.175 
-2 8 28.625 
-2.4 8 29.275 
-2.8 8 29.6 
-3.2 8 29.925 
-3.6 8 30.15 
-4 8 30.425 
-4.4 8 30.575 
-4.8 8 30.625 
-5.2 8 30.65 
-5.6 8 30.65 
-6 8 30.575 
-6.4 8 30.525 
-6.8 8 30.5 
-7.2 8 30.4 
-7.6 8 30.175 
-8 8 29.9 
-8.4 8 29.675 
-8.8 8 29.425 
-9.2 8 29.05 
-9.6 8 28.7 
-10 8 28.4 
-10.4 8 27.95 
-10.8 8 27.575 
-11.2 8 27.175 
-11.6 8 26.75 
-12 8 26.25 
-12.4 8 25.8 
-12.8 8 25.3 
-13.2 8 24.8 
-13.6 8 24.4 
-14 8 23.975 
-14.4 8 23.525 
-14.8 8 23.05 
-15.2 8 22.525 
-15.6 8 21.95 
-16 8 21.375 
-16.4 8 20.825 
-16.8 8 20.325 
-17.2 8 19.65 
-17.6 8 20.5 
-18 8 20.175 
-18.4 8 17.3 
-18.8 8 16 
-19.2 8 15.75 
-19.6 8 15.675 
-20 8 15.475 
-20.4 8 15.375 
-20.8 8 15.225 
-21.2 8 15.075 
-21.6 8 14.925 
-22 8 14.8 
-22.4 8 14.575 
-22.8 8 14.175 
-23.2 8 13.725 
-23.6 8 13.2 
-24 8 12.6 
-24.4 8 12.05 
-24.8 8 10.95 
-25.2 8 9.875 
-25.6 8 8.25 
-26 8 6.675 
--30 8.4 5.8 
--29.6 8.4 7.675 
--29.2 8.4 9.325 
--28.8 8.4 11.8 
--28.4 8.4 12.375 
--28 8.4 12.875 
--27.6 8.4 13.375 
--27.2 8.4 13.675 
--26.8 8.4 13.9 
--26.4 8.4 13.975 
--26 8.4 13.95 
--25.6 8.4 13.925 
--25.2 8.4 13.9 
--24.8 8.4 13.825 
--24.4 8.4 13.725 
--24 8.4 13.625 
--23.6 8.4 13.575 
--23.2 8.4 13.525 
--22.8 8.4 13.45 
--22.4 8.4 13.475 
--22 8.4 13.7 
--21.6 8.4 14.35 
--21.2 8.4 15.45 
--20.8 8.4 17.45 
--20.4 8.4 18.75 
--20 8.4 20.225 
--19.6 8.4 21.3 
--19.2 8.4 22.025 
--18.8 8.4 22.825 
--18.4 8.4 23.175 
--18 8.4 23.4 
--17.6 8.4 23.6 
--17.2 8.4 23.75 
--16.8 8.4 23.8 
--16.4 8.4 23.825 
--16 8.4 23.875 
--15.6 8.4 23.85 
--15.2 8.4 23.8 
--14.8 8.4 23.825 
--14.4 8.4 23.8 
--14 8.4 23.6 
--13.6 8.4 23.35 
--13.2 8.4 23.075 
--12.8 8.4 22.75 
--12.4 8.4 22.45 
--12 8.4 22.4 
--11.6 8.4 22.65 
--11.2 8.4 25.275 
--10.8 8.4 26.425 
--10.4 8.4 26.95 
--10 8.4 27.425 
--9.6 8.4 27.7 
--9.2 8.4 27.825 
--8.8 8.4 27.925 
--8.4 8.4 27.925 
--8 8.4 27.775 
--7.6 8.4 27.625 
--7.2 8.4 27.425 
--6.8 8.4 27.175 
--6.4 8.4 26.95 
--6 8.4 27.05 
--5.6 8.4 27.25 
--5.2 8.4 26.7 
--4.8 8.4 25.8 
--4.4 8.4 28.025 
--4 8.4 28.425 
--3.6 8.4 28.725 
--3.2 8.4 28.925 
--2.8 8.4 29.05 
--2.4 8.4 28.975 
--2 8.4 28.8 
--1.6 8.4 28.55 
--1.2 8.4 28 
--0.799999 8.4 27.525 
--0.399999 8.4 27.05 
-5.96046e-007 8.4 26.925 
-0.400001 8.4 26.45 
-0.800001 8.4 25.375 
-1.2 8.4 24.9 
-1.6 8.4 24.825 
-2 8.4 25.825 
-2.4 8.4 29 
-2.8 8.4 29.25 
-3.2 8.4 29.55 
-3.6 8.4 29.825 
-4 8.4 30.1 
-4.4 8.4 30.275 
-4.8 8.4 30.425 
-5.2 8.4 30.55 
-5.6 8.4 30.55 
-6 8.4 30.525 
-6.4 8.4 30.45 
-6.8 8.4 30.425 
-7.2 8.4 30.325 
-7.6 8.4 30.1 
-8 8.4 29.925 
-8.4 8.4 29.725 
-8.8 8.4 29.475 
-9.2 8.4 29.275 
-9.6 8.4 28.85 
-10 8.4 28.475 
-10.4 8.4 28.125 
-10.8 8.4 27.7 
-11.2 8.4 27.25 
-11.6 8.4 26.825 
-12 8.4 26.4 
-12.4 8.4 25.925 
-12.8 8.4 25.45 
-13.2 8.4 24.975 
-13.6 8.4 24.55 
-14 8.4 24.075 
-14.4 8.4 23.55 
-14.8 8.4 23.125 
-15.2 8.4 22.65 
-15.6 8.4 22.05 
-16 8.4 21.525 
-16.4 8.4 21.025 
-16.8 8.4 20.5 
-17.2 8.4 19.725 
-17.6 8.4 19.75 
-18 8.4 19.975 
-18.4 8.4 18.5 
-18.8 8.4 16.125 
-19.2 8.4 15.725 
-19.6 8.4 15.575 
-20 8.4 15.4 
-20.4 8.4 15.325 
-20.8 8.4 15.2 
-21.2 8.4 15.1 
-21.6 8.4 14.95 
-22 8.4 14.75 
-22.4 8.4 14.5 
-22.8 8.4 14.15 
-23.2 8.4 13.7 
-23.6 8.4 13.2 
-24 8.4 12.5 
-24.4 8.4 11.725 
-24.8 8.4 10.825 
-25.2 8.4 9.775 
-25.6 8.4 8.425 
-26 8.4 6.7 
--30 8.8 6.625 
--29.6 8.8 8.725 
--29.2 8.8 10.2 
--28.8 8.8 11.75 
--28.4 8.8 12.375 
--28 8.8 13.025 
--27.6 8.8 13.5 
--27.2 8.8 13.775 
--26.8 8.8 13.925 
--26.4 8.8 13.925 
--26 8.8 13.85 
--25.6 8.8 13.8 
--25.2 8.8 13.75 
--24.8 8.8 13.725 
--24.4 8.8 13.675 
--24 8.8 13.6 
--23.6 8.8 13.5 
--23.2 8.8 13.45 
--22.8 8.8 13.4 
--22.4 8.8 13.4 
--22 8.8 13.575 
--21.6 8.8 14.375 
--21.2 8.8 16.2 
--20.8 8.8 18.2 
--20.4 8.8 19.5 
--20 8.8 20.65 
--19.6 8.8 21.525 
--19.2 8.8 22.3 
--18.8 8.8 22.725 
--18.4 8.8 23 
--18 8.8 23.25 
--17.6 8.8 23.425 
--17.2 8.8 23.55 
--16.8 8.8 23.6 
--16.4 8.8 23.6 
--16 8.8 23.625 
--15.6 8.8 23.675 
--15.2 8.8 23.6 
--14.8 8.8 23.575 
--14.4 8.8 23.55 
--14 8.8 23.35 
--13.6 8.8 23.1 
--13.2 8.8 22.775 
--12.8 8.8 22.425 
--12.4 8.8 22.15 
--12 8.8 22.025 
--11.6 8.8 22.125 
--11.2 8.8 23.275 
--10.8 8.8 26.275 
--10.4 8.8 26.75 
--10 8.8 27.225 
--9.6 8.8 27.475 
--9.2 8.8 27.625 
--8.8 8.8 27.75 
--8.4 8.8 27.825 
--8 8.8 27.75 
--7.6 8.8 27.625 
--7.2 8.8 27.45 
--6.8 8.8 27.25 
--6.4 8.8 26.95 
--6 8.8 26.7 
--5.6 8.8 26.65 
--5.2 8.8 26.275 
--4.8 8.8 25.825 
--4.4 8.8 27.725 
--4 8.8 28.3 
--3.6 8.8 28.625 
--3.2 8.8 28.75 
--2.8 8.8 28.8 
--2.4 8.8 28.725 
--2 8.8 28.6 
--1.6 8.8 28.325 
--1.2 8.8 27.95 
--0.799999 8.8 27.425 
--0.399999 8.8 26.95 
-5.96046e-007 8.8 26.425 
-0.400001 8.8 25.85 
-0.800001 8.8 25.425 
-1.2 8.8 24.675 
-1.6 8.8 24.425 
-2 8.8 24.3 
-2.4 8.8 26.65 
-2.8 8.8 28.8 
-3.2 8.8 29.05 
-3.6 8.8 29.425 
-4 8.8 29.725 
-4.4 8.8 30 
-4.8 8.8 30.1 
-5.2 8.8 30.2 
-5.6 8.8 30.35 
-6 8.8 30.325 
-6.4 8.8 30.25 
-6.8 8.8 30.2 
-7.2 8.8 30.15 
-7.6 8.8 30.075 
-8 8.8 29.925 
-8.4 8.8 29.775 
-8.8 8.8 29.575 
-9.2 8.8 29.275 
-9.6 8.8 28.925 
-10 8.8 28.55 
-10.4 8.8 28.175 
-10.8 8.8 27.825 
-11.2 8.8 27.35 
-11.6 8.8 26.925 
-12 8.8 26.5 
-12.4 8.8 26.025 
-12.8 8.8 25.6 
-13.2 8.8 25.1 
-13.6 8.8 24.675 
-14 8.8 24.275 
-14.4 8.8 23.8 
-14.8 8.8 23.375 
-15.2 8.8 22.825 
-15.6 8.8 22.25 
-16 8.8 21.725 
-16.4 8.8 21.15 
-16.8 8.8 20.55 
-17.2 8.8 19.975 
-17.6 8.8 20.125 
-18 8.8 20.9 
-18.4 8.8 19.7 
-18.8 8.8 16.45 
-19.2 8.8 15.75 
-19.6 8.8 15.6 
-20 8.8 15.5 
-20.4 8.8 15.4 
-20.8 8.8 15.25 
-21.2 8.8 15.075 
-21.6 8.8 14.9 
-22 8.8 14.75 
-22.4 8.8 14.5 
-22.8 8.8 14.1 
-23.2 8.8 13.65 
-23.6 8.8 13.15 
-24 8.8 12.5 
-24.4 8.8 11.625 
-24.8 8.8 10.7 
-25.2 8.8 9.65 
-25.6 8.8 8.425 
-26 8.8 7 
-26.4 8.8 5.475 
--30.4 9.2 6.05 
--30 9.2 7.375 
--29.6 9.2 9.2 
--29.2 9.2 11.1 
--28.8 9.2 12.025 
--28.4 9.2 12.525 
--28 9.2 13.025 
--27.6 9.2 13.475 
--27.2 9.2 13.725 
--26.8 9.2 13.85 
--26.4 9.2 13.875 
--26 9.2 13.85 
--25.6 9.2 13.825 
--25.2 9.2 13.725 
--24.8 9.2 13.625 
--24.4 9.2 13.55 
--24 9.2 13.475 
--23.6 9.2 13.45 
--23.2 9.2 13.425 
--22.8 9.2 13.375 
--22.4 9.2 13.4 
--22 9.2 13.575 
--21.6 9.2 14.375 
--21.2 9.2 17.5 
--20.8 9.2 18.875 
--20.4 9.2 20.05 
--20 9.2 21.05 
--19.6 9.2 21.7 
--19.2 9.2 22.25 
--18.8 9.2 22.625 
--18.4 9.2 22.9 
--18 9.2 23.075 
--17.6 9.2 23.2 
--17.2 9.2 23.325 
--16.8 9.2 23.35 
--16.4 9.2 23.375 
--16 9.2 23.425 
--15.6 9.2 23.45 
--15.2 9.2 23.425 
--14.8 9.2 23.325 
--14.4 9.2 23.25 
--14 9.2 23.1 
--13.6 9.2 22.775 
--13.2 9.2 22.5 
--12.8 9.2 22.25 
--12.4 9.2 21.925 
--12 9.2 21.675 
--11.6 9.2 21.675 
--11.2 9.2 22.35 
--10.8 9.2 26.225 
--10.4 9.2 26.725 
--10 9.2 27.15 
--9.6 9.2 27.425 
--9.2 9.2 27.6 
--8.8 9.2 27.775 
--8.4 9.2 27.8 
--8 9.2 27.7 
--7.6 9.2 27.55 
--7.2 9.2 27.3 
--6.8 9.2 27.05 
--6.4 9.2 26.8 
--6 9.2 26.575 
--5.6 9.2 26.5 
--5.2 9.2 26.325 
--4.8 9.2 25.875 
--4.4 9.2 27.575 
--4 9.2 28.15 
--3.6 9.2 28.45 
--3.2 9.2 28.575 
--2.8 9.2 28.65 
--2.4 9.2 28.625 
--2 9.2 28.525 
--1.6 9.2 28.25 
--1.2 9.2 27.775 
--0.799999 9.2 27.225 
--0.399999 9.2 26.7 
-5.96046e-007 9.2 26.175 
-0.400001 9.2 25.675 
-0.800001 9.2 25.25 
-1.2 9.2 24.8 
-1.6 9.2 24.075 
-2 9.2 23.9 
-2.4 9.2 24.125 
-2.8 9.2 28.65 
-3.2 9.2 28.7 
-3.6 9.2 28.925 
-4 9.2 29.25 
-4.4 9.2 29.525 
-4.8 9.2 29.75 
-5.2 9.2 29.95 
-5.6 9.2 30.05 
-6 9.2 30.125 
-6.4 9.2 30.125 
-6.8 9.2 30.1 
-7.2 9.2 30.1 
-7.6 9.2 30.05 
-8 9.2 29.875 
-8.4 9.2 29.625 
-8.8 9.2 29.45 
-9.2 9.2 29.3 
-9.6 9.2 29.025 
-10 9.2 28.625 
-10.4 9.2 28.275 
-10.8 9.2 27.85 
-11.2 9.2 27.425 
-11.6 9.2 27.025 
-12 9.2 26.575 
-12.4 9.2 26.15 
-12.8 9.2 25.7 
-13.2 9.2 25.225 
-13.6 9.2 24.775 
-14 9.2 24.375 
-14.4 9.2 23.925 
-14.8 9.2 23.425 
-15.2 9.2 22.9 
-15.6 9.2 22.4 
-16 9.2 21.75 
-16.4 9.2 21.25 
-16.8 9.2 20.7 
-17.2 9.2 20.125 
-17.6 9.2 19.85 
-18 9.2 20.55 
-18.4 9.2 19.375 
-18.8 9.2 16.375 
-19.2 9.2 15.725 
-19.6 9.2 15.625 
-20 9.2 15.5 
-20.4 9.2 15.375 
-20.8 9.2 15.225 
-21.2 9.2 15.025 
-21.6 9.2 14.825 
-22 9.2 14.575 
-22.4 9.2 14.325 
-22.8 9.2 14 
-23.2 9.2 13.5 
-23.6 9.2 12.975 
-24 9.2 12.25 
-24.4 9.2 11.45 
-24.8 9.2 10.55 
-25.2 9.2 9.275 
-25.6 9.2 8.225 
-26 9.2 6.65 
-26.4 9.2 5.625 
--30.4 9.6 6.575 
--30 9.6 7.8 
--29.6 9.6 9.625 
--29.2 9.6 11.35 
--28.8 9.6 11.95 
--28.4 9.6 12.475 
--28 9.6 13.025 
--27.6 9.6 13.475 
--27.2 9.6 13.675 
--26.8 9.6 13.775 
--26.4 9.6 13.775 
--26 9.6 13.775 
--25.6 9.6 13.725 
--25.2 9.6 13.65 
--24.8 9.6 13.575 
--24.4 9.6 13.525 
--24 9.6 13.425 
--23.6 9.6 13.4 
--23.2 9.6 13.35 
--22.8 9.6 13.25 
--22.4 9.6 13.25 
--22 9.6 13.425 
--21.6 9.6 14.5 
--21.2 9.6 18.05 
--20.8 9.6 19.475 
--20.4 9.6 20.425 
--20 9.6 21.225 
--19.6 9.6 21.8 
--19.2 9.6 22.175 
--18.8 9.6 22.425 
--18.4 9.6 22.7 
--18 9.6 22.95 
--17.6 9.6 23.025 
--17.2 9.6 23.15 
--16.8 9.6 23.2 
--16.4 9.6 23.15 
--16 9.6 23.175 
--15.6 9.6 23.225 
--15.2 9.6 23.175 
--14.8 9.6 23.075 
--14.4 9.6 23 
--14 9.6 22.775 
--13.6 9.6 22.45 
--13.2 9.6 22.1 
--12.8 9.6 21.95 
--12.4 9.6 21.75 
--12 9.6 21.475 
--11.6 9.6 21.4 
--11.2 9.6 21.85 
--10.8 9.6 25.725 
--10.4 9.6 26.75 
--10 9.6 27.1 
--9.6 9.6 27.375 
--9.2 9.6 27.45 
--8.8 9.6 27.65 
--8.4 9.6 27.75 
--8 9.6 27.6 
--7.6 9.6 27.425 
--7.2 9.6 27.3 
--6.8 9.6 27 
--6.4 9.6 26.675 
--6 9.6 26.425 
--5.6 9.6 26.275 
--5.2 9.6 26.025 
--4.8 9.6 25.725 
--4.4 9.6 27.6 
--4 9.6 28.075 
--3.6 9.6 28.4 
--3.2 9.6 28.575 
--2.8 9.6 28.525 
--2.4 9.6 28.45 
--2 9.6 28.3 
--1.6 9.6 28.025 
--1.2 9.6 27.575 
--0.799999 9.6 27.1 
--0.399999 9.6 26.6 
-5.96046e-007 9.6 26.1 
-0.400001 9.6 25.525 
-0.800001 9.6 24.975 
-1.2 9.6 24.5 
-1.6 9.6 24.05 
-2 9.6 23.775 
-2.4 9.6 23.7 
-2.8 9.6 24.7 
-3.2 9.6 28.1 
-3.6 9.6 28.45 
-4 9.6 28.825 
-4.4 9.6 29.1 
-4.8 9.6 29.35 
-5.2 9.6 29.6 
-5.6 9.6 29.725 
-6 9.6 29.8 
-6.4 9.6 29.875 
-6.8 9.6 29.9 
-7.2 9.6 29.9 
-7.6 9.6 29.8 
-8 9.6 29.725 
-8.4 9.6 29.625 
-8.8 9.6 29.45 
-9.2 9.6 29.275 
-9.6 9.6 29.025 
-10 9.6 28.675 
-10.4 9.6 28.325 
-10.8 9.6 27.95 
-11.2 9.6 27.575 
-11.6 9.6 27.175 
-12 9.6 26.675 
-12.4 9.6 26.175 
-12.8 9.6 25.75 
-13.2 9.6 25.375 
-13.6 9.6 24.925 
-14 9.6 24.475 
-14.4 9.6 24.05 
-14.8 9.6 23.525 
-15.2 9.6 23.025 
-15.6 9.6 22.5 
-16 9.6 21.9 
-16.4 9.6 21.325 
-16.8 9.6 20.75 
-17.2 9.6 20.2 
-17.6 9.6 19.875 
-18 9.6 20.35 
-18.4 9.6 19.45 
-18.8 9.6 16.65 
-19.2 9.6 15.825 
-19.6 9.6 15.625 
-20 9.6 15.475 
-20.4 9.6 15.375 
-20.8 9.6 15.225 
-21.2 9.6 15.05 
-21.6 9.6 14.8 
-22 9.6 14.5 
-22.4 9.6 14.225 
-22.8 9.6 13.875 
-23.2 9.6 13.375 
-23.6 9.6 12.8 
-24 9.6 12.1 
-24.4 9.6 11.2 
-24.8 9.6 10.275 
-25.2 9.6 8.8 
-25.6 9.6 7.525 
-26 9.6 6.25 
-26.4 9.6 5.225 
--30.4 10 6.525 
--30 10 8 
--29.6 10 9.8 
--29.2 10 11.175 
--28.8 10 11.85 
--28.4 10 12.425 
--28 10 12.9 
--27.6 10 13.3 
--27.2 10 13.5 
--26.8 10 13.625 
--26.4 10 13.625 
--26 10 13.675 
--25.6 10 13.6 
--25.2 10 13.475 
--24.8 10 13.425 
--24.4 10 13.35 
--24 10 13.25 
--23.6 10 13.25 
--23.2 10 13.275 
--22.8 10 13.3 
--22.4 10 13.275 
--22 10 13.275 
--21.6 10 17.5 
--21.2 10 18.575 
--20.8 10 19.8 
--20.4 10 20.675 
--20 10 21.45 
--19.6 10 21.85 
--19.2 10 22.125 
--18.8 10 22.4 
--18.4 10 22.575 
--18 10 22.675 
--17.6 10 22.775 
--17.2 10 22.85 
--16.8 10 22.875 
--16.4 10 22.9 
--16 10 23 
--15.6 10 23 
--15.2 10 22.9 
--14.8 10 22.825 
--14.4 10 22.7 
--14 10 22.45 
--13.6 10 22.15 
--13.2 10 21.8 
--12.8 10 21.5 
--12.4 10 21.225 
--12 10 21.1 
--11.6 10 21.15 
--11.2 10 21.425 
--10.8 10 23.475 
--10.4 10 26.4 
--10 10 26.75 
--9.6 10 27.125 
--9.2 10 27.35 
--8.8 10 27.525 
--8.4 10 27.625 
--8 10 27.575 
--7.6 10 27.375 
--7.2 10 27.15 
--6.8 10 26.9 
--6.4 10 26.6 
--6 10 26.3 
--5.6 10 26.15 
--5.2 10 25.9 
--4.8 10 25.75 
--4.4 10 27.375 
--4 10 28 
--3.6 10 28.2 
--3.2 10 28.275 
--2.8 10 28.3 
--2.4 10 28.275 
--2 10 28.2 
--1.6 10 27.95 
--1.2 10 27.55 
--0.799999 10 26.95 
--0.399999 10 26.375 
-5.96046e-007 10 25.825 
-0.400001 10 25.275 
-0.800001 10 24.775 
-1.2 10 24.35 
-1.6 10 24.025 
-2 10 23.8 
-2.4 10 23.575 
-2.8 10 23.45 
-3.2 10 25.275 
-3.6 10 27.9 
-4 10 28.125 
-4.4 10 28.425 
-4.8 10 28.775 
-5.2 10 29.075 
-5.6 10 29.3 
-6 10 29.525 
-6.4 10 29.625 
-6.8 10 29.675 
-7.2 10 29.7 
-7.6 10 29.675 
-8 10 29.6 
-8.4 10 29.525 
-8.8 10 29.3 
-9.2 10 29.075 
-9.6 10 28.875 
-10 10 28.65 
-10.4 10 28.3 
-10.8 10 28 
-11.2 10 27.7 
-11.6 10 27.3 
-12 10 26.85 
-12.4 10 26.425 
-12.8 10 25.95 
-13.2 10 25.55 
-13.6 10 25.175 
-14 10 24.625 
-14.4 10 24.15 
-14.8 10 23.725 
-15.2 10 23.2 
-15.6 10 22.65 
-16 10 22.1 
-16.4 10 21.525 
-16.8 10 20.875 
-17.2 10 20.225 
-17.6 10 20.15 
-18 10 21.275 
-18.4 10 20.575 
-18.8 10 16.85 
-19.2 10 15.75 
-19.6 10 15.55 
-20 10 15.45 
-20.4 10 15.325 
-20.8 10 15.1 
-21.2 10 14.875 
-21.6 10 14.625 
-22 10 14.375 
-22.4 10 14.075 
-22.8 10 13.7 
-23.2 10 13.15 
-23.6 10 12.575 
-24 10 11.75 
-24.4 10 10.825 
-24.8 10 9.175 
-25.2 10 7.175 
-25.6 10 6.6 
-26 10 6.175 
-26.4 10 5.35 
-26.8 10 4.15 
--30.4 10.4 5.4 
--30 10.4 7.75 
--29.6 10.4 9.575 
--29.2 10.4 11.025 
--28.8 10.4 11.7 
--28.4 10.4 12.2 
--28 10.4 12.75 
--27.6 10.4 13.15 
--27.2 10.4 13.375 
--26.8 10.4 13.45 
--26.4 10.4 13.525 
--26 10.4 13.5 
--25.6 10.4 13.475 
--25.2 10.4 13.425 
--24.8 10.4 13.425 
--24.4 10.4 13.35 
--24 10.4 13.275 
--23.6 10.4 13.225 
--23.2 10.4 13.175 
--22.8 10.4 13.15 
--22.4 10.4 13.15 
--22 10.4 13.975 
--21.6 10.4 17.975 
--21.2 10.4 19.225 
--20.8 10.4 20.025 
--20.4 10.4 20.9 
--20 10.4 21.375 
--19.6 10.4 21.725 
--19.2 10.4 21.975 
--18.8 10.4 22.2 
--18.4 10.4 22.375 
--18 10.4 22.525 
--17.6 10.4 22.575 
--17.2 10.4 22.575 
--16.8 10.4 22.625 
--16.4 10.4 22.675 
--16 10.4 22.675 
--15.6 10.4 22.675 
--15.2 10.4 22.65 
--14.8 10.4 22.55 
--14.4 10.4 22.425 
--14 10.4 22.125 
--13.6 10.4 21.775 
--13.2 10.4 21.4 
--12.8 10.4 21.15 
--12.4 10.4 20.95 
--12 10.4 20.8 
--11.6 10.4 20.95 
--11.2 10.4 21.275 
--10.8 10.4 22.7 
--10.4 10.4 26.45 
--10 10.4 26.75 
--9.6 10.4 27.025 
--9.2 10.4 27.2 
--8.8 10.4 27.375 
--8.4 10.4 27.425 
--8 10.4 27.35 
--7.6 10.4 27.3 
--7.2 10.4 27.1 
--6.8 10.4 26.8 
--6.4 10.4 26.625 
--6 10.4 26.35 
--5.6 10.4 26.175 
--5.2 10.4 25.925 
--4.8 10.4 25.675 
--4.4 10.4 27.1 
--4 10.4 27.825 
--3.6 10.4 28.05 
--3.2 10.4 28.15 
--2.8 10.4 28.2 
--2.4 10.4 28.15 
--2 10.4 27.95 
--1.6 10.4 27.675 
--1.2 10.4 27.225 
--0.799999 10.4 26.725 
--0.399999 10.4 26.2 
-5.96046e-007 10.4 25.6 
-0.400001 10.4 25.025 
-0.800001 10.4 24.45 
-1.2 10.4 24.05 
-1.6 10.4 23.775 
-2 10.4 23.45 
-2.4 10.4 23.325 
-2.8 10.4 23.275 
-3.2 10.4 23.15 
-3.6 10.4 24.625 
-4 10.4 27.575 
-4.4 10.4 27.8 
-4.8 10.4 28.2 
-5.2 10.4 28.525 
-5.6 10.4 28.775 
-6 10.4 29.05 
-6.4 10.4 29.275 
-6.8 10.4 29.4 
-7.2 10.4 29.425 
-7.6 10.4 29.35 
-8 10.4 29.3 
-8.4 10.4 29.3 
-8.8 10.4 29.225 
-9.2 10.4 29.05 
-9.6 10.4 28.85 
-10 10.4 28.65 
-10.4 10.4 28.4 
-10.8 10.4 28.1 
-11.2 10.4 27.725 
-11.6 10.4 27.375 
-12 10.4 26.975 
-12.4 10.4 26.5 
-12.8 10.4 26 
-13.2 10.4 25.525 
-13.6 10.4 25.125 
-14 10.4 24.675 
-14.4 10.4 24.25 
-14.8 10.4 23.8 
-15.2 10.4 23.3 
-15.6 10.4 22.725 
-16 10.4 22.2 
-16.4 10.4 21.65 
-16.8 10.4 21.05 
-17.2 10.4 20.35 
-17.6 10.4 20.375 
-18 10.4 21.825 
-18.4 10.4 21.275 
-18.8 10.4 17.05 
-19.2 10.4 15.65 
-19.6 10.4 15.475 
-20 10.4 15.4 
-20.4 10.4 15.2 
-20.8 10.4 14.925 
-21.2 10.4 14.7 
-21.6 10.4 14.45 
-22 10.4 14.125 
-22.4 10.4 13.775 
-22.8 10.4 13.3 
-23.2 10.4 12.8 
-23.6 10.4 12.1 
-24 10.4 11.125 
-24.4 10.4 9.05 
-24.8 10.4 7.25 
-25.2 10.4 6.675 
-25.6 10.4 6.375 
-26 10.4 5.925 
-26.4 10.4 5.35 
-26.8 10.4 5 
--30.4 10.8 4.925 
--30 10.8 7.375 
--29.6 10.8 9.4 
--29.2 10.8 10.75 
--28.8 10.8 11.7 
--28.4 10.8 12.025 
--28 10.8 12.475 
--27.6 10.8 12.9 
--27.2 10.8 13.175 
--26.8 10.8 13.3 
--26.4 10.8 13.325 
--26 10.8 13.325 
--25.6 10.8 13.175 
--25.2 10.8 13.175 
--24.8 10.8 13.2 
--24.4 10.8 13.175 
--24 10.8 13.075 
--23.6 10.8 13.05 
--23.2 10.8 13.05 
--22.8 10.8 13.075 
--22.4 10.8 13.05 
--22 10.8 14.575 
--21.6 10.8 18.225 
--21.2 10.8 19.425 
--20.8 10.8 20.275 
--20.4 10.8 20.875 
--20 10.8 21.25 
--19.6 10.8 21.575 
--19.2 10.8 21.875 
--18.8 10.8 22.125 
--18.4 10.8 22.2 
--18 10.8 22.3 
--17.6 10.8 22.375 
--17.2 10.8 22.45 
--16.8 10.8 22.475 
--16.4 10.8 22.45 
--16 10.8 22.4 
--15.6 10.8 22.45 
--15.2 10.8 22.425 
--14.8 10.8 22.325 
--14.4 10.8 22.125 
--14 10.8 21.85 
--13.6 10.8 21.5 
--13.2 10.8 21.15 
--12.8 10.8 20.9 
--12.4 10.8 20.7 
--12 10.8 20.6 
--11.6 10.8 20.75 
--11.2 10.8 21.075 
--10.8 10.8 21.45 
--10.4 10.8 25.875 
--10 10.8 26.675 
--9.6 10.8 26.9 
--9.2 10.8 27.05 
--8.8 10.8 27.225 
--8.4 10.8 27.35 
--8 10.8 27.375 
--7.6 10.8 27.2 
--7.2 10.8 27 
--6.8 10.8 26.825 
--6.4 10.8 26.575 
--6 10.8 26.3 
--5.6 10.8 26.15 
--5.2 10.8 25.9 
--4.8 10.8 25.525 
--4.4 10.8 26.525 
--4 10.8 27.65 
--3.6 10.8 27.85 
--3.2 10.8 27.95 
--2.8 10.8 28 
--2.4 10.8 27.925 
--2 10.8 27.7 
--1.6 10.8 27.425 
--1.2 10.8 27.075 
--0.799999 10.8 26.55 
--0.399999 10.8 26 
-5.96046e-007 10.8 25.5 
-0.400001 10.8 24.875 
-0.800001 10.8 24.25 
-1.2 10.8 23.975 
-1.6 10.8 23.65 
-2 10.8 23.225 
-2.4 10.8 23.225 
-2.8 10.8 23.1 
-3.2 10.8 22.975 
-3.6 10.8 23.075 
-4 10.8 25.3 
-4.4 10.8 27.2 
-4.8 10.8 27.475 
-5.2 10.8 27.875 
-5.6 10.8 28.2 
-6 10.8 28.425 
-6.4 10.8 28.725 
-6.8 10.8 29.025 
-7.2 10.8 29.175 
-7.6 10.8 29.225 
-8 10.8 29.275 
-8.4 10.8 29.225 
-8.8 10.8 29.125 
-9.2 10.8 28.975 
-9.6 10.8 28.775 
-10 10.8 28.55 
-10.4 10.8 28.3 
-10.8 10.8 28.05 
-11.2 10.8 27.675 
-11.6 10.8 27.25 
-12 10.8 26.9 
-12.4 10.8 26.55 
-12.8 10.8 26.15 
-13.2 10.8 25.675 
-13.6 10.8 25.175 
-14 10.8 24.7 
-14.4 10.8 24.275 
-14.8 10.8 23.8 
-15.2 10.8 23.3 
-15.6 10.8 22.825 
-16 10.8 22.25 
-16.4 10.8 21.725 
-16.8 10.8 21.2 
-17.2 10.8 20.675 
-17.6 10.8 19.925 
-18 10.8 21.025 
-18.4 10.8 21.1 
-18.8 10.8 17.225 
-19.2 10.8 15.7 
-19.6 10.8 15.45 
-20 10.8 15.3 
-20.4 10.8 15.1 
-20.8 10.8 14.825 
-21.2 10.8 14.5 
-21.6 10.8 14.175 
-22 10.8 13.8 
-22.4 10.8 13.3 
-22.8 10.8 12.825 
-23.2 10.8 12.225 
-23.6 10.8 10.675 
-24 10.8 7.7 
-24.4 10.8 6.7 
-24.8 10.8 6.575 
-25.2 10.8 6.425 
-25.6 10.8 6.15 
-26 10.8 5.725 
-26.4 10.8 5.1 
-26.8 10.8 4.2 
--30.4 11.2 4.325 
--30 11.2 6.95 
--29.6 11.2 9.025 
--29.2 11.2 10.35 
--28.8 11.2 11.175 
--28.4 11.2 11.75 
--28 11.2 12.225 
--27.6 11.2 12.65 
--27.2 11.2 12.95 
--26.8 11.2 13.025 
--26.4 11.2 13.125 
--26 11.2 13.15 
--25.6 11.2 13.05 
--25.2 11.2 13.05 
--24.8 11.2 13.025 
--24.4 11.2 13.025 
--24 11.2 13 
--23.6 11.2 12.9 
--23.2 11.2 12.875 
--22.8 11.2 12.95 
--22.4 11.2 12.875 
--22 11.2 15.175 
--21.6 11.2 18.875 
--21.2 11.2 19.6 
--20.8 11.2 20.05 
--20.4 11.2 20.7 
--20 11.2 21.05 
--19.6 11.2 21.375 
--19.2 11.2 21.675 
--18.8 11.2 21.925 
--18.4 11.2 22 
--18 11.2 21.975 
--17.6 11.2 22 
--17.2 11.2 22.075 
--16.8 11.2 22.15 
--16.4 11.2 22.175 
--16 11.2 22.15 
--15.6 11.2 22.075 
--15.2 11.2 22.05 
--14.8 11.2 21.95 
--14.4 11.2 21.75 
--14 11.2 21.4 
--13.6 11.2 21.05 
--13.2 11.2 20.775 
--12.8 11.2 20.475 
--12.4 11.2 20.35 
--12 11.2 20.425 
--11.6 11.2 20.625 
--11.2 11.2 20.925 
--10.8 11.2 21.2 
--10.4 11.2 22.75 
--10 11.2 26.45 
--9.6 11.2 26.675 
--9.2 11.2 26.925 
--8.8 11.2 27.05 
--8.4 11.2 27.15 
--8 11.2 27.125 
--7.6 11.2 27.05 
--7.2 11.2 26.95 
--6.8 11.2 26.775 
--6.4 11.2 26.475 
--6 11.2 26.125 
--5.6 11.2 25.825 
--5.2 11.2 25.55 
--4.8 11.2 25.375 
--4.4 11.2 26.125 
--4 11.2 27.425 
--3.6 11.2 27.65 
--3.2 11.2 27.825 
--2.8 11.2 27.9 
--2.4 11.2 27.7 
--2 11.2 27.4 
--1.6 11.2 27.15 
--1.2 11.2 26.775 
--0.799999 11.2 26.325 
--0.399999 11.2 25.675 
-5.96046e-007 11.2 25.125 
-0.400001 11.2 24.525 
-0.800001 11.2 24 
-1.2 11.2 23.625 
-1.6 11.2 23.3 
-2 11.2 23.25 
-2.4 11.2 23.1 
-2.8 11.2 22.95 
-3.2 11.2 22.95 
-3.6 11.2 22.95 
-4 11.2 23.025 
-4.4 11.2 26.325 
-4.8 11.2 26.675 
-5.2 11.2 27.075 
-5.6 11.2 27.5 
-6 11.2 27.85 
-6.4 11.2 28.125 
-6.8 11.2 28.425 
-7.2 11.2 28.675 
-7.6 11.2 28.9 
-8 11.2 28.95 
-8.4 11.2 29.05 
-8.8 11.2 29 
-9.2 11.2 28.875 
-9.6 11.2 28.725 
-10 11.2 28.525 
-10.4 11.2 28.25 
-10.8 11.2 27.975 
-11.2 11.2 27.675 
-11.6 11.2 27.375 
-12 11.2 26.95 
-12.4 11.2 26.5 
-12.8 11.2 26.075 
-13.2 11.2 25.725 
-13.6 11.2 25.325 
-14 11.2 24.875 
-14.4 11.2 24.45 
-14.8 11.2 23.975 
-15.2 11.2 23.425 
-15.6 11.2 22.9 
-16 11.2 22.375 
-16.4 11.2 21.85 
-16.8 11.2 21.275 
-17.2 11.2 20.7 
-17.6 11.2 19.975 
-18 11.2 21.1 
-18.4 11.2 21.25 
-18.8 11.2 17.525 
-19.2 11.2 15.425 
-19.6 11.2 15.25 
-20 11.2 15.1 
-20.4 11.2 14.875 
-20.8 11.2 14.525 
-21.2 11.2 14.2 
-21.6 11.2 13.7 
-22 11.2 13.15 
-22.4 11.2 12.675 
-22.8 11.2 11.525 
-23.2 11.2 8.35 
-23.6 11.2 6.45 
-24 11.2 6.3 
-24.4 11.2 6.275 
-24.8 11.2 6.225 
-25.2 11.2 6.175 
-25.6 11.2 5.975 
-26 11.2 5.55 
-26.4 11.2 5 
-26.8 11.2 4.4 
-27.2 11.2 3.5 
--30.4 11.6 3.5 
--30 11.6 6.2 
--29.6 11.6 8.125 
--29.2 11.6 9.85 
--28.8 11.6 10.775 
--28.4 11.6 11.4 
--28 11.6 11.975 
--27.6 11.6 12.4 
--27.2 11.6 12.675 
--26.8 11.6 12.825 
--26.4 11.6 12.875 
--26 11.6 12.8 
--25.6 11.6 12.75 
--25.2 11.6 12.775 
--24.8 11.6 12.825 
--24.4 11.6 12.775 
--24 11.6 12.725 
--23.6 11.6 12.725 
--23.2 11.6 12.7 
--22.8 11.6 12.725 
--22.4 11.6 12.675 
--22 11.6 15.45 
--21.6 11.6 18.775 
--21.2 11.6 19.275 
--20.8 11.6 19.85 
--20.4 11.6 20.5 
--20 11.6 20.925 
--19.6 11.6 21.25 
--19.2 11.6 21.5 
--18.8 11.6 21.575 
--18.4 11.6 21.625 
--18 11.6 21.8 
--17.6 11.6 21.875 
--17.2 11.6 21.875 
--16.8 11.6 21.85 
--16.4 11.6 21.85 
--16 11.6 21.9 
--15.6 11.6 21.85 
--15.2 11.6 21.725 
--14.8 11.6 21.575 
--14.4 11.6 21.35 
--14 11.6 21.2 
--13.6 11.6 21.125 
--13.2 11.6 20.775 
--12.8 11.6 20.225 
--12.4 11.6 20.15 
--12 11.6 20.275 
--11.6 11.6 20.5 
--11.2 11.6 20.75 
--10.8 11.6 20.925 
--10.4 11.6 21.7 
--10 11.6 26.225 
--9.6 11.6 26.55 
--9.2 11.6 26.775 
--8.8 11.6 26.925 
--8.4 11.6 27.05 
--8 11.6 27.025 
--7.6 11.6 26.975 
--7.2 11.6 26.85 
--6.8 11.6 26.65 
--6.4 11.6 26.275 
--6 11.6 26.05 
--5.6 11.6 26.225 
--5.2 11.6 26.025 
--4.8 11.6 25.35 
--4.4 11.6 25.875 
--4 11.6 26.9 
--3.6 11.6 27.3 
--3.2 11.6 27.575 
--2.8 11.6 27.525 
--2.4 11.6 27.4 
--2 11.6 27.2 
--1.6 11.6 26.925 
--1.2 11.6 26.525 
--0.799999 11.6 25.925 
--0.399999 11.6 25.325 
-5.96046e-007 11.6 24.775 
-0.400001 11.6 24.4 
-0.800001 11.6 24.7 
-1.2 11.6 24.475 
-1.6 11.6 22.925 
-2 11.6 22.925 
-2.4 11.6 22.9 
-2.8 11.6 22.875 
-3.2 11.6 22.95 
-3.6 11.6 23 
-4 11.6 22.95 
-4.4 11.6 23.175 
-4.8 11.6 25.5 
-5.2 11.6 26.3 
-5.6 11.6 26.675 
-6 11.6 27.1 
-6.4 11.6 27.45 
-6.8 11.6 27.75 
-7.2 11.6 28.075 
-7.6 11.6 28.325 
-8 11.6 28.525 
-8.4 11.6 28.65 
-8.8 11.6 28.625 
-9.2 11.6 28.575 
-9.6 11.6 28.475 
-10 11.6 28.325 
-10.4 11.6 28.125 
-10.8 11.6 27.9 
-11.2 11.6 27.625 
-11.6 11.6 27.35 
-12 11.6 26.975 
-12.4 11.6 26.6 
-12.8 11.6 26.275 
-13.2 11.6 25.875 
-13.6 11.6 25.425 
-14 11.6 24.925 
-14.4 11.6 24.425 
-14.8 11.6 23.95 
-15.2 11.6 23.525 
-15.6 11.6 23.075 
-16 11.6 22.5 
-16.4 11.6 21.875 
-16.8 11.6 21.325 
-17.2 11.6 20.675 
-17.6 11.6 20.025 
-18 11.6 19.65 
-18.4 11.6 19.65 
-18.8 11.6 17.375 
-19.2 11.6 15.325 
-19.6 11.6 15 
-20 11.6 14.725 
-20.4 11.6 14.45 
-20.8 11.6 14.125 
-21.2 11.6 13.675 
-21.6 11.6 13.15 
-22 11.6 11.65 
-22.4 11.6 8.85 
-22.8 11.6 6.4 
-23.2 11.6 6 
-23.6 11.6 6.025 
-24 11.6 6.075 
-24.4 11.6 6.125 
-24.8 11.6 6.075 
-25.2 11.6 5.975 
-25.6 11.6 5.75 
-26 11.6 5.4 
-26.4 11.6 4.85 
-26.8 11.6 4.225 
-27.2 11.6 3.35 
--30.4 12 2.925 
--30 12 5.425 
--29.6 12 7.3 
--29.2 12 9.075 
--28.8 12 10.05 
--28.4 12 10.625 
--28 12 11.1 
--27.6 12 11.525 
--27.2 12 12.025 
--26.8 12 12.375 
--26.4 12 12.475 
--26 12 12.425 
--25.6 12 12.375 
--25.2 12 12.325 
--24.8 12 12.375 
--24.4 12 12.425 
--24 12 12.425 
--23.6 12 12.475 
--23.2 12 12.475 
--22.8 12 12.425 
--22.4 12 12.375 
--22 12 15.4 
--21.6 12 18.65 
--21.2 12 19.1 
--20.8 12 19.7 
--20.4 12 20.25 
--20 12 20.75 
--19.6 12 21.1 
--19.2 12 21.25 
--18.8 12 21.35 
--18.4 12 21.4 
--18 12 21.45 
--17.6 12 21.5 
--17.2 12 21.6 
--16.8 12 21.6 
--16.4 12 21.55 
--16 12 21.6 
--15.6 12 21.6 
--15.2 12 21.5 
--14.8 12 21.3 
--14.4 12 21.1 
--14 12 21.825 
--13.6 12 21.8 
--13.2 12 20.225 
--12.8 12 19.85 
--12.4 12 19.85 
--12 12 20.05 
--11.6 12 20.4 
--11.2 12 20.675 
--10.8 12 20.875 
--10.4 12 21.25 
--10 12 25.025 
--9.6 12 26.5 
--9.2 12 26.7 
--8.8 12 26.825 
--8.4 12 26.95 
--8 12 27 
--7.6 12 26.85 
--7.2 12 26.7 
--6.8 12 26.475 
--6.4 12 26.2 
--6 12 25.95 
--5.6 12 25.675 
--5.2 12 25.45 
--4.8 12 25.075 
--4.4 12 25.75 
--4 12 26.875 
--3.6 12 27.125 
--3.2 12 27.3 
--2.8 12 27.275 
--2.4 12 27.225 
--2 12 26.975 
--1.6 12 26.6 
--1.2 12 26.2 
--0.799999 12 25.7 
--0.399999 12 25.2 
-5.96046e-007 12 24.525 
-0.400001 12 25.25 
-0.800001 12 25.15 
-1.2 12 22.825 
-1.6 12 22.675 
-2 12 22.65 
-2.4 12 22.7 
-2.8 12 22.725 
-3.2 12 22.825 
-3.6 12 22.9 
-4 12 22.925 
-4.4 12 22.95 
-4.8 12 23.025 
-5.2 12 25.1 
-5.6 12 25.9 
-6 12 26.25 
-6.4 12 26.675 
-6.8 12 27 
-7.2 12 27.4 
-7.6 12 27.7 
-8 12 27.975 
-8.4 12 28.175 
-8.8 12 28.3 
-9.2 12 28.325 
-9.6 12 28.275 
-10 12 28.175 
-10.4 12 28 
-10.8 12 27.825 
-11.2 12 27.575 
-11.6 12 27.3 
-12 12 27 
-12.4 12 26.625 
-12.8 12 26.25 
-13.2 12 25.9 
-13.6 12 25.5 
-14 12 25.05 
-14.4 12 24.525 
-14.8 12 24.025 
-15.2 12 23.5 
-15.6 12 23.05 
-16 12 22.55 
-16.4 12 21.975 
-16.8 12 21.425 
-17.2 12 20.875 
-17.6 12 20.2 
-18 12 19.525 
-18.4 12 19.5 
-18.8 12 17.75 
-19.2 12 15.4 
-19.6 12 14.7 
-20 12 14.325 
-20.4 12 13.9 
-20.8 12 13.45 
-21.2 12 12.275 
-21.6 12 9.6 
-22 12 6.425 
-22.4 12 5.85 
-22.8 12 5.725 
-23.2 12 5.725 
-23.6 12 5.75 
-24 12 5.825 
-24.4 12 5.85 
-24.8 12 5.85 
-25.2 12 5.7 
-25.6 12 5.525 
-26 12 5.225 
-26.4 12 4.7 
-26.8 12 4.1 
-27.2 12 3.275 
--30.4 12.4 2.6 
--30 12.4 4.3 
--29.6 12.4 6.3 
--29.2 12.4 7.6 
--28.8 12.4 8.575 
--28.4 12.4 9.325 
--28 12.4 9.8 
--27.6 12.4 10.25 
--27.2 12.4 10.75 
--26.8 12.4 11.25 
--26.4 12.4 11.725 
--26 12.4 11.925 
--25.6 12.4 11.875 
--25.2 12.4 11.85 
--24.8 12.4 11.9 
--24.4 12.4 11.95 
--24 12.4 11.925 
--23.6 12.4 11.925 
--23.2 12.4 11.975 
--22.8 12.4 11.925 
--22.4 12.4 12 
--22 12.4 15.175 
--21.6 12.4 18.475 
--21.2 12.4 19.05 
--20.8 12.4 19.675 
--20.4 12.4 20.175 
--20 12.4 20.525 
--19.6 12.4 20.725 
--19.2 12.4 20.9 
--18.8 12.4 21.075 
--18.4 12.4 21.125 
--18 12.4 21.15 
--17.6 12.4 21.225 
--17.2 12.4 21.325 
--16.8 12.4 21.3 
--16.4 12.4 21.275 
--16 12.4 21.275 
--15.6 12.4 21.225 
--15.2 12.4 21.15 
--14.8 12.4 20.925 
--14.4 12.4 20.7 
--14 12.4 21.15 
--13.6 12.4 20.95 
--13.2 12.4 19.6 
--12.8 12.4 19.575 
--12.4 12.4 19.8 
--12 12.4 20.075 
--11.6 12.4 20.35 
--11.2 12.4 20.625 
--10.8 12.4 20.9 
--10.4 12.4 21 
--10 12.4 22.675 
--9.6 12.4 26.25 
--9.2 12.4 26.4 
--8.8 12.4 26.55 
--8.4 12.4 26.7 
--8 12.4 26.775 
--7.6 12.4 26.675 
--7.2 12.4 26.55 
--6.8 12.4 26.375 
--6.4 12.4 26.1 
--6 12.4 25.95 
--5.6 12.4 26.225 
--5.2 12.4 26.15 
--4.8 12.4 25.025 
--4.4 12.4 25.4 
--4 12.4 26.425 
--3.6 12.4 26.825 
--3.2 12.4 27.025 
--2.8 12.4 26.95 
--2.4 12.4 26.925 
--2 12.4 26.65 
--1.6 12.4 26.35 
--1.2 12.4 25.975 
--0.799999 12.4 25.5 
--0.399999 12.4 24.9 
-5.96046e-007 12.4 24.95 
-0.400001 12.4 25.275 
-0.800001 12.4 24.175 
-1.2 12.4 22.45 
-1.6 12.4 22.4 
-2 12.4 22.45 
-2.4 12.4 22.525 
-2.8 12.4 22.65 
-3.2 12.4 22.8 
-3.6 12.4 22.9 
-4 12.4 22.925 
-4.4 12.4 22.875 
-4.8 12.4 22.85 
-5.2 12.4 22.85 
-5.6 12.4 24.05 
-6 12.4 25.425 
-6.4 12.4 25.875 
-6.8 12.4 26.3 
-7.2 12.4 26.675 
-7.6 12.4 27.025 
-8 12.4 27.4 
-8.4 12.4 27.7 
-8.8 12.4 27.925 
-9.2 12.4 27.975 
-9.6 12.4 28 
-10 12.4 27.975 
-10.4 12.4 27.85 
-10.8 12.4 27.65 
-11.2 12.4 27.475 
-11.6 12.4 27.275 
-12 12.4 26.875 
-12.4 12.4 26.525 
-12.8 12.4 26.15 
-13.2 12.4 25.8 
-13.6 12.4 25.475 
-14 12.4 25.075 
-14.4 12.4 24.6 
-14.8 12.4 24.2 
-15.2 12.4 23.725 
-15.6 12.4 23.225 
-16 12.4 22.65 
-16.4 12.4 22.075 
-16.8 12.4 21.475 
-17.2 12.4 20.825 
-17.6 12.4 20.2 
-18 12.4 19.425 
-18.4 12.4 18.8 
-18.8 12.4 18.425 
-19.2 12.4 14.7 
-19.6 12.4 14 
-20 12.4 13.45 
-20.4 12.4 12.475 
-20.8 12.4 9.9 
-21.2 12.4 6.725 
-21.6 12.4 5.475 
-22 12.4 5.35 
-22.4 12.4 5.425 
-22.8 12.4 5.525 
-23.2 12.4 5.55 
-23.6 12.4 5.625 
-24 12.4 5.65 
-24.4 12.4 5.675 
-24.8 12.4 5.65 
-25.2 12.4 5.55 
-25.6 12.4 5.275 
-26 12.4 4.925 
-26.4 12.4 4.475 
-26.8 12.4 3.975 
-27.2 12.4 2.825 
--30.4 12.8 2.025 
--30 12.8 3.275 
--29.6 12.8 5.3 
--29.2 12.8 6.35 
--28.8 12.8 7.025 
--28.4 12.8 7.55 
--28 12.8 8.1 
--27.6 12.8 8.65 
--27.2 12.8 9.075 
--26.8 12.8 9.45 
--26.4 12.8 9.925 
--26 12.8 10.55 
--25.6 12.8 10.925 
--25.2 12.8 11.2 
--24.8 12.8 11.375 
--24.4 12.8 11.4 
--24 12.8 11.425 
--23.6 12.8 11.5 
--23.2 12.8 11.425 
--22.8 12.8 11.35 
--22.4 12.8 11.425 
--22 12.8 14.775 
--21.6 12.8 18.3 
--21.2 12.8 18.825 
--20.8 12.8 19.45 
--20.4 12.8 20 
--20 12.8 20.4 
--19.6 12.8 20.6 
--19.2 12.8 20.7 
--18.8 12.8 20.8 
--18.4 12.8 20.85 
--18 12.8 20.85 
--17.6 12.8 20.875 
--17.2 12.8 20.95 
--16.8 12.8 20.95 
--16.4 12.8 20.9 
--16 12.8 20.925 
--15.6 12.8 20.925 
--15.2 12.8 20.8 
--14.8 12.8 20.6 
--14.4 12.8 20.575 
--14 12.8 21.1 
--13.6 12.8 20.125 
--13.2 12.8 19.4 
--12.8 12.8 19.375 
--12.4 12.8 19.675 
--12 12.8 19.975 
--11.6 12.8 20.2 
--11.2 12.8 20.475 
--10.8 12.8 20.775 
--10.4 12.8 21.025 
--10 12.8 21.6 
--9.6 12.8 25.625 
--9.2 12.8 26.2 
--8.8 12.8 26.4 
--8.4 12.8 26.55 
--8 12.8 26.7 
--7.6 12.8 26.65 
--7.2 12.8 26.475 
--6.8 12.8 26.325 
--6.4 12.8 26.1 
--6 12.8 26.525 
--5.6 12.8 27.725 
--5.2 12.8 26.7 
--4.8 12.8 24.75 
--4.4 12.8 25.05 
--4 12.8 25.925 
--3.6 12.8 26.525 
--3.2 12.8 26.75 
--2.8 12.8 26.65 
--2.4 12.8 26.575 
--2 12.8 26.325 
--1.6 12.8 26 
--1.2 12.8 25.575 
--0.799999 12.8 25.15 
--0.399999 12.8 24.675 
-5.96046e-007 12.8 25.375 
-0.400001 12.8 26.15 
-0.800001 12.8 24.15 
-1.2 12.8 22.1 
-1.6 12.8 22.175 
-2 12.8 22.325 
-2.4 12.8 22.425 
-2.8 12.8 22.525 
-3.2 12.8 22.65 
-3.6 12.8 22.725 
-4 12.8 22.825 
-4.4 12.8 22.95 
-4.8 12.8 22.925 
-5.2 12.8 22.85 
-5.6 12.8 22.675 
-6 12.8 22.85 
-6.4 12.8 24.875 
-6.8 12.8 25.6 
-7.2 12.8 25.875 
-7.6 12.8 26.25 
-8 12.8 26.65 
-8.4 12.8 27.025 
-8.8 12.8 27.25 
-9.2 12.8 27.45 
-9.6 12.8 27.6 
-10 12.8 27.65 
-10.4 12.8 27.65 
-10.8 12.8 27.5 
-11.2 12.8 27.3 
-11.6 12.8 27.025 
-12 12.8 26.8 
-12.4 12.8 26.55 
-12.8 12.8 26.175 
-13.2 12.8 25.8 
-13.6 12.8 25.45 
-14 12.8 25.05 
-14.4 12.8 24.625 
-14.8 12.8 24.15 
-15.2 12.8 23.675 
-15.6 12.8 23.225 
-16 12.8 22.675 
-16.4 12.8 22.1 
-16.8 12.8 21.55 
-17.2 12.8 20.925 
-17.6 12.8 20.175 
-18 12.8 19.55 
-18.4 12.8 19.8 
-18.8 12.8 19.3 
-19.2 12.8 14.9 
-19.6 12.8 13.475 
-20 12.8 12.7 
-20.4 12.8 8.35 
-20.8 12.8 5.5 
-21.2 12.8 5.075 
-21.6 12.8 5.15 
-22 12.8 5.2 
-22.4 12.8 5.225 
-22.8 12.8 5.275 
-23.2 12.8 5.325 
-23.6 12.8 5.375 
-24 12.8 5.425 
-24.4 12.8 5.45 
-24.8 12.8 5.45 
-25.2 12.8 5.325 
-25.6 12.8 5.175 
-26 12.8 4.85 
-26.4 12.8 4.275 
-26.8 12.8 3.775 
-27.2 12.8 2.775 
-27.6 12.8 1.75 
--30.4 13.2 1.925 
--30 13.2 2.75 
--29.6 13.2 4.325 
--29.2 13.2 4.95 
--28.8 13.2 5.6 
--28.4 13.2 6.075 
--28 13.2 6.425 
--27.6 13.2 6.775 
--27.2 13.2 7.225 
--26.8 13.2 7.575 
--26.4 13.2 7.85 
--26 13.2 8.125 
--25.6 13.2 8.325 
--25.2 13.2 8.45 
--24.8 13.2 8.45 
--24.4 13.2 9.275 
--24 13.2 9.625 
--23.6 13.2 9.875 
--23.2 13.2 10.15 
--22.8 13.2 10.3 
--22.4 13.2 10.425 
--22 13.2 13.3 
--21.6 13.2 18.3 
--21.2 13.2 18.6 
--20.8 13.2 19.275 
--20.4 13.2 19.7 
--20 13.2 20.05 
--19.6 13.2 20.25 
--19.2 13.2 20.325 
--18.8 13.2 20.425 
--18.4 13.2 20.5 
--18 13.2 20.475 
--17.6 13.2 20.55 
--17.2 13.2 20.675 
--16.8 13.2 20.65 
--16.4 13.2 20.6 
--16 13.2 20.625 
--15.6 13.2 20.575 
--15.2 13.2 20.4 
--14.8 13.2 20.9 
--14.4 13.2 21.25 
--14 13.2 20.9 
--13.6 13.2 19.825 
--13.2 13.2 19.125 
--12.8 13.2 19.25 
--12.4 13.2 19.55 
--12 13.2 19.825 
--11.6 13.2 20.2 
--11.2 13.2 20.525 
--10.8 13.2 20.7 
--10.4 13.2 20.825 
--10 13.2 21.05 
--9.6 13.2 23.15 
--9.2 13.2 26.125 
--8.8 13.2 26.225 
--8.4 13.2 26.325 
--8 13.2 26.45 
--7.6 13.2 26.525 
--7.2 13.2 26.4 
--6.8 13.2 26.15 
--6.4 13.2 25.9 
--6 13.2 25.5 
--5.6 13.2 25.1 
--5.2 13.2 24.775 
--4.8 13.2 24.6 
--4.4 13.2 24.775 
--4 13.2 25.575 
--3.6 13.2 26.05 
--3.2 13.2 26.375 
--2.8 13.2 26.35 
--2.4 13.2 26.25 
--2 13.2 26.075 
--1.6 13.2 25.725 
--1.2 13.2 25.35 
--0.799999 13.2 24.9 
--0.399999 13.2 24.725 
-5.96046e-007 13.2 25.95 
-0.400001 13.2 25.825 
-0.800001 13.2 23.475 
-1.2 13.2 21.925 
-1.6 13.2 22 
-2 13.2 22.2 
-2.4 13.2 22.35 
-2.8 13.2 22.55 
-3.2 13.2 22.7 
-3.6 13.2 22.75 
-4 13.2 22.8 
-4.4 13.2 22.825 
-4.8 13.2 22.85 
-5.2 13.2 22.9 
-5.6 13.2 22.775 
-6 13.2 22.575 
-6.4 13.2 22.5 
-6.8 13.2 24.625 
-7.2 13.2 25.075 
-7.6 13.2 25.55 
-8 13.2 25.95 
-8.4 13.2 26.275 
-8.8 13.2 26.65 
-9.2 13.2 26.95 
-9.6 13.2 27.15 
-10 13.2 27.25 
-10.4 13.2 27.225 
-10.8 13.2 27.15 
-11.2 13.2 27.1 
-11.6 13.2 26.975 
-12 13.2 26.725 
-12.4 13.2 26.45 
-12.8 13.2 26.075 
-13.2 13.2 25.725 
-13.6 13.2 25.425 
-14 13.2 25.05 
-14.4 13.2 24.625 
-14.8 13.2 24.225 
-15.2 13.2 23.7 
-15.6 13.2 23.225 
-16 13.2 22.7 
-16.4 13.2 22.1 
-16.8 13.2 21.5 
-17.2 13.2 21.025 
-17.6 13.2 20.325 
-18 13.2 20 
-18.4 13.2 21.3 
-18.8 13.2 21.025 
-19.2 13.2 19.6 
-19.6 13.2 16.375 
-20 13.2 9.475 
-20.4 13.2 5.125 
-20.8 13.2 4.875 
-21.2 13.2 4.775 
-21.6 13.2 4.85 
-22 13.2 4.95 
-22.4 13.2 5.025 
-22.8 13.2 5.075 
-23.2 13.2 5.125 
-23.6 13.2 5.175 
-24 13.2 5.225 
-24.4 13.2 5.225 
-24.8 13.2 5.175 
-25.2 13.2 5.075 
-25.6 13.2 4.825 
-26 13.2 4.475 
-26.4 13.2 3.975 
-26.8 13.2 3.45 
-27.2 13.2 2.575 
-27.6 13.2 1.25 
--30.4 13.6 1.375 
--30 13.6 1.95 
--29.6 13.6 2.95 
--29.2 13.6 4.1 
--28.8 13.6 4.525 
--28.4 13.6 4.85 
--28 13.6 5.175 
--27.6 13.6 5.55 
--27.2 13.6 5.85 
--26.8 13.6 6.05 
--26.4 13.6 6.275 
--26 13.6 6.525 
--25.6 13.6 6.7 
--25.2 13.6 6.95 
--24.8 13.6 7.05 
--24.4 13.6 7.125 
--24 13.6 7.325 
--23.6 13.6 7.475 
--23.2 13.6 7.6 
--22.8 13.6 7.725 
--22.4 13.6 7.925 
--22 13.6 8.1 
--21.6 13.6 17.9 
--21.2 13.6 18.35 
--20.8 13.6 18.85 
--20.4 13.6 19.325 
--20 13.6 19.6 
--19.6 13.6 19.825 
--19.2 13.6 19.975 
--18.8 13.6 20.175 
--18.4 13.6 20.25 
--18 13.6 20.2 
--17.6 13.6 20.225 
--17.2 13.6 20.275 
--16.8 13.6 20.275 
--16.4 13.6 20.275 
--16 13.6 20.275 
--15.6 13.6 20.225 
--15.2 13.6 20.2 
--14.8 13.6 21.475 
--14.4 13.6 21.325 
--14 13.6 21 
--13.6 13.6 19.525 
--13.2 13.6 18.925 
--12.8 13.6 19.2 
--12.4 13.6 19.5 
--12 13.6 19.825 
--11.6 13.6 20.1 
--11.2 13.6 20.325 
--10.8 13.6 20.575 
--10.4 13.6 20.825 
--10 13.6 21.025 
--9.6 13.6 21.5 
--9.2 13.6 25.825 
--8.8 13.6 25.95 
--8.4 13.6 26.125 
--8 13.6 26.3 
--7.6 13.6 26.325 
--7.2 13.6 26.15 
--6.8 13.6 25.95 
--6.4 13.6 25.725 
--6 13.6 25.375 
--5.6 13.6 25 
--5.2 13.6 24.575 
--4.8 13.6 24.275 
--4.4 13.6 24.55 
--4 13.6 25.225 
--3.6 13.6 25.775 
--3.2 13.6 26.15 
--2.8 13.6 26.15 
--2.4 13.6 25.975 
--2 13.6 25.775 
--1.6 13.6 25.425 
--1.2 13.6 24.975 
--0.799999 13.6 24.525 
--0.399999 13.6 24.5 
-5.96046e-007 13.6 26.05 
-0.400001 13.6 25.725 
-0.800001 13.6 22.95 
-1.2 13.6 21.7 
-1.6 13.6 21.9 
-2 13.6 22.1 
-2.4 13.6 22.35 
-2.8 13.6 22.5 
-3.2 13.6 22.625 
-3.6 13.6 22.75 
-4 13.6 22.775 
-4.4 13.6 22.775 
-4.8 13.6 22.775 
-5.2 13.6 22.8 
-5.6 13.6 22.775 
-6 13.6 22.65 
-6.4 13.6 22.45 
-6.8 13.6 22.325 
-7.2 13.6 23.375 
-7.6 13.6 24.8 
-8 13.6 25.05 
-8.4 13.6 25.45 
-8.8 13.6 25.925 
-9.2 13.6 26.275 
-9.6 13.6 26.525 
-10 13.6 26.7 
-10.4 13.6 26.8 
-10.8 13.6 26.85 
-11.2 13.6 26.875 
-11.6 13.6 26.725 
-12 13.6 26.475 
-12.4 13.6 26.325 
-12.8 13.6 26.1 
-13.2 13.6 25.75 
-13.6 13.6 25.4 
-14 13.6 25 
-14.4 13.6 24.6 
-14.8 13.6 24.15 
-15.2 13.6 23.7 
-15.6 13.6 23.3 
-16 13.6 22.775 
-16.4 13.6 22.15 
-16.8 13.6 21.55 
-17.2 13.6 20.95 
-17.6 13.6 20.3 
-18 13.6 19.95 
-18.4 13.6 21.1 
-18.8 13.6 20.925 
-19.2 13.6 20.175 
-19.6 13.6 16.625 
-20 13.6 9.725 
-20.4 13.6 5 
-20.8 13.6 4.725 
-21.2 13.6 4.625 
-21.6 13.6 4.65 
-22 13.6 4.7 
-22.4 13.6 4.725 
-22.8 13.6 4.85 
-23.2 13.6 4.9 
-23.6 13.6 4.95 
-24 13.6 4.975 
-24.4 13.6 4.95 
-24.8 13.6 4.925 
-25.2 13.6 4.8 
-25.6 13.6 4.625 
-26 13.6 4.3 
-26.4 13.6 3.775 
-26.8 13.6 3.1 
-27.2 13.6 2.4 
-27.6 13.6 1.075 
--30.4 14 1.05 
--30 14 1.625 
--29.6 14 2.1 
--29.2 14 2.5 
--28.8 14 2.825 
--28.4 14 3.15 
--28 14 3.55 
--27.6 14 4 
--27.2 14 4.3 
--26.8 14 4.45 
--26.4 14 4.55 
--26 14 4.725 
--25.6 14 4.95 
--25.2 14 5.15 
--24.8 14 5.3 
--24.4 14 5.425 
--24 14 5.525 
--23.6 14 5.525 
--23.2 14 5.6 
--22.8 14 5.775 
--22.4 14 5.925 
--22 14 6.125 
--21.6 14 17.1 
--21.2 14 17.575 
--20.8 14 18.4 
--20.4 14 18.8 
--20 14 19.125 
--19.6 14 19.375 
--19.2 14 19.55 
--18.8 14 19.7 
--18.4 14 19.8 
--18 14 19.825 
--17.6 14 19.9 
--17.2 14 19.975 
--16.8 14 19.95 
--16.4 14 19.85 
--16 14 19.875 
--15.6 14 19.9 
--15.2 14 19.7 
--14.8 14 19.9 
--14.4 14 20.725 
--14 14 20.425 
--13.6 14 18.625 
--13.2 14 18.75 
--12.8 14 19.05 
--12.4 14 19.4 
--12 14 19.7 
--11.6 14 20.025 
--11.2 14 20.325 
--10.8 14 20.6 
--10.4 14 20.825 
--10 14 21 
--9.6 14 21.05 
--9.2 14 22.775 
--8.8 14 25.675 
--8.4 14 25.825 
--8 14 26 
--7.6 14 26.125 
--7.2 14 26.125 
--6.8 14 25.85 
--6.4 14 25.525 
--6 14 25.175 
--5.6 14 24.75 
--5.2 14 24.35 
--4.8 14 24.125 
--4.4 14 24.2 
--4 14 24.975 
--3.6 14 25.45 
--3.2 14 25.75 
--2.8 14 25.725 
--2.4 14 25.625 
--2 14 25.4 
--1.6 14 25.1 
--1.2 14 24.7 
--0.799999 14 24.225 
--0.399999 14 24.475 
-5.96046e-007 14 26.15 
-0.400001 14 25.225 
-0.800001 14 21.7 
-1.2 14 21.725 
-1.6 14 21.85 
-2 14 22.05 
-2.4 14 22.275 
-2.8 14 22.475 
-3.2 14 22.6 
-3.6 14 22.675 
-4 14 22.75 
-4.4 14 22.825 
-4.8 14 22.85 
-5.2 14 22.825 
-5.6 14 22.775 
-6 14 22.75 
-6.4 14 22.575 
-6.8 14 22.425 
-7.2 14 22.175 
-7.6 14 22.525 
-8 14 24.325 
-8.4 14 24.7 
-8.8 14 25.175 
-9.2 14 25.6 
-9.6 14 25.9 
-10 14 26.1 
-10.4 14 26.25 
-10.8 14 26.45 
-11.2 14 26.525 
-11.6 14 26.475 
-12 14 26.3 
-12.4 14 26.025 
-12.8 14 25.825 
-13.2 14 25.575 
-13.6 14 25.225 
-14 14 24.875 
-14.4 14 24.525 
-14.8 14 24.2 
-15.2 14 23.775 
-15.6 14 23.275 
-16 14 22.75 
-16.4 14 22.2 
-16.8 14 21.6 
-17.2 14 20.875 
-17.6 14 20.275 
-18 14 19.825 
-18.4 14 21.1 
-18.8 14 20.85 
-19.2 14 20.35 
-19.6 14 16.9 
-20 14 9.875 
-20.4 14 4.85 
-20.8 14 4.525 
-21.2 14 4.475 
-21.6 14 4.5 
-22 14 4.525 
-22.4 14 4.55 
-22.8 14 4.625 
-23.2 14 4.7 
-23.6 14 4.75 
-24 14 4.725 
-24.4 14 4.725 
-24.8 14 4.6 
-25.2 14 4.55 
-25.6 14 4.35 
-26 14 3.95 
-26.4 14 3.5 
-26.8 14 3.025 
-27.2 14 2.075 
-27.6 14 0.975 
-28 14 -0.65 
--30.4 14.4 0.825 
--30 14.4 1.375 
--29.6 14.4 1.925 
--29.2 14.4 2.2 
--28.8 14.4 2.325 
--28.4 14.4 2.425 
--28 14.4 2.4 
--27.6 14.4 2.425 
--27.2 14.4 2.55 
--26.8 14.4 2.725 
--26.4 14.4 2.75 
--26 14.4 2.7 
--25.6 14.4 2.725 
--25.2 14.4 2.725 
--24.8 14.4 2.825 
--24.4 14.4 2.825 
--24 14.4 2.75 
--23.6 14.4 2.8 
--23.2 14.4 2.875 
--22.8 14.4 2.925 
--22.4 14.4 2.975 
--22 14.4 2.9 
--21.6 14.4 6.175 
--21.2 14.4 16.675 
--20.8 14.4 17.425 
--20.4 14.4 18.15 
--20 14.4 18.625 
--19.6 14.4 18.825 
--19.2 14.4 18.95 
--18.8 14.4 19.15 
--18.4 14.4 19.3 
--18 14.4 19.4 
--17.6 14.4 19.45 
--17.2 14.4 19.475 
--16.8 14.4 19.5 
--16.4 14.4 19.525 
--16 14.4 19.475 
--15.6 14.4 19.45 
--15.2 14.4 19.775 
--14.8 14.4 20.975 
--14.4 14.4 20.75 
--14 14.4 19.125 
--13.6 14.4 18.4 
--13.2 14.4 18.625 
--12.8 14.4 19.025 
--12.4 14.4 19.425 
--12 14.4 19.775 
--11.6 14.4 20.05 
--11.2 14.4 20.325 
--10.8 14.4 20.6 
--10.4 14.4 20.775 
--10 14.4 20.9 
--9.6 14.4 20.975 
--9.2 14.4 21.8 
--8.8 14.4 25.25 
--8.4 14.4 25.575 
--8 14.4 25.775 
--7.6 14.4 25.9 
--7.2 14.4 25.8 
--6.8 14.4 25.6 
--6.4 14.4 25.35 
--6 14.4 25.025 
--5.6 14.4 24.625 
--5.2 14.4 24.3 
--4.8 14.4 24.1 
--4.4 14.4 24.025 
--4 14.4 24.675 
--3.6 14.4 25.25 
--3.2 14.4 25.525 
--2.8 14.4 25.5 
--2.4 14.4 25.325 
--2 14.4 25.125 
--1.6 14.4 24.875 
--1.2 14.4 24.45 
--0.799999 14.4 23.95 
--0.399999 14.4 24.425 
-5.96046e-007 14.4 26.125 
-0.400001 14.4 25.25 
-0.800001 14.4 21.575 
-1.2 14.4 21.6 
-1.6 14.4 21.8 
-2 14.4 22.025 
-2.4 14.4 22.225 
-2.8 14.4 22.475 
-3.2 14.4 22.625 
-3.6 14.4 22.7 
-4 14.4 22.775 
-4.4 14.4 22.75 
-4.8 14.4 22.75 
-5.2 14.4 22.775 
-5.6 14.4 22.75 
-6 14.4 22.65 
-6.4 14.4 22.525 
-6.8 14.4 22.45 
-7.2 14.4 22.3 
-7.6 14.4 22.025 
-8 14.4 22.55 
-8.4 14.4 24.15 
-8.8 14.4 24.4 
-9.2 14.4 24.775 
-9.6 14.4 25.15 
-10 14.4 25.45 
-10.4 14.4 25.675 
-10.8 14.4 25.875 
-11.2 14.4 25.95 
-11.6 14.4 25.95 
-12 14.4 25.95 
-12.4 14.4 25.875 
-12.8 14.4 25.675 
-13.2 14.4 25.425 
-13.6 14.4 25.075 
-14 14.4 24.675 
-14.4 14.4 24.35 
-14.8 14.4 24.05 
-15.2 14.4 23.65 
-15.6 14.4 23.15 
-16 14.4 22.625 
-16.4 14.4 22.125 
-16.8 14.4 21.65 
-17.2 14.4 21.075 
-17.6 14.4 20.475 
-18 14.4 19.775 
-18.4 14.4 20.625 
-18.8 14.4 20.625 
-19.2 14.4 20.4 
-19.6 14.4 17.225 
-20 14.4 10.025 
-20.4 14.4 4.7 
-20.8 14.4 4.45 
-21.2 14.4 4.3 
-21.6 14.4 4.325 
-22 14.4 4.375 
-22.4 14.4 4.425 
-22.8 14.4 4.475 
-23.2 14.4 4.5 
-23.6 14.4 4.525 
-24 14.4 4.525 
-24.4 14.4 4.55 
-24.8 14.4 4.425 
-25.2 14.4 4.275 
-25.6 14.4 4 
-26 14.4 3.675 
-26.4 14.4 3.225 
-26.8 14.4 2.675 
-27.2 14.4 1.8 
-27.6 14.4 0.775 
-28 14.4 -0.075 
--30.4 14.8 1.15 
--30 14.8 0.925 
--29.6 14.8 1.525 
--29.2 14.8 2.025 
--28.8 14.8 2.175 
--28.4 14.8 2.125 
--28 14.8 2.225 
--27.6 14.8 2.275 
--27.2 14.8 2.3 
--26.8 14.8 2.325 
--26.4 14.8 2.3 
--26 14.8 2.375 
--25.6 14.8 2.375 
--25.2 14.8 2.35 
--24.8 14.8 2.425 
--24.4 14.8 2.45 
--24 14.8 2.4 
--23.6 14.8 2.45 
--23.2 14.8 2.5 
--22.8 14.8 2.475 
--22.4 14.8 2.55 
--22 14.8 2.6 
--21.6 14.8 3.925 
--21.2 14.8 15.975 
--20.8 14.8 16.65 
--20.4 14.8 17.35 
--20 14.8 17.875 
--19.6 14.8 18.275 
--19.2 14.8 18.475 
--18.8 14.8 18.625 
--18.4 14.8 18.825 
--18 14.8 18.925 
--17.6 14.8 19.025 
--17.2 14.8 19.1 
--16.8 14.8 19.075 
--16.4 14.8 19.05 
--16 14.8 19.125 
--15.6 14.8 19.15 
--15.2 14.8 19.075 
--14.8 14.8 19.45 
--14.4 14.8 19.35 
--14 14.8 18.675 
--13.6 14.8 18.2 
--13.2 14.8 18.525 
--12.8 14.8 18.975 
--12.4 14.8 19.425 
--12 14.8 19.75 
--11.6 14.8 19.95 
--11.2 14.8 20.275 
--10.8 14.8 20.575 
--10.4 14.8 20.775 
--10 14.8 20.9 
--9.6 14.8 21 
--9.2 14.8 21.125 
--8.8 14.8 22.9 
--8.4 14.8 25.325 
--8 14.8 25.45 
--7.6 14.8 25.65 
--7.2 14.8 25.675 
--6.8 14.8 25.475 
--6.4 14.8 25.15 
--6 14.8 24.775 
--5.6 14.8 24.425 
--5.2 14.8 24.025 
--4.8 14.8 23.775 
--4.4 14.8 23.725 
--4 14.8 24.5 
--3.6 14.8 24.85 
--3.2 14.8 25.2 
--2.8 14.8 25.15 
--2.4 14.8 25 
--2 14.8 24.8 
--1.6 14.8 24.475 
--1.2 14.8 24.1 
--0.799999 14.8 23.625 
--0.399999 14.8 26.175 
-5.96046e-007 14.8 26.275 
-0.400001 14.8 24.4 
-0.800001 14.8 21.275 
-1.2 14.8 21.425 
-1.6 14.8 21.675 
-2 14.8 21.975 
-2.4 14.8 22.225 
-2.8 14.8 22.4 
-3.2 14.8 22.525 
-3.6 14.8 22.6 
-4 14.8 22.675 
-4.4 14.8 22.725 
-4.8 14.8 22.725 
-5.2 14.8 22.75 
-5.6 14.8 22.725 
-6 14.8 22.675 
-6.4 14.8 22.6 
-6.8 14.8 22.425 
-7.2 14.8 22.3 
-7.6 14.8 22.125 
-8 14.8 21.825 
-8.4 14.8 21.55 
-8.8 14.8 23 
-9.2 14.8 24.275 
-9.6 14.8 24.475 
-10 14.8 24.775 
-10.4 14.8 25 
-10.8 14.8 25.2 
-11.2 14.8 25.425 
-11.6 14.8 25.55 
-12 14.8 25.6 
-12.4 14.8 25.525 
-12.8 14.8 25.325 
-13.2 14.8 25.175 
-13.6 14.8 24.925 
-14 14.8 24.625 
-14.4 14.8 24.3 
-14.8 14.8 23.95 
-15.2 14.8 23.525 
-15.6 14.8 23.175 
-16 14.8 22.7 
-16.4 14.8 22.225 
-16.8 14.8 21.5 
-17.2 14.8 20.875 
-17.6 14.8 20.3 
-18 14.8 19.975 
-18.4 14.8 21.15 
-18.8 14.8 20.925 
-19.2 14.8 19.8 
-19.6 14.8 17.275 
-20 14.8 10.05 
-20.4 14.8 4.7 
-20.8 14.8 4.225 
-21.2 14.8 4.15 
-21.6 14.8 4.1 
-22 14.8 4.15 
-22.4 14.8 4.2 
-22.8 14.8 4.2 
-23.2 14.8 4.225 
-23.6 14.8 4.225 
-24 14.8 4.275 
-24.4 14.8 4.25 
-24.8 14.8 4.075 
-25.2 14.8 3.95 
-25.6 14.8 3.7 
-26 14.8 3.4 
-26.4 14.8 2.9 
-26.8 14.8 2.325 
-27.2 14.8 1.475 
-27.6 14.8 0.45 
-28 14.8 -0.6 
--30.4 15.2 0.15 
--30 15.2 0.825 
--29.6 15.2 1.35 
--29.2 15.2 1.725 
--28.8 15.2 2 
--28.4 15.2 2.125 
--28 15.2 2.125 
--27.6 15.2 2.15 
--27.2 15.2 2.25 
--26.8 15.2 2.225 
--26.4 15.2 2.15 
--26 15.2 2.15 
--25.6 15.2 2.175 
--25.2 15.2 2.25 
--24.8 15.2 2.275 
--24.4 15.2 2.25 
--24 15.2 2.275 
--23.6 15.2 2.275 
--23.2 15.2 2.3 
--22.8 15.2 2.3 
--22.4 15.2 2.3 
--22 15.2 2.35 
--21.6 15.2 2.35 
--21.2 15.2 8.775 
--20.8 15.2 15.725 
--20.4 15.2 16.55 
--20 15.2 17.15 
--19.6 15.2 17.5 
--19.2 15.2 17.7 
--18.8 15.2 17.925 
--18.4 15.2 18.075 
--18 15.2 18.2 
--17.6 15.2 18.3 
--17.2 15.2 18.4 
--16.8 15.2 18.55 
--16.4 15.2 18.575 
--16 15.2 18.65 
--15.6 15.2 18.7 
--15.2 15.2 20.025 
--14.8 15.2 20 
--14.4 15.2 19.65 
--14 15.2 18 
--13.6 15.2 18.05 
--13.2 15.2 18.525 
--12.8 15.2 18.95 
--12.4 15.2 19.275 
--12 15.2 19.675 
--11.6 15.2 20.125 
--11.2 15.2 20.4 
--10.8 15.2 20.575 
--10.4 15.2 20.8 
--10 15.2 20.825 
--9.6 15.2 20.925 
--9.2 15.2 21.125 
--8.8 15.2 21.45 
--8.4 15.2 24.9 
--8 15.2 25.1 
--7.6 15.2 25.275 
--7.2 15.2 25.275 
--6.8 15.2 25.15 
--6.4 15.2 24.85 
--6 15.2 24.525 
--5.6 15.2 24.15 
--5.2 15.2 23.75 
--4.8 15.2 23.5 
--4.4 15.2 23.525 
--4 15.2 24.1 
--3.6 15.2 24.675 
--3.2 15.2 24.9 
--2.8 15.2 24.9 
--2.4 15.2 24.725 
--2 15.2 24.475 
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--1.2 15.2 23.775 
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--0.399999 15.2 26.325 
-5.96046e-007 15.2 26.125 
-0.400001 15.2 21.925 
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-2.8 15.2 22.4 
-3.2 15.2 22.525 
-3.6 15.2 22.625 
-4 15.2 22.725 
-4.4 15.2 22.8 
-4.8 15.2 22.725 
-5.2 15.2 22.7 
-5.6 15.2 22.725 
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-6.4 15.2 22.525 
-6.8 15.2 22.375 
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-7.6 15.2 22.025 
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-8.4 15.2 21.475 
-8.8 15.2 21.375 
-9.2 15.2 22.425 
-9.6 15.2 23.75 
-10 15.2 24 
-10.4 15.2 24.35 
-10.8 15.2 24.625 
-11.2 15.2 24.8 
-11.6 15.2 24.975 
-12 15.2 25.025 
-12.4 15.2 25 
-12.8 15.2 24.925 
-13.2 15.2 24.85 
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-14 15.2 24.375 
-14.4 15.2 24.1 
-14.8 15.2 23.8 
-15.2 15.2 23.4 
-15.6 15.2 22.95 
-16 15.2 22.475 
-16.4 15.2 22.05 
-16.8 15.2 21.475 
-17.2 15.2 20.85 
-17.6 15.2 20.25 
-18 15.2 19.85 
-18.4 15.2 20.675 
-18.8 15.2 20.525 
-19.2 15.2 19.55 
-19.6 15.2 17.6 
-20 15.2 10.175 
-20.4 15.2 4.5 
-20.8 15.2 4 
-21.2 15.2 3.9 
-21.6 15.2 3.9 
-22 15.2 3.95 
-22.4 15.2 3.95 
-22.8 15.2 3.95 
-23.2 15.2 4.05 
-23.6 15.2 3.975 
-24 15.2 3.925 
-24.4 15.2 3.875 
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-16.8 19.2 18.725 
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-17.6 19.2 17.95 
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--6 19.6 19.15 
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--4 19.6 19.2 
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--18 20.4 0.2 
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-7.6 21.2 22.3 
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-8.4 21.2 21.925 
-8.8 21.2 21.75 
-9.2 21.2 21.55 
-9.6 21.2 21.2 
-10 21.2 20.9 
-10.4 21.2 20.6 
-10.8 21.2 20.275 
-11.2 21.2 19.925 
-11.6 21.2 19.525 
-12 21.2 19.075 
-12.4 21.2 18.625 
-12.8 21.2 18.1 
-13.2 21.2 17.525 
-13.6 21.2 16.9 
-14 21.2 16.475 
-14.4 21.2 16.05 
-14.8 21.2 15.125 
-15.2 21.2 14.225 
-15.6 21.2 13.5 
-16 21.2 13.525 
-16.4 21.2 15 
-16.8 21.2 14.75 
-17.2 21.2 13.875 
-17.6 21.2 6.875 
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-18.8 21.2 -4.075 
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-19.6 21.2 -4.95 
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--15.6 21.6 16.825 
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--12 21.6 19.9 
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--8 21.6 19.55 
--7.6 21.6 19.1 
--7.2 21.6 18.675 
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--6.4 21.6 18.1 
--6 21.6 17.325 
--5.6 21.6 16.975 
--5.2 21.6 17.05 
--4.8 21.6 17.4 
--4.4 21.6 17.6 
--4 21.6 17.45 
--3.6 21.6 17.65 
--3.2 21.6 18.5 
--2.8 21.6 18.525 
--2.4 21.6 19.75 
--2 21.6 20.55 
--1.6 21.6 19.325 
--1.2 21.6 18.875 
--0.799999 21.6 17.55 
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-5.96046e-007 21.6 19.475 
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-2 21.6 22.425 
-2.4 21.6 22.6 
-2.8 21.6 22.725 
-3.2 21.6 22.8 
-3.6 21.6 22.8 
-4 21.6 22.85 
-4.4 21.6 22.875 
-4.8 21.6 22.925 
-5.2 21.6 22.875 
-5.6 21.6 22.775 
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-6.8 21.6 22.525 
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-7.6 21.6 22.325 
-8 21.6 22.125 
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-8.8 21.6 21.8 
-9.2 21.6 21.525 
-9.6 21.6 21.2 
-10 21.6 21.025 
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-11.2 21.6 20 
-11.6 21.6 19.625 
-12 21.6 19.15 
-12.4 21.6 18.7 
-12.8 21.6 18.2 
-13.2 21.6 17.65 
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-14.4 21.6 15.875 
-14.8 21.6 15.25 
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-16 21.6 13.025 
-16.4 21.6 13.125 
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--27.2 22 -1.825 
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--24 22 -1.675 
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--19.2 22 -2.125 
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--18 22 2.625 
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--17.2 22 13.5 
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--16 22 16.425 
--15.6 22 16.975 
--15.2 22 17.475 
--14.8 22 17.925 
--14.4 22 18.3 
--14 22 18.65 
--13.6 22 18.95 
--13.2 22 19.25 
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--12.4 22 19.7 
--12 22 19.9 
--11.6 22 20.075 
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--10 22 20.3 
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--9.2 22 20.175 
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--8 22 19.375 
--7.6 22 19.025 
--7.2 22 18.6 
--6.8 22 18.65 
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--6 22 18.375 
--5.6 22 16.925 
--5.2 22 16.7 
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--4.4 22 17.125 
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--3.6 22 17.3 
--3.2 22 18.05 
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--1.6 22 18.85 
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-5.96046e-007 22 19.6 
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-19.6 22 -5.4 
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-21.6 22 -5.875 
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-22.8 22 -5.975 
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-23.6 22 -6.125 
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-24.4 22 -6.15 
-24.8 22 -6.2 
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-26.8 22 -6.925 
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--28 22.4 -3.1 
--27.6 22.4 -2.8 
--27.2 22.4 -2.675 
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--20 22.4 -2.975 
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--19.2 22.4 -3.075 
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--18.4 22.4 -1.825 
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--17.6 22.4 12.65 
--17.2 22.4 14.15 
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--16.4 22.4 15.9 
--16 22.4 16.5 
--15.6 22.4 17.025 
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--14.8 22.4 17.925 
--14.4 22.4 18.325 
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--13.6 22.4 19.05 
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--7.6 22.4 18.95 
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--5.6 22.4 17.35 
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--4.8 22.4 16.725 
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--4 22.4 16.975 
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-5.96046e-007 22.4 20.1 
-0.400001 22.4 20.875 
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-2.8 22.4 22.6 
-3.2 22.4 22.725 
-3.6 22.4 22.825 
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-4.4 22.4 22.85 
-4.8 22.4 22.8 
-5.2 22.4 22.8 
-5.6 22.4 22.75 
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-6.8 22.4 22.475 
-7.2 22.4 22.4 
-7.6 22.4 22.275 
-8 22.4 22.15 
-8.4 22.4 21.925 
-8.8 22.4 21.7 
-9.2 22.4 21.525 
-9.6 22.4 21.275 
-10 22.4 21.025 
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-10.8 22.4 20.475 
-11.2 22.4 20.125 
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-12 22.4 19.45 
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-12.8 22.4 18.575 
-13.2 22.4 18.075 
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-14.4 22.4 16.475 
-14.8 22.4 15.9 
-15.2 22.4 15.15 
-15.6 22.4 14.5 
-16 22.4 14.725 
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-18.8 22.4 -5.375 
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-22 22.4 -5.975 
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-22.8 22.4 -6.15 
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-24 22.4 -6.3 
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--27.6 22.8 -3.85 
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--19.2 22.8 -4.05 
--18.8 22.8 -4.05 
--18.4 22.8 -0.375 
--18 22.8 11.975 
--17.6 22.8 13.475 
--17.2 22.8 14.475 
--16.8 22.8 15.375 
--16.4 22.8 16.05 
--16 22.8 16.625 
--15.6 22.8 17.225 
--15.2 22.8 17.7 
--14.8 22.8 18.05 
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--14 22.8 18.775 
--13.6 22.8 19.1 
--13.2 22.8 19.325 
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--12 22.8 19.975 
--11.6 22.8 20.1 
--11.2 22.8 20.225 
--10.8 22.8 20.3 
--10.4 22.8 20.225 
--10 22.8 20.2 
--9.6 22.8 20.15 
--9.2 22.8 20 
--8.8 22.8 19.825 
--8.4 22.8 19.525 
--8 22.8 19.175 
--7.6 22.8 18.825 
--7.2 22.8 19.375 
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--6.4 22.8 19.5 
--6 22.8 17.975 
--5.6 22.8 16.85 
--5.2 22.8 16.375 
--4.8 22.8 16.425 
--4.4 22.8 16.7 
--4 22.8 16.9 
--3.6 22.8 17 
--3.2 22.8 17.175 
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--2.4 22.8 17.55 
--2 22.8 17.55 
--1.6 22.8 17.425 
--1.2 22.8 17.475 
--0.799999 22.8 17.8 
--0.399999 22.8 18.225 
-5.96046e-007 22.8 20.075 
-0.400001 22.8 20.85 
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-1.6 22.8 22.125 
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-2.8 22.8 22.65 
-3.2 22.8 22.725 
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-4 22.8 22.8 
-4.4 22.8 22.825 
-4.8 22.8 22.8 
-5.2 22.8 22.775 
-5.6 22.8 22.725 
-6 22.8 22.65 
-6.4 22.8 22.55 
-6.8 22.8 22.475 
-7.2 22.8 22.375 
-7.6 22.8 22.25 
-8 22.8 22.1 
-8.4 22.8 21.9 
-8.8 22.8 21.7 
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-9.6 22.8 21.3 
-10 22.8 21.075 
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-14 22.8 17.25 
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-14.8 22.8 16.175 
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-16 22.8 14.25 
-16.4 22.8 14.425 
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-20 22.8 -5.9 
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-22.8 22.8 -6.375 
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-24 22.8 -6.45 
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-24.8 22.8 -6.575 
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-26.8 22.8 -7.625 
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--24 23.2 -4.125 
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--22 23.2 -4.625 
--21.6 23.2 -4.625 
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--18.4 23.2 11.3 
--18 23.2 12.625 
--17.6 23.2 14 
--17.2 23.2 14.85 
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--16.4 23.2 16.25 
--16 23.2 16.85 
--15.6 23.2 17.35 
--15.2 23.2 17.725 
--14.8 23.2 18.15 
--14.4 23.2 18.5 
--14 23.2 18.75 
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--12 23.2 19.95 
--11.6 23.2 20.05 
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--10 23.2 20.2 
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--9.2 23.2 20 
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--7.6 23.2 18.975 
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--16.4 25.6 16.9 
--16 25.6 17.35 
--15.6 25.6 17.725 
--15.2 25.6 18 
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--8.4 25.6 20.45 
--8 25.6 17.45 
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--6.8 25.6 17.825 
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--5.6 25.6 18.725 
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--4 25.6 19.8 
--3.6 25.6 20 
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--19.6 26 -6.675 
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--10 26 19.475 
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--8 26.4 17.725 
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--6.4 27.6 20.175 
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--5.6 27.6 21 
--5.2 27.6 21.325 
--4.8 27.6 21.675 
--4.4 27.6 22 
--4 27.6 22.2 
--3.6 27.6 22.325 
--3.2 27.6 22.325 
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--2.4 27.6 22.375 
--2 27.6 22.4 
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--1.2 27.6 22.225 
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-5.96046e-007 27.6 21.6 
-0.400001 27.6 21.45 
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-3.6 27.6 22.125 
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-4.4 27.6 22.325 
-4.8 27.6 22.325 
-5.2 27.6 22.325 
-5.6 27.6 22.25 
-6 27.6 22.225 
-6.4 27.6 22.225 
-6.8 27.6 22.1 
-7.2 27.6 21.925 
-7.6 27.6 21.825 
-8 27.6 21.675 
-8.4 27.6 21.55 
-8.8 27.6 21.475 
-9.2 27.6 21.325 
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-10 27.6 20.85 
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-11.6 27.6 19.875 
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-12.4 27.6 19.325 
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-13.2 27.6 18.875 
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-14.4 27.6 17.825 
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-16.4 27.6 15.175 
-16.8 27.6 14.375 
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-19.2 27.6 -1.3 
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-23.6 27.6 -16.375 
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--25.6 28 -10.5 
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--24 28 -9.275 
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--23.2 28 -8.975 
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--22 28 -8.425 
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--20 28 -7.55 
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--18.8 28 11.975 
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--18 28 14.675 
--17.6 28 15.35 
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--16.8 28 16.475 
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--15.6 28 17.625 
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--14 28 18.625 
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--12 28 19.05 
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--10.8 28 20.45 
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--10 28 17.525 
--9.6 28 17.575 
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--8 28 18.9 
--7.6 28 19.375 
--7.2 28 19.825 
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--6.4 28 20.525 
--6 28 20.9 
--5.6 28 21.275 
--5.2 28 21.675 
--4.8 28 22.05 
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--4 28 22.525 
--3.6 28 22.6 
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-24 28 -17.475 
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--25.2 28.4 -10.575 
--24.8 28.4 -10.05 
--24.4 28.4 -9.65 
--24 28.4 -9.575 
--23.6 28.4 -9.375 
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--22.4 28.4 -8.675 
--22 28.4 -8.5 
--21.6 28.4 -8.3 
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--20 28.4 -7.55 
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--19.2 28.4 11.525 
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--18 28.4 14.675 
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--17.2 28.4 15.775 
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--16 28.4 17.25 
--15.6 28.4 17.575 
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--14 28.4 18.45 
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--13.2 28.4 18.775 
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--12.4 28.4 18.9 
--12 28.4 20.6 
--11.6 28.4 21.15 
--11.2 28.4 21.075 
--10.8 28.4 18.875 
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--10 28.4 17.425 
--9.6 28.4 17.625 
--9.2 28.4 17.925 
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--8.4 28.4 18.8 
--8 28.4 19.2 
--7.6 28.4 19.6 
--7.2 28.4 20.05 
--6.8 28.4 20.425 
--6.4 28.4 20.825 
--6 28.4 21.275 
--5.6 28.4 21.65 
--5.2 28.4 22 
--4.8 28.4 22.325 
--4.4 28.4 22.55 
--4 28.4 22.75 
--3.6 28.4 22.9 
--3.2 28.4 22.95 
--2.8 28.4 22.925 
--2.4 28.4 22.925 
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-5.96046e-007 28.4 22.175 
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-4.4 28.4 22.175 
-4.8 28.4 22.225 
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-6.8 28.4 21.925 
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-8.4 28.4 21.45 
-8.8 28.4 21.325 
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--24 28.8 -9.7 
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--22 28.8 -8.625 
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--20 28.8 -7.9 
--19.6 28.8 -7.675 
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--18 28.8 14.525 
--17.6 28.8 15.1 
--17.2 28.8 15.775 
--16.8 28.8 16.325 
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--16 28.8 17.125 
--15.6 28.8 17.45 
--15.2 28.8 17.675 
--14.8 28.8 17.925 
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--14 28.8 18.275 
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--12 28.8 20.65 
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--10 28.8 17.425 
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--9.2 28.8 18.175 
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--8.4 28.8 19 
--8 28.8 19.4 
--7.6 28.8 19.825 
--7.2 28.8 20.25 
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--6.4 28.8 21.05 
--6 28.8 21.475 
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--4.4 28.8 22.775 
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--2.4 28.8 23.225 
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-5.96046e-007 28.8 22.375 
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-4.4 28.8 22.025 
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-6.8 28.8 21.825 
-7.2 28.8 21.775 
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-8 28.8 21.475 
-8.4 28.8 21.325 
-8.8 28.8 21.275 
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-10 28.8 20.725 
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-12 28.8 19.575 
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-14.8 28.8 17.275 
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-16 28.8 15.4 
-16.4 28.8 14.575 
-16.8 28.8 13.25 
-18.8 28.8 -1.85 
-19.2 28.8 -4.4 
-19.6 28.8 -11.8 
-20 28.8 -13.125 
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-22 28.8 -15.85 
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-22.8 28.8 -16.275 
-23.2 28.8 -16.6 
-23.6 28.8 -17.425 
--25.2 29.2 -10.85 
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--24 29.2 -10.1 
--23.6 29.2 -9.8 
--23.2 29.2 -9.575 
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--18 29.2 14.45 
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--11.6 29.2 17.225 
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--5.6 29.2 22.075 
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-9.6 29.2 20.9 
-10 29.2 20.675 
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-11.6 29.6 19.8 
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-13.2 29.6 18.675 
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-15.6 29.6 15.775 
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--10 30 17.95 
--9.6 30 18.425 
--9.2 30 18.775 
--8.8 30 19.175 
--8.4 30 19.55 
--8 30 19.9 
--7.6 30 20.325 
--7.2 30 20.75 
--6.8 30 21.2 
--6.4 30 21.6 
--6 30 21.975 
--5.6 30 22.275 
--5.2 30 22.55 
--4.8 30 22.85 
--4.4 30 23.075 
--4 30 23.325 
--3.6 30 23.475 
--3.2 30 23.55 
--2.8 30 23.675 
--2.4 30 23.675 
--2 30 23.65 
--1.6 30 23.575 
--1.2 30 23.425 
--0.799999 30 23.225 
--0.399999 30 23 
-5.96046e-007 30 22.725 
-0.400001 30 22.45 
-0.800001 30 22.225 
-1.2 30 21.925 
-1.6 30 21.55 
-2 30 21.175 
-2.4 30 20.775 
-2.8 30 20.475 
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-4 30 20 
-4.4 30 20.975 
-4.8 30 21.35 
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-5.6 30 21.725 
-6 30 21.75 
-6.4 30 21.7 
-6.8 30 21.675 
-7.2 30 21.575 
-7.6 30 21.45 
-8 30 21.4 
-8.4 30 21.275 
-8.8 30 21.075 
-9.2 30 20.925 
-9.6 30 20.775 
-10 30 20.65 
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-12.4 30 19.2 
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-14 30 17.825 
-14.4 30 17.3 
-14.8 30 16.7 
-15.2 30 15.925 
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-16 30 14.575 
-16.4 30 13.55 
-16.8 30 12.35 
-18.8 30 -3.975 
-19.2 30 -6.525 
-19.6 30 -13.5 
-20 30 -14.3 
-20.4 30 -14.95 
-20.8 30 -15.45 
-21.2 30 -15.75 
-21.6 30 -16 
-22 30 -16.25 
-22.4 30 -16.7 
-22.8 30 -17.075 
--24.8 30.4 -11.15 
--24.4 30.4 -11 
--24 30.4 -10.85 
--23.6 30.4 -10.675 
--23.2 30.4 -10.475 
--22.8 30.4 -10.25 
--22.4 30.4 -10 
--22 30.4 -9.65 
--21.6 30.4 -9.35 
--21.2 30.4 -9.15 
--20.8 30.4 -8.95 
--20.4 30.4 -8.8 
--20 30.4 -8.6 
--19.6 30.4 -8.4 
--19.2 30.4 10.525 
--18.8 30.4 11.025 
--18.4 30.4 13.075 
--18 30.4 13.9 
--17.6 30.4 14.5 
--17.2 30.4 15.175 
--16.8 30.4 15.75 
--16.4 30.4 16.175 
--16 30.4 16.525 
--15.6 30.4 16.75 
--15.2 30.4 16.875 
--14.8 30.4 17.05 
--14.4 30.4 18.075 
--14 30.4 18.35 
--13.6 30.4 18.15 
--13.2 30.4 16.4 
--12.8 30.4 16.225 
--12.4 30.4 16.3 
--12 30.4 16.45 
--11.6 30.4 16.7 
--11.2 30.4 17.05 
--10.8 30.4 17.4 
--10.4 30.4 17.8 
--10 30.4 18.125 
--9.6 30.4 18.525 
--9.2 30.4 18.9 
--8.8 30.4 19.25 
--8.4 30.4 19.65 
--8 30.4 20.075 
--7.6 30.4 20.45 
--7.2 30.4 20.85 
--6.8 30.4 21.25 
--6.4 30.4 21.6 
--6 30.4 22 
--5.6 30.4 22.3 
--5.2 30.4 22.575 
--4.8 30.4 22.875 
--4.4 30.4 23.075 
--4 30.4 23.35 
--3.6 30.4 23.55 
--3.2 30.4 23.65 
--2.8 30.4 23.75 
--2.4 30.4 23.75 
--2 30.4 23.675 
--1.6 30.4 23.625 
--1.2 30.4 23.525 
--0.799999 30.4 23.3 
--0.399999 30.4 23.075 
-5.96046e-007 30.4 22.85 
-0.400001 30.4 22.55 
-0.800001 30.4 22.25 
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-2 30.4 21.225 
-2.4 30.4 20.85 
-2.8 30.4 20.45 
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-4 30.4 19.525 
-4.4 30.4 19.475 
-4.8 30.4 21.25 
-5.2 30.4 21.45 
-5.6 30.4 21.6 
-6 30.4 21.625 
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-6.8 30.4 21.5 
-7.2 30.4 21.5 
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-8 30.4 21.3 
-8.4 30.4 21.175 
-8.8 30.4 21 
-9.2 30.4 20.825 
-9.6 30.4 20.7 
-10 30.4 20.5 
-10.4 30.4 20.3 
-10.8 30.4 20.1 
-11.2 30.4 19.925 
-11.6 30.4 19.725 
-12 30.4 19.4 
-12.4 30.4 19.15 
-12.8 30.4 18.775 
-13.2 30.4 18.375 
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-14 30.4 17.55 
-14.4 30.4 16.975 
-14.8 30.4 16.375 
-15.2 30.4 15.675 
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-16 30.4 13.925 
-16.4 30.4 12.925 
-16.8 30.4 12 
-18.8 30.4 -4.075 
-19.2 30.4 -8.675 
-19.6 30.4 -13.2 
-20 30.4 -14.475 
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-21.6 30.4 -16.225 
-22 30.4 -16.5 
-22.4 30.4 -16.95 
-22.8 30.4 -17.5 
--24.4 30.8 -11.175 
--24 30.8 -11.325 
--23.6 30.8 -11.2 
--23.2 30.8 -11 
--22.8 30.8 -10.65 
--22.4 30.8 -10.325 
--22 30.8 -10.125 
--21.6 30.8 -9.925 
--21.2 30.8 -9.725 
--20.8 30.8 -9.6 
--20.4 30.8 -9.575 
--20 30.8 -9.35 
--19.6 30.8 -2.15 
--19.2 30.8 10.125 
--18.8 30.8 10.9 
--18.4 30.8 13.125 
--18 30.8 13.7 
--17.6 30.8 14.275 
--17.2 30.8 14.975 
--16.8 30.8 15.525 
--16.4 30.8 15.95 
--16 30.8 16.275 
--15.6 30.8 16.425 
--15.2 30.8 16.475 
--14.8 30.8 17.45 
--14.4 30.8 18.575 
--14 30.8 17.8 
--13.6 30.8 16.025 
--13.2 30.8 15.9 
--12.8 30.8 15.975 
--12.4 30.8 16.3 
--12 30.8 16.575 
--11.6 30.8 16.9 
--11.2 30.8 17.25 
--10.8 30.8 17.625 
--10.4 30.8 18.025 
--10 30.8 18.325 
--9.6 30.8 18.6 
--9.2 30.8 19 
--8.8 30.8 19.375 
--8.4 30.8 19.75 
--8 30.8 20.125 
--7.6 30.8 20.525 
--7.2 30.8 20.825 
--6.8 30.8 21.225 
--6.4 30.8 21.625 
--6 30.8 21.975 
--5.6 30.8 22.3 
--5.2 30.8 22.7 
--4.8 30.8 22.925 
--4.4 30.8 23.15 
--4 30.8 23.425 
--3.6 30.8 23.6 
--3.2 30.8 23.7 
--2.8 30.8 23.775 
--2.4 30.8 23.725 
--2 30.8 23.725 
--1.6 30.8 23.7 
--1.2 30.8 23.6 
--0.799999 30.8 23.4 
--0.399999 30.8 23.125 
-5.96046e-007 30.8 22.95 
-0.400001 30.8 22.725 
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-1.6 30.8 21.675 
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-2.4 30.8 20.9 
-2.8 30.8 20.45 
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-3.6 30.8 19.925 
-4 30.8 19.6 
-4.4 30.8 19.4 
-4.8 30.8 20.65 
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-5.6 30.8 21.275 
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-6.8 30.8 21.375 
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-7.6 30.8 21.275 
-8 30.8 21.225 
-8.4 30.8 21.125 
-8.8 30.8 20.95 
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-9.6 30.8 20.625 
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-11.2 30.8 19.775 
-11.6 30.8 19.525 
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-12.8 30.8 18.65 
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-14.4 30.8 16.75 
-14.8 30.8 16.175 
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-16.4 30.8 12.25 
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--24.4 31.2 -11.625 
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--23.6 31.2 -11.675 
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--20 31.2 -10.4 
--19.6 31.2 -3.05 
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--18 31.2 13.475 
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--17.2 31.2 14.725 
--16.8 31.2 15.225 
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--16 31.2 15.875 
--15.6 31.2 16.025 
--15.2 31.2 16.575 
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--14 31.2 15.55 
--13.6 31.2 15.4 
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--12 31.2 16.675 
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--10 31.2 18.35 
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--9.2 31.2 19.075 
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--8.4 31.2 19.825 
--8 31.2 20.275 
--7.6 31.2 20.625 
--7.2 31.2 20.9 
--6.8 31.2 21.275 
--6.4 31.2 21.625 
--6 31.2 21.925 
--5.6 31.2 22.3 
--5.2 31.2 22.7 
--4.8 31.2 22.925 
--4.4 31.2 23.125 
--4 31.2 23.375 
--3.6 31.2 23.55 
--3.2 31.2 23.725 
--2.8 31.2 23.75 
--2.4 31.2 23.725 
--2 31.2 23.675 
--1.6 31.2 23.65 
--1.2 31.2 23.575 
--0.799999 31.2 23.35 
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-5.96046e-007 31.2 22.975 
-0.400001 31.2 22.725 
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-2.8 31.2 20.475 
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-4.8 31.2 18.875 
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-8 31.2 21.05 
-8.4 31.2 21 
-8.8 31.2 20.9 
-9.2 31.2 20.725 
-9.6 31.2 20.5 
-10 31.2 20.275 
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-10.8 31.2 19.875 
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-12.4 31.2 18.8 
-12.8 31.2 18.425 
-13.2 31.2 18.05 
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-14 31.2 17.1 
-14.4 31.2 16.525 
-14.8 31.2 15.85 
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-19.6 31.2 -14.025 
-20 31.2 -15.025 
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-21.2 31.2 -16.575 
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--22 31.6 -11.55 
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--20 31.6 -11.4 
--19.6 31.6 -3.8 
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--18.4 31.6 12.575 
--18 31.6 13.15 
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--12.4 31.6 16.575 
--12 31.6 16.925 
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--10 31.6 18.6 
--9.6 31.6 18.9 
--9.2 31.6 19.225 
--8.8 31.6 19.575 
--8.4 31.6 19.875 
--8 31.6 20.25 
--7.6 31.6 20.55 
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--6.8 31.6 21.25 
--6.4 31.6 21.575 
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--5.6 31.6 22.175 
--5.2 31.6 22.5 
--4.8 31.6 22.875 
--4.4 31.6 23.15 
--4 31.6 23.375 
--3.6 31.6 23.425 
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--2.8 31.6 23.625 
--2.4 31.6 23.675 
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-5.6 31.6 20.675 
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--16 32 15.625 
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--13.6 32 15.35 
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--12.8 32 16.275 
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--12 32 17.1 
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--10 32 18.7 
--9.6 32 18.95 
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--8 32 20.175 
--7.6 32 20.475 
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--6.4 32 21.5 
--6 32 21.8 
--5.6 32 22.125 
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--4.8 32 22.7 
--4.4 32 22.975 
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-5.96046e-007 32 22.775 
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-8.4 32 20.575 
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--20 32.4 -13.9 
--19.6 32.4 -5.75 
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--18 32.4 12.65 
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--16 32.4 16.675 
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--15.2 32.4 14.875 
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--14 32.4 14.925 
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--13.2 32.4 16.1 
--12.8 32.4 16.575 
--12.4 32.4 16.95 
--12 32.4 17.3 
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--10 32.4 18.75 
--9.6 32.4 19.05 
--9.2 32.4 19.35 
--8.8 32.4 19.575 
--8.4 32.4 19.825 
--8 32.4 20.175 
--7.6 32.4 20.45 
--7.2 32.4 20.75 
--6.8 32.4 21.1 
--6.4 32.4 21.425 
--6 32.4 21.675 
--5.6 32.4 22 
--5.2 32.4 22.275 
--4.8 32.4 22.525 
--4.4 32.4 22.775 
--4 32.4 22.975 
--3.6 32.4 23.25 
--3.2 32.4 23.35 
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--0.399999 32.4 22.9 
-5.96046e-007 32.4 22.675 
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-2.4 32.4 20.775 
-2.8 32.4 20.425 
-3.2 32.4 20.05 
-3.6 32.4 19.6 
-4 32.4 19.25 
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-6 32.4 18.675 
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-8.4 32.4 20.375 
-8.8 32.4 20.25 
-9.2 32.4 20.1 
-9.6 32.4 19.925 
-10 32.4 19.8 
-10.4 32.4 19.6 
-10.8 32.4 19.375 
-11.2 32.4 19.1 
-11.6 32.4 18.8 
-12 32.4 18.45 
-12.4 32.4 18.1 
-12.8 32.4 17.625 
-13.2 32.4 17.075 
-13.6 32.4 16.55 
-14 32.4 15.975 
-14.4 32.4 15.425 
-14.8 32.4 14.675 
-15.2 32.4 13.65 
-15.6 32.4 12.2 
-16 32.4 10.075 
-16.4 32.4 9.65 
-18.8 32.4 -10.25 
-19.2 32.4 -14.125 
-19.6 32.4 -15.525 
-20 32.4 -16.425 
-20.4 32.4 -17.375 
-20.8 32.4 -18 
-21.2 32.4 -18.6 
--22 32.8 -15.625 
--21.6 32.8 -15.7 
--21.2 32.8 -15.625 
--20.8 32.8 -15.375 
--20.4 32.8 -15.15 
--20 32.8 -14.975 
--19.6 32.8 -4.225 
--19.2 32.8 8.025 
--18.8 32.8 11.075 
--18.4 32.8 11.85 
--18 32.8 12.55 
--17.6 32.8 13.15 
--17.2 32.8 13.675 
--16.8 32.8 14.025 
--16.4 32.8 14.975 
--16 32.8 15.725 
--15.6 32.8 14.95 
--15.2 32.8 13.475 
--14.8 32.8 13.9 
--14.4 32.8 14.525 
--14 32.8 15.1 
--13.6 32.8 15.85 
--13.2 32.8 16.3 
--12.8 32.8 16.7 
--12.4 32.8 17.075 
--12 32.8 17.4 
--11.6 32.8 17.75 
--11.2 32.8 18.1 
--10.8 32.8 18.35 
--10.4 32.8 18.6 
--10 32.8 18.8 
--9.6 32.8 19.05 
--9.2 32.8 19.375 
--8.8 32.8 19.6 
--8.4 32.8 19.825 
--8 32.8 20.1 
--7.6 32.8 20.4 
--7.2 32.8 20.725 
--6.8 32.8 21.025 
--6.4 32.8 21.35 
--6 32.8 21.65 
--5.6 32.8 21.9 
--5.2 32.8 22.125 
--4.8 32.8 22.375 
--4.4 32.8 22.625 
--4 32.8 22.775 
--3.6 32.8 22.9 
--3.2 32.8 23.1 
--2.8 32.8 23.225 
--2.4 32.8 23.225 
--2 32.8 23.15 
--1.6 32.8 23.125 
--1.2 32.8 23 
--0.799999 32.8 22.85 
--0.399999 32.8 22.7 
-5.96046e-007 32.8 22.475 
-0.400001 32.8 22.275 
-0.800001 32.8 22.025 
-1.2 32.8 21.725 
-1.6 32.8 21.425 
-2 32.8 21.1 
-2.4 32.8 20.775 
-2.8 32.8 20.425 
-3.2 32.8 20.075 
-3.6 32.8 19.6 
-4 32.8 19.2 
-4.4 32.8 18.85 
-4.8 32.8 18.55 
-5.2 32.8 18.35 
-5.6 32.8 18.175 
-6 32.8 18.025 
-6.4 32.8 18.975 
-6.8 32.8 20.025 
-7.2 32.8 20.225 
-7.6 32.8 20.275 
-8 32.8 20.225 
-8.4 32.8 20.175 
-8.8 32.8 20.1 
-9.2 32.8 19.95 
-9.6 32.8 19.725 
-10 32.8 19.55 
-10.4 32.8 19.35 
-10.8 32.8 19.2 
-11.2 32.8 18.95 
-11.6 32.8 18.575 
-12 32.8 18.05 
-12.4 32.8 17.425 
-12.8 32.8 16.825 
-13.2 32.8 16.55 
-13.6 32.8 16.15 
-14 32.8 15.625 
-14.4 32.8 14.975 
-14.8 32.8 14.3 
-15.2 32.8 13.35 
-15.6 32.8 11.55 
-16 32.8 9.575 
-16.4 32.8 8.85 
-18.8 32.8 -12.45 
-19.2 32.8 -15.275 
-19.6 32.8 -15.75 
-20 32.8 -17.3 
-20.4 32.8 -18.275 
-20.8 32.8 -18.6 
--21.2 33.2 -16.575 
--20.8 33.2 -16.65 
--20.4 33.2 -16.6 
--20 33.2 -14.175 
--19.6 33.2 4.875 
--19.2 33.2 7.875 
--18.8 33.2 10.95 
--18.4 33.2 11.75 
--18 33.2 12.225 
--17.6 33.2 12.775 
--17.2 33.2 13.325 
--16.8 33.2 13.875 
--16.4 33.2 15.975 
--16 33.2 15.7 
--15.6 33.2 13.625 
--15.2 33.2 13.275 
--14.8 33.2 13.9 
--14.4 33.2 14.525 
--14 33.2 15.425 
--13.6 33.2 15.975 
--13.2 33.2 16.4 
--12.8 33.2 16.85 
--12.4 33.2 17.275 
--12 33.2 17.55 
--11.6 33.2 17.875 
--11.2 33.2 18.175 
--10.8 33.2 18.425 
--10.4 33.2 18.7 
--10 33.2 18.875 
--9.6 33.2 19.125 
--9.2 33.2 19.4 
--8.8 33.2 19.625 
--8.4 33.2 19.825 
--8 33.2 20 
--7.6 33.2 20.175 
--7.2 33.2 20.525 
--6.8 33.2 21 
--6.4 33.2 21.3 
--6 33.2 21.575 
--5.6 33.2 21.85 
--5.2 33.2 22.075 
--4.8 33.2 22.275 
--4.4 33.2 22.375 
--4 33.2 22.575 
--3.6 33.2 22.775 
--3.2 33.2 22.85 
--2.8 33.2 23 
--2.4 33.2 23.075 
--2 33.2 22.975 
--1.6 33.2 22.85 
--1.2 33.2 22.75 
--0.799999 33.2 22.65 
--0.399999 33.2 22.425 
-5.96046e-007 33.2 22.2 
-0.400001 33.2 22.025 
-0.800001 33.2 21.875 
-1.2 33.2 21.65 
-1.6 33.2 21.375 
-2 33.2 21 
-2.4 33.2 20.6 
-2.8 33.2 20.325 
-3.2 33.2 20.05 
-3.6 33.2 19.675 
-4 33.2 19.275 
-4.4 33.2 18.9 
-4.8 33.2 18.525 
-5.2 33.2 18.2 
-5.6 33.2 17.95 
-6 33.2 17.8 
-6.4 33.2 17.75 
-6.8 33.2 19.475 
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-7.6 33.2 19.925 
-8 33.2 19.925 
-8.4 33.2 19.875 
-8.8 33.2 19.775 
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-9.6 33.2 19.4 
-10 33.2 19.3 
-10.4 33.2 19.1 
-10.8 33.2 18.85 
-11.2 33.2 18.575 
-11.6 33.2 18.25 
-12 33.2 17.725 
-12.4 33.2 17.1 
-12.8 33.2 16.225 
-13.2 33.2 15.95 
-13.6 33.2 15.65 
-14 33.2 15.15 
-14.4 33.2 14.575 
-14.8 33.2 13.85 
-15.2 33.2 12.675 
-15.6 33.2 11.325 
-16 33.2 10.05 
-16.4 33.2 8.35 
-19.2 33.2 -14.5 
-19.6 33.2 -14.65 
--20.4 33.6 -17.15 
--20 33.6 -15.05 
--19.6 33.6 5.2 
--19.2 33.6 7.25 
--18.8 33.6 10.825 
--18.4 33.6 11.4 
--18 33.6 12.05 
--17.6 33.6 12.525 
--17.2 33.6 12.975 
--16.8 33.6 15.875 
--16.4 33.6 15.725 
--16 33.6 12.9 
--15.6 33.6 12.725 
--15.2 33.6 13.175 
--14.8 33.6 14.025 
--14.4 33.6 14.975 
--14 33.6 15.55 
--13.6 33.6 16.075 
--13.2 33.6 16.6 
--12.8 33.6 17.05 
--12.4 33.6 17.375 
--12 33.6 17.65 
--11.6 33.6 17.925 
--11.2 33.6 18.2 
--10.8 33.6 18.475 
--10.4 33.6 18.7 
--10 33.6 18.925 
--9.6 33.6 19.075 
--9.2 33.6 19.35 
--8.8 33.6 19.65 
--8.4 33.6 19.875 
--8 33.6 20.05 
--7.6 33.6 20.1 
--7.2 33.6 20.35 
--6.8 33.6 20.925 
--6.4 33.6 21.4 
--6 33.6 21.725 
--5.6 33.6 21.975 
--5.2 33.6 22.175 
--4.8 33.6 22.35 
--4.4 33.6 22.5 
--4 33.6 22.625 
--3.6 33.6 22.65 
--3.2 33.6 22.65 
--2.8 33.6 22.675 
--2.4 33.6 22.725 
--2 33.6 22.7 
--1.6 33.6 22.65 
--1.2 33.6 22.525 
--0.799999 33.6 22.425 
--0.399999 33.6 22.25 
-5.96046e-007 33.6 22.05 
-0.400001 33.6 21.875 
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-2.8 33.6 20.3 
-3.2 33.6 19.925 
-3.6 33.6 19.55 
-4 33.6 19.05 
-4.4 33.6 18.675 
-4.8 33.6 18.375 
-5.2 33.6 18.05 
-5.6 33.6 17.75 
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-6.4 33.6 17.3 
-6.8 33.6 17.425 
-7.2 33.6 19.05 
-7.6 33.6 19.325 
-8 33.6 19.55 
-8.4 33.6 19.525 
-8.8 33.6 19.45 
-9.2 33.6 19.375 
-9.6 33.6 19.225 
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-10.4 33.6 18.825 
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-11.2 33.6 18.2 
-11.6 33.6 17.825 
-12 33.6 17.45 
-12.4 33.6 16.875 
-12.8 33.6 15.6 
-13.2 33.6 15.35 
-13.6 33.6 15.125 
-14 33.6 14.65 
-14.4 33.6 14.1 
-14.8 33.6 13.2 
-15.2 33.6 12.075 
-15.6 33.6 10.8 
-16 33.6 8.9 
-16.4 33.6 7.5 
--19.6 34 6.425 
--19.2 34 7 
--18.8 34 10.45 
--18.4 34 11.125 
--18 34 11.775 
--17.6 34 12.25 
--17.2 34 13.425 
--16.8 34 14.85 
--16.4 34 14.275 
--16 34 12.325 
--15.6 34 12.6 
--15.2 34 13.35 
--14.8 34 14.3 
--14.4 34 15.025 
--14 34 15.575 
--13.6 34 16.15 
--13.2 34 16.675 
--12.8 34 17.15 
--12.4 34 17.5 
--12 34 17.825 
--11.6 34 18.1 
--11.2 34 18.35 
--10.8 34 18.525 
--10.4 34 18.7 
--10 34 18.9 
--9.6 34 19.05 
--9.2 34 19.275 
--8.8 34 19.55 
--8.4 34 19.9 
--8 34 20.2 
--7.6 34 20.25 
--7.2 34 20.225 
--6.8 34 20.5 
--6.4 34 21.35 
--6 34 21.8 
--5.6 34 22.15 
--5.2 34 22.375 
--4.8 34 22.5 
--4.4 34 22.575 
--4 34 22.575 
--3.6 34 22.55 
--3.2 34 22.425 
--2.8 34 22.325 
--2.4 34 22.375 
--2 34 22.425 
--1.6 34 22.4 
--1.2 34 22.275 
--0.799999 34 22.175 
--0.399999 34 21.975 
-5.96046e-007 34 21.775 
-0.400001 34 21.65 
-0.800001 34 21.45 
-1.2 34 21.2 
-1.6 34 20.975 
-2 34 20.725 
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-2.8 34 20.125 
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-3.6 34 19.425 
-4 34 18.975 
-4.4 34 18.6 
-4.8 34 18.225 
-5.2 34 17.85 
-5.6 34 17.475 
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-6.8 34 16.75 
-7.2 34 17.375 
-7.6 34 18.825 
-8 34 19.05 
-8.4 34 19.175 
-8.8 34 19.15 
-9.2 34 19.025 
-9.6 34 18.875 
-10 34 18.725 
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-11.6 34 17.5 
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-12.8 34 15.275 
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-14 34 14.1 
-14.4 34 13.525 
-14.8 34 12.675 
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-15.6 34 10.05 
-16 34 8.85 
--19.2 34.4 6.8 
--18.8 34.4 10.175 
--18.4 34.4 10.725 
--18 34.4 11.575 
--17.6 34.4 12.025 
--17.2 34.4 12.9 
--16.8 34.4 13.625 
--16.4 34.4 12.8 
--16 34.4 11.95 
--15.6 34.4 12.525 
--15.2 34.4 13.35 
--14.8 34.4 14.275 
--14.4 34.4 15.2 
--14 34.4 15.75 
--13.6 34.4 16.225 
--13.2 34.4 16.675 
--12.8 34.4 17.1 
--12.4 34.4 17.525 
--12 34.4 17.9 
--11.6 34.4 18.15 
--11.2 34.4 18.375 
--10.8 34.4 18.525 
--10.4 34.4 18.7 
--10 34.4 18.825 
--9.6 34.4 18.975 
--9.2 34.4 19.3 
--8.8 34.4 19.65 
--8.4 34.4 20.025 
--8 34.4 20.25 
--7.6 34.4 20.375 
--7.2 34.4 20.475 
--6.8 34.4 20.5 
--6.4 34.4 20.65 
--6 34.4 21.425 
--5.6 34.4 22 
--5.2 34.4 22.325 
--4.8 34.4 22.55 
--4.4 34.4 22.5 
--4 34.4 22.25 
--3.6 34.4 22.225 
--3.2 34.4 22.375 
--2.8 34.4 22.3 
--2.4 34.4 22.125 
--2 34.4 22.05 
--1.6 34.4 22 
--1.2 34.4 21.875 
--0.799999 34.4 21.775 
--0.399999 34.4 21.675 
-5.96046e-007 34.4 21.525 
-0.400001 34.4 21.325 
-0.800001 34.4 21.15 
-1.2 34.4 21 
-1.6 34.4 20.775 
-2 34.4 20.5 
-2.4 34.4 20.275 
-2.8 34.4 19.975 
-3.2 34.4 19.7 
-3.6 34.4 19.35 
-4 34.4 18.925 
-4.4 34.4 18.5 
-4.8 34.4 18.025 
-5.2 34.4 17.65 
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-6 34.4 16.925 
-6.4 34.4 16.7 
-6.8 34.4 16.425 
-7.2 34.4 16.2 
-7.6 34.4 16.775 
-8 34.4 18.475 
-8.4 34.4 18.625 
-8.8 34.4 18.65 
-9.2 34.4 18.675 
-9.6 34.4 18.525 
-10 34.4 18.325 
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-10.8 34.4 17.825 
-11.2 34.4 17.45 
-11.6 34.4 16.975 
-12 34.4 16.55 
-12.4 34.4 16.325 
-12.8 34.4 14.6 
-13.2 34.4 13.875 
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-14 34.4 13.375 
-14.4 34.4 12.85 
-14.8 34.4 12.025 
-15.2 34.4 10.9 
-15.6 34.4 9.175 
-16 34.4 7.225 
--19.6 34.8 6.55 
--19.2 34.8 6.8 
--18.8 34.8 10.025 
--18.4 34.8 10.5 
--18 34.8 11.125 
--17.6 34.8 11.7 
--17.2 34.8 13.225 
--16.8 34.8 13.25 
--16.4 34.8 12.05 
--16 34.8 11.725 
--15.6 34.8 12.675 
--15.2 34.8 13.45 
--14.8 34.8 14.3 
--14.4 34.8 15.075 
--14 34.8 15.775 
--13.6 34.8 16.375 
--13.2 34.8 16.8 
--12.8 34.8 17.125 
--12.4 34.8 17.5 
--12 34.8 17.825 
--11.6 34.8 18.1 
--11.2 34.8 18.35 
--10.8 34.8 18.525 
--10.4 34.8 18.675 
--10 34.8 18.825 
--9.6 34.8 19 
--9.2 34.8 19.225 
--8.8 34.8 19.55 
--8.4 34.8 20.025 
--8 34.8 20.4 
--7.6 34.8 20.65 
--7.2 34.8 20.775 
--6.8 34.8 20.825 
--6.4 34.8 20.8 
--6 34.8 20.875 
--5.6 34.8 21.05 
--5.2 34.8 21.55 
--4.8 34.8 21.975 
--4.4 34.8 21.975 
--4 34.8 21.875 
--3.6 34.8 21.875 
--3.2 34.8 22.075 
--2.8 34.8 22.25 
--2.4 34.8 22.125 
--2 34.8 21.925 
--1.6 34.8 21.675 
--1.2 34.8 21.45 
--0.799999 34.8 21.35 
--0.399999 34.8 21.35 
-5.96046e-007 34.8 21.275 
-0.400001 34.8 21.15 
-0.800001 34.8 21 
-1.2 34.8 20.8 
-1.6 34.8 20.6 
-2 34.8 20.4 
-2.4 34.8 20.125 
-2.8 34.8 19.825 
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-3.6 34.8 19.175 
-4 34.8 18.775 
-4.4 34.8 18.375 
-4.8 34.8 18 
-5.2 34.8 17.6 
-5.6 34.8 17.2 
-6 34.8 16.85 
-6.4 34.8 16.475 
-6.8 34.8 16.125 
-7.2 34.8 15.8 
-7.6 34.8 15.775 
-8 34.8 17.325 
-8.4 34.8 18.025 
-8.8 34.8 18.125 
-9.2 34.8 18.175 
-9.6 34.8 18.2 
-10 34.8 17.95 
-10.4 34.8 17.675 
-10.8 34.8 17.375 
-11.2 34.8 17 
-11.6 34.8 16.6 
-12 34.8 16.175 
-12.4 34.8 15.875 
-12.8 34.8 14.8 
-13.2 34.8 13.1 
-13.6 34.8 12.925 
-14 34.8 12.675 
-14.4 34.8 12.2 
-14.8 34.8 11.35 
-15.2 34.8 10.05 
-15.6 34.8 9.4 
--19.6 35.2 6.025 
--19.2 35.2 6.3 
--18.8 35.2 9.65 
--18.4 35.2 10.35 
--18 35.2 10.75 
--17.6 35.2 11.2 
--17.2 35.2 12.225 
--16.8 35.2 12.125 
--16.4 35.2 11.125 
--16 35.2 11.575 
--15.6 35.2 12.45 
--15.2 35.2 13.45 
--14.8 35.2 14.3 
--14.4 35.2 15.075 
--14 35.2 15.625 
--13.6 35.2 16.325 
--13.2 35.2 16.675 
--12.8 35.2 17.075 
--12.4 35.2 17.525 
--12 35.2 17.925 
--11.6 35.2 18.1 
--11.2 35.2 18.25 
--10.8 35.2 18.45 
--10.4 35.2 18.625 
--10 35.2 18.825 
--9.6 35.2 19.025 
--9.2 35.2 19.275 
--8.8 35.2 19.625 
--8.4 35.2 20.125 
--8 35.2 20.55 
--7.6 35.2 20.85 
--7.2 35.2 20.975 
--6.8 35.2 21.025 
--6.4 35.2 21.075 
--6 35.2 21.075 
--5.6 35.2 21.075 
--5.2 35.2 21.175 
--4.8 35.2 21.425 
--4.4 35.2 21.6 
--4 35.2 21.75 
--3.6 35.2 21.875 
--3.2 35.2 22 
--2.8 35.2 22.075 
--2.4 35.2 21.925 
--2 35.2 21.75 
--1.6 35.2 21.5 
--1.2 35.2 21.175 
--0.799999 35.2 20.925 
--0.399999 35.2 20.875 
-5.96046e-007 35.2 20.875 
-0.400001 35.2 20.775 
-0.800001 35.2 20.725 
-1.2 35.2 20.6 
-1.6 35.2 20.425 
-2 35.2 20.25 
-2.4 35.2 19.95 
-2.8 35.2 19.625 
-3.2 35.2 19.275 
-3.6 35.2 19.025 
-4 35.2 18.675 
-4.4 35.2 18.25 
-4.8 35.2 17.825 
-5.2 35.2 17.425 
-5.6 35.2 17.025 
-6 35.2 16.55 
-6.4 35.2 16.175 
-6.8 35.2 15.8 
-7.2 35.2 15.45 
-7.6 35.2 15.225 
-8 35.2 15.725 
-8.4 35.2 17.025 
-8.8 35.2 17.275 
-9.2 35.2 17.475 
-9.6 35.2 17.55 
-10 35.2 17.475 
-10.4 35.2 17.25 
-10.8 35.2 16.975 
-11.2 35.2 16.625 
-11.6 35.2 16.175 
-12 35.2 15.675 
-12.4 35.2 15.1 
-12.8 35.2 14.65 
-13.2 35.2 12.45 
-13.6 35.2 12.2 
-14 35.2 11.925 
-14.4 35.2 11.45 
-14.8 35.2 10.5 
-15.2 35.2 9.15 
-15.6 35.2 8.425 
--19.6 35.6 5.475 
--19.2 35.6 6.25 
--18.8 35.6 8.975 
--18.4 35.6 9.85 
--18 35.6 10.325 
--17.6 35.6 10.8 
--17.2 35.6 11.725 
--16.8 35.6 11.6 
--16.4 35.6 10.8 
--16 35.6 11.55 
--15.6 35.6 12.5 
--15.2 35.6 13.4 
--14.8 35.6 14.15 
--14.4 35.6 14.925 
--14 35.6 15.625 
--13.6 35.6 16.3 
--13.2 35.6 16.65 
--12.8 35.6 17.025 
--12.4 35.6 17.475 
--12 35.6 17.825 
--11.6 35.6 18.05 
--11.2 35.6 18.275 
--10.8 35.6 18.45 
--10.4 35.6 18.575 
--10 35.6 18.775 
--9.6 35.6 18.975 
--9.2 35.6 19.25 
--8.8 35.6 19.65 
--8.4 35.6 20.175 
--8 35.6 20.575 
--7.6 35.6 20.85 
--7.2 35.6 20.975 
--6.8 35.6 21.075 
--6.4 35.6 21.175 
--6 35.6 21.225 
--5.6 35.6 21.225 
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--8 50 10.875 
--7.6 50 10.675 
--7.2 50 10.45 
--6.8 50 10.275 
--6.4 50 10.025 
--6 50 9.725 
--5.6 50 9.9 
--5.2 50 10.525 
--4.8 50 10.85 
--4.4 50 10.775 
--4 50 10.425 
--3.6 50 9.925 
--3.2 50 9.5 
--2.8 50 9.35 
--2.4 50 9.225 
--2 50 9.175 
--1.6 50 9.175 
--1.2 50 9.1 
--0.799999 50 9.05 
--0.399999 50 8.95 
-5.96046e-007 50 8.9 
-0.400001 50 8.85 
-0.800001 50 8.7 
-1.2 50 8.575 
-1.6 50 8.525 
-2 50 8.375 
-2.4 50 8.25 
-2.8 50 8.05 
-3.2 50 7.8 
-3.6 50 7.475 
-4 50 7.05 
-4.4 50 6.6 
-4.8 50 6.15 
-5.2 50 5.675 
-5.6 50 5.25 
-6 50 4.775 
-6.4 50 4.275 
-6.8 50 3.475 
-7.2 50 2.225 
-7.6 50 1.8 
--18.4 50.4 1 
--18 50.4 3.025 
--17.6 50.4 4.3 
--17.2 50.4 4.975 
--16.8 50.4 5.475 
--16.4 50.4 6.025 
--16 50.4 6.6 
--15.6 50.4 7.15 
--15.2 50.4 7.675 
--14.8 50.4 8.15 
--14.4 50.4 8.525 
--14 50.4 8.95 
--13.6 50.4 9.3 
--13.2 50.4 9.45 
--12.8 50.4 9.65 
--12.4 50.4 9.875 
--12 50.4 10 
--11.6 50.4 10.15 
--11.2 50.4 10.375 
--10.8 50.4 10.55 
--10.4 50.4 10.7 
--10 50.4 10.775 
--9.6 50.4 10.8 
--9.2 50.4 10.875 
--8.8 50.4 10.875 
--8.4 50.4 10.8 
--8 50.4 10.675 
--7.6 50.4 10.55 
--7.2 50.4 10.35 
--6.8 50.4 10.2 
--6.4 50.4 10.1 
--6 50.4 9.95 
--5.6 50.4 9.725 
--5.2 50.4 9.625 
--4.8 50.4 9.65 
--4.4 50.4 9.6 
--4 50.4 9.525 
--3.6 50.4 9.425 
--3.2 50.4 9.325 
--2.8 50.4 9.25 
--2.4 50.4 9.175 
--2 50.4 9.15 
--1.6 50.4 9.15 
--1.2 50.4 9.075 
--0.799999 50.4 8.975 
--0.399999 50.4 8.95 
-5.96046e-007 50.4 8.85 
-0.400001 50.4 8.725 
-0.800001 50.4 8.6 
-1.2 50.4 8.475 
-1.6 50.4 8.35 
-2 50.4 8.2 
-2.4 50.4 7.975 
-2.8 50.4 7.675 
-3.2 50.4 7.35 
-3.6 50.4 6.95 
-4 50.4 6.55 
-4.4 50.4 6.275 
-4.8 50.4 5.8 
-5.2 50.4 5.225 
-5.6 50.4 4.85 
-6 50.4 4.375 
-6.4 50.4 3.575 
-6.8 50.4 2.55 
-7.2 50.4 0.925 
-7.6 50.4 0 
--18 50.8 1.8 
--17.6 50.8 3.825 
--17.2 50.8 4.725 
--16.8 50.8 5.275 
--16.4 50.8 5.85 
--16 50.8 6.35 
--15.6 50.8 6.875 
--15.2 50.8 7.425 
--14.8 50.8 7.9 
--14.4 50.8 8.325 
--14 50.8 8.7 
--13.6 50.8 9 
--13.2 50.8 9.175 
--12.8 50.8 9.4 
--12.4 50.8 9.675 
--12 50.8 9.85 
--11.6 50.8 9.95 
--11.2 50.8 10.05 
--10.8 50.8 10.25 
--10.4 50.8 10.4 
--10 50.8 10.45 
--9.6 50.8 10.45 
--9.2 50.8 10.475 
--8.8 50.8 10.475 
--8.4 50.8 10.525 
--8 50.8 10.425 
--7.6 50.8 10.325 
--7.2 50.8 10.35 
--6.8 50.8 10.225 
--6.4 50.8 10.05 
--6 50.8 9.95 
--5.6 50.8 9.725 
--5.2 50.8 9.6 
--4.8 50.8 9.5 
--4.4 50.8 9.425 
--4 50.8 9.35 
--3.6 50.8 9.25 
--3.2 50.8 9.2 
--2.8 50.8 9.175 
--2.4 50.8 9.175 
--2 50.8 9.1 
--1.6 50.8 9.075 
--1.2 50.8 9.05 
--0.799999 50.8 8.925 
--0.399999 50.8 8.725 
-5.96046e-007 50.8 8.65 
-0.400001 50.8 8.575 
-0.800001 50.8 8.45 
-1.2 50.8 8.3 
-1.6 50.8 8.175 
-2 50.8 7.925 
-2.4 50.8 7.65 
-2.8 50.8 7.375 
-3.2 50.8 6.975 
-3.6 50.8 6.5 
-4 50.8 6.1 
-4.4 50.8 5.65 
-4.8 50.8 5.2 
-5.2 50.8 4.725 
-5.6 50.8 4.125 
-6 50.8 3.475 
-6.4 50.8 2.5 
-6.8 50.8 1.125 
--18 51.2 1.075 
--17.6 51.2 2.525 
--17.2 51.2 4.175 
--16.8 51.2 5 
--16.4 51.2 5.5 
--16 51.2 6.05 
--15.6 51.2 6.625 
--15.2 51.2 7.125 
--14.8 51.2 7.575 
--14.4 51.2 7.95 
--14 51.2 8.4 
--13.6 51.2 8.7 
--13.2 51.2 8.925 
--12.8 51.2 9.15 
--12.4 51.2 9.325 
--12 51.2 9.5 
--11.6 51.2 9.625 
--11.2 51.2 9.75 
--10.8 51.2 9.875 
--10.4 51.2 10 
--10 51.2 10.15 
--9.6 51.2 10.25 
--9.2 51.2 10.2 
--8.8 51.2 10.25 
--8.4 51.2 10.3 
--8 51.2 10.25 
--7.6 51.2 10.175 
--7.2 51.2 10.15 
--6.8 51.2 10.075 
--6.4 51.2 9.95 
--6 51.2 9.9 
--5.6 51.2 9.725 
--5.2 51.2 9.575 
--4.8 51.2 9.5 
--4.4 51.2 9.4 
--4 51.2 9.275 
--3.6 51.2 9.2 
--3.2 51.2 9.2 
--2.8 51.2 9.15 
--2.4 51.2 9.075 
--2 51.2 9.05 
--1.6 51.2 9.025 
--1.2 51.2 8.875 
--0.799999 51.2 8.725 
--0.399999 51.2 8.675 
-5.96046e-007 51.2 8.5 
-0.400001 51.2 8.325 
-0.800001 51.2 8.175 
-1.2 51.2 7.95 
-1.6 51.2 7.725 
-2 51.2 7.45 
-2.4 51.2 7.15 
-2.8 51.2 6.8 
-3.2 51.2 6.4 
-3.6 51.2 5.975 
-4 51.2 5.575 
-4.4 51.2 5.175 
-4.8 51.2 4.775 
-5.2 51.2 4.25 
-5.6 51.2 3.55 
-6 51.2 2.575 
-6.4 51.2 1.275 
--17.6 51.6 1.35 
--17.2 51.6 3.7 
--16.8 51.6 4.65 
--16.4 51.6 5.175 
--16 51.6 5.725 
--15.6 51.6 6.3 
--15.2 51.6 6.825 
--14.8 51.6 7.3 
--14.4 51.6 7.675 
--14 51.6 8.025 
--13.6 51.6 8.4 
--13.2 51.6 8.625 
--12.8 51.6 8.825 
--12.4 51.6 9.05 
--12 51.6 9.15 
--11.6 51.6 9.275 
--11.2 51.6 9.4 
--10.8 51.6 9.5 
--10.4 51.6 9.625 
--10 51.6 9.725 
--9.6 51.6 9.875 
--9.2 51.6 9.9 
--8.8 51.6 9.825 
--8.4 51.6 9.8 
--8 51.6 9.925 
--7.6 51.6 9.95 
--7.2 51.6 9.85 
--6.8 51.6 9.825 
--6.4 51.6 9.775 
--6 51.6 9.675 
--5.6 51.6 9.55 
--5.2 51.6 9.475 
--4.8 51.6 9.35 
--4.4 51.6 9.325 
--4 51.6 9.25 
--3.6 51.6 9.175 
--3.2 51.6 9.125 
--2.8 51.6 9.05 
--2.4 51.6 8.95 
--2 51.6 8.85 
--1.6 51.6 8.775 
--1.2 51.6 8.7 
--0.799999 51.6 8.525 
--0.399999 51.6 8.375 
-5.96046e-007 51.6 8.15 
-0.400001 51.6 8 
-0.800001 51.6 7.8 
-1.2 51.6 7.525 
-1.6 51.6 7.225 
-2 51.6 6.975 
-2.4 51.6 6.7 
-2.8 51.6 6.275 
-3.2 51.6 5.8 
-3.6 51.6 5.425 
-4 51.6 5.075 
-4.4 51.6 4.75 
-4.8 51.6 4.3 
-5.2 51.6 3.625 
-5.6 51.6 2.6 
-6 51.6 1.35 
-6.4 51.6 0.1 
--17.2 52 1.775 
--16.8 52 3.825 
--16.4 52 4.825 
--16 52 5.425 
--15.6 52 5.975 
--15.2 52 6.55 
--14.8 52 7.025 
--14.4 52 7.375 
--14 52 7.7 
--13.6 52 8.075 
--13.2 52 8.425 
--12.8 52 8.625 
--12.4 52 8.775 
--12 52 8.925 
--11.6 52 9 
--11.2 52 9.025 
--10.8 52 9.15 
--10.4 52 9.225 
--10 52 9.375 
--9.6 52 9.625 
--9.2 52 9.675 
--8.8 52 9.575 
--8.4 52 9.425 
--8 52 9.325 
--7.6 52 9.375 
--7.2 52 9.4 
--6.8 52 9.45 
--6.4 52 9.4 
--6 52 9.425 
--5.6 52 9.425 
--5.2 52 9.25 
--4.8 52 9.175 
--4.4 52 9.175 
--4 52 9.1 
--3.6 52 9.025 
--3.2 52 8.875 
--2.8 52 8.725 
--2.4 52 8.65 
--2 52 8.525 
--1.6 52 8.4 
--1.2 52 8.25 
--0.799999 52 8.15 
--0.399999 52 7.925 
-5.96046e-007 52 7.7 
-0.400001 52 7.55 
-0.800001 52 7.325 
-1.2 52 7.025 
-1.6 52 6.725 
-2 52 6.35 
-2.4 52 5.95 
-2.8 52 5.5 
-3.2 52 5.2 
-3.6 52 5 
-4 52 4.625 
-4.4 52 4.175 
-4.8 52 3.475 
-5.2 52 2.575 
-5.6 52 0.95 
--17.2 52.4 1.15 
--16.8 52.4 1.625 
--16.4 52.4 4.15 
--16 52.4 4.95 
--15.6 52.4 5.575 
--15.2 52.4 6.1 
--14.8 52.4 6.6 
--14.4 52.4 7.025 
--14 52.4 7.4 
--13.6 52.4 7.775 
--13.2 52.4 8.125 
--12.8 52.4 8.3 
--12.4 52.4 8.45 
--12 52.4 8.6 
--11.6 52.4 8.75 
--11.2 52.4 8.8 
--10.8 52.4 8.825 
--10.4 52.4 8.9 
--10 52.4 8.95 
--9.6 52.4 9.15 
--9.2 52.4 9.325 
--8.8 52.4 9.3 
--8.4 52.4 9.275 
--8 52.4 9.25 
--7.6 52.4 9.125 
--7.2 52.4 8.95 
--6.8 52.4 8.9 
--6.4 52.4 8.975 
--6 52.4 9 
--5.6 52.4 8.975 
--5.2 52.4 8.975 
--4.8 52.4 8.9 
--4.4 52.4 8.9 
--4 52.4 8.875 
--3.6 52.4 8.75 
--3.2 52.4 8.725 
--2.8 52.4 8.65 
--2.4 52.4 8.45 
--2 52.4 8.275 
--1.6 52.4 8.125 
--1.2 52.4 7.95 
--0.799999 52.4 7.775 
--0.399999 52.4 7.6 
-5.96046e-007 52.4 7.325 
-0.400001 52.4 7.05 
-0.800001 52.4 6.8 
-1.2 52.4 6.475 
-1.6 52.4 6.1 
-2 52.4 5.7 
-2.4 52.4 5.3 
-2.8 52.4 5.025 
-3.2 52.4 4.8 
-3.6 52.4 4.45 
-4 52.4 3.975 
-4.4 52.4 3.25 
-4.8 52.4 2.25 
-5.2 52.4 0.8 
--16.8 52.8 1.275 
--16.4 52.8 2.35 
--16 52.8 4.3 
--15.6 52.8 5 
--15.2 52.8 5.6 
--14.8 52.8 6.1 
--14.4 52.8 6.625 
--14 52.8 7.1 
--13.6 52.8 7.375 
--13.2 52.8 7.625 
--12.8 52.8 7.9 
--12.4 52.8 8.1 
--12 52.8 8.325 
--11.6 52.8 8.45 
--11.2 52.8 8.575 
--10.8 52.8 8.625 
--10.4 52.8 8.6 
--10 52.8 8.6 
--9.6 52.8 8.6 
--9.2 52.8 8.8 
--8.8 52.8 9.05 
--8.4 52.8 9.125 
--8 52.8 9.125 
--7.6 52.8 9.05 
--7.2 52.8 8.95 
--6.8 52.8 8.875 
--6.4 52.8 8.8 
--6 52.8 8.75 
--5.6 52.8 8.725 
--5.2 52.8 8.7 
--4.8 52.8 8.725 
--4.4 52.8 8.725 
--4 52.8 8.65 
--3.6 52.8 8.55 
--3.2 52.8 8.45 
--2.8 52.8 8.25 
--2.4 52.8 8 
--2 52.8 7.8 
--1.6 52.8 7.6 
--1.2 52.8 7.375 
--0.799999 52.8 7.125 
--0.399999 52.8 6.9 
-5.96046e-007 52.8 6.675 
-0.400001 52.8 6.45 
-0.800001 52.8 6.125 
-1.2 52.8 5.825 
-1.6 52.8 5.475 
-2 52.8 5.05 
-2.4 52.8 4.825 
-2.8 52.8 4.675 
-3.2 52.8 4.325 
-3.6 52.8 3.825 
-4 52.8 3.05 
-4.4 52.8 2.1 
-4.8 52.8 0.85 
--16.4 53.2 1.25 
--16 53.2 2.95 
--15.6 53.2 4.35 
--15.2 53.2 5.175 
--14.8 53.2 5.7 
--14.4 53.2 6.2 
--14 53.2 6.65 
--13.6 53.2 7.05 
--13.2 53.2 7.325 
--12.8 53.2 7.55 
--12.4 53.2 7.75 
--12 53.2 7.95 
--11.6 53.2 8.075 
--11.2 53.2 8.125 
--10.8 53.2 8.25 
--10.4 53.2 8.375 
--10 53.2 8.4 
--9.6 53.2 8.425 
--9.2 53.2 8.425 
--8.8 53.2 8.5 
--8.4 53.2 8.65 
--8 53.2 8.7 
--7.6 53.2 8.675 
--7.2 53.2 8.7 
--6.8 53.2 8.725 
--6.4 53.2 8.675 
--6 53.2 8.6 
--5.6 53.2 8.575 
--5.2 53.2 8.525 
--4.8 53.2 8.425 
--4.4 53.2 8.3 
--4 53.2 8.2 
--3.6 53.2 8.025 
--3.2 53.2 7.825 
--2.8 53.2 7.725 
--2.4 53.2 7.5 
--2 53.2 7.25 
--1.6 53.2 7 
--1.2 53.2 6.825 
--0.799999 53.2 6.625 
--0.399999 53.2 6.4 
-5.96046e-007 53.2 6.175 
-0.400001 53.2 5.875 
-0.800001 53.2 5.475 
-1.2 53.2 5.025 
-1.6 53.2 4.75 
-2 53.2 4.575 
-2.4 53.2 4.375 
-2.8 53.2 4.05 
-3.2 53.2 3.65 
-3.6 53.2 2.825 
-4 53.2 1.675 
-4.4 53.2 0.225 
--16 53.6 1.575 
--15.6 53.6 2.675 
--15.2 53.6 4.4 
--14.8 53.6 5.1 
--14.4 53.6 5.625 
--14 53.6 6.1 
--13.6 53.6 6.475 
--13.2 53.6 6.85 
--12.8 53.6 7.15 
--12.4 53.6 7.3 
--12 53.6 7.475 
--11.6 53.6 7.7 
--11.2 53.6 7.9 
--10.8 53.6 8 
--10.4 53.6 8 
--10 53.6 8.1 
--9.6 53.6 8.125 
--9.2 53.6 8.075 
--8.8 53.6 8.075 
--8.4 53.6 8.125 
--8 53.6 8.175 
--7.6 53.6 8.225 
--7.2 53.6 8.25 
--6.8 53.6 8.325 
--6.4 53.6 8.225 
--6 53.6 8.125 
--5.6 53.6 8.05 
--5.2 53.6 7.875 
--4.8 53.6 7.775 
--4.4 53.6 7.625 
--4 53.6 7.55 
--3.6 53.6 7.45 
--3.2 53.6 7.3 
--2.8 53.6 7.175 
--2.4 53.6 7 
--2 53.6 6.725 
--1.6 53.6 6.525 
--1.2 53.6 6.325 
--0.799999 53.6 6.05 
--0.399999 53.6 5.775 
-5.96046e-007 53.6 5.5 
-0.400001 53.6 5.125 
-0.800001 53.6 4.675 
-1.2 53.6 4.45 
-1.6 53.6 4.325 
-2 53.6 4.125 
-2.4 53.6 3.675 
-2.8 53.6 3.25 
-3.2 53.6 2.425 
-3.6 53.6 1.125 
-4 53.6 0.325 
--15.6 54 1.45 
--15.2 54 2.5 
--14.8 54 4.15 
--14.4 54 5.025 
--14 54 5.45 
--13.6 54 5.975 
--13.2 54 6.325 
--12.8 54 6.6 
--12.4 54 6.85 
--12 54 7 
--11.6 54 7.275 
--11.2 54 7.475 
--10.8 54 7.575 
--10.4 54 7.6 
--10 54 7.675 
--9.6 54 7.7 
--9.2 54 7.675 
--8.8 54 7.725 
--8.4 54 7.8 
--8 54 7.75 
--7.6 54 7.725 
--7.2 54 7.7 
--6.8 54 7.675 
--6.4 54 7.65 
--6 54 7.55 
--5.6 54 7.425 
--5.2 54 7.325 
--4.8 54 7.175 
--4.4 54 7.075 
--4 54 7 
--3.6 54 6.875 
--3.2 54 6.775 
--2.8 54 6.625 
--2.4 54 6.325 
--2 54 6.075 
--1.6 54 5.875 
--1.2 54 5.625 
--0.799999 54 5.325 
--0.399999 54 5 
-5.96046e-007 54 4.625 
-0.400001 54 4.35 
-0.800001 54 4.275 
-1.2 54 4.125 
-1.6 54 3.8 
-2 54 3.35 
-2.4 54 2.675 
-2.8 54 1.75 
-3.2 54 0.725 
--15.2 54.4 1.575 
--14.8 54.4 2.075 
--14.4 54.4 3.775 
--14 54.4 4.7 
--13.6 54.4 5.275 
--13.2 54.4 5.6 
--12.8 54.4 5.95 
--12.4 54.4 6.325 
--12 54.4 6.625 
--11.6 54.4 6.8 
--11.2 54.4 6.975 
--10.8 54.4 7.075 
--10.4 54.4 7.25 
--10 54.4 7.35 
--9.6 54.4 7.35 
--9.2 54.4 7.325 
--8.8 54.4 7.275 
--8.4 54.4 7.225 
--8 54.4 7.275 
--7.6 54.4 7.325 
--7.2 54.4 7.25 
--6.8 54.4 7.175 
--6.4 54.4 7.15 
--6 54.4 7.1 
--5.6 54.4 7.025 
--5.2 54.4 6.875 
--4.8 54.4 6.775 
--4.4 54.4 6.65 
--4 54.4 6.475 
--3.6 54.4 6.3 
--3.2 54.4 6.175 
--2.8 54.4 6 
--2.4 54.4 5.75 
--2 54.4 5.4 
--1.6 54.4 5.075 
--1.2 54.4 4.7 
--0.799999 54.4 4.375 
--0.399999 54.4 4.125 
-5.96046e-007 54.4 4.025 
-0.400001 54.4 3.925 
-0.800001 54.4 3.7 
-1.2 54.4 3.35 
-1.6 54.4 2.85 
-2 54.4 2.075 
-2.4 54.4 0.85 
--14.8 54.8 1.6 
--14.4 54.8 1.5 
--14 54.8 2.5 
--13.6 54.8 4.275 
--13.2 54.8 4.975 
--12.8 54.8 5.275 
--12.4 54.8 5.55 
--12 54.8 5.875 
--11.6 54.8 6.25 
--11.2 54.8 6.475 
--10.8 54.8 6.6 
--10.4 54.8 6.75 
--10 54.8 6.8 
--9.6 54.8 6.875 
--9.2 54.8 6.875 
--8.8 54.8 6.85 
--8.4 54.8 6.9 
--8 54.8 6.875 
--7.6 54.8 6.85 
--7.2 54.8 6.825 
--6.8 54.8 6.775 
--6.4 54.8 6.6 
--6 54.8 6.475 
--5.6 54.8 6.4 
--5.2 54.8 6.225 
--4.8 54.8 6.05 
--4.4 54.8 5.9 
--4 54.8 5.75 
--3.6 54.8 5.55 
--3.2 54.8 5.25 
--2.8 54.8 5 
--2.4 54.8 4.675 
--2 54.8 4.375 
--1.6 54.8 4.125 
--1.2 54.8 3.975 
--0.799999 54.8 3.875 
--0.399999 54.8 3.85 
-5.96046e-007 54.8 3.65 
-0.400001 54.8 3.225 
-0.800001 54.8 2.675 
-1.2 54.8 2 
-1.6 54.8 0.975 
-2 54.8 0.075 
--14 55.2 1.65 
--13.6 55.2 1.6 
--13.2 55.2 2.725 
--12.8 55.2 4.15 
--12.4 55.2 4.6 
--12 55.2 5.075 
--11.6 55.2 5.425 
--11.2 55.2 5.675 
--10.8 55.2 5.85 
--10.4 55.2 6.025 
--10 55.2 6.15 
--9.6 55.2 6.3 
--9.2 55.2 6.35 
--8.8 55.2 6.325 
--8.4 55.2 6.325 
--8 55.2 6.275 
--7.6 55.2 6.25 
--7.2 55.2 6.225 
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diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/test2.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/test2.ply
deleted file mode 100644
index 400917bf..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/test2.ply
+++ /dev/null
@@ -1,83420 +0,0 @@
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--16.5 0 13.95 
--16.1 0 15.1 
--15.7 0 16.225 
--15.3 0 17.2 
--14.9 0 18.025 
--14.5 0 18.875 
--14.1 0 19.6 
--13.7 0 20.425 
--13.3 0 21.1 
--12.9 0 21.675 
--12.5 0 22.375 
--12.1 0 22.925 
--11.7 0 23.55 
--11.3 0 24.1 
--10.9 0 24.675 
--10.5 0 25.15 
--10.1 0 25.575 
--9.7 0 26.075 
--9.3 0 26.575 
--8.9 0 26.925 
--8.5 0 27.325 
--8.1 0 27.675 
--7.7 0 27.975 
--7.3 0 28.25 
--6.9 0 28.475 
--6.5 0 28.775 
--6.1 0 29.075 
--5.7 0 29.3 
--5.3 0 29.425 
--4.9 0 29.625 
--4.5 0 29.825 
--4.1 0 29.875 
--3.7 0 30.025 
--3.3 0 30.2 
--2.9 0 30.275 
--2.5 0 30.4 
--2.1 0 30.5 
--1.7 0 30.525 
--1.3 0 30.625 
--0.899999 0 30.75 
--0.499999 0 30.75 
--0.0999994 0 30.8 
-0.300001 0 30.8 
-0.700001 0 30.85 
-1.1 0 30.85 
-1.5 0 30.85 
-1.9 0 30.975 
-2.3 0 31.075 
-2.7 0 31.1 
-3.1 0 31.075 
-3.5 0 31.025 
-3.9 0 31.075 
-4.3 0 31.075 
-4.7 0 30.95 
-5.1 0 30.95 
-5.5 0 31.075 
-5.9 0 31.05 
-6.3 0 31 
-6.7 0 30.975 
-7.1 0 30.9 
-7.5 0 30.95 
-7.9 0 30.975 
-8.3 0 30.925 
-8.7 0 30.85 
-9.1 0 30.75 
-9.5 0 30.65 
-9.9 0 30.65 
-10.3 0 30.675 
-10.7 0 30.55 
-11.1 0 30.525 
-11.5 0 30.475 
-11.9 0 30.35 
-12.3 0 30.375 
-12.7 0 30.325 
-13.1 0 30.2 
-13.5 0 30.075 
-13.9 0 29.925 
-14.3 0 29.925 
-14.7 0 29.85 
-15.1 0 29.55 
-15.5 0 29.45 
-15.9 0 29.3 
-16.3 0 29.125 
-16.7 0 29.025 
-17.1 0 28.8 
-17.5 0 28.625 
-17.9 0 28.325 
-18.3 0 28.025 
-18.7 0 27.85 
-19.1 0 27.575 
-19.5 0 27.25 
-19.9 0 26.825 
-20.3 0 26.425 
-20.7 0 26.15 
-21.1 0 25.825 
-21.5 0 25.375 
-21.9 0 24.85 
-22.3 0 24.425 
-22.7 0 23.9 
-23.1 0 23.4 
-23.5 0 22.9 
-23.9 0 22.05 
-24.3 0 21.4 
-24.7 0 20.675 
-25.1 0 19.925 
-25.5 0 18.9 
-25.9 0 17.725 
-26.3 0 16.75 
-26.7 0 15.45 
-27.1 0 14.025 
-27.5 0 12.325 
--27.3 0.4 -24.5 
--26.9 0.4 -24.6 
--26.5 0.4 -23.775 
--26.1 0.4 -23.125 
--25.7 0.4 -22.65 
--25.3 0.4 -22.2 
--24.9 0.4 -21.725 
--24.5 0.4 -21.325 
--24.1 0.4 -21.125 
--23.7 0.4 -20.725 
--23.3 0.4 -20.175 
--22.9 0.4 -19.85 
--22.5 0.4 -19.575 
--22.1 0.4 -19.175 
--21.7 0.4 -18.925 
--21.3 0.4 -18.8 
--20.9 0.4 -18.5 
--20.5 0.4 -18.1 
--20.1 0.4 -17.8 
--19.7 0.4 -17.575 
--19.3 0.4 -17.525 
--18.9 0.4 -17.45 
--18.5 0.4 -17.4 
--18.1 0.4 -16 
--17.7 0.4 10.625 
--17.3 0.4 12.125 
--16.9 0.4 13.5 
--16.5 0.4 14.7 
--16.1 0.4 16.025 
--15.7 0.4 16.975 
--15.3 0.4 17.9 
--14.9 0.4 18.75 
--14.5 0.4 19.55 
--14.1 0.4 20.275 
--13.7 0.4 21.1 
--13.3 0.4 21.675 
--12.9 0.4 22.275 
--12.5 0.4 22.775 
--12.1 0.4 23.45 
--11.7 0.4 24 
--11.3 0.4 24.5 
--10.9 0.4 25 
--10.5 0.4 25.525 
--10.1 0.4 25.975 
--9.7 0.4 26.45 
--9.3 0.4 26.8 
--8.9 0.4 27.2 
--8.5 0.4 27.625 
--8.1 0.4 27.95 
--7.7 0.4 28.225 
--7.3 0.4 28.475 
--6.9 0.4 28.725 
--6.5 0.4 28.975 
--6.1 0.4 29.15 
--5.7 0.4 29.4 
--5.3 0.4 29.675 
--4.9 0.4 29.875 
--4.5 0.4 29.975 
--4.1 0.4 30.05 
--3.7 0.4 30.15 
--3.3 0.4 30.275 
--2.9 0.4 30.425 
--2.5 0.4 30.55 
--2.1 0.4 30.65 
--1.7 0.4 30.825 
--1.3 0.4 30.85 
--0.899999 0.4 30.85 
--0.499999 0.4 30.85 
--0.0999994 0.4 30.9 
-0.300001 0.4 31 
-0.700001 0.4 31.075 
-1.1 0.4 31.075 
-1.5 0.4 31.05 
-1.9 0.4 31 
-2.3 0.4 31.025 
-2.7 0.4 31.1 
-3.1 0.4 31.125 
-3.5 0.4 31.2 
-3.9 0.4 31.175 
-4.3 0.4 31.125 
-4.7 0.4 31.175 
-5.1 0.4 31.2 
-5.5 0.4 31.15 
-5.9 0.4 31.175 
-6.3 0.4 31.15 
-6.7 0.4 31.05 
-7.1 0.4 31.075 
-7.5 0.4 31.075 
-7.9 0.4 31 
-8.3 0.4 31 
-8.7 0.4 30.875 
-9.1 0.4 30.775 
-9.5 0.4 30.775 
-9.9 0.4 30.75 
-10.3 0.4 30.75 
-10.7 0.4 30.825 
-11.1 0.4 30.75 
-11.5 0.4 30.625 
-11.9 0.4 30.575 
-12.3 0.4 30.5 
-12.7 0.4 30.35 
-13.1 0.4 30.225 
-13.5 0.4 30.25 
-13.9 0.4 30.125 
-14.3 0.4 29.925 
-14.7 0.4 29.9 
-15.1 0.4 29.825 
-15.5 0.4 29.675 
-15.9 0.4 29.55 
-16.3 0.4 29.325 
-16.7 0.4 29.15 
-17.1 0.4 28.975 
-17.5 0.4 28.775 
-17.9 0.4 28.575 
-18.3 0.4 28.375 
-18.7 0.4 28.1 
-19.1 0.4 27.85 
-19.5 0.4 27.6 
-19.9 0.4 27.225 
-20.3 0.4 26.825 
-20.7 0.4 26.575 
-21.1 0.4 26.1 
-21.5 0.4 25.7 
-21.9 0.4 25.3 
-22.3 0.4 24.775 
-22.7 0.4 24.325 
-23.1 0.4 23.825 
-23.5 0.4 23.2 
-23.9 0.4 22.575 
-24.3 0.4 21.95 
-24.7 0.4 21.075 
-25.1 0.4 20.35 
-25.5 0.4 19.5 
-25.9 0.4 18.3 
-26.3 0.4 17.575 
-26.7 0.4 16 
-27.1 0.4 14.675 
-27.5 0.4 13.175 
-27.9 0.4 12.175 
--26.9 0.8 -24.675 
--26.5 0.8 -24.075 
--26.1 0.8 -23.525 
--25.7 0.8 -22.55 
--25.3 0.8 -22.125 
--24.9 0.8 -21.8 
--24.5 0.8 -21.4 
--24.1 0.8 -20.975 
--23.7 0.8 -20.625 
--23.3 0.8 -20.25 
--22.9 0.8 -19.75 
--22.5 0.8 -19.4 
--22.1 0.8 -19.15 
--21.7 0.8 -18.95 
--21.3 0.8 -18.575 
--20.9 0.8 -18.3 
--20.5 0.8 -18.025 
--20.1 0.8 -17.875 
--19.7 0.8 -17.8 
--19.3 0.8 -17.625 
--18.9 0.8 -17.425 
--18.5 0.8 -17.25 
--17.7 0.8 11.375 
--17.3 0.8 12.85 
--16.9 0.8 14.3 
--16.5 0.8 15.525 
--16.1 0.8 16.625 
--15.7 0.8 17.5 
--15.3 0.8 18.5 
--14.9 0.8 19.3 
--14.5 0.8 20.125 
--14.1 0.8 20.7 
--13.7 0.8 21.4 
--13.3 0.8 22.2 
--12.9 0.8 22.825 
--12.5 0.8 23.4 
--12.1 0.8 23.9 
--11.7 0.8 24.425 
--11.3 0.8 24.925 
--10.9 0.8 25.425 
--10.5 0.8 25.925 
--10.1 0.8 26.3 
--9.7 0.8 26.775 
--9.3 0.8 27.15 
--8.9 0.8 27.525 
--8.5 0.8 27.925 
--8.1 0.8 28.25 
--7.7 0.8 28.575 
--7.3 0.8 28.775 
--6.9 0.8 28.95 
--6.5 0.8 29.15 
--6.1 0.8 29.425 
--5.7 0.8 29.55 
--5.3 0.8 29.8 
--4.9 0.8 30.075 
--4.5 0.8 30.125 
--4.1 0.8 30.25 
--3.7 0.8 30.425 
--3.3 0.8 30.5 
--2.9 0.8 30.575 
--2.5 0.8 30.725 
--2.1 0.8 30.875 
--1.7 0.8 30.875 
--1.3 0.8 30.85 
--0.899999 0.8 30.875 
--0.499999 0.8 31 
--0.0999994 0.8 31.125 
-0.300001 0.8 31.175 
-0.700001 0.8 31.175 
-1.1 0.8 31.15 
-1.5 0.8 31.225 
-1.9 0.8 31.275 
-2.3 0.8 31.275 
-2.7 0.8 31.3 
-3.1 0.8 31.3 
-3.5 0.8 31.275 
-3.9 0.8 31.2 
-4.3 0.8 31.2 
-4.7 0.8 31.2 
-5.1 0.8 31.275 
-5.5 0.8 31.325 
-5.9 0.8 31.225 
-6.3 0.8 31.175 
-6.7 0.8 31.175 
-7.1 0.8 31.25 
-7.5 0.8 31.15 
-7.9 0.8 30.95 
-8.3 0.8 30.925 
-8.7 0.8 30.975 
-9.1 0.8 30.875 
-9.5 0.8 30.825 
-9.9 0.8 30.8 
-10.3 0.8 30.8 
-10.7 0.8 30.8 
-11.1 0.8 30.775 
-11.5 0.8 30.75 
-11.9 0.8 30.65 
-12.3 0.8 30.65 
-12.7 0.8 30.575 
-13.1 0.8 30.325 
-13.5 0.8 30.325 
-13.9 0.8 30.3 
-14.3 0.8 30.075 
-14.7 0.8 29.95 
-15.1 0.8 29.925 
-15.5 0.8 29.825 
-15.9 0.8 29.625 
-16.3 0.8 29.525 
-16.7 0.8 29.35 
-17.1 0.8 29.125 
-17.5 0.8 29.05 
-17.9 0.8 28.825 
-18.3 0.8 28.625 
-18.7 0.8 28.375 
-19.1 0.8 28.1 
-19.5 0.8 27.85 
-19.9 0.8 27.475 
-20.3 0.8 27.075 
-20.7 0.8 26.675 
-21.1 0.8 26.35 
-21.5 0.8 26.05 
-21.9 0.8 25.575 
-22.3 0.8 25.125 
-22.7 0.8 24.675 
-23.1 0.8 24.15 
-23.5 0.8 23.675 
-23.9 0.8 23.15 
-24.3 0.8 22.45 
-24.7 0.8 21.75 
-25.1 0.8 20.925 
-25.5 0.8 20.075 
-25.9 0.8 19.175 
-26.3 0.8 17.85 
-26.7 0.8 16.775 
-27.1 0.8 15.6 
-27.5 0.8 14 
-27.9 0.8 12.7 
--26.5 1.2 -24.4 
--26.1 1.2 -24.075 
--25.7 1.2 -23.125 
--25.3 1.2 -22.45 
--24.9 1.2 -21.925 
--24.5 1.2 -21.425 
--24.1 1.2 -20.875 
--23.7 1.2 -20.575 
--23.3 1.2 -20.1 
--22.9 1.2 -19.7 
--22.5 1.2 -19.325 
--22.1 1.2 -19.025 
--21.7 1.2 -18.8 
--21.3 1.2 -18.45 
--20.9 1.2 -18.225 
--20.5 1.2 -18.05 
--20.1 1.2 -17.775 
--19.7 1.2 -17.5 
--19.3 1.2 -17.525 
--18.9 1.2 -17.425 
--17.7 1.2 12.375 
--17.3 1.2 13.7 
--16.9 1.2 14.975 
--16.5 1.2 16.4 
--16.1 1.2 17.15 
--15.7 1.2 18.2 
--15.3 1.2 18.925 
--14.9 1.2 19.7 
--14.5 1.2 20.525 
--14.1 1.2 21.3 
--13.7 1.2 22 
--13.3 1.2 22.55 
--12.9 1.2 23.125 
--12.5 1.2 23.7 
--12.1 1.2 24.225 
--11.7 1.2 24.8 
--11.3 1.2 25.325 
--10.9 1.2 25.85 
--10.5 1.2 26.25 
--10.1 1.2 26.675 
--9.7 1.2 27.15 
--9.3 1.2 27.45 
--8.9 1.2 27.775 
--8.5 1.2 28.15 
--8.1 1.2 28.5 
--7.7 1.2 28.8 
--7.3 1.2 29.1 
--6.9 1.2 29.375 
--6.5 1.2 29.525 
--6.1 1.2 29.7 
--5.7 1.2 29.875 
--5.3 1.2 30.05 
--4.9 1.2 30.2 
--4.5 1.2 30.35 
--4.1 1.2 30.45 
--3.7 1.2 30.5 
--3.3 1.2 30.55 
--2.9 1.2 30.775 
--2.5 1.2 30.875 
--2.1 1.2 30.9 
--1.7 1.2 31 
--1.3 1.2 31.05 
--0.899999 1.2 31.075 
--0.499999 1.2 31.225 
--0.0999994 1.2 31.3 
-0.300001 1.2 31.175 
-0.700001 1.2 31.15 
-1.1 1.2 31.275 
-1.5 1.2 31.275 
-1.9 1.2 31.25 
-2.3 1.2 31.275 
-2.7 1.2 31.375 
-3.1 1.2 31.4 
-3.5 1.2 31.3 
-3.9 1.2 31.325 
-4.3 1.2 31.4 
-4.7 1.2 31.425 
-5.1 1.2 31.325 
-5.5 1.2 31.3 
-5.9 1.2 31.25 
-6.3 1.2 31.225 
-6.7 1.2 31.25 
-7.1 1.2 31.2 
-7.5 1.2 31.2 
-7.9 1.2 31.175 
-8.3 1.2 31.075 
-8.7 1.2 31.025 
-9.1 1.2 31.025 
-9.5 1.2 30.9 
-9.9 1.2 30.925 
-10.3 1.2 31.05 
-10.7 1.2 31.025 
-11.1 1.2 30.875 
-11.5 1.2 30.85 
-11.9 1.2 30.825 
-12.3 1.2 30.675 
-12.7 1.2 30.575 
-13.1 1.2 30.45 
-13.5 1.2 30.35 
-13.9 1.2 30.325 
-14.3 1.2 30.3 
-14.7 1.2 30.225 
-15.1 1.2 30.1 
-15.5 1.2 29.975 
-15.9 1.2 29.75 
-16.3 1.2 29.65 
-16.7 1.2 29.575 
-17.1 1.2 29.425 
-17.5 1.2 29.3 
-17.9 1.2 29.125 
-18.3 1.2 28.925 
-18.7 1.2 28.625 
-19.1 1.2 28.375 
-19.5 1.2 28.1 
-19.9 1.2 27.7 
-20.3 1.2 27.425 
-20.7 1.2 27.15 
-21.1 1.2 26.775 
-21.5 1.2 26.325 
-21.9 1.2 25.9 
-22.3 1.2 25.4 
-22.7 1.2 24.925 
-23.1 1.2 24.525 
-23.5 1.2 23.95 
-23.9 1.2 23.375 
-24.3 1.2 22.725 
-24.7 1.2 22.15 
-25.1 1.2 21.35 
-25.5 1.2 20.5 
-25.9 1.2 19.6 
-26.3 1.2 18.525 
-26.7 1.2 17.375 
-27.1 1.2 16.15 
-27.5 1.2 14.725 
-27.9 1.2 13.125 
--25.7 1.6 -23.575 
--25.3 1.6 -22.625 
--24.9 1.6 -22.05 
--24.5 1.6 -21.55 
--24.1 1.6 -21.075 
--23.7 1.6 -20.475 
--23.3 1.6 -20.05 
--22.9 1.6 -19.825 
--22.5 1.6 -19.4 
--22.1 1.6 -19.025 
--21.7 1.6 -18.725 
--21.3 1.6 -18.45 
--20.9 1.6 -18.15 
--20.5 1.6 -17.875 
--20.1 1.6 -17.625 
--19.7 1.6 -17.425 
--19.3 1.6 -17.3 
--18.9 1.6 -17.175 
--17.7 1.6 12.975 
--17.3 1.6 14.3 
--16.9 1.6 15.8 
--16.5 1.6 16.975 
--16.1 1.6 17.95 
--15.7 1.6 18.85 
--15.3 1.6 19.575 
--14.9 1.6 20.35 
--14.5 1.6 21.1 
--14.1 1.6 21.7 
--13.7 1.6 22.425 
--13.3 1.6 22.9 
--12.9 1.6 23.475 
--12.5 1.6 24.1 
--12.1 1.6 24.6 
--11.7 1.6 25.125 
--11.3 1.6 25.65 
--10.9 1.6 26.1 
--10.5 1.6 26.6 
--10.1 1.6 27.1 
--9.7 1.6 27.55 
--9.3 1.6 27.875 
--8.9 1.6 28.075 
--8.5 1.6 28.375 
--8.1 1.6 28.75 
--7.7 1.6 29.05 
--7.3 1.6 29.275 
--6.9 1.6 29.45 
--6.5 1.6 29.625 
--6.1 1.6 29.85 
--5.7 1.6 30.125 
--5.3 1.6 30.325 
--4.9 1.6 30.425 
--4.5 1.6 30.55 
--4.1 1.6 30.65 
--3.7 1.6 30.725 
--3.3 1.6 30.775 
--2.9 1.6 30.95 
--2.5 1.6 31.175 
--2.1 1.6 31.125 
--1.7 1.6 31.075 
--1.3 1.6 31.175 
--0.899999 1.6 31.275 
--0.499999 1.6 31.3 
--0.0999994 1.6 31.225 
-0.300001 1.6 31.25 
-0.700001 1.6 31.275 
-1.1 1.6 31.325 
-1.5 1.6 31.475 
-1.9 1.6 31.45 
-2.3 1.6 31.35 
-2.7 1.6 31.25 
-3.1 1.6 31.225 
-3.5 1.6 31.2 
-3.9 1.6 31.325 
-4.3 1.6 31.3 
-4.7 1.6 31.225 
-5.1 1.6 31.3 
-5.5 1.6 31.35 
-5.9 1.6 31.3 
-6.3 1.6 31.175 
-6.7 1.6 31.125 
-7.1 1.6 31.15 
-7.5 1.6 31.1 
-7.9 1.6 31.075 
-8.3 1.6 31.05 
-8.7 1.6 31.025 
-9.1 1.6 31.05 
-9.5 1.6 31.05 
-9.9 1.6 31 
-10.3 1.6 30.875 
-10.7 1.6 30.95 
-11.1 1.6 30.975 
-11.5 1.6 30.925 
-11.9 1.6 30.9 
-12.3 1.6 30.75 
-12.7 1.6 30.6 
-13.1 1.6 30.625 
-13.5 1.6 30.575 
-13.9 1.6 30.4 
-14.3 1.6 30.3 
-14.7 1.6 30.325 
-15.1 1.6 30.275 
-15.5 1.6 30.125 
-15.9 1.6 30.05 
-16.3 1.6 29.8 
-16.7 1.6 29.55 
-17.1 1.6 29.475 
-17.5 1.6 29.375 
-17.9 1.6 29.175 
-18.3 1.6 28.95 
-18.7 1.6 28.675 
-19.1 1.6 28.45 
-19.5 1.6 28.2 
-19.9 1.6 27.9 
-20.3 1.6 27.65 
-20.7 1.6 27.275 
-21.1 1.6 26.925 
-21.5 1.6 26.6 
-21.9 1.6 26.275 
-22.3 1.6 25.725 
-22.7 1.6 25.25 
-23.1 1.6 24.85 
-23.5 1.6 24.55 
-23.9 1.6 23.775 
-24.3 1.6 23.075 
-24.7 1.6 22.4 
-25.1 1.6 21.75 
-25.5 1.6 20.9 
-25.9 1.6 20.1 
-26.3 1.6 19.05 
-26.7 1.6 17.95 
-27.1 1.6 16.95 
-27.5 1.6 15.275 
-27.9 1.6 13.925 
--25.3 2 -23.05 
--24.9 2 -22.4 
--24.5 2 -21.775 
--24.1 2 -21.275 
--23.7 2 -20.65 
--23.3 2 -20.125 
--22.9 2 -19.675 
--22.5 2 -19.275 
--22.1 2 -19.025 
--21.7 2 -18.65 
--21.3 2 -18.325 
--20.9 2 -18.125 
--20.5 2 -17.875 
--20.1 2 -17.575 
--19.7 2 -17.4 
--19.3 2 -17.375 
--18.9 2 -15.85 
--18.1 2 12.475 
--17.7 2 13.75 
--17.3 2 15.1 
--16.9 2 16.375 
--16.5 2 17.425 
--16.1 2 18.35 
--15.7 2 19.175 
--15.3 2 20 
--14.9 2 20.7 
--14.5 2 21.475 
--14.1 2 22.1 
--13.7 2 22.75 
--13.3 2 23.375 
--12.9 2 23.975 
--12.5 2 24.45 
--12.1 2 24.85 
--11.7 2 25.35 
--11.3 2 25.925 
--10.9 2 26.475 
--10.5 2 26.875 
--10.1 2 27.225 
--9.7 2 27.625 
--9.3 2 28 
--8.9 2 28.4 
--8.5 2 28.7 
--8.1 2 29 
--7.7 2 29.275 
--7.3 2 29.475 
--6.9 2 29.575 
--6.5 2 29.8 
--6.1 2 30.125 
--5.7 2 30.3 
--5.3 2 30.425 
--4.9 2 30.625 
--4.5 2 30.7 
--4.1 2 30.8 
--3.7 2 30.85 
--3.3 2 30.975 
--2.9 2 31.125 
--2.5 2 31.275 
--2.1 2 31.25 
--1.7 2 31.15 
--1.3 2 31.2 
--0.899999 2 31.35 
--0.499999 2 31.45 
--0.0999994 2 31.45 
-0.300001 2 31.4 
-0.700001 2 31.4 
-1.1 2 31.375 
-1.5 2 31.325 
-1.9 2 31.325 
-2.3 2 31.35 
-2.7 2 31.375 
-3.1 2 31.275 
-3.5 2 31.2 
-3.9 2 31.2 
-4.3 2 31.125 
-4.7 2 31.075 
-5.1 2 31.125 
-5.5 2 31.1 
-5.9 2 31.05 
-6.3 2 31 
-6.7 2 31.025 
-7.1 2 31.1 
-7.5 2 31.05 
-7.9 2 31.075 
-8.3 2 31.025 
-8.7 2 30.975 
-9.1 2 31.025 
-9.5 2 30.975 
-9.9 2 31.025 
-10.3 2 31.05 
-10.7 2 31.025 
-11.1 2 30.875 
-11.5 2 30.85 
-11.9 2 30.85 
-12.3 2 30.925 
-12.7 2 30.825 
-13.1 2 30.65 
-13.5 2 30.625 
-13.9 2 30.625 
-14.3 2 30.525 
-14.7 2 30.4 
-15.1 2 30.25 
-15.5 2 30.175 
-15.9 2 30.075 
-16.3 2 29.925 
-16.7 2 29.9 
-17.1 2 29.775 
-17.5 2 29.525 
-17.9 2 29.325 
-18.3 2 29.05 
-18.7 2 28.775 
-19.1 2 28.675 
-19.5 2 28.525 
-19.9 2 28.2 
-20.3 2 27.925 
-20.7 2 27.725 
-21.1 2 27.3 
-21.5 2 26.85 
-21.9 2 26.4 
-22.3 2 25.925 
-22.7 2 25.525 
-23.1 2 25.05 
-23.5 2 24.6 
-23.9 2 24.1 
-24.3 2 23.525 
-24.7 2 22.8 
-25.1 2 22.25 
-25.5 2 21.425 
-25.9 2 20.6 
-26.3 2 19.575 
-26.7 2 18.25 
-27.1 2 17.325 
-27.5 2 16.075 
-27.9 2 14.475 
--24.5 2.4 -21.675 
--24.1 2.4 -21.375 
--23.7 2.4 -20.8 
--23.3 2.4 -20.225 
--22.9 2.4 -19.8 
--22.5 2.4 -19.4 
--22.1 2.4 -18.95 
--21.7 2.4 -18.675 
--21.3 2.4 -18.375 
--20.9 2.4 -18.075 
--20.5 2.4 -17.85 
--20.1 2.4 -17.525 
--19.7 2.4 -17.425 
--19.3 2.4 -17.3 
--18.5 2.4 11.525 
--18.1 2.4 13 
--17.7 2.4 14.575 
--17.3 2.4 15.75 
--16.9 2.4 16.95 
--16.5 2.4 18.1 
--16.1 2.4 18.975 
--15.7 2.4 19.625 
--15.3 2.4 20.425 
--14.9 2.4 21.15 
--14.5 2.4 21.775 
--14.1 2.4 22.575 
--13.7 2.4 23.1 
--13.3 2.4 23.6 
--12.9 2.4 24.1 
--12.5 2.4 24.7 
--12.1 2.4 25.325 
--11.7 2.4 25.85 
--11.3 2.4 26.3 
--10.9 2.4 26.75 
--10.5 2.4 27.1 
--10.1 2.4 27.475 
--9.7 2.4 27.875 
--9.3 2.4 28.3 
--8.9 2.4 28.65 
--8.5 2.4 28.925 
--8.1 2.4 29.1 
--7.7 2.4 29.375 
--7.3 2.4 29.7 
--6.9 2.4 29.85 
--6.5 2.4 30 
--6.1 2.4 30.175 
--5.7 2.4 30.35 
--5.3 2.4 30.5 
--4.9 2.4 30.675 
--4.5 2.4 30.775 
--4.1 2.4 30.875 
--3.7 2.4 31.025 
--3.3 2.4 31.125 
--2.9 2.4 31.225 
--2.5 2.4 31.275 
--2.1 2.4 31.225 
--1.7 2.4 31.225 
--1.3 2.4 31.35 
--0.899999 2.4 31.45 
--0.499999 2.4 31.425 
--0.0999994 2.4 31.425 
-0.300001 2.4 31.375 
-0.700001 2.4 31.325 
-1.1 2.4 31.375 
-1.5 2.4 31.325 
-1.9 2.4 31.225 
-2.3 2.4 31.125 
-2.7 2.4 31 
-3.1 2.4 30.95 
-3.5 2.4 30.925 
-3.9 2.4 30.95 
-4.3 2.4 30.9 
-4.7 2.4 30.8 
-5.1 2.4 30.85 
-5.5 2.4 30.85 
-5.9 2.4 30.75 
-6.3 2.4 30.775 
-6.7 2.4 30.925 
-7.1 2.4 30.8 
-7.5 2.4 30.675 
-7.9 2.4 30.7 
-8.3 2.4 30.775 
-8.7 2.4 30.925 
-9.1 2.4 31 
-9.5 2.4 31.025 
-9.9 2.4 31.075 
-10.3 2.4 31.1 
-10.7 2.4 31.05 
-11.1 2.4 30.975 
-11.5 2.4 31.1 
-11.9 2.4 31.1 
-12.3 2.4 30.95 
-12.7 2.4 30.775 
-13.1 2.4 30.725 
-13.5 2.4 30.775 
-13.9 2.4 30.7 
-14.3 2.4 30.575 
-14.7 2.4 30.525 
-15.1 2.4 30.4 
-15.5 2.4 30.3 
-15.9 2.4 30.3 
-16.3 2.4 30.175 
-16.7 2.4 30.15 
-17.1 2.4 29.85 
-17.5 2.4 29.575 
-17.9 2.4 29.45 
-18.3 2.4 29.325 
-18.7 2.4 29.075 
-19.1 2.4 28.85 
-19.5 2.4 28.55 
-19.9 2.4 28.275 
-20.3 2.4 28.05 
-20.7 2.4 27.675 
-21.1 2.4 27.275 
-21.5 2.4 26.975 
-21.9 2.4 26.7 
-22.3 2.4 26.3 
-22.7 2.4 25.85 
-23.1 2.4 25.35 
-23.5 2.4 24.825 
-23.9 2.4 24.275 
-24.3 2.4 23.725 
-24.7 2.4 23.2 
-25.1 2.4 22.5 
-25.5 2.4 21.7 
-25.9 2.4 20.85 
-26.3 2.4 19.95 
-26.7 2.4 18.925 
-27.1 2.4 17.975 
-27.5 2.4 16.475 
-27.9 2.4 15.05 
--24.1 2.8 -20.15 
--23.7 2.8 -21.325 
--23.3 2.8 -20.475 
--22.9 2.8 -20.05 
--22.5 2.8 -19.525 
--22.1 2.8 -18.925 
--21.7 2.8 -18.65 
--21.3 2.8 -18.4 
--20.9 2.8 -18.075 
--20.5 2.8 -17.875 
--20.1 2.8 -17.625 
--19.7 2.8 -17.375 
--19.3 2.8 -17.275 
--18.5 2.8 12.325 
--18.1 2.8 13.775 
--17.7 2.8 15.175 
--17.3 2.8 16.6 
--16.9 2.8 17.6 
--16.5 2.8 18.35 
--16.1 2.8 19.325 
--15.7 2.8 20 
--15.3 2.8 20.95 
--14.9 2.8 21.6 
--14.5 2.8 22.3 
--14.1 2.8 22.875 
--13.7 2.8 23.375 
--13.3 2.8 23.975 
--12.9 2.8 24.575 
--12.5 2.8 25.15 
--12.1 2.8 25.6 
--11.7 2.8 26.075 
--11.3 2.8 26.6 
--10.9 2.8 27.1 
--10.5 2.8 27.5 
--10.1 2.8 27.825 
--9.7 2.8 28.175 
--9.3 2.8 28.5 
--8.9 2.8 28.825 
--8.5 2.8 29.025 
--8.1 2.8 29.325 
--7.7 2.8 29.575 
--7.3 2.8 29.825 
--6.9 2.8 30.15 
--6.5 2.8 30.275 
--6.1 2.8 30.5 
--5.7 2.8 30.65 
--5.3 2.8 30.8 
--4.9 2.8 30.875 
--4.5 2.8 30.95 
--4.1 2.8 31.05 
--3.7 2.8 31.225 
--3.3 2.8 31.4 
--2.9 2.8 31.425 
--2.5 2.8 31.4 
--2.1 2.8 31.4 
--1.7 2.8 31.375 
--1.3 2.8 31.4 
--0.899999 2.8 31.425 
--0.499999 2.8 31.35 
--0.0999994 2.8 31.275 
-0.300001 2.8 31.325 
-0.700001 2.8 31.25 
-1.1 2.8 31.1 
-1.5 2.8 30.975 
-1.9 2.8 30.925 
-2.3 2.8 31 
-2.7 2.8 31 
-3.1 2.8 30.9 
-3.5 2.8 30.85 
-3.9 2.8 30.95 
-4.3 2.8 31 
-4.7 2.8 30.95 
-5.1 2.8 31.025 
-5.5 2.8 30.95 
-5.9 2.8 30.9 
-6.3 2.8 30.9 
-6.7 2.8 30.9 
-7.1 2.8 30.8 
-7.5 2.8 30.8 
-7.9 2.8 30.825 
-8.3 2.8 30.775 
-8.7 2.8 30.675 
-9.1 2.8 30.55 
-9.5 2.8 30.525 
-9.9 2.8 30.8 
-10.3 2.8 31 
-10.7 2.8 31.025 
-11.1 2.8 30.875 
-11.5 2.8 30.875 
-11.9 2.8 30.925 
-12.3 2.8 30.875 
-12.7 2.8 30.825 
-13.1 2.8 30.875 
-13.5 2.8 30.825 
-13.9 2.8 30.75 
-14.3 2.8 30.725 
-14.7 2.8 30.625 
-15.1 2.8 30.6 
-15.5 2.8 30.475 
-15.9 2.8 30.325 
-16.3 2.8 30.2 
-16.7 2.8 29.975 
-17.1 2.8 29.925 
-17.5 2.8 29.775 
-17.9 2.8 29.575 
-18.3 2.8 29.475 
-18.7 2.8 29.275 
-19.1 2.8 29.05 
-19.5 2.8 28.825 
-19.9 2.8 28.45 
-20.3 2.8 28.15 
-20.7 2.8 27.925 
-21.1 2.8 27.65 
-21.5 2.8 27.35 
-21.9 2.8 27 
-22.3 2.8 26.475 
-22.7 2.8 26.025 
-23.1 2.8 25.5 
-23.5 2.8 24.975 
-23.9 2.8 24.575 
-24.3 2.8 24.025 
-24.7 2.8 23.4 
-25.1 2.8 22.925 
-25.5 2.8 22.1 
-25.9 2.8 21.275 
-26.3 2.8 20.65 
-26.7 2.8 19.5 
-27.1 2.8 18.325 
-27.5 2.8 17.1 
-27.9 2.8 15.7 
--23.7 3.2 -21.125 
--23.3 3.2 -20.55 
--22.9 3.2 -20.35 
--22.5 3.2 -19.75 
--22.1 3.2 -19.175 
--21.7 3.2 -18.85 
--21.3 3.2 -18.525 
--20.9 3.2 -18.175 
--20.5 3.2 -17.9 
--20.1 3.2 -17.675 
--19.7 3.2 -17.425 
--18.5 3.2 13.025 
--18.1 3.2 14.4 
--17.7 3.2 15.9 
--17.3 3.2 17.075 
--16.9 3.2 18.125 
--16.5 3.2 18.85 
--16.1 3.2 19.75 
--15.7 3.2 20.6 
--15.3 3.2 21.3 
--14.9 3.2 21.85 
--14.5 3.2 22.525 
--14.1 3.2 23.15 
--13.7 3.2 23.75 
--13.3 3.2 24.3 
--12.9 3.2 24.825 
--12.5 3.2 25.375 
--12.1 3.2 25.85 
--11.7 3.2 26.3 
--11.3 3.2 26.775 
--10.9 3.2 27.2 
--10.5 3.2 27.7 
--10.1 3.2 28.075 
--9.7 3.2 28.3 
--9.3 3.2 28.65 
--8.9 3.2 29 
--8.5 3.2 29.225 
--8.1 3.2 29.525 
--7.7 3.2 29.775 
--7.3 3.2 30 
--6.9 3.2 30.175 
--6.5 3.2 30.3 
--6.1 3.2 30.45 
--5.7 3.2 30.675 
--5.3 3.2 30.775 
--4.9 3.2 30.925 
--4.5 3.2 31.05 
--4.1 3.2 31.2 
--3.7 3.2 31.25 
--3.3 3.2 31.275 
--2.9 3.2 31.4 
--2.5 3.2 31.5 
--2.1 3.2 31.55 
--1.7 3.2 31.575 
--1.3 3.2 31.475 
--0.899999 3.2 31.4 
--0.499999 3.2 31.35 
--0.0999994 3.2 31.175 
-0.300001 3.2 31.05 
-0.700001 3.2 30.975 
-1.1 3.2 31.075 
-1.5 3.2 31.05 
-1.9 3.2 30.875 
-2.3 3.2 30.925 
-2.7 3.2 31 
-3.1 3.2 30.875 
-3.5 3.2 30.8 
-3.9 3.2 31.05 
-4.3 3.2 31.075 
-4.7 3.2 30.9 
-5.1 3.2 30.925 
-5.5 3.2 31 
-5.9 3.2 30.9 
-6.3 3.2 30.9 
-6.7 3.2 30.925 
-7.1 3.2 30.9 
-7.5 3.2 30.875 
-7.9 3.2 30.875 
-8.3 3.2 30.775 
-8.7 3.2 30.675 
-9.1 3.2 30.6 
-9.5 3.2 30.575 
-9.9 3.2 30.6 
-10.3 3.2 30.55 
-10.7 3.2 30.625 
-11.1 3.2 30.825 
-11.5 3.2 30.925 
-11.9 3.2 30.95 
-12.3 3.2 30.925 
-12.7 3.2 30.9 
-13.1 3.2 30.825 
-13.5 3.2 30.825 
-13.9 3.2 30.8 
-14.3 3.2 30.75 
-14.7 3.2 30.85 
-15.1 3.2 30.8 
-15.5 3.2 30.575 
-15.9 3.2 30.425 
-16.3 3.2 30.4 
-16.7 3.2 30.175 
-17.1 3.2 30.025 
-17.5 3.2 29.975 
-17.9 3.2 29.65 
-18.3 3.2 29.55 
-18.7 3.2 29.4 
-19.1 3.2 29.15 
-19.5 3.2 28.85 
-19.9 3.2 28.625 
-20.3 3.2 28.425 
-20.7 3.2 28.025 
-21.1 3.2 27.775 
-21.5 3.2 27.475 
-21.9 3.2 27.05 
-22.3 3.2 26.725 
-22.7 3.2 26.25 
-23.1 3.2 25.9 
-23.5 3.2 25.4 
-23.9 3.2 24.825 
-24.3 3.2 24.225 
-24.7 3.2 23.65 
-25.1 3.2 23.125 
-25.5 3.2 22.475 
-25.9 3.2 21.6 
-26.3 3.2 20.975 
-26.7 3.2 19.975 
-27.1 3.2 18.95 
-27.5 3.2 17.575 
-27.9 3.2 16.4 
--23.7 3.6 -20.725 
--23.3 3.6 -20.775 
--22.9 3.6 -20.6 
--22.5 3.6 -19.7 
--22.1 3.6 -19.35 
--21.7 3.6 -18.85 
--21.3 3.6 -18.425 
--20.9 3.6 -18.2 
--20.5 3.6 -18.1 
--20.1 3.6 -17.8 
--19.7 3.6 -17.6 
--18.5 3.6 13.725 
--18.1 3.6 15.175 
--17.7 3.6 16.4 
--17.3 3.6 17.6 
--16.9 3.6 18.525 
--16.5 3.6 19.475 
--16.1 3.6 20.275 
--15.7 3.6 20.975 
--15.3 3.6 21.775 
--14.9 3.6 22.3 
--14.5 3.6 22.925 
--14.1 3.6 23.55 
--13.7 3.6 24.125 
--13.3 3.6 24.675 
--12.9 3.6 25.175 
--12.5 3.6 25.675 
--12.1 3.6 26.225 
--11.7 3.6 26.7 
--11.3 3.6 27.125 
--10.9 3.6 27.45 
--10.5 3.6 27.85 
--10.1 3.6 28.275 
--9.7 3.6 28.65 
--9.3 3.6 28.925 
--8.9 3.6 29.2 
--8.5 3.6 29.475 
--8.1 3.6 29.725 
--7.7 3.6 30.025 
--7.3 3.6 30.25 
--6.9 3.6 30.4 
--6.5 3.6 30.525 
--6.1 3.6 30.725 
--5.7 3.6 30.85 
--5.3 3.6 31 
--4.9 3.6 31.175 
--4.5 3.6 31.225 
--4.1 3.6 31.3 
--3.7 3.6 31.4 
--3.3 3.6 31.375 
--2.9 3.6 31.4 
--2.5 3.6 31.5 
--2.1 3.6 31.5 
--1.7 3.6 31.45 
--1.3 3.6 31.475 
--0.899999 3.6 31.3 
--0.499999 3.6 31.025 
--0.0999994 3.6 31.05 
-0.300001 3.6 31.15 
-0.700001 3.6 31.05 
-1.1 3.6 31.075 
-1.5 3.6 31.05 
-1.9 3.6 30.8 
-2.3 3.6 30.825 
-2.7 3.6 31.05 
-3.1 3.6 31.1 
-3.5 3.6 30.95 
-3.9 3.6 31.05 
-4.3 3.6 31.1 
-4.7 3.6 30.95 
-5.1 3.6 30.95 
-5.5 3.6 30.95 
-5.9 3.6 30.75 
-6.3 3.6 30.725 
-6.7 3.6 30.875 
-7.1 3.6 30.9 
-7.5 3.6 30.825 
-7.9 3.6 30.85 
-8.3 3.6 30.85 
-8.7 3.6 30.8 
-9.1 3.6 30.8 
-9.5 3.6 30.8 
-9.9 3.6 30.7 
-10.3 3.6 30.6 
-10.7 3.6 30.575 
-11.1 3.6 30.625 
-11.5 3.6 30.775 
-11.9 3.6 30.875 
-12.3 3.6 30.925 
-12.7 3.6 31 
-13.1 3.6 31.025 
-13.5 3.6 31.05 
-13.9 3.6 30.95 
-14.3 3.6 30.8 
-14.7 3.6 30.775 
-15.1 3.6 30.775 
-15.5 3.6 30.65 
-15.9 3.6 30.525 
-16.3 3.6 30.425 
-16.7 3.6 30.3 
-17.1 3.6 30.1 
-17.5 3.6 29.95 
-17.9 3.6 29.825 
-18.3 3.6 29.7 
-18.7 3.6 29.525 
-19.1 3.6 29.3 
-19.5 3.6 29 
-19.9 3.6 28.7 
-20.3 3.6 28.525 
-20.7 3.6 28.375 
-21.1 3.6 28.075 
-21.5 3.6 27.65 
-21.9 3.6 27.275 
-22.3 3.6 27.05 
-22.7 3.6 26.725 
-23.1 3.6 25.975 
-23.5 3.6 25.525 
-23.9 3.6 25 
-24.3 3.6 24.55 
-24.7 3.6 24.05 
-25.1 3.6 23.375 
-25.5 3.6 22.8 
-25.9 3.6 22.125 
-26.3 3.6 21.275 
-26.7 3.6 20.15 
-27.1 3.6 19.35 
-27.5 3.6 17.925 
-27.9 3.6 16.85 
--22.9 4 -20.75 
--22.5 4 -20.3 
--22.1 4 -19.625 
--21.7 4 -19.075 
--21.3 4 -18.6 
--20.9 4 -18.225 
--20.5 4 -18 
--20.1 4 -17.725 
--18.5 4 14.35 
--18.1 4 15.875 
--17.7 4 16.925 
--17.3 4 18.125 
--16.9 4 18.975 
--16.5 4 19.7 
--16.1 4 20.5 
--15.7 4 21.1 
--15.3 4 22.05 
--14.9 4 22.775 
--14.5 4 23.25 
--14.1 4 23.85 
--13.7 4 24.4 
--13.3 4 24.925 
--12.9 4 25.425 
--12.5 4 25.95 
--12.1 4 26.5 
--11.7 4 26.95 
--11.3 4 27.4 
--10.9 4 27.725 
--10.5 4 28.1 
--10.1 4 28.425 
--9.7 4 28.8 
--9.3 4 29.125 
--8.9 4 29.35 
--8.5 4 29.65 
--8.1 4 29.925 
--7.7 4 30.15 
--7.3 4 30.375 
--6.9 4 30.575 
--6.5 4 30.675 
--6.1 4 30.775 
--5.7 4 30.975 
--5.3 4 31.15 
--4.9 4 31.25 
--4.5 4 31.3 
--4.1 4 31.35 
--3.7 4 31.425 
--3.3 4 31.375 
--2.9 4 31.5 
--2.5 4 31.6 
--2.1 4 31.525 
--1.7 4 31.375 
--1.3 4 31.15 
--0.899999 4 31 
--0.499999 4 30.925 
--0.0999994 4 30.9 
-0.300001 4 31.05 
-0.700001 4 31.075 
-1.1 4 31.025 
-1.5 4 31.075 
-1.9 4 31.05 
-2.3 4 31 
-2.7 4 31.05 
-3.1 4 31.175 
-3.5 4 30.975 
-3.9 4 30.925 
-4.3 4 31 
-4.7 4 30.875 
-5.1 4 30.8 
-5.5 4 30.825 
-5.9 4 30.8 
-6.3 4 30.775 
-6.7 4 30.95 
-7.1 4 30.95 
-7.5 4 30.9 
-7.9 4 30.875 
-8.3 4 30.875 
-8.7 4 30.925 
-9.1 4 30.85 
-9.5 4 30.625 
-9.9 4 30.6 
-10.3 4 30.6 
-10.7 4 30.675 
-11.1 4 30.675 
-11.5 4 30.55 
-11.9 4 30.6 
-12.3 4 30.9 
-12.7 4 30.975 
-13.1 4 31 
-13.5 4 31.025 
-13.9 4 31.025 
-14.3 4 30.9 
-14.7 4 30.8 
-15.1 4 30.675 
-15.5 4 30.7 
-15.9 4 30.675 
-16.3 4 30.5 
-16.7 4 30.3 
-17.1 4 30.25 
-17.5 4 30.15 
-17.9 4 29.9 
-18.3 4 29.75 
-18.7 4 29.675 
-19.1 4 29.425 
-19.5 4 29.15 
-19.9 4 28.875 
-20.3 4 28.65 
-20.7 4 28.525 
-21.1 4 28.3 
-21.5 4 27.9 
-21.9 4 27.45 
-22.3 4 27.075 
-22.7 4 26.725 
-23.1 4 26.225 
-23.5 4 25.775 
-23.9 4 25.3 
-24.3 4 24.825 
-24.7 4 24.375 
-25.1 4 23.725 
-25.5 4 23.175 
-25.9 4 22.45 
-26.3 4 21.4 
-26.7 4 20.775 
-27.1 4 19.725 
-27.5 4 18.6 
-27.9 4 17.25 
-28.3 4 15.775 
--22.9 4.4 -19.225 
--22.5 4.4 -20.35 
--22.1 4.4 -19.775 
--21.7 4.4 -19.375 
--21.3 4.4 -18.925 
--20.9 4.4 -18.475 
--20.5 4.4 -18.025 
--20.1 4.4 -17.775 
--18.9 4.4 13.55 
--18.5 4.4 15.025 
--18.1 4.4 16.3 
--17.7 4.4 17.575 
--17.3 4.4 18.5 
--16.9 4.4 19.3 
--16.5 4.4 20.175 
--16.1 4.4 21.05 
--15.7 4.4 21.8 
--15.3 4.4 22.375 
--14.9 4.4 22.9 
--14.5 4.4 23.525 
--14.1 4.4 24.075 
--13.7 4.4 24.65 
--13.3 4.4 25.25 
--12.9 4.4 25.75 
--12.5 4.4 26.2 
--12.1 4.4 26.7 
--11.7 4.4 27.15 
--11.3 4.4 27.55 
--10.9 4.4 28 
--10.5 4.4 28.35 
--10.1 4.4 28.6 
--9.7 4.4 28.925 
--9.3 4.4 29.275 
--8.9 4.4 29.575 
--8.5 4.4 29.775 
--8.1 4.4 29.975 
--7.7 4.4 30.225 
--7.3 4.4 30.4 
--6.9 4.4 30.65 
--6.5 4.4 30.775 
--6.1 4.4 30.85 
--5.7 4.4 31.075 
--5.3 4.4 31.2 
--4.9 4.4 31.275 
--4.5 4.4 31.4 
--4.1 4.4 31.425 
--3.7 4.4 31.55 
--3.3 4.4 31.525 
--2.9 4.4 31.45 
--2.5 4.4 31.425 
--2.1 4.4 31.325 
--1.7 4.4 31.25 
--1.3 4.4 31.25 
--0.899999 4.4 31.075 
--0.499999 4.4 30.975 
--0.0999994 4.4 31.075 
-0.300001 4.4 31.175 
-0.700001 4.4 31.25 
-1.1 4.4 31.175 
-1.5 4.4 31.2 
-1.9 4.4 31.125 
-2.3 4.4 30.925 
-2.7 4.4 30.85 
-3.1 4.4 30.9 
-3.5 4.4 30.925 
-3.9 4.4 31.05 
-4.3 4.4 31.075 
-4.7 4.4 30.925 
-5.1 4.4 30.775 
-5.5 4.4 30.8 
-5.9 4.4 30.875 
-6.3 4.4 30.925 
-6.7 4.4 30.9 
-7.1 4.4 30.825 
-7.5 4.4 30.8 
-7.9 4.4 30.8 
-8.3 4.4 30.775 
-8.7 4.4 30.825 
-9.1 4.4 30.85 
-9.5 4.4 30.825 
-9.9 4.4 30.725 
-10.3 4.4 30.625 
-10.7 4.4 30.75 
-11.1 4.4 30.775 
-11.5 4.4 30.6 
-11.9 4.4 30.575 
-12.3 4.4 30.675 
-12.7 4.4 30.875 
-13.1 4.4 31 
-13.5 4.4 30.975 
-13.9 4.4 30.95 
-14.3 4.4 30.85 
-14.7 4.4 30.75 
-15.1 4.4 30.825 
-15.5 4.4 30.85 
-15.9 4.4 30.8 
-16.3 4.4 30.675 
-16.7 4.4 30.475 
-17.1 4.4 30.3 
-17.5 4.4 30.225 
-17.9 4.4 30 
-18.3 4.4 29.825 
-18.7 4.4 29.65 
-19.1 4.4 29.525 
-19.5 4.4 29.35 
-19.9 4.4 29.05 
-20.3 4.4 28.75 
-20.7 4.4 28.45 
-21.1 4.4 28.15 
-21.5 4.4 28 
-21.9 4.4 27.75 
-22.3 4.4 27.35 
-22.7 4.4 26.95 
-23.1 4.4 26.425 
-23.5 4.4 25.95 
-23.9 4.4 25.55 
-24.3 4.4 25.1 
-24.7 4.4 24.6 
-25.1 4.4 24 
-25.5 4.4 23.325 
-25.9 4.4 22.775 
-26.3 4.4 22.05 
-26.7 4.4 20.95 
-27.1 4.4 20.15 
-27.5 4.4 19.15 
-27.9 4.4 17.85 
-28.3 4.4 16.375 
--22.9 4.8 -18.85 
--22.5 4.8 -19.5 
--22.1 4.8 -20.25 
--21.7 4.8 -19.475 
--21.3 4.8 -18.9 
--20.9 4.8 -18.4 
--20.5 4.8 -17.95 
--20.1 4.8 -17.75 
--19.3 4.8 12.7 
--18.9 4.8 14.025 
--18.5 4.8 15.575 
--18.1 4.8 16.675 
--17.7 4.8 17.95 
--17.3 4.8 19.025 
--16.9 4.8 19.65 
--16.5 4.8 20.55 
--16.1 4.8 21.275 
--15.7 4.8 21.9 
--15.3 4.8 22.55 
--14.9 4.8 23.25 
--14.5 4.8 23.775 
--14.1 4.8 24.375 
--13.7 4.8 24.9 
--13.3 4.8 25.45 
--12.9 4.8 25.9 
--12.5 4.8 26.425 
--12.1 4.8 26.95 
--11.7 4.8 27.425 
--11.3 4.8 27.8 
--10.9 4.8 28.2 
--10.5 4.8 28.575 
--10.1 4.8 28.85 
--9.7 4.8 29.1 
--9.3 4.8 29.5 
--8.9 4.8 29.775 
--8.5 4.8 30.025 
--8.1 4.8 30.275 
--7.7 4.8 30.375 
--7.3 4.8 30.525 
--6.9 4.8 30.725 
--6.5 4.8 30.95 
--6.1 4.8 31.175 
--5.7 4.8 31.3 
--5.3 4.8 31.375 
--4.9 4.8 31.325 
--4.5 4.8 31.425 
--4.1 4.8 31.525 
--3.7 4.8 31.575 
--3.3 4.8 31.6 
--2.9 4.8 31.425 
--2.5 4.8 31.3 
--2.1 4.8 31.2 
--1.7 4.8 31.175 
--1.3 4.8 31.15 
--0.899999 4.8 31.175 
--0.499999 4.8 31.075 
--0.0999994 4.8 30.975 
-0.300001 4.8 31.1 
-0.700001 4.8 31.175 
-1.1 4.8 30.975 
-1.5 4.8 31.075 
-1.9 4.8 31.15 
-2.3 4.8 31.075 
-2.7 4.8 30.95 
-3.1 4.8 30.9 
-3.5 4.8 30.875 
-3.9 4.8 30.925 
-4.3 4.8 31.1 
-4.7 4.8 31.075 
-5.1 4.8 30.9 
-5.5 4.8 30.875 
-5.9 4.8 30.875 
-6.3 4.8 31 
-6.7 4.8 31 
-7.1 4.8 30.825 
-7.5 4.8 30.7 
-7.9 4.8 30.725 
-8.3 4.8 30.675 
-8.7 4.8 30.75 
-9.1 4.8 30.85 
-9.5 4.8 30.725 
-9.9 4.8 30.625 
-10.3 4.8 30.725 
-10.7 4.8 30.725 
-11.1 4.8 30.675 
-11.5 4.8 30.575 
-11.9 4.8 30.675 
-12.3 4.8 30.8 
-12.7 4.8 30.65 
-13.1 4.8 30.7 
-13.5 4.8 30.925 
-13.9 4.8 30.9 
-14.3 4.8 30.925 
-14.7 4.8 30.875 
-15.1 4.8 30.9 
-15.5 4.8 30.9 
-15.9 4.8 30.8 
-16.3 4.8 30.725 
-16.7 4.8 30.625 
-17.1 4.8 30.45 
-17.5 4.8 30.35 
-17.9 4.8 30.1 
-18.3 4.8 29.9 
-18.7 4.8 29.775 
-19.1 4.8 29.575 
-19.5 4.8 29.375 
-19.9 4.8 29.2 
-20.3 4.8 28.975 
-20.7 4.8 28.7 
-21.1 4.8 28.375 
-21.5 4.8 28.075 
-21.9 4.8 27.775 
-22.3 4.8 27.425 
-22.7 4.8 27.075 
-23.1 4.8 26.675 
-23.5 4.8 26.175 
-23.9 4.8 25.7 
-24.3 4.8 25.3 
-24.7 4.8 24.8 
-25.1 4.8 24.1 
-25.5 4.8 23.5 
-25.9 4.8 22.9 
-26.3 4.8 22.175 
-26.7 4.8 21.35 
-27.1 4.8 20.3 
-27.5 4.8 19.55 
-27.9 4.8 18.25 
-28.3 4.8 16.65 
--22.5 5.2 -20.425 
--22.1 5.2 -20.475 
--21.7 5.2 -19.625 
--21.3 5.2 -18.925 
--20.9 5.2 -18.45 
--20.5 5.2 -18.15 
--19.3 5.2 13.125 
--18.9 5.2 14.6 
--18.5 5.2 16.175 
--18.1 5.2 17.15 
--17.7 5.2 18.45 
--17.3 5.2 19.35 
--16.9 5.2 20.075 
--16.5 5.2 20.925 
--16.1 5.2 21.55 
--15.7 5.2 22.375 
--15.3 5.2 22.9 
--14.9 5.2 23.45 
--14.5 5.2 24.025 
--14.1 5.2 24.65 
--13.7 5.2 25.225 
--13.3 5.2 25.725 
--12.9 5.2 26.2 
--12.5 5.2 26.65 
--12.1 5.2 27.1 
--11.7 5.2 27.55 
--11.3 5.2 27.975 
--10.9 5.2 28.375 
--10.5 5.2 28.75 
--10.1 5.2 29.05 
--9.7 5.2 29.275 
--9.3 5.2 29.525 
--8.9 5.2 29.8 
--8.5 5.2 30.05 
--8.1 5.2 30.25 
--7.7 5.2 30.5 
--7.3 5.2 30.75 
--6.9 5.2 30.925 
--6.5 5.2 31.025 
--6.1 5.2 31.175 
--5.7 5.2 31.375 
--5.3 5.2 31.5 
--4.9 5.2 31.5 
--4.5 5.2 31.475 
--4.1 5.2 31.425 
--3.7 5.2 31.425 
--3.3 5.2 31.375 
--2.9 5.2 31.3 
--2.5 5.2 31.325 
--2.1 5.2 31.25 
--1.7 5.2 31.05 
--1.3 5.2 31.175 
--0.899999 5.2 31.275 
--0.499999 5.2 31.125 
--0.0999994 5.2 31.05 
-0.300001 5.2 31.125 
-0.700001 5.2 31.1 
-1.1 5.2 31.025 
-1.5 5.2 31.075 
-1.9 5.2 31.225 
-2.3 5.2 31.125 
-2.7 5.2 30.875 
-3.1 5.2 30.65 
-3.5 5.2 30.875 
-3.9 5.2 31.125 
-4.3 5.2 31.125 
-4.7 5.2 31.05 
-5.1 5.2 30.825 
-5.5 5.2 30.725 
-5.9 5.2 30.75 
-6.3 5.2 30.925 
-6.7 5.2 31 
-7.1 5.2 30.875 
-7.5 5.2 30.75 
-7.9 5.2 30.75 
-8.3 5.2 30.775 
-8.7 5.2 30.9 
-9.1 5.2 30.825 
-9.5 5.2 30.575 
-9.9 5.2 30.55 
-10.3 5.2 30.6 
-10.7 5.2 30.6 
-11.1 5.2 30.6 
-11.5 5.2 30.6 
-11.9 5.2 30.55 
-12.3 5.2 30.5 
-12.7 5.2 30.5 
-13.1 5.2 30.575 
-13.5 5.2 30.65 
-13.9 5.2 30.85 
-14.3 5.2 30.95 
-14.7 5.2 30.9 
-15.1 5.2 30.875 
-15.5 5.2 30.95 
-15.9 5.2 30.95 
-16.3 5.2 30.7 
-16.7 5.2 30.55 
-17.1 5.2 30.55 
-17.5 5.2 30.5 
-17.9 5.2 30.25 
-18.3 5.2 30 
-18.7 5.2 29.925 
-19.1 5.2 29.875 
-19.5 5.2 29.575 
-19.9 5.2 29.275 
-20.3 5.2 29 
-20.7 5.2 28.75 
-21.1 5.2 28.55 
-21.5 5.2 28.3 
-21.9 5.2 27.95 
-22.3 5.2 27.55 
-22.7 5.2 27.175 
-23.1 5.2 26.75 
-23.5 5.2 26.325 
-23.9 5.2 25.925 
-24.3 5.2 25.425 
-24.7 5.2 25 
-25.1 5.2 24.475 
-25.5 5.2 23.85 
-25.9 5.2 23.225 
-26.3 5.2 22.6 
-26.7 5.2 21.675 
-27.1 5.2 20.675 
-27.5 5.2 19.65 
-27.9 5.2 18.6 
-28.3 5.2 17.45 
--22.5 5.6 -20.75 
--22.1 5.6 -20.45 
--21.7 5.6 -19.875 
--21.3 5.6 -19 
--20.9 5.6 -18.35 
--20.5 5.6 -18.025 
--19.3 5.6 13.55 
--18.9 5.6 15 
--18.5 5.6 16.5 
--18.1 5.6 17.7 
--17.7 5.6 18.75 
--17.3 5.6 19.65 
--16.9 5.6 20.5 
--16.5 5.6 21.225 
--16.1 5.6 21.825 
--15.7 5.6 22.55 
--15.3 5.6 23.2 
--14.9 5.6 23.725 
--14.5 5.6 24.325 
--14.1 5.6 24.9 
--13.7 5.6 25.45 
--13.3 5.6 25.925 
--12.9 5.6 26.425 
--12.5 5.6 26.925 
--12.1 5.6 27.3 
--11.7 5.6 27.775 
--11.3 5.6 28.225 
--10.9 5.6 28.55 
--10.5 5.6 28.775 
--10.1 5.6 29.075 
--9.7 5.6 29.375 
--9.3 5.6 29.725 
--8.9 5.6 30 
--8.5 5.6 30.175 
--8.1 5.6 30.45 
--7.7 5.6 30.7 
--7.3 5.6 30.925 
--6.9 5.6 31.05 
--6.5 5.6 31.1 
--6.1 5.6 31.2 
--5.7 5.6 31.375 
--5.3 5.6 31.5 
--4.9 5.6 31.55 
--4.5 5.6 31.625 
--4.1 5.6 31.55 
--3.7 5.6 31.375 
--3.3 5.6 31.225 
--2.9 5.6 31.15 
--2.5 5.6 31.175 
--2.1 5.6 31.225 
--1.7 5.6 31.2 
--1.3 5.6 31.15 
--0.899999 5.6 31.3 
--0.499999 5.6 31.25 
--0.0999994 5.6 31.075 
-0.300001 5.6 31.075 
-0.700001 5.6 31.05 
-1.1 5.6 30.975 
-1.5 5.6 31.1 
-1.9 5.6 31.25 
-2.3 5.6 31.225 
-2.7 5.6 31.05 
-3.1 5.6 30.95 
-3.5 5.6 30.9 
-3.9 5.6 30.95 
-4.3 5.6 31.05 
-4.7 5.6 31.025 
-5.1 5.6 30.925 
-5.5 5.6 30.95 
-5.9 5.6 31 
-6.3 5.6 31.025 
-6.7 5.6 30.95 
-7.1 5.6 30.725 
-7.5 5.6 30.6 
-7.9 5.6 30.65 
-8.3 5.6 30.85 
-8.7 5.6 31 
-9.1 5.6 30.95 
-9.5 5.6 30.675 
-9.9 5.6 30.5 
-10.3 5.6 30.475 
-10.7 5.6 30.475 
-11.1 5.6 30.575 
-11.5 5.6 30.7 
-11.9 5.6 30.6 
-12.3 5.6 30.5 
-12.7 5.6 30.425 
-13.1 5.6 30.575 
-13.5 5.6 30.65 
-13.9 5.6 30.625 
-14.3 5.6 30.875 
-14.7 5.6 30.975 
-15.1 5.6 30.9 
-15.5 5.6 30.9 
-15.9 5.6 30.85 
-16.3 5.6 30.725 
-16.7 5.6 30.675 
-17.1 5.6 30.625 
-17.5 5.6 30.525 
-17.9 5.6 30.325 
-18.3 5.6 30.125 
-18.7 5.6 29.95 
-19.1 5.6 29.8 
-19.5 5.6 29.75 
-19.9 5.6 29.475 
-20.3 5.6 29.125 
-20.7 5.6 28.95 
-21.1 5.6 28.65 
-21.5 5.6 28.35 
-21.9 5.6 28 
-22.3 5.6 27.65 
-22.7 5.6 27.275 
-23.1 5.6 26.95 
-23.5 5.6 26.625 
-23.9 5.6 26.225 
-24.3 5.6 25.775 
-24.7 5.6 25.2 
-25.1 5.6 24.6 
-25.5 5.6 23.95 
-25.9 5.6 23.3 
-26.3 5.6 22.75 
-26.7 5.6 21.95 
-27.1 5.6 21.05 
-27.5 5.6 20.175 
-27.9 5.6 18.825 
-28.3 5.6 17.775 
--22.1 6 -20.225 
--21.7 6 -19.975 
--21.3 6 -19.2 
--20.9 6 -18.675 
--20.5 6 -18.3 
--19.3 6 14.175 
--18.9 6 15.6 
--18.5 6 16.9 
--18.1 6 18.175 
--17.7 6 19.05 
--17.3 6 19.925 
--16.9 6 20.775 
--16.5 6 21.5 
--16.1 6 22.25 
--15.7 6 22.975 
--15.3 6 23.475 
--14.9 6 24 
--14.5 6 24.65 
--14.1 6 25.15 
--13.7 6 25.65 
--13.3 6 26.225 
--12.9 6 26.7 
--12.5 6 27.2 
--12.1 6 27.65 
--11.7 6 28.025 
--11.3 6 28.35 
--10.9 6 28.65 
--10.5 6 29 
--10.1 6 29.3 
--9.7 6 29.5 
--9.3 6 29.85 
--8.9 6 30.05 
--8.5 6 30.275 
--8.1 6 30.575 
--7.7 6 30.775 
--7.3 6 30.975 
--6.9 6 31.1 
--6.5 6 31.275 
--6.1 6 31.45 
--5.7 6 31.5 
--5.3 6 31.525 
--4.9 6 31.525 
--4.5 6 31.475 
--4.1 6 31.325 
--3.7 6 31.175 
--3.3 6 31.075 
--2.9 6 31.125 
--2.5 6 31.2 
--2.1 6 31.175 
--1.7 6 31.2 
--1.3 6 31.15 
--0.899999 6 31.125 
--0.499999 6 31.35 
--0.0999994 6 31.375 
-0.300001 6 31.125 
-0.700001 6 30.95 
-1.1 6 30.925 
-1.5 6 30.975 
-1.9 6 31.1 
-2.3 6 31.025 
-2.7 6 30.925 
-3.1 6 30.95 
-3.5 6 30.975 
-3.9 6 31.05 
-4.3 6 31.1 
-4.7 6 31.075 
-5.1 6 30.975 
-5.5 6 30.75 
-5.9 6 30.8 
-6.3 6 31.15 
-6.7 6 31.15 
-7.1 6 30.9 
-7.5 6 30.675 
-7.9 6 30.725 
-8.3 6 30.975 
-8.7 6 30.975 
-9.1 6 30.775 
-9.5 6 30.675 
-9.9 6 30.7 
-10.3 6 30.725 
-10.7 6 30.675 
-11.1 6 30.725 
-11.5 6 30.675 
-11.9 6 30.575 
-12.3 6 30.45 
-12.7 6 30.45 
-13.1 6 30.6 
-13.5 6 30.65 
-13.9 6 30.65 
-14.3 6 30.6 
-14.7 6 30.725 
-15.1 6 30.875 
-15.5 6 30.875 
-15.9 6 30.875 
-16.3 6 30.875 
-16.7 6 30.9 
-17.1 6 30.75 
-17.5 6 30.55 
-17.9 6 30.425 
-18.3 6 30.2 
-18.7 6 29.95 
-19.1 6 29.775 
-19.5 6 29.575 
-19.9 6 29.35 
-20.3 6 29.15 
-20.7 6 28.975 
-21.1 6 28.775 
-21.5 6 28.45 
-21.9 6 28.075 
-22.3 6 27.725 
-22.7 6 27.35 
-23.1 6 27.025 
-23.5 6 26.625 
-23.9 6 26.2 
-24.3 6 25.8 
-24.7 6 25.425 
-25.1 6 24.925 
-25.5 6 24.375 
-25.9 6 23.65 
-26.3 6 22.95 
-26.7 6 22.375 
-27.1 6 21.4 
-27.5 6 20.4 
-27.9 6 19.2 
-28.3 6 18.075 
-28.7 6 16.675 
--22.1 6.4 -19.475 
--21.7 6.4 -19.775 
--21.3 6.4 -18.75 
--20.9 6.4 -18.475 
--19.3 6.4 14.55 
--18.9 6.4 16.1 
--18.5 6.4 17.4 
--18.1 6.4 18.425 
--17.7 6.4 19.35 
--17.3 6.4 20.3 
--16.9 6.4 21.1 
--16.5 6.4 21.925 
--16.1 6.4 22.625 
--15.7 6.4 23.125 
--15.3 6.4 23.7 
--14.9 6.4 24.25 
--14.5 6.4 24.875 
--14.1 6.4 25.35 
--13.7 6.4 25.825 
--13.3 6.4 26.475 
--12.9 6.4 26.9 
--12.5 6.4 27.35 
--12.1 6.4 27.75 
--11.7 6.4 28.15 
--11.3 6.4 28.5 
--10.9 6.4 28.875 
--10.5 6.4 29.125 
--10.1 6.4 29.325 
--9.7 6.4 29.675 
--9.3 6.4 29.975 
--8.9 6.4 30.225 
--8.5 6.4 30.525 
--8.1 6.4 30.725 
--7.7 6.4 30.875 
--7.3 6.4 31.1 
--6.9 6.4 31.225 
--6.5 6.4 31.3 
--6.1 6.4 31.4 
--5.7 6.4 31.425 
--5.3 6.4 31.375 
--4.9 6.4 31.4 
--4.5 6.4 31.375 
--4.1 6.4 31.375 
--3.7 6.4 31.35 
--3.3 6.4 31.225 
--2.9 6.4 31.125 
--2.5 6.4 31.05 
--2.1 6.4 31.025 
--1.7 6.4 31.125 
--1.3 6.4 31.075 
--0.899999 6.4 30.95 
--0.499999 6.4 31.175 
--0.0999994 6.4 31.375 
-0.300001 6.4 31.25 
-0.700001 6.4 31.075 
-1.1 6.4 31.05 
-1.5 6.4 31.075 
-1.9 6.4 31.175 
-2.3 6.4 31.325 
-2.7 6.4 31.15 
-3.1 6.4 31.025 
-3.5 6.4 31.05 
-3.9 6.4 31.125 
-4.3 6.4 31.25 
-4.7 6.4 31.2 
-5.1 6.4 31.025 
-5.5 6.4 30.85 
-5.9 6.4 30.925 
-6.3 6.4 31.025 
-6.7 6.4 30.975 
-7.1 6.4 30.825 
-7.5 6.4 30.8 
-7.9 6.4 30.875 
-8.3 6.4 30.95 
-8.7 6.4 30.975 
-9.1 6.4 30.825 
-9.5 6.4 30.7 
-9.9 6.4 30.625 
-10.3 6.4 30.65 
-10.7 6.4 30.75 
-11.1 6.4 30.725 
-11.5 6.4 30.6 
-11.9 6.4 30.575 
-12.3 6.4 30.575 
-12.7 6.4 30.575 
-13.1 6.4 30.5 
-13.5 6.4 30.45 
-13.9 6.4 30.45 
-14.3 6.4 30.525 
-14.7 6.4 30.65 
-15.1 6.4 30.875 
-15.5 6.4 30.925 
-15.9 6.4 30.875 
-16.3 6.4 30.975 
-16.7 6.4 30.9 
-17.1 6.4 30.75 
-17.5 6.4 30.65 
-17.9 6.4 30.475 
-18.3 6.4 30.375 
-18.7 6.4 30.175 
-19.1 6.4 30 
-19.5 6.4 29.825 
-19.9 6.4 29.65 
-20.3 6.4 29.4 
-20.7 6.4 29.125 
-21.1 6.4 28.8 
-21.5 6.4 28.525 
-21.9 6.4 28.175 
-22.3 6.4 27.85 
-22.7 6.4 27.575 
-23.1 6.4 27.175 
-23.5 6.4 26.775 
-23.9 6.4 26.4 
-24.3 6.4 25.975 
-24.7 6.4 25.475 
-25.1 6.4 24.925 
-25.5 6.4 24.4 
-25.9 6.4 23.775 
-26.3 6.4 23.25 
-26.7 6.4 22.525 
-27.1 6.4 21.625 
-27.5 6.4 20.625 
-27.9 6.4 19.625 
-28.3 6.4 18.4 
-28.7 6.4 16.95 
--22.1 6.8 -20.3 
--21.7 6.8 -19.425 
--21.3 6.8 -18.8 
--20.9 6.8 -18.425 
--19.3 6.8 14.975 
--18.9 6.8 16.3 
--18.5 6.8 17.675 
--18.1 6.8 18.8 
--17.7 6.8 19.825 
--17.3 6.8 20.65 
--16.9 6.8 21.375 
--16.5 6.8 22.1 
--16.1 6.8 22.8 
--15.7 6.8 23.45 
--15.3 6.8 24.05 
--14.9 6.8 24.6 
--14.5 6.8 25.15 
--14.1 6.8 25.7 
--13.7 6.8 26.175 
--13.3 6.8 26.675 
--12.9 6.8 27.175 
--12.5 6.8 27.575 
--12.1 6.8 27.975 
--11.7 6.8 28.325 
--11.3 6.8 28.55 
--10.9 6.8 28.85 
--10.5 6.8 29.175 
--10.1 6.8 29.55 
--9.7 6.8 29.925 
--9.3 6.8 30.05 
--8.9 6.8 30.3 
--8.5 6.8 30.55 
--8.1 6.8 30.8 
--7.7 6.8 30.975 
--7.3 6.8 31.225 
--6.9 6.8 31.4 
--6.5 6.8 31.5 
--6.1 6.8 31.6 
--5.7 6.8 31.725 
--5.3 6.8 31.675 
--4.9 6.8 31.375 
--4.5 6.8 31.3 
--4.1 6.8 31.35 
--3.7 6.8 31.325 
--3.3 6.8 31.35 
--2.9 6.8 31.275 
--2.5 6.8 31.25 
--2.1 6.8 31.25 
--1.7 6.8 31.175 
--1.3 6.8 31.125 
--0.899999 6.8 31.075 
--0.499999 6.8 31.25 
--0.0999994 6.8 31.425 
-0.300001 6.8 31.3 
-0.700001 6.8 31.025 
-1.1 6.8 31 
-1.5 6.8 31.125 
-1.9 6.8 31.125 
-2.3 6.8 31.125 
-2.7 6.8 31.125 
-3.1 6.8 31.1 
-3.5 6.8 30.9 
-3.9 6.8 30.875 
-4.3 6.8 31.125 
-4.7 6.8 31.125 
-5.1 6.8 30.975 
-5.5 6.8 30.925 
-5.9 6.8 31 
-6.3 6.8 31.1 
-6.7 6.8 30.95 
-7.1 6.8 30.725 
-7.5 6.8 30.7 
-7.9 6.8 30.925 
-8.3 6.8 30.925 
-8.7 6.8 30.7 
-9.1 6.8 30.65 
-9.5 6.8 30.65 
-9.9 6.8 30.6 
-10.3 6.8 30.775 
-10.7 6.8 30.925 
-11.1 6.8 30.825 
-11.5 6.8 30.7 
-11.9 6.8 30.65 
-12.3 6.8 30.675 
-12.7 6.8 30.625 
-13.1 6.8 30.525 
-13.5 6.8 30.45 
-13.9 6.8 30.525 
-14.3 6.8 30.675 
-14.7 6.8 30.55 
-15.1 6.8 30.45 
-15.5 6.8 30.75 
-15.9 6.8 30.825 
-16.3 6.8 30.825 
-16.7 6.8 30.8 
-17.1 6.8 30.775 
-17.5 6.8 30.7 
-17.9 6.8 30.55 
-18.3 6.8 30.4 
-18.7 6.8 30.225 
-19.1 6.8 29.975 
-19.5 6.8 29.825 
-19.9 6.8 29.725 
-20.3 6.8 29.525 
-20.7 6.8 29.225 
-21.1 6.8 29 
-21.5 6.8 28.675 
-21.9 6.8 28.35 
-22.3 6.8 28.025 
-22.7 6.8 27.675 
-23.1 6.8 27.325 
-23.5 6.8 26.9 
-23.9 6.8 26.525 
-24.3 6.8 26.25 
-24.7 6.8 25.85 
-25.1 6.8 25.25 
-25.5 6.8 24.625 
-25.9 6.8 24.1 
-26.3 6.8 23.5 
-26.7 6.8 22.7 
-27.1 6.8 21.825 
-27.5 6.8 21.075 
-27.9 6.8 20.025 
-28.3 6.8 18.85 
-28.7 6.8 17.375 
--22.1 7.2 -18.325 
--21.7 7.2 -19.55 
--21.3 7.2 -19 
--20.9 7.2 -18.525 
--19.3 7.2 15.65 
--18.9 7.2 16.9 
--18.5 7.2 18.075 
--18.1 7.2 19.225 
--17.7 7.2 20.125 
--17.3 7.2 20.825 
--16.9 7.2 21.7 
--16.5 7.2 22.375 
--16.1 7.2 23.125 
--15.7 7.2 23.7 
--15.3 7.2 24.25 
--14.9 7.2 24.825 
--14.5 7.2 25.3 
--14.1 7.2 25.8 
--13.7 7.2 26.325 
--13.3 7.2 26.8 
--12.9 7.2 27.325 
--12.5 7.2 27.7 
--12.1 7.2 28.1 
--11.7 7.2 28.55 
--11.3 7.2 28.875 
--10.9 7.2 29.1 
--10.5 7.2 29.475 
--10.1 7.2 29.85 
--9.7 7.2 30.05 
--9.3 7.2 30.225 
--8.9 7.2 30.35 
--8.5 7.2 30.6 
--8.1 7.2 30.925 
--7.7 7.2 31.25 
--7.3 7.2 31.4 
--6.9 7.2 31.45 
--6.5 7.2 31.525 
--6.1 7.2 31.55 
--5.7 7.2 31.575 
--5.3 7.2 31.575 
--4.9 7.2 31.4 
--4.5 7.2 31.275 
--4.1 7.2 31.3 
--3.7 7.2 31.25 
--3.3 7.2 31.25 
--2.9 7.2 31.425 
--2.5 7.2 31.375 
--2.1 7.2 31.225 
--1.7 7.2 31.175 
--1.3 7.2 31.15 
--0.899999 7.2 31.125 
--0.499999 7.2 31.2 
--0.0999994 7.2 31.375 
-0.300001 7.2 31.375 
-0.700001 7.2 31.325 
-1.1 7.2 31.15 
-1.5 7.2 30.9 
-1.9 7.2 31 
-2.3 7.2 31.225 
-2.7 7.2 31.25 
-3.1 7.2 31.075 
-3.5 7.2 30.85 
-3.9 7.2 30.875 
-4.3 7.2 31.1 
-4.7 7.2 31.05 
-5.1 7.2 30.95 
-5.5 7.2 30.95 
-5.9 7.2 31.05 
-6.3 7.2 31.1 
-6.7 7.2 31.05 
-7.1 7.2 30.925 
-7.5 7.2 30.825 
-7.9 7.2 30.95 
-8.3 7.2 30.85 
-8.7 7.2 30.65 
-9.1 7.2 30.65 
-9.5 7.2 30.75 
-9.9 7.2 30.85 
-10.3 7.2 31 
-10.7 7.2 30.95 
-11.1 7.2 30.725 
-11.5 7.2 30.575 
-11.9 7.2 30.575 
-12.3 7.2 30.55 
-12.7 7.2 30.575 
-13.1 7.2 30.6 
-13.5 7.2 30.7 
-13.9 7.2 30.675 
-14.3 7.2 30.5 
-14.7 7.2 30.375 
-15.1 7.2 30.275 
-15.5 7.2 30.45 
-15.9 7.2 30.725 
-16.3 7.2 30.825 
-16.7 7.2 30.8 
-17.1 7.2 30.725 
-17.5 7.2 30.625 
-17.9 7.2 30.55 
-18.3 7.2 30.6 
-18.7 7.2 30.425 
-19.1 7.2 30.15 
-19.5 7.2 29.9 
-19.9 7.2 29.6 
-20.3 7.2 29.425 
-20.7 7.2 29.275 
-21.1 7.2 29.075 
-21.5 7.2 28.725 
-21.9 7.2 28.45 
-22.3 7.2 28.1 
-22.7 7.2 27.875 
-23.1 7.2 27.575 
-23.5 7.2 27.1 
-23.9 7.2 26.75 
-24.3 7.2 26.35 
-24.7 7.2 25.775 
-25.1 7.2 25.3 
-25.5 7.2 24.8 
-25.9 7.2 24.2 
-26.3 7.2 23.525 
-26.7 7.2 22.85 
-27.1 7.2 22.25 
-27.5 7.2 21.15 
-27.9 7.2 20.1 
-28.3 7.2 19.175 
-28.7 7.2 17.6 
-29.1 7.2 16.125 
--22.1 7.6 -18.575 
--21.7 7.6 -19.7 
--21.3 7.6 -18.775 
--20.9 7.6 -18.425 
--19.3 7.6 15.9 
--18.9 7.6 17.3 
--18.5 7.6 18.35 
--18.1 7.6 19.575 
--17.7 7.6 20.4 
--17.3 7.6 21.2 
--16.9 7.6 22.05 
--16.5 7.6 22.6 
--16.1 7.6 23.2 
--15.7 7.6 23.825 
--15.3 7.6 24.5 
--14.9 7.6 25.2 
--14.5 7.6 25.7 
--14.1 7.6 26.175 
--13.7 7.6 26.6 
--13.3 7.6 27.1 
--12.9 7.6 27.575 
--12.5 7.6 27.925 
--12.1 7.6 28.3 
--11.7 7.6 28.7 
--11.3 7.6 28.95 
--10.9 7.6 29.25 
--10.5 7.6 29.475 
--10.1 7.6 29.75 
--9.7 7.6 30.125 
--9.3 7.6 30.425 
--8.9 7.6 30.55 
--8.5 7.6 30.8 
--8.1 7.6 31.075 
--7.7 7.6 31.225 
--7.3 7.6 31.325 
--6.9 7.6 31.475 
--6.5 7.6 31.5 
--6.1 7.6 31.55 
--5.7 7.6 31.525 
--5.3 7.6 31.5 
--4.9 7.6 31.275 
--4.5 7.6 31.2 
--4.1 7.6 31.3 
--3.7 7.6 31.225 
--3.3 7.6 31.075 
--2.9 7.6 31.2 
--2.5 7.6 31.4 
--2.1 7.6 31.4 
--1.7 7.6 31.225 
--1.3 7.6 31.1 
--0.899999 7.6 31.05 
--0.499999 7.6 31.025 
--0.0999994 7.6 31.05 
-0.300001 7.6 31.25 
-0.700001 7.6 31.25 
-1.1 7.6 31.175 
-1.5 7.6 31.05 
-1.9 7.6 31.075 
-2.3 7.6 31.275 
-2.7 7.6 31.4 
-3.1 7.6 31.3 
-3.5 7.6 31.1 
-3.9 7.6 31.075 
-4.3 7.6 31.225 
-4.7 7.6 31.225 
-5.1 7.6 31.125 
-5.5 7.6 30.925 
-5.9 7.6 31.05 
-6.3 7.6 31.05 
-6.7 7.6 31 
-7.1 7.6 30.875 
-7.5 7.6 30.9 
-7.9 7.6 30.975 
-8.3 7.6 30.95 
-8.7 7.6 30.725 
-9.1 7.6 30.55 
-9.5 7.6 30.75 
-9.9 7.6 30.925 
-10.3 7.6 30.875 
-10.7 7.6 30.75 
-11.1 7.6 30.675 
-11.5 7.6 30.6 
-11.9 7.6 30.55 
-12.3 7.6 30.575 
-12.7 7.6 30.775 
-13.1 7.6 30.775 
-13.5 7.6 30.6 
-13.9 7.6 30.525 
-14.3 7.6 30.375 
-14.7 7.6 30.35 
-15.1 7.6 30.375 
-15.5 7.6 30.5 
-15.9 7.6 30.775 
-16.3 7.6 30.9 
-16.7 7.6 30.85 
-17.1 7.6 30.75 
-17.5 7.6 30.675 
-17.9 7.6 30.65 
-18.3 7.6 30.575 
-18.7 7.6 30.35 
-19.1 7.6 30.175 
-19.5 7.6 30 
-19.9 7.6 29.75 
-20.3 7.6 29.6 
-20.7 7.6 29.35 
-21.1 7.6 29.075 
-21.5 7.6 28.825 
-21.9 7.6 28.6 
-22.3 7.6 28.325 
-22.7 7.6 27.875 
-23.1 7.6 27.4 
-23.5 7.6 27.075 
-23.9 7.6 26.75 
-24.3 7.6 26.4 
-24.7 7.6 26 
-25.1 7.6 25.525 
-25.5 7.6 24.975 
-25.9 7.6 24.4 
-26.3 7.6 23.825 
-26.7 7.6 23 
-27.1 7.6 22.175 
-27.5 7.6 21.4 
-27.9 7.6 20.5 
-28.3 7.6 19.3 
-28.7 7.6 17.975 
-29.1 7.6 16.375 
--22.1 8 -19.75 
--21.7 8 -19.475 
--21.3 8 -19 
--20.9 8 -18.625 
--19.3 8 16.45 
--18.9 8 17.65 
--18.5 8 18.8 
--18.1 8 19.7 
--17.7 8 20.65 
--17.3 8 21.675 
--16.9 8 22.2 
--16.5 8 22.875 
--16.1 8 23.6 
--15.7 8 24.2 
--15.3 8 24.775 
--14.9 8 25.275 
--14.5 8 25.8 
--14.1 8 26.35 
--13.7 8 26.925 
--13.3 8 27.3 
--12.9 8 27.7 
--12.5 8 28 
--12.1 8 28.375 
--11.7 8 28.8 
--11.3 8 29.125 
--10.9 8 29.4 
--10.5 8 29.8 
--10.1 8 30.05 
--9.7 8 30.25 
--9.3 8 30.425 
--8.9 8 30.65 
--8.5 8 30.925 
--8.1 8 31.15 
--7.7 8 31.275 
--7.3 8 31.375 
--6.9 8 31.575 
--6.5 8 31.65 
--6.1 8 31.55 
--5.7 8 31.375 
--5.3 8 31.3 
--4.9 8 31.25 
--4.5 8 31.225 
--4.1 8 31.25 
--3.7 8 31.325 
--3.3 8 31.25 
--2.9 8 31.175 
--2.5 8 31.3 
--2.1 8 31.425 
--1.7 8 31.35 
--1.3 8 31.175 
--0.899999 8 31.175 
--0.499999 8 31.1 
--0.0999994 8 31.025 
-0.300001 8 31.275 
-0.700001 8 31.45 
-1.1 8 31.35 
-1.5 8 31.225 
-1.9 8 31.1 
-2.3 8 31.125 
-2.7 8 31.3 
-3.1 8 31.25 
-3.5 8 31.05 
-3.9 8 30.975 
-4.3 8 31.175 
-4.7 8 31.25 
-5.1 8 31.05 
-5.5 8 31 
-5.9 8 31.125 
-6.3 8 31.15 
-6.7 8 31.05 
-7.1 8 30.975 
-7.5 8 31.075 
-7.9 8 31.1 
-8.3 8 30.875 
-8.7 8 30.725 
-9.1 8 30.75 
-9.5 8 30.9 
-9.9 8 31.025 
-10.3 8 31 
-10.7 8 30.75 
-11.1 8 30.55 
-11.5 8 30.575 
-11.9 8 30.6 
-12.3 8 30.725 
-12.7 8 30.775 
-13.1 8 30.7 
-13.5 8 30.55 
-13.9 8 30.45 
-14.3 8 30.5 
-14.7 8 30.5 
-15.1 8 30.45 
-15.5 8 30.425 
-15.9 8 30.525 
-16.3 8 30.75 
-16.7 8 30.95 
-17.1 8 30.9 
-17.5 8 30.8 
-17.9 8 30.8 
-18.3 8 30.625 
-18.7 8 30.45 
-19.1 8 30.275 
-19.5 8 29.975 
-19.9 8 29.75 
-20.3 8 29.65 
-20.7 8 29.55 
-21.1 8 29.275 
-21.5 8 28.9 
-21.9 8 28.55 
-22.3 8 28.275 
-22.7 8 28 
-23.1 8 27.7 
-23.5 8 27.2 
-23.9 8 26.825 
-24.3 8 26.575 
-24.7 8 26.075 
-25.1 8 25.55 
-25.5 8 25.125 
-25.9 8 24.625 
-26.3 8 24.05 
-26.7 8 23.6 
-27.1 8 22.525 
-27.5 8 21.85 
-27.9 8 20.775 
-28.3 8 19.575 
-28.7 8 18.25 
-29.1 8 16.825 
--22.5 8.4 -19.825 
--22.1 8.4 -19.975 
--21.7 8.4 -19.475 
--21.3 8.4 -19.075 
--19.7 8.4 15.25 
--19.3 8.4 16.725 
--18.9 8.4 18.125 
--18.5 8.4 19.075 
--18.1 8.4 20.275 
--17.7 8.4 21.1 
--17.3 8.4 21.9 
--16.9 8.4 22.55 
--16.5 8.4 23.375 
--16.1 8.4 23.9 
--15.7 8.4 24.35 
--15.3 8.4 24.9 
--14.9 8.4 25.425 
--14.5 8.4 25.9 
--14.1 8.4 26.4 
--13.7 8.4 26.9 
--13.3 8.4 27.375 
--12.9 8.4 27.85 
--12.5 8.4 28.225 
--12.1 8.4 28.55 
--11.7 8.4 29.025 
--11.3 8.4 29.35 
--10.9 8.4 29.65 
--10.5 8.4 29.925 
--10.1 8.4 30.125 
--9.7 8.4 30.325 
--9.3 8.4 30.575 
--8.9 8.4 30.75 
--8.5 8.4 30.9 
--8.1 8.4 31.175 
--7.7 8.4 31.4 
--7.3 8.4 31.45 
--6.9 8.4 31.575 
--6.5 8.4 31.65 
--6.1 8.4 31.575 
--5.7 8.4 31.45 
--5.3 8.4 31.325 
--4.9 8.4 31.225 
--4.5 8.4 31.25 
--4.1 8.4 31.3 
--3.7 8.4 31.325 
--3.3 8.4 31.15 
--2.9 8.4 30.925 
--2.5 8.4 30.95 
--2.1 8.4 31.2 
--1.7 8.4 31.4 
--1.3 8.4 31.375 
--0.899999 8.4 31.275 
--0.499999 8.4 31.1 
--0.0999994 8.4 31.1 
-0.300001 8.4 31.175 
-0.700001 8.4 31.3 
-1.1 8.4 31.275 
-1.5 8.4 31.15 
-1.9 8.4 31.175 
-2.3 8.4 31.175 
-2.7 8.4 31.325 
-3.1 8.4 31.275 
-3.5 8.4 31.15 
-3.9 8.4 31.125 
-4.3 8.4 31.075 
-4.7 8.4 31.125 
-5.1 8.4 31.2 
-5.5 8.4 31.2 
-5.9 8.4 31.2 
-6.3 8.4 31.075 
-6.7 8.4 30.95 
-7.1 8.4 30.975 
-7.5 8.4 30.975 
-7.9 8.4 30.875 
-8.3 8.4 30.9 
-8.7 8.4 30.85 
-9.1 8.4 30.925 
-9.5 8.4 30.975 
-9.9 8.4 30.85 
-10.3 8.4 30.7 
-10.7 8.4 30.55 
-11.1 8.4 30.55 
-11.5 8.4 30.725 
-11.9 8.4 30.9 
-12.3 8.4 30.825 
-12.7 8.4 30.75 
-13.1 8.4 30.7 
-13.5 8.4 30.5 
-13.9 8.4 30.5 
-14.3 8.4 30.6 
-14.7 8.4 30.475 
-15.1 8.4 30.325 
-15.5 8.4 30.275 
-15.9 8.4 30.25 
-16.3 8.4 30.575 
-16.7 8.4 30.825 
-17.1 8.4 30.875 
-17.5 8.4 30.825 
-17.9 8.4 30.675 
-18.3 8.4 30.575 
-18.7 8.4 30.5 
-19.1 8.4 30.375 
-19.5 8.4 30.125 
-19.9 8.4 29.95 
-20.3 8.4 29.625 
-20.7 8.4 29.35 
-21.1 8.4 29.125 
-21.5 8.4 28.95 
-21.9 8.4 28.725 
-22.3 8.4 28.35 
-22.7 8.4 27.975 
-23.1 8.4 27.7 
-23.5 8.4 27.4 
-23.9 8.4 27.05 
-24.3 8.4 26.5 
-24.7 8.4 26.025 
-25.1 8.4 25.675 
-25.5 8.4 25.125 
-25.9 8.4 24.55 
-26.3 8.4 24.025 
-26.7 8.4 23.35 
-27.1 8.4 22.45 
-27.5 8.4 21.725 
-27.9 8.4 20.95 
-28.3 8.4 19.75 
-28.7 8.4 18.6 
-29.1 8.4 17.075 
--22.1 8.8 -19.675 
--21.7 8.8 -19.5 
--21.3 8.8 -18.925 
--19.7 8.8 15.65 
--19.3 8.8 17.175 
--18.9 8.8 18.4 
--18.5 8.8 19.45 
--18.1 8.8 20.425 
--17.7 8.8 21.175 
--17.3 8.8 21.925 
--16.9 8.8 22.8 
--16.5 8.8 23.475 
--16.1 8.8 24.075 
--15.7 8.8 24.625 
--15.3 8.8 25.15 
--14.9 8.8 25.7 
--14.5 8.8 26.15 
--14.1 8.8 26.65 
--13.7 8.8 27.075 
--13.3 8.8 27.375 
--12.9 8.8 27.825 
--12.5 8.8 28.25 
--12.1 8.8 28.7 
--11.7 8.8 29.125 
--11.3 8.8 29.425 
--10.9 8.8 29.775 
--10.5 8.8 30 
--10.1 8.8 30.2 
--9.7 8.8 30.425 
--9.3 8.8 30.725 
--8.9 8.8 30.975 
--8.5 8.8 31.175 
--8.1 8.8 31.3 
--7.7 8.8 31.4 
--7.3 8.8 31.525 
--6.9 8.8 31.625 
--6.5 8.8 31.6 
--6.1 8.8 31.375 
--5.7 8.8 31.325 
--5.3 8.8 31.425 
--4.9 8.8 31.4 
--4.5 8.8 31.25 
--4.1 8.8 31.15 
--3.7 8.8 31.175 
--3.3 8.8 31.225 
--2.9 8.8 31.175 
--2.5 8.8 31.15 
--2.1 8.8 31.125 
--1.7 8.8 31.175 
--1.3 8.8 31.35 
--0.899999 8.8 31.4 
--0.499999 8.8 31.375 
--0.0999994 8.8 31.175 
-0.300001 8.8 31 
-0.700001 8.8 30.975 
-1.1 8.8 31.2 
-1.5 8.8 31.35 
-1.9 8.8 31.3 
-2.3 8.8 31.2 
-2.7 8.8 31.175 
-3.1 8.8 31.275 
-3.5 8.8 31.2 
-3.9 8.8 31.075 
-4.3 8.8 31.075 
-4.7 8.8 31.15 
-5.1 8.8 31.125 
-5.5 8.8 31.225 
-5.9 8.8 31.25 
-6.3 8.8 31.15 
-6.7 8.8 31.025 
-7.1 8.8 31.025 
-7.5 8.8 31.125 
-7.9 8.8 31.025 
-8.3 8.8 30.8 
-8.7 8.8 30.825 
-9.1 8.8 30.95 
-9.5 8.8 30.925 
-9.9 8.8 30.85 
-10.3 8.8 30.725 
-10.7 8.8 30.675 
-11.1 8.8 30.75 
-11.5 8.8 30.825 
-11.9 8.8 30.9 
-12.3 8.8 30.825 
-12.7 8.8 30.625 
-13.1 8.8 30.5 
-13.5 8.8 30.5 
-13.9 8.8 30.575 
-14.3 8.8 30.45 
-14.7 8.8 30.4 
-15.1 8.8 30.425 
-15.5 8.8 30.425 
-15.9 8.8 30.5 
-16.3 8.8 30.675 
-16.7 8.8 30.85 
-17.1 8.8 30.9 
-17.5 8.8 30.825 
-17.9 8.8 30.8 
-18.3 8.8 30.65 
-18.7 8.8 30.45 
-19.1 8.8 30.375 
-19.5 8.8 30.125 
-19.9 8.8 29.9 
-20.3 8.8 29.675 
-20.7 8.8 29.375 
-21.1 8.8 29.225 
-21.5 8.8 29 
-21.9 8.8 28.65 
-22.3 8.8 28.425 
-22.7 8.8 28.05 
-23.1 8.8 27.75 
-23.5 8.8 27.475 
-23.9 8.8 27 
-24.3 8.8 26.6 
-24.7 8.8 26.175 
-25.1 8.8 25.725 
-25.5 8.8 25.25 
-25.9 8.8 24.775 
-26.3 8.8 24.3 
-26.7 8.8 23.45 
-27.1 8.8 22.75 
-27.5 8.8 22.125 
-27.9 8.8 21.025 
-28.3 8.8 19.975 
-28.7 8.8 18.95 
-29.1 8.8 17.425 
--22.5 9.2 -19.875 
--22.1 9.2 -19.95 
--21.7 9.2 -19.525 
--21.3 9.2 -18.8 
--19.7 9.2 16.1 
--19.3 9.2 17.575 
--18.9 9.2 18.775 
--18.5 9.2 19.8 
--18.1 9.2 20.8 
--17.7 9.2 21.575 
--17.3 9.2 22.2 
--16.9 9.2 22.95 
--16.5 9.2 23.65 
--16.1 9.2 24.225 
--15.7 9.2 24.9 
--15.3 9.2 25.4 
--14.9 9.2 25.85 
--14.5 9.2 26.3 
--14.1 9.2 26.975 
--13.7 9.2 27.325 
--13.3 9.2 27.725 
--12.9 9.2 28.2 
--12.5 9.2 28.55 
--12.1 9.2 28.9 
--11.7 9.2 29.2 
--11.3 9.2 29.5 
--10.9 9.2 29.825 
--10.5 9.2 30.1 
--10.1 9.2 30.325 
--9.7 9.2 30.55 
--9.3 9.2 30.725 
--8.9 9.2 30.85 
--8.5 9.2 31.05 
--8.1 9.2 31.325 
--7.7 9.2 31.55 
--7.3 9.2 31.6 
--6.9 9.2 31.575 
--6.5 9.2 31.55 
--6.1 9.2 31.45 
--5.7 9.2 31.275 
--5.3 9.2 31.3 
--4.9 9.2 31.425 
--4.5 9.2 31.475 
--4.1 9.2 31.4 
--3.7 9.2 31.25 
--3.3 9.2 31.2 
--2.9 9.2 31.2 
--2.5 9.2 31.125 
--2.1 9.2 31.15 
--1.7 9.2 31.125 
--1.3 9.2 31.2 
--0.899999 9.2 31.35 
--0.499999 9.2 31.375 
--0.0999994 9.2 31.3 
-0.300001 9.2 31.225 
-0.700001 9.2 31.125 
-1.1 9.2 31.225 
-1.5 9.2 31.275 
-1.9 9.2 31.275 
-2.3 9.2 31.225 
-2.7 9.2 31.1 
-3.1 9.2 31.175 
-3.5 9.2 31.175 
-3.9 9.2 31.175 
-4.3 9.2 31.225 
-4.7 9.2 31.225 
-5.1 9.2 31.15 
-5.5 9.2 31.075 
-5.9 9.2 31.125 
-6.3 9.2 31.1 
-6.7 9.2 30.975 
-7.1 9.2 30.95 
-7.5 9.2 30.9 
-7.9 9.2 30.85 
-8.3 9.2 30.85 
-8.7 9.2 30.975 
-9.1 9.2 31 
-9.5 9.2 30.975 
-9.9 9.2 30.75 
-10.3 9.2 30.75 
-10.7 9.2 30.85 
-11.1 9.2 30.875 
-11.5 9.2 30.925 
-11.9 9.2 30.9 
-12.3 9.2 30.7 
-12.7 9.2 30.575 
-13.1 9.2 30.575 
-13.5 9.2 30.475 
-13.9 9.2 30.4 
-14.3 9.2 30.4 
-14.7 9.2 30.475 
-15.1 9.2 30.575 
-15.5 9.2 30.625 
-15.9 9.2 30.475 
-16.3 9.2 30.35 
-16.7 9.2 30.5 
-17.1 9.2 30.8 
-17.5 9.2 30.85 
-17.9 9.2 30.8 
-18.3 9.2 30.8 
-18.7 9.2 30.625 
-19.1 9.2 30.3 
-19.5 9.2 30.125 
-19.9 9.2 30.025 
-20.3 9.2 29.75 
-20.7 9.2 29.55 
-21.1 9.2 29.375 
-21.5 9.2 29.075 
-21.9 9.2 28.75 
-22.3 9.2 28.45 
-22.7 9.2 28.175 
-23.1 9.2 27.85 
-23.5 9.2 27.475 
-23.9 9.2 27.125 
-24.3 9.2 26.775 
-24.7 9.2 26.45 
-25.1 9.2 26 
-25.5 9.2 25.325 
-25.9 9.2 24.75 
-26.3 9.2 24.25 
-26.7 9.2 23.625 
-27.1 9.2 23 
-27.5 9.2 22.3 
-27.9 9.2 21.325 
-28.3 9.2 20.1 
-28.7 9.2 19.125 
-29.1 9.2 17.8 
--22.5 9.6 -19.9 
--22.1 9.6 -19.875 
--21.7 9.6 -19.375 
--21.3 9.6 -18.85 
--19.7 9.6 16.5 
--19.3 9.6 17.8 
--18.9 9.6 18.925 
--18.5 9.6 20.025 
--18.1 9.6 21 
--17.7 9.6 21.75 
--17.3 9.6 22.425 
--16.9 9.6 23.3 
--16.5 9.6 23.9 
--16.1 9.6 24.425 
--15.7 9.6 25.025 
--15.3 9.6 25.575 
--14.9 9.6 26.15 
--14.5 9.6 26.65 
--14.1 9.6 26.975 
--13.7 9.6 27.45 
--13.3 9.6 27.925 
--12.9 9.6 28.25 
--12.5 9.6 28.675 
--12.1 9.6 29.05 
--11.7 9.6 29.3 
--11.3 9.6 29.6 
--10.9 9.6 29.975 
--10.5 9.6 30.225 
--10.1 9.6 30.4 
--9.7 9.6 30.6 
--9.3 9.6 30.8 
--8.9 9.6 30.975 
--8.5 9.6 31.225 
--8.1 9.6 31.425 
--7.7 9.6 31.475 
--7.3 9.6 31.575 
--6.9 9.6 31.65 
--6.5 9.6 31.6 
--6.1 9.6 31.425 
--5.7 9.6 31.3 
--5.3 9.6 31.3 
--4.9 9.6 31.275 
--4.5 9.6 31.375 
--4.1 9.6 31.45 
--3.7 9.6 31.45 
--3.3 9.6 31.325 
--2.9 9.6 31.25 
--2.5 9.6 31.225 
--2.1 9.6 31.175 
--1.7 9.6 31.025 
--1.3 9.6 31.05 
--0.899999 9.6 31.225 
--0.499999 9.6 31.425 
--0.0999994 9.6 31.45 
-0.300001 9.6 31.4 
-0.700001 9.6 31.25 
-1.1 9.6 31.175 
-1.5 9.6 31.325 
-1.9 9.6 31.35 
-2.3 9.6 31.325 
-2.7 9.6 31.3 
-3.1 9.6 31.25 
-3.5 9.6 31.225 
-3.9 9.6 31.25 
-4.3 9.6 31.325 
-4.7 9.6 31.3 
-5.1 9.6 31.275 
-5.5 9.6 31.175 
-5.9 9.6 31.125 
-6.3 9.6 31.05 
-6.7 9.6 31.05 
-7.1 9.6 31.025 
-7.5 9.6 30.9 
-7.9 9.6 30.875 
-8.3 9.6 31.075 
-8.7 9.6 31.075 
-9.1 9.6 30.9 
-9.5 9.6 30.775 
-9.9 9.6 30.775 
-10.3 9.6 31 
-10.7 9.6 31 
-11.1 9.6 30.825 
-11.5 9.6 30.725 
-11.9 9.6 30.625 
-12.3 9.6 30.55 
-12.7 9.6 30.525 
-13.1 9.6 30.55 
-13.5 9.6 30.6 
-13.9 9.6 30.625 
-14.3 9.6 30.65 
-14.7 9.6 30.675 
-15.1 9.6 30.65 
-15.5 9.6 30.55 
-15.9 9.6 30.475 
-16.3 9.6 30.425 
-16.7 9.6 30.55 
-17.1 9.6 30.775 
-17.5 9.6 30.8 
-17.9 9.6 30.775 
-18.3 9.6 30.775 
-18.7 9.6 30.625 
-19.1 9.6 30.425 
-19.5 9.6 30.325 
-19.9 9.6 30.1 
-20.3 9.6 29.825 
-20.7 9.6 29.525 
-21.1 9.6 29.275 
-21.5 9.6 29.025 
-21.9 9.6 28.675 
-22.3 9.6 28.4 
-22.7 9.6 28.25 
-23.1 9.6 27.975 
-23.5 9.6 27.65 
-23.9 9.6 27.175 
-24.3 9.6 26.675 
-24.7 9.6 26.225 
-25.1 9.6 25.775 
-25.5 9.6 25.4 
-25.9 9.6 24.925 
-26.3 9.6 24.3 
-26.7 9.6 23.75 
-27.1 9.6 22.975 
-27.5 9.6 22.225 
-27.9 9.6 21.25 
-28.3 9.6 20.425 
-28.7 9.6 19.25 
-29.1 9.6 18.1 
--22.5 10 -19.25 
--22.1 10 -19.975 
--21.7 10 -19.475 
--19.7 10 17.025 
--19.3 10 18.175 
--18.9 10 19.3 
--18.5 10 20.5 
--18.1 10 21.175 
--17.7 10 22 
--17.3 10 22.7 
--16.9 10 23.5 
--16.5 10 24.075 
--16.1 10 24.65 
--15.7 10 25.225 
--15.3 10 25.775 
--14.9 10 26.225 
--14.5 10 26.75 
--14.1 10 27.175 
--13.7 10 27.65 
--13.3 10 28.075 
--12.9 10 28.4 
--12.5 10 28.725 
--12.1 10 29.05 
--11.7 10 29.475 
--11.3 10 29.825 
--10.9 10 30.025 
--10.5 10 30.2 
--10.1 10 30.425 
--9.7 10 30.7 
--9.3 10 30.95 
--8.9 10 31.125 
--8.5 10 31.3 
--8.1 10 31.425 
--7.7 10 31.55 
--7.3 10 31.675 
--6.9 10 31.575 
--6.5 10 31.45 
--6.1 10 31.425 
--5.7 10 31.35 
--5.3 10 31.325 
--4.9 10 31.325 
--4.5 10 31.25 
--4.1 10 31.225 
--3.7 10 31.425 
--3.3 10 31.5 
--2.9 10 31.425 
--2.5 10 31.25 
--2.1 10 31.125 
--1.7 10 31.075 
--1.3 10 31.05 
--0.899999 10 31.125 
--0.499999 10 31.2 
--0.0999994 10 31.3 
-0.300001 10 31.25 
-0.700001 10 31.2 
-1.1 10 31.175 
-1.5 10 31.225 
-1.9 10 31.325 
-2.3 10 31.3 
-2.7 10 31.225 
-3.1 10 31.225 
-3.5 10 31.25 
-3.9 10 31.2 
-4.3 10 31.25 
-4.7 10 31.25 
-5.1 10 31.25 
-5.5 10 31.25 
-5.9 10 31.25 
-6.3 10 31.175 
-6.7 10 31.1 
-7.1 10 31.125 
-7.5 10 31.15 
-7.9 10 31.025 
-8.3 10 31 
-8.7 10 30.95 
-9.1 10 30.825 
-9.5 10 30.825 
-9.9 10 30.9 
-10.3 10 30.95 
-10.7 10 30.875 
-11.1 10 30.8 
-11.5 10 30.525 
-11.9 10 30.375 
-12.3 10 30.525 
-12.7 10 30.5 
-13.1 10 30.55 
-13.5 10 30.725 
-13.9 10 30.7 
-14.3 10 30.6 
-14.7 10 30.575 
-15.1 10 30.475 
-15.5 10 30.475 
-15.9 10 30.475 
-16.3 10 30.4 
-16.7 10 30.325 
-17.1 10 30.675 
-17.5 10 30.825 
-17.9 10 30.725 
-18.3 10 30.575 
-18.7 10 30.525 
-19.1 10 30.375 
-19.5 10 30.3 
-19.9 10 30.2 
-20.3 10 29.925 
-20.7 10 29.7 
-21.1 10 29.325 
-21.5 10 28.975 
-21.9 10 28.65 
-22.3 10 28.4 
-22.7 10 28.175 
-23.1 10 27.825 
-23.5 10 27.65 
-23.9 10 27.25 
-24.3 10 26.85 
-24.7 10 26.475 
-25.1 10 26.1 
-25.5 10 25.625 
-25.9 10 25.075 
-26.3 10 24.575 
-26.7 10 23.875 
-27.1 10 23.2 
-27.5 10 22.275 
-27.9 10 21.675 
-28.3 10 20.825 
-28.7 10 19.375 
-29.1 10 18.3 
--22.9 10.4 -19.375 
--22.5 10.4 -19.625 
--22.1 10.4 -19.775 
--21.7 10.4 -19.15 
--19.7 10.4 17.175 
--19.3 10.4 18.475 
--18.9 10.4 19.5 
--18.5 10.4 20.625 
--18.1 10.4 21.5 
--17.7 10.4 22.25 
--17.3 10.4 23.05 
--16.9 10.4 23.725 
--16.5 10.4 24.175 
--16.1 10.4 24.8 
--15.7 10.4 25.425 
--15.3 10.4 25.95 
--14.9 10.4 26.425 
--14.5 10.4 26.925 
--14.1 10.4 27.375 
--13.7 10.4 27.8 
--13.3 10.4 28.25 
--12.9 10.4 28.55 
--12.5 10.4 28.9 
--12.1 10.4 29.225 
--11.7 10.4 29.475 
--11.3 10.4 29.825 
--10.9 10.4 30.175 
--10.5 10.4 30.325 
--10.1 10.4 30.5 
--9.7 10.4 30.825 
--9.3 10.4 31.075 
--8.9 10.4 31.225 
--8.5 10.4 31.4 
--8.1 10.4 31.5 
--7.7 10.4 31.625 
--7.3 10.4 31.575 
--6.9 10.4 31.5 
--6.5 10.4 31.475 
--6.1 10.4 31.45 
--5.7 10.4 31.35 
--5.3 10.4 31.175 
--4.9 10.4 31.2 
--4.5 10.4 31.275 
--4.1 10.4 31.175 
--3.7 10.4 31.175 
--3.3 10.4 31.45 
--2.9 10.4 31.55 
--2.5 10.4 31.45 
--2.1 10.4 31.475 
--1.7 10.4 31.475 
--1.3 10.4 31.3 
--0.899999 10.4 31.125 
--0.499999 10.4 31.075 
--0.0999994 10.4 31.225 
-0.300001 10.4 31.375 
-0.700001 10.4 31.425 
-1.1 10.4 31.425 
-1.5 10.4 31.425 
-1.9 10.4 31.35 
-2.3 10.4 31.325 
-2.7 10.4 31.325 
-3.1 10.4 31.325 
-3.5 10.4 31.25 
-3.9 10.4 31.2 
-4.3 10.4 31.125 
-4.7 10.4 31.125 
-5.1 10.4 31.15 
-5.5 10.4 31.2 
-5.9 10.4 31.225 
-6.3 10.4 31.175 
-6.7 10.4 31.125 
-7.1 10.4 31.05 
-7.5 10.4 30.925 
-7.9 10.4 31 
-8.3 10.4 31.025 
-8.7 10.4 30.975 
-9.1 10.4 30.975 
-9.5 10.4 31.025 
-9.9 10.4 31 
-10.3 10.4 31 
-10.7 10.4 30.875 
-11.1 10.4 30.75 
-11.5 10.4 30.6 
-11.9 10.4 30.6 
-12.3 10.4 30.725 
-12.7 10.4 30.775 
-13.1 10.4 30.875 
-13.5 10.4 30.85 
-13.9 10.4 30.725 
-14.3 10.4 30.5 
-14.7 10.4 30.375 
-15.1 10.4 30.425 
-15.5 10.4 30.525 
-15.9 10.4 30.55 
-16.3 10.4 30.5 
-16.7 10.4 30.45 
-17.1 10.4 30.75 
-17.5 10.4 30.975 
-17.9 10.4 30.8 
-18.3 10.4 30.725 
-18.7 10.4 30.6 
-19.1 10.4 30.375 
-19.5 10.4 30.275 
-19.9 10.4 30.15 
-20.3 10.4 29.9 
-20.7 10.4 29.575 
-21.1 10.4 29.425 
-21.5 10.4 29.175 
-21.9 10.4 28.8 
-22.3 10.4 28.5 
-22.7 10.4 28.375 
-23.1 10.4 28.05 
-23.5 10.4 27.575 
-23.9 10.4 27.325 
-24.3 10.4 26.925 
-24.7 10.4 26.55 
-25.1 10.4 26.175 
-25.5 10.4 25.7 
-25.9 10.4 25.075 
-26.3 10.4 24.525 
-26.7 10.4 24.025 
-27.1 10.4 23.35 
-27.5 10.4 22.5 
-27.9 10.4 21.65 
-28.3 10.4 20.95 
-28.7 10.4 19.625 
-29.1 10.4 18.525 
-29.5 10.4 17.05 
--22.9 10.8 -19.55 
--22.5 10.8 -19.775 
--22.1 10.8 -19.75 
--21.7 10.8 -19.25 
--20.1 10.8 16.025 
--19.7 10.8 17.5 
--19.3 10.8 18.9 
--18.9 10.8 19.85 
--18.5 10.8 20.7 
--18.1 10.8 21.7 
--17.7 10.8 22.575 
--17.3 10.8 23.1 
--16.9 10.8 23.75 
--16.5 10.8 24.4 
--16.1 10.8 24.925 
--15.7 10.8 25.5 
--15.3 10.8 26.2 
--14.9 10.8 26.625 
--14.5 10.8 27.025 
--14.1 10.8 27.55 
--13.7 10.8 27.975 
--13.3 10.8 28.3 
--12.9 10.8 28.65 
--12.5 10.8 29 
--12.1 10.8 29.375 
--11.7 10.8 29.7 
--11.3 10.8 29.9 
--10.9 10.8 30.175 
--10.5 10.8 30.425 
--10.1 10.8 30.6 
--9.7 10.8 30.825 
--9.3 10.8 31.1 
--8.9 10.8 31.3 
--8.5 10.8 31.35 
--8.1 10.8 31.5 
--7.7 10.8 31.55 
--7.3 10.8 31.6 
--6.9 10.8 31.5 
--6.5 10.8 31.325 
--6.1 10.8 31.35 
--5.7 10.8 31.475 
--5.3 10.8 31.45 
--4.9 10.8 31.325 
--4.5 10.8 31.2 
--4.1 10.8 31.125 
--3.7 10.8 31.125 
--3.3 10.8 31.075 
--2.9 10.8 31.2 
--2.5 10.8 31.375 
--2.1 10.8 31.4 
--1.7 10.8 31.3 
--1.3 10.8 31.3 
--0.899999 10.8 31.25 
--0.499999 10.8 31.2 
--0.0999994 10.8 31.275 
-0.300001 10.8 31.35 
-0.700001 10.8 31.35 
-1.1 10.8 31.325 
-1.5 10.8 31.3 
-1.9 10.8 31.225 
-2.3 10.8 31.2 
-2.7 10.8 31.175 
-3.1 10.8 31.225 
-3.5 10.8 31.225 
-3.9 10.8 31.225 
-4.3 10.8 31.25 
-4.7 10.8 31.225 
-5.1 10.8 31.2 
-5.5 10.8 31.225 
-5.9 10.8 31.175 
-6.3 10.8 31.15 
-6.7 10.8 31.025 
-7.1 10.8 30.95 
-7.5 10.8 31.05 
-7.9 10.8 31.025 
-8.3 10.8 31.025 
-8.7 10.8 30.9 
-9.1 10.8 30.875 
-9.5 10.8 31 
-9.9 10.8 31 
-10.3 10.8 30.925 
-10.7 10.8 30.75 
-11.1 10.8 30.75 
-11.5 10.8 30.85 
-11.9 10.8 30.875 
-12.3 10.8 30.875 
-12.7 10.8 30.975 
-13.1 10.8 30.85 
-13.5 10.8 30.55 
-13.9 10.8 30.5 
-14.3 10.8 30.45 
-14.7 10.8 30.45 
-15.1 10.8 30.575 
-15.5 10.8 30.575 
-15.9 10.8 30.475 
-16.3 10.8 30.475 
-16.7 10.8 30.475 
-17.1 10.8 30.6 
-17.5 10.8 30.875 
-17.9 10.8 30.95 
-18.3 10.8 30.775 
-18.7 10.8 30.7 
-19.1 10.8 30.525 
-19.5 10.8 30.3 
-19.9 10.8 30.1 
-20.3 10.8 29.85 
-20.7 10.8 29.65 
-21.1 10.8 29.375 
-21.5 10.8 29.125 
-21.9 10.8 28.925 
-22.3 10.8 28.575 
-22.7 10.8 28.325 
-23.1 10.8 28.15 
-23.5 10.8 27.75 
-23.9 10.8 27.3 
-24.3 10.8 27 
-24.7 10.8 26.575 
-25.1 10.8 26.125 
-25.5 10.8 25.675 
-25.9 10.8 25.175 
-26.3 10.8 24.725 
-26.7 10.8 24 
-27.1 10.8 23.275 
-27.5 10.8 22.5 
-27.9 10.8 21.775 
-28.3 10.8 20.65 
-28.7 10.8 20.075 
-29.1 10.8 18.725 
-29.5 10.8 17.075 
--22.9 11.2 -19.275 
--22.5 11.2 -19.95 
--22.1 11.2 -19.8 
--21.7 11.2 -19.3 
--20.1 11.2 16.375 
--19.7 11.2 17.925 
--19.3 11.2 19 
--18.9 11.2 20.2 
--18.5 11.2 21.225 
--18.1 11.2 22.125 
--17.7 11.2 22.7 
--17.3 11.2 23.4 
--16.9 11.2 24 
--16.5 11.2 24.525 
--16.1 11.2 25.125 
--15.7 11.2 25.75 
--15.3 11.2 26.3 
--14.9 11.2 26.75 
--14.5 11.2 27.2 
--14.1 11.2 27.625 
--13.7 11.2 28.075 
--13.3 11.2 28.5 
--12.9 11.2 28.825 
--12.5 11.2 29.15 
--12.1 11.2 29.55 
--11.7 11.2 29.75 
--11.3 11.2 29.9 
--10.9 11.2 30.2 
--10.5 11.2 30.525 
--10.1 11.2 30.8 
--9.7 11.2 31 
--9.3 11.2 31.1 
--8.9 11.2 31.3 
--8.5 11.2 31.425 
--8.1 11.2 31.525 
--7.7 11.2 31.625 
--7.3 11.2 31.675 
--6.9 11.2 31.575 
--6.5 11.2 31.375 
--6.1 11.2 31.375 
--5.7 11.2 31.375 
--5.3 11.2 31.325 
--4.9 11.2 31.3 
--4.5 11.2 31.275 
--4.1 11.2 31.2 
--3.7 11.2 31.125 
--3.3 11.2 31.1 
--2.9 11.2 31.075 
--2.5 11.2 31.1 
--2.1 11.2 31.225 
--1.7 11.2 31.375 
--1.3 11.2 31.45 
--0.899999 11.2 31.45 
--0.499999 11.2 31.425 
--0.0999994 11.2 31.375 
-0.300001 11.2 31.275 
-0.700001 11.2 31.325 
-1.1 11.2 31.325 
-1.5 11.2 31.275 
-1.9 11.2 31.275 
-2.3 11.2 31.225 
-2.7 11.2 31.225 
-3.1 11.2 31.175 
-3.5 11.2 31.175 
-3.9 11.2 31.225 
-4.3 11.2 31.175 
-4.7 11.2 31.1 
-5.1 11.2 31.15 
-5.5 11.2 31.175 
-5.9 11.2 31.2 
-6.3 11.2 31.15 
-6.7 11.2 31.125 
-7.1 11.2 31.1 
-7.5 11.2 31.025 
-7.9 11.2 30.95 
-8.3 11.2 30.925 
-8.7 11.2 31.025 
-9.1 11.2 31.05 
-9.5 11.2 31.025 
-9.9 11.2 30.975 
-10.3 11.2 30.925 
-10.7 11.2 30.925 
-11.1 11.2 31 
-11.5 11.2 30.95 
-11.9 11.2 30.95 
-12.3 11.2 30.825 
-12.7 11.2 30.625 
-13.1 11.2 30.5 
-13.5 11.2 30.5 
-13.9 11.2 30.55 
-14.3 11.2 30.55 
-14.7 11.2 30.525 
-15.1 11.2 30.45 
-15.5 11.2 30.45 
-15.9 11.2 30.425 
-16.3 11.2 30.35 
-16.7 11.2 30.25 
-17.1 11.2 30.375 
-17.5 11.2 30.7 
-17.9 11.2 30.775 
-18.3 11.2 30.775 
-18.7 11.2 30.6 
-19.1 11.2 30.475 
-19.5 11.2 30.35 
-19.9 11.2 30.1 
-20.3 11.2 29.825 
-20.7 11.2 29.625 
-21.1 11.2 29.375 
-21.5 11.2 29.175 
-21.9 11.2 28.875 
-22.3 11.2 28.525 
-22.7 11.2 28.275 
-23.1 11.2 27.975 
-23.5 11.2 27.65 
-23.9 11.2 27.325 
-24.3 11.2 26.95 
-24.7 11.2 26.675 
-25.1 11.2 26.15 
-25.5 11.2 25.7 
-25.9 11.2 25.25 
-26.3 11.2 24.625 
-26.7 11.2 24 
-27.1 11.2 23.4 
-27.5 11.2 22.675 
-27.9 11.2 21.825 
-28.3 11.2 20.95 
-28.7 11.2 20 
-29.1 11.2 18.775 
--22.9 11.6 -20.2 
--22.5 11.6 -20.05 
--22.1 11.6 -19.6 
--21.7 11.6 -19.225 
--20.1 11.6 16.625 
--19.7 11.6 18.05 
--19.3 11.6 19.475 
--18.9 11.6 20.4 
--18.5 11.6 21.3 
--18.1 11.6 22.125 
--17.7 11.6 22.8 
--17.3 11.6 23.525 
--16.9 11.6 24.1 
--16.5 11.6 24.85 
--16.1 11.6 25.35 
--15.7 11.6 26 
--15.3 11.6 26.525 
--14.9 11.6 27.025 
--14.5 11.6 27.475 
--14.1 11.6 27.875 
--13.7 11.6 28.2 
--13.3 11.6 28.55 
--12.9 11.6 28.875 
--12.5 11.6 29.125 
--12.1 11.6 29.55 
--11.7 11.6 29.9 
--11.3 11.6 30.15 
--10.9 11.6 30.325 
--10.5 11.6 30.575 
--10.1 11.6 30.8 
--9.7 11.6 31 
--9.3 11.6 31.175 
--8.9 11.6 31.35 
--8.5 11.6 31.55 
--8.1 11.6 31.625 
--7.7 11.6 31.675 
--7.3 11.6 31.625 
--6.9 11.6 31.525 
--6.5 11.6 31.55 
--6.1 11.6 31.525 
--5.7 11.6 31.375 
--5.3 11.6 31.325 
--4.9 11.6 31.4 
--4.5 11.6 31.4 
--4.1 11.6 31.325 
--3.7 11.6 31.25 
--3.3 11.6 31.175 
--2.9 11.6 31.225 
--2.5 11.6 31.225 
--2.1 11.6 31.15 
--1.7 11.6 31.1 
--1.3 11.6 31.075 
--0.899999 11.6 31.25 
--0.499999 11.6 31.375 
--0.0999994 11.6 31.4 
-0.300001 11.6 31.45 
-0.700001 11.6 31.4 
-1.1 11.6 31.225 
-1.5 11.6 31.175 
-1.9 11.6 31.2 
-2.3 11.6 31.3 
-2.7 11.6 31.325 
-3.1 11.6 31.3 
-3.5 11.6 31.225 
-3.9 11.6 31.175 
-4.3 11.6 31.125 
-4.7 11.6 31.1 
-5.1 11.6 31.075 
-5.5 11.6 31.075 
-5.9 11.6 31.05 
-6.3 11.6 31.05 
-6.7 11.6 31.125 
-7.1 11.6 31.05 
-7.5 11.6 31 
-7.9 11.6 31.025 
-8.3 11.6 30.975 
-8.7 11.6 31.025 
-9.1 11.6 31.025 
-9.5 11.6 30.975 
-9.9 11.6 31.1 
-10.3 11.6 31.025 
-10.7 11.6 30.925 
-11.1 11.6 30.975 
-11.5 11.6 30.925 
-11.9 11.6 30.75 
-12.3 11.6 30.575 
-12.7 11.6 30.425 
-13.1 11.6 30.35 
-13.5 11.6 30.375 
-13.9 11.6 30.35 
-14.3 11.6 30.3 
-14.7 11.6 30.325 
-15.1 11.6 30.425 
-15.5 11.6 30.35 
-15.9 11.6 30.45 
-16.3 11.6 30.625 
-16.7 11.6 30.7 
-17.1 11.6 30.6 
-17.5 11.6 30.6 
-17.9 11.6 30.75 
-18.3 11.6 30.8 
-18.7 11.6 30.625 
-19.1 11.6 30.525 
-19.5 11.6 30.425 
-19.9 11.6 30.15 
-20.3 11.6 29.975 
-20.7 11.6 29.725 
-21.1 11.6 29.375 
-21.5 11.6 29.15 
-21.9 11.6 28.95 
-22.3 11.6 28.65 
-22.7 11.6 28.4 
-23.1 11.6 28.025 
-23.5 11.6 27.625 
-23.9 11.6 27.4 
-24.3 11.6 27.15 
-24.7 11.6 26.775 
-25.1 11.6 26.375 
-25.5 11.6 25.95 
-25.9 11.6 25.5 
-26.3 11.6 24.825 
-26.7 11.6 24.3 
-27.1 11.6 23.575 
-27.5 11.6 22.75 
-27.9 11.6 22.075 
-28.3 11.6 21.075 
-28.7 11.6 19.95 
-29.1 11.6 18.825 
--22.9 12 -20.175 
--22.5 12 -20.1 
--22.1 12 -19.6 
--21.7 12 -19 
--20.1 12 17.075 
--19.7 12 18.325 
--19.3 12 19.5 
--18.9 12 20.8 
--18.5 12 21.65 
--18.1 12 22.35 
--17.7 12 23.025 
--17.3 12 23.725 
--16.9 12 24.25 
--16.5 12 24.8 
--16.1 12 25.4 
--15.7 12 26.025 
--15.3 12 26.575 
--14.9 12 27.05 
--14.5 12 27.425 
--14.1 12 27.875 
--13.7 12 28.3 
--13.3 12 28.675 
--12.9 12 29 
--12.5 12 29.3 
--12.1 12 29.625 
--11.7 12 29.875 
--11.3 12 30.2 
--10.9 12 30.525 
--10.5 12 30.7 
--10.1 12 30.975 
--9.7 12 31.15 
--9.3 12 31.25 
--8.9 12 31.35 
--8.5 12 31.425 
--8.1 12 31.45 
--7.7 12 31.45 
--7.3 12 31.475 
--6.9 12 31.375 
--6.5 12 31.225 
--6.1 12 31.175 
--5.7 12 31.35 
--5.3 12 31.5 
--4.9 12 31.525 
--4.5 12 31.55 
--4.1 12 31.625 
--3.7 12 31.5 
--3.3 12 31.375 
--2.9 12 31.35 
--2.5 12 31.3 
--2.1 12 31.325 
--1.7 12 31.225 
--1.3 12 31.075 
--0.899999 12 31.125 
--0.499999 12 31.325 
--0.0999994 12 31.45 
-0.300001 12 31.35 
-0.700001 12 31.3 
-1.1 12 31.35 
-1.5 12 31.3 
-1.9 12 31.2 
-2.3 12 31.175 
-2.7 12 31.25 
-3.1 12 31.175 
-3.5 12 31.05 
-3.9 12 31.1 
-4.3 12 31.15 
-4.7 12 31.15 
-5.1 12 31.225 
-5.5 12 31.2 
-5.9 12 31 
-6.3 12 31.025 
-6.7 12 31.025 
-7.1 12 31.025 
-7.5 12 31.025 
-7.9 12 30.9 
-8.3 12 30.9 
-8.7 12 31.05 
-9.1 12 31.05 
-9.5 12 30.95 
-9.9 12 30.975 
-10.3 12 30.925 
-10.7 12 30.9 
-11.1 12 30.875 
-11.5 12 30.75 
-11.9 12 30.625 
-12.3 12 30.575 
-12.7 12 30.575 
-13.1 12 30.475 
-13.5 12 30.475 
-13.9 12 30.6 
-14.3 12 30.8 
-14.7 12 30.825 
-15.1 12 30.75 
-15.5 12 30.6 
-15.9 12 30.625 
-16.3 12 30.675 
-16.7 12 30.525 
-17.1 12 30.4 
-17.5 12 30.525 
-17.9 12 30.65 
-18.3 12 30.625 
-18.7 12 30.625 
-19.1 12 30.45 
-19.5 12 30.3 
-19.9 12 30.1 
-20.3 12 29.825 
-20.7 12 29.6 
-21.1 12 29.425 
-21.5 12 29.2 
-21.9 12 28.9 
-22.3 12 28.625 
-22.7 12 28.35 
-23.1 12 28.1 
-23.5 12 27.675 
-23.9 12 27.3 
-24.3 12 26.975 
-24.7 12 26.675 
-25.1 12 26.2 
-25.5 12 25.725 
-25.9 12 25.3 
-26.3 12 24.7 
-26.7 12 24.2 
-27.1 12 23.5 
-27.5 12 22.7 
-27.9 12 21.925 
-28.3 12 21.025 
-28.7 12 20.175 
-29.1 12 18.875 
-29.5 12 17.4 
--22.9 12.4 -20.35 
--22.5 12.4 -19.625 
--22.1 12.4 -19.325 
--21.7 12.4 -19.025 
--20.1 12.4 17.35 
--19.7 12.4 18.725 
--19.3 12.4 19.95 
--18.9 12.4 20.9 
--18.5 12.4 21.8 
--18.1 12.4 22.575 
--17.7 12.4 23.3 
--17.3 12.4 23.875 
--16.9 12.4 24.575 
--16.5 12.4 25.125 
--16.1 12.4 25.7 
--15.7 12.4 26.25 
--15.3 12.4 26.7 
--14.9 12.4 27.15 
--14.5 12.4 27.55 
--14.1 12.4 28 
--13.7 12.4 28.45 
--13.3 12.4 28.875 
--12.9 12.4 29.15 
--12.5 12.4 29.45 
--12.1 12.4 29.7 
--11.7 12.4 29.925 
--11.3 12.4 30.225 
--10.9 12.4 30.525 
--10.5 12.4 30.775 
--10.1 12.4 30.95 
--9.7 12.4 31.1 
--9.3 12.4 31.225 
--8.9 12.4 31.425 
--8.5 12.4 31.45 
--8.1 12.4 31.5 
--7.7 12.4 31.625 
--7.3 12.4 31.55 
--6.9 12.4 31.4 
--6.5 12.4 31.125 
--6.1 12.4 31.075 
--5.7 12.4 31.15 
--5.3 12.4 31.175 
--4.9 12.4 31.25 
--4.5 12.4 31.375 
--4.1 12.4 31.5 
--3.7 12.4 31.425 
--3.3 12.4 31.45 
--2.9 12.4 31.425 
--2.5 12.4 31.325 
--2.1 12.4 31.425 
--1.7 12.4 31.5 
--1.3 12.4 31.45 
--0.899999 12.4 31.375 
--0.499999 12.4 31.225 
--0.0999994 12.4 31.25 
-0.300001 12.4 31.325 
-0.700001 12.4 31.35 
-1.1 12.4 31.375 
-1.5 12.4 31.3 
-1.9 12.4 31.3 
-2.3 12.4 31.275 
-2.7 12.4 31.2 
-3.1 12.4 31.15 
-3.5 12.4 31.15 
-3.9 12.4 31.15 
-4.3 12.4 31.175 
-4.7 12.4 31.175 
-5.1 12.4 31.1 
-5.5 12.4 31.15 
-5.9 12.4 31.125 
-6.3 12.4 31.15 
-6.7 12.4 31.15 
-7.1 12.4 31.175 
-7.5 12.4 31.15 
-7.9 12.4 30.95 
-8.3 12.4 30.9 
-8.7 12.4 31.025 
-9.1 12.4 31.075 
-9.5 12.4 30.95 
-9.9 12.4 30.875 
-10.3 12.4 30.9 
-10.7 12.4 30.825 
-11.1 12.4 30.7 
-11.5 12.4 30.725 
-11.9 12.4 30.8 
-12.3 12.4 30.75 
-12.7 12.4 30.8 
-13.1 12.4 30.825 
-13.5 12.4 30.75 
-13.9 12.4 30.7 
-14.3 12.4 30.75 
-14.7 12.4 30.675 
-15.1 12.4 30.575 
-15.5 12.4 30.575 
-15.9 12.4 30.5 
-16.3 12.4 30.425 
-16.7 12.4 30.425 
-17.1 12.4 30.4 
-17.5 12.4 30.725 
-17.9 12.4 30.9 
-18.3 12.4 30.8 
-18.7 12.4 30.725 
-19.1 12.4 30.7 
-19.5 12.4 30.55 
-19.9 12.4 30.3 
-20.3 12.4 30.025 
-20.7 12.4 29.825 
-21.1 12.4 29.575 
-21.5 12.4 29.2 
-21.9 12.4 28.875 
-22.3 12.4 28.65 
-22.7 12.4 28.425 
-23.1 12.4 28.1 
-23.5 12.4 27.75 
-23.9 12.4 27.475 
-24.3 12.4 27.175 
-24.7 12.4 26.775 
-25.1 12.4 26.3 
-25.5 12.4 25.775 
-25.9 12.4 25.35 
-26.3 12.4 24.775 
-26.7 12.4 24.15 
-27.1 12.4 23.4 
-27.5 12.4 22.725 
-27.9 12.4 22.075 
-28.3 12.4 20.9 
-28.7 12.4 20.2 
-29.1 12.4 18.925 
--22.9 12.8 -19.95 
--22.5 12.8 -19.85 
--22.1 12.8 -19.45 
--21.7 12.8 -18.975 
--20.1 12.8 17.475 
--19.7 12.8 18.85 
--19.3 12.8 20 
--18.9 12.8 21.025 
--18.5 12.8 21.975 
--18.1 12.8 22.675 
--17.7 12.8 23.425 
--17.3 12.8 24.05 
--16.9 12.8 24.625 
--16.5 12.8 25.15 
--16.1 12.8 25.775 
--15.7 12.8 26.375 
--15.3 12.8 26.875 
--14.9 12.8 27.3 
--14.5 12.8 27.75 
--14.1 12.8 28.275 
--13.7 12.8 28.65 
--13.3 12.8 28.95 
--12.9 12.8 29.25 
--12.5 12.8 29.55 
--12.1 12.8 29.725 
--11.7 12.8 30.025 
--11.3 12.8 30.35 
--10.9 12.8 30.5 
--10.5 12.8 30.7 
--10.1 12.8 30.95 
--9.7 12.8 31.025 
--9.3 12.8 31.25 
--8.9 12.8 31.475 
--8.5 12.8 31.55 
--8.1 12.8 31.675 
--7.7 12.8 31.65 
--7.3 12.8 31.525 
--6.9 12.8 31.45 
--6.5 12.8 31.325 
--6.1 12.8 31.35 
--5.7 12.8 31.25 
--5.3 12.8 31.25 
--4.9 12.8 31.15 
--4.5 12.8 31.125 
--4.1 12.8 31.225 
--3.7 12.8 31.175 
--3.3 12.8 31.2 
--2.9 12.8 31.3 
--2.5 12.8 31.25 
--2.1 12.8 31.4 
--1.7 12.8 31.4 
--1.3 12.8 31.35 
--0.899999 12.8 31.4 
--0.499999 12.8 31.3 
--0.0999994 12.8 31.35 
-0.300001 12.8 31.425 
-0.700001 12.8 31.35 
-1.1 12.8 31.3 
-1.5 12.8 31.4 
-1.9 12.8 31.35 
-2.3 12.8 31.225 
-2.7 12.8 31.225 
-3.1 12.8 31.2 
-3.5 12.8 31.225 
-3.9 12.8 31.3 
-4.3 12.8 31.225 
-4.7 12.8 31.2 
-5.1 12.8 31.175 
-5.5 12.8 31.075 
-5.9 12.8 31.075 
-6.3 12.8 31.25 
-6.7 12.8 31.2 
-7.1 12.8 31 
-7.5 12.8 30.925 
-7.9 12.8 31.05 
-8.3 12.8 31.1 
-8.7 12.8 31.05 
-9.1 12.8 31 
-9.5 12.8 31.05 
-9.9 12.8 30.95 
-10.3 12.8 30.9 
-10.7 12.8 30.975 
-11.1 12.8 30.975 
-11.5 12.8 30.9 
-11.9 12.8 30.875 
-12.3 12.8 30.925 
-12.7 12.8 30.875 
-13.1 12.8 30.75 
-13.5 12.8 30.75 
-13.9 12.8 30.7 
-14.3 12.8 30.625 
-14.7 12.8 30.625 
-15.1 12.8 30.575 
-15.5 12.8 30.575 
-15.9 12.8 30.525 
-16.3 12.8 30.525 
-16.7 12.8 30.425 
-17.1 12.8 30.425 
-17.5 12.8 30.475 
-17.9 12.8 30.6 
-18.3 12.8 30.7 
-18.7 12.8 30.8 
-19.1 12.8 30.625 
-19.5 12.8 30.35 
-19.9 12.8 30.2 
-20.3 12.8 29.975 
-20.7 12.8 29.675 
-21.1 12.8 29.475 
-21.5 12.8 29.25 
-21.9 12.8 28.975 
-22.3 12.8 28.675 
-22.7 12.8 28.375 
-23.1 12.8 28.075 
-23.5 12.8 27.75 
-23.9 12.8 27.475 
-24.3 12.8 27.175 
-24.7 12.8 26.75 
-25.1 12.8 26.35 
-25.5 12.8 25.875 
-25.9 12.8 25.35 
-26.3 12.8 24.825 
-26.7 12.8 24.3 
-27.1 12.8 23.625 
-27.5 12.8 22.8 
-27.9 12.8 22.075 
-28.3 12.8 21.1 
-28.7 12.8 19.95 
-29.1 12.8 18.875 
--23.3 13.2 -20.4 
--22.9 13.2 -20.175 
--22.5 13.2 -19.75 
--22.1 13.2 -19.325 
--21.7 13.2 -18.925 
--20.5 13.2 16.3 
--20.1 13.2 17.775 
--19.7 13.2 19.075 
--19.3 13.2 20.225 
--18.9 13.2 21.325 
--18.5 13.2 22.2 
--18.1 13.2 22.925 
--17.7 13.2 23.525 
--17.3 13.2 24.275 
--16.9 13.2 24.9 
--16.5 13.2 25.325 
--16.1 13.2 25.975 
--15.7 13.2 26.575 
--15.3 13.2 27.05 
--14.9 13.2 27.45 
--14.5 13.2 27.875 
--14.1 13.2 28.275 
--13.7 13.2 28.675 
--13.3 13.2 29.125 
--12.9 13.2 29.4 
--12.5 13.2 29.55 
--12.1 13.2 29.875 
--11.7 13.2 30.15 
--11.3 13.2 30.325 
--10.9 13.2 30.45 
--10.5 13.2 30.75 
--10.1 13.2 31.1 
--9.7 13.2 31.2 
--9.3 13.2 31.325 
--8.9 13.2 31.425 
--8.5 13.2 31.525 
--8.1 13.2 31.625 
--7.7 13.2 31.625 
--7.3 13.2 31.525 
--6.9 13.2 31.5 
--6.5 13.2 31.425 
--6.1 13.2 31.325 
--5.7 13.2 31.325 
--5.3 13.2 31.35 
--4.9 13.2 31.2 
--4.5 13.2 31.025 
--4.1 13.2 31.1 
--3.7 13.2 31.225 
--3.3 13.2 31.25 
--2.9 13.2 31.25 
--2.5 13.2 31.225 
--2.1 13.2 31.225 
--1.7 13.2 31.375 
--1.3 13.2 31.5 
--0.899999 13.2 31.425 
--0.499999 13.2 31.4 
--0.0999994 13.2 31.35 
-0.300001 13.2 31.275 
-0.700001 13.2 31.225 
-1.1 13.2 31.275 
-1.5 13.2 31.225 
-1.9 13.2 31.2 
-2.3 13.2 31.275 
-2.7 13.2 31.225 
-3.1 13.2 31.225 
-3.5 13.2 31.225 
-3.9 13.2 31.15 
-4.3 13.2 31.025 
-4.7 13.2 31.05 
-5.1 13.2 31.125 
-5.5 13.2 31.125 
-5.9 13.2 31.05 
-6.3 13.2 31.075 
-6.7 13.2 31.15 
-7.1 13.2 31.175 
-7.5 13.2 31.075 
-7.9 13.2 30.95 
-8.3 13.2 30.95 
-8.7 13.2 30.975 
-9.1 13.2 31.05 
-9.5 13.2 31.075 
-9.9 13.2 31 
-10.3 13.2 31 
-10.7 13.2 31 
-11.1 13.2 30.975 
-11.5 13.2 30.875 
-11.9 13.2 30.825 
-12.3 13.2 30.75 
-12.7 13.2 30.75 
-13.1 13.2 30.625 
-13.5 13.2 30.5 
-13.9 13.2 30.45 
-14.3 13.2 30.4 
-14.7 13.2 30.425 
-15.1 13.2 30.425 
-15.5 13.2 30.55 
-15.9 13.2 30.525 
-16.3 13.2 30.425 
-16.7 13.2 30.4 
-17.1 13.2 30.45 
-17.5 13.2 30.5 
-17.9 13.2 30.575 
-18.3 13.2 30.75 
-18.7 13.2 30.85 
-19.1 13.2 30.575 
-19.5 13.2 30.3 
-19.9 13.2 30.225 
-20.3 13.2 30.075 
-20.7 13.2 29.725 
-21.1 13.2 29.5 
-21.5 13.2 29.3 
-21.9 13.2 29 
-22.3 13.2 28.65 
-22.7 13.2 28.35 
-23.1 13.2 27.975 
-23.5 13.2 27.725 
-23.9 13.2 27.425 
-24.3 13.2 27.175 
-24.7 13.2 26.775 
-25.1 13.2 26.375 
-25.5 13.2 25.875 
-25.9 13.2 25.25 
-26.3 13.2 24.725 
-26.7 13.2 24.125 
-27.1 13.2 23.475 
-27.5 13.2 22.85 
-27.9 13.2 22.025 
-28.3 13.2 20.975 
-28.7 13.2 20.025 
-29.1 13.2 18.85 
-29.5 13.2 17.775 
--23.3 13.6 -20.25 
--22.9 13.6 -20.025 
--22.5 13.6 -19.6 
--22.1 13.6 -19.275 
--21.7 13.6 -18.975 
--20.5 13.6 16.65 
--20.1 13.6 18.125 
--19.7 13.6 19.375 
--19.3 13.6 20.5 
--18.9 13.6 21.625 
--18.5 13.6 22.375 
--18.1 13.6 23.125 
--17.7 13.6 23.675 
--17.3 13.6 24.325 
--16.9 13.6 24.85 
--16.5 13.6 25.7 
--16.1 13.6 26.1 
--15.7 13.6 26.55 
--15.3 13.6 27.125 
--14.9 13.6 27.575 
--14.5 13.6 28 
--14.1 13.6 28.425 
--13.7 13.6 28.8 
--13.3 13.6 29.15 
--12.9 13.6 29.375 
--12.5 13.6 29.65 
--12.1 13.6 29.875 
--11.7 13.6 30.125 
--11.3 13.6 30.4 
--10.9 13.6 30.575 
--10.5 13.6 30.775 
--10.1 13.6 30.9 
--9.7 13.6 31.025 
--9.3 13.6 31.275 
--8.9 13.6 31.45 
--8.5 13.6 31.525 
--8.1 13.6 31.625 
--7.7 13.6 31.675 
--7.3 13.6 31.525 
--6.9 13.6 31.375 
--6.5 13.6 31.275 
--6.1 13.6 31.225 
--5.7 13.6 31.25 
--5.3 13.6 31.275 
--4.9 13.6 31.2 
--4.5 13.6 31.125 
--4.1 13.6 31.125 
--3.7 13.6 31.15 
--3.3 13.6 31.175 
--2.9 13.6 31.15 
--2.5 13.6 31.075 
--2.1 13.6 31.15 
--1.7 13.6 31.2 
--1.3 13.6 31.15 
--0.899999 13.6 31.2 
--0.499999 13.6 31.375 
--0.0999994 13.6 31.4 
-0.300001 13.6 31.35 
-0.700001 13.6 31.325 
-1.1 13.6 31.375 
-1.5 13.6 31.375 
-1.9 13.6 31.275 
-2.3 13.6 31.15 
-2.7 13.6 31.275 
-3.1 13.6 31.25 
-3.5 13.6 31.175 
-3.9 13.6 31.175 
-4.3 13.6 31.225 
-4.7 13.6 31.275 
-5.1 13.6 31.225 
-5.5 13.6 31.1 
-5.9 13.6 31.075 
-6.3 13.6 31.075 
-6.7 13.6 31.025 
-7.1 13.6 31.175 
-7.5 13.6 31.2 
-7.9 13.6 31.1 
-8.3 13.6 31.075 
-8.7 13.6 31.1 
-9.1 13.6 31.05 
-9.5 13.6 30.975 
-9.9 13.6 30.95 
-10.3 13.6 30.95 
-10.7 13.6 30.9 
-11.1 13.6 30.9 
-11.5 13.6 30.725 
-11.9 13.6 30.575 
-12.3 13.6 30.525 
-12.7 13.6 30.425 
-13.1 13.6 30.45 
-13.5 13.6 30.525 
-13.9 13.6 30.575 
-14.3 13.6 30.55 
-14.7 13.6 30.525 
-15.1 13.6 30.4 
-15.5 13.6 30.35 
-15.9 13.6 30.35 
-16.3 13.6 30.4 
-16.7 13.6 30.425 
-17.1 13.6 30.425 
-17.5 13.6 30.5 
-17.9 13.6 30.65 
-18.3 13.6 30.775 
-18.7 13.6 30.775 
-19.1 13.6 30.525 
-19.5 13.6 30.3 
-19.9 13.6 30.2 
-20.3 13.6 29.925 
-20.7 13.6 29.625 
-21.1 13.6 29.375 
-21.5 13.6 29.15 
-21.9 13.6 29 
-22.3 13.6 28.725 
-22.7 13.6 28.35 
-23.1 13.6 28 
-23.5 13.6 27.75 
-23.9 13.6 27.475 
-24.3 13.6 27.05 
-24.7 13.6 26.725 
-25.1 13.6 26.475 
-25.5 13.6 25.9 
-25.9 13.6 25.3 
-26.3 13.6 24.775 
-26.7 13.6 24.275 
-27.1 13.6 23.425 
-27.5 13.6 22.975 
-27.9 13.6 22.2 
-28.3 13.6 20.95 
-28.7 13.6 20.075 
-29.1 13.6 18.85 
-29.5 13.6 17.4 
--23.3 14 -19.375 
--22.9 14 -20.075 
--22.5 14 -19.6 
--22.1 14 -19.3 
--21.7 14 -18.95 
--20.5 14 16.875 
--20.1 14 18.2 
--19.7 14 19.525 
--19.3 14 20.65 
--18.9 14 21.5 
--18.5 14 22.375 
--18.1 14 23.275 
--17.7 14 23.775 
--17.3 14 24.375 
--16.9 14 24.925 
--16.5 14 25.55 
--16.1 14 26.275 
--15.7 14 26.75 
--15.3 14 27.225 
--14.9 14 27.7 
--14.5 14 28.1 
--14.1 14 28.5 
--13.7 14 28.85 
--13.3 14 29.15 
--12.9 14 29.45 
--12.5 14 29.775 
--12.1 14 30.025 
--11.7 14 30.15 
--11.3 14 30.35 
--10.9 14 30.55 
--10.5 14 30.7 
--10.1 14 30.9 
--9.7 14 31.225 
--9.3 14 31.35 
--8.9 14 31.475 
--8.5 14 31.575 
--8.1 14 31.625 
--7.7 14 31.575 
--7.3 14 31.35 
--6.9 14 31.275 
--6.5 14 31.275 
--6.1 14 31.225 
--5.7 14 31.25 
--5.3 14 31.225 
--4.9 14 31.225 
--4.5 14 31.275 
--4.1 14 31.35 
--3.7 14 31.375 
--3.3 14 31.45 
--2.9 14 31.45 
--2.5 14 31.45 
--2.1 14 31.55 
--1.7 14 31.475 
--1.3 14 31.4 
--0.899999 14 31.375 
--0.499999 14 31.35 
--0.0999994 14 31.325 
-0.300001 14 31.3 
-0.700001 14 31.25 
-1.1 14 31.3 
-1.5 14 31.325 
-1.9 14 31.325 
-2.3 14 31.25 
-2.7 14 31.2 
-3.1 14 31.225 
-3.5 14 31.2 
-3.9 14 31.225 
-4.3 14 31.225 
-4.7 14 31.15 
-5.1 14 31.15 
-5.5 14 31.15 
-5.9 14 31.1 
-6.3 14 31.05 
-6.7 14 31.075 
-7.1 14 31.15 
-7.5 14 31.125 
-7.9 14 31.05 
-8.3 14 31 
-8.7 14 31 
-9.1 14 30.95 
-9.5 14 30.95 
-9.9 14 30.95 
-10.3 14 30.925 
-10.7 14 30.9 
-11.1 14 30.925 
-11.5 14 31 
-11.9 14 30.975 
-12.3 14 30.775 
-12.7 14 30.65 
-13.1 14 30.675 
-13.5 14 30.65 
-13.9 14 30.6 
-14.3 14 30.5 
-14.7 14 30.5 
-15.1 14 30.525 
-15.5 14 30.475 
-15.9 14 30.35 
-16.3 14 30.3 
-16.7 14 30.4 
-17.1 14 30.275 
-17.5 14 30.325 
-17.9 14 30.65 
-18.3 14 30.8 
-18.7 14 30.675 
-19.1 14 30.5 
-19.5 14 30.325 
-19.9 14 30.15 
-20.3 14 29.975 
-20.7 14 29.75 
-21.1 14 29.55 
-21.5 14 29.2 
-21.9 14 28.85 
-22.3 14 28.65 
-22.7 14 28.375 
-23.1 14 28 
-23.5 14 27.675 
-23.9 14 27.375 
-24.3 14 27.15 
-24.7 14 26.75 
-25.1 14 26.275 
-25.5 14 25.8 
-25.9 14 25.325 
-26.3 14 24.775 
-26.7 14 24.15 
-27.1 14 23.45 
-27.5 14 22.65 
-27.9 14 21.925 
-28.3 14 21.125 
-28.7 14 20.025 
-29.1 14 18.975 
-29.5 14 17.6 
--23.7 14.4 -18.55 
--23.3 14.4 -19.3 
--22.9 14.4 -20.2 
--22.5 14.4 -19.8 
--22.1 14.4 -19.375 
--21.7 14.4 -18.95 
--20.5 14.4 17.05 
--20.1 14.4 18.5 
--19.7 14.4 19.8 
--19.3 14.4 20.85 
--18.9 14.4 21.725 
--18.5 14.4 22.5 
--18.1 14.4 23.275 
--17.7 14.4 23.95 
--17.3 14.4 24.6 
--16.9 14.4 25.1 
--16.5 14.4 25.65 
--16.1 14.4 26.3 
--15.7 14.4 26.9 
--15.3 14.4 27.325 
--14.9 14.4 27.75 
--14.5 14.4 28.3 
--14.1 14.4 28.7 
--13.7 14.4 28.975 
--13.3 14.4 29.2 
--12.9 14.4 29.475 
--12.5 14.4 29.675 
--12.1 14.4 29.975 
--11.7 14.4 30.175 
--11.3 14.4 30.425 
--10.9 14.4 30.675 
--10.5 14.4 30.825 
--10.1 14.4 31.025 
--9.7 14.4 31.2 
--9.3 14.4 31.3 
--8.9 14.4 31.45 
--8.5 14.4 31.525 
--8.1 14.4 31.5 
--7.7 14.4 31.6 
--7.3 14.4 31.5 
--6.9 14.4 31.45 
--6.5 14.4 31.55 
--6.1 14.4 31.55 
--5.7 14.4 31.525 
--5.3 14.4 31.575 
--4.9 14.4 31.625 
--4.5 14.4 31.625 
--4.1 14.4 31.575 
--3.7 14.4 31.5 
--3.3 14.4 31.45 
--2.9 14.4 31.45 
--2.5 14.4 31.475 
--2.1 14.4 31.4 
--1.7 14.4 31.45 
--1.3 14.4 31.4 
--0.899999 14.4 31.4 
--0.499999 14.4 31.4 
--0.0999994 14.4 31.275 
-0.300001 14.4 31.225 
-0.700001 14.4 31.275 
-1.1 14.4 31.225 
-1.5 14.4 31.2 
-1.9 14.4 31.2 
-2.3 14.4 31.225 
-2.7 14.4 31.225 
-3.1 14.4 31.25 
-3.5 14.4 31.275 
-3.9 14.4 31.275 
-4.3 14.4 31.275 
-4.7 14.4 31.275 
-5.1 14.4 31.175 
-5.5 14.4 31.1 
-5.9 14.4 31.075 
-6.3 14.4 31.175 
-6.7 14.4 31.2 
-7.1 14.4 31.1 
-7.5 14.4 31.025 
-7.9 14.4 31.05 
-8.3 14.4 31.125 
-8.7 14.4 31.125 
-9.1 14.4 31 
-9.5 14.4 30.975 
-9.9 14.4 31 
-10.3 14.4 31 
-10.7 14.4 31.05 
-11.1 14.4 30.975 
-11.5 14.4 30.875 
-11.9 14.4 30.95 
-12.3 14.4 31 
-12.7 14.4 30.875 
-13.1 14.4 30.8 
-13.5 14.4 30.775 
-13.9 14.4 30.775 
-14.3 14.4 30.675 
-14.7 14.4 30.75 
-15.1 14.4 30.7 
-15.5 14.4 30.65 
-15.9 14.4 30.675 
-16.3 14.4 30.65 
-16.7 14.4 30.625 
-17.1 14.4 30.6 
-17.5 14.4 30.5 
-17.9 14.4 30.55 
-18.3 14.4 30.6 
-18.7 14.4 30.675 
-19.1 14.4 30.7 
-19.5 14.4 30.475 
-19.9 14.4 30.25 
-20.3 14.4 29.925 
-20.7 14.4 29.625 
-21.1 14.4 29.425 
-21.5 14.4 29.2 
-21.9 14.4 28.85 
-22.3 14.4 28.55 
-22.7 14.4 28.25 
-23.1 14.4 27.95 
-23.5 14.4 27.775 
-23.9 14.4 27.475 
-24.3 14.4 27.05 
-24.7 14.4 26.675 
-25.1 14.4 26.125 
-25.5 14.4 25.6 
-25.9 14.4 25.25 
-26.3 14.4 24.75 
-26.7 14.4 24.175 
-27.1 14.4 23.325 
-27.5 14.4 22.75 
-27.9 14.4 22.1 
-28.3 14.4 21 
-28.7 14.4 19.95 
-29.1 14.4 18.85 
-29.5 14.4 17.55 
--23.7 14.8 -20.525 
--23.3 14.8 -20.425 
--22.9 14.8 -20.2 
--22.5 14.8 -19.775 
--22.1 14.8 -19.275 
--21.7 14.8 -18.9 
--20.5 14.8 17.575 
--20.1 14.8 18.8 
--19.7 14.8 19.95 
--19.3 14.8 21 
--18.9 14.8 21.9 
--18.5 14.8 22.625 
--18.1 14.8 23.3 
--17.7 14.8 23.975 
--17.3 14.8 24.625 
--16.9 14.8 25.2 
--16.5 14.8 25.775 
--16.1 14.8 26.45 
--15.7 14.8 27.075 
--15.3 14.8 27.475 
--14.9 14.8 27.825 
--14.5 14.8 28.25 
--14.1 14.8 28.65 
--13.7 14.8 29.025 
--13.3 14.8 29.4 
--12.9 14.8 29.525 
--12.5 14.8 29.7 
--12.1 14.8 29.975 
--11.7 14.8 30.175 
--11.3 14.8 30.325 
--10.9 14.8 30.6 
--10.5 14.8 30.875 
--10.1 14.8 31.125 
--9.7 14.8 31.275 
--9.3 14.8 31.325 
--8.9 14.8 31.325 
--8.5 14.8 31.55 
--8.1 14.8 31.7 
--7.7 14.8 31.5 
--7.3 14.8 31.375 
--6.9 14.8 31.35 
--6.5 14.8 31.25 
--6.1 14.8 31.25 
--5.7 14.8 31.325 
--5.3 14.8 31.3 
--4.9 14.8 31.3 
--4.5 14.8 31.35 
--4.1 14.8 31.375 
--3.7 14.8 31.375 
--3.3 14.8 31.425 
--2.9 14.8 31.45 
--2.5 14.8 31.425 
--2.1 14.8 31.4 
--1.7 14.8 31.35 
--1.3 14.8 31.3 
--0.899999 14.8 31.375 
--0.499999 14.8 31.325 
--0.0999994 14.8 31.325 
-0.300001 14.8 31.325 
-0.700001 14.8 31.25 
-1.1 14.8 31.25 
-1.5 14.8 31.3 
-1.9 14.8 31.275 
-2.3 14.8 31.25 
-2.7 14.8 31.2 
-3.1 14.8 31.225 
-3.5 14.8 31.25 
-3.9 14.8 31.125 
-4.3 14.8 31.1 
-4.7 14.8 31.225 
-5.1 14.8 31.225 
-5.5 14.8 31.1 
-5.9 14.8 31.075 
-6.3 14.8 31.05 
-6.7 14.8 31.05 
-7.1 14.8 31 
-7.5 14.8 30.9 
-7.9 14.8 30.925 
-8.3 14.8 30.95 
-8.7 14.8 30.975 
-9.1 14.8 30.95 
-9.5 14.8 30.875 
-9.9 14.8 30.85 
-10.3 14.8 30.95 
-10.7 14.8 30.875 
-11.1 14.8 30.8 
-11.5 14.8 30.825 
-11.9 14.8 30.85 
-12.3 14.8 30.85 
-12.7 14.8 30.8 
-13.1 14.8 30.775 
-13.5 14.8 30.825 
-13.9 14.8 30.825 
-14.3 14.8 30.75 
-14.7 14.8 30.8 
-15.1 14.8 30.7 
-15.5 14.8 30.65 
-15.9 14.8 30.575 
-16.3 14.8 30.525 
-16.7 14.8 30.525 
-17.1 14.8 30.45 
-17.5 14.8 30.375 
-17.9 14.8 30.55 
-18.3 14.8 30.675 
-18.7 14.8 30.65 
-19.1 14.8 30.5 
-19.5 14.8 30.3 
-19.9 14.8 30.025 
-20.3 14.8 29.925 
-20.7 14.8 29.725 
-21.1 14.8 29.475 
-21.5 14.8 29.225 
-21.9 14.8 28.975 
-22.3 14.8 28.725 
-22.7 14.8 28.375 
-23.1 14.8 28.15 
-23.5 14.8 27.825 
-23.9 14.8 27.375 
-24.3 14.8 26.95 
-24.7 14.8 26.575 
-25.1 14.8 26.2 
-25.5 14.8 25.8 
-25.9 14.8 25.325 
-26.3 14.8 24.675 
-26.7 14.8 24.125 
-27.1 14.8 23.15 
-27.5 14.8 22.5 
-27.9 14.8 21.9 
-28.3 14.8 21.15 
-28.7 14.8 19.875 
-29.1 14.8 18.75 
--23.7 15.2 -20.45 
--23.3 15.2 -20.6 
--22.9 15.2 -20.15 
--22.5 15.2 -19.65 
--22.1 15.2 -19.3 
--21.7 15.2 -19 
--20.5 15.2 17.7 
--20.1 15.2 19.1 
--19.7 15.2 20.2 
--19.3 15.2 21.1 
--18.9 15.2 22.075 
--18.5 15.2 22.825 
--18.1 15.2 23.35 
--17.7 15.2 24 
--17.3 15.2 24.675 
--16.9 15.2 25.3 
--16.5 15.2 25.925 
--16.1 15.2 26.425 
--15.7 15.2 26.85 
--15.3 15.2 27.375 
--14.9 15.2 27.9 
--14.5 15.2 28.275 
--14.1 15.2 28.625 
--13.7 15.2 29.075 
--13.3 15.2 29.35 
--12.9 15.2 29.625 
--12.5 15.2 29.875 
--12.1 15.2 30.075 
--11.7 15.2 30.35 
--11.3 15.2 30.5 
--10.9 15.2 30.7 
--10.5 15.2 30.8 
--10.1 15.2 30.975 
--9.7 15.2 31.15 
--9.3 15.2 31.325 
--8.9 15.2 31.425 
--8.5 15.2 31.5 
--8.1 15.2 31.625 
--7.7 15.2 31.525 
--7.3 15.2 31.45 
--6.9 15.2 31.375 
--6.5 15.2 31.4 
--6.1 15.2 31.45 
--5.7 15.2 31.325 
--5.3 15.2 31.3 
--4.9 15.2 31.25 
--4.5 15.2 31.2 
--4.1 15.2 31.225 
--3.7 15.2 31.125 
--3.3 15.2 31.075 
--2.9 15.2 31.175 
--2.5 15.2 31.125 
--2.1 15.2 31.05 
--1.7 15.2 31.025 
--1.3 15.2 31.1 
--0.899999 15.2 31.225 
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--0.0999994 15.2 31.2 
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-3.1 15.2 31.225 
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-3.9 15.2 31.3 
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-5.5 15.2 31.025 
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-9.5 15.2 30.975 
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-10.3 15.2 31.025 
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-27.5 15.2 22.8 
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-28.3 15.2 21 
-28.7 15.2 20 
-29.1 15.2 18.825 
-29.5 15.2 17.725 
--23.7 15.6 -20.575 
--23.3 15.6 -20.45 
--22.9 15.6 -19.95 
--22.5 15.6 -19.55 
--22.1 15.6 -19.275 
--21.7 15.6 -18.85 
--20.9 15.6 16.625 
--20.5 15.6 17.975 
--20.1 15.6 19.15 
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--19.3 15.6 21.25 
--18.9 15.6 22.125 
--18.5 15.6 22.675 
--18.1 15.6 23.375 
--17.7 15.6 24.05 
--17.3 15.6 24.85 
--16.9 15.6 25.475 
--16.5 15.6 26.025 
--16.1 15.6 26.7 
--15.7 15.6 27.275 
--15.3 15.6 27.7 
--14.9 15.6 28.075 
--14.5 15.6 28.5 
--14.1 15.6 28.825 
--13.7 15.6 29.025 
--13.3 15.6 29.375 
--12.9 15.6 29.6 
--12.5 15.6 29.8 
--12.1 15.6 29.975 
--11.7 15.6 30.175 
--11.3 15.6 30.475 
--10.9 15.6 30.675 
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--10.1 15.6 31.075 
--9.7 15.6 31.225 
--9.3 15.6 31.375 
--8.9 15.6 31.475 
--8.5 15.6 31.425 
--8.1 15.6 31.525 
--7.7 15.6 31.625 
--7.3 15.6 31.55 
--6.9 15.6 31.425 
--6.5 15.6 31.3 
--6.1 15.6 31.275 
--5.7 15.6 31.25 
--5.3 15.6 31.2 
--4.9 15.6 31.175 
--4.5 15.6 31.175 
--4.1 15.6 31.175 
--3.7 15.6 31.175 
--3.3 15.6 31.175 
--2.9 15.6 31.125 
--2.5 15.6 31.025 
--2.1 15.6 31.075 
--1.7 15.6 31.25 
--1.3 15.6 31.375 
--0.899999 15.6 31.425 
--0.499999 15.6 31.475 
--0.0999994 15.6 31.5 
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-2.7 15.6 31.1 
-3.1 15.6 31.15 
-3.5 15.6 31.275 
-3.9 15.6 31.225 
-4.3 15.6 31.2 
-4.7 15.6 31.1 
-5.1 15.6 31.075 
-5.5 15.6 31.075 
-5.9 15.6 31.05 
-6.3 15.6 31 
-6.7 15.6 31.025 
-7.1 15.6 31.15 
-7.5 15.6 31.075 
-7.9 15.6 31.05 
-8.3 15.6 31.025 
-8.7 15.6 31 
-9.1 15.6 30.975 
-9.5 15.6 30.95 
-9.9 15.6 30.95 
-10.3 15.6 30.975 
-10.7 15.6 30.975 
-11.1 15.6 30.925 
-11.5 15.6 30.85 
-11.9 15.6 30.775 
-12.3 15.6 30.7 
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-13.1 15.6 30.55 
-13.5 15.6 30.6 
-13.9 15.6 30.475 
-14.3 15.6 30.45 
-14.7 15.6 30.5 
-15.1 15.6 30.475 
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-15.9 15.6 30.475 
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-16.7 15.6 30.575 
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-18.7 15.6 30.65 
-19.1 15.6 30.5 
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-21.5 15.6 29.075 
-21.9 15.6 28.875 
-22.3 15.6 28.575 
-22.7 15.6 28.25 
-23.1 15.6 28 
-23.5 15.6 27.7 
-23.9 15.6 27.35 
-24.3 15.6 26.95 
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-27.1 15.6 23.125 
-27.5 15.6 22.375 
-27.9 15.6 21.675 
-28.3 15.6 20.85 
-28.7 15.6 19.825 
-29.1 15.6 18.75 
-29.5 15.6 17.25 
--23.7 16 -20.225 
--23.3 16 -20.425 
--22.9 16 -19.775 
--22.5 16 -19.4 
--22.1 16 -19.1 
--21.7 16 -18.825 
--20.9 16 16.975 
--20.5 16 18.15 
--20.1 16 19.55 
--19.7 16 20.475 
--19.3 16 21.325 
--18.9 16 22.175 
--18.5 16 22.975 
--18.1 16 23.6 
--17.7 16 24.125 
--17.3 16 24.75 
--16.9 16 25.5 
--16.5 16 26.1 
--16.1 16 26.675 
--15.7 16 27.15 
--15.3 16 27.65 
--14.9 16 28.125 
--14.5 16 28.55 
--14.1 16 28.85 
--13.7 16 29.1 
--13.3 16 29.425 
--12.9 16 29.725 
--12.5 16 29.9 
--12.1 16 30.075 
--11.7 16 30.2 
--11.3 16 30.375 
--10.9 16 30.575 
--10.5 16 30.8 
--10.1 16 31.025 
--9.7 16 31.225 
--9.3 16 31.375 
--8.9 16 31.475 
--8.5 16 31.525 
--8.1 16 31.5 
--7.7 16 31.575 
--7.3 16 31.525 
--6.9 16 31.4 
--6.5 16 31.5 
--6.1 16 31.5 
--5.7 16 31.4 
--5.3 16 31.325 
--4.9 16 31.225 
--4.5 16 31.1 
--4.1 16 31.15 
--3.7 16 31.15 
--3.3 16 31.2 
--2.9 16 31.35 
--2.5 16 31.5 
--2.1 16 31.5 
--1.7 16 31.375 
--1.3 16 31.35 
--0.899999 16 31.45 
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--0.0999994 16 31.4 
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-3.9 16 31.2 
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-4.7 16 31.2 
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-5.5 16 31.15 
-5.9 16 31.175 
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-6.7 16 31.15 
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-8.7 16 30.975 
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-21.1 16 29.4 
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-27.9 16 21.85 
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-28.7 16 19.9 
-29.1 16 18.7 
-29.5 16 17.25 
--23.7 16.4 -19.3 
--23.3 16.4 -20.25 
--22.9 16.4 -19.85 
--22.5 16.4 -19.325 
--22.1 16.4 -18.725 
--21.7 16.4 -18.6 
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--20.5 16.4 18.6 
--20.1 16.4 19.75 
--19.7 16.4 20.725 
--19.3 16.4 21.6 
--18.9 16.4 22.225 
--18.5 16.4 22.95 
--18.1 16.4 23.575 
--17.7 16.4 24.25 
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--16.9 16.4 25.45 
--16.5 16.4 26.15 
--16.1 16.4 26.625 
--15.7 16.4 27.275 
--15.3 16.4 27.7 
--14.9 16.4 28.15 
--14.5 16.4 28.55 
--14.1 16.4 28.9 
--13.7 16.4 29.15 
--13.3 16.4 29.35 
--12.9 16.4 29.575 
--12.5 16.4 29.85 
--12.1 16.4 30.125 
--11.7 16.4 30.225 
--11.3 16.4 30.35 
--10.9 16.4 30.575 
--10.5 16.4 30.775 
--10.1 16.4 31.025 
--9.7 16.4 31.25 
--9.3 16.4 31.3 
--8.9 16.4 31.4 
--8.5 16.4 31.6 
--8.1 16.4 31.625 
--7.7 16.4 31.6 
--7.3 16.4 31.45 
--6.9 16.4 31.425 
--6.5 16.4 31.45 
--6.1 16.4 31.4 
--5.7 16.4 31.4 
--5.3 16.4 31.3 
--4.9 16.4 31.275 
--4.5 16.4 31.375 
--4.1 16.4 31.425 
--3.7 16.4 31.4 
--3.3 16.4 31.325 
--2.9 16.4 31.3 
--2.5 16.4 31.375 
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--1.7 16.4 31.425 
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-2.7 16.4 31.175 
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-3.5 16.4 31.125 
-3.9 16.4 31.125 
-4.3 16.4 31.15 
-4.7 16.4 31.025 
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-6.7 16.4 31.075 
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-7.5 16.4 31.125 
-7.9 16.4 31.15 
-8.3 16.4 31.075 
-8.7 16.4 31.025 
-9.1 16.4 31.025 
-9.5 16.4 30.95 
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-20.3 16.4 29.875 
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-21.1 16.4 29.275 
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-21.9 16.4 28.875 
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-23.9 16.4 27.175 
-24.3 16.4 26.85 
-24.7 16.4 26.35 
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-27.9 16.4 21.475 
-28.3 16.4 20.775 
-28.7 16.4 19.45 
-29.1 16.4 18.475 
-29.5 16.4 17.325 
--24.1 16.8 -19.525 
--23.7 16.8 -20.05 
--23.3 16.8 -20.45 
--22.9 16.8 -20.125 
--22.5 16.8 -19.4 
--22.1 16.8 -19 
--21.7 16.8 -18.75 
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--16.5 16.8 26.15 
--16.1 16.8 26.675 
--15.7 16.8 27.25 
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--14.9 16.8 28.275 
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--11.7 16.8 30.075 
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--8.1 16.8 31.55 
--7.7 16.8 31.55 
--7.3 16.8 31.475 
--6.9 16.8 31.3 
--6.5 16.8 31.225 
--6.1 16.8 31.3 
--5.7 16.8 31.35 
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--3.7 16.8 31.425 
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-7.5 16.8 31.05 
-7.9 16.8 30.975 
-8.3 16.8 30.9 
-8.7 16.8 30.875 
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-9.5 16.8 30.9 
-9.9 16.8 30.85 
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-11.1 16.8 30.625 
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-11.9 16.8 30.625 
-12.3 16.8 30.625 
-12.7 16.8 30.65 
-13.1 16.8 30.7 
-13.5 16.8 30.775 
-13.9 16.8 30.775 
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-15.9 16.8 30.525 
-16.3 16.8 30.25 
-16.7 16.8 30.175 
-17.1 16.8 30.4 
-17.5 16.8 30.575 
-17.9 16.8 30.725 
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-18.7 16.8 30.75 
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-19.5 16.8 30.275 
-19.9 16.8 29.95 
-20.3 16.8 29.8 
-20.7 16.8 29.575 
-21.1 16.8 29.35 
-21.5 16.8 29.15 
-21.9 16.8 28.825 
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-24.3 16.8 26.825 
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-25.1 16.8 25.95 
-25.5 16.8 25.475 
-25.9 16.8 25.025 
-26.3 16.8 24.225 
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-27.1 16.8 23.1 
-27.5 16.8 22.175 
-27.9 16.8 21.525 
-28.3 16.8 20.45 
-28.7 16.8 19.6 
-29.1 16.8 18.3 
-29.5 16.8 17 
--24.1 17.2 -19.275 
--23.7 17.2 -20.45 
--23.3 17.2 -20.175 
--22.9 17.2 -19.725 
--22.5 17.2 -19.375 
--22.1 17.2 -19.025 
--21.7 17.2 -18.625 
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--20.5 17.2 19.075 
--20.1 17.2 19.975 
--19.7 17.2 20.8 
--19.3 17.2 21.625 
--18.9 17.2 22.325 
--18.5 17.2 23.025 
--18.1 17.2 23.725 
--17.7 17.2 24.4 
--17.3 17.2 25 
--16.9 17.2 25.575 
--16.5 17.2 26.15 
--16.1 17.2 26.7 
--15.7 17.2 27.3 
--15.3 17.2 27.875 
--14.9 17.2 28.275 
--14.5 17.2 28.65 
--14.1 17.2 29.025 
--13.7 17.2 29.225 
--13.3 17.2 29.45 
--12.9 17.2 29.7 
--12.5 17.2 29.9 
--12.1 17.2 30.025 
--11.7 17.2 30.175 
--11.3 17.2 30.425 
--10.9 17.2 30.55 
--10.5 17.2 30.6 
--10.1 17.2 30.75 
--9.7 17.2 31.05 
--9.3 17.2 31.2 
--8.9 17.2 31.3 
--8.5 17.2 31.425 
--8.1 17.2 31.575 
--7.7 17.2 31.575 
--7.3 17.2 31.475 
--6.9 17.2 31.4 
--6.5 17.2 31.45 
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-3.5 19.2 31.15 
-3.9 19.2 31.15 
-4.3 19.2 31.075 
-4.7 19.2 30.975 
-5.1 19.2 31 
-5.5 19.2 31.075 
-5.9 19.2 31.1 
-6.3 19.2 31.075 
-6.7 19.2 31.05 
-7.1 19.2 31.05 
-7.5 19.2 31.075 
-7.9 19.2 31.125 
-8.3 19.2 31.05 
-8.7 19.2 30.95 
-9.1 19.2 30.775 
-9.5 19.2 30.7 
-9.9 19.2 30.8 
-10.3 19.2 30.875 
-10.7 19.2 30.85 
-11.1 19.2 30.775 
-11.5 19.2 30.525 
-11.9 19.2 30.475 
-12.3 19.2 30.55 
-12.7 19.2 30.475 
-13.1 19.2 30.475 
-13.5 19.2 30.625 
-13.9 19.2 30.775 
-14.3 19.2 30.825 
-14.7 19.2 30.675 
-15.1 19.2 30.5 
-15.5 19.2 30.325 
-15.9 19.2 30.25 
-16.3 19.2 30.3 
-16.7 19.2 30.45 
-17.1 19.2 30.675 
-17.5 19.2 30.725 
-17.9 19.2 30.625 
-18.3 19.2 30.425 
-18.7 19.2 30.35 
-19.1 19.2 30.225 
-19.5 19.2 30.075 
-19.9 19.2 29.85 
-20.3 19.2 29.625 
-20.7 19.2 29.35 
-21.1 19.2 29 
-21.5 19.2 28.7 
-21.9 19.2 28.4 
-22.3 19.2 28.125 
-22.7 19.2 27.85 
-23.1 19.2 27.5 
-23.5 19.2 27.25 
-23.9 19.2 26.85 
-24.3 19.2 26.375 
-24.7 19.2 25.8 
-25.1 19.2 25.325 
-25.5 19.2 24.875 
-25.9 19.2 24.175 
-26.3 19.2 23.675 
-26.7 19.2 23 
-27.1 19.2 22.275 
-27.5 19.2 21.525 
-27.9 19.2 20.375 
-28.3 19.2 19.425 
-28.7 19.2 18.6 
-29.1 19.2 17.375 
-29.5 19.2 15.725 
--24.5 19.6 -20.125 
--24.1 19.6 -20.25 
--23.7 19.6 -19.95 
--23.3 19.6 -19.525 
--22.9 19.6 -19.225 
--22.5 19.6 -18.825 
--22.1 19.6 -18.5 
--21.3 19.6 17.8 
--20.9 19.6 18.8 
--20.5 19.6 19.65 
--20.1 19.6 20.55 
--19.7 19.6 21.225 
--19.3 19.6 21.875 
--18.9 19.6 22.45 
--18.5 19.6 23.075 
--18.1 19.6 23.575 
--17.7 19.6 24.225 
--17.3 19.6 24.95 
--16.9 19.6 25.625 
--16.5 19.6 26.25 
--16.1 19.6 26.9 
--15.7 19.6 27.55 
--15.3 19.6 28.075 
--14.9 19.6 28.45 
--14.5 19.6 28.825 
--14.1 19.6 29.15 
--13.7 19.6 29.425 
--13.3 19.6 29.525 
--12.9 19.6 29.65 
--12.5 19.6 29.775 
--12.1 19.6 29.95 
--11.7 19.6 30.125 
--11.3 19.6 30.225 
--10.9 19.6 30.325 
--10.5 19.6 30.475 
--10.1 19.6 30.55 
--9.7 19.6 30.675 
--9.3 19.6 30.875 
--8.9 19.6 30.95 
--8.5 19.6 30.975 
--8.1 19.6 31.2 
--7.7 19.6 31.5 
--7.3 19.6 31.525 
--6.9 19.6 31.425 
--6.5 19.6 31.3 
--6.1 19.6 31.15 
--5.7 19.6 31.175 
--5.3 19.6 31.25 
--4.9 19.6 31.25 
--4.5 19.6 31.275 
--4.1 19.6 31.2 
--3.7 19.6 31.15 
--3.3 19.6 30.975 
--2.9 19.6 30.95 
--2.5 19.6 30.975 
--2.1 19.6 31.05 
--1.7 19.6 31.15 
--1.3 19.6 31.3 
--0.899999 19.6 31.275 
--0.499999 19.6 31.25 
--0.0999994 19.6 31.225 
-0.300001 19.6 31.05 
-0.700001 19.6 31.025 
-1.1 19.6 31.175 
-1.5 19.6 31.225 
-1.9 19.6 31.125 
-2.3 19.6 31.125 
-2.7 19.6 31.175 
-3.1 19.6 31.25 
-3.5 19.6 31.2 
-3.9 19.6 31.2 
-4.3 19.6 31.225 
-4.7 19.6 31.15 
-5.1 19.6 31.075 
-5.5 19.6 31.025 
-5.9 19.6 30.95 
-6.3 19.6 31 
-6.7 19.6 31 
-7.1 19.6 30.975 
-7.5 19.6 30.875 
-7.9 19.6 30.8 
-8.3 19.6 30.875 
-8.7 19.6 30.925 
-9.1 19.6 30.85 
-9.5 19.6 30.725 
-9.9 19.6 30.7 
-10.3 19.6 30.825 
-10.7 19.6 30.8 
-11.1 19.6 30.75 
-11.5 19.6 30.7 
-11.9 19.6 30.575 
-12.3 19.6 30.55 
-12.7 19.6 30.55 
-13.1 19.6 30.5 
-13.5 19.6 30.425 
-13.9 19.6 30.375 
-14.3 19.6 30.55 
-14.7 19.6 30.65 
-15.1 19.6 30.575 
-15.5 19.6 30.475 
-15.9 19.6 30.4 
-16.3 19.6 30.45 
-16.7 19.6 30.9 
-17.1 19.6 30.8 
-17.5 19.6 30.7 
-17.9 19.6 30.55 
-18.3 19.6 30.425 
-18.7 19.6 30.375 
-19.1 19.6 30.15 
-19.5 19.6 29.875 
-19.9 19.6 29.7 
-20.3 19.6 29.5 
-20.7 19.6 29.25 
-21.1 19.6 29.025 
-21.5 19.6 28.7 
-21.9 19.6 28.35 
-22.3 19.6 28.125 
-22.7 19.6 27.7 
-23.1 19.6 27.3 
-23.5 19.6 26.975 
-23.9 19.6 26.6 
-24.3 19.6 26.275 
-24.7 19.6 25.775 
-25.1 19.6 25.275 
-25.5 19.6 24.85 
-25.9 19.6 24.125 
-26.3 19.6 23.6 
-26.7 19.6 22.8 
-27.1 19.6 22.25 
-27.5 19.6 21.275 
-27.9 19.6 20.25 
-28.3 19.6 19.475 
-28.7 19.6 18.3 
-29.1 19.6 17.125 
-29.5 19.6 15.6 
--24.1 20 -20.5 
--23.7 20 -20.175 
--23.3 20 -19.575 
--22.9 20 -19.225 
--22.5 20 -18.8 
--22.1 20 -18.425 
--21.3 20 17.8 
--20.9 20 18.975 
--20.5 20 19.575 
--20.1 20 20.55 
--19.7 20 21.275 
--19.3 20 21.85 
--18.9 20 22.425 
--18.5 20 23 
--18.1 20 23.55 
--17.7 20 24.15 
--17.3 20 24.95 
--16.9 20 25.75 
--16.5 20 26.525 
--16.1 20 27 
--15.7 20 27.525 
--15.3 20 28.1 
--14.9 20 28.55 
--14.5 20 28.825 
--14.1 20 29.025 
--13.7 20 29.25 
--13.3 20 29.5 
--12.9 20 29.675 
--12.5 20 29.825 
--12.1 20 29.975 
--11.7 20 30.05 
--11.3 20 30.2 
--10.9 20 30.3 
--10.5 20 30.35 
--10.1 20 30.475 
--9.7 20 30.65 
--9.3 20 30.7 
--8.9 20 30.875 
--8.5 20 31.1 
--8.1 20 31.2 
--7.7 20 31.325 
--7.3 20 31.45 
--6.9 20 31.5 
--6.5 20 31.375 
--6.1 20 31.3 
--5.7 20 31.325 
--5.3 20 31.3 
--4.9 20 31.225 
--4.5 20 31.075 
--4.1 20 30.925 
--3.7 20 30.975 
--3.3 20 30.95 
--2.9 20 31 
--2.5 20 31.1 
--2.1 20 31.1 
--1.7 20 31.125 
--1.3 20 31.225 
--0.899999 20 31.25 
--0.499999 20 31.125 
--0.0999994 20 31.025 
-0.300001 20 31 
-0.700001 20 31.175 
-1.1 20 31.25 
-1.5 20 31.15 
-1.9 20 31.075 
-2.3 20 31 
-2.7 20 31.025 
-3.1 20 31.15 
-3.5 20 31.2 
-3.9 20 31.125 
-4.3 20 31.125 
-4.7 20 31.075 
-5.1 20 31.1 
-5.5 20 31.05 
-5.9 20 30.925 
-6.3 20 30.9 
-6.7 20 30.95 
-7.1 20 31 
-7.5 20 30.925 
-7.9 20 30.675 
-8.3 20 30.65 
-8.7 20 30.85 
-9.1 20 30.875 
-9.5 20 30.8 
-9.9 20 30.625 
-10.3 20 30.475 
-10.7 20 30.725 
-11.1 20 30.825 
-11.5 20 30.65 
-11.9 20 30.575 
-12.3 20 30.525 
-12.7 20 30.55 
-13.1 20 30.475 
-13.5 20 30.325 
-13.9 20 30.325 
-14.3 20 30.275 
-14.7 20 30.325 
-15.1 20 30.45 
-15.5 20 30.55 
-15.9 20 30.525 
-16.3 20 30.55 
-16.7 20 30.675 
-17.1 20 30.7 
-17.5 20 30.625 
-17.9 20 30.475 
-18.3 20 30.35 
-18.7 20 30.175 
-19.1 20 29.975 
-19.5 20 29.9 
-19.9 20 29.675 
-20.3 20 29.325 
-20.7 20 29.025 
-21.1 20 28.85 
-21.5 20 28.6 
-21.9 20 28.25 
-22.3 20 27.975 
-22.7 20 27.625 
-23.1 20 27.2 
-23.5 20 26.875 
-23.9 20 26.45 
-24.3 20 26 
-24.7 20 25.725 
-25.1 20 25.2 
-25.5 20 24.5 
-25.9 20 23.925 
-26.3 20 23.25 
-26.7 20 22.55 
-27.1 20 21.65 
-27.5 20 21.1 
-27.9 20 20.525 
-28.3 20 18.975 
-28.7 20 18.15 
-29.1 20 16.95 
-29.5 20 15.375 
--24.1 20.4 -20.475 
--23.7 20.4 -19.975 
--23.3 20.4 -19.525 
--22.9 20.4 -19.075 
--22.5 20.4 -18.675 
--22.1 20.4 -18.45 
--21.3 20.4 17.85 
--20.9 20.4 19.125 
--20.5 20.4 19.825 
--20.1 20.4 20.65 
--19.7 20.4 21.475 
--19.3 20.4 21.875 
--18.9 20.4 22.425 
--18.5 20.4 22.925 
--18.1 20.4 23.45 
--17.7 20.4 24.2 
--17.3 20.4 25.025 
--16.9 20.4 25.675 
--16.5 20.4 26.425 
--16.1 20.4 27 
--15.7 20.4 27.55 
--15.3 20.4 28.05 
--14.9 20.4 28.5 
--14.5 20.4 28.8 
--14.1 20.4 29.075 
--13.7 20.4 29.275 
--13.3 20.4 29.45 
--12.9 20.4 29.65 
--12.5 20.4 29.825 
--12.1 20.4 29.95 
--11.7 20.4 29.975 
--11.3 20.4 30.1 
--10.9 20.4 30.225 
--10.5 20.4 30.35 
--10.1 20.4 30.5 
--9.7 20.4 30.55 
--9.3 20.4 30.55 
--8.9 20.4 30.65 
--8.5 20.4 30.95 
--8.1 20.4 31.175 
--7.7 20.4 31.25 
--7.3 20.4 31.375 
--6.9 20.4 31.4 
--6.5 20.4 31.425 
--6.1 20.4 31.35 
--5.7 20.4 31.1 
--5.3 20.4 31 
--4.9 20.4 31.1 
--4.5 20.4 31.225 
--4.1 20.4 31.225 
--3.7 20.4 31.125 
--3.3 20.4 31.05 
--2.9 20.4 30.95 
--2.5 20.4 31.1 
--2.1 20.4 31.375 
--1.7 20.4 31.325 
--1.3 20.4 31.2 
--0.899999 20.4 31.1 
--0.499999 20.4 30.975 
--0.0999994 20.4 30.825 
-0.300001 20.4 31 
-0.700001 20.4 31.25 
-1.1 20.4 31.275 
-1.5 20.4 31.175 
-1.9 20.4 31.025 
-2.3 20.4 31 
-2.7 20.4 31 
-3.1 20.4 31.1 
-3.5 20.4 31.075 
-3.9 20.4 30.925 
-4.3 20.4 30.925 
-4.7 20.4 30.975 
-5.1 20.4 30.95 
-5.5 20.4 30.95 
-5.9 20.4 30.95 
-6.3 20.4 30.85 
-6.7 20.4 30.8 
-7.1 20.4 30.925 
-7.5 20.4 30.95 
-7.9 20.4 30.825 
-8.3 20.4 30.65 
-8.7 20.4 30.8 
-9.1 20.4 30.9 
-9.5 20.4 30.775 
-9.9 20.4 30.75 
-10.3 20.4 30.7 
-10.7 20.4 30.6 
-11.1 20.4 30.725 
-11.5 20.4 30.85 
-11.9 20.4 30.8 
-12.3 20.4 30.675 
-12.7 20.4 30.575 
-13.1 20.4 30.4 
-13.5 20.4 30.3 
-13.9 20.4 30.375 
-14.3 20.4 30.475 
-14.7 20.4 30.45 
-15.1 20.4 30.35 
-15.5 20.4 30.25 
-15.9 20.4 30.325 
-16.3 20.4 30.625 
-16.7 20.4 30.775 
-17.1 20.4 30.775 
-17.5 20.4 30.65 
-17.9 20.4 30.525 
-18.3 20.4 30.35 
-18.7 20.4 30.175 
-19.1 20.4 30.05 
-19.5 20.4 29.85 
-19.9 20.4 29.575 
-20.3 20.4 29.3 
-20.7 20.4 29.075 
-21.1 20.4 28.75 
-21.5 20.4 28.475 
-21.9 20.4 28.125 
-22.3 20.4 27.875 
-22.7 20.4 27.625 
-23.1 20.4 27.2 
-23.5 20.4 26.8 
-23.9 20.4 26.325 
-24.3 20.4 25.825 
-24.7 20.4 25.425 
-25.1 20.4 25.025 
-25.5 20.4 24.325 
-25.9 20.4 23.825 
-26.3 20.4 23.3 
-26.7 20.4 22.55 
-27.1 20.4 21.625 
-27.5 20.4 20.65 
-27.9 20.4 19.775 
-28.3 20.4 18.875 
-28.7 20.4 17.725 
-29.1 20.4 16.65 
-29.5 20.4 15.325 
--24.5 20.8 -20.425 
--24.1 20.8 -20.15 
--23.7 20.8 -19.65 
--23.3 20.8 -19.25 
--22.9 20.8 -18.975 
--22.5 20.8 -18.75 
--22.1 20.8 -18.425 
--21.3 20.8 17.925 
--20.9 20.8 19.2 
--20.5 20.8 19.975 
--20.1 20.8 20.725 
--19.7 20.8 21.4 
--19.3 20.8 21.925 
--18.9 20.8 22.375 
--18.5 20.8 23 
--18.1 20.8 23.475 
--17.7 20.8 24.075 
--17.3 20.8 24.875 
--16.9 20.8 25.55 
--16.5 20.8 26.3 
--16.1 20.8 26.9 
--15.7 20.8 27.5 
--15.3 20.8 27.95 
--14.9 20.8 28.325 
--14.5 20.8 28.65 
--14.1 20.8 29 
--13.7 20.8 29.275 
--13.3 20.8 29.4 
--12.9 20.8 29.575 
--12.5 20.8 29.7 
--12.1 20.8 29.875 
--11.7 20.8 30.075 
--11.3 20.8 30.125 
--10.9 20.8 30.175 
--10.5 20.8 30.25 
--10.1 20.8 30.275 
--9.7 20.8 30.4 
--9.3 20.8 30.55 
--8.9 20.8 30.65 
--8.5 20.8 30.85 
--8.1 20.8 31.125 
--7.7 20.8 31.35 
--7.3 20.8 31.325 
--6.9 20.8 31.325 
--6.5 20.8 31.425 
--6.1 20.8 31.3 
--5.7 20.8 31.05 
--5.3 20.8 31.05 
--4.9 20.8 31.15 
--4.5 20.8 31.225 
--4.1 20.8 31.15 
--3.7 20.8 30.975 
--3.3 20.8 30.925 
--2.9 20.8 31.15 
--2.5 20.8 31.35 
--2.1 20.8 31.325 
--1.7 20.8 31.175 
--1.3 20.8 31 
--0.899999 20.8 30.95 
--0.499999 20.8 30.975 
--0.0999994 20.8 30.975 
-0.300001 20.8 31.175 
-0.700001 20.8 31.175 
-1.1 20.8 31.15 
-1.5 20.8 31.05 
-1.9 20.8 30.975 
-2.3 20.8 31.125 
-2.7 20.8 31.175 
-3.1 20.8 31.075 
-3.5 20.8 30.925 
-3.9 20.8 30.95 
-4.3 20.8 31.075 
-4.7 20.8 30.975 
-5.1 20.8 30.9 
-5.5 20.8 30.95 
-5.9 20.8 31.025 
-6.3 20.8 31 
-6.7 20.8 30.825 
-7.1 20.8 30.85 
-7.5 20.8 30.875 
-7.9 20.8 30.75 
-8.3 20.8 30.675 
-8.7 20.8 30.675 
-9.1 20.8 30.85 
-9.5 20.8 30.775 
-9.9 20.8 30.65 
-10.3 20.8 30.625 
-10.7 20.8 30.45 
-11.1 20.8 30.4 
-11.5 20.8 30.4 
-11.9 20.8 30.625 
-12.3 20.8 30.825 
-12.7 20.8 30.75 
-13.1 20.8 30.6 
-13.5 20.8 30.55 
-13.9 20.8 30.625 
-14.3 20.8 30.725 
-14.7 20.8 30.675 
-15.1 20.8 30.5 
-15.5 20.8 30.275 
-15.9 20.8 30.325 
-16.3 20.8 30.625 
-16.7 20.8 30.675 
-17.1 20.8 30.675 
-17.5 20.8 30.675 
-17.9 20.8 30.6 
-18.3 20.8 30.375 
-18.7 20.8 30.1 
-19.1 20.8 29.85 
-19.5 20.8 29.65 
-19.9 20.8 29.475 
-20.3 20.8 29.25 
-20.7 20.8 28.95 
-21.1 20.8 28.7 
-21.5 20.8 28.475 
-21.9 20.8 28.125 
-22.3 20.8 27.85 
-22.7 20.8 27.5 
-23.1 20.8 27.125 
-23.5 20.8 26.675 
-23.9 20.8 26.2 
-24.3 20.8 25.75 
-24.7 20.8 25.25 
-25.1 20.8 24.8 
-25.5 20.8 24.25 
-25.9 20.8 23.6 
-26.3 20.8 22.9 
-26.7 20.8 22.275 
-27.1 20.8 21.425 
-27.5 20.8 20.525 
-27.9 20.8 19.425 
-28.3 20.8 18.575 
-28.7 20.8 17.625 
-29.1 20.8 16.275 
--24.1 21.2 -20.025 
--23.7 21.2 -19.625 
--23.3 21.2 -19.375 
--22.9 21.2 -18.975 
--22.5 21.2 -18.6 
--22.1 21.2 -18.25 
--21.3 21.2 18 
--20.9 21.2 19.075 
--20.5 21.2 20.225 
--20.1 21.2 20.825 
--19.7 21.2 21.425 
--19.3 21.2 21.9 
--18.9 21.2 22.35 
--18.5 21.2 22.85 
--18.1 21.2 23.3 
--17.7 21.2 23.875 
--17.3 21.2 24.8 
--16.9 21.2 25.7 
--16.5 21.2 26.4 
--16.1 21.2 27 
--15.7 21.2 27.575 
--15.3 21.2 28.05 
--14.9 21.2 28.375 
--14.5 21.2 28.65 
--14.1 21.2 28.95 
--13.7 21.2 29.225 
--13.3 21.2 29.45 
--12.9 21.2 29.55 
--12.5 21.2 29.65 
--12.1 21.2 29.775 
--11.7 21.2 29.825 
--11.3 21.2 29.85 
--10.9 21.2 30.025 
--10.5 21.2 30.175 
--10.1 21.2 30.225 
--9.7 21.2 30.3 
--9.3 21.2 30.425 
--8.9 21.2 30.55 
--8.5 21.2 30.775 
--8.1 21.2 30.875 
--7.7 21.2 31 
--7.3 21.2 31.075 
--6.9 21.2 31.275 
--6.5 21.2 31.425 
--6.1 21.2 31.5 
--5.7 21.2 31.375 
--5.3 21.2 31.175 
--4.9 21.2 31.1 
--4.5 21.2 31.15 
--4.1 21.2 31.2 
--3.7 21.2 31.175 
--3.3 21.2 31.2 
--2.9 21.2 31.25 
--2.5 21.2 31.2 
--2.1 21.2 31.1 
--1.7 21.2 31.025 
--1.3 21.2 30.925 
--0.899999 21.2 30.875 
--0.499999 21.2 30.925 
--0.0999994 21.2 31.1 
-0.300001 21.2 31.225 
-0.700001 21.2 31.175 
-1.1 21.2 31.025 
-1.5 21.2 30.875 
-1.9 21.2 30.925 
-2.3 21.2 31.125 
-2.7 21.2 31.175 
-3.1 21.2 31.05 
-3.5 21.2 30.9 
-3.9 21.2 30.975 
-4.3 21.2 31.075 
-4.7 21.2 31 
-5.1 21.2 30.875 
-5.5 21.2 30.9 
-5.9 21.2 31.05 
-6.3 21.2 30.975 
-6.7 21.2 30.8 
-7.1 21.2 30.675 
-7.5 21.2 30.75 
-7.9 21.2 30.875 
-8.3 21.2 30.775 
-8.7 21.2 30.625 
-9.1 21.2 30.775 
-9.5 21.2 30.9 
-9.9 21.2 30.775 
-10.3 21.2 30.525 
-10.7 21.2 30.475 
-11.1 21.2 30.525 
-11.5 21.2 30.525 
-11.9 21.2 30.55 
-12.3 21.2 30.65 
-12.7 21.2 30.65 
-13.1 21.2 30.55 
-13.5 21.2 30.4 
-13.9 21.2 30.375 
-14.3 21.2 30.475 
-14.7 21.2 30.525 
-15.1 21.2 30.4 
-15.5 21.2 30.35 
-15.9 21.2 30.575 
-16.3 21.2 30.675 
-16.7 21.2 30.6 
-17.1 21.2 30.575 
-17.5 21.2 30.525 
-17.9 21.2 30.45 
-18.3 21.2 30.3 
-18.7 21.2 30.1 
-19.1 21.2 29.825 
-19.5 21.2 29.625 
-19.9 21.2 29.35 
-20.3 21.2 29.1 
-20.7 21.2 28.825 
-21.1 21.2 28.5 
-21.5 21.2 28.225 
-21.9 21.2 28 
-22.3 21.2 27.675 
-22.7 21.2 27.3 
-23.1 21.2 26.9 
-23.5 21.2 26.45 
-23.9 21.2 26.05 
-24.3 21.2 25.675 
-24.7 21.2 25.15 
-25.1 21.2 24.65 
-25.5 21.2 24.25 
-25.9 21.2 23.5 
-26.3 21.2 22.95 
-26.7 21.2 22.375 
-27.1 21.2 21.3 
-27.5 21.2 20.5 
-27.9 21.2 19.625 
-28.3 21.2 18.375 
-28.7 21.2 17.025 
-29.1 21.2 15.85 
--24.5 21.6 -19.425 
--24.1 21.6 -19.925 
--23.7 21.6 -19.575 
--23.3 21.6 -19.125 
--22.9 21.6 -18.825 
--22.5 21.6 -18.625 
--22.1 21.6 -18.425 
--21.3 21.6 18.1 
--20.9 21.6 19.275 
--20.5 21.6 20 
--20.1 21.6 20.65 
--19.7 21.6 21.275 
--19.3 21.6 21.95 
--18.9 21.6 22.4 
--18.5 21.6 22.825 
--18.1 21.6 23.3 
--17.7 21.6 23.9 
--17.3 21.6 24.725 
--16.9 21.6 25.475 
--16.5 21.6 26.275 
--16.1 21.6 27.05 
--15.7 21.6 27.55 
--15.3 21.6 27.925 
--14.9 21.6 28.35 
--14.5 21.6 28.7 
--14.1 21.6 28.9 
--13.7 21.6 29.075 
--13.3 21.6 29.4 
--12.9 21.6 29.575 
--12.5 21.6 29.6 
--12.1 21.6 29.75 
--11.7 21.6 29.925 
--11.3 21.6 30 
--10.9 21.6 30.125 
--10.5 21.6 30.15 
--10.1 21.6 30.075 
--9.7 21.6 30.15 
--9.3 21.6 30.3 
--8.9 21.6 30.45 
--8.5 21.6 30.575 
--8.1 21.6 30.725 
--7.7 21.6 30.9 
--7.3 21.6 31.025 
--6.9 21.6 31.15 
--6.5 21.6 31.325 
--6.1 21.6 31.375 
--5.7 21.6 31.325 
--5.3 21.6 31.125 
--4.9 21.6 31.05 
--4.5 21.6 31.1 
--4.1 21.6 31.025 
--3.7 21.6 31.175 
--3.3 21.6 31.3 
--2.9 21.6 31.175 
--2.5 21.6 31.075 
--2.1 21.6 30.925 
--1.7 21.6 30.875 
--1.3 21.6 30.875 
--0.899999 21.6 30.9 
--0.499999 21.6 31 
--0.0999994 21.6 31.125 
-0.300001 21.6 31.125 
-0.700001 21.6 31 
-1.1 21.6 30.95 
-1.5 21.6 30.975 
-1.9 21.6 31.075 
-2.3 21.6 31.1 
-2.7 21.6 31.05 
-3.1 21.6 30.9 
-3.5 21.6 30.825 
-3.9 21.6 30.925 
-4.3 21.6 30.975 
-4.7 21.6 30.875 
-5.1 21.6 30.775 
-5.5 21.6 30.9 
-5.9 21.6 30.975 
-6.3 21.6 30.8 
-6.7 21.6 30.65 
-7.1 21.6 30.675 
-7.5 21.6 30.825 
-7.9 21.6 30.825 
-8.3 21.6 30.675 
-8.7 21.6 30.575 
-9.1 21.6 30.575 
-9.5 21.6 30.625 
-9.9 21.6 30.675 
-10.3 21.6 30.725 
-10.7 21.6 30.55 
-11.1 21.6 30.375 
-11.5 21.6 30.4 
-11.9 21.6 30.475 
-12.3 21.6 30.45 
-12.7 21.6 30.55 
-13.1 21.6 30.75 
-13.5 21.6 30.7 
-13.9 21.6 30.5 
-14.3 21.6 30.3 
-14.7 21.6 30.225 
-15.1 21.6 30.275 
-15.5 21.6 30.55 
-15.9 21.6 30.8 
-16.3 21.6 30.825 
-16.7 21.6 30.775 
-17.1 21.6 30.65 
-17.5 21.6 30.55 
-17.9 21.6 30.45 
-18.3 21.6 30.275 
-18.7 21.6 30.025 
-19.1 21.6 29.8 
-19.5 21.6 29.575 
-19.9 21.6 29.275 
-20.3 21.6 29.025 
-20.7 21.6 28.825 
-21.1 21.6 28.575 
-21.5 21.6 28.225 
-21.9 21.6 27.775 
-22.3 21.6 27.575 
-22.7 21.6 27.3 
-23.1 21.6 26.95 
-23.5 21.6 26.65 
-23.9 21.6 26.1 
-24.3 21.6 25.4 
-24.7 21.6 25 
-25.1 21.6 24.5 
-25.5 21.6 23.925 
-25.9 21.6 23.425 
-26.3 21.6 22.95 
-26.7 21.6 21.85 
-27.1 21.6 21.1 
-27.5 21.6 20.175 
-27.9 21.6 19.225 
-28.3 21.6 18.075 
-28.7 21.6 16.975 
--24.5 22 -19.175 
--24.1 22 -20.025 
--23.7 22 -19.6 
--23.3 22 -19.15 
--22.9 22 -18.65 
--22.5 22 -18.375 
--22.1 22 -18.25 
--21.3 22 18.25 
--20.9 22 19.225 
--20.5 22 19.975 
--20.1 22 20.65 
--19.7 22 21.3 
--19.3 22 21.875 
--18.9 22 22.275 
--18.5 22 22.8 
--18.1 22 23.25 
--17.7 22 23.75 
--17.3 22 24.65 
--16.9 22 25.375 
--16.5 22 26.225 
--16.1 22 26.975 
--15.7 22 27.475 
--15.3 22 28.025 
--14.9 22 28.475 
--14.5 22 28.725 
--14.1 22 29 
--13.7 22 29.15 
--13.3 22 29.325 
--12.9 22 29.525 
--12.5 22 29.55 
--12.1 22 29.65 
--11.7 22 29.825 
--11.3 22 29.9 
--10.9 22 29.875 
--10.5 22 29.95 
--10.1 22 30.075 
--9.7 22 30.175 
--9.3 22 30.175 
--8.9 22 30.275 
--8.5 22 30.475 
--8.1 22 30.65 
--7.7 22 30.825 
--7.3 22 30.975 
--6.9 22 30.975 
--6.5 22 31.1 
--6.1 22 31.2 
--5.7 22 31.175 
--5.3 22 31.2 
--4.9 22 31 
--4.5 22 31.025 
--4.1 22 31.1 
--3.7 22 31.15 
--3.3 22 31.2 
--2.9 22 31.225 
--2.5 22 31.15 
--2.1 22 31.075 
--1.7 22 31.075 
--1.3 22 31.05 
--0.899999 22 31.05 
--0.499999 22 31.15 
--0.0999994 22 31.1 
-0.300001 22 31 
-0.700001 22 30.875 
-1.1 22 30.8 
-1.5 22 30.95 
-1.9 22 31.075 
-2.3 22 31.025 
-2.7 22 30.975 
-3.1 22 30.875 
-3.5 22 30.875 
-3.9 22 30.975 
-4.3 22 30.95 
-4.7 22 30.85 
-5.1 22 30.8 
-5.5 22 30.9 
-5.9 22 30.9 
-6.3 22 30.775 
-6.7 22 30.675 
-7.1 22 30.55 
-7.5 22 30.75 
-7.9 22 30.9 
-8.3 22 30.65 
-8.7 22 30.5 
-9.1 22 30.575 
-9.5 22 30.6 
-9.9 22 30.7 
-10.3 22 30.775 
-10.7 22 30.75 
-11.1 22 30.675 
-11.5 22 30.575 
-11.9 22 30.575 
-12.3 22 30.625 
-12.7 22 30.475 
-13.1 22 30.425 
-13.5 22 30.625 
-13.9 22 30.625 
-14.3 22 30.35 
-14.7 22 30.15 
-15.1 22 30.55 
-15.5 22 30.725 
-15.9 22 30.625 
-16.3 22 30.7 
-16.7 22 30.625 
-17.1 22 30.475 
-17.5 22 30.35 
-17.9 22 30.25 
-18.3 22 30.125 
-18.7 22 29.9 
-19.1 22 29.6 
-19.5 22 29.45 
-19.9 22 29.325 
-20.3 22 29.075 
-20.7 22 28.725 
-21.1 22 28.425 
-21.5 22 28.1 
-21.9 22 27.7 
-22.3 22 27.425 
-22.7 22 27.075 
-23.1 22 26.75 
-23.5 22 26.225 
-23.9 22 25.825 
-24.3 22 25.375 
-24.7 22 24.875 
-25.1 22 24.3 
-25.5 22 23.575 
-25.9 22 23 
-26.3 22 22.325 
-26.7 22 21.675 
-27.1 22 20.775 
-27.5 22 19.925 
-27.9 22 18.8 
-28.3 22 17.8 
-28.7 22 16.625 
--24.5 22.4 -18.6 
--24.1 22.4 -19.725 
--23.7 22.4 -19.375 
--23.3 22.4 -19.1 
--22.9 22.4 -18.725 
--22.5 22.4 -18.35 
--22.1 22.4 -18.075 
--21.3 22.4 18.15 
--20.9 22.4 19.2 
--20.5 22.4 20.125 
--20.1 22.4 20.725 
--19.7 22.4 21.275 
--19.3 22.4 21.825 
--18.9 22.4 22.35 
--18.5 22.4 22.75 
--18.1 22.4 23.15 
--17.7 22.4 23.625 
--17.3 22.4 24.55 
--16.9 22.4 25.425 
--16.5 22.4 26.275 
--16.1 22.4 26.875 
--15.7 22.4 27.6 
--15.3 22.4 27.975 
--14.9 22.4 28.275 
--14.5 22.4 28.55 
--14.1 22.4 28.825 
--13.7 22.4 29.05 
--13.3 22.4 29.25 
--12.9 22.4 29.45 
--12.5 22.4 29.575 
--12.1 22.4 29.725 
--11.7 22.4 29.775 
--11.3 22.4 29.85 
--10.9 22.4 29.95 
--10.5 22.4 30 
--10.1 22.4 29.95 
--9.7 22.4 29.975 
--9.3 22.4 30.05 
--8.9 22.4 30.15 
--8.5 22.4 30.25 
--8.1 22.4 30.425 
--7.7 22.4 30.7 
--7.3 22.4 30.9 
--6.9 22.4 31.125 
--6.5 22.4 31.25 
--6.1 22.4 31.225 
--5.7 22.4 31.3 
--5.3 22.4 31.35 
--4.9 22.4 31.225 
--4.5 22.4 31.25 
--4.1 22.4 31.25 
--3.7 22.4 31.15 
--3.3 22.4 31.075 
--2.9 22.4 31.05 
--2.5 22.4 30.975 
--2.1 22.4 31.05 
--1.7 22.4 31.15 
--1.3 22.4 31.15 
--0.899999 22.4 31.125 
--0.499999 22.4 31.05 
--0.0999994 22.4 31 
-0.300001 22.4 30.85 
-0.700001 22.4 30.725 
-1.1 22.4 30.775 
-1.5 22.4 31.025 
-1.9 22.4 31.225 
-2.3 22.4 31.05 
-2.7 22.4 30.825 
-3.1 22.4 30.75 
-3.5 22.4 30.775 
-3.9 22.4 30.9 
-4.3 22.4 30.975 
-4.7 22.4 30.9 
-5.1 22.4 30.75 
-5.5 22.4 30.85 
-5.9 22.4 30.875 
-6.3 22.4 30.85 
-6.7 22.4 30.85 
-7.1 22.4 30.65 
-7.5 22.4 30.65 
-7.9 22.4 30.825 
-8.3 22.4 30.75 
-8.7 22.4 30.65 
-9.1 22.4 30.6 
-9.5 22.4 30.525 
-9.9 22.4 30.65 
-10.3 22.4 30.825 
-10.7 22.4 30.8 
-11.1 22.4 30.6 
-11.5 22.4 30.5 
-11.9 22.4 30.5 
-12.3 22.4 30.5 
-12.7 22.4 30.475 
-13.1 22.4 30.475 
-13.5 22.4 30.325 
-13.9 22.4 30.4 
-14.3 22.4 30.525 
-14.7 22.4 30.625 
-15.1 22.4 30.75 
-15.5 22.4 30.65 
-15.9 22.4 30.525 
-16.3 22.4 30.575 
-16.7 22.4 30.475 
-17.1 22.4 30.3 
-17.5 22.4 30.3 
-17.9 22.4 30.225 
-18.3 22.4 30 
-18.7 22.4 29.8 
-19.1 22.4 29.65 
-19.5 22.4 29.425 
-19.9 22.4 29.025 
-20.3 22.4 28.75 
-20.7 22.4 28.45 
-21.1 22.4 28.15 
-21.5 22.4 27.925 
-21.9 22.4 27.7 
-22.3 22.4 27.375 
-22.7 22.4 26.95 
-23.1 22.4 26.525 
-23.5 22.4 26.2 
-23.9 22.4 25.775 
-24.3 22.4 25.275 
-24.7 22.4 24.75 
-25.1 22.4 24.275 
-25.5 22.4 23.6 
-25.9 22.4 22.875 
-26.3 22.4 22.3 
-26.7 22.4 21.25 
-27.1 22.4 20.475 
-27.5 22.4 19.725 
-27.9 22.4 18.675 
-28.3 22.4 17.475 
-28.7 22.4 16.125 
--24.5 22.8 -19.75 
--24.1 22.8 -19.8 
--23.7 22.8 -19.525 
--23.3 22.8 -19.175 
--22.9 22.8 -18.75 
--22.5 22.8 -18.275 
--22.1 22.8 -18.075 
--21.3 22.8 18.15 
--20.9 22.8 19.375 
--20.5 22.8 20.125 
--20.1 22.8 20.85 
--19.7 22.8 21.35 
--19.3 22.8 21.825 
--18.9 22.8 22.325 
--18.5 22.8 22.8 
--18.1 22.8 23.175 
--17.7 22.8 23.525 
--17.3 22.8 24.45 
--16.9 22.8 25.125 
--16.5 22.8 26.1 
--16.1 22.8 26.75 
--15.7 22.8 27.45 
--15.3 22.8 27.85 
--14.9 22.8 28.275 
--14.5 22.8 28.525 
--14.1 22.8 28.725 
--13.7 22.8 28.925 
--13.3 22.8 29.225 
--12.9 22.8 29.45 
--12.5 22.8 29.55 
--12.1 22.8 29.625 
--11.7 22.8 29.7 
--11.3 22.8 29.775 
--10.9 22.8 29.9 
--10.5 22.8 29.925 
--10.1 22.8 29.85 
--9.7 22.8 29.9 
--9.3 22.8 29.925 
--8.9 22.8 30.025 
--8.5 22.8 30.2 
--8.1 22.8 30.375 
--7.7 22.8 30.625 
--7.3 22.8 30.825 
--6.9 22.8 30.9 
--6.5 22.8 30.925 
--6.1 22.8 31.05 
--5.7 22.8 31.225 
--5.3 22.8 31.3 
--4.9 22.8 31.2 
--4.5 22.8 31.175 
--4.1 22.8 31.1 
--3.7 22.8 31.05 
--3.3 22.8 31.05 
--2.9 22.8 31.125 
--2.5 22.8 31.125 
--2.1 22.8 31.05 
--1.7 22.8 31.075 
--1.3 22.8 31.15 
--0.899999 22.8 31.15 
--0.499999 22.8 30.975 
--0.0999994 22.8 30.825 
-0.300001 22.8 30.85 
-0.700001 22.8 30.75 
-1.1 22.8 30.725 
-1.5 22.8 31 
-1.9 22.8 31.025 
-2.3 22.8 30.925 
-2.7 22.8 30.825 
-3.1 22.8 30.75 
-3.5 22.8 30.875 
-3.9 22.8 31.025 
-4.3 22.8 30.9 
-4.7 22.8 30.675 
-5.1 22.8 30.65 
-5.5 22.8 30.75 
-5.9 22.8 30.875 
-6.3 22.8 30.825 
-6.7 22.8 30.725 
-7.1 22.8 30.6 
-7.5 22.8 30.6 
-7.9 22.8 30.75 
-8.3 22.8 30.75 
-8.7 22.8 30.6 
-9.1 22.8 30.55 
-9.5 22.8 30.5 
-9.9 22.8 30.45 
-10.3 22.8 30.525 
-10.7 22.8 30.7 
-11.1 22.8 30.65 
-11.5 22.8 30.5 
-11.9 22.8 30.575 
-12.3 22.8 30.575 
-12.7 22.8 30.4 
-13.1 22.8 30.3 
-13.5 22.8 30.325 
-13.9 22.8 30.3 
-14.3 22.8 30.45 
-14.7 22.8 30.675 
-15.1 22.8 30.675 
-15.5 22.8 30.575 
-15.9 22.8 30.575 
-16.3 22.8 30.575 
-16.7 22.8 30.575 
-17.1 22.8 30.425 
-17.5 22.8 30.125 
-17.9 22.8 29.975 
-18.3 22.8 29.875 
-18.7 22.8 29.625 
-19.1 22.8 29.375 
-19.5 22.8 29.125 
-19.9 22.8 28.9 
-20.3 22.8 28.65 
-20.7 22.8 28.375 
-21.1 22.8 28.125 
-21.5 22.8 27.775 
-21.9 22.8 27.575 
-22.3 22.8 27.2 
-22.7 22.8 26.725 
-23.1 22.8 26.35 
-23.5 22.8 25.975 
-23.9 22.8 25.525 
-24.3 22.8 24.85 
-24.7 22.8 24.3 
-25.1 22.8 23.875 
-25.5 22.8 23.5 
-25.9 22.8 22.625 
-26.3 22.8 22.075 
-26.7 22.8 21.2 
-27.1 22.8 20.35 
-27.5 22.8 19.2 
-27.9 22.8 18.5 
-28.3 22.8 16.95 
-28.7 22.8 15.8 
--24.5 23.2 -19.875 
--24.1 23.2 -19.725 
--23.7 23.2 -19.4 
--23.3 23.2 -19.1 
--22.9 23.2 -18.875 
--22.5 23.2 -18.375 
--22.1 23.2 -18.025 
--21.3 23.2 18.075 
--20.9 23.2 19.4 
--20.5 23.2 20.125 
--20.1 23.2 20.75 
--19.7 23.2 21.325 
--19.3 23.2 21.825 
--18.9 23.2 22.3 
--18.5 23.2 22.675 
--18.1 23.2 22.95 
--17.7 23.2 23.375 
--17.3 23.2 23.95 
--16.9 23.2 25.15 
--16.5 23.2 25.8 
--16.1 23.2 26.575 
--15.7 23.2 27.25 
--15.3 23.2 27.75 
--14.9 23.2 28.125 
--14.5 23.2 28.475 
--14.1 23.2 28.8 
--13.7 23.2 29.125 
--13.3 23.2 29.225 
--12.9 23.2 29.35 
--12.5 23.2 29.45 
--12.1 23.2 29.525 
--11.7 23.2 29.65 
--11.3 23.2 29.725 
--10.9 23.2 29.725 
--10.5 23.2 29.7 
--10.1 23.2 29.725 
--9.7 23.2 29.825 
--9.3 23.2 29.925 
--8.9 23.2 29.925 
--8.5 23.2 30.05 
--8.1 23.2 30.15 
--7.7 23.2 30.325 
--7.3 23.2 30.55 
--6.9 23.2 30.775 
--6.5 23.2 31 
--6.1 23.2 31.1 
--5.7 23.2 31.2 
--5.3 23.2 31.225 
--4.9 23.2 31.225 
--4.5 23.2 31.35 
--4.1 23.2 31.275 
--3.7 23.2 31.175 
--3.3 23.2 31.1 
--2.9 23.2 31.025 
--2.5 23.2 31.025 
--2.1 23.2 31.075 
--1.7 23.2 31.15 
--1.3 23.2 31.125 
--0.899999 23.2 30.95 
--0.499999 23.2 30.875 
--0.0999994 23.2 30.875 
-0.300001 23.2 30.775 
-0.700001 23.2 30.825 
-1.1 23.2 30.925 
-1.5 23.2 31.025 
-1.9 23.2 30.95 
-2.3 23.2 30.7 
-2.7 23.2 30.75 
-3.1 23.2 30.85 
-3.5 23.2 30.925 
-3.9 23.2 31.05 
-4.3 23.2 30.925 
-4.7 23.2 30.775 
-5.1 23.2 30.675 
-5.5 23.2 30.6 
-5.9 23.2 30.725 
-6.3 23.2 30.7 
-6.7 23.2 30.6 
-7.1 23.2 30.6 
-7.5 23.2 30.575 
-7.9 23.2 30.65 
-8.3 23.2 30.8 
-8.7 23.2 30.725 
-9.1 23.2 30.45 
-9.5 23.2 30.325 
-9.9 23.2 30.4 
-10.3 23.2 30.5 
-10.7 23.2 30.6 
-11.1 23.2 30.65 
-11.5 23.2 30.5 
-11.9 23.2 30.425 
-12.3 23.2 30.525 
-12.7 23.2 30.5 
-13.1 23.2 30.325 
-13.5 23.2 30.2 
-13.9 23.2 30.325 
-14.3 23.2 30.75 
-14.7 23.2 30.775 
-15.1 23.2 30.675 
-15.5 23.2 30.725 
-15.9 23.2 30.725 
-16.3 23.2 30.575 
-16.7 23.2 30.475 
-17.1 23.2 30.375 
-17.5 23.2 30.275 
-17.9 23.2 30.025 
-18.3 23.2 29.725 
-18.7 23.2 29.55 
-19.1 23.2 29.375 
-19.5 23.2 29.1 
-19.9 23.2 28.725 
-20.3 23.2 28.575 
-20.7 23.2 28.375 
-21.1 23.2 28 
-21.5 23.2 27.675 
-21.9 23.2 27.35 
-22.3 23.2 26.9 
-22.7 23.2 26.475 
-23.1 23.2 26 
-23.5 23.2 25.65 
-23.9 23.2 25.35 
-24.3 23.2 24.8 
-24.7 23.2 24.2 
-25.1 23.2 23.75 
-25.5 23.2 23.1 
-25.9 23.2 22.35 
-26.3 23.2 21.725 
-26.7 23.2 20.95 
-27.1 23.2 19.95 
-27.5 23.2 19.2 
-27.9 23.2 18.1 
-28.3 23.2 16.8 
--24.5 23.6 -19.875 
--24.1 23.6 -19.675 
--23.7 23.6 -19.3 
--23.3 23.6 -18.95 
--22.9 23.6 -18.575 
--22.5 23.6 -18.3 
--22.1 23.6 -18 
--21.3 23.6 18.125 
--20.9 23.6 19.35 
--20.5 23.6 20 
--20.1 23.6 20.875 
--19.7 23.6 21.35 
--19.3 23.6 21.825 
--18.9 23.6 22.225 
--18.5 23.6 22.575 
--18.1 23.6 22.975 
--17.7 23.6 23.3 
--17.3 23.6 23.725 
--16.9 23.6 25.075 
--16.5 23.6 25.825 
--16.1 23.6 26.475 
--15.7 23.6 27.15 
--15.3 23.6 27.8 
--14.9 23.6 28.225 
--14.5 23.6 28.45 
--14.1 23.6 28.75 
--13.7 23.6 28.925 
--13.3 23.6 29.1 
--12.9 23.6 29.35 
--12.5 23.6 29.425 
--12.1 23.6 29.55 
--11.7 23.6 29.65 
--11.3 23.6 29.675 
--10.9 23.6 29.675 
--10.5 23.6 29.725 
--10.1 23.6 29.775 
--9.7 23.6 29.725 
--9.3 23.6 29.725 
--8.9 23.6 29.825 
--8.5 23.6 29.975 
--8.1 23.6 30.1 
--7.7 23.6 30.175 
--7.3 23.6 30.45 
--6.9 23.6 30.65 
--6.5 23.6 30.775 
--6.1 23.6 30.875 
--5.7 23.6 30.925 
--5.3 23.6 31.125 
--4.9 23.6 31.3 
--4.5 23.6 31.325 
--4.1 23.6 31.225 
--3.7 23.6 31.15 
--3.3 23.6 31.05 
--2.9 23.6 31.025 
--2.5 23.6 31.05 
--2.1 23.6 31.075 
--1.7 23.6 31.075 
--1.3 23.6 31.05 
--0.899999 23.6 31.05 
--0.499999 23.6 31 
--0.0999994 23.6 30.975 
-0.300001 23.6 31 
-0.700001 23.6 30.925 
-1.1 23.6 30.95 
-1.5 23.6 31.1 
-1.9 23.6 31 
-2.3 23.6 30.925 
-2.7 23.6 30.75 
-3.1 23.6 30.7 
-3.5 23.6 30.85 
-3.9 23.6 30.95 
-4.3 23.6 30.75 
-4.7 23.6 30.65 
-5.1 23.6 30.65 
-5.5 23.6 30.675 
-5.9 23.6 30.825 
-6.3 23.6 30.825 
-6.7 23.6 30.6 
-7.1 23.6 30.5 
-7.5 23.6 30.525 
-7.9 23.6 30.55 
-8.3 23.6 30.7 
-8.7 23.6 30.65 
-9.1 23.6 30.45 
-9.5 23.6 30.425 
-9.9 23.6 30.525 
-10.3 23.6 30.5 
-10.7 23.6 30.55 
-11.1 23.6 30.625 
-11.5 23.6 30.65 
-11.9 23.6 30.475 
-12.3 23.6 30.525 
-12.7 23.6 30.6 
-13.1 23.6 30.475 
-13.5 23.6 30.475 
-13.9 23.6 30.6 
-14.3 23.6 30.65 
-14.7 23.6 30.75 
-15.1 23.6 30.675 
-15.5 23.6 30.55 
-15.9 23.6 30.525 
-16.3 23.6 30.45 
-16.7 23.6 30.425 
-17.1 23.6 30.35 
-17.5 23.6 30.1 
-17.9 23.6 29.85 
-18.3 23.6 29.7 
-18.7 23.6 29.4 
-19.1 23.6 29.125 
-19.5 23.6 28.85 
-19.9 23.6 28.675 
-20.3 23.6 28.475 
-20.7 23.6 28.15 
-21.1 23.6 27.825 
-21.5 23.6 27.55 
-21.9 23.6 27.25 
-22.3 23.6 26.85 
-22.7 23.6 26.4 
-23.1 23.6 25.95 
-23.5 23.6 25.525 
-23.9 23.6 25.05 
-24.3 23.6 24.475 
-24.7 23.6 23.975 
-25.1 23.6 23.325 
-25.5 23.6 22.7 
-25.9 23.6 21.975 
-26.3 23.6 21.425 
-26.7 23.6 20.725 
-27.1 23.6 19.725 
-27.5 23.6 18.7 
-27.9 23.6 17.6 
-28.3 23.6 16.4 
--24.5 24 -20 
--24.1 24 -19.725 
--23.7 24 -19.2 
--23.3 24 -18.8 
--22.9 24 -18.625 
--22.5 24 -18.3 
--22.1 24 -18.025 
--21.3 24 18.45 
--20.9 24 19.325 
--20.5 24 20.275 
--20.1 24 20.825 
--19.7 24 21.425 
--19.3 24 21.925 
--18.9 24 22.225 
--18.5 24 22.6 
--18.1 24 23 
--17.7 24 23.2 
--17.3 24 23.55 
--16.9 24 24.725 
--16.5 24 25.825 
--16.1 24 26.45 
--15.7 24 27 
--15.3 24 27.625 
--14.9 24 27.975 
--14.5 24 28.3 
--14.1 24 28.65 
--13.7 24 28.95 
--13.3 24 29.225 
--12.9 24 29.35 
--12.5 24 29.4 
--12.1 24 29.5 
--11.7 24 29.7 
--11.3 24 29.65 
--10.9 24 29.6 
--10.5 24 29.6 
--10.1 24 29.65 
--9.7 24 29.725 
--9.3 24 29.775 
--8.9 24 29.725 
--8.5 24 29.8 
--8.1 24 29.85 
--7.7 24 29.925 
--7.3 24 30.125 
--6.9 24 30.325 
--6.5 24 30.65 
--6.1 24 30.875 
--5.7 24 31.025 
--5.3 24 31.025 
--4.9 24 31.05 
--4.5 24 31.125 
--4.1 24 31.15 
--3.7 24 31.125 
--3.3 24 31.125 
--2.9 24 31.15 
--2.5 24 31.1 
--2.1 24 31.1 
--1.7 24 31.125 
--1.3 24 31 
--0.899999 24 30.95 
--0.499999 24 30.825 
--0.0999994 24 30.775 
-0.300001 24 30.875 
-0.700001 24 30.85 
-1.1 24 30.9 
-1.5 24 30.9 
-1.9 24 30.725 
-2.3 24 30.625 
-2.7 24 30.65 
-3.1 24 30.6 
-3.5 24 30.775 
-3.9 24 30.9 
-4.3 24 30.725 
-4.7 24 30.65 
-5.1 24 30.6 
-5.5 24 30.65 
-5.9 24 30.85 
-6.3 24 30.925 
-6.7 24 30.65 
-7.1 24 30.375 
-7.5 24 30.375 
-7.9 24 30.475 
-8.3 24 30.6 
-8.7 24 30.625 
-9.1 24 30.55 
-9.5 24 30.525 
-9.9 24 30.5 
-10.3 24 30.45 
-10.7 24 30.55 
-11.1 24 30.575 
-11.5 24 30.6 
-11.9 24 30.55 
-12.3 24 30.375 
-12.7 24 30.375 
-13.1 24 30.65 
-13.5 24 30.85 
-13.9 24 30.8 
-14.3 24 30.725 
-14.7 24 30.725 
-15.1 24 30.675 
-15.5 24 30.525 
-15.9 24 30.55 
-16.3 24 30.525 
-16.7 24 30.325 
-17.1 24 30.075 
-17.5 24 29.85 
-17.9 24 29.675 
-18.3 24 29.525 
-18.7 24 29.3 
-19.1 24 29 
-19.5 24 28.825 
-19.9 24 28.575 
-20.3 24 28.25 
-20.7 24 27.925 
-21.1 24 27.65 
-21.5 24 27.375 
-21.9 24 27.025 
-22.3 24 26.575 
-22.7 24 26.225 
-23.1 24 25.875 
-23.5 24 25.4 
-23.9 24 24.875 
-24.3 24 24.3 
-24.7 24 23.85 
-25.1 24 23.175 
-25.5 24 22.575 
-25.9 24 21.975 
-26.3 24 21.175 
-26.7 24 20.275 
-27.1 24 19.35 
-27.5 24 18.3 
-27.9 24 16.975 
-28.3 24 15.975 
--24.5 24.4 -19.975 
--24.1 24.4 -19.575 
--23.7 24.4 -19.175 
--23.3 24.4 -18.925 
--22.9 24.4 -18.625 
--22.5 24.4 -18.225 
--22.1 24.4 -17.875 
--21.3 24.4 18.15 
--20.9 24.4 19.4 
--20.5 24.4 19.95 
--20.1 24.4 20.85 
--19.7 24.4 21.5 
--19.3 24.4 21.825 
--18.9 24.4 22.15 
--18.5 24.4 22.55 
--18.1 24.4 22.85 
--17.7 24.4 23.125 
--17.3 24.4 23.4 
--16.9 24.4 24.425 
--16.5 24.4 25.75 
--16.1 24.4 26.425 
--15.7 24.4 27 
--15.3 24.4 27.55 
--14.9 24.4 28 
--14.5 24.4 28.4 
--14.1 24.4 28.625 
--13.7 24.4 28.775 
--13.3 24.4 29.025 
--12.9 24.4 29.25 
--12.5 24.4 29.325 
--12.1 24.4 29.375 
--11.7 24.4 29.55 
--11.3 24.4 29.575 
--10.9 24.4 29.6 
--10.5 24.4 29.75 
--10.1 24.4 29.675 
--9.7 24.4 29.575 
--9.3 24.4 29.575 
--8.9 24.4 29.55 
--8.5 24.4 29.525 
--8.1 24.4 29.675 
--7.7 24.4 29.8 
--7.3 24.4 29.95 
--6.9 24.4 30.1 
--6.5 24.4 30.375 
--6.1 24.4 30.6 
--5.7 24.4 30.7 
--5.3 24.4 30.8 
--4.9 24.4 30.95 
--4.5 24.4 31.05 
--4.1 24.4 31.15 
--3.7 24.4 31.2 
--3.3 24.4 31.25 
--2.9 24.4 31.125 
--2.5 24.4 31.075 
--2.1 24.4 31.1 
--1.7 24.4 31.025 
--1.3 24.4 31 
--0.899999 24.4 31 
--0.499999 24.4 30.875 
--0.0999994 24.4 30.725 
-0.300001 24.4 30.825 
-0.700001 24.4 30.975 
-1.1 24.4 31 
-1.5 24.4 30.925 
-1.9 24.4 30.925 
-2.3 24.4 30.875 
-2.7 24.4 30.8 
-3.1 24.4 30.675 
-3.5 24.4 30.775 
-3.9 24.4 30.85 
-4.3 24.4 30.75 
-4.7 24.4 30.675 
-5.1 24.4 30.55 
-5.5 24.4 30.55 
-5.9 24.4 30.75 
-6.3 24.4 30.85 
-6.7 24.4 30.625 
-7.1 24.4 30.525 
-7.5 24.4 30.65 
-7.9 24.4 30.625 
-8.3 24.4 30.575 
-8.7 24.4 30.675 
-9.1 24.4 30.65 
-9.5 24.4 30.525 
-9.9 24.4 30.475 
-10.3 24.4 30.4 
-10.7 24.4 30.475 
-11.1 24.4 30.5 
-11.5 24.4 30.5 
-11.9 24.4 30.525 
-12.3 24.4 30.525 
-12.7 24.4 30.775 
-13.1 24.4 30.925 
-13.5 24.4 30.85 
-13.9 24.4 30.725 
-14.3 24.4 30.625 
-14.7 24.4 30.6 
-15.1 24.4 30.55 
-15.5 24.4 30.475 
-15.9 24.4 30.375 
-16.3 24.4 30.375 
-16.7 24.4 30.2 
-17.1 24.4 29.925 
-17.5 24.4 29.7 
-17.9 24.4 29.5 
-18.3 24.4 29.25 
-18.7 24.4 29 
-19.1 24.4 28.8 
-19.5 24.4 28.575 
-19.9 24.4 28.275 
-20.3 24.4 28.05 
-20.7 24.4 27.825 
-21.1 24.4 27.575 
-21.5 24.4 27.175 
-21.9 24.4 26.775 
-22.3 24.4 26.425 
-22.7 24.4 25.975 
-23.1 24.4 25.5 
-23.5 24.4 25.075 
-23.9 24.4 24.65 
-24.3 24.4 24.15 
-24.7 24.4 23.525 
-25.1 24.4 23 
-25.5 24.4 22.375 
-25.9 24.4 21.7 
-26.3 24.4 20.95 
-26.7 24.4 20.075 
-27.1 24.4 19.125 
-27.5 24.4 17.925 
-27.9 24.4 16.75 
-28.3 24.4 15.4 
--24.9 24.8 -20.3 
--24.5 24.8 -19.95 
--24.1 24.8 -19.55 
--23.7 24.8 -19.25 
--23.3 24.8 -18.75 
--22.9 24.8 -18.45 
--22.5 24.8 -18.25 
--22.1 24.8 -18.025 
--21.3 24.8 18.15 
--20.9 24.8 19.275 
--20.5 24.8 20.125 
--20.1 24.8 20.875 
--19.7 24.8 21.375 
--19.3 24.8 21.825 
--18.9 24.8 22.15 
--18.5 24.8 22.525 
--18.1 24.8 22.825 
--17.7 24.8 23 
--17.3 24.8 23.275 
--16.9 24.8 24.025 
--16.5 24.8 25.325 
--16.1 24.8 26.175 
--15.7 24.8 26.9 
--15.3 24.8 27.5 
--14.9 24.8 27.925 
--14.5 24.8 28.275 
--14.1 24.8 28.55 
--13.7 24.8 28.8 
--13.3 24.8 28.95 
--12.9 24.8 29.15 
--12.5 24.8 29.35 
--12.1 24.8 29.475 
--11.7 24.8 29.55 
--11.3 24.8 29.625 
--10.9 24.8 29.725 
--10.5 24.8 29.75 
--10.1 24.8 29.725 
--9.7 24.8 29.65 
--9.3 24.8 29.4 
--8.9 24.8 29.3 
--8.5 24.8 29.45 
--8.1 24.8 29.55 
--7.7 24.8 29.525 
--7.3 24.8 29.725 
--6.9 24.8 29.875 
--6.5 24.8 30.175 
--6.1 24.8 30.4 
--5.7 24.8 30.55 
--5.3 24.8 30.7 
--4.9 24.8 30.775 
--4.5 24.8 30.925 
--4.1 24.8 31.075 
--3.7 24.8 31.05 
--3.3 24.8 31.15 
--2.9 24.8 31.225 
--2.5 24.8 31.25 
--2.1 24.8 31.125 
--1.7 24.8 30.925 
--1.3 24.8 30.875 
--0.899999 24.8 30.975 
--0.499999 24.8 30.95 
--0.0999994 24.8 30.875 
-0.300001 24.8 30.875 
-0.700001 24.8 30.9 
-1.1 24.8 30.975 
-1.5 24.8 30.9 
-1.9 24.8 30.9 
-2.3 24.8 30.875 
-2.7 24.8 30.775 
-3.1 24.8 30.725 
-3.5 24.8 30.85 
-3.9 24.8 30.825 
-4.3 24.8 30.725 
-4.7 24.8 30.75 
-5.1 24.8 30.65 
-5.5 24.8 30.55 
-5.9 24.8 30.6 
-6.3 24.8 30.725 
-6.7 24.8 30.75 
-7.1 24.8 30.725 
-7.5 24.8 30.65 
-7.9 24.8 30.475 
-8.3 24.8 30.45 
-8.7 24.8 30.575 
-9.1 24.8 30.575 
-9.5 24.8 30.475 
-9.9 24.8 30.475 
-10.3 24.8 30.35 
-10.7 24.8 30.4 
-11.1 24.8 30.525 
-11.5 24.8 30.425 
-11.9 24.8 30.575 
-12.3 24.8 30.875 
-12.7 24.8 30.775 
-13.1 24.8 30.725 
-13.5 24.8 30.75 
-13.9 24.8 30.625 
-14.3 24.8 30.575 
-14.7 24.8 30.6 
-15.1 24.8 30.5 
-15.5 24.8 30.45 
-15.9 24.8 30.45 
-16.3 24.8 30.325 
-16.7 24.8 30.1 
-17.1 24.8 29.825 
-17.5 24.8 29.575 
-17.9 24.8 29.35 
-18.3 24.8 29.225 
-18.7 24.8 29.05 
-19.1 24.8 28.725 
-19.5 24.8 28.45 
-19.9 24.8 28.3 
-20.3 24.8 27.975 
-20.7 24.8 27.525 
-21.1 24.8 27.175 
-21.5 24.8 26.95 
-21.9 24.8 26.625 
-22.3 24.8 26.275 
-22.7 24.8 25.8 
-23.1 24.8 25.4 
-23.5 24.8 25.175 
-23.9 24.8 24.475 
-24.3 24.8 23.9 
-24.7 24.8 23.325 
-25.1 24.8 22.825 
-25.5 24.8 22.2 
-25.9 24.8 21.475 
-26.3 24.8 20.6 
-26.7 24.8 19.625 
-27.1 24.8 18.775 
-27.5 24.8 17.65 
-27.9 24.8 16.5 
--24.5 25.2 -19.85 
--24.1 25.2 -19.6 
--23.7 25.2 -19.2 
--23.3 25.2 -18.85 
--22.9 25.2 -18.45 
--22.5 25.2 -18.15 
--22.1 25.2 -17.975 
--21.3 25.2 17.95 
--20.9 25.2 19.275 
--20.5 25.2 20.1 
--20.1 25.2 20.8 
--19.7 25.2 21.275 
--19.3 25.2 21.7 
--18.9 25.2 22.025 
--18.5 25.2 22.425 
--18.1 25.2 22.7 
--17.7 25.2 22.9 
--17.3 25.2 23.125 
--16.9 25.2 23.825 
--16.5 25.2 25.05 
--16.1 25.2 25.95 
--15.7 25.2 26.75 
--15.3 25.2 27.35 
--14.9 25.2 27.85 
--14.5 25.2 28.2 
--14.1 25.2 28.525 
--13.7 25.2 28.775 
--13.3 25.2 29 
--12.9 25.2 29.175 
--12.5 25.2 29.325 
--12.1 25.2 29.425 
--11.7 25.2 29.5 
--11.3 25.2 29.625 
--10.9 25.2 29.7 
--10.5 25.2 29.6 
--10.1 25.2 29.55 
--9.7 25.2 29.525 
--9.3 25.2 29.4 
--8.9 25.2 29.325 
--8.5 25.2 29.4 
--8.1 25.2 29.425 
--7.7 25.2 29.275 
--7.3 25.2 29.5 
--6.9 25.2 29.825 
--6.5 25.2 29.9 
--6.1 25.2 30.05 
--5.7 25.2 30.35 
--5.3 25.2 30.575 
--4.9 25.2 30.725 
--4.5 25.2 30.85 
--4.1 25.2 31 
--3.7 25.2 31.05 
--3.3 25.2 31.125 
--2.9 25.2 31.15 
--2.5 25.2 31.25 
--2.1 25.2 31.3 
--1.7 25.2 31.275 
--1.3 25.2 31.1 
--0.899999 25.2 30.95 
--0.499999 25.2 30.95 
--0.0999994 25.2 30.95 
-0.300001 25.2 30.95 
-0.700001 25.2 31.025 
-1.1 25.2 30.875 
-1.5 25.2 30.775 
-1.9 25.2 30.825 
-2.3 25.2 30.825 
-2.7 25.2 30.9 
-3.1 25.2 30.85 
-3.5 25.2 30.925 
-3.9 25.2 30.825 
-4.3 25.2 30.55 
-4.7 25.2 30.55 
-5.1 25.2 30.675 
-5.5 25.2 30.625 
-5.9 25.2 30.525 
-6.3 25.2 30.65 
-6.7 25.2 30.675 
-7.1 25.2 30.525 
-7.5 25.2 30.55 
-7.9 25.2 30.65 
-8.3 25.2 30.65 
-8.7 25.2 30.475 
-9.1 25.2 30.425 
-9.5 25.2 30.5 
-9.9 25.2 30.6 
-10.3 25.2 30.65 
-10.7 25.2 30.55 
-11.1 25.2 30.625 
-11.5 25.2 30.725 
-11.9 25.2 30.725 
-12.3 25.2 30.85 
-12.7 25.2 30.8 
-13.1 25.2 30.7 
-13.5 25.2 30.725 
-13.9 25.2 30.625 
-14.3 25.2 30.55 
-14.7 25.2 30.525 
-15.1 25.2 30.5 
-15.5 25.2 30.35 
-15.9 25.2 30.15 
-16.3 25.2 29.925 
-16.7 25.2 29.825 
-17.1 25.2 29.725 
-17.5 25.2 29.525 
-17.9 25.2 29.25 
-18.3 25.2 29.1 
-18.7 25.2 28.775 
-19.1 25.2 28.425 
-19.5 25.2 28.25 
-19.9 25.2 27.975 
-20.3 25.2 27.75 
-20.7 25.2 27.475 
-21.1 25.2 27.125 
-21.5 25.2 26.825 
-21.9 25.2 26.425 
-22.3 25.2 26.05 
-22.7 25.2 25.6 
-23.1 25.2 25.2 
-23.5 25.2 24.775 
-23.9 25.2 24.175 
-24.3 25.2 23.65 
-24.7 25.2 23.05 
-25.1 25.2 22.5 
-25.5 25.2 21.875 
-25.9 25.2 21.025 
-26.3 25.2 20.3 
-26.7 25.2 19.425 
-27.1 25.2 18.5 
-27.5 25.2 17.375 
-27.9 25.2 16.025 
--24.5 25.6 -19.625 
--24.1 25.6 -19.45 
--23.7 25.6 -19.175 
--23.3 25.6 -18.9 
--22.9 25.6 -18.6 
--22.5 25.6 -18.15 
--22.1 25.6 -17.75 
--21.3 25.6 17.95 
--20.9 25.6 19.225 
--20.5 25.6 20.025 
--20.1 25.6 20.675 
--19.7 25.6 21.3 
--19.3 25.6 21.625 
--18.9 25.6 21.9 
--18.5 25.6 22.3 
--18.1 25.6 22.525 
--17.7 25.6 22.75 
--17.3 25.6 23.1 
--16.9 25.6 23.575 
--16.5 25.6 24.75 
--16.1 25.6 26 
--15.7 25.6 26.625 
--15.3 25.6 27.2 
--14.9 25.6 27.625 
--14.5 25.6 28.05 
--14.1 25.6 28.35 
--13.7 25.6 28.675 
--13.3 25.6 28.95 
--12.9 25.6 29.175 
--12.5 25.6 29.325 
--12.1 25.6 29.375 
--11.7 25.6 29.45 
--11.3 25.6 29.45 
--10.9 25.6 29.425 
--10.5 25.6 29.4 
--10.1 25.6 29.35 
--9.7 25.6 29.425 
--9.3 25.6 29.425 
--8.9 25.6 29.375 
--8.5 25.6 29.325 
--8.1 25.6 29.2 
--7.7 25.6 29.15 
--7.3 25.6 29.375 
--6.9 25.6 29.525 
--6.5 25.6 29.7 
--6.1 25.6 30.025 
--5.7 25.6 30.225 
--5.3 25.6 30.375 
--4.9 25.6 30.55 
--4.5 25.6 30.65 
--4.1 25.6 30.75 
--3.7 25.6 30.775 
--3.3 25.6 30.975 
--2.9 25.6 31.125 
--2.5 25.6 31.05 
--2.1 25.6 31.1 
--1.7 25.6 31.175 
--1.3 25.6 31.225 
--0.899999 25.6 31.2 
--0.499999 25.6 31.025 
--0.0999994 25.6 30.825 
-0.300001 25.6 30.825 
-0.700001 25.6 30.95 
-1.1 25.6 30.95 
-1.5 25.6 30.875 
-1.9 25.6 30.925 
-2.3 25.6 30.825 
-2.7 25.6 30.775 
-3.1 25.6 30.725 
-3.5 25.6 30.8 
-3.9 25.6 30.75 
-4.3 25.6 30.525 
-4.7 25.6 30.65 
-5.1 25.6 30.725 
-5.5 25.6 30.55 
-5.9 25.6 30.5 
-6.3 25.6 30.625 
-6.7 25.6 30.675 
-7.1 25.6 30.725 
-7.5 25.6 30.725 
-7.9 25.6 30.45 
-8.3 25.6 30.45 
-8.7 25.6 30.55 
-9.1 25.6 30.575 
-9.5 25.6 30.475 
-9.9 25.6 30.275 
-10.3 25.6 30.425 
-10.7 25.6 30.75 
-11.1 25.6 30.9 
-11.5 25.6 30.9 
-11.9 25.6 30.925 
-12.3 25.6 30.85 
-12.7 25.6 30.775 
-13.1 25.6 30.7 
-13.5 25.6 30.625 
-13.9 25.6 30.525 
-14.3 25.6 30.425 
-14.7 25.6 30.45 
-15.1 25.6 30.375 
-15.5 25.6 30.225 
-15.9 25.6 30.1 
-16.3 25.6 30.025 
-16.7 25.6 29.825 
-17.1 25.6 29.575 
-17.5 25.6 29.3 
-17.9 25.6 29.025 
-18.3 25.6 28.8 
-18.7 25.6 28.575 
-19.1 25.6 28.325 
-19.5 25.6 28.075 
-19.9 25.6 27.8 
-20.3 25.6 27.55 
-20.7 25.6 27.225 
-21.1 25.6 26.9 
-21.5 25.6 26.6 
-21.9 25.6 26.175 
-22.3 25.6 25.775 
-22.7 25.6 25.425 
-23.1 25.6 24.925 
-23.5 25.6 24.35 
-23.9 25.6 23.875 
-24.3 25.6 23.325 
-24.7 25.6 22.85 
-25.1 25.6 22.35 
-25.5 25.6 21.6 
-25.9 25.6 20.9 
-26.3 25.6 20.2 
-26.7 25.6 18.975 
-27.1 25.6 17.95 
-27.5 25.6 16.925 
-27.9 25.6 15.525 
-28.3 25.6 13.475 
--24.5 26 -19.625 
--24.1 26 -19.575 
--23.7 26 -19.2 
--23.3 26 -18.75 
--22.9 26 -18.375 
--22.5 26 -18.125 
--22.1 26 -17.775 
--21.3 26 18 
--20.9 26 19.075 
--20.5 26 20.025 
--20.1 26 20.6 
--19.7 26 21.15 
--19.3 26 21.6 
--18.9 26 21.9 
--18.5 26 22.325 
--18.1 26 22.575 
--17.7 26 22.8 
--17.3 26 23.025 
--16.9 26 23.3 
--16.5 26 24.5 
--16.1 26 25.725 
--15.7 26 26.375 
--15.3 26 26.95 
--14.9 26 27.5 
--14.5 26 27.925 
--14.1 26 28.225 
--13.7 26 28.475 
--13.3 26 28.8 
--12.9 26 29.05 
--12.5 26 29.225 
--12.1 26 29.25 
--11.7 26 29.325 
--11.3 26 29.375 
--10.9 26 29.45 
--10.5 26 29.45 
--10.1 26 29.475 
--9.7 26 29.4 
--9.3 26 29.275 
--8.9 26 29.25 
--8.5 26 29.125 
--8.1 26 29.075 
--7.7 26 29.2 
--7.3 26 29.225 
--6.9 26 29.25 
--6.5 26 29.425 
--6.1 26 29.7 
--5.7 26 29.925 
--5.3 26 30.125 
--4.9 26 30.25 
--4.5 26 30.5 
--4.1 26 30.675 
--3.7 26 30.8 
--3.3 26 30.925 
--2.9 26 31 
--2.5 26 31.1 
--2.1 26 31.175 
--1.7 26 31.2 
--1.3 26 31.25 
--0.899999 26 31.275 
--0.499999 26 31.2 
--0.0999994 26 31.1 
-0.300001 26 31 
-0.700001 26 30.875 
-1.1 26 30.725 
-1.5 26 30.725 
-1.9 26 30.775 
-2.3 26 30.85 
-2.7 26 30.75 
-3.1 26 30.725 
-3.5 26 30.8 
-3.9 26 30.575 
-4.3 26 30.55 
-4.7 26 30.75 
-5.1 26 30.7 
-5.5 26 30.675 
-5.9 26 30.675 
-6.3 26 30.75 
-6.7 26 30.775 
-7.1 26 30.65 
-7.5 26 30.65 
-7.9 26 30.65 
-8.3 26 30.55 
-8.7 26 30.45 
-9.1 26 30.425 
-9.5 26 30.6 
-9.9 26 30.9 
-10.3 26 30.95 
-10.7 26 30.9 
-11.1 26 30.9 
-11.5 26 30.775 
-11.9 26 30.75 
-12.3 26 30.675 
-12.7 26 30.75 
-13.1 26 30.75 
-13.5 26 30.6 
-13.9 26 30.55 
-14.3 26 30.5 
-14.7 26 30.4 
-15.1 26 30.275 
-15.5 26 30.1 
-15.9 26 29.925 
-16.3 26 29.725 
-16.7 26 29.525 
-17.1 26 29.3 
-17.5 26 29.05 
-17.9 26 28.9 
-18.3 26 28.7 
-18.7 26 28.45 
-19.1 26 28.225 
-19.5 26 27.925 
-19.9 26 27.675 
-20.3 26 27.35 
-20.7 26 27.025 
-21.1 26 26.7 
-21.5 26 26.3 
-21.9 26 25.95 
-22.3 26 25.575 
-22.7 26 25.15 
-23.1 26 24.675 
-23.5 26 24.175 
-23.9 26 23.75 
-24.3 26 23.175 
-24.7 26 22.6 
-25.1 26 22 
-25.5 26 21.275 
-25.9 26 20.525 
-26.3 26 19.675 
-26.7 26 18.55 
-27.1 26 17.55 
-27.5 26 16.5 
-27.9 26 14.875 
-28.3 26 13.4 
--24.5 26.4 -19.75 
--24.1 26.4 -19.5 
--23.7 26.4 -19.1 
--23.3 26.4 -18.775 
--22.9 26.4 -18.3 
--22.5 26.4 -17.8 
--22.1 26.4 -17.55 
--21.3 26.4 17.9 
--20.9 26.4 19.05 
--20.5 26.4 19.75 
--20.1 26.4 20.525 
--19.7 26.4 21.125 
--19.3 26.4 21.55 
--18.9 26.4 21.85 
--18.5 26.4 22.2 
--18.1 26.4 22.55 
--17.7 26.4 22.775 
--17.3 26.4 22.925 
--16.9 26.4 23.175 
--16.5 26.4 24.275 
--16.1 26.4 25.475 
--15.7 26.4 26.3 
--15.3 26.4 26.825 
--14.9 26.4 27.4 
--14.5 26.4 27.825 
--14.1 26.4 28.125 
--13.7 26.4 28.35 
--13.3 26.4 28.65 
--12.9 26.4 28.9 
--12.5 26.4 29.025 
--12.1 26.4 29.225 
--11.7 26.4 29.35 
--11.3 26.4 29.375 
--10.9 26.4 29.45 
--10.5 26.4 29.45 
--10.1 26.4 29.5 
--9.7 26.4 29.25 
--9.3 26.4 29.1 
--8.9 26.4 29.2 
--8.5 26.4 29.2 
--8.1 26.4 29.125 
--7.7 26.4 29.1 
--7.3 26.4 29 
--6.9 26.4 29.1 
--6.5 26.4 29.225 
--6.1 26.4 29.4 
--5.7 26.4 29.65 
--5.3 26.4 29.825 
--4.9 26.4 30.025 
--4.5 26.4 30.3 
--4.1 26.4 30.45 
--3.7 26.4 30.6 
--3.3 26.4 30.8 
--2.9 26.4 30.825 
--2.5 26.4 30.925 
--2.1 26.4 31.1 
--1.7 26.4 31.225 
--1.3 26.4 31.15 
--0.899999 26.4 31.075 
--0.499999 26.4 31.175 
--0.0999994 26.4 31.275 
-0.300001 26.4 31.125 
-0.700001 26.4 31 
-1.1 26.4 31.05 
-1.5 26.4 31.1 
-1.9 26.4 30.925 
-2.3 26.4 30.775 
-2.7 26.4 30.75 
-3.1 26.4 30.625 
-3.5 26.4 30.55 
-3.9 26.4 30.475 
-4.3 26.4 30.4 
-4.7 26.4 30.45 
-5.1 26.4 30.425 
-5.5 26.4 30.45 
-5.9 26.4 30.5 
-6.3 26.4 30.675 
-6.7 26.4 30.575 
-7.1 26.4 30.325 
-7.5 26.4 30.35 
-7.9 26.4 30.6 
-8.3 26.4 30.725 
-8.7 26.4 30.825 
-9.1 26.4 30.875 
-9.5 26.4 30.975 
-9.9 26.4 30.95 
-10.3 26.4 30.875 
-10.7 26.4 30.825 
-11.1 26.4 30.775 
-11.5 26.4 30.75 
-11.9 26.4 30.725 
-12.3 26.4 30.65 
-12.7 26.4 30.625 
-13.1 26.4 30.65 
-13.5 26.4 30.6 
-13.9 26.4 30.45 
-14.3 26.4 30.25 
-14.7 26.4 30.075 
-15.1 26.4 30 
-15.5 26.4 30 
-15.9 26.4 29.9 
-16.3 26.4 29.625 
-16.7 26.4 29.35 
-17.1 26.4 29.15 
-17.5 26.4 28.775 
-17.9 26.4 28.625 
-18.3 26.4 28.55 
-18.7 26.4 28.3 
-19.1 26.4 28 
-19.5 26.4 27.7 
-19.9 26.4 27.375 
-20.3 26.4 27.05 
-20.7 26.4 26.75 
-21.1 26.4 26.4 
-21.5 26.4 26.025 
-21.9 26.4 25.65 
-22.3 26.4 25.275 
-22.7 26.4 24.925 
-23.1 26.4 24.475 
-23.5 26.4 23.975 
-23.9 26.4 23.475 
-24.3 26.4 22.925 
-24.7 26.4 22.325 
-25.1 26.4 21.65 
-25.5 26.4 21.15 
-25.9 26.4 20.225 
-26.3 26.4 19.55 
-26.7 26.4 18.35 
-27.1 26.4 17.025 
-27.5 26.4 15.925 
-27.9 26.4 14.4 
--24.5 26.8 -19.2 
--24.1 26.8 -19.575 
--23.7 26.8 -19.125 
--23.3 26.8 -18.7 
--22.9 26.8 -18.2 
--22.5 26.8 -17.85 
--22.1 26.8 -17.65 
--21.3 26.8 17.95 
--20.9 26.8 19.1 
--20.5 26.8 19.825 
--20.1 26.8 20.4 
--19.7 26.8 21.025 
--19.3 26.8 21.45 
--18.9 26.8 21.75 
--18.5 26.8 22.125 
--18.1 26.8 22.4 
--17.7 26.8 22.625 
--17.3 26.8 22.775 
--16.9 26.8 22.95 
--16.5 26.8 24.075 
--16.1 26.8 25.075 
--15.7 26.8 26.25 
--15.3 26.8 26.775 
--14.9 26.8 27.225 
--14.5 26.8 27.7 
--14.1 26.8 28.1 
--13.7 26.8 28.4 
--13.3 26.8 28.6 
--12.9 26.8 28.925 
--12.5 26.8 29.1 
--12.1 26.8 29.1 
--11.7 26.8 29.225 
--11.3 26.8 29.45 
--10.9 26.8 29.55 
--10.5 26.8 29.525 
--10.1 26.8 29.45 
--9.7 26.8 29.375 
--9.3 26.8 29.325 
--8.9 26.8 29.225 
--8.5 26.8 29.125 
--8.1 26.8 29.05 
--7.7 26.8 28.9 
--7.3 26.8 28.875 
--6.9 26.8 28.95 
--6.5 26.8 29.025 
--6.1 26.8 29.225 
--5.7 26.8 29.375 
--5.3 26.8 29.575 
--4.9 26.8 29.85 
--4.5 26.8 30.05 
--4.1 26.8 30.25 
--3.7 26.8 30.5 
--3.3 26.8 30.525 
--2.9 26.8 30.625 
--2.5 26.8 30.825 
--2.1 26.8 30.95 
--1.7 26.8 31.025 
--1.3 26.8 31.05 
--0.899999 26.8 31.075 
--0.499999 26.8 31.025 
--0.0999994 26.8 31.1 
-0.300001 26.8 31.25 
-0.700001 26.8 31.15 
-1.1 26.8 31.125 
-1.5 26.8 31.075 
-1.9 26.8 31.075 
-2.3 26.8 31.125 
-2.7 26.8 31.075 
-3.1 26.8 31.075 
-3.5 26.8 31.05 
-3.9 26.8 30.925 
-4.3 26.8 30.675 
-4.7 26.8 30.575 
-5.1 26.8 30.625 
-5.5 26.8 30.7 
-5.9 26.8 30.775 
-6.3 26.8 30.825 
-6.7 26.8 30.925 
-7.1 26.8 30.975 
-7.5 26.8 30.95 
-7.9 26.8 30.975 
-8.3 26.8 30.975 
-8.7 26.8 30.85 
-9.1 26.8 30.775 
-9.5 26.8 30.8 
-9.9 26.8 30.8 
-10.3 26.8 30.8 
-10.7 26.8 30.825 
-11.1 26.8 30.725 
-11.5 26.8 30.75 
-11.9 26.8 30.725 
-12.3 26.8 30.6 
-12.7 26.8 30.5 
-13.1 26.8 30.5 
-13.5 26.8 30.425 
-13.9 26.8 30.3 
-14.3 26.8 30.2 
-14.7 26.8 30 
-15.1 26.8 29.95 
-15.5 26.8 29.925 
-15.9 26.8 29.625 
-16.3 26.8 29.4 
-16.7 26.8 29.225 
-17.1 26.8 28.9 
-17.5 26.8 28.7 
-17.9 26.8 28.525 
-18.3 26.8 28.325 
-18.7 26.8 28.075 
-19.1 26.8 27.775 
-19.5 26.8 27.45 
-19.9 26.8 27.125 
-20.3 26.8 26.8 
-20.7 26.8 26.575 
-21.1 26.8 26.3 
-21.5 26.8 25.875 
-21.9 26.8 25.475 
-22.3 26.8 25.15 
-22.7 26.8 24.7 
-23.1 26.8 24.2 
-23.5 26.8 23.7 
-23.9 26.8 23.15 
-24.3 26.8 22.55 
-24.7 26.8 22 
-25.1 26.8 21.25 
-25.5 26.8 20.45 
-25.9 26.8 19.75 
-26.3 26.8 18.975 
-26.7 26.8 18.025 
-27.1 26.8 16.75 
-27.5 26.8 15.35 
-27.9 26.8 13.825 
--24.5 27.2 -19.45 
--24.1 27.2 -19.175 
--23.7 27.2 -18.85 
--23.3 27.2 -18.55 
--22.9 27.2 -18.2 
--22.5 27.2 -17.975 
--22.1 27.2 -17.8 
--21.3 27.2 17.825 
--20.9 27.2 18.975 
--20.5 27.2 19.8 
--20.1 27.2 20.425 
--19.7 27.2 20.925 
--19.3 27.2 21.275 
--18.9 27.2 21.625 
--18.5 27.2 22.075 
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--17.7 27.2 22.525 
--17.3 27.2 22.75 
--16.9 27.2 22.975 
--16.5 27.2 23.375 
--16.1 27.2 24.9 
--15.7 27.2 25.85 
--15.3 27.2 26.475 
--14.9 27.2 27.025 
--14.5 27.2 27.575 
--14.1 27.2 28.075 
--13.7 27.2 28.325 
--13.3 27.2 28.5 
--12.9 27.2 28.7 
--12.5 27.2 29 
--12.1 27.2 29.1 
--11.7 27.2 29.05 
--11.3 27.2 29.275 
--10.9 27.2 29.475 
--10.5 27.2 29.45 
--10.1 27.2 29.325 
--9.7 27.2 29.3 
--9.3 27.2 29.225 
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--8.1 27.2 28.975 
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--7.3 27.2 28.825 
--6.9 27.2 28.9 
--6.5 27.2 28.9 
--6.1 27.2 28.875 
--5.7 27.2 29.05 
--5.3 27.2 29.2 
--4.9 27.2 29.35 
--4.5 27.2 29.65 
--4.1 27.2 29.9 
--3.7 27.2 30.075 
--3.3 27.2 30.25 
--2.9 27.2 30.45 
--2.5 27.2 30.625 
--2.1 27.2 30.725 
--1.7 27.2 30.8 
--1.3 27.2 30.825 
--0.899999 27.2 30.95 
--0.499999 27.2 31 
--0.0999994 27.2 31 
-0.300001 27.2 30.925 
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-1.5 27.2 31.1 
-1.9 27.2 31.05 
-2.3 27.2 31.1 
-2.7 27.2 31.1 
-3.1 27.2 31.075 
-3.5 27.2 31 
-3.9 27.2 31.05 
-4.3 27.2 31.05 
-4.7 27.2 30.975 
-5.1 27.2 30.95 
-5.5 27.2 30.975 
-5.9 27.2 31.025 
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-6.7 27.2 30.925 
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-7.9 27.2 30.975 
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-8.7 27.2 30.925 
-9.1 27.2 31 
-9.5 27.2 30.875 
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-11.9 27.2 30.6 
-12.3 27.2 30.575 
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-13.1 27.2 30.475 
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-14.3 27.2 30.125 
-14.7 27.2 29.925 
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-15.5 27.2 29.575 
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-16.3 27.2 29.225 
-16.7 27.2 29 
-17.1 27.2 28.775 
-17.5 27.2 28.55 
-17.9 27.2 28.325 
-18.3 27.2 28 
-18.7 27.2 27.675 
-19.1 27.2 27.45 
-19.5 27.2 27.3 
-19.9 27.2 26.975 
-20.3 27.2 26.6 
-20.7 27.2 26.325 
-21.1 27.2 26.1 
-21.5 27.2 25.775 
-21.9 27.2 25.3 
-22.3 27.2 24.825 
-22.7 27.2 24.35 
-23.1 27.2 23.925 
-23.5 27.2 23.5 
-23.9 27.2 22.95 
-24.3 27.2 22.4 
-24.7 27.2 21.8 
-25.1 27.2 21.225 
-25.5 27.2 20.325 
-25.9 27.2 19.35 
-26.3 27.2 18.575 
-26.7 27.2 17.475 
-27.1 27.2 16.225 
-27.5 27.2 14.55 
-27.9 27.2 13.3 
--24.5 27.6 -19.425 
--24.1 27.6 -19.225 
--23.7 27.6 -18.875 
--23.3 27.6 -18.45 
--22.9 27.6 -18.05 
--22.5 27.6 -17.8 
--22.1 27.6 -17.55 
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--20.5 27.6 19.625 
--20.1 27.6 20.35 
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--19.3 27.6 21.375 
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--17.7 27.6 22.5 
--17.3 27.6 22.65 
--16.9 27.6 22.8 
--16.5 27.6 23.05 
--16.1 27.6 24.6 
--15.7 27.6 25.75 
--15.3 27.6 26.35 
--14.9 27.6 26.85 
--14.5 27.6 27.325 
--14.1 27.6 27.75 
--13.7 27.6 28.125 
--13.3 27.6 28.4 
--12.9 27.6 28.6 
--12.5 27.6 28.8 
--12.1 27.6 29.075 
--11.7 27.6 29.1 
--11.3 27.6 29.2 
--10.9 27.6 29.325 
--10.5 27.6 29.375 
--10.1 27.6 29.275 
--9.7 27.6 29.275 
--9.3 27.6 29.225 
--8.9 27.6 29.1 
--8.5 27.6 29.05 
--8.1 27.6 28.975 
--7.7 27.6 28.8 
--7.3 27.6 28.625 
--6.9 27.6 28.5 
--6.5 27.6 28.5 
--6.1 27.6 28.675 
--5.7 27.6 28.75 
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--4.9 27.6 29.05 
--4.5 27.6 29.325 
--4.1 27.6 29.6 
--3.7 27.6 29.8 
--3.3 27.6 30 
--2.9 27.6 30.15 
--2.5 27.6 30.25 
--2.1 27.6 30.4 
--1.7 27.6 30.65 
--1.3 27.6 30.75 
--0.899999 27.6 30.775 
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--0.0999994 27.6 30.775 
-0.300001 27.6 30.825 
-0.700001 27.6 30.85 
-1.1 27.6 30.95 
-1.5 27.6 31 
-1.9 27.6 30.975 
-2.3 27.6 31.075 
-2.7 27.6 31.1 
-3.1 27.6 31.1 
-3.5 27.6 31.1 
-3.9 27.6 31.05 
-4.3 27.6 31.025 
-4.7 27.6 31 
-5.1 27.6 31 
-5.5 27.6 31.025 
-5.9 27.6 30.9 
-6.3 27.6 30.925 
-6.7 27.6 30.975 
-7.1 27.6 30.95 
-7.5 27.6 30.975 
-7.9 27.6 30.95 
-8.3 27.6 30.8 
-8.7 27.6 30.8 
-9.1 27.6 30.8 
-9.5 27.6 30.85 
-9.9 27.6 30.8 
-10.3 27.6 30.725 
-10.7 27.6 30.65 
-11.1 27.6 30.6 
-11.5 27.6 30.6 
-11.9 27.6 30.5 
-12.3 27.6 30.4 
-12.7 27.6 30.25 
-13.1 27.6 30.1 
-13.5 27.6 29.95 
-13.9 27.6 30 
-14.3 27.6 29.975 
-14.7 27.6 29.725 
-15.1 27.6 29.6 
-15.5 27.6 29.475 
-15.9 27.6 29.25 
-16.3 27.6 28.95 
-16.7 27.6 28.775 
-17.1 27.6 28.6 
-17.5 27.6 28.4 
-17.9 27.6 28.1 
-18.3 27.6 27.875 
-18.7 27.6 27.575 
-19.1 27.6 27.2 
-19.5 27.6 26.875 
-19.9 27.6 26.675 
-20.3 27.6 26.425 
-20.7 27.6 26.1 
-21.1 27.6 25.775 
-21.5 27.6 25.375 
-21.9 27.6 24.9 
-22.3 27.6 24.5 
-22.7 27.6 24.05 
-23.1 27.6 23.675 
-23.5 27.6 23.15 
-23.9 27.6 22.575 
-24.3 27.6 22.025 
-24.7 27.6 21.325 
-25.1 27.6 20.75 
-25.5 27.6 19.825 
-25.9 27.6 18.95 
-26.3 27.6 18.1 
-26.7 27.6 17 
-27.1 27.6 15.65 
-27.5 27.6 14 
--24.5 28 -18.625 
--24.1 28 -19.425 
--23.7 28 -19.025 
--23.3 28 -18.65 
--22.9 28 -18.175 
--22.5 28 -17.775 
--22.1 28 -17.5 
--21.7 28 -17.15 
--20.9 28 18.725 
--20.5 28 19.4 
--20.1 28 20.025 
--19.7 28 20.7 
--19.3 28 21.175 
--18.9 28 21.6 
--18.5 28 21.95 
--18.1 28 22.225 
--17.7 28 22.425 
--17.3 28 22.525 
--16.9 28 22.675 
--16.5 28 22.9 
--16.1 28 24.05 
--15.7 28 25.45 
--15.3 28 26.175 
--14.9 28 26.8 
--14.5 28 27.45 
--14.1 28 27.75 
--13.7 28 28.025 
--13.3 28 28.325 
--12.9 28 28.625 
--12.5 28 28.75 
--12.1 28 28.9 
--11.7 28 29.2 
--11.3 28 29.25 
--10.9 28 29.25 
--10.5 28 29.25 
--10.1 28 29.225 
--9.7 28 29.225 
--9.3 28 29.2 
--8.9 28 29.125 
--8.5 28 29 
--8.1 28 28.875 
--7.7 28 28.8 
--7.3 28 28.6 
--6.9 28 28.525 
--6.5 28 28.525 
--6.1 28 28.5 
--5.7 28 28.525 
--5.3 28 28.675 
--4.9 28 28.775 
--4.5 28 28.9 
--4.1 28 29.125 
--3.7 28 29.475 
--3.3 28 29.775 
--2.9 28 29.925 
--2.5 28 30.05 
--2.1 28 30.2 
--1.7 28 30.35 
--1.3 28 30.475 
--0.899999 28 30.575 
--0.499999 28 30.65 
--0.0999994 28 30.75 
-0.300001 28 30.8 
-0.700001 28 30.85 
-1.1 28 30.8 
-1.5 28 30.725 
-1.9 28 30.825 
-2.3 28 30.95 
-2.7 28 30.925 
-3.1 28 30.9 
-3.5 28 30.875 
-3.9 28 30.825 
-4.3 28 30.925 
-4.7 28 30.95 
-5.1 28 30.925 
-5.5 28 30.9 
-5.9 28 30.925 
-6.3 28 30.975 
-6.7 28 30.95 
-7.1 28 30.85 
-7.5 28 30.75 
-7.9 28 30.8 
-8.3 28 30.875 
-8.7 28 30.8 
-9.1 28 30.725 
-9.5 28 30.675 
-9.9 28 30.65 
-10.3 28 30.65 
-10.7 28 30.675 
-11.1 28 30.575 
-11.5 28 30.525 
-11.9 28 30.55 
-12.3 28 30.4 
-12.7 28 30.275 
-13.1 28 30.2 
-13.5 28 30.05 
-13.9 28 29.85 
-14.3 28 29.675 
-14.7 28 29.575 
-15.1 28 29.35 
-15.5 28 29.125 
-15.9 28 28.975 
-16.3 28 28.75 
-16.7 28 28.525 
-17.1 28 28.3 
-17.5 28 28.075 
-17.9 28 27.8 
-18.3 28 27.55 
-18.7 28 27.325 
-19.1 28 27.025 
-19.5 28 26.7 
-19.9 28 26.45 
-20.3 28 26.2 
-20.7 28 25.85 
-21.1 28 25.6 
-21.5 28 25.25 
-21.9 28 24.775 
-22.3 28 24.3 
-22.7 28 23.85 
-23.1 28 23.4 
-23.5 28 22.9 
-23.9 28 22.4 
-24.3 28 21.625 
-24.7 28 21.05 
-25.1 28 20.5 
-25.5 28 19.55 
-25.9 28 18.8 
-26.3 28 17.725 
-26.7 28 16.675 
--24.5 28.4 -19.55 
--24.1 28.4 -19.325 
--23.7 28.4 -18.725 
--23.3 28.4 -18.25 
--22.9 28.4 -17.975 
--22.5 28.4 -17.8 
--22.1 28.4 -17.35 
--21.7 28.4 -16.975 
--20.9 28.4 18.375 
--20.5 28.4 19.325 
--20.1 28.4 20.125 
--19.7 28.4 20.675 
--19.3 28.4 21.125 
--18.9 28.4 21.525 
--18.5 28.4 21.875 
--18.1 28.4 22.15 
--17.7 28.4 22.35 
--17.3 28.4 22.45 
--16.9 28.4 22.55 
--16.5 28.4 22.625 
--16.1 28.4 23.45 
--15.7 28.4 25.3 
--15.3 28.4 26 
--14.9 28.4 26.525 
--14.5 28.4 27.05 
--14.1 28.4 27.475 
--13.7 28.4 27.925 
--13.3 28.4 28.25 
--12.9 28.4 28.5 
--12.5 28.4 28.75 
--12.1 28.4 28.85 
--11.7 28.4 28.975 
--11.3 28.4 29.025 
--10.9 28.4 29.15 
--10.5 28.4 29.225 
--10.1 28.4 29.25 
--9.7 28.4 29.25 
--9.3 28.4 29.2 
--8.9 28.4 29 
--8.5 28.4 28.825 
--8.1 28.4 28.75 
--7.7 28.4 28.675 
--7.3 28.4 28.525 
--6.9 28.4 28.375 
--6.5 28.4 28.325 
--6.1 28.4 28.275 
--5.7 28.4 28.225 
--5.3 28.4 28.375 
--4.9 28.4 28.6 
--4.5 28.4 28.725 
--4.1 28.4 28.925 
--3.7 28.4 29.05 
--3.3 28.4 29.25 
--2.9 28.4 29.525 
--2.5 28.4 29.75 
--2.1 28.4 29.975 
--1.7 28.4 30.15 
--1.3 28.4 30.225 
--0.899999 28.4 30.275 
--0.499999 28.4 30.325 
--0.0999994 28.4 30.45 
-0.300001 28.4 30.45 
-0.700001 28.4 30.5 
-1.1 28.4 30.6 
-1.5 28.4 30.6 
-1.9 28.4 30.65 
-2.3 28.4 30.775 
-2.7 28.4 30.7 
-3.1 28.4 30.65 
-3.5 28.4 30.725 
-3.9 28.4 30.775 
-4.3 28.4 30.8 
-4.7 28.4 30.9 
-5.1 28.4 30.95 
-5.5 28.4 30.9 
-5.9 28.4 30.8 
-6.3 28.4 30.825 
-6.7 28.4 30.875 
-7.1 28.4 30.825 
-7.5 28.4 30.75 
-7.9 28.4 30.725 
-8.3 28.4 30.675 
-8.7 28.4 30.6 
-9.1 28.4 30.525 
-9.5 28.4 30.5 
-9.9 28.4 30.5 
-10.3 28.4 30.5 
-10.7 28.4 30.5 
-11.1 28.4 30.45 
-11.5 28.4 30.275 
-11.9 28.4 30.15 
-12.3 28.4 30.1 
-12.7 28.4 29.9 
-13.1 28.4 29.85 
-13.5 28.4 29.8 
-13.9 28.4 29.7 
-14.3 28.4 29.475 
-14.7 28.4 29.35 
-15.1 28.4 29.2 
-15.5 28.4 28.85 
-15.9 28.4 28.7 
-16.3 28.4 28.6 
-16.7 28.4 28.3 
-17.1 28.4 28.025 
-17.5 28.4 27.8 
-17.9 28.4 27.6 
-18.3 28.4 27.375 
-18.7 28.4 27.075 
-19.1 28.4 26.775 
-19.5 28.4 26.55 
-19.9 28.4 26.225 
-20.3 28.4 25.825 
-20.7 28.4 25.525 
-21.1 28.4 25.25 
-21.5 28.4 24.8 
-21.9 28.4 24.35 
-22.3 28.4 23.9 
-22.7 28.4 23.525 
-23.1 28.4 23.15 
-23.5 28.4 22.575 
-23.9 28.4 22.1 
-24.3 28.4 21.55 
-24.7 28.4 20.875 
-25.1 28.4 19.975 
-25.5 28.4 19.275 
-25.9 28.4 18.275 
-26.3 28.4 17.225 
-26.7 28.4 16.1 
--24.5 28.8 -18.65 
--24.1 28.8 -18.975 
--23.7 28.8 -18.575 
--23.3 28.8 -18.25 
--22.9 28.8 -17.925 
--22.5 28.8 -17.575 
--22.1 28.8 -17.25 
--21.7 28.8 -17 
--20.9 28.8 18.3 
--20.5 28.8 19.175 
--20.1 28.8 19.75 
--19.7 28.8 20.475 
--19.3 28.8 21 
--18.9 28.8 21.475 
--18.5 28.8 21.725 
--18.1 28.8 22 
--17.7 28.8 22.275 
--17.3 28.8 22.4 
--16.9 28.8 22.525 
--16.5 28.8 22.65 
--16.1 28.8 23.15 
--15.7 28.8 24.9 
--15.3 28.8 25.75 
--14.9 28.8 26.325 
--14.5 28.8 26.825 
--14.1 28.8 27.3 
--13.7 28.8 27.8 
--13.3 28.8 28.125 
--12.9 28.8 28.425 
--12.5 28.8 28.625 
--12.1 28.8 28.7 
--11.7 28.8 28.85 
--11.3 28.8 29.025 
--10.9 28.8 29.1 
--10.5 28.8 29.125 
--10.1 28.8 29.125 
--9.7 28.8 29.15 
--9.3 28.8 29.1 
--8.9 28.8 28.975 
--8.5 28.8 28.925 
--8.1 28.8 28.775 
--7.7 28.8 28.575 
--7.3 28.8 28.425 
--6.9 28.8 28.325 
--6.5 28.8 28.25 
--6.1 28.8 28.2 
--5.7 28.8 28.1 
--5.3 28.8 28.1 
--4.9 28.8 28.175 
--4.5 28.8 28.3 
--4.1 28.8 28.5 
--3.7 28.8 28.7 
--3.3 28.8 28.925 
--2.9 28.8 29.275 
--2.5 28.8 29.45 
--2.1 28.8 29.6 
--1.7 28.8 29.75 
--1.3 28.8 29.85 
--0.899999 28.8 30 
--0.499999 28.8 30.175 
--0.0999994 28.8 30.2 
-0.300001 28.8 30.275 
-0.700001 28.8 30.4 
-1.1 28.8 30.45 
-1.5 28.8 30.475 
-1.9 28.8 30.45 
-2.3 28.8 30.5 
-2.7 28.8 30.6 
-3.1 28.8 30.625 
-3.5 28.8 30.6 
-3.9 28.8 30.625 
-4.3 28.8 30.65 
-4.7 28.8 30.7 
-5.1 28.8 30.725 
-5.5 28.8 30.7 
-5.9 28.8 30.65 
-6.3 28.8 30.625 
-6.7 28.8 30.7 
-7.1 28.8 30.725 
-7.5 28.8 30.625 
-7.9 28.8 30.6 
-8.3 28.8 30.65 
-8.7 28.8 30.65 
-9.1 28.8 30.55 
-9.5 28.8 30.45 
-9.9 28.8 30.45 
-10.3 28.8 30.45 
-10.7 28.8 30.25 
-11.1 28.8 30.175 
-11.5 28.8 30.2 
-11.9 28.8 30.1 
-12.3 28.8 29.9 
-12.7 28.8 29.675 
-13.1 28.8 29.675 
-13.5 28.8 29.575 
-13.9 28.8 29.4 
-14.3 28.8 29.3 
-14.7 28.8 29.075 
-15.1 28.8 28.85 
-15.5 28.8 28.825 
-15.9 28.8 28.55 
-16.3 28.8 28.3 
-16.7 28.8 28.2 
-17.1 28.8 27.925 
-17.5 28.8 27.6 
-17.9 28.8 27.4 
-18.3 28.8 27.15 
-18.7 28.8 26.775 
-19.1 28.8 26.525 
-19.5 28.8 26.275 
-19.9 28.8 25.9 
-20.3 28.8 25.65 
-20.7 28.8 25.275 
-21.1 28.8 24.925 
-21.5 28.8 24.65 
-21.9 28.8 24.225 
-22.3 28.8 23.775 
-22.7 28.8 23.4 
-23.1 28.8 23 
-23.5 28.8 22.4 
-23.9 28.8 21.9 
-24.3 28.8 21.375 
-24.7 28.8 20.575 
-25.1 28.8 19.725 
-25.5 28.8 18.95 
-25.9 28.8 17.8 
-26.3 28.8 16.825 
-26.7 28.8 15.45 
--24.5 29.2 -19.35 
--24.1 29.2 -18.975 
--23.7 29.2 -18.6 
--23.3 29.2 -18.325 
--22.9 29.2 -17.95 
--22.5 29.2 -17.5 
--22.1 29.2 -17.2 
--21.7 29.2 -16.925 
--20.9 29.2 18.05 
--20.5 29.2 19 
--20.1 29.2 19.75 
--19.7 29.2 20.375 
--19.3 29.2 20.85 
--18.9 29.2 21.325 
--18.5 29.2 21.725 
--18.1 29.2 21.975 
--17.7 29.2 22.2 
--17.3 29.2 22.4 
--16.9 29.2 22.4 
--16.5 29.2 22.45 
--16.1 29.2 22.875 
--15.7 29.2 24.45 
--15.3 29.2 25.5 
--14.9 29.2 26.3 
--14.5 29.2 26.825 
--14.1 29.2 27.25 
--13.7 29.2 27.6 
--13.3 29.2 27.925 
--12.9 29.2 28.275 
--12.5 29.2 28.525 
--12.1 29.2 28.725 
--11.7 29.2 28.875 
--11.3 29.2 28.925 
--10.9 29.2 29.075 
--10.5 29.2 29.2 
--10.1 29.2 29.2 
--9.7 29.2 29.05 
--9.3 29.2 28.95 
--8.9 29.2 28.875 
--8.5 29.2 28.825 
--8.1 29.2 28.7 
--7.7 29.2 28.475 
--7.3 29.2 28.35 
--6.9 29.2 28.25 
--6.5 29.2 28.175 
--6.1 29.2 28.15 
--5.7 29.2 28.025 
--5.3 29.2 27.95 
--4.9 29.2 27.975 
--4.5 29.2 28.075 
--4.1 29.2 28.2 
--3.7 29.2 28.35 
--3.3 29.2 28.6 
--2.9 29.2 28.825 
--2.5 29.2 29 
--2.1 29.2 29.175 
--1.7 29.2 29.375 
--1.3 29.2 29.55 
--0.899999 29.2 29.725 
--0.499999 29.2 29.825 
--0.0999994 29.2 30 
-0.300001 29.2 30.15 
-0.700001 29.2 30.075 
-1.1 29.2 30.175 
-1.5 29.2 30.35 
-1.9 29.2 30.4 
-2.3 29.2 30.475 
-2.7 29.2 30.5 
-3.1 29.2 30.45 
-3.5 29.2 30.45 
-3.9 29.2 30.45 
-4.3 29.2 30.5 
-4.7 29.2 30.55 
-5.1 29.2 30.5 
-5.5 29.2 30.525 
-5.9 29.2 30.55 
-6.3 29.2 30.525 
-6.7 29.2 30.475 
-7.1 29.2 30.575 
-7.5 29.2 30.525 
-7.9 29.2 30.4 
-8.3 29.2 30.4 
-8.7 29.2 30.325 
-9.1 29.2 30.275 
-9.5 29.2 30.35 
-9.9 29.2 30.275 
-10.3 29.2 30.075 
-10.7 29.2 30.075 
-11.1 29.2 30.025 
-11.5 29.2 29.9 
-11.9 29.2 29.8 
-12.3 29.2 29.775 
-12.7 29.2 29.625 
-13.1 29.2 29.5 
-13.5 29.2 29.375 
-13.9 29.2 29.2 
-14.3 29.2 28.925 
-14.7 29.2 28.825 
-15.1 29.2 28.75 
-15.5 29.2 28.575 
-15.9 29.2 28.2 
-16.3 29.2 28.05 
-16.7 29.2 27.9 
-17.1 29.2 27.575 
-17.5 29.2 27.225 
-17.9 29.2 27.025 
-18.3 29.2 26.825 
-18.7 29.2 26.6 
-19.1 29.2 26.275 
-19.5 29.2 25.975 
-19.9 29.2 25.7 
-20.3 29.2 25.425 
-20.7 29.2 25.125 
-21.1 29.2 24.825 
-21.5 29.2 24.45 
-21.9 29.2 23.975 
-22.3 29.2 23.55 
-22.7 29.2 23.1 
-23.1 29.2 22.65 
-23.5 29.2 22.15 
-23.9 29.2 21.55 
-24.3 29.2 21.05 
-24.7 29.2 20.175 
-25.1 29.2 19.475 
-25.5 29.2 18.7 
-25.9 29.2 17.45 
-26.3 29.2 16.475 
--24.5 29.6 -19.5 
--24.1 29.6 -19.325 
--23.7 29.6 -18.875 
--23.3 29.6 -18.4 
--22.9 29.6 -17.925 
--22.5 29.6 -17.55 
--22.1 29.6 -17.15 
--21.7 29.6 -16.8 
--20.9 29.6 17.95 
--20.5 29.6 18.85 
--20.1 29.6 19.55 
--19.7 29.6 20.125 
--19.3 29.6 20.725 
--18.9 29.6 21.225 
--18.5 29.6 21.55 
--18.1 29.6 21.75 
--17.7 29.6 22 
--17.3 29.6 22.125 
--16.9 29.6 22.2 
--16.5 29.6 22.45 
--16.1 29.6 22.725 
--15.7 29.6 23.825 
--15.3 29.6 25.225 
--14.9 29.6 25.95 
--14.5 29.6 26.6 
--14.1 29.6 27.15 
--13.7 29.6 27.55 
--13.3 29.6 27.85 
--12.9 29.6 28.225 
--12.5 29.6 28.5 
--12.1 29.6 28.65 
--11.7 29.6 28.775 
--11.3 29.6 28.9 
--10.9 29.6 29.025 
--10.5 29.6 29.05 
--10.1 29.6 29 
--9.7 29.6 28.875 
--9.3 29.6 28.95 
--8.9 29.6 28.9 
--8.5 29.6 28.75 
--8.1 29.6 28.65 
--7.7 29.6 28.55 
--7.3 29.6 28.4 
--6.9 29.6 28.25 
--6.5 29.6 28.025 
--6.1 29.6 27.825 
--5.7 29.6 27.725 
--5.3 29.6 27.7 
--4.9 29.6 27.65 
--4.5 29.6 27.7 
--4.1 29.6 27.825 
--3.7 29.6 27.975 
--3.3 29.6 28.225 
--2.9 29.6 28.4 
--2.5 29.6 28.625 
--2.1 29.6 28.875 
--1.7 29.6 29.075 
--1.3 29.6 29.225 
--0.899999 29.6 29.275 
--0.499999 29.6 29.5 
--0.0999994 29.6 29.775 
-0.300001 29.6 29.825 
-0.700001 29.6 29.8 
-1.1 29.6 29.95 
-1.5 29.6 30.075 
-1.9 29.6 30.075 
-2.3 29.6 30.05 
-2.7 29.6 30.075 
-3.1 29.6 30.175 
-3.5 29.6 30.2 
-3.9 29.6 30.175 
-4.3 29.6 30.25 
-4.7 29.6 30.375 
-5.1 29.6 30.3 
-5.5 29.6 30.275 
-5.9 29.6 30.35 
-6.3 29.6 30.35 
-6.7 29.6 30.275 
-7.1 29.6 30.25 
-7.5 29.6 30.225 
-7.9 29.6 30.175 
-8.3 29.6 30.125 
-8.7 29.6 30.15 
-9.1 29.6 30.125 
-9.5 29.6 30.1 
-9.9 29.6 30.075 
-10.3 29.6 30.025 
-10.7 29.6 29.8 
-11.1 29.6 29.675 
-11.5 29.6 29.6 
-11.9 29.6 29.475 
-12.3 29.6 29.45 
-12.7 29.6 29.425 
-13.1 29.6 29.2 
-13.5 29.6 29.05 
-13.9 29.6 28.9 
-14.3 29.6 28.8 
-14.7 29.6 28.6 
-15.1 29.6 28.425 
-15.5 29.6 28.3 
-15.9 29.6 28.075 
-16.3 29.6 27.825 
-16.7 29.6 27.575 
-17.1 29.6 27.325 
-17.5 29.6 27.1 
-17.9 29.6 26.85 
-18.3 29.6 26.55 
-18.7 29.6 26.275 
-19.1 29.6 25.975 
-19.5 29.6 25.7 
-19.9 29.6 25.425 
-20.3 29.6 25.175 
-20.7 29.6 24.85 
-21.1 29.6 24.45 
-21.5 29.6 24.1 
-21.9 29.6 23.775 
-22.3 29.6 23.35 
-22.7 29.6 22.9 
-23.1 29.6 22.425 
-23.5 29.6 21.725 
-23.9 29.6 21.175 
-24.3 29.6 20.475 
-24.7 29.6 19.825 
-25.1 29.6 18.925 
-25.5 29.6 18.075 
-25.9 29.6 17.05 
-26.3 29.6 15.7 
--24.1 30 -18.975 
--23.7 30 -18.75 
--23.3 30 -18.375 
--22.9 30 -17.875 
--22.5 30 -17.425 
--22.1 30 -17.125 
--21.7 30 -16.825 
--20.9 30 17.625 
--20.5 30 18.65 
--20.1 30 19.4 
--19.7 30 20.05 
--19.3 30 20.575 
--18.9 30 21.025 
--18.5 30 21.4 
--18.1 30 21.75 
--17.7 30 22 
--17.3 30 22.1 
--16.9 30 22.2 
--16.5 30 22.3 
--16.1 30 22.45 
--15.7 30 23.125 
--15.3 30 25.05 
--14.9 30 26 
--14.5 30 26.425 
--14.1 30 26.9 
--13.7 30 27.425 
--13.3 30 27.8 
--12.9 30 28.125 
--12.5 30 28.375 
--12.1 30 28.525 
--11.7 30 28.675 
--11.3 30 28.775 
--10.9 30 28.875 
--10.5 30 28.975 
--10.1 30 28.95 
--9.7 30 28.9 
--9.3 30 28.95 
--8.9 30 28.95 
--8.5 30 28.775 
--8.1 30 28.625 
--7.7 30 28.425 
--7.3 30 28.175 
--6.9 30 27.975 
--6.5 30 27.9 
--6.1 30 27.7 
--5.7 30 27.6 
--5.3 30 27.65 
--4.9 30 27.55 
--4.5 30 27.5 
--4.1 30 27.55 
--3.7 30 27.575 
--3.3 30 27.775 
--2.9 30 28 
--2.5 30 28.175 
--2.1 30 28.425 
--1.7 30 28.65 
--1.3 30 28.825 
--0.899999 30 29 
--0.499999 30 29.125 
--0.0999994 30 29.275 
-0.300001 30 29.45 
-0.700001 30 29.55 
-1.1 30 29.625 
-1.5 30 29.675 
-1.9 30 29.675 
-2.3 30 29.85 
-2.7 30 29.925 
-3.1 30 30 
-3.5 30 30.05 
-3.9 30 29.975 
-4.3 30 29.975 
-4.7 30 30.05 
-5.1 30 30.1 
-5.5 30 30.15 
-5.9 30 30.125 
-6.3 30 30.05 
-6.7 30 30 
-7.1 30 30.05 
-7.5 30 30.1 
-7.9 30 30.15 
-8.3 30 30.025 
-8.7 30 29.9 
-9.1 30 29.775 
-9.5 30 29.725 
-9.9 30 29.675 
-10.3 30 29.625 
-10.7 30 29.675 
-11.1 30 29.6 
-11.5 30 29.425 
-11.9 30 29.4 
-12.3 30 29.225 
-12.7 30 29.025 
-13.1 30 28.925 
-13.5 30 28.9 
-13.9 30 28.725 
-14.3 30 28.575 
-14.7 30 28.375 
-15.1 30 28.15 
-15.5 30 27.975 
-15.9 30 27.775 
-16.3 30 27.675 
-16.7 30 27.45 
-17.1 30 27.175 
-17.5 30 26.975 
-17.9 30 26.675 
-18.3 30 26.375 
-18.7 30 26.1 
-19.1 30 25.825 
-19.5 30 25.5 
-19.9 30 25.15 
-20.3 30 24.8 
-20.7 30 24.525 
-21.1 30 24.2 
-21.5 30 23.825 
-21.9 30 23.4 
-22.3 30 22.95 
-22.7 30 22.5 
-23.1 30 21.925 
-23.5 30 21.475 
-23.9 30 20.975 
-24.3 30 20.325 
-24.7 30 19.375 
-25.1 30 18.475 
-25.5 30 17.825 
-25.9 30 16.55 
--24.5 30.4 -19.225 
--24.1 30.4 -18.95 
--23.7 30.4 -18.5 
--23.3 30.4 -18.1 
--22.9 30.4 -17.725 
--22.5 30.4 -17.4 
--22.1 30.4 -17.05 
--21.7 30.4 -16.725 
--20.9 30.4 17.325 
--20.5 30.4 18.375 
--20.1 30.4 19.2 
--19.7 30.4 19.9 
--19.3 30.4 20.375 
--18.9 30.4 20.875 
--18.5 30.4 21.375 
--18.1 30.4 21.6 
--17.7 30.4 21.85 
--17.3 30.4 22.025 
--16.9 30.4 22.1 
--16.5 30.4 22.225 
--16.1 30.4 22.35 
--15.7 30.4 22.75 
--15.3 30.4 24.7 
--14.9 30.4 25.675 
--14.5 30.4 26.275 
--14.1 30.4 26.95 
--13.7 30.4 27.35 
--13.3 30.4 27.625 
--12.9 30.4 28.025 
--12.5 30.4 28.25 
--12.1 30.4 28.35 
--11.7 30.4 28.525 
--11.3 30.4 28.725 
--10.9 30.4 28.8 
--10.5 30.4 28.825 
--10.1 30.4 28.925 
--9.7 30.4 28.975 
--9.3 30.4 28.825 
--8.9 30.4 28.75 
--8.5 30.4 28.7 
--8.1 30.4 28.575 
--7.7 30.4 28.45 
--7.3 30.4 28.225 
--6.9 30.4 28 
--6.5 30.4 27.85 
--6.1 30.4 27.7 
--5.7 30.4 27.5 
--5.3 30.4 27.55 
--4.9 30.4 27.5 
--4.5 30.4 27.375 
--4.1 30.4 27.35 
--3.7 30.4 27.45 
--3.3 30.4 27.525 
--2.9 30.4 27.6 
--2.5 30.4 27.725 
--2.1 30.4 27.925 
--1.7 30.4 28.175 
--1.3 30.4 28.35 
--0.899999 30.4 28.55 
--0.499999 30.4 28.75 
--0.0999994 30.4 28.975 
-0.300001 30.4 29.075 
-0.700001 30.4 29.125 
-1.1 30.4 29.175 
-1.5 30.4 29.275 
-1.9 30.4 29.325 
-2.3 30.4 29.5 
-2.7 30.4 29.625 
-3.1 30.4 29.65 
-3.5 30.4 29.7 
-3.9 30.4 29.775 
-4.3 30.4 29.775 
-4.7 30.4 29.775 
-5.1 30.4 29.825 
-5.5 30.4 29.775 
-5.9 30.4 29.75 
-6.3 30.4 29.75 
-6.7 30.4 29.825 
-7.1 30.4 29.85 
-7.5 30.4 29.725 
-7.9 30.4 29.6 
-8.3 30.4 29.6 
-8.7 30.4 29.65 
-9.1 30.4 29.525 
-9.5 30.4 29.5 
-9.9 30.4 29.525 
-10.3 30.4 29.55 
-10.7 30.4 29.475 
-11.1 30.4 29.275 
-11.5 30.4 29.075 
-11.9 30.4 28.9 
-12.3 30.4 28.85 
-12.7 30.4 28.925 
-13.1 30.4 28.775 
-13.5 30.4 28.5 
-13.9 30.4 28.325 
-14.3 30.4 28.15 
-14.7 30.4 28.025 
-15.1 30.4 27.875 
-15.5 30.4 27.7 
-15.9 30.4 27.475 
-16.3 30.4 27.275 
-16.7 30.4 27.05 
-17.1 30.4 26.75 
-17.5 30.4 26.425 
-17.9 30.4 26.175 
-18.3 30.4 25.925 
-18.7 30.4 25.75 
-19.1 30.4 25.525 
-19.5 30.4 25.2 
-19.9 30.4 24.9 
-20.3 30.4 24.6 
-20.7 30.4 24.325 
-21.1 30.4 23.975 
-21.5 30.4 23.6 
-21.9 30.4 23.25 
-22.3 30.4 22.825 
-22.7 30.4 22.45 
-23.1 30.4 21.95 
-23.5 30.4 21.35 
-23.9 30.4 20.75 
-24.3 30.4 19.95 
-24.7 30.4 19 
-25.1 30.4 18.2 
-25.5 30.4 17.4 
-25.9 30.4 16.125 
--24.1 30.8 -18.25 
--23.7 30.8 -18.25 
--23.3 30.8 -17.95 
--22.9 30.8 -17.525 
--22.5 30.8 -17.175 
--22.1 30.8 -16.875 
--21.7 30.8 -16.55 
--20.9 30.8 17.25 
--20.5 30.8 18.125 
--20.1 30.8 18.925 
--19.7 30.8 19.7 
--19.3 30.8 20.325 
--18.9 30.8 20.775 
--18.5 30.8 21.2 
--18.1 30.8 21.55 
--17.7 30.8 21.775 
--17.3 30.8 22 
--16.9 30.8 22.025 
--16.5 30.8 22.075 
--16.1 30.8 22.225 
--15.7 30.8 22.575 
--15.3 30.8 24.45 
--14.9 30.8 25.5 
--14.5 30.8 26.2 
--14.1 30.8 26.725 
--13.7 30.8 27.15 
--13.3 30.8 27.525 
--12.9 30.8 27.9 
--12.5 30.8 28.1 
--12.1 30.8 28.325 
--11.7 30.8 28.55 
--11.3 30.8 28.6 
--10.9 30.8 28.725 
--10.5 30.8 28.825 
--10.1 30.8 28.9 
--9.7 30.8 28.9 
--9.3 30.8 28.825 
--8.9 30.8 28.775 
--8.5 30.8 28.75 
--8.1 30.8 28.575 
--7.7 30.8 28.3 
--7.3 30.8 28.1 
--6.9 30.8 27.95 
--6.5 30.8 27.775 
--6.1 30.8 27.575 
--5.7 30.8 27.5 
--5.3 30.8 27.375 
--4.9 30.8 27.25 
--4.5 30.8 27.25 
--4.1 30.8 27.2 
--3.7 30.8 27.225 
--3.3 30.8 27.225 
--2.9 30.8 27.25 
--2.5 30.8 27.4 
--2.1 30.8 27.6 
--1.7 30.8 27.825 
--1.3 30.8 27.975 
--0.899999 30.8 28.075 
--0.499999 30.8 28.35 
--0.0999994 30.8 28.525 
-0.300001 30.8 28.625 
-0.700001 30.8 28.775 
-1.1 30.8 28.8 
-1.5 30.8 28.85 
-1.9 30.8 28.925 
-2.3 30.8 29.05 
-2.7 30.8 29.125 
-3.1 30.8 29.2 
-3.5 30.8 29.225 
-3.9 30.8 29.325 
-4.3 30.8 29.425 
-4.7 30.8 29.475 
-5.1 30.8 29.5 
-5.5 30.8 29.55 
-5.9 30.8 29.575 
-6.3 30.8 29.575 
-6.7 30.8 29.55 
-7.1 30.8 29.475 
-7.5 30.8 29.425 
-7.9 30.8 29.4 
-8.3 30.8 29.4 
-8.7 30.8 29.425 
-9.1 30.8 29.35 
-9.5 30.8 29.25 
-9.9 30.8 29.2 
-10.3 30.8 29.075 
-10.7 30.8 29.025 
-11.1 30.8 28.925 
-11.5 30.8 28.9 
-11.9 30.8 28.8 
-12.3 30.8 28.525 
-12.7 30.8 28.35 
-13.1 30.8 28.25 
-13.5 30.8 28.225 
-13.9 30.8 28.175 
-14.3 30.8 28.025 
-14.7 30.8 27.8 
-15.1 30.8 27.55 
-15.5 30.8 27.4 
-15.9 30.8 27.25 
-16.3 30.8 27 
-16.7 30.8 26.75 
-17.1 30.8 26.525 
-17.5 30.8 26.35 
-17.9 30.8 26.1 
-18.3 30.8 25.875 
-18.7 30.8 25.575 
-19.1 30.8 25.2 
-19.5 30.8 24.9 
-19.9 30.8 24.725 
-20.3 30.8 24.425 
-20.7 30.8 24.05 
-21.1 30.8 23.625 
-21.5 30.8 23.3 
-21.9 30.8 22.975 
-22.3 30.8 22.55 
-22.7 30.8 22.125 
-23.1 30.8 21.625 
-23.5 30.8 21.075 
-23.9 30.8 20.425 
-24.3 30.8 19.65 
-24.7 30.8 18.8 
-25.1 30.8 17.85 
-25.5 30.8 16.725 
-25.9 30.8 15.575 
--24.1 31.2 -18.675 
--23.7 31.2 -18.275 
--23.3 31.2 -17.825 
--22.9 31.2 -17.475 
--22.5 31.2 -17.2 
--22.1 31.2 -16.75 
--21.7 31.2 -16.375 
--21.3 31.2 -16.125 
--20.5 31.2 17.875 
--20.1 31.2 18.825 
--19.7 31.2 19.5 
--19.3 31.2 20.1 
--18.9 31.2 20.6 
--18.5 31.2 21 
--18.1 31.2 21.35 
--17.7 31.2 21.6 
--17.3 31.2 21.775 
--16.9 31.2 22 
--16.5 31.2 22.1 
--16.1 31.2 22.225 
--15.7 31.2 22.4 
--15.3 31.2 23.825 
--14.9 31.2 25.2 
--14.5 31.2 25.775 
--14.1 31.2 26.35 
--13.7 31.2 26.95 
--13.3 31.2 27.425 
--12.9 31.2 27.725 
--12.5 31.2 27.975 
--12.1 31.2 28.2 
--11.7 31.2 28.475 
--11.3 31.2 28.65 
--10.9 31.2 28.675 
--10.5 31.2 28.725 
--10.1 31.2 28.825 
--9.7 31.2 28.9 
--9.3 31.2 28.85 
--8.9 31.2 28.825 
--8.5 31.2 28.825 
--8.1 31.2 28.6 
--7.7 31.2 28.25 
--7.3 31.2 28.05 
--6.9 31.2 27.95 
--6.5 31.2 27.675 
--6.1 31.2 27.5 
--5.7 31.2 27.35 
--5.3 31.2 27.275 
--4.9 31.2 27.225 
--4.5 31.2 27.1 
--4.1 31.2 27.05 
--3.7 31.2 27 
--3.3 31.2 26.95 
--2.9 31.2 26.95 
--2.5 31.2 27 
--2.1 31.2 27.15 
--1.7 31.2 27.35 
--1.3 31.2 27.55 
--0.899999 31.2 27.775 
--0.499999 31.2 27.875 
--0.0999994 31.2 28.075 
-0.300001 31.2 28.225 
-0.700001 31.2 28.275 
-1.1 31.2 28.375 
-1.5 31.2 28.55 
-1.9 31.2 28.625 
-2.3 31.2 28.675 
-2.7 31.2 28.8 
-3.1 31.2 28.8 
-3.5 31.2 28.85 
-3.9 31.2 29.025 
-4.3 31.2 29.2 
-4.7 31.2 29.25 
-5.1 31.2 29.15 
-5.5 31.2 29.125 
-5.9 31.2 29.175 
-6.3 31.2 29.225 
-6.7 31.2 29.25 
-7.1 31.2 29.25 
-7.5 31.2 29.175 
-7.9 31.2 29.1 
-8.3 31.2 29 
-8.7 31.2 28.975 
-9.1 31.2 29.05 
-9.5 31.2 29 
-9.9 31.2 28.9 
-10.3 31.2 28.725 
-10.7 31.2 28.65 
-11.1 31.2 28.525 
-11.5 31.2 28.475 
-11.9 31.2 28.35 
-12.3 31.2 28.325 
-12.7 31.2 28.275 
-13.1 31.2 28.1 
-13.5 31.2 28.025 
-13.9 31.2 27.825 
-14.3 31.2 27.675 
-14.7 31.2 27.45 
-15.1 31.2 27.25 
-15.5 31.2 27.1 
-15.9 31.2 26.9 
-16.3 31.2 26.75 
-16.7 31.2 26.525 
-17.1 31.2 26.275 
-17.5 31.2 26 
-17.9 31.2 25.675 
-18.3 31.2 25.5 
-18.7 31.2 25.275 
-19.1 31.2 25 
-19.5 31.2 24.675 
-19.9 31.2 24.4 
-20.3 31.2 24.125 
-20.7 31.2 23.8 
-21.1 31.2 23.45 
-21.5 31.2 23.075 
-21.9 31.2 22.725 
-22.3 31.2 22.275 
-22.7 31.2 21.8 
-23.1 31.2 21.275 
-23.5 31.2 20.65 
-23.9 31.2 20.025 
-24.3 31.2 19.25 
-24.7 31.2 18.6 
-25.1 31.2 17.825 
-25.5 31.2 16.55 
--24.1 31.6 -18.725 
--23.7 31.6 -18.475 
--23.3 31.6 -18 
--22.9 31.6 -17.5 
--22.5 31.6 -17.1 
--22.1 31.6 -16.7 
--21.7 31.6 -16.3 
--21.3 31.6 -15.925 
--20.5 31.6 17.6 
--20.1 31.6 18.65 
--19.7 31.6 19.475 
--19.3 31.6 19.95 
--18.9 31.6 20.45 
--18.5 31.6 20.95 
--18.1 31.6 21.3 
--17.7 31.6 21.575 
--17.3 31.6 21.8 
--16.9 31.6 21.925 
--16.5 31.6 21.975 
--16.1 31.6 22 
--15.7 31.6 22.225 
--15.3 31.6 23.125 
--14.9 31.6 24.875 
--14.5 31.6 25.75 
--14.1 31.6 26.375 
--13.7 31.6 26.85 
--13.3 31.6 27.275 
--12.9 31.6 27.625 
--12.5 31.6 27.875 
--12.1 31.6 28.15 
--11.7 31.6 28.375 
--11.3 31.6 28.425 
--10.9 31.6 28.5 
--10.5 31.6 28.7 
--10.1 31.6 28.775 
--9.7 31.6 28.725 
--9.3 31.6 28.75 
--8.9 31.6 28.75 
--8.5 31.6 28.7 
--8.1 31.6 28.475 
--7.7 31.6 28.25 
--7.3 31.6 28.15 
--6.9 31.6 27.825 
--6.5 31.6 27.525 
--6.1 31.6 27.45 
--5.7 31.6 27.375 
--5.3 31.6 27.175 
--4.9 31.6 26.95 
--4.5 31.6 26.85 
--4.1 31.6 26.75 
--3.7 31.6 26.8 
--3.3 31.6 26.775 
--2.9 31.6 26.825 
--2.5 31.6 26.825 
--2.1 31.6 26.775 
--1.7 31.6 26.875 
--1.3 31.6 27.05 
--0.899999 31.6 27.175 
--0.499999 31.6 27.425 
--0.0999994 31.6 27.575 
-0.300001 31.6 27.7 
-0.700001 31.6 27.875 
-1.1 31.6 27.975 
-1.5 31.6 27.975 
-1.9 31.6 28.05 
-2.3 31.6 28.225 
-2.7 31.6 28.35 
-3.1 31.6 28.45 
-3.5 31.6 28.55 
-3.9 31.6 28.55 
-4.3 31.6 28.625 
-4.7 31.6 28.75 
-5.1 31.6 28.775 
-5.5 31.6 28.825 
-5.9 31.6 28.8 
-6.3 31.6 28.8 
-6.7 31.6 28.825 
-7.1 31.6 28.85 
-7.5 31.6 28.75 
-7.9 31.6 28.6 
-8.3 31.6 28.6 
-8.7 31.6 28.625 
-9.1 31.6 28.675 
-9.5 31.6 28.65 
-9.9 31.6 28.475 
-10.3 31.6 28.375 
-10.7 31.6 28.4 
-11.1 31.6 28.375 
-11.5 31.6 28.1 
-11.9 31.6 27.925 
-12.3 31.6 27.95 
-12.7 31.6 27.875 
-13.1 31.6 27.7 
-13.5 31.6 27.6 
-13.9 31.6 27.45 
-14.3 31.6 27.3 
-14.7 31.6 27.15 
-15.1 31.6 26.925 
-15.5 31.6 26.775 
-15.9 31.6 26.625 
-16.3 31.6 26.4 
-16.7 31.6 26.225 
-17.1 31.6 25.925 
-17.5 31.6 25.7 
-17.9 31.6 25.475 
-18.3 31.6 25.2 
-18.7 31.6 24.9 
-19.1 31.6 24.575 
-19.5 31.6 24.375 
-19.9 31.6 24.2 
-20.3 31.6 23.925 
-20.7 31.6 23.6 
-21.1 31.6 23.3 
-21.5 31.6 22.85 
-21.9 31.6 22.4 
-22.3 31.6 21.95 
-22.7 31.6 21.6 
-23.1 31.6 21.1 
-23.5 31.6 20.275 
-23.9 31.6 19.65 
-24.3 31.6 19.05 
-24.7 31.6 18.05 
-25.1 31.6 17.2 
-25.5 31.6 15.925 
--24.1 32 -17.225 
--23.7 32 -18.325 
--23.3 32 -17.875 
--22.9 32 -17.425 
--22.5 32 -16.9 
--22.1 32 -16.525 
--21.7 32 -16.2 
--21.3 32 -15.825 
--20.5 32 17.125 
--20.1 32 18.325 
--19.7 32 19.225 
--19.3 32 19.75 
--18.9 32 20.2 
--18.5 32 20.675 
--18.1 32 21.2 
--17.7 32 21.525 
--17.3 32 21.7 
--16.9 32 21.9 
--16.5 32 22 
--16.1 32 22.075 
--15.7 32 22.1 
--15.3 32 22.7 
--14.9 32 24.75 
--14.5 32 25.5 
--14.1 32 26.025 
--13.7 32 26.7 
--13.3 32 27.15 
--12.9 32 27.475 
--12.5 32 27.825 
--12.1 32 28.1 
--11.7 32 28.3 
--11.3 32 28.45 
--10.9 32 28.55 
--10.5 32 28.675 
--10.1 32 28.825 
--9.7 32 28.85 
--9.3 32 28.75 
--8.9 32 28.675 
--8.5 32 28.675 
--8.1 32 28.425 
--7.7 32 28.175 
--7.3 32 27.975 
--6.9 32 27.775 
--6.5 32 27.675 
--6.1 32 27.425 
--5.7 32 27.175 
--5.3 32 26.95 
--4.9 32 26.8 
--4.5 32 26.75 
--4.1 32 26.625 
--3.7 32 26.475 
--3.3 32 26.525 
--2.9 32 26.475 
--2.5 32 26.45 
--2.1 32 26.525 
--1.7 32 26.6 
--1.3 32 26.725 
--0.899999 32 26.875 
--0.499999 32 26.975 
--0.0999994 32 27.1 
-0.300001 32 27.225 
-0.700001 32 27.425 
-1.1 32 27.575 
-1.5 32 27.625 
-1.9 32 27.675 
-2.3 32 27.825 
-2.7 32 28 
-3.1 32 28.075 
-3.5 32 28.1 
-3.9 32 28.175 
-4.3 32 28.15 
-4.7 32 28.275 
-5.1 32 28.3 
-5.5 32 28.275 
-5.9 32 28.375 
-6.3 32 28.5 
-6.7 32 28.5 
-7.1 32 28.5 
-7.5 32 28.425 
-7.9 32 28.35 
-8.3 32 28.3 
-8.7 32 28.25 
-9.1 32 28.275 
-9.5 32 28.175 
-9.9 32 28.15 
-10.3 32 28.05 
-10.7 32 27.925 
-11.1 32 27.95 
-11.5 32 27.875 
-11.9 32 27.7 
-12.3 32 27.55 
-12.7 32 27.425 
-13.1 32 27.225 
-13.5 32 27.2 
-13.9 32 27.075 
-14.3 32 26.875 
-14.7 32 26.7 
-15.1 32 26.5 
-15.5 32 26.4 
-15.9 32 26.25 
-16.3 32 26.025 
-16.7 32 25.85 
-17.1 32 25.55 
-17.5 32 25.25 
-17.9 32 25.15 
-18.3 32 25.025 
-18.7 32 24.825 
-19.1 32 24.6 
-19.5 32 24.3 
-19.9 32 23.95 
-20.3 32 23.675 
-20.7 32 23.4 
-21.1 32 23.025 
-21.5 32 22.7 
-21.9 32 22.325 
-22.3 32 21.875 
-22.7 32 21.375 
-23.1 32 20.75 
-23.5 32 20.15 
-23.9 32 19.35 
-24.3 32 18.625 
-24.7 32 17.825 
-25.1 32 16.65 
-25.5 32 15.2 
--23.7 32.4 -18.025 
--23.3 32.4 -17.85 
--22.9 32.4 -17.375 
--22.5 32.4 -16.925 
--22.1 32.4 -16.525 
--21.7 32.4 -16.125 
--21.3 32.4 -15.775 
--20.5 32.4 16.85 
--20.1 32.4 18.25 
--19.7 32.4 19.125 
--19.3 32.4 19.675 
--18.9 32.4 20.2 
--18.5 32.4 20.675 
--18.1 32.4 21 
--17.7 32.4 21.275 
--17.3 32.4 21.525 
--16.9 32.4 21.75 
--16.5 32.4 21.825 
--16.1 32.4 21.925 
--15.7 32.4 22.025 
--15.3 32.4 22.4 
--14.9 32.4 24.275 
--14.5 32.4 25.275 
--14.1 32.4 25.775 
--13.7 32.4 26.475 
--13.3 32.4 27.05 
--12.9 32.4 27.4 
--12.5 32.4 27.7 
--12.1 32.4 28.025 
--11.7 32.4 28.125 
--11.3 32.4 28.225 
--10.9 32.4 28.5 
--10.5 32.4 28.675 
--10.1 32.4 28.675 
--9.7 32.4 28.675 
--9.3 32.4 28.7 
--8.9 32.4 28.7 
--8.5 32.4 28.55 
--8.1 32.4 28.375 
--7.7 32.4 28.3 
--7.3 32.4 28.1 
--6.9 32.4 27.75 
--6.5 32.4 27.475 
--6.1 32.4 27.275 
--5.7 32.4 27.15 
--5.3 32.4 27 
--4.9 32.4 26.825 
--4.5 32.4 26.675 
--4.1 32.4 26.525 
--3.7 32.4 26.375 
--3.3 32.4 26.35 
--2.9 32.4 26.375 
--2.5 32.4 26.325 
--2.1 32.4 26.25 
--1.7 32.4 26.225 
--1.3 32.4 26.275 
--0.899999 32.4 26.35 
--0.499999 32.4 26.5 
--0.0999994 32.4 26.625 
-0.300001 32.4 26.725 
-0.700001 32.4 26.9 
-1.1 32.4 27.025 
-1.5 32.4 27.2 
-1.9 32.4 27.275 
-2.3 32.4 27.275 
-2.7 32.4 27.4 
-3.1 32.4 27.5 
-3.5 32.4 27.6 
-3.9 32.4 27.7 
-4.3 32.4 27.75 
-4.7 32.4 27.7 
-5.1 32.4 27.725 
-5.5 32.4 27.775 
-5.9 32.4 27.925 
-6.3 32.4 28 
-6.7 32.4 27.975 
-7.1 32.4 27.9 
-7.5 32.4 27.9 
-7.9 32.4 27.925 
-8.3 32.4 27.875 
-8.7 32.4 27.825 
-9.1 32.4 27.85 
-9.5 32.4 27.85 
-9.9 32.4 27.8 
-10.3 32.4 27.675 
-10.7 32.4 27.575 
-11.1 32.4 27.4 
-11.5 32.4 27.275 
-11.9 32.4 27.275 
-12.3 32.4 27.175 
-12.7 32.4 27.1 
-13.1 32.4 26.95 
-13.5 32.4 26.85 
-13.9 32.4 26.725 
-14.3 32.4 26.55 
-14.7 32.4 26.375 
-15.1 32.4 26.275 
-15.5 32.4 26.15 
-15.9 32.4 25.925 
-16.3 32.4 25.75 
-16.7 32.4 25.525 
-17.1 32.4 25.325 
-17.5 32.4 25.175 
-17.9 32.4 24.9 
-18.3 32.4 24.65 
-18.7 32.4 24.45 
-19.1 32.4 24.225 
-19.5 32.4 24 
-19.9 32.4 23.8 
-20.3 32.4 23.5 
-20.7 32.4 23.2 
-21.1 32.4 22.8 
-21.5 32.4 22.375 
-21.9 32.4 22.1 
-22.3 32.4 21.675 
-22.7 32.4 21 
-23.1 32.4 20.45 
-23.5 32.4 19.8 
-23.9 32.4 18.975 
-24.3 32.4 18.325 
-24.7 32.4 17.5 
-25.1 32.4 16.325 
-25.5 32.4 14.7 
--23.7 32.8 -17.975 
--23.3 32.8 -17.525 
--22.9 32.8 -17.2 
--22.5 32.8 -16.8 
--22.1 32.8 -16.45 
--21.7 32.8 -16.075 
--21.3 32.8 -15.7 
--20.5 32.8 16.725 
--20.1 32.8 17.7 
--19.7 32.8 18.725 
--19.3 32.8 19.4 
--18.9 32.8 20.05 
--18.5 32.8 20.525 
--18.1 32.8 20.925 
--17.7 32.8 21.25 
--17.3 32.8 21.425 
--16.9 32.8 21.6 
--16.5 32.8 21.725 
--16.1 32.8 21.8 
--15.7 32.8 21.85 
--15.3 32.8 22.05 
--14.9 32.8 23.575 
--14.5 32.8 25.075 
--14.1 32.8 25.975 
--13.7 32.8 26.325 
--13.3 32.8 26.95 
--12.9 32.8 27.35 
--12.5 32.8 27.6 
--12.1 32.8 27.85 
--11.7 32.8 28.075 
--11.3 32.8 28.375 
--10.9 32.8 28.6 
--10.5 32.8 28.65 
--10.1 32.8 28.65 
--9.7 32.8 28.725 
--9.3 32.8 28.65 
--8.9 32.8 28.575 
--8.5 32.8 28.55 
--8.1 32.8 28.425 
--7.7 32.8 28.3 
--7.3 32.8 28 
--6.9 32.8 27.75 
--6.5 32.8 27.525 
--6.1 32.8 27.275 
--5.7 32.8 27.025 
--5.3 32.8 26.925 
--4.9 32.8 26.75 
--4.5 32.8 26.6 
--4.1 32.8 26.4 
--3.7 32.8 26.225 
--3.3 32.8 26.2 
--2.9 32.8 26.125 
--2.5 32.8 25.95 
--2.1 32.8 25.875 
--1.7 32.8 25.925 
--1.3 32.8 26 
--0.899999 32.8 25.975 
--0.499999 32.8 26.075 
--0.0999994 32.8 26.2 
-0.300001 32.8 26.25 
-0.700001 32.8 26.375 
-1.1 32.8 26.475 
-1.5 32.8 26.55 
-1.9 32.8 26.65 
-2.3 32.8 26.8 
-2.7 32.8 26.95 
-3.1 32.8 27.025 
-3.5 32.8 27.05 
-3.9 32.8 27.1 
-4.3 32.8 27.275 
-4.7 32.8 27.4 
-5.1 32.8 27.425 
-5.5 32.8 27.4 
-5.9 32.8 27.375 
-6.3 32.8 27.45 
-6.7 32.8 27.475 
-7.1 32.8 27.475 
-7.5 32.8 27.55 
-7.9 32.8 27.5 
-8.3 32.8 27.475 
-8.7 32.8 27.4 
-9.1 32.8 27.3 
-9.5 32.8 27.275 
-9.9 32.8 27.275 
-10.3 32.8 27.2 
-10.7 32.8 27.15 
-11.1 32.8 27.15 
-11.5 32.8 27.075 
-11.9 32.8 26.925 
-12.3 32.8 26.8 
-12.7 32.8 26.625 
-13.1 32.8 26.475 
-13.5 32.8 26.475 
-13.9 32.8 26.35 
-14.3 32.8 26.15 
-14.7 32.8 26.025 
-15.1 32.8 25.95 
-15.5 32.8 25.825 
-15.9 32.8 25.625 
-16.3 32.8 25.4 
-16.7 32.8 25.125 
-17.1 32.8 25 
-17.5 32.8 24.85 
-17.9 32.8 24.6 
-18.3 32.8 24.35 
-18.7 32.8 24.175 
-19.1 32.8 24.025 
-19.5 32.8 23.775 
-19.9 32.8 23.525 
-20.3 32.8 23.2 
-20.7 32.8 22.85 
-21.1 32.8 22.575 
-21.5 32.8 22.3 
-21.9 32.8 21.95 
-22.3 32.8 21.375 
-22.7 32.8 20.85 
-23.1 32.8 20.225 
-23.5 32.8 19.65 
-23.9 32.8 18.825 
-24.3 32.8 18.225 
-24.7 32.8 16.95 
-25.1 32.8 15.75 
-25.5 32.8 14.3 
--23.7 33.2 -18.15 
--23.3 33.2 -17.775 
--22.9 33.2 -17.325 
--22.5 33.2 -16.925 
--22.1 33.2 -16.4 
--21.7 33.2 -15.975 
--21.3 33.2 -15.7 
--20.9 33.2 -15.275 
--20.1 33.2 17.575 
--19.7 33.2 18.55 
--19.3 33.2 19.2 
--18.9 33.2 19.75 
--18.5 33.2 20.275 
--18.1 33.2 20.75 
--17.7 33.2 21.1 
--17.3 33.2 21.35 
--16.9 33.2 21.55 
--16.5 33.2 21.7 
--16.1 33.2 21.7 
--15.7 33.2 21.75 
--15.3 33.2 21.975 
--14.9 33.2 22.875 
--14.5 33.2 25.025 
--14.1 33.2 25.65 
--13.7 33.2 26.125 
--13.3 33.2 26.75 
--12.9 33.2 27.2 
--12.5 33.2 27.475 
--12.1 33.2 27.825 
--11.7 33.2 28 
--11.3 33.2 28.2 
--10.9 33.2 28.475 
--10.5 33.2 28.575 
--10.1 33.2 28.625 
--9.7 33.2 28.625 
--9.3 33.2 28.65 
--8.9 33.2 28.625 
--8.5 33.2 28.475 
--8.1 33.2 28.275 
--7.7 33.2 28.025 
--7.3 33.2 27.825 
--6.9 33.2 27.675 
--6.5 33.2 27.475 
--6.1 33.2 27.175 
--5.7 33.2 26.95 
--5.3 33.2 26.85 
--4.9 33.2 26.575 
--4.5 33.2 26.325 
--4.1 33.2 26.225 
--3.7 33.2 26.05 
--3.3 33.2 26 
--2.9 33.2 25.875 
--2.5 33.2 25.8 
--2.1 33.2 25.75 
--1.7 33.2 25.725 
--1.3 33.2 25.775 
--0.899999 33.2 25.75 
--0.499999 33.2 25.725 
--0.0999994 33.2 25.825 
-0.300001 33.2 25.975 
-0.700001 33.2 26.05 
-1.1 33.2 26.175 
-1.5 33.2 26.3 
-1.9 33.2 26.35 
-2.3 33.2 26.4 
-2.7 33.2 26.45 
-3.1 33.2 26.425 
-3.5 33.2 26.525 
-3.9 33.2 26.675 
-4.3 33.2 26.8 
-4.7 33.2 26.85 
-5.1 33.2 26.925 
-5.5 33.2 27.075 
-5.9 33.2 27.1 
-6.3 33.2 27.075 
-6.7 33.2 27.05 
-7.1 33.2 27 
-7.5 33.2 26.975 
-7.9 33.2 27.05 
-8.3 33.2 27.05 
-8.7 33.2 26.975 
-9.1 33.2 26.925 
-9.5 33.2 26.9 
-9.9 33.2 26.775 
-10.3 33.2 26.725 
-10.7 33.2 26.75 
-11.1 33.2 26.725 
-11.5 33.2 26.625 
-11.9 33.2 26.475 
-12.3 33.2 26.425 
-12.7 33.2 26.325 
-13.1 33.2 26.225 
-13.5 33.2 26.075 
-13.9 33.2 25.875 
-14.3 33.2 25.8 
-14.7 33.2 25.75 
-15.1 33.2 25.5 
-15.5 33.2 25.375 
-15.9 33.2 25.3 
-16.3 33.2 25.15 
-16.7 33.2 24.95 
-17.1 33.2 24.725 
-17.5 33.2 24.6 
-17.9 33.2 24.45 
-18.3 33.2 24.325 
-18.7 33.2 24.125 
-19.1 33.2 23.875 
-19.5 33.2 23.55 
-19.9 33.2 23.35 
-20.3 33.2 23.125 
-20.7 33.2 22.8 
-21.1 33.2 22.35 
-21.5 33.2 22.025 
-21.9 33.2 21.65 
-22.3 33.2 21.15 
-22.7 33.2 20.625 
-23.1 33.2 20.25 
-23.5 33.2 19.7 
-23.9 33.2 18.7 
-24.3 33.2 17.875 
-24.7 33.2 17 
-25.1 33.2 15.5 
-25.5 33.2 14.3 
--23.7 33.6 -17.975 
--23.3 33.6 -17.625 
--22.9 33.6 -17.175 
--22.5 33.6 -16.725 
--22.1 33.6 -16.2 
--21.7 33.6 -15.875 
--21.3 33.6 -15.6 
--20.9 33.6 -15.275 
--20.1 33.6 17 
--19.7 33.6 18.15 
--19.3 33.6 19.125 
--18.9 33.6 19.725 
--18.5 33.6 20.225 
--18.1 33.6 20.55 
--17.7 33.6 20.825 
--17.3 33.6 21.125 
--16.9 33.6 21.325 
--16.5 33.6 21.55 
--16.1 33.6 21.55 
--15.7 33.6 21.7 
--15.3 33.6 21.925 
--14.9 33.6 22.4 
--14.5 33.6 24.55 
--14.1 33.6 25.525 
--13.7 33.6 26.125 
--13.3 33.6 26.475 
--12.9 33.6 26.925 
--12.5 33.6 27.425 
--12.1 33.6 27.675 
--11.7 33.6 27.95 
--11.3 33.6 28.2 
--10.9 33.6 28.35 
--10.5 33.6 28.475 
--10.1 33.6 28.575 
--9.7 33.6 28.65 
--9.3 33.6 28.675 
--8.9 33.6 28.65 
--8.5 33.6 28.45 
--8.1 33.6 28.175 
--7.7 33.6 27.975 
--7.3 33.6 27.8 
--6.9 33.6 27.575 
--6.5 33.6 27.3 
--6.1 33.6 27.075 
--5.7 33.6 26.9 
--5.3 33.6 26.825 
--4.9 33.6 26.575 
--4.5 33.6 26.325 
--4.1 33.6 26.225 
--3.7 33.6 26.05 
--3.3 33.6 25.825 
--2.9 33.6 25.7 
--2.5 33.6 25.65 
--2.1 33.6 25.575 
--1.7 33.6 25.525 
--1.3 33.6 25.525 
--0.899999 33.6 25.425 
--0.499999 33.6 25.375 
--0.0999994 33.6 25.425 
-0.300001 33.6 25.4 
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-2.7 33.6 25.875 
-3.1 33.6 25.95 
-3.5 33.6 26.125 
-3.9 33.6 26.175 
-4.3 33.6 26.175 
-4.7 33.6 26.325 
-5.1 33.6 26.4 
-5.5 33.6 26.4 
-5.9 33.6 26.425 
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-6.7 33.6 26.525 
-7.1 33.6 26.6 
-7.5 33.6 26.625 
-7.9 33.6 26.55 
-8.3 33.6 26.575 
-8.7 33.6 26.525 
-9.1 33.6 26.475 
-9.5 33.6 26.375 
-9.9 33.6 26.375 
-10.3 33.6 26.35 
-10.7 33.6 26.3 
-11.1 33.6 26.275 
-11.5 33.6 26.2 
-11.9 33.6 26.15 
-12.3 33.6 26.075 
-12.7 33.6 25.95 
-13.1 33.6 25.775 
-13.5 33.6 25.675 
-13.9 33.6 25.65 
-14.3 33.6 25.55 
-14.7 33.6 25.35 
-15.1 33.6 25.225 
-15.5 33.6 25.15 
-15.9 33.6 24.95 
-16.3 33.6 24.725 
-16.7 33.6 24.675 
-17.1 33.6 24.525 
-17.5 33.6 24.35 
-17.9 33.6 24.2 
-18.3 33.6 24.025 
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-19.1 33.6 23.7 
-19.5 33.6 23.4 
-19.9 33.6 23.175 
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-21.5 33.6 21.85 
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-23.1 33.6 19.725 
-23.5 33.6 19.2 
-23.9 33.6 18.65 
-24.3 33.6 17.625 
-24.7 33.6 16.45 
-25.1 33.6 14.725 
--23.7 34 -17.975 
--23.3 34 -17.625 
--22.9 34 -17.075 
--22.5 34 -16.55 
--22.1 34 -16.25 
--21.7 34 -15.925 
--21.3 34 -15.35 
--20.9 34 -15 
--20.1 34 16.6 
--19.7 34 17.95 
--19.3 34 18.85 
--18.9 34 19.55 
--18.5 34 20.025 
--18.1 34 20.45 
--17.7 34 20.8 
--17.3 34 21.05 
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--16.5 34 21.575 
--16.1 34 21.625 
--15.7 34 21.675 
--15.3 34 21.775 
--14.9 34 22.025 
--14.5 34 24.175 
--14.1 34 25.125 
--13.7 34 25.875 
--13.3 34 26.425 
--12.9 34 26.825 
--12.5 34 27.275 
--12.1 34 27.65 
--11.7 34 27.95 
--11.3 34 28.15 
--10.9 34 28.225 
--10.5 34 28.35 
--10.1 34 28.4 
--9.7 34 28.45 
--9.3 34 28.5 
--8.9 34 28.5 
--8.5 34 28.35 
--8.1 34 28.2 
--7.7 34 28.05 
--7.3 34 27.8 
--6.9 34 27.525 
--6.5 34 27.3 
--6.1 34 27.125 
--5.7 34 27 
--5.3 34 26.775 
--4.9 34 26.5 
--4.5 34 26.25 
--4.1 34 26.1 
--3.7 34 25.95 
--3.3 34 25.675 
--2.9 34 25.525 
--2.5 34 25.5 
--2.1 34 25.35 
--1.7 34 25.2 
--1.3 34 25.175 
--0.899999 34 25.2 
--0.499999 34 25.1 
--0.0999994 34 25.05 
-0.300001 34 25.05 
-0.700001 34 25 
-1.1 34 25.075 
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-2.7 34 25.5 
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-3.9 34 25.7 
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-4.7 34 25.775 
-5.1 34 25.825 
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-5.9 34 26.025 
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-6.7 34 26.15 
-7.1 34 26.05 
-7.5 34 26.025 
-7.9 34 26.075 
-8.3 34 26 
-8.7 34 25.925 
-9.1 34 26 
-9.5 34 26.075 
-9.9 34 26.075 
-10.3 34 25.9 
-10.7 34 25.875 
-11.1 34 25.85 
-11.5 34 25.75 
-11.9 34 25.75 
-12.3 34 25.725 
-12.7 34 25.6 
-13.1 34 25.525 
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-13.9 34 25.2 
-14.3 34 25.175 
-14.7 34 25.075 
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-15.9 34 24.775 
-16.3 34 24.6 
-16.7 34 24.475 
-17.1 34 24.35 
-17.5 34 24.2 
-17.9 34 24.075 
-18.3 34 23.9 
-18.7 34 23.75 
-19.1 34 23.575 
-19.5 34 23.275 
-19.9 34 23.075 
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-20.7 34 22.475 
-21.1 34 22.15 
-21.5 34 21.75 
-21.9 34 21.2 
-22.3 34 20.7 
-22.7 34 20.225 
-23.1 34 19.7 
-23.5 34 18.975 
-23.9 34 18.225 
-24.3 34 17.3 
-24.7 34 15.85 
--23.3 34.4 -17.7 
--22.9 34.4 -16.9 
--22.5 34.4 -16.525 
--22.1 34.4 -16.15 
--21.7 34.4 -15.775 
--21.3 34.4 -15.475 
--20.9 34.4 -15.175 
--20.1 34.4 16.45 
--19.7 34.4 17.575 
--19.3 34.4 18.475 
--18.9 34.4 19.25 
--18.5 34.4 19.8 
--18.1 34.4 20.275 
--17.7 34.4 20.675 
--17.3 34.4 21 
--16.9 34.4 21.2 
--16.5 34.4 21.35 
--16.1 34.4 21.5 
--15.7 34.4 21.575 
--15.3 34.4 21.675 
--14.9 34.4 21.875 
--14.1 34.4 24.975 
--13.7 34.4 25.625 
--13.3 34.4 26.225 
--12.9 34.4 26.75 
--12.5 34.4 27.25 
--12.1 34.4 27.6 
--11.7 34.4 27.85 
--11.3 34.4 27.975 
--10.9 34.4 28.125 
--10.5 34.4 28.35 
--10.1 34.4 28.475 
--9.7 34.4 28.45 
--9.3 34.4 28.425 
--8.9 34.4 28.45 
--8.5 34.4 28.35 
--8.1 34.4 28.075 
--7.7 34.4 27.85 
--7.3 34.4 27.65 
--6.9 34.4 27.475 
--6.5 34.4 27.2 
--6.1 34.4 26.875 
--5.7 34.4 26.7 
--5.3 34.4 26.5 
--4.9 34.4 26.275 
--4.5 34.4 26.025 
--4.1 34.4 25.925 
--3.7 34.4 25.825 
--3.3 34.4 25.6 
--2.9 34.4 25.55 
--2.5 34.4 25.4 
--2.1 34.4 25.2 
--1.7 34.4 25.05 
--1.3 34.4 24.95 
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-17.5 34.4 23.975 
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-19.1 34.4 23.325 
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-23.1 34.4 19.425 
-23.5 34.4 18.75 
-23.9 34.4 18.05 
-24.3 34.4 16.825 
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--23.3 34.8 -17.375 
--22.9 34.8 -16.95 
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--22.1 34.8 -16.075 
--21.7 34.8 -15.825 
--21.3 34.8 -15.375 
--20.9 34.8 -14.825 
--20.1 34.8 16.25 
--19.7 34.8 17.05 
--19.3 34.8 18.2 
--18.9 34.8 18.95 
--18.5 34.8 19.575 
--18.1 34.8 20.1 
--17.7 34.8 20.475 
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--16.9 34.8 21.2 
--16.5 34.8 21.3 
--16.1 34.8 21.375 
--15.7 34.8 21.5 
--15.3 34.8 21.575 
--14.9 34.8 21.675 
--14.5 34.8 22.65 
--14.1 34.8 24.775 
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--13.3 34.8 26.1 
--12.9 34.8 26.575 
--12.5 34.8 27.025 
--12.1 34.8 27.425 
--11.7 34.8 27.75 
--11.3 34.8 27.95 
--10.9 34.8 28.1 
--10.5 34.8 28.25 
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--9.3 34.8 28.35 
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--8.5 34.8 28.3 
--8.1 34.8 28.15 
--7.7 34.8 27.875 
--7.3 34.8 27.65 
--6.9 34.8 27.5 
--6.5 34.8 27.175 
--6.1 34.8 26.875 
--5.7 34.8 26.7 
--5.3 34.8 26.5 
--4.9 34.8 26.3 
--4.5 34.8 26 
--4.1 34.8 25.85 
--3.7 34.8 25.725 
--3.3 34.8 25.575 
--2.9 34.8 25.45 
--2.5 34.8 25.225 
--2.1 34.8 25.05 
--1.7 34.8 24.975 
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-8.7 34.8 25.1 
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-11.5 34.8 24.95 
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-23.5 34.8 18.55 
-23.9 34.8 17.8 
-24.3 34.8 16.675 
-24.7 34.8 15.15 
--23.3 35.2 -17.4 
--22.9 35.2 -16.825 
--22.5 35.2 -16.425 
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--21.7 35.2 -15.6 
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--14.1 35.2 24.55 
--13.7 35.2 25.275 
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--12.9 35.2 26.4 
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--6.5 35.2 27.1 
--6.1 35.2 26.875 
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--4.9 35.2 26.2 
--4.5 35.2 26.025 
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-16.3 35.2 23.975 
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-22.3 35.2 20.3 
-22.7 35.2 19.7 
-23.1 35.2 19 
-23.5 35.2 18.325 
-23.9 35.2 17.35 
-24.3 35.2 16.525 
-24.7 35.2 14.95 
--22.9 35.6 -16.825 
--22.5 35.6 -16.35 
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--21.3 35.6 -15.15 
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--15.7 35.6 21.275 
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--14.1 35.6 24 
--13.7 35.6 25.025 
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--12.9 35.6 26.225 
--12.5 35.6 26.7 
--12.1 35.6 27.125 
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--11.3 35.6 27.7 
--10.9 35.6 27.8 
--10.5 35.6 28 
--10.1 35.6 28.2 
--9.7 35.6 28.275 
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--8.1 35.6 27.975 
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--6.1 35.6 26.85 
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--4.9 35.6 26.15 
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-7.1 35.6 24.05 
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-9.1 35.6 24.15 
-9.5 35.6 24.175 
-9.9 35.6 24.2 
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-11.1 35.6 24.3 
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-12.7 35.6 24.25 
-13.1 35.6 24.175 
-13.5 35.6 24.125 
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-14.3 35.6 24.15 
-14.7 35.6 24.1 
-15.1 35.6 23.975 
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-16.7 35.6 23.775 
-17.1 35.6 23.725 
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-18.7 35.6 23.3 
-19.1 35.6 23 
-19.5 35.6 22.775 
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-24.7 35.6 15 
--22.9 36 -16.45 
--22.5 36 -16.4 
--22.1 36 -15.95 
--21.7 36 -15.5 
--21.3 36 -15.05 
--20.9 36 -14.775 
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-24.3 36 15.875 
--22.9 36.4 -16.675 
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--22.1 36.4 -15.8 
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--21.3 36.4 -15 
--20.9 36.4 -14.6 
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--20.1 36.4 -13.9 
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--16.1 36.4 21 
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--15.3 36.4 21.075 
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--8.1 36.4 27.775 
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--6.1 36.4 26.55 
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--4.9 36.4 26 
--4.5 36.4 25.725 
--4.1 36.4 25.475 
--3.7 36.4 25.275 
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--2.9 36.4 24.825 
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--1.3 36.4 23.975 
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-2.7 36.4 22.05 
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-3.5 36.4 22.25 
-3.9 36.4 22.275 
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-23.1 36.4 18.7 
-23.5 36.4 17.95 
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--22.5 36.8 -16.125 
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--21.3 36.8 -14.9 
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--14.1 36.8 21.675 
--13.7 36.8 24.25 
--13.3 36.8 25.025 
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--12.5 36.8 26.1 
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--11.7 36.8 26.925 
--11.3 36.8 27.3 
--10.9 36.8 27.6 
--10.5 36.8 27.825 
--10.1 36.8 28 
--9.7 36.8 28.025 
--9.3 36.8 28.05 
--8.9 36.8 28 
--8.5 36.8 27.825 
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--7.7 36.8 27.475 
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--4.9 36.8 25.85 
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-23.1 37.2 18.45 
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--10.5 39.2 26.85 
--10.1 39.2 27 
--9.7 39.2 27.125 
--9.3 39.2 27.25 
--8.9 39.2 27.4 
--8.5 39.2 27.35 
--8.1 39.2 27.175 
--7.7 39.2 26.975 
--7.3 39.2 26.825 
--6.9 39.2 26.625 
--6.5 39.2 26.35 
--6.1 39.2 26.15 
--5.7 39.2 25.875 
--5.3 39.2 25.5 
--4.9 39.2 25.175 
--4.5 39.2 24.9 
--4.1 39.2 24.575 
--3.7 39.2 24.15 
--3.3 39.2 23.85 
--2.9 39.2 23.575 
--2.5 39.2 23.15 
--2.1 39.2 22.65 
--1.7 39.2 22.1 
--1.3 39.2 21.125 
--0.899999 39.2 20.175 
--0.499999 39.2 19.275 
--0.0999994 39.2 18.775 
-0.300001 39.2 18.3 
-0.700001 39.2 17.975 
-1.1 39.2 17.675 
-1.5 39.2 17.4 
-1.9 39.2 17.225 
-2.3 39.2 17.1 
-2.7 39.2 16.975 
-3.1 39.2 16.95 
-3.5 39.2 16.975 
-3.9 39.2 17.025 
-4.3 39.2 17.025 
-4.7 39.2 17.1 
-5.1 39.2 17.25 
-5.5 39.2 17.45 
-5.9 39.2 17.725 
-6.3 39.2 18.025 
-6.7 39.2 18.4 
-7.1 39.2 18.825 
-7.5 39.2 19.2 
-7.9 39.2 19.6 
-8.3 39.2 20.075 
-8.7 39.2 20.55 
-9.1 39.2 20.9 
-9.5 39.2 21.075 
-9.9 39.2 21.325 
-10.3 39.2 21.625 
-10.7 39.2 21.8 
-11.1 39.2 21.975 
-11.5 39.2 22.15 
-11.9 39.2 22.3 
-12.3 39.2 22.4 
-12.7 39.2 22.475 
-13.1 39.2 22.6 
-13.5 39.2 22.625 
-13.9 39.2 22.725 
-14.3 39.2 22.85 
-14.7 39.2 22.925 
-15.1 39.2 22.95 
-15.5 39.2 22.975 
-15.9 39.2 23.025 
-16.3 39.2 23.05 
-16.7 39.2 23 
-17.1 39.2 23 
-17.5 39.2 22.925 
-17.9 39.2 22.85 
-18.3 39.2 22.725 
-18.7 39.2 22.5 
-19.1 39.2 22.325 
-19.5 39.2 22.15 
-19.9 39.2 21.9 
-20.3 39.2 21.55 
-20.7 39.2 21.125 
-21.1 39.2 20.65 
-21.5 39.2 20.2 
-21.9 39.2 19.6 
-22.3 39.2 19 
-22.7 39.2 18.45 
-23.1 39.2 17.85 
-23.5 39.2 17.025 
-23.9 39.2 15.425 
--21.7 39.6 -15.35 
--21.3 39.6 -14.9 
--20.9 39.6 -14.325 
--20.5 39.6 -13.8 
--20.1 39.6 -13.525 
--19.7 39.6 -12.975 
--19.3 39.6 -12.575 
--18.5 39.6 16.375 
--18.1 39.6 17.075 
--17.7 39.6 17.875 
--17.3 39.6 18.475 
--16.9 39.6 18.925 
--16.5 39.6 19.4 
--16.1 39.6 19.75 
--15.7 39.6 19.95 
--15.3 39.6 20.175 
--14.9 39.6 20.275 
--14.5 39.6 20.45 
--14.1 39.6 20.525 
--13.7 39.6 20.6 
--13.3 39.6 21.2 
--12.9 39.6 23.75 
--12.5 39.6 24.4 
--12.1 39.6 24.9 
--11.7 39.6 25.45 
--11.3 39.6 25.9 
--10.9 39.6 26.325 
--10.5 39.6 26.6 
--10.1 39.6 26.825 
--9.7 39.6 27 
--9.3 39.6 27.025 
--8.9 39.6 27.125 
--8.5 39.6 27.175 
--8.1 39.6 27.1 
--7.7 39.6 27.075 
--7.3 39.6 26.925 
--6.9 39.6 26.675 
--6.5 39.6 26.4 
--6.1 39.6 26.15 
--5.7 39.6 25.875 
--5.3 39.6 25.55 
--4.9 39.6 25.2 
--4.5 39.6 24.8 
--4.1 39.6 24.425 
--3.7 39.6 24.1 
--3.3 39.6 23.725 
--2.9 39.6 23.35 
--2.5 39.6 22.9 
--2.1 39.6 22.175 
--1.7 39.6 21.325 
--1.3 39.6 20.5 
--0.899999 39.6 19.35 
--0.499999 39.6 18.575 
--0.0999994 39.6 17.875 
-0.300001 39.6 17.425 
-0.700001 39.6 17 
-1.1 39.6 16.725 
-1.5 39.6 16.475 
-1.9 39.6 16.275 
-2.3 39.6 16.15 
-2.7 39.6 16 
-3.1 39.6 15.975 
-3.5 39.6 16.075 
-3.9 39.6 16.175 
-4.3 39.6 16.275 
-4.7 39.6 16.375 
-5.1 39.6 16.55 
-5.5 39.6 16.825 
-5.9 39.6 16.85 
-6.3 39.6 17 
-6.7 39.6 17.525 
-7.1 39.6 18.175 
-7.5 39.6 18.75 
-7.9 39.6 19.2 
-8.3 39.6 19.675 
-8.7 39.6 20.125 
-9.1 39.6 20.475 
-9.5 39.6 20.775 
-9.9 39.6 21.05 
-10.3 39.6 21.35 
-10.7 39.6 21.575 
-11.1 39.6 21.775 
-11.5 39.6 21.925 
-11.9 39.6 22.15 
-12.3 39.6 22.35 
-12.7 39.6 22.45 
-13.1 39.6 22.5 
-13.5 39.6 22.55 
-13.9 39.6 22.575 
-14.3 39.6 22.675 
-14.7 39.6 22.775 
-15.1 39.6 22.925 
-15.5 39.6 23.025 
-15.9 39.6 23 
-16.3 39.6 23.05 
-16.7 39.6 23.05 
-17.1 39.6 23.025 
-17.5 39.6 22.975 
-17.9 39.6 22.85 
-18.3 39.6 22.7 
-18.7 39.6 22.525 
-19.1 39.6 22.275 
-19.5 39.6 22.125 
-19.9 39.6 21.825 
-20.3 39.6 21.45 
-20.7 39.6 21.125 
-21.1 39.6 20.675 
-21.5 39.6 20.075 
-21.9 39.6 19.5 
-22.3 39.6 18.975 
-22.7 39.6 18.4 
-23.1 39.6 17.6 
-23.5 39.6 16.5 
-23.9 39.6 15.15 
--21.3 40 -14.925 
--20.9 40 -14.375 
--20.5 40 -13.825 
--20.1 40 -13.45 
--19.7 40 -13.075 
--19.3 40 -12.6 
--18.9 40 -12.25 
--18.1 40 16.7 
--17.7 40 17.55 
--17.3 40 18.125 
--16.9 40 18.675 
--16.5 40 19.15 
--16.1 40 19.55 
--15.7 40 19.875 
--15.3 40 20.075 
--14.9 40 20.2 
--14.5 40 20.275 
--14.1 40 20.325 
--13.7 40 20.45 
--13.3 40 20.775 
--12.9 40 23.05 
--12.5 40 24.175 
--12.1 40 24.7 
--11.7 40 25.225 
--11.3 40 25.6 
--10.9 40 26.05 
--10.5 40 26.425 
--10.1 40 26.6 
--9.7 40 26.725 
--9.3 40 26.875 
--8.9 40 26.975 
--8.5 40 26.9 
--8.1 40 26.925 
--7.7 40 26.85 
--7.3 40 26.7 
--6.9 40 26.525 
--6.5 40 26.35 
--6.1 40 26.125 
--5.7 40 25.725 
--5.3 40 25.45 
--4.9 40 25.1 
--4.5 40 24.675 
--4.1 40 24.325 
--3.7 40 23.875 
--3.3 40 23.375 
--2.9 40 22.975 
--2.5 40 22.35 
--2.1 40 21.75 
--1.7 40 20.825 
--1.3 40 19.575 
--0.899999 40 18.35 
--0.499999 40 17.525 
--0.0999994 40 16.85 
-0.300001 40 16.275 
-0.700001 40 15.8 
-1.1 40 15.5 
-1.5 40 15.25 
-1.9 40 15 
-2.3 40 14.875 
-2.7 40 14.825 
-3.1 40 14.775 
-3.5 40 14.95 
-3.9 40 15.1 
-4.3 40 15.15 
-4.7 40 15.4 
-5.1 40 15.65 
-5.5 40 15.925 
-5.9 40 16.3 
-6.3 40 16.675 
-6.7 40 17.05 
-7.1 40 17.5 
-7.5 40 18.125 
-7.9 40 18.7 
-8.3 40 19.3 
-8.7 40 19.8 
-9.1 40 20.175 
-9.5 40 20.525 
-9.9 40 20.925 
-10.3 40 21.175 
-10.7 40 21.375 
-11.1 40 21.625 
-11.5 40 21.9 
-11.9 40 22.1 
-12.3 40 22.15 
-12.7 40 22.225 
-13.1 40 22.375 
-13.5 40 22.475 
-13.9 40 22.575 
-14.3 40 22.7 
-14.7 40 22.825 
-15.1 40 22.825 
-15.5 40 22.925 
-15.9 40 22.9 
-16.3 40 22.9 
-16.7 40 22.975 
-17.1 40 22.875 
-17.5 40 22.8 
-17.9 40 22.825 
-18.3 40 22.725 
-18.7 40 22.525 
-19.1 40 22.3 
-19.5 40 22.075 
-19.9 40 21.75 
-20.3 40 21.4 
-20.7 40 21.025 
-21.1 40 20.575 
-21.5 40 20.025 
-21.9 40 19.475 
-22.3 40 18.95 
-22.7 40 18.45 
-23.1 40 17.5 
-23.5 40 16.35 
-23.9 40 15.15 
--21.3 40.4 -14.625 
--20.9 40.4 -14.225 
--20.5 40.4 -13.75 
--20.1 40.4 -13.375 
--19.7 40.4 -13.1 
--19.3 40.4 -12.675 
--18.9 40.4 -12.25 
--18.1 40.4 16.4 
--17.7 40.4 17.275 
--17.3 40.4 17.975 
--16.9 40.4 18.425 
--16.5 40.4 18.875 
--16.1 40.4 19.3 
--15.7 40.4 19.7 
--15.3 40.4 19.9 
--14.9 40.4 20.1 
--14.5 40.4 20.175 
--14.1 40.4 20.2 
--13.7 40.4 20.3 
--13.3 40.4 20.5 
--12.9 40.4 21.9 
--12.5 40.4 23.85 
--12.1 40.4 24.325 
--11.7 40.4 24.8 
--11.3 40.4 25.325 
--10.9 40.4 25.85 
--10.5 40.4 26.175 
--10.1 40.4 26.35 
--9.7 40.4 26.475 
--9.3 40.4 26.6 
--8.9 40.4 26.75 
--8.5 40.4 26.75 
--8.1 40.4 26.775 
--7.7 40.4 26.85 
--7.3 40.4 26.75 
--6.9 40.4 26.5 
--6.5 40.4 26.25 
--6.1 40.4 25.925 
--5.7 40.4 25.625 
--5.3 40.4 25.425 
--4.9 40.4 25.075 
--4.5 40.4 24.65 
--4.1 40.4 24.15 
--3.7 40.4 23.75 
--3.3 40.4 23.3 
--2.9 40.4 22.7 
--2.5 40.4 21.925 
--2.1 40.4 21.225 
--1.7 40.4 19.925 
--1.3 40.4 18.625 
--0.899999 40.4 17.375 
--0.499999 40.4 16.35 
--0.0999994 40.4 15.65 
-0.300001 40.4 14.95 
-0.700001 40.4 14.425 
-4.3 40.4 13.725 
-4.7 40.4 14.175 
-5.1 40.4 14.6 
-5.5 40.4 15.075 
-5.9 40.4 15.45 
-6.3 40.4 15.875 
-6.7 40.4 16.5 
-7.1 40.4 16.975 
-7.5 40.4 17.45 
-7.9 40.4 18.075 
-8.3 40.4 18.6 
-8.7 40.4 19.375 
-9.1 40.4 19.9 
-9.5 40.4 20.3 
-9.9 40.4 20.625 
-10.3 40.4 20.975 
-10.7 40.4 21.275 
-11.1 40.4 21.55 
-11.5 40.4 21.75 
-11.9 40.4 22 
-12.3 40.4 22.25 
-12.7 40.4 22.325 
-13.1 40.4 22.35 
-13.5 40.4 22.35 
-13.9 40.4 22.475 
-14.3 40.4 22.65 
-14.7 40.4 22.775 
-15.1 40.4 22.825 
-15.5 40.4 22.825 
-15.9 40.4 22.75 
-16.3 40.4 22.8 
-16.7 40.4 22.925 
-17.1 40.4 22.95 
-17.5 40.4 22.825 
-17.9 40.4 22.75 
-18.3 40.4 22.55 
-18.7 40.4 22.5 
-19.1 40.4 22.375 
-19.5 40.4 22.05 
-19.9 40.4 21.775 
-20.3 40.4 21.375 
-20.7 40.4 20.9 
-21.1 40.4 20.5 
-21.5 40.4 20.025 
-21.9 40.4 19.375 
-22.3 40.4 18.825 
-22.7 40.4 18.225 
-23.1 40.4 17.45 
-23.5 40.4 16.325 
-23.9 40.4 15.225 
--21.3 40.8 -14.55 
--20.9 40.8 -14.3 
--20.5 40.8 -13.775 
--20.1 40.8 -13.2 
--19.7 40.8 -12.875 
--19.3 40.8 -12.575 
--18.9 40.8 -12.225 
--18.5 40.8 -11.925 
--17.7 40.8 16.875 
--17.3 40.8 17.45 
--16.9 40.8 18.25 
--16.5 40.8 18.675 
--16.1 40.8 19.075 
--15.7 40.8 19.45 
--15.3 40.8 19.75 
--14.9 40.8 19.975 
--14.5 40.8 19.95 
--14.1 40.8 20 
--13.7 40.8 20.175 
--13.3 40.8 20.35 
--12.9 40.8 21.325 
--12.5 40.8 23.4 
--12.1 40.8 24.125 
--11.7 40.8 24.6 
--11.3 40.8 25.15 
--10.9 40.8 25.575 
--10.5 40.8 25.875 
--10.1 40.8 26.225 
--9.7 40.8 26.425 
--9.3 40.8 26.5 
--8.9 40.8 26.575 
--8.5 40.8 26.75 
--8.1 40.8 26.775 
--7.7 40.8 26.65 
--7.3 40.8 26.5 
--6.9 40.8 26.425 
--6.5 40.8 26.25 
--6.1 40.8 26 
--5.7 40.8 25.725 
--5.3 40.8 25.375 
--4.9 40.8 25 
--4.5 40.8 24.55 
--4.1 40.8 24.15 
--3.7 40.8 23.75 
--3.3 40.8 23.25 
--2.9 40.8 22.45 
--2.5 40.8 21.6 
--2.1 40.8 20.55 
--1.7 40.8 19.125 
--1.3 40.8 17.4 
--0.899999 40.8 15.975 
--0.499999 40.8 14.975 
-5.5 40.8 13.725 
-5.9 40.8 14.6 
-6.3 40.8 15.05 
-6.7 40.8 15.7 
-7.1 40.8 16.2 
-7.5 40.8 16.9 
-7.9 40.8 17.725 
-8.3 40.8 18.35 
-8.7 40.8 18.85 
-9.1 40.8 19.45 
-9.5 40.8 19.95 
-9.9 40.8 20.325 
-10.3 40.8 20.7 
-10.7 40.8 21.05 
-11.1 40.8 21.375 
-11.5 40.8 21.65 
-11.9 40.8 21.85 
-12.3 40.8 22.125 
-12.7 40.8 22.275 
-13.1 40.8 22.25 
-13.5 40.8 22.325 
-13.9 40.8 22.525 
-14.3 40.8 22.625 
-14.7 40.8 22.775 
-15.1 40.8 22.825 
-15.5 40.8 22.825 
-15.9 40.8 22.9 
-16.3 40.8 22.975 
-16.7 40.8 23 
-17.1 40.8 22.875 
-17.5 40.8 22.825 
-17.9 40.8 22.85 
-18.3 40.8 22.675 
-18.7 40.8 22.425 
-19.1 40.8 22.25 
-19.5 40.8 22 
-19.9 40.8 21.725 
-20.3 40.8 21.325 
-20.7 40.8 20.875 
-21.1 40.8 20.4 
-21.5 40.8 19.875 
-21.9 40.8 19.325 
-22.3 40.8 18.775 
-22.7 40.8 18.25 
-23.1 40.8 17.55 
-23.5 40.8 16.35 
-23.9 40.8 14.975 
--20.9 41.2 -14.525 
--20.5 41.2 -13.85 
--20.1 41.2 -13.35 
--19.7 41.2 -12.85 
--19.3 41.2 -12.55 
--18.9 41.2 -12.275 
--18.5 41.2 -11.95 
--17.7 41.2 16.425 
--17.3 41.2 17.15 
--16.9 41.2 17.9 
--16.5 41.2 18.425 
--16.1 41.2 18.875 
--15.7 41.2 19.25 
--15.3 41.2 19.6 
--14.9 41.2 19.725 
--14.5 41.2 19.9 
--14.1 41.2 20 
--13.7 41.2 20.125 
--13.3 41.2 20.325 
--12.9 41.2 20.825 
--12.5 41.2 23 
--12.1 41.2 23.775 
--11.7 41.2 24.325 
--11.3 41.2 24.85 
--10.9 41.2 25.35 
--10.5 41.2 25.75 
--10.1 41.2 26.15 
--9.7 41.2 26.35 
--9.3 41.2 26.4 
--8.9 41.2 26.4 
--8.5 41.2 26.475 
--8.1 41.2 26.55 
--7.7 41.2 26.625 
--7.3 41.2 26.575 
--6.9 41.2 26.45 
--6.5 41.2 26.225 
--6.1 41.2 26 
--5.7 41.2 25.675 
--5.3 41.2 25.275 
--4.9 41.2 24.9 
--4.5 41.2 24.55 
--4.1 41.2 24.1 
--3.7 41.2 23.55 
--3.3 41.2 23.025 
--2.9 41.2 22.375 
--2.5 41.2 21.225 
--2.1 41.2 20.025 
--1.3 41.2 16.2 
--0.899999 41.2 14.5 
-6.3 41.2 14.3 
-6.7 41.2 14.85 
-7.1 41.2 15.55 
-7.5 41.2 16.275 
-7.9 41.2 16.9 
-8.3 41.2 17.65 
-8.7 41.2 18.375 
-9.1 41.2 19.05 
-9.5 41.2 19.65 
-9.9 41.2 20.275 
-10.3 41.2 20.625 
-10.7 41.2 20.85 
-11.1 41.2 21.175 
-11.5 41.2 21.45 
-11.9 41.2 21.675 
-12.3 41.2 21.9 
-12.7 41.2 22.15 
-13.1 41.2 22.175 
-13.5 41.2 22.25 
-13.9 41.2 22.45 
-14.3 41.2 22.525 
-14.7 41.2 22.675 
-15.1 41.2 22.775 
-15.5 41.2 22.825 
-15.9 41.2 22.85 
-16.3 41.2 22.85 
-16.7 41.2 22.85 
-17.1 41.2 22.85 
-17.5 41.2 22.8 
-17.9 41.2 22.7 
-18.3 41.2 22.575 
-18.7 41.2 22.375 
-19.1 41.2 22.275 
-19.5 41.2 22.05 
-19.9 41.2 21.675 
-20.3 41.2 21.25 
-20.7 41.2 20.85 
-21.1 41.2 20.425 
-21.5 41.2 19.9 
-21.9 41.2 19.375 
-22.3 41.2 18.775 
-22.7 41.2 17.95 
-23.1 41.2 17.225 
-23.5 41.2 16.35 
-23.9 41.2 14.325 
--20.9 41.6 -14.3 
--20.5 41.6 -14.075 
--20.1 41.6 -13.325 
--19.7 41.6 -12.95 
--19.3 41.6 -12.575 
--18.9 41.6 -12.275 
--18.5 41.6 -11.875 
--17.7 41.6 16.1 
--17.3 41.6 16.875 
--16.9 41.6 17.475 
--16.5 41.6 18 
--16.1 41.6 18.525 
--15.7 41.6 18.975 
--15.3 41.6 19.325 
--14.9 41.6 19.6 
--14.5 41.6 19.75 
--14.1 41.6 19.85 
--13.7 41.6 19.925 
--13.3 41.6 20.025 
--12.9 41.6 20.325 
--12.5 41.6 22.5 
--12.1 41.6 23.475 
--11.7 41.6 23.975 
--11.3 41.6 24.475 
--10.9 41.6 24.95 
--10.5 41.6 25.45 
--10.1 41.6 25.85 
--9.7 41.6 26.1 
--9.3 41.6 26.225 
--8.9 41.6 26.325 
--8.5 41.6 26.4 
--8.1 41.6 26.475 
--7.7 41.6 26.525 
--7.3 41.6 26.425 
--6.9 41.6 26.25 
--6.5 41.6 26.125 
--6.1 41.6 26.025 
--5.7 41.6 25.65 
--5.3 41.6 25.2 
--4.9 41.6 24.85 
--4.5 41.6 24.475 
--4.1 41.6 24.075 
--3.7 41.6 23.55 
--3.3 41.6 22.85 
--2.9 41.6 22.075 
--2.5 41.6 20.85 
--2.1 41.6 19.6 
--1.7 41.6 19.025 
-2.3 41.6 -1.7 
-2.7 41.6 -1.3 
-3.1 41.6 -1.375 
-3.5 41.6 -1.85 
-3.9 41.6 -2.025 
-4.3 41.6 -1.85 
-4.7 41.6 -1.6 
-5.1 41.6 -1.1 
-5.5 41.6 -0.575 
-5.9 41.6 -0.05 
-6.7 41.6 14.1 
-7.1 41.6 14.625 
-7.5 41.6 15.45 
-7.9 41.6 16.2 
-8.3 41.6 16.975 
-8.7 41.6 17.85 
-9.1 41.6 18.625 
-9.5 41.6 19.3 
-9.9 41.6 19.8 
-10.3 41.6 20.275 
-10.7 41.6 20.6 
-11.1 41.6 20.975 
-11.5 41.6 21.35 
-11.9 41.6 21.575 
-12.3 41.6 21.8 
-12.7 41.6 22.025 
-13.1 41.6 22.15 
-13.5 41.6 22.325 
-13.9 41.6 22.425 
-14.3 41.6 22.5 
-14.7 41.6 22.675 
-15.1 41.6 22.775 
-15.5 41.6 22.85 
-15.9 41.6 23 
-16.3 41.6 22.925 
-16.7 41.6 22.875 
-17.1 41.6 22.9 
-17.5 41.6 22.9 
-17.9 41.6 22.75 
-18.3 41.6 22.55 
-18.7 41.6 22.35 
-19.1 41.6 22.1 
-19.5 41.6 21.925 
-19.9 41.6 21.625 
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-20.7 41.6 20.75 
-21.1 41.6 20.375 
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-21.9 41.6 19.3 
-22.3 41.6 18.65 
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-23.1 41.6 17.325 
-23.5 41.6 15.7 
-23.9 41.6 14.85 
--20.5 42 -13.8 
--20.1 42 -13.475 
--19.7 42 -13 
--19.3 42 -12.5 
--18.9 42 -12.125 
--18.5 42 -11.85 
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--16.1 42 18.2 
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--15.3 42 19.1 
--14.9 42 19.425 
--14.5 42 19.575 
--14.1 42 19.725 
--13.7 42 19.825 
--13.3 42 19.9 
--12.9 42 20.125 
--12.5 42 21.2 
--12.1 42 23.35 
--11.7 42 23.75 
--11.3 42 24.275 
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--10.5 42 25.225 
--10.1 42 25.675 
--9.7 42 25.9 
--9.3 42 25.975 
--8.9 42 26.175 
--8.5 42 26.225 
--8.1 42 26.3 
--7.7 42 26.425 
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--6.9 42 26.325 
--6.5 42 26.2 
--6.1 42 26 
--5.7 42 25.65 
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--4.9 42 24.85 
--4.5 42 24.475 
--4.1 42 24.1 
--3.7 42 23.45 
--3.3 42 22.925 
--2.9 42 22.025 
--2.5 42 20.7 
--2.1 42 19.975 
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-16.7 42 22.9 
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-23.5 42 15.675 
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--20.1 42.4 -13.675 
--19.7 42.4 -13.25 
--19.3 42.4 -12.675 
--18.9 42.4 -12.175 
--18.5 42.4 -11.825 
--18.1 42.4 -11.6 
--17.3 42.4 16.075 
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--16.5 42.4 17.4 
--16.1 42.4 17.975 
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--15.3 42.4 18.9 
--14.9 42.4 19.225 
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--14.1 42.4 19.65 
--13.7 42.4 19.725 
--13.3 42.4 19.8 
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--11.3 42.4 24.1 
--10.9 42.4 24.55 
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--9.3 42.4 25.95 
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--7.3 42.4 26.275 
--6.9 42.4 26.125 
--6.5 42.4 26.025 
--6.1 42.4 25.875 
--5.7 42.4 25.575 
--5.3 42.4 25.225 
--4.9 42.4 24.9 
--4.5 42.4 24.475 
--4.1 42.4 24.025 
--3.7 42.4 23.55 
--3.3 42.4 22.825 
--2.9 42.4 21.75 
--2.5 42.4 19.85 
--2.1 42.4 18.775 
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-5.9 42.4 -1 
-6.3 42.4 -0.925 
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-7.9 42.4 14.525 
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-17.5 42.4 22.725 
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-19.1 42.4 22.125 
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-19.9 42.4 21.5 
-20.3 42.4 21.125 
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-21.9 42.4 19.1 
-22.3 42.4 18.55 
-22.7 42.4 17.95 
-23.1 42.4 17.025 
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-23.9 42.4 14.2 
--20.1 42.8 -13.675 
--19.7 42.8 -13.2 
--19.3 42.8 -12.65 
--18.9 42.8 -12.275 
--18.5 42.8 -11.9 
--18.1 42.8 -11.6 
--17.7 42.8 -11.3 
--16.9 42.8 16.5 
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--16.1 42.8 17.7 
--15.7 42.8 18.3 
--15.3 42.8 18.725 
--14.9 42.8 19.025 
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--14.1 42.8 19.425 
--13.7 42.8 19.55 
--13.3 42.8 19.6 
--12.9 42.8 19.775 
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--12.1 42.8 22.275 
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--10.1 42.8 25.05 
--9.7 42.8 25.475 
--9.3 42.8 25.85 
--8.9 42.8 26 
--8.5 42.8 26 
--8.1 42.8 26.175 
--7.7 42.8 26.35 
--7.3 42.8 26.325 
--6.9 42.8 26.15 
--6.5 42.8 26.025 
--6.1 42.8 25.85 
--5.7 42.8 25.65 
--5.3 42.8 25.375 
--4.9 42.8 25.025 
--4.5 42.8 24.65 
--4.1 42.8 24.1 
--3.7 42.8 23.6 
--3.3 42.8 22.975 
--2.9 42.8 21.9 
--2.5 42.8 20.1 
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-9.1 42.8 17.025 
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-11.9 42.8 21.225 
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-17.5 42.8 22.7 
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-21.9 42.8 19.15 
-22.3 42.8 18.6 
-22.7 42.8 17.825 
-23.1 42.8 16.75 
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--19.7 43.2 -13.375 
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--18.5 43.2 -11.85 
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--17.7 43.2 -11.275 
--16.9 43.2 16.1 
--16.5 43.2 16.85 
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--12.1 43.2 21.2 
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--9.3 43.2 25.7 
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--7.3 43.2 26.075 
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-9.1 43.2 16.6 
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-11.1 43.2 20.125 
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-11.9 43.2 21 
-12.3 43.2 21.35 
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--19.3 43.6 -13 
--18.9 43.6 -12.375 
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--19.3 44 -13.1 
--18.9 44 -12.825 
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--18.9 44.4 -12.475 
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--8.5 44.4 25.55 
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--7.7 44.4 25.825 
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--6.9 44.4 25.675 
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--5.3 44.4 25.125 
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--4.5 44.4 24.6 
--4.1 44.4 24.1 
--3.7 44.4 23.625 
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--2.9 44.4 22.275 
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-17.9 44.4 22.425 
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-21.9 44.4 18.9 
-22.3 44.4 18.35 
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--14.9 48 15.925 
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--13.7 48 17.475 
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--14.9 48.4 16 
--14.5 48.4 16.025 
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--3.7 48.4 23.9 
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--14.9 48.8 15.7 
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--13.7 49.6 41.625 
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-7.1 50.8 35 
-7.5 50.8 35.075 
-7.9 50.8 35.175 
-8.3 50.8 35.1 
-8.7 50.8 35.05 
-9.1 50.8 34.825 
-9.5 50.8 34.375 
-9.9 50.8 33.975 
-10.3 50.8 33.3 
-10.7 50.8 31.975 
-11.1 50.8 30.8 
-11.5 50.8 29.85 
-12.3 50.8 20.925 
-12.7 50.8 21.15 
-13.1 50.8 21.425 
-13.5 50.8 21.625 
-13.9 50.8 21.8 
-14.3 50.8 21.875 
-14.7 50.8 22.025 
-15.1 50.8 22.175 
-15.5 50.8 22.175 
-15.9 50.8 22.075 
-16.3 50.8 22.05 
-16.7 50.8 22.075 
-17.1 50.8 21.9 
-17.5 50.8 21.75 
-17.9 50.8 21.65 
-18.3 50.8 21.5 
-18.7 50.8 21.325 
-19.1 50.8 21 
-19.5 50.8 20.55 
-19.9 50.8 20.075 
-20.3 50.8 19.725 
-20.7 50.8 19.325 
-21.1 50.8 18.725 
-21.5 50.8 18.075 
-21.9 50.8 17.225 
-22.3 50.8 16.25 
-22.7 50.8 14.975 
-23.1 50.8 13.625 
--14.1 51.2 41.7 
--13.7 51.2 42.075 
--13.3 51.2 42.525 
--12.9 51.2 42.825 
--12.5 51.2 43.05 
--12.1 51.2 43.15 
--11.7 51.2 43.3 
--11.3 51.2 43.4 
--10.9 51.2 43.375 
--10.5 51.2 43.325 
--10.1 51.2 43.325 
--9.7 51.2 43.025 
--9.3 51.2 42.65 
--8.9 51.2 41.975 
--8.5 51.2 41.275 
--6.9 51.2 24.675 
--6.5 51.2 24.425 
--6.1 51.2 24.475 
--5.7 51.2 24.35 
--5.3 51.2 24.225 
--4.9 51.2 24.15 
--4.5 51.2 24.1 
--4.1 51.2 23.95 
--3.7 51.2 23.8 
--3.3 51.2 23.625 
--2.9 51.2 23.3 
--2.5 51.2 22.825 
--2.1 51.2 21.925 
--1.7 51.2 20.775 
-0.700001 51.2 2.675 
-1.1 51.2 2.375 
-1.5 51.2 2.2 
-1.9 51.2 2.2 
-2.3 51.2 2.225 
-2.7 51.2 2.225 
-3.1 51.2 2.15 
-3.5 51.2 2.025 
-3.9 51.2 1.925 
-4.3 51.2 1.775 
-4.7 51.2 1.65 
-5.1 51.2 1.375 
-5.9 51.2 34.125 
-6.3 51.2 34.325 
-6.7 51.2 34.625 
-7.1 51.2 34.9 
-7.5 51.2 34.95 
-7.9 51.2 34.95 
-8.3 51.2 34.95 
-8.7 51.2 34.85 
-9.1 51.2 34.575 
-9.5 51.2 34.275 
-9.9 51.2 33.8 
-10.3 51.2 33.2 
-10.7 51.2 31.925 
-11.1 51.2 31.025 
-11.5 51.2 30.375 
-12.3 51.2 20.825 
-12.7 51.2 21.2 
-13.1 51.2 21.375 
-13.5 51.2 21.55 
-13.9 51.2 21.725 
-14.3 51.2 21.85 
-14.7 51.2 21.975 
-15.1 51.2 22.05 
-15.5 51.2 22.1 
-15.9 51.2 22.15 
-16.3 51.2 22.025 
-16.7 51.2 21.95 
-17.1 51.2 21.975 
-17.5 51.2 21.825 
-17.9 51.2 21.575 
-18.3 51.2 21.375 
-18.7 51.2 21.2 
-19.1 51.2 20.875 
-19.5 51.2 20.525 
-19.9 51.2 20.175 
-20.3 51.2 19.7 
-20.7 51.2 19.125 
-21.1 51.2 18.55 
-21.5 51.2 17.9 
-21.9 51.2 17.325 
-22.3 51.2 16.35 
-22.7 51.2 14.55 
--14.1 51.6 41.825 
--13.7 51.6 42.075 
--13.3 51.6 42.425 
--12.9 51.6 42.775 
--12.5 51.6 43.025 
--12.1 51.6 43.125 
--11.7 51.6 43.25 
--11.3 51.6 43.375 
--10.9 51.6 43.3 
--10.5 51.6 43.175 
--10.1 51.6 43.25 
--9.7 51.6 43.05 
--9.3 51.6 42.825 
--8.9 51.6 42.45 
--8.5 51.6 41.75 
--6.5 51.6 24.175 
--6.1 51.6 24.45 
--5.7 51.6 24.375 
--5.3 51.6 24.25 
--4.9 51.6 24.2 
--4.5 51.6 24.05 
--4.1 51.6 23.875 
--3.7 51.6 23.775 
--3.3 51.6 23.65 
--2.9 51.6 23.35 
--2.5 51.6 22.9 
--2.1 51.6 22.275 
--1.7 51.6 20.675 
--1.3 51.6 19.775 
-0.700001 51.6 2.825 
-1.1 51.6 2.625 
-1.5 51.6 2.4 
-1.9 51.6 2.375 
-2.3 51.6 2.4 
-2.7 51.6 2.375 
-3.1 51.6 2.3 
-3.5 51.6 2.15 
-3.9 51.6 2.025 
-4.3 51.6 1.875 
-4.7 51.6 1.675 
-5.1 51.6 1.4 
-5.9 51.6 33.775 
-6.3 51.6 34.125 
-6.7 51.6 34.4 
-7.1 51.6 34.55 
-7.5 51.6 34.8 
-7.9 51.6 34.875 
-8.3 51.6 34.8 
-8.7 51.6 34.675 
-9.1 51.6 34.6 
-9.5 51.6 34.35 
-9.9 51.6 33.725 
-10.3 51.6 33.175 
-10.7 51.6 32.2 
-11.1 51.6 30.7 
-11.5 51.6 30.475 
-12.3 51.6 21.125 
-12.7 51.6 21.225 
-13.1 51.6 21.35 
-13.5 51.6 21.475 
-13.9 51.6 21.625 
-14.3 51.6 21.825 
-14.7 51.6 21.975 
-15.1 51.6 22.05 
-15.5 51.6 22.1 
-15.9 51.6 22.15 
-16.3 51.6 22.025 
-16.7 51.6 21.85 
-17.1 51.6 21.825 
-17.5 51.6 21.7 
-17.9 51.6 21.525 
-18.3 51.6 21.35 
-18.7 51.6 21.125 
-19.1 51.6 20.65 
-19.5 51.6 20.325 
-19.9 51.6 20 
-20.3 51.6 19.525 
-20.7 51.6 19.025 
-21.1 51.6 18.325 
-21.5 51.6 17.85 
-21.9 51.6 17.05 
-22.3 51.6 15.9 
-22.7 51.6 14.35 
--14.1 52 41.675 
--13.7 52 41.85 
--13.3 52 42.2 
--12.9 52 42.525 
--12.5 52 42.85 
--12.1 52 43.075 
--11.7 52 43.275 
--11.3 52 43.3 
--10.9 52 43.275 
--10.5 52 43.325 
--10.1 52 43.25 
--9.7 52 43 
--9.3 52 42.8 
--8.9 52 42.5 
--8.5 52 42.15 
--8.1 52 40.625 
--6.1 52 24.1 
--5.7 52 24.25 
--5.3 52 24.3 
--4.9 52 24.225 
--4.5 52 24.075 
--4.1 52 23.925 
--3.7 52 23.85 
--3.3 52 23.625 
--2.9 52 23.3 
--2.5 52 22.9 
--2.1 52 22.125 
--1.7 52 20.825 
--1.3 52 19.475 
--0.899999 52 19.15 
--0.499999 52 18.4 
-0.700001 52 2.85 
-1.1 52 2.675 
-1.5 52 2.475 
-1.9 52 2.425 
-2.3 52 2.4 
-2.7 52 2.425 
-3.1 52 2.325 
-3.5 52 2.225 
-3.9 52 2.175 
-4.3 52 2 
-4.7 52 1.8 
-5.1 52 1.675 
-5.9 52 33.625 
-6.3 52 33.9 
-6.7 52 34.25 
-7.1 52 34.45 
-7.5 52 34.575 
-7.9 52 34.725 
-8.3 52 34.75 
-8.7 52 34.6 
-9.1 52 34.375 
-9.5 52 34.05 
-9.9 52 33.625 
-10.3 52 33.1 
-10.7 52 32.05 
-11.1 52 31 
-11.5 52 30.6 
-12.3 52 20.8 
-12.7 52 21.1 
-13.1 52 21.325 
-13.5 52 21.475 
-13.9 52 21.6 
-14.3 52 21.825 
-14.7 52 21.875 
-15.1 52 21.9 
-15.5 52 21.975 
-15.9 52 22.075 
-16.3 52 21.95 
-16.7 52 21.825 
-17.1 52 21.8 
-17.5 52 21.725 
-17.9 52 21.475 
-18.3 52 21.225 
-18.7 52 21 
-19.1 52 20.675 
-19.5 52 20.325 
-19.9 52 19.9 
-20.3 52 19.4 
-20.7 52 18.85 
-21.1 52 18.225 
-21.5 52 17.5 
-21.9 52 16.6 
-22.3 52 15.525 
-22.7 52 14.225 
--14.1 52.4 41.8 
--13.7 52.4 41.75 
--13.3 52.4 41.925 
--12.9 52.4 42.3 
--12.5 52.4 42.625 
--12.1 52.4 42.825 
--11.7 52.4 42.9 
--11.3 52.4 43.025 
--10.9 52.4 43.2 
--10.5 52.4 43.2 
--10.1 52.4 43.1 
--9.7 52.4 42.95 
--9.3 52.4 42.725 
--8.9 52.4 42.35 
--8.5 52.4 42.025 
--8.1 52.4 41.4 
--6.1 52.4 24.075 
--5.7 52.4 24.325 
--5.3 52.4 24.275 
--4.9 52.4 24.15 
--4.5 52.4 24.1 
--4.1 52.4 23.95 
--3.7 52.4 23.725 
--3.3 52.4 23.55 
--2.9 52.4 23.225 
--2.5 52.4 22.675 
--2.1 52.4 22.225 
--1.7 52.4 21 
--1.3 52.4 19.65 
--0.899999 52.4 19.3 
--0.499999 52.4 18.1 
-0.700001 52.4 2.975 
-1.1 52.4 2.725 
-1.5 52.4 2.55 
-1.9 52.4 2.475 
-2.3 52.4 2.475 
-2.7 52.4 2.475 
-3.1 52.4 2.45 
-3.5 52.4 2.35 
-3.9 52.4 2.225 
-4.3 52.4 2.05 
-4.7 52.4 1.825 
-5.1 52.4 1.65 
-5.5 52.4 1.45 
-6.3 52.4 33.7 
-6.7 52.4 33.975 
-7.1 52.4 34.325 
-7.5 52.4 34.475 
-7.9 52.4 34.5 
-8.3 52.4 34.525 
-8.7 52.4 34.475 
-9.1 52.4 34.225 
-9.5 52.4 33.925 
-9.9 52.4 33.5 
-10.3 52.4 32.675 
-10.7 52.4 31.925 
-11.1 52.4 30.525 
-11.5 52.4 30.125 
-12.3 52.4 21.025 
-12.7 52.4 21.225 
-13.1 52.4 21.45 
-13.5 52.4 21.525 
-13.9 52.4 21.625 
-14.3 52.4 21.775 
-14.7 52.4 21.875 
-15.1 52.4 21.95 
-15.5 52.4 22 
-15.9 52.4 22.025 
-16.3 52.4 21.975 
-16.7 52.4 21.925 
-17.1 52.4 21.85 
-17.5 52.4 21.65 
-17.9 52.4 21.45 
-18.3 52.4 21.275 
-18.7 52.4 20.85 
-19.1 52.4 20.525 
-19.5 52.4 20.225 
-19.9 52.4 19.75 
-20.3 52.4 19.25 
-20.7 52.4 18.8 
-21.1 52.4 18.2 
-21.5 52.4 17.425 
-21.9 52.4 16.525 
-22.3 52.4 15.225 
-22.7 52.4 13.8 
--13.7 52.8 41.625 
--13.3 52.8 41.85 
--12.9 52.8 42.175 
--12.5 52.8 42.45 
--12.1 52.8 42.625 
--11.7 52.8 42.7 
--11.3 52.8 42.85 
--10.9 52.8 42.925 
--10.5 52.8 42.875 
--10.1 52.8 42.875 
--9.7 52.8 42.925 
--9.3 52.8 42.8 
--8.9 52.8 42.475 
--8.5 52.8 42 
--8.1 52.8 41.45 
--7.7 52.8 40.325 
--6.1 52.8 25.05 
--5.7 52.8 24.1 
--5.3 52.8 24.225 
--4.9 52.8 24.125 
--4.5 52.8 24.05 
--4.1 52.8 23.875 
--3.7 52.8 23.675 
--3.3 52.8 23.5 
--2.9 52.8 23.225 
--2.5 52.8 22.9 
--2.1 52.8 22.05 
--1.7 52.8 20.75 
--1.3 52.8 19.775 
--0.899999 52.8 19.3 
--0.499999 52.8 18 
-0.700001 52.8 2.925 
-1.1 52.8 2.775 
-1.5 52.8 2.575 
-1.9 52.8 2.55 
-2.3 52.8 2.575 
-2.7 52.8 2.55 
-3.1 52.8 2.45 
-3.5 52.8 2.325 
-3.9 52.8 2.225 
-4.3 52.8 2.1 
-4.7 52.8 1.825 
-5.1 52.8 1.675 
-5.5 52.8 1.45 
-6.3 52.8 33.525 
-6.7 52.8 33.85 
-7.1 52.8 34.15 
-7.5 52.8 34.25 
-7.9 52.8 34.3 
-8.3 52.8 34.225 
-8.7 52.8 34.2 
-9.1 52.8 34.125 
-9.5 52.8 33.875 
-9.9 52.8 33.425 
-10.3 52.8 32.85 
-10.7 52.8 31.95 
-11.1 52.8 31 
-11.5 52.8 30.475 
-12.3 52.8 21.05 
-12.7 52.8 21.225 
-13.1 52.8 21.35 
-13.5 52.8 21.5 
-13.9 52.8 21.7 
-14.3 52.8 21.85 
-14.7 52.8 21.9 
-15.1 52.8 21.875 
-15.5 52.8 21.925 
-15.9 52.8 21.95 
-16.3 52.8 21.85 
-16.7 52.8 21.775 
-17.1 52.8 21.65 
-17.5 52.8 21.575 
-17.9 52.8 21.425 
-18.3 52.8 21.2 
-18.7 52.8 20.75 
-19.1 52.8 20.425 
-19.5 52.8 20.1 
-19.9 52.8 19.65 
-20.3 52.8 19.125 
-20.7 52.8 18.525 
-21.1 52.8 17.95 
-21.5 52.8 17.125 
-21.9 52.8 16.075 
-22.3 52.8 14.8 
--13.7 53.2 41.45 
--13.3 53.2 41.525 
--12.9 53.2 41.875 
--12.5 53.2 42.2 
--12.1 53.2 42.425 
--11.7 53.2 42.625 
--11.3 53.2 42.625 
--10.9 53.2 42.675 
--10.5 53.2 42.8 
--10.1 53.2 42.75 
--9.7 53.2 42.725 
--9.3 53.2 42.55 
--8.9 53.2 42.3 
--8.5 53.2 41.9 
--8.1 53.2 41.45 
--7.7 53.2 40.5 
--5.7 53.2 23.925 
--5.3 53.2 24.15 
--4.9 53.2 24.1 
--4.5 53.2 23.975 
--4.1 53.2 23.85 
--3.7 53.2 23.75 
--3.3 53.2 23.55 
--2.9 53.2 23.175 
--2.5 53.2 22.775 
--2.1 53.2 21.9 
--1.7 53.2 20.75 
--1.3 53.2 19.1 
--0.499999 53.2 18.025 
-0.700001 53.2 3.175 
-1.1 53.2 2.825 
-1.5 53.2 2.625 
-1.9 53.2 2.6 
-2.3 53.2 2.575 
-2.7 53.2 2.6 
-3.1 53.2 2.5 
-3.5 53.2 2.375 
-3.9 53.2 2.225 
-4.3 53.2 2.075 
-4.7 53.2 1.925 
-5.1 53.2 1.8 
-5.5 53.2 1.625 
-6.3 53.2 33.15 
-6.7 53.2 33.525 
-7.1 53.2 33.975 
-7.5 53.2 34.125 
-7.9 53.2 34.05 
-8.3 53.2 34.025 
-8.7 53.2 34.05 
-9.1 53.2 33.875 
-9.5 53.2 33.625 
-9.9 53.2 33.225 
-10.3 53.2 32.6 
-10.7 53.2 31.9 
-11.1 53.2 30.975 
-11.5 53.2 30.775 
-12.3 53.2 21.075 
-12.7 53.2 21.15 
-13.1 53.2 21.275 
-13.5 53.2 21.45 
-13.9 53.2 21.625 
-14.3 53.2 21.75 
-14.7 53.2 21.85 
-15.1 53.2 21.875 
-15.5 53.2 21.875 
-15.9 53.2 21.85 
-16.3 53.2 21.85 
-16.7 53.2 21.75 
-17.1 53.2 21.725 
-17.5 53.2 21.625 
-17.9 53.2 21.325 
-18.3 53.2 21 
-18.7 53.2 20.7 
-19.1 53.2 20.35 
-19.5 53.2 19.95 
-19.9 53.2 19.525 
-20.3 53.2 19.025 
-20.7 53.2 18.4 
-21.1 53.2 17.65 
-21.5 53.2 17.125 
-21.9 53.2 15.775 
-22.3 53.2 14.35 
--13.7 53.6 41.1 
--13.3 53.6 41.325 
--12.9 53.6 41.75 
--12.5 53.6 42 
--12.1 53.6 42.175 
--11.7 53.6 42.35 
--11.3 53.6 42.575 
--10.9 53.6 42.575 
--10.5 53.6 42.575 
--10.1 53.6 42.55 
--9.7 53.6 42.5 
--9.3 53.6 42.3 
--8.9 53.6 42.125 
--8.5 53.6 42 
--8.1 53.6 41.725 
--7.7 53.6 41.125 
--7.3 53.6 39.65 
--5.7 53.6 24.1 
--5.3 53.6 24 
--4.9 53.6 24.1 
--4.5 53.6 24.075 
--4.1 53.6 23.95 
--3.7 53.6 23.6 
--3.3 53.6 23.35 
--2.9 53.6 23.1 
--2.5 53.6 22.525 
--2.1 53.6 21.8 
--1.7 53.6 20.625 
--1.3 53.6 19.35 
--0.899999 53.6 19.325 
-0.700001 53.6 3.125 
-1.1 53.6 2.925 
-1.5 53.6 2.7 
-1.9 53.6 2.65 
-2.3 53.6 2.725 
-2.7 53.6 2.675 
-3.1 53.6 2.6 
-3.5 53.6 2.5 
-3.9 53.6 2.4 
-4.3 53.6 2.175 
-4.7 53.6 1.925 
-5.1 53.6 1.825 
-5.5 53.6 1.7 
-6.3 53.6 32.9 
-6.7 53.6 33.225 
-7.1 53.6 33.525 
-7.5 53.6 33.725 
-7.9 53.6 33.975 
-8.3 53.6 34.025 
-8.7 53.6 33.875 
-9.1 53.6 33.775 
-9.5 53.6 33.575 
-9.9 53.6 33.175 
-10.3 53.6 32.675 
-10.7 53.6 31.875 
-11.1 53.6 30.65 
-11.5 53.6 30.5 
-12.3 53.6 21.125 
-12.7 53.6 21.1 
-13.1 53.6 21.325 
-13.5 53.6 21.525 
-13.9 53.6 21.625 
-14.3 53.6 21.65 
-14.7 53.6 21.75 
-15.1 53.6 21.8 
-15.5 53.6 21.8 
-15.9 53.6 21.85 
-16.3 53.6 21.775 
-16.7 53.6 21.625 
-17.1 53.6 21.6 
-17.5 53.6 21.425 
-17.9 53.6 21.15 
-18.3 53.6 20.925 
-18.7 53.6 20.65 
-19.1 53.6 20.325 
-19.5 53.6 19.875 
-19.9 53.6 19.45 
-20.3 53.6 19.025 
-20.7 53.6 18.175 
-21.1 53.6 17.475 
-21.5 53.6 16.675 
-21.9 53.6 15.55 
-22.3 53.6 14.475 
-35.5 53.6 11.25 
-35.9 53.6 11.225 
-36.3 53.6 11.325 
-36.7 53.6 11.35 
-37.1 53.6 11.125 
-37.5 53.6 10.825 
--13.7 54 40.925 
--13.3 54 41.175 
--12.9 54 41.375 
--12.5 54 41.65 
--12.1 54 41.925 
--11.7 54 42.175 
--11.3 54 42.375 
--10.9 54 42.475 
--10.5 54 42.475 
--10.1 54 42.35 
--9.7 54 42.35 
--9.3 54 42.475 
--8.9 54 42.25 
--8.5 54 41.875 
--8.1 54 41.475 
--7.7 54 41.075 
--7.3 54 39.975 
--5.3 54 23.725 
--4.9 54 23.925 
--4.5 54 23.925 
--4.1 54 23.825 
--3.7 54 23.65 
--3.3 54 23.425 
--2.9 54 23.075 
--2.5 54 22.675 
--2.1 54 21.825 
--1.7 54 20.8 
--1.3 54 19.2 
-0.700001 54 3.025 
-1.1 54 2.875 
-1.5 54 2.7 
-1.9 54 2.725 
-2.3 54 2.675 
-2.7 54 2.7 
-3.1 54 2.725 
-3.5 54 2.575 
-3.9 54 2.375 
-4.3 54 2.275 
-4.7 54 2.1 
-5.1 54 1.9 
-5.5 54 1.7 
-6.3 54 32.6 
-6.7 54 33.025 
-7.1 54 33.375 
-7.5 54 33.55 
-7.9 54 33.725 
-8.3 54 33.775 
-8.7 54 33.7 
-9.1 54 33.675 
-9.5 54 33.475 
-9.9 54 33.05 
-10.3 54 32.325 
-10.7 54 31.8 
-11.1 54 30.775 
-11.5 54 30.625 
-12.3 54 20.85 
-12.7 54 21 
-13.1 54 21.175 
-13.5 54 21.375 
-13.9 54 21.525 
-14.3 54 21.5 
-14.7 54 21.6 
-15.1 54 21.725 
-15.5 54 21.775 
-15.9 54 21.825 
-16.3 54 21.8 
-16.7 54 21.7 
-17.1 54 21.525 
-17.5 54 21.25 
-17.9 54 20.975 
-18.3 54 20.875 
-18.7 54 20.6 
-19.1 54 20.15 
-19.5 54 19.725 
-19.9 54 19.25 
-20.3 54 18.725 
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--6.9 73.6 32 
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-16.3 99.2 20.075 
-16.7 99.2 20.425 
-17.1 99.2 20.725 
-17.5 99.2 21 
-17.9 99.2 21.125 
-18.3 99.2 21.25 
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-19.1 99.2 21.675 
-19.5 99.2 21.725 
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-20.3 99.2 21.925 
-20.7 99.2 22.025 
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-21.9 99.2 21.8 
-22.3 99.2 21.575 
-22.7 99.2 21.25 
-23.1 99.2 21 
-23.5 99.2 20.725 
-23.9 99.2 20.275 
-24.3 99.2 19.725 
-24.7 99.2 19 
-25.1 99.2 18.5 
--14.5 99.6 17.875 
--14.1 99.6 18.05 
--13.7 99.6 18.45 
--13.3 99.6 18.925 
--12.9 99.6 19.35 
--12.5 99.6 19.675 
--12.1 99.6 19.95 
--11.7 99.6 20.125 
--11.3 99.6 20.15 
--10.9 99.6 20.15 
--10.5 99.6 20.25 
--10.1 99.6 20.3 
--9.7 99.6 20.25 
--9.3 99.6 20.125 
--8.9 99.6 20.05 
--8.5 99.6 19.9 
--8.1 99.6 19.725 
--7.7 99.6 19.55 
--7.3 99.6 19.3 
--6.9 99.6 19.15 
--6.5 99.6 18.95 
--6.1 99.6 18.65 
--5.7 99.6 18.225 
--5.3 99.6 17.7 
--4.9 99.6 17.225 
--4.5 99.6 16.625 
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-17.9 99.6 20.9 
-18.3 99.6 21.225 
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-23.1 99.6 20.45 
-23.5 99.6 20.075 
-23.9 99.6 19.55 
-24.3 99.6 18.9 
-24.7 99.6 18.425 
--14.1 100 17.625 
--13.7 100 17.825 
--13.3 100 18.3 
--12.9 100 18.75 
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--11.3 100 19.775 
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--10.1 100 19.775 
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--6.9 100 18.875 
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--6.1 100 18.375 
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--5.3 100 17.45 
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--4.5 100 16 
--4.1 100 14.6 
--2.1 100 -1.35 
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-23.9 100 18.375 
--13.3 100.4 17.725 
--12.9 100.4 18.05 
--12.5 100.4 18.45 
--12.1 100.4 18.85 
--11.7 100.4 19.075 
--11.3 100.4 19.225 
--10.9 100.4 19.375 
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--10.1 100.4 19.475 
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--9.3 100.4 19.35 
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--7.7 100.4 18.8 
--7.3 100.4 18.7 
--6.9 100.4 18.5 
--6.5 100.4 18.125 
--6.1 100.4 17.775 
--5.7 100.4 17.475 
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--4.9 100.4 16.25 
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-17.9 100.4 20.3 
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-19.1 100.4 20.725 
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-22.3 100.4 19.8 
-22.7 100.4 19.25 
-23.1 100.4 18.475 
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--12.9 100.8 17.45 
--12.5 100.8 17.7 
--12.1 100.8 18.1 
--11.7 100.8 18.4 
--11.3 100.8 18.675 
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--6.9 100.8 18.1 
--6.5 100.8 17.8 
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--11.3 101.2 17.75 
--10.9 101.2 18 
--10.5 101.2 18.25 
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--9.3 101.2 18.35 
--8.9 101.2 18.25 
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--8.1 101.2 18.1 
--7.7 101.2 17.95 
--7.3 101.2 17.8 
--6.9 101.2 17.575 
--6.5 101.2 17.225 
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--11.7 101.6 16.625 
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--10.9 101.6 16.8 
--10.5 101.6 17.125 
--10.1 101.6 17.3 
--9.7 101.6 17.5 
--9.3 101.6 17.55 
--8.9 101.6 17.575 
--8.5 101.6 17.525 
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--7.7 101.6 17.2 
--7.3 101.6 17.05 
--6.9 101.6 16.775 
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-17.9 101.6 18 
-18.3 101.6 18.325 
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-21.5 101.6 16.975 
-21.9 101.6 16.425 
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--9.3 102 16.375 
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diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/test3.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/test3.ply
deleted file mode 100644
index 1c47a2ae..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/test3.ply
+++ /dev/null
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--14.4 1.4 -16.025 
--14.2 1.4 -16.125 
--14 1.4 -16.25 
--13.8 1.4 -16.4 
--13.6 1.4 -16.575 
--13.4 1.4 -16.75 
--13.2 1.4 -17 
--13 1.4 -17.225 
--12.8 1.4 -17.5 
--12.6 1.4 -17.725 
--12.4 1.4 -17.975 
--12.2 1.4 -18.15 
--12 1.4 -18.35 
--11.8 1.4 -18.55 
--11.6 1.4 -18.85 
--11.4 1.4 -19.3 
--11.2 1.4 -19.775 
-1.8 1.4 -15.2 
-2 1.4 -14.8 
-2.2 1.4 -14.5 
-2.4 1.4 -14.1 
-2.6 1.4 -13.8 
-2.8 1.4 -13.425 
-3 1.4 -13.3 
-3.2 1.4 -13.125 
-3.4 1.4 -12.975 
-3.6 1.4 -12.875 
-3.8 1.4 -12.825 
-4 1.4 -12.825 
-4.2 1.4 -12.85 
-4.4 1.4 -12.825 
-4.6 1.4 -12.8 
-4.8 1.4 -12.725 
-5 1.4 -12.7 
-5.2 1.4 -12.75 
-5.4 1.4 -12.85 
-5.6 1.4 -12.925 
-5.8 1.4 -12.95 
-6 1.4 -12.975 
-6.2 1.4 -13.025 
-6.4 1.4 -13.1 
-6.6 1.4 -13.2 
-6.8 1.4 -13.225 
-7 1.4 -13.3 
-7.2 1.4 -13.425 
-7.4 1.4 -13.65 
-7.6 1.4 -14.025 
-7.8 1.4 -14.275 
-8 1.4 -14.525 
-8.2 1.4 -14.7 
-8.4 1.4 -15.025 
-8.6 1.4 -15.2 
-17.2 1.4 45.15 
-17.4 1.4 45.55 
-17.6 1.4 46.05 
-17.8 1.4 46.15 
-18 1.4 46.325 
-18.2 1.4 46.475 
-18.4 1.4 46.625 
-18.6 1.4 46.725 
-18.8 1.4 46.75 
-19 1.4 46.75 
-19.2 1.4 46.675 
-19.4 1.4 46.65 
-19.6 1.4 46.7 
-19.8 1.4 46.8 
-20 1.4 46.875 
-20.2 1.4 46.9 
-20.4 1.4 46.85 
-20.6 1.4 46.825 
-20.8 1.4 46.75 
-21 1.4 46.7 
-21.2 1.4 46.65 
-21.4 1.4 46.6 
-21.6 1.4 46.675 
-21.8 1.4 46.725 
-22 1.4 46.75 
-22.2 1.4 46.725 
-22.4 1.4 46.65 
-22.6 1.4 46.6 
-22.8 1.4 46.55 
-23 1.4 46.575 
-23.2 1.4 46.6 
-23.4 1.4 46.6 
-23.6 1.4 46.55 
-23.8 1.4 46.525 
-24 1.4 46.5 
-24.2 1.4 46.5 
-24.4 1.4 46.55 
-24.6 1.4 46.55 
-24.8 1.4 46.475 
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-25.2 1.4 46.25 
-25.4 1.4 46.225 
-25.6 1.4 46.2 
-25.8 1.4 46.175 
-26 1.4 46.175 
-26.2 1.4 46.125 
-26.4 1.4 46 
-26.6 1.4 45.8 
-26.8 1.4 45.55 
-27 1.4 45.375 
--20.4 1.6 -14.75 
--20.2 1.6 -14.725 
--20 1.6 -14.725 
--19.8 1.6 -14.7 
--19.6 1.6 -14.6 
--19.4 1.6 -14.45 
--19.2 1.6 -14.35 
--19 1.6 -14.25 
--18.8 1.6 -14.25 
--18.6 1.6 -14.275 
--18.4 1.6 -14.325 
--18.2 1.6 -14.375 
--18 1.6 -14.425 
--17.8 1.6 -14.5 
--17.6 1.6 -14.5 
--17.4 1.6 -14.55 
--17.2 1.6 -14.575 
--17 1.6 -14.625 
--16.8 1.6 -14.725 
--16.6 1.6 -14.8 
--16.4 1.6 -14.9 
--16.2 1.6 -14.95 
--16 1.6 -15.05 
--15.8 1.6 -15.15 
--15.6 1.6 -15.25 
--15.4 1.6 -15.35 
--15.2 1.6 -15.5 
--15 1.6 -15.7 
--14.8 1.6 -15.85 
--14.6 1.6 -15.975 
--14.4 1.6 -16.05 
--14.2 1.6 -16.175 
--14 1.6 -16.325 
--13.8 1.6 -16.525 
--13.6 1.6 -16.7 
--13.4 1.6 -16.875 
--13.2 1.6 -17.075 
--13 1.6 -17.2 
--12.8 1.6 -17.4 
--12.6 1.6 -17.7 
--12.4 1.6 -17.9 
--12.2 1.6 -18.025 
--12 1.6 -18.175 
--11.8 1.6 -18.375 
--11.6 1.6 -18.6 
--11.4 1.6 -19.025 
--11.2 1.6 -19.325 
--11 1.6 -19.325 
-1.8 1.6 -15.65 
-2 1.6 -15.1 
-2.2 1.6 -14.725 
-2.4 1.6 -14.225 
-2.6 1.6 -13.825 
-2.8 1.6 -13.625 
-3 1.6 -13.45 
-3.2 1.6 -13.225 
-3.4 1.6 -13 
-3.6 1.6 -12.95 
-3.8 1.6 -12.9 
-4 1.6 -12.95 
-4.2 1.6 -12.975 
-4.4 1.6 -12.875 
-4.6 1.6 -12.8 
-4.8 1.6 -12.725 
-5 1.6 -12.7 
-5.2 1.6 -12.7 
-5.4 1.6 -12.775 
-5.6 1.6 -12.85 
-5.8 1.6 -12.975 
-6 1.6 -13.05 
-6.2 1.6 -13.1 
-6.4 1.6 -13.15 
-6.6 1.6 -13.2 
-6.8 1.6 -13.35 
-7 1.6 -13.5 
-7.2 1.6 -13.7 
-7.4 1.6 -13.925 
-7.6 1.6 -14.15 
-7.8 1.6 -14.35 
-8 1.6 -14.675 
-8.2 1.6 -15.05 
-8.4 1.6 -15.5 
-8.6 1.6 -15.575 
-17.2 1.6 45.425 
-17.4 1.6 45.625 
-17.6 1.6 45.85 
-17.8 1.6 46.225 
-18 1.6 46.525 
-18.2 1.6 46.6 
-18.4 1.6 46.725 
-18.6 1.6 46.775 
-18.8 1.6 46.775 
-19 1.6 46.775 
-19.2 1.6 46.775 
-19.4 1.6 46.825 
-19.6 1.6 46.875 
-19.8 1.6 46.9 
-20 1.6 46.875 
-20.2 1.6 46.825 
-20.4 1.6 46.825 
-20.6 1.6 46.775 
-20.8 1.6 46.75 
-21 1.6 46.675 
-21.2 1.6 46.625 
-21.4 1.6 46.625 
-21.6 1.6 46.65 
-21.8 1.6 46.7 
-22 1.6 46.725 
-22.2 1.6 46.7 
-22.4 1.6 46.625 
-22.6 1.6 46.525 
-22.8 1.6 46.45 
-23 1.6 46.45 
-23.2 1.6 46.4 
-23.4 1.6 46.4 
-23.6 1.6 46.4 
-23.8 1.6 46.375 
-24 1.6 46.425 
-24.2 1.6 46.475 
-24.4 1.6 46.5 
-24.6 1.6 46.525 
-24.8 1.6 46.475 
-25 1.6 46.375 
-25.2 1.6 46.3 
-25.4 1.6 46.275 
-25.6 1.6 46.275 
-25.8 1.6 46.3 
-26 1.6 46.325 
-26.2 1.6 46.325 
-26.4 1.6 46.25 
-26.6 1.6 46.1 
-26.8 1.6 45.95 
-27 1.6 45.675 
--20.2 1.8 -14.55 
--20 1.8 -14.825 
--19.8 1.8 -15.075 
--19.6 1.8 -14.925 
--19.4 1.8 -14.725 
--19.2 1.8 -14.6 
--19 1.8 -14.475 
--18.8 1.8 -14.425 
--18.6 1.8 -14.4 
--18.4 1.8 -14.425 
--18.2 1.8 -14.45 
--18 1.8 -14.525 
--17.8 1.8 -14.6 
--17.6 1.8 -14.65 
--17.4 1.8 -14.7 
--17.2 1.8 -14.725 
--17 1.8 -14.75 
--16.8 1.8 -14.825 
--16.6 1.8 -14.95 
--16.4 1.8 -14.975 
--16.2 1.8 -15.05 
--16 1.8 -15.125 
--15.8 1.8 -15.225 
--15.6 1.8 -15.375 
--15.4 1.8 -15.5 
--15.2 1.8 -15.575 
--15 1.8 -15.675 
--14.8 1.8 -15.775 
--14.6 1.8 -15.9 
--14.4 1.8 -16.075 
--14.2 1.8 -16.25 
--14 1.8 -16.475 
--13.8 1.8 -16.7 
--13.6 1.8 -16.825 
--13.4 1.8 -16.95 
--13.2 1.8 -17.075 
--13 1.8 -17.225 
--12.8 1.8 -17.375 
--12.6 1.8 -17.5 
--12.4 1.8 -17.725 
--12.2 1.8 -17.875 
--12 1.8 -18.075 
--11.8 1.8 -18.25 
--11.6 1.8 -18.45 
--11.4 1.8 -18.6 
--11.2 1.8 -18.975 
--11 1.8 -19.625 
--10.8 1.8 -20.3 
-1.8 1.8 -15.925 
-2 1.8 -15.525 
-2.2 1.8 -15.075 
-2.4 1.8 -14.65 
-2.6 1.8 -14.225 
-2.8 1.8 -13.95 
-3 1.8 -13.7 
-3.2 1.8 -13.525 
-3.4 1.8 -13.325 
-3.6 1.8 -13.275 
-3.8 1.8 -13.25 
-4 1.8 -13.225 
-4.2 1.8 -13.225 
-4.4 1.8 -13.175 
-4.6 1.8 -13.075 
-4.8 1.8 -12.975 
-5 1.8 -12.9 
-5.2 1.8 -12.9 
-5.4 1.8 -12.925 
-5.6 1.8 -12.95 
-5.8 1.8 -13 
-6 1.8 -13.075 
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-6.6 1.8 -13.225 
-6.8 1.8 -13.35 
-7 1.8 -13.55 
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-7.4 1.8 -14.175 
-7.6 1.8 -14.425 
-7.8 1.8 -14.7 
-8 1.8 -14.925 
-8.2 1.8 -15.125 
-8.4 1.8 -15.175 
-17 1.8 45.25 
-17.2 1.8 45.5 
-17.4 1.8 45.725 
-17.6 1.8 46.15 
-17.8 1.8 46.3 
-18 1.8 46.5 
-18.2 1.8 46.575 
-18.4 1.8 46.675 
-18.6 1.8 46.8 
-18.8 1.8 46.9 
-19 1.8 46.925 
-19.2 1.8 46.9 
-19.4 1.8 46.85 
-19.6 1.8 46.775 
-19.8 1.8 46.75 
-20 1.8 46.75 
-20.2 1.8 46.8 
-20.4 1.8 46.8 
-20.6 1.8 46.75 
-20.8 1.8 46.65 
-21 1.8 46.575 
-21.2 1.8 46.525 
-21.4 1.8 46.575 
-21.6 1.8 46.575 
-21.8 1.8 46.55 
-22 1.8 46.525 
-22.2 1.8 46.5 
-22.4 1.8 46.5 
-22.6 1.8 46.525 
-22.8 1.8 46.55 
-23 1.8 46.525 
-23.2 1.8 46.45 
-23.4 1.8 46.375 
-23.6 1.8 46.375 
-23.8 1.8 46.425 
-24 1.8 46.5 
-24.2 1.8 46.475 
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-24.6 1.8 46.425 
-24.8 1.8 46.425 
-25 1.8 46.4 
-25.2 1.8 46.325 
-25.4 1.8 46.275 
-25.6 1.8 46.25 
-25.8 1.8 46.25 
-26 1.8 46.325 
-26.2 1.8 46.35 
-26.4 1.8 46.275 
-26.6 1.8 46.125 
-26.8 1.8 45.875 
-27 1.8 45.6 
--20.2 2 -15.125 
--20 2 -15.15 
--19.8 2 -15.175 
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--19.2 2 -14.825 
--19 2 -14.675 
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--18.2 2 -14.7 
--18 2 -14.725 
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--17.6 2 -14.8 
--17.4 2 -14.85 
--17.2 2 -14.9 
--17 2 -14.925 
--16.8 2 -14.975 
--16.6 2 -15.05 
--16.4 2 -15.075 
--16.2 2 -15.125 
--16 2 -15.175 
--15.8 2 -15.25 
--15.6 2 -15.35 
--15.4 2 -15.475 
--15.2 2 -15.6 
--15 2 -15.725 
--14.8 2 -15.875 
--14.6 2 -16.075 
--14.4 2 -16.25 
--14.2 2 -16.45 
--14 2 -16.55 
--13.8 2 -16.65 
--13.6 2 -16.75 
--13.4 2 -16.875 
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--13 2 -17.1 
--12.8 2 -17.225 
--12.6 2 -17.4 
--12.4 2 -17.675 
--12.2 2 -18.05 
--12 2 -18.3 
--11.8 2 -18.425 
--11.6 2 -18.6 
--11.4 2 -18.775 
--11.2 2 -18.975 
--11 2 -19.275 
--10.8 2 -19.6 
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-8 2 -14.975 
-8.2 2 -15.475 
-8.4 2 -15.575 
-17 2 45.3 
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-18 2 46.7 
-18.2 2 46.825 
-18.4 2 46.9 
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-18.8 2 47.05 
-19 2 47.05 
-19.2 2 47 
-19.4 2 46.975 
-19.6 2 46.925 
-19.8 2 46.9 
-20 2 46.85 
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-21 2 46.675 
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-21.8 2 46.65 
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-22.8 2 46.525 
-23 2 46.5 
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-23.4 2 46.55 
-23.6 2 46.5 
-23.8 2 46.425 
-24 2 46.3 
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-24.4 2 46.25 
-24.6 2 46.35 
-24.8 2 46.4 
-25 2 46.35 
-25.2 2 46.275 
-25.4 2 46.2 
-25.6 2 46.175 
-25.8 2 46.125 
-26 2 46.15 
-26.2 2 46.1 
-26.4 2 46.1 
-26.6 2 46 
-26.8 2 45.925 
-27 2 45.825 
--20 2.2 -14.9 
--19.8 2.2 -15 
--19.6 2.2 -15.15 
--19.4 2.2 -15.225 
--19.2 2.2 -15.15 
--19 2.2 -14.95 
--18.8 2.2 -14.85 
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--18 2.2 -14.85 
--17.8 2.2 -14.875 
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--17 2.2 -15 
--16.8 2.2 -15.075 
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--16.2 2.2 -15.275 
--16 2.2 -15.4 
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--15 2.2 -15.775 
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--14 2.2 -16.725 
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--13.6 2.2 -16.85 
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--13 2.2 -17.2 
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--12 2.2 -18.125 
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--11 2.2 -19.075 
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-17.8 2.2 46.625 
-18 2.2 46.825 
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-18.6 2.2 46.825 
-18.8 2.2 46.85 
-19 2.2 46.95 
-19.2 2.2 47 
-19.4 2.2 46.975 
-19.6 2.2 46.95 
-19.8 2.2 46.85 
-20 2.2 46.775 
-20.2 2.2 46.75 
-20.4 2.2 46.725 
-20.6 2.2 46.75 
-20.8 2.2 46.7 
-21 2.2 46.625 
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-21.6 2.2 46.625 
-21.8 2.2 46.625 
-22 2.2 46.625 
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-23 2.2 46.55 
-23.2 2.2 46.5 
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-23.6 2.2 46.375 
-23.8 2.2 46.35 
-24 2.2 46.425 
-24.2 2.2 46.475 
-24.4 2.2 46.575 
-24.6 2.2 46.575 
-24.8 2.2 46.45 
-25 2.2 46.375 
-25.2 2.2 46.35 
-25.4 2.2 46.325 
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-25.8 2.2 46.275 
-26 2.2 46.2 
-26.2 2.2 46.175 
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-26.8 2.2 45.725 
-27 2.2 45.45 
--19.8 2.4 -15.3 
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--19.2 2.4 -15.4 
--19 2.4 -15.35 
--18.8 2.4 -15.3 
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--18.4 2.4 -15.175 
--18.2 2.4 -15.125 
--18 2.4 -15.1 
--17.8 2.4 -15.075 
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--17.2 2.4 -15.125 
--17 2.4 -15.1 
--16.8 2.4 -15.15 
--16.6 2.4 -15.225 
--16.4 2.4 -15.35 
--16.2 2.4 -15.525 
--16 2.4 -15.625 
--15.8 2.4 -15.675 
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--14.2 2.4 -16.5 
--14 2.4 -16.675 
--13.8 2.4 -16.825 
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--13 2.4 -17.4 
--12.8 2.4 -17.575 
--12.6 2.4 -17.725 
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--12 2.4 -18.2 
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--11 2.4 -19.25 
--10.8 2.4 -19.425 
--10.6 2.4 -19.575 
--10.4 2.4 -20 
--10.2 2.4 -20.225 
-1.8 2.4 -16.9 
-2 2.4 -16.575 
-2.2 2.4 -16.15 
-2.4 2.4 -15.85 
-2.6 2.4 -15.5 
-2.8 2.4 -15.15 
-3 2.4 -14.95 
-3.2 2.4 -14.75 
-3.4 2.4 -14.6 
-3.6 2.4 -14.55 
-3.8 2.4 -14.475 
-4 2.4 -14.375 
-4.2 2.4 -14.175 
-4.4 2.4 -14.025 
-4.6 2.4 -13.9 
-4.8 2.4 -13.775 
-5 2.4 -13.7 
-5.2 2.4 -13.65 
-5.4 2.4 -13.625 
-5.6 2.4 -13.65 
-5.8 2.4 -13.675 
-6 2.4 -13.725 
-6.2 2.4 -13.775 
-6.4 2.4 -13.9 
-6.6 2.4 -14.1 
-6.8 2.4 -14.25 
-7 2.4 -14.475 
-7.2 2.4 -14.725 
-7.4 2.4 -14.975 
-7.6 2.4 -15.2 
-7.8 2.4 -15.4 
-8 2.4 -15.6 
-8.2 2.4 -15.875 
-16.6 2.4 44.875 
-16.8 2.4 45.325 
-17 2.4 45.7 
-17.2 2.4 46.1 
-17.4 2.4 46.3 
-17.6 2.4 46.475 
-17.8 2.4 46.525 
-18 2.4 46.6 
-18.2 2.4 46.625 
-18.4 2.4 46.725 
-18.6 2.4 46.8 
-18.8 2.4 46.825 
-19 2.4 46.85 
-19.2 2.4 46.9 
-19.4 2.4 46.95 
-19.6 2.4 46.975 
-19.8 2.4 46.925 
-20 2.4 46.85 
-20.2 2.4 46.85 
-20.4 2.4 46.85 
-20.6 2.4 46.9 
-20.8 2.4 46.9 
-21 2.4 46.85 
-21.2 2.4 46.75 
-21.4 2.4 46.7 
-21.6 2.4 46.625 
-21.8 2.4 46.625 
-22 2.4 46.625 
-22.2 2.4 46.575 
-22.4 2.4 46.55 
-22.6 2.4 46.525 
-22.8 2.4 46.5 
-23 2.4 46.475 
-23.2 2.4 46.4 
-23.4 2.4 46.375 
-23.6 2.4 46.35 
-23.8 2.4 46.325 
-24 2.4 46.3 
-24.2 2.4 46.275 
-24.4 2.4 46.2 
-24.6 2.4 46.175 
-24.8 2.4 46.175 
-25 2.4 46.2 
-25.2 2.4 46.35 
-25.4 2.4 46.375 
-25.6 2.4 46.35 
-25.8 2.4 46.25 
-26 2.4 46.2 
-26.2 2.4 46.125 
-26.4 2.4 46 
-26.6 2.4 45.85 
-26.8 2.4 45.675 
-27 2.4 45.6 
--19.4 2.6 -15.525 
--19.2 2.6 -15.6 
--19 2.6 -15.6 
--18.8 2.6 -15.5 
--18.6 2.6 -15.325 
--18.4 2.6 -15.25 
--18.2 2.6 -15.25 
--18 2.6 -15.25 
--17.8 2.6 -15.3 
--17.6 2.6 -15.275 
--17.4 2.6 -15.275 
--17.2 2.6 -15.275 
--17 2.6 -15.275 
--16.8 2.6 -15.325 
--16.6 2.6 -15.35 
--16.4 2.6 -15.4 
--16.2 2.6 -15.425 
--16 2.6 -15.5 
--15.8 2.6 -15.65 
--15.6 2.6 -15.8 
--15.4 2.6 -15.975 
--15.2 2.6 -16.05 
--15 2.6 -16.1 
--14.8 2.6 -16.1 
--14.6 2.6 -16.175 
--14.4 2.6 -16.275 
--14.2 2.6 -16.375 
--14 2.6 -16.475 
--13.8 2.6 -16.6 
--13.6 2.6 -16.775 
--13.4 2.6 -16.975 
--13.2 2.6 -17.2 
--13 2.6 -17.375 
--12.8 2.6 -17.55 
--12.6 2.6 -17.75 
--12.4 2.6 -17.95 
--12.2 2.6 -18.2 
--12 2.6 -18.4 
--11.8 2.6 -18.475 
--11.6 2.6 -18.6 
--11.4 2.6 -18.75 
--11.2 2.6 -18.925 
--11 2.6 -19.175 
--10.8 2.6 -19.5 
--10.6 2.6 -19.8 
--10.4 2.6 -20.2 
--10.2 2.6 -20.425 
-1.6 2.6 -17.7 
-1.8 2.6 -17.225 
-2 2.6 -16.85 
-2.2 2.6 -16.35 
-2.4 2.6 -15.85 
-2.6 2.6 -15.7 
-2.8 2.6 -15.45 
-3 2.6 -15.2 
-3.2 2.6 -14.975 
-3.4 2.6 -14.725 
-3.6 2.6 -14.625 
-3.8 2.6 -14.575 
-4 2.6 -14.525 
-4.2 2.6 -14.425 
-4.4 2.6 -14.3 
-4.6 2.6 -14.175 
-4.8 2.6 -14.1 
-5 2.6 -14.05 
-5.2 2.6 -14.025 
-5.4 2.6 -13.975 
-5.6 2.6 -13.975 
-5.8 2.6 -13.975 
-6 2.6 -14.025 
-6.2 2.6 -14.125 
-6.4 2.6 -14.3 
-6.6 2.6 -14.5 
-6.8 2.6 -14.725 
-7 2.6 -14.85 
-7.2 2.6 -15.025 
-7.4 2.6 -15.225 
-7.6 2.6 -15.425 
-7.8 2.6 -15.85 
-8 2.6 -16.325 
-8.2 2.6 -16.95 
-16.4 2.6 44.35 
-16.6 2.6 44.8 
-16.8 2.6 45.425 
-17 2.6 46.05 
-17.2 2.6 46.3 
-17.4 2.6 46.4 
-17.6 2.6 46.575 
-17.8 2.6 46.7 
-18 2.6 46.8 
-18.2 2.6 46.8 
-18.4 2.6 46.775 
-18.6 2.6 46.725 
-18.8 2.6 46.65 
-19 2.6 46.725 
-19.2 2.6 46.8 
-19.4 2.6 46.85 
-19.6 2.6 46.875 
-19.8 2.6 46.775 
-20 2.6 46.8 
-20.2 2.6 46.875 
-20.4 2.6 46.95 
-20.6 2.6 46.975 
-20.8 2.6 46.875 
-21 2.6 46.775 
-21.2 2.6 46.7 
-21.4 2.6 46.675 
-21.6 2.6 46.7 
-21.8 2.6 46.725 
-22 2.6 46.725 
-22.2 2.6 46.675 
-22.4 2.6 46.6 
-22.6 2.6 46.55 
-22.8 2.6 46.525 
-23 2.6 46.55 
-23.2 2.6 46.55 
-23.4 2.6 46.55 
-23.6 2.6 46.55 
-23.8 2.6 46.55 
-24 2.6 46.55 
-24.2 2.6 46.525 
-24.4 2.6 46.475 
-24.6 2.6 46.475 
-24.8 2.6 46.4 
-25 2.6 46.375 
-25.2 2.6 46.2 
-25.4 2.6 46.15 
-25.6 2.6 46.125 
-25.8 2.6 46.15 
-26 2.6 46.2 
-26.2 2.6 46.1 
-26.4 2.6 45.95 
-26.6 2.6 45.725 
-26.8 2.6 45.575 
-27 2.6 45.35 
--19.4 2.8 -15.8 
--19.2 2.8 -15.825 
--19 2.8 -15.9 
--18.8 2.8 -15.95 
--18.6 2.8 -15.8 
--18.4 2.8 -15.625 
--18.2 2.8 -15.525 
--18 2.8 -15.4 
--17.8 2.8 -15.325 
--17.6 2.8 -15.275 
--17.4 2.8 -15.325 
--17.2 2.8 -15.4 
--17 2.8 -15.45 
--16.8 2.8 -15.5 
--16.6 2.8 -15.575 
--16.4 2.8 -15.65 
--16.2 2.8 -15.675 
--16 2.8 -15.775 
--15.8 2.8 -15.825 
--15.6 2.8 -15.85 
--15.4 2.8 -15.875 
--15.2 2.8 -15.925 
--15 2.8 -16.075 
--14.8 2.8 -16.175 
--14.6 2.8 -16.3 
--14.4 2.8 -16.35 
--14.2 2.8 -16.45 
--14 2.8 -16.575 
--13.8 2.8 -16.725 
--13.6 2.8 -16.9 
--13.4 2.8 -17.05 
--13.2 2.8 -17.225 
--13 2.8 -17.35 
--12.8 2.8 -17.525 
--12.6 2.8 -17.725 
--12.4 2.8 -18 
--12.2 2.8 -18.2 
--12 2.8 -18.4 
--11.8 2.8 -18.5 
--11.6 2.8 -18.65 
--11.4 2.8 -18.775 
--11.2 2.8 -18.9 
--11 2.8 -19.075 
--10.8 2.8 -19.25 
--10.6 2.8 -19.475 
--10.4 2.8 -19.825 
--10.2 2.8 -20.225 
--10 2.8 -20.775 
-1.6 2.8 -17.825 
-1.8 2.8 -17.425 
-2 2.8 -17.125 
-2.2 2.8 -16.825 
-2.4 2.8 -16.5 
-2.6 2.8 -16.2 
-2.8 2.8 -16 
-3 2.8 -15.725 
-3.2 2.8 -15.55 
-3.4 2.8 -15.375 
-3.6 2.8 -15.275 
-3.8 2.8 -15.125 
-4 2.8 -15.025 
-4.2 2.8 -14.9 
-4.4 2.8 -14.8 
-4.6 2.8 -14.725 
-4.8 2.8 -14.7 
-5 2.8 -14.65 
-5.2 2.8 -14.65 
-5.4 2.8 -14.625 
-5.6 2.8 -14.575 
-5.8 2.8 -14.55 
-6 2.8 -14.575 
-6.2 2.8 -14.675 
-6.4 2.8 -14.8 
-6.6 2.8 -14.95 
-6.8 2.8 -15.125 
-7 2.8 -15.325 
-7.2 2.8 -15.55 
-7.4 2.8 -15.8 
-7.6 2.8 -15.925 
-7.8 2.8 -16.2 
-8 2.8 -16.825 
-16.4 2.8 44.65 
-16.6 2.8 45.15 
-16.8 2.8 45.525 
-17 2.8 45.825 
-17.2 2.8 46.1 
-17.4 2.8 46.35 
-17.6 2.8 46.5 
-17.8 2.8 46.575 
-18 2.8 46.6 
-18.2 2.8 46.575 
-18.4 2.8 46.625 
-18.6 2.8 46.75 
-18.8 2.8 46.825 
-19 2.8 46.85 
-19.2 2.8 46.875 
-19.4 2.8 46.925 
-19.6 2.8 46.975 
-19.8 2.8 46.975 
-20 2.8 46.925 
-20.2 2.8 46.875 
-20.4 2.8 46.825 
-20.6 2.8 46.9 
-20.8 2.8 46.925 
-21 2.8 46.95 
-21.2 2.8 46.975 
-21.4 2.8 46.975 
-21.6 2.8 46.95 
-21.8 2.8 46.875 
-22 2.8 46.8 
-22.2 2.8 46.7 
-22.4 2.8 46.575 
-22.6 2.8 46.5 
-22.8 2.8 46.4 
-23 2.8 46.35 
-23.2 2.8 46.4 
-23.4 2.8 46.475 
-23.6 2.8 46.525 
-23.8 2.8 46.5 
-24 2.8 46.475 
-24.2 2.8 46.45 
-24.4 2.8 46.4 
-24.6 2.8 46.4 
-24.8 2.8 46.35 
-25 2.8 46.3 
-25.2 2.8 46.275 
-25.4 2.8 46.325 
-25.6 2.8 46.325 
-25.8 2.8 46.3 
-26 2.8 46.25 
-26.2 2.8 46.125 
-26.4 2.8 46 
-26.6 2.8 45.825 
-26.8 2.8 45.575 
-27 2.8 45.5 
--19.2 3 -16.175 
--19 3 -16.2 
--18.8 3 -16.275 
--18.6 3 -16.225 
--18.4 3 -16.075 
--18.2 3 -15.875 
--18 3 -15.75 
--17.8 3 -15.65 
--17.6 3 -15.625 
--17.4 3 -15.575 
--17.2 3 -15.65 
--17 3 -15.725 
--16.8 3 -15.75 
--16.6 3 -15.75 
--16.4 3 -15.775 
--16.2 3 -15.825 
--16 3 -15.925 
--15.8 3 -16 
--15.6 3 -16.025 
--15.4 3 -16.075 
--15.2 3 -16.15 
--15 3 -16.225 
--14.8 3 -16.325 
--14.6 3 -16.375 
--14.4 3 -16.425 
--14.2 3 -16.55 
--14 3 -16.75 
--13.8 3 -17 
--13.6 3 -17.15 
--13.4 3 -17.275 
--13.2 3 -17.325 
--13 3 -17.45 
--12.8 3 -17.625 
--12.6 3 -17.8 
--12.4 3 -18.05 
--12.2 3 -18.225 
--12 3 -18.425 
--11.8 3 -18.525 
--11.6 3 -18.675 
--11.4 3 -18.85 
--11.2 3 -19.05 
--11 3 -19.2 
--10.8 3 -19.425 
--10.6 3 -19.625 
--10.4 3 -19.875 
--10.2 3 -20.175 
--10 3 -20.525 
--9.8 3 -20.875 
--9.6 3 -21.325 
-1.6 3 -18.025 
-1.8 3 -17.675 
-2 3 -17.5 
-2.2 3 -17.1 
-2.4 3 -16.825 
-2.6 3 -16.5 
-2.8 3 -16.3 
-3 3 -16.075 
-3.2 3 -15.9 
-3.4 3 -15.75 
-3.6 3 -15.625 
-3.8 3 -15.55 
-4 3 -15.5 
-4.2 3 -15.4 
-4.4 3 -15.3 
-4.6 3 -15.225 
-4.8 3 -15.175 
-5 3 -15.15 
-5.2 3 -15.125 
-5.4 3 -15.05 
-5.6 3 -15 
-5.8 3 -14.975 
-6 3 -15 
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-6.4 3 -15.225 
-6.6 3 -15.325 
-6.8 3 -15.5 
-7 3 -15.675 
-7.2 3 -15.95 
-7.4 3 -16.35 
-7.6 3 -16.775 
-7.8 3 -17.175 
-8 3 -17.6 
-16.2 3 44.45 
-16.4 3 44.975 
-16.6 3 45.375 
-16.8 3 45.625 
-17 3 45.95 
-17.2 3 46.275 
-17.4 3 46.4 
-17.6 3 46.6 
-17.8 3 46.675 
-18 3 46.675 
-18.2 3 46.65 
-18.4 3 46.6 
-18.6 3 46.55 
-18.8 3 46.575 
-19 3 46.65 
-19.2 3 46.675 
-19.4 3 46.775 
-19.6 3 46.85 
-19.8 3 46.9 
-20 3 46.925 
-20.2 3 46.95 
-20.4 3 46.975 
-20.6 3 47 
-20.8 3 46.975 
-21 3 46.925 
-21.2 3 46.85 
-21.4 3 46.725 
-21.6 3 46.65 
-21.8 3 46.575 
-22 3 46.55 
-22.2 3 46.6 
-22.4 3 46.6 
-22.6 3 46.55 
-22.8 3 46.45 
-23 3 46.425 
-23.2 3 46.425 
-23.4 3 46.425 
-23.6 3 46.45 
-23.8 3 46.475 
-24 3 46.425 
-24.2 3 46.375 
-24.4 3 46.3 
-24.6 3 46.25 
-24.8 3 46.2 
-25 3 46.2 
-25.2 3 46.225 
-25.4 3 46.225 
-25.6 3 46.25 
-25.8 3 46.3 
-26 3 46.3 
-26.2 3 46.175 
-26.4 3 46 
-26.6 3 45.725 
-26.8 3 45.475 
-27 3 45.425 
--18.8 3.2 -16.4 
--18.6 3.2 -16.35 
--18.4 3.2 -16.3 
--18.2 3.2 -16.25 
--18 3.2 -16.15 
--17.8 3.2 -16.025 
--17.6 3.2 -15.925 
--17.4 3.2 -15.8 
--17.2 3.2 -15.725 
--17 3.2 -15.7 
--16.8 3.2 -15.75 
--16.6 3.2 -15.775 
--16.4 3.2 -15.8 
--16.2 3.2 -15.9 
--16 3.2 -16 
--15.8 3.2 -16.075 
--15.6 3.2 -16.2 
--15.4 3.2 -16.325 
--15.2 3.2 -16.375 
--15 3.2 -16.5 
--14.8 3.2 -16.575 
--14.6 3.2 -16.625 
--14.4 3.2 -16.775 
--14.2 3.2 -16.85 
--14 3.2 -16.95 
--13.8 3.2 -17.1 
--13.6 3.2 -17.175 
--13.4 3.2 -17.25 
--13.2 3.2 -17.325 
--13 3.2 -17.425 
--12.8 3.2 -17.55 
--12.6 3.2 -17.7 
--12.4 3.2 -17.875 
--12.2 3.2 -18.025 
--12 3.2 -18.175 
--11.8 3.2 -18.325 
--11.6 3.2 -18.5 
--11.4 3.2 -18.675 
--11.2 3.2 -18.875 
--11 3.2 -19.1 
--10.8 3.2 -19.325 
--10.6 3.2 -19.625 
--10.4 3.2 -19.875 
--10.2 3.2 -20.15 
--10 3.2 -20.325 
--9.8 3.2 -20.575 
--9.6 3.2 -20.85 
-1.6 3.2 -18.6 
-1.8 3.2 -18.025 
-2 3.2 -17.625 
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-2.4 3.2 -17.1 
-2.6 3.2 -16.875 
-2.8 3.2 -16.65 
-3 3.2 -16.45 
-3.2 3.2 -16.275 
-3.4 3.2 -16.1 
-3.6 3.2 -15.95 
-3.8 3.2 -15.8 
-4 3.2 -15.725 
-4.2 3.2 -15.7 
-4.4 3.2 -15.675 
-4.6 3.2 -15.65 
-4.8 3.2 -15.55 
-5 3.2 -15.45 
-5.2 3.2 -15.4 
-5.4 3.2 -15.4 
-5.6 3.2 -15.4 
-5.8 3.2 -15.4 
-6 3.2 -15.45 
-6.2 3.2 -15.6 
-6.4 3.2 -15.75 
-6.6 3.2 -15.925 
-6.8 3.2 -16.075 
-7 3.2 -16.225 
-7.2 3.2 -16.5 
-7.4 3.2 -16.825 
-7.6 3.2 -17.225 
-7.8 3.2 -17.725 
-16 3.2 44.1 
-16.2 3.2 44.575 
-16.4 3.2 45.075 
-16.6 3.2 45.525 
-16.8 3.2 45.925 
-17 3.2 46.2 
-17.2 3.2 46.475 
-17.4 3.2 46.575 
-17.6 3.2 46.7 
-17.8 3.2 46.725 
-18 3.2 46.7 
-18.2 3.2 46.675 
-18.4 3.2 46.65 
-18.6 3.2 46.65 
-18.8 3.2 46.65 
-19 3.2 46.675 
-19.2 3.2 46.7 
-19.4 3.2 46.75 
-19.6 3.2 46.8 
-19.8 3.2 46.875 
-20 3.2 46.9 
-20.2 3.2 46.9 
-20.4 3.2 46.875 
-20.6 3.2 46.825 
-20.8 3.2 46.85 
-21 3.2 46.875 
-21.2 3.2 46.925 
-21.4 3.2 46.975 
-21.6 3.2 46.875 
-21.8 3.2 46.725 
-22 3.2 46.55 
-22.2 3.2 46.45 
-22.4 3.2 46.425 
-22.6 3.2 46.475 
-22.8 3.2 46.475 
-23 3.2 46.525 
-23.2 3.2 46.525 
-23.4 3.2 46.55 
-23.6 3.2 46.525 
-23.8 3.2 46.45 
-24 3.2 46.425 
-24.2 3.2 46.425 
-24.4 3.2 46.45 
-24.6 3.2 46.5 
-24.8 3.2 46.425 
-25 3.2 46.4 
-25.2 3.2 46.35 
-25.4 3.2 46.325 
-25.6 3.2 46.3 
-25.8 3.2 46.275 
-26 3.2 46.25 
-26.2 3.2 46.225 
-26.4 3.2 46.1 
-26.6 3.2 46 
-26.8 3.2 45.725 
-27 3.2 45.1 
--18.6 3.4 -16.5 
--18.4 3.4 -16.525 
--18.2 3.4 -16.5 
--18 3.4 -16.425 
--17.8 3.4 -16.275 
--17.6 3.4 -16.175 
--17.4 3.4 -16.1 
--17.2 3.4 -16.1 
--17 3.4 -16.175 
--16.8 3.4 -16.275 
--16.6 3.4 -16.25 
--16.4 3.4 -16.2 
--16.2 3.4 -16.175 
--16 3.4 -16.225 
--15.8 3.4 -16.3 
--15.6 3.4 -16.375 
--15.4 3.4 -16.45 
--15.2 3.4 -16.475 
--15 3.4 -16.55 
--14.8 3.4 -16.65 
--14.6 3.4 -16.75 
--14.4 3.4 -16.775 
--14.2 3.4 -16.8 
--14 3.4 -16.875 
--13.8 3.4 -16.975 
--13.6 3.4 -17.075 
--13.4 3.4 -17.25 
--13.2 3.4 -17.525 
--13 3.4 -17.65 
--12.8 3.4 -17.825 
--12.6 3.4 -17.85 
--12.4 3.4 -18 
--12.2 3.4 -18.15 
--12 3.4 -18.375 
--11.8 3.4 -18.625 
--11.6 3.4 -18.8 
--11.4 3.4 -18.975 
--11.2 3.4 -19.05 
--11 3.4 -19.2 
--10.8 3.4 -19.4 
--10.6 3.4 -19.625 
--10.4 3.4 -19.875 
--10.2 3.4 -20.05 
--10 3.4 -20.25 
--9.8 3.4 -20.5 
--9.6 3.4 -20.9 
--9.4 3.4 -21.2 
-1.4 3.4 -19.275 
-1.6 3.4 -18.825 
-1.8 3.4 -18.325 
-2 3.4 -17.95 
-2.2 3.4 -17.675 
-2.4 3.4 -17.325 
-2.6 3.4 -17.175 
-2.8 3.4 -17 
-3 3.4 -16.825 
-3.2 3.4 -16.725 
-3.4 3.4 -16.575 
-3.6 3.4 -16.5 
-3.8 3.4 -16.375 
-4 3.4 -16.25 
-4.2 3.4 -16.175 
-4.4 3.4 -16.1 
-4.6 3.4 -16.05 
-4.8 3.4 -16 
-5 3.4 -15.875 
-5.2 3.4 -15.8 
-5.4 3.4 -15.8 
-5.6 3.4 -15.825 
-5.8 3.4 -15.9 
-6 3.4 -16 
-6.2 3.4 -16.075 
-6.4 3.4 -16.225 
-6.6 3.4 -16.375 
-6.8 3.4 -16.525 
-7 3.4 -16.725 
-7.2 3.4 -17.075 
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-7.8 3.4 -18.55 
-16 3.4 44.375 
-16.2 3.4 44.725 
-16.4 3.4 45.2 
-16.6 3.4 45.575 
-16.8 3.4 45.95 
-17 3.4 46.225 
-17.2 3.4 46.375 
-17.4 3.4 46.525 
-17.6 3.4 46.6 
-17.8 3.4 46.625 
-18 3.4 46.675 
-18.2 3.4 46.675 
-18.4 3.4 46.675 
-18.6 3.4 46.65 
-18.8 3.4 46.625 
-19 3.4 46.65 
-19.2 3.4 46.65 
-19.4 3.4 46.625 
-19.6 3.4 46.625 
-19.8 3.4 46.65 
-20 3.4 46.775 
-20.2 3.4 46.9 
-20.4 3.4 46.975 
-20.6 3.4 46.95 
-20.8 3.4 46.9 
-21 3.4 46.9 
-21.2 3.4 46.925 
-21.4 3.4 46.9 
-21.6 3.4 46.825 
-21.8 3.4 46.75 
-22 3.4 46.675 
-22.2 3.4 46.65 
-22.4 3.4 46.6 
-22.6 3.4 46.6 
-22.8 3.4 46.575 
-23 3.4 46.55 
-23.2 3.4 46.525 
-23.4 3.4 46.525 
-23.6 3.4 46.55 
-23.8 3.4 46.525 
-24 3.4 46.475 
-24.2 3.4 46.425 
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-24.6 3.4 46.325 
-24.8 3.4 46.3 
-25 3.4 46.275 
-25.2 3.4 46.275 
-25.4 3.4 46.275 
-25.6 3.4 46.175 
-25.8 3.4 46.125 
-26 3.4 46 
-26.2 3.4 45.85 
-26.4 3.4 45.75 
-26.6 3.4 45.6 
-26.8 3.4 45.275 
-27 3.4 45.2 
--18.4 3.6 -17.125 
--18.2 3.6 -17.125 
--18 3.6 -17.075 
--17.8 3.6 -16.925 
--17.6 3.6 -16.675 
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--17.2 3.6 -16.275 
--17 3.6 -16.2 
--16.8 3.6 -16.275 
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--16.4 3.6 -16.4 
--16.2 3.6 -16.4 
--16 3.6 -16.475 
--15.8 3.6 -16.55 
--15.6 3.6 -16.625 
--15.4 3.6 -16.7 
--15.2 3.6 -16.7 
--15 3.6 -16.725 
--14.8 3.6 -16.8 
--14.6 3.6 -16.875 
--14.4 3.6 -16.975 
--14.2 3.6 -17 
--14 3.6 -17.05 
--13.8 3.6 -17.1 
--13.6 3.6 -17.25 
--13.4 3.6 -17.375 
--13.2 3.6 -17.5 
--13 3.6 -17.7 
--12.8 3.6 -17.9 
--12.6 3.6 -18.05 
--12.4 3.6 -18.2 
--12.2 3.6 -18.35 
--12 3.6 -18.5 
--11.8 3.6 -18.65 
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--11.4 3.6 -18.95 
--11.2 3.6 -19.05 
--11 3.6 -19.225 
--10.8 3.6 -19.4 
--10.6 3.6 -19.575 
--10.4 3.6 -19.85 
--10.2 3.6 -20.025 
--10 3.6 -20.275 
--9.8 3.6 -20.575 
--9.6 3.6 -21 
--9.4 3.6 -21.3 
--9.2 3.6 -21.7 
-1.4 3.6 -19.425 
-1.6 3.6 -19.1 
-1.8 3.6 -18.725 
-2 3.6 -18.425 
-2.2 3.6 -18.225 
-2.4 3.6 -17.975 
-2.6 3.6 -17.65 
-2.8 3.6 -17.45 
-3 3.6 -17.25 
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-3.4 3.6 -16.95 
-3.6 3.6 -16.8 
-3.8 3.6 -16.7 
-4 3.6 -16.575 
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-4.8 3.6 -16.275 
-5 3.6 -16.25 
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-5.6 3.6 -16.4 
-5.8 3.6 -16.475 
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-6.4 3.6 -16.7 
-6.6 3.6 -16.9 
-6.8 3.6 -17.1 
-7 3.6 -17.325 
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-7.4 3.6 -18.55 
-7.6 3.6 -18.975 
-7.8 3.6 -19.25 
-15.8 3.6 43.925 
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-16.2 3.6 45.075 
-16.4 3.6 45.5 
-16.6 3.6 45.725 
-16.8 3.6 46.05 
-17 3.6 46.25 
-17.2 3.6 46.425 
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-17.6 3.6 46.525 
-17.8 3.6 46.55 
-18 3.6 46.6 
-18.2 3.6 46.65 
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-18.8 3.6 46.625 
-19 3.6 46.65 
-19.2 3.6 46.65 
-19.4 3.6 46.65 
-19.6 3.6 46.625 
-19.8 3.6 46.625 
-20 3.6 46.7 
-20.2 3.6 46.825 
-20.4 3.6 46.95 
-20.6 3.6 47 
-20.8 3.6 46.975 
-21 3.6 46.925 
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-21.4 3.6 46.85 
-21.6 3.6 46.75 
-21.8 3.6 46.7 
-22 3.6 46.625 
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-22.4 3.6 46.55 
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-23 3.6 46.35 
-23.2 3.6 46.35 
-23.4 3.6 46.425 
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-23.8 3.6 46.45 
-24 3.6 46.375 
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-24.6 3.6 46.3 
-24.8 3.6 46.275 
-25 3.6 46.275 
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-25.4 3.6 46.25 
-25.6 3.6 46.275 
-25.8 3.6 46.25 
-26 3.6 46.175 
-26.2 3.6 46.05 
-26.4 3.6 45.8 
-26.6 3.6 45.5 
-26.8 3.6 45.175 
-27 3.6 44.95 
--18.2 3.8 -17.3 
--18 3.8 -17.275 
--17.8 3.8 -17.2 
--17.6 3.8 -17.1 
--17.4 3.8 -17 
--17.2 3.8 -16.85 
--17 3.8 -16.725 
--16.8 3.8 -16.65 
--16.6 3.8 -16.625 
--16.4 3.8 -16.625 
--16.2 3.8 -16.675 
--16 3.8 -16.625 
--15.8 3.8 -16.65 
--15.6 3.8 -16.7 
--15.4 3.8 -16.8 
--15.2 3.8 -16.85 
--15 3.8 -16.9 
--14.8 3.8 -16.9 
--14.6 3.8 -16.875 
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--14 3.8 -17.125 
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--13.2 3.8 -17.6 
--13 3.8 -17.775 
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--12 3.8 -18.275 
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--11 3.8 -19.575 
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--10 3.8 -20.325 
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--9.4 3.8 -21.3 
--9.2 3.8 -21.65 
-1.4 3.8 -19.825 
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-7.8 3.8 -20.075 
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-15.8 3.8 44 
-16 3.8 44.525 
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-16.8 3.8 45.9 
-17 3.8 46.05 
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-17.8 3.8 46.675 
-18 3.8 46.725 
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-18.6 3.8 46.725 
-18.8 3.8 46.725 
-19 3.8 46.675 
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-19.8 3.8 46.5 
-20 3.8 46.5 
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-22.8 3.8 46.6 
-23 3.8 46.6 
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-23.8 3.8 46.5 
-24 3.8 46.45 
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-25.8 3.8 46.2 
-26 3.8 46.075 
-26.2 3.8 45.85 
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-26.6 3.8 45.15 
-26.8 3.8 45.05 
--18 4 -17.6 
--17.8 4 -17.725 
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--16.2 4 -16.8 
--16 4 -16.775 
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--15 4 -17.075 
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--13 4 -18.05 
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-3.8 4 -17.5 
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-19.8 4 46.6 
-20 4 46.625 
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-21.8 4 46.9 
-22 4 46.875 
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-22.6 4 46.575 
-22.8 4 46.525 
-23 4 46.5 
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-23.4 4 46.475 
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-24 4 46.4 
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-25.8 4 46.1 
-26 4 46.025 
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-26.8 4 45.025 
--17.8 4.2 -17.125 
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--17 4.2 -17.875 
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--14 4.2 -17.525 
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--13 4.2 -18.025 
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--12 4.2 -18.6 
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--11 4.2 -19.35 
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--10 4.2 -20.35 
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--9 4.2 -21.825 
--8.8 4.2 -22.15 
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-23 4.2 46.35 
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-24 4.2 46.35 
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-25 4.2 46.25 
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-25.4 4.2 46.25 
-25.6 4.2 46.175 
-25.8 4.2 46.05 
-26 4.2 45.9 
-26.2 4.2 45.7 
-26.4 4.2 45.425 
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-26.8 4.2 44.725 
--17.6 4.4 -18.575 
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--17 4.4 -18.525 
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--16 4.4 -17.475 
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--15 4.4 -17.3 
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--14.2 4.4 -17.575 
--14 4.4 -17.675 
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--13 4.4 -18 
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--12 4.4 -18.825 
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--11 4.4 -19.525 
--10.8 4.4 -19.7 
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--10 4.4 -20.5 
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--9.2 4.4 -21.25 
--9 4.4 -21.475 
--8.8 4.4 -21.775 
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-7 4.4 -19.825 
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-7.6 4.4 -21.7 
-7.8 4.4 -21.9 
-15.6 4.4 44.075 
-15.8 4.4 44.775 
-16 4.4 45.35 
-16.2 4.4 45.65 
-16.4 4.4 45.825 
-16.6 4.4 45.95 
-16.8 4.4 46.1 
-17 4.4 46.2 
-17.2 4.4 46.325 
-17.4 4.4 46.35 
-17.6 4.4 46.325 
-17.8 4.4 46.35 
-18 4.4 46.35 
-18.2 4.4 46.4 
-18.4 4.4 46.45 
-18.6 4.4 46.5 
-18.8 4.4 46.575 
-19 4.4 46.625 
-19.2 4.4 46.725 
-19.4 4.4 46.75 
-19.6 4.4 46.725 
-19.8 4.4 46.65 
-20 4.4 46.575 
-20.2 4.4 46.55 
-20.4 4.4 46.6 
-20.6 4.4 46.625 
-20.8 4.4 46.7 
-21 4.4 46.75 
-21.2 4.4 46.75 
-21.4 4.4 46.8 
-21.6 4.4 46.825 
-21.8 4.4 46.825 
-22 4.4 46.8 
-22.2 4.4 46.675 
-22.4 4.4 46.5 
-22.6 4.4 46.375 
-22.8 4.4 46.275 
-23 4.4 46.25 
-23.2 4.4 46.3 
-23.4 4.4 46.375 
-23.6 4.4 46.425 
-23.8 4.4 46.4 
-24 4.4 46.275 
-24.2 4.4 46.225 
-24.4 4.4 46.225 
-24.6 4.4 46.325 
-24.8 4.4 46.35 
-25 4.4 46.325 
-25.2 4.4 46.3 
-25.4 4.4 46.2 
-25.6 4.4 46.025 
-25.8 4.4 45.85 
-26 4.4 45.625 
-26.2 4.4 45.475 
-26.4 4.4 45.35 
--17.4 4.6 -18.675 
--17.2 4.6 -18.8 
--17 4.6 -19.025 
--16.8 4.6 -18.925 
--16.6 4.6 -18.725 
--16.4 4.6 -18.55 
--16.2 4.6 -18.35 
--16 4.6 -18.225 
--15.8 4.6 -18.05 
--15.6 4.6 -17.875 
--15.4 4.6 -17.625 
--15.2 4.6 -17.525 
--15 4.6 -17.5 
--14.8 4.6 -17.55 
--14.6 4.6 -17.65 
--14.4 4.6 -17.675 
--14.2 4.6 -17.7 
--14 4.6 -17.7 
--13.8 4.6 -17.75 
--13.6 4.6 -17.825 
--13.4 4.6 -17.925 
--13.2 4.6 -18.075 
--13 4.6 -18.175 
--12.8 4.6 -18.275 
--12.6 4.6 -18.4 
--12.4 4.6 -18.525 
--12.2 4.6 -18.75 
--12 4.6 -18.9 
--11.8 4.6 -19 
--11.6 4.6 -19.1 
--11.4 4.6 -19.225 
--11.2 4.6 -19.35 
--11 4.6 -19.475 
--10.8 4.6 -19.65 
--10.6 4.6 -19.85 
--10.4 4.6 -20.075 
--10.2 4.6 -20.25 
--10 4.6 -20.475 
--9.8 4.6 -20.6 
--9.6 4.6 -20.675 
--9.4 4.6 -20.725 
--9.2 4.6 -20.975 
--9 4.6 -21.4 
--8.8 4.6 -22.1 
--8.6 4.6 -22.375 
-1.2 4.6 -21.6 
-1.4 4.6 -21.225 
-1.6 4.6 -20.7 
-1.8 4.6 -20.425 
-2 4.6 -20.175 
-2.2 4.6 -19.775 
-2.4 4.6 -19.575 
-2.6 4.6 -19.3 
-2.8 4.6 -19.15 
-3 4.6 -19.05 
-3.2 4.6 -18.95 
-3.4 4.6 -18.875 
-3.6 4.6 -18.75 
-3.8 4.6 -18.65 
-4 4.6 -18.625 
-4.2 4.6 -18.65 
-4.4 4.6 -18.65 
-4.6 4.6 -18.675 
-4.8 4.6 -18.725 
-5 4.6 -18.75 
-5.2 4.6 -18.8 
-5.4 4.6 -18.825 
-5.6 4.6 -18.9 
-5.8 4.6 -19.025 
-6 4.6 -19.225 
-6.2 4.6 -19.5 
-6.4 4.6 -19.75 
-6.6 4.6 -20 
-6.8 4.6 -20.15 
-7 4.6 -20.475 
-7.2 4.6 -20.75 
-7.4 4.6 -21.25 
-7.6 4.6 -22.075 
-7.8 4.6 -22.475 
-15.4 4.6 43.9 
-15.6 4.6 44.55 
-15.8 4.6 45.075 
-16 4.6 45.425 
-16.2 4.6 45.65 
-16.4 4.6 45.85 
-16.6 4.6 46.1 
-16.8 4.6 46.225 
-17 4.6 46.275 
-17.2 4.6 46.275 
-17.4 4.6 46.4 
-17.6 4.6 46.5 
-17.8 4.6 46.6 
-18 4.6 46.675 
-18.2 4.6 46.625 
-18.4 4.6 46.65 
-18.6 4.6 46.625 
-18.8 4.6 46.55 
-19 4.6 46.475 
-19.2 4.6 46.5 
-19.4 4.6 46.575 
-19.6 4.6 46.65 
-19.8 4.6 46.65 
-20 4.6 46.6 
-20.2 4.6 46.6 
-20.4 4.6 46.625 
-20.6 4.6 46.675 
-20.8 4.6 46.7 
-21 4.6 46.7 
-21.2 4.6 46.7 
-21.4 4.6 46.7 
-21.6 4.6 46.75 
-21.8 4.6 46.775 
-22 4.6 46.75 
-22.2 4.6 46.725 
-22.4 4.6 46.625 
-22.6 4.6 46.525 
-22.8 4.6 46.45 
-23 4.6 46.35 
-23.2 4.6 46.35 
-23.4 4.6 46.35 
-23.6 4.6 46.375 
-23.8 4.6 46.4 
-24 4.6 46.35 
-24.2 4.6 46.3 
-24.4 4.6 46.25 
-24.6 4.6 46.25 
-24.8 4.6 46.3 
-25 4.6 46.35 
-25.2 4.6 46.3 
-25.4 4.6 46.2 
-25.6 4.6 46.075 
-25.8 4.6 45.85 
-26 4.6 45.65 
-26.2 4.6 45.475 
-26.4 4.6 45.2 
--17.2 4.8 -19.3 
--17 4.8 -19.275 
--16.8 4.8 -19.225 
--16.6 4.8 -19.2 
--16.4 4.8 -19.075 
--16.2 4.8 -18.875 
--16 4.8 -18.675 
--15.8 4.8 -18.45 
--15.6 4.8 -18.175 
--15.4 4.8 -17.95 
--15.2 4.8 -17.825 
--15 4.8 -17.775 
--14.8 4.8 -17.8 
--14.6 4.8 -17.85 
--14.4 4.8 -17.875 
--14.2 4.8 -17.9 
--14 4.8 -17.875 
--13.8 4.8 -17.875 
--13.6 4.8 -17.925 
--13.4 4.8 -18.025 
--13.2 4.8 -18.15 
--13 4.8 -18.275 
--12.8 4.8 -18.375 
--12.6 4.8 -18.425 
--12.4 4.8 -18.55 
--12.2 4.8 -18.7 
--12 4.8 -18.925 
--11.8 4.8 -19.1 
--11.6 4.8 -19.25 
--11.4 4.8 -19.375 
--11.2 4.8 -19.475 
--11 4.8 -19.6 
--10.8 4.8 -19.75 
--10.6 4.8 -19.925 
--10.4 4.8 -20.1 
--10.2 4.8 -20.3 
--10 4.8 -20.4 
--9.8 4.8 -20.55 
--9.6 4.8 -20.725 
--9.4 4.8 -21 
--9.2 4.8 -21.25 
--9 4.8 -21.425 
--8.8 4.8 -21.575 
--8.6 4.8 -22.1 
--8.4 4.8 -22.85 
-1.2 4.8 -21.725 
-1.4 4.8 -21.525 
-1.6 4.8 -21.225 
-1.8 4.8 -20.875 
-2 4.8 -20.375 
-2.2 4.8 -19.975 
-2.4 4.8 -19.675 
-2.6 4.8 -19.5 
-2.8 4.8 -19.35 
-3 4.8 -19.275 
-3.2 4.8 -19.2 
-3.4 4.8 -19.175 
-3.6 4.8 -19.125 
-3.8 4.8 -19.1 
-4 4.8 -19.1 
-4.2 4.8 -19.1 
-4.4 4.8 -19.1 
-4.6 4.8 -19.15 
-4.8 4.8 -19.175 
-5 4.8 -19.225 
-5.2 4.8 -19.325 
-5.4 4.8 -19.425 
-5.6 4.8 -19.575 
-5.8 4.8 -19.725 
-6 4.8 -19.85 
-6.2 4.8 -20.05 
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-6.8 4.8 -20.825 
-7 4.8 -21.075 
-7.2 4.8 -21.35 
-7.4 4.8 -21.7 
-7.6 4.8 -22.475 
-7.8 4.8 -22.7 
-15.2 4.8 43.525 
-15.4 4.8 43.975 
-15.6 4.8 44.625 
-15.8 4.8 45.05 
-16 4.8 45.35 
-16.2 4.8 45.55 
-16.4 4.8 45.75 
-16.6 4.8 45.925 
-16.8 4.8 46.1 
-17 4.8 46.25 
-17.2 4.8 46.375 
-17.4 4.8 46.475 
-17.6 4.8 46.55 
-17.8 4.8 46.575 
-18 4.8 46.6 
-18.2 4.8 46.575 
-18.4 4.8 46.55 
-18.6 4.8 46.525 
-18.8 4.8 46.45 
-19 4.8 46.475 
-19.2 4.8 46.475 
-19.4 4.8 46.525 
-19.6 4.8 46.525 
-19.8 4.8 46.5 
-20 4.8 46.475 
-20.2 4.8 46.475 
-20.4 4.8 46.475 
-20.6 4.8 46.5 
-20.8 4.8 46.575 
-21 4.8 46.625 
-21.2 4.8 46.65 
-21.4 4.8 46.65 
-21.6 4.8 46.675 
-21.8 4.8 46.7 
-22 4.8 46.7 
-22.2 4.8 46.675 
-22.4 4.8 46.6 
-22.6 4.8 46.525 
-22.8 4.8 46.45 
-23 4.8 46.4 
-23.2 4.8 46.375 
-23.4 4.8 46.325 
-23.6 4.8 46.3 
-23.8 4.8 46.35 
-24 4.8 46.35 
-24.2 4.8 46.3 
-24.4 4.8 46.25 
-24.6 4.8 46.225 
-24.8 4.8 46.225 
-25 4.8 46.2 
-25.2 4.8 46.15 
-25.4 4.8 46.025 
-25.6 4.8 45.825 
-25.8 4.8 45.55 
-26 4.8 45.25 
-26.2 4.8 44.875 
--17 5 -19.675 
--16.8 5 -19.625 
--16.6 5 -19.6 
--16.4 5 -19.475 
--16.2 5 -19.325 
--16 5 -19.125 
--15.8 5 -18.875 
--15.6 5 -18.625 
--15.4 5 -18.35 
--15.2 5 -18.175 
--15 5 -18.05 
--14.8 5 -18.05 
--14.6 5 -18.125 
--14.4 5 -18.2 
--14.2 5 -18.2 
--14 5 -18.1 
--13.8 5 -17.975 
--13.6 5 -18 
--13.4 5 -18.075 
--13.2 5 -18.25 
--13 5 -18.425 
--12.8 5 -18.575 
--12.6 5 -18.65 
--12.4 5 -18.75 
--12.2 5 -18.9 
--12 5 -19.1 
--11.8 5 -19.3 
--11.6 5 -19.5 
--11.4 5 -19.625 
--11.2 5 -19.7 
--11 5 -19.75 
--10.8 5 -19.85 
--10.6 5 -19.975 
--10.4 5 -20.225 
--10.2 5 -20.375 
--10 5 -20.525 
--9.8 5 -20.7 
--9.6 5 -21 
--9.4 5 -21.225 
--9.2 5 -21.4 
--9 5 -21.525 
--8.8 5 -21.625 
--8.6 5 -22.1 
--8.4 5 -23.4 
-1.2 5 -22.275 
-1.4 5 -21.875 
-1.6 5 -21.325 
-1.8 5 -21.025 
-2 5 -20.675 
-2.2 5 -20.2 
-2.4 5 -19.975 
-2.6 5 -19.8 
-2.8 5 -19.65 
-3 5 -19.575 
-3.2 5 -19.5 
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-3.8 5 -19.55 
-4 5 -19.45 
-4.2 5 -19.3 
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-4.8 5 -19.45 
-5 5 -19.55 
-5.2 5 -19.625 
-5.4 5 -19.725 
-5.6 5 -19.875 
-5.8 5 -20.075 
-6 5 -20.325 
-6.2 5 -20.55 
-6.4 5 -20.775 
-6.6 5 -21 
-6.8 5 -21.4 
-7 5 -21.65 
-7.2 5 -22.025 
-7.4 5 -22.65 
-7.6 5 -22.85 
-12.6 5 12.175 
-15.2 5 43.65 
-15.4 5 44.225 
-15.6 5 44.95 
-15.8 5 45.3 
-16 5 45.475 
-16.2 5 45.675 
-16.4 5 45.8 
-16.6 5 45.925 
-16.8 5 46.075 
-17 5 46.225 
-17.2 5 46.375 
-17.4 5 46.45 
-17.6 5 46.425 
-17.8 5 46.425 
-18 5 46.425 
-18.2 5 46.425 
-18.4 5 46.475 
-18.6 5 46.45 
-18.8 5 46.4 
-19 5 46.4 
-19.2 5 46.475 
-19.4 5 46.55 
-19.6 5 46.625 
-19.8 5 46.6 
-20 5 46.625 
-20.2 5 46.6 
-20.4 5 46.55 
-20.6 5 46.525 
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-21 5 46.425 
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-21.4 5 46.55 
-21.6 5 46.65 
-21.8 5 46.7 
-22 5 46.725 
-22.2 5 46.675 
-22.4 5 46.575 
-22.6 5 46.475 
-22.8 5 46.4 
-23 5 46.4 
-23.2 5 46.425 
-23.4 5 46.425 
-23.6 5 46.425 
-23.8 5 46.375 
-24 5 46.35 
-24.2 5 46.3 
-24.4 5 46.225 
-24.6 5 46.175 
-24.8 5 46.125 
-25 5 46.125 
-25.2 5 46.1 
-25.4 5 46.05 
-25.6 5 45.875 
-25.8 5 45.625 
-26 5 45.3 
-26.2 5 45.2 
--17 5.2 -19.725 
--16.8 5.2 -19.725 
--16.6 5.2 -19.775 
--16.4 5.2 -19.75 
--16.2 5.2 -19.625 
--16 5.2 -19.5 
--15.8 5.2 -19.325 
--15.6 5.2 -19.1 
--15.4 5.2 -18.825 
--15.2 5.2 -18.675 
--15 5.2 -18.55 
--14.8 5.2 -18.475 
--14.6 5.2 -18.375 
--14.4 5.2 -18.35 
--14.2 5.2 -18.375 
--14 5.2 -18.35 
--13.8 5.2 -18.375 
--13.6 5.2 -18.4 
--13.4 5.2 -18.45 
--13.2 5.2 -18.6 
--13 5.2 -18.7 
--12.8 5.2 -18.7 
--12.6 5.2 -18.75 
--12.4 5.2 -18.85 
--12.2 5.2 -18.975 
--12 5.2 -19.075 
--11.8 5.2 -19.1 
--11.6 5.2 -19.175 
--11.4 5.2 -19.325 
--11.2 5.2 -19.55 
--11 5.2 -19.775 
--10.8 5.2 -19.975 
--10.6 5.2 -20.1 
--10.4 5.2 -20.2 
--10.2 5.2 -20.275 
--10 5.2 -20.4 
--9.8 5.2 -20.55 
--9.6 5.2 -20.75 
--9.4 5.2 -21 
--9.2 5.2 -21.375 
--9 5.2 -21.725 
--8.8 5.2 -22.1 
--8.6 5.2 -22.475 
--8.4 5.2 -23.075 
--8.2 5.2 -23.425 
-1.2 5.2 -23.25 
-1.4 5.2 -22.5 
-1.6 5.2 -21.575 
-1.8 5.2 -21.325 
-2 5.2 -21.075 
-2.2 5.2 -20.8 
-2.4 5.2 -20.55 
-2.6 5.2 -20.3 
-2.8 5.2 -20.15 
-3 5.2 -20.075 
-3.2 5.2 -20 
-3.4 5.2 -19.95 
-3.6 5.2 -20 
-3.8 5.2 -19.95 
-4 5.2 -19.9 
-4.2 5.2 -19.925 
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-4.6 5.2 -20.05 
-4.8 5.2 -20.1 
-5 5.2 -20.1 
-5.2 5.2 -20.15 
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-5.8 5.2 -20.625 
-6 5.2 -20.825 
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-6.4 5.2 -21.275 
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-6.8 5.2 -21.775 
-7 5.2 -22 
-7.2 5.2 -22.325 
-7.4 5.2 -22.9 
-7.6 5.2 -23.175 
-12.4 5.2 12.1 
-12.6 5.2 12.575 
-12.8 5.2 13.35 
-15 5.2 43.3 
-15.2 5.2 43.775 
-15.4 5.2 44.375 
-15.6 5.2 45.025 
-15.8 5.2 45.325 
-16 5.2 45.5 
-16.2 5.2 45.675 
-16.4 5.2 45.825 
-16.6 5.2 45.975 
-16.8 5.2 46.1 
-17 5.2 46.225 
-17.2 5.2 46.425 
-17.4 5.2 46.525 
-17.6 5.2 46.625 
-17.8 5.2 46.65 
-18 5.2 46.625 
-18.2 5.2 46.575 
-18.4 5.2 46.525 
-18.6 5.2 46.475 
-18.8 5.2 46.425 
-19 5.2 46.425 
-19.2 5.2 46.425 
-19.4 5.2 46.5 
-19.6 5.2 46.55 
-19.8 5.2 46.625 
-20 5.2 46.675 
-20.2 5.2 46.675 
-20.4 5.2 46.675 
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-21 5.2 46.5 
-21.2 5.2 46.425 
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-21.6 5.2 46.6 
-21.8 5.2 46.7 
-22 5.2 46.75 
-22.2 5.2 46.675 
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-22.6 5.2 46.5 
-22.8 5.2 46.5 
-23 5.2 46.55 
-23.2 5.2 46.525 
-23.4 5.2 46.475 
-23.6 5.2 46.475 
-23.8 5.2 46.45 
-24 5.2 46.425 
-24.2 5.2 46.375 
-24.4 5.2 46.325 
-24.6 5.2 46.3 
-24.8 5.2 46.3 
-25 5.2 46.25 
-25.2 5.2 46.175 
-25.4 5.2 46 
-25.6 5.2 45.8 
-25.8 5.2 45.475 
-26 5.2 44.65 
-26.2 5.2 44.55 
--16.8 5.4 -20.375 
--16.6 5.4 -20.35 
--16.4 5.4 -20.3 
--16.2 5.4 -20.2 
--16 5.4 -20.075 
--15.8 5.4 -19.875 
--15.6 5.4 -19.625 
--15.4 5.4 -19.325 
--15.2 5.4 -19.125 
--15 5.4 -18.95 
--14.8 5.4 -18.8 
--14.6 5.4 -18.625 
--14.4 5.4 -18.6 
--14.2 5.4 -18.6 
--14 5.4 -18.625 
--13.8 5.4 -18.65 
--13.6 5.4 -18.65 
--13.4 5.4 -18.7 
--13.2 5.4 -18.775 
--13 5.4 -18.775 
--12.8 5.4 -18.775 
--12.6 5.4 -18.775 
--12.4 5.4 -18.9 
--12.2 5.4 -19.05 
--12 5.4 -19.2 
--11.8 5.4 -19.275 
--11.6 5.4 -19.35 
--11.4 5.4 -19.45 
--11.2 5.4 -19.6 
--11 5.4 -19.775 
--10.8 5.4 -19.975 
--10.6 5.4 -20.175 
--10.4 5.4 -20.4 
--10.2 5.4 -20.525 
--10 5.4 -20.625 
--9.8 5.4 -20.775 
--9.6 5.4 -20.95 
--9.4 5.4 -21.1 
--9.2 5.4 -21.325 
--9 5.4 -21.575 
--8.8 5.4 -21.85 
--8.6 5.4 -22.15 
--8.4 5.4 -22.525 
--8.2 5.4 -23.125 
--8 5.4 -23.575 
-1 5.4 -23.6 
-1.2 5.4 -23.3 
-1.4 5.4 -22.625 
-1.6 5.4 -22.275 
-1.8 5.4 -22 
-2 5.4 -21.475 
-2.2 5.4 -21.125 
-2.4 5.4 -20.775 
-2.6 5.4 -20.575 
-2.8 5.4 -20.4 
-3 5.4 -20.3 
-3.2 5.4 -20.325 
-3.4 5.4 -20.375 
-3.6 5.4 -20.45 
-3.8 5.4 -20.45 
-4 5.4 -20.4 
-4.2 5.4 -20.35 
-4.4 5.4 -20.3 
-4.6 5.4 -20.325 
-4.8 5.4 -20.425 
-5 5.4 -20.575 
-5.2 5.4 -20.675 
-5.4 5.4 -20.825 
-5.6 5.4 -20.925 
-5.8 5.4 -21 
-6 5.4 -21.05 
-6.2 5.4 -21.175 
-6.4 5.4 -21.4 
-6.6 5.4 -21.8 
-6.8 5.4 -21.95 
-7 5.4 -22.125 
-7.2 5.4 -22.725 
-7.4 5.4 -23.45 
-12.4 5.4 12.3 
-12.6 5.4 13.05 
-12.8 5.4 13.725 
-13 5.4 14.55 
-15 5.4 43.375 
-15.2 5.4 43.95 
-15.4 5.4 44.65 
-15.6 5.4 45.125 
-15.8 5.4 45.375 
-16 5.4 45.525 
-16.2 5.4 45.725 
-16.4 5.4 45.95 
-16.6 5.4 46.05 
-16.8 5.4 46.15 
-17 5.4 46.225 
-17.2 5.4 46.3 
-17.4 5.4 46.4 
-17.6 5.4 46.45 
-17.8 5.4 46.45 
-18 5.4 46.425 
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-18.6 5.4 46.45 
-18.8 5.4 46.4 
-19 5.4 46.4 
-19.2 5.4 46.45 
-19.4 5.4 46.55 
-19.6 5.4 46.625 
-19.8 5.4 46.6 
-20 5.4 46.575 
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-21 5.4 46.475 
-21.2 5.4 46.525 
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-21.8 5.4 46.6 
-22 5.4 46.6 
-22.2 5.4 46.55 
-22.4 5.4 46.45 
-22.6 5.4 46.375 
-22.8 5.4 46.275 
-23 5.4 46.225 
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-23.6 5.4 46.4 
-23.8 5.4 46.4 
-24 5.4 46.4 
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-25 5.4 46.075 
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-25.6 5.4 45.675 
-25.8 5.4 45.45 
--16.6 5.6 -20.6 
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--16 5.6 -20.275 
--15.8 5.6 -20.1 
--15.6 5.6 -19.925 
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--15.2 5.6 -19.625 
--15 5.6 -19.425 
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--14.6 5.6 -18.95 
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--14.2 5.6 -18.8 
--14 5.6 -18.775 
--13.8 5.6 -18.775 
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--13.2 5.6 -18.8 
--13 5.6 -18.825 
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--12 5.6 -19.275 
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--11.4 5.6 -19.65 
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--11 5.6 -19.875 
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--10.6 5.6 -20.125 
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--10 5.6 -20.6 
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--9 5.6 -21.425 
--8.8 5.6 -21.75 
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--8.2 5.6 -22.975 
--8 5.6 -23.575 
-1.2 5.6 -23.675 
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-1.6 5.6 -22.725 
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-3 5.6 -21.025 
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-6.8 5.6 -22.575 
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-12.2 5.6 12.05 
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-13 5.6 14.55 
-14.8 5.6 43.075 
-15 5.6 43.525 
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-16 5.6 45.725 
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-17 5.6 46.275 
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-17.8 5.6 46.4 
-18 5.6 46.35 
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-18.8 5.6 46.375 
-19 5.6 46.4 
-19.2 5.6 46.425 
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-20 5.6 46.4 
-20.2 5.6 46.45 
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-21 5.6 46.6 
-21.2 5.6 46.6 
-21.4 5.6 46.6 
-21.6 5.6 46.575 
-21.8 5.6 46.575 
-22 5.6 46.525 
-22.2 5.6 46.425 
-22.4 5.6 46.35 
-22.6 5.6 46.325 
-22.8 5.6 46.3 
-23 5.6 46.325 
-23.2 5.6 46.325 
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-23.6 5.6 46.3 
-23.8 5.6 46.25 
-24 5.6 46.275 
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-24.6 5.6 46.275 
-24.8 5.6 46.15 
-25 5.6 46 
-25.2 5.6 45.825 
-25.4 5.6 45.675 
-25.6 5.6 45.4 
-25.8 5.6 45.125 
--16.4 5.8 -20.975 
--16.2 5.8 -20.975 
--16 5.8 -20.85 
--15.8 5.8 -20.725 
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--15 5.8 -19.975 
--14.8 5.8 -19.75 
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--14.4 5.8 -19.3 
--14.2 5.8 -19.25 
--14 5.8 -19.175 
--13.8 5.8 -19.125 
--13.6 5.8 -19 
--13.4 5.8 -18.925 
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--13 5.8 -19.05 
--12.8 5.8 -19.15 
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--12 5.8 -19.4 
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--11 5.8 -19.875 
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--10 5.8 -20.625 
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--9.4 5.8 -21 
--9.2 5.8 -21.325 
--9 5.8 -21.65 
--8.8 5.8 -21.975 
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--8.4 5.8 -22.5 
--8.2 5.8 -22.95 
--8 5.8 -23.65 
--7.8 5.8 -23.725 
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-1.8 5.8 -22.675 
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-12.6 5.8 13.575 
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-13 5.8 14.7 
-13.2 5.8 15.475 
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-14.8 5.8 43.275 
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-15.8 5.8 45.425 
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-16.4 5.8 45.875 
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-16.8 5.8 46 
-17 5.8 46.1 
-17.2 5.8 46.225 
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-17.6 5.8 46.425 
-17.8 5.8 46.475 
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-18.2 5.8 46.55 
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-18.6 5.8 46.5 
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-19 5.8 46.4 
-19.2 5.8 46.325 
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-19.8 5.8 46.55 
-20 5.8 46.625 
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-21 5.8 46.625 
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-22 5.8 46.325 
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-22.6 5.8 46.4 
-22.8 5.8 46.45 
-23 5.8 46.425 
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-23.6 5.8 46.25 
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-24 5.8 46.325 
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-24.6 5.8 46.075 
-24.8 5.8 45.875 
-25 5.8 45.675 
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--16.2 6 -21 
--16 6 -21 
--15.8 6 -21 
--15.6 6 -20.925 
--15.4 6 -20.775 
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--15 6 -20.4 
--14.8 6 -20.15 
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--14 6 -19.475 
--13.8 6 -19.45 
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--11 6 -19.975 
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--10 6 -20.75 
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--9 6 -21.8 
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--8 6 -23.45 
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-7 6 -24.325 
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-7.4 6 -25.375 
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-13 6 14.775 
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-14.8 6 43.625 
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-15.4 6 44.975 
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-16 6 45.575 
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-16.4 6 45.875 
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-17 6 46.15 
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-17.8 6 46.425 
-18 6 46.45 
-18.2 6 46.5 
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-18.8 6 46.45 
-19 6 46.375 
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-20 6 46.6 
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-21 6 46.6 
-21.2 6 46.6 
-21.4 6 46.6 
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-22 6 46.4 
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-24.6 6 46 
-24.8 6 45.85 
-25 6 45.725 
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-25.6 6 44.65 
--16 6.2 -21.475 
--15.8 6.2 -21.475 
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--15 6.2 -21.025 
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--8.2 6.2 -22.8 
--8 6.2 -23.55 
--7.8 6.2 -24.225 
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-5.8 6.2 -22.6 
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-14.8 6.2 43.775 
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-18 6.2 46.4 
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-19 6.2 46.35 
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-20 6.2 46.55 
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--13.8 6.4 -20 
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--13 6.4 -19.675 
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--12 6.4 -19.7 
--11.8 6.4 -19.8 
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--11 6.4 -20.25 
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--8 6.4 -23.625 
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-5.8 6.4 -23.1 
-6 6.4 -23.3 
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-11.6 6.4 11.125 
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-12.2 6.4 13.1 
-12.4 6.4 13.5 
-12.6 6.4 13.925 
-12.8 6.4 14.425 
-13 6.4 15.075 
-13.2 6.4 15.475 
-13.4 6.4 15.95 
-13.6 6.4 16.675 
-13.8 6.4 17.375 
-14.8 6.4 43.7 
-15 6.4 44.3 
-15.2 6.4 44.675 
-15.4 6.4 45 
-15.6 6.4 45.3 
-15.8 6.4 45.45 
-16 6.4 45.625 
-16.2 6.4 45.7 
-16.4 6.4 45.725 
-16.6 6.4 45.825 
-16.8 6.4 45.95 
-17 6.4 46.1 
-17.2 6.4 46.25 
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-17.6 6.4 46.4 
-17.8 6.4 46.45 
-18 6.4 46.475 
-18.2 6.4 46.45 
-18.4 6.4 46.425 
-18.6 6.4 46.4 
-18.8 6.4 46.4 
-19 6.4 46.425 
-19.2 6.4 46.475 
-19.4 6.4 46.5 
-19.6 6.4 46.525 
-19.8 6.4 46.5 
-20 6.4 46.475 
-20.2 6.4 46.425 
-20.4 6.4 46.4 
-20.6 6.4 46.425 
-20.8 6.4 46.475 
-21 6.4 46.55 
-21.2 6.4 46.575 
-21.4 6.4 46.575 
-21.6 6.4 46.6 
-21.8 6.4 46.55 
-22 6.4 46.55 
-22.2 6.4 46.55 
-22.4 6.4 46.5 
-22.6 6.4 46.45 
-22.8 6.4 46.4 
-23 6.4 46.375 
-23.2 6.4 46.375 
-23.4 6.4 46.375 
-23.6 6.4 46.35 
-23.8 6.4 46.275 
-24 6.4 46.225 
-24.2 6.4 46.125 
-24.4 6.4 45.95 
-24.6 6.4 45.8 
-24.8 6.4 45.55 
-25 6.4 45.3 
-25.2 6.4 45.125 
-25.4 6.4 44.75 
--15.6 6.6 -21.675 
--15.4 6.6 -21.675 
--15.2 6.6 -21.725 
--15 6.6 -21.75 
--14.8 6.6 -21.625 
--14.6 6.6 -21.525 
--14.4 6.6 -21.35 
--14.2 6.6 -21.175 
--14 6.6 -20.95 
--13.8 6.6 -20.65 
--13.6 6.6 -20.425 
--13.4 6.6 -20.275 
--13.2 6.6 -20.15 
--13 6.6 -20.075 
--12.8 6.6 -20.05 
--12.6 6.6 -20.025 
--12.4 6.6 -20.025 
--12.2 6.6 -20.025 
--12 6.6 -20.05 
--11.8 6.6 -20.1 
--11.6 6.6 -20.175 
--11.4 6.6 -20.2 
--11.2 6.6 -20.225 
--11 6.6 -20.3 
--10.8 6.6 -20.4 
--10.6 6.6 -20.55 
--10.4 6.6 -20.725 
--10.2 6.6 -20.85 
--10 6.6 -21.025 
--9.8 6.6 -21.175 
--9.6 6.6 -21.35 
--9.4 6.6 -21.425 
--9.2 6.6 -21.45 
--9 6.6 -21.575 
--8.8 6.6 -21.725 
--8.6 6.6 -22.075 
--8.4 6.6 -22.8 
--8.2 6.6 -22.95 
--8 6.6 -23.2 
--7.8 6.6 -23.7 
--7.6 6.6 -24.375 
--7.4 6.6 -24.85 
-1 6.6 -25.625 
-1.2 6.6 -25.325 
-1.4 6.6 -24.8 
-1.6 6.6 -24.275 
-1.8 6.6 -23.925 
-2 6.6 -23.75 
-2.2 6.6 -23.5 
-2.4 6.6 -23.35 
-2.6 6.6 -23.175 
-2.8 6.6 -23.125 
-3 6.6 -23.05 
-3.2 6.6 -22.975 
-3.4 6.6 -22.9 
-3.6 6.6 -22.8 
-3.8 6.6 -22.75 
-4 6.6 -22.7 
-4.2 6.6 -22.675 
-4.4 6.6 -22.775 
-4.6 6.6 -22.9 
-4.8 6.6 -23 
-5 6.6 -23.125 
-5.2 6.6 -23.075 
-5.4 6.6 -23.125 
-5.6 6.6 -23.225 
-5.8 6.6 -23.375 
-6 6.6 -23.575 
-6.2 6.6 -23.85 
-6.4 6.6 -24.05 
-6.6 6.6 -24.275 
-6.8 6.6 -24.725 
-7 6.6 -25.525 
-7.2 6.6 -26.325 
-11.4 6.6 10.7 
-11.6 6.6 11.375 
-11.8 6.6 12 
-12 6.6 12.625 
-12.2 6.6 13.2 
-12.4 6.6 13.675 
-12.6 6.6 14 
-12.8 6.6 14.45 
-13 6.6 14.95 
-13.2 6.6 15.225 
-13.4 6.6 15.775 
-13.6 6.6 16.525 
-13.8 6.6 17.15 
-14.8 6.6 44 
-15 6.6 44.5 
-15.2 6.6 44.675 
-15.4 6.6 44.925 
-15.6 6.6 45.125 
-15.8 6.6 45.275 
-16 6.6 45.4 
-16.2 6.6 45.525 
-16.4 6.6 45.65 
-16.6 6.6 45.8 
-16.8 6.6 45.975 
-17 6.6 46.05 
-17.2 6.6 46.175 
-17.4 6.6 46.225 
-17.6 6.6 46.3 
-17.8 6.6 46.3 
-18 6.6 46.275 
-18.2 6.6 46.325 
-18.4 6.6 46.4 
-18.6 6.6 46.475 
-18.8 6.6 46.55 
-19 6.6 46.525 
-19.2 6.6 46.5 
-19.4 6.6 46.45 
-19.6 6.6 46.425 
-19.8 6.6 46.425 
-20 6.6 46.425 
-20.2 6.6 46.425 
-20.4 6.6 46.425 
-20.6 6.6 46.425 
-20.8 6.6 46.475 
-21 6.6 46.475 
-21.2 6.6 46.5 
-21.4 6.6 46.475 
-21.6 6.6 46.45 
-21.8 6.6 46.45 
-22 6.6 46.4 
-22.2 6.6 46.35 
-22.4 6.6 46.3 
-22.6 6.6 46.275 
-22.8 6.6 46.25 
-23 6.6 46.2 
-23.2 6.6 46.15 
-23.4 6.6 46.15 
-23.6 6.6 46.15 
-23.8 6.6 46.125 
-24 6.6 46.075 
-24.2 6.6 45.95 
-24.4 6.6 45.775 
-24.6 6.6 45.525 
-24.8 6.6 45.275 
-25 6.6 44.875 
-25.2 6.6 44.775 
--15.4 6.8 -21.6 
--15.2 6.8 -21.8 
--15 6.8 -22.075 
--14.8 6.8 -22 
--14.6 6.8 -21.85 
--14.4 6.8 -21.675 
--14.2 6.8 -21.45 
--14 6.8 -21.3 
--13.8 6.8 -21.15 
--13.6 6.8 -20.9 
--13.4 6.8 -20.6 
--13.2 6.8 -20.375 
--13 6.8 -20.3 
--12.8 6.8 -20.25 
--12.6 6.8 -20.25 
--12.4 6.8 -20.225 
--12.2 6.8 -20.15 
--12 6.8 -20.175 
--11.8 6.8 -20.2 
--11.6 6.8 -20.3 
--11.4 6.8 -20.35 
--11.2 6.8 -20.375 
--11 6.8 -20.45 
--10.8 6.8 -20.525 
--10.6 6.8 -20.65 
--10.4 6.8 -20.75 
--10.2 6.8 -20.825 
--10 6.8 -21.025 
--9.8 6.8 -21.2 
--9.6 6.8 -21.4 
--9.4 6.8 -21.6 
--9.2 6.8 -21.775 
--9 6.8 -21.975 
--8.8 6.8 -22.175 
--8.6 6.8 -22.35 
--8.4 6.8 -22.6 
--8.2 6.8 -23.125 
--8 6.8 -23.775 
--7.8 6.8 -24.025 
--7.6 6.8 -24.225 
--7.4 6.8 -24.625 
-1 6.8 -25.75 
-1.2 6.8 -25.35 
-1.4 6.8 -24.975 
-1.6 6.8 -24.725 
-1.8 6.8 -24.375 
-2 6.8 -24.025 
-2.2 6.8 -23.85 
-2.4 6.8 -23.625 
-2.6 6.8 -23.425 
-2.8 6.8 -23.325 
-3 6.8 -23.25 
-3.2 6.8 -23.25 
-3.4 6.8 -23.275 
-3.6 6.8 -23.225 
-3.8 6.8 -23.2 
-4 6.8 -23.175 
-4.2 6.8 -23.15 
-4.4 6.8 -23.15 
-4.6 6.8 -23.2 
-4.8 6.8 -23.275 
-5 6.8 -23.4 
-5.2 6.8 -23.525 
-5.4 6.8 -23.725 
-5.6 6.8 -23.9 
-5.8 6.8 -24.15 
-6 6.8 -24.35 
-6.2 6.8 -24.55 
-6.4 6.8 -24.8 
-6.6 6.8 -25.025 
-6.8 6.8 -25.55 
-7 6.8 -26.025 
-11.4 6.8 11.05 
-11.6 6.8 11.65 
-11.8 6.8 12.175 
-12 6.8 12.675 
-12.2 6.8 13.15 
-12.4 6.8 13.7 
-12.6 6.8 13.9 
-12.8 6.8 14.4 
-13 6.8 14.85 
-13.2 6.8 15.175 
-13.4 6.8 15.7 
-13.6 6.8 16.325 
-13.8 6.8 16.85 
-14 6.8 17.575 
-14.6 6.8 43.5 
-14.8 6.8 43.975 
-15 6.8 44.525 
-15.2 6.8 44.825 
-15.4 6.8 45 
-15.6 6.8 45.2 
-15.8 6.8 45.35 
-16 6.8 45.525 
-16.2 6.8 45.65 
-16.4 6.8 45.75 
-16.6 6.8 45.8 
-16.8 6.8 45.925 
-17 6.8 46 
-17.2 6.8 46.1 
-17.4 6.8 46.15 
-17.6 6.8 46.2 
-17.8 6.8 46.175 
-18 6.8 46.2 
-18.2 6.8 46.25 
-18.4 6.8 46.35 
-18.6 6.8 46.375 
-18.8 6.8 46.35 
-19 6.8 46.275 
-19.2 6.8 46.25 
-19.4 6.8 46.3 
-19.6 6.8 46.4 
-19.8 6.8 46.425 
-20 6.8 46.425 
-20.2 6.8 46.35 
-20.4 6.8 46.275 
-20.6 6.8 46.275 
-20.8 6.8 46.275 
-21 6.8 46.325 
-21.2 6.8 46.425 
-21.4 6.8 46.475 
-21.6 6.8 46.5 
-21.8 6.8 46.525 
-22 6.8 46.5 
-22.2 6.8 46.45 
-22.4 6.8 46.4 
-22.6 6.8 46.325 
-22.8 6.8 46.225 
-23 6.8 46.2 
-23.2 6.8 46.1 
-23.4 6.8 46.1 
-23.6 6.8 46.125 
-23.8 6.8 46.125 
-24 6.8 46.025 
-24.2 6.8 45.85 
-24.4 6.8 45.6 
-24.6 6.8 45.3 
-24.8 6.8 44.975 
-25 6.8 44.525 
-25.2 6.8 44.275 
--15.2 7 -22.375 
--15 7 -22.4 
--14.8 7 -22.4 
--14.6 7 -22.375 
--14.4 7 -22.2 
--14.2 7 -22 
--14 7 -21.75 
--13.8 7 -21.5 
--13.6 7 -21.325 
--13.4 7 -21.15 
--13.2 7 -20.95 
--13 7 -20.775 
--12.8 7 -20.625 
--12.6 7 -20.5 
--12.4 7 -20.45 
--12.2 7 -20.375 
--12 7 -20.275 
--11.8 7 -20.2 
--11.6 7 -20.325 
--11.4 7 -20.45 
--11.2 7 -20.625 
--11 7 -20.725 
--10.8 7 -20.75 
--10.6 7 -20.775 
--10.4 7 -20.825 
--10.2 7 -20.925 
--10 7 -21.15 
--9.8 7 -21.35 
--9.6 7 -21.55 
--9.4 7 -21.675 
--9.2 7 -21.8 
--9 7 -21.95 
--8.8 7 -22.175 
--8.6 7 -22.5 
--8.4 7 -22.75 
--8.2 7 -23.1 
--8 7 -23.45 
--7.8 7 -24.225 
--7.6 7 -24.7 
--7.4 7 -25.075 
--7.2 7 -25.5 
-1 7 -25.525 
-1.2 7 -25.45 
-1.4 7 -25.175 
-1.6 7 -24.95 
-1.8 7 -24.7 
-2 7 -24.425 
-2.2 7 -24.125 
-2.4 7 -23.925 
-2.6 7 -23.775 
-2.8 7 -23.675 
-3 7 -23.6 
-3.2 7 -23.55 
-3.4 7 -23.475 
-3.6 7 -23.375 
-3.8 7 -23.35 
-4 7 -23.3 
-4.2 7 -23.275 
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-4.6 7 -23.275 
-4.8 7 -23.325 
-5 7 -23.45 
-5.2 7 -23.55 
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-5.8 7 -24.175 
-6 7 -24.375 
-6.2 7 -24.65 
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-6.6 7 -25.25 
-6.8 7 -25.525 
-7 7 -25.8 
-11.2 7 10.625 
-11.4 7 11.25 
-11.6 7 11.875 
-11.8 7 12.25 
-12 7 12.675 
-12.2 7 13.225 
-12.4 7 13.6 
-12.6 7 13.925 
-12.8 7 14.425 
-13 7 14.9 
-13.2 7 15.225 
-13.4 7 15.65 
-13.6 7 16.1 
-13.8 7 16.7 
-14 7 17.425 
-14.6 7 43.625 
-14.8 7 44 
-15 7 44.6 
-15.2 7 44.95 
-15.4 7 45.125 
-15.6 7 45.3 
-15.8 7 45.4 
-16 7 45.45 
-16.2 7 45.525 
-16.4 7 45.65 
-16.6 7 45.8 
-16.8 7 45.925 
-17 7 46 
-17.2 7 46.025 
-17.4 7 46.05 
-17.6 7 46.125 
-17.8 7 46.2 
-18 7 46.25 
-18.2 7 46.3 
-18.4 7 46.25 
-18.6 7 46.225 
-18.8 7 46.25 
-19 7 46.325 
-19.2 7 46.375 
-19.4 7 46.425 
-19.6 7 46.4 
-19.8 7 46.375 
-20 7 46.35 
-20.2 7 46.325 
-20.4 7 46.35 
-20.6 7 46.325 
-20.8 7 46.3 
-21 7 46.25 
-21.2 7 46.175 
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-21.6 7 46.25 
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-22 7 46.275 
-22.2 7 46.2 
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-22.8 7 46.075 
-23 7 46.075 
-23.2 7 46.075 
-23.4 7 46.1 
-23.6 7 46.075 
-23.8 7 46.025 
-24 7 45.925 
-24.2 7 45.775 
-24.4 7 45.6 
-24.6 7 45.4 
-24.8 7 44.95 
--15.2 7.2 -22.875 
--15 7.2 -22.85 
--14.8 7.2 -22.825 
--14.6 7.2 -22.725 
--14.4 7.2 -22.625 
--14.2 7.2 -22.4 
--14 7.2 -22.05 
--13.8 7.2 -21.725 
--13.6 7.2 -21.55 
--13.4 7.2 -21.425 
--13.2 7.2 -21.325 
--13 7.2 -21.15 
--12.8 7.2 -21 
--12.6 7.2 -20.825 
--12.4 7.2 -20.75 
--12.2 7.2 -20.65 
--12 7.2 -20.6 
--11.8 7.2 -20.55 
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--11.4 7.2 -20.65 
--11.2 7.2 -20.725 
--11 7.2 -20.8 
--10.8 7.2 -20.9 
--10.6 7.2 -21 
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--10.2 7.2 -21.1 
--10 7.2 -21.1 
--9.8 7.2 -21.175 
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--9.2 7.2 -22.05 
--9 7.2 -22.25 
--8.8 7.2 -22.475 
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--8.2 7.2 -23.25 
--8 7.2 -23.6 
--7.8 7.2 -23.925 
--7.6 7.2 -24.125 
--7.4 7.2 -24.825 
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-5.8 7.2 -24.725 
-6 7.2 -25.025 
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-7 7.2 -26.1 
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-10.8 7.2 9.3 
-11 7.2 10.125 
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-11.8 7.2 12.35 
-12 7.2 12.725 
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-12.6 7.2 13.9 
-12.8 7.2 14.275 
-13 7.2 14.775 
-13.2 7.2 15.2 
-13.4 7.2 15.55 
-13.6 7.2 15.975 
-13.8 7.2 16.425 
-14 7.2 17.05 
-14.6 7.2 43.65 
-14.8 7.2 44.1 
-15 7.2 44.4 
-15.2 7.2 44.65 
-15.4 7.2 44.9 
-15.6 7.2 45.175 
-15.8 7.2 45.3 
-16 7.2 45.475 
-16.2 7.2 45.625 
-16.4 7.2 45.8 
-16.6 7.2 45.975 
-16.8 7.2 46.075 
-17 7.2 46.125 
-17.2 7.2 46.125 
-17.4 7.2 46.1 
-17.6 7.2 46.05 
-17.8 7.2 46.075 
-18 7.2 46.1 
-18.2 7.2 46.15 
-18.4 7.2 46.225 
-18.6 7.2 46.3 
-18.8 7.2 46.35 
-19 7.2 46.375 
-19.2 7.2 46.375 
-19.4 7.2 46.35 
-19.6 7.2 46.3 
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-20 7.2 46.25 
-20.2 7.2 46.25 
-20.4 7.2 46.25 
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-20.8 7.2 46.2 
-21 7.2 46.125 
-21.2 7.2 46.05 
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-21.8 7.2 46.125 
-22 7.2 46.125 
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-22.4 7.2 46.15 
-22.6 7.2 46.2 
-22.8 7.2 46.2 
-23 7.2 46.15 
-23.2 7.2 46.05 
-23.4 7.2 45.925 
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-23.8 7.2 45.775 
-24 7.2 45.65 
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--14.8 7.4 -23.05 
--14.6 7.4 -23.025 
--14.4 7.4 -22.975 
--14.2 7.4 -22.775 
--14 7.4 -22.5 
--13.8 7.4 -22.25 
--13.6 7.4 -22.125 
--13.4 7.4 -21.925 
--13.2 7.4 -21.725 
--13 7.4 -21.575 
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--12.6 7.4 -21.35 
--12.4 7.4 -21.25 
--12.2 7.4 -21.125 
--12 7.4 -20.975 
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--11.2 7.4 -20.85 
--11 7.4 -20.825 
--10.8 7.4 -20.9 
--10.6 7.4 -20.95 
--10.4 7.4 -21 
--10.2 7.4 -21.075 
--10 7.4 -21.225 
--9.8 7.4 -21.45 
--9.6 7.4 -21.75 
--9.4 7.4 -21.95 
--9.2 7.4 -22.15 
--9 7.4 -22.325 
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--8.6 7.4 -22.7 
--8.4 7.4 -22.925 
--8.2 7.4 -23.2 
--8 7.4 -23.525 
--7.8 7.4 -24 
--7.6 7.4 -24.35 
--7.4 7.4 -24.725 
--7.2 7.4 -25.225 
--7 7.4 -26 
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-1.6 7.4 -25.75 
-1.8 7.4 -25.425 
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-2.6 7.4 -24.475 
-2.8 7.4 -24.325 
-3 7.4 -24.3 
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-3.6 7.4 -24.4 
-3.8 7.4 -24.3 
-4 7.4 -24.15 
-4.2 7.4 -24.05 
-4.4 7.4 -24.125 
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-4.8 7.4 -24.4 
-5 7.4 -24.55 
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-5.6 7.4 -24.85 
-5.8 7.4 -25.025 
-6 7.4 -25.2 
-6.2 7.4 -25.35 
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-6.8 7.4 -26.25 
-7 7.4 -26.75 
-7.2 7.4 -27.225 
-10.6 7.4 8.95 
-10.8 7.4 9.55 
-11 7.4 10.225 
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-11.4 7.4 11.45 
-11.6 7.4 12.05 
-11.8 7.4 12.35 
-12 7.4 12.6 
-12.2 7.4 13.025 
-12.4 7.4 13.5 
-12.6 7.4 13.875 
-12.8 7.4 14.225 
-13 7.4 14.65 
-13.2 7.4 15.075 
-13.4 7.4 15.375 
-13.6 7.4 15.825 
-13.8 7.4 16.3 
-14 7.4 16.825 
-14.6 7.4 43.75 
-14.8 7.4 44.275 
-15 7.4 44.6 
-15.2 7.4 44.875 
-15.4 7.4 45.075 
-15.6 7.4 45.25 
-15.8 7.4 45.375 
-16 7.4 45.425 
-16.2 7.4 45.475 
-16.4 7.4 45.575 
-16.6 7.4 45.7 
-16.8 7.4 45.875 
-17 7.4 45.975 
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-19 7.4 46.1 
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-13.8 8.4 15.375 
-14.4 8.4 43.425 
-14.6 8.4 43.85 
-14.8 8.4 44.375 
-15 8.4 44.525 
-15.2 8.4 44.675 
-15.4 8.4 44.8 
-15.6 8.4 44.9 
-15.8 8.4 44.975 
-16 8.4 45.1 
-16.2 8.4 45.25 
-16.4 8.4 45.375 
-16.6 8.4 45.5 
-16.8 8.4 45.575 
-17 8.4 45.625 
-17.2 8.4 45.625 
-17.4 8.4 45.575 
-17.6 8.4 45.575 
-17.8 8.4 45.675 
-18 8.4 45.775 
-18.2 8.4 45.875 
-18.4 8.4 45.925 
-18.6 8.4 45.925 
-18.8 8.4 45.875 
-19 8.4 45.825 
-19.2 8.4 45.8 
-19.4 8.4 45.775 
-19.6 8.4 45.825 
-19.8 8.4 45.825 
-20 8.4 45.825 
-20.2 8.4 45.825 
-20.4 8.4 45.775 
-20.6 8.4 45.725 
-20.8 8.4 45.725 
-21 8.4 45.7 
-21.2 8.4 45.725 
-21.4 8.4 45.75 
-21.6 8.4 45.725 
-21.8 8.4 45.7 
-22 8.4 45.675 
-22.2 8.4 45.625 
-22.4 8.4 45.625 
-22.6 8.4 45.575 
-22.8 8.4 45.475 
-23 8.4 45.425 
-23.2 8.4 45.3 
-23.4 8.4 45.15 
-23.6 8.4 44.975 
-23.8 8.4 44.8 
-24 8.4 44.375 
-24.2 8.4 44.05 
--14 8.6 -24.375 
--13.8 8.6 -24.375 
--13.6 8.6 -24.3 
--13.4 8.6 -24.225 
--13.2 8.6 -24.05 
--13 8.6 -23.825 
--12.8 8.6 -23.6 
--12.6 8.6 -23.375 
--12.4 8.6 -23.175 
--12.2 8.6 -22.875 
--12 8.6 -22.65 
--11.8 8.6 -22.45 
--11.6 8.6 -22.325 
--11.4 8.6 -22.25 
--11.2 8.6 -22.2 
--11 8.6 -22.225 
--10.8 8.6 -22.175 
--10.6 8.6 -22.125 
--10.4 8.6 -22.075 
--10.2 8.6 -22.1 
--10 8.6 -22.2 
--9.8 8.6 -22.35 
--9.6 8.6 -22.5 
--9.4 8.6 -22.625 
--9.2 8.6 -22.725 
--9 8.6 -22.925 
--8.8 8.6 -23.2 
--8.6 8.6 -23.375 
--8.4 8.6 -23.525 
--8.2 8.6 -23.625 
--8 8.6 -23.85 
--7.8 8.6 -24.525 
--7.6 8.6 -24.775 
--7.4 8.6 -25.1 
--7.2 8.6 -25.55 
--7 8.6 -25.975 
--6.8 8.6 -26.275 
--6.6 8.6 -26.85 
--6.4 8.6 -27.525 
-0.600001 8.6 -28.45 
-0.800001 8.6 -28.125 
-1 8.6 -27.7 
-1.2 8.6 -27.45 
-1.4 8.6 -27.1 
-1.6 8.6 -26.875 
-1.8 8.6 -26.675 
-2 8.6 -26.5 
-2.2 8.6 -26.375 
-2.4 8.6 -26.325 
-2.6 8.6 -26.275 
-2.8 8.6 -26.225 
-3 8.6 -26.15 
-3.2 8.6 -26.075 
-3.4 8.6 -25.975 
-3.6 8.6 -25.9 
-3.8 8.6 -25.875 
-4 8.6 -25.85 
-4.2 8.6 -25.9 
-4.4 8.6 -26.025 
-4.6 8.6 -26.125 
-4.8 8.6 -26.175 
-5 8.6 -26.25 
-5.2 8.6 -26.275 
-5.4 8.6 -26.425 
-5.6 8.6 -26.55 
-5.8 8.6 -26.675 
-6 8.6 -26.75 
-6.2 8.6 -26.85 
-6.4 8.6 -27.025 
-6.6 8.6 -27.3 
-6.8 8.6 -27.6 
-7 8.6 -28.225 
-9.4 8.6 6.075 
-9.6 8.6 6.75 
-9.8 8.6 7.75 
-10 8.6 8.25 
-10.2 8.6 8.725 
-10.4 8.6 9.375 
-10.6 8.6 9.875 
-10.8 8.6 10.275 
-11 8.6 10.625 
-11.2 8.6 10.975 
-11.4 8.6 11.325 
-11.6 8.6 11.6 
-11.8 8.6 11.9 
-12 8.6 12.275 
-12.2 8.6 12.675 
-12.4 8.6 13 
-12.6 8.6 13.175 
-12.8 8.6 13.55 
-13 8.6 13.825 
-13.2 8.6 14.25 
-13.4 8.6 14.6 
-13.6 8.6 14.875 
-13.8 8.6 15.175 
-14 8.6 15.525 
-14.6 8.6 43.675 
-14.8 8.6 44.175 
-15 8.6 44.35 
-15.2 8.6 44.55 
-15.4 8.6 44.65 
-15.6 8.6 44.8 
-15.8 8.6 44.9 
-16 8.6 45.05 
-16.2 8.6 45.2 
-16.4 8.6 45.325 
-16.6 8.6 45.375 
-16.8 8.6 45.475 
-17 8.6 45.55 
-17.2 8.6 45.625 
-17.4 8.6 45.625 
-17.6 8.6 45.625 
-17.8 8.6 45.625 
-18 8.6 45.675 
-18.2 8.6 45.75 
-18.4 8.6 45.8 
-18.6 8.6 45.775 
-18.8 8.6 45.75 
-19 8.6 45.75 
-19.2 8.6 45.775 
-19.4 8.6 45.775 
-19.6 8.6 45.775 
-19.8 8.6 45.7 
-20 8.6 45.725 
-20.2 8.6 45.75 
-20.4 8.6 45.8 
-20.6 8.6 45.8 
-20.8 8.6 45.825 
-21 8.6 45.8 
-21.2 8.6 45.75 
-21.4 8.6 45.75 
-21.6 8.6 45.725 
-21.8 8.6 45.725 
-22 8.6 45.725 
-22.2 8.6 45.675 
-22.4 8.6 45.55 
-22.6 8.6 45.425 
-22.8 8.6 45.3 
-23 8.6 45.225 
-23.2 8.6 45.15 
-23.4 8.6 45.05 
-23.6 8.6 44.85 
-23.8 8.6 44.5 
-24 8.6 43.9 
--13.8 8.8 -24.475 
--13.6 8.8 -24.475 
--13.4 8.8 -24.475 
--13.2 8.8 -24.425 
--13 8.8 -24.275 
--12.8 8.8 -24.075 
--12.6 8.8 -23.8 
--12.4 8.8 -23.575 
--12.2 8.8 -23.325 
--12 8.8 -23 
--11.8 8.8 -22.775 
--11.6 8.8 -22.55 
--11.4 8.8 -22.45 
--11.2 8.8 -22.4 
--11 8.8 -22.425 
--10.8 8.8 -22.425 
--10.6 8.8 -22.4 
--10.4 8.8 -22.375 
--10.2 8.8 -22.325 
--10 8.8 -22.375 
--9.8 8.8 -22.45 
--9.6 8.8 -22.55 
--9.4 8.8 -22.7 
--9.2 8.8 -22.875 
--9 8.8 -23.025 
--8.8 8.8 -23.3 
--8.6 8.8 -23.45 
--8.4 8.8 -23.6 
--8.2 8.8 -23.675 
--8 8.8 -23.95 
--7.8 8.8 -24.775 
--7.6 8.8 -25 
--7.4 8.8 -25.175 
--7.2 8.8 -25.375 
--7 8.8 -25.725 
--6.8 8.8 -26.375 
--6.6 8.8 -26.9 
--6.4 8.8 -27.375 
--6.2 8.8 -27.475 
-0.600001 8.8 -28.55 
-0.800001 8.8 -28.525 
-1 8.8 -28.4 
-1.2 8.8 -28.1 
-1.4 8.8 -27.675 
-1.6 8.8 -27.4 
-1.8 8.8 -27.075 
-2 8.8 -26.95 
-2.2 8.8 -26.775 
-2.4 8.8 -26.65 
-2.6 8.8 -26.525 
-2.8 8.8 -26.375 
-3 8.8 -26.325 
-3.2 8.8 -26.275 
-3.4 8.8 -26.225 
-3.6 8.8 -26.175 
-3.8 8.8 -26.125 
-4 8.8 -26.125 
-4.2 8.8 -26.175 
-4.4 8.8 -26.225 
-4.6 8.8 -26.225 
-4.8 8.8 -26.175 
-5 8.8 -26.175 
-5.2 8.8 -26.25 
-5.4 8.8 -26.5 
-5.6 8.8 -26.725 
-5.8 8.8 -26.95 
-6 8.8 -27.075 
-6.2 8.8 -27.25 
-6.4 8.8 -27.45 
-6.6 8.8 -27.75 
-6.8 8.8 -28.15 
-7 8.8 -28.525 
-9.4 8.8 6.55 
-9.6 8.8 7.025 
-9.8 8.8 7.775 
-10 8.8 8.3 
-10.2 8.8 8.95 
-10.4 8.8 9.425 
-10.6 8.8 9.725 
-10.8 8.8 10.125 
-11 8.8 10.475 
-11.2 8.8 10.975 
-11.4 8.8 11.3 
-11.6 8.8 11.525 
-11.8 8.8 11.8 
-12 8.8 12.175 
-12.2 8.8 12.55 
-12.4 8.8 12.75 
-12.6 8.8 13.1 
-12.8 8.8 13.425 
-13 8.8 13.875 
-13.2 8.8 14.125 
-13.4 8.8 14.4 
-13.6 8.8 14.725 
-13.8 8.8 15.075 
-14.4 8.8 43.15 
-14.6 8.8 43.65 
-14.8 8.8 44.2 
-15 8.8 44.275 
-15.2 8.8 44.375 
-15.4 8.8 44.575 
-15.6 8.8 44.725 
-15.8 8.8 44.9 
-16 8.8 45.025 
-16.2 8.8 45.075 
-16.4 8.8 45.15 
-16.6 8.8 45.225 
-16.8 8.8 45.35 
-17 8.8 45.475 
-17.2 8.8 45.55 
-17.4 8.8 45.575 
-17.6 8.8 45.55 
-17.8 8.8 45.55 
-18 8.8 45.575 
-18.2 8.8 45.675 
-18.4 8.8 45.75 
-18.6 8.8 45.825 
-18.8 8.8 45.8 
-19 8.8 45.8 
-19.2 8.8 45.725 
-19.4 8.8 45.675 
-19.6 8.8 45.675 
-19.8 8.8 45.65 
-20 8.8 45.7 
-20.2 8.8 45.7 
-20.4 8.8 45.7 
-20.6 8.8 45.7 
-20.8 8.8 45.675 
-21 8.8 45.625 
-21.2 8.8 45.6 
-21.4 8.8 45.575 
-21.6 8.8 45.5 
-21.8 8.8 45.475 
-22 8.8 45.425 
-22.2 8.8 45.425 
-22.4 8.8 45.375 
-22.6 8.8 45.275 
-22.8 8.8 45.125 
-23 8.8 44.95 
-23.2 8.8 44.75 
-23.4 8.8 44.575 
-23.6 8.8 44.4 
-23.8 8.8 43.975 
--13.8 9 -24.85 
--13.6 9 -24.85 
--13.4 9 -24.8 
--13.2 9 -24.7 
--13 9 -24.575 
--12.8 9 -24.425 
--12.6 9 -24.275 
--12.4 9 -24.075 
--12.2 9 -23.85 
--12 9 -23.6 
--11.8 9 -23.325 
--11.6 9 -23.075 
--11.4 9 -22.8 
--11.2 9 -22.625 
--11 9 -22.575 
--10.8 9 -22.55 
--10.6 9 -22.575 
--10.4 9 -22.575 
--10.2 9 -22.55 
--10 9 -22.575 
--9.8 9 -22.6 
--9.6 9 -22.65 
--9.4 9 -22.825 
--9.2 9 -23.025 
--9 9 -23.175 
--8.8 9 -23.325 
--8.6 9 -23.4 
--8.4 9 -23.525 
--8.2 9 -23.675 
--8 9 -24 
--7.8 9 -24.475 
--7.6 9 -24.875 
--7.4 9 -25.3 
--7.2 9 -25.55 
--7 9 -25.775 
--6.8 9 -26.15 
--6.6 9 -26.65 
--6.4 9 -27.375 
--6.2 9 -27.425 
-0.800001 9 -28.125 
-1 9 -28.3 
-1.2 9 -28.125 
-1.4 9 -27.85 
-1.6 9 -27.6 
-1.8 9 -27.425 
-2 9 -27.3 
-2.2 9 -27.175 
-2.4 9 -27.075 
-2.6 9 -26.925 
-2.8 9 -26.775 
-3 9 -26.7 
-3.2 9 -26.625 
-3.4 9 -26.6 
-3.6 9 -26.55 
-3.8 9 -26.525 
-4 9 -26.5 
-4.2 9 -26.5 
-4.4 9 -26.5 
-4.6 9 -26.5 
-4.8 9 -26.55 
-5 9 -26.675 
-5.2 9 -26.85 
-5.4 9 -27.075 
-5.6 9 -27.2 
-5.8 9 -27.225 
-6 9 -27.225 
-6.2 9 -27.325 
-6.4 9 -27.45 
-6.6 9 -27.75 
-6.8 9 -28.35 
-7 9 -28.85 
-9.2 9 6.1 
-9.4 9 6.425 
-9.6 9 7.125 
-9.8 9 7.9 
-10 9 8.425 
-10.2 9 9.05 
-10.4 9 9.45 
-10.6 9 9.875 
-10.8 9 10.15 
-11 9 10.45 
-11.2 9 10.825 
-11.4 9 11.225 
-11.6 9 11.45 
-11.8 9 11.75 
-12 9 12.125 
-12.2 9 12.45 
-12.4 9 12.7 
-12.6 9 12.9 
-12.8 9 13.3 
-13 9 13.75 
-13.2 9 13.975 
-13.4 9 14.175 
-13.6 9 14.575 
-13.8 9 14.875 
-14 9 15.2 
-14.6 9 43.45 
-14.8 9 44 
-15 9 44.15 
-15.2 9 44.375 
-15.4 9 44.5 
-15.6 9 44.7 
-15.8 9 44.85 
-16 9 44.975 
-16.2 9 45.1 
-16.4 9 45.2 
-16.6 9 45.325 
-16.8 9 45.35 
-17 9 45.375 
-17.2 9 45.4 
-17.4 9 45.475 
-17.6 9 45.575 
-17.8 9 45.65 
-18 9 45.675 
-18.2 9 45.625 
-18.4 9 45.575 
-18.6 9 45.575 
-18.8 9 45.6 
-19 9 45.675 
-19.2 9 45.725 
-19.4 9 45.725 
-19.6 9 45.725 
-19.8 9 45.7 
-20 9 45.675 
-20.2 9 45.625 
-20.4 9 45.575 
-20.6 9 45.525 
-20.8 9 45.55 
-21 9 45.525 
-21.2 9 45.5 
-21.4 9 45.425 
-21.6 9 45.45 
-21.8 9 45.5 
-22 9 45.55 
-22.2 9 45.55 
-22.4 9 45.425 
-22.6 9 45.3 
-22.8 9 45.125 
-23 9 45 
-23.2 9 44.85 
-23.4 9 44.6 
-23.6 9 43.875 
-23.8 9 43.45 
--13.6 9.2 -25.525 
--13.4 9.2 -25.45 
--13.2 9.2 -25.325 
--13 9.2 -25.075 
--12.8 9.2 -24.775 
--12.6 9.2 -24.525 
--12.4 9.2 -24.15 
--12.2 9.2 -23.975 
--12 9.2 -23.825 
--11.8 9.2 -23.725 
--11.6 9.2 -23.5 
--11.4 9.2 -23.275 
--11.2 9.2 -23 
--11 9.2 -22.925 
--10.8 9.2 -22.9 
--10.6 9.2 -22.9 
--10.4 9.2 -22.875 
--10.2 9.2 -22.9 
--10 9.2 -22.95 
--9.8 9.2 -23.025 
--9.6 9.2 -23.175 
--9.4 9.2 -23.225 
--9.2 9.2 -23.325 
--9 9.2 -23.4 
--8.8 9.2 -23.525 
--8.6 9.2 -23.625 
--8.4 9.2 -23.75 
--8.2 9.2 -23.875 
--8 9.2 -24.025 
--7.8 9.2 -24.5 
--7.6 9.2 -25.15 
--7.4 9.2 -25.525 
--7.2 9.2 -25.825 
--7 9.2 -26.225 
--6.8 9.2 -26.45 
--6.6 9.2 -26.725 
--6.4 9.2 -27.075 
--6.2 9.2 -27.625 
-0.800001 9.2 -28.9 
-1 9.2 -28.45 
-1.2 9.2 -28.4 
-1.4 9.2 -28.2 
-1.6 9.2 -27.875 
-1.8 9.2 -27.6 
-2 9.2 -27.5 
-2.2 9.2 -27.3 
-2.4 9.2 -27.15 
-2.6 9.2 -26.975 
-2.8 9.2 -26.85 
-3 9.2 -26.8 
-3.2 9.2 -26.75 
-3.4 9.2 -26.75 
-3.6 9.2 -26.725 
-3.8 9.2 -26.65 
-4 9.2 -26.625 
-4.2 9.2 -26.55 
-4.4 9.2 -26.575 
-4.6 9.2 -26.65 
-4.8 9.2 -26.725 
-5 9.2 -26.875 
-5.2 9.2 -26.925 
-5.4 9.2 -27 
-5.6 9.2 -27.1 
-5.8 9.2 -27.2 
-6 9.2 -27.4 
-6.2 9.2 -27.65 
-6.4 9.2 -27.975 
-6.6 9.2 -28.425 
-6.8 9.2 -28.675 
-7 9.2 -29.025 
-9 9.2 5.825 
-9.2 9.2 6 
-9.4 9.2 6.6 
-9.6 9.2 7.425 
-9.8 9.2 8.2 
-10 9.2 8.575 
-10.2 9.2 8.95 
-10.4 9.2 9.325 
-10.6 9.2 9.675 
-10.8 9.2 10.2 
-11 9.2 10.425 
-11.2 9.2 10.7 
-11.4 9.2 10.975 
-11.6 9.2 11.3 
-11.8 9.2 11.65 
-12 9.2 11.975 
-12.2 9.2 12.275 
-12.4 9.2 12.525 
-12.6 9.2 12.8 
-12.8 9.2 13.1 
-13 9.2 13.425 
-13.2 9.2 13.825 
-13.4 9.2 14.15 
-13.6 9.2 14.475 
-13.8 9.2 14.775 
-14 9.2 15.05 
-14.6 9.2 43.325 
-14.8 9.2 44 
-15 9.2 44.3 
-15.2 9.2 44.45 
-15.4 9.2 44.55 
-15.6 9.2 44.675 
-15.8 9.2 44.75 
-16 9.2 44.875 
-16.2 9.2 45.025 
-16.4 9.2 45.2 
-16.6 9.2 45.3 
-16.8 9.2 45.375 
-17 9.2 45.45 
-17.2 9.2 45.525 
-17.4 9.2 45.575 
-17.6 9.2 45.625 
-17.8 9.2 45.625 
-18 9.2 45.625 
-18.2 9.2 45.675 
-18.4 9.2 45.675 
-18.6 9.2 45.65 
-18.8 9.2 45.6 
-19 9.2 45.575 
-19.2 9.2 45.5 
-19.4 9.2 45.475 
-19.6 9.2 45.5 
-19.8 9.2 45.575 
-20 9.2 45.675 
-20.2 9.2 45.7 
-20.4 9.2 45.65 
-20.6 9.2 45.6 
-20.8 9.2 45.525 
-21 9.2 45.475 
-21.2 9.2 45.4 
-21.4 9.2 45.375 
-21.6 9.2 45.375 
-21.8 9.2 45.35 
-22 9.2 45.325 
-22.2 9.2 45.275 
-22.4 9.2 45.175 
-22.6 9.2 45.05 
-22.8 9.2 44.9 
-23 9.2 44.7 
-23.2 9.2 44.5 
-23.4 9.2 44.125 
-23.6 9.2 43.725 
--13.4 9.4 -25.375 
--13.2 9.4 -25.45 
--13 9.4 -25.4 
--12.8 9.4 -25.3 
--12.6 9.4 -25.025 
--12.4 9.4 -24.775 
--12.2 9.4 -24.5 
--12 9.4 -24.15 
--11.8 9.4 -23.9 
--11.6 9.4 -23.55 
--11.4 9.4 -23.35 
--11.2 9.4 -23.175 
--11 9.4 -23.075 
--10.8 9.4 -23.025 
--10.6 9.4 -22.975 
--10.4 9.4 -22.975 
--10.2 9.4 -22.925 
--10 9.4 -22.95 
--9.8 9.4 -23.05 
--9.6 9.4 -23.175 
--9.4 9.4 -23.325 
--9.2 9.4 -23.425 
--9 9.4 -23.425 
--8.8 9.4 -23.45 
--8.6 9.4 -23.625 
--8.4 9.4 -23.825 
--8.2 9.4 -24.075 
--8 9.4 -24.425 
--7.8 9.4 -24.75 
--7.6 9.4 -25.075 
--7.4 9.4 -25.25 
--7.2 9.4 -25.475 
--7 9.4 -26.175 
--6.8 9.4 -26.3 
--6.6 9.4 -26.45 
--6.4 9.4 -26.875 
--6.2 9.4 -27.775 
-0.800001 9.4 -28.4 
-1 9.4 -29.1 
-1.2 9.4 -28.725 
-1.4 9.4 -28.375 
-1.6 9.4 -28.125 
-1.8 9.4 -27.85 
-2 9.4 -27.675 
-2.2 9.4 -27.525 
-2.4 9.4 -27.45 
-2.6 9.4 -27.375 
-2.8 9.4 -27.35 
-3 9.4 -27.3 
-3.2 9.4 -27.25 
-3.4 9.4 -27.15 
-3.6 9.4 -27.05 
-3.8 9.4 -26.975 
-4 9.4 -26.975 
-4.2 9.4 -27 
-4.4 9.4 -27.05 
-4.6 9.4 -27.075 
-4.8 9.4 -27.125 
-5 9.4 -27.15 
-5.2 9.4 -27.2 
-5.4 9.4 -27.3 
-5.6 9.4 -27.4 
-5.8 9.4 -27.525 
-6 9.4 -27.625 
-6.2 9.4 -27.825 
-6.4 9.4 -28 
-6.6 9.4 -28.275 
-6.8 9.4 -28.55 
-7 9.4 -28.575 
-9 9.4 6.2 
-9.2 9.4 6.375 
-9.4 9.4 6.85 
-9.6 9.4 7.6 
-9.8 9.4 8.025 
-10 9.4 8.575 
-10.2 9.4 9.025 
-10.4 9.4 9.35 
-10.6 9.4 9.675 
-10.8 9.4 9.95 
-11 9.4 10.175 
-11.2 9.4 10.5 
-11.4 9.4 10.8 
-11.6 9.4 11.15 
-11.8 9.4 11.475 
-12 9.4 11.875 
-12.2 9.4 12.175 
-12.4 9.4 12.425 
-12.6 9.4 12.675 
-12.8 9.4 12.975 
-13 9.4 13.325 
-13.2 9.4 13.575 
-13.4 9.4 13.9 
-13.6 9.4 14.175 
-13.8 9.4 14.425 
-14 9.4 14.675 
-14.6 9.4 43.075 
-14.8 9.4 43.75 
-15 9.4 44.075 
-15.2 9.4 44.225 
-15.4 9.4 44.45 
-15.6 9.4 44.675 
-15.8 9.4 44.85 
-16 9.4 44.925 
-16.2 9.4 44.95 
-16.4 9.4 44.975 
-16.6 9.4 44.975 
-16.8 9.4 45.05 
-17 9.4 45.1 
-17.2 9.4 45.175 
-17.4 9.4 45.275 
-17.6 9.4 45.35 
-17.8 9.4 45.425 
-18 9.4 45.475 
-18.2 9.4 45.525 
-18.4 9.4 45.575 
-18.6 9.4 45.575 
-18.8 9.4 45.575 
-19 9.4 45.575 
-19.2 9.4 45.55 
-19.4 9.4 45.475 
-19.6 9.4 45.425 
-19.8 9.4 45.425 
-20 9.4 45.5 
-20.2 9.4 45.525 
-20.4 9.4 45.525 
-20.6 9.4 45.475 
-20.8 9.4 45.425 
-21 9.4 45.4 
-21.2 9.4 45.35 
-21.4 9.4 45.275 
-21.6 9.4 45.2 
-21.8 9.4 45.175 
-22 9.4 45.15 
-22.2 9.4 45.1 
-22.4 9.4 44.95 
-22.6 9.4 44.725 
-22.8 9.4 44.425 
-23 9.4 44.225 
-23.2 9.4 43.975 
-23.4 9.4 43.775 
--13.2 9.6 -25.925 
--13 9.6 -25.925 
--12.8 9.6 -25.875 
--12.6 9.6 -25.725 
--12.4 9.6 -25.55 
--12.2 9.6 -25.375 
--12 9.6 -25.05 
--11.8 9.6 -24.45 
--11.6 9.6 -24.05 
--11.4 9.6 -23.875 
--11.2 9.6 -23.65 
--11 9.6 -23.5 
--10.8 9.6 -23.375 
--10.6 9.6 -23.325 
--10.4 9.6 -23.275 
--10.2 9.6 -23.3 
--10 9.6 -23.3 
--9.8 9.6 -23.3 
--9.6 9.6 -23.325 
--9.4 9.6 -23.3 
--9.2 9.6 -23.35 
--9 9.6 -23.45 
--8.8 9.6 -23.625 
--8.6 9.6 -23.875 
--8.4 9.6 -24.025 
--8.2 9.6 -24.125 
--8 9.6 -24.375 
--7.8 9.6 -24.85 
--7.6 9.6 -25.075 
--7.4 9.6 -25.5 
--7.2 9.6 -26.075 
--7 9.6 -26.375 
--6.8 9.6 -26.575 
--6.6 9.6 -26.8 
--6.4 9.6 -27.1 
--6.2 9.6 -27.5 
-0.800001 9.6 -28.375 
-1 9.6 -29.3 
-1.2 9.6 -29.075 
-1.4 9.6 -28.8 
-1.6 9.6 -28.6 
-1.8 9.6 -28.35 
-2 9.6 -28.15 
-2.2 9.6 -27.95 
-2.4 9.6 -27.85 
-2.6 9.6 -27.75 
-2.8 9.6 -27.65 
-3 9.6 -27.625 
-3.2 9.6 -27.55 
-3.4 9.6 -27.45 
-3.6 9.6 -27.325 
-3.8 9.6 -27.25 
-4 9.6 -27.225 
-4.2 9.6 -27.25 
-4.4 9.6 -27.3 
-4.6 9.6 -27.275 
-4.8 9.6 -27.25 
-5 9.6 -27.3 
-5.2 9.6 -27.375 
-5.4 9.6 -27.575 
-5.6 9.6 -27.75 
-5.8 9.6 -27.9 
-6 9.6 -28.05 
-6.2 9.6 -28.2 
-6.4 9.6 -28.35 
-6.6 9.6 -28.55 
-6.8 9.6 -29.225 
-7 9.6 -29.375 
-9 9.6 6.025 
-9.2 9.6 6.475 
-9.4 9.6 6.975 
-9.6 9.6 7.65 
-9.8 9.6 8.25 
-10 9.6 8.6 
-10.2 9.6 8.85 
-10.4 9.6 9.125 
-10.6 9.6 9.475 
-10.8 9.6 9.8 
-11 9.6 10.15 
-11.2 9.6 10.4 
-11.4 9.6 10.675 
-11.6 9.6 11.025 
-11.8 9.6 11.325 
-12 9.6 11.775 
-12.2 9.6 12 
-12.4 9.6 12.3 
-12.6 9.6 12.525 
-12.8 9.6 12.8 
-13 9.6 13.125 
-13.2 9.6 13.375 
-13.4 9.6 13.65 
-13.6 9.6 13.95 
-13.8 9.6 14.175 
-14 9.6 14.4 
-14.6 9.6 42.7 
-14.8 9.6 43.35 
-15 9.6 43.925 
-15.2 9.6 44.25 
-15.4 9.6 44.45 
-15.6 9.6 44.6 
-15.8 9.6 44.75 
-16 9.6 44.875 
-16.2 9.6 44.95 
-16.4 9.6 45.05 
-16.6 9.6 45.1 
-16.8 9.6 45.15 
-17 9.6 45.175 
-17.2 9.6 45.2 
-17.4 9.6 45.275 
-17.6 9.6 45.375 
-17.8 9.6 45.45 
-18 9.6 45.5 
-18.2 9.6 45.5 
-18.4 9.6 45.425 
-18.6 9.6 45.375 
-18.8 9.6 45.35 
-19 9.6 45.375 
-19.2 9.6 45.425 
-19.4 9.6 45.475 
-19.6 9.6 45.525 
-19.8 9.6 45.5 
-20 9.6 45.475 
-20.2 9.6 45.425 
-20.4 9.6 45.375 
-20.6 9.6 45.35 
-20.8 9.6 45.35 
-21 9.6 45.3 
-21.2 9.6 45.225 
-21.4 9.6 45.175 
-21.6 9.6 45.125 
-21.8 9.6 45.125 
-22 9.6 45.075 
-22.2 9.6 45 
-22.4 9.6 44.875 
-22.6 9.6 44.725 
-22.8 9.6 44.525 
-23 9.6 44.35 
-23.2 9.6 43.95 
-23.4 9.6 43.35 
--13 9.8 -26.3 
--12.8 9.8 -26.175 
--12.6 9.8 -26.075 
--12.4 9.8 -25.85 
--12.2 9.8 -25.7 
--12 9.8 -25.45 
--11.8 9.8 -25.175 
--11.6 9.8 -24.7 
--11.4 9.8 -24.5 
--11.2 9.8 -24.2 
--11 9.8 -23.975 
--10.8 9.8 -23.775 
--10.6 9.8 -23.6 
--10.4 9.8 -23.45 
--10.2 9.8 -23.375 
--10 9.8 -23.4 
--9.8 9.8 -23.5 
--9.6 9.8 -23.6 
--9.4 9.8 -23.7 
--9.2 9.8 -23.775 
--9 9.8 -23.825 
--8.8 9.8 -23.95 
--8.6 9.8 -24.075 
--8.4 9.8 -24.2 
--8.2 9.8 -24.325 
--8 9.8 -24.5 
--7.8 9.8 -24.625 
--7.6 9.8 -24.95 
--7.4 9.8 -25.25 
--7.2 9.8 -25.525 
--7 9.8 -26.05 
--6.8 9.8 -26.75 
--6.6 9.8 -26.95 
--6.4 9.8 -27.175 
--6.2 9.8 -27.5 
-0.800001 9.8 -28.8 
-1 9.8 -29.1 
-1.2 9.8 -28.825 
-1.4 9.8 -28.575 
-1.6 9.8 -28.35 
-1.8 9.8 -28.125 
-2 9.8 -28.025 
-2.2 9.8 -27.975 
-2.4 9.8 -27.9 
-2.6 9.8 -27.825 
-2.8 9.8 -27.725 
-3 9.8 -27.625 
-3.2 9.8 -27.6 
-3.4 9.8 -27.475 
-3.6 9.8 -27.375 
-3.8 9.8 -27.325 
-4 9.8 -27.3 
-4.2 9.8 -27.25 
-4.4 9.8 -27.275 
-4.6 9.8 -27.35 
-4.8 9.8 -27.5 
-5 9.8 -27.675 
-5.2 9.8 -27.775 
-5.4 9.8 -27.85 
-5.6 9.8 -28 
-5.8 9.8 -28.225 
-6 9.8 -28.425 
-6.2 9.8 -28.675 
-6.4 9.8 -28.925 
-6.6 9.8 -29.225 
-6.8 9.8 -29.35 
-8.8 9.8 5.775 
-9 9.8 6.1 
-9.2 9.8 6.725 
-9.4 9.8 7.15 
-9.6 9.8 7.75 
-9.8 9.8 8.275 
-10 9.8 8.575 
-10.2 9.8 8.85 
-10.4 9.8 9.225 
-10.6 9.8 9.625 
-10.8 9.8 9.825 
-11 9.8 10.05 
-11.2 9.8 10.325 
-11.4 9.8 10.625 
-11.6 9.8 10.925 
-11.8 9.8 11.25 
-12 9.8 11.55 
-12.2 9.8 11.825 
-12.4 9.8 12.05 
-12.6 9.8 12.325 
-12.8 9.8 12.7 
-13 9.8 13.1 
-13.2 9.8 13.225 
-13.4 9.8 13.45 
-13.6 9.8 13.65 
-13.8 9.8 13.85 
-14 9.8 14.075 
-14.2 9.8 14.275 
-14.8 9.8 43.35 
-15 9.8 43.825 
-15.2 9.8 43.925 
-15.4 9.8 44.075 
-15.6 9.8 44.25 
-15.8 9.8 44.35 
-16 9.8 44.525 
-16.2 9.8 44.7 
-16.4 9.8 44.875 
-16.6 9.8 45.05 
-16.8 9.8 45.15 
-17 9.8 45.175 
-17.2 9.8 45.15 
-17.4 9.8 45.15 
-17.6 9.8 45.225 
-17.8 9.8 45.3 
-18 9.8 45.325 
-18.2 9.8 45.35 
-18.4 9.8 45.375 
-18.6 9.8 45.45 
-18.8 9.8 45.5 
-19 9.8 45.5 
-19.2 9.8 45.5 
-19.4 9.8 45.475 
-19.6 9.8 45.45 
-19.8 9.8 45.375 
-20 9.8 45.3 
-20.2 9.8 45.225 
-20.4 9.8 45.15 
-20.6 9.8 45.125 
-20.8 9.8 45.15 
-21 9.8 45.2 
-21.2 9.8 45.225 
-21.4 9.8 45.175 
-21.6 9.8 45.125 
-21.8 9.8 45.05 
-22 9.8 44.975 
-22.2 9.8 44.875 
-22.4 9.8 44.75 
-22.6 9.8 44.625 
-22.8 9.8 44.425 
-23 9.8 44.05 
-23.2 9.8 43.4 
--12.8 10 -26.55 
--12.6 10 -26.5 
--12.4 10 -26.375 
--12.2 10 -26.15 
--12 10 -25.825 
--11.8 10 -25.5 
--11.6 10 -25.275 
--11.4 10 -25.05 
--11.2 10 -24.75 
--11 10 -24.35 
--10.8 10 -23.95 
--10.6 10 -23.8 
--10.4 10 -23.625 
--10.2 10 -23.575 
--10 10 -23.6 
--9.8 10 -23.65 
--9.6 10 -23.7 
--9.4 10 -23.725 
--9.2 10 -23.825 
--9 10 -23.95 
--8.8 10 -24.175 
--8.6 10 -24.4 
--8.4 10 -24.5 
--8.2 10 -24.55 
--8 10 -24.625 
--7.8 10 -24.8 
--7.6 10 -24.95 
--7.4 10 -25.35 
--7.2 10 -25.875 
--7 10 -26.525 
--6.8 10 -26.8 
--6.6 10 -27.1 
--6.4 10 -27.3 
--6.2 10 -27.35 
--6 10 -27.75 
-1 10 -29.5 
-1.2 10 -29.375 
-1.4 10 -29.225 
-1.6 10 -29.125 
-1.8 10 -29.025 
-2 10 -28.9 
-2.2 10 -28.7 
-2.4 10 -28.525 
-2.6 10 -28.4 
-2.8 10 -28.425 
-3 10 -28.475 
-3.2 10 -28.5 
-3.4 10 -28.425 
-3.6 10 -28.275 
-3.8 10 -28.1 
-4 10 -27.925 
-4.2 10 -27.8 
-4.4 10 -27.725 
-4.6 10 -27.675 
-4.8 10 -27.7 
-5 10 -27.8 
-5.2 10 -27.925 
-5.4 10 -28.125 
-5.6 10 -28.3 
-5.8 10 -28.5 
-6 10 -28.6 
-6.2 10 -28.7 
-6.4 10 -28.8 
-6.6 10 -28.95 
-6.8 10 -29.325 
-7 10 -29.55 
-8.8 10 5.625 
-9 10 6.15 
-9.2 10 6.725 
-9.4 10 7.375 
-9.6 10 7.85 
-9.8 10 8.125 
-10 10 8.475 
-10.2 10 8.8 
-10.4 10 9.25 
-10.6 10 9.525 
-10.8 10 9.725 
-11 10 9.975 
-11.2 10 10.275 
-11.4 10 10.575 
-11.6 10 10.8 
-11.8 10 11.075 
-12 10 11.35 
-12.2 10 11.65 
-12.4 10 11.925 
-12.6 10 12.2 
-12.8 10 12.525 
-13 10 12.875 
-13.2 10 13.05 
-13.4 10 13.225 
-13.6 10 13.375 
-13.8 10 13.6 
-14 10 13.875 
-14.2 10 14.125 
-14.8 10 42.725 
-15 10 43.675 
-15.2 10 43.875 
-15.4 10 44.05 
-15.6 10 44.225 
-15.8 10 44.35 
-16 10 44.5 
-16.2 10 44.65 
-16.4 10 44.775 
-16.6 10 44.925 
-16.8 10 44.975 
-17 10 45 
-17.2 10 45.05 
-17.4 10 45.125 
-17.6 10 45.225 
-17.8 10 45.25 
-18 10 45.3 
-18.2 10 45.275 
-18.4 10 45.275 
-18.6 10 45.25 
-18.8 10 45.2 
-19 10 45.2 
-19.2 10 45.275 
-19.4 10 45.325 
-19.6 10 45.4 
-19.8 10 45.375 
-20 10 45.325 
-20.2 10 45.275 
-20.4 10 45.25 
-20.6 10 45.25 
-20.8 10 45.2 
-21 10 45.175 
-21.2 10 45.125 
-21.4 10 45.05 
-21.6 10 44.95 
-21.8 10 44.8 
-22 10 44.675 
-22.2 10 44.525 
-22.4 10 44.425 
-22.6 10 44.3 
-22.8 10 44.075 
-23 10 43.65 
-23.2 10 43 
--12.8 10.2 -25.95 
--12.6 10.2 -26.025 
--12.4 10.2 -26.15 
--12.2 10.2 -26.225 
--12 10.2 -26.125 
--11.8 10.2 -25.95 
--11.6 10.2 -25.7 
--11.4 10.2 -25.3 
--11.2 10.2 -24.825 
--11 10.2 -24.675 
--10.8 10.2 -24.45 
--10.6 10.2 -24.25 
--10.4 10.2 -24.075 
--10.2 10.2 -23.975 
--10 10.2 -23.925 
--9.8 10.2 -23.925 
--9.6 10.2 -23.95 
--9.4 10.2 -24 
--9.2 10.2 -24.05 
--9 10.2 -24.2 
--8.8 10.2 -24.325 
--8.6 10.2 -24.45 
--8.4 10.2 -24.625 
--8.2 10.2 -24.8 
--8 10.2 -25.025 
--7.8 10.2 -25.225 
--7.6 10.2 -25.425 
--7.4 10.2 -25.625 
--7.2 10.2 -25.875 
--7 10.2 -26.15 
--6.8 10.2 -26.5 
--6.6 10.2 -26.7 
--6.4 10.2 -26.875 
--6.2 10.2 -27.55 
--6 10.2 -28.1 
-1 10.2 -29.75 
-1.2 10.2 -29.575 
-1.4 10.2 -29.4 
-1.6 10.2 -29.175 
-1.8 10.2 -28.95 
-2 10.2 -28.775 
-2.2 10.2 -28.6 
-2.4 10.2 -28.525 
-2.6 10.2 -28.55 
-2.8 10.2 -28.55 
-3 10.2 -28.5 
-3.2 10.2 -28.375 
-3.4 10.2 -28.275 
-3.6 10.2 -28.225 
-3.8 10.2 -28.125 
-4 10.2 -28.1 
-4.2 10.2 -28.05 
-4.4 10.2 -28.05 
-4.6 10.2 -28.075 
-4.8 10.2 -28.075 
-5 10.2 -28.075 
-5.2 10.2 -28.15 
-5.4 10.2 -28.3 
-5.6 10.2 -28.45 
-5.8 10.2 -28.65 
-6 10.2 -28.775 
-6.2 10.2 -28.95 
-6.4 10.2 -29.175 
-6.6 10.2 -29.425 
-6.8 10.2 -29.675 
-7 10.2 -29.75 
-8.6 10.2 5.625 
-8.8 10.2 5.875 
-9 10.2 6.35 
-9.2 10.2 6.975 
-9.4 10.2 7.35 
-9.6 10.2 7.825 
-9.8 10.2 8.35 
-10 10.2 8.5 
-10.2 10.2 8.725 
-10.4 10.2 9.025 
-10.6 10.2 9.375 
-10.8 10.2 9.65 
-11 10.2 9.875 
-11.2 10.2 10.15 
-11.4 10.2 10.425 
-11.6 10.2 10.6 
-11.8 10.2 10.875 
-12 10.2 11.225 
-12.2 10.2 11.625 
-12.4 10.2 11.8 
-12.6 10.2 12.1 
-12.8 10.2 12.325 
-13 10.2 12.6 
-13.2 10.2 12.8 
-13.4 10.2 13 
-13.6 10.2 13.2 
-13.8 10.2 13.35 
-14 10.2 13.525 
-14.2 10.2 13.725 
-14.4 10.2 13.95 
-14.8 10.2 42.4 
-15 10.2 42.9 
-15.2 10.2 43.675 
-15.4 10.2 43.975 
-15.6 10.2 44.125 
-15.8 10.2 44.3 
-16 10.2 44.475 
-16.2 10.2 44.6 
-16.4 10.2 44.725 
-16.6 10.2 44.825 
-16.8 10.2 44.9 
-17 10.2 44.95 
-17.2 10.2 44.925 
-17.4 10.2 44.925 
-17.6 10.2 44.975 
-17.8 10.2 45.025 
-18 10.2 45.125 
-18.2 10.2 45.15 
-18.4 10.2 45.175 
-18.6 10.2 45.175 
-18.8 10.2 45.225 
-19 10.2 45.25 
-19.2 10.2 45.25 
-19.4 10.2 45.225 
-19.6 10.2 45.25 
-19.8 10.2 45.25 
-20 10.2 45.275 
-20.2 10.2 45.275 
-20.4 10.2 45.275 
-20.6 10.2 45.25 
-20.8 10.2 45.25 
-21 10.2 45.25 
-21.2 10.2 45.225 
-21.4 10.2 45.125 
-21.6 10.2 44.95 
-21.8 10.2 44.8 
-22 10.2 44.6 
-22.2 10.2 44.375 
-22.4 10.2 44.125 
-22.6 10.2 43.9 
-22.8 10.2 43.35 
-23 10.2 43.075 
--12.6 10.4 -26.875 
--12.4 10.4 -26.775 
--12.2 10.4 -26.575 
--12 10.4 -26.325 
--11.8 10.4 -26.075 
--11.6 10.4 -25.825 
--11.4 10.4 -25.6 
--11.2 10.4 -25.325 
--11 10.4 -25.125 
--10.8 10.4 -24.925 
--10.6 10.4 -24.775 
--10.4 10.4 -24.6 
--10.2 10.4 -24.475 
--10 10.4 -24.375 
--9.8 10.4 -24.35 
--9.6 10.4 -24.375 
--9.4 10.4 -24.4 
--9.2 10.4 -24.35 
--9 10.4 -24.425 
--8.8 10.4 -24.525 
--8.6 10.4 -24.7 
--8.4 10.4 -24.975 
--8.2 10.4 -25.175 
--8 10.4 -25.425 
--7.8 10.4 -25.575 
--7.6 10.4 -25.75 
--7.4 10.4 -25.875 
--7.2 10.4 -26.025 
--7 10.4 -26.2 
--6.8 10.4 -26.475 
--6.6 10.4 -26.75 
--6.4 10.4 -27.225 
--6.2 10.4 -27.5 
--6 10.4 -27.925 
--5.8 10.4 -28.75 
-1 10.4 -29.6 
-1.2 10.4 -29.6 
-1.4 10.4 -29.525 
-1.6 10.4 -29.475 
-1.8 10.4 -29.375 
-2 10.4 -29.225 
-2.2 10.4 -29.15 
-2.4 10.4 -29.05 
-2.6 10.4 -28.875 
-2.8 10.4 -28.7 
-3 10.4 -28.55 
-3.2 10.4 -28.5 
-3.4 10.4 -28.475 
-3.6 10.4 -28.425 
-3.8 10.4 -28.4 
-4 10.4 -28.425 
-4.2 10.4 -28.475 
-4.4 10.4 -28.575 
-4.6 10.4 -28.55 
-4.8 10.4 -28.475 
-5 10.4 -28.375 
-5.2 10.4 -28.325 
-5.4 10.4 -28.45 
-5.6 10.4 -28.575 
-5.8 10.4 -28.65 
-6 10.4 -28.725 
-6.2 10.4 -28.775 
-6.4 10.4 -29.075 
-6.6 10.4 -29.625 
-8.4 10.4 5.2 
-8.6 10.4 5.375 
-8.8 10.4 5.875 
-9 10.4 6.45 
-9.2 10.4 7.2 
-9.4 10.4 7.425 
-9.6 10.4 7.725 
-9.8 10.4 8.025 
-10 10.4 8.375 
-10.2 10.4 8.65 
-10.4 10.4 8.925 
-10.6 10.4 9.25 
-10.8 10.4 9.5 
-11 10.4 9.8 
-11.2 10.4 10.025 
-11.4 10.4 10.275 
-11.6 10.4 10.5 
-11.8 10.4 10.75 
-12 10.4 11.025 
-12.2 10.4 11.325 
-12.4 10.4 11.575 
-12.6 10.4 11.825 
-12.8 10.4 12.1 
-13 10.4 12.35 
-13.2 10.4 12.525 
-13.4 10.4 12.675 
-13.6 10.4 12.85 
-13.8 10.4 13.05 
-14 10.4 13.325 
-14.2 10.4 13.575 
-14.4 10.4 13.875 
-15 10.4 42.7 
-15.2 10.4 43.4 
-15.4 10.4 43.8 
-15.6 10.4 44.075 
-15.8 10.4 44.25 
-16 10.4 44.425 
-16.2 10.4 44.55 
-16.4 10.4 44.675 
-16.6 10.4 44.775 
-16.8 10.4 44.85 
-17 10.4 44.95 
-17.2 10.4 44.975 
-17.4 10.4 44.95 
-17.6 10.4 44.95 
-17.8 10.4 45 
-18 10.4 45.05 
-18.2 10.4 45.1 
-18.4 10.4 45.125 
-18.6 10.4 45.1 
-18.8 10.4 45.1 
-19 10.4 45.1 
-19.2 10.4 45.15 
-19.4 10.4 45.175 
-19.6 10.4 45.2 
-19.8 10.4 45.25 
-20 10.4 45.275 
-20.2 10.4 45.225 
-20.4 10.4 45.175 
-20.6 10.4 45.075 
-20.8 10.4 45 
-21 10.4 45 
-21.2 10.4 45 
-21.4 10.4 44.875 
-21.6 10.4 44.775 
-21.8 10.4 44.65 
-22 10.4 44.5 
-22.2 10.4 44.375 
-22.4 10.4 44.2 
-22.6 10.4 43.875 
-22.8 10.4 43.5 
--12.4 10.6 -26.9 
--12.2 10.6 -26.875 
--12 10.6 -26.775 
--11.8 10.6 -26.6 
--11.6 10.6 -26.375 
--11.4 10.6 -26.1 
--11.2 10.6 -25.8 
--11 10.6 -25.4 
--10.8 10.6 -25.05 
--10.6 10.6 -24.925 
--10.4 10.6 -24.75 
--10.2 10.6 -24.6 
--10 10.6 -24.475 
--9.8 10.6 -24.375 
--9.6 10.6 -24.375 
--9.4 10.6 -24.425 
--9.2 10.6 -24.5 
--9 10.6 -24.625 
--8.8 10.6 -24.75 
--8.6 10.6 -24.9 
--8.4 10.6 -25.075 
--8.2 10.6 -25.25 
--8 10.6 -25.4 
--7.8 10.6 -25.525 
--7.6 10.6 -25.675 
--7.4 10.6 -25.85 
--7.2 10.6 -26.15 
--7 10.6 -26.325 
--6.8 10.6 -26.65 
--6.6 10.6 -27.125 
--6.4 10.6 -27.6 
--6.2 10.6 -28 
--6 10.6 -28.35 
--5.8 10.6 -28.675 
--5.6 10.6 -28.975 
-1.4 10.6 -29.45 
-1.6 10.6 -29.4 
-1.8 10.6 -29.35 
-2 10.6 -29.325 
-2.2 10.6 -29.225 
-2.4 10.6 -29.025 
-2.6 10.6 -28.85 
-2.8 10.6 -28.775 
-3 10.6 -28.725 
-3.2 10.6 -28.675 
-3.4 10.6 -28.625 
-3.6 10.6 -28.6 
-3.8 10.6 -28.55 
-4 10.6 -28.475 
-4.2 10.6 -28.375 
-4.4 10.6 -28.375 
-4.6 10.6 -28.425 
-4.8 10.6 -28.4 
-5 10.6 -28.375 
-5.2 10.6 -28.425 
-5.4 10.6 -28.625 
-5.6 10.6 -28.95 
-5.8 10.6 -29.25 
-6 10.6 -29.4 
-6.2 10.6 -29.625 
-6.4 10.6 -29.775 
-8.4 10.6 5.1 
-8.6 10.6 5.35 
-8.8 10.6 5.925 
-9 10.6 6.5 
-9.2 10.6 6.925 
-9.4 10.6 7.275 
-9.6 10.6 7.675 
-9.8 10.6 8.05 
-10 10.6 8.225 
-10.2 10.6 8.55 
-10.4 10.6 8.775 
-10.6 10.6 9.075 
-10.8 10.6 9.425 
-11 10.6 9.675 
-11.2 10.6 9.9 
-11.4 10.6 10.15 
-11.6 10.6 10.35 
-11.8 10.6 10.6 
-12 10.6 10.9 
-12.2 10.6 11.15 
-12.4 10.6 11.4 
-12.6 10.6 11.65 
-12.8 10.6 11.85 
-13 10.6 12.075 
-13.2 10.6 12.3 
-13.4 10.6 12.475 
-13.6 10.6 12.675 
-13.8 10.6 12.85 
-14 10.6 13.1 
-14.2 10.6 13.35 
-14.4 10.6 13.6 
-14.6 10.6 13.8 
-15 10.6 42.15 
-15.2 10.6 42.9 
-15.4 10.6 43.4 
-15.6 10.6 43.775 
-15.8 10.6 43.95 
-16 10.6 44.075 
-16.2 10.6 44.2 
-16.4 10.6 44.325 
-16.6 10.6 44.425 
-16.8 10.6 44.5 
-17 10.6 44.575 
-17.2 10.6 44.675 
-17.4 10.6 44.775 
-17.6 10.6 44.875 
-17.8 10.6 44.975 
-18 10.6 45.05 
-18.2 10.6 45.075 
-18.4 10.6 45.075 
-18.6 10.6 45.05 
-18.8 10.6 45.05 
-19 10.6 45.05 
-19.2 10.6 45 
-19.4 10.6 45.025 
-19.6 10.6 45 
-19.8 10.6 45.025 
-20 10.6 45.05 
-20.2 10.6 45.05 
-20.4 10.6 45.05 
-20.6 10.6 45.025 
-20.8 10.6 44.975 
-21 10.6 44.9 
-21.2 10.6 44.8 
-21.4 10.6 44.7 
-21.6 10.6 44.65 
-21.8 10.6 44.5 
-22 10.6 44.3 
-22.2 10.6 44.05 
-22.4 10.6 43.675 
-22.6 10.6 43.25 
--12.2 10.8 -26.9 
--12 10.8 -26.85 
--11.8 10.8 -26.7 
--11.6 10.8 -26.475 
--11.4 10.8 -26.175 
--11.2 10.8 -25.925 
--11 10.8 -25.725 
--10.8 10.8 -25.525 
--10.6 10.8 -25.275 
--10.4 10.8 -24.975 
--10.2 10.8 -24.775 
--10 10.8 -24.625 
--9.8 10.8 -24.5 
--9.6 10.8 -24.475 
--9.4 10.8 -24.475 
--9.2 10.8 -24.475 
--9 10.8 -24.5 
--8.8 10.8 -24.6 
--8.6 10.8 -24.7 
--8.4 10.8 -24.95 
--8.2 10.8 -25.15 
--8 10.8 -25.325 
--7.8 10.8 -25.45 
--7.6 10.8 -25.625 
--7.4 10.8 -25.825 
--7.2 10.8 -26.125 
--7 10.8 -26.275 
--6.8 10.8 -26.45 
--6.6 10.8 -26.55 
--6.4 10.8 -26.775 
--6.2 10.8 -27.625 
--6 10.8 -28.125 
--5.8 10.8 -28.5 
--5.6 10.8 -28.95 
--5.4 10.8 -29 
-1.6 10.8 -29.725 
-1.8 10.8 -29.5 
-2 10.8 -29.4 
-2.2 10.8 -29.3 
-2.4 10.8 -29.25 
-2.6 10.8 -29.275 
-2.8 10.8 -29.275 
-3 10.8 -29.225 
-3.2 10.8 -29.15 
-3.4 10.8 -29.075 
-3.6 10.8 -29.025 
-3.8 10.8 -28.975 
-4 10.8 -28.925 
-4.2 10.8 -28.9 
-4.4 10.8 -28.875 
-4.6 10.8 -28.925 
-4.8 10.8 -28.925 
-5 10.8 -28.925 
-5.2 10.8 -28.9 
-5.4 10.8 -29 
-5.6 10.8 -29.1 
-5.8 10.8 -29.2 
-6 10.8 -29.325 
-6.2 10.8 -29.4 
-8.2 10.8 4.775 
-8.4 10.8 5.125 
-8.6 10.8 5.625 
-8.8 10.8 6.125 
-9 10.8 6.7 
-9.2 10.8 6.9 
-9.4 10.8 7.25 
-9.6 10.8 7.525 
-9.8 10.8 7.875 
-10 10.8 8.175 
-10.2 10.8 8.475 
-10.4 10.8 8.75 
-10.6 10.8 9.05 
-10.8 10.8 9.3 
-11 10.8 9.525 
-11.2 10.8 9.75 
-11.4 10.8 9.975 
-11.6 10.8 10.2 
-11.8 10.8 10.425 
-12 10.8 10.7 
-12.2 10.8 11 
-12.4 10.8 11.375 
-12.6 10.8 11.5 
-12.8 10.8 11.725 
-13 10.8 11.9 
-13.2 10.8 12.075 
-13.4 10.8 12.25 
-13.6 10.8 12.5 
-13.8 10.8 12.7 
-14 10.8 12.9 
-14.2 10.8 13.125 
-14.4 10.8 13.375 
-14.6 10.8 13.625 
-15.2 10.8 42.325 
-15.4 10.8 43 
-15.6 10.8 43.5 
-15.8 10.8 43.9 
-16 10.8 44.025 
-16.2 10.8 44.175 
-16.4 10.8 44.3 
-16.6 10.8 44.375 
-16.8 10.8 44.5 
-17 10.8 44.6 
-17.2 10.8 44.7 
-17.4 10.8 44.725 
-17.6 10.8 44.7 
-17.8 10.8 44.7 
-18 10.8 44.75 
-18.2 10.8 44.85 
-18.4 10.8 44.925 
-18.6 10.8 44.95 
-18.8 10.8 44.9 
-19 10.8 44.925 
-19.2 10.8 44.975 
-19.4 10.8 45 
-19.6 10.8 45 
-19.8 10.8 45 
-20 10.8 44.975 
-20.2 10.8 44.925 
-20.4 10.8 44.875 
-20.6 10.8 44.825 
-20.8 10.8 44.8 
-21 10.8 44.7 
-21.2 10.8 44.625 
-21.4 10.8 44.5 
-21.6 10.8 44.3 
-21.8 10.8 44.125 
-22 10.8 43.9 
-22.2 10.8 43.575 
-22.4 10.8 43.375 
-22.6 10.8 43.1 
-1.6 11 -29.925 
-1.8 11 -29.9 
-2 11 -29.875 
-2.2 11 -29.75 
-2.4 11 -29.575 
-2.6 11 -29.4 
-2.8 11 -29.275 
-3 11 -29.25 
-3.2 11 -29.25 
-3.4 11 -29.25 
-3.6 11 -29.225 
-3.8 11 -29.2 
-4 11 -29.125 
-4.2 11 -29.15 
-4.4 11 -29.25 
-4.6 11 -29.4 
-4.8 11 -29.5 
-5 11 -29.475 
-5.2 11 -29.4 
-5.4 11 -29.35 
-5.6 11 -29.375 
-5.8 11 -29.5 
-6 11 -29.675 
-6.2 11 -29.775 
-8.2 11 4.8 
-8.4 11 5.075 
-8.6 11 5.525 
-8.8 11 6.05 
-9 11 6.6 
-9.2 11 6.925 
-9.4 11 7.2 
-9.6 11 7.525 
-9.8 11 7.875 
-10 11 8.025 
-10.2 11 8.275 
-10.4 11 8.575 
-10.6 11 8.925 
-10.8 11 9.275 
-11 11 9.5 
-11.2 11 9.725 
-11.4 11 9.95 
-11.6 11 10.125 
-11.8 11 10.35 
-12 11 10.575 
-12.2 11 10.825 
-12.4 11 11.05 
-12.6 11 11.225 
-12.8 11 11.45 
-13 11 11.675 
-13.2 11 11.875 
-13.4 11 12.05 
-13.6 11 12.275 
-13.8 11 12.5 
-14 11 12.725 
-14.2 11 12.95 
-14.4 11 13.175 
-14.6 11 13.35 
-15.4 11 42.625 
-15.6 11 43.25 
-15.8 11 43.575 
-16 11 43.75 
-16.2 11 43.95 
-16.4 11 44.125 
-16.6 11 44.225 
-16.8 11 44.35 
-17 11 44.4 
-17.2 11 44.475 
-17.4 11 44.525 
-17.6 11 44.55 
-17.8 11 44.6 
-18 11 44.675 
-18.2 11 44.75 
-18.4 11 44.875 
-18.6 11 44.925 
-18.8 11 44.975 
-19 11 44.875 
-19.2 11 44.85 
-19.4 11 44.825 
-19.6 11 44.825 
-19.8 11 44.825 
-20 11 44.85 
-20.2 11 44.85 
-20.4 11 44.875 
-20.6 11 44.875 
-20.8 11 44.875 
-21 11 44.825 
-21.2 11 44.675 
-21.4 11 44.425 
-21.6 11 44.15 
-21.8 11 43.9 
-22 11 43.65 
-22.2 11 43.375 
-22.4 11 42.85 
--10.6 11.2 35.85 
--10.4 11.2 35.9 
--10.2 11.2 35.925 
--10 11.2 35.95 
-2.2 11.2 -29.75 
-2.4 11.2 -29.725 
-2.6 11.2 -29.625 
-2.8 11.2 -29.45 
-3 11.2 -29.325 
-3.2 11.2 -29.325 
-3.4 11.2 -29.375 
-3.6 11.2 -29.55 
-3.8 11.2 -29.6 
-4 11.2 -29.625 
-4.2 11.2 -29.575 
-4.4 11.2 -29.475 
-4.6 11.2 -29.375 
-4.8 11.2 -29.375 
-5 11.2 -29.45 
-5.2 11.2 -29.6 
-5.4 11.2 -29.675 
-5.6 11.2 -29.75 
-5.8 11.2 -29.8 
-6 11.2 -29.9 
-6.2 11.2 -29.95 
-8 11.2 4.45 
-8.2 11.2 4.7 
-8.4 11.2 5.125 
-8.6 11.2 5.675 
-8.8 11.2 6.125 
-9 11.2 6.55 
-9.2 11.2 6.85 
-9.4 11.2 7.15 
-9.6 11.2 7.45 
-9.8 11.2 7.75 
-10 11.2 7.95 
-10.2 11.2 8.225 
-10.4 11.2 8.6 
-10.6 11.2 9.05 
-10.8 11.2 9.125 
-11 11.2 9.325 
-11.2 11.2 9.575 
-11.4 11.2 9.775 
-11.6 11.2 9.975 
-11.8 11.2 10.15 
-12 11.2 10.425 
-12.2 11.2 10.775 
-12.4 11.2 10.925 
-12.6 11.2 11.125 
-12.8 11.2 11.35 
-13 11.2 11.525 
-13.2 11.2 11.675 
-13.4 11.2 11.825 
-13.6 11.2 12.05 
-13.8 11.2 12.275 
-14 11.2 12.525 
-14.2 11.2 12.7 
-14.4 11.2 12.875 
-14.6 11.2 13.075 
-14.8 11.2 13.25 
-15.4 11.2 42.025 
-15.6 11.2 42.775 
-15.8 11.2 43.025 
-16 11.2 43.375 
-16.2 11.2 43.575 
-16.4 11.2 43.775 
-16.6 11.2 43.95 
-16.8 11.2 44.075 
-17 11.2 44.175 
-17.2 11.2 44.225 
-17.4 11.2 44.25 
-17.6 11.2 44.275 
-17.8 11.2 44.35 
-18 11.2 44.5 
-18.2 11.2 44.6 
-18.4 11.2 44.7 
-18.6 11.2 44.725 
-18.8 11.2 44.75 
-19 11.2 44.725 
-19.2 11.2 44.7 
-19.4 11.2 44.725 
-19.6 11.2 44.775 
-19.8 11.2 44.8 
-20 11.2 44.75 
-20.2 11.2 44.725 
-20.4 11.2 44.7 
-20.6 11.2 44.725 
-20.8 11.2 44.725 
-21 11.2 44.65 
-21.2 11.2 44.5 
-21.4 11.2 44.3 
-21.6 11.2 44.05 
-21.8 11.2 43.825 
-22 11.2 43.6 
-22.2 11.2 43.35 
--12 11.4 35.75 
--11.8 11.4 35.925 
--11.6 11.4 36.15 
--11.4 11.4 36.325 
--11.2 11.4 36.475 
--11 11.4 36.55 
--10.8 11.4 36.575 
--10.6 11.4 36.6 
--10.4 11.4 36.625 
--10.2 11.4 36.675 
--10 11.4 36.725 
--9.6 11.4 36.75 
--9.4 11.4 36.725 
--9.2 11.4 36.675 
--9 11.4 36.675 
--8.8 11.4 36.675 
--8.6 11.4 36.65 
-3.4 11.4 -29.9 
-3.6 11.4 -29.875 
-3.8 11.4 -29.8 
-4 11.4 -29.625 
-4.2 11.4 -29.45 
-4.4 11.4 -29.375 
-4.6 11.4 -29.375 
-4.8 11.4 -29.45 
-5 11.4 -29.6 
-5.2 11.4 -29.675 
-5.4 11.4 -29.85 
-5.6 11.4 -29.9 
-5.8 11.4 -29.95 
-6 11.4 -29.9 
-6.2 11.4 -29.875 
-8 11.4 4.25 
-8.2 11.4 4.875 
-8.4 11.4 5.45 
-8.6 11.4 5.725 
-8.8 11.4 6.1 
-9 11.4 6.4 
-9.2 11.4 6.825 
-9.4 11.4 7.15 
-9.6 11.4 7.4 
-9.8 11.4 7.675 
-10 11.4 7.9 
-10.2 11.4 8.15 
-10.4 11.4 8.425 
-10.6 11.4 8.725 
-10.8 11.4 8.95 
-11 11.4 9.175 
-11.2 11.4 9.425 
-11.4 11.4 9.675 
-11.6 11.4 9.9 
-11.8 11.4 10.075 
-12 11.4 10.3 
-12.2 11.4 10.475 
-12.4 11.4 10.65 
-12.6 11.4 10.85 
-12.8 11.4 11.075 
-13 11.4 11.3 
-13.2 11.4 11.425 
-13.4 11.4 11.625 
-13.6 11.4 11.85 
-13.8 11.4 12.1 
-14 11.4 12.325 
-14.2 11.4 12.5 
-14.4 11.4 12.7 
-14.6 11.4 12.875 
-14.8 11.4 13.075 
-15 11.4 13.25 
-15.2 11.4 13.4 
-15.6 11.4 42.475 
-15.8 11.4 42.75 
-16 11.4 43.15 
-16.2 11.4 43.4 
-16.4 11.4 43.575 
-16.6 11.4 43.725 
-16.8 11.4 43.875 
-17 11.4 43.975 
-17.2 11.4 44.075 
-17.4 11.4 44.1 
-17.6 11.4 44.15 
-17.8 11.4 44.225 
-18 11.4 44.3 
-18.2 11.4 44.45 
-18.4 11.4 44.55 
-18.6 11.4 44.575 
-18.8 11.4 44.575 
-19 11.4 44.5 
-19.2 11.4 44.5 
-19.4 11.4 44.475 
-19.6 11.4 44.5 
-19.8 11.4 44.525 
-20 11.4 44.55 
-20.2 11.4 44.575 
-20.4 11.4 44.6 
-20.6 11.4 44.6 
-20.8 11.4 44.6 
-21 11.4 44.45 
-21.2 11.4 44.25 
-21.4 11.4 44.05 
-21.6 11.4 43.875 
-21.8 11.4 43.775 
-22 11.4 43.475 
--13.2 11.6 34.9 
--13 11.6 35.175 
--12.8 11.6 35.5 
--12.6 11.6 35.725 
--12.4 11.6 36 
--12.2 11.6 36.225 
--12 11.6 36.425 
--11.8 11.6 36.625 
--11.6 11.6 36.85 
--11.4 11.6 37.025 
--11.2 11.6 37.175 
--11 11.6 37.25 
--10.8 11.6 37.3 
--10.6 11.6 37.35 
--10.4 11.6 37.4 
--10.2 11.6 37.45 
--10 11.6 37.475 
--9.8 11.6 37.5 
--9.6 11.6 37.5 
--9.4 11.6 37.45 
--9.2 11.6 37.4 
--9 11.6 37.375 
--8.8 11.6 37.35 
--8.6 11.6 37.325 
--8.4 11.6 37.3 
--8.2 11.6 37.225 
--8 11.6 37.125 
--7.8 11.6 37.075 
--7.6 11.6 37.075 
--7.4 11.6 37.075 
--7.2 11.6 37.05 
--7 11.6 36.925 
--6.8 11.6 36.8 
--6.6 11.6 36.7 
--6.4 11.6 36.625 
--6.2 11.6 36.55 
-1 11.6 -29.8 
-1.2 11.6 -29.775 
-1.4 11.6 -29.7 
-1.6 11.6 -29.625 
-1.8 11.6 -29.575 
-2 11.6 -29.575 
-2.6 11.6 -29.55 
-2.8 11.6 -29.525 
-3 11.6 -29.5 
-3.2 11.6 -29.525 
-3.4 11.6 -29.5 
-3.6 11.6 -29.55 
-3.8 11.6 -29.625 
-4 11.6 -29.625 
-4.2 11.6 -29.65 
-4.4 11.6 -29.625 
-4.6 11.6 -29.675 
-4.8 11.6 -29.675 
-5.4 11.6 -29.825 
-5.6 11.6 -29.825 
-5.8 11.6 -29.825 
-7.8 11.6 3.975 
-8 11.6 4.325 
-8.2 11.6 4.85 
-8.4 11.6 5.325 
-8.6 11.6 5.95 
-8.8 11.6 6.175 
-9 11.6 6.45 
-9.2 11.6 6.675 
-9.4 11.6 7 
-9.6 11.6 7.3 
-9.8 11.6 7.675 
-10 11.6 7.875 
-10.2 11.6 8.1 
-10.4 11.6 8.35 
-10.6 11.6 8.6 
-10.8 11.6 8.8 
-11 11.6 9.025 
-11.2 11.6 9.2 
-11.4 11.6 9.425 
-11.6 11.6 9.675 
-11.8 11.6 9.925 
-12 11.6 10.175 
-12.2 11.6 10.425 
-12.4 11.6 10.575 
-12.6 11.6 10.725 
-12.8 11.6 10.9 
-13 11.6 11.1 
-13.2 11.6 11.3 
-13.4 11.6 11.5 
-13.6 11.6 11.65 
-13.8 11.6 11.825 
-14 11.6 12.025 
-14.2 11.6 12.2 
-14.4 11.6 12.425 
-14.6 11.6 12.6 
-14.8 11.6 12.825 
-15 11.6 13.025 
-15.2 11.6 13.175 
-15.6 11.6 41.875 
-15.8 11.6 42.3 
-16 11.6 42.85 
-16.2 11.6 43.125 
-16.4 11.6 43.35 
-16.6 11.6 43.525 
-16.8 11.6 43.675 
-17 11.6 43.825 
-17.2 11.6 43.95 
-17.4 11.6 44.025 
-17.6 11.6 44.075 
-17.8 11.6 44.1 
-18 11.6 44.1 
-18.2 11.6 44.15 
-18.4 11.6 44.225 
-18.6 11.6 44.35 
-18.8 11.6 44.45 
-19 11.6 44.45 
-19.2 11.6 44.425 
-19.4 11.6 44.4 
-19.6 11.6 44.375 
-19.8 11.6 44.45 
-20 11.6 44.525 
-20.2 11.6 44.55 
-20.4 11.6 44.55 
-20.6 11.6 44.425 
-20.8 11.6 44.3 
-21 11.6 44.175 
-21.2 11.6 44 
-21.4 11.6 43.8 
-21.6 11.6 43.625 
-21.8 11.6 43.35 
--13.4 11.8 35.25 
--13.2 11.8 35.625 
--13 11.8 35.9 
--12.8 11.8 36.175 
--12.6 11.8 36.4 
--12.4 11.8 36.65 
--12.2 11.8 36.9 
--12 11.8 37.175 
--11.8 11.8 37.425 
--11.6 11.8 37.6 
--11.4 11.8 37.725 
--11.2 11.8 37.825 
--11 11.8 37.875 
--10.8 11.8 37.9 
--10.6 11.8 37.975 
--10.4 11.8 38.05 
--10.2 11.8 38.15 
--10 11.8 38.2 
--9.8 11.8 38.225 
--9.6 11.8 38.175 
--9.4 11.8 38.125 
--9.2 11.8 38.025 
--9 11.8 38 
--8.8 11.8 38 
--8.6 11.8 38.025 
--8.4 11.8 38.025 
--8.2 11.8 37.95 
--8 11.8 37.85 
--7.8 11.8 37.75 
--7.6 11.8 37.675 
--7.4 11.8 37.625 
--7.2 11.8 37.6 
--7 11.8 37.575 
--6.8 11.8 37.55 
--6.6 11.8 37.475 
--6.4 11.8 37.375 
--6.2 11.8 37.275 
--6 11.8 37.2 
--5.8 11.8 37.15 
-1 11.8 -29.6 
-1.2 11.8 -29.425 
-1.4 11.8 -29.175 
-1.6 11.8 -29.025 
-1.8 11.8 -28.875 
-2 11.8 -28.775 
-2.2 11.8 -28.75 
-2.4 11.8 -28.725 
-2.6 11.8 -28.75 
-2.8 11.8 -28.85 
-3 11.8 -28.95 
-3.2 11.8 -28.975 
-3.4 11.8 -28.95 
-3.6 11.8 -28.95 
-3.8 11.8 -29.075 
-4 11.8 -29.225 
-4.2 11.8 -29.4 
-4.4 11.8 -29.5 
-4.6 11.8 -29.6 
-4.8 11.8 -29.7 
-5 11.8 -29.75 
-5.2 11.8 -29.775 
-7.6 11.8 3.675 
-7.8 11.8 3.925 
-8 11.8 4.475 
-8.2 11.8 4.925 
-8.4 11.8 5.4 
-8.6 11.8 5.875 
-8.8 11.8 6.175 
-9 11.8 6.425 
-9.2 11.8 6.675 
-9.4 11.8 7 
-9.6 11.8 7.3 
-9.8 11.8 7.525 
-10 11.8 7.775 
-10.2 11.8 7.975 
-10.4 11.8 8.2 
-10.6 11.8 8.425 
-10.8 11.8 8.625 
-11 11.8 8.875 
-11.2 11.8 9.1 
-11.4 11.8 9.35 
-11.6 11.8 9.575 
-11.8 11.8 9.75 
-12 11.8 9.975 
-12.2 11.8 10.175 
-12.4 11.8 10.375 
-12.6 11.8 10.575 
-12.8 11.8 10.775 
-13 11.8 10.925 
-13.2 11.8 11.075 
-13.4 11.8 11.225 
-13.6 11.8 11.425 
-13.8 11.8 11.625 
-14 11.8 11.825 
-14.2 11.8 12.05 
-14.4 11.8 12.3 
-14.6 11.8 12.5 
-14.8 11.8 12.7 
-15 11.8 12.825 
-15.2 11.8 13 
-15.4 11.8 13.1 
-16 11.8 42.4 
-16.2 11.8 42.65 
-16.4 11.8 42.9 
-16.6 11.8 43.1 
-16.8 11.8 43.325 
-17 11.8 43.5 
-17.2 11.8 43.675 
-17.4 11.8 43.775 
-17.6 11.8 43.875 
-17.8 11.8 43.925 
-18 11.8 43.975 
-18.2 11.8 43.975 
-18.4 11.8 44 
-18.6 11.8 44.025 
-18.8 11.8 44.075 
-19 11.8 44.175 
-19.2 11.8 44.225 
-19.4 11.8 44.3 
-19.6 11.8 44.325 
-19.8 11.8 44.3 
-20 11.8 44.275 
-20.2 11.8 44.225 
-20.4 11.8 44.15 
-20.6 11.8 44.075 
-20.8 11.8 43.9 
-21 11.8 43.75 
-21.2 11.8 43.6 
-21.4 11.8 43.45 
-21.6 11.8 43.15 
-21.8 11.8 42.825 
--13.6 12 35.825 
--13.4 12 36 
--13.2 12 36.325 
--13 12 36.6 
--12.8 12 36.95 
--12.6 12 37.325 
--12.4 12 37.55 
--12.2 12 37.725 
--12 12 37.9 
--11.8 12 38.075 
--11.6 12 38.275 
--11.4 12 38.425 
--11.2 12 38.525 
--11 12 38.575 
--10.8 12 38.65 
--10.6 12 38.65 
--10.4 12 38.675 
--10.2 12 38.675 
--10 12 38.7 
--9.8 12 38.725 
--9.6 12 38.75 
--9.4 12 38.7 
--9.2 12 38.675 
--9 12 38.65 
--8.8 12 38.65 
--8.6 12 38.675 
--8.4 12 38.7 
--8.2 12 38.65 
--8 12 38.55 
--7.8 12 38.45 
--7.6 12 38.375 
--7.4 12 38.35 
--7.2 12 38.35 
--7 12 38.3 
--6.8 12 38.2 
--6.6 12 38.1 
--6.4 12 38 
--6.2 12 38 
--6 12 37.925 
--5.8 12 37.9 
--5.6 12 37.825 
--4.8 12 37.55 
--4.6 12 37.525 
--4.4 12 37.475 
--4.2 12 37.35 
-1.8 12 -28.65 
-2 12 -28.65 
-2.2 12 -28.625 
-2.4 12 -28.55 
-2.6 12 -28.5 
-2.8 12 -28.425 
-3 12 -28.35 
-3.2 12 -28.325 
-3.4 12 -28.325 
-3.6 12 -28.375 
-3.8 12 -28.425 
-4 12 -28.525 
-4.2 12 -28.65 
-4.4 12 -28.775 
-4.6 12 -29 
-4.8 12 -29.15 
-5 12 -29.325 
-5.2 12 -29.475 
-5.4 12 -29.625 
-5.6 12 -29.75 
-5.8 12 -29.85 
-6 12 -29.85 
-7.6 12 3.825 
-7.8 12 4.05 
-8 12 4.475 
-8.2 12 5 
-8.4 12 5.45 
-8.6 12 5.875 
-8.8 12 6.075 
-9 12 6.325 
-9.2 12 6.6 
-9.4 12 6.85 
-9.6 12 7.1 
-9.8 12 7.375 
-10 12 7.625 
-10.2 12 7.85 
-10.4 12 8.1 
-10.6 12 8.35 
-10.8 12 8.55 
-11 12 8.75 
-11.2 12 8.975 
-11.4 12 9.2 
-11.6 12 9.425 
-11.8 12 9.6 
-12 12 9.8 
-12.2 12 9.975 
-12.4 12 10.175 
-12.6 12 10.325 
-12.8 12 10.525 
-13 12 10.725 
-13.2 12 10.925 
-13.4 12 11.075 
-13.6 12 11.275 
-13.8 12 11.425 
-14 12 11.625 
-14.2 12 11.825 
-14.4 12 12.025 
-14.6 12 12.225 
-14.8 12 12.425 
-15 12 12.6 
-15.2 12 12.75 
-15.4 12 12.9 
-15.6 12 13.05 
-15.8 12 13.175 
-16.4 12 42.775 
-16.6 12 42.9 
-16.8 12 43.075 
-17 12 43.25 
-17.2 12 43.475 
-17.4 12 43.6 
-17.6 12 43.65 
-17.8 12 43.7 
-18 12 43.725 
-18.2 12 43.8 
-18.4 12 43.875 
-18.6 12 43.95 
-18.8 12 44.025 
-19 12 44.05 
-19.2 12 44.05 
-19.4 12 44.05 
-19.6 12 44.075 
-19.8 12 44.1 
-20 12 44.125 
-20.2 12 44.15 
-20.4 12 44.025 
-20.6 12 43.875 
-20.8 12 43.7 
-21 12 43.5 
-21.2 12 43.275 
-21.4 12 43.05 
-21.6 12 42.475 
--13 12.2 37.4 
--12.8 12.2 37.7 
--12.6 12.2 37.9 
--12.4 12.2 38.125 
--12.2 12.2 38.325 
--12 12.2 38.55 
--11.8 12.2 38.75 
--11.6 12.2 38.95 
--11.4 12.2 39.05 
--11.2 12.2 39.15 
--11 12.2 39.175 
--10.8 12.2 39.15 
--10.6 12.2 39.125 
--10.4 12.2 39.125 
--10.2 12.2 39.125 
--10 12.2 39.175 
--9.8 12.2 39.2 
--9.6 12.2 39.25 
--9.4 12.2 39.3 
--9.2 12.2 39.4 
--9 12.2 39.425 
--8.8 12.2 39.45 
--8.6 12.2 39.425 
--8.4 12.2 39.375 
--8.2 12.2 39.275 
--8 12.2 39.15 
--7.8 12.2 39.05 
--7.6 12.2 39.025 
--7.4 12.2 39 
--7.2 12.2 38.975 
--7 12.2 38.975 
--6.8 12.2 38.95 
--6.6 12.2 38.875 
--6.4 12.2 38.75 
--6.2 12.2 38.675 
--6 12.2 38.625 
--5.8 12.2 38.625 
--5.6 12.2 38.625 
--5.4 12.2 38.55 
--5.2 12.2 38.475 
--5 12.2 38.375 
--4.8 12.2 38.325 
--4.6 12.2 38.25 
--4.4 12.2 38.175 
--4.2 12.2 38.1 
--4 12.2 38 
-2.8 12.2 -28.225 
-3 12.2 -28.3 
-3.2 12.2 -28.35 
-3.4 12.2 -28.325 
-3.6 12.2 -28.375 
-3.8 12.2 -28.425 
-4 12.2 -28.425 
-4.2 12.2 -28.35 
-4.4 12.2 -28.325 
-4.6 12.2 -28.35 
-4.8 12.2 -28.475 
-5 12.2 -28.625 
-5.2 12.2 -28.7 
-5.4 12.2 -28.875 
-5.6 12.2 -29.1 
-5.8 12.2 -29.375 
-6 12.2 -29.575 
-6.2 12.2 -29.65 
-7.4 12.2 3.75 
-7.6 12.2 3.825 
-7.8 12.2 4.1 
-8 12.2 4.55 
-8.2 12.2 5.075 
-8.4 12.2 5.525 
-8.6 12.2 5.75 
-8.8 12.2 6.05 
-9 12.2 6.275 
-9.2 12.2 6.525 
-9.4 12.2 6.8 
-9.6 12.2 7.05 
-9.8 12.2 7.3 
-10 12.2 7.5 
-10.2 12.2 7.725 
-10.4 12.2 7.975 
-10.6 12.2 8.2 
-10.8 12.2 8.4 
-11 12.2 8.575 
-11.2 12.2 8.825 
-11.4 12.2 9.075 
-11.6 12.2 9.275 
-11.8 12.2 9.45 
-12 12.2 9.625 
-12.2 12.2 9.775 
-12.4 12.2 9.95 
-12.6 12.2 10.125 
-12.8 12.2 10.325 
-13 12.2 10.55 
-13.2 12.2 10.725 
-13.4 12.2 10.9 
-13.6 12.2 11.1 
-13.8 12.2 11.25 
-14 12.2 11.45 
-14.2 12.2 11.6 
-14.4 12.2 11.775 
-14.6 12.2 11.925 
-14.8 12.2 12.1 
-15 12.2 12.25 
-15.2 12.2 12.425 
-15.4 12.2 12.575 
-15.6 12.2 12.725 
-15.8 12.2 12.875 
-16 12.2 13.05 
-16.2 12.2 13.15 
-16.6 12.2 42.55 
-16.8 12.2 42.725 
-17 12.2 42.875 
-17.2 12.2 43 
-17.4 12.2 43.175 
-17.6 12.2 43.35 
-17.8 12.2 43.5 
-18 12.2 43.625 
-18.2 12.2 43.725 
-18.4 12.2 43.75 
-18.6 12.2 43.75 
-18.8 12.2 43.75 
-19 12.2 43.775 
-19.2 12.2 43.85 
-19.4 12.2 43.9 
-19.6 12.2 43.95 
-19.8 12.2 43.925 
-20 12.2 43.875 
-20.2 12.2 43.775 
-20.4 12.2 43.675 
-20.6 12.2 43.575 
-20.8 12.2 43.425 
-21 12.2 43.275 
-21.2 12.2 43 
-21.4 12.2 42.825 
--14.2 12.4 36.575 
--14 12.4 36.95 
--13.8 12.4 37.275 
--13.6 12.4 37.475 
--13.4 12.4 37.7 
--13.2 12.4 37.95 
--13 12.4 38.15 
--12.8 12.4 38.375 
--12.6 12.4 38.6 
--12.4 12.4 38.825 
--12.2 12.4 39.025 
--12 12.4 39.225 
--11.8 12.4 39.35 
--11.6 12.4 39.475 
--11.4 12.4 39.6 
--11.2 12.4 39.675 
--11 12.4 39.7 
--10.8 12.4 39.725 
--10.6 12.4 39.675 
--10.4 12.4 39.65 
--10.2 12.4 39.65 
--10 12.4 39.75 
--9.8 12.4 39.85 
--9.6 12.4 39.975 
--9.4 12.4 40.025 
--9.2 12.4 40.075 
--9 12.4 40.075 
--8.8 12.4 40.05 
--8.6 12.4 40.05 
--8.4 12.4 40 
--8.2 12.4 39.975 
--8 12.4 39.95 
--7.8 12.4 39.95 
--7.6 12.4 39.925 
--7.4 12.4 39.9 
--7.2 12.4 39.875 
--7 12.4 39.8 
--6.8 12.4 39.7 
--6.6 12.4 39.6 
--6.4 12.4 39.45 
--6.2 12.4 39.4 
--6 12.4 39.325 
--5.8 12.4 39.3 
--5.6 12.4 39.325 
--5.4 12.4 39.25 
--5.2 12.4 39.175 
--5 12.4 39.075 
--4.8 12.4 39 
--4.6 12.4 38.95 
--4.4 12.4 38.9 
--4.2 12.4 38.825 
--4 12.4 38.75 
--3.8 12.4 38.725 
--3.6 12.4 38.675 
--3.4 12.4 38.625 
--3.2 12.4 38.55 
--3 12.4 38.475 
--2.8 12.4 38.4 
--2.6 12.4 38.3 
--2.4 12.4 38.2 
-3.6 12.4 -27.625 
-3.8 12.4 -27.85 
-4 12.4 -28 
-4.2 12.4 -28.275 
-4.4 12.4 -28.3 
-4.6 12.4 -28.35 
-4.8 12.4 -28.35 
-5 12.4 -28.35 
-5.2 12.4 -28.325 
-5.4 12.4 -28.4 
-5.6 12.4 -28.5 
-5.8 12.4 -28.625 
-6 12.4 -28.75 
-6.2 12.4 -28.825 
-6.4 12.4 -29.25 
-7.4 12.4 3.375 
-7.6 12.4 3.775 
-7.8 12.4 4.325 
-8 12.4 4.95 
-8.2 12.4 5.075 
-8.4 12.4 5.3 
-8.6 12.4 5.55 
-8.8 12.4 5.9 
-9 12.4 6.275 
-9.2 12.4 6.45 
-9.4 12.4 6.65 
-9.6 12.4 6.925 
-9.8 12.4 7.175 
-10 12.4 7.375 
-10.2 12.4 7.65 
-10.4 12.4 7.925 
-10.6 12.4 8.2 
-10.8 12.4 8.4 
-11 12.4 8.575 
-11.2 12.4 8.775 
-11.4 12.4 8.975 
-11.6 12.4 9.125 
-11.8 12.4 9.275 
-12 12.4 9.45 
-12.2 12.4 9.65 
-12.4 12.4 9.775 
-12.6 12.4 9.925 
-12.8 12.4 10.125 
-13 12.4 10.325 
-13.2 12.4 10.475 
-13.4 12.4 10.65 
-13.6 12.4 10.875 
-13.8 12.4 11.05 
-14 12.4 11.25 
-14.2 12.4 11.4 
-14.4 12.4 11.6 
-14.6 12.4 11.775 
-14.8 12.4 11.975 
-15 12.4 12.15 
-15.2 12.4 12.275 
-15.4 12.4 12.425 
-15.6 12.4 12.55 
-15.8 12.4 12.675 
-16 12.4 12.825 
-16.2 12.4 12.975 
-16.4 12.4 13.075 
-17 12.4 42.425 
-17.2 12.4 42.625 
-17.4 12.4 42.8 
-17.6 12.4 43.05 
-17.8 12.4 43.175 
-18 12.4 43.35 
-18.2 12.4 43.425 
-18.4 12.4 43.475 
-18.6 12.4 43.6 
-18.8 12.4 43.675 
-19 12.4 43.7 
-19.2 12.4 43.725 
-19.4 12.4 43.725 
-19.6 12.4 43.725 
-19.8 12.4 43.725 
-20 12.4 43.675 
-20.2 12.4 43.575 
-20.4 12.4 43.45 
-20.6 12.4 43.3 
-20.8 12.4 43.075 
-21 12.4 42.9 
-21.2 12.4 42.45 
-21.4 12.4 42.15 
--14.6 12.6 36.675 
--14.4 12.6 36.95 
--14.2 12.6 37.2 
--14 12.6 37.475 
--13.8 12.6 37.725 
--13.6 12.6 37.925 
--13.4 12.6 38.2 
--13.2 12.6 38.425 
--13 12.6 38.675 
--12.8 12.6 38.95 
--12.6 12.6 39.175 
--12.4 12.6 39.4 
--12.2 12.6 39.575 
--12 12.6 39.75 
--11.8 12.6 39.85 
--11.6 12.6 39.975 
--11.4 12.6 40.075 
--11.2 12.6 40.175 
--11 12.6 40.3 
--10.8 12.6 40.35 
--10.6 12.6 40.375 
--10.4 12.6 40.375 
--10.2 12.6 40.375 
--10 12.6 40.425 
--9.8 12.6 40.475 
--9.6 12.6 40.525 
--9.4 12.6 40.55 
--9.2 12.6 40.6 
--9 12.6 40.625 
--8.8 12.6 40.65 
--8.6 12.6 40.675 
--8.4 12.6 40.625 
--8.2 12.6 40.6 
--8 12.6 40.6 
--7.8 12.6 40.575 
--7.6 12.6 40.55 
--7.4 12.6 40.525 
--7.2 12.6 40.5 
--7 12.6 40.475 
--6.8 12.6 40.425 
--6.6 12.6 40.4 
--6.2 12.6 40.35 
--5.4 12.6 40 
--5.2 12.6 39.875 
--5 12.6 39.75 
--4.8 12.6 39.625 
--4.6 12.6 39.5 
--4.4 12.6 39.45 
--4.2 12.6 39.375 
--4 12.6 39.3 
--3.8 12.6 39.25 
--3.6 12.6 39.175 
--3.4 12.6 39.15 
--3.2 12.6 39.1 
--3 12.6 39.125 
--2.8 12.6 39.075 
--2.6 12.6 39.025 
--2.4 12.6 38.925 
--2.2 12.6 38.875 
--2 12.6 38.775 
--0.999999 12.6 38.1 
--0.799999 12.6 38.025 
--0.599999 12.6 37.9 
--0.399999 12.6 37.725 
-4.2 12.6 -28.225 
-4.4 12.6 -28.225 
-4.6 12.6 -28.275 
-4.8 12.6 -28.4 
-5 12.6 -28.55 
-5.2 12.6 -28.5 
-5.4 12.6 -28.6 
-5.6 12.6 -28.65 
-5.8 12.6 -28.675 
-6 12.6 -28.775 
-6.2 12.6 -28.85 
-6.4 12.6 -29 
-7.4 12.6 3.5 
-7.6 12.6 3.875 
-7.8 12.6 4.275 
-8 12.6 4.75 
-8.2 12.6 5.1 
-8.4 12.6 5.35 
-8.6 12.6 5.55 
-8.8 12.6 5.825 
-9 12.6 6.1 
-9.2 12.6 6.35 
-9.4 12.6 6.575 
-9.6 12.6 6.825 
-9.8 12.6 7.075 
-10 12.6 7.325 
-10.2 12.6 7.525 
-10.4 12.6 7.8 
-10.6 12.6 8.075 
-10.8 12.6 8.275 
-11 12.6 8.475 
-11.2 12.6 8.65 
-11.4 12.6 8.85 
-11.6 12.6 9.025 
-11.8 12.6 9.125 
-12 12.6 9.275 
-12.2 12.6 9.45 
-12.4 12.6 9.65 
-12.6 12.6 9.8 
-12.8 12.6 9.975 
-13 12.6 10.125 
-13.2 12.6 10.325 
-13.4 12.6 10.5 
-13.6 12.6 10.675 
-13.8 12.6 10.875 
-14 12.6 11.075 
-14.2 12.6 11.25 
-14.4 12.6 11.4 
-14.6 12.6 11.525 
-14.8 12.6 11.675 
-15 12.6 11.825 
-15.2 12.6 12.025 
-15.4 12.6 12.15 
-15.6 12.6 12.275 
-15.8 12.6 12.375 
-16 12.6 12.475 
-16.2 12.6 12.6 
-16.4 12.6 12.75 
-16.6 12.6 12.825 
-16.8 12.6 12.85 
-17.2 12.6 42.6 
-17.4 12.6 42.575 
-17.6 12.6 42.575 
-17.8 12.6 42.7 
-18 12.6 42.825 
-18.2 12.6 43 
-18.4 12.6 43.125 
-18.6 12.6 43.2 
-18.8 12.6 43.25 
-19 12.6 43.3 
-19.2 12.6 43.425 
-19.4 12.6 43.45 
-19.6 12.6 43.475 
-19.8 12.6 43.425 
-20 12.6 43.35 
-20.2 12.6 43.25 
-20.4 12.6 43.125 
-20.6 12.6 42.925 
-20.8 12.6 42.65 
-21 12.6 42.275 
--15.8 12.8 35.65 
--15.6 12.8 35.975 
--15.4 12.8 36.35 
--15.2 12.8 36.65 
--15 12.8 36.85 
--14.8 12.8 37.125 
--14.6 12.8 37.375 
--14.4 12.8 37.65 
--14.2 12.8 37.975 
--14 12.8 38.2 
--13.8 12.8 38.475 
--13.6 12.8 38.675 
--13.4 12.8 38.9 
--13.2 12.8 39.1 
--13 12.8 39.325 
--12.8 12.8 39.55 
--12.6 12.8 39.75 
--12.4 12.8 39.95 
--12.2 12.8 40.125 
--12 12.8 40.3 
--11.8 12.8 40.45 
--11.6 12.8 40.6 
--11.4 12.8 40.7 
--11.2 12.8 40.8 
--11 12.8 40.875 
--10.8 12.8 41 
--10.6 12.8 41.05 
--10.4 12.8 41.05 
--10.2 12.8 41.05 
--10 12.8 41.1 
--9.8 12.8 41.125 
--9.6 12.8 41.125 
--9.4 12.8 41.125 
--9.2 12.8 41.175 
--9 12.8 41.225 
--8.8 12.8 41.3 
--8.6 12.8 41.325 
--8.4 12.8 41.325 
--8.2 12.8 41.325 
--8 12.8 41.375 
--7.8 12.8 41.4 
--7.6 12.8 41.4 
--7.4 12.8 41.375 
--7.2 12.8 41.35 
--7 12.8 41.3 
--6.8 12.8 41.25 
--6.6 12.8 41.2 
--6.4 12.8 41.125 
--6.2 12.8 41.1 
--6 12.8 41.075 
--5.8 12.8 41.025 
--5.6 12.8 41 
--5.4 12.8 40.9 
--5.2 12.8 40.8 
--5 12.8 40.7 
--4.6 12.8 40.5 
--4.4 12.8 40.425 
--3.4 12.8 39.9 
--3.2 12.8 39.875 
--3 12.8 39.85 
--2.8 12.8 39.775 
--2.6 12.8 39.65 
--2.4 12.8 39.575 
--2.2 12.8 39.525 
--2 12.8 39.475 
--1.8 12.8 39.4 
--1.6 12.8 39.25 
--1.4 12.8 39.15 
--1.2 12.8 39.05 
--0.999999 12.8 38.95 
--0.799999 12.8 38.75 
--0.599999 12.8 38.6 
--0.399999 12.8 38.45 
--0.199999 12.8 38.3 
-1.04308e-006 12.8 38.15 
-0.200001 12.8 37.925 
-5.6 12.8 -29.375 
-5.8 12.8 -29.475 
-6 12.8 -29.425 
-6.2 12.8 -29.4 
-6.4 12.8 -29.45 
-6.6 12.8 -29.575 
-7.2 12.8 2.975 
-7.4 12.8 3.4 
-7.6 12.8 3.85 
-7.8 12.8 4.35 
-8 12.8 4.675 
-8.2 12.8 5.025 
-8.4 12.8 5.35 
-8.6 12.8 5.5 
-8.8 12.8 5.775 
-9 12.8 6.05 
-9.2 12.8 6.35 
-9.4 12.8 6.55 
-9.6 12.8 6.8 
-9.8 12.8 7.05 
-10 12.8 7.25 
-10.2 12.8 7.45 
-10.4 12.8 7.675 
-10.6 12.8 7.925 
-10.8 12.8 8.125 
-11 12.8 8.325 
-11.2 12.8 8.5 
-11.4 12.8 8.7 
-11.6 12.8 8.85 
-11.8 12.8 8.975 
-12 12.8 9.125 
-12.2 12.8 9.3 
-12.4 12.8 9.45 
-12.6 12.8 9.625 
-12.8 12.8 9.8 
-13 12.8 9.975 
-13.2 12.8 10.15 
-13.4 12.8 10.3 
-13.6 12.8 10.475 
-13.8 12.8 10.65 
-14 12.8 10.85 
-14.2 12.8 11 
-14.4 12.8 11.15 
-14.6 12.8 11.275 
-14.8 12.8 11.425 
-15 12.8 11.575 
-15.2 12.8 11.725 
-15.4 12.8 11.875 
-15.6 12.8 12.025 
-15.8 12.8 12.1 
-16 12.8 12.2 
-16.2 12.8 12.275 
-16.4 12.8 12.4 
-16.6 12.8 12.5 
-16.8 12.8 12.55 
-17 12.8 12.6 
-17.2 12.8 12.6 
-17.8 12.8 42.15 
-18 12.8 42.275 
-18.2 12.8 42.425 
-18.4 12.8 42.6 
-18.6 12.8 42.775 
-18.8 12.8 42.975 
-19 12.8 43.075 
-19.2 12.8 43.175 
-19.4 12.8 43.2 
-19.6 12.8 43.2 
-19.8 12.8 43.1 
-20 12.8 42.975 
-20.2 12.8 42.825 
-20.4 12.8 42.6 
-20.6 12.8 42.425 
-20.8 12.8 42.1 
-21 12.8 41.8 
--16.6 13 35.2 
--16.4 13 35.475 
--16.2 13 35.8 
--16 13 36.05 
--15.8 13 36.35 
--15.6 13 36.725 
--15.4 13 37.15 
--15.2 13 37.35 
--15 13 37.675 
--14.8 13 37.925 
--14.6 13 38.15 
--14.4 13 38.375 
--14.2 13 38.575 
--14 13 38.85 
--13.8 13 39.075 
--13.6 13 39.225 
--13.4 13 39.4 
--13.2 13 39.6 
--13 13 39.825 
--12.8 13 40.025 
--12.6 13 40.175 
--12.4 13 40.35 
--12.2 13 40.55 
--12 13 40.75 
--11.8 13 40.875 
--11.6 13 41 
--11.4 13 41.125 
--11.2 13 41.225 
--11 13 41.325 
--10.8 13 41.4 
--10.6 13 41.475 
--10.4 13 41.475 
--10.2 13 41.475 
--10 13 41.55 
--9.8 13 41.625 
--9.6 13 41.75 
--9.4 13 41.85 
--9.2 13 41.875 
--9 13 41.875 
--8.8 13 41.85 
--8.6 13 41.9 
--8.4 13 41.9 
--8.2 13 41.925 
--8 13 41.975 
--7.8 13 42 
--7.6 13 41.95 
--7.4 13 41.875 
--7.2 13 41.875 
--7 13 41.875 
--6.8 13 41.9 
--6.6 13 41.85 
--6.4 13 41.775 
--6.2 13 41.725 
--6 13 41.675 
--5.8 13 41.6 
--5.6 13 41.525 
--5.4 13 41.5 
--5.2 13 41.45 
--5 13 41.425 
--4.8 13 41.35 
--4.6 13 41.275 
--4.4 13 41.175 
--4.2 13 41.075 
--4 13 40.975 
--3.8 13 40.85 
--3.6 13 40.75 
--3.4 13 40.675 
--3.2 13 40.6 
--3 13 40.575 
--2.8 13 40.525 
--2.6 13 40.4 
--2.4 13 40.325 
--2.2 13 40.225 
--2 13 40.125 
--1.8 13 40 
--1.6 13 39.9 
--1.4 13 39.775 
--1.2 13 39.65 
--0.999999 13 39.55 
--0.799999 13 39.45 
--0.599999 13 39.325 
--0.399999 13 39.15 
--0.199999 13 38.925 
-1.04308e-006 13 38.725 
-0.200001 13 38.55 
-0.400001 13 38.4 
-0.600001 13 38.2 
-0.800001 13 37.975 
-1 13 37.675 
-1.2 13 37.45 
-1.4 13 37.2 
-1.6 13 36.95 
-1.8 13 36.675 
-2 13 36.475 
-7 13 3.475 
-7.2 13 3.475 
-7.4 13 3.7 
-7.6 13 4.025 
-7.8 13 4.4 
-8 13 4.675 
-8.2 13 5 
-8.4 13 5.2 
-8.6 13 5.475 
-8.8 13 5.75 
-9 13 6.025 
-9.2 13 6.275 
-9.4 13 6.5 
-9.6 13 6.725 
-9.8 13 6.95 
-10 13 7.15 
-10.2 13 7.3 
-10.4 13 7.525 
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-10.8 13 7.95 
-11 13 8.15 
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-11.4 13 8.575 
-11.6 13 8.725 
-11.8 13 8.875 
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-12.4 13 9.3 
-12.6 13 9.45 
-12.8 13 9.65 
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-13.2 13 9.975 
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-13.8 13 10.425 
-14 13 10.625 
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-14.4 13 10.975 
-14.6 13 11.125 
-14.8 13 11.275 
-15 13 11.4 
-15.2 13 11.475 
-15.4 13 11.55 
-15.6 13 11.65 
-15.8 13 11.8 
-16 13 11.925 
-16.2 13 12.05 
-16.4 13 12.15 
-16.6 13 12.175 
-16.8 13 12.175 
-17 13 12.175 
-17.2 13 12.175 
-17.4 13 12.1 
-17.6 13 11.975 
-17.8 13 11.825 
-18.6 13 42.1 
-18.8 13 42.275 
-19 13 42.4 
-19.2 13 42.475 
-19.4 13 42.5 
-19.6 13 42.45 
-20 13 42.175 
-20.2 13 42.05 
-20.4 13 41.925 
-20.6 13 41.875 
--17 13.2 35.225 
--16.8 13.2 35.575 
--16.6 13.2 35.9 
--16.4 13.2 36.225 
--16.2 13.2 36.575 
--16 13.2 36.825 
--15.8 13.2 37.1 
--15.6 13.2 37.45 
--15.4 13.2 37.75 
--15.2 13.2 37.975 
--15 13.2 38.2 
--14.8 13.2 38.425 
--14.6 13.2 38.675 
--14.4 13.2 38.9 
--14.2 13.2 39.125 
--14 13.2 39.425 
--13.8 13.2 39.65 
--13.6 13.2 39.825 
--13.4 13.2 40 
--13.2 13.2 40.175 
--13 13.2 40.425 
--12.8 13.2 40.625 
--12.6 13.2 40.725 
--12.4 13.2 40.825 
--12.2 13.2 40.95 
--12 13.2 41.125 
--11.8 13.2 41.3 
--11.6 13.2 41.45 
--11.4 13.2 41.6 
--11.2 13.2 41.775 
--11 13.2 41.925 
--10.8 13.2 42 
--10.6 13.2 42 
--10.4 13.2 42.025 
--10.2 13.2 42.05 
--10 13.2 42.125 
--9.8 13.2 42.175 
--9.6 13.2 42.225 
--9.4 13.2 42.25 
--9.2 13.2 42.3 
--9 13.2 42.35 
--8.8 13.2 42.425 
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--8.2 13.2 42.525 
--8 13.2 42.5 
--7.8 13.2 42.525 
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--7.4 13.2 42.5 
--7.2 13.2 42.425 
--7 13.2 42.375 
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--6.6 13.2 42.4 
--6.4 13.2 42.425 
--6.2 13.2 42.45 
--6 13.2 42.425 
--5.8 13.2 42.375 
--5.6 13.2 42.325 
--5.4 13.2 42.275 
--5.2 13.2 42.2 
--5 13.2 42.1 
--4.8 13.2 41.95 
--4.6 13.2 41.875 
--4.4 13.2 41.75 
--4.2 13.2 41.6 
--4 13.2 41.475 
--3.8 13.2 41.4 
--3.6 13.2 41.35 
--3.4 13.2 41.325 
--3.2 13.2 41.275 
--3 13.2 41.15 
--2.8 13.2 41.1 
--2.6 13.2 41 
--2.4 13.2 40.875 
--2.2 13.2 40.725 
--2 13.2 40.6 
--1.8 13.2 40.5 
--1.6 13.2 40.4 
--1.4 13.2 40.35 
--1.2 13.2 40.25 
--0.999999 13.2 40.125 
--0.799999 13.2 40 
--0.599999 13.2 39.875 
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-1.04308e-006 13.2 39.475 
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-1.8 13.2 37.475 
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-2.2 13.2 36.9 
-2.4 13.2 36.575 
-2.6 13.2 36.25 
-2.8 13.2 35.875 
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-6.8 13.2 2.825 
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-7.2 13.2 3.5 
-7.4 13.2 4.025 
-7.6 13.2 4.3 
-7.8 13.2 4.425 
-8 13.2 4.7 
-8.2 13.2 4.975 
-8.4 13.2 5.225 
-8.6 13.2 5.45 
-8.8 13.2 5.725 
-9 13.2 5.975 
-9.2 13.2 6.2 
-9.4 13.2 6.4 
-9.6 13.2 6.65 
-9.8 13.2 6.9 
-10 13.2 7.075 
-10.2 13.2 7.275 
-10.4 13.2 7.475 
-10.6 13.2 7.65 
-10.8 13.2 7.85 
-11 13.2 8.025 
-11.2 13.2 8.2 
-11.4 13.2 8.35 
-11.6 13.2 8.5 
-11.8 13.2 8.625 
-12 13.2 8.8 
-12.2 13.2 9 
-12.4 13.2 9.1 
-12.6 13.2 9.275 
-12.8 13.2 9.45 
-13 13.2 9.65 
-13.2 13.2 9.825 
-13.4 13.2 9.975 
-13.6 13.2 10.125 
-13.8 13.2 10.225 
-14 13.2 10.375 
-14.2 13.2 10.5 
-14.4 13.2 10.675 
-14.6 13.2 10.8 
-14.8 13.2 10.95 
-15 13.2 11.1 
-15.2 13.2 11.225 
-15.4 13.2 11.35 
-15.6 13.2 11.475 
-15.8 13.2 11.55 
-16 13.2 11.65 
-16.2 13.2 11.75 
-16.4 13.2 11.825 
-16.6 13.2 11.85 
-16.8 13.2 11.825 
-17 13.2 11.775 
-17.2 13.2 11.7 
-17.4 13.2 11.525 
-17.6 13.2 11.275 
-17.8 13.2 11 
-18 13.2 10.7 
-20 13.2 41.425 
-20.2 13.2 41.375 
-20.4 13.2 41.4 
--17.2 13.4 35.675 
--17 13.4 35.975 
--16.8 13.4 36.225 
--16.6 13.4 36.525 
--16.4 13.4 36.9 
--16.2 13.4 37.275 
--16 13.4 37.475 
--15.8 13.4 37.725 
--15.6 13.4 38.025 
--15.4 13.4 38.325 
--15.2 13.4 38.575 
--15 13.4 38.775 
--14.8 13.4 39 
--14.6 13.4 39.275 
--14.4 13.4 39.475 
--14.2 13.4 39.7 
--14 13.4 39.95 
--13.8 13.4 40.2 
--13.6 13.4 40.45 
--13.4 13.4 40.6 
--13.2 13.4 40.725 
--13 13.4 40.875 
--12.8 13.4 41.075 
--12.6 13.4 41.25 
--12.4 13.4 41.45 
--12.2 13.4 41.6 
--12 13.4 41.7 
--11.8 13.4 41.775 
--11.6 13.4 41.825 
--11.4 13.4 41.975 
--11.2 13.4 42.15 
--11 13.4 42.325 
--10.8 13.4 42.45 
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--10.2 13.4 42.55 
--10 13.4 42.6 
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--7.8 13.4 42.975 
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--7.4 13.4 43.1 
--7.2 13.4 43.1 
--7 13.4 43.025 
--6.8 13.4 43.025 
--6.6 13.4 43 
--6.4 13.4 42.975 
--6.2 13.4 42.95 
--6 13.4 42.875 
--5.8 13.4 42.825 
--5.6 13.4 42.775 
--5.4 13.4 42.725 
--5.2 13.4 42.675 
--5 13.4 42.625 
--4.8 13.4 42.6 
--4.6 13.4 42.525 
--4.4 13.4 42.475 
--4.2 13.4 42.3 
--4 13.4 42.125 
--3.8 13.4 41.975 
--3.6 13.4 41.925 
--3.4 13.4 41.875 
--3.2 13.4 41.825 
--3 13.4 41.725 
--2.8 13.4 41.6 
--2.6 13.4 41.5 
--2.4 13.4 41.4 
--2.2 13.4 41.375 
--2 13.4 41.3 
--1.8 13.4 41.2 
--1.6 13.4 41.075 
--1.4 13.4 40.95 
--1.2 13.4 40.85 
--0.999999 13.4 40.75 
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-1.6 13.4 38.425 
-1.8 13.4 38.1 
-2 13.4 37.75 
-2.2 13.4 37.5 
-2.4 13.4 37.225 
-2.6 13.4 36.9 
-2.8 13.4 36.55 
-3 13.4 36.225 
-3.2 13.4 35.95 
-3.4 13.4 35.725 
-3.6 13.4 35.4 
-7.4 13.4 4.125 
-7.6 13.4 4.325 
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-8 13.4 4.9 
-8.2 13.4 5.125 
-8.4 13.4 5.325 
-8.6 13.4 5.5 
-8.8 13.4 5.7 
-9 13.4 5.925 
-9.2 13.4 6.125 
-9.4 13.4 6.35 
-9.6 13.4 6.575 
-9.8 13.4 6.8 
-10 13.4 6.95 
-10.2 13.4 7.125 
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-11 13.4 7.875 
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-11.4 13.4 8.275 
-11.6 13.4 8.4 
-11.8 13.4 8.575 
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-13.2 13.4 9.65 
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-14.8 13.4 10.775 
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-15.8 13.4 11.275 
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-16.6 13.4 11.35 
-16.8 13.4 11.3 
-17 13.4 11.225 
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-17.6 13.4 10.625 
-17.8 13.4 10.375 
-18 13.4 10.05 
-18.2 13.4 9.7 
-18.4 13.4 9.3 
-18.6 13.4 8.825 
--17.6 13.6 35.925 
--17.4 13.6 36.2 
--17.2 13.6 36.425 
--17 13.6 36.725 
--16.8 13.6 36.975 
--16.6 13.6 37.325 
--16.4 13.6 37.65 
--16.2 13.6 38.05 
--16 13.6 38.25 
--15.8 13.6 38.525 
--15.6 13.6 38.775 
--15.4 13.6 39 
--15.2 13.6 39.2 
--15 13.6 39.4 
--14.8 13.6 39.6 
--14.6 13.6 39.8 
--14.4 13.6 39.975 
--14.2 13.6 40.175 
--14 13.6 40.375 
--13.8 13.6 40.575 
--13.6 13.6 40.775 
--13.4 13.6 41 
--13.2 13.6 41.2 
--13 13.6 41.325 
--12.8 13.6 41.45 
--12.6 13.6 41.575 
--12.4 13.6 41.775 
--12.2 13.6 41.95 
--12 13.6 42.125 
--11.8 13.6 42.25 
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--11 13.6 42.725 
--10.8 13.6 42.775 
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--10 13.6 42.9 
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--9.4 13.6 43.025 
--9.2 13.6 43.05 
--9 13.6 43.1 
--8.8 13.6 43.225 
--8.6 13.6 43.3 
--8.4 13.6 43.35 
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--8 13.6 43.5 
--7.8 13.6 43.525 
--7.6 13.6 43.575 
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--7.2 13.6 43.625 
--7 13.6 43.6 
--6.8 13.6 43.525 
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--6.2 13.6 43.4 
--6 13.6 43.425 
--5.8 13.6 43.425 
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--5.4 13.6 43.375 
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--5 13.6 43.225 
--4.8 13.6 43.15 
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--4 13.6 42.725 
--3.8 13.6 42.575 
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--3 13.6 42.35 
--2.8 13.6 42.275 
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--2.4 13.6 41.925 
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--2 13.6 41.75 
--1.8 13.6 41.7 
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-0.200001 13.6 40.45 
-0.400001 13.6 40.325 
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-0.800001 13.6 40.025 
-1 13.6 39.8 
-1.2 13.6 39.575 
-1.4 13.6 39.35 
-1.6 13.6 39.15 
-1.8 13.6 38.9 
-2 13.6 38.65 
-2.2 13.6 38.275 
-2.4 13.6 37.975 
-2.6 13.6 37.625 
-2.8 13.6 37.375 
-3 13.6 37.05 
-3.2 13.6 36.7 
-3.4 13.6 36.325 
-3.6 13.6 36.1 
-3.8 13.6 35.725 
-4 13.6 35.275 
-7.6 13.6 4.4 
-7.8 13.6 4.875 
-8 13.6 5.025 
-8.2 13.6 5.275 
-8.4 13.6 5.6 
-8.6 13.6 5.7 
-8.8 13.6 5.85 
-9 13.6 5.975 
-9.2 13.6 6.1 
-9.4 13.6 6.275 
-9.6 13.6 6.5 
-9.8 13.6 6.725 
-10 13.6 6.9 
-10.2 13.6 7.075 
-10.4 13.6 7.25 
-10.6 13.6 7.425 
-10.8 13.6 7.575 
-11 13.6 7.775 
-11.2 13.6 7.95 
-11.4 13.6 8.15 
-11.6 13.6 8.3 
-11.8 13.6 8.475 
-12 13.6 8.625 
-12.2 13.6 8.75 
-12.4 13.6 8.85 
-12.6 13.6 8.95 
-12.8 13.6 9.1 
-13 13.6 9.275 
-13.2 13.6 9.45 
-13.4 13.6 9.6 
-13.6 13.6 9.775 
-13.8 13.6 9.9 
-14 13.6 10.025 
-14.2 13.6 10.125 
-14.4 13.6 10.25 
-14.6 13.6 10.4 
-14.8 13.6 10.55 
-15 13.6 10.65 
-15.2 13.6 10.75 
-15.4 13.6 10.8 
-15.6 13.6 10.85 
-15.8 13.6 10.925 
-16 13.6 11 
-16.2 13.6 11.05 
-16.4 13.6 11.075 
-16.6 13.6 11.025 
-16.8 13.6 10.875 
-17 13.6 10.725 
-17.2 13.6 10.5 
-17.4 13.6 10.25 
-17.6 13.6 9.975 
-17.8 13.6 9.775 
-18 13.6 9.475 
-18.2 13.6 9.05 
-18.4 13.6 8.55 
-18.6 13.6 7.975 
--18.8 13.8 34.725 
--18.6 13.8 34.95 
--18.4 13.8 35.375 
--18.2 13.8 35.75 
--18 13.8 36.075 
--17.8 13.8 36.3 
--17.6 13.8 36.55 
--17.4 13.8 36.775 
--17.2 13.8 37.1 
--17 13.8 37.45 
--16.8 13.8 37.75 
--16.6 13.8 38.05 
--16.4 13.8 38.35 
--16.2 13.8 38.675 
--16 13.8 38.9 
--15.8 13.8 39.125 
--15.6 13.8 39.3 
--15.4 13.8 39.425 
--15.2 13.8 39.6 
--15 13.8 39.8 
--14.8 13.8 40.125 
--14.6 13.8 40.375 
--14.4 13.8 40.575 
--14.2 13.8 40.725 
--14 13.8 40.9 
--13.8 13.8 41.075 
--13.6 13.8 41.275 
--13.4 13.8 41.475 
--13.2 13.8 41.65 
--13 13.8 41.8 
--12.8 13.8 41.95 
--12.6 13.8 42.1 
--12.4 13.8 42.3 
--12.2 13.8 42.475 
--12 13.8 42.625 
--11.8 13.8 42.775 
--11.6 13.8 42.9 
--11.4 13.8 43.025 
--11.2 13.8 43.175 
--11 13.8 43.2 
--10.8 13.8 43.225 
--10.6 13.8 43.25 
--10.4 13.8 43.3 
--10.2 13.8 43.375 
--10 13.8 43.475 
--9.8 13.8 43.525 
--9.6 13.8 43.575 
--9.4 13.8 43.6 
--9.2 13.8 43.625 
--9 13.8 43.675 
--8.8 13.8 43.75 
--8.6 13.8 43.775 
--8.4 13.8 43.875 
--8.2 13.8 43.925 
--8 13.8 44.025 
--7.8 13.8 44.05 
--7.6 13.8 44.075 
--7.4 13.8 44.05 
--7.2 13.8 44.05 
--7 13.8 44.05 
--6.8 13.8 44.075 
--6.6 13.8 44.05 
--6.4 13.8 44 
--6.2 13.8 44.025 
--6 13.8 44 
--5.8 13.8 44 
--5.6 13.8 43.95 
--5.4 13.8 43.85 
--5.2 13.8 43.775 
--5 13.8 43.65 
--4.8 13.8 43.525 
--4.6 13.8 43.45 
--4.4 13.8 43.375 
--4.2 13.8 43.3 
--4 13.8 43.225 
--3.8 13.8 43.15 
--3.6 13.8 43.075 
--3.4 13.8 43 
--3.2 13.8 42.875 
--3 13.8 42.775 
--2.8 13.8 42.7 
--2.6 13.8 42.625 
--2.4 13.8 42.55 
--2.2 13.8 42.45 
--2 13.8 42.35 
--1.8 13.8 42.225 
--1.6 13.8 42.075 
--1.4 13.8 41.95 
--1.2 13.8 41.85 
--0.999999 13.8 41.725 
--0.799999 13.8 41.65 
--0.599999 13.8 41.55 
--0.399999 13.8 41.425 
--0.199999 13.8 41.3 
-1.04308e-006 13.8 41.175 
-0.200001 13.8 41.075 
-0.400001 13.8 41.025 
-0.600001 13.8 40.9 
-0.800001 13.8 40.725 
-1 13.8 40.5 
-1.2 13.8 40.275 
-1.4 13.8 40.05 
-1.6 13.8 39.825 
-1.8 13.8 39.575 
-2 13.8 39.4 
-2.2 13.8 39.1 
-2.4 13.8 38.7 
-2.6 13.8 38.3 
-2.8 13.8 38.075 
-3 13.8 37.75 
-3.2 13.8 37.45 
-3.4 13.8 37.05 
-3.6 13.8 36.75 
-3.8 13.8 36.325 
-4 13.8 36.025 
-4.2 13.8 35.675 
-4.4 13.8 35.4 
-8 13.8 5.1 
-8.2 13.8 5.25 
-8.4 13.8 5.375 
-8.6 13.8 5.525 
-8.8 13.8 5.775 
-9 13.8 6.025 
-9.2 13.8 6.15 
-9.4 13.8 6.275 
-9.6 13.8 6.425 
-9.8 13.8 6.6 
-10 13.8 6.725 
-10.2 13.8 6.9 
-10.4 13.8 7.1 
-10.6 13.8 7.3 
-10.8 13.8 7.475 
-11 13.8 7.65 
-11.2 13.8 7.825 
-11.4 13.8 8.05 
-11.6 13.8 8.2 
-11.8 13.8 8.35 
-12 13.8 8.475 
-12.2 13.8 8.575 
-12.4 13.8 8.7 
-12.6 13.8 8.775 
-12.8 13.8 8.9 
-13 13.8 9.075 
-13.2 13.8 9.225 
-13.4 13.8 9.4 
-13.6 13.8 9.55 
-13.8 13.8 9.675 
-14 13.8 9.825 
-14.2 13.8 9.925 
-14.4 13.8 10.1 
-14.6 13.8 10.2 
-14.8 13.8 10.3 
-15 13.8 10.4 
-15.2 13.8 10.5 
-15.4 13.8 10.575 
-15.6 13.8 10.625 
-15.8 13.8 10.65 
-16 13.8 10.7 
-16.2 13.8 10.7 
-16.4 13.8 10.675 
-16.6 13.8 10.575 
-16.8 13.8 10.375 
-17 13.8 10.175 
-17.2 13.8 9.925 
-17.4 13.8 9.7 
-17.6 13.8 9.4 
-17.8 13.8 9.1 
-18 13.8 8.675 
-18.2 13.8 8.35 
-18.4 13.8 7.925 
--20 14 33.275 
--19.8 14 33.65 
--19.6 14 34.15 
--19.4 14 34.425 
--19.2 14 34.75 
--19 14 35.05 
--18.8 14 35.4 
--18.6 14 35.7 
--18.4 14 36 
--18.2 14 36.275 
--18 14 36.575 
--17.8 14 36.95 
--17.6 14 37.2 
--17.4 14 37.55 
--17.2 14 37.875 
--17 14 38.175 
--16.8 14 38.45 
--16.6 14 38.675 
--16.4 14 38.9 
--16.2 14 39.15 
--16 14 39.35 
--15.8 14 39.525 
--15.6 14 39.8 
--15.4 14 40.1 
--15.2 14 40.35 
--15 14 40.5 
--14.8 14 40.65 
--14.6 14 40.8 
--14.4 14 40.975 
--14.2 14 41.175 
--14 14 41.375 
--13.8 14 41.575 
--13.6 14 41.75 
--13.4 14 41.9 
--13.2 14 42.05 
--13 14 42.25 
--12.8 14 42.425 
--12.6 14 42.6 
--12.4 14 42.725 
--12.2 14 42.85 
--12 14 43 
--11.8 14 43.15 
--11.6 14 43.3 
--11.4 14 43.4 
--11.2 14 43.5 
--11 14 43.6 
--10.8 14 43.7 
--10.6 14 43.8 
--10.4 14 43.875 
--10.2 14 43.9 
--10 14 43.925 
--9.8 14 44 
--9.6 14 44.1 
--9.4 14 44.15 
--9.2 14 44.2 
--9 14 44.225 
--8.8 14 44.275 
--8.6 14 44.35 
--8.4 14 44.45 
--8.2 14 44.525 
--8 14 44.575 
--7.8 14 44.525 
--7.6 14 44.5 
--7.4 14 44.5 
--7.2 14 44.5 
--7 14 44.5 
--6.8 14 44.425 
--6.6 14 44.35 
--6.4 14 44.25 
--6.2 14 44.15 
--6 14 44.175 
--5.8 14 44.2 
--5.6 14 44.25 
--5.4 14 44.25 
--5.2 14 44.225 
--5 14 44.15 
--4.8 14 44.1 
--4.6 14 44.025 
--4.4 14 43.975 
--4.2 14 43.875 
--4 14 43.775 
--3.8 14 43.675 
--3.6 14 43.6 
--3.4 14 43.475 
--3.2 14 43.35 
--3 14 43.25 
--2.8 14 43.175 
--2.6 14 43.1 
--2.4 14 43.025 
--2.2 14 42.975 
--2 14 42.9 
--1.8 14 42.775 
--1.6 14 42.625 
--1.4 14 42.525 
--1.2 14 42.4 
--0.999999 14 42.325 
--0.799999 14 42.225 
--0.599999 14 42.075 
--0.399999 14 41.95 
--0.199999 14 41.85 
-1.04308e-006 14 41.75 
-0.200001 14 41.6 
-0.400001 14 41.45 
-0.600001 14 41.275 
-0.800001 14 41.125 
-1 14 40.95 
-1.2 14 40.8 
-1.4 14 40.625 
-1.6 14 40.525 
-1.8 14 40.325 
-2 14 39.85 
-2.2 14 39.55 
-2.4 14 39.275 
-2.6 14 39 
-2.8 14 38.75 
-3 14 38.425 
-3.2 14 38.175 
-3.4 14 37.875 
-3.6 14 37.625 
-3.8 14 37.175 
-4 14 36.875 
-4.2 14 36.475 
-4.4 14 35.975 
-4.6 14 35.7 
-4.8 14 35.45 
-5 14 35.1 
-8.4 14 5.6 
-8.6 14 5.575 
-8.8 14 5.8 
-9 14 5.975 
-9.2 14 6.15 
-9.4 14 6.225 
-9.6 14 6.35 
-9.8 14 6.525 
-10 14 6.7 
-10.2 14 6.875 
-10.4 14 7.05 
-10.6 14 7.25 
-10.8 14 7.4 
-11 14 7.55 
-11.2 14 7.675 
-11.4 14 7.825 
-11.6 14 8 
-11.8 14 8.175 
-12 14 8.35 
-12.2 14 8.55 
-12.4 14 8.65 
-12.6 14 8.725 
-12.8 14 8.85 
-13 14 8.975 
-13.2 14 9.1 
-13.4 14 9.25 
-13.6 14 9.4 
-13.8 14 9.525 
-14 14 9.65 
-14.2 14 9.775 
-14.4 14 9.875 
-14.6 14 9.975 
-14.8 14 10.05 
-15 14 10.15 
-15.2 14 10.2 
-15.4 14 10.25 
-15.6 14 10.275 
-15.8 14 10.275 
-16 14 10.275 
-16.2 14 10.25 
-16.4 14 10.175 
-16.6 14 10.05 
-16.8 14 9.825 
-17 14 9.575 
-17.2 14 9.3 
-17.4 14 9.05 
-17.6 14 8.7 
-17.8 14 8.45 
-18 14 8.1 
-18.2 14 7.6 
--20.8 14.2 32.5 
--20.6 14.2 32.95 
--20.4 14.2 33.325 
--20.2 14.2 33.725 
--20 14.2 33.95 
--19.8 14.2 34.375 
--19.6 14.2 34.65 
--19.4 14.2 35 
--19.2 14.2 35.45 
--19 14.2 35.7 
--18.8 14.2 36.125 
--18.6 14.2 36.325 
--18.4 14.2 36.55 
--18.2 14.2 36.825 
--18 14.2 37.175 
--17.8 14.2 37.625 
--17.6 14.2 37.825 
--17.4 14.2 38.15 
--17.2 14.2 38.4 
--17 14.2 38.675 
--16.8 14.2 38.925 
--16.6 14.2 39.175 
--16.4 14.2 39.4 
--16.2 14.2 39.675 
--16 14.2 39.9 
--15.8 14.2 40.15 
--15.6 14.2 40.4 
--15.4 14.2 40.65 
--15.2 14.2 40.85 
--15 14.2 41 
--14.8 14.2 41.15 
--14.6 14.2 41.225 
--14.4 14.2 41.4 
--14.2 14.2 41.625 
--14 14.2 41.825 
--13.8 14.2 42.025 
--13.6 14.2 42.125 
--13.4 14.2 42.3 
--13.2 14.2 42.475 
--13 14.2 42.675 
--12.8 14.2 42.925 
--12.6 14.2 43.075 
--12.4 14.2 43.225 
--12.2 14.2 43.35 
--12 14.2 43.475 
--11.8 14.2 43.6 
--11.6 14.2 43.725 
--11.4 14.2 43.85 
--11.2 14.2 43.95 
--11 14.2 44 
--10.8 14.2 44.025 
--10.6 14.2 44.1 
--10.4 14.2 44.175 
--10.2 14.2 44.275 
--10 14.2 44.325 
--9.8 14.2 44.375 
--9.6 14.2 44.45 
--9.4 14.2 44.525 
--9.2 14.2 44.575 
--9 14.2 44.625 
--8.8 14.2 44.675 
--8.6 14.2 44.7 
--8.4 14.2 44.75 
--8.2 14.2 44.775 
--8 14.2 44.8 
--7.8 14.2 44.85 
--7.6 14.2 44.875 
--7.4 14.2 44.925 
--7.2 14.2 44.95 
--7 14.2 44.875 
--6.8 14.2 44.8 
--6.6 14.2 44.75 
--6.4 14.2 44.65 
--6.2 14.2 44.675 
--6 14.2 44.675 
--5.8 14.2 44.7 
--5.6 14.2 44.725 
--5.4 14.2 44.675 
--5.2 14.2 44.625 
--5 14.2 44.625 
--4.8 14.2 44.6 
--4.6 14.2 44.45 
--4.4 14.2 44.3 
--4.2 14.2 44.175 
--4 14.2 44.1 
--3.8 14.2 44.1 
--3.6 14.2 44.075 
--3.4 14.2 43.975 
--3.2 14.2 43.875 
--3 14.2 43.75 
--2.8 14.2 43.7 
--2.6 14.2 43.625 
--2.4 14.2 43.5 
--2.2 14.2 43.35 
--2 14.2 43.25 
--1.8 14.2 43.175 
--1.6 14.2 43.1 
--1.4 14.2 43.05 
--1.2 14.2 42.925 
--0.999999 14.2 42.825 
--0.799999 14.2 42.7 
--0.599999 14.2 42.55 
--0.399999 14.2 42.4 
--0.199999 14.2 42.275 
-1.04308e-006 14.2 42.175 
-0.200001 14.2 42.075 
-0.400001 14.2 42 
-0.600001 14.2 41.875 
-0.800001 14.2 41.75 
-1 14.2 41.575 
-1.2 14.2 41.425 
-1.4 14.2 41.2 
-1.6 14.2 40.95 
-1.8 14.2 40.7 
-2 14.2 40.45 
-2.2 14.2 40.2 
-2.4 14.2 39.975 
-2.6 14.2 39.675 
-2.8 14.2 39.25 
-3 14.2 38.975 
-3.2 14.2 38.75 
-3.4 14.2 38.5 
-3.6 14.2 38.275 
-3.8 14.2 37.775 
-4 14.2 37.325 
-4.2 14.2 36.95 
-4.4 14.2 36.7 
-4.6 14.2 36.45 
-4.8 14.2 36.2 
-5 14.2 35.8 
-5.2 14.2 35.3 
-8.8 14.2 5.85 
-9 14.2 5.975 
-9.2 14.2 6.1 
-9.4 14.2 6.3 
-9.6 14.2 6.45 
-9.8 14.2 6.55 
-10 14.2 6.65 
-10.2 14.2 6.775 
-10.4 14.2 6.975 
-10.6 14.2 7.175 
-10.8 14.2 7.325 
-11 14.2 7.425 
-11.2 14.2 7.55 
-11.4 14.2 7.7 
-11.6 14.2 7.825 
-11.8 14.2 8 
-12 14.2 8.15 
-12.2 14.2 8.3 
-12.4 14.2 8.4 
-12.6 14.2 8.55 
-12.8 14.2 8.675 
-13 14.2 8.825 
-13.2 14.2 8.95 
-13.4 14.2 9.05 
-13.6 14.2 9.175 
-13.8 14.2 9.3 
-14 14.2 9.425 
-14.2 14.2 9.55 
-14.4 14.2 9.65 
-14.6 14.2 9.75 
-14.8 14.2 9.85 
-15 14.2 9.925 
-15.2 14.2 9.975 
-15.4 14.2 10.025 
-15.6 14.2 10.075 
-15.8 14.2 10.025 
-16 14.2 10 
-16.2 14.2 9.9 
-16.4 14.2 9.725 
-16.6 14.2 9.5 
-16.8 14.2 9.25 
-17 14.2 9 
-17.2 14.2 8.725 
-17.4 14.2 8.5 
-17.6 14.2 8.125 
-17.8 14.2 7.775 
-18 14.2 7.325 
-18.2 14.2 6.825 
--21.2 14.4 32.35 
--21 14.4 32.75 
--20.8 14.4 33.15 
--20.6 14.4 33.675 
--20.4 14.4 34.15 
--20.2 14.4 34.5 
--20 14.4 34.85 
--19.8 14.4 35.1 
--19.6 14.4 35.425 
--19.4 14.4 35.725 
--19.2 14.4 36 
--19 14.4 36.25 
--18.8 14.4 36.575 
--18.6 14.4 36.95 
--18.4 14.4 37.35 
--18.2 14.4 37.7 
--18 14.4 37.925 
--17.8 14.4 38.15 
--17.6 14.4 38.4 
--17.4 14.4 38.625 
--17.2 14.4 38.95 
--17 14.4 39.25 
--16.8 14.4 39.525 
--16.6 14.4 39.725 
--16.4 14.4 39.975 
--16.2 14.4 40.225 
--16 14.4 40.475 
--15.8 14.4 40.65 
--15.6 14.4 40.825 
--15.4 14.4 40.975 
--15.2 14.4 41.15 
--15 14.4 41.325 
--14.8 14.4 41.475 
--14.6 14.4 41.725 
--14.4 14.4 41.95 
--14.2 14.4 42.175 
--14 14.4 42.3 
--13.8 14.4 42.425 
--13.6 14.4 42.575 
--13.4 14.4 42.7 
--13.2 14.4 42.9 
--13 14.4 43.05 
--12.8 14.4 43.2 
--12.6 14.4 43.325 
--12.4 14.4 43.45 
--12.2 14.4 43.575 
--12 14.4 43.725 
--11.8 14.4 43.825 
--11.6 14.4 43.975 
--11.4 14.4 44.1 
--11.2 14.4 44.25 
--11 14.4 44.325 
--10.8 14.4 44.4 
--10.6 14.4 44.5 
--10.4 14.4 44.575 
--10.2 14.4 44.65 
--10 14.4 44.7 
--9.8 14.4 44.75 
--9.6 14.4 44.775 
--9.4 14.4 44.825 
--9.2 14.4 44.9 
--9 14.4 44.975 
--8.8 14.4 45.1 
--8.6 14.4 45.125 
--8.4 14.4 45.125 
--8.2 14.4 45.125 
--8 14.4 45.2 
--7.8 14.4 45.2 
--7.6 14.4 45.2 
--7.4 14.4 45.2 
--7.2 14.4 45.175 
--7 14.4 45.175 
--6.8 14.4 45.15 
--6.6 14.4 45.1 
--6.4 14.4 45 
--6.2 14.4 45.025 
--6 14.4 45.025 
--5.8 14.4 45.025 
--5.6 14.4 45.025 
--5.4 14.4 44.95 
--5.2 14.4 44.875 
--5 14.4 44.8 
--4.8 14.4 44.725 
--4.6 14.4 44.775 
--4.4 14.4 44.75 
--4.2 14.4 44.675 
--4 14.4 44.575 
--3.8 14.4 44.525 
--3.6 14.4 44.5 
--3.4 14.4 44.45 
--3.2 14.4 44.35 
--3 14.4 44.25 
--2.8 14.4 44.175 
--2.6 14.4 44.1 
--2.4 14.4 44.025 
--2.2 14.4 43.925 
--2 14.4 43.85 
--1.8 14.4 43.825 
--1.6 14.4 43.775 
--1.4 14.4 43.65 
--1.2 14.4 43.525 
--0.999999 14.4 43.375 
--0.799999 14.4 43.225 
--0.599999 14.4 43.125 
--0.399999 14.4 42.925 
--0.199999 14.4 42.725 
-1.04308e-006 14.4 42.55 
-0.200001 14.4 42.425 
-0.400001 14.4 42.4 
-0.600001 14.4 42.35 
-0.800001 14.4 42.25 
-1 14.4 42.1 
-1.2 14.4 41.9 
-1.4 14.4 41.675 
-1.6 14.4 41.5 
-1.8 14.4 41.35 
-2 14.4 41.15 
-2.2 14.4 40.925 
-2.4 14.4 40.6 
-2.6 14.4 40.2 
-2.8 14.4 39.95 
-3 14.4 39.6 
-3.2 14.4 39.325 
-3.4 14.4 39 
-3.6 14.4 38.75 
-3.8 14.4 38.4 
-4 14.4 38.075 
-4.2 14.4 37.675 
-4.4 14.4 37.45 
-4.6 14.4 37.075 
-4.8 14.4 36.775 
-5 14.4 36.5 
-5.2 14.4 36.1 
-5.4 14.4 35.65 
-5.6 14.4 35.175 
-5.8 14.4 34.825 
-6 14.4 34.35 
-6.2 14.4 33.875 
-9 14.4 6.15 
-9.2 14.4 6.2 
-9.4 14.4 6.275 
-9.6 14.4 6.375 
-9.8 14.4 6.475 
-10 14.4 6.625 
-10.2 14.4 6.725 
-10.4 14.4 6.875 
-10.6 14.4 7.025 
-10.8 14.4 7.15 
-11 14.4 7.275 
-11.2 14.4 7.45 
-11.4 14.4 7.575 
-11.6 14.4 7.725 
-11.8 14.4 7.825 
-12 14.4 7.975 
-12.2 14.4 8.15 
-12.4 14.4 8.25 
-12.6 14.4 8.35 
-12.8 14.4 8.5 
-13 14.4 8.65 
-13.2 14.4 8.775 
-13.4 14.4 8.925 
-13.6 14.4 9.05 
-13.8 14.4 9.15 
-14 14.4 9.275 
-14.2 14.4 9.375 
-14.4 14.4 9.5 
-14.6 14.4 9.6 
-14.8 14.4 9.7 
-15 14.4 9.725 
-15.2 14.4 9.775 
-15.4 14.4 9.775 
-15.6 14.4 9.75 
-15.8 14.4 9.7 
-16 14.4 9.6 
-16.2 14.4 9.45 
-16.4 14.4 9.225 
-16.6 14.4 8.975 
-16.8 14.4 8.7 
-17 14.4 8.425 
-17.2 14.4 8.125 
-17.4 14.4 7.925 
-17.6 14.4 7.6 
-17.8 14.4 7.275 
-18 14.4 6.8 
-18.2 14.4 6.475 
--21.4 14.6 32.75 
--21.2 14.6 33.025 
--21 14.6 33.425 
--20.8 14.6 33.9 
--20.6 14.6 34.325 
--20.4 14.6 34.6 
--20.2 14.6 35 
--20 14.6 35.275 
--19.8 14.6 35.65 
--19.6 14.6 36.075 
--19.4 14.6 36.45 
--19.2 14.6 36.65 
--19 14.6 36.9 
--18.8 14.6 37.275 
--18.6 14.6 37.7 
--18.4 14.6 37.9 
--18.2 14.6 38.175 
--18 14.6 38.475 
--17.8 14.6 38.725 
--17.6 14.6 38.975 
--17.4 14.6 39.225 
--17.2 14.6 39.475 
--17 14.6 39.775 
--16.8 14.6 40 
--16.6 14.6 40.225 
--16.4 14.6 40.45 
--16.2 14.6 40.625 
--16 14.6 40.75 
--15.8 14.6 40.875 
--15.6 14.6 41.075 
--15.4 14.6 41.3 
--15.2 14.6 41.5 
--15 14.6 41.675 
--14.8 14.6 41.9 
--14.6 14.6 42.125 
--14.4 14.6 42.3 
--14.2 14.6 42.5 
--14 14.6 42.7 
--13.8 14.6 42.825 
--13.6 14.6 42.975 
--13.4 14.6 43.125 
--13.2 14.6 43.325 
--13 14.6 43.5 
--12.8 14.6 43.65 
--12.6 14.6 43.75 
--12.4 14.6 43.85 
--12.2 14.6 43.95 
--12 14.6 44.1 
--11.8 14.6 44.225 
--11.6 14.6 44.35 
--11.4 14.6 44.425 
--11.2 14.6 44.5 
--11 14.6 44.6 
--10.8 14.6 44.7 
--10.6 14.6 44.75 
--10.4 14.6 44.85 
--10.2 14.6 44.975 
--10 14.6 45.075 
--9.8 14.6 45.175 
--9.6 14.6 45.25 
--9.4 14.6 45.25 
--9.2 14.6 45.25 
--9 14.6 45.225 
--8.8 14.6 45.2 
--8.6 14.6 45.175 
--8.4 14.6 45.25 
--8.2 14.6 45.3 
--8 14.6 45.375 
--7.8 14.6 45.45 
--7.6 14.6 45.45 
--7.4 14.6 45.425 
--7.2 14.6 45.425 
--7 14.6 45.45 
--6.8 14.6 45.5 
--6.6 14.6 45.525 
--6.4 14.6 45.525 
--6.2 14.6 45.45 
--6 14.6 45.425 
--5.8 14.6 45.4 
--5.6 14.6 45.325 
--5.4 14.6 45.25 
--5.2 14.6 45.175 
--5 14.6 45.15 
--4.8 14.6 45.125 
--4.6 14.6 45.075 
--4.4 14.6 44.975 
--4.2 14.6 44.925 
--4 14.6 44.85 
--3.8 14.6 44.875 
--3.6 14.6 44.875 
--3.4 14.6 44.85 
--3.2 14.6 44.8 
--3 14.6 44.7 
--2.8 14.6 44.55 
--2.6 14.6 44.45 
--2.4 14.6 44.325 
--2.2 14.6 44.275 
--2 14.6 44.2 
--1.8 14.6 44.1 
--1.6 14.6 43.95 
--1.4 14.6 43.825 
--1.2 14.6 43.8 
--0.999999 14.6 43.75 
--0.799999 14.6 43.675 
--0.599999 14.6 43.55 
--0.399999 14.6 43.375 
--0.199999 14.6 43.25 
-1.04308e-006 14.6 43.125 
-0.200001 14.6 43 
-0.400001 14.6 42.925 
-0.600001 14.6 42.825 
-0.800001 14.6 42.7 
-1 14.6 42.55 
-1.2 14.6 42.375 
-1.4 14.6 42.2 
-1.6 14.6 42.025 
-1.8 14.6 41.825 
-2 14.6 41.6 
-2.2 14.6 41.3 
-2.4 14.6 41.075 
-2.6 14.6 40.8 
-2.8 14.6 40.475 
-3 14.6 40.2 
-3.2 14.6 40 
-3.4 14.6 39.725 
-3.6 14.6 39.575 
-3.8 14.6 39.225 
-4 14.6 38.85 
-4.2 14.6 38.275 
-4.4 14.6 38.05 
-4.6 14.6 37.7 
-4.8 14.6 37.275 
-5 14.6 36.825 
-5.2 14.6 36.475 
-5.4 14.6 36.15 
-5.6 14.6 35.85 
-5.8 14.6 35.4 
-6 14.6 35 
-6.2 14.6 34.475 
-6.4 14.6 33.975 
-9.2 14.6 6.65 
-9.4 14.6 6.3 
-9.6 14.6 6.4 
-9.8 14.6 6.575 
-10 14.6 6.625 
-10.2 14.6 6.725 
-10.4 14.6 6.85 
-10.6 14.6 6.95 
-10.8 14.6 7.075 
-11 14.6 7.175 
-11.2 14.6 7.3 
-11.4 14.6 7.375 
-11.6 14.6 7.525 
-11.8 14.6 7.65 
-12 14.6 7.8 
-12.2 14.6 7.95 
-12.4 14.6 8.025 
-12.6 14.6 8.125 
-12.8 14.6 8.325 
-13 14.6 8.525 
-13.2 14.6 8.675 
-13.4 14.6 8.775 
-13.6 14.6 8.85 
-13.8 14.6 8.95 
-14 14.6 9.05 
-14.2 14.6 9.15 
-14.4 14.6 9.25 
-14.6 14.6 9.3 
-14.8 14.6 9.35 
-15 14.6 9.45 
-15.2 14.6 9.475 
-15.4 14.6 9.475 
-15.6 14.6 9.425 
-15.8 14.6 9.325 
-16 14.6 9.2 
-16.2 14.6 9 
-16.4 14.6 8.75 
-16.6 14.6 8.55 
-16.8 14.6 8.2 
-17 14.6 7.95 
-17.2 14.6 7.65 
-17.4 14.6 7.35 
-17.6 14.6 7 
-17.8 14.6 6.55 
-18 14.6 5.85 
-18.2 14.6 5.475 
--21.6 14.8 33.15 
--21.4 14.8 33.475 
--21.2 14.8 33.725 
--21 14.8 34.125 
--20.8 14.8 34.7 
--20.6 14.8 35.025 
--20.4 14.8 35.225 
--20.2 14.8 35.5 
--20 14.8 35.775 
--19.8 14.8 36.05 
--19.6 14.8 36.5 
--19.4 14.8 36.95 
--19.2 14.8 37.325 
--19 14.8 37.6 
--18.8 14.8 37.9 
--18.6 14.8 38.225 
--18.4 14.8 38.45 
--18.2 14.8 38.7 
--18 14.8 38.975 
--17.8 14.8 39.25 
--17.6 14.8 39.525 
--17.4 14.8 39.75 
--17.2 14.8 40.025 
--17 14.8 40.25 
--16.8 14.8 40.45 
--16.6 14.8 40.6 
--16.4 14.8 40.8 
--16.2 14.8 41 
--16 14.8 41.2 
--15.8 14.8 41.45 
--15.6 14.8 41.65 
--15.4 14.8 41.825 
--15.2 14.8 41.95 
--15 14.8 42.05 
--14.8 14.8 42.225 
--14.6 14.8 42.425 
--14.4 14.8 42.625 
--14.2 14.8 42.825 
--14 14.8 42.975 
--13.8 14.8 43.125 
--13.6 14.8 43.325 
--13.4 14.8 43.475 
--13.2 14.8 43.625 
--13 14.8 43.775 
--12.8 14.8 43.9 
--12.6 14.8 44.025 
--12.4 14.8 44.125 
--12.2 14.8 44.2 
--12 14.8 44.3 
--11.8 14.8 44.425 
--11.6 14.8 44.6 
--11.4 14.8 44.775 
--11.2 14.8 44.95 
--11 14.8 45.025 
--10.8 14.8 45.1 
--10.6 14.8 45.125 
--10.4 14.8 45.175 
--10.2 14.8 45.275 
--10 14.8 45.35 
--9.8 14.8 45.425 
--9.6 14.8 45.5 
--9.4 14.8 45.55 
--9.2 14.8 45.575 
--9 14.8 45.575 
--8.8 14.8 45.55 
--8.6 14.8 45.575 
--8.4 14.8 45.625 
--8.2 14.8 45.65 
--8 14.8 45.7 
--7.8 14.8 45.775 
--7.6 14.8 45.775 
--7.4 14.8 45.775 
--7.2 14.8 45.75 
--7 14.8 45.75 
--6.8 14.8 45.75 
--6.6 14.8 45.75 
--6.4 14.8 45.775 
--6.2 14.8 45.8 
--6 14.8 45.775 
--5.8 14.8 45.75 
--5.6 14.8 45.675 
--5.4 14.8 45.6 
--5.2 14.8 45.525 
--5 14.8 45.5 
--4.8 14.8 45.475 
--4.6 14.8 45.425 
--4.4 14.8 45.375 
--4.2 14.8 45.3 
--4 14.8 45.25 
--3.8 14.8 45.25 
--3.6 14.8 45.225 
--3.4 14.8 45.15 
--3.2 14.8 45.025 
--3 14.8 44.925 
--2.8 14.8 44.825 
--2.6 14.8 44.75 
--2.4 14.8 44.7 
--2.2 14.8 44.675 
--2 14.8 44.6 
--1.8 14.8 44.475 
--1.6 14.8 44.35 
--1.4 14.8 44.3 
--1.2 14.8 44.25 
--0.999999 14.8 44.225 
--0.799999 14.8 44.1 
--0.599999 14.8 44 
--0.399999 14.8 43.875 
--0.199999 14.8 43.775 
-1.04308e-006 14.8 43.7 
-0.200001 14.8 43.6 
-0.400001 14.8 43.5 
-0.600001 14.8 43.375 
-0.800001 14.8 43.25 
-1 14.8 43.05 
-1.2 14.8 42.825 
-1.4 14.8 42.625 
-1.6 14.8 42.425 
-1.8 14.8 42.2 
-2 14.8 42.025 
-2.2 14.8 41.725 
-2.4 14.8 41.475 
-2.6 14.8 41.175 
-2.8 14.8 40.95 
-3 14.8 40.7 
-3.2 14.8 40.475 
-3.4 14.8 40.175 
-3.6 14.8 39.975 
-3.8 14.8 39.65 
-4 14.8 39.25 
-4.2 14.8 38.675 
-4.4 14.8 38.425 
-4.6 14.8 38.175 
-4.8 14.8 37.775 
-5 14.8 37.375 
-5.2 14.8 37.125 
-5.4 14.8 36.8 
-5.6 14.8 36.575 
-5.8 14.8 36.25 
-6 14.8 35.7 
-6.2 14.8 35.25 
-6.4 14.8 34.875 
-6.6 14.8 34.35 
-9.6 14.8 6.575 
-9.8 14.8 6.4 
-10 14.8 6.625 
-10.2 14.8 6.725 
-10.4 14.8 6.85 
-10.6 14.8 6.975 
-10.8 14.8 7.05 
-11 14.8 7.125 
-11.2 14.8 7.225 
-11.4 14.8 7.375 
-11.6 14.8 7.525 
-11.8 14.8 7.625 
-12 14.8 7.75 
-12.2 14.8 7.85 
-12.4 14.8 7.95 
-12.6 14.8 8.025 
-12.8 14.8 8.15 
-13 14.8 8.3 
-13.2 14.8 8.475 
-13.4 14.8 8.55 
-13.6 14.8 8.625 
-13.8 14.8 8.725 
-14 14.8 8.825 
-14.2 14.8 8.95 
-14.4 14.8 9.075 
-14.6 14.8 9.15 
-14.8 14.8 9.175 
-15 14.8 9.175 
-15.2 14.8 9.15 
-15.4 14.8 9.1 
-15.6 14.8 9 
-15.8 14.8 8.85 
-16 14.8 8.675 
-16.2 14.8 8.475 
-16.4 14.8 8.225 
-16.6 14.8 8 
-16.8 14.8 7.7 
-17 14.8 7.425 
-17.2 14.8 7.125 
-17.4 14.8 6.85 
-17.6 14.8 6.425 
-17.8 14.8 5.95 
-18 14.8 5.375 
--22.2 15 32.55 
--22 15 32.975 
--21.8 15 33.425 
--21.6 15 33.75 
--21.4 15 34.075 
--21.2 15 34.4 
--21 15 34.85 
--20.8 15 35.2 
--20.6 15 35.4 
--20.4 15 35.7 
--20.2 15 36.075 
--20 15 36.475 
--19.8 15 36.75 
--19.6 15 37.075 
--19.4 15 37.4 
--19.2 15 37.675 
--19 15 38 
--18.8 15 38.325 
--18.6 15 38.65 
--18.4 15 38.95 
--18.2 15 39.225 
--18 15 39.55 
--17.8 15 39.85 
--17.6 15 40.075 
--17.4 15 40.275 
--17.2 15 40.425 
--17 15 40.625 
--16.8 15 40.8 
--16.6 15 40.975 
--16.4 15 41.2 
--16.2 15 41.375 
--16 15 41.6 
--15.8 15 41.8 
--15.6 15 42.025 
--15.4 15 42.225 
--15.2 15 42.35 
--15 15 42.475 
--14.8 15 42.6 
--14.6 15 42.775 
--14.4 15 42.975 
--14.2 15 43.175 
--14 15 43.35 
--13.8 15 43.5 
--13.6 15 43.65 
--13.4 15 43.8 
--13.2 15 43.975 
--13 15 44.1 
--12.8 15 44.225 
--12.6 15 44.3 
--12.4 15 44.45 
--12.2 15 44.6 
--12 15 44.775 
--11.8 15 44.9 
--11.6 15 45 
--11.4 15 45.075 
--11.2 15 45.15 
--11 15 45.225 
--10.8 15 45.3 
--10.6 15 45.4 
--10.4 15 45.525 
--10.2 15 45.6 
--10 15 45.725 
--9.8 15 45.775 
--9.6 15 45.8 
--9.4 15 45.85 
--9.2 15 45.9 
--9 15 45.95 
--8.8 15 45.975 
--8.6 15 45.95 
--8.4 15 45.875 
--8.2 15 45.85 
--8 15 45.825 
--7.8 15 45.9 
--7.6 15 45.9 
--7.4 15 45.95 
--7.2 15 45.975 
--7 15 46.025 
--6.8 15 46.075 
--6.6 15 46.05 
--6.4 15 46.05 
--6.2 15 46.05 
--6 15 46 
--5.8 15 45.9 
--5.6 15 45.825 
--5.4 15 45.775 
--5.2 15 45.8 
--5 15 45.825 
--4.8 15 45.85 
--4.6 15 45.825 
--4.4 15 45.775 
--4.2 15 45.675 
--4 15 45.5 
--3.8 15 45.45 
--3.6 15 45.4 
--3.4 15 45.375 
--3.2 15 45.375 
--3 15 45.325 
--2.8 15 45.275 
--2.6 15 45.25 
--2.4 15 45.2 
--2.2 15 45.15 
--2 15 45.075 
--1.8 15 44.95 
--1.6 15 44.85 
--1.4 15 44.75 
--1.2 15 44.7 
--0.999999 15 44.6 
--0.799999 15 44.5 
--0.599999 15 44.425 
--0.399999 15 44.3 
--0.199999 15 44.225 
-1.04308e-006 15 44.125 
-0.200001 15 44 
-0.400001 15 43.85 
-0.600001 15 43.675 
-0.800001 15 43.475 
-1 15 43.275 
-1.2 15 43.1 
-1.4 15 42.925 
-1.6 15 42.775 
-1.8 15 42.625 
-2 15 42.5 
-2.2 15 42.25 
-2.4 15 42.075 
-2.6 15 41.825 
-2.8 15 41.425 
-3 15 41.125 
-3.2 15 40.825 
-3.4 15 40.575 
-3.6 15 40.3 
-3.8 15 39.9 
-4 15 39.55 
-4.2 15 39.175 
-4.4 15 38.925 
-4.6 15 38.675 
-4.8 15 38.375 
-5 15 38.075 
-5.2 15 37.8 
-5.4 15 37.275 
-5.6 15 36.9 
-5.8 15 36.45 
-6 15 36.3 
-6.2 15 35.975 
-6.4 15 35.475 
-6.6 15 34.925 
-6.8 15 34.4 
-9.8 15 6.475 
-10 15 6.475 
-10.2 15 6.575 
-10.4 15 6.725 
-10.6 15 6.925 
-10.8 15 7 
-11 15 7.075 
-11.2 15 7.175 
-11.4 15 7.325 
-11.6 15 7.475 
-11.8 15 7.575 
-12 15 7.65 
-12.2 15 7.725 
-12.4 15 7.825 
-12.6 15 7.975 
-12.8 15 8.1 
-13 15 8.25 
-13.2 15 8.35 
-13.4 15 8.4 
-13.6 15 8.5 
-13.8 15 8.575 
-14 15 8.7 
-14.2 15 8.775 
-14.4 15 8.85 
-14.6 15 8.9 
-14.8 15 8.925 
-15 15 8.9 
-15.2 15 8.875 
-15.4 15 8.8 
-15.6 15 8.65 
-15.8 15 8.5 
-16 15 8.3 
-16.2 15 8.1 
-16.4 15 7.85 
-16.6 15 7.625 
-16.8 15 7.375 
-17 15 7.1 
-17.2 15 6.75 
-17.4 15 6.425 
-17.6 15 5.825 
-17.8 15 5.25 
--22.8 15.2 31.775 
--22.6 15.2 32.425 
--22.4 15.2 32.75 
--22.2 15.2 33.075 
--22 15.2 33.45 
--21.8 15.2 33.825 
--21.6 15.2 34.25 
--21.4 15.2 34.675 
--21.2 15.2 35.025 
--21 15.2 35.35 
--20.8 15.2 35.7 
--20.6 15.2 36.025 
--20.4 15.2 36.325 
--20.2 15.2 36.75 
--20 15.2 37.225 
--19.8 15.2 37.475 
--19.6 15.2 37.725 
--19.4 15.2 38.025 
--19.2 15.2 38.325 
--19 15.2 38.6 
--18.8 15.2 38.875 
--18.6 15.2 39.175 
--18.4 15.2 39.45 
--18.2 15.2 39.7 
--18 15.2 39.975 
--17.8 15.2 40.25 
--17.6 15.2 40.45 
--17.4 15.2 40.65 
--17.2 15.2 40.85 
--17 15.2 41.05 
--16.8 15.2 41.2 
--16.6 15.2 41.375 
--16.4 15.2 41.55 
--16.2 15.2 41.75 
--16 15.2 41.875 
--15.8 15.2 42.05 
--15.6 15.2 42.25 
--15.4 15.2 42.525 
--15.2 15.2 42.75 
--15 15.2 42.95 
--14.8 15.2 43.125 
--14.6 15.2 43.225 
--14.4 15.2 43.35 
--14.2 15.2 43.425 
--14 15.2 43.575 
--13.8 15.2 43.675 
--13.6 15.2 43.875 
--13.4 15.2 44.025 
--13.2 15.2 44.2 
--13 15.2 44.35 
--12.8 15.2 44.55 
--12.6 15.2 44.725 
--12.4 15.2 44.925 
--12.2 15.2 45.075 
--12 15.2 45.175 
--11.8 15.2 45.25 
--11.6 15.2 45.3 
--11.4 15.2 45.4 
--11.2 15.2 45.5 
--11 15.2 45.6 
--10.8 15.2 45.675 
--10.6 15.2 45.775 
--10.4 15.2 45.875 
--10.2 15.2 45.975 
--10 15.2 46.05 
--9.8 15.2 46.075 
--9.6 15.2 46.075 
--9.4 15.2 46.025 
--9.2 15.2 46.075 
--9 15.2 46.125 
--8.8 15.2 46.2 
--8.6 15.2 46.225 
--8.4 15.2 46.225 
--8.2 15.2 46.2 
--8 15.2 46.2 
--7.8 15.2 46.2 
--7.6 15.2 46.25 
--7.4 15.2 46.25 
--7.2 15.2 46.3 
--7 15.2 46.3 
--6.8 15.2 46.3 
--6.6 15.2 46.275 
--6.4 15.2 46.225 
--6.2 15.2 46.225 
--6 15.2 46.225 
--5.8 15.2 46.25 
--5.6 15.2 46.25 
--5.4 15.2 46.2 
--5.2 15.2 46.2 
--5 15.2 46.125 
--4.8 15.2 46.05 
--4.6 15.2 45.975 
--4.4 15.2 45.925 
--4.2 15.2 45.925 
--4 15.2 45.95 
--3.8 15.2 45.95 
--3.6 15.2 45.925 
--3.4 15.2 45.9 
--3.2 15.2 45.875 
--3 15.2 45.85 
--2.8 15.2 45.775 
--2.6 15.2 45.65 
--2.4 15.2 45.5 
--2.2 15.2 45.425 
--2 15.2 45.35 
--1.8 15.2 45.3 
--1.6 15.2 45.225 
--1.4 15.2 45.15 
--1.2 15.2 45.075 
--0.999999 15.2 44.975 
--0.799999 15.2 44.85 
--0.599999 15.2 44.75 
--0.399999 15.2 44.675 
--0.199999 15.2 44.6 
-1.04308e-006 15.2 44.475 
-0.200001 15.2 44.35 
-0.400001 15.2 44.225 
-0.600001 15.2 44.125 
-0.800001 15.2 44 
-1 15.2 43.85 
-1.2 15.2 43.7 
-1.4 15.2 43.525 
-1.6 15.2 43.325 
-1.8 15.2 43.075 
-2 15.2 42.825 
-2.2 15.2 42.575 
-2.4 15.2 42.375 
-2.6 15.2 42.125 
-2.8 15.2 41.925 
-3 15.2 41.65 
-3.2 15.2 41.4 
-3.4 15.2 41.15 
-3.6 15.2 40.95 
-3.8 15.2 40.7 
-4 15.2 40.225 
-4.2 15.2 39.7 
-4.4 15.2 39.5 
-4.6 15.2 39.125 
-4.8 15.2 38.85 
-5 15.2 38.45 
-5.2 15.2 38.1 
-5.4 15.2 37.825 
-5.6 15.2 37.525 
-5.8 15.2 37.25 
-6 15.2 36.95 
-6.2 15.2 36.65 
-6.4 15.2 36.225 
-6.6 15.2 35.7 
-6.8 15.2 35.175 
-10.2 15.2 6.675 
-10.4 15.2 6.725 
-10.6 15.2 6.85 
-10.8 15.2 7.025 
-11 15.2 7.075 
-11.2 15.2 7.15 
-11.4 15.2 7.2 
-11.6 15.2 7.275 
-11.8 15.2 7.375 
-12 15.2 7.5 
-12.2 15.2 7.625 
-12.4 15.2 7.725 
-12.6 15.2 7.825 
-12.8 15.2 7.95 
-13 15.2 8.075 
-13.2 15.2 8.175 
-13.4 15.2 8.25 
-13.6 15.2 8.35 
-13.8 15.2 8.425 
-14 15.2 8.5 
-14.2 15.2 8.575 
-14.4 15.2 8.6 
-14.6 15.2 8.625 
-14.8 15.2 8.65 
-15 15.2 8.65 
-15.2 15.2 8.55 
-15.4 15.2 8.45 
-15.6 15.2 8.3 
-15.8 15.2 8.15 
-16 15.2 7.95 
-16.2 15.2 7.725 
-16.4 15.2 7.45 
-16.6 15.2 7.175 
-16.8 15.2 6.925 
-17 15.2 6.625 
-17.2 15.2 6.3 
-17.4 15.2 5.9 
-17.6 15.2 5.2 
--23 15.4 31.975 
--22.8 15.4 32.45 
--22.6 15.4 32.85 
--22.4 15.4 33.45 
--22.2 15.4 33.875 
--22 15.4 34.175 
--21.8 15.4 34.575 
--21.6 15.4 35.05 
--21.4 15.4 35.35 
--21.2 15.4 35.65 
--21 15.4 35.925 
--20.8 15.4 36.25 
--20.6 15.4 36.6 
--20.4 15.4 37.075 
--20.2 15.4 37.425 
--20 15.4 37.675 
--19.8 15.4 37.925 
--19.6 15.4 38.225 
--19.4 15.4 38.525 
--19.2 15.4 38.85 
--19 15.4 39.175 
--18.8 15.4 39.475 
--18.6 15.4 39.75 
--18.4 15.4 40.025 
--18.2 15.4 40.2 
--18 15.4 40.475 
--17.8 15.4 40.725 
--17.6 15.4 40.925 
--17.4 15.4 41.075 
--17.2 15.4 41.275 
--17 15.4 41.5 
--16.8 15.4 41.725 
--16.6 15.4 41.875 
--16.4 15.4 42.075 
--16.2 15.4 42.25 
--16 15.4 42.4 
--15.8 15.4 42.55 
--15.6 15.4 42.725 
--15.4 15.4 42.875 
--15.2 15.4 43.075 
--15 15.4 43.225 
--14.8 15.4 43.375 
--14.6 15.4 43.525 
--14.4 15.4 43.625 
--14.2 15.4 43.775 
--14 15.4 43.925 
--13.8 15.4 44.075 
--13.6 15.4 44.225 
--13.4 15.4 44.35 
--13.2 15.4 44.5 
--13 15.4 44.6 
--12.8 15.4 44.775 
--12.6 15.4 44.95 
--12.4 15.4 45.1 
--12.2 15.4 45.225 
--12 15.4 45.35 
--11.8 15.4 45.5 
--11.6 15.4 45.6 
--11.4 15.4 45.725 
--11.2 15.4 45.8 
--11 15.4 45.85 
--10.8 15.4 45.95 
--10.6 15.4 46.075 
--10.4 15.4 46.2 
--10.2 15.4 46.3 
--10 15.4 46.35 
--9.8 15.4 46.35 
--9.6 15.4 46.35 
--9.4 15.4 46.35 
--9.2 15.4 46.375 
--9 15.4 46.4 
--8.8 15.4 46.425 
--8.6 15.4 46.475 
--8.4 15.4 46.55 
--8.2 15.4 46.625 
--8 15.4 46.675 
--7.8 15.4 46.625 
--7.6 15.4 46.625 
--7.4 15.4 46.625 
--7.2 15.4 46.625 
--7 15.4 46.6 
--6.8 15.4 46.6 
--6.6 15.4 46.6 
--6.4 15.4 46.6 
--6.2 15.4 46.6 
--6 15.4 46.6 
--5.8 15.4 46.575 
--5.6 15.4 46.55 
--5.4 15.4 46.5 
--5.2 15.4 46.475 
--5 15.4 46.475 
--4.8 15.4 46.425 
--4.6 15.4 46.4 
--4.4 15.4 46.325 
--4.2 15.4 46.25 
--4 15.4 46.225 
--3.8 15.4 46.2 
--3.6 15.4 46.175 
--3.4 15.4 46.1 
--3.2 15.4 46.05 
--3 15.4 46 
--2.8 15.4 45.975 
--2.6 15.4 45.9 
--2.4 15.4 45.825 
--2.2 15.4 45.725 
--2 15.4 45.675 
--1.8 15.4 45.65 
--1.6 15.4 45.65 
--1.4 15.4 45.6 
--1.2 15.4 45.55 
--0.999999 15.4 45.475 
--0.799999 15.4 45.325 
--0.599999 15.4 45.175 
--0.399999 15.4 45.025 
--0.199999 15.4 44.925 
-1.04308e-006 15.4 44.825 
-0.200001 15.4 44.725 
-0.400001 15.4 44.6 
-0.600001 15.4 44.425 
-0.800001 15.4 44.275 
-1 15.4 44.125 
-1.2 15.4 43.975 
-1.4 15.4 43.85 
-1.6 15.4 43.725 
-1.8 15.4 43.55 
-2 15.4 43.375 
-2.2 15.4 43.125 
-2.4 15.4 42.825 
-2.6 15.4 42.6 
-2.8 15.4 42.45 
-3 15.4 42.2 
-3.2 15.4 41.9 
-3.4 15.4 41.575 
-3.6 15.4 41.175 
-3.8 15.4 40.925 
-4 15.4 40.675 
-4.2 15.4 40.375 
-4.4 15.4 40.125 
-4.6 15.4 39.8 
-4.8 15.4 39.425 
-5 15.4 39.125 
-5.2 15.4 38.7 
-5.4 15.4 38.4 
-5.6 15.4 37.925 
-5.8 15.4 37.625 
-6 15.4 37.45 
-6.2 15.4 37.175 
-6.4 15.4 36.675 
-6.6 15.4 36.225 
-6.8 15.4 35.925 
-7 15.4 35.525 
-7.2 15.4 34.8 
-10.6 15.4 6.75 
-10.8 15.4 6.875 
-11 15.4 7.025 
-11.2 15.4 7.125 
-11.4 15.4 7.275 
-11.6 15.4 7.275 
-11.8 15.4 7.35 
-12 15.4 7.425 
-12.2 15.4 7.525 
-12.4 15.4 7.625 
-12.6 15.4 7.7 
-12.8 15.4 7.8 
-13 15.4 7.925 
-13.2 15.4 8.05 
-13.4 15.4 8.175 
-13.6 15.4 8.275 
-13.8 15.4 8.35 
-14 15.4 8.375 
-14.2 15.4 8.425 
-14.4 15.4 8.425 
-14.6 15.4 8.45 
-14.8 15.4 8.45 
-15 15.4 8.375 
-15.2 15.4 8.25 
-15.4 15.4 8.15 
-15.6 15.4 8 
-15.8 15.4 7.8 
-16 15.4 7.575 
-16.2 15.4 7.35 
-16.4 15.4 7.1 
-16.6 15.4 6.85 
-16.8 15.4 6.55 
-17 15.4 6.275 
-17.2 15.4 5.825 
-17.4 15.4 5.375 
--23.6 15.6 31.2 
--23.4 15.6 32.2 
--23.2 15.6 32.35 
--23 15.6 32.6 
--22.8 15.6 32.95 
--22.6 15.6 33.45 
--22.4 15.6 33.975 
--22.2 15.6 34.4 
--22 15.6 34.825 
--21.8 15.6 35.125 
--21.6 15.6 35.35 
--21.4 15.6 35.7 
--21.2 15.6 36.125 
--21 15.6 36.65 
--20.8 15.6 37.1 
--20.6 15.6 37.275 
--20.4 15.6 37.575 
--20.2 15.6 37.85 
--20 15.6 38.075 
--19.8 15.6 38.35 
--19.6 15.6 38.625 
--19.4 15.6 38.95 
--19.2 15.6 39.3 
--19 15.6 39.55 
--18.8 15.6 39.9 
--18.6 15.6 40.2 
--18.4 15.6 40.45 
--18.2 15.6 40.65 
--18 15.6 40.85 
--17.8 15.6 41.025 
--17.6 15.6 41.225 
--17.4 15.6 41.45 
--17.2 15.6 41.625 
--17 15.6 41.825 
--16.8 15.6 42 
--16.6 15.6 42.15 
--16.4 15.6 42.375 
--16.2 15.6 42.55 
--16 15.6 42.725 
--15.8 15.6 42.8 
--15.6 15.6 42.95 
--15.4 15.6 43.15 
--15.2 15.6 43.35 
--15 15.6 43.575 
--14.8 15.6 43.75 
--14.6 15.6 43.925 
--14.4 15.6 44.025 
--14.2 15.6 44.125 
--14 15.6 44.275 
--13.8 15.6 44.425 
--13.6 15.6 44.525 
--13.4 15.6 44.625 
--13.2 15.6 44.725 
--13 15.6 44.85 
--12.8 15.6 45.025 
--12.6 15.6 45.2 
--12.4 15.6 45.4 
--12.2 15.6 45.525 
--12 15.6 45.675 
--11.8 15.6 45.8 
--11.6 15.6 45.9 
--11.4 15.6 46.025 
--11.2 15.6 46.15 
--11 15.6 46.25 
--10.8 15.6 46.325 
--10.6 15.6 46.4 
--10.4 15.6 46.475 
--10.2 15.6 46.525 
--10 15.6 46.6 
--9.8 15.6 46.625 
--9.6 15.6 46.65 
--9.4 15.6 46.65 
--9.2 15.6 46.675 
--9 15.6 46.675 
--8.8 15.6 46.65 
--8.6 15.6 46.675 
--8.4 15.6 46.75 
--8.2 15.6 46.8 
--8 15.6 46.875 
--7.8 15.6 46.875 
--7.6 15.6 46.9 
--7.4 15.6 46.875 
--7.2 15.6 46.875 
--7 15.6 46.9 
--6.8 15.6 46.9 
--6.6 15.6 46.875 
--6.4 15.6 46.875 
--6.2 15.6 46.825 
--6 15.6 46.8 
--5.8 15.6 46.8 
--5.6 15.6 46.775 
--5.4 15.6 46.75 
--5.2 15.6 46.675 
--5 15.6 46.65 
--4.8 15.6 46.675 
--4.6 15.6 46.675 
--4.4 15.6 46.65 
--4.2 15.6 46.625 
--4 15.6 46.575 
--3.8 15.6 46.6 
--3.6 15.6 46.575 
--3.4 15.6 46.525 
--3.2 15.6 46.45 
--3 15.6 46.375 
--2.8 15.6 46.35 
--2.6 15.6 46.3 
--2.4 15.6 46.225 
--2.2 15.6 46.175 
--2 15.6 46.1 
--1.8 15.6 46.05 
--1.6 15.6 45.95 
--1.4 15.6 45.825 
--1.2 15.6 45.7 
--0.999999 15.6 45.55 
--0.799999 15.6 45.475 
--0.599999 15.6 45.4 
--0.399999 15.6 45.325 
--0.199999 15.6 45.175 
-1.04308e-006 15.6 45.025 
-0.200001 15.6 44.9 
-0.400001 15.6 44.825 
-0.600001 15.6 44.775 
-0.800001 15.6 44.7 
-1 15.6 44.55 
-1.2 15.6 44.325 
-1.4 15.6 44.125 
-1.6 15.6 43.975 
-1.8 15.6 43.775 
-2 15.6 43.6 
-2.2 15.6 43.4 
-2.4 15.6 43.2 
-2.6 15.6 42.975 
-2.8 15.6 42.8 
-3 15.6 42.45 
-3.2 15.6 42.2 
-3.4 15.6 41.925 
-3.6 15.6 41.7 
-3.8 15.6 41.375 
-4 15.6 41.05 
-4.2 15.6 40.725 
-4.4 15.6 40.45 
-4.6 15.6 40.225 
-4.8 15.6 39.95 
-5 15.6 39.575 
-5.2 15.6 39.25 
-5.4 15.6 38.95 
-5.6 15.6 38.7 
-5.8 15.6 38.325 
-6 15.6 37.875 
-6.2 15.6 37.575 
-6.4 15.6 37.3 
-6.6 15.6 37.025 
-6.8 15.6 36.425 
-7 15.6 35.925 
-7.2 15.6 35.3 
-7.4 15.6 34.875 
-7.6 15.6 34.675 
-7.8 15.6 34.25 
-8 15.6 33.6 
-10.8 15.6 6.925 
-11 15.6 6.825 
-11.2 15.6 6.975 
-11.4 15.6 7.1 
-11.6 15.6 7.175 
-11.8 15.6 7.275 
-12 15.6 7.35 
-12.2 15.6 7.425 
-12.4 15.6 7.475 
-12.6 15.6 7.525 
-12.8 15.6 7.6 
-13 15.6 7.725 
-13.2 15.6 7.8 
-13.4 15.6 7.925 
-13.6 15.6 8.05 
-13.8 15.6 8.15 
-14 15.6 8.225 
-14.2 15.6 8.275 
-14.4 15.6 8.275 
-14.6 15.6 8.225 
-14.8 15.6 8.125 
-15 15.6 8.05 
-15.2 15.6 7.95 
-15.4 15.6 7.85 
-15.6 15.6 7.7 
-15.8 15.6 7.525 
-16 15.6 7.25 
-16.2 15.6 7.025 
-16.4 15.6 6.725 
-16.6 15.6 6.425 
-16.8 15.6 6.2 
-17 15.6 5.925 
-17.2 15.6 5.425 
-17.4 15.6 4.775 
--23.8 15.8 31.275 
--23.6 15.8 31.825 
--23.4 15.8 32.35 
--23.2 15.8 32.8 
--23 15.8 33.3 
--22.8 15.8 33.675 
--22.6 15.8 34.1 
--22.4 15.8 34.5 
--22.2 15.8 35.025 
--22 15.8 35.475 
--21.8 15.8 35.825 
--21.6 15.8 36.075 
--21.4 15.8 36.275 
--21.2 15.8 36.625 
--21 15.8 37.075 
--20.8 15.8 37.525 
--20.6 15.8 37.725 
--20.4 15.8 38 
--20.2 15.8 38.3 
--20 15.8 38.575 
--19.8 15.8 38.85 
--19.6 15.8 39.175 
--19.4 15.8 39.5 
--19.2 15.8 39.75 
--19 15.8 40 
--18.8 15.8 40.25 
--18.6 15.8 40.5 
--18.4 15.8 40.725 
--18.2 15.8 40.925 
--18 15.8 41.1 
--17.8 15.8 41.3 
--17.6 15.8 41.4 
--17.4 15.8 41.6 
--17.2 15.8 41.85 
--17 15.8 42.1 
--16.8 15.8 42.325 
--16.6 15.8 42.5 
--16.4 15.8 42.675 
--16.2 15.8 42.875 
--16 15.8 43 
--15.8 15.8 43.15 
--15.6 15.8 43.325 
--15.4 15.8 43.5 
--15.2 15.8 43.675 
--15 15.8 43.8 
--14.8 15.8 43.95 
--14.6 15.8 44.15 
--14.4 15.8 44.35 
--14.2 15.8 44.525 
--14 15.8 44.625 
--13.8 15.8 44.75 
--13.6 15.8 44.825 
--13.4 15.8 44.975 
--13.2 15.8 45.15 
--13 15.8 45.3 
--12.8 15.8 45.475 
--12.6 15.8 45.6 
--12.4 15.8 45.7 
--12.2 15.8 45.825 
--12 15.8 45.95 
--11.8 15.8 46.025 
--11.6 15.8 46.15 
--11.4 15.8 46.225 
--11.2 15.8 46.35 
--11 15.8 46.4 
--10.8 15.8 46.475 
--10.6 15.8 46.575 
--10.4 15.8 46.675 
--10.2 15.8 46.8 
--10 15.8 46.875 
--9.8 15.8 46.9 
--9.6 15.8 46.9 
--9.4 15.8 46.925 
--9.2 15.8 46.925 
--9 15.8 46.9 
--8.8 15.8 46.875 
--8.6 15.8 46.825 
--8.4 15.8 46.875 
--8.2 15.8 46.975 
--8 15.8 47.075 
--7.8 15.8 47.075 
--7.6 15.8 47 
--7.4 15.8 46.95 
--7.2 15.8 46.925 
--7 15.8 46.9 
--6.8 15.8 46.9 
--6.6 15.8 46.875 
--6.4 15.8 46.875 
--6.2 15.8 46.825 
--6 15.8 46.8 
--5.8 15.8 46.8 
--5.6 15.8 46.85 
--5.4 15.8 46.925 
--5.2 15.8 46.95 
--5 15.8 46.95 
--4.8 15.8 46.925 
--4.6 15.8 46.9 
--4.4 15.8 46.875 
--4.2 15.8 46.85 
--4 15.8 46.8 
--3.8 15.8 46.8 
--3.6 15.8 46.75 
--3.4 15.8 46.7 
--3.2 15.8 46.65 
--3 15.8 46.6 
--2.8 15.8 46.525 
--2.6 15.8 46.425 
--2.4 15.8 46.375 
--2.2 15.8 46.35 
--2 15.8 46.25 
--1.8 15.8 46.15 
--1.6 15.8 46.025 
--1.4 15.8 45.975 
--1.2 15.8 45.925 
--0.999999 15.8 45.875 
--0.799999 15.8 45.8 
--0.599999 15.8 45.725 
--0.399999 15.8 45.65 
--0.199999 15.8 45.5 
-1.04308e-006 15.8 45.375 
-0.200001 15.8 45.25 
-0.400001 15.8 45.125 
-0.600001 15.8 45 
-0.800001 15.8 44.875 
-1 15.8 44.725 
-1.2 15.8 44.6 
-1.4 15.8 44.45 
-1.6 15.8 44.275 
-1.8 15.8 44.075 
-2 15.8 43.9 
-2.2 15.8 43.75 
-2.4 15.8 43.575 
-2.6 15.8 43.35 
-2.8 15.8 43.125 
-3 15.8 42.775 
-3.2 15.8 42.5 
-3.4 15.8 42.2 
-3.6 15.8 42.025 
-3.8 15.8 41.8 
-4 15.8 41.625 
-4.2 15.8 41.35 
-4.4 15.8 40.975 
-4.6 15.8 40.725 
-4.8 15.8 40.55 
-5 15.8 40.2 
-5.2 15.8 39.675 
-5.4 15.8 39.25 
-5.6 15.8 39 
-5.8 15.8 38.7 
-6 15.8 38.4 
-6.2 15.8 38 
-6.4 15.8 37.65 
-6.6 15.8 37.125 
-6.8 15.8 36.875 
-7 15.8 36.675 
-7.2 15.8 36.35 
-7.4 15.8 35.825 
-7.6 15.8 35.3 
-7.8 15.8 34.75 
-8 15.8 34.2 
-8.2 15.8 33.625 
-11 15.8 7.3 
-11.2 15.8 7.025 
-11.4 15.8 7 
-11.6 15.8 7.2 
-11.8 15.8 7.275 
-12 15.8 7.35 
-12.2 15.8 7.4 
-12.4 15.8 7.45 
-12.6 15.8 7.525 
-12.8 15.8 7.6 
-13 15.8 7.675 
-13.2 15.8 7.725 
-13.4 15.8 7.8 
-13.6 15.8 7.9 
-13.8 15.8 7.975 
-14 15.8 8.025 
-14.2 15.8 8.025 
-14.4 15.8 8.025 
-14.6 15.8 8 
-14.8 15.8 7.975 
-15 15.8 7.875 
-15.2 15.8 7.75 
-15.4 15.8 7.6 
-15.6 15.8 7.4 
-15.8 15.8 7.225 
-16 15.8 6.975 
-16.2 15.8 6.725 
-16.4 15.8 6.425 
-16.6 15.8 6.05 
-16.8 15.8 5.7 
-17 15.8 5.325 
-17.2 15.8 4.7 
-17.4 15.8 4.425 
--24 16 31.425 
--23.8 16 31.875 
--23.6 16 32.4 
--23.4 16 33 
--23.2 16 33.375 
--23 16 33.75 
--22.8 16 34.1 
--22.6 16 34.55 
--22.4 16 35.15 
--22.2 16 35.5 
--22 16 35.925 
--21.8 16 36.325 
--21.6 16 36.65 
--21.4 16 36.85 
--21.2 16 37.125 
--21 16 37.5 
--20.8 16 37.95 
--20.6 16 38.15 
--20.4 16 38.4 
--20.2 16 38.75 
--20 16 39 
--19.8 16 39.3 
--19.6 16 39.6 
--19.4 16 39.9 
--19.2 16 40.15 
--19 16 40.45 
--18.8 16 40.7 
--18.6 16 40.95 
--18.4 16 41.175 
--18.2 16 41.375 
--18 16 41.6 
--17.8 16 41.825 
--17.6 16 41.975 
--17.4 16 42.075 
--17.2 16 42.2 
--17 16 42.35 
--16.8 16 42.55 
--16.6 16 42.75 
--16.4 16 42.925 
--16.2 16 43.125 
--16 16 43.25 
--15.8 16 43.4 
--15.6 16 43.575 
--15.4 16 43.775 
--15.2 16 44 
--15 16 44.125 
--14.8 16 44.275 
--14.6 16 44.4 
--14.4 16 44.6 
--14.2 16 44.775 
--14 16 44.95 
--13.8 16 45.125 
--13.6 16 45.2 
--13.4 16 45.3 
--13.2 16 45.4 
--13 16 45.55 
--12.8 16 45.75 
--12.6 16 45.925 
--12.4 16 46.1 
--12.2 16 46.2 
--12 16 46.3 
--11.8 16 46.325 
--11.6 16 46.375 
--11.4 16 46.45 
--11.2 16 46.575 
--11 16 46.625 
--10.8 16 46.7 
--10.6 16 46.775 
--10.4 16 46.825 
--10.2 16 46.875 
--10 16 46.925 
--9.8 16 46.925 
--9.6 16 46.975 
--9.4 16 46.975 
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-8.4 17.4 38 
-8.6 17.4 37.675 
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-9.2 17.4 36.775 
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-13.2 17.4 7.2 
-13.4 17.4 6.675 
-13.6 17.4 6.675 
-13.8 17.4 6.675 
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-14.2 17.4 6.5 
-14.4 17.4 6.3 
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-14.8 17.4 5.95 
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-15.2 17.4 5.55 
-15.4 17.4 5.275 
-15.6 17.4 4.95 
-15.8 17.4 4.7 
-16 17.4 4.25 
-16.2 17.4 3.775 
-16.4 17.4 3.3 
--26 17.6 31.225 
--25.8 17.6 31.75 
--25.6 17.6 32.25 
--25.4 17.6 32.8 
--25.2 17.6 33.35 
--25 17.6 33.825 
--24.8 17.6 34.25 
--24.6 17.6 34.75 
--24.4 17.6 35.2 
--24.2 17.6 35.575 
--24 17.6 35.95 
--23.8 17.6 36.475 
--23.6 17.6 36.85 
--23.4 17.6 37.175 
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--22.8 17.6 38.225 
--22.6 17.6 38.75 
--22.4 17.6 38.95 
--22.2 17.6 39.175 
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--21.8 17.6 39.9 
--21.6 17.6 40.2 
--21.4 17.6 40.425 
--21.2 17.6 40.7 
--21 17.6 41 
--20.8 17.6 41.2 
--20.6 17.6 41.4 
--20.4 17.6 41.65 
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--19.8 17.6 42.45 
--19.6 17.6 42.675 
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--19.2 17.6 43.075 
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--18.8 17.6 43.475 
--18.6 17.6 43.725 
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--18.2 17.6 44 
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--17.8 17.6 44.35 
--17.6 17.6 44.575 
--17.4 17.6 44.75 
--17.2 17.6 44.9 
--17 17.6 45 
--16.8 17.6 45.15 
--16.6 17.6 45.325 
--16.4 17.6 45.5 
--16.2 17.6 45.675 
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--14.8 17.6 46.7 
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--13.4 17.6 47.2 
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--12.8 17.6 47.075 
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--12.4 17.6 47.1 
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--11.8 17.6 47.275 
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--9.8 17.6 47.25 
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--8.8 17.6 47.1 
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--7.8 17.6 46.95 
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--6.4 17.6 47.075 
--6.2 17.6 47.1 
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--3.8 17.6 47 
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--3.2 17.6 46.925 
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--1.8 17.6 46.8 
--1.6 17.6 46.725 
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--0.999999 17.6 46.85 
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-13.4 17.6 6.725 
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-14.8 17.6 5.925 
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-16.4 17.6 2.875 
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--25.8 17.8 32.4 
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--25.4 17.8 33.4 
--25.2 17.8 33.925 
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--24.8 17.8 34.925 
--24.6 17.8 35.2 
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--23.8 17.8 36.725 
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--22.8 17.8 38.675 
--22.6 17.8 39 
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--21.8 17.8 40.425 
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--20.8 17.8 41.725 
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--3.8 17.8 47 
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--2.8 17.8 47.05 
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-15.8 17.8 3.925 
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--22.8 18 39.1 
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--8.4 18.2 47.325 
--8.2 18.2 47.325 
--8 18.2 47.35 
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--4.2 19.6 47.125 
--4 19.6 47 
--3.8 19.6 47 
--3.6 19.6 47 
--3.4 19.6 47.025 
--3.2 19.6 47.05 
--3 19.6 47.05 
--2.8 19.6 47.075 
--2.6 19.6 47.1 
--2.4 19.6 47.15 
--2.2 19.6 47.15 
--2 19.6 47.15 
--1.8 19.6 47.1 
--1.6 19.6 47.05 
--1.4 19.6 47.125 
--1.2 19.6 47.15 
--0.999999 19.6 47.2 
--0.799999 19.6 47.225 
--0.599999 19.6 47.25 
--0.399999 19.6 47.225 
--0.199999 19.6 47.2 
-1.04308e-006 19.6 47.2 
-0.200001 19.6 47.2 
-0.400001 19.6 47.25 
-0.600001 19.6 47.25 
-0.800001 19.6 47.2 
-1 19.6 47.15 
-1.2 19.6 47.1 
-1.4 19.6 47.025 
-1.6 19.6 46.95 
-1.8 19.6 46.85 
-2 19.6 46.725 
-2.2 19.6 46.7 
-2.4 19.6 46.7 
-2.6 19.6 46.75 
-2.8 19.6 46.85 
-3 19.6 46.95 
-3.2 19.6 46.95 
-3.4 19.6 46.9 
-3.6 19.6 46.825 
-3.8 19.6 46.75 
-4 19.6 46.7 
-4.2 19.6 46.625 
-4.4 19.6 46.5 
-4.6 19.6 46.35 
-4.8 19.6 46.225 
-5 19.6 46.125 
-5.2 19.6 46.025 
-5.4 19.6 45.875 
-5.6 19.6 45.7 
-5.8 19.6 45.475 
-6 19.6 45.275 
-6.2 19.6 45.075 
-6.4 19.6 44.85 
-6.6 19.6 44.6 
-6.8 19.6 44.4 
-7 19.6 44.175 
-7.2 19.6 43.975 
-7.4 19.6 43.8 
-7.6 19.6 43.625 
-7.8 19.6 43.4 
-8 19.6 43.075 
-8.2 19.6 42.6 
-8.4 19.6 42.4 
-8.6 19.6 42.175 
-8.8 19.6 41.925 
-9 19.6 41.575 
-9.2 19.6 41.325 
-9.4 19.6 41.025 
-9.6 19.6 40.725 
-9.8 19.6 40.35 
-10 19.6 40.125 
-10.2 19.6 39.675 
-10.4 19.6 39.4 
-10.6 19.6 39.075 
-10.8 19.6 38.75 
-11 19.6 38.3 
-11.2 19.6 38 
-11.4 19.6 37.675 
-11.6 19.6 37.175 
-11.8 19.6 36.65 
-12 19.6 36.125 
-12.2 19.6 35.625 
-12.4 19.6 35 
-12.6 19.6 34.45 
--28.4 19.8 30.425 
--28.2 19.8 31.025 
--28 19.8 31.725 
--27.8 19.8 32.225 
--27.6 19.8 32.9 
--27.4 19.8 33.625 
--27.2 19.8 34.325 
--27 19.8 34.75 
--26.8 19.8 35.275 
--26.6 19.8 35.675 
--26.4 19.8 36.1 
--26.2 19.8 36.6 
--26 19.8 37.05 
--25.8 19.8 37.35 
--25.6 19.8 37.7 
--25.4 19.8 37.925 
--25.2 19.8 38.275 
--25 19.8 38.7 
--24.8 19.8 39.1 
--24.6 19.8 39.325 
--24.4 19.8 39.8 
--24.2 19.8 40.35 
--24 19.8 40.7 
--23.8 19.8 41.05 
--23.6 19.8 41.325 
--23.4 19.8 41.625 
--23.2 19.8 41.85 
--23 19.8 42.075 
--22.8 19.8 42.325 
--22.6 19.8 42.6 
--22.4 19.8 42.8 
--22.2 19.8 43 
--22 19.8 43.25 
--21.8 19.8 43.5 
--21.6 19.8 43.675 
--21.4 19.8 43.95 
--21.2 19.8 44.2 
--21 19.8 44.425 
--20.8 19.8 44.6 
--20.6 19.8 44.8 
--20.4 19.8 45 
--20.2 19.8 45.175 
--20 19.8 45.325 
--19.8 19.8 45.475 
--19.6 19.8 45.675 
--19.4 19.8 45.9 
--19.2 19.8 46.1 
--19 19.8 46.3 
--18.8 19.8 46.5 
--18.6 19.8 46.7 
--18.4 19.8 46.85 
--18.2 19.8 46.95 
--18 19.8 47.05 
--17.8 19.8 47.1 
--17.6 19.8 47.125 
--17.4 19.8 47.2 
--17.2 19.8 47.225 
--17 19.8 47.275 
--16.8 19.8 47.275 
--16.6 19.8 47.3 
--16.4 19.8 47.325 
--16.2 19.8 47.375 
--16 19.8 47.375 
--15.8 19.8 47.35 
--15.6 19.8 47.3 
--15.4 19.8 47.2 
--15.2 19.8 47.175 
--15 19.8 47.175 
--14.8 19.8 47.275 
--14.6 19.8 47.4 
--14.4 19.8 47.475 
--14.2 19.8 47.5 
--14 19.8 47.45 
--13.8 19.8 47.375 
--13.6 19.8 47.35 
--13.4 19.8 47.35 
--13.2 19.8 47.375 
--13 19.8 47.35 
--12.8 19.8 47.325 
--12.6 19.8 47.275 
--12.4 19.8 47.25 
--12.2 19.8 47.2 
--12 19.8 47.125 
--11.8 19.8 47.075 
--11.6 19.8 47.05 
--11.4 19.8 47.1 
--11.2 19.8 47.175 
--11 19.8 47.15 
--10.8 19.8 47.175 
--10.6 19.8 47.225 
--10.4 19.8 47.325 
--10.2 19.8 47.35 
--10 19.8 47.325 
--9.8 19.8 47.2 
--9.6 19.8 47.125 
--9.4 19.8 47.1 
--9.2 19.8 47.175 
--9 19.8 47.225 
--8.8 19.8 47.225 
--8.6 19.8 47.2 
--8.4 19.8 47.15 
--8.2 19.8 47.15 
--8 19.8 47.15 
--7.8 19.8 47.15 
--7.6 19.8 47.075 
--7.4 19.8 47.025 
--7.2 19.8 47.025 
--7 19.8 47.05 
--6.8 19.8 47.1 
--6.6 19.8 47.075 
--6.4 19.8 47.05 
--6.2 19.8 47.05 
--6 19.8 47.125 
--5.8 19.8 47.2 
--5.6 19.8 47.275 
--5.4 19.8 47.3 
--5.2 19.8 47.3 
--5 19.8 47.275 
--4.8 19.8 47.275 
--4.6 19.8 47.25 
--4.4 19.8 47.2 
--4.2 19.8 47.15 
--4 19.8 47.1 
--3.8 19.8 47.025 
--3.6 19.8 47.025 
--3.4 19.8 47 
--3.2 19.8 47 
--3 19.8 47.025 
--2.8 19.8 47.05 
--2.6 19.8 47.1 
--2.4 19.8 47.175 
--2.2 19.8 47.175 
--2 19.8 47.15 
--1.8 19.8 47.125 
--1.6 19.8 47.1 
--1.4 19.8 47.1 
--1.2 19.8 47.125 
--0.999999 19.8 47.125 
--0.799999 19.8 47.15 
--0.599999 19.8 47.125 
--0.399999 19.8 47.1 
--0.199999 19.8 47.075 
-1.04308e-006 19.8 47.125 
-0.200001 19.8 47.225 
-0.400001 19.8 47.25 
-0.600001 19.8 47.2 
-0.800001 19.8 47.1 
-1 19.8 47 
-1.2 19.8 46.975 
-1.4 19.8 47.05 
-1.6 19.8 47.1 
-1.8 19.8 47.075 
-2 19.8 46.95 
-2.2 19.8 46.775 
-2.4 19.8 46.625 
-2.6 19.8 46.575 
-2.8 19.8 46.65 
-3 19.8 46.75 
-3.2 19.8 46.775 
-3.4 19.8 46.8 
-3.6 19.8 46.825 
-3.8 19.8 46.725 
-4 19.8 46.675 
-4.2 19.8 46.6 
-4.4 19.8 46.55 
-4.6 19.8 46.55 
-4.8 19.8 46.5 
-5 19.8 46.425 
-5.2 19.8 46.3 
-5.4 19.8 46.075 
-5.6 19.8 45.9 
-5.8 19.8 45.725 
-6 19.8 45.575 
-6.2 19.8 45.475 
-6.4 19.8 45.275 
-6.6 19.8 45.05 
-6.8 19.8 44.825 
-7 19.8 44.575 
-7.2 19.8 44.275 
-7.4 19.8 43.975 
-7.6 19.8 43.75 
-7.8 19.8 43.525 
-8 19.8 43.275 
-8.2 19.8 42.975 
-8.4 19.8 42.725 
-8.6 19.8 42.5 
-8.8 19.8 42.2 
-9 19.8 41.925 
-9.2 19.8 41.7 
-9.4 19.8 41.45 
-9.6 19.8 41.2 
-9.8 19.8 40.9 
-10 19.8 40.55 
-10.2 19.8 40.1 
-10.4 19.8 39.75 
-10.6 19.8 39.375 
-10.8 19.8 39.025 
-11 19.8 38.725 
-11.2 19.8 38.325 
-11.4 19.8 37.9 
-11.6 19.8 37.475 
-11.8 19.8 37 
-12 19.8 36.5 
-12.2 19.8 36.025 
-12.4 19.8 35.575 
-12.6 19.8 35.175 
--28.4 20 31.2 
--28.2 20 31.675 
--28 20 32.375 
--27.8 20 32.925 
--27.6 20 33.45 
--27.4 20 34.025 
--27.2 20 34.625 
--27 20 35.1 
--26.8 20 35.525 
--26.6 20 35.95 
--26.4 20 36.45 
--26.2 20 36.85 
--26 20 37.425 
--25.8 20 37.75 
--25.6 20 38.1 
--25.4 20 38.3 
--25.2 20 38.575 
--25 20 39.05 
--24.8 20 39.65 
--24.6 20 39.925 
--24.4 20 40.275 
--24.2 20 40.525 
--24 20 40.9 
--23.8 20 41.35 
--23.6 20 41.625 
--23.4 20 41.95 
--23.2 20 42.175 
--23 20 42.35 
--22.8 20 42.55 
--22.6 20 42.825 
--22.4 20 43.05 
--22.2 20 43.3 
--22 20 43.525 
--21.8 20 43.775 
--21.6 20 43.975 
--21.4 20 44.175 
--21.2 20 44.45 
--21 20 44.675 
--20.8 20 44.9 
--20.6 20 45.025 
--20.4 20 45.175 
--20.2 20 45.375 
--20 20 45.575 
--19.8 20 45.775 
--19.6 20 46 
--19.4 20 46.225 
--19.2 20 46.4 
--19 20 46.55 
--18.8 20 46.725 
--18.6 20 46.925 
--18.4 20 47.025 
--18.2 20 47.075 
--18 20 47.1 
--17.8 20 47.075 
--17.6 20 47.1 
--17.4 20 47.075 
--17.2 20 47.1 
--17 20 47.175 
--16.8 20 47.275 
--16.6 20 47.325 
--16.4 20 47.4 
--16.2 20 47.4 
--16 20 47.45 
--15.8 20 47.45 
--15.6 20 47.425 
--15.4 20 47.425 
--15.2 20 47.35 
--15 20 47.325 
--14.8 20 47.275 
--14.6 20 47.275 
--14.4 20 47.275 
--14.2 20 47.275 
--14 20 47.275 
--13.8 20 47.2 
--13.6 20 47.175 
--13.4 20 47.225 
--13.2 20 47.275 
--13 20 47.3 
--12.8 20 47.3 
--12.6 20 47.3 
--12.4 20 47.325 
--12.2 20 47.3 
--12 20 47.275 
--11.8 20 47.225 
--11.6 20 47.175 
--11.4 20 47.125 
--11.2 20 47.05 
--11 20 47.05 
--10.8 20 47.125 
--10.6 20 47.175 
--10.4 20 47.3 
--10.2 20 47.275 
--10 20 47.275 
--9.8 20 47.25 
--9.6 20 47.275 
--9.4 20 47.225 
--9.2 20 47.15 
--9 20 47.1 
--8.8 20 47.125 
--8.6 20 47.175 
--8.4 20 47.225 
--8.2 20 47.2 
--8 20 47.125 
--7.8 20 47.125 
--7.6 20 47.125 
--7.4 20 47.125 
--7.2 20 47.2 
--7 20 47.2 
--6.8 20 47.175 
--6.6 20 47.15 
--6.4 20 47.1 
--6.2 20 47.125 
--6 20 47.15 
--5.8 20 47.2 
--5.6 20 47.2 
--5.4 20 47.2 
--5.2 20 47.15 
--5 20 47.05 
--4.8 20 46.975 
--4.6 20 47.025 
--4.4 20 47.05 
--4.2 20 47.075 
--4 20 47.05 
--3.8 20 47.05 
--3.6 20 47.05 
--3.4 20 47.075 
--3.2 20 47.125 
--3 20 47.15 
--2.8 20 47.2 
--2.6 20 47.25 
--2.4 20 47.275 
--2.2 20 47.2 
--2 20 47.125 
--1.8 20 47.05 
--1.6 20 47.025 
--1.4 20 47.025 
--1.2 20 47.075 
--0.999999 20 47.125 
--0.799999 20 47.15 
--0.599999 20 47.2 
--0.399999 20 47.2 
--0.199999 20 47.225 
-1.04308e-006 20 47.225 
-0.200001 20 47.225 
-0.400001 20 47.225 
-0.600001 20 47.225 
-0.800001 20 47.225 
-1 20 47.15 
-1.2 20 47.075 
-1.4 20 47.025 
-1.6 20 47.025 
-1.8 20 47.025 
-2 20 46.975 
-2.2 20 46.875 
-2.4 20 46.825 
-2.6 20 46.75 
-2.8 20 46.65 
-3 20 46.575 
-3.2 20 46.525 
-3.4 20 46.65 
-3.6 20 46.725 
-3.8 20 46.75 
-4 20 46.8 
-4.2 20 46.85 
-4.4 20 46.85 
-4.6 20 46.85 
-4.8 20 46.8 
-5 20 46.7 
-5.2 20 46.55 
-5.4 20 46.275 
-5.6 20 46 
-5.8 20 45.8 
-6 20 45.675 
-6.2 20 45.55 
-6.4 20 45.375 
-6.6 20 45.15 
-6.8 20 45 
-7 20 44.825 
-7.2 20 44.575 
-7.4 20 44.325 
-7.6 20 44.075 
-7.8 20 43.875 
-8 20 43.525 
-8.2 20 43.2 
-8.4 20 42.975 
-8.6 20 42.75 
-8.8 20 42.525 
-9 20 42.225 
-9.2 20 42 
-9.4 20 41.775 
-9.6 20 41.5 
-9.8 20 41.25 
-10 20 40.9 
-10.2 20 40.475 
-10.4 20 40.175 
-10.6 20 39.875 
-10.8 20 39.425 
-11 20 39.15 
-11.2 20 38.75 
-11.4 20 38.2 
-11.6 20 37.7 
-11.8 20 37.35 
-12 20 36.9 
-12.2 20 36.55 
-12.4 20 36.25 
-12.6 20 35.625 
-12.8 20 34.85 
--28.6 20.2 30.95 
--28.4 20.2 31.575 
--28.2 20.2 32.15 
--28 20.2 32.875 
--27.8 20.2 33.525 
--27.6 20.2 33.975 
--27.4 20.2 34.45 
--27.2 20.2 35.075 
--27 20.2 35.6 
--26.8 20.2 36.075 
--26.6 20.2 36.45 
--26.4 20.2 36.75 
--26.2 20.2 37.225 
--26 20.2 37.825 
--25.8 20.2 38.1 
--25.6 20.2 38.4 
--25.4 20.2 38.675 
--25.2 20.2 39.1 
--25 20.2 39.525 
--24.8 20.2 39.925 
--24.6 20.2 40.25 
--24.4 20.2 40.6 
--24.2 20.2 40.95 
--24 20.2 41.3 
--23.8 20.2 41.55 
--23.6 20.2 41.85 
--23.4 20.2 42.1 
--23.2 20.2 42.325 
--23 20.2 42.55 
--22.8 20.2 42.775 
--22.6 20.2 43 
--22.4 20.2 43.2 
--22.2 20.2 43.45 
--22 20.2 43.725 
--21.8 20.2 44 
--21.6 20.2 44.175 
--21.4 20.2 44.3 
--21.2 20.2 44.525 
--21 20.2 44.775 
--20.8 20.2 45 
--20.6 20.2 45.225 
--20.4 20.2 45.45 
--20.2 20.2 45.7 
--20 20.2 45.9 
--19.8 20.2 46.1 
--19.6 20.2 46.3 
--19.4 20.2 46.5 
--19.2 20.2 46.625 
--19 20.2 46.775 
--18.8 20.2 46.9 
--18.6 20.2 46.975 
--18.4 20.2 47.025 
--18.2 20.2 47.075 
--18 20.2 47.1 
--17.8 20.2 47.1 
--17.6 20.2 47.05 
--17.4 20.2 47.025 
--17.2 20.2 47.075 
--17 20.2 47.1 
--16.8 20.2 47.125 
--16.6 20.2 47.15 
--16.4 20.2 47.2 
--16.2 20.2 47.3 
--16 20.2 47.35 
--15.8 20.2 47.35 
--15.6 20.2 47.275 
--15.4 20.2 47.225 
--15.2 20.2 47.275 
--15 20.2 47.425 
--14.8 20.2 47.45 
--14.6 20.2 47.375 
--14.4 20.2 47.275 
--14.2 20.2 47.2 
--14 20.2 47.2 
--13.8 20.2 47.25 
--13.6 20.2 47.225 
--13.4 20.2 47.275 
--13.2 20.2 47.275 
--13 20.2 47.25 
--12.8 20.2 47.3 
--12.6 20.2 47.275 
--12.4 20.2 47.225 
--12.2 20.2 47.175 
--12 20.2 47.15 
--11.8 20.2 47.175 
--11.6 20.2 47.2 
--11.4 20.2 47.175 
--11.2 20.2 47.125 
--11 20.2 47.075 
--10.8 20.2 47.125 
--10.6 20.2 47.15 
--10.4 20.2 47.2 
--10.2 20.2 47.2 
--10 20.2 47.2 
--9.8 20.2 47.225 
--9.6 20.2 47.25 
--9.4 20.2 47.3 
--9.2 20.2 47.275 
--9 20.2 47.25 
--8.8 20.2 47.25 
--8.6 20.2 47.25 
--8.4 20.2 47.275 
--8.2 20.2 47.2 
--8 20.2 47.15 
--7.8 20.2 47.15 
--7.6 20.2 47.15 
--7.4 20.2 47.15 
--7.2 20.2 47.15 
--7 20.2 47.15 
--6.8 20.2 47.175 
--6.6 20.2 47.2 
--6.4 20.2 47.175 
--6.2 20.2 47.175 
--6 20.2 47.175 
--5.8 20.2 47.15 
--5.6 20.2 47.15 
--5.4 20.2 47.15 
--5.2 20.2 47.1 
--5 20.2 47.05 
--4.8 20.2 47 
--4.6 20.2 47 
--4.4 20.2 46.975 
--4.2 20.2 46.95 
--4 20.2 46.925 
--3.8 20.2 46.925 
--3.6 20.2 46.975 
--3.4 20.2 47.075 
--3.2 20.2 47.175 
--3 20.2 47.225 
--2.8 20.2 47.25 
--2.6 20.2 47.275 
--2.4 20.2 47.225 
--2.2 20.2 47.175 
--2 20.2 47.075 
--1.8 20.2 47.025 
--1.6 20.2 47.025 
--1.4 20.2 47.05 
--1.2 20.2 47.1 
--0.999999 20.2 47.125 
--0.799999 20.2 47.125 
--0.599999 20.2 47.15 
--0.399999 20.2 47.175 
--0.199999 20.2 47.225 
-1.04308e-006 20.2 47.25 
-0.200001 20.2 47.25 
-0.400001 20.2 47.25 
-0.600001 20.2 47.275 
-0.800001 20.2 47.275 
-1 20.2 47.25 
-1.2 20.2 47.225 
-1.4 20.2 47.175 
-1.6 20.2 47.15 
-1.8 20.2 47.125 
-2 20.2 47.1 
-2.2 20.2 47.05 
-2.4 20.2 47.025 
-2.6 20.2 46.95 
-2.8 20.2 46.85 
-3 20.2 46.725 
-3.2 20.2 46.65 
-3.4 20.2 46.65 
-3.6 20.2 46.7 
-3.8 20.2 46.725 
-4 20.2 46.75 
-4.2 20.2 46.775 
-4.4 20.2 46.75 
-4.6 20.2 46.75 
-4.8 20.2 46.7 
-5 20.2 46.6 
-5.2 20.2 46.5 
-5.4 20.2 46.4 
-5.6 20.2 46.275 
-5.8 20.2 46.125 
-6 20.2 46 
-6.2 20.2 45.825 
-6.4 20.2 45.55 
-6.6 20.2 45.25 
-6.8 20.2 45.025 
-7 20.2 44.825 
-7.2 20.2 44.65 
-7.4 20.2 44.425 
-7.6 20.2 44.25 
-7.8 20.2 44.05 
-8 20.2 43.85 
-8.2 20.2 43.65 
-8.4 20.2 43.475 
-8.6 20.2 43.2 
-8.8 20.2 42.75 
-9 20.2 42.4 
-9.2 20.2 42.15 
-9.4 20.2 41.9 
-9.6 20.2 41.625 
-9.8 20.2 41.35 
-10 20.2 41.125 
-10.2 20.2 40.95 
-10.4 20.2 40.6 
-10.6 20.2 40.05 
-10.8 20.2 39.75 
-11 20.2 39.35 
-11.2 20.2 39.05 
-11.4 20.2 38.675 
-11.6 20.2 38.375 
-11.8 20.2 37.95 
-12 20.2 37.55 
-12.2 20.2 36.975 
-12.4 20.2 36.5 
-12.6 20.2 36 
-12.8 20.2 35.325 
-13 20.2 34.7 
--28.6 20.4 31.75 
--28.4 20.4 32.125 
--28.2 20.4 32.725 
--28 20.4 33.525 
--27.8 20.4 34 
--27.6 20.4 34.5 
--27.4 20.4 35.125 
--27.2 20.4 35.675 
--27 20.4 35.925 
--26.8 20.4 36.35 
--26.6 20.4 36.675 
--26.4 20.4 37.125 
--26.2 20.4 37.675 
--26 20.4 38.125 
--25.8 20.4 38.5 
--25.6 20.4 38.8 
--25.4 20.4 39.075 
--25.2 20.4 39.575 
--25 20.4 39.925 
--24.8 20.4 40.3 
--24.6 20.4 40.675 
--24.4 20.4 40.95 
--24.2 20.4 41.35 
--24 20.4 41.55 
--23.8 20.4 41.775 
--23.6 20.4 42.025 
--23.4 20.4 42.275 
--23.2 20.4 42.55 
--23 20.4 42.875 
--22.8 20.4 43.125 
--22.6 20.4 43.425 
--22.4 20.4 43.65 
--22.2 20.4 43.875 
--22 20.4 44.1 
--21.8 20.4 44.325 
--21.6 20.4 44.5 
--21.4 20.4 44.7 
--21.2 20.4 44.975 
--21 20.4 45.225 
--20.8 20.4 45.375 
--20.6 20.4 45.55 
--20.4 20.4 45.75 
--20.2 20.4 45.975 
--20 20.4 46.15 
--19.8 20.4 46.325 
--19.6 20.4 46.475 
--19.4 20.4 46.7 
--19.2 20.4 46.875 
--19 20.4 46.95 
--18.8 20.4 47 
--18.6 20.4 47 
--18.4 20.4 47.05 
--18.2 20.4 47.05 
--18 20.4 47.1 
--17.8 20.4 47.125 
--17.6 20.4 47.15 
--17.4 20.4 47.25 
--17.2 20.4 47.325 
--17 20.4 47.35 
--16.8 20.4 47.375 
--16.6 20.4 47.325 
--16.4 20.4 47.325 
--16.2 20.4 47.35 
--16 20.4 47.325 
--15.8 20.4 47.325 
--15.6 20.4 47.3 
--15.4 20.4 47.275 
--15.2 20.4 47.3 
--15 20.4 47.375 
--14.8 20.4 47.4 
--14.6 20.4 47.425 
--14.4 20.4 47.375 
--14.2 20.4 47.35 
--14 20.4 47.2 
--13.8 20.4 47.15 
--13.6 20.4 47.2 
--13.4 20.4 47.275 
--13.2 20.4 47.35 
--13 20.4 47.3 
--12.8 20.4 47.25 
--12.6 20.4 47.225 
--12.4 20.4 47.2 
--12.2 20.4 47.2 
--12 20.4 47.2 
--11.8 20.4 47.175 
--11.6 20.4 47.15 
--11.4 20.4 47.075 
--11.2 20.4 47.05 
--11 20.4 47.025 
--10.8 20.4 47.05 
--10.6 20.4 47.125 
--10.4 20.4 47.2 
--10.2 20.4 47.2 
--10 20.4 47.225 
--9.8 20.4 47.225 
--9.6 20.4 47.2 
--9.4 20.4 47.15 
--9.2 20.4 47.175 
--9 20.4 47.2 
--8.8 20.4 47.175 
--8.6 20.4 47.15 
--8.4 20.4 47.125 
--8.2 20.4 47.15 
--8 20.4 47.2 
--7.8 20.4 47.2 
--7.6 20.4 47.25 
--7.4 20.4 47.225 
--7.2 20.4 47.175 
--7 20.4 47.125 
--6.8 20.4 47.125 
--6.6 20.4 47.15 
--6.4 20.4 47.175 
--6.2 20.4 47.15 
--6 20.4 47.05 
--5.8 20.4 47 
--5.6 20.4 46.95 
--5.4 20.4 46.95 
--5.2 20.4 46.95 
--5 20.4 46.95 
--4.8 20.4 46.925 
--4.6 20.4 46.975 
--4.4 20.4 47.025 
--4.2 20.4 47.125 
--4 20.4 47.175 
--3.8 20.4 47.125 
--3.6 20.4 47.125 
--3.4 20.4 47.15 
--3.2 20.4 47.225 
--3 20.4 47.25 
--2.8 20.4 47.2 
--2.6 20.4 47.15 
--2.4 20.4 47.15 
--2.2 20.4 47.175 
--2 20.4 47.2 
--1.8 20.4 47.15 
--1.6 20.4 47.075 
--1.4 20.4 47.05 
--1.2 20.4 47.025 
--0.999999 20.4 47.05 
--0.799999 20.4 47.075 
--0.599999 20.4 47.15 
--0.399999 20.4 47.2 
--0.199999 20.4 47.225 
-1.04308e-006 20.4 47.175 
-0.200001 20.4 47.125 
-0.400001 20.4 47.075 
-0.600001 20.4 47.025 
-0.800001 20.4 47 
-1 20.4 47 
-1.2 20.4 47.05 
-1.4 20.4 47.075 
-1.6 20.4 47.15 
-1.8 20.4 47.225 
-2 20.4 47.2 
-2.2 20.4 47.2 
-2.4 20.4 47.15 
-2.6 20.4 47.1 
-2.8 20.4 47.075 
-3 20.4 47.025 
-3.2 20.4 47 
-3.4 20.4 46.925 
-3.6 20.4 46.95 
-3.8 20.4 46.95 
-4 20.4 46.95 
-4.2 20.4 47 
-4.4 20.4 47 
-4.6 20.4 46.95 
-4.8 20.4 46.9 
-5 20.4 46.775 
-5.2 20.4 46.7 
-5.4 20.4 46.575 
-5.6 20.4 46.425 
-5.8 20.4 46.2 
-6 20.4 46.05 
-6.2 20.4 45.95 
-6.4 20.4 45.875 
-6.6 20.4 45.725 
-6.8 20.4 45.475 
-7 20.4 45.2 
-7.2 20.4 44.85 
-7.4 20.4 44.55 
-7.6 20.4 44.375 
-7.8 20.4 44.25 
-8 20.4 44.1 
-8.2 20.4 43.95 
-8.4 20.4 43.775 
-8.6 20.4 43.575 
-8.8 20.4 43.15 
-9 20.4 42.775 
-9.2 20.4 42.55 
-9.4 20.4 42.325 
-9.6 20.4 42.05 
-9.8 20.4 41.65 
-10 20.4 41.425 
-10.2 20.4 41.1 
-10.4 20.4 40.8 
-10.6 20.4 40.525 
-10.8 20.4 40.325 
-11 20.4 39.9 
-11.2 20.4 39.475 
-11.4 20.4 39.05 
-11.6 20.4 38.475 
-11.8 20.4 38.125 
-12 20.4 37.8 
-12.2 20.4 37.475 
-12.4 20.4 37.075 
-12.6 20.4 36.575 
-12.8 20.4 35.975 
-13 20.4 35.35 
-13.2 20.4 34.675 
--29 20.6 30.65 
--28.8 20.6 31.475 
--28.6 20.6 32 
--28.4 20.6 32.675 
--28.2 20.6 33.175 
--28 20.6 33.825 
--27.8 20.6 34.4 
--27.6 20.6 34.825 
--27.4 20.6 35.3 
--27.2 20.6 35.875 
--27 20.6 36.475 
--26.8 20.6 37 
--26.6 20.6 37.3 
--26.4 20.6 37.6 
--26.2 20.6 38.075 
--26 20.6 38.45 
--25.8 20.6 38.85 
--25.6 20.6 39.1 
--25.4 20.6 39.475 
--25.2 20.6 39.85 
--25 20.6 40.325 
--24.8 20.6 40.675 
--24.6 20.6 40.925 
--24.4 20.6 41.25 
--24.2 20.6 41.625 
--24 20.6 41.85 
--23.8 20.6 42.1 
--23.6 20.6 42.4 
--23.4 20.6 42.675 
--23.2 20.6 42.95 
--23 20.6 43.2 
--22.8 20.6 43.425 
--22.6 20.6 43.7 
--22.4 20.6 43.875 
--22.2 20.6 44.075 
--22 20.6 44.275 
--21.8 20.6 44.5 
--21.6 20.6 44.675 
--21.4 20.6 44.875 
--21.2 20.6 45.125 
--21 20.6 45.375 
--20.8 20.6 45.575 
--20.6 20.6 45.825 
--20.4 20.6 46.05 
--20.2 20.6 46.225 
--20 20.6 46.4 
--19.8 20.6 46.525 
--19.6 20.6 46.725 
--19.4 20.6 46.925 
--19.2 20.6 47.025 
--19 20.6 47.075 
--18.8 20.6 47.075 
--18.6 20.6 47.075 
--18.4 20.6 47.125 
--18.2 20.6 47.15 
--18 20.6 47.175 
--17.8 20.6 47.25 
--17.6 20.6 47.325 
--17.4 20.6 47.35 
--17.2 20.6 47.35 
--17 20.6 47.35 
--16.8 20.6 47.3 
--16.6 20.6 47.325 
--16.4 20.6 47.325 
--16.2 20.6 47.325 
--16 20.6 47.275 
--15.8 20.6 47.275 
--15.6 20.6 47.225 
--15.4 20.6 47.225 
--15.2 20.6 47.275 
--15 20.6 47.325 
--14.8 20.6 47.35 
--14.6 20.6 47.3 
--14.4 20.6 47.3 
--14.2 20.6 47.3 
--14 20.6 47.275 
--13.8 20.6 47.25 
--13.6 20.6 47.275 
--13.4 20.6 47.275 
--13.2 20.6 47.325 
--13 20.6 47.325 
--12.8 20.6 47.325 
--12.6 20.6 47.3 
--12.4 20.6 47.325 
--12.2 20.6 47.325 
--12 20.6 47.3 
--11.8 20.6 47.2 
--11.6 20.6 47.125 
--11.4 20.6 47.1 
--11.2 20.6 47.1 
--11 20.6 47.175 
--10.8 20.6 47.3 
--10.6 20.6 47.375 
--10.4 20.6 47.375 
--10.2 20.6 47.375 
--10 20.6 47.375 
--9.8 20.6 47.4 
--9.6 20.6 47.45 
--9.4 20.6 47.4 
--9.2 20.6 47.35 
--9 20.6 47.325 
--8.8 20.6 47.3 
--8.6 20.6 47.225 
--8.4 20.6 47.15 
--8.2 20.6 47.175 
--8 20.6 47.2 
--7.8 20.6 47.2 
--7.6 20.6 47.125 
--7.4 20.6 47.05 
--7.2 20.6 47 
--7 20.6 47 
--6.8 20.6 47.025 
--6.6 20.6 47.05 
--6.4 20.6 47.125 
--6.2 20.6 47.15 
--6 20.6 47.125 
--5.8 20.6 47.1 
--5.6 20.6 47.075 
--5.4 20.6 47.1 
--5.2 20.6 47.125 
--5 20.6 47.15 
--4.8 20.6 47.125 
--4.6 20.6 47.075 
--4.4 20.6 47.075 
--4.2 20.6 47.05 
--4 20.6 47.1 
--3.8 20.6 47.075 
--3.6 20.6 47.05 
--3.4 20.6 47.05 
--3.2 20.6 47.1 
--3 20.6 47.15 
--2.8 20.6 47.225 
--2.6 20.6 47.225 
--2.4 20.6 47.15 
--2.2 20.6 47.1 
--2 20.6 47.1 
--1.8 20.6 47.1 
--1.6 20.6 47.15 
--1.4 20.6 47.15 
--1.2 20.6 47.125 
--0.999999 20.6 47.2 
--0.799999 20.6 47.25 
--0.599999 20.6 47.25 
--0.399999 20.6 47.2 
--0.199999 20.6 47.15 
-1.04308e-006 20.6 47.125 
-0.200001 20.6 47.125 
-0.400001 20.6 47.1 
-0.600001 20.6 47.075 
-0.800001 20.6 47.075 
-1 20.6 47.025 
-1.2 20.6 47.05 
-1.4 20.6 47.05 
-1.6 20.6 47.075 
-1.8 20.6 47.075 
-2 20.6 47.025 
-2.2 20.6 47.075 
-2.4 20.6 47.05 
-2.6 20.6 47.05 
-2.8 20.6 47.075 
-3 20.6 46.975 
-3.2 20.6 46.95 
-3.4 20.6 46.975 
-3.6 20.6 46.95 
-3.8 20.6 46.95 
-4 20.6 46.9 
-4.2 20.6 46.85 
-4.4 20.6 46.85 
-4.6 20.6 46.85 
-4.8 20.6 46.85 
-5 20.6 46.825 
-5.2 20.6 46.825 
-5.4 20.6 46.8 
-5.6 20.6 46.725 
-5.8 20.6 46.6 
-6 20.6 46.4 
-6.2 20.6 46.225 
-6.4 20.6 46 
-6.6 20.6 45.8 
-6.8 20.6 45.65 
-7 20.6 45.475 
-7.2 20.6 45.2 
-7.4 20.6 44.95 
-7.6 20.6 44.7 
-7.8 20.6 44.5 
-8 20.6 44.325 
-8.2 20.6 44.075 
-8.4 20.6 43.825 
-8.6 20.6 43.6 
-8.8 20.6 43.35 
-9 20.6 43.075 
-9.2 20.6 42.875 
-9.4 20.6 42.625 
-9.6 20.6 42.425 
-9.8 20.6 42.2 
-10 20.6 41.925 
-10.2 20.6 41.625 
-10.4 20.6 41 
-10.6 20.6 40.6 
-10.8 20.6 40.375 
-11 20.6 40.1 
-11.2 20.6 39.8 
-11.4 20.6 39.45 
-11.6 20.6 39.075 
-11.8 20.6 38.7 
-12 20.6 38.275 
-12.2 20.6 37.85 
-12.4 20.6 37.5 
-12.6 20.6 37.025 
-12.8 20.6 36.25 
-13 20.6 35.625 
-13.2 20.6 35.075 
-13.4 20.6 34.575 
--29.2 20.8 30.45 
--29 20.8 31.125 
--28.8 20.8 31.975 
--28.6 20.8 32.575 
--28.4 20.8 33.25 
--28.2 20.8 33.8 
--28 20.8 34.325 
--27.8 20.8 35.05 
--27.6 20.8 35.45 
--27.4 20.8 35.925 
--27.2 20.8 36.475 
--27 20.8 36.85 
--26.8 20.8 37.275 
--26.6 20.8 37.625 
--26.4 20.8 38.05 
--26.2 20.8 38.425 
--26 20.8 38.775 
--25.8 20.8 39.075 
--25.6 20.8 39.45 
--25.4 20.8 39.775 
--25.2 20.8 40.3 
--25 20.8 40.625 
--24.8 20.8 41 
--24.6 20.8 41.125 
--24.4 20.8 41.475 
--24.2 20.8 41.9 
--24 20.8 42.075 
--23.8 20.8 42.3 
--23.6 20.8 42.675 
--23.4 20.8 42.925 
--23.2 20.8 43.175 
--23 20.8 43.4 
--22.8 20.8 43.65 
--22.6 20.8 43.9 
--22.4 20.8 44.125 
--22.2 20.8 44.375 
--22 20.8 44.6 
--21.8 20.8 44.875 
--21.6 20.8 45.05 
--21.4 20.8 45.225 
--21.2 20.8 45.425 
--21 20.8 45.625 
--20.8 20.8 45.825 
--20.6 20.8 46 
--20.4 20.8 46.2 
--20.2 20.8 46.375 
--20 20.8 46.525 
--19.8 20.8 46.65 
--19.6 20.8 46.85 
--19.4 20.8 46.95 
--19.2 20.8 47.05 
--19 20.8 47.05 
--18.8 20.8 47.075 
--18.6 20.8 47.125 
--18.4 20.8 47.175 
--18.2 20.8 47.225 
--18 20.8 47.25 
--17.8 20.8 47.275 
--17.6 20.8 47.275 
--17.4 20.8 47.3 
--17.2 20.8 47.275 
--17 20.8 47.225 
--16.8 20.8 47.3 
--16.6 20.8 47.35 
--16.4 20.8 47.375 
--16.2 20.8 47.375 
--16 20.8 47.3 
--15.8 20.8 47.225 
--15.6 20.8 47.2 
--15.4 20.8 47.275 
--15.2 20.8 47.325 
--15 20.8 47.325 
--14.8 20.8 47.3 
--14.6 20.8 47.275 
--14.4 20.8 47.225 
--14.2 20.8 47.225 
--14 20.8 47.25 
--13.8 20.8 47.3 
--13.6 20.8 47.4 
--13.4 20.8 47.4 
--13.2 20.8 47.375 
--13 20.8 47.35 
--12.8 20.8 47.325 
--12.6 20.8 47.4 
--12.4 20.8 47.425 
--12.2 20.8 47.375 
--12 20.8 47.325 
--11.8 20.8 47.25 
--11.6 20.8 47.175 
--11.4 20.8 47.125 
--11.2 20.8 47.075 
--11 20.8 47.05 
--10.8 20.8 47.1 
--10.6 20.8 47.175 
--10.4 20.8 47.25 
--10.2 20.8 47.275 
--10 20.8 47.275 
--9.8 20.8 47.275 
--9.6 20.8 47.225 
--9.4 20.8 47.225 
--9.2 20.8 47.2 
--9 20.8 47.15 
--8.8 20.8 47.125 
--8.6 20.8 47.15 
--8.4 20.8 47.2 
--8.2 20.8 47.275 
--8 20.8 47.3 
--7.8 20.8 47.275 
--7.6 20.8 47.25 
--7.4 20.8 47.2 
--7.2 20.8 47.175 
--7 20.8 47.1 
--6.8 20.8 47.025 
--6.6 20.8 46.95 
--6.4 20.8 46.875 
--6.2 20.8 46.85 
--6 20.8 46.85 
--5.8 20.8 46.85 
--5.6 20.8 46.875 
--5.4 20.8 46.9 
--5.2 20.8 46.875 
--5 20.8 46.875 
--4.8 20.8 46.875 
--4.6 20.8 46.875 
--4.4 20.8 46.875 
--4.2 20.8 46.9 
--4 20.8 46.925 
--3.8 20.8 47 
--3.6 20.8 47.05 
--3.4 20.8 47.05 
--3.2 20.8 47.075 
--3 20.8 47.1 
--2.8 20.8 47.125 
--2.6 20.8 47.15 
--2.4 20.8 47.15 
--2.2 20.8 47.2 
--2 20.8 47.225 
--1.8 20.8 47.2 
--1.6 20.8 47.175 
--1.4 20.8 47.15 
--1.2 20.8 47.15 
--0.999999 20.8 47.125 
--0.799999 20.8 47.075 
--0.599999 20.8 47.075 
--0.399999 20.8 47.05 
--0.199999 20.8 47 
-1.04308e-006 20.8 47.025 
-0.200001 20.8 47.025 
-0.400001 20.8 47.05 
-0.600001 20.8 47.075 
-0.800001 20.8 47.075 
-1 20.8 47.1 
-1.2 20.8 47.05 
-1.4 20.8 47.075 
-1.6 20.8 47.1 
-1.8 20.8 47.15 
-2 20.8 47.2 
-2.2 20.8 47.225 
-2.4 20.8 47.225 
-2.6 20.8 47.2 
-2.8 20.8 47.125 
-3 20.8 47.075 
-3.2 20.8 47.05 
-3.4 20.8 47.075 
-3.6 20.8 47.05 
-3.8 20.8 47.05 
-4 20.8 47.025 
-4.2 20.8 46.975 
-4.4 20.8 46.975 
-4.6 20.8 46.95 
-4.8 20.8 46.925 
-5 20.8 46.95 
-5.2 20.8 46.9 
-5.4 20.8 46.825 
-5.6 20.8 46.75 
-5.8 20.8 46.65 
-6 20.8 46.525 
-6.2 20.8 46.375 
-6.4 20.8 46.225 
-6.6 20.8 46.05 
-6.8 20.8 45.85 
-7 20.8 45.675 
-7.2 20.8 45.275 
-7.4 20.8 45.05 
-7.6 20.8 44.9 
-7.8 20.8 44.825 
-8 20.8 44.675 
-8.2 20.8 44.475 
-8.4 20.8 44.225 
-8.6 20.8 43.975 
-8.8 20.8 43.675 
-9 20.8 43.35 
-9.2 20.8 43.1 
-9.4 20.8 42.825 
-9.6 20.8 42.575 
-9.8 20.8 42.275 
-10 20.8 42.05 
-10.2 20.8 41.75 
-10.4 20.8 41.425 
-10.6 20.8 41.125 
-10.8 20.8 40.8 
-11 20.8 40.55 
-11.2 20.8 40.2 
-11.4 20.8 39.875 
-11.6 20.8 39.6 
-11.8 20.8 39.275 
-12 20.8 38.575 
-12.2 20.8 38.05 
-12.4 20.8 37.65 
-12.6 20.8 37.35 
-12.8 20.8 36.75 
-13 20.8 36.225 
-13.2 20.8 35.825 
-13.4 20.8 35.3 
-13.6 20.8 34.5 
--29.2 21 31.125 
--29 21 31.775 
--28.8 21 32.55 
--28.6 21 32.975 
--28.4 21 33.575 
--28.2 21 34.25 
--28 21 34.85 
--27.8 21 35.375 
--27.6 21 35.775 
--27.4 21 36.325 
--27.2 21 37.075 
--27 21 37.35 
--26.8 21 37.675 
--26.6 21 38.05 
--26.4 21 38.575 
--26.2 21 38.9 
--26 21 39.2 
--25.8 21 39.5 
--25.6 21 39.875 
--25.4 21 40.225 
--25.2 21 40.625 
--25 21 40.9 
--24.8 21 41.225 
--24.6 21 41.5 
--24.4 21 41.875 
--24.2 21 42.125 
--24 21 42.375 
--23.8 21 42.65 
--23.6 21 42.95 
--23.4 21 43.25 
--23.2 21 43.475 
--23 21 43.675 
--22.8 21 43.925 
--22.6 21 44.2 
--22.4 21 44.4 
--22.2 21 44.6 
--22 21 44.725 
--21.8 21 44.9 
--21.6 21 45.1 
--21.4 21 45.3 
--21.2 21 45.6 
--21 21 45.9 
--20.8 21 46.125 
--20.6 21 46.35 
--20.4 21 46.575 
--20.2 21 46.775 
--20 21 46.875 
--19.8 21 46.95 
--19.6 21 46.95 
--19.4 21 46.95 
--19.2 21 46.975 
--19 21 47.05 
--18.8 21 47.175 
--18.6 21 47.275 
--18.4 21 47.35 
--18.2 21 47.35 
--18 21 47.325 
--17.8 21 47.275 
--17.6 21 47.35 
--17.4 21 47.375 
--17.2 21 47.375 
--17 21 47.3 
--16.8 21 47.25 
--16.6 21 47.25 
--16.4 21 47.25 
--16.2 21 47.225 
--16 21 47.225 
--15.8 21 47.25 
--15.6 21 47.35 
--15.4 21 47.425 
--15.2 21 47.4 
--15 21 47.375 
--14.8 21 47.325 
--14.6 21 47.325 
--14.4 21 47.325 
--14.2 21 47.35 
--14 21 47.375 
--13.8 21 47.4 
--13.6 21 47.425 
--13.4 21 47.425 
--13.2 21 47.375 
--13 21 47.325 
--12.8 21 47.225 
--12.6 21 47.1 
--12.4 21 47 
--12.2 21 47 
--12 21 47.05 
--11.8 21 47.15 
--11.6 21 47.225 
--11.4 21 47.225 
--11.2 21 47.175 
--11 21 47.075 
--10.8 21 47.1 
--10.6 21 47.2 
--10.4 21 47.325 
--10.2 21 47.325 
--10 21 47.25 
--9.8 21 47.2 
--9.6 21 47.15 
--9.4 21 47.2 
--9.2 21 47.25 
--9 21 47.275 
--8.8 21 47.25 
--8.6 21 47.225 
--8.4 21 47.225 
--8.2 21 47.2 
--8 21 47.15 
--7.8 21 47.15 
--7.6 21 47.15 
--7.4 21 47.125 
--7.2 21 47.1 
--7 21 46.975 
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-5.2 21.6 46.75 
-5.4 21.6 46.725 
-5.6 21.6 46.7 
-5.8 21.6 46.675 
-6 21.6 46.625 
-6.2 21.6 46.55 
-6.4 21.6 46.525 
-6.6 21.6 46.45 
-6.8 21.6 46.35 
-7 21.6 46.225 
-7.2 21.6 46.025 
-7.4 21.6 45.775 
-7.6 21.6 45.675 
-7.8 21.6 45.55 
-8 21.6 45.4 
-8.2 21.6 45.25 
-8.4 21.6 44.975 
-8.6 21.6 44.675 
-8.8 21.6 44.4 
-9 21.6 44.225 
-9.2 21.6 44.025 
-9.4 21.6 43.775 
-9.6 21.6 43.525 
-9.8 21.6 43.3 
-10 21.6 43.1 
-10.2 21.6 42.8 
-10.4 21.6 42.5 
-10.6 21.6 42.05 
-10.8 21.6 41.825 
-11 21.6 41.65 
-11.2 21.6 41.425 
-11.4 21.6 41.15 
-11.6 21.6 40.85 
-11.8 21.6 40.3 
-12 21.6 40 
-12.2 21.6 39.575 
-12.4 21.6 39.075 
-12.6 21.6 38.9 
-12.8 21.6 38.475 
-13 21.6 38.05 
-13.2 21.6 37.525 
-13.4 21.6 37 
-13.6 21.6 36.3 
-13.8 21.6 35.775 
-14 21.6 35.275 
-14.2 21.6 34.625 
-14.4 21.6 33.925 
--29.8 21.8 30.9 
--29.6 21.8 31.45 
--29.4 21.8 32.275 
--29.2 21.8 33.125 
--29 21.8 33.625 
--28.8 21.8 34.15 
--28.6 21.8 34.925 
--28.4 21.8 35.45 
--28.2 21.8 35.95 
--28 21.8 36.475 
--27.8 21.8 37 
--27.6 21.8 37.425 
--27.4 21.8 37.825 
--27.2 21.8 38.225 
--27 21.8 38.5 
--26.8 21.8 39 
--26.6 21.8 39.375 
--26.4 21.8 39.975 
--26.2 21.8 40.425 
--26 21.8 40.575 
--25.8 21.8 40.75 
--25.6 21.8 41.1 
--25.4 21.8 41.575 
--25.2 21.8 42.025 
--25 21.8 42.2 
--24.8 21.8 42.45 
--24.6 21.8 42.7 
--24.4 21.8 43 
--24.2 21.8 43.3 
--24 21.8 43.575 
--23.8 21.8 43.825 
--23.6 21.8 44.1 
--23.4 21.8 44.325 
--23.2 21.8 44.525 
--23 21.8 44.65 
--22.8 21.8 44.825 
--22.6 21.8 45 
--22.4 21.8 45.175 
--22.2 21.8 45.4 
--22 21.8 45.6 
--21.8 21.8 45.85 
--21.6 21.8 46.05 
--21.4 21.8 46.35 
--21.2 21.8 46.575 
--21 21.8 46.775 
--20.8 21.8 46.925 
--20.6 21.8 47.025 
--20.4 21.8 47.1 
--20.2 21.8 47.175 
--20 21.8 47.125 
--19.8 21.8 47.075 
--19.6 21.8 47.075 
--19.4 21.8 47.025 
--19.2 21.8 47.175 
--19 21.8 47.225 
--18.8 21.8 47.275 
--18.6 21.8 47.325 
--18.4 21.8 47.275 
--18.2 21.8 47.275 
--18 21.8 47.325 
--17.8 21.8 47.4 
--17.6 21.8 47.4 
--17.4 21.8 47.375 
--17.2 21.8 47.325 
--17 21.8 47.275 
--16.8 21.8 47.35 
--16.6 21.8 47.35 
--16.4 21.8 47.35 
--16.2 21.8 47.375 
--16 21.8 47.425 
--15.8 21.8 47.45 
--15.6 21.8 47.425 
--15.4 21.8 47.375 
--15.2 21.8 47.375 
--15 21.8 47.425 
--14.8 21.8 47.425 
--14.6 21.8 47.45 
--14.4 21.8 47.35 
--14.2 21.8 47.325 
--14 21.8 47.275 
--13.8 21.8 47.275 
--13.6 21.8 47.275 
--13.4 21.8 47.3 
--13.2 21.8 47.25 
--13 21.8 47.225 
--12.8 21.8 47.225 
--12.6 21.8 47.175 
--12.4 21.8 47.175 
--12.2 21.8 47.2 
--12 21.8 47.2 
--11.8 21.8 47.175 
--11.6 21.8 47.15 
--11.4 21.8 47.05 
--11.2 21.8 47 
--11 21.8 46.95 
--10.8 21.8 46.925 
--10.6 21.8 46.925 
--10.4 21.8 46.95 
--10.2 21.8 46.95 
--10 21.8 46.9 
--9.8 21.8 46.825 
--9.6 21.8 46.725 
--9.4 21.8 46.675 
--9.2 21.8 46.7 
--9 21.8 46.7 
--8.8 21.8 46.675 
--8.6 21.8 46.7 
--8.4 21.8 46.675 
--8.2 21.8 46.65 
--8 21.8 46.625 
--7.8 21.8 46.625 
--7.6 21.8 46.7 
--7.4 21.8 46.7 
--7.2 21.8 46.725 
--7 21.8 46.65 
--6.8 21.8 46.6 
--6.6 21.8 46.55 
--6.4 21.8 46.5 
--6.2 21.8 46.5 
--6 21.8 46.55 
--5.8 21.8 46.55 
--5.6 21.8 46.6 
--5.4 21.8 46.65 
--5.2 21.8 46.65 
--5 21.8 46.675 
--4.8 21.8 46.65 
--4.6 21.8 46.6 
--4.4 21.8 46.625 
--4.2 21.8 46.575 
--4 21.8 46.575 
--3.8 21.8 46.575 
--3.6 21.8 46.575 
--3.4 21.8 46.625 
--3.2 21.8 46.65 
--3 21.8 46.625 
--2.8 21.8 46.65 
--2.6 21.8 46.725 
--2.4 21.8 46.8 
--2.2 21.8 46.875 
--2 21.8 46.925 
--1.8 21.8 46.95 
--1.6 21.8 46.95 
--1.4 21.8 46.95 
--1.2 21.8 46.975 
--0.999999 21.8 46.975 
--0.799999 21.8 47 
--0.599999 21.8 47.025 
--0.399999 21.8 47.025 
--0.199999 21.8 47.025 
-1.04308e-006 21.8 47.05 
-0.200001 21.8 47.025 
-0.400001 21.8 47.025 
-0.600001 21.8 47.05 
-0.800001 21.8 47.1 
-1 21.8 47.15 
-1.2 21.8 47.175 
-1.4 21.8 47.2 
-1.6 21.8 47.2 
-1.8 21.8 47.2 
-2 21.8 47.175 
-2.2 21.8 47.15 
-2.4 21.8 47.125 
-2.6 21.8 47.05 
-2.8 21.8 47.05 
-3 21.8 47.025 
-3.2 21.8 47.05 
-3.4 21.8 47.075 
-3.6 21.8 47.05 
-3.8 21.8 47.05 
-4 21.8 47.075 
-4.2 21.8 47.1 
-4.4 21.8 47.075 
-4.6 21.8 46.975 
-4.8 21.8 46.9 
-5 21.8 46.85 
-5.2 21.8 46.875 
-5.4 21.8 46.9 
-5.6 21.8 46.875 
-5.8 21.8 46.9 
-6 21.8 46.85 
-6.2 21.8 46.8 
-6.4 21.8 46.75 
-6.6 21.8 46.625 
-6.8 21.8 46.55 
-7 21.8 46.425 
-7.2 21.8 46.275 
-7.4 21.8 46.1 
-7.6 21.8 45.975 
-7.8 21.8 45.775 
-8 21.8 45.625 
-8.2 21.8 45.45 
-8.4 21.8 45.225 
-8.6 21.8 44.975 
-8.8 21.8 44.7 
-9 21.8 44.45 
-9.2 21.8 44.2 
-9.4 21.8 44 
-9.6 21.8 43.7 
-9.8 21.8 43.35 
-10 21.8 43.15 
-10.2 21.8 42.9 
-10.4 21.8 42.65 
-10.6 21.8 42.425 
-10.8 21.8 42.2 
-11 21.8 41.975 
-11.2 21.8 41.75 
-11.4 21.8 41.525 
-11.6 21.8 41 
-11.8 21.8 40.65 
-12 21.8 40.125 
-12.2 21.8 39.675 
-12.4 21.8 39.475 
-12.6 21.8 39.15 
-12.8 21.8 38.775 
-13 21.8 38.2 
-13.2 21.8 37.7 
-13.4 21.8 37.15 
-13.6 21.8 36.7 
-13.8 21.8 36.2 
-14 21.8 35.7 
-14.2 21.8 35.05 
-14.4 21.8 34.425 
--30 22 30.625 
--29.8 22 31.325 
--29.6 22 32.075 
--29.4 22 32.825 
--29.2 22 33.6 
--29 22 34.2 
--28.8 22 34.825 
--28.6 22 35.375 
--28.4 22 35.9 
--28.2 22 36.275 
--28 22 36.8 
--27.8 22 37.275 
--27.6 22 37.85 
--27.4 22 38.3 
--27.2 22 38.775 
--27 22 39.1 
--26.8 22 39.525 
--26.6 22 39.825 
--26.4 22 40.2 
--26.2 22 40.475 
--26 22 40.85 
--25.8 22 41.175 
--25.6 22 41.575 
--25.4 22 41.825 
--25.2 22 42.2 
--25 22 42.475 
--24.8 22 42.775 
--24.6 22 43.075 
--24.4 22 43.3 
--24.2 22 43.55 
--24 22 43.725 
--23.8 22 43.925 
--23.6 22 44.15 
--23.4 22 44.35 
--23.2 22 44.575 
--23 22 44.825 
--22.8 22 45.1 
--22.6 22 45.35 
--22.4 22 45.5 
--22.2 22 45.675 
--22 22 45.9 
--21.8 22 46.2 
--21.6 22 46.475 
--21.4 22 46.675 
--21.2 22 46.85 
--21 22 47 
--20.8 22 47.025 
--20.6 22 46.975 
--20.4 22 46.9 
--20.2 22 46.9 
--20 22 46.95 
--19.8 22 47.075 
--19.6 22 47.2 
--19.4 22 47.275 
--19.2 22 47.325 
--19 22 47.3 
--18.8 22 47.3 
--18.6 22 47.325 
--18.4 22 47.375 
--18.2 22 47.425 
--18 22 47.4 
--17.8 22 47.35 
--17.6 22 47.325 
--17.4 22 47.3 
--17.2 22 47.3 
--17 22 47.25 
--16.8 22 47.225 
--16.6 22 47.25 
--16.4 22 47.275 
--16.2 22 47.325 
--16 22 47.375 
--15.8 22 47.375 
--15.6 22 47.375 
--15.4 22 47.4 
--15.2 22 47.4 
--15 22 47.425 
--14.8 22 47.4 
--14.6 22 47.35 
--14.4 22 47.3 
--14.2 22 47.25 
--14 22 47.2 
--13.8 22 47.15 
--13.6 22 47.125 
--13.4 22 47.15 
--13.2 22 47.175 
--13 22 47.175 
--12.8 22 47.2 
--12.6 22 47.175 
--12.4 22 47.075 
--12.2 22 47 
--12 22 46.925 
--11.8 22 46.9 
--11.6 22 46.85 
--11.4 22 46.825 
--11.2 22 46.75 
--11 22 46.7 
--10.8 22 46.65 
--10.6 22 46.675 
--10.4 22 46.675 
--10.2 22 46.7 
--10 22 46.65 
--9.8 22 46.6 
--9.6 22 46.5 
--9.4 22 46.45 
--9.2 22 46.45 
--9 22 46.525 
--8.8 22 46.575 
--8.6 22 46.65 
--8.4 22 46.65 
--8.2 22 46.625 
--8 22 46.6 
--7.8 22 46.6 
--7.6 22 46.65 
--7.4 22 46.65 
--7.2 22 46.65 
--7 22 46.6 
--6.8 22 46.525 
--6.6 22 46.525 
--6.4 22 46.45 
--6.2 22 46.475 
--6 22 46.475 
--5.8 22 46.475 
--5.6 22 46.475 
--5.4 22 46.45 
--5.2 22 46.375 
--5 22 46.35 
--4.8 22 46.35 
--4.6 22 46.35 
--4.4 22 46.375 
--4.2 22 46.425 
--4 22 46.525 
--3.8 22 46.625 
--3.6 22 46.675 
--3.4 22 46.7 
--3.2 22 46.7 
--3 22 46.725 
--2.8 22 46.7 
--2.6 22 46.7 
--2.4 22 46.675 
--2.2 22 46.75 
--2 22 46.825 
--1.8 22 46.9 
--1.6 22 46.95 
--1.4 22 46.925 
--1.2 22 46.975 
--0.999999 22 46.975 
--0.799999 22 46.975 
--0.599999 22 46.9 
--0.399999 22 46.85 
--0.199999 22 46.85 
-1.04308e-006 22 46.9 
-0.200001 22 46.95 
-0.400001 22 47 
-0.600001 22 47 
-0.800001 22 47.05 
-1 22 47.05 
-1.2 22 47.05 
-1.4 22 47.05 
-1.6 22 47.075 
-1.8 22 47.125 
-2 22 47.2 
-2.2 22 47.2 
-2.4 22 47.125 
-2.6 22 47.05 
-2.8 22 47.05 
-3 22 47.125 
-3.2 22 47.175 
-3.4 22 47.225 
-3.6 22 47.175 
-3.8 22 47.15 
-4 22 47.175 
-4.2 22 47.15 
-4.4 22 47.075 
-4.6 22 47 
-4.8 22 46.925 
-5 22 46.875 
-5.2 22 46.825 
-5.4 22 46.775 
-5.6 22 46.7 
-5.8 22 46.625 
-6 22 46.6 
-6.2 22 46.625 
-6.4 22 46.65 
-6.6 22 46.675 
-6.8 22 46.625 
-7 22 46.575 
-7.2 22 46.5 
-7.4 22 46.4 
-7.6 22 46.3 
-7.8 22 46.1 
-8 22 45.9 
-8.2 22 45.65 
-8.4 22 45.375 
-8.6 22 45.15 
-8.8 22 44.925 
-9 22 44.65 
-9.2 22 44.4 
-9.4 22 44.1 
-9.6 22 43.875 
-9.8 22 43.7 
-10 22 43.475 
-10.2 22 43.3 
-10.4 22 42.95 
-10.6 22 42.5 
-10.8 22 42.275 
-11 22 41.975 
-11.2 22 41.725 
-11.4 22 41.45 
-11.6 22 41.225 
-11.8 22 40.9 
-12 22 40.475 
-12.2 22 40.15 
-12.4 22 39.875 
-12.6 22 39.625 
-12.8 22 39.075 
-13 22 38.5 
-13.2 22 38.025 
-13.4 22 37.6 
-13.6 22 37.1 
-13.8 22 36.625 
-14 22 36.075 
-14.2 22 35.6 
-14.4 22 34.7 
-14.6 22 34.1 
--30 22.2 31.075 
--29.8 22.2 31.925 
--29.6 22.2 32.65 
--29.4 22.2 33.2 
--29.2 22.2 33.95 
--29 22.2 34.575 
--28.8 22.2 35.15 
--28.6 22.2 35.85 
--28.4 22.2 36.35 
--28.2 22.2 36.95 
--28 22.2 37.5 
--27.8 22.2 37.825 
--27.6 22.2 38.125 
--27.4 22.2 38.45 
--27.2 22.2 38.825 
--27 22.2 39.325 
--26.8 22.2 39.775 
--26.6 22.2 40.125 
--26.4 22.2 40.55 
--26.2 22.2 40.9 
--26 22.2 41.2 
--25.8 22.2 41.475 
--25.6 22.2 41.875 
--25.4 22.2 42.375 
--25.2 22.2 42.55 
--25 22.2 42.725 
--24.8 22.2 42.975 
--24.6 22.2 43.175 
--24.4 22.2 43.45 
--24.2 22.2 43.75 
--24 22.2 43.95 
--23.8 22.2 44.125 
--23.6 22.2 44.4 
--23.4 22.2 44.675 
--23.2 22.2 44.9 
--23 22.2 45.1 
--22.8 22.2 45.325 
--22.6 22.2 45.55 
--22.4 22.2 45.825 
--22.2 22.2 46.025 
--22 22.2 46.225 
--21.8 22.2 46.4 
--21.6 22.2 46.55 
--21.4 22.2 46.75 
--21.2 22.2 46.85 
--21 22.2 46.95 
--20.8 22.2 46.95 
--20.6 22.2 46.925 
--20.4 22.2 46.875 
--20.2 22.2 46.9 
--20 22.2 47.05 
--19.8 22.2 47.2 
--19.6 22.2 47.325 
--19.4 22.2 47.35 
--19.2 22.2 47.375 
--19 22.2 47.4 
--18.8 22.2 47.375 
--18.6 22.2 47.325 
--18.4 22.2 47.3 
--18.2 22.2 47.3 
--18 22.2 47.3 
--17.8 22.2 47.3 
--17.6 22.2 47.25 
--17.4 22.2 47.2 
--17.2 22.2 47.125 
--17 22.2 47.1 
--16.8 22.2 47.175 
--16.6 22.2 47.3 
--16.4 22.2 47.375 
--16.2 22.2 47.325 
--16 22.2 47.325 
--15.8 22.2 47.3 
--15.6 22.2 47.325 
--15.4 22.2 47.35 
--15.2 22.2 47.25 
--15 22.2 47.2 
--14.8 22.2 47.225 
--14.6 22.2 47.275 
--14.4 22.2 47.325 
--14.2 22.2 47.3 
--14 22.2 47.25 
--13.8 22.2 47.125 
--13.6 22.2 47.125 
--13.4 22.2 47.1 
--13.2 22.2 47.025 
--13 22.2 46.975 
--12.8 22.2 46.875 
--12.6 22.2 46.8 
--12.4 22.2 46.75 
--12.2 22.2 46.725 
--12 22.2 46.675 
--11.8 22.2 46.7 
--11.6 22.2 46.7 
--11.4 22.2 46.675 
--11.2 22.2 46.65 
--11 22.2 46.6 
--10.8 22.2 46.5 
--10.6 22.2 46.425 
--10.4 22.2 46.375 
--10.2 22.2 46.4 
--10 22.2 46.4 
--9.8 22.2 46.375 
--9.6 22.2 46.375 
--9.4 22.2 46.375 
--9.2 22.2 46.375 
--9 22.2 46.35 
--8.8 22.2 46.325 
--8.6 22.2 46.35 
--8.4 22.2 46.375 
--8.2 22.2 46.375 
--8 22.2 46.425 
--7.8 22.2 46.475 
--7.6 22.2 46.525 
--7.4 22.2 46.525 
--7.2 22.2 46.5 
--7 22.2 46.525 
--6.8 22.2 46.575 
--6.6 22.2 46.575 
--6.4 22.2 46.55 
--6.2 22.2 46.475 
--6 22.2 46.425 
--5.8 22.2 46.375 
--5.6 22.2 46.35 
--5.4 22.2 46.4 
--5.2 22.2 46.45 
--5 22.2 46.475 
--4.8 22.2 46.475 
--4.6 22.2 46.4 
--4.4 22.2 46.325 
--4.2 22.2 46.325 
--4 22.2 46.35 
--3.8 22.2 46.4 
--3.6 22.2 46.45 
--3.4 22.2 46.45 
--3.2 22.2 46.5 
--3 22.2 46.6 
--2.8 22.2 46.75 
--2.6 22.2 46.775 
--2.4 22.2 46.725 
--2.2 22.2 46.65 
--2 22.2 46.65 
--1.8 22.2 46.675 
--1.6 22.2 46.75 
--1.4 22.2 46.725 
--1.2 22.2 46.775 
--0.999999 22.2 46.825 
--0.799999 22.2 46.9 
--0.599999 22.2 46.9 
--0.399999 22.2 46.875 
--0.199999 22.2 46.875 
-1.04308e-006 22.2 46.925 
-0.200001 22.2 46.975 
-0.400001 22.2 47.025 
-0.600001 22.2 47.025 
-0.800001 22.2 47.025 
-1 22.2 47.025 
-1.2 22.2 47.075 
-1.4 22.2 47.075 
-1.6 22.2 47.1 
-1.8 22.2 47.125 
-2 22.2 47.1 
-2.2 22.2 47.075 
-2.4 22.2 47.025 
-2.6 22.2 47.025 
-2.8 22.2 47.075 
-3 22.2 47.1 
-3.2 22.2 47.075 
-3.4 22.2 47.025 
-3.6 22.2 47.025 
-3.8 22.2 47.025 
-4 22.2 47.025 
-4.2 22.2 46.975 
-4.4 22.2 46.925 
-4.6 22.2 46.9 
-4.8 22.2 46.9 
-5 22.2 46.95 
-5.2 22.2 46.975 
-5.4 22.2 46.975 
-5.6 22.2 46.925 
-5.8 22.2 46.85 
-6 22.2 46.75 
-6.2 22.2 46.7 
-6.4 22.2 46.65 
-6.6 22.2 46.65 
-6.8 22.2 46.625 
-7 22.2 46.525 
-7.2 22.2 46.45 
-7.4 22.2 46.375 
-7.6 22.2 46.275 
-7.8 22.2 46.175 
-8 22.2 45.95 
-8.2 22.2 45.75 
-8.4 22.2 45.5 
-8.6 22.2 45.35 
-8.8 22.2 45.075 
-9 22.2 44.775 
-9.2 22.2 44.575 
-9.4 22.2 44.375 
-9.6 22.2 44.125 
-9.8 22.2 43.875 
-10 22.2 43.625 
-10.2 22.2 43.4 
-10.4 22.2 43.15 
-10.6 22.2 42.75 
-10.8 22.2 42.575 
-11 22.2 42.4 
-11.2 22.2 42.125 
-11.4 22.2 41.675 
-11.6 22.2 41.4 
-11.8 22.2 41.175 
-12 22.2 40.725 
-12.2 22.2 40.35 
-12.4 22.2 40.075 
-12.6 22.2 39.75 
-12.8 22.2 39.175 
-13 22.2 38.55 
-13.2 22.2 38.3 
-13.4 22.2 37.975 
-13.6 22.2 37.675 
-13.8 22.2 37.275 
-14 22.2 36.625 
-14.2 22.2 36.1 
-14.4 22.2 35.4 
-14.6 22.2 34.65 
-31.6 22.2 -32.075 
-31.8 22.2 -32.1 
--30 22.4 31.75 
--29.8 22.4 32.4 
--29.6 22.4 33.175 
--29.4 22.4 33.825 
--29.2 22.4 34.475 
--29 22.4 34.975 
--28.8 22.4 35.625 
--28.6 22.4 36.35 
--28.4 22.4 36.925 
--28.2 22.4 37.225 
--28 22.4 37.6 
--27.8 22.4 38.075 
--27.6 22.4 38.55 
--27.4 22.4 38.975 
--27.2 22.4 39.35 
--27 22.4 39.7 
--26.8 22.4 40.05 
--26.6 22.4 40.45 
--26.4 22.4 40.775 
--26.2 22.4 41.15 
--26 22.4 41.525 
--25.8 22.4 41.85 
--25.6 22.4 42.15 
--25.4 22.4 42.4 
--25.2 22.4 42.7 
--25 22.4 42.925 
--24.8 22.4 43.15 
--24.6 22.4 43.35 
--24.4 22.4 43.6 
--24.2 22.4 43.9 
--24 22.4 44.15 
--23.8 22.4 44.375 
--23.6 22.4 44.6 
--23.4 22.4 44.85 
--23.2 22.4 45.1 
--23 22.4 45.375 
--22.8 22.4 45.625 
--22.6 22.4 45.825 
--22.4 22.4 46 
--22.2 22.4 46.175 
--22 22.4 46.45 
--21.8 22.4 46.8 
--21.6 22.4 46.95 
--21.4 22.4 47.05 
--21.2 22.4 47.1 
--21 22.4 47.125 
--20.8 22.4 47.15 
--20.6 22.4 47.05 
--20.4 22.4 47.025 
--20.2 22.4 47.05 
--20 22.4 47.1 
--19.8 22.4 47.175 
--19.6 22.4 47.2 
--19.4 22.4 47.2 
--19.2 22.4 47.2 
--19 22.4 47.25 
--18.8 22.4 47.275 
--18.6 22.4 47.35 
--18.4 22.4 47.35 
--18.2 22.4 47.35 
--18 22.4 47.4 
--17.8 22.4 47.45 
--17.6 22.4 47.45 
--17.4 22.4 47.425 
--17.2 22.4 47.4 
--17 22.4 47.375 
--16.8 22.4 47.4 
--16.6 22.4 47.4 
--16.4 22.4 47.425 
--16.2 22.4 47.4 
--16 22.4 47.325 
--15.8 22.4 47.325 
--15.6 22.4 47.35 
--15.4 22.4 47.325 
--15.2 22.4 47.35 
--15 22.4 47.35 
--14.8 22.4 47.325 
--14.6 22.4 47.275 
--14.4 22.4 47.3 
--14.2 22.4 47.25 
--14 22.4 47.25 
--13.8 22.4 47.2 
--13.6 22.4 47.05 
--13.4 22.4 46.925 
--13.2 22.4 46.825 
--13 22.4 46.75 
--12.8 22.4 46.675 
--12.6 22.4 46.65 
--12.4 22.4 46.575 
--12.2 22.4 46.525 
--12 22.4 46.475 
--11.8 22.4 46.45 
--11.6 22.4 46.5 
--11.4 22.4 46.5 
--11.2 22.4 46.525 
--11 22.4 46.475 
--10.8 22.4 46.425 
--10.6 22.4 46.45 
--10.4 22.4 46.5 
--10.2 22.4 46.5 
--10 22.4 46.475 
--9.8 22.4 46.45 
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--9.4 22.4 46.475 
--9.2 22.4 46.475 
--9 22.4 46.525 
--8.8 22.4 46.525 
--8.6 22.4 46.525 
--8.4 22.4 46.5 
--8.2 22.4 46.525 
--8 22.4 46.575 
--7.8 22.4 46.6 
--7.6 22.4 46.625 
--7.4 22.4 46.55 
--7.2 22.4 46.45 
--7 22.4 46.35 
--6.8 22.4 46.3 
--6.6 22.4 46.35 
--6.4 22.4 46.45 
--6.2 22.4 46.475 
--6 22.4 46.45 
--5.8 22.4 46.4 
--5.6 22.4 46.35 
--5.4 22.4 46.325 
--5.2 22.4 46.275 
--5 22.4 46.225 
--4.8 22.4 46.15 
--4.6 22.4 46.15 
--4.4 22.4 46.225 
--4.2 22.4 46.3 
--4 22.4 46.425 
--3.8 22.4 46.425 
--3.6 22.4 46.45 
--3.4 22.4 46.425 
--3.2 22.4 46.4 
--3 22.4 46.425 
--2.8 22.4 46.5 
--2.6 22.4 46.625 
--2.4 22.4 46.725 
--2.2 22.4 46.725 
--2 22.4 46.725 
--1.8 22.4 46.7 
--1.6 22.4 46.7 
--1.4 22.4 46.725 
--1.2 22.4 46.775 
--0.999999 22.4 46.8 
--0.799999 22.4 46.825 
--0.599999 22.4 46.85 
--0.399999 22.4 46.9 
--0.199999 22.4 46.9 
-1.04308e-006 22.4 46.925 
-0.200001 22.4 46.95 
-0.400001 22.4 46.975 
-0.600001 22.4 46.95 
-0.800001 22.4 46.925 
-1 22.4 46.95 
-1.2 22.4 47 
-1.4 22.4 47.125 
-1.6 22.4 47.175 
-1.8 22.4 47.175 
-2 22.4 47.15 
-2.2 22.4 47.1 
-2.4 22.4 47.125 
-2.6 22.4 47.15 
-2.8 22.4 47.175 
-3 22.4 47.175 
-3.2 22.4 47.15 
-3.4 22.4 47.1 
-3.6 22.4 47.05 
-3.8 22.4 47.025 
-4 22.4 47 
-4.2 22.4 46.95 
-4.4 22.4 46.975 
-4.6 22.4 47 
-4.8 22.4 47.05 
-5 22.4 47.075 
-5.2 22.4 46.95 
-5.4 22.4 46.85 
-5.6 22.4 46.775 
-5.8 22.4 46.75 
-6 22.4 46.8 
-6.2 22.4 46.75 
-6.4 22.4 46.725 
-6.6 22.4 46.7 
-6.8 22.4 46.775 
-7 22.4 46.8 
-7.2 22.4 46.75 
-7.4 22.4 46.6 
-7.6 22.4 46.5 
-7.8 22.4 46.325 
-8 22.4 46.125 
-8.2 22.4 45.9 
-8.4 22.4 45.675 
-8.6 22.4 45.475 
-8.8 22.4 45.25 
-9 22.4 45 
-9.2 22.4 44.775 
-9.4 22.4 44.6 
-9.6 22.4 44.4 
-9.8 22.4 44.225 
-10 22.4 43.9 
-10.2 22.4 43.7 
-10.4 22.4 43.45 
-10.6 22.4 43.225 
-10.8 22.4 42.8 
-11 22.4 42.575 
-11.2 22.4 42.225 
-11.4 22.4 41.95 
-11.6 22.4 41.7 
-11.8 22.4 41.45 
-12 22.4 41.125 
-12.2 22.4 40.875 
-12.4 22.4 40.4 
-12.6 22.4 40.05 
-12.8 22.4 39.725 
-13 22.4 39.375 
-13.2 22.4 38.925 
-13.4 22.4 38.45 
-13.6 22.4 38.025 
-13.8 22.4 37.55 
-14 22.4 37.05 
-14.2 22.4 36.375 
-14.4 22.4 35.85 
-14.6 22.4 35.325 
-14.8 22.4 34.55 
-15 22.4 34 
-30.6 22.4 -31.875 
-30.8 22.4 -31.875 
-31 22.4 -31.9 
-31.2 22.4 -31.925 
-31.4 22.4 -31.95 
-31.6 22.4 -31.975 
--30 22.6 32.275 
--29.8 22.6 33.075 
--29.6 22.6 33.775 
--29.4 22.6 34.275 
--29.2 22.6 34.9 
--29 22.6 35.45 
--28.8 22.6 36.075 
--28.6 22.6 36.675 
--28.4 22.6 37.325 
--28.2 22.6 37.75 
--28 22.6 38.025 
--27.8 22.6 38.25 
--27.6 22.6 38.8 
--27.4 22.6 39.25 
--27.2 22.6 39.75 
--27 22.6 39.975 
--26.8 22.6 40.35 
--26.6 22.6 40.675 
--26.4 22.6 41.125 
--26.2 22.6 41.55 
--26 22.6 41.8 
--25.8 22.6 42.05 
--25.6 22.6 42.325 
--25.4 22.6 42.525 
--25.2 22.6 42.85 
--25 22.6 43.175 
--24.8 22.6 43.45 
--24.6 22.6 43.7 
--24.4 22.6 43.975 
--24.2 22.6 44.225 
--24 22.6 44.5 
--23.8 22.6 44.725 
--23.6 22.6 44.925 
--23.4 22.6 45.125 
--23.2 22.6 45.3 
--23 22.6 45.45 
--22.8 22.6 45.675 
--22.6 22.6 45.9 
--22.4 22.6 46.15 
--22.2 22.6 46.375 
--22 22.6 46.625 
--21.8 22.6 46.85 
--21.6 22.6 46.975 
--21.4 22.6 47.05 
--21.2 22.6 47.175 
--21 22.6 47.15 
--20.8 22.6 47.125 
--20.6 22.6 47.075 
--20.4 22.6 47.1 
--20.2 22.6 47.225 
--20 22.6 47.3 
--19.8 22.6 47.35 
--19.6 22.6 47.35 
--19.4 22.6 47.35 
--19.2 22.6 47.375 
--19 22.6 47.35 
--18.8 22.6 47.375 
--18.6 22.6 47.325 
--18.4 22.6 47.35 
--18.2 22.6 47.325 
--18 22.6 47.375 
--17.8 22.6 47.4 
--17.6 22.6 47.35 
--17.4 22.6 47.3 
--17.2 22.6 47.25 
--17 22.6 47.2 
--16.8 22.6 47.2 
--16.6 22.6 47.275 
--16.4 22.6 47.35 
--16.2 22.6 47.425 
--16 22.6 47.4 
--15.8 22.6 47.4 
--15.6 22.6 47.35 
--15.4 22.6 47.325 
--15.2 22.6 47.375 
--15 22.6 47.375 
--14.8 22.6 47.35 
--14.6 22.6 47.275 
--14.4 22.6 47.2 
--14.2 22.6 47.1 
--14 22.6 46.95 
--13.8 22.6 46.8 
--13.6 22.6 46.65 
--13.4 22.6 46.55 
--13.2 22.6 46.5 
--13 22.6 46.5 
--12.8 22.6 46.5 
--12.6 22.6 46.475 
--12.4 22.6 46.5 
--12.2 22.6 46.5 
--12 22.6 46.45 
--11.8 22.6 46.4 
--11.6 22.6 46.325 
--11.4 22.6 46.325 
--11.2 22.6 46.35 
--11 22.6 46.375 
--10.8 22.6 46.4 
--10.6 22.6 46.4 
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--10.2 22.6 46.375 
--10 22.6 46.35 
--9.8 22.6 46.35 
--9.6 22.6 46.325 
--9.4 22.6 46.375 
--9.2 22.6 46.4 
--9 22.6 46.4 
--8.8 22.6 46.375 
--8.6 22.6 46.375 
--8.4 22.6 46.35 
--8.2 22.6 46.325 
--8 22.6 46.25 
--7.8 22.6 46.25 
--7.6 22.6 46.275 
--7.4 22.6 46.325 
--7.2 22.6 46.275 
--7 22.6 46.225 
--6.8 22.6 46.225 
--6.6 22.6 46.275 
--6.4 22.6 46.325 
--6.2 22.6 46.325 
--6 22.6 46.25 
--5.8 22.6 46.125 
--5.6 22.6 46.025 
--5.4 22.6 46.025 
--5.2 22.6 46.075 
--5 22.6 46.125 
--4.8 22.6 46.15 
--4.6 22.6 46.2 
--4.4 22.6 46.225 
--4.2 22.6 46.275 
--4 22.6 46.35 
--3.8 22.6 46.35 
--3.6 22.6 46.35 
--3.4 22.6 46.35 
--3.2 22.6 46.35 
--3 22.6 46.475 
--2.8 22.6 46.55 
--2.6 22.6 46.55 
--2.4 22.6 46.5 
--2.2 22.6 46.5 
--2 22.6 46.5 
--1.8 22.6 46.575 
--1.6 22.6 46.65 
--1.4 22.6 46.675 
--1.2 22.6 46.7 
--0.999999 22.6 46.675 
--0.799999 22.6 46.675 
--0.599999 22.6 46.625 
--0.399999 22.6 46.6 
--0.199999 22.6 46.65 
-1.04308e-006 22.6 46.75 
-0.200001 22.6 46.85 
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-0.800001 22.6 46.875 
-1 22.6 46.825 
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-1.4 22.6 46.8 
-1.6 22.6 46.85 
-1.8 22.6 46.925 
-2 22.6 47.025 
-2.2 22.6 47.1 
-2.4 22.6 47.15 
-2.6 22.6 47.2 
-2.8 22.6 47.15 
-3 22.6 47.1 
-3.2 22.6 47.025 
-3.4 22.6 47 
-3.6 22.6 46.95 
-3.8 22.6 46.975 
-4 22.6 46.95 
-4.2 22.6 46.875 
-4.4 22.6 46.9 
-4.6 22.6 46.925 
-4.8 22.6 47 
-5 22.6 47.075 
-5.2 22.6 47.075 
-5.4 22.6 47 
-5.6 22.6 46.925 
-5.8 22.6 46.85 
-6 22.6 46.9 
-6.2 22.6 46.875 
-6.4 22.6 46.9 
-6.6 22.6 46.9 
-6.8 22.6 46.925 
-7 22.6 46.9 
-7.2 22.6 46.85 
-7.4 22.6 46.7 
-7.6 22.6 46.55 
-7.8 22.6 46.4 
-8 22.6 46.25 
-8.2 22.6 46.075 
-8.4 22.6 45.925 
-8.6 22.6 45.725 
-8.8 22.6 45.45 
-9 22.6 45.2 
-9.2 22.6 45.025 
-9.4 22.6 44.8 
-9.6 22.6 44.525 
-9.8 22.6 44.3 
-10 22.6 44.15 
-10.2 22.6 43.875 
-10.4 22.6 43.625 
-10.6 22.6 43.4 
-10.8 22.6 43.2 
-11 22.6 42.75 
-11.2 22.6 42.5 
-11.4 22.6 42.275 
-11.6 22.6 42.075 
-11.8 22.6 41.8 
-12 22.6 41.35 
-12.2 22.6 40.8 
-12.4 22.6 40.6 
-12.6 22.6 40.25 
-12.8 22.6 39.95 
-13 22.6 39.625 
-13.2 22.6 39.225 
-13.4 22.6 38.7 
-13.6 22.6 38.15 
-13.8 22.6 37.775 
-14 22.6 37.325 
-14.2 22.6 36.95 
-14.4 22.6 36.35 
-14.6 22.6 35.65 
-14.8 22.6 34.7 
-15 22.6 34.325 
-30.6 22.6 -31.8 
-30.8 22.6 -31.8 
-31 22.6 -31.825 
-31.2 22.6 -31.85 
-31.4 22.6 -31.875 
-31.6 22.6 -31.85 
-31.8 22.6 -31.9 
-32 22.6 -31.95 
-32.2 22.6 -32.075 
-32.4 22.6 -32.125 
--30 22.8 32.675 
--29.8 22.8 33.2 
--29.6 22.8 33.825 
--29.4 22.8 34.625 
--29.2 22.8 35.25 
--29 22.8 35.75 
--28.8 22.8 36.35 
--28.6 22.8 36.975 
--28.4 22.8 37.4 
--28.2 22.8 37.825 
--28 22.8 38.325 
--27.8 22.8 38.8 
--27.6 22.8 39.3 
--27.4 22.8 39.55 
--27.2 22.8 39.975 
--27 22.8 40.45 
--26.8 22.8 40.825 
--26.6 22.8 41.075 
--26.4 22.8 41.375 
--26.2 22.8 41.7 
--26 22.8 42.075 
--25.8 22.8 42.375 
--25.6 22.8 42.625 
--25.4 22.8 42.9 
--25.2 22.8 43.2 
--25 22.8 43.475 
--24.8 22.8 43.725 
--24.6 22.8 43.925 
--24.4 22.8 44.15 
--24.2 22.8 44.4 
--24 22.8 44.65 
--23.8 22.8 44.875 
--23.6 22.8 45.1 
--23.4 22.8 45.3 
--23.2 22.8 45.475 
--23 22.8 45.7 
--22.8 22.8 45.925 
--22.6 22.8 46.2 
--22.4 22.8 46.375 
--22.2 22.8 46.575 
--22 22.8 46.775 
--21.8 22.8 46.925 
--21.6 22.8 46.975 
--21.4 22.8 46.95 
--21.2 22.8 46.925 
--21 22.8 46.925 
--20.8 22.8 47 
--20.6 22.8 47.175 
--20.4 22.8 47.3 
--20.2 22.8 47.375 
--20 22.8 47.375 
--19.8 22.8 47.325 
--19.6 22.8 47.3 
--19.4 22.8 47.3 
--19.2 22.8 47.325 
--19 22.8 47.375 
--18.8 22.8 47.4 
--18.6 22.8 47.35 
--18.4 22.8 47.3 
--18.2 22.8 47.225 
--18 22.8 47.15 
--17.8 22.8 47.15 
--17.6 22.8 47.25 
--17.4 22.8 47.325 
--17.2 22.8 47.4 
--17 22.8 47.45 
--16.8 22.8 47.325 
--16.6 22.8 47.275 
--16.4 22.8 47.275 
--16.2 22.8 47.275 
--16 22.8 47.375 
--15.8 22.8 47.375 
--15.6 22.8 47.375 
--15.4 22.8 47.325 
--15.2 22.8 47.25 
--15 22.8 47.225 
--14.8 22.8 47.15 
--14.6 22.8 47.025 
--14.4 22.8 46.85 
--14.2 22.8 46.7 
--14 22.8 46.55 
--13.8 22.8 46.45 
--13.6 22.8 46.4 
--13.4 22.8 46.375 
--13.2 22.8 46.375 
--13 22.8 46.375 
--12.8 22.8 46.375 
--12.6 22.8 46.425 
--12.4 22.8 46.45 
--12.2 22.8 46.45 
--12 22.8 46.4 
--11.8 22.8 46.325 
--11.6 22.8 46.25 
--11.4 22.8 46.25 
--11.2 22.8 46.225 
--11 22.8 46.225 
--10.8 22.8 46.225 
--10.6 22.8 46.2 
--10.4 22.8 46.225 
--10.2 22.8 46.325 
--10 22.8 46.35 
--9.8 22.8 46.325 
--9.6 22.8 46.275 
--9.4 22.8 46.225 
--9.2 22.8 46.175 
--9 22.8 46.175 
--8.8 22.8 46.15 
--8.6 22.8 46.15 
--8.4 22.8 46.125 
--8.2 22.8 46.125 
--8 22.8 46.15 
--7.8 22.8 46.175 
--7.6 22.8 46.225 
--7.4 22.8 46.275 
--7.2 22.8 46.275 
--7 22.8 46.2 
--6.8 22.8 46.15 
--6.6 22.8 46.15 
--6.4 22.8 46.2 
--6.2 22.8 46.225 
--6 22.8 46.25 
--5.8 22.8 46.2 
--5.6 22.8 46.2 
--5.4 22.8 46.1 
--5.2 22.8 46.1 
--5 22.8 46.1 
--4.8 22.8 46.125 
--4.6 22.8 46.175 
--4.4 22.8 46.175 
--4.2 22.8 46.15 
--4 22.8 46.2 
--3.8 22.8 46.275 
--3.6 22.8 46.3 
--3.4 22.8 46.3 
--3.2 22.8 46.3 
--3 22.8 46.375 
--2.8 22.8 46.475 
--2.6 22.8 46.55 
--2.4 22.8 46.55 
--2.2 22.8 46.525 
--2 22.8 46.475 
--1.8 22.8 46.45 
--1.6 22.8 46.525 
--1.4 22.8 46.6 
--1.2 22.8 46.625 
--0.999999 22.8 46.65 
--0.799999 22.8 46.675 
--0.599999 22.8 46.7 
--0.399999 22.8 46.75 
--0.199999 22.8 46.8 
-1.04308e-006 22.8 46.8 
-0.200001 22.8 46.8 
-0.400001 22.8 46.775 
-0.600001 22.8 46.825 
-0.800001 22.8 46.85 
-1 22.8 46.825 
-1.2 22.8 46.775 
-1.4 22.8 46.75 
-1.6 22.8 46.8 
-1.8 22.8 46.875 
-2 22.8 46.975 
-2.2 22.8 47.075 
-2.4 22.8 47.1 
-2.6 22.8 47.075 
-2.8 22.8 47.025 
-3 22.8 47.075 
-3.2 22.8 47.125 
-3.4 22.8 47.175 
-3.6 22.8 47.175 
-3.8 22.8 47.125 
-4 22.8 47.1 
-4.2 22.8 47.05 
-4.4 22.8 47.05 
-4.6 22.8 47.05 
-4.8 22.8 47.075 
-5 22.8 47.125 
-5.2 22.8 47.1 
-5.4 22.8 47 
-5.6 22.8 46.9 
-5.8 22.8 46.85 
-6 22.8 46.85 
-6.2 22.8 46.875 
-6.4 22.8 46.9 
-6.6 22.8 46.825 
-6.8 22.8 46.725 
-7 22.8 46.65 
-7.2 22.8 46.625 
-7.4 22.8 46.65 
-7.6 22.8 46.675 
-7.8 22.8 46.625 
-8 22.8 46.5 
-8.2 22.8 46.325 
-8.4 22.8 46.175 
-8.6 22.8 45.95 
-8.8 22.8 45.7 
-9 22.8 45.425 
-9.2 22.8 45.2 
-9.4 22.8 45.025 
-9.6 22.8 44.675 
-9.8 22.8 44.4 
-10 22.8 44.275 
-10.2 22.8 44.15 
-10.4 22.8 43.925 
-10.6 22.8 43.775 
-10.8 22.8 43.45 
-11 22.8 42.925 
-11.2 22.8 42.725 
-11.4 22.8 42.475 
-11.6 22.8 42.375 
-11.8 22.8 42.05 
-12 22.8 41.6 
-12.2 22.8 41.15 
-12.4 22.8 41 
-12.6 22.8 40.75 
-12.8 22.8 40.25 
-13 22.8 39.725 
-13.2 22.8 39.225 
-13.4 22.8 38.85 
-13.6 22.8 38.35 
-13.8 22.8 37.9 
-14 22.8 37.475 
-14.2 22.8 37.15 
-14.4 22.8 36.55 
-14.6 22.8 35.975 
-14.8 22.8 35.325 
-15 22.8 34.65 
-15.2 22.8 33.9 
-30.6 22.8 -31.9 
-30.8 22.8 -31.8 
-31 22.8 -31.725 
-31.2 22.8 -31.65 
-31.4 22.8 -31.7 
-31.6 22.8 -31.75 
-31.8 22.8 -31.925 
-32 22.8 -32 
-32.2 22.8 -32.075 
-32.4 22.8 -32.1 
--30 23 33.175 
--29.8 23 33.8 
--29.6 23 34.5 
--29.4 23 34.975 
--29.2 23 35.55 
--29 23 36.175 
--28.8 23 36.775 
--28.6 23 37.1 
--28.4 23 37.7 
--28.2 23 38.4 
--28 23 38.925 
--27.8 23 39.175 
--27.6 23 39.55 
--27.4 23 39.95 
--27.2 23 40.425 
--27 23 40.875 
--26.8 23 41.1 
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--37 24.6 -9.65 
--30.4 24.6 34.65 
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--30 24.6 36.125 
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--29.2 24.6 38.225 
--29 24.6 38.825 
--28.8 24.6 39.325 
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--28.4 24.6 40 
--28.2 24.6 40.35 
--28 24.6 40.825 
--27.8 24.6 41.275 
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--27 24.6 42.55 
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--26 24.6 44.075 
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--25 24.6 45.175 
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--24 24.6 46.175 
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--19.2 24.6 47.375 
--19 24.6 47.375 
--18.8 24.6 47.35 
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--18.2 24.6 47.3 
--18 24.6 47.25 
--17.8 24.6 47.225 
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--17.2 24.6 47.125 
--17 24.6 47 
--16.8 24.6 46.775 
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--16 24.6 45.3 
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--14 24.6 45.475 
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--12 24.6 45.8 
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--6.8 24.6 45.625 
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--6 24.6 45.65 
--5.8 24.6 45.65 
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--5 24.6 45.7 
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-7 24.6 47 
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-7.6 24.6 46.9 
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-8 24.6 46.85 
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-8.6 24.6 46.575 
-8.8 24.6 46.5 
-9 24.6 46.45 
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-9.6 24.6 46.2 
-9.8 24.6 45.925 
-10 24.6 45.7 
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-10.4 24.6 45.275 
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-10.8 24.6 44.775 
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-13.6 24.6 40.575 
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-14.8 24.6 38.05 
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-15.8 24.6 35.475 
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--37 24.8 -8.9 
--36.8 24.8 -9.225 
--36.6 24.8 -10.05 
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--30.6 24.8 33.95 
--30.4 24.8 34.65 
--30.2 24.8 35.325 
--30 24.8 36.1 
--29.8 24.8 36.6 
--29.6 24.8 37.25 
--29.4 24.8 37.875 
--29.2 24.8 38.55 
--29 24.8 38.975 
--28.8 24.8 39.475 
--28.6 24.8 39.975 
--28.4 24.8 40.3 
--28.2 24.8 40.7 
--28 24.8 41.175 
--27.8 24.8 41.625 
--27.6 24.8 41.9 
--27.4 24.8 42.2 
--27.2 24.8 42.5 
--27 24.8 42.825 
--26.8 24.8 43.125 
--26.6 24.8 43.4 
--26.4 24.8 43.7 
--26.2 24.8 43.95 
--26 24.8 44.225 
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--25.2 24.8 45.175 
--25 24.8 45.4 
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--24.2 24.8 46.325 
--24 24.8 46.55 
--23.8 24.8 46.75 
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--23.4 24.8 47 
--23.2 24.8 47.05 
--23 24.8 47.025 
--22.8 24.8 46.975 
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--22.4 24.8 47.05 
--22.2 24.8 47.125 
--22 24.8 47.2 
--21.8 24.8 47.275 
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--21 24.8 47.375 
--20.8 24.8 47.4 
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--20 24.8 47.325 
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--19 24.8 47.375 
--18.8 24.8 47.375 
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--18 24.8 47.425 
--17.8 24.8 47.375 
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--16 24.8 45.275 
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--15 24.8 45.2 
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--14.2 24.8 45.375 
--14 24.8 45.4 
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--13 24.8 45.575 
--12.8 24.8 45.625 
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--12.2 24.8 45.6 
--12 24.8 45.625 
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--11 24.8 45.875 
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--10 24.8 45.7 
--9.8 24.8 45.675 
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--6 24.8 45.65 
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-8.6 24.8 46.725 
-8.8 24.8 46.7 
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-9.8 24.8 45.925 
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--39 25 -5.475 
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--38 25 -6.725 
--37.8 25 -7 
--37.6 25 -7.35 
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--37 25 -8.4 
--36.8 25 -8.85 
--36.6 25 -9.45 
--36.4 25 -9.85 
--36.2 25 -10.3 
--30.6 25 34.375 
--30.4 25 35.325 
--30.2 25 36.025 
--30 25 36.425 
--29.8 25 36.925 
--29.6 25 37.6 
--29.4 25 38.3 
--29.2 25 38.7 
--29 25 39.025 
--28.8 25 39.475 
--28.6 25 40.125 
--28.4 25 40.5 
--28.2 25 41 
--28 25 41.475 
--27.8 25 41.7 
--27.6 25 42.1 
--27.4 25 42.4 
--27.2 25 42.75 
--27 25 43 
--26.8 25 43.35 
--26.6 25 43.6 
--26.4 25 43.9 
--26.2 25 44.15 
--26 25 44.45 
--25.8 25 44.75 
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--25 25 45.65 
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--24.2 25 46.45 
--24 25 46.625 
--23.8 25 46.8 
--23.6 25 46.925 
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--23 25 46.8 
--22.8 25 46.85 
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--22 25 47.275 
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--21.4 25 47.35 
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--20 25 47.375 
--19.8 25 47.4 
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--19.2 25 47.425 
--19 25 47.4 
--18.8 25 47.375 
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--18.4 25 47.3 
--18.2 25 47.325 
--18 25 47.3 
--17.8 25 47.3 
--17.6 25 47.325 
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--17.2 25 46.8 
--17 25 45.6 
--16.8 25 45.25 
--16.6 25 45.15 
--16.4 25 45.1 
--16.2 25 45.1 
--16 25 45.075 
--15.8 25 45.1 
--15.6 25 45.175 
--15.4 25 45.225 
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--15 25 45.25 
--14.8 25 45.25 
--14.6 25 45.3 
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--14 25 45.425 
--13.8 25 45.45 
--13.6 25 45.475 
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--13.2 25 45.425 
--13 25 45.475 
--12.8 25 45.575 
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--12 25 45.625 
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--11.6 25 45.675 
--11.4 25 45.7 
--11.2 25 45.7 
--11 25 45.725 
--10.8 25 45.7 
--10.6 25 45.65 
--10.4 25 45.6 
--10.2 25 45.575 
--10 25 45.525 
--9.8 25 45.475 
--9.6 25 45.45 
--9.4 25 45.5 
--9.2 25 45.55 
--9 25 45.55 
--8.8 25 45.525 
--8.6 25 45.475 
--8.4 25 45.4 
--8.2 25 45.35 
--8 25 45.35 
--7.8 25 45.35 
--7.6 25 45.35 
--7.4 25 45.375 
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--15.2 29.8 44.7 
--15 29.8 44.65 
--14.8 29.8 44.55 
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--14.2 29.8 44.475 
--14 29.8 44.525 
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--13 29.8 44.575 
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--12 29.8 44.575 
--11.8 29.8 44.575 
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--11 29.8 44.55 
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--9.8 29.8 44.5 
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--9 29.8 44.4 
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--8 29.8 44.4 
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--7.4 29.8 44.475 
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--7 29.8 44.55 
--6.8 29.8 44.525 
--6.6 29.8 44.525 
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--6.2 29.8 44.6 
--6 29.8 44.625 
--5.8 29.8 44.625 
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--5 29.8 44.7 
--4.8 29.8 44.725 
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--4 29.8 44.775 
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-10 29.8 47 
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-27 29.8 -27.95 
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-31 29.8 -30.05 
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--40 30 -9.35 
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--39.2 30 -9.45 
--39 30 -9.475 
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--38 30 -9.95 
--37.8 30 -10.1 
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--37 30 -10.6 
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--31.8 30 -16.1 
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--27 30 46.125 
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--24 30 47.225 
--23.8 30 47.225 
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--23 30 47.225 
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--22 30 47.225 
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--15 30 44.275 
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--33 31 -16.325 
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--8.6 31.6 44.15 
--8.4 31.6 44.175 
--8.2 31.6 44.175 
--8 31.6 44.225 
--7.8 31.6 44.225 
--7.6 31.6 44.3 
--7.4 31.6 44.35 
--7.2 31.6 44.4 
--7 31.6 44.375 
--6.8 31.6 44.375 
--6.6 31.6 44.325 
--6.4 31.6 44.35 
--6.2 31.6 44.4 
--6 31.6 44.5 
--5.8 31.6 44.525 
--5.6 31.6 44.525 
--5.4 31.6 44.5 
--5.2 31.6 44.525 
--5 31.6 44.55 
--4.8 31.6 44.6 
--4.6 31.6 44.6 
--4.4 31.6 44.6 
--4.2 31.6 44.65 
--4 31.6 44.7 
--3.8 31.6 44.775 
--3.6 31.6 44.8 
--3.4 31.6 44.775 
--3.2 31.6 44.725 
--3 31.6 44.75 
--2.8 31.6 44.775 
--2.6 31.6 44.825 
--2.4 31.6 44.875 
--2.2 31.6 44.95 
--2 31.6 45.05 
--1.8 31.6 45.1 
--1.6 31.6 45.15 
--1.4 31.6 45.125 
--1.2 31.6 45.15 
--0.999999 31.6 45.125 
--0.799999 31.6 45.125 
--0.599999 31.6 45.2 
--0.399999 31.6 45.25 
--0.199999 31.6 45.325 
-1.04308e-006 31.6 45.35 
-0.200001 31.6 45.35 
-0.400001 31.6 45.3 
-0.600001 31.6 45.275 
-0.800001 31.6 45.275 
-1 31.6 45.325 
-1.2 31.6 45.35 
-1.4 31.6 45.4 
-1.6 31.6 45.375 
-1.8 31.6 45.4 
-2 31.6 45.4 
-2.2 31.6 45.45 
-2.4 31.6 45.5 
-2.6 31.6 45.575 
-2.8 31.6 45.6 
-3 31.6 45.575 
-3.2 31.6 45.6 
-3.4 31.6 45.6 
-3.6 31.6 45.65 
-3.8 31.6 45.675 
-4 31.6 45.7 
-4.2 31.6 45.7 
-4.4 31.6 45.7 
-4.6 31.6 45.7 
-4.8 31.6 45.75 
-5 31.6 45.775 
-5.2 31.6 45.85 
-5.4 31.6 45.925 
-5.6 31.6 45.975 
-5.8 31.6 46.025 
-6 31.6 46.05 
-6.2 31.6 46.05 
-6.4 31.6 46.125 
-6.6 31.6 46.2 
-6.8 31.6 46.3 
-7 31.6 46.375 
-7.2 31.6 46.475 
-7.4 31.6 46.6 
-7.6 31.6 46.625 
-7.8 31.6 46.725 
-8 31.6 46.75 
-8.2 31.6 46.825 
-8.4 31.6 46.875 
-8.6 31.6 46.925 
-8.8 31.6 47 
-9 31.6 46.975 
-9.2 31.6 46.9 
-9.4 31.6 46.9 
-9.6 31.6 46.925 
-9.8 31.6 46.975 
-10 31.6 47.025 
-10.2 31.6 46.975 
-10.4 31.6 46.825 
-10.6 31.6 46.675 
-10.8 31.6 46.55 
-11 31.6 46.525 
-11.2 31.6 46.575 
-11.4 31.6 46.625 
-11.6 31.6 46.625 
-11.8 31.6 46.625 
-12 31.6 46.6 
-12.2 31.6 46.55 
-12.4 31.6 46.45 
-12.6 31.6 46.325 
-12.8 31.6 46.225 
-13 31.6 46.15 
-13.2 31.6 46 
-13.4 31.6 45.775 
-13.6 31.6 45.4 
-13.8 31.6 45.225 
-14 31.6 45 
-14.2 31.6 44.75 
-14.4 31.6 44.425 
-14.6 31.6 44.3 
-14.8 31.6 44.05 
-15 31.6 43.525 
-15.2 31.6 43.275 
-15.4 31.6 43.075 
-15.6 31.6 42.75 
-15.8 31.6 42.05 
-16 31.6 41.65 
-16.2 31.6 41.175 
-16.4 31.6 40.725 
-16.6 31.6 40.425 
-16.8 31.6 39.825 
-17 31.6 39.2 
-17.2 31.6 38.7 
-17.4 31.6 38.225 
-17.6 31.6 37.85 
-17.8 31.6 37.15 
-18 31.6 36.375 
-18.2 31.6 35.675 
-18.4 31.6 35.025 
-24.2 31.6 -25.3 
-24.4 31.6 -25.875 
-24.6 31.6 -25.85 
-24.8 31.6 -25.875 
-25 31.6 -25.975 
-25.2 31.6 -26.075 
-25.4 31.6 -26.175 
-25.6 31.6 -26.275 
-25.8 31.6 -26.4 
-26 31.6 -26.525 
-26.2 31.6 -26.625 
-26.4 31.6 -26.8 
-26.6 31.6 -27 
-26.8 31.6 -27.175 
-27 31.6 -27.275 
-27.2 31.6 -27.375 
-27.4 31.6 -27.45 
-27.6 31.6 -27.525 
-27.8 31.6 -27.7 
-28 31.6 -27.9 
-28.2 31.6 -28.15 
-28.4 31.6 -28.325 
-28.6 31.6 -28.4 
-28.8 31.6 -28.4 
-29 31.6 -28.35 
-29.2 31.6 -28.425 
-29.4 31.6 -28.55 
-29.6 31.6 -28.675 
-29.8 31.6 -28.875 
-30 31.6 -29.025 
-30.2 31.6 -29.2 
-30.4 31.6 -29.4 
-30.6 31.6 -29.65 
-30.8 31.6 -30.325 
--30.4 31.8 40.35 
--30.2 31.8 40.95 
--30 31.8 41.475 
--29.8 31.8 41.975 
--29.6 31.8 42.65 
--29.4 31.8 43.125 
--29.2 31.8 43.4 
--29 31.8 43.9 
--28.8 31.8 44.35 
--28.6 31.8 44.7 
--28.4 31.8 44.925 
--28.2 31.8 45.225 
--28 31.8 45.5 
--27.8 31.8 45.75 
--27.6 31.8 46.025 
--27.4 31.8 46.25 
--27.2 31.8 46.475 
--27 31.8 46.65 
--26.8 31.8 46.825 
--26.6 31.8 46.95 
--26.4 31.8 47 
--26.2 31.8 47 
--26 31.8 47.025 
--25.8 31.8 47.05 
--25.6 31.8 47.075 
--25.4 31.8 47.125 
--25.2 31.8 47.175 
--25 31.8 47.2 
--24.8 31.8 47.25 
--24.6 31.8 47.25 
--24.4 31.8 47.25 
--24.2 31.8 47.275 
--24 31.8 47.275 
--23.8 31.8 47.325 
--23.6 31.8 47.325 
--23.4 31.8 47.275 
--23.2 31.8 47.225 
--23 31.8 47.175 
--22.8 31.8 47.15 
--22.6 31.8 47.225 
--22.4 31.8 47.3 
--22.2 31.8 47.225 
--22 31.8 47.1 
--21.8 31.8 46.775 
--21.6 31.8 46.45 
--21.4 31.8 46.3 
--21.2 31.8 46.2 
--21 31.8 46.075 
--20.8 31.8 45.95 
--20.6 31.8 45.825 
--20.4 31.8 45.75 
--20.2 31.8 45.7 
--20 31.8 45.625 
--19.8 31.8 45.575 
--19.6 31.8 45.55 
--19.4 31.8 45.525 
--19.2 31.8 45.425 
--19 31.8 45.325 
--18.8 31.8 45.225 
--18.6 31.8 45.15 
--18.4 31.8 45.125 
--18.2 31.8 45.05 
--18 31.8 45.05 
--17.8 31.8 45 
--17.6 31.8 44.975 
--17.4 31.8 44.95 
--17.2 31.8 44.925 
--17 31.8 44.85 
--16.8 31.8 44.775 
--16.6 31.8 44.7 
--16.4 31.8 44.725 
--16.2 31.8 44.725 
--16 31.8 44.625 
--15.8 31.8 44.55 
--15.6 31.8 44.5 
--15.4 31.8 44.475 
--15.2 31.8 44.475 
--15 31.8 44.475 
--14.8 31.8 44.475 
--14.6 31.8 44.5 
--14.4 31.8 44.5 
--14.2 31.8 44.475 
--14 31.8 44.475 
--13.8 31.8 44.475 
--13.6 31.8 44.475 
--13.4 31.8 44.475 
--13.2 31.8 44.4 
--13 31.8 44.375 
--12.8 31.8 44.425 
--12.6 31.8 44.475 
--12.4 31.8 44.45 
--12.2 31.8 44.4 
--12 31.8 44.35 
--11.8 31.8 44.375 
--11.6 31.8 44.4 
--11.4 31.8 44.425 
--11.2 31.8 44.4 
--11 31.8 44.4 
--10.8 31.8 44.425 
--10.6 31.8 44.45 
--10.4 31.8 44.45 
--10.2 31.8 44.425 
--10 31.8 44.4 
--9.8 31.8 44.375 
--9.6 31.8 44.325 
--9.4 31.8 44.275 
--9.2 31.8 44.225 
--9 31.8 44.175 
--8.8 31.8 44.15 
--8.6 31.8 44.175 
--8.4 31.8 44.15 
--8.2 31.8 44.15 
--8 31.8 44.15 
--7.8 31.8 44.175 
--7.6 31.8 44.175 
--7.4 31.8 44.15 
--7.2 31.8 44.15 
--7 31.8 44.175 
--6.8 31.8 44.225 
--6.6 31.8 44.275 
--6.4 31.8 44.3 
--6.2 31.8 44.325 
--6 31.8 44.375 
--5.8 31.8 44.425 
--5.6 31.8 44.45 
--5.4 31.8 44.5 
--5.2 31.8 44.525 
--5 31.8 44.575 
--4.8 31.8 44.6 
--4.6 31.8 44.55 
--4.4 31.8 44.575 
--4.2 31.8 44.625 
--4 31.8 44.65 
--3.8 31.8 44.7 
--3.6 31.8 44.725 
--3.4 31.8 44.725 
--3.2 31.8 44.825 
--3 31.8 44.85 
--2.8 31.8 44.875 
--2.6 31.8 44.875 
--2.4 31.8 44.875 
--2.2 31.8 44.95 
--2 31.8 45.025 
--1.8 31.8 45.05 
--1.6 31.8 45.1 
--1.4 31.8 45.075 
--1.2 31.8 45.05 
--0.999999 31.8 45.075 
--0.799999 31.8 45.125 
--0.599999 31.8 45.2 
--0.399999 31.8 45.275 
--0.199999 31.8 45.325 
-1.04308e-006 31.8 45.4 
-0.200001 31.8 45.45 
-0.400001 31.8 45.45 
-0.600001 31.8 45.45 
-0.800001 31.8 45.425 
-1 31.8 45.425 
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-1.4 31.8 45.325 
-1.6 31.8 45.3 
-1.8 31.8 45.35 
-2 31.8 45.45 
-2.2 31.8 45.575 
-2.4 31.8 45.6 
-2.6 31.8 45.625 
-2.8 31.8 45.65 
-3 31.8 45.65 
-3.2 31.8 45.6 
-3.4 31.8 45.525 
-3.6 31.8 45.475 
-3.8 31.8 45.475 
-4 31.8 45.525 
-4.2 31.8 45.6 
-4.4 31.8 45.7 
-4.6 31.8 45.8 
-4.8 31.8 45.825 
-5 31.8 45.825 
-5.2 31.8 45.825 
-5.4 31.8 45.95 
-5.6 31.8 46.05 
-5.8 31.8 46.125 
-6 31.8 46.15 
-6.2 31.8 46.15 
-6.4 31.8 46.2 
-6.6 31.8 46.3 
-6.8 31.8 46.375 
-7 31.8 46.4 
-7.2 31.8 46.45 
-7.4 31.8 46.475 
-7.6 31.8 46.55 
-7.8 31.8 46.575 
-8 31.8 46.6 
-8.2 31.8 46.675 
-8.4 31.8 46.725 
-8.6 31.8 46.825 
-8.8 31.8 46.925 
-9 31.8 47.025 
-9.2 31.8 47 
-9.4 31.8 46.975 
-9.6 31.8 46.925 
-9.8 31.8 46.925 
-10 31.8 46.975 
-10.2 31.8 46.975 
-10.4 31.8 46.975 
-10.6 31.8 46.925 
-10.8 31.8 46.95 
-11 31.8 46.9 
-11.2 31.8 46.775 
-11.4 31.8 46.75 
-11.6 31.8 46.725 
-11.8 31.8 46.7 
-12 31.8 46.6 
-12.2 31.8 46.45 
-12.4 31.8 46.35 
-12.6 31.8 46.325 
-12.8 31.8 46.3 
-13 31.8 46.225 
-13.2 31.8 46.075 
-13.4 31.8 45.875 
-13.6 31.8 45.625 
-13.8 31.8 45.275 
-14 31.8 45.025 
-14.2 31.8 44.85 
-14.4 31.8 44.625 
-14.6 31.8 44.425 
-14.8 31.8 44.15 
-15 31.8 43.6 
-15.2 31.8 43.175 
-15.4 31.8 42.725 
-15.6 31.8 42.325 
-15.8 31.8 42.125 
-16 31.8 41.925 
-16.2 31.8 41.7 
-16.4 31.8 41.2 
-16.6 31.8 40.35 
-16.8 31.8 39.775 
-17 31.8 39.275 
-17.2 31.8 38.875 
-17.4 31.8 38.4 
-17.6 31.8 37.825 
-17.8 31.8 37.275 
-18 31.8 36.6 
-18.2 31.8 35.85 
-18.4 31.8 35.175 
-18.6 31.8 34.5 
-24.2 31.8 -24.975 
-24.4 31.8 -25.65 
-24.6 31.8 -25.65 
-24.8 31.8 -25.7 
-25 31.8 -25.7 
-25.2 31.8 -25.875 
-25.4 31.8 -25.95 
-25.6 31.8 -26.05 
-25.8 31.8 -26.225 
-26 31.8 -26.375 
-26.2 31.8 -26.75 
-26.4 31.8 -26.9 
-26.6 31.8 -27.05 
-26.8 31.8 -27.2 
-27 31.8 -27.375 
-27.2 31.8 -27.6 
-27.4 31.8 -27.725 
-27.6 31.8 -27.85 
-27.8 31.8 -27.875 
-28 31.8 -27.925 
-28.2 31.8 -28.075 
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-28.6 31.8 -28.15 
-28.8 31.8 -28.2 
-29 31.8 -28.25 
-29.2 31.8 -28.425 
-29.4 31.8 -28.65 
-29.6 31.8 -28.775 
-29.8 31.8 -28.85 
-30 31.8 -28.9 
-30.2 31.8 -28.975 
-30.4 31.8 -29.275 
-30.6 31.8 -30 
-30.8 31.8 -30.325 
--30.6 32 39.95 
--30.4 32 40.35 
--30.2 32 41.1 
--30 32 41.725 
--29.8 32 42.225 
--29.6 32 42.75 
--29.4 32 43.025 
--29.2 32 43.4 
--29 32 43.75 
--28.8 32 44.25 
--28.6 32 44.7 
--28.4 32 44.975 
--28.2 32 45.3 
--28 32 45.55 
--27.8 32 45.8 
--27.6 32 46.1 
--27.4 32 46.35 
--27.2 32 46.625 
--27 32 46.825 
--26.8 32 46.975 
--26.6 32 47.025 
--26.4 32 47 
--26.2 32 46.9 
--26 32 46.95 
--25.8 32 47.025 
--25.6 32 47.1 
--25.4 32 47.125 
--25.2 32 47.075 
--25 32 47.075 
--24.8 32 47.05 
--24.6 32 47.1 
--24.4 32 47.225 
--24.2 32 47.375 
--24 32 47.375 
--23.8 32 47.325 
--23.6 32 47.25 
--23.4 32 47.2 
--23.2 32 47.25 
--23 32 47.325 
--22.8 32 47.35 
--22.6 32 47.3 
--22.4 32 47.275 
--22.2 32 47.225 
--22 32 47.175 
--21.8 32 47.05 
--21.6 32 46.675 
--21.4 32 46.325 
--21.2 32 46.15 
--21 32 46.05 
--20.8 32 46.025 
--20.6 32 45.95 
--20.4 32 45.925 
--20.2 32 45.875 
--20 32 45.8 
--19.8 32 45.675 
--19.6 32 45.525 
--19.4 32 45.4 
--19.2 32 45.3 
--19 32 45.275 
--18.8 32 45.3 
--18.6 32 45.35 
--18.4 32 45.3 
--18.2 32 45.225 
--18 32 45.15 
--17.8 32 45.1 
--17.6 32 45.075 
--17.4 32 45.025 
--17.2 32 44.925 
--17 32 44.775 
--16.8 32 44.7 
--16.6 32 44.675 
--16.4 32 44.675 
--16.2 32 44.65 
--16 32 44.65 
--15.8 32 44.625 
--15.6 32 44.65 
--15.4 32 44.65 
--15.2 32 44.575 
--15 32 44.575 
--14.8 32 44.55 
--14.6 32 44.6 
--14.4 32 44.6 
--14.2 32 44.575 
--14 32 44.55 
--13.8 32 44.525 
--13.6 32 44.55 
--13.4 32 44.575 
--13.2 32 44.6 
--13 32 44.625 
--12.8 32 44.625 
--12.6 32 44.6 
--12.4 32 44.55 
--12.2 32 44.5 
--12 32 44.45 
--11.8 32 44.4 
--11.6 32 44.375 
--11.4 32 44.325 
--11.2 32 44.25 
--11 32 44.225 
--10.8 32 44.3 
--10.6 32 44.375 
--10.4 32 44.45 
--10.2 32 44.45 
--10 32 44.45 
--9.8 32 44.475 
--9.6 32 44.475 
--9.4 32 44.425 
--9.2 32 44.4 
--9 32 44.325 
--8.8 32 44.275 
--8.6 32 44.225 
--8.4 32 44.25 
--8.2 32 44.275 
--8 32 44.25 
--7.8 32 44.225 
--7.6 32 44.225 
--7.4 32 44.2 
--7.2 32 44.225 
--7 32 44.325 
--6.8 32 44.4 
--6.6 32 44.425 
--6.4 32 44.425 
--6.2 32 44.425 
--6 32 44.425 
--5.8 32 44.5 
--5.6 32 44.525 
--5.4 32 44.55 
--5.2 32 44.525 
--5 32 44.475 
--4.8 32 44.45 
--4.6 32 44.425 
--4.4 32 44.475 
--4.2 32 44.5 
--4 32 44.6 
--3.8 32 44.65 
--3.6 32 44.675 
--3.4 32 44.775 
--3.2 32 44.85 
--3 32 44.925 
--2.8 32 44.95 
--2.6 32 44.95 
--2.4 32 44.9 
--2.2 32 44.875 
--2 32 44.95 
--1.8 32 45.025 
--1.6 32 45.125 
--1.4 32 45.175 
--1.2 32 45.2 
--0.999999 32 45.225 
--0.799999 32 45.2 
--0.599999 32 45.2 
--0.399999 32 45.15 
--0.199999 32 45.15 
-1.04308e-006 32 45.175 
-0.200001 32 45.225 
-0.400001 32 45.25 
-0.600001 32 45.325 
-0.800001 32 45.35 
-1 32 45.375 
-1.2 32 45.4 
-1.4 32 45.375 
-1.6 32 45.4 
-1.8 32 45.425 
-2 32 45.5 
-2.2 32 45.525 
-2.4 32 45.575 
-2.6 32 45.625 
-2.8 32 45.65 
-3 32 45.65 
-3.2 32 45.675 
-3.4 32 45.65 
-3.6 32 45.65 
-3.8 32 45.7 
-4 32 45.675 
-4.2 32 45.7 
-4.4 32 45.7 
-4.6 32 45.75 
-4.8 32 45.775 
-5 32 45.8 
-5.2 32 45.85 
-5.4 32 45.95 
-5.6 32 46.05 
-5.8 32 46.125 
-6 32 46.125 
-6.2 32 46.15 
-6.4 32 46.175 
-6.6 32 46.275 
-6.8 32 46.325 
-7 32 46.375 
-7.2 32 46.45 
-7.4 32 46.45 
-7.6 32 46.45 
-7.8 32 46.5 
-8 32 46.625 
-8.2 32 46.775 
-8.4 32 46.9 
-8.6 32 46.925 
-8.8 32 46.975 
-9 32 47 
-9.2 32 47.05 
-9.4 32 47.05 
-9.6 32 47.025 
-9.8 32 47.05 
-10 32 47.025 
-10.2 32 47 
-10.4 32 47 
-10.6 32 46.975 
-10.8 32 46.975 
-11 32 46.95 
-11.2 32 46.825 
-11.4 32 46.65 
-11.6 32 46.625 
-11.8 32 46.55 
-12 32 46.575 
-12.2 32 46.6 
-12.4 32 46.525 
-12.6 32 46.475 
-12.8 32 46.425 
-13 32 46.325 
-13.2 32 46.125 
-13.4 32 45.925 
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-13.8 32 45.5 
-14 32 45.3 
-14.2 32 45.05 
-14.4 32 44.55 
-14.6 32 44.075 
-14.8 32 43.825 
-15 32 43.575 
-15.2 32 43.3 
-15.4 32 43.075 
-15.6 32 42.75 
-15.8 32 42.45 
-16 32 41.9 
-16.2 32 41.4 
-16.4 32 41.15 
-16.6 32 40.825 
-16.8 32 40.15 
-17 32 39.4 
-17.2 32 38.875 
-17.4 32 38.45 
-17.6 32 38.125 
-17.8 32 37.55 
-18 32 36.75 
-18.2 32 36.075 
-18.4 32 35.225 
-24.4 32 -24.775 
-24.6 32 -24.875 
-24.8 32 -25.45 
-25 32 -25.625 
-25.2 32 -25.75 
-25.4 32 -25.825 
-25.6 32 -26 
-25.8 32 -26.25 
-26 32 -26.475 
-26.2 32 -26.625 
-26.4 32 -26.775 
-26.6 32 -26.9 
-26.8 32 -27.025 
-27 32 -27.125 
-27.2 32 -27.175 
-27.4 32 -27.325 
-27.6 32 -27.5 
-27.8 32 -27.7 
-28 32 -27.85 
-28.2 32 -27.925 
-28.4 32 -27.95 
-28.6 32 -27.975 
-28.8 32 -28.125 
-29 32 -28.25 
-29.2 32 -28.4 
-29.4 32 -28.525 
-29.6 32 -28.65 
-29.8 32 -28.775 
-30 32 -28.925 
-30.2 32 -29.1 
-30.4 32 -29.325 
-30.6 32 -29.6 
--30.2 32.2 41.325 
--30 32.2 41.725 
--29.8 32.2 42.325 
--29.6 32.2 42.875 
--29.4 32.2 43.125 
--29.2 32.2 43.475 
--29 32.2 43.85 
--28.8 32.2 44.25 
--28.6 32.2 44.675 
--28.4 32.2 45.175 
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--26 33 47.05 
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-24.8 40.4 -23.45 
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-25.2 40.4 -24.225 
-25.4 40.4 -24.8 
-25.6 40.4 -25.175 
-25.8 40.4 -26 
-26 40.4 -26.425 
--28.2 40.6 44.15 
--28 40.6 44.525 
--27.8 40.6 45.125 
--27.6 40.6 45.325 
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--27 40.6 46.25 
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--26 40.6 47.075 
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--25 40.6 47.15 
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--24 40.6 47.15 
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--23 40.6 47.15 
--22.8 40.6 47.125 
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--22 40.6 47.1 
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--21 40.6 46.975 
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--19.4 40.6 46.875 
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--17 40.6 46.5 
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--4.2 40.6 44.8 
--4 40.6 44.875 
--3.8 40.6 44.875 
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--3 40.6 44.925 
--2.8 40.6 45 
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--2.2 40.6 44.95 
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-7.8 40.6 46.5 
-8 40.6 46.575 
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--21 40.8 46.9 
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--18 40.8 46.675 
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-17 40.8 40.125 
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-18.6 40.8 35.75 
-24.8 40.8 -23.55 
-25 40.8 -24.4 
-25.2 40.8 -24.625 
-25.4 40.8 -25.15 
--28 41 44.45 
--27.8 41 44.75 
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--27 41 46.3 
--26.8 41 46.475 
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--25 41 47.125 
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--24 41 47.225 
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--20 41 46.85 
--19.8 41 46.825 
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--19 41 46.675 
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--15 41 46.05 
--14.8 41 46 
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--14 41 45.775 
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--13 41 45.55 
--12.8 41 45.475 
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--12 41 45.275 
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--11 41 45 
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--10 41 45.025 
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--9.4 41 44.925 
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--9 41 44.875 
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--8.6 41 44.725 
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--8.2 41 44.55 
--8 41 44.5 
--7.8 41 44.6 
--7.6 41 44.65 
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-15 49.6 36.475 
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--21 58 36.025 
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-4.6 58.6 38 
--19.2 58.8 37.3 
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diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/three.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/three.ply
deleted file mode 100644
index 6893a9fa..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/three.ply
+++ /dev/null
@@ -1,22 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 9
-property float x
-property float y
-property float z
-element face 3
-property list uchar int vertex_indices
-end_header
-1.05 0.05 1
-1.05 1.05 2
-0.05 1.05 1
-0 0 0
-1 0 1
-0 1 1
-2 2 2
-2 1 1
-3 1 2
-3 0 1 2
-3 3 4 5
-3 6 7 8
diff --git a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/two.ply b/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/two.ply
deleted file mode 100644
index ce351996..00000000
--- a/apps/trimeshinfo/trimeshinfo1.02/trimeshinfosample/two.ply
+++ /dev/null
@@ -1,18 +0,0 @@
-ply
-format ascii 1.0
-comment VCGLIB generated
-element vertex 6
-property float x
-property float y
-property float z
-element face 2
-property list uchar int vertex_indices
-end_header
-1.05 0.05 1
-1.05 1.05 2
-0.05 1.05 1
-0 0 0
-1 0 1
-0 1 1
-3 0 1 2
-3 3 4 5
diff --git a/apps/pivoting/cmesh.h b/apps/unsupported/pivoting/cmesh.h
similarity index 100%
rename from apps/pivoting/cmesh.h
rename to apps/unsupported/pivoting/cmesh.h
diff --git a/apps/pivoting/curvature.h b/apps/unsupported/pivoting/curvature.h
similarity index 100%
rename from apps/pivoting/curvature.h
rename to apps/unsupported/pivoting/curvature.h
diff --git a/apps/pivoting/glarea.cpp b/apps/unsupported/pivoting/glarea.cpp
similarity index 100%
rename from apps/pivoting/glarea.cpp
rename to apps/unsupported/pivoting/glarea.cpp
diff --git a/apps/pivoting/glarea.h b/apps/unsupported/pivoting/glarea.h
similarity index 100%
rename from apps/pivoting/glarea.h
rename to apps/unsupported/pivoting/glarea.h
diff --git a/apps/pivoting/main.cpp b/apps/unsupported/pivoting/main.cpp
similarity index 100%
rename from apps/pivoting/main.cpp
rename to apps/unsupported/pivoting/main.cpp
diff --git a/apps/pivoting/mainwindow.ui b/apps/unsupported/pivoting/mainwindow.ui
similarity index 100%
rename from apps/pivoting/mainwindow.ui
rename to apps/unsupported/pivoting/mainwindow.ui
diff --git a/apps/pivoting/pivot.dev b/apps/unsupported/pivoting/pivot.dev
similarity index 100%
rename from apps/pivoting/pivot.dev
rename to apps/unsupported/pivoting/pivot.dev
diff --git a/apps/pivoting/pivot.h b/apps/unsupported/pivoting/pivot.h
similarity index 100%
rename from apps/pivoting/pivot.h
rename to apps/unsupported/pivoting/pivot.h
diff --git a/apps/pivoting/ring.h b/apps/unsupported/pivoting/ring.h
similarity index 100%
rename from apps/pivoting/ring.h
rename to apps/unsupported/pivoting/ring.h
diff --git a/apps/quadrangulator/bunny.ffield b/apps/unsupported/quadrangulator/bunny.ffield
similarity index 100%
rename from apps/quadrangulator/bunny.ffield
rename to apps/unsupported/quadrangulator/bunny.ffield
diff --git a/apps/quadrangulator/bunny.ply b/apps/unsupported/quadrangulator/bunny.ply
similarity index 100%
rename from apps/quadrangulator/bunny.ply
rename to apps/unsupported/quadrangulator/bunny.ply
diff --git a/apps/quadrangulator/configuration.txt b/apps/unsupported/quadrangulator/configuration.txt
similarity index 100%
rename from apps/quadrangulator/configuration.txt
rename to apps/unsupported/quadrangulator/configuration.txt
diff --git a/apps/quadrangulator/quadrangulator.cpp b/apps/unsupported/quadrangulator/quadrangulator.cpp
similarity index 100%
rename from apps/quadrangulator/quadrangulator.cpp
rename to apps/unsupported/quadrangulator/quadrangulator.cpp
diff --git a/apps/quadrangulator/quadrangulator.pro b/apps/unsupported/quadrangulator/quadrangulator.pro
similarity index 100%
rename from apps/quadrangulator/quadrangulator.pro
rename to apps/unsupported/quadrangulator/quadrangulator.pro
diff --git a/apps/trimeshinfo/ClassesNode.h b/apps/unsupported/trimeshinfo/ClassesNode.h
similarity index 100%
rename from apps/trimeshinfo/ClassesNode.h
rename to apps/unsupported/trimeshinfo/ClassesNode.h
diff --git a/apps/trimeshinfo/InstancesNode.h b/apps/unsupported/trimeshinfo/InstancesNode.h
similarity index 100%
rename from apps/trimeshinfo/InstancesNode.h
rename to apps/unsupported/trimeshinfo/InstancesNode.h
diff --git a/apps/trimeshinfo/Node.h b/apps/unsupported/trimeshinfo/Node.h
similarity index 100%
rename from apps/trimeshinfo/Node.h
rename to apps/unsupported/trimeshinfo/Node.h
diff --git a/apps/trimeshinfo/SlotsNode.h b/apps/unsupported/trimeshinfo/SlotsNode.h
similarity index 100%
rename from apps/trimeshinfo/SlotsNode.h
rename to apps/unsupported/trimeshinfo/SlotsNode.h
diff --git a/apps/trimeshinfo/XMLTree.h b/apps/unsupported/trimeshinfo/XMLTree.h
similarity index 100%
rename from apps/trimeshinfo/XMLTree.h
rename to apps/unsupported/trimeshinfo/XMLTree.h
diff --git a/apps/trimeshinfo/defs.h b/apps/unsupported/trimeshinfo/defs.h
similarity index 100%
rename from apps/trimeshinfo/defs.h
rename to apps/unsupported/trimeshinfo/defs.h
diff --git a/apps/trimeshinfo/history.txt b/apps/unsupported/trimeshinfo/history.txt
similarity index 100%
rename from apps/trimeshinfo/history.txt
rename to apps/unsupported/trimeshinfo/history.txt
diff --git a/apps/trimeshinfo/readme.txt b/apps/unsupported/trimeshinfo/readme.txt
similarity index 100%
rename from apps/trimeshinfo/readme.txt
rename to apps/unsupported/trimeshinfo/readme.txt
diff --git a/apps/trimeshinfo/trimeshinfo.cpp b/apps/unsupported/trimeshinfo/trimeshinfo.cpp
similarity index 100%
rename from apps/trimeshinfo/trimeshinfo.cpp
rename to apps/unsupported/trimeshinfo/trimeshinfo.cpp
diff --git a/apps/trimeshinfo/trimeshinfo.pro b/apps/unsupported/trimeshinfo/trimeshinfo.pro
similarity index 100%
rename from apps/trimeshinfo/trimeshinfo.pro
rename to apps/unsupported/trimeshinfo/trimeshinfo.pro
diff --git a/docs/ContributorLicenseAgreement.md b/docs/ContributorLicenseAgreement.md
index 79788115..994c4e2f 100644
--- a/docs/ContributorLicenseAgreement.md
+++ b/docs/ContributorLicenseAgreement.md
@@ -18,16 +18,19 @@ If any entity institutes patent litigation - including cross-claim or countercla
 ## 3. Source of Contribution.
 Your contribution is either your original creation, based upon previous work that, to the best of your knowledge, is covered under an appropriate open source license and you have the right under that license to submit that work with modifications, whether created in whole or in part by you, or you have clearly identified the source of the contribution and any license or other restriction (like related patents, trademarks, and license agreements) of which you are personally aware.
 
-### 4. Details
-Name 
+### 4. Personal Details
+ | &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;  &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;   |  &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp; &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;  &nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;   |
+ :---:|:---:
+**Full real world First and Last name** |  **github user name**
+ &nbsp; |   &nbsp;
+**Email**  | **Physical home/office address**  
+&nbsp;|&nbsp;
+**Date of birth**  | **Place of birth** 
+&nbsp; | &nbsp;
+**github Project Contributed**  |  **Contribution**  (id of the pull request)
+&nbsp; | &nbsp;
 
----
-Project Contributed
 
----
-Contribution (id of the pull request)
-
----
 Signature
 
 ---
diff --git a/docs/ContributorLicenseAgreement.pdf b/docs/ContributorLicenseAgreement.pdf
index f5e0a5fc..daa1cefc 100644
Binary files a/docs/ContributorLicenseAgreement.pdf and b/docs/ContributorLicenseAgreement.pdf differ
diff --git a/docs/Doxygen/adjacency.dxy b/docs/Doxygen/adjacency.dxy
index cd70e27c..17e29f92 100644
--- a/docs/Doxygen/adjacency.dxy
+++ b/docs/Doxygen/adjacency.dxy
@@ -1,52 +1,64 @@
 /** \page adjacency
 Adjacency
 =========
-VCG Lib does not have a hard-coded way to encode the adjacencies among simplices. It all depends on which attributes are stored with the simplices and how they are used. I the previous examples the definition of face has always included the attribute vcg::face::VertexRef , which stores 3 pointers to MyVertex accessible with the member function V() (the well known Indexed Data Structure). The reason is that almost all of the algorithms currently implemented in VCG Lib assume its presence. So, if your type MyFace does not include the attribute vcg::face::VertexRef, the definition will be correct but almost no algorithm will work..
+VCG Lib does not have a unique, hard-coded, way to encode the adjacencies among triangles and edges. 
+It all depends on which attributes are stored with the simplices and how they are used. 
+In the previous examples the definition of face has always included the attribute vcg::face::VertexRef, 
+which stores 3 pointers to MyVertex accessible with the member function V() (implementing a plain Indexed Data Structure). 
+Almost all of the algorithms currently implemented in vcglib assume that vcg::face::VertexRef is present. 
+So, if your type MyFace does not include the attribute vcg::face::VertexRef, the definition will be correct, 
+but almost no algorithm will work.
 
-There are other adjacency relations that can be useful to navigate a mesh, for example to collect the one-ring neighborhood of a vertex. VCG Lib uses two mechanisms which are explained in the following, along with the attributes they use.
+There are other adjacency relations that can be useful to navigate a mesh, 
+for example to collect the one-ring neighborhood of a vertex. vcgib has two main adjacency relations face-face and vertex-face
+which are explained in the following, along with the attributes they use.
 
 
 FF Adjacency
 ============
-The face-to-face adjacency, stored in the attribute for the faces vcg::face::FFAdj ( vcg::face::TTAdj for tetrahedra), encodes the adjacency of faces (tetrahedra) through edges (faces). The image below shows two triangle faces with the convention adopted for indexing vertexes and edges.
+The face-to-face adjacency, stored in the attribute for the faces vcg::face::FFAdj ,
+encodes the adjacency between faces through edges. 
+The image below shows two triangle faces with the convention adopted for indexing vertexes and edges.
 
-The vertexes are numbered from 0 to 2 in CCW sense and the edge i = 0..2 is the edge whose extremes are i and (i+1) mod 3 . Therefore the common edge between faces f1 and f2 is the edge 1 of the face f1 and the edge 0 of the face f0.
+The vertexes are numbered from 0 to 2 in CCW direction and the edge i = 0..2 is the edge
+whose extremes are i and (i+1) mod 3. Therefor, in the below example, the common edge between faces f0 and f1 
+is the edge 1 of the face f1 and the edge 0 of the face f0.
 
-vcg::face::FFAdj stores, for each edge e of the face f:
+vcg::face::FFAdj stores, for the i-th edge of the face f:
 
-FFp(e): a pointer to a face f' sharing e. If e is a border than points to the face f itself
-FFi(e):the index of e in the pointed face
+- `FFp(i)`: a pointer to the face sharing the i-th edge of f. If that edge is a border than points to the face f itself
+- `FFi(i)`: the index of edge that corresponds to i-th edge of f in the pointed face
 
 \image html "FF_Adj.png" "Indexing of vertexes and edges"
 
+So for the above example, assuming that `f0` and `f1` are the two pointers to faces, the following relations hold:
+
     f1->FFp(1) == f0
     f1->FFi(1) == 0
 
     f0->FFp(0) == f1
     f0->FFi(0) == 1
 
-Note that we specified that FFp(e) point to a adjacent face, not to the adjacent face. The reason is that there could be more than two faces on the same edge, and this is seamlessly supported by VCG Lib. In the picture below is shown an example with 4 faces incident to the same edge
+Note that to be precise we should say that `FFp(i)` points to **a** adjacent face, not to **the** adjacent face. 
+The reason is that, in case of non-manifoldness, there could be more than two faces on the same edge, and this 
+is seamlessly supported by VCG Lib. In the picture below is shown an example with 4 faces incident to the same edge.
 
 
 \image html "FF_nonmanifold.png" "Non manifold edge"
 
-In this case the adjacencies are set to form a circular list (not necessarily sorted with the angle around the edge). This is done by the VCG Lib function that update these values (UpdateTopology<MeshType>::FFTopology(MeshType & m)).
+In this case the FF adjacencies are arranged to form a circular list (not necessarily sorted with the angle around the edge). 
+This is done by the VCG Lib function that update these values ( vcg::tri::UpdateTopology::FaceFace (MeshType & m)).
 In this way VCG Lib provides a way to check if a mesh is manifold on a specific edge because the FF adjacency relation is mutual, i.e. the face f0 points to the face f1 which points to the face f0, if and only if the mesh is manifold over the corresponding edge.
 
-bool IsManifold(MyFace *f,int e) { return (f0 == f0->FFp(0)->FFp(f0->FFi(0)))}
-
-Referring to the picture:
-
-(f0 == f0->FFp(0)->FFp(f0->FFi(0))} equals
-
-(f0 == f1->FFp(0)} equals
-
-(f0 == f0} Ok! It is manifold
+    bool IsManifold(MyFace *f,int e) { return (f0 == f0->FFp(0)->FFp(f0->FFi(0)))}
 
 
 Pos
 ---
-The Pos is the VCG Lib implementation of the Cell-Tuple{ref}. Here we give a as short as possible definition, trading formalisms for space. A Pos in a triangle mesh is a triple made of a vertex: pos = (v,e,f) , such that v is an extreme of e and e belong to the face f . The figure shows few pos in a triangle mesh as small triangles "pointing" to a vertex, "leaning" against an edge and inside a face. For example c0=(v,e0,f).
+The Pos is the VCG Lib implementation of the Cell-Tuple{ref}. Here we give a as short as possible definition, 
+trading formalisms for space. A Pos in a triangle mesh is a triple made of a vertex: pos = (v,e,f) , 
+such that v is an extreme of e and e belong to the face f . The figure shows few pos in a triangle mesh as small triangles 
+"pointing" to a vertex, "leaning" against an edge and inside a face. For example c0=(v,e0,f).
 
 A very nice property is that given a pos c, there is only another neighbor pos c' that can be obtained from c changing only one of the elements of the triple.
 
@@ -132,12 +144,14 @@ VF Adjacency
 
 VCG Lib implements vertex-to-face adjacency, i.e. given a vertex v we can retrieve all the faces incident to v.
 Let v_star =(f0,f1,f2,...,fk) be the set faces incident to v arranged in a sequence (with no preferred criteria).
-VCG Lib allows to retrieve v_star in optimal time ( O( star_v) ) by using the following attibutes:
+VCG Lib allows to retrieve v_star in optimal time ( O( star_v) ) by using the following attributes:
 
-vcg::vertex::VFAdj which is a vertex attribute containing a pointer to f0
-vcg::face::VFAdj which is a face attribute containing a pointer to the next face in the list v_star for each of its 3 vertices (4 in the case of tetrahedra)
-These two attributes are not only a pointers, they also contain an index referring the index of the vertex in the pointed face in the same style as the vcg::face::FFAdj does. The picture below shows a complete example:
+- vcg::vertex::VFAdj which is a vertex attribute containing a pointer to f0
+- vcg::face::VFAdj which is a face attribute containing a pointer to the next face in the list v_star for each of its 3 vertices
 
+These two attributes are not only a pointers, they also contain an index referring the index of the vertex in the pointed face 
+in the same style as the vcg::face::FFAdj does. The picture below shows a practical example:
+Similarly to the *Face-Face* adjacency you need to initialize it using vcg::tri::UpdateTopology::VertexFace(MeshType & m).
 \image html "VertexStar.png" "Example of vertex-face adjacency"
 
     v.VFp() == f2
diff --git a/eigenlib/Eigen/Array b/eigenlib/Eigen/Array
deleted file mode 100644
index 3d004fb6..00000000
--- a/eigenlib/Eigen/Array
+++ /dev/null
@@ -1,11 +0,0 @@
-#ifndef EIGEN_ARRAY_MODULE_H
-#define EIGEN_ARRAY_MODULE_H
-
-// include Core first to handle Eigen2 support macros
-#include "Core"
-
-#ifndef EIGEN2_SUPPORT
-  #error The Eigen/Array header does no longer exist in Eigen3. All that functionality has moved to Eigen/Core.
-#endif
-
-#endif // EIGEN_ARRAY_MODULE_H
diff --git a/eigenlib/Eigen/CMakeLists.txt b/eigenlib/Eigen/CMakeLists.txt
index a92dd6f6..9eb502b7 100644
--- a/eigenlib/Eigen/CMakeLists.txt
+++ b/eigenlib/Eigen/CMakeLists.txt
@@ -16,4 +16,4 @@ install(FILES
   DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel
   )
 
-add_subdirectory(src)
+install(DIRECTORY src DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen COMPONENT Devel FILES_MATCHING PATTERN "*.h")
diff --git a/eigenlib/Eigen/Cholesky b/eigenlib/Eigen/Cholesky
index f727f5d8..369d1f5e 100644
--- a/eigenlib/Eigen/Cholesky
+++ b/eigenlib/Eigen/Cholesky
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_CHOLESKY_MODULE_H
 #define EIGEN_CHOLESKY_MODULE_H
 
@@ -10,20 +17,22 @@
   *
   *
   * This module provides two variants of the Cholesky decomposition for selfadjoint (hermitian) matrices.
-  * Those decompositions are accessible via the following MatrixBase methods:
-  *  - MatrixBase::llt(),
+  * Those decompositions are also accessible via the following methods:
+  *  - MatrixBase::llt()
   *  - MatrixBase::ldlt()
+  *  - SelfAdjointView::llt()
+  *  - SelfAdjointView::ldlt()
   *
   * \code
   * #include <Eigen/Cholesky>
   * \endcode
   */
 
-#include "src/misc/Solve.h"
 #include "src/Cholesky/LLT.h"
 #include "src/Cholesky/LDLT.h"
 #ifdef EIGEN_USE_LAPACKE
-#include "src/Cholesky/LLT_MKL.h"
+#include "src/misc/lapacke.h"
+#include "src/Cholesky/LLT_LAPACKE.h"
 #endif
 
 #include "src/Core/util/ReenableStupidWarnings.h"
diff --git a/eigenlib/Eigen/CholmodSupport b/eigenlib/Eigen/CholmodSupport
index 745b884e..bed8924d 100644
--- a/eigenlib/Eigen/CholmodSupport
+++ b/eigenlib/Eigen/CholmodSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_CHOLMODSUPPORT_MODULE_H
 #define EIGEN_CHOLMODSUPPORT_MODULE_H
 
@@ -12,7 +19,7 @@ extern "C" {
 /** \ingroup Support_modules
   * \defgroup CholmodSupport_Module CholmodSupport module
   *
-  * This module provides an interface to the Cholmod library which is part of the <a href="http://www.cise.ufl.edu/research/sparse/SuiteSparse/">suitesparse</a> package.
+  * This module provides an interface to the Cholmod library which is part of the <a href="http://www.suitesparse.com">suitesparse</a> package.
   * It provides the two following main factorization classes:
   * - class CholmodSupernodalLLT: a supernodal LLT Cholesky factorization.
   * - class CholmodDecomposiiton: a general L(D)LT Cholesky factorization with automatic or explicit runtime selection of the underlying factorization method (supernodal or simplicial).
@@ -33,12 +40,8 @@ extern "C" {
   *
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
 #include "src/CholmodSupport/CholmodSupport.h"
 
-
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_CHOLMODSUPPORT_MODULE_H
diff --git a/eigenlib/Eigen/Core b/eigenlib/Eigen/Core
index 509c529e..82558155 100644
--- a/eigenlib/Eigen/Core
+++ b/eigenlib/Eigen/Core
@@ -14,6 +14,58 @@
 // first thing Eigen does: stop the compiler from committing suicide
 #include "src/Core/util/DisableStupidWarnings.h"
 
+// Handle NVCC/CUDA/SYCL
+#if defined(__CUDACC__) || defined(__SYCL_DEVICE_ONLY__)
+  // Do not try asserts on CUDA and SYCL!
+  #ifndef EIGEN_NO_DEBUG
+  #define EIGEN_NO_DEBUG
+  #endif
+
+  #ifdef EIGEN_INTERNAL_DEBUGGING
+  #undef EIGEN_INTERNAL_DEBUGGING
+  #endif
+
+  #ifdef EIGEN_EXCEPTIONS
+  #undef EIGEN_EXCEPTIONS
+  #endif
+
+  // All functions callable from CUDA code must be qualified with __device__
+  #ifdef __CUDACC__
+    // Do not try to vectorize on CUDA and SYCL!
+    #ifndef EIGEN_DONT_VECTORIZE
+    #define EIGEN_DONT_VECTORIZE
+    #endif
+
+    #define EIGEN_DEVICE_FUNC __host__ __device__
+    // We need math_functions.hpp to ensure that that EIGEN_USING_STD_MATH macro
+    // works properly on the device side
+    #include <math_functions.hpp>
+  #else
+    #define EIGEN_DEVICE_FUNC
+  #endif
+
+#else
+  #define EIGEN_DEVICE_FUNC
+
+#endif
+
+// When compiling CUDA device code with NVCC, pull in math functions from the
+// global namespace.  In host mode, and when device doee with clang, use the
+// std versions.
+#if defined(__CUDA_ARCH__) && defined(__NVCC__)
+  #define EIGEN_USING_STD_MATH(FUNC) using ::FUNC;
+#else
+  #define EIGEN_USING_STD_MATH(FUNC) using std::FUNC;
+#endif
+
+#if (defined(_CPPUNWIND) || defined(__EXCEPTIONS)) && !defined(__CUDA_ARCH__) && !defined(EIGEN_EXCEPTIONS) && !defined(EIGEN_USE_SYCL)
+  #define EIGEN_EXCEPTIONS
+#endif
+
+#ifdef EIGEN_EXCEPTIONS
+  #include <new>
+#endif
+
 // then include this file where all our macros are defined. It's really important to do it first because
 // it's where we do all the alignment settings (platform detection and honoring the user's will if he
 // defined e.g. EIGEN_DONT_ALIGN) so it needs to be done before we do anything with vectorization.
@@ -21,7 +73,7 @@
 
 // Disable the ipa-cp-clone optimization flag with MinGW 6.x or newer (enabled by default with -O3)
 // See http://eigen.tuxfamily.org/bz/show_bug.cgi?id=556 for details.
-#if defined(__MINGW32__) && EIGEN_GNUC_AT_LEAST(4,6)
+#if EIGEN_COMP_MINGW && EIGEN_GNUC_AT_LEAST(4,6)
   #pragma GCC optimize ("-fno-ipa-cp-clone")
 #endif
 
@@ -31,26 +83,26 @@
 // and inclusion of their respective header files
 #include "src/Core/util/MKL_support.h"
 
-// if alignment is disabled, then disable vectorization. Note: EIGEN_ALIGN is the proper check, it takes into
-// account both the user's will (EIGEN_DONT_ALIGN) and our own platform checks
-#if !EIGEN_ALIGN
+// if alignment is disabled, then disable vectorization. Note: EIGEN_MAX_ALIGN_BYTES is the proper check, it takes into
+// account both the user's will (EIGEN_MAX_ALIGN_BYTES,EIGEN_DONT_ALIGN) and our own platform checks
+#if EIGEN_MAX_ALIGN_BYTES==0
   #ifndef EIGEN_DONT_VECTORIZE
     #define EIGEN_DONT_VECTORIZE
   #endif
 #endif
 
-#ifdef _MSC_VER
+#if EIGEN_COMP_MSVC
   #include <malloc.h> // for _aligned_malloc -- need it regardless of whether vectorization is enabled
-  #if (_MSC_VER >= 1500) // 2008 or later
+  #if (EIGEN_COMP_MSVC >= 1500) // 2008 or later
     // Remember that usage of defined() in a #define is undefined by the standard.
     // a user reported that in 64-bit mode, MSVC doesn't care to define _M_IX86_FP.
-    #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || defined(_M_X64)
+    #if (defined(_M_IX86_FP) && (_M_IX86_FP >= 2)) || EIGEN_ARCH_x86_64
       #define EIGEN_SSE2_ON_MSVC_2008_OR_LATER
     #endif
   #endif
 #else
   // Remember that usage of defined() in a #define is undefined by the standard
-  #if (defined __SSE2__) && ( (!defined __GNUC__) || (defined __INTEL_COMPILER) || EIGEN_GNUC_AT_LEAST(4,2) )
+  #if (defined __SSE2__) && ( (!EIGEN_COMP_GNUC) || EIGEN_COMP_ICC || EIGEN_GNUC_AT_LEAST(4,2) )
     #define EIGEN_SSE2_ON_NON_MSVC_BUT_NOT_OLD_GCC
   #endif
 #endif
@@ -82,6 +134,28 @@
     #ifdef __SSE4_2__
       #define EIGEN_VECTORIZE_SSE4_2
     #endif
+    #ifdef __AVX__
+      #define EIGEN_VECTORIZE_AVX
+      #define EIGEN_VECTORIZE_SSE3
+      #define EIGEN_VECTORIZE_SSSE3
+      #define EIGEN_VECTORIZE_SSE4_1
+      #define EIGEN_VECTORIZE_SSE4_2
+    #endif
+    #ifdef __AVX2__
+      #define EIGEN_VECTORIZE_AVX2
+    #endif
+    #ifdef __FMA__
+      #define EIGEN_VECTORIZE_FMA
+    #endif
+    #if defined(__AVX512F__) && defined(EIGEN_ENABLE_AVX512)
+      #define EIGEN_VECTORIZE_AVX512
+      #define EIGEN_VECTORIZE_AVX2
+      #define EIGEN_VECTORIZE_AVX
+      #define EIGEN_VECTORIZE_FMA
+      #ifdef __AVX512DQ__
+        #define EIGEN_VECTORIZE_AVX512DQ
+      #endif
+    #endif
 
     // include files
 
@@ -95,9 +169,10 @@
     extern "C" {
       // In theory we should only include immintrin.h and not the other *mmintrin.h header files directly.
       // Doing so triggers some issues with ICC. However old gcc versions seems to not have this file, thus:
-      #if defined(__INTEL_COMPILER) && __INTEL_COMPILER >= 1110
+      #if EIGEN_COMP_ICC >= 1110
         #include <immintrin.h>
       #else
+        #include <mmintrin.h>
         #include <emmintrin.h>
         #include <xmmintrin.h>
         #ifdef  EIGEN_VECTORIZE_SSE3
@@ -112,8 +187,20 @@
         #ifdef EIGEN_VECTORIZE_SSE4_2
         #include <nmmintrin.h>
         #endif
+        #if defined(EIGEN_VECTORIZE_AVX) || defined(EIGEN_VECTORIZE_AVX512)
+        #include <immintrin.h>
+        #endif
       #endif
     } // end extern "C"
+  #elif defined __VSX__
+    #define EIGEN_VECTORIZE
+    #define EIGEN_VECTORIZE_VSX
+    #include <altivec.h>
+    // We need to #undef all these ugly tokens defined in <altivec.h>
+    // => use __vector instead of vector
+    #undef bool
+    #undef vector
+    #undef pixel
   #elif defined __ALTIVEC__
     #define EIGEN_VECTORIZE
     #define EIGEN_VECTORIZE_ALTIVEC
@@ -123,13 +210,35 @@
     #undef bool
     #undef vector
     #undef pixel
-  #elif defined  __ARM_NEON
+  #elif (defined  __ARM_NEON) || (defined __ARM_NEON__)
     #define EIGEN_VECTORIZE
     #define EIGEN_VECTORIZE_NEON
     #include <arm_neon.h>
+  #elif (defined __s390x__ && defined __VEC__)
+    #define EIGEN_VECTORIZE
+    #define EIGEN_VECTORIZE_ZVECTOR
+    #include <vecintrin.h>
   #endif
 #endif
 
+#if defined(__F16C__) && !defined(EIGEN_COMP_CLANG)
+  // We can use the optimized fp16 to float and float to fp16 conversion routines
+  #define EIGEN_HAS_FP16_C
+#endif
+
+#if defined __CUDACC__
+  #define EIGEN_VECTORIZE_CUDA
+  #include <vector_types.h>
+  #if defined __CUDACC_VER__ && __CUDACC_VER__ >= 70500
+    #define EIGEN_HAS_CUDA_FP16
+  #endif
+#endif
+
+#if defined EIGEN_HAS_CUDA_FP16
+  #include <host_defines.h>
+  #include <cuda_fp16.h>
+#endif
+
 #if (defined _OPENMP) && (!defined EIGEN_DONT_PARALLELIZE)
   #define EIGEN_HAS_OPENMP
 #endif
@@ -139,7 +248,7 @@
 #endif
 
 // MSVC for windows mobile does not have the errno.h file
-#if !(defined(_MSC_VER) && defined(_WIN32_WCE)) && !defined(__ARMCC_VERSION)
+#if !(EIGEN_COMP_MSVC && EIGEN_OS_WINCE) && !EIGEN_COMP_ARM
 #define EIGEN_HAS_ERRNO
 #endif
 
@@ -159,29 +268,30 @@
 // for min/max:
 #include <algorithm>
 
+// for std::is_nothrow_move_assignable
+#ifdef EIGEN_INCLUDE_TYPE_TRAITS
+#include <type_traits>
+#endif
+
 // for outputting debug info
 #ifdef EIGEN_DEBUG_ASSIGN
 #include <iostream>
 #endif
 
 // required for __cpuid, needs to be included after cmath
-#if defined(_MSC_VER) && (defined(_M_IX86)||defined(_M_X64)) && (!defined(_WIN32_WCE))
+#if EIGEN_COMP_MSVC && EIGEN_ARCH_i386_OR_x86_64 && !EIGEN_OS_WINCE
   #include <intrin.h>
 #endif
 
-#if defined(_CPPUNWIND) || defined(__EXCEPTIONS)
-  #define EIGEN_EXCEPTIONS
-#endif
-
-#ifdef EIGEN_EXCEPTIONS
-  #include <new>
-#endif
-
 /** \brief Namespace containing all symbols from the %Eigen library. */
 namespace Eigen {
 
 inline static const char *SimdInstructionSetsInUse(void) {
-#if defined(EIGEN_VECTORIZE_SSE4_2)
+#if defined(EIGEN_VECTORIZE_AVX512)
+  return "AVX512, FMA, AVX2, AVX, SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
+#elif defined(EIGEN_VECTORIZE_AVX)
+  return "AVX SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
+#elif defined(EIGEN_VECTORIZE_SSE4_2)
   return "SSE, SSE2, SSE3, SSSE3, SSE4.1, SSE4.2";
 #elif defined(EIGEN_VECTORIZE_SSE4_1)
   return "SSE, SSE2, SSE3, SSSE3, SSE4.1";
@@ -193,8 +303,12 @@ inline static const char *SimdInstructionSetsInUse(void) {
   return "SSE, SSE2";
 #elif defined(EIGEN_VECTORIZE_ALTIVEC)
   return "AltiVec";
+#elif defined(EIGEN_VECTORIZE_VSX)
+  return "VSX";
 #elif defined(EIGEN_VECTORIZE_NEON)
   return "ARM NEON";
+#elif defined(EIGEN_VECTORIZE_ZVECTOR)
+  return "S390X ZVECTOR";
 #else
   return "None";
 #endif
@@ -202,40 +316,15 @@ inline static const char *SimdInstructionSetsInUse(void) {
 
 } // end namespace Eigen
 
-#define STAGE10_FULL_EIGEN2_API             10
-#define STAGE20_RESOLVE_API_CONFLICTS       20
-#define STAGE30_FULL_EIGEN3_API             30
-#define STAGE40_FULL_EIGEN3_STRICTNESS      40
-#define STAGE99_NO_EIGEN2_SUPPORT           99
-
-#if   defined EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS
-  #define EIGEN2_SUPPORT
-  #define EIGEN2_SUPPORT_STAGE STAGE40_FULL_EIGEN3_STRICTNESS
-#elif defined EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API
-  #define EIGEN2_SUPPORT
-  #define EIGEN2_SUPPORT_STAGE STAGE30_FULL_EIGEN3_API
-#elif defined EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS
-  #define EIGEN2_SUPPORT
-  #define EIGEN2_SUPPORT_STAGE STAGE20_RESOLVE_API_CONFLICTS
-#elif defined EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API
-  #define EIGEN2_SUPPORT
-  #define EIGEN2_SUPPORT_STAGE STAGE10_FULL_EIGEN2_API
-#elif defined EIGEN2_SUPPORT
-  // default to stage 3, that's what it's always meant
-  #define EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API
-  #define EIGEN2_SUPPORT_STAGE STAGE30_FULL_EIGEN3_API
-#else
-  #define EIGEN2_SUPPORT_STAGE STAGE99_NO_EIGEN2_SUPPORT
-#endif
-
-#ifdef EIGEN2_SUPPORT
-#undef minor
+#if defined EIGEN2_SUPPORT_STAGE40_FULL_EIGEN3_STRICTNESS || defined EIGEN2_SUPPORT_STAGE30_FULL_EIGEN3_API || defined EIGEN2_SUPPORT_STAGE20_RESOLVE_API_CONFLICTS || defined EIGEN2_SUPPORT_STAGE10_FULL_EIGEN2_API || defined EIGEN2_SUPPORT
+// This will generate an error message:
+#error Eigen2-support is only available up to version 3.2. Please go to "http://eigen.tuxfamily.org/index.php?title=Eigen2" for further information
 #endif
 
 // we use size_t frequently and we'll never remember to prepend it with std:: everytime just to
 // ensure QNX/QCC support
 using std::size_t;
-// gcc 4.6.0 wants std:: for ptrdiff_t 
+// gcc 4.6.0 wants std:: for ptrdiff_t
 using std::ptrdiff_t;
 
 /** \defgroup Core_Module Core module
@@ -249,8 +338,8 @@ using std::ptrdiff_t;
   */
 
 #include "src/Core/util/Constants.h"
-#include "src/Core/util/ForwardDeclarations.h"
 #include "src/Core/util/Meta.h"
+#include "src/Core/util/ForwardDeclarations.h"
 #include "src/Core/util/StaticAssert.h"
 #include "src/Core/util/XprHelper.h"
 #include "src/Core/util/Memory.h"
@@ -258,41 +347,91 @@ using std::ptrdiff_t;
 #include "src/Core/NumTraits.h"
 #include "src/Core/MathFunctions.h"
 #include "src/Core/GenericPacketMath.h"
+#include "src/Core/MathFunctionsImpl.h"
 
-#if defined EIGEN_VECTORIZE_SSE
+#if defined EIGEN_VECTORIZE_AVX512
+  #include "src/Core/arch/SSE/PacketMath.h"
+  #include "src/Core/arch/AVX/PacketMath.h"
+  #include "src/Core/arch/AVX512/PacketMath.h"
+  #include "src/Core/arch/AVX512/MathFunctions.h"
+#elif defined EIGEN_VECTORIZE_AVX
+  // Use AVX for floats and doubles, SSE for integers
+  #include "src/Core/arch/SSE/PacketMath.h"
+  #include "src/Core/arch/SSE/Complex.h"
+  #include "src/Core/arch/SSE/MathFunctions.h"
+  #include "src/Core/arch/AVX/PacketMath.h"
+  #include "src/Core/arch/AVX/MathFunctions.h"
+  #include "src/Core/arch/AVX/Complex.h"
+  #include "src/Core/arch/AVX/TypeCasting.h"
+#elif defined EIGEN_VECTORIZE_SSE
   #include "src/Core/arch/SSE/PacketMath.h"
   #include "src/Core/arch/SSE/MathFunctions.h"
   #include "src/Core/arch/SSE/Complex.h"
-#elif defined EIGEN_VECTORIZE_ALTIVEC
+  #include "src/Core/arch/SSE/TypeCasting.h"
+#elif defined(EIGEN_VECTORIZE_ALTIVEC) || defined(EIGEN_VECTORIZE_VSX)
   #include "src/Core/arch/AltiVec/PacketMath.h"
+  #include "src/Core/arch/AltiVec/MathFunctions.h"
   #include "src/Core/arch/AltiVec/Complex.h"
 #elif defined EIGEN_VECTORIZE_NEON
   #include "src/Core/arch/NEON/PacketMath.h"
+  #include "src/Core/arch/NEON/MathFunctions.h"
   #include "src/Core/arch/NEON/Complex.h"
+#elif defined EIGEN_VECTORIZE_ZVECTOR
+  #include "src/Core/arch/ZVector/PacketMath.h"
+  #include "src/Core/arch/ZVector/MathFunctions.h"
+  #include "src/Core/arch/ZVector/Complex.h"
+#endif
+
+// Half float support
+#include "src/Core/arch/CUDA/Half.h"
+#include "src/Core/arch/CUDA/PacketMathHalf.h"
+#include "src/Core/arch/CUDA/TypeCasting.h"
+
+#if defined EIGEN_VECTORIZE_CUDA
+  #include "src/Core/arch/CUDA/PacketMath.h"
+  #include "src/Core/arch/CUDA/MathFunctions.h"
 #endif
 
 #include "src/Core/arch/Default/Settings.h"
 
-#include "src/Core/Functors.h"
+#include "src/Core/functors/TernaryFunctors.h"
+#include "src/Core/functors/BinaryFunctors.h"
+#include "src/Core/functors/UnaryFunctors.h"
+#include "src/Core/functors/NullaryFunctors.h"
+#include "src/Core/functors/StlFunctors.h"
+#include "src/Core/functors/AssignmentFunctors.h"
+
+// Specialized functors to enable the processing of complex numbers
+// on CUDA devices
+#include "src/Core/arch/CUDA/Complex.h"
+
 #include "src/Core/DenseCoeffsBase.h"
 #include "src/Core/DenseBase.h"
 #include "src/Core/MatrixBase.h"
 #include "src/Core/EigenBase.h"
 
+#include "src/Core/Product.h"
+#include "src/Core/CoreEvaluators.h"
+#include "src/Core/AssignEvaluator.h"
+
 #ifndef EIGEN_PARSED_BY_DOXYGEN // work around Doxygen bug triggered by Assign.h r814874
                                 // at least confirmed with Doxygen 1.5.5 and 1.5.6
   #include "src/Core/Assign.h"
 #endif
 
+#include "src/Core/ArrayBase.h"
 #include "src/Core/util/BlasUtil.h"
 #include "src/Core/DenseStorage.h"
 #include "src/Core/NestByValue.h"
-#include "src/Core/ForceAlignedAccess.h"
+
+// #include "src/Core/ForceAlignedAccess.h"
+
 #include "src/Core/ReturnByValue.h"
 #include "src/Core/NoAlias.h"
 #include "src/Core/PlainObjectBase.h"
 #include "src/Core/Matrix.h"
 #include "src/Core/Array.h"
+#include "src/Core/CwiseTernaryOp.h"
 #include "src/Core/CwiseBinaryOp.h"
 #include "src/Core/CwiseUnaryOp.h"
 #include "src/Core/CwiseNullaryOp.h"
@@ -300,32 +439,33 @@ using std::ptrdiff_t;
 #include "src/Core/SelfCwiseBinaryOp.h"
 #include "src/Core/Dot.h"
 #include "src/Core/StableNorm.h"
-#include "src/Core/MapBase.h"
 #include "src/Core/Stride.h"
+#include "src/Core/MapBase.h"
 #include "src/Core/Map.h"
+#include "src/Core/Ref.h"
 #include "src/Core/Block.h"
 #include "src/Core/VectorBlock.h"
-#include "src/Core/Ref.h"
 #include "src/Core/Transpose.h"
 #include "src/Core/DiagonalMatrix.h"
 #include "src/Core/Diagonal.h"
 #include "src/Core/DiagonalProduct.h"
-#include "src/Core/PermutationMatrix.h"
-#include "src/Core/Transpositions.h"
 #include "src/Core/Redux.h"
 #include "src/Core/Visitor.h"
 #include "src/Core/Fuzzy.h"
 #include "src/Core/IO.h"
 #include "src/Core/Swap.h"
 #include "src/Core/CommaInitializer.h"
-#include "src/Core/Flagged.h"
-#include "src/Core/ProductBase.h"
 #include "src/Core/GeneralProduct.h"
+#include "src/Core/Solve.h"
+#include "src/Core/Inverse.h"
+#include "src/Core/SolverBase.h"
+#include "src/Core/PermutationMatrix.h"
+#include "src/Core/Transpositions.h"
 #include "src/Core/TriangularMatrix.h"
 #include "src/Core/SelfAdjointView.h"
 #include "src/Core/products/GeneralBlockPanelKernel.h"
 #include "src/Core/products/Parallelizer.h"
-#include "src/Core/products/CoeffBasedProduct.h"
+#include "src/Core/ProductEvaluators.h"
 #include "src/Core/products/GeneralMatrixVector.h"
 #include "src/Core/products/GeneralMatrixMatrix.h"
 #include "src/Core/SolveTriangular.h"
@@ -340,6 +480,7 @@ using std::ptrdiff_t;
 #include "src/Core/products/TriangularSolverVector.h"
 #include "src/Core/BandMatrix.h"
 #include "src/Core/CoreIterators.h"
+#include "src/Core/ConditionEstimator.h"
 
 #include "src/Core/BooleanRedux.h"
 #include "src/Core/Select.h"
@@ -347,18 +488,17 @@ using std::ptrdiff_t;
 #include "src/Core/Random.h"
 #include "src/Core/Replicate.h"
 #include "src/Core/Reverse.h"
-#include "src/Core/ArrayBase.h"
 #include "src/Core/ArrayWrapper.h"
 
 #ifdef EIGEN_USE_BLAS
-#include "src/Core/products/GeneralMatrixMatrix_MKL.h"
-#include "src/Core/products/GeneralMatrixVector_MKL.h"
-#include "src/Core/products/GeneralMatrixMatrixTriangular_MKL.h"
-#include "src/Core/products/SelfadjointMatrixMatrix_MKL.h"
-#include "src/Core/products/SelfadjointMatrixVector_MKL.h"
-#include "src/Core/products/TriangularMatrixMatrix_MKL.h"
-#include "src/Core/products/TriangularMatrixVector_MKL.h"
-#include "src/Core/products/TriangularSolverMatrix_MKL.h"
+#include "src/Core/products/GeneralMatrixMatrix_BLAS.h"
+#include "src/Core/products/GeneralMatrixVector_BLAS.h"
+#include "src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h"
+#include "src/Core/products/SelfadjointMatrixMatrix_BLAS.h"
+#include "src/Core/products/SelfadjointMatrixVector_BLAS.h"
+#include "src/Core/products/TriangularMatrixMatrix_BLAS.h"
+#include "src/Core/products/TriangularMatrixVector_BLAS.h"
+#include "src/Core/products/TriangularSolverMatrix_BLAS.h"
 #endif // EIGEN_USE_BLAS
 
 #ifdef EIGEN_USE_MKL_VML
@@ -369,8 +509,4 @@ using std::ptrdiff_t;
 
 #include "src/Core/util/ReenableStupidWarnings.h"
 
-#ifdef EIGEN2_SUPPORT
-#include "Eigen2Support"
-#endif
-
 #endif // EIGEN_CORE_H
diff --git a/eigenlib/Eigen/Eigen b/eigenlib/Eigen/Eigen
index 19b40ea4..654c8dc6 100644
--- a/eigenlib/Eigen/Eigen
+++ b/eigenlib/Eigen/Eigen
@@ -1,2 +1,2 @@
 #include "Dense"
-//#include "Sparse"
+#include "Sparse"
diff --git a/eigenlib/Eigen/Eigen2Support b/eigenlib/Eigen/Eigen2Support
deleted file mode 100644
index 6aa009d2..00000000
--- a/eigenlib/Eigen/Eigen2Support
+++ /dev/null
@@ -1,95 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2SUPPORT_H
-#define EIGEN2SUPPORT_H
-
-#if (!defined(EIGEN2_SUPPORT)) || (!defined(EIGEN_CORE_H))
-#error Eigen2 support must be enabled by defining EIGEN2_SUPPORT before including any Eigen header
-#endif
-
-#ifndef EIGEN_NO_EIGEN2_DEPRECATED_WARNING
-
-#if defined(__GNUC__) || defined(__INTEL_COMPILER) || defined(__clang__)
-#warning "Eigen2 support is deprecated in Eigen 3.2.x and it will be removed in Eigen 3.3. (Define EIGEN_NO_EIGEN2_DEPRECATED_WARNING to disable this warning)"
-#else
-#pragma message ("Eigen2 support is deprecated in Eigen 3.2.x and it will be removed in Eigen 3.3. (Define EIGEN_NO_EIGEN2_DEPRECATED_WARNING to disable this warning)")
-#endif
-
-#endif // EIGEN_NO_EIGEN2_DEPRECATED_WARNING
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-/** \ingroup Support_modules
-  * \defgroup Eigen2Support_Module Eigen2 support module
-  *
-  * \warning Eigen2 support is deprecated in Eigen 3.2.x and it will be removed in Eigen 3.3.
-  *
-  * This module provides a couple of deprecated functions improving the compatibility with Eigen2.
-  * 
-  * To use it, define EIGEN2_SUPPORT before including any Eigen header
-  * \code
-  * #define EIGEN2_SUPPORT
-  * \endcode
-  *
-  */
-
-#include "src/Eigen2Support/Macros.h"
-#include "src/Eigen2Support/Memory.h"
-#include "src/Eigen2Support/Meta.h"
-#include "src/Eigen2Support/Lazy.h"
-#include "src/Eigen2Support/Cwise.h"
-#include "src/Eigen2Support/CwiseOperators.h"
-#include "src/Eigen2Support/TriangularSolver.h"
-#include "src/Eigen2Support/Block.h"
-#include "src/Eigen2Support/VectorBlock.h"
-#include "src/Eigen2Support/Minor.h"
-#include "src/Eigen2Support/MathFunctions.h"
-
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-// Eigen2 used to include iostream
-#include<iostream>
-
-#define EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, SizeSuffix) \
-using Eigen::Matrix##SizeSuffix##TypeSuffix; \
-using Eigen::Vector##SizeSuffix##TypeSuffix; \
-using Eigen::RowVector##SizeSuffix##TypeSuffix;
-
-#define EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(TypeSuffix) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 2) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 3) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, 4) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE_AND_SIZE(TypeSuffix, X) \
-
-#define EIGEN_USING_MATRIX_TYPEDEFS \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(i) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(f) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(d) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(cf) \
-EIGEN_USING_MATRIX_TYPEDEFS_FOR_TYPE(cd)
-
-#define USING_PART_OF_NAMESPACE_EIGEN \
-EIGEN_USING_MATRIX_TYPEDEFS \
-using Eigen::Matrix; \
-using Eigen::MatrixBase; \
-using Eigen::ei_random; \
-using Eigen::ei_real; \
-using Eigen::ei_imag; \
-using Eigen::ei_conj; \
-using Eigen::ei_abs; \
-using Eigen::ei_abs2; \
-using Eigen::ei_sqrt; \
-using Eigen::ei_exp; \
-using Eigen::ei_log; \
-using Eigen::ei_sin; \
-using Eigen::ei_cos;
-
-#endif // EIGEN2SUPPORT_H
diff --git a/eigenlib/Eigen/Eigenvalues b/eigenlib/Eigen/Eigenvalues
index 53c5a73a..009e529e 100644
--- a/eigenlib/Eigen/Eigenvalues
+++ b/eigenlib/Eigen/Eigenvalues
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_EIGENVALUES_MODULE_H
 #define EIGEN_EIGENVALUES_MODULE_H
 
@@ -25,6 +32,7 @@
   * \endcode
   */
 
+#include "src/misc/RealSvd2x2.h"
 #include "src/Eigenvalues/Tridiagonalization.h"
 #include "src/Eigenvalues/RealSchur.h"
 #include "src/Eigenvalues/EigenSolver.h"
@@ -37,9 +45,10 @@
 #include "src/Eigenvalues/GeneralizedEigenSolver.h"
 #include "src/Eigenvalues/MatrixBaseEigenvalues.h"
 #ifdef EIGEN_USE_LAPACKE
-#include "src/Eigenvalues/RealSchur_MKL.h"
-#include "src/Eigenvalues/ComplexSchur_MKL.h"
-#include "src/Eigenvalues/SelfAdjointEigenSolver_MKL.h"
+#include "src/misc/lapacke.h"
+#include "src/Eigenvalues/RealSchur_LAPACKE.h"
+#include "src/Eigenvalues/ComplexSchur_LAPACKE.h"
+#include "src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h"
 #endif
 
 #include "src/Core/util/ReenableStupidWarnings.h"
diff --git a/eigenlib/Eigen/Geometry b/eigenlib/Eigen/Geometry
index efd9d450..716d5295 100644
--- a/eigenlib/Eigen/Geometry
+++ b/eigenlib/Eigen/Geometry
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_GEOMETRY_MODULE_H
 #define EIGEN_GEOMETRY_MODULE_H
 
@@ -9,21 +16,17 @@
 #include "LU"
 #include <limits>
 
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
 /** \defgroup Geometry_Module Geometry module
-  *
-  *
   *
   * This module provides support for:
   *  - fixed-size homogeneous transformations
   *  - translation, scaling, 2D and 3D rotations
-  *  - quaternions
-  *  - \ref MatrixBase::cross() "cross product"
-  *  - \ref MatrixBase::unitOrthogonal() "orthognal vector generation"
-  *  - some linear components: parametrized-lines and hyperplanes
+  *  - \link Quaternion quaternions \endlink
+  *  - cross products (\ref MatrixBase::cross, \ref MatrixBase::cross3)
+  *  - orthognal vector generation (\ref MatrixBase::unitOrthogonal)
+  *  - some linear components: \link ParametrizedLine parametrized-lines \endlink and \link Hyperplane hyperplanes \endlink
+  *  - \link AlignedBox axis aligned bounding boxes \endlink
+  *  - \link umeyama least-square transformation fitting \endlink
   *
   * \code
   * #include <Eigen/Geometry>
@@ -33,27 +36,23 @@
 #include "src/Geometry/OrthoMethods.h"
 #include "src/Geometry/EulerAngles.h"
 
-#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
-  #include "src/Geometry/Homogeneous.h"
-  #include "src/Geometry/RotationBase.h"
-  #include "src/Geometry/Rotation2D.h"
-  #include "src/Geometry/Quaternion.h"
-  #include "src/Geometry/AngleAxis.h"
-  #include "src/Geometry/Transform.h"
-  #include "src/Geometry/Translation.h"
-  #include "src/Geometry/Scaling.h"
-  #include "src/Geometry/Hyperplane.h"
-  #include "src/Geometry/ParametrizedLine.h"
-  #include "src/Geometry/AlignedBox.h"
-  #include "src/Geometry/Umeyama.h"
+#include "src/Geometry/Homogeneous.h"
+#include "src/Geometry/RotationBase.h"
+#include "src/Geometry/Rotation2D.h"
+#include "src/Geometry/Quaternion.h"
+#include "src/Geometry/AngleAxis.h"
+#include "src/Geometry/Transform.h"
+#include "src/Geometry/Translation.h"
+#include "src/Geometry/Scaling.h"
+#include "src/Geometry/Hyperplane.h"
+#include "src/Geometry/ParametrizedLine.h"
+#include "src/Geometry/AlignedBox.h"
+#include "src/Geometry/Umeyama.h"
 
-  #if defined EIGEN_VECTORIZE_SSE
-    #include "src/Geometry/arch/Geometry_SSE.h"
-  #endif
-#endif
-
-#ifdef EIGEN2_SUPPORT
-#include "src/Eigen2Support/Geometry/All.h"
+// Use the SSE optimized version whenever possible. At the moment the
+// SSE version doesn't compile when AVX is enabled
+#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX
+#include "src/Geometry/arch/Geometry_SSE.h"
 #endif
 
 #include "src/Core/util/ReenableStupidWarnings.h"
diff --git a/eigenlib/Eigen/Householder b/eigenlib/Eigen/Householder
index 6e348db5..89cd81b1 100644
--- a/eigenlib/Eigen/Householder
+++ b/eigenlib/Eigen/Householder
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_HOUSEHOLDER_MODULE_H
 #define EIGEN_HOUSEHOLDER_MODULE_H
 
diff --git a/eigenlib/Eigen/IterativeLinearSolvers b/eigenlib/Eigen/IterativeLinearSolvers
index 0f4159dc..957d5750 100644
--- a/eigenlib/Eigen/IterativeLinearSolvers
+++ b/eigenlib/Eigen/IterativeLinearSolvers
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_ITERATIVELINEARSOLVERS_MODULE_H
 #define EIGEN_ITERATIVELINEARSOLVERS_MODULE_H
 
@@ -12,28 +19,29 @@
   * This module currently provides iterative methods to solve problems of the form \c A \c x = \c b, where \c A is a squared matrix, usually very large and sparse.
   * Those solvers are accessible via the following classes:
   *  - ConjugateGradient for selfadjoint (hermitian) matrices,
+  *  - LeastSquaresConjugateGradient for rectangular least-square problems,
   *  - BiCGSTAB for general square matrices.
   *
   * These iterative solvers are associated with some preconditioners:
   *  - IdentityPreconditioner - not really useful
-  *  - DiagonalPreconditioner - also called JAcobi preconditioner, work very well on diagonal dominant matrices.
-  *  - IncompleteILUT - incomplete LU factorization with dual thresholding
+  *  - DiagonalPreconditioner - also called Jacobi preconditioner, work very well on diagonal dominant matrices.
+  *  - IncompleteLUT - incomplete LU factorization with dual thresholding
   *
   * Such problems can also be solved using the direct sparse decomposition modules: SparseCholesky, CholmodSupport, UmfPackSupport, SuperLUSupport.
   *
-  * \code
-  * #include <Eigen/IterativeLinearSolvers>
-  * \endcode
+    \code
+    #include <Eigen/IterativeLinearSolvers>
+    \endcode
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
+#include "src/IterativeLinearSolvers/SolveWithGuess.h"
 #include "src/IterativeLinearSolvers/IterativeSolverBase.h"
 #include "src/IterativeLinearSolvers/BasicPreconditioners.h"
 #include "src/IterativeLinearSolvers/ConjugateGradient.h"
+#include "src/IterativeLinearSolvers/LeastSquareConjugateGradient.h"
 #include "src/IterativeLinearSolvers/BiCGSTAB.h"
 #include "src/IterativeLinearSolvers/IncompleteLUT.h"
+#include "src/IterativeLinearSolvers/IncompleteCholesky.h"
 
 #include "src/Core/util/ReenableStupidWarnings.h"
 
diff --git a/eigenlib/Eigen/Jacobi b/eigenlib/Eigen/Jacobi
index ba8a4dc3..17c1d785 100644
--- a/eigenlib/Eigen/Jacobi
+++ b/eigenlib/Eigen/Jacobi
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_JACOBI_MODULE_H
 #define EIGEN_JACOBI_MODULE_H
 
diff --git a/eigenlib/Eigen/LU b/eigenlib/Eigen/LU
index db579550..6f6c5562 100644
--- a/eigenlib/Eigen/LU
+++ b/eigenlib/Eigen/LU
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_LU_MODULE_H
 #define EIGEN_LU_MODULE_H
 
@@ -16,25 +23,23 @@
   * \endcode
   */
 
-#include "src/misc/Solve.h"
 #include "src/misc/Kernel.h"
 #include "src/misc/Image.h"
 #include "src/LU/FullPivLU.h"
 #include "src/LU/PartialPivLU.h"
 #ifdef EIGEN_USE_LAPACKE
-#include "src/LU/PartialPivLU_MKL.h"
+#include "src/misc/lapacke.h"
+#include "src/LU/PartialPivLU_LAPACKE.h"
 #endif
 #include "src/LU/Determinant.h"
-#include "src/LU/Inverse.h"
+#include "src/LU/InverseImpl.h"
 
-#if defined EIGEN_VECTORIZE_SSE
+// Use the SSE optimized version whenever possible. At the moment the
+// SSE version doesn't compile when AVX is enabled
+#if defined EIGEN_VECTORIZE_SSE && !defined EIGEN_VECTORIZE_AVX
   #include "src/LU/arch/Inverse_SSE.h"
 #endif
 
-#ifdef EIGEN2_SUPPORT
-  #include "src/Eigen2Support/LU.h"
-#endif
-
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_LU_MODULE_H
diff --git a/eigenlib/Eigen/LeastSquares b/eigenlib/Eigen/LeastSquares
deleted file mode 100644
index 35137c25..00000000
--- a/eigenlib/Eigen/LeastSquares
+++ /dev/null
@@ -1,32 +0,0 @@
-#ifndef EIGEN_REGRESSION_MODULE_H
-#define EIGEN_REGRESSION_MODULE_H
-
-#ifndef EIGEN2_SUPPORT
-#error LeastSquares is only available in Eigen2 support mode (define EIGEN2_SUPPORT)
-#endif
-
-// exclude from normal eigen3-only documentation
-#ifdef EIGEN2_SUPPORT
-
-#include "Core"
-
-#include "src/Core/util/DisableStupidWarnings.h"
-
-#include "Eigenvalues"
-#include "Geometry"
-
-/** \defgroup LeastSquares_Module LeastSquares module
-  * This module provides linear regression and related features.
-  *
-  * \code
-  * #include <Eigen/LeastSquares>
-  * \endcode
-  */
-
-#include "src/Eigen2Support/LeastSquares.h"
-
-#include "src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN2_SUPPORT
-
-#endif // EIGEN_REGRESSION_MODULE_H
diff --git a/eigenlib/Eigen/MetisSupport b/eigenlib/Eigen/MetisSupport
index 6a113f7a..85c41bf3 100644
--- a/eigenlib/Eigen/MetisSupport
+++ b/eigenlib/Eigen/MetisSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_METISSUPPORT_MODULE_H
 #define EIGEN_METISSUPPORT_MODULE_H
 
diff --git a/eigenlib/Eigen/OrderingMethods b/eigenlib/Eigen/OrderingMethods
index 7c0f1fff..d8ea3619 100644
--- a/eigenlib/Eigen/OrderingMethods
+++ b/eigenlib/Eigen/OrderingMethods
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_ORDERINGMETHODS_MODULE_H
 #define EIGEN_ORDERINGMETHODS_MODULE_H
 
diff --git a/eigenlib/Eigen/PaStiXSupport b/eigenlib/Eigen/PaStiXSupport
index 7c616ee5..de3a63b4 100644
--- a/eigenlib/Eigen/PaStiXSupport
+++ b/eigenlib/Eigen/PaStiXSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_PASTIXSUPPORT_MODULE_H
 #define EIGEN_PASTIXSUPPORT_MODULE_H
 
@@ -5,7 +12,6 @@
 
 #include "src/Core/util/DisableStupidWarnings.h"
 
-#include <complex.h>
 extern "C" {
 #include <pastix_nompi.h>
 #include <pastix.h>
@@ -35,12 +41,8 @@ extern "C" {
   *
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
 #include "src/PaStiXSupport/PaStiXSupport.h"
 
-
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_PASTIXSUPPORT_MODULE_H
diff --git a/eigenlib/Eigen/PardisoSupport b/eigenlib/Eigen/PardisoSupport
old mode 100644
new mode 100755
index 99330ce7..340edf51
--- a/eigenlib/Eigen/PardisoSupport
+++ b/eigenlib/Eigen/PardisoSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_PARDISOSUPPORT_MODULE_H
 #define EIGEN_PARDISOSUPPORT_MODULE_H
 
@@ -7,8 +14,6 @@
 
 #include <mkl_pardiso.h>
 
-#include <unsupported/Eigen/SparseExtra>
-
 /** \ingroup Support_modules
   * \defgroup PardisoSupport_Module PardisoSupport module
   *
diff --git a/eigenlib/Eigen/QR b/eigenlib/Eigen/QR
index ac5b0269..80838e3b 100644
--- a/eigenlib/Eigen/QR
+++ b/eigenlib/Eigen/QR
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_QR_MODULE_H
 #define EIGEN_QR_MODULE_H
 
@@ -15,31 +22,26 @@
   *
   * This module provides various QR decompositions
   * This module also provides some MatrixBase methods, including:
-  *  - MatrixBase::qr(),
+  *  - MatrixBase::householderQr()
+  *  - MatrixBase::colPivHouseholderQr()
+  *  - MatrixBase::fullPivHouseholderQr()
   *
   * \code
   * #include <Eigen/QR>
   * \endcode
   */
 
-#include "src/misc/Solve.h"
 #include "src/QR/HouseholderQR.h"
 #include "src/QR/FullPivHouseholderQR.h"
 #include "src/QR/ColPivHouseholderQR.h"
+#include "src/QR/CompleteOrthogonalDecomposition.h"
 #ifdef EIGEN_USE_LAPACKE
-#include "src/QR/HouseholderQR_MKL.h"
-#include "src/QR/ColPivHouseholderQR_MKL.h"
-#endif
-
-#ifdef EIGEN2_SUPPORT
-#include "src/Eigen2Support/QR.h"
+#include "src/misc/lapacke.h"
+#include "src/QR/HouseholderQR_LAPACKE.h"
+#include "src/QR/ColPivHouseholderQR_LAPACKE.h"
 #endif
 
 #include "src/Core/util/ReenableStupidWarnings.h"
 
-#ifdef EIGEN2_SUPPORT
-#include "Eigenvalues"
-#endif
-
 #endif // EIGEN_QR_MODULE_H
 /* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/eigenlib/Eigen/QtAlignedMalloc b/eigenlib/Eigen/QtAlignedMalloc
index 46f7d83b..4044d5ac 100644
--- a/eigenlib/Eigen/QtAlignedMalloc
+++ b/eigenlib/Eigen/QtAlignedMalloc
@@ -1,3 +1,9 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
 #ifndef EIGEN_QTMALLOC_MODULE_H
 #define EIGEN_QTMALLOC_MODULE_H
diff --git a/eigenlib/Eigen/SPQRSupport b/eigenlib/Eigen/SPQRSupport
index 77016442..f70390c1 100644
--- a/eigenlib/Eigen/SPQRSupport
+++ b/eigenlib/Eigen/SPQRSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_SPQRSUPPORT_MODULE_H
 #define EIGEN_SPQRSUPPORT_MODULE_H
 
@@ -10,7 +17,7 @@
 /** \ingroup Support_modules
   * \defgroup SPQRSupport_Module SuiteSparseQR module
   * 
-  * This module provides an interface to the SPQR library, which is part of the <a href="http://www.cise.ufl.edu/research/sparse/SuiteSparse/">suitesparse</a> package.
+  * This module provides an interface to the SPQR library, which is part of the <a href="http://www.suitesparse.com">suitesparse</a> package.
   *
   * \code
   * #include <Eigen/SPQRSupport>
@@ -21,8 +28,6 @@
   *
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
 #include "src/CholmodSupport/CholmodSupport.h"
 #include "src/SPQRSupport/SuiteSparseQRSupport.h"
 
diff --git a/eigenlib/Eigen/SVD b/eigenlib/Eigen/SVD
index fd310017..86143c23 100644
--- a/eigenlib/Eigen/SVD
+++ b/eigenlib/Eigen/SVD
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_SVD_MODULE_H
 #define EIGEN_SVD_MODULE_H
 
@@ -12,23 +19,26 @@
   *
   *
   * This module provides SVD decomposition for matrices (both real and complex).
-  * This decomposition is accessible via the following MatrixBase method:
+  * Two decomposition algorithms are provided:
+  *  - JacobiSVD implementing two-sided Jacobi iterations is numerically very accurate, fast for small matrices, but very slow for larger ones.
+  *  - BDCSVD implementing a recursive divide & conquer strategy on top of an upper-bidiagonalization which remains fast for large problems.
+  * These decompositions are accessible via the respective classes and following MatrixBase methods:
   *  - MatrixBase::jacobiSvd()
+  *  - MatrixBase::bdcSvd()
   *
   * \code
   * #include <Eigen/SVD>
   * \endcode
   */
 
-#include "src/misc/Solve.h"
-#include "src/SVD/JacobiSVD.h"
-#if defined(EIGEN_USE_LAPACKE) && !defined(EIGEN_USE_LAPACKE_STRICT)
-#include "src/SVD/JacobiSVD_MKL.h"
-#endif
+#include "src/misc/RealSvd2x2.h"
 #include "src/SVD/UpperBidiagonalization.h"
-
-#ifdef EIGEN2_SUPPORT
-#include "src/Eigen2Support/SVD.h"
+#include "src/SVD/SVDBase.h"
+#include "src/SVD/JacobiSVD.h"
+#include "src/SVD/BDCSVD.h"
+#if defined(EIGEN_USE_LAPACKE) && !defined(EIGEN_USE_LAPACKE_STRICT)
+#include "src/misc/lapacke.h"
+#include "src/SVD/JacobiSVD_LAPACKE.h"
 #endif
 
 #include "src/Core/util/ReenableStupidWarnings.h"
diff --git a/eigenlib/Eigen/Sparse b/eigenlib/Eigen/Sparse
index 7cc9c091..a2ef7a66 100644
--- a/eigenlib/Eigen/Sparse
+++ b/eigenlib/Eigen/Sparse
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_SPARSE_MODULE_H
 #define EIGEN_SPARSE_MODULE_H
 
@@ -11,9 +18,9 @@
   * - \ref SparseQR_Module
   * - \ref IterativeLinearSolvers_Module
   *
-  * \code
-  * #include <Eigen/Sparse>
-  * \endcode
+    \code
+    #include <Eigen/Sparse>
+    \endcode
   */
 
 #include "SparseCore"
diff --git a/eigenlib/Eigen/SparseCholesky b/eigenlib/Eigen/SparseCholesky
index 9f5056aa..b6a320c4 100644
--- a/eigenlib/Eigen/SparseCholesky
+++ b/eigenlib/Eigen/SparseCholesky
@@ -34,8 +34,6 @@
 #error The SparseCholesky module has nothing to offer in MPL2 only mode
 #endif
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
 #include "src/SparseCholesky/SimplicialCholesky.h"
 
 #ifndef EIGEN_MPL2_ONLY
diff --git a/eigenlib/Eigen/SparseCore b/eigenlib/Eigen/SparseCore
index 9b5be5e1..76966c4c 100644
--- a/eigenlib/Eigen/SparseCore
+++ b/eigenlib/Eigen/SparseCore
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_SPARSECORE_MODULE_H
 #define EIGEN_SPARSECORE_MODULE_H
 
@@ -14,7 +21,7 @@
 /** 
   * \defgroup SparseCore_Module SparseCore module
   *
-  * This module provides a sparse matrix representation, and basic associatd matrix manipulations
+  * This module provides a sparse matrix representation, and basic associated matrix manipulations
   * and operations.
   *
   * See the \ref TutorialSparse "Sparse tutorial"
@@ -26,37 +33,35 @@
   * This module depends on: Core.
   */
 
-namespace Eigen {
-
-/** The type used to identify a general sparse storage. */
-struct Sparse {};
-
-}
-
 #include "src/SparseCore/SparseUtil.h"
 #include "src/SparseCore/SparseMatrixBase.h"
+#include "src/SparseCore/SparseAssign.h"
 #include "src/SparseCore/CompressedStorage.h"
 #include "src/SparseCore/AmbiVector.h"
+#include "src/SparseCore/SparseCompressedBase.h"
 #include "src/SparseCore/SparseMatrix.h"
+#include "src/SparseCore/SparseMap.h"
 #include "src/SparseCore/MappedSparseMatrix.h"
 #include "src/SparseCore/SparseVector.h"
-#include "src/SparseCore/SparseBlock.h"
-#include "src/SparseCore/SparseTranspose.h"
+#include "src/SparseCore/SparseRef.h"
 #include "src/SparseCore/SparseCwiseUnaryOp.h"
 #include "src/SparseCore/SparseCwiseBinaryOp.h"
+#include "src/SparseCore/SparseTranspose.h"
+#include "src/SparseCore/SparseBlock.h"
 #include "src/SparseCore/SparseDot.h"
-#include "src/SparseCore/SparsePermutation.h"
 #include "src/SparseCore/SparseRedux.h"
-#include "src/SparseCore/SparseFuzzy.h"
+#include "src/SparseCore/SparseView.h"
+#include "src/SparseCore/SparseDiagonalProduct.h"
 #include "src/SparseCore/ConservativeSparseSparseProduct.h"
 #include "src/SparseCore/SparseSparseProductWithPruning.h"
 #include "src/SparseCore/SparseProduct.h"
 #include "src/SparseCore/SparseDenseProduct.h"
-#include "src/SparseCore/SparseDiagonalProduct.h"
-#include "src/SparseCore/SparseTriangularView.h"
 #include "src/SparseCore/SparseSelfAdjointView.h"
+#include "src/SparseCore/SparseTriangularView.h"
 #include "src/SparseCore/TriangularSolver.h"
-#include "src/SparseCore/SparseView.h"
+#include "src/SparseCore/SparsePermutation.h"
+#include "src/SparseCore/SparseFuzzy.h"
+#include "src/SparseCore/SparseSolverBase.h"
 
 #include "src/Core/util/ReenableStupidWarnings.h"
 
diff --git a/eigenlib/Eigen/SparseLU b/eigenlib/Eigen/SparseLU
index 8527a49b..38b38b53 100644
--- a/eigenlib/Eigen/SparseLU
+++ b/eigenlib/Eigen/SparseLU
@@ -20,9 +20,6 @@
   * Please, see the documentation of the SparseLU class for more details.
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
 // Ordering interface
 #include "OrderingMethods"
 
diff --git a/eigenlib/Eigen/SparseQR b/eigenlib/Eigen/SparseQR
index 4ee42065..a6f3b7f7 100644
--- a/eigenlib/Eigen/SparseQR
+++ b/eigenlib/Eigen/SparseQR
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_SPARSEQR_MODULE_H
 #define EIGEN_SPARSEQR_MODULE_H
 
@@ -21,9 +28,6 @@
   * 
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
 #include "OrderingMethods"
 #include "src/SparseCore/SparseColEtree.h"
 #include "src/SparseQR/SparseQR.h"
diff --git a/eigenlib/Eigen/StdDeque b/eigenlib/Eigen/StdDeque
index f2723477..be3a7f82 100644
--- a/eigenlib/Eigen/StdDeque
+++ b/eigenlib/Eigen/StdDeque
@@ -14,7 +14,7 @@
 #include "Core"
 #include <deque>
 
-#if (defined(_MSC_VER) && defined(_WIN64)) /* MSVC auto aligns in 64 bit builds */
+#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 /* MSVC auto aligns in 64 bit builds */
 
 #define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...)
 
diff --git a/eigenlib/Eigen/StdList b/eigenlib/Eigen/StdList
index 225c1e18..07ba1297 100644
--- a/eigenlib/Eigen/StdList
+++ b/eigenlib/Eigen/StdList
@@ -13,7 +13,7 @@
 #include "Core"
 #include <list>
 
-#if (defined(_MSC_VER) && defined(_WIN64)) /* MSVC auto aligns in 64 bit builds */    
+#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 /* MSVC auto aligns in 64 bit builds */    
 
 #define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...)
 
diff --git a/eigenlib/Eigen/StdVector b/eigenlib/Eigen/StdVector
index 6b22627f..fdfc3776 100644
--- a/eigenlib/Eigen/StdVector
+++ b/eigenlib/Eigen/StdVector
@@ -14,7 +14,7 @@
 #include "Core"
 #include <vector>
 
-#if (defined(_MSC_VER) && defined(_WIN64)) /* MSVC auto aligns in 64 bit builds */
+#if EIGEN_COMP_MSVC && EIGEN_OS_WIN64 /* MSVC auto aligns in 64 bit builds */
 
 #define EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(...)
 
diff --git a/eigenlib/Eigen/SuperLUSupport b/eigenlib/Eigen/SuperLUSupport
index 575e14fb..59312a82 100644
--- a/eigenlib/Eigen/SuperLUSupport
+++ b/eigenlib/Eigen/SuperLUSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_SUPERLUSUPPORT_MODULE_H
 #define EIGEN_SUPERLUSUPPORT_MODULE_H
 
@@ -36,6 +43,8 @@ namespace Eigen { struct SluMatrix; }
   * - class SuperLU: a supernodal sequential LU factorization.
   * - class SuperILU: a supernodal sequential incomplete LU factorization (to be used as a preconditioner for iterative methods).
   *
+  * \warning This wrapper requires at least versions 4.0 of SuperLU. The 3.x versions are not supported.
+  *
   * \warning When including this module, you have to use SUPERLU_EMPTY instead of EMPTY which is no longer defined because it is too polluting.
   *
   * \code
@@ -48,12 +57,8 @@ namespace Eigen { struct SluMatrix; }
   *
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
 #include "src/SuperLUSupport/SuperLUSupport.h"
 
-
 #include "src/Core/util/ReenableStupidWarnings.h"
 
 #endif // EIGEN_SUPERLUSUPPORT_MODULE_H
diff --git a/eigenlib/Eigen/UmfPackSupport b/eigenlib/Eigen/UmfPackSupport
index 984f64a8..00eec808 100644
--- a/eigenlib/Eigen/UmfPackSupport
+++ b/eigenlib/Eigen/UmfPackSupport
@@ -1,3 +1,10 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
 #ifndef EIGEN_UMFPACKSUPPORT_MODULE_H
 #define EIGEN_UMFPACKSUPPORT_MODULE_H
 
@@ -12,7 +19,7 @@ extern "C" {
 /** \ingroup Support_modules
   * \defgroup UmfPackSupport_Module UmfPackSupport module
   *
-  * This module provides an interface to the UmfPack library which is part of the <a href="http://www.cise.ufl.edu/research/sparse/SuiteSparse/">suitesparse</a> package.
+  * This module provides an interface to the UmfPack library which is part of the <a href="http://www.suitesparse.com">suitesparse</a> package.
   * It provides the following factorization class:
   * - class UmfPackLU: a multifrontal sequential LU factorization.
   *
@@ -26,9 +33,6 @@ extern "C" {
   *
   */
 
-#include "src/misc/Solve.h"
-#include "src/misc/SparseSolve.h"
-
 #include "src/UmfPackSupport/UmfPackSupport.h"
 
 #include "src/Core/util/ReenableStupidWarnings.h"
diff --git a/eigenlib/Eigen/src/CMakeLists.txt b/eigenlib/Eigen/src/CMakeLists.txt
deleted file mode 100644
index c326f374..00000000
--- a/eigenlib/Eigen/src/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-file(GLOB Eigen_src_subdirectories "*")
-escape_string_as_regex(ESCAPED_CMAKE_CURRENT_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
-foreach(f ${Eigen_src_subdirectories})
-  if(NOT f MATCHES "\\.txt" AND NOT f MATCHES "${ESCAPED_CMAKE_CURRENT_SOURCE_DIR}/[.].+" )
-    add_subdirectory(${f})
-  endif()
-endforeach()
diff --git a/eigenlib/Eigen/src/Cholesky/CMakeLists.txt b/eigenlib/Eigen/src/Cholesky/CMakeLists.txt
deleted file mode 100644
index d01488b4..00000000
--- a/eigenlib/Eigen/src/Cholesky/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Cholesky_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Cholesky_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Cholesky COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/Cholesky/LDLT.h b/eigenlib/Eigen/src/Cholesky/LDLT.h
index e01ae823..fcee7b2e 100644
--- a/eigenlib/Eigen/src/Cholesky/LDLT.h
+++ b/eigenlib/Eigen/src/Cholesky/LDLT.h
@@ -13,7 +13,7 @@
 #ifndef EIGEN_LDLT_H
 #define EIGEN_LDLT_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
   template<typename MatrixType, int UpLo> struct LDLT_Traits;
@@ -28,8 +28,8 @@ namespace internal {
   *
   * \brief Robust Cholesky decomposition of a matrix with pivoting
   *
-  * \param MatrixType the type of the matrix of which to compute the LDL^T Cholesky decomposition
-  * \param UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper.
+  * \tparam _MatrixType the type of the matrix of which to compute the LDL^T Cholesky decomposition
+  * \tparam _UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper.
   *             The other triangular part won't be read.
   *
   * Perform a robust Cholesky decomposition of a positive semidefinite or negative semidefinite
@@ -43,7 +43,9 @@ namespace internal {
   * Remember that Cholesky decompositions are not rank-revealing. Also, do not use a Cholesky
   * decomposition to determine whether a system of equations has a solution.
   *
-  * \sa MatrixBase::ldlt(), class LLT
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  * 
+  * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt(), class LLT
   */
 template<typename _MatrixType, int _UpLo> class LDLT
 {
@@ -52,15 +54,15 @@ template<typename _MatrixType, int _UpLo> class LDLT
     enum {
       RowsAtCompileTime = MatrixType::RowsAtCompileTime,
       ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options & ~RowMajorBit, // these are the options for the TmpMatrixType, we need a ColMajor matrix here!
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
       UpLo = _UpLo
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
-    typedef Matrix<Scalar, RowsAtCompileTime, 1, Options, MaxRowsAtCompileTime, 1> TmpMatrixType;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef Matrix<Scalar, RowsAtCompileTime, 1, 0, MaxRowsAtCompileTime, 1> TmpMatrixType;
 
     typedef Transpositions<RowsAtCompileTime, MaxRowsAtCompileTime> TranspositionType;
     typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationType;
@@ -72,11 +74,11 @@ template<typename _MatrixType, int _UpLo> class LDLT
       * The default constructor is useful in cases in which the user intends to
       * perform decompositions via LDLT::compute(const MatrixType&).
       */
-    LDLT() 
-      : m_matrix(), 
-        m_transpositions(), 
+    LDLT()
+      : m_matrix(),
+        m_transpositions(),
         m_sign(internal::ZeroSign),
-        m_isInitialized(false) 
+        m_isInitialized(false)
     {}
 
     /** \brief Default Constructor with memory preallocation
@@ -85,7 +87,7 @@ template<typename _MatrixType, int _UpLo> class LDLT
       * according to the specified problem \a size.
       * \sa LDLT()
       */
-    LDLT(Index size)
+    explicit LDLT(Index size)
       : m_matrix(size, size),
         m_transpositions(size),
         m_temporary(size),
@@ -96,16 +98,35 @@ template<typename _MatrixType, int _UpLo> class LDLT
     /** \brief Constructor with decomposition
       *
       * This calculates the decomposition for the input \a matrix.
+      *
       * \sa LDLT(Index size)
       */
-    LDLT(const MatrixType& matrix)
+    template<typename InputType>
+    explicit LDLT(const EigenBase<InputType>& matrix)
       : m_matrix(matrix.rows(), matrix.cols()),
         m_transpositions(matrix.rows()),
         m_temporary(matrix.rows()),
         m_sign(internal::ZeroSign),
         m_isInitialized(false)
     {
-      compute(matrix);
+      compute(matrix.derived());
+    }
+
+    /** \brief Constructs a LDLT factorization from a given matrix
+      *
+      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+      *
+      * \sa LDLT(const EigenBase&)
+      */
+    template<typename InputType>
+    explicit LDLT(EigenBase<InputType>& matrix)
+      : m_matrix(matrix.derived()),
+        m_transpositions(matrix.rows()),
+        m_temporary(matrix.rows()),
+        m_sign(internal::ZeroSign),
+        m_isInitialized(false)
+    {
+      compute(matrix.derived());
     }
 
     /** Clear any existing decomposition
@@ -151,13 +172,6 @@ template<typename _MatrixType, int _UpLo> class LDLT
       eigen_assert(m_isInitialized && "LDLT is not initialized.");
       return m_sign == internal::PositiveSemiDef || m_sign == internal::ZeroSign;
     }
-    
-    #ifdef EIGEN2_SUPPORT
-    inline bool isPositiveDefinite() const
-    {
-      return isPositive();
-    }
-    #endif
 
     /** \returns true if the matrix is negative (semidefinite) */
     inline bool isNegative(void) const
@@ -173,37 +187,38 @@ template<typename _MatrixType, int _UpLo> class LDLT
       * \note_about_checking_solutions
       *
       * More precisely, this method solves \f$ A x = b \f$ using the decomposition \f$ A = P^T L D L^* P \f$
-      * by solving the systems \f$ P^T y_1 = b \f$, \f$ L y_2 = y_1 \f$, \f$ D y_3 = y_2 \f$, 
+      * by solving the systems \f$ P^T y_1 = b \f$, \f$ L y_2 = y_1 \f$, \f$ D y_3 = y_2 \f$,
       * \f$ L^* y_4 = y_3 \f$ and \f$ P x = y_4 \f$ in succession. If the matrix \f$ A \f$ is singular, then
       * \f$ D \f$ will also be singular (all the other matrices are invertible). In that case, the
       * least-square solution of \f$ D y_3 = y_2 \f$ is computed. This does not mean that this function
       * computes the least-square solution of \f$ A x = b \f$ is \f$ A \f$ is singular.
       *
-      * \sa MatrixBase::ldlt()
+      * \sa MatrixBase::ldlt(), SelfAdjointView::ldlt()
       */
     template<typename Rhs>
-    inline const internal::solve_retval<LDLT, Rhs>
+    inline const Solve<LDLT, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "LDLT is not initialized.");
       eigen_assert(m_matrix.rows()==b.rows()
                 && "LDLT::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<LDLT, Rhs>(*this, b.derived());
+      return Solve<LDLT, Rhs>(*this, b.derived());
     }
 
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived, typename ResultType>
-    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
-    {
-      *result = this->solve(b);
-      return true;
-    }
-    #endif
-
     template<typename Derived>
     bool solveInPlace(MatrixBase<Derived> &bAndX) const;
 
-    LDLT& compute(const MatrixType& matrix);
+    template<typename InputType>
+    LDLT& compute(const EigenBase<InputType>& matrix);
+
+    /** \returns an estimate of the reciprocal condition number of the matrix of
+     *  which \c *this is the LDLT decomposition.
+     */
+    RealScalar rcond() const
+    {
+      eigen_assert(m_isInitialized && "LDLT is not initialized.");
+      return internal::rcond_estimate_helper(m_l1_norm, *this);
+    }
 
     template <typename Derived>
     LDLT& rankUpdate(const MatrixBase<Derived>& w, const RealScalar& alpha=1);
@@ -220,6 +235,13 @@ template<typename _MatrixType, int _UpLo> class LDLT
 
     MatrixType reconstructedMatrix() const;
 
+    /** \returns the adjoint of \c *this, that is, a const reference to the decomposition itself as the underlying matrix is self-adjoint.
+      *
+      * This method is provided for compatibility with other matrix decompositions, thus enabling generic code such as:
+      * \code x = decomposition.adjoint().solve(b) \endcode
+      */
+    const LDLT& adjoint() const { return *this; };
+
     inline Index rows() const { return m_matrix.rows(); }
     inline Index cols() const { return m_matrix.cols(); }
 
@@ -231,11 +253,17 @@ template<typename _MatrixType, int _UpLo> class LDLT
     ComputationInfo info() const
     {
       eigen_assert(m_isInitialized && "LDLT is not initialized.");
-      return Success;
+      return m_info;
     }
 
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const;
+    #endif
+
   protected:
-    
+
     static void check_template_parameters()
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
@@ -248,10 +276,12 @@ template<typename _MatrixType, int _UpLo> class LDLT
       * is not stored), and the diagonal entries correspond to D.
       */
     MatrixType m_matrix;
+    RealScalar m_l1_norm;
     TranspositionType m_transpositions;
     TmpMatrixType m_temporary;
     internal::SignMatrix m_sign;
     bool m_isInitialized;
+    ComputationInfo m_info;
 };
 
 namespace internal {
@@ -266,15 +296,17 @@ template<> struct ldlt_inplace<Lower>
     using std::abs;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef typename TranspositionType::StorageIndex IndexType;
     eigen_assert(mat.rows()==mat.cols());
     const Index size = mat.rows();
+    bool found_zero_pivot = false;
+    bool ret = true;
 
     if (size <= 1)
     {
       transpositions.setIdentity();
-      if (numext::real(mat.coeff(0,0)) > 0) sign = PositiveSemiDef;
-      else if (numext::real(mat.coeff(0,0)) < 0) sign = NegativeSemiDef;
+      if (numext::real(mat.coeff(0,0)) > static_cast<RealScalar>(0) ) sign = PositiveSemiDef;
+      else if (numext::real(mat.coeff(0,0)) < static_cast<RealScalar>(0)) sign = NegativeSemiDef;
       else sign = ZeroSign;
       return true;
     }
@@ -286,7 +318,7 @@ template<> struct ldlt_inplace<Lower>
       mat.diagonal().tail(size-k).cwiseAbs().maxCoeff(&index_of_biggest_in_corner);
       index_of_biggest_in_corner += k;
 
-      transpositions.coeffRef(k) = index_of_biggest_in_corner;
+      transpositions.coeffRef(k) = IndexType(index_of_biggest_in_corner);
       if(k != index_of_biggest_in_corner)
       {
         // apply the transposition while taking care to consider only
@@ -295,7 +327,7 @@ template<> struct ldlt_inplace<Lower>
         mat.row(k).head(k).swap(mat.row(index_of_biggest_in_corner).head(k));
         mat.col(k).tail(s).swap(mat.col(index_of_biggest_in_corner).tail(s));
         std::swap(mat.coeffRef(k,k),mat.coeffRef(index_of_biggest_in_corner,index_of_biggest_in_corner));
-        for(int i=k+1;i<index_of_biggest_in_corner;++i)
+        for(Index i=k+1;i<index_of_biggest_in_corner;++i)
         {
           Scalar tmp = mat.coeffRef(i,k);
           mat.coeffRef(i,k) = numext::conj(mat.coeffRef(index_of_biggest_in_corner,i));
@@ -321,26 +353,44 @@ template<> struct ldlt_inplace<Lower>
         if(rs>0)
           A21.noalias() -= A20 * temp.head(k);
       }
-      
+
       // In some previous versions of Eigen (e.g., 3.2.1), the scaling was omitted if the pivot
-      // was smaller than the cutoff value. However, soince LDLT is not rank-revealing
-      // we should only make sure we do not introduce INF or NaN values.
-      // LAPACK also uses 0 as the cutoff value.
+      // was smaller than the cutoff value. However, since LDLT is not rank-revealing
+      // we should only make sure that we do not introduce INF or NaN values.
+      // Remark that LAPACK also uses 0 as the cutoff value.
       RealScalar realAkk = numext::real(mat.coeffRef(k,k));
-      if((rs>0) && (abs(realAkk) > RealScalar(0)))
+      bool pivot_is_valid = (abs(realAkk) > RealScalar(0));
+
+      if(k==0 && !pivot_is_valid)
+      {
+        // The entire diagonal is zero, there is nothing more to do
+        // except filling the transpositions, and checking whether the matrix is zero.
+        sign = ZeroSign;
+        for(Index j = 0; j<size; ++j)
+        {
+          transpositions.coeffRef(j) = IndexType(j);
+          ret = ret && (mat.col(j).tail(size-j-1).array()==Scalar(0)).all();
+        }
+        return ret;
+      }
+
+      if((rs>0) && pivot_is_valid)
         A21 /= realAkk;
 
+      if(found_zero_pivot && pivot_is_valid) ret = false; // factorization failed
+      else if(!pivot_is_valid) found_zero_pivot = true;
+
       if (sign == PositiveSemiDef) {
-        if (realAkk < 0) sign = Indefinite;
+        if (realAkk < static_cast<RealScalar>(0)) sign = Indefinite;
       } else if (sign == NegativeSemiDef) {
-        if (realAkk > 0) sign = Indefinite;
+        if (realAkk > static_cast<RealScalar>(0)) sign = Indefinite;
       } else if (sign == ZeroSign) {
-        if (realAkk > 0) sign = PositiveSemiDef;
-        else if (realAkk < 0) sign = NegativeSemiDef;
+        if (realAkk > static_cast<RealScalar>(0)) sign = PositiveSemiDef;
+        else if (realAkk < static_cast<RealScalar>(0)) sign = NegativeSemiDef;
       }
     }
 
-    return true;
+    return ret;
   }
 
   // Reference for the algorithm: Davis and Hager, "Multiple Rank
@@ -356,7 +406,6 @@ template<> struct ldlt_inplace<Lower>
     using numext::isfinite;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
 
     const Index size = mat.rows();
     eigen_assert(mat.cols() == size && w.size()==size);
@@ -420,16 +469,16 @@ template<typename MatrixType> struct LDLT_Traits<MatrixType,Lower>
 {
   typedef const TriangularView<const MatrixType, UnitLower> MatrixL;
   typedef const TriangularView<const typename MatrixType::AdjointReturnType, UnitUpper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return m; }
-  static inline MatrixU getU(const MatrixType& m) { return m.adjoint(); }
+  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
+  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
 };
 
 template<typename MatrixType> struct LDLT_Traits<MatrixType,Upper>
 {
   typedef const TriangularView<const typename MatrixType::AdjointReturnType, UnitLower> MatrixL;
   typedef const TriangularView<const MatrixType, UnitUpper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return m.adjoint(); }
-  static inline MatrixU getU(const MatrixType& m) { return m; }
+  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m.adjoint()); }
+  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m); }
 };
 
 } // end namespace internal
@@ -437,21 +486,35 @@ template<typename MatrixType> struct LDLT_Traits<MatrixType,Upper>
 /** Compute / recompute the LDLT decomposition A = L D L^* = U^* D U of \a matrix
   */
 template<typename MatrixType, int _UpLo>
-LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::compute(const MatrixType& a)
+template<typename InputType>
+LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::compute(const EigenBase<InputType>& a)
 {
   check_template_parameters();
-  
+
   eigen_assert(a.rows()==a.cols());
   const Index size = a.rows();
 
-  m_matrix = a;
+  m_matrix = a.derived();
+
+  // Compute matrix L1 norm = max abs column sum.
+  m_l1_norm = RealScalar(0);
+  // TODO move this code to SelfAdjointView
+  for (Index col = 0; col < size; ++col) {
+    RealScalar abs_col_sum;
+    if (_UpLo == Lower)
+      abs_col_sum = m_matrix.col(col).tail(size - col).template lpNorm<1>() + m_matrix.row(col).head(col).template lpNorm<1>();
+    else
+      abs_col_sum = m_matrix.col(col).head(col).template lpNorm<1>() + m_matrix.row(col).tail(size - col).template lpNorm<1>();
+    if (abs_col_sum > m_l1_norm)
+      m_l1_norm = abs_col_sum;
+  }
 
   m_transpositions.resize(size);
   m_isInitialized = false;
   m_temporary.resize(size);
   m_sign = internal::ZeroSign;
 
-  internal::ldlt_inplace<UpLo>::unblocked(m_matrix, m_transpositions, m_temporary, m_sign);
+  m_info = internal::ldlt_inplace<UpLo>::unblocked(m_matrix, m_transpositions, m_temporary, m_sign) ? Success : NumericalIssue;
 
   m_isInitialized = true;
   return *this;
@@ -464,20 +527,21 @@ LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::compute(const MatrixType& a)
   */
 template<typename MatrixType, int _UpLo>
 template<typename Derived>
-LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::rankUpdate(const MatrixBase<Derived>& w, const typename NumTraits<typename MatrixType::Scalar>::Real& sigma)
+LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::rankUpdate(const MatrixBase<Derived>& w, const typename LDLT<MatrixType,_UpLo>::RealScalar& sigma)
 {
+  typedef typename TranspositionType::StorageIndex IndexType;
   const Index size = w.rows();
   if (m_isInitialized)
   {
     eigen_assert(m_matrix.rows()==size);
   }
   else
-  {    
+  {
     m_matrix.resize(size,size);
     m_matrix.setZero();
     m_transpositions.resize(size);
     for (Index i = 0; i < size; i++)
-      m_transpositions.coeffRef(i) = i;
+      m_transpositions.coeffRef(i) = IndexType(i);
     m_temporary.resize(size);
     m_sign = sigma>=0 ? internal::PositiveSemiDef : internal::NegativeSemiDef;
     m_isInitialized = true;
@@ -488,53 +552,45 @@ LDLT<MatrixType,_UpLo>& LDLT<MatrixType,_UpLo>::rankUpdate(const MatrixBase<Deri
   return *this;
 }
 
-namespace internal {
-template<typename _MatrixType, int _UpLo, typename Rhs>
-struct solve_retval<LDLT<_MatrixType,_UpLo>, Rhs>
-  : solve_retval_base<LDLT<_MatrixType,_UpLo>, Rhs>
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType, int _UpLo>
+template<typename RhsType, typename DstType>
+void LDLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const
 {
-  typedef LDLT<_MatrixType,_UpLo> LDLTType;
-  EIGEN_MAKE_SOLVE_HELPERS(LDLTType,Rhs)
+  eigen_assert(rhs.rows() == rows());
+  // dst = P b
+  dst = m_transpositions * rhs;
 
-  template<typename Dest> void evalTo(Dest& dst) const
+  // dst = L^-1 (P b)
+  matrixL().solveInPlace(dst);
+
+  // dst = D^-1 (L^-1 P b)
+  // more precisely, use pseudo-inverse of D (see bug 241)
+  using std::abs;
+  const typename Diagonal<const MatrixType>::RealReturnType vecD(vectorD());
+  // In some previous versions, tolerance was set to the max of 1/highest and the maximal diagonal entry * epsilon
+  // as motivated by LAPACK's xGELSS:
+  // RealScalar tolerance = numext::maxi(vecD.array().abs().maxCoeff() * NumTraits<RealScalar>::epsilon(),RealScalar(1) / NumTraits<RealScalar>::highest());
+  // However, LDLT is not rank revealing, and so adjusting the tolerance wrt to the highest
+  // diagonal element is not well justified and leads to numerical issues in some cases.
+  // Moreover, Lapack's xSYTRS routines use 0 for the tolerance.
+  RealScalar tolerance = RealScalar(1) / NumTraits<RealScalar>::highest();
+
+  for (Index i = 0; i < vecD.size(); ++i)
   {
-    eigen_assert(rhs().rows() == dec().matrixLDLT().rows());
-    // dst = P b
-    dst = dec().transpositionsP() * rhs();
-
-    // dst = L^-1 (P b)
-    dec().matrixL().solveInPlace(dst);
-
-    // dst = D^-1 (L^-1 P b)
-    // more precisely, use pseudo-inverse of D (see bug 241)
-    using std::abs;
-    using std::max;
-    typedef typename LDLTType::MatrixType MatrixType;
-    typedef typename LDLTType::RealScalar RealScalar;
-    const typename Diagonal<const MatrixType>::RealReturnType vectorD(dec().vectorD());
-    // In some previous versions, tolerance was set to the max of 1/highest and the maximal diagonal entry * epsilon
-    // as motivated by LAPACK's xGELSS:
-    // RealScalar tolerance = (max)(vectorD.array().abs().maxCoeff() *NumTraits<RealScalar>::epsilon(),RealScalar(1) / NumTraits<RealScalar>::highest());
-    // However, LDLT is not rank revealing, and so adjusting the tolerance wrt to the highest
-    // diagonal element is not well justified and to numerical issues in some cases.
-    // Moreover, Lapack's xSYTRS routines use 0 for the tolerance.
-    RealScalar tolerance = RealScalar(1) / NumTraits<RealScalar>::highest();
-    
-    for (Index i = 0; i < vectorD.size(); ++i) {
-      if(abs(vectorD(i)) > tolerance)
-        dst.row(i) /= vectorD(i);
-      else
-        dst.row(i).setZero();
-    }
-
-    // dst = L^-T (D^-1 L^-1 P b)
-    dec().matrixU().solveInPlace(dst);
-
-    // dst = P^-1 (L^-T D^-1 L^-1 P b) = A^-1 b
-    dst = dec().transpositionsP().transpose() * dst;
+    if(abs(vecD(i)) > tolerance)
+      dst.row(i) /= vecD(i);
+    else
+      dst.row(i).setZero();
   }
-};
+
+  // dst = L^-T (D^-1 L^-1 P b)
+  matrixU().solveInPlace(dst);
+
+  // dst = P^-1 (L^-T D^-1 L^-1 P b) = A^-1 b
+  dst = m_transpositions.transpose() * dst;
 }
+#endif
 
 /** \internal use x = ldlt_object.solve(x);
   *
@@ -588,6 +644,7 @@ MatrixType LDLT<MatrixType,_UpLo>::reconstructedMatrix() const
 
 /** \cholesky_module
   * \returns the Cholesky decomposition with full pivoting without square root of \c *this
+  * \sa MatrixBase::ldlt()
   */
 template<typename MatrixType, unsigned int UpLo>
 inline const LDLT<typename SelfAdjointView<MatrixType, UpLo>::PlainObject, UpLo>
@@ -598,6 +655,7 @@ SelfAdjointView<MatrixType, UpLo>::ldlt() const
 
 /** \cholesky_module
   * \returns the Cholesky decomposition with full pivoting without square root of \c *this
+  * \sa SelfAdjointView::ldlt()
   */
 template<typename Derived>
 inline const LDLT<typename MatrixBase<Derived>::PlainObject>
diff --git a/eigenlib/Eigen/src/Cholesky/LLT.h b/eigenlib/Eigen/src/Cholesky/LLT.h
index 59723a63..87ca8d42 100644
--- a/eigenlib/Eigen/src/Cholesky/LLT.h
+++ b/eigenlib/Eigen/src/Cholesky/LLT.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_LLT_H
 #define EIGEN_LLT_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal{
 template<typename MatrixType, int UpLo> struct LLT_Traits;
@@ -22,8 +22,8 @@ template<typename MatrixType, int UpLo> struct LLT_Traits;
   *
   * \brief Standard Cholesky decomposition (LL^T) of a matrix and associated features
   *
-  * \param MatrixType the type of the matrix of which we are computing the LL^T Cholesky decomposition
-  * \param UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper.
+  * \tparam _MatrixType the type of the matrix of which we are computing the LL^T Cholesky decomposition
+  * \tparam _UpLo the triangular part that will be used for the decompositon: Lower (default) or Upper.
   *             The other triangular part won't be read.
   *
   * This class performs a LL^T Cholesky decomposition of a symmetric, positive definite
@@ -40,8 +40,10 @@ template<typename MatrixType, int UpLo> struct LLT_Traits;
   *
   * Example: \include LLT_example.cpp
   * Output: \verbinclude LLT_example.out
-  *    
-  * \sa MatrixBase::llt(), class LDLT
+  *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  *
+  * \sa MatrixBase::llt(), SelfAdjointView::llt(), class LDLT
   */
  /* HEY THIS DOX IS DISABLED BECAUSE THERE's A BUG EITHER HERE OR IN LDLT ABOUT THAT (OR BOTH)
   * Note that during the decomposition, only the upper triangular part of A is considered. Therefore,
@@ -54,12 +56,12 @@ template<typename _MatrixType, int _UpLo> class LLT
     enum {
       RowsAtCompileTime = MatrixType::RowsAtCompileTime,
       ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+    typedef typename MatrixType::StorageIndex StorageIndex;
 
     enum {
       PacketSize = internal::packet_traits<Scalar>::size,
@@ -83,14 +85,30 @@ template<typename _MatrixType, int _UpLo> class LLT
       * according to the specified problem \a size.
       * \sa LLT()
       */
-    LLT(Index size) : m_matrix(size, size),
+    explicit LLT(Index size) : m_matrix(size, size),
                     m_isInitialized(false) {}
 
-    LLT(const MatrixType& matrix)
+    template<typename InputType>
+    explicit LLT(const EigenBase<InputType>& matrix)
       : m_matrix(matrix.rows(), matrix.cols()),
         m_isInitialized(false)
     {
-      compute(matrix);
+      compute(matrix.derived());
+    }
+
+    /** \brief Constructs a LDLT factorization from a given matrix
+      *
+      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when
+      * \c MatrixType is a Eigen::Ref.
+      *
+      * \sa LLT(const EigenBase&)
+      */
+    template<typename InputType>
+    explicit LLT(EigenBase<InputType>& matrix)
+      : m_matrix(matrix.derived()),
+        m_isInitialized(false)
+    {
+      compute(matrix.derived());
     }
 
     /** \returns a view of the upper triangular matrix U */
@@ -115,33 +133,33 @@ template<typename _MatrixType, int _UpLo> class LLT
       * Example: \include LLT_solve.cpp
       * Output: \verbinclude LLT_solve.out
       *
-      * \sa solveInPlace(), MatrixBase::llt()
+      * \sa solveInPlace(), MatrixBase::llt(), SelfAdjointView::llt()
       */
     template<typename Rhs>
-    inline const internal::solve_retval<LLT, Rhs>
+    inline const Solve<LLT, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "LLT is not initialized.");
       eigen_assert(m_matrix.rows()==b.rows()
                 && "LLT::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<LLT, Rhs>(*this, b.derived());
+      return Solve<LLT, Rhs>(*this, b.derived());
     }
 
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived, typename ResultType>
-    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
-    {
-      *result = this->solve(b);
-      return true;
-    }
-    
-    bool isPositiveDefinite() const { return true; }
-    #endif
-
     template<typename Derived>
     void solveInPlace(MatrixBase<Derived> &bAndX) const;
 
-    LLT& compute(const MatrixType& matrix);
+    template<typename InputType>
+    LLT& compute(const EigenBase<InputType>& matrix);
+
+    /** \returns an estimate of the reciprocal condition number of the matrix of
+      *  which \c *this is the Cholesky decomposition.
+      */
+    RealScalar rcond() const
+    {
+      eigen_assert(m_isInitialized && "LLT is not initialized.");
+      eigen_assert(m_info == Success && "LLT failed because matrix appears to be negative");
+      return internal::rcond_estimate_helper(m_l1_norm, *this);
+    }
 
     /** \returns the LLT decomposition matrix
       *
@@ -167,24 +185,38 @@ template<typename _MatrixType, int _UpLo> class LLT
       return m_info;
     }
 
+    /** \returns the adjoint of \c *this, that is, a const reference to the decomposition itself as the underlying matrix is self-adjoint.
+      *
+      * This method is provided for compatibility with other matrix decompositions, thus enabling generic code such as:
+      * \code x = decomposition.adjoint().solve(b) \endcode
+      */
+    const LLT& adjoint() const { return *this; };
+
     inline Index rows() const { return m_matrix.rows(); }
     inline Index cols() const { return m_matrix.cols(); }
 
     template<typename VectorType>
     LLT rankUpdate(const VectorType& vec, const RealScalar& sigma = 1);
 
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const;
+    #endif
+
   protected:
-    
+
     static void check_template_parameters()
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
-    
+
     /** \internal
       * Used to compute and store L
       * The strict upper part is not used and even not initialized.
       */
     MatrixType m_matrix;
+    RealScalar m_l1_norm;
     bool m_isInitialized;
     ComputationInfo m_info;
 };
@@ -194,12 +226,11 @@ namespace internal {
 template<typename Scalar, int UpLo> struct llt_inplace;
 
 template<typename MatrixType, typename VectorType>
-static typename MatrixType::Index llt_rank_update_lower(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma)
+static Index llt_rank_update_lower(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma)
 {
   using std::sqrt;
   typedef typename MatrixType::Scalar Scalar;
   typedef typename MatrixType::RealScalar RealScalar;
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::ColXpr ColXpr;
   typedef typename internal::remove_all<ColXpr>::type ColXprCleaned;
   typedef typename ColXprCleaned::SegmentReturnType ColXprSegment;
@@ -268,11 +299,10 @@ template<typename Scalar> struct llt_inplace<Scalar, Lower>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
   template<typename MatrixType>
-  static typename MatrixType::Index unblocked(MatrixType& mat)
+  static Index unblocked(MatrixType& mat)
   {
     using std::sqrt;
-    typedef typename MatrixType::Index Index;
-    
+
     eigen_assert(mat.rows()==mat.cols());
     const Index size = mat.rows();
     for(Index k = 0; k < size; ++k)
@@ -289,15 +319,14 @@ template<typename Scalar> struct llt_inplace<Scalar, Lower>
         return k;
       mat.coeffRef(k,k) = x = sqrt(x);
       if (k>0 && rs>0) A21.noalias() -= A20 * A10.adjoint();
-      if (rs>0) A21 *= RealScalar(1)/x;
+      if (rs>0) A21 /= x;
     }
     return -1;
   }
 
   template<typename MatrixType>
-  static typename MatrixType::Index blocked(MatrixType& m)
+  static Index blocked(MatrixType& m)
   {
-    typedef typename MatrixType::Index Index;
     eigen_assert(m.rows()==m.cols());
     Index size = m.rows();
     if(size<32)
@@ -322,36 +351,36 @@ template<typename Scalar> struct llt_inplace<Scalar, Lower>
       Index ret;
       if((ret=unblocked(A11))>=0) return k+ret;
       if(rs>0) A11.adjoint().template triangularView<Upper>().template solveInPlace<OnTheRight>(A21);
-      if(rs>0) A22.template selfadjointView<Lower>().rankUpdate(A21,-1); // bottleneck
+      if(rs>0) A22.template selfadjointView<Lower>().rankUpdate(A21,typename NumTraits<RealScalar>::Literal(-1)); // bottleneck
     }
     return -1;
   }
 
   template<typename MatrixType, typename VectorType>
-  static typename MatrixType::Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma)
+  static Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma)
   {
     return Eigen::internal::llt_rank_update_lower(mat, vec, sigma);
   }
 };
-  
+
 template<typename Scalar> struct llt_inplace<Scalar, Upper>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
 
   template<typename MatrixType>
-  static EIGEN_STRONG_INLINE typename MatrixType::Index unblocked(MatrixType& mat)
+  static EIGEN_STRONG_INLINE Index unblocked(MatrixType& mat)
   {
     Transpose<MatrixType> matt(mat);
     return llt_inplace<Scalar, Lower>::unblocked(matt);
   }
   template<typename MatrixType>
-  static EIGEN_STRONG_INLINE typename MatrixType::Index blocked(MatrixType& mat)
+  static EIGEN_STRONG_INLINE Index blocked(MatrixType& mat)
   {
     Transpose<MatrixType> matt(mat);
     return llt_inplace<Scalar, Lower>::blocked(matt);
   }
   template<typename MatrixType, typename VectorType>
-  static typename MatrixType::Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma)
+  static Index rankUpdate(MatrixType& mat, const VectorType& vec, const RealScalar& sigma)
   {
     Transpose<MatrixType> matt(mat);
     return llt_inplace<Scalar, Lower>::rankUpdate(matt, vec.conjugate(), sigma);
@@ -362,8 +391,8 @@ template<typename MatrixType> struct LLT_Traits<MatrixType,Lower>
 {
   typedef const TriangularView<const MatrixType, Lower> MatrixL;
   typedef const TriangularView<const typename MatrixType::AdjointReturnType, Upper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return m; }
-  static inline MatrixU getU(const MatrixType& m) { return m.adjoint(); }
+  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
+  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
   static bool inplace_decomposition(MatrixType& m)
   { return llt_inplace<typename MatrixType::Scalar, Lower>::blocked(m)==-1; }
 };
@@ -372,8 +401,8 @@ template<typename MatrixType> struct LLT_Traits<MatrixType,Upper>
 {
   typedef const TriangularView<const typename MatrixType::AdjointReturnType, Lower> MatrixL;
   typedef const TriangularView<const MatrixType, Upper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return m.adjoint(); }
-  static inline MatrixU getU(const MatrixType& m) { return m; }
+  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m.adjoint()); }
+  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m); }
   static bool inplace_decomposition(MatrixType& m)
   { return llt_inplace<typename MatrixType::Scalar, Upper>::blocked(m)==-1; }
 };
@@ -388,14 +417,28 @@ template<typename MatrixType> struct LLT_Traits<MatrixType,Upper>
   * Output: \verbinclude TutorialLinAlgComputeTwice.out
   */
 template<typename MatrixType, int _UpLo>
-LLT<MatrixType,_UpLo>& LLT<MatrixType,_UpLo>::compute(const MatrixType& a)
+template<typename InputType>
+LLT<MatrixType,_UpLo>& LLT<MatrixType,_UpLo>::compute(const EigenBase<InputType>& a)
 {
   check_template_parameters();
-  
+
   eigen_assert(a.rows()==a.cols());
   const Index size = a.rows();
   m_matrix.resize(size, size);
-  m_matrix = a;
+  m_matrix = a.derived();
+
+  // Compute matrix L1 norm = max abs column sum.
+  m_l1_norm = RealScalar(0);
+  // TODO move this code to SelfAdjointView
+  for (Index col = 0; col < size; ++col) {
+    RealScalar abs_col_sum;
+    if (_UpLo == Lower)
+      abs_col_sum = m_matrix.col(col).tail(size - col).template lpNorm<1>() + m_matrix.row(col).head(col).template lpNorm<1>();
+    else
+      abs_col_sum = m_matrix.col(col).head(col).template lpNorm<1>() + m_matrix.row(col).tail(size - col).template lpNorm<1>();
+    if (abs_col_sum > m_l1_norm)
+      m_l1_norm = abs_col_sum;
+  }
 
   m_isInitialized = true;
   bool ok = Traits::inplace_decomposition(m_matrix);
@@ -423,33 +466,24 @@ LLT<_MatrixType,_UpLo> LLT<_MatrixType,_UpLo>::rankUpdate(const VectorType& v, c
 
   return *this;
 }
-    
-namespace internal {
-template<typename _MatrixType, int UpLo, typename Rhs>
-struct solve_retval<LLT<_MatrixType, UpLo>, Rhs>
-  : solve_retval_base<LLT<_MatrixType, UpLo>, Rhs>
-{
-  typedef LLT<_MatrixType,UpLo> LLTType;
-  EIGEN_MAKE_SOLVE_HELPERS(LLTType,Rhs)
 
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dst = rhs();
-    dec().solveInPlace(dst);
-  }
-};
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType,int _UpLo>
+template<typename RhsType, typename DstType>
+void LLT<_MatrixType,_UpLo>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+  dst = rhs;
+  solveInPlace(dst);
 }
+#endif
 
 /** \internal use x = llt_object.solve(x);
-  * 
+  *
   * This is the \em in-place version of solve().
   *
   * \param bAndX represents both the right-hand side matrix b and result x.
   *
-  * \returns true always! If you need to check for existence of solutions, use another decomposition like LU, QR, or SVD.
-  *
-  * This version avoids a copy when the right hand side matrix b is not
-  * needed anymore.
+  * This version avoids a copy when the right hand side matrix b is not needed anymore.
   *
   * \sa LLT::solve(), MatrixBase::llt()
   */
@@ -475,6 +509,7 @@ MatrixType LLT<MatrixType,_UpLo>::reconstructedMatrix() const
 
 /** \cholesky_module
   * \returns the LLT decomposition of \c *this
+  * \sa SelfAdjointView::llt()
   */
 template<typename Derived>
 inline const LLT<typename MatrixBase<Derived>::PlainObject>
@@ -485,6 +520,7 @@ MatrixBase<Derived>::llt() const
 
 /** \cholesky_module
   * \returns the LLT decomposition of \c *this
+  * \sa SelfAdjointView::llt()
   */
 template<typename MatrixType, unsigned int UpLo>
 inline const LLT<typename SelfAdjointView<MatrixType, UpLo>::PlainObject, UpLo>
diff --git a/eigenlib/Eigen/src/Cholesky/LLT_MKL.h b/eigenlib/Eigen/src/Cholesky/LLT_LAPACKE.h
similarity index 71%
rename from eigenlib/Eigen/src/Cholesky/LLT_MKL.h
rename to eigenlib/Eigen/src/Cholesky/LLT_LAPACKE.h
index 66675d74..bc6489e6 100644
--- a/eigenlib/Eigen/src/Cholesky/LLT_MKL.h
+++ b/eigenlib/Eigen/src/Cholesky/LLT_LAPACKE.h
@@ -25,41 +25,38 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to LAPACKe
  *     LLt decomposition based on LAPACKE_?potrf function.
  ********************************************************************************
 */
 
-#ifndef EIGEN_LLT_MKL_H
-#define EIGEN_LLT_MKL_H
-
-#include "Eigen/src/Core/util/MKL_support.h"
-#include <iostream>
+#ifndef EIGEN_LLT_LAPACKE_H
+#define EIGEN_LLT_LAPACKE_H
 
 namespace Eigen { 
 
 namespace internal {
 
-template<typename Scalar> struct mkl_llt;
+template<typename Scalar> struct lapacke_llt;
 
-#define EIGEN_MKL_LLT(EIGTYPE, MKLTYPE, MKLPREFIX) \
-template<> struct mkl_llt<EIGTYPE> \
+#define EIGEN_LAPACKE_LLT(EIGTYPE, BLASTYPE, LAPACKE_PREFIX) \
+template<> struct lapacke_llt<EIGTYPE> \
 { \
   template<typename MatrixType> \
-  static inline typename MatrixType::Index potrf(MatrixType& m, char uplo) \
+  static inline Index potrf(MatrixType& m, char uplo) \
   { \
     lapack_int matrix_order; \
     lapack_int size, lda, info, StorageOrder; \
     EIGTYPE* a; \
     eigen_assert(m.rows()==m.cols()); \
     /* Set up parameters for ?potrf */ \
-    size = m.rows(); \
+    size = convert_index<lapack_int>(m.rows()); \
     StorageOrder = MatrixType::Flags&RowMajorBit?RowMajor:ColMajor; \
     matrix_order = StorageOrder==RowMajor ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \
     a = &(m.coeffRef(0,0)); \
-    lda = m.outerStride(); \
+    lda = convert_index<lapack_int>(m.outerStride()); \
 \
-    info = LAPACKE_##MKLPREFIX##potrf( matrix_order, uplo, size, (MKLTYPE*)a, lda ); \
+    info = LAPACKE_##LAPACKE_PREFIX##potrf( matrix_order, uplo, size, (BLASTYPE*)a, lda ); \
     info = (info==0) ? -1 : info>0 ? info-1 : size; \
     return info; \
   } \
@@ -67,36 +64,36 @@ template<> struct mkl_llt<EIGTYPE> \
 template<> struct llt_inplace<EIGTYPE, Lower> \
 { \
   template<typename MatrixType> \
-  static typename MatrixType::Index blocked(MatrixType& m) \
+  static Index blocked(MatrixType& m) \
   { \
-    return mkl_llt<EIGTYPE>::potrf(m, 'L'); \
+    return lapacke_llt<EIGTYPE>::potrf(m, 'L'); \
   } \
   template<typename MatrixType, typename VectorType> \
-  static typename MatrixType::Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \
+  static Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \
   { return Eigen::internal::llt_rank_update_lower(mat, vec, sigma); } \
 }; \
 template<> struct llt_inplace<EIGTYPE, Upper> \
 { \
   template<typename MatrixType> \
-  static typename MatrixType::Index blocked(MatrixType& m) \
+  static Index blocked(MatrixType& m) \
   { \
-    return mkl_llt<EIGTYPE>::potrf(m, 'U'); \
+    return lapacke_llt<EIGTYPE>::potrf(m, 'U'); \
   } \
   template<typename MatrixType, typename VectorType> \
-  static typename MatrixType::Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \
+  static Index rankUpdate(MatrixType& mat, const VectorType& vec, const typename MatrixType::RealScalar& sigma) \
   { \
     Transpose<MatrixType> matt(mat); \
     return llt_inplace<EIGTYPE, Lower>::rankUpdate(matt, vec.conjugate(), sigma); \
   } \
 };
 
-EIGEN_MKL_LLT(double, double, d)
-EIGEN_MKL_LLT(float, float, s)
-EIGEN_MKL_LLT(dcomplex, MKL_Complex16, z)
-EIGEN_MKL_LLT(scomplex, MKL_Complex8, c)
+EIGEN_LAPACKE_LLT(double, double, d)
+EIGEN_LAPACKE_LLT(float, float, s)
+EIGEN_LAPACKE_LLT(dcomplex, lapack_complex_double, z)
+EIGEN_LAPACKE_LLT(scomplex, lapack_complex_float, c)
 
 } // end namespace internal
 
 } // end namespace Eigen
 
-#endif // EIGEN_LLT_MKL_H
+#endif // EIGEN_LLT_LAPACKE_H
diff --git a/eigenlib/Eigen/src/CholmodSupport/CMakeLists.txt b/eigenlib/Eigen/src/CholmodSupport/CMakeLists.txt
deleted file mode 100644
index 814dfa61..00000000
--- a/eigenlib/Eigen/src/CholmodSupport/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_CholmodSupport_SRCS "*.h")
-
-INSTALL(FILES 
-  ${Eigen_CholmodSupport_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/CholmodSupport COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/CholmodSupport/CholmodSupport.h b/eigenlib/Eigen/src/CholmodSupport/CholmodSupport.h
index c449960d..57197202 100644
--- a/eigenlib/Eigen/src/CholmodSupport/CholmodSupport.h
+++ b/eigenlib/Eigen/src/CholmodSupport/CholmodSupport.h
@@ -14,46 +14,52 @@ namespace Eigen {
 
 namespace internal {
 
-template<typename Scalar, typename CholmodType>
-void cholmod_configure_matrix(CholmodType& mat)
-{
-  if (internal::is_same<Scalar,float>::value)
-  {
-    mat.xtype = CHOLMOD_REAL;
-    mat.dtype = CHOLMOD_SINGLE;
-  }
-  else if (internal::is_same<Scalar,double>::value)
-  {
+template<typename Scalar> struct cholmod_configure_matrix;
+
+template<> struct cholmod_configure_matrix<double> {
+  template<typename CholmodType>
+  static void run(CholmodType& mat) {
     mat.xtype = CHOLMOD_REAL;
     mat.dtype = CHOLMOD_DOUBLE;
   }
-  else if (internal::is_same<Scalar,std::complex<float> >::value)
-  {
-    mat.xtype = CHOLMOD_COMPLEX;
-    mat.dtype = CHOLMOD_SINGLE;
-  }
-  else if (internal::is_same<Scalar,std::complex<double> >::value)
-  {
+};
+
+template<> struct cholmod_configure_matrix<std::complex<double> > {
+  template<typename CholmodType>
+  static void run(CholmodType& mat) {
     mat.xtype = CHOLMOD_COMPLEX;
     mat.dtype = CHOLMOD_DOUBLE;
   }
-  else
-  {
-    eigen_assert(false && "Scalar type not supported by CHOLMOD");
-  }
-}
+};
+
+// Other scalar types are not yet suppotred by Cholmod
+// template<> struct cholmod_configure_matrix<float> {
+//   template<typename CholmodType>
+//   static void run(CholmodType& mat) {
+//     mat.xtype = CHOLMOD_REAL;
+//     mat.dtype = CHOLMOD_SINGLE;
+//   }
+// };
+//
+// template<> struct cholmod_configure_matrix<std::complex<float> > {
+//   template<typename CholmodType>
+//   static void run(CholmodType& mat) {
+//     mat.xtype = CHOLMOD_COMPLEX;
+//     mat.dtype = CHOLMOD_SINGLE;
+//   }
+// };
 
 } // namespace internal
 
 /** Wraps the Eigen sparse matrix \a mat into a Cholmod sparse matrix object.
   * Note that the data are shared.
   */
-template<typename _Scalar, int _Options, typename _Index>
-cholmod_sparse viewAsCholmod(SparseMatrix<_Scalar,_Options,_Index>& mat)
+template<typename _Scalar, int _Options, typename _StorageIndex>
+cholmod_sparse viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_StorageIndex> > mat)
 {
   cholmod_sparse res;
   res.nzmax   = mat.nonZeros();
-  res.nrow    = mat.rows();;
+  res.nrow    = mat.rows();
   res.ncol    = mat.cols();
   res.p       = mat.outerIndexPtr();
   res.i       = mat.innerIndexPtr();
@@ -74,11 +80,11 @@ cholmod_sparse viewAsCholmod(SparseMatrix<_Scalar,_Options,_Index>& mat)
   res.dtype   = 0;
   res.stype   = -1;
   
-  if (internal::is_same<_Index,int>::value)
+  if (internal::is_same<_StorageIndex,int>::value)
   {
     res.itype = CHOLMOD_INT;
   }
-  else if (internal::is_same<_Index,UF_long>::value)
+  else if (internal::is_same<_StorageIndex,long>::value)
   {
     res.itype = CHOLMOD_LONG;
   }
@@ -88,7 +94,7 @@ cholmod_sparse viewAsCholmod(SparseMatrix<_Scalar,_Options,_Index>& mat)
   }
 
   // setup res.xtype
-  internal::cholmod_configure_matrix<_Scalar>(res);
+  internal::cholmod_configure_matrix<_Scalar>::run(res);
   
   res.stype = 0;
   
@@ -98,16 +104,23 @@ cholmod_sparse viewAsCholmod(SparseMatrix<_Scalar,_Options,_Index>& mat)
 template<typename _Scalar, int _Options, typename _Index>
 const cholmod_sparse viewAsCholmod(const SparseMatrix<_Scalar,_Options,_Index>& mat)
 {
-  cholmod_sparse res = viewAsCholmod(mat.const_cast_derived());
+  cholmod_sparse res = viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_Index> >(mat.const_cast_derived()));
+  return res;
+}
+
+template<typename _Scalar, int _Options, typename _Index>
+const cholmod_sparse viewAsCholmod(const SparseVector<_Scalar,_Options,_Index>& mat)
+{
+  cholmod_sparse res = viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_Index> >(mat.const_cast_derived()));
   return res;
 }
 
 /** Returns a view of the Eigen sparse matrix \a mat as Cholmod sparse matrix.
   * The data are not copied but shared. */
 template<typename _Scalar, int _Options, typename _Index, unsigned int UpLo>
-cholmod_sparse viewAsCholmod(const SparseSelfAdjointView<SparseMatrix<_Scalar,_Options,_Index>, UpLo>& mat)
+cholmod_sparse viewAsCholmod(const SparseSelfAdjointView<const SparseMatrix<_Scalar,_Options,_Index>, UpLo>& mat)
 {
-  cholmod_sparse res = viewAsCholmod(mat.matrix().const_cast_derived());
+  cholmod_sparse res = viewAsCholmod(Ref<SparseMatrix<_Scalar,_Options,_Index> >(mat.matrix().const_cast_derived()));
   
   if(UpLo==Upper) res.stype =  1;
   if(UpLo==Lower) res.stype = -1;
@@ -131,19 +144,19 @@ cholmod_dense viewAsCholmod(MatrixBase<Derived>& mat)
   res.x      = (void*)(mat.derived().data());
   res.z      = 0;
 
-  internal::cholmod_configure_matrix<Scalar>(res);
+  internal::cholmod_configure_matrix<Scalar>::run(res);
 
   return res;
 }
 
 /** Returns a view of the Cholmod sparse matrix \a cm as an Eigen sparse matrix.
   * The data are not copied but shared. */
-template<typename Scalar, int Flags, typename Index>
-MappedSparseMatrix<Scalar,Flags,Index> viewAsEigen(cholmod_sparse& cm)
+template<typename Scalar, int Flags, typename StorageIndex>
+MappedSparseMatrix<Scalar,Flags,StorageIndex> viewAsEigen(cholmod_sparse& cm)
 {
-  return MappedSparseMatrix<Scalar,Flags,Index>
-         (cm.nrow, cm.ncol, static_cast<Index*>(cm.p)[cm.ncol],
-          static_cast<Index*>(cm.p), static_cast<Index*>(cm.i),static_cast<Scalar*>(cm.x) );
+  return MappedSparseMatrix<Scalar,Flags,StorageIndex>
+         (cm.nrow, cm.ncol, static_cast<StorageIndex*>(cm.p)[cm.ncol],
+          static_cast<StorageIndex*>(cm.p), static_cast<StorageIndex*>(cm.i),static_cast<Scalar*>(cm.x) );
 }
 
 enum CholmodMode {
@@ -157,29 +170,39 @@ enum CholmodMode {
   * \sa class CholmodSupernodalLLT, class CholmodSimplicialLDLT, class CholmodSimplicialLLT
   */
 template<typename _MatrixType, int _UpLo, typename Derived>
-class CholmodBase : internal::noncopyable
+class CholmodBase : public SparseSolverBase<Derived>
 {
+  protected:
+    typedef SparseSolverBase<Derived> Base;
+    using Base::derived;
+    using Base::m_isInitialized;
   public:
     typedef _MatrixType MatrixType;
     enum { UpLo = _UpLo };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
     typedef MatrixType CholMatrixType;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
 
   public:
 
     CholmodBase()
-      : m_cholmodFactor(0), m_info(Success), m_isInitialized(false)
+      : m_cholmodFactor(0), m_info(Success), m_factorizationIsOk(false), m_analysisIsOk(false)
     {
-      m_shiftOffset[0] = m_shiftOffset[1] = RealScalar(0.0);
+      EIGEN_STATIC_ASSERT((internal::is_same<double,RealScalar>::value), CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY);
+      m_shiftOffset[0] = m_shiftOffset[1] = 0.0;
       cholmod_start(&m_cholmod);
     }
 
-    CholmodBase(const MatrixType& matrix)
-      : m_cholmodFactor(0), m_info(Success), m_isInitialized(false)
+    explicit CholmodBase(const MatrixType& matrix)
+      : m_cholmodFactor(0), m_info(Success), m_factorizationIsOk(false), m_analysisIsOk(false)
     {
-      m_shiftOffset[0] = m_shiftOffset[1] = RealScalar(0.0);
+      EIGEN_STATIC_ASSERT((internal::is_same<double,RealScalar>::value), CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY);
+      m_shiftOffset[0] = m_shiftOffset[1] = 0.0;
       cholmod_start(&m_cholmod);
       compute(matrix);
     }
@@ -191,11 +214,8 @@ class CholmodBase : internal::noncopyable
       cholmod_finish(&m_cholmod);
     }
     
-    inline Index cols() const { return m_cholmodFactor->n; }
-    inline Index rows() const { return m_cholmodFactor->n; }
-    
-    Derived& derived() { return *static_cast<Derived*>(this); }
-    const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    inline StorageIndex cols() const { return internal::convert_index<StorageIndex, Index>(m_cholmodFactor->n); }
+    inline StorageIndex rows() const { return internal::convert_index<StorageIndex, Index>(m_cholmodFactor->n); }
     
     /** \brief Reports whether previous computation was successful.
       *
@@ -216,34 +236,6 @@ class CholmodBase : internal::noncopyable
       return derived();
     }
     
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<CholmodBase, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "LLT is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "CholmodDecomposition::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<CholmodBase, Rhs>(*this, b.derived());
-    }
-    
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<CholmodBase, Rhs>
-    solve(const SparseMatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "LLT is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "CholmodDecomposition::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::sparse_solve_retval<CholmodBase, Rhs>(*this, b.derived());
-    }
-    
     /** Performs a symbolic decomposition on the sparsity pattern of \a matrix.
       *
       * This function is particularly useful when solving for several problems having the same structure.
@@ -277,7 +269,7 @@ class CholmodBase : internal::noncopyable
       eigen_assert(m_analysisIsOk && "You must first call analyzePattern()");
       cholmod_sparse A = viewAsCholmod(matrix.template selfadjointView<UpLo>());
       cholmod_factorize_p(&A, m_shiftOffset, 0, 0, m_cholmodFactor, &m_cholmod);
-      
+
       // If the factorization failed, minor is the column at which it did. On success minor == n.
       this->m_info = (m_cholmodFactor->minor == m_cholmodFactor->n ? Success : NumericalIssue);
       m_factorizationIsOk = true;
@@ -290,20 +282,22 @@ class CholmodBase : internal::noncopyable
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal */
     template<typename Rhs,typename Dest>
-    void _solve(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
     {
       eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
       const Index size = m_cholmodFactor->n;
       EIGEN_UNUSED_VARIABLE(size);
       eigen_assert(size==b.rows());
+      
+      // Cholmod needs column-major stoarge without inner-stride, which corresponds to the default behavior of Ref.
+      Ref<const Matrix<typename Rhs::Scalar,Dynamic,Dynamic,ColMajor> > b_ref(b.derived());
 
-      // note: cd stands for Cholmod Dense
-      Rhs& b_ref(b.const_cast_derived());
       cholmod_dense b_cd = viewAsCholmod(b_ref);
       cholmod_dense* x_cd = cholmod_solve(CHOLMOD_A, m_cholmodFactor, &b_cd, &m_cholmod);
       if(!x_cd)
       {
         this->m_info = NumericalIssue;
+        return;
       }
       // TODO optimize this copy by swapping when possible (be careful with alignment, etc.)
       dest = Matrix<Scalar,Dest::RowsAtCompileTime,Dest::ColsAtCompileTime>::Map(reinterpret_cast<Scalar*>(x_cd->x),b.rows(),b.cols());
@@ -311,8 +305,8 @@ class CholmodBase : internal::noncopyable
     }
     
     /** \internal */
-    template<typename RhsScalar, int RhsOptions, typename RhsIndex, typename DestScalar, int DestOptions, typename DestIndex>
-    void _solve(const SparseMatrix<RhsScalar,RhsOptions,RhsIndex> &b, SparseMatrix<DestScalar,DestOptions,DestIndex> &dest) const
+    template<typename RhsDerived, typename DestDerived>
+    void _solve_impl(const SparseMatrixBase<RhsDerived> &b, SparseMatrixBase<DestDerived> &dest) const
     {
       eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
       const Index size = m_cholmodFactor->n;
@@ -320,14 +314,16 @@ class CholmodBase : internal::noncopyable
       eigen_assert(size==b.rows());
 
       // note: cs stands for Cholmod Sparse
-      cholmod_sparse b_cs = viewAsCholmod(b);
+      Ref<SparseMatrix<typename RhsDerived::Scalar,ColMajor,typename RhsDerived::StorageIndex> > b_ref(b.const_cast_derived());
+      cholmod_sparse b_cs = viewAsCholmod(b_ref);
       cholmod_sparse* x_cs = cholmod_spsolve(CHOLMOD_A, m_cholmodFactor, &b_cs, &m_cholmod);
       if(!x_cs)
       {
         this->m_info = NumericalIssue;
+        return;
       }
       // TODO optimize this copy by swapping when possible (be careful with alignment, etc.)
-      dest = viewAsEigen<DestScalar,DestOptions,DestIndex>(*x_cs);
+      dest.derived() = viewAsEigen<typename DestDerived::Scalar,ColMajor,typename DestDerived::StorageIndex>(*x_cs);
       cholmod_free_sparse(&x_cs, &m_cholmod);
     }
     #endif // EIGEN_PARSED_BY_DOXYGEN
@@ -344,10 +340,61 @@ class CholmodBase : internal::noncopyable
       */
     Derived& setShift(const RealScalar& offset)
     {
-      m_shiftOffset[0] = offset;
+      m_shiftOffset[0] = double(offset);
       return derived();
     }
     
+    /** \returns the determinant of the underlying matrix from the current factorization */
+    Scalar determinant() const
+    {
+      using std::exp;
+      return exp(logDeterminant());
+    }
+
+    /** \returns the log determinant of the underlying matrix from the current factorization */
+    Scalar logDeterminant() const
+    {
+      using std::log;
+      using numext::real;
+      eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
+
+      RealScalar logDet = 0;
+      Scalar *x = static_cast<Scalar*>(m_cholmodFactor->x);
+      if (m_cholmodFactor->is_super)
+      {
+        // Supernodal factorization stored as a packed list of dense column-major blocs,
+        // as described by the following structure:
+
+        // super[k] == index of the first column of the j-th super node
+        StorageIndex *super = static_cast<StorageIndex*>(m_cholmodFactor->super);
+        // pi[k] == offset to the description of row indices
+        StorageIndex *pi = static_cast<StorageIndex*>(m_cholmodFactor->pi);
+        // px[k] == offset to the respective dense block
+        StorageIndex *px = static_cast<StorageIndex*>(m_cholmodFactor->px);
+
+        Index nb_super_nodes = m_cholmodFactor->nsuper;
+        for (Index k=0; k < nb_super_nodes; ++k)
+        {
+          StorageIndex ncols = super[k + 1] - super[k];
+          StorageIndex nrows = pi[k + 1] - pi[k];
+
+          Map<const Array<Scalar,1,Dynamic>, 0, InnerStride<> > sk(x + px[k], ncols, InnerStride<>(nrows+1));
+          logDet += sk.real().log().sum();
+        }
+      }
+      else
+      {
+        // Simplicial factorization stored as standard CSC matrix.
+        StorageIndex *p = static_cast<StorageIndex*>(m_cholmodFactor->p);
+        Index size = m_cholmodFactor->n;
+        for (Index k=0; k<size; ++k)
+          logDet += log(real( x[p[k]] ));
+      }
+      if (m_cholmodFactor->is_ll)
+        logDet *= 2.0;
+      return logDet;
+    };
+
     template<typename Stream>
     void dumpMemory(Stream& /*s*/)
     {}
@@ -355,9 +402,8 @@ class CholmodBase : internal::noncopyable
   protected:
     mutable cholmod_common m_cholmod;
     cholmod_factor* m_cholmodFactor;
-    RealScalar m_shiftOffset[2];
+    double m_shiftOffset[2];
     mutable ComputationInfo m_info;
-    bool m_isInitialized;
     int m_factorizationIsOk;
     int m_analysisIsOk;
 };
@@ -376,9 +422,13 @@ class CholmodBase : internal::noncopyable
   * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
   *               or Upper. Default is Lower.
   *
+  * \implsparsesolverconcept
+  *
   * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed.
   *
-  * \sa \ref TutorialSparseDirectSolvers, class CholmodSupernodalLLT, class SimplicialLLT
+  * \warning Only double precision real and complex scalar types are supported by Cholmod.
+  *
+  * \sa \ref TutorialSparseSolverConcept, class CholmodSupernodalLLT, class SimplicialLLT
   */
 template<typename _MatrixType, int _UpLo = Lower>
 class CholmodSimplicialLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLLT<_MatrixType, _UpLo> >
@@ -395,7 +445,7 @@ class CholmodSimplicialLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimpl
     CholmodSimplicialLLT(const MatrixType& matrix) : Base()
     {
       init();
-      compute(matrix);
+      this->compute(matrix);
     }
 
     ~CholmodSimplicialLLT() {}
@@ -423,9 +473,13 @@ class CholmodSimplicialLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimpl
   * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
   *               or Upper. Default is Lower.
   *
+  * \implsparsesolverconcept
+  *
   * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed.
   *
-  * \sa \ref TutorialSparseDirectSolvers, class CholmodSupernodalLLT, class SimplicialLDLT
+  * \warning Only double precision real and complex scalar types are supported by Cholmod.
+  *
+  * \sa \ref TutorialSparseSolverConcept, class CholmodSupernodalLLT, class SimplicialLDLT
   */
 template<typename _MatrixType, int _UpLo = Lower>
 class CholmodSimplicialLDLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimplicialLDLT<_MatrixType, _UpLo> >
@@ -442,7 +496,7 @@ class CholmodSimplicialLDLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimp
     CholmodSimplicialLDLT(const MatrixType& matrix) : Base()
     {
       init();
-      compute(matrix);
+      this->compute(matrix);
     }
 
     ~CholmodSimplicialLDLT() {}
@@ -468,9 +522,13 @@ class CholmodSimplicialLDLT : public CholmodBase<_MatrixType, _UpLo, CholmodSimp
   * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
   *               or Upper. Default is Lower.
   *
+  * \implsparsesolverconcept
+  *
   * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed.
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \warning Only double precision real and complex scalar types are supported by Cholmod.
+  *
+  * \sa \ref TutorialSparseSolverConcept
   */
 template<typename _MatrixType, int _UpLo = Lower>
 class CholmodSupernodalLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSupernodalLLT<_MatrixType, _UpLo> >
@@ -487,7 +545,7 @@ class CholmodSupernodalLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSuper
     CholmodSupernodalLLT(const MatrixType& matrix) : Base()
     {
       init();
-      compute(matrix);
+      this->compute(matrix);
     }
 
     ~CholmodSupernodalLLT() {}
@@ -515,9 +573,13 @@ class CholmodSupernodalLLT : public CholmodBase<_MatrixType, _UpLo, CholmodSuper
   * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
   *               or Upper. Default is Lower.
   *
+  * \implsparsesolverconcept
+  *
   * This class supports all kind of SparseMatrix<>: row or column major; upper, lower, or both; compressed or non compressed.
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \warning Only double precision real and complex scalar types are supported by Cholmod.
+  *
+  * \sa \ref TutorialSparseSolverConcept
   */
 template<typename _MatrixType, int _UpLo = Lower>
 class CholmodDecomposition : public CholmodBase<_MatrixType, _UpLo, CholmodDecomposition<_MatrixType, _UpLo> >
@@ -534,7 +596,7 @@ class CholmodDecomposition : public CholmodBase<_MatrixType, _UpLo, CholmodDecom
     CholmodDecomposition(const MatrixType& matrix) : Base()
     {
       init();
-      compute(matrix);
+      this->compute(matrix);
     }
 
     ~CholmodDecomposition() {}
@@ -572,36 +634,6 @@ class CholmodDecomposition : public CholmodBase<_MatrixType, _UpLo, CholmodDecom
     }
 };
 
-namespace internal {
-  
-template<typename _MatrixType, int _UpLo, typename Derived, typename Rhs>
-struct solve_retval<CholmodBase<_MatrixType,_UpLo,Derived>, Rhs>
-  : solve_retval_base<CholmodBase<_MatrixType,_UpLo,Derived>, Rhs>
-{
-  typedef CholmodBase<_MatrixType,_UpLo,Derived> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-template<typename _MatrixType, int _UpLo, typename Derived, typename Rhs>
-struct sparse_solve_retval<CholmodBase<_MatrixType,_UpLo,Derived>, Rhs>
-  : sparse_solve_retval_base<CholmodBase<_MatrixType,_UpLo,Derived>, Rhs>
-{
-  typedef CholmodBase<_MatrixType,_UpLo,Derived> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_CHOLMODSUPPORT_H
diff --git a/eigenlib/Eigen/src/Core/Array.h b/eigenlib/Eigen/src/Core/Array.h
index 0ab03eff..0d34269f 100644
--- a/eigenlib/Eigen/src/Core/Array.h
+++ b/eigenlib/Eigen/src/Core/Array.h
@@ -12,7 +12,16 @@
 
 namespace Eigen {
 
-/** \class Array 
+namespace internal {
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct traits<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > : traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+  typedef ArrayXpr XprKind;
+  typedef ArrayBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > XprBase;
+};
+}
+
+/** \class Array
   * \ingroup Core_Module
   *
   * \brief General-purpose arrays with easy API for coefficient-wise operations
@@ -24,20 +33,14 @@ namespace Eigen {
   * API for the %Matrix class provides easy access to linear-algebra
   * operations.
   *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_ARRAY_PLUGIN.
+  * See documentation of class Matrix for detailed information on the template parameters
+  * storage layout.
   *
-  * \sa \ref TutorialArrayClass, \ref TopicClassHierarchy
+  * This class can be extended with the help of the plugin mechanism described on the page
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_ARRAY_PLUGIN.
+  *
+  * \sa \blank \ref TutorialArrayClass, \ref TopicClassHierarchy
   */
-namespace internal {
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct traits<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > : traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-{
-  typedef ArrayXpr XprKind;
-  typedef ArrayBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > XprBase;
-};
-}
-
 template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
 class Array
   : public PlainObjectBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
@@ -69,11 +72,27 @@ class Array
       * the usage of 'using'. This should be done only for operator=.
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array& operator=(const EigenBase<OtherDerived> &other)
     {
       return Base::operator=(other);
     }
 
+    /** Set all the entries to \a value.
+      * \sa DenseBase::setConstant(), DenseBase::fill()
+      */
+    /* This overload is needed because the usage of
+      *   using Base::operator=;
+      * fails on MSVC. Since the code below is working with GCC and MSVC, we skipped
+      * the usage of 'using'. This should be done only for operator=.
+      */
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE Array& operator=(const Scalar &value)
+    {
+      Base::setConstant(value);
+      return *this;
+    }
+
     /** Copies the value of the expression \a other into \c *this with automatic resizing.
       *
       * *this might be resized to match the dimensions of \a other. If *this was a null matrix (not already initialized),
@@ -84,7 +103,8 @@ class Array
       * remain row-vectors and vectors remain vectors.
       */
     template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Array& operator=(const ArrayBase<OtherDerived>& other)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE Array& operator=(const DenseBase<OtherDerived>& other)
     {
       return Base::_set(other);
     }
@@ -92,11 +112,12 @@ class Array
     /** This is a special case of the templated operator=. Its purpose is to
       * prevent a default operator= from hiding the templated operator=.
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array& operator=(const Array& other)
     {
       return Base::_set(other);
     }
-
+    
     /** Default constructor.
       *
       * For fixed-size matrices, does nothing.
@@ -107,6 +128,7 @@ class Array
       *
       * \sa resize(Index,Index)
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array() : Base()
     {
       Base::_check_template_params();
@@ -116,6 +138,7 @@ class Array
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     // FIXME is it still needed ??
     /** \internal */
+    EIGEN_DEVICE_FUNC
     Array(internal::constructor_without_unaligned_array_assert)
       : Base(internal::constructor_without_unaligned_array_assert())
     {
@@ -124,41 +147,64 @@ class Array
     }
 #endif
 
-    /** Constructs a vector or row-vector with given dimension. \only_for_vectors
-      *
-      * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
-      * it is redundant to pass the dimension here, so it makes more sense to use the default
-      * constructor Matrix() instead.
-      */
-    EIGEN_STRONG_INLINE explicit Array(Index dim)
-      : Base(dim, RowsAtCompileTime == 1 ? 1 : dim, ColsAtCompileTime == 1 ? 1 : dim)
+#if EIGEN_HAS_RVALUE_REFERENCES
+    EIGEN_DEVICE_FUNC
+    Array(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
+      : Base(std::move(other))
     {
       Base::_check_template_params();
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Array)
-      eigen_assert(dim >= 0);
-      eigen_assert(SizeAtCompileTime == Dynamic || SizeAtCompileTime == dim);
-      EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+      if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic)
+        Base::_set_noalias(other);
     }
+    EIGEN_DEVICE_FUNC
+    Array& operator=(Array&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
+    {
+      other.swap(*this);
+      return *this;
+    }
+#endif
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE explicit Array(const T& x)
+    {
+      Base::_check_template_params();
+      Base::template _init1<T>(x);
+    }
+
     template<typename T0, typename T1>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array(const T0& val0, const T1& val1)
     {
       Base::_check_template_params();
       this->template _init2<T0,T1>(val0, val1);
     }
     #else
-    /** constructs an uninitialized matrix with \a rows rows and \a cols columns.
+    /** \brief Constructs a fixed-sized array initialized with coefficients starting at \a data */
+    EIGEN_DEVICE_FUNC explicit Array(const Scalar *data);
+    /** Constructs a vector or row-vector with given dimension. \only_for_vectors
       *
-      * This is useful for dynamic-size matrices. For fixed-size matrices,
+      * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
+      * it is redundant to pass the dimension here, so it makes more sense to use the default
+      * constructor Array() instead.
+      */
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE explicit Array(Index dim);
+    /** constructs an initialized 1x1 Array with the given coefficient */
+    Array(const Scalar& value);
+    /** constructs an uninitialized array with \a rows rows and \a cols columns.
+      *
+      * This is useful for dynamic-size arrays. For fixed-size arrays,
       * it is redundant to pass these parameters, so one should use the default constructor
-      * Matrix() instead. */
+      * Array() instead. */
     Array(Index rows, Index cols);
     /** constructs an initialized 2D vector with given coefficients */
     Array(const Scalar& val0, const Scalar& val1);
     #endif
 
     /** constructs an initialized 3D vector with given coefficients */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2)
     {
       Base::_check_template_params();
@@ -168,6 +214,7 @@ class Array
       m_storage.data()[2] = val2;
     }
     /** constructs an initialized 4D vector with given coefficients */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array(const Scalar& val0, const Scalar& val1, const Scalar& val2, const Scalar& val3)
     {
       Base::_check_template_params();
@@ -178,51 +225,21 @@ class Array
       m_storage.data()[3] = val3;
     }
 
-    explicit Array(const Scalar *data);
-
-    /** Constructor copying the value of the expression \a other */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Array(const ArrayBase<OtherDerived>& other)
-             : Base(other.rows() * other.cols(), other.rows(), other.cols())
-    {
-      Base::_check_template_params();
-      Base::_set_noalias(other);
-    }
     /** Copy constructor */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array(const Array& other)
-            : Base(other.rows() * other.cols(), other.rows(), other.cols())
-    {
-      Base::_check_template_params();
-      Base::_set_noalias(other);
-    }
-    /** Copy constructor with in-place evaluation */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Array(const ReturnByValue<OtherDerived>& other)
-    {
-      Base::_check_template_params();
-      Base::resize(other.rows(), other.cols());
-      other.evalTo(*this);
-    }
+            : Base(other)
+    { }
 
     /** \sa MatrixBase::operator=(const EigenBase<OtherDerived>&) */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Array(const EigenBase<OtherDerived> &other)
-      : Base(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
-    {
-      Base::_check_template_params();
-      Base::_resize_to_match(other);
-      *this = other;
-    }
+      : Base(other.derived())
+    { }
 
-    /** Override MatrixBase::swap() since for dynamic-sized matrices of same type it is enough to swap the
-      * data pointers.
-      */
-    template<typename OtherDerived>
-    void swap(ArrayBase<OtherDerived> const & other)
-    { this->_swap(other.derived()); }
-
-    inline Index innerStride() const { return 1; }
-    inline Index outerStride() const { return this->innerSize(); }
+    EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; }
+    EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); }
 
     #ifdef EIGEN_ARRAY_PLUGIN
     #include EIGEN_ARRAY_PLUGIN
diff --git a/eigenlib/Eigen/src/Core/ArrayBase.h b/eigenlib/Eigen/src/Core/ArrayBase.h
index 38852600..f0232f65 100644
--- a/eigenlib/Eigen/src/Core/ArrayBase.h
+++ b/eigenlib/Eigen/src/Core/ArrayBase.h
@@ -32,7 +32,7 @@ template<typename ExpressionType> class MatrixWrapper;
   * \tparam Derived is the derived type, e.g., an array or an expression type.
   *
   * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_ARRAYBASE_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_ARRAYBASE_PLUGIN.
   *
   * \sa class MatrixBase, \ref TopicClassHierarchy
   */
@@ -46,11 +46,7 @@ template<typename Derived> class ArrayBase
 
     typedef ArrayBase Eigen_BaseClassForSpecializationOfGlobalMathFuncImpl;
 
-    using internal::special_scalar_op_base<Derived,typename internal::traits<Derived>::Scalar,
-                typename NumTraits<typename internal::traits<Derived>::Scalar>::Real>::operator*;
-
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
@@ -64,8 +60,7 @@ template<typename Derived> class ArrayBase
     using Base::MaxSizeAtCompileTime;
     using Base::IsVectorAtCompileTime;
     using Base::Flags;
-    using Base::CoeffReadCost;
-
+    
     using Base::derived;
     using Base::const_cast_derived;
     using Base::rows;
@@ -85,25 +80,14 @@ template<typename Derived> class ArrayBase
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** \internal the plain matrix type corresponding to this expression. Note that is not necessarily
-      * exactly the return type of eval(): in the case of plain matrices, the return type of eval() is a const
-      * reference to a matrix, not a matrix! It is however guaranteed that the return type of eval() is either
-      * PlainObject or const PlainObject&.
-      */
-    typedef Array<typename internal::traits<Derived>::Scalar,
-                internal::traits<Derived>::RowsAtCompileTime,
-                internal::traits<Derived>::ColsAtCompileTime,
-                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
-                internal::traits<Derived>::MaxRowsAtCompileTime,
-                internal::traits<Derived>::MaxColsAtCompileTime
-          > PlainObject;
-
+    typedef typename Base::PlainObject PlainObject;
 
     /** \internal Represents a matrix with all coefficients equal to one another*/
-    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,PlainObject> ConstantReturnType;
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 
 #define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::ArrayBase
+#define EIGEN_DOC_UNARY_ADDONS(X,Y)
 #   include "../plugins/CommonCwiseUnaryOps.h"
 #   include "../plugins/MatrixCwiseUnaryOps.h"
 #   include "../plugins/ArrayCwiseUnaryOps.h"
@@ -114,44 +98,62 @@ template<typename Derived> class ArrayBase
 #     include EIGEN_ARRAYBASE_PLUGIN
 #   endif
 #undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+#undef EIGEN_DOC_UNARY_ADDONS
 
     /** Special case of the template operator=, in order to prevent the compiler
       * from generating a default operator= (issue hit with g++ 4.1)
       */
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator=(const ArrayBase& other)
     {
-      return internal::assign_selector<Derived,Derived>::run(derived(), other.derived());
+      internal::call_assignment(derived(), other.derived());
+      return derived();
     }
+    
+    /** Set all the entries to \a value.
+      * \sa DenseBase::setConstant(), DenseBase::fill() */
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Derived& operator=(const Scalar &value)
+    { Base::setConstant(value); return derived(); }
 
-    Derived& operator+=(const Scalar& scalar)
-    { return *this = derived() + scalar; }
-    Derived& operator-=(const Scalar& scalar)
-    { return *this = derived() - scalar; }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Derived& operator+=(const Scalar& scalar);
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Derived& operator-=(const Scalar& scalar);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator+=(const ArrayBase<OtherDerived>& other);
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator-=(const ArrayBase<OtherDerived>& other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator*=(const ArrayBase<OtherDerived>& other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator/=(const ArrayBase<OtherDerived>& other);
 
   public:
+    EIGEN_DEVICE_FUNC
     ArrayBase<Derived>& array() { return *this; }
+    EIGEN_DEVICE_FUNC
     const ArrayBase<Derived>& array() const { return *this; }
 
     /** \returns an \link Eigen::MatrixBase Matrix \endlink expression of this array
       * \sa MatrixBase::array() */
-    MatrixWrapper<Derived> matrix() { return derived(); }
-    const MatrixWrapper<const Derived> matrix() const { return derived(); }
+    EIGEN_DEVICE_FUNC
+    MatrixWrapper<Derived> matrix() { return MatrixWrapper<Derived>(derived()); }
+    EIGEN_DEVICE_FUNC
+    const MatrixWrapper<const Derived> matrix() const { return MatrixWrapper<const Derived>(derived()); }
 
 //     template<typename Dest>
 //     inline void evalTo(Dest& dst) const { dst = matrix(); }
 
   protected:
+    EIGEN_DEVICE_FUNC
     ArrayBase() : Base() {}
 
   private:
@@ -176,8 +178,7 @@ template<typename OtherDerived>
 EIGEN_STRONG_INLINE Derived &
 ArrayBase<Derived>::operator-=(const ArrayBase<OtherDerived> &other)
 {
-  SelfCwiseBinaryOp<internal::scalar_difference_op<Scalar>, Derived, OtherDerived> tmp(derived());
-  tmp = other.derived();
+  call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
@@ -190,8 +191,7 @@ template<typename OtherDerived>
 EIGEN_STRONG_INLINE Derived &
 ArrayBase<Derived>::operator+=(const ArrayBase<OtherDerived>& other)
 {
-  SelfCwiseBinaryOp<internal::scalar_sum_op<Scalar>, Derived, OtherDerived> tmp(derived());
-  tmp = other.derived();
+  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
@@ -204,8 +204,7 @@ template<typename OtherDerived>
 EIGEN_STRONG_INLINE Derived &
 ArrayBase<Derived>::operator*=(const ArrayBase<OtherDerived>& other)
 {
-  SelfCwiseBinaryOp<internal::scalar_product_op<Scalar>, Derived, OtherDerived> tmp(derived());
-  tmp = other.derived();
+  call_assignment(derived(), other.derived(), internal::mul_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
@@ -218,8 +217,7 @@ template<typename OtherDerived>
 EIGEN_STRONG_INLINE Derived &
 ArrayBase<Derived>::operator/=(const ArrayBase<OtherDerived>& other)
 {
-  SelfCwiseBinaryOp<internal::scalar_quotient_op<Scalar>, Derived, OtherDerived> tmp(derived());
-  tmp = other.derived();
+  call_assignment(derived(), other.derived(), internal::div_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
diff --git a/eigenlib/Eigen/src/Core/ArrayWrapper.h b/eigenlib/Eigen/src/Core/ArrayWrapper.h
index b4641e2a..a04521a1 100644
--- a/eigenlib/Eigen/src/Core/ArrayWrapper.h
+++ b/eigenlib/Eigen/src/Core/ArrayWrapper.h
@@ -44,6 +44,7 @@ class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> >
     typedef ArrayBase<ArrayWrapper> Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(ArrayWrapper)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(ArrayWrapper)
+    typedef typename internal::remove_all<ExpressionType>::type NestedExpression;
 
     typedef typename internal::conditional<
                        internal::is_lvalue<ExpressionType>::value,
@@ -51,76 +52,45 @@ class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> >
                        const Scalar
                      >::type ScalarWithConstIfNotLvalue;
 
-    typedef typename internal::nested<ExpressionType>::type NestedExpressionType;
+    typedef typename internal::ref_selector<ExpressionType>::non_const_type NestedExpressionType;
 
-    inline ArrayWrapper(ExpressionType& matrix) : m_expression(matrix) {}
+    using Base::coeffRef;
 
+    EIGEN_DEVICE_FUNC
+    explicit EIGEN_STRONG_INLINE ArrayWrapper(ExpressionType& matrix) : m_expression(matrix) {}
+
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return m_expression.rows(); }
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return m_expression.cols(); }
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const { return m_expression.outerStride(); }
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const { return m_expression.innerStride(); }
 
-    inline ScalarWithConstIfNotLvalue* data() { return m_expression.const_cast_derived().data(); }
+    EIGEN_DEVICE_FUNC
+    inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
+    EIGEN_DEVICE_FUNC
     inline const Scalar* data() const { return m_expression.data(); }
 
-    inline CoeffReturnType coeff(Index rowId, Index colId) const
-    {
-      return m_expression.coeff(rowId, colId);
-    }
-
-    inline Scalar& coeffRef(Index rowId, Index colId)
-    {
-      return m_expression.const_cast_derived().coeffRef(rowId, colId);
-    }
-
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index rowId, Index colId) const
     {
-      return m_expression.const_cast_derived().coeffRef(rowId, colId);
-    }
-
-    inline CoeffReturnType coeff(Index index) const
-    {
-      return m_expression.coeff(index);
-    }
-
-    inline Scalar& coeffRef(Index index)
-    {
-      return m_expression.const_cast_derived().coeffRef(index);
+      return m_expression.coeffRef(rowId, colId);
     }
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index index) const
     {
-      return m_expression.const_cast_derived().coeffRef(index);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index rowId, Index colId) const
-    {
-      return m_expression.template packet<LoadMode>(rowId, colId);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index rowId, Index colId, const PacketScalar& val)
-    {
-      m_expression.const_cast_derived().template writePacket<LoadMode>(rowId, colId, val);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index index) const
-    {
-      return m_expression.template packet<LoadMode>(index);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index index, const PacketScalar& val)
-    {
-      m_expression.const_cast_derived().template writePacket<LoadMode>(index, val);
+      return m_expression.coeffRef(index);
     }
 
     template<typename Dest>
+    EIGEN_DEVICE_FUNC
     inline void evalTo(Dest& dst) const { dst = m_expression; }
 
     const typename internal::remove_all<NestedExpressionType>::type& 
+    EIGEN_DEVICE_FUNC
     nestedExpression() const 
     {
       return m_expression;
@@ -128,10 +98,12 @@ class ArrayWrapper : public ArrayBase<ArrayWrapper<ExpressionType> >
 
     /** Forwards the resizing request to the nested expression
       * \sa DenseBase::resize(Index)  */
-    void resize(Index newSize) { m_expression.const_cast_derived().resize(newSize); }
+    EIGEN_DEVICE_FUNC
+    void resize(Index newSize) { m_expression.resize(newSize); }
     /** Forwards the resizing request to the nested expression
       * \sa DenseBase::resize(Index,Index)*/
-    void resize(Index nbRows, Index nbCols) { m_expression.const_cast_derived().resize(nbRows,nbCols); }
+    EIGEN_DEVICE_FUNC
+    void resize(Index rows, Index cols) { m_expression.resize(rows,cols); }
 
   protected:
     NestedExpressionType m_expression;
@@ -169,6 +141,7 @@ class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> >
     typedef MatrixBase<MatrixWrapper<ExpressionType> > Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(MatrixWrapper)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(MatrixWrapper)
+    typedef typename internal::remove_all<ExpressionType>::type NestedExpression;
 
     typedef typename internal::conditional<
                        internal::is_lvalue<ExpressionType>::value,
@@ -176,72 +149,40 @@ class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> >
                        const Scalar
                      >::type ScalarWithConstIfNotLvalue;
 
-    typedef typename internal::nested<ExpressionType>::type NestedExpressionType;
+    typedef typename internal::ref_selector<ExpressionType>::non_const_type NestedExpressionType;
 
-    inline MatrixWrapper(ExpressionType& a_matrix) : m_expression(a_matrix) {}
+    using Base::coeffRef;
 
+    EIGEN_DEVICE_FUNC
+    explicit inline MatrixWrapper(ExpressionType& matrix) : m_expression(matrix) {}
+
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return m_expression.rows(); }
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return m_expression.cols(); }
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const { return m_expression.outerStride(); }
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const { return m_expression.innerStride(); }
 
-    inline ScalarWithConstIfNotLvalue* data() { return m_expression.const_cast_derived().data(); }
+    EIGEN_DEVICE_FUNC
+    inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
+    EIGEN_DEVICE_FUNC
     inline const Scalar* data() const { return m_expression.data(); }
 
-    inline CoeffReturnType coeff(Index rowId, Index colId) const
-    {
-      return m_expression.coeff(rowId, colId);
-    }
-
-    inline Scalar& coeffRef(Index rowId, Index colId)
-    {
-      return m_expression.const_cast_derived().coeffRef(rowId, colId);
-    }
-
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index rowId, Index colId) const
     {
       return m_expression.derived().coeffRef(rowId, colId);
     }
 
-    inline CoeffReturnType coeff(Index index) const
-    {
-      return m_expression.coeff(index);
-    }
-
-    inline Scalar& coeffRef(Index index)
-    {
-      return m_expression.const_cast_derived().coeffRef(index);
-    }
-
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index index) const
     {
-      return m_expression.const_cast_derived().coeffRef(index);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index rowId, Index colId) const
-    {
-      return m_expression.template packet<LoadMode>(rowId, colId);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index rowId, Index colId, const PacketScalar& val)
-    {
-      m_expression.const_cast_derived().template writePacket<LoadMode>(rowId, colId, val);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index index) const
-    {
-      return m_expression.template packet<LoadMode>(index);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index index, const PacketScalar& val)
-    {
-      m_expression.const_cast_derived().template writePacket<LoadMode>(index, val);
+      return m_expression.coeffRef(index);
     }
 
+    EIGEN_DEVICE_FUNC
     const typename internal::remove_all<NestedExpressionType>::type& 
     nestedExpression() const 
     {
@@ -250,10 +191,12 @@ class MatrixWrapper : public MatrixBase<MatrixWrapper<ExpressionType> >
 
     /** Forwards the resizing request to the nested expression
       * \sa DenseBase::resize(Index)  */
-    void resize(Index newSize) { m_expression.const_cast_derived().resize(newSize); }
+    EIGEN_DEVICE_FUNC
+    void resize(Index newSize) { m_expression.resize(newSize); }
     /** Forwards the resizing request to the nested expression
       * \sa DenseBase::resize(Index,Index)*/
-    void resize(Index nbRows, Index nbCols) { m_expression.const_cast_derived().resize(nbRows,nbCols); }
+    EIGEN_DEVICE_FUNC
+    void resize(Index rows, Index cols) { m_expression.resize(rows,cols); }
 
   protected:
     NestedExpressionType m_expression;
diff --git a/eigenlib/Eigen/src/Core/Assign.h b/eigenlib/Eigen/src/Core/Assign.h
index bcfc261e..53806ba3 100644
--- a/eigenlib/Eigen/src/Core/Assign.h
+++ b/eigenlib/Eigen/src/Core/Assign.h
@@ -14,478 +14,6 @@
 
 namespace Eigen {
 
-namespace internal {
-
-/***************************************************************************
-* Part 1 : the logic deciding a strategy for traversal and unrolling       *
-***************************************************************************/
-
-template <typename Derived, typename OtherDerived>
-struct assign_traits
-{
-public:
-  enum {
-    DstIsAligned = Derived::Flags & AlignedBit,
-    DstHasDirectAccess = Derived::Flags & DirectAccessBit,
-    SrcIsAligned = OtherDerived::Flags & AlignedBit,
-    JointAlignment = bool(DstIsAligned) && bool(SrcIsAligned) ? Aligned : Unaligned
-  };
-
-private:
-  enum {
-    InnerSize = int(Derived::IsVectorAtCompileTime) ? int(Derived::SizeAtCompileTime)
-              : int(Derived::Flags)&RowMajorBit ? int(Derived::ColsAtCompileTime)
-              : int(Derived::RowsAtCompileTime),
-    InnerMaxSize = int(Derived::IsVectorAtCompileTime) ? int(Derived::MaxSizeAtCompileTime)
-              : int(Derived::Flags)&RowMajorBit ? int(Derived::MaxColsAtCompileTime)
-              : int(Derived::MaxRowsAtCompileTime),
-    MaxSizeAtCompileTime = Derived::SizeAtCompileTime,
-    PacketSize = packet_traits<typename Derived::Scalar>::size
-  };
-
-  enum {
-    StorageOrdersAgree = (int(Derived::IsRowMajor) == int(OtherDerived::IsRowMajor)),
-    MightVectorize = StorageOrdersAgree
-                  && (int(Derived::Flags) & int(OtherDerived::Flags) & ActualPacketAccessBit),
-    MayInnerVectorize  = MightVectorize && int(InnerSize)!=Dynamic && int(InnerSize)%int(PacketSize)==0
-                       && int(DstIsAligned) && int(SrcIsAligned),
-    MayLinearize = StorageOrdersAgree && (int(Derived::Flags) & int(OtherDerived::Flags) & LinearAccessBit),
-    MayLinearVectorize = MightVectorize && MayLinearize && DstHasDirectAccess
-                       && (DstIsAligned || MaxSizeAtCompileTime == Dynamic),
-      /* If the destination isn't aligned, we have to do runtime checks and we don't unroll,
-         so it's only good for large enough sizes. */
-    MaySliceVectorize  = MightVectorize && DstHasDirectAccess
-                       && (int(InnerMaxSize)==Dynamic || int(InnerMaxSize)>=3*PacketSize)
-      /* slice vectorization can be slow, so we only want it if the slices are big, which is
-         indicated by InnerMaxSize rather than InnerSize, think of the case of a dynamic block
-         in a fixed-size matrix */
-  };
-
-public:
-  enum {
-    Traversal = int(MayInnerVectorize)  ? int(InnerVectorizedTraversal)
-              : int(MayLinearVectorize) ? int(LinearVectorizedTraversal)
-              : int(MaySliceVectorize)  ? int(SliceVectorizedTraversal)
-              : int(MayLinearize)       ? int(LinearTraversal)
-                                        : int(DefaultTraversal),
-    Vectorized = int(Traversal) == InnerVectorizedTraversal
-              || int(Traversal) == LinearVectorizedTraversal
-              || int(Traversal) == SliceVectorizedTraversal
-  };
-
-private:
-  enum {
-    UnrollingLimit      = EIGEN_UNROLLING_LIMIT * (Vectorized ? int(PacketSize) : 1),
-    MayUnrollCompletely = int(Derived::SizeAtCompileTime) != Dynamic
-                       && int(OtherDerived::CoeffReadCost) != Dynamic
-                       && int(Derived::SizeAtCompileTime) * int(OtherDerived::CoeffReadCost) <= int(UnrollingLimit),
-    MayUnrollInner      = int(InnerSize) != Dynamic
-                       && int(OtherDerived::CoeffReadCost) != Dynamic
-                       && int(InnerSize) * int(OtherDerived::CoeffReadCost) <= int(UnrollingLimit)
-  };
-
-public:
-  enum {
-    Unrolling = (int(Traversal) == int(InnerVectorizedTraversal) || int(Traversal) == int(DefaultTraversal))
-                ? (
-                    int(MayUnrollCompletely) ? int(CompleteUnrolling)
-                  : int(MayUnrollInner)      ? int(InnerUnrolling)
-                                             : int(NoUnrolling)
-                  )
-              : int(Traversal) == int(LinearVectorizedTraversal)
-                ? ( bool(MayUnrollCompletely) && bool(DstIsAligned) ? int(CompleteUnrolling) : int(NoUnrolling) )
-              : int(Traversal) == int(LinearTraversal)
-                ? ( bool(MayUnrollCompletely) ? int(CompleteUnrolling) : int(NoUnrolling) )
-              : int(NoUnrolling)
-  };
-
-#ifdef EIGEN_DEBUG_ASSIGN
-  static void debug()
-  {
-    EIGEN_DEBUG_VAR(DstIsAligned)
-    EIGEN_DEBUG_VAR(SrcIsAligned)
-    EIGEN_DEBUG_VAR(JointAlignment)
-    EIGEN_DEBUG_VAR(InnerSize)
-    EIGEN_DEBUG_VAR(InnerMaxSize)
-    EIGEN_DEBUG_VAR(PacketSize)
-    EIGEN_DEBUG_VAR(StorageOrdersAgree)
-    EIGEN_DEBUG_VAR(MightVectorize)
-    EIGEN_DEBUG_VAR(MayLinearize)
-    EIGEN_DEBUG_VAR(MayInnerVectorize)
-    EIGEN_DEBUG_VAR(MayLinearVectorize)
-    EIGEN_DEBUG_VAR(MaySliceVectorize)
-    EIGEN_DEBUG_VAR(Traversal)
-    EIGEN_DEBUG_VAR(UnrollingLimit)
-    EIGEN_DEBUG_VAR(MayUnrollCompletely)
-    EIGEN_DEBUG_VAR(MayUnrollInner)
-    EIGEN_DEBUG_VAR(Unrolling)
-  }
-#endif
-};
-
-/***************************************************************************
-* Part 2 : meta-unrollers
-***************************************************************************/
-
-/************************
-*** Default traversal ***
-************************/
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct assign_DefaultTraversal_CompleteUnrolling
-{
-  enum {
-    outer = Index / Derived1::InnerSizeAtCompileTime,
-    inner = Index % Derived1::InnerSizeAtCompileTime
-  };
-
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    dst.copyCoeffByOuterInner(outer, inner, src);
-    assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &) {}
-};
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct assign_DefaultTraversal_InnerUnrolling
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src, typename Derived1::Index outer)
-  {
-    dst.copyCoeffByOuterInner(outer, Index, src);
-    assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src, outer);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &, typename Derived1::Index) {}
-};
-
-/***********************
-*** Linear traversal ***
-***********************/
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct assign_LinearTraversal_CompleteUnrolling
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    dst.copyCoeff(Index, src);
-    assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, Index+1, Stop>::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &) {}
-};
-
-/**************************
-*** Inner vectorization ***
-**************************/
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct assign_innervec_CompleteUnrolling
-{
-  enum {
-    outer = Index / Derived1::InnerSizeAtCompileTime,
-    inner = Index % Derived1::InnerSizeAtCompileTime,
-    JointAlignment = assign_traits<Derived1,Derived2>::JointAlignment
-  };
-
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    dst.template copyPacketByOuterInner<Derived2, Aligned, JointAlignment>(outer, inner, src);
-    assign_innervec_CompleteUnrolling<Derived1, Derived2,
-      Index+packet_traits<typename Derived1::Scalar>::size, Stop>::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct assign_innervec_CompleteUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &) {}
-};
-
-template<typename Derived1, typename Derived2, int Index, int Stop>
-struct assign_innervec_InnerUnrolling
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src, typename Derived1::Index outer)
-  {
-    dst.template copyPacketByOuterInner<Derived2, Aligned, Aligned>(outer, Index, src);
-    assign_innervec_InnerUnrolling<Derived1, Derived2,
-      Index+packet_traits<typename Derived1::Scalar>::size, Stop>::run(dst, src, outer);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Stop>
-struct assign_innervec_InnerUnrolling<Derived1, Derived2, Stop, Stop>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &, const Derived2 &, typename Derived1::Index) {}
-};
-
-/***************************************************************************
-* Part 3 : implementation of all cases
-***************************************************************************/
-
-template<typename Derived1, typename Derived2,
-         int Traversal = assign_traits<Derived1, Derived2>::Traversal,
-         int Unrolling = assign_traits<Derived1, Derived2>::Unrolling,
-         int Version = Specialized>
-struct assign_impl;
-
-/************************
-*** Default traversal ***
-************************/
-
-template<typename Derived1, typename Derived2, int Unrolling, int Version>
-struct assign_impl<Derived1, Derived2, InvalidTraversal, Unrolling, Version>
-{
-  static inline void run(Derived1 &, const Derived2 &) { }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, DefaultTraversal, NoUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    const Index innerSize = dst.innerSize();
-    const Index outerSize = dst.outerSize();
-    for(Index outer = 0; outer < outerSize; ++outer)
-      for(Index inner = 0; inner < innerSize; ++inner)
-        dst.copyCoeffByOuterInner(outer, inner, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, DefaultTraversal, CompleteUnrolling, Version>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
-      ::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, DefaultTraversal, InnerUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    const Index outerSize = dst.outerSize();
-    for(Index outer = 0; outer < outerSize; ++outer)
-      assign_DefaultTraversal_InnerUnrolling<Derived1, Derived2, 0, Derived1::InnerSizeAtCompileTime>
-        ::run(dst, src, outer);
-  }
-};
-
-/***********************
-*** Linear traversal ***
-***********************/
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, LinearTraversal, NoUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    const Index size = dst.size();
-    for(Index i = 0; i < size; ++i)
-      dst.copyCoeff(i, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, LinearTraversal, CompleteUnrolling, Version>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    assign_LinearTraversal_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
-      ::run(dst, src);
-  }
-};
-
-/**************************
-*** Inner vectorization ***
-**************************/
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, NoUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    const Index innerSize = dst.innerSize();
-    const Index outerSize = dst.outerSize();
-    const Index packetSize = packet_traits<typename Derived1::Scalar>::size;
-    for(Index outer = 0; outer < outerSize; ++outer)
-      for(Index inner = 0; inner < innerSize; inner+=packetSize)
-        dst.template copyPacketByOuterInner<Derived2, Aligned, Aligned>(outer, inner, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, CompleteUnrolling, Version>
-{
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    assign_innervec_CompleteUnrolling<Derived1, Derived2, 0, Derived1::SizeAtCompileTime>
-      ::run(dst, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, InnerVectorizedTraversal, InnerUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    const Index outerSize = dst.outerSize();
-    for(Index outer = 0; outer < outerSize; ++outer)
-      assign_innervec_InnerUnrolling<Derived1, Derived2, 0, Derived1::InnerSizeAtCompileTime>
-        ::run(dst, src, outer);
-  }
-};
-
-/***************************
-*** Linear vectorization ***
-***************************/
-
-template <bool IsAligned = false>
-struct unaligned_assign_impl
-{
-  template <typename Derived, typename OtherDerived>
-  static EIGEN_STRONG_INLINE void run(const Derived&, OtherDerived&, typename Derived::Index, typename Derived::Index) {}
-};
-
-template <>
-struct unaligned_assign_impl<false>
-{
-  // MSVC must not inline this functions. If it does, it fails to optimize the
-  // packet access path.
-#ifdef _MSC_VER
-  template <typename Derived, typename OtherDerived>
-  static EIGEN_DONT_INLINE void run(const Derived& src, OtherDerived& dst, typename Derived::Index start, typename Derived::Index end)
-#else
-  template <typename Derived, typename OtherDerived>
-  static EIGEN_STRONG_INLINE void run(const Derived& src, OtherDerived& dst, typename Derived::Index start, typename Derived::Index end)
-#endif
-  {
-    for (typename Derived::Index index = start; index < end; ++index)
-      dst.copyCoeff(index, src);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, LinearVectorizedTraversal, NoUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    const Index size = dst.size();
-    typedef packet_traits<typename Derived1::Scalar> PacketTraits;
-    enum {
-      packetSize = PacketTraits::size,
-      dstAlignment = PacketTraits::AlignedOnScalar ? Aligned : int(assign_traits<Derived1,Derived2>::DstIsAligned) ,
-      srcAlignment = assign_traits<Derived1,Derived2>::JointAlignment
-    };
-    const Index alignedStart = assign_traits<Derived1,Derived2>::DstIsAligned ? 0
-                             : internal::first_aligned(&dst.coeffRef(0), size);
-    const Index alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize;
-
-    unaligned_assign_impl<assign_traits<Derived1,Derived2>::DstIsAligned!=0>::run(src,dst,0,alignedStart);
-
-    for(Index index = alignedStart; index < alignedEnd; index += packetSize)
-    {
-      dst.template copyPacket<Derived2, dstAlignment, srcAlignment>(index, src);
-    }
-
-    unaligned_assign_impl<>::run(src,dst,alignedEnd,size);
-  }
-};
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, LinearVectorizedTraversal, CompleteUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static EIGEN_STRONG_INLINE void run(Derived1 &dst, const Derived2 &src)
-  {
-    enum { size = Derived1::SizeAtCompileTime,
-           packetSize = packet_traits<typename Derived1::Scalar>::size,
-           alignedSize = (size/packetSize)*packetSize };
-
-    assign_innervec_CompleteUnrolling<Derived1, Derived2, 0, alignedSize>::run(dst, src);
-    assign_DefaultTraversal_CompleteUnrolling<Derived1, Derived2, alignedSize, size>::run(dst, src);
-  }
-};
-
-/**************************
-*** Slice vectorization ***
-***************************/
-
-template<typename Derived1, typename Derived2, int Version>
-struct assign_impl<Derived1, Derived2, SliceVectorizedTraversal, NoUnrolling, Version>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    typedef typename Derived1::Scalar Scalar;
-    typedef packet_traits<Scalar> PacketTraits;
-    enum {
-      packetSize = PacketTraits::size,
-      alignable = PacketTraits::AlignedOnScalar,
-      dstIsAligned = assign_traits<Derived1,Derived2>::DstIsAligned,
-      dstAlignment = alignable ? Aligned : int(dstIsAligned),
-      srcAlignment = assign_traits<Derived1,Derived2>::JointAlignment
-    };
-    const Scalar *dst_ptr = &dst.coeffRef(0,0);
-    if((!bool(dstIsAligned)) && (Index(dst_ptr) % sizeof(Scalar))>0)
-    {
-      // the pointer is not aligend-on scalar, so alignment is not possible
-      return assign_impl<Derived1,Derived2,DefaultTraversal,NoUnrolling>::run(dst, src);
-    }
-    const Index packetAlignedMask = packetSize - 1;
-    const Index innerSize = dst.innerSize();
-    const Index outerSize = dst.outerSize();
-    const Index alignedStep = alignable ? (packetSize - dst.outerStride() % packetSize) & packetAlignedMask : 0;
-    Index alignedStart = ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned(dst_ptr, innerSize);
-
-    for(Index outer = 0; outer < outerSize; ++outer)
-    {
-      const Index alignedEnd = alignedStart + ((innerSize-alignedStart) & ~packetAlignedMask);
-      // do the non-vectorizable part of the assignment
-      for(Index inner = 0; inner<alignedStart ; ++inner)
-        dst.copyCoeffByOuterInner(outer, inner, src);
-
-      // do the vectorizable part of the assignment
-      for(Index inner = alignedStart; inner<alignedEnd; inner+=packetSize)
-        dst.template copyPacketByOuterInner<Derived2, dstAlignment, Unaligned>(outer, inner, src);
-
-      // do the non-vectorizable part of the assignment
-      for(Index inner = alignedEnd; inner<innerSize ; ++inner)
-        dst.copyCoeffByOuterInner(outer, inner, src);
-
-      alignedStart = std::min<Index>((alignedStart+alignedStep)%packetSize, innerSize);
-    }
-  }
-};
-
-} // end namespace internal
-
-/***************************************************************************
-* Part 4 : implementation of DenseBase methods
-***************************************************************************/
-
 template<typename Derived>
 template<typename OtherDerived>
 EIGEN_STRONG_INLINE Derived& DenseBase<Derived>
@@ -499,90 +27,62 @@ EIGEN_STRONG_INLINE Derived& DenseBase<Derived>
   EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Derived,OtherDerived)
   EIGEN_STATIC_ASSERT(SameType,YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
 
-#ifdef EIGEN_DEBUG_ASSIGN
-  internal::assign_traits<Derived, OtherDerived>::debug();
-#endif
   eigen_assert(rows() == other.rows() && cols() == other.cols());
-  internal::assign_impl<Derived, OtherDerived, int(SameType) ? int(internal::assign_traits<Derived, OtherDerived>::Traversal)
-                                                       : int(InvalidTraversal)>::run(derived(),other.derived());
-#ifndef EIGEN_NO_DEBUG
-  checkTransposeAliasing(other.derived());
-#endif
+  internal::call_assignment_no_alias(derived(),other.derived());
+  
   return derived();
 }
 
-namespace internal {
-
-template<typename Derived, typename OtherDerived,
-         bool EvalBeforeAssigning = (int(internal::traits<OtherDerived>::Flags) & EvalBeforeAssigningBit) != 0,
-         bool NeedToTranspose = ((int(Derived::RowsAtCompileTime) == 1 && int(OtherDerived::ColsAtCompileTime) == 1)
-                              |   // FIXME | instead of || to please GCC 4.4.0 stupid warning "suggest parentheses around &&".
-                                  // revert to || as soon as not needed anymore.
-                                  (int(Derived::ColsAtCompileTime) == 1 && int(OtherDerived::RowsAtCompileTime) == 1))
-                              && int(Derived::SizeAtCompileTime) != 1>
-struct assign_selector;
-
-template<typename Derived, typename OtherDerived>
-struct assign_selector<Derived,OtherDerived,false,false> {
-  static EIGEN_STRONG_INLINE Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.derived()); }
-  template<typename ActualDerived, typename ActualOtherDerived>
-  static EIGEN_STRONG_INLINE Derived& evalTo(ActualDerived& dst, const ActualOtherDerived& other) { other.evalTo(dst); return dst; }
-};
-template<typename Derived, typename OtherDerived>
-struct assign_selector<Derived,OtherDerived,true,false> {
-  static EIGEN_STRONG_INLINE Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.eval()); }
-};
-template<typename Derived, typename OtherDerived>
-struct assign_selector<Derived,OtherDerived,false,true> {
-  static EIGEN_STRONG_INLINE Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.transpose()); }
-  template<typename ActualDerived, typename ActualOtherDerived>
-  static EIGEN_STRONG_INLINE Derived& evalTo(ActualDerived& dst, const ActualOtherDerived& other) { Transpose<ActualDerived> dstTrans(dst); other.evalTo(dstTrans); return dst; }
-};
-template<typename Derived, typename OtherDerived>
-struct assign_selector<Derived,OtherDerived,true,true> {
-  static EIGEN_STRONG_INLINE Derived& run(Derived& dst, const OtherDerived& other) { return dst.lazyAssign(other.transpose().eval()); }
-};
-
-} // end namespace internal
-
 template<typename Derived>
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
 {
-  return internal::assign_selector<Derived,OtherDerived>::run(derived(), other.derived());
+  internal::call_assignment(derived(), other.derived());
+  return derived();
 }
 
 template<typename Derived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator=(const DenseBase& other)
 {
-  return internal::assign_selector<Derived,Derived>::run(derived(), other.derived());
+  internal::call_assignment(derived(), other.derived());
+  return derived();
 }
 
 template<typename Derived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const MatrixBase& other)
 {
-  return internal::assign_selector<Derived,Derived>::run(derived(), other.derived());
+  internal::call_assignment(derived(), other.derived());
+  return derived();
 }
 
 template<typename Derived>
 template <typename OtherDerived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const DenseBase<OtherDerived>& other)
 {
-  return internal::assign_selector<Derived,OtherDerived>::run(derived(), other.derived());
+  internal::call_assignment(derived(), other.derived());
+  return derived();
 }
 
 template<typename Derived>
 template <typename OtherDerived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const EigenBase<OtherDerived>& other)
 {
-  return internal::assign_selector<Derived,OtherDerived,false>::evalTo(derived(), other.derived());
+  internal::call_assignment(derived(), other.derived());
+  return derived();
 }
 
 template<typename Derived>
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
 {
-  return internal::assign_selector<Derived,OtherDerived,false>::evalTo(derived(), other.derived());
+  other.derived().evalTo(derived());
+  return derived();
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/AssignEvaluator.h b/eigenlib/Eigen/src/Core/AssignEvaluator.h
new file mode 100644
index 00000000..14400d24
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/AssignEvaluator.h
@@ -0,0 +1,918 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2011-2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_ASSIGN_EVALUATOR_H
+#define EIGEN_ASSIGN_EVALUATOR_H
+
+namespace Eigen {
+
+// This implementation is based on Assign.h
+
+namespace internal {
+  
+/***************************************************************************
+* Part 1 : the logic deciding a strategy for traversal and unrolling       *
+***************************************************************************/
+
+// copy_using_evaluator_traits is based on assign_traits
+
+template <typename DstEvaluator, typename SrcEvaluator, typename AssignFunc>
+struct copy_using_evaluator_traits
+{
+  typedef typename DstEvaluator::XprType Dst;
+  typedef typename Dst::Scalar DstScalar;
+  
+  enum {
+    DstFlags = DstEvaluator::Flags,
+    SrcFlags = SrcEvaluator::Flags
+  };
+  
+public:
+  enum {
+    DstAlignment = DstEvaluator::Alignment,
+    SrcAlignment = SrcEvaluator::Alignment,
+    DstHasDirectAccess = DstFlags & DirectAccessBit,
+    JointAlignment = EIGEN_PLAIN_ENUM_MIN(DstAlignment,SrcAlignment)
+  };
+
+private:
+  enum {
+    InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime)
+              : int(DstFlags)&RowMajorBit ? int(Dst::ColsAtCompileTime)
+              : int(Dst::RowsAtCompileTime),
+    InnerMaxSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::MaxSizeAtCompileTime)
+              : int(DstFlags)&RowMajorBit ? int(Dst::MaxColsAtCompileTime)
+              : int(Dst::MaxRowsAtCompileTime),
+    OuterStride = int(outer_stride_at_compile_time<Dst>::ret),
+    MaxSizeAtCompileTime = Dst::SizeAtCompileTime
+  };
+
+  // TODO distinguish between linear traversal and inner-traversals
+  typedef typename find_best_packet<DstScalar,Dst::SizeAtCompileTime>::type LinearPacketType;
+  typedef typename find_best_packet<DstScalar,InnerSize>::type InnerPacketType;
+
+  enum {
+    LinearPacketSize = unpacket_traits<LinearPacketType>::size,
+    InnerPacketSize = unpacket_traits<InnerPacketType>::size
+  };
+
+public:
+  enum {
+    LinearRequiredAlignment = unpacket_traits<LinearPacketType>::alignment,
+    InnerRequiredAlignment = unpacket_traits<InnerPacketType>::alignment
+  };
+
+private:
+  enum {
+    DstIsRowMajor = DstFlags&RowMajorBit,
+    SrcIsRowMajor = SrcFlags&RowMajorBit,
+    StorageOrdersAgree = (int(DstIsRowMajor) == int(SrcIsRowMajor)),
+    MightVectorize = bool(StorageOrdersAgree)
+                  && (int(DstFlags) & int(SrcFlags) & ActualPacketAccessBit)
+                  && bool(functor_traits<AssignFunc>::PacketAccess),
+    MayInnerVectorize  = MightVectorize
+                       && int(InnerSize)!=Dynamic && int(InnerSize)%int(InnerPacketSize)==0
+                       && int(OuterStride)!=Dynamic && int(OuterStride)%int(InnerPacketSize)==0
+                       && (EIGEN_UNALIGNED_VECTORIZE  || int(JointAlignment)>=int(InnerRequiredAlignment)),
+    MayLinearize = bool(StorageOrdersAgree) && (int(DstFlags) & int(SrcFlags) & LinearAccessBit),
+    MayLinearVectorize = bool(MightVectorize) && MayLinearize && DstHasDirectAccess
+                       && (EIGEN_UNALIGNED_VECTORIZE || (int(DstAlignment)>=int(LinearRequiredAlignment)) || MaxSizeAtCompileTime == Dynamic),
+      /* If the destination isn't aligned, we have to do runtime checks and we don't unroll,
+         so it's only good for large enough sizes. */
+    MaySliceVectorize  = bool(MightVectorize) && bool(DstHasDirectAccess)
+                       && (int(InnerMaxSize)==Dynamic || int(InnerMaxSize)>=(EIGEN_UNALIGNED_VECTORIZE?InnerPacketSize:(3*InnerPacketSize)))
+      /* slice vectorization can be slow, so we only want it if the slices are big, which is
+         indicated by InnerMaxSize rather than InnerSize, think of the case of a dynamic block
+         in a fixed-size matrix
+         However, with EIGEN_UNALIGNED_VECTORIZE and unrolling, slice vectorization is still worth it */
+  };
+
+public:
+  enum {
+    Traversal = int(MayLinearVectorize) && (LinearPacketSize>InnerPacketSize) ? int(LinearVectorizedTraversal)
+              : int(MayInnerVectorize)   ? int(InnerVectorizedTraversal)
+              : int(MayLinearVectorize)  ? int(LinearVectorizedTraversal)
+              : int(MaySliceVectorize)   ? int(SliceVectorizedTraversal)
+              : int(MayLinearize)        ? int(LinearTraversal)
+                                         : int(DefaultTraversal),
+    Vectorized = int(Traversal) == InnerVectorizedTraversal
+              || int(Traversal) == LinearVectorizedTraversal
+              || int(Traversal) == SliceVectorizedTraversal
+  };
+
+  typedef typename conditional<int(Traversal)==LinearVectorizedTraversal, LinearPacketType, InnerPacketType>::type PacketType;
+
+private:
+  enum {
+    ActualPacketSize    = int(Traversal)==LinearVectorizedTraversal ? LinearPacketSize
+                        : Vectorized ? InnerPacketSize
+                        : 1,
+    UnrollingLimit      = EIGEN_UNROLLING_LIMIT * ActualPacketSize,
+    MayUnrollCompletely = int(Dst::SizeAtCompileTime) != Dynamic
+                       && int(Dst::SizeAtCompileTime) * (int(DstEvaluator::CoeffReadCost)+int(SrcEvaluator::CoeffReadCost)) <= int(UnrollingLimit),
+    MayUnrollInner      = int(InnerSize) != Dynamic
+                       && int(InnerSize) * (int(DstEvaluator::CoeffReadCost)+int(SrcEvaluator::CoeffReadCost)) <= int(UnrollingLimit)
+  };
+
+public:
+  enum {
+    Unrolling = (int(Traversal) == int(InnerVectorizedTraversal) || int(Traversal) == int(DefaultTraversal))
+                ? (
+                    int(MayUnrollCompletely) ? int(CompleteUnrolling)
+                  : int(MayUnrollInner)      ? int(InnerUnrolling)
+                                             : int(NoUnrolling)
+                  )
+              : int(Traversal) == int(LinearVectorizedTraversal)
+                ? ( bool(MayUnrollCompletely) && ( EIGEN_UNALIGNED_VECTORIZE || (int(DstAlignment)>=int(LinearRequiredAlignment)))
+                          ? int(CompleteUnrolling)
+                          : int(NoUnrolling) )
+              : int(Traversal) == int(LinearTraversal)
+                ? ( bool(MayUnrollCompletely) ? int(CompleteUnrolling) 
+                                              : int(NoUnrolling) )
+#if EIGEN_UNALIGNED_VECTORIZE
+              : int(Traversal) == int(SliceVectorizedTraversal)
+                ? ( bool(MayUnrollInner) ? int(InnerUnrolling)
+                                         : int(NoUnrolling) )
+#endif
+              : int(NoUnrolling)
+  };
+
+#ifdef EIGEN_DEBUG_ASSIGN
+  static void debug()
+  {
+    std::cerr << "DstXpr: " << typeid(typename DstEvaluator::XprType).name() << std::endl;
+    std::cerr << "SrcXpr: " << typeid(typename SrcEvaluator::XprType).name() << std::endl;
+    std::cerr.setf(std::ios::hex, std::ios::basefield);
+    std::cerr << "DstFlags" << " = " << DstFlags << " (" << demangle_flags(DstFlags) << " )" << std::endl;
+    std::cerr << "SrcFlags" << " = " << SrcFlags << " (" << demangle_flags(SrcFlags) << " )" << std::endl;
+    std::cerr.unsetf(std::ios::hex);
+    EIGEN_DEBUG_VAR(DstAlignment)
+    EIGEN_DEBUG_VAR(SrcAlignment)
+    EIGEN_DEBUG_VAR(LinearRequiredAlignment)
+    EIGEN_DEBUG_VAR(InnerRequiredAlignment)
+    EIGEN_DEBUG_VAR(JointAlignment)
+    EIGEN_DEBUG_VAR(InnerSize)
+    EIGEN_DEBUG_VAR(InnerMaxSize)
+    EIGEN_DEBUG_VAR(LinearPacketSize)
+    EIGEN_DEBUG_VAR(InnerPacketSize)
+    EIGEN_DEBUG_VAR(ActualPacketSize)
+    EIGEN_DEBUG_VAR(StorageOrdersAgree)
+    EIGEN_DEBUG_VAR(MightVectorize)
+    EIGEN_DEBUG_VAR(MayLinearize)
+    EIGEN_DEBUG_VAR(MayInnerVectorize)
+    EIGEN_DEBUG_VAR(MayLinearVectorize)
+    EIGEN_DEBUG_VAR(MaySliceVectorize)
+    std::cerr << "Traversal" << " = " << Traversal << " (" << demangle_traversal(Traversal) << ")" << std::endl;
+    EIGEN_DEBUG_VAR(SrcEvaluator::CoeffReadCost)
+    EIGEN_DEBUG_VAR(UnrollingLimit)
+    EIGEN_DEBUG_VAR(MayUnrollCompletely)
+    EIGEN_DEBUG_VAR(MayUnrollInner)
+    std::cerr << "Unrolling" << " = " << Unrolling << " (" << demangle_unrolling(Unrolling) << ")" << std::endl;
+    std::cerr << std::endl;
+  }
+#endif
+};
+
+/***************************************************************************
+* Part 2 : meta-unrollers
+***************************************************************************/
+
+/************************
+*** Default traversal ***
+************************/
+
+template<typename Kernel, int Index, int Stop>
+struct copy_using_evaluator_DefaultTraversal_CompleteUnrolling
+{
+  // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
+  typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
+  typedef typename DstEvaluatorType::XprType DstXprType;
+  
+  enum {
+    outer = Index / DstXprType::InnerSizeAtCompileTime,
+    inner = Index % DstXprType::InnerSizeAtCompileTime
+  };
+
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    kernel.assignCoeffByOuterInner(outer, inner);
+    copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, Index+1, Stop>::run(kernel);
+  }
+};
+
+template<typename Kernel, int Stop>
+struct copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, Stop, Stop>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { }
+};
+
+template<typename Kernel, int Index_, int Stop>
+struct copy_using_evaluator_DefaultTraversal_InnerUnrolling
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, Index outer)
+  {
+    kernel.assignCoeffByOuterInner(outer, Index_);
+    copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, Index_+1, Stop>::run(kernel, outer);
+  }
+};
+
+template<typename Kernel, int Stop>
+struct copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, Stop, Stop>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&, Index) { }
+};
+
+/***********************
+*** Linear traversal ***
+***********************/
+
+template<typename Kernel, int Index, int Stop>
+struct copy_using_evaluator_LinearTraversal_CompleteUnrolling
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel& kernel)
+  {
+    kernel.assignCoeff(Index);
+    copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, Index+1, Stop>::run(kernel);
+  }
+};
+
+template<typename Kernel, int Stop>
+struct copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, Stop, Stop>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { }
+};
+
+/**************************
+*** Inner vectorization ***
+**************************/
+
+template<typename Kernel, int Index, int Stop>
+struct copy_using_evaluator_innervec_CompleteUnrolling
+{
+  // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
+  typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
+  typedef typename DstEvaluatorType::XprType DstXprType;
+  typedef typename Kernel::PacketType PacketType;
+  
+  enum {
+    outer = Index / DstXprType::InnerSizeAtCompileTime,
+    inner = Index % DstXprType::InnerSizeAtCompileTime,
+    SrcAlignment = Kernel::AssignmentTraits::SrcAlignment,
+    DstAlignment = Kernel::AssignmentTraits::DstAlignment
+  };
+
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, inner);
+    enum { NextIndex = Index + unpacket_traits<PacketType>::size };
+    copy_using_evaluator_innervec_CompleteUnrolling<Kernel, NextIndex, Stop>::run(kernel);
+  }
+};
+
+template<typename Kernel, int Stop>
+struct copy_using_evaluator_innervec_CompleteUnrolling<Kernel, Stop, Stop>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&) { }
+};
+
+template<typename Kernel, int Index_, int Stop, int SrcAlignment, int DstAlignment>
+struct copy_using_evaluator_innervec_InnerUnrolling
+{
+  typedef typename Kernel::PacketType PacketType;
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel, Index outer)
+  {
+    kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, Index_);
+    enum { NextIndex = Index_ + unpacket_traits<PacketType>::size };
+    copy_using_evaluator_innervec_InnerUnrolling<Kernel, NextIndex, Stop, SrcAlignment, DstAlignment>::run(kernel, outer);
+  }
+};
+
+template<typename Kernel, int Stop, int SrcAlignment, int DstAlignment>
+struct copy_using_evaluator_innervec_InnerUnrolling<Kernel, Stop, Stop, SrcAlignment, DstAlignment>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &, Index) { }
+};
+
+/***************************************************************************
+* Part 3 : implementation of all cases
+***************************************************************************/
+
+// dense_assignment_loop is based on assign_impl
+
+template<typename Kernel,
+         int Traversal = Kernel::AssignmentTraits::Traversal,
+         int Unrolling = Kernel::AssignmentTraits::Unrolling>
+struct dense_assignment_loop;
+
+/************************
+*** Default traversal ***
+************************/
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, DefaultTraversal, NoUnrolling>
+{
+  EIGEN_DEVICE_FUNC static void EIGEN_STRONG_INLINE run(Kernel &kernel)
+  {
+    for(Index outer = 0; outer < kernel.outerSize(); ++outer) {
+      for(Index inner = 0; inner < kernel.innerSize(); ++inner) {
+        kernel.assignCoeffByOuterInner(outer, inner);
+      }
+    }
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, DefaultTraversal, CompleteUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+    copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, DefaultTraversal, InnerUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+
+    const Index outerSize = kernel.outerSize();
+    for(Index outer = 0; outer < outerSize; ++outer)
+      copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, 0, DstXprType::InnerSizeAtCompileTime>::run(kernel, outer);
+  }
+};
+
+/***************************
+*** Linear vectorization ***
+***************************/
+
+
+// The goal of unaligned_dense_assignment_loop is simply to factorize the handling
+// of the non vectorizable beginning and ending parts
+
+template <bool IsAligned = false>
+struct unaligned_dense_assignment_loop
+{
+  // if IsAligned = true, then do nothing
+  template <typename Kernel>
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel&, Index, Index) {}
+};
+
+template <>
+struct unaligned_dense_assignment_loop<false>
+{
+  // MSVC must not inline this functions. If it does, it fails to optimize the
+  // packet access path.
+  // FIXME check which version exhibits this issue
+#if EIGEN_COMP_MSVC
+  template <typename Kernel>
+  static EIGEN_DONT_INLINE void run(Kernel &kernel,
+                                    Index start,
+                                    Index end)
+#else
+  template <typename Kernel>
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel,
+                                      Index start,
+                                      Index end)
+#endif
+  {
+    for (Index index = start; index < end; ++index)
+      kernel.assignCoeff(index);
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, NoUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    const Index size = kernel.size();
+    typedef typename Kernel::Scalar Scalar;
+    typedef typename Kernel::PacketType PacketType;
+    enum {
+      requestedAlignment = Kernel::AssignmentTraits::LinearRequiredAlignment,
+      packetSize = unpacket_traits<PacketType>::size,
+      dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment)>=int(requestedAlignment),
+      dstAlignment = packet_traits<Scalar>::AlignedOnScalar ? int(requestedAlignment)
+                                                            : int(Kernel::AssignmentTraits::DstAlignment),
+      srcAlignment = Kernel::AssignmentTraits::JointAlignment
+    };
+    const Index alignedStart = dstIsAligned ? 0 : internal::first_aligned<requestedAlignment>(kernel.dstDataPtr(), size);
+    const Index alignedEnd = alignedStart + ((size-alignedStart)/packetSize)*packetSize;
+
+    unaligned_dense_assignment_loop<dstIsAligned!=0>::run(kernel, 0, alignedStart);
+
+    for(Index index = alignedStart; index < alignedEnd; index += packetSize)
+      kernel.template assignPacket<dstAlignment, srcAlignment, PacketType>(index);
+
+    unaligned_dense_assignment_loop<>::run(kernel, alignedEnd, size);
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, LinearVectorizedTraversal, CompleteUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+    typedef typename Kernel::PacketType PacketType;
+    
+    enum { size = DstXprType::SizeAtCompileTime,
+           packetSize =unpacket_traits<PacketType>::size,
+           alignedSize = (size/packetSize)*packetSize };
+
+    copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, alignedSize>::run(kernel);
+    copy_using_evaluator_DefaultTraversal_CompleteUnrolling<Kernel, alignedSize, size>::run(kernel);
+  }
+};
+
+/**************************
+*** Inner vectorization ***
+**************************/
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, NoUnrolling>
+{
+  typedef typename Kernel::PacketType PacketType;
+  enum {
+    SrcAlignment = Kernel::AssignmentTraits::SrcAlignment,
+    DstAlignment = Kernel::AssignmentTraits::DstAlignment
+  };
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    const Index innerSize = kernel.innerSize();
+    const Index outerSize = kernel.outerSize();
+    const Index packetSize = unpacket_traits<PacketType>::size;
+    for(Index outer = 0; outer < outerSize; ++outer)
+      for(Index inner = 0; inner < innerSize; inner+=packetSize)
+        kernel.template assignPacketByOuterInner<DstAlignment, SrcAlignment, PacketType>(outer, inner);
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, CompleteUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+    copy_using_evaluator_innervec_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, InnerVectorizedTraversal, InnerUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+    typedef typename Kernel::AssignmentTraits Traits;
+    const Index outerSize = kernel.outerSize();
+    for(Index outer = 0; outer < outerSize; ++outer)
+      copy_using_evaluator_innervec_InnerUnrolling<Kernel, 0, DstXprType::InnerSizeAtCompileTime,
+                                                   Traits::SrcAlignment, Traits::DstAlignment>::run(kernel, outer);
+  }
+};
+
+/***********************
+*** Linear traversal ***
+***********************/
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, LinearTraversal, NoUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    const Index size = kernel.size();
+    for(Index i = 0; i < size; ++i)
+      kernel.assignCoeff(i);
+  }
+};
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, LinearTraversal, CompleteUnrolling>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+    copy_using_evaluator_LinearTraversal_CompleteUnrolling<Kernel, 0, DstXprType::SizeAtCompileTime>::run(kernel);
+  }
+};
+
+/**************************
+*** Slice vectorization ***
+***************************/
+
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, SliceVectorizedTraversal, NoUnrolling>
+{
+  EIGEN_DEVICE_FUNC static inline void run(Kernel &kernel)
+  {
+    typedef typename Kernel::Scalar Scalar;
+    typedef typename Kernel::PacketType PacketType;
+    enum {
+      packetSize = unpacket_traits<PacketType>::size,
+      requestedAlignment = int(Kernel::AssignmentTraits::InnerRequiredAlignment),
+      alignable = packet_traits<Scalar>::AlignedOnScalar || int(Kernel::AssignmentTraits::DstAlignment)>=sizeof(Scalar),
+      dstIsAligned = int(Kernel::AssignmentTraits::DstAlignment)>=int(requestedAlignment),
+      dstAlignment = alignable ? int(requestedAlignment)
+                               : int(Kernel::AssignmentTraits::DstAlignment)
+    };
+    const Scalar *dst_ptr = kernel.dstDataPtr();
+    if((!bool(dstIsAligned)) && (UIntPtr(dst_ptr) % sizeof(Scalar))>0)
+    {
+      // the pointer is not aligend-on scalar, so alignment is not possible
+      return dense_assignment_loop<Kernel,DefaultTraversal,NoUnrolling>::run(kernel);
+    }
+    const Index packetAlignedMask = packetSize - 1;
+    const Index innerSize = kernel.innerSize();
+    const Index outerSize = kernel.outerSize();
+    const Index alignedStep = alignable ? (packetSize - kernel.outerStride() % packetSize) & packetAlignedMask : 0;
+    Index alignedStart = ((!alignable) || bool(dstIsAligned)) ? 0 : internal::first_aligned<requestedAlignment>(dst_ptr, innerSize);
+
+    for(Index outer = 0; outer < outerSize; ++outer)
+    {
+      const Index alignedEnd = alignedStart + ((innerSize-alignedStart) & ~packetAlignedMask);
+      // do the non-vectorizable part of the assignment
+      for(Index inner = 0; inner<alignedStart ; ++inner)
+        kernel.assignCoeffByOuterInner(outer, inner);
+
+      // do the vectorizable part of the assignment
+      for(Index inner = alignedStart; inner<alignedEnd; inner+=packetSize)
+        kernel.template assignPacketByOuterInner<dstAlignment, Unaligned, PacketType>(outer, inner);
+
+      // do the non-vectorizable part of the assignment
+      for(Index inner = alignedEnd; inner<innerSize ; ++inner)
+        kernel.assignCoeffByOuterInner(outer, inner);
+
+      alignedStart = numext::mini((alignedStart+alignedStep)%packetSize, innerSize);
+    }
+  }
+};
+
+#if EIGEN_UNALIGNED_VECTORIZE
+template<typename Kernel>
+struct dense_assignment_loop<Kernel, SliceVectorizedTraversal, InnerUnrolling>
+{
+  EIGEN_DEVICE_FUNC static inline void run(Kernel &kernel)
+  {
+    typedef typename Kernel::DstEvaluatorType::XprType DstXprType;
+    typedef typename Kernel::PacketType PacketType;
+
+    enum { size = DstXprType::InnerSizeAtCompileTime,
+           packetSize =unpacket_traits<PacketType>::size,
+           vectorizableSize = (size/packetSize)*packetSize };
+
+    for(Index outer = 0; outer < kernel.outerSize(); ++outer)
+    {
+      copy_using_evaluator_innervec_InnerUnrolling<Kernel, 0, vectorizableSize, 0, 0>::run(kernel, outer);
+      copy_using_evaluator_DefaultTraversal_InnerUnrolling<Kernel, vectorizableSize, size>::run(kernel, outer);
+    }
+  }
+};
+#endif
+
+
+/***************************************************************************
+* Part 4 : Generic dense assignment kernel
+***************************************************************************/
+
+// This class generalize the assignment of a coefficient (or packet) from one dense evaluator
+// to another dense writable evaluator.
+// It is parametrized by the two evaluators, and the actual assignment functor.
+// This abstraction level permits to keep the evaluation loops as simple and as generic as possible.
+// One can customize the assignment using this generic dense_assignment_kernel with different
+// functors, or by completely overloading it, by-passing a functor.
+template<typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT, typename Functor, int Version = Specialized>
+class generic_dense_assignment_kernel
+{
+protected:
+  typedef typename DstEvaluatorTypeT::XprType DstXprType;
+  typedef typename SrcEvaluatorTypeT::XprType SrcXprType;
+public:
+  
+  typedef DstEvaluatorTypeT DstEvaluatorType;
+  typedef SrcEvaluatorTypeT SrcEvaluatorType;
+  typedef typename DstEvaluatorType::Scalar Scalar;
+  typedef copy_using_evaluator_traits<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor> AssignmentTraits;
+  typedef typename AssignmentTraits::PacketType PacketType;
+  
+  
+  EIGEN_DEVICE_FUNC generic_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
+    : m_dst(dst), m_src(src), m_functor(func), m_dstExpr(dstExpr)
+  {
+    #ifdef EIGEN_DEBUG_ASSIGN
+    AssignmentTraits::debug();
+    #endif
+  }
+  
+  EIGEN_DEVICE_FUNC Index size() const        { return m_dstExpr.size(); }
+  EIGEN_DEVICE_FUNC Index innerSize() const   { return m_dstExpr.innerSize(); }
+  EIGEN_DEVICE_FUNC Index outerSize() const   { return m_dstExpr.outerSize(); }
+  EIGEN_DEVICE_FUNC Index rows() const        { return m_dstExpr.rows(); }
+  EIGEN_DEVICE_FUNC Index cols() const        { return m_dstExpr.cols(); }
+  EIGEN_DEVICE_FUNC Index outerStride() const { return m_dstExpr.outerStride(); }
+  
+  EIGEN_DEVICE_FUNC DstEvaluatorType& dstEvaluator() { return m_dst; }
+  EIGEN_DEVICE_FUNC const SrcEvaluatorType& srcEvaluator() const { return m_src; }
+  
+  /// Assign src(row,col) to dst(row,col) through the assignment functor.
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index row, Index col)
+  {
+    m_functor.assignCoeff(m_dst.coeffRef(row,col), m_src.coeff(row,col));
+  }
+  
+  /// \sa assignCoeff(Index,Index)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Index index)
+  {
+    m_functor.assignCoeff(m_dst.coeffRef(index), m_src.coeff(index));
+  }
+  
+  /// \sa assignCoeff(Index,Index)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeffByOuterInner(Index outer, Index inner)
+  {
+    Index row = rowIndexByOuterInner(outer, inner); 
+    Index col = colIndexByOuterInner(outer, inner); 
+    assignCoeff(row, col);
+  }
+  
+  
+  template<int StoreMode, int LoadMode, typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index row, Index col)
+  {
+    m_functor.template assignPacket<StoreMode>(&m_dst.coeffRef(row,col), m_src.template packet<LoadMode,PacketType>(row,col));
+  }
+  
+  template<int StoreMode, int LoadMode, typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacket(Index index)
+  {
+    m_functor.template assignPacket<StoreMode>(&m_dst.coeffRef(index), m_src.template packet<LoadMode,PacketType>(index));
+  }
+  
+  template<int StoreMode, int LoadMode, typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignPacketByOuterInner(Index outer, Index inner)
+  {
+    Index row = rowIndexByOuterInner(outer, inner); 
+    Index col = colIndexByOuterInner(outer, inner);
+    assignPacket<StoreMode,LoadMode,PacketType>(row, col);
+  }
+  
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner)
+  {
+    typedef typename DstEvaluatorType::ExpressionTraits Traits;
+    return int(Traits::RowsAtCompileTime) == 1 ? 0
+      : int(Traits::ColsAtCompileTime) == 1 ? inner
+      : int(DstEvaluatorType::Flags)&RowMajorBit ? outer
+      : inner;
+  }
+
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner)
+  {
+    typedef typename DstEvaluatorType::ExpressionTraits Traits;
+    return int(Traits::ColsAtCompileTime) == 1 ? 0
+      : int(Traits::RowsAtCompileTime) == 1 ? inner
+      : int(DstEvaluatorType::Flags)&RowMajorBit ? inner
+      : outer;
+  }
+
+  EIGEN_DEVICE_FUNC const Scalar* dstDataPtr() const
+  {
+    return m_dstExpr.data();
+  }
+  
+protected:
+  DstEvaluatorType& m_dst;
+  const SrcEvaluatorType& m_src;
+  const Functor &m_functor;
+  // TODO find a way to avoid the needs of the original expression
+  DstXprType& m_dstExpr;
+};
+
+/***************************************************************************
+* Part 5 : Entry point for dense rectangular assignment
+***************************************************************************/
+
+template<typename DstXprType, typename SrcXprType, typename Functor>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const SrcXprType& src, const Functor &func)
+{
+  typedef evaluator<DstXprType> DstEvaluatorType;
+  typedef evaluator<SrcXprType> SrcEvaluatorType;
+
+  SrcEvaluatorType srcEvaluator(src);
+
+  // NOTE To properly handle A = (A*A.transpose())/s with A rectangular,
+  // we need to resize the destination after the source evaluator has been created.
+  Index dstRows = src.rows();
+  Index dstCols = src.cols();
+  if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+    dst.resize(dstRows, dstCols);
+
+  DstEvaluatorType dstEvaluator(dst);
+    
+  typedef generic_dense_assignment_kernel<DstEvaluatorType,SrcEvaluatorType,Functor> Kernel;
+  Kernel kernel(dstEvaluator, srcEvaluator, func, dst.const_cast_derived());
+
+  dense_assignment_loop<Kernel>::run(kernel);
+}
+
+template<typename DstXprType, typename SrcXprType>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void call_dense_assignment_loop(DstXprType& dst, const SrcXprType& src)
+{
+  call_dense_assignment_loop(dst, src, internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>());
+}
+
+/***************************************************************************
+* Part 6 : Generic assignment
+***************************************************************************/
+
+// Based on the respective shapes of the destination and source,
+// the class AssignmentKind determine the kind of assignment mechanism.
+// AssignmentKind must define a Kind typedef.
+template<typename DstShape, typename SrcShape> struct AssignmentKind;
+
+// Assignement kind defined in this file:
+struct Dense2Dense {};
+struct EigenBase2EigenBase {};
+
+template<typename,typename> struct AssignmentKind { typedef EigenBase2EigenBase Kind; };
+template<> struct AssignmentKind<DenseShape,DenseShape> { typedef Dense2Dense Kind; };
+    
+// This is the main assignment class
+template< typename DstXprType, typename SrcXprType, typename Functor,
+          typename Kind = typename AssignmentKind< typename evaluator_traits<DstXprType>::Shape , typename evaluator_traits<SrcXprType>::Shape >::Kind,
+          typename EnableIf = void>
+struct Assignment;
+
+
+// The only purpose of this call_assignment() function is to deal with noalias() / "assume-aliasing" and automatic transposition.
+// Indeed, I (Gael) think that this concept of "assume-aliasing" was a mistake, and it makes thing quite complicated.
+// So this intermediate function removes everything related to "assume-aliasing" such that Assignment
+// does not has to bother about these annoying details.
+
+template<typename Dst, typename Src>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(Dst& dst, const Src& src)
+{
+  call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
+}
+template<typename Dst, typename Src>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(const Dst& dst, const Src& src)
+{
+  call_assignment(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
+}
+                     
+// Deal with "assume-aliasing"
+template<typename Dst, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(Dst& dst, const Src& src, const Func& func, typename enable_if< evaluator_assume_aliasing<Src>::value, void*>::type = 0)
+{
+  typename plain_matrix_type<Src>::type tmp(src);
+  call_assignment_no_alias(dst, tmp, func);
+}
+
+template<typename Dst, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(Dst& dst, const Src& src, const Func& func, typename enable_if<!evaluator_assume_aliasing<Src>::value, void*>::type = 0)
+{
+  call_assignment_no_alias(dst, src, func);
+}
+
+// by-pass "assume-aliasing"
+// When there is no aliasing, we require that 'dst' has been properly resized
+template<typename Dst, template <typename> class StorageBase, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment(NoAlias<Dst,StorageBase>& dst, const Src& src, const Func& func)
+{
+  call_assignment_no_alias(dst.expression(), src, func);
+}
+
+
+template<typename Dst, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment_no_alias(Dst& dst, const Src& src, const Func& func)
+{
+  enum {
+    NeedToTranspose = (    (int(Dst::RowsAtCompileTime) == 1 && int(Src::ColsAtCompileTime) == 1)
+                        || (int(Dst::ColsAtCompileTime) == 1 && int(Src::RowsAtCompileTime) == 1)
+                      ) && int(Dst::SizeAtCompileTime) != 1
+  };
+
+  typedef typename internal::conditional<NeedToTranspose, Transpose<Dst>, Dst>::type ActualDstTypeCleaned;
+  typedef typename internal::conditional<NeedToTranspose, Transpose<Dst>, Dst&>::type ActualDstType;
+  ActualDstType actualDst(dst);
+  
+  // TODO check whether this is the right place to perform these checks:
+  EIGEN_STATIC_ASSERT_LVALUE(Dst)
+  EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(ActualDstTypeCleaned,Src)
+  EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename ActualDstTypeCleaned::Scalar,typename Src::Scalar);
+  
+  Assignment<ActualDstTypeCleaned,Src,Func>::run(actualDst, src, func);
+}
+template<typename Dst, typename Src>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment_no_alias(Dst& dst, const Src& src)
+{
+  call_assignment_no_alias(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
+}
+
+template<typename Dst, typename Src, typename Func>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment_no_alias_no_transpose(Dst& dst, const Src& src, const Func& func)
+{
+  // TODO check whether this is the right place to perform these checks:
+  EIGEN_STATIC_ASSERT_LVALUE(Dst)
+  EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Dst,Src)
+  EIGEN_CHECK_BINARY_COMPATIBILIY(Func,typename Dst::Scalar,typename Src::Scalar);
+
+  Assignment<Dst,Src,Func>::run(dst, src, func);
+}
+template<typename Dst, typename Src>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_assignment_no_alias_no_transpose(Dst& dst, const Src& src)
+{
+  call_assignment_no_alias_no_transpose(dst, src, internal::assign_op<typename Dst::Scalar,typename Src::Scalar>());
+}
+
+// forward declaration
+template<typename Dst, typename Src> void check_for_aliasing(const Dst &dst, const Src &src);
+
+// Generic Dense to Dense assignment
+// Note that the last template argument "Weak" is needed to make it possible to perform
+// both partial specialization+SFINAE without ambiguous specialization
+template< typename DstXprType, typename SrcXprType, typename Functor, typename Weak>
+struct Assignment<DstXprType, SrcXprType, Functor, Dense2Dense, Weak>
+{
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+  {
+#ifndef EIGEN_NO_DEBUG
+    internal::check_for_aliasing(dst, src);
+#endif
+    
+    call_dense_assignment_loop(dst, src, func);
+  }
+};
+
+// Generic assignment through evalTo.
+// TODO: not sure we have to keep that one, but it helps porting current code to new evaluator mechanism.
+// Note that the last template argument "Weak" is needed to make it possible to perform
+// both partial specialization+SFINAE without ambiguous specialization
+template< typename DstXprType, typename SrcXprType, typename Functor, typename Weak>
+struct Assignment<DstXprType, SrcXprType, Functor, EigenBase2EigenBase, Weak>
+{
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+    src.evalTo(dst);
+  }
+
+  // NOTE The following two functions are templated to avoid their instanciation if not needed
+  //      This is needed because some expressions supports evalTo only and/or have 'void' as scalar type.
+  template<typename SrcScalarType>
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,SrcScalarType> &/*func*/)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+    src.addTo(dst);
+  }
+
+  template<typename SrcScalarType>
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,SrcScalarType> &/*func*/)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+    src.subTo(dst);
+  }
+};
+
+} // namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_ASSIGN_EVALUATOR_H
diff --git a/eigenlib/Eigen/src/Core/Assign_MKL.h b/eigenlib/Eigen/src/Core/Assign_MKL.h
old mode 100644
new mode 100755
index 7772951b..6c2ab926
--- a/eigenlib/Eigen/src/Core/Assign_MKL.h
+++ b/eigenlib/Eigen/src/Core/Assign_MKL.h
@@ -1,6 +1,7 @@
 /*
  Copyright (c) 2011, Intel Corporation. All rights reserved.
-
+ Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+ 
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met:
 
@@ -37,17 +38,13 @@ namespace Eigen {
 
 namespace internal {
 
-template<typename Op> struct vml_call
-{ enum { IsSupported = 0 }; };
-
-template<typename Dst, typename Src, typename UnaryOp>
+template<typename Dst, typename Src>
 class vml_assign_traits
 {
   private:
     enum {
       DstHasDirectAccess = Dst::Flags & DirectAccessBit,
       SrcHasDirectAccess = Src::Flags & DirectAccessBit,
-
       StorageOrdersAgree = (int(Dst::IsRowMajor) == int(Src::IsRowMajor)),
       InnerSize = int(Dst::IsVectorAtCompileTime) ? int(Dst::SizeAtCompileTime)
                 : int(Dst::Flags)&RowMajorBit ? int(Dst::ColsAtCompileTime)
@@ -57,165 +54,120 @@ class vml_assign_traits
                     : int(Dst::MaxRowsAtCompileTime),
       MaxSizeAtCompileTime = Dst::SizeAtCompileTime,
 
-      MightEnableVml =  vml_call<UnaryOp>::IsSupported && StorageOrdersAgree && DstHasDirectAccess && SrcHasDirectAccess
-                     && Src::InnerStrideAtCompileTime==1 && Dst::InnerStrideAtCompileTime==1,
+      MightEnableVml = StorageOrdersAgree && DstHasDirectAccess && SrcHasDirectAccess && Src::InnerStrideAtCompileTime==1 && Dst::InnerStrideAtCompileTime==1,
       MightLinearize = MightEnableVml && (int(Dst::Flags) & int(Src::Flags) & LinearAccessBit),
       VmlSize = MightLinearize ? MaxSizeAtCompileTime : InnerMaxSize,
-      LargeEnough = VmlSize==Dynamic || VmlSize>=EIGEN_MKL_VML_THRESHOLD,
-      MayEnableVml = MightEnableVml && LargeEnough,
-      MayLinearize = MayEnableVml && MightLinearize
+      LargeEnough = VmlSize==Dynamic || VmlSize>=EIGEN_MKL_VML_THRESHOLD
     };
   public:
     enum {
-      Traversal = MayLinearize ? LinearVectorizedTraversal
-                : MayEnableVml ? InnerVectorizedTraversal
-                : DefaultTraversal
+      EnableVml = MightEnableVml && LargeEnough,
+      Traversal = MightLinearize ? LinearTraversal : DefaultTraversal
     };
 };
 
-template<typename Derived1, typename Derived2, typename UnaryOp, int Traversal, int Unrolling,
-         int VmlTraversal = vml_assign_traits<Derived1, Derived2, UnaryOp>::Traversal >
-struct vml_assign_impl
-  : assign_impl<Derived1, Eigen::CwiseUnaryOp<UnaryOp, Derived2>,Traversal,Unrolling,BuiltIn>
-{
-};
-
-template<typename Derived1, typename Derived2, typename UnaryOp, int Traversal, int Unrolling>
-struct vml_assign_impl<Derived1, Derived2, UnaryOp, Traversal, Unrolling, InnerVectorizedTraversal>
-{
-  typedef typename Derived1::Scalar Scalar;
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1& dst, const CwiseUnaryOp<UnaryOp, Derived2>& src)
-  {
-    // in case we want to (or have to) skip VML at runtime we can call:
-    // assign_impl<Derived1,Eigen::CwiseUnaryOp<UnaryOp, Derived2>,Traversal,Unrolling,BuiltIn>::run(dst,src);
-    const Index innerSize = dst.innerSize();
-    const Index outerSize = dst.outerSize();
-    for(Index outer = 0; outer < outerSize; ++outer) {
-      const Scalar *src_ptr = src.IsRowMajor ?  &(src.nestedExpression().coeffRef(outer,0)) :
-                                                &(src.nestedExpression().coeffRef(0, outer));
-      Scalar *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer));
-      vml_call<UnaryOp>::run(src.functor(), innerSize, src_ptr, dst_ptr );
-    }
-  }
-};
-
-template<typename Derived1, typename Derived2, typename UnaryOp, int Traversal, int Unrolling>
-struct vml_assign_impl<Derived1, Derived2, UnaryOp, Traversal, Unrolling, LinearVectorizedTraversal>
-{
-  static inline void run(Derived1& dst, const CwiseUnaryOp<UnaryOp, Derived2>& src)
-  {
-    // in case we want to (or have to) skip VML at runtime we can call:
-    // assign_impl<Derived1,Eigen::CwiseUnaryOp<UnaryOp, Derived2>,Traversal,Unrolling,BuiltIn>::run(dst,src);
-    vml_call<UnaryOp>::run(src.functor(), dst.size(), src.nestedExpression().data(), dst.data() );
-  }
-};
-
-// Macroses
-
-#define EIGEN_MKL_VML_SPECIALIZE_ASSIGN(TRAVERSAL,UNROLLING) \
-  template<typename Derived1, typename Derived2, typename UnaryOp> \
-  struct assign_impl<Derived1, Eigen::CwiseUnaryOp<UnaryOp, Derived2>, TRAVERSAL, UNROLLING, Specialized>  {  \
-    static inline void run(Derived1 &dst, const Eigen::CwiseUnaryOp<UnaryOp, Derived2> &src) { \
-      vml_assign_impl<Derived1,Derived2,UnaryOp,TRAVERSAL,UNROLLING>::run(dst, src); \
-    } \
-  };
-
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(DefaultTraversal,NoUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(DefaultTraversal,CompleteUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(DefaultTraversal,InnerUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(LinearTraversal,NoUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(LinearTraversal,CompleteUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(InnerVectorizedTraversal,NoUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(InnerVectorizedTraversal,CompleteUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(InnerVectorizedTraversal,InnerUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(LinearVectorizedTraversal,CompleteUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(LinearVectorizedTraversal,NoUnrolling)
-EIGEN_MKL_VML_SPECIALIZE_ASSIGN(SliceVectorizedTraversal,NoUnrolling)
-
-
+#define EIGEN_PP_EXPAND(ARG) ARG
 #if !defined (EIGEN_FAST_MATH) || (EIGEN_FAST_MATH != 1)
-#define  EIGEN_MKL_VML_MODE VML_HA
+#define EIGEN_VMLMODE_EXPAND_LA , VML_HA
 #else
-#define  EIGEN_MKL_VML_MODE VML_LA
+#define EIGEN_VMLMODE_EXPAND_LA , VML_LA
 #endif
 
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE)     \
-  template<> struct vml_call< scalar_##EIGENOP##_op<EIGENTYPE> > {               \
-    enum { IsSupported = 1 };                                                    \
-    static inline void run( const scalar_##EIGENOP##_op<EIGENTYPE>& /*func*/,        \
-                            int size, const EIGENTYPE* src, EIGENTYPE* dst) {    \
-      VMLOP(size, (const VMLTYPE*)src, (VMLTYPE*)dst);                           \
-    }                                                                            \
+#define EIGEN_VMLMODE_EXPAND__ 
+
+#define EIGEN_VMLMODE_PREFIX_LA vm
+#define EIGEN_VMLMODE_PREFIX__  v
+#define EIGEN_VMLMODE_PREFIX(VMLMODE) EIGEN_CAT(EIGEN_VMLMODE_PREFIX_,VMLMODE)
+
+#define EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE)                                           \
+  template< typename DstXprType, typename SrcXprNested>                                                                         \
+  struct Assignment<DstXprType, CwiseUnaryOp<scalar_##EIGENOP##_op<EIGENTYPE>, SrcXprNested>, assign_op<EIGENTYPE,EIGENTYPE>,   \
+                   Dense2Dense, typename enable_if<vml_assign_traits<DstXprType,SrcXprNested>::EnableVml>::type> {              \
+    typedef CwiseUnaryOp<scalar_##EIGENOP##_op<EIGENTYPE>, SrcXprNested> SrcXprType;                                            \
+    static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &/*func*/) {                   \
+      eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());                                                       \
+      if(vml_assign_traits<DstXprType,SrcXprNested>::Traversal==LinearTraversal) {                                              \
+        VMLOP(dst.size(), (const VMLTYPE*)src.nestedExpression().data(),                                                        \
+              (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) );                                           \
+      } else {                                                                                                                  \
+        const Index outerSize = dst.outerSize();                                                                                \
+        for(Index outer = 0; outer < outerSize; ++outer) {                                                                      \
+          const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.nestedExpression().coeffRef(outer,0)) :                             \
+                                                      &(src.nestedExpression().coeffRef(0, outer));                             \
+          EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer));                           \
+          VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr,                                                                      \
+                (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE));                                             \
+        }                                                                                                                       \
+      }                                                                                                                         \
+    }                                                                                                                           \
+  };                                                                                                                            \
+
+
+#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE)                                                         \
+  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),s##VMLOP), float, float, VMLMODE)           \
+  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),d##VMLOP), double, double, VMLMODE)
+
+#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE)                                                         \
+  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),c##VMLOP), scomplex, MKL_Complex8, VMLMODE) \
+  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, EIGEN_CAT(EIGEN_VMLMODE_PREFIX(VMLMODE),z##VMLOP), dcomplex, MKL_Complex16, VMLMODE)
+  
+#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS(EIGENOP, VMLOP, VMLMODE)                                                              \
+  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP, VMLMODE)                                                               \
+  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(EIGENOP, VMLOP, VMLMODE)
+
+  
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sin,   Sin,   LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(asin,  Asin,  LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sinh,  Sinh,  LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cos,   Cos,   LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(acos,  Acos,  LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(cosh,  Cosh,  LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tan,   Tan,   LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(atan,  Atan,  LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(tanh,  Tanh,  LA)
+// EIGEN_MKL_VML_DECLARE_UNARY_CALLS(abs,   Abs,    _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(exp,   Exp,   LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log,   Ln,    LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(log10, Log10, LA)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS(sqrt,  Sqrt,  _)
+
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(square, Sqr,   _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_CPLX(arg, Arg,      _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(round, Round,  _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(floor, Floor,  _)
+EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(ceil,  Ceil,   _)
+
+#define EIGEN_MKL_VML_DECLARE_POW_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE, VMLMODE)                                           \
+  template< typename DstXprType, typename SrcXprNested, typename Plain>                                                       \
+  struct Assignment<DstXprType, CwiseBinaryOp<scalar_##EIGENOP##_op<EIGENTYPE,EIGENTYPE>, SrcXprNested,                       \
+                    const CwiseNullaryOp<internal::scalar_constant_op<EIGENTYPE>,Plain> >, assign_op<EIGENTYPE,EIGENTYPE>,    \
+                   Dense2Dense, typename enable_if<vml_assign_traits<DstXprType,SrcXprNested>::EnableVml>::type> {            \
+    typedef CwiseBinaryOp<scalar_##EIGENOP##_op<EIGENTYPE,EIGENTYPE>, SrcXprNested,                                           \
+                    const CwiseNullaryOp<internal::scalar_constant_op<EIGENTYPE>,Plain> > SrcXprType;                         \
+    static void run(DstXprType &dst, const SrcXprType &src, const assign_op<EIGENTYPE,EIGENTYPE> &/*func*/) {                 \
+      eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());                                                     \
+      VMLTYPE exponent = reinterpret_cast<const VMLTYPE&>(src.rhs().functor().m_other);                                       \
+      if(vml_assign_traits<DstXprType,SrcXprNested>::Traversal==LinearTraversal)                                              \
+      {                                                                                                                       \
+        VMLOP( dst.size(), (const VMLTYPE*)src.lhs().data(), exponent,                                                        \
+              (VMLTYPE*)dst.data() EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE) );                                         \
+      } else {                                                                                                                \
+        const Index outerSize = dst.outerSize();                                                                              \
+        for(Index outer = 0; outer < outerSize; ++outer) {                                                                    \
+          const EIGENTYPE *src_ptr = src.IsRowMajor ? &(src.lhs().coeffRef(outer,0)) :                                        \
+                                                      &(src.lhs().coeffRef(0, outer));                                        \
+          EIGENTYPE *dst_ptr = dst.IsRowMajor ? &(dst.coeffRef(outer,0)) : &(dst.coeffRef(0, outer));                         \
+          VMLOP( dst.innerSize(), (const VMLTYPE*)src_ptr, exponent,                                                          \
+                 (VMLTYPE*)dst_ptr EIGEN_PP_EXPAND(EIGEN_VMLMODE_EXPAND_##VMLMODE));                                          \
+        }                                                                                                                     \
+      }                                                                                                                       \
+    }                                                                                                                         \
   };
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALL_LA(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE)  \
-  template<> struct vml_call< scalar_##EIGENOP##_op<EIGENTYPE> > {               \
-    enum { IsSupported = 1 };                                                    \
-    static inline void run( const scalar_##EIGENOP##_op<EIGENTYPE>& /*func*/,        \
-                            int size, const EIGENTYPE* src, EIGENTYPE* dst) {    \
-      MKL_INT64 vmlMode = EIGEN_MKL_VML_MODE;                                    \
-      VMLOP(size, (const VMLTYPE*)src, (VMLTYPE*)dst, vmlMode);                  \
-    }                                                                            \
-  };
-
-#define EIGEN_MKL_VML_DECLARE_POW_CALL(EIGENOP, VMLOP, EIGENTYPE, VMLTYPE)       \
-  template<> struct vml_call< scalar_##EIGENOP##_op<EIGENTYPE> > {               \
-    enum { IsSupported = 1 };                                                    \
-    static inline void run( const scalar_##EIGENOP##_op<EIGENTYPE>& func,        \
-                          int size, const EIGENTYPE* src, EIGENTYPE* dst) {      \
-      EIGENTYPE exponent = func.m_exponent;                                      \
-      MKL_INT64 vmlMode = EIGEN_MKL_VML_MODE;                                    \
-      VMLOP(&size, (const VMLTYPE*)src, (const VMLTYPE*)&exponent,               \
-                        (VMLTYPE*)dst, &vmlMode);                                \
-    }                                                                            \
-  };
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP)                   \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, vs##VMLOP, float, float)             \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, vd##VMLOP, double, double)
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_COMPLEX(EIGENOP, VMLOP)                \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, vc##VMLOP, scomplex, MKL_Complex8)   \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL(EIGENOP, vz##VMLOP, dcomplex, MKL_Complex16)
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS(EIGENOP, VMLOP)                        \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(EIGENOP, VMLOP)                         \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_COMPLEX(EIGENOP, VMLOP)
-
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL_LA(EIGENOP, VMLOP)                \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL_LA(EIGENOP, vms##VMLOP, float, float)         \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL_LA(EIGENOP, vmd##VMLOP, double, double)
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_COMPLEX_LA(EIGENOP, VMLOP)             \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL_LA(EIGENOP, vmc##VMLOP, scomplex, MKL_Complex8)  \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALL_LA(EIGENOP, vmz##VMLOP, dcomplex, MKL_Complex16)
-
-#define EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(EIGENOP, VMLOP)                     \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL_LA(EIGENOP, VMLOP)                      \
-  EIGEN_MKL_VML_DECLARE_UNARY_CALLS_COMPLEX_LA(EIGENOP, VMLOP)
-
-
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(sin,  Sin)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(asin, Asin)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(cos,  Cos)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(acos, Acos)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(tan,  Tan)
-//EIGEN_MKL_VML_DECLARE_UNARY_CALLS(abs,  Abs)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(exp,  Exp)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(log,  Ln)
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_LA(sqrt, Sqrt)
-
-EIGEN_MKL_VML_DECLARE_UNARY_CALLS_REAL(square, Sqr)
-
-// The vm*powx functions are not avaibale in the windows version of MKL.
-#ifndef _WIN32
-EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmspowx_, float, float)
-EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmdpowx_, double, double)
-EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmcpowx_, scomplex, MKL_Complex8)
-EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmzpowx_, dcomplex, MKL_Complex16)
-#endif
+  
+EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmsPowx, float,    float,         LA)
+EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmdPowx, double,   double,        LA)
+EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmcPowx, scomplex, MKL_Complex8,  LA)
+EIGEN_MKL_VML_DECLARE_POW_CALL(pow, vmzPowx, dcomplex, MKL_Complex16, LA)
 
 } // end namespace internal
 
diff --git a/eigenlib/Eigen/src/Core/BandMatrix.h b/eigenlib/Eigen/src/Core/BandMatrix.h
index ffd7fe8b..4978c914 100644
--- a/eigenlib/Eigen/src/Core/BandMatrix.h
+++ b/eigenlib/Eigen/src/Core/BandMatrix.h
@@ -32,7 +32,7 @@ class BandMatrixBase : public EigenBase<Derived>
     };
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> DenseMatrixType;
-    typedef typename DenseMatrixType::Index Index;
+    typedef typename DenseMatrixType::StorageIndex StorageIndex;
     typedef typename internal::traits<Derived>::CoefficientsType CoefficientsType;
     typedef EigenBase<Derived> Base;
 
@@ -161,15 +161,15 @@ class BandMatrixBase : public EigenBase<Derived>
   *
   * \brief Represents a rectangular matrix with a banded storage
   *
-  * \param _Scalar Numeric type, i.e. float, double, int
-  * \param Rows Number of rows, or \b Dynamic
-  * \param Cols Number of columns, or \b Dynamic
-  * \param Supers Number of super diagonal
-  * \param Subs Number of sub diagonal
-  * \param _Options A combination of either \b #RowMajor or \b #ColMajor, and of \b #SelfAdjoint
-  *                 The former controls \ref TopicStorageOrders "storage order", and defaults to
-  *                 column-major. The latter controls whether the matrix represents a selfadjoint 
-  *                 matrix in which case either Supers of Subs have to be null.
+  * \tparam _Scalar Numeric type, i.e. float, double, int
+  * \tparam _Rows Number of rows, or \b Dynamic
+  * \tparam _Cols Number of columns, or \b Dynamic
+  * \tparam _Supers Number of super diagonal
+  * \tparam _Subs Number of sub diagonal
+  * \tparam _Options A combination of either \b #RowMajor or \b #ColMajor, and of \b #SelfAdjoint
+  *                  The former controls \ref TopicStorageOrders "storage order", and defaults to
+  *                  column-major. The latter controls whether the matrix represents a selfadjoint
+  *                  matrix in which case either Supers of Subs have to be null.
   *
   * \sa class TridiagonalMatrix
   */
@@ -179,7 +179,7 @@ struct traits<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
 {
   typedef _Scalar Scalar;
   typedef Dense StorageKind;
-  typedef DenseIndex Index;
+  typedef Eigen::Index StorageIndex;
   enum {
     CoeffReadCost = NumTraits<Scalar>::ReadCost,
     RowsAtCompileTime = _Rows,
@@ -201,10 +201,10 @@ class BandMatrix : public BandMatrixBase<BandMatrix<_Scalar,Rows,Cols,Supers,Sub
   public:
 
     typedef typename internal::traits<BandMatrix>::Scalar Scalar;
-    typedef typename internal::traits<BandMatrix>::Index Index;
+    typedef typename internal::traits<BandMatrix>::StorageIndex StorageIndex;
     typedef typename internal::traits<BandMatrix>::CoefficientsType CoefficientsType;
 
-    inline BandMatrix(Index rows=Rows, Index cols=Cols, Index supers=Supers, Index subs=Subs)
+    explicit inline BandMatrix(Index rows=Rows, Index cols=Cols, Index supers=Supers, Index subs=Subs)
       : m_coeffs(1+supers+subs,cols),
         m_rows(rows), m_supers(supers), m_subs(subs)
     {
@@ -241,7 +241,7 @@ struct traits<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Opt
 {
   typedef typename _CoefficientsType::Scalar Scalar;
   typedef typename _CoefficientsType::StorageKind StorageKind;
-  typedef typename _CoefficientsType::Index Index;
+  typedef typename _CoefficientsType::StorageIndex StorageIndex;
   enum {
     CoeffReadCost = internal::traits<_CoefficientsType>::CoeffReadCost,
     RowsAtCompileTime = _Rows,
@@ -264,9 +264,9 @@ class BandMatrixWrapper : public BandMatrixBase<BandMatrixWrapper<_CoefficientsT
 
     typedef typename internal::traits<BandMatrixWrapper>::Scalar Scalar;
     typedef typename internal::traits<BandMatrixWrapper>::CoefficientsType CoefficientsType;
-    typedef typename internal::traits<BandMatrixWrapper>::Index Index;
+    typedef typename internal::traits<BandMatrixWrapper>::StorageIndex StorageIndex;
 
-    inline BandMatrixWrapper(const CoefficientsType& coeffs, Index rows=_Rows, Index cols=_Cols, Index supers=_Supers, Index subs=_Subs)
+    explicit inline BandMatrixWrapper(const CoefficientsType& coeffs, Index rows=_Rows, Index cols=_Cols, Index supers=_Supers, Index subs=_Subs)
       : m_coeffs(coeffs),
         m_rows(rows), m_supers(supers), m_subs(subs)
     {
@@ -302,9 +302,9 @@ class BandMatrixWrapper : public BandMatrixBase<BandMatrixWrapper<_CoefficientsT
   *
   * \brief Represents a tridiagonal matrix with a compact banded storage
   *
-  * \param _Scalar Numeric type, i.e. float, double, int
-  * \param Size Number of rows and cols, or \b Dynamic
-  * \param _Options Can be 0 or \b SelfAdjoint
+  * \tparam Scalar Numeric type, i.e. float, double, int
+  * \tparam Size Number of rows and cols, or \b Dynamic
+  * \tparam Options Can be 0 or \b SelfAdjoint
   *
   * \sa class BandMatrix
   */
@@ -312,9 +312,9 @@ template<typename Scalar, int Size, int Options>
 class TridiagonalMatrix : public BandMatrix<Scalar,Size,Size,Options&SelfAdjoint?0:1,1,Options|RowMajor>
 {
     typedef BandMatrix<Scalar,Size,Size,Options&SelfAdjoint?0:1,1,Options|RowMajor> Base;
-    typedef typename Base::Index Index;
+    typedef typename Base::StorageIndex StorageIndex;
   public:
-    TridiagonalMatrix(Index size = Size) : Base(size,size,Options&SelfAdjoint?0:1,1) {}
+    explicit TridiagonalMatrix(Index size = Size) : Base(size,size,Options&SelfAdjoint?0:1,1) {}
 
     inline typename Base::template DiagonalIntReturnType<1>::Type super()
     { return Base::template diagonal<1>(); }
@@ -327,6 +327,25 @@ class TridiagonalMatrix : public BandMatrix<Scalar,Size,Size,Options&SelfAdjoint
   protected:
 };
 
+
+struct BandShape {};
+
+template<typename _Scalar, int _Rows, int _Cols, int _Supers, int _Subs, int _Options>
+struct evaluator_traits<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
+  : public evaluator_traits_base<BandMatrix<_Scalar,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+  typedef BandShape Shape;
+};
+
+template<typename _CoefficientsType,int _Rows, int _Cols, int _Supers, int _Subs,int _Options>
+struct evaluator_traits<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
+  : public evaluator_traits_base<BandMatrixWrapper<_CoefficientsType,_Rows,_Cols,_Supers,_Subs,_Options> >
+{
+  typedef BandShape Shape;
+};
+
+template<> struct AssignmentKind<DenseShape,BandShape> { typedef EigenBase2EigenBase Kind; };
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/Block.h b/eigenlib/Eigen/src/Core/Block.h
index 82789444..11de45c2 100644
--- a/eigenlib/Eigen/src/Core/Block.h
+++ b/eigenlib/Eigen/src/Core/Block.h
@@ -13,14 +13,70 @@
 
 namespace Eigen { 
 
+namespace internal {
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
+struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel> > : traits<XprType>
+{
+  typedef typename traits<XprType>::Scalar Scalar;
+  typedef typename traits<XprType>::StorageKind StorageKind;
+  typedef typename traits<XprType>::XprKind XprKind;
+  typedef typename ref_selector<XprType>::type XprTypeNested;
+  typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
+  enum{
+    MatrixRows = traits<XprType>::RowsAtCompileTime,
+    MatrixCols = traits<XprType>::ColsAtCompileTime,
+    RowsAtCompileTime = MatrixRows == 0 ? 0 : BlockRows,
+    ColsAtCompileTime = MatrixCols == 0 ? 0 : BlockCols,
+    MaxRowsAtCompileTime = BlockRows==0 ? 0
+                         : RowsAtCompileTime != Dynamic ? int(RowsAtCompileTime)
+                         : int(traits<XprType>::MaxRowsAtCompileTime),
+    MaxColsAtCompileTime = BlockCols==0 ? 0
+                         : ColsAtCompileTime != Dynamic ? int(ColsAtCompileTime)
+                         : int(traits<XprType>::MaxColsAtCompileTime),
+
+    XprTypeIsRowMajor = (int(traits<XprType>::Flags)&RowMajorBit) != 0,
+    IsRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
+               : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
+               : XprTypeIsRowMajor,
+    HasSameStorageOrderAsXprType = (IsRowMajor == XprTypeIsRowMajor),
+    InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
+    InnerStrideAtCompileTime = HasSameStorageOrderAsXprType
+                             ? int(inner_stride_at_compile_time<XprType>::ret)
+                             : int(outer_stride_at_compile_time<XprType>::ret),
+    OuterStrideAtCompileTime = HasSameStorageOrderAsXprType
+                             ? int(outer_stride_at_compile_time<XprType>::ret)
+                             : int(inner_stride_at_compile_time<XprType>::ret),
+
+    // FIXME, this traits is rather specialized for dense object and it needs to be cleaned further
+    FlagsLvalueBit = is_lvalue<XprType>::value ? LvalueBit : 0,
+    FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0,
+    Flags = (traits<XprType>::Flags & (DirectAccessBit | (InnerPanel?CompressedAccessBit:0))) | FlagsLvalueBit | FlagsRowMajorBit,
+    // FIXME DirectAccessBit should not be handled by expressions
+    // 
+    // Alignment is needed by MapBase's assertions
+    // We can sefely set it to false here. Internal alignment errors will be detected by an eigen_internal_assert in the respective evaluator
+    Alignment = 0
+  };
+};
+
+template<typename XprType, int BlockRows=Dynamic, int BlockCols=Dynamic, bool InnerPanel = false,
+         bool HasDirectAccess = internal::has_direct_access<XprType>::ret> class BlockImpl_dense;
+         
+} // end namespace internal
+
+template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, typename StorageKind> class BlockImpl;
+
 /** \class Block
   * \ingroup Core_Module
   *
   * \brief Expression of a fixed-size or dynamic-size block
   *
-  * \param XprType the type of the expression in which we are taking a block
-  * \param BlockRows the number of rows of the block we are taking at compile time (optional)
-  * \param BlockCols the number of columns of the block we are taking at compile time (optional)
+  * \tparam XprType the type of the expression in which we are taking a block
+  * \tparam BlockRows the number of rows of the block we are taking at compile time (optional)
+  * \tparam BlockCols the number of columns of the block we are taking at compile time (optional)
+  * \tparam InnerPanel is true, if the block maps to a set of rows of a row major matrix or
+  *         to set of columns of a column major matrix (optional). The parameter allows to determine
+  *         at compile time whether aligned access is possible on the block expression.
   *
   * This class represents an expression of either a fixed-size or dynamic-size block. It is the return
   * type of DenseBase::block(Index,Index,Index,Index) and DenseBase::block<int,int>(Index,Index) and
@@ -44,62 +100,6 @@ namespace Eigen {
   *
   * \sa DenseBase::block(Index,Index,Index,Index), DenseBase::block(Index,Index), class VectorBlock
   */
-
-namespace internal {
-template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
-struct traits<Block<XprType, BlockRows, BlockCols, InnerPanel> > : traits<XprType>
-{
-  typedef typename traits<XprType>::Scalar Scalar;
-  typedef typename traits<XprType>::StorageKind StorageKind;
-  typedef typename traits<XprType>::XprKind XprKind;
-  typedef typename nested<XprType>::type XprTypeNested;
-  typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
-  enum{
-    MatrixRows = traits<XprType>::RowsAtCompileTime,
-    MatrixCols = traits<XprType>::ColsAtCompileTime,
-    RowsAtCompileTime = MatrixRows == 0 ? 0 : BlockRows,
-    ColsAtCompileTime = MatrixCols == 0 ? 0 : BlockCols,
-    MaxRowsAtCompileTime = BlockRows==0 ? 0
-                         : RowsAtCompileTime != Dynamic ? int(RowsAtCompileTime)
-                         : int(traits<XprType>::MaxRowsAtCompileTime),
-    MaxColsAtCompileTime = BlockCols==0 ? 0
-                         : ColsAtCompileTime != Dynamic ? int(ColsAtCompileTime)
-                         : int(traits<XprType>::MaxColsAtCompileTime),
-    XprTypeIsRowMajor = (int(traits<XprType>::Flags)&RowMajorBit) != 0,
-    IsDense = is_same<StorageKind,Dense>::value,
-    IsRowMajor = (IsDense&&MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
-               : (IsDense&&MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
-               : XprTypeIsRowMajor,
-    HasSameStorageOrderAsXprType = (IsRowMajor == XprTypeIsRowMajor),
-    InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
-    InnerStrideAtCompileTime = HasSameStorageOrderAsXprType
-                             ? int(inner_stride_at_compile_time<XprType>::ret)
-                             : int(outer_stride_at_compile_time<XprType>::ret),
-    OuterStrideAtCompileTime = HasSameStorageOrderAsXprType
-                             ? int(outer_stride_at_compile_time<XprType>::ret)
-                             : int(inner_stride_at_compile_time<XprType>::ret),
-    MaskPacketAccessBit = (InnerSize == Dynamic || (InnerSize % packet_traits<Scalar>::size) == 0)
-                       && (InnerStrideAtCompileTime == 1)
-                        ? PacketAccessBit : 0,
-    MaskAlignedBit = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && (((OuterStrideAtCompileTime * int(sizeof(Scalar))) % 16) == 0)) ? AlignedBit : 0,
-    FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1 || (InnerPanel && (traits<XprType>::Flags&LinearAccessBit))) ? LinearAccessBit : 0,
-    FlagsLvalueBit = is_lvalue<XprType>::value ? LvalueBit : 0,
-    FlagsRowMajorBit = IsRowMajor ? RowMajorBit : 0,
-    Flags0 = traits<XprType>::Flags & ( (HereditaryBits & ~RowMajorBit) |
-                                        DirectAccessBit |
-                                        MaskPacketAccessBit |
-                                        MaskAlignedBit),
-    Flags = Flags0 | FlagsLinearAccessBit | FlagsLvalueBit | FlagsRowMajorBit
-  };
-};
-
-template<typename XprType, int BlockRows=Dynamic, int BlockCols=Dynamic, bool InnerPanel = false,
-         bool HasDirectAccess = internal::has_direct_access<XprType>::ret> class BlockImpl_dense;
-         
-} // end namespace internal
-
-template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, typename StorageKind> class BlockImpl;
-
 template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class Block
   : public BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, typename internal::traits<XprType>::StorageKind>
 {
@@ -109,9 +109,12 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class
     typedef Impl Base;
     EIGEN_GENERIC_PUBLIC_INTERFACE(Block)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Block)
+    
+    typedef typename internal::remove_all<XprType>::type NestedExpression;
   
     /** Column or Row constructor
       */
+    EIGEN_DEVICE_FUNC
     inline Block(XprType& xpr, Index i) : Impl(xpr,i)
     {
       eigen_assert( (i>=0) && (
@@ -121,25 +124,27 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel> class
 
     /** Fixed-size constructor
       */
-    inline Block(XprType& xpr, Index a_startRow, Index a_startCol)
-      : Impl(xpr, a_startRow, a_startCol)
+    EIGEN_DEVICE_FUNC
+    inline Block(XprType& xpr, Index startRow, Index startCol)
+      : Impl(xpr, startRow, startCol)
     {
       EIGEN_STATIC_ASSERT(RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic,THIS_METHOD_IS_ONLY_FOR_FIXED_SIZE)
-      eigen_assert(a_startRow >= 0 && BlockRows >= 1 && a_startRow + BlockRows <= xpr.rows()
-             && a_startCol >= 0 && BlockCols >= 1 && a_startCol + BlockCols <= xpr.cols());
+      eigen_assert(startRow >= 0 && BlockRows >= 0 && startRow + BlockRows <= xpr.rows()
+             && startCol >= 0 && BlockCols >= 0 && startCol + BlockCols <= xpr.cols());
     }
 
     /** Dynamic-size constructor
       */
+    EIGEN_DEVICE_FUNC
     inline Block(XprType& xpr,
-          Index a_startRow, Index a_startCol,
+          Index startRow, Index startCol,
           Index blockRows, Index blockCols)
-      : Impl(xpr, a_startRow, a_startCol, blockRows, blockCols)
+      : Impl(xpr, startRow, startCol, blockRows, blockCols)
     {
       eigen_assert((RowsAtCompileTime==Dynamic || RowsAtCompileTime==blockRows)
           && (ColsAtCompileTime==Dynamic || ColsAtCompileTime==blockCols));
-      eigen_assert(a_startRow >= 0 && blockRows >= 0 && a_startRow  <= xpr.rows() - blockRows
-          && a_startCol >= 0 && blockCols >= 0 && a_startCol <= xpr.cols() - blockCols);
+      eigen_assert(startRow >= 0 && blockRows >= 0 && startRow  <= xpr.rows() - blockRows
+          && startCol >= 0 && blockCols >= 0 && startCol <= xpr.cols() - blockCols);
     }
 };
          
@@ -150,14 +155,15 @@ class BlockImpl<XprType, BlockRows, BlockCols, InnerPanel, Dense>
   : public internal::BlockImpl_dense<XprType, BlockRows, BlockCols, InnerPanel>
 {
     typedef internal::BlockImpl_dense<XprType, BlockRows, BlockCols, InnerPanel> Impl;
-    typedef typename XprType::Index Index;
+    typedef typename XprType::StorageIndex StorageIndex;
   public:
     typedef Impl Base;
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl)
-    inline BlockImpl(XprType& xpr, Index i) : Impl(xpr,i) {}
-    inline BlockImpl(XprType& xpr, Index a_startRow, Index a_startCol) : Impl(xpr, a_startRow, a_startCol) {}
-    inline BlockImpl(XprType& xpr, Index a_startRow, Index a_startCol, Index blockRows, Index blockCols)
-      : Impl(xpr, a_startRow, a_startCol, blockRows, blockCols) {}
+    EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index i) : Impl(xpr,i) {}
+    EIGEN_DEVICE_FUNC inline BlockImpl(XprType& xpr, Index startRow, Index startCol) : Impl(xpr, startRow, startCol) {}
+    EIGEN_DEVICE_FUNC
+    inline BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+      : Impl(xpr, startRow, startCol, blockRows, blockCols) {}
 };
 
 namespace internal {
@@ -167,16 +173,18 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool H
   : public internal::dense_xpr_base<Block<XprType, BlockRows, BlockCols, InnerPanel> >::type
 {
     typedef Block<XprType, BlockRows, BlockCols, InnerPanel> BlockType;
+    typedef typename internal::ref_selector<XprType>::non_const_type XprTypeNested;
   public:
 
     typedef typename internal::dense_xpr_base<BlockType>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(BlockType)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl_dense)
 
-    class InnerIterator;
+    // class InnerIterator; // FIXME apparently never used
 
     /** Column or Row constructor
       */
+    EIGEN_DEVICE_FUNC
     inline BlockImpl_dense(XprType& xpr, Index i)
       : m_xpr(xpr),
         // It is a row if and only if BlockRows==1 and BlockCols==XprType::ColsAtCompileTime,
@@ -191,75 +199,76 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool H
 
     /** Fixed-size constructor
       */
-    inline BlockImpl_dense(XprType& xpr, Index a_startRow, Index a_startCol)
-      : m_xpr(xpr), m_startRow(a_startRow), m_startCol(a_startCol),
+    EIGEN_DEVICE_FUNC
+    inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol)
+      : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol),
                     m_blockRows(BlockRows), m_blockCols(BlockCols)
     {}
 
     /** Dynamic-size constructor
       */
+    EIGEN_DEVICE_FUNC
     inline BlockImpl_dense(XprType& xpr,
-          Index a_startRow, Index a_startCol,
+          Index startRow, Index startCol,
           Index blockRows, Index blockCols)
-      : m_xpr(xpr), m_startRow(a_startRow), m_startCol(a_startCol),
+      : m_xpr(xpr), m_startRow(startRow), m_startCol(startCol),
                     m_blockRows(blockRows), m_blockCols(blockCols)
     {}
 
-    inline Index rows() const { return m_blockRows.value(); }
-    inline Index cols() const { return m_blockCols.value(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_blockRows.value(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_blockCols.value(); }
 
+    EIGEN_DEVICE_FUNC
     inline Scalar& coeffRef(Index rowId, Index colId)
     {
       EIGEN_STATIC_ASSERT_LVALUE(XprType)
-      return m_xpr.const_cast_derived()
-               .coeffRef(rowId + m_startRow.value(), colId + m_startCol.value());
+      return m_xpr.coeffRef(rowId + m_startRow.value(), colId + m_startCol.value());
     }
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index rowId, Index colId) const
     {
-      return m_xpr.derived()
-               .coeffRef(rowId + m_startRow.value(), colId + m_startCol.value());
+      return m_xpr.derived().coeffRef(rowId + m_startRow.value(), colId + m_startCol.value());
     }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index rowId, Index colId) const
     {
       return m_xpr.coeff(rowId + m_startRow.value(), colId + m_startCol.value());
     }
 
+    EIGEN_DEVICE_FUNC
     inline Scalar& coeffRef(Index index)
     {
       EIGEN_STATIC_ASSERT_LVALUE(XprType)
-      return m_xpr.const_cast_derived()
-             .coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                       m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+      return m_xpr.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                            m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
     }
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index index) const
     {
-      return m_xpr.const_cast_derived()
-             .coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                       m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+      return m_xpr.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                            m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
     }
 
+    EIGEN_DEVICE_FUNC
     inline const CoeffReturnType coeff(Index index) const
     {
-      return m_xpr
-             .coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                    m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+      return m_xpr.coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                         m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
     }
 
     template<int LoadMode>
     inline PacketScalar packet(Index rowId, Index colId) const
     {
-      return m_xpr.template packet<Unaligned>
-              (rowId + m_startRow.value(), colId + m_startCol.value());
+      return m_xpr.template packet<Unaligned>(rowId + m_startRow.value(), colId + m_startCol.value());
     }
 
     template<int LoadMode>
     inline void writePacket(Index rowId, Index colId, const PacketScalar& val)
     {
-      m_xpr.const_cast_derived().template writePacket<Unaligned>
-              (rowId + m_startRow.value(), colId + m_startCol.value(), val);
+      m_xpr.template writePacket<Unaligned>(rowId + m_startRow.value(), colId + m_startCol.value(), val);
     }
 
     template<int LoadMode>
@@ -273,40 +282,46 @@ template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel, bool H
     template<int LoadMode>
     inline void writePacket(Index index, const PacketScalar& val)
     {
-      m_xpr.const_cast_derived().template writePacket<Unaligned>
+      m_xpr.template writePacket<Unaligned>
          (m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
           m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0), val);
     }
 
     #ifdef EIGEN_PARSED_BY_DOXYGEN
     /** \sa MapBase::data() */
-    inline const Scalar* data() const;
-    inline Index innerStride() const;
-    inline Index outerStride() const;
+    EIGEN_DEVICE_FUNC inline const Scalar* data() const;
+    EIGEN_DEVICE_FUNC inline Index innerStride() const;
+    EIGEN_DEVICE_FUNC inline Index outerStride() const;
     #endif
 
-    const typename internal::remove_all<typename XprType::Nested>::type& nestedExpression() const 
+    EIGEN_DEVICE_FUNC
+    const typename internal::remove_all<XprTypeNested>::type& nestedExpression() const
     { 
       return m_xpr; 
     }
+
+    EIGEN_DEVICE_FUNC
+    XprType& nestedExpression() { return m_xpr; }
       
-    Index startRow() const 
+    EIGEN_DEVICE_FUNC
+    StorageIndex startRow() const
     { 
       return m_startRow.value(); 
     }
       
-    Index startCol() const 
+    EIGEN_DEVICE_FUNC
+    StorageIndex startCol() const
     { 
       return m_startCol.value(); 
     }
 
   protected:
 
-    const typename XprType::Nested m_xpr;
-    const internal::variable_if_dynamic<Index, XprType::RowsAtCompileTime == 1 ? 0 : Dynamic> m_startRow;
-    const internal::variable_if_dynamic<Index, XprType::ColsAtCompileTime == 1 ? 0 : Dynamic> m_startCol;
-    const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_blockRows;
-    const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_blockCols;
+    XprTypeNested m_xpr;
+    const internal::variable_if_dynamic<StorageIndex, (XprType::RowsAtCompileTime == 1 && BlockRows==1) ? 0 : Dynamic> m_startRow;
+    const internal::variable_if_dynamic<StorageIndex, (XprType::ColsAtCompileTime == 1 && BlockCols==1) ? 0 : Dynamic> m_startCol;
+    const internal::variable_if_dynamic<StorageIndex, RowsAtCompileTime> m_blockRows;
+    const internal::variable_if_dynamic<StorageIndex, ColsAtCompileTime> m_blockCols;
 };
 
 /** \internal Internal implementation of dense Blocks in the direct access case.*/
@@ -315,6 +330,10 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
   : public MapBase<Block<XprType, BlockRows, BlockCols, InnerPanel> >
 {
     typedef Block<XprType, BlockRows, BlockCols, InnerPanel> BlockType;
+    typedef typename internal::ref_selector<XprType>::non_const_type XprTypeNested;
+    enum {
+      XprTypeIsRowMajor = (int(traits<XprType>::Flags)&RowMajorBit) != 0
+    };
   public:
 
     typedef MapBase<BlockType> Base;
@@ -323,42 +342,52 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
 
     /** Column or Row constructor
       */
+    EIGEN_DEVICE_FUNC
     inline BlockImpl_dense(XprType& xpr, Index i)
-      : Base(internal::const_cast_ptr(&xpr.coeffRef(
-              (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0,
-              (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0)),
+      : Base(xpr.data() + i * (    ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && (!XprTypeIsRowMajor)) 
+                                || ((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && ( XprTypeIsRowMajor)) ? xpr.innerStride() : xpr.outerStride()),
              BlockRows==1 ? 1 : xpr.rows(),
              BlockCols==1 ? 1 : xpr.cols()),
-        m_xpr(xpr)
+        m_xpr(xpr),
+        m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0),
+        m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0)
     {
       init();
     }
 
     /** Fixed-size constructor
       */
+    EIGEN_DEVICE_FUNC
     inline BlockImpl_dense(XprType& xpr, Index startRow, Index startCol)
-      : Base(internal::const_cast_ptr(&xpr.coeffRef(startRow,startCol))), m_xpr(xpr)
+      : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol)),
+        m_xpr(xpr), m_startRow(startRow), m_startCol(startCol)
     {
       init();
     }
 
     /** Dynamic-size constructor
       */
+    EIGEN_DEVICE_FUNC
     inline BlockImpl_dense(XprType& xpr,
           Index startRow, Index startCol,
           Index blockRows, Index blockCols)
-      : Base(internal::const_cast_ptr(&xpr.coeffRef(startRow,startCol)), blockRows, blockCols),
-        m_xpr(xpr)
+      : Base(xpr.data()+xpr.innerStride()*(XprTypeIsRowMajor?startCol:startRow) + xpr.outerStride()*(XprTypeIsRowMajor?startRow:startCol), blockRows, blockCols),
+        m_xpr(xpr), m_startRow(startRow), m_startCol(startCol)
     {
       init();
     }
 
-    const typename internal::remove_all<typename XprType::Nested>::type& nestedExpression() const 
+    EIGEN_DEVICE_FUNC
+    const typename internal::remove_all<XprTypeNested>::type& nestedExpression() const
     { 
       return m_xpr; 
     }
+
+    EIGEN_DEVICE_FUNC
+    XprType& nestedExpression() { return m_xpr; }
       
     /** \sa MapBase::innerStride() */
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const
     {
       return internal::traits<BlockType>::HasSameStorageOrderAsXprType
@@ -367,11 +396,24 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
     }
 
     /** \sa MapBase::outerStride() */
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const
     {
       return m_outerStride;
     }
 
+    EIGEN_DEVICE_FUNC
+    StorageIndex startRow() const
+    {
+      return m_startRow.value();
+    }
+
+    EIGEN_DEVICE_FUNC
+    StorageIndex startCol() const
+    {
+      return m_startCol.value();
+    }
+
   #ifndef __SUNPRO_CC
   // FIXME sunstudio is not friendly with the above friend...
   // META-FIXME there is no 'friend' keyword around here. Is this obsolete?
@@ -380,6 +422,7 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal used by allowAligned() */
+    EIGEN_DEVICE_FUNC
     inline BlockImpl_dense(XprType& xpr, const Scalar* data, Index blockRows, Index blockCols)
       : Base(data, blockRows, blockCols), m_xpr(xpr)
     {
@@ -388,6 +431,7 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
     #endif
 
   protected:
+    EIGEN_DEVICE_FUNC
     void init()
     {
       m_outerStride = internal::traits<BlockType>::HasSameStorageOrderAsXprType
@@ -395,7 +439,9 @@ class BlockImpl_dense<XprType,BlockRows,BlockCols, InnerPanel,true>
                     : m_xpr.innerStride();
     }
 
-    typename XprType::Nested m_xpr;
+    XprTypeNested m_xpr;
+    const internal::variable_if_dynamic<StorageIndex, (XprType::RowsAtCompileTime == 1 && BlockRows==1) ? 0 : Dynamic> m_startRow;
+    const internal::variable_if_dynamic<StorageIndex, (XprType::ColsAtCompileTime == 1 && BlockCols==1) ? 0 : Dynamic> m_startCol;
     Index m_outerStride;
 };
 
diff --git a/eigenlib/Eigen/src/Core/BooleanRedux.h b/eigenlib/Eigen/src/Core/BooleanRedux.h
index be9f48a8..8409d874 100644
--- a/eigenlib/Eigen/src/Core/BooleanRedux.h
+++ b/eigenlib/Eigen/src/Core/BooleanRedux.h
@@ -17,9 +17,10 @@ namespace internal {
 template<typename Derived, int UnrollCount>
 struct all_unroller
 {
+  typedef typename Derived::ExpressionTraits Traits;
   enum {
-    col = (UnrollCount-1) / Derived::RowsAtCompileTime,
-    row = (UnrollCount-1) % Derived::RowsAtCompileTime
+    col = (UnrollCount-1) / Traits::RowsAtCompileTime,
+    row = (UnrollCount-1) % Traits::RowsAtCompileTime
   };
 
   static inline bool run(const Derived &mat)
@@ -43,11 +44,12 @@ struct all_unroller<Derived, Dynamic>
 template<typename Derived, int UnrollCount>
 struct any_unroller
 {
+  typedef typename Derived::ExpressionTraits Traits;
   enum {
-    col = (UnrollCount-1) / Derived::RowsAtCompileTime,
-    row = (UnrollCount-1) % Derived::RowsAtCompileTime
+    col = (UnrollCount-1) / Traits::RowsAtCompileTime,
+    row = (UnrollCount-1) % Traits::RowsAtCompileTime
   };
-
+  
   static inline bool run(const Derived &mat)
   {
     return any_unroller<Derived, UnrollCount-1>::run(mat) || mat.coeff(row, col);
@@ -78,19 +80,19 @@ struct any_unroller<Derived, Dynamic>
 template<typename Derived>
 inline bool DenseBase<Derived>::all() const
 {
+  typedef internal::evaluator<Derived> Evaluator;
   enum {
     unroll = SizeAtCompileTime != Dynamic
-          && CoeffReadCost != Dynamic
-          && NumTraits<Scalar>::AddCost != Dynamic
-          && SizeAtCompileTime * (CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
+          && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
   };
+  Evaluator evaluator(derived());
   if(unroll)
-    return internal::all_unroller<Derived, unroll ? int(SizeAtCompileTime) : Dynamic>::run(derived());
+    return internal::all_unroller<Evaluator, unroll ? int(SizeAtCompileTime) : Dynamic>::run(evaluator);
   else
   {
     for(Index j = 0; j < cols(); ++j)
       for(Index i = 0; i < rows(); ++i)
-        if (!coeff(i, j)) return false;
+        if (!evaluator.coeff(i, j)) return false;
     return true;
   }
 }
@@ -102,19 +104,19 @@ inline bool DenseBase<Derived>::all() const
 template<typename Derived>
 inline bool DenseBase<Derived>::any() const
 {
+  typedef internal::evaluator<Derived> Evaluator;
   enum {
     unroll = SizeAtCompileTime != Dynamic
-          && CoeffReadCost != Dynamic
-          && NumTraits<Scalar>::AddCost != Dynamic
-          && SizeAtCompileTime * (CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
+          && SizeAtCompileTime * (Evaluator::CoeffReadCost + NumTraits<Scalar>::AddCost) <= EIGEN_UNROLLING_LIMIT
   };
+  Evaluator evaluator(derived());
   if(unroll)
-    return internal::any_unroller<Derived, unroll ? int(SizeAtCompileTime) : Dynamic>::run(derived());
+    return internal::any_unroller<Evaluator, unroll ? int(SizeAtCompileTime) : Dynamic>::run(evaluator);
   else
   {
     for(Index j = 0; j < cols(); ++j)
       for(Index i = 0; i < rows(); ++i)
-        if (coeff(i, j)) return true;
+        if (evaluator.coeff(i, j)) return true;
     return false;
   }
 }
@@ -124,7 +126,7 @@ inline bool DenseBase<Derived>::any() const
   * \sa all(), any()
   */
 template<typename Derived>
-inline typename DenseBase<Derived>::Index DenseBase<Derived>::count() const
+inline Eigen::Index DenseBase<Derived>::count() const
 {
   return derived().template cast<bool>().template cast<Index>().sum();
 }
@@ -136,7 +138,11 @@ inline typename DenseBase<Derived>::Index DenseBase<Derived>::count() const
 template<typename Derived>
 inline bool DenseBase<Derived>::hasNaN() const
 {
+#if EIGEN_COMP_MSVC || (defined __FAST_MATH__)
+  return derived().array().isNaN().any();
+#else
   return !((derived().array()==derived().array()).all());
+#endif
 }
 
 /** \returns true if \c *this contains only finite numbers, i.e., no NaN and no +/-INF values.
@@ -146,7 +152,11 @@ inline bool DenseBase<Derived>::hasNaN() const
 template<typename Derived>
 inline bool DenseBase<Derived>::allFinite() const
 {
+#if EIGEN_COMP_MSVC || (defined __FAST_MATH__)
+  return derived().array().isFinite().all();
+#else
   return !((derived()-derived()).hasNaN());
+#endif
 }
     
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/CMakeLists.txt b/eigenlib/Eigen/src/Core/CMakeLists.txt
deleted file mode 100644
index 2346fc2b..00000000
--- a/eigenlib/Eigen/src/Core/CMakeLists.txt
+++ /dev/null
@@ -1,10 +0,0 @@
-FILE(GLOB Eigen_Core_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Core_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core COMPONENT Devel
-  )
-
-ADD_SUBDIRECTORY(products)
-ADD_SUBDIRECTORY(util)
-ADD_SUBDIRECTORY(arch)
diff --git a/eigenlib/Eigen/src/Core/CommaInitializer.h b/eigenlib/Eigen/src/Core/CommaInitializer.h
index a036d8c3..d218e981 100644
--- a/eigenlib/Eigen/src/Core/CommaInitializer.h
+++ b/eigenlib/Eigen/src/Core/CommaInitializer.h
@@ -22,14 +22,14 @@ namespace Eigen {
   * the return type of MatrixBase::operator<<, and most of the time this is the only
   * way it is used.
   *
-  * \sa \ref MatrixBaseCommaInitRef "MatrixBase::operator<<", CommaInitializer::finished()
+  * \sa \blank \ref MatrixBaseCommaInitRef "MatrixBase::operator<<", CommaInitializer::finished()
   */
 template<typename XprType>
 struct CommaInitializer
 {
   typedef typename XprType::Scalar Scalar;
-  typedef typename XprType::Index Index;
 
+  EIGEN_DEVICE_FUNC
   inline CommaInitializer(XprType& xpr, const Scalar& s)
     : m_xpr(xpr), m_row(0), m_col(1), m_currentBlockRows(1)
   {
@@ -37,6 +37,7 @@ struct CommaInitializer
   }
 
   template<typename OtherDerived>
+  EIGEN_DEVICE_FUNC
   inline CommaInitializer(XprType& xpr, const DenseBase<OtherDerived>& other)
     : m_xpr(xpr), m_row(0), m_col(other.cols()), m_currentBlockRows(other.rows())
   {
@@ -46,6 +47,7 @@ struct CommaInitializer
   /* Copy/Move constructor which transfers ownership. This is crucial in 
    * absence of return value optimization to avoid assertions during destruction. */
   // FIXME in C++11 mode this could be replaced by a proper RValue constructor
+  EIGEN_DEVICE_FUNC
   inline CommaInitializer(const CommaInitializer& o)
   : m_xpr(o.m_xpr), m_row(o.m_row), m_col(o.m_col), m_currentBlockRows(o.m_currentBlockRows) {
     // Mark original object as finished. In absence of R-value references we need to const_cast:
@@ -55,6 +57,7 @@ struct CommaInitializer
   }
 
   /* inserts a scalar value in the target matrix */
+  EIGEN_DEVICE_FUNC
   CommaInitializer& operator,(const Scalar& s)
   {
     if (m_col==m_xpr.cols())
@@ -74,11 +77,10 @@ struct CommaInitializer
 
   /* inserts a matrix expression in the target matrix */
   template<typename OtherDerived>
+  EIGEN_DEVICE_FUNC
   CommaInitializer& operator,(const DenseBase<OtherDerived>& other)
   {
-    if(other.cols()==0 || other.rows()==0)
-      return *this;
-    if (m_col==m_xpr.cols())
+    if (m_col==m_xpr.cols() && (other.cols()!=0 || other.rows()!=m_currentBlockRows))
     {
       m_row+=m_currentBlockRows;
       m_col = 0;
@@ -86,24 +88,22 @@ struct CommaInitializer
       eigen_assert(m_row+m_currentBlockRows<=m_xpr.rows()
         && "Too many rows passed to comma initializer (operator<<)");
     }
-    eigen_assert(m_col<m_xpr.cols()
+    eigen_assert((m_col + other.cols() <= m_xpr.cols())
       && "Too many coefficients passed to comma initializer (operator<<)");
     eigen_assert(m_currentBlockRows==other.rows());
-    if (OtherDerived::SizeAtCompileTime != Dynamic)
-      m_xpr.template block<OtherDerived::RowsAtCompileTime != Dynamic ? OtherDerived::RowsAtCompileTime : 1,
-                              OtherDerived::ColsAtCompileTime != Dynamic ? OtherDerived::ColsAtCompileTime : 1>
-                    (m_row, m_col) = other;
-    else
-      m_xpr.block(m_row, m_col, other.rows(), other.cols()) = other;
+    m_xpr.template block<OtherDerived::RowsAtCompileTime, OtherDerived::ColsAtCompileTime>
+                    (m_row, m_col, other.rows(), other.cols()) = other;
     m_col += other.cols();
     return *this;
   }
 
+  EIGEN_DEVICE_FUNC
   inline ~CommaInitializer()
+#if defined VERIFY_RAISES_ASSERT && (!defined EIGEN_NO_ASSERTION_CHECKING) && defined EIGEN_EXCEPTIONS
+  EIGEN_EXCEPTION_SPEC(Eigen::eigen_assert_exception)
+#endif
   {
-    eigen_assert((m_row+m_currentBlockRows) == m_xpr.rows()
-         && m_col == m_xpr.cols()
-         && "Too few coefficients passed to comma initializer (operator<<)");
+      finished();
   }
 
   /** \returns the built matrix once all its coefficients have been set.
@@ -113,9 +113,15 @@ struct CommaInitializer
     * quaternion.fromRotationMatrix((Matrix3f() << axis0, axis1, axis2).finished());
     * \endcode
     */
-  inline XprType& finished() { return m_xpr; }
+  EIGEN_DEVICE_FUNC
+  inline XprType& finished() {
+      eigen_assert(((m_row+m_currentBlockRows) == m_xpr.rows() || m_xpr.cols() == 0)
+           && m_col == m_xpr.cols()
+           && "Too few coefficients passed to comma initializer (operator<<)");
+      return m_xpr;
+  }
 
-  XprType& m_xpr;   // target expression
+  XprType& m_xpr;           // target expression
   Index m_row;              // current row id
   Index m_col;              // current col id
   Index m_currentBlockRows; // current block height
diff --git a/eigenlib/Eigen/src/Core/ConditionEstimator.h b/eigenlib/Eigen/src/Core/ConditionEstimator.h
new file mode 100644
index 00000000..aa7efdc7
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/ConditionEstimator.h
@@ -0,0 +1,175 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Rasmus Munk Larsen (rmlarsen@google.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_CONDITIONESTIMATOR_H
+#define EIGEN_CONDITIONESTIMATOR_H
+
+namespace Eigen {
+
+namespace internal {
+
+template <typename Vector, typename RealVector, bool IsComplex>
+struct rcond_compute_sign {
+  static inline Vector run(const Vector& v) {
+    const RealVector v_abs = v.cwiseAbs();
+    return (v_abs.array() == static_cast<typename Vector::RealScalar>(0))
+            .select(Vector::Ones(v.size()), v.cwiseQuotient(v_abs));
+  }
+};
+
+// Partial specialization to avoid elementwise division for real vectors.
+template <typename Vector>
+struct rcond_compute_sign<Vector, Vector, false> {
+  static inline Vector run(const Vector& v) {
+    return (v.array() < static_cast<typename Vector::RealScalar>(0))
+           .select(-Vector::Ones(v.size()), Vector::Ones(v.size()));
+  }
+};
+
+/**
+  * \returns an estimate of ||inv(matrix)||_1 given a decomposition of
+  * \a matrix that implements .solve() and .adjoint().solve() methods.
+  *
+  * This function implements Algorithms 4.1 and 5.1 from
+  *   http://www.maths.manchester.ac.uk/~higham/narep/narep135.pdf
+  * which also forms the basis for the condition number estimators in
+  * LAPACK. Since at most 10 calls to the solve method of dec are
+  * performed, the total cost is O(dims^2), as opposed to O(dims^3)
+  * needed to compute the inverse matrix explicitly.
+  *
+  * The most common usage is in estimating the condition number
+  * ||matrix||_1 * ||inv(matrix)||_1. The first term ||matrix||_1 can be
+  * computed directly in O(n^2) operations.
+  *
+  * Supports the following decompositions: FullPivLU, PartialPivLU, LDLT, and
+  * LLT.
+  *
+  * \sa FullPivLU, PartialPivLU, LDLT, LLT.
+  */
+template <typename Decomposition>
+typename Decomposition::RealScalar rcond_invmatrix_L1_norm_estimate(const Decomposition& dec)
+{
+  typedef typename Decomposition::MatrixType MatrixType;
+  typedef typename Decomposition::Scalar Scalar;
+  typedef typename Decomposition::RealScalar RealScalar;
+  typedef typename internal::plain_col_type<MatrixType>::type Vector;
+  typedef typename internal::plain_col_type<MatrixType, RealScalar>::type RealVector;
+  const bool is_complex = (NumTraits<Scalar>::IsComplex != 0);
+
+  eigen_assert(dec.rows() == dec.cols());
+  const Index n = dec.rows();
+  if (n == 0)
+    return 0;
+
+  // Disable Index to float conversion warning
+#ifdef __INTEL_COMPILER
+  #pragma warning push
+  #pragma warning ( disable : 2259 )
+#endif
+  Vector v = dec.solve(Vector::Ones(n) / Scalar(n));
+#ifdef __INTEL_COMPILER
+  #pragma warning pop
+#endif
+
+  // lower_bound is a lower bound on
+  //   ||inv(matrix)||_1  = sup_v ||inv(matrix) v||_1 / ||v||_1
+  // and is the objective maximized by the ("super-") gradient ascent
+  // algorithm below.
+  RealScalar lower_bound = v.template lpNorm<1>();
+  if (n == 1)
+    return lower_bound;
+
+  // Gradient ascent algorithm follows: We know that the optimum is achieved at
+  // one of the simplices v = e_i, so in each iteration we follow a
+  // super-gradient to move towards the optimal one.
+  RealScalar old_lower_bound = lower_bound;
+  Vector sign_vector(n);
+  Vector old_sign_vector;
+  Index v_max_abs_index = -1;
+  Index old_v_max_abs_index = v_max_abs_index;
+  for (int k = 0; k < 4; ++k)
+  {
+    sign_vector = internal::rcond_compute_sign<Vector, RealVector, is_complex>::run(v);
+    if (k > 0 && !is_complex && sign_vector == old_sign_vector) {
+      // Break if the solution stagnated.
+      break;
+    }
+    // v_max_abs_index = argmax |real( inv(matrix)^T * sign_vector )|
+    v = dec.adjoint().solve(sign_vector);
+    v.real().cwiseAbs().maxCoeff(&v_max_abs_index);
+    if (v_max_abs_index == old_v_max_abs_index) {
+      // Break if the solution stagnated.
+      break;
+    }
+    // Move to the new simplex e_j, where j = v_max_abs_index.
+    v = dec.solve(Vector::Unit(n, v_max_abs_index));  // v = inv(matrix) * e_j.
+    lower_bound = v.template lpNorm<1>();
+    if (lower_bound <= old_lower_bound) {
+      // Break if the gradient step did not increase the lower_bound.
+      break;
+    }
+    if (!is_complex) {
+      old_sign_vector = sign_vector;
+    }
+    old_v_max_abs_index = v_max_abs_index;
+    old_lower_bound = lower_bound;
+  }
+  // The following calculates an independent estimate of ||matrix||_1 by
+  // multiplying matrix by a vector with entries of slowly increasing
+  // magnitude and alternating sign:
+  //   v_i = (-1)^{i} (1 + (i / (dim-1))), i = 0,...,dim-1.
+  // This improvement to Hager's algorithm above is due to Higham. It was
+  // added to make the algorithm more robust in certain corner cases where
+  // large elements in the matrix might otherwise escape detection due to
+  // exact cancellation (especially when op and op_adjoint correspond to a
+  // sequence of backsubstitutions and permutations), which could cause
+  // Hager's algorithm to vastly underestimate ||matrix||_1.
+  Scalar alternating_sign(RealScalar(1));
+  for (Index i = 0; i < n; ++i) {
+    // The static_cast is needed when Scalar is a complex and RealScalar implements expression templates
+    v[i] = alternating_sign * static_cast<RealScalar>(RealScalar(1) + (RealScalar(i) / (RealScalar(n - 1))));
+    alternating_sign = -alternating_sign;
+  }
+  v = dec.solve(v);
+  const RealScalar alternate_lower_bound = (2 * v.template lpNorm<1>()) / (3 * RealScalar(n));
+  return numext::maxi(lower_bound, alternate_lower_bound);
+}
+
+/** \brief Reciprocal condition number estimator.
+  *
+  * Computing a decomposition of a dense matrix takes O(n^3) operations, while
+  * this method estimates the condition number quickly and reliably in O(n^2)
+  * operations.
+  *
+  * \returns an estimate of the reciprocal condition number
+  * (1 / (||matrix||_1 * ||inv(matrix)||_1)) of matrix, given ||matrix||_1 and
+  * its decomposition. Supports the following decompositions: FullPivLU,
+  * PartialPivLU, LDLT, and LLT.
+  *
+  * \sa FullPivLU, PartialPivLU, LDLT, LLT.
+  */
+template <typename Decomposition>
+typename Decomposition::RealScalar
+rcond_estimate_helper(typename Decomposition::RealScalar matrix_norm, const Decomposition& dec)
+{
+  typedef typename Decomposition::RealScalar RealScalar;
+  eigen_assert(dec.rows() == dec.cols());
+  if (dec.rows() == 0)              return RealScalar(1);
+  if (matrix_norm == RealScalar(0)) return RealScalar(0);
+  if (dec.rows() == 1)              return RealScalar(1);
+  const RealScalar inverse_matrix_norm = rcond_invmatrix_L1_norm_estimate(dec);
+  return (inverse_matrix_norm == RealScalar(0) ? RealScalar(0)
+                                               : (RealScalar(1) / inverse_matrix_norm) / matrix_norm);
+}
+
+}  // namespace internal
+
+}  // namespace Eigen
+
+#endif
diff --git a/eigenlib/Eigen/src/Core/CoreEvaluators.h b/eigenlib/Eigen/src/Core/CoreEvaluators.h
new file mode 100644
index 00000000..1d14af65
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/CoreEvaluators.h
@@ -0,0 +1,1673 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2011-2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+
+#ifndef EIGEN_COREEVALUATORS_H
+#define EIGEN_COREEVALUATORS_H
+
+namespace Eigen {
+  
+namespace internal {
+
+// This class returns the evaluator kind from the expression storage kind.
+// Default assumes index based accessors
+template<typename StorageKind>
+struct storage_kind_to_evaluator_kind {
+  typedef IndexBased Kind;
+};
+
+// This class returns the evaluator shape from the expression storage kind.
+// It can be Dense, Sparse, Triangular, Diagonal, SelfAdjoint, Band, etc.
+template<typename StorageKind> struct storage_kind_to_shape;
+
+template<> struct storage_kind_to_shape<Dense>                  { typedef DenseShape Shape;           };
+template<> struct storage_kind_to_shape<SolverStorage>          { typedef SolverShape Shape;           };
+template<> struct storage_kind_to_shape<PermutationStorage>     { typedef PermutationShape Shape;     };
+template<> struct storage_kind_to_shape<TranspositionsStorage>  { typedef TranspositionsShape Shape;  };
+
+// Evaluators have to be specialized with respect to various criteria such as:
+//  - storage/structure/shape
+//  - scalar type
+//  - etc.
+// Therefore, we need specialization of evaluator providing additional template arguments for each kind of evaluators.
+// We currently distinguish the following kind of evaluators:
+// - unary_evaluator    for expressions taking only one arguments (CwiseUnaryOp, CwiseUnaryView, Transpose, MatrixWrapper, ArrayWrapper, Reverse, Replicate)
+// - binary_evaluator   for expression taking two arguments (CwiseBinaryOp)
+// - ternary_evaluator   for expression taking three arguments (CwiseTernaryOp)
+// - product_evaluator  for linear algebra products (Product); special case of binary_evaluator because it requires additional tags for dispatching.
+// - mapbase_evaluator  for Map, Block, Ref
+// - block_evaluator    for Block (special dispatching to a mapbase_evaluator or unary_evaluator)
+
+template< typename T,
+          typename Arg1Kind   = typename evaluator_traits<typename T::Arg1>::Kind,
+          typename Arg2Kind   = typename evaluator_traits<typename T::Arg2>::Kind,
+          typename Arg3Kind   = typename evaluator_traits<typename T::Arg3>::Kind,
+          typename Arg1Scalar = typename traits<typename T::Arg1>::Scalar,
+          typename Arg2Scalar = typename traits<typename T::Arg2>::Scalar,
+          typename Arg3Scalar = typename traits<typename T::Arg3>::Scalar> struct ternary_evaluator;
+
+template< typename T,
+          typename LhsKind   = typename evaluator_traits<typename T::Lhs>::Kind,
+          typename RhsKind   = typename evaluator_traits<typename T::Rhs>::Kind,
+          typename LhsScalar = typename traits<typename T::Lhs>::Scalar,
+          typename RhsScalar = typename traits<typename T::Rhs>::Scalar> struct binary_evaluator;
+
+template< typename T,
+          typename Kind   = typename evaluator_traits<typename T::NestedExpression>::Kind,
+          typename Scalar = typename T::Scalar> struct unary_evaluator;
+          
+// evaluator_traits<T> contains traits for evaluator<T> 
+
+template<typename T>
+struct evaluator_traits_base
+{
+  // by default, get evaluator kind and shape from storage
+  typedef typename storage_kind_to_evaluator_kind<typename traits<T>::StorageKind>::Kind Kind;
+  typedef typename storage_kind_to_shape<typename traits<T>::StorageKind>::Shape Shape;
+};
+
+// Default evaluator traits
+template<typename T>
+struct evaluator_traits : public evaluator_traits_base<T>
+{
+};
+
+template<typename T, typename Shape = typename evaluator_traits<T>::Shape >
+struct evaluator_assume_aliasing {
+  static const bool value = false;
+};
+
+// By default, we assume a unary expression:
+template<typename T>
+struct evaluator : public unary_evaluator<T>
+{
+  typedef unary_evaluator<T> Base;
+  EIGEN_DEVICE_FUNC explicit evaluator(const T& xpr) : Base(xpr) {}
+};
+
+
+// TODO: Think about const-correctness
+template<typename T>
+struct evaluator<const T>
+  : evaluator<T>
+{
+  EIGEN_DEVICE_FUNC
+  explicit evaluator(const T& xpr) : evaluator<T>(xpr) {}
+};
+
+// ---------- base class for all evaluators ----------
+
+template<typename ExpressionType>
+struct evaluator_base : public noncopyable
+{
+  // TODO that's not very nice to have to propagate all these traits. They are currently only needed to handle outer,inner indices.
+  typedef traits<ExpressionType> ExpressionTraits;
+  
+  enum {
+    Alignment = 0
+  };
+};
+
+// -------------------- Matrix and Array --------------------
+//
+// evaluator<PlainObjectBase> is a common base class for the
+// Matrix and Array evaluators.
+// Here we directly specialize evaluator. This is not really a unary expression, and it is, by definition, dense,
+// so no need for more sophisticated dispatching.
+
+template<typename Derived>
+struct evaluator<PlainObjectBase<Derived> >
+  : evaluator_base<Derived>
+{
+  typedef PlainObjectBase<Derived> PlainObjectType;
+  typedef typename PlainObjectType::Scalar Scalar;
+  typedef typename PlainObjectType::CoeffReturnType CoeffReturnType;
+
+  enum {
+    IsRowMajor = PlainObjectType::IsRowMajor,
+    IsVectorAtCompileTime = PlainObjectType::IsVectorAtCompileTime,
+    RowsAtCompileTime = PlainObjectType::RowsAtCompileTime,
+    ColsAtCompileTime = PlainObjectType::ColsAtCompileTime,
+    
+    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    Flags = traits<Derived>::EvaluatorFlags,
+    Alignment = traits<Derived>::Alignment
+  };
+  
+  EIGEN_DEVICE_FUNC evaluator()
+    : m_data(0),
+      m_outerStride(IsVectorAtCompileTime  ? 0 
+                                           : int(IsRowMajor) ? ColsAtCompileTime 
+                                           : RowsAtCompileTime)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const PlainObjectType& m)
+    : m_data(m.data()), m_outerStride(IsVectorAtCompileTime ? 0 : m.outerStride()) 
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    if (IsRowMajor)
+      return m_data[row * m_outerStride.value() + col];
+    else
+      return m_data[row + col * m_outerStride.value()];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_data[index];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  {
+    if (IsRowMajor)
+      return const_cast<Scalar*>(m_data)[row * m_outerStride.value() + col];
+    else
+      return const_cast<Scalar*>(m_data)[row + col * m_outerStride.value()];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  {
+    return const_cast<Scalar*>(m_data)[index];
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    if (IsRowMajor)
+      return ploadt<PacketType, LoadMode>(m_data + row * m_outerStride.value() + col);
+    else
+      return ploadt<PacketType, LoadMode>(m_data + row + col * m_outerStride.value());
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return ploadt<PacketType, LoadMode>(m_data + index);
+  }
+
+  template<int StoreMode,typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index row, Index col, const PacketType& x)
+  {
+    if (IsRowMajor)
+      return pstoret<Scalar, PacketType, StoreMode>
+	            (const_cast<Scalar*>(m_data) + row * m_outerStride.value() + col, x);
+    else
+      return pstoret<Scalar, PacketType, StoreMode>
+                    (const_cast<Scalar*>(m_data) + row + col * m_outerStride.value(), x);
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index index, const PacketType& x)
+  {
+    return pstoret<Scalar, PacketType, StoreMode>(const_cast<Scalar*>(m_data) + index, x);
+  }
+
+protected:
+  const Scalar *m_data;
+
+  // We do not need to know the outer stride for vectors
+  variable_if_dynamic<Index, IsVectorAtCompileTime  ? 0 
+                                                    : int(IsRowMajor) ? ColsAtCompileTime 
+                                                    : RowsAtCompileTime> m_outerStride;
+};
+
+template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+struct evaluator<Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
+  : evaluator<PlainObjectBase<Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> > >
+{
+  typedef Matrix<Scalar, Rows, Cols, Options, MaxRows, MaxCols> XprType;
+  
+  EIGEN_DEVICE_FUNC evaluator() {}
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m)
+    : evaluator<PlainObjectBase<XprType> >(m) 
+  { }
+};
+
+template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
+struct evaluator<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
+  : evaluator<PlainObjectBase<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> > >
+{
+  typedef Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> XprType;
+
+  EIGEN_DEVICE_FUNC evaluator() {}
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& m)
+    : evaluator<PlainObjectBase<XprType> >(m) 
+  { }
+};
+
+// -------------------- Transpose --------------------
+
+template<typename ArgType>
+struct unary_evaluator<Transpose<ArgType>, IndexBased>
+  : evaluator_base<Transpose<ArgType> >
+{
+  typedef Transpose<ArgType> XprType;
+  
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,    
+    Flags = evaluator<ArgType>::Flags ^ RowMajorBit,
+    Alignment = evaluator<ArgType>::Alignment
+  };
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& t) : m_argImpl(t.nestedExpression()) {}
+
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_argImpl.coeff(col, row);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_argImpl.coeff(index);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  {
+    return m_argImpl.coeffRef(col, row);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  typename XprType::Scalar& coeffRef(Index index)
+  {
+    return m_argImpl.coeffRef(index);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    return m_argImpl.template packet<LoadMode,PacketType>(col, row);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return m_argImpl.template packet<LoadMode,PacketType>(index);
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index row, Index col, const PacketType& x)
+  {
+    m_argImpl.template writePacket<StoreMode,PacketType>(col, row, x);
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index index, const PacketType& x)
+  {
+    m_argImpl.template writePacket<StoreMode,PacketType>(index, x);
+  }
+
+protected:
+  evaluator<ArgType> m_argImpl;
+};
+
+// -------------------- CwiseNullaryOp --------------------
+// Like Matrix and Array, this is not really a unary expression, so we directly specialize evaluator.
+// Likewise, there is not need to more sophisticated dispatching here.
+
+template<typename Scalar,typename NullaryOp,
+         bool has_nullary = has_nullary_operator<NullaryOp>::value,
+         bool has_unary   = has_unary_operator<NullaryOp>::value,
+         bool has_binary  = has_binary_operator<NullaryOp>::value>
+struct nullary_wrapper
+{
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const { return op(i,j); }
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { return op(i); }
+
+  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const { return op.template packetOp<T>(i,j); }
+  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { return op.template packetOp<T>(i); }
+};
+
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,true,false,false>
+{
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType=0, IndexType=0) const { return op(); }
+  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType=0, IndexType=0) const { return op.template packetOp<T>(); }
+};
+
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,false,false,true>
+{
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j=0) const { return op(i,j); }
+  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j=0) const { return op.template packetOp<T>(i,j); }
+};
+
+// We need the following specialization for vector-only functors assigned to a runtime vector,
+// for instance, using linspace and assigning a RowVectorXd to a MatrixXd or even a row of a MatrixXd.
+// In this case, i==0 and j is used for the actual iteration.
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,false,true,false>
+{
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const {
+    eigen_assert(i==0 || j==0);
+    return op(i+j);
+  }
+  template <typename T, typename IndexType> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const {
+    eigen_assert(i==0 || j==0);
+    return op.template packetOp<T>(i+j);
+  }
+
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const { return op(i); }
+  template <typename T, typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const { return op.template packetOp<T>(i); }
+};
+
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,false,false,false> {};
+
+#if 0 && EIGEN_COMP_MSVC>0
+// Disable this ugly workaround. This is now handled in traits<Ref>::match,
+// but this piece of code might still become handly if some other weird compilation
+// erros pop up again.
+
+// MSVC exhibits a weird compilation error when
+// compiling:
+//    Eigen::MatrixXf A = MatrixXf::Random(3,3);
+//    Ref<const MatrixXf> R = 2.f*A;
+// and that has_*ary_operator<scalar_constant_op<float>> have not been instantiated yet.
+// The "problem" is that evaluator<2.f*A> is instantiated by traits<Ref>::match<2.f*A>
+// and at that time has_*ary_operator<T> returns true regardless of T.
+// Then nullary_wrapper is badly instantiated as nullary_wrapper<.,.,true,true,true>.
+// The trick is thus to defer the proper instantiation of nullary_wrapper when coeff(),
+// and packet() are really instantiated as implemented below:
+
+// This is a simple wrapper around Index to enforce the re-instantiation of
+// has_*ary_operator when needed.
+template<typename T> struct nullary_wrapper_workaround_msvc {
+  nullary_wrapper_workaround_msvc(const T&);
+  operator T()const;
+};
+
+template<typename Scalar,typename NullaryOp>
+struct nullary_wrapper<Scalar,NullaryOp,true,true,true>
+{
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i, IndexType j) const {
+    return nullary_wrapper<Scalar,NullaryOp,
+    has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().operator()(op,i,j);
+  }
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar operator()(const NullaryOp& op, IndexType i) const {
+    return nullary_wrapper<Scalar,NullaryOp,
+    has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().operator()(op,i);
+  }
+
+  template <typename T, typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i, IndexType j) const {
+    return nullary_wrapper<Scalar,NullaryOp,
+    has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().template packetOp<T>(op,i,j);
+  }
+  template <typename T, typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T packetOp(const NullaryOp& op, IndexType i) const {
+    return nullary_wrapper<Scalar,NullaryOp,
+    has_nullary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_unary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value,
+    has_binary_operator<NullaryOp,nullary_wrapper_workaround_msvc<IndexType> >::value>().template packetOp<T>(op,i);
+  }
+};
+#endif // MSVC workaround
+
+template<typename NullaryOp, typename PlainObjectType>
+struct evaluator<CwiseNullaryOp<NullaryOp,PlainObjectType> >
+  : evaluator_base<CwiseNullaryOp<NullaryOp,PlainObjectType> >
+{
+  typedef CwiseNullaryOp<NullaryOp,PlainObjectType> XprType;
+  typedef typename internal::remove_all<PlainObjectType>::type PlainObjectTypeCleaned;
+  
+  enum {
+    CoeffReadCost = internal::functor_traits<NullaryOp>::Cost,
+    
+    Flags = (evaluator<PlainObjectTypeCleaned>::Flags
+          &  (  HereditaryBits
+              | (functor_has_linear_access<NullaryOp>::ret  ? LinearAccessBit : 0)
+              | (functor_traits<NullaryOp>::PacketAccess    ? PacketAccessBit : 0)))
+          | (functor_traits<NullaryOp>::IsRepeatable ? 0 : EvalBeforeNestingBit),
+    Alignment = AlignedMax
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& n)
+    : m_functor(n.functor()), m_wrapper()
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(IndexType row, IndexType col) const
+  {
+    return m_wrapper(m_functor, row, col);
+  }
+
+  template <typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(IndexType index) const
+  {
+    return m_wrapper(m_functor,index);
+  }
+
+  template<int LoadMode, typename PacketType, typename IndexType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(IndexType row, IndexType col) const
+  {
+    return m_wrapper.template packetOp<PacketType>(m_functor, row, col);
+  }
+
+  template<int LoadMode, typename PacketType, typename IndexType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(IndexType index) const
+  {
+    return m_wrapper.template packetOp<PacketType>(m_functor, index);
+  }
+
+protected:
+  const NullaryOp m_functor;
+  const internal::nullary_wrapper<CoeffReturnType,NullaryOp> m_wrapper;
+};
+
+// -------------------- CwiseUnaryOp --------------------
+
+template<typename UnaryOp, typename ArgType>
+struct unary_evaluator<CwiseUnaryOp<UnaryOp, ArgType>, IndexBased >
+  : evaluator_base<CwiseUnaryOp<UnaryOp, ArgType> >
+{
+  typedef CwiseUnaryOp<UnaryOp, ArgType> XprType;
+  
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
+    
+    Flags = evaluator<ArgType>::Flags
+          & (HereditaryBits | LinearAccessBit | (functor_traits<UnaryOp>::PacketAccess ? PacketAccessBit : 0)),
+    Alignment = evaluator<ArgType>::Alignment
+  };
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit unary_evaluator(const XprType& op)
+    : m_functor(op.functor()), 
+      m_argImpl(op.nestedExpression()) 
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<UnaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_functor(m_argImpl.coeff(row, col));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_functor(m_argImpl.coeff(index));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    return m_functor.packetOp(m_argImpl.template packet<LoadMode, PacketType>(row, col));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return m_functor.packetOp(m_argImpl.template packet<LoadMode, PacketType>(index));
+  }
+
+protected:
+  const UnaryOp m_functor;
+  evaluator<ArgType> m_argImpl;
+};
+
+// -------------------- CwiseTernaryOp --------------------
+
+// this is a ternary expression
+template<typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>
+struct evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
+  : public ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
+{
+  typedef CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> XprType;
+  typedef ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> > Base;
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
+};
+
+template<typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>
+struct ternary_evaluator<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3>, IndexBased, IndexBased>
+  : evaluator_base<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >
+{
+  typedef CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> XprType;
+  
+  enum {
+    CoeffReadCost = evaluator<Arg1>::CoeffReadCost + evaluator<Arg2>::CoeffReadCost + evaluator<Arg3>::CoeffReadCost + functor_traits<TernaryOp>::Cost,
+    
+    Arg1Flags = evaluator<Arg1>::Flags,
+    Arg2Flags = evaluator<Arg2>::Flags,
+    Arg3Flags = evaluator<Arg3>::Flags,
+    SameType = is_same<typename Arg1::Scalar,typename Arg2::Scalar>::value && is_same<typename Arg1::Scalar,typename Arg3::Scalar>::value,
+    StorageOrdersAgree = (int(Arg1Flags)&RowMajorBit)==(int(Arg2Flags)&RowMajorBit) && (int(Arg1Flags)&RowMajorBit)==(int(Arg3Flags)&RowMajorBit),
+    Flags0 = (int(Arg1Flags) | int(Arg2Flags) | int(Arg3Flags)) & (
+        HereditaryBits
+        | (int(Arg1Flags) & int(Arg2Flags) & int(Arg3Flags) &
+           ( (StorageOrdersAgree ? LinearAccessBit : 0)
+           | (functor_traits<TernaryOp>::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0)
+           )
+        )
+     ),
+    Flags = (Flags0 & ~RowMajorBit) | (Arg1Flags & RowMajorBit),
+    Alignment = EIGEN_PLAIN_ENUM_MIN(
+        EIGEN_PLAIN_ENUM_MIN(evaluator<Arg1>::Alignment, evaluator<Arg2>::Alignment),
+        evaluator<Arg3>::Alignment)
+  };
+
+  EIGEN_DEVICE_FUNC explicit ternary_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_arg1Impl(xpr.arg1()), 
+      m_arg2Impl(xpr.arg2()), 
+      m_arg3Impl(xpr.arg3())  
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<TernaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_functor(m_arg1Impl.coeff(row, col), m_arg2Impl.coeff(row, col), m_arg3Impl.coeff(row, col));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_functor(m_arg1Impl.coeff(index), m_arg2Impl.coeff(index), m_arg3Impl.coeff(index));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    return m_functor.packetOp(m_arg1Impl.template packet<LoadMode,PacketType>(row, col),
+                              m_arg2Impl.template packet<LoadMode,PacketType>(row, col),
+                              m_arg3Impl.template packet<LoadMode,PacketType>(row, col));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return m_functor.packetOp(m_arg1Impl.template packet<LoadMode,PacketType>(index),
+                              m_arg2Impl.template packet<LoadMode,PacketType>(index),
+                              m_arg3Impl.template packet<LoadMode,PacketType>(index));
+  }
+
+protected:
+  const TernaryOp m_functor;
+  evaluator<Arg1> m_arg1Impl;
+  evaluator<Arg2> m_arg2Impl;
+  evaluator<Arg3> m_arg3Impl;
+};
+
+// -------------------- CwiseBinaryOp --------------------
+
+// this is a binary expression
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+  : public binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
+  typedef binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs> > Base;
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
+};
+
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IndexBased, IndexBased>
+  : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
+  
+  enum {
+    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    
+    LhsFlags = evaluator<Lhs>::Flags,
+    RhsFlags = evaluator<Rhs>::Flags,
+    SameType = is_same<typename Lhs::Scalar,typename Rhs::Scalar>::value,
+    StorageOrdersAgree = (int(LhsFlags)&RowMajorBit)==(int(RhsFlags)&RowMajorBit),
+    Flags0 = (int(LhsFlags) | int(RhsFlags)) & (
+        HereditaryBits
+      | (int(LhsFlags) & int(RhsFlags) &
+           ( (StorageOrdersAgree ? LinearAccessBit : 0)
+           | (functor_traits<BinaryOp>::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0)
+           )
+        )
+     ),
+    Flags = (Flags0 & ~RowMajorBit) | (LhsFlags & RowMajorBit),
+    Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<Lhs>::Alignment,evaluator<Rhs>::Alignment)
+  };
+
+  EIGEN_DEVICE_FUNC explicit binary_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()), 
+      m_rhsImpl(xpr.rhs())  
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_functor(m_lhsImpl.coeff(row, col), m_rhsImpl.coeff(row, col));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_functor(m_lhsImpl.coeff(index), m_rhsImpl.coeff(index));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    return m_functor.packetOp(m_lhsImpl.template packet<LoadMode,PacketType>(row, col),
+                              m_rhsImpl.template packet<LoadMode,PacketType>(row, col));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return m_functor.packetOp(m_lhsImpl.template packet<LoadMode,PacketType>(index),
+                              m_rhsImpl.template packet<LoadMode,PacketType>(index));
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<Lhs> m_lhsImpl;
+  evaluator<Rhs> m_rhsImpl;
+};
+
+// -------------------- CwiseUnaryView --------------------
+
+template<typename UnaryOp, typename ArgType>
+struct unary_evaluator<CwiseUnaryView<UnaryOp, ArgType>, IndexBased>
+  : evaluator_base<CwiseUnaryView<UnaryOp, ArgType> >
+{
+  typedef CwiseUnaryView<UnaryOp, ArgType> XprType;
+  
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
+    
+    Flags = (evaluator<ArgType>::Flags & (HereditaryBits | LinearAccessBit | DirectAccessBit)),
+    
+    Alignment = 0 // FIXME it is not very clear why alignment is necessarily lost...
+  };
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& op)
+    : m_unaryOp(op.functor()), 
+      m_argImpl(op.nestedExpression()) 
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<UnaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_unaryOp(m_argImpl.coeff(row, col));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_unaryOp(m_argImpl.coeff(index));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  {
+    return m_unaryOp(m_argImpl.coeffRef(row, col));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  {
+    return m_unaryOp(m_argImpl.coeffRef(index));
+  }
+
+protected:
+  const UnaryOp m_unaryOp;
+  evaluator<ArgType> m_argImpl;
+};
+
+// -------------------- Map --------------------
+
+// FIXME perhaps the PlainObjectType could be provided by Derived::PlainObject ?
+// but that might complicate template specialization
+template<typename Derived, typename PlainObjectType>
+struct mapbase_evaluator;
+
+template<typename Derived, typename PlainObjectType>
+struct mapbase_evaluator : evaluator_base<Derived>
+{
+  typedef Derived  XprType;
+  typedef typename XprType::PointerType PointerType;
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+  
+  enum {
+    IsRowMajor = XprType::RowsAtCompileTime,
+    ColsAtCompileTime = XprType::ColsAtCompileTime,
+    CoeffReadCost = NumTraits<Scalar>::ReadCost
+  };
+
+  EIGEN_DEVICE_FUNC explicit mapbase_evaluator(const XprType& map)
+    : m_data(const_cast<PointerType>(map.data())),
+      m_innerStride(map.innerStride()),
+      m_outerStride(map.outerStride())
+  {
+    EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(evaluator<Derived>::Flags&PacketAccessBit, internal::inner_stride_at_compile_time<Derived>::ret==1),
+                        PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_data[col * colStride() + row * rowStride()];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_data[index * m_innerStride.value()];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  {
+    return m_data[col * colStride() + row * rowStride()];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  {
+    return m_data[index * m_innerStride.value()];
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    PointerType ptr = m_data + row * rowStride() + col * colStride();
+    return internal::ploadt<PacketType, LoadMode>(ptr);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return internal::ploadt<PacketType, LoadMode>(m_data + index * m_innerStride.value());
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index row, Index col, const PacketType& x)
+  {
+    PointerType ptr = m_data + row * rowStride() + col * colStride();
+    return internal::pstoret<Scalar, PacketType, StoreMode>(ptr, x);
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index index, const PacketType& x)
+  {
+    internal::pstoret<Scalar, PacketType, StoreMode>(m_data + index * m_innerStride.value(), x);
+  }
+protected:
+  EIGEN_DEVICE_FUNC
+  inline Index rowStride() const { return XprType::IsRowMajor ? m_outerStride.value() : m_innerStride.value(); }
+  EIGEN_DEVICE_FUNC
+  inline Index colStride() const { return XprType::IsRowMajor ? m_innerStride.value() : m_outerStride.value(); }
+
+  PointerType m_data;
+  const internal::variable_if_dynamic<Index, XprType::InnerStrideAtCompileTime> m_innerStride;
+  const internal::variable_if_dynamic<Index, XprType::OuterStrideAtCompileTime> m_outerStride;
+};
+
+template<typename PlainObjectType, int MapOptions, typename StrideType> 
+struct evaluator<Map<PlainObjectType, MapOptions, StrideType> >
+  : public mapbase_evaluator<Map<PlainObjectType, MapOptions, StrideType>, PlainObjectType>
+{
+  typedef Map<PlainObjectType, MapOptions, StrideType> XprType;
+  typedef typename XprType::Scalar Scalar;
+  // TODO: should check for smaller packet types once we can handle multi-sized packet types
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+  
+  enum {
+    InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0
+                             ? int(PlainObjectType::InnerStrideAtCompileTime)
+                             : int(StrideType::InnerStrideAtCompileTime),
+    OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0
+                             ? int(PlainObjectType::OuterStrideAtCompileTime)
+                             : int(StrideType::OuterStrideAtCompileTime),
+    HasNoInnerStride = InnerStrideAtCompileTime == 1,
+    HasNoOuterStride = StrideType::OuterStrideAtCompileTime == 0,
+    HasNoStride = HasNoInnerStride && HasNoOuterStride,
+    IsDynamicSize = PlainObjectType::SizeAtCompileTime==Dynamic,
+    
+    PacketAccessMask = bool(HasNoInnerStride) ? ~int(0) : ~int(PacketAccessBit),
+    LinearAccessMask = bool(HasNoStride) || bool(PlainObjectType::IsVectorAtCompileTime) ? ~int(0) : ~int(LinearAccessBit),
+    Flags = int( evaluator<PlainObjectType>::Flags) & (LinearAccessMask&PacketAccessMask),
+    
+    Alignment = int(MapOptions)&int(AlignedMask)
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& map)
+    : mapbase_evaluator<XprType, PlainObjectType>(map) 
+  { }
+};
+
+// -------------------- Ref --------------------
+
+template<typename PlainObjectType, int RefOptions, typename StrideType> 
+struct evaluator<Ref<PlainObjectType, RefOptions, StrideType> >
+  : public mapbase_evaluator<Ref<PlainObjectType, RefOptions, StrideType>, PlainObjectType>
+{
+  typedef Ref<PlainObjectType, RefOptions, StrideType> XprType;
+  
+  enum {
+    Flags = evaluator<Map<PlainObjectType, RefOptions, StrideType> >::Flags,
+    Alignment = evaluator<Map<PlainObjectType, RefOptions, StrideType> >::Alignment
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& ref)
+    : mapbase_evaluator<XprType, PlainObjectType>(ref) 
+  { }
+};
+
+// -------------------- Block --------------------
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel,
+         bool HasDirectAccess = internal::has_direct_access<ArgType>::ret> struct block_evaluator;
+         
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel> 
+struct evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
+  : block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel>
+{
+  typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
+  typedef typename XprType::Scalar Scalar;
+  // TODO: should check for smaller packet types once we can handle multi-sized packet types
+  typedef typename packet_traits<Scalar>::type PacketScalar;
+  
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+    
+    RowsAtCompileTime = traits<XprType>::RowsAtCompileTime,
+    ColsAtCompileTime = traits<XprType>::ColsAtCompileTime,
+    MaxRowsAtCompileTime = traits<XprType>::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = traits<XprType>::MaxColsAtCompileTime,
+    
+    ArgTypeIsRowMajor = (int(evaluator<ArgType>::Flags)&RowMajorBit) != 0,
+    IsRowMajor = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? 1
+               : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0
+               : ArgTypeIsRowMajor,
+    HasSameStorageOrderAsArgType = (IsRowMajor == ArgTypeIsRowMajor),
+    InnerSize = IsRowMajor ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
+    InnerStrideAtCompileTime = HasSameStorageOrderAsArgType
+                             ? int(inner_stride_at_compile_time<ArgType>::ret)
+                             : int(outer_stride_at_compile_time<ArgType>::ret),
+    OuterStrideAtCompileTime = HasSameStorageOrderAsArgType
+                             ? int(outer_stride_at_compile_time<ArgType>::ret)
+                             : int(inner_stride_at_compile_time<ArgType>::ret),
+    MaskPacketAccessBit = (InnerStrideAtCompileTime == 1) ? PacketAccessBit : 0,
+    
+    FlagsLinearAccessBit = (RowsAtCompileTime == 1 || ColsAtCompileTime == 1 || (InnerPanel && (evaluator<ArgType>::Flags&LinearAccessBit))) ? LinearAccessBit : 0,    
+    FlagsRowMajorBit = XprType::Flags&RowMajorBit,
+    Flags0 = evaluator<ArgType>::Flags & ( (HereditaryBits & ~RowMajorBit) |
+                                           DirectAccessBit |
+                                           MaskPacketAccessBit),
+    Flags = Flags0 | FlagsLinearAccessBit | FlagsRowMajorBit,
+    
+    PacketAlignment = unpacket_traits<PacketScalar>::alignment,
+    Alignment0 = (InnerPanel && (OuterStrideAtCompileTime!=Dynamic) && (((OuterStrideAtCompileTime * int(sizeof(Scalar))) % int(PacketAlignment)) == 0)) ? int(PacketAlignment) : 0,
+    Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<ArgType>::Alignment, Alignment0)
+  };
+  typedef block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel> block_evaluator_type;
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& block) : block_evaluator_type(block)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+};
+
+// no direct-access => dispatch to a unary evaluator
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+struct block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel, /*HasDirectAccess*/ false>
+  : unary_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
+{
+  typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
+
+  EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block)
+    : unary_evaluator<XprType>(block) 
+  {}
+};
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+struct unary_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel>, IndexBased>
+  : evaluator_base<Block<ArgType, BlockRows, BlockCols, InnerPanel> >
+{
+  typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& block)
+    : m_argImpl(block.nestedExpression()), 
+      m_startRow(block.startRow()), 
+      m_startCol(block.startCol()) 
+  { }
+ 
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  enum {
+    RowsAtCompileTime = XprType::RowsAtCompileTime
+  };
+ 
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  { 
+    return m_argImpl.coeff(m_startRow.value() + row, m_startCol.value() + col); 
+  }
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  { 
+    return coeff(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  { 
+    return m_argImpl.coeffRef(m_startRow.value() + row, m_startCol.value() + col); 
+  }
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  { 
+    return coeffRef(RowsAtCompileTime == 1 ? 0 : index, RowsAtCompileTime == 1 ? index : 0);
+  }
+ 
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const 
+  { 
+    return m_argImpl.template packet<LoadMode,PacketType>(m_startRow.value() + row, m_startCol.value() + col); 
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const 
+  { 
+    return packet<LoadMode,PacketType>(RowsAtCompileTime == 1 ? 0 : index,
+                                       RowsAtCompileTime == 1 ? index : 0);
+  }
+  
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index row, Index col, const PacketType& x) 
+  {
+    return m_argImpl.template writePacket<StoreMode,PacketType>(m_startRow.value() + row, m_startCol.value() + col, x); 
+  }
+  
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index index, const PacketType& x) 
+  {
+    return writePacket<StoreMode,PacketType>(RowsAtCompileTime == 1 ? 0 : index,
+                                             RowsAtCompileTime == 1 ? index : 0,
+                                             x);
+  }
+ 
+protected:
+  evaluator<ArgType> m_argImpl;
+  const variable_if_dynamic<Index, (ArgType::RowsAtCompileTime == 1 && BlockRows==1) ? 0 : Dynamic> m_startRow;
+  const variable_if_dynamic<Index, (ArgType::ColsAtCompileTime == 1 && BlockCols==1) ? 0 : Dynamic> m_startCol;
+};
+
+// TODO: This evaluator does not actually use the child evaluator; 
+// all action is via the data() as returned by the Block expression.
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel> 
+struct block_evaluator<ArgType, BlockRows, BlockCols, InnerPanel, /* HasDirectAccess */ true>
+  : mapbase_evaluator<Block<ArgType, BlockRows, BlockCols, InnerPanel>,
+                      typename Block<ArgType, BlockRows, BlockCols, InnerPanel>::PlainObject>
+{
+  typedef Block<ArgType, BlockRows, BlockCols, InnerPanel> XprType;
+  typedef typename XprType::Scalar Scalar;
+
+  EIGEN_DEVICE_FUNC explicit block_evaluator(const XprType& block)
+    : mapbase_evaluator<XprType, typename XprType::PlainObject>(block) 
+  {
+    // TODO: for the 3.3 release, this should be turned to an internal assertion, but let's keep it as is for the beta lifetime
+    eigen_assert(((internal::UIntPtr(block.data()) % EIGEN_PLAIN_ENUM_MAX(1,evaluator<XprType>::Alignment)) == 0) && "data is not aligned");
+  }
+};
+
+
+// -------------------- Select --------------------
+// NOTE shall we introduce a ternary_evaluator?
+
+// TODO enable vectorization for Select
+template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
+struct evaluator<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
+  : evaluator_base<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
+{
+  typedef Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> XprType;
+  enum {
+    CoeffReadCost = evaluator<ConditionMatrixType>::CoeffReadCost
+                  + EIGEN_PLAIN_ENUM_MAX(evaluator<ThenMatrixType>::CoeffReadCost,
+                                         evaluator<ElseMatrixType>::CoeffReadCost),
+
+    Flags = (unsigned int)evaluator<ThenMatrixType>::Flags & evaluator<ElseMatrixType>::Flags & HereditaryBits,
+    
+    Alignment = EIGEN_PLAIN_ENUM_MIN(evaluator<ThenMatrixType>::Alignment, evaluator<ElseMatrixType>::Alignment)
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& select)
+    : m_conditionImpl(select.conditionMatrix()),
+      m_thenImpl(select.thenMatrix()),
+      m_elseImpl(select.elseMatrix())
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+ 
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    if (m_conditionImpl.coeff(row, col))
+      return m_thenImpl.coeff(row, col);
+    else
+      return m_elseImpl.coeff(row, col);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    if (m_conditionImpl.coeff(index))
+      return m_thenImpl.coeff(index);
+    else
+      return m_elseImpl.coeff(index);
+  }
+ 
+protected:
+  evaluator<ConditionMatrixType> m_conditionImpl;
+  evaluator<ThenMatrixType> m_thenImpl;
+  evaluator<ElseMatrixType> m_elseImpl;
+};
+
+
+// -------------------- Replicate --------------------
+
+template<typename ArgType, int RowFactor, int ColFactor> 
+struct unary_evaluator<Replicate<ArgType, RowFactor, ColFactor> >
+  : evaluator_base<Replicate<ArgType, RowFactor, ColFactor> >
+{
+  typedef Replicate<ArgType, RowFactor, ColFactor> XprType;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+  enum {
+    Factor = (RowFactor==Dynamic || ColFactor==Dynamic) ? Dynamic : RowFactor*ColFactor
+  };
+  typedef typename internal::nested_eval<ArgType,Factor>::type ArgTypeNested;
+  typedef typename internal::remove_all<ArgTypeNested>::type ArgTypeNestedCleaned;
+  
+  enum {
+    CoeffReadCost = evaluator<ArgTypeNestedCleaned>::CoeffReadCost,
+    LinearAccessMask = XprType::IsVectorAtCompileTime ? LinearAccessBit : 0,
+    Flags = (evaluator<ArgTypeNestedCleaned>::Flags & (HereditaryBits|LinearAccessMask) & ~RowMajorBit) | (traits<XprType>::Flags & RowMajorBit),
+    
+    Alignment = evaluator<ArgTypeNestedCleaned>::Alignment
+  };
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& replicate)
+    : m_arg(replicate.nestedExpression()),
+      m_argImpl(m_arg),
+      m_rows(replicate.nestedExpression().rows()),
+      m_cols(replicate.nestedExpression().cols())
+  {}
+ 
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    // try to avoid using modulo; this is a pure optimization strategy
+    const Index actual_row = internal::traits<XprType>::RowsAtCompileTime==1 ? 0
+                           : RowFactor==1 ? row
+                           : row % m_rows.value();
+    const Index actual_col = internal::traits<XprType>::ColsAtCompileTime==1 ? 0
+                           : ColFactor==1 ? col
+                           : col % m_cols.value();
+    
+    return m_argImpl.coeff(actual_row, actual_col);
+  }
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    // try to avoid using modulo; this is a pure optimization strategy
+    const Index actual_index = internal::traits<XprType>::RowsAtCompileTime==1
+                                  ? (ColFactor==1 ?  index : index%m_cols.value())
+                                  : (RowFactor==1 ?  index : index%m_rows.value());
+    
+    return m_argImpl.coeff(actual_index);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    const Index actual_row = internal::traits<XprType>::RowsAtCompileTime==1 ? 0
+                           : RowFactor==1 ? row
+                           : row % m_rows.value();
+    const Index actual_col = internal::traits<XprType>::ColsAtCompileTime==1 ? 0
+                           : ColFactor==1 ? col
+                           : col % m_cols.value();
+
+    return m_argImpl.template packet<LoadMode,PacketType>(actual_row, actual_col);
+  }
+  
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    const Index actual_index = internal::traits<XprType>::RowsAtCompileTime==1
+                                  ? (ColFactor==1 ?  index : index%m_cols.value())
+                                  : (RowFactor==1 ?  index : index%m_rows.value());
+
+    return m_argImpl.template packet<LoadMode,PacketType>(actual_index);
+  }
+ 
+protected:
+  const ArgTypeNested m_arg;
+  evaluator<ArgTypeNestedCleaned> m_argImpl;
+  const variable_if_dynamic<Index, ArgType::RowsAtCompileTime> m_rows;
+  const variable_if_dynamic<Index, ArgType::ColsAtCompileTime> m_cols;
+};
+
+
+// -------------------- PartialReduxExpr --------------------
+
+template< typename ArgType, typename MemberOp, int Direction>
+struct evaluator<PartialReduxExpr<ArgType, MemberOp, Direction> >
+  : evaluator_base<PartialReduxExpr<ArgType, MemberOp, Direction> >
+{
+  typedef PartialReduxExpr<ArgType, MemberOp, Direction> XprType;
+  typedef typename internal::nested_eval<ArgType,1>::type ArgTypeNested;
+  typedef typename internal::remove_all<ArgTypeNested>::type ArgTypeNestedCleaned;
+  typedef typename ArgType::Scalar InputScalar;
+  typedef typename XprType::Scalar Scalar;
+  enum {
+    TraversalSize = Direction==int(Vertical) ? int(ArgType::RowsAtCompileTime) :  int(ArgType::ColsAtCompileTime)
+  };
+  typedef typename MemberOp::template Cost<InputScalar,int(TraversalSize)> CostOpType;
+  enum {
+    CoeffReadCost = TraversalSize==Dynamic ? HugeCost
+                  : TraversalSize * evaluator<ArgType>::CoeffReadCost + int(CostOpType::value),
+    
+    Flags = (traits<XprType>::Flags&RowMajorBit) | (evaluator<ArgType>::Flags&(HereditaryBits&(~RowMajorBit))) | LinearAccessBit,
+    
+    Alignment = 0 // FIXME this will need to be improved once PartialReduxExpr is vectorized
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType xpr)
+    : m_arg(xpr.nestedExpression()), m_functor(xpr.functor())
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(TraversalSize==Dynamic ? HugeCost : int(CostOpType::value));
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  const Scalar coeff(Index i, Index j) const
+  {
+    if (Direction==Vertical)
+      return m_functor(m_arg.col(j));
+    else
+      return m_functor(m_arg.row(i));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  const Scalar coeff(Index index) const
+  {
+    if (Direction==Vertical)
+      return m_functor(m_arg.col(index));
+    else
+      return m_functor(m_arg.row(index));
+  }
+
+protected:
+  typename internal::add_const_on_value_type<ArgTypeNested>::type m_arg;
+  const MemberOp m_functor;
+};
+
+
+// -------------------- MatrixWrapper and ArrayWrapper --------------------
+//
+// evaluator_wrapper_base<T> is a common base class for the
+// MatrixWrapper and ArrayWrapper evaluators.
+
+template<typename XprType>
+struct evaluator_wrapper_base
+  : evaluator_base<XprType>
+{
+  typedef typename remove_all<typename XprType::NestedExpressionType>::type ArgType;
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+    Flags = evaluator<ArgType>::Flags,
+    Alignment = evaluator<ArgType>::Alignment
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator_wrapper_base(const ArgType& arg) : m_argImpl(arg) {}
+
+  typedef typename ArgType::Scalar Scalar;
+  typedef typename ArgType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_argImpl.coeff(row, col);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_argImpl.coeff(index);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  {
+    return m_argImpl.coeffRef(row, col);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  {
+    return m_argImpl.coeffRef(index);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    return m_argImpl.template packet<LoadMode,PacketType>(row, col);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    return m_argImpl.template packet<LoadMode,PacketType>(index);
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index row, Index col, const PacketType& x)
+  {
+    m_argImpl.template writePacket<StoreMode>(row, col, x);
+  }
+
+  template<int StoreMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index index, const PacketType& x)
+  {
+    m_argImpl.template writePacket<StoreMode>(index, x);
+  }
+
+protected:
+  evaluator<ArgType> m_argImpl;
+};
+
+template<typename TArgType>
+struct unary_evaluator<MatrixWrapper<TArgType> >
+  : evaluator_wrapper_base<MatrixWrapper<TArgType> >
+{
+  typedef MatrixWrapper<TArgType> XprType;
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper)
+    : evaluator_wrapper_base<MatrixWrapper<TArgType> >(wrapper.nestedExpression())
+  { }
+};
+
+template<typename TArgType>
+struct unary_evaluator<ArrayWrapper<TArgType> >
+  : evaluator_wrapper_base<ArrayWrapper<TArgType> >
+{
+  typedef ArrayWrapper<TArgType> XprType;
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& wrapper)
+    : evaluator_wrapper_base<ArrayWrapper<TArgType> >(wrapper.nestedExpression())
+  { }
+};
+
+
+// -------------------- Reverse --------------------
+
+// defined in Reverse.h:
+template<typename PacketType, bool ReversePacket> struct reverse_packet_cond;
+
+template<typename ArgType, int Direction>
+struct unary_evaluator<Reverse<ArgType, Direction> >
+  : evaluator_base<Reverse<ArgType, Direction> >
+{
+  typedef Reverse<ArgType, Direction> XprType;
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  enum {
+    IsRowMajor = XprType::IsRowMajor,
+    IsColMajor = !IsRowMajor,
+    ReverseRow = (Direction == Vertical)   || (Direction == BothDirections),
+    ReverseCol = (Direction == Horizontal) || (Direction == BothDirections),
+    ReversePacket = (Direction == BothDirections)
+                    || ((Direction == Vertical)   && IsColMajor)
+                    || ((Direction == Horizontal) && IsRowMajor),
+                    
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+    
+    // let's enable LinearAccess only with vectorization because of the product overhead
+    // FIXME enable DirectAccess with negative strides?
+    Flags0 = evaluator<ArgType>::Flags,
+    LinearAccess = ( (Direction==BothDirections) && (int(Flags0)&PacketAccessBit) )
+                  || ((ReverseRow && XprType::ColsAtCompileTime==1) || (ReverseCol && XprType::RowsAtCompileTime==1))
+                 ? LinearAccessBit : 0,
+
+    Flags = int(Flags0) & (HereditaryBits | PacketAccessBit | LinearAccess),
+    
+    Alignment = 0 // FIXME in some rare cases, Alignment could be preserved, like a Vector4f.
+  };
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& reverse)
+    : m_argImpl(reverse.nestedExpression()),
+      m_rows(ReverseRow ? reverse.nestedExpression().rows() : 1),
+      m_cols(ReverseCol ? reverse.nestedExpression().cols() : 1)
+  { }
+ 
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index col) const
+  {
+    return m_argImpl.coeff(ReverseRow ? m_rows.value() - row - 1 : row,
+                           ReverseCol ? m_cols.value() - col - 1 : col);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_argImpl.coeff(m_rows.value() * m_cols.value() - index - 1);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index col)
+  {
+    return m_argImpl.coeffRef(ReverseRow ? m_rows.value() - row - 1 : row,
+                              ReverseCol ? m_cols.value() - col - 1 : col);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  {
+    return m_argImpl.coeffRef(m_rows.value() * m_cols.value() - index - 1);
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index row, Index col) const
+  {
+    enum {
+      PacketSize = unpacket_traits<PacketType>::size,
+      OffsetRow  = ReverseRow && IsColMajor ? PacketSize : 1,
+      OffsetCol  = ReverseCol && IsRowMajor ? PacketSize : 1
+    };
+    typedef internal::reverse_packet_cond<PacketType,ReversePacket> reverse_packet;
+    return reverse_packet::run(m_argImpl.template packet<LoadMode,PacketType>(
+                                  ReverseRow ? m_rows.value() - row - OffsetRow : row,
+                                  ReverseCol ? m_cols.value() - col - OffsetCol : col));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  PacketType packet(Index index) const
+  {
+    enum { PacketSize = unpacket_traits<PacketType>::size };
+    return preverse(m_argImpl.template packet<LoadMode,PacketType>(m_rows.value() * m_cols.value() - index - PacketSize));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index row, Index col, const PacketType& x)
+  {
+    // FIXME we could factorize some code with packet(i,j)
+    enum {
+      PacketSize = unpacket_traits<PacketType>::size,
+      OffsetRow  = ReverseRow && IsColMajor ? PacketSize : 1,
+      OffsetCol  = ReverseCol && IsRowMajor ? PacketSize : 1
+    };
+    typedef internal::reverse_packet_cond<PacketType,ReversePacket> reverse_packet;
+    m_argImpl.template writePacket<LoadMode>(
+                                  ReverseRow ? m_rows.value() - row - OffsetRow : row,
+                                  ReverseCol ? m_cols.value() - col - OffsetCol : col,
+                                  reverse_packet::run(x));
+  }
+
+  template<int LoadMode, typename PacketType>
+  EIGEN_STRONG_INLINE
+  void writePacket(Index index, const PacketType& x)
+  {
+    enum { PacketSize = unpacket_traits<PacketType>::size };
+    m_argImpl.template writePacket<LoadMode>
+      (m_rows.value() * m_cols.value() - index - PacketSize, preverse(x));
+  }
+ 
+protected:
+  evaluator<ArgType> m_argImpl;
+
+  // If we do not reverse rows, then we do not need to know the number of rows; same for columns
+  // Nonetheless, in this case it is important to set to 1 such that the coeff(index) method works fine for vectors.
+  const variable_if_dynamic<Index, ReverseRow ? ArgType::RowsAtCompileTime : 1> m_rows;
+  const variable_if_dynamic<Index, ReverseCol ? ArgType::ColsAtCompileTime : 1> m_cols;
+};
+
+
+// -------------------- Diagonal --------------------
+
+template<typename ArgType, int DiagIndex>
+struct evaluator<Diagonal<ArgType, DiagIndex> >
+  : evaluator_base<Diagonal<ArgType, DiagIndex> >
+{
+  typedef Diagonal<ArgType, DiagIndex> XprType;
+  
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+    
+    Flags = (unsigned int)(evaluator<ArgType>::Flags & (HereditaryBits | DirectAccessBit) & ~RowMajorBit) | LinearAccessBit,
+    
+    Alignment = 0
+  };
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& diagonal)
+    : m_argImpl(diagonal.nestedExpression()),
+      m_index(diagonal.index())
+  { }
+ 
+  typedef typename XprType::Scalar Scalar;
+  // FIXME having to check whether ArgType is sparse here i not very nice.
+  typedef typename internal::conditional<!internal::is_same<typename ArgType::StorageKind,Sparse>::value,
+                                         typename XprType::CoeffReturnType,Scalar>::type CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index row, Index) const
+  {
+    return m_argImpl.coeff(row + rowOffset(), row + colOffset());
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  CoeffReturnType coeff(Index index) const
+  {
+    return m_argImpl.coeff(index + rowOffset(), index + colOffset());
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index row, Index)
+  {
+    return m_argImpl.coeffRef(row + rowOffset(), row + colOffset());
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  Scalar& coeffRef(Index index)
+  {
+    return m_argImpl.coeffRef(index + rowOffset(), index + colOffset());
+  }
+
+protected:
+  evaluator<ArgType> m_argImpl;
+  const internal::variable_if_dynamicindex<Index, XprType::DiagIndex> m_index;
+
+private:
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value() > 0 ? 0 : -m_index.value(); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value() > 0 ? m_index.value() : 0; }
+};
+
+
+//----------------------------------------------------------------------
+// deprecated code
+//----------------------------------------------------------------------
+
+// -------------------- EvalToTemp --------------------
+
+// expression class for evaluating nested expression to a temporary
+
+template<typename ArgType> class EvalToTemp;
+
+template<typename ArgType>
+struct traits<EvalToTemp<ArgType> >
+  : public traits<ArgType>
+{ };
+
+template<typename ArgType>
+class EvalToTemp
+  : public dense_xpr_base<EvalToTemp<ArgType> >::type
+{
+ public:
+ 
+  typedef typename dense_xpr_base<EvalToTemp>::type Base;
+  EIGEN_GENERIC_PUBLIC_INTERFACE(EvalToTemp)
+ 
+  explicit EvalToTemp(const ArgType& arg)
+    : m_arg(arg)
+  { }
+ 
+  const ArgType& arg() const
+  {
+    return m_arg;
+  }
+
+  Index rows() const 
+  {
+    return m_arg.rows();
+  }
+
+  Index cols() const 
+  {
+    return m_arg.cols();
+  }
+
+ private:
+  const ArgType& m_arg;
+};
+ 
+template<typename ArgType>
+struct evaluator<EvalToTemp<ArgType> >
+  : public evaluator<typename ArgType::PlainObject>
+{
+  typedef EvalToTemp<ArgType>                   XprType;
+  typedef typename ArgType::PlainObject         PlainObject;
+  typedef evaluator<PlainObject> Base;
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
+    : m_result(xpr.arg())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+  }
+
+  // This constructor is used when nesting an EvalTo evaluator in another evaluator
+  EIGEN_DEVICE_FUNC evaluator(const ArgType& arg)
+    : m_result(arg)
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+  }
+
+protected:
+  PlainObject m_result;
+};
+
+} // namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_COREEVALUATORS_H
diff --git a/eigenlib/Eigen/src/Core/CoreIterators.h b/eigenlib/Eigen/src/Core/CoreIterators.h
index 6da4683d..4eb42b93 100644
--- a/eigenlib/Eigen/src/Core/CoreIterators.h
+++ b/eigenlib/Eigen/src/Core/CoreIterators.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -15,47 +15,113 @@ namespace Eigen {
 /* This file contains the respective InnerIterator definition of the expressions defined in Eigen/Core
  */
 
-/** \ingroup SparseCore_Module
-  * \class InnerIterator
-  * \brief An InnerIterator allows to loop over the element of a sparse (or dense) matrix or expression
-  *
-  * todo
+namespace internal {
+
+template<typename XprType, typename EvaluatorKind>
+class inner_iterator_selector;
+
+}
+
+/** \class InnerIterator
+  * \brief An InnerIterator allows to loop over the element of any matrix expression.
+  * 
+  * \warning To be used with care because an evaluator is constructed every time an InnerIterator iterator is constructed.
+  * 
+  * TODO: add a usage example
   */
-
-// generic version for dense matrix and expressions
-template<typename Derived> class DenseBase<Derived>::InnerIterator
+template<typename XprType>
+class InnerIterator
 {
-  protected:
-    typedef typename Derived::Scalar Scalar;
-    typedef typename Derived::Index Index;
-
-    enum { IsRowMajor = (Derived::Flags&RowMajorBit)==RowMajorBit };
-  public:
-    EIGEN_STRONG_INLINE InnerIterator(const Derived& expr, Index outer)
-      : m_expression(expr), m_inner(0), m_outer(outer), m_end(expr.innerSize())
-    {}
-
-    EIGEN_STRONG_INLINE Scalar value() const
-    {
-      return (IsRowMajor) ? m_expression.coeff(m_outer, m_inner)
-                          : m_expression.coeff(m_inner, m_outer);
-    }
-
-    EIGEN_STRONG_INLINE InnerIterator& operator++() { m_inner++; return *this; }
-
-    EIGEN_STRONG_INLINE Index index() const { return m_inner; }
-    inline Index row() const { return IsRowMajor ? m_outer : index(); }
-    inline Index col() const { return IsRowMajor ? index() : m_outer; }
-
-    EIGEN_STRONG_INLINE operator bool() const { return m_inner < m_end && m_inner>=0; }
-
-  protected:
-    const Derived& m_expression;
-    Index m_inner;
-    const Index m_outer;
-    const Index m_end;
+protected:
+  typedef internal::inner_iterator_selector<XprType, typename internal::evaluator_traits<XprType>::Kind> IteratorType;
+  typedef internal::evaluator<XprType> EvaluatorType;
+  typedef typename internal::traits<XprType>::Scalar Scalar;
+public:
+  /** Construct an iterator over the \a outerId -th row or column of \a xpr */
+  InnerIterator(const XprType &xpr, const Index &outerId)
+    : m_eval(xpr), m_iter(m_eval, outerId, xpr.innerSize())
+  {}
+  
+  /// \returns the value of the current coefficient.
+  EIGEN_STRONG_INLINE Scalar value() const          { return m_iter.value(); }
+  /** Increment the iterator \c *this to the next non-zero coefficient.
+    * Explicit zeros are not skipped over. To skip explicit zeros, see class SparseView
+    */
+  EIGEN_STRONG_INLINE InnerIterator& operator++()   { m_iter.operator++(); return *this; }
+  /// \returns the column or row index of the current coefficient.
+  EIGEN_STRONG_INLINE Index index() const           { return m_iter.index(); }
+  /// \returns the row index of the current coefficient.
+  EIGEN_STRONG_INLINE Index row() const             { return m_iter.row(); }
+  /// \returns the column index of the current coefficient.
+  EIGEN_STRONG_INLINE Index col() const             { return m_iter.col(); }
+  /// \returns \c true if the iterator \c *this still references a valid coefficient.
+  EIGEN_STRONG_INLINE operator bool() const         { return m_iter; }
+  
+protected:
+  EvaluatorType m_eval;
+  IteratorType m_iter;
+private:
+  // If you get here, then you're not using the right InnerIterator type, e.g.:
+  //   SparseMatrix<double,RowMajor> A;
+  //   SparseMatrix<double>::InnerIterator it(A,0);
+  template<typename T> InnerIterator(const EigenBase<T>&,Index outer);
 };
 
+namespace internal {
+
+// Generic inner iterator implementation for dense objects
+template<typename XprType>
+class inner_iterator_selector<XprType, IndexBased>
+{
+protected:
+  typedef evaluator<XprType> EvaluatorType;
+  typedef typename traits<XprType>::Scalar Scalar;
+  enum { IsRowMajor = (XprType::Flags&RowMajorBit)==RowMajorBit };
+  
+public:
+  EIGEN_STRONG_INLINE inner_iterator_selector(const EvaluatorType &eval, const Index &outerId, const Index &innerSize)
+    : m_eval(eval), m_inner(0), m_outer(outerId), m_end(innerSize)
+  {}
+
+  EIGEN_STRONG_INLINE Scalar value() const
+  {
+    return (IsRowMajor) ? m_eval.coeff(m_outer, m_inner)
+                        : m_eval.coeff(m_inner, m_outer);
+  }
+
+  EIGEN_STRONG_INLINE inner_iterator_selector& operator++() { m_inner++; return *this; }
+
+  EIGEN_STRONG_INLINE Index index() const { return m_inner; }
+  inline Index row() const { return IsRowMajor ? m_outer : index(); }
+  inline Index col() const { return IsRowMajor ? index() : m_outer; }
+
+  EIGEN_STRONG_INLINE operator bool() const { return m_inner < m_end && m_inner>=0; }
+
+protected:
+  const EvaluatorType& m_eval;
+  Index m_inner;
+  const Index m_outer;
+  const Index m_end;
+};
+
+// For iterator-based evaluator, inner-iterator is already implemented as
+// evaluator<>::InnerIterator
+template<typename XprType>
+class inner_iterator_selector<XprType, IteratorBased>
+ : public evaluator<XprType>::InnerIterator
+{
+protected:
+  typedef typename evaluator<XprType>::InnerIterator Base;
+  typedef evaluator<XprType> EvaluatorType;
+  
+public:
+  EIGEN_STRONG_INLINE inner_iterator_selector(const EvaluatorType &eval, const Index &outerId, const Index &/*innerSize*/)
+    : Base(eval, outerId)
+  {}  
+};
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_COREITERATORS_H
diff --git a/eigenlib/Eigen/src/Core/CwiseBinaryOp.h b/eigenlib/Eigen/src/Core/CwiseBinaryOp.h
index 586f77aa..a36765e3 100644
--- a/eigenlib/Eigen/src/Core/CwiseBinaryOp.h
+++ b/eigenlib/Eigen/src/Core/CwiseBinaryOp.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -13,26 +13,6 @@
 
 namespace Eigen {
 
-/** \class CwiseBinaryOp
-  * \ingroup Core_Module
-  *
-  * \brief Generic expression where a coefficient-wise binary operator is applied to two expressions
-  *
-  * \param BinaryOp template functor implementing the operator
-  * \param Lhs the type of the left-hand side
-  * \param Rhs the type of the right-hand side
-  *
-  * This class represents an expression  where a coefficient-wise binary operator is applied to two expressions.
-  * It is the return type of binary operators, by which we mean only those binary operators where
-  * both the left-hand side and the right-hand side are Eigen expressions.
-  * For example, the return type of matrix1+matrix2 is a CwiseBinaryOp.
-  *
-  * Most of the time, this is the only way that it is used, so you typically don't have to name
-  * CwiseBinaryOp types explicitly.
-  *
-  * \sa MatrixBase::binaryExpr(const MatrixBase<OtherDerived> &,const CustomBinaryOp &) const, class CwiseUnaryOp, class CwiseNullaryOp
-  */
-
 namespace internal {
 template<typename BinaryOp, typename Lhs, typename Rhs>
 struct traits<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
@@ -52,76 +32,75 @@ struct traits<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
   // we still want to handle the case when the result type is different.
   typedef typename result_of<
                      BinaryOp(
-                       typename Lhs::Scalar,
-                       typename Rhs::Scalar
+                       const typename Lhs::Scalar&,
+                       const typename Rhs::Scalar&
                      )
                    >::type Scalar;
-  typedef typename promote_storage_type<typename traits<Lhs>::StorageKind,
-                                           typename traits<Rhs>::StorageKind>::ret StorageKind;
-  typedef typename promote_index_type<typename traits<Lhs>::Index,
-                                         typename traits<Rhs>::Index>::type Index;
+  typedef typename cwise_promote_storage_type<typename traits<Lhs>::StorageKind,
+                                              typename traits<Rhs>::StorageKind,
+                                              BinaryOp>::ret StorageKind;
+  typedef typename promote_index_type<typename traits<Lhs>::StorageIndex,
+                                      typename traits<Rhs>::StorageIndex>::type StorageIndex;
   typedef typename Lhs::Nested LhsNested;
   typedef typename Rhs::Nested RhsNested;
   typedef typename remove_reference<LhsNested>::type _LhsNested;
   typedef typename remove_reference<RhsNested>::type _RhsNested;
   enum {
-    LhsCoeffReadCost = _LhsNested::CoeffReadCost,
-    RhsCoeffReadCost = _RhsNested::CoeffReadCost,
-    LhsFlags = _LhsNested::Flags,
-    RhsFlags = _RhsNested::Flags,
-    SameType = is_same<typename _LhsNested::Scalar,typename _RhsNested::Scalar>::value,
-    StorageOrdersAgree = (int(Lhs::Flags)&RowMajorBit)==(int(Rhs::Flags)&RowMajorBit),
-    Flags0 = (int(LhsFlags) | int(RhsFlags)) & (
-        HereditaryBits
-      | (int(LhsFlags) & int(RhsFlags) &
-           ( AlignedBit
-           | (StorageOrdersAgree ? LinearAccessBit : 0)
-           | (functor_traits<BinaryOp>::PacketAccess && StorageOrdersAgree && SameType ? PacketAccessBit : 0)
-           )
-        )
-     ),
-    Flags = (Flags0 & ~RowMajorBit) | (LhsFlags & RowMajorBit),
-    CoeffReadCost = LhsCoeffReadCost + RhsCoeffReadCost + functor_traits<BinaryOp>::Cost
+    Flags = cwise_promote_storage_order<typename traits<Lhs>::StorageKind,typename traits<Rhs>::StorageKind,_LhsNested::Flags & RowMajorBit,_RhsNested::Flags & RowMajorBit>::value
   };
 };
 } // end namespace internal
 
-// we require Lhs and Rhs to have the same scalar type. Currently there is no example of a binary functor
-// that would take two operands of different types. If there were such an example, then this check should be
-// moved to the BinaryOp functors, on a per-case basis. This would however require a change in the BinaryOp functors, as
-// currently they take only one typename Scalar template parameter.
-// It is tempting to always allow mixing different types but remember that this is often impossible in the vectorized paths.
-// So allowing mixing different types gives very unexpected errors when enabling vectorization, when the user tries to
-// add together a float matrix and a double matrix.
-#define EIGEN_CHECK_BINARY_COMPATIBILIY(BINOP,LHS,RHS) \
-  EIGEN_STATIC_ASSERT((internal::functor_is_product_like<BINOP>::ret \
-                        ? int(internal::scalar_product_traits<LHS, RHS>::Defined) \
-                        : int(internal::is_same<LHS, RHS>::value)), \
-    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
 template<typename BinaryOp, typename Lhs, typename Rhs, typename StorageKind>
 class CwiseBinaryOpImpl;
 
-template<typename BinaryOp, typename Lhs, typename Rhs>
-class CwiseBinaryOp : internal::no_assignment_operator,
+/** \class CwiseBinaryOp
+  * \ingroup Core_Module
+  *
+  * \brief Generic expression where a coefficient-wise binary operator is applied to two expressions
+  *
+  * \tparam BinaryOp template functor implementing the operator
+  * \tparam LhsType the type of the left-hand side
+  * \tparam RhsType the type of the right-hand side
+  *
+  * This class represents an expression  where a coefficient-wise binary operator is applied to two expressions.
+  * It is the return type of binary operators, by which we mean only those binary operators where
+  * both the left-hand side and the right-hand side are Eigen expressions.
+  * For example, the return type of matrix1+matrix2 is a CwiseBinaryOp.
+  *
+  * Most of the time, this is the only way that it is used, so you typically don't have to name
+  * CwiseBinaryOp types explicitly.
+  *
+  * \sa MatrixBase::binaryExpr(const MatrixBase<OtherDerived> &,const CustomBinaryOp &) const, class CwiseUnaryOp, class CwiseNullaryOp
+  */
+template<typename BinaryOp, typename LhsType, typename RhsType>
+class CwiseBinaryOp : 
   public CwiseBinaryOpImpl<
-          BinaryOp, Lhs, Rhs,
-          typename internal::promote_storage_type<typename internal::traits<Lhs>::StorageKind,
-                                           typename internal::traits<Rhs>::StorageKind>::ret>
+          BinaryOp, LhsType, RhsType,
+          typename internal::cwise_promote_storage_type<typename internal::traits<LhsType>::StorageKind,
+                                                        typename internal::traits<RhsType>::StorageKind,
+                                                        BinaryOp>::ret>,
+  internal::no_assignment_operator
 {
   public:
+    
+    typedef typename internal::remove_all<BinaryOp>::type Functor;
+    typedef typename internal::remove_all<LhsType>::type Lhs;
+    typedef typename internal::remove_all<RhsType>::type Rhs;
 
     typedef typename CwiseBinaryOpImpl<
-        BinaryOp, Lhs, Rhs,
-        typename internal::promote_storage_type<typename internal::traits<Lhs>::StorageKind,
-                                         typename internal::traits<Rhs>::StorageKind>::ret>::Base Base;
+        BinaryOp, LhsType, RhsType,
+        typename internal::cwise_promote_storage_type<typename internal::traits<LhsType>::StorageKind,
+                                                      typename internal::traits<Rhs>::StorageKind,
+                                                      BinaryOp>::ret>::Base Base;
     EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseBinaryOp)
 
-    typedef typename internal::nested<Lhs>::type LhsNested;
-    typedef typename internal::nested<Rhs>::type RhsNested;
+    typedef typename internal::ref_selector<LhsType>::type LhsNested;
+    typedef typename internal::ref_selector<RhsType>::type RhsNested;
     typedef typename internal::remove_reference<LhsNested>::type _LhsNested;
     typedef typename internal::remove_reference<RhsNested>::type _RhsNested;
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CwiseBinaryOp(const Lhs& aLhs, const Rhs& aRhs, const BinaryOp& func = BinaryOp())
       : m_lhs(aLhs), m_rhs(aRhs), m_functor(func)
     {
@@ -131,6 +110,7 @@ class CwiseBinaryOp : internal::no_assignment_operator,
       eigen_assert(aLhs.rows() == aRhs.rows() && aLhs.cols() == aRhs.cols());
     }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index rows() const {
       // return the fixed size type if available to enable compile time optimizations
       if (internal::traits<typename internal::remove_all<LhsNested>::type>::RowsAtCompileTime==Dynamic)
@@ -138,6 +118,7 @@ class CwiseBinaryOp : internal::no_assignment_operator,
       else
         return m_lhs.rows();
     }
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index cols() const {
       // return the fixed size type if available to enable compile time optimizations
       if (internal::traits<typename internal::remove_all<LhsNested>::type>::ColsAtCompileTime==Dynamic)
@@ -147,10 +128,13 @@ class CwiseBinaryOp : internal::no_assignment_operator,
     }
 
     /** \returns the left hand side nested expression */
+    EIGEN_DEVICE_FUNC
     const _LhsNested& lhs() const { return m_lhs; }
     /** \returns the right hand side nested expression */
+    EIGEN_DEVICE_FUNC
     const _RhsNested& rhs() const { return m_rhs; }
     /** \returns the functor representing the binary operation */
+    EIGEN_DEVICE_FUNC
     const BinaryOp& functor() const { return m_functor; }
 
   protected:
@@ -159,41 +143,13 @@ class CwiseBinaryOp : internal::no_assignment_operator,
     const BinaryOp m_functor;
 };
 
-template<typename BinaryOp, typename Lhs, typename Rhs>
-class CwiseBinaryOpImpl<BinaryOp, Lhs, Rhs, Dense>
-  : public internal::dense_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type
+// Generic API dispatcher
+template<typename BinaryOp, typename Lhs, typename Rhs, typename StorageKind>
+class CwiseBinaryOpImpl
+  : public internal::generic_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type
 {
-    typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> Derived;
-  public:
-
-    typedef typename internal::dense_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE( Derived )
-
-    EIGEN_STRONG_INLINE const Scalar coeff(Index rowId, Index colId) const
-    {
-      return derived().functor()(derived().lhs().coeff(rowId, colId),
-                                 derived().rhs().coeff(rowId, colId));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index rowId, Index colId) const
-    {
-      return derived().functor().packetOp(derived().lhs().template packet<LoadMode>(rowId, colId),
-                                          derived().rhs().template packet<LoadMode>(rowId, colId));
-    }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
-    {
-      return derived().functor()(derived().lhs().coeff(index),
-                                 derived().rhs().coeff(index));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
-    {
-      return derived().functor().packetOp(derived().lhs().template packet<LoadMode>(index),
-                                          derived().rhs().template packet<LoadMode>(index));
-    }
+public:
+  typedef typename internal::generic_xpr_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type Base;
 };
 
 /** replaces \c *this by \c *this - \a other.
@@ -205,8 +161,7 @@ template<typename OtherDerived>
 EIGEN_STRONG_INLINE Derived &
 MatrixBase<Derived>::operator-=(const MatrixBase<OtherDerived> &other)
 {
-  SelfCwiseBinaryOp<internal::scalar_difference_op<Scalar>, Derived, OtherDerived> tmp(derived());
-  tmp = other.derived();
+  call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
@@ -219,11 +174,11 @@ template<typename OtherDerived>
 EIGEN_STRONG_INLINE Derived &
 MatrixBase<Derived>::operator+=(const MatrixBase<OtherDerived>& other)
 {
-  SelfCwiseBinaryOp<internal::scalar_sum_op<Scalar>, Derived, OtherDerived> tmp(derived());
-  tmp = other.derived();
+  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
 } // end namespace Eigen
 
 #endif // EIGEN_CWISE_BINARY_OP_H
+
diff --git a/eigenlib/Eigen/src/Core/CwiseNullaryOp.h b/eigenlib/Eigen/src/Core/CwiseNullaryOp.h
index a93bab2d..dd498f75 100644
--- a/eigenlib/Eigen/src/Core/CwiseNullaryOp.h
+++ b/eigenlib/Eigen/src/Core/CwiseNullaryOp.h
@@ -12,13 +12,24 @@
 
 namespace Eigen {
 
+namespace internal {
+template<typename NullaryOp, typename PlainObjectType>
+struct traits<CwiseNullaryOp<NullaryOp, PlainObjectType> > : traits<PlainObjectType>
+{
+  enum {
+    Flags = traits<PlainObjectType>::Flags & RowMajorBit
+  };
+};
+
+} // namespace internal
+
 /** \class CwiseNullaryOp
   * \ingroup Core_Module
   *
   * \brief Generic expression of a matrix where all coefficients are defined by a functor
   *
-  * \param NullaryOp template functor implementing the operator
-  * \param PlainObjectType the underlying plain matrix/array type
+  * \tparam NullaryOp template functor implementing the operator
+  * \tparam PlainObjectType the underlying plain matrix/array type
   *
   * This class represents an expression of a generic nullary operator.
   * It is the return type of the Ones(), Zero(), Constant(), Identity() and Random() methods,
@@ -27,68 +38,49 @@ namespace Eigen {
   * However, if you want to write a function returning such an expression, you
   * will need to use this class.
   *
-  * \sa class CwiseUnaryOp, class CwiseBinaryOp, DenseBase::NullaryExpr()
+  * The functor NullaryOp must expose one of the following method:
+    <table class="manual">
+    <tr            ><td>\c operator()() </td><td>if the procedural generation does not depend on the coefficient entries (e.g., random numbers)</td></tr>
+    <tr class="alt"><td>\c operator()(Index i)</td><td>if the procedural generation makes sense for vectors only and that it depends on the coefficient index \c i (e.g., linspace) </td></tr>
+    <tr            ><td>\c operator()(Index i,Index j)</td><td>if the procedural generation depends on the matrix coordinates \c i, \c j (e.g., to generate a checkerboard with 0 and 1)</td></tr>
+    </table>
+  * It is also possible to expose the last two operators if the generation makes sense for matrices but can be optimized for vectors.
+  *
+  * See DenseBase::NullaryExpr(Index,const CustomNullaryOp&) for an example binding
+  * C++11 random number generators.
+  *
+  * A nullary expression can also be used to implement custom sophisticated matrix manipulations
+  * that cannot be covered by the existing set of natively supported matrix manipulations.
+  * See this \ref TopicCustomizing_NullaryExpr "page" for some examples and additional explanations
+  * on the behavior of CwiseNullaryOp.
+  *
+  * \sa class CwiseUnaryOp, class CwiseBinaryOp, DenseBase::NullaryExpr
   */
-
-namespace internal {
 template<typename NullaryOp, typename PlainObjectType>
-struct traits<CwiseNullaryOp<NullaryOp, PlainObjectType> > : traits<PlainObjectType>
-{
-  enum {
-    Flags = (traits<PlainObjectType>::Flags
-      & (  HereditaryBits
-         | (functor_has_linear_access<NullaryOp>::ret ? LinearAccessBit : 0)
-         | (functor_traits<NullaryOp>::PacketAccess ? PacketAccessBit : 0)))
-      | (functor_traits<NullaryOp>::IsRepeatable ? 0 : EvalBeforeNestingBit),
-    CoeffReadCost = functor_traits<NullaryOp>::Cost
-  };
-};
-}
-
-template<typename NullaryOp, typename PlainObjectType>
-class CwiseNullaryOp : internal::no_assignment_operator,
-  public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type
+class CwiseNullaryOp : public internal::dense_xpr_base< CwiseNullaryOp<NullaryOp, PlainObjectType> >::type, internal::no_assignment_operator
 {
   public:
 
     typedef typename internal::dense_xpr_base<CwiseNullaryOp>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(CwiseNullaryOp)
 
-    CwiseNullaryOp(Index nbRows, Index nbCols, const NullaryOp& func = NullaryOp())
-      : m_rows(nbRows), m_cols(nbCols), m_functor(func)
+    EIGEN_DEVICE_FUNC
+    CwiseNullaryOp(Index rows, Index cols, const NullaryOp& func = NullaryOp())
+      : m_rows(rows), m_cols(cols), m_functor(func)
     {
-      eigen_assert(nbRows >= 0
-            && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == nbRows)
-            &&  nbCols >= 0
-            && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == nbCols));
+      eigen_assert(rows >= 0
+            && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
+            &&  cols >= 0
+            && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols));
     }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index rows() const { return m_rows.value(); }
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index cols() const { return m_cols.value(); }
 
-    EIGEN_STRONG_INLINE const Scalar coeff(Index rowId, Index colId) const
-    {
-      return m_functor(rowId, colId);
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index rowId, Index colId) const
-    {
-      return m_functor.packetOp(rowId, colId);
-    }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
-    {
-      return m_functor(index);
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
-    {
-      return m_functor.packetOp(index);
-    }
-
     /** \returns the functor representing the nullary operation */
+    EIGEN_DEVICE_FUNC
     const NullaryOp& functor() const { return m_functor; }
 
   protected:
@@ -113,10 +105,10 @@ class CwiseNullaryOp : internal::no_assignment_operator,
   */
 template<typename Derived>
 template<typename CustomNullaryOp>
-EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, Derived>
+EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
 DenseBase<Derived>::NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func)
 {
-  return CwiseNullaryOp<CustomNullaryOp, Derived>(rows, cols, func);
+  return CwiseNullaryOp<CustomNullaryOp, PlainObject>(rows, cols, func);
 }
 
 /** \returns an expression of a matrix defined by a custom functor \a func
@@ -132,16 +124,19 @@ DenseBase<Derived>::NullaryExpr(Index rows, Index cols, const CustomNullaryOp& f
   *
   * The template parameter \a CustomNullaryOp is the type of the functor.
   *
+  * Here is an example with C++11 random generators: \include random_cpp11.cpp
+  * Output: \verbinclude random_cpp11.out
+  * 
   * \sa class CwiseNullaryOp
   */
 template<typename Derived>
 template<typename CustomNullaryOp>
-EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, Derived>
+EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
 DenseBase<Derived>::NullaryExpr(Index size, const CustomNullaryOp& func)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  if(RowsAtCompileTime == 1) return CwiseNullaryOp<CustomNullaryOp, Derived>(1, size, func);
-  else return CwiseNullaryOp<CustomNullaryOp, Derived>(size, 1, func);
+  if(RowsAtCompileTime == 1) return CwiseNullaryOp<CustomNullaryOp, PlainObject>(1, size, func);
+  else return CwiseNullaryOp<CustomNullaryOp, PlainObject>(size, 1, func);
 }
 
 /** \returns an expression of a matrix defined by a custom functor \a func
@@ -155,19 +150,19 @@ DenseBase<Derived>::NullaryExpr(Index size, const CustomNullaryOp& func)
   */
 template<typename Derived>
 template<typename CustomNullaryOp>
-EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, Derived>
+EIGEN_STRONG_INLINE const CwiseNullaryOp<CustomNullaryOp, typename DenseBase<Derived>::PlainObject>
 DenseBase<Derived>::NullaryExpr(const CustomNullaryOp& func)
 {
-  return CwiseNullaryOp<CustomNullaryOp, Derived>(RowsAtCompileTime, ColsAtCompileTime, func);
+  return CwiseNullaryOp<CustomNullaryOp, PlainObject>(RowsAtCompileTime, ColsAtCompileTime, func);
 }
 
 /** \returns an expression of a constant matrix of value \a value
   *
-  * The parameters \a nbRows and \a nbCols are the number of rows and of columns of
+  * The parameters \a rows and \a cols are the number of rows and of columns of
   * the returned matrix. Must be compatible with this DenseBase type.
   *
   * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
-  * it is redundant to pass \a nbRows and \a nbCols as arguments, so Zero() should be used
+  * it is redundant to pass \a rows and \a cols as arguments, so Zero() should be used
   * instead.
   *
   * The template parameter \a CustomNullaryOp is the type of the functor.
@@ -176,9 +171,9 @@ DenseBase<Derived>::NullaryExpr(const CustomNullaryOp& func)
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Constant(Index nbRows, Index nbCols, const Scalar& value)
+DenseBase<Derived>::Constant(Index rows, Index cols, const Scalar& value)
 {
-  return DenseBase<Derived>::NullaryExpr(nbRows, nbCols, internal::scalar_constant_op<Scalar>(value));
+  return DenseBase<Derived>::NullaryExpr(rows, cols, internal::scalar_constant_op<Scalar>(value));
 }
 
 /** \returns an expression of a constant matrix of value \a value
@@ -220,46 +215,33 @@ DenseBase<Derived>::Constant(const Scalar& value)
   return DenseBase<Derived>::NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_constant_op<Scalar>(value));
 }
 
-/**
-  * \brief Sets a linearly space vector.
+/** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(Index,const Scalar&,const Scalar&)
   *
-  * The function generates 'size' equally spaced values in the closed interval [low,high].
-  * This particular version of LinSpaced() uses sequential access, i.e. vector access is
-  * assumed to be a(0), a(1), ..., a(size). This assumption allows for better vectorization
-  * and yields faster code than the random access version.
-  *
-  * When size is set to 1, a vector of length 1 containing 'high' is returned.
-  *
-  * \only_for_vectors
-  *
-  * Example: \include DenseBase_LinSpaced_seq.cpp
-  * Output: \verbinclude DenseBase_LinSpaced_seq.out
-  *
-  * \sa setLinSpaced(Index,const Scalar&,const Scalar&), LinSpaced(Index,Scalar,Scalar), CwiseNullaryOp
+  * \sa LinSpaced(Index,Scalar,Scalar), setLinSpaced(Index,const Scalar&,const Scalar&)
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::SequentialLinSpacedReturnType
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
 DenseBase<Derived>::LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,false>(low,high,size));
+  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,PacketScalar>(low,high,size));
 }
 
-/**
-  * \copydoc DenseBase::LinSpaced(Sequential_t, Index, const Scalar&, const Scalar&)
-  * Special version for fixed size types which does not require the size parameter.
+/** \deprecated because of accuracy loss. In Eigen 3.3, it is an alias for LinSpaced(const Scalar&,const Scalar&)
+  *
+  * \sa LinSpaced(Scalar,Scalar)
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE const typename DenseBase<Derived>::SequentialLinSpacedReturnType
+EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
 DenseBase<Derived>::LinSpaced(Sequential_t, const Scalar& low, const Scalar& high)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,false>(low,high,Derived::SizeAtCompileTime));
+  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,PacketScalar>(low,high,Derived::SizeAtCompileTime));
 }
 
 /**
-  * \brief Sets a linearly space vector.
+  * \brief Sets a linearly spaced vector.
   *
   * The function generates 'size' equally spaced values in the closed interval [low,high].
   * When size is set to 1, a vector of length 1 containing 'high' is returned.
@@ -269,14 +251,24 @@ DenseBase<Derived>::LinSpaced(Sequential_t, const Scalar& low, const Scalar& hig
   * Example: \include DenseBase_LinSpaced.cpp
   * Output: \verbinclude DenseBase_LinSpaced.out
   *
-  * \sa setLinSpaced(Index,const Scalar&,const Scalar&), LinSpaced(Sequential_t,Index,const Scalar&,const Scalar&,Index), CwiseNullaryOp
+  * For integer scalar types, an even spacing is possible if and only if the length of the range,
+  * i.e., \c high-low is a scalar multiple of \c size-1, or if \c size is a scalar multiple of the
+  * number of values \c high-low+1 (meaning each value can be repeated the same number of time).
+  * If one of these two considions is not satisfied, then \c high is lowered to the largest value
+  * satisfying one of this constraint.
+  * Here are some examples:
+  *
+  * Example: \include DenseBase_LinSpacedInt.cpp
+  * Output: \verbinclude DenseBase_LinSpacedInt.out
+  *
+  * \sa setLinSpaced(Index,const Scalar&,const Scalar&), CwiseNullaryOp
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE const typename DenseBase<Derived>::RandomAccessLinSpacedReturnType
 DenseBase<Derived>::LinSpaced(Index size, const Scalar& low, const Scalar& high)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,true>(low,high,size));
+  return DenseBase<Derived>::NullaryExpr(size, internal::linspaced_op<Scalar,PacketScalar>(low,high,size));
 }
 
 /**
@@ -289,7 +281,7 @@ DenseBase<Derived>::LinSpaced(const Scalar& low, const Scalar& high)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,true>(low,high,Derived::SizeAtCompileTime));
+  return DenseBase<Derived>::NullaryExpr(Derived::SizeAtCompileTime, internal::linspaced_op<Scalar,PacketScalar>(low,high,Derived::SizeAtCompileTime));
 }
 
 /** \returns true if all coefficients in this matrix are approximately equal to \a val, to within precision \a prec */
@@ -297,9 +289,10 @@ template<typename Derived>
 bool DenseBase<Derived>::isApproxToConstant
 (const Scalar& val, const RealScalar& prec) const
 {
+  typename internal::nested_eval<Derived,1>::type self(derived());
   for(Index j = 0; j < cols(); ++j)
     for(Index i = 0; i < rows(); ++i)
-      if(!internal::isApprox(this->coeff(i, j), val, prec))
+      if(!internal::isApprox(self.coeff(i, j), val, prec))
         return false;
   return true;
 }
@@ -324,7 +317,7 @@ EIGEN_STRONG_INLINE void DenseBase<Derived>::fill(const Scalar& val)
   setConstant(val);
 }
 
-/** Sets all coefficients in this expression to \a value.
+/** Sets all coefficients in this expression to value \a val.
   *
   * \sa fill(), setConstant(Index,const Scalar&), setConstant(Index,Index,const Scalar&), setZero(), setOnes(), Constant(), class CwiseNullaryOp, setZero(), setOnes()
   */
@@ -334,7 +327,7 @@ EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setConstant(const Scalar& val)
   return derived() = Constant(rows(), cols(), val);
 }
 
-/** Resizes to the given \a size, and sets all coefficients in this expression to the given \a value.
+/** Resizes to the given \a size, and sets all coefficients in this expression to the given value \a val.
   *
   * \only_for_vectors
   *
@@ -351,10 +344,10 @@ PlainObjectBase<Derived>::setConstant(Index size, const Scalar& val)
   return setConstant(val);
 }
 
-/** Resizes to the given size, and sets all coefficients in this expression to the given \a value.
+/** Resizes to the given size, and sets all coefficients in this expression to the given value \a val.
   *
-  * \param nbRows the new number of rows
-  * \param nbCols the new number of columns
+  * \param rows the new number of rows
+  * \param cols the new number of columns
   * \param val the value to which all coefficients are set
   *
   * Example: \include Matrix_setConstant_int_int.cpp
@@ -364,14 +357,14 @@ PlainObjectBase<Derived>::setConstant(Index size, const Scalar& val)
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setConstant(Index nbRows, Index nbCols, const Scalar& val)
+PlainObjectBase<Derived>::setConstant(Index rows, Index cols, const Scalar& val)
 {
-  resize(nbRows, nbCols);
+  resize(rows, cols);
   return setConstant(val);
 }
 
 /**
-  * \brief Sets a linearly space vector.
+  * \brief Sets a linearly spaced vector.
   *
   * The function generates 'size' equally spaced values in the closed interval [low,high].
   * When size is set to 1, a vector of length 1 containing 'high' is returned.
@@ -381,24 +374,30 @@ PlainObjectBase<Derived>::setConstant(Index nbRows, Index nbCols, const Scalar&
   * Example: \include DenseBase_setLinSpaced.cpp
   * Output: \verbinclude DenseBase_setLinSpaced.out
   *
-  * \sa CwiseNullaryOp
+  * For integer scalar types, do not miss the explanations on the definition
+  * of \link LinSpaced(Index,const Scalar&,const Scalar&) even spacing \endlink.
+  *
+  * \sa LinSpaced(Index,const Scalar&,const Scalar&), CwiseNullaryOp
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(Index newSize, const Scalar& low, const Scalar& high)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return derived() = Derived::NullaryExpr(newSize, internal::linspaced_op<Scalar,false>(low,high,newSize));
+  return derived() = Derived::NullaryExpr(newSize, internal::linspaced_op<Scalar,PacketScalar>(low,high,newSize));
 }
 
 /**
-  * \brief Sets a linearly space vector.
+  * \brief Sets a linearly spaced vector.
   *
-  * The function fill *this with equally spaced values in the closed interval [low,high].
+  * The function fills \c *this with equally spaced values in the closed interval [low,high].
   * When size is set to 1, a vector of length 1 containing 'high' is returned.
   *
   * \only_for_vectors
   *
-  * \sa setLinSpaced(Index, const Scalar&, const Scalar&), CwiseNullaryOp
+  * For integer scalar types, do not miss the explanations on the definition
+  * of \link LinSpaced(Index,const Scalar&,const Scalar&) even spacing \endlink.
+  *
+  * \sa LinSpaced(Index,const Scalar&,const Scalar&), setLinSpaced(Index, const Scalar&, const Scalar&), CwiseNullaryOp
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(const Scalar& low, const Scalar& high)
@@ -425,9 +424,9 @@ EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::setLinSpaced(const Scalar& low,
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Zero(Index nbRows, Index nbCols)
+DenseBase<Derived>::Zero(Index rows, Index cols)
 {
-  return Constant(nbRows, nbCols, Scalar(0));
+  return Constant(rows, cols, Scalar(0));
 }
 
 /** \returns an expression of a zero vector.
@@ -481,9 +480,10 @@ DenseBase<Derived>::Zero()
 template<typename Derived>
 bool DenseBase<Derived>::isZero(const RealScalar& prec) const
 {
+  typename internal::nested_eval<Derived,1>::type self(derived());
   for(Index j = 0; j < cols(); ++j)
     for(Index i = 0; i < rows(); ++i)
-      if(!internal::isMuchSmallerThan(this->coeff(i, j), static_cast<Scalar>(1), prec))
+      if(!internal::isMuchSmallerThan(self.coeff(i, j), static_cast<Scalar>(1), prec))
         return false;
   return true;
 }
@@ -520,8 +520,8 @@ PlainObjectBase<Derived>::setZero(Index newSize)
 
 /** Resizes to the given size, and sets all coefficients in this expression to zero.
   *
-  * \param nbRows the new number of rows
-  * \param nbCols the new number of columns
+  * \param rows the new number of rows
+  * \param cols the new number of columns
   *
   * Example: \include Matrix_setZero_int_int.cpp
   * Output: \verbinclude Matrix_setZero_int_int.out
@@ -530,9 +530,9 @@ PlainObjectBase<Derived>::setZero(Index newSize)
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setZero(Index nbRows, Index nbCols)
+PlainObjectBase<Derived>::setZero(Index rows, Index cols)
 {
-  resize(nbRows, nbCols);
+  resize(rows, cols);
   return setConstant(Scalar(0));
 }
 
@@ -540,7 +540,7 @@ PlainObjectBase<Derived>::setZero(Index nbRows, Index nbCols)
 
 /** \returns an expression of a matrix where all coefficients equal one.
   *
-  * The parameters \a nbRows and \a nbCols are the number of rows and of columns of
+  * The parameters \a rows and \a cols are the number of rows and of columns of
   * the returned matrix. Must be compatible with this MatrixBase type.
   *
   * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
@@ -554,9 +554,9 @@ PlainObjectBase<Derived>::setZero(Index nbRows, Index nbCols)
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE const typename DenseBase<Derived>::ConstantReturnType
-DenseBase<Derived>::Ones(Index nbRows, Index nbCols)
+DenseBase<Derived>::Ones(Index rows, Index cols)
 {
-  return Constant(nbRows, nbCols, Scalar(1));
+  return Constant(rows, cols, Scalar(1));
 }
 
 /** \returns an expression of a vector where all coefficients equal one.
@@ -646,8 +646,8 @@ PlainObjectBase<Derived>::setOnes(Index newSize)
 
 /** Resizes to the given size, and sets all coefficients in this expression to one.
   *
-  * \param nbRows the new number of rows
-  * \param nbCols the new number of columns
+  * \param rows the new number of rows
+  * \param cols the new number of columns
   *
   * Example: \include Matrix_setOnes_int_int.cpp
   * Output: \verbinclude Matrix_setOnes_int_int.out
@@ -656,9 +656,9 @@ PlainObjectBase<Derived>::setOnes(Index newSize)
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setOnes(Index nbRows, Index nbCols)
+PlainObjectBase<Derived>::setOnes(Index rows, Index cols)
 {
-  resize(nbRows, nbCols);
+  resize(rows, cols);
   return setConstant(Scalar(1));
 }
 
@@ -666,7 +666,7 @@ PlainObjectBase<Derived>::setOnes(Index nbRows, Index nbCols)
 
 /** \returns an expression of the identity matrix (not necessarily square).
   *
-  * The parameters \a nbRows and \a nbCols are the number of rows and of columns of
+  * The parameters \a rows and \a cols are the number of rows and of columns of
   * the returned matrix. Must be compatible with this MatrixBase type.
   *
   * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
@@ -680,9 +680,9 @@ PlainObjectBase<Derived>::setOnes(Index nbRows, Index nbCols)
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE const typename MatrixBase<Derived>::IdentityReturnType
-MatrixBase<Derived>::Identity(Index nbRows, Index nbCols)
+MatrixBase<Derived>::Identity(Index rows, Index cols)
 {
-  return DenseBase<Derived>::NullaryExpr(nbRows, nbCols, internal::scalar_identity_op<Scalar>());
+  return DenseBase<Derived>::NullaryExpr(rows, cols, internal::scalar_identity_op<Scalar>());
 }
 
 /** \returns an expression of the identity matrix (not necessarily square).
@@ -716,18 +716,19 @@ template<typename Derived>
 bool MatrixBase<Derived>::isIdentity
 (const RealScalar& prec) const
 {
+  typename internal::nested_eval<Derived,1>::type self(derived());
   for(Index j = 0; j < cols(); ++j)
   {
     for(Index i = 0; i < rows(); ++i)
     {
       if(i == j)
       {
-        if(!internal::isApprox(this->coeff(i, j), static_cast<Scalar>(1), prec))
+        if(!internal::isApprox(self.coeff(i, j), static_cast<Scalar>(1), prec))
           return false;
       }
       else
       {
-        if(!internal::isMuchSmallerThan(this->coeff(i, j), static_cast<RealScalar>(1), prec))
+        if(!internal::isMuchSmallerThan(self.coeff(i, j), static_cast<RealScalar>(1), prec))
           return false;
       }
     }
@@ -740,6 +741,7 @@ namespace internal {
 template<typename Derived, bool Big = (Derived::SizeAtCompileTime>=16)>
 struct setIdentity_impl
 {
+  EIGEN_DEVICE_FUNC
   static EIGEN_STRONG_INLINE Derived& run(Derived& m)
   {
     return m = Derived::Identity(m.rows(), m.cols());
@@ -749,11 +751,11 @@ struct setIdentity_impl
 template<typename Derived>
 struct setIdentity_impl<Derived, true>
 {
-  typedef typename Derived::Index Index;
+  EIGEN_DEVICE_FUNC
   static EIGEN_STRONG_INLINE Derived& run(Derived& m)
   {
     m.setZero();
-    const Index size = (std::min)(m.rows(), m.cols());
+    const Index size = numext::mini(m.rows(), m.cols());
     for(Index i = 0; i < size; ++i) m.coeffRef(i,i) = typename Derived::Scalar(1);
     return m;
   }
@@ -776,8 +778,8 @@ EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity()
 
 /** \brief Resizes to the given size, and writes the identity expression (not necessarily square) into *this.
   *
-  * \param nbRows the new number of rows
-  * \param nbCols the new number of columns
+  * \param rows the new number of rows
+  * \param cols the new number of columns
   *
   * Example: \include Matrix_setIdentity_int_int.cpp
   * Output: \verbinclude Matrix_setIdentity_int_int.out
@@ -785,9 +787,9 @@ EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity()
   * \sa MatrixBase::setIdentity(), class CwiseNullaryOp, MatrixBase::Identity()
   */
 template<typename Derived>
-EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity(Index nbRows, Index nbCols)
+EIGEN_STRONG_INLINE Derived& MatrixBase<Derived>::setIdentity(Index rows, Index cols)
 {
-  derived().resize(nbRows, nbCols);
+  derived().resize(rows, cols);
   return setIdentity();
 }
 
diff --git a/eigenlib/Eigen/src/Core/CwiseTernaryOp.h b/eigenlib/Eigen/src/Core/CwiseTernaryOp.h
new file mode 100644
index 00000000..9f3576fe
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/CwiseTernaryOp.h
@@ -0,0 +1,197 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2016 Eugene Brevdo <ebrevdo@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_CWISE_TERNARY_OP_H
+#define EIGEN_CWISE_TERNARY_OP_H
+
+namespace Eigen {
+
+namespace internal {
+template <typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>
+struct traits<CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> > {
+  // we must not inherit from traits<Arg1> since it has
+  // the potential to cause problems with MSVC
+  typedef typename remove_all<Arg1>::type Ancestor;
+  typedef typename traits<Ancestor>::XprKind XprKind;
+  enum {
+    RowsAtCompileTime = traits<Ancestor>::RowsAtCompileTime,
+    ColsAtCompileTime = traits<Ancestor>::ColsAtCompileTime,
+    MaxRowsAtCompileTime = traits<Ancestor>::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = traits<Ancestor>::MaxColsAtCompileTime
+  };
+
+  // even though we require Arg1, Arg2, and Arg3 to have the same scalar type
+  // (see CwiseTernaryOp constructor),
+  // we still want to handle the case when the result type is different.
+  typedef typename result_of<TernaryOp(
+      const typename Arg1::Scalar&, const typename Arg2::Scalar&,
+      const typename Arg3::Scalar&)>::type Scalar;
+
+  typedef typename internal::traits<Arg1>::StorageKind StorageKind;
+  typedef typename internal::traits<Arg1>::StorageIndex StorageIndex;
+
+  typedef typename Arg1::Nested Arg1Nested;
+  typedef typename Arg2::Nested Arg2Nested;
+  typedef typename Arg3::Nested Arg3Nested;
+  typedef typename remove_reference<Arg1Nested>::type _Arg1Nested;
+  typedef typename remove_reference<Arg2Nested>::type _Arg2Nested;
+  typedef typename remove_reference<Arg3Nested>::type _Arg3Nested;
+  enum { Flags = _Arg1Nested::Flags & RowMajorBit };
+};
+}  // end namespace internal
+
+template <typename TernaryOp, typename Arg1, typename Arg2, typename Arg3,
+          typename StorageKind>
+class CwiseTernaryOpImpl;
+
+/** \class CwiseTernaryOp
+  * \ingroup Core_Module
+  *
+  * \brief Generic expression where a coefficient-wise ternary operator is
+ * applied to two expressions
+  *
+  * \tparam TernaryOp template functor implementing the operator
+  * \tparam Arg1Type the type of the first argument
+  * \tparam Arg2Type the type of the second argument
+  * \tparam Arg3Type the type of the third argument
+  *
+  * This class represents an expression where a coefficient-wise ternary
+ * operator is applied to three expressions.
+  * It is the return type of ternary operators, by which we mean only those
+ * ternary operators where
+  * all three arguments are Eigen expressions.
+  * For example, the return type of betainc(matrix1, matrix2, matrix3) is a
+ * CwiseTernaryOp.
+  *
+  * Most of the time, this is the only way that it is used, so you typically
+ * don't have to name
+  * CwiseTernaryOp types explicitly.
+  *
+  * \sa MatrixBase::ternaryExpr(const MatrixBase<Argument2> &, const
+ * MatrixBase<Argument3> &, const CustomTernaryOp &) const, class CwiseBinaryOp,
+ * class CwiseUnaryOp, class CwiseNullaryOp
+  */
+template <typename TernaryOp, typename Arg1Type, typename Arg2Type,
+          typename Arg3Type>
+class CwiseTernaryOp : public CwiseTernaryOpImpl<
+                           TernaryOp, Arg1Type, Arg2Type, Arg3Type,
+                           typename internal::traits<Arg1Type>::StorageKind>,
+                       internal::no_assignment_operator
+{
+ public:
+  typedef typename internal::remove_all<Arg1Type>::type Arg1;
+  typedef typename internal::remove_all<Arg2Type>::type Arg2;
+  typedef typename internal::remove_all<Arg3Type>::type Arg3;
+
+  typedef typename CwiseTernaryOpImpl<
+      TernaryOp, Arg1Type, Arg2Type, Arg3Type,
+      typename internal::traits<Arg1Type>::StorageKind>::Base Base;
+  EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseTernaryOp)
+
+  typedef typename internal::ref_selector<Arg1Type>::type Arg1Nested;
+  typedef typename internal::ref_selector<Arg2Type>::type Arg2Nested;
+  typedef typename internal::ref_selector<Arg3Type>::type Arg3Nested;
+  typedef typename internal::remove_reference<Arg1Nested>::type _Arg1Nested;
+  typedef typename internal::remove_reference<Arg2Nested>::type _Arg2Nested;
+  typedef typename internal::remove_reference<Arg3Nested>::type _Arg3Nested;
+
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE CwiseTernaryOp(const Arg1& a1, const Arg2& a2,
+                                     const Arg3& a3,
+                                     const TernaryOp& func = TernaryOp())
+      : m_arg1(a1), m_arg2(a2), m_arg3(a3), m_functor(func) {
+    // require the sizes to match
+    EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Arg1, Arg2)
+    EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Arg1, Arg3)
+
+    // The index types should match
+    EIGEN_STATIC_ASSERT((internal::is_same<
+                         typename internal::traits<Arg1Type>::StorageKind,
+                         typename internal::traits<Arg2Type>::StorageKind>::value),
+                        STORAGE_KIND_MUST_MATCH)
+    EIGEN_STATIC_ASSERT((internal::is_same<
+                         typename internal::traits<Arg1Type>::StorageKind,
+                         typename internal::traits<Arg3Type>::StorageKind>::value),
+                        STORAGE_KIND_MUST_MATCH)
+
+    eigen_assert(a1.rows() == a2.rows() && a1.cols() == a2.cols() &&
+                 a1.rows() == a3.rows() && a1.cols() == a3.cols());
+  }
+
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE Index rows() const {
+    // return the fixed size type if available to enable compile time
+    // optimizations
+    if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
+                RowsAtCompileTime == Dynamic &&
+        internal::traits<typename internal::remove_all<Arg2Nested>::type>::
+                RowsAtCompileTime == Dynamic)
+      return m_arg3.rows();
+    else if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
+                     RowsAtCompileTime == Dynamic &&
+             internal::traits<typename internal::remove_all<Arg3Nested>::type>::
+                     RowsAtCompileTime == Dynamic)
+      return m_arg2.rows();
+    else
+      return m_arg1.rows();
+  }
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE Index cols() const {
+    // return the fixed size type if available to enable compile time
+    // optimizations
+    if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
+                ColsAtCompileTime == Dynamic &&
+        internal::traits<typename internal::remove_all<Arg2Nested>::type>::
+                ColsAtCompileTime == Dynamic)
+      return m_arg3.cols();
+    else if (internal::traits<typename internal::remove_all<Arg1Nested>::type>::
+                     ColsAtCompileTime == Dynamic &&
+             internal::traits<typename internal::remove_all<Arg3Nested>::type>::
+                     ColsAtCompileTime == Dynamic)
+      return m_arg2.cols();
+    else
+      return m_arg1.cols();
+  }
+
+  /** \returns the first argument nested expression */
+  EIGEN_DEVICE_FUNC
+  const _Arg1Nested& arg1() const { return m_arg1; }
+  /** \returns the first argument nested expression */
+  EIGEN_DEVICE_FUNC
+  const _Arg2Nested& arg2() const { return m_arg2; }
+  /** \returns the third argument nested expression */
+  EIGEN_DEVICE_FUNC
+  const _Arg3Nested& arg3() const { return m_arg3; }
+  /** \returns the functor representing the ternary operation */
+  EIGEN_DEVICE_FUNC
+  const TernaryOp& functor() const { return m_functor; }
+
+ protected:
+  Arg1Nested m_arg1;
+  Arg2Nested m_arg2;
+  Arg3Nested m_arg3;
+  const TernaryOp m_functor;
+};
+
+// Generic API dispatcher
+template <typename TernaryOp, typename Arg1, typename Arg2, typename Arg3,
+          typename StorageKind>
+class CwiseTernaryOpImpl
+    : public internal::generic_xpr_base<
+          CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >::type {
+ public:
+  typedef typename internal::generic_xpr_base<
+      CwiseTernaryOp<TernaryOp, Arg1, Arg2, Arg3> >::type Base;
+};
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_CWISE_TERNARY_OP_H
diff --git a/eigenlib/Eigen/src/Core/CwiseUnaryOp.h b/eigenlib/Eigen/src/Core/CwiseUnaryOp.h
index f2de749f..1d2dd19f 100644
--- a/eigenlib/Eigen/src/Core/CwiseUnaryOp.h
+++ b/eigenlib/Eigen/src/Core/CwiseUnaryOp.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -13,13 +13,32 @@
 
 namespace Eigen { 
 
+namespace internal {
+template<typename UnaryOp, typename XprType>
+struct traits<CwiseUnaryOp<UnaryOp, XprType> >
+ : traits<XprType>
+{
+  typedef typename result_of<
+                     UnaryOp(const typename XprType::Scalar&)
+                   >::type Scalar;
+  typedef typename XprType::Nested XprTypeNested;
+  typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
+  enum {
+    Flags = _XprTypeNested::Flags & RowMajorBit 
+  };
+};
+}
+
+template<typename UnaryOp, typename XprType, typename StorageKind>
+class CwiseUnaryOpImpl;
+
 /** \class CwiseUnaryOp
   * \ingroup Core_Module
   *
   * \brief Generic expression where a coefficient-wise unary operator is applied to an expression
   *
-  * \param UnaryOp template functor implementing the operator
-  * \param XprType the type of the expression to which we are applying the unary operator
+  * \tparam UnaryOp template functor implementing the operator
+  * \tparam XprType the type of the expression to which we are applying the unary operator
   *
   * This class represents an expression where a unary operator is applied to an expression.
   * It is the return type of all operations taking exactly 1 input expression, regardless of the
@@ -32,93 +51,51 @@ namespace Eigen {
   *
   * \sa MatrixBase::unaryExpr(const CustomUnaryOp &) const, class CwiseBinaryOp, class CwiseNullaryOp
   */
-
-namespace internal {
 template<typename UnaryOp, typename XprType>
-struct traits<CwiseUnaryOp<UnaryOp, XprType> >
- : traits<XprType>
-{
-  typedef typename result_of<
-                     UnaryOp(typename XprType::Scalar)
-                   >::type Scalar;
-  typedef typename XprType::Nested XprTypeNested;
-  typedef typename remove_reference<XprTypeNested>::type _XprTypeNested;
-  enum {
-    Flags = _XprTypeNested::Flags & (
-      HereditaryBits | LinearAccessBit | AlignedBit
-      | (functor_traits<UnaryOp>::PacketAccess ? PacketAccessBit : 0)),
-    CoeffReadCost = _XprTypeNested::CoeffReadCost + functor_traits<UnaryOp>::Cost
-  };
-};
-}
-
-template<typename UnaryOp, typename XprType, typename StorageKind>
-class CwiseUnaryOpImpl;
-
-template<typename UnaryOp, typename XprType>
-class CwiseUnaryOp : internal::no_assignment_operator,
-  public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>
+class CwiseUnaryOp : public CwiseUnaryOpImpl<UnaryOp, XprType, typename internal::traits<XprType>::StorageKind>, internal::no_assignment_operator
 {
   public:
 
     typedef typename CwiseUnaryOpImpl<UnaryOp, XprType,typename internal::traits<XprType>::StorageKind>::Base Base;
     EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryOp)
+    typedef typename internal::ref_selector<XprType>::type XprTypeNested;
+    typedef typename internal::remove_all<XprType>::type NestedExpression;
 
-    inline CwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp())
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    explicit CwiseUnaryOp(const XprType& xpr, const UnaryOp& func = UnaryOp())
       : m_xpr(xpr), m_functor(func) {}
 
-    EIGEN_STRONG_INLINE Index rows() const { return m_xpr.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return m_xpr.cols(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Index rows() const { return m_xpr.rows(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Index cols() const { return m_xpr.cols(); }
 
     /** \returns the functor representing the unary operation */
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     const UnaryOp& functor() const { return m_functor; }
 
     /** \returns the nested expression */
-    const typename internal::remove_all<typename XprType::Nested>::type&
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    const typename internal::remove_all<XprTypeNested>::type&
     nestedExpression() const { return m_xpr; }
 
     /** \returns the nested expression */
-    typename internal::remove_all<typename XprType::Nested>::type&
-    nestedExpression() { return m_xpr.const_cast_derived(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    typename internal::remove_all<XprTypeNested>::type&
+    nestedExpression() { return m_xpr; }
 
   protected:
-    typename XprType::Nested m_xpr;
+    XprTypeNested m_xpr;
     const UnaryOp m_functor;
 };
 
-// This is the generic implementation for dense storage.
-// It can be used for any expression types implementing the dense concept.
-template<typename UnaryOp, typename XprType>
-class CwiseUnaryOpImpl<UnaryOp,XprType,Dense>
-  : public internal::dense_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type
+// Generic API dispatcher
+template<typename UnaryOp, typename XprType, typename StorageKind>
+class CwiseUnaryOpImpl
+  : public internal::generic_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type
 {
-  public:
-
-    typedef CwiseUnaryOp<UnaryOp, XprType> Derived;
-    typedef typename internal::dense_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
-
-    EIGEN_STRONG_INLINE const Scalar coeff(Index rowId, Index colId) const
-    {
-      return derived().functor()(derived().nestedExpression().coeff(rowId, colId));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index rowId, Index colId) const
-    {
-      return derived().functor().packetOp(derived().nestedExpression().template packet<LoadMode>(rowId, colId));
-    }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
-    {
-      return derived().functor()(derived().nestedExpression().coeff(index));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index index) const
-    {
-      return derived().functor().packetOp(derived().nestedExpression().template packet<LoadMode>(index));
-    }
+public:
+  typedef typename internal::generic_xpr_base<CwiseUnaryOp<UnaryOp, XprType> >::type Base;
 };
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/CwiseUnaryView.h b/eigenlib/Eigen/src/Core/CwiseUnaryView.h
index b2638d32..27103305 100644
--- a/eigenlib/Eigen/src/Core/CwiseUnaryView.h
+++ b/eigenlib/Eigen/src/Core/CwiseUnaryView.h
@@ -12,33 +12,19 @@
 
 namespace Eigen {
 
-/** \class CwiseUnaryView
-  * \ingroup Core_Module
-  *
-  * \brief Generic lvalue expression of a coefficient-wise unary operator of a matrix or a vector
-  *
-  * \param ViewOp template functor implementing the view
-  * \param MatrixType the type of the matrix we are applying the unary operator
-  *
-  * This class represents a lvalue expression of a generic unary view operator of a matrix or a vector.
-  * It is the return type of real() and imag(), and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::unaryViewExpr(const CustomUnaryOp &) const, class CwiseUnaryOp
-  */
-
 namespace internal {
 template<typename ViewOp, typename MatrixType>
 struct traits<CwiseUnaryView<ViewOp, MatrixType> >
  : traits<MatrixType>
 {
   typedef typename result_of<
-                     ViewOp(typename traits<MatrixType>::Scalar)
+                     ViewOp(const typename traits<MatrixType>::Scalar&)
                    >::type Scalar;
   typedef typename MatrixType::Nested MatrixTypeNested;
   typedef typename remove_all<MatrixTypeNested>::type _MatrixTypeNested;
   enum {
-    Flags = (traits<_MatrixTypeNested>::Flags & (HereditaryBits | LvalueBit | LinearAccessBit | DirectAccessBit)),
-    CoeffReadCost = traits<_MatrixTypeNested>::CoeffReadCost + functor_traits<ViewOp>::Cost,
+    FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+    Flags = traits<_MatrixTypeNested>::Flags & (RowMajorBit | FlagsLvalueBit | DirectAccessBit), // FIXME DirectAccessBit should not be handled by expressions
     MatrixTypeInnerStride =  inner_stride_at_compile_time<MatrixType>::ret,
     // need to cast the sizeof's from size_t to int explicitly, otherwise:
     // "error: no integral type can represent all of the enumerator values
@@ -55,6 +41,19 @@ struct traits<CwiseUnaryView<ViewOp, MatrixType> >
 template<typename ViewOp, typename MatrixType, typename StorageKind>
 class CwiseUnaryViewImpl;
 
+/** \class CwiseUnaryView
+  * \ingroup Core_Module
+  *
+  * \brief Generic lvalue expression of a coefficient-wise unary operator of a matrix or a vector
+  *
+  * \tparam ViewOp template functor implementing the view
+  * \tparam MatrixType the type of the matrix we are applying the unary operator
+  *
+  * This class represents a lvalue expression of a generic unary view operator of a matrix or a vector.
+  * It is the return type of real() and imag(), and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::unaryViewExpr(const CustomUnaryOp &) const, class CwiseUnaryOp
+  */
 template<typename ViewOp, typename MatrixType>
 class CwiseUnaryView : public CwiseUnaryViewImpl<ViewOp, MatrixType, typename internal::traits<MatrixType>::StorageKind>
 {
@@ -62,8 +61,10 @@ class CwiseUnaryView : public CwiseUnaryViewImpl<ViewOp, MatrixType, typename in
 
     typedef typename CwiseUnaryViewImpl<ViewOp, MatrixType,typename internal::traits<MatrixType>::StorageKind>::Base Base;
     EIGEN_GENERIC_PUBLIC_INTERFACE(CwiseUnaryView)
+    typedef typename internal::ref_selector<MatrixType>::non_const_type MatrixTypeNested;
+    typedef typename internal::remove_all<MatrixType>::type NestedExpression;
 
-    inline CwiseUnaryView(const MatrixType& mat, const ViewOp& func = ViewOp())
+    explicit inline CwiseUnaryView(MatrixType& mat, const ViewOp& func = ViewOp())
       : m_matrix(mat), m_functor(func) {}
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryView)
@@ -75,19 +76,27 @@ class CwiseUnaryView : public CwiseUnaryViewImpl<ViewOp, MatrixType, typename in
     const ViewOp& functor() const { return m_functor; }
 
     /** \returns the nested expression */
-    const typename internal::remove_all<typename MatrixType::Nested>::type&
+    const typename internal::remove_all<MatrixTypeNested>::type&
     nestedExpression() const { return m_matrix; }
 
     /** \returns the nested expression */
-    typename internal::remove_all<typename MatrixType::Nested>::type&
+    typename internal::remove_reference<MatrixTypeNested>::type&
     nestedExpression() { return m_matrix.const_cast_derived(); }
 
   protected:
-    // FIXME changed from MatrixType::Nested because of a weird compilation error with sun CC
-    typename internal::nested<MatrixType>::type m_matrix;
+    MatrixTypeNested m_matrix;
     ViewOp m_functor;
 };
 
+// Generic API dispatcher
+template<typename ViewOp, typename XprType, typename StorageKind>
+class CwiseUnaryViewImpl
+  : public internal::generic_xpr_base<CwiseUnaryView<ViewOp, XprType> >::type
+{
+public:
+  typedef typename internal::generic_xpr_base<CwiseUnaryView<ViewOp, XprType> >::type Base;
+};
+
 template<typename ViewOp, typename MatrixType>
 class CwiseUnaryViewImpl<ViewOp,MatrixType,Dense>
   : public internal::dense_xpr_base< CwiseUnaryView<ViewOp, MatrixType> >::type
@@ -100,38 +109,18 @@ class CwiseUnaryViewImpl<ViewOp,MatrixType,Dense>
     EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(CwiseUnaryViewImpl)
     
-    inline Scalar* data() { return &coeffRef(0); }
-    inline const Scalar* data() const { return &coeff(0); }
+    EIGEN_DEVICE_FUNC inline Scalar* data() { return &(this->coeffRef(0)); }
+    EIGEN_DEVICE_FUNC inline const Scalar* data() const { return &(this->coeff(0)); }
 
-    inline Index innerStride() const
+    EIGEN_DEVICE_FUNC inline Index innerStride() const
     {
       return derived().nestedExpression().innerStride() * sizeof(typename internal::traits<MatrixType>::Scalar) / sizeof(Scalar);
     }
 
-    inline Index outerStride() const
+    EIGEN_DEVICE_FUNC inline Index outerStride() const
     {
       return derived().nestedExpression().outerStride() * sizeof(typename internal::traits<MatrixType>::Scalar) / sizeof(Scalar);
     }
-
-    EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const
-    {
-      return derived().functor()(derived().nestedExpression().coeff(row, col));
-    }
-
-    EIGEN_STRONG_INLINE CoeffReturnType coeff(Index index) const
-    {
-      return derived().functor()(derived().nestedExpression().coeff(index));
-    }
-
-    EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col)
-    {
-      return derived().functor()(const_cast_derived().nestedExpression().coeffRef(row, col));
-    }
-
-    EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
-    {
-      return derived().functor()(const_cast_derived().nestedExpression().coeffRef(index));
-    }
 };
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/DenseBase.h b/eigenlib/Eigen/src/Core/DenseBase.h
index 32f60d8d..bd74e8a1 100644
--- a/eigenlib/Eigen/src/Core/DenseBase.h
+++ b/eigenlib/Eigen/src/Core/DenseBase.h
@@ -34,37 +34,45 @@ static inline void check_DenseIndex_is_signed() {
   * \tparam Derived is the derived type, e.g., a matrix type or an expression.
   *
   * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_DENSEBASE_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_DENSEBASE_PLUGIN.
   *
-  * \sa \ref TopicClassHierarchy
+  * \sa \blank \ref TopicClassHierarchy
   */
 template<typename Derived> class DenseBase
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-  : public internal::special_scalar_op_base<Derived,typename internal::traits<Derived>::Scalar,
-                                     typename NumTraits<typename internal::traits<Derived>::Scalar>::Real>
-#else
   : public DenseCoeffsBase<Derived>
+#else
+  : public DenseCoeffsBase<Derived,DirectWriteAccessors>
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 {
   public:
-    using internal::special_scalar_op_base<Derived,typename internal::traits<Derived>::Scalar,
-                typename NumTraits<typename internal::traits<Derived>::Scalar>::Real>::operator*;
 
-    class InnerIterator;
+    /** Inner iterator type to iterate over the coefficients of a row or column.
+      * \sa class InnerIterator
+      */
+    typedef Eigen::InnerIterator<Derived> InnerIterator;
 
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
 
-    /** \brief The type of indices 
-      * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
-      * \sa \ref TopicPreprocessorDirectives.
-      */
-    typedef typename internal::traits<Derived>::Index Index; 
+    /**
+      * \brief The type used to store indices
+      * \details This typedef is relevant for types that store multiple indices such as
+      *          PermutationMatrix or Transpositions, otherwise it defaults to Eigen::Index
+      * \sa \blank \ref TopicPreprocessorDirectives, Eigen::Index, SparseMatrixBase.
+     */
+    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
 
+    /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex<float>, etc. */
     typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef typename internal::packet_traits<Scalar>::type PacketScalar;
+    
+    /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex<float>, etc.
+      *
+      * It is an alias for the Scalar type */
+    typedef Scalar value_type;
+    
     typedef typename NumTraits<Scalar>::Real RealScalar;
-
     typedef DenseCoeffsBase<Derived> Base;
+
     using Base::derived;
     using Base::const_cast_derived;
     using Base::rows;
@@ -74,16 +82,6 @@ template<typename Derived> class DenseBase
     using Base::colIndexByOuterInner;
     using Base::coeff;
     using Base::coeffByOuterInner;
-    using Base::packet;
-    using Base::packetByOuterInner;
-    using Base::writePacket;
-    using Base::writePacketByOuterInner;
-    using Base::coeffRef;
-    using Base::coeffRefByOuterInner;
-    using Base::copyCoeff;
-    using Base::copyCoeffByOuterInner;
-    using Base::copyPacket;
-    using Base::copyPacketByOuterInner;
     using Base::operator();
     using Base::operator[];
     using Base::x;
@@ -169,30 +167,54 @@ template<typename Derived> class DenseBase
       InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? int(SizeAtCompileTime)
                              : int(IsRowMajor) ? int(ColsAtCompileTime) : int(RowsAtCompileTime),
 
-      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
-        /**< This is a rough measure of how expensive it is to read one coefficient from
-          * this expression.
-          */
-
       InnerStrideAtCompileTime = internal::inner_stride_at_compile_time<Derived>::ret,
       OuterStrideAtCompileTime = internal::outer_stride_at_compile_time<Derived>::ret
     };
+    
+    typedef typename internal::find_best_packet<Scalar,SizeAtCompileTime>::type PacketScalar;
 
-    enum { ThisConstantIsPrivateInPlainObjectBase };
+    enum { IsPlainObjectBase = 0 };
+    
+    /** The plain matrix type corresponding to this expression.
+      * \sa PlainObject */
+    typedef Matrix<typename internal::traits<Derived>::Scalar,
+                internal::traits<Derived>::RowsAtCompileTime,
+                internal::traits<Derived>::ColsAtCompileTime,
+                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                internal::traits<Derived>::MaxRowsAtCompileTime,
+                internal::traits<Derived>::MaxColsAtCompileTime
+          > PlainMatrix;
+    
+    /** The plain array type corresponding to this expression.
+      * \sa PlainObject */
+    typedef Array<typename internal::traits<Derived>::Scalar,
+                internal::traits<Derived>::RowsAtCompileTime,
+                internal::traits<Derived>::ColsAtCompileTime,
+                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                internal::traits<Derived>::MaxRowsAtCompileTime,
+                internal::traits<Derived>::MaxColsAtCompileTime
+          > PlainArray;
+
+    /** \brief The plain matrix or array type corresponding to this expression.
+      *
+      * This is not necessarily exactly the return type of eval(). In the case of plain matrices,
+      * the return type of eval() is a const reference to a matrix, not a matrix! It is however guaranteed
+      * that the return type of eval() is either PlainObject or const PlainObject&.
+      */
+    typedef typename internal::conditional<internal::is_same<typename internal::traits<Derived>::XprKind,MatrixXpr >::value,
+                                 PlainMatrix, PlainArray>::type PlainObject;
 
     /** \returns the number of nonzero coefficients which is in practice the number
       * of stored coefficients. */
+    EIGEN_DEVICE_FUNC
     inline Index nonZeros() const { return size(); }
-    /** \returns true if either the number of rows or the number of columns is equal to 1.
-      * In other words, this function returns
-      * \code rows()==1 || cols()==1 \endcode
-      * \sa rows(), cols(), IsVectorAtCompileTime. */
 
     /** \returns the outer size.
       *
       * \note For a vector, this returns just 1. For a matrix (non-vector), this is the major dimension
       * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of columns for a
       * column-major matrix, and the number of rows for a row-major matrix. */
+    EIGEN_DEVICE_FUNC
     Index outerSize() const
     {
       return IsVectorAtCompileTime ? 1
@@ -204,6 +226,7 @@ template<typename Derived> class DenseBase
       * \note For a vector, this is just the size. For a matrix (non-vector), this is the minor dimension
       * with respect to the \ref TopicStorageOrders "storage order", i.e., the number of rows for a 
       * column-major matrix, and the number of columns for a row-major matrix. */
+    EIGEN_DEVICE_FUNC
     Index innerSize() const
     {
       return IsVectorAtCompileTime ? this->size()
@@ -214,6 +237,7 @@ template<typename Derived> class DenseBase
       * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
       * nothing else.
       */
+    EIGEN_DEVICE_FUNC
     void resize(Index newSize)
     {
       EIGEN_ONLY_USED_FOR_DEBUG(newSize);
@@ -224,22 +248,22 @@ template<typename Derived> class DenseBase
       * Matrix::resize() and Array::resize(). The present method only asserts that the new size equals the old size, and does
       * nothing else.
       */
-    void resize(Index nbRows, Index nbCols)
+    EIGEN_DEVICE_FUNC
+    void resize(Index rows, Index cols)
     {
-      EIGEN_ONLY_USED_FOR_DEBUG(nbRows);
-      EIGEN_ONLY_USED_FOR_DEBUG(nbCols);
-      eigen_assert(nbRows == this->rows() && nbCols == this->cols()
+      EIGEN_ONLY_USED_FOR_DEBUG(rows);
+      EIGEN_ONLY_USED_FOR_DEBUG(cols);
+      eigen_assert(rows == this->rows() && cols == this->cols()
                 && "DenseBase::resize() does not actually allow to resize.");
     }
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
-
     /** \internal Represents a matrix with all coefficients equal to one another*/
-    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
-    /** \internal Represents a vector with linearly spaced coefficients that allows sequential access only. */
-    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,false>,Derived> SequentialLinSpacedReturnType;
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,PlainObject> ConstantReturnType;
+    /** \internal \deprecated Represents a vector with linearly spaced coefficients that allows sequential access only. */
+    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,PacketScalar>,PlainObject> SequentialLinSpacedReturnType;
     /** \internal Represents a vector with linearly spaced coefficients that allows random access. */
-    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,true>,Derived> RandomAccessLinSpacedReturnType;
+    typedef CwiseNullaryOp<internal::linspaced_op<Scalar,PacketScalar>,PlainObject> RandomAccessLinSpacedReturnType;
     /** \internal the return type of MatrixBase::eigenvalues() */
     typedef Matrix<typename NumTraits<typename internal::traits<Derived>::Scalar>::Real, internal::traits<Derived>::ColsAtCompileTime, 1> EigenvaluesReturnType;
 
@@ -247,120 +271,133 @@ template<typename Derived> class DenseBase
 
     /** Copies \a other into *this. \returns a reference to *this. */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator=(const DenseBase<OtherDerived>& other);
 
     /** Special case of the template operator=, in order to prevent the compiler
       * from generating a default operator= (issue hit with g++ 4.1)
       */
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator=(const DenseBase& other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& operator=(const EigenBase<OtherDerived> &other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& operator+=(const EigenBase<OtherDerived> &other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& operator-=(const EigenBase<OtherDerived> &other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& operator=(const ReturnByValue<OtherDerived>& func);
 
-    /** \internal Copies \a other into *this without evaluating other. \returns a reference to *this. */
+    /** \ínternal
+      * Copies \a other into *this without evaluating other. \returns a reference to *this.
+      * \deprecated */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& lazyAssign(const DenseBase<OtherDerived>& other);
 
-    /** \internal Evaluates \a other into *this. \returns a reference to *this. */
-    template<typename OtherDerived>
-    Derived& lazyAssign(const ReturnByValue<OtherDerived>& other);
-
+    EIGEN_DEVICE_FUNC
     CommaInitializer<Derived> operator<< (const Scalar& s);
 
+    /** \deprecated it now returns \c *this */
     template<unsigned int Added,unsigned int Removed>
-    const Flagged<Derived, Added, Removed> flagged() const;
+    EIGEN_DEPRECATED
+    const Derived& flagged() const
+    { return derived(); }
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     CommaInitializer<Derived> operator<< (const DenseBase<OtherDerived>& other);
 
-    Eigen::Transpose<Derived> transpose();
-	typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
+    typedef Transpose<Derived> TransposeReturnType;
+    EIGEN_DEVICE_FUNC
+    TransposeReturnType transpose();
+    typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
+    EIGEN_DEVICE_FUNC
     ConstTransposeReturnType transpose() const;
+    EIGEN_DEVICE_FUNC
     void transposeInPlace();
-#ifndef EIGEN_NO_DEBUG
-  protected:
-    template<typename OtherDerived>
-    void checkTransposeAliasing(const OtherDerived& other) const;
-  public:
-#endif
 
-
-    static const ConstantReturnType
+    EIGEN_DEVICE_FUNC static const ConstantReturnType
     Constant(Index rows, Index cols, const Scalar& value);
-    static const ConstantReturnType
+    EIGEN_DEVICE_FUNC static const ConstantReturnType
     Constant(Index size, const Scalar& value);
-    static const ConstantReturnType
+    EIGEN_DEVICE_FUNC static const ConstantReturnType
     Constant(const Scalar& value);
 
-    static const SequentialLinSpacedReturnType
+    EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType
     LinSpaced(Sequential_t, Index size, const Scalar& low, const Scalar& high);
-    static const RandomAccessLinSpacedReturnType
+    EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType
     LinSpaced(Index size, const Scalar& low, const Scalar& high);
-    static const SequentialLinSpacedReturnType
+    EIGEN_DEVICE_FUNC static const SequentialLinSpacedReturnType
     LinSpaced(Sequential_t, const Scalar& low, const Scalar& high);
-    static const RandomAccessLinSpacedReturnType
+    EIGEN_DEVICE_FUNC static const RandomAccessLinSpacedReturnType
     LinSpaced(const Scalar& low, const Scalar& high);
 
-    template<typename CustomNullaryOp>
-    static const CwiseNullaryOp<CustomNullaryOp, Derived>
+    template<typename CustomNullaryOp> EIGEN_DEVICE_FUNC
+    static const CwiseNullaryOp<CustomNullaryOp, PlainObject>
     NullaryExpr(Index rows, Index cols, const CustomNullaryOp& func);
-    template<typename CustomNullaryOp>
-    static const CwiseNullaryOp<CustomNullaryOp, Derived>
+    template<typename CustomNullaryOp> EIGEN_DEVICE_FUNC
+    static const CwiseNullaryOp<CustomNullaryOp, PlainObject>
     NullaryExpr(Index size, const CustomNullaryOp& func);
-    template<typename CustomNullaryOp>
-    static const CwiseNullaryOp<CustomNullaryOp, Derived>
+    template<typename CustomNullaryOp> EIGEN_DEVICE_FUNC
+    static const CwiseNullaryOp<CustomNullaryOp, PlainObject>
     NullaryExpr(const CustomNullaryOp& func);
 
-    static const ConstantReturnType Zero(Index rows, Index cols);
-    static const ConstantReturnType Zero(Index size);
-    static const ConstantReturnType Zero();
-    static const ConstantReturnType Ones(Index rows, Index cols);
-    static const ConstantReturnType Ones(Index size);
-    static const ConstantReturnType Ones();
+    EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(Index rows, Index cols);
+    EIGEN_DEVICE_FUNC static const ConstantReturnType Zero(Index size);
+    EIGEN_DEVICE_FUNC static const ConstantReturnType Zero();
+    EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(Index rows, Index cols);
+    EIGEN_DEVICE_FUNC static const ConstantReturnType Ones(Index size);
+    EIGEN_DEVICE_FUNC static const ConstantReturnType Ones();
 
-    void fill(const Scalar& value);
-    Derived& setConstant(const Scalar& value);
-    Derived& setLinSpaced(Index size, const Scalar& low, const Scalar& high);
-    Derived& setLinSpaced(const Scalar& low, const Scalar& high);
-    Derived& setZero();
-    Derived& setOnes();
-    Derived& setRandom();
+    EIGEN_DEVICE_FUNC void fill(const Scalar& value);
+    EIGEN_DEVICE_FUNC Derived& setConstant(const Scalar& value);
+    EIGEN_DEVICE_FUNC Derived& setLinSpaced(Index size, const Scalar& low, const Scalar& high);
+    EIGEN_DEVICE_FUNC Derived& setLinSpaced(const Scalar& low, const Scalar& high);
+    EIGEN_DEVICE_FUNC Derived& setZero();
+    EIGEN_DEVICE_FUNC Derived& setOnes();
+    EIGEN_DEVICE_FUNC Derived& setRandom();
 
-    template<typename OtherDerived>
+    template<typename OtherDerived> EIGEN_DEVICE_FUNC
     bool isApprox(const DenseBase<OtherDerived>& other,
                   const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+    EIGEN_DEVICE_FUNC 
     bool isMuchSmallerThan(const RealScalar& other,
                            const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    template<typename OtherDerived>
+    template<typename OtherDerived> EIGEN_DEVICE_FUNC
     bool isMuchSmallerThan(const DenseBase<OtherDerived>& other,
                            const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
 
-    bool isApproxToConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    bool isConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    bool isZero(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
-    bool isOnes(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+    EIGEN_DEVICE_FUNC bool isApproxToConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+    EIGEN_DEVICE_FUNC bool isConstant(const Scalar& value, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+    EIGEN_DEVICE_FUNC bool isZero(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
+    EIGEN_DEVICE_FUNC bool isOnes(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
     
     inline bool hasNaN() const;
     inline bool allFinite() const;
 
-    inline Derived& operator*=(const Scalar& other);
-    inline Derived& operator/=(const Scalar& other);
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Derived& operator*=(const Scalar& other);
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+    Derived& operator/=(const Scalar& other);
 
     typedef typename internal::add_const_on_value_type<typename internal::eval<Derived>::type>::type EvalReturnType;
     /** \returns the matrix or vector obtained by evaluating this expression.
       *
       * Notice that in the case of a plain matrix or vector (not an expression) this function just returns
       * a const reference, in order to avoid a useless copy.
+      * 
+      * \warning Be carefull with eval() and the auto C++ keyword, as detailed in this \link TopicPitfalls_auto_keyword page \endlink.
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE EvalReturnType eval() const
     {
       // Even though MSVC does not honor strong inlining when the return type
@@ -368,61 +405,68 @@ template<typename Derived> class DenseBase
       // size types on MSVC.
       return typename internal::eval<Derived>::type(derived());
     }
-
+    
     /** swaps *this with the expression \a other.
       *
       */
     template<typename OtherDerived>
-    void swap(const DenseBase<OtherDerived>& other,
-              int = OtherDerived::ThisConstantIsPrivateInPlainObjectBase)
+    EIGEN_DEVICE_FUNC
+    void swap(const DenseBase<OtherDerived>& other)
     {
-      SwapWrapper<Derived>(derived()).lazyAssign(other.derived());
+      EIGEN_STATIC_ASSERT(!OtherDerived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
+      eigen_assert(rows()==other.rows() && cols()==other.cols());
+      call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op<Scalar>());
     }
 
     /** swaps *this with the matrix or array \a other.
       *
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     void swap(PlainObjectBase<OtherDerived>& other)
     {
-      SwapWrapper<Derived>(derived()).lazyAssign(other.derived());
+      eigen_assert(rows()==other.rows() && cols()==other.cols());
+      call_assignment(derived(), other.derived(), internal::swap_assign_op<Scalar>());
     }
 
+    EIGEN_DEVICE_FUNC inline const NestByValue<Derived> nestByValue() const;
+    EIGEN_DEVICE_FUNC inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
+    EIGEN_DEVICE_FUNC inline ForceAlignedAccess<Derived> forceAlignedAccess();
+    template<bool Enable> EIGEN_DEVICE_FUNC
+    inline const typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf() const;
+    template<bool Enable> EIGEN_DEVICE_FUNC
+    inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
 
-    inline const NestByValue<Derived> nestByValue() const;
-    inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
-    inline ForceAlignedAccess<Derived> forceAlignedAccess();
-    template<bool Enable> inline const typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf() const;
-    template<bool Enable> inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
+    EIGEN_DEVICE_FUNC Scalar sum() const;
+    EIGEN_DEVICE_FUNC Scalar mean() const;
+    EIGEN_DEVICE_FUNC Scalar trace() const;
 
-    Scalar sum() const;
-    Scalar mean() const;
-    Scalar trace() const;
+    EIGEN_DEVICE_FUNC Scalar prod() const;
 
-    Scalar prod() const;
+    EIGEN_DEVICE_FUNC typename internal::traits<Derived>::Scalar minCoeff() const;
+    EIGEN_DEVICE_FUNC typename internal::traits<Derived>::Scalar maxCoeff() const;
 
-    typename internal::traits<Derived>::Scalar minCoeff() const;
-    typename internal::traits<Derived>::Scalar maxCoeff() const;
-
-    template<typename IndexType>
+    template<typename IndexType> EIGEN_DEVICE_FUNC
     typename internal::traits<Derived>::Scalar minCoeff(IndexType* row, IndexType* col) const;
-    template<typename IndexType>
+    template<typename IndexType> EIGEN_DEVICE_FUNC
     typename internal::traits<Derived>::Scalar maxCoeff(IndexType* row, IndexType* col) const;
-    template<typename IndexType>
+    template<typename IndexType> EIGEN_DEVICE_FUNC
     typename internal::traits<Derived>::Scalar minCoeff(IndexType* index) const;
-    template<typename IndexType>
+    template<typename IndexType> EIGEN_DEVICE_FUNC
     typename internal::traits<Derived>::Scalar maxCoeff(IndexType* index) const;
 
     template<typename BinaryOp>
-    typename internal::result_of<BinaryOp(typename internal::traits<Derived>::Scalar)>::type
-    redux(const BinaryOp& func) const;
+    EIGEN_DEVICE_FUNC
+    Scalar redux(const BinaryOp& func) const;
 
     template<typename Visitor>
+    EIGEN_DEVICE_FUNC
     void visit(Visitor& func) const;
 
     inline const WithFormat<Derived> format(const IOFormat& fmt) const;
 
     /** \returns the unique coefficient of a 1x1 expression */
+    EIGEN_DEVICE_FUNC
     CoeffReturnType value() const
     {
       EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
@@ -430,8 +474,8 @@ template<typename Derived> class DenseBase
       return derived().coeff(0,0);
     }
 
-    bool all(void) const;
-    bool any(void) const;
+    bool all() const;
+    bool any() const;
     Index count() const;
 
     typedef VectorwiseOp<Derived, Horizontal> RowwiseReturnType;
@@ -439,14 +483,35 @@ template<typename Derived> class DenseBase
     typedef VectorwiseOp<Derived, Vertical> ColwiseReturnType;
     typedef const VectorwiseOp<const Derived, Vertical> ConstColwiseReturnType;
 
-    ConstRowwiseReturnType rowwise() const;
-    RowwiseReturnType rowwise();
-    ConstColwiseReturnType colwise() const;
-    ColwiseReturnType colwise();
+    /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
+    *
+    * Example: \include MatrixBase_rowwise.cpp
+    * Output: \verbinclude MatrixBase_rowwise.out
+    *
+    * \sa colwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
+    */
+    //Code moved here due to a CUDA compiler bug
+    EIGEN_DEVICE_FUNC inline ConstRowwiseReturnType rowwise() const {
+      return ConstRowwiseReturnType(derived());
+    }
+    EIGEN_DEVICE_FUNC RowwiseReturnType rowwise();
 
-    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(Index rows, Index cols);
-    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random(Index size);
-    static const CwiseNullaryOp<internal::scalar_random_op<Scalar>,Derived> Random();
+    /** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
+    *
+    * Example: \include MatrixBase_colwise.cpp
+    * Output: \verbinclude MatrixBase_colwise.out
+    *
+    * \sa rowwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
+    */
+    EIGEN_DEVICE_FUNC inline ConstColwiseReturnType colwise() const {
+      return ConstColwiseReturnType(derived());
+    }
+    EIGEN_DEVICE_FUNC ColwiseReturnType colwise();
+
+    typedef CwiseNullaryOp<internal::scalar_random_op<Scalar>,PlainObject> RandomReturnType;
+    static const RandomReturnType Random(Index rows, Index cols);
+    static const RandomReturnType Random(Index size);
+    static const RandomReturnType Random();
 
     template<typename ThenDerived,typename ElseDerived>
     const Select<Derived,ThenDerived,ElseDerived>
@@ -464,45 +529,56 @@ template<typename Derived> class DenseBase
     template<int p> RealScalar lpNorm() const;
 
     template<int RowFactor, int ColFactor>
-    inline const Replicate<Derived,RowFactor,ColFactor> replicate() const;
-    
-    typedef Replicate<Derived,Dynamic,Dynamic> ReplicateReturnType;
-    inline const ReplicateReturnType replicate(Index rowFacor,Index colFactor) const;
+    EIGEN_DEVICE_FUNC
+    const Replicate<Derived,RowFactor,ColFactor> replicate() const;
+    /**
+    * \return an expression of the replication of \c *this
+    *
+    * Example: \include MatrixBase_replicate_int_int.cpp
+    * Output: \verbinclude MatrixBase_replicate_int_int.out
+    *
+    * \sa VectorwiseOp::replicate(), DenseBase::replicate<int,int>(), class Replicate
+    */
+    //Code moved here due to a CUDA compiler bug
+    EIGEN_DEVICE_FUNC
+    const Replicate<Derived, Dynamic, Dynamic> replicate(Index rowFactor, Index colFactor) const
+    {
+      return Replicate<Derived, Dynamic, Dynamic>(derived(), rowFactor, colFactor);
+    }
 
     typedef Reverse<Derived, BothDirections> ReverseReturnType;
     typedef const Reverse<const Derived, BothDirections> ConstReverseReturnType;
-    ReverseReturnType reverse();
-    ConstReverseReturnType reverse() const;
-    void reverseInPlace();
+    EIGEN_DEVICE_FUNC ReverseReturnType reverse();
+    /** This is the const version of reverse(). */
+    //Code moved here due to a CUDA compiler bug
+    EIGEN_DEVICE_FUNC ConstReverseReturnType reverse() const
+    {
+      return ConstReverseReturnType(derived());
+    }
+    EIGEN_DEVICE_FUNC void reverseInPlace();
 
 #define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::DenseBase
+#define EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+#define EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(COND)
 #   include "../plugins/BlockMethods.h"
 #   ifdef EIGEN_DENSEBASE_PLUGIN
 #     include EIGEN_DENSEBASE_PLUGIN
 #   endif
 #undef EIGEN_CURRENT_STORAGE_BASE_CLASS
-
-#ifdef EIGEN2_SUPPORT
-
-    Block<Derived> corner(CornerType type, Index cRows, Index cCols);
-    const Block<Derived> corner(CornerType type, Index cRows, Index cCols) const;
-    template<int CRows, int CCols>
-    Block<Derived, CRows, CCols> corner(CornerType type);
-    template<int CRows, int CCols>
-    const Block<Derived, CRows, CCols> corner(CornerType type) const;
-
-#endif // EIGEN2_SUPPORT
-
+#undef EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+#undef EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF
 
     // disable the use of evalTo for dense objects with a nice compilation error
-    template<typename Dest> inline void evalTo(Dest& ) const
+    template<typename Dest>
+    EIGEN_DEVICE_FUNC
+    inline void evalTo(Dest& ) const
     {
       EIGEN_STATIC_ASSERT((internal::is_same<Dest,void>::value),THE_EVAL_EVALTO_FUNCTION_SHOULD_NEVER_BE_CALLED_FOR_DENSE_OBJECTS);
     }
 
   protected:
     /** Default constructor. Do nothing. */
-    DenseBase()
+    EIGEN_DEVICE_FUNC DenseBase()
     {
       /* Just checks for self-consistency of the flags.
        * Only do it when debugging Eigen, as this borders on paranoiac and could slow compilation down
@@ -515,9 +591,9 @@ template<typename Derived> class DenseBase
     }
 
   private:
-    explicit DenseBase(int);
-    DenseBase(int,int);
-    template<typename OtherDerived> explicit DenseBase(const DenseBase<OtherDerived>&);
+    EIGEN_DEVICE_FUNC explicit DenseBase(int);
+    EIGEN_DEVICE_FUNC DenseBase(int,int);
+    template<typename OtherDerived> EIGEN_DEVICE_FUNC explicit DenseBase(const DenseBase<OtherDerived>&);
 };
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/DenseCoeffsBase.h b/eigenlib/Eigen/src/Core/DenseCoeffsBase.h
index 3c890f21..c4af48ab 100644
--- a/eigenlib/Eigen/src/Core/DenseCoeffsBase.h
+++ b/eigenlib/Eigen/src/Core/DenseCoeffsBase.h
@@ -35,7 +35,6 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
 {
   public:
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
 
@@ -61,6 +60,7 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
     using Base::size;
     using Base::derived;
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index rowIndexByOuterInner(Index outer, Index inner) const
     {
       return int(Derived::RowsAtCompileTime) == 1 ? 0
@@ -69,6 +69,7 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
           : inner;
     }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index colIndexByOuterInner(Index outer, Index inner) const
     {
       return int(Derived::ColsAtCompileTime) == 1 ? 0
@@ -91,13 +92,15 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
       *
       * \sa operator()(Index,Index) const, coeffRef(Index,Index), coeff(Index) const
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType coeff(Index row, Index col) const
     {
       eigen_internal_assert(row >= 0 && row < rows()
-                        && col >= 0 && col < cols());
-      return derived().coeff(row, col);
+                         && col >= 0 && col < cols());
+      return internal::evaluator<Derived>(derived()).coeff(row,col);
     }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType coeffByOuterInner(Index outer, Index inner) const
     {
       return coeff(rowIndexByOuterInner(outer, inner),
@@ -108,11 +111,12 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
       *
       * \sa operator()(Index,Index), operator[](Index)
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType operator()(Index row, Index col) const
     {
       eigen_assert(row >= 0 && row < rows()
           && col >= 0 && col < cols());
-      return derived().coeff(row, col);
+      return coeff(row, col);
     }
 
     /** Short version: don't use this function, use
@@ -130,11 +134,14 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
       * \sa operator[](Index) const, coeffRef(Index), coeff(Index,Index) const
       */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType
     coeff(Index index) const
     {
+      EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
+                          THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS)
       eigen_internal_assert(index >= 0 && index < size());
-      return derived().coeff(index);
+      return internal::evaluator<Derived>(derived()).coeff(index);
     }
 
 
@@ -146,15 +153,14 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
       * z() const, w() const
       */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType
     operator[](Index index) const
     {
-      #ifndef EIGEN2_SUPPORT
       EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime,
                           THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD)
-      #endif
       eigen_assert(index >= 0 && index < size());
-      return derived().coeff(index);
+      return coeff(index);
     }
 
     /** \returns the coefficient at given index.
@@ -167,32 +173,49 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
       * z() const, w() const
       */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType
     operator()(Index index) const
     {
       eigen_assert(index >= 0 && index < size());
-      return derived().coeff(index);
+      return coeff(index);
     }
 
     /** equivalent to operator[](0).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType
     x() const { return (*this)[0]; }
 
     /** equivalent to operator[](1).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType
-    y() const { return (*this)[1]; }
+    y() const
+    {
+      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=2, OUT_OF_RANGE_ACCESS);
+      return (*this)[1];
+    }
 
     /** equivalent to operator[](2).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType
-    z() const { return (*this)[2]; }
+    z() const
+    {
+      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=3, OUT_OF_RANGE_ACCESS);
+      return (*this)[2];
+    }
 
     /** equivalent to operator[](3).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE CoeffReturnType
-    w() const { return (*this)[3]; }
+    w() const
+    {
+      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=4, OUT_OF_RANGE_ACCESS);
+      return (*this)[3];
+    }
 
     /** \internal
       * \returns the packet of coefficients starting at the given row and column. It is your responsibility
@@ -207,9 +230,9 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
     template<int LoadMode>
     EIGEN_STRONG_INLINE PacketReturnType packet(Index row, Index col) const
     {
-      eigen_internal_assert(row >= 0 && row < rows()
-                      && col >= 0 && col < cols());
-      return derived().template packet<LoadMode>(row,col);
+      typedef typename internal::packet_traits<Scalar>::type DefaultPacketType;
+      eigen_internal_assert(row >= 0 && row < rows() && col >= 0 && col < cols());
+      return internal::evaluator<Derived>(derived()).template packet<LoadMode,DefaultPacketType>(row,col);
     }
 
 
@@ -234,8 +257,11 @@ class DenseCoeffsBase<Derived,ReadOnlyAccessors> : public EigenBase<Derived>
     template<int LoadMode>
     EIGEN_STRONG_INLINE PacketReturnType packet(Index index) const
     {
+      EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
+                          THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS)
+      typedef typename internal::packet_traits<Scalar>::type DefaultPacketType;
       eigen_internal_assert(index >= 0 && index < size());
-      return derived().template packet<LoadMode>(index);
+      return internal::evaluator<Derived>(derived()).template packet<LoadMode,DefaultPacketType>(index);
     }
 
   protected:
@@ -278,7 +304,6 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
     typedef DenseCoeffsBase<Derived, ReadOnlyAccessors> Base;
 
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
@@ -311,13 +336,15 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
       *
       * \sa operator()(Index,Index), coeff(Index, Index) const, coeffRef(Index)
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar& coeffRef(Index row, Index col)
     {
       eigen_internal_assert(row >= 0 && row < rows()
-                        && col >= 0 && col < cols());
-      return derived().coeffRef(row, col);
+                         && col >= 0 && col < cols());
+      return internal::evaluator<Derived>(derived()).coeffRef(row,col);
     }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
     coeffRefByOuterInner(Index outer, Index inner)
     {
@@ -330,12 +357,13 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
       * \sa operator[](Index)
       */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
     operator()(Index row, Index col)
     {
       eigen_assert(row >= 0 && row < rows()
           && col >= 0 && col < cols());
-      return derived().coeffRef(row, col);
+      return coeffRef(row, col);
     }
 
 
@@ -354,11 +382,14 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
       * \sa operator[](Index), coeff(Index) const, coeffRef(Index,Index)
       */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
     coeffRef(Index index)
     {
+      EIGEN_STATIC_ASSERT(internal::evaluator<Derived>::Flags & LinearAccessBit,
+                          THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS)
       eigen_internal_assert(index >= 0 && index < size());
-      return derived().coeffRef(index);
+      return internal::evaluator<Derived>(derived()).coeffRef(index);
     }
 
     /** \returns a reference to the coefficient at given index.
@@ -368,15 +399,14 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
       * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w()
       */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
     operator[](Index index)
     {
-      #ifndef EIGEN2_SUPPORT
       EIGEN_STATIC_ASSERT(Derived::IsVectorAtCompileTime,
                           THE_BRACKET_OPERATOR_IS_ONLY_FOR_VECTORS__USE_THE_PARENTHESIS_OPERATOR_INSTEAD)
-      #endif
       eigen_assert(index >= 0 && index < size());
-      return derived().coeffRef(index);
+      return coeffRef(index);
     }
 
     /** \returns a reference to the coefficient at given index.
@@ -388,167 +418,49 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
       * \sa operator[](Index) const, operator()(Index,Index), x(), y(), z(), w()
       */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
     operator()(Index index)
     {
       eigen_assert(index >= 0 && index < size());
-      return derived().coeffRef(index);
+      return coeffRef(index);
     }
 
     /** equivalent to operator[](0).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
     x() { return (*this)[0]; }
 
     /** equivalent to operator[](1).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
-    y() { return (*this)[1]; }
+    y()
+    {
+      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=2, OUT_OF_RANGE_ACCESS);
+      return (*this)[1];
+    }
 
     /** equivalent to operator[](2).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
-    z() { return (*this)[2]; }
+    z()
+    {
+      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=3, OUT_OF_RANGE_ACCESS);
+      return (*this)[2];
+    }
 
     /** equivalent to operator[](3).  */
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar&
-    w() { return (*this)[3]; }
-
-    /** \internal
-      * Stores the given packet of coefficients, at the given row and column of this expression. It is your responsibility
-      * to ensure that a packet really starts there. This method is only available on expressions having the
-      * PacketAccessBit.
-      *
-      * The \a LoadMode parameter may have the value \a #Aligned or \a #Unaligned. Its effect is to select
-      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
-      * starting at an address which is a multiple of the packet size.
-      */
-
-    template<int StoreMode>
-    EIGEN_STRONG_INLINE void writePacket
-    (Index row, Index col, const typename internal::packet_traits<Scalar>::type& val)
+    w()
     {
-      eigen_internal_assert(row >= 0 && row < rows()
-                        && col >= 0 && col < cols());
-      derived().template writePacket<StoreMode>(row,col,val);
+      EIGEN_STATIC_ASSERT(Derived::SizeAtCompileTime==-1 || Derived::SizeAtCompileTime>=4, OUT_OF_RANGE_ACCESS);
+      return (*this)[3];
     }
-
-
-    /** \internal */
-    template<int StoreMode>
-    EIGEN_STRONG_INLINE void writePacketByOuterInner
-    (Index outer, Index inner, const typename internal::packet_traits<Scalar>::type& val)
-    {
-      writePacket<StoreMode>(rowIndexByOuterInner(outer, inner),
-                            colIndexByOuterInner(outer, inner),
-                            val);
-    }
-
-    /** \internal
-      * Stores the given packet of coefficients, at the given index in this expression. It is your responsibility
-      * to ensure that a packet really starts there. This method is only available on expressions having the
-      * PacketAccessBit and the LinearAccessBit.
-      *
-      * The \a LoadMode parameter may have the value \a Aligned or \a Unaligned. Its effect is to select
-      * the appropriate vectorization instruction. Aligned access is faster, but is only possible for packets
-      * starting at an address which is a multiple of the packet size.
-      */
-    template<int StoreMode>
-    EIGEN_STRONG_INLINE void writePacket
-    (Index index, const typename internal::packet_traits<Scalar>::type& val)
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      derived().template writePacket<StoreMode>(index,val);
-    }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
-    /** \internal Copies the coefficient at position (row,col) of other into *this.
-      *
-      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
-      * with usual assignments.
-      *
-      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
-      */
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE void copyCoeff(Index row, Index col, const DenseBase<OtherDerived>& other)
-    {
-      eigen_internal_assert(row >= 0 && row < rows()
-                        && col >= 0 && col < cols());
-      derived().coeffRef(row, col) = other.derived().coeff(row, col);
-    }
-
-    /** \internal Copies the coefficient at the given index of other into *this.
-      *
-      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
-      * with usual assignments.
-      *
-      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
-      */
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE void copyCoeff(Index index, const DenseBase<OtherDerived>& other)
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      derived().coeffRef(index) = other.derived().coeff(index);
-    }
-
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE void copyCoeffByOuterInner(Index outer, Index inner, const DenseBase<OtherDerived>& other)
-    {
-      const Index row = rowIndexByOuterInner(outer,inner);
-      const Index col = colIndexByOuterInner(outer,inner);
-      // derived() is important here: copyCoeff() may be reimplemented in Derived!
-      derived().copyCoeff(row, col, other);
-    }
-
-    /** \internal Copies the packet at position (row,col) of other into *this.
-      *
-      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
-      * with usual assignments.
-      *
-      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
-      */
-
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    EIGEN_STRONG_INLINE void copyPacket(Index row, Index col, const DenseBase<OtherDerived>& other)
-    {
-      eigen_internal_assert(row >= 0 && row < rows()
-                        && col >= 0 && col < cols());
-      derived().template writePacket<StoreMode>(row, col,
-        other.derived().template packet<LoadMode>(row, col));
-    }
-
-    /** \internal Copies the packet at the given index of other into *this.
-      *
-      * This method is overridden in SwapWrapper, allowing swap() assignments to share 99% of their code
-      * with usual assignments.
-      *
-      * Outside of this internal usage, this method has probably no usefulness. It is hidden in the public API dox.
-      */
-
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    EIGEN_STRONG_INLINE void copyPacket(Index index, const DenseBase<OtherDerived>& other)
-    {
-      eigen_internal_assert(index >= 0 && index < size());
-      derived().template writePacket<StoreMode>(index,
-        other.derived().template packet<LoadMode>(index));
-    }
-
-    /** \internal */
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    EIGEN_STRONG_INLINE void copyPacketByOuterInner(Index outer, Index inner, const DenseBase<OtherDerived>& other)
-    {
-      const Index row = rowIndexByOuterInner(outer,inner);
-      const Index col = colIndexByOuterInner(outer,inner);
-      // derived() is important here: copyCoeff() may be reimplemented in Derived!
-      derived().template copyPacket< OtherDerived, StoreMode, LoadMode>(row, col, other);
-    }
-#endif
-
 };
 
 /** \brief Base class providing direct read-only coefficient access to matrices and arrays.
@@ -560,7 +472,7 @@ class DenseCoeffsBase<Derived, WriteAccessors> : public DenseCoeffsBase<Derived,
   * inherits DenseCoeffsBase<Derived, ReadOnlyAccessors> which defines functions to access entries read-only using
   * \c operator() .
   *
-  * \sa \ref TopicClassHierarchy
+  * \sa \blank \ref TopicClassHierarchy
   */
 template<typename Derived>
 class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived, ReadOnlyAccessors>
@@ -568,7 +480,6 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
   public:
 
     typedef DenseCoeffsBase<Derived, ReadOnlyAccessors> Base;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
 
@@ -581,6 +492,7 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
       *
       * \sa outerStride(), rowStride(), colStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const
     {
       return derived().innerStride();
@@ -591,6 +503,7 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
       *
       * \sa innerStride(), rowStride(), colStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const
     {
       return derived().outerStride();
@@ -606,6 +519,7 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
       *
       * \sa innerStride(), outerStride(), colStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index rowStride() const
     {
       return Derived::IsRowMajor ? outerStride() : innerStride();
@@ -615,6 +529,7 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
       *
       * \sa innerStride(), outerStride(), rowStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index colStride() const
     {
       return Derived::IsRowMajor ? innerStride() : outerStride();
@@ -630,7 +545,7 @@ class DenseCoeffsBase<Derived, DirectAccessors> : public DenseCoeffsBase<Derived
   * inherits DenseCoeffsBase<Derived, WriteAccessors> which defines functions to access entries read/write using
   * \c operator().
   *
-  * \sa \ref TopicClassHierarchy
+  * \sa \blank \ref TopicClassHierarchy
   */
 template<typename Derived>
 class DenseCoeffsBase<Derived, DirectWriteAccessors>
@@ -639,7 +554,6 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
   public:
 
     typedef DenseCoeffsBase<Derived, WriteAccessors> Base;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
 
@@ -652,6 +566,7 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
       *
       * \sa outerStride(), rowStride(), colStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const
     {
       return derived().innerStride();
@@ -662,6 +577,7 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
       *
       * \sa innerStride(), rowStride(), colStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const
     {
       return derived().outerStride();
@@ -677,6 +593,7 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
       *
       * \sa innerStride(), outerStride(), colStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index rowStride() const
     {
       return Derived::IsRowMajor ? outerStride() : innerStride();
@@ -686,6 +603,7 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
       *
       * \sa innerStride(), outerStride(), rowStride()
       */
+    EIGEN_DEVICE_FUNC
     inline Index colStride() const
     {
       return Derived::IsRowMajor ? innerStride() : outerStride();
@@ -694,33 +612,42 @@ class DenseCoeffsBase<Derived, DirectWriteAccessors>
 
 namespace internal {
 
-template<typename Derived, bool JustReturnZero>
+template<int Alignment, typename Derived, bool JustReturnZero>
 struct first_aligned_impl
 {
-  static inline typename Derived::Index run(const Derived&)
+  static inline Index run(const Derived&)
   { return 0; }
 };
 
-template<typename Derived>
-struct first_aligned_impl<Derived, false>
+template<int Alignment, typename Derived>
+struct first_aligned_impl<Alignment, Derived, false>
 {
-  static inline typename Derived::Index run(const Derived& m)
+  static inline Index run(const Derived& m)
   {
-    return internal::first_aligned(&m.const_cast_derived().coeffRef(0,0), m.size());
+    return internal::first_aligned<Alignment>(m.data(), m.size());
   }
 };
 
-/** \internal \returns the index of the first element of the array that is well aligned for vectorization.
+/** \internal \returns the index of the first element of the array stored by \a m that is properly aligned with respect to \a Alignment for vectorization.
+  *
+  * \tparam Alignment requested alignment in Bytes.
   *
   * There is also the variant first_aligned(const Scalar*, Integer) defined in Memory.h. See it for more
   * documentation.
   */
-template<typename Derived>
-static inline typename Derived::Index first_aligned(const Derived& m)
+template<int Alignment, typename Derived>
+static inline Index first_aligned(const DenseBase<Derived>& m)
 {
-  return first_aligned_impl
-          <Derived, (Derived::Flags & AlignedBit) || !(Derived::Flags & DirectAccessBit)>
-          ::run(m);
+  enum { ReturnZero = (int(evaluator<Derived>::Alignment) >= Alignment) || !(Derived::Flags & DirectAccessBit) };
+  return first_aligned_impl<Alignment, Derived, ReturnZero>::run(m.derived());
+}
+
+template<typename Derived>
+static inline Index first_default_aligned(const DenseBase<Derived>& m)
+{
+  typedef typename Derived::Scalar Scalar;
+  typedef typename packet_traits<Scalar>::type DefaultPacketType;
+  return internal::first_aligned<int(unpacket_traits<DefaultPacketType>::alignment),Derived>(m);
 }
 
 template<typename Derived, bool HasDirectAccess = has_direct_access<Derived>::ret>
diff --git a/eigenlib/Eigen/src/Core/DenseStorage.h b/eigenlib/Eigen/src/Core/DenseStorage.h
index a72738e5..82201d96 100644
--- a/eigenlib/Eigen/src/Core/DenseStorage.h
+++ b/eigenlib/Eigen/src/Core/DenseStorage.h
@@ -3,7 +3,7 @@
 //
 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
+// Copyright (C) 2010-2013 Hauke Heibel <hauke.heibel@gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -24,7 +24,9 @@ namespace internal {
 
 struct constructor_without_unaligned_array_assert {};
 
-template<typename T, int Size> void check_static_allocation_size()
+template<typename T, int Size>
+EIGEN_DEVICE_FUNC
+void check_static_allocation_size()
 {
   // if EIGEN_STACK_ALLOCATION_LIMIT is defined to 0, then no limit
   #if EIGEN_STACK_ALLOCATION_LIMIT
@@ -38,18 +40,19 @@ template<typename T, int Size> void check_static_allocation_size()
   */
 template <typename T, int Size, int MatrixOrArrayOptions,
           int Alignment = (MatrixOrArrayOptions&DontAlign) ? 0
-                        : (((Size*sizeof(T))%16)==0) ? 16
-                        : 0 >
+                        : compute_default_alignment<T,Size>::value >
 struct plain_array
 {
   T array[Size];
 
-  plain_array() 
+  EIGEN_DEVICE_FUNC
+  plain_array()
   { 
     check_static_allocation_size<T,Size>();
   }
 
-  plain_array(constructor_without_unaligned_array_assert) 
+  EIGEN_DEVICE_FUNC
+  plain_array(constructor_without_unaligned_array_assert)
   { 
     check_static_allocation_size<T,Size>();
   }
@@ -64,29 +67,88 @@ struct plain_array
   template<typename PtrType>
   EIGEN_ALWAYS_INLINE PtrType eigen_unaligned_array_assert_workaround_gcc47(PtrType array) { return array; }
   #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \
-    eigen_assert((reinterpret_cast<size_t>(eigen_unaligned_array_assert_workaround_gcc47(array)) & sizemask) == 0 \
+    eigen_assert((internal::UIntPtr(eigen_unaligned_array_assert_workaround_gcc47(array)) & (sizemask)) == 0 \
               && "this assertion is explained here: " \
               "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" \
               " **** READ THIS WEB PAGE !!! ****");
 #else
   #define EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(sizemask) \
-    eigen_assert((reinterpret_cast<size_t>(array) & sizemask) == 0 \
+    eigen_assert((internal::UIntPtr(array) & (sizemask)) == 0 \
               && "this assertion is explained here: " \
               "http://eigen.tuxfamily.org/dox-devel/group__TopicUnalignedArrayAssert.html" \
               " **** READ THIS WEB PAGE !!! ****");
 #endif
 
 template <typename T, int Size, int MatrixOrArrayOptions>
-struct plain_array<T, Size, MatrixOrArrayOptions, 16>
+struct plain_array<T, Size, MatrixOrArrayOptions, 8>
 {
-  EIGEN_USER_ALIGN16 T array[Size];
+  EIGEN_ALIGN_TO_BOUNDARY(8) T array[Size];
 
+  EIGEN_DEVICE_FUNC
   plain_array() 
-  { 
-    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(0xf);
+  {
+    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(7);
     check_static_allocation_size<T,Size>();
   }
 
+  EIGEN_DEVICE_FUNC
+  plain_array(constructor_without_unaligned_array_assert) 
+  { 
+    check_static_allocation_size<T,Size>();
+  }
+};
+
+template <typename T, int Size, int MatrixOrArrayOptions>
+struct plain_array<T, Size, MatrixOrArrayOptions, 16>
+{
+  EIGEN_ALIGN_TO_BOUNDARY(16) T array[Size];
+
+  EIGEN_DEVICE_FUNC
+  plain_array() 
+  { 
+    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(15);
+    check_static_allocation_size<T,Size>();
+  }
+
+  EIGEN_DEVICE_FUNC
+  plain_array(constructor_without_unaligned_array_assert) 
+  { 
+    check_static_allocation_size<T,Size>();
+  }
+};
+
+template <typename T, int Size, int MatrixOrArrayOptions>
+struct plain_array<T, Size, MatrixOrArrayOptions, 32>
+{
+  EIGEN_ALIGN_TO_BOUNDARY(32) T array[Size];
+
+  EIGEN_DEVICE_FUNC
+  plain_array() 
+  {
+    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(31);
+    check_static_allocation_size<T,Size>();
+  }
+
+  EIGEN_DEVICE_FUNC
+  plain_array(constructor_without_unaligned_array_assert) 
+  { 
+    check_static_allocation_size<T,Size>();
+  }
+};
+
+template <typename T, int Size, int MatrixOrArrayOptions>
+struct plain_array<T, Size, MatrixOrArrayOptions, 64>
+{
+  EIGEN_ALIGN_TO_BOUNDARY(64) T array[Size];
+
+  EIGEN_DEVICE_FUNC
+  plain_array() 
+  { 
+    EIGEN_MAKE_UNALIGNED_ARRAY_ASSERT(63);
+    check_static_allocation_size<T,Size>();
+  }
+
+  EIGEN_DEVICE_FUNC
   plain_array(constructor_without_unaligned_array_assert) 
   { 
     check_static_allocation_size<T,Size>();
@@ -96,9 +158,9 @@ struct plain_array<T, Size, MatrixOrArrayOptions, 16>
 template <typename T, int MatrixOrArrayOptions, int Alignment>
 struct plain_array<T, 0, MatrixOrArrayOptions, Alignment>
 {
-  EIGEN_USER_ALIGN16 T array[1];
-  plain_array() {}
-  plain_array(constructor_without_unaligned_array_assert) {}
+  T array[1];
+  EIGEN_DEVICE_FUNC plain_array() {}
+  EIGEN_DEVICE_FUNC plain_array(constructor_without_unaligned_array_assert) {}
 };
 
 } // end namespace internal
@@ -122,33 +184,50 @@ template<typename T, int Size, int _Rows, int _Cols, int _Options> class DenseSt
 {
     internal::plain_array<T,Size,_Options> m_data;
   public:
-    inline DenseStorage() {}
-    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC DenseStorage() {}
+    EIGEN_DEVICE_FUNC
+    explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
       : m_data(internal::constructor_without_unaligned_array_assert()) {}
-    inline DenseStorage(DenseIndex,DenseIndex,DenseIndex) {}
-    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); }
-    static inline DenseIndex rows(void) {return _Rows;}
-    static inline DenseIndex cols(void) {return _Cols;}
-    inline void conservativeResize(DenseIndex,DenseIndex,DenseIndex) {}
-    inline void resize(DenseIndex,DenseIndex,DenseIndex) {}
-    inline const T *data() const { return m_data.array; }
-    inline T *data() { return m_data.array; }
+    EIGEN_DEVICE_FUNC 
+    DenseStorage(const DenseStorage& other) : m_data(other.m_data) {}
+    EIGEN_DEVICE_FUNC 
+    DenseStorage& operator=(const DenseStorage& other)
+    { 
+      if (this != &other) m_data = other.m_data;
+      return *this; 
+    }
+    EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) {
+      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+      eigen_internal_assert(size==rows*cols && rows==_Rows && cols==_Cols);
+      EIGEN_UNUSED_VARIABLE(size);
+      EIGEN_UNUSED_VARIABLE(rows);
+      EIGEN_UNUSED_VARIABLE(cols);
+    }
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); }
+    EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
+    EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
+    EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {}
+    EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {}
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
 };
 
 // null matrix
 template<typename T, int _Rows, int _Cols, int _Options> class DenseStorage<T, 0, _Rows, _Cols, _Options>
 {
   public:
-    inline DenseStorage() {}
-    inline DenseStorage(internal::constructor_without_unaligned_array_assert) {}
-    inline DenseStorage(DenseIndex,DenseIndex,DenseIndex) {}
-    inline void swap(DenseStorage& ) {}
-    static inline DenseIndex rows(void) {return _Rows;}
-    static inline DenseIndex cols(void) {return _Cols;}
-    inline void conservativeResize(DenseIndex,DenseIndex,DenseIndex) {}
-    inline void resize(DenseIndex,DenseIndex,DenseIndex) {}
-    inline const T *data() const { return 0; }
-    inline T *data() { return 0; }
+    EIGEN_DEVICE_FUNC DenseStorage() {}
+    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert) {}
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage&) {}
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage&) { return *this; }
+    EIGEN_DEVICE_FUNC DenseStorage(Index,Index,Index) {}
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& ) {}
+    EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
+    EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
+    EIGEN_DEVICE_FUNC void conservativeResize(Index,Index,Index) {}
+    EIGEN_DEVICE_FUNC void resize(Index,Index,Index) {}
+    EIGEN_DEVICE_FUNC const T *data() const { return 0; }
+    EIGEN_DEVICE_FUNC T *data() { return 0; }
 };
 
 // more specializations for null matrices; these are necessary to resolve ambiguities
@@ -165,86 +244,157 @@ template<typename T, int _Cols, int _Options> class DenseStorage<T, 0, Dynamic,
 template<typename T, int Size, int _Options> class DenseStorage<T, Size, Dynamic, Dynamic, _Options>
 {
     internal::plain_array<T,Size,_Options> m_data;
-    DenseIndex m_rows;
-    DenseIndex m_cols;
+    Index m_rows;
+    Index m_cols;
   public:
-    inline DenseStorage() : m_rows(0), m_cols(0) {}
-    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0), m_cols(0) {}
+    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
       : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0), m_cols(0) {}
-    inline DenseStorage(DenseIndex, DenseIndex nbRows, DenseIndex nbCols) : m_rows(nbRows), m_cols(nbCols) {}
-    inline void swap(DenseStorage& other)
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows), m_cols(other.m_cols) {}
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) 
+    { 
+      if (this != &other)
+      {
+        m_data = other.m_data;
+        m_rows = other.m_rows;
+        m_cols = other.m_cols;
+      }
+      return *this; 
+    }
+    EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index cols) : m_rows(rows), m_cols(cols) {}
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other)
     { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
-    inline DenseIndex rows() const {return m_rows;}
-    inline DenseIndex cols() const {return m_cols;}
-    inline void conservativeResize(DenseIndex, DenseIndex nbRows, DenseIndex nbCols) { m_rows = nbRows; m_cols = nbCols; }
-    inline void resize(DenseIndex, DenseIndex nbRows, DenseIndex nbCols) { m_rows = nbRows; m_cols = nbCols; }
-    inline const T *data() const { return m_data.array; }
-    inline T *data() { return m_data.array; }
+    EIGEN_DEVICE_FUNC Index rows() const {return m_rows;}
+    EIGEN_DEVICE_FUNC Index cols() const {return m_cols;}
+    EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index cols) { m_rows = rows; m_cols = cols; }
+    EIGEN_DEVICE_FUNC void resize(Index, Index rows, Index cols) { m_rows = rows; m_cols = cols; }
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
 };
 
 // dynamic-size matrix with fixed-size storage and fixed width
 template<typename T, int Size, int _Cols, int _Options> class DenseStorage<T, Size, Dynamic, _Cols, _Options>
 {
     internal::plain_array<T,Size,_Options> m_data;
-    DenseIndex m_rows;
+    Index m_rows;
   public:
-    inline DenseStorage() : m_rows(0) {}
-    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC DenseStorage() : m_rows(0) {}
+    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
       : m_data(internal::constructor_without_unaligned_array_assert()), m_rows(0) {}
-    inline DenseStorage(DenseIndex, DenseIndex nbRows, DenseIndex) : m_rows(nbRows) {}
-    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
-    inline DenseIndex rows(void) const {return m_rows;}
-    inline DenseIndex cols(void) const {return _Cols;}
-    inline void conservativeResize(DenseIndex, DenseIndex nbRows, DenseIndex) { m_rows = nbRows; }
-    inline void resize(DenseIndex, DenseIndex nbRows, DenseIndex) { m_rows = nbRows; }
-    inline const T *data() const { return m_data.array; }
-    inline T *data() { return m_data.array; }
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_rows(other.m_rows) {}
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other) 
+    {
+      if (this != &other)
+      {
+        m_data = other.m_data;
+        m_rows = other.m_rows;
+      }
+      return *this; 
+    }
+    EIGEN_DEVICE_FUNC DenseStorage(Index, Index rows, Index) : m_rows(rows) {}
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
+    EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
+    EIGEN_DEVICE_FUNC Index cols(void) const {return _Cols;}
+    EIGEN_DEVICE_FUNC void conservativeResize(Index, Index rows, Index) { m_rows = rows; }
+    EIGEN_DEVICE_FUNC void resize(Index, Index rows, Index) { m_rows = rows; }
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
 };
 
 // dynamic-size matrix with fixed-size storage and fixed height
 template<typename T, int Size, int _Rows, int _Options> class DenseStorage<T, Size, _Rows, Dynamic, _Options>
 {
     internal::plain_array<T,Size,_Options> m_data;
-    DenseIndex m_cols;
+    Index m_cols;
   public:
-    inline DenseStorage() : m_cols(0) {}
-    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC DenseStorage() : m_cols(0) {}
+    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
       : m_data(internal::constructor_without_unaligned_array_assert()), m_cols(0) {}
-    inline DenseStorage(DenseIndex, DenseIndex, DenseIndex nbCols) : m_cols(nbCols) {}
-    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
-    inline DenseIndex rows(void) const {return _Rows;}
-    inline DenseIndex cols(void) const {return m_cols;}
-    inline void conservativeResize(DenseIndex, DenseIndex, DenseIndex nbCols) { m_cols = nbCols; }
-    inline void resize(DenseIndex, DenseIndex, DenseIndex nbCols) { m_cols = nbCols; }
-    inline const T *data() const { return m_data.array; }
-    inline T *data() { return m_data.array; }
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other) : m_data(other.m_data), m_cols(other.m_cols) {}
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+    {
+      if (this != &other)
+      {
+        m_data = other.m_data;
+        m_cols = other.m_cols;
+      }
+      return *this;
+    }
+    EIGEN_DEVICE_FUNC DenseStorage(Index, Index, Index cols) : m_cols(cols) {}
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
+    EIGEN_DEVICE_FUNC Index rows(void) const {return _Rows;}
+    EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
+    void conservativeResize(Index, Index, Index cols) { m_cols = cols; }
+    void resize(Index, Index, Index cols) { m_cols = cols; }
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data.array; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data.array; }
 };
 
 // purely dynamic matrix.
 template<typename T, int _Options> class DenseStorage<T, Dynamic, Dynamic, Dynamic, _Options>
 {
     T *m_data;
-    DenseIndex m_rows;
-    DenseIndex m_cols;
+    Index m_rows;
+    Index m_cols;
   public:
-    inline DenseStorage() : m_data(0), m_rows(0), m_cols(0) {}
-    inline DenseStorage(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_rows(0), m_cols(0) {}
+    EIGEN_DEVICE_FUNC explicit DenseStorage(internal::constructor_without_unaligned_array_assert)
        : m_data(0), m_rows(0), m_cols(0) {}
-    inline DenseStorage(DenseIndex size, DenseIndex nbRows, DenseIndex nbCols)
-      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(nbRows), m_cols(nbCols)
-    { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN }
-    inline ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols); }
-    inline void swap(DenseStorage& other)
+    EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols)
+      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(rows), m_cols(cols)
+    {
+      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+      eigen_internal_assert(size==rows*cols && rows>=0 && cols >=0);
+    }
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
+      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(other.m_rows*other.m_cols))
+      , m_rows(other.m_rows)
+      , m_cols(other.m_cols)
+    {
+      internal::smart_copy(other.m_data, other.m_data+other.m_rows*other.m_cols, m_data);
+    }
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+    {
+      if (this != &other)
+      {
+        DenseStorage tmp(other);
+        this->swap(tmp);
+      }
+      return *this;
+    }
+#if EIGEN_HAS_RVALUE_REFERENCES
+    EIGEN_DEVICE_FUNC
+    DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
+      : m_data(std::move(other.m_data))
+      , m_rows(std::move(other.m_rows))
+      , m_cols(std::move(other.m_cols))
+    {
+      other.m_data = nullptr;
+      other.m_rows = 0;
+      other.m_cols = 0;
+    }
+    EIGEN_DEVICE_FUNC
+    DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
+    {
+      using std::swap;
+      swap(m_data, other.m_data);
+      swap(m_rows, other.m_rows);
+      swap(m_cols, other.m_cols);
+      return *this;
+    }
+#endif
+    EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, m_rows*m_cols); }
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other)
     { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); std::swap(m_cols,other.m_cols); }
-    inline DenseIndex rows(void) const {return m_rows;}
-    inline DenseIndex cols(void) const {return m_cols;}
-    inline void conservativeResize(DenseIndex size, DenseIndex nbRows, DenseIndex nbCols)
+    EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
+    EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
+    void conservativeResize(Index size, Index rows, Index cols)
     {
       m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*m_cols);
-      m_rows = nbRows;
-      m_cols = nbCols;
+      m_rows = rows;
+      m_cols = cols;
     }
-    void resize(DenseIndex size, DenseIndex nbRows, DenseIndex nbCols)
+    EIGEN_DEVICE_FUNC void resize(Index size, Index rows, Index cols)
     {
       if(size != m_rows*m_cols)
       {
@@ -255,33 +405,70 @@ template<typename T, int _Options> class DenseStorage<T, Dynamic, Dynamic, Dynam
           m_data = 0;
         EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
       }
-      m_rows = nbRows;
-      m_cols = nbCols;
+      m_rows = rows;
+      m_cols = cols;
     }
-    inline const T *data() const { return m_data; }
-    inline T *data() { return m_data; }
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data; }
 };
 
 // matrix with dynamic width and fixed height (so that matrix has dynamic size).
 template<typename T, int _Rows, int _Options> class DenseStorage<T, Dynamic, _Rows, Dynamic, _Options>
 {
     T *m_data;
-    DenseIndex m_cols;
+    Index m_cols;
   public:
-    inline DenseStorage() : m_data(0), m_cols(0) {}
-    inline DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_cols(0) {}
-    inline DenseStorage(DenseIndex size, DenseIndex, DenseIndex nbCols) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_cols(nbCols)
-    { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN }
-    inline ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols); }
-    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
-    static inline DenseIndex rows(void) {return _Rows;}
-    inline DenseIndex cols(void) const {return m_cols;}
-    inline void conservativeResize(DenseIndex size, DenseIndex, DenseIndex nbCols)
+    EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_cols(0) {}
+    explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_cols(0) {}
+    EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_cols(cols)
+    {
+      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+      eigen_internal_assert(size==rows*cols && rows==_Rows && cols >=0);
+      EIGEN_UNUSED_VARIABLE(rows);
+    }
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
+      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(_Rows*other.m_cols))
+      , m_cols(other.m_cols)
+    {
+      internal::smart_copy(other.m_data, other.m_data+_Rows*m_cols, m_data);
+    }
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+    {
+      if (this != &other)
+      {
+        DenseStorage tmp(other);
+        this->swap(tmp);
+      }
+      return *this;
+    }    
+#if EIGEN_HAS_RVALUE_REFERENCES
+    EIGEN_DEVICE_FUNC
+    DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
+      : m_data(std::move(other.m_data))
+      , m_cols(std::move(other.m_cols))
+    {
+      other.m_data = nullptr;
+      other.m_cols = 0;
+    }
+    EIGEN_DEVICE_FUNC
+    DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
+    {
+      using std::swap;
+      swap(m_data, other.m_data);
+      swap(m_cols, other.m_cols);
+      return *this;
+    }
+#endif
+    EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Rows*m_cols); }
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_cols,other.m_cols); }
+    EIGEN_DEVICE_FUNC static Index rows(void) {return _Rows;}
+    EIGEN_DEVICE_FUNC Index cols(void) const {return m_cols;}
+    EIGEN_DEVICE_FUNC void conservativeResize(Index size, Index, Index cols)
     {
       m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, _Rows*m_cols);
-      m_cols = nbCols;
+      m_cols = cols;
     }
-    EIGEN_STRONG_INLINE void resize(DenseIndex size, DenseIndex, DenseIndex nbCols)
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index size, Index, Index cols)
     {
       if(size != _Rows*m_cols)
       {
@@ -292,32 +479,69 @@ template<typename T, int _Rows, int _Options> class DenseStorage<T, Dynamic, _Ro
           m_data = 0;
         EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
       }
-      m_cols = nbCols;
+      m_cols = cols;
     }
-    inline const T *data() const { return m_data; }
-    inline T *data() { return m_data; }
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data; }
 };
 
 // matrix with dynamic height and fixed width (so that matrix has dynamic size).
 template<typename T, int _Cols, int _Options> class DenseStorage<T, Dynamic, Dynamic, _Cols, _Options>
 {
     T *m_data;
-    DenseIndex m_rows;
+    Index m_rows;
   public:
-    inline DenseStorage() : m_data(0), m_rows(0) {}
-    inline DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_rows(0) {}
-    inline DenseStorage(DenseIndex size, DenseIndex nbRows, DenseIndex) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(nbRows)
-    { EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN }
-    inline ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows); }
-    inline void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
-    inline DenseIndex rows(void) const {return m_rows;}
-    static inline DenseIndex cols(void) {return _Cols;}
-    inline void conservativeResize(DenseIndex size, DenseIndex nbRows, DenseIndex)
+    EIGEN_DEVICE_FUNC DenseStorage() : m_data(0), m_rows(0) {}
+    explicit DenseStorage(internal::constructor_without_unaligned_array_assert) : m_data(0), m_rows(0) {}
+    EIGEN_DEVICE_FUNC DenseStorage(Index size, Index rows, Index cols) : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(size)), m_rows(rows)
+    {
+      EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
+      eigen_internal_assert(size==rows*cols && rows>=0 && cols == _Cols);
+      EIGEN_UNUSED_VARIABLE(cols);
+    }
+    EIGEN_DEVICE_FUNC DenseStorage(const DenseStorage& other)
+      : m_data(internal::conditional_aligned_new_auto<T,(_Options&DontAlign)==0>(other.m_rows*_Cols))
+      , m_rows(other.m_rows)
+    {
+      internal::smart_copy(other.m_data, other.m_data+other.m_rows*_Cols, m_data);
+    }
+    EIGEN_DEVICE_FUNC DenseStorage& operator=(const DenseStorage& other)
+    {
+      if (this != &other)
+      {
+        DenseStorage tmp(other);
+        this->swap(tmp);
+      }
+      return *this;
+    }    
+#if EIGEN_HAS_RVALUE_REFERENCES
+    EIGEN_DEVICE_FUNC
+    DenseStorage(DenseStorage&& other) EIGEN_NOEXCEPT
+      : m_data(std::move(other.m_data))
+      , m_rows(std::move(other.m_rows))
+    {
+      other.m_data = nullptr;
+      other.m_rows = 0;
+    }
+    EIGEN_DEVICE_FUNC
+    DenseStorage& operator=(DenseStorage&& other) EIGEN_NOEXCEPT
+    {
+      using std::swap;
+      swap(m_data, other.m_data);
+      swap(m_rows, other.m_rows);
+      return *this;
+    }
+#endif
+    EIGEN_DEVICE_FUNC ~DenseStorage() { internal::conditional_aligned_delete_auto<T,(_Options&DontAlign)==0>(m_data, _Cols*m_rows); }
+    EIGEN_DEVICE_FUNC void swap(DenseStorage& other) { std::swap(m_data,other.m_data); std::swap(m_rows,other.m_rows); }
+    EIGEN_DEVICE_FUNC Index rows(void) const {return m_rows;}
+    EIGEN_DEVICE_FUNC static Index cols(void) {return _Cols;}
+    void conservativeResize(Index size, Index rows, Index)
     {
       m_data = internal::conditional_aligned_realloc_new_auto<T,(_Options&DontAlign)==0>(m_data, size, m_rows*_Cols);
-      m_rows = nbRows;
+      m_rows = rows;
     }
-    EIGEN_STRONG_INLINE void resize(DenseIndex size, DenseIndex nbRows, DenseIndex)
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void resize(Index size, Index rows, Index)
     {
       if(size != m_rows*_Cols)
       {
@@ -328,10 +552,10 @@ template<typename T, int _Cols, int _Options> class DenseStorage<T, Dynamic, Dyn
           m_data = 0;
         EIGEN_INTERNAL_DENSE_STORAGE_CTOR_PLUGIN
       }
-      m_rows = nbRows;
+      m_rows = rows;
     }
-    inline const T *data() const { return m_data; }
-    inline T *data() { return m_data; }
+    EIGEN_DEVICE_FUNC const T *data() const { return m_data; }
+    EIGEN_DEVICE_FUNC T *data() { return m_data; }
 };
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/Diagonal.h b/eigenlib/Eigen/src/Core/Diagonal.h
index 68cf6d4b..bfea0584 100644
--- a/eigenlib/Eigen/src/Core/Diagonal.h
+++ b/eigenlib/Eigen/src/Core/Diagonal.h
@@ -37,7 +37,7 @@ template<typename MatrixType, int DiagIndex>
 struct traits<Diagonal<MatrixType,DiagIndex> >
  : traits<MatrixType>
 {
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
   typedef typename MatrixType::StorageKind StorageKind;
   enum {
@@ -52,8 +52,7 @@ struct traits<Diagonal<MatrixType,DiagIndex> >
                                                  MatrixType::MaxColsAtCompileTime - EIGEN_PLAIN_ENUM_MAX( DiagIndex, 0))),
     MaxColsAtCompileTime = 1,
     MaskLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
-    Flags = (unsigned int)_MatrixTypeNested::Flags & (HereditaryBits | LinearAccessBit | MaskLvalueBit | DirectAccessBit) & ~RowMajorBit,
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost,
+    Flags = (unsigned int)_MatrixTypeNested::Flags & (RowMajorBit | MaskLvalueBit | DirectAccessBit) & ~RowMajorBit, // FIXME DirectAccessBit should not be handled by expressions
     MatrixTypeOuterStride = outer_stride_at_compile_time<MatrixType>::ret,
     InnerStrideAtCompileTime = MatrixTypeOuterStride == Dynamic ? Dynamic : MatrixTypeOuterStride+1,
     OuterStrideAtCompileTime = 0
@@ -70,20 +69,28 @@ template<typename MatrixType, int _DiagIndex> class Diagonal
     typedef typename internal::dense_xpr_base<Diagonal>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(Diagonal)
 
-    inline Diagonal(MatrixType& matrix, Index a_index = DiagIndex) : m_matrix(matrix), m_index(a_index) {}
+    EIGEN_DEVICE_FUNC
+    explicit inline Diagonal(MatrixType& matrix, Index a_index = DiagIndex) : m_matrix(matrix), m_index(a_index) {}
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Diagonal)
 
+    EIGEN_DEVICE_FUNC
     inline Index rows() const
-    { return m_index.value()<0 ? (std::min<Index>)(m_matrix.cols(),m_matrix.rows()+m_index.value()) : (std::min<Index>)(m_matrix.rows(),m_matrix.cols()-m_index.value()); }
+    {
+      return m_index.value()<0 ? numext::mini<Index>(m_matrix.cols(),m_matrix.rows()+m_index.value())
+                               : numext::mini<Index>(m_matrix.rows(),m_matrix.cols()-m_index.value());
+    }
 
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return 1; }
 
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const
     {
       return m_matrix.outerStride() + 1;
     }
 
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const
     {
       return 0;
@@ -95,62 +102,75 @@ template<typename MatrixType, int _DiagIndex> class Diagonal
                        const Scalar
                      >::type ScalarWithConstIfNotLvalue;
 
-    inline ScalarWithConstIfNotLvalue* data() { return &(m_matrix.const_cast_derived().coeffRef(rowOffset(), colOffset())); }
-    inline const Scalar* data() const { return &(m_matrix.const_cast_derived().coeffRef(rowOffset(), colOffset())); }
+    EIGEN_DEVICE_FUNC
+    inline ScalarWithConstIfNotLvalue* data() { return &(m_matrix.coeffRef(rowOffset(), colOffset())); }
+    EIGEN_DEVICE_FUNC
+    inline const Scalar* data() const { return &(m_matrix.coeffRef(rowOffset(), colOffset())); }
 
+    EIGEN_DEVICE_FUNC
     inline Scalar& coeffRef(Index row, Index)
     {
       EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      return m_matrix.const_cast_derived().coeffRef(row+rowOffset(), row+colOffset());
+      return m_matrix.coeffRef(row+rowOffset(), row+colOffset());
     }
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index row, Index) const
     {
-      return m_matrix.const_cast_derived().coeffRef(row+rowOffset(), row+colOffset());
+      return m_matrix.coeffRef(row+rowOffset(), row+colOffset());
     }
 
+    EIGEN_DEVICE_FUNC
     inline CoeffReturnType coeff(Index row, Index) const
     {
       return m_matrix.coeff(row+rowOffset(), row+colOffset());
     }
 
+    EIGEN_DEVICE_FUNC
     inline Scalar& coeffRef(Index idx)
     {
       EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      return m_matrix.const_cast_derived().coeffRef(idx+rowOffset(), idx+colOffset());
+      return m_matrix.coeffRef(idx+rowOffset(), idx+colOffset());
     }
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index idx) const
     {
-      return m_matrix.const_cast_derived().coeffRef(idx+rowOffset(), idx+colOffset());
+      return m_matrix.coeffRef(idx+rowOffset(), idx+colOffset());
     }
 
+    EIGEN_DEVICE_FUNC
     inline CoeffReturnType coeff(Index idx) const
     {
       return m_matrix.coeff(idx+rowOffset(), idx+colOffset());
     }
 
-    const typename internal::remove_all<typename MatrixType::Nested>::type& 
+    EIGEN_DEVICE_FUNC
+    inline const typename internal::remove_all<typename MatrixType::Nested>::type& 
     nestedExpression() const 
     {
       return m_matrix;
     }
 
-    int index() const
+    EIGEN_DEVICE_FUNC
+    inline Index index() const
     {
       return m_index.value();
     }
 
   protected:
-    typename MatrixType::Nested m_matrix;
+    typename internal::ref_selector<MatrixType>::non_const_type m_matrix;
     const internal::variable_if_dynamicindex<Index, DiagIndex> m_index;
 
   private:
     // some compilers may fail to optimize std::max etc in case of compile-time constants...
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index absDiagIndex() const { return m_index.value()>0 ? m_index.value() : -m_index.value(); }
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index rowOffset() const { return m_index.value()>0 ? 0 : -m_index.value(); }
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index colOffset() const { return m_index.value()>0 ? m_index.value() : 0; }
-    // triger a compile time error is someone try to call packet
+    // trigger a compile-time error if someone try to call packet
     template<int LoadMode> typename MatrixType::PacketReturnType packet(Index) const;
     template<int LoadMode> typename MatrixType::PacketReturnType packet(Index,Index) const;
 };
@@ -167,7 +187,7 @@ template<typename Derived>
 inline typename MatrixBase<Derived>::DiagonalReturnType
 MatrixBase<Derived>::diagonal()
 {
-  return derived();
+  return DiagonalReturnType(derived());
 }
 
 /** This is the const version of diagonal(). */
@@ -216,20 +236,20 @@ MatrixBase<Derived>::diagonal(Index index) const
   *
   * \sa MatrixBase::diagonal(), class Diagonal */
 template<typename Derived>
-template<int Index>
-inline typename MatrixBase<Derived>::template DiagonalIndexReturnType<Index>::Type
+template<int Index_>
+inline typename MatrixBase<Derived>::template DiagonalIndexReturnType<Index_>::Type
 MatrixBase<Derived>::diagonal()
 {
-  return derived();
+  return typename DiagonalIndexReturnType<Index_>::Type(derived());
 }
 
 /** This is the const version of diagonal<int>(). */
 template<typename Derived>
-template<int Index>
-inline typename MatrixBase<Derived>::template ConstDiagonalIndexReturnType<Index>::Type
+template<int Index_>
+inline typename MatrixBase<Derived>::template ConstDiagonalIndexReturnType<Index_>::Type
 MatrixBase<Derived>::diagonal() const
 {
-  return derived();
+  return typename ConstDiagonalIndexReturnType<Index_>::Type(derived());
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/DiagonalMatrix.h b/eigenlib/Eigen/src/Core/DiagonalMatrix.h
index e6c220f4..ecfdce8e 100644
--- a/eigenlib/Eigen/src/Core/DiagonalMatrix.h
+++ b/eigenlib/Eigen/src/Core/DiagonalMatrix.h
@@ -22,7 +22,7 @@ class DiagonalBase : public EigenBase<Derived>
     typedef typename DiagonalVectorType::Scalar Scalar;
     typedef typename DiagonalVectorType::RealScalar RealScalar;
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
 
     enum {
       RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
@@ -30,79 +30,61 @@ class DiagonalBase : public EigenBase<Derived>
       MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
       MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
       IsVectorAtCompileTime = 0,
-      Flags = 0
+      Flags = NoPreferredStorageOrderBit
     };
 
     typedef Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime, 0, MaxRowsAtCompileTime, MaxColsAtCompileTime> DenseMatrixType;
     typedef DenseMatrixType DenseType;
     typedef DiagonalMatrix<Scalar,DiagonalVectorType::SizeAtCompileTime,DiagonalVectorType::MaxSizeAtCompileTime> PlainObject;
 
+    EIGEN_DEVICE_FUNC
     inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    EIGEN_DEVICE_FUNC
     inline Derived& derived() { return *static_cast<Derived*>(this); }
 
+    EIGEN_DEVICE_FUNC
     DenseMatrixType toDenseMatrix() const { return derived(); }
-    template<typename DenseDerived>
-    void evalTo(MatrixBase<DenseDerived> &other) const;
-    template<typename DenseDerived>
-    void addTo(MatrixBase<DenseDerived> &other) const
-    { other.diagonal() += diagonal(); }
-    template<typename DenseDerived>
-    void subTo(MatrixBase<DenseDerived> &other) const
-    { other.diagonal() -= diagonal(); }
-
+    
+    EIGEN_DEVICE_FUNC
     inline const DiagonalVectorType& diagonal() const { return derived().diagonal(); }
+    EIGEN_DEVICE_FUNC
     inline DiagonalVectorType& diagonal() { return derived().diagonal(); }
 
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return diagonal().size(); }
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return diagonal().size(); }
 
-    /** \returns the diagonal matrix product of \c *this by the matrix \a matrix.
-      */
     template<typename MatrixDerived>
-    const DiagonalProduct<MatrixDerived, Derived, OnTheLeft>
+    EIGEN_DEVICE_FUNC
+    const Product<Derived,MatrixDerived,LazyProduct>
     operator*(const MatrixBase<MatrixDerived> &matrix) const
     {
-      return DiagonalProduct<MatrixDerived, Derived, OnTheLeft>(matrix.derived(), derived());
+      return Product<Derived, MatrixDerived, LazyProduct>(derived(),matrix.derived());
     }
 
-    inline const DiagonalWrapper<const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const DiagonalVectorType> >
+    typedef DiagonalWrapper<const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const DiagonalVectorType> > InverseReturnType;
+    EIGEN_DEVICE_FUNC
+    inline const InverseReturnType
     inverse() const
     {
-      return diagonal().cwiseInverse();
+      return InverseReturnType(diagonal().cwiseInverse());
     }
     
-    inline const DiagonalWrapper<const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DiagonalVectorType> >
+    EIGEN_DEVICE_FUNC
+    inline const DiagonalWrapper<const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DiagonalVectorType,Scalar,product) >
     operator*(const Scalar& scalar) const
     {
-      return diagonal() * scalar;
+      return DiagonalWrapper<const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(DiagonalVectorType,Scalar,product) >(diagonal() * scalar);
     }
-    friend inline const DiagonalWrapper<const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DiagonalVectorType> >
+    EIGEN_DEVICE_FUNC
+    friend inline const DiagonalWrapper<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,DiagonalVectorType,product) >
     operator*(const Scalar& scalar, const DiagonalBase& other)
     {
-      return other.diagonal() * scalar;
+      return DiagonalWrapper<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,DiagonalVectorType,product) >(scalar * other.diagonal());
     }
-    
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived>
-    bool isApprox(const DiagonalBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
-    {
-      return diagonal().isApprox(other.diagonal(), precision);
-    }
-    template<typename OtherDerived>
-    bool isApprox(const MatrixBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
-    {
-      return toDenseMatrix().isApprox(other, precision);
-    }
-    #endif
 };
 
-template<typename Derived>
-template<typename DenseDerived>
-void DiagonalBase<Derived>::evalTo(MatrixBase<DenseDerived> &other) const
-{
-  other.setZero();
-  other.diagonal() = diagonal();
-}
 #endif
 
 /** \class DiagonalMatrix
@@ -124,10 +106,9 @@ struct traits<DiagonalMatrix<_Scalar,SizeAtCompileTime,MaxSizeAtCompileTime> >
  : traits<Matrix<_Scalar,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
 {
   typedef Matrix<_Scalar,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1> DiagonalVectorType;
-  typedef Dense StorageKind;
-  typedef DenseIndex Index;
+  typedef DiagonalShape StorageKind;
   enum {
-    Flags = LvalueBit
+    Flags = LvalueBit | NoPreferredStorageOrderBit
   };
 };
 }
@@ -141,7 +122,7 @@ class DiagonalMatrix
     typedef const DiagonalMatrix& Nested;
     typedef _Scalar Scalar;
     typedef typename internal::traits<DiagonalMatrix>::StorageKind StorageKind;
-    typedef typename internal::traits<DiagonalMatrix>::Index Index;
+    typedef typename internal::traits<DiagonalMatrix>::StorageIndex StorageIndex;
     #endif
 
   protected:
@@ -151,24 +132,31 @@ class DiagonalMatrix
   public:
 
     /** const version of diagonal(). */
+    EIGEN_DEVICE_FUNC
     inline const DiagonalVectorType& diagonal() const { return m_diagonal; }
     /** \returns a reference to the stored vector of diagonal coefficients. */
+    EIGEN_DEVICE_FUNC
     inline DiagonalVectorType& diagonal() { return m_diagonal; }
 
     /** Default constructor without initialization */
+    EIGEN_DEVICE_FUNC
     inline DiagonalMatrix() {}
 
     /** Constructs a diagonal matrix with given dimension  */
-    inline DiagonalMatrix(Index dim) : m_diagonal(dim) {}
+    EIGEN_DEVICE_FUNC
+    explicit inline DiagonalMatrix(Index dim) : m_diagonal(dim) {}
 
     /** 2D constructor. */
+    EIGEN_DEVICE_FUNC
     inline DiagonalMatrix(const Scalar& x, const Scalar& y) : m_diagonal(x,y) {}
 
     /** 3D constructor. */
+    EIGEN_DEVICE_FUNC
     inline DiagonalMatrix(const Scalar& x, const Scalar& y, const Scalar& z) : m_diagonal(x,y,z) {}
 
     /** Copy constructor. */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     inline DiagonalMatrix(const DiagonalBase<OtherDerived>& other) : m_diagonal(other.diagonal()) {}
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
@@ -178,11 +166,13 @@ class DiagonalMatrix
 
     /** generic constructor from expression of the diagonal coefficients */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     explicit inline DiagonalMatrix(const MatrixBase<OtherDerived>& other) : m_diagonal(other)
     {}
 
     /** Copy operator. */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     DiagonalMatrix& operator=(const DiagonalBase<OtherDerived>& other)
     {
       m_diagonal = other.diagonal();
@@ -193,6 +183,7 @@ class DiagonalMatrix
     /** This is a special case of the templated operator=. Its purpose is to
       * prevent a default operator= from hiding the templated operator=.
       */
+    EIGEN_DEVICE_FUNC
     DiagonalMatrix& operator=(const DiagonalMatrix& other)
     {
       m_diagonal = other.diagonal();
@@ -201,14 +192,19 @@ class DiagonalMatrix
     #endif
 
     /** Resizes to given size. */
+    EIGEN_DEVICE_FUNC
     inline void resize(Index size) { m_diagonal.resize(size); }
     /** Sets all coefficients to zero. */
+    EIGEN_DEVICE_FUNC
     inline void setZero() { m_diagonal.setZero(); }
     /** Resizes and sets all coefficients to zero. */
+    EIGEN_DEVICE_FUNC
     inline void setZero(Index size) { m_diagonal.setZero(size); }
     /** Sets this matrix to be the identity matrix of the current size. */
+    EIGEN_DEVICE_FUNC
     inline void setIdentity() { m_diagonal.setOnes(); }
     /** Sets this matrix to be the identity matrix of the given size. */
+    EIGEN_DEVICE_FUNC
     inline void setIdentity(Index size) { m_diagonal.setOnes(size); }
 };
 
@@ -232,14 +228,15 @@ struct traits<DiagonalWrapper<_DiagonalVectorType> >
 {
   typedef _DiagonalVectorType DiagonalVectorType;
   typedef typename DiagonalVectorType::Scalar Scalar;
-  typedef typename DiagonalVectorType::Index Index;
-  typedef typename DiagonalVectorType::StorageKind StorageKind;
+  typedef typename DiagonalVectorType::StorageIndex StorageIndex;
+  typedef DiagonalShape StorageKind;
+  typedef typename traits<DiagonalVectorType>::XprKind XprKind;
   enum {
     RowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
     ColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
-    MaxRowsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
-    MaxColsAtCompileTime = DiagonalVectorType::SizeAtCompileTime,
-    Flags =  traits<DiagonalVectorType>::Flags & LvalueBit
+    MaxRowsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
+    MaxColsAtCompileTime = DiagonalVectorType::MaxSizeAtCompileTime,
+    Flags =  (traits<DiagonalVectorType>::Flags & LvalueBit) | NoPreferredStorageOrderBit
   };
 };
 }
@@ -255,9 +252,11 @@ class DiagonalWrapper
     #endif
 
     /** Constructor from expression of diagonal coefficients to wrap. */
-    inline DiagonalWrapper(DiagonalVectorType& a_diagonal) : m_diagonal(a_diagonal) {}
+    EIGEN_DEVICE_FUNC
+    explicit inline DiagonalWrapper(DiagonalVectorType& a_diagonal) : m_diagonal(a_diagonal) {}
 
     /** \returns a const reference to the wrapped expression of diagonal coefficients. */
+    EIGEN_DEVICE_FUNC
     const DiagonalVectorType& diagonal() const { return m_diagonal; }
 
   protected:
@@ -277,7 +276,7 @@ template<typename Derived>
 inline const DiagonalWrapper<const Derived>
 MatrixBase<Derived>::asDiagonal() const
 {
-  return derived();
+  return DiagonalWrapper<const Derived>(derived());
 }
 
 /** \returns true if *this is approximately equal to a diagonal matrix,
@@ -291,12 +290,11 @@ MatrixBase<Derived>::asDiagonal() const
 template<typename Derived>
 bool MatrixBase<Derived>::isDiagonal(const RealScalar& prec) const
 {
-  using std::abs;
   if(cols() != rows()) return false;
   RealScalar maxAbsOnDiagonal = static_cast<RealScalar>(-1);
   for(Index j = 0; j < cols(); ++j)
   {
-    RealScalar absOnDiagonal = abs(coeff(j,j));
+    RealScalar absOnDiagonal = numext::abs(coeff(j,j));
     if(absOnDiagonal > maxAbsOnDiagonal) maxAbsOnDiagonal = absOnDiagonal;
   }
   for(Index j = 0; j < cols(); ++j)
@@ -308,6 +306,38 @@ bool MatrixBase<Derived>::isDiagonal(const RealScalar& prec) const
   return true;
 }
 
+namespace internal {
+
+template<> struct storage_kind_to_shape<DiagonalShape> { typedef DiagonalShape Shape; };
+
+struct Diagonal2Dense {};
+
+template<> struct AssignmentKind<DenseShape,DiagonalShape> { typedef Diagonal2Dense Kind; };
+
+// Diagonal matrix to Dense assignment
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Diagonal2Dense>
+{
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+    
+    dst.setZero();
+    dst.diagonal() = src.diagonal();
+  }
+  
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  { dst.diagonal() += src.diagonal(); }
+  
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  { dst.diagonal() -= src.diagonal(); }
+};
+
+} // namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_DIAGONALMATRIX_H
diff --git a/eigenlib/Eigen/src/Core/DiagonalProduct.h b/eigenlib/Eigen/src/Core/DiagonalProduct.h
index 00f8f291..d372b938 100644
--- a/eigenlib/Eigen/src/Core/DiagonalProduct.h
+++ b/eigenlib/Eigen/src/Core/DiagonalProduct.h
@@ -13,116 +13,14 @@
 
 namespace Eigen { 
 
-namespace internal {
-template<typename MatrixType, typename DiagonalType, int ProductOrder>
-struct traits<DiagonalProduct<MatrixType, DiagonalType, ProductOrder> >
- : traits<MatrixType>
-{
-  typedef typename scalar_product_traits<typename MatrixType::Scalar, typename DiagonalType::Scalar>::ReturnType Scalar;
-  enum {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-
-    _StorageOrder = MatrixType::Flags & RowMajorBit ? RowMajor : ColMajor,
-    _ScalarAccessOnDiag =  !((int(_StorageOrder) == ColMajor && int(ProductOrder) == OnTheLeft)
-                          ||(int(_StorageOrder) == RowMajor && int(ProductOrder) == OnTheRight)),
-    _SameTypes = is_same<typename MatrixType::Scalar, typename DiagonalType::Scalar>::value,
-    // FIXME currently we need same types, but in the future the next rule should be the one
-    //_Vectorizable = bool(int(MatrixType::Flags)&PacketAccessBit) && ((!_PacketOnDiag) || (_SameTypes && bool(int(DiagonalType::DiagonalVectorType::Flags)&PacketAccessBit))),
-    _Vectorizable = bool(int(MatrixType::Flags)&PacketAccessBit) && _SameTypes && (_ScalarAccessOnDiag || (bool(int(DiagonalType::DiagonalVectorType::Flags)&PacketAccessBit))),
-    _LinearAccessMask = (RowsAtCompileTime==1 || ColsAtCompileTime==1) ? LinearAccessBit : 0,
-
-    Flags = ((HereditaryBits|_LinearAccessMask|AlignedBit) & (unsigned int)(MatrixType::Flags)) | (_Vectorizable ? PacketAccessBit : 0),//(int(MatrixType::Flags)&int(DiagonalType::DiagonalVectorType::Flags)&AlignedBit),
-    CoeffReadCost = NumTraits<Scalar>::MulCost + MatrixType::CoeffReadCost + DiagonalType::DiagonalVectorType::CoeffReadCost
-  };
-};
-}
-
-template<typename MatrixType, typename DiagonalType, int ProductOrder>
-class DiagonalProduct : internal::no_assignment_operator,
-                        public MatrixBase<DiagonalProduct<MatrixType, DiagonalType, ProductOrder> >
-{
-  public:
-
-    typedef MatrixBase<DiagonalProduct> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(DiagonalProduct)
-
-    inline DiagonalProduct(const MatrixType& matrix, const DiagonalType& diagonal)
-      : m_matrix(matrix), m_diagonal(diagonal)
-    {
-      eigen_assert(diagonal.diagonal().size() == (ProductOrder == OnTheLeft ? matrix.rows() : matrix.cols()));
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const { return m_matrix.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return m_matrix.cols(); }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
-    {
-      return m_diagonal.diagonal().coeff(ProductOrder == OnTheLeft ? row : col) * m_matrix.coeff(row, col);
-    }
-    
-    EIGEN_STRONG_INLINE const Scalar coeff(Index idx) const
-    {
-      enum {
-        StorageOrder = int(MatrixType::Flags) & RowMajorBit ? RowMajor : ColMajor
-      };
-      return coeff(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx);
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index row, Index col) const
-    {
-      enum {
-        StorageOrder = Flags & RowMajorBit ? RowMajor : ColMajor
-      };
-      const Index indexInDiagonalVector = ProductOrder == OnTheLeft ? row : col;
-      return packet_impl<LoadMode>(row,col,indexInDiagonalVector,typename internal::conditional<
-        ((int(StorageOrder) == RowMajor && int(ProductOrder) == OnTheLeft)
-       ||(int(StorageOrder) == ColMajor && int(ProductOrder) == OnTheRight)), internal::true_type, internal::false_type>::type());
-    }
-    
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet(Index idx) const
-    {
-      enum {
-        StorageOrder = int(MatrixType::Flags) & RowMajorBit ? RowMajor : ColMajor
-      };
-      return packet<LoadMode>(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx);
-    }
-
-  protected:
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet_impl(Index row, Index col, Index id, internal::true_type) const
-    {
-      return internal::pmul(m_matrix.template packet<LoadMode>(row, col),
-                     internal::pset1<PacketScalar>(m_diagonal.diagonal().coeff(id)));
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE PacketScalar packet_impl(Index row, Index col, Index id, internal::false_type) const
-    {
-      enum {
-        InnerSize = (MatrixType::Flags & RowMajorBit) ? MatrixType::ColsAtCompileTime : MatrixType::RowsAtCompileTime,
-        DiagonalVectorPacketLoadMode = (LoadMode == Aligned && (((InnerSize%16) == 0) || (int(DiagonalType::DiagonalVectorType::Flags)&AlignedBit)==AlignedBit) ? Aligned : Unaligned)
-      };
-      return internal::pmul(m_matrix.template packet<LoadMode>(row, col),
-                     m_diagonal.diagonal().template packet<DiagonalVectorPacketLoadMode>(id));
-    }
-
-    typename MatrixType::Nested m_matrix;
-    typename DiagonalType::Nested m_diagonal;
-};
-
 /** \returns the diagonal matrix product of \c *this by the diagonal matrix \a diagonal.
   */
 template<typename Derived>
 template<typename DiagonalDerived>
-inline const DiagonalProduct<Derived, DiagonalDerived, OnTheRight>
+inline const Product<Derived, DiagonalDerived, LazyProduct>
 MatrixBase<Derived>::operator*(const DiagonalBase<DiagonalDerived> &a_diagonal) const
 {
-  return DiagonalProduct<Derived, DiagonalDerived, OnTheRight>(derived(), a_diagonal.derived());
+  return Product<Derived, DiagonalDerived, LazyProduct>(derived(),a_diagonal.derived());
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/Dot.h b/eigenlib/Eigen/src/Core/Dot.h
index 9d7651f1..06ef18b8 100644
--- a/eigenlib/Eigen/src/Core/Dot.h
+++ b/eigenlib/Eigen/src/Core/Dot.h
@@ -28,26 +28,31 @@ template<typename T, typename U,
 >
 struct dot_nocheck
 {
-  typedef typename scalar_product_traits<typename traits<T>::Scalar,typename traits<U>::Scalar>::ReturnType ResScalar;
+  typedef scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> conj_prod;
+  typedef typename conj_prod::result_type ResScalar;
+  EIGEN_DEVICE_FUNC
   static inline ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
   {
-    return a.template binaryExpr<scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> >(b).sum();
+    return a.template binaryExpr<conj_prod>(b).sum();
   }
 };
 
 template<typename T, typename U>
 struct dot_nocheck<T, U, true>
 {
-  typedef typename scalar_product_traits<typename traits<T>::Scalar,typename traits<U>::Scalar>::ReturnType ResScalar;
+  typedef scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> conj_prod;
+  typedef typename conj_prod::result_type ResScalar;
+  EIGEN_DEVICE_FUNC
   static inline ResScalar run(const MatrixBase<T>& a, const MatrixBase<U>& b)
   {
-    return a.transpose().template binaryExpr<scalar_conj_product_op<typename traits<T>::Scalar,typename traits<U>::Scalar> >(b).sum();
+    return a.transpose().template binaryExpr<conj_prod>(b).sum();
   }
 };
 
 } // end namespace internal
 
-/** \returns the dot product of *this with other.
+/** \fn MatrixBase::dot
+  * \returns the dot product of *this with other.
   *
   * \only_for_vectors
   *
@@ -59,55 +64,30 @@ struct dot_nocheck<T, U, true>
   */
 template<typename Derived>
 template<typename OtherDerived>
-typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
+EIGEN_DEVICE_FUNC
+typename ScalarBinaryOpTraits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
 MatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
   EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
+#if !(defined(EIGEN_NO_STATIC_ASSERT) && defined(EIGEN_NO_DEBUG))
   typedef internal::scalar_conj_product_op<Scalar,typename OtherDerived::Scalar> func;
   EIGEN_CHECK_BINARY_COMPATIBILIY(func,Scalar,typename OtherDerived::Scalar);
-
+#endif
+  
   eigen_assert(size() == other.size());
 
   return internal::dot_nocheck<Derived,OtherDerived>::run(*this, other);
 }
 
-#ifdef EIGEN2_SUPPORT
-/** \returns the dot product of *this with other, with the Eigen2 convention that the dot product is linear in the first variable
-  * (conjugating the second variable). Of course this only makes a difference in the complex case.
-  *
-  * This method is only available in EIGEN2_SUPPORT mode.
-  *
-  * \only_for_vectors
-  *
-  * \sa dot()
-  */
-template<typename Derived>
-template<typename OtherDerived>
-typename internal::traits<Derived>::Scalar
-MatrixBase<Derived>::eigen2_dot(const MatrixBase<OtherDerived>& other) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
-  EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(Derived,OtherDerived)
-  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
-    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
-  eigen_assert(size() == other.size());
-
-  return internal::dot_nocheck<OtherDerived,Derived>::run(other,*this);
-}
-#endif
-
-
 //---------- implementation of L2 norm and related functions ----------
 
 /** \returns, for vectors, the squared \em l2 norm of \c *this, and for matrices the Frobenius norm.
   * In both cases, it consists in the sum of the square of all the matrix entries.
   * For vectors, this is also equals to the dot product of \c *this with itself.
   *
-  * \sa dot(), norm()
+  * \sa dot(), norm(), lpNorm()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::squaredNorm() const
@@ -119,16 +99,18 @@ EIGEN_STRONG_INLINE typename NumTraits<typename internal::traits<Derived>::Scala
   * In both cases, it consists in the square root of the sum of the square of all the matrix entries.
   * For vectors, this is also equals to the square root of the dot product of \c *this with itself.
   *
-  * \sa dot(), squaredNorm()
+  * \sa lpNorm(), dot(), squaredNorm()
   */
 template<typename Derived>
 inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real MatrixBase<Derived>::norm() const
 {
-  using std::sqrt;
-  return sqrt(squaredNorm());
+  return numext::sqrt(squaredNorm());
 }
 
-/** \returns an expression of the quotient of *this by its own norm.
+/** \returns an expression of the quotient of \c *this by its own norm.
+  *
+  * \warning If the input vector is too small (i.e., this->norm()==0),
+  *          then this function returns a copy of the input.
   *
   * \only_for_vectors
   *
@@ -138,22 +120,77 @@ template<typename Derived>
 inline const typename MatrixBase<Derived>::PlainObject
 MatrixBase<Derived>::normalized() const
 {
-  typedef typename internal::nested<Derived>::type Nested;
-  typedef typename internal::remove_reference<Nested>::type _Nested;
+  typedef typename internal::nested_eval<Derived,2>::type _Nested;
   _Nested n(derived());
-  return n / n.norm();
+  RealScalar z = n.squaredNorm();
+  // NOTE: after extensive benchmarking, this conditional does not impact performance, at least on recent x86 CPU
+  if(z>RealScalar(0))
+    return n / numext::sqrt(z);
+  else
+    return n;
 }
 
 /** Normalizes the vector, i.e. divides it by its own norm.
   *
   * \only_for_vectors
   *
+  * \warning If the input vector is too small (i.e., this->norm()==0), then \c *this is left unchanged.
+  *
   * \sa norm(), normalized()
   */
 template<typename Derived>
 inline void MatrixBase<Derived>::normalize()
 {
-  *this /= norm();
+  RealScalar z = squaredNorm();
+  // NOTE: after extensive benchmarking, this conditional does not impact performance, at least on recent x86 CPU
+  if(z>RealScalar(0))
+    derived() /= numext::sqrt(z);
+}
+
+/** \returns an expression of the quotient of \c *this by its own norm while avoiding underflow and overflow.
+  *
+  * \only_for_vectors
+  *
+  * This method is analogue to the normalized() method, but it reduces the risk of
+  * underflow and overflow when computing the norm.
+  *
+  * \warning If the input vector is too small (i.e., this->norm()==0),
+  *          then this function returns a copy of the input.
+  *
+  * \sa stableNorm(), stableNormalize(), normalized()
+  */
+template<typename Derived>
+inline const typename MatrixBase<Derived>::PlainObject
+MatrixBase<Derived>::stableNormalized() const
+{
+  typedef typename internal::nested_eval<Derived,3>::type _Nested;
+  _Nested n(derived());
+  RealScalar w = n.cwiseAbs().maxCoeff();
+  RealScalar z = (n/w).squaredNorm();
+  if(z>RealScalar(0))
+    return n / (numext::sqrt(z)*w);
+  else
+    return n;
+}
+
+/** Normalizes the vector while avoid underflow and overflow
+  *
+  * \only_for_vectors
+  *
+  * This method is analogue to the normalize() method, but it reduces the risk of
+  * underflow and overflow when computing the norm.
+  *
+  * \warning If the input vector is too small (i.e., this->norm()==0), then \c *this is left unchanged.
+  *
+  * \sa stableNorm(), stableNormalized(), normalize()
+  */
+template<typename Derived>
+inline void MatrixBase<Derived>::stableNormalize()
+{
+  RealScalar w = cwiseAbs().maxCoeff();
+  RealScalar z = (derived()/w).squaredNorm();
+  if(z>RealScalar(0))
+    derived() /= numext::sqrt(z)*w;
 }
 
 //---------- implementation of other norms ----------
@@ -164,9 +201,10 @@ template<typename Derived, int p>
 struct lpNorm_selector
 {
   typedef typename NumTraits<typename traits<Derived>::Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const MatrixBase<Derived>& m)
   {
-    using std::pow;
+    EIGEN_USING_STD_MATH(pow)
     return pow(m.cwiseAbs().array().pow(p).sum(), RealScalar(1)/p);
   }
 };
@@ -174,6 +212,7 @@ struct lpNorm_selector
 template<typename Derived>
 struct lpNorm_selector<Derived, 1>
 {
+  EIGEN_DEVICE_FUNC
   static inline typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
   {
     return m.cwiseAbs().sum();
@@ -183,6 +222,7 @@ struct lpNorm_selector<Derived, 1>
 template<typename Derived>
 struct lpNorm_selector<Derived, 2>
 {
+  EIGEN_DEVICE_FUNC
   static inline typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
   {
     return m.norm();
@@ -192,23 +232,35 @@ struct lpNorm_selector<Derived, 2>
 template<typename Derived>
 struct lpNorm_selector<Derived, Infinity>
 {
-  static inline typename NumTraits<typename traits<Derived>::Scalar>::Real run(const MatrixBase<Derived>& m)
+  typedef typename NumTraits<typename traits<Derived>::Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline RealScalar run(const MatrixBase<Derived>& m)
   {
+    if(Derived::SizeAtCompileTime==0 || (Derived::SizeAtCompileTime==Dynamic && m.size()==0))
+      return RealScalar(0);
     return m.cwiseAbs().maxCoeff();
   }
 };
 
 } // end namespace internal
 
-/** \returns the \f$ \ell^p \f$ norm of *this, that is, returns the p-th root of the sum of the p-th powers of the absolute values
-  *          of the coefficients of *this. If \a p is the special value \a Eigen::Infinity, this function returns the \f$ \ell^\infty \f$
-  *          norm, that is the maximum of the absolute values of the coefficients of *this.
+/** \returns the \b coefficient-wise \f$ \ell^p \f$ norm of \c *this, that is, returns the p-th root of the sum of the p-th powers of the absolute values
+  *          of the coefficients of \c *this. If \a p is the special value \a Eigen::Infinity, this function returns the \f$ \ell^\infty \f$
+  *          norm, that is the maximum of the absolute values of the coefficients of \c *this.
+  *
+  * In all cases, if \c *this is empty, then the value 0 is returned.
+  *
+  * \note For matrices, this function does not compute the <a href="https://en.wikipedia.org/wiki/Operator_norm">operator-norm</a>. That is, if \c *this is a matrix, then its coefficients are interpreted as a 1D vector. Nonetheless, you can easily compute the 1-norm and \f$\infty\f$-norm matrix operator norms using \link TutorialReductionsVisitorsBroadcastingReductionsNorm partial reductions \endlink.
   *
   * \sa norm()
   */
 template<typename Derived>
 template<int p>
+#ifndef EIGEN_PARSED_BY_DOXYGEN
 inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
+#else
+MatrixBase<Derived>::RealScalar
+#endif
 MatrixBase<Derived>::lpNorm() const
 {
   return internal::lpNorm_selector<Derived, p>::run(*this);
@@ -227,8 +279,8 @@ template<typename OtherDerived>
 bool MatrixBase<Derived>::isOrthogonal
 (const MatrixBase<OtherDerived>& other, const RealScalar& prec) const
 {
-  typename internal::nested<Derived,2>::type nested(derived());
-  typename internal::nested<OtherDerived,2>::type otherNested(other.derived());
+  typename internal::nested_eval<Derived,2>::type nested(derived());
+  typename internal::nested_eval<OtherDerived,2>::type otherNested(other.derived());
   return numext::abs2(nested.dot(otherNested)) <= prec * prec * nested.squaredNorm() * otherNested.squaredNorm();
 }
 
@@ -246,13 +298,13 @@ bool MatrixBase<Derived>::isOrthogonal
 template<typename Derived>
 bool MatrixBase<Derived>::isUnitary(const RealScalar& prec) const
 {
-  typename Derived::Nested nested(derived());
+  typename internal::nested_eval<Derived,1>::type self(derived());
   for(Index i = 0; i < cols(); ++i)
   {
-    if(!internal::isApprox(nested.col(i).squaredNorm(), static_cast<RealScalar>(1), prec))
+    if(!internal::isApprox(self.col(i).squaredNorm(), static_cast<RealScalar>(1), prec))
       return false;
     for(Index j = 0; j < i; ++j)
-      if(!internal::isMuchSmallerThan(nested.col(i).dot(nested.col(j)), static_cast<Scalar>(1), prec))
+      if(!internal::isMuchSmallerThan(self.col(i).dot(self.col(j)), static_cast<Scalar>(1), prec))
         return false;
   }
   return true;
diff --git a/eigenlib/Eigen/src/Core/EigenBase.h b/eigenlib/Eigen/src/Core/EigenBase.h
index fadb4585..f76995af 100644
--- a/eigenlib/Eigen/src/Core/EigenBase.h
+++ b/eigenlib/Eigen/src/Core/EigenBase.h
@@ -13,7 +13,9 @@
 
 namespace Eigen {
 
-/** Common base class for all classes T such that MatrixBase has an operator=(T) and a constructor MatrixBase(T).
+/** \class EigenBase
+  * 
+  * Common base class for all classes T such that MatrixBase has an operator=(T) and a constructor MatrixBase(T).
   *
   * In other words, an EigenBase object is an object that can be copied into a MatrixBase.
   *
@@ -21,39 +23,57 @@ namespace Eigen {
   *
   * Notice that this class is trivial, it is only used to disambiguate overloaded functions.
   *
-  * \sa \ref TopicClassHierarchy
+  * \sa \blank \ref TopicClassHierarchy
   */
 template<typename Derived> struct EigenBase
 {
 //   typedef typename internal::plain_matrix_type<Derived>::type PlainObject;
+  
+  /** \brief The interface type of indices
+    * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
+    * \deprecated Since Eigen 3.3, its usage is deprecated. Use Eigen::Index instead.
+    * \sa StorageIndex, \ref TopicPreprocessorDirectives.
+    */
+  typedef Eigen::Index Index;
 
+  // FIXME is it needed?
   typedef typename internal::traits<Derived>::StorageKind StorageKind;
-  typedef typename internal::traits<Derived>::Index Index;
 
   /** \returns a reference to the derived object */
+  EIGEN_DEVICE_FUNC
   Derived& derived() { return *static_cast<Derived*>(this); }
   /** \returns a const reference to the derived object */
+  EIGEN_DEVICE_FUNC
   const Derived& derived() const { return *static_cast<const Derived*>(this); }
 
+  EIGEN_DEVICE_FUNC
   inline Derived& const_cast_derived() const
   { return *static_cast<Derived*>(const_cast<EigenBase*>(this)); }
+  EIGEN_DEVICE_FUNC
   inline const Derived& const_derived() const
   { return *static_cast<const Derived*>(this); }
 
   /** \returns the number of rows. \sa cols(), RowsAtCompileTime */
+  EIGEN_DEVICE_FUNC
   inline Index rows() const { return derived().rows(); }
   /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/
+  EIGEN_DEVICE_FUNC
   inline Index cols() const { return derived().cols(); }
   /** \returns the number of coefficients, which is rows()*cols().
     * \sa rows(), cols(), SizeAtCompileTime. */
+  EIGEN_DEVICE_FUNC
   inline Index size() const { return rows() * cols(); }
 
   /** \internal Don't use it, but do the equivalent: \code dst = *this; \endcode */
-  template<typename Dest> inline void evalTo(Dest& dst) const
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC
+  inline void evalTo(Dest& dst) const
   { derived().evalTo(dst); }
 
   /** \internal Don't use it, but do the equivalent: \code dst += *this; \endcode */
-  template<typename Dest> inline void addTo(Dest& dst) const
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC
+  inline void addTo(Dest& dst) const
   {
     // This is the default implementation,
     // derived class can reimplement it in a more optimized way.
@@ -63,7 +83,9 @@ template<typename Derived> struct EigenBase
   }
 
   /** \internal Don't use it, but do the equivalent: \code dst -= *this; \endcode */
-  template<typename Dest> inline void subTo(Dest& dst) const
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC
+  inline void subTo(Dest& dst) const
   {
     // This is the default implementation,
     // derived class can reimplement it in a more optimized way.
@@ -73,7 +95,8 @@ template<typename Derived> struct EigenBase
   }
 
   /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheRight(*this); \endcode */
-  template<typename Dest> inline void applyThisOnTheRight(Dest& dst) const
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC inline void applyThisOnTheRight(Dest& dst) const
   {
     // This is the default implementation,
     // derived class can reimplement it in a more optimized way.
@@ -81,7 +104,8 @@ template<typename Derived> struct EigenBase
   }
 
   /** \internal Don't use it, but do the equivalent: \code dst.applyOnTheLeft(*this); \endcode */
-  template<typename Dest> inline void applyThisOnTheLeft(Dest& dst) const
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC inline void applyThisOnTheLeft(Dest& dst) const
   {
     // This is the default implementation,
     // derived class can reimplement it in a more optimized way.
@@ -106,7 +130,7 @@ template<typename Derived>
 template<typename OtherDerived>
 Derived& DenseBase<Derived>::operator=(const EigenBase<OtherDerived> &other)
 {
-  other.derived().evalTo(derived());
+  call_assignment(derived(), other.derived());
   return derived();
 }
 
@@ -114,7 +138,7 @@ template<typename Derived>
 template<typename OtherDerived>
 Derived& DenseBase<Derived>::operator+=(const EigenBase<OtherDerived> &other)
 {
-  other.derived().addTo(derived());
+  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
@@ -122,7 +146,7 @@ template<typename Derived>
 template<typename OtherDerived>
 Derived& DenseBase<Derived>::operator-=(const EigenBase<OtherDerived> &other)
 {
-  other.derived().subTo(derived());
+  call_assignment(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
   return derived();
 }
 
diff --git a/eigenlib/Eigen/src/Core/Flagged.h b/eigenlib/Eigen/src/Core/Flagged.h
deleted file mode 100644
index 1f2955fc..00000000
--- a/eigenlib/Eigen/src/Core/Flagged.h
+++ /dev/null
@@ -1,140 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_FLAGGED_H
-#define EIGEN_FLAGGED_H
-
-namespace Eigen { 
-
-/** \class Flagged
-  * \ingroup Core_Module
-  *
-  * \brief Expression with modified flags
-  *
-  * \param ExpressionType the type of the object of which we are modifying the flags
-  * \param Added the flags added to the expression
-  * \param Removed the flags removed from the expression (has priority over Added).
-  *
-  * This class represents an expression whose flags have been modified.
-  * It is the return type of MatrixBase::flagged()
-  * and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::flagged()
-  */
-
-namespace internal {
-template<typename ExpressionType, unsigned int Added, unsigned int Removed>
-struct traits<Flagged<ExpressionType, Added, Removed> > : traits<ExpressionType>
-{
-  enum { Flags = (ExpressionType::Flags | Added) & ~Removed };
-};
-}
-
-template<typename ExpressionType, unsigned int Added, unsigned int Removed> class Flagged
-  : public MatrixBase<Flagged<ExpressionType, Added, Removed> >
-{
-  public:
-
-    typedef MatrixBase<Flagged> Base;
-    
-    EIGEN_DENSE_PUBLIC_INTERFACE(Flagged)
-    typedef typename internal::conditional<internal::must_nest_by_value<ExpressionType>::ret,
-        ExpressionType, const ExpressionType&>::type ExpressionTypeNested;
-    typedef typename ExpressionType::InnerIterator InnerIterator;
-
-    inline Flagged(const ExpressionType& matrix) : m_matrix(matrix) {}
-
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
-    inline Index outerStride() const { return m_matrix.outerStride(); }
-    inline Index innerStride() const { return m_matrix.innerStride(); }
-
-    inline CoeffReturnType coeff(Index row, Index col) const
-    {
-      return m_matrix.coeff(row, col);
-    }
-
-    inline CoeffReturnType coeff(Index index) const
-    {
-      return m_matrix.coeff(index);
-    }
-    
-    inline const Scalar& coeffRef(Index row, Index col) const
-    {
-      return m_matrix.const_cast_derived().coeffRef(row, col);
-    }
-
-    inline const Scalar& coeffRef(Index index) const
-    {
-      return m_matrix.const_cast_derived().coeffRef(index);
-    }
-
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      return m_matrix.const_cast_derived().coeffRef(row, col);
-    }
-
-    inline Scalar& coeffRef(Index index)
-    {
-      return m_matrix.const_cast_derived().coeffRef(index);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index row, Index col) const
-    {
-      return m_matrix.template packet<LoadMode>(row, col);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index row, Index col, const PacketScalar& x)
-    {
-      m_matrix.const_cast_derived().template writePacket<LoadMode>(row, col, x);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index index) const
-    {
-      return m_matrix.template packet<LoadMode>(index);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index index, const PacketScalar& x)
-    {
-      m_matrix.const_cast_derived().template writePacket<LoadMode>(index, x);
-    }
-
-    const ExpressionType& _expression() const { return m_matrix; }
-
-    template<typename OtherDerived>
-    typename ExpressionType::PlainObject solveTriangular(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived>
-    void solveTriangularInPlace(const MatrixBase<OtherDerived>& other) const;
-
-  protected:
-    ExpressionTypeNested m_matrix;
-};
-
-/** \returns an expression of *this with added and removed flags
-  *
-  * This is mostly for internal use.
-  *
-  * \sa class Flagged
-  */
-template<typename Derived>
-template<unsigned int Added,unsigned int Removed>
-inline const Flagged<Derived, Added, Removed>
-DenseBase<Derived>::flagged() const
-{
-  return derived();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_FLAGGED_H
diff --git a/eigenlib/Eigen/src/Core/ForceAlignedAccess.h b/eigenlib/Eigen/src/Core/ForceAlignedAccess.h
index 807c7a29..7b08b45e 100644
--- a/eigenlib/Eigen/src/Core/ForceAlignedAccess.h
+++ b/eigenlib/Eigen/src/Core/ForceAlignedAccess.h
@@ -39,29 +39,29 @@ template<typename ExpressionType> class ForceAlignedAccess
     typedef typename internal::dense_xpr_base<ForceAlignedAccess>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(ForceAlignedAccess)
 
-    inline ForceAlignedAccess(const ExpressionType& matrix) : m_expression(matrix) {}
+    EIGEN_DEVICE_FUNC explicit inline ForceAlignedAccess(const ExpressionType& matrix) : m_expression(matrix) {}
 
-    inline Index rows() const { return m_expression.rows(); }
-    inline Index cols() const { return m_expression.cols(); }
-    inline Index outerStride() const { return m_expression.outerStride(); }
-    inline Index innerStride() const { return m_expression.innerStride(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); }
+    EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); }
+    EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); }
 
-    inline const CoeffReturnType coeff(Index row, Index col) const
+    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const
     {
       return m_expression.coeff(row, col);
     }
 
-    inline Scalar& coeffRef(Index row, Index col)
+    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index col)
     {
       return m_expression.const_cast_derived().coeffRef(row, col);
     }
 
-    inline const CoeffReturnType coeff(Index index) const
+    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const
     {
       return m_expression.coeff(index);
     }
 
-    inline Scalar& coeffRef(Index index)
+    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index)
     {
       return m_expression.const_cast_derived().coeffRef(index);
     }
@@ -90,7 +90,7 @@ template<typename ExpressionType> class ForceAlignedAccess
       m_expression.const_cast_derived().template writePacket<Aligned>(index, x);
     }
 
-    operator const ExpressionType&() const { return m_expression; }
+    EIGEN_DEVICE_FUNC operator const ExpressionType&() const { return m_expression; }
 
   protected:
     const ExpressionType& m_expression;
@@ -127,7 +127,7 @@ template<bool Enable>
 inline typename internal::add_const_on_value_type<typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type>::type
 MatrixBase<Derived>::forceAlignedAccessIf() const
 {
-  return derived();
+  return derived();  // FIXME This should not work but apparently is never used
 }
 
 /** \returns an expression of *this with forced aligned access if \a Enable is true.
@@ -138,7 +138,7 @@ template<bool Enable>
 inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type
 MatrixBase<Derived>::forceAlignedAccessIf()
 {
-  return derived();
+  return derived();  // FIXME This should not work but apparently is never used
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/Functors.h b/eigenlib/Eigen/src/Core/Functors.h
deleted file mode 100644
index 5f14c658..00000000
--- a/eigenlib/Eigen/src/Core/Functors.h
+++ /dev/null
@@ -1,1026 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_FUNCTORS_H
-#define EIGEN_FUNCTORS_H
-
-namespace Eigen {
-
-namespace internal {
-
-// associative functors:
-
-/** \internal
-  * \brief Template functor to compute the sum of two scalars
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::operator+, class VectorwiseOp, MatrixBase::sum()
-  */
-template<typename Scalar> struct scalar_sum_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_sum_op)
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return a + b; }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::padd(a,b); }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Scalar predux(const Packet& a) const
-  { return internal::predux(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_sum_op<Scalar> > {
-  enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasAdd
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the product of two scalars
-  *
-  * \sa class CwiseBinaryOp, Cwise::operator*(), class VectorwiseOp, MatrixBase::redux()
-  */
-template<typename LhsScalar,typename RhsScalar> struct scalar_product_op {
-  enum {
-    // TODO vectorize mixed product
-    Vectorizable = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasMul && packet_traits<RhsScalar>::HasMul
-  };
-  typedef typename scalar_product_traits<LhsScalar,RhsScalar>::ReturnType result_type;
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_product_op)
-  EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a * b; }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::pmul(a,b); }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
-  { return internal::predux_mul(a); }
-};
-template<typename LhsScalar,typename RhsScalar>
-struct functor_traits<scalar_product_op<LhsScalar,RhsScalar> > {
-  enum {
-    Cost = (NumTraits<LhsScalar>::MulCost + NumTraits<RhsScalar>::MulCost)/2, // rough estimate!
-    PacketAccess = scalar_product_op<LhsScalar,RhsScalar>::Vectorizable
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the conjugate product of two scalars
-  *
-  * This is a short cut for conj(x) * y which is needed for optimization purpose; in Eigen2 support mode, this becomes x * conj(y)
-  */
-template<typename LhsScalar,typename RhsScalar> struct scalar_conj_product_op {
-
-  enum {
-    Conj = NumTraits<LhsScalar>::IsComplex
-  };
-  
-  typedef typename scalar_product_traits<LhsScalar,RhsScalar>::ReturnType result_type;
-  
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_conj_product_op)
-  EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const
-  { return conj_helper<LhsScalar,RhsScalar,Conj,false>().pmul(a,b); }
-  
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return conj_helper<Packet,Packet,Conj,false>().pmul(a,b); }
-};
-template<typename LhsScalar,typename RhsScalar>
-struct functor_traits<scalar_conj_product_op<LhsScalar,RhsScalar> > {
-  enum {
-    Cost = NumTraits<LhsScalar>::MulCost,
-    PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMul
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the min of two scalars
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::cwiseMin, class VectorwiseOp, MatrixBase::minCoeff()
-  */
-template<typename Scalar> struct scalar_min_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_min_op)
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { using std::min; return (min)(a, b); }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::pmin(a,b); }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Scalar predux(const Packet& a) const
-  { return internal::predux_min(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_min_op<Scalar> > {
-  enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasMin
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the max of two scalars
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::cwiseMax, class VectorwiseOp, MatrixBase::maxCoeff()
-  */
-template<typename Scalar> struct scalar_max_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_max_op)
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { using std::max; return (max)(a, b); }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::pmax(a,b); }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Scalar predux(const Packet& a) const
-  { return internal::predux_max(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_max_op<Scalar> > {
-  enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasMax
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the hypot of two scalars
-  *
-  * \sa MatrixBase::stableNorm(), class Redux
-  */
-template<typename Scalar> struct scalar_hypot_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_hypot_op)
-//   typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& _x, const Scalar& _y) const
-  {
-    using std::max;
-    using std::min;
-    using std::sqrt;
-    Scalar p = (max)(_x, _y);
-    Scalar q = (min)(_x, _y);
-    Scalar qp = q/p;
-    return p * sqrt(Scalar(1) + qp*qp);
-  }
-};
-template<typename Scalar>
-struct functor_traits<scalar_hypot_op<Scalar> > {
-  enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess=0 };
-};
-
-/** \internal
-  * \brief Template functor to compute the pow of two scalars
-  */
-template<typename Scalar, typename OtherScalar> struct scalar_binary_pow_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_binary_pow_op)
-  inline Scalar operator() (const Scalar& a, const OtherScalar& b) const { return numext::pow(a, b); }
-};
-template<typename Scalar, typename OtherScalar>
-struct functor_traits<scalar_binary_pow_op<Scalar,OtherScalar> > {
-  enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false };
-};
-
-// other binary functors:
-
-/** \internal
-  * \brief Template functor to compute the difference of two scalars
-  *
-  * \sa class CwiseBinaryOp, MatrixBase::operator-
-  */
-template<typename Scalar> struct scalar_difference_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_difference_op)
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a, const Scalar& b) const { return a - b; }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::psub(a,b); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_difference_op<Scalar> > {
-  enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasSub
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the quotient of two scalars
-  *
-  * \sa class CwiseBinaryOp, Cwise::operator/()
-  */
-template<typename LhsScalar,typename RhsScalar> struct scalar_quotient_op {
-  enum {
-    // TODO vectorize mixed product
-    Vectorizable = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasDiv && packet_traits<RhsScalar>::HasDiv
-  };
-  typedef typename scalar_product_traits<LhsScalar,RhsScalar>::ReturnType result_type;
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_quotient_op)
-  EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a / b; }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
-  { return internal::pdiv(a,b); }
-};
-template<typename LhsScalar,typename RhsScalar>
-struct functor_traits<scalar_quotient_op<LhsScalar,RhsScalar> > {
-  enum {
-    Cost = (NumTraits<LhsScalar>::MulCost + NumTraits<RhsScalar>::MulCost), // rough estimate!
-    PacketAccess = scalar_quotient_op<LhsScalar,RhsScalar>::Vectorizable
-  };
-};
-
-
-
-/** \internal
-  * \brief Template functor to compute the and of two booleans
-  *
-  * \sa class CwiseBinaryOp, ArrayBase::operator&&
-  */
-struct scalar_boolean_and_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_and_op)
-  EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a && b; }
-};
-template<> struct functor_traits<scalar_boolean_and_op> {
-  enum {
-    Cost = NumTraits<bool>::AddCost,
-    PacketAccess = false
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the or of two booleans
-  *
-  * \sa class CwiseBinaryOp, ArrayBase::operator||
-  */
-struct scalar_boolean_or_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_or_op)
-  EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a || b; }
-};
-template<> struct functor_traits<scalar_boolean_or_op> {
-  enum {
-    Cost = NumTraits<bool>::AddCost,
-    PacketAccess = false
-  };
-};
-
-/** \internal
-  * \brief Template functors for comparison of two scalars
-  * \todo Implement packet-comparisons
-  */
-template<typename Scalar, ComparisonName cmp> struct scalar_cmp_op;
-
-template<typename Scalar, ComparisonName cmp>
-struct functor_traits<scalar_cmp_op<Scalar, cmp> > {
-  enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = false
-  };
-};
-
-template<ComparisonName Cmp, typename Scalar>
-struct result_of<scalar_cmp_op<Scalar, Cmp>(Scalar,Scalar)> {
-  typedef bool type;
-};
-
-
-template<typename Scalar> struct scalar_cmp_op<Scalar, cmp_EQ> {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
-  EIGEN_STRONG_INLINE bool operator()(const Scalar& a, const Scalar& b) const {return a==b;}
-};
-template<typename Scalar> struct scalar_cmp_op<Scalar, cmp_LT> {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
-  EIGEN_STRONG_INLINE bool operator()(const Scalar& a, const Scalar& b) const {return a<b;}
-};
-template<typename Scalar> struct scalar_cmp_op<Scalar, cmp_LE> {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
-  EIGEN_STRONG_INLINE bool operator()(const Scalar& a, const Scalar& b) const {return a<=b;}
-};
-template<typename Scalar> struct scalar_cmp_op<Scalar, cmp_UNORD> {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
-  EIGEN_STRONG_INLINE bool operator()(const Scalar& a, const Scalar& b) const {return !(a<=b || b<=a);}
-};
-template<typename Scalar> struct scalar_cmp_op<Scalar, cmp_NEQ> {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
-  EIGEN_STRONG_INLINE bool operator()(const Scalar& a, const Scalar& b) const {return a!=b;}
-};
-
-// unary functors:
-
-/** \internal
-  * \brief Template functor to compute the opposite of a scalar
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::operator-
-  */
-template<typename Scalar> struct scalar_opposite_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_opposite_op)
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return -a; }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
-  { return internal::pnegate(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_opposite_op<Scalar> >
-{ enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasNegate };
-};
-
-/** \internal
-  * \brief Template functor to compute the absolute value of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::abs
-  */
-template<typename Scalar> struct scalar_abs_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_abs_op)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { using std::abs; return abs(a); }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
-  { return internal::pabs(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_abs_op<Scalar> >
-{
-  enum {
-    Cost = NumTraits<Scalar>::AddCost,
-    PacketAccess = packet_traits<Scalar>::HasAbs
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the squared absolute value of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::abs2
-  */
-template<typename Scalar> struct scalar_abs2_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_abs2_op)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return numext::abs2(a); }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
-  { return internal::pmul(a,a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_abs2_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasAbs2 }; };
-
-/** \internal
-  * \brief Template functor to compute the conjugate of a complex value
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::conjugate()
-  */
-template<typename Scalar> struct scalar_conjugate_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_conjugate_op)
-  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { using numext::conj; return conj(a); }
-  template<typename Packet>
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const { return internal::pconj(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_conjugate_op<Scalar> >
-{
-  enum {
-    Cost = NumTraits<Scalar>::IsComplex ? NumTraits<Scalar>::AddCost : 0,
-    PacketAccess = packet_traits<Scalar>::HasConj
-  };
-};
-
-/** \internal
-  * \brief Template functor to cast a scalar to another type
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::cast()
-  */
-template<typename Scalar, typename NewType>
-struct scalar_cast_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
-  typedef NewType result_type;
-  EIGEN_STRONG_INLINE const NewType operator() (const Scalar& a) const { return cast<Scalar, NewType>(a); }
-};
-template<typename Scalar, typename NewType>
-struct functor_traits<scalar_cast_op<Scalar,NewType> >
-{ enum { Cost = is_same<Scalar, NewType>::value ? 0 : NumTraits<NewType>::AddCost, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to extract the real part of a complex
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::real()
-  */
-template<typename Scalar>
-struct scalar_real_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_real_op)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return numext::real(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_real_op<Scalar> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to extract the imaginary part of a complex
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::imag()
-  */
-template<typename Scalar>
-struct scalar_imag_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_op)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return numext::imag(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_imag_op<Scalar> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to extract the real part of a complex as a reference
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::real()
-  */
-template<typename Scalar>
-struct scalar_real_ref_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_real_ref_op)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return numext::real_ref(*const_cast<Scalar*>(&a)); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_real_ref_op<Scalar> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to extract the imaginary part of a complex as a reference
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::imag()
-  */
-template<typename Scalar>
-struct scalar_imag_ref_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_ref_op)
-  typedef typename NumTraits<Scalar>::Real result_type;
-  EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return numext::imag_ref(*const_cast<Scalar*>(&a)); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_imag_ref_op<Scalar> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-/** \internal
-  *
-  * \brief Template functor to compute the exponential of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::exp()
-  */
-template<typename Scalar> struct scalar_exp_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_exp_op)
-  inline const Scalar operator() (const Scalar& a) const { using std::exp; return exp(a); }
-  typedef typename packet_traits<Scalar>::type Packet;
-  inline Packet packetOp(const Packet& a) const { return internal::pexp(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_exp_op<Scalar> >
-{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasExp }; };
-
-/** \internal
-  *
-  * \brief Template functor to compute the logarithm of a scalar
-  *
-  * \sa class CwiseUnaryOp, Cwise::log()
-  */
-template<typename Scalar> struct scalar_log_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_log_op)
-  inline const Scalar operator() (const Scalar& a) const { using std::log; return log(a); }
-  typedef typename packet_traits<Scalar>::type Packet;
-  inline Packet packetOp(const Packet& a) const { return internal::plog(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_log_op<Scalar> >
-{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasLog }; };
-
-/** \internal
-  * \brief Template functor to multiply a scalar by a fixed other one
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::operator*, MatrixBase::operator/
-  */
-/* NOTE why doing the pset1() in packetOp *is* an optimization ?
- * indeed it seems better to declare m_other as a Packet and do the pset1() once
- * in the constructor. However, in practice:
- *  - GCC does not like m_other as a Packet and generate a load every time it needs it
- *  - on the other hand GCC is able to moves the pset1() outside the loop :)
- *  - simpler code ;)
- * (ICC and gcc 4.4 seems to perform well in both cases, the issue is visible with y = a*x + b*y)
- */
-template<typename Scalar>
-struct scalar_multiple_op {
-  typedef typename packet_traits<Scalar>::type Packet;
-  // FIXME default copy constructors seems bugged with std::complex<>
-  EIGEN_STRONG_INLINE scalar_multiple_op(const scalar_multiple_op& other) : m_other(other.m_other) { }
-  EIGEN_STRONG_INLINE scalar_multiple_op(const Scalar& other) : m_other(other) { }
-  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a * m_other; }
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
-  { return internal::pmul(a, pset1<Packet>(m_other)); }
-  typename add_const_on_value_type<typename NumTraits<Scalar>::Nested>::type m_other;
-};
-template<typename Scalar>
-struct functor_traits<scalar_multiple_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
-
-template<typename Scalar1, typename Scalar2>
-struct scalar_multiple2_op {
-  typedef typename scalar_product_traits<Scalar1,Scalar2>::ReturnType result_type;
-  EIGEN_STRONG_INLINE scalar_multiple2_op(const scalar_multiple2_op& other) : m_other(other.m_other) { }
-  EIGEN_STRONG_INLINE scalar_multiple2_op(const Scalar2& other) : m_other(other) { }
-  EIGEN_STRONG_INLINE result_type operator() (const Scalar1& a) const { return a * m_other; }
-  typename add_const_on_value_type<typename NumTraits<Scalar2>::Nested>::type m_other;
-};
-template<typename Scalar1,typename Scalar2>
-struct functor_traits<scalar_multiple2_op<Scalar1,Scalar2> >
-{ enum { Cost = NumTraits<Scalar1>::MulCost, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to divide a scalar by a fixed other one
-  *
-  * This functor is used to implement the quotient of a matrix by
-  * a scalar where the scalar type is not necessarily a floating point type.
-  *
-  * \sa class CwiseUnaryOp, MatrixBase::operator/
-  */
-template<typename Scalar>
-struct scalar_quotient1_op {
-  typedef typename packet_traits<Scalar>::type Packet;
-  // FIXME default copy constructors seems bugged with std::complex<>
-  EIGEN_STRONG_INLINE scalar_quotient1_op(const scalar_quotient1_op& other) : m_other(other.m_other) { }
-  EIGEN_STRONG_INLINE scalar_quotient1_op(const Scalar& other) : m_other(other) {}
-  EIGEN_STRONG_INLINE Scalar operator() (const Scalar& a) const { return a / m_other; }
-  EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
-  { return internal::pdiv(a, pset1<Packet>(m_other)); }
-  typename add_const_on_value_type<typename NumTraits<Scalar>::Nested>::type m_other;
-};
-template<typename Scalar>
-struct functor_traits<scalar_quotient1_op<Scalar> >
-{ enum { Cost = 2 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasDiv }; };
-
-// nullary functors
-
-template<typename Scalar>
-struct scalar_constant_op {
-  typedef typename packet_traits<Scalar>::type Packet;
-  EIGEN_STRONG_INLINE scalar_constant_op(const scalar_constant_op& other) : m_other(other.m_other) { }
-  EIGEN_STRONG_INLINE scalar_constant_op(const Scalar& other) : m_other(other) { }
-  template<typename Index>
-  EIGEN_STRONG_INLINE const Scalar operator() (Index, Index = 0) const { return m_other; }
-  template<typename Index>
-  EIGEN_STRONG_INLINE const Packet packetOp(Index, Index = 0) const { return internal::pset1<Packet>(m_other); }
-  const Scalar m_other;
-};
-template<typename Scalar>
-struct functor_traits<scalar_constant_op<Scalar> >
-// FIXME replace this packet test by a safe one
-{ enum { Cost = 1, PacketAccess = packet_traits<Scalar>::Vectorizable, IsRepeatable = true }; };
-
-template<typename Scalar> struct scalar_identity_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_identity_op)
-  template<typename Index>
-  EIGEN_STRONG_INLINE const Scalar operator() (Index row, Index col) const { return row==col ? Scalar(1) : Scalar(0); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_identity_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = false, IsRepeatable = true }; };
-
-template <typename Scalar, bool RandomAccess> struct linspaced_op_impl;
-
-// linear access for packet ops:
-// 1) initialization
-//   base = [low, ..., low] + ([step, ..., step] * [-size, ..., 0])
-// 2) each step (where size is 1 for coeff access or PacketSize for packet access)
-//   base += [size*step, ..., size*step]
-//
-// TODO: Perhaps it's better to initialize lazily (so not in the constructor but in packetOp)
-//       in order to avoid the padd() in operator() ?
-template <typename Scalar>
-struct linspaced_op_impl<Scalar,false>
-{
-  typedef typename packet_traits<Scalar>::type Packet;
-
-  linspaced_op_impl(const Scalar& low, const Scalar& step) :
-  m_low(low), m_step(step),
-  m_packetStep(pset1<Packet>(packet_traits<Scalar>::size*step)),
-  m_base(padd(pset1<Packet>(low), pmul(pset1<Packet>(step),plset<Scalar>(-packet_traits<Scalar>::size)))) {}
-
-  template<typename Index>
-  EIGEN_STRONG_INLINE const Scalar operator() (Index i) const 
-  { 
-    m_base = padd(m_base, pset1<Packet>(m_step));
-    return m_low+Scalar(i)*m_step; 
-  }
-
-  template<typename Index>
-  EIGEN_STRONG_INLINE const Packet packetOp(Index) const { return m_base = padd(m_base,m_packetStep); }
-
-  const Scalar m_low;
-  const Scalar m_step;
-  const Packet m_packetStep;
-  mutable Packet m_base;
-};
-
-// random access for packet ops:
-// 1) each step
-//   [low, ..., low] + ( [step, ..., step] * ( [i, ..., i] + [0, ..., size] ) )
-template <typename Scalar>
-struct linspaced_op_impl<Scalar,true>
-{
-  typedef typename packet_traits<Scalar>::type Packet;
-
-  linspaced_op_impl(const Scalar& low, const Scalar& step) :
-  m_low(low), m_step(step),
-  m_lowPacket(pset1<Packet>(m_low)), m_stepPacket(pset1<Packet>(m_step)), m_interPacket(plset<Scalar>(0)) {}
-
-  template<typename Index>
-  EIGEN_STRONG_INLINE const Scalar operator() (Index i) const { return m_low+i*m_step; }
-
-  template<typename Index>
-  EIGEN_STRONG_INLINE const Packet packetOp(Index i) const
-  { return internal::padd(m_lowPacket, pmul(m_stepPacket, padd(pset1<Packet>(Scalar(i)),m_interPacket))); }
-
-  const Scalar m_low;
-  const Scalar m_step;
-  const Packet m_lowPacket;
-  const Packet m_stepPacket;
-  const Packet m_interPacket;
-};
-
-// ----- Linspace functor ----------------------------------------------------------------
-
-// Forward declaration (we default to random access which does not really give
-// us a speed gain when using packet access but it allows to use the functor in
-// nested expressions).
-template <typename Scalar, bool RandomAccess = true> struct linspaced_op;
-template <typename Scalar, bool RandomAccess> struct functor_traits< linspaced_op<Scalar,RandomAccess> >
-{ enum { Cost = 1, PacketAccess = packet_traits<Scalar>::HasSetLinear, IsRepeatable = true }; };
-template <typename Scalar, bool RandomAccess> struct linspaced_op
-{
-  typedef typename packet_traits<Scalar>::type Packet;
-  linspaced_op(const Scalar& low, const Scalar& high, DenseIndex num_steps) : impl((num_steps==1 ? high : low), (num_steps==1 ? Scalar() : (high-low)/Scalar(num_steps-1))) {}
-
-  template<typename Index>
-  EIGEN_STRONG_INLINE const Scalar operator() (Index i) const { return impl(i); }
-
-  // We need this function when assigning e.g. a RowVectorXd to a MatrixXd since
-  // there row==0 and col is used for the actual iteration.
-  template<typename Index>
-  EIGEN_STRONG_INLINE const Scalar operator() (Index row, Index col) const 
-  {
-    eigen_assert(col==0 || row==0);
-    return impl(col + row);
-  }
-
-  template<typename Index>
-  EIGEN_STRONG_INLINE const Packet packetOp(Index i) const { return impl.packetOp(i); }
-
-  // We need this function when assigning e.g. a RowVectorXd to a MatrixXd since
-  // there row==0 and col is used for the actual iteration.
-  template<typename Index>
-  EIGEN_STRONG_INLINE const Packet packetOp(Index row, Index col) const
-  {
-    eigen_assert(col==0 || row==0);
-    return impl.packetOp(col + row);
-  }
-
-  // This proxy object handles the actual required temporaries, the different
-  // implementations (random vs. sequential access) as well as the
-  // correct piping to size 2/4 packet operations.
-  const linspaced_op_impl<Scalar,RandomAccess> impl;
-};
-
-// all functors allow linear access, except scalar_identity_op. So we fix here a quick meta
-// to indicate whether a functor allows linear access, just always answering 'yes' except for
-// scalar_identity_op.
-// FIXME move this to functor_traits adding a functor_default
-template<typename Functor> struct functor_has_linear_access { enum { ret = 1 }; };
-template<typename Scalar> struct functor_has_linear_access<scalar_identity_op<Scalar> > { enum { ret = 0 }; };
-
-// In Eigen, any binary op (Product, CwiseBinaryOp) require the Lhs and Rhs to have the same scalar type, except for multiplication
-// where the mixing of different types is handled by scalar_product_traits
-// In particular, real * complex<real> is allowed.
-// FIXME move this to functor_traits adding a functor_default
-template<typename Functor> struct functor_is_product_like { enum { ret = 0 }; };
-template<typename LhsScalar,typename RhsScalar> struct functor_is_product_like<scalar_product_op<LhsScalar,RhsScalar> > { enum { ret = 1 }; };
-template<typename LhsScalar,typename RhsScalar> struct functor_is_product_like<scalar_conj_product_op<LhsScalar,RhsScalar> > { enum { ret = 1 }; };
-template<typename LhsScalar,typename RhsScalar> struct functor_is_product_like<scalar_quotient_op<LhsScalar,RhsScalar> > { enum { ret = 1 }; };
-
-
-/** \internal
-  * \brief Template functor to add a scalar to a fixed other one
-  * \sa class CwiseUnaryOp, Array::operator+
-  */
-/* If you wonder why doing the pset1() in packetOp() is an optimization check scalar_multiple_op */
-template<typename Scalar>
-struct scalar_add_op {
-  typedef typename packet_traits<Scalar>::type Packet;
-  // FIXME default copy constructors seems bugged with std::complex<>
-  inline scalar_add_op(const scalar_add_op& other) : m_other(other.m_other) { }
-  inline scalar_add_op(const Scalar& other) : m_other(other) { }
-  inline Scalar operator() (const Scalar& a) const { return a + m_other; }
-  inline const Packet packetOp(const Packet& a) const
-  { return internal::padd(a, pset1<Packet>(m_other)); }
-  const Scalar m_other;
-};
-template<typename Scalar>
-struct functor_traits<scalar_add_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = packet_traits<Scalar>::HasAdd }; };
-
-/** \internal
-  * \brief Template functor to compute the square root of a scalar
-  * \sa class CwiseUnaryOp, Cwise::sqrt()
-  */
-template<typename Scalar> struct scalar_sqrt_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_sqrt_op)
-  inline const Scalar operator() (const Scalar& a) const { using std::sqrt; return sqrt(a); }
-  typedef typename packet_traits<Scalar>::type Packet;
-  inline Packet packetOp(const Packet& a) const { return internal::psqrt(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_sqrt_op<Scalar> >
-{ enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasSqrt
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the cosine of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::cos()
-  */
-template<typename Scalar> struct scalar_cos_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cos_op)
-  inline Scalar operator() (const Scalar& a) const { using std::cos; return cos(a); }
-  typedef typename packet_traits<Scalar>::type Packet;
-  inline Packet packetOp(const Packet& a) const { return internal::pcos(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_cos_op<Scalar> >
-{
-  enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasCos
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the sine of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::sin()
-  */
-template<typename Scalar> struct scalar_sin_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_sin_op)
-  inline const Scalar operator() (const Scalar& a) const { using std::sin; return sin(a); }
-  typedef typename packet_traits<Scalar>::type Packet;
-  inline Packet packetOp(const Packet& a) const { return internal::psin(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_sin_op<Scalar> >
-{
-  enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasSin
-  };
-};
-
-
-/** \internal
-  * \brief Template functor to compute the tan of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::tan()
-  */
-template<typename Scalar> struct scalar_tan_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_tan_op)
-  inline const Scalar operator() (const Scalar& a) const { using std::tan; return tan(a); }
-  typedef typename packet_traits<Scalar>::type Packet;
-  inline Packet packetOp(const Packet& a) const { return internal::ptan(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_tan_op<Scalar> >
-{
-  enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasTan
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the arc cosine of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::acos()
-  */
-template<typename Scalar> struct scalar_acos_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_acos_op)
-  inline const Scalar operator() (const Scalar& a) const { using std::acos; return acos(a); }
-  typedef typename packet_traits<Scalar>::type Packet;
-  inline Packet packetOp(const Packet& a) const { return internal::pacos(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_acos_op<Scalar> >
-{
-  enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasACos
-  };
-};
-
-/** \internal
-  * \brief Template functor to compute the arc sine of a scalar
-  * \sa class CwiseUnaryOp, ArrayBase::asin()
-  */
-template<typename Scalar> struct scalar_asin_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_asin_op)
-  inline const Scalar operator() (const Scalar& a) const { using std::asin; return asin(a); }
-  typedef typename packet_traits<Scalar>::type Packet;
-  inline Packet packetOp(const Packet& a) const { return internal::pasin(a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_asin_op<Scalar> >
-{
-  enum {
-    Cost = 5 * NumTraits<Scalar>::MulCost,
-    PacketAccess = packet_traits<Scalar>::HasASin
-  };
-};
-
-/** \internal
-  * \brief Template functor to raise a scalar to a power
-  * \sa class CwiseUnaryOp, Cwise::pow
-  */
-template<typename Scalar>
-struct scalar_pow_op {
-  // FIXME default copy constructors seems bugged with std::complex<>
-  inline scalar_pow_op(const scalar_pow_op& other) : m_exponent(other.m_exponent) { }
-  inline scalar_pow_op(const Scalar& exponent) : m_exponent(exponent) {}
-  inline Scalar operator() (const Scalar& a) const { return numext::pow(a, m_exponent); }
-  const Scalar m_exponent;
-};
-template<typename Scalar>
-struct functor_traits<scalar_pow_op<Scalar> >
-{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false }; };
-
-/** \internal
-  * \brief Template functor to compute the quotient between a scalar and array entries.
-  * \sa class CwiseUnaryOp, Cwise::inverse()
-  */
-template<typename Scalar>
-struct scalar_inverse_mult_op {
-  scalar_inverse_mult_op(const Scalar& other) : m_other(other) {}
-  inline Scalar operator() (const Scalar& a) const { return m_other / a; }
-  template<typename Packet>
-  inline const Packet packetOp(const Packet& a) const
-  { return internal::pdiv(pset1<Packet>(m_other),a); }
-  Scalar m_other;
-};
-
-/** \internal
-  * \brief Template functor to compute the inverse of a scalar
-  * \sa class CwiseUnaryOp, Cwise::inverse()
-  */
-template<typename Scalar>
-struct scalar_inverse_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_inverse_op)
-  inline Scalar operator() (const Scalar& a) const { return Scalar(1)/a; }
-  template<typename Packet>
-  inline const Packet packetOp(const Packet& a) const
-  { return internal::pdiv(pset1<Packet>(Scalar(1)),a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_inverse_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasDiv }; };
-
-/** \internal
-  * \brief Template functor to compute the square of a scalar
-  * \sa class CwiseUnaryOp, Cwise::square()
-  */
-template<typename Scalar>
-struct scalar_square_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_square_op)
-  inline Scalar operator() (const Scalar& a) const { return a*a; }
-  template<typename Packet>
-  inline const Packet packetOp(const Packet& a) const
-  { return internal::pmul(a,a); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_square_op<Scalar> >
-{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
-
-/** \internal
-  * \brief Template functor to compute the cube of a scalar
-  * \sa class CwiseUnaryOp, Cwise::cube()
-  */
-template<typename Scalar>
-struct scalar_cube_op {
-  EIGEN_EMPTY_STRUCT_CTOR(scalar_cube_op)
-  inline Scalar operator() (const Scalar& a) const { return a*a*a; }
-  template<typename Packet>
-  inline const Packet packetOp(const Packet& a) const
-  { return internal::pmul(a,pmul(a,a)); }
-};
-template<typename Scalar>
-struct functor_traits<scalar_cube_op<Scalar> >
-{ enum { Cost = 2*NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
-
-// default functor traits for STL functors:
-
-template<typename T>
-struct functor_traits<std::multiplies<T> >
-{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::divides<T> >
-{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::plus<T> >
-{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::minus<T> >
-{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::negate<T> >
-{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::logical_or<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::logical_and<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::logical_not<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::greater<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::less<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::greater_equal<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::less_equal<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::equal_to<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::not_equal_to<T> >
-{ enum { Cost = 1, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::binder2nd<T> >
-{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::binder1st<T> >
-{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::unary_negate<T> >
-{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
-
-template<typename T>
-struct functor_traits<std::binary_negate<T> >
-{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
-
-#ifdef EIGEN_STDEXT_SUPPORT
-
-template<typename T0,typename T1>
-struct functor_traits<std::project1st<T0,T1> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-template<typename T0,typename T1>
-struct functor_traits<std::project2nd<T0,T1> >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-template<typename T0,typename T1>
-struct functor_traits<std::select2nd<std::pair<T0,T1> > >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-template<typename T0,typename T1>
-struct functor_traits<std::select1st<std::pair<T0,T1> > >
-{ enum { Cost = 0, PacketAccess = false }; };
-
-template<typename T0,typename T1>
-struct functor_traits<std::unary_compose<T0,T1> >
-{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost, PacketAccess = false }; };
-
-template<typename T0,typename T1,typename T2>
-struct functor_traits<std::binary_compose<T0,T1,T2> >
-{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost + functor_traits<T2>::Cost, PacketAccess = false }; };
-
-#endif // EIGEN_STDEXT_SUPPORT
-
-// allow to add new functors and specializations of functor_traits from outside Eigen.
-// this macro is really needed because functor_traits must be specialized after it is declared but before it is used...
-#ifdef EIGEN_FUNCTORS_PLUGIN
-#include EIGEN_FUNCTORS_PLUGIN
-#endif
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_FUNCTORS_H
diff --git a/eigenlib/Eigen/src/Core/Fuzzy.h b/eigenlib/Eigen/src/Core/Fuzzy.h
index fe63bd29..3e403a09 100644
--- a/eigenlib/Eigen/src/Core/Fuzzy.h
+++ b/eigenlib/Eigen/src/Core/Fuzzy.h
@@ -19,18 +19,19 @@ namespace internal
 template<typename Derived, typename OtherDerived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
 struct isApprox_selector
 {
+  EIGEN_DEVICE_FUNC
   static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar& prec)
   {
-    using std::min;
-    typename internal::nested<Derived,2>::type nested(x);
-    typename internal::nested<OtherDerived,2>::type otherNested(y);
-    return (nested - otherNested).cwiseAbs2().sum() <= prec * prec * (min)(nested.cwiseAbs2().sum(), otherNested.cwiseAbs2().sum());
+    typename internal::nested_eval<Derived,2>::type nested(x);
+    typename internal::nested_eval<OtherDerived,2>::type otherNested(y);
+    return (nested - otherNested).cwiseAbs2().sum() <= prec * prec * numext::mini(nested.cwiseAbs2().sum(), otherNested.cwiseAbs2().sum());
   }
 };
 
 template<typename Derived, typename OtherDerived>
 struct isApprox_selector<Derived, OtherDerived, true>
 {
+  EIGEN_DEVICE_FUNC
   static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar&)
   {
     return x.matrix() == y.matrix();
@@ -40,6 +41,7 @@ struct isApprox_selector<Derived, OtherDerived, true>
 template<typename Derived, typename OtherDerived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
 struct isMuchSmallerThan_object_selector
 {
+  EIGEN_DEVICE_FUNC
   static bool run(const Derived& x, const OtherDerived& y, const typename Derived::RealScalar& prec)
   {
     return x.cwiseAbs2().sum() <= numext::abs2(prec) * y.cwiseAbs2().sum();
@@ -49,6 +51,7 @@ struct isMuchSmallerThan_object_selector
 template<typename Derived, typename OtherDerived>
 struct isMuchSmallerThan_object_selector<Derived, OtherDerived, true>
 {
+  EIGEN_DEVICE_FUNC
   static bool run(const Derived& x, const OtherDerived&, const typename Derived::RealScalar&)
   {
     return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix();
@@ -58,6 +61,7 @@ struct isMuchSmallerThan_object_selector<Derived, OtherDerived, true>
 template<typename Derived, bool is_integer = NumTraits<typename Derived::Scalar>::IsInteger>
 struct isMuchSmallerThan_scalar_selector
 {
+  EIGEN_DEVICE_FUNC
   static bool run(const Derived& x, const typename Derived::RealScalar& y, const typename Derived::RealScalar& prec)
   {
     return x.cwiseAbs2().sum() <= numext::abs2(prec * y);
@@ -67,6 +71,7 @@ struct isMuchSmallerThan_scalar_selector
 template<typename Derived>
 struct isMuchSmallerThan_scalar_selector<Derived, true>
 {
+  EIGEN_DEVICE_FUNC
   static bool run(const Derived& x, const typename Derived::RealScalar&, const typename Derived::RealScalar&)
   {
     return x.matrix() == Derived::Zero(x.rows(), x.cols()).matrix();
diff --git a/eigenlib/Eigen/src/Core/GeneralProduct.h b/eigenlib/Eigen/src/Core/GeneralProduct.h
index 9e805a80..0f16cd8e 100644
--- a/eigenlib/Eigen/src/Core/GeneralProduct.h
+++ b/eigenlib/Eigen/src/Core/GeneralProduct.h
@@ -11,29 +11,7 @@
 #ifndef EIGEN_GENERAL_PRODUCT_H
 #define EIGEN_GENERAL_PRODUCT_H
 
-namespace Eigen { 
-
-/** \class GeneralProduct
-  * \ingroup Core_Module
-  *
-  * \brief Expression of the product of two general matrices or vectors
-  *
-  * \param LhsNested the type used to store the left-hand side
-  * \param RhsNested the type used to store the right-hand side
-  * \param ProductMode the type of the product
-  *
-  * This class represents an expression of the product of two general matrices.
-  * We call a general matrix, a dense matrix with full storage. For instance,
-  * This excludes triangular, selfadjoint, and sparse matrices.
-  * It is the return type of the operator* between general matrices. Its template
-  * arguments are determined automatically by ProductReturnType. Therefore,
-  * GeneralProduct should never be used direclty. To determine the result type of a
-  * function which involves a matrix product, use ProductReturnType::Type.
-  *
-  * \sa ProductReturnType, MatrixBase::operator*(const MatrixBase<OtherDerived>&)
-  */
-template<typename Lhs, typename Rhs, int ProductType = internal::product_type<Lhs,Rhs>::value>
-class GeneralProduct;
+namespace Eigen {
 
 enum {
   Large = 2,
@@ -47,7 +25,8 @@ template<int Rows, int Cols, int Depth> struct product_type_selector;
 template<int Size, int MaxSize> struct product_size_category
 {
   enum { is_large = MaxSize == Dynamic ||
-                    Size >= EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD,
+                    Size >= EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD ||
+                    (Size==Dynamic && MaxSize>=EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD),
          value = is_large  ? Large
                : Size == 1 ? 1
                            : Small
@@ -59,15 +38,14 @@ template<typename Lhs, typename Rhs> struct product_type
   typedef typename remove_all<Lhs>::type _Lhs;
   typedef typename remove_all<Rhs>::type _Rhs;
   enum {
-    MaxRows  = _Lhs::MaxRowsAtCompileTime,
-    Rows  = _Lhs::RowsAtCompileTime,
-    MaxCols  = _Rhs::MaxColsAtCompileTime,
-    Cols  = _Rhs::ColsAtCompileTime,
-    MaxDepth = EIGEN_SIZE_MIN_PREFER_FIXED(_Lhs::MaxColsAtCompileTime,
-                                           _Rhs::MaxRowsAtCompileTime),
-    Depth = EIGEN_SIZE_MIN_PREFER_FIXED(_Lhs::ColsAtCompileTime,
-                                        _Rhs::RowsAtCompileTime),
-    LargeThreshold = EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+    MaxRows = traits<_Lhs>::MaxRowsAtCompileTime,
+    Rows    = traits<_Lhs>::RowsAtCompileTime,
+    MaxCols = traits<_Rhs>::MaxColsAtCompileTime,
+    Cols    = traits<_Rhs>::ColsAtCompileTime,
+    MaxDepth = EIGEN_SIZE_MIN_PREFER_FIXED(traits<_Lhs>::MaxColsAtCompileTime,
+                                           traits<_Rhs>::MaxRowsAtCompileTime),
+    Depth = EIGEN_SIZE_MIN_PREFER_FIXED(traits<_Lhs>::ColsAtCompileTime,
+                                        traits<_Rhs>::RowsAtCompileTime)
   };
 
   // the splitting into different lines of code here, introducing the _select enums and the typedef below,
@@ -82,7 +60,8 @@ private:
 
 public:
   enum {
-    value = selector::ret
+    value = selector::ret,
+    ret = selector::ret
   };
 #ifdef EIGEN_DEBUG_PRODUCT
   static void debug()
@@ -98,12 +77,13 @@ public:
 #endif
 };
 
-
 /* The following allows to select the kind of product at compile time
  * based on the three dimensions of the product.
  * This is a compile time mapping from {1,Small,Large}^3 -> {product types} */
 // FIXME I'm not sure the current mapping is the ideal one.
 template<int M, int N>  struct product_type_selector<M,N,1>              { enum { ret = OuterProduct }; };
+template<int M>         struct product_type_selector<M, 1, 1>            { enum { ret = LazyCoeffBasedProductMode }; };
+template<int N>         struct product_type_selector<1, N, 1>            { enum { ret = LazyCoeffBasedProductMode }; };
 template<int Depth>     struct product_type_selector<1,    1,    Depth>  { enum { ret = InnerProduct }; };
 template<>              struct product_type_selector<1,    1,    1>      { enum { ret = InnerProduct }; };
 template<>              struct product_type_selector<Small,1,    Small>  { enum { ret = CoeffBasedProductMode }; };
@@ -122,60 +102,12 @@ template<>              struct product_type_selector<Small,Small,Large>  { enum
 template<>              struct product_type_selector<Large,Small,Large>  { enum { ret = GemmProduct }; };
 template<>              struct product_type_selector<Small,Large,Large>  { enum { ret = GemmProduct }; };
 template<>              struct product_type_selector<Large,Large,Large>  { enum { ret = GemmProduct }; };
-template<>              struct product_type_selector<Large,Small,Small>  { enum { ret = GemmProduct }; };
-template<>              struct product_type_selector<Small,Large,Small>  { enum { ret = GemmProduct }; };
+template<>              struct product_type_selector<Large,Small,Small>  { enum { ret = CoeffBasedProductMode }; };
+template<>              struct product_type_selector<Small,Large,Small>  { enum { ret = CoeffBasedProductMode }; };
 template<>              struct product_type_selector<Large,Large,Small>  { enum { ret = GemmProduct }; };
 
 } // end namespace internal
 
-/** \class ProductReturnType
-  * \ingroup Core_Module
-  *
-  * \brief Helper class to get the correct and optimized returned type of operator*
-  *
-  * \param Lhs the type of the left-hand side
-  * \param Rhs the type of the right-hand side
-  * \param ProductMode the type of the product (determined automatically by internal::product_mode)
-  *
-  * This class defines the typename Type representing the optimized product expression
-  * between two matrix expressions. In practice, using ProductReturnType<Lhs,Rhs>::Type
-  * is the recommended way to define the result type of a function returning an expression
-  * which involve a matrix product. The class Product should never be
-  * used directly.
-  *
-  * \sa class Product, MatrixBase::operator*(const MatrixBase<OtherDerived>&)
-  */
-template<typename Lhs, typename Rhs, int ProductType>
-struct ProductReturnType
-{
-  // TODO use the nested type to reduce instanciations ????
-//   typedef typename internal::nested<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
-//   typedef typename internal::nested<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
-
-  typedef GeneralProduct<Lhs/*Nested*/, Rhs/*Nested*/, ProductType> Type;
-};
-
-template<typename Lhs, typename Rhs>
-struct ProductReturnType<Lhs,Rhs,CoeffBasedProductMode>
-{
-  typedef typename internal::nested<Lhs, Rhs::ColsAtCompileTime, typename internal::plain_matrix_type<Lhs>::type >::type LhsNested;
-  typedef typename internal::nested<Rhs, Lhs::RowsAtCompileTime, typename internal::plain_matrix_type<Rhs>::type >::type RhsNested;
-  typedef CoeffBasedProduct<LhsNested, RhsNested, EvalBeforeAssigningBit | EvalBeforeNestingBit> Type;
-};
-
-template<typename Lhs, typename Rhs>
-struct ProductReturnType<Lhs,Rhs,LazyCoeffBasedProductMode>
-{
-  typedef typename internal::nested<Lhs, Rhs::ColsAtCompileTime, typename internal::plain_matrix_type<Lhs>::type >::type LhsNested;
-  typedef typename internal::nested<Rhs, Lhs::RowsAtCompileTime, typename internal::plain_matrix_type<Rhs>::type >::type RhsNested;
-  typedef CoeffBasedProduct<LhsNested, RhsNested, NestByRefBit> Type;
-};
-
-// this is a workaround for sun CC
-template<typename Lhs, typename Rhs>
-struct LazyProductReturnType : public ProductReturnType<Lhs,Rhs,LazyCoeffBasedProductMode>
-{};
-
 /***********************************************************************
 *  Implementation of Inner Vector Vector Product
 ***********************************************************************/
@@ -187,119 +119,10 @@ struct LazyProductReturnType : public ProductReturnType<Lhs,Rhs,LazyCoeffBasedPr
 // product ends up to a row-vector times col-vector product... To tackle this use
 // case, we could have a specialization for Block<MatrixType,1,1> with: operator=(Scalar x);
 
-namespace internal {
-
-template<typename Lhs, typename Rhs>
-struct traits<GeneralProduct<Lhs,Rhs,InnerProduct> >
- : traits<Matrix<typename scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType,1,1> >
-{};
-
-}
-
-template<typename Lhs, typename Rhs>
-class GeneralProduct<Lhs, Rhs, InnerProduct>
-  : internal::no_assignment_operator,
-    public Matrix<typename internal::scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType,1,1>
-{
-    typedef Matrix<typename internal::scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType,1,1> Base;
-  public:
-    GeneralProduct(const Lhs& lhs, const Rhs& rhs)
-    {
-      EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::RealScalar, typename Rhs::RealScalar>::value),
-        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
-      Base::coeffRef(0,0) = (lhs.transpose().cwiseProduct(rhs)).sum();
-    }
-
-    /** Convertion to scalar */
-    operator const typename Base::Scalar() const {
-      return Base::coeff(0,0);
-    }
-};
-
 /***********************************************************************
 *  Implementation of Outer Vector Vector Product
 ***********************************************************************/
 
-namespace internal {
-
-// Column major
-template<typename ProductType, typename Dest, typename Func>
-EIGEN_DONT_INLINE void outer_product_selector_run(const ProductType& prod, Dest& dest, const Func& func, const false_type&)
-{
-  typedef typename Dest::Index Index;
-  // FIXME make sure lhs is sequentially stored
-  // FIXME not very good if rhs is real and lhs complex while alpha is real too
-  const Index cols = dest.cols();
-  for (Index j=0; j<cols; ++j)
-    func(dest.col(j), prod.rhs().coeff(0,j) * prod.lhs());
-}
-
-// Row major
-template<typename ProductType, typename Dest, typename Func>
-EIGEN_DONT_INLINE void outer_product_selector_run(const ProductType& prod, Dest& dest, const Func& func, const true_type&) {
-  typedef typename Dest::Index Index;
-  // FIXME make sure rhs is sequentially stored
-  // FIXME not very good if lhs is real and rhs complex while alpha is real too
-  const Index rows = dest.rows();
-  for (Index i=0; i<rows; ++i)
-    func(dest.row(i), prod.lhs().coeff(i,0) * prod.rhs());
-}
-
-template<typename Lhs, typename Rhs>
-struct traits<GeneralProduct<Lhs,Rhs,OuterProduct> >
- : traits<ProductBase<GeneralProduct<Lhs,Rhs,OuterProduct>, Lhs, Rhs> >
-{};
-
-}
-
-template<typename Lhs, typename Rhs>
-class GeneralProduct<Lhs, Rhs, OuterProduct>
-  : public ProductBase<GeneralProduct<Lhs,Rhs,OuterProduct>, Lhs, Rhs>
-{
-    template<typename T> struct IsRowMajor : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {};
-    
-  public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct)
-
-    GeneralProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
-    {
-      EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::RealScalar, typename Rhs::RealScalar>::value),
-        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-    }
-    
-    struct set  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived()  = src; } };
-    struct add  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() += src; } };
-    struct sub  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() -= src; } };
-    struct adds {
-      Scalar m_scale;
-      adds(const Scalar& s) : m_scale(s) {}
-      template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const {
-        dst.const_cast_derived() += m_scale * src;
-      }
-    };
-    
-    template<typename Dest>
-    inline void evalTo(Dest& dest) const {
-      internal::outer_product_selector_run(*this, dest, set(), IsRowMajor<Dest>());
-    }
-    
-    template<typename Dest>
-    inline void addTo(Dest& dest) const {
-      internal::outer_product_selector_run(*this, dest, add(), IsRowMajor<Dest>());
-    }
-
-    template<typename Dest>
-    inline void subTo(Dest& dest) const {
-      internal::outer_product_selector_run(*this, dest, sub(), IsRowMajor<Dest>());
-    }
-
-    template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
-    {
-      internal::outer_product_selector_run(*this, dest, adds(alpha), IsRowMajor<Dest>());
-    }
-};
-
 /***********************************************************************
 *  Implementation of General Matrix Vector Product
 ***********************************************************************/
@@ -313,60 +136,13 @@ class GeneralProduct<Lhs, Rhs, OuterProduct>
  */
 namespace internal {
 
-template<typename Lhs, typename Rhs>
-struct traits<GeneralProduct<Lhs,Rhs,GemvProduct> >
- : traits<ProductBase<GeneralProduct<Lhs,Rhs,GemvProduct>, Lhs, Rhs> >
-{};
-
 template<int Side, int StorageOrder, bool BlasCompatible>
-struct gemv_selector;
+struct gemv_dense_selector;
 
 } // end namespace internal
 
-template<typename Lhs, typename Rhs>
-class GeneralProduct<Lhs, Rhs, GemvProduct>
-  : public ProductBase<GeneralProduct<Lhs,Rhs,GemvProduct>, Lhs, Rhs>
-{
-  public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct)
-
-    typedef typename Lhs::Scalar LhsScalar;
-    typedef typename Rhs::Scalar RhsScalar;
-
-    GeneralProduct(const Lhs& a_lhs, const Rhs& a_rhs) : Base(a_lhs,a_rhs)
-    {
-//       EIGEN_STATIC_ASSERT((internal::is_same<typename Lhs::Scalar, typename Rhs::Scalar>::value),
-//         YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-    }
-
-    enum { Side = Lhs::IsVectorAtCompileTime ? OnTheLeft : OnTheRight };
-    typedef typename internal::conditional<int(Side)==OnTheRight,_LhsNested,_RhsNested>::type MatrixType;
-
-    template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
-    {
-      eigen_assert(m_lhs.rows() == dst.rows() && m_rhs.cols() == dst.cols());
-      internal::gemv_selector<Side,(int(MatrixType::Flags)&RowMajorBit) ? RowMajor : ColMajor,
-                       bool(internal::blas_traits<MatrixType>::HasUsableDirectAccess)>::run(*this, dst, alpha);
-    }
-};
-
 namespace internal {
 
-// The vector is on the left => transposition
-template<int StorageOrder, bool BlasCompatible>
-struct gemv_selector<OnTheLeft,StorageOrder,BlasCompatible>
-{
-  template<typename ProductType, typename Dest>
-  static void run(const ProductType& prod, Dest& dest, const typename ProductType::Scalar& alpha)
-  {
-    Transpose<Dest> destT(dest);
-    enum { OtherStorageOrder = StorageOrder == RowMajor ? ColMajor : RowMajor };
-    gemv_selector<OnTheRight,OtherStorageOrder,BlasCompatible>
-      ::run(GeneralProduct<Transpose<const typename ProductType::_RhsNested>,Transpose<const typename ProductType::_LhsNested>, GemvProduct>
-        (prod.rhs().transpose(), prod.lhs().transpose()), destT, alpha);
-  }
-};
-
 template<typename Scalar,int Size,int MaxSize,bool Cond> struct gemv_static_vector_if;
 
 template<typename Scalar,int Size,int MaxSize>
@@ -384,126 +160,161 @@ struct gemv_static_vector_if<Scalar,Size,Dynamic,true>
 template<typename Scalar,int Size,int MaxSize>
 struct gemv_static_vector_if<Scalar,Size,MaxSize,true>
 {
-  #if EIGEN_ALIGN_STATICALLY
-  internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize),0> m_data;
-  EIGEN_STRONG_INLINE Scalar* data() { return m_data.array; }
-  #else
-  // Some architectures cannot align on the stack,
-  // => let's manually enforce alignment by allocating more data and return the address of the first aligned element.
   enum {
     ForceAlignment  = internal::packet_traits<Scalar>::Vectorizable,
     PacketSize      = internal::packet_traits<Scalar>::size
   };
-  internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize)+(ForceAlignment?PacketSize:0),0> m_data;
+  #if EIGEN_MAX_STATIC_ALIGN_BYTES!=0
+  internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize),0,EIGEN_PLAIN_ENUM_MIN(AlignedMax,PacketSize)> m_data;
+  EIGEN_STRONG_INLINE Scalar* data() { return m_data.array; }
+  #else
+  // Some architectures cannot align on the stack,
+  // => let's manually enforce alignment by allocating more data and return the address of the first aligned element.
+  internal::plain_array<Scalar,EIGEN_SIZE_MIN_PREFER_FIXED(Size,MaxSize)+(ForceAlignment?EIGEN_MAX_ALIGN_BYTES:0),0> m_data;
   EIGEN_STRONG_INLINE Scalar* data() {
     return ForceAlignment
-            ? reinterpret_cast<Scalar*>((reinterpret_cast<size_t>(m_data.array) & ~(size_t(15))) + 16)
+            ? reinterpret_cast<Scalar*>((internal::UIntPtr(m_data.array) & ~(std::size_t(EIGEN_MAX_ALIGN_BYTES-1))) + EIGEN_MAX_ALIGN_BYTES)
             : m_data.array;
   }
   #endif
 };
 
-template<> struct gemv_selector<OnTheRight,ColMajor,true>
+// The vector is on the left => transposition
+template<int StorageOrder, bool BlasCompatible>
+struct gemv_dense_selector<OnTheLeft,StorageOrder,BlasCompatible>
 {
-  template<typename ProductType, typename Dest>
-  static inline void run(const ProductType& prod, Dest& dest, const typename ProductType::Scalar& alpha)
+  template<typename Lhs, typename Rhs, typename Dest>
+  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
   {
-    typedef typename ProductType::Index Index;
-    typedef typename ProductType::LhsScalar   LhsScalar;
-    typedef typename ProductType::RhsScalar   RhsScalar;
-    typedef typename ProductType::Scalar      ResScalar;
-    typedef typename ProductType::RealScalar  RealScalar;
-    typedef typename ProductType::ActualLhsType ActualLhsType;
-    typedef typename ProductType::ActualRhsType ActualRhsType;
-    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
-    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
-    typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
+    Transpose<Dest> destT(dest);
+    enum { OtherStorageOrder = StorageOrder == RowMajor ? ColMajor : RowMajor };
+    gemv_dense_selector<OnTheRight,OtherStorageOrder,BlasCompatible>
+      ::run(rhs.transpose(), lhs.transpose(), destT, alpha);
+  }
+};
 
-    ActualLhsType actualLhs = LhsBlasTraits::extract(prod.lhs());
-    ActualRhsType actualRhs = RhsBlasTraits::extract(prod.rhs());
+template<> struct gemv_dense_selector<OnTheRight,ColMajor,true>
+{
+  template<typename Lhs, typename Rhs, typename Dest>
+  static inline void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
+  {
+    typedef typename Lhs::Scalar   LhsScalar;
+    typedef typename Rhs::Scalar   RhsScalar;
+    typedef typename Dest::Scalar  ResScalar;
+    typedef typename Dest::RealScalar  RealScalar;
+    
+    typedef internal::blas_traits<Lhs> LhsBlasTraits;
+    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+    typedef internal::blas_traits<Rhs> RhsBlasTraits;
+    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+  
+    typedef Map<Matrix<ResScalar,Dynamic,1>, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits<ResScalar>::size)> MappedDest;
 
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
-                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+    ActualLhsType actualLhs = LhsBlasTraits::extract(lhs);
+    ActualRhsType actualRhs = RhsBlasTraits::extract(rhs);
+
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
+                                  * RhsBlasTraits::extractScalarFactor(rhs);
+
+    // make sure Dest is a compile-time vector type (bug 1166)
+    typedef typename conditional<Dest::IsVectorAtCompileTime, Dest, typename Dest::ColXpr>::type ActualDest;
 
     enum {
       // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
       // on, the other hand it is good for the cache to pack the vector anyways...
-      EvalToDestAtCompileTime = Dest::InnerStrideAtCompileTime==1,
+      EvalToDestAtCompileTime = (ActualDest::InnerStrideAtCompileTime==1),
       ComplexByReal = (NumTraits<LhsScalar>::IsComplex) && (!NumTraits<RhsScalar>::IsComplex),
-      MightCannotUseDest = (Dest::InnerStrideAtCompileTime!=1) || ComplexByReal
+      MightCannotUseDest = (!EvalToDestAtCompileTime) || ComplexByReal
     };
 
-    gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,MightCannotUseDest> static_dest;
-
-    bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0));
-    bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
-    
+    typedef const_blas_data_mapper<LhsScalar,Index,ColMajor> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar,Index,RowMajor> RhsMapper;
     RhsScalar compatibleAlpha = get_factor<ResScalar,RhsScalar>::run(actualAlpha);
 
-    ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
-                                                  evalToDest ? dest.data() : static_dest.data());
-    
-    if(!evalToDest)
+    if(!MightCannotUseDest)
     {
-      #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      int size = dest.size();
-      EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      #endif
-      if(!alphaIsCompatible)
-      {
-        MappedDest(actualDestPtr, dest.size()).setZero();
-        compatibleAlpha = RhsScalar(1);
-      }
-      else
-        MappedDest(actualDestPtr, dest.size()) = dest;
+      // shortcut if we are sure to be able to use dest directly,
+      // this ease the compiler to generate cleaner and more optimzized code for most common cases
+      general_matrix_vector_product
+          <Index,LhsScalar,LhsMapper,ColMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsMapper,RhsBlasTraits::NeedToConjugate>::run(
+          actualLhs.rows(), actualLhs.cols(),
+          LhsMapper(actualLhs.data(), actualLhs.outerStride()),
+          RhsMapper(actualRhs.data(), actualRhs.innerStride()),
+          dest.data(), 1,
+          compatibleAlpha);
     }
-
-    general_matrix_vector_product
-      <Index,LhsScalar,ColMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsBlasTraits::NeedToConjugate>::run(
-        actualLhs.rows(), actualLhs.cols(),
-        actualLhs.data(), actualLhs.outerStride(),
-        actualRhs.data(), actualRhs.innerStride(),
-        actualDestPtr, 1,
-        compatibleAlpha);
-
-    if (!evalToDest)
+    else
     {
-      if(!alphaIsCompatible)
-        dest += actualAlpha * MappedDest(actualDestPtr, dest.size());
-      else
-        dest = MappedDest(actualDestPtr, dest.size());
+      gemv_static_vector_if<ResScalar,ActualDest::SizeAtCompileTime,ActualDest::MaxSizeAtCompileTime,MightCannotUseDest> static_dest;
+
+      const bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0));
+      const bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
+
+      ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
+                                                    evalToDest ? dest.data() : static_dest.data());
+
+      if(!evalToDest)
+      {
+        #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+        Index size = dest.size();
+        EIGEN_DENSE_STORAGE_CTOR_PLUGIN
+        #endif
+        if(!alphaIsCompatible)
+        {
+          MappedDest(actualDestPtr, dest.size()).setZero();
+          compatibleAlpha = RhsScalar(1);
+        }
+        else
+          MappedDest(actualDestPtr, dest.size()) = dest;
+      }
+
+      general_matrix_vector_product
+          <Index,LhsScalar,LhsMapper,ColMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsMapper,RhsBlasTraits::NeedToConjugate>::run(
+          actualLhs.rows(), actualLhs.cols(),
+          LhsMapper(actualLhs.data(), actualLhs.outerStride()),
+          RhsMapper(actualRhs.data(), actualRhs.innerStride()),
+          actualDestPtr, 1,
+          compatibleAlpha);
+
+      if (!evalToDest)
+      {
+        if(!alphaIsCompatible)
+          dest.matrix() += actualAlpha * MappedDest(actualDestPtr, dest.size());
+        else
+          dest = MappedDest(actualDestPtr, dest.size());
+      }
     }
   }
 };
 
-template<> struct gemv_selector<OnTheRight,RowMajor,true>
+template<> struct gemv_dense_selector<OnTheRight,RowMajor,true>
 {
-  template<typename ProductType, typename Dest>
-  static void run(const ProductType& prod, Dest& dest, const typename ProductType::Scalar& alpha)
+  template<typename Lhs, typename Rhs, typename Dest>
+  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
   {
-    typedef typename ProductType::LhsScalar LhsScalar;
-    typedef typename ProductType::RhsScalar RhsScalar;
-    typedef typename ProductType::Scalar    ResScalar;
-    typedef typename ProductType::Index Index;
-    typedef typename ProductType::ActualLhsType ActualLhsType;
-    typedef typename ProductType::ActualRhsType ActualRhsType;
-    typedef typename ProductType::_ActualRhsType _ActualRhsType;
-    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
-    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
+    typedef typename Lhs::Scalar   LhsScalar;
+    typedef typename Rhs::Scalar   RhsScalar;
+    typedef typename Dest::Scalar  ResScalar;
+    
+    typedef internal::blas_traits<Lhs> LhsBlasTraits;
+    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+    typedef internal::blas_traits<Rhs> RhsBlasTraits;
+    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+    typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
 
-    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
-    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
+    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
+    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
 
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
-                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
+                                  * RhsBlasTraits::extractScalarFactor(rhs);
 
     enum {
       // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
       // on, the other hand it is good for the cache to pack the vector anyways...
-      DirectlyUseRhs = _ActualRhsType::InnerStrideAtCompileTime==1
+      DirectlyUseRhs = ActualRhsTypeCleaned::InnerStrideAtCompileTime==1
     };
 
-    gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
+    gemv_static_vector_if<RhsScalar,ActualRhsTypeCleaned::SizeAtCompileTime,ActualRhsTypeCleaned::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
 
     ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,actualRhs.size(),
         DirectlyUseRhs ? const_cast<RhsScalar*>(actualRhs.data()) : static_rhs.data());
@@ -511,45 +322,48 @@ template<> struct gemv_selector<OnTheRight,RowMajor,true>
     if(!DirectlyUseRhs)
     {
       #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      int size = actualRhs.size();
+      Index size = actualRhs.size();
       EIGEN_DENSE_STORAGE_CTOR_PLUGIN
       #endif
-      Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
+      Map<typename ActualRhsTypeCleaned::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
     }
 
+    typedef const_blas_data_mapper<LhsScalar,Index,RowMajor> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar,Index,ColMajor> RhsMapper;
     general_matrix_vector_product
-      <Index,LhsScalar,RowMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsBlasTraits::NeedToConjugate>::run(
+        <Index,LhsScalar,LhsMapper,RowMajor,LhsBlasTraits::NeedToConjugate,RhsScalar,RhsMapper,RhsBlasTraits::NeedToConjugate>::run(
         actualLhs.rows(), actualLhs.cols(),
-        actualLhs.data(), actualLhs.outerStride(),
-        actualRhsPtr, 1,
-        dest.data(), dest.innerStride(),
+        LhsMapper(actualLhs.data(), actualLhs.outerStride()),
+        RhsMapper(actualRhsPtr, 1),
+        dest.data(), dest.col(0).innerStride(), //NOTE  if dest is not a vector at compile-time, then dest.innerStride() might be wrong. (bug 1166)
         actualAlpha);
   }
 };
 
-template<> struct gemv_selector<OnTheRight,ColMajor,false>
+template<> struct gemv_dense_selector<OnTheRight,ColMajor,false>
 {
-  template<typename ProductType, typename Dest>
-  static void run(const ProductType& prod, Dest& dest, const typename ProductType::Scalar& alpha)
+  template<typename Lhs, typename Rhs, typename Dest>
+  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
   {
-    typedef typename Dest::Index Index;
-    // TODO makes sure dest is sequentially stored in memory, otherwise use a temp
-    const Index size = prod.rhs().rows();
+    EIGEN_STATIC_ASSERT((!nested_eval<Lhs,1>::Evaluate),EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE);
+    // TODO if rhs is large enough it might be beneficial to make sure that dest is sequentially stored in memory, otherwise use a temp
+    typename nested_eval<Rhs,1>::type actual_rhs(rhs);
+    const Index size = rhs.rows();
     for(Index k=0; k<size; ++k)
-      dest += (alpha*prod.rhs().coeff(k)) * prod.lhs().col(k);
+      dest += (alpha*actual_rhs.coeff(k)) * lhs.col(k);
   }
 };
 
-template<> struct gemv_selector<OnTheRight,RowMajor,false>
+template<> struct gemv_dense_selector<OnTheRight,RowMajor,false>
 {
-  template<typename ProductType, typename Dest>
-  static void run(const ProductType& prod, Dest& dest, const typename ProductType::Scalar& alpha)
+  template<typename Lhs, typename Rhs, typename Dest>
+  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
   {
-    typedef typename Dest::Index Index;
-    // TODO makes sure rhs is sequentially stored in memory, otherwise use a temp
-    const Index rows = prod.rows();
+    EIGEN_STATIC_ASSERT((!nested_eval<Lhs,1>::Evaluate),EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE);
+    typename nested_eval<Rhs,Lhs::RowsAtCompileTime>::type actual_rhs(rhs);
+    const Index rows = dest.rows();
     for(Index i=0; i<rows; ++i)
-      dest.coeffRef(i) += alpha * (prod.lhs().row(i).cwiseProduct(prod.rhs().transpose())).sum();
+      dest.coeffRef(i) += alpha * (lhs.row(i).cwiseProduct(actual_rhs.transpose())).sum();
   }
 };
 
@@ -565,9 +379,11 @@ template<> struct gemv_selector<OnTheRight,RowMajor,false>
   *
   * \sa lazyProduct(), operator*=(const MatrixBase&), Cwise::operator*()
   */
+#ifndef __CUDACC__
+
 template<typename Derived>
 template<typename OtherDerived>
-inline const typename ProductReturnType<Derived, OtherDerived>::Type
+inline const Product<Derived, OtherDerived>
 MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
 {
   // A note regarding the function declaration: In MSVC, this function will sometimes
@@ -592,9 +408,12 @@ MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
 #ifdef EIGEN_DEBUG_PRODUCT
   internal::product_type<Derived,OtherDerived>::debug();
 #endif
-  return typename ProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+
+  return Product<Derived, OtherDerived>(derived(), other.derived());
 }
 
+#endif // __CUDACC__
+
 /** \returns an expression of the matrix product of \c *this and \a other without implicit evaluation.
   *
   * The returned product will behave like any other expressions: the coefficients of the product will be
@@ -608,7 +427,7 @@ MatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const
   */
 template<typename Derived>
 template<typename OtherDerived>
-const typename LazyProductReturnType<Derived,OtherDerived>::Type
+const Product<Derived,OtherDerived,LazyProduct>
 MatrixBase<Derived>::lazyProduct(const MatrixBase<OtherDerived> &other) const
 {
   enum {
@@ -627,7 +446,7 @@ MatrixBase<Derived>::lazyProduct(const MatrixBase<OtherDerived> &other) const
     INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
   EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
 
-  return typename LazyProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+  return Product<Derived,OtherDerived,LazyProduct>(derived(), other.derived());
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/GenericPacketMath.h b/eigenlib/Eigen/src/Core/GenericPacketMath.h
index 5f783ebe..27033a2d 100644
--- a/eigenlib/Eigen/src/Core/GenericPacketMath.h
+++ b/eigenlib/Eigen/src/Core/GenericPacketMath.h
@@ -42,21 +42,28 @@ namespace internal {
 struct default_packet_traits
 {
   enum {
+    HasHalfPacket = 0,
+
     HasAdd    = 1,
     HasSub    = 1,
     HasMul    = 1,
     HasNegate = 1,
     HasAbs    = 1,
+    HasArg    = 0,
     HasAbs2   = 1,
     HasMin    = 1,
     HasMax    = 1,
     HasConj   = 1,
     HasSetLinear = 1,
+    HasBlend  = 0,
 
     HasDiv    = 0,
     HasSqrt   = 0,
+    HasRsqrt  = 0,
     HasExp    = 0,
     HasLog    = 0,
+    HasLog1p  = 0,
+    HasLog10  = 0,
     HasPow    = 0,
 
     HasSin    = 0,
@@ -64,17 +71,37 @@ struct default_packet_traits
     HasTan    = 0,
     HasASin   = 0,
     HasACos   = 0,
-    HasATan   = 0
+    HasATan   = 0,
+    HasSinh   = 0,
+    HasCosh   = 0,
+    HasTanh   = 0,
+    HasLGamma = 0,
+    HasDiGamma = 0,
+    HasZeta = 0,
+    HasPolygamma = 0,
+    HasErf = 0,
+    HasErfc = 0,
+    HasIGamma = 0,
+    HasIGammac = 0,
+    HasBetaInc = 0,
+
+    HasRound  = 0,
+    HasFloor  = 0,
+    HasCeil   = 0,
+
+    HasSign   = 0
   };
 };
 
 template<typename T> struct packet_traits : default_packet_traits
 {
   typedef T type;
+  typedef T half;
   enum {
     Vectorizable = 0,
     size = 1,
-    AlignedOnScalar = 0
+    AlignedOnScalar = 0,
+    HasHalfPacket = 0
   };
   enum {
     HasAdd    = 0,
@@ -90,135 +117,239 @@ template<typename T> struct packet_traits : default_packet_traits
   };
 };
 
+template<typename T> struct packet_traits<const T> : packet_traits<T> { };
+
+template <typename Src, typename Tgt> struct type_casting_traits {
+  enum {
+    VectorizedCast = 0,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+
+/** \internal \returns static_cast<TgtType>(a) (coeff-wise) */
+template <typename SrcPacket, typename TgtPacket>
+EIGEN_DEVICE_FUNC inline TgtPacket
+pcast(const SrcPacket& a) {
+  return static_cast<TgtPacket>(a);
+}
+template <typename SrcPacket, typename TgtPacket>
+EIGEN_DEVICE_FUNC inline TgtPacket
+pcast(const SrcPacket& a, const SrcPacket& /*b*/) {
+  return static_cast<TgtPacket>(a);
+}
+
+template <typename SrcPacket, typename TgtPacket>
+EIGEN_DEVICE_FUNC inline TgtPacket
+pcast(const SrcPacket& a, const SrcPacket& /*b*/, const SrcPacket& /*c*/, const SrcPacket& /*d*/) {
+  return static_cast<TgtPacket>(a);
+}
+
 /** \internal \returns a + b (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 padd(const Packet& a,
         const Packet& b) { return a+b; }
 
 /** \internal \returns a - b (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 psub(const Packet& a,
         const Packet& b) { return a-b; }
 
 /** \internal \returns -a (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pnegate(const Packet& a) { return -a; }
 
 /** \internal \returns conj(a) (coeff-wise) */
-template<typename Packet> inline Packet
+
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pconj(const Packet& a) { return numext::conj(a); }
 
 /** \internal \returns a * b (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pmul(const Packet& a,
         const Packet& b) { return a*b; }
 
 /** \internal \returns a / b (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pdiv(const Packet& a,
         const Packet& b) { return a/b; }
 
 /** \internal \returns the min of \a a and \a b  (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pmin(const Packet& a,
-        const Packet& b) { using std::min; return (min)(a, b); }
+        const Packet& b) { return numext::mini(a, b); }
 
 /** \internal \returns the max of \a a and \a b  (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pmax(const Packet& a,
-        const Packet& b) { using std::max; return (max)(a, b); }
+        const Packet& b) { return numext::maxi(a, b); }
 
 /** \internal \returns the absolute value of \a a */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pabs(const Packet& a) { using std::abs; return abs(a); }
 
+/** \internal \returns the phase angle of \a a */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+parg(const Packet& a) { using numext::arg; return arg(a); }
+
 /** \internal \returns the bitwise and of \a a and \a b */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pand(const Packet& a, const Packet& b) { return a & b; }
 
 /** \internal \returns the bitwise or of \a a and \a b */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 por(const Packet& a, const Packet& b) { return a | b; }
 
 /** \internal \returns the bitwise xor of \a a and \a b */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pxor(const Packet& a, const Packet& b) { return a ^ b; }
 
 /** \internal \returns the bitwise andnot of \a a and \a b */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pandnot(const Packet& a, const Packet& b) { return a & (!b); }
 
 /** \internal \returns a packet version of \a *from, from must be 16 bytes aligned */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pload(const typename unpacket_traits<Packet>::type* from) { return *from; }
 
 /** \internal \returns a packet version of \a *from, (un-aligned load) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 ploadu(const typename unpacket_traits<Packet>::type* from) { return *from; }
 
-/** \internal \returns a packet with elements of \a *from duplicated.
-  * For instance, for a packet of 8 elements, 4 scalar will be read from \a *from and
-  * duplicated to form: {from[0],from[0],from[1],from[1],,from[2],from[2],,from[3],from[3]}
-  * Currently, this function is only used for scalar * complex products.
- */
-template<typename Packet> inline Packet
-ploaddup(const typename unpacket_traits<Packet>::type* from) { return *from; }
-
 /** \internal \returns a packet with constant coefficients \a a, e.g.: (a,a,a,a) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pset1(const typename unpacket_traits<Packet>::type& a) { return a; }
 
+/** \internal \returns a packet with constant coefficients \a a[0], e.g.: (a[0],a[0],a[0],a[0]) */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pload1(const typename unpacket_traits<Packet>::type  *a) { return pset1<Packet>(*a); }
+
+/** \internal \returns a packet with elements of \a *from duplicated.
+  * For instance, for a packet of 8 elements, 4 scalars will be read from \a *from and
+  * duplicated to form: {from[0],from[0],from[1],from[1],from[2],from[2],from[3],from[3]}
+  * Currently, this function is only used for scalar * complex products.
+  */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+ploaddup(const typename unpacket_traits<Packet>::type* from) { return *from; }
+
+/** \internal \returns a packet with elements of \a *from quadrupled.
+  * For instance, for a packet of 8 elements, 2 scalars will be read from \a *from and
+  * replicated to form: {from[0],from[0],from[0],from[0],from[1],from[1],from[1],from[1]}
+  * Currently, this function is only used in matrix products.
+  * For packet-size smaller or equal to 4, this function is equivalent to pload1 
+  */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+ploadquad(const typename unpacket_traits<Packet>::type* from)
+{ return pload1<Packet>(from); }
+
+/** \internal equivalent to
+  * \code
+  * a0 = pload1(a+0);
+  * a1 = pload1(a+1);
+  * a2 = pload1(a+2);
+  * a3 = pload1(a+3);
+  * \endcode
+  * \sa pset1, pload1, ploaddup, pbroadcast2
+  */
+template<typename Packet> EIGEN_DEVICE_FUNC
+inline void pbroadcast4(const typename unpacket_traits<Packet>::type *a,
+                        Packet& a0, Packet& a1, Packet& a2, Packet& a3)
+{
+  a0 = pload1<Packet>(a+0);
+  a1 = pload1<Packet>(a+1);
+  a2 = pload1<Packet>(a+2);
+  a3 = pload1<Packet>(a+3);
+}
+
+/** \internal equivalent to
+  * \code
+  * a0 = pload1(a+0);
+  * a1 = pload1(a+1);
+  * \endcode
+  * \sa pset1, pload1, ploaddup, pbroadcast4
+  */
+template<typename Packet> EIGEN_DEVICE_FUNC
+inline void pbroadcast2(const typename unpacket_traits<Packet>::type *a,
+                        Packet& a0, Packet& a1)
+{
+  a0 = pload1<Packet>(a+0);
+  a1 = pload1<Packet>(a+1);
+}
+
 /** \internal \brief Returns a packet with coefficients (a,a+1,...,a+packet_size-1). */
-template<typename Scalar> inline typename packet_traits<Scalar>::type
-plset(const Scalar& a) { return a; }
+template<typename Packet> inline Packet
+plset(const typename unpacket_traits<Packet>::type& a) { return a; }
 
 /** \internal copy the packet \a from to \a *to, \a to must be 16 bytes aligned */
-template<typename Scalar, typename Packet> inline void pstore(Scalar* to, const Packet& from)
+template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pstore(Scalar* to, const Packet& from)
 { (*to) = from; }
 
 /** \internal copy the packet \a from to \a *to, (un-aligned store) */
-template<typename Scalar, typename Packet> inline void pstoreu(Scalar* to, const Packet& from)
-{ (*to) = from; }
+template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pstoreu(Scalar* to, const Packet& from)
+{  (*to) = from; }
+
+ template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline Packet pgather(const Scalar* from, Index /*stride*/)
+ { return ploadu<Packet>(from); }
+
+ template<typename Scalar, typename Packet> EIGEN_DEVICE_FUNC inline void pscatter(Scalar* to, const Packet& from, Index /*stride*/)
+ { pstore(to, from); }
 
 /** \internal tries to do cache prefetching of \a addr */
-template<typename Scalar> inline void prefetch(const Scalar* addr)
+template<typename Scalar> EIGEN_DEVICE_FUNC inline void prefetch(const Scalar* addr)
 {
-#if !defined(_MSC_VER)
-__builtin_prefetch(addr);
+#ifdef __CUDA_ARCH__
+#if defined(__LP64__)
+  // 64-bit pointer operand constraint for inlined asm
+  asm(" prefetch.L1 [ %1 ];" : "=l"(addr) : "l"(addr));
+#else
+  // 32-bit pointer operand constraint for inlined asm
+  asm(" prefetch.L1 [ %1 ];" : "=r"(addr) : "r"(addr));
+#endif
+#elif (!EIGEN_COMP_MSVC) && (EIGEN_COMP_GNUC || EIGEN_COMP_CLANG || EIGEN_COMP_ICC)
+  __builtin_prefetch(addr);
 #endif
 }
 
 /** \internal \returns the first element of a packet */
-template<typename Packet> inline typename unpacket_traits<Packet>::type pfirst(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type pfirst(const Packet& a)
 { return a; }
 
 /** \internal \returns a packet where the element i contains the sum of the packet of \a vec[i] */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 preduxp(const Packet* vecs) { return vecs[0]; }
 
 /** \internal \returns the sum of the elements of \a a*/
-template<typename Packet> inline typename unpacket_traits<Packet>::type predux(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux(const Packet& a)
+{ return a; }
+
+/** \internal \returns the sum of the elements of \a a by block of 4 elements.
+  * For a packet {a0, a1, a2, a3, a4, a5, a6, a7}, it returns a half packet {a0+a4, a1+a5, a2+a6, a3+a7}
+  * For packet-size smaller or equal to 4, this boils down to a noop.
+  */
+template<typename Packet> EIGEN_DEVICE_FUNC inline
+typename conditional<(unpacket_traits<Packet>::size%8)==0,typename unpacket_traits<Packet>::half,Packet>::type
+predux_downto4(const Packet& a)
 { return a; }
 
 /** \internal \returns the product of the elements of \a a*/
-template<typename Packet> inline typename unpacket_traits<Packet>::type predux_mul(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_mul(const Packet& a)
 { return a; }
 
 /** \internal \returns the min of the elements of \a a*/
-template<typename Packet> inline typename unpacket_traits<Packet>::type predux_min(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_min(const Packet& a)
 { return a; }
 
 /** \internal \returns the max of the elements of \a a*/
-template<typename Packet> inline typename unpacket_traits<Packet>::type predux_max(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline typename unpacket_traits<Packet>::type predux_max(const Packet& a)
 { return a; }
 
 /** \internal \returns the reversed elements of \a a*/
-template<typename Packet> inline Packet preverse(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet preverse(const Packet& a)
 { return a; }
 
-
 /** \internal \returns \a a with real and imaginary part flipped (for complex type only) */
-template<typename Packet> inline Packet pcplxflip(const Packet& a)
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet pcplxflip(const Packet& a)
 {
   // FIXME: uncomment the following in case we drop the internal imag and real functions.
 //   using std::imag;
@@ -250,6 +381,22 @@ Packet pasin(const Packet& a) { using std::asin; return asin(a); }
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
 Packet pacos(const Packet& a) { using std::acos; return acos(a); }
 
+/** \internal \returns the arc tangent of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet patan(const Packet& a) { using std::atan; return atan(a); }
+
+/** \internal \returns the hyperbolic sine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet psinh(const Packet& a) { using std::sinh; return sinh(a); }
+
+/** \internal \returns the hyperbolic cosine of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pcosh(const Packet& a) { using std::cosh; return cosh(a); }
+
+/** \internal \returns the hyperbolic tan of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet ptanh(const Packet& a) { using std::tanh; return tanh(a); }
+
 /** \internal \returns the exp of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
 Packet pexp(const Packet& a) { using std::exp; return exp(a); }
@@ -258,10 +405,36 @@ Packet pexp(const Packet& a) { using std::exp; return exp(a); }
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
 Packet plog(const Packet& a) { using std::log; return log(a); }
 
+/** \internal \returns the log1p of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet plog1p(const Packet& a) { return numext::log1p(a); }
+
+/** \internal \returns the log10 of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet plog10(const Packet& a) { using std::log10; return log10(a); }
+
 /** \internal \returns the square-root of \a a (coeff-wise) */
 template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
 Packet psqrt(const Packet& a) { using std::sqrt; return sqrt(a); }
 
+/** \internal \returns the reciprocal square-root of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet prsqrt(const Packet& a) {
+  return pdiv(pset1<Packet>(1), psqrt(a));
+}
+
+/** \internal \returns the rounded value of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pround(const Packet& a) { using numext::round; return round(a); }
+
+/** \internal \returns the floor of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pfloor(const Packet& a) { using numext::floor; return floor(a); }
+
+/** \internal \returns the ceil of \a a (coeff-wise) */
+template<typename Packet> EIGEN_DECLARE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS
+Packet pceil(const Packet& a) { using numext::ceil; return ceil(a); }
+
 /***************************************************************************
 * The following functions might not have to be overwritten for vectorized types
 ***************************************************************************/
@@ -275,34 +448,45 @@ inline void pstore1(typename unpacket_traits<Packet>::type* to, const typename u
 }
 
 /** \internal \returns a * b + c (coeff-wise) */
-template<typename Packet> inline Packet
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
 pmadd(const Packet&  a,
          const Packet&  b,
          const Packet&  c)
 { return padd(pmul(a, b),c); }
 
 /** \internal \returns a packet version of \a *from.
-  * If LoadMode equals #Aligned, \a from must be 16 bytes aligned */
-template<typename Packet, int LoadMode>
-inline Packet ploadt(const typename unpacket_traits<Packet>::type* from)
+  * The pointer \a from must be aligned on a \a Alignment bytes boundary. */
+template<typename Packet, int Alignment>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet ploadt(const typename unpacket_traits<Packet>::type* from)
 {
-  if(LoadMode == Aligned)
+  if(Alignment >= unpacket_traits<Packet>::alignment)
     return pload<Packet>(from);
   else
     return ploadu<Packet>(from);
 }
 
 /** \internal copy the packet \a from to \a *to.
-  * If StoreMode equals #Aligned, \a to must be 16 bytes aligned */
-template<typename Scalar, typename Packet, int LoadMode>
-inline void pstoret(Scalar* to, const Packet& from)
+  * The pointer \a from must be aligned on a \a Alignment bytes boundary. */
+template<typename Scalar, typename Packet, int Alignment>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void pstoret(Scalar* to, const Packet& from)
 {
-  if(LoadMode == Aligned)
+  if(Alignment >= unpacket_traits<Packet>::alignment)
     pstore(to, from);
   else
     pstoreu(to, from);
 }
 
+/** \internal \returns a packet version of \a *from.
+  * Unlike ploadt, ploadt_ro takes advantage of the read-only memory path on the
+  * hardware if available to speedup the loading of data that won't be modified
+  * by the current computation.
+  */
+template<typename Packet, int LoadMode>
+inline Packet ploadt_ro(const typename unpacket_traits<Packet>::type* from)
+{
+  return ploadt<Packet, LoadMode>(from);
+}
+
 /** \internal default implementation of palign() allowing partial specialization */
 template<int Offset,typename PacketType>
 struct palign_impl
@@ -336,15 +520,74 @@ inline void palign(PacketType& first, const PacketType& second)
 * Fast complex products (GCC generates a function call which is very slow)
 ***************************************************************************/
 
+// Eigen+CUDA does not support complexes.
+#ifndef __CUDACC__
+
 template<> inline std::complex<float> pmul(const std::complex<float>& a, const std::complex<float>& b)
 { return std::complex<float>(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); }
 
 template<> inline std::complex<double> pmul(const std::complex<double>& a, const std::complex<double>& b)
 { return std::complex<double>(real(a)*real(b) - imag(a)*imag(b), imag(a)*real(b) + real(a)*imag(b)); }
 
+#endif
+
+
+/***************************************************************************
+ * PacketBlock, that is a collection of N packets where the number of words
+ * in the packet is a multiple of N.
+***************************************************************************/
+template <typename Packet,int N=unpacket_traits<Packet>::size> struct PacketBlock {
+  Packet packet[N];
+};
+
+template<typename Packet> EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet,1>& /*kernel*/) {
+  // Nothing to do in the scalar case, i.e. a 1x1 matrix.
+}
+
+/***************************************************************************
+ * Selector, i.e. vector of N boolean values used to select (i.e. blend)
+ * words from 2 packets.
+***************************************************************************/
+template <size_t N> struct Selector {
+  bool select[N];
+};
+
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pblend(const Selector<unpacket_traits<Packet>::size>& ifPacket, const Packet& thenPacket, const Packet& elsePacket) {
+  return ifPacket.select[0] ? thenPacket : elsePacket;
+}
+
+/** \internal \returns \a a with the first coefficient replaced by the scalar b */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pinsertfirst(const Packet& a, typename unpacket_traits<Packet>::type b)
+{
+  // Default implementation based on pblend.
+  // It must be specialized for higher performance.
+  Selector<unpacket_traits<Packet>::size> mask;
+  mask.select[0] = true;
+  // This for loop should be optimized away by the compiler.
+  for(Index i=1; i<unpacket_traits<Packet>::size; ++i)
+    mask.select[i] = false;
+  return pblend(mask, pset1<Packet>(b), a);
+}
+
+/** \internal \returns \a a with the last coefficient replaced by the scalar b */
+template<typename Packet> EIGEN_DEVICE_FUNC inline Packet
+pinsertlast(const Packet& a, typename unpacket_traits<Packet>::type b)
+{
+  // Default implementation based on pblend.
+  // It must be specialized for higher performance.
+  Selector<unpacket_traits<Packet>::size> mask;
+  // This for loop should be optimized away by the compiler.
+  for(Index i=0; i<unpacket_traits<Packet>::size-1; ++i)
+    mask.select[i] = false;
+  mask.select[unpacket_traits<Packet>::size-1] = true;
+  return pblend(mask, pset1<Packet>(b), a);
+}
+
 } // end namespace internal
 
 } // end namespace Eigen
 
 #endif // EIGEN_GENERIC_PACKET_MATH_H
-
diff --git a/eigenlib/Eigen/src/Core/GlobalFunctions.h b/eigenlib/Eigen/src/Core/GlobalFunctions.h
index 2acf9772..769dc255 100644
--- a/eigenlib/Eigen/src/Core/GlobalFunctions.h
+++ b/eigenlib/Eigen/src/Core/GlobalFunctions.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2010-2012 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -11,13 +11,30 @@
 #ifndef EIGEN_GLOBAL_FUNCTIONS_H
 #define EIGEN_GLOBAL_FUNCTIONS_H
 
-#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR) \
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+
+#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \
+  /** \returns an expression of the coefficient-wise DOC_OP of \a x
+
+    DOC_DETAILS
+
+    \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_##NAME">Math functions</a>, class CwiseUnaryOp
+    */ \
   template<typename Derived> \
   inline const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> \
-  NAME(const Eigen::ArrayBase<Derived>& x) { \
-    return x.derived(); \
+  NAME(const Eigen::ArrayBase<Derived>& x);
+
+#else
+
+#define EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(NAME,FUNCTOR,DOC_OP,DOC_DETAILS) \
+  template<typename Derived> \
+  inline const Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived> \
+  (NAME)(const Eigen::ArrayBase<Derived>& x) { \
+    return Eigen::CwiseUnaryOp<Eigen::internal::FUNCTOR<typename Derived::Scalar>, const Derived>(x.derived()); \
   }
 
+#endif // EIGEN_PARSED_BY_DOXYGEN
+
 #define EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(NAME,FUNCTOR) \
   \
   template<typename Derived> \
@@ -30,55 +47,133 @@
   { \
     static inline typename NAME##_retval<ArrayBase<Derived> >::type run(const Eigen::ArrayBase<Derived>& x) \
     { \
-      return x.derived(); \
+      return typename NAME##_retval<ArrayBase<Derived> >::type(x.derived()); \
     } \
   };
 
-
 namespace Eigen
 {
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(real,scalar_real_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(imag,scalar_imag_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(conj,scalar_conjugate_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sin,scalar_sin_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cos,scalar_cos_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(asin,scalar_asin_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(acos,scalar_acos_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tan,scalar_tan_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(exp,scalar_exp_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log,scalar_log_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs,scalar_abs_op)
-  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sqrt,scalar_sqrt_op)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(real,scalar_real_op,real part,\sa ArrayBase::real)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(imag,scalar_imag_op,imaginary part,\sa ArrayBase::imag)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(conj,scalar_conjugate_op,complex conjugate,\sa ArrayBase::conjugate)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(inverse,scalar_inverse_op,inverse,\sa ArrayBase::inverse)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sin,scalar_sin_op,sine,\sa ArrayBase::sin)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cos,scalar_cos_op,cosine,\sa ArrayBase::cos)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tan,scalar_tan_op,tangent,\sa ArrayBase::tan)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(atan,scalar_atan_op,arc-tangent,\sa ArrayBase::atan)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(asin,scalar_asin_op,arc-sine,\sa ArrayBase::asin)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(acos,scalar_acos_op,arc-consine,\sa ArrayBase::acos)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sinh,scalar_sinh_op,hyperbolic sine,\sa ArrayBase::sinh)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cosh,scalar_cosh_op,hyperbolic cosine,\sa ArrayBase::cosh)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(tanh,scalar_tanh_op,hyperbolic tangent,\sa ArrayBase::tanh)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(lgamma,scalar_lgamma_op,natural logarithm of the gamma function,\sa ArrayBase::lgamma)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(digamma,scalar_digamma_op,derivative of lgamma,\sa ArrayBase::digamma)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erf,scalar_erf_op,error function,\sa ArrayBase::erf)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(erfc,scalar_erfc_op,complement error function,\sa ArrayBase::erfc)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(exp,scalar_exp_op,exponential,\sa ArrayBase::exp)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log,scalar_log_op,natural logarithm,\sa Eigen::log10 DOXCOMMA ArrayBase::log)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log1p,scalar_log1p_op,natural logarithm of 1 plus the value,\sa ArrayBase::log1p)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(log10,scalar_log10_op,base 10 logarithm,\sa Eigen::log DOXCOMMA ArrayBase::log)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs,scalar_abs_op,absolute value,\sa ArrayBase::abs DOXCOMMA MatrixBase::cwiseAbs)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(abs2,scalar_abs2_op,squared absolute value,\sa ArrayBase::abs2 DOXCOMMA MatrixBase::cwiseAbs2)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(arg,scalar_arg_op,complex argument,\sa ArrayBase::arg)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sqrt,scalar_sqrt_op,square root,\sa ArrayBase::sqrt DOXCOMMA MatrixBase::cwiseSqrt)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(rsqrt,scalar_rsqrt_op,reciprocal square root,\sa ArrayBase::rsqrt)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(square,scalar_square_op,square (power 2),\sa Eigen::abs2 DOXCOMMA Eigen::pow DOXCOMMA ArrayBase::square)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(cube,scalar_cube_op,cube (power 3),\sa Eigen::pow DOXCOMMA ArrayBase::cube)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(round,scalar_round_op,nearest integer,\sa Eigen::floor DOXCOMMA Eigen::ceil DOXCOMMA ArrayBase::round)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(floor,scalar_floor_op,nearest integer not greater than the giben value,\sa Eigen::ceil DOXCOMMA ArrayBase::floor)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(ceil,scalar_ceil_op,nearest integer not less than the giben value,\sa Eigen::floor DOXCOMMA ArrayBase::ceil)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isnan,scalar_isnan_op,not-a-number test,\sa Eigen::isinf DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isnan)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isinf,scalar_isinf_op,infinite value test,\sa Eigen::isnan DOXCOMMA Eigen::isfinite DOXCOMMA ArrayBase::isinf)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(isfinite,scalar_isfinite_op,finite value test,\sa Eigen::isinf DOXCOMMA Eigen::isnan DOXCOMMA ArrayBase::isfinite)
+  EIGEN_ARRAY_DECLARE_GLOBAL_UNARY(sign,scalar_sign_op,sign (or 0),\sa ArrayBase::sign)
   
-  template<typename Derived>
-  inline const Eigen::CwiseUnaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar>, const Derived>
-  pow(const Eigen::ArrayBase<Derived>& x, const typename Derived::Scalar& exponent) {
+  /** \returns an expression of the coefficient-wise power of \a x to the given constant \a exponent.
+    *
+    * \tparam ScalarExponent is the scalar type of \a exponent. It must be compatible with the scalar type of the given expression (\c Derived::Scalar).
+    *
+    * \sa ArrayBase::pow()
+    *
+    * \relates ArrayBase
+    */
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+  template<typename Derived,typename ScalarExponent>
+  inline const CwiseBinaryOp<internal::scalar_pow_op<Derived::Scalar,ScalarExponent>,Derived,Constant<ScalarExponent> >
+  pow(const Eigen::ArrayBase<Derived>& x, const ScalarExponent& exponent);
+#else
+  template<typename Derived,typename ScalarExponent>
+  inline typename internal::enable_if<   !(internal::is_same<typename Derived::Scalar,ScalarExponent>::value) && EIGEN_SCALAR_BINARY_SUPPORTED(pow,typename Derived::Scalar,ScalarExponent),
+          const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,ScalarExponent,pow) >::type
+  pow(const Eigen::ArrayBase<Derived>& x, const ScalarExponent& exponent) {
     return x.derived().pow(exponent);
   }
 
   template<typename Derived>
-  inline const Eigen::CwiseBinaryOp<Eigen::internal::scalar_binary_pow_op<typename Derived::Scalar, typename Derived::Scalar>, const Derived, const Derived>
-  pow(const Eigen::ArrayBase<Derived>& x, const Eigen::ArrayBase<Derived>& exponents) 
+  inline const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,typename Derived::Scalar,pow)
+  pow(const Eigen::ArrayBase<Derived>& x, const typename Derived::Scalar& exponent) {
+    return x.derived().pow(exponent);
+  }
+#endif
+
+  /** \returns an expression of the coefficient-wise power of \a x to the given array of \a exponents.
+    *
+    * This function computes the coefficient-wise power.
+    *
+    * Example: \include Cwise_array_power_array.cpp
+    * Output: \verbinclude Cwise_array_power_array.out
+    * 
+    * \sa ArrayBase::pow()
+    *
+    * \relates ArrayBase
+    */
+  template<typename Derived,typename ExponentDerived>
+  inline const Eigen::CwiseBinaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar, typename ExponentDerived::Scalar>, const Derived, const ExponentDerived>
+  pow(const Eigen::ArrayBase<Derived>& x, const Eigen::ArrayBase<ExponentDerived>& exponents) 
   {
-    return Eigen::CwiseBinaryOp<Eigen::internal::scalar_binary_pow_op<typename Derived::Scalar, typename Derived::Scalar>, const Derived, const Derived>(
+    return Eigen::CwiseBinaryOp<Eigen::internal::scalar_pow_op<typename Derived::Scalar, typename ExponentDerived::Scalar>, const Derived, const ExponentDerived>(
       x.derived(),
       exponents.derived()
     );
   }
   
-  /**
-  * \brief Component-wise division of a scalar by array elements.
-  **/
-  template <typename Derived>
-  inline const Eigen::CwiseUnaryOp<Eigen::internal::scalar_inverse_mult_op<typename Derived::Scalar>, const Derived>
-    operator/(const typename Derived::Scalar& s, const Eigen::ArrayBase<Derived>& a)
+  /** \returns an expression of the coefficient-wise power of the scalar \a x to the given array of \a exponents.
+    *
+    * This function computes the coefficient-wise power between a scalar and an array of exponents.
+    *
+    * \tparam Scalar is the scalar type of \a x. It must be compatible with the scalar type of the given array expression (\c Derived::Scalar).
+    *
+    * Example: \include Cwise_scalar_power_array.cpp
+    * Output: \verbinclude Cwise_scalar_power_array.out
+    * 
+    * \sa ArrayBase::pow()
+    *
+    * \relates ArrayBase
+    */
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+  template<typename Scalar,typename Derived>
+  inline const CwiseBinaryOp<internal::scalar_pow_op<Scalar,Derived::Scalar>,Constant<Scalar>,Derived>
+  pow(const Scalar& x,const Eigen::ArrayBase<Derived>& x);
+#else
+  template<typename Scalar, typename Derived>
+  inline typename internal::enable_if<   !(internal::is_same<typename Derived::Scalar,Scalar>::value) && EIGEN_SCALAR_BINARY_SUPPORTED(pow,Scalar,typename Derived::Scalar),
+          const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,Derived,pow) >::type
+  pow(const Scalar& x, const Eigen::ArrayBase<Derived>& exponents)
   {
-    return Eigen::CwiseUnaryOp<Eigen::internal::scalar_inverse_mult_op<typename Derived::Scalar>, const Derived>(
-      a.derived(),
-      Eigen::internal::scalar_inverse_mult_op<typename Derived::Scalar>(s)  
-    );
+    return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,Derived,pow)(
+            typename internal::plain_constant_type<Derived,Scalar>::type(exponents.rows(), exponents.cols(), x), exponents.derived() );
   }
 
+  template<typename Derived>
+  inline const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename Derived::Scalar,Derived,pow)
+  pow(const typename Derived::Scalar& x, const Eigen::ArrayBase<Derived>& exponents)
+  {
+    return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename Derived::Scalar,Derived,pow)(
+      typename internal::plain_constant_type<Derived,typename Derived::Scalar>::type(exponents.rows(), exponents.cols(), x), exponents.derived() );
+  }
+#endif
+
+
   namespace internal
   {
     EIGEN_ARRAY_DECLARE_GLOBAL_EIGEN_UNARY(real,scalar_real_op)
diff --git a/eigenlib/Eigen/src/Core/IO.h b/eigenlib/Eigen/src/Core/IO.h
index 8d4bc59e..644228c3 100644
--- a/eigenlib/Eigen/src/Core/IO.h
+++ b/eigenlib/Eigen/src/Core/IO.h
@@ -49,7 +49,7 @@ std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat&
   */
 struct IOFormat
 {
-  /** Default contructor, see class IOFormat for the meaning of the parameters */
+  /** Default constructor, see class IOFormat for the meaning of the parameters */
   IOFormat(int _precision = StreamPrecision, int _flags = 0,
     const std::string& _coeffSeparator = " ",
     const std::string& _rowSeparator = "\n", const std::string& _rowPrefix="", const std::string& _rowSuffix="",
@@ -57,6 +57,10 @@ struct IOFormat
   : matPrefix(_matPrefix), matSuffix(_matSuffix), rowPrefix(_rowPrefix), rowSuffix(_rowSuffix), rowSeparator(_rowSeparator),
     rowSpacer(""), coeffSeparator(_coeffSeparator), precision(_precision), flags(_flags)
   {
+    // TODO check if rowPrefix, rowSuffix or rowSeparator contains a newline
+    // don't add rowSpacer if columns are not to be aligned
+    if((flags & DontAlignCols))
+      return;
     int i = int(matSuffix.length())-1;
     while (i>=0 && matSuffix[i]!='\n')
     {
@@ -76,7 +80,7 @@ struct IOFormat
   *
   * \brief Pseudo expression providing matrix output with given format
   *
-  * \param ExpressionType the type of the object on which IO stream operations are performed
+  * \tparam ExpressionType the type of the object on which IO stream operations are performed
   *
   * This class represents an expression with stream operators controlled by a given IOFormat.
   * It is the return type of DenseBase::format()
@@ -101,7 +105,7 @@ class WithFormat
     }
 
   protected:
-    const typename ExpressionType::Nested m_matrix;
+    typename ExpressionType::Nested m_matrix;
     IOFormat m_format;
 };
 
@@ -121,31 +125,17 @@ DenseBase<Derived>::format(const IOFormat& fmt) const
 
 namespace internal {
 
-template<typename Scalar, bool IsInteger>
-struct significant_decimals_default_impl
-{
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  static inline int run()
-  {
-    using std::ceil;
-    using std::log;
-    return cast<RealScalar,int>(ceil(-log(NumTraits<RealScalar>::epsilon())/log(RealScalar(10))));
-  }
-};
-
-template<typename Scalar>
-struct significant_decimals_default_impl<Scalar, true>
-{
-  static inline int run()
-  {
-    return 0;
-  }
-};
-
+// NOTE: This helper is kept for backward compatibility with previous code specializing
+//       this internal::significant_decimals_impl structure. In the future we should directly
+//       call digits10() which has been introduced in July 2016 in 3.3.
 template<typename Scalar>
 struct significant_decimals_impl
-  : significant_decimals_default_impl<Scalar, NumTraits<Scalar>::IsInteger>
-{};
+{
+  static inline int run()
+  {
+    return NumTraits<Scalar>::digits10();
+  }
+};
 
 /** \internal
   * print the matrix \a _m to the output stream \a s using the output format \a fmt */
@@ -160,7 +150,6 @@ std::ostream & print_matrix(std::ostream & s, const Derived& _m, const IOFormat&
   
   typename Derived::Nested m = _m;
   typedef typename Derived::Scalar Scalar;
-  typedef typename Derived::Index Index;
 
   Index width = 0;
 
diff --git a/eigenlib/Eigen/src/Core/Inverse.h b/eigenlib/Eigen/src/Core/Inverse.h
new file mode 100644
index 00000000..b76f0439
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/Inverse.h
@@ -0,0 +1,118 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_INVERSE_H
+#define EIGEN_INVERSE_H
+
+namespace Eigen { 
+
+template<typename XprType,typename StorageKind> class InverseImpl;
+
+namespace internal {
+
+template<typename XprType>
+struct traits<Inverse<XprType> >
+  : traits<typename XprType::PlainObject>
+{
+  typedef typename XprType::PlainObject PlainObject;
+  typedef traits<PlainObject> BaseTraits;
+  enum {
+    Flags = BaseTraits::Flags & RowMajorBit
+  };
+};
+
+} // end namespace internal
+
+/** \class Inverse
+  *
+  * \brief Expression of the inverse of another expression
+  *
+  * \tparam XprType the type of the expression we are taking the inverse
+  *
+  * This class represents an abstract expression of A.inverse()
+  * and most of the time this is the only way it is used.
+  *
+  */
+template<typename XprType>
+class Inverse : public InverseImpl<XprType,typename internal::traits<XprType>::StorageKind>
+{
+public:
+  typedef typename XprType::StorageIndex StorageIndex;
+  typedef typename XprType::PlainObject                       PlainObject;
+  typedef typename XprType::Scalar                            Scalar;
+  typedef typename internal::ref_selector<XprType>::type      XprTypeNested;
+  typedef typename internal::remove_all<XprTypeNested>::type  XprTypeNestedCleaned;
+  typedef typename internal::ref_selector<Inverse>::type Nested;
+  typedef typename internal::remove_all<XprType>::type NestedExpression;
+  
+  explicit EIGEN_DEVICE_FUNC Inverse(const XprType &xpr)
+    : m_xpr(xpr)
+  {}
+
+  EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
+  EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
+
+  EIGEN_DEVICE_FUNC const XprTypeNestedCleaned& nestedExpression() const { return m_xpr; }
+
+protected:
+  XprTypeNested m_xpr;
+};
+
+// Generic API dispatcher
+template<typename XprType, typename StorageKind>
+class InverseImpl
+  : public internal::generic_xpr_base<Inverse<XprType> >::type
+{
+public:
+  typedef typename internal::generic_xpr_base<Inverse<XprType> >::type Base;
+  typedef typename XprType::Scalar Scalar;
+private:
+
+  Scalar coeff(Index row, Index col) const;
+  Scalar coeff(Index i) const;
+};
+
+namespace internal {
+
+/** \internal
+  * \brief Default evaluator for Inverse expression.
+  * 
+  * This default evaluator for Inverse expression simply evaluate the inverse into a temporary
+  * by a call to internal::call_assignment_no_alias.
+  * Therefore, inverse implementers only have to specialize Assignment<Dst,Inverse<...>, ...> for
+  * there own nested expression.
+  *
+  * \sa class Inverse
+  */
+template<typename ArgType>
+struct unary_evaluator<Inverse<ArgType> >
+  : public evaluator<typename Inverse<ArgType>::PlainObject>
+{
+  typedef Inverse<ArgType> InverseType;
+  typedef typename InverseType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+  
+  enum { Flags = Base::Flags | EvalBeforeNestingBit };
+
+  unary_evaluator(const InverseType& inv_xpr)
+    : m_result(inv_xpr.rows(), inv_xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    internal::call_assignment_no_alias(m_result, inv_xpr);
+  }
+  
+protected:
+  PlainObject m_result;
+};
+  
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_INVERSE_H
diff --git a/eigenlib/Eigen/src/Core/Map.h b/eigenlib/Eigen/src/Core/Map.h
index f804c89d..06d19670 100644
--- a/eigenlib/Eigen/src/Core/Map.h
+++ b/eigenlib/Eigen/src/Core/Map.h
@@ -13,13 +13,35 @@
 
 namespace Eigen { 
 
+namespace internal {
+template<typename PlainObjectType, int MapOptions, typename StrideType>
+struct traits<Map<PlainObjectType, MapOptions, StrideType> >
+  : public traits<PlainObjectType>
+{
+  typedef traits<PlainObjectType> TraitsBase;
+  enum {
+    InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0
+                             ? int(PlainObjectType::InnerStrideAtCompileTime)
+                             : int(StrideType::InnerStrideAtCompileTime),
+    OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0
+                             ? int(PlainObjectType::OuterStrideAtCompileTime)
+                             : int(StrideType::OuterStrideAtCompileTime),
+    Alignment = int(MapOptions)&int(AlignedMask),
+    Flags0 = TraitsBase::Flags & (~NestByRefBit),
+    Flags = is_lvalue<PlainObjectType>::value ? int(Flags0) : (int(Flags0) & ~LvalueBit)
+  };
+private:
+  enum { Options }; // Expressions don't have Options
+};
+}
+
 /** \class Map
   * \ingroup Core_Module
   *
   * \brief A matrix or vector expression mapping an existing array of data.
   *
   * \tparam PlainObjectType the equivalent matrix type of the mapped data
-  * \tparam MapOptions specifies whether the pointer is \c #Aligned, or \c #Unaligned.
+  * \tparam MapOptions specifies the pointer alignment in bytes. It can be: \c #Aligned128, , \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 or \c #Unaligned.
   *                The default is \c #Unaligned.
   * \tparam StrideType optionally specifies strides. By default, Map assumes the memory layout
   *                   of an ordinary, contiguous array. This can be overridden by specifying strides.
@@ -63,44 +85,6 @@ namespace Eigen {
   *
   * \sa PlainObjectBase::Map(), \ref TopicStorageOrders
   */
-
-namespace internal {
-template<typename PlainObjectType, int MapOptions, typename StrideType>
-struct traits<Map<PlainObjectType, MapOptions, StrideType> >
-  : public traits<PlainObjectType>
-{
-  typedef traits<PlainObjectType> TraitsBase;
-  typedef typename PlainObjectType::Index Index;
-  typedef typename PlainObjectType::Scalar Scalar;
-  enum {
-    InnerStrideAtCompileTime = StrideType::InnerStrideAtCompileTime == 0
-                             ? int(PlainObjectType::InnerStrideAtCompileTime)
-                             : int(StrideType::InnerStrideAtCompileTime),
-    OuterStrideAtCompileTime = StrideType::OuterStrideAtCompileTime == 0
-                             ? int(PlainObjectType::OuterStrideAtCompileTime)
-                             : int(StrideType::OuterStrideAtCompileTime),
-    HasNoInnerStride = InnerStrideAtCompileTime == 1,
-    HasNoOuterStride = StrideType::OuterStrideAtCompileTime == 0,
-    HasNoStride = HasNoInnerStride && HasNoOuterStride,
-    IsAligned = bool(EIGEN_ALIGN) && ((int(MapOptions)&Aligned)==Aligned),
-    IsDynamicSize = PlainObjectType::SizeAtCompileTime==Dynamic,
-    KeepsPacketAccess = bool(HasNoInnerStride)
-                        && ( bool(IsDynamicSize)
-                           || HasNoOuterStride
-                           || ( OuterStrideAtCompileTime!=Dynamic
-                           && ((static_cast<int>(sizeof(Scalar))*OuterStrideAtCompileTime)%16)==0 ) ),
-    Flags0 = TraitsBase::Flags & (~NestByRefBit),
-    Flags1 = IsAligned ? (int(Flags0) | AlignedBit) : (int(Flags0) & ~AlignedBit),
-    Flags2 = (bool(HasNoStride) || bool(PlainObjectType::IsVectorAtCompileTime))
-           ? int(Flags1) : int(Flags1 & ~LinearAccessBit),
-    Flags3 = is_lvalue<PlainObjectType>::value ? int(Flags2) : (int(Flags2) & ~LvalueBit),
-    Flags = KeepsPacketAccess ? int(Flags3) : (int(Flags3) & ~PacketAccessBit)
-  };
-private:
-  enum { Options }; // Expressions don't have Options
-};
-}
-
 template<typename PlainObjectType, int MapOptions, typename StrideType> class Map
   : public MapBase<Map<PlainObjectType, MapOptions, StrideType> >
 {
@@ -110,19 +94,17 @@ template<typename PlainObjectType, int MapOptions, typename StrideType> class Ma
     EIGEN_DENSE_PUBLIC_INTERFACE(Map)
 
     typedef typename Base::PointerType PointerType;
-#if EIGEN2_SUPPORT_STAGE <= STAGE30_FULL_EIGEN3_API
-    typedef const Scalar* PointerArgType;
-    inline PointerType cast_to_pointer_type(PointerArgType ptr) { return const_cast<PointerType>(ptr); }
-#else
     typedef PointerType PointerArgType;
+    EIGEN_DEVICE_FUNC
     inline PointerType cast_to_pointer_type(PointerArgType ptr) { return ptr; }
-#endif
 
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const
     {
       return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1;
     }
 
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const
     {
       return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer()
@@ -134,10 +116,11 @@ template<typename PlainObjectType, int MapOptions, typename StrideType> class Ma
     /** Constructor in the fixed-size case.
       *
       * \param dataPtr pointer to the array to map
-      * \param a_stride optional Stride object, passing the strides.
+      * \param stride optional Stride object, passing the strides.
       */
-    inline Map(PointerArgType dataPtr, const StrideType& a_stride = StrideType())
-      : Base(cast_to_pointer_type(dataPtr)), m_stride(a_stride)
+    EIGEN_DEVICE_FUNC
+    explicit inline Map(PointerArgType dataPtr, const StrideType& stride = StrideType())
+      : Base(cast_to_pointer_type(dataPtr)), m_stride(stride)
     {
       PlainObjectType::Base::_check_template_params();
     }
@@ -145,11 +128,12 @@ template<typename PlainObjectType, int MapOptions, typename StrideType> class Ma
     /** Constructor in the dynamic-size vector case.
       *
       * \param dataPtr pointer to the array to map
-      * \param a_size the size of the vector expression
-      * \param a_stride optional Stride object, passing the strides.
+      * \param size the size of the vector expression
+      * \param stride optional Stride object, passing the strides.
       */
-    inline Map(PointerArgType dataPtr, Index a_size, const StrideType& a_stride = StrideType())
-      : Base(cast_to_pointer_type(dataPtr), a_size), m_stride(a_stride)
+    EIGEN_DEVICE_FUNC
+    inline Map(PointerArgType dataPtr, Index size, const StrideType& stride = StrideType())
+      : Base(cast_to_pointer_type(dataPtr), size), m_stride(stride)
     {
       PlainObjectType::Base::_check_template_params();
     }
@@ -157,12 +141,13 @@ template<typename PlainObjectType, int MapOptions, typename StrideType> class Ma
     /** Constructor in the dynamic-size matrix case.
       *
       * \param dataPtr pointer to the array to map
-      * \param nbRows the number of rows of the matrix expression
-      * \param nbCols the number of columns of the matrix expression
-      * \param a_stride optional Stride object, passing the strides.
+      * \param rows the number of rows of the matrix expression
+      * \param cols the number of columns of the matrix expression
+      * \param stride optional Stride object, passing the strides.
       */
-    inline Map(PointerArgType dataPtr, Index nbRows, Index nbCols, const StrideType& a_stride = StrideType())
-      : Base(cast_to_pointer_type(dataPtr), nbRows, nbCols), m_stride(a_stride)
+    EIGEN_DEVICE_FUNC
+    inline Map(PointerArgType dataPtr, Index rows, Index cols, const StrideType& stride = StrideType())
+      : Base(cast_to_pointer_type(dataPtr), rows, cols), m_stride(stride)
     {
       PlainObjectType::Base::_check_template_params();
     }
@@ -173,19 +158,6 @@ template<typename PlainObjectType, int MapOptions, typename StrideType> class Ma
     StrideType m_stride;
 };
 
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
-  ::Array(const Scalar *data)
-{
-  this->_set_noalias(Eigen::Map<const Array>(data));
-}
-
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-inline Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>
-  ::Matrix(const Scalar *data)
-{
-  this->_set_noalias(Eigen::Map<const Matrix>(data));
-}
 
 } // end namespace Eigen
 
diff --git a/eigenlib/Eigen/src/Core/MapBase.h b/eigenlib/Eigen/src/Core/MapBase.h
index 92e11412..020f939a 100644
--- a/eigenlib/Eigen/src/Core/MapBase.h
+++ b/eigenlib/Eigen/src/Core/MapBase.h
@@ -12,15 +12,25 @@
 #define EIGEN_MAPBASE_H
 
 #define EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived) \
-      EIGEN_STATIC_ASSERT((int(internal::traits<Derived>::Flags) & LinearAccessBit) || Derived::IsVectorAtCompileTime, \
+      EIGEN_STATIC_ASSERT((int(internal::evaluator<Derived>::Flags) & LinearAccessBit) || Derived::IsVectorAtCompileTime, \
                           YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT)
 
 namespace Eigen { 
 
-/** \class MapBase
-  * \ingroup Core_Module
+/** \ingroup Core_Module
   *
-  * \brief Base class for Map and Block expression with direct access
+  * \brief Base class for dense Map and Block expression with direct access
+  *
+  * This base class provides the const low-level accessors (e.g. coeff, coeffRef) of dense
+  * Map and Block objects with direct access.
+  * Typical users do not have to directly deal with this class.
+  *
+  * This class can be extended by through the macro plugin \c EIGEN_MAPBASE_PLUGIN.
+  * See \link TopicCustomizing_Plugins customizing Eigen \endlink for details.
+  *
+  * The \c Derived class has to provide the following two methods describing the memory layout:
+  *  \code Index innerStride() const; \endcode
+  *  \code Index outerStride() const; \endcode
   *
   * \sa class Map, class Block
   */
@@ -37,7 +47,6 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
     };
 
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
@@ -76,8 +85,10 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
 
     typedef typename Base::CoeffReturnType CoeffReturnType;
 
-    inline Index rows() const { return m_rows.value(); }
-    inline Index cols() const { return m_cols.value(); }
+    /** \copydoc DenseBase::rows() */
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_rows.value(); }
+    /** \copydoc DenseBase::cols() */
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_cols.value(); }
 
     /** Returns a pointer to the first coefficient of the matrix or vector.
       *
@@ -85,30 +96,39 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
       *
       * \sa innerStride(), outerStride()
       */
-    inline const Scalar* data() const { return m_data; }
+    EIGEN_DEVICE_FUNC inline const Scalar* data() const { return m_data; }
 
+    /** \copydoc PlainObjectBase::coeff(Index,Index) const */
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeff(Index rowId, Index colId) const
     {
       return m_data[colId * colStride() + rowId * rowStride()];
     }
 
+    /** \copydoc PlainObjectBase::coeff(Index) const */
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeff(Index index) const
     {
       EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
       return m_data[index * innerStride()];
     }
 
+    /** \copydoc PlainObjectBase::coeffRef(Index,Index) const */
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index rowId, Index colId) const
     {
       return this->m_data[colId * colStride() + rowId * rowStride()];
     }
 
+    /** \copydoc PlainObjectBase::coeffRef(Index) const */
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index index) const
     {
       EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
       return this->m_data[index * innerStride()];
     }
 
+    /** \internal */
     template<int LoadMode>
     inline PacketScalar packet(Index rowId, Index colId) const
     {
@@ -116,6 +136,7 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
                (m_data + (colId * colStride() + rowId * rowStride()));
     }
 
+    /** \internal */
     template<int LoadMode>
     inline PacketScalar packet(Index index) const
     {
@@ -123,12 +144,16 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
       return internal::ploadt<PacketScalar, LoadMode>(m_data + index * innerStride());
     }
 
-    inline MapBase(PointerType dataPtr) : m_data(dataPtr), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime)
+    /** \internal Constructor for fixed size matrices or vectors */
+    EIGEN_DEVICE_FUNC
+    explicit inline MapBase(PointerType dataPtr) : m_data(dataPtr), m_rows(RowsAtCompileTime), m_cols(ColsAtCompileTime)
     {
       EIGEN_STATIC_ASSERT_FIXED_SIZE(Derived)
-      checkSanity();
+      checkSanity<Derived>();
     }
 
+    /** \internal Constructor for dynamically sized vectors */
+    EIGEN_DEVICE_FUNC
     inline MapBase(PointerType dataPtr, Index vecSize)
             : m_data(dataPtr),
               m_rows(RowsAtCompileTime == Dynamic ? vecSize : Index(RowsAtCompileTime)),
@@ -137,34 +162,56 @@ template<typename Derived> class MapBase<Derived, ReadOnlyAccessors>
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
       eigen_assert(vecSize >= 0);
       eigen_assert(dataPtr == 0 || SizeAtCompileTime == Dynamic || SizeAtCompileTime == vecSize);
-      checkSanity();
+      checkSanity<Derived>();
     }
 
-    inline MapBase(PointerType dataPtr, Index nbRows, Index nbCols)
-            : m_data(dataPtr), m_rows(nbRows), m_cols(nbCols)
+    /** \internal Constructor for dynamically sized matrices */
+    EIGEN_DEVICE_FUNC
+    inline MapBase(PointerType dataPtr, Index rows, Index cols)
+            : m_data(dataPtr), m_rows(rows), m_cols(cols)
     {
       eigen_assert( (dataPtr == 0)
-              || (   nbRows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == nbRows)
-                  && nbCols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == nbCols)));
-      checkSanity();
+              || (   rows >= 0 && (RowsAtCompileTime == Dynamic || RowsAtCompileTime == rows)
+                  && cols >= 0 && (ColsAtCompileTime == Dynamic || ColsAtCompileTime == cols)));
+      checkSanity<Derived>();
     }
 
+    #ifdef EIGEN_MAPBASE_PLUGIN
+    #include EIGEN_MAPBASE_PLUGIN
+    #endif
+
   protected:
 
-    void checkSanity() const
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    void checkSanity(typename internal::enable_if<(internal::traits<T>::Alignment>0),void*>::type = 0) const
     {
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(internal::traits<Derived>::Flags&PacketAccessBit,
-                                        internal::inner_stride_at_compile_time<Derived>::ret==1),
-                          PACKET_ACCESS_REQUIRES_TO_HAVE_INNER_STRIDE_FIXED_TO_1);
-      eigen_assert(EIGEN_IMPLIES(internal::traits<Derived>::Flags&AlignedBit, (size_t(m_data) % 16) == 0)
-                   && "input pointer is not aligned on a 16 byte boundary");
+#if EIGEN_MAX_ALIGN_BYTES>0
+      eigen_assert((   ((internal::UIntPtr(m_data) % internal::traits<Derived>::Alignment) == 0)
+                    || (cols() * rows() * innerStride() * sizeof(Scalar)) < internal::traits<Derived>::Alignment ) && "data is not aligned");
+#endif
     }
 
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    void checkSanity(typename internal::enable_if<internal::traits<T>::Alignment==0,void*>::type = 0) const
+    {}
+
     PointerType m_data;
     const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_rows;
     const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_cols;
 };
 
+/** \ingroup Core_Module
+  *
+  * \brief Base class for non-const dense Map and Block expression with direct access
+  *
+  * This base class provides the non-const low-level accessors (e.g. coeff and coeffRef) of
+  * dense Map and Block objects with direct access.
+  * It inherits MapBase<Derived, ReadOnlyAccessors> which defines the const variant for reading specific entries.
+  *
+  * \sa class Map, class Block
+  */
 template<typename Derived> class MapBase<Derived, WriteAccessors>
   : public MapBase<Derived, ReadOnlyAccessors>
 {
@@ -175,7 +222,7 @@ template<typename Derived> class MapBase<Derived, WriteAccessors>
 
     typedef typename Base::Scalar Scalar;
     typedef typename Base::PacketScalar PacketScalar;
-    typedef typename Base::Index Index;
+    typedef typename Base::StorageIndex StorageIndex;
     typedef typename Base::PointerType PointerType;
 
     using Base::derived;
@@ -196,14 +243,18 @@ template<typename Derived> class MapBase<Derived, WriteAccessors>
                     const Scalar
                   >::type ScalarWithConstIfNotLvalue;
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar* data() const { return this->m_data; }
+    EIGEN_DEVICE_FUNC
     inline ScalarWithConstIfNotLvalue* data() { return this->m_data; } // no const-cast here so non-const-correct code will give a compile error
 
+    EIGEN_DEVICE_FUNC
     inline ScalarWithConstIfNotLvalue& coeffRef(Index row, Index col)
     {
       return this->m_data[col * colStride() + row * rowStride()];
     }
 
+    EIGEN_DEVICE_FUNC
     inline ScalarWithConstIfNotLvalue& coeffRef(Index index)
     {
       EIGEN_STATIC_ASSERT_INDEX_BASED_ACCESS(Derived)
@@ -225,10 +276,11 @@ template<typename Derived> class MapBase<Derived, WriteAccessors>
                 (this->m_data + index * innerStride(), val);
     }
 
-    explicit inline MapBase(PointerType dataPtr) : Base(dataPtr) {}
-    inline MapBase(PointerType dataPtr, Index vecSize) : Base(dataPtr, vecSize) {}
-    inline MapBase(PointerType dataPtr, Index nbRows, Index nbCols) : Base(dataPtr, nbRows, nbCols) {}
+    EIGEN_DEVICE_FUNC explicit inline MapBase(PointerType dataPtr) : Base(dataPtr) {}
+    EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index vecSize) : Base(dataPtr, vecSize) {}
+    EIGEN_DEVICE_FUNC inline MapBase(PointerType dataPtr, Index rows, Index cols) : Base(dataPtr, rows, cols) {}
 
+    EIGEN_DEVICE_FUNC
     Derived& operator=(const MapBase& other)
     {
       ReadOnlyMapBase::Base::operator=(other);
diff --git a/eigenlib/Eigen/src/Core/MathFunctions.h b/eigenlib/Eigen/src/Core/MathFunctions.h
index 2bfc5ebd..8d47fb8a 100644
--- a/eigenlib/Eigen/src/Core/MathFunctions.h
+++ b/eigenlib/Eigen/src/Core/MathFunctions.h
@@ -10,11 +10,25 @@
 #ifndef EIGEN_MATHFUNCTIONS_H
 #define EIGEN_MATHFUNCTIONS_H
 
+// source: http://www.geom.uiuc.edu/~huberty/math5337/groupe/digits.html
+// TODO this should better be moved to NumTraits
+#define EIGEN_PI 3.141592653589793238462643383279502884197169399375105820974944592307816406L
+
+
 namespace Eigen {
 
+// On WINCE, std::abs is defined for int only, so let's defined our own overloads:
+// This issue has been confirmed with MSVC 2008 only, but the issue might exist for more recent versions too.
+#if EIGEN_OS_WINCE && EIGEN_COMP_MSVC && EIGEN_COMP_MSVC<=1500
+long        abs(long        x) { return (labs(x));  }
+double      abs(double      x) { return (fabs(x));  }
+float       abs(float       x) { return (fabsf(x)); }
+long double abs(long double x) { return (fabsl(x)); }
+#endif
+
 namespace internal {
 
-/** \internal \struct global_math_functions_filtering_base
+/** \internal \class global_math_functions_filtering_base
   *
   * What it does:
   * Defines a typedef 'type' as follows:
@@ -62,6 +76,7 @@ template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
 struct real_default_impl
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar& x)
   {
     return x;
@@ -72,6 +87,7 @@ template<typename Scalar>
 struct real_default_impl<Scalar,true>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar& x)
   {
     using std::real;
@@ -81,13 +97,25 @@ struct real_default_impl<Scalar,true>
 
 template<typename Scalar> struct real_impl : real_default_impl<Scalar> {};
 
+#ifdef __CUDA_ARCH__
+template<typename T>
+struct real_impl<std::complex<T> >
+{
+  typedef T RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline T run(const std::complex<T>& x)
+  {
+    return x.real();
+  }
+};
+#endif
+
 template<typename Scalar>
 struct real_retval
 {
   typedef typename NumTraits<Scalar>::Real type;
 };
 
-
 /****************************************************************************
 * Implementation of imag                                                 *
 ****************************************************************************/
@@ -96,6 +124,7 @@ template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
 struct imag_default_impl
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar&)
   {
     return RealScalar(0);
@@ -106,6 +135,7 @@ template<typename Scalar>
 struct imag_default_impl<Scalar,true>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar& x)
   {
     using std::imag;
@@ -115,6 +145,19 @@ struct imag_default_impl<Scalar,true>
 
 template<typename Scalar> struct imag_impl : imag_default_impl<Scalar> {};
 
+#ifdef __CUDA_ARCH__
+template<typename T>
+struct imag_impl<std::complex<T> >
+{
+  typedef T RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline T run(const std::complex<T>& x)
+  {
+    return x.imag();
+  }
+};
+#endif
+
 template<typename Scalar>
 struct imag_retval
 {
@@ -129,10 +172,12 @@ template<typename Scalar>
 struct real_ref_impl
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar& run(Scalar& x)
   {
     return reinterpret_cast<RealScalar*>(&x)[0];
   }
+  EIGEN_DEVICE_FUNC
   static inline const RealScalar& run(const Scalar& x)
   {
     return reinterpret_cast<const RealScalar*>(&x)[0];
@@ -153,10 +198,12 @@ template<typename Scalar, bool IsComplex>
 struct imag_ref_default_impl
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar& run(Scalar& x)
   {
     return reinterpret_cast<RealScalar*>(&x)[1];
   }
+  EIGEN_DEVICE_FUNC
   static inline const RealScalar& run(const Scalar& x)
   {
     return reinterpret_cast<RealScalar*>(&x)[1];
@@ -166,10 +213,12 @@ struct imag_ref_default_impl
 template<typename Scalar>
 struct imag_ref_default_impl<Scalar, false>
 {
+  EIGEN_DEVICE_FUNC
   static inline Scalar run(Scalar&)
   {
     return Scalar(0);
   }
+  EIGEN_DEVICE_FUNC
   static inline const Scalar run(const Scalar&)
   {
     return Scalar(0);
@@ -192,6 +241,7 @@ struct imag_ref_retval
 template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
 struct conj_impl
 {
+  EIGEN_DEVICE_FUNC
   static inline Scalar run(const Scalar& x)
   {
     return x;
@@ -201,6 +251,7 @@ struct conj_impl
 template<typename Scalar>
 struct conj_impl<Scalar,true>
 {
+  EIGEN_DEVICE_FUNC
   static inline Scalar run(const Scalar& x)
   {
     using std::conj;
@@ -218,25 +269,39 @@ struct conj_retval
 * Implementation of abs2                                                 *
 ****************************************************************************/
 
-template<typename Scalar>
-struct abs2_impl
+template<typename Scalar,bool IsComplex>
+struct abs2_impl_default
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar& x)
   {
     return x*x;
   }
 };
 
-template<typename RealScalar>
-struct abs2_impl<std::complex<RealScalar> >
+template<typename Scalar>
+struct abs2_impl_default<Scalar, true> // IsComplex
 {
-  static inline RealScalar run(const std::complex<RealScalar>& x)
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline RealScalar run(const Scalar& x)
   {
     return real(x)*real(x) + imag(x)*imag(x);
   }
 };
 
+template<typename Scalar>
+struct abs2_impl
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline RealScalar run(const Scalar& x)
+  {
+    return abs2_impl_default<Scalar,NumTraits<Scalar>::IsComplex>::run(x);
+  }
+};
+
 template<typename Scalar>
 struct abs2_retval
 {
@@ -251,9 +316,10 @@ template<typename Scalar, bool IsComplex>
 struct norm1_default_impl
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline RealScalar run(const Scalar& x)
   {
-    using std::abs;
+    EIGEN_USING_STD_MATH(abs);
     return abs(real(x)) + abs(imag(x));
   }
 };
@@ -261,9 +327,10 @@ struct norm1_default_impl
 template<typename Scalar>
 struct norm1_default_impl<Scalar, false>
 {
+  EIGEN_DEVICE_FUNC
   static inline Scalar run(const Scalar& x)
   {
-    using std::abs;
+    EIGEN_USING_STD_MATH(abs);
     return abs(x);
   }
 };
@@ -287,16 +354,22 @@ struct hypot_impl
   typedef typename NumTraits<Scalar>::Real RealScalar;
   static inline RealScalar run(const Scalar& x, const Scalar& y)
   {
-    using std::max;
-    using std::min;
-    using std::abs;
-    using std::sqrt;
+    EIGEN_USING_STD_MATH(abs);
+    EIGEN_USING_STD_MATH(sqrt);
     RealScalar _x = abs(x);
     RealScalar _y = abs(y);
-    RealScalar p = (max)(_x, _y);
-    if(p==RealScalar(0)) return 0;
-    RealScalar q = (min)(_x, _y);
-    RealScalar qp = q/p;
+    Scalar p, qp;
+    if(_x>_y)
+    {
+      p = _x;
+      qp = _y / p;
+    }
+    else
+    {
+      p = _y;
+      qp = _x / p;
+    }
+    if(p==RealScalar(0)) return RealScalar(0);
     return p * sqrt(RealScalar(1) + qp*qp);
   }
 };
@@ -314,6 +387,7 @@ struct hypot_retval
 template<typename OldType, typename NewType>
 struct cast_impl
 {
+  EIGEN_DEVICE_FUNC
   static inline NewType run(const OldType& x)
   {
     return static_cast<NewType>(x);
@@ -323,48 +397,124 @@ struct cast_impl
 // here, for once, we're plainly returning NewType: we don't want cast to do weird things.
 
 template<typename OldType, typename NewType>
+EIGEN_DEVICE_FUNC
 inline NewType cast(const OldType& x)
 {
   return cast_impl<OldType, NewType>::run(x);
 }
 
 /****************************************************************************
-* Implementation of atanh2                                                *
+* Implementation of round                                                   *
 ****************************************************************************/
 
-template<typename Scalar, bool IsInteger>
-struct atanh2_default_impl
-{
-  typedef Scalar retval;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  static inline Scalar run(const Scalar& x, const Scalar& y)
+#if EIGEN_HAS_CXX11_MATH
+  template<typename Scalar>
+  struct round_impl {
+    static inline Scalar run(const Scalar& x)
+    {
+      EIGEN_STATIC_ASSERT((!NumTraits<Scalar>::IsComplex), NUMERIC_TYPE_MUST_BE_REAL)
+      using std::round;
+      return round(x);
+    }
+  };
+#else
+  template<typename Scalar>
+  struct round_impl
   {
-    using std::abs;
-    using std::log;
-    using std::sqrt;
-    Scalar z = x / y;
-    if (y == Scalar(0) || abs(z) > sqrt(NumTraits<RealScalar>::epsilon()))
-      return RealScalar(0.5) * log((y + x) / (y - x));
-    else
-      return z + z*z*z / RealScalar(3);
-  }
-};
+    static inline Scalar run(const Scalar& x)
+    {
+      EIGEN_STATIC_ASSERT((!NumTraits<Scalar>::IsComplex), NUMERIC_TYPE_MUST_BE_REAL)
+      EIGEN_USING_STD_MATH(floor);
+      EIGEN_USING_STD_MATH(ceil);
+      return (x > Scalar(0)) ? floor(x + Scalar(0.5)) : ceil(x - Scalar(0.5));
+    }
+  };
+#endif
 
 template<typename Scalar>
-struct atanh2_default_impl<Scalar, true>
+struct round_retval
 {
-  static inline Scalar run(const Scalar&, const Scalar&)
+  typedef Scalar type;
+};
+
+/****************************************************************************
+* Implementation of arg                                                     *
+****************************************************************************/
+
+#if EIGEN_HAS_CXX11_MATH
+  template<typename Scalar>
+  struct arg_impl {
+    static inline Scalar run(const Scalar& x)
+    {
+      EIGEN_USING_STD_MATH(arg);
+      return arg(x);
+    }
+  };
+#else
+  template<typename Scalar, bool IsComplex = NumTraits<Scalar>::IsComplex>
+  struct arg_default_impl
+  {
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    EIGEN_DEVICE_FUNC
+    static inline RealScalar run(const Scalar& x)
+    {
+      return (x < Scalar(0)) ? Scalar(EIGEN_PI) : Scalar(0); }
+  };
+
+  template<typename Scalar>
+  struct arg_default_impl<Scalar,true>
+  {
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    EIGEN_DEVICE_FUNC
+    static inline RealScalar run(const Scalar& x)
+    {
+      EIGEN_USING_STD_MATH(arg);
+      return arg(x);
+    }
+  };
+
+  template<typename Scalar> struct arg_impl : arg_default_impl<Scalar> {};
+#endif
+
+template<typename Scalar>
+struct arg_retval
+{
+  typedef typename NumTraits<Scalar>::Real type;
+};
+
+/****************************************************************************
+* Implementation of log1p                                                   *
+****************************************************************************/
+
+namespace std_fallback {
+  // fallback log1p implementation in case there is no log1p(Scalar) function in namespace of Scalar,
+  // or that there is no suitable std::log1p function available
+  template<typename Scalar>
+  EIGEN_DEVICE_FUNC inline Scalar log1p(const Scalar& x) {
+    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    EIGEN_USING_STD_MATH(log);
+    Scalar x1p = RealScalar(1) + x;
+    return ( x1p == Scalar(1) ) ? x : x * ( log(x1p) / (x1p - RealScalar(1)) );
+  }
+}
+
+template<typename Scalar>
+struct log1p_impl {
+  static inline Scalar run(const Scalar& x)
   {
     EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar)
-    return Scalar(0);
+    #if EIGEN_HAS_CXX11_MATH
+    using std::log1p;
+    #endif
+    using std_fallback::log1p;
+    return log1p(x);
   }
 };
 
-template<typename Scalar>
-struct atanh2_impl : atanh2_default_impl<Scalar, NumTraits<Scalar>::IsInteger> {};
 
 template<typename Scalar>
-struct atanh2_retval
+struct log1p_retval
 {
   typedef Scalar type;
 };
@@ -373,24 +523,26 @@ struct atanh2_retval
 * Implementation of pow                                                  *
 ****************************************************************************/
 
-template<typename Scalar, bool IsInteger>
-struct pow_default_impl
+template<typename ScalarX,typename ScalarY, bool IsInteger = NumTraits<ScalarX>::IsInteger&&NumTraits<ScalarY>::IsInteger>
+struct pow_impl
 {
-  typedef Scalar retval;
-  static inline Scalar run(const Scalar& x, const Scalar& y)
+  //typedef Scalar retval;
+  typedef typename ScalarBinaryOpTraits<ScalarX,ScalarY,internal::scalar_pow_op<ScalarX,ScalarY> >::ReturnType result_type;
+  static EIGEN_DEVICE_FUNC inline result_type run(const ScalarX& x, const ScalarY& y)
   {
-    using std::pow;
+    EIGEN_USING_STD_MATH(pow);
     return pow(x, y);
   }
 };
 
-template<typename Scalar>
-struct pow_default_impl<Scalar, true>
+template<typename ScalarX,typename ScalarY>
+struct pow_impl<ScalarX,ScalarY, true>
 {
-  static inline Scalar run(Scalar x, Scalar y)
+  typedef ScalarX result_type;
+  static EIGEN_DEVICE_FUNC inline ScalarX run(ScalarX x, ScalarY y)
   {
-    Scalar res(1);
-    eigen_assert(!NumTraits<Scalar>::IsSigned || y >= 0);
+    ScalarX res(1);
+    eigen_assert(!NumTraits<ScalarY>::IsSigned || y >= 0);
     if(y & 1) res *= x;
     y >>= 1;
     while(y)
@@ -403,15 +555,6 @@ struct pow_default_impl<Scalar, true>
   }
 };
 
-template<typename Scalar>
-struct pow_impl : pow_default_impl<Scalar, NumTraits<Scalar>::IsInteger> {};
-
-template<typename Scalar>
-struct pow_retval
-{
-  typedef Scalar type;
-};
-
 /****************************************************************************
 * Implementation of random                                               *
 ****************************************************************************/
@@ -447,48 +590,48 @@ struct random_default_impl<Scalar, false, false>
 };
 
 enum {
-  floor_log2_terminate,
-  floor_log2_move_up,
-  floor_log2_move_down,
-  floor_log2_bogus
+  meta_floor_log2_terminate,
+  meta_floor_log2_move_up,
+  meta_floor_log2_move_down,
+  meta_floor_log2_bogus
 };
 
-template<unsigned int n, int lower, int upper> struct floor_log2_selector
+template<unsigned int n, int lower, int upper> struct meta_floor_log2_selector
 {
   enum { middle = (lower + upper) / 2,
-         value = (upper <= lower + 1) ? int(floor_log2_terminate)
-               : (n < (1 << middle)) ? int(floor_log2_move_down)
-               : (n==0) ? int(floor_log2_bogus)
-               : int(floor_log2_move_up)
+         value = (upper <= lower + 1) ? int(meta_floor_log2_terminate)
+               : (n < (1 << middle)) ? int(meta_floor_log2_move_down)
+               : (n==0) ? int(meta_floor_log2_bogus)
+               : int(meta_floor_log2_move_up)
   };
 };
 
 template<unsigned int n,
          int lower = 0,
          int upper = sizeof(unsigned int) * CHAR_BIT - 1,
-         int selector = floor_log2_selector<n, lower, upper>::value>
-struct floor_log2 {};
+         int selector = meta_floor_log2_selector<n, lower, upper>::value>
+struct meta_floor_log2 {};
 
 template<unsigned int n, int lower, int upper>
-struct floor_log2<n, lower, upper, floor_log2_move_down>
+struct meta_floor_log2<n, lower, upper, meta_floor_log2_move_down>
 {
-  enum { value = floor_log2<n, lower, floor_log2_selector<n, lower, upper>::middle>::value };
+  enum { value = meta_floor_log2<n, lower, meta_floor_log2_selector<n, lower, upper>::middle>::value };
 };
 
 template<unsigned int n, int lower, int upper>
-struct floor_log2<n, lower, upper, floor_log2_move_up>
+struct meta_floor_log2<n, lower, upper, meta_floor_log2_move_up>
 {
-  enum { value = floor_log2<n, floor_log2_selector<n, lower, upper>::middle, upper>::value };
+  enum { value = meta_floor_log2<n, meta_floor_log2_selector<n, lower, upper>::middle, upper>::value };
 };
 
 template<unsigned int n, int lower, int upper>
-struct floor_log2<n, lower, upper, floor_log2_terminate>
+struct meta_floor_log2<n, lower, upper, meta_floor_log2_terminate>
 {
   enum { value = (n >= ((unsigned int)(1) << (lower+1))) ? lower+1 : lower };
 };
 
 template<unsigned int n, int lower, int upper>
-struct floor_log2<n, lower, upper, floor_log2_bogus>
+struct meta_floor_log2<n, lower, upper, meta_floor_log2_bogus>
 {
   // no value, error at compile time
 };
@@ -496,11 +639,24 @@ struct floor_log2<n, lower, upper, floor_log2_bogus>
 template<typename Scalar>
 struct random_default_impl<Scalar, false, true>
 {
-  typedef typename NumTraits<Scalar>::NonInteger NonInteger;
-
   static inline Scalar run(const Scalar& x, const Scalar& y)
-  {
-    return x + Scalar((NonInteger(y)-x+1) * std::rand() / (RAND_MAX + NonInteger(1)));
+  { 
+    typedef typename conditional<NumTraits<Scalar>::IsSigned,std::ptrdiff_t,std::size_t>::type ScalarX;
+    if(y<x)
+      return x;
+    // the following difference might overflow on a 32 bits system,
+    // but since y>=x the result converted to an unsigned long is still correct.
+    std::size_t range = ScalarX(y)-ScalarX(x);
+    std::size_t offset = 0;
+    // rejection sampling
+    std::size_t divisor = 1;
+    std::size_t multiplier = 1;
+    if(range<RAND_MAX) divisor = (std::size_t(RAND_MAX)+1)/(range+1);
+    else               multiplier = 1 + range/(std::size_t(RAND_MAX)+1);
+    do {
+      offset = (std::size_t(std::rand()) * multiplier) / divisor;
+    } while (offset > range);
+    return Scalar(ScalarX(x) + offset);
   }
 
   static inline Scalar run()
@@ -508,7 +664,7 @@ struct random_default_impl<Scalar, false, true>
 #ifdef EIGEN_MAKING_DOCS
     return run(Scalar(NumTraits<Scalar>::IsSigned ? -10 : 0), Scalar(10));
 #else
-    enum { rand_bits = floor_log2<(unsigned int)(RAND_MAX)+1>::value,
+    enum { rand_bits = meta_floor_log2<(unsigned int)(RAND_MAX)+1>::value,
            scalar_bits = sizeof(Scalar) * CHAR_BIT,
            shift = EIGEN_PLAIN_ENUM_MAX(0, int(rand_bits) - int(scalar_bits)),
            offset = NumTraits<Scalar>::IsSigned ? (1 << (EIGEN_PLAIN_ENUM_MIN(rand_bits,scalar_bits)-1)) : 0
@@ -545,97 +701,588 @@ inline EIGEN_MATHFUNC_RETVAL(random, Scalar) random()
   return EIGEN_MATHFUNC_IMPL(random, Scalar)::run();
 }
 
+// Implementatin of is* functions
+
+// std::is* do not work with fast-math and gcc, std::is* are available on MSVC 2013 and newer, as well as in clang.
+#if (EIGEN_HAS_CXX11_MATH && !(EIGEN_COMP_GNUC_STRICT && __FINITE_MATH_ONLY__)) || (EIGEN_COMP_MSVC>=1800) || (EIGEN_COMP_CLANG)
+#define EIGEN_USE_STD_FPCLASSIFY 1
+#else
+#define EIGEN_USE_STD_FPCLASSIFY 0
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<internal::is_integral<T>::value,bool>::type
+isnan_impl(const T&) { return false; }
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<internal::is_integral<T>::value,bool>::type
+isinf_impl(const T&) { return false; }
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<internal::is_integral<T>::value,bool>::type
+isfinite_impl(const T&) { return true; }
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
+isfinite_impl(const T& x)
+{
+  #ifdef __CUDA_ARCH__
+    return (::isfinite)(x);
+  #elif EIGEN_USE_STD_FPCLASSIFY
+    using std::isfinite;
+    return isfinite EIGEN_NOT_A_MACRO (x);
+  #else
+    return x<=NumTraits<T>::highest() && x>=NumTraits<T>::lowest();
+  #endif
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
+isinf_impl(const T& x)
+{
+  #ifdef __CUDA_ARCH__
+    return (::isinf)(x);
+  #elif EIGEN_USE_STD_FPCLASSIFY
+    using std::isinf;
+    return isinf EIGEN_NOT_A_MACRO (x);
+  #else
+    return x>NumTraits<T>::highest() || x<NumTraits<T>::lowest();
+  #endif
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+typename internal::enable_if<(!internal::is_integral<T>::value)&&(!NumTraits<T>::IsComplex),bool>::type
+isnan_impl(const T& x)
+{
+  #ifdef __CUDA_ARCH__
+    return (::isnan)(x);
+  #elif EIGEN_USE_STD_FPCLASSIFY
+    using std::isnan;
+    return isnan EIGEN_NOT_A_MACRO (x);
+  #else
+    return x != x;
+  #endif
+}
+
+#if (!EIGEN_USE_STD_FPCLASSIFY)
+
+#if EIGEN_COMP_MSVC
+
+template<typename T> EIGEN_DEVICE_FUNC bool isinf_msvc_helper(T x)
+{
+  return _fpclass(x)==_FPCLASS_NINF || _fpclass(x)==_FPCLASS_PINF;
+}
+
+//MSVC defines a _isnan builtin function, but for double only
+EIGEN_DEVICE_FUNC inline bool isnan_impl(const long double& x) { return _isnan(x)!=0; }
+EIGEN_DEVICE_FUNC inline bool isnan_impl(const double& x)      { return _isnan(x)!=0; }
+EIGEN_DEVICE_FUNC inline bool isnan_impl(const float& x)       { return _isnan(x)!=0; }
+
+EIGEN_DEVICE_FUNC inline bool isinf_impl(const long double& x) { return isinf_msvc_helper(x); }
+EIGEN_DEVICE_FUNC inline bool isinf_impl(const double& x)      { return isinf_msvc_helper(x); }
+EIGEN_DEVICE_FUNC inline bool isinf_impl(const float& x)       { return isinf_msvc_helper(x); }
+
+#elif (defined __FINITE_MATH_ONLY__ && __FINITE_MATH_ONLY__ && EIGEN_COMP_GNUC)
+
+#if EIGEN_GNUC_AT_LEAST(5,0)
+  #define EIGEN_TMP_NOOPT_ATTRIB EIGEN_DEVICE_FUNC inline __attribute__((optimize("no-finite-math-only")))
+#else
+  // NOTE the inline qualifier and noinline attribute are both needed: the former is to avoid linking issue (duplicate symbol),
+  //      while the second prevent too aggressive optimizations in fast-math mode:
+  #define EIGEN_TMP_NOOPT_ATTRIB EIGEN_DEVICE_FUNC inline __attribute__((noinline,optimize("no-finite-math-only")))
+#endif
+
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const long double& x) { return __builtin_isnan(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const double& x)      { return __builtin_isnan(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isnan_impl(const float& x)       { return __builtin_isnan(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const double& x)      { return __builtin_isinf(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const float& x)       { return __builtin_isinf(x); }
+template<> EIGEN_TMP_NOOPT_ATTRIB bool isinf_impl(const long double& x) { return __builtin_isinf(x); }
+
+#undef EIGEN_TMP_NOOPT_ATTRIB
+
+#endif
+
+#endif
+
+// The following overload are defined at the end of this file
+template<typename T> EIGEN_DEVICE_FUNC bool isfinite_impl(const std::complex<T>& x);
+template<typename T> EIGEN_DEVICE_FUNC bool isnan_impl(const std::complex<T>& x);
+template<typename T> EIGEN_DEVICE_FUNC bool isinf_impl(const std::complex<T>& x);
+
+template<typename T> T generic_fast_tanh_float(const T& a_x);
+
 } // end namespace internal
 
 /****************************************************************************
-* Generic math function                                                    *
+* Generic math functions                                                    *
 ****************************************************************************/
 
 namespace numext {
 
+#ifndef __CUDA_ARCH__
+template<typename T>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y)
+{
+  EIGEN_USING_STD_MATH(min);
+  return min EIGEN_NOT_A_MACRO (x,y);
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y)
+{
+  EIGEN_USING_STD_MATH(max);
+  return max EIGEN_NOT_A_MACRO (x,y);
+}
+#else
+template<typename T>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE T mini(const T& x, const T& y)
+{
+  return y < x ? y : x;
+}
+template<>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE float mini(const float& x, const float& y)
+{
+  return fminf(x, y);
+}
+template<typename T>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE T maxi(const T& x, const T& y)
+{
+  return x < y ? y : x;
+}
+template<>
+EIGEN_DEVICE_FUNC
+EIGEN_ALWAYS_INLINE float maxi(const float& x, const float& y)
+{
+  return fmaxf(x, y);
+}
+#endif
+
+
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(real, Scalar) real(const Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(real, Scalar)::run(x);
-}  
+}
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline typename internal::add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) >::type real_ref(const Scalar& x)
 {
   return internal::real_ref_impl<Scalar>::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(real_ref, Scalar) real_ref(Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(real_ref, Scalar)::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(imag, Scalar) imag(const Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(imag, Scalar)::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(arg, Scalar) arg(const Scalar& x)
+{
+  return EIGEN_MATHFUNC_IMPL(arg, Scalar)::run(x);
+}
+
+template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline typename internal::add_const_on_value_type< EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) >::type imag_ref(const Scalar& x)
 {
   return internal::imag_ref_impl<Scalar>::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(imag_ref, Scalar) imag_ref(Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(imag_ref, Scalar)::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(conj, Scalar) conj(const Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(conj, Scalar)::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(abs2, Scalar) abs2(const Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(abs2, Scalar)::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(norm1, Scalar) norm1(const Scalar& x)
 {
   return EIGEN_MATHFUNC_IMPL(norm1, Scalar)::run(x);
 }
 
 template<typename Scalar>
+EIGEN_DEVICE_FUNC
 inline EIGEN_MATHFUNC_RETVAL(hypot, Scalar) hypot(const Scalar& x, const Scalar& y)
 {
   return EIGEN_MATHFUNC_IMPL(hypot, Scalar)::run(x, y);
 }
 
 template<typename Scalar>
-inline EIGEN_MATHFUNC_RETVAL(atanh2, Scalar) atanh2(const Scalar& x, const Scalar& y)
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(log1p, Scalar) log1p(const Scalar& x)
 {
-  return EIGEN_MATHFUNC_IMPL(atanh2, Scalar)::run(x, y);
+  return EIGEN_MATHFUNC_IMPL(log1p, Scalar)::run(x);
 }
 
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float log1p(const float &x) { return ::log1pf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double log1p(const double &x) { return ::log1p(x); }
+#endif
+
+template<typename ScalarX,typename ScalarY>
+EIGEN_DEVICE_FUNC
+inline typename internal::pow_impl<ScalarX,ScalarY>::result_type pow(const ScalarX& x, const ScalarY& y)
+{
+  return internal::pow_impl<ScalarX,ScalarY>::run(x, y);
+}
+
+template<typename T> EIGEN_DEVICE_FUNC bool (isnan)   (const T &x) { return internal::isnan_impl(x); }
+template<typename T> EIGEN_DEVICE_FUNC bool (isinf)   (const T &x) { return internal::isinf_impl(x); }
+template<typename T> EIGEN_DEVICE_FUNC bool (isfinite)(const T &x) { return internal::isfinite_impl(x); }
+
 template<typename Scalar>
-inline EIGEN_MATHFUNC_RETVAL(pow, Scalar) pow(const Scalar& x, const Scalar& y)
+EIGEN_DEVICE_FUNC
+inline EIGEN_MATHFUNC_RETVAL(round, Scalar) round(const Scalar& x)
 {
-  return EIGEN_MATHFUNC_IMPL(pow, Scalar)::run(x, y);
+  return EIGEN_MATHFUNC_IMPL(round, Scalar)::run(x);
 }
 
-// std::isfinite is non standard, so let's define our own version,
-// even though it is not very efficient.
-template<typename T> bool (isfinite)(const T& x)
+template<typename T>
+EIGEN_DEVICE_FUNC
+T (floor)(const T& x)
 {
-  return x<NumTraits<T>::highest() && x>NumTraits<T>::lowest();
+  EIGEN_USING_STD_MATH(floor);
+  return floor(x);
 }
 
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float floor(const float &x) { return ::floorf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double floor(const double &x) { return ::floor(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC
+T (ceil)(const T& x)
+{
+  EIGEN_USING_STD_MATH(ceil);
+  return ceil(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float ceil(const float &x) { return ::ceilf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double ceil(const double &x) { return ::ceil(x); }
+#endif
+
+
+/** Log base 2 for 32 bits positive integers.
+  * Conveniently returns 0 for x==0. */
+inline int log2(int x)
+{
+  eigen_assert(x>=0);
+  unsigned int v(x);
+  static const int table[32] = { 0, 9, 1, 10, 13, 21, 2, 29, 11, 14, 16, 18, 22, 25, 3, 30, 8, 12, 20, 28, 15, 17, 24, 7, 19, 27, 23, 6, 26, 5, 4, 31 };
+  v |= v >> 1;
+  v |= v >> 2;
+  v |= v >> 4;
+  v |= v >> 8;
+  v |= v >> 16;
+  return table[(v * 0x07C4ACDDU) >> 27];
+}
+
+/** \returns the square root of \a x.
+  *
+  * It is essentially equivalent to \code using std::sqrt; return sqrt(x); \endcode,
+  * but slightly faster for float/double and some compilers (e.g., gcc), thanks to
+  * specializations when SSE is enabled.
+  *
+  * It's usage is justified in performance critical functions, like norm/normalize.
+  */
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T sqrt(const T &x)
+{
+  EIGEN_USING_STD_MATH(sqrt);
+  return sqrt(x);
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T log(const T &x) {
+  EIGEN_USING_STD_MATH(log);
+  return log(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float log(const float &x) { return ::logf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double log(const double &x) { return ::log(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+typename NumTraits<T>::Real abs(const T &x) {
+  EIGEN_USING_STD_MATH(abs);
+  return abs(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float abs(const float &x) { return ::fabsf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double abs(const double &x) { return ::fabs(x); }
+
+template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float abs(const std::complex<float>& x) {
+  return ::hypotf(x.real(), x.imag());
+}
+
+template <> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double abs(const std::complex<double>& x) {
+  return ::hypot(x.real(), x.imag());
+}
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T exp(const T &x) {
+  EIGEN_USING_STD_MATH(exp);
+  return exp(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float exp(const float &x) { return ::expf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double exp(const double &x) { return ::exp(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T cos(const T &x) {
+  EIGEN_USING_STD_MATH(cos);
+  return cos(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float cos(const float &x) { return ::cosf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double cos(const double &x) { return ::cos(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T sin(const T &x) {
+  EIGEN_USING_STD_MATH(sin);
+  return sin(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float sin(const float &x) { return ::sinf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double sin(const double &x) { return ::sin(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T tan(const T &x) {
+  EIGEN_USING_STD_MATH(tan);
+  return tan(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float tan(const float &x) { return ::tanf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double tan(const double &x) { return ::tan(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T acos(const T &x) {
+  EIGEN_USING_STD_MATH(acos);
+  return acos(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float acos(const float &x) { return ::acosf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double acos(const double &x) { return ::acos(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T asin(const T &x) {
+  EIGEN_USING_STD_MATH(asin);
+  return asin(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float asin(const float &x) { return ::asinf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double asin(const double &x) { return ::asin(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T atan(const T &x) {
+  EIGEN_USING_STD_MATH(atan);
+  return atan(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float atan(const float &x) { return ::atanf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double atan(const double &x) { return ::atan(x); }
+#endif
+
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T cosh(const T &x) {
+  EIGEN_USING_STD_MATH(cosh);
+  return cosh(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float cosh(const float &x) { return ::coshf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double cosh(const double &x) { return ::cosh(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T sinh(const T &x) {
+  EIGEN_USING_STD_MATH(sinh);
+  return sinh(x);
+}
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float sinh(const float &x) { return ::sinhf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double sinh(const double &x) { return ::sinh(x); }
+#endif
+
+template<typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T tanh(const T &x) {
+  EIGEN_USING_STD_MATH(tanh);
+  return tanh(x);
+}
+
+#if (!defined(__CUDACC__)) && EIGEN_FAST_MATH
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float tanh(float x) { return internal::generic_fast_tanh_float(x); }
+#endif
+
+#ifdef __CUDACC__
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float tanh(const float &x) { return ::tanhf(x); }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double tanh(const double &x) { return ::tanh(x); }
+#endif
+
+template <typename T>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+T fmod(const T& a, const T& b) {
+  EIGEN_USING_STD_MATH(fmod);
+  return fmod(a, b);
+}
+
+#ifdef __CUDACC__
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float fmod(const float& a, const float& b) {
+  return ::fmodf(a, b);
+}
+
+template <>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double fmod(const double& a, const double& b) {
+  return ::fmod(a, b);
+}
+#endif
+
 } // end namespace numext
 
 namespace internal {
 
+template<typename T>
+EIGEN_DEVICE_FUNC bool isfinite_impl(const std::complex<T>& x)
+{
+  return (numext::isfinite)(numext::real(x)) && (numext::isfinite)(numext::imag(x));
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC bool isnan_impl(const std::complex<T>& x)
+{
+  return (numext::isnan)(numext::real(x)) || (numext::isnan)(numext::imag(x));
+}
+
+template<typename T>
+EIGEN_DEVICE_FUNC bool isinf_impl(const std::complex<T>& x)
+{
+  return ((numext::isinf)(numext::real(x)) || (numext::isinf)(numext::imag(x))) && (!(numext::isnan)(x));
+}
+
 /****************************************************************************
 * Implementation of fuzzy comparisons                                       *
 ****************************************************************************/
@@ -649,18 +1296,17 @@ template<typename Scalar>
 struct scalar_fuzzy_default_impl<Scalar, false, false>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  template<typename OtherScalar>
+  template<typename OtherScalar> EIGEN_DEVICE_FUNC
   static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec)
   {
-    using std::abs;
-    return abs(x) <= abs(y) * prec;
+    return numext::abs(x) <= numext::abs(y) * prec;
   }
+  EIGEN_DEVICE_FUNC
   static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec)
   {
-    using std::min;
-    using std::abs;
-    return abs(x - y) <= (min)(abs(x), abs(y)) * prec;
+    return numext::abs(x - y) <= numext::mini(numext::abs(x), numext::abs(y)) * prec;
   }
+  EIGEN_DEVICE_FUNC
   static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar& prec)
   {
     return x <= y || isApprox(x, y, prec);
@@ -671,15 +1317,17 @@ template<typename Scalar>
 struct scalar_fuzzy_default_impl<Scalar, false, true>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  template<typename OtherScalar>
+  template<typename OtherScalar> EIGEN_DEVICE_FUNC
   static inline bool isMuchSmallerThan(const Scalar& x, const Scalar&, const RealScalar&)
   {
     return x == Scalar(0);
   }
+  EIGEN_DEVICE_FUNC
   static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar&)
   {
     return x == y;
   }
+  EIGEN_DEVICE_FUNC
   static inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y, const RealScalar&)
   {
     return x <= y;
@@ -690,38 +1338,38 @@ template<typename Scalar>
 struct scalar_fuzzy_default_impl<Scalar, true, false>
 {
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  template<typename OtherScalar>
+  template<typename OtherScalar> EIGEN_DEVICE_FUNC
   static inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y, const RealScalar& prec)
   {
     return numext::abs2(x) <= numext::abs2(y) * prec * prec;
   }
+  EIGEN_DEVICE_FUNC
   static inline bool isApprox(const Scalar& x, const Scalar& y, const RealScalar& prec)
   {
-    using std::min;
-    return numext::abs2(x - y) <= (min)(numext::abs2(x), numext::abs2(y)) * prec * prec;
+    return numext::abs2(x - y) <= numext::mini(numext::abs2(x), numext::abs2(y)) * prec * prec;
   }
 };
 
 template<typename Scalar>
 struct scalar_fuzzy_impl : scalar_fuzzy_default_impl<Scalar, NumTraits<Scalar>::IsComplex, NumTraits<Scalar>::IsInteger> {};
 
-template<typename Scalar, typename OtherScalar>
+template<typename Scalar, typename OtherScalar> EIGEN_DEVICE_FUNC
 inline bool isMuchSmallerThan(const Scalar& x, const OtherScalar& y,
-                                   typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+                              const typename NumTraits<Scalar>::Real &precision = NumTraits<Scalar>::dummy_precision())
 {
   return scalar_fuzzy_impl<Scalar>::template isMuchSmallerThan<OtherScalar>(x, y, precision);
 }
 
-template<typename Scalar>
+template<typename Scalar> EIGEN_DEVICE_FUNC
 inline bool isApprox(const Scalar& x, const Scalar& y,
-                          typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+                     const typename NumTraits<Scalar>::Real &precision = NumTraits<Scalar>::dummy_precision())
 {
   return scalar_fuzzy_impl<Scalar>::isApprox(x, y, precision);
 }
 
-template<typename Scalar>
+template<typename Scalar> EIGEN_DEVICE_FUNC
 inline bool isApproxOrLessThan(const Scalar& x, const Scalar& y,
-                                    typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
+                               const typename NumTraits<Scalar>::Real &precision = NumTraits<Scalar>::dummy_precision())
 {
   return scalar_fuzzy_impl<Scalar>::isApproxOrLessThan(x, y, precision);
 }
@@ -742,17 +1390,19 @@ template<> struct scalar_fuzzy_impl<bool>
 {
   typedef bool RealScalar;
   
-  template<typename OtherScalar>
+  template<typename OtherScalar> EIGEN_DEVICE_FUNC
   static inline bool isMuchSmallerThan(const bool& x, const bool&, const bool&)
   {
     return !x;
   }
   
+  EIGEN_DEVICE_FUNC
   static inline bool isApprox(bool x, bool y, bool)
   {
     return x == y;
   }
 
+  EIGEN_DEVICE_FUNC
   static inline bool isApproxOrLessThan(const bool& x, const bool& y, const bool&)
   {
     return (!x) || y;
diff --git a/eigenlib/Eigen/src/Core/MathFunctionsImpl.h b/eigenlib/Eigen/src/Core/MathFunctionsImpl.h
new file mode 100644
index 00000000..3c9ef22f
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/MathFunctionsImpl.h
@@ -0,0 +1,78 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Pedro Gonnet (pedro.gonnet@gmail.com)
+// Copyright (C) 2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATHFUNCTIONSIMPL_H
+#define EIGEN_MATHFUNCTIONSIMPL_H
+
+namespace Eigen {
+
+namespace internal {
+
+/** \internal \returns the hyperbolic tan of \a a (coeff-wise)
+    Doesn't do anything fancy, just a 13/6-degree rational interpolant which
+    is accurate up to a couple of ulp in the range [-9, 9], outside of which
+    the tanh(x) = +/-1.
+
+    This implementation works on both scalars and packets.
+*/
+template<typename T>
+T generic_fast_tanh_float(const T& a_x)
+{
+  // Clamp the inputs to the range [-9, 9] since anything outside
+  // this range is +/-1.0f in single-precision.
+  const T plus_9 = pset1<T>(9.f);
+  const T minus_9 = pset1<T>(-9.f);
+  // NOTE GCC prior to 6.3 might improperly optimize this max/min
+  //      step such that if a_x is nan, x will be either 9 or -9,
+  //      and tanh will return 1 or -1 instead of nan.
+  //      This is supposed to be fixed in gcc6.3,
+  //      see: https://gcc.gnu.org/bugzilla/show_bug.cgi?id=72867
+  const T x = pmax(minus_9,pmin(plus_9,a_x));
+  // The monomial coefficients of the numerator polynomial (odd).
+  const T alpha_1 = pset1<T>(4.89352455891786e-03f);
+  const T alpha_3 = pset1<T>(6.37261928875436e-04f);
+  const T alpha_5 = pset1<T>(1.48572235717979e-05f);
+  const T alpha_7 = pset1<T>(5.12229709037114e-08f);
+  const T alpha_9 = pset1<T>(-8.60467152213735e-11f);
+  const T alpha_11 = pset1<T>(2.00018790482477e-13f);
+  const T alpha_13 = pset1<T>(-2.76076847742355e-16f);
+
+  // The monomial coefficients of the denominator polynomial (even).
+  const T beta_0 = pset1<T>(4.89352518554385e-03f);
+  const T beta_2 = pset1<T>(2.26843463243900e-03f);
+  const T beta_4 = pset1<T>(1.18534705686654e-04f);
+  const T beta_6 = pset1<T>(1.19825839466702e-06f);
+
+  // Since the polynomials are odd/even, we need x^2.
+  const T x2 = pmul(x, x);
+
+  // Evaluate the numerator polynomial p.
+  T p = pmadd(x2, alpha_13, alpha_11);
+  p = pmadd(x2, p, alpha_9);
+  p = pmadd(x2, p, alpha_7);
+  p = pmadd(x2, p, alpha_5);
+  p = pmadd(x2, p, alpha_3);
+  p = pmadd(x2, p, alpha_1);
+  p = pmul(x, p);
+
+  // Evaluate the denominator polynomial p.
+  T q = pmadd(x2, beta_6, beta_4);
+  q = pmadd(x2, q, beta_2);
+  q = pmadd(x2, q, beta_0);
+
+  // Divide the numerator by the denominator.
+  return pdiv(p, q);
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATHFUNCTIONSIMPL_H
diff --git a/eigenlib/Eigen/src/Core/Matrix.h b/eigenlib/Eigen/src/Core/Matrix.h
index d7d0b5b9..90c336d8 100644
--- a/eigenlib/Eigen/src/Core/Matrix.h
+++ b/eigenlib/Eigen/src/Core/Matrix.h
@@ -13,6 +13,45 @@
 
 namespace Eigen {
 
+namespace internal {
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+{
+private:
+  enum { size = internal::size_at_compile_time<_Rows,_Cols>::ret };
+  typedef typename find_best_packet<_Scalar,size>::type PacketScalar;
+  enum {
+      row_major_bit = _Options&RowMajor ? RowMajorBit : 0,
+      is_dynamic_size_storage = _MaxRows==Dynamic || _MaxCols==Dynamic,
+      max_size = is_dynamic_size_storage ? Dynamic : _MaxRows*_MaxCols,
+      default_alignment = compute_default_alignment<_Scalar,max_size>::value,
+      actual_alignment = ((_Options&DontAlign)==0) ? default_alignment : 0,
+      required_alignment = unpacket_traits<PacketScalar>::alignment,
+      packet_access_bit = (packet_traits<_Scalar>::Vectorizable && (EIGEN_UNALIGNED_VECTORIZE || (actual_alignment>=required_alignment))) ? PacketAccessBit : 0
+    };
+    
+public:
+  typedef _Scalar Scalar;
+  typedef Dense StorageKind;
+  typedef Eigen::Index StorageIndex;
+  typedef MatrixXpr XprKind;
+  enum {
+    RowsAtCompileTime = _Rows,
+    ColsAtCompileTime = _Cols,
+    MaxRowsAtCompileTime = _MaxRows,
+    MaxColsAtCompileTime = _MaxCols,
+    Flags = compute_matrix_flags<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::ret,
+    Options = _Options,
+    InnerStrideAtCompileTime = 1,
+    OuterStrideAtCompileTime = (Options&RowMajor) ? ColsAtCompileTime : RowsAtCompileTime,
+    
+    // FIXME, the following flag in only used to define NeedsToAlign in PlainObjectBase
+    EvaluatorFlags = LinearAccessBit | DirectAccessBit | packet_access_bit | row_major_bit,
+    Alignment = actual_alignment
+  };
+};
+}
+
 /** \class Matrix
   * \ingroup Core_Module
   *
@@ -24,13 +63,13 @@ namespace Eigen {
   * The %Matrix class encompasses \em both fixed-size and dynamic-size objects (\ref fixedsize "note").
   *
   * The first three template parameters are required:
-  * \tparam _Scalar \anchor matrix_tparam_scalar Numeric type, e.g. float, double, int or std::complex<float>.
-  *                 User defined sclar types are supported as well (see \ref user_defined_scalars "here").
+  * \tparam _Scalar Numeric type, e.g. float, double, int or std::complex<float>.
+  *                 User defined scalar types are supported as well (see \ref user_defined_scalars "here").
   * \tparam _Rows Number of rows, or \b Dynamic
   * \tparam _Cols Number of columns, or \b Dynamic
   *
   * The remaining template parameters are optional -- in most cases you don't have to worry about them.
-  * \tparam _Options \anchor matrix_tparam_options A combination of either \b #RowMajor or \b #ColMajor, and of either
+  * \tparam _Options A combination of either \b #RowMajor or \b #ColMajor, and of either
   *                 \b #AutoAlign or \b #DontAlign.
   *                 The former controls \ref TopicStorageOrders "storage order", and defaults to column-major. The latter controls alignment, which is required
   *                 for vectorization. It defaults to aligning matrices except for fixed sizes that aren't a multiple of the packet size.
@@ -67,7 +106,7 @@ namespace Eigen {
   * \endcode
   *
   * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_MATRIX_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_MATRIX_PLUGIN.
   *
   * <i><b>Some notes:</b></i>
   *
@@ -97,32 +136,44 @@ namespace Eigen {
   * are the dimensions of the original matrix, while _Rows and _Cols are Dynamic.</dd>
   * </dl>
   *
-  * \see MatrixBase for the majority of the API methods for matrices, \ref TopicClassHierarchy, 
-  * \ref TopicStorageOrders 
+  * <i><b>ABI and storage layout</b></i>
+  *
+  * The table below summarizes the ABI of some possible Matrix instances which is fixed thorough the lifetime of Eigen 3.
+  * <table  class="manual">
+  * <tr><th>Matrix type</th><th>Equivalent C structure</th></tr>
+  * <tr><td>\code Matrix<T,Dynamic,Dynamic> \endcode</td><td>\code
+  * struct {
+  *   T *data;                  // with (size_t(data)%EIGEN_MAX_ALIGN_BYTES)==0
+  *   Eigen::Index rows, cols;
+  *  };
+  * \endcode</td></tr>
+  * <tr class="alt"><td>\code
+  * Matrix<T,Dynamic,1>
+  * Matrix<T,1,Dynamic> \endcode</td><td>\code
+  * struct {
+  *   T *data;                  // with (size_t(data)%EIGEN_MAX_ALIGN_BYTES)==0
+  *   Eigen::Index size;
+  *  };
+  * \endcode</td></tr>
+  * <tr><td>\code Matrix<T,Rows,Cols> \endcode</td><td>\code
+  * struct {
+  *   T data[Rows*Cols];        // with (size_t(data)%A(Rows*Cols*sizeof(T)))==0
+  *  };
+  * \endcode</td></tr>
+  * <tr class="alt"><td>\code Matrix<T,Dynamic,Dynamic,0,MaxRows,MaxCols> \endcode</td><td>\code
+  * struct {
+  *   T data[MaxRows*MaxCols];  // with (size_t(data)%A(MaxRows*MaxCols*sizeof(T)))==0
+  *   Eigen::Index rows, cols;
+  *  };
+  * \endcode</td></tr>
+  * </table>
+  * Note that in this table Rows, Cols, MaxRows and MaxCols are all positive integers. A(S) is defined to the largest possible power-of-two
+  * smaller to EIGEN_MAX_STATIC_ALIGN_BYTES.
+  *
+  * \see MatrixBase for the majority of the API methods for matrices, \ref TopicClassHierarchy,
+  * \ref TopicStorageOrders
   */
 
-namespace internal {
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-{
-  typedef _Scalar Scalar;
-  typedef Dense StorageKind;
-  typedef DenseIndex Index;
-  typedef MatrixXpr XprKind;
-  enum {
-    RowsAtCompileTime = _Rows,
-    ColsAtCompileTime = _Cols,
-    MaxRowsAtCompileTime = _MaxRows,
-    MaxColsAtCompileTime = _MaxCols,
-    Flags = compute_matrix_flags<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>::ret,
-    CoeffReadCost = NumTraits<Scalar>::ReadCost,
-    Options = _Options,
-    InnerStrideAtCompileTime = 1,
-    OuterStrideAtCompileTime = (Options&RowMajor) ? ColsAtCompileTime : RowsAtCompileTime
-  };
-};
-}
-
 template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
 class Matrix
   : public PlainObjectBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
@@ -151,6 +202,7 @@ class Matrix
       *
       * \callgraph
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix& operator=(const Matrix& other)
     {
       return Base::_set(other);
@@ -167,7 +219,8 @@ class Matrix
       * remain row-vectors and vectors remain vectors.
       */
     template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Matrix& operator=(const MatrixBase<OtherDerived>& other)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE Matrix& operator=(const DenseBase<OtherDerived>& other)
     {
       return Base::_set(other);
     }
@@ -179,12 +232,14 @@ class Matrix
       * \copydetails DenseBase::operator=(const EigenBase<OtherDerived> &other)
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix& operator=(const EigenBase<OtherDerived> &other)
     {
       return Base::operator=(other);
     }
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix& operator=(const ReturnByValue<OtherDerived>& func)
     {
       return Base::operator=(func);
@@ -200,6 +255,7 @@ class Matrix
       *
       * \sa resize(Index,Index)
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix() : Base()
     {
       Base::_check_template_params();
@@ -207,45 +263,87 @@ class Matrix
     }
 
     // FIXME is it still needed
-    Matrix(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC
+    explicit Matrix(internal::constructor_without_unaligned_array_assert)
       : Base(internal::constructor_without_unaligned_array_assert())
     { Base::_check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED }
 
-    /** \brief Constructs a vector or row-vector with given dimension. \only_for_vectors
-      *
-      * Note that this is only useful for dynamic-size vectors. For fixed-size vectors,
-      * it is redundant to pass the dimension here, so it makes more sense to use the default
-      * constructor Matrix() instead.
-      */
-    EIGEN_STRONG_INLINE explicit Matrix(Index dim)
-      : Base(dim, RowsAtCompileTime == 1 ? 1 : dim, ColsAtCompileTime == 1 ? 1 : dim)
+#if EIGEN_HAS_RVALUE_REFERENCES
+    EIGEN_DEVICE_FUNC
+    Matrix(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_constructible<Scalar>::value)
+      : Base(std::move(other))
     {
       Base::_check_template_params();
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Matrix)
-      eigen_assert(dim >= 0);
-      eigen_assert(SizeAtCompileTime == Dynamic || SizeAtCompileTime == dim);
-      EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
+      if (RowsAtCompileTime!=Dynamic && ColsAtCompileTime!=Dynamic)
+        Base::_set_noalias(other);
     }
+    EIGEN_DEVICE_FUNC
+    Matrix& operator=(Matrix&& other) EIGEN_NOEXCEPT_IF(std::is_nothrow_move_assignable<Scalar>::value)
+    {
+      other.swap(*this);
+      return *this;
+    }
+#endif
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
+
+    // This constructor is for both 1x1 matrices and dynamic vectors
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE explicit Matrix(const T& x)
+    {
+      Base::_check_template_params();
+      Base::template _init1<T>(x);
+    }
+
     template<typename T0, typename T1>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix(const T0& x, const T1& y)
     {
       Base::_check_template_params();
       Base::template _init2<T0,T1>(x, y);
     }
     #else
+    /** \brief Constructs a fixed-sized matrix initialized with coefficients starting at \a data */
+    EIGEN_DEVICE_FUNC
+    explicit Matrix(const Scalar *data);
+
+    /** \brief Constructs a vector or row-vector with given dimension. \only_for_vectors
+      *
+      * This is useful for dynamic-size vectors. For fixed-size vectors,
+      * it is redundant to pass these parameters, so one should use the default constructor
+      * Matrix() instead.
+      * 
+      * \warning This constructor is disabled for fixed-size \c 1x1 matrices. For instance,
+      * calling Matrix<double,1,1>(1) will call the initialization constructor: Matrix(const Scalar&).
+      * For fixed-size \c 1x1 matrices it is therefore recommended to use the default
+      * constructor Matrix() instead, especially when using one of the non standard
+      * \c EIGEN_INITIALIZE_MATRICES_BY_{ZERO,\c NAN} macros (see \ref TopicPreprocessorDirectives).
+      */
+    EIGEN_STRONG_INLINE explicit Matrix(Index dim);
+    /** \brief Constructs an initialized 1x1 matrix with the given coefficient */
+    Matrix(const Scalar& x);
     /** \brief Constructs an uninitialized matrix with \a rows rows and \a cols columns.
       *
       * This is useful for dynamic-size matrices. For fixed-size matrices,
       * it is redundant to pass these parameters, so one should use the default constructor
-      * Matrix() instead. */
+      * Matrix() instead.
+      * 
+      * \warning This constructor is disabled for fixed-size \c 1x2 and \c 2x1 vectors. For instance,
+      * calling Matrix2f(2,1) will call the initialization constructor: Matrix(const Scalar& x, const Scalar& y).
+      * For fixed-size \c 1x2 or \c 2x1 vectors it is therefore recommended to use the default
+      * constructor Matrix() instead, especially when using one of the non standard
+      * \c EIGEN_INITIALIZE_MATRICES_BY_{ZERO,\c NAN} macros (see \ref TopicPreprocessorDirectives).
+      */
+    EIGEN_DEVICE_FUNC
     Matrix(Index rows, Index cols);
+    
     /** \brief Constructs an initialized 2D vector with given coefficients */
     Matrix(const Scalar& x, const Scalar& y);
     #endif
 
     /** \brief Constructs an initialized 3D vector with given coefficients */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z)
     {
       Base::_check_template_params();
@@ -255,6 +353,7 @@ class Matrix
       m_storage.data()[2] = z;
     }
     /** \brief Constructs an initialized 4D vector with given coefficients */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w)
     {
       Base::_check_template_params();
@@ -265,76 +364,33 @@ class Matrix
       m_storage.data()[3] = w;
     }
 
-    explicit Matrix(const Scalar *data);
 
-    /** \brief Constructor copying the value of the expression \a other */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Matrix(const MatrixBase<OtherDerived>& other)
-             : Base(other.rows() * other.cols(), other.rows(), other.cols())
-    {
-      // This test resides here, to bring the error messages closer to the user. Normally, these checks
-      // are performed deeply within the library, thus causing long and scary error traces.
-      EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
-        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-
-      Base::_check_template_params();
-      Base::_set_noalias(other);
-    }
     /** \brief Copy constructor */
-    EIGEN_STRONG_INLINE Matrix(const Matrix& other)
-            : Base(other.rows() * other.cols(), other.rows(), other.cols())
-    {
-      Base::_check_template_params();
-      Base::_set_noalias(other);
-    }
-    /** \brief Copy constructor with in-place evaluation */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE Matrix(const ReturnByValue<OtherDerived>& other)
-    {
-      Base::_check_template_params();
-      Base::resize(other.rows(), other.cols());
-      other.evalTo(*this);
-    }
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE Matrix(const Matrix& other) : Base(other)
+    { }
 
     /** \brief Copy constructor for generic expressions.
       * \sa MatrixBase::operator=(const EigenBase<OtherDerived>&)
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Matrix(const EigenBase<OtherDerived> &other)
-      : Base(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
-    {
-      Base::_check_template_params();
-      Base::_resize_to_match(other);
-      // FIXME/CHECK: isn't *this = other.derived() more efficient. it allows to
-      //              go for pure _set() implementations, right?
-      *this = other;
-    }
+      : Base(other.derived())
+    { }
 
-    /** \internal
-      * \brief Override MatrixBase::swap() since for dynamic-sized matrices
-      * of same type it is enough to swap the data pointers.
-      */
-    template<typename OtherDerived>
-    void swap(MatrixBase<OtherDerived> const & other)
-    { this->_swap(other.derived()); }
-
-    inline Index innerStride() const { return 1; }
-    inline Index outerStride() const { return this->innerSize(); }
+    EIGEN_DEVICE_FUNC inline Index innerStride() const { return 1; }
+    EIGEN_DEVICE_FUNC inline Index outerStride() const { return this->innerSize(); }
 
     /////////// Geometry module ///////////
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     explicit Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Matrix& operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r);
 
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived>
-    explicit Matrix(const eigen2_RotationBase<OtherDerived,ColsAtCompileTime>& r);
-    template<typename OtherDerived>
-    Matrix& operator=(const eigen2_RotationBase<OtherDerived,ColsAtCompileTime>& r);
-    #endif
-
     // allow to extend Matrix outside Eigen
     #ifdef EIGEN_MATRIX_PLUGIN
     #include EIGEN_MATRIX_PLUGIN
diff --git a/eigenlib/Eigen/src/Core/MatrixBase.h b/eigenlib/Eigen/src/Core/MatrixBase.h
index b67a7c11..f7cf04cd 100644
--- a/eigenlib/Eigen/src/Core/MatrixBase.h
+++ b/eigenlib/Eigen/src/Core/MatrixBase.h
@@ -41,9 +41,9 @@ namespace Eigen {
   * \endcode
   *
   * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_MATRIXBASE_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_MATRIXBASE_PLUGIN.
   *
-  * \sa \ref TopicClassHierarchy
+  * \sa \blank \ref TopicClassHierarchy
   */
 template<typename Derived> class MatrixBase
   : public DenseBase<Derived>
@@ -52,7 +52,7 @@ template<typename Derived> class MatrixBase
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     typedef MatrixBase StorageBaseType;
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
+    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
@@ -66,7 +66,6 @@ template<typename Derived> class MatrixBase
     using Base::MaxSizeAtCompileTime;
     using Base::IsVectorAtCompileTime;
     using Base::Flags;
-    using Base::CoeffReadCost;
 
     using Base::derived;
     using Base::const_cast_derived;
@@ -98,25 +97,14 @@ template<typename Derived> class MatrixBase
 
     /** \returns the size of the main diagonal, which is min(rows(),cols()).
       * \sa rows(), cols(), SizeAtCompileTime. */
-    inline Index diagonalSize() const { return (std::min)(rows(),cols()); }
+    EIGEN_DEVICE_FUNC
+    inline Index diagonalSize() const { return (numext::mini)(rows(),cols()); }
 
-    /** \brief The plain matrix type corresponding to this expression.
-      *
-      * This is not necessarily exactly the return type of eval(). In the case of plain matrices,
-      * the return type of eval() is a const reference to a matrix, not a matrix! It is however guaranteed
-      * that the return type of eval() is either PlainObject or const PlainObject&.
-      */
-    typedef Matrix<typename internal::traits<Derived>::Scalar,
-                internal::traits<Derived>::RowsAtCompileTime,
-                internal::traits<Derived>::ColsAtCompileTime,
-                AutoAlign | (internal::traits<Derived>::Flags&RowMajorBit ? RowMajor : ColMajor),
-                internal::traits<Derived>::MaxRowsAtCompileTime,
-                internal::traits<Derived>::MaxColsAtCompileTime
-          > PlainObject;
+    typedef typename Base::PlainObject PlainObject;
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal Represents a matrix with all coefficients equal to one another*/
-    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Derived> ConstantReturnType;
+    typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,PlainObject> ConstantReturnType;
     /** \internal the return type of MatrixBase::adjoint() */
     typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
                         CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, ConstTransposeReturnType>,
@@ -125,7 +113,7 @@ template<typename Derived> class MatrixBase
     /** \internal Return type of eigenvalues() */
     typedef Matrix<std::complex<RealScalar>, internal::traits<Derived>::ColsAtCompileTime, 1, ColMajor> EigenvaluesReturnType;
     /** \internal the return type of identity */
-    typedef CwiseNullaryOp<internal::scalar_identity_op<Scalar>,Derived> IdentityReturnType;
+    typedef CwiseNullaryOp<internal::scalar_identity_op<Scalar>,PlainObject> IdentityReturnType;
     /** \internal the return type of unit vectors */
     typedef Block<const CwiseNullaryOp<internal::scalar_identity_op<Scalar>, SquareMatrixType>,
                   internal::traits<Derived>::RowsAtCompileTime,
@@ -133,6 +121,7 @@ template<typename Derived> class MatrixBase
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 
 #define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::MatrixBase
+#define EIGEN_DOC_UNARY_ADDONS(X,Y)
 #   include "../plugins/CommonCwiseUnaryOps.h"
 #   include "../plugins/CommonCwiseBinaryOps.h"
 #   include "../plugins/MatrixCwiseUnaryOps.h"
@@ -141,41 +130,53 @@ template<typename Derived> class MatrixBase
 #     include EIGEN_MATRIXBASE_PLUGIN
 #   endif
 #undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+#undef EIGEN_DOC_UNARY_ADDONS
 
     /** Special case of the template operator=, in order to prevent the compiler
       * from generating a default operator= (issue hit with g++ 4.1)
       */
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator=(const MatrixBase& other);
 
     // We cannot inherit here via Base::operator= since it is causing
     // trouble with MSVC.
 
     template <typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator=(const DenseBase<OtherDerived>& other);
 
     template <typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& operator=(const EigenBase<OtherDerived>& other);
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     Derived& operator=(const ReturnByValue<OtherDerived>& other);
 
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    Derived& lazyAssign(const ProductBase<ProductDerived, Lhs,Rhs>& other);
-
-    template<typename MatrixPower, typename Lhs, typename Rhs>
-    Derived& lazyAssign(const MatrixPowerProduct<MatrixPower, Lhs,Rhs>& other);
-
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator+=(const MatrixBase<OtherDerived>& other);
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
     Derived& operator-=(const MatrixBase<OtherDerived>& other);
 
+#ifdef __CUDACC__
     template<typename OtherDerived>
-    const typename ProductReturnType<Derived,OtherDerived>::Type
-    operator*(const MatrixBase<OtherDerived> &other) const;
+    EIGEN_DEVICE_FUNC
+    const Product<Derived,OtherDerived,LazyProduct>
+    operator*(const MatrixBase<OtherDerived> &other) const
+    { return this->lazyProduct(other); }
+#else
 
     template<typename OtherDerived>
-    const typename LazyProductReturnType<Derived,OtherDerived>::Type
+    const Product<Derived,OtherDerived>
+    operator*(const MatrixBase<OtherDerived> &other) const;
+
+#endif
+
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    const Product<Derived,OtherDerived,LazyProduct>
     lazyProduct(const MatrixBase<OtherDerived> &other) const;
 
     template<typename OtherDerived>
@@ -188,84 +189,93 @@ template<typename Derived> class MatrixBase
     void applyOnTheRight(const EigenBase<OtherDerived>& other);
 
     template<typename DiagonalDerived>
-    const DiagonalProduct<Derived, DiagonalDerived, OnTheRight>
+    EIGEN_DEVICE_FUNC
+    const Product<Derived, DiagonalDerived, LazyProduct>
     operator*(const DiagonalBase<DiagonalDerived> &diagonal) const;
 
     template<typename OtherDerived>
-    typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
+    EIGEN_DEVICE_FUNC
+    typename ScalarBinaryOpTraits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType
     dot(const MatrixBase<OtherDerived>& other) const;
 
-    #ifdef EIGEN2_SUPPORT
-      template<typename OtherDerived>
-      Scalar eigen2_dot(const MatrixBase<OtherDerived>& other) const;
-    #endif
-
-    RealScalar squaredNorm() const;
-    RealScalar norm() const;
+    EIGEN_DEVICE_FUNC RealScalar squaredNorm() const;
+    EIGEN_DEVICE_FUNC RealScalar norm() const;
     RealScalar stableNorm() const;
     RealScalar blueNorm() const;
     RealScalar hypotNorm() const;
-    const PlainObject normalized() const;
-    void normalize();
+    EIGEN_DEVICE_FUNC const PlainObject normalized() const;
+    EIGEN_DEVICE_FUNC const PlainObject stableNormalized() const;
+    EIGEN_DEVICE_FUNC void normalize();
+    EIGEN_DEVICE_FUNC void stableNormalize();
 
-    const AdjointReturnType adjoint() const;
-    void adjointInPlace();
+    EIGEN_DEVICE_FUNC const AdjointReturnType adjoint() const;
+    EIGEN_DEVICE_FUNC void adjointInPlace();
 
     typedef Diagonal<Derived> DiagonalReturnType;
+    EIGEN_DEVICE_FUNC
     DiagonalReturnType diagonal();
+
     typedef typename internal::add_const<Diagonal<const Derived> >::type ConstDiagonalReturnType;
+    EIGEN_DEVICE_FUNC
     ConstDiagonalReturnType diagonal() const;
 
     template<int Index> struct DiagonalIndexReturnType { typedef Diagonal<Derived,Index> Type; };
     template<int Index> struct ConstDiagonalIndexReturnType { typedef const Diagonal<const Derived,Index> Type; };
 
-    template<int Index> typename DiagonalIndexReturnType<Index>::Type diagonal();
-    template<int Index> typename ConstDiagonalIndexReturnType<Index>::Type diagonal() const;
-    
+    template<int Index>
+    EIGEN_DEVICE_FUNC
+    typename DiagonalIndexReturnType<Index>::Type diagonal();
+
+    template<int Index>
+    EIGEN_DEVICE_FUNC
+    typename ConstDiagonalIndexReturnType<Index>::Type diagonal() const;
+
     typedef Diagonal<Derived,DynamicIndex> DiagonalDynamicIndexReturnType;
     typedef typename internal::add_const<Diagonal<const Derived,DynamicIndex> >::type ConstDiagonalDynamicIndexReturnType;
 
+    EIGEN_DEVICE_FUNC
     DiagonalDynamicIndexReturnType diagonal(Index index);
+    EIGEN_DEVICE_FUNC
     ConstDiagonalDynamicIndexReturnType diagonal(Index index) const;
 
-    #ifdef EIGEN2_SUPPORT
-    template<unsigned int Mode> typename internal::eigen2_part_return_type<Derived, Mode>::type part();
-    template<unsigned int Mode> const typename internal::eigen2_part_return_type<Derived, Mode>::type part() const;
-    
-    // huuuge hack. make Eigen2's matrix.part<Diagonal>() work in eigen3. Problem: Diagonal is now a class template instead
-    // of an integer constant. Solution: overload the part() method template wrt template parameters list.
-    template<template<typename T, int N> class U>
-    const DiagonalWrapper<ConstDiagonalReturnType> part() const
-    { return diagonal().asDiagonal(); }
-    #endif // EIGEN2_SUPPORT
-
     template<unsigned int Mode> struct TriangularViewReturnType { typedef TriangularView<Derived, Mode> Type; };
     template<unsigned int Mode> struct ConstTriangularViewReturnType { typedef const TriangularView<const Derived, Mode> Type; };
 
-    template<unsigned int Mode> typename TriangularViewReturnType<Mode>::Type triangularView();
-    template<unsigned int Mode> typename ConstTriangularViewReturnType<Mode>::Type triangularView() const;
+    template<unsigned int Mode>
+    EIGEN_DEVICE_FUNC
+    typename TriangularViewReturnType<Mode>::Type triangularView();
+    template<unsigned int Mode>
+    EIGEN_DEVICE_FUNC
+    typename ConstTriangularViewReturnType<Mode>::Type triangularView() const;
 
     template<unsigned int UpLo> struct SelfAdjointViewReturnType { typedef SelfAdjointView<Derived, UpLo> Type; };
     template<unsigned int UpLo> struct ConstSelfAdjointViewReturnType { typedef const SelfAdjointView<const Derived, UpLo> Type; };
 
-    template<unsigned int UpLo> typename SelfAdjointViewReturnType<UpLo>::Type selfadjointView();
-    template<unsigned int UpLo> typename ConstSelfAdjointViewReturnType<UpLo>::Type selfadjointView() const;
+    template<unsigned int UpLo>
+    EIGEN_DEVICE_FUNC
+    typename SelfAdjointViewReturnType<UpLo>::Type selfadjointView();
+    template<unsigned int UpLo>
+    EIGEN_DEVICE_FUNC
+    typename ConstSelfAdjointViewReturnType<UpLo>::Type selfadjointView() const;
 
     const SparseView<Derived> sparseView(const Scalar& m_reference = Scalar(0),
                                          const typename NumTraits<Scalar>::Real& m_epsilon = NumTraits<Scalar>::dummy_precision()) const;
-    static const IdentityReturnType Identity();
-    static const IdentityReturnType Identity(Index rows, Index cols);
-    static const BasisReturnType Unit(Index size, Index i);
-    static const BasisReturnType Unit(Index i);
-    static const BasisReturnType UnitX();
-    static const BasisReturnType UnitY();
-    static const BasisReturnType UnitZ();
-    static const BasisReturnType UnitW();
+    EIGEN_DEVICE_FUNC static const IdentityReturnType Identity();
+    EIGEN_DEVICE_FUNC static const IdentityReturnType Identity(Index rows, Index cols);
+    EIGEN_DEVICE_FUNC static const BasisReturnType Unit(Index size, Index i);
+    EIGEN_DEVICE_FUNC static const BasisReturnType Unit(Index i);
+    EIGEN_DEVICE_FUNC static const BasisReturnType UnitX();
+    EIGEN_DEVICE_FUNC static const BasisReturnType UnitY();
+    EIGEN_DEVICE_FUNC static const BasisReturnType UnitZ();
+    EIGEN_DEVICE_FUNC static const BasisReturnType UnitW();
 
+    EIGEN_DEVICE_FUNC
     const DiagonalWrapper<const Derived> asDiagonal() const;
     const PermutationWrapper<const Derived> asPermutation() const;
 
+    EIGEN_DEVICE_FUNC
     Derived& setIdentity();
+    EIGEN_DEVICE_FUNC
     Derived& setIdentity(Index rows, Index cols);
 
     bool isIdentity(const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
@@ -297,59 +307,45 @@ template<typename Derived> class MatrixBase
 
     NoAlias<Derived,Eigen::MatrixBase > noalias();
 
-    inline const ForceAlignedAccess<Derived> forceAlignedAccess() const;
-    inline ForceAlignedAccess<Derived> forceAlignedAccess();
-    template<bool Enable> inline typename internal::add_const_on_value_type<typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type>::type forceAlignedAccessIf() const;
-    template<bool Enable> inline typename internal::conditional<Enable,ForceAlignedAccess<Derived>,Derived&>::type forceAlignedAccessIf();
+    // TODO forceAlignedAccess is temporarily disabled
+    // Need to find a nicer workaround.
+    inline const Derived& forceAlignedAccess() const { return derived(); }
+    inline Derived& forceAlignedAccess() { return derived(); }
+    template<bool Enable> inline const Derived& forceAlignedAccessIf() const { return derived(); }
+    template<bool Enable> inline Derived& forceAlignedAccessIf() { return derived(); }
 
-    Scalar trace() const;
+    EIGEN_DEVICE_FUNC Scalar trace() const;
 
-/////////// Array module ///////////
+    template<int p> EIGEN_DEVICE_FUNC RealScalar lpNorm() const;
 
-    template<int p> RealScalar lpNorm() const;
-
-    MatrixBase<Derived>& matrix() { return *this; }
-    const MatrixBase<Derived>& matrix() const { return *this; }
+    EIGEN_DEVICE_FUNC MatrixBase<Derived>& matrix() { return *this; }
+    EIGEN_DEVICE_FUNC const MatrixBase<Derived>& matrix() const { return *this; }
 
     /** \returns an \link Eigen::ArrayBase Array \endlink expression of this matrix
       * \sa ArrayBase::matrix() */
-    ArrayWrapper<Derived> array() { return derived(); }
-    const ArrayWrapper<const Derived> array() const { return derived(); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE ArrayWrapper<Derived> array() { return ArrayWrapper<Derived>(derived()); }
+    /** \returns a const \link Eigen::ArrayBase Array \endlink expression of this matrix
+      * \sa ArrayBase::matrix() */
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const ArrayWrapper<const Derived> array() const { return ArrayWrapper<const Derived>(derived()); }
 
 /////////// LU module ///////////
 
-    const FullPivLU<PlainObject> fullPivLu() const;
-    const PartialPivLU<PlainObject> partialPivLu() const;
+    inline const FullPivLU<PlainObject> fullPivLu() const;
+    inline const PartialPivLU<PlainObject> partialPivLu() const;
 
-    #if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
-    const LU<PlainObject> lu() const;
-    #endif
+    inline const PartialPivLU<PlainObject> lu() const;
 
-    #ifdef EIGEN2_SUPPORT
-    const LU<PlainObject> eigen2_lu() const;
-    #endif
+    inline const Inverse<Derived> inverse() const;
 
-    #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
-    const PartialPivLU<PlainObject> lu() const;
-    #endif
-    
-    #ifdef EIGEN2_SUPPORT
     template<typename ResultType>
-    void computeInverse(MatrixBase<ResultType> *result) const {
-      *result = this->inverse();
-    }
-    #endif
-
-    const internal::inverse_impl<Derived> inverse() const;
-    template<typename ResultType>
-    void computeInverseAndDetWithCheck(
+    inline void computeInverseAndDetWithCheck(
       ResultType& inverse,
       typename ResultType::Scalar& determinant,
       bool& invertible,
       const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
     ) const;
     template<typename ResultType>
-    void computeInverseWithCheck(
+    inline void computeInverseWithCheck(
       ResultType& inverse,
       bool& invertible,
       const RealScalar& absDeterminantThreshold = NumTraits<Scalar>::dummy_precision()
@@ -358,65 +354,70 @@ template<typename Derived> class MatrixBase
 
 /////////// Cholesky module ///////////
 
-    const LLT<PlainObject>  llt() const;
-    const LDLT<PlainObject> ldlt() const;
+    inline const LLT<PlainObject>  llt() const;
+    inline const LDLT<PlainObject> ldlt() const;
 
 /////////// QR module ///////////
 
-    const HouseholderQR<PlainObject> householderQr() const;
-    const ColPivHouseholderQR<PlainObject> colPivHouseholderQr() const;
-    const FullPivHouseholderQR<PlainObject> fullPivHouseholderQr() const;
-    
-    #ifdef EIGEN2_SUPPORT
-    const QR<PlainObject> qr() const;
-    #endif
+    inline const HouseholderQR<PlainObject> householderQr() const;
+    inline const ColPivHouseholderQR<PlainObject> colPivHouseholderQr() const;
+    inline const FullPivHouseholderQR<PlainObject> fullPivHouseholderQr() const;
+    inline const CompleteOrthogonalDecomposition<PlainObject> completeOrthogonalDecomposition() const;
 
-    EigenvaluesReturnType eigenvalues() const;
-    RealScalar operatorNorm() const;
+/////////// Eigenvalues module ///////////
+
+    inline EigenvaluesReturnType eigenvalues() const;
+    inline RealScalar operatorNorm() const;
 
 /////////// SVD module ///////////
 
-    JacobiSVD<PlainObject> jacobiSvd(unsigned int computationOptions = 0) const;
-
-    #ifdef EIGEN2_SUPPORT
-    SVD<PlainObject> svd() const;
-    #endif
+    inline JacobiSVD<PlainObject> jacobiSvd(unsigned int computationOptions = 0) const;
+    inline BDCSVD<PlainObject>    bdcSvd(unsigned int computationOptions = 0) const;
 
 /////////// Geometry module ///////////
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     /// \internal helper struct to form the return type of the cross product
     template<typename OtherDerived> struct cross_product_return_type {
-      typedef typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType Scalar;
+      typedef typename ScalarBinaryOpTraits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType Scalar;
       typedef Matrix<Scalar,MatrixBase::RowsAtCompileTime,MatrixBase::ColsAtCompileTime> type;
     };
     #endif // EIGEN_PARSED_BY_DOXYGEN
     template<typename OtherDerived>
-    typename cross_product_return_type<OtherDerived>::type
+    EIGEN_DEVICE_FUNC
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    inline typename cross_product_return_type<OtherDerived>::type
+#else
+    inline PlainObject
+#endif
     cross(const MatrixBase<OtherDerived>& other) const;
+
     template<typename OtherDerived>
-    PlainObject cross3(const MatrixBase<OtherDerived>& other) const;
-    PlainObject unitOrthogonal(void) const;
-    Matrix<Scalar,3,1> eulerAngles(Index a0, Index a1, Index a2) const;
-    
-    #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
-    ScalarMultipleReturnType operator*(const UniformScaling<Scalar>& s) const;
+    EIGEN_DEVICE_FUNC
+    inline PlainObject cross3(const MatrixBase<OtherDerived>& other) const;
+
+    EIGEN_DEVICE_FUNC
+    inline PlainObject unitOrthogonal(void) const;
+
+    EIGEN_DEVICE_FUNC
+    inline Matrix<Scalar,3,1> eulerAngles(Index a0, Index a1, Index a2) const;
+
     // put this as separate enum value to work around possible GCC 4.3 bug (?)
-    enum { HomogeneousReturnTypeDirection = ColsAtCompileTime==1?Vertical:Horizontal };
+    enum { HomogeneousReturnTypeDirection = ColsAtCompileTime==1&&RowsAtCompileTime==1 ? ((internal::traits<Derived>::Flags&RowMajorBit)==RowMajorBit ? Horizontal : Vertical)
+                                          : ColsAtCompileTime==1 ? Vertical : Horizontal };
     typedef Homogeneous<Derived, HomogeneousReturnTypeDirection> HomogeneousReturnType;
-    HomogeneousReturnType homogeneous() const;
-    #endif
-    
+    EIGEN_DEVICE_FUNC
+    inline HomogeneousReturnType homogeneous() const;
+
     enum {
       SizeMinusOne = SizeAtCompileTime==Dynamic ? Dynamic : SizeAtCompileTime-1
     };
     typedef Block<const Derived,
                   internal::traits<Derived>::ColsAtCompileTime==1 ? SizeMinusOne : 1,
                   internal::traits<Derived>::ColsAtCompileTime==1 ? 1 : SizeMinusOne> ConstStartMinusOne;
-    typedef CwiseUnaryOp<internal::scalar_quotient1_op<typename internal::traits<Derived>::Scalar>,
-                const ConstStartMinusOne > HNormalizedReturnType;
-
-    const HNormalizedReturnType hnormalized() const;
+    typedef EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(ConstStartMinusOne,Scalar,quotient) HNormalizedReturnType;
+    EIGEN_DEVICE_FUNC
+    inline const HNormalizedReturnType hnormalized() const;
 
 ////////// Householder module ///////////
 
@@ -440,6 +441,15 @@ template<typename Derived> class MatrixBase
     template<typename OtherScalar>
     void applyOnTheRight(Index p, Index q, const JacobiRotation<OtherScalar>& j);
 
+///////// SparseCore module /////////
+
+    template<typename OtherDerived>
+    EIGEN_STRONG_INLINE const typename SparseMatrixBase<OtherDerived>::template CwiseProductDenseReturnType<Derived>::Type
+    cwiseProduct(const SparseMatrixBase<OtherDerived> &other) const
+    {
+      return other.cwiseProduct(derived());
+    }
+
 ///////// MatrixFunctions module /////////
 
     typedef typename internal::stem_function<Scalar>::type StemFunction;
@@ -452,49 +462,15 @@ template<typename Derived> class MatrixBase
     const MatrixSquareRootReturnValue<Derived> sqrt() const;
     const MatrixLogarithmReturnValue<Derived> log() const;
     const MatrixPowerReturnValue<Derived> pow(const RealScalar& p) const;
-
-#ifdef EIGEN2_SUPPORT
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    Derived& operator+=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
-                                      EvalBeforeAssigningBit>& other);
-
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    Derived& operator-=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
-                                      EvalBeforeAssigningBit>& other);
-
-    /** \deprecated because .lazy() is deprecated
-      * Overloaded for cache friendly product evaluation */
-    template<typename OtherDerived>
-    Derived& lazyAssign(const Flagged<OtherDerived, 0, EvalBeforeAssigningBit>& other)
-    { return lazyAssign(other._expression()); }
-
-    template<unsigned int Added>
-    const Flagged<Derived, Added, 0> marked() const;
-    const Flagged<Derived, 0, EvalBeforeAssigningBit> lazy() const;
-
-    inline const Cwise<Derived> cwise() const;
-    inline Cwise<Derived> cwise();
-
-    VectorBlock<Derived> start(Index size);
-    const VectorBlock<const Derived> start(Index size) const;
-    VectorBlock<Derived> end(Index size);
-    const VectorBlock<const Derived> end(Index size) const;
-    template<int Size> VectorBlock<Derived,Size> start();
-    template<int Size> const VectorBlock<const Derived,Size> start() const;
-    template<int Size> VectorBlock<Derived,Size> end();
-    template<int Size> const VectorBlock<const Derived,Size> end() const;
-
-    Minor<Derived> minor(Index row, Index col);
-    const Minor<Derived> minor(Index row, Index col) const;
-#endif
+    const MatrixComplexPowerReturnValue<Derived> pow(const std::complex<RealScalar>& p) const;
 
   protected:
-    MatrixBase() : Base() {}
+    EIGEN_DEVICE_FUNC MatrixBase() : Base() {}
 
   private:
-    explicit MatrixBase(int);
-    MatrixBase(int,int);
-    template<typename OtherDerived> explicit MatrixBase(const MatrixBase<OtherDerived>&);
+    EIGEN_DEVICE_FUNC explicit MatrixBase(int);
+    EIGEN_DEVICE_FUNC MatrixBase(int,int);
+    template<typename OtherDerived> EIGEN_DEVICE_FUNC explicit MatrixBase(const MatrixBase<OtherDerived>&);
   protected:
     // mixing arrays and matrices is not legal
     template<typename OtherDerived> Derived& operator+=(const ArrayBase<OtherDerived>& )
diff --git a/eigenlib/Eigen/src/Core/NestByValue.h b/eigenlib/Eigen/src/Core/NestByValue.h
index a893b176..13adf070 100644
--- a/eigenlib/Eigen/src/Core/NestByValue.h
+++ b/eigenlib/Eigen/src/Core/NestByValue.h
@@ -13,25 +13,24 @@
 
 namespace Eigen {
 
-/** \class NestByValue
-  * \ingroup Core_Module
-  *
-  * \brief Expression which must be nested by value
-  *
-  * \param ExpressionType the type of the object of which we are requiring nesting-by-value
-  *
-  * This class is the return type of MatrixBase::nestByValue()
-  * and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::nestByValue()
-  */
-
 namespace internal {
 template<typename ExpressionType>
 struct traits<NestByValue<ExpressionType> > : public traits<ExpressionType>
 {};
 }
 
+/** \class NestByValue
+  * \ingroup Core_Module
+  *
+  * \brief Expression which must be nested by value
+  *
+  * \tparam ExpressionType the type of the object of which we are requiring nesting-by-value
+  *
+  * This class is the return type of MatrixBase::nestByValue()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::nestByValue()
+  */
 template<typename ExpressionType> class NestByValue
   : public internal::dense_xpr_base< NestByValue<ExpressionType> >::type
 {
@@ -40,29 +39,29 @@ template<typename ExpressionType> class NestByValue
     typedef typename internal::dense_xpr_base<NestByValue>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(NestByValue)
 
-    inline NestByValue(const ExpressionType& matrix) : m_expression(matrix) {}
+    EIGEN_DEVICE_FUNC explicit inline NestByValue(const ExpressionType& matrix) : m_expression(matrix) {}
 
-    inline Index rows() const { return m_expression.rows(); }
-    inline Index cols() const { return m_expression.cols(); }
-    inline Index outerStride() const { return m_expression.outerStride(); }
-    inline Index innerStride() const { return m_expression.innerStride(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_expression.rows(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_expression.cols(); }
+    EIGEN_DEVICE_FUNC inline Index outerStride() const { return m_expression.outerStride(); }
+    EIGEN_DEVICE_FUNC inline Index innerStride() const { return m_expression.innerStride(); }
 
-    inline const CoeffReturnType coeff(Index row, Index col) const
+    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index row, Index col) const
     {
       return m_expression.coeff(row, col);
     }
 
-    inline Scalar& coeffRef(Index row, Index col)
+    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index row, Index col)
     {
       return m_expression.const_cast_derived().coeffRef(row, col);
     }
 
-    inline const CoeffReturnType coeff(Index index) const
+    EIGEN_DEVICE_FUNC inline const CoeffReturnType coeff(Index index) const
     {
       return m_expression.coeff(index);
     }
 
-    inline Scalar& coeffRef(Index index)
+    EIGEN_DEVICE_FUNC inline Scalar& coeffRef(Index index)
     {
       return m_expression.const_cast_derived().coeffRef(index);
     }
@@ -91,7 +90,7 @@ template<typename ExpressionType> class NestByValue
       m_expression.const_cast_derived().template writePacket<LoadMode>(index, x);
     }
 
-    operator const ExpressionType&() const { return m_expression; }
+    EIGEN_DEVICE_FUNC operator const ExpressionType&() const { return m_expression; }
 
   protected:
     const ExpressionType m_expression;
diff --git a/eigenlib/Eigen/src/Core/NoAlias.h b/eigenlib/Eigen/src/Core/NoAlias.h
index 768bfb18..33908010 100644
--- a/eigenlib/Eigen/src/Core/NoAlias.h
+++ b/eigenlib/Eigen/src/Core/NoAlias.h
@@ -17,7 +17,7 @@ namespace Eigen {
   *
   * \brief Pseudo expression providing an operator = assuming no aliasing
   *
-  * \param ExpressionType the type of the object on which to do the lazy assignment
+  * \tparam ExpressionType the type of the object on which to do the lazy assignment
   *
   * This class represents an expression with special assignment operators
   * assuming no aliasing between the target expression and the source expression.
@@ -30,62 +30,36 @@ namespace Eigen {
 template<typename ExpressionType, template <typename> class StorageBase>
 class NoAlias
 {
-    typedef typename ExpressionType::Scalar Scalar;
   public:
-    NoAlias(ExpressionType& expression) : m_expression(expression) {}
-
-    /** Behaves like MatrixBase::lazyAssign(other)
-      * \sa MatrixBase::lazyAssign() */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE ExpressionType& operator=(const StorageBase<OtherDerived>& other)
-    { return internal::assign_selector<ExpressionType,OtherDerived,false>::run(m_expression,other.derived()); }
-
-    /** \sa MatrixBase::operator+= */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE ExpressionType& operator+=(const StorageBase<OtherDerived>& other)
-    {
-      typedef SelfCwiseBinaryOp<internal::scalar_sum_op<Scalar>, ExpressionType, OtherDerived> SelfAdder;
-      SelfAdder tmp(m_expression);
-      typedef typename internal::nested<OtherDerived>::type OtherDerivedNested;
-      typedef typename internal::remove_all<OtherDerivedNested>::type _OtherDerivedNested;
-      internal::assign_selector<SelfAdder,_OtherDerivedNested,false>::run(tmp,OtherDerivedNested(other.derived()));
-      return m_expression;
-    }
-
-    /** \sa MatrixBase::operator-= */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE ExpressionType& operator-=(const StorageBase<OtherDerived>& other)
-    {
-      typedef SelfCwiseBinaryOp<internal::scalar_difference_op<Scalar>, ExpressionType, OtherDerived> SelfAdder;
-      SelfAdder tmp(m_expression);
-      typedef typename internal::nested<OtherDerived>::type OtherDerivedNested;
-      typedef typename internal::remove_all<OtherDerivedNested>::type _OtherDerivedNested;
-      internal::assign_selector<SelfAdder,_OtherDerivedNested,false>::run(tmp,OtherDerivedNested(other.derived()));
-      return m_expression;
-    }
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE ExpressionType& operator+=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
-    { other.derived().addTo(m_expression); return m_expression; }
-
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE ExpressionType& operator-=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
-    { other.derived().subTo(m_expression); return m_expression; }
-
-    template<typename Lhs, typename Rhs, int NestingFlags>
-    EIGEN_STRONG_INLINE ExpressionType& operator+=(const CoeffBasedProduct<Lhs,Rhs,NestingFlags>& other)
-    { return m_expression.derived() += CoeffBasedProduct<Lhs,Rhs,NestByRefBit>(other.lhs(), other.rhs()); }
-
-    template<typename Lhs, typename Rhs, int NestingFlags>
-    EIGEN_STRONG_INLINE ExpressionType& operator-=(const CoeffBasedProduct<Lhs,Rhs,NestingFlags>& other)
-    { return m_expression.derived() -= CoeffBasedProduct<Lhs,Rhs,NestByRefBit>(other.lhs(), other.rhs()); }
+    typedef typename ExpressionType::Scalar Scalar;
+    
+    explicit NoAlias(ExpressionType& expression) : m_expression(expression) {}
     
     template<typename OtherDerived>
-    ExpressionType& operator=(const ReturnByValue<OtherDerived>& func)
-    { return m_expression = func; }
-#endif
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE ExpressionType& operator=(const StorageBase<OtherDerived>& other)
+    {
+      call_assignment_no_alias(m_expression, other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
+      return m_expression;
+    }
+    
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE ExpressionType& operator+=(const StorageBase<OtherDerived>& other)
+    {
+      call_assignment_no_alias(m_expression, other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
+      return m_expression;
+    }
+    
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE ExpressionType& operator-=(const StorageBase<OtherDerived>& other)
+    {
+      call_assignment_no_alias(m_expression, other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
+      return m_expression;
+    }
 
+    EIGEN_DEVICE_FUNC
     ExpressionType& expression() const
     {
       return m_expression;
@@ -126,7 +100,7 @@ class NoAlias
 template<typename Derived>
 NoAlias<Derived,MatrixBase> MatrixBase<Derived>::noalias()
 {
-  return derived();
+  return NoAlias<Derived, Eigen::MatrixBase >(derived());
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/NumTraits.h b/eigenlib/Eigen/src/Core/NumTraits.h
index bac9e50b..dd61195b 100644
--- a/eigenlib/Eigen/src/Core/NumTraits.h
+++ b/eigenlib/Eigen/src/Core/NumTraits.h
@@ -12,24 +12,57 @@
 
 namespace Eigen {
 
+namespace internal {
+
+// default implementation of digits10(), based on numeric_limits if specialized,
+// 0 for integer types, and log10(epsilon()) otherwise.
+template< typename T,
+          bool use_numeric_limits = std::numeric_limits<T>::is_specialized,
+          bool is_integer = NumTraits<T>::IsInteger>
+struct default_digits10_impl
+{
+  static int run() { return std::numeric_limits<T>::digits10; }
+};
+
+template<typename T>
+struct default_digits10_impl<T,false,false> // Floating point
+{
+  static int run() {
+    using std::log10;
+    using std::ceil;
+    typedef typename NumTraits<T>::Real Real;
+    return int(ceil(-log10(NumTraits<Real>::epsilon())));
+  }
+};
+
+template<typename T>
+struct default_digits10_impl<T,false,true> // Integer
+{
+  static int run() { return 0; }
+};
+
+} // end namespace internal
+
 /** \class NumTraits
   * \ingroup Core_Module
   *
   * \brief Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
   *
-  * \param T the numeric type at hand
+  * \tparam T the numeric type at hand
   *
   * This class stores enums, typedefs and static methods giving information about a numeric type.
   *
   * The provided data consists of:
-  * \li A typedef \a Real, giving the "real part" type of \a T. If \a T is already real,
-  *     then \a Real is just a typedef to \a T. If \a T is \c std::complex<U> then \a Real
+  * \li A typedef \c Real, giving the "real part" type of \a T. If \a T is already real,
+  *     then \c Real is just a typedef to \a T. If \a T is \c std::complex<U> then \c Real
   *     is a typedef to \a U.
-  * \li A typedef \a NonInteger, giving the type that should be used for operations producing non-integral values,
+  * \li A typedef \c NonInteger, giving the type that should be used for operations producing non-integral values,
   *     such as quotients, square roots, etc. If \a T is a floating-point type, then this typedef just gives
   *     \a T again. Note however that many Eigen functions such as internal::sqrt simply refuse to
   *     take integers. Outside of a few cases, Eigen doesn't do automatic type promotion. Thus, this typedef is
   *     only intended as a helper for code that needs to explicitly promote types.
+  * \li A typedef \c Literal giving the type to use for numeric literals such as "2" or "0.5". For instance, for \c std::complex<U>, Literal is defined as \c U.
+  *     Of course, this type must be fully compatible with \a T. In doubt, just use \a T here.
   * \li A typedef \a Nested giving the type to use to nest a value inside of the expression tree. If you don't know what
   *     this means, just use \a T here.
   * \li An enum value \a IsComplex. It is equal to 1 if \a T is a \c std::complex
@@ -42,10 +75,14 @@ namespace Eigen {
   * \li An enum value \a IsSigned. It is equal to \c 1 if \a T is a signed type and to 0 if \a T is unsigned.
   * \li An enum value \a RequireInitialization. It is equal to \c 1 if the constructor of the numeric type \a T must
   *     be called, and to 0 if it is safe not to call it. Default is 0 if \a T is an arithmetic type, and 1 otherwise.
-  * \li An epsilon() function which, unlike std::numeric_limits::epsilon(), returns a \a Real instead of a \a T.
+  * \li An epsilon() function which, unlike <a href="http://en.cppreference.com/w/cpp/types/numeric_limits/epsilon">std::numeric_limits::epsilon()</a>,
+  *     it returns a \a Real instead of a \a T.
   * \li A dummy_precision() function returning a weak epsilon value. It is mainly used as a default
   *     value by the fuzzy comparison operators.
   * \li highest() and lowest() functions returning the highest and lowest possible values respectively.
+  * \li digits10() function returning the number of decimal digits that can be represented without change. This is
+  *     the analogue of <a href="http://en.cppreference.com/w/cpp/types/numeric_limits/digits10">std::numeric_limits<T>::digits10</a>
+  *     which is used as the default implementation if specialized.
   */
 
 template<typename T> struct GenericNumTraits
@@ -67,22 +104,47 @@ template<typename T> struct GenericNumTraits
                      T
                    >::type NonInteger;
   typedef T Nested;
+  typedef T Literal;
 
-  static inline Real epsilon() { return std::numeric_limits<T>::epsilon(); }
+  EIGEN_DEVICE_FUNC
+  static inline Real epsilon()
+  {
+    return numext::numeric_limits<T>::epsilon();
+  }
+
+  EIGEN_DEVICE_FUNC
+  static inline int digits10()
+  {
+    return internal::default_digits10_impl<T>::run();
+  }
+
+  EIGEN_DEVICE_FUNC
   static inline Real dummy_precision()
   {
     // make sure to override this for floating-point types
     return Real(0);
   }
-  static inline T highest() { return (std::numeric_limits<T>::max)(); }
-  static inline T lowest()  { return IsInteger ? (std::numeric_limits<T>::min)() : (-(std::numeric_limits<T>::max)()); }
-  
-#ifdef EIGEN2_SUPPORT
-  enum {
-    HasFloatingPoint = !IsInteger
-  };
-  typedef NonInteger FloatingPoint;
-#endif
+
+
+  EIGEN_DEVICE_FUNC
+  static inline T highest() {
+    return (numext::numeric_limits<T>::max)();
+  }
+
+  EIGEN_DEVICE_FUNC
+  static inline T lowest()  {
+    return IsInteger ? (numext::numeric_limits<T>::min)() : (-(numext::numeric_limits<T>::max)());
+  }
+
+  EIGEN_DEVICE_FUNC
+  static inline T infinity() {
+    return numext::numeric_limits<T>::infinity();
+  }
+
+  EIGEN_DEVICE_FUNC
+  static inline T quiet_NaN() {
+    return numext::numeric_limits<T>::quiet_NaN();
+  }
 };
 
 template<typename T> struct NumTraits : GenericNumTraits<T>
@@ -91,11 +153,13 @@ template<typename T> struct NumTraits : GenericNumTraits<T>
 template<> struct NumTraits<float>
   : GenericNumTraits<float>
 {
+  EIGEN_DEVICE_FUNC
   static inline float dummy_precision() { return 1e-5f; }
 };
 
 template<> struct NumTraits<double> : GenericNumTraits<double>
 {
+  EIGEN_DEVICE_FUNC
   static inline double dummy_precision() { return 1e-12; }
 };
 
@@ -109,6 +173,7 @@ template<typename _Real> struct NumTraits<std::complex<_Real> >
   : GenericNumTraits<std::complex<_Real> >
 {
   typedef _Real Real;
+  typedef typename NumTraits<_Real>::Literal Literal;
   enum {
     IsComplex = 1,
     RequireInitialization = NumTraits<_Real>::RequireInitialization,
@@ -117,8 +182,12 @@ template<typename _Real> struct NumTraits<std::complex<_Real> >
     MulCost = 4 * NumTraits<Real>::MulCost + 2 * NumTraits<Real>::AddCost
   };
 
+  EIGEN_DEVICE_FUNC
   static inline Real epsilon() { return NumTraits<Real>::epsilon(); }
+  EIGEN_DEVICE_FUNC
   static inline Real dummy_precision() { return NumTraits<Real>::dummy_precision(); }
+  EIGEN_DEVICE_FUNC
+  static inline int digits10() { return NumTraits<Real>::digits10(); }
 };
 
 template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
@@ -130,21 +199,48 @@ struct NumTraits<Array<Scalar, Rows, Cols, Options, MaxRows, MaxCols> >
   typedef typename NumTraits<Scalar>::NonInteger NonIntegerScalar;
   typedef Array<NonIntegerScalar, Rows, Cols, Options, MaxRows, MaxCols> NonInteger;
   typedef ArrayType & Nested;
-  
+  typedef typename NumTraits<Scalar>::Literal Literal;
+
   enum {
     IsComplex = NumTraits<Scalar>::IsComplex,
     IsInteger = NumTraits<Scalar>::IsInteger,
     IsSigned  = NumTraits<Scalar>::IsSigned,
     RequireInitialization = 1,
-    ReadCost = ArrayType::SizeAtCompileTime==Dynamic ? Dynamic : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::ReadCost,
-    AddCost  = ArrayType::SizeAtCompileTime==Dynamic ? Dynamic : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::AddCost,
-    MulCost  = ArrayType::SizeAtCompileTime==Dynamic ? Dynamic : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::MulCost
+    ReadCost = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::ReadCost,
+    AddCost  = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::AddCost,
+    MulCost  = ArrayType::SizeAtCompileTime==Dynamic ? HugeCost : ArrayType::SizeAtCompileTime * NumTraits<Scalar>::MulCost
   };
-  
+
+  EIGEN_DEVICE_FUNC
   static inline RealScalar epsilon() { return NumTraits<RealScalar>::epsilon(); }
+  EIGEN_DEVICE_FUNC
   static inline RealScalar dummy_precision() { return NumTraits<RealScalar>::dummy_precision(); }
 };
 
+template<> struct NumTraits<std::string>
+  : GenericNumTraits<std::string>
+{
+  enum {
+    RequireInitialization = 1,
+    ReadCost = HugeCost,
+    AddCost  = HugeCost,
+    MulCost  = HugeCost
+  };
+
+  static inline int digits10() { return 0; }
+
+private:
+  static inline std::string epsilon();
+  static inline std::string dummy_precision();
+  static inline std::string lowest();
+  static inline std::string highest();
+  static inline std::string infinity();
+  static inline std::string quiet_NaN();
+};
+
+// Empty specialization for void to allow template specialization based on NumTraits<T>::Real with T==void and SFINAE.
+template<> struct NumTraits<void> {};
+
 } // end namespace Eigen
 
 #endif // EIGEN_NUMTRAITS_H
diff --git a/eigenlib/Eigen/src/Core/PermutationMatrix.h b/eigenlib/Eigen/src/Core/PermutationMatrix.h
index 85ffae26..b1fb455b 100644
--- a/eigenlib/Eigen/src/Core/PermutationMatrix.h
+++ b/eigenlib/Eigen/src/Core/PermutationMatrix.h
@@ -2,7 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -13,14 +13,18 @@
 
 namespace Eigen { 
 
-template<int RowCol,typename IndicesType,typename MatrixType, typename StorageKind> class PermutedImpl;
+namespace internal {
+
+enum PermPermProduct_t {PermPermProduct};
+
+} // end namespace internal
 
 /** \class PermutationBase
   * \ingroup Core_Module
   *
   * \brief Base class for permutations
   *
-  * \param Derived the derived class
+  * \tparam Derived the derived class
   *
   * This class is the base class for all expressions representing a permutation matrix,
   * internally stored as a vector of integers.
@@ -38,17 +42,6 @@ template<int RowCol,typename IndicesType,typename MatrixType, typename StorageKi
   *
   * \sa class PermutationMatrix, class PermutationWrapper
   */
-
-namespace internal {
-
-template<typename PermutationType, typename MatrixType, int Side, bool Transposed=false>
-struct permut_matrix_product_retval;
-template<typename PermutationType, typename MatrixType, int Side, bool Transposed=false>
-struct permut_sparsematrix_product_retval;
-enum PermPermProduct_t {PermPermProduct};
-
-} // end namespace internal
-
 template<typename Derived>
 class PermutationBase : public EigenBase<Derived>
 {
@@ -60,19 +53,20 @@ class PermutationBase : public EigenBase<Derived>
     typedef typename Traits::IndicesType IndicesType;
     enum {
       Flags = Traits::Flags,
-      CoeffReadCost = Traits::CoeffReadCost,
       RowsAtCompileTime = Traits::RowsAtCompileTime,
       ColsAtCompileTime = Traits::ColsAtCompileTime,
       MaxRowsAtCompileTime = Traits::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = Traits::MaxColsAtCompileTime
     };
-    typedef typename Traits::Scalar Scalar;
-    typedef typename Traits::Index Index;
-    typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime,0,MaxRowsAtCompileTime,MaxColsAtCompileTime>
+    typedef typename Traits::StorageIndex StorageIndex;
+    typedef Matrix<StorageIndex,RowsAtCompileTime,ColsAtCompileTime,0,MaxRowsAtCompileTime,MaxColsAtCompileTime>
             DenseMatrixType;
-    typedef PermutationMatrix<IndicesType::SizeAtCompileTime,IndicesType::MaxSizeAtCompileTime,Index>
+    typedef PermutationMatrix<IndicesType::SizeAtCompileTime,IndicesType::MaxSizeAtCompileTime,StorageIndex>
             PlainPermutationType;
+    typedef PlainPermutationType PlainObject;
     using Base::derived;
+    typedef Inverse<Derived> InverseReturnType;
+    typedef void Scalar;
     #endif
 
     /** Copies the other permutation into *this */
@@ -118,7 +112,7 @@ class PermutationBase : public EigenBase<Derived>
     void evalTo(MatrixBase<DenseDerived>& other) const
     {
       other.setZero();
-      for (int i=0; i<rows();++i)
+      for (Index i=0; i<rows(); ++i)
         other.coeffRef(indices().coeff(i),i) = typename DenseDerived::Scalar(1);
     }
     #endif
@@ -147,7 +141,8 @@ class PermutationBase : public EigenBase<Derived>
     /** Sets *this to be the identity permutation matrix */
     void setIdentity()
     {
-      for(Index i = 0; i < size(); ++i)
+      StorageIndex n = StorageIndex(size());
+      for(StorageIndex i = 0; i < n; ++i)
         indices().coeffRef(i) = i;
     }
 
@@ -163,18 +158,18 @@ class PermutationBase : public EigenBase<Derived>
       *
       * \returns a reference to *this.
       *
-      * \warning This is much slower than applyTranspositionOnTheRight(int,int):
+      * \warning This is much slower than applyTranspositionOnTheRight(Index,Index):
       * this has linear complexity and requires a lot of branching.
       *
-      * \sa applyTranspositionOnTheRight(int,int)
+      * \sa applyTranspositionOnTheRight(Index,Index)
       */
     Derived& applyTranspositionOnTheLeft(Index i, Index j)
     {
       eigen_assert(i>=0 && j>=0 && i<size() && j<size());
       for(Index k = 0; k < size(); ++k)
       {
-        if(indices().coeff(k) == i) indices().coeffRef(k) = j;
-        else if(indices().coeff(k) == j) indices().coeffRef(k) = i;
+        if(indices().coeff(k) == i) indices().coeffRef(k) = StorageIndex(j);
+        else if(indices().coeff(k) == j) indices().coeffRef(k) = StorageIndex(i);
       }
       return derived();
     }
@@ -185,7 +180,7 @@ class PermutationBase : public EigenBase<Derived>
       *
       * This is a fast operation, it only consists in swapping two indices.
       *
-      * \sa applyTranspositionOnTheLeft(int,int)
+      * \sa applyTranspositionOnTheLeft(Index,Index)
       */
     Derived& applyTranspositionOnTheRight(Index i, Index j)
     {
@@ -196,16 +191,16 @@ class PermutationBase : public EigenBase<Derived>
 
     /** \returns the inverse permutation matrix.
       *
-      * \note \note_try_to_help_rvo
+      * \note \blank \note_try_to_help_rvo
       */
-    inline Transpose<PermutationBase> inverse() const
-    { return derived(); }
+    inline InverseReturnType inverse() const
+    { return InverseReturnType(derived()); }
     /** \returns the tranpose permutation matrix.
       *
-      * \note \note_try_to_help_rvo
+      * \note \blank \note_try_to_help_rvo
       */
-    inline Transpose<PermutationBase> transpose() const
-    { return derived(); }
+    inline InverseReturnType transpose() const
+    { return InverseReturnType(derived()); }
 
     /**** multiplication helpers to hopefully get RVO ****/
 
@@ -215,13 +210,13 @@ class PermutationBase : public EigenBase<Derived>
     template<typename OtherDerived>
     void assignTranspose(const PermutationBase<OtherDerived>& other)
     {
-      for (int i=0; i<rows();++i) indices().coeffRef(other.indices().coeff(i)) = i;
+      for (Index i=0; i<rows();++i) indices().coeffRef(other.indices().coeff(i)) = i;
     }
     template<typename Lhs,typename Rhs>
     void assignProduct(const Lhs& lhs, const Rhs& rhs)
     {
       eigen_assert(lhs.cols() == rhs.rows());
-      for (int i=0; i<rows();++i) indices().coeffRef(i) = lhs.indices().coeff(rhs.indices().coeff(i));
+      for (Index i=0; i<rows();++i) indices().coeffRef(i) = lhs.indices().coeff(rhs.indices().coeff(i));
     }
 #endif
 
@@ -229,7 +224,7 @@ class PermutationBase : public EigenBase<Derived>
 
     /** \returns the product permutation matrix.
       *
-      * \note \note_try_to_help_rvo
+      * \note \blank \note_try_to_help_rvo
       */
     template<typename Other>
     inline PlainPermutationType operator*(const PermutationBase<Other>& other) const
@@ -237,18 +232,18 @@ class PermutationBase : public EigenBase<Derived>
 
     /** \returns the product of a permutation with another inverse permutation.
       *
-      * \note \note_try_to_help_rvo
+      * \note \blank \note_try_to_help_rvo
       */
     template<typename Other>
-    inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other) const
+    inline PlainPermutationType operator*(const InverseImpl<Other,PermutationStorage>& other) const
     { return PlainPermutationType(internal::PermPermProduct, *this, other.eval()); }
 
     /** \returns the product of an inverse permutation with another permutation.
       *
-      * \note \note_try_to_help_rvo
+      * \note \blank \note_try_to_help_rvo
       */
     template<typename Other> friend
-    inline PlainPermutationType operator*(const Transpose<PermutationBase<Other> >& other, const PermutationBase& perm)
+    inline PlainPermutationType operator*(const InverseImpl<Other, PermutationStorage>& other, const PermutationBase& perm)
     { return PlainPermutationType(internal::PermPermProduct, other.eval(), perm); }
     
     /** \returns the determinant of the permutation matrix, which is either 1 or -1 depending on the parity of the permutation.
@@ -284,39 +279,43 @@ class PermutationBase : public EigenBase<Derived>
 
 };
 
+namespace internal {
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
+struct traits<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex> >
+ : traits<Matrix<_StorageIndex,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
+{
+  typedef PermutationStorage StorageKind;
+  typedef Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
+  typedef _StorageIndex StorageIndex;
+  typedef void Scalar;
+};
+}
+
 /** \class PermutationMatrix
   * \ingroup Core_Module
   *
   * \brief Permutation matrix
   *
-  * \param SizeAtCompileTime the number of rows/cols, or Dynamic
-  * \param MaxSizeAtCompileTime the maximum number of rows/cols, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
-  * \param IndexType the interger type of the indices
+  * \tparam SizeAtCompileTime the number of rows/cols, or Dynamic
+  * \tparam MaxSizeAtCompileTime the maximum number of rows/cols, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
+  * \tparam _StorageIndex the integer type of the indices
   *
   * This class represents a permutation matrix, internally stored as a vector of integers.
   *
   * \sa class PermutationBase, class PermutationWrapper, class DiagonalMatrix
   */
-
-namespace internal {
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
-struct traits<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType> >
- : traits<Matrix<IndexType,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
-{
-  typedef IndexType Index;
-  typedef Matrix<IndexType, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
-};
-}
-
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
-class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType> >
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
+class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex> >
 {
     typedef PermutationBase<PermutationMatrix> Base;
     typedef internal::traits<PermutationMatrix> Traits;
   public:
 
+    typedef const PermutationMatrix& Nested;
+
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     typedef typename Traits::IndicesType IndicesType;
+    typedef typename Traits::StorageIndex StorageIndex;
     #endif
 
     inline PermutationMatrix()
@@ -324,8 +323,10 @@ class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompile
 
     /** Constructs an uninitialized permutation matrix of given size.
       */
-    inline PermutationMatrix(int size) : m_indices(size)
-    {}
+    explicit inline PermutationMatrix(Index size) : m_indices(size)
+    {
+      eigen_internal_assert(size <= NumTraits<StorageIndex>::highest());
+    }
 
     /** Copy constructor. */
     template<typename OtherDerived>
@@ -346,7 +347,7 @@ class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompile
       * array's size.
       */
     template<typename Other>
-    explicit inline PermutationMatrix(const MatrixBase<Other>& a_indices) : m_indices(a_indices)
+    explicit inline PermutationMatrix(const MatrixBase<Other>& indices) : m_indices(indices)
     {}
 
     /** Convert the Transpositions \a tr to a permutation matrix */
@@ -393,10 +394,13 @@ class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompile
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename Other>
-    PermutationMatrix(const Transpose<PermutationBase<Other> >& other)
-      : m_indices(other.nestedPermutation().size())
+    PermutationMatrix(const InverseImpl<Other,PermutationStorage>& other)
+      : m_indices(other.derived().nestedExpression().size())
     {
-      for (int i=0; i<m_indices.size();++i) m_indices.coeffRef(other.nestedPermutation().indices().coeff(i)) = i;
+      eigen_internal_assert(m_indices.size() <= NumTraits<StorageIndex>::highest());
+      StorageIndex end = StorageIndex(m_indices.size());
+      for (StorageIndex i=0; i<end;++i)
+        m_indices.coeffRef(other.derived().nestedExpression().indices().coeff(i)) = i;
     }
     template<typename Lhs,typename Rhs>
     PermutationMatrix(internal::PermPermProduct_t, const Lhs& lhs, const Rhs& rhs)
@@ -413,18 +417,20 @@ class PermutationMatrix : public PermutationBase<PermutationMatrix<SizeAtCompile
 
 
 namespace internal {
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int _PacketAccess>
-struct traits<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,_PacketAccess> >
- : traits<Matrix<IndexType,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int _PacketAccess>
+struct traits<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex>,_PacketAccess> >
+ : traits<Matrix<_StorageIndex,SizeAtCompileTime,SizeAtCompileTime,0,MaxSizeAtCompileTime,MaxSizeAtCompileTime> >
 {
-  typedef IndexType Index;
-  typedef Map<const Matrix<IndexType, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1>, _PacketAccess> IndicesType;
+  typedef PermutationStorage StorageKind;
+  typedef Map<const Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1>, _PacketAccess> IndicesType;
+  typedef _StorageIndex StorageIndex;
+  typedef void Scalar;
 };
 }
 
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int _PacketAccess>
-class Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,_PacketAccess>
-  : public PermutationBase<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,_PacketAccess> >
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int _PacketAccess>
+class Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex>,_PacketAccess>
+  : public PermutationBase<Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, _StorageIndex>,_PacketAccess> >
 {
     typedef PermutationBase<Map> Base;
     typedef internal::traits<Map> Traits;
@@ -432,14 +438,14 @@ class Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar Index;
+    typedef typename IndicesType::Scalar StorageIndex;
     #endif
 
-    inline Map(const Index* indicesPtr)
+    inline Map(const StorageIndex* indicesPtr)
       : m_indices(indicesPtr)
     {}
 
-    inline Map(const Index* indicesPtr, Index size)
+    inline Map(const StorageIndex* indicesPtr, Index size)
       : m_indices(indicesPtr,size)
     {}
 
@@ -474,40 +480,36 @@ class Map<PermutationMatrix<SizeAtCompileTime, MaxSizeAtCompileTime, IndexType>,
     IndicesType m_indices;
 };
 
-/** \class PermutationWrapper
-  * \ingroup Core_Module
-  *
-  * \brief Class to view a vector of integers as a permutation matrix
-  *
-  * \param _IndicesType the type of the vector of integer (can be any compatible expression)
-  *
-  * This class allows to view any vector expression of integers as a permutation matrix.
-  *
-  * \sa class PermutationBase, class PermutationMatrix
-  */
-
-struct PermutationStorage {};
-
 template<typename _IndicesType> class TranspositionsWrapper;
 namespace internal {
 template<typename _IndicesType>
 struct traits<PermutationWrapper<_IndicesType> >
 {
   typedef PermutationStorage StorageKind;
-  typedef typename _IndicesType::Scalar Scalar;
-  typedef typename _IndicesType::Scalar Index;
+  typedef void Scalar;
+  typedef typename _IndicesType::Scalar StorageIndex;
   typedef _IndicesType IndicesType;
   enum {
     RowsAtCompileTime = _IndicesType::SizeAtCompileTime,
     ColsAtCompileTime = _IndicesType::SizeAtCompileTime,
-    MaxRowsAtCompileTime = IndicesType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = IndicesType::MaxColsAtCompileTime,
-    Flags = 0,
-    CoeffReadCost = _IndicesType::CoeffReadCost
+    MaxRowsAtCompileTime = IndicesType::MaxSizeAtCompileTime,
+    MaxColsAtCompileTime = IndicesType::MaxSizeAtCompileTime,
+    Flags = 0
   };
 };
 }
 
+/** \class PermutationWrapper
+  * \ingroup Core_Module
+  *
+  * \brief Class to view a vector of integers as a permutation matrix
+  *
+  * \tparam _IndicesType the type of the vector of integer (can be any compatible expression)
+  *
+  * This class allows to view any vector expression of integers as a permutation matrix.
+  *
+  * \sa class PermutationBase, class PermutationMatrix
+  */
 template<typename _IndicesType>
 class PermutationWrapper : public PermutationBase<PermutationWrapper<_IndicesType> >
 {
@@ -519,8 +521,8 @@ class PermutationWrapper : public PermutationBase<PermutationWrapper<_IndicesTyp
     typedef typename Traits::IndicesType IndicesType;
     #endif
 
-    inline PermutationWrapper(const IndicesType& a_indices)
-      : m_indices(a_indices)
+    inline PermutationWrapper(const IndicesType& indices)
+      : m_indices(indices)
     {}
 
     /** const version of indices(). */
@@ -532,182 +534,86 @@ class PermutationWrapper : public PermutationBase<PermutationWrapper<_IndicesTyp
     typename IndicesType::Nested m_indices;
 };
 
+
 /** \returns the matrix with the permutation applied to the columns.
   */
-template<typename Derived, typename PermutationDerived>
-inline const internal::permut_matrix_product_retval<PermutationDerived, Derived, OnTheRight>
-operator*(const MatrixBase<Derived>& matrix,
-          const PermutationBase<PermutationDerived> &permutation)
+template<typename MatrixDerived, typename PermutationDerived>
+EIGEN_DEVICE_FUNC
+const Product<MatrixDerived, PermutationDerived, AliasFreeProduct>
+operator*(const MatrixBase<MatrixDerived> &matrix,
+          const PermutationBase<PermutationDerived>& permutation)
 {
-  return internal::permut_matrix_product_retval
-           <PermutationDerived, Derived, OnTheRight>
-           (permutation.derived(), matrix.derived());
+  return Product<MatrixDerived, PermutationDerived, AliasFreeProduct>
+            (matrix.derived(), permutation.derived());
 }
 
 /** \returns the matrix with the permutation applied to the rows.
   */
-template<typename Derived, typename PermutationDerived>
-inline const internal::permut_matrix_product_retval
-               <PermutationDerived, Derived, OnTheLeft>
+template<typename PermutationDerived, typename MatrixDerived>
+EIGEN_DEVICE_FUNC
+const Product<PermutationDerived, MatrixDerived, AliasFreeProduct>
 operator*(const PermutationBase<PermutationDerived> &permutation,
-          const MatrixBase<Derived>& matrix)
+          const MatrixBase<MatrixDerived>& matrix)
 {
-  return internal::permut_matrix_product_retval
-           <PermutationDerived, Derived, OnTheLeft>
-           (permutation.derived(), matrix.derived());
+  return Product<PermutationDerived, MatrixDerived, AliasFreeProduct>
+            (permutation.derived(), matrix.derived());
 }
 
-namespace internal {
 
-template<typename PermutationType, typename MatrixType, int Side, bool Transposed>
-struct traits<permut_matrix_product_retval<PermutationType, MatrixType, Side, Transposed> >
+template<typename PermutationType>
+class InverseImpl<PermutationType, PermutationStorage>
+  : public EigenBase<Inverse<PermutationType> >
 {
-  typedef typename MatrixType::PlainObject ReturnType;
-};
-
-template<typename PermutationType, typename MatrixType, int Side, bool Transposed>
-struct permut_matrix_product_retval
- : public ReturnByValue<permut_matrix_product_retval<PermutationType, MatrixType, Side, Transposed> >
-{
-    typedef typename remove_all<typename MatrixType::Nested>::type MatrixTypeNestedCleaned;
-    typedef typename MatrixType::Index Index;
-
-    permut_matrix_product_retval(const PermutationType& perm, const MatrixType& matrix)
-      : m_permutation(perm), m_matrix(matrix)
-    {}
-
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
-
-    template<typename Dest> inline void evalTo(Dest& dst) const
-    {
-      const Index n = Side==OnTheLeft ? rows() : cols();
-      // FIXME we need an is_same for expression that is not sensitive to constness. For instance
-      // is_same_xpr<Block<const Matrix>, Block<Matrix> >::value should be true.
-      if(    is_same<MatrixTypeNestedCleaned,Dest>::value
-          && blas_traits<MatrixTypeNestedCleaned>::HasUsableDirectAccess
-          && blas_traits<Dest>::HasUsableDirectAccess
-          && extract_data(dst) == extract_data(m_matrix))
-      {
-        // apply the permutation inplace
-        Matrix<bool,PermutationType::RowsAtCompileTime,1,0,PermutationType::MaxRowsAtCompileTime> mask(m_permutation.size());
-        mask.fill(false);
-        Index r = 0;
-        while(r < m_permutation.size())
-        {
-          // search for the next seed
-          while(r<m_permutation.size() && mask[r]) r++;
-          if(r>=m_permutation.size())
-            break;
-          // we got one, let's follow it until we are back to the seed
-          Index k0 = r++;
-          Index kPrev = k0;
-          mask.coeffRef(k0) = true;
-          for(Index k=m_permutation.indices().coeff(k0); k!=k0; k=m_permutation.indices().coeff(k))
-          {
-                  Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>(dst, k)
-            .swap(Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
-                       (dst,((Side==OnTheLeft) ^ Transposed) ? k0 : kPrev));
-
-            mask.coeffRef(k) = true;
-            kPrev = k;
-          }
-        }
-      }
-      else
-      {
-        for(int i = 0; i < n; ++i)
-        {
-          Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
-               (dst, ((Side==OnTheLeft) ^ Transposed) ? m_permutation.indices().coeff(i) : i)
-
-          =
-
-          Block<const MatrixTypeNestedCleaned,Side==OnTheLeft ? 1 : MatrixType::RowsAtCompileTime,Side==OnTheRight ? 1 : MatrixType::ColsAtCompileTime>
-               (m_matrix, ((Side==OnTheRight) ^ Transposed) ? m_permutation.indices().coeff(i) : i);
-        }
-      }
-    }
-
-  protected:
-    const PermutationType& m_permutation;
-    typename MatrixType::Nested m_matrix;
-};
-
-/* Template partial specialization for transposed/inverse permutations */
-
-template<typename Derived>
-struct traits<Transpose<PermutationBase<Derived> > >
- : traits<Derived>
-{};
-
-} // end namespace internal
-
-template<typename Derived>
-class Transpose<PermutationBase<Derived> >
-  : public EigenBase<Transpose<PermutationBase<Derived> > >
-{
-    typedef Derived PermutationType;
-    typedef typename PermutationType::IndicesType IndicesType;
     typedef typename PermutationType::PlainPermutationType PlainPermutationType;
+    typedef internal::traits<PermutationType> PermTraits;
+  protected:
+    InverseImpl() {}
   public:
+    typedef Inverse<PermutationType> InverseType;
+    using EigenBase<Inverse<PermutationType> >::derived;
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
-    typedef internal::traits<PermutationType> Traits;
-    typedef typename Derived::DenseMatrixType DenseMatrixType;
+    typedef typename PermutationType::DenseMatrixType DenseMatrixType;
     enum {
-      Flags = Traits::Flags,
-      CoeffReadCost = Traits::CoeffReadCost,
-      RowsAtCompileTime = Traits::RowsAtCompileTime,
-      ColsAtCompileTime = Traits::ColsAtCompileTime,
-      MaxRowsAtCompileTime = Traits::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = Traits::MaxColsAtCompileTime
+      RowsAtCompileTime = PermTraits::RowsAtCompileTime,
+      ColsAtCompileTime = PermTraits::ColsAtCompileTime,
+      MaxRowsAtCompileTime = PermTraits::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = PermTraits::MaxColsAtCompileTime
     };
-    typedef typename Traits::Scalar Scalar;
     #endif
 
-    Transpose(const PermutationType& p) : m_permutation(p) {}
-
-    inline int rows() const { return m_permutation.rows(); }
-    inline int cols() const { return m_permutation.cols(); }
-
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename DenseDerived>
     void evalTo(MatrixBase<DenseDerived>& other) const
     {
       other.setZero();
-      for (int i=0; i<rows();++i)
-        other.coeffRef(i, m_permutation.indices().coeff(i)) = typename DenseDerived::Scalar(1);
+      for (Index i=0; i<derived().rows();++i)
+        other.coeffRef(i, derived().nestedExpression().indices().coeff(i)) = typename DenseDerived::Scalar(1);
     }
     #endif
 
     /** \return the equivalent permutation matrix */
-    PlainPermutationType eval() const { return *this; }
+    PlainPermutationType eval() const { return derived(); }
 
-    DenseMatrixType toDenseMatrix() const { return *this; }
+    DenseMatrixType toDenseMatrix() const { return derived(); }
 
     /** \returns the matrix with the inverse permutation applied to the columns.
       */
     template<typename OtherDerived> friend
-    inline const internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheRight, true>
-    operator*(const MatrixBase<OtherDerived>& matrix, const Transpose& trPerm)
+    const Product<OtherDerived, InverseType, AliasFreeProduct>
+    operator*(const MatrixBase<OtherDerived>& matrix, const InverseType& trPerm)
     {
-      return internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheRight, true>(trPerm.m_permutation, matrix.derived());
+      return Product<OtherDerived, InverseType, AliasFreeProduct>(matrix.derived(), trPerm.derived());
     }
 
     /** \returns the matrix with the inverse permutation applied to the rows.
       */
     template<typename OtherDerived>
-    inline const internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheLeft, true>
+    const Product<InverseType, OtherDerived, AliasFreeProduct>
     operator*(const MatrixBase<OtherDerived>& matrix) const
     {
-      return internal::permut_matrix_product_retval<PermutationType, OtherDerived, OnTheLeft, true>(m_permutation, matrix.derived());
+      return Product<InverseType, OtherDerived, AliasFreeProduct>(derived(), matrix.derived());
     }
-
-    const PermutationType& nestedPermutation() const { return m_permutation; }
-
-  protected:
-    const PermutationType& m_permutation;
 };
 
 template<typename Derived>
@@ -716,6 +622,12 @@ const PermutationWrapper<const Derived> MatrixBase<Derived>::asPermutation() con
   return derived();
 }
 
+namespace internal {
+
+template<> struct AssignmentKind<DenseShape,PermutationShape> { typedef EigenBase2EigenBase Kind; };
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_PERMUTATIONMATRIX_H
diff --git a/eigenlib/Eigen/src/Core/PlainObjectBase.h b/eigenlib/Eigen/src/Core/PlainObjectBase.h
index 8a3e4545..35913562 100644
--- a/eigenlib/Eigen/src/Core/PlainObjectBase.h
+++ b/eigenlib/Eigen/src/Core/PlainObjectBase.h
@@ -28,6 +28,7 @@ namespace internal {
 
 template<int MaxSizeAtCompileTime> struct check_rows_cols_for_overflow {
   template<typename Index>
+  EIGEN_DEVICE_FUNC
   static EIGEN_ALWAYS_INLINE void run(Index, Index)
   {
   }
@@ -35,6 +36,7 @@ template<int MaxSizeAtCompileTime> struct check_rows_cols_for_overflow {
 
 template<> struct check_rows_cols_for_overflow<Dynamic> {
   template<typename Index>
+  EIGEN_DEVICE_FUNC
   static EIGEN_ALWAYS_INLINE void run(Index rows, Index cols)
   {
     // http://hg.mozilla.org/mozilla-central/file/6c8a909977d3/xpcom/ds/CheckedInt.h#l242
@@ -56,33 +58,41 @@ template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers> struct m
 
 } // end namespace internal
 
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+namespace doxygen {
+
+// This is a workaround to doxygen not being able to understand the inheritance logic
+// when it is hidden by the dense_xpr_base helper struct.
+// Moreover, doxygen fails to include members that are not documented in the declaration body of
+// MatrixBase if we inherits MatrixBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >,
+// this is why we simply inherits MatrixBase, though this does not make sense.
+
+/** This class is just a workaround for Doxygen and it does not not actually exist. */
+template<typename Derived> struct dense_xpr_base_dispatcher;
+/** This class is just a workaround for Doxygen and it does not not actually exist. */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct dense_xpr_base_dispatcher<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+    : public MatrixBase {};
+/** This class is just a workaround for Doxygen and it does not not actually exist. */
+template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
+struct dense_xpr_base_dispatcher<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
+    : public ArrayBase {};
+
+} // namespace doxygen
+
 /** \class PlainObjectBase
+  * \ingroup Core_Module
   * \brief %Dense storage base class for matrices and arrays.
   *
   * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_PLAINOBJECTBASE_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_PLAINOBJECTBASE_PLUGIN.
+  *
+  * \tparam Derived is the derived type, e.g., a Matrix or Array
   *
   * \sa \ref TopicClassHierarchy
   */
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-namespace internal {
-
-// this is a warkaround to doxygen not being able to understand the inheritence logic
-// when it is hidden by the dense_xpr_base helper struct.
-template<typename Derived> struct dense_xpr_base_dispatcher_for_doxygen;// : public MatrixBase<Derived> {};
-/** This class is just a workaround for Doxygen and it does not not actually exist. */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct dense_xpr_base_dispatcher_for_doxygen<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-    : public MatrixBase<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > {};
-/** This class is just a workaround for Doxygen and it does not not actually exist. */
-template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
-struct dense_xpr_base_dispatcher_for_doxygen<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
-    : public ArrayBase<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> > {};
-
-} // namespace internal
-
 template<typename Derived>
-class PlainObjectBase : public internal::dense_xpr_base_dispatcher_for_doxygen<Derived>
+class PlainObjectBase : public doxygen::dense_xpr_base_dispatcher<Derived>
 #else
 template<typename Derived>
 class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
@@ -93,8 +103,8 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     typedef typename internal::dense_xpr_base<Derived>::type Base;
 
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
     typedef typename internal::traits<Derived>::Scalar Scalar;
+    
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
     typedef Derived DenseType;
@@ -113,28 +123,40 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     typedef Eigen::Map<Derived, Unaligned>  MapType;
     friend  class Eigen::Map<const Derived, Unaligned>;
     typedef const Eigen::Map<const Derived, Unaligned> ConstMapType;
-    friend  class Eigen::Map<Derived, Aligned>;
-    typedef Eigen::Map<Derived, Aligned> AlignedMapType;
-    friend  class Eigen::Map<const Derived, Aligned>;
-    typedef const Eigen::Map<const Derived, Aligned> ConstAlignedMapType;
+#if EIGEN_MAX_ALIGN_BYTES>0
+    // for EIGEN_MAX_ALIGN_BYTES==0, AlignedMax==Unaligned, and many compilers generate warnings for friend-ing a class twice.
+    friend  class Eigen::Map<Derived, AlignedMax>;
+    friend  class Eigen::Map<const Derived, AlignedMax>;
+#endif
+    typedef Eigen::Map<Derived, AlignedMax> AlignedMapType;
+    typedef const Eigen::Map<const Derived, AlignedMax> ConstAlignedMapType;
     template<typename StrideType> struct StridedMapType { typedef Eigen::Map<Derived, Unaligned, StrideType> type; };
     template<typename StrideType> struct StridedConstMapType { typedef Eigen::Map<const Derived, Unaligned, StrideType> type; };
-    template<typename StrideType> struct StridedAlignedMapType { typedef Eigen::Map<Derived, Aligned, StrideType> type; };
-    template<typename StrideType> struct StridedConstAlignedMapType { typedef Eigen::Map<const Derived, Aligned, StrideType> type; };
+    template<typename StrideType> struct StridedAlignedMapType { typedef Eigen::Map<Derived, AlignedMax, StrideType> type; };
+    template<typename StrideType> struct StridedConstAlignedMapType { typedef Eigen::Map<const Derived, AlignedMax, StrideType> type; };
 
   protected:
     DenseStorage<Scalar, Base::MaxSizeAtCompileTime, Base::RowsAtCompileTime, Base::ColsAtCompileTime, Options> m_storage;
 
   public:
-    enum { NeedsToAlign = SizeAtCompileTime != Dynamic && (internal::traits<Derived>::Flags & AlignedBit) != 0 };
+    enum { NeedsToAlign = (SizeAtCompileTime != Dynamic) && (internal::traits<Derived>::Alignment>0) };
     EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign)
 
+    EIGEN_DEVICE_FUNC
     Base& base() { return *static_cast<Base*>(this); }
+    EIGEN_DEVICE_FUNC
     const Base& base() const { return *static_cast<const Base*>(this); }
 
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index rows() const { return m_storage.rows(); }
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Index cols() const { return m_storage.cols(); }
 
+    /** This is an overloaded version of DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index,Index) const
+      * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
+      *
+      * See DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index) const for details. */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE const Scalar& coeff(Index rowId, Index colId) const
     {
       if(Flags & RowMajorBit)
@@ -143,11 +165,21 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
         return m_storage.data()[rowId + colId * m_storage.rows()];
     }
 
+    /** This is an overloaded version of DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index) const
+      * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
+      *
+      * See DenseCoeffsBase<Derived,ReadOnlyAccessors>::coeff(Index) const for details. */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE const Scalar& coeff(Index index) const
     {
       return m_storage.data()[index];
     }
 
+    /** This is an overloaded version of DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index,Index) const
+      * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
+      *
+      * See DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index,Index) const for details. */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar& coeffRef(Index rowId, Index colId)
     {
       if(Flags & RowMajorBit)
@@ -156,11 +188,19 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
         return m_storage.data()[rowId + colId * m_storage.rows()];
     }
 
+    /** This is an overloaded version of DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index) const
+      * provided to by-pass the creation of an evaluator of the expression, thus saving compilation efforts.
+      *
+      * See DenseCoeffsBase<Derived,WriteAccessors>::coeffRef(Index) const for details. */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Scalar& coeffRef(Index index)
     {
       return m_storage.data()[index];
     }
 
+    /** This is the const version of coeffRef(Index,Index) which is thus synonym of coeff(Index,Index).
+      * It is provided for convenience. */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE const Scalar& coeffRef(Index rowId, Index colId) const
     {
       if(Flags & RowMajorBit)
@@ -169,6 +209,9 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
         return m_storage.data()[rowId + colId * m_storage.rows()];
     }
 
+    /** This is the const version of coeffRef(Index) which is thus synonym of coeff(Index).
+      * It is provided for convenience. */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE const Scalar& coeffRef(Index index) const
     {
       return m_storage.data()[index];
@@ -209,11 +252,11 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     }
 
     /** \returns a const pointer to the data array of this matrix */
-    EIGEN_STRONG_INLINE const Scalar *data() const
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar *data() const
     { return m_storage.data(); }
 
     /** \returns a pointer to the data array of this matrix */
-    EIGEN_STRONG_INLINE Scalar *data()
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar *data()
     { return m_storage.data(); }
 
     /** Resizes \c *this to a \a rows x \a cols matrix.
@@ -232,22 +275,22 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * \sa resize(Index) for vectors, resize(NoChange_t, Index), resize(Index, NoChange_t)
       */
-    EIGEN_STRONG_INLINE void resize(Index nbRows, Index nbCols)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void resize(Index rows, Index cols)
     {
-      eigen_assert(   EIGEN_IMPLIES(RowsAtCompileTime!=Dynamic,nbRows==RowsAtCompileTime)
-                   && EIGEN_IMPLIES(ColsAtCompileTime!=Dynamic,nbCols==ColsAtCompileTime)
-                   && EIGEN_IMPLIES(RowsAtCompileTime==Dynamic && MaxRowsAtCompileTime!=Dynamic,nbRows<=MaxRowsAtCompileTime)
-                   && EIGEN_IMPLIES(ColsAtCompileTime==Dynamic && MaxColsAtCompileTime!=Dynamic,nbCols<=MaxColsAtCompileTime)
-                   && nbRows>=0 && nbCols>=0 && "Invalid sizes when resizing a matrix or array.");
-      internal::check_rows_cols_for_overflow<MaxSizeAtCompileTime>::run(nbRows, nbCols);
+      eigen_assert(   EIGEN_IMPLIES(RowsAtCompileTime!=Dynamic,rows==RowsAtCompileTime)
+                   && EIGEN_IMPLIES(ColsAtCompileTime!=Dynamic,cols==ColsAtCompileTime)
+                   && EIGEN_IMPLIES(RowsAtCompileTime==Dynamic && MaxRowsAtCompileTime!=Dynamic,rows<=MaxRowsAtCompileTime)
+                   && EIGEN_IMPLIES(ColsAtCompileTime==Dynamic && MaxColsAtCompileTime!=Dynamic,cols<=MaxColsAtCompileTime)
+                   && rows>=0 && cols>=0 && "Invalid sizes when resizing a matrix or array.");
+      internal::check_rows_cols_for_overflow<MaxSizeAtCompileTime>::run(rows, cols);
       #ifdef EIGEN_INITIALIZE_COEFFS
-        Index size = nbRows*nbCols;
+        Index size = rows*cols;
         bool size_changed = size != this->size();
-        m_storage.resize(size, nbRows, nbCols);
+        m_storage.resize(size, rows, cols);
         if(size_changed) EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
       #else
-        internal::check_rows_cols_for_overflow<MaxSizeAtCompileTime>::run(nbRows, nbCols);
-        m_storage.resize(nbRows*nbCols, nbRows, nbCols);
+        m_storage.resize(rows*cols, rows, cols);
       #endif
     }
 
@@ -262,6 +305,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * \sa resize(Index,Index), resize(NoChange_t, Index), resize(Index, NoChange_t)
       */
+    EIGEN_DEVICE_FUNC
     inline void resize(Index size)
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(PlainObjectBase)
@@ -286,9 +330,10 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * \sa resize(Index,Index)
       */
-    inline void resize(NoChange_t, Index nbCols)
+    EIGEN_DEVICE_FUNC
+    inline void resize(NoChange_t, Index cols)
     {
-      resize(rows(), nbCols);
+      resize(rows(), cols);
     }
 
     /** Resizes the matrix, changing only the number of rows. For the parameter of type NoChange_t, just pass the special value \c NoChange
@@ -299,9 +344,10 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * \sa resize(Index,Index)
       */
-    inline void resize(Index nbRows, NoChange_t)
+    EIGEN_DEVICE_FUNC
+    inline void resize(Index rows, NoChange_t)
     {
-      resize(nbRows, cols());
+      resize(rows, cols());
     }
 
     /** Resizes \c *this to have the same dimensions as \a other.
@@ -312,6 +358,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * remain row-vectors and vectors remain vectors.
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC 
     EIGEN_STRONG_INLINE void resizeLike(const EigenBase<OtherDerived>& _other)
     {
       const OtherDerived& other = _other.derived();
@@ -339,9 +386,10 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * Matrices are resized relative to the top-left element. In case values need to be 
       * appended to the matrix they will be uninitialized.
       */
-    EIGEN_STRONG_INLINE void conservativeResize(Index nbRows, Index nbCols)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void conservativeResize(Index rows, Index cols)
     {
-      internal::conservative_resize_like_impl<Derived>::run(*this, nbRows, nbCols);
+      internal::conservative_resize_like_impl<Derived>::run(*this, rows, cols);
     }
 
     /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
@@ -351,10 +399,11 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * In case the matrix is growing, new rows will be uninitialized.
       */
-    EIGEN_STRONG_INLINE void conservativeResize(Index nbRows, NoChange_t)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void conservativeResize(Index rows, NoChange_t)
     {
       // Note: see the comment in conservativeResize(Index,Index)
-      conservativeResize(nbRows, cols());
+      conservativeResize(rows, cols());
     }
 
     /** Resizes the matrix to \a rows x \a cols while leaving old values untouched.
@@ -364,10 +413,11 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * In case the matrix is growing, new columns will be uninitialized.
       */
-    EIGEN_STRONG_INLINE void conservativeResize(NoChange_t, Index nbCols)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void conservativeResize(NoChange_t, Index cols)
     {
       // Note: see the comment in conservativeResize(Index,Index)
-      conservativeResize(rows(), nbCols);
+      conservativeResize(rows(), cols);
     }
 
     /** Resizes the vector to \a size while retaining old values.
@@ -378,6 +428,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * When values are appended, they will be uninitialized.
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE void conservativeResize(Index size)
     {
       internal::conservative_resize_like_impl<Derived>::run(*this, size);
@@ -393,6 +444,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * appended to the matrix they will copied from \c other.
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE void conservativeResizeLike(const DenseBase<OtherDerived>& other)
     {
       internal::conservative_resize_like_impl<Derived,OtherDerived>::run(*this, other);
@@ -401,6 +453,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     /** This is a special case of the templated operator=. Its purpose is to
       * prevent a default operator= from hiding the templated operator=.
       */
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Derived& operator=(const PlainObjectBase& other)
     {
       return _set(other);
@@ -408,6 +461,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
 
     /** \sa MatrixBase::lazyAssign() */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Derived& lazyAssign(const DenseBase<OtherDerived>& other)
     {
       _resize_to_match(other);
@@ -415,12 +469,18 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     }
 
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE Derived& operator=(const ReturnByValue<OtherDerived>& func)
     {
       resize(func.rows(), func.cols());
       return Base::operator=(func);
     }
 
+    // Prevent user from trying to instantiate PlainObjectBase objects
+    // by making all its constructor protected. See bug 1074.
+  protected:
+
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE PlainObjectBase() : m_storage()
     {
 //       _check_template_params();
@@ -430,23 +490,81 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     // FIXME is it still needed ?
     /** \internal */
-    PlainObjectBase(internal::constructor_without_unaligned_array_assert)
+    EIGEN_DEVICE_FUNC
+    explicit PlainObjectBase(internal::constructor_without_unaligned_array_assert)
       : m_storage(internal::constructor_without_unaligned_array_assert())
     {
 //       _check_template_params(); EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
     }
 #endif
 
-    EIGEN_STRONG_INLINE PlainObjectBase(Index a_size, Index nbRows, Index nbCols)
-      : m_storage(a_size, nbRows, nbCols)
+#if EIGEN_HAS_RVALUE_REFERENCES
+    EIGEN_DEVICE_FUNC
+    PlainObjectBase(PlainObjectBase&& other) EIGEN_NOEXCEPT
+      : m_storage( std::move(other.m_storage) )
+    {
+    }
+
+    EIGEN_DEVICE_FUNC
+    PlainObjectBase& operator=(PlainObjectBase&& other) EIGEN_NOEXCEPT
+    {
+      using std::swap;
+      swap(m_storage, other.m_storage);
+      return *this;
+    }
+#endif
+
+    /** Copy constructor */
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE PlainObjectBase(const PlainObjectBase& other)
+      : Base(), m_storage(other.m_storage) { }
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE PlainObjectBase(Index size, Index rows, Index cols)
+      : m_storage(size, rows, cols)
     {
 //       _check_template_params();
 //       EIGEN_INITIALIZE_COEFFS_IF_THAT_OPTION_IS_ENABLED
     }
 
-    /** \copydoc MatrixBase::operator=(const EigenBase<OtherDerived>&)
+    /** \sa PlainObjectBase::operator=(const EigenBase<OtherDerived>&) */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE PlainObjectBase(const DenseBase<OtherDerived> &other)
+      : m_storage()
+    {
+      _check_template_params();
+      resizeLike(other);
+      _set_noalias(other);
+    }
+
+    /** \sa PlainObjectBase::operator=(const EigenBase<OtherDerived>&) */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE PlainObjectBase(const EigenBase<OtherDerived> &other)
+      : m_storage()
+    {
+      _check_template_params();
+      resizeLike(other);
+      *this = other.derived();
+    }
+    /** \brief Copy constructor with in-place evaluation */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE PlainObjectBase(const ReturnByValue<OtherDerived>& other)
+    {
+      _check_template_params();
+      // FIXME this does not automatically transpose vectors if necessary
+      resize(other.rows(), other.cols());
+      other.evalTo(this->derived());
+    }
+
+  public:
+
+    /** \brief Copies the generic expression \a other into *this.
+      * \copydetails DenseBase::operator=(const EigenBase<OtherDerived> &other)
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC 
     EIGEN_STRONG_INLINE Derived& operator=(const EigenBase<OtherDerived> &other)
     {
       _resize_to_match(other);
@@ -454,16 +572,6 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       return this->derived();
     }
 
-    /** \sa MatrixBase::operator=(const EigenBase<OtherDerived>&) */
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE PlainObjectBase(const EigenBase<OtherDerived> &other)
-      : m_storage(other.derived().rows() * other.derived().cols(), other.derived().rows(), other.derived().cols())
-    {
-      _check_template_params();
-      internal::check_rows_cols_for_overflow<MaxSizeAtCompileTime>::run(other.derived().rows(), other.derived().cols());
-      Base::operator=(other.derived());
-    }
-
     /** \name Map
       * These are convenience functions returning Map objects. The Map() static functions return unaligned Map objects,
       * while the AlignedMap() functions return aligned Map objects and thus should be called only with 16-byte-aligned
@@ -538,16 +646,16 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
     //@}
 
     using Base::setConstant;
-    Derived& setConstant(Index size, const Scalar& value);
-    Derived& setConstant(Index rows, Index cols, const Scalar& value);
+    EIGEN_DEVICE_FUNC Derived& setConstant(Index size, const Scalar& val);
+    EIGEN_DEVICE_FUNC Derived& setConstant(Index rows, Index cols, const Scalar& val);
 
     using Base::setZero;
-    Derived& setZero(Index size);
-    Derived& setZero(Index rows, Index cols);
+    EIGEN_DEVICE_FUNC Derived& setZero(Index size);
+    EIGEN_DEVICE_FUNC Derived& setZero(Index rows, Index cols);
 
     using Base::setOnes;
-    Derived& setOnes(Index size);
-    Derived& setOnes(Index rows, Index cols);
+    EIGEN_DEVICE_FUNC Derived& setOnes(Index size);
+    EIGEN_DEVICE_FUNC Derived& setOnes(Index rows, Index cols);
 
     using Base::setRandom;
     Derived& setRandom(Index size);
@@ -566,6 +674,7 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       * remain row-vectors and vectors remain vectors.
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC 
     EIGEN_STRONG_INLINE void _resize_to_match(const EigenBase<OtherDerived>& other)
     {
       #ifdef EIGEN_NO_AUTOMATIC_RESIZING
@@ -573,8 +682,6 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
                  : (rows() == other.rows() && cols() == other.cols())))
         && "Size mismatch. Automatic resizing is disabled because EIGEN_NO_AUTOMATIC_RESIZING is defined");
       EIGEN_ONLY_USED_FOR_DEBUG(other);
-      if(this->size()==0)
-        resizeLike(other);
       #else
       resizeLike(other);
       #endif
@@ -594,25 +701,23 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       *
       * \internal
       */
+    // aliasing is dealt once in internall::call_assignment
+    // so at this stage we have to assume aliasing... and resising has to be done later.
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC 
     EIGEN_STRONG_INLINE Derived& _set(const DenseBase<OtherDerived>& other)
     {
-      _set_selector(other.derived(), typename internal::conditional<static_cast<bool>(int(OtherDerived::Flags) & EvalBeforeAssigningBit), internal::true_type, internal::false_type>::type());
+      internal::call_assignment(this->derived(), other.derived());
       return this->derived();
     }
 
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE void _set_selector(const OtherDerived& other, const internal::true_type&) { _set_noalias(other.eval()); }
-
-    template<typename OtherDerived>
-    EIGEN_STRONG_INLINE void _set_selector(const OtherDerived& other, const internal::false_type&) { _set_noalias(other); }
-
     /** \internal Like _set() but additionally makes the assumption that no aliasing effect can happen (which
       * is the case when creating a new matrix) so one can enforce lazy evaluation.
       *
       * \sa operator=(const MatrixBase<OtherDerived>&), _set()
       */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC 
     EIGEN_STRONG_INLINE Derived& _set_noalias(const DenseBase<OtherDerived>& other)
     {
       // I don't think we need this resize call since the lazyAssign will anyways resize
@@ -620,40 +725,167 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
       //_resize_to_match(other);
       // the 'false' below means to enforce lazy evaluation. We don't use lazyAssign() because
       // it wouldn't allow to copy a row-vector into a column-vector.
-      return internal::assign_selector<Derived,OtherDerived,false>::run(this->derived(), other.derived());
+      internal::call_assignment_no_alias(this->derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
+      return this->derived();
     }
 
     template<typename T0, typename T1>
-    EIGEN_STRONG_INLINE void _init2(Index nbRows, Index nbCols, typename internal::enable_if<Base::SizeAtCompileTime!=2,T0>::type* = 0)
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init2(Index rows, Index cols, typename internal::enable_if<Base::SizeAtCompileTime!=2,T0>::type* = 0)
     {
       EIGEN_STATIC_ASSERT(bool(NumTraits<T0>::IsInteger) &&
                           bool(NumTraits<T1>::IsInteger),
                           FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED)
-      resize(nbRows,nbCols);
+      resize(rows,cols);
     }
+    
     template<typename T0, typename T1>
-    EIGEN_STRONG_INLINE void _init2(const Scalar& val0, const Scalar& val1, typename internal::enable_if<Base::SizeAtCompileTime==2,T0>::type* = 0)
+    EIGEN_DEVICE_FUNC 
+    EIGEN_STRONG_INLINE void _init2(const T0& val0, const T1& val1, typename internal::enable_if<Base::SizeAtCompileTime==2,T0>::type* = 0)
     {
       EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2)
-      m_storage.data()[0] = val0;
-      m_storage.data()[1] = val1;
+      m_storage.data()[0] = Scalar(val0);
+      m_storage.data()[1] = Scalar(val1);
+    }
+    
+    template<typename T0, typename T1>
+    EIGEN_DEVICE_FUNC 
+    EIGEN_STRONG_INLINE void _init2(const Index& val0, const Index& val1,
+                                    typename internal::enable_if<    (!internal::is_same<Index,Scalar>::value)
+                                                                  && (internal::is_same<T0,Index>::value)
+                                                                  && (internal::is_same<T1,Index>::value)
+                                                                  && Base::SizeAtCompileTime==2,T1>::type* = 0)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 2)
+      m_storage.data()[0] = Scalar(val0);
+      m_storage.data()[1] = Scalar(val1);
     }
 
+    // The argument is convertible to the Index type and we either have a non 1x1 Matrix, or a dynamic-sized Array,
+    // then the argument is meant to be the size of the object.
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(Index size, typename internal::enable_if<    (Base::SizeAtCompileTime!=1 || !internal::is_convertible<T, Scalar>::value)
+                                                                              && ((!internal::is_same<typename internal::traits<Derived>::XprKind,ArrayXpr>::value || Base::SizeAtCompileTime==Dynamic)),T>::type* = 0)
+    {
+      // NOTE MSVC 2008 complains if we directly put bool(NumTraits<T>::IsInteger) as the EIGEN_STATIC_ASSERT argument.
+      const bool is_integer = NumTraits<T>::IsInteger;
+      EIGEN_UNUSED_VARIABLE(is_integer);
+      EIGEN_STATIC_ASSERT(is_integer,
+                          FLOATING_POINT_ARGUMENT_PASSED__INTEGER_WAS_EXPECTED)
+      resize(size);
+    }
+    
+    // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type can be implicitely converted)
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const Scalar& val0, typename internal::enable_if<Base::SizeAtCompileTime==1 && internal::is_convertible<T, Scalar>::value,T>::type* = 0)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1)
+      m_storage.data()[0] = val0;
+    }
+    
+    // We have a 1x1 matrix/array => the argument is interpreted as the value of the unique coefficient (case where scalar type match the index type)
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const Index& val0,
+                                    typename internal::enable_if<    (!internal::is_same<Index,Scalar>::value)
+                                                                  && (internal::is_same<Index,T>::value)
+                                                                  && Base::SizeAtCompileTime==1
+                                                                  && internal::is_convertible<T, Scalar>::value,T*>::type* = 0)
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(PlainObjectBase, 1)
+      m_storage.data()[0] = Scalar(val0);
+    }
+
+    // Initialize a fixed size matrix from a pointer to raw data
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const Scalar* data){
+      this->_set_noalias(ConstMapType(data));
+    }
+
+    // Initialize an arbitrary matrix from a dense expression
+    template<typename T, typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const DenseBase<OtherDerived>& other){
+      this->_set_noalias(other);
+    }
+
+    // Initialize an arbitrary matrix from a generic Eigen expression
+    template<typename T, typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const EigenBase<OtherDerived>& other){
+      this->derived() = other;
+    }
+
+    template<typename T, typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const ReturnByValue<OtherDerived>& other)
+    {
+      resize(other.rows(), other.cols());
+      other.evalTo(this->derived());
+    }
+
+    template<typename T, typename OtherDerived, int ColsAtCompileTime>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
+    {
+      this->derived() = r;
+    }
+    
+    // For fixed -size arrays:
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const Scalar& val0,
+                                    typename internal::enable_if<    Base::SizeAtCompileTime!=Dynamic
+                                                                  && Base::SizeAtCompileTime!=1
+                                                                  && internal::is_convertible<T, Scalar>::value
+                                                                  && internal::is_same<typename internal::traits<Derived>::XprKind,ArrayXpr>::value,T>::type* = 0)
+    {
+      Base::setConstant(val0);
+    }
+    
+    template<typename T>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _init1(const Index& val0,
+                                    typename internal::enable_if<    (!internal::is_same<Index,Scalar>::value)
+                                                                  && (internal::is_same<Index,T>::value)
+                                                                  && Base::SizeAtCompileTime!=Dynamic
+                                                                  && Base::SizeAtCompileTime!=1
+                                                                  && internal::is_convertible<T, Scalar>::value
+                                                                  && internal::is_same<typename internal::traits<Derived>::XprKind,ArrayXpr>::value,T*>::type* = 0)
+    {
+      Base::setConstant(val0);
+    }
+    
     template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
     friend struct internal::matrix_swap_impl;
 
-    /** \internal generic implementation of swap for dense storage since for dynamic-sized matrices of same type it is enough to swap the
-      * data pointers.
+  public:
+    
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** \internal
+      * \brief Override DenseBase::swap() since for dynamic-sized matrices
+      * of same type it is enough to swap the data pointers.
       */
     template<typename OtherDerived>
-    void _swap(DenseBase<OtherDerived> const & other)
+    EIGEN_DEVICE_FUNC
+    void swap(DenseBase<OtherDerived> & other)
     {
       enum { SwapPointers = internal::is_same<Derived, OtherDerived>::value && Base::SizeAtCompileTime==Dynamic };
-      internal::matrix_swap_impl<Derived, OtherDerived, bool(SwapPointers)>::run(this->derived(), other.const_cast_derived());
+      internal::matrix_swap_impl<Derived, OtherDerived, bool(SwapPointers)>::run(this->derived(), other.derived());
     }
-
-  public:
-#ifndef EIGEN_PARSED_BY_DOXYGEN
+    
+    /** \internal
+      * \brief const version forwarded to DenseBase::swap
+      */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    void swap(DenseBase<OtherDerived> const & other)
+    { Base::swap(other.derived()); }
+    
+    EIGEN_DEVICE_FUNC 
     static EIGEN_STRONG_INLINE void _check_template_params()
     {
       EIGEN_STATIC_ASSERT((EIGEN_IMPLIES(MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1, (Options&RowMajor)==RowMajor)
@@ -667,10 +899,9 @@ class PlainObjectBase : public internal::dense_xpr_base<Derived>::type
                         && (Options & (DontAlign|RowMajor)) == Options),
         INVALID_MATRIX_TEMPLATE_PARAMETERS)
     }
-#endif
 
-private:
-    enum { ThisConstantIsPrivateInPlainObjectBase };
+    enum { IsPlainObjectBase = 1 };
+#endif
 };
 
 namespace internal {
@@ -678,7 +909,6 @@ namespace internal {
 template <typename Derived, typename OtherDerived, bool IsVector>
 struct conservative_resize_like_impl
 {
-  typedef typename Derived::Index Index;
   static void run(DenseBase<Derived>& _this, Index rows, Index cols)
   {
     if (_this.rows() == rows && _this.cols() == cols) return;
@@ -694,8 +924,8 @@ struct conservative_resize_like_impl
     {
       // The storage order does not allow us to use reallocation.
       typename Derived::PlainObject tmp(rows,cols);
-      const Index common_rows = (std::min)(rows, _this.rows());
-      const Index common_cols = (std::min)(cols, _this.cols());
+      const Index common_rows = numext::mini(rows, _this.rows());
+      const Index common_cols = numext::mini(cols, _this.cols());
       tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
       _this.derived().swap(tmp);
     }
@@ -728,8 +958,8 @@ struct conservative_resize_like_impl
     {
       // The storage order does not allow us to use reallocation.
       typename Derived::PlainObject tmp(other);
-      const Index common_rows = (std::min)(tmp.rows(), _this.rows());
-      const Index common_cols = (std::min)(tmp.cols(), _this.cols());
+      const Index common_rows = numext::mini(tmp.rows(), _this.rows());
+      const Index common_cols = numext::mini(tmp.cols(), _this.cols());
       tmp.block(0,0,common_rows,common_cols) = _this.block(0,0,common_rows,common_cols);
       _this.derived().swap(tmp);
     }
@@ -744,7 +974,6 @@ struct conservative_resize_like_impl<Derived,OtherDerived,true>
 {
   using conservative_resize_like_impl<Derived,OtherDerived,false>::run;
   
-  typedef typename Derived::Index Index;
   static void run(DenseBase<Derived>& _this, Index size)
   {
     const Index new_rows = Derived::RowsAtCompileTime==1 ? 1 : size;
@@ -770,6 +999,7 @@ struct conservative_resize_like_impl<Derived,OtherDerived,true>
 template<typename MatrixTypeA, typename MatrixTypeB, bool SwapPointers>
 struct matrix_swap_impl
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(MatrixTypeA& a, MatrixTypeB& b)
   {
     a.base().swap(b);
@@ -779,6 +1009,7 @@ struct matrix_swap_impl
 template<typename MatrixTypeA, typename MatrixTypeB>
 struct matrix_swap_impl<MatrixTypeA, MatrixTypeB, true>
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(MatrixTypeA& a, MatrixTypeB& b)
   {
     static_cast<typename MatrixTypeA::Base&>(a).m_storage.swap(static_cast<typename MatrixTypeB::Base&>(b).m_storage);
diff --git a/eigenlib/Eigen/src/Core/Product.h b/eigenlib/Eigen/src/Core/Product.h
new file mode 100644
index 00000000..ae0c94b3
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/Product.h
@@ -0,0 +1,186 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PRODUCT_H
+#define EIGEN_PRODUCT_H
+
+namespace Eigen {
+
+template<typename Lhs, typename Rhs, int Option, typename StorageKind> class ProductImpl;
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, int Option>
+struct traits<Product<Lhs, Rhs, Option> >
+{
+  typedef typename remove_all<Lhs>::type LhsCleaned;
+  typedef typename remove_all<Rhs>::type RhsCleaned;
+  typedef traits<LhsCleaned> LhsTraits;
+  typedef traits<RhsCleaned> RhsTraits;
+  
+  typedef MatrixXpr XprKind;
+  
+  typedef typename ScalarBinaryOpTraits<typename traits<LhsCleaned>::Scalar, typename traits<RhsCleaned>::Scalar>::ReturnType Scalar;
+  typedef typename product_promote_storage_type<typename LhsTraits::StorageKind,
+                                                typename RhsTraits::StorageKind,
+                                                internal::product_type<Lhs,Rhs>::ret>::ret StorageKind;
+  typedef typename promote_index_type<typename LhsTraits::StorageIndex,
+                                      typename RhsTraits::StorageIndex>::type StorageIndex;
+  
+  enum {
+    RowsAtCompileTime    = LhsTraits::RowsAtCompileTime,
+    ColsAtCompileTime    = RhsTraits::ColsAtCompileTime,
+    MaxRowsAtCompileTime = LhsTraits::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = RhsTraits::MaxColsAtCompileTime,
+    
+    // FIXME: only needed by GeneralMatrixMatrixTriangular
+    InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(LhsTraits::ColsAtCompileTime, RhsTraits::RowsAtCompileTime),
+    
+    // The storage order is somewhat arbitrary here. The correct one will be determined through the evaluator.
+    Flags = (MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1) ? RowMajorBit
+          : (MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1) ? 0
+          : (   ((LhsTraits::Flags&NoPreferredStorageOrderBit) && (RhsTraits::Flags&RowMajorBit))
+             || ((RhsTraits::Flags&NoPreferredStorageOrderBit) && (LhsTraits::Flags&RowMajorBit)) ) ? RowMajorBit
+          : NoPreferredStorageOrderBit
+  };
+};
+
+} // end namespace internal
+
+/** \class Product
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the product of two arbitrary matrices or vectors
+  *
+  * \tparam _Lhs the type of the left-hand side expression
+  * \tparam _Rhs the type of the right-hand side expression
+  *
+  * This class represents an expression of the product of two arbitrary matrices.
+  *
+  * The other template parameters are:
+  * \tparam Option     can be DefaultProduct, AliasFreeProduct, or LazyProduct
+  *
+  */
+template<typename _Lhs, typename _Rhs, int Option>
+class Product : public ProductImpl<_Lhs,_Rhs,Option,
+                                   typename internal::product_promote_storage_type<typename internal::traits<_Lhs>::StorageKind,
+                                                                                   typename internal::traits<_Rhs>::StorageKind,
+                                                                                   internal::product_type<_Lhs,_Rhs>::ret>::ret>
+{
+  public:
+    
+    typedef _Lhs Lhs;
+    typedef _Rhs Rhs;
+    
+    typedef typename ProductImpl<
+        Lhs, Rhs, Option,
+        typename internal::product_promote_storage_type<typename internal::traits<Lhs>::StorageKind,
+                                                        typename internal::traits<Rhs>::StorageKind,
+                                                        internal::product_type<Lhs,Rhs>::ret>::ret>::Base Base;
+    EIGEN_GENERIC_PUBLIC_INTERFACE(Product)
+
+    typedef typename internal::ref_selector<Lhs>::type LhsNested;
+    typedef typename internal::ref_selector<Rhs>::type RhsNested;
+    typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
+    typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
+
+    EIGEN_DEVICE_FUNC Product(const Lhs& lhs, const Rhs& rhs) : m_lhs(lhs), m_rhs(rhs)
+    {
+      eigen_assert(lhs.cols() == rhs.rows()
+        && "invalid matrix product"
+        && "if you wanted a coeff-wise or a dot product use the respective explicit functions");
+    }
+
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); }
+
+    EIGEN_DEVICE_FUNC const LhsNestedCleaned& lhs() const { return m_lhs; }
+    EIGEN_DEVICE_FUNC const RhsNestedCleaned& rhs() const { return m_rhs; }
+
+  protected:
+
+    LhsNested m_lhs;
+    RhsNested m_rhs;
+};
+
+namespace internal {
+  
+template<typename Lhs, typename Rhs, int Option, int ProductTag = internal::product_type<Lhs,Rhs>::ret>
+class dense_product_base
+ : public internal::dense_xpr_base<Product<Lhs,Rhs,Option> >::type
+{};
+
+/** Convertion to scalar for inner-products */
+template<typename Lhs, typename Rhs, int Option>
+class dense_product_base<Lhs, Rhs, Option, InnerProduct>
+ : public internal::dense_xpr_base<Product<Lhs,Rhs,Option> >::type
+{
+  typedef Product<Lhs,Rhs,Option> ProductXpr;
+  typedef typename internal::dense_xpr_base<ProductXpr>::type Base;
+public:
+  using Base::derived;
+  typedef typename Base::Scalar Scalar;
+  
+  operator const Scalar() const
+  {
+    return internal::evaluator<ProductXpr>(derived()).coeff(0,0);
+  }
+};
+
+} // namespace internal
+
+// Generic API dispatcher
+template<typename Lhs, typename Rhs, int Option, typename StorageKind>
+class ProductImpl : public internal::generic_xpr_base<Product<Lhs,Rhs,Option>, MatrixXpr, StorageKind>::type
+{
+  public:
+    typedef typename internal::generic_xpr_base<Product<Lhs,Rhs,Option>, MatrixXpr, StorageKind>::type Base;
+};
+
+template<typename Lhs, typename Rhs, int Option>
+class ProductImpl<Lhs,Rhs,Option,Dense>
+  : public internal::dense_product_base<Lhs,Rhs,Option>
+{
+    typedef Product<Lhs, Rhs, Option> Derived;
+    
+  public:
+    
+    typedef typename internal::dense_product_base<Lhs, Rhs, Option> Base;
+    EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
+  protected:
+    enum {
+      IsOneByOne = (RowsAtCompileTime == 1 || RowsAtCompileTime == Dynamic) && 
+                   (ColsAtCompileTime == 1 || ColsAtCompileTime == Dynamic),
+      EnableCoeff = IsOneByOne || Option==LazyProduct
+    };
+    
+  public:
+  
+    EIGEN_DEVICE_FUNC Scalar coeff(Index row, Index col) const
+    {
+      EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS);
+      eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) );
+      
+      return internal::evaluator<Derived>(derived()).coeff(row,col);
+    }
+
+    EIGEN_DEVICE_FUNC Scalar coeff(Index i) const
+    {
+      EIGEN_STATIC_ASSERT(EnableCoeff, THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS);
+      eigen_assert( (Option==LazyProduct) || (this->rows() == 1 && this->cols() == 1) );
+      
+      return internal::evaluator<Derived>(derived()).coeff(i);
+    }
+    
+  
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_PRODUCT_H
diff --git a/eigenlib/Eigen/src/Core/ProductBase.h b/eigenlib/Eigen/src/Core/ProductBase.h
deleted file mode 100644
index cf74470a..00000000
--- a/eigenlib/Eigen/src/Core/ProductBase.h
+++ /dev/null
@@ -1,290 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_PRODUCTBASE_H
-#define EIGEN_PRODUCTBASE_H
-
-namespace Eigen { 
-
-/** \class ProductBase
-  * \ingroup Core_Module
-  *
-  */
-
-namespace internal {
-template<typename Derived, typename _Lhs, typename _Rhs>
-struct traits<ProductBase<Derived,_Lhs,_Rhs> >
-{
-  typedef MatrixXpr XprKind;
-  typedef typename remove_all<_Lhs>::type Lhs;
-  typedef typename remove_all<_Rhs>::type Rhs;
-  typedef typename scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType Scalar;
-  typedef typename promote_storage_type<typename traits<Lhs>::StorageKind,
-                                           typename traits<Rhs>::StorageKind>::ret StorageKind;
-  typedef typename promote_index_type<typename traits<Lhs>::Index,
-                                         typename traits<Rhs>::Index>::type Index;
-  enum {
-    RowsAtCompileTime = traits<Lhs>::RowsAtCompileTime,
-    ColsAtCompileTime = traits<Rhs>::ColsAtCompileTime,
-    MaxRowsAtCompileTime = traits<Lhs>::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = traits<Rhs>::MaxColsAtCompileTime,
-    Flags = (MaxRowsAtCompileTime==1 ? RowMajorBit : 0)
-          | EvalBeforeNestingBit | EvalBeforeAssigningBit | NestByRefBit,
-                  // Note that EvalBeforeNestingBit and NestByRefBit
-                  // are not used in practice because nested is overloaded for products
-    CoeffReadCost = 0 // FIXME why is it needed ?
-  };
-};
-}
-
-#define EIGEN_PRODUCT_PUBLIC_INTERFACE(Derived) \
-  typedef ProductBase<Derived, Lhs, Rhs > Base; \
-  EIGEN_DENSE_PUBLIC_INTERFACE(Derived) \
-  typedef typename Base::LhsNested LhsNested; \
-  typedef typename Base::_LhsNested _LhsNested; \
-  typedef typename Base::LhsBlasTraits LhsBlasTraits; \
-  typedef typename Base::ActualLhsType ActualLhsType; \
-  typedef typename Base::_ActualLhsType _ActualLhsType; \
-  typedef typename Base::RhsNested RhsNested; \
-  typedef typename Base::_RhsNested _RhsNested; \
-  typedef typename Base::RhsBlasTraits RhsBlasTraits; \
-  typedef typename Base::ActualRhsType ActualRhsType; \
-  typedef typename Base::_ActualRhsType _ActualRhsType; \
-  using Base::m_lhs; \
-  using Base::m_rhs;
-
-template<typename Derived, typename Lhs, typename Rhs>
-class ProductBase : public MatrixBase<Derived>
-{
-  public:
-    typedef MatrixBase<Derived> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(ProductBase)
-    
-    typedef typename Lhs::Nested LhsNested;
-    typedef typename internal::remove_all<LhsNested>::type _LhsNested;
-    typedef internal::blas_traits<_LhsNested> LhsBlasTraits;
-    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
-    typedef typename internal::remove_all<ActualLhsType>::type _ActualLhsType;
-    typedef typename internal::traits<Lhs>::Scalar LhsScalar;
-
-    typedef typename Rhs::Nested RhsNested;
-    typedef typename internal::remove_all<RhsNested>::type _RhsNested;
-    typedef internal::blas_traits<_RhsNested> RhsBlasTraits;
-    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
-    typedef typename internal::remove_all<ActualRhsType>::type _ActualRhsType;
-    typedef typename internal::traits<Rhs>::Scalar RhsScalar;
-
-    // Diagonal of a product: no need to evaluate the arguments because they are going to be evaluated only once
-    typedef CoeffBasedProduct<LhsNested, RhsNested, 0> FullyLazyCoeffBaseProductType;
-
-  public:
-
-#ifndef EIGEN_NO_MALLOC
-    typedef typename Base::PlainObject BasePlainObject;
-    typedef Matrix<Scalar,RowsAtCompileTime==1?1:Dynamic,ColsAtCompileTime==1?1:Dynamic,BasePlainObject::Options> DynPlainObject;
-    typedef typename internal::conditional<(BasePlainObject::SizeAtCompileTime==Dynamic) || (BasePlainObject::SizeAtCompileTime*int(sizeof(Scalar)) < int(EIGEN_STACK_ALLOCATION_LIMIT)),
-                                           BasePlainObject, DynPlainObject>::type PlainObject;
-#else
-    typedef typename Base::PlainObject PlainObject;
-#endif
-
-    ProductBase(const Lhs& a_lhs, const Rhs& a_rhs)
-      : m_lhs(a_lhs), m_rhs(a_rhs)
-    {
-      eigen_assert(a_lhs.cols() == a_rhs.rows()
-        && "invalid matrix product"
-        && "if you wanted a coeff-wise or a dot product use the respective explicit functions");
-    }
-
-    inline Index rows() const { return m_lhs.rows(); }
-    inline Index cols() const { return m_rhs.cols(); }
-
-    template<typename Dest>
-    inline void evalTo(Dest& dst) const { dst.setZero(); scaleAndAddTo(dst,Scalar(1)); }
-
-    template<typename Dest>
-    inline void addTo(Dest& dst) const { scaleAndAddTo(dst,Scalar(1)); }
-
-    template<typename Dest>
-    inline void subTo(Dest& dst) const { scaleAndAddTo(dst,Scalar(-1)); }
-
-    template<typename Dest>
-    inline void scaleAndAddTo(Dest& dst, const Scalar& alpha) const { derived().scaleAndAddTo(dst,alpha); }
-
-    const _LhsNested& lhs() const { return m_lhs; }
-    const _RhsNested& rhs() const { return m_rhs; }
-
-    // Implicit conversion to the nested type (trigger the evaluation of the product)
-    operator const PlainObject& () const
-    {
-      m_result.resize(m_lhs.rows(), m_rhs.cols());
-      derived().evalTo(m_result);
-      return m_result;
-    }
-
-    const Diagonal<const FullyLazyCoeffBaseProductType,0> diagonal() const
-    { return FullyLazyCoeffBaseProductType(m_lhs, m_rhs); }
-
-    template<int Index>
-    const Diagonal<FullyLazyCoeffBaseProductType,Index> diagonal() const
-    { return FullyLazyCoeffBaseProductType(m_lhs, m_rhs); }
-
-    const Diagonal<FullyLazyCoeffBaseProductType,Dynamic> diagonal(Index index) const
-    { return FullyLazyCoeffBaseProductType(m_lhs, m_rhs).diagonal(index); }
-
-    // restrict coeff accessors to 1x1 expressions. No need to care about mutators here since this isnt a Lvalue expression
-    typename Base::CoeffReturnType coeff(Index row, Index col) const
-    {
-#ifdef EIGEN2_SUPPORT
-      return lhs().row(row).cwiseProduct(rhs().col(col).transpose()).sum();
-#else
-      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
-      eigen_assert(this->rows() == 1 && this->cols() == 1);
-      Matrix<Scalar,1,1> result = *this;
-      return result.coeff(row,col);
-#endif
-    }
-
-    typename Base::CoeffReturnType coeff(Index i) const
-    {
-      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
-      eigen_assert(this->rows() == 1 && this->cols() == 1);
-      Matrix<Scalar,1,1> result = *this;
-      return result.coeff(i);
-    }
-
-    const Scalar& coeffRef(Index row, Index col) const
-    {
-      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
-      eigen_assert(this->rows() == 1 && this->cols() == 1);
-      return derived().coeffRef(row,col);
-    }
-
-    const Scalar& coeffRef(Index i) const
-    {
-      EIGEN_STATIC_ASSERT_SIZE_1x1(Derived)
-      eigen_assert(this->rows() == 1 && this->cols() == 1);
-      return derived().coeffRef(i);
-    }
-
-  protected:
-
-    LhsNested m_lhs;
-    RhsNested m_rhs;
-
-    mutable PlainObject m_result;
-};
-
-// here we need to overload the nested rule for products
-// such that the nested type is a const reference to a plain matrix
-namespace internal {
-template<typename Lhs, typename Rhs, int Mode, int N, typename PlainObject>
-struct nested<GeneralProduct<Lhs,Rhs,Mode>, N, PlainObject>
-{
-  typedef typename GeneralProduct<Lhs,Rhs,Mode>::PlainObject const& type;
-};
-template<typename Lhs, typename Rhs, int Mode, int N, typename PlainObject>
-struct nested<const GeneralProduct<Lhs,Rhs,Mode>, N, PlainObject>
-{
-  typedef typename GeneralProduct<Lhs,Rhs,Mode>::PlainObject const& type;
-};
-}
-
-template<typename NestedProduct>
-class ScaledProduct;
-
-// Note that these two operator* functions are not defined as member
-// functions of ProductBase, because, otherwise we would have to
-// define all overloads defined in MatrixBase. Furthermore, Using
-// "using Base::operator*" would not work with MSVC.
-//
-// Also note that here we accept any compatible scalar types
-template<typename Derived,typename Lhs,typename Rhs>
-const ScaledProduct<Derived>
-operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::Scalar& x)
-{ return ScaledProduct<Derived>(prod.derived(), x); }
-
-template<typename Derived,typename Lhs,typename Rhs>
-typename internal::enable_if<!internal::is_same<typename Derived::Scalar,typename Derived::RealScalar>::value,
-                      const ScaledProduct<Derived> >::type
-operator*(const ProductBase<Derived,Lhs,Rhs>& prod, const typename Derived::RealScalar& x)
-{ return ScaledProduct<Derived>(prod.derived(), x); }
-
-
-template<typename Derived,typename Lhs,typename Rhs>
-const ScaledProduct<Derived>
-operator*(const typename Derived::Scalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
-{ return ScaledProduct<Derived>(prod.derived(), x); }
-
-template<typename Derived,typename Lhs,typename Rhs>
-typename internal::enable_if<!internal::is_same<typename Derived::Scalar,typename Derived::RealScalar>::value,
-                      const ScaledProduct<Derived> >::type
-operator*(const typename Derived::RealScalar& x,const ProductBase<Derived,Lhs,Rhs>& prod)
-{ return ScaledProduct<Derived>(prod.derived(), x); }
-
-namespace internal {
-template<typename NestedProduct>
-struct traits<ScaledProduct<NestedProduct> >
- : traits<ProductBase<ScaledProduct<NestedProduct>,
-                         typename NestedProduct::_LhsNested,
-                         typename NestedProduct::_RhsNested> >
-{
-  typedef typename traits<NestedProduct>::StorageKind StorageKind;
-};
-}
-
-template<typename NestedProduct>
-class ScaledProduct
-  : public ProductBase<ScaledProduct<NestedProduct>,
-                       typename NestedProduct::_LhsNested,
-                       typename NestedProduct::_RhsNested>
-{
-  public:
-    typedef ProductBase<ScaledProduct<NestedProduct>,
-                       typename NestedProduct::_LhsNested,
-                       typename NestedProduct::_RhsNested> Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::PlainObject PlainObject;
-//     EIGEN_PRODUCT_PUBLIC_INTERFACE(ScaledProduct)
-
-    ScaledProduct(const NestedProduct& prod, const Scalar& x)
-    : Base(prod.lhs(),prod.rhs()), m_prod(prod), m_alpha(x) {}
-
-    template<typename Dest>
-    inline void evalTo(Dest& dst) const { dst.setZero(); scaleAndAddTo(dst, Scalar(1)); }
-
-    template<typename Dest>
-    inline void addTo(Dest& dst) const { scaleAndAddTo(dst, Scalar(1)); }
-
-    template<typename Dest>
-    inline void subTo(Dest& dst) const { scaleAndAddTo(dst, Scalar(-1)); }
-
-    template<typename Dest>
-    inline void scaleAndAddTo(Dest& dst, const Scalar& a_alpha) const { m_prod.derived().scaleAndAddTo(dst,a_alpha * m_alpha); }
-
-    const Scalar& alpha() const { return m_alpha; }
-    
-  protected:
-    const NestedProduct& m_prod;
-    Scalar m_alpha;
-};
-
-/** \internal
-  * Overloaded to perform an efficient C = (A*B).lazy() */
-template<typename Derived>
-template<typename ProductDerived, typename Lhs, typename Rhs>
-Derived& MatrixBase<Derived>::lazyAssign(const ProductBase<ProductDerived, Lhs,Rhs>& other)
-{
-  other.derived().evalTo(derived());
-  return derived();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_PRODUCTBASE_H
diff --git a/eigenlib/Eigen/src/Core/ProductEvaluators.h b/eigenlib/Eigen/src/Core/ProductEvaluators.h
new file mode 100644
index 00000000..583b7f59
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/ProductEvaluators.h
@@ -0,0 +1,1099 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2011 Jitse Niesen <jitse@maths.leeds.ac.uk>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+
+#ifndef EIGEN_PRODUCTEVALUATORS_H
+#define EIGEN_PRODUCTEVALUATORS_H
+
+namespace Eigen {
+  
+namespace internal {
+
+/** \internal
+  * Evaluator of a product expression.
+  * Since products require special treatments to handle all possible cases,
+  * we simply deffer the evaluation logic to a product_evaluator class
+  * which offers more partial specialization possibilities.
+  * 
+  * \sa class product_evaluator
+  */
+template<typename Lhs, typename Rhs, int Options>
+struct evaluator<Product<Lhs, Rhs, Options> > 
+ : public product_evaluator<Product<Lhs, Rhs, Options> >
+{
+  typedef Product<Lhs, Rhs, Options> XprType;
+  typedef product_evaluator<XprType> Base;
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr) : Base(xpr) {}
+};
+ 
+// Catch "scalar * ( A * B )" and transform it to "(A*scalar) * B"
+// TODO we should apply that rule only if that's really helpful
+template<typename Lhs, typename Rhs, typename Scalar1, typename Scalar2, typename Plain1>
+struct evaluator_assume_aliasing<CwiseBinaryOp<internal::scalar_product_op<Scalar1,Scalar2>,
+                                               const CwiseNullaryOp<internal::scalar_constant_op<Scalar1>, Plain1>,
+                                               const Product<Lhs, Rhs, DefaultProduct> > >
+{
+  static const bool value = true;
+};
+template<typename Lhs, typename Rhs, typename Scalar1, typename Scalar2, typename Plain1>
+struct evaluator<CwiseBinaryOp<internal::scalar_product_op<Scalar1,Scalar2>,
+                               const CwiseNullaryOp<internal::scalar_constant_op<Scalar1>, Plain1>,
+                               const Product<Lhs, Rhs, DefaultProduct> > >
+ : public evaluator<Product<EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar1,Lhs,product), Rhs, DefaultProduct> >
+{
+  typedef CwiseBinaryOp<internal::scalar_product_op<Scalar1,Scalar2>,
+                               const CwiseNullaryOp<internal::scalar_constant_op<Scalar1>, Plain1>,
+                               const Product<Lhs, Rhs, DefaultProduct> > XprType;
+  typedef evaluator<Product<EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar1,Lhs,product), Rhs, DefaultProduct> > Base;
+
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
+    : Base(xpr.lhs().functor().m_other * xpr.rhs().lhs() * xpr.rhs().rhs())
+  {}
+};
+
+
+template<typename Lhs, typename Rhs, int DiagIndex>
+struct evaluator<Diagonal<const Product<Lhs, Rhs, DefaultProduct>, DiagIndex> > 
+ : public evaluator<Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex> >
+{
+  typedef Diagonal<const Product<Lhs, Rhs, DefaultProduct>, DiagIndex> XprType;
+  typedef evaluator<Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex> > Base;
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
+    : Base(Diagonal<const Product<Lhs, Rhs, LazyProduct>, DiagIndex>(
+        Product<Lhs, Rhs, LazyProduct>(xpr.nestedExpression().lhs(), xpr.nestedExpression().rhs()),
+        xpr.index() ))
+  {}
+};
+
+
+// Helper class to perform a matrix product with the destination at hand.
+// Depending on the sizes of the factors, there are different evaluation strategies
+// as controlled by internal::product_type.
+template< typename Lhs, typename Rhs,
+          typename LhsShape = typename evaluator_traits<Lhs>::Shape,
+          typename RhsShape = typename evaluator_traits<Rhs>::Shape,
+          int ProductType = internal::product_type<Lhs,Rhs>::value>
+struct generic_product_impl;
+
+template<typename Lhs, typename Rhs>
+struct evaluator_assume_aliasing<Product<Lhs, Rhs, DefaultProduct> > {
+  static const bool value = true;
+};
+
+// This is the default evaluator implementation for products:
+// It creates a temporary and call generic_product_impl
+template<typename Lhs, typename Rhs, int Options, int ProductTag, typename LhsShape, typename RhsShape>
+struct product_evaluator<Product<Lhs, Rhs, Options>, ProductTag, LhsShape, RhsShape>
+  : public evaluator<typename Product<Lhs, Rhs, Options>::PlainObject>
+{
+  typedef Product<Lhs, Rhs, Options> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+  enum {
+    Flags = Base::Flags | EvalBeforeNestingBit
+  };
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit product_evaluator(const XprType& xpr)
+    : m_result(xpr.rows(), xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    
+// FIXME shall we handle nested_eval here?,
+// if so, then we must take care at removing the call to nested_eval in the specializations (e.g., in permutation_matrix_product, transposition_matrix_product, etc.)
+//     typedef typename internal::nested_eval<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
+//     typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
+//     typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
+//     typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
+//     
+//     const LhsNested lhs(xpr.lhs());
+//     const RhsNested rhs(xpr.rhs());
+//   
+//     generic_product_impl<LhsNestedCleaned, RhsNestedCleaned>::evalTo(m_result, lhs, rhs);
+
+    generic_product_impl<Lhs, Rhs, LhsShape, RhsShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
+  }
+  
+protected:  
+  PlainObject m_result;
+};
+
+// The following three shortcuts are enabled only if the scalar types match excatly.
+// TODO: we could enable them for different scalar types when the product is not vectorized.
+
+// Dense = Product
+template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::assign_op<Scalar,Scalar>, Dense2Dense,
+  typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
+{
+  typedef Product<Lhs,Rhs,Options> SrcXprType;
+  static EIGEN_STRONG_INLINE
+  void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+    // FIXME shall we handle nested_eval here?
+    generic_product_impl<Lhs, Rhs>::evalTo(dst, src.lhs(), src.rhs());
+  }
+};
+
+// Dense += Product
+template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::add_assign_op<Scalar,Scalar>, Dense2Dense,
+  typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
+{
+  typedef Product<Lhs,Rhs,Options> SrcXprType;
+  static EIGEN_STRONG_INLINE
+  void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<Scalar,Scalar> &)
+  {
+    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+    // FIXME shall we handle nested_eval here?
+    generic_product_impl<Lhs, Rhs>::addTo(dst, src.lhs(), src.rhs());
+  }
+};
+
+// Dense -= Product
+template< typename DstXprType, typename Lhs, typename Rhs, int Options, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,Options>, internal::sub_assign_op<Scalar,Scalar>, Dense2Dense,
+  typename enable_if<(Options==DefaultProduct || Options==AliasFreeProduct)>::type>
+{
+  typedef Product<Lhs,Rhs,Options> SrcXprType;
+  static EIGEN_STRONG_INLINE
+  void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<Scalar,Scalar> &)
+  {
+    eigen_assert(dst.rows() == src.rows() && dst.cols() == src.cols());
+    // FIXME shall we handle nested_eval here?
+    generic_product_impl<Lhs, Rhs>::subTo(dst, src.lhs(), src.rhs());
+  }
+};
+
+
+// Dense ?= scalar * Product
+// TODO we should apply that rule if that's really helpful
+// for instance, this is not good for inner products
+template< typename DstXprType, typename Lhs, typename Rhs, typename AssignFunc, typename Scalar, typename ScalarBis, typename Plain>
+struct Assignment<DstXprType, CwiseBinaryOp<internal::scalar_product_op<ScalarBis,Scalar>, const CwiseNullaryOp<internal::scalar_constant_op<ScalarBis>,Plain>,
+                                           const Product<Lhs,Rhs,DefaultProduct> >, AssignFunc, Dense2Dense>
+{
+  typedef CwiseBinaryOp<internal::scalar_product_op<ScalarBis,Scalar>,
+                        const CwiseNullaryOp<internal::scalar_constant_op<ScalarBis>,Plain>,
+                        const Product<Lhs,Rhs,DefaultProduct> > SrcXprType;
+  static EIGEN_STRONG_INLINE
+  void run(DstXprType &dst, const SrcXprType &src, const AssignFunc& func)
+  {
+    call_assignment_no_alias(dst, (src.lhs().functor().m_other * src.rhs().lhs())*src.rhs().rhs(), func);
+  }
+};
+
+//----------------------------------------
+// Catch "Dense ?= xpr + Product<>" expression to save one temporary
+// FIXME we could probably enable these rules for any product, i.e., not only Dense and DefaultProduct
+
+template<typename OtherXpr, typename Lhs, typename Rhs>
+struct evaluator_assume_aliasing<CwiseBinaryOp<internal::scalar_sum_op<typename OtherXpr::Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, const OtherXpr,
+                                               const Product<Lhs,Rhs,DefaultProduct> >, DenseShape > {
+  static const bool value = true;
+};
+
+template<typename DstXprType, typename OtherXpr, typename ProductType, typename Func1, typename Func2>
+struct assignment_from_xpr_op_product
+{
+  template<typename SrcXprType, typename InitialFunc>
+  static EIGEN_STRONG_INLINE
+  void run(DstXprType &dst, const SrcXprType &src, const InitialFunc& /*func*/)
+  {
+    call_assignment_no_alias(dst, src.lhs(), Func1());
+    call_assignment_no_alias(dst, src.rhs(), Func2());
+  }
+};
+
+#define EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(ASSIGN_OP,BINOP,ASSIGN_OP2) \
+  template< typename DstXprType, typename OtherXpr, typename Lhs, typename Rhs, typename DstScalar, typename SrcScalar, typename OtherScalar,typename ProdScalar> \
+  struct Assignment<DstXprType, CwiseBinaryOp<internal::BINOP<OtherScalar,ProdScalar>, const OtherXpr, \
+                                            const Product<Lhs,Rhs,DefaultProduct> >, internal::ASSIGN_OP<DstScalar,SrcScalar>, Dense2Dense> \
+    : assignment_from_xpr_op_product<DstXprType, OtherXpr, Product<Lhs,Rhs,DefaultProduct>, internal::ASSIGN_OP<DstScalar,OtherScalar>, internal::ASSIGN_OP2<DstScalar,ProdScalar> > \
+  {}
+
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(assign_op,    scalar_sum_op,add_assign_op);
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(add_assign_op,scalar_sum_op,add_assign_op);
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(sub_assign_op,scalar_sum_op,sub_assign_op);
+
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(assign_op,    scalar_difference_op,sub_assign_op);
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(add_assign_op,scalar_difference_op,sub_assign_op);
+EIGEN_CATCH_ASSIGN_XPR_OP_PRODUCT(sub_assign_op,scalar_difference_op,add_assign_op);
+
+//----------------------------------------
+
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,InnerProduct>
+{
+  template<typename Dst>
+  static inline void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    dst.coeffRef(0,0) = (lhs.transpose().cwiseProduct(rhs)).sum();
+  }
+  
+  template<typename Dst>
+  static inline void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    dst.coeffRef(0,0) += (lhs.transpose().cwiseProduct(rhs)).sum();
+  }
+  
+  template<typename Dst>
+  static void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  { dst.coeffRef(0,0) -= (lhs.transpose().cwiseProduct(rhs)).sum(); }
+};
+
+
+/***********************************************************************
+*  Implementation of outer dense * dense vector product
+***********************************************************************/
+
+// Column major result
+template<typename Dst, typename Lhs, typename Rhs, typename Func>
+void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const false_type&)
+{
+  evaluator<Rhs> rhsEval(rhs);
+  typename nested_eval<Lhs,Rhs::SizeAtCompileTime>::type actual_lhs(lhs);
+  // FIXME if cols is large enough, then it might be useful to make sure that lhs is sequentially stored
+  // FIXME not very good if rhs is real and lhs complex while alpha is real too
+  const Index cols = dst.cols();
+  for (Index j=0; j<cols; ++j)
+    func(dst.col(j), rhsEval.coeff(Index(0),j) * actual_lhs);
+}
+
+// Row major result
+template<typename Dst, typename Lhs, typename Rhs, typename Func>
+void outer_product_selector_run(Dst& dst, const Lhs &lhs, const Rhs &rhs, const Func& func, const true_type&)
+{
+  evaluator<Lhs> lhsEval(lhs);
+  typename nested_eval<Rhs,Lhs::SizeAtCompileTime>::type actual_rhs(rhs);
+  // FIXME if rows is large enough, then it might be useful to make sure that rhs is sequentially stored
+  // FIXME not very good if lhs is real and rhs complex while alpha is real too
+  const Index rows = dst.rows();
+  for (Index i=0; i<rows; ++i)
+    func(dst.row(i), lhsEval.coeff(i,Index(0)) * actual_rhs);
+}
+
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,OuterProduct>
+{
+  template<typename T> struct is_row_major : internal::conditional<(int(T::Flags)&RowMajorBit), internal::true_type, internal::false_type>::type {};
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  // TODO it would be nice to be able to exploit our *_assign_op functors for that purpose
+  struct set  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived()  = src; } };
+  struct add  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() += src; } };
+  struct sub  { template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const { dst.const_cast_derived() -= src; } };
+  struct adds {
+    Scalar m_scale;
+    explicit adds(const Scalar& s) : m_scale(s) {}
+    template<typename Dst, typename Src> void operator()(const Dst& dst, const Src& src) const {
+      dst.const_cast_derived() += m_scale * src;
+    }
+  };
+  
+  template<typename Dst>
+  static inline void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    internal::outer_product_selector_run(dst, lhs, rhs, set(), is_row_major<Dst>());
+  }
+  
+  template<typename Dst>
+  static inline void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    internal::outer_product_selector_run(dst, lhs, rhs, add(), is_row_major<Dst>());
+  }
+  
+  template<typename Dst>
+  static inline void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    internal::outer_product_selector_run(dst, lhs, rhs, sub(), is_row_major<Dst>());
+  }
+  
+  template<typename Dst>
+  static inline void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    internal::outer_product_selector_run(dst, lhs, rhs, adds(alpha), is_row_major<Dst>());
+  }
+  
+};
+
+
+// This base class provides default implementations for evalTo, addTo, subTo, in terms of scaleAndAddTo
+template<typename Lhs, typename Rhs, typename Derived>
+struct generic_product_impl_base
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  { dst.setZero(); scaleAndAddTo(dst, lhs, rhs, Scalar(1)); }
+
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  { scaleAndAddTo(dst,lhs, rhs, Scalar(1)); }
+
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  { scaleAndAddTo(dst, lhs, rhs, Scalar(-1)); }
+  
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  { Derived::scaleAndAddTo(dst,lhs,rhs,alpha); }
+
+};
+
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemvProduct>
+  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemvProduct> >
+{
+  typedef typename nested_eval<Lhs,1>::type LhsNested;
+  typedef typename nested_eval<Rhs,1>::type RhsNested;
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  enum { Side = Lhs::IsVectorAtCompileTime ? OnTheLeft : OnTheRight };
+  typedef typename internal::remove_all<typename internal::conditional<int(Side)==OnTheRight,LhsNested,RhsNested>::type>::type MatrixType;
+
+  template<typename Dest>
+  static EIGEN_STRONG_INLINE void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    LhsNested actual_lhs(lhs);
+    RhsNested actual_rhs(rhs);
+    internal::gemv_dense_selector<Side,
+                            (int(MatrixType::Flags)&RowMajorBit) ? RowMajor : ColMajor,
+                            bool(internal::blas_traits<MatrixType>::HasUsableDirectAccess)
+                           >::run(actual_lhs, actual_rhs, dst, alpha);
+  }
+};
+
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode> 
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    // Same as: dst.noalias() = lhs.lazyProduct(rhs);
+    // but easier on the compiler side
+    call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::assign_op<typename Dst::Scalar,Scalar>());
+  }
+  
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    // dst.noalias() += lhs.lazyProduct(rhs);
+    call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::add_assign_op<typename Dst::Scalar,Scalar>());
+  }
+  
+  template<typename Dst>
+  static EIGEN_STRONG_INLINE void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    // dst.noalias() -= lhs.lazyProduct(rhs);
+    call_assignment_no_alias(dst, lhs.lazyProduct(rhs), internal::sub_assign_op<typename Dst::Scalar,Scalar>());
+  }
+  
+//   template<typename Dst>
+//   static inline void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+//   { dst.noalias() += alpha * lhs.lazyProduct(rhs); }
+};
+
+// This specialization enforces the use of a coefficient-based evaluation strategy
+template<typename Lhs, typename Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,LazyCoeffBasedProductMode>
+  : generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode> {};
+
+// Case 2: Evaluate coeff by coeff
+//
+// This is mostly taken from CoeffBasedProduct.h
+// The main difference is that we add an extra argument to the etor_product_*_impl::run() function
+// for the inner dimension of the product, because evaluator object do not know their size.
+
+template<int Traversal, int UnrollingIndex, typename Lhs, typename Rhs, typename RetScalar>
+struct etor_product_coeff_impl;
+
+template<int StorageOrder, int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl;
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, DenseShape>
+    : evaluator_base<Product<Lhs, Rhs, LazyProduct> >
+{
+  typedef Product<Lhs, Rhs, LazyProduct> XprType;
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  explicit product_evaluator(const XprType& xpr)
+    : m_lhs(xpr.lhs()),
+      m_rhs(xpr.rhs()),
+      m_lhsImpl(m_lhs),     // FIXME the creation of the evaluator objects should result in a no-op, but check that!
+      m_rhsImpl(m_rhs),     //       Moreover, they are only useful for the packet path, so we could completely disable them when not needed,
+                            //       or perhaps declare them on the fly on the packet method... We have experiment to check what's best.
+      m_innerDim(xpr.lhs().cols())
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits<Scalar>::MulCost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits<Scalar>::AddCost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+#if 0
+    std::cerr << "LhsOuterStrideBytes=  " << LhsOuterStrideBytes << "\n";
+    std::cerr << "RhsOuterStrideBytes=  " << RhsOuterStrideBytes << "\n";
+    std::cerr << "LhsAlignment=         " << LhsAlignment << "\n";
+    std::cerr << "RhsAlignment=         " << RhsAlignment << "\n";
+    std::cerr << "CanVectorizeLhs=      " << CanVectorizeLhs << "\n";
+    std::cerr << "CanVectorizeRhs=      " << CanVectorizeRhs << "\n";
+    std::cerr << "CanVectorizeInner=    " << CanVectorizeInner << "\n";
+    std::cerr << "EvalToRowMajor=       " << EvalToRowMajor << "\n";
+    std::cerr << "Alignment=            " << Alignment << "\n";
+    std::cerr << "Flags=                " << Flags << "\n";
+#endif
+  }
+
+  // Everything below here is taken from CoeffBasedProduct.h
+
+  typedef typename internal::nested_eval<Lhs,Rhs::ColsAtCompileTime>::type LhsNested;
+  typedef typename internal::nested_eval<Rhs,Lhs::RowsAtCompileTime>::type RhsNested;
+  
+  typedef typename internal::remove_all<LhsNested>::type LhsNestedCleaned;
+  typedef typename internal::remove_all<RhsNested>::type RhsNestedCleaned;
+
+  typedef evaluator<LhsNestedCleaned> LhsEtorType;
+  typedef evaluator<RhsNestedCleaned> RhsEtorType;
+
+  enum {
+    RowsAtCompileTime = LhsNestedCleaned::RowsAtCompileTime,
+    ColsAtCompileTime = RhsNestedCleaned::ColsAtCompileTime,
+    InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(LhsNestedCleaned::ColsAtCompileTime, RhsNestedCleaned::RowsAtCompileTime),
+    MaxRowsAtCompileTime = LhsNestedCleaned::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = RhsNestedCleaned::MaxColsAtCompileTime
+  };
+
+  typedef typename find_best_packet<Scalar,RowsAtCompileTime>::type LhsVecPacketType;
+  typedef typename find_best_packet<Scalar,ColsAtCompileTime>::type RhsVecPacketType;
+
+  enum {
+      
+    LhsCoeffReadCost = LhsEtorType::CoeffReadCost,
+    RhsCoeffReadCost = RhsEtorType::CoeffReadCost,
+    CoeffReadCost = InnerSize==0 ? NumTraits<Scalar>::ReadCost
+                  : InnerSize == Dynamic ? HugeCost
+                  : InnerSize * (NumTraits<Scalar>::MulCost + LhsCoeffReadCost + RhsCoeffReadCost)
+                    + (InnerSize - 1) * NumTraits<Scalar>::AddCost,
+
+    Unroll = CoeffReadCost <= EIGEN_UNROLLING_LIMIT,
+    
+    LhsFlags = LhsEtorType::Flags,
+    RhsFlags = RhsEtorType::Flags,
+    
+    LhsRowMajor = LhsFlags & RowMajorBit,
+    RhsRowMajor = RhsFlags & RowMajorBit,
+
+    LhsVecPacketSize = unpacket_traits<LhsVecPacketType>::size,
+    RhsVecPacketSize = unpacket_traits<RhsVecPacketType>::size,
+
+    // Here, we don't care about alignment larger than the usable packet size.
+    LhsAlignment = EIGEN_PLAIN_ENUM_MIN(LhsEtorType::Alignment,LhsVecPacketSize*int(sizeof(typename LhsNestedCleaned::Scalar))),
+    RhsAlignment = EIGEN_PLAIN_ENUM_MIN(RhsEtorType::Alignment,RhsVecPacketSize*int(sizeof(typename RhsNestedCleaned::Scalar))),
+      
+    SameType = is_same<typename LhsNestedCleaned::Scalar,typename RhsNestedCleaned::Scalar>::value,
+
+    CanVectorizeRhs = bool(RhsRowMajor) && (RhsFlags & PacketAccessBit) && (ColsAtCompileTime!=1),
+    CanVectorizeLhs = (!LhsRowMajor) && (LhsFlags & PacketAccessBit) && (RowsAtCompileTime!=1),
+
+    EvalToRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
+                    : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
+                    : (bool(RhsRowMajor) && !CanVectorizeLhs),
+
+    Flags = ((unsigned int)(LhsFlags | RhsFlags) & HereditaryBits & ~RowMajorBit)
+          | (EvalToRowMajor ? RowMajorBit : 0)
+          // TODO enable vectorization for mixed types
+          | (SameType && (CanVectorizeLhs || CanVectorizeRhs) ? PacketAccessBit : 0)
+          | (XprType::IsVectorAtCompileTime ? LinearAccessBit : 0),
+          
+    LhsOuterStrideBytes = int(LhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename LhsNestedCleaned::Scalar)),
+    RhsOuterStrideBytes = int(RhsNestedCleaned::OuterStrideAtCompileTime) * int(sizeof(typename RhsNestedCleaned::Scalar)),
+
+    Alignment = bool(CanVectorizeLhs) ? (LhsOuterStrideBytes<=0 || (int(LhsOuterStrideBytes) % EIGEN_PLAIN_ENUM_MAX(1,LhsAlignment))!=0 ? 0 : LhsAlignment)
+              : bool(CanVectorizeRhs) ? (RhsOuterStrideBytes<=0 || (int(RhsOuterStrideBytes) % EIGEN_PLAIN_ENUM_MAX(1,RhsAlignment))!=0 ? 0 : RhsAlignment)
+              : 0,
+
+    /* CanVectorizeInner deserves special explanation. It does not affect the product flags. It is not used outside
+     * of Product. If the Product itself is not a packet-access expression, there is still a chance that the inner
+     * loop of the product might be vectorized. This is the meaning of CanVectorizeInner. Since it doesn't affect
+     * the Flags, it is safe to make this value depend on ActualPacketAccessBit, that doesn't affect the ABI.
+     */
+    CanVectorizeInner =    SameType
+                        && LhsRowMajor
+                        && (!RhsRowMajor)
+                        && (LhsFlags & RhsFlags & ActualPacketAccessBit)
+                        && (InnerSize % packet_traits<Scalar>::size == 0)
+  };
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CoeffReturnType coeff(Index row, Index col) const
+  {
+    return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
+  }
+
+  /* Allow index-based non-packet access. It is impossible though to allow index-based packed access,
+   * which is why we don't set the LinearAccessBit.
+   * TODO: this seems possible when the result is a vector
+   */
+  EIGEN_DEVICE_FUNC const CoeffReturnType coeff(Index index) const
+  {
+    const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index;
+    const Index col = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? index : 0;
+    return (m_lhs.row(row).transpose().cwiseProduct( m_rhs.col(col) )).sum();
+  }
+
+  template<int LoadMode, typename PacketType>
+  const PacketType packet(Index row, Index col) const
+  {
+    PacketType res;
+    typedef etor_product_packet_impl<bool(int(Flags)&RowMajorBit) ? RowMajor : ColMajor,
+                                     Unroll ? int(InnerSize) : Dynamic,
+                                     LhsEtorType, RhsEtorType, PacketType, LoadMode> PacketImpl;
+    PacketImpl::run(row, col, m_lhsImpl, m_rhsImpl, m_innerDim, res);
+    return res;
+  }
+
+  template<int LoadMode, typename PacketType>
+  const PacketType packet(Index index) const
+  {
+    const Index row = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? 0 : index;
+    const Index col = (RowsAtCompileTime == 1 || MaxRowsAtCompileTime==1) ? index : 0;
+    return packet<LoadMode,PacketType>(row,col);
+  }
+
+protected:
+  typename internal::add_const_on_value_type<LhsNested>::type m_lhs;
+  typename internal::add_const_on_value_type<RhsNested>::type m_rhs;
+  
+  LhsEtorType m_lhsImpl;
+  RhsEtorType m_rhsImpl;
+
+  // TODO: Get rid of m_innerDim if known at compile time
+  Index m_innerDim;
+};
+
+template<typename Lhs, typename Rhs>
+struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, LazyCoeffBasedProductMode, DenseShape, DenseShape>
+  : product_evaluator<Product<Lhs, Rhs, LazyProduct>, CoeffBasedProductMode, DenseShape, DenseShape>
+{
+  typedef Product<Lhs, Rhs, DefaultProduct> XprType;
+  typedef Product<Lhs, Rhs, LazyProduct> BaseProduct;
+  typedef product_evaluator<BaseProduct, CoeffBasedProductMode, DenseShape, DenseShape> Base;
+  enum {
+    Flags = Base::Flags | EvalBeforeNestingBit
+  };
+  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+    : Base(BaseProduct(xpr.lhs(),xpr.rhs()))
+  {}
+};
+
+/****************************************
+*** Coeff based product, Packet path  ***
+****************************************/
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<RowMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res)
+  {
+    etor_product_packet_impl<RowMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, innerDim, res);
+    res =  pmadd(pset1<Packet>(lhs.coeff(row, Index(UnrollingIndex-1))), rhs.template packet<LoadMode,Packet>(Index(UnrollingIndex-1), col), res);
+  }
+};
+
+template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<ColMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet &res)
+  {
+    etor_product_packet_impl<ColMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, innerDim, res);
+    res =  pmadd(lhs.template packet<LoadMode,Packet>(row, Index(UnrollingIndex-1)), pset1<Packet>(rhs.coeff(Index(UnrollingIndex-1), col)), res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<RowMajor, 1, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res)
+  {
+    res = pmul(pset1<Packet>(lhs.coeff(row, Index(0))),rhs.template packet<LoadMode,Packet>(Index(0), col));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<ColMajor, 1, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index /*innerDim*/, Packet &res)
+  {
+    res = pmul(lhs.template packet<LoadMode,Packet>(row, Index(0)), pset1<Packet>(rhs.coeff(Index(0), col)));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<RowMajor, 0, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res)
+  {
+    res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<ColMajor, 0, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Index /*innerDim*/, Packet &res)
+  {
+    res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<RowMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res)
+  {
+    res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
+    for(Index i = 0; i < innerDim; ++i)
+      res =  pmadd(pset1<Packet>(lhs.coeff(row, i)), rhs.template packet<LoadMode,Packet>(i, col), res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
+struct etor_product_packet_impl<ColMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
+{
+  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Index innerDim, Packet& res)
+  {
+    res = pset1<Packet>(typename unpacket_traits<Packet>::type(0));
+    for(Index i = 0; i < innerDim; ++i)
+      res =  pmadd(lhs.template packet<LoadMode,Packet>(row, i), pset1<Packet>(rhs.coeff(i, col)), res);
+  }
+};
+
+
+/***************************************************************************
+* Triangular products
+***************************************************************************/
+template<int Mode, bool LhsIsTriangular,
+         typename Lhs, bool LhsIsVector,
+         typename Rhs, bool RhsIsVector>
+struct triangular_product_impl;
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct generic_product_impl<Lhs,Rhs,TriangularShape,DenseShape,ProductTag>
+  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,TriangularShape,DenseShape,ProductTag> >
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    triangular_product_impl<Lhs::Mode,true,typename Lhs::MatrixType,false,Rhs, Rhs::ColsAtCompileTime==1>
+        ::run(dst, lhs.nestedExpression(), rhs, alpha);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct generic_product_impl<Lhs,Rhs,DenseShape,TriangularShape,ProductTag>
+: generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,TriangularShape,ProductTag> >
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    triangular_product_impl<Rhs::Mode,false,Lhs,Lhs::RowsAtCompileTime==1, typename Rhs::MatrixType, false>::run(dst, lhs, rhs.nestedExpression(), alpha);
+  }
+};
+
+
+/***************************************************************************
+* SelfAdjoint products
+***************************************************************************/
+template <typename Lhs, int LhsMode, bool LhsIsVector,
+          typename Rhs, int RhsMode, bool RhsIsVector>
+struct selfadjoint_product_impl;
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct generic_product_impl<Lhs,Rhs,SelfAdjointShape,DenseShape,ProductTag>
+  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,SelfAdjointShape,DenseShape,ProductTag> >
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    selfadjoint_product_impl<typename Lhs::MatrixType,Lhs::Mode,false,Rhs,0,Rhs::IsVectorAtCompileTime>::run(dst, lhs.nestedExpression(), rhs, alpha);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct generic_product_impl<Lhs,Rhs,DenseShape,SelfAdjointShape,ProductTag>
+: generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,SelfAdjointShape,ProductTag> >
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    selfadjoint_product_impl<Lhs,0,Lhs::IsVectorAtCompileTime,typename Rhs::MatrixType,Rhs::Mode,false>::run(dst, lhs, rhs.nestedExpression(), alpha);
+  }
+};
+
+
+/***************************************************************************
+* Diagonal products
+***************************************************************************/
+  
+template<typename MatrixType, typename DiagonalType, typename Derived, int ProductOrder>
+struct diagonal_product_evaluator_base
+  : evaluator_base<Derived>
+{
+   typedef typename ScalarBinaryOpTraits<typename MatrixType::Scalar, typename DiagonalType::Scalar>::ReturnType Scalar;
+public:
+  enum {
+    CoeffReadCost = NumTraits<Scalar>::MulCost + evaluator<MatrixType>::CoeffReadCost + evaluator<DiagonalType>::CoeffReadCost,
+    
+    MatrixFlags = evaluator<MatrixType>::Flags,
+    DiagFlags = evaluator<DiagonalType>::Flags,
+    _StorageOrder = MatrixFlags & RowMajorBit ? RowMajor : ColMajor,
+    _ScalarAccessOnDiag =  !((int(_StorageOrder) == ColMajor && int(ProductOrder) == OnTheLeft)
+                           ||(int(_StorageOrder) == RowMajor && int(ProductOrder) == OnTheRight)),
+    _SameTypes = is_same<typename MatrixType::Scalar, typename DiagonalType::Scalar>::value,
+    // FIXME currently we need same types, but in the future the next rule should be the one
+    //_Vectorizable = bool(int(MatrixFlags)&PacketAccessBit) && ((!_PacketOnDiag) || (_SameTypes && bool(int(DiagFlags)&PacketAccessBit))),
+    _Vectorizable = bool(int(MatrixFlags)&PacketAccessBit) && _SameTypes && (_ScalarAccessOnDiag || (bool(int(DiagFlags)&PacketAccessBit))),
+    _LinearAccessMask = (MatrixType::RowsAtCompileTime==1 || MatrixType::ColsAtCompileTime==1) ? LinearAccessBit : 0,
+    Flags = ((HereditaryBits|_LinearAccessMask) & (unsigned int)(MatrixFlags)) | (_Vectorizable ? PacketAccessBit : 0),
+    Alignment = evaluator<MatrixType>::Alignment
+  };
+  
+  diagonal_product_evaluator_base(const MatrixType &mat, const DiagonalType &diag)
+    : m_diagImpl(diag), m_matImpl(mat)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(NumTraits<Scalar>::MulCost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index idx) const
+  {
+    return m_diagImpl.coeff(idx) * m_matImpl.coeff(idx);
+  }
+  
+protected:
+  template<int LoadMode,typename PacketType>
+  EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::true_type) const
+  {
+    return internal::pmul(m_matImpl.template packet<LoadMode,PacketType>(row, col),
+                          internal::pset1<PacketType>(m_diagImpl.coeff(id)));
+  }
+  
+  template<int LoadMode,typename PacketType>
+  EIGEN_STRONG_INLINE PacketType packet_impl(Index row, Index col, Index id, internal::false_type) const
+  {
+    enum {
+      InnerSize = (MatrixType::Flags & RowMajorBit) ? MatrixType::ColsAtCompileTime : MatrixType::RowsAtCompileTime,
+      DiagonalPacketLoadMode = EIGEN_PLAIN_ENUM_MIN(LoadMode,((InnerSize%16) == 0) ? int(Aligned16) : int(evaluator<DiagonalType>::Alignment)) // FIXME hardcoded 16!!
+    };
+    return internal::pmul(m_matImpl.template packet<LoadMode,PacketType>(row, col),
+                          m_diagImpl.template packet<DiagonalPacketLoadMode,PacketType>(id));
+  }
+  
+  evaluator<DiagonalType> m_diagImpl;
+  evaluator<MatrixType>   m_matImpl;
+};
+
+// diagonal * dense
+template<typename Lhs, typename Rhs, int ProductKind, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, ProductKind>, ProductTag, DiagonalShape, DenseShape>
+  : diagonal_product_evaluator_base<Rhs, typename Lhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheLeft>
+{
+  typedef diagonal_product_evaluator_base<Rhs, typename Lhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheLeft> Base;
+  using Base::m_diagImpl;
+  using Base::m_matImpl;
+  using Base::coeff;
+  typedef typename Base::Scalar Scalar;
+  
+  typedef Product<Lhs, Rhs, ProductKind> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  
+  enum {
+    StorageOrder = int(Rhs::Flags) & RowMajorBit ? RowMajor : ColMajor
+  };
+
+  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+    : Base(xpr.rhs(), xpr.lhs().diagonal())
+  {
+  }
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
+  {
+    return m_diagImpl.coeff(row) * m_matImpl.coeff(row, col);
+  }
+  
+#ifndef __CUDACC__
+  template<int LoadMode,typename PacketType>
+  EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const
+  {
+    // FIXME: NVCC used to complain about the template keyword, but we have to check whether this is still the case.
+    // See also similar calls below.
+    return this->template packet_impl<LoadMode,PacketType>(row,col, row,
+                                 typename internal::conditional<int(StorageOrder)==RowMajor, internal::true_type, internal::false_type>::type());
+  }
+  
+  template<int LoadMode,typename PacketType>
+  EIGEN_STRONG_INLINE PacketType packet(Index idx) const
+  {
+    return packet<LoadMode,PacketType>(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx);
+  }
+#endif
+};
+
+// dense * diagonal
+template<typename Lhs, typename Rhs, int ProductKind, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, ProductKind>, ProductTag, DenseShape, DiagonalShape>
+  : diagonal_product_evaluator_base<Lhs, typename Rhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheRight>
+{
+  typedef diagonal_product_evaluator_base<Lhs, typename Rhs::DiagonalVectorType, Product<Lhs, Rhs, LazyProduct>, OnTheRight> Base;
+  using Base::m_diagImpl;
+  using Base::m_matImpl;
+  using Base::coeff;
+  typedef typename Base::Scalar Scalar;
+  
+  typedef Product<Lhs, Rhs, ProductKind> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  
+  enum { StorageOrder = int(Lhs::Flags) & RowMajorBit ? RowMajor : ColMajor };
+
+  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+    : Base(xpr.lhs(), xpr.rhs().diagonal())
+  {
+  }
+  
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
+  {
+    return m_matImpl.coeff(row, col) * m_diagImpl.coeff(col);
+  }
+  
+#ifndef __CUDACC__
+  template<int LoadMode,typename PacketType>
+  EIGEN_STRONG_INLINE PacketType packet(Index row, Index col) const
+  {
+    return this->template packet_impl<LoadMode,PacketType>(row,col, col,
+                                 typename internal::conditional<int(StorageOrder)==ColMajor, internal::true_type, internal::false_type>::type());
+  }
+  
+  template<int LoadMode,typename PacketType>
+  EIGEN_STRONG_INLINE PacketType packet(Index idx) const
+  {
+    return packet<LoadMode,PacketType>(int(StorageOrder)==ColMajor?idx:0,int(StorageOrder)==ColMajor?0:idx);
+  }
+#endif
+};
+
+/***************************************************************************
+* Products with permutation matrices
+***************************************************************************/
+
+/** \internal
+  * \class permutation_matrix_product
+  * Internal helper class implementing the product between a permutation matrix and a matrix.
+  * This class is specialized for DenseShape below and for SparseShape in SparseCore/SparsePermutation.h
+  */
+template<typename ExpressionType, int Side, bool Transposed, typename ExpressionShape>
+struct permutation_matrix_product;
+
+template<typename ExpressionType, int Side, bool Transposed>
+struct permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape>
+{
+    typedef typename nested_eval<ExpressionType, 1>::type MatrixType;
+    typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
+
+    template<typename Dest, typename PermutationType>
+    static inline void run(Dest& dst, const PermutationType& perm, const ExpressionType& xpr)
+    {
+      MatrixType mat(xpr);
+      const Index n = Side==OnTheLeft ? mat.rows() : mat.cols();
+      // FIXME we need an is_same for expression that is not sensitive to constness. For instance
+      // is_same_xpr<Block<const Matrix>, Block<Matrix> >::value should be true.
+      //if(is_same<MatrixTypeCleaned,Dest>::value && extract_data(dst) == extract_data(mat))
+      if(is_same_dense(dst, mat))
+      {
+        // apply the permutation inplace
+        Matrix<bool,PermutationType::RowsAtCompileTime,1,0,PermutationType::MaxRowsAtCompileTime> mask(perm.size());
+        mask.fill(false);
+        Index r = 0;
+        while(r < perm.size())
+        {
+          // search for the next seed
+          while(r<perm.size() && mask[r]) r++;
+          if(r>=perm.size())
+            break;
+          // we got one, let's follow it until we are back to the seed
+          Index k0 = r++;
+          Index kPrev = k0;
+          mask.coeffRef(k0) = true;
+          for(Index k=perm.indices().coeff(k0); k!=k0; k=perm.indices().coeff(k))
+          {
+                  Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>(dst, k)
+            .swap(Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
+                       (dst,((Side==OnTheLeft) ^ Transposed) ? k0 : kPrev));
+
+            mask.coeffRef(k) = true;
+            kPrev = k;
+          }
+        }
+      }
+      else
+      {
+        for(Index i = 0; i < n; ++i)
+        {
+          Block<Dest, Side==OnTheLeft ? 1 : Dest::RowsAtCompileTime, Side==OnTheRight ? 1 : Dest::ColsAtCompileTime>
+               (dst, ((Side==OnTheLeft) ^ Transposed) ? perm.indices().coeff(i) : i)
+
+          =
+
+          Block<const MatrixTypeCleaned,Side==OnTheLeft ? 1 : MatrixTypeCleaned::RowsAtCompileTime,Side==OnTheRight ? 1 : MatrixTypeCleaned::ColsAtCompileTime>
+               (mat, ((Side==OnTheRight) ^ Transposed) ? perm.indices().coeff(i) : i);
+        }
+      }
+    }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, PermutationShape, MatrixShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    permutation_matrix_product<Rhs, OnTheLeft, false, MatrixShape>::run(dst, lhs, rhs);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, MatrixShape, PermutationShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    permutation_matrix_product<Lhs, OnTheRight, false, MatrixShape>::run(dst, rhs, lhs);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Inverse<Lhs>, Rhs, PermutationShape, MatrixShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Inverse<Lhs>& lhs, const Rhs& rhs)
+  {
+    permutation_matrix_product<Rhs, OnTheLeft, true, MatrixShape>::run(dst, lhs.nestedExpression(), rhs);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Inverse<Rhs>, MatrixShape, PermutationShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Inverse<Rhs>& rhs)
+  {
+    permutation_matrix_product<Lhs, OnTheRight, true, MatrixShape>::run(dst, rhs.nestedExpression(), lhs);
+  }
+};
+
+
+/***************************************************************************
+* Products with transpositions matrices
+***************************************************************************/
+
+// FIXME could we unify Transpositions and Permutation into a single "shape"??
+
+/** \internal
+  * \class transposition_matrix_product
+  * Internal helper class implementing the product between a permutation matrix and a matrix.
+  */
+template<typename ExpressionType, int Side, bool Transposed, typename ExpressionShape>
+struct transposition_matrix_product
+{
+  typedef typename nested_eval<ExpressionType, 1>::type MatrixType;
+  typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
+  
+  template<typename Dest, typename TranspositionType>
+  static inline void run(Dest& dst, const TranspositionType& tr, const ExpressionType& xpr)
+  {
+    MatrixType mat(xpr);
+    typedef typename TranspositionType::StorageIndex StorageIndex;
+    const Index size = tr.size();
+    StorageIndex j = 0;
+
+    if(!is_same_dense(dst,mat))
+      dst = mat;
+
+    for(Index k=(Transposed?size-1:0) ; Transposed?k>=0:k<size ; Transposed?--k:++k)
+      if(Index(j=tr.coeff(k))!=k)
+      {
+        if(Side==OnTheLeft)        dst.row(k).swap(dst.row(j));
+        else if(Side==OnTheRight)  dst.col(k).swap(dst.col(j));
+      }
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, TranspositionsShape, MatrixShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    transposition_matrix_product<Rhs, OnTheLeft, false, MatrixShape>::run(dst, lhs, rhs);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Rhs, MatrixShape, TranspositionsShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    transposition_matrix_product<Lhs, OnTheRight, false, MatrixShape>::run(dst, rhs, lhs);
+  }
+};
+
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Transpose<Lhs>, Rhs, TranspositionsShape, MatrixShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Transpose<Lhs>& lhs, const Rhs& rhs)
+  {
+    transposition_matrix_product<Rhs, OnTheLeft, true, MatrixShape>::run(dst, lhs.nestedExpression(), rhs);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductTag, typename MatrixShape>
+struct generic_product_impl<Lhs, Transpose<Rhs>, MatrixShape, TranspositionsShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Transpose<Rhs>& rhs)
+  {
+    transposition_matrix_product<Lhs, OnTheRight, true, MatrixShape>::run(dst, rhs.nestedExpression(), lhs);
+  }
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PRODUCT_EVALUATORS_H
diff --git a/eigenlib/Eigen/src/Core/Random.h b/eigenlib/Eigen/src/Core/Random.h
index 480fea40..6faf789c 100644
--- a/eigenlib/Eigen/src/Core/Random.h
+++ b/eigenlib/Eigen/src/Core/Random.h
@@ -16,8 +16,7 @@ namespace internal {
 
 template<typename Scalar> struct scalar_random_op {
   EIGEN_EMPTY_STRUCT_CTOR(scalar_random_op)
-  template<typename Index>
-  inline const Scalar operator() (Index, Index = 0) const { return random<Scalar>(); }
+  inline const Scalar operator() () const { return random<Scalar>(); }
 };
 
 template<typename Scalar>
@@ -28,12 +27,18 @@ struct functor_traits<scalar_random_op<Scalar> >
 
 /** \returns a random matrix expression
   *
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
+  * 
   * The parameters \a rows and \a cols are the number of rows and of columns of
   * the returned matrix. Must be compatible with this MatrixBase type.
   *
+  * \not_reentrant
+  * 
   * This variant is meant to be used for dynamic-size matrix types. For fixed-size types,
   * it is redundant to pass \a rows and \a cols as arguments, so Random() should be used
   * instead.
+  * 
   *
   * Example: \include MatrixBase_random_int_int.cpp
   * Output: \verbinclude MatrixBase_random_int_int.out
@@ -41,22 +46,28 @@ struct functor_traits<scalar_random_op<Scalar> >
   * This expression has the "evaluate before nesting" flag so that it will be evaluated into
   * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected
   * behavior with expressions involving random matrices.
+  * 
+  * See DenseBase::NullaryExpr(Index, const CustomNullaryOp&) for an example using C++11 random generators.
   *
-  * \sa MatrixBase::setRandom(), MatrixBase::Random(Index), MatrixBase::Random()
+  * \sa DenseBase::setRandom(), DenseBase::Random(Index), DenseBase::Random()
   */
 template<typename Derived>
-inline const CwiseNullaryOp<internal::scalar_random_op<typename internal::traits<Derived>::Scalar>, Derived>
+inline const typename DenseBase<Derived>::RandomReturnType
 DenseBase<Derived>::Random(Index rows, Index cols)
 {
   return NullaryExpr(rows, cols, internal::scalar_random_op<Scalar>());
 }
 
 /** \returns a random vector expression
+  *
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
   *
   * The parameter \a size is the size of the returned vector.
   * Must be compatible with this MatrixBase type.
   *
   * \only_for_vectors
+  * \not_reentrant
   *
   * This variant is meant to be used for dynamic-size vector types. For fixed-size types,
   * it is redundant to pass \a size as argument, so Random() should be used
@@ -69,10 +80,10 @@ DenseBase<Derived>::Random(Index rows, Index cols)
   * a temporary vector whenever it is nested in a larger expression. This prevents unexpected
   * behavior with expressions involving random matrices.
   *
-  * \sa MatrixBase::setRandom(), MatrixBase::Random(Index,Index), MatrixBase::Random()
+  * \sa DenseBase::setRandom(), DenseBase::Random(Index,Index), DenseBase::Random()
   */
 template<typename Derived>
-inline const CwiseNullaryOp<internal::scalar_random_op<typename internal::traits<Derived>::Scalar>, Derived>
+inline const typename DenseBase<Derived>::RandomReturnType
 DenseBase<Derived>::Random(Index size)
 {
   return NullaryExpr(size, internal::scalar_random_op<Scalar>());
@@ -80,6 +91,9 @@ DenseBase<Derived>::Random(Index size)
 
 /** \returns a fixed-size random matrix or vector expression
   *
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
+  * 
   * This variant is only for fixed-size MatrixBase types. For dynamic-size types, you
   * need to use the variants taking size arguments.
   *
@@ -89,11 +103,13 @@ DenseBase<Derived>::Random(Index size)
   * This expression has the "evaluate before nesting" flag so that it will be evaluated into
   * a temporary matrix whenever it is nested in a larger expression. This prevents unexpected
   * behavior with expressions involving random matrices.
+  * 
+  * \not_reentrant
   *
-  * \sa MatrixBase::setRandom(), MatrixBase::Random(Index,Index), MatrixBase::Random(Index)
+  * \sa DenseBase::setRandom(), DenseBase::Random(Index,Index), DenseBase::Random(Index)
   */
 template<typename Derived>
-inline const CwiseNullaryOp<internal::scalar_random_op<typename internal::traits<Derived>::Scalar>, Derived>
+inline const typename DenseBase<Derived>::RandomReturnType
 DenseBase<Derived>::Random()
 {
   return NullaryExpr(RowsAtCompileTime, ColsAtCompileTime, internal::scalar_random_op<Scalar>());
@@ -101,6 +117,11 @@ DenseBase<Derived>::Random()
 
 /** Sets all coefficients in this expression to random values.
   *
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
+  * 
+  * \not_reentrant
+  * 
   * Example: \include MatrixBase_setRandom.cpp
   * Output: \verbinclude MatrixBase_setRandom.out
   *
@@ -114,12 +135,16 @@ inline Derived& DenseBase<Derived>::setRandom()
 
 /** Resizes to the given \a newSize, and sets all coefficients in this expression to random values.
   *
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
+  * 
   * \only_for_vectors
+  * \not_reentrant
   *
   * Example: \include Matrix_setRandom_int.cpp
   * Output: \verbinclude Matrix_setRandom_int.out
   *
-  * \sa MatrixBase::setRandom(), setRandom(Index,Index), class CwiseNullaryOp, MatrixBase::Random()
+  * \sa DenseBase::setRandom(), setRandom(Index,Index), class CwiseNullaryOp, DenseBase::Random()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE Derived&
@@ -131,19 +156,24 @@ PlainObjectBase<Derived>::setRandom(Index newSize)
 
 /** Resizes to the given size, and sets all coefficients in this expression to random values.
   *
-  * \param nbRows the new number of rows
-  * \param nbCols the new number of columns
+  * Numbers are uniformly spread through their whole definition range for integer types,
+  * and in the [-1:1] range for floating point scalar types.
+  *
+  * \not_reentrant
+  * 
+  * \param rows the new number of rows
+  * \param cols the new number of columns
   *
   * Example: \include Matrix_setRandom_int_int.cpp
   * Output: \verbinclude Matrix_setRandom_int_int.out
   *
-  * \sa MatrixBase::setRandom(), setRandom(Index), class CwiseNullaryOp, MatrixBase::Random()
+  * \sa DenseBase::setRandom(), setRandom(Index), class CwiseNullaryOp, DenseBase::Random()
   */
 template<typename Derived>
 EIGEN_STRONG_INLINE Derived&
-PlainObjectBase<Derived>::setRandom(Index nbRows, Index nbCols)
+PlainObjectBase<Derived>::setRandom(Index rows, Index cols)
 {
-  resize(nbRows, nbCols);
+  resize(rows, cols);
   return setRandom();
 }
 
diff --git a/eigenlib/Eigen/src/Core/Redux.h b/eigenlib/Eigen/src/Core/Redux.h
index 50548fa9..b6e8f888 100644
--- a/eigenlib/Eigen/src/Core/Redux.h
+++ b/eigenlib/Eigen/src/Core/Redux.h
@@ -27,8 +27,9 @@ template<typename Func, typename Derived>
 struct redux_traits
 {
 public:
+    typedef typename find_best_packet<typename Derived::Scalar,Derived::SizeAtCompileTime>::type PacketType;
   enum {
-    PacketSize = packet_traits<typename Derived::Scalar>::size,
+    PacketSize = unpacket_traits<PacketType>::size,
     InnerMaxSize = int(Derived::IsRowMajor)
                  ? Derived::MaxColsAtCompileTime
                  : Derived::MaxRowsAtCompileTime
@@ -37,8 +38,8 @@ public:
   enum {
     MightVectorize = (int(Derived::Flags)&ActualPacketAccessBit)
                   && (functor_traits<Func>::PacketAccess),
-    MayLinearVectorize = MightVectorize && (int(Derived::Flags)&LinearAccessBit),
-    MaySliceVectorize  = MightVectorize && int(InnerMaxSize)>=3*PacketSize
+    MayLinearVectorize = bool(MightVectorize) && (int(Derived::Flags)&LinearAccessBit),
+    MaySliceVectorize  = bool(MightVectorize) && int(InnerMaxSize)>=3*PacketSize
   };
 
 public:
@@ -50,21 +51,34 @@ public:
 
 public:
   enum {
-    Cost = (  Derived::SizeAtCompileTime == Dynamic
-           || Derived::CoeffReadCost == Dynamic
-           || (Derived::SizeAtCompileTime!=1 && functor_traits<Func>::Cost == Dynamic)
-           ) ? Dynamic
-           : Derived::SizeAtCompileTime * Derived::CoeffReadCost
-               + (Derived::SizeAtCompileTime-1) * functor_traits<Func>::Cost,
+    Cost = Derived::SizeAtCompileTime == Dynamic ? HugeCost
+         : Derived::SizeAtCompileTime * Derived::CoeffReadCost + (Derived::SizeAtCompileTime-1) * functor_traits<Func>::Cost,
     UnrollingLimit = EIGEN_UNROLLING_LIMIT * (int(Traversal) == int(DefaultTraversal) ? 1 : int(PacketSize))
   };
 
 public:
   enum {
-    Unrolling = Cost != Dynamic && Cost <= UnrollingLimit
-              ? CompleteUnrolling
-              : NoUnrolling
+    Unrolling = Cost <= UnrollingLimit ? CompleteUnrolling : NoUnrolling
   };
+  
+#ifdef EIGEN_DEBUG_ASSIGN
+  static void debug()
+  {
+    std::cerr << "Xpr: " << typeid(typename Derived::XprType).name() << std::endl;
+    std::cerr.setf(std::ios::hex, std::ios::basefield);
+    EIGEN_DEBUG_VAR(Derived::Flags)
+    std::cerr.unsetf(std::ios::hex);
+    EIGEN_DEBUG_VAR(InnerMaxSize)
+    EIGEN_DEBUG_VAR(PacketSize)
+    EIGEN_DEBUG_VAR(MightVectorize)
+    EIGEN_DEBUG_VAR(MayLinearVectorize)
+    EIGEN_DEBUG_VAR(MaySliceVectorize)
+    EIGEN_DEBUG_VAR(Traversal)
+    EIGEN_DEBUG_VAR(UnrollingLimit)
+    EIGEN_DEBUG_VAR(Unrolling)
+    std::cerr << std::endl;
+  }
+#endif
 };
 
 /***************************************************************************
@@ -82,6 +96,7 @@ struct redux_novec_unroller
 
   typedef typename Derived::Scalar Scalar;
 
+  EIGEN_DEVICE_FUNC
   static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
   {
     return func(redux_novec_unroller<Func, Derived, Start, HalfLength>::run(mat,func),
@@ -99,6 +114,7 @@ struct redux_novec_unroller<Func, Derived, Start, 1>
 
   typedef typename Derived::Scalar Scalar;
 
+  EIGEN_DEVICE_FUNC
   static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func&)
   {
     return mat.coeffByOuterInner(outer, inner);
@@ -112,6 +128,7 @@ template<typename Func, typename Derived, int Start>
 struct redux_novec_unroller<Func, Derived, Start, 0>
 {
   typedef typename Derived::Scalar Scalar;
+  EIGEN_DEVICE_FUNC 
   static EIGEN_STRONG_INLINE Scalar run(const Derived&, const Func&) { return Scalar(); }
 };
 
@@ -121,12 +138,12 @@ template<typename Func, typename Derived, int Start, int Length>
 struct redux_vec_unroller
 {
   enum {
-    PacketSize = packet_traits<typename Derived::Scalar>::size,
+    PacketSize = redux_traits<Func, Derived>::PacketSize,
     HalfLength = Length/2
   };
 
   typedef typename Derived::Scalar Scalar;
-  typedef typename packet_traits<Scalar>::type PacketScalar;
+  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
 
   static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func& func)
   {
@@ -140,18 +157,18 @@ template<typename Func, typename Derived, int Start>
 struct redux_vec_unroller<Func, Derived, Start, 1>
 {
   enum {
-    index = Start * packet_traits<typename Derived::Scalar>::size,
+    index = Start * redux_traits<Func, Derived>::PacketSize,
     outer = index / int(Derived::InnerSizeAtCompileTime),
     inner = index % int(Derived::InnerSizeAtCompileTime),
-    alignment = (Derived::Flags & AlignedBit) ? Aligned : Unaligned
+    alignment = Derived::Alignment
   };
 
   typedef typename Derived::Scalar Scalar;
-  typedef typename packet_traits<Scalar>::type PacketScalar;
+  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
 
   static EIGEN_STRONG_INLINE PacketScalar run(const Derived &mat, const Func&)
   {
-    return mat.template packetByOuterInner<alignment>(outer, inner);
+    return mat.template packetByOuterInner<alignment,PacketScalar>(outer, inner);
   }
 };
 
@@ -169,8 +186,8 @@ template<typename Func, typename Derived>
 struct redux_impl<Func, Derived, DefaultTraversal, NoUnrolling>
 {
   typedef typename Derived::Scalar Scalar;
-  typedef typename Derived::Index Index;
-  static EIGEN_STRONG_INLINE Scalar run(const Derived& mat, const Func& func)
+  EIGEN_DEVICE_FUNC
+  static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
   {
     eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
     Scalar res;
@@ -193,19 +210,19 @@ template<typename Func, typename Derived>
 struct redux_impl<Func, Derived, LinearVectorizedTraversal, NoUnrolling>
 {
   typedef typename Derived::Scalar Scalar;
-  typedef typename packet_traits<Scalar>::type PacketScalar;
-  typedef typename Derived::Index Index;
+  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
 
-  static Scalar run(const Derived& mat, const Func& func)
+  static Scalar run(const Derived &mat, const Func& func)
   {
     const Index size = mat.size();
-    eigen_assert(size && "you are using an empty matrix");
-    const Index packetSize = packet_traits<Scalar>::size;
-    const Index alignedStart = internal::first_aligned(mat);
+    
+    const Index packetSize = redux_traits<Func, Derived>::PacketSize;
+    const int packetAlignment = unpacket_traits<PacketScalar>::alignment;
     enum {
-      alignment = bool(Derived::Flags & DirectAccessBit) || bool(Derived::Flags & AlignedBit)
-                ? Aligned : Unaligned
+      alignment0 = (bool(Derived::Flags & DirectAccessBit) && bool(packet_traits<Scalar>::AlignedOnScalar)) ? int(packetAlignment) : int(Unaligned),
+      alignment = EIGEN_PLAIN_ENUM_MAX(alignment0, Derived::Alignment)
     };
+    const Index alignedStart = internal::first_default_aligned(mat.nestedExpression());
     const Index alignedSize2 = ((size-alignedStart)/(2*packetSize))*(2*packetSize);
     const Index alignedSize = ((size-alignedStart)/(packetSize))*(packetSize);
     const Index alignedEnd2 = alignedStart + alignedSize2;
@@ -213,19 +230,19 @@ struct redux_impl<Func, Derived, LinearVectorizedTraversal, NoUnrolling>
     Scalar res;
     if(alignedSize)
     {
-      PacketScalar packet_res0 = mat.template packet<alignment>(alignedStart);
+      PacketScalar packet_res0 = mat.template packet<alignment,PacketScalar>(alignedStart);
       if(alignedSize>packetSize) // we have at least two packets to partly unroll the loop
       {
-        PacketScalar packet_res1 = mat.template packet<alignment>(alignedStart+packetSize);
+        PacketScalar packet_res1 = mat.template packet<alignment,PacketScalar>(alignedStart+packetSize);
         for(Index index = alignedStart + 2*packetSize; index < alignedEnd2; index += 2*packetSize)
         {
-          packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment>(index));
-          packet_res1 = func.packetOp(packet_res1, mat.template packet<alignment>(index+packetSize));
+          packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment,PacketScalar>(index));
+          packet_res1 = func.packetOp(packet_res1, mat.template packet<alignment,PacketScalar>(index+packetSize));
         }
 
         packet_res0 = func.packetOp(packet_res0,packet_res1);
         if(alignedEnd>alignedEnd2)
-          packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment>(alignedEnd2));
+          packet_res0 = func.packetOp(packet_res0, mat.template packet<alignment,PacketScalar>(alignedEnd2));
       }
       res = func.predux(packet_res0);
 
@@ -247,29 +264,29 @@ struct redux_impl<Func, Derived, LinearVectorizedTraversal, NoUnrolling>
   }
 };
 
-template<typename Func, typename Derived>
-struct redux_impl<Func, Derived, SliceVectorizedTraversal, NoUnrolling>
+// NOTE: for SliceVectorizedTraversal we simply bypass unrolling
+template<typename Func, typename Derived, int Unrolling>
+struct redux_impl<Func, Derived, SliceVectorizedTraversal, Unrolling>
 {
   typedef typename Derived::Scalar Scalar;
-  typedef typename packet_traits<Scalar>::type PacketScalar;
-  typedef typename Derived::Index Index;
+  typedef typename redux_traits<Func, Derived>::PacketType PacketType;
 
-  static Scalar run(const Derived& mat, const Func& func)
+  EIGEN_DEVICE_FUNC static Scalar run(const Derived &mat, const Func& func)
   {
     eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
     const Index innerSize = mat.innerSize();
     const Index outerSize = mat.outerSize();
     enum {
-      packetSize = packet_traits<Scalar>::size
+      packetSize = redux_traits<Func, Derived>::PacketSize
     };
     const Index packetedInnerSize = ((innerSize)/packetSize)*packetSize;
     Scalar res;
     if(packetedInnerSize)
     {
-      PacketScalar packet_res = mat.template packet<Unaligned>(0,0);
+      PacketType packet_res = mat.template packet<Unaligned,PacketType>(0,0);
       for(Index j=0; j<outerSize; ++j)
         for(Index i=(j==0?packetSize:0); i<packetedInnerSize; i+=Index(packetSize))
-          packet_res = func.packetOp(packet_res, mat.template packetByOuterInner<Unaligned>(j,i));
+          packet_res = func.packetOp(packet_res, mat.template packetByOuterInner<Unaligned,PacketType>(j,i));
 
       res = func.predux(packet_res);
       for(Index j=0; j<outerSize; ++j)
@@ -290,22 +307,90 @@ template<typename Func, typename Derived>
 struct redux_impl<Func, Derived, LinearVectorizedTraversal, CompleteUnrolling>
 {
   typedef typename Derived::Scalar Scalar;
-  typedef typename packet_traits<Scalar>::type PacketScalar;
+
+  typedef typename redux_traits<Func, Derived>::PacketType PacketScalar;
   enum {
-    PacketSize = packet_traits<Scalar>::size,
+    PacketSize = redux_traits<Func, Derived>::PacketSize,
     Size = Derived::SizeAtCompileTime,
     VectorizedSize = (Size / PacketSize) * PacketSize
   };
-  static EIGEN_STRONG_INLINE Scalar run(const Derived& mat, const Func& func)
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Scalar run(const Derived &mat, const Func& func)
   {
     eigen_assert(mat.rows()>0 && mat.cols()>0 && "you are using an empty matrix");
-    Scalar res = func.predux(redux_vec_unroller<Func, Derived, 0, Size / PacketSize>::run(mat,func));
-    if (VectorizedSize != Size)
-      res = func(res,redux_novec_unroller<Func, Derived, VectorizedSize, Size-VectorizedSize>::run(mat,func));
-    return res;
+    if (VectorizedSize > 0) {
+      Scalar res = func.predux(redux_vec_unroller<Func, Derived, 0, Size / PacketSize>::run(mat,func));
+      if (VectorizedSize != Size)
+        res = func(res,redux_novec_unroller<Func, Derived, VectorizedSize, Size-VectorizedSize>::run(mat,func));
+      return res;
+    }
+    else {
+      return redux_novec_unroller<Func, Derived, 0, Size>::run(mat,func);
+    }
   }
 };
 
+// evaluator adaptor
+template<typename _XprType>
+class redux_evaluator
+{
+public:
+  typedef _XprType XprType;
+  EIGEN_DEVICE_FUNC explicit redux_evaluator(const XprType &xpr) : m_evaluator(xpr), m_xpr(xpr) {}
+  
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+  typedef typename XprType::PacketScalar PacketScalar;
+  typedef typename XprType::PacketReturnType PacketReturnType;
+  
+  enum {
+    MaxRowsAtCompileTime = XprType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = XprType::MaxColsAtCompileTime,
+    // TODO we should not remove DirectAccessBit and rather find an elegant way to query the alignment offset at runtime from the evaluator
+    Flags = evaluator<XprType>::Flags & ~DirectAccessBit,
+    IsRowMajor = XprType::IsRowMajor,
+    SizeAtCompileTime = XprType::SizeAtCompileTime,
+    InnerSizeAtCompileTime = XprType::InnerSizeAtCompileTime,
+    CoeffReadCost = evaluator<XprType>::CoeffReadCost,
+    Alignment = evaluator<XprType>::Alignment
+  };
+  
+  EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
+  EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
+  EIGEN_DEVICE_FUNC Index size() const { return m_xpr.size(); }
+  EIGEN_DEVICE_FUNC Index innerSize() const { return m_xpr.innerSize(); }
+  EIGEN_DEVICE_FUNC Index outerSize() const { return m_xpr.outerSize(); }
+
+  EIGEN_DEVICE_FUNC
+  CoeffReturnType coeff(Index row, Index col) const
+  { return m_evaluator.coeff(row, col); }
+
+  EIGEN_DEVICE_FUNC
+  CoeffReturnType coeff(Index index) const
+  { return m_evaluator.coeff(index); }
+
+  template<int LoadMode, typename PacketType>
+  PacketType packet(Index row, Index col) const
+  { return m_evaluator.template packet<LoadMode,PacketType>(row, col); }
+
+  template<int LoadMode, typename PacketType>
+  PacketType packet(Index index) const
+  { return m_evaluator.template packet<LoadMode,PacketType>(index); }
+  
+  EIGEN_DEVICE_FUNC
+  CoeffReturnType coeffByOuterInner(Index outer, Index inner) const
+  { return m_evaluator.coeff(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); }
+  
+  template<int LoadMode, typename PacketType>
+  PacketType packetByOuterInner(Index outer, Index inner) const
+  { return m_evaluator.template packet<LoadMode,PacketType>(IsRowMajor ? outer : inner, IsRowMajor ? inner : outer); }
+  
+  const XprType & nestedExpression() const { return m_xpr; }
+  
+protected:
+  internal::evaluator<XprType> m_evaluator;
+  const XprType &m_xpr;
+};
+
 } // end namespace internal
 
 /***************************************************************************
@@ -316,18 +401,21 @@ struct redux_impl<Func, Derived, LinearVectorizedTraversal, CompleteUnrolling>
 /** \returns the result of a full redux operation on the whole matrix or vector using \a func
   *
   * The template parameter \a BinaryOp is the type of the functor \a func which must be
-  * an associative operator. Both current STL and TR1 functor styles are handled.
+  * an associative operator. Both current C++98 and C++11 functor styles are handled.
   *
   * \sa DenseBase::sum(), DenseBase::minCoeff(), DenseBase::maxCoeff(), MatrixBase::colwise(), MatrixBase::rowwise()
   */
 template<typename Derived>
 template<typename Func>
-EIGEN_STRONG_INLINE typename internal::result_of<Func(typename internal::traits<Derived>::Scalar)>::type
+typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::redux(const Func& func) const
 {
-  typedef typename internal::remove_all<typename Derived::Nested>::type ThisNested;
-  return internal::redux_impl<Func, ThisNested>
-            ::run(derived(), func);
+  eigen_assert(this->rows()>0 && this->cols()>0 && "you are using an empty matrix");
+
+  typedef typename internal::redux_evaluator<Derived> ThisEvaluator;
+  ThisEvaluator thisEval(derived());
+  
+  return internal::redux_impl<Func, ThisEvaluator>::run(thisEval, func);
 }
 
 /** \returns the minimum of all coefficients of \c *this.
@@ -337,7 +425,7 @@ template<typename Derived>
 EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::minCoeff() const
 {
-  return this->redux(Eigen::internal::scalar_min_op<Scalar>());
+  return derived().redux(Eigen::internal::scalar_min_op<Scalar,Scalar>());
 }
 
 /** \returns the maximum of all coefficients of \c *this.
@@ -347,10 +435,12 @@ template<typename Derived>
 EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::maxCoeff() const
 {
-  return this->redux(Eigen::internal::scalar_max_op<Scalar>());
+  return derived().redux(Eigen::internal::scalar_max_op<Scalar,Scalar>());
 }
 
-/** \returns the sum of all coefficients of *this
+/** \returns the sum of all coefficients of \c *this
+  *
+  * If \c *this is empty, then the value 0 is returned.
   *
   * \sa trace(), prod(), mean()
   */
@@ -360,7 +450,7 @@ DenseBase<Derived>::sum() const
 {
   if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
     return Scalar(0);
-  return this->redux(Eigen::internal::scalar_sum_op<Scalar>());
+  return derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>());
 }
 
 /** \returns the mean of all coefficients of *this
@@ -371,7 +461,14 @@ template<typename Derived>
 EIGEN_STRONG_INLINE typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::mean() const
 {
-  return Scalar(this->redux(Eigen::internal::scalar_sum_op<Scalar>())) / Scalar(this->size());
+#ifdef __INTEL_COMPILER
+  #pragma warning push
+  #pragma warning ( disable : 2259 )
+#endif
+  return Scalar(derived().redux(Eigen::internal::scalar_sum_op<Scalar,Scalar>())) / Scalar(this->size());
+#ifdef __INTEL_COMPILER
+  #pragma warning pop
+#endif
 }
 
 /** \returns the product of all coefficients of *this
@@ -387,7 +484,7 @@ DenseBase<Derived>::prod() const
 {
   if(SizeAtCompileTime==0 || (SizeAtCompileTime==Dynamic && size()==0))
     return Scalar(1);
-  return this->redux(Eigen::internal::scalar_product_op<Scalar>());
+  return derived().redux(Eigen::internal::scalar_product_op<Scalar>());
 }
 
 /** \returns the trace of \c *this, i.e. the sum of the coefficients on the main diagonal.
diff --git a/eigenlib/Eigen/src/Core/Ref.h b/eigenlib/Eigen/src/Core/Ref.h
index f53674cf..bdf24f52 100644
--- a/eigenlib/Eigen/src/Core/Ref.h
+++ b/eigenlib/Eigen/src/Core/Ref.h
@@ -12,79 +12,6 @@
 
 namespace Eigen { 
 
-template<typename Derived> class RefBase;
-template<typename PlainObjectType, int Options = 0,
-         typename StrideType = typename internal::conditional<PlainObjectType::IsVectorAtCompileTime,InnerStride<1>,OuterStride<> >::type > class Ref;
-
-/** \class Ref
-  * \ingroup Core_Module
-  *
-  * \brief A matrix or vector expression mapping an existing expressions
-  *
-  * \tparam PlainObjectType the equivalent matrix type of the mapped data
-  * \tparam Options specifies whether the pointer is \c #Aligned, or \c #Unaligned.
-  *                The default is \c #Unaligned.
-  * \tparam StrideType optionally specifies strides. By default, Ref implies a contiguous storage along the inner dimension (inner stride==1),
-  *                   but accept a variable outer stride (leading dimension).
-  *                   This can be overridden by specifying strides.
-  *                   The type passed here must be a specialization of the Stride template, see examples below.
-  *
-  * This class permits to write non template functions taking Eigen's object as parameters while limiting the number of copies.
-  * A Ref<> object can represent either a const expression or a l-value:
-  * \code
-  * // in-out argument:
-  * void foo1(Ref<VectorXf> x);
-  *
-  * // read-only const argument:
-  * void foo2(const Ref<const VectorXf>& x);
-  * \endcode
-  *
-  * In the in-out case, the input argument must satisfies the constraints of the actual Ref<> type, otherwise a compilation issue will be triggered.
-  * By default, a Ref<VectorXf> can reference any dense vector expression of float having a contiguous memory layout.
-  * Likewise, a Ref<MatrixXf> can reference any column major dense matrix expression of float whose column's elements are contiguously stored with
-  * the possibility to have a constant space inbetween each column, i.e.: the inner stride mmust be equal to 1, but the outer-stride (or leading dimension),
-  * can be greater than the number of rows.
-  *
-  * In the const case, if the input expression does not match the above requirement, then it is evaluated into a temporary before being passed to the function.
-  * Here are some examples:
-  * \code
-  * MatrixXf A;
-  * VectorXf a;
-  * foo1(a.head());             // OK
-  * foo1(A.col());              // OK
-  * foo1(A.row());              // compilation error because here innerstride!=1
-  * foo2(A.row());              // The row is copied into a contiguous temporary
-  * foo2(2*a);                  // The expression is evaluated into a temporary
-  * foo2(A.col().segment(2,4)); // No temporary
-  * \endcode
-  *
-  * The range of inputs that can be referenced without temporary can be enlarged using the last two template parameter.
-  * Here is an example accepting an innerstride!=1:
-  * \code
-  * // in-out argument:
-  * void foo3(Ref<VectorXf,0,InnerStride<> > x);
-  * foo3(A.row());              // OK
-  * \endcode
-  * The downside here is that the function foo3 might be significantly slower than foo1 because it won't be able to exploit vectorization, and will involved more
-  * expensive address computations even if the input is contiguously stored in memory. To overcome this issue, one might propose to overloads internally calling a
-  * template function, e.g.:
-  * \code
-  * // in the .h:
-  * void foo(const Ref<MatrixXf>& A);
-  * void foo(const Ref<MatrixXf,0,Stride<> >& A);
-  *
-  * // in the .cpp:
-  * template<typename TypeOfA> void foo_impl(const TypeOfA& A) {
-  *     ... // crazy code goes here
-  * }
-  * void foo(const Ref<MatrixXf>& A) { foo_impl(A); }
-  * void foo(const Ref<MatrixXf,0,Stride<> >& A) { foo_impl(A); }
-  * \endcode
-  *
-  *
-  * \sa PlainObjectBase::Map(), \ref TopicStorageOrders
-  */
-
 namespace internal {
 
 template<typename _PlainObjectType, int _Options, typename _StrideType>
@@ -95,7 +22,8 @@ struct traits<Ref<_PlainObjectType, _Options, _StrideType> >
   typedef _StrideType StrideType;
   enum {
     Options = _Options,
-    Flags = traits<Map<_PlainObjectType, _Options, _StrideType> >::Flags | NestByRefBit
+    Flags = traits<Map<_PlainObjectType, _Options, _StrideType> >::Flags | NestByRefBit,
+    Alignment = traits<Map<_PlainObjectType, _Options, _StrideType> >::Alignment
   };
 
   template<typename Derived> struct match {
@@ -107,7 +35,13 @@ struct traits<Ref<_PlainObjectType, _Options, _StrideType> >
                       || (int(StrideType::InnerStrideAtCompileTime)==0 && int(Derived::InnerStrideAtCompileTime)==1),
       OuterStrideMatch = Derived::IsVectorAtCompileTime
                       || int(StrideType::OuterStrideAtCompileTime)==int(Dynamic) || int(StrideType::OuterStrideAtCompileTime)==int(Derived::OuterStrideAtCompileTime),
-      AlignmentMatch = (_Options!=Aligned) || ((PlainObjectType::Flags&AlignedBit)==0) || ((traits<Derived>::Flags&AlignedBit)==AlignedBit),
+      // NOTE, this indirection of evaluator<Derived>::Alignment is needed
+      // to workaround a very strange bug in MSVC related to the instantiation
+      // of has_*ary_operator in evaluator<CwiseNullaryOp>.
+      // This line is surprisingly very sensitive. For instance, simply adding parenthesis
+      // as "DerivedAlignment = (int(evaluator<Derived>::Alignment))," will make MSVC fail...
+      DerivedAlignment = int(evaluator<Derived>::Alignment),
+      AlignmentMatch = (int(traits<PlainObjectType>::Alignment)==int(Unaligned)) || (DerivedAlignment >= int(Alignment)), // FIXME the first condition is not very clear, it should be replaced by the required alignment
       ScalarTypeMatch = internal::is_same<typename PlainObjectType::Scalar, typename Derived::Scalar>::value,
       MatchAtCompileTime = HasDirectAccess && StorageOrderMatch && InnerStrideMatch && OuterStrideMatch && AlignmentMatch && ScalarTypeMatch
     };
@@ -132,12 +66,12 @@ public:
   typedef MapBase<Derived> Base;
   EIGEN_DENSE_PUBLIC_INTERFACE(RefBase)
 
-  inline Index innerStride() const
+  EIGEN_DEVICE_FUNC inline Index innerStride() const
   {
     return StrideType::InnerStrideAtCompileTime != 0 ? m_stride.inner() : 1;
   }
 
-  inline Index outerStride() const
+  EIGEN_DEVICE_FUNC inline Index outerStride() const
   {
     return StrideType::OuterStrideAtCompileTime != 0 ? m_stride.outer()
          : IsVectorAtCompileTime ? this->size()
@@ -145,7 +79,7 @@ public:
          : this->rows();
   }
 
-  RefBase()
+  EIGEN_DEVICE_FUNC RefBase()
     : Base(0,RowsAtCompileTime==Dynamic?0:RowsAtCompileTime,ColsAtCompileTime==Dynamic?0:ColsAtCompileTime),
       // Stride<> does not allow default ctor for Dynamic strides, so let' initialize it with dummy values:
       m_stride(StrideType::OuterStrideAtCompileTime==Dynamic?0:StrideType::OuterStrideAtCompileTime,
@@ -159,7 +93,7 @@ protected:
   typedef Stride<StrideType::OuterStrideAtCompileTime,StrideType::InnerStrideAtCompileTime> StrideBase;
 
   template<typename Expression>
-  void construct(Expression& expr)
+  EIGEN_DEVICE_FUNC void construct(Expression& expr)
   {
     if(PlainObjectType::RowsAtCompileTime==1)
     {
@@ -184,15 +118,83 @@ protected:
   StrideBase m_stride;
 };
 
-
+/** \class Ref
+  * \ingroup Core_Module
+  *
+  * \brief A matrix or vector expression mapping an existing expression
+  *
+  * \tparam PlainObjectType the equivalent matrix type of the mapped data
+  * \tparam Options specifies the pointer alignment in bytes. It can be: \c #Aligned128, , \c #Aligned64, \c #Aligned32, \c #Aligned16, \c #Aligned8 or \c #Unaligned.
+  *                 The default is \c #Unaligned.
+  * \tparam StrideType optionally specifies strides. By default, Ref implies a contiguous storage along the inner dimension (inner stride==1),
+  *                   but accepts a variable outer stride (leading dimension).
+  *                   This can be overridden by specifying strides.
+  *                   The type passed here must be a specialization of the Stride template, see examples below.
+  *
+  * This class provides a way to write non-template functions taking Eigen objects as parameters while limiting the number of copies.
+  * A Ref<> object can represent either a const expression or a l-value:
+  * \code
+  * // in-out argument:
+  * void foo1(Ref<VectorXf> x);
+  *
+  * // read-only const argument:
+  * void foo2(const Ref<const VectorXf>& x);
+  * \endcode
+  *
+  * In the in-out case, the input argument must satisfy the constraints of the actual Ref<> type, otherwise a compilation issue will be triggered.
+  * By default, a Ref<VectorXf> can reference any dense vector expression of float having a contiguous memory layout.
+  * Likewise, a Ref<MatrixXf> can reference any column-major dense matrix expression of float whose column's elements are contiguously stored with
+  * the possibility to have a constant space in-between each column, i.e. the inner stride must be equal to 1, but the outer stride (or leading dimension)
+  * can be greater than the number of rows.
+  *
+  * In the const case, if the input expression does not match the above requirement, then it is evaluated into a temporary before being passed to the function.
+  * Here are some examples:
+  * \code
+  * MatrixXf A;
+  * VectorXf a;
+  * foo1(a.head());             // OK
+  * foo1(A.col());              // OK
+  * foo1(A.row());              // Compilation error because here innerstride!=1
+  * foo2(A.row());              // Compilation error because A.row() is a 1xN object while foo2 is expecting a Nx1 object
+  * foo2(A.row().transpose());  // The row is copied into a contiguous temporary
+  * foo2(2*a);                  // The expression is evaluated into a temporary
+  * foo2(A.col().segment(2,4)); // No temporary
+  * \endcode
+  *
+  * The range of inputs that can be referenced without temporary can be enlarged using the last two template parameters.
+  * Here is an example accepting an innerstride!=1:
+  * \code
+  * // in-out argument:
+  * void foo3(Ref<VectorXf,0,InnerStride<> > x);
+  * foo3(A.row());              // OK
+  * \endcode
+  * The downside here is that the function foo3 might be significantly slower than foo1 because it won't be able to exploit vectorization, and will involve more
+  * expensive address computations even if the input is contiguously stored in memory. To overcome this issue, one might propose to overload internally calling a
+  * template function, e.g.:
+  * \code
+  * // in the .h:
+  * void foo(const Ref<MatrixXf>& A);
+  * void foo(const Ref<MatrixXf,0,Stride<> >& A);
+  *
+  * // in the .cpp:
+  * template<typename TypeOfA> void foo_impl(const TypeOfA& A) {
+  *     ... // crazy code goes here
+  * }
+  * void foo(const Ref<MatrixXf>& A) { foo_impl(A); }
+  * void foo(const Ref<MatrixXf,0,Stride<> >& A) { foo_impl(A); }
+  * \endcode
+  *
+  *
+  * \sa PlainObjectBase::Map(), \ref TopicStorageOrders
+  */
 template<typename PlainObjectType, int Options, typename StrideType> class Ref
   : public RefBase<Ref<PlainObjectType, Options, StrideType> >
 {
   private:
     typedef internal::traits<Ref> Traits;
     template<typename Derived>
-    inline Ref(const PlainObjectBase<Derived>& expr,
-               typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0);
+    EIGEN_DEVICE_FUNC inline Ref(const PlainObjectBase<Derived>& expr,
+                                 typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0);
   public:
 
     typedef RefBase<Ref> Base;
@@ -201,23 +203,24 @@ template<typename PlainObjectType, int Options, typename StrideType> class Ref
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename Derived>
-    inline Ref(PlainObjectBase<Derived>& expr,
-               typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0)
+    EIGEN_DEVICE_FUNC inline Ref(PlainObjectBase<Derived>& expr,
+                                 typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0)
     {
-      EIGEN_STATIC_ASSERT(static_cast<bool>(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
       Base::construct(expr.derived());
     }
     template<typename Derived>
-    inline Ref(const DenseBase<Derived>& expr,
-               typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0)
+    EIGEN_DEVICE_FUNC inline Ref(const DenseBase<Derived>& expr,
+                                 typename internal::enable_if<bool(Traits::template match<Derived>::MatchAtCompileTime),Derived>::type* = 0)
     #else
+    /** Implicit constructor from any dense expression */
     template<typename Derived>
     inline Ref(DenseBase<Derived>& expr)
     #endif
     {
-      EIGEN_STATIC_ASSERT(static_cast<bool>(internal::is_lvalue<Derived>::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
-      EIGEN_STATIC_ASSERT(static_cast<bool>(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
-      enum { THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY = Derived::ThisConstantIsPrivateInPlainObjectBase};
+      EIGEN_STATIC_ASSERT(bool(internal::is_lvalue<Derived>::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      EIGEN_STATIC_ASSERT(!Derived::IsPlainObjectBase,THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
       Base::construct(expr.const_cast_derived());
     }
 
@@ -236,8 +239,8 @@ template<typename TPlainObjectType, int Options, typename StrideType> class Ref<
     EIGEN_DENSE_PUBLIC_INTERFACE(Ref)
 
     template<typename Derived>
-    inline Ref(const DenseBase<Derived>& expr,
-               typename internal::enable_if<bool(Traits::template match<Derived>::ScalarTypeMatch),Derived>::type* = 0)
+    EIGEN_DEVICE_FUNC inline Ref(const DenseBase<Derived>& expr,
+                                 typename internal::enable_if<bool(Traits::template match<Derived>::ScalarTypeMatch),Derived>::type* = 0)
     {
 //      std::cout << match_helper<Derived>::HasDirectAccess << "," << match_helper<Derived>::OuterStrideMatch << "," << match_helper<Derived>::InnerStrideMatch << "\n";
 //      std::cout << int(StrideType::OuterStrideAtCompileTime) << " - " << int(Derived::OuterStrideAtCompileTime) << "\n";
@@ -245,18 +248,27 @@ template<typename TPlainObjectType, int Options, typename StrideType> class Ref<
       construct(expr.derived(), typename Traits::template match<Derived>::type());
     }
 
+    EIGEN_DEVICE_FUNC inline Ref(const Ref& other) : Base(other) {
+      // copy constructor shall not copy the m_object, to avoid unnecessary malloc and copy
+    }
+
+    template<typename OtherRef>
+    EIGEN_DEVICE_FUNC inline Ref(const RefBase<OtherRef>& other) {
+      construct(other.derived(), typename Traits::template match<OtherRef>::type());
+    }
+
   protected:
 
     template<typename Expression>
-    void construct(const Expression& expr,internal::true_type)
+    EIGEN_DEVICE_FUNC void construct(const Expression& expr,internal::true_type)
     {
       Base::construct(expr);
     }
 
     template<typename Expression>
-    void construct(const Expression& expr, internal::false_type)
+    EIGEN_DEVICE_FUNC void construct(const Expression& expr, internal::false_type)
     {
-      m_object.lazyAssign(expr);
+      internal::call_assignment_no_alias(m_object,expr,internal::assign_op<Scalar,Scalar>());
       Base::construct(m_object);
     }
 
diff --git a/eigenlib/Eigen/src/Core/Replicate.h b/eigenlib/Eigen/src/Core/Replicate.h
index ac4537c1..9960ef88 100644
--- a/eigenlib/Eigen/src/Core/Replicate.h
+++ b/eigenlib/Eigen/src/Core/Replicate.h
@@ -12,21 +12,6 @@
 
 namespace Eigen { 
 
-/**
-  * \class Replicate
-  * \ingroup Core_Module
-  *
-  * \brief Expression of the multiple replication of a matrix or vector
-  *
-  * \param MatrixType the type of the object we are replicating
-  *
-  * This class represents an expression of the multiple replication of a matrix or vector.
-  * It is the return type of DenseBase::replicate() and most of the time
-  * this is the only way it is used.
-  *
-  * \sa DenseBase::replicate()
-  */
-
 namespace internal {
 template<typename MatrixType,int RowFactor,int ColFactor>
 struct traits<Replicate<MatrixType,RowFactor,ColFactor> >
@@ -35,10 +20,7 @@ struct traits<Replicate<MatrixType,RowFactor,ColFactor> >
   typedef typename MatrixType::Scalar Scalar;
   typedef typename traits<MatrixType>::StorageKind StorageKind;
   typedef typename traits<MatrixType>::XprKind XprKind;
-  enum {
-    Factor = (RowFactor==Dynamic || ColFactor==Dynamic) ? Dynamic : RowFactor*ColFactor
-  };
-  typedef typename nested<MatrixType,Factor>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
   enum {
     RowsAtCompileTime = RowFactor==Dynamic || int(MatrixType::RowsAtCompileTime)==Dynamic
@@ -53,12 +35,29 @@ struct traits<Replicate<MatrixType,RowFactor,ColFactor> >
     IsRowMajor = MaxRowsAtCompileTime==1 && MaxColsAtCompileTime!=1 ? 1
                : MaxColsAtCompileTime==1 && MaxRowsAtCompileTime!=1 ? 0
                : (MatrixType::Flags & RowMajorBit) ? 1 : 0,
-    Flags = (_MatrixTypeNested::Flags & HereditaryBits & ~RowMajorBit) | (IsRowMajor ? RowMajorBit : 0),
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+    
+    // FIXME enable DirectAccess with negative strides?
+    Flags = IsRowMajor ? RowMajorBit : 0
   };
 };
 }
 
+/**
+  * \class Replicate
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the multiple replication of a matrix or vector
+  *
+  * \tparam MatrixType the type of the object we are replicating
+  * \tparam RowFactor number of repetitions at compile time along the vertical direction, can be Dynamic.
+  * \tparam ColFactor number of repetitions at compile time along the horizontal direction, can be Dynamic.
+  *
+  * This class represents an expression of the multiple replication of a matrix or vector.
+  * It is the return type of DenseBase::replicate() and most of the time
+  * this is the only way it is used.
+  *
+  * \sa DenseBase::replicate()
+  */
 template<typename MatrixType,int RowFactor,int ColFactor> class Replicate
   : public internal::dense_xpr_base< Replicate<MatrixType,RowFactor,ColFactor> >::type
 {
@@ -68,10 +67,12 @@ template<typename MatrixType,int RowFactor,int ColFactor> class Replicate
 
     typedef typename internal::dense_xpr_base<Replicate>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(Replicate)
+    typedef typename internal::remove_all<MatrixType>::type NestedExpression;
 
     template<typename OriginalMatrixType>
-    inline explicit Replicate(const OriginalMatrixType& a_matrix)
-      : m_matrix(a_matrix), m_rowFactor(RowFactor), m_colFactor(ColFactor)
+    EIGEN_DEVICE_FUNC
+    inline explicit Replicate(const OriginalMatrixType& matrix)
+      : m_matrix(matrix), m_rowFactor(RowFactor), m_colFactor(ColFactor)
     {
       EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
                           THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
@@ -79,41 +80,20 @@ template<typename MatrixType,int RowFactor,int ColFactor> class Replicate
     }
 
     template<typename OriginalMatrixType>
-    inline Replicate(const OriginalMatrixType& a_matrix, Index rowFactor, Index colFactor)
-      : m_matrix(a_matrix), m_rowFactor(rowFactor), m_colFactor(colFactor)
+    EIGEN_DEVICE_FUNC
+    inline Replicate(const OriginalMatrixType& matrix, Index rowFactor, Index colFactor)
+      : m_matrix(matrix), m_rowFactor(rowFactor), m_colFactor(colFactor)
     {
       EIGEN_STATIC_ASSERT((internal::is_same<typename internal::remove_const<MatrixType>::type,OriginalMatrixType>::value),
                           THE_MATRIX_OR_EXPRESSION_THAT_YOU_PASSED_DOES_NOT_HAVE_THE_EXPECTED_TYPE)
     }
 
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return m_matrix.rows() * m_rowFactor.value(); }
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return m_matrix.cols() * m_colFactor.value(); }
 
-    inline Scalar coeff(Index rowId, Index colId) const
-    {
-      // try to avoid using modulo; this is a pure optimization strategy
-      const Index actual_row  = internal::traits<MatrixType>::RowsAtCompileTime==1 ? 0
-                            : RowFactor==1 ? rowId
-                            : rowId%m_matrix.rows();
-      const Index actual_col  = internal::traits<MatrixType>::ColsAtCompileTime==1 ? 0
-                            : ColFactor==1 ? colId
-                            : colId%m_matrix.cols();
-
-      return m_matrix.coeff(actual_row, actual_col);
-    }
-    template<int LoadMode>
-    inline PacketScalar packet(Index rowId, Index colId) const
-    {
-      const Index actual_row  = internal::traits<MatrixType>::RowsAtCompileTime==1 ? 0
-                            : RowFactor==1 ? rowId
-                            : rowId%m_matrix.rows();
-      const Index actual_col  = internal::traits<MatrixType>::ColsAtCompileTime==1 ? 0
-                            : ColFactor==1 ? colId
-                            : colId%m_matrix.cols();
-
-      return m_matrix.template packet<LoadMode>(actual_row, actual_col);
-    }
-
+    EIGEN_DEVICE_FUNC
     const _MatrixTypeNested& nestedExpression() const
     { 
       return m_matrix; 
@@ -141,21 +121,6 @@ DenseBase<Derived>::replicate() const
   return Replicate<Derived,RowFactor,ColFactor>(derived());
 }
 
-/**
-  * \return an expression of the replication of \c *this
-  *
-  * Example: \include MatrixBase_replicate_int_int.cpp
-  * Output: \verbinclude MatrixBase_replicate_int_int.out
-  *
-  * \sa VectorwiseOp::replicate(), DenseBase::replicate<int,int>(), class Replicate
-  */
-template<typename Derived>
-const typename DenseBase<Derived>::ReplicateReturnType
-DenseBase<Derived>::replicate(Index rowFactor,Index colFactor) const
-{
-  return Replicate<Derived,Dynamic,Dynamic>(derived(),rowFactor,colFactor);
-}
-
 /**
   * \return an expression of the replication of each column (or row) of \c *this
   *
diff --git a/eigenlib/Eigen/src/Core/ReturnByValue.h b/eigenlib/Eigen/src/Core/ReturnByValue.h
index f635598d..c44b7673 100644
--- a/eigenlib/Eigen/src/Core/ReturnByValue.h
+++ b/eigenlib/Eigen/src/Core/ReturnByValue.h
@@ -13,11 +13,6 @@
 
 namespace Eigen {
 
-/** \class ReturnByValue
-  * \ingroup Core_Module
-  *
-  */
-
 namespace internal {
 
 template<typename Derived>
@@ -38,17 +33,22 @@ struct traits<ReturnByValue<Derived> >
  * So internal::nested always gives the plain return matrix type.
  *
  * FIXME: I don't understand why we need this specialization: isn't this taken care of by the EvalBeforeNestingBit ??
+ * Answer: EvalBeforeNestingBit should be deprecated since we have the evaluators
  */
 template<typename Derived,int n,typename PlainObject>
-struct nested<ReturnByValue<Derived>, n, PlainObject>
+struct nested_eval<ReturnByValue<Derived>, n, PlainObject>
 {
   typedef typename traits<Derived>::ReturnType type;
 };
 
 } // end namespace internal
 
+/** \class ReturnByValue
+  * \ingroup Core_Module
+  *
+  */
 template<typename Derived> class ReturnByValue
-  : internal::no_assignment_operator, public internal::dense_xpr_base< ReturnByValue<Derived> >::type
+  : public internal::dense_xpr_base< ReturnByValue<Derived> >::type, internal::no_assignment_operator
 {
   public:
     typedef typename internal::traits<Derived>::ReturnType ReturnType;
@@ -57,10 +57,11 @@ template<typename Derived> class ReturnByValue
     EIGEN_DENSE_PUBLIC_INTERFACE(ReturnByValue)
 
     template<typename Dest>
+    EIGEN_DEVICE_FUNC
     inline void evalTo(Dest& dst) const
     { static_cast<const Derived*>(this)->evalTo(dst); }
-    inline Index rows() const { return static_cast<const Derived*>(this)->rows(); }
-    inline Index cols() const { return static_cast<const Derived*>(this)->cols(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return static_cast<const Derived*>(this)->rows(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return static_cast<const Derived*>(this)->cols(); }
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
 #define Unusable YOU_ARE_TRYING_TO_ACCESS_A_SINGLE_COEFFICIENT_IN_A_SPECIAL_EXPRESSION_WHERE_THAT_IS_NOT_ALLOWED_BECAUSE_THAT_WOULD_BE_INEFFICIENT
@@ -72,8 +73,7 @@ template<typename Derived> class ReturnByValue
     const Unusable& coeff(Index,Index) const { return *reinterpret_cast<const Unusable*>(this); }
     Unusable& coeffRef(Index) { return *reinterpret_cast<Unusable*>(this); }
     Unusable& coeffRef(Index,Index) { return *reinterpret_cast<Unusable*>(this); }
-    template<int LoadMode>  Unusable& packet(Index) const;
-    template<int LoadMode>  Unusable& packet(Index, Index) const;
+#undef Unusable
 #endif
 };
 
@@ -85,14 +85,32 @@ Derived& DenseBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
   return derived();
 }
 
-template<typename Derived>
-template<typename OtherDerived>
-Derived& DenseBase<Derived>::lazyAssign(const ReturnByValue<OtherDerived>& other)
-{
-  other.evalTo(derived());
-  return derived();
-}
+namespace internal {
 
+// Expression is evaluated in a temporary; default implementation of Assignment is bypassed so that
+// when a ReturnByValue expression is assigned, the evaluator is not constructed.
+// TODO: Finalize port to new regime; ReturnByValue should not exist in the expression world
+  
+template<typename Derived>
+struct evaluator<ReturnByValue<Derived> >
+  : public evaluator<typename internal::traits<Derived>::ReturnType>
+{
+  typedef ReturnByValue<Derived> XprType;
+  typedef typename internal::traits<Derived>::ReturnType PlainObject;
+  typedef evaluator<PlainObject> Base;
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const XprType& xpr)
+    : m_result(xpr.rows(), xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    xpr.evalTo(m_result);
+  }
+
+protected:
+  PlainObject m_result;
+};
+
+} // end namespace internal
 
 } // end namespace Eigen
 
diff --git a/eigenlib/Eigen/src/Core/Reverse.h b/eigenlib/Eigen/src/Core/Reverse.h
index e30ae3d2..0640cda2 100644
--- a/eigenlib/Eigen/src/Core/Reverse.h
+++ b/eigenlib/Eigen/src/Core/Reverse.h
@@ -14,20 +14,6 @@
 
 namespace Eigen { 
 
-/** \class Reverse
-  * \ingroup Core_Module
-  *
-  * \brief Expression of the reverse of a vector or matrix
-  *
-  * \param MatrixType the type of the object of which we are taking the reverse
-  *
-  * This class represents an expression of the reverse of a vector.
-  * It is the return type of MatrixBase::reverse() and VectorwiseOp::reverse()
-  * and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::reverse(), VectorwiseOp::reverse()
-  */
-
 namespace internal {
 
 template<typename MatrixType, int Direction>
@@ -37,36 +23,43 @@ struct traits<Reverse<MatrixType, Direction> >
   typedef typename MatrixType::Scalar Scalar;
   typedef typename traits<MatrixType>::StorageKind StorageKind;
   typedef typename traits<MatrixType>::XprKind XprKind;
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
   enum {
     RowsAtCompileTime = MatrixType::RowsAtCompileTime,
     ColsAtCompileTime = MatrixType::ColsAtCompileTime,
     MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-
-    // let's enable LinearAccess only with vectorization because of the product overhead
-    LinearAccess = ( (Direction==BothDirections) && (int(_MatrixTypeNested::Flags)&PacketAccessBit) )
-                 ? LinearAccessBit : 0,
-
-    Flags = int(_MatrixTypeNested::Flags) & (HereditaryBits | LvalueBit | PacketAccessBit | LinearAccess),
-
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+    Flags = _MatrixTypeNested::Flags & (RowMajorBit | LvalueBit)
   };
 };
 
-template<typename PacketScalar, bool ReversePacket> struct reverse_packet_cond
+template<typename PacketType, bool ReversePacket> struct reverse_packet_cond
 {
-  static inline PacketScalar run(const PacketScalar& x) { return preverse(x); }
+  static inline PacketType run(const PacketType& x) { return preverse(x); }
 };
 
-template<typename PacketScalar> struct reverse_packet_cond<PacketScalar,false>
+template<typename PacketType> struct reverse_packet_cond<PacketType,false>
 {
-  static inline PacketScalar run(const PacketScalar& x) { return x; }
+  static inline PacketType run(const PacketType& x) { return x; }
 };
 
 } // end namespace internal 
 
+/** \class Reverse
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the reverse of a vector or matrix
+  *
+  * \tparam MatrixType the type of the object of which we are taking the reverse
+  * \tparam Direction defines the direction of the reverse operation, can be Vertical, Horizontal, or BothDirections
+  *
+  * This class represents an expression of the reverse of a vector.
+  * It is the return type of MatrixBase::reverse() and VectorwiseOp::reverse()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::reverse(), VectorwiseOp::reverse()
+  */
 template<typename MatrixType, int Direction> class Reverse
   : public internal::dense_xpr_base< Reverse<MatrixType, Direction> >::type
 {
@@ -74,12 +67,9 @@ template<typename MatrixType, int Direction> class Reverse
 
     typedef typename internal::dense_xpr_base<Reverse>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(Reverse)
+    typedef typename internal::remove_all<MatrixType>::type NestedExpression;
     using Base::IsRowMajor;
 
-    // next line is necessary because otherwise const version of operator()
-    // is hidden by non-const version defined in this file
-    using Base::operator(); 
-
   protected:
     enum {
       PacketSize = internal::packet_traits<Scalar>::size,
@@ -95,82 +85,19 @@ template<typename MatrixType, int Direction> class Reverse
     typedef internal::reverse_packet_cond<PacketScalar,ReversePacket> reverse_packet;
   public:
 
-    inline Reverse(const MatrixType& matrix) : m_matrix(matrix) { }
+    EIGEN_DEVICE_FUNC explicit inline Reverse(const MatrixType& matrix) : m_matrix(matrix) { }
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Reverse)
 
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.rows(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.cols(); }
 
-    inline Index innerStride() const
+    EIGEN_DEVICE_FUNC inline Index innerStride() const
     {
       return -m_matrix.innerStride();
     }
 
-    inline Scalar& operator()(Index row, Index col)
-    {
-      eigen_assert(row >= 0 && row < rows() && col >= 0 && col < cols());
-      return coeffRef(row, col);
-    }
-
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      return m_matrix.const_cast_derived().coeffRef(ReverseRow ? m_matrix.rows() - row - 1 : row,
-                                                    ReverseCol ? m_matrix.cols() - col - 1 : col);
-    }
-
-    inline CoeffReturnType coeff(Index row, Index col) const
-    {
-      return m_matrix.coeff(ReverseRow ? m_matrix.rows() - row - 1 : row,
-                            ReverseCol ? m_matrix.cols() - col - 1 : col);
-    }
-
-    inline CoeffReturnType coeff(Index index) const
-    {
-      return m_matrix.coeff(m_matrix.size() - index - 1);
-    }
-
-    inline Scalar& coeffRef(Index index)
-    {
-      return m_matrix.const_cast_derived().coeffRef(m_matrix.size() - index - 1);
-    }
-
-    inline Scalar& operator()(Index index)
-    {
-      eigen_assert(index >= 0 && index < m_matrix.size());
-      return coeffRef(index);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index row, Index col) const
-    {
-      return reverse_packet::run(m_matrix.template packet<LoadMode>(
-                                    ReverseRow ? m_matrix.rows() - row - OffsetRow : row,
-                                    ReverseCol ? m_matrix.cols() - col - OffsetCol : col));
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index row, Index col, const PacketScalar& x)
-    {
-      m_matrix.const_cast_derived().template writePacket<LoadMode>(
-                                      ReverseRow ? m_matrix.rows() - row - OffsetRow : row,
-                                      ReverseCol ? m_matrix.cols() - col - OffsetCol : col,
-                                      reverse_packet::run(x));
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index index) const
-    {
-      return internal::preverse(m_matrix.template packet<LoadMode>( m_matrix.size() - index - PacketSize ));
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index index, const PacketScalar& x)
-    {
-      m_matrix.const_cast_derived().template writePacket<LoadMode>(m_matrix.size() - index - PacketSize, internal::preverse(x));
-    }
-
-    const typename internal::remove_all<typename MatrixType::Nested>::type& 
+    EIGEN_DEVICE_FUNC const typename internal::remove_all<typename MatrixType::Nested>::type&
     nestedExpression() const 
     {
       return m_matrix;
@@ -190,33 +117,93 @@ template<typename Derived>
 inline typename DenseBase<Derived>::ReverseReturnType
 DenseBase<Derived>::reverse()
 {
-  return derived();
+  return ReverseReturnType(derived());
 }
 
-/** This is the const version of reverse(). */
-template<typename Derived>
-inline const typename DenseBase<Derived>::ConstReverseReturnType
-DenseBase<Derived>::reverse() const
-{
-  return derived();
-}
+
+//reverse const overload moved DenseBase.h due to a CUDA compiler bug
 
 /** This is the "in place" version of reverse: it reverses \c *this.
   *
   * In most cases it is probably better to simply use the reversed expression
   * of a matrix. However, when reversing the matrix data itself is really needed,
   * then this "in-place" version is probably the right choice because it provides
-  * the following additional features:
+  * the following additional benefits:
   *  - less error prone: doing the same operation with .reverse() requires special care:
   *    \code m = m.reverse().eval(); \endcode
-  *  - this API allows to avoid creating a temporary (the current implementation creates a temporary, but that could be avoided using swap)
+  *  - this API enables reverse operations without the need for a temporary
   *  - it allows future optimizations (cache friendliness, etc.)
   *
-  * \sa reverse() */
+  * \sa VectorwiseOp::reverseInPlace(), reverse() */
 template<typename Derived>
 inline void DenseBase<Derived>::reverseInPlace()
 {
-  derived() = derived().reverse().eval();
+  if(cols()>rows())
+  {
+    Index half = cols()/2;
+    leftCols(half).swap(rightCols(half).reverse());
+    if((cols()%2)==1)
+    {
+      Index half2 = rows()/2;
+      col(half).head(half2).swap(col(half).tail(half2).reverse());
+    }
+  }
+  else
+  {
+    Index half = rows()/2;
+    topRows(half).swap(bottomRows(half).reverse());
+    if((rows()%2)==1)
+    {
+      Index half2 = cols()/2;
+      row(half).head(half2).swap(row(half).tail(half2).reverse());
+    }
+  }
+}
+
+namespace internal {
+  
+template<int Direction>
+struct vectorwise_reverse_inplace_impl;
+
+template<>
+struct vectorwise_reverse_inplace_impl<Vertical>
+{
+  template<typename ExpressionType>
+  static void run(ExpressionType &xpr)
+  {
+    Index half = xpr.rows()/2;
+    xpr.topRows(half).swap(xpr.bottomRows(half).colwise().reverse());
+  }
+};
+
+template<>
+struct vectorwise_reverse_inplace_impl<Horizontal>
+{
+  template<typename ExpressionType>
+  static void run(ExpressionType &xpr)
+  {
+    Index half = xpr.cols()/2;
+    xpr.leftCols(half).swap(xpr.rightCols(half).rowwise().reverse());
+  }
+};
+
+} // end namespace internal
+
+/** This is the "in place" version of VectorwiseOp::reverse: it reverses each column or row of \c *this.
+  *
+  * In most cases it is probably better to simply use the reversed expression
+  * of a matrix. However, when reversing the matrix data itself is really needed,
+  * then this "in-place" version is probably the right choice because it provides
+  * the following additional benefits:
+  *  - less error prone: doing the same operation with .reverse() requires special care:
+  *    \code m = m.reverse().eval(); \endcode
+  *  - this API enables reverse operations without the need for a temporary
+  *
+  * \sa DenseBase::reverseInPlace(), reverse() */
+template<typename ExpressionType, int Direction>
+void VectorwiseOp<ExpressionType,Direction>::reverseInPlace()
+{
+  internal::vectorwise_reverse_inplace_impl<Direction>::run(_expression().const_cast_derived());
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/Select.h b/eigenlib/Eigen/src/Core/Select.h
index 87993bbb..79eec1b5 100644
--- a/eigenlib/Eigen/src/Core/Select.h
+++ b/eigenlib/Eigen/src/Core/Select.h
@@ -43,23 +43,21 @@ struct traits<Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >
     ColsAtCompileTime = ConditionMatrixType::ColsAtCompileTime,
     MaxRowsAtCompileTime = ConditionMatrixType::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = ConditionMatrixType::MaxColsAtCompileTime,
-    Flags = (unsigned int)ThenMatrixType::Flags & ElseMatrixType::Flags & HereditaryBits,
-    CoeffReadCost = traits<typename remove_all<ConditionMatrixNested>::type>::CoeffReadCost
-                  + EIGEN_SIZE_MAX(traits<typename remove_all<ThenMatrixNested>::type>::CoeffReadCost,
-                                   traits<typename remove_all<ElseMatrixNested>::type>::CoeffReadCost)
+    Flags = (unsigned int)ThenMatrixType::Flags & ElseMatrixType::Flags & RowMajorBit
   };
 };
 }
 
 template<typename ConditionMatrixType, typename ThenMatrixType, typename ElseMatrixType>
-class Select : internal::no_assignment_operator,
-  public internal::dense_xpr_base< Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >::type
+class Select : public internal::dense_xpr_base< Select<ConditionMatrixType, ThenMatrixType, ElseMatrixType> >::type,
+               internal::no_assignment_operator
 {
   public:
 
     typedef typename internal::dense_xpr_base<Select>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(Select)
 
+    inline EIGEN_DEVICE_FUNC
     Select(const ConditionMatrixType& a_conditionMatrix,
            const ThenMatrixType& a_thenMatrix,
            const ElseMatrixType& a_elseMatrix)
@@ -69,9 +67,10 @@ class Select : internal::no_assignment_operator,
       eigen_assert(m_condition.cols() == m_then.cols() && m_condition.cols() == m_else.cols());
     }
 
-    Index rows() const { return m_condition.rows(); }
-    Index cols() const { return m_condition.cols(); }
+    inline EIGEN_DEVICE_FUNC Index rows() const { return m_condition.rows(); }
+    inline EIGEN_DEVICE_FUNC Index cols() const { return m_condition.cols(); }
 
+    inline EIGEN_DEVICE_FUNC
     const Scalar coeff(Index i, Index j) const
     {
       if (m_condition.coeff(i,j))
@@ -80,6 +79,7 @@ class Select : internal::no_assignment_operator,
         return m_else.coeff(i,j);
     }
 
+    inline EIGEN_DEVICE_FUNC
     const Scalar coeff(Index i) const
     {
       if (m_condition.coeff(i))
@@ -88,17 +88,17 @@ class Select : internal::no_assignment_operator,
         return m_else.coeff(i);
     }
 
-    const ConditionMatrixType& conditionMatrix() const
+    inline EIGEN_DEVICE_FUNC const ConditionMatrixType& conditionMatrix() const
     {
       return m_condition;
     }
 
-    const ThenMatrixType& thenMatrix() const
+    inline EIGEN_DEVICE_FUNC const ThenMatrixType& thenMatrix() const
     {
       return m_then;
     }
 
-    const ElseMatrixType& elseMatrix() const
+    inline EIGEN_DEVICE_FUNC const ElseMatrixType& elseMatrix() const
     {
       return m_else;
     }
diff --git a/eigenlib/Eigen/src/Core/SelfAdjointView.h b/eigenlib/Eigen/src/Core/SelfAdjointView.h
index 6fa7cd15..504c98f0 100644
--- a/eigenlib/Eigen/src/Core/SelfAdjointView.h
+++ b/eigenlib/Eigen/src/Core/SelfAdjointView.h
@@ -32,54 +32,60 @@ namespace internal {
 template<typename MatrixType, unsigned int UpLo>
 struct traits<SelfAdjointView<MatrixType, UpLo> > : traits<MatrixType>
 {
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::non_const_type MatrixTypeNested;
   typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
   typedef MatrixType ExpressionType;
-  typedef typename MatrixType::PlainObject DenseMatrixType;
+  typedef typename MatrixType::PlainObject FullMatrixType;
   enum {
     Mode = UpLo | SelfAdjoint,
-    Flags =  MatrixTypeNestedCleaned::Flags & (HereditaryBits)
-           & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit)), // FIXME these flags should be preserved
-    CoeffReadCost = MatrixTypeNestedCleaned::CoeffReadCost
+    FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+    Flags =  MatrixTypeNestedCleaned::Flags & (HereditaryBits|FlagsLvalueBit)
+           & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit)) // FIXME these flags should be preserved
   };
 };
 }
 
-template <typename Lhs, int LhsMode, bool LhsIsVector,
-          typename Rhs, int RhsMode, bool RhsIsVector>
-struct SelfadjointProductMatrix;
 
-// FIXME could also be called SelfAdjointWrapper to be consistent with DiagonalWrapper ??
-template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
-  : public TriangularBase<SelfAdjointView<MatrixType, UpLo> >
+template<typename _MatrixType, unsigned int UpLo> class SelfAdjointView
+  : public TriangularBase<SelfAdjointView<_MatrixType, UpLo> >
 {
   public:
 
+    typedef _MatrixType MatrixType;
     typedef TriangularBase<SelfAdjointView> Base;
     typedef typename internal::traits<SelfAdjointView>::MatrixTypeNested MatrixTypeNested;
     typedef typename internal::traits<SelfAdjointView>::MatrixTypeNestedCleaned MatrixTypeNestedCleaned;
+    typedef MatrixTypeNestedCleaned NestedExpression;
 
     /** \brief The type of coefficients in this matrix */
     typedef typename internal::traits<SelfAdjointView>::Scalar Scalar; 
-
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type MatrixConjugateReturnType;
 
     enum {
-      Mode = internal::traits<SelfAdjointView>::Mode
+      Mode = internal::traits<SelfAdjointView>::Mode,
+      Flags = internal::traits<SelfAdjointView>::Flags,
+      TransposeMode = ((Mode & Upper) ? Lower : 0) | ((Mode & Lower) ? Upper : 0)
     };
     typedef typename MatrixType::PlainObject PlainObject;
 
-    inline SelfAdjointView(MatrixType& matrix) : m_matrix(matrix)
+    EIGEN_DEVICE_FUNC
+    explicit inline SelfAdjointView(MatrixType& matrix) : m_matrix(matrix)
     {}
 
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return m_matrix.rows(); }
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return m_matrix.cols(); }
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const { return m_matrix.outerStride(); }
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const { return m_matrix.innerStride(); }
 
     /** \sa MatrixBase::coeff()
       * \warning the coordinates must fit into the referenced triangular part
       */
+    EIGEN_DEVICE_FUNC
     inline Scalar coeff(Index row, Index col) const
     {
       Base::check_coordinates_internal(row, col);
@@ -89,36 +95,46 @@ template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
     /** \sa MatrixBase::coeffRef()
       * \warning the coordinates must fit into the referenced triangular part
       */
+    EIGEN_DEVICE_FUNC
     inline Scalar& coeffRef(Index row, Index col)
     {
+      EIGEN_STATIC_ASSERT_LVALUE(SelfAdjointView);
       Base::check_coordinates_internal(row, col);
-      return m_matrix.const_cast_derived().coeffRef(row, col);
+      return m_matrix.coeffRef(row, col);
     }
 
     /** \internal */
+    EIGEN_DEVICE_FUNC
     const MatrixTypeNestedCleaned& _expression() const { return m_matrix; }
 
+    EIGEN_DEVICE_FUNC
     const MatrixTypeNestedCleaned& nestedExpression() const { return m_matrix; }
-    MatrixTypeNestedCleaned& nestedExpression() { return *const_cast<MatrixTypeNestedCleaned*>(&m_matrix); }
+    EIGEN_DEVICE_FUNC
+    MatrixTypeNestedCleaned& nestedExpression() { return m_matrix; }
 
-    /** Efficient self-adjoint matrix times vector/matrix product */
+    /** Efficient triangular matrix times vector/matrix product */
     template<typename OtherDerived>
-    SelfadjointProductMatrix<MatrixType,Mode,false,OtherDerived,0,OtherDerived::IsVectorAtCompileTime>
+    EIGEN_DEVICE_FUNC
+    const Product<SelfAdjointView,OtherDerived>
     operator*(const MatrixBase<OtherDerived>& rhs) const
     {
-      return SelfadjointProductMatrix
-              <MatrixType,Mode,false,OtherDerived,0,OtherDerived::IsVectorAtCompileTime>
-              (m_matrix, rhs.derived());
+      return Product<SelfAdjointView,OtherDerived>(*this, rhs.derived());
     }
 
-    /** Efficient vector/matrix times self-adjoint matrix product */
+    /** Efficient vector/matrix times triangular matrix product */
     template<typename OtherDerived> friend
-    SelfadjointProductMatrix<OtherDerived,0,OtherDerived::IsVectorAtCompileTime,MatrixType,Mode,false>
+    EIGEN_DEVICE_FUNC
+    const Product<OtherDerived,SelfAdjointView>
     operator*(const MatrixBase<OtherDerived>& lhs, const SelfAdjointView& rhs)
     {
-      return SelfadjointProductMatrix
-              <OtherDerived,0,OtherDerived::IsVectorAtCompileTime,MatrixType,Mode,false>
-              (lhs.derived(),rhs.m_matrix);
+      return Product<OtherDerived,SelfAdjointView>(lhs.derived(),rhs);
+    }
+    
+    friend EIGEN_DEVICE_FUNC
+    const SelfAdjointView<const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(Scalar,MatrixType,product),UpLo>
+    operator*(const Scalar& s, const SelfAdjointView& mat)
+    {
+      return (s*mat.nestedExpression()).template selfadjointView<UpLo>();
     }
 
     /** Perform a symmetric rank 2 update of the selfadjoint matrix \c *this:
@@ -132,6 +148,7 @@ template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
       * \sa rankUpdate(const MatrixBase<DerivedU>&, Scalar)
       */
     template<typename DerivedU, typename DerivedV>
+    EIGEN_DEVICE_FUNC
     SelfAdjointView& rankUpdate(const MatrixBase<DerivedU>& u, const MatrixBase<DerivedV>& v, const Scalar& alpha = Scalar(1));
 
     /** Perform a symmetric rank K update of the selfadjoint matrix \c *this:
@@ -145,8 +162,74 @@ template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
       * \sa rankUpdate(const MatrixBase<DerivedU>&, const MatrixBase<DerivedV>&, Scalar)
       */
     template<typename DerivedU>
+    EIGEN_DEVICE_FUNC
     SelfAdjointView& rankUpdate(const MatrixBase<DerivedU>& u, const Scalar& alpha = Scalar(1));
 
+    /** \returns an expression of a triangular view extracted from the current selfadjoint view of a given triangular part
+      *
+      * The parameter \a TriMode can have the following values: \c #Upper, \c #StrictlyUpper, \c #UnitUpper,
+      * \c #Lower, \c #StrictlyLower, \c #UnitLower.
+      *
+      * If \c TriMode references the same triangular part than \c *this, then this method simply return a \c TriangularView of the nested expression,
+      * otherwise, the nested expression is first transposed, thus returning a \c TriangularView<Transpose<MatrixType>> object.
+      *
+      * \sa MatrixBase::triangularView(), class TriangularView
+      */
+    template<unsigned int TriMode>
+    EIGEN_DEVICE_FUNC
+    typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)),
+                                   TriangularView<MatrixType,TriMode>,
+                                   TriangularView<typename MatrixType::AdjointReturnType,TriMode> >::type
+    triangularView() const
+    {
+      typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)), MatrixType&, typename MatrixType::ConstTransposeReturnType>::type tmp1(m_matrix);
+      typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)), MatrixType&, typename MatrixType::AdjointReturnType>::type tmp2(tmp1);
+      return typename internal::conditional<(TriMode&(Upper|Lower))==(UpLo&(Upper|Lower)),
+                                   TriangularView<MatrixType,TriMode>,
+                                   TriangularView<typename MatrixType::AdjointReturnType,TriMode> >::type(tmp2);
+    }
+
+    typedef SelfAdjointView<const MatrixConjugateReturnType,Mode> ConjugateReturnType;
+    /** \sa MatrixBase::conjugate() const */
+    EIGEN_DEVICE_FUNC
+    inline const ConjugateReturnType conjugate() const
+    { return ConjugateReturnType(m_matrix.conjugate()); }
+
+    typedef SelfAdjointView<const typename MatrixType::AdjointReturnType,TransposeMode> AdjointReturnType;
+    /** \sa MatrixBase::adjoint() const */
+    EIGEN_DEVICE_FUNC
+    inline const AdjointReturnType adjoint() const
+    { return AdjointReturnType(m_matrix.adjoint()); }
+
+    typedef SelfAdjointView<typename MatrixType::TransposeReturnType,TransposeMode> TransposeReturnType;
+     /** \sa MatrixBase::transpose() */
+    EIGEN_DEVICE_FUNC
+    inline TransposeReturnType transpose()
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
+      typename MatrixType::TransposeReturnType tmp(m_matrix);
+      return TransposeReturnType(tmp);
+    }
+
+    typedef SelfAdjointView<const typename MatrixType::ConstTransposeReturnType,TransposeMode> ConstTransposeReturnType;
+    /** \sa MatrixBase::transpose() const */
+    EIGEN_DEVICE_FUNC
+    inline const ConstTransposeReturnType transpose() const
+    {
+      return ConstTransposeReturnType(m_matrix.transpose());
+    }
+
+    /** \returns a const expression of the main diagonal of the matrix \c *this
+      *
+      * This method simply returns the diagonal of the nested expression, thus by-passing the SelfAdjointView decorator.
+      *
+      * \sa MatrixBase::diagonal(), class Diagonal */
+    EIGEN_DEVICE_FUNC
+    typename MatrixType::ConstDiagonalReturnType diagonal() const
+    {
+      return typename MatrixType::ConstDiagonalReturnType(m_matrix);
+    }
+
 /////////// Cholesky module ///////////
 
     const LLT<PlainObject, UpLo> llt() const;
@@ -159,31 +242,10 @@ template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
     /** Return type of eigenvalues() */
     typedef Matrix<RealScalar, internal::traits<MatrixType>::ColsAtCompileTime, 1> EigenvaluesReturnType;
 
+    EIGEN_DEVICE_FUNC
     EigenvaluesReturnType eigenvalues() const;
+    EIGEN_DEVICE_FUNC
     RealScalar operatorNorm() const;
-    
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived>
-    SelfAdjointView& operator=(const MatrixBase<OtherDerived>& other)
-    {
-      enum {
-        OtherPart = UpLo == Upper ? StrictlyLower : StrictlyUpper
-      };
-      m_matrix.const_cast_derived().template triangularView<UpLo>() = other;
-      m_matrix.const_cast_derived().template triangularView<OtherPart>() = other.adjoint();
-      return *this;
-    }
-    template<typename OtherMatrixType, unsigned int OtherMode>
-    SelfAdjointView& operator=(const TriangularView<OtherMatrixType, OtherMode>& other)
-    {
-      enum {
-        OtherPart = UpLo == Upper ? StrictlyLower : StrictlyUpper
-      };
-      m_matrix.const_cast_derived().template triangularView<UpLo>() = other.toDenseMatrix();
-      m_matrix.const_cast_derived().template triangularView<OtherPart>() = other.toDenseMatrix().adjoint();
-      return *this;
-    }
-    #endif
 
   protected:
     MatrixTypeNested m_matrix;
@@ -201,90 +263,54 @@ template<typename MatrixType, unsigned int UpLo> class SelfAdjointView
 
 namespace internal {
 
-template<typename Derived1, typename Derived2, int UnrollCount, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Upper), UnrollCount, ClearOpposite>
+// TODO currently a selfadjoint expression has the form SelfAdjointView<.,.>
+//      in the future selfadjoint-ness should be defined by the expression traits
+//      such that Transpose<SelfAdjointView<.,.> > is valid. (currently TriangularBase::transpose() is overloaded to make it work)
+template<typename MatrixType, unsigned int Mode>
+struct evaluator_traits<SelfAdjointView<MatrixType,Mode> >
 {
-  enum {
-    col = (UnrollCount-1) / Derived1::RowsAtCompileTime,
-    row = (UnrollCount-1) % Derived1::RowsAtCompileTime
-  };
+  typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
+  typedef SelfAdjointShape Shape;
+};
 
-  static inline void run(Derived1 &dst, const Derived2 &src)
+template<int UpLo, int SetOpposite, typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT, typename Functor, int Version>
+class triangular_dense_assignment_kernel<UpLo,SelfAdjoint,SetOpposite,DstEvaluatorTypeT,SrcEvaluatorTypeT,Functor,Version>
+  : public generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>
+{
+protected:
+  typedef generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version> Base;
+  typedef typename Base::DstXprType DstXprType;
+  typedef typename Base::SrcXprType SrcXprType;
+  using Base::m_dst;
+  using Base::m_src;
+  using Base::m_functor;
+public:
+  
+  typedef typename Base::DstEvaluatorType DstEvaluatorType;
+  typedef typename Base::SrcEvaluatorType SrcEvaluatorType;
+  typedef typename Base::Scalar Scalar;
+  typedef typename Base::AssignmentTraits AssignmentTraits;
+  
+  
+  EIGEN_DEVICE_FUNC triangular_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
+    : Base(dst, src, func, dstExpr)
+  {}
+  
+  EIGEN_DEVICE_FUNC void assignCoeff(Index row, Index col)
   {
-    triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Upper), UnrollCount-1, ClearOpposite>::run(dst, src);
-
-    if(row == col)
-      dst.coeffRef(row, col) = numext::real(src.coeff(row, col));
-    else if(row < col)
-      dst.coeffRef(col, row) = numext::conj(dst.coeffRef(row, col) = src.coeff(row, col));
+    eigen_internal_assert(row!=col);
+    Scalar tmp = m_src.coeff(row,col);
+    m_functor.assignCoeff(m_dst.coeffRef(row,col), tmp);
+    m_functor.assignCoeff(m_dst.coeffRef(col,row), numext::conj(tmp));
   }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Upper, 0, ClearOpposite>
-{
-  static inline void run(Derived1 &, const Derived2 &) {}
-};
-
-template<typename Derived1, typename Derived2, int UnrollCount, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Lower), UnrollCount, ClearOpposite>
-{
-  enum {
-    col = (UnrollCount-1) / Derived1::RowsAtCompileTime,
-    row = (UnrollCount-1) % Derived1::RowsAtCompileTime
-  };
-
-  static inline void run(Derived1 &dst, const Derived2 &src)
+  
+  EIGEN_DEVICE_FUNC void assignDiagonalCoeff(Index id)
   {
-    triangular_assignment_selector<Derived1, Derived2, (SelfAdjoint|Lower), UnrollCount-1, ClearOpposite>::run(dst, src);
-
-    if(row == col)
-      dst.coeffRef(row, col) = numext::real(src.coeff(row, col));
-    else if(row > col)
-      dst.coeffRef(col, row) = numext::conj(dst.coeffRef(row, col) = src.coeff(row, col));
-  }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Lower, 0, ClearOpposite>
-{
-  static inline void run(Derived1 &, const Derived2 &) {}
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Upper, Dynamic, ClearOpposite>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      for(Index i = 0; i < j; ++i)
-      {
-        dst.copyCoeff(i, j, src);
-        dst.coeffRef(j,i) = numext::conj(dst.coeff(i,j));
-      }
-      dst.copyCoeff(j, j, src);
-    }
-  }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Lower, Dynamic, ClearOpposite>
-{
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-  typedef typename Derived1::Index Index;
-    for(Index i = 0; i < dst.rows(); ++i)
-    {
-      for(Index j = 0; j < i; ++j)
-      {
-        dst.copyCoeff(i, j, src);
-        dst.coeffRef(j,i) = numext::conj(dst.coeff(i,j));
-      }
-      dst.copyCoeff(i, i, src);
-    }
+    Base::assignCoeff(id,id);
   }
+  
+  EIGEN_DEVICE_FUNC void assignOppositeCoeff(Index, Index)
+  { eigen_internal_assert(false && "should never be called"); }
 };
 
 } // end namespace internal
@@ -293,20 +319,30 @@ struct triangular_assignment_selector<Derived1, Derived2, SelfAdjoint|Lower, Dyn
 * Implementation of MatrixBase methods
 ***************************************************************************/
 
+/** This is the const version of MatrixBase::selfadjointView() */
 template<typename Derived>
 template<unsigned int UpLo>
 typename MatrixBase<Derived>::template ConstSelfAdjointViewReturnType<UpLo>::Type
 MatrixBase<Derived>::selfadjointView() const
 {
-  return derived();
+  return typename ConstSelfAdjointViewReturnType<UpLo>::Type(derived());
 }
 
+/** \returns an expression of a symmetric/self-adjoint view extracted from the upper or lower triangular part of the current matrix
+  *
+  * The parameter \a UpLo can be either \c #Upper or \c #Lower
+  *
+  * Example: \include MatrixBase_selfadjointView.cpp
+  * Output: \verbinclude MatrixBase_selfadjointView.out
+  *
+  * \sa class SelfAdjointView
+  */
 template<typename Derived>
 template<unsigned int UpLo>
 typename MatrixBase<Derived>::template SelfAdjointViewReturnType<UpLo>::Type
 MatrixBase<Derived>::selfadjointView()
 {
-  return derived();
+  return typename SelfAdjointViewReturnType<UpLo>::Type(derived());
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/SelfCwiseBinaryOp.h b/eigenlib/Eigen/src/Core/SelfCwiseBinaryOp.h
index 22f3047b..719ed72a 100644
--- a/eigenlib/Eigen/src/Core/SelfCwiseBinaryOp.h
+++ b/eigenlib/Eigen/src/Core/SelfCwiseBinaryOp.h
@@ -12,183 +12,37 @@
 
 namespace Eigen { 
 
-/** \class SelfCwiseBinaryOp
-  * \ingroup Core_Module
-  *
-  * \internal
-  *
-  * \brief Internal helper class for optimizing operators like +=, -=
-  *
-  * This is a pseudo expression class re-implementing the copyCoeff/copyPacket
-  * method to directly performs a +=/-= operations in an optimal way. In particular,
-  * this allows to make sure that the input/output data are loaded only once using
-  * aligned packet loads.
-  *
-  * \sa class SwapWrapper for a similar trick.
-  */
-
-namespace internal {
-template<typename BinaryOp, typename Lhs, typename Rhs>
-struct traits<SelfCwiseBinaryOp<BinaryOp,Lhs,Rhs> >
-  : traits<CwiseBinaryOp<BinaryOp,Lhs,Rhs> >
-{
-  enum {
-    // Note that it is still a good idea to preserve the DirectAccessBit
-    // so that assign can correctly align the data.
-    Flags = traits<CwiseBinaryOp<BinaryOp,Lhs,Rhs> >::Flags | (Lhs::Flags&DirectAccessBit) | (Lhs::Flags&LvalueBit),
-    OuterStrideAtCompileTime = Lhs::OuterStrideAtCompileTime,
-    InnerStrideAtCompileTime = Lhs::InnerStrideAtCompileTime
-  };
-};
-}
-
-template<typename BinaryOp, typename Lhs, typename Rhs> class SelfCwiseBinaryOp
-  : public internal::dense_xpr_base< SelfCwiseBinaryOp<BinaryOp, Lhs, Rhs> >::type
-{
-  public:
-
-    typedef typename internal::dense_xpr_base<SelfCwiseBinaryOp>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(SelfCwiseBinaryOp)
-
-    typedef typename internal::packet_traits<Scalar>::type Packet;
-
-    inline SelfCwiseBinaryOp(Lhs& xpr, const BinaryOp& func = BinaryOp()) : m_matrix(xpr), m_functor(func) {}
-
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
-    inline Index outerStride() const { return m_matrix.outerStride(); }
-    inline Index innerStride() const { return m_matrix.innerStride(); }
-    inline const Scalar* data() const { return m_matrix.data(); }
-
-    // note that this function is needed by assign to correctly align loads/stores
-    // TODO make Assign use .data()
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(Lhs)
-      return m_matrix.const_cast_derived().coeffRef(row, col);
-    }
-    inline const Scalar& coeffRef(Index row, Index col) const
-    {
-      return m_matrix.coeffRef(row, col);
-    }
-
-    // note that this function is needed by assign to correctly align loads/stores
-    // TODO make Assign use .data()
-    inline Scalar& coeffRef(Index index)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(Lhs)
-      return m_matrix.const_cast_derived().coeffRef(index);
-    }
-    inline const Scalar& coeffRef(Index index) const
-    {
-      return m_matrix.const_cast_derived().coeffRef(index);
-    }
-
-    template<typename OtherDerived>
-    void copyCoeff(Index row, Index col, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(row >= 0 && row < rows()
-                         && col >= 0 && col < cols());
-      Scalar& tmp = m_matrix.coeffRef(row,col);
-      tmp = m_functor(tmp, _other.coeff(row,col));
-    }
-
-    template<typename OtherDerived>
-    void copyCoeff(Index index, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(index >= 0 && index < m_matrix.size());
-      Scalar& tmp = m_matrix.coeffRef(index);
-      tmp = m_functor(tmp, _other.coeff(index));
-    }
-
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    void copyPacket(Index row, Index col, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(row >= 0 && row < rows()
-                        && col >= 0 && col < cols());
-      m_matrix.template writePacket<StoreMode>(row, col,
-        m_functor.packetOp(m_matrix.template packet<StoreMode>(row, col),_other.template packet<LoadMode>(row, col)) );
-    }
-
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    void copyPacket(Index index, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(index >= 0 && index < m_matrix.size());
-      m_matrix.template writePacket<StoreMode>(index,
-        m_functor.packetOp(m_matrix.template packet<StoreMode>(index),_other.template packet<LoadMode>(index)) );
-    }
-
-    // reimplement lazyAssign to handle complex *= real
-    // see CwiseBinaryOp ctor for details
-    template<typename RhsDerived>
-    EIGEN_STRONG_INLINE SelfCwiseBinaryOp& lazyAssign(const DenseBase<RhsDerived>& rhs)
-    {
-      EIGEN_STATIC_ASSERT_SAME_MATRIX_SIZE(Lhs,RhsDerived)
-      EIGEN_CHECK_BINARY_COMPATIBILIY(BinaryOp,typename Lhs::Scalar,typename RhsDerived::Scalar);
-      
-    #ifdef EIGEN_DEBUG_ASSIGN
-      internal::assign_traits<SelfCwiseBinaryOp, RhsDerived>::debug();
-    #endif
-      eigen_assert(rows() == rhs.rows() && cols() == rhs.cols());
-      internal::assign_impl<SelfCwiseBinaryOp, RhsDerived>::run(*this,rhs.derived());
-    #ifndef EIGEN_NO_DEBUG
-      this->checkTransposeAliasing(rhs.derived());
-    #endif
-      return *this;
-    }
-    
-    // overloaded to honor evaluation of special matrices
-    // maybe another solution would be to not use SelfCwiseBinaryOp
-    // at first...
-    SelfCwiseBinaryOp& operator=(const Rhs& _rhs)
-    {
-      typename internal::nested<Rhs>::type rhs(_rhs);
-      return Base::operator=(rhs);
-    }
-
-    Lhs& expression() const 
-    { 
-      return m_matrix;
-    }
-
-    const BinaryOp& functor() const 
-    { 
-      return m_functor;
-    }
-
-  protected:
-    Lhs& m_matrix;
-    const BinaryOp& m_functor;
-
-  private:
-    SelfCwiseBinaryOp& operator=(const SelfCwiseBinaryOp&);
-};
+// TODO generalize the scalar type of 'other'
 
 template<typename Derived>
-inline Derived& DenseBase<Derived>::operator*=(const Scalar& other)
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator*=(const Scalar& other)
 {
   typedef typename Derived::PlainObject PlainObject;
-  SelfCwiseBinaryOp<internal::scalar_product_op<Scalar>, Derived, typename PlainObject::ConstantReturnType> tmp(derived());
-  tmp = PlainObject::Constant(rows(),cols(),other);
+  internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::mul_assign_op<Scalar,Scalar>());
   return derived();
 }
 
 template<typename Derived>
-inline Derived& DenseBase<Derived>::operator/=(const Scalar& other)
+EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator+=(const Scalar& other)
 {
-  typedef typename internal::conditional<NumTraits<Scalar>::IsInteger,
-                                        internal::scalar_quotient_op<Scalar>,
-                                        internal::scalar_product_op<Scalar> >::type BinOp;
   typedef typename Derived::PlainObject PlainObject;
-  SelfCwiseBinaryOp<BinOp, Derived, typename PlainObject::ConstantReturnType> tmp(derived());
-  Scalar actual_other;
-  if(NumTraits<Scalar>::IsInteger)  actual_other = other;
-  else                              actual_other = Scalar(1)/other;
-  tmp = PlainObject::Constant(rows(),cols(), actual_other);
+  internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::add_assign_op<Scalar,Scalar>());
+  return derived();
+}
+
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& ArrayBase<Derived>::operator-=(const Scalar& other)
+{
+  typedef typename Derived::PlainObject PlainObject;
+  internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::sub_assign_op<Scalar,Scalar>());
+  return derived();
+}
+
+template<typename Derived>
+EIGEN_STRONG_INLINE Derived& DenseBase<Derived>::operator/=(const Scalar& other)
+{
+  typedef typename Derived::PlainObject PlainObject;
+  internal::call_assignment(this->derived(), PlainObject::Constant(rows(),cols(),other), internal::div_assign_op<Scalar,Scalar>());
   return derived();
 }
 
diff --git a/eigenlib/Eigen/src/Core/Solve.h b/eigenlib/Eigen/src/Core/Solve.h
new file mode 100644
index 00000000..960a5859
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/Solve.h
@@ -0,0 +1,188 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SOLVE_H
+#define EIGEN_SOLVE_H
+
+namespace Eigen {
+
+template<typename Decomposition, typename RhsType, typename StorageKind> class SolveImpl;
+  
+/** \class Solve
+  * \ingroup Core_Module
+  *
+  * \brief Pseudo expression representing a solving operation
+  *
+  * \tparam Decomposition the type of the matrix or decomposion object
+  * \tparam Rhstype the type of the right-hand side
+  *
+  * This class represents an expression of A.solve(B)
+  * and most of the time this is the only way it is used.
+  *
+  */
+namespace internal {
+
+// this solve_traits class permits to determine the evaluation type with respect to storage kind (Dense vs Sparse)
+template<typename Decomposition, typename RhsType,typename StorageKind> struct solve_traits;
+
+template<typename Decomposition, typename RhsType>
+struct solve_traits<Decomposition,RhsType,Dense>
+{
+  typedef Matrix<typename RhsType::Scalar,
+                 Decomposition::ColsAtCompileTime,
+                 RhsType::ColsAtCompileTime,
+                 RhsType::PlainObject::Options,
+                 Decomposition::MaxColsAtCompileTime,
+                 RhsType::MaxColsAtCompileTime> PlainObject;  
+};
+
+template<typename Decomposition, typename RhsType>
+struct traits<Solve<Decomposition, RhsType> >
+  : traits<typename solve_traits<Decomposition,RhsType,typename internal::traits<RhsType>::StorageKind>::PlainObject>
+{
+  typedef typename solve_traits<Decomposition,RhsType,typename internal::traits<RhsType>::StorageKind>::PlainObject PlainObject;
+  typedef typename promote_index_type<typename Decomposition::StorageIndex, typename RhsType::StorageIndex>::type StorageIndex;
+  typedef traits<PlainObject> BaseTraits;
+  enum {
+    Flags = BaseTraits::Flags & RowMajorBit,
+    CoeffReadCost = HugeCost
+  };
+};
+
+}
+
+
+template<typename Decomposition, typename RhsType>
+class Solve : public SolveImpl<Decomposition,RhsType,typename internal::traits<RhsType>::StorageKind>
+{
+public:
+  typedef typename internal::traits<Solve>::PlainObject PlainObject;
+  typedef typename internal::traits<Solve>::StorageIndex StorageIndex;
+  
+  Solve(const Decomposition &dec, const RhsType &rhs)
+    : m_dec(dec), m_rhs(rhs)
+  {}
+  
+  EIGEN_DEVICE_FUNC Index rows() const { return m_dec.cols(); }
+  EIGEN_DEVICE_FUNC Index cols() const { return m_rhs.cols(); }
+
+  EIGEN_DEVICE_FUNC const Decomposition& dec() const { return m_dec; }
+  EIGEN_DEVICE_FUNC const RhsType&       rhs() const { return m_rhs; }
+
+protected:
+  const Decomposition &m_dec;
+  const RhsType       &m_rhs;
+};
+
+
+// Specialization of the Solve expression for dense results
+template<typename Decomposition, typename RhsType>
+class SolveImpl<Decomposition,RhsType,Dense>
+  : public MatrixBase<Solve<Decomposition,RhsType> >
+{
+  typedef Solve<Decomposition,RhsType> Derived;
+  
+public:
+  
+  typedef MatrixBase<Solve<Decomposition,RhsType> > Base;
+  EIGEN_DENSE_PUBLIC_INTERFACE(Derived)
+
+private:
+  
+  Scalar coeff(Index row, Index col) const;
+  Scalar coeff(Index i) const;
+};
+
+// Generic API dispatcher
+template<typename Decomposition, typename RhsType, typename StorageKind>
+class SolveImpl : public internal::generic_xpr_base<Solve<Decomposition,RhsType>, MatrixXpr, StorageKind>::type
+{
+  public:
+    typedef typename internal::generic_xpr_base<Solve<Decomposition,RhsType>, MatrixXpr, StorageKind>::type Base;
+};
+
+namespace internal {
+
+// Evaluator of Solve -> eval into a temporary
+template<typename Decomposition, typename RhsType>
+struct evaluator<Solve<Decomposition,RhsType> >
+  : public evaluator<typename Solve<Decomposition,RhsType>::PlainObject>
+{
+  typedef Solve<Decomposition,RhsType> SolveType;
+  typedef typename SolveType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  enum { Flags = Base::Flags | EvalBeforeNestingBit };
+  
+  EIGEN_DEVICE_FUNC explicit evaluator(const SolveType& solve)
+    : m_result(solve.rows(), solve.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    solve.dec()._solve_impl(solve.rhs(), m_result);
+  }
+  
+protected:  
+  PlainObject m_result;
+};
+
+// Specialization for "dst = dec.solve(rhs)"
+// NOTE we need to specialize it for Dense2Dense to avoid ambiguous specialization error and a Sparse2Sparse specialization must exist somewhere
+template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
+struct Assignment<DstXprType, Solve<DecType,RhsType>, internal::assign_op<Scalar,Scalar>, Dense2Dense>
+{
+  typedef Solve<DecType,RhsType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    src.dec()._solve_impl(src.rhs(), dst);
+  }
+};
+
+// Specialization for "dst = dec.transpose().solve(rhs)"
+template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
+struct Assignment<DstXprType, Solve<Transpose<const DecType>,RhsType>, internal::assign_op<Scalar,Scalar>, Dense2Dense>
+{
+  typedef Solve<Transpose<const DecType>,RhsType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    src.dec().nestedExpression().template _solve_impl_transposed<false>(src.rhs(), dst);
+  }
+};
+
+// Specialization for "dst = dec.adjoint().solve(rhs)"
+template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
+struct Assignment<DstXprType, Solve<CwiseUnaryOp<internal::scalar_conjugate_op<typename DecType::Scalar>, const Transpose<const DecType> >,RhsType>,
+                  internal::assign_op<Scalar,Scalar>, Dense2Dense>
+{
+  typedef Solve<CwiseUnaryOp<internal::scalar_conjugate_op<typename DecType::Scalar>, const Transpose<const DecType> >,RhsType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+    
+    src.dec().nestedExpression().nestedExpression().template _solve_impl_transposed<true>(src.rhs(), dst);
+  }
+};
+
+} // end namepsace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SOLVE_H
diff --git a/eigenlib/Eigen/src/Core/SolveTriangular.h b/eigenlib/Eigen/src/Core/SolveTriangular.h
index ef17f288..049890b2 100644
--- a/eigenlib/Eigen/src/Core/SolveTriangular.h
+++ b/eigenlib/Eigen/src/Core/SolveTriangular.h
@@ -68,7 +68,7 @@ struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,1>
     if(!useRhsDirectly)
       MappedRhs(actualRhs,rhs.size()) = rhs;
 
-    triangular_solve_vector<LhsScalar, RhsScalar, typename Lhs::Index, Side, Mode, LhsProductTraits::NeedToConjugate,
+    triangular_solve_vector<LhsScalar, RhsScalar, Index, Side, Mode, LhsProductTraits::NeedToConjugate,
                             (int(Lhs::Flags) & RowMajorBit) ? RowMajor : ColMajor>
       ::run(actualLhs.cols(), actualLhs.data(), actualLhs.outerStride(), actualRhs);
 
@@ -82,7 +82,6 @@ template<typename Lhs, typename Rhs, int Side, int Mode>
 struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,Dynamic>
 {
   typedef typename Rhs::Scalar Scalar;
-  typedef typename Rhs::Index Index;
   typedef blas_traits<Lhs> LhsProductTraits;
   typedef typename LhsProductTraits::DirectLinearAccessType ActualLhsType;
 
@@ -96,7 +95,7 @@ struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,Dynamic>
     typedef internal::gemm_blocking_space<(Rhs::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
               Rhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxRowsAtCompileTime,4> BlockingType;
 
-    BlockingType blocking(rhs.rows(), rhs.cols(), size);
+    BlockingType blocking(rhs.rows(), rhs.cols(), size, 1, false);
 
     triangular_solve_matrix<Scalar,Index,Side,Mode,LhsProductTraits::NeedToConjugate,(int(Lhs::Flags) & RowMajorBit) ? RowMajor : ColMajor,
                                (Rhs::Flags&RowMajorBit) ? RowMajor : ColMajor>
@@ -108,32 +107,32 @@ struct triangular_solver_selector<Lhs,Rhs,Side,Mode,NoUnrolling,Dynamic>
 * meta-unrolling implementation
 ***************************************************************************/
 
-template<typename Lhs, typename Rhs, int Mode, int Index, int Size,
-         bool Stop = Index==Size>
+template<typename Lhs, typename Rhs, int Mode, int LoopIndex, int Size,
+         bool Stop = LoopIndex==Size>
 struct triangular_solver_unroller;
 
-template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
-struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,false> {
+template<typename Lhs, typename Rhs, int Mode, int LoopIndex, int Size>
+struct triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex,Size,false> {
   enum {
     IsLower = ((Mode&Lower)==Lower),
-    I = IsLower ? Index : Size - Index - 1,
-    S = IsLower ? 0     : I+1
+    DiagIndex  = IsLower ? LoopIndex : Size - LoopIndex - 1,
+    StartIndex = IsLower ? 0         : DiagIndex+1
   };
   static void run(const Lhs& lhs, Rhs& rhs)
   {
-    if (Index>0)
-      rhs.coeffRef(I) -= lhs.row(I).template segment<Index>(S).transpose()
-                         .cwiseProduct(rhs.template segment<Index>(S)).sum();
+    if (LoopIndex>0)
+      rhs.coeffRef(DiagIndex) -= lhs.row(DiagIndex).template segment<LoopIndex>(StartIndex).transpose()
+                                .cwiseProduct(rhs.template segment<LoopIndex>(StartIndex)).sum();
 
     if(!(Mode & UnitDiag))
-      rhs.coeffRef(I) /= lhs.coeff(I,I);
+      rhs.coeffRef(DiagIndex) /= lhs.coeff(DiagIndex,DiagIndex);
 
-    triangular_solver_unroller<Lhs,Rhs,Mode,Index+1,Size>::run(lhs,rhs);
+    triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex+1,Size>::run(lhs,rhs);
   }
 };
 
-template<typename Lhs, typename Rhs, int Mode, int Index, int Size>
-struct triangular_solver_unroller<Lhs,Rhs,Mode,Index,Size,true> {
+template<typename Lhs, typename Rhs, int Mode, int LoopIndex, int Size>
+struct triangular_solver_unroller<Lhs,Rhs,Mode,LoopIndex,Size,true> {
   static void run(const Lhs&, Rhs&) {}
 };
 
@@ -162,61 +161,35 @@ struct triangular_solver_selector<Lhs,Rhs,OnTheRight,Mode,CompleteUnrolling,1> {
 * TriangularView methods
 ***************************************************************************/
 
-/** "in-place" version of TriangularView::solve() where the result is written in \a other
-  *
-  * \warning The parameter is only marked 'const' to make the C++ compiler accept a temporary expression here.
-  * This function will const_cast it, so constness isn't honored here.
-  *
-  * See TriangularView:solve() for the details.
-  */
+#ifndef EIGEN_PARSED_BY_DOXYGEN
 template<typename MatrixType, unsigned int Mode>
 template<int Side, typename OtherDerived>
-void TriangularView<MatrixType,Mode>::solveInPlace(const MatrixBase<OtherDerived>& _other) const
+void TriangularViewImpl<MatrixType,Mode,Dense>::solveInPlace(const MatrixBase<OtherDerived>& _other) const
 {
   OtherDerived& other = _other.const_cast_derived();
-  eigen_assert( cols() == rows() && ((Side==OnTheLeft && cols() == other.rows()) || (Side==OnTheRight && cols() == other.cols())) );
+  eigen_assert( derived().cols() == derived().rows() && ((Side==OnTheLeft && derived().cols() == other.rows()) || (Side==OnTheRight && derived().cols() == other.cols())) );
   eigen_assert((!(Mode & ZeroDiag)) && bool(Mode & (Upper|Lower)));
 
-  enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit  && OtherDerived::IsVectorAtCompileTime };
+  enum { copy = (internal::traits<OtherDerived>::Flags & RowMajorBit)  && OtherDerived::IsVectorAtCompileTime && OtherDerived::SizeAtCompileTime!=1};
   typedef typename internal::conditional<copy,
     typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
   OtherCopy otherCopy(other);
 
   internal::triangular_solver_selector<MatrixType, typename internal::remove_reference<OtherCopy>::type,
-    Side, Mode>::run(nestedExpression(), otherCopy);
+    Side, Mode>::run(derived().nestedExpression(), otherCopy);
 
   if (copy)
     other = otherCopy;
 }
 
-/** \returns the product of the inverse of \c *this with \a other, \a *this being triangular.
-  *
-  * This function computes the inverse-matrix matrix product inverse(\c *this) * \a other if
-  * \a Side==OnTheLeft (the default), or the right-inverse-multiply  \a other * inverse(\c *this) if
-  * \a Side==OnTheRight.
-  *
-  * The matrix \c *this must be triangular and invertible (i.e., all the coefficients of the
-  * diagonal must be non zero). It works as a forward (resp. backward) substitution if \c *this
-  * is an upper (resp. lower) triangular matrix.
-  *
-  * Example: \include MatrixBase_marked.cpp
-  * Output: \verbinclude MatrixBase_marked.out
-  *
-  * This function returns an expression of the inverse-multiply and can works in-place if it is assigned
-  * to the same matrix or vector \a other.
-  *
-  * For users coming from BLAS, this function (and more specifically solveInPlace()) offer
-  * all the operations supported by the \c *TRSV and \c *TRSM BLAS routines.
-  *
-  * \sa TriangularView::solveInPlace()
-  */
 template<typename Derived, unsigned int Mode>
 template<int Side, typename Other>
 const internal::triangular_solve_retval<Side,TriangularView<Derived,Mode>,Other>
-TriangularView<Derived,Mode>::solve(const MatrixBase<Other>& other) const
+TriangularViewImpl<Derived,Mode,Dense>::solve(const MatrixBase<Other>& other) const
 {
-  return internal::triangular_solve_retval<Side,TriangularView,Other>(*this, other.derived());
+  return internal::triangular_solve_retval<Side,TriangularViewType,Other>(derived(), other.derived());
 }
+#endif
 
 namespace internal {
 
@@ -232,7 +205,6 @@ template<int Side, typename TriangularType, typename Rhs> struct triangular_solv
 {
   typedef typename remove_all<typename Rhs::Nested>::type RhsNestedCleaned;
   typedef ReturnByValue<triangular_solve_retval> Base;
-  typedef typename Base::Index Index;
 
   triangular_solve_retval(const TriangularType& tri, const Rhs& rhs)
     : m_triangularMatrix(tri), m_rhs(rhs)
@@ -243,7 +215,7 @@ template<int Side, typename TriangularType, typename Rhs> struct triangular_solv
 
   template<typename Dest> inline void evalTo(Dest& dst) const
   {
-    if(!(is_same<RhsNestedCleaned,Dest>::value && extract_data(dst) == extract_data(m_rhs)))
+    if(!is_same_dense(dst,m_rhs))
       dst = m_rhs;
     m_triangularMatrix.template solveInPlace<Side>(dst);
   }
diff --git a/eigenlib/Eigen/src/Core/SolverBase.h b/eigenlib/Eigen/src/Core/SolverBase.h
new file mode 100644
index 00000000..8a4adc22
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/SolverBase.h
@@ -0,0 +1,130 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SOLVERBASE_H
+#define EIGEN_SOLVERBASE_H
+
+namespace Eigen {
+
+namespace internal {
+
+
+
+} // end namespace internal
+
+/** \class SolverBase
+  * \brief A base class for matrix decomposition and solvers
+  *
+  * \tparam Derived the actual type of the decomposition/solver.
+  *
+  * Any matrix decomposition inheriting this base class provide the following API:
+  *
+  * \code
+  * MatrixType A, b, x;
+  * DecompositionType dec(A);
+  * x = dec.solve(b);             // solve A   * x = b
+  * x = dec.transpose().solve(b); // solve A^T * x = b
+  * x = dec.adjoint().solve(b);   // solve A'  * x = b
+  * \endcode
+  *
+  * \warning Currently, any other usage of transpose() and adjoint() are not supported and will produce compilation errors.
+  *
+  * \sa class PartialPivLU, class FullPivLU
+  */
+template<typename Derived>
+class SolverBase : public EigenBase<Derived>
+{
+  public:
+
+    typedef EigenBase<Derived> Base;
+    typedef typename internal::traits<Derived>::Scalar Scalar;
+    typedef Scalar CoeffReturnType;
+
+    enum {
+      RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
+      SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
+                                                          internal::traits<Derived>::ColsAtCompileTime>::ret),
+      MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
+      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
+      MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
+                                                             internal::traits<Derived>::MaxColsAtCompileTime>::ret),
+      IsVectorAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime == 1
+                           || internal::traits<Derived>::MaxColsAtCompileTime == 1
+    };
+
+    /** Default constructor */
+    SolverBase()
+    {}
+
+    ~SolverBase()
+    {}
+
+    using Base::derived;
+
+    /** \returns an expression of the solution x of \f$ A x = b \f$ using the current decomposition of A.
+      */
+    template<typename Rhs>
+    inline const Solve<Derived, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
+      return Solve<Derived, Rhs>(derived(), b.derived());
+    }
+
+    /** \internal the return type of transpose() */
+    typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
+    /** \returns an expression of the transposed of the factored matrix.
+      *
+      * A typical usage is to solve for the transposed problem A^T x = b:
+      * \code x = dec.transpose().solve(b); \endcode
+      *
+      * \sa adjoint(), solve()
+      */
+    inline ConstTransposeReturnType transpose() const
+    {
+      return ConstTransposeReturnType(derived());
+    }
+
+    /** \internal the return type of adjoint() */
+    typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
+                        CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, ConstTransposeReturnType>,
+                        ConstTransposeReturnType
+                     >::type AdjointReturnType;
+    /** \returns an expression of the adjoint of the factored matrix
+      *
+      * A typical usage is to solve for the adjoint problem A' x = b:
+      * \code x = dec.adjoint().solve(b); \endcode
+      *
+      * For real scalar types, this function is equivalent to transpose().
+      *
+      * \sa transpose(), solve()
+      */
+    inline AdjointReturnType adjoint() const
+    {
+      return AdjointReturnType(derived().transpose());
+    }
+
+  protected:
+};
+
+namespace internal {
+
+template<typename Derived>
+struct generic_xpr_base<Derived, MatrixXpr, SolverStorage>
+{
+  typedef SolverBase<Derived> type;
+
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SOLVERBASE_H
diff --git a/eigenlib/Eigen/src/Core/StableNorm.h b/eigenlib/Eigen/src/Core/StableNorm.h
index 389d9427..d2fe1e19 100644
--- a/eigenlib/Eigen/src/Core/StableNorm.h
+++ b/eigenlib/Eigen/src/Core/StableNorm.h
@@ -17,10 +17,9 @@ namespace internal {
 template<typename ExpressionType, typename Scalar>
 inline void stable_norm_kernel(const ExpressionType& bl, Scalar& ssq, Scalar& scale, Scalar& invScale)
 {
-  using std::max;
   Scalar maxCoeff = bl.cwiseAbs().maxCoeff();
   
-  if (maxCoeff>scale)
+  if(maxCoeff>scale)
   {
     ssq = ssq * numext::abs2(scale/maxCoeff);
     Scalar tmp = Scalar(1)/maxCoeff;
@@ -29,12 +28,21 @@ inline void stable_norm_kernel(const ExpressionType& bl, Scalar& ssq, Scalar& sc
       invScale = NumTraits<Scalar>::highest();
       scale = Scalar(1)/invScale;
     }
+    else if(maxCoeff>NumTraits<Scalar>::highest()) // we got a INF
+    {
+      invScale = Scalar(1);
+      scale = maxCoeff;
+    }
     else
     {
       scale = maxCoeff;
       invScale = tmp;
     }
   }
+  else if(maxCoeff!=maxCoeff) // we got a NaN
+  {
+    scale = maxCoeff;
+  }
   
   // TODO if the maxCoeff is much much smaller than the current scale,
   // then we can neglect this sub vector
@@ -47,15 +55,12 @@ inline typename NumTraits<typename traits<Derived>::Scalar>::Real
 blueNorm_impl(const EigenBase<Derived>& _vec)
 {
   typedef typename Derived::RealScalar RealScalar;  
-  typedef typename Derived::Index Index;
   using std::pow;
-  using std::min;
-  using std::max;
   using std::sqrt;
   using std::abs;
   const Derived& vec(_vec.derived());
   static bool initialized = false;
-  static RealScalar b1, b2, s1m, s2m, overfl, rbig, relerr;
+  static RealScalar b1, b2, s1m, s2m, rbig, relerr;
   if(!initialized)
   {
     int ibeta, it, iemin, iemax, iexp;
@@ -84,7 +89,6 @@ blueNorm_impl(const EigenBase<Derived>& _vec)
     iexp  = - ((iemax+it)/2);
     s2m   = RealScalar(pow(RealScalar(ibeta),RealScalar(iexp)));    // scaling factor for upper range
 
-    overfl  = rbig*s2m;                                             // overflow boundary for abig
     eps     = RealScalar(pow(double(ibeta), 1-it));
     relerr  = sqrt(eps);                                            // tolerance for neglecting asml
     initialized = true;
@@ -101,13 +105,13 @@ blueNorm_impl(const EigenBase<Derived>& _vec)
     else if(ax < b1) asml += numext::abs2(ax*s1m);
     else             amed += numext::abs2(ax);
   }
+  if(amed!=amed)
+    return amed;  // we got a NaN
   if(abig > RealScalar(0))
   {
     abig = sqrt(abig);
-    if(abig > overfl)
-    {
-      return rbig;
-    }
+    if(abig > rbig) // overflow, or *this contains INF values
+      return abig;  // return INF
     if(amed > RealScalar(0))
     {
       abig = abig/s2m;
@@ -128,8 +132,8 @@ blueNorm_impl(const EigenBase<Derived>& _vec)
   }
   else
     return sqrt(amed);
-  asml = (min)(abig, amed);
-  abig = (max)(abig, amed);
+  asml = numext::mini(abig, amed);
+  abig = numext::maxi(abig, amed);
   if(asml <= abig*relerr)
     return abig;
   else
@@ -152,21 +156,34 @@ template<typename Derived>
 inline typename NumTraits<typename internal::traits<Derived>::Scalar>::Real
 MatrixBase<Derived>::stableNorm() const
 {
-  using std::min;
   using std::sqrt;
+  using std::abs;
   const Index blockSize = 4096;
   RealScalar scale(0);
   RealScalar invScale(1);
   RealScalar ssq(0); // sum of square
+  
+  typedef typename internal::nested_eval<Derived,2>::type DerivedCopy;
+  typedef typename internal::remove_all<DerivedCopy>::type DerivedCopyClean;
+  DerivedCopy copy(derived());
+  
   enum {
-    Alignment = (int(Flags)&DirectAccessBit) || (int(Flags)&AlignedBit) ? 1 : 0
+    CanAlign = (   (int(DerivedCopyClean::Flags)&DirectAccessBit)
+                || (int(internal::evaluator<DerivedCopyClean>::Alignment)>0) // FIXME Alignment)>0 might not be enough
+               ) && (blockSize*sizeof(Scalar)*2<EIGEN_STACK_ALLOCATION_LIMIT) // ifwe cannot allocate on the stack, then let's not bother about this optimization
   };
+  typedef typename internal::conditional<CanAlign, Ref<const Matrix<Scalar,Dynamic,1,0,blockSize,1>, internal::evaluator<DerivedCopyClean>::Alignment>,
+                                                   typename DerivedCopyClean::ConstSegmentReturnType>::type SegmentWrapper;
   Index n = size();
-  Index bi = internal::first_aligned(derived());
+  
+  if(n==1)
+    return abs(this->coeff(0));
+  
+  Index bi = internal::first_default_aligned(copy);
   if (bi>0)
-    internal::stable_norm_kernel(this->head(bi), ssq, scale, invScale);
+    internal::stable_norm_kernel(copy.head(bi), ssq, scale, invScale);
   for (; bi<n; bi+=blockSize)
-    internal::stable_norm_kernel(this->segment(bi,(min)(blockSize, n - bi)).template forceAlignedAccessIf<Alignment>(), ssq, scale, invScale);
+    internal::stable_norm_kernel(SegmentWrapper(copy.segment(bi,numext::mini(blockSize, n - bi))), ssq, scale, invScale);
   return scale * sqrt(ssq);
 }
 
diff --git a/eigenlib/Eigen/src/Core/Stride.h b/eigenlib/Eigen/src/Core/Stride.h
index 1e3f5fe9..513742f3 100644
--- a/eigenlib/Eigen/src/Core/Stride.h
+++ b/eigenlib/Eigen/src/Core/Stride.h
@@ -31,8 +31,8 @@ namespace Eigen {
   * arguments to the constructor.
   *
   * Indeed, this class takes two template parameters:
-  *  \param _OuterStrideAtCompileTime the outer stride, or Dynamic if you want to specify it at runtime.
-  *  \param _InnerStrideAtCompileTime the inner stride, or Dynamic if you want to specify it at runtime.
+  *  \tparam _OuterStrideAtCompileTime the outer stride, or Dynamic if you want to specify it at runtime.
+  *  \tparam _InnerStrideAtCompileTime the inner stride, or Dynamic if you want to specify it at runtime.
   *
   * Here is an example:
   * \include Map_general_stride.cpp
@@ -44,13 +44,14 @@ template<int _OuterStrideAtCompileTime, int _InnerStrideAtCompileTime>
 class Stride
 {
   public:
-    typedef DenseIndex Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
     enum {
       InnerStrideAtCompileTime = _InnerStrideAtCompileTime,
       OuterStrideAtCompileTime = _OuterStrideAtCompileTime
     };
 
     /** Default constructor, for use when strides are fixed at compile time */
+    EIGEN_DEVICE_FUNC
     Stride()
       : m_outer(OuterStrideAtCompileTime), m_inner(InnerStrideAtCompileTime)
     {
@@ -58,6 +59,7 @@ class Stride
     }
 
     /** Constructor allowing to pass the strides at runtime */
+    EIGEN_DEVICE_FUNC
     Stride(Index outerStride, Index innerStride)
       : m_outer(outerStride), m_inner(innerStride)
     {
@@ -65,13 +67,16 @@ class Stride
     }
 
     /** Copy constructor */
+    EIGEN_DEVICE_FUNC
     Stride(const Stride& other)
       : m_outer(other.outer()), m_inner(other.inner())
     {}
 
     /** \returns the outer stride */
+    EIGEN_DEVICE_FUNC
     inline Index outer() const { return m_outer.value(); }
     /** \returns the inner stride */
+    EIGEN_DEVICE_FUNC
     inline Index inner() const { return m_inner.value(); }
 
   protected:
@@ -81,26 +86,24 @@ class Stride
 
 /** \brief Convenience specialization of Stride to specify only an inner stride
   * See class Map for some examples */
-template<int Value = Dynamic>
+template<int Value>
 class InnerStride : public Stride<0, Value>
 {
     typedef Stride<0, Value> Base;
   public:
-    typedef DenseIndex Index;
-    InnerStride() : Base() {}
-    InnerStride(Index v) : Base(0, v) {}
+    EIGEN_DEVICE_FUNC InnerStride() : Base() {}
+    EIGEN_DEVICE_FUNC InnerStride(Index v) : Base(0, v) {} // FIXME making this explicit could break valid code
 };
 
 /** \brief Convenience specialization of Stride to specify only an outer stride
   * See class Map for some examples */
-template<int Value = Dynamic>
+template<int Value>
 class OuterStride : public Stride<Value, 0>
 {
     typedef Stride<Value, 0> Base;
   public:
-    typedef DenseIndex Index;
-    OuterStride() : Base() {}
-    OuterStride(Index v) : Base(v,0) {}
+    EIGEN_DEVICE_FUNC OuterStride() : Base() {}
+    EIGEN_DEVICE_FUNC OuterStride(Index v) : Base(v,0) {} // FIXME making this explicit could break valid code
 };
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/Swap.h b/eigenlib/Eigen/src/Core/Swap.h
index bf58bd59..d7020091 100644
--- a/eigenlib/Eigen/src/Core/Swap.h
+++ b/eigenlib/Eigen/src/Core/Swap.h
@@ -12,115 +12,56 @@
 
 namespace Eigen { 
 
-/** \class SwapWrapper
-  * \ingroup Core_Module
-  *
-  * \internal
-  *
-  * \brief Internal helper class for swapping two expressions
-  */
 namespace internal {
-template<typename ExpressionType>
-struct traits<SwapWrapper<ExpressionType> > : traits<ExpressionType> {};
-}
 
-template<typename ExpressionType> class SwapWrapper
-  : public internal::dense_xpr_base<SwapWrapper<ExpressionType> >::type
+// Overload default assignPacket behavior for swapping them
+template<typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT>
+class generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap_assign_op<typename DstEvaluatorTypeT::Scalar>, Specialized>
+ : public generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap_assign_op<typename DstEvaluatorTypeT::Scalar>, BuiltIn>
 {
-  public:
-
-    typedef typename internal::dense_xpr_base<SwapWrapper>::type Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(SwapWrapper)
-    typedef typename internal::packet_traits<Scalar>::type Packet;
-
-    inline SwapWrapper(ExpressionType& xpr) : m_expression(xpr) {}
-
-    inline Index rows() const { return m_expression.rows(); }
-    inline Index cols() const { return m_expression.cols(); }
-    inline Index outerStride() const { return m_expression.outerStride(); }
-    inline Index innerStride() const { return m_expression.innerStride(); }
-    
-    typedef typename internal::conditional<
-                       internal::is_lvalue<ExpressionType>::value,
-                       Scalar,
-                       const Scalar
-                     >::type ScalarWithConstIfNotLvalue;
-                     
-    inline ScalarWithConstIfNotLvalue* data() { return m_expression.data(); }
-    inline const Scalar* data() const { return m_expression.data(); }
-
-    inline Scalar& coeffRef(Index rowId, Index colId)
-    {
-      return m_expression.const_cast_derived().coeffRef(rowId, colId);
-    }
-
-    inline Scalar& coeffRef(Index index)
-    {
-      return m_expression.const_cast_derived().coeffRef(index);
-    }
-
-    inline Scalar& coeffRef(Index rowId, Index colId) const
-    {
-      return m_expression.coeffRef(rowId, colId);
-    }
-
-    inline Scalar& coeffRef(Index index) const
-    {
-      return m_expression.coeffRef(index);
-    }
-
-    template<typename OtherDerived>
-    void copyCoeff(Index rowId, Index colId, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(rowId >= 0 && rowId < rows()
-                         && colId >= 0 && colId < cols());
-      Scalar tmp = m_expression.coeff(rowId, colId);
-      m_expression.coeffRef(rowId, colId) = _other.coeff(rowId, colId);
-      _other.coeffRef(rowId, colId) = tmp;
-    }
-
-    template<typename OtherDerived>
-    void copyCoeff(Index index, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(index >= 0 && index < m_expression.size());
-      Scalar tmp = m_expression.coeff(index);
-      m_expression.coeffRef(index) = _other.coeff(index);
-      _other.coeffRef(index) = tmp;
-    }
-
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    void copyPacket(Index rowId, Index colId, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(rowId >= 0 && rowId < rows()
-                        && colId >= 0 && colId < cols());
-      Packet tmp = m_expression.template packet<StoreMode>(rowId, colId);
-      m_expression.template writePacket<StoreMode>(rowId, colId,
-        _other.template packet<LoadMode>(rowId, colId)
-      );
-      _other.template writePacket<LoadMode>(rowId, colId, tmp);
-    }
-
-    template<typename OtherDerived, int StoreMode, int LoadMode>
-    void copyPacket(Index index, const DenseBase<OtherDerived>& other)
-    {
-      OtherDerived& _other = other.const_cast_derived();
-      eigen_internal_assert(index >= 0 && index < m_expression.size());
-      Packet tmp = m_expression.template packet<StoreMode>(index);
-      m_expression.template writePacket<StoreMode>(index,
-        _other.template packet<LoadMode>(index)
-      );
-      _other.template writePacket<LoadMode>(index, tmp);
-    }
-
-    ExpressionType& expression() const { return m_expression; }
-
-  protected:
-    ExpressionType& m_expression;
+protected:
+  typedef generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, swap_assign_op<typename DstEvaluatorTypeT::Scalar>, BuiltIn> Base;
+  using Base::m_dst;
+  using Base::m_src;
+  using Base::m_functor;
+  
+public:
+  typedef typename Base::Scalar Scalar;
+  typedef typename Base::DstXprType DstXprType;
+  typedef swap_assign_op<Scalar> Functor;
+  
+  EIGEN_DEVICE_FUNC generic_dense_assignment_kernel(DstEvaluatorTypeT &dst, const SrcEvaluatorTypeT &src, const Functor &func, DstXprType& dstExpr)
+    : Base(dst, src, func, dstExpr)
+  {}
+  
+  template<int StoreMode, int LoadMode, typename PacketType>
+  void assignPacket(Index row, Index col)
+  {
+    PacketType tmp = m_src.template packet<LoadMode,PacketType>(row,col);
+    const_cast<SrcEvaluatorTypeT&>(m_src).template writePacket<LoadMode>(row,col, m_dst.template packet<StoreMode,PacketType>(row,col));
+    m_dst.template writePacket<StoreMode>(row,col,tmp);
+  }
+  
+  template<int StoreMode, int LoadMode, typename PacketType>
+  void assignPacket(Index index)
+  {
+    PacketType tmp = m_src.template packet<LoadMode,PacketType>(index);
+    const_cast<SrcEvaluatorTypeT&>(m_src).template writePacket<LoadMode>(index, m_dst.template packet<StoreMode,PacketType>(index));
+    m_dst.template writePacket<StoreMode>(index,tmp);
+  }
+  
+  // TODO find a simple way not to have to copy/paste this function from generic_dense_assignment_kernel, by simple I mean no CRTP (Gael)
+  template<int StoreMode, int LoadMode, typename PacketType>
+  void assignPacketByOuterInner(Index outer, Index inner)
+  {
+    Index row = Base::rowIndexByOuterInner(outer, inner); 
+    Index col = Base::colIndexByOuterInner(outer, inner);
+    assignPacket<StoreMode,LoadMode,PacketType>(row, col);
+  }
 };
 
+} // namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SWAP_H
diff --git a/eigenlib/Eigen/src/Core/Transpose.h b/eigenlib/Eigen/src/Core/Transpose.h
index 22096ea2..79b767bc 100644
--- a/eigenlib/Eigen/src/Core/Transpose.h
+++ b/eigenlib/Eigen/src/Core/Transpose.h
@@ -2,7 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2009-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -13,39 +13,21 @@
 
 namespace Eigen { 
 
-/** \class Transpose
-  * \ingroup Core_Module
-  *
-  * \brief Expression of the transpose of a matrix
-  *
-  * \param MatrixType the type of the object of which we are taking the transpose
-  *
-  * This class represents an expression of the transpose of a matrix.
-  * It is the return type of MatrixBase::transpose() and MatrixBase::adjoint()
-  * and most of the time this is the only way it is used.
-  *
-  * \sa MatrixBase::transpose(), MatrixBase::adjoint()
-  */
-
 namespace internal {
 template<typename MatrixType>
-struct traits<Transpose<MatrixType> > : traits<MatrixType>
+struct traits<Transpose<MatrixType> > : public traits<MatrixType>
 {
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type MatrixTypeNestedPlain;
-  typedef typename traits<MatrixType>::StorageKind StorageKind;
-  typedef typename traits<MatrixType>::XprKind XprKind;
   enum {
     RowsAtCompileTime = MatrixType::ColsAtCompileTime,
     ColsAtCompileTime = MatrixType::RowsAtCompileTime,
     MaxRowsAtCompileTime = MatrixType::MaxColsAtCompileTime,
     MaxColsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
     FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
-    Flags0 = MatrixTypeNestedPlain::Flags & ~(LvalueBit | NestByRefBit),
+    Flags0 = traits<MatrixTypeNestedPlain>::Flags & ~(LvalueBit | NestByRefBit),
     Flags1 = Flags0 | FlagsLvalueBit,
     Flags = Flags1 ^ RowMajorBit,
-    CoeffReadCost = MatrixTypeNestedPlain::CoeffReadCost,
     InnerStrideAtCompileTime = inner_stride_at_compile_time<MatrixType>::ret,
     OuterStrideAtCompileTime = outer_stride_at_compile_time<MatrixType>::ret
   };
@@ -54,31 +36,55 @@ struct traits<Transpose<MatrixType> > : traits<MatrixType>
 
 template<typename MatrixType, typename StorageKind> class TransposeImpl;
 
+/** \class Transpose
+  * \ingroup Core_Module
+  *
+  * \brief Expression of the transpose of a matrix
+  *
+  * \tparam MatrixType the type of the object of which we are taking the transpose
+  *
+  * This class represents an expression of the transpose of a matrix.
+  * It is the return type of MatrixBase::transpose() and MatrixBase::adjoint()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::transpose(), MatrixBase::adjoint()
+  */
 template<typename MatrixType> class Transpose
   : public TransposeImpl<MatrixType,typename internal::traits<MatrixType>::StorageKind>
 {
   public:
 
+    typedef typename internal::ref_selector<MatrixType>::non_const_type MatrixTypeNested;
+
     typedef typename TransposeImpl<MatrixType,typename internal::traits<MatrixType>::StorageKind>::Base Base;
     EIGEN_GENERIC_PUBLIC_INTERFACE(Transpose)
+    typedef typename internal::remove_all<MatrixType>::type NestedExpression;
 
-    inline Transpose(MatrixType& a_matrix) : m_matrix(a_matrix) {}
+    EIGEN_DEVICE_FUNC
+    explicit inline Transpose(MatrixType& matrix) : m_matrix(matrix) {}
 
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Transpose)
 
-    inline Index rows() const { return m_matrix.cols(); }
-    inline Index cols() const { return m_matrix.rows(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.cols(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.rows(); }
 
     /** \returns the nested expression */
-    const typename internal::remove_all<typename MatrixType::Nested>::type&
+    EIGEN_DEVICE_FUNC
+    const typename internal::remove_all<MatrixTypeNested>::type&
     nestedExpression() const { return m_matrix; }
 
     /** \returns the nested expression */
-    typename internal::remove_all<typename MatrixType::Nested>::type&
-    nestedExpression() { return m_matrix.const_cast_derived(); }
+    EIGEN_DEVICE_FUNC
+    typename internal::remove_reference<MatrixTypeNested>::type&
+    nestedExpression() { return m_matrix; }
+
+    /** \internal */
+    void resize(Index nrows, Index ncols) {
+      m_matrix.resize(ncols,nrows);
+    }
 
   protected:
-    typename MatrixType::Nested m_matrix;
+    typename internal::ref_selector<MatrixType>::non_const_type m_matrix;
 };
 
 namespace internal {
@@ -97,17 +103,27 @@ struct TransposeImpl_base<MatrixType, false>
 
 } // end namespace internal
 
+// Generic API dispatcher
+template<typename XprType, typename StorageKind>
+class TransposeImpl
+  : public internal::generic_xpr_base<Transpose<XprType> >::type
+{
+public:
+  typedef typename internal::generic_xpr_base<Transpose<XprType> >::type Base;
+};
+
 template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
   : public internal::TransposeImpl_base<MatrixType>::type
 {
   public:
 
     typedef typename internal::TransposeImpl_base<MatrixType>::type Base;
+    using Base::coeffRef;
     EIGEN_DENSE_PUBLIC_INTERFACE(Transpose<MatrixType>)
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(TransposeImpl)
 
-    inline Index innerStride() const { return derived().nestedExpression().innerStride(); }
-    inline Index outerStride() const { return derived().nestedExpression().outerStride(); }
+    EIGEN_DEVICE_FUNC inline Index innerStride() const { return derived().nestedExpression().innerStride(); }
+    EIGEN_DEVICE_FUNC inline Index outerStride() const { return derived().nestedExpression().outerStride(); }
 
     typedef typename internal::conditional<
                        internal::is_lvalue<MatrixType>::value,
@@ -115,64 +131,21 @@ template<typename MatrixType> class TransposeImpl<MatrixType,Dense>
                        const Scalar
                      >::type ScalarWithConstIfNotLvalue;
 
-    inline ScalarWithConstIfNotLvalue* data() { return derived().nestedExpression().data(); }
-    inline const Scalar* data() const { return derived().nestedExpression().data(); }
-
-    inline ScalarWithConstIfNotLvalue& coeffRef(Index rowId, Index colId)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      return derived().nestedExpression().const_cast_derived().coeffRef(colId, rowId);
-    }
-
-    inline ScalarWithConstIfNotLvalue& coeffRef(Index index)
-    {
-      EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      return derived().nestedExpression().const_cast_derived().coeffRef(index);
-    }
+    EIGEN_DEVICE_FUNC inline ScalarWithConstIfNotLvalue* data() { return derived().nestedExpression().data(); }
+    EIGEN_DEVICE_FUNC inline const Scalar* data() const { return derived().nestedExpression().data(); }
 
+    // FIXME: shall we keep the const version of coeffRef?
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index rowId, Index colId) const
     {
       return derived().nestedExpression().coeffRef(colId, rowId);
     }
 
+    EIGEN_DEVICE_FUNC
     inline const Scalar& coeffRef(Index index) const
     {
       return derived().nestedExpression().coeffRef(index);
     }
-
-    inline CoeffReturnType coeff(Index rowId, Index colId) const
-    {
-      return derived().nestedExpression().coeff(colId, rowId);
-    }
-
-    inline CoeffReturnType coeff(Index index) const
-    {
-      return derived().nestedExpression().coeff(index);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index rowId, Index colId) const
-    {
-      return derived().nestedExpression().template packet<LoadMode>(colId, rowId);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index rowId, Index colId, const PacketScalar& x)
-    {
-      derived().nestedExpression().const_cast_derived().template writePacket<LoadMode>(colId, rowId, x);
-    }
-
-    template<int LoadMode>
-    inline const PacketScalar packet(Index index) const
-    {
-      return derived().nestedExpression().template packet<LoadMode>(index);
-    }
-
-    template<int LoadMode>
-    inline void writePacket(Index index, const PacketScalar& x)
-    {
-      derived().nestedExpression().const_cast_derived().template writePacket<LoadMode>(index, x);
-    }
 };
 
 /** \returns an expression of the transpose of *this.
@@ -198,7 +171,7 @@ template<typename Derived>
 inline Transpose<Derived>
 DenseBase<Derived>::transpose()
 {
-  return derived();
+  return TransposeReturnType(derived());
 }
 
 /** This is the const version of transpose().
@@ -236,8 +209,7 @@ template<typename Derived>
 inline const typename MatrixBase<Derived>::AdjointReturnType
 MatrixBase<Derived>::adjoint() const
 {
-  return this->transpose(); // in the complex case, the .conjugate() is be implicit here
-                            // due to implicit conversion to return type
+  return AdjointReturnType(this->transpose());
 }
 
 /***************************************************************************
@@ -247,18 +219,38 @@ MatrixBase<Derived>::adjoint() const
 namespace internal {
 
 template<typename MatrixType,
-  bool IsSquare = (MatrixType::RowsAtCompileTime == MatrixType::ColsAtCompileTime) && MatrixType::RowsAtCompileTime!=Dynamic>
+  bool IsSquare = (MatrixType::RowsAtCompileTime == MatrixType::ColsAtCompileTime) && MatrixType::RowsAtCompileTime!=Dynamic,
+  bool MatchPacketSize =
+        (int(MatrixType::RowsAtCompileTime) == int(internal::packet_traits<typename MatrixType::Scalar>::size))
+    &&  (internal::evaluator<MatrixType>::Flags&PacketAccessBit) >
 struct inplace_transpose_selector;
 
 template<typename MatrixType>
-struct inplace_transpose_selector<MatrixType,true> { // square matrix
+struct inplace_transpose_selector<MatrixType,true,false> { // square matrix
   static void run(MatrixType& m) {
     m.matrix().template triangularView<StrictlyUpper>().swap(m.matrix().transpose());
   }
 };
 
+// TODO: vectorized path is currently limited to LargestPacketSize x LargestPacketSize cases only.
 template<typename MatrixType>
-struct inplace_transpose_selector<MatrixType,false> { // non square matrix
+struct inplace_transpose_selector<MatrixType,true,true> { // PacketSize x PacketSize
+  static void run(MatrixType& m) {
+    typedef typename MatrixType::Scalar Scalar;
+    typedef typename internal::packet_traits<typename MatrixType::Scalar>::type Packet;
+    const Index PacketSize = internal::packet_traits<Scalar>::size;
+    const Index Alignment = internal::evaluator<MatrixType>::Alignment;
+    PacketBlock<Packet> A;
+    for (Index i=0; i<PacketSize; ++i)
+      A.packet[i] = m.template packetByOuterInner<Alignment>(i,0);
+    internal::ptranspose(A);
+    for (Index i=0; i<PacketSize; ++i)
+      m.template writePacket<Alignment>(m.rowIndexByOuterInner(i,0), m.colIndexByOuterInner(i,0), A.packet[i]);
+  }
+};
+
+template<typename MatrixType,bool MatchPacketSize>
+struct inplace_transpose_selector<MatrixType,false,MatchPacketSize> { // non square matrix
   static void run(MatrixType& m) {
     if (m.rows()==m.cols())
       m.matrix().template triangularView<StrictlyUpper>().swap(m.matrix().transpose());
@@ -331,14 +323,6 @@ inline void MatrixBase<Derived>::adjointInPlace()
 
 namespace internal {
 
-template<typename BinOp,typename NestedXpr,typename Rhs>
-struct blas_traits<SelfCwiseBinaryOp<BinOp,NestedXpr,Rhs> >
- : blas_traits<NestedXpr>
-{
-  typedef SelfCwiseBinaryOp<BinOp,NestedXpr,Rhs> XprType;
-  static inline const XprType extract(const XprType& x) { return x; }
-};
-
 template<bool DestIsTransposed, typename OtherDerived>
 struct check_transpose_aliasing_compile_time_selector
 {
@@ -404,15 +388,15 @@ struct checkTransposeAliasing_impl<Derived, OtherDerived, false>
     }
 };
 
+template<typename Dst, typename Src>
+void check_for_aliasing(const Dst &dst, const Src &src)
+{
+  internal::checkTransposeAliasing_impl<Dst, Src>::run(dst, src);
+}
+
 } // end namespace internal
 
-template<typename Derived>
-template<typename OtherDerived>
-void DenseBase<Derived>::checkTransposeAliasing(const OtherDerived& other) const
-{
-    internal::checkTransposeAliasing_impl<Derived, OtherDerived>::run(derived(), other);
-}
-#endif
+#endif // EIGEN_NO_DEBUG
 
 } // end namespace Eigen
 
diff --git a/eigenlib/Eigen/src/Core/Transpositions.h b/eigenlib/Eigen/src/Core/Transpositions.h
index e4ba0756..19c17bb4 100644
--- a/eigenlib/Eigen/src/Core/Transpositions.h
+++ b/eigenlib/Eigen/src/Core/Transpositions.h
@@ -12,39 +12,6 @@
 
 namespace Eigen { 
 
-/** \class Transpositions
-  * \ingroup Core_Module
-  *
-  * \brief Represents a sequence of transpositions (row/column interchange)
-  *
-  * \param SizeAtCompileTime the number of transpositions, or Dynamic
-  * \param MaxSizeAtCompileTime the maximum number of transpositions, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
-  *
-  * This class represents a permutation transformation as a sequence of \em n transpositions
-  * \f$[T_{n-1} \ldots T_{i} \ldots T_{0}]\f$. It is internally stored as a vector of integers \c indices.
-  * Each transposition \f$ T_{i} \f$ applied on the left of a matrix (\f$ T_{i} M\f$) interchanges
-  * the rows \c i and \c indices[i] of the matrix \c M.
-  * A transposition applied on the right (e.g., \f$ M T_{i}\f$) yields a column interchange.
-  *
-  * Compared to the class PermutationMatrix, such a sequence of transpositions is what is
-  * computed during a decomposition with pivoting, and it is faster when applying the permutation in-place.
-  * 
-  * To apply a sequence of transpositions to a matrix, simply use the operator * as in the following example:
-  * \code
-  * Transpositions tr;
-  * MatrixXf mat;
-  * mat = tr * mat;
-  * \endcode
-  * In this example, we detect that the matrix appears on both side, and so the transpositions
-  * are applied in-place without any temporary or extra copy.
-  *
-  * \sa class PermutationMatrix
-  */
-
-namespace internal {
-template<typename TranspositionType, typename MatrixType, int Side, bool Transposed=false> struct transposition_matrix_product_retval;
-}
-
 template<typename Derived>
 class TranspositionsBase
 {
@@ -53,7 +20,8 @@ class TranspositionsBase
   public:
 
     typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar Index;
+    typedef typename IndicesType::Scalar StorageIndex;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     Derived& derived() { return *static_cast<Derived*>(this); }
     const Derived& derived() const { return *static_cast<const Derived*>(this); }
@@ -65,7 +33,7 @@ class TranspositionsBase
       indices() = other.indices();
       return derived();
     }
-
+    
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** This is a special case of the templated operator=. Its purpose is to
       * prevent a default operator= from hiding the templated operator=.
@@ -78,20 +46,24 @@ class TranspositionsBase
     #endif
 
     /** \returns the number of transpositions */
-    inline Index size() const { return indices().size(); }
+    Index size() const { return indices().size(); }
+    /** \returns the number of rows of the equivalent permutation matrix */
+    Index rows() const { return indices().size(); }
+    /** \returns the number of columns of the equivalent permutation matrix */
+    Index cols() const { return indices().size(); }
 
     /** Direct access to the underlying index vector */
-    inline const Index& coeff(Index i) const { return indices().coeff(i); }
+    inline const StorageIndex& coeff(Index i) const { return indices().coeff(i); }
     /** Direct access to the underlying index vector */
-    inline Index& coeffRef(Index i) { return indices().coeffRef(i); }
+    inline StorageIndex& coeffRef(Index i) { return indices().coeffRef(i); }
     /** Direct access to the underlying index vector */
-    inline const Index& operator()(Index i) const { return indices()(i); }
+    inline const StorageIndex& operator()(Index i) const { return indices()(i); }
     /** Direct access to the underlying index vector */
-    inline Index& operator()(Index i) { return indices()(i); }
+    inline StorageIndex& operator()(Index i) { return indices()(i); }
     /** Direct access to the underlying index vector */
-    inline const Index& operator[](Index i) const { return indices()(i); }
+    inline const StorageIndex& operator[](Index i) const { return indices()(i); }
     /** Direct access to the underlying index vector */
-    inline Index& operator[](Index i) { return indices()(i); }
+    inline StorageIndex& operator[](Index i) { return indices()(i); }
 
     /** const version of indices(). */
     const IndicesType& indices() const { return derived().indices(); }
@@ -99,7 +71,7 @@ class TranspositionsBase
     IndicesType& indices() { return derived().indices(); }
 
     /** Resizes to given size. */
-    inline void resize(int newSize)
+    inline void resize(Index newSize)
     {
       indices().resize(newSize);
     }
@@ -107,7 +79,7 @@ class TranspositionsBase
     /** Sets \c *this to represents an identity transformation */
     void setIdentity()
     {
-      for(int i = 0; i < indices().size(); ++i)
+      for(StorageIndex i = 0; i < indices().size(); ++i)
         coeffRef(i) = i;
     }
 
@@ -144,23 +116,53 @@ class TranspositionsBase
 };
 
 namespace internal {
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
-struct traits<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType> >
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
+struct traits<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
+ : traits<PermutationMatrix<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
 {
-  typedef IndexType Index;
-  typedef Matrix<Index, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
+  typedef Matrix<_StorageIndex, SizeAtCompileTime, 1, 0, MaxSizeAtCompileTime, 1> IndicesType;
+  typedef TranspositionsStorage StorageKind;
 };
 }
 
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType>
-class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType> >
+/** \class Transpositions
+  * \ingroup Core_Module
+  *
+  * \brief Represents a sequence of transpositions (row/column interchange)
+  *
+  * \tparam SizeAtCompileTime the number of transpositions, or Dynamic
+  * \tparam MaxSizeAtCompileTime the maximum number of transpositions, or Dynamic. This optional parameter defaults to SizeAtCompileTime. Most of the time, you should not have to specify it.
+  *
+  * This class represents a permutation transformation as a sequence of \em n transpositions
+  * \f$[T_{n-1} \ldots T_{i} \ldots T_{0}]\f$. It is internally stored as a vector of integers \c indices.
+  * Each transposition \f$ T_{i} \f$ applied on the left of a matrix (\f$ T_{i} M\f$) interchanges
+  * the rows \c i and \c indices[i] of the matrix \c M.
+  * A transposition applied on the right (e.g., \f$ M T_{i}\f$) yields a column interchange.
+  *
+  * Compared to the class PermutationMatrix, such a sequence of transpositions is what is
+  * computed during a decomposition with pivoting, and it is faster when applying the permutation in-place.
+  *
+  * To apply a sequence of transpositions to a matrix, simply use the operator * as in the following example:
+  * \code
+  * Transpositions tr;
+  * MatrixXf mat;
+  * mat = tr * mat;
+  * \endcode
+  * In this example, we detect that the matrix appears on both side, and so the transpositions
+  * are applied in-place without any temporary or extra copy.
+  *
+  * \sa class PermutationMatrix
+  */
+
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex>
+class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
 {
     typedef internal::traits<Transpositions> Traits;
   public:
 
     typedef TranspositionsBase<Transpositions> Base;
     typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar Index;
+    typedef typename IndicesType::Scalar StorageIndex;
 
     inline Transpositions() {}
 
@@ -177,7 +179,7 @@ class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTim
 
     /** Generic constructor from expression of the transposition indices. */
     template<typename Other>
-    explicit inline Transpositions(const MatrixBase<Other>& a_indices) : m_indices(a_indices)
+    explicit inline Transpositions(const MatrixBase<Other>& indices) : m_indices(indices)
     {}
 
     /** Copies the \a other transpositions into \c *this */
@@ -215,30 +217,32 @@ class Transpositions : public TranspositionsBase<Transpositions<SizeAtCompileTim
 
 
 namespace internal {
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int _PacketAccess>
-struct traits<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,_PacketAccess> >
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int _PacketAccess>
+struct traits<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex>,_PacketAccess> >
+ : traits<PermutationMatrix<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex> >
 {
-  typedef IndexType Index;
-  typedef Map<const Matrix<Index,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1>, _PacketAccess> IndicesType;
+  typedef Map<const Matrix<_StorageIndex,SizeAtCompileTime,1,0,MaxSizeAtCompileTime,1>, _PacketAccess> IndicesType;
+  typedef _StorageIndex StorageIndex;
+  typedef TranspositionsStorage StorageKind;
 };
 }
 
-template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename IndexType, int PacketAccess>
-class Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,PacketAccess>
- : public TranspositionsBase<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,PacketAccess> >
+template<int SizeAtCompileTime, int MaxSizeAtCompileTime, typename _StorageIndex, int PacketAccess>
+class Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex>,PacketAccess>
+ : public TranspositionsBase<Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,_StorageIndex>,PacketAccess> >
 {
     typedef internal::traits<Map> Traits;
   public:
 
     typedef TranspositionsBase<Map> Base;
     typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar Index;
+    typedef typename IndicesType::Scalar StorageIndex;
 
-    inline Map(const Index* indicesPtr)
+    explicit inline Map(const StorageIndex* indicesPtr)
       : m_indices(indicesPtr)
     {}
 
-    inline Map(const Index* indicesPtr, Index size)
+    inline Map(const StorageIndex* indicesPtr, Index size)
       : m_indices(indicesPtr,size)
     {}
 
@@ -274,9 +278,9 @@ class Map<Transpositions<SizeAtCompileTime,MaxSizeAtCompileTime,IndexType>,Packe
 namespace internal {
 template<typename _IndicesType>
 struct traits<TranspositionsWrapper<_IndicesType> >
+ : traits<PermutationWrapper<_IndicesType> >
 {
-  typedef typename _IndicesType::Scalar Index;
-  typedef _IndicesType IndicesType;
+  typedef TranspositionsStorage StorageKind;
 };
 }
 
@@ -289,10 +293,10 @@ class TranspositionsWrapper
 
     typedef TranspositionsBase<TranspositionsWrapper> Base;
     typedef typename Traits::IndicesType IndicesType;
-    typedef typename IndicesType::Scalar Index;
+    typedef typename IndicesType::Scalar StorageIndex;
 
-    inline TranspositionsWrapper(IndicesType& a_indices)
-      : m_indices(a_indices)
+    explicit inline TranspositionsWrapper(IndicesType& indices)
+      : m_indices(indices)
     {}
 
     /** Copies the \a other transpositions into \c *this */
@@ -321,83 +325,46 @@ class TranspositionsWrapper
 
   protected:
 
-    const typename IndicesType::Nested m_indices;
+    typename IndicesType::Nested m_indices;
 };
 
+
+
 /** \returns the \a matrix with the \a transpositions applied to the columns.
   */
-template<typename Derived, typename TranspositionsDerived>
-inline const internal::transposition_matrix_product_retval<TranspositionsDerived, Derived, OnTheRight>
-operator*(const MatrixBase<Derived>& matrix,
-          const TranspositionsBase<TranspositionsDerived> &transpositions)
+template<typename MatrixDerived, typename TranspositionsDerived>
+EIGEN_DEVICE_FUNC
+const Product<MatrixDerived, TranspositionsDerived, AliasFreeProduct>
+operator*(const MatrixBase<MatrixDerived> &matrix,
+          const TranspositionsBase<TranspositionsDerived>& transpositions)
 {
-  return internal::transposition_matrix_product_retval
-           <TranspositionsDerived, Derived, OnTheRight>
-           (transpositions.derived(), matrix.derived());
+  return Product<MatrixDerived, TranspositionsDerived, AliasFreeProduct>
+            (matrix.derived(), transpositions.derived());
 }
 
 /** \returns the \a matrix with the \a transpositions applied to the rows.
   */
-template<typename Derived, typename TranspositionDerived>
-inline const internal::transposition_matrix_product_retval
-               <TranspositionDerived, Derived, OnTheLeft>
-operator*(const TranspositionsBase<TranspositionDerived> &transpositions,
-          const MatrixBase<Derived>& matrix)
+template<typename TranspositionsDerived, typename MatrixDerived>
+EIGEN_DEVICE_FUNC
+const Product<TranspositionsDerived, MatrixDerived, AliasFreeProduct>
+operator*(const TranspositionsBase<TranspositionsDerived> &transpositions,
+          const MatrixBase<MatrixDerived>& matrix)
 {
-  return internal::transposition_matrix_product_retval
-           <TranspositionDerived, Derived, OnTheLeft>
-           (transpositions.derived(), matrix.derived());
+  return Product<TranspositionsDerived, MatrixDerived, AliasFreeProduct>
+            (transpositions.derived(), matrix.derived());
 }
 
+// Template partial specialization for transposed/inverse transpositions
+
 namespace internal {
 
-template<typename TranspositionType, typename MatrixType, int Side, bool Transposed>
-struct traits<transposition_matrix_product_retval<TranspositionType, MatrixType, Side, Transposed> >
-{
-  typedef typename MatrixType::PlainObject ReturnType;
-};
-
-template<typename TranspositionType, typename MatrixType, int Side, bool Transposed>
-struct transposition_matrix_product_retval
- : public ReturnByValue<transposition_matrix_product_retval<TranspositionType, MatrixType, Side, Transposed> >
-{
-    typedef typename remove_all<typename MatrixType::Nested>::type MatrixTypeNestedCleaned;
-    typedef typename TranspositionType::Index Index;
-
-    transposition_matrix_product_retval(const TranspositionType& tr, const MatrixType& matrix)
-      : m_transpositions(tr), m_matrix(matrix)
-    {}
-
-    inline int rows() const { return m_matrix.rows(); }
-    inline int cols() const { return m_matrix.cols(); }
-
-    template<typename Dest> inline void evalTo(Dest& dst) const
-    {
-      const int size = m_transpositions.size();
-      Index j = 0;
-
-      if(!(is_same<MatrixTypeNestedCleaned,Dest>::value && extract_data(dst) == extract_data(m_matrix)))
-        dst = m_matrix;
-
-      for(int k=(Transposed?size-1:0) ; Transposed?k>=0:k<size ; Transposed?--k:++k)
-        if((j=m_transpositions.coeff(k))!=k)
-        {
-          if(Side==OnTheLeft)
-            dst.row(k).swap(dst.row(j));
-          else if(Side==OnTheRight)
-            dst.col(k).swap(dst.col(j));
-        }
-    }
-
-  protected:
-    const TranspositionType& m_transpositions;
-    typename MatrixType::Nested m_matrix;
-};
+template<typename Derived>
+struct traits<Transpose<TranspositionsBase<Derived> > >
+ : traits<Derived>
+{};
 
 } // end namespace internal
 
-/* Template partial specialization for transposed/inverse transpositions */
-
 template<typename TranspositionsDerived>
 class Transpose<TranspositionsBase<TranspositionsDerived> >
 {
@@ -405,27 +372,31 @@ class Transpose<TranspositionsBase<TranspositionsDerived> >
     typedef typename TranspositionType::IndicesType IndicesType;
   public:
 
-    Transpose(const TranspositionType& t) : m_transpositions(t) {}
+    explicit Transpose(const TranspositionType& t) : m_transpositions(t) {}
 
-    inline int size() const { return m_transpositions.size(); }
+    Index size() const { return m_transpositions.size(); }
+    Index rows() const { return m_transpositions.size(); }
+    Index cols() const { return m_transpositions.size(); }
 
     /** \returns the \a matrix with the inverse transpositions applied to the columns.
       */
-    template<typename Derived> friend
-    inline const internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheRight, true>
-    operator*(const MatrixBase<Derived>& matrix, const Transpose& trt)
+    template<typename OtherDerived> friend
+    const Product<OtherDerived, Transpose, AliasFreeProduct>
+    operator*(const MatrixBase<OtherDerived>& matrix, const Transpose& trt)
     {
-      return internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheRight, true>(trt.m_transpositions, matrix.derived());
+      return Product<OtherDerived, Transpose, AliasFreeProduct>(matrix.derived(), trt.derived());
     }
 
     /** \returns the \a matrix with the inverse transpositions applied to the rows.
       */
-    template<typename Derived>
-    inline const internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheLeft, true>
-    operator*(const MatrixBase<Derived>& matrix) const
+    template<typename OtherDerived>
+    const Product<Transpose, OtherDerived, AliasFreeProduct>
+    operator*(const MatrixBase<OtherDerived>& matrix) const
     {
-      return internal::transposition_matrix_product_retval<TranspositionType, Derived, OnTheLeft, true>(m_transpositions, matrix.derived());
+      return Product<Transpose, OtherDerived, AliasFreeProduct>(*this, matrix.derived());
     }
+    
+    const TranspositionType& nestedExpression() const { return m_transpositions; }
 
   protected:
     const TranspositionType& m_transpositions;
diff --git a/eigenlib/Eigen/src/Core/TriangularMatrix.h b/eigenlib/Eigen/src/Core/TriangularMatrix.h
index 4d65392c..667ef09d 100644
--- a/eigenlib/Eigen/src/Core/TriangularMatrix.h
+++ b/eigenlib/Eigen/src/Core/TriangularMatrix.h
@@ -19,9 +19,7 @@ template<int Side, typename TriangularType, typename Rhs> struct triangular_solv
   
 }
 
-/** \internal
-  *
-  * \class TriangularBase
+/** \class TriangularBase
   * \ingroup Core_Module
   *
   * \brief Base class for triangular part in a matrix
@@ -32,41 +30,69 @@ template<typename Derived> class TriangularBase : public EigenBase<Derived>
 
     enum {
       Mode = internal::traits<Derived>::Mode,
-      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
       RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
       ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
       MaxRowsAtCompileTime = internal::traits<Derived>::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime
+      MaxColsAtCompileTime = internal::traits<Derived>::MaxColsAtCompileTime,
+      
+      SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
+                                                   internal::traits<Derived>::ColsAtCompileTime>::ret),
+      /**< This is equal to the number of coefficients, i.e. the number of
+          * rows times the number of columns, or to \a Dynamic if this is not
+          * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
+      
+      MaxSizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::MaxRowsAtCompileTime,
+                                                   internal::traits<Derived>::MaxColsAtCompileTime>::ret)
+        
     };
     typedef typename internal::traits<Derived>::Scalar Scalar;
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
-    typedef typename internal::traits<Derived>::DenseMatrixType DenseMatrixType;
+    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
+    typedef typename internal::traits<Derived>::FullMatrixType DenseMatrixType;
     typedef DenseMatrixType DenseType;
+    typedef Derived const& Nested;
 
+    EIGEN_DEVICE_FUNC
     inline TriangularBase() { eigen_assert(!((Mode&UnitDiag) && (Mode&ZeroDiag))); }
 
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return derived().rows(); }
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return derived().cols(); }
+    EIGEN_DEVICE_FUNC
     inline Index outerStride() const { return derived().outerStride(); }
+    EIGEN_DEVICE_FUNC
     inline Index innerStride() const { return derived().innerStride(); }
+    
+    // dummy resize function
+    void resize(Index rows, Index cols)
+    {
+      EIGEN_UNUSED_VARIABLE(rows);
+      EIGEN_UNUSED_VARIABLE(cols);
+      eigen_assert(rows==this->rows() && cols==this->cols());
+    }
 
+    EIGEN_DEVICE_FUNC
     inline Scalar coeff(Index row, Index col) const  { return derived().coeff(row,col); }
+    EIGEN_DEVICE_FUNC
     inline Scalar& coeffRef(Index row, Index col) { return derived().coeffRef(row,col); }
 
     /** \see MatrixBase::copyCoeff(row,col)
       */
     template<typename Other>
+    EIGEN_DEVICE_FUNC
     EIGEN_STRONG_INLINE void copyCoeff(Index row, Index col, Other& other)
     {
       derived().coeffRef(row, col) = other.coeff(row, col);
     }
 
+    EIGEN_DEVICE_FUNC
     inline Scalar operator()(Index row, Index col) const
     {
       check_coordinates(row, col);
       return coeff(row,col);
     }
+    EIGEN_DEVICE_FUNC
     inline Scalar& operator()(Index row, Index col)
     {
       check_coordinates(row, col);
@@ -74,15 +100,20 @@ template<typename Derived> class TriangularBase : public EigenBase<Derived>
     }
 
     #ifndef EIGEN_PARSED_BY_DOXYGEN
+    EIGEN_DEVICE_FUNC
     inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    EIGEN_DEVICE_FUNC
     inline Derived& derived() { return *static_cast<Derived*>(this); }
     #endif // not EIGEN_PARSED_BY_DOXYGEN
 
     template<typename DenseDerived>
+    EIGEN_DEVICE_FUNC
     void evalTo(MatrixBase<DenseDerived> &other) const;
     template<typename DenseDerived>
+    EIGEN_DEVICE_FUNC
     void evalToLazy(MatrixBase<DenseDerived> &other) const;
 
+    EIGEN_DEVICE_FUNC
     DenseMatrixType toDenseMatrix() const
     {
       DenseMatrixType res(rows(), cols());
@@ -119,17 +150,17 @@ template<typename Derived> class TriangularBase : public EigenBase<Derived>
 /** \class TriangularView
   * \ingroup Core_Module
   *
-  * \brief Base class for triangular part in a matrix
+  * \brief Expression of a triangular part in a matrix
   *
   * \param MatrixType the type of the object in which we are taking the triangular part
   * \param Mode the kind of triangular matrix expression to construct. Can be #Upper,
   *             #Lower, #UnitUpper, #UnitLower, #StrictlyUpper, or #StrictlyLower.
   *             This is in fact a bit field; it must have either #Upper or #Lower, 
-  *             and additionnaly it may have #UnitDiag or #ZeroDiag or neither.
+  *             and additionally it may have #UnitDiag or #ZeroDiag or neither.
   *
   * This class represents a triangular part of a matrix, not necessarily square. Strictly speaking, for rectangular
   * matrices one should speak of "trapezoid" parts. This class is the return type
-  * of MatrixBase::triangularView() and most of the time this is the only way it is used.
+  * of MatrixBase::triangularView() and SparseMatrixBase::triangularView(), and most of the time this is the only way it is used.
   *
   * \sa MatrixBase::triangularView()
   */
@@ -137,234 +168,144 @@ namespace internal {
 template<typename MatrixType, unsigned int _Mode>
 struct traits<TriangularView<MatrixType, _Mode> > : traits<MatrixType>
 {
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::non_const_type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type MatrixTypeNestedNonRef;
   typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
+  typedef typename MatrixType::PlainObject FullMatrixType;
   typedef MatrixType ExpressionType;
-  typedef typename MatrixType::PlainObject DenseMatrixType;
   enum {
     Mode = _Mode,
-    Flags = (MatrixTypeNestedCleaned::Flags & (HereditaryBits) & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit))) | Mode,
-    CoeffReadCost = MatrixTypeNestedCleaned::CoeffReadCost
+    FlagsLvalueBit = is_lvalue<MatrixType>::value ? LvalueBit : 0,
+    Flags = (MatrixTypeNestedCleaned::Flags & (HereditaryBits | FlagsLvalueBit) & (~(PacketAccessBit | DirectAccessBit | LinearAccessBit)))
   };
 };
 }
 
-template<int Mode, bool LhsIsTriangular,
-         typename Lhs, bool LhsIsVector,
-         typename Rhs, bool RhsIsVector>
-struct TriangularProduct;
+template<typename _MatrixType, unsigned int _Mode, typename StorageKind> class TriangularViewImpl;
 
 template<typename _MatrixType, unsigned int _Mode> class TriangularView
-  : public TriangularBase<TriangularView<_MatrixType, _Mode> >
+  : public TriangularViewImpl<_MatrixType, _Mode, typename internal::traits<_MatrixType>::StorageKind >
 {
   public:
 
-    typedef TriangularBase<TriangularView> Base;
+    typedef TriangularViewImpl<_MatrixType, _Mode, typename internal::traits<_MatrixType>::StorageKind > Base;
     typedef typename internal::traits<TriangularView>::Scalar Scalar;
-
     typedef _MatrixType MatrixType;
-    typedef typename internal::traits<TriangularView>::DenseMatrixType DenseMatrixType;
-    typedef DenseMatrixType PlainObject;
 
   protected:
     typedef typename internal::traits<TriangularView>::MatrixTypeNested MatrixTypeNested;
     typedef typename internal::traits<TriangularView>::MatrixTypeNestedNonRef MatrixTypeNestedNonRef;
-    typedef typename internal::traits<TriangularView>::MatrixTypeNestedCleaned MatrixTypeNestedCleaned;
 
     typedef typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type MatrixConjugateReturnType;
     
   public:
-    using Base::evalToLazy;
-  
 
     typedef typename internal::traits<TriangularView>::StorageKind StorageKind;
-    typedef typename internal::traits<TriangularView>::Index Index;
+    typedef typename internal::traits<TriangularView>::MatrixTypeNestedCleaned NestedExpression;
 
     enum {
       Mode = _Mode,
+      Flags = internal::traits<TriangularView>::Flags,
       TransposeMode = (Mode & Upper ? Lower : 0)
                     | (Mode & Lower ? Upper : 0)
                     | (Mode & (UnitDiag))
-                    | (Mode & (ZeroDiag))
+                    | (Mode & (ZeroDiag)),
+      IsVectorAtCompileTime = false
     };
 
-    inline TriangularView(const MatrixType& matrix) : m_matrix(matrix)
+    EIGEN_DEVICE_FUNC
+    explicit inline TriangularView(MatrixType& matrix) : m_matrix(matrix)
     {}
+    
+    using Base::operator=;
+    TriangularView& operator=(const TriangularView &other)
+    { return Base::operator=(other); }
 
+    /** \copydoc EigenBase::rows() */
+    EIGEN_DEVICE_FUNC
     inline Index rows() const { return m_matrix.rows(); }
+    /** \copydoc EigenBase::cols() */
+    EIGEN_DEVICE_FUNC
     inline Index cols() const { return m_matrix.cols(); }
-    inline Index outerStride() const { return m_matrix.outerStride(); }
-    inline Index innerStride() const { return m_matrix.innerStride(); }
 
-    /** \sa MatrixBase::operator+=() */
-    template<typename Other> TriangularView&  operator+=(const DenseBase<Other>& other) { return *this = m_matrix + other.derived(); }
-    /** \sa MatrixBase::operator-=() */
-    template<typename Other> TriangularView&  operator-=(const DenseBase<Other>& other) { return *this = m_matrix - other.derived(); }
-    /** \sa MatrixBase::operator*=() */
-    TriangularView&  operator*=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = m_matrix * other; }
-    /** \sa MatrixBase::operator/=() */
-    TriangularView&  operator/=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = m_matrix / other; }
+    /** \returns a const reference to the nested expression */
+    EIGEN_DEVICE_FUNC
+    const NestedExpression& nestedExpression() const { return m_matrix; }
 
-    /** \sa MatrixBase::fill() */
-    void fill(const Scalar& value) { setConstant(value); }
-    /** \sa MatrixBase::setConstant() */
-    TriangularView& setConstant(const Scalar& value)
-    { return *this = MatrixType::Constant(rows(), cols(), value); }
-    /** \sa MatrixBase::setZero() */
-    TriangularView& setZero() { return setConstant(Scalar(0)); }
-    /** \sa MatrixBase::setOnes() */
-    TriangularView& setOnes() { return setConstant(Scalar(1)); }
-
-    /** \sa MatrixBase::coeff()
-      * \warning the coordinates must fit into the referenced triangular part
-      */
-    inline Scalar coeff(Index row, Index col) const
-    {
-      Base::check_coordinates_internal(row, col);
-      return m_matrix.coeff(row, col);
-    }
-
-    /** \sa MatrixBase::coeffRef()
-      * \warning the coordinates must fit into the referenced triangular part
-      */
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      Base::check_coordinates_internal(row, col);
-      return m_matrix.const_cast_derived().coeffRef(row, col);
-    }
-
-    const MatrixTypeNestedCleaned& nestedExpression() const { return m_matrix; }
-    MatrixTypeNestedCleaned& nestedExpression() { return *const_cast<MatrixTypeNestedCleaned*>(&m_matrix); }
-
-    /** Assigns a triangular matrix to a triangular part of a dense matrix */
-    template<typename OtherDerived>
-    TriangularView& operator=(const TriangularBase<OtherDerived>& other);
-
-    template<typename OtherDerived>
-    TriangularView& operator=(const MatrixBase<OtherDerived>& other);
-
-    TriangularView& operator=(const TriangularView& other)
-    { return *this = other.nestedExpression(); }
-
-    template<typename OtherDerived>
-    void lazyAssign(const TriangularBase<OtherDerived>& other);
-
-    template<typename OtherDerived>
-    void lazyAssign(const MatrixBase<OtherDerived>& other);
-
-    /** \sa MatrixBase::conjugate() */
-    inline TriangularView<MatrixConjugateReturnType,Mode> conjugate()
-    { return m_matrix.conjugate(); }
+    /** \returns a reference to the nested expression */
+    EIGEN_DEVICE_FUNC
+    NestedExpression& nestedExpression() { return m_matrix; }
+    
+    typedef TriangularView<const MatrixConjugateReturnType,Mode> ConjugateReturnType;
     /** \sa MatrixBase::conjugate() const */
-    inline const TriangularView<MatrixConjugateReturnType,Mode> conjugate() const
-    { return m_matrix.conjugate(); }
+    EIGEN_DEVICE_FUNC
+    inline const ConjugateReturnType conjugate() const
+    { return ConjugateReturnType(m_matrix.conjugate()); }
 
+    typedef TriangularView<const typename MatrixType::AdjointReturnType,TransposeMode> AdjointReturnType;
     /** \sa MatrixBase::adjoint() const */
-    inline const TriangularView<const typename MatrixType::AdjointReturnType,TransposeMode> adjoint() const
-    { return m_matrix.adjoint(); }
+    EIGEN_DEVICE_FUNC
+    inline const AdjointReturnType adjoint() const
+    { return AdjointReturnType(m_matrix.adjoint()); }
 
-    /** \sa MatrixBase::transpose() */
-    inline TriangularView<Transpose<MatrixType>,TransposeMode> transpose()
+    typedef TriangularView<typename MatrixType::TransposeReturnType,TransposeMode> TransposeReturnType;
+     /** \sa MatrixBase::transpose() */
+    EIGEN_DEVICE_FUNC
+    inline TransposeReturnType transpose()
     {
       EIGEN_STATIC_ASSERT_LVALUE(MatrixType)
-      return m_matrix.const_cast_derived().transpose();
+      typename MatrixType::TransposeReturnType tmp(m_matrix);
+      return TransposeReturnType(tmp);
     }
+    
+    typedef TriangularView<const typename MatrixType::ConstTransposeReturnType,TransposeMode> ConstTransposeReturnType;
     /** \sa MatrixBase::transpose() const */
-    inline const TriangularView<Transpose<MatrixType>,TransposeMode> transpose() const
+    EIGEN_DEVICE_FUNC
+    inline const ConstTransposeReturnType transpose() const
     {
-      return m_matrix.transpose();
+      return ConstTransposeReturnType(m_matrix.transpose());
     }
 
-    /** Efficient triangular matrix times vector/matrix product */
-    template<typename OtherDerived>
-    TriangularProduct<Mode, true, MatrixType, false, OtherDerived, OtherDerived::ColsAtCompileTime==1>
-    operator*(const MatrixBase<OtherDerived>& rhs) const
-    {
-      return TriangularProduct
-              <Mode, true, MatrixType, false, OtherDerived, OtherDerived::ColsAtCompileTime==1>
-              (m_matrix, rhs.derived());
-    }
-
-    /** Efficient vector/matrix times triangular matrix product */
-    template<typename OtherDerived> friend
-    TriangularProduct<Mode, false, OtherDerived, OtherDerived::RowsAtCompileTime==1, MatrixType, false>
-    operator*(const MatrixBase<OtherDerived>& lhs, const TriangularView& rhs)
-    {
-      return TriangularProduct
-              <Mode, false, OtherDerived, OtherDerived::RowsAtCompileTime==1, MatrixType, false>
-              (lhs.derived(),rhs.m_matrix);
-    }
-
-    #ifdef EIGEN2_SUPPORT
-    template<typename OtherDerived>
-    struct eigen2_product_return_type
-    {
-      typedef typename TriangularView<MatrixType,Mode>::DenseMatrixType DenseMatrixType;
-      typedef typename OtherDerived::PlainObject::DenseType OtherPlainObject;
-      typedef typename ProductReturnType<DenseMatrixType, OtherPlainObject>::Type ProdRetType;
-      typedef typename ProdRetType::PlainObject type;
-    };
-    template<typename OtherDerived>
-    const typename eigen2_product_return_type<OtherDerived>::type
-    operator*(const EigenBase<OtherDerived>& rhs) const
-    {
-      typename OtherDerived::PlainObject::DenseType rhsPlainObject;
-      rhs.evalTo(rhsPlainObject);
-      return this->toDenseMatrix() * rhsPlainObject;
-    }
-    template<typename OtherMatrixType>
-    bool isApprox(const TriangularView<OtherMatrixType, Mode>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
-    {
-      return this->toDenseMatrix().isApprox(other.toDenseMatrix(), precision);
-    }
-    template<typename OtherDerived>
-    bool isApprox(const MatrixBase<OtherDerived>& other, typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision()) const
-    {
-      return this->toDenseMatrix().isApprox(other, precision);
-    }
-    #endif // EIGEN2_SUPPORT
-
-    template<int Side, typename Other>
-    inline const internal::triangular_solve_retval<Side,TriangularView, Other>
-    solve(const MatrixBase<Other>& other) const;
-
-    template<int Side, typename OtherDerived>
-    void solveInPlace(const MatrixBase<OtherDerived>& other) const;
-
     template<typename Other>
-    inline const internal::triangular_solve_retval<OnTheLeft,TriangularView, Other> 
+    EIGEN_DEVICE_FUNC
+    inline const Solve<TriangularView, Other> 
     solve(const MatrixBase<Other>& other) const
-    { return solve<OnTheLeft>(other); }
+    { return Solve<TriangularView, Other>(*this, other.derived()); }
+    
+  // workaround MSVC ICE
+  #if EIGEN_COMP_MSVC
+    template<int Side, typename Other>
+    EIGEN_DEVICE_FUNC
+    inline const internal::triangular_solve_retval<Side,TriangularView, Other>
+    solve(const MatrixBase<Other>& other) const
+    { return Base::template solve<Side>(other); }
+  #else
+    using Base::solve;
+  #endif
 
-    template<typename OtherDerived>
-    void solveInPlace(const MatrixBase<OtherDerived>& other) const
-    { return solveInPlace<OnTheLeft>(other); }
-
-    const SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView() const
-    {
-      EIGEN_STATIC_ASSERT((Mode&UnitDiag)==0,PROGRAMMING_ERROR);
-      return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
-    }
+    /** \returns a selfadjoint view of the referenced triangular part which must be either \c #Upper or \c #Lower.
+      *
+      * This is a shortcut for \code this->nestedExpression().selfadjointView<(*this)::Mode>() \endcode
+      * \sa MatrixBase::selfadjointView() */
+    EIGEN_DEVICE_FUNC
     SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView()
     {
-      EIGEN_STATIC_ASSERT((Mode&UnitDiag)==0,PROGRAMMING_ERROR);
+      EIGEN_STATIC_ASSERT((Mode&(UnitDiag|ZeroDiag))==0,PROGRAMMING_ERROR);
       return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
     }
 
-    template<typename OtherDerived>
-    void swap(TriangularBase<OtherDerived> const & other)
+    /** This is the const version of selfadjointView() */
+    EIGEN_DEVICE_FUNC
+    const SelfAdjointView<MatrixTypeNestedNonRef,Mode> selfadjointView() const
     {
-      TriangularView<SwapWrapper<MatrixType>,Mode>(const_cast<MatrixType&>(m_matrix)).lazyAssign(other.derived());
+      EIGEN_STATIC_ASSERT((Mode&(UnitDiag|ZeroDiag))==0,PROGRAMMING_ERROR);
+      return SelfAdjointView<MatrixTypeNestedNonRef,Mode>(m_matrix);
     }
 
-    template<typename OtherDerived>
-    void swap(MatrixBase<OtherDerived> const & other)
-    {
-      SwapWrapper<MatrixType> swaper(const_cast<MatrixType&>(m_matrix));
-      TriangularView<SwapWrapper<MatrixType>,Mode>(swaper).lazyAssign(other.derived());
-    }
 
+    /** \returns the determinant of the triangular matrix
+      * \sa MatrixBase::determinant() */
+    EIGEN_DEVICE_FUNC
     Scalar determinant() const
     {
       if (Mode & UnitDiag)
@@ -374,262 +315,258 @@ template<typename _MatrixType, unsigned int _Mode> class TriangularView
       else
         return m_matrix.diagonal().prod();
     }
-    
-    // TODO simplify the following:
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE TriangularView& operator=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
-    {
-      setZero();
-      return assignProduct(other.derived(),1);
-    }
-    
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE TriangularView& operator+=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
-    {
-      return assignProduct(other.derived(),1);
-    }
-    
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE TriangularView& operator-=(const ProductBase<ProductDerived, Lhs,Rhs>& other)
-    {
-      return assignProduct(other.derived(),-1);
-    }
-    
-    
-    template<typename ProductDerived>
-    EIGEN_STRONG_INLINE TriangularView& operator=(const ScaledProduct<ProductDerived>& other)
-    {
-      setZero();
-      return assignProduct(other.derived(),other.alpha());
-    }
-    
-    template<typename ProductDerived>
-    EIGEN_STRONG_INLINE TriangularView& operator+=(const ScaledProduct<ProductDerived>& other)
-    {
-      return assignProduct(other.derived(),other.alpha());
-    }
-    
-    template<typename ProductDerived>
-    EIGEN_STRONG_INLINE TriangularView& operator-=(const ScaledProduct<ProductDerived>& other)
-    {
-      return assignProduct(other.derived(),-other.alpha());
-    }
-    
+      
   protected:
-    
-    template<typename ProductDerived, typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE TriangularView& assignProduct(const ProductBase<ProductDerived, Lhs,Rhs>& prod, const Scalar& alpha);
-    
-    template<int Mode, bool LhsIsTriangular,
-         typename Lhs, bool LhsIsVector,
-         typename Rhs, bool RhsIsVector>
-    EIGEN_STRONG_INLINE TriangularView& assignProduct(const TriangularProduct<Mode, LhsIsTriangular, Lhs, LhsIsVector, Rhs, RhsIsVector>& prod, const Scalar& alpha)
-    {
-      lazyAssign(alpha*prod.eval());
-      return *this;
-    }
 
     MatrixTypeNested m_matrix;
 };
 
+/** \ingroup Core_Module
+  *
+  * \brief Base class for a triangular part in a \b dense matrix
+  *
+  * This class is an abstract base class of class TriangularView, and objects of type TriangularViewImpl cannot be instantiated.
+  * It extends class TriangularView with additional methods which available for dense expressions only.
+  *
+  * \sa class TriangularView, MatrixBase::triangularView()
+  */
+template<typename _MatrixType, unsigned int _Mode> class TriangularViewImpl<_MatrixType,_Mode,Dense>
+  : public TriangularBase<TriangularView<_MatrixType, _Mode> >
+{
+  public:
+
+    typedef TriangularView<_MatrixType, _Mode> TriangularViewType;
+    typedef TriangularBase<TriangularViewType> Base;
+    typedef typename internal::traits<TriangularViewType>::Scalar Scalar;
+
+    typedef _MatrixType MatrixType;
+    typedef typename MatrixType::PlainObject DenseMatrixType;
+    typedef DenseMatrixType PlainObject;
+
+  public:
+    using Base::evalToLazy;
+    using Base::derived;
+
+    typedef typename internal::traits<TriangularViewType>::StorageKind StorageKind;
+
+    enum {
+      Mode = _Mode,
+      Flags = internal::traits<TriangularViewType>::Flags
+    };
+
+    /** \returns the outer-stride of the underlying dense matrix
+      * \sa DenseCoeffsBase::outerStride() */
+    EIGEN_DEVICE_FUNC
+    inline Index outerStride() const { return derived().nestedExpression().outerStride(); }
+    /** \returns the inner-stride of the underlying dense matrix
+      * \sa DenseCoeffsBase::innerStride() */
+    EIGEN_DEVICE_FUNC
+    inline Index innerStride() const { return derived().nestedExpression().innerStride(); }
+
+    /** \sa MatrixBase::operator+=() */
+    template<typename Other>
+    EIGEN_DEVICE_FUNC
+    TriangularViewType&  operator+=(const DenseBase<Other>& other) {
+      internal::call_assignment_no_alias(derived(), other.derived(), internal::add_assign_op<Scalar,typename Other::Scalar>());
+      return derived();
+    }
+    /** \sa MatrixBase::operator-=() */
+    template<typename Other>
+    EIGEN_DEVICE_FUNC
+    TriangularViewType&  operator-=(const DenseBase<Other>& other) {
+      internal::call_assignment_no_alias(derived(), other.derived(), internal::sub_assign_op<Scalar,typename Other::Scalar>());
+      return derived();
+    }
+    
+    /** \sa MatrixBase::operator*=() */
+    EIGEN_DEVICE_FUNC
+    TriangularViewType&  operator*=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = derived().nestedExpression() * other; }
+    /** \sa DenseBase::operator/=() */
+    EIGEN_DEVICE_FUNC
+    TriangularViewType&  operator/=(const typename internal::traits<MatrixType>::Scalar& other) { return *this = derived().nestedExpression() / other; }
+
+    /** \sa MatrixBase::fill() */
+    EIGEN_DEVICE_FUNC
+    void fill(const Scalar& value) { setConstant(value); }
+    /** \sa MatrixBase::setConstant() */
+    EIGEN_DEVICE_FUNC
+    TriangularViewType& setConstant(const Scalar& value)
+    { return *this = MatrixType::Constant(derived().rows(), derived().cols(), value); }
+    /** \sa MatrixBase::setZero() */
+    EIGEN_DEVICE_FUNC
+    TriangularViewType& setZero() { return setConstant(Scalar(0)); }
+    /** \sa MatrixBase::setOnes() */
+    EIGEN_DEVICE_FUNC
+    TriangularViewType& setOnes() { return setConstant(Scalar(1)); }
+
+    /** \sa MatrixBase::coeff()
+      * \warning the coordinates must fit into the referenced triangular part
+      */
+    EIGEN_DEVICE_FUNC
+    inline Scalar coeff(Index row, Index col) const
+    {
+      Base::check_coordinates_internal(row, col);
+      return derived().nestedExpression().coeff(row, col);
+    }
+
+    /** \sa MatrixBase::coeffRef()
+      * \warning the coordinates must fit into the referenced triangular part
+      */
+    EIGEN_DEVICE_FUNC
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(TriangularViewType);
+      Base::check_coordinates_internal(row, col);
+      return derived().nestedExpression().coeffRef(row, col);
+    }
+
+    /** Assigns a triangular matrix to a triangular part of a dense matrix */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    TriangularViewType& operator=(const TriangularBase<OtherDerived>& other);
+
+    /** Shortcut for\code *this = other.other.triangularView<(*this)::Mode>() \endcode */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    TriangularViewType& operator=(const MatrixBase<OtherDerived>& other);
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    EIGEN_DEVICE_FUNC
+    TriangularViewType& operator=(const TriangularViewImpl& other)
+    { return *this = other.derived().nestedExpression(); }
+
+    /** \deprecated */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    void lazyAssign(const TriangularBase<OtherDerived>& other);
+
+    /** \deprecated */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    void lazyAssign(const MatrixBase<OtherDerived>& other);
+#endif
+
+    /** Efficient triangular matrix times vector/matrix product */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    const Product<TriangularViewType,OtherDerived>
+    operator*(const MatrixBase<OtherDerived>& rhs) const
+    {
+      return Product<TriangularViewType,OtherDerived>(derived(), rhs.derived());
+    }
+
+    /** Efficient vector/matrix times triangular matrix product */
+    template<typename OtherDerived> friend
+    EIGEN_DEVICE_FUNC
+    const Product<OtherDerived,TriangularViewType>
+    operator*(const MatrixBase<OtherDerived>& lhs, const TriangularViewImpl& rhs)
+    {
+      return Product<OtherDerived,TriangularViewType>(lhs.derived(),rhs.derived());
+    }
+
+    /** \returns the product of the inverse of \c *this with \a other, \a *this being triangular.
+      *
+      * This function computes the inverse-matrix matrix product inverse(\c *this) * \a other if
+      * \a Side==OnTheLeft (the default), or the right-inverse-multiply  \a other * inverse(\c *this) if
+      * \a Side==OnTheRight.
+      *
+      * Note that the template parameter \c Side can be ommitted, in which case \c Side==OnTheLeft
+      *
+      * The matrix \c *this must be triangular and invertible (i.e., all the coefficients of the
+      * diagonal must be non zero). It works as a forward (resp. backward) substitution if \c *this
+      * is an upper (resp. lower) triangular matrix.
+      *
+      * Example: \include Triangular_solve.cpp
+      * Output: \verbinclude Triangular_solve.out
+      *
+      * This function returns an expression of the inverse-multiply and can works in-place if it is assigned
+      * to the same matrix or vector \a other.
+      *
+      * For users coming from BLAS, this function (and more specifically solveInPlace()) offer
+      * all the operations supported by the \c *TRSV and \c *TRSM BLAS routines.
+      *
+      * \sa TriangularView::solveInPlace()
+      */
+    template<int Side, typename Other>
+    EIGEN_DEVICE_FUNC
+    inline const internal::triangular_solve_retval<Side,TriangularViewType, Other>
+    solve(const MatrixBase<Other>& other) const;
+
+    /** "in-place" version of TriangularView::solve() where the result is written in \a other
+      *
+      * \warning The parameter is only marked 'const' to make the C++ compiler accept a temporary expression here.
+      * This function will const_cast it, so constness isn't honored here.
+      *
+      * Note that the template parameter \c Side can be ommitted, in which case \c Side==OnTheLeft
+      *
+      * See TriangularView:solve() for the details.
+      */
+    template<int Side, typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    void solveInPlace(const MatrixBase<OtherDerived>& other) const;
+
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    void solveInPlace(const MatrixBase<OtherDerived>& other) const
+    { return solveInPlace<OnTheLeft>(other); }
+
+    /** Swaps the coefficients of the common triangular parts of two matrices */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+    void swap(TriangularBase<OtherDerived> &other)
+#else
+    void swap(TriangularBase<OtherDerived> const & other)
+#endif
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(OtherDerived);
+      call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op<Scalar>());
+    }
+
+    /** \deprecated
+      * Shortcut for \code (*this).swap(other.triangularView<(*this)::Mode>()) \endcode */
+    template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
+    void swap(MatrixBase<OtherDerived> const & other)
+    {
+      EIGEN_STATIC_ASSERT_LVALUE(OtherDerived);
+      call_assignment(derived(), other.const_cast_derived(), internal::swap_assign_op<Scalar>());
+    }
+
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _solve_impl(const RhsType &rhs, DstType &dst) const {
+      if(!internal::is_same_dense(dst,rhs))
+        dst = rhs;
+      this->solveInPlace(dst);
+    }
+
+    template<typename ProductType>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE TriangularViewType& _assignProduct(const ProductType& prod, const Scalar& alpha, bool beta);
+};
+
 /***************************************************************************
 * Implementation of triangular evaluation/assignment
 ***************************************************************************/
 
-namespace internal {
-
-template<typename Derived1, typename Derived2, unsigned int Mode, int UnrollCount, bool ClearOpposite>
-struct triangular_assignment_selector
-{
-  enum {
-    col = (UnrollCount-1) / Derived1::RowsAtCompileTime,
-    row = (UnrollCount-1) % Derived1::RowsAtCompileTime
-  };
-  
-  typedef typename Derived1::Scalar Scalar;
-
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    triangular_assignment_selector<Derived1, Derived2, Mode, UnrollCount-1, ClearOpposite>::run(dst, src);
-
-    eigen_assert( Mode == Upper || Mode == Lower
-            || Mode == StrictlyUpper || Mode == StrictlyLower
-            || Mode == UnitUpper || Mode == UnitLower);
-    if((Mode == Upper && row <= col)
-    || (Mode == Lower && row >= col)
-    || (Mode == StrictlyUpper && row < col)
-    || (Mode == StrictlyLower && row > col)
-    || (Mode == UnitUpper && row < col)
-    || (Mode == UnitLower && row > col))
-      dst.copyCoeff(row, col, src);
-    else if(ClearOpposite)
-    {
-      if (Mode&UnitDiag && row==col)
-        dst.coeffRef(row, col) = Scalar(1);
-      else
-        dst.coeffRef(row, col) = Scalar(0);
-    }
-  }
-};
-
-// prevent buggy user code from causing an infinite recursion
-template<typename Derived1, typename Derived2, unsigned int Mode, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, Mode, 0, ClearOpposite>
-{
-  static inline void run(Derived1 &, const Derived2 &) {}
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, Upper, Dynamic, ClearOpposite>
-{
-  typedef typename Derived1::Index Index;
-  typedef typename Derived1::Scalar Scalar;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      Index maxi = (std::min)(j, dst.rows()-1);
-      for(Index i = 0; i <= maxi; ++i)
-        dst.copyCoeff(i, j, src);
-      if (ClearOpposite)
-        for(Index i = maxi+1; i < dst.rows(); ++i)
-          dst.coeffRef(i, j) = Scalar(0);
-    }
-  }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, Lower, Dynamic, ClearOpposite>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      for(Index i = j; i < dst.rows(); ++i)
-        dst.copyCoeff(i, j, src);
-      Index maxi = (std::min)(j, dst.rows());
-      if (ClearOpposite)
-        for(Index i = 0; i < maxi; ++i)
-          dst.coeffRef(i, j) = static_cast<typename Derived1::Scalar>(0);
-    }
-  }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, StrictlyUpper, Dynamic, ClearOpposite>
-{
-  typedef typename Derived1::Index Index;
-  typedef typename Derived1::Scalar Scalar;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      Index maxi = (std::min)(j, dst.rows());
-      for(Index i = 0; i < maxi; ++i)
-        dst.copyCoeff(i, j, src);
-      if (ClearOpposite)
-        for(Index i = maxi; i < dst.rows(); ++i)
-          dst.coeffRef(i, j) = Scalar(0);
-    }
-  }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, StrictlyLower, Dynamic, ClearOpposite>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      for(Index i = j+1; i < dst.rows(); ++i)
-        dst.copyCoeff(i, j, src);
-      Index maxi = (std::min)(j, dst.rows()-1);
-      if (ClearOpposite)
-        for(Index i = 0; i <= maxi; ++i)
-          dst.coeffRef(i, j) = static_cast<typename Derived1::Scalar>(0);
-    }
-  }
-};
-
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, UnitUpper, Dynamic, ClearOpposite>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      Index maxi = (std::min)(j, dst.rows());
-      for(Index i = 0; i < maxi; ++i)
-        dst.copyCoeff(i, j, src);
-      if (ClearOpposite)
-      {
-        for(Index i = maxi+1; i < dst.rows(); ++i)
-          dst.coeffRef(i, j) = 0;
-      }
-    }
-    dst.diagonal().setOnes();
-  }
-};
-template<typename Derived1, typename Derived2, bool ClearOpposite>
-struct triangular_assignment_selector<Derived1, Derived2, UnitLower, Dynamic, ClearOpposite>
-{
-  typedef typename Derived1::Index Index;
-  static inline void run(Derived1 &dst, const Derived2 &src)
-  {
-    for(Index j = 0; j < dst.cols(); ++j)
-    {
-      Index maxi = (std::min)(j, dst.rows());
-      for(Index i = maxi+1; i < dst.rows(); ++i)
-        dst.copyCoeff(i, j, src);
-      if (ClearOpposite)
-      {
-        for(Index i = 0; i < maxi; ++i)
-          dst.coeffRef(i, j) = 0;
-      }
-    }
-    dst.diagonal().setOnes();
-  }
-};
-
-} // end namespace internal
-
+#ifndef EIGEN_PARSED_BY_DOXYGEN
 // FIXME should we keep that possibility
 template<typename MatrixType, unsigned int Mode>
 template<typename OtherDerived>
 inline TriangularView<MatrixType, Mode>&
-TriangularView<MatrixType, Mode>::operator=(const MatrixBase<OtherDerived>& other)
+TriangularViewImpl<MatrixType, Mode, Dense>::operator=(const MatrixBase<OtherDerived>& other)
 {
-  if(OtherDerived::Flags & EvalBeforeAssigningBit)
-  {
-    typename internal::plain_matrix_type<OtherDerived>::type other_evaluated(other.rows(), other.cols());
-    other_evaluated.template triangularView<Mode>().lazyAssign(other.derived());
-    lazyAssign(other_evaluated);
-  }
-  else
-    lazyAssign(other.derived());
-  return *this;
+  internal::call_assignment_no_alias(derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
+  return derived();
 }
 
 // FIXME should we keep that possibility
 template<typename MatrixType, unsigned int Mode>
 template<typename OtherDerived>
-void TriangularView<MatrixType, Mode>::lazyAssign(const MatrixBase<OtherDerived>& other)
+void TriangularViewImpl<MatrixType, Mode, Dense>::lazyAssign(const MatrixBase<OtherDerived>& other)
 {
-  enum {
-    unroll = MatrixType::SizeAtCompileTime != Dynamic
-          && internal::traits<OtherDerived>::CoeffReadCost != Dynamic
-          && MatrixType::SizeAtCompileTime*internal::traits<OtherDerived>::CoeffReadCost/2 <= EIGEN_UNROLLING_LIMIT
-  };
-  eigen_assert(m_matrix.rows() == other.rows() && m_matrix.cols() == other.cols());
-
-  internal::triangular_assignment_selector
-    <MatrixType, OtherDerived, int(Mode),
-    unroll ? int(MatrixType::SizeAtCompileTime) : Dynamic,
-    false // do not change the opposite triangular part
-    >::run(m_matrix.const_cast_derived(), other.derived());
+  internal::call_assignment_no_alias(derived(), other.template triangularView<Mode>());
 }
 
 
@@ -637,38 +574,21 @@ void TriangularView<MatrixType, Mode>::lazyAssign(const MatrixBase<OtherDerived>
 template<typename MatrixType, unsigned int Mode>
 template<typename OtherDerived>
 inline TriangularView<MatrixType, Mode>&
-TriangularView<MatrixType, Mode>::operator=(const TriangularBase<OtherDerived>& other)
+TriangularViewImpl<MatrixType, Mode, Dense>::operator=(const TriangularBase<OtherDerived>& other)
 {
   eigen_assert(Mode == int(OtherDerived::Mode));
-  if(internal::traits<OtherDerived>::Flags & EvalBeforeAssigningBit)
-  {
-    typename OtherDerived::DenseMatrixType other_evaluated(other.rows(), other.cols());
-    other_evaluated.template triangularView<Mode>().lazyAssign(other.derived().nestedExpression());
-    lazyAssign(other_evaluated);
-  }
-  else
-    lazyAssign(other.derived().nestedExpression());
-  return *this;
+  internal::call_assignment(derived(), other.derived());
+  return derived();
 }
 
 template<typename MatrixType, unsigned int Mode>
 template<typename OtherDerived>
-void TriangularView<MatrixType, Mode>::lazyAssign(const TriangularBase<OtherDerived>& other)
+void TriangularViewImpl<MatrixType, Mode, Dense>::lazyAssign(const TriangularBase<OtherDerived>& other)
 {
-  enum {
-    unroll = MatrixType::SizeAtCompileTime != Dynamic
-                   && internal::traits<OtherDerived>::CoeffReadCost != Dynamic
-                   && MatrixType::SizeAtCompileTime * internal::traits<OtherDerived>::CoeffReadCost / 2
-                        <= EIGEN_UNROLLING_LIMIT
-  };
-  eigen_assert(m_matrix.rows() == other.rows() && m_matrix.cols() == other.cols());
-
-  internal::triangular_assignment_selector
-    <MatrixType, OtherDerived, int(Mode),
-    unroll ? int(MatrixType::SizeAtCompileTime) : Dynamic,
-    false // preserve the opposite triangular part
-    >::run(m_matrix.const_cast_derived(), other.derived().nestedExpression());
+  eigen_assert(Mode == int(OtherDerived::Mode));
+  internal::call_assignment_no_alias(derived(), other.derived());
 }
+#endif
 
 /***************************************************************************
 * Implementation of TriangularBase methods
@@ -680,35 +600,7 @@ template<typename Derived>
 template<typename DenseDerived>
 void TriangularBase<Derived>::evalTo(MatrixBase<DenseDerived> &other) const
 {
-  if(internal::traits<Derived>::Flags & EvalBeforeAssigningBit)
-  {
-    typename internal::plain_matrix_type<Derived>::type other_evaluated(rows(), cols());
-    evalToLazy(other_evaluated);
-    other.derived().swap(other_evaluated);
-  }
-  else
-    evalToLazy(other.derived());
-}
-
-/** Assigns a triangular or selfadjoint matrix to a dense matrix.
-  * If the matrix is triangular, the opposite part is set to zero. */
-template<typename Derived>
-template<typename DenseDerived>
-void TriangularBase<Derived>::evalToLazy(MatrixBase<DenseDerived> &other) const
-{
-  enum {
-    unroll = DenseDerived::SizeAtCompileTime != Dynamic
-                   && internal::traits<Derived>::CoeffReadCost != Dynamic
-                   && DenseDerived::SizeAtCompileTime * internal::traits<Derived>::CoeffReadCost / 2
-                        <= EIGEN_UNROLLING_LIMIT
-  };
-  other.derived().resize(this->rows(), this->cols());
-
-  internal::triangular_assignment_selector
-    <DenseDerived, typename internal::traits<Derived>::MatrixTypeNestedCleaned, Derived::Mode,
-    unroll ? int(DenseDerived::SizeAtCompileTime) : Dynamic,
-    true // clear the opposite triangular part
-    >::run(other.derived(), derived().nestedExpression());
+  evalToLazy(other.derived());
 }
 
 /***************************************************************************
@@ -719,49 +611,14 @@ void TriangularBase<Derived>::evalToLazy(MatrixBase<DenseDerived> &other) const
 * Implementation of MatrixBase methods
 ***************************************************************************/
 
-#ifdef EIGEN2_SUPPORT
-
-// implementation of part<>(), including the SelfAdjoint case.
-
-namespace internal {
-template<typename MatrixType, unsigned int Mode>
-struct eigen2_part_return_type
-{
-  typedef TriangularView<MatrixType, Mode> type;
-};
-
-template<typename MatrixType>
-struct eigen2_part_return_type<MatrixType, SelfAdjoint>
-{
-  typedef SelfAdjointView<MatrixType, Upper> type;
-};
-}
-
-/** \deprecated use MatrixBase::triangularView() */
-template<typename Derived>
-template<unsigned int Mode>
-const typename internal::eigen2_part_return_type<Derived, Mode>::type MatrixBase<Derived>::part() const
-{
-  return derived();
-}
-
-/** \deprecated use MatrixBase::triangularView() */
-template<typename Derived>
-template<unsigned int Mode>
-typename internal::eigen2_part_return_type<Derived, Mode>::type MatrixBase<Derived>::part()
-{
-  return derived();
-}
-#endif
-
 /**
   * \returns an expression of a triangular view extracted from the current matrix
   *
   * The parameter \a Mode can have the following values: \c #Upper, \c #StrictlyUpper, \c #UnitUpper,
   * \c #Lower, \c #StrictlyLower, \c #UnitLower.
   *
-  * Example: \include MatrixBase_extract.cpp
-  * Output: \verbinclude MatrixBase_extract.out
+  * Example: \include MatrixBase_triangularView.cpp
+  * Output: \verbinclude MatrixBase_triangularView.out
   *
   * \sa class TriangularView
   */
@@ -770,7 +627,7 @@ template<unsigned int Mode>
 typename MatrixBase<Derived>::template TriangularViewReturnType<Mode>::Type
 MatrixBase<Derived>::triangularView()
 {
-  return derived();
+  return typename TriangularViewReturnType<Mode>::Type(derived());
 }
 
 /** This is the const version of MatrixBase::triangularView() */
@@ -779,7 +636,7 @@ template<unsigned int Mode>
 typename MatrixBase<Derived>::template ConstTriangularViewReturnType<Mode>::Type
 MatrixBase<Derived>::triangularView() const
 {
-  return derived();
+  return typename ConstTriangularViewReturnType<Mode>::Type(derived());
 }
 
 /** \returns true if *this is approximately equal to an upper triangular matrix,
@@ -790,21 +647,20 @@ MatrixBase<Derived>::triangularView() const
 template<typename Derived>
 bool MatrixBase<Derived>::isUpperTriangular(const RealScalar& prec) const
 {
-  using std::abs;
   RealScalar maxAbsOnUpperPart = static_cast<RealScalar>(-1);
   for(Index j = 0; j < cols(); ++j)
   {
-    Index maxi = (std::min)(j, rows()-1);
+    Index maxi = numext::mini(j, rows()-1);
     for(Index i = 0; i <= maxi; ++i)
     {
-      RealScalar absValue = abs(coeff(i,j));
+      RealScalar absValue = numext::abs(coeff(i,j));
       if(absValue > maxAbsOnUpperPart) maxAbsOnUpperPart = absValue;
     }
   }
   RealScalar threshold = maxAbsOnUpperPart * prec;
   for(Index j = 0; j < cols(); ++j)
     for(Index i = j+1; i < rows(); ++i)
-      if(abs(coeff(i, j)) > threshold) return false;
+      if(numext::abs(coeff(i, j)) > threshold) return false;
   return true;
 }
 
@@ -816,24 +672,312 @@ bool MatrixBase<Derived>::isUpperTriangular(const RealScalar& prec) const
 template<typename Derived>
 bool MatrixBase<Derived>::isLowerTriangular(const RealScalar& prec) const
 {
-  using std::abs;
   RealScalar maxAbsOnLowerPart = static_cast<RealScalar>(-1);
   for(Index j = 0; j < cols(); ++j)
     for(Index i = j; i < rows(); ++i)
     {
-      RealScalar absValue = abs(coeff(i,j));
+      RealScalar absValue = numext::abs(coeff(i,j));
       if(absValue > maxAbsOnLowerPart) maxAbsOnLowerPart = absValue;
     }
   RealScalar threshold = maxAbsOnLowerPart * prec;
   for(Index j = 1; j < cols(); ++j)
   {
-    Index maxi = (std::min)(j, rows()-1);
+    Index maxi = numext::mini(j, rows()-1);
     for(Index i = 0; i < maxi; ++i)
-      if(abs(coeff(i, j)) > threshold) return false;
+      if(numext::abs(coeff(i, j)) > threshold) return false;
   }
   return true;
 }
 
+
+/***************************************************************************
+****************************************************************************
+* Evaluators and Assignment of triangular expressions
+***************************************************************************
+***************************************************************************/
+
+namespace internal {
+
+  
+// TODO currently a triangular expression has the form TriangularView<.,.>
+//      in the future triangular-ness should be defined by the expression traits
+//      such that Transpose<TriangularView<.,.> > is valid. (currently TriangularBase::transpose() is overloaded to make it work)
+template<typename MatrixType, unsigned int Mode>
+struct evaluator_traits<TriangularView<MatrixType,Mode> >
+{
+  typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
+  typedef typename glue_shapes<typename evaluator_traits<MatrixType>::Shape, TriangularShape>::type Shape;
+};
+
+template<typename MatrixType, unsigned int Mode>
+struct unary_evaluator<TriangularView<MatrixType,Mode>, IndexBased>
+ : evaluator<typename internal::remove_all<MatrixType>::type>
+{
+  typedef TriangularView<MatrixType,Mode> XprType;
+  typedef evaluator<typename internal::remove_all<MatrixType>::type> Base;
+  unary_evaluator(const XprType &xpr) : Base(xpr.nestedExpression()) {}
+};
+
+// Additional assignment kinds:
+struct Triangular2Triangular    {};
+struct Triangular2Dense         {};
+struct Dense2Triangular         {};
+
+
+template<typename Kernel, unsigned int Mode, int UnrollCount, bool ClearOpposite> struct triangular_assignment_loop;
+
+ 
+/** \internal Specialization of the dense assignment kernel for triangular matrices.
+  * The main difference is that the triangular, diagonal, and opposite parts are processed through three different functions.
+  * \tparam UpLo must be either Lower or Upper
+  * \tparam Mode must be either 0, UnitDiag, ZeroDiag, or SelfAdjoint
+  */
+template<int UpLo, int Mode, int SetOpposite, typename DstEvaluatorTypeT, typename SrcEvaluatorTypeT, typename Functor, int Version = Specialized>
+class triangular_dense_assignment_kernel : public generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version>
+{
+protected:
+  typedef generic_dense_assignment_kernel<DstEvaluatorTypeT, SrcEvaluatorTypeT, Functor, Version> Base;
+  typedef typename Base::DstXprType DstXprType;
+  typedef typename Base::SrcXprType SrcXprType;
+  using Base::m_dst;
+  using Base::m_src;
+  using Base::m_functor;
+public:
+  
+  typedef typename Base::DstEvaluatorType DstEvaluatorType;
+  typedef typename Base::SrcEvaluatorType SrcEvaluatorType;
+  typedef typename Base::Scalar Scalar;
+  typedef typename Base::AssignmentTraits AssignmentTraits;
+  
+  
+  EIGEN_DEVICE_FUNC triangular_dense_assignment_kernel(DstEvaluatorType &dst, const SrcEvaluatorType &src, const Functor &func, DstXprType& dstExpr)
+    : Base(dst, src, func, dstExpr)
+  {}
+  
+#ifdef EIGEN_INTERNAL_DEBUGGING
+  EIGEN_DEVICE_FUNC void assignCoeff(Index row, Index col)
+  {
+    eigen_internal_assert(row!=col);
+    Base::assignCoeff(row,col);
+  }
+#else
+  using Base::assignCoeff;
+#endif
+  
+  EIGEN_DEVICE_FUNC void assignDiagonalCoeff(Index id)
+  {
+         if(Mode==UnitDiag && SetOpposite) m_functor.assignCoeff(m_dst.coeffRef(id,id), Scalar(1));
+    else if(Mode==ZeroDiag && SetOpposite) m_functor.assignCoeff(m_dst.coeffRef(id,id), Scalar(0));
+    else if(Mode==0)                       Base::assignCoeff(id,id);
+  }
+  
+  EIGEN_DEVICE_FUNC void assignOppositeCoeff(Index row, Index col)
+  { 
+    eigen_internal_assert(row!=col);
+    if(SetOpposite)
+      m_functor.assignCoeff(m_dst.coeffRef(row,col), Scalar(0));
+  }
+};
+
+template<int Mode, bool SetOpposite, typename DstXprType, typename SrcXprType, typename Functor>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_triangular_assignment_loop(DstXprType& dst, const SrcXprType& src, const Functor &func)
+{
+  typedef evaluator<DstXprType> DstEvaluatorType;
+  typedef evaluator<SrcXprType> SrcEvaluatorType;
+
+  SrcEvaluatorType srcEvaluator(src);
+
+  Index dstRows = src.rows();
+  Index dstCols = src.cols();
+  if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+    dst.resize(dstRows, dstCols);
+  DstEvaluatorType dstEvaluator(dst);
+    
+  typedef triangular_dense_assignment_kernel< Mode&(Lower|Upper),Mode&(UnitDiag|ZeroDiag|SelfAdjoint),SetOpposite,
+                                              DstEvaluatorType,SrcEvaluatorType,Functor> Kernel;
+  Kernel kernel(dstEvaluator, srcEvaluator, func, dst.const_cast_derived());
+  
+  enum {
+      unroll = DstXprType::SizeAtCompileTime != Dynamic
+            && SrcEvaluatorType::CoeffReadCost < HugeCost
+            && DstXprType::SizeAtCompileTime * (DstEvaluatorType::CoeffReadCost+SrcEvaluatorType::CoeffReadCost) / 2 <= EIGEN_UNROLLING_LIMIT
+    };
+  
+  triangular_assignment_loop<Kernel, Mode, unroll ? int(DstXprType::SizeAtCompileTime) : Dynamic, SetOpposite>::run(kernel);
+}
+
+template<int Mode, bool SetOpposite, typename DstXprType, typename SrcXprType>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+void call_triangular_assignment_loop(DstXprType& dst, const SrcXprType& src)
+{
+  call_triangular_assignment_loop<Mode,SetOpposite>(dst, src, internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>());
+}
+
+template<> struct AssignmentKind<TriangularShape,TriangularShape> { typedef Triangular2Triangular Kind; };
+template<> struct AssignmentKind<DenseShape,TriangularShape>      { typedef Triangular2Dense      Kind; };
+template<> struct AssignmentKind<TriangularShape,DenseShape>      { typedef Dense2Triangular      Kind; };
+
+
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Triangular2Triangular>
+{
+  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+  {
+    eigen_assert(int(DstXprType::Mode) == int(SrcXprType::Mode));
+    
+    call_triangular_assignment_loop<DstXprType::Mode, false>(dst, src, func);  
+  }
+};
+
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Triangular2Dense>
+{
+  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+  {
+    call_triangular_assignment_loop<SrcXprType::Mode, (SrcXprType::Mode&SelfAdjoint)==0>(dst, src, func);  
+  }
+};
+
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Dense2Triangular>
+{
+  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+  {
+    call_triangular_assignment_loop<DstXprType::Mode, false>(dst, src, func);  
+  }
+};
+
+
+template<typename Kernel, unsigned int Mode, int UnrollCount, bool SetOpposite>
+struct triangular_assignment_loop
+{
+  // FIXME: this is not very clean, perhaps this information should be provided by the kernel?
+  typedef typename Kernel::DstEvaluatorType DstEvaluatorType;
+  typedef typename DstEvaluatorType::XprType DstXprType;
+  
+  enum {
+    col = (UnrollCount-1) / DstXprType::RowsAtCompileTime,
+    row = (UnrollCount-1) % DstXprType::RowsAtCompileTime
+  };
+  
+  typedef typename Kernel::Scalar Scalar;
+
+  EIGEN_DEVICE_FUNC
+  static inline void run(Kernel &kernel)
+  {
+    triangular_assignment_loop<Kernel, Mode, UnrollCount-1, SetOpposite>::run(kernel);
+    
+    if(row==col)
+      kernel.assignDiagonalCoeff(row);
+    else if( ((Mode&Lower) && row>col) || ((Mode&Upper) && row<col) )
+      kernel.assignCoeff(row,col);
+    else if(SetOpposite)
+      kernel.assignOppositeCoeff(row,col);
+  }
+};
+
+// prevent buggy user code from causing an infinite recursion
+template<typename Kernel, unsigned int Mode, bool SetOpposite>
+struct triangular_assignment_loop<Kernel, Mode, 0, SetOpposite>
+{
+  EIGEN_DEVICE_FUNC
+  static inline void run(Kernel &) {}
+};
+
+
+
+// TODO: experiment with a recursive assignment procedure splitting the current
+//       triangular part into one rectangular and two triangular parts.
+
+
+template<typename Kernel, unsigned int Mode, bool SetOpposite>
+struct triangular_assignment_loop<Kernel, Mode, Dynamic, SetOpposite>
+{
+  typedef typename Kernel::Scalar Scalar;
+  EIGEN_DEVICE_FUNC
+  static inline void run(Kernel &kernel)
+  {
+    for(Index j = 0; j < kernel.cols(); ++j)
+    {
+      Index maxi = numext::mini(j, kernel.rows());
+      Index i = 0;
+      if (((Mode&Lower) && SetOpposite) || (Mode&Upper))
+      {
+        for(; i < maxi; ++i)
+          if(Mode&Upper) kernel.assignCoeff(i, j);
+          else           kernel.assignOppositeCoeff(i, j);
+      }
+      else
+        i = maxi;
+      
+      if(i<kernel.rows()) // then i==j
+        kernel.assignDiagonalCoeff(i++);
+      
+      if (((Mode&Upper) && SetOpposite) || (Mode&Lower))
+      {
+        for(; i < kernel.rows(); ++i)
+          if(Mode&Lower) kernel.assignCoeff(i, j);
+          else           kernel.assignOppositeCoeff(i, j);
+      }
+    }
+  }
+};
+
+} // end namespace internal
+
+/** Assigns a triangular or selfadjoint matrix to a dense matrix.
+  * If the matrix is triangular, the opposite part is set to zero. */
+template<typename Derived>
+template<typename DenseDerived>
+void TriangularBase<Derived>::evalToLazy(MatrixBase<DenseDerived> &other) const
+{
+  other.derived().resize(this->rows(), this->cols());
+  internal::call_triangular_assignment_loop<Derived::Mode,(Derived::Mode&SelfAdjoint)==0 /* SetOpposite */>(other.derived(), derived().nestedExpression());
+}
+
+namespace internal {
+  
+// Triangular = Product
+template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::assign_op<Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, Dense2Triangular>
+{
+  typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename SrcXprType::Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    dst._assignProduct(src, 1, 0);
+  }
+};
+
+// Triangular += Product
+template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::add_assign_op<Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, Dense2Triangular>
+{
+  typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<Scalar,typename SrcXprType::Scalar> &)
+  {
+    dst._assignProduct(src, 1, 1);
+  }
+};
+
+// Triangular -= Product
+template< typename DstXprType, typename Lhs, typename Rhs, typename Scalar>
+struct Assignment<DstXprType, Product<Lhs,Rhs,DefaultProduct>, internal::sub_assign_op<Scalar,typename Product<Lhs,Rhs,DefaultProduct>::Scalar>, Dense2Triangular>
+{
+  typedef Product<Lhs,Rhs,DefaultProduct> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<Scalar,typename SrcXprType::Scalar> &)
+  {
+    dst._assignProduct(src, -1, 1);
+  }
+};
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_TRIANGULARMATRIX_H
diff --git a/eigenlib/Eigen/src/Core/VectorBlock.h b/eigenlib/Eigen/src/Core/VectorBlock.h
index 1a7330f3..d72fbf7e 100644
--- a/eigenlib/Eigen/src/Core/VectorBlock.h
+++ b/eigenlib/Eigen/src/Core/VectorBlock.h
@@ -13,13 +13,23 @@
 
 namespace Eigen { 
 
+namespace internal {
+template<typename VectorType, int Size>
+struct traits<VectorBlock<VectorType, Size> >
+  : public traits<Block<VectorType,
+                     traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
+                     traits<VectorType>::Flags & RowMajorBit ? Size : 1> >
+{
+};
+}
+
 /** \class VectorBlock
   * \ingroup Core_Module
   *
   * \brief Expression of a fixed-size or dynamic-size sub-vector
   *
-  * \param VectorType the type of the object in which we are taking a sub-vector
-  * \param Size size of the sub-vector we are taking at compile time (optional)
+  * \tparam VectorType the type of the object in which we are taking a sub-vector
+  * \tparam Size size of the sub-vector we are taking at compile time (optional)
   *
   * This class represents an expression of either a fixed-size or dynamic-size sub-vector.
   * It is the return type of DenseBase::segment(Index,Index) and DenseBase::segment<int>(Index) and
@@ -43,17 +53,6 @@ namespace Eigen {
   *
   * \sa class Block, DenseBase::segment(Index,Index,Index,Index), DenseBase::segment(Index,Index)
   */
-
-namespace internal {
-template<typename VectorType, int Size>
-struct traits<VectorBlock<VectorType, Size> >
-  : public traits<Block<VectorType,
-                     traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
-                     traits<VectorType>::Flags & RowMajorBit ? Size : 1> >
-{
-};
-}
-
 template<typename VectorType, int Size> class VectorBlock
   : public Block<VectorType,
                      internal::traits<VectorType>::Flags & RowMajorBit ? 1 : Size,
@@ -72,6 +71,7 @@ template<typename VectorType, int Size> class VectorBlock
 
     /** Dynamic-size constructor
       */
+    EIGEN_DEVICE_FUNC
     inline VectorBlock(VectorType& vector, Index start, Index size)
       : Base(vector,
              IsColVector ? start : 0, IsColVector ? 0 : start,
@@ -82,6 +82,7 @@ template<typename VectorType, int Size> class VectorBlock
 
     /** Fixed-size constructor
       */
+    EIGEN_DEVICE_FUNC
     inline VectorBlock(VectorType& vector, Index start)
       : Base(vector, IsColVector ? start : 0, IsColVector ? 0 : start)
     {
diff --git a/eigenlib/Eigen/src/Core/VectorwiseOp.h b/eigenlib/Eigen/src/Core/VectorwiseOp.h
index d5ab0366..4fe267e9 100644
--- a/eigenlib/Eigen/src/Core/VectorwiseOp.h
+++ b/eigenlib/Eigen/src/Core/VectorwiseOp.h
@@ -11,7 +11,7 @@
 #ifndef EIGEN_PARTIAL_REDUX_H
 #define EIGEN_PARTIAL_REDUX_H
 
-namespace Eigen { 
+namespace Eigen {
 
 /** \class PartialReduxExpr
   * \ingroup Core_Module
@@ -41,64 +41,43 @@ struct traits<PartialReduxExpr<MatrixType, MemberOp, Direction> >
   typedef typename traits<MatrixType>::StorageKind StorageKind;
   typedef typename traits<MatrixType>::XprKind XprKind;
   typedef typename MatrixType::Scalar InputScalar;
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
-  typedef typename remove_all<MatrixTypeNested>::type _MatrixTypeNested;
   enum {
     RowsAtCompileTime = Direction==Vertical   ? 1 : MatrixType::RowsAtCompileTime,
     ColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::ColsAtCompileTime,
     MaxRowsAtCompileTime = Direction==Vertical   ? 1 : MatrixType::MaxRowsAtCompileTime,
     MaxColsAtCompileTime = Direction==Horizontal ? 1 : MatrixType::MaxColsAtCompileTime,
-    Flags0 = (unsigned int)_MatrixTypeNested::Flags & HereditaryBits,
-    Flags = (Flags0 & ~RowMajorBit) | (RowsAtCompileTime == 1 ? RowMajorBit : 0),
+    Flags = RowsAtCompileTime == 1 ? RowMajorBit : 0,
     TraversalSize = Direction==Vertical ? MatrixType::RowsAtCompileTime :  MatrixType::ColsAtCompileTime
   };
-  #if EIGEN_GNUC_AT_LEAST(3,4)
-  typedef typename MemberOp::template Cost<InputScalar,int(TraversalSize)> CostOpType;
-  #else
-  typedef typename MemberOp::template Cost<InputScalar,TraversalSize> CostOpType;
-  #endif
-  enum {
-    CoeffReadCost = TraversalSize==Dynamic ? Dynamic
-                  : TraversalSize * traits<_MatrixTypeNested>::CoeffReadCost + int(CostOpType::value)
-  };
 };
 }
 
 template< typename MatrixType, typename MemberOp, int Direction>
-class PartialReduxExpr : internal::no_assignment_operator,
-  public internal::dense_xpr_base< PartialReduxExpr<MatrixType, MemberOp, Direction> >::type
+class PartialReduxExpr : public internal::dense_xpr_base< PartialReduxExpr<MatrixType, MemberOp, Direction> >::type,
+                         internal::no_assignment_operator
 {
   public:
 
     typedef typename internal::dense_xpr_base<PartialReduxExpr>::type Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(PartialReduxExpr)
-    typedef typename internal::traits<PartialReduxExpr>::MatrixTypeNested MatrixTypeNested;
-    typedef typename internal::traits<PartialReduxExpr>::_MatrixTypeNested _MatrixTypeNested;
 
-    PartialReduxExpr(const MatrixType& mat, const MemberOp& func = MemberOp())
+    EIGEN_DEVICE_FUNC
+    explicit PartialReduxExpr(const MatrixType& mat, const MemberOp& func = MemberOp())
       : m_matrix(mat), m_functor(func) {}
 
+    EIGEN_DEVICE_FUNC
     Index rows() const { return (Direction==Vertical   ? 1 : m_matrix.rows()); }
+    EIGEN_DEVICE_FUNC
     Index cols() const { return (Direction==Horizontal ? 1 : m_matrix.cols()); }
 
-    EIGEN_STRONG_INLINE const Scalar coeff(Index i, Index j) const
-    {
-      if (Direction==Vertical)
-        return m_functor(m_matrix.col(j));
-      else
-        return m_functor(m_matrix.row(i));
-    }
+    EIGEN_DEVICE_FUNC
+    typename MatrixType::Nested nestedExpression() const { return m_matrix; }
 
-    const Scalar coeff(Index index) const
-    {
-      if (Direction==Vertical)
-        return m_functor(m_matrix.col(index));
-      else
-        return m_functor(m_matrix.row(index));
-    }
+    EIGEN_DEVICE_FUNC
+    const MemberOp& functor() const { return m_functor; }
 
   protected:
-    MatrixTypeNested m_matrix;
+    typename MatrixType::Nested m_matrix;
     const MemberOp m_functor;
 };
 
@@ -110,7 +89,8 @@ class PartialReduxExpr : internal::no_assignment_operator,
     template<typename Scalar, int Size> struct Cost                     \
     { enum { value = COST }; };                                         \
     template<typename XprType>                                          \
-    EIGEN_STRONG_INLINE ResultType operator()(const XprType& mat) const \
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE                               \
+    ResultType operator()(const XprType& mat) const                     \
     { return mat.MEMBER(); } \
   }
 
@@ -130,17 +110,27 @@ EIGEN_MEMBER_FUNCTOR(any, (Size-1)*NumTraits<Scalar>::AddCost);
 EIGEN_MEMBER_FUNCTOR(count, (Size-1)*NumTraits<Scalar>::AddCost);
 EIGEN_MEMBER_FUNCTOR(prod, (Size-1)*NumTraits<Scalar>::MulCost);
 
+template <int p, typename ResultType>
+struct member_lpnorm {
+  typedef ResultType result_type;
+  template<typename Scalar, int Size> struct Cost
+  { enum { value = (Size+5) * NumTraits<Scalar>::MulCost + (Size-1)*NumTraits<Scalar>::AddCost }; };
+  EIGEN_DEVICE_FUNC member_lpnorm() {}
+  template<typename XprType>
+  EIGEN_DEVICE_FUNC inline ResultType operator()(const XprType& mat) const
+  { return mat.template lpNorm<p>(); }
+};
 
 template <typename BinaryOp, typename Scalar>
 struct member_redux {
   typedef typename result_of<
-                     BinaryOp(Scalar)
+                     BinaryOp(const Scalar&,const Scalar&)
                    >::type  result_type;
   template<typename _Scalar, int Size> struct Cost
   { enum { value = (Size-1) * functor_traits<BinaryOp>::Cost }; };
-  member_redux(const BinaryOp func) : m_functor(func) {}
+  EIGEN_DEVICE_FUNC explicit member_redux(const BinaryOp func) : m_functor(func) {}
   template<typename Derived>
-  inline result_type operator()(const DenseBase<Derived>& mat) const
+  EIGEN_DEVICE_FUNC inline result_type operator()(const DenseBase<Derived>& mat) const
   { return mat.redux(m_functor); }
   const BinaryOp m_functor;
 };
@@ -151,8 +141,8 @@ struct member_redux {
   *
   * \brief Pseudo expression providing partial reduction operations
   *
-  * \param ExpressionType the type of the object on which to do partial reductions
-  * \param Direction indicates the direction of the redux (#Vertical or #Horizontal)
+  * \tparam ExpressionType the type of the object on which to do partial reductions
+  * \tparam Direction indicates the direction of the redux (#Vertical or #Horizontal)
   *
   * This class represents a pseudo expression with partial reduction features.
   * It is the return type of DenseBase::colwise() and DenseBase::rowwise()
@@ -169,16 +159,15 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     typedef typename ExpressionType::Scalar Scalar;
     typedef typename ExpressionType::RealScalar RealScalar;
-    typedef typename ExpressionType::Index Index;
-    typedef typename internal::conditional<internal::must_nest_by_value<ExpressionType>::ret,
-        ExpressionType, ExpressionType&>::type ExpressionTypeNested;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+    typedef typename internal::ref_selector<ExpressionType>::non_const_type ExpressionTypeNested;
     typedef typename internal::remove_all<ExpressionTypeNested>::type ExpressionTypeNestedCleaned;
 
     template<template<typename _Scalar> class Functor,
-                      typename Scalar=typename internal::traits<ExpressionType>::Scalar> struct ReturnType
+                      typename Scalar_=Scalar> struct ReturnType
     {
       typedef PartialReduxExpr<ExpressionType,
-                               Functor<Scalar>,
+                               Functor<Scalar_>,
                                Direction
                               > Type;
     };
@@ -186,23 +175,24 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
     template<typename BinaryOp> struct ReduxReturnType
     {
       typedef PartialReduxExpr<ExpressionType,
-                               internal::member_redux<BinaryOp,typename internal::traits<ExpressionType>::Scalar>,
+                               internal::member_redux<BinaryOp,Scalar>,
                                Direction
                               > Type;
     };
 
     enum {
-      IsVertical   = (Direction==Vertical) ? 1 : 0,
-      IsHorizontal = (Direction==Horizontal) ? 1 : 0
+      isVertical   = (Direction==Vertical) ? 1 : 0,
+      isHorizontal = (Direction==Horizontal) ? 1 : 0
     };
 
   protected:
 
-    /** \internal
-      * \returns the i-th subvector according to the \c Direction */
-    typedef typename internal::conditional<Direction==Vertical,
+    typedef typename internal::conditional<isVertical,
                                typename ExpressionType::ColXpr,
                                typename ExpressionType::RowXpr>::type SubVector;
+    /** \internal
+      * \returns the i-th subvector according to the \c Direction */
+    EIGEN_DEVICE_FUNC
     SubVector subVector(Index i)
     {
       return SubVector(m_matrix.derived(),i);
@@ -210,58 +200,62 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** \internal
       * \returns the number of subvectors in the direction \c Direction */
+    EIGEN_DEVICE_FUNC
     Index subVectors() const
-    { return Direction==Vertical?m_matrix.cols():m_matrix.rows(); }
+    { return isVertical?m_matrix.cols():m_matrix.rows(); }
 
     template<typename OtherDerived> struct ExtendedType {
       typedef Replicate<OtherDerived,
-                        Direction==Vertical   ? 1 : ExpressionType::RowsAtCompileTime,
-                        Direction==Horizontal ? 1 : ExpressionType::ColsAtCompileTime> Type;
+                        isVertical   ? 1 : ExpressionType::RowsAtCompileTime,
+                        isHorizontal ? 1 : ExpressionType::ColsAtCompileTime> Type;
     };
 
     /** \internal
       * Replicates a vector to match the size of \c *this */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     typename ExtendedType<OtherDerived>::Type
     extendedTo(const DenseBase<OtherDerived>& other) const
     {
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(Direction==Vertical, OtherDerived::MaxColsAtCompileTime==1),
+      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isVertical, OtherDerived::MaxColsAtCompileTime==1),
                           YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED)
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(Direction==Horizontal, OtherDerived::MaxRowsAtCompileTime==1),
+      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isHorizontal, OtherDerived::MaxRowsAtCompileTime==1),
                           YOU_PASSED_A_COLUMN_VECTOR_BUT_A_ROW_VECTOR_WAS_EXPECTED)
       return typename ExtendedType<OtherDerived>::Type
                       (other.derived(),
-                       Direction==Vertical   ? 1 : m_matrix.rows(),
-                       Direction==Horizontal ? 1 : m_matrix.cols());
+                       isVertical   ? 1 : m_matrix.rows(),
+                       isHorizontal ? 1 : m_matrix.cols());
     }
-    
+
     template<typename OtherDerived> struct OppositeExtendedType {
       typedef Replicate<OtherDerived,
-                        Direction==Horizontal ? 1 : ExpressionType::RowsAtCompileTime,
-                        Direction==Vertical   ? 1 : ExpressionType::ColsAtCompileTime> Type;
+                        isHorizontal ? 1 : ExpressionType::RowsAtCompileTime,
+                        isVertical   ? 1 : ExpressionType::ColsAtCompileTime> Type;
     };
 
     /** \internal
       * Replicates a vector in the opposite direction to match the size of \c *this */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     typename OppositeExtendedType<OtherDerived>::Type
     extendedToOpposite(const DenseBase<OtherDerived>& other) const
     {
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(Direction==Horizontal, OtherDerived::MaxColsAtCompileTime==1),
+      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isHorizontal, OtherDerived::MaxColsAtCompileTime==1),
                           YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED)
-      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(Direction==Vertical, OtherDerived::MaxRowsAtCompileTime==1),
+      EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(isVertical, OtherDerived::MaxRowsAtCompileTime==1),
                           YOU_PASSED_A_COLUMN_VECTOR_BUT_A_ROW_VECTOR_WAS_EXPECTED)
       return typename OppositeExtendedType<OtherDerived>::Type
                       (other.derived(),
-                       Direction==Horizontal  ? 1 : m_matrix.rows(),
-                       Direction==Vertical    ? 1 : m_matrix.cols());
+                       isHorizontal  ? 1 : m_matrix.rows(),
+                       isVertical    ? 1 : m_matrix.cols());
     }
 
   public:
-
-    inline VectorwiseOp(ExpressionType& matrix) : m_matrix(matrix) {}
+    EIGEN_DEVICE_FUNC
+    explicit inline VectorwiseOp(ExpressionType& matrix) : m_matrix(matrix) {}
 
     /** \internal */
+    EIGEN_DEVICE_FUNC
     inline const ExpressionType& _expression() const { return m_matrix; }
 
     /** \returns a row or column vector expression of \c *this reduxed by \a func
@@ -272,80 +266,126 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * \sa class VectorwiseOp, DenseBase::colwise(), DenseBase::rowwise()
       */
     template<typename BinaryOp>
+    EIGEN_DEVICE_FUNC
     const typename ReduxReturnType<BinaryOp>::Type
     redux(const BinaryOp& func = BinaryOp()) const
-    { return typename ReduxReturnType<BinaryOp>::Type(_expression(), func); }
+    { return typename ReduxReturnType<BinaryOp>::Type(_expression(), internal::member_redux<BinaryOp,Scalar>(func)); }
+
+    typedef typename ReturnType<internal::member_minCoeff>::Type MinCoeffReturnType;
+    typedef typename ReturnType<internal::member_maxCoeff>::Type MaxCoeffReturnType;
+    typedef typename ReturnType<internal::member_squaredNorm,RealScalar>::Type SquaredNormReturnType;
+    typedef typename ReturnType<internal::member_norm,RealScalar>::Type NormReturnType;
+    typedef typename ReturnType<internal::member_blueNorm,RealScalar>::Type BlueNormReturnType;
+    typedef typename ReturnType<internal::member_stableNorm,RealScalar>::Type StableNormReturnType;
+    typedef typename ReturnType<internal::member_hypotNorm,RealScalar>::Type HypotNormReturnType;
+    typedef typename ReturnType<internal::member_sum>::Type SumReturnType;
+    typedef typename ReturnType<internal::member_mean>::Type MeanReturnType;
+    typedef typename ReturnType<internal::member_all>::Type AllReturnType;
+    typedef typename ReturnType<internal::member_any>::Type AnyReturnType;
+    typedef PartialReduxExpr<ExpressionType, internal::member_count<Index>, Direction> CountReturnType;
+    typedef typename ReturnType<internal::member_prod>::Type ProdReturnType;
+    typedef Reverse<const ExpressionType, Direction> ConstReverseReturnType;
+    typedef Reverse<ExpressionType, Direction> ReverseReturnType;
+
+    template<int p> struct LpNormReturnType {
+      typedef PartialReduxExpr<ExpressionType, internal::member_lpnorm<p,RealScalar>,Direction> Type;
+    };
 
     /** \returns a row (or column) vector expression of the smallest coefficient
       * of each column (or row) of the referenced expression.
-      * 
+      *
       * \warning the result is undefined if \c *this contains NaN.
       *
       * Example: \include PartialRedux_minCoeff.cpp
       * Output: \verbinclude PartialRedux_minCoeff.out
       *
       * \sa DenseBase::minCoeff() */
-    const typename ReturnType<internal::member_minCoeff>::Type minCoeff() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const MinCoeffReturnType minCoeff() const
+    { return MinCoeffReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression of the largest coefficient
       * of each column (or row) of the referenced expression.
-      * 
+      *
       * \warning the result is undefined if \c *this contains NaN.
       *
       * Example: \include PartialRedux_maxCoeff.cpp
       * Output: \verbinclude PartialRedux_maxCoeff.out
       *
       * \sa DenseBase::maxCoeff() */
-    const typename ReturnType<internal::member_maxCoeff>::Type maxCoeff() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const MaxCoeffReturnType maxCoeff() const
+    { return MaxCoeffReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression of the squared norm
       * of each column (or row) of the referenced expression.
+      * This is a vector with real entries, even if the original matrix has complex entries.
       *
       * Example: \include PartialRedux_squaredNorm.cpp
       * Output: \verbinclude PartialRedux_squaredNorm.out
       *
       * \sa DenseBase::squaredNorm() */
-    const typename ReturnType<internal::member_squaredNorm,RealScalar>::Type squaredNorm() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const SquaredNormReturnType squaredNorm() const
+    { return SquaredNormReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression of the norm
       * of each column (or row) of the referenced expression.
+      * This is a vector with real entries, even if the original matrix has complex entries.
       *
       * Example: \include PartialRedux_norm.cpp
       * Output: \verbinclude PartialRedux_norm.out
       *
       * \sa DenseBase::norm() */
-    const typename ReturnType<internal::member_norm,RealScalar>::Type norm() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const NormReturnType norm() const
+    { return NormReturnType(_expression()); }
+
+    /** \returns a row (or column) vector expression of the norm
+      * of each column (or row) of the referenced expression.
+      * This is a vector with real entries, even if the original matrix has complex entries.
+      *
+      * Example: \include PartialRedux_norm.cpp
+      * Output: \verbinclude PartialRedux_norm.out
+      *
+      * \sa DenseBase::norm() */
+    template<int p>
+    EIGEN_DEVICE_FUNC
+    const typename LpNormReturnType<p>::Type lpNorm() const
+    { return typename LpNormReturnType<p>::Type(_expression()); }
 
 
     /** \returns a row (or column) vector expression of the norm
       * of each column (or row) of the referenced expression, using
-      * blue's algorithm.
+      * Blue's algorithm.
+      * This is a vector with real entries, even if the original matrix has complex entries.
       *
       * \sa DenseBase::blueNorm() */
-    const typename ReturnType<internal::member_blueNorm,RealScalar>::Type blueNorm() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const BlueNormReturnType blueNorm() const
+    { return BlueNormReturnType(_expression()); }
 
 
     /** \returns a row (or column) vector expression of the norm
       * of each column (or row) of the referenced expression, avoiding
       * underflow and overflow.
+      * This is a vector with real entries, even if the original matrix has complex entries.
       *
       * \sa DenseBase::stableNorm() */
-    const typename ReturnType<internal::member_stableNorm,RealScalar>::Type stableNorm() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const StableNormReturnType stableNorm() const
+    { return StableNormReturnType(_expression()); }
 
 
     /** \returns a row (or column) vector expression of the norm
       * of each column (or row) of the referenced expression, avoiding
       * underflow and overflow using a concatenation of hypot() calls.
+      * This is a vector with real entries, even if the original matrix has complex entries.
       *
       * \sa DenseBase::hypotNorm() */
-    const typename ReturnType<internal::member_hypotNorm,RealScalar>::Type hypotNorm() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const HypotNormReturnType hypotNorm() const
+    { return HypotNormReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression of the sum
       * of each column (or row) of the referenced expression.
@@ -354,39 +394,48 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * Output: \verbinclude PartialRedux_sum.out
       *
       * \sa DenseBase::sum() */
-    const typename ReturnType<internal::member_sum>::Type sum() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const SumReturnType sum() const
+    { return SumReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression of the mean
     * of each column (or row) of the referenced expression.
     *
     * \sa DenseBase::mean() */
-    const typename ReturnType<internal::member_mean>::Type mean() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const MeanReturnType mean() const
+    { return MeanReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression representing
       * whether \b all coefficients of each respective column (or row) are \c true.
+      * This expression can be assigned to a vector with entries of type \c bool.
       *
       * \sa DenseBase::all() */
-    const typename ReturnType<internal::member_all>::Type all() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const AllReturnType all() const
+    { return AllReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression representing
       * whether \b at \b least one coefficient of each respective column (or row) is \c true.
+      * This expression can be assigned to a vector with entries of type \c bool.
       *
       * \sa DenseBase::any() */
-    const typename ReturnType<internal::member_any>::Type any() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const AnyReturnType any() const
+    { return AnyReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression representing
       * the number of \c true coefficients of each respective column (or row).
+      * This expression can be assigned to a vector whose entries have the same type as is used to
+      * index entries of the original matrix; for dense matrices, this is \c std::ptrdiff_t .
       *
       * Example: \include PartialRedux_count.cpp
       * Output: \verbinclude PartialRedux_count.out
       *
       * \sa DenseBase::count() */
-    const PartialReduxExpr<ExpressionType, internal::member_count<Index>, Direction> count() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const CountReturnType count() const
+    { return CountReturnType(_expression()); }
 
     /** \returns a row (or column) vector expression of the product
       * of each column (or row) of the referenced expression.
@@ -395,8 +444,9 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * Output: \verbinclude PartialRedux_prod.out
       *
       * \sa DenseBase::prod() */
-    const typename ReturnType<internal::member_prod>::Type prod() const
-    { return _expression(); }
+    EIGEN_DEVICE_FUNC
+    const ProdReturnType prod() const
+    { return ProdReturnType(_expression()); }
 
 
     /** \returns a matrix expression
@@ -406,10 +456,20 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * Output: \verbinclude Vectorwise_reverse.out
       *
       * \sa DenseBase::reverse() */
-    const Reverse<ExpressionType, Direction> reverse() const
-    { return Reverse<ExpressionType, Direction>( _expression() ); }
+    EIGEN_DEVICE_FUNC
+    const ConstReverseReturnType reverse() const
+    { return ConstReverseReturnType( _expression() ); }
 
-    typedef Replicate<ExpressionType,Direction==Vertical?Dynamic:1,Direction==Horizontal?Dynamic:1> ReplicateReturnType;
+    /** \returns a writable matrix expression
+      * where each column (or row) are reversed.
+      *
+      * \sa reverse() const */
+    EIGEN_DEVICE_FUNC
+    ReverseReturnType reverse()
+    { return ReverseReturnType( _expression() ); }
+
+    typedef Replicate<ExpressionType,(isVertical?Dynamic:1),(isHorizontal?Dynamic:1)> ReplicateReturnType;
+    EIGEN_DEVICE_FUNC
     const ReplicateReturnType replicate(Index factor) const;
 
     /**
@@ -421,17 +481,20 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       * \sa VectorwiseOp::replicate(Index), DenseBase::replicate(), class Replicate
       */
     // NOTE implemented here because of sunstudio's compilation errors
-    template<int Factor> const Replicate<ExpressionType,(IsVertical?Factor:1),(IsHorizontal?Factor:1)>
+    // isVertical*Factor+isHorizontal instead of (isVertical?Factor:1) to handle CUDA bug with ternary operator
+    template<int Factor> const Replicate<ExpressionType,isVertical*Factor+isHorizontal,isHorizontal*Factor+isVertical>
+    EIGEN_DEVICE_FUNC
     replicate(Index factor = Factor) const
     {
-      return Replicate<ExpressionType,Direction==Vertical?Factor:1,Direction==Horizontal?Factor:1>
-          (_expression(),Direction==Vertical?factor:1,Direction==Horizontal?factor:1);
+      return Replicate<ExpressionType,(isVertical?Factor:1),(isHorizontal?Factor:1)>
+          (_expression(),isVertical?factor:1,isHorizontal?factor:1);
     }
 
 /////////// Artithmetic operators ///////////
 
     /** Copies the vector \a other to each subvector of \c *this */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     ExpressionType& operator=(const DenseBase<OtherDerived>& other)
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
@@ -442,6 +505,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** Adds the vector \a other to each subvector of \c *this */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     ExpressionType& operator+=(const DenseBase<OtherDerived>& other)
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
@@ -451,6 +515,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** Substracts the vector \a other to each subvector of \c *this */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     ExpressionType& operator-=(const DenseBase<OtherDerived>& other)
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
@@ -460,6 +525,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** Multiples each subvector of \c *this by the vector \a other */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     ExpressionType& operator*=(const DenseBase<OtherDerived>& other)
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
@@ -471,6 +537,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** Divides each subvector of \c *this by the vector \a other */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     ExpressionType& operator/=(const DenseBase<OtherDerived>& other)
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
@@ -481,8 +548,8 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
     }
 
     /** Returns the expression of the sum of the vector \a other to each subvector of \c *this */
-    template<typename OtherDerived> EIGEN_STRONG_INLINE
-    CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
+    template<typename OtherDerived> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
+    CwiseBinaryOp<internal::scalar_sum_op<Scalar,typename OtherDerived::Scalar>,
                   const ExpressionTypeNestedCleaned,
                   const typename ExtendedType<OtherDerived>::Type>
     operator+(const DenseBase<OtherDerived>& other) const
@@ -494,7 +561,8 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** Returns the expression of the difference between each subvector of \c *this and the vector \a other */
     template<typename OtherDerived>
-    CwiseBinaryOp<internal::scalar_difference_op<Scalar>,
+    EIGEN_DEVICE_FUNC
+    CwiseBinaryOp<internal::scalar_difference_op<Scalar,typename OtherDerived::Scalar>,
                   const ExpressionTypeNestedCleaned,
                   const typename ExtendedType<OtherDerived>::Type>
     operator-(const DenseBase<OtherDerived>& other) const
@@ -506,10 +574,11 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
 
     /** Returns the expression where each subvector is the product of the vector \a other
       * by the corresponding subvector of \c *this */
-    template<typename OtherDerived> EIGEN_STRONG_INLINE
+    template<typename OtherDerived> EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC
     CwiseBinaryOp<internal::scalar_product_op<Scalar>,
                   const ExpressionTypeNestedCleaned,
                   const typename ExtendedType<OtherDerived>::Type>
+    EIGEN_DEVICE_FUNC
     operator*(const DenseBase<OtherDerived>& other) const
     {
       EIGEN_STATIC_ASSERT_VECTOR_ONLY(OtherDerived)
@@ -521,6 +590,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
     /** Returns the expression where each subvector is the quotient of the corresponding
       * subvector of \c *this by the vector \a other */
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     CwiseBinaryOp<internal::scalar_quotient_op<Scalar>,
                   const ExpressionTypeNestedCleaned,
                   const typename ExtendedType<OtherDerived>::Type>
@@ -531,32 +601,36 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
       EIGEN_STATIC_ASSERT_SAME_XPR_KIND(ExpressionType, OtherDerived)
       return m_matrix / extendedTo(other.derived());
     }
-    
-    /** \returns an expression where each column of row of the referenced matrix are normalized.
+
+    /** \returns an expression where each column (or row) of the referenced matrix are normalized.
       * The referenced matrix is \b not modified.
       * \sa MatrixBase::normalized(), normalize()
       */
+    EIGEN_DEVICE_FUNC
     CwiseBinaryOp<internal::scalar_quotient_op<Scalar>,
                   const ExpressionTypeNestedCleaned,
                   const typename OppositeExtendedType<typename ReturnType<internal::member_norm,RealScalar>::Type>::Type>
     normalized() const { return m_matrix.cwiseQuotient(extendedToOpposite(this->norm())); }
-    
-    
+
+
     /** Normalize in-place each row or columns of the referenced matrix.
       * \sa MatrixBase::normalize(), normalized()
       */
-    void normalize() {
+    EIGEN_DEVICE_FUNC void normalize() {
       m_matrix = this->normalized();
     }
 
+    EIGEN_DEVICE_FUNC inline void reverseInPlace();
+
 /////////// Geometry module ///////////
 
-    #if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
-    Homogeneous<ExpressionType,Direction> homogeneous() const;
-    #endif
+    typedef Homogeneous<ExpressionType,Direction> HomogeneousReturnType;
+    EIGEN_DEVICE_FUNC
+    HomogeneousReturnType homogeneous() const;
 
     typedef typename ExpressionType::PlainObject CrossReturnType;
     template<typename OtherDerived>
+    EIGEN_DEVICE_FUNC
     const CrossReturnType cross(const MatrixBase<OtherDerived>& other) const;
 
     enum {
@@ -581,25 +655,15 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
                   Direction==Horizontal ? HNormalized_SizeMinusOne : 1> >
             HNormalizedReturnType;
 
+    EIGEN_DEVICE_FUNC
     const HNormalizedReturnType hnormalized() const;
 
   protected:
     ExpressionTypeNested m_matrix;
 };
 
-/** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
-  *
-  * Example: \include MatrixBase_colwise.cpp
-  * Output: \verbinclude MatrixBase_colwise.out
-  *
-  * \sa rowwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
-  */
-template<typename Derived>
-inline const typename DenseBase<Derived>::ConstColwiseReturnType
-DenseBase<Derived>::colwise() const
-{
-  return derived();
-}
+//const colwise moved to DenseBase.h due to CUDA compiler bug
+
 
 /** \returns a writable VectorwiseOp wrapper of *this providing additional partial reduction operations
   *
@@ -609,22 +673,11 @@ template<typename Derived>
 inline typename DenseBase<Derived>::ColwiseReturnType
 DenseBase<Derived>::colwise()
 {
-  return derived();
+  return ColwiseReturnType(derived());
 }
 
-/** \returns a VectorwiseOp wrapper of *this providing additional partial reduction operations
-  *
-  * Example: \include MatrixBase_rowwise.cpp
-  * Output: \verbinclude MatrixBase_rowwise.out
-  *
-  * \sa colwise(), class VectorwiseOp, \ref TutorialReductionsVisitorsBroadcasting
-  */
-template<typename Derived>
-inline const typename DenseBase<Derived>::ConstRowwiseReturnType
-DenseBase<Derived>::rowwise() const
-{
-  return derived();
-}
+//const rowwise moved to DenseBase.h due to CUDA compiler bug
+
 
 /** \returns a writable VectorwiseOp wrapper of *this providing additional partial reduction operations
   *
@@ -634,7 +687,7 @@ template<typename Derived>
 inline typename DenseBase<Derived>::RowwiseReturnType
 DenseBase<Derived>::rowwise()
 {
-  return derived();
+  return RowwiseReturnType(derived());
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/Visitor.h b/eigenlib/Eigen/src/Core/Visitor.h
index 64867b7a..54c1883d 100644
--- a/eigenlib/Eigen/src/Core/Visitor.h
+++ b/eigenlib/Eigen/src/Core/Visitor.h
@@ -22,6 +22,7 @@ struct visitor_impl
     row = (UnrollCount-1) % Derived::RowsAtCompileTime
   };
 
+  EIGEN_DEVICE_FUNC
   static inline void run(const Derived &mat, Visitor& visitor)
   {
     visitor_impl<Visitor, Derived, UnrollCount-1>::run(mat, visitor);
@@ -32,6 +33,7 @@ struct visitor_impl
 template<typename Visitor, typename Derived>
 struct visitor_impl<Visitor, Derived, 1>
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(const Derived &mat, Visitor& visitor)
   {
     return visitor.init(mat.coeff(0, 0), 0, 0);
@@ -41,7 +43,7 @@ struct visitor_impl<Visitor, Derived, 1>
 template<typename Visitor, typename Derived>
 struct visitor_impl<Visitor, Derived, Dynamic>
 {
-  typedef typename Derived::Index Index;
+  EIGEN_DEVICE_FUNC
   static inline void run(const Derived& mat, Visitor& visitor)
   {
     visitor.init(mat.coeff(0,0), 0, 0);
@@ -53,6 +55,33 @@ struct visitor_impl<Visitor, Derived, Dynamic>
   }
 };
 
+// evaluator adaptor
+template<typename XprType>
+class visitor_evaluator
+{
+public:
+  EIGEN_DEVICE_FUNC
+  explicit visitor_evaluator(const XprType &xpr) : m_evaluator(xpr), m_xpr(xpr) {}
+  
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::CoeffReturnType CoeffReturnType;
+  
+  enum {
+    RowsAtCompileTime = XprType::RowsAtCompileTime,
+    CoeffReadCost = internal::evaluator<XprType>::CoeffReadCost
+  };
+  
+  EIGEN_DEVICE_FUNC Index rows() const { return m_xpr.rows(); }
+  EIGEN_DEVICE_FUNC Index cols() const { return m_xpr.cols(); }
+  EIGEN_DEVICE_FUNC Index size() const { return m_xpr.size(); }
+
+  EIGEN_DEVICE_FUNC CoeffReturnType coeff(Index row, Index col) const
+  { return m_evaluator.coeff(row, col); }
+  
+protected:
+  internal::evaluator<XprType> m_evaluator;
+  const XprType &m_xpr;
+};
 } // end namespace internal
 
 /** Applies the visitor \a visitor to the whole coefficients of the matrix or vector.
@@ -74,16 +103,17 @@ struct visitor_impl<Visitor, Derived, Dynamic>
   */
 template<typename Derived>
 template<typename Visitor>
+EIGEN_DEVICE_FUNC
 void DenseBase<Derived>::visit(Visitor& visitor) const
 {
-  enum { unroll = SizeAtCompileTime != Dynamic
-                   && CoeffReadCost != Dynamic
-                   && (SizeAtCompileTime == 1 || internal::functor_traits<Visitor>::Cost != Dynamic)
-                   && SizeAtCompileTime * CoeffReadCost + (SizeAtCompileTime-1) * internal::functor_traits<Visitor>::Cost
-                      <= EIGEN_UNROLLING_LIMIT };
-  return internal::visitor_impl<Visitor, Derived,
-      unroll ? int(SizeAtCompileTime) : Dynamic
-    >::run(derived(), visitor);
+  typedef typename internal::visitor_evaluator<Derived> ThisEvaluator;
+  ThisEvaluator thisEval(derived());
+  
+  enum {
+    unroll =  SizeAtCompileTime != Dynamic
+           && SizeAtCompileTime * ThisEvaluator::CoeffReadCost + (SizeAtCompileTime-1) * internal::functor_traits<Visitor>::Cost <= EIGEN_UNROLLING_LIMIT
+  };
+  return internal::visitor_impl<Visitor, ThisEvaluator, unroll ? int(SizeAtCompileTime) : Dynamic>::run(thisEval, visitor);
 }
 
 namespace internal {
@@ -94,10 +124,10 @@ namespace internal {
 template <typename Derived>
 struct coeff_visitor
 {
-  typedef typename Derived::Index Index;
   typedef typename Derived::Scalar Scalar;
   Index row, col;
   Scalar res;
+  EIGEN_DEVICE_FUNC
   inline void init(const Scalar& value, Index i, Index j)
   {
     res = value;
@@ -114,8 +144,8 @@ struct coeff_visitor
 template <typename Derived>
 struct min_coeff_visitor : coeff_visitor<Derived>
 {
-  typedef typename Derived::Index Index;
   typedef typename Derived::Scalar Scalar;
+  EIGEN_DEVICE_FUNC
   void operator() (const Scalar& value, Index i, Index j)
   {
     if(value < this->res)
@@ -142,8 +172,8 @@ struct functor_traits<min_coeff_visitor<Scalar> > {
 template <typename Derived>
 struct max_coeff_visitor : coeff_visitor<Derived>
 {
-  typedef typename Derived::Index Index;
-  typedef typename Derived::Scalar Scalar;
+  typedef typename Derived::Scalar Scalar; 
+  EIGEN_DEVICE_FUNC
   void operator() (const Scalar& value, Index i, Index j)
   {
     if(value > this->res)
@@ -164,13 +194,15 @@ struct functor_traits<max_coeff_visitor<Scalar> > {
 
 } // end namespace internal
 
-/** \returns the minimum of all coefficients of *this and puts in *row and *col its location.
+/** \fn DenseBase<Derived>::minCoeff(IndexType* rowId, IndexType* colId) const
+  * \returns the minimum of all coefficients of *this and puts in *row and *col its location.
   * \warning the result is undefined if \c *this contains NaN.
   *
-  * \sa DenseBase::minCoeff(Index*), DenseBase::maxCoeff(Index*,Index*), DenseBase::visitor(), DenseBase::minCoeff()
+  * \sa DenseBase::minCoeff(Index*), DenseBase::maxCoeff(Index*,Index*), DenseBase::visit(), DenseBase::minCoeff()
   */
 template<typename Derived>
 template<typename IndexType>
+EIGEN_DEVICE_FUNC
 typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::minCoeff(IndexType* rowId, IndexType* colId) const
 {
@@ -184,27 +216,30 @@ DenseBase<Derived>::minCoeff(IndexType* rowId, IndexType* colId) const
 /** \returns the minimum of all coefficients of *this and puts in *index its location.
   * \warning the result is undefined if \c *this contains NaN. 
   *
-  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::visitor(), DenseBase::minCoeff()
+  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::maxCoeff(IndexType*,IndexType*), DenseBase::visit(), DenseBase::minCoeff()
   */
 template<typename Derived>
 template<typename IndexType>
+EIGEN_DEVICE_FUNC
 typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::minCoeff(IndexType* index) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   internal::min_coeff_visitor<Derived> minVisitor;
   this->visit(minVisitor);
-  *index = (RowsAtCompileTime==1) ? minVisitor.col : minVisitor.row;
+  *index = IndexType((RowsAtCompileTime==1) ? minVisitor.col : minVisitor.row);
   return minVisitor.res;
 }
 
-/** \returns the maximum of all coefficients of *this and puts in *row and *col its location.
+/** \fn DenseBase<Derived>::maxCoeff(IndexType* rowId, IndexType* colId) const
+  * \returns the maximum of all coefficients of *this and puts in *row and *col its location.
   * \warning the result is undefined if \c *this contains NaN. 
   *
-  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visitor(), DenseBase::maxCoeff()
+  * \sa DenseBase::minCoeff(IndexType*,IndexType*), DenseBase::visit(), DenseBase::maxCoeff()
   */
 template<typename Derived>
 template<typename IndexType>
+EIGEN_DEVICE_FUNC
 typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::maxCoeff(IndexType* rowPtr, IndexType* colPtr) const
 {
@@ -222,6 +257,7 @@ DenseBase<Derived>::maxCoeff(IndexType* rowPtr, IndexType* colPtr) const
   */
 template<typename Derived>
 template<typename IndexType>
+EIGEN_DEVICE_FUNC
 typename internal::traits<Derived>::Scalar
 DenseBase<Derived>::maxCoeff(IndexType* index) const
 {
diff --git a/eigenlib/Eigen/src/Core/arch/AVX/Complex.h b/eigenlib/Eigen/src/Core/arch/AVX/Complex.h
new file mode 100644
index 00000000..99439c8a
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/AVX/Complex.h
@@ -0,0 +1,483 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Benoit Steiner (benoit.steiner.goog@gmail.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COMPLEX_AVX_H
+#define EIGEN_COMPLEX_AVX_H
+
+namespace Eigen {
+
+namespace internal {
+
+//---------- float ----------
+struct Packet4cf
+{
+  EIGEN_STRONG_INLINE Packet4cf() {}
+  EIGEN_STRONG_INLINE explicit Packet4cf(const __m256& a) : v(a) {}
+  __m256  v;
+};
+
+template<> struct packet_traits<std::complex<float> >  : default_packet_traits
+{
+  typedef Packet4cf type;
+  typedef Packet2cf half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+    HasHalfPacket = 1,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet4cf> { typedef std::complex<float> type; enum {size=4, alignment=Aligned32}; typedef Packet2cf half; };
+
+template<> EIGEN_STRONG_INLINE Packet4cf padd<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_add_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf psub<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_sub_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf pnegate(const Packet4cf& a)
+{
+  return Packet4cf(pnegate(a.v));
+}
+template<> EIGEN_STRONG_INLINE Packet4cf pconj(const Packet4cf& a)
+{
+  const __m256 mask = _mm256_castsi256_ps(_mm256_setr_epi32(0x00000000,0x80000000,0x00000000,0x80000000,0x00000000,0x80000000,0x00000000,0x80000000));
+  return Packet4cf(_mm256_xor_ps(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pmul<Packet4cf>(const Packet4cf& a, const Packet4cf& b)
+{
+  __m256 tmp1 = _mm256_mul_ps(_mm256_moveldup_ps(a.v), b.v);
+  __m256 tmp2 = _mm256_mul_ps(_mm256_movehdup_ps(a.v), _mm256_permute_ps(b.v, _MM_SHUFFLE(2,3,0,1)));
+  __m256 result = _mm256_addsub_ps(tmp1, tmp2);
+  return Packet4cf(result);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pand   <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_and_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf por    <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_or_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf pxor   <Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_xor_ps(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet4cf pandnot<Packet4cf>(const Packet4cf& a, const Packet4cf& b) { return Packet4cf(_mm256_andnot_ps(a.v,b.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet4cf pload <Packet4cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet4cf(pload<Packet8f>(&numext::real_ref(*from))); }
+template<> EIGEN_STRONG_INLINE Packet4cf ploadu<Packet4cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet4cf(ploadu<Packet8f>(&numext::real_ref(*from))); }
+
+
+template<> EIGEN_STRONG_INLINE Packet4cf pset1<Packet4cf>(const std::complex<float>& from)
+{
+  return Packet4cf(_mm256_castpd_ps(_mm256_broadcast_sd((const double*)(const void*)&from)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf ploaddup<Packet4cf>(const std::complex<float>* from)
+{
+  // FIXME The following might be optimized using _mm256_movedup_pd
+  Packet2cf a = ploaddup<Packet2cf>(from);
+  Packet2cf b = ploaddup<Packet2cf>(from+1);
+  return  Packet4cf(_mm256_insertf128_ps(_mm256_castps128_ps256(a.v), b.v, 1));
+}
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float>* to, const Packet4cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore(&numext::real_ref(*to), from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float>* to, const Packet4cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(&numext::real_ref(*to), from.v); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet4cf pgather<std::complex<float>, Packet4cf>(const std::complex<float>* from, Index stride)
+{
+  return Packet4cf(_mm256_set_ps(std::imag(from[3*stride]), std::real(from[3*stride]),
+                                 std::imag(from[2*stride]), std::real(from[2*stride]),
+                                 std::imag(from[1*stride]), std::real(from[1*stride]),
+                                 std::imag(from[0*stride]), std::real(from[0*stride])));
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet4cf>(std::complex<float>* to, const Packet4cf& from, Index stride)
+{
+  __m128 low = _mm256_extractf128_ps(from.v, 0);
+  to[stride*0] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(low, low, 0)),
+                                     _mm_cvtss_f32(_mm_shuffle_ps(low, low, 1)));
+  to[stride*1] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(low, low, 2)),
+                                     _mm_cvtss_f32(_mm_shuffle_ps(low, low, 3)));
+
+  __m128 high = _mm256_extractf128_ps(from.v, 1);
+  to[stride*2] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(high, high, 0)),
+                                     _mm_cvtss_f32(_mm_shuffle_ps(high, high, 1)));
+  to[stride*3] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(high, high, 2)),
+                                     _mm_cvtss_f32(_mm_shuffle_ps(high, high, 3)));
+
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet4cf>(const Packet4cf& a)
+{
+  return pfirst(Packet2cf(_mm256_castps256_ps128(a.v)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf preverse(const Packet4cf& a) {
+  __m128 low  = _mm256_extractf128_ps(a.v, 0);
+  __m128 high = _mm256_extractf128_ps(a.v, 1);
+  __m128d lowd  = _mm_castps_pd(low);
+  __m128d highd = _mm_castps_pd(high);
+  low  = _mm_castpd_ps(_mm_shuffle_pd(lowd,lowd,0x1));
+  high = _mm_castpd_ps(_mm_shuffle_pd(highd,highd,0x1));
+  __m256 result = _mm256_setzero_ps();
+  result = _mm256_insertf128_ps(result, low, 1);
+  result = _mm256_insertf128_ps(result, high, 0);
+  return Packet4cf(result);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet4cf>(const Packet4cf& a)
+{
+  return predux(padd(Packet2cf(_mm256_extractf128_ps(a.v,0)),
+                     Packet2cf(_mm256_extractf128_ps(a.v,1))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf preduxp<Packet4cf>(const Packet4cf* vecs)
+{
+  Packet8f t0 = _mm256_shuffle_ps(vecs[0].v, vecs[0].v, _MM_SHUFFLE(3, 1, 2 ,0));
+  Packet8f t1 = _mm256_shuffle_ps(vecs[1].v, vecs[1].v, _MM_SHUFFLE(3, 1, 2 ,0));
+  t0 = _mm256_hadd_ps(t0,t1);
+  Packet8f t2 = _mm256_shuffle_ps(vecs[2].v, vecs[2].v, _MM_SHUFFLE(3, 1, 2 ,0));
+  Packet8f t3 = _mm256_shuffle_ps(vecs[3].v, vecs[3].v, _MM_SHUFFLE(3, 1, 2 ,0));
+  t2 = _mm256_hadd_ps(t2,t3);
+  
+  t1 = _mm256_permute2f128_ps(t0,t2, 0 + (2<<4));
+  t3 = _mm256_permute2f128_ps(t0,t2, 1 + (3<<4));
+
+  return Packet4cf(_mm256_add_ps(t1,t3));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet4cf>(const Packet4cf& a)
+{
+  return predux_mul(pmul(Packet2cf(_mm256_extractf128_ps(a.v, 0)),
+                         Packet2cf(_mm256_extractf128_ps(a.v, 1))));
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet4cf>
+{
+  static EIGEN_STRONG_INLINE void run(Packet4cf& first, const Packet4cf& second)
+  {
+    if (Offset==0) return;
+    palign_impl<Offset*2,Packet8f>::run(first.v, second.v);
+  }
+};
+
+template<> struct conj_helper<Packet4cf, Packet4cf, false,true>
+{
+  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet4cf, Packet4cf, true,false>
+{
+  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet4cf, Packet4cf, true,true>
+{
+  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet4cf& y, const Packet4cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& a, const Packet4cf& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> struct conj_helper<Packet8f, Packet4cf, false,false>
+{
+  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet8f& x, const Packet4cf& y, const Packet4cf& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet8f& x, const Packet4cf& y) const
+  { return Packet4cf(Eigen::internal::pmul(x, y.v)); }
+};
+
+template<> struct conj_helper<Packet4cf, Packet8f, false,false>
+{
+  EIGEN_STRONG_INLINE Packet4cf pmadd(const Packet4cf& x, const Packet8f& y, const Packet4cf& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet4cf pmul(const Packet4cf& x, const Packet8f& y) const
+  { return Packet4cf(Eigen::internal::pmul(x.v, y)); }
+};
+
+template<> EIGEN_STRONG_INLINE Packet4cf pdiv<Packet4cf>(const Packet4cf& a, const Packet4cf& b)
+{
+  Packet4cf num = pmul(a, pconj(b));
+  __m256 tmp = _mm256_mul_ps(b.v, b.v);
+  __m256 tmp2    = _mm256_shuffle_ps(tmp,tmp,0xB1);
+  __m256 denom = _mm256_add_ps(tmp, tmp2);
+  return Packet4cf(_mm256_div_ps(num.v, denom));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pcplxflip<Packet4cf>(const Packet4cf& x)
+{
+  return Packet4cf(_mm256_shuffle_ps(x.v, x.v, _MM_SHUFFLE(2, 3, 0 ,1)));
+}
+
+//---------- double ----------
+struct Packet2cd
+{
+  EIGEN_STRONG_INLINE Packet2cd() {}
+  EIGEN_STRONG_INLINE explicit Packet2cd(const __m256d& a) : v(a) {}
+  __m256d  v;
+};
+
+template<> struct packet_traits<std::complex<double> >  : default_packet_traits
+{
+  typedef Packet2cd type;
+  typedef Packet1cd half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 0,
+    size = 2,
+    HasHalfPacket = 1,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet2cd> { typedef std::complex<double> type; enum {size=2, alignment=Aligned32}; typedef Packet1cd half; };
+
+template<> EIGEN_STRONG_INLINE Packet2cd padd<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_add_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd psub<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_sub_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd pnegate(const Packet2cd& a) { return Packet2cd(pnegate(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd pconj(const Packet2cd& a)
+{
+  const __m256d mask = _mm256_castsi256_pd(_mm256_set_epi32(0x80000000,0x0,0x0,0x0,0x80000000,0x0,0x0,0x0));
+  return Packet2cd(_mm256_xor_pd(a.v,mask));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pmul<Packet2cd>(const Packet2cd& a, const Packet2cd& b)
+{
+  __m256d tmp1 = _mm256_shuffle_pd(a.v,a.v,0x0);
+  __m256d even = _mm256_mul_pd(tmp1, b.v);
+  __m256d tmp2 = _mm256_shuffle_pd(a.v,a.v,0xF);
+  __m256d tmp3 = _mm256_shuffle_pd(b.v,b.v,0x5);
+  __m256d odd  = _mm256_mul_pd(tmp2, tmp3);
+  return Packet2cd(_mm256_addsub_pd(even, odd));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pand   <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_and_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd por    <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_or_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd pxor   <Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_xor_pd(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cd pandnot<Packet2cd>(const Packet2cd& a, const Packet2cd& b) { return Packet2cd(_mm256_andnot_pd(a.v,b.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cd pload <Packet2cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_ALIGNED_LOAD return Packet2cd(pload<Packet4d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet2cd ploadu<Packet2cd>(const std::complex<double>* from)
+{ EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cd(ploadu<Packet4d>((const double*)from)); }
+
+template<> EIGEN_STRONG_INLINE Packet2cd pset1<Packet2cd>(const std::complex<double>& from)
+{
+  // in case casting to a __m128d* is really not safe, then we can still fallback to this version: (much slower though)
+//   return Packet2cd(_mm256_loadu2_m128d((const double*)&from,(const double*)&from));
+    return Packet2cd(_mm256_broadcast_pd((const __m128d*)(const void*)&from));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd ploaddup<Packet2cd>(const std::complex<double>* from) { return pset1<Packet2cd>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet2cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet2cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet2cd pgather<std::complex<double>, Packet2cd>(const std::complex<double>* from, Index stride)
+{
+  return Packet2cd(_mm256_set_pd(std::imag(from[1*stride]), std::real(from[1*stride]),
+				 std::imag(from[0*stride]), std::real(from[0*stride])));
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet2cd>(std::complex<double>* to, const Packet2cd& from, Index stride)
+{
+  __m128d low = _mm256_extractf128_pd(from.v, 0);
+  to[stride*0] = std::complex<double>(_mm_cvtsd_f64(low), _mm_cvtsd_f64(_mm_shuffle_pd(low, low, 1)));
+  __m128d high = _mm256_extractf128_pd(from.v, 1);
+  to[stride*1] = std::complex<double>(_mm_cvtsd_f64(high), _mm_cvtsd_f64(_mm_shuffle_pd(high, high, 1)));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> pfirst<Packet2cd>(const Packet2cd& a)
+{
+  __m128d low = _mm256_extractf128_pd(a.v, 0);
+  EIGEN_ALIGN16 double res[2];
+  _mm_store_pd(res, low);
+  return std::complex<double>(res[0],res[1]);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd preverse(const Packet2cd& a) {
+  __m256d result = _mm256_permute2f128_pd(a.v, a.v, 1);
+  return Packet2cd(result);
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet2cd>(const Packet2cd& a)
+{
+  return predux(padd(Packet1cd(_mm256_extractf128_pd(a.v,0)),
+                     Packet1cd(_mm256_extractf128_pd(a.v,1))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd preduxp<Packet2cd>(const Packet2cd* vecs)
+{
+  Packet4d t0 = _mm256_permute2f128_pd(vecs[0].v,vecs[1].v, 0 + (2<<4));
+  Packet4d t1 = _mm256_permute2f128_pd(vecs[0].v,vecs[1].v, 1 + (3<<4));
+
+  return Packet2cd(_mm256_add_pd(t0,t1));
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet2cd>(const Packet2cd& a)
+{
+  return predux(pmul(Packet1cd(_mm256_extractf128_pd(a.v,0)),
+                     Packet1cd(_mm256_extractf128_pd(a.v,1))));
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet2cd>
+{
+  static EIGEN_STRONG_INLINE void run(Packet2cd& first, const Packet2cd& second)
+  {
+    if (Offset==0) return;
+    palign_impl<Offset*2,Packet4d>::run(first.v, second.v);
+  }
+};
+
+template<> struct conj_helper<Packet2cd, Packet2cd, false,true>
+{
+  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet2cd, Packet2cd, true,false>
+{
+  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet2cd, Packet2cd, true,true>
+{
+  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet2cd& y, const Packet2cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& a, const Packet2cd& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> struct conj_helper<Packet4d, Packet2cd, false,false>
+{
+  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet4d& x, const Packet2cd& y, const Packet2cd& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet4d& x, const Packet2cd& y) const
+  { return Packet2cd(Eigen::internal::pmul(x, y.v)); }
+};
+
+template<> struct conj_helper<Packet2cd, Packet4d, false,false>
+{
+  EIGEN_STRONG_INLINE Packet2cd pmadd(const Packet2cd& x, const Packet4d& y, const Packet2cd& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet2cd pmul(const Packet2cd& x, const Packet4d& y) const
+  { return Packet2cd(Eigen::internal::pmul(x.v, y)); }
+};
+
+template<> EIGEN_STRONG_INLINE Packet2cd pdiv<Packet2cd>(const Packet2cd& a, const Packet2cd& b)
+{
+  Packet2cd num = pmul(a, pconj(b));
+  __m256d tmp = _mm256_mul_pd(b.v, b.v);
+  __m256d denom = _mm256_hadd_pd(tmp, tmp);
+  return Packet2cd(_mm256_div_pd(num.v, denom));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pcplxflip<Packet2cd>(const Packet2cd& x)
+{
+  return Packet2cd(_mm256_shuffle_pd(x.v, x.v, 0x5));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4cf,4>& kernel) {
+  __m256d P0 = _mm256_castps_pd(kernel.packet[0].v);
+  __m256d P1 = _mm256_castps_pd(kernel.packet[1].v);
+  __m256d P2 = _mm256_castps_pd(kernel.packet[2].v);
+  __m256d P3 = _mm256_castps_pd(kernel.packet[3].v);
+
+  __m256d T0 = _mm256_shuffle_pd(P0, P1, 15);
+  __m256d T1 = _mm256_shuffle_pd(P0, P1, 0);
+  __m256d T2 = _mm256_shuffle_pd(P2, P3, 15);
+  __m256d T3 = _mm256_shuffle_pd(P2, P3, 0);
+
+  kernel.packet[1].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T0, T2, 32));
+  kernel.packet[3].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T0, T2, 49));
+  kernel.packet[0].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T1, T3, 32));
+  kernel.packet[2].v = _mm256_castpd_ps(_mm256_permute2f128_pd(T1, T3, 49));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2cd,2>& kernel) {
+  __m256d tmp = _mm256_permute2f128_pd(kernel.packet[0].v, kernel.packet[1].v, 0+(2<<4));
+  kernel.packet[1].v = _mm256_permute2f128_pd(kernel.packet[0].v, kernel.packet[1].v, 1+(3<<4));
+ kernel.packet[0].v = tmp;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pinsertfirst(const Packet4cf& a, std::complex<float> b)
+{
+  return Packet4cf(_mm256_blend_ps(a.v,pset1<Packet4cf>(b).v,1|2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pinsertfirst(const Packet2cd& a, std::complex<double> b)
+{
+  return Packet2cd(_mm256_blend_pd(a.v,pset1<Packet2cd>(b).v,1|2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4cf pinsertlast(const Packet4cf& a, std::complex<float> b)
+{
+  return Packet4cf(_mm256_blend_ps(a.v,pset1<Packet4cf>(b).v,(1<<7)|(1<<6)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cd pinsertlast(const Packet2cd& a, std::complex<double> b)
+{
+  return Packet2cd(_mm256_blend_pd(a.v,pset1<Packet2cd>(b).v,(1<<3)|(1<<2)));
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLEX_AVX_H
diff --git a/eigenlib/Eigen/src/Core/arch/AVX/MathFunctions.h b/eigenlib/Eigen/src/Core/arch/AVX/MathFunctions.h
new file mode 100644
index 00000000..6af67ce2
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/AVX/MathFunctions.h
@@ -0,0 +1,439 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Pedro Gonnet (pedro.gonnet@gmail.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATH_FUNCTIONS_AVX_H
+#define EIGEN_MATH_FUNCTIONS_AVX_H
+
+/* The sin, cos, exp, and log functions of this file are loosely derived from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+namespace Eigen {
+
+namespace internal {
+
+inline Packet8i pshiftleft(Packet8i v, int n)
+{
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_slli_epi32(v, n);
+#else
+  __m128i lo = _mm_slli_epi32(_mm256_extractf128_si256(v, 0), n);
+  __m128i hi = _mm_slli_epi32(_mm256_extractf128_si256(v, 1), n);
+  return _mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1);
+#endif
+}
+
+inline Packet8f pshiftright(Packet8f v, int n)
+{
+#ifdef EIGEN_VECTORIZE_AVX2
+  return _mm256_cvtepi32_ps(_mm256_srli_epi32(_mm256_castps_si256(v), n));
+#else
+  __m128i lo = _mm_srli_epi32(_mm256_extractf128_si256(_mm256_castps_si256(v), 0), n);
+  __m128i hi = _mm_srli_epi32(_mm256_extractf128_si256(_mm256_castps_si256(v), 1), n);
+  return _mm256_cvtepi32_ps(_mm256_insertf128_si256(_mm256_castsi128_si256(lo), (hi), 1));
+#endif
+}
+
+// Sine function
+// Computes sin(x) by wrapping x to the interval [-Pi/4,3*Pi/4] and
+// evaluating interpolants in [-Pi/4,Pi/4] or [Pi/4,3*Pi/4]. The interpolants
+// are (anti-)symmetric and thus have only odd/even coefficients
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+psin<Packet8f>(const Packet8f& _x) {
+  Packet8f x = _x;
+
+  // Some useful values.
+  _EIGEN_DECLARE_CONST_Packet8i(one, 1);
+  _EIGEN_DECLARE_CONST_Packet8f(one, 1.0f);
+  _EIGEN_DECLARE_CONST_Packet8f(two, 2.0f);
+  _EIGEN_DECLARE_CONST_Packet8f(one_over_four, 0.25f);
+  _EIGEN_DECLARE_CONST_Packet8f(one_over_pi, 3.183098861837907e-01f);
+  _EIGEN_DECLARE_CONST_Packet8f(neg_pi_first, -3.140625000000000e+00f);
+  _EIGEN_DECLARE_CONST_Packet8f(neg_pi_second, -9.670257568359375e-04f);
+  _EIGEN_DECLARE_CONST_Packet8f(neg_pi_third, -6.278329571784980e-07f);
+  _EIGEN_DECLARE_CONST_Packet8f(four_over_pi, 1.273239544735163e+00f);
+
+  // Map x from [-Pi/4,3*Pi/4] to z in [-1,3] and subtract the shifted period.
+  Packet8f z = pmul(x, p8f_one_over_pi);
+  Packet8f shift = _mm256_floor_ps(padd(z, p8f_one_over_four));
+  x = pmadd(shift, p8f_neg_pi_first, x);
+  x = pmadd(shift, p8f_neg_pi_second, x);
+  x = pmadd(shift, p8f_neg_pi_third, x);
+  z = pmul(x, p8f_four_over_pi);
+
+  // Make a mask for the entries that need flipping, i.e. wherever the shift
+  // is odd.
+  Packet8i shift_ints = _mm256_cvtps_epi32(shift);
+  Packet8i shift_isodd = _mm256_castps_si256(_mm256_and_ps(_mm256_castsi256_ps(shift_ints), _mm256_castsi256_ps(p8i_one)));
+  Packet8i sign_flip_mask = pshiftleft(shift_isodd, 31);
+
+  // Create a mask for which interpolant to use, i.e. if z > 1, then the mask
+  // is set to ones for that entry.
+  Packet8f ival_mask = _mm256_cmp_ps(z, p8f_one, _CMP_GT_OQ);
+
+  // Evaluate the polynomial for the interval [1,3] in z.
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_0, 9.999999724233232e-01f);
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_2, -3.084242535619928e-01f);
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_4, 1.584991525700324e-02f);
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_right_6, -3.188805084631342e-04f);
+  Packet8f z_minus_two = psub(z, p8f_two);
+  Packet8f z_minus_two2 = pmul(z_minus_two, z_minus_two);
+  Packet8f right = pmadd(p8f_coeff_right_6, z_minus_two2, p8f_coeff_right_4);
+  right = pmadd(right, z_minus_two2, p8f_coeff_right_2);
+  right = pmadd(right, z_minus_two2, p8f_coeff_right_0);
+
+  // Evaluate the polynomial for the interval [-1,1] in z.
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_1, 7.853981525427295e-01f);
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_3, -8.074536727092352e-02f);
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_5, 2.489871967827018e-03f);
+  _EIGEN_DECLARE_CONST_Packet8f(coeff_left_7, -3.587725841214251e-05f);
+  Packet8f z2 = pmul(z, z);
+  Packet8f left = pmadd(p8f_coeff_left_7, z2, p8f_coeff_left_5);
+  left = pmadd(left, z2, p8f_coeff_left_3);
+  left = pmadd(left, z2, p8f_coeff_left_1);
+  left = pmul(left, z);
+
+  // Assemble the results, i.e. select the left and right polynomials.
+  left = _mm256_andnot_ps(ival_mask, left);
+  right = _mm256_and_ps(ival_mask, right);
+  Packet8f res = _mm256_or_ps(left, right);
+
+  // Flip the sign on the odd intervals and return the result.
+  res = _mm256_xor_ps(res, _mm256_castsi256_ps(sign_flip_mask));
+  return res;
+}
+
+// Natural logarithm
+// Computes log(x) as log(2^e * m) = C*e + log(m), where the constant C =log(2)
+// and m is in the range [sqrt(1/2),sqrt(2)). In this range, the logarithm can
+// be easily approximated by a polynomial centered on m=1 for stability.
+// TODO(gonnet): Further reduce the interval allowing for lower-degree
+//               polynomial interpolants -> ... -> profit!
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+plog<Packet8f>(const Packet8f& _x) {
+  Packet8f x = _x;
+  _EIGEN_DECLARE_CONST_Packet8f(1, 1.0f);
+  _EIGEN_DECLARE_CONST_Packet8f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet8f(126f, 126.0f);
+
+  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(inv_mant_mask, ~0x7f800000);
+
+  // The smallest non denormalized float number.
+  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(min_norm_pos, 0x00800000);
+  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(minus_inf, 0xff800000);
+
+  // Polynomial coefficients.
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_SQRTHF, 0.707106781186547524f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p0, 7.0376836292E-2f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p1, -1.1514610310E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p2, 1.1676998740E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p3, -1.2420140846E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p4, +1.4249322787E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p5, -1.6668057665E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p6, +2.0000714765E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p7, -2.4999993993E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_p8, +3.3333331174E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_q1, -2.12194440e-4f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_log_q2, 0.693359375f);
+
+  Packet8f invalid_mask = _mm256_cmp_ps(x, _mm256_setzero_ps(), _CMP_NGE_UQ); // not greater equal is true if x is NaN
+  Packet8f iszero_mask = _mm256_cmp_ps(x, _mm256_setzero_ps(), _CMP_EQ_OQ);
+
+  // Truncate input values to the minimum positive normal.
+  x = pmax(x, p8f_min_norm_pos);
+
+  Packet8f emm0 = pshiftright(x,23);
+  Packet8f e = _mm256_sub_ps(emm0, p8f_126f);
+
+  // Set the exponents to -1, i.e. x are in the range [0.5,1).
+  x = _mm256_and_ps(x, p8f_inv_mant_mask);
+  x = _mm256_or_ps(x, p8f_half);
+
+  // part2: Shift the inputs from the range [0.5,1) to [sqrt(1/2),sqrt(2))
+  // and shift by -1. The values are then centered around 0, which improves
+  // the stability of the polynomial evaluation.
+  //   if( x < SQRTHF ) {
+  //     e -= 1;
+  //     x = x + x - 1.0;
+  //   } else { x = x - 1.0; }
+  Packet8f mask = _mm256_cmp_ps(x, p8f_cephes_SQRTHF, _CMP_LT_OQ);
+  Packet8f tmp = _mm256_and_ps(x, mask);
+  x = psub(x, p8f_1);
+  e = psub(e, _mm256_and_ps(p8f_1, mask));
+  x = padd(x, tmp);
+
+  Packet8f x2 = pmul(x, x);
+  Packet8f x3 = pmul(x2, x);
+
+  // Evaluate the polynomial approximant of degree 8 in three parts, probably
+  // to improve instruction-level parallelism.
+  Packet8f y, y1, y2;
+  y = pmadd(p8f_cephes_log_p0, x, p8f_cephes_log_p1);
+  y1 = pmadd(p8f_cephes_log_p3, x, p8f_cephes_log_p4);
+  y2 = pmadd(p8f_cephes_log_p6, x, p8f_cephes_log_p7);
+  y = pmadd(y, x, p8f_cephes_log_p2);
+  y1 = pmadd(y1, x, p8f_cephes_log_p5);
+  y2 = pmadd(y2, x, p8f_cephes_log_p8);
+  y = pmadd(y, x3, y1);
+  y = pmadd(y, x3, y2);
+  y = pmul(y, x3);
+
+  // Add the logarithm of the exponent back to the result of the interpolation.
+  y1 = pmul(e, p8f_cephes_log_q1);
+  tmp = pmul(x2, p8f_half);
+  y = padd(y, y1);
+  x = psub(x, tmp);
+  y2 = pmul(e, p8f_cephes_log_q2);
+  x = padd(x, y);
+  x = padd(x, y2);
+
+  // Filter out invalid inputs, i.e. negative arg will be NAN, 0 will be -INF.
+  return _mm256_or_ps(
+      _mm256_andnot_ps(iszero_mask, _mm256_or_ps(x, invalid_mask)),
+      _mm256_and_ps(iszero_mask, p8f_minus_inf));
+}
+
+// Exponential function. Works by writing "x = m*log(2) + r" where
+// "m = floor(x/log(2)+1/2)" and "r" is the remainder. The result is then
+// "exp(x) = 2^m*exp(r)" where exp(r) is in the range [-1,1).
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+pexp<Packet8f>(const Packet8f& _x) {
+  _EIGEN_DECLARE_CONST_Packet8f(1, 1.0f);
+  _EIGEN_DECLARE_CONST_Packet8f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet8f(127, 127.0f);
+
+  _EIGEN_DECLARE_CONST_Packet8f(exp_hi, 88.3762626647950f);
+  _EIGEN_DECLARE_CONST_Packet8f(exp_lo, -88.3762626647949f);
+
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_LOG2EF, 1.44269504088896341f);
+
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p0, 1.9875691500E-4f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p1, 1.3981999507E-3f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p2, 8.3334519073E-3f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p3, 4.1665795894E-2f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p4, 1.6666665459E-1f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_p5, 5.0000001201E-1f);
+
+  // Clamp x.
+  Packet8f x = pmax(pmin(_x, p8f_exp_hi), p8f_exp_lo);
+
+  // Express exp(x) as exp(m*ln(2) + r), start by extracting
+  // m = floor(x/ln(2) + 0.5).
+  Packet8f m = _mm256_floor_ps(pmadd(x, p8f_cephes_LOG2EF, p8f_half));
+
+// Get r = x - m*ln(2). If no FMA instructions are available, m*ln(2) is
+// subtracted out in two parts, m*C1+m*C2 = m*ln(2), to avoid accumulating
+// truncation errors. Note that we don't use the "pmadd" function here to
+// ensure that a precision-preserving FMA instruction is used.
+#ifdef EIGEN_VECTORIZE_FMA
+  _EIGEN_DECLARE_CONST_Packet8f(nln2, -0.6931471805599453f);
+  Packet8f r = _mm256_fmadd_ps(m, p8f_nln2, x);
+#else
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_C1, 0.693359375f);
+  _EIGEN_DECLARE_CONST_Packet8f(cephes_exp_C2, -2.12194440e-4f);
+  Packet8f r = psub(x, pmul(m, p8f_cephes_exp_C1));
+  r = psub(r, pmul(m, p8f_cephes_exp_C2));
+#endif
+
+  Packet8f r2 = pmul(r, r);
+
+  // TODO(gonnet): Split into odd/even polynomials and try to exploit
+  //               instruction-level parallelism.
+  Packet8f y = p8f_cephes_exp_p0;
+  y = pmadd(y, r, p8f_cephes_exp_p1);
+  y = pmadd(y, r, p8f_cephes_exp_p2);
+  y = pmadd(y, r, p8f_cephes_exp_p3);
+  y = pmadd(y, r, p8f_cephes_exp_p4);
+  y = pmadd(y, r, p8f_cephes_exp_p5);
+  y = pmadd(y, r2, r);
+  y = padd(y, p8f_1);
+
+  // Build emm0 = 2^m.
+  Packet8i emm0 = _mm256_cvttps_epi32(padd(m, p8f_127));
+  emm0 = pshiftleft(emm0, 23);
+
+  // Return 2^m * exp(r).
+  return pmax(pmul(y, _mm256_castsi256_ps(emm0)), _x);
+}
+
+// Hyperbolic Tangent function.
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+ptanh<Packet8f>(const Packet8f& x) {
+  return internal::generic_fast_tanh_float(x);
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4d
+pexp<Packet4d>(const Packet4d& _x) {
+  Packet4d x = _x;
+
+  _EIGEN_DECLARE_CONST_Packet4d(1, 1.0);
+  _EIGEN_DECLARE_CONST_Packet4d(2, 2.0);
+  _EIGEN_DECLARE_CONST_Packet4d(half, 0.5);
+
+  _EIGEN_DECLARE_CONST_Packet4d(exp_hi, 709.437);
+  _EIGEN_DECLARE_CONST_Packet4d(exp_lo, -709.436139303);
+
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_LOG2EF, 1.4426950408889634073599);
+
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p0, 1.26177193074810590878e-4);
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p1, 3.02994407707441961300e-2);
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_p2, 9.99999999999999999910e-1);
+
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q0, 3.00198505138664455042e-6);
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q1, 2.52448340349684104192e-3);
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q2, 2.27265548208155028766e-1);
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_q3, 2.00000000000000000009e0);
+
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_C1, 0.693145751953125);
+  _EIGEN_DECLARE_CONST_Packet4d(cephes_exp_C2, 1.42860682030941723212e-6);
+  _EIGEN_DECLARE_CONST_Packet4i(1023, 1023);
+
+  Packet4d tmp, fx;
+
+  // clamp x
+  x = pmax(pmin(x, p4d_exp_hi), p4d_exp_lo);
+  // Express exp(x) as exp(g + n*log(2)).
+  fx = pmadd(p4d_cephes_LOG2EF, x, p4d_half);
+
+  // Get the integer modulus of log(2), i.e. the "n" described above.
+  fx = _mm256_floor_pd(fx);
+
+  // Get the remainder modulo log(2), i.e. the "g" described above. Subtract
+  // n*log(2) out in two steps, i.e. n*C1 + n*C2, C1+C2=log2 to get the last
+  // digits right.
+  tmp = pmul(fx, p4d_cephes_exp_C1);
+  Packet4d z = pmul(fx, p4d_cephes_exp_C2);
+  x = psub(x, tmp);
+  x = psub(x, z);
+
+  Packet4d x2 = pmul(x, x);
+
+  // Evaluate the numerator polynomial of the rational interpolant.
+  Packet4d px = p4d_cephes_exp_p0;
+  px = pmadd(px, x2, p4d_cephes_exp_p1);
+  px = pmadd(px, x2, p4d_cephes_exp_p2);
+  px = pmul(px, x);
+
+  // Evaluate the denominator polynomial of the rational interpolant.
+  Packet4d qx = p4d_cephes_exp_q0;
+  qx = pmadd(qx, x2, p4d_cephes_exp_q1);
+  qx = pmadd(qx, x2, p4d_cephes_exp_q2);
+  qx = pmadd(qx, x2, p4d_cephes_exp_q3);
+
+  // I don't really get this bit, copied from the SSE2 routines, so...
+  // TODO(gonnet): Figure out what is going on here, perhaps find a better
+  // rational interpolant?
+  x = _mm256_div_pd(px, psub(qx, px));
+  x = pmadd(p4d_2, x, p4d_1);
+
+  // Build e=2^n by constructing the exponents in a 128-bit vector and
+  // shifting them to where they belong in double-precision values.
+  __m128i emm0 = _mm256_cvtpd_epi32(fx);
+  emm0 = _mm_add_epi32(emm0, p4i_1023);
+  emm0 = _mm_shuffle_epi32(emm0, _MM_SHUFFLE(3, 1, 2, 0));
+  __m128i lo = _mm_slli_epi64(emm0, 52);
+  __m128i hi = _mm_slli_epi64(_mm_srli_epi64(emm0, 32), 52);
+  __m256i e = _mm256_insertf128_si256(_mm256_setzero_si256(), lo, 0);
+  e = _mm256_insertf128_si256(e, hi, 1);
+
+  // Construct the result 2^n * exp(g) = e * x. The max is used to catch
+  // non-finite values in the input.
+  return pmax(pmul(x, _mm256_castsi256_pd(e)), _x);
+}
+
+// Functions for sqrt.
+// The EIGEN_FAST_MATH version uses the _mm_rsqrt_ps approximation and one step
+// of Newton's method, at a cost of 1-2 bits of precision as opposed to the
+// exact solution. It does not handle +inf, or denormalized numbers correctly.
+// The main advantage of this approach is not just speed, but also the fact that
+// it can be inlined and pipelined with other computations, further reducing its
+// effective latency. This is similar to Quake3's fast inverse square root.
+// For detail see here: http://www.beyond3d.com/content/articles/8/
+#if EIGEN_FAST_MATH
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8f
+psqrt<Packet8f>(const Packet8f& _x) {
+  Packet8f half = pmul(_x, pset1<Packet8f>(.5f));
+  Packet8f denormal_mask = _mm256_and_ps(
+      _mm256_cmp_ps(_x, pset1<Packet8f>((std::numeric_limits<float>::min)()),
+                    _CMP_LT_OQ),
+      _mm256_cmp_ps(_x, _mm256_setzero_ps(), _CMP_GE_OQ));
+
+  // Compute approximate reciprocal sqrt.
+  Packet8f x = _mm256_rsqrt_ps(_x);
+  // Do a single step of Newton's iteration.
+  x = pmul(x, psub(pset1<Packet8f>(1.5f), pmul(half, pmul(x,x))));
+  // Flush results for denormals to zero.
+  return _mm256_andnot_ps(denormal_mask, pmul(_x,x));
+}
+#else
+template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet8f psqrt<Packet8f>(const Packet8f& x) {
+  return _mm256_sqrt_ps(x);
+}
+#endif
+template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4d psqrt<Packet4d>(const Packet4d& x) {
+  return _mm256_sqrt_pd(x);
+}
+#if EIGEN_FAST_MATH
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet8f prsqrt<Packet8f>(const Packet8f& _x) {
+  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(inf, 0x7f800000);
+  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(nan, 0x7fc00000);
+  _EIGEN_DECLARE_CONST_Packet8f(one_point_five, 1.5f);
+  _EIGEN_DECLARE_CONST_Packet8f(minus_half, -0.5f);
+  _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(flt_min, 0x00800000);
+
+  Packet8f neg_half = pmul(_x, p8f_minus_half);
+
+  // select only the inverse sqrt of positive normal inputs (denormals are
+  // flushed to zero and cause infs as well).
+  Packet8f le_zero_mask = _mm256_cmp_ps(_x, p8f_flt_min, _CMP_LT_OQ);
+  Packet8f x = _mm256_andnot_ps(le_zero_mask, _mm256_rsqrt_ps(_x));
+
+  // Fill in NaNs and Infs for the negative/zero entries.
+  Packet8f neg_mask = _mm256_cmp_ps(_x, _mm256_setzero_ps(), _CMP_LT_OQ);
+  Packet8f zero_mask = _mm256_andnot_ps(neg_mask, le_zero_mask);
+  Packet8f infs_and_nans = _mm256_or_ps(_mm256_and_ps(neg_mask, p8f_nan),
+                                        _mm256_and_ps(zero_mask, p8f_inf));
+
+  // Do a single step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p8f_one_point_five));
+
+  // Insert NaNs and Infs in all the right places.
+  return _mm256_or_ps(x, infs_and_nans);
+}
+
+#else
+template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet8f prsqrt<Packet8f>(const Packet8f& x) {
+  _EIGEN_DECLARE_CONST_Packet8f(one, 1.0f);
+  return _mm256_div_ps(p8f_one, _mm256_sqrt_ps(x));
+}
+#endif
+
+template <> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4d prsqrt<Packet4d>(const Packet4d& x) {
+  _EIGEN_DECLARE_CONST_Packet4d(one, 1.0);
+  return _mm256_div_pd(p4d_one, _mm256_sqrt_pd(x));
+}
+
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_MATH_FUNCTIONS_AVX_H
diff --git a/eigenlib/Eigen/src/Core/arch/AVX/PacketMath.h b/eigenlib/Eigen/src/Core/arch/AVX/PacketMath.h
new file mode 100644
index 00000000..195d40fb
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/AVX/PacketMath.h
@@ -0,0 +1,633 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Benoit Steiner (benoit.steiner.goog@gmail.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PACKET_MATH_AVX_H
+#define EIGEN_PACKET_MATH_AVX_H
+
+namespace Eigen {
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
+#endif
+
+#ifdef __FMA__
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#endif
+#endif
+
+typedef __m256  Packet8f;
+typedef __m256i Packet8i;
+typedef __m256d Packet4d;
+
+template<> struct is_arithmetic<__m256>  { enum { value = true }; };
+template<> struct is_arithmetic<__m256i> { enum { value = true }; };
+template<> struct is_arithmetic<__m256d> { enum { value = true }; };
+
+#define _EIGEN_DECLARE_CONST_Packet8f(NAME,X) \
+  const Packet8f p8f_##NAME = pset1<Packet8f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4d(NAME,X) \
+  const Packet4d p4d_##NAME = pset1<Packet4d>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet8f_FROM_INT(NAME,X) \
+  const Packet8f p8f_##NAME = _mm256_castsi256_ps(pset1<Packet8i>(X))
+
+#define _EIGEN_DECLARE_CONST_Packet8i(NAME,X) \
+  const Packet8i p8i_##NAME = pset1<Packet8i>(X)
+
+// Use the packet_traits defined in AVX512/PacketMath.h instead if we're going
+// to leverage AVX512 instructions.
+#ifndef EIGEN_VECTORIZE_AVX512
+template<> struct packet_traits<float>  : default_packet_traits
+{
+  typedef Packet8f type;
+  typedef Packet4f half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=8,
+    HasHalfPacket = 1,
+
+    HasDiv  = 1,
+    HasSin  = EIGEN_FAST_MATH,
+    HasCos  = 0,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasTanh  = EIGEN_FAST_MATH,
+    HasBlend = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1
+  };
+};
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef Packet4d type;
+  typedef Packet2d half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4,
+    HasHalfPacket = 1,
+
+    HasDiv  = 1,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasBlend = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1
+  };
+};
+#endif
+
+template<> struct scalar_div_cost<float,true> { enum { value = 14 }; };
+template<> struct scalar_div_cost<double,true> { enum { value = 16 }; };
+
+/* Proper support for integers is only provided by AVX2. In the meantime, we'll
+   use SSE instructions and packets to deal with integers.
+template<> struct packet_traits<int>    : default_packet_traits
+{
+  typedef Packet8i type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=8
+  };
+};
+*/
+
+template<> struct unpacket_traits<Packet8f> { typedef float  type; typedef Packet4f half; enum {size=8, alignment=Aligned32}; };
+template<> struct unpacket_traits<Packet4d> { typedef double type; typedef Packet2d half; enum {size=4, alignment=Aligned32}; };
+template<> struct unpacket_traits<Packet8i> { typedef int    type; typedef Packet4i half; enum {size=8, alignment=Aligned32}; };
+
+template<> EIGEN_STRONG_INLINE Packet8f pset1<Packet8f>(const float&  from) { return _mm256_set1_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet4d pset1<Packet4d>(const double& from) { return _mm256_set1_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet8i pset1<Packet8i>(const int&    from) { return _mm256_set1_epi32(from); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pload1<Packet8f>(const float*  from) { return _mm256_broadcast_ss(from); }
+template<> EIGEN_STRONG_INLINE Packet4d pload1<Packet4d>(const double* from) { return _mm256_broadcast_sd(from); }
+
+template<> EIGEN_STRONG_INLINE Packet8f plset<Packet8f>(const float& a) { return _mm256_add_ps(_mm256_set1_ps(a), _mm256_set_ps(7.0,6.0,5.0,4.0,3.0,2.0,1.0,0.0)); }
+template<> EIGEN_STRONG_INLINE Packet4d plset<Packet4d>(const double& a) { return _mm256_add_pd(_mm256_set1_pd(a), _mm256_set_pd(3.0,2.0,1.0,0.0)); }
+
+template<> EIGEN_STRONG_INLINE Packet8f padd<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_add_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d padd<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_add_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f psub<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_sub_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d psub<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_sub_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pnegate(const Packet8f& a)
+{
+  return _mm256_sub_ps(_mm256_set1_ps(0.0),a);
+}
+template<> EIGEN_STRONG_INLINE Packet4d pnegate(const Packet4d& a)
+{
+  return _mm256_sub_pd(_mm256_set1_pd(0.0),a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pconj(const Packet8f& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4d pconj(const Packet4d& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet8i pconj(const Packet8i& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet8f pmul<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_mul_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pmul<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_mul_pd(a,b); }
+
+
+template<> EIGEN_STRONG_INLINE Packet8f pdiv<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_div_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pdiv<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_div_pd(a,b); }
+template<> EIGEN_STRONG_INLINE Packet8i pdiv<Packet8i>(const Packet8i& /*a*/, const Packet8i& /*b*/)
+{ eigen_assert(false && "packet integer division are not supported by AVX");
+  return pset1<Packet8i>(0);
+}
+
+#ifdef __FMA__
+template<> EIGEN_STRONG_INLINE Packet8f pmadd(const Packet8f& a, const Packet8f& b, const Packet8f& c) {
+#if ( EIGEN_COMP_GNUC_STRICT || (EIGEN_COMP_CLANG && (EIGEN_COMP_CLANG<308)) )
+  // clang stupidly generates a vfmadd213ps instruction plus some vmovaps on registers,
+  // and gcc stupidly generates a vfmadd132ps instruction,
+  // so let's enforce it to generate a vfmadd231ps instruction since the most common use case is to accumulate
+  // the result of the product.
+  Packet8f res = c;
+  __asm__("vfmadd231ps %[a], %[b], %[c]" : [c] "+x" (res) : [a] "x" (a), [b] "x" (b));
+  return res;
+#else
+  return _mm256_fmadd_ps(a,b,c);
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet4d pmadd(const Packet4d& a, const Packet4d& b, const Packet4d& c) {
+#if ( EIGEN_COMP_GNUC_STRICT || (EIGEN_COMP_CLANG && (EIGEN_COMP_CLANG<308)) )
+  // see above
+  Packet4d res = c;
+  __asm__("vfmadd231pd %[a], %[b], %[c]" : [c] "+x" (res) : [a] "x" (a), [b] "x" (b));
+  return res;
+#else
+  return _mm256_fmadd_pd(a,b,c);
+#endif
+}
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet8f pmin<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_min_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pmin<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_min_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pmax<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_max_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pmax<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_max_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pround<Packet8f>(const Packet8f& a) { return _mm256_round_ps(a, _MM_FROUND_CUR_DIRECTION); }
+template<> EIGEN_STRONG_INLINE Packet4d pround<Packet4d>(const Packet4d& a) { return _mm256_round_pd(a, _MM_FROUND_CUR_DIRECTION); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pceil<Packet8f>(const Packet8f& a) { return _mm256_ceil_ps(a); }
+template<> EIGEN_STRONG_INLINE Packet4d pceil<Packet4d>(const Packet4d& a) { return _mm256_ceil_pd(a); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pfloor<Packet8f>(const Packet8f& a) { return _mm256_floor_ps(a); }
+template<> EIGEN_STRONG_INLINE Packet4d pfloor<Packet4d>(const Packet4d& a) { return _mm256_floor_pd(a); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pand<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_and_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pand<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_and_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f por<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_or_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d por<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_or_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pxor<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_xor_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pxor<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_xor_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pandnot<Packet8f>(const Packet8f& a, const Packet8f& b) { return _mm256_andnot_ps(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4d pandnot<Packet4d>(const Packet4d& a, const Packet4d& b) { return _mm256_andnot_pd(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet8f pload<Packet8f>(const float*   from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet4d pload<Packet4d>(const double*  from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet8i pload<Packet8i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm256_load_si256(reinterpret_cast<const __m256i*>(from)); }
+
+template<> EIGEN_STRONG_INLINE Packet8f ploadu<Packet8f>(const float* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet4d ploadu<Packet4d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_pd(from); }
+template<> EIGEN_STRONG_INLINE Packet8i ploadu<Packet8i>(const int* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm256_loadu_si256(reinterpret_cast<const __m256i*>(from)); }
+
+// Loads 4 floats from memory a returns the packet {a0, a0  a1, a1, a2, a2, a3, a3}
+template<> EIGEN_STRONG_INLINE Packet8f ploaddup<Packet8f>(const float* from)
+{
+  // TODO try to find a way to avoid the need of a temporary register
+//   Packet8f tmp  = _mm256_castps128_ps256(_mm_loadu_ps(from));
+//   tmp = _mm256_insertf128_ps(tmp, _mm_movehl_ps(_mm256_castps256_ps128(tmp),_mm256_castps256_ps128(tmp)), 1);
+//   return _mm256_unpacklo_ps(tmp,tmp);
+  
+  // _mm256_insertf128_ps is very slow on Haswell, thus:
+  Packet8f tmp = _mm256_broadcast_ps((const __m128*)(const void*)from);
+  // mimic an "inplace" permutation of the lower 128bits using a blend
+  tmp = _mm256_blend_ps(tmp,_mm256_castps128_ps256(_mm_permute_ps( _mm256_castps256_ps128(tmp), _MM_SHUFFLE(1,0,1,0))), 15);
+  // then we can perform a consistent permutation on the global register to get everything in shape:
+  return  _mm256_permute_ps(tmp, _MM_SHUFFLE(3,3,2,2));
+}
+// Loads 2 doubles from memory a returns the packet {a0, a0  a1, a1}
+template<> EIGEN_STRONG_INLINE Packet4d ploaddup<Packet4d>(const double* from)
+{
+  Packet4d tmp = _mm256_broadcast_pd((const __m128d*)(const void*)from);
+  return  _mm256_permute_pd(tmp, 3<<2);
+}
+
+// Loads 2 floats from memory a returns the packet {a0, a0  a0, a0, a1, a1, a1, a1}
+template<> EIGEN_STRONG_INLINE Packet8f ploadquad<Packet8f>(const float* from)
+{
+  Packet8f tmp = _mm256_castps128_ps256(_mm_broadcast_ss(from));
+  return _mm256_insertf128_ps(tmp, _mm_broadcast_ss(from+1), 1);
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet8f& from) { EIGEN_DEBUG_ALIGNED_STORE _mm256_store_ps(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet4d& from) { EIGEN_DEBUG_ALIGNED_STORE _mm256_store_pd(to, from); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet8i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm256_storeu_si256(reinterpret_cast<__m256i*>(to), from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*   to, const Packet8f& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_ps(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet4d& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_pd(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*       to, const Packet8i& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm256_storeu_si256(reinterpret_cast<__m256i*>(to), from); }
+
+// NOTE: leverage _mm256_i32gather_ps and _mm256_i32gather_pd if AVX2 instructions are available
+// NOTE: for the record the following seems to be slower: return _mm256_i32gather_ps(from, _mm256_set1_epi32(stride), 4);
+template<> EIGEN_DEVICE_FUNC inline Packet8f pgather<float, Packet8f>(const float* from, Index stride)
+{
+  return _mm256_set_ps(from[7*stride], from[6*stride], from[5*stride], from[4*stride],
+                       from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
+}
+template<> EIGEN_DEVICE_FUNC inline Packet4d pgather<double, Packet4d>(const double* from, Index stride)
+{
+  return _mm256_set_pd(from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet8f>(float* to, const Packet8f& from, Index stride)
+{
+  __m128 low = _mm256_extractf128_ps(from, 0);
+  to[stride*0] = _mm_cvtss_f32(low);
+  to[stride*1] = _mm_cvtss_f32(_mm_shuffle_ps(low, low, 1));
+  to[stride*2] = _mm_cvtss_f32(_mm_shuffle_ps(low, low, 2));
+  to[stride*3] = _mm_cvtss_f32(_mm_shuffle_ps(low, low, 3));
+
+  __m128 high = _mm256_extractf128_ps(from, 1);
+  to[stride*4] = _mm_cvtss_f32(high);
+  to[stride*5] = _mm_cvtss_f32(_mm_shuffle_ps(high, high, 1));
+  to[stride*6] = _mm_cvtss_f32(_mm_shuffle_ps(high, high, 2));
+  to[stride*7] = _mm_cvtss_f32(_mm_shuffle_ps(high, high, 3));
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet4d>(double* to, const Packet4d& from, Index stride)
+{
+  __m128d low = _mm256_extractf128_pd(from, 0);
+  to[stride*0] = _mm_cvtsd_f64(low);
+  to[stride*1] = _mm_cvtsd_f64(_mm_shuffle_pd(low, low, 1));
+  __m128d high = _mm256_extractf128_pd(from, 1);
+  to[stride*2] = _mm_cvtsd_f64(high);
+  to[stride*3] = _mm_cvtsd_f64(_mm_shuffle_pd(high, high, 1));
+}
+
+template<> EIGEN_STRONG_INLINE void pstore1<Packet8f>(float* to, const float& a)
+{
+  Packet8f pa = pset1<Packet8f>(a);
+  pstore(to, pa);
+}
+template<> EIGEN_STRONG_INLINE void pstore1<Packet4d>(double* to, const double& a)
+{
+  Packet4d pa = pset1<Packet4d>(a);
+  pstore(to, pa);
+}
+template<> EIGEN_STRONG_INLINE void pstore1<Packet8i>(int* to, const int& a)
+{
+  Packet8i pa = pset1<Packet8i>(a);
+  pstore(to, pa);
+}
+
+#ifndef EIGEN_VECTORIZE_AVX512
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+#endif
+
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet8f>(const Packet8f& a) {
+  return _mm_cvtss_f32(_mm256_castps256_ps128(a));
+}
+template<> EIGEN_STRONG_INLINE double pfirst<Packet4d>(const Packet4d& a) {
+  return _mm_cvtsd_f64(_mm256_castpd256_pd128(a));
+}
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet8i>(const Packet8i& a) {
+  return _mm_cvtsi128_si32(_mm256_castsi256_si128(a));
+}
+
+
+template<> EIGEN_STRONG_INLINE Packet8f preverse(const Packet8f& a)
+{
+  __m256 tmp = _mm256_shuffle_ps(a,a,0x1b);
+  return _mm256_permute2f128_ps(tmp, tmp, 1);
+}
+template<> EIGEN_STRONG_INLINE Packet4d preverse(const Packet4d& a)
+{
+   __m256d tmp = _mm256_shuffle_pd(a,a,5);
+  return _mm256_permute2f128_pd(tmp, tmp, 1);
+
+  __m256d swap_halves = _mm256_permute2f128_pd(a,a,1);
+    return _mm256_permute_pd(swap_halves,5);
+}
+
+// pabs should be ok
+template<> EIGEN_STRONG_INLINE Packet8f pabs(const Packet8f& a)
+{
+  const Packet8f mask = _mm256_castsi256_ps(_mm256_setr_epi32(0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF));
+  return _mm256_and_ps(a,mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4d pabs(const Packet4d& a)
+{
+  const Packet4d mask = _mm256_castsi256_pd(_mm256_setr_epi32(0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF,0xFFFFFFFF,0x7FFFFFFF));
+  return _mm256_and_pd(a,mask);
+}
+
+// preduxp should be ok
+// FIXME: why is this ok? why isn't the simply implementation working as expected?
+template<> EIGEN_STRONG_INLINE Packet8f preduxp<Packet8f>(const Packet8f* vecs)
+{
+    __m256 hsum1 = _mm256_hadd_ps(vecs[0], vecs[1]);
+    __m256 hsum2 = _mm256_hadd_ps(vecs[2], vecs[3]);
+    __m256 hsum3 = _mm256_hadd_ps(vecs[4], vecs[5]);
+    __m256 hsum4 = _mm256_hadd_ps(vecs[6], vecs[7]);
+
+    __m256 hsum5 = _mm256_hadd_ps(hsum1, hsum1);
+    __m256 hsum6 = _mm256_hadd_ps(hsum2, hsum2);
+    __m256 hsum7 = _mm256_hadd_ps(hsum3, hsum3);
+    __m256 hsum8 = _mm256_hadd_ps(hsum4, hsum4);
+
+    __m256 perm1 =  _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
+    __m256 perm2 =  _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
+    __m256 perm3 =  _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
+    __m256 perm4 =  _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
+
+    __m256 sum1 = _mm256_add_ps(perm1, hsum5);
+    __m256 sum2 = _mm256_add_ps(perm2, hsum6);
+    __m256 sum3 = _mm256_add_ps(perm3, hsum7);
+    __m256 sum4 = _mm256_add_ps(perm4, hsum8);
+
+    __m256 blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
+    __m256 blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
+
+    __m256 final = _mm256_blend_ps(blend1, blend2, 0xf0);
+    return final;
+}
+template<> EIGEN_STRONG_INLINE Packet4d preduxp<Packet4d>(const Packet4d* vecs)
+{
+ Packet4d tmp0, tmp1;
+
+  tmp0 = _mm256_hadd_pd(vecs[0], vecs[1]);
+  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
+
+  tmp1 = _mm256_hadd_pd(vecs[2], vecs[3]);
+  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
+
+  return _mm256_blend_pd(tmp0, tmp1, 0xC);
+}
+
+template<> EIGEN_STRONG_INLINE float predux<Packet8f>(const Packet8f& a)
+{
+  return predux(Packet4f(_mm_add_ps(_mm256_castps256_ps128(a),_mm256_extractf128_ps(a,1))));
+}
+template<> EIGEN_STRONG_INLINE double predux<Packet4d>(const Packet4d& a)
+{
+  return predux(Packet2d(_mm_add_pd(_mm256_castpd256_pd128(a),_mm256_extractf128_pd(a,1))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f predux_downto4<Packet8f>(const Packet8f& a)
+{
+  return _mm_add_ps(_mm256_castps256_ps128(a),_mm256_extractf128_ps(a,1));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet8f>(const Packet8f& a)
+{
+  Packet8f tmp;
+  tmp = _mm256_mul_ps(a, _mm256_permute2f128_ps(a,a,1));
+  tmp = _mm256_mul_ps(tmp, _mm256_shuffle_ps(tmp,tmp,_MM_SHUFFLE(1,0,3,2)));
+  return pfirst(_mm256_mul_ps(tmp, _mm256_shuffle_ps(tmp,tmp,1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet4d>(const Packet4d& a)
+{
+  Packet4d tmp;
+  tmp = _mm256_mul_pd(a, _mm256_permute2f128_pd(a,a,1));
+  return pfirst(_mm256_mul_pd(tmp, _mm256_shuffle_pd(tmp,tmp,1)));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_min<Packet8f>(const Packet8f& a)
+{
+  Packet8f tmp = _mm256_min_ps(a, _mm256_permute2f128_ps(a,a,1));
+  tmp = _mm256_min_ps(tmp, _mm256_shuffle_ps(tmp,tmp,_MM_SHUFFLE(1,0,3,2)));
+  return pfirst(_mm256_min_ps(tmp, _mm256_shuffle_ps(tmp,tmp,1)));
+}
+template<> EIGEN_STRONG_INLINE double predux_min<Packet4d>(const Packet4d& a)
+{
+  Packet4d tmp = _mm256_min_pd(a, _mm256_permute2f128_pd(a,a,1));
+  return pfirst(_mm256_min_pd(tmp, _mm256_shuffle_pd(tmp, tmp, 1)));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_max<Packet8f>(const Packet8f& a)
+{
+  Packet8f tmp = _mm256_max_ps(a, _mm256_permute2f128_ps(a,a,1));
+  tmp = _mm256_max_ps(tmp, _mm256_shuffle_ps(tmp,tmp,_MM_SHUFFLE(1,0,3,2)));
+  return pfirst(_mm256_max_ps(tmp, _mm256_shuffle_ps(tmp,tmp,1)));
+}
+
+template<> EIGEN_STRONG_INLINE double predux_max<Packet4d>(const Packet4d& a)
+{
+  Packet4d tmp = _mm256_max_pd(a, _mm256_permute2f128_pd(a,a,1));
+  return pfirst(_mm256_max_pd(tmp, _mm256_shuffle_pd(tmp, tmp, 1)));
+}
+
+
+template<int Offset>
+struct palign_impl<Offset,Packet8f>
+{
+  static EIGEN_STRONG_INLINE void run(Packet8f& first, const Packet8f& second)
+  {
+    if (Offset==1)
+    {
+      first = _mm256_blend_ps(first, second, 1);
+      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(0,3,2,1));
+      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
+      first = _mm256_blend_ps(tmp1, tmp2, 0x88);
+    }
+    else if (Offset==2)
+    {
+      first = _mm256_blend_ps(first, second, 3);
+      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(1,0,3,2));
+      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
+      first = _mm256_blend_ps(tmp1, tmp2, 0xcc);
+    }
+    else if (Offset==3)
+    {
+      first = _mm256_blend_ps(first, second, 7);
+      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(2,1,0,3));
+      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
+      first = _mm256_blend_ps(tmp1, tmp2, 0xee);
+    }
+    else if (Offset==4)
+    {
+      first = _mm256_blend_ps(first, second, 15);
+      Packet8f tmp1 = _mm256_permute_ps (first, _MM_SHUFFLE(3,2,1,0));
+      Packet8f tmp2 = _mm256_permute2f128_ps (tmp1, tmp1, 1);
+      first = _mm256_permute_ps(tmp2, _MM_SHUFFLE(3,2,1,0));
+    }
+    else if (Offset==5)
+    {
+      first = _mm256_blend_ps(first, second, 31);
+      first = _mm256_permute2f128_ps(first, first, 1);
+      Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(0,3,2,1));
+      first = _mm256_permute2f128_ps(tmp, tmp, 1);
+      first = _mm256_blend_ps(tmp, first, 0x88);
+    }
+    else if (Offset==6)
+    {
+      first = _mm256_blend_ps(first, second, 63);
+      first = _mm256_permute2f128_ps(first, first, 1);
+      Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(1,0,3,2));
+      first = _mm256_permute2f128_ps(tmp, tmp, 1);
+      first = _mm256_blend_ps(tmp, first, 0xcc);
+    }
+    else if (Offset==7)
+    {
+      first = _mm256_blend_ps(first, second, 127);
+      first = _mm256_permute2f128_ps(first, first, 1);
+      Packet8f tmp = _mm256_permute_ps (first, _MM_SHUFFLE(2,1,0,3));
+      first = _mm256_permute2f128_ps(tmp, tmp, 1);
+      first = _mm256_blend_ps(tmp, first, 0xee);
+    }
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet4d>
+{
+  static EIGEN_STRONG_INLINE void run(Packet4d& first, const Packet4d& second)
+  {
+    if (Offset==1)
+    {
+      first = _mm256_blend_pd(first, second, 1);
+      __m256d tmp = _mm256_permute_pd(first, 5);
+      first = _mm256_permute2f128_pd(tmp, tmp, 1);
+      first = _mm256_blend_pd(tmp, first, 0xA);
+    }
+    else if (Offset==2)
+    {
+      first = _mm256_blend_pd(first, second, 3);
+      first = _mm256_permute2f128_pd(first, first, 1);
+    }
+    else if (Offset==3)
+    {
+      first = _mm256_blend_pd(first, second, 7);
+      __m256d tmp = _mm256_permute_pd(first, 5);
+      first = _mm256_permute2f128_pd(tmp, tmp, 1);
+      first = _mm256_blend_pd(tmp, first, 5);
+    }
+  }
+};
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8f,8>& kernel) {
+  __m256 T0 = _mm256_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
+  __m256 T1 = _mm256_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
+  __m256 T2 = _mm256_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
+  __m256 T3 = _mm256_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
+  __m256 T4 = _mm256_unpacklo_ps(kernel.packet[4], kernel.packet[5]);
+  __m256 T5 = _mm256_unpackhi_ps(kernel.packet[4], kernel.packet[5]);
+  __m256 T6 = _mm256_unpacklo_ps(kernel.packet[6], kernel.packet[7]);
+  __m256 T7 = _mm256_unpackhi_ps(kernel.packet[6], kernel.packet[7]);
+  __m256 S0 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(1,0,1,0));
+  __m256 S1 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(3,2,3,2));
+  __m256 S2 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(1,0,1,0));
+  __m256 S3 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(3,2,3,2));
+  __m256 S4 = _mm256_shuffle_ps(T4,T6,_MM_SHUFFLE(1,0,1,0));
+  __m256 S5 = _mm256_shuffle_ps(T4,T6,_MM_SHUFFLE(3,2,3,2));
+  __m256 S6 = _mm256_shuffle_ps(T5,T7,_MM_SHUFFLE(1,0,1,0));
+  __m256 S7 = _mm256_shuffle_ps(T5,T7,_MM_SHUFFLE(3,2,3,2));
+  kernel.packet[0] = _mm256_permute2f128_ps(S0, S4, 0x20);
+  kernel.packet[1] = _mm256_permute2f128_ps(S1, S5, 0x20);
+  kernel.packet[2] = _mm256_permute2f128_ps(S2, S6, 0x20);
+  kernel.packet[3] = _mm256_permute2f128_ps(S3, S7, 0x20);
+  kernel.packet[4] = _mm256_permute2f128_ps(S0, S4, 0x31);
+  kernel.packet[5] = _mm256_permute2f128_ps(S1, S5, 0x31);
+  kernel.packet[6] = _mm256_permute2f128_ps(S2, S6, 0x31);
+  kernel.packet[7] = _mm256_permute2f128_ps(S3, S7, 0x31);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet8f,4>& kernel) {
+  __m256 T0 = _mm256_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
+  __m256 T1 = _mm256_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
+  __m256 T2 = _mm256_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
+  __m256 T3 = _mm256_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
+
+  __m256 S0 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(1,0,1,0));
+  __m256 S1 = _mm256_shuffle_ps(T0,T2,_MM_SHUFFLE(3,2,3,2));
+  __m256 S2 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(1,0,1,0));
+  __m256 S3 = _mm256_shuffle_ps(T1,T3,_MM_SHUFFLE(3,2,3,2));
+
+  kernel.packet[0] = _mm256_permute2f128_ps(S0, S1, 0x20);
+  kernel.packet[1] = _mm256_permute2f128_ps(S2, S3, 0x20);
+  kernel.packet[2] = _mm256_permute2f128_ps(S0, S1, 0x31);
+  kernel.packet[3] = _mm256_permute2f128_ps(S2, S3, 0x31);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4d,4>& kernel) {
+  __m256d T0 = _mm256_shuffle_pd(kernel.packet[0], kernel.packet[1], 15);
+  __m256d T1 = _mm256_shuffle_pd(kernel.packet[0], kernel.packet[1], 0);
+  __m256d T2 = _mm256_shuffle_pd(kernel.packet[2], kernel.packet[3], 15);
+  __m256d T3 = _mm256_shuffle_pd(kernel.packet[2], kernel.packet[3], 0);
+
+  kernel.packet[1] = _mm256_permute2f128_pd(T0, T2, 32);
+  kernel.packet[3] = _mm256_permute2f128_pd(T0, T2, 49);
+  kernel.packet[0] = _mm256_permute2f128_pd(T1, T3, 32);
+  kernel.packet[2] = _mm256_permute2f128_pd(T1, T3, 49);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pblend(const Selector<8>& ifPacket, const Packet8f& thenPacket, const Packet8f& elsePacket) {
+  const __m256 zero = _mm256_setzero_ps();
+  const __m256 select = _mm256_set_ps(ifPacket.select[7], ifPacket.select[6], ifPacket.select[5], ifPacket.select[4], ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
+  __m256 false_mask = _mm256_cmp_ps(select, zero, _CMP_EQ_UQ);
+  return _mm256_blendv_ps(thenPacket, elsePacket, false_mask);
+}
+template<> EIGEN_STRONG_INLINE Packet4d pblend(const Selector<4>& ifPacket, const Packet4d& thenPacket, const Packet4d& elsePacket) {
+  const __m256d zero = _mm256_setzero_pd();
+  const __m256d select = _mm256_set_pd(ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
+  __m256d false_mask = _mm256_cmp_pd(select, zero, _CMP_EQ_UQ);
+  return _mm256_blendv_pd(thenPacket, elsePacket, false_mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pinsertfirst(const Packet8f& a, float b)
+{
+  return _mm256_blend_ps(a,pset1<Packet8f>(b),1);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4d pinsertfirst(const Packet4d& a, double b)
+{
+  return _mm256_blend_pd(a,pset1<Packet4d>(b),1);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pinsertlast(const Packet8f& a, float b)
+{
+  return _mm256_blend_ps(a,pset1<Packet8f>(b),(1<<7));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4d pinsertlast(const Packet4d& a, double b)
+{
+  return _mm256_blend_pd(a,pset1<Packet4d>(b),(1<<3));
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PACKET_MATH_AVX_H
diff --git a/eigenlib/Eigen/src/Core/arch/AVX/TypeCasting.h b/eigenlib/Eigen/src/Core/arch/AVX/TypeCasting.h
new file mode 100644
index 00000000..83bfdc60
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/AVX/TypeCasting.h
@@ -0,0 +1,51 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TYPE_CASTING_AVX_H
+#define EIGEN_TYPE_CASTING_AVX_H
+
+namespace Eigen {
+
+namespace internal {
+
+// For now we use SSE to handle integers, so we can't use AVX instructions to cast
+// from int to float
+template <>
+struct type_casting_traits<float, int> {
+  enum {
+    VectorizedCast = 0,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template <>
+struct type_casting_traits<int, float> {
+  enum {
+    VectorizedCast = 0,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+
+
+template<> EIGEN_STRONG_INLINE Packet8i pcast<Packet8f, Packet8i>(const Packet8f& a) {
+  return _mm256_cvtps_epi32(a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8f pcast<Packet8i, Packet8f>(const Packet8i& a) {
+  return _mm256_cvtepi32_ps(a);
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TYPE_CASTING_AVX_H
diff --git a/eigenlib/Eigen/src/Core/arch/AVX512/MathFunctions.h b/eigenlib/Eigen/src/Core/arch/AVX512/MathFunctions.h
new file mode 100644
index 00000000..399be0ee
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/AVX512/MathFunctions.h
@@ -0,0 +1,396 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Pedro Gonnet (pedro.gonnet@gmail.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef THIRD_PARTY_EIGEN3_EIGEN_SRC_CORE_ARCH_AVX512_MATHFUNCTIONS_H_
+#define THIRD_PARTY_EIGEN3_EIGEN_SRC_CORE_ARCH_AVX512_MATHFUNCTIONS_H_
+
+namespace Eigen {
+
+namespace internal {
+
+// Disable the code for older versions of gcc that don't support many of the required avx512 instrinsics.
+#if EIGEN_GNUC_AT_LEAST(5, 3)
+
+#define _EIGEN_DECLARE_CONST_Packet16f(NAME, X) \
+  const Packet16f p16f_##NAME = pset1<Packet16f>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(NAME, X) \
+  const Packet16f p16f_##NAME = (__m512)pset1<Packet16i>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet8d(NAME, X) \
+  const Packet8d p8d_##NAME = pset1<Packet8d>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(NAME, X) \
+  const Packet8d p8d_##NAME = _mm512_castsi512_pd(_mm512_set1_epi64(X))
+
+// Natural logarithm
+// Computes log(x) as log(2^e * m) = C*e + log(m), where the constant C =log(2)
+// and m is in the range [sqrt(1/2),sqrt(2)). In this range, the logarithm can
+// be easily approximated by a polynomial centered on m=1 for stability.
+#if defined(EIGEN_VECTORIZE_AVX512DQ)
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
+plog<Packet16f>(const Packet16f& _x) {
+  Packet16f x = _x;
+  _EIGEN_DECLARE_CONST_Packet16f(1, 1.0f);
+  _EIGEN_DECLARE_CONST_Packet16f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet16f(126f, 126.0f);
+
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(inv_mant_mask, ~0x7f800000);
+
+  // The smallest non denormalized float number.
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(min_norm_pos, 0x00800000);
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(minus_inf, 0xff800000);
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(nan, 0x7fc00000);
+
+  // Polynomial coefficients.
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_SQRTHF, 0.707106781186547524f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p0, 7.0376836292E-2f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p1, -1.1514610310E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p2, 1.1676998740E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p3, -1.2420140846E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p4, +1.4249322787E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p5, -1.6668057665E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p6, +2.0000714765E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p7, -2.4999993993E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_p8, +3.3333331174E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_q1, -2.12194440e-4f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_log_q2, 0.693359375f);
+
+  // invalid_mask is set to true when x is NaN
+  __mmask16 invalid_mask =
+      _mm512_cmp_ps_mask(x, _mm512_setzero_ps(), _CMP_NGE_UQ);
+  __mmask16 iszero_mask =
+      _mm512_cmp_ps_mask(x, _mm512_setzero_ps(), _CMP_EQ_UQ);
+
+  // Truncate input values to the minimum positive normal.
+  x = pmax(x, p16f_min_norm_pos);
+
+  // Extract the shifted exponents.
+  Packet16f emm0 = _mm512_cvtepi32_ps(_mm512_srli_epi32((__m512i)x, 23));
+  Packet16f e = _mm512_sub_ps(emm0, p16f_126f);
+
+  // Set the exponents to -1, i.e. x are in the range [0.5,1).
+  x = _mm512_and_ps(x, p16f_inv_mant_mask);
+  x = _mm512_or_ps(x, p16f_half);
+
+  // part2: Shift the inputs from the range [0.5,1) to [sqrt(1/2),sqrt(2))
+  // and shift by -1. The values are then centered around 0, which improves
+  // the stability of the polynomial evaluation.
+  //   if( x < SQRTHF ) {
+  //     e -= 1;
+  //     x = x + x - 1.0;
+  //   } else { x = x - 1.0; }
+  __mmask16 mask = _mm512_cmp_ps_mask(x, p16f_cephes_SQRTHF, _CMP_LT_OQ);
+  Packet16f tmp = _mm512_mask_blend_ps(mask, x, _mm512_setzero_ps());
+  x = psub(x, p16f_1);
+  e = psub(e, _mm512_mask_blend_ps(mask, p16f_1, _mm512_setzero_ps()));
+  x = padd(x, tmp);
+
+  Packet16f x2 = pmul(x, x);
+  Packet16f x3 = pmul(x2, x);
+
+  // Evaluate the polynomial approximant of degree 8 in three parts, probably
+  // to improve instruction-level parallelism.
+  Packet16f y, y1, y2;
+  y = pmadd(p16f_cephes_log_p0, x, p16f_cephes_log_p1);
+  y1 = pmadd(p16f_cephes_log_p3, x, p16f_cephes_log_p4);
+  y2 = pmadd(p16f_cephes_log_p6, x, p16f_cephes_log_p7);
+  y = pmadd(y, x, p16f_cephes_log_p2);
+  y1 = pmadd(y1, x, p16f_cephes_log_p5);
+  y2 = pmadd(y2, x, p16f_cephes_log_p8);
+  y = pmadd(y, x3, y1);
+  y = pmadd(y, x3, y2);
+  y = pmul(y, x3);
+
+  // Add the logarithm of the exponent back to the result of the interpolation.
+  y1 = pmul(e, p16f_cephes_log_q1);
+  tmp = pmul(x2, p16f_half);
+  y = padd(y, y1);
+  x = psub(x, tmp);
+  y2 = pmul(e, p16f_cephes_log_q2);
+  x = padd(x, y);
+  x = padd(x, y2);
+
+  // Filter out invalid inputs, i.e. negative arg will be NAN, 0 will be -INF.
+  return _mm512_mask_blend_ps(iszero_mask, p16f_minus_inf,
+                              _mm512_mask_blend_ps(invalid_mask, p16f_nan, x));
+}
+#endif
+
+// Exponential function. Works by writing "x = m*log(2) + r" where
+// "m = floor(x/log(2)+1/2)" and "r" is the remainder. The result is then
+// "exp(x) = 2^m*exp(r)" where exp(r) is in the range [-1,1).
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
+pexp<Packet16f>(const Packet16f& _x) {
+  _EIGEN_DECLARE_CONST_Packet16f(1, 1.0f);
+  _EIGEN_DECLARE_CONST_Packet16f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet16f(127, 127.0f);
+
+  _EIGEN_DECLARE_CONST_Packet16f(exp_hi, 88.3762626647950f);
+  _EIGEN_DECLARE_CONST_Packet16f(exp_lo, -88.3762626647949f);
+
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_LOG2EF, 1.44269504088896341f);
+
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p0, 1.9875691500E-4f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p1, 1.3981999507E-3f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p2, 8.3334519073E-3f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p3, 4.1665795894E-2f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p4, 1.6666665459E-1f);
+  _EIGEN_DECLARE_CONST_Packet16f(cephes_exp_p5, 5.0000001201E-1f);
+
+  // Clamp x.
+  Packet16f x = pmax(pmin(_x, p16f_exp_hi), p16f_exp_lo);
+
+  // Express exp(x) as exp(m*ln(2) + r), start by extracting
+  // m = floor(x/ln(2) + 0.5).
+  Packet16f m = _mm512_floor_ps(pmadd(x, p16f_cephes_LOG2EF, p16f_half));
+
+  // Get r = x - m*ln(2). Note that we can do this without losing more than one
+  // ulp precision due to the FMA instruction.
+  _EIGEN_DECLARE_CONST_Packet16f(nln2, -0.6931471805599453f);
+  Packet16f r = _mm512_fmadd_ps(m, p16f_nln2, x);
+  Packet16f r2 = pmul(r, r);
+
+  // TODO(gonnet): Split into odd/even polynomials and try to exploit
+  //               instruction-level parallelism.
+  Packet16f y = p16f_cephes_exp_p0;
+  y = pmadd(y, r, p16f_cephes_exp_p1);
+  y = pmadd(y, r, p16f_cephes_exp_p2);
+  y = pmadd(y, r, p16f_cephes_exp_p3);
+  y = pmadd(y, r, p16f_cephes_exp_p4);
+  y = pmadd(y, r, p16f_cephes_exp_p5);
+  y = pmadd(y, r2, r);
+  y = padd(y, p16f_1);
+
+  // Build emm0 = 2^m.
+  Packet16i emm0 = _mm512_cvttps_epi32(padd(m, p16f_127));
+  emm0 = _mm512_slli_epi32(emm0, 23);
+
+  // Return 2^m * exp(r).
+  return pmax(pmul(y, _mm512_castsi512_ps(emm0)), _x);
+}
+
+/*template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
+pexp<Packet8d>(const Packet8d& _x) {
+  Packet8d x = _x;
+
+  _EIGEN_DECLARE_CONST_Packet8d(1, 1.0);
+  _EIGEN_DECLARE_CONST_Packet8d(2, 2.0);
+
+  _EIGEN_DECLARE_CONST_Packet8d(exp_hi, 709.437);
+  _EIGEN_DECLARE_CONST_Packet8d(exp_lo, -709.436139303);
+
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_LOG2EF, 1.4426950408889634073599);
+
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_p0, 1.26177193074810590878e-4);
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_p1, 3.02994407707441961300e-2);
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_p2, 9.99999999999999999910e-1);
+
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q0, 3.00198505138664455042e-6);
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q1, 2.52448340349684104192e-3);
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q2, 2.27265548208155028766e-1);
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_q3, 2.00000000000000000009e0);
+
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_C1, 0.693145751953125);
+  _EIGEN_DECLARE_CONST_Packet8d(cephes_exp_C2, 1.42860682030941723212e-6);
+
+  // clamp x
+  x = pmax(pmin(x, p8d_exp_hi), p8d_exp_lo);
+
+  // Express exp(x) as exp(g + n*log(2)).
+  const Packet8d n =
+      _mm512_mul_round_pd(p8d_cephes_LOG2EF, x, _MM_FROUND_TO_NEAREST_INT);
+
+  // Get the remainder modulo log(2), i.e. the "g" described above. Subtract
+  // n*log(2) out in two steps, i.e. n*C1 + n*C2, C1+C2=log2 to get the last
+  // digits right.
+  const Packet8d nC1 = pmul(n, p8d_cephes_exp_C1);
+  const Packet8d nC2 = pmul(n, p8d_cephes_exp_C2);
+  x = psub(x, nC1);
+  x = psub(x, nC2);
+
+  const Packet8d x2 = pmul(x, x);
+
+  // Evaluate the numerator polynomial of the rational interpolant.
+  Packet8d px = p8d_cephes_exp_p0;
+  px = pmadd(px, x2, p8d_cephes_exp_p1);
+  px = pmadd(px, x2, p8d_cephes_exp_p2);
+  px = pmul(px, x);
+
+  // Evaluate the denominator polynomial of the rational interpolant.
+  Packet8d qx = p8d_cephes_exp_q0;
+  qx = pmadd(qx, x2, p8d_cephes_exp_q1);
+  qx = pmadd(qx, x2, p8d_cephes_exp_q2);
+  qx = pmadd(qx, x2, p8d_cephes_exp_q3);
+
+  // I don't really get this bit, copied from the SSE2 routines, so...
+  // TODO(gonnet): Figure out what is going on here, perhaps find a better
+  // rational interpolant?
+  x = _mm512_div_pd(px, psub(qx, px));
+  x = pmadd(p8d_2, x, p8d_1);
+
+  // Build e=2^n.
+  const Packet8d e = _mm512_castsi512_pd(_mm512_slli_epi64(
+      _mm512_add_epi64(_mm512_cvtpd_epi64(n), _mm512_set1_epi64(1023)), 52));
+
+  // Construct the result 2^n * exp(g) = e * x. The max is used to catch
+  // non-finite values in the input.
+  return pmax(pmul(x, e), _x);
+  }*/
+
+// Functions for sqrt.
+// The EIGEN_FAST_MATH version uses the _mm_rsqrt_ps approximation and one step
+// of Newton's method, at a cost of 1-2 bits of precision as opposed to the
+// exact solution. The main advantage of this approach is not just speed, but
+// also the fact that it can be inlined and pipelined with other computations,
+// further reducing its effective latency.
+#if EIGEN_FAST_MATH
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
+psqrt<Packet16f>(const Packet16f& _x) {
+  _EIGEN_DECLARE_CONST_Packet16f(one_point_five, 1.5f);
+  _EIGEN_DECLARE_CONST_Packet16f(minus_half, -0.5f);
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(flt_min, 0x00800000);
+
+  Packet16f neg_half = pmul(_x, p16f_minus_half);
+
+  // select only the inverse sqrt of positive normal inputs (denormals are
+  // flushed to zero and cause infs as well).
+  __mmask16 non_zero_mask = _mm512_cmp_ps_mask(_x, p16f_flt_min, _CMP_GE_OQ);
+  Packet16f x = _mm512_mask_blend_ps(non_zero_mask, _mm512_rsqrt14_ps(_x),
+                                     _mm512_setzero_ps());
+
+  // Do a single step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p16f_one_point_five));
+
+  // Multiply the original _x by it's reciprocal square root to extract the
+  // square root.
+  return pmul(_x, x);
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
+psqrt<Packet8d>(const Packet8d& _x) {
+  _EIGEN_DECLARE_CONST_Packet8d(one_point_five, 1.5);
+  _EIGEN_DECLARE_CONST_Packet8d(minus_half, -0.5);
+  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(dbl_min, 0x0010000000000000LL);
+
+  Packet8d neg_half = pmul(_x, p8d_minus_half);
+
+  // select only the inverse sqrt of positive normal inputs (denormals are
+  // flushed to zero and cause infs as well).
+  __mmask8 non_zero_mask = _mm512_cmp_pd_mask(_x, p8d_dbl_min, _CMP_GE_OQ);
+  Packet8d x = _mm512_mask_blend_pd(non_zero_mask, _mm512_rsqrt14_pd(_x),
+                                    _mm512_setzero_pd());
+
+  // Do a first step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
+
+  // Do a second step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
+
+  // Multiply the original _x by it's reciprocal square root to extract the
+  // square root.
+  return pmul(_x, x);
+}
+#else
+template <>
+EIGEN_STRONG_INLINE Packet16f psqrt<Packet16f>(const Packet16f& x) {
+  return _mm512_sqrt_ps(x);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d psqrt<Packet8d>(const Packet8d& x) {
+  return _mm512_sqrt_pd(x);
+}
+#endif
+
+// Functions for rsqrt.
+// Almost identical to the sqrt routine, just leave out the last multiplication
+// and fill in NaN/Inf where needed. Note that this function only exists as an
+// iterative version for doubles since there is no instruction for diretly
+// computing the reciprocal square root in AVX-512.
+#ifdef EIGEN_FAST_MATH
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet16f
+prsqrt<Packet16f>(const Packet16f& _x) {
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(inf, 0x7f800000);
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(nan, 0x7fc00000);
+  _EIGEN_DECLARE_CONST_Packet16f(one_point_five, 1.5f);
+  _EIGEN_DECLARE_CONST_Packet16f(minus_half, -0.5f);
+  _EIGEN_DECLARE_CONST_Packet16f_FROM_INT(flt_min, 0x00800000);
+
+  Packet16f neg_half = pmul(_x, p16f_minus_half);
+
+  // select only the inverse sqrt of positive normal inputs (denormals are
+  // flushed to zero and cause infs as well).
+  __mmask16 le_zero_mask = _mm512_cmp_ps_mask(_x, p16f_flt_min, _CMP_LT_OQ);
+  Packet16f x = _mm512_mask_blend_ps(le_zero_mask, _mm512_setzero_ps(),
+                                     _mm512_rsqrt14_ps(_x));
+
+  // Fill in NaNs and Infs for the negative/zero entries.
+  __mmask16 neg_mask = _mm512_cmp_ps_mask(_x, _mm512_setzero_ps(), _CMP_LT_OQ);
+  Packet16f infs_and_nans = _mm512_mask_blend_ps(
+      neg_mask, p16f_nan,
+      _mm512_mask_blend_ps(le_zero_mask, p16f_inf, _mm512_setzero_ps()));
+
+  // Do a single step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p16f_one_point_five));
+
+  // Insert NaNs and Infs in all the right places.
+  return _mm512_mask_blend_ps(le_zero_mask, infs_and_nans, x);
+}
+
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet8d
+prsqrt<Packet8d>(const Packet8d& _x) {
+  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(inf, 0x7ff0000000000000LL);
+  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(nan, 0x7ff1000000000000LL);
+  _EIGEN_DECLARE_CONST_Packet8d(one_point_five, 1.5);
+  _EIGEN_DECLARE_CONST_Packet8d(minus_half, -0.5);
+  _EIGEN_DECLARE_CONST_Packet8d_FROM_INT64(dbl_min, 0x0010000000000000LL);
+
+  Packet8d neg_half = pmul(_x, p8d_minus_half);
+
+  // select only the inverse sqrt of positive normal inputs (denormals are
+  // flushed to zero and cause infs as well).
+  __mmask8 le_zero_mask = _mm512_cmp_pd_mask(_x, p8d_dbl_min, _CMP_LT_OQ);
+  Packet8d x = _mm512_mask_blend_pd(le_zero_mask, _mm512_setzero_pd(),
+                                    _mm512_rsqrt14_pd(_x));
+
+  // Fill in NaNs and Infs for the negative/zero entries.
+  __mmask8 neg_mask = _mm512_cmp_pd_mask(_x, _mm512_setzero_pd(), _CMP_LT_OQ);
+  Packet8d infs_and_nans = _mm512_mask_blend_pd(
+      neg_mask, p8d_nan,
+      _mm512_mask_blend_pd(le_zero_mask, p8d_inf, _mm512_setzero_pd()));
+
+  // Do a first step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
+
+  // Do a second step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p8d_one_point_five));
+
+  // Insert NaNs and Infs in all the right places.
+  return _mm512_mask_blend_pd(le_zero_mask, infs_and_nans, x);
+}
+#else
+template <>
+EIGEN_STRONG_INLINE Packet16f prsqrt<Packet16f>(const Packet16f& x) {
+  return _mm512_rsqrt28_ps(x);
+}
+#endif
+#endif
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // THIRD_PARTY_EIGEN3_EIGEN_SRC_CORE_ARCH_AVX512_MATHFUNCTIONS_H_
diff --git a/eigenlib/Eigen/src/Core/arch/AVX512/PacketMath.h b/eigenlib/Eigen/src/Core/arch/AVX512/PacketMath.h
new file mode 100644
index 00000000..f6500a16
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/AVX512/PacketMath.h
@@ -0,0 +1,1316 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Benoit Steiner (benoit.steiner.goog@gmail.com)
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PACKET_MATH_AVX512_H
+#define EIGEN_PACKET_MATH_AVX512_H
+
+namespace Eigen {
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
+#endif
+
+#ifdef __FMA__
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#endif
+#endif
+
+typedef __m512 Packet16f;
+typedef __m512i Packet16i;
+typedef __m512d Packet8d;
+
+template <>
+struct is_arithmetic<__m512> {
+  enum { value = true };
+};
+template <>
+struct is_arithmetic<__m512i> {
+  enum { value = true };
+};
+template <>
+struct is_arithmetic<__m512d> {
+  enum { value = true };
+};
+
+template<> struct packet_traits<float>  : default_packet_traits
+{
+  typedef Packet16f type;
+  typedef Packet8f half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 16,
+    HasHalfPacket = 1,
+#if EIGEN_GNUC_AT_LEAST(5, 3)
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+    HasLog = 1,
+#endif
+    HasExp = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+#endif
+    HasDiv = 1
+  };
+ };
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef Packet8d type;
+  typedef Packet4d half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 8,
+    HasHalfPacket = 1,
+#if EIGEN_GNUC_AT_LEAST(5, 3)
+    HasSqrt = 1,
+    HasRsqrt = EIGEN_FAST_MATH,
+#endif
+    HasDiv = 1
+  };
+};
+
+/* TODO Implement AVX512 for integers
+template<> struct packet_traits<int>    : default_packet_traits
+{
+  typedef Packet16i type;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=8
+  };
+};
+*/
+
+template <>
+struct unpacket_traits<Packet16f> {
+  typedef float type;
+  typedef Packet8f half;
+  enum { size = 16, alignment=Aligned64 };
+};
+template <>
+struct unpacket_traits<Packet8d> {
+  typedef double type;
+  typedef Packet4d half;
+  enum { size = 8, alignment=Aligned64 };
+};
+template <>
+struct unpacket_traits<Packet16i> {
+  typedef int type;
+  typedef Packet8i half;
+  enum { size = 16, alignment=Aligned64 };
+};
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pset1<Packet16f>(const float& from) {
+  return _mm512_set1_ps(from);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pset1<Packet8d>(const double& from) {
+  return _mm512_set1_pd(from);
+}
+template <>
+EIGEN_STRONG_INLINE Packet16i pset1<Packet16i>(const int& from) {
+  return _mm512_set1_epi32(from);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pload1<Packet16f>(const float* from) {
+  return _mm512_broadcastss_ps(_mm_load_ps1(from));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pload1<Packet8d>(const double* from) {
+  return _mm512_broadcastsd_pd(_mm_load_pd1(from));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f plset<Packet16f>(const float& a) {
+  return _mm512_add_ps(
+      _mm512_set1_ps(a),
+      _mm512_set_ps(15.0f, 14.0f, 13.0f, 12.0f, 11.0f, 10.0f, 9.0f, 8.0f, 7.0f, 6.0f, 5.0f,
+                    4.0f, 3.0f, 2.0f, 1.0f, 0.0f));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d plset<Packet8d>(const double& a) {
+  return _mm512_add_pd(_mm512_set1_pd(a),
+                       _mm512_set_pd(7.0, 6.0, 5.0, 4.0, 3.0, 2.0, 1.0, 0.0));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f padd<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+  return _mm512_add_ps(a, b);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d padd<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+  return _mm512_add_pd(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f psub<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+  return _mm512_sub_ps(a, b);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d psub<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+  return _mm512_sub_pd(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pnegate(const Packet16f& a) {
+  return _mm512_sub_ps(_mm512_set1_ps(0.0), a);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pnegate(const Packet8d& a) {
+  return _mm512_sub_pd(_mm512_set1_pd(0.0), a);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pconj(const Packet16f& a) {
+  return a;
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pconj(const Packet8d& a) {
+  return a;
+}
+template <>
+EIGEN_STRONG_INLINE Packet16i pconj(const Packet16i& a) {
+  return a;
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pmul<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+  return _mm512_mul_ps(a, b);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pmul<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+  return _mm512_mul_pd(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pdiv<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+  return _mm512_div_ps(a, b);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pdiv<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+  return _mm512_div_pd(a, b);
+}
+
+#ifdef __FMA__
+template <>
+EIGEN_STRONG_INLINE Packet16f pmadd(const Packet16f& a, const Packet16f& b,
+                                    const Packet16f& c) {
+  return _mm512_fmadd_ps(a, b, c);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pmadd(const Packet8d& a, const Packet8d& b,
+                                   const Packet8d& c) {
+  return _mm512_fmadd_pd(a, b, c);
+}
+#endif
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pmin<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+  return _mm512_min_ps(a, b);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pmin<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+  return _mm512_min_pd(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pmax<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+  return _mm512_max_ps(a, b);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pmax<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+  return _mm512_max_pd(a, b);
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pand<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_and_ps(a, b);
+#else
+  Packet16f res = _mm512_undefined_ps();
+  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
+  res = _mm512_insertf32x4(res, _mm_and_ps(lane0_a, lane0_b), 0);
+
+  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
+  res = _mm512_insertf32x4(res, _mm_and_ps(lane1_a, lane1_b), 1);
+
+  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
+  res = _mm512_insertf32x4(res, _mm_and_ps(lane2_a, lane2_b), 2);
+
+  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
+  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
+  res = _mm512_insertf32x4(res, _mm_and_ps(lane3_a, lane3_b), 3);
+
+  return res;
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pand<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_and_pd(a, b);
+#else
+  Packet8d res = _mm512_undefined_pd();
+  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
+  res = _mm512_insertf64x4(res, _mm256_and_pd(lane0_a, lane0_b), 0);
+
+  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
+  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
+  res = _mm512_insertf64x4(res, _mm256_and_pd(lane1_a, lane1_b), 1);
+
+  return res;
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE Packet16f por<Packet16f>(const Packet16f& a,
+                                             const Packet16f& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_or_ps(a, b);
+#else
+  Packet16f res = _mm512_undefined_ps();
+  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
+  res = _mm512_insertf32x4(res, _mm_or_ps(lane0_a, lane0_b), 0);
+
+  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
+  res = _mm512_insertf32x4(res, _mm_or_ps(lane1_a, lane1_b), 1);
+
+  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
+  res = _mm512_insertf32x4(res, _mm_or_ps(lane2_a, lane2_b), 2);
+
+  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
+  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
+  res = _mm512_insertf32x4(res, _mm_or_ps(lane3_a, lane3_b), 3);
+
+  return res;
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8d por<Packet8d>(const Packet8d& a,
+                                           const Packet8d& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_or_pd(a, b);
+#else
+  Packet8d res = _mm512_undefined_pd();
+  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
+  res = _mm512_insertf64x4(res, _mm256_or_pd(lane0_a, lane0_b), 0);
+
+  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
+  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
+  res = _mm512_insertf64x4(res, _mm256_or_pd(lane1_a, lane1_b), 1);
+
+  return res;
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pxor<Packet16f>(const Packet16f& a,
+                                              const Packet16f& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_xor_ps(a, b);
+#else
+  Packet16f res = _mm512_undefined_ps();
+  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
+  res = _mm512_insertf32x4(res, _mm_xor_ps(lane0_a, lane0_b), 0);
+
+  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
+  res = _mm512_insertf32x4(res, _mm_xor_ps(lane1_a, lane1_b), 1);
+
+  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
+  res = _mm512_insertf32x4(res, _mm_xor_ps(lane2_a, lane2_b), 2);
+
+  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
+  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
+  res = _mm512_insertf32x4(res, _mm_xor_ps(lane3_a, lane3_b), 3);
+
+  return res;
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pxor<Packet8d>(const Packet8d& a,
+                                            const Packet8d& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_xor_pd(a, b);
+#else
+  Packet8d res = _mm512_undefined_pd();
+  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
+  res = _mm512_insertf64x4(res, _mm256_xor_pd(lane0_a, lane0_b), 0);
+
+  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
+  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
+  res = _mm512_insertf64x4(res, _mm256_xor_pd(lane1_a, lane1_b), 1);
+
+  return res;
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pandnot<Packet16f>(const Packet16f& a,
+                                                 const Packet16f& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_andnot_ps(a, b);
+#else
+  Packet16f res = _mm512_undefined_ps();
+  Packet4f lane0_a = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane0_b = _mm512_extractf32x4_ps(b, 0);
+  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane0_a, lane0_b), 0);
+
+  Packet4f lane1_a = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane1_b = _mm512_extractf32x4_ps(b, 1);
+  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane1_a, lane1_b), 1);
+
+  Packet4f lane2_a = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane2_b = _mm512_extractf32x4_ps(b, 2);
+  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane2_a, lane2_b), 2);
+
+  Packet4f lane3_a = _mm512_extractf32x4_ps(a, 3);
+  Packet4f lane3_b = _mm512_extractf32x4_ps(b, 3);
+  res = _mm512_insertf32x4(res, _mm_andnot_ps(lane3_a, lane3_b), 3);
+
+  return res;
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pandnot<Packet8d>(const Packet8d& a,
+                                               const Packet8d& b) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  return _mm512_andnot_pd(a, b);
+#else
+  Packet8d res = _mm512_undefined_pd();
+  Packet4d lane0_a = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane0_b = _mm512_extractf64x4_pd(b, 0);
+  res = _mm512_insertf64x4(res, _mm256_andnot_pd(lane0_a, lane0_b), 0);
+
+  Packet4d lane1_a = _mm512_extractf64x4_pd(a, 1);
+  Packet4d lane1_b = _mm512_extractf64x4_pd(b, 1);
+  res = _mm512_insertf64x4(res, _mm256_andnot_pd(lane1_a, lane1_b), 1);
+
+  return res;
+#endif
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f pload<Packet16f>(const float* from) {
+  EIGEN_DEBUG_ALIGNED_LOAD return _mm512_load_ps(from);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pload<Packet8d>(const double* from) {
+  EIGEN_DEBUG_ALIGNED_LOAD return _mm512_load_pd(from);
+}
+template <>
+EIGEN_STRONG_INLINE Packet16i pload<Packet16i>(const int* from) {
+  EIGEN_DEBUG_ALIGNED_LOAD return _mm512_load_si512(
+      reinterpret_cast<const __m512i*>(from));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet16f ploadu<Packet16f>(const float* from) {
+  EIGEN_DEBUG_UNALIGNED_LOAD return _mm512_loadu_ps(from);
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d ploadu<Packet8d>(const double* from) {
+  EIGEN_DEBUG_UNALIGNED_LOAD return _mm512_loadu_pd(from);
+}
+template <>
+EIGEN_STRONG_INLINE Packet16i ploadu<Packet16i>(const int* from) {
+  EIGEN_DEBUG_UNALIGNED_LOAD return _mm512_loadu_si512(
+      reinterpret_cast<const __m512i*>(from));
+}
+
+// Loads 8 floats from memory a returns the packet
+// {a0, a0  a1, a1, a2, a2, a3, a3, a4, a4, a5, a5, a6, a6, a7, a7}
+template <>
+EIGEN_STRONG_INLINE Packet16f ploaddup<Packet16f>(const float* from) {
+  Packet8f lane0 = _mm256_broadcast_ps((const __m128*)(const void*)from);
+  // mimic an "inplace" permutation of the lower 128bits using a blend
+  lane0 = _mm256_blend_ps(
+      lane0, _mm256_castps128_ps256(_mm_permute_ps(
+                 _mm256_castps256_ps128(lane0), _MM_SHUFFLE(1, 0, 1, 0))),
+      15);
+  // then we can perform a consistent permutation on the global register to get
+  // everything in shape:
+  lane0 = _mm256_permute_ps(lane0, _MM_SHUFFLE(3, 3, 2, 2));
+
+  Packet8f lane1 = _mm256_broadcast_ps((const __m128*)(const void*)(from + 4));
+  // mimic an "inplace" permutation of the lower 128bits using a blend
+  lane1 = _mm256_blend_ps(
+      lane1, _mm256_castps128_ps256(_mm_permute_ps(
+                 _mm256_castps256_ps128(lane1), _MM_SHUFFLE(1, 0, 1, 0))),
+      15);
+  // then we can perform a consistent permutation on the global register to get
+  // everything in shape:
+  lane1 = _mm256_permute_ps(lane1, _MM_SHUFFLE(3, 3, 2, 2));
+
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  Packet16f res = _mm512_undefined_ps();
+  return _mm512_insertf32x8(res, lane0, 0);
+  return _mm512_insertf32x8(res, lane1, 1);
+  return res;
+#else
+  Packet16f res = _mm512_undefined_ps();
+  res = _mm512_insertf32x4(res, _mm256_extractf128_ps(lane0, 0), 0);
+  res = _mm512_insertf32x4(res, _mm256_extractf128_ps(lane0, 1), 1);
+  res = _mm512_insertf32x4(res, _mm256_extractf128_ps(lane1, 0), 2);
+  res = _mm512_insertf32x4(res, _mm256_extractf128_ps(lane1, 1), 3);
+  return res;
+#endif
+}
+// Loads 4 doubles from memory a returns the packet {a0, a0  a1, a1, a2, a2, a3,
+// a3}
+template <>
+EIGEN_STRONG_INLINE Packet8d ploaddup<Packet8d>(const double* from) {
+  Packet4d lane0 = _mm256_broadcast_pd((const __m128d*)(const void*)from);
+  lane0 = _mm256_permute_pd(lane0, 3 << 2);
+
+  Packet4d lane1 = _mm256_broadcast_pd((const __m128d*)(const void*)(from + 2));
+  lane1 = _mm256_permute_pd(lane1, 3 << 2);
+
+  Packet8d res = _mm512_undefined_pd();
+  res = _mm512_insertf64x4(res, lane0, 0);
+  return _mm512_insertf64x4(res, lane1, 1);
+}
+
+// Loads 4 floats from memory a returns the packet
+// {a0, a0  a0, a0, a1, a1, a1, a1, a2, a2, a2, a2, a3, a3, a3, a3}
+template <>
+EIGEN_STRONG_INLINE Packet16f ploadquad<Packet16f>(const float* from) {
+  Packet16f tmp = _mm512_undefined_ps();
+  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from), 0);
+  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from + 1), 1);
+  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from + 2), 2);
+  tmp = _mm512_insertf32x4(tmp, _mm_load_ps1(from + 3), 3);
+  return tmp;
+}
+// Loads 2 doubles from memory a returns the packet
+// {a0, a0  a0, a0, a1, a1, a1, a1}
+template <>
+EIGEN_STRONG_INLINE Packet8d ploadquad<Packet8d>(const double* from) {
+  Packet8d tmp = _mm512_undefined_pd();
+  Packet2d tmp0 = _mm_load_pd1(from);
+  Packet2d tmp1 = _mm_load_pd1(from + 1);
+  Packet4d lane0 = _mm256_broadcastsd_pd(tmp0);
+  Packet4d lane1 = _mm256_broadcastsd_pd(tmp1);
+  tmp = _mm512_insertf64x4(tmp, lane0, 0);
+  return _mm512_insertf64x4(tmp, lane1, 1);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstore<float>(float* to, const Packet16f& from) {
+  EIGEN_DEBUG_ALIGNED_STORE _mm512_store_ps(to, from);
+}
+template <>
+EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet8d& from) {
+  EIGEN_DEBUG_ALIGNED_STORE _mm512_store_pd(to, from);
+}
+template <>
+EIGEN_STRONG_INLINE void pstore<int>(int* to, const Packet16i& from) {
+  EIGEN_DEBUG_ALIGNED_STORE _mm512_storeu_si512(reinterpret_cast<__m512i*>(to),
+                                                from);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstoreu<float>(float* to, const Packet16f& from) {
+  EIGEN_DEBUG_UNALIGNED_STORE _mm512_storeu_ps(to, from);
+}
+template <>
+EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet8d& from) {
+  EIGEN_DEBUG_UNALIGNED_STORE _mm512_storeu_pd(to, from);
+}
+template <>
+EIGEN_STRONG_INLINE void pstoreu<int>(int* to, const Packet16i& from) {
+  EIGEN_DEBUG_UNALIGNED_STORE _mm512_storeu_si512(
+      reinterpret_cast<__m512i*>(to), from);
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline Packet16f pgather<float, Packet16f>(const float* from,
+                                                             Index stride) {
+  Packet16i stride_vector = _mm512_set1_epi32(stride);
+  Packet16i stride_multiplier =
+      _mm512_set_epi32(15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0);
+  Packet16i indices = _mm512_mullo_epi32(stride_vector, stride_multiplier);
+
+  return _mm512_i32gather_ps(indices, from, 4);
+}
+template <>
+EIGEN_DEVICE_FUNC inline Packet8d pgather<double, Packet8d>(const double* from,
+                                                            Index stride) {
+  Packet8i stride_vector = _mm256_set1_epi32(stride);
+  Packet8i stride_multiplier = _mm256_set_epi32(7, 6, 5, 4, 3, 2, 1, 0);
+  Packet8i indices = _mm256_mullo_epi32(stride_vector, stride_multiplier);
+
+  return _mm512_i32gather_pd(indices, from, 8);
+}
+
+template <>
+EIGEN_DEVICE_FUNC inline void pscatter<float, Packet16f>(float* to,
+                                                         const Packet16f& from,
+                                                         Index stride) {
+  Packet16i stride_vector = _mm512_set1_epi32(stride);
+  Packet16i stride_multiplier =
+      _mm512_set_epi32(15, 14, 13, 12, 11, 10, 9, 8, 7, 6, 5, 4, 3, 2, 1, 0);
+  Packet16i indices = _mm512_mullo_epi32(stride_vector, stride_multiplier);
+  _mm512_i32scatter_ps(to, indices, from, 4);
+}
+template <>
+EIGEN_DEVICE_FUNC inline void pscatter<double, Packet8d>(double* to,
+                                                         const Packet8d& from,
+                                                         Index stride) {
+  Packet8i stride_vector = _mm256_set1_epi32(stride);
+  Packet8i stride_multiplier = _mm256_set_epi32(7, 6, 5, 4, 3, 2, 1, 0);
+  Packet8i indices = _mm256_mullo_epi32(stride_vector, stride_multiplier);
+  _mm512_i32scatter_pd(to, indices, from, 8);
+}
+
+template <>
+EIGEN_STRONG_INLINE void pstore1<Packet16f>(float* to, const float& a) {
+  Packet16f pa = pset1<Packet16f>(a);
+  pstore(to, pa);
+}
+template <>
+EIGEN_STRONG_INLINE void pstore1<Packet8d>(double* to, const double& a) {
+  Packet8d pa = pset1<Packet8d>(a);
+  pstore(to, pa);
+}
+template <>
+EIGEN_STRONG_INLINE void pstore1<Packet16i>(int* to, const int& a) {
+  Packet16i pa = pset1<Packet16i>(a);
+  pstore(to, pa);
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+
+template <>
+EIGEN_STRONG_INLINE float pfirst<Packet16f>(const Packet16f& a) {
+  return _mm_cvtss_f32(_mm512_extractf32x4_ps(a, 0));
+}
+template <>
+EIGEN_STRONG_INLINE double pfirst<Packet8d>(const Packet8d& a) {
+  return _mm_cvtsd_f64(_mm256_extractf128_pd(_mm512_extractf64x4_pd(a, 0), 0));
+}
+template <>
+EIGEN_STRONG_INLINE int pfirst<Packet16i>(const Packet16i& a) {
+  return _mm_extract_epi32(_mm512_extracti32x4_epi32(a, 0), 0);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16f preverse(const Packet16f& a)
+{
+  return _mm512_permutexvar_ps(_mm512_set_epi32(0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15), a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8d preverse(const Packet8d& a)
+{
+  return _mm512_permutexvar_pd(_mm512_set_epi32(0, 0, 0, 1, 0, 2, 0, 3, 0, 4, 0, 5, 0, 6, 0, 7), a);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16f pabs(const Packet16f& a)
+{
+  // _mm512_abs_ps intrinsic not found, so hack around it
+  return (__m512)_mm512_and_si512((__m512i)a, _mm512_set1_epi32(0x7fffffff));
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pabs(const Packet8d& a) {
+  // _mm512_abs_ps intrinsic not found, so hack around it
+  return (__m512d)_mm512_and_si512((__m512i)a,
+                                   _mm512_set1_epi64(0x7fffffffffffffff));
+}
+
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+// AVX512F does not define _mm512_extractf32x8_ps to extract _m256 from _m512
+#define EIGEN_EXTRACT_8f_FROM_16f(INPUT, OUTPUT)                           \
+  __m256 OUTPUT##_0 = _mm512_extractf32x8_ps(INPUT, 0) __m256 OUTPUT##_1 = \
+      _mm512_extractf32x8_ps(INPUT, 1)
+#else
+#define EIGEN_EXTRACT_8f_FROM_16f(INPUT, OUTPUT)                \
+  __m256 OUTPUT##_0 = _mm256_insertf128_ps(                     \
+      _mm256_castps128_ps256(_mm512_extractf32x4_ps(INPUT, 0)), \
+      _mm512_extractf32x4_ps(INPUT, 1), 1);                     \
+  __m256 OUTPUT##_1 = _mm256_insertf128_ps(                     \
+      _mm256_castps128_ps256(_mm512_extractf32x4_ps(INPUT, 2)), \
+      _mm512_extractf32x4_ps(INPUT, 3), 1);
+#endif
+
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+#define EIGEN_INSERT_8f_INTO_16f(OUTPUT, INPUTA, INPUTB) \
+  OUTPUT = _mm512_insertf32x8(OUTPUT, INPUTA, 0);        \
+  OUTPUT = _mm512_insertf32x8(OUTPUT, INPUTB, 1);
+#else
+#define EIGEN_INSERT_8f_INTO_16f(OUTPUT, INPUTA, INPUTB)                    \
+  OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTA, 0), 0); \
+  OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTA, 1), 1); \
+  OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTB, 0), 2); \
+  OUTPUT = _mm512_insertf32x4(OUTPUT, _mm256_extractf128_ps(INPUTB, 1), 3);
+#endif
+template<> EIGEN_STRONG_INLINE Packet16f preduxp<Packet16f>(const Packet16f*
+vecs)
+{
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[0], vecs0);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[1], vecs1);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[2], vecs2);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[3], vecs3);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[4], vecs4);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[5], vecs5);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[6], vecs6);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[7], vecs7);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[8], vecs8);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[9], vecs9);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[10], vecs10);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[11], vecs11);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[12], vecs12);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[13], vecs13);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[14], vecs14);
+  EIGEN_EXTRACT_8f_FROM_16f(vecs[15], vecs15);
+
+  __m256 hsum1 = _mm256_hadd_ps(vecs0_0, vecs1_0);
+  __m256 hsum2 = _mm256_hadd_ps(vecs2_0, vecs3_0);
+  __m256 hsum3 = _mm256_hadd_ps(vecs4_0, vecs5_0);
+  __m256 hsum4 = _mm256_hadd_ps(vecs6_0, vecs7_0);
+
+  __m256 hsum5 = _mm256_hadd_ps(hsum1, hsum1);
+  __m256 hsum6 = _mm256_hadd_ps(hsum2, hsum2);
+  __m256 hsum7 = _mm256_hadd_ps(hsum3, hsum3);
+  __m256 hsum8 = _mm256_hadd_ps(hsum4, hsum4);
+
+  __m256 perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
+  __m256 perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
+  __m256 perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
+  __m256 perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
+
+  __m256 sum1 = _mm256_add_ps(perm1, hsum5);
+  __m256 sum2 = _mm256_add_ps(perm2, hsum6);
+  __m256 sum3 = _mm256_add_ps(perm3, hsum7);
+  __m256 sum4 = _mm256_add_ps(perm4, hsum8);
+
+  __m256 blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
+  __m256 blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
+
+  __m256 final = _mm256_blend_ps(blend1, blend2, 0xf0);
+
+  hsum1 = _mm256_hadd_ps(vecs0_1, vecs1_1);
+  hsum2 = _mm256_hadd_ps(vecs2_1, vecs3_1);
+  hsum3 = _mm256_hadd_ps(vecs4_1, vecs5_1);
+  hsum4 = _mm256_hadd_ps(vecs6_1, vecs7_1);
+
+  hsum5 = _mm256_hadd_ps(hsum1, hsum1);
+  hsum6 = _mm256_hadd_ps(hsum2, hsum2);
+  hsum7 = _mm256_hadd_ps(hsum3, hsum3);
+  hsum8 = _mm256_hadd_ps(hsum4, hsum4);
+
+  perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
+  perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
+  perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
+  perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
+
+  sum1 = _mm256_add_ps(perm1, hsum5);
+  sum2 = _mm256_add_ps(perm2, hsum6);
+  sum3 = _mm256_add_ps(perm3, hsum7);
+  sum4 = _mm256_add_ps(perm4, hsum8);
+
+  blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
+  blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
+
+  final = padd(final, _mm256_blend_ps(blend1, blend2, 0xf0));
+
+  hsum1 = _mm256_hadd_ps(vecs8_0, vecs9_0);
+  hsum2 = _mm256_hadd_ps(vecs10_0, vecs11_0);
+  hsum3 = _mm256_hadd_ps(vecs12_0, vecs13_0);
+  hsum4 = _mm256_hadd_ps(vecs14_0, vecs15_0);
+
+  hsum5 = _mm256_hadd_ps(hsum1, hsum1);
+  hsum6 = _mm256_hadd_ps(hsum2, hsum2);
+  hsum7 = _mm256_hadd_ps(hsum3, hsum3);
+  hsum8 = _mm256_hadd_ps(hsum4, hsum4);
+
+  perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
+  perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
+  perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
+  perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
+
+  sum1 = _mm256_add_ps(perm1, hsum5);
+  sum2 = _mm256_add_ps(perm2, hsum6);
+  sum3 = _mm256_add_ps(perm3, hsum7);
+  sum4 = _mm256_add_ps(perm4, hsum8);
+
+  blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
+  blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
+
+  __m256 final_1 = _mm256_blend_ps(blend1, blend2, 0xf0);
+
+  hsum1 = _mm256_hadd_ps(vecs8_1, vecs9_1);
+  hsum2 = _mm256_hadd_ps(vecs10_1, vecs11_1);
+  hsum3 = _mm256_hadd_ps(vecs12_1, vecs13_1);
+  hsum4 = _mm256_hadd_ps(vecs14_1, vecs15_1);
+
+  hsum5 = _mm256_hadd_ps(hsum1, hsum1);
+  hsum6 = _mm256_hadd_ps(hsum2, hsum2);
+  hsum7 = _mm256_hadd_ps(hsum3, hsum3);
+  hsum8 = _mm256_hadd_ps(hsum4, hsum4);
+
+  perm1 = _mm256_permute2f128_ps(hsum5, hsum5, 0x23);
+  perm2 = _mm256_permute2f128_ps(hsum6, hsum6, 0x23);
+  perm3 = _mm256_permute2f128_ps(hsum7, hsum7, 0x23);
+  perm4 = _mm256_permute2f128_ps(hsum8, hsum8, 0x23);
+
+  sum1 = _mm256_add_ps(perm1, hsum5);
+  sum2 = _mm256_add_ps(perm2, hsum6);
+  sum3 = _mm256_add_ps(perm3, hsum7);
+  sum4 = _mm256_add_ps(perm4, hsum8);
+
+  blend1 = _mm256_blend_ps(sum1, sum2, 0xcc);
+  blend2 = _mm256_blend_ps(sum3, sum4, 0xcc);
+
+  final_1 = padd(final_1, _mm256_blend_ps(blend1, blend2, 0xf0));
+
+  __m512 final_output;
+
+  EIGEN_INSERT_8f_INTO_16f(final_output, final, final_1);
+  return final_output;
+}
+
+template<> EIGEN_STRONG_INLINE Packet8d preduxp<Packet8d>(const Packet8d* vecs)
+{
+  Packet4d vecs0_0 = _mm512_extractf64x4_pd(vecs[0], 0);
+  Packet4d vecs0_1 = _mm512_extractf64x4_pd(vecs[0], 1);
+
+  Packet4d vecs1_0 = _mm512_extractf64x4_pd(vecs[1], 0);
+  Packet4d vecs1_1 = _mm512_extractf64x4_pd(vecs[1], 1);
+
+  Packet4d vecs2_0 = _mm512_extractf64x4_pd(vecs[2], 0);
+  Packet4d vecs2_1 = _mm512_extractf64x4_pd(vecs[2], 1);
+
+  Packet4d vecs3_0 = _mm512_extractf64x4_pd(vecs[3], 0);
+  Packet4d vecs3_1 = _mm512_extractf64x4_pd(vecs[3], 1);
+
+  Packet4d vecs4_0 = _mm512_extractf64x4_pd(vecs[4], 0);
+  Packet4d vecs4_1 = _mm512_extractf64x4_pd(vecs[4], 1);
+
+  Packet4d vecs5_0 = _mm512_extractf64x4_pd(vecs[5], 0);
+  Packet4d vecs5_1 = _mm512_extractf64x4_pd(vecs[5], 1);
+
+  Packet4d vecs6_0 = _mm512_extractf64x4_pd(vecs[6], 0);
+  Packet4d vecs6_1 = _mm512_extractf64x4_pd(vecs[6], 1);
+
+  Packet4d vecs7_0 = _mm512_extractf64x4_pd(vecs[7], 0);
+  Packet4d vecs7_1 = _mm512_extractf64x4_pd(vecs[7], 1);
+
+  Packet4d tmp0, tmp1;
+
+  tmp0 = _mm256_hadd_pd(vecs0_0, vecs1_0);
+  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
+
+  tmp1 = _mm256_hadd_pd(vecs2_0, vecs3_0);
+  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
+
+  __m256d final_0 = _mm256_blend_pd(tmp0, tmp1, 0xC);
+
+  tmp0 = _mm256_hadd_pd(vecs0_1, vecs1_1);
+  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
+
+  tmp1 = _mm256_hadd_pd(vecs2_1, vecs3_1);
+  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
+
+  final_0 = padd(final_0, _mm256_blend_pd(tmp0, tmp1, 0xC));
+
+  tmp0 = _mm256_hadd_pd(vecs4_0, vecs5_0);
+  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
+
+  tmp1 = _mm256_hadd_pd(vecs6_0, vecs7_0);
+  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
+
+  __m256d final_1 = _mm256_blend_pd(tmp0, tmp1, 0xC);
+
+  tmp0 = _mm256_hadd_pd(vecs4_1, vecs5_1);
+  tmp0 = _mm256_add_pd(tmp0, _mm256_permute2f128_pd(tmp0, tmp0, 1));
+
+  tmp1 = _mm256_hadd_pd(vecs6_1, vecs7_1);
+  tmp1 = _mm256_add_pd(tmp1, _mm256_permute2f128_pd(tmp1, tmp1, 1));
+
+  final_1 = padd(final_1, _mm256_blend_pd(tmp0, tmp1, 0xC));
+
+  __m512d final_output = _mm512_insertf64x4(final_output, final_0, 0);
+
+  return _mm512_insertf64x4(final_output, final_1, 1);
+}
+
+template <>
+EIGEN_STRONG_INLINE float predux<Packet16f>(const Packet16f& a) {
+  //#ifdef EIGEN_VECTORIZE_AVX512DQ
+#if 0
+  Packet8f lane0 = _mm512_extractf32x8_ps(a, 0);
+  Packet8f lane1 = _mm512_extractf32x8_ps(a, 1);
+  Packet8f sum = padd(lane0, lane1);
+  Packet8f tmp0 = _mm256_hadd_ps(sum, _mm256_permute2f128_ps(a, a, 1));
+  tmp0 = _mm256_hadd_ps(tmp0, tmp0);
+  return pfirst(_mm256_hadd_ps(tmp0, tmp0));
+#else
+  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
+  Packet4f sum = padd(padd(lane0, lane1), padd(lane2, lane3));
+  sum = _mm_hadd_ps(sum, sum);
+  sum = _mm_hadd_ps(sum, _mm_permute_ps(sum, 1));
+  return pfirst(sum);
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE double predux<Packet8d>(const Packet8d& a) {
+  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
+  Packet4d sum = padd(lane0, lane1);
+  Packet4d tmp0 = _mm256_hadd_pd(sum, _mm256_permute2f128_pd(sum, sum, 1));
+  return pfirst(_mm256_hadd_pd(tmp0, tmp0));
+}
+
+template <>
+EIGEN_STRONG_INLINE Packet8f predux_downto4<Packet16f>(const Packet16f& a) {
+#ifdef EIGEN_VECTORIZE_AVX512DQ
+  Packet8f lane0 = _mm512_extractf32x8_ps(a, 0);
+  Packet8f lane1 = _mm512_extractf32x8_ps(a, 1);
+  return padd(lane0, lane1);
+#else
+  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
+  Packet4f sum0 = padd(lane0, lane2);
+  Packet4f sum1 = padd(lane1, lane3);
+  return _mm256_insertf128_ps(_mm256_castps128_ps256(sum0), sum1, 1);
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE Packet4d predux_downto4<Packet8d>(const Packet8d& a) {
+  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
+  Packet4d res = padd(lane0, lane1);
+  return res;
+}
+
+template <>
+EIGEN_STRONG_INLINE float predux_mul<Packet16f>(const Packet16f& a) {
+//#ifdef EIGEN_VECTORIZE_AVX512DQ
+#if 0
+  Packet8f lane0 = _mm512_extractf32x8_ps(a, 0);
+  Packet8f lane1 = _mm512_extractf32x8_ps(a, 1);
+  Packet8f res = pmul(lane0, lane1);
+  res = pmul(res, _mm256_permute2f128_ps(res, res, 1));
+  res = pmul(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 3, 2)));
+  return pfirst(pmul(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 0, 1))));
+#else
+  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
+  Packet4f res = pmul(pmul(lane0, lane1), pmul(lane2, lane3));
+  res = pmul(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 3, 2)));
+  return pfirst(pmul(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 0, 1))));
+#endif
+}
+template <>
+EIGEN_STRONG_INLINE double predux_mul<Packet8d>(const Packet8d& a) {
+  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
+  Packet4d res = pmul(lane0, lane1);
+  res = pmul(res, _mm256_permute2f128_pd(res, res, 1));
+  return pfirst(pmul(res, _mm256_shuffle_pd(res, res, 1)));
+}
+
+template <>
+EIGEN_STRONG_INLINE float predux_min<Packet16f>(const Packet16f& a) {
+  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
+  Packet4f res = _mm_min_ps(_mm_min_ps(lane0, lane1), _mm_min_ps(lane2, lane3));
+  res = _mm_min_ps(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 3, 2)));
+  return pfirst(_mm_min_ps(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 0, 1))));
+}
+template <>
+EIGEN_STRONG_INLINE double predux_min<Packet8d>(const Packet8d& a) {
+  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
+  Packet4d res = _mm256_min_pd(lane0, lane1);
+  res = _mm256_min_pd(res, _mm256_permute2f128_pd(res, res, 1));
+  return pfirst(_mm256_min_pd(res, _mm256_shuffle_pd(res, res, 1)));
+}
+
+template <>
+EIGEN_STRONG_INLINE float predux_max<Packet16f>(const Packet16f& a) {
+  Packet4f lane0 = _mm512_extractf32x4_ps(a, 0);
+  Packet4f lane1 = _mm512_extractf32x4_ps(a, 1);
+  Packet4f lane2 = _mm512_extractf32x4_ps(a, 2);
+  Packet4f lane3 = _mm512_extractf32x4_ps(a, 3);
+  Packet4f res = _mm_max_ps(_mm_max_ps(lane0, lane1), _mm_max_ps(lane2, lane3));
+  res = _mm_max_ps(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 3, 2)));
+  return pfirst(_mm_max_ps(res, _mm_permute_ps(res, _MM_SHUFFLE(0, 0, 0, 1))));
+}
+template <>
+EIGEN_STRONG_INLINE double predux_max<Packet8d>(const Packet8d& a) {
+  Packet4d lane0 = _mm512_extractf64x4_pd(a, 0);
+  Packet4d lane1 = _mm512_extractf64x4_pd(a, 1);
+  Packet4d res = _mm256_max_pd(lane0, lane1);
+  res = _mm256_max_pd(res, _mm256_permute2f128_pd(res, res, 1));
+  return pfirst(_mm256_max_pd(res, _mm256_shuffle_pd(res, res, 1)));
+}
+
+template <int Offset>
+struct palign_impl<Offset, Packet16f> {
+  static EIGEN_STRONG_INLINE void run(Packet16f& first,
+                                      const Packet16f& second) {
+    if (Offset != 0) {
+      __m512i first_idx = _mm512_set_epi32(
+          Offset + 15, Offset + 14, Offset + 13, Offset + 12, Offset + 11,
+          Offset + 10, Offset + 9, Offset + 8, Offset + 7, Offset + 6,
+          Offset + 5, Offset + 4, Offset + 3, Offset + 2, Offset + 1, Offset);
+
+      __m512i second_idx =
+          _mm512_set_epi32(Offset - 1, Offset - 2, Offset - 3, Offset - 4,
+                           Offset - 5, Offset - 6, Offset - 7, Offset - 8,
+                           Offset - 9, Offset - 10, Offset - 11, Offset - 12,
+                           Offset - 13, Offset - 14, Offset - 15, Offset - 16);
+
+      unsigned short mask = 0xFFFF;
+      mask <<= (16 - Offset);
+
+      first = _mm512_permutexvar_ps(first_idx, first);
+      Packet16f tmp = _mm512_permutexvar_ps(second_idx, second);
+      first = _mm512_mask_blend_ps(mask, first, tmp);
+    }
+  }
+};
+template <int Offset>
+struct palign_impl<Offset, Packet8d> {
+  static EIGEN_STRONG_INLINE void run(Packet8d& first, const Packet8d& second) {
+    if (Offset != 0) {
+      __m512i first_idx = _mm512_set_epi32(
+          0, Offset + 7, 0, Offset + 6, 0, Offset + 5, 0, Offset + 4, 0,
+          Offset + 3, 0, Offset + 2, 0, Offset + 1, 0, Offset);
+
+      __m512i second_idx = _mm512_set_epi32(
+          0, Offset - 1, 0, Offset - 2, 0, Offset - 3, 0, Offset - 4, 0,
+          Offset - 5, 0, Offset - 6, 0, Offset - 7, 0, Offset - 8);
+
+      unsigned char mask = 0xFF;
+      mask <<= (8 - Offset);
+
+      first = _mm512_permutexvar_pd(first_idx, first);
+      Packet8d tmp = _mm512_permutexvar_pd(second_idx, second);
+      first = _mm512_mask_blend_pd(mask, first, tmp);
+    }
+  }
+};
+
+
+#define PACK_OUTPUT(OUTPUT, INPUT, INDEX, STRIDE) \
+  EIGEN_INSERT_8f_INTO_16f(OUTPUT[INDEX], INPUT[INDEX], INPUT[INDEX + STRIDE]);
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet16f, 16>& kernel) {
+  __m512 T0 = _mm512_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
+  __m512 T1 = _mm512_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
+  __m512 T2 = _mm512_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
+  __m512 T3 = _mm512_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
+  __m512 T4 = _mm512_unpacklo_ps(kernel.packet[4], kernel.packet[5]);
+  __m512 T5 = _mm512_unpackhi_ps(kernel.packet[4], kernel.packet[5]);
+  __m512 T6 = _mm512_unpacklo_ps(kernel.packet[6], kernel.packet[7]);
+  __m512 T7 = _mm512_unpackhi_ps(kernel.packet[6], kernel.packet[7]);
+  __m512 T8 = _mm512_unpacklo_ps(kernel.packet[8], kernel.packet[9]);
+  __m512 T9 = _mm512_unpackhi_ps(kernel.packet[8], kernel.packet[9]);
+  __m512 T10 = _mm512_unpacklo_ps(kernel.packet[10], kernel.packet[11]);
+  __m512 T11 = _mm512_unpackhi_ps(kernel.packet[10], kernel.packet[11]);
+  __m512 T12 = _mm512_unpacklo_ps(kernel.packet[12], kernel.packet[13]);
+  __m512 T13 = _mm512_unpackhi_ps(kernel.packet[12], kernel.packet[13]);
+  __m512 T14 = _mm512_unpacklo_ps(kernel.packet[14], kernel.packet[15]);
+  __m512 T15 = _mm512_unpackhi_ps(kernel.packet[14], kernel.packet[15]);
+  __m512 S0 = _mm512_shuffle_ps(T0, T2, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S1 = _mm512_shuffle_ps(T0, T2, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S2 = _mm512_shuffle_ps(T1, T3, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S3 = _mm512_shuffle_ps(T1, T3, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S4 = _mm512_shuffle_ps(T4, T6, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S5 = _mm512_shuffle_ps(T4, T6, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S6 = _mm512_shuffle_ps(T5, T7, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S7 = _mm512_shuffle_ps(T5, T7, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S8 = _mm512_shuffle_ps(T8, T10, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S9 = _mm512_shuffle_ps(T8, T10, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S10 = _mm512_shuffle_ps(T9, T11, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S11 = _mm512_shuffle_ps(T9, T11, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S12 = _mm512_shuffle_ps(T12, T14, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S13 = _mm512_shuffle_ps(T12, T14, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S14 = _mm512_shuffle_ps(T13, T15, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S15 = _mm512_shuffle_ps(T13, T15, _MM_SHUFFLE(3, 2, 3, 2));
+
+  EIGEN_EXTRACT_8f_FROM_16f(S0, S0);
+  EIGEN_EXTRACT_8f_FROM_16f(S1, S1);
+  EIGEN_EXTRACT_8f_FROM_16f(S2, S2);
+  EIGEN_EXTRACT_8f_FROM_16f(S3, S3);
+  EIGEN_EXTRACT_8f_FROM_16f(S4, S4);
+  EIGEN_EXTRACT_8f_FROM_16f(S5, S5);
+  EIGEN_EXTRACT_8f_FROM_16f(S6, S6);
+  EIGEN_EXTRACT_8f_FROM_16f(S7, S7);
+  EIGEN_EXTRACT_8f_FROM_16f(S8, S8);
+  EIGEN_EXTRACT_8f_FROM_16f(S9, S9);
+  EIGEN_EXTRACT_8f_FROM_16f(S10, S10);
+  EIGEN_EXTRACT_8f_FROM_16f(S11, S11);
+  EIGEN_EXTRACT_8f_FROM_16f(S12, S12);
+  EIGEN_EXTRACT_8f_FROM_16f(S13, S13);
+  EIGEN_EXTRACT_8f_FROM_16f(S14, S14);
+  EIGEN_EXTRACT_8f_FROM_16f(S15, S15);
+
+  PacketBlock<Packet8f, 32> tmp;
+
+  tmp.packet[0] = _mm256_permute2f128_ps(S0_0, S4_0, 0x20);
+  tmp.packet[1] = _mm256_permute2f128_ps(S1_0, S5_0, 0x20);
+  tmp.packet[2] = _mm256_permute2f128_ps(S2_0, S6_0, 0x20);
+  tmp.packet[3] = _mm256_permute2f128_ps(S3_0, S7_0, 0x20);
+  tmp.packet[4] = _mm256_permute2f128_ps(S0_0, S4_0, 0x31);
+  tmp.packet[5] = _mm256_permute2f128_ps(S1_0, S5_0, 0x31);
+  tmp.packet[6] = _mm256_permute2f128_ps(S2_0, S6_0, 0x31);
+  tmp.packet[7] = _mm256_permute2f128_ps(S3_0, S7_0, 0x31);
+
+  tmp.packet[8] = _mm256_permute2f128_ps(S0_1, S4_1, 0x20);
+  tmp.packet[9] = _mm256_permute2f128_ps(S1_1, S5_1, 0x20);
+  tmp.packet[10] = _mm256_permute2f128_ps(S2_1, S6_1, 0x20);
+  tmp.packet[11] = _mm256_permute2f128_ps(S3_1, S7_1, 0x20);
+  tmp.packet[12] = _mm256_permute2f128_ps(S0_1, S4_1, 0x31);
+  tmp.packet[13] = _mm256_permute2f128_ps(S1_1, S5_1, 0x31);
+  tmp.packet[14] = _mm256_permute2f128_ps(S2_1, S6_1, 0x31);
+  tmp.packet[15] = _mm256_permute2f128_ps(S3_1, S7_1, 0x31);
+
+  // Second set of _m256 outputs
+  tmp.packet[16] = _mm256_permute2f128_ps(S8_0, S12_0, 0x20);
+  tmp.packet[17] = _mm256_permute2f128_ps(S9_0, S13_0, 0x20);
+  tmp.packet[18] = _mm256_permute2f128_ps(S10_0, S14_0, 0x20);
+  tmp.packet[19] = _mm256_permute2f128_ps(S11_0, S15_0, 0x20);
+  tmp.packet[20] = _mm256_permute2f128_ps(S8_0, S12_0, 0x31);
+  tmp.packet[21] = _mm256_permute2f128_ps(S9_0, S13_0, 0x31);
+  tmp.packet[22] = _mm256_permute2f128_ps(S10_0, S14_0, 0x31);
+  tmp.packet[23] = _mm256_permute2f128_ps(S11_0, S15_0, 0x31);
+
+  tmp.packet[24] = _mm256_permute2f128_ps(S8_1, S12_1, 0x20);
+  tmp.packet[25] = _mm256_permute2f128_ps(S9_1, S13_1, 0x20);
+  tmp.packet[26] = _mm256_permute2f128_ps(S10_1, S14_1, 0x20);
+  tmp.packet[27] = _mm256_permute2f128_ps(S11_1, S15_1, 0x20);
+  tmp.packet[28] = _mm256_permute2f128_ps(S8_1, S12_1, 0x31);
+  tmp.packet[29] = _mm256_permute2f128_ps(S9_1, S13_1, 0x31);
+  tmp.packet[30] = _mm256_permute2f128_ps(S10_1, S14_1, 0x31);
+  tmp.packet[31] = _mm256_permute2f128_ps(S11_1, S15_1, 0x31);
+
+  // Pack them into the output
+  PACK_OUTPUT(kernel.packet, tmp.packet, 0, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 1, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 2, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 3, 16);
+
+  PACK_OUTPUT(kernel.packet, tmp.packet, 4, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 5, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 6, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 7, 16);
+
+  PACK_OUTPUT(kernel.packet, tmp.packet, 8, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 9, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 10, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 11, 16);
+
+  PACK_OUTPUT(kernel.packet, tmp.packet, 12, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 13, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 14, 16);
+  PACK_OUTPUT(kernel.packet, tmp.packet, 15, 16);
+}
+#define PACK_OUTPUT_2(OUTPUT, INPUT, INDEX, STRIDE)         \
+  EIGEN_INSERT_8f_INTO_16f(OUTPUT[INDEX], INPUT[2 * INDEX], \
+                           INPUT[2 * INDEX + STRIDE]);
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet16f, 4>& kernel) {
+  __m512 T0 = _mm512_unpacklo_ps(kernel.packet[0], kernel.packet[1]);
+  __m512 T1 = _mm512_unpackhi_ps(kernel.packet[0], kernel.packet[1]);
+  __m512 T2 = _mm512_unpacklo_ps(kernel.packet[2], kernel.packet[3]);
+  __m512 T3 = _mm512_unpackhi_ps(kernel.packet[2], kernel.packet[3]);
+
+  __m512 S0 = _mm512_shuffle_ps(T0, T2, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S1 = _mm512_shuffle_ps(T0, T2, _MM_SHUFFLE(3, 2, 3, 2));
+  __m512 S2 = _mm512_shuffle_ps(T1, T3, _MM_SHUFFLE(1, 0, 1, 0));
+  __m512 S3 = _mm512_shuffle_ps(T1, T3, _MM_SHUFFLE(3, 2, 3, 2));
+
+  EIGEN_EXTRACT_8f_FROM_16f(S0, S0);
+  EIGEN_EXTRACT_8f_FROM_16f(S1, S1);
+  EIGEN_EXTRACT_8f_FROM_16f(S2, S2);
+  EIGEN_EXTRACT_8f_FROM_16f(S3, S3);
+
+  PacketBlock<Packet8f, 8> tmp;
+
+  tmp.packet[0] = _mm256_permute2f128_ps(S0_0, S1_0, 0x20);
+  tmp.packet[1] = _mm256_permute2f128_ps(S2_0, S3_0, 0x20);
+  tmp.packet[2] = _mm256_permute2f128_ps(S0_0, S1_0, 0x31);
+  tmp.packet[3] = _mm256_permute2f128_ps(S2_0, S3_0, 0x31);
+
+  tmp.packet[4] = _mm256_permute2f128_ps(S0_1, S1_1, 0x20);
+  tmp.packet[5] = _mm256_permute2f128_ps(S2_1, S3_1, 0x20);
+  tmp.packet[6] = _mm256_permute2f128_ps(S0_1, S1_1, 0x31);
+  tmp.packet[7] = _mm256_permute2f128_ps(S2_1, S3_1, 0x31);
+
+  PACK_OUTPUT_2(kernel.packet, tmp.packet, 0, 1);
+  PACK_OUTPUT_2(kernel.packet, tmp.packet, 1, 1);
+  PACK_OUTPUT_2(kernel.packet, tmp.packet, 2, 1);
+  PACK_OUTPUT_2(kernel.packet, tmp.packet, 3, 1);
+}
+
+#define PACK_OUTPUT_SQ_D(OUTPUT, INPUT, INDEX, STRIDE)                \
+  OUTPUT[INDEX] = _mm512_insertf64x4(OUTPUT[INDEX], INPUT[INDEX], 0); \
+  OUTPUT[INDEX] = _mm512_insertf64x4(OUTPUT[INDEX], INPUT[INDEX + STRIDE], 1);
+
+#define PACK_OUTPUT_D(OUTPUT, INPUT, INDEX, STRIDE)                         \
+  OUTPUT[INDEX] = _mm512_insertf64x4(OUTPUT[INDEX], INPUT[(2 * INDEX)], 0); \
+  OUTPUT[INDEX] =                                                           \
+      _mm512_insertf64x4(OUTPUT[INDEX], INPUT[(2 * INDEX) + STRIDE], 1);
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet8d, 4>& kernel) {
+  __m512d T0 = _mm512_shuffle_pd(kernel.packet[0], kernel.packet[1], 0);
+  __m512d T1 = _mm512_shuffle_pd(kernel.packet[0], kernel.packet[1], 0xff);
+  __m512d T2 = _mm512_shuffle_pd(kernel.packet[2], kernel.packet[3], 0);
+  __m512d T3 = _mm512_shuffle_pd(kernel.packet[2], kernel.packet[3], 0xff);
+
+  PacketBlock<Packet4d, 8> tmp;
+
+  tmp.packet[0] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 0),
+                                         _mm512_extractf64x4_pd(T2, 0), 0x20);
+  tmp.packet[1] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 0),
+                                         _mm512_extractf64x4_pd(T3, 0), 0x20);
+  tmp.packet[2] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 0),
+                                         _mm512_extractf64x4_pd(T2, 0), 0x31);
+  tmp.packet[3] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 0),
+                                         _mm512_extractf64x4_pd(T3, 0), 0x31);
+
+  tmp.packet[4] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 1),
+                                         _mm512_extractf64x4_pd(T2, 1), 0x20);
+  tmp.packet[5] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 1),
+                                         _mm512_extractf64x4_pd(T3, 1), 0x20);
+  tmp.packet[6] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 1),
+                                         _mm512_extractf64x4_pd(T2, 1), 0x31);
+  tmp.packet[7] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 1),
+                                         _mm512_extractf64x4_pd(T3, 1), 0x31);
+
+  PACK_OUTPUT_D(kernel.packet, tmp.packet, 0, 1);
+  PACK_OUTPUT_D(kernel.packet, tmp.packet, 1, 1);
+  PACK_OUTPUT_D(kernel.packet, tmp.packet, 2, 1);
+  PACK_OUTPUT_D(kernel.packet, tmp.packet, 3, 1);
+}
+
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet8d, 8>& kernel) {
+  __m512d T0 = _mm512_unpacklo_pd(kernel.packet[0], kernel.packet[1]);
+  __m512d T1 = _mm512_unpackhi_pd(kernel.packet[0], kernel.packet[1]);
+  __m512d T2 = _mm512_unpacklo_pd(kernel.packet[2], kernel.packet[3]);
+  __m512d T3 = _mm512_unpackhi_pd(kernel.packet[2], kernel.packet[3]);
+  __m512d T4 = _mm512_unpacklo_pd(kernel.packet[4], kernel.packet[5]);
+  __m512d T5 = _mm512_unpackhi_pd(kernel.packet[4], kernel.packet[5]);
+  __m512d T6 = _mm512_unpacklo_pd(kernel.packet[6], kernel.packet[7]);
+  __m512d T7 = _mm512_unpackhi_pd(kernel.packet[6], kernel.packet[7]);
+
+  PacketBlock<Packet4d, 16> tmp;
+
+  tmp.packet[0] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 0),
+                                         _mm512_extractf64x4_pd(T2, 0), 0x20);
+  tmp.packet[1] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 0),
+                                         _mm512_extractf64x4_pd(T3, 0), 0x20);
+  tmp.packet[2] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 0),
+                                         _mm512_extractf64x4_pd(T2, 0), 0x31);
+  tmp.packet[3] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 0),
+                                         _mm512_extractf64x4_pd(T3, 0), 0x31);
+
+  tmp.packet[4] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 1),
+                                         _mm512_extractf64x4_pd(T2, 1), 0x20);
+  tmp.packet[5] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 1),
+                                         _mm512_extractf64x4_pd(T3, 1), 0x20);
+  tmp.packet[6] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T0, 1),
+                                         _mm512_extractf64x4_pd(T2, 1), 0x31);
+  tmp.packet[7] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T1, 1),
+                                         _mm512_extractf64x4_pd(T3, 1), 0x31);
+
+  tmp.packet[8] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T4, 0),
+                                         _mm512_extractf64x4_pd(T6, 0), 0x20);
+  tmp.packet[9] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T5, 0),
+                                         _mm512_extractf64x4_pd(T7, 0), 0x20);
+  tmp.packet[10] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T4, 0),
+                                          _mm512_extractf64x4_pd(T6, 0), 0x31);
+  tmp.packet[11] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T5, 0),
+                                          _mm512_extractf64x4_pd(T7, 0), 0x31);
+
+  tmp.packet[12] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T4, 1),
+                                          _mm512_extractf64x4_pd(T6, 1), 0x20);
+  tmp.packet[13] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T5, 1),
+                                          _mm512_extractf64x4_pd(T7, 1), 0x20);
+  tmp.packet[14] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T4, 1),
+                                          _mm512_extractf64x4_pd(T6, 1), 0x31);
+  tmp.packet[15] = _mm256_permute2f128_pd(_mm512_extractf64x4_pd(T5, 1),
+                                          _mm512_extractf64x4_pd(T7, 1), 0x31);
+
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 0, 8);
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 1, 8);
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 2, 8);
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 3, 8);
+
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 4, 8);
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 5, 8);
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 6, 8);
+  PACK_OUTPUT_SQ_D(kernel.packet, tmp.packet, 7, 8);
+}
+template <>
+EIGEN_STRONG_INLINE Packet16f pblend(const Selector<16>& /*ifPacket*/,
+                                     const Packet16f& /*thenPacket*/,
+                                     const Packet16f& /*elsePacket*/) {
+  assert(false && "To be implemented");
+  return Packet16f();
+}
+template <>
+EIGEN_STRONG_INLINE Packet8d pblend(const Selector<8>& /*ifPacket*/,
+                                    const Packet8d& /*thenPacket*/,
+                                    const Packet8d& /*elsePacket*/) {
+  assert(false && "To be implemented");
+  return Packet8d();
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PACKET_MATH_AVX512_H
diff --git a/eigenlib/Eigen/src/Core/arch/AltiVec/CMakeLists.txt b/eigenlib/Eigen/src/Core/arch/AltiVec/CMakeLists.txt
deleted file mode 100644
index 9f8d2e9c..00000000
--- a/eigenlib/Eigen/src/Core/arch/AltiVec/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Core_arch_AltiVec_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Core_arch_AltiVec_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/arch/AltiVec COMPONENT Devel
-)
diff --git a/eigenlib/Eigen/src/Core/arch/AltiVec/Complex.h b/eigenlib/Eigen/src/Core/arch/AltiVec/Complex.h
index 68d9a2bf..59367ba2 100644
--- a/eigenlib/Eigen/src/Core/arch/AltiVec/Complex.h
+++ b/eigenlib/Eigen/src/Core/arch/AltiVec/Complex.h
@@ -2,30 +2,34 @@
 // for linear algebra.
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010-2016 Konstantinos Margaritis <markos@freevec.org>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
-#ifndef EIGEN_COMPLEX_ALTIVEC_H
-#define EIGEN_COMPLEX_ALTIVEC_H
+#ifndef EIGEN_COMPLEX32_ALTIVEC_H
+#define EIGEN_COMPLEX32_ALTIVEC_H
 
 namespace Eigen {
 
 namespace internal {
 
-static Packet4ui  p4ui_CONJ_XOR = vec_mergeh((Packet4ui)p4i_ZERO, (Packet4ui)p4f_ZERO_);//{ 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
-static Packet16uc p16uc_COMPLEX_RE   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
-static Packet16uc p16uc_COMPLEX_IM   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 1), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
-static Packet16uc p16uc_COMPLEX_REV  = vec_sld(p16uc_REVERSE, p16uc_REVERSE, 8);//{ 4,5,6,7, 0,1,2,3, 12,13,14,15, 8,9,10,11 };
-static Packet16uc p16uc_COMPLEX_REV2 = vec_sld(p16uc_FORWARD, p16uc_FORWARD, 8);//{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
-static Packet16uc p16uc_PSET_HI = (Packet16uc) vec_mergeh((Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 1));//{ 0,1,2,3, 4,5,6,7, 0,1,2,3, 4,5,6,7 };
-static Packet16uc p16uc_PSET_LO = (Packet16uc) vec_mergeh((Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 2), (Packet4ui) vec_splat((Packet4ui)p16uc_FORWARD, 3));//{ 8,9,10,11, 12,13,14,15, 8,9,10,11, 12,13,14,15 };
+static Packet4ui  p4ui_CONJ_XOR = vec_mergeh((Packet4ui)p4i_ZERO, (Packet4ui)p4f_MZERO);//{ 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+#ifdef __VSX__
+#if defined(_BIG_ENDIAN)
+static Packet2ul  p2ul_CONJ_XOR1 = (Packet2ul) vec_sld((Packet4ui) p2d_MZERO, (Packet4ui) p2l_ZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
+static Packet2ul  p2ul_CONJ_XOR2 = (Packet2ul) vec_sld((Packet4ui) p2l_ZERO,  (Packet4ui) p2d_MZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
+#else
+static Packet2ul  p2ul_CONJ_XOR1 = (Packet2ul) vec_sld((Packet4ui) p2l_ZERO,  (Packet4ui) p2d_MZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
+static Packet2ul  p2ul_CONJ_XOR2 = (Packet2ul) vec_sld((Packet4ui) p2d_MZERO, (Packet4ui) p2l_ZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
+#endif
+#endif
 
 //---------- float ----------
 struct Packet2cf
 {
-  EIGEN_STRONG_INLINE Packet2cf() {}
+  EIGEN_STRONG_INLINE explicit Packet2cf() : v(p4f_ZERO) {}
   EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
   Packet4f  v;
 };
@@ -33,10 +37,12 @@ struct Packet2cf
 template<> struct packet_traits<std::complex<float> >  : default_packet_traits
 {
   typedef Packet2cf type;
+  typedef Packet2cf half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size = 2,
+    HasHalfPacket = 0,
 
     HasAdd    = 1,
     HasSub    = 1,
@@ -47,65 +53,78 @@ template<> struct packet_traits<std::complex<float> >  : default_packet_traits
     HasAbs2   = 0,
     HasMin    = 0,
     HasMax    = 0,
+#ifdef __VSX__
+    HasBlend  = 1,
+#endif
     HasSetLinear = 0
   };
 };
 
-template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2}; };
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
 
 template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
 {
   Packet2cf res;
-  /* On AltiVec we cannot load 64-bit registers, so wa have to take care of alignment */
   if((ptrdiff_t(&from) % 16) == 0)
     res.v = pload<Packet4f>((const float *)&from);
   else
     res.v = ploadu<Packet4f>((const float *)&from);
-  res.v = vec_perm(res.v, res.v, p16uc_PSET_HI);
+  res.v = vec_perm(res.v, res.v, p16uc_PSET64_HI);
   return res;
 }
 
-template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_add(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_sub(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pload<Packet2cf>(const std::complex<float>*        from) { return Packet2cf(pload<Packet4f>((const float *) from)); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>*       from) { return Packet2cf(ploadu<Packet4f>((const float*) from)); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>*     from) { return pset1<Packet2cf>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { pstore((float*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { pstoreu((float*)to, from.v); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
+{
+  std::complex<float> EIGEN_ALIGN16 af[2];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+  return pload<Packet2cf>(af);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
+{
+  std::complex<float> EIGEN_ALIGN16 af[2];
+  pstore<std::complex<float> >((std::complex<float> *) af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(a.v + b.v); }
+template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(a.v - b.v); }
 template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate(a.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a) { return Packet2cf((Packet4f)vec_xor((Packet4ui)a.v, p4ui_CONJ_XOR)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a) { return Packet2cf(pxor<Packet4f>(a.v, reinterpret_cast<Packet4f>(p4ui_CONJ_XOR))); }
 
 template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
   Packet4f v1, v2;
 
   // Permute and multiply the real parts of a and b
-  v1 = vec_perm(a.v, a.v, p16uc_COMPLEX_RE);
+  v1 = vec_perm(a.v, a.v, p16uc_PSET32_WODD);
   // Get the imaginary parts of a
-  v2 = vec_perm(a.v, a.v, p16uc_COMPLEX_IM);
+  v2 = vec_perm(a.v, a.v, p16uc_PSET32_WEVEN);
   // multiply a_re * b 
   v1 = vec_madd(v1, b.v, p4f_ZERO);
   // multiply a_im * b and get the conjugate result
   v2 = vec_madd(v2, b.v, p4f_ZERO);
-  v2 = (Packet4f) vec_xor((Packet4ui)v2, p4ui_CONJ_XOR);
+  v2 = reinterpret_cast<Packet4f>(pxor(v2, reinterpret_cast<Packet4f>(p4ui_CONJ_XOR)));
   // permute back to a proper order
-  v2 = vec_perm(v2, v2, p16uc_COMPLEX_REV);
+  v2 = vec_perm(v2, v2, p16uc_COMPLEX32_REV);
   
-  return Packet2cf(vec_add(v1, v2));
+  return Packet2cf(padd<Packet4f>(v1, v2));
 }
 
-template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_and(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_or(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_xor(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(vec_and(a.v, vec_nor(b.v,b.v))); }
+template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pand<Packet4f>(a.v, b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(por<Packet4f>(a.v, b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pxor<Packet4f>(a.v, b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pandnot<Packet4f>(a.v, b.v)); }
 
-template<> EIGEN_STRONG_INLINE Packet2cf pload <Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>((const float*)from)); }
-template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>((const float*)from)); }
-
-template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>*     from)
-{
-  return pset1<Packet2cf>(*from);
-}
-
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v); }
-
-template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { vec_dstt((float *)addr, DST_CTRL(2,2,32), DST_CHAN); }
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> * addr)    { EIGEN_PPC_PREFETCH(addr); }
 
 template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
 {
@@ -118,26 +137,30 @@ template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Pack
 template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
 {
   Packet4f rev_a;
-  rev_a = vec_perm(a.v, a.v, p16uc_COMPLEX_REV2);
+  rev_a = vec_perm(a.v, a.v, p16uc_COMPLEX32_REV2);
   return Packet2cf(rev_a);
 }
 
 template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
 {
   Packet4f b;
-  b = (Packet4f) vec_sld(a.v, a.v, 8);
-  b = padd(a.v, b);
-  return pfirst(Packet2cf(b));
+  b = vec_sld(a.v, a.v, 8);
+  b = padd<Packet4f>(a.v, b);
+  return pfirst<Packet2cf>(Packet2cf(b));
 }
 
 template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
 {
   Packet4f b1, b2;
-  
-  b1 = (Packet4f) vec_sld(vecs[0].v, vecs[1].v, 8);
-  b2 = (Packet4f) vec_sld(vecs[1].v, vecs[0].v, 8);
-  b2 = (Packet4f) vec_sld(b2, b2, 8);
-  b2 = padd(b1, b2);
+#ifdef _BIG_ENDIAN  
+  b1 = vec_sld(vecs[0].v, vecs[1].v, 8);
+  b2 = vec_sld(vecs[1].v, vecs[0].v, 8);
+#else
+  b1 = vec_sld(vecs[1].v, vecs[0].v, 8);
+  b2 = vec_sld(vecs[0].v, vecs[1].v, 8);
+#endif
+  b2 = vec_sld(b2, b2, 8);
+  b2 = padd<Packet4f>(b1, b2);
 
   return Packet2cf(b2);
 }
@@ -146,10 +169,10 @@ template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const P
 {
   Packet4f b;
   Packet2cf prod;
-  b = (Packet4f) vec_sld(a.v, a.v, 8);
-  prod = pmul(a, Packet2cf(b));
+  b = vec_sld(a.v, a.v, 8);
+  prod = pmul<Packet2cf>(a, Packet2cf(b));
 
-  return pfirst(prod);
+  return pfirst<Packet2cf>(prod);
 }
 
 template<int Offset>
@@ -159,7 +182,11 @@ struct palign_impl<Offset,Packet2cf>
   {
     if (Offset==1)
     {
+#ifdef _BIG_ENDIAN
       first.v = vec_sld(first.v, second.v, 8);
+#else
+      first.v = vec_sld(second.v, first.v, 8);
+#endif
     }
   }
 };
@@ -197,21 +224,238 @@ template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
   }
 };
 
+template<> struct conj_helper<Packet4f, Packet2cf, false,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet4f& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet4f& x, const Packet2cf& y) const
+  { return Packet2cf(internal::pmul<Packet4f>(x, y.v)); }
+};
+
+template<> struct conj_helper<Packet2cf, Packet4f, false,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet4f& y, const Packet2cf& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& x, const Packet4f& y) const
+  { return Packet2cf(internal::pmul<Packet4f>(x.v, y)); }
+};
+
 template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
   // TODO optimize it for AltiVec
-  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
-  Packet4f s = vec_madd(b.v, b.v, p4f_ZERO);
-  return Packet2cf(pdiv(res.v, vec_add(s,vec_perm(s, s, p16uc_COMPLEX_REV))));
+  Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a, b);
+  Packet4f s = pmul<Packet4f>(b.v, b.v);
+  return Packet2cf(pdiv(res.v, padd<Packet4f>(s, vec_perm(s, s, p16uc_COMPLEX32_REV))));
 }
 
 template<> EIGEN_STRONG_INLINE Packet2cf pcplxflip<Packet2cf>(const Packet2cf& x)
 {
-  return Packet2cf(vec_perm(x.v, x.v, p16uc_COMPLEX_REV));
+  return Packet2cf(vec_perm(x.v, x.v, p16uc_COMPLEX32_REV));
 }
 
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2cf,2>& kernel)
+{
+  Packet4f tmp = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_HI);
+  kernel.packet[1].v = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_LO);
+  kernel.packet[0].v = tmp;
+}
+
+#ifdef __VSX__
+template<> EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
+  Packet2cf result;
+  result.v = reinterpret_cast<Packet4f>(pblend<Packet2d>(ifPacket, reinterpret_cast<Packet2d>(thenPacket.v), reinterpret_cast<Packet2d>(elsePacket.v)));
+  return result;
+}
+#endif
+
+//---------- double ----------
+#ifdef __VSX__
+struct Packet1cd
+{
+  EIGEN_STRONG_INLINE Packet1cd() {}
+  EIGEN_STRONG_INLINE explicit Packet1cd(const Packet2d& a) : v(a) {}
+  Packet2d v;
+};
+
+template<> struct packet_traits<std::complex<double> >  : default_packet_traits
+{
+  typedef Packet1cd type;
+  typedef Packet1cd half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 0,
+    size = 1,
+    HasHalfPacket = 0,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
+
+template<> EIGEN_STRONG_INLINE Packet1cd pload <Packet1cd>(const std::complex<double>* from) { return Packet1cd(pload<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from) { return Packet1cd(ploadu<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { pstore((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { pstoreu((double*)to, from.v); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>&  from)
+{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index stride)
+{
+  std::complex<double> EIGEN_ALIGN16 af[2];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+  return pload<Packet1cd>(af);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index stride)
+{
+  std::complex<double> EIGEN_ALIGN16 af[2];
+  pstore<std::complex<double> >(af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v + b.v); }
+template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v - b.v); }
+template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(Packet2d(a.v))); }
+template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) { return Packet1cd(pxor(a.v, reinterpret_cast<Packet2d>(p2ul_CONJ_XOR2))); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  Packet2d a_re, a_im, v1, v2;
+
+  // Permute and multiply the real parts of a and b
+  a_re = vec_perm(a.v, a.v, p16uc_PSET64_HI);
+  // Get the imaginary parts of a
+  a_im = vec_perm(a.v, a.v, p16uc_PSET64_LO);
+  // multiply a_re * b
+  v1 = vec_madd(a_re, b.v, p2d_ZERO);
+  // multiply a_im * b and get the conjugate result
+  v2 = vec_madd(a_im, b.v, p2d_ZERO);
+  v2 = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(v2), reinterpret_cast<Packet4ui>(v2), 8));
+  v2 = pxor(v2, reinterpret_cast<Packet2d>(p2ul_CONJ_XOR1));
+
+  return Packet1cd(padd<Packet2d>(v1, v2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(pand(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(por(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(pxor(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(pandnot(a.v, b.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>*     from)  { return pset1<Packet1cd>(*from); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> * addr)    { EIGEN_PPC_PREFETCH(addr); }
+
+template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
+{
+  std::complex<double> EIGEN_ALIGN16 res[2];
+  pstore<std::complex<double> >(res, a);
+
+  return res[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
+template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs)        { return vecs[0]; }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
+
+template<int Offset>
+struct palign_impl<Offset,Packet1cd>
+{
+  static EIGEN_STRONG_INLINE void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
+  {
+    // FIXME is it sure we never have to align a Packet1cd?
+    // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+template<> struct conj_helper<Packet2d, Packet1cd, false,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet2d& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet2d& x, const Packet1cd& y) const
+  { return Packet1cd(internal::pmul<Packet2d>(x, y.v)); }
+};
+
+template<> struct conj_helper<Packet1cd, Packet2d, false,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet2d& y, const Packet1cd& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& x, const Packet2d& y) const
+  { return Packet1cd(internal::pmul<Packet2d>(x.v, y)); }
+};
+
+template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  // TODO optimize it for AltiVec
+  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
+  Packet2d s = pmul<Packet2d>(b.v, b.v);
+  return Packet1cd(pdiv(res.v, padd<Packet2d>(s, vec_perm(s, s, p16uc_REVERSE64))));
+}
+
+EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
+{
+  return Packet1cd(preverse(Packet2d(x.v)));
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
+{
+  Packet2d tmp = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_HI);
+  kernel.packet[1].v = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_LO);
+  kernel.packet[0].v = tmp;
+}
+#endif // __VSX__
 } // end namespace internal
 
 } // end namespace Eigen
 
-#endif // EIGEN_COMPLEX_ALTIVEC_H
+#endif // EIGEN_COMPLEX32_ALTIVEC_H
diff --git a/eigenlib/Eigen/src/Core/arch/AltiVec/MathFunctions.h b/eigenlib/Eigen/src/Core/arch/AltiVec/MathFunctions.h
new file mode 100644
index 00000000..c5e4bede
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/AltiVec/MathFunctions.h
@@ -0,0 +1,322 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007 Julien Pommier
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2016 Konstantinos Margaritis <markos@freevec.org>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+/* The sin, cos, exp, and log functions of this file come from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+#ifndef EIGEN_MATH_FUNCTIONS_ALTIVEC_H
+#define EIGEN_MATH_FUNCTIONS_ALTIVEC_H
+
+namespace Eigen {
+
+namespace internal {
+
+static _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+static _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+static _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
+static _EIGEN_DECLARE_CONST_Packet4i(23, 23);
+
+static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inv_mant_mask, ~0x7f800000);
+
+/* the smallest non denormalized float number */
+static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(min_norm_pos,  0x00800000);
+static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_inf,     0xff800000); // -1.f/0.f
+static _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_nan,     0xffffffff);
+  
+/* natural logarithm computed for 4 simultaneous float
+  return NaN for x <= 0
+*/
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_SQRTHF, 0.707106781186547524f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p0, 7.0376836292E-2f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p1, - 1.1514610310E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p2, 1.1676998740E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p3, - 1.2420140846E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p4, + 1.4249322787E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p5, - 1.6668057665E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p6, + 2.0000714765E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p7, - 2.4999993993E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_p8, + 3.3333331174E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q1, -2.12194440e-4f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_log_q2, 0.693359375f);
+
+static _EIGEN_DECLARE_CONST_Packet4f(exp_hi,  88.3762626647950f);
+static _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -88.3762626647949f);
+
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
+
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500E-4f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507E-3f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073E-3f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894E-2f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
+static _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
+
+#ifdef __VSX__
+static _EIGEN_DECLARE_CONST_Packet2d(1 , 1.0);
+static _EIGEN_DECLARE_CONST_Packet2d(2 , 2.0);
+static _EIGEN_DECLARE_CONST_Packet2d(half, 0.5);
+
+static _EIGEN_DECLARE_CONST_Packet2d(exp_hi,  709.437);
+static _EIGEN_DECLARE_CONST_Packet2d(exp_lo, -709.436139303);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_LOG2EF, 1.4426950408889634073599);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p0, 1.26177193074810590878e-4);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p1, 3.02994407707441961300e-2);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p2, 9.99999999999999999910e-1);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q0, 3.00198505138664455042e-6);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q1, 2.52448340349684104192e-3);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q2, 2.27265548208155028766e-1);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q3, 2.00000000000000000009e0);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C1, 0.693145751953125);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C2, 1.42860682030941723212e-6);
+
+#ifdef __POWER8_VECTOR__
+static Packet2l p2l_1023 = { 1023, 1023 };
+static Packet2ul p2ul_52 = { 52, 52 };
+#endif
+
+#endif
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f plog<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+
+  Packet4i emm0;
+
+  /* isvalid_mask is 0 if x < 0 or x is NaN. */
+  Packet4ui isvalid_mask = reinterpret_cast<Packet4ui>(vec_cmpge(x, p4f_ZERO));
+  Packet4ui iszero_mask = reinterpret_cast<Packet4ui>(vec_cmpeq(x, p4f_ZERO));
+
+  x = pmax(x, p4f_min_norm_pos);  /* cut off denormalized stuff */
+  emm0 = vec_sr(reinterpret_cast<Packet4i>(x),
+                reinterpret_cast<Packet4ui>(p4i_23));
+
+  /* keep only the fractional part */
+  x = pand(x, p4f_inv_mant_mask);
+  x = por(x, p4f_half);
+
+  emm0 = psub(emm0, p4i_0x7f);
+  Packet4f e = padd(vec_ctf(emm0, 0), p4f_1);
+
+  /* part2:
+     if( x < SQRTHF ) {
+       e -= 1;
+       x = x + x - 1.0;
+     } else { x = x - 1.0; }
+  */
+  Packet4f mask = reinterpret_cast<Packet4f>(vec_cmplt(x, p4f_cephes_SQRTHF));
+  Packet4f tmp = pand(x, mask);
+  x = psub(x, p4f_1);
+  e = psub(e, pand(p4f_1, mask));
+  x = padd(x, tmp);
+
+  Packet4f x2 = pmul(x,x);
+  Packet4f x3 = pmul(x2,x);
+
+  Packet4f y, y1, y2;
+  y  = pmadd(p4f_cephes_log_p0, x, p4f_cephes_log_p1);
+  y1 = pmadd(p4f_cephes_log_p3, x, p4f_cephes_log_p4);
+  y2 = pmadd(p4f_cephes_log_p6, x, p4f_cephes_log_p7);
+  y  = pmadd(y , x, p4f_cephes_log_p2);
+  y1 = pmadd(y1, x, p4f_cephes_log_p5);
+  y2 = pmadd(y2, x, p4f_cephes_log_p8);
+  y = pmadd(y, x3, y1);
+  y = pmadd(y, x3, y2);
+  y = pmul(y, x3);
+
+  y1 = pmul(e, p4f_cephes_log_q1);
+  tmp = pmul(x2, p4f_half);
+  y = padd(y, y1);
+  x = psub(x, tmp);
+  y2 = pmul(e, p4f_cephes_log_q2);
+  x = padd(x, y);
+  x = padd(x, y2);
+  // negative arg will be NAN, 0 will be -INF
+  x = vec_sel(x, p4f_minus_inf, iszero_mask);
+  x = vec_sel(p4f_minus_nan, x, isvalid_mask);
+  return x;
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pexp<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+
+  Packet4f tmp, fx;
+  Packet4i emm0;
+
+  // clamp x
+  x = pmax(pmin(x, p4f_exp_hi), p4f_exp_lo);
+
+  // express exp(x) as exp(g + n*log(2))
+  fx = pmadd(x, p4f_cephes_LOG2EF, p4f_half);
+
+  fx = pfloor(fx);
+
+  tmp = pmul(fx, p4f_cephes_exp_C1);
+  Packet4f z = pmul(fx, p4f_cephes_exp_C2);
+  x = psub(x, tmp);
+  x = psub(x, z);
+
+  z = pmul(x,x);
+
+  Packet4f y = p4f_cephes_exp_p0;
+  y = pmadd(y, x, p4f_cephes_exp_p1);
+  y = pmadd(y, x, p4f_cephes_exp_p2);
+  y = pmadd(y, x, p4f_cephes_exp_p3);
+  y = pmadd(y, x, p4f_cephes_exp_p4);
+  y = pmadd(y, x, p4f_cephes_exp_p5);
+  y = pmadd(y, z, x);
+  y = padd(y, p4f_1);
+
+  // build 2^n
+  emm0 = vec_cts(fx, 0);
+  emm0 = vec_add(emm0, p4i_0x7f);
+  emm0 = vec_sl(emm0, reinterpret_cast<Packet4ui>(p4i_23));
+
+  // Altivec's max & min operators just drop silent NaNs. Check NaNs in 
+  // inputs and return them unmodified.
+  Packet4ui isnumber_mask = reinterpret_cast<Packet4ui>(vec_cmpeq(_x, _x));
+  return vec_sel(_x, pmax(pmul(y, reinterpret_cast<Packet4f>(emm0)), _x),
+                 isnumber_mask);
+}
+
+#ifndef EIGEN_COMP_CLANG
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f prsqrt<Packet4f>(const Packet4f& x)
+{
+  return  vec_rsqrt(x);
+}
+#endif
+
+#ifdef __VSX__
+#ifndef EIGEN_COMP_CLANG
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d prsqrt<Packet2d>(const Packet2d& x)
+{
+  return  vec_rsqrt(x);
+}
+#endif
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psqrt<Packet4f>(const Packet4f& x)
+{
+  return  vec_sqrt(x);
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d psqrt<Packet2d>(const Packet2d& x)
+{
+  return  vec_sqrt(x);
+}
+
+// VSX support varies between different compilers and even different
+// versions of the same compiler.  For gcc version >= 4.9.3, we can use
+// vec_cts to efficiently convert Packet2d to Packet2l.  Otherwise, use
+// a slow version that works with older compilers. 
+// Update: apparently vec_cts/vec_ctf intrinsics for 64-bit doubles
+// are buggy, https://gcc.gnu.org/bugzilla/show_bug.cgi?id=70963
+static inline Packet2l ConvertToPacket2l(const Packet2d& x) {
+#if EIGEN_GNUC_AT_LEAST(5, 4) || \
+    (EIGEN_GNUC_AT(6, 1) && __GNUC_PATCHLEVEL__ >= 1)
+  return vec_cts(x, 0);    // TODO: check clang version.
+#else
+  double tmp[2];
+  memcpy(tmp, &x, sizeof(tmp));
+  Packet2l l = { static_cast<long long>(tmp[0]),
+                 static_cast<long long>(tmp[1]) };
+  return l;
+#endif
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d pexp<Packet2d>(const Packet2d& _x)
+{
+  Packet2d x = _x;
+
+  Packet2d tmp, fx;
+  Packet2l emm0;
+
+  // clamp x
+  x = pmax(pmin(x, p2d_exp_hi), p2d_exp_lo);
+
+  /* express exp(x) as exp(g + n*log(2)) */
+  fx = pmadd(x, p2d_cephes_LOG2EF, p2d_half);
+
+  fx = pfloor(fx);
+
+  tmp = pmul(fx, p2d_cephes_exp_C1);
+  Packet2d z = pmul(fx, p2d_cephes_exp_C2);
+  x = psub(x, tmp);
+  x = psub(x, z);
+
+  Packet2d x2 = pmul(x,x);
+
+  Packet2d px = p2d_cephes_exp_p0;
+  px = pmadd(px, x2, p2d_cephes_exp_p1);
+  px = pmadd(px, x2, p2d_cephes_exp_p2);
+  px = pmul (px, x);
+
+  Packet2d qx = p2d_cephes_exp_q0;
+  qx = pmadd(qx, x2, p2d_cephes_exp_q1);
+  qx = pmadd(qx, x2, p2d_cephes_exp_q2);
+  qx = pmadd(qx, x2, p2d_cephes_exp_q3);
+
+  x = pdiv(px,psub(qx,px));
+  x = pmadd(p2d_2,x,p2d_1);
+
+  // build 2^n
+  emm0 = ConvertToPacket2l(fx);
+
+#ifdef __POWER8_VECTOR__ 
+  emm0 = vec_add(emm0, p2l_1023);
+  emm0 = vec_sl(emm0, p2ul_52);
+#else
+  // Code is a bit complex for POWER7.  There is actually a
+  // vec_xxsldi intrinsic but it is not supported by some gcc versions.
+  // So we shift (52-32) bits and do a word swap with zeros.
+  _EIGEN_DECLARE_CONST_Packet4i(1023, 1023);
+  _EIGEN_DECLARE_CONST_Packet4i(20, 20);    // 52 - 32
+
+  Packet4i emm04i = reinterpret_cast<Packet4i>(emm0);
+  emm04i = vec_add(emm04i, p4i_1023);
+  emm04i = vec_sl(emm04i, reinterpret_cast<Packet4ui>(p4i_20));
+  static const Packet16uc perm = {
+    0x14, 0x15, 0x16, 0x17, 0x00, 0x01, 0x02, 0x03, 
+    0x1c, 0x1d, 0x1e, 0x1f, 0x08, 0x09, 0x0a, 0x0b };
+#ifdef  _BIG_ENDIAN
+  emm0 = reinterpret_cast<Packet2l>(vec_perm(p4i_ZERO, emm04i, perm));
+#else
+  emm0 = reinterpret_cast<Packet2l>(vec_perm(emm04i, p4i_ZERO, perm));
+#endif
+
+#endif
+
+  // Altivec's max & min operators just drop silent NaNs. Check NaNs in 
+  // inputs and return them unmodified.
+  Packet2ul isnumber_mask = reinterpret_cast<Packet2ul>(vec_cmpeq(_x, _x));
+  return vec_sel(_x, pmax(pmul(x, reinterpret_cast<Packet2d>(emm0)), _x),
+                 isnumber_mask);
+}
+#endif
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_MATH_FUNCTIONS_ALTIVEC_H
diff --git a/eigenlib/Eigen/src/Core/arch/AltiVec/PacketMath.h b/eigenlib/Eigen/src/Core/arch/AltiVec/PacketMath.h
old mode 100644
new mode 100755
index e4089962..e7d4f4d8
--- a/eigenlib/Eigen/src/Core/arch/AltiVec/PacketMath.h
+++ b/eigenlib/Eigen/src/Core/arch/AltiVec/PacketMath.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Konstantinos Margaritis <markos@codex.gr>
+// Copyright (C) 2008-2016 Konstantinos Margaritis <markos@freevec.org>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -18,13 +18,17 @@ namespace internal {
 #define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 4
 #endif
 
-#ifndef EIGEN_HAS_FUSE_CJMADD
-#define EIGEN_HAS_FUSE_CJMADD 1
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#endif
+
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
 #endif
 
 // NOTE Altivec has 32 registers, but Eigen only accepts a value of 8 or 16
 #ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 16
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS  32
 #endif
 
 typedef __vector float          Packet4f;
@@ -38,7 +42,7 @@ typedef __vector unsigned char  Packet16uc;
 // and it doesn't really work to declare them global, so we define macros instead
 
 #define _EIGEN_DECLARE_CONST_FAST_Packet4f(NAME,X) \
-  Packet4f p4f_##NAME = (Packet4f) vec_splat_s32(X)
+  Packet4f p4f_##NAME = reinterpret_cast<Packet4f>(vec_splat_s32(X))
 
 #define _EIGEN_DECLARE_CONST_FAST_Packet4i(NAME,X) \
   Packet4i p4i_##NAME = vec_splat_s32(X)
@@ -46,60 +50,158 @@ typedef __vector unsigned char  Packet16uc;
 #define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
   Packet4f p4f_##NAME = pset1<Packet4f>(X)
 
-#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
-  Packet4f p4f_##NAME = vreinterpretq_f32_u32(pset1<int>(X))
-
 #define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
   Packet4i p4i_##NAME = pset1<Packet4i>(X)
 
+#define _EIGEN_DECLARE_CONST_Packet2d(NAME,X) \
+  Packet2d p2d_##NAME = pset1<Packet2d>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet2l(NAME,X) \
+  Packet2l p2l_##NAME = pset1<Packet2l>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(NAME,X) \
+  const Packet4f p4f_##NAME = reinterpret_cast<Packet4f>(pset1<Packet4i>(X))
+
 #define DST_CHAN 1
 #define DST_CTRL(size, count, stride) (((size) << 24) | ((count) << 16) | (stride))
 
-// Define global static constants:
-static Packet4f p4f_COUNTDOWN = { 3.0, 2.0, 1.0, 0.0 };
-static Packet4i p4i_COUNTDOWN = { 3, 2, 1, 0 };
-static Packet16uc p16uc_REVERSE = {12,13,14,15, 8,9,10,11, 4,5,6,7, 0,1,2,3};
-static Packet16uc p16uc_FORWARD = vec_lvsl(0, (float*)0);
-static Packet16uc p16uc_DUPLICATE = {0,1,2,3, 0,1,2,3, 4,5,6,7, 4,5,6,7};
 
-static _EIGEN_DECLARE_CONST_FAST_Packet4f(ZERO, 0);
-static _EIGEN_DECLARE_CONST_FAST_Packet4i(ZERO, 0);
-static _EIGEN_DECLARE_CONST_FAST_Packet4i(ONE,1);
-static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS16,-16);
-static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS1,-1);
-static Packet4f p4f_ONE = vec_ctf(p4i_ONE, 0);
-static Packet4f p4f_ZERO_ = (Packet4f) vec_sl((Packet4ui)p4i_MINUS1, (Packet4ui)p4i_MINUS1);
+// These constants are endian-agnostic
+static _EIGEN_DECLARE_CONST_FAST_Packet4f(ZERO, 0); //{ 0.0, 0.0, 0.0, 0.0}
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(ZERO, 0); //{ 0, 0, 0, 0,}
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(ONE,1); //{ 1, 1, 1, 1}
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS16,-16); //{ -16, -16, -16, -16}
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(MINUS1,-1); //{ -1, -1, -1, -1}
+static Packet4f p4f_MZERO = (Packet4f) vec_sl((Packet4ui)p4i_MINUS1, (Packet4ui)p4i_MINUS1); //{ 0x80000000, 0x80000000, 0x80000000, 0x80000000}
+#ifndef __VSX__
+static Packet4f p4f_ONE = vec_ctf(p4i_ONE, 0); //{ 1.0, 1.0, 1.0, 1.0}
+#endif
+
+static Packet4f p4f_COUNTDOWN = { 0.0, 1.0, 2.0, 3.0 };
+static Packet4i p4i_COUNTDOWN = { 0, 1, 2, 3 };
+
+static Packet16uc p16uc_REVERSE32 = { 12,13,14,15, 8,9,10,11, 4,5,6,7, 0,1,2,3 };
+static Packet16uc p16uc_DUPLICATE32_HI = { 0,1,2,3, 0,1,2,3, 4,5,6,7, 4,5,6,7 };
+
+// Mask alignment
+#ifdef __PPC64__
+#define _EIGEN_MASK_ALIGNMENT	0xfffffffffffffff0
+#else
+#define _EIGEN_MASK_ALIGNMENT	0xfffffff0
+#endif
+
+#define _EIGEN_ALIGNED_PTR(x)	((ptrdiff_t)(x) & _EIGEN_MASK_ALIGNMENT)
+
+// Handle endianness properly while loading constants
+// Define global static constants:
+#ifdef _BIG_ENDIAN
+static Packet16uc p16uc_FORWARD = vec_lvsl(0, (float*)0);
+#ifdef __VSX__
+static Packet16uc p16uc_REVERSE64 = { 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+#endif
+static Packet16uc p16uc_PSET32_WODD   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
+static Packet16uc p16uc_PSET32_WEVEN  = vec_sld(p16uc_DUPLICATE32_HI, (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
+static Packet16uc p16uc_HALF64_0_16 = vec_sld((Packet16uc)p4i_ZERO, vec_splat((Packet16uc) vec_abs(p4i_MINUS16), 3), 8);      //{ 0,0,0,0, 0,0,0,0, 16,16,16,16, 16,16,16,16};
+#else
+static Packet16uc p16uc_FORWARD = p16uc_REVERSE32; 
+static Packet16uc p16uc_REVERSE64 = { 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+static Packet16uc p16uc_PSET32_WODD = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 1), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
+static Packet16uc p16uc_PSET32_WEVEN = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
+static Packet16uc p16uc_HALF64_0_16 = vec_sld(vec_splat((Packet16uc) vec_abs(p4i_MINUS16), 0), (Packet16uc)p4i_ZERO, 8);      //{ 0,0,0,0, 0,0,0,0, 16,16,16,16, 16,16,16,16};
+#endif // _BIG_ENDIAN
+
+static Packet16uc p16uc_PSET64_HI = (Packet16uc) vec_mergeh((Packet4ui)p16uc_PSET32_WODD, (Packet4ui)p16uc_PSET32_WEVEN);     //{ 0,1,2,3, 4,5,6,7, 0,1,2,3, 4,5,6,7 };
+static Packet16uc p16uc_PSET64_LO = (Packet16uc) vec_mergel((Packet4ui)p16uc_PSET32_WODD, (Packet4ui)p16uc_PSET32_WEVEN);     //{ 8,9,10,11, 12,13,14,15, 8,9,10,11, 12,13,14,15 };
+static Packet16uc p16uc_TRANSPOSE64_HI = p16uc_PSET64_HI + p16uc_HALF64_0_16;                                         //{ 0,1,2,3, 4,5,6,7, 16,17,18,19, 20,21,22,23};
+static Packet16uc p16uc_TRANSPOSE64_LO = p16uc_PSET64_LO + p16uc_HALF64_0_16;                                         //{ 8,9,10,11, 12,13,14,15, 24,25,26,27, 28,29,30,31};
+
+static Packet16uc p16uc_COMPLEX32_REV = vec_sld(p16uc_REVERSE32, p16uc_REVERSE32, 8);                                         //{ 4,5,6,7, 0,1,2,3, 12,13,14,15, 8,9,10,11 };
+
+#ifdef _BIG_ENDIAN
+static Packet16uc p16uc_COMPLEX32_REV2 = vec_sld(p16uc_FORWARD, p16uc_FORWARD, 8);                                            //{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+#else
+static Packet16uc p16uc_COMPLEX32_REV2 = vec_sld(p16uc_PSET64_HI, p16uc_PSET64_LO, 8);                                            //{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+#endif // _BIG_ENDIAN
+
+#if EIGEN_HAS_BUILTIN(__builtin_prefetch) || EIGEN_COMP_GNUC
+  #define EIGEN_PPC_PREFETCH(ADDR) __builtin_prefetch(ADDR);
+#else
+  #define EIGEN_PPC_PREFETCH(ADDR) asm( "   dcbt [%[addr]]\n" :: [addr] "r" (ADDR) : "cc" );
+#endif
 
 template<> struct packet_traits<float>  : default_packet_traits
 {
   typedef Packet4f type;
+  typedef Packet4f half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size=4,
+    HasHalfPacket = 1,
 
-    // FIXME check the Has*
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 1,
+    HasMin  = 1,
+    HasMax  = 1,
+    HasAbs  = 1,
     HasSin  = 0,
     HasCos  = 0,
     HasLog  = 0,
-    HasExp  = 0,
-    HasSqrt = 0
+    HasExp  = 1,
+#ifdef __VSX__
+    HasSqrt = 1,
+#if !EIGEN_COMP_CLANG
+    HasRsqrt = 1,
+#else
+    HasRsqrt = 0,
+#endif
+#else
+    HasSqrt = 0,
+    HasRsqrt = 0,
+#endif
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasNegate = 1,
+    HasBlend = 1
   };
 };
 template<> struct packet_traits<int>    : default_packet_traits
 {
   typedef Packet4i type;
+  typedef Packet4i half;
   enum {
-    // FIXME check the Has*
     Vectorizable = 1,
     AlignedOnScalar = 1,
-    size=4
+    size = 4,
+    HasHalfPacket = 0,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 0,
+    HasBlend = 1
   };
 };
 
-template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4}; };
-template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4}; };
-/*
+
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
+
+inline std::ostream & operator <<(std::ostream & s, const Packet16uc & v)
+{
+  union {
+    Packet16uc   v;
+    unsigned char n[16];
+  } vt;
+  vt.v = v;
+  for (int i=0; i< 16; i++)
+    s << (int)vt.n[i] << ", ";
+  return s;
+}
+
 inline std::ostream & operator <<(std::ostream & s, const Packet4f & v)
 {
   union {
@@ -133,89 +235,136 @@ inline std::ostream & operator <<(std::ostream & s, const Packet4ui & v)
   return s;
 }
 
-inline std::ostream & operator <<(std::ostream & s, const Packetbi & v)
+// Need to define them first or we get specialization after instantiation errors
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from)
 {
-  union {
-    Packet4bi v;
-    unsigned int n[4];
-  } vt;
-  vt.v = v;
-  s << vt.n[0] << ", " << vt.n[1] << ", " << vt.n[2] << ", " << vt.n[3];
-  return s;
+  EIGEN_DEBUG_ALIGNED_LOAD
+#ifdef __VSX__
+  return vec_vsx_ld(0, from);
+#else
+  return vec_ld(0, from);
+#endif
 }
-*/
+
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from)
+{
+  EIGEN_DEBUG_ALIGNED_LOAD
+#ifdef __VSX__
+  return vec_vsx_ld(0, from);
+#else
+  return vec_ld(0, from);
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE
+#ifdef __VSX__
+  vec_vsx_st(from, 0, to);
+#else
+  vec_st(from, 0, to);
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE
+#ifdef __VSX__
+  vec_vsx_st(from, 0, to);
+#else
+  vec_st(from, 0, to);
+#endif
+}
+
 template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) {
-  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
-  float EIGEN_ALIGN16 af[4];
-  af[0] = from;
-  Packet4f vc = vec_ld(0, af);
-  vc = vec_splat(vc, 0);
-  return vc;
+  Packet4f v = {from, from, from, from};
+  return v;
 }
 
 template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)   {
-  int EIGEN_ALIGN16 ai[4];
-  ai[0] = from;
-  Packet4i vc = vec_ld(0, ai);
-  vc = vec_splat(vc, 0);
-  return vc;
+  Packet4i v = {from, from, from, from};
+  return v;
+}
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4f>(const float *a,
+                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
+{
+  a3 = pload<Packet4f>(a);
+  a0 = vec_splat(a3, 0);
+  a1 = vec_splat(a3, 1);
+  a2 = vec_splat(a3, 2);
+  a3 = vec_splat(a3, 3);
+}
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4i>(const int *a,
+                      Packet4i& a0, Packet4i& a1, Packet4i& a2, Packet4i& a3)
+{
+  a3 = pload<Packet4i>(a);
+  a0 = vec_splat(a3, 0);
+  a1 = vec_splat(a3, 1);
+  a2 = vec_splat(a3, 2);
+  a3 = vec_splat(a3, 3);
 }
 
-template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a) { return vec_add(pset1<Packet4f>(a), p4f_COUNTDOWN); }
-template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a)     { return vec_add(pset1<Packet4i>(a), p4i_COUNTDOWN); }
+template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
+{
+  float EIGEN_ALIGN16 af[4];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+  af[2] = from[2*stride];
+  af[3] = from[3*stride];
+ return pload<Packet4f>(af);
+}
+template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
+{
+  int EIGEN_ALIGN16 ai[4];
+  ai[0] = from[0*stride];
+  ai[1] = from[1*stride];
+  ai[2] = from[2*stride];
+  ai[3] = from[3*stride];
+ return pload<Packet4i>(ai);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+{
+  float EIGEN_ALIGN16 af[4];
+  pstore<float>(af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+  to[2*stride] = af[2];
+  to[3*stride] = af[3];
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
+{
+  int EIGEN_ALIGN16 ai[4];
+  pstore<int>((int *)ai, from);
+  to[0*stride] = ai[0];
+  to[1*stride] = ai[1];
+  to[2*stride] = ai[2];
+  to[3*stride] = ai[3];
+}
 
-template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_add(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_add(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a) { return pset1<Packet4f>(a) + p4f_COUNTDOWN; }
+template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int& a)   { return pset1<Packet4i>(a) + p4i_COUNTDOWN; }
 
-template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_sub(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_sub(a,b); }
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return a + b; }
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return a + b; }
 
-template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return psub<Packet4f>(p4f_ZERO, a); }
-template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return psub<Packet4i>(p4i_ZERO, a); }
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b) { return a - b; }
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return a - b; }
+
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a) { return p4f_ZERO - a; }
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return p4i_ZERO - a; }
 
 template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
 template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
 
-template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_madd(a,b,p4f_ZERO); }
-/* Commented out: it's actually slower than processing it scalar
- *
-template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b)
-{
-  // Detailed in: http://freevec.org/content/32bit_signed_integer_multiplication_altivec
-  //Set up constants, variables
-  Packet4i a1, b1, bswap, low_prod, high_prod, prod, prod_, v1sel;
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_madd(a,b, p4f_MZERO); }
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) { return a * b; }
 
-  // Get the absolute values
-  a1  = vec_abs(a);
-  b1  = vec_abs(b);
-
-  // Get the signs using xor
-  Packet4bi sgn = (Packet4bi) vec_cmplt(vec_xor(a, b), p4i_ZERO);
-
-  // Do the multiplication for the asbolute values.
-  bswap = (Packet4i) vec_rl((Packet4ui) b1, (Packet4ui) p4i_MINUS16 );
-  low_prod = vec_mulo((Packet8i) a1, (Packet8i)b1);
-  high_prod = vec_msum((Packet8i) a1, (Packet8i) bswap, p4i_ZERO);
-  high_prod = (Packet4i) vec_sl((Packet4ui) high_prod, (Packet4ui) p4i_MINUS16);
-  prod = vec_add( low_prod, high_prod );
-
-  // NOR the product and select only the negative elements according to the sign mask
-  prod_ = vec_nor(prod, prod);
-  prod_ = vec_sel(p4i_ZERO, prod_, sgn);
-
-  // Add 1 to the result to get the negative numbers
-  v1sel = vec_sel(p4i_ZERO, p4i_ONE, sgn);
-  prod_ = vec_add(prod_, v1sel);
-
-  // Merge the results back to the final vector.
-  prod = vec_sel(prod, prod_, sgn);
-
-  return prod;
-}
-*/
 template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
 {
-  Packet4f t, y_0, y_1, res;
+#ifndef __VSX__  // VSX actually provides a div instruction
+  Packet4f t, y_0, y_1;
 
   // Altivec does not offer a divide instruction, we have to do a reciprocal approximation
   y_0 = vec_re(b);
@@ -224,8 +373,10 @@ template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const
   t   = vec_nmsub(y_0, b, p4f_ONE);
   y_1 = vec_madd(y_0, t, y_0);
 
-  res = vec_madd(a, y_1, p4f_ZERO);
-  return res;
+  return vec_madd(a, y_1, p4f_MZERO);
+#else
+  return vec_div(a, b);
+#endif
 }
 
 template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
@@ -234,8 +385,8 @@ template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, co
 }
 
 // for some weird raisons, it has to be overloaded for packet of integers
-template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vec_madd(a, b, c); }
-template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vec_madd(a,b,c); }
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return a*b + c; }
 
 template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_min(a, b); }
 template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_min(a, b); }
@@ -243,7 +394,6 @@ template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const
 template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_max(a, b); }
 template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_max(a, b); }
 
-// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
 template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_and(a, b); }
 template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, b); }
 
@@ -256,13 +406,14 @@ template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const
 template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b) { return vec_and(a, vec_nor(b, b)); }
 template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, vec_nor(b, b)); }
 
-template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float* from) { EIGEN_DEBUG_ALIGNED_LOAD return vec_ld(0, from); }
-template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return vec_ld(0, from); }
+template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a) { return vec_round(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const  Packet4f& a) { return vec_ceil(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a) { return vec_floor(a); }
 
+#ifdef _BIG_ENDIAN
 template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
 {
   EIGEN_DEBUG_ALIGNED_LOAD
-  // Taken from http://developer.apple.com/hardwaredrivers/ve/alignment.html
   Packet16uc MSQ, LSQ;
   Packet16uc mask;
   MSQ = vec_ld(0, (unsigned char *)from);          // most significant quadword
@@ -282,25 +433,36 @@ template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
   mask = vec_lvsl(0, from);                        // create the permute mask
   return (Packet4i) vec_perm(MSQ, LSQ, mask);    // align the data
 }
+#else
+// We also need ot redefine little endian loading of Packet4i/Packet4f using VSX
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD
+  return (Packet4i) vec_vsx_ld((long)from & 15, (const int*) _EIGEN_ALIGNED_PTR(from));
+}
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
+{
+  EIGEN_DEBUG_UNALIGNED_LOAD
+  return (Packet4f) vec_vsx_ld((long)from & 15, (const float*) _EIGEN_ALIGNED_PTR(from));
+}
+#endif
 
 template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
 {
   Packet4f p;
-  if((ptrdiff_t(&from) % 16) == 0)  p = pload<Packet4f>(from);
-  else                              p = ploadu<Packet4f>(from);
-  return vec_perm(p, p, p16uc_DUPLICATE);
+  if((ptrdiff_t(from) % 16) == 0)  p = pload<Packet4f>(from);
+  else                             p = ploadu<Packet4f>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE32_HI);
 }
 template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
 {
   Packet4i p;
-  if((ptrdiff_t(&from) % 16) == 0)  p = pload<Packet4i>(from);
-  else                              p = ploadu<Packet4i>(from);
-  return vec_perm(p, p, p16uc_DUPLICATE);
+  if((ptrdiff_t(from) % 16) == 0)  p = pload<Packet4i>(from);
+  else                             p = ploadu<Packet4i>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE32_HI);
 }
 
-template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE vec_st(from, 0, to); }
-template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE vec_st(from, 0, to); }
-
+#ifdef _BIG_ENDIAN
 template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from)
 {
   EIGEN_DEBUG_UNALIGNED_STORE
@@ -337,15 +499,33 @@ template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& f
   vec_st( LSQ, 15, (unsigned char *)to );                   // Store the LSQ part first
   vec_st( MSQ, 0, (unsigned char *)to );                    // Store the MSQ part
 }
+#else
+// We also need ot redefine little endian loading of Packet4i/Packet4f using VSX
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*       to, const Packet4i& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE
+  vec_vsx_st(from, (long)to & 15, (int*) _EIGEN_ALIGNED_PTR(to));
+}
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*   to, const Packet4f& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE
+  vec_vsx_st(from, (long)to & 15, (float*) _EIGEN_ALIGNED_PTR(to));
+}
+#endif
 
-template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr) { vec_dstt(addr, DST_CTRL(2,2,32), DST_CHAN); }
-template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*     addr) { vec_dstt(addr, DST_CTRL(2,2,32), DST_CHAN); }
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr)    { EIGEN_PPC_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*     addr)    { EIGEN_PPC_PREFETCH(addr); }
 
-template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float EIGEN_ALIGN16 x[4]; vec_st(a, 0, x); return x[0]; }
-template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int   EIGEN_ALIGN16 x[4]; vec_st(a, 0, x); return x[0]; }
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float EIGEN_ALIGN16 x; vec_ste(a, 0, &x); return x; }
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int   EIGEN_ALIGN16 x; vec_ste(a, 0, &x); return x; }
 
-template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a) { return (Packet4f)vec_perm((Packet16uc)a,(Packet16uc)a, p16uc_REVERSE); }
-template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a) { return (Packet4i)vec_perm((Packet16uc)a,(Packet16uc)a, p16uc_REVERSE); }
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
+{
+  return reinterpret_cast<Packet4f>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE32));
+}
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
+{
+  return reinterpret_cast<Packet4i>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE32)); }
 
 template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a) { return vec_abs(a); }
 template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vec_abs(a); }
@@ -353,10 +533,10 @@ template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vec_abs
 template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
 {
   Packet4f b, sum;
-  b   = (Packet4f) vec_sld(a, a, 8);
-  sum = vec_add(a, b);
-  b   = (Packet4f) vec_sld(sum, sum, 4);
-  sum = vec_add(sum, b);
+  b   = vec_sld(a, a, 8);
+  sum = a + b;
+  b   = vec_sld(sum, sum, 4);
+  sum += b;
   return pfirst(sum);
 }
 
@@ -379,11 +559,11 @@ template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
 
   // Now do the summation:
   // Lines 0+1
-  sum[0] = vec_add(sum[0], sum[1]);
+  sum[0] = sum[0] + sum[1];
   // Lines 2+3
-  sum[1] = vec_add(sum[2], sum[3]);
+  sum[1] = sum[2] + sum[3];
   // Add the results
-  sum[0] = vec_add(sum[0], sum[1]);
+  sum[0] = sum[0] + sum[1];
 
   return sum[0];
 }
@@ -392,7 +572,11 @@ template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
 {
   Packet4i sum;
   sum = vec_sums(a, p4i_ZERO);
+#ifdef _BIG_ENDIAN
   sum = vec_sld(sum, p4i_ZERO, 12);
+#else
+  sum = vec_sld(p4i_ZERO, sum, 4);
+#endif
   return pfirst(sum);
 }
 
@@ -415,11 +599,11 @@ template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
 
   // Now do the summation:
   // Lines 0+1
-  sum[0] = vec_add(sum[0], sum[1]);
+  sum[0] = sum[0] + sum[1];
   // Lines 2+3
-  sum[1] = vec_add(sum[2], sum[3]);
+  sum[1] = sum[2] + sum[3];
   // Add the results
-  sum[0] = vec_add(sum[0], sum[1]);
+  sum[0] = sum[0] + sum[1];
 
   return sum[0];
 }
@@ -429,8 +613,8 @@ template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
 template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
 {
   Packet4f prod;
-  prod = pmul(a, (Packet4f)vec_sld(a, a, 8));
-  return pfirst(pmul(prod, (Packet4f)vec_sld(prod, prod, 4)));
+  prod = pmul(a, vec_sld(a, a, 8));
+  return pfirst(pmul(prod, vec_sld(prod, prod, 4)));
 }
 
 template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
@@ -479,8 +663,25 @@ struct palign_impl<Offset,Packet4f>
 {
   static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
   {
-    if (Offset!=0)
-      first = vec_sld(first, second, Offset*4);
+#ifdef _BIG_ENDIAN
+    switch (Offset % 4) {
+    case 1:
+      first = vec_sld(first, second, 4); break;
+    case 2:
+      first = vec_sld(first, second, 8); break;
+    case 3:
+      first = vec_sld(first, second, 12); break;
+    }
+#else
+    switch (Offset % 4) {
+    case 1:
+      first = vec_sld(second, first, 12); break;
+    case 2:
+      first = vec_sld(second, first, 8); break;
+    case 3:
+      first = vec_sld(second, first, 4); break;
+    }
+#endif
   }
 };
 
@@ -489,11 +690,342 @@ struct palign_impl<Offset,Packet4i>
 {
   static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
   {
-    if (Offset!=0)
-      first = vec_sld(first, second, Offset*4);
+#ifdef _BIG_ENDIAN
+    switch (Offset % 4) {
+    case 1:
+      first = vec_sld(first, second, 4); break;
+    case 2:
+      first = vec_sld(first, second, 8); break;
+    case 3:
+      first = vec_sld(first, second, 12); break;
+    }
+#else
+    switch (Offset % 4) {
+    case 1:
+      first = vec_sld(second, first, 12); break;
+    case 2:
+      first = vec_sld(second, first, 8); break;
+    case 3:
+      first = vec_sld(second, first, 4); break;
+    }
+#endif
   }
 };
 
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4f,4>& kernel) {
+  Packet4f t0, t1, t2, t3;
+  t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
+  t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
+  t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
+  t3 = vec_mergel(kernel.packet[1], kernel.packet[3]);
+  kernel.packet[0] = vec_mergeh(t0, t2);
+  kernel.packet[1] = vec_mergel(t0, t2);
+  kernel.packet[2] = vec_mergeh(t1, t3);
+  kernel.packet[3] = vec_mergel(t1, t3);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4i,4>& kernel) {
+  Packet4i t0, t1, t2, t3;
+  t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
+  t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
+  t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
+  t3 = vec_mergel(kernel.packet[1], kernel.packet[3]);
+  kernel.packet[0] = vec_mergeh(t0, t2);
+  kernel.packet[1] = vec_mergel(t0, t2);
+  kernel.packet[2] = vec_mergeh(t1, t3);
+  kernel.packet[3] = vec_mergel(t1, t3);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
+  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
+  Packet4ui mask = reinterpret_cast<Packet4ui>(vec_cmpeq(reinterpret_cast<Packet4ui>(select), reinterpret_cast<Packet4ui>(p4i_ONE)));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket, const Packet4f& elsePacket) {
+  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
+  Packet4ui mask = reinterpret_cast<Packet4ui>(vec_cmpeq(reinterpret_cast<Packet4ui>(select), reinterpret_cast<Packet4ui>(p4i_ONE)));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+
+
+//---------- double ----------
+#ifdef __VSX__
+typedef __vector double              Packet2d;
+typedef __vector unsigned long long  Packet2ul;
+typedef __vector long long           Packet2l;
+#if EIGEN_COMP_CLANG
+typedef Packet2ul                    Packet2bl;
+#else
+typedef __vector __bool long         Packet2bl;
+#endif
+
+static Packet2l  p2l_ONE  = { 1, 1 };
+static Packet2l  p2l_ZERO = reinterpret_cast<Packet2l>(p4i_ZERO);
+static Packet2d  p2d_ONE  = { 1.0, 1.0 }; 
+static Packet2d  p2d_ZERO = reinterpret_cast<Packet2d>(p4f_ZERO);
+static Packet2d  p2d_MZERO = { -0.0, -0.0 };
+
+#ifdef _BIG_ENDIAN
+static Packet2d p2d_COUNTDOWN = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(p2d_ZERO), reinterpret_cast<Packet4f>(p2d_ONE), 8));
+#else
+static Packet2d p2d_COUNTDOWN = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(p2d_ONE), reinterpret_cast<Packet4f>(p2d_ZERO), 8));
+#endif
+
+template<int index> Packet2d vec_splat_dbl(Packet2d& a);
+
+template<> EIGEN_STRONG_INLINE Packet2d vec_splat_dbl<0>(Packet2d& a)
+{
+  return reinterpret_cast<Packet2d>(vec_perm(a, a, p16uc_PSET64_HI));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d vec_splat_dbl<1>(Packet2d& a)
+{
+  return reinterpret_cast<Packet2d>(vec_perm(a, a, p16uc_PSET64_LO));
+}
+
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef Packet2d type;
+  typedef Packet2d half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=2,
+    HasHalfPacket = 1,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 1,
+    HasMin  = 1,
+    HasMax  = 1,
+    HasAbs  = 1,
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 0,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasNegate = 1,
+    HasBlend = 1
+  };
+};
+
+template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
+
+inline std::ostream & operator <<(std::ostream & s, const Packet2l & v)
+{
+  union {
+    Packet2l   v;
+    int64_t n[2];
+  } vt;
+  vt.v = v;
+  s << vt.n[0] << ", " << vt.n[1];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet2d & v)
+{
+  union {
+    Packet2d   v;
+    double n[2];
+  } vt;
+  vt.v = v;
+  s << vt.n[0] << ", " << vt.n[1];
+  return s;
+}
+
+// Need to define them first or we get specialization after instantiation errors
+template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from)
+{
+  EIGEN_DEBUG_ALIGNED_LOAD
+#ifdef __VSX__
+  return vec_vsx_ld(0, from);
+#else
+  return vec_ld(0, from);
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<double>(double*   to, const Packet2d& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE
+#ifdef __VSX__
+  vec_vsx_st(from, 0, to);
+#else
+  vec_st(from, 0, to);
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double&  from) {
+  Packet2d v = {from, from};
+  return v;
+}
+
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet2d>(const double *a,
+                      Packet2d& a0, Packet2d& a1, Packet2d& a2, Packet2d& a3)
+{
+  a1 = pload<Packet2d>(a);
+  a0 = vec_splat_dbl<0>(a1);
+  a1 = vec_splat_dbl<1>(a1);
+  a3 = pload<Packet2d>(a+2);
+  a2 = vec_splat_dbl<0>(a3);
+  a3 = vec_splat_dbl<1>(a3);
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
+{
+  double EIGEN_ALIGN16 af[2];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+ return pload<Packet2d>(af);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
+{
+  double EIGEN_ALIGN16 af[2];
+  pstore<double>(af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a) { return pset1<Packet2d>(a) + p2d_COUNTDOWN; }
+
+template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return a + b; }
+
+template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return a - b; }
+
+template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) { return p2d_ZERO - a; }
+
+template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_madd(a,b,p2d_MZERO); }
+template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_div(a,b); }
+
+// for some weird raisons, it has to be overloaded for packet of integers
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vec_madd(a, b, c); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_min(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_max(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_or(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_xor(a, b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, vec_nor(b, b)); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) { return vec_round(a); }
+template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const  Packet2d& a) { return vec_ceil(a); }
+template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) { return vec_floor(a); }
+
+template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from)
+{
+  EIGEN_DEBUG_ALIGNED_LOAD
+  return (Packet2d) vec_vsx_ld((long)from & 15, (const double*) _EIGEN_ALIGNED_PTR(from));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
+{
+  Packet2d p;
+  if((ptrdiff_t(from) % 16) == 0)  p = pload<Packet2d>(from);
+  else                             p = ploadu<Packet2d>(from);
+  return vec_splat_dbl<0>(p);
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double*  to, const Packet2d& from)
+{
+  EIGEN_DEBUG_ALIGNED_STORE
+  vec_vsx_st((Packet4f)from, (long)to & 15, (float*) _EIGEN_ALIGNED_PTR(to));
+}
+
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_PPC_PREFETCH(addr); }
+
+template<> EIGEN_STRONG_INLINE double  pfirst<Packet2d>(const Packet2d& a) { double EIGEN_ALIGN16 x[2]; pstore<double>(x, a); return x[0]; }
+
+template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
+{
+  return reinterpret_cast<Packet2d>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE64));
+}
+template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a) { return vec_abs(a); }
+
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
+{
+  Packet2d b, sum;
+  b   = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(a), reinterpret_cast<Packet4f>(a), 8));
+  sum = a + b;
+  return pfirst<Packet2d>(sum);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+  Packet2d v[2], sum;
+  v[0] = vecs[0] + reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(vecs[0]), reinterpret_cast<Packet4f>(vecs[0]), 8));
+  v[1] = vecs[1] + reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(vecs[1]), reinterpret_cast<Packet4f>(vecs[1]), 8));
+ 
+#ifdef _BIG_ENDIAN
+  sum = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(v[0]), reinterpret_cast<Packet4f>(v[1]), 8));
+#else
+  sum = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4f>(v[1]), reinterpret_cast<Packet4f>(v[0]), 8));
+#endif
+
+  return sum;
+}
+// Other reduction functions:
+// mul
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
+{
+  return pfirst(pmul(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(a), reinterpret_cast<Packet4ui>(a), 8))));
+}
+
+// min
+template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
+{
+  return pfirst(pmin(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(a), reinterpret_cast<Packet4ui>(a), 8))));
+}
+
+// max
+template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
+{
+  return pfirst(pmax(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(a), reinterpret_cast<Packet4ui>(a), 8))));
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet2d>
+{
+  static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
+  {
+    if (Offset == 1)
+#ifdef _BIG_ENDIAN
+      first = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(first), reinterpret_cast<Packet4ui>(second), 8));
+#else
+      first = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(second), reinterpret_cast<Packet4ui>(first), 8));
+#endif
+  }
+};
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2d,2>& kernel) {
+  Packet2d t0, t1;
+  t0 = vec_perm(kernel.packet[0], kernel.packet[1], p16uc_TRANSPOSE64_HI);
+  t1 = vec_perm(kernel.packet[0], kernel.packet[1], p16uc_TRANSPOSE64_LO);
+  kernel.packet[0] = t0;
+  kernel.packet[1] = t1;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket, const Packet2d& elsePacket) {
+  Packet2l select = { ifPacket.select[0], ifPacket.select[1] };
+  Packet2bl mask = vec_cmpeq(reinterpret_cast<Packet2d>(select), reinterpret_cast<Packet2d>(p2l_ONE));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+#endif // __VSX__
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/arch/CMakeLists.txt b/eigenlib/Eigen/src/Core/arch/CMakeLists.txt
deleted file mode 100644
index 8456dec1..00000000
--- a/eigenlib/Eigen/src/Core/arch/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-ADD_SUBDIRECTORY(SSE)
-ADD_SUBDIRECTORY(AltiVec)
-ADD_SUBDIRECTORY(NEON)
-ADD_SUBDIRECTORY(Default)
diff --git a/eigenlib/Eigen/src/Core/arch/CUDA/Complex.h b/eigenlib/Eigen/src/Core/arch/CUDA/Complex.h
new file mode 100644
index 00000000..9c253650
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/CUDA/Complex.h
@@ -0,0 +1,103 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COMPLEX_CUDA_H
+#define EIGEN_COMPLEX_CUDA_H
+
+// clang-format off
+
+namespace Eigen {
+
+namespace internal {
+
+#if defined(__CUDACC__) && defined(EIGEN_USE_GPU)
+
+// Many std::complex methods such as operator+, operator-, operator* and
+// operator/ are not constexpr. Due to this, clang does not treat them as device
+// functions and thus Eigen functors making use of these operators fail to
+// compile. Here, we manually specialize these functors for complex types when
+// building for CUDA to avoid non-constexpr methods.
+
+// Sum
+template<typename T> struct scalar_sum_op<const std::complex<T>, const std::complex<T> > : binary_op_base<const std::complex<T>, const std::complex<T> > {
+  typedef typename std::complex<T> result_type;
+
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sum_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
+    return std::complex<T>(numext::real(a) + numext::real(b),
+                           numext::imag(a) + numext::imag(b));
+  }
+};
+
+template<typename T> struct scalar_sum_op<std::complex<T>, std::complex<T> > : scalar_sum_op<const std::complex<T>, const std::complex<T> > {};
+
+
+// Difference
+template<typename T> struct scalar_difference_op<const std::complex<T>, const std::complex<T> >  : binary_op_base<const std::complex<T>, const std::complex<T> > {
+  typedef typename std::complex<T> result_type;
+
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_difference_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
+    return std::complex<T>(numext::real(a) - numext::real(b),
+                           numext::imag(a) - numext::imag(b));
+  }
+};
+
+template<typename T> struct scalar_difference_op<std::complex<T>, std::complex<T> > : scalar_difference_op<const std::complex<T>, const std::complex<T> > {};
+
+
+// Product
+template<typename T> struct scalar_product_op<const std::complex<T>, const std::complex<T> >  : binary_op_base<const std::complex<T>, const std::complex<T> > {
+  enum {
+    Vectorizable = packet_traits<std::complex<T>>::HasMul
+  };
+  typedef typename std::complex<T> result_type;
+
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_product_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
+    const T a_real = numext::real(a);
+    const T a_imag = numext::imag(a);
+    const T b_real = numext::real(b);
+    const T b_imag = numext::imag(b);
+    return std::complex<T>(a_real * b_real - a_imag * b_imag,
+                           a_real * b_imag + a_imag * b_real);
+  }
+};
+
+template<typename T> struct scalar_product_op<std::complex<T>, std::complex<T> > : scalar_product_op<const std::complex<T>, const std::complex<T> > {};
+
+
+// Quotient
+template<typename T> struct scalar_quotient_op<const std::complex<T>, const std::complex<T> > : binary_op_base<const std::complex<T>, const std::complex<T> > {
+  enum {
+    Vectorizable = packet_traits<std::complex<T>>::HasDiv
+  };
+  typedef typename std::complex<T> result_type;
+
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_quotient_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::complex<T> operator() (const std::complex<T>& a, const std::complex<T>& b) const {
+    const T a_real = numext::real(a);
+    const T a_imag = numext::imag(a);
+    const T b_real = numext::real(b);
+    const T b_imag = numext::imag(b);
+    const T norm = T(1) / (b_real * b_real + b_imag * b_imag);
+    return std::complex<T>((a_real * b_real + a_imag * b_imag) * norm,
+                           (a_imag * b_real - a_real * b_imag) * norm);
+  }
+};
+
+template<typename T> struct scalar_quotient_op<std::complex<T>, std::complex<T> > : scalar_quotient_op<const std::complex<T>, const std::complex<T> > {};
+
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLEX_CUDA_H
diff --git a/eigenlib/Eigen/src/Core/arch/CUDA/Half.h b/eigenlib/Eigen/src/Core/arch/CUDA/Half.h
new file mode 100644
index 00000000..52892db3
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/CUDA/Half.h
@@ -0,0 +1,585 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+//
+// The conversion routines are Copyright (c) Fabian Giesen, 2016.
+// The original license follows:
+//
+// Copyright (c) Fabian Giesen, 2016
+// All rights reserved.
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted.
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// “AS IS” AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+
+// Standard 16-bit float type, mostly useful for GPUs. Defines a new
+// type Eigen::half (inheriting from CUDA's __half struct) with
+// operator overloads such that it behaves basically as an arithmetic
+// type. It will be quite slow on CPUs (so it is recommended to stay
+// in fp32 for CPUs, except for simple parameter conversions, I/O
+// to disk and the likes), but fast on GPUs.
+
+
+#ifndef EIGEN_HALF_CUDA_H
+#define EIGEN_HALF_CUDA_H
+
+#if __cplusplus > 199711L
+#define EIGEN_EXPLICIT_CAST(tgt_type) explicit operator tgt_type()
+#else
+#define EIGEN_EXPLICIT_CAST(tgt_type) operator tgt_type()
+#endif
+
+
+namespace Eigen {
+
+struct half;
+
+namespace half_impl {
+
+#if !defined(EIGEN_HAS_CUDA_FP16)
+
+// Make our own __half definition that is similar to CUDA's.
+struct __half {
+  EIGEN_DEVICE_FUNC __half() {}
+  explicit EIGEN_DEVICE_FUNC __half(unsigned short raw) : x(raw) {}
+  unsigned short x;
+};
+
+#endif
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half raw_uint16_to_half(unsigned short x);
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half float_to_half_rtne(float ff);
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC float half_to_float(__half h);
+
+struct half_base : public __half {
+  EIGEN_DEVICE_FUNC half_base() {}
+  EIGEN_DEVICE_FUNC half_base(const half_base& h) : __half(h) {}
+  EIGEN_DEVICE_FUNC half_base(const __half& h) : __half(h) {}
+};
+
+} // namespace half_impl
+
+// Class definition.
+struct half : public half_impl::half_base {
+  #if !defined(EIGEN_HAS_CUDA_FP16)
+    typedef half_impl::__half __half;
+  #endif
+
+  EIGEN_DEVICE_FUNC half() {}
+
+  EIGEN_DEVICE_FUNC half(const __half& h) : half_impl::half_base(h) {}
+  EIGEN_DEVICE_FUNC half(const half& h) : half_impl::half_base(h) {}
+
+  explicit EIGEN_DEVICE_FUNC half(bool b)
+      : half_impl::half_base(half_impl::raw_uint16_to_half(b ? 0x3c00 : 0)) {}
+  template<class T>
+  explicit EIGEN_DEVICE_FUNC half(const T& val)
+      : half_impl::half_base(half_impl::float_to_half_rtne(static_cast<float>(val))) {}
+  explicit EIGEN_DEVICE_FUNC half(float f)
+      : half_impl::half_base(half_impl::float_to_half_rtne(f)) {}
+
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(bool) const {
+    // +0.0 and -0.0 become false, everything else becomes true.
+    return (x & 0x7fff) != 0;
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(signed char) const {
+    return static_cast<signed char>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned char) const {
+    return static_cast<unsigned char>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(short) const {
+    return static_cast<short>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned short) const {
+    return static_cast<unsigned short>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(int) const {
+    return static_cast<int>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned int) const {
+    return static_cast<unsigned int>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(long) const {
+    return static_cast<long>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned long) const {
+    return static_cast<unsigned long>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(long long) const {
+    return static_cast<long long>(half_impl::half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(unsigned long long) const {
+    return static_cast<unsigned long long>(half_to_float(*this));
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(float) const {
+    return half_impl::half_to_float(*this);
+  }
+  EIGEN_DEVICE_FUNC EIGEN_EXPLICIT_CAST(double) const {
+    return static_cast<double>(half_impl::half_to_float(*this));
+  }
+
+  EIGEN_DEVICE_FUNC half& operator=(const half& other) {
+    x = other.x;
+    return *this;
+  }
+};
+
+namespace half_impl {
+
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
+
+// Intrinsics for native fp16 support. Note that on current hardware,
+// these are no faster than fp32 arithmetic (you need to use the half2
+// versions to get the ALU speed increased), but you do save the
+// conversion steps back and forth.
+
+__device__ half operator + (const half& a, const half& b) {
+  return __hadd(a, b);
+}
+__device__ half operator * (const half& a, const half& b) {
+  return __hmul(a, b);
+}
+__device__ half operator - (const half& a, const half& b) {
+  return __hsub(a, b);
+}
+__device__ half operator / (const half& a, const half& b) {
+  float num = __half2float(a);
+  float denom = __half2float(b);
+  return __float2half(num / denom);
+}
+__device__ half operator - (const half& a) {
+  return __hneg(a);
+}
+__device__ half& operator += (half& a, const half& b) {
+  a = a + b;
+  return a;
+}
+__device__ half& operator *= (half& a, const half& b) {
+  a = a * b;
+  return a;
+}
+__device__ half& operator -= (half& a, const half& b) {
+  a = a - b;
+  return a;
+}
+__device__ half& operator /= (half& a, const half& b) {
+  a = a / b;
+  return a;
+}
+__device__ bool operator == (const half& a, const half& b) {
+  return __heq(a, b);
+}
+__device__ bool operator != (const half& a, const half& b) {
+  return __hne(a, b);
+}
+__device__ bool operator < (const half& a, const half& b) {
+  return __hlt(a, b);
+}
+__device__ bool operator <= (const half& a, const half& b) {
+  return __hle(a, b);
+}
+__device__ bool operator > (const half& a, const half& b) {
+  return __hgt(a, b);
+}
+__device__ bool operator >= (const half& a, const half& b) {
+  return __hge(a, b);
+}
+
+#else  // Emulate support for half floats
+
+// Definitions for CPUs and older CUDA, mostly working through conversion
+// to/from fp32.
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator + (const half& a, const half& b) {
+  return half(float(a) + float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator * (const half& a, const half& b) {
+  return half(float(a) * float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator - (const half& a, const half& b) {
+  return half(float(a) - float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator / (const half& a, const half& b) {
+  return half(float(a) / float(b));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator - (const half& a) {
+  half result;
+  result.x = a.x ^ 0x8000;
+  return result;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator += (half& a, const half& b) {
+  a = half(float(a) + float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator *= (half& a, const half& b) {
+  a = half(float(a) * float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator -= (half& a, const half& b) {
+  a = half(float(a) - float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half& operator /= (half& a, const half& b) {
+  a = half(float(a) / float(b));
+  return a;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator == (const half& a, const half& b) {
+  return float(a) == float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator != (const half& a, const half& b) {
+  return float(a) != float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator < (const half& a, const half& b) {
+  return float(a) < float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator <= (const half& a, const half& b) {
+  return float(a) <= float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator > (const half& a, const half& b) {
+  return float(a) > float(b);
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool operator >= (const half& a, const half& b) {
+  return float(a) >= float(b);
+}
+
+#endif  // Emulate support for half floats
+
+// Division by an index. Do it in full float precision to avoid accuracy
+// issues in converting the denominator to half.
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half operator / (const half& a, Index b) {
+  return half(static_cast<float>(a) / static_cast<float>(b));
+}
+
+// Conversion routines, including fallbacks for the host or older CUDA.
+// Note that newer Intel CPUs (Haswell or newer) have vectorized versions of
+// these in hardware. If we need more performance on older/other CPUs, they are
+// also possible to vectorize directly.
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half raw_uint16_to_half(unsigned short x) {
+  __half h;
+  h.x = x;
+  return h;
+}
+
+union FP32 {
+  unsigned int u;
+  float f;
+};
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC __half float_to_half_rtne(float ff) {
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+  return __float2half(ff);
+
+#elif defined(EIGEN_HAS_FP16_C)
+  __half h;
+  h.x = _cvtss_sh(ff, 0);
+  return h;
+
+#else
+  FP32 f; f.f = ff;
+
+  const FP32 f32infty = { 255 << 23 };
+  const FP32 f16max = { (127 + 16) << 23 };
+  const FP32 denorm_magic = { ((127 - 15) + (23 - 10) + 1) << 23 };
+  unsigned int sign_mask = 0x80000000u;
+  __half o;
+  o.x = static_cast<unsigned short>(0x0u);
+
+  unsigned int sign = f.u & sign_mask;
+  f.u ^= sign;
+
+  // NOTE all the integer compares in this function can be safely
+  // compiled into signed compares since all operands are below
+  // 0x80000000. Important if you want fast straight SSE2 code
+  // (since there's no unsigned PCMPGTD).
+
+  if (f.u >= f16max.u) {  // result is Inf or NaN (all exponent bits set)
+    o.x = (f.u > f32infty.u) ? 0x7e00 : 0x7c00; // NaN->qNaN and Inf->Inf
+  } else {  // (De)normalized number or zero
+    if (f.u < (113 << 23)) {  // resulting FP16 is subnormal or zero
+      // use a magic value to align our 10 mantissa bits at the bottom of
+      // the float. as long as FP addition is round-to-nearest-even this
+      // just works.
+      f.f += denorm_magic.f;
+
+      // and one integer subtract of the bias later, we have our final float!
+      o.x = static_cast<unsigned short>(f.u - denorm_magic.u);
+    } else {
+      unsigned int mant_odd = (f.u >> 13) & 1; // resulting mantissa is odd
+
+      // update exponent, rounding bias part 1
+      f.u += ((unsigned int)(15 - 127) << 23) + 0xfff;
+      // rounding bias part 2
+      f.u += mant_odd;
+      // take the bits!
+      o.x = static_cast<unsigned short>(f.u >> 13);
+    }
+  }
+
+  o.x |= static_cast<unsigned short>(sign >> 16);
+  return o;
+#endif
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC float half_to_float(__half h) {
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+  return __half2float(h);
+
+#elif defined(EIGEN_HAS_FP16_C)
+  return _cvtsh_ss(h.x);
+
+#else
+  const FP32 magic = { 113 << 23 };
+  const unsigned int shifted_exp = 0x7c00 << 13; // exponent mask after shift
+  FP32 o;
+
+  o.u = (h.x & 0x7fff) << 13;             // exponent/mantissa bits
+  unsigned int exp = shifted_exp & o.u;   // just the exponent
+  o.u += (127 - 15) << 23;                // exponent adjust
+
+  // handle exponent special cases
+  if (exp == shifted_exp) {     // Inf/NaN?
+    o.u += (128 - 16) << 23;    // extra exp adjust
+  } else if (exp == 0) {        // Zero/Denormal?
+    o.u += 1 << 23;             // extra exp adjust
+    o.f -= magic.f;             // renormalize
+  }
+
+  o.u |= (h.x & 0x8000) << 16;    // sign bit
+  return o.f;
+#endif
+}
+
+// --- standard functions ---
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isinf)(const half& a) {
+  return (a.x & 0x7fff) == 0x7c00;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isnan)(const half& a) {
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
+  return __hisnan(a);
+#else
+  return (a.x & 0x7fff) > 0x7c00;
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC bool (isfinite)(const half& a) {
+  return !(isinf EIGEN_NOT_A_MACRO (a)) && !(isnan EIGEN_NOT_A_MACRO (a));
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half abs(const half& a) {
+  half result;
+  result.x = a.x & 0x7FFF;
+  return result;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half exp(const half& a) {
+  return half(::expf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log(const half& a) {
+#if defined(EIGEN_HAS_CUDA_FP16) && defined __CUDACC_VER__ && __CUDACC_VER__ >= 80000 && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
+  return Eigen::half(::hlog(a));
+#else
+  return half(::logf(float(a)));
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log1p(const half& a) {
+  return half(numext::log1p(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half log10(const half& a) {
+  return half(::log10f(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half sqrt(const half& a) {
+  return half(::sqrtf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half pow(const half& a, const half& b) {
+  return half(::powf(float(a), float(b)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half sin(const half& a) {
+  return half(::sinf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half cos(const half& a) {
+  return half(::cosf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half tan(const half& a) {
+  return half(::tanf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half tanh(const half& a) {
+  return half(::tanhf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half floor(const half& a) {
+  return half(::floorf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half ceil(const half& a) {
+  return half(::ceilf(float(a)));
+}
+
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half (min)(const half& a, const half& b) {
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
+  return __hlt(b, a) ? b : a;
+#else
+  const float f1 = static_cast<float>(a);
+  const float f2 = static_cast<float>(b);
+  return f2 < f1 ? b : a;
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC half (max)(const half& a, const half& b) {
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
+  return __hlt(a, b) ? b : a;
+#else
+  const float f1 = static_cast<float>(a);
+  const float f2 = static_cast<float>(b);
+  return f1 < f2 ? b : a;
+#endif
+}
+
+EIGEN_ALWAYS_INLINE std::ostream& operator << (std::ostream& os, const half& v) {
+  os << static_cast<float>(v);
+  return os;
+}
+
+} // end namespace half_impl
+
+// import Eigen::half_impl::half into Eigen namespace
+// using half_impl::half;
+
+namespace internal {
+
+template<>
+struct random_default_impl<half, false, false>
+{
+  static inline half run(const half& x, const half& y)
+  {
+    return x + (y-x) * half(float(std::rand()) / float(RAND_MAX));
+  }
+  static inline half run()
+  {
+    return run(half(-1.f), half(1.f));
+  }
+};
+
+template<> struct is_arithmetic<half> { enum { value = true }; };
+
+} // end namespace internal
+
+template<> struct NumTraits<Eigen::half>
+    : GenericNumTraits<Eigen::half>
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half epsilon() {
+    return half_impl::raw_uint16_to_half(0x0800);
+  }
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half dummy_precision() { return Eigen::half(1e-2f); }
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half highest() {
+    return half_impl::raw_uint16_to_half(0x7bff);
+  }
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half lowest() {
+    return half_impl::raw_uint16_to_half(0xfbff);
+  }
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half infinity() {
+    return half_impl::raw_uint16_to_half(0x7c00);
+  }
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Eigen::half quiet_NaN() {
+    return half_impl::raw_uint16_to_half(0x7c01);
+  }
+};
+
+} // end namespace Eigen
+
+// C-like standard mathematical functions and trancendentals.
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half fabsh(const Eigen::half& a) {
+  Eigen::half result;
+  result.x = a.x & 0x7FFF;
+  return result;
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half exph(const Eigen::half& a) {
+  return Eigen::half(::expf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half logh(const Eigen::half& a) {
+#if defined __CUDACC_VER__ && __CUDACC_VER__ >= 80000 && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 530
+  return Eigen::half(::hlog(a));
+#else
+  return Eigen::half(::logf(float(a)));
+#endif
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half sqrth(const Eigen::half& a) {
+  return Eigen::half(::sqrtf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half powh(const Eigen::half& a, const Eigen::half& b) {
+  return Eigen::half(::powf(float(a), float(b)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half floorh(const Eigen::half& a) {
+  return Eigen::half(::floorf(float(a)));
+}
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half ceilh(const Eigen::half& a) {
+  return Eigen::half(::ceilf(float(a)));
+}
+
+namespace std {
+
+#if __cplusplus > 199711L
+template <>
+struct hash<Eigen::half> {
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE std::size_t operator()(const Eigen::half& a) const {
+    return static_cast<std::size_t>(a.x);
+  }
+};
+#endif
+
+} // end namespace std
+
+
+// Add the missing shfl_xor intrinsic
+#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+__device__ EIGEN_STRONG_INLINE Eigen::half __shfl_xor(Eigen::half var, int laneMask, int width=warpSize) {
+  return static_cast<Eigen::half>(__shfl_xor(static_cast<float>(var), laneMask, width));
+}
+#endif
+
+// ldg() has an overload for __half, but we also need one for Eigen::half.
+#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
+EIGEN_STRONG_INLINE EIGEN_DEVICE_FUNC Eigen::half __ldg(const Eigen::half* ptr) {
+  return Eigen::half_impl::raw_uint16_to_half(
+      __ldg(reinterpret_cast<const unsigned short*>(ptr)));
+}
+#endif
+
+
+#if defined(__CUDA_ARCH__)
+namespace Eigen {
+namespace numext {
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+bool (isnan)(const Eigen::half& h) {
+  return (half_impl::isnan)(h);
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+bool (isinf)(const Eigen::half& h) {
+  return (half_impl::isinf)(h);
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+bool (isfinite)(const Eigen::half& h) {
+  return (half_impl::isfinite)(h);
+}
+
+} // namespace Eigen
+}  // namespace numext
+#endif
+
+#endif // EIGEN_HALF_CUDA_H
diff --git a/eigenlib/Eigen/src/Core/arch/CUDA/MathFunctions.h b/eigenlib/Eigen/src/Core/arch/CUDA/MathFunctions.h
new file mode 100644
index 00000000..0348b41d
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/CUDA/MathFunctions.h
@@ -0,0 +1,91 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_MATH_FUNCTIONS_CUDA_H
+#define EIGEN_MATH_FUNCTIONS_CUDA_H
+
+namespace Eigen {
+
+namespace internal {
+
+// Make sure this is only available when targeting a GPU: we don't want to
+// introduce conflicts between these packet_traits definitions and the ones
+// we'll use on the host side (SSE, AVX, ...)
+#if defined(__CUDACC__) && defined(EIGEN_USE_GPU)
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+float4 plog<float4>(const float4& a)
+{
+  return make_float4(logf(a.x), logf(a.y), logf(a.z), logf(a.w));
+}
+
+template<>  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+double2 plog<double2>(const double2& a)
+{
+  using ::log;
+  return make_double2(log(a.x), log(a.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+float4 plog1p<float4>(const float4& a)
+{
+  return make_float4(log1pf(a.x), log1pf(a.y), log1pf(a.z), log1pf(a.w));
+}
+
+template<>  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+double2 plog1p<double2>(const double2& a)
+{
+  return make_double2(log1p(a.x), log1p(a.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+float4 pexp<float4>(const float4& a)
+{
+  return make_float4(expf(a.x), expf(a.y), expf(a.z), expf(a.w));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+double2 pexp<double2>(const double2& a)
+{
+  using ::exp;
+  return make_double2(exp(a.x), exp(a.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+float4 psqrt<float4>(const float4& a)
+{
+  return make_float4(sqrtf(a.x), sqrtf(a.y), sqrtf(a.z), sqrtf(a.w));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+double2 psqrt<double2>(const double2& a)
+{
+  using ::sqrt;
+  return make_double2(sqrt(a.x), sqrt(a.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+float4 prsqrt<float4>(const float4& a)
+{
+  return make_float4(rsqrtf(a.x), rsqrtf(a.y), rsqrtf(a.z), rsqrtf(a.w));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+double2 prsqrt<double2>(const double2& a)
+{
+  return make_double2(rsqrt(a.x), rsqrt(a.y));
+}
+
+
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATH_FUNCTIONS_CUDA_H
diff --git a/eigenlib/Eigen/src/Core/arch/CUDA/PacketMath.h b/eigenlib/Eigen/src/Core/arch/CUDA/PacketMath.h
new file mode 100644
index 00000000..ad66399e
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/CUDA/PacketMath.h
@@ -0,0 +1,333 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Benoit Steiner <benoit.steiner.goog@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PACKET_MATH_CUDA_H
+#define EIGEN_PACKET_MATH_CUDA_H
+
+namespace Eigen {
+
+namespace internal {
+
+// Make sure this is only available when targeting a GPU: we don't want to
+// introduce conflicts between these packet_traits definitions and the ones
+// we'll use on the host side (SSE, AVX, ...)
+#if defined(__CUDACC__) && defined(EIGEN_USE_GPU)
+template<> struct is_arithmetic<float4>  { enum { value = true }; };
+template<> struct is_arithmetic<double2> { enum { value = true }; };
+
+template<> struct packet_traits<float> : default_packet_traits
+{
+  typedef float4 type;
+  typedef float4 half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4,
+    HasHalfPacket = 0,
+
+    HasDiv  = 1,
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasLGamma = 1,
+    HasDiGamma = 1,
+    HasZeta = 1,
+    HasPolygamma = 1,
+    HasErf = 1,
+    HasErfc = 1,
+    HasIGamma = 1,
+    HasIGammac = 1,
+    HasBetaInc = 1,
+
+    HasBlend = 0,
+  };
+};
+
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef double2 type;
+  typedef double2 half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=2,
+    HasHalfPacket = 0,
+
+    HasDiv  = 1,
+    HasLog  = 1,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasLGamma = 1,
+    HasDiGamma = 1,
+    HasZeta = 1,
+    HasPolygamma = 1,
+    HasErf = 1,
+    HasErfc = 1,
+    HasIGamma = 1,
+    HasIGammac = 1,
+    HasBetaInc = 1,
+
+    HasBlend = 0,
+  };
+};
+
+
+template<> struct unpacket_traits<float4>  { typedef float  type; enum {size=4, alignment=Aligned16}; typedef float4 half; };
+template<> struct unpacket_traits<double2> { typedef double type; enum {size=2, alignment=Aligned16}; typedef double2 half; };
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pset1<float4>(const float&  from) {
+  return make_float4(from, from, from, from);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pset1<double2>(const double& from) {
+  return make_double2(from, from);
+}
+
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 plset<float4>(const float& a) {
+  return make_float4(a, a+1, a+2, a+3);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 plset<double2>(const double& a) {
+  return make_double2(a, a+1);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 padd<float4>(const float4& a, const float4& b) {
+  return make_float4(a.x+b.x, a.y+b.y, a.z+b.z, a.w+b.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 padd<double2>(const double2& a, const double2& b) {
+  return make_double2(a.x+b.x, a.y+b.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 psub<float4>(const float4& a, const float4& b) {
+  return make_float4(a.x-b.x, a.y-b.y, a.z-b.z, a.w-b.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 psub<double2>(const double2& a, const double2& b) {
+  return make_double2(a.x-b.x, a.y-b.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pnegate(const float4& a) {
+  return make_float4(-a.x, -a.y, -a.z, -a.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pnegate(const double2& a) {
+  return make_double2(-a.x, -a.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pconj(const float4& a) { return a; }
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pconj(const double2& a) { return a; }
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmul<float4>(const float4& a, const float4& b) {
+  return make_float4(a.x*b.x, a.y*b.y, a.z*b.z, a.w*b.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmul<double2>(const double2& a, const double2& b) {
+  return make_double2(a.x*b.x, a.y*b.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pdiv<float4>(const float4& a, const float4& b) {
+  return make_float4(a.x/b.x, a.y/b.y, a.z/b.z, a.w/b.w);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pdiv<double2>(const double2& a, const double2& b) {
+  return make_double2(a.x/b.x, a.y/b.y);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmin<float4>(const float4& a, const float4& b) {
+  return make_float4(fminf(a.x, b.x), fminf(a.y, b.y), fminf(a.z, b.z), fminf(a.w, b.w));
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmin<double2>(const double2& a, const double2& b) {
+  return make_double2(fmin(a.x, b.x), fmin(a.y, b.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pmax<float4>(const float4& a, const float4& b) {
+  return make_float4(fmaxf(a.x, b.x), fmaxf(a.y, b.y), fmaxf(a.z, b.z), fmaxf(a.w, b.w));
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pmax<double2>(const double2& a, const double2& b) {
+  return make_double2(fmax(a.x, b.x), fmax(a.y, b.y));
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pload<float4>(const float* from) {
+  return *reinterpret_cast<const float4*>(from);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 pload<double2>(const double* from) {
+  return *reinterpret_cast<const double2*>(from);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 ploadu<float4>(const float* from) {
+  return make_float4(from[0], from[1], from[2], from[3]);
+}
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE double2 ploadu<double2>(const double* from) {
+  return make_double2(from[0], from[1]);
+}
+
+template<> EIGEN_STRONG_INLINE float4 ploaddup<float4>(const float*   from) {
+  return make_float4(from[0], from[0], from[1], from[1]);
+}
+template<> EIGEN_STRONG_INLINE double2 ploaddup<double2>(const double*  from) {
+  return make_double2(from[0], from[0]);
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstore<float>(float*   to, const float4& from) {
+  *reinterpret_cast<float4*>(to) = from;
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstore<double>(double* to, const double2& from) {
+  *reinterpret_cast<double2*>(to) = from;
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const float4& from) {
+  to[0] = from.x;
+  to[1] = from.y;
+  to[2] = from.z;
+  to[3] = from.w;
+}
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const double2& from) {
+  to[0] = from.x;
+  to[1] = from.y;
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float4 ploadt_ro<float4, Aligned>(const float* from) {
+#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
+  return __ldg((const float4*)from);
+#else
+  return make_float4(from[0], from[1], from[2], from[3]);
+#endif
+}
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double2 ploadt_ro<double2, Aligned>(const double* from) {
+#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
+  return __ldg((const double2*)from);
+#else
+  return make_double2(from[0], from[1]);
+#endif
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE float4 ploadt_ro<float4, Unaligned>(const float* from) {
+#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
+  return make_float4(__ldg(from+0), __ldg(from+1), __ldg(from+2), __ldg(from+3));
+#else
+  return make_float4(from[0], from[1], from[2], from[3]);
+#endif
+}
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE double2 ploadt_ro<double2, Unaligned>(const double* from) {
+#if defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 350
+  return make_double2(__ldg(from+0), __ldg(from+1));
+#else
+  return make_double2(from[0], from[1]);
+#endif
+}
+
+template<> EIGEN_DEVICE_FUNC inline float4 pgather<float, float4>(const float* from, Index stride) {
+  return make_float4(from[0*stride], from[1*stride], from[2*stride], from[3*stride]);
+}
+
+template<> EIGEN_DEVICE_FUNC inline double2 pgather<double, double2>(const double* from, Index stride) {
+  return make_double2(from[0*stride], from[1*stride]);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, float4>(float* to, const float4& from, Index stride) {
+  to[stride*0] = from.x;
+  to[stride*1] = from.y;
+  to[stride*2] = from.z;
+  to[stride*3] = from.w;
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, double2>(double* to, const double2& from, Index stride) {
+  to[stride*0] = from.x;
+  to[stride*1] = from.y;
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  pfirst<float4>(const float4& a) {
+  return a.x;
+}
+template<> EIGEN_DEVICE_FUNC inline double pfirst<double2>(const double2& a) {
+  return a.x;
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  predux<float4>(const float4& a) {
+  return a.x + a.y + a.z + a.w;
+}
+template<> EIGEN_DEVICE_FUNC inline double predux<double2>(const double2& a) {
+  return a.x + a.y;
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  predux_max<float4>(const float4& a) {
+  return fmaxf(fmaxf(a.x, a.y), fmaxf(a.z, a.w));
+}
+template<> EIGEN_DEVICE_FUNC inline double predux_max<double2>(const double2& a) {
+  return fmax(a.x, a.y);
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  predux_min<float4>(const float4& a) {
+  return fminf(fminf(a.x, a.y), fminf(a.z, a.w));
+}
+template<> EIGEN_DEVICE_FUNC inline double predux_min<double2>(const double2& a) {
+  return fmin(a.x, a.y);
+}
+
+template<> EIGEN_DEVICE_FUNC inline float  predux_mul<float4>(const float4& a) {
+  return a.x * a.y * a.z * a.w;
+}
+template<> EIGEN_DEVICE_FUNC inline double predux_mul<double2>(const double2& a) {
+  return a.x * a.y;
+}
+
+template<> EIGEN_DEVICE_FUNC inline float4  pabs<float4>(const float4& a) {
+  return make_float4(fabsf(a.x), fabsf(a.y), fabsf(a.z), fabsf(a.w));
+}
+template<> EIGEN_DEVICE_FUNC inline double2 pabs<double2>(const double2& a) {
+  return make_double2(fabs(a.x), fabs(a.y));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<float4,4>& kernel) {
+  double tmp = kernel.packet[0].y;
+  kernel.packet[0].y = kernel.packet[1].x;
+  kernel.packet[1].x = tmp;
+
+  tmp = kernel.packet[0].z;
+  kernel.packet[0].z = kernel.packet[2].x;
+  kernel.packet[2].x = tmp;
+
+  tmp = kernel.packet[0].w;
+  kernel.packet[0].w = kernel.packet[3].x;
+  kernel.packet[3].x = tmp;
+
+  tmp = kernel.packet[1].z;
+  kernel.packet[1].z = kernel.packet[2].y;
+  kernel.packet[2].y = tmp;
+
+  tmp = kernel.packet[1].w;
+  kernel.packet[1].w = kernel.packet[3].y;
+  kernel.packet[3].y = tmp;
+
+  tmp = kernel.packet[2].w;
+  kernel.packet[2].w = kernel.packet[3].z;
+  kernel.packet[3].z = tmp;
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<double2,2>& kernel) {
+  double tmp = kernel.packet[0].y;
+  kernel.packet[0].y = kernel.packet[1].x;
+  kernel.packet[1].x = tmp;
+}
+
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+
+#endif // EIGEN_PACKET_MATH_CUDA_H
diff --git a/eigenlib/Eigen/src/Core/arch/CUDA/PacketMathHalf.h b/eigenlib/Eigen/src/Core/arch/CUDA/PacketMathHalf.h
new file mode 100644
index 00000000..ae54225f
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/CUDA/PacketMathHalf.h
@@ -0,0 +1,1123 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PACKET_MATH_HALF_CUDA_H
+#define EIGEN_PACKET_MATH_HALF_CUDA_H
+
+
+namespace Eigen {
+namespace internal {
+
+// Most of the following operations require arch >= 3.0
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDACC__) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+
+template<> struct is_arithmetic<half2> { enum { value = true }; };
+
+template<> struct packet_traits<Eigen::half> : default_packet_traits
+{
+  typedef half2 type;
+  typedef half2 half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=2,
+    HasHalfPacket = 0,
+    HasAdd    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasSqrt   = 1,
+    HasRsqrt  = 1,
+    HasExp    = 1,
+    HasLog    = 1,
+    HasLog1p  = 1
+  };
+};
+
+template<> struct unpacket_traits<half2> { typedef Eigen::half type; enum {size=2, alignment=Aligned16}; typedef half2 half; };
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pset1<half2>(const Eigen::half& from) {
+  return __half2half2(from);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pload<half2>(const Eigen::half* from) {
+  return *reinterpret_cast<const half2*>(from);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 ploadu<half2>(const Eigen::half* from) {
+  return __halves2half2(from[0], from[1]);
+}
+
+template<> EIGEN_STRONG_INLINE half2 ploaddup<half2>(const Eigen::half*  from) {
+  return __halves2half2(from[0], from[0]);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const half2& from) {
+  *reinterpret_cast<half2*>(to) = from;
+}
+
+template<> __device__ EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const half2& from) {
+  to[0] = __low2half(from);
+  to[1] = __high2half(from);
+}
+
+template<>
+ __device__ EIGEN_ALWAYS_INLINE half2 ploadt_ro<half2, Aligned>(const Eigen::half* from) {
+#if __CUDA_ARCH__ >= 350
+   return __ldg((const half2*)from);
+#else
+  return __halves2half2(*(from+0), *(from+1));
+#endif
+}
+
+template<>
+__device__ EIGEN_ALWAYS_INLINE half2 ploadt_ro<half2, Unaligned>(const Eigen::half* from) {
+#if __CUDA_ARCH__ >= 350
+   return __halves2half2(__ldg(from+0), __ldg(from+1));
+#else
+  return __halves2half2(*(from+0), *(from+1));
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pgather<Eigen::half, half2>(const Eigen::half* from, Index stride) {
+  return __halves2half2(from[0*stride], from[1*stride]);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE void pscatter<Eigen::half, half2>(Eigen::half* to, const half2& from, Index stride) {
+  to[stride*0] = __low2half(from);
+  to[stride*1] = __high2half(from);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE Eigen::half pfirst<half2>(const half2& a) {
+  return __low2half(a);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pabs<half2>(const half2& a) {
+  half2 result;
+  result.x = a.x & 0x7FFF7FFF;
+  return result;
+}
+
+
+__device__ EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<half2,2>& kernel) {
+  __half a1 = __low2half(kernel.packet[0]);
+  __half a2 = __high2half(kernel.packet[0]);
+  __half b1 = __low2half(kernel.packet[1]);
+  __half b2 = __high2half(kernel.packet[1]);
+  kernel.packet[0] = __halves2half2(a1, b1);
+  kernel.packet[1] = __halves2half2(a2, b2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 plset<half2>(const Eigen::half& a) {
+#if __CUDA_ARCH__ >= 530
+  return __halves2half2(a, __hadd(a, __float2half(1.0f)));
+#else
+  float f = __half2float(a) + 1.0f;
+  return __halves2half2(a, __float2half(f));
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 padd<half2>(const half2& a, const half2& b) {
+#if __CUDA_ARCH__ >= 530
+  return __hadd2(a, b);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 + b1;
+  float r2 = a2 + b2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 psub<half2>(const half2& a, const half2& b) {
+#if __CUDA_ARCH__ >= 530
+  return __hsub2(a, b);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 - b1;
+  float r2 = a2 - b2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pnegate(const half2& a) {
+#if __CUDA_ARCH__ >= 530
+  return __hneg2(a);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return __floats2half2_rn(-a1, -a2);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pconj(const half2& a) { return a; }
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pmul<half2>(const half2& a, const half2& b) {
+#if __CUDA_ARCH__ >= 530
+  return __hmul2(a, b);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 * b1;
+  float r2 = a2 * b2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pmadd<half2>(const half2& a, const half2& b, const half2& c) {
+#if __CUDA_ARCH__ >= 530
+   return __hfma2(a, b, c);
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float c1 = __low2float(c);
+  float c2 = __high2float(c);
+  float r1 = a1 * b1 + c1;
+  float r2 = a2 * b2 + c2;
+  return __floats2half2_rn(r1, r2);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pdiv<half2>(const half2& a, const half2& b) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  float r1 = a1 / b1;
+  float r2 = a2 / b2;
+  return __floats2half2_rn(r1, r2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pmin<half2>(const half2& a, const half2& b) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  __half r1 = a1 < b1 ? __low2half(a) : __low2half(b);
+  __half r2 = a2 < b2 ? __high2half(a) : __high2half(b);
+  return __halves2half2(r1, r2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pmax<half2>(const half2& a, const half2& b) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float b1 = __low2float(b);
+  float b2 = __high2float(b);
+  __half r1 = a1 > b1 ? __low2half(a) : __low2half(b);
+  __half r2 = a2 > b2 ? __high2half(a) : __high2half(b);
+  return __halves2half2(r1, r2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux<half2>(const half2& a) {
+#if __CUDA_ARCH__ >= 530
+  return __hadd(__low2half(a), __high2half(a));
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return Eigen::half(half_impl::raw_uint16_to_half(__float2half_rn(a1 + a2)));
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux_max<half2>(const half2& a) {
+#if __CUDA_ARCH__ >= 530
+  __half first = __low2half(a);
+  __half second = __high2half(a);
+  return __hgt(first, second) ? first : second;
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return a1 > a2 ? __low2half(a) : __high2half(a);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux_min<half2>(const half2& a) {
+#if __CUDA_ARCH__ >= 530
+  __half first = __low2half(a);
+  __half second = __high2half(a);
+  return __hlt(first, second) ? first : second;
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return a1 < a2 ? __low2half(a) : __high2half(a);
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE Eigen::half predux_mul<half2>(const half2& a) {
+#if __CUDA_ARCH__ >= 530
+  return __hmul(__low2half(a), __high2half(a));
+#else
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  return Eigen::half(half_impl::raw_uint16_to_half(__float2half_rn(a1 * a2)));
+#endif
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 plog1p<half2>(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = log1pf(a1);
+  float r2 = log1pf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+#if defined __CUDACC_VER__ && __CUDACC_VER__ >= 80000 && defined __CUDA_ARCH__ && __CUDA_ARCH__ >= 530
+
+template<>  __device__ EIGEN_STRONG_INLINE
+half2 plog<half2>(const half2& a) {
+  return h2log(a);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE
+half2 pexp<half2>(const half2& a) {
+  return h2exp(a);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE
+half2 psqrt<half2>(const half2& a) {
+  return h2sqrt(a);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE
+half2 prsqrt<half2>(const half2& a) {
+  return h2rsqrt(a);
+}
+
+#else
+
+template<> __device__ EIGEN_STRONG_INLINE half2 plog<half2>(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = logf(a1);
+  float r2 = logf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 pexp<half2>(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = expf(a1);
+  float r2 = expf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 psqrt<half2>(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = sqrtf(a1);
+  float r2 = sqrtf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+template<> __device__ EIGEN_STRONG_INLINE half2 prsqrt<half2>(const half2& a) {
+  float a1 = __low2float(a);
+  float a2 = __high2float(a);
+  float r1 = rsqrtf(a1);
+  float r2 = rsqrtf(a2);
+  return __floats2half2_rn(r1, r2);
+}
+
+#endif
+
+#elif defined EIGEN_VECTORIZE_AVX512
+
+typedef struct {
+  __m256i x;
+} Packet16h;
+
+
+template<> struct is_arithmetic<Packet16h> { enum { value = true }; };
+
+template <>
+struct packet_traits<half> : default_packet_traits {
+  typedef Packet16h type;
+  // There is no half-size packet for Packet16h.
+  typedef Packet16h half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 16,
+    HasHalfPacket = 0,
+    HasAdd    = 0,
+    HasSub    = 0,
+    HasMul    = 0,
+    HasNegate = 0,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasConj   = 0,
+    HasSetLinear = 0,
+    HasDiv = 0,
+    HasSqrt = 0,
+    HasRsqrt = 0,
+    HasExp = 0,
+    HasLog = 0,
+    HasBlend = 0
+  };
+};
+
+
+template<> struct unpacket_traits<Packet16h> { typedef Eigen::half type; enum {size=16, alignment=Aligned32}; typedef Packet16h half; };
+
+template<> EIGEN_STRONG_INLINE Packet16h pset1<Packet16h>(const Eigen::half& from) {
+  Packet16h result;
+  result.x = _mm256_set1_epi16(from.x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet16h>(const Packet16h& from) {
+  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm256_extract_epi16(from.x, 0)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pload<Packet16h>(const Eigen::half* from) {
+  Packet16h result;
+  result.x = _mm256_load_si256(reinterpret_cast<const __m256i*>(from));
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h ploadu<Packet16h>(const Eigen::half* from) {
+  Packet16h result;
+  result.x = _mm256_loadu_si256(reinterpret_cast<const __m256i*>(from));
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<half>(Eigen::half* to, const Packet16h& from) {
+  _mm256_store_si256((__m256i*)to, from.x);
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<half>(Eigen::half* to, const Packet16h& from) {
+  _mm256_storeu_si256((__m256i*)to, from.x);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h
+ploadquad(const Eigen::half* from) {
+  Packet16h result;
+  unsigned short a = from[0].x;
+  unsigned short b = from[1].x;
+  unsigned short c = from[2].x;
+  unsigned short d = from[3].x;
+  result.x = _mm256_set_epi16(d, d, d, d, c, c, c, c, b, b, b, b, a, a, a, a);
+  return result;
+}
+
+EIGEN_STRONG_INLINE Packet16f half2float(const Packet16h& a) {
+#ifdef EIGEN_HAS_FP16_C
+  return _mm512_cvtph_ps(a.x);
+#else
+  EIGEN_ALIGN64 half aux[16];
+  pstore(aux, a);
+  float f0(aux[0]);
+  float f1(aux[1]);
+  float f2(aux[2]);
+  float f3(aux[3]);
+  float f4(aux[4]);
+  float f5(aux[5]);
+  float f6(aux[6]);
+  float f7(aux[7]);
+  float f8(aux[8]);
+  float f9(aux[9]);
+  float fa(aux[10]);
+  float fb(aux[11]);
+  float fc(aux[12]);
+  float fd(aux[13]);
+  float fe(aux[14]);
+  float ff(aux[15]);
+
+  return _mm512_set_ps(
+      ff, fe, fd, fc, fb, fa, f9, f8, f7, f6, f5, f4, f3, f2, f1, f0);
+#endif
+}
+
+EIGEN_STRONG_INLINE Packet16h float2half(const Packet16f& a) {
+#ifdef EIGEN_HAS_FP16_C
+  Packet16h result;
+  result.x = _mm512_cvtps_ph(a, _MM_FROUND_TO_NEAREST_INT|_MM_FROUND_NO_EXC);
+  return result;
+#else
+  EIGEN_ALIGN64 float aux[16];
+  pstore(aux, a);
+  half h0(aux[0]);
+  half h1(aux[1]);
+  half h2(aux[2]);
+  half h3(aux[3]);
+  half h4(aux[4]);
+  half h5(aux[5]);
+  half h6(aux[6]);
+  half h7(aux[7]);
+  half h8(aux[8]);
+  half h9(aux[9]);
+  half ha(aux[10]);
+  half hb(aux[11]);
+  half hc(aux[12]);
+  half hd(aux[13]);
+  half he(aux[14]);
+  half hf(aux[15]);
+
+  Packet16h result;
+  result.x = _mm256_set_epi16(
+      hf.x, he.x, hd.x, hc.x, hb.x, ha.x, h9.x, h8.x,
+      h7.x, h6.x, h5.x, h4.x, h3.x, h2.x, h1.x, h0.x);
+  return result;
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h padd<Packet16h>(const Packet16h& a, const Packet16h& b) {
+  Packet16f af = half2float(a);
+  Packet16f bf = half2float(b);
+  Packet16f rf = padd(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pmul<Packet16h>(const Packet16h& a, const Packet16h& b) {
+  Packet16f af = half2float(a);
+  Packet16f bf = half2float(b);
+  Packet16f rf = pmul(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE half predux<Packet16h>(const Packet16h& from) {
+  Packet16f from_float = half2float(from);
+  return half(predux(from_float));
+}
+
+template<> EIGEN_STRONG_INLINE Packet16h pgather<Eigen::half, Packet16h>(const Eigen::half* from, Index stride)
+{
+  Packet16h result;
+  result.x = _mm256_set_epi16(
+      from[15*stride].x, from[14*stride].x, from[13*stride].x, from[12*stride].x,
+      from[11*stride].x, from[10*stride].x, from[9*stride].x, from[8*stride].x,
+      from[7*stride].x, from[6*stride].x, from[5*stride].x, from[4*stride].x,
+      from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE void pscatter<half, Packet16h>(half* to, const Packet16h& from, Index stride)
+{
+  EIGEN_ALIGN64 half aux[16];
+  pstore(aux, from);
+  to[stride*0].x = aux[0].x;
+  to[stride*1].x = aux[1].x;
+  to[stride*2].x = aux[2].x;
+  to[stride*3].x = aux[3].x;
+  to[stride*4].x = aux[4].x;
+  to[stride*5].x = aux[5].x;
+  to[stride*6].x = aux[6].x;
+  to[stride*7].x = aux[7].x;
+  to[stride*8].x = aux[8].x;
+  to[stride*9].x = aux[9].x;
+  to[stride*10].x = aux[10].x;
+  to[stride*11].x = aux[11].x;
+  to[stride*12].x = aux[12].x;
+  to[stride*13].x = aux[13].x;
+  to[stride*14].x = aux[14].x;
+  to[stride*15].x = aux[15].x;
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet16h,16>& kernel) {
+  __m256i a = kernel.packet[0].x;
+  __m256i b = kernel.packet[1].x;
+  __m256i c = kernel.packet[2].x;
+  __m256i d = kernel.packet[3].x;
+  __m256i e = kernel.packet[4].x;
+  __m256i f = kernel.packet[5].x;
+  __m256i g = kernel.packet[6].x;
+  __m256i h = kernel.packet[7].x;
+  __m256i i = kernel.packet[8].x;
+  __m256i j = kernel.packet[9].x;
+  __m256i k = kernel.packet[10].x;
+  __m256i l = kernel.packet[11].x;
+  __m256i m = kernel.packet[12].x;
+  __m256i n = kernel.packet[13].x;
+  __m256i o = kernel.packet[14].x;
+  __m256i p = kernel.packet[15].x;
+
+  __m256i ab_07 = _mm256_unpacklo_epi16(a, b);
+  __m256i cd_07 = _mm256_unpacklo_epi16(c, d);
+  __m256i ef_07 = _mm256_unpacklo_epi16(e, f);
+  __m256i gh_07 = _mm256_unpacklo_epi16(g, h);
+  __m256i ij_07 = _mm256_unpacklo_epi16(i, j);
+  __m256i kl_07 = _mm256_unpacklo_epi16(k, l);
+  __m256i mn_07 = _mm256_unpacklo_epi16(m, n);
+  __m256i op_07 = _mm256_unpacklo_epi16(o, p);
+
+  __m256i ab_8f = _mm256_unpackhi_epi16(a, b);
+  __m256i cd_8f = _mm256_unpackhi_epi16(c, d);
+  __m256i ef_8f = _mm256_unpackhi_epi16(e, f);
+  __m256i gh_8f = _mm256_unpackhi_epi16(g, h);
+  __m256i ij_8f = _mm256_unpackhi_epi16(i, j);
+  __m256i kl_8f = _mm256_unpackhi_epi16(k, l);
+  __m256i mn_8f = _mm256_unpackhi_epi16(m, n);
+  __m256i op_8f = _mm256_unpackhi_epi16(o, p);
+
+  __m256i abcd_03 = _mm256_unpacklo_epi32(ab_07, cd_07);
+  __m256i abcd_47 = _mm256_unpackhi_epi32(ab_07, cd_07);
+  __m256i efgh_03 = _mm256_unpacklo_epi32(ef_07, gh_07);
+  __m256i efgh_47 = _mm256_unpackhi_epi32(ef_07, gh_07);
+  __m256i ijkl_03 = _mm256_unpacklo_epi32(ij_07, kl_07);
+  __m256i ijkl_47 = _mm256_unpackhi_epi32(ij_07, kl_07);
+  __m256i mnop_03 = _mm256_unpacklo_epi32(mn_07, op_07);
+  __m256i mnop_47 = _mm256_unpackhi_epi32(mn_07, op_07);
+
+  __m256i abcd_8b = _mm256_unpacklo_epi32(ab_8f, cd_8f);
+  __m256i abcd_cf = _mm256_unpackhi_epi32(ab_8f, cd_8f);
+  __m256i efgh_8b = _mm256_unpacklo_epi32(ef_8f, gh_8f);
+  __m256i efgh_cf = _mm256_unpackhi_epi32(ef_8f, gh_8f);
+  __m256i ijkl_8b = _mm256_unpacklo_epi32(ij_8f, kl_8f);
+  __m256i ijkl_cf = _mm256_unpackhi_epi32(ij_8f, kl_8f);
+  __m256i mnop_8b = _mm256_unpacklo_epi32(mn_8f, op_8f);
+  __m256i mnop_cf = _mm256_unpackhi_epi32(mn_8f, op_8f);
+
+  __m256i abcdefgh_01 = _mm256_unpacklo_epi64(abcd_03, efgh_03);
+  __m256i abcdefgh_23 = _mm256_unpackhi_epi64(abcd_03, efgh_03);
+  __m256i ijklmnop_01 = _mm256_unpacklo_epi64(ijkl_03, mnop_03);
+  __m256i ijklmnop_23 = _mm256_unpackhi_epi64(ijkl_03, mnop_03);
+  __m256i abcdefgh_45 = _mm256_unpacklo_epi64(abcd_47, efgh_47);
+  __m256i abcdefgh_67 = _mm256_unpackhi_epi64(abcd_47, efgh_47);
+  __m256i ijklmnop_45 = _mm256_unpacklo_epi64(ijkl_47, mnop_47);
+  __m256i ijklmnop_67 = _mm256_unpackhi_epi64(ijkl_47, mnop_47);
+  __m256i abcdefgh_89 = _mm256_unpacklo_epi64(abcd_8b, efgh_8b);
+  __m256i abcdefgh_ab = _mm256_unpackhi_epi64(abcd_8b, efgh_8b);
+  __m256i ijklmnop_89 = _mm256_unpacklo_epi64(ijkl_8b, mnop_8b);
+  __m256i ijklmnop_ab = _mm256_unpackhi_epi64(ijkl_8b, mnop_8b);
+  __m256i abcdefgh_cd = _mm256_unpacklo_epi64(abcd_cf, efgh_cf);
+  __m256i abcdefgh_ef = _mm256_unpackhi_epi64(abcd_cf, efgh_cf);
+  __m256i ijklmnop_cd = _mm256_unpacklo_epi64(ijkl_cf, mnop_cf);
+  __m256i ijklmnop_ef = _mm256_unpackhi_epi64(ijkl_cf, mnop_cf);
+
+  // NOTE: no unpacklo/hi instr in this case, so using permute instr.
+  __m256i a_p_0 = _mm256_permute2x128_si256(abcdefgh_01, ijklmnop_01, 0x20);
+  __m256i a_p_1 = _mm256_permute2x128_si256(abcdefgh_01, ijklmnop_01, 0x31);
+  __m256i a_p_2 = _mm256_permute2x128_si256(abcdefgh_23, ijklmnop_23, 0x20);
+  __m256i a_p_3 = _mm256_permute2x128_si256(abcdefgh_23, ijklmnop_23, 0x31);
+  __m256i a_p_4 = _mm256_permute2x128_si256(abcdefgh_45, ijklmnop_45, 0x20);
+  __m256i a_p_5 = _mm256_permute2x128_si256(abcdefgh_45, ijklmnop_45, 0x31);
+  __m256i a_p_6 = _mm256_permute2x128_si256(abcdefgh_67, ijklmnop_67, 0x20);
+  __m256i a_p_7 = _mm256_permute2x128_si256(abcdefgh_67, ijklmnop_67, 0x31);
+  __m256i a_p_8 = _mm256_permute2x128_si256(abcdefgh_89, ijklmnop_89, 0x20);
+  __m256i a_p_9 = _mm256_permute2x128_si256(abcdefgh_89, ijklmnop_89, 0x31);
+  __m256i a_p_a = _mm256_permute2x128_si256(abcdefgh_ab, ijklmnop_ab, 0x20);
+  __m256i a_p_b = _mm256_permute2x128_si256(abcdefgh_ab, ijklmnop_ab, 0x31);
+  __m256i a_p_c = _mm256_permute2x128_si256(abcdefgh_cd, ijklmnop_cd, 0x20);
+  __m256i a_p_d = _mm256_permute2x128_si256(abcdefgh_cd, ijklmnop_cd, 0x31);
+  __m256i a_p_e = _mm256_permute2x128_si256(abcdefgh_ef, ijklmnop_ef, 0x20);
+  __m256i a_p_f = _mm256_permute2x128_si256(abcdefgh_ef, ijklmnop_ef, 0x31);
+
+  kernel.packet[0].x = a_p_0;
+  kernel.packet[1].x = a_p_1;
+  kernel.packet[2].x = a_p_2;
+  kernel.packet[3].x = a_p_3;
+  kernel.packet[4].x = a_p_4;
+  kernel.packet[5].x = a_p_5;
+  kernel.packet[6].x = a_p_6;
+  kernel.packet[7].x = a_p_7;
+  kernel.packet[8].x = a_p_8;
+  kernel.packet[9].x = a_p_9;
+  kernel.packet[10].x = a_p_a;
+  kernel.packet[11].x = a_p_b;
+  kernel.packet[12].x = a_p_c;
+  kernel.packet[13].x = a_p_d;
+  kernel.packet[14].x = a_p_e;
+  kernel.packet[15].x = a_p_f;
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet16h,8>& kernel) {
+  EIGEN_ALIGN64 half in[8][16];
+  pstore<half>(in[0], kernel.packet[0]);
+  pstore<half>(in[1], kernel.packet[1]);
+  pstore<half>(in[2], kernel.packet[2]);
+  pstore<half>(in[3], kernel.packet[3]);
+  pstore<half>(in[4], kernel.packet[4]);
+  pstore<half>(in[5], kernel.packet[5]);
+  pstore<half>(in[6], kernel.packet[6]);
+  pstore<half>(in[7], kernel.packet[7]);
+
+  EIGEN_ALIGN64 half out[8][16];
+
+  for (int i = 0; i < 8; ++i) {
+    for (int j = 0; j < 8; ++j) {
+      out[i][j] = in[j][2*i];
+    }
+    for (int j = 0; j < 8; ++j) {
+      out[i][j+8] = in[j][2*i+1];
+    }
+  }
+
+  kernel.packet[0] = pload<Packet16h>(out[0]);
+  kernel.packet[1] = pload<Packet16h>(out[1]);
+  kernel.packet[2] = pload<Packet16h>(out[2]);
+  kernel.packet[3] = pload<Packet16h>(out[3]);
+  kernel.packet[4] = pload<Packet16h>(out[4]);
+  kernel.packet[5] = pload<Packet16h>(out[5]);
+  kernel.packet[6] = pload<Packet16h>(out[6]);
+  kernel.packet[7] = pload<Packet16h>(out[7]);
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet16h,4>& kernel) {
+  EIGEN_ALIGN64 half in[4][16];
+  pstore<half>(in[0], kernel.packet[0]);
+  pstore<half>(in[1], kernel.packet[1]);
+  pstore<half>(in[2], kernel.packet[2]);
+  pstore<half>(in[3], kernel.packet[3]);
+
+  EIGEN_ALIGN64 half out[4][16];
+
+  for (int i = 0; i < 4; ++i) {
+    for (int j = 0; j < 4; ++j) {
+      out[i][j] = in[j][4*i];
+    }
+    for (int j = 0; j < 4; ++j) {
+      out[i][j+4] = in[j][4*i+1];
+    }
+    for (int j = 0; j < 4; ++j) {
+      out[i][j+8] = in[j][4*i+2];
+    }
+    for (int j = 0; j < 4; ++j) {
+      out[i][j+12] = in[j][4*i+3];
+    }
+  }
+
+  kernel.packet[0] = pload<Packet16h>(out[0]);
+  kernel.packet[1] = pload<Packet16h>(out[1]);
+  kernel.packet[2] = pload<Packet16h>(out[2]);
+  kernel.packet[3] = pload<Packet16h>(out[3]);
+}
+
+
+#elif defined EIGEN_VECTORIZE_AVX
+
+typedef struct {
+  __m128i x;
+} Packet8h;
+
+
+template<> struct is_arithmetic<Packet8h> { enum { value = true }; };
+
+template <>
+struct packet_traits<Eigen::half> : default_packet_traits {
+  typedef Packet8h type;
+  // There is no half-size packet for Packet8h.
+  typedef Packet8h half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 8,
+    HasHalfPacket = 0,
+    HasAdd    = 0,
+    HasSub    = 0,
+    HasMul    = 0,
+    HasNegate = 0,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasConj   = 0,
+    HasSetLinear = 0,
+    HasDiv = 0,
+    HasSqrt = 0,
+    HasRsqrt = 0,
+    HasExp = 0,
+    HasLog = 0,
+    HasBlend = 0
+  };
+};
+
+
+template<> struct unpacket_traits<Packet8h> { typedef Eigen::half type; enum {size=8, alignment=Aligned16}; typedef Packet8h half; };
+
+template<> EIGEN_STRONG_INLINE Packet8h pset1<Packet8h>(const Eigen::half& from) {
+  Packet8h result;
+  result.x = _mm_set1_epi16(from.x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet8h>(const Packet8h& from) {
+  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm_extract_epi16(from.x, 0)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pload<Packet8h>(const Eigen::half* from) {
+  Packet8h result;
+  result.x = _mm_load_si128(reinterpret_cast<const __m128i*>(from));
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h ploadu<Packet8h>(const Eigen::half* from) {
+  Packet8h result;
+  result.x = _mm_loadu_si128(reinterpret_cast<const __m128i*>(from));
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet8h& from) {
+  _mm_store_si128(reinterpret_cast<__m128i*>(to), from.x);
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const Packet8h& from) {
+  _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from.x);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h
+ploadquad<Packet8h>(const Eigen::half* from) {
+  Packet8h result;
+  unsigned short a = from[0].x;
+  unsigned short b = from[1].x;
+  result.x = _mm_set_epi16(b, b, b, b, a, a, a, a);
+  return result;
+}
+
+EIGEN_STRONG_INLINE Packet8f half2float(const Packet8h& a) {
+#ifdef EIGEN_HAS_FP16_C
+  return _mm256_cvtph_ps(a.x);
+#else
+  EIGEN_ALIGN32 Eigen::half aux[8];
+  pstore(aux, a);
+  float f0(aux[0]);
+  float f1(aux[1]);
+  float f2(aux[2]);
+  float f3(aux[3]);
+  float f4(aux[4]);
+  float f5(aux[5]);
+  float f6(aux[6]);
+  float f7(aux[7]);
+
+  return _mm256_set_ps(f7, f6, f5, f4, f3, f2, f1, f0);
+#endif
+}
+
+EIGEN_STRONG_INLINE Packet8h float2half(const Packet8f& a) {
+#ifdef EIGEN_HAS_FP16_C
+  Packet8h result;
+  result.x = _mm256_cvtps_ph(a, _MM_FROUND_TO_NEAREST_INT|_MM_FROUND_NO_EXC);
+  return result;
+#else
+  EIGEN_ALIGN32 float aux[8];
+  pstore(aux, a);
+  Eigen::half h0(aux[0]);
+  Eigen::half h1(aux[1]);
+  Eigen::half h2(aux[2]);
+  Eigen::half h3(aux[3]);
+  Eigen::half h4(aux[4]);
+  Eigen::half h5(aux[5]);
+  Eigen::half h6(aux[6]);
+  Eigen::half h7(aux[7]);
+
+  Packet8h result;
+  result.x = _mm_set_epi16(h7.x, h6.x, h5.x, h4.x, h3.x, h2.x, h1.x, h0.x);
+  return result;
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pconj(const Packet8h& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet8h padd<Packet8h>(const Packet8h& a, const Packet8h& b) {
+  Packet8f af = half2float(a);
+  Packet8f bf = half2float(b);
+  Packet8f rf = padd(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pmul<Packet8h>(const Packet8h& a, const Packet8h& b) {
+  Packet8f af = half2float(a);
+  Packet8f bf = half2float(b);
+  Packet8f rf = pmul(af, bf);
+  return float2half(rf);
+}
+
+template<> EIGEN_STRONG_INLINE Packet8h pgather<Eigen::half, Packet8h>(const Eigen::half* from, Index stride)
+{
+  Packet8h result;
+  result.x = _mm_set_epi16(from[7*stride].x, from[6*stride].x, from[5*stride].x, from[4*stride].x, from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE void pscatter<Eigen::half, Packet8h>(Eigen::half* to, const Packet8h& from, Index stride)
+{
+  EIGEN_ALIGN32 Eigen::half aux[8];
+  pstore(aux, from);
+  to[stride*0].x = aux[0].x;
+  to[stride*1].x = aux[1].x;
+  to[stride*2].x = aux[2].x;
+  to[stride*3].x = aux[3].x;
+  to[stride*4].x = aux[4].x;
+  to[stride*5].x = aux[5].x;
+  to[stride*6].x = aux[6].x;
+  to[stride*7].x = aux[7].x;
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux<Packet8h>(const Packet8h& a) {
+  Packet8f af = half2float(a);
+  float reduced = predux<Packet8f>(af);
+  return Eigen::half(reduced);
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux_max<Packet8h>(const Packet8h& a) {
+  Packet8f af = half2float(a);
+  float reduced = predux_max<Packet8f>(af);
+  return Eigen::half(reduced);
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux_min<Packet8h>(const Packet8h& a) {
+  Packet8f af = half2float(a);
+  float reduced = predux_min<Packet8f>(af);
+  return Eigen::half(reduced);
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half predux_mul<Packet8h>(const Packet8h& a) {
+  Packet8f af = half2float(a);
+  float reduced = predux_mul<Packet8f>(af);
+  return Eigen::half(reduced);
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet8h,8>& kernel) {
+  __m128i a = kernel.packet[0].x;
+  __m128i b = kernel.packet[1].x;
+  __m128i c = kernel.packet[2].x;
+  __m128i d = kernel.packet[3].x;
+  __m128i e = kernel.packet[4].x;
+  __m128i f = kernel.packet[5].x;
+  __m128i g = kernel.packet[6].x;
+  __m128i h = kernel.packet[7].x;
+
+  __m128i a03b03 = _mm_unpacklo_epi16(a, b);
+  __m128i c03d03 = _mm_unpacklo_epi16(c, d);
+  __m128i e03f03 = _mm_unpacklo_epi16(e, f);
+  __m128i g03h03 = _mm_unpacklo_epi16(g, h);
+  __m128i a47b47 = _mm_unpackhi_epi16(a, b);
+  __m128i c47d47 = _mm_unpackhi_epi16(c, d);
+  __m128i e47f47 = _mm_unpackhi_epi16(e, f);
+  __m128i g47h47 = _mm_unpackhi_epi16(g, h);
+
+  __m128i a01b01c01d01 = _mm_unpacklo_epi32(a03b03, c03d03);
+  __m128i a23b23c23d23 = _mm_unpackhi_epi32(a03b03, c03d03);
+  __m128i e01f01g01h01 = _mm_unpacklo_epi32(e03f03, g03h03);
+  __m128i e23f23g23h23 = _mm_unpackhi_epi32(e03f03, g03h03);
+  __m128i a45b45c45d45 = _mm_unpacklo_epi32(a47b47, c47d47);
+  __m128i a67b67c67d67 = _mm_unpackhi_epi32(a47b47, c47d47);
+  __m128i e45f45g45h45 = _mm_unpacklo_epi32(e47f47, g47h47);
+  __m128i e67f67g67h67 = _mm_unpackhi_epi32(e47f47, g47h47);
+
+  __m128i a0b0c0d0e0f0g0h0 = _mm_unpacklo_epi64(a01b01c01d01, e01f01g01h01);
+  __m128i a1b1c1d1e1f1g1h1 = _mm_unpackhi_epi64(a01b01c01d01, e01f01g01h01);
+  __m128i a2b2c2d2e2f2g2h2 = _mm_unpacklo_epi64(a23b23c23d23, e23f23g23h23);
+  __m128i a3b3c3d3e3f3g3h3 = _mm_unpackhi_epi64(a23b23c23d23, e23f23g23h23);
+  __m128i a4b4c4d4e4f4g4h4 = _mm_unpacklo_epi64(a45b45c45d45, e45f45g45h45);
+  __m128i a5b5c5d5e5f5g5h5 = _mm_unpackhi_epi64(a45b45c45d45, e45f45g45h45);
+  __m128i a6b6c6d6e6f6g6h6 = _mm_unpacklo_epi64(a67b67c67d67, e67f67g67h67);
+  __m128i a7b7c7d7e7f7g7h7 = _mm_unpackhi_epi64(a67b67c67d67, e67f67g67h67);
+
+  kernel.packet[0].x = a0b0c0d0e0f0g0h0;
+  kernel.packet[1].x = a1b1c1d1e1f1g1h1;
+  kernel.packet[2].x = a2b2c2d2e2f2g2h2;
+  kernel.packet[3].x = a3b3c3d3e3f3g3h3;
+  kernel.packet[4].x = a4b4c4d4e4f4g4h4;
+  kernel.packet[5].x = a5b5c5d5e5f5g5h5;
+  kernel.packet[6].x = a6b6c6d6e6f6g6h6;
+  kernel.packet[7].x = a7b7c7d7e7f7g7h7;
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet8h,4>& kernel) {
+  EIGEN_ALIGN32 Eigen::half in[4][8];
+  pstore<Eigen::half>(in[0], kernel.packet[0]);
+  pstore<Eigen::half>(in[1], kernel.packet[1]);
+  pstore<Eigen::half>(in[2], kernel.packet[2]);
+  pstore<Eigen::half>(in[3], kernel.packet[3]);
+
+  EIGEN_ALIGN32 Eigen::half out[4][8];
+
+  for (int i = 0; i < 4; ++i) {
+    for (int j = 0; j < 4; ++j) {
+      out[i][j] = in[j][2*i];
+    }
+    for (int j = 0; j < 4; ++j) {
+      out[i][j+4] = in[j][2*i+1];
+    }
+  }
+
+  kernel.packet[0] = pload<Packet8h>(out[0]);
+  kernel.packet[1] = pload<Packet8h>(out[1]);
+  kernel.packet[2] = pload<Packet8h>(out[2]);
+  kernel.packet[3] = pload<Packet8h>(out[3]);
+}
+
+
+// Disable the following code since it's broken on too many platforms / compilers.
+//#elif defined(EIGEN_VECTORIZE_SSE) && (!EIGEN_ARCH_x86_64) && (!EIGEN_COMP_MSVC)
+#elif 0
+
+typedef struct {
+  __m64 x;
+} Packet4h;
+
+
+template<> struct is_arithmetic<Packet4h> { enum { value = true }; };
+
+template <>
+struct packet_traits<Eigen::half> : default_packet_traits {
+  typedef Packet4h type;
+  // There is no half-size packet for Packet4h.
+  typedef Packet4h half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+    HasHalfPacket = 0,
+    HasAdd    = 0,
+    HasSub    = 0,
+    HasMul    = 0,
+    HasNegate = 0,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasConj   = 0,
+    HasSetLinear = 0,
+    HasDiv = 0,
+    HasSqrt = 0,
+    HasRsqrt = 0,
+    HasExp = 0,
+    HasLog = 0,
+    HasBlend = 0
+  };
+};
+
+
+template<> struct unpacket_traits<Packet4h> { typedef Eigen::half type; enum {size=4, alignment=Aligned16}; typedef Packet4h half; };
+
+template<> EIGEN_STRONG_INLINE Packet4h pset1<Packet4h>(const Eigen::half& from) {
+  Packet4h result;
+  result.x = _mm_set1_pi16(from.x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Eigen::half pfirst<Packet4h>(const Packet4h& from) {
+  return half_impl::raw_uint16_to_half(static_cast<unsigned short>(_mm_cvtsi64_si32(from.x)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h pconj(const Packet4h& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet4h padd<Packet4h>(const Packet4h& a, const Packet4h& b) {
+  __int64_t a64 = _mm_cvtm64_si64(a.x);
+  __int64_t b64 = _mm_cvtm64_si64(b.x);
+
+  Eigen::half h[4];
+
+  Eigen::half ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64));
+  Eigen::half hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64));
+  h[0] = ha + hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 16));
+  h[1] = ha + hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 32));
+  h[2] = ha + hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 48));
+  h[3] = ha + hb;
+  Packet4h result;
+  result.x = _mm_set_pi16(h[3].x, h[2].x, h[1].x, h[0].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h pmul<Packet4h>(const Packet4h& a, const Packet4h& b) {
+  __int64_t a64 = _mm_cvtm64_si64(a.x);
+  __int64_t b64 = _mm_cvtm64_si64(b.x);
+
+  Eigen::half h[4];
+
+  Eigen::half ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64));
+  Eigen::half hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64));
+  h[0] = ha * hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 16));
+  h[1] = ha * hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 32));
+  h[2] = ha * hb;
+  ha = half_impl::raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
+  hb = half_impl::raw_uint16_to_half(static_cast<unsigned short>(b64 >> 48));
+  h[3] = ha * hb;
+  Packet4h result;
+  result.x = _mm_set_pi16(h[3].x, h[2].x, h[1].x, h[0].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h pload<Packet4h>(const Eigen::half* from) {
+  Packet4h result;
+  result.x = _mm_cvtsi64_m64(*reinterpret_cast<const __int64_t*>(from));
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h ploadu<Packet4h>(const Eigen::half* from) {
+  Packet4h result;
+  result.x = _mm_cvtsi64_m64(*reinterpret_cast<const __int64_t*>(from));
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<Eigen::half>(Eigen::half* to, const Packet4h& from) {
+  __int64_t r = _mm_cvtm64_si64(from.x);
+  *(reinterpret_cast<__int64_t*>(to)) = r;
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<Eigen::half>(Eigen::half* to, const Packet4h& from) {
+  __int64_t r = _mm_cvtm64_si64(from.x);
+  *(reinterpret_cast<__int64_t*>(to)) = r;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h
+ploadquad<Packet4h>(const Eigen::half* from) {
+  return pset1<Packet4h>(*from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4h pgather<Eigen::half, Packet4h>(const Eigen::half* from, Index stride)
+{
+  Packet4h result;
+  result.x = _mm_set_pi16(from[3*stride].x, from[2*stride].x, from[1*stride].x, from[0*stride].x);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE void pscatter<Eigen::half, Packet4h>(Eigen::half* to, const Packet4h& from, Index stride)
+{
+  __int64_t a = _mm_cvtm64_si64(from.x);
+  to[stride*0].x = static_cast<unsigned short>(a);
+  to[stride*1].x = static_cast<unsigned short>(a >> 16);
+  to[stride*2].x = static_cast<unsigned short>(a >> 32);
+  to[stride*3].x = static_cast<unsigned short>(a >> 48);
+}
+
+EIGEN_STRONG_INLINE void
+ptranspose(PacketBlock<Packet4h,4>& kernel) {
+  __m64 T0 = _mm_unpacklo_pi16(kernel.packet[0].x, kernel.packet[1].x);
+  __m64 T1 = _mm_unpacklo_pi16(kernel.packet[2].x, kernel.packet[3].x);
+  __m64 T2 = _mm_unpackhi_pi16(kernel.packet[0].x, kernel.packet[1].x);
+  __m64 T3 = _mm_unpackhi_pi16(kernel.packet[2].x, kernel.packet[3].x);
+
+  kernel.packet[0].x = _mm_unpacklo_pi32(T0, T1);
+  kernel.packet[1].x = _mm_unpackhi_pi32(T0, T1);
+  kernel.packet[2].x = _mm_unpacklo_pi32(T2, T3);
+  kernel.packet[3].x = _mm_unpackhi_pi32(T2, T3);
+}
+
+#endif
+
+}
+}
+
+#endif // EIGEN_PACKET_MATH_HALF_CUDA_H
diff --git a/eigenlib/Eigen/src/Core/arch/CUDA/TypeCasting.h b/eigenlib/Eigen/src/Core/arch/CUDA/TypeCasting.h
new file mode 100644
index 00000000..aa5fbce8
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/CUDA/TypeCasting.h
@@ -0,0 +1,212 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Benoit Steiner <benoit.steiner.goog@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TYPE_CASTING_CUDA_H
+#define EIGEN_TYPE_CASTING_CUDA_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<>
+struct scalar_cast_op<float, Eigen::half> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef Eigen::half result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half operator() (const float& a) const {
+    #if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+      return __float2half(a);
+    #else
+      return Eigen::half(a);
+    #endif
+  }
+};
+
+template<>
+struct functor_traits<scalar_cast_op<float, Eigen::half> >
+{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
+
+
+template<>
+struct scalar_cast_op<int, Eigen::half> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef Eigen::half result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Eigen::half operator() (const int& a) const {
+    #if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+      return __float2half(static_cast<float>(a));
+    #else
+      return Eigen::half(static_cast<float>(a));
+    #endif
+  }
+};
+
+template<>
+struct functor_traits<scalar_cast_op<int, Eigen::half> >
+{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
+
+
+template<>
+struct scalar_cast_op<Eigen::half, float> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef float result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float operator() (const Eigen::half& a) const {
+    #if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+      return __half2float(a);
+    #else
+      return static_cast<float>(a);
+    #endif
+  }
+};
+
+template<>
+struct functor_traits<scalar_cast_op<Eigen::half, float> >
+{ enum { Cost = NumTraits<float>::AddCost, PacketAccess = false }; };
+
+
+
+#if defined(EIGEN_HAS_CUDA_FP16) && defined(__CUDA_ARCH__) && __CUDA_ARCH__ >= 300
+
+template <>
+struct type_casting_traits<Eigen::half, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 2,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE float4 pcast<half2, float4>(const half2& a, const half2& b) {
+  float2 r1 = __half22float2(a);
+  float2 r2 = __half22float2(b);
+  return make_float4(r1.x, r1.y, r2.x, r2.y);
+}
+
+template <>
+struct type_casting_traits<float, Eigen::half> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 2
+  };
+};
+
+template<> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE half2 pcast<float4, half2>(const float4& a) {
+  // Simply discard the second half of the input
+  return __floats2half2_rn(a.x, a.y);
+}
+
+#elif defined EIGEN_VECTORIZE_AVX512
+template <>
+struct type_casting_traits<half, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet16f pcast<Packet16h, Packet16f>(const Packet16h& a) {
+  return half2float(a);
+}
+
+template <>
+struct type_casting_traits<float, half> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet16h pcast<Packet16f, Packet16h>(const Packet16f& a) {
+  return float2half(a);
+}
+
+#elif defined EIGEN_VECTORIZE_AVX
+
+template <>
+struct type_casting_traits<Eigen::half, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet8f pcast<Packet8h, Packet8f>(const Packet8h& a) {
+  return half2float(a);
+}
+
+template <>
+struct type_casting_traits<float, Eigen::half> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet8h pcast<Packet8f, Packet8h>(const Packet8f& a) {
+  return float2half(a);
+}
+
+// Disable the following code since it's broken on too many platforms / compilers.
+//#elif defined(EIGEN_VECTORIZE_SSE) && (!EIGEN_ARCH_x86_64) && (!EIGEN_COMP_MSVC)
+#elif 0
+
+template <>
+struct type_casting_traits<Eigen::half, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet4h, Packet4f>(const Packet4h& a) {
+  __int64_t a64 = _mm_cvtm64_si64(a.x);
+  Eigen::half h = raw_uint16_to_half(static_cast<unsigned short>(a64));
+  float f1 = static_cast<float>(h);
+  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 16));
+  float f2 = static_cast<float>(h);
+  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 32));
+  float f3 = static_cast<float>(h);
+  h = raw_uint16_to_half(static_cast<unsigned short>(a64 >> 48));
+  float f4 = static_cast<float>(h);
+  return _mm_set_ps(f4, f3, f2, f1);
+}
+
+template <>
+struct type_casting_traits<float, Eigen::half> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4h pcast<Packet4f, Packet4h>(const Packet4f& a) {
+  EIGEN_ALIGN16 float aux[4];
+  pstore(aux, a);
+  Eigen::half h0(aux[0]);
+  Eigen::half h1(aux[1]);
+  Eigen::half h2(aux[2]);
+  Eigen::half h3(aux[3]);
+
+  Packet4h result;
+  result.x = _mm_set_pi16(h3.x, h2.x, h1.x, h0.x);
+  return result;
+}
+
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TYPE_CASTING_CUDA_H
diff --git a/eigenlib/Eigen/src/Core/arch/Default/CMakeLists.txt b/eigenlib/Eigen/src/Core/arch/Default/CMakeLists.txt
deleted file mode 100644
index 339c091d..00000000
--- a/eigenlib/Eigen/src/Core/arch/Default/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Core_arch_Default_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Core_arch_Default_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/arch/Default COMPONENT Devel
-)
diff --git a/eigenlib/Eigen/src/Core/arch/NEON/CMakeLists.txt b/eigenlib/Eigen/src/Core/arch/NEON/CMakeLists.txt
deleted file mode 100644
index fd4d4af5..00000000
--- a/eigenlib/Eigen/src/Core/arch/NEON/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Core_arch_NEON_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Core_arch_NEON_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/arch/NEON COMPONENT Devel
-)
diff --git a/eigenlib/Eigen/src/Core/arch/NEON/Complex.h b/eigenlib/Eigen/src/Core/arch/NEON/Complex.h
index 8d9255ee..57e9b431 100644
--- a/eigenlib/Eigen/src/Core/arch/NEON/Complex.h
+++ b/eigenlib/Eigen/src/Core/arch/NEON/Complex.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2010 Konstantinos Margaritis <markos@freevec.org>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -14,8 +15,21 @@ namespace Eigen {
 
 namespace internal {
 
-static uint32x4_t p4ui_CONJ_XOR = EIGEN_INIT_NEON_PACKET4(0x00000000, 0x80000000, 0x00000000, 0x80000000);
-static uint32x2_t p2ui_CONJ_XOR = EIGEN_INIT_NEON_PACKET2(0x00000000, 0x80000000);
+inline uint32x4_t p4ui_CONJ_XOR() {
+// See bug 1325, clang fails to call vld1q_u64.
+#if EIGEN_COMP_CLANG
+  uint32x4_t ret = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+  return ret;
+#else
+  static const uint32_t conj_XOR_DATA[] = { 0x00000000, 0x80000000, 0x00000000, 0x80000000 };
+  return vld1q_u32( conj_XOR_DATA );
+#endif
+}
+
+inline uint32x2_t p2ui_CONJ_XOR() {
+  static const uint32_t conj_XOR_DATA[] = { 0x00000000, 0x80000000 };
+  return vld1_u32( conj_XOR_DATA );
+}
 
 //---------- float ----------
 struct Packet2cf
@@ -28,10 +42,12 @@ struct Packet2cf
 template<> struct packet_traits<std::complex<float> >  : default_packet_traits
 {
   typedef Packet2cf type;
+  typedef Packet2cf half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size = 2,
+    HasHalfPacket = 0,
 
     HasAdd    = 1,
     HasSub    = 1,
@@ -46,7 +62,7 @@ template<> struct packet_traits<std::complex<float> >  : default_packet_traits
   };
 };
 
-template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2}; };
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
 
 template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
 {
@@ -62,7 +78,7 @@ template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Pa
 template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
 {
   Packet4ui b = vreinterpretq_u32_f32(a.v);
-  return Packet2cf(vreinterpretq_f32_u32(veorq_u32(b, p4ui_CONJ_XOR)));
+  return Packet2cf(vreinterpretq_f32_u32(veorq_u32(b, p4ui_CONJ_XOR())));
 }
 
 template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
@@ -71,14 +87,14 @@ template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, con
 
   // Get the real values of a | a1_re | a1_re | a2_re | a2_re |
   v1 = vcombine_f32(vdup_lane_f32(vget_low_f32(a.v), 0), vdup_lane_f32(vget_high_f32(a.v), 0));
-  // Get the real values of a | a1_im | a1_im | a2_im | a2_im |
+  // Get the imag values of a | a1_im | a1_im | a2_im | a2_im |
   v2 = vcombine_f32(vdup_lane_f32(vget_low_f32(a.v), 1), vdup_lane_f32(vget_high_f32(a.v), 1));
   // Multiply the real a with b
   v1 = vmulq_f32(v1, b.v);
   // Multiply the imag a with b
   v2 = vmulq_f32(v2, b.v);
   // Conjugate v2 
-  v2 = vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(v2), p4ui_CONJ_XOR));
+  v2 = vreinterpretq_f32_u32(veorq_u32(vreinterpretq_u32_f32(v2), p4ui_CONJ_XOR()));
   // Swap real/imag elements in v2.
   v2 = vrev64q_f32(v2);
   // Add and return the result
@@ -87,7 +103,7 @@ template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, con
 
 template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
-  return Packet2cf(vreinterpretq_f32_u32(vorrq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
+  return Packet2cf(vreinterpretq_f32_u32(vandq_u32(vreinterpretq_u32_f32(a.v),vreinterpretq_u32_f32(b.v))));
 }
 template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
@@ -110,6 +126,22 @@ template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<
 template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
 template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v); }
 
+template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
+{
+  Packet4f res = pset1<Packet4f>(0.f);
+  res = vsetq_lane_f32(std::real(from[0*stride]), res, 0);
+  res = vsetq_lane_f32(std::imag(from[0*stride]), res, 1);
+  res = vsetq_lane_f32(std::real(from[1*stride]), res, 2);
+  res = vsetq_lane_f32(std::imag(from[1*stride]), res, 3);
+  return Packet2cf(res);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
+{
+  to[stride*0] = std::complex<float>(vgetq_lane_f32(from.v, 0), vgetq_lane_f32(from.v, 1));
+  to[stride*1] = std::complex<float>(vgetq_lane_f32(from.v, 2), vgetq_lane_f32(from.v, 3));
+}
+
 template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { EIGEN_ARM_PREFETCH((float *)addr); }
 
 template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
@@ -177,7 +209,7 @@ template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const P
   // Multiply the imag a with b
   v2 = vmul_f32(v2, a2);
   // Conjugate v2 
-  v2 = vreinterpret_f32_u32(veor_u32(vreinterpret_u32_f32(v2), p2ui_CONJ_XOR));
+  v2 = vreinterpret_f32_u32(veor_u32(vreinterpret_u32_f32(v2), p2ui_CONJ_XOR()));
   // Swap real/imag elements in v2.
   v2 = vrev64_f32(v2);
   // Add v1, v2
@@ -235,7 +267,7 @@ template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
 
 template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
-  // TODO optimize it for AltiVec
+  // TODO optimize it for NEON
   Packet2cf res = conj_helper<Packet2cf,Packet2cf,false,true>().pmul(a,b);
   Packet4f s, rev_s;
 
@@ -246,6 +278,207 @@ template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, con
   return Packet2cf(pdiv(res.v, vaddq_f32(s,rev_s)));
 }
 
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2cf,2>& kernel) {
+  Packet4f tmp = vcombine_f32(vget_high_f32(kernel.packet[0].v), vget_high_f32(kernel.packet[1].v));
+  kernel.packet[0].v = vcombine_f32(vget_low_f32(kernel.packet[0].v), vget_low_f32(kernel.packet[1].v));
+  kernel.packet[1].v = tmp;
+}
+
+//---------- double ----------
+#if EIGEN_ARCH_ARM64 && !EIGEN_APPLE_DOUBLE_NEON_BUG
+
+// See bug 1325, clang fails to call vld1q_u64.
+#if EIGEN_COMP_CLANG
+  static uint64x2_t p2ul_CONJ_XOR = {0x0, 0x8000000000000000};
+#else
+  const uint64_t  p2ul_conj_XOR_DATA[] = { 0x0, 0x8000000000000000 };
+  static uint64x2_t p2ul_CONJ_XOR = vld1q_u64( p2ul_conj_XOR_DATA );
+#endif
+
+struct Packet1cd
+{
+  EIGEN_STRONG_INLINE Packet1cd() {}
+  EIGEN_STRONG_INLINE explicit Packet1cd(const Packet2d& a) : v(a) {}
+  Packet2d v;
+};
+
+template<> struct packet_traits<std::complex<double> >  : default_packet_traits
+{
+  typedef Packet1cd type;
+  typedef Packet1cd half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 0,
+    size = 1,
+    HasHalfPacket = 0,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
+
+template<> EIGEN_STRONG_INLINE Packet1cd pload<Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cd(ploadu<Packet2d>((const double*)from)); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>&  from)
+{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(padd<Packet2d>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(psub<Packet2d>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate<Packet2d>(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) { return Packet1cd(vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a.v), p2ul_CONJ_XOR))); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  Packet2d v1, v2;
+
+  // Get the real values of a 
+  v1 = vdupq_lane_f64(vget_low_f64(a.v), 0);
+  // Get the imag values of a
+  v2 = vdupq_lane_f64(vget_high_f64(a.v), 0);
+  // Multiply the real a with b
+  v1 = vmulq_f64(v1, b.v);
+  // Multiply the imag a with b
+  v2 = vmulq_f64(v2, b.v);
+  // Conjugate v2 
+  v2 = vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(v2), p2ul_CONJ_XOR));
+  // Swap real/imag elements in v2.
+  v2 = preverse<Packet2d>(v2);
+  // Add and return the result
+  return Packet1cd(vaddq_f64(v1, v2));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  return Packet1cd(vreinterpretq_f64_u64(vandq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  return Packet1cd(vreinterpretq_f64_u64(vorrq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  return Packet1cd(vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
+}
+template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  return Packet1cd(vreinterpretq_f64_u64(vbicq_u64(vreinterpretq_u64_f64(a.v),vreinterpretq_u64_f64(b.v))));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* from) { return pset1<Packet1cd>(*from); }
+
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *   addr) { EIGEN_ARM_PREFETCH((double *)addr); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index stride)
+{
+  Packet2d res = pset1<Packet2d>(0.0);
+  res = vsetq_lane_f64(std::real(from[0*stride]), res, 0);
+  res = vsetq_lane_f64(std::imag(from[0*stride]), res, 1);
+  return Packet1cd(res);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index stride)
+{
+  to[stride*0] = std::complex<double>(vgetq_lane_f64(from.v, 0), vgetq_lane_f64(from.v, 1));
+}
+
+
+template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
+{
+  std::complex<double> EIGEN_ALIGN16 res;
+  pstore<std::complex<double> >(&res, a);
+
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs) { return vecs[0]; }
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a) { return pfirst(a); }
+
+template<int Offset>
+struct palign_impl<Offset,Packet1cd>
+{
+  static EIGEN_STRONG_INLINE void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
+  {
+    // FIXME is it sure we never have to align a Packet1cd?
+    // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  // TODO optimize it for NEON
+  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
+  Packet2d s = pmul<Packet2d>(b.v, b.v);
+  Packet2d rev_s = preverse<Packet2d>(s);
+
+  return Packet1cd(pdiv(res.v, padd<Packet2d>(s,rev_s)));
+}
+
+EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
+{
+  return Packet1cd(preverse(Packet2d(x.v)));
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
+{
+  Packet2d tmp = vcombine_f64(vget_high_f64(kernel.packet[0].v), vget_high_f64(kernel.packet[1].v));
+  kernel.packet[0].v = vcombine_f64(vget_low_f64(kernel.packet[0].v), vget_low_f64(kernel.packet[1].v));
+  kernel.packet[1].v = tmp;
+}
+#endif // EIGEN_ARCH_ARM64
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/arch/NEON/MathFunctions.h b/eigenlib/Eigen/src/Core/arch/NEON/MathFunctions.h
new file mode 100644
index 00000000..6bb05bb9
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/NEON/MathFunctions.h
@@ -0,0 +1,91 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+/* The sin, cos, exp, and log functions of this file come from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+#ifndef EIGEN_MATH_FUNCTIONS_NEON_H
+#define EIGEN_MATH_FUNCTIONS_NEON_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pexp<Packet4f>(const Packet4f& _x)
+{
+  Packet4f x = _x;
+  Packet4f tmp, fx;
+
+  _EIGEN_DECLARE_CONST_Packet4f(1 , 1.0f);
+  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5f);
+  _EIGEN_DECLARE_CONST_Packet4i(0x7f, 0x7f);
+  _EIGEN_DECLARE_CONST_Packet4f(exp_hi,  88.3762626647950f);
+  _EIGEN_DECLARE_CONST_Packet4f(exp_lo, -88.3762626647949f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_LOG2EF, 1.44269504088896341f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C1, 0.693359375f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_C2, -2.12194440e-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p0, 1.9875691500E-4f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p1, 1.3981999507E-3f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p2, 8.3334519073E-3f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p3, 4.1665795894E-2f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
+  _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
+
+  x = vminq_f32(x, p4f_exp_hi);
+  x = vmaxq_f32(x, p4f_exp_lo);
+
+  /* express exp(x) as exp(g + n*log(2)) */
+  fx = vmlaq_f32(p4f_half, x, p4f_cephes_LOG2EF);
+
+  /* perform a floorf */
+  tmp = vcvtq_f32_s32(vcvtq_s32_f32(fx));
+
+  /* if greater, substract 1 */
+  Packet4ui mask = vcgtq_f32(tmp, fx);
+  mask = vandq_u32(mask, vreinterpretq_u32_f32(p4f_1));
+
+  fx = vsubq_f32(tmp, vreinterpretq_f32_u32(mask));
+
+  tmp = vmulq_f32(fx, p4f_cephes_exp_C1);
+  Packet4f z = vmulq_f32(fx, p4f_cephes_exp_C2);
+  x = vsubq_f32(x, tmp);
+  x = vsubq_f32(x, z);
+
+  Packet4f y = vmulq_f32(p4f_cephes_exp_p0, x);
+  z = vmulq_f32(x, x);
+  y = vaddq_f32(y, p4f_cephes_exp_p1);
+  y = vmulq_f32(y, x);
+  y = vaddq_f32(y, p4f_cephes_exp_p2);
+  y = vmulq_f32(y, x);
+  y = vaddq_f32(y, p4f_cephes_exp_p3);
+  y = vmulq_f32(y, x);
+  y = vaddq_f32(y, p4f_cephes_exp_p4);
+  y = vmulq_f32(y, x);
+  y = vaddq_f32(y, p4f_cephes_exp_p5);
+
+  y = vmulq_f32(y, z);
+  y = vaddq_f32(y, x);
+  y = vaddq_f32(y, p4f_1);
+
+  /* build 2^n */
+  int32x4_t mm;
+  mm = vcvtq_s32_f32(fx);
+  mm = vaddq_s32(mm, p4i_0x7f);
+  mm = vshlq_n_s32(mm, 23);
+  Packet4f pow2n = vreinterpretq_f32_s32(mm);
+
+  y = vmulq_f32(y, pow2n);
+  return y;
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_MATH_FUNCTIONS_NEON_H
diff --git a/eigenlib/Eigen/src/Core/arch/NEON/PacketMath.h b/eigenlib/Eigen/src/Core/arch/NEON/PacketMath.h
index 94dfab33..d392bf3f 100644
--- a/eigenlib/Eigen/src/Core/arch/NEON/PacketMath.h
+++ b/eigenlib/Eigen/src/Core/arch/NEON/PacketMath.h
@@ -2,7 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2010 Konstantinos Margaritis <markos@codex.gr>
+// Copyright (C) 2010 Konstantinos Margaritis <markos@freevec.org>
 // Heavily based on Gael's SSE version.
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -20,14 +20,26 @@ namespace internal {
 #define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 8
 #endif
 
-// FIXME NEON has 16 quad registers, but since the current register allocator
-// is so bad, it is much better to reduce it to 8
-#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
-#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 8
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
 #endif
 
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#if EIGEN_ARCH_ARM64
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 32
+#else
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS 16 
+#endif
+#endif
+
+typedef float32x2_t Packet2f;
 typedef float32x4_t Packet4f;
 typedef int32x4_t   Packet4i;
+typedef int32x2_t   Packet2i;
 typedef uint32x4_t  Packet4ui;
 
 #define _EIGEN_DECLARE_CONST_Packet4f(NAME,X) \
@@ -39,23 +51,13 @@ typedef uint32x4_t  Packet4ui;
 #define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
   const Packet4i p4i_##NAME = pset1<Packet4i>(X)
 
-#if defined(__llvm__) && !defined(__clang__)
-  //Special treatment for Apple's llvm-gcc, its NEON packet types are unions
-  #define EIGEN_INIT_NEON_PACKET2(X, Y)       {{X, Y}}
-  #define EIGEN_INIT_NEON_PACKET4(X, Y, Z, W) {{X, Y, Z, W}}
-#else
-  //Default initializer for packets
-  #define EIGEN_INIT_NEON_PACKET2(X, Y)       {X, Y}
-  #define EIGEN_INIT_NEON_PACKET4(X, Y, Z, W) {X, Y, Z, W}
-#endif
-
 // arm64 does have the pld instruction. If available, let's trust the __builtin_prefetch built-in function
 // which available on LLVM and GCC (at least)
-#if EIGEN_HAS_BUILTIN(__builtin_prefetch) || defined(__GNUC__)
+#if EIGEN_HAS_BUILTIN(__builtin_prefetch) || EIGEN_COMP_GNUC
   #define EIGEN_ARM_PREFETCH(ADDR) __builtin_prefetch(ADDR);
 #elif defined __pld
   #define EIGEN_ARM_PREFETCH(ADDR) __pld(ADDR)
-#elif !defined(__aarch64__)
+#elif !EIGEN_ARCH_ARM64
   #define EIGEN_ARM_PREFETCH(ADDR) __asm__ __volatile__ ( "   pld [%[addr]]\n" :: [addr] "r" (ADDR) : "cc" );
 #else
   // by default no explicit prefetching
@@ -65,53 +67,60 @@ typedef uint32x4_t  Packet4ui;
 template<> struct packet_traits<float>  : default_packet_traits
 {
   typedef Packet4f type;
+  typedef Packet4f half; // Packet2f intrinsics not implemented yet
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size = 4,
+    HasHalfPacket=0, // Packet2f intrinsics not implemented yet
    
     HasDiv  = 1,
     // FIXME check the Has*
     HasSin  = 0,
     HasCos  = 0,
     HasLog  = 0,
-    HasExp  = 0,
+    HasExp  = 1,
     HasSqrt = 0
   };
 };
 template<> struct packet_traits<int>    : default_packet_traits
 {
   typedef Packet4i type;
+  typedef Packet4i half; // Packet2i intrinsics not implemented yet
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
-    size=4
+    size=4,
+    HasHalfPacket=0 // Packet2i intrinsics not implemented yet
     // FIXME check the Has*
   };
 };
 
-#if EIGEN_GNUC_AT_MOST(4,4) && !defined(__llvm__)
+#if EIGEN_GNUC_AT_MOST(4,4) && !EIGEN_COMP_LLVM
 // workaround gcc 4.2, 4.3 and 4.4 compilatin issue
 EIGEN_STRONG_INLINE float32x4_t vld1q_f32(const float* x) { return ::vld1q_f32((const float32_t*)x); }
 EIGEN_STRONG_INLINE float32x2_t vld1_f32 (const float* x) { return ::vld1_f32 ((const float32_t*)x); }
+EIGEN_STRONG_INLINE float32x2_t vld1_dup_f32 (const float* x) { return ::vld1_dup_f32 ((const float32_t*)x); }
 EIGEN_STRONG_INLINE void        vst1q_f32(float* to, float32x4_t from) { ::vst1q_f32((float32_t*)to,from); }
 EIGEN_STRONG_INLINE void        vst1_f32 (float* to, float32x2_t from) { ::vst1_f32 ((float32_t*)to,from); }
 #endif
 
-template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4}; };
-template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4}; };
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
 
 template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return vdupq_n_f32(from); }
 template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)   { return vdupq_n_s32(from); }
 
-template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a)
+template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a)
 {
-  Packet4f countdown = EIGEN_INIT_NEON_PACKET4(0, 1, 2, 3);
+  const float32_t f[] = {0, 1, 2, 3};
+  Packet4f countdown = vld1q_f32(f);
   return vaddq_f32(pset1<Packet4f>(a), countdown);
 }
-template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a)
+template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int& a)
 {
-  Packet4i countdown = EIGEN_INIT_NEON_PACKET4(0, 1, 2, 3);
+  const int32_t i[] = {0, 1, 2, 3};
+  Packet4i countdown = vld1q_s32(i);
   return vaddq_s32(pset1<Packet4i>(a), countdown);
 }
 
@@ -132,6 +141,9 @@ template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const
 
 template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
 {
+#if EIGEN_ARCH_ARM64
+  return vdivq_f32(a,b);
+#else
   Packet4f inv, restep, div;
 
   // NEON does not offer a divide instruction, we have to do a reciprocal approximation
@@ -150,14 +162,51 @@ template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const
   div = vmulq_f32(a, inv);
 
   return div;
+#endif
 }
+
 template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
 { eigen_assert(false && "packet integer division are not supported by NEON");
   return pset1<Packet4i>(0);
 }
 
-// for some weird raisons, it has to be overloaded for packet of integers
-template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vmlaq_f32(c,a,b); }
+// Clang/ARM wrongly advertises __ARM_FEATURE_FMA even when it's not available,
+// then implements a slow software scalar fallback calling fmaf()!
+// Filed LLVM bug:
+//     https://llvm.org/bugs/show_bug.cgi?id=27216
+#if (defined __ARM_FEATURE_FMA) && !(EIGEN_COMP_CLANG && EIGEN_ARCH_ARM)
+// See bug 936.
+// FMA is available on VFPv4 i.e. when compiling with -mfpu=neon-vfpv4.
+// FMA is a true fused multiply-add i.e. only 1 rounding at the end, no intermediate rounding.
+// MLA is not fused i.e. does 2 roundings.
+// In addition to giving better accuracy, FMA also gives better performance here on a Krait (Nexus 4):
+// MLA: 10 GFlop/s ; FMA: 12 GFlops/s.
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return vfmaq_f32(c,a,b); }
+#else
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) {
+#if EIGEN_COMP_CLANG && EIGEN_ARCH_ARM
+  // Clang/ARM will replace VMLA by VMUL+VADD at least for some values of -mcpu,
+  // at least -mcpu=cortex-a8 and -mcpu=cortex-a7. Since the former is the default on
+  // -march=armv7-a, that is a very common case.
+  // See e.g. this thread:
+  //     http://lists.llvm.org/pipermail/llvm-dev/2013-December/068806.html
+  // Filed LLVM bug:
+  //     https://llvm.org/bugs/show_bug.cgi?id=27219
+  Packet4f r = c;
+  asm volatile(
+    "vmla.f32 %q[r], %q[a], %q[b]"
+    : [r] "+w" (r)
+    : [a] "w" (a),
+      [b] "w" (b)
+    : );
+  return r;
+#else
+  return vmlaq_f32(c,a,b);
+#endif
+}
+#endif
+
+// No FMA instruction for int, so use MLA unconditionally.
 template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return vmlaq_s32(c,a,b); }
 
 template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return vminq_f32(a,b); }
@@ -218,6 +267,40 @@ template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& f
 template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_f32(to, from); }
 template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_s32(to, from); }
 
+template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
+{
+  Packet4f res = pset1<Packet4f>(0.f);
+  res = vsetq_lane_f32(from[0*stride], res, 0);
+  res = vsetq_lane_f32(from[1*stride], res, 1);
+  res = vsetq_lane_f32(from[2*stride], res, 2);
+  res = vsetq_lane_f32(from[3*stride], res, 3);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
+{
+  Packet4i res = pset1<Packet4i>(0);
+  res = vsetq_lane_s32(from[0*stride], res, 0);
+  res = vsetq_lane_s32(from[1*stride], res, 1);
+  res = vsetq_lane_s32(from[2*stride], res, 2);
+  res = vsetq_lane_s32(from[3*stride], res, 3);
+  return res;
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+{
+  to[stride*0] = vgetq_lane_f32(from, 0);
+  to[stride*1] = vgetq_lane_f32(from, 1);
+  to[stride*2] = vgetq_lane_f32(from, 2);
+  to[stride*3] = vgetq_lane_f32(from, 3);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
+{
+  to[stride*0] = vgetq_lane_s32(from, 0);
+  to[stride*1] = vgetq_lane_s32(from, 1);
+  to[stride*2] = vgetq_lane_s32(from, 2);
+  to[stride*3] = vgetq_lane_s32(from, 3);
+}
+
 template<> EIGEN_STRONG_INLINE void prefetch<float>(const float* addr) { EIGEN_ARM_PREFETCH(addr); }
 template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*     addr) { EIGEN_ARM_PREFETCH(addr); }
 
@@ -243,6 +326,7 @@ template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a) {
   a_hi = vget_high_s32(a_r64);
   return vcombine_s32(a_hi, a_lo);
 }
+
 template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a) { return vabsq_f32(a); }
 template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a) { return vabsq_s32(a); }
 
@@ -384,6 +468,7 @@ template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
   a_lo = vget_low_s32(a);
   a_hi = vget_high_s32(a);
   max = vpmax_s32(a_lo, a_hi);
+  max = vpmax_s32(max, max);
 
   return vget_lane_s32(max, 0);
 }
@@ -409,9 +494,231 @@ PALIGN_NEON(0,Packet4i,vextq_s32)
 PALIGN_NEON(1,Packet4i,vextq_s32)
 PALIGN_NEON(2,Packet4i,vextq_s32)
 PALIGN_NEON(3,Packet4i,vextq_s32)
-    
+
 #undef PALIGN_NEON
 
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4f,4>& kernel) {
+  float32x4x2_t tmp1 = vzipq_f32(kernel.packet[0], kernel.packet[1]);
+  float32x4x2_t tmp2 = vzipq_f32(kernel.packet[2], kernel.packet[3]);
+
+  kernel.packet[0] = vcombine_f32(vget_low_f32(tmp1.val[0]), vget_low_f32(tmp2.val[0]));
+  kernel.packet[1] = vcombine_f32(vget_high_f32(tmp1.val[0]), vget_high_f32(tmp2.val[0]));
+  kernel.packet[2] = vcombine_f32(vget_low_f32(tmp1.val[1]), vget_low_f32(tmp2.val[1]));
+  kernel.packet[3] = vcombine_f32(vget_high_f32(tmp1.val[1]), vget_high_f32(tmp2.val[1]));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4i,4>& kernel) {
+  int32x4x2_t tmp1 = vzipq_s32(kernel.packet[0], kernel.packet[1]);
+  int32x4x2_t tmp2 = vzipq_s32(kernel.packet[2], kernel.packet[3]);
+  kernel.packet[0] = vcombine_s32(vget_low_s32(tmp1.val[0]), vget_low_s32(tmp2.val[0]));
+  kernel.packet[1] = vcombine_s32(vget_high_s32(tmp1.val[0]), vget_high_s32(tmp2.val[0]));
+  kernel.packet[2] = vcombine_s32(vget_low_s32(tmp1.val[1]), vget_low_s32(tmp2.val[1]));
+  kernel.packet[3] = vcombine_s32(vget_high_s32(tmp1.val[1]), vget_high_s32(tmp2.val[1]));
+}
+
+//---------- double ----------
+
+// Clang 3.5 in the iOS toolchain has an ICE triggered by NEON intrisics for double.
+// Confirmed at least with __apple_build_version__ = 6000054.
+#ifdef __apple_build_version__
+// Let's hope that by the time __apple_build_version__ hits the 601* range, the bug will be fixed.
+// https://gist.github.com/yamaya/2924292 suggests that the 3 first digits are only updated with
+// major toolchain updates.
+#define EIGEN_APPLE_DOUBLE_NEON_BUG (__apple_build_version__ < 6010000)
+#else
+#define EIGEN_APPLE_DOUBLE_NEON_BUG 0
+#endif
+
+#if EIGEN_ARCH_ARM64 && !EIGEN_APPLE_DOUBLE_NEON_BUG
+
+// Bug 907: workaround missing declarations of the following two functions in the ADK
+// Defining these functions as templates ensures that if these intrinsics are
+// already defined in arm_neon.h, then our workaround doesn't cause a conflict
+// and has lower priority in overload resolution.
+template <typename T>
+uint64x2_t vreinterpretq_u64_f64(T a)
+{
+  return (uint64x2_t) a;
+}
+
+template <typename T>
+float64x2_t vreinterpretq_f64_u64(T a)
+{
+  return (float64x2_t) a;
+}
+
+typedef float64x2_t Packet2d;
+typedef float64x1_t Packet1d;
+
+template<> struct packet_traits<double>  : default_packet_traits
+{
+  typedef Packet2d type;
+  typedef Packet2d half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+    HasHalfPacket=0,
+   
+    HasDiv  = 1,
+    // FIXME check the Has*
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 0,
+    HasExp  = 0,
+    HasSqrt = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet2d> { typedef double  type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
+
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double&  from) { return vdupq_n_f64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a)
+{
+  const double countdown_raw[] = {0.0,1.0};
+  const Packet2d countdown = vld1q_f64(countdown_raw);
+  return vaddq_f64(pset1<Packet2d>(a), countdown);
+}
+template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return vaddq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return vsubq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) { return vnegq_f64(a); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return vmulq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return vdivq_f64(a,b); }
+
+#ifdef __ARM_FEATURE_FMA
+// See bug 936. See above comment about FMA for float.
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vfmaq_f64(c,a,b); }
+#else
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vmlaq_f64(c,a,b); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vminq_f64(a,b); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vmaxq_f64(a,b); }
+
+// Logical Operations are not supported for float, so we have to reinterpret casts using NEON intrinsics
+template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+  return vreinterpretq_f64_u64(vandq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+  return vreinterpretq_f64_u64(vorrq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+  return vreinterpretq_f64_u64(veorq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b)
+{
+  return vreinterpretq_f64_u64(vbicq_u64(vreinterpretq_u64_f64(a),vreinterpretq_u64_f64(b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from) { EIGEN_DEBUG_ALIGNED_LOAD return vld1q_f64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return vld1q_f64(from); }
+
+template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
+{
+  return vld1q_dup_f64(from);
+}
+template<> EIGEN_STRONG_INLINE void pstore<double>(double*   to, const Packet2d& from) { EIGEN_DEBUG_ALIGNED_STORE vst1q_f64(to, from); }
+
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double*  to, const Packet2d& from) { EIGEN_DEBUG_UNALIGNED_STORE vst1q_f64(to, from); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
+{
+  Packet2d res = pset1<Packet2d>(0.0);
+  res = vsetq_lane_f64(from[0*stride], res, 0);
+  res = vsetq_lane_f64(from[1*stride], res, 1);
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
+{
+  to[stride*0] = vgetq_lane_f64(from, 0);
+  to[stride*1] = vgetq_lane_f64(from, 1);
+}
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_ARM_PREFETCH(addr); }
+
+// FIXME only store the 2 first elements ?
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(a, 0); }
+
+template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a) { return vcombine_f64(vget_high_f64(a), vget_low_f64(a)); }
+
+template<> EIGEN_STRONG_INLINE Packet2d pabs(const Packet2d& a) { return vabsq_f64(a); }
+
+#if EIGEN_COMP_CLANG && defined(__apple_build_version__)
+// workaround ICE, see bug 907
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return (vget_low_f64(a) + vget_high_f64(a))[0]; }
+#else
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return vget_lane_f64(vget_low_f64(a) + vget_high_f64(a), 0); }
+#endif
+
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+  float64x2_t trn1, trn2;
+
+  // NEON zip performs interleaving of the supplied vectors.
+  // We perform two interleaves in a row to acquire the transposed vector
+  trn1 = vzip1q_f64(vecs[0], vecs[1]);
+  trn2 = vzip2q_f64(vecs[0], vecs[1]);
+
+  // Do the addition of the resulting vectors
+  return vaddq_f64(trn1, trn2);
+}
+// Other reduction functions:
+// mul
+#if EIGEN_COMP_CLANG && defined(__apple_build_version__)
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a) { return (vget_low_f64(a) * vget_high_f64(a))[0]; }
+#else
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a) { return vget_lane_f64(vget_low_f64(a) * vget_high_f64(a), 0); }
+#endif
+
+// min
+template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(vpminq_f64(a, a), 0); }
+
+// max
+template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a) { return vgetq_lane_f64(vpmaxq_f64(a, a), 0); }
+
+// this PALIGN_NEON business is to work around a bug in LLVM Clang 3.0 causing incorrect compilation errors,
+// see bug 347 and this LLVM bug: http://llvm.org/bugs/show_bug.cgi?id=11074
+#define PALIGN_NEON(Offset,Type,Command) \
+template<>\
+struct palign_impl<Offset,Type>\
+{\
+    EIGEN_STRONG_INLINE static void run(Type& first, const Type& second)\
+    {\
+        if (Offset!=0)\
+            first = Command(first, second, Offset);\
+    }\
+};\
+
+PALIGN_NEON(0,Packet2d,vextq_f64)
+PALIGN_NEON(1,Packet2d,vextq_f64)
+#undef PALIGN_NEON
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2d,2>& kernel) {
+  float64x2_t trn1 = vzip1q_f64(kernel.packet[0], kernel.packet[1]);
+  float64x2_t trn2 = vzip2q_f64(kernel.packet[0], kernel.packet[1]);
+
+  kernel.packet[0] = trn1;
+  kernel.packet[1] = trn2;
+}
+#endif // EIGEN_ARCH_ARM64 
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/arch/SSE/CMakeLists.txt b/eigenlib/Eigen/src/Core/arch/SSE/CMakeLists.txt
deleted file mode 100644
index 46ea7cc6..00000000
--- a/eigenlib/Eigen/src/Core/arch/SSE/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Core_arch_SSE_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Core_arch_SSE_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/arch/SSE COMPONENT Devel
-)
diff --git a/eigenlib/Eigen/src/Core/arch/SSE/Complex.h b/eigenlib/Eigen/src/Core/arch/SSE/Complex.h
index 91bba5e3..5607fe0a 100644
--- a/eigenlib/Eigen/src/Core/arch/SSE/Complex.h
+++ b/eigenlib/Eigen/src/Core/arch/SSE/Complex.h
@@ -22,13 +22,18 @@ struct Packet2cf
   __m128  v;
 };
 
+// Use the packet_traits defined in AVX/PacketMath.h instead if we're going
+// to leverage AVX instructions.
+#ifndef EIGEN_VECTORIZE_AVX
 template<> struct packet_traits<std::complex<float> >  : default_packet_traits
 {
   typedef Packet2cf type;
+  typedef Packet2cf half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size = 2,
+    HasHalfPacket = 0,
 
     HasAdd    = 1,
     HasSub    = 1,
@@ -39,11 +44,13 @@ template<> struct packet_traits<std::complex<float> >  : default_packet_traits
     HasAbs2   = 0,
     HasMin    = 0,
     HasMax    = 0,
-    HasSetLinear = 0
+    HasSetLinear = 0,
+    HasBlend = 1
   };
 };
+#endif
 
-template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2}; };
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float> type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
 
 template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_add_ps(a.v,b.v)); }
 template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(_mm_sub_ps(a.v,b.v)); }
@@ -60,7 +67,6 @@ template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
 
 template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
 {
-  // TODO optimize it for SSE3 and 4
   #ifdef EIGEN_VECTORIZE_SSE3
   return Packet2cf(_mm_addsub_ps(_mm_mul_ps(_mm_moveldup_ps(a.v), b.v),
                                  _mm_mul_ps(_mm_movehdup_ps(a.v),
@@ -104,8 +110,23 @@ template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<flo
 
 template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>* from) { return pset1<Packet2cf>(*from); }
 
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore(&numext::real_ref(*to), from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(&numext::real_ref(*to), from.v); }
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore(&numext::real_ref(*to), Packet4f(from.v)); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *   to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(&numext::real_ref(*to), Packet4f(from.v)); }
+
+
+template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
+{
+  return Packet2cf(_mm_set_ps(std::imag(from[1*stride]), std::real(from[1*stride]),
+                              std::imag(from[0*stride]), std::real(from[0*stride])));
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
+{
+  to[stride*0] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 0)),
+                                     _mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 1)));
+  to[stride*1] = std::complex<float>(_mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 2)),
+                                     _mm_cvtss_f32(_mm_shuffle_ps(from.v, from.v, 3)));
+}
 
 template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
 
@@ -124,7 +145,7 @@ template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Pack
   #endif
 }
 
-template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a) { return Packet2cf(_mm_castpd_ps(preverse(_mm_castps_pd(a.v)))); }
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a) { return Packet2cf(_mm_castpd_ps(preverse(Packet2d(_mm_castps_pd(a.v))))); }
 
 template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
 {
@@ -214,7 +235,7 @@ template<> struct conj_helper<Packet4f, Packet2cf, false,false>
   { return padd(c, pmul(x,y)); }
 
   EIGEN_STRONG_INLINE Packet2cf pmul(const Packet4f& x, const Packet2cf& y) const
-  { return Packet2cf(Eigen::internal::pmul(x, y.v)); }
+  { return Packet2cf(Eigen::internal::pmul<Packet4f>(x, y.v)); }
 };
 
 template<> struct conj_helper<Packet2cf, Packet4f, false,false>
@@ -223,7 +244,7 @@ template<> struct conj_helper<Packet2cf, Packet4f, false,false>
   { return padd(c, pmul(x,y)); }
 
   EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& x, const Packet4f& y) const
-  { return Packet2cf(Eigen::internal::pmul(x.v, y)); }
+  { return Packet2cf(Eigen::internal::pmul<Packet4f>(x.v, y)); }
 };
 
 template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
@@ -234,7 +255,7 @@ template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, con
   return Packet2cf(_mm_div_ps(res.v,_mm_add_ps(s,_mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(s), 0xb1)))));
 }
 
-EIGEN_STRONG_INLINE Packet2cf pcplxflip/*<Packet2cf>*/(const Packet2cf& x)
+EIGEN_STRONG_INLINE Packet2cf pcplxflip/* <Packet2cf> */(const Packet2cf& x)
 {
   return Packet2cf(vec4f_swizzle1(x.v, 1, 0, 3, 2));
 }
@@ -248,13 +269,18 @@ struct Packet1cd
   __m128d  v;
 };
 
+// Use the packet_traits defined in AVX/PacketMath.h instead if we're going
+// to leverage AVX instructions.
+#ifndef EIGEN_VECTORIZE_AVX
 template<> struct packet_traits<std::complex<double> >  : default_packet_traits
 {
   typedef Packet1cd type;
+  typedef Packet1cd half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 0,
     size = 1,
+    HasHalfPacket = 0,
 
     HasAdd    = 1,
     HasSub    = 1,
@@ -268,12 +294,13 @@ template<> struct packet_traits<std::complex<double> >  : default_packet_traits
     HasSetLinear = 0
   };
 };
+#endif
 
-template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1}; };
+template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
 
 template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_add_pd(a.v,b.v)); }
 template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(_mm_sub_pd(a.v,b.v)); }
-template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(a.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(Packet2d(a.v))); }
 template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a)
 {
   const __m128d mask = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
@@ -282,9 +309,8 @@ template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a)
 
 template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
 {
-  // TODO optimize it for SSE3 and 4
   #ifdef EIGEN_VECTORIZE_SSE3
-  return Packet1cd(_mm_addsub_pd(_mm_mul_pd(vec2d_swizzle1(a.v, 0, 0), b.v),
+  return Packet1cd(_mm_addsub_pd(_mm_mul_pd(_mm_movedup_pd(a.v), b.v),
                                  _mm_mul_pd(vec2d_swizzle1(a.v, 1, 1),
                                             vec2d_swizzle1(b.v, 1, 0))));
   #else
@@ -311,8 +337,8 @@ template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<dou
 template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>* from) { return pset1<Packet1cd>(*from); }
 
 // FIXME force unaligned store, this is a temporary fix
-template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
-template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, Packet2d(from.v)); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, Packet2d(from.v)); }
 
 template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
 
@@ -410,7 +436,7 @@ template<> struct conj_helper<Packet2d, Packet1cd, false,false>
   { return padd(c, pmul(x,y)); }
 
   EIGEN_STRONG_INLINE Packet1cd pmul(const Packet2d& x, const Packet1cd& y) const
-  { return Packet1cd(Eigen::internal::pmul(x, y.v)); }
+  { return Packet1cd(Eigen::internal::pmul<Packet2d>(x, y.v)); }
 };
 
 template<> struct conj_helper<Packet1cd, Packet2d, false,false>
@@ -419,7 +445,7 @@ template<> struct conj_helper<Packet1cd, Packet2d, false,false>
   { return padd(c, pmul(x,y)); }
 
   EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& x, const Packet2d& y) const
-  { return Packet1cd(Eigen::internal::pmul(x.v, y)); }
+  { return Packet1cd(Eigen::internal::pmul<Packet2d>(x.v, y)); }
 };
 
 template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
@@ -430,9 +456,44 @@ template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, con
   return Packet1cd(_mm_div_pd(res.v, _mm_add_pd(s,_mm_shuffle_pd(s, s, 0x1))));
 }
 
-EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
+EIGEN_STRONG_INLINE Packet1cd pcplxflip/* <Packet1cd> */(const Packet1cd& x)
 {
-  return Packet1cd(preverse(x.v));
+  return Packet1cd(preverse(Packet2d(x.v)));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2cf,2>& kernel) {
+  __m128d w1 = _mm_castps_pd(kernel.packet[0].v);
+  __m128d w2 = _mm_castps_pd(kernel.packet[1].v);
+
+  __m128 tmp = _mm_castpd_ps(_mm_unpackhi_pd(w1, w2));
+  kernel.packet[0].v = _mm_castpd_ps(_mm_unpacklo_pd(w1, w2));
+  kernel.packet[1].v = tmp;
+}
+
+template<>  EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
+  __m128d result = pblend<Packet2d>(ifPacket, _mm_castps_pd(thenPacket.v), _mm_castps_pd(elsePacket.v));
+  return Packet2cf(_mm_castpd_ps(result));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pinsertfirst(const Packet2cf& a, std::complex<float> b)
+{
+  return Packet2cf(_mm_loadl_pi(a.v, reinterpret_cast<const __m64*>(&b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pinsertfirst(const Packet1cd&, std::complex<double> b)
+{
+  return pset1<Packet1cd>(b);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pinsertlast(const Packet2cf& a, std::complex<float> b)
+{
+  return Packet2cf(_mm_loadh_pi(a.v, reinterpret_cast<const __m64*>(&b)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pinsertlast(const Packet1cd&, std::complex<double> b)
+{
+  return pset1<Packet1cd>(b);
 }
 
 } // end namespace internal
diff --git a/eigenlib/Eigen/src/Core/arch/SSE/MathFunctions.h b/eigenlib/Eigen/src/Core/arch/SSE/MathFunctions.h
index d16f30bb..7b5f948e 100644
--- a/eigenlib/Eigen/src/Core/arch/SSE/MathFunctions.h
+++ b/eigenlib/Eigen/src/Core/arch/SSE/MathFunctions.h
@@ -32,7 +32,7 @@ Packet4f plog<Packet4f>(const Packet4f& _x)
   /* the smallest non denormalized float number */
   _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(min_norm_pos,  0x00800000);
   _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(minus_inf,     0xff800000);//-1.f/0.f);
-  
+
   /* natural logarithm computed for 4 simultaneous float
     return NaN for x <= 0
   */
@@ -63,7 +63,7 @@ Packet4f plog<Packet4f>(const Packet4f& _x)
   x = _mm_or_ps(x, p4f_half);
 
   emm0 = _mm_sub_epi32(emm0, p4i_0x7f);
-  Packet4f e = padd(_mm_cvtepi32_ps(emm0), p4f_1);
+  Packet4f e = padd(Packet4f(_mm_cvtepi32_ps(emm0)), p4f_1);
 
   /* part2:
      if( x < SQRTHF ) {
@@ -72,9 +72,9 @@ Packet4f plog<Packet4f>(const Packet4f& _x)
      } else { x = x - 1.0; }
   */
   Packet4f mask = _mm_cmplt_ps(x, p4f_cephes_SQRTHF);
-  Packet4f tmp = _mm_and_ps(x, mask);
+  Packet4f tmp = pand(x, mask);
   x = psub(x, p4f_1);
-  e = psub(e, _mm_and_ps(p4f_1, mask));
+  e = psub(e, pand(p4f_1, mask));
   x = padd(x, tmp);
 
   Packet4f x2 = pmul(x,x);
@@ -126,7 +126,7 @@ Packet4f pexp<Packet4f>(const Packet4f& _x)
   _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p4, 1.6666665459E-1f);
   _EIGEN_DECLARE_CONST_Packet4f(cephes_exp_p5, 5.0000001201E-1f);
 
-  Packet4f tmp = _mm_setzero_ps(), fx;
+  Packet4f tmp, fx;
   Packet4i emm0;
 
   // clamp x
@@ -195,7 +195,7 @@ Packet2d pexp<Packet2d>(const Packet2d& _x)
   _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C2, 1.42860682030941723212e-6);
   static const __m128i p4i_1023_0 = _mm_setr_epi32(1023, 1023, 0, 0);
 
-  Packet2d tmp = _mm_setzero_pd(), fx;
+  Packet2d tmp, fx;
   Packet4i emm0;
 
   // clamp x
@@ -279,7 +279,7 @@ Packet4f psin<Packet4f>(const Packet4f& _x)
   _EIGEN_DECLARE_CONST_Packet4f(coscof_p2,  4.166664568298827E-002f);
   _EIGEN_DECLARE_CONST_Packet4f(cephes_FOPI, 1.27323954473516f); // 4 / M_PI
 
-  Packet4f xmm1, xmm2 = _mm_setzero_ps(), xmm3, sign_bit, y;
+  Packet4f xmm1, xmm2, xmm3, sign_bit, y;
 
   Packet4i emm0, emm2;
   sign_bit = x;
@@ -378,7 +378,7 @@ Packet4f pcos<Packet4f>(const Packet4f& _x)
   _EIGEN_DECLARE_CONST_Packet4f(coscof_p2,  4.166664568298827E-002f);
   _EIGEN_DECLARE_CONST_Packet4f(cephes_FOPI, 1.27323954473516f); // 4 / M_PI
 
-  Packet4f xmm1, xmm2 = _mm_setzero_ps(), xmm3, y;
+  Packet4f xmm1, xmm2, xmm3, y;
   Packet4i emm0, emm2;
 
   x = pabs(x);
@@ -444,32 +444,119 @@ Packet4f pcos<Packet4f>(const Packet4f& _x)
 
 #if EIGEN_FAST_MATH
 
-// This is based on Quake3's fast inverse square root.
+// Functions for sqrt.
+// The EIGEN_FAST_MATH version uses the _mm_rsqrt_ps approximation and one step
+// of Newton's method, at a cost of 1-2 bits of precision as opposed to the
+// exact solution. It does not handle +inf, or denormalized numbers correctly.
+// The main advantage of this approach is not just speed, but also the fact that
+// it can be inlined and pipelined with other computations, further reducing its
+// effective latency. This is similar to Quake3's fast inverse square root.
 // For detail see here: http://www.beyond3d.com/content/articles/8/
-// It lacks 1 (or 2 bits in some rare cases) of precision, and does not handle negative, +inf, or denormalized numbers correctly.
 template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
 Packet4f psqrt<Packet4f>(const Packet4f& _x)
 {
   Packet4f half = pmul(_x, pset1<Packet4f>(.5f));
+  Packet4f denormal_mask = _mm_and_ps(
+      _mm_cmpge_ps(_x, _mm_setzero_ps()),
+      _mm_cmplt_ps(_x, pset1<Packet4f>((std::numeric_limits<float>::min)())));
 
-  /* select only the inverse sqrt of non-zero inputs */
-  Packet4f non_zero_mask = _mm_cmpge_ps(_x, pset1<Packet4f>((std::numeric_limits<float>::min)()));
-  Packet4f x = _mm_and_ps(non_zero_mask, _mm_rsqrt_ps(_x));
-
+  // Compute approximate reciprocal sqrt.
+  Packet4f x = _mm_rsqrt_ps(_x);
+  // Do a single step of Newton's iteration.
   x = pmul(x, psub(pset1<Packet4f>(1.5f), pmul(half, pmul(x,x))));
-  return pmul(_x,x);
+  // Flush results for denormals to zero.
+  return _mm_andnot_ps(denormal_mask, pmul(_x,x));
 }
 
 #else
 
-template<> EIGEN_STRONG_INLINE Packet4f psqrt<Packet4f>(const Packet4f& x) { return _mm_sqrt_ps(x); }
+template<>EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psqrt<Packet4f>(const Packet4f& x) { return _mm_sqrt_ps(x); }
 
 #endif
 
-template<> EIGEN_STRONG_INLINE Packet2d psqrt<Packet2d>(const Packet2d& x) { return _mm_sqrt_pd(x); }
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d psqrt<Packet2d>(const Packet2d& x) { return _mm_sqrt_pd(x); }
+
+#if EIGEN_FAST_MATH
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f prsqrt<Packet4f>(const Packet4f& _x) {
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(inf, 0x7f800000);
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(nan, 0x7fc00000);
+  _EIGEN_DECLARE_CONST_Packet4f(one_point_five, 1.5f);
+  _EIGEN_DECLARE_CONST_Packet4f(minus_half, -0.5f);
+  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(flt_min, 0x00800000);
+
+  Packet4f neg_half = pmul(_x, p4f_minus_half);
+
+  // select only the inverse sqrt of positive normal inputs (denormals are
+  // flushed to zero and cause infs as well).
+  Packet4f le_zero_mask = _mm_cmple_ps(_x, p4f_flt_min);
+  Packet4f x = _mm_andnot_ps(le_zero_mask, _mm_rsqrt_ps(_x));
+
+  // Fill in NaNs and Infs for the negative/zero entries.
+  Packet4f neg_mask = _mm_cmplt_ps(_x, _mm_setzero_ps());
+  Packet4f zero_mask = _mm_andnot_ps(neg_mask, le_zero_mask);
+  Packet4f infs_and_nans = _mm_or_ps(_mm_and_ps(neg_mask, p4f_nan),
+                                     _mm_and_ps(zero_mask, p4f_inf));
+
+  // Do a single step of Newton's iteration.
+  x = pmul(x, pmadd(neg_half, pmul(x, x), p4f_one_point_five));
+
+  // Insert NaNs and Infs in all the right places.
+  return _mm_or_ps(x, infs_and_nans);
+}
+
+#else
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f prsqrt<Packet4f>(const Packet4f& x) {
+  // Unfortunately we can't use the much faster mm_rqsrt_ps since it only provides an approximation.
+  return _mm_div_ps(pset1<Packet4f>(1.0f), _mm_sqrt_ps(x));
+}
+
+#endif
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d prsqrt<Packet2d>(const Packet2d& x) {
+  // Unfortunately we can't use the much faster mm_rqsrt_pd since it only provides an approximation.
+  return _mm_div_pd(pset1<Packet2d>(1.0), _mm_sqrt_pd(x));
+}
+
+// Hyperbolic Tangent function.
+template <>
+EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED Packet4f
+ptanh<Packet4f>(const Packet4f& x) {
+  return internal::generic_fast_tanh_float(x);
+}
 
 } // end namespace internal
 
+namespace numext {
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+float sqrt(const float &x)
+{
+  return internal::pfirst(internal::Packet4f(_mm_sqrt_ss(_mm_set_ss(x))));
+}
+
+template<>
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE
+double sqrt(const double &x)
+{
+#if EIGEN_COMP_GNUC_STRICT
+  // This works around a GCC bug generating poor code for _mm_sqrt_pd
+  // See https://bitbucket.org/eigen/eigen/commits/14f468dba4d350d7c19c9b93072e19f7b3df563b
+  return internal::pfirst(internal::Packet2d(__builtin_ia32_sqrtsd(_mm_set_sd(x))));
+#else
+  return internal::pfirst(internal::Packet2d(_mm_sqrt_pd(_mm_set_sd(x))));
+#endif
+}
+
+} // end namespace numex
+
 } // end namespace Eigen
 
 #endif // EIGEN_MATH_FUNCTIONS_SSE_H
diff --git a/eigenlib/Eigen/src/Core/arch/SSE/PacketMath.h b/eigenlib/Eigen/src/Core/arch/SSE/PacketMath.h
old mode 100644
new mode 100755
index fc8ae50f..3832de14
--- a/eigenlib/Eigen/src/Core/arch/SSE/PacketMath.h
+++ b/eigenlib/Eigen/src/Core/arch/SSE/PacketMath.h
@@ -22,9 +22,40 @@ namespace internal {
 #define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS (2*sizeof(void*))
 #endif
 
+#ifdef __FMA__
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD 1
+#endif
+#endif
+
+#if (defined EIGEN_VECTORIZE_AVX) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_MINGW) && (__GXX_ABI_VERSION < 1004)
+// With GCC's default ABI version, a __m128 or __m256 are the same types and therefore we cannot
+// have overloads for both types without linking error.
+// One solution is to increase ABI version using -fabi-version=4 (or greater).
+// Otherwise, we workaround this inconvenience by wrapping 128bit types into the following helper
+// structure:
+template<typename T>
+struct eigen_packet_wrapper
+{
+  EIGEN_ALWAYS_INLINE operator T&() { return m_val; }
+  EIGEN_ALWAYS_INLINE operator const T&() const { return m_val; }
+  EIGEN_ALWAYS_INLINE eigen_packet_wrapper() {}
+  EIGEN_ALWAYS_INLINE eigen_packet_wrapper(const T &v) : m_val(v) {}
+  EIGEN_ALWAYS_INLINE eigen_packet_wrapper& operator=(const T &v) {
+    m_val = v;
+    return *this;
+  }
+  
+  T m_val;
+};
+typedef eigen_packet_wrapper<__m128>  Packet4f;
+typedef eigen_packet_wrapper<__m128i> Packet4i;
+typedef eigen_packet_wrapper<__m128d> Packet2d;
+#else
 typedef __m128  Packet4f;
 typedef __m128i Packet4i;
 typedef __m128d Packet2d;
+#endif
 
 template<> struct is_arithmetic<__m128>  { enum { value = true }; };
 template<> struct is_arithmetic<__m128i> { enum { value = true }; };
@@ -58,51 +89,85 @@ template<> struct is_arithmetic<__m128d> { enum { value = true }; };
   const Packet4i p4i_##NAME = pset1<Packet4i>(X)
 
 
+// Use the packet_traits defined in AVX/PacketMath.h instead if we're going
+// to leverage AVX instructions.
+#ifndef EIGEN_VECTORIZE_AVX
 template<> struct packet_traits<float>  : default_packet_traits
 {
   typedef Packet4f type;
+  typedef Packet4f half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size=4,
+    HasHalfPacket = 0,
 
     HasDiv  = 1,
     HasSin  = EIGEN_FAST_MATH,
     HasCos  = EIGEN_FAST_MATH,
     HasLog  = 1,
     HasExp  = 1,
-    HasSqrt = 1
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasTanh  = EIGEN_FAST_MATH,
+    HasBlend = 1
+
+#ifdef EIGEN_VECTORIZE_SSE4_1
+    ,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1
+#endif
   };
 };
 template<> struct packet_traits<double> : default_packet_traits
 {
   typedef Packet2d type;
+  typedef Packet2d half;
   enum {
     Vectorizable = 1,
     AlignedOnScalar = 1,
     size=2,
+    HasHalfPacket = 0,
 
     HasDiv  = 1,
     HasExp  = 1,
-    HasSqrt = 1
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasBlend = 1
+
+#ifdef EIGEN_VECTORIZE_SSE4_1
+    ,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1
+#endif
   };
 };
+#endif
 template<> struct packet_traits<int>    : default_packet_traits
 {
   typedef Packet4i type;
+  typedef Packet4i half;
   enum {
-    // FIXME check the Has*
     Vectorizable = 1,
     AlignedOnScalar = 1,
-    size=4
+    size=4,
+
+    HasBlend = 1
   };
 };
 
-template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4}; };
-template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2}; };
-template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4}; };
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
+template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
 
-#if defined(_MSC_VER) && (_MSC_VER==1500)
+#ifndef EIGEN_VECTORIZE_AVX
+template<> struct scalar_div_cost<float,true> { enum { value = 7 }; };
+template<> struct scalar_div_cost<double,true> { enum { value = 8 }; };
+#endif
+
+#if EIGEN_COMP_MSVC==1500
 // Workaround MSVC 9 internal compiler error.
 // TODO: It has been detected with win64 builds (amd64), so let's check whether it also happens in 32bits+SSE mode
 // TODO: let's check whether there does not exist a better fix, like adding a pset0() function. (it crashed on pset1(0)).
@@ -110,14 +175,25 @@ template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { re
 template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set_pd(from,from); }
 template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from) { return _mm_set_epi32(from,from,from,from); }
 #else
-template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return _mm_set1_ps(from); }
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&  from) { return _mm_set_ps1(from); }
 template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) { return _mm_set1_pd(from); }
 template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from) { return _mm_set1_epi32(from); }
 #endif
 
-template<> EIGEN_STRONG_INLINE Packet4f plset<float>(const float& a) { return _mm_add_ps(pset1<Packet4f>(a), _mm_set_ps(3,2,1,0)); }
-template<> EIGEN_STRONG_INLINE Packet2d plset<double>(const double& a) { return _mm_add_pd(pset1<Packet2d>(a),_mm_set_pd(1,0)); }
-template<> EIGEN_STRONG_INLINE Packet4i plset<int>(const int& a) { return _mm_add_epi32(pset1<Packet4i>(a),_mm_set_epi32(3,2,1,0)); }
+// GCC generates a shufps instruction for _mm_set1_ps/_mm_load1_ps instead of the more efficient pshufd instruction.
+// However, using inrinsics for pset1 makes gcc to generate crappy code in some cases (see bug 203)
+// Using inline assembly is also not an option because then gcc fails to reorder properly the instructions.
+// Therefore, we introduced the pload1 functions to be used in product kernels for which bug 203 does not apply.
+// Also note that with AVX, we want it to generate a vbroadcastss.
+#if EIGEN_COMP_GNUC_STRICT && (!defined __AVX__)
+template<> EIGEN_STRONG_INLINE Packet4f pload1<Packet4f>(const float *from) {
+  return vec4f_swizzle1(_mm_load_ss(from),0,0,0,0);
+}
+#endif
+  
+template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a) { return _mm_add_ps(pset1<Packet4f>(a), _mm_set_ps(3,2,1,0)); }
+template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a) { return _mm_add_pd(pset1<Packet2d>(a),_mm_set_pd(1,0)); }
+template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int& a) { return _mm_add_epi32(pset1<Packet4i>(a),_mm_set_epi32(3,2,1,0)); }
 
 template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_add_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_add_pd(a,b); }
@@ -139,7 +215,7 @@ template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a)
 }
 template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a)
 {
-  return psub(_mm_setr_epi32(0,0,0,0), a);
+  return psub(Packet4i(_mm_setr_epi32(0,0,0,0)), a);
 }
 
 template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
@@ -166,13 +242,13 @@ template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const
 
 template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_div_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_div_pd(a,b); }
-template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& /*a*/, const Packet4i& /*b*/)
-{ eigen_assert(false && "packet integer division are not supported by SSE");
-  return pset1<Packet4i>(0);
-}
 
 // for some weird raisons, it has to be overloaded for packet of integers
 template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd(pmul(a,b), c); }
+#ifdef __FMA__
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c) { return _mm_fmadd_ps(a,b,c); }
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return _mm_fmadd_pd(a,b,c); }
+#endif
 
 template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_min_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_min_pd(a,b); }
@@ -200,6 +276,17 @@ template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const
 #endif
 }
 
+#ifdef EIGEN_VECTORIZE_SSE4_1
+template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a) { return _mm_round_ps(a, 0); }
+template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) { return _mm_round_pd(a, 0); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const Packet4f& a) { return _mm_ceil_ps(a); }
+template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const Packet2d& a) { return _mm_ceil_pd(a); }
+
+template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a) { return _mm_floor_ps(a); }
+template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) { return _mm_floor_pd(a); }
+#endif
+
 template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b) { return _mm_and_ps(a,b); }
 template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return _mm_and_pd(a,b); }
 template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return _mm_and_si128(a,b); }
@@ -218,16 +305,14 @@ template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, con
 
 template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float*   from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_ps(from); }
 template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double*  from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_pd(from); }
-template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_si128(reinterpret_cast<const Packet4i*>(from)); }
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from) { EIGEN_DEBUG_ALIGNED_LOAD return _mm_load_si128(reinterpret_cast<const __m128i*>(from)); }
 
-#if defined(_MSC_VER)
+#if EIGEN_COMP_MSVC
   template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float*  from) {
     EIGEN_DEBUG_UNALIGNED_LOAD
-    #if (_MSC_VER==1600)
+    #if (EIGEN_COMP_MSVC==1600)
     // NOTE Some version of MSVC10 generates bad code when using _mm_loadu_ps
     // (i.e., it does not generate an unaligned load!!
-    // TODO On most architectures this version should also be faster than a single _mm_loadu_ps
-    // so we could also enable it for MSVC08 but first we have to make this later does not generate crap when doing so...
     __m128 res = _mm_loadl_pi(_mm_set1_ps(0.0f), (const __m64*)(from));
     res = _mm_loadh_pi(res, (const __m64*)(from+2));
     return res;
@@ -235,63 +320,27 @@ template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from) { E
     return _mm_loadu_ps(from);
     #endif
   }
-  template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm_loadu_pd(from); }
-  template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int*    from) { EIGEN_DEBUG_UNALIGNED_LOAD return _mm_loadu_si128(reinterpret_cast<const Packet4i*>(from)); }
 #else
-// Fast unaligned loads. Note that here we cannot directly use intrinsics: this would
-// require pointer casting to incompatible pointer types and leads to invalid code
-// because of the strict aliasing rule. The "dummy" stuff are required to enforce
-// a correct instruction dependency.
-// TODO: do the same for MSVC (ICC is compatible)
 // NOTE: with the code below, MSVC's compiler crashes!
 
-#if defined(__GNUC__) && defined(__i386__)
-  // bug 195: gcc/i386 emits weird x87 fldl/fstpl instructions for _mm_load_sd
-  #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 1
-#elif defined(__clang__)
-  // bug 201: Segfaults in __mm_loadh_pd with clang 2.8
-  #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 1
-#else
-  #define EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS 0
-#endif
-
 template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float* from)
 {
   EIGEN_DEBUG_UNALIGNED_LOAD
-#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
   return _mm_loadu_ps(from);
-#else
-  __m128d res;
-  res =  _mm_load_sd((const double*)(from)) ;
-  res =  _mm_loadh_pd(res, (const double*)(from+2)) ;
-  return _mm_castpd_ps(res);
-#endif
 }
+#endif
+
 template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double* from)
 {
   EIGEN_DEBUG_UNALIGNED_LOAD
-#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
   return _mm_loadu_pd(from);
-#else
-  __m128d res;
-  res = _mm_load_sd(from) ;
-  res = _mm_loadh_pd(res,from+1);
-  return res;
-#endif
 }
 template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int* from)
 {
   EIGEN_DEBUG_UNALIGNED_LOAD
-#if EIGEN_AVOID_CUSTOM_UNALIGNED_LOADS
-  return _mm_loadu_si128(reinterpret_cast<const Packet4i*>(from));
-#else
-  __m128d res;
-  res =  _mm_load_sd((const double*)(from)) ;
-  res =  _mm_loadh_pd(res, (const double*)(from+2)) ;
-  return _mm_castpd_si128(res);
-#endif
+  return _mm_loadu_si128(reinterpret_cast<const __m128i*>(from));
 }
-#endif
+
 
 template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*   from)
 {
@@ -302,46 +351,77 @@ template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*  from)
 template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
 {
   Packet4i tmp;
-  tmp = _mm_loadl_epi64(reinterpret_cast<const Packet4i*>(from));
+  tmp = _mm_loadl_epi64(reinterpret_cast<const __m128i*>(from));
   return vec4i_swizzle1(tmp, 0, 0, 1, 1);
 }
 
 template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_ps(to, from); }
 template<> EIGEN_STRONG_INLINE void pstore<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_pd(to, from); }
-template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_si128(reinterpret_cast<Packet4i*>(to), from); }
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_ALIGNED_STORE _mm_store_si128(reinterpret_cast<__m128i*>(to), from); }
 
-template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from) {
-  EIGEN_DEBUG_UNALIGNED_STORE
-  _mm_storel_pd((to), from);
-  _mm_storeh_pd((to+1), from);
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double* to, const Packet2d& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_pd(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*   to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_ps(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*       to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE _mm_storeu_si128(reinterpret_cast<__m128i*>(to), from); }
+
+template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
+{
+ return _mm_set_ps(from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
+}
+template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
+{
+ return _mm_set_pd(from[1*stride], from[0*stride]);
+}
+template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
+{
+ return _mm_set_epi32(from[3*stride], from[2*stride], from[1*stride], from[0*stride]);
+ }
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+{
+  to[stride*0] = _mm_cvtss_f32(from);
+  to[stride*1] = _mm_cvtss_f32(_mm_shuffle_ps(from, from, 1));
+  to[stride*2] = _mm_cvtss_f32(_mm_shuffle_ps(from, from, 2));
+  to[stride*3] = _mm_cvtss_f32(_mm_shuffle_ps(from, from, 3));
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
+{
+  to[stride*0] = _mm_cvtsd_f64(from);
+  to[stride*1] = _mm_cvtsd_f64(_mm_shuffle_pd(from, from, 1));
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
+{
+  to[stride*0] = _mm_cvtsi128_si32(from);
+  to[stride*1] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 1));
+  to[stride*2] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 2));
+  to[stride*3] = _mm_cvtsi128_si32(_mm_shuffle_epi32(from, 3));
 }
-template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*  to, const Packet4f& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(reinterpret_cast<double*>(to), _mm_castps_pd(from)); }
-template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*      to, const Packet4i& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu(reinterpret_cast<double*>(to), _mm_castsi128_pd(from)); }
 
 // some compilers might be tempted to perform multiple moves instead of using a vector path.
 template<> EIGEN_STRONG_INLINE void pstore1<Packet4f>(float* to, const float& a)
 {
   Packet4f pa = _mm_set_ss(a);
-  pstore(to, vec4f_swizzle1(pa,0,0,0,0));
+  pstore(to, Packet4f(vec4f_swizzle1(pa,0,0,0,0)));
 }
 // some compilers might be tempted to perform multiple moves instead of using a vector path.
 template<> EIGEN_STRONG_INLINE void pstore1<Packet2d>(double* to, const double& a)
 {
   Packet2d pa = _mm_set_sd(a);
-  pstore(to, vec2d_swizzle1(pa,0,0));
+  pstore(to, Packet2d(vec2d_swizzle1(pa,0,0)));
 }
 
+#ifndef EIGEN_VECTORIZE_AVX
 template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
 template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
 template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { _mm_prefetch((const char*)(addr), _MM_HINT_T0); }
+#endif
 
-#if defined(_MSC_VER) && defined(_WIN64) && !defined(__INTEL_COMPILER)
+#if EIGEN_COMP_MSVC_STRICT && EIGEN_OS_WIN64
 // The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
 // Direct of the struct members fixed bug #62.
 template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { return a.m128_f32[0]; }
 template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { return a.m128d_f64[0]; }
 template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int x = _mm_cvtsi128_si32(a); return x; }
-#elif defined(_MSC_VER) && !defined(__INTEL_COMPILER)
+#elif EIGEN_COMP_MSVC_STRICT
 // The temporary variable fixes an internal compilation error in vs <= 2008 and a wrong-result bug in vs 2010
 template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float x = _mm_cvtss_f32(a); return x; }
 template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { double x = _mm_cvtsd_f64(a); return x; }
@@ -359,7 +439,6 @@ template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
 template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
 { return _mm_shuffle_epi32(a,0x1B); }
 
-
 template<> EIGEN_STRONG_INLINE Packet4f pabs(const Packet4f& a)
 {
   const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF,0x7FFFFFFF));
@@ -380,6 +459,38 @@ template<> EIGEN_STRONG_INLINE Packet4i pabs(const Packet4i& a)
   #endif
 }
 
+// with AVX, the default implementations based on pload1 are faster
+#ifndef __AVX__
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4f>(const float *a,
+                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
+{
+  a3 = pload<Packet4f>(a);
+  a0 = vec4f_swizzle1(a3, 0,0,0,0);
+  a1 = vec4f_swizzle1(a3, 1,1,1,1);
+  a2 = vec4f_swizzle1(a3, 2,2,2,2);
+  a3 = vec4f_swizzle1(a3, 3,3,3,3);
+}
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet2d>(const double *a,
+                      Packet2d& a0, Packet2d& a1, Packet2d& a2, Packet2d& a3)
+{
+#ifdef EIGEN_VECTORIZE_SSE3
+  a0 = _mm_loaddup_pd(a+0);
+  a1 = _mm_loaddup_pd(a+1);
+  a2 = _mm_loaddup_pd(a+2);
+  a3 = _mm_loaddup_pd(a+3);
+#else
+  a1 = pload<Packet2d>(a);
+  a0 = vec2d_swizzle1(a1, 0,0);
+  a1 = vec2d_swizzle1(a1, 1,1);
+  a3 = pload<Packet2d>(a+2);
+  a2 = vec2d_swizzle1(a3, 0,0);
+  a3 = vec2d_swizzle1(a3, 1,1);
+#endif
+}
+#endif
+
 EIGEN_STRONG_INLINE void punpackp(Packet4f* vecs)
 {
   vecs[1] = _mm_castsi128_ps(_mm_shuffle_epi32(_mm_castps_si128(vecs[0]), 0x55));
@@ -389,47 +500,17 @@ EIGEN_STRONG_INLINE void punpackp(Packet4f* vecs)
 }
 
 #ifdef EIGEN_VECTORIZE_SSE3
-// TODO implement SSE2 versions as well as integer versions
 template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
 {
   return _mm_hadd_ps(_mm_hadd_ps(vecs[0], vecs[1]),_mm_hadd_ps(vecs[2], vecs[3]));
 }
+
 template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
 {
   return _mm_hadd_pd(vecs[0], vecs[1]);
 }
-// SSSE3 version:
-// EIGEN_STRONG_INLINE Packet4i preduxp(const Packet4i* vecs)
-// {
-//   return _mm_hadd_epi32(_mm_hadd_epi32(vecs[0], vecs[1]),_mm_hadd_epi32(vecs[2], vecs[3]));
-// }
 
-template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
-{
-  Packet4f tmp0 = _mm_hadd_ps(a,a);
-  return pfirst(_mm_hadd_ps(tmp0, tmp0));
-}
-
-template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a) { return pfirst(_mm_hadd_pd(a, a)); }
-
-// SSSE3 version:
-// EIGEN_STRONG_INLINE float predux(const Packet4i& a)
-// {
-//   Packet4i tmp0 = _mm_hadd_epi32(a,a);
-//   return pfirst(_mm_hadd_epi32(tmp0, tmp0));
-// }
 #else
-// SSE2 versions
-template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
-{
-  Packet4f tmp = _mm_add_ps(a, _mm_movehl_ps(a,a));
-  return pfirst(_mm_add_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
-}
-template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
-{
-  return pfirst(_mm_add_sd(a, _mm_unpackhi_pd(a,a)));
-}
-
 template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
 {
   Packet4f tmp0, tmp1, tmp2;
@@ -450,10 +531,45 @@ template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
 }
 #endif  // SSE3
 
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  // Disable SSE3 _mm_hadd_pd that is extremely slow on all existing Intel's architectures
+  // (from Nehalem to Haswell)
+// #ifdef EIGEN_VECTORIZE_SSE3
+//   Packet4f tmp = _mm_add_ps(a, vec4f_swizzle1(a,2,3,2,3));
+//   return pfirst<Packet4f>(_mm_hadd_ps(tmp, tmp));
+// #else
+  Packet4f tmp = _mm_add_ps(a, _mm_movehl_ps(a,a));
+  return pfirst<Packet4f>(_mm_add_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+// #endif
+}
+
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
+{
+  // Disable SSE3 _mm_hadd_pd that is extremely slow on all existing Intel's architectures
+  // (from Nehalem to Haswell)
+// #ifdef EIGEN_VECTORIZE_SSE3
+//   return pfirst<Packet2d>(_mm_hadd_pd(a, a));
+// #else
+  return pfirst<Packet2d>(_mm_add_sd(a, _mm_unpackhi_pd(a,a)));
+// #endif
+}
+
+#ifdef EIGEN_VECTORIZE_SSSE3
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+  return _mm_hadd_epi32(_mm_hadd_epi32(vecs[0], vecs[1]),_mm_hadd_epi32(vecs[2], vecs[3]));
+}
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+  Packet4i tmp0 = _mm_hadd_epi32(a,a);
+  return pfirst<Packet4i>(_mm_hadd_epi32(tmp0,tmp0));
+}
+#else
 template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
 {
   Packet4i tmp = _mm_add_epi32(a, _mm_unpackhi_epi64(a,a));
-  return pfirst(tmp) + pfirst(_mm_shuffle_epi32(tmp, 1));
+  return pfirst(tmp) + pfirst<Packet4i>(_mm_shuffle_epi32(tmp, 1));
 }
 
 template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
@@ -469,18 +585,18 @@ template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
   tmp0 = _mm_unpackhi_epi64(tmp0, tmp1);
   return _mm_add_epi32(tmp0, tmp2);
 }
-
+#endif
 // Other reduction functions:
 
 // mul
 template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
 {
   Packet4f tmp = _mm_mul_ps(a, _mm_movehl_ps(a,a));
-  return pfirst(_mm_mul_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+  return pfirst<Packet4f>(_mm_mul_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
 }
 template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
 {
-  return pfirst(_mm_mul_sd(a, _mm_unpackhi_pd(a,a)));
+  return pfirst<Packet2d>(_mm_mul_sd(a, _mm_unpackhi_pd(a,a)));
 }
 template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
 {
@@ -496,14 +612,18 @@ template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
 template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
 {
   Packet4f tmp = _mm_min_ps(a, _mm_movehl_ps(a,a));
-  return pfirst(_mm_min_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+  return pfirst<Packet4f>(_mm_min_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
 }
 template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
 {
-  return pfirst(_mm_min_sd(a, _mm_unpackhi_pd(a,a)));
+  return pfirst<Packet2d>(_mm_min_sd(a, _mm_unpackhi_pd(a,a)));
 }
 template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
 {
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  Packet4i tmp = _mm_min_epi32(a, _mm_shuffle_epi32(a, _MM_SHUFFLE(0,0,3,2)));
+  return pfirst<Packet4i>(_mm_min_epi32(tmp,_mm_shuffle_epi32(tmp, 1)));
+#else
   // after some experiments, it is seems this is the fastest way to implement it
   // for GCC (eg., it does not like using std::min after the pstore !!)
   EIGEN_ALIGN16 int aux[4];
@@ -511,20 +631,25 @@ template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
   int aux0 = aux[0]<aux[1] ? aux[0] : aux[1];
   int aux2 = aux[2]<aux[3] ? aux[2] : aux[3];
   return aux0<aux2 ? aux0 : aux2;
+#endif // EIGEN_VECTORIZE_SSE4_1
 }
 
 // max
 template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
 {
   Packet4f tmp = _mm_max_ps(a, _mm_movehl_ps(a,a));
-  return pfirst(_mm_max_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
+  return pfirst<Packet4f>(_mm_max_ss(tmp, _mm_shuffle_ps(tmp,tmp, 1)));
 }
 template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
 {
-  return pfirst(_mm_max_sd(a, _mm_unpackhi_pd(a,a)));
+  return pfirst<Packet2d>(_mm_max_sd(a, _mm_unpackhi_pd(a,a)));
 }
 template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
 {
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  Packet4i tmp = _mm_max_epi32(a, _mm_shuffle_epi32(a, _MM_SHUFFLE(0,0,3,2)));
+  return pfirst<Packet4i>(_mm_max_epi32(tmp,_mm_shuffle_epi32(tmp, 1)));
+#else
   // after some experiments, it is seems this is the fastest way to implement it
   // for GCC (eg., it does not like using std::min after the pstore !!)
   EIGEN_ALIGN16 int aux[4];
@@ -532,9 +657,10 @@ template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
   int aux0 = aux[0]>aux[1] ? aux[0] : aux[1];
   int aux2 = aux[2]>aux[3] ? aux[2] : aux[3];
   return aux0>aux2 ? aux0 : aux2;
+#endif // EIGEN_VECTORIZE_SSE4_1
 }
 
-#if (defined __GNUC__)
+#if EIGEN_COMP_GNUC
 // template <> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f&  a, const Packet4f&  b, const Packet4f&  c)
 // {
 //   Packet4f res = b;
@@ -642,6 +768,110 @@ struct palign_impl<Offset,Packet2d>
 };
 #endif
 
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4f,4>& kernel) {
+  _MM_TRANSPOSE4_PS(kernel.packet[0], kernel.packet[1], kernel.packet[2], kernel.packet[3]);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2d,2>& kernel) {
+  __m128d tmp = _mm_unpackhi_pd(kernel.packet[0], kernel.packet[1]);
+  kernel.packet[0] = _mm_unpacklo_pd(kernel.packet[0], kernel.packet[1]);
+  kernel.packet[1] = tmp;
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4i,4>& kernel) {
+  __m128i T0 = _mm_unpacklo_epi32(kernel.packet[0], kernel.packet[1]);
+  __m128i T1 = _mm_unpacklo_epi32(kernel.packet[2], kernel.packet[3]);
+  __m128i T2 = _mm_unpackhi_epi32(kernel.packet[0], kernel.packet[1]);
+  __m128i T3 = _mm_unpackhi_epi32(kernel.packet[2], kernel.packet[3]);
+
+  kernel.packet[0] = _mm_unpacklo_epi64(T0, T1);
+  kernel.packet[1] = _mm_unpackhi_epi64(T0, T1);
+  kernel.packet[2] = _mm_unpacklo_epi64(T2, T3);
+  kernel.packet[3] = _mm_unpackhi_epi64(T2, T3);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
+  const __m128i zero = _mm_setzero_si128();
+  const __m128i select = _mm_set_epi32(ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
+  __m128i false_mask = _mm_cmpeq_epi32(select, zero);
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blendv_epi8(thenPacket, elsePacket, false_mask);
+#else
+  return _mm_or_si128(_mm_andnot_si128(false_mask, thenPacket), _mm_and_si128(false_mask, elsePacket));
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket, const Packet4f& elsePacket) {
+  const __m128 zero = _mm_setzero_ps();
+  const __m128 select = _mm_set_ps(ifPacket.select[3], ifPacket.select[2], ifPacket.select[1], ifPacket.select[0]);
+  __m128 false_mask = _mm_cmpeq_ps(select, zero);
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blendv_ps(thenPacket, elsePacket, false_mask);
+#else
+  return _mm_or_ps(_mm_andnot_ps(false_mask, thenPacket), _mm_and_ps(false_mask, elsePacket));
+#endif
+}
+template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket, const Packet2d& elsePacket) {
+  const __m128d zero = _mm_setzero_pd();
+  const __m128d select = _mm_set_pd(ifPacket.select[1], ifPacket.select[0]);
+  __m128d false_mask = _mm_cmpeq_pd(select, zero);
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blendv_pd(thenPacket, elsePacket, false_mask);
+#else
+  return _mm_or_pd(_mm_andnot_pd(false_mask, thenPacket), _mm_and_pd(false_mask, elsePacket));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pinsertfirst(const Packet4f& a, float b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blend_ps(a,pset1<Packet4f>(b),1);
+#else
+  return _mm_move_ss(a, _mm_load_ss(&b));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pinsertfirst(const Packet2d& a, double b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blend_pd(a,pset1<Packet2d>(b),1);
+#else
+  return _mm_move_sd(a, _mm_load_sd(&b));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pinsertlast(const Packet4f& a, float b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blend_ps(a,pset1<Packet4f>(b),(1<<3));
+#else
+  const Packet4f mask = _mm_castsi128_ps(_mm_setr_epi32(0x0,0x0,0x0,0xFFFFFFFF));
+  return _mm_or_ps(_mm_andnot_ps(mask, a), _mm_and_ps(mask, pset1<Packet4f>(b)));
+#endif
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pinsertlast(const Packet2d& a, double b)
+{
+#ifdef EIGEN_VECTORIZE_SSE4_1
+  return _mm_blend_pd(a,pset1<Packet2d>(b),(1<<1));
+#else
+  const Packet2d mask = _mm_castsi128_pd(_mm_setr_epi32(0x0,0x0,0xFFFFFFFF,0xFFFFFFFF));
+  return _mm_or_pd(_mm_andnot_pd(mask, a), _mm_and_pd(mask, pset1<Packet2d>(b)));
+#endif
+}
+
+// Scalar path for pmadd with FMA to ensure consistency with vectorized path.
+#ifdef __FMA__
+template<> EIGEN_STRONG_INLINE float pmadd(const float& a, const float& b, const float& c) {
+  return ::fmaf(a,b,c);
+}
+template<> EIGEN_STRONG_INLINE double pmadd(const double& a, const double& b, const double& c) {
+  return ::fma(a,b,c);
+}
+#endif
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/arch/SSE/TypeCasting.h b/eigenlib/Eigen/src/Core/arch/SSE/TypeCasting.h
new file mode 100644
index 00000000..c8489323
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/SSE/TypeCasting.h
@@ -0,0 +1,77 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Benoit Steiner <benoit.steiner.goog@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_TYPE_CASTING_SSE_H
+#define EIGEN_TYPE_CASTING_SSE_H
+
+namespace Eigen {
+
+namespace internal {
+
+template <>
+struct type_casting_traits<float, int> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4i pcast<Packet4f, Packet4i>(const Packet4f& a) {
+  return _mm_cvttps_epi32(a);
+}
+
+
+template <>
+struct type_casting_traits<int, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet4i, Packet4f>(const Packet4i& a) {
+  return _mm_cvtepi32_ps(a);
+}
+
+
+template <>
+struct type_casting_traits<double, float> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 2,
+    TgtCoeffRatio = 1
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet4f pcast<Packet2d, Packet4f>(const Packet2d& a, const Packet2d& b) {
+  return _mm_shuffle_ps(_mm_cvtpd_ps(a), _mm_cvtpd_ps(b), (1 << 2) | (1 << 6));
+}
+
+template <>
+struct type_casting_traits<float, double> {
+  enum {
+    VectorizedCast = 1,
+    SrcCoeffRatio = 1,
+    TgtCoeffRatio = 2
+  };
+};
+
+template<> EIGEN_STRONG_INLINE Packet2d pcast<Packet4f, Packet2d>(const Packet4f& a) {
+  // Simply discard the second half of the input
+  return _mm_cvtps_pd(a);
+}
+
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TYPE_CASTING_SSE_H
diff --git a/eigenlib/Eigen/src/Core/arch/ZVector/Complex.h b/eigenlib/Eigen/src/Core/arch/ZVector/Complex.h
new file mode 100644
index 00000000..d39d2d10
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/ZVector/Complex.h
@@ -0,0 +1,394 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2016 Konstantinos Margaritis <markos@freevec.org>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COMPLEX32_ALTIVEC_H
+#define EIGEN_COMPLEX32_ALTIVEC_H
+
+namespace Eigen {
+
+namespace internal {
+
+static Packet2ul  p2ul_CONJ_XOR1 = (Packet2ul) vec_sld((Packet4ui) p2d_ZERO_, (Packet4ui) p2l_ZERO, 8);//{ 0x8000000000000000, 0x0000000000000000 };
+static Packet2ul  p2ul_CONJ_XOR2 = (Packet2ul) vec_sld((Packet4ui) p2l_ZERO,  (Packet4ui) p2d_ZERO_, 8);//{ 0x8000000000000000, 0x0000000000000000 };
+
+struct Packet1cd
+{
+  EIGEN_STRONG_INLINE Packet1cd() {}
+  EIGEN_STRONG_INLINE explicit Packet1cd(const Packet2d& a) : v(a) {}
+  Packet2d v;
+};
+
+struct Packet2cf
+{
+  EIGEN_STRONG_INLINE Packet2cf() {}
+  EIGEN_STRONG_INLINE explicit Packet2cf(const Packet4f& a) : v(a) {}
+  union {
+    Packet4f v;
+    Packet1cd cd[2];
+  };
+};
+
+template<> struct packet_traits<std::complex<float> >  : default_packet_traits
+{
+  typedef Packet2cf type;
+  typedef Packet2cf half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 2,
+    HasHalfPacket = 0,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasBlend  = 1,
+    HasSetLinear = 0
+  };
+};
+
+
+template<> struct packet_traits<std::complex<double> >  : default_packet_traits
+{
+  typedef Packet1cd type;
+  typedef Packet1cd half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 1,
+    HasHalfPacket = 0,
+
+    HasAdd    = 1,
+    HasSub    = 1,
+    HasMul    = 1,
+    HasDiv    = 1,
+    HasNegate = 1,
+    HasAbs    = 0,
+    HasAbs2   = 0,
+    HasMin    = 0,
+    HasMax    = 0,
+    HasSetLinear = 0
+  };
+};
+
+template<> struct unpacket_traits<Packet2cf> { typedef std::complex<float>  type; enum {size=2, alignment=Aligned16}; typedef Packet2cf half; };
+template<> struct unpacket_traits<Packet1cd> { typedef std::complex<double> type; enum {size=1, alignment=Aligned16}; typedef Packet1cd half; };
+
+/* Forward declaration */
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2cf,2>& kernel);
+
+template<> EIGEN_STRONG_INLINE Packet2cf pload <Packet2cf>(const std::complex<float>* from)  { EIGEN_DEBUG_ALIGNED_LOAD return Packet2cf(pload<Packet4f>((const float*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pload <Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_ALIGNED_LOAD return Packet1cd(pload<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploadu<Packet2cf>(const std::complex<float>* from)  { EIGEN_DEBUG_UNALIGNED_LOAD return Packet2cf(ploadu<Packet4f>((const float*)from)); }
+template<> EIGEN_STRONG_INLINE Packet1cd ploadu<Packet1cd>(const std::complex<double>* from) { EIGEN_DEBUG_UNALIGNED_LOAD return Packet1cd(ploadu<Packet2d>((const double*)from)); }
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<float> >(std::complex<float> *     to, const Packet2cf& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((float*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstore <std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_ALIGNED_STORE pstore((double*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<float> >(std::complex<float> *     to, const Packet2cf& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((float*)to, from.v); }
+template<> EIGEN_STRONG_INLINE void pstoreu<std::complex<double> >(std::complex<double> *   to, const Packet1cd& from) { EIGEN_DEBUG_UNALIGNED_STORE pstoreu((double*)to, from.v); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd pset1<Packet1cd>(const std::complex<double>&  from)
+{ /* here we really have to use unaligned loads :( */ return ploadu<Packet1cd>(&from); }
+
+template<> EIGEN_STRONG_INLINE Packet2cf pset1<Packet2cf>(const std::complex<float>&  from)
+{
+  Packet2cf res;
+  res.cd[0] = Packet1cd(vec_ld2f((const float *)&from));
+  res.cd[1] = res.cd[0];
+  return res;
+}
+template<> EIGEN_DEVICE_FUNC inline Packet2cf pgather<std::complex<float>, Packet2cf>(const std::complex<float>* from, Index stride)
+{
+  std::complex<float> EIGEN_ALIGN16 af[2];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+  return pload<Packet2cf>(af);
+}
+template<> EIGEN_DEVICE_FUNC inline Packet1cd pgather<std::complex<double>, Packet1cd>(const std::complex<double>* from, Index stride EIGEN_UNUSED)
+{
+  return pload<Packet1cd>(from);
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<float>, Packet2cf>(std::complex<float>* to, const Packet2cf& from, Index stride)
+{
+  std::complex<float> EIGEN_ALIGN16 af[2];
+  pstore<std::complex<float> >((std::complex<float> *) af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+}
+template<> EIGEN_DEVICE_FUNC inline void pscatter<std::complex<double>, Packet1cd>(std::complex<double>* to, const Packet1cd& from, Index stride EIGEN_UNUSED)
+{
+  pstore<std::complex<double> >(to, from);
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf padd<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(padd<Packet4f>(a.v, b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd padd<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v + b.v); }
+template<> EIGEN_STRONG_INLINE Packet2cf psub<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(psub<Packet4f>(a.v, b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd psub<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(a.v - b.v); }
+template<> EIGEN_STRONG_INLINE Packet1cd pnegate(const Packet1cd& a) { return Packet1cd(pnegate(Packet2d(a.v))); }
+template<> EIGEN_STRONG_INLINE Packet2cf pnegate(const Packet2cf& a) { return Packet2cf(pnegate(Packet4f(a.v))); }
+template<> EIGEN_STRONG_INLINE Packet1cd pconj(const Packet1cd& a) { return Packet1cd((Packet2d)vec_xor((Packet2d)a.v, (Packet2d)p2ul_CONJ_XOR2)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pconj(const Packet2cf& a)
+{
+  Packet2cf res;
+  res.v.v4f[0] = pconj(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[0]))).v;
+  res.v.v4f[1] = pconj(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[1]))).v;
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pmul<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  Packet2d a_re, a_im, v1, v2;
+
+  // Permute and multiply the real parts of a and b
+  a_re = vec_perm(a.v, a.v, p16uc_PSET64_HI);
+  // Get the imaginary parts of a
+  a_im = vec_perm(a.v, a.v, p16uc_PSET64_LO);
+  // multiply a_re * b
+  v1 = vec_madd(a_re, b.v, p2d_ZERO);
+  // multiply a_im * b and get the conjugate result
+  v2 = vec_madd(a_im, b.v, p2d_ZERO);
+  v2 = (Packet2d) vec_sld((Packet4ui)v2, (Packet4ui)v2, 8);
+  v2 = (Packet2d) vec_xor((Packet2d)v2, (Packet2d) p2ul_CONJ_XOR1);
+
+  return Packet1cd(v1 + v2);
+}
+template<> EIGEN_STRONG_INLINE Packet2cf pmul<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  Packet2cf res;
+  res.v.v4f[0] = pmul(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[0])), Packet1cd(reinterpret_cast<Packet2d>(b.v.v4f[0]))).v;
+  res.v.v4f[1] = pmul(Packet1cd(reinterpret_cast<Packet2d>(a.v.v4f[1])), Packet1cd(reinterpret_cast<Packet2d>(b.v.v4f[1]))).v;
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd pand   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_and(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pand   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pand<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd por    <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_or(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf por    <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(por<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pxor   <Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_xor(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet2cf pxor   <Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pxor<Packet4f>(a.v,b.v)); }
+template<> EIGEN_STRONG_INLINE Packet1cd pandnot<Packet1cd>(const Packet1cd& a, const Packet1cd& b) { return Packet1cd(vec_and(a.v, vec_nor(b.v,b.v))); }
+template<> EIGEN_STRONG_INLINE Packet2cf pandnot<Packet2cf>(const Packet2cf& a, const Packet2cf& b) { return Packet2cf(pandnot<Packet4f>(a.v,b.v)); }
+
+template<> EIGEN_STRONG_INLINE Packet1cd ploaddup<Packet1cd>(const std::complex<double>*     from) {  return pset1<Packet1cd>(*from); }
+template<> EIGEN_STRONG_INLINE Packet2cf ploaddup<Packet2cf>(const std::complex<float>*      from) {  return pset1<Packet2cf>(*from); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<float> >(const std::complex<float> *     addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<std::complex<double> >(const std::complex<double> *   addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
+
+template<> EIGEN_STRONG_INLINE std::complex<double>  pfirst<Packet1cd>(const Packet1cd& a)
+{
+  std::complex<double> EIGEN_ALIGN16 res;
+  pstore<std::complex<double> >(&res, a);
+
+  return res;
+}
+template<> EIGEN_STRONG_INLINE std::complex<float>  pfirst<Packet2cf>(const Packet2cf& a)
+{
+  std::complex<float> EIGEN_ALIGN16 res[2];
+  pstore<std::complex<float> >(res, a);
+
+  return res[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preverse(const Packet1cd& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet2cf preverse(const Packet2cf& a)
+{
+  Packet2cf res;
+  res.cd[0] = a.cd[1];
+  res.cd[1] = a.cd[0];
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux<Packet1cd>(const Packet1cd& a)
+{
+  return pfirst(a);
+}
+template<> EIGEN_STRONG_INLINE std::complex<float> predux<Packet2cf>(const Packet2cf& a)
+{
+  std::complex<float> res;
+  Packet1cd b = padd<Packet1cd>(a.cd[0], a.cd[1]);
+  vec_st2f(b.v, (float*)&res);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet1cd preduxp<Packet1cd>(const Packet1cd* vecs)
+{
+  return vecs[0];
+}
+template<> EIGEN_STRONG_INLINE Packet2cf preduxp<Packet2cf>(const Packet2cf* vecs)
+{
+  PacketBlock<Packet2cf,2> transpose;
+  transpose.packet[0] = vecs[0];
+  transpose.packet[1] = vecs[1];
+  ptranspose(transpose);
+
+  return padd<Packet2cf>(transpose.packet[0], transpose.packet[1]);
+} 
+
+template<> EIGEN_STRONG_INLINE std::complex<double> predux_mul<Packet1cd>(const Packet1cd& a)
+{
+  return pfirst(a);
+}
+template<> EIGEN_STRONG_INLINE std::complex<float> predux_mul<Packet2cf>(const Packet2cf& a)
+{
+  std::complex<float> res;
+  Packet1cd b = pmul<Packet1cd>(a.cd[0], a.cd[1]);
+  vec_st2f(b.v, (float*)&res);
+  return res;
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet1cd>
+{
+  static EIGEN_STRONG_INLINE void run(Packet1cd& /*first*/, const Packet1cd& /*second*/)
+  {
+    // FIXME is it sure we never have to align a Packet1cd?
+    // Even though a std::complex<double> has 16 bytes, it is not necessarily aligned on a 16 bytes boundary...
+  }
+};
+
+template<int Offset>
+struct palign_impl<Offset,Packet2cf>
+{
+  static EIGEN_STRONG_INLINE void run(Packet2cf& first, const Packet2cf& second)
+  {
+    if (Offset == 1) {
+      first.cd[0] = first.cd[1];
+      first.cd[1] = second.cd[0];
+    }
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, false,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,false>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet1cd, Packet1cd, true,true>
+{
+  EIGEN_STRONG_INLINE Packet1cd pmadd(const Packet1cd& x, const Packet1cd& y, const Packet1cd& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet1cd pmul(const Packet1cd& a, const Packet1cd& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, false,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return internal::pmul(a, pconj(b));
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,false>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return internal::pmul(pconj(a), b);
+  }
+};
+
+template<> struct conj_helper<Packet2cf, Packet2cf, true,true>
+{
+  EIGEN_STRONG_INLINE Packet2cf pmadd(const Packet2cf& x, const Packet2cf& y, const Packet2cf& c) const
+  { return padd(pmul(x,y),c); }
+
+  EIGEN_STRONG_INLINE Packet2cf pmul(const Packet2cf& a, const Packet2cf& b) const
+  {
+    return pconj(internal::pmul(a, b));
+  }
+};
+
+template<> EIGEN_STRONG_INLINE Packet1cd pdiv<Packet1cd>(const Packet1cd& a, const Packet1cd& b)
+{
+  // TODO optimize it for AltiVec
+  Packet1cd res = conj_helper<Packet1cd,Packet1cd,false,true>().pmul(a,b);
+  Packet2d s = vec_madd(b.v, b.v, p2d_ZERO_);
+  return Packet1cd(pdiv(res.v, s + vec_perm(s, s, p16uc_REVERSE64)));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pdiv<Packet2cf>(const Packet2cf& a, const Packet2cf& b)
+{
+  // TODO optimize it for AltiVec
+  Packet2cf res;
+  res.cd[0] = pdiv<Packet1cd>(a.cd[0], b.cd[0]);
+  res.cd[1] = pdiv<Packet1cd>(a.cd[1], b.cd[1]);
+  return res;
+}
+
+EIGEN_STRONG_INLINE Packet1cd pcplxflip/*<Packet1cd>*/(const Packet1cd& x)
+{
+  return Packet1cd(preverse(Packet2d(x.v)));
+}
+
+EIGEN_STRONG_INLINE Packet2cf pcplxflip/*<Packet2cf>*/(const Packet2cf& x)
+{
+  Packet2cf res;
+  res.cd[0] = pcplxflip(x.cd[0]);
+  res.cd[1] = pcplxflip(x.cd[1]);
+  return res;
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet1cd,2>& kernel)
+{
+  Packet2d tmp = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_HI);
+  kernel.packet[1].v = vec_perm(kernel.packet[0].v, kernel.packet[1].v, p16uc_TRANSPOSE64_LO);
+  kernel.packet[0].v = tmp;
+}
+
+EIGEN_STRONG_INLINE void ptranspose(PacketBlock<Packet2cf,2>& kernel)
+{
+  Packet1cd tmp = kernel.packet[0].cd[1];
+  kernel.packet[0].cd[1] = kernel.packet[1].cd[0];
+  kernel.packet[1].cd[0] = tmp;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2cf pblend(const Selector<2>& ifPacket, const Packet2cf& thenPacket, const Packet2cf& elsePacket) {
+  Packet2cf result;
+  const Selector<4> ifPacket4 = { ifPacket.select[0], ifPacket.select[0], ifPacket.select[1], ifPacket.select[1] };
+  result.v = pblend<Packet4f>(ifPacket4, thenPacket.v, elsePacket.v);
+  return result;
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_COMPLEX32_ALTIVEC_H
diff --git a/eigenlib/Eigen/src/Core/arch/ZVector/MathFunctions.h b/eigenlib/Eigen/src/Core/arch/ZVector/MathFunctions.h
new file mode 100644
index 00000000..5c7aa725
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/ZVector/MathFunctions.h
@@ -0,0 +1,137 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2007 Julien Pommier
+// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2016 Konstantinos Margaritis <markos@freevec.org>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+/* The sin, cos, exp, and log functions of this file come from
+ * Julien Pommier's sse math library: http://gruntthepeon.free.fr/ssemath/
+ */
+
+#ifndef EIGEN_MATH_FUNCTIONS_ALTIVEC_H
+#define EIGEN_MATH_FUNCTIONS_ALTIVEC_H
+
+namespace Eigen {
+
+namespace internal {
+
+static _EIGEN_DECLARE_CONST_Packet2d(1 , 1.0);
+static _EIGEN_DECLARE_CONST_Packet2d(2 , 2.0);
+static _EIGEN_DECLARE_CONST_Packet2d(half, 0.5);
+
+static _EIGEN_DECLARE_CONST_Packet2d(exp_hi,  709.437);
+static _EIGEN_DECLARE_CONST_Packet2d(exp_lo, -709.436139303);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_LOG2EF, 1.4426950408889634073599);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p0, 1.26177193074810590878e-4);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p1, 3.02994407707441961300e-2);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_p2, 9.99999999999999999910e-1);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q0, 3.00198505138664455042e-6);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q1, 2.52448340349684104192e-3);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q2, 2.27265548208155028766e-1);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_q3, 2.00000000000000000009e0);
+
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C1, 0.693145751953125);
+static _EIGEN_DECLARE_CONST_Packet2d(cephes_exp_C2, 1.42860682030941723212e-6);
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d pexp<Packet2d>(const Packet2d& _x)
+{
+  Packet2d x = _x;
+
+  Packet2d tmp, fx;
+  Packet2l emm0;
+
+  // clamp x
+  x = pmax(pmin(x, p2d_exp_hi), p2d_exp_lo);
+  /* express exp(x) as exp(g + n*log(2)) */
+  fx = pmadd(p2d_cephes_LOG2EF, x, p2d_half);
+
+  fx = vec_floor(fx);
+
+  tmp = pmul(fx, p2d_cephes_exp_C1);
+  Packet2d z = pmul(fx, p2d_cephes_exp_C2);
+  x = psub(x, tmp);
+  x = psub(x, z);
+
+  Packet2d x2 = pmul(x,x);
+
+  Packet2d px = p2d_cephes_exp_p0;
+  px = pmadd(px, x2, p2d_cephes_exp_p1);
+  px = pmadd(px, x2, p2d_cephes_exp_p2);
+  px = pmul (px, x);
+
+  Packet2d qx = p2d_cephes_exp_q0;
+  qx = pmadd(qx, x2, p2d_cephes_exp_q1);
+  qx = pmadd(qx, x2, p2d_cephes_exp_q2);
+  qx = pmadd(qx, x2, p2d_cephes_exp_q3);
+
+  x = pdiv(px,psub(qx,px));
+  x = pmadd(p2d_2,x,p2d_1);
+
+  // build 2^n
+  emm0 = vec_ctsl(fx, 0);
+
+  static const Packet2l p2l_1023 = { 1023, 1023 };
+  static const Packet2ul p2ul_52 = { 52, 52 };
+
+  emm0 = emm0 + p2l_1023;
+  emm0 = emm0 << reinterpret_cast<Packet2l>(p2ul_52);
+
+  // Altivec's max & min operators just drop silent NaNs. Check NaNs in 
+  // inputs and return them unmodified.
+  Packet2ul isnumber_mask = reinterpret_cast<Packet2ul>(vec_cmpeq(_x, _x));
+  return vec_sel(_x, pmax(pmul(x, reinterpret_cast<Packet2d>(emm0)), _x),
+                 isnumber_mask);
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f pexp<Packet4f>(const Packet4f& x)
+{
+  Packet4f res;
+  res.v4f[0] = pexp<Packet2d>(x.v4f[0]);
+  res.v4f[1] = pexp<Packet2d>(x.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d psqrt<Packet2d>(const Packet2d& x)
+{
+  return  __builtin_s390_vfsqdb(x);
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f psqrt<Packet4f>(const Packet4f& x)
+{
+  Packet4f res;
+  res.v4f[0] = psqrt<Packet2d>(x.v4f[0]);
+  res.v4f[1] = psqrt<Packet2d>(x.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet2d prsqrt<Packet2d>(const Packet2d& x) {
+  // Unfortunately we can't use the much faster mm_rqsrt_pd since it only provides an approximation.
+  return pset1<Packet2d>(1.0) / psqrt<Packet2d>(x);
+}
+
+template<> EIGEN_DEFINE_FUNCTION_ALLOWING_MULTIPLE_DEFINITIONS EIGEN_UNUSED
+Packet4f prsqrt<Packet4f>(const Packet4f& x) {
+  Packet4f res;
+  res.v4f[0] = prsqrt<Packet2d>(x.v4f[0]);
+  res.v4f[1] = prsqrt<Packet2d>(x.v4f[1]);
+  return res;
+}
+
+}  // end namespace internal
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_MATH_FUNCTIONS_ALTIVEC_H
diff --git a/eigenlib/Eigen/src/Core/arch/ZVector/PacketMath.h b/eigenlib/Eigen/src/Core/arch/ZVector/PacketMath.h
new file mode 100755
index 00000000..e2deb25c
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/arch/ZVector/PacketMath.h
@@ -0,0 +1,945 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Konstantinos Margaritis <markos@freevec.org>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_PACKET_MATH_ZVECTOR_H
+#define EIGEN_PACKET_MATH_ZVECTOR_H
+
+#include <stdint.h>
+
+namespace Eigen {
+
+namespace internal {
+
+#ifndef EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD
+#define EIGEN_CACHEFRIENDLY_PRODUCT_THRESHOLD 4
+#endif
+
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+#endif
+
+#ifndef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+#define EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+#endif
+
+#ifndef EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS
+#define EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS  16
+#endif
+
+typedef __vector int                 Packet4i;
+typedef __vector unsigned int        Packet4ui;
+typedef __vector __bool int          Packet4bi;
+typedef __vector short int           Packet8i;
+typedef __vector unsigned char       Packet16uc;
+typedef __vector double              Packet2d;
+typedef __vector unsigned long long  Packet2ul;
+typedef __vector long long           Packet2l;
+
+typedef struct {
+	Packet2d  v4f[2];
+} Packet4f;
+
+typedef union {
+  int32_t   i[4];
+  uint32_t ui[4];
+  int64_t   l[2];
+  uint64_t ul[2];
+  double    d[2];
+  Packet4i  v4i;
+  Packet4ui v4ui;
+  Packet2l  v2l;
+  Packet2ul v2ul;
+  Packet2d  v2d;
+} Packet;
+
+// We don't want to write the same code all the time, but we need to reuse the constants
+// and it doesn't really work to declare them global, so we define macros instead
+
+#define _EIGEN_DECLARE_CONST_FAST_Packet4i(NAME,X) \
+  Packet4i p4i_##NAME = reinterpret_cast<Packet4i>(vec_splat_s32(X))
+
+#define _EIGEN_DECLARE_CONST_FAST_Packet2d(NAME,X) \
+  Packet2d p2d_##NAME = reinterpret_cast<Packet2d>(vec_splat_s64(X))
+
+#define _EIGEN_DECLARE_CONST_FAST_Packet2l(NAME,X) \
+  Packet2l p2l_##NAME = reinterpret_cast<Packet2l>(vec_splat_s64(X))
+
+#define _EIGEN_DECLARE_CONST_Packet4i(NAME,X) \
+  Packet4i p4i_##NAME = pset1<Packet4i>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet2d(NAME,X) \
+  Packet2d p2d_##NAME = pset1<Packet2d>(X)
+
+#define _EIGEN_DECLARE_CONST_Packet2l(NAME,X) \
+  Packet2l p2l_##NAME = pset1<Packet2l>(X)
+
+// These constants are endian-agnostic
+//static _EIGEN_DECLARE_CONST_FAST_Packet4i(ZERO, 0); //{ 0, 0, 0, 0,}
+static _EIGEN_DECLARE_CONST_FAST_Packet4i(ONE, 1); //{ 1, 1, 1, 1}
+
+static _EIGEN_DECLARE_CONST_FAST_Packet2d(ZERO, 0);
+static _EIGEN_DECLARE_CONST_FAST_Packet2l(ZERO, 0);
+static _EIGEN_DECLARE_CONST_FAST_Packet2l(ONE, 1);
+
+static Packet2d p2d_ONE = { 1.0, 1.0 }; 
+static Packet2d p2d_ZERO_ = { -0.0, -0.0 };
+
+static Packet4i p4i_COUNTDOWN = { 0, 1, 2, 3 };
+static Packet4f p4f_COUNTDOWN = { 0.0, 1.0, 2.0, 3.0 };
+static Packet2d p2d_COUNTDOWN = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet16uc>(p2d_ZERO), reinterpret_cast<Packet16uc>(p2d_ONE), 8));
+
+static Packet16uc p16uc_PSET64_HI = { 0,1,2,3, 4,5,6,7, 0,1,2,3, 4,5,6,7 };
+static Packet16uc p16uc_DUPLICATE32_HI = { 0,1,2,3, 0,1,2,3, 4,5,6,7, 4,5,6,7 };
+
+// Mask alignment
+#define _EIGEN_MASK_ALIGNMENT	0xfffffffffffffff0
+
+#define _EIGEN_ALIGNED_PTR(x)	((ptrdiff_t)(x) & _EIGEN_MASK_ALIGNMENT)
+
+// Handle endianness properly while loading constants
+// Define global static constants:
+
+static Packet16uc p16uc_FORWARD =   { 0,1,2,3, 4,5,6,7, 8,9,10,11, 12,13,14,15 };
+static Packet16uc p16uc_REVERSE32 = { 12,13,14,15, 8,9,10,11, 4,5,6,7, 0,1,2,3 };
+static Packet16uc p16uc_REVERSE64 = { 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+
+static Packet16uc p16uc_PSET32_WODD   = vec_sld((Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 0), (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 2), 8);//{ 0,1,2,3, 0,1,2,3, 8,9,10,11, 8,9,10,11 };
+static Packet16uc p16uc_PSET32_WEVEN  = vec_sld(p16uc_DUPLICATE32_HI, (Packet16uc) vec_splat((Packet4ui)p16uc_FORWARD, 3), 8);//{ 4,5,6,7, 4,5,6,7, 12,13,14,15, 12,13,14,15 };
+/*static Packet16uc p16uc_HALF64_0_16 = vec_sld((Packet16uc)p4i_ZERO, vec_splat((Packet16uc) vec_abs(p4i_MINUS16), 3), 8);      //{ 0,0,0,0, 0,0,0,0, 16,16,16,16, 16,16,16,16};
+
+static Packet16uc p16uc_PSET64_HI = (Packet16uc) vec_mergeh((Packet4ui)p16uc_PSET32_WODD, (Packet4ui)p16uc_PSET32_WEVEN);     //{ 0,1,2,3, 4,5,6,7, 0,1,2,3, 4,5,6,7 };*/
+static Packet16uc p16uc_PSET64_LO = (Packet16uc) vec_mergel((Packet4ui)p16uc_PSET32_WODD, (Packet4ui)p16uc_PSET32_WEVEN);     //{ 8,9,10,11, 12,13,14,15, 8,9,10,11, 12,13,14,15 };
+/*static Packet16uc p16uc_TRANSPOSE64_HI = vec_add(p16uc_PSET64_HI, p16uc_HALF64_0_16);                                         //{ 0,1,2,3, 4,5,6,7, 16,17,18,19, 20,21,22,23};
+static Packet16uc p16uc_TRANSPOSE64_LO = vec_add(p16uc_PSET64_LO, p16uc_HALF64_0_16);                                         //{ 8,9,10,11, 12,13,14,15, 24,25,26,27, 28,29,30,31};*/
+static Packet16uc p16uc_TRANSPOSE64_HI = { 0,1,2,3, 4,5,6,7, 16,17,18,19, 20,21,22,23};
+static Packet16uc p16uc_TRANSPOSE64_LO = { 8,9,10,11, 12,13,14,15, 24,25,26,27, 28,29,30,31};
+
+//static Packet16uc p16uc_COMPLEX32_REV = vec_sld(p16uc_REVERSE32, p16uc_REVERSE32, 8);                                         //{ 4,5,6,7, 0,1,2,3, 12,13,14,15, 8,9,10,11 };
+
+//static Packet16uc p16uc_COMPLEX32_REV2 = vec_sld(p16uc_FORWARD, p16uc_FORWARD, 8);                                            //{ 8,9,10,11, 12,13,14,15, 0,1,2,3, 4,5,6,7 };
+
+
+#if EIGEN_HAS_BUILTIN(__builtin_prefetch) || EIGEN_COMP_GNUC
+  #define EIGEN_ZVECTOR_PREFETCH(ADDR) __builtin_prefetch(ADDR);
+#else
+  #define EIGEN_ZVECTOR_PREFETCH(ADDR) asm( "   pfd [%[addr]]\n" :: [addr] "r" (ADDR) : "cc" );
+#endif
+
+template<> struct packet_traits<int>    : default_packet_traits
+{
+  typedef Packet4i type;
+  typedef Packet4i half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size = 4,
+    HasHalfPacket = 0,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 1,
+    HasBlend = 1
+  };
+};
+
+template<> struct packet_traits<float> : default_packet_traits
+{
+  typedef Packet4f type;
+  typedef Packet4f half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=4,
+    HasHalfPacket = 0,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 1,
+    HasMin  = 1,
+    HasMax  = 1,
+    HasAbs  = 1,
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 0,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasNegate = 1,
+    HasBlend = 1
+  };
+};
+
+template<> struct packet_traits<double> : default_packet_traits
+{
+  typedef Packet2d type;
+  typedef Packet2d half;
+  enum {
+    Vectorizable = 1,
+    AlignedOnScalar = 1,
+    size=2,
+    HasHalfPacket = 1,
+
+    HasAdd  = 1,
+    HasSub  = 1,
+    HasMul  = 1,
+    HasDiv  = 1,
+    HasMin  = 1,
+    HasMax  = 1,
+    HasAbs  = 1,
+    HasSin  = 0,
+    HasCos  = 0,
+    HasLog  = 0,
+    HasExp  = 1,
+    HasSqrt = 1,
+    HasRsqrt = 1,
+    HasRound = 1,
+    HasFloor = 1,
+    HasCeil = 1,
+    HasNegate = 1,
+    HasBlend = 1
+  };
+};
+
+template<> struct unpacket_traits<Packet4i> { typedef int    type; enum {size=4, alignment=Aligned16}; typedef Packet4i half; };
+template<> struct unpacket_traits<Packet4f> { typedef float  type; enum {size=4, alignment=Aligned16}; typedef Packet4f half; };
+template<> struct unpacket_traits<Packet2d> { typedef double type; enum {size=2, alignment=Aligned16}; typedef Packet2d half; };
+
+/* Forward declaration */
+EIGEN_DEVICE_FUNC inline void ptranspose(PacketBlock<Packet4f,4>& kernel);
+ 
+inline std::ostream & operator <<(std::ostream & s, const Packet4i & v)
+{
+  Packet vt;
+  vt.v4i = v;
+  s << vt.i[0] << ", " << vt.i[1] << ", " << vt.i[2] << ", " << vt.i[3];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet4ui & v)
+{
+  Packet vt;
+  vt.v4ui = v;
+  s << vt.ui[0] << ", " << vt.ui[1] << ", " << vt.ui[2] << ", " << vt.ui[3];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet2l & v)
+{
+  Packet vt;
+  vt.v2l = v;
+  s << vt.l[0] << ", " << vt.l[1];
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet2ul & v)
+{
+  Packet vt;
+  vt.v2ul = v;
+  s << vt.ul[0] << ", " << vt.ul[1] ;
+  return s;
+}
+
+inline std::ostream & operator <<(std::ostream & s, const Packet2d & v)
+{
+  Packet vt;
+  vt.v2d = v;
+  s << vt.d[0] << ", " << vt.d[1];
+  return s;
+}
+
+/* Helper function to simulate a vec_splat_packet4f
+ */
+template<int element> EIGEN_STRONG_INLINE Packet4f vec_splat_packet4f(const Packet4f&   from)
+{
+  Packet4f splat;
+  switch (element) {
+  case 0:
+    splat.v4f[0] = vec_splat(from.v4f[0], 0);
+    splat.v4f[1] = splat.v4f[0];
+    break;
+  case 1:
+    splat.v4f[0] = vec_splat(from.v4f[0], 1);
+    splat.v4f[1] = splat.v4f[0];
+    break;
+  case 2:
+    splat.v4f[0] = vec_splat(from.v4f[1], 0);
+    splat.v4f[1] = splat.v4f[0];
+    break;
+  case 3:
+    splat.v4f[0] = vec_splat(from.v4f[1], 1);
+    splat.v4f[1] = splat.v4f[0];
+    break;
+  }
+  return splat;
+}
+
+template<int Offset>
+struct palign_impl<Offset,Packet4i>
+{
+  static EIGEN_STRONG_INLINE void run(Packet4i& first, const Packet4i& second)
+  {
+    switch (Offset % 4) {
+    case 1:
+      first = vec_sld(first, second, 4); break;
+    case 2:
+      first = vec_sld(first, second, 8); break;
+    case 3:
+      first = vec_sld(first, second, 12); break;
+    }
+  }
+};
+
+/* This is a tricky one, we have to translate float alignment to vector elements of sizeof double
+ */
+template<int Offset>
+struct palign_impl<Offset,Packet4f>
+{
+  static EIGEN_STRONG_INLINE void run(Packet4f& first, const Packet4f& second)
+  {
+    switch (Offset % 4) {
+    case 1:
+      first.v4f[0] = vec_sld(first.v4f[0], first.v4f[1], 8);
+      first.v4f[1] = vec_sld(first.v4f[1], second.v4f[0], 8);
+      break;
+    case 2:
+      first.v4f[0] = first.v4f[1];
+      first.v4f[1] = second.v4f[0];
+      break;
+    case 3:
+      first.v4f[0] = vec_sld(first.v4f[1],  second.v4f[0], 8);
+      first.v4f[1] = vec_sld(second.v4f[0], second.v4f[1], 8);
+      break;
+    }
+  }
+};
+
+
+template<int Offset>
+struct palign_impl<Offset,Packet2d>
+{
+  static EIGEN_STRONG_INLINE void run(Packet2d& first, const Packet2d& second)
+  {
+    if (Offset == 1)
+      first = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(first), reinterpret_cast<Packet4i>(second), 8));
+  }
+};
+
+template<> EIGEN_STRONG_INLINE Packet4i pload<Packet4i>(const int*     from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_LOAD
+  Packet *vfrom;
+  vfrom = (Packet *) from;
+  return vfrom->v4i;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pload<Packet4f>(const float*   from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_LOAD
+  Packet4f vfrom;
+  vfrom.v4f[0] = vec_ld2f(&from[0]);
+  vfrom.v4f[1] = vec_ld2f(&from[2]);
+  return vfrom;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pload<Packet2d>(const double* from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_LOAD
+  Packet *vfrom;
+  vfrom = (Packet *) from;
+  return vfrom->v2d;
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<int>(int*       to, const Packet4i& from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_STORE
+  Packet *vto;
+  vto = (Packet *) to;
+  vto->v4i = from;
+}
+
+template<> EIGEN_STRONG_INLINE void pstore<float>(float*   to, const Packet4f& from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_STORE
+  vec_st2f(from.v4f[0], &to[0]);
+  vec_st2f(from.v4f[1], &to[2]);
+}
+
+
+template<> EIGEN_STRONG_INLINE void pstore<double>(double*   to, const Packet2d& from)
+{
+  // FIXME: No intrinsic yet
+  EIGEN_DEBUG_ALIGNED_STORE
+  Packet *vto;
+  vto = (Packet *) to;
+  vto->v2d = from;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pset1<Packet4i>(const int&    from)
+{
+  return vec_splats(from);
+}
+template<> EIGEN_STRONG_INLINE Packet2d pset1<Packet2d>(const double& from) {
+  return vec_splats(from);
+}
+template<> EIGEN_STRONG_INLINE Packet4f pset1<Packet4f>(const float&    from)
+{
+  Packet4f to;
+  to.v4f[0] = pset1<Packet2d>(static_cast<const double&>(from));
+  to.v4f[1] = to.v4f[0];
+  return to;
+}
+
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4i>(const int *a,
+                      Packet4i& a0, Packet4i& a1, Packet4i& a2, Packet4i& a3)
+{
+  a3 = pload<Packet4i>(a);
+  a0 = vec_splat(a3, 0);
+  a1 = vec_splat(a3, 1);
+  a2 = vec_splat(a3, 2);
+  a3 = vec_splat(a3, 3);
+}
+
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet4f>(const float *a,
+                      Packet4f& a0, Packet4f& a1, Packet4f& a2, Packet4f& a3)
+{
+  a3 = pload<Packet4f>(a);
+  a0 = vec_splat_packet4f<0>(a3);
+  a1 = vec_splat_packet4f<1>(a3);
+  a2 = vec_splat_packet4f<2>(a3);
+  a3 = vec_splat_packet4f<3>(a3);
+}
+
+template<> EIGEN_STRONG_INLINE void
+pbroadcast4<Packet2d>(const double *a,
+                      Packet2d& a0, Packet2d& a1, Packet2d& a2, Packet2d& a3)
+{
+  a1 = pload<Packet2d>(a);
+  a0 = vec_splat(a1, 0);
+  a1 = vec_splat(a1, 1);
+  a3 = pload<Packet2d>(a+2);
+  a2 = vec_splat(a3, 0);
+  a3 = vec_splat(a3, 1);
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet4i pgather<int, Packet4i>(const int* from, Index stride)
+{
+  int EIGEN_ALIGN16 ai[4];
+  ai[0] = from[0*stride];
+  ai[1] = from[1*stride];
+  ai[2] = from[2*stride];
+  ai[3] = from[3*stride];
+ return pload<Packet4i>(ai);
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet4f pgather<float, Packet4f>(const float* from, Index stride)
+{
+  float EIGEN_ALIGN16 ai[4];
+  ai[0] = from[0*stride];
+  ai[1] = from[1*stride];
+  ai[2] = from[2*stride];
+  ai[3] = from[3*stride];
+ return pload<Packet4f>(ai);
+}
+
+template<> EIGEN_DEVICE_FUNC inline Packet2d pgather<double, Packet2d>(const double* from, Index stride)
+{
+  double EIGEN_ALIGN16 af[2];
+  af[0] = from[0*stride];
+  af[1] = from[1*stride];
+ return pload<Packet2d>(af);
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<int, Packet4i>(int* to, const Packet4i& from, Index stride)
+{
+  int EIGEN_ALIGN16 ai[4];
+  pstore<int>((int *)ai, from);
+  to[0*stride] = ai[0];
+  to[1*stride] = ai[1];
+  to[2*stride] = ai[2];
+  to[3*stride] = ai[3];
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<float, Packet4f>(float* to, const Packet4f& from, Index stride)
+{
+  float EIGEN_ALIGN16 ai[4];
+  pstore<float>((float *)ai, from);
+  to[0*stride] = ai[0];
+  to[1*stride] = ai[1];
+  to[2*stride] = ai[2];
+  to[3*stride] = ai[3];
+}
+
+template<> EIGEN_DEVICE_FUNC inline void pscatter<double, Packet2d>(double* to, const Packet2d& from, Index stride)
+{
+  double EIGEN_ALIGN16 af[2];
+  pstore<double>(af, from);
+  to[0*stride] = af[0];
+  to[1*stride] = af[1];
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i padd<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a + b); }
+template<> EIGEN_STRONG_INLINE Packet4f padd<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f c;
+  c.v4f[0] = a.v4f[0] + b.v4f[0];
+  c.v4f[1] = a.v4f[1] + b.v4f[1];
+  return c;
+}
+template<> EIGEN_STRONG_INLINE Packet2d padd<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a + b); }
+
+template<> EIGEN_STRONG_INLINE Packet4i psub<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a - b); }
+template<> EIGEN_STRONG_INLINE Packet4f psub<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f c;
+  c.v4f[0] = a.v4f[0] - b.v4f[0];
+  c.v4f[1] = a.v4f[1] - b.v4f[1];
+  return c;
+}
+template<> EIGEN_STRONG_INLINE Packet2d psub<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a - b); }
+
+template<> EIGEN_STRONG_INLINE Packet4i pmul<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a * b); }
+template<> EIGEN_STRONG_INLINE Packet4f pmul<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f c;
+  c.v4f[0] = a.v4f[0] * b.v4f[0];
+  c.v4f[1] = a.v4f[1] * b.v4f[1];
+  return c;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pmul<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a * b); }
+
+template<> EIGEN_STRONG_INLINE Packet4i pdiv<Packet4i>(const Packet4i& a, const Packet4i& b) { return (a / b); }
+template<> EIGEN_STRONG_INLINE Packet4f pdiv<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f c;
+  c.v4f[0] = a.v4f[0] / b.v4f[0];
+  c.v4f[1] = a.v4f[1] / b.v4f[1];
+  return c;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pdiv<Packet2d>(const Packet2d& a, const Packet2d& b) { return (a / b); }
+
+template<> EIGEN_STRONG_INLINE Packet4i pnegate(const Packet4i& a) { return (-a); }
+template<> EIGEN_STRONG_INLINE Packet4f pnegate(const Packet4f& a)
+{
+  Packet4f c;
+  c.v4f[0] = -a.v4f[0];
+  c.v4f[1] = -a.v4f[1];
+  return c;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pnegate(const Packet2d& a) { return (-a); }
+
+template<> EIGEN_STRONG_INLINE Packet4i pconj(const Packet4i& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet4f pconj(const Packet4f& a) { return a; }
+template<> EIGEN_STRONG_INLINE Packet2d pconj(const Packet2d& a) { return a; }
+
+template<> EIGEN_STRONG_INLINE Packet4i pmadd(const Packet4i& a, const Packet4i& b, const Packet4i& c) { return padd<Packet4i>(pmul<Packet4i>(a, b), c); }
+template<> EIGEN_STRONG_INLINE Packet4f pmadd(const Packet4f& a, const Packet4f& b, const Packet4f& c)
+{
+  Packet4f res;
+  res.v4f[0] = vec_madd(a.v4f[0], b.v4f[0], c.v4f[0]);
+  res.v4f[1] = vec_madd(a.v4f[1], b.v4f[1], c.v4f[1]);
+  return res;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pmadd(const Packet2d& a, const Packet2d& b, const Packet2d& c) { return vec_madd(a, b, c); }
+
+template<> EIGEN_STRONG_INLINE Packet4i plset<Packet4i>(const int& a)    { return padd<Packet4i>(pset1<Packet4i>(a), p4i_COUNTDOWN); }
+template<> EIGEN_STRONG_INLINE Packet4f plset<Packet4f>(const float& a)  { return padd<Packet4f>(pset1<Packet4f>(a), p4f_COUNTDOWN); }
+template<> EIGEN_STRONG_INLINE Packet2d plset<Packet2d>(const double& a) { return padd<Packet2d>(pset1<Packet2d>(a), p2d_COUNTDOWN); }
+
+template<> EIGEN_STRONG_INLINE Packet4i pmin<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_min(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmin<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_min(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4f pmin<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pmin(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pmin(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pmax<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_max(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2d pmax<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_max(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4f pmax<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pmax(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pmax(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pand<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_and(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2d pand<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4f pand<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pand(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pand(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i por<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_or(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2d por<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_or(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4f por<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pand(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pand(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pxor<Packet4i>(const Packet4i& a, const Packet4i& b) { return vec_xor(a, b); }
+template<> EIGEN_STRONG_INLINE Packet2d pxor<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_xor(a, b); }
+template<> EIGEN_STRONG_INLINE Packet4f pxor<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pand(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pand(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pandnot<Packet4i>(const Packet4i& a, const Packet4i& b) { return pand<Packet4i>(a, vec_nor(b, b)); }
+template<> EIGEN_STRONG_INLINE Packet2d pandnot<Packet2d>(const Packet2d& a, const Packet2d& b) { return vec_and(a, vec_nor(b, b)); }
+template<> EIGEN_STRONG_INLINE Packet4f pandnot<Packet4f>(const Packet4f& a, const Packet4f& b)
+{
+  Packet4f res;
+  res.v4f[0] = pandnot(a.v4f[0], b.v4f[0]);
+  res.v4f[1] = pandnot(a.v4f[1], b.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pround<Packet4f>(const Packet4f& a)
+{
+  Packet4f res;
+  res.v4f[0] = vec_round(a.v4f[0]);
+  res.v4f[1] = vec_round(a.v4f[1]);
+  return res;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pround<Packet2d>(const Packet2d& a) { return vec_round(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pceil<Packet4f>(const  Packet4f& a)
+{
+  Packet4f res;
+  res.v4f[0] = vec_ceil(a.v4f[0]);
+  res.v4f[1] = vec_ceil(a.v4f[1]);
+  return res;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pceil<Packet2d>(const  Packet2d& a) { return vec_ceil(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pfloor<Packet4f>(const Packet4f& a)
+{
+  Packet4f res;
+  res.v4f[0] = vec_floor(a.v4f[0]);
+  res.v4f[1] = vec_floor(a.v4f[1]);
+  return res;
+}
+template<> EIGEN_STRONG_INLINE Packet2d pfloor<Packet2d>(const Packet2d& a) { return vec_floor(a); }
+
+template<> EIGEN_STRONG_INLINE Packet4i ploadu<Packet4i>(const int*       from) { return pload<Packet4i>(from); }
+template<> EIGEN_STRONG_INLINE Packet4f ploadu<Packet4f>(const float*     from) { return pload<Packet4f>(from); }
+template<> EIGEN_STRONG_INLINE Packet2d ploadu<Packet2d>(const double*    from) { return pload<Packet2d>(from); }
+
+
+template<> EIGEN_STRONG_INLINE Packet4i ploaddup<Packet4i>(const int*     from)
+{
+  Packet4i p = pload<Packet4i>(from);
+  return vec_perm(p, p, p16uc_DUPLICATE32_HI);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f ploaddup<Packet4f>(const float*    from)
+{
+  Packet4f p = pload<Packet4f>(from);
+  p.v4f[1] = vec_splat(p.v4f[0], 1);
+  p.v4f[0] = vec_splat(p.v4f[0], 0);
+  return p;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d ploaddup<Packet2d>(const double*   from)
+{
+  Packet2d p = pload<Packet2d>(from);
+  return vec_perm(p, p, p16uc_PSET64_HI);
+}
+
+template<> EIGEN_STRONG_INLINE void pstoreu<int>(int*        to, const Packet4i& from) { pstore<int>(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<float>(float*    to, const Packet4f& from) { pstore<float>(to, from); }
+template<> EIGEN_STRONG_INLINE void pstoreu<double>(double*  to, const Packet2d& from) { pstore<double>(to, from); }
+
+template<> EIGEN_STRONG_INLINE void prefetch<int>(const int*       addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<float>(const float*   addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
+template<> EIGEN_STRONG_INLINE void prefetch<double>(const double* addr) { EIGEN_ZVECTOR_PREFETCH(addr); }
+
+template<> EIGEN_STRONG_INLINE int    pfirst<Packet4i>(const Packet4i& a) { int    EIGEN_ALIGN16 x[4]; pstore(x, a); return x[0]; }
+template<> EIGEN_STRONG_INLINE float  pfirst<Packet4f>(const Packet4f& a) { float  EIGEN_ALIGN16 x[2]; vec_st2f(a.v4f[0], &x[0]); return x[0]; }
+template<> EIGEN_STRONG_INLINE double pfirst<Packet2d>(const Packet2d& a) { double EIGEN_ALIGN16 x[2]; pstore(x, a); return x[0]; }
+
+template<> EIGEN_STRONG_INLINE Packet4i preverse(const Packet4i& a)
+{
+  return reinterpret_cast<Packet4i>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE32));
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d preverse(const Packet2d& a)
+{
+  return reinterpret_cast<Packet2d>(vec_perm(reinterpret_cast<Packet16uc>(a), reinterpret_cast<Packet16uc>(a), p16uc_REVERSE64));
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preverse(const Packet4f& a)
+{
+  Packet4f rev;
+  rev.v4f[0] = preverse<Packet2d>(a.v4f[1]);
+  rev.v4f[1] = preverse<Packet2d>(a.v4f[0]);
+  return rev;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pabs<Packet4i>(const Packet4i& a) { return vec_abs(a); }
+template<> EIGEN_STRONG_INLINE Packet2d pabs<Packet2d>(const Packet2d& a) { return vec_abs(a); }
+template<> EIGEN_STRONG_INLINE Packet4f pabs<Packet4f>(const Packet4f& a)
+{
+  Packet4f res;
+  res.v4f[0] = pabs(a.v4f[0]);
+  res.v4f[1] = pabs(a.v4f[1]);
+  return res;
+}
+
+template<> EIGEN_STRONG_INLINE int predux<Packet4i>(const Packet4i& a)
+{
+  Packet4i b, sum;
+  b   = vec_sld(a, a, 8);
+  sum = padd<Packet4i>(a, b);
+  b   = vec_sld(sum, sum, 4);
+  sum = padd<Packet4i>(sum, b);
+  return pfirst(sum);
+}
+
+template<> EIGEN_STRONG_INLINE double predux<Packet2d>(const Packet2d& a)
+{
+  Packet2d b, sum;
+  b   = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8));
+  sum = padd<Packet2d>(a, b);
+  return pfirst(sum);
+}
+template<> EIGEN_STRONG_INLINE float predux<Packet4f>(const Packet4f& a)
+{
+  Packet2d sum;
+  sum = padd<Packet2d>(a.v4f[0], a.v4f[1]);
+  double first = predux<Packet2d>(sum);
+  return static_cast<float>(first);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i preduxp<Packet4i>(const Packet4i* vecs)
+{
+  Packet4i v[4], sum[4];
+
+  // It's easier and faster to transpose then add as columns
+  // Check: http://www.freevec.org/function/matrix_4x4_transpose_floats for explanation
+  // Do the transpose, first set of moves
+  v[0] = vec_mergeh(vecs[0], vecs[2]);
+  v[1] = vec_mergel(vecs[0], vecs[2]);
+  v[2] = vec_mergeh(vecs[1], vecs[3]);
+  v[3] = vec_mergel(vecs[1], vecs[3]);
+  // Get the resulting vectors
+  sum[0] = vec_mergeh(v[0], v[2]);
+  sum[1] = vec_mergel(v[0], v[2]);
+  sum[2] = vec_mergeh(v[1], v[3]);
+  sum[3] = vec_mergel(v[1], v[3]);
+
+  // Now do the summation:
+  // Lines 0+1
+  sum[0] = padd<Packet4i>(sum[0], sum[1]);
+  // Lines 2+3
+  sum[1] = padd<Packet4i>(sum[2], sum[3]);
+  // Add the results
+  sum[0] = padd<Packet4i>(sum[0], sum[1]);
+
+  return sum[0];
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d preduxp<Packet2d>(const Packet2d* vecs)
+{
+  Packet2d v[2], sum;
+  v[0] = padd<Packet2d>(vecs[0], reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(vecs[0]), reinterpret_cast<Packet4ui>(vecs[0]), 8)));
+  v[1] = padd<Packet2d>(vecs[1], reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(vecs[1]), reinterpret_cast<Packet4ui>(vecs[1]), 8)));
+ 
+  sum = reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4ui>(v[0]), reinterpret_cast<Packet4ui>(v[1]), 8));
+
+  return sum;
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f preduxp<Packet4f>(const Packet4f* vecs)
+{
+  PacketBlock<Packet4f,4> transpose;
+  transpose.packet[0] = vecs[0];
+  transpose.packet[1] = vecs[1];
+  transpose.packet[2] = vecs[2];
+  transpose.packet[3] = vecs[3];
+  ptranspose(transpose);
+
+  Packet4f sum = padd(transpose.packet[0], transpose.packet[1]);
+  sum = padd(sum, transpose.packet[2]);
+  sum = padd(sum, transpose.packet[3]);
+  return sum;
+}
+
+// Other reduction functions:
+// mul
+template<> EIGEN_STRONG_INLINE int predux_mul<Packet4i>(const Packet4i& a)
+{
+  EIGEN_ALIGN16 int aux[4];
+  pstore(aux, a);
+  return aux[0] * aux[1] * aux[2] * aux[3];
+}
+
+template<> EIGEN_STRONG_INLINE double predux_mul<Packet2d>(const Packet2d& a)
+{
+  return pfirst(pmul(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8))));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_mul<Packet4f>(const Packet4f& a)
+{
+  // Return predux_mul<Packet2d> of the subvectors product
+  return static_cast<float>(pfirst(predux_mul(pmul(a.v4f[0], a.v4f[1]))));
+}
+
+// min
+template<> EIGEN_STRONG_INLINE int predux_min<Packet4i>(const Packet4i& a)
+{
+  Packet4i b, res;
+  b   = pmin<Packet4i>(a, vec_sld(a, a, 8));
+  res = pmin<Packet4i>(b, vec_sld(b, b, 4));
+  return pfirst(res);
+}
+
+template<> EIGEN_STRONG_INLINE double predux_min<Packet2d>(const Packet2d& a)
+{
+  return pfirst(pmin<Packet2d>(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8))));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_min<Packet4f>(const Packet4f& a)
+{
+  Packet2d b, res;
+  b   = pmin<Packet2d>(a.v4f[0], a.v4f[1]);
+  res = pmin<Packet2d>(b, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(b), reinterpret_cast<Packet4i>(b), 8)));
+  return static_cast<float>(pfirst(res));
+}
+
+// max
+template<> EIGEN_STRONG_INLINE int predux_max<Packet4i>(const Packet4i& a)
+{
+  Packet4i b, res;
+  b = pmax<Packet4i>(a, vec_sld(a, a, 8));
+  res = pmax<Packet4i>(b, vec_sld(b, b, 4));
+  return pfirst(res);
+}
+
+// max
+template<> EIGEN_STRONG_INLINE double predux_max<Packet2d>(const Packet2d& a)
+{
+  return pfirst(pmax<Packet2d>(a, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(a), reinterpret_cast<Packet4i>(a), 8))));
+}
+
+template<> EIGEN_STRONG_INLINE float predux_max<Packet4f>(const Packet4f& a)
+{
+  Packet2d b, res;
+  b   = pmax<Packet2d>(a.v4f[0], a.v4f[1]);
+  res = pmax<Packet2d>(b, reinterpret_cast<Packet2d>(vec_sld(reinterpret_cast<Packet4i>(b), reinterpret_cast<Packet4i>(b), 8)));
+  return static_cast<float>(pfirst(res));
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4i,4>& kernel) {
+  Packet4i t0 = vec_mergeh(kernel.packet[0], kernel.packet[2]);
+  Packet4i t1 = vec_mergel(kernel.packet[0], kernel.packet[2]);
+  Packet4i t2 = vec_mergeh(kernel.packet[1], kernel.packet[3]);
+  Packet4i t3 = vec_mergel(kernel.packet[1], kernel.packet[3]);
+  kernel.packet[0] = vec_mergeh(t0, t2);
+  kernel.packet[1] = vec_mergel(t0, t2);
+  kernel.packet[2] = vec_mergeh(t1, t3);
+  kernel.packet[3] = vec_mergel(t1, t3);
+}
+
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet2d,2>& kernel) {
+  Packet2d t0 = vec_perm(kernel.packet[0], kernel.packet[1], p16uc_TRANSPOSE64_HI);
+  Packet2d t1 = vec_perm(kernel.packet[0], kernel.packet[1], p16uc_TRANSPOSE64_LO);
+  kernel.packet[0] = t0;
+  kernel.packet[1] = t1;
+}
+
+/* Split the Packet4f PacketBlock into 4 Packet2d PacketBlocks and transpose each one
+ */
+EIGEN_DEVICE_FUNC inline void
+ptranspose(PacketBlock<Packet4f,4>& kernel) {
+  PacketBlock<Packet2d,2> t0,t1,t2,t3;
+  // copy top-left 2x2 Packet2d block
+  t0.packet[0] = kernel.packet[0].v4f[0];
+  t0.packet[1] = kernel.packet[1].v4f[0];
+
+  // copy top-right 2x2 Packet2d block
+  t1.packet[0] = kernel.packet[0].v4f[1];
+  t1.packet[1] = kernel.packet[1].v4f[1];
+
+  // copy bottom-left 2x2 Packet2d block
+  t2.packet[0] = kernel.packet[2].v4f[0];
+  t2.packet[1] = kernel.packet[3].v4f[0];
+
+  // copy bottom-right 2x2 Packet2d block
+  t3.packet[0] = kernel.packet[2].v4f[1];
+  t3.packet[1] = kernel.packet[3].v4f[1];
+
+  // Transpose all 2x2 blocks
+  ptranspose(t0);
+  ptranspose(t1);
+  ptranspose(t2);
+  ptranspose(t3);
+
+  // Copy back transposed blocks, but exchange t1 and t2 due to transposition
+  kernel.packet[0].v4f[0] = t0.packet[0];
+  kernel.packet[0].v4f[1] = t2.packet[0];
+  kernel.packet[1].v4f[0] = t0.packet[1];
+  kernel.packet[1].v4f[1] = t2.packet[1];
+  kernel.packet[2].v4f[0] = t1.packet[0];
+  kernel.packet[2].v4f[1] = t3.packet[0];
+  kernel.packet[3].v4f[0] = t1.packet[1];
+  kernel.packet[3].v4f[1] = t3.packet[1];
+}
+
+template<> EIGEN_STRONG_INLINE Packet4i pblend(const Selector<4>& ifPacket, const Packet4i& thenPacket, const Packet4i& elsePacket) {
+  Packet4ui select = { ifPacket.select[0], ifPacket.select[1], ifPacket.select[2], ifPacket.select[3] };
+  Packet4ui mask = vec_cmpeq(select, reinterpret_cast<Packet4ui>(p4i_ONE));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+
+template<> EIGEN_STRONG_INLINE Packet4f pblend(const Selector<4>& ifPacket, const Packet4f& thenPacket, const Packet4f& elsePacket) {
+  Packet2ul select_hi = { ifPacket.select[0], ifPacket.select[1] };
+  Packet2ul select_lo = { ifPacket.select[2], ifPacket.select[3] };
+  Packet2ul mask_hi = vec_cmpeq(select_hi, reinterpret_cast<Packet2ul>(p2l_ONE));
+  Packet2ul mask_lo = vec_cmpeq(select_lo, reinterpret_cast<Packet2ul>(p2l_ONE));
+  Packet4f result;
+  result.v4f[0] = vec_sel(elsePacket.v4f[0], thenPacket.v4f[0], mask_hi);
+  result.v4f[1] = vec_sel(elsePacket.v4f[1], thenPacket.v4f[1], mask_lo);
+  return result;
+}
+
+template<> EIGEN_STRONG_INLINE Packet2d pblend(const Selector<2>& ifPacket, const Packet2d& thenPacket, const Packet2d& elsePacket) {
+  Packet2ul select = { ifPacket.select[0], ifPacket.select[1] };
+  Packet2ul mask = vec_cmpeq(select, reinterpret_cast<Packet2ul>(p2l_ONE));
+  return vec_sel(elsePacket, thenPacket, mask);
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_PACKET_MATH_ZVECTOR_H
diff --git a/eigenlib/Eigen/src/Core/functors/AssignmentFunctors.h b/eigenlib/Eigen/src/Core/functors/AssignmentFunctors.h
new file mode 100644
index 00000000..9b373c78
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/functors/AssignmentFunctors.h
@@ -0,0 +1,168 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_ASSIGNMENT_FUNCTORS_H
+#define EIGEN_ASSIGNMENT_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+  
+/** \internal
+  * \brief Template functor for scalar/packet assignment
+  *
+  */
+template<typename DstScalar,typename SrcScalar> struct assign_op {
+
+  EIGEN_EMPTY_STRUCT_CTOR(assign_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a = b; }
+  
+  template<int Alignment, typename Packet>
+  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+  { internal::pstoret<DstScalar,Packet,Alignment>(a,b); }
+};
+
+// Empty overload for void type (used by PermutationMatrix
+template<typename DstScalar> struct assign_op<DstScalar,void> {};
+
+template<typename DstScalar,typename SrcScalar>
+struct functor_traits<assign_op<DstScalar,SrcScalar> > {
+  enum {
+    Cost = NumTraits<DstScalar>::ReadCost,
+    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::Vectorizable && packet_traits<SrcScalar>::Vectorizable
+  };
+};
+
+/** \internal
+  * \brief Template functor for scalar/packet assignment with addition
+  *
+  */
+template<typename DstScalar,typename SrcScalar> struct add_assign_op {
+
+  EIGEN_EMPTY_STRUCT_CTOR(add_assign_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a += b; }
+  
+  template<int Alignment, typename Packet>
+  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+  { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::padd(internal::ploadt<Packet,Alignment>(a),b)); }
+};
+template<typename DstScalar,typename SrcScalar>
+struct functor_traits<add_assign_op<DstScalar,SrcScalar> > {
+  enum {
+    Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::AddCost,
+    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasAdd
+  };
+};
+
+/** \internal
+  * \brief Template functor for scalar/packet assignment with subtraction
+  *
+  */
+template<typename DstScalar,typename SrcScalar> struct sub_assign_op {
+
+  EIGEN_EMPTY_STRUCT_CTOR(sub_assign_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a -= b; }
+  
+  template<int Alignment, typename Packet>
+  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+  { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::psub(internal::ploadt<Packet,Alignment>(a),b)); }
+};
+template<typename DstScalar,typename SrcScalar>
+struct functor_traits<sub_assign_op<DstScalar,SrcScalar> > {
+  enum {
+    Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::AddCost,
+    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasSub
+  };
+};
+
+/** \internal
+  * \brief Template functor for scalar/packet assignment with multiplication
+  *
+  */
+template<typename DstScalar, typename SrcScalar=DstScalar>
+struct mul_assign_op {
+
+  EIGEN_EMPTY_STRUCT_CTOR(mul_assign_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a *= b; }
+  
+  template<int Alignment, typename Packet>
+  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+  { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::pmul(internal::ploadt<Packet,Alignment>(a),b)); }
+};
+template<typename DstScalar, typename SrcScalar>
+struct functor_traits<mul_assign_op<DstScalar,SrcScalar> > {
+  enum {
+    Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::MulCost,
+    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasMul
+  };
+};
+
+/** \internal
+  * \brief Template functor for scalar/packet assignment with diviving
+  *
+  */
+template<typename DstScalar, typename SrcScalar=DstScalar> struct div_assign_op {
+
+  EIGEN_EMPTY_STRUCT_CTOR(div_assign_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(DstScalar& a, const SrcScalar& b) const { a /= b; }
+  
+  template<int Alignment, typename Packet>
+  EIGEN_STRONG_INLINE void assignPacket(DstScalar* a, const Packet& b) const
+  { internal::pstoret<DstScalar,Packet,Alignment>(a,internal::pdiv(internal::ploadt<Packet,Alignment>(a),b)); }
+};
+template<typename DstScalar, typename SrcScalar>
+struct functor_traits<div_assign_op<DstScalar,SrcScalar> > {
+  enum {
+    Cost = NumTraits<DstScalar>::ReadCost + NumTraits<DstScalar>::MulCost,
+    PacketAccess = is_same<DstScalar,SrcScalar>::value && packet_traits<DstScalar>::HasDiv
+  };
+};
+
+/** \internal
+  * \brief Template functor for scalar/packet assignment with swapping
+  *
+  * It works as follow. For a non-vectorized evaluation loop, we have:
+  *   for(i) func(A.coeffRef(i), B.coeff(i));
+  * where B is a SwapWrapper expression. The trick is to make SwapWrapper::coeff behaves like a non-const coeffRef.
+  * Actually, SwapWrapper might not even be needed since even if B is a plain expression, since it has to be writable
+  * B.coeff already returns a const reference to the underlying scalar value.
+  * 
+  * The case of a vectorized loop is more tricky:
+  *   for(i,j) func.assignPacket<A_Align>(&A.coeffRef(i,j), B.packet<B_Align>(i,j));
+  * Here, B must be a SwapWrapper whose packet function actually returns a proxy object holding a Scalar*,
+  * the actual alignment and Packet type.
+  *
+  */
+template<typename Scalar> struct swap_assign_op {
+
+  EIGEN_EMPTY_STRUCT_CTOR(swap_assign_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void assignCoeff(Scalar& a, const Scalar& b) const
+  {
+#ifdef __CUDACC__
+    // FIXME is there some kind of cuda::swap?
+    Scalar t=b; const_cast<Scalar&>(b)=a; a=t;
+#else
+    using std::swap;
+    swap(a,const_cast<Scalar&>(b));
+#endif
+  }
+};
+template<typename Scalar>
+struct functor_traits<swap_assign_op<Scalar> > {
+  enum {
+    Cost = 3 * NumTraits<Scalar>::ReadCost,
+    PacketAccess = packet_traits<Scalar>::Vectorizable
+  };
+};
+
+} // namespace internal
+
+} // namespace Eigen
+
+#endif // EIGEN_ASSIGNMENT_FUNCTORS_H
diff --git a/eigenlib/Eigen/src/Core/functors/BinaryFunctors.h b/eigenlib/Eigen/src/Core/functors/BinaryFunctors.h
new file mode 100644
index 00000000..96747bac
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/functors/BinaryFunctors.h
@@ -0,0 +1,482 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_BINARY_FUNCTORS_H
+#define EIGEN_BINARY_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+//---------- associative binary functors ----------
+
+template<typename Arg1, typename Arg2>
+struct binary_op_base
+{
+  typedef Arg1 first_argument_type;
+  typedef Arg2 second_argument_type;
+};
+
+/** \internal
+  * \brief Template functor to compute the sum of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::operator+, class VectorwiseOp, DenseBase::sum()
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_sum_op : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_sum_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sum_op)
+#else
+  scalar_sum_op() {
+    EIGEN_SCALAR_BINARY_OP_PLUGIN
+  }
+#endif
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a + b; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::padd(a,b); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+  { return internal::predux(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_sum_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2, // rough estimate!
+    PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasAdd && packet_traits<RhsScalar>::HasAdd
+    // TODO vectorize mixed sum
+  };
+};
+
+/** \internal
+  * \brief Template specialization to deprecate the summation of boolean expressions.
+  * This is required to solve Bug 426.
+  * \sa DenseBase::count(), DenseBase::any(), ArrayBase::cast(), MatrixBase::cast()
+  */
+template<> struct scalar_sum_op<bool,bool> : scalar_sum_op<int,int> {
+  EIGEN_DEPRECATED
+  scalar_sum_op() {}
+};
+
+
+/** \internal
+  * \brief Template functor to compute the product of two scalars
+  *
+  * \sa class CwiseBinaryOp, Cwise::operator*(), class VectorwiseOp, MatrixBase::redux()
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_product_op  : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_product_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_product_op)
+#else
+  scalar_product_op() {
+    EIGEN_SCALAR_BINARY_OP_PLUGIN
+  }
+#endif
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a * b; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pmul(a,b); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+  { return internal::predux_mul(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_product_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::MulCost + NumTraits<RhsScalar>::MulCost)/2, // rough estimate!
+    PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasMul && packet_traits<RhsScalar>::HasMul
+    // TODO vectorize mixed product
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the conjugate product of two scalars
+  *
+  * This is a short cut for conj(x) * y which is needed for optimization purpose; in Eigen2 support mode, this becomes x * conj(y)
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_conj_product_op  : binary_op_base<LhsScalar,RhsScalar>
+{
+
+  enum {
+    Conj = NumTraits<LhsScalar>::IsComplex
+  };
+  
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_conj_product_op>::ReturnType result_type;
+  
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_conj_product_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const
+  { return conj_helper<LhsScalar,RhsScalar,Conj,false>().pmul(a,b); }
+  
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return conj_helper<Packet,Packet,Conj,false>().pmul(a,b); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_conj_product_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = NumTraits<LhsScalar>::MulCost,
+    PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMul
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the min of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::cwiseMin, class VectorwiseOp, MatrixBase::minCoeff()
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_min_op : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_min_op>::ReturnType result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_min_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return numext::mini(a, b); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pmin(a,b); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+  { return internal::predux_min(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_min_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+    PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMin
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the max of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::cwiseMax, class VectorwiseOp, MatrixBase::maxCoeff()
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_max_op  : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_max_op>::ReturnType result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_max_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return numext::maxi(a, b); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pmax(a,b); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type predux(const Packet& a) const
+  { return internal::predux_max(a); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_max_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+    PacketAccess = internal::is_same<LhsScalar, RhsScalar>::value && packet_traits<LhsScalar>::HasMax
+  };
+};
+
+/** \internal
+  * \brief Template functors for comparison of two scalars
+  * \todo Implement packet-comparisons
+  */
+template<typename LhsScalar, typename RhsScalar, ComparisonName cmp> struct scalar_cmp_op;
+
+template<typename LhsScalar, typename RhsScalar, ComparisonName cmp>
+struct functor_traits<scalar_cmp_op<LhsScalar,RhsScalar, cmp> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+    PacketAccess = false
+  };
+};
+
+template<ComparisonName Cmp, typename LhsScalar, typename RhsScalar>
+struct result_of<scalar_cmp_op<LhsScalar, RhsScalar, Cmp>(LhsScalar,RhsScalar)> {
+  typedef bool type;
+};
+
+
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_EQ> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a==b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_LT> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a<b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_LE> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a<=b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_GT> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a>b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_GE> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a>=b;}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_UNORD> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return !(a<=b || b<=a);}
+};
+template<typename LhsScalar, typename RhsScalar>
+struct scalar_cmp_op<LhsScalar,RhsScalar, cmp_NEQ> : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef bool result_type;
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cmp_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator()(const LhsScalar& a, const RhsScalar& b) const {return a!=b;}
+};
+
+
+/** \internal
+  * \brief Template functor to compute the hypot of two scalars
+  *
+  * \sa MatrixBase::stableNorm(), class Redux
+  */
+template<typename Scalar>
+struct scalar_hypot_op<Scalar,Scalar> : binary_op_base<Scalar,Scalar>
+{
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_hypot_op)
+//   typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& _x, const Scalar& _y) const
+  {
+    EIGEN_USING_STD_MATH(sqrt)
+    Scalar p, qp;
+    if(_x>_y)
+    {
+      p = _x;
+      qp = _y / p;
+    }
+    else
+    {
+      p = _y;
+      qp = _x / p;
+    }
+    return p * sqrt(Scalar(1) + qp*qp);
+  }
+};
+template<typename Scalar>
+struct functor_traits<scalar_hypot_op<Scalar,Scalar> > {
+  enum
+  {
+    Cost = 3 * NumTraits<Scalar>::AddCost +
+           2 * NumTraits<Scalar>::MulCost +
+           2 * scalar_div_cost<Scalar,false>::value,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the pow of two scalars
+  */
+template<typename Scalar, typename Exponent>
+struct scalar_pow_op  : binary_op_base<Scalar,Exponent>
+{
+  typedef typename ScalarBinaryOpTraits<Scalar,Exponent,scalar_pow_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_pow_op)
+#else
+  scalar_pow_op() {
+    typedef Scalar LhsScalar;
+    typedef Exponent RhsScalar;
+    EIGEN_SCALAR_BINARY_OP_PLUGIN
+  }
+#endif
+  EIGEN_DEVICE_FUNC
+  inline result_type operator() (const Scalar& a, const Exponent& b) const { return numext::pow(a, b); }
+};
+template<typename Scalar, typename Exponent>
+struct functor_traits<scalar_pow_op<Scalar,Exponent> > {
+  enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = false };
+};
+
+
+
+//---------- non associative binary functors ----------
+
+/** \internal
+  * \brief Template functor to compute the difference of two scalars
+  *
+  * \sa class CwiseBinaryOp, MatrixBase::operator-
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_difference_op : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_difference_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_difference_op)
+#else
+  scalar_difference_op() {
+    EIGEN_SCALAR_BINARY_OP_PLUGIN
+  }
+#endif
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a - b; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::psub(a,b); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_difference_op<LhsScalar,RhsScalar> > {
+  enum {
+    Cost = (NumTraits<LhsScalar>::AddCost+NumTraits<RhsScalar>::AddCost)/2,
+    PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasSub && packet_traits<RhsScalar>::HasSub
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the quotient of two scalars
+  *
+  * \sa class CwiseBinaryOp, Cwise::operator/()
+  */
+template<typename LhsScalar,typename RhsScalar>
+struct scalar_quotient_op  : binary_op_base<LhsScalar,RhsScalar>
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar,scalar_quotient_op>::ReturnType result_type;
+#ifndef EIGEN_SCALAR_BINARY_OP_PLUGIN
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_quotient_op)
+#else
+  scalar_quotient_op() {
+    EIGEN_SCALAR_BINARY_OP_PLUGIN
+  }
+#endif
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const LhsScalar& a, const RhsScalar& b) const { return a / b; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a, const Packet& b) const
+  { return internal::pdiv(a,b); }
+};
+template<typename LhsScalar,typename RhsScalar>
+struct functor_traits<scalar_quotient_op<LhsScalar,RhsScalar> > {
+  typedef typename scalar_quotient_op<LhsScalar,RhsScalar>::result_type result_type;
+  enum {
+    PacketAccess = is_same<LhsScalar,RhsScalar>::value && packet_traits<LhsScalar>::HasDiv && packet_traits<RhsScalar>::HasDiv,
+    Cost = scalar_div_cost<result_type,PacketAccess>::value
+  };
+};
+
+
+
+/** \internal
+  * \brief Template functor to compute the and of two booleans
+  *
+  * \sa class CwiseBinaryOp, ArrayBase::operator&&
+  */
+struct scalar_boolean_and_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_and_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a && b; }
+};
+template<> struct functor_traits<scalar_boolean_and_op> {
+  enum {
+    Cost = NumTraits<bool>::AddCost,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the or of two booleans
+  *
+  * \sa class CwiseBinaryOp, ArrayBase::operator||
+  */
+struct scalar_boolean_or_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_or_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a || b; }
+};
+template<> struct functor_traits<scalar_boolean_or_op> {
+  enum {
+    Cost = NumTraits<bool>::AddCost,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+ * \brief Template functor to compute the xor of two booleans
+ *
+ * \sa class CwiseBinaryOp, ArrayBase::operator^
+ */
+struct scalar_boolean_xor_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_xor_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a, const bool& b) const { return a ^ b; }
+};
+template<> struct functor_traits<scalar_boolean_xor_op> {
+  enum {
+    Cost = NumTraits<bool>::AddCost,
+    PacketAccess = false
+  };
+};
+
+
+
+//---------- binary functors bound to a constant, thus appearing as a unary functor ----------
+
+// The following two classes permits to turn any binary functor into a unary one with one argument bound to a constant value.
+// They are analogues to std::binder1st/binder2nd but with the following differences:
+//  - they are compatible with packetOp
+//  - they are portable across C++ versions (the std::binder* are deprecated in C++11)
+template<typename BinaryOp> struct bind1st_op : BinaryOp {
+
+  typedef typename BinaryOp::first_argument_type  first_argument_type;
+  typedef typename BinaryOp::second_argument_type second_argument_type;
+  typedef typename BinaryOp::result_type          result_type;
+
+  bind1st_op(const first_argument_type &val) : m_value(val) {}
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const second_argument_type& b) const { return BinaryOp::operator()(m_value,b); }
+
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& b) const
+  { return BinaryOp::packetOp(internal::pset1<Packet>(m_value), b); }
+
+  first_argument_type m_value;
+};
+template<typename BinaryOp> struct functor_traits<bind1st_op<BinaryOp> > : functor_traits<BinaryOp> {};
+
+
+template<typename BinaryOp> struct bind2nd_op : BinaryOp {
+
+  typedef typename BinaryOp::first_argument_type  first_argument_type;
+  typedef typename BinaryOp::second_argument_type second_argument_type;
+  typedef typename BinaryOp::result_type          result_type;
+
+  bind2nd_op(const second_argument_type &val) : m_value(val) {}
+
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const first_argument_type& a) const { return BinaryOp::operator()(a,m_value); }
+
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return BinaryOp::packetOp(a,internal::pset1<Packet>(m_value)); }
+
+  second_argument_type m_value;
+};
+template<typename BinaryOp> struct functor_traits<bind2nd_op<BinaryOp> > : functor_traits<BinaryOp> {};
+
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_BINARY_FUNCTORS_H
diff --git a/eigenlib/Eigen/src/Core/functors/NullaryFunctors.h b/eigenlib/Eigen/src/Core/functors/NullaryFunctors.h
new file mode 100644
index 00000000..0311d903
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/functors/NullaryFunctors.h
@@ -0,0 +1,189 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_NULLARY_FUNCTORS_H
+#define EIGEN_NULLARY_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename Scalar>
+struct scalar_constant_op {
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE scalar_constant_op(const scalar_constant_op& other) : m_other(other.m_other) { }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE scalar_constant_op(const Scalar& other) : m_other(other) { }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() () const { return m_other; }
+  template<typename PacketType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const PacketType packetOp() const { return internal::pset1<PacketType>(m_other); }
+  const Scalar m_other;
+};
+template<typename Scalar>
+struct functor_traits<scalar_constant_op<Scalar> >
+{ enum { Cost = 0 /* as the constant value should be loaded in register only once for the whole expression */,
+         PacketAccess = packet_traits<Scalar>::Vectorizable, IsRepeatable = true }; };
+
+template<typename Scalar> struct scalar_identity_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_identity_op)
+  template<typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType row, IndexType col) const { return row==col ? Scalar(1) : Scalar(0); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_identity_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::AddCost, PacketAccess = false, IsRepeatable = true }; };
+
+template <typename Scalar, typename Packet, bool IsInteger> struct linspaced_op_impl;
+
+template <typename Scalar, typename Packet>
+struct linspaced_op_impl<Scalar,Packet,/*IsInteger*/false>
+{
+  linspaced_op_impl(const Scalar& low, const Scalar& high, Index num_steps) :
+    m_low(low), m_high(high), m_size1(num_steps==1 ? 1 : num_steps-1), m_step(num_steps==1 ? Scalar() : (high-low)/Scalar(num_steps-1)),
+    m_interPacket(plset<Packet>(0)),
+    m_flip(numext::abs(high)<numext::abs(low))
+  {}
+
+  template<typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType i) const {
+    if(m_flip)
+      return (i==0)? m_low : (m_high - (m_size1-i)*m_step);
+    else
+      return (i==m_size1)? m_high : (m_low + i*m_step);
+  }
+
+  template<typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(IndexType i) const
+  {
+    // Principle:
+    // [low, ..., low] + ( [step, ..., step] * ( [i, ..., i] + [0, ..., size] ) )
+    if(m_flip)
+    {
+      Packet pi = padd(pset1<Packet>(Scalar(i-m_size1)),m_interPacket);
+      Packet res = padd(pset1<Packet>(m_high), pmul(pset1<Packet>(m_step), pi));
+      if(i==0)
+        res = pinsertfirst(res, m_low);
+      return res;
+    }
+    else
+    {
+      Packet pi = padd(pset1<Packet>(Scalar(i)),m_interPacket);
+      Packet res = padd(pset1<Packet>(m_low), pmul(pset1<Packet>(m_step), pi));
+      if(i==m_size1-unpacket_traits<Packet>::size+1)
+        res = pinsertlast(res, m_high);
+      return res;
+    }
+  }
+
+  const Scalar m_low;
+  const Scalar m_high;
+  const Index m_size1;
+  const Scalar m_step;
+  const Packet m_interPacket;
+  const bool m_flip;
+};
+
+template <typename Scalar, typename Packet>
+struct linspaced_op_impl<Scalar,Packet,/*IsInteger*/true>
+{
+  linspaced_op_impl(const Scalar& low, const Scalar& high, Index num_steps) :
+    m_low(low),
+    m_multiplier((high-low)/convert_index<Scalar>(num_steps<=1 ? 1 : num_steps-1)),
+    m_divisor(convert_index<Scalar>(num_steps+high-low)/(high-low+1)),
+    m_use_divisor((high+1)<(low+num_steps))
+  {}
+
+  template<typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE
+  const Scalar operator() (IndexType i) const
+  {
+    if(m_use_divisor) return m_low + convert_index<Scalar>(i)/m_divisor;
+    else              return m_low + convert_index<Scalar>(i)*m_multiplier;
+  }
+
+  const Scalar m_low;
+  const Scalar m_multiplier;
+  const Scalar m_divisor;
+  const bool m_use_divisor;
+};
+
+// ----- Linspace functor ----------------------------------------------------------------
+
+// Forward declaration (we default to random access which does not really give
+// us a speed gain when using packet access but it allows to use the functor in
+// nested expressions).
+template <typename Scalar, typename PacketType> struct linspaced_op;
+template <typename Scalar, typename PacketType> struct functor_traits< linspaced_op<Scalar,PacketType> >
+{
+  enum
+  {
+    Cost = 1,
+    PacketAccess =   (!NumTraits<Scalar>::IsInteger) && packet_traits<Scalar>::HasSetLinear && packet_traits<Scalar>::HasBlend,
+                  /*&& ((!NumTraits<Scalar>::IsInteger) || packet_traits<Scalar>::HasDiv),*/ // <- vectorization for integer is currently disabled
+    IsRepeatable = true
+  };
+};
+template <typename Scalar, typename PacketType> struct linspaced_op
+{
+  linspaced_op(const Scalar& low, const Scalar& high, Index num_steps)
+    : impl((num_steps==1 ? high : low),high,num_steps)
+  {}
+
+  template<typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (IndexType i) const { return impl(i); }
+
+  template<typename Packet,typename IndexType>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(IndexType i) const { return impl.packetOp(i); }
+
+  // This proxy object handles the actual required temporaries and the different
+  // implementations (integer vs. floating point).
+  const linspaced_op_impl<Scalar,PacketType,NumTraits<Scalar>::IsInteger> impl;
+};
+
+// Linear access is automatically determined from the operator() prototypes available for the given functor.
+// If it exposes an operator()(i,j), then we assume the i and j coefficients are required independently
+// and linear access is not possible. In all other cases, linear access is enabled.
+// Users should not have to deal with this structure.
+template<typename Functor> struct functor_has_linear_access { enum { ret = !has_binary_operator<Functor>::value }; };
+
+// For unreliable compilers, let's specialize the has_*ary_operator
+// helpers so that at least built-in nullary functors work fine.
+#if !( (EIGEN_COMP_MSVC>1600) || (EIGEN_GNUC_AT_LEAST(4,8)) || (EIGEN_COMP_ICC>=1600))
+template<typename Scalar,typename IndexType>
+struct has_nullary_operator<scalar_constant_op<Scalar>,IndexType> { enum { value = 1}; };
+template<typename Scalar,typename IndexType>
+struct has_unary_operator<scalar_constant_op<Scalar>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_binary_operator<scalar_constant_op<Scalar>,IndexType> { enum { value = 0}; };
+
+template<typename Scalar,typename IndexType>
+struct has_nullary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_unary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_binary_operator<scalar_identity_op<Scalar>,IndexType> { enum { value = 1}; };
+
+template<typename Scalar, typename PacketType,typename IndexType>
+struct has_nullary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 0}; };
+template<typename Scalar, typename PacketType,typename IndexType>
+struct has_unary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 1}; };
+template<typename Scalar, typename PacketType,typename IndexType>
+struct has_binary_operator<linspaced_op<Scalar,PacketType>,IndexType> { enum { value = 0}; };
+
+template<typename Scalar,typename IndexType>
+struct has_nullary_operator<scalar_random_op<Scalar>,IndexType> { enum { value = 1}; };
+template<typename Scalar,typename IndexType>
+struct has_unary_operator<scalar_random_op<Scalar>,IndexType> { enum { value = 0}; };
+template<typename Scalar,typename IndexType>
+struct has_binary_operator<scalar_random_op<Scalar>,IndexType> { enum { value = 0}; };
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_NULLARY_FUNCTORS_H
diff --git a/eigenlib/Eigen/src/Core/functors/StlFunctors.h b/eigenlib/Eigen/src/Core/functors/StlFunctors.h
new file mode 100644
index 00000000..6df3fa50
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/functors/StlFunctors.h
@@ -0,0 +1,132 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_STL_FUNCTORS_H
+#define EIGEN_STL_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+// default functor traits for STL functors:
+
+template<typename T>
+struct functor_traits<std::multiplies<T> >
+{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::divides<T> >
+{ enum { Cost = NumTraits<T>::MulCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::plus<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::minus<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::negate<T> >
+{ enum { Cost = NumTraits<T>::AddCost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_or<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_and<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::logical_not<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::greater<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::less<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::greater_equal<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::less_equal<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::equal_to<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::not_equal_to<T> >
+{ enum { Cost = 1, PacketAccess = false }; };
+
+#if (__cplusplus < 201103L) && (EIGEN_COMP_MSVC <= 1900)
+// std::binder* are deprecated since c++11 and will be removed in c++17
+template<typename T>
+struct functor_traits<std::binder2nd<T> >
+{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::binder1st<T> >
+{ enum { Cost = functor_traits<T>::Cost, PacketAccess = false }; };
+#endif
+
+template<typename T>
+struct functor_traits<std::unary_negate<T> >
+{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
+
+template<typename T>
+struct functor_traits<std::binary_negate<T> >
+{ enum { Cost = 1 + functor_traits<T>::Cost, PacketAccess = false }; };
+
+#ifdef EIGEN_STDEXT_SUPPORT
+
+template<typename T0,typename T1>
+struct functor_traits<std::project1st<T0,T1> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::project2nd<T0,T1> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::select2nd<std::pair<T0,T1> > >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::select1st<std::pair<T0,T1> > >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+template<typename T0,typename T1>
+struct functor_traits<std::unary_compose<T0,T1> >
+{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost, PacketAccess = false }; };
+
+template<typename T0,typename T1,typename T2>
+struct functor_traits<std::binary_compose<T0,T1,T2> >
+{ enum { Cost = functor_traits<T0>::Cost + functor_traits<T1>::Cost + functor_traits<T2>::Cost, PacketAccess = false }; };
+
+#endif // EIGEN_STDEXT_SUPPORT
+
+// allow to add new functors and specializations of functor_traits from outside Eigen.
+// this macro is really needed because functor_traits must be specialized after it is declared but before it is used...
+#ifdef EIGEN_FUNCTORS_PLUGIN
+#include EIGEN_FUNCTORS_PLUGIN
+#endif
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_STL_FUNCTORS_H
diff --git a/eigenlib/unsupported/Eigen/MoreVectorization b/eigenlib/Eigen/src/Core/functors/TernaryFunctors.h
similarity index 52%
rename from eigenlib/unsupported/Eigen/MoreVectorization
rename to eigenlib/Eigen/src/Core/functors/TernaryFunctors.h
index 470e7243..b254e96c 100644
--- a/eigenlib/unsupported/Eigen/MoreVectorization
+++ b/eigenlib/Eigen/src/Core/functors/TernaryFunctors.h
@@ -1,24 +1,25 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
+// Copyright (C) 2016 Eugene Brevdo <ebrevdo@gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
-#ifndef EIGEN_MOREVECTORIZATION_MODULE_H
-#define EIGEN_MOREVECTORIZATION_MODULE_H
-
-#include <Eigen/Core>
+#ifndef EIGEN_TERNARY_FUNCTORS_H
+#define EIGEN_TERNARY_FUNCTORS_H
 
 namespace Eigen {
 
-/**
-  * \defgroup MoreVectorization More vectorization module
-  */
+namespace internal {
 
-}
+//---------- associative ternary functors ----------
 
-#include "src/MoreVectorization/MathFunctions.h"
 
-#endif // EIGEN_MOREVECTORIZATION_MODULE_H
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_TERNARY_FUNCTORS_H
diff --git a/eigenlib/Eigen/src/Core/functors/UnaryFunctors.h b/eigenlib/Eigen/src/Core/functors/UnaryFunctors.h
new file mode 100644
index 00000000..2e6a00ff
--- /dev/null
+++ b/eigenlib/Eigen/src/Core/functors/UnaryFunctors.h
@@ -0,0 +1,792 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_UNARY_FUNCTORS_H
+#define EIGEN_UNARY_FUNCTORS_H
+
+namespace Eigen {
+
+namespace internal {
+
+/** \internal
+  * \brief Template functor to compute the opposite of a scalar
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::operator-
+  */
+template<typename Scalar> struct scalar_opposite_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_opposite_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return -a; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pnegate(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_opposite_op<Scalar> >
+{ enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasNegate };
+};
+
+/** \internal
+  * \brief Template functor to compute the absolute value of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::abs
+  */
+template<typename Scalar> struct scalar_abs_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_abs_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return numext::abs(a); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pabs(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_abs_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasAbs
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the score of a scalar, to chose a pivot
+  *
+  * \sa class CwiseUnaryOp
+  */
+template<typename Scalar> struct scalar_score_coeff_op : scalar_abs_op<Scalar>
+{
+  typedef void Score_is_abs;
+};
+template<typename Scalar>
+struct functor_traits<scalar_score_coeff_op<Scalar> > : functor_traits<scalar_abs_op<Scalar> > {};
+
+/* Avoid recomputing abs when we know the score and they are the same. Not a true Eigen functor.  */
+template<typename Scalar, typename=void> struct abs_knowing_score
+{
+  EIGEN_EMPTY_STRUCT_CTOR(abs_knowing_score)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  template<typename Score>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a, const Score&) const { return numext::abs(a); }
+};
+template<typename Scalar> struct abs_knowing_score<Scalar, typename scalar_score_coeff_op<Scalar>::Score_is_abs>
+{
+  EIGEN_EMPTY_STRUCT_CTOR(abs_knowing_score)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  template<typename Scal>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scal&, const result_type& a) const { return a; }
+};
+
+/** \internal
+  * \brief Template functor to compute the squared absolute value of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::abs2
+  */
+template<typename Scalar> struct scalar_abs2_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_abs2_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { return numext::abs2(a); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a,a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_abs2_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasAbs2 }; };
+
+/** \internal
+  * \brief Template functor to compute the conjugate of a complex value
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::conjugate()
+  */
+template<typename Scalar> struct scalar_conjugate_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_conjugate_op)
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { using numext::conj; return conj(a); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const { return internal::pconj(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_conjugate_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::IsComplex ? NumTraits<Scalar>::AddCost : 0,
+    PacketAccess = packet_traits<Scalar>::HasConj
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the phase angle of a complex
+  *
+  * \sa class CwiseUnaryOp, Cwise::arg
+  */
+template<typename Scalar> struct scalar_arg_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_arg_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const result_type operator() (const Scalar& a) const { using numext::arg; return arg(a); }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Packet packetOp(const Packet& a) const
+  { return internal::parg(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_arg_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::IsComplex ? 5 * NumTraits<Scalar>::MulCost : NumTraits<Scalar>::AddCost,
+    PacketAccess = packet_traits<Scalar>::HasArg
+  };
+};
+/** \internal
+  * \brief Template functor to cast a scalar to another type
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::cast()
+  */
+template<typename Scalar, typename NewType>
+struct scalar_cast_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cast_op)
+  typedef NewType result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const NewType operator() (const Scalar& a) const { return cast<Scalar, NewType>(a); }
+};
+template<typename Scalar, typename NewType>
+struct functor_traits<scalar_cast_op<Scalar,NewType> >
+{ enum { Cost = is_same<Scalar, NewType>::value ? 0 : NumTraits<NewType>::AddCost, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the real part of a complex
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::real()
+  */
+template<typename Scalar>
+struct scalar_real_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_real_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return numext::real(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_real_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the imaginary part of a complex
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::imag()
+  */
+template<typename Scalar>
+struct scalar_imag_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return numext::imag(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_imag_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the real part of a complex as a reference
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::real()
+  */
+template<typename Scalar>
+struct scalar_real_ref_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_real_ref_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return numext::real_ref(*const_cast<Scalar*>(&a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_real_ref_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  * \brief Template functor to extract the imaginary part of a complex as a reference
+  *
+  * \sa class CwiseUnaryOp, MatrixBase::imag()
+  */
+template<typename Scalar>
+struct scalar_imag_ref_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_imag_ref_op)
+  typedef typename NumTraits<Scalar>::Real result_type;
+  EIGEN_DEVICE_FUNC
+  EIGEN_STRONG_INLINE result_type& operator() (const Scalar& a) const { return numext::imag_ref(*const_cast<Scalar*>(&a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_imag_ref_op<Scalar> >
+{ enum { Cost = 0, PacketAccess = false }; };
+
+/** \internal
+  *
+  * \brief Template functor to compute the exponential of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::exp()
+  */
+template<typename Scalar> struct scalar_exp_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_exp_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::exp(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pexp(a); }
+};
+template <typename Scalar>
+struct functor_traits<scalar_exp_op<Scalar> > {
+  enum {
+    PacketAccess = packet_traits<Scalar>::HasExp,
+    // The following numbers are based on the AVX implementation.
+#ifdef EIGEN_VECTORIZE_FMA
+    // Haswell can issue 2 add/mul/madd per cycle.
+    Cost =
+    (sizeof(Scalar) == 4
+     // float: 8 pmadd, 4 pmul, 2 padd/psub, 6 other
+     ? (8 * NumTraits<Scalar>::AddCost + 6 * NumTraits<Scalar>::MulCost)
+     // double: 7 pmadd, 5 pmul, 3 padd/psub, 1 div,  13 other
+     : (14 * NumTraits<Scalar>::AddCost +
+        6 * NumTraits<Scalar>::MulCost +
+        scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value))
+#else
+    Cost =
+    (sizeof(Scalar) == 4
+     // float: 7 pmadd, 6 pmul, 4 padd/psub, 10 other
+     ? (21 * NumTraits<Scalar>::AddCost + 13 * NumTraits<Scalar>::MulCost)
+     // double: 7 pmadd, 5 pmul, 3 padd/psub, 1 div,  13 other
+     : (23 * NumTraits<Scalar>::AddCost +
+        12 * NumTraits<Scalar>::MulCost +
+        scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value))
+#endif
+  };
+};
+
+/** \internal
+  *
+  * \brief Template functor to compute the logarithm of a scalar
+  *
+  * \sa class CwiseUnaryOp, ArrayBase::log()
+  */
+template<typename Scalar> struct scalar_log_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_log_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::log(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog(a); }
+};
+template <typename Scalar>
+struct functor_traits<scalar_log_op<Scalar> > {
+  enum {
+    PacketAccess = packet_traits<Scalar>::HasLog,
+    Cost =
+    (PacketAccess
+     // The following numbers are based on the AVX implementation.
+#ifdef EIGEN_VECTORIZE_FMA
+     // 8 pmadd, 6 pmul, 8 padd/psub, 16 other, can issue 2 add/mul/madd per cycle.
+     ? (20 * NumTraits<Scalar>::AddCost + 7 * NumTraits<Scalar>::MulCost)
+#else
+     // 8 pmadd, 6 pmul, 8 padd/psub, 20 other
+     ? (36 * NumTraits<Scalar>::AddCost + 14 * NumTraits<Scalar>::MulCost)
+#endif
+     // Measured cost of std::log.
+     : sizeof(Scalar)==4 ? 40 : 85)
+  };
+};
+
+/** \internal
+  *
+  * \brief Template functor to compute the logarithm of 1 plus a scalar value
+  *
+  * \sa class CwiseUnaryOp, ArrayBase::log1p()
+  */
+template<typename Scalar> struct scalar_log1p_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_log1p_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::log1p(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog1p(a); }
+};
+template <typename Scalar>
+struct functor_traits<scalar_log1p_op<Scalar> > {
+  enum {
+    PacketAccess = packet_traits<Scalar>::HasLog1p,
+    Cost = functor_traits<scalar_log_op<Scalar> >::Cost // TODO measure cost of log1p
+  };
+};
+
+/** \internal
+  *
+  * \brief Template functor to compute the base-10 logarithm of a scalar
+  *
+  * \sa class CwiseUnaryOp, Cwise::log10()
+  */
+template<typename Scalar> struct scalar_log10_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_log10_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { EIGEN_USING_STD_MATH(log10) return log10(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::plog10(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_log10_op<Scalar> >
+{ enum { Cost = 5 * NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasLog10 }; };
+
+/** \internal
+  * \brief Template functor to compute the square root of a scalar
+  * \sa class CwiseUnaryOp, Cwise::sqrt()
+  */
+template<typename Scalar> struct scalar_sqrt_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sqrt_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::sqrt(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psqrt(a); }
+};
+template <typename Scalar>
+struct functor_traits<scalar_sqrt_op<Scalar> > {
+  enum {
+#if EIGEN_FAST_MATH
+    // The following numbers are based on the AVX implementation.
+    Cost = (sizeof(Scalar) == 8 ? 28
+                                // 4 pmul, 1 pmadd, 3 other
+                                : (3 * NumTraits<Scalar>::AddCost +
+                                   5 * NumTraits<Scalar>::MulCost)),
+#else
+    // The following numbers are based on min VSQRT throughput on Haswell.
+    Cost = (sizeof(Scalar) == 8 ? 28 : 14),
+#endif
+    PacketAccess = packet_traits<Scalar>::HasSqrt
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the reciprocal square root of a scalar
+  * \sa class CwiseUnaryOp, Cwise::rsqrt()
+  */
+template<typename Scalar> struct scalar_rsqrt_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_rsqrt_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return Scalar(1)/numext::sqrt(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::prsqrt(a); }
+};
+
+template<typename Scalar>
+struct functor_traits<scalar_rsqrt_op<Scalar> >
+{ enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasRsqrt
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the cosine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::cos()
+  */
+template<typename Scalar> struct scalar_cos_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cos_op)
+  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return numext::cos(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pcos(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_cos_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasCos
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the sine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::sin()
+  */
+template<typename Scalar> struct scalar_sin_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sin_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::sin(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psin(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sin_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasSin
+  };
+};
+
+
+/** \internal
+  * \brief Template functor to compute the tan of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::tan()
+  */
+template<typename Scalar> struct scalar_tan_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_tan_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::tan(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::ptan(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_tan_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasTan
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the arc cosine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::acos()
+  */
+template<typename Scalar> struct scalar_acos_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_acos_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::acos(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pacos(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_acos_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasACos
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the arc sine of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::asin()
+  */
+template<typename Scalar> struct scalar_asin_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_asin_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::asin(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pasin(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_asin_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasASin
+  };
+};
+
+
+/** \internal
+  * \brief Template functor to compute the atan of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::atan()
+  */
+template<typename Scalar> struct scalar_atan_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_atan_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::atan(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::patan(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_atan_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasATan
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the tanh of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::tanh()
+  */
+template <typename Scalar>
+struct scalar_tanh_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_tanh_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator()(const Scalar& a) const { return numext::tanh(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& x) const { return ptanh(x); }
+};
+
+template <typename Scalar>
+struct functor_traits<scalar_tanh_op<Scalar> > {
+  enum {
+    PacketAccess = packet_traits<Scalar>::HasTanh,
+    Cost = ( (EIGEN_FAST_MATH && is_same<Scalar,float>::value)
+// The following numbers are based on the AVX implementation,
+#ifdef EIGEN_VECTORIZE_FMA
+                // Haswell can issue 2 add/mul/madd per cycle.
+                // 9 pmadd, 2 pmul, 1 div, 2 other
+                ? (2 * NumTraits<Scalar>::AddCost +
+                   6 * NumTraits<Scalar>::MulCost +
+                   scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value)
+#else
+                ? (11 * NumTraits<Scalar>::AddCost +
+                   11 * NumTraits<Scalar>::MulCost +
+                   scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value)
+#endif
+                // This number assumes a naive implementation of tanh
+                : (6 * NumTraits<Scalar>::AddCost +
+                   3 * NumTraits<Scalar>::MulCost +
+                   2 * scalar_div_cost<Scalar,packet_traits<Scalar>::HasDiv>::value +
+                   functor_traits<scalar_exp_op<Scalar> >::Cost))
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the sinh of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::sinh()
+  */
+template<typename Scalar> struct scalar_sinh_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sinh_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::sinh(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psinh(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sinh_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasSinh
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the cosh of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::cosh()
+  */
+template<typename Scalar> struct scalar_cosh_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cosh_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const { return numext::cosh(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pcosh(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_cosh_op<Scalar> >
+{
+  enum {
+    Cost = 5 * NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasCosh
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the inverse of a scalar
+  * \sa class CwiseUnaryOp, Cwise::inverse()
+  */
+template<typename Scalar>
+struct scalar_inverse_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_inverse_op)
+  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return Scalar(1)/a; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
+  { return internal::pdiv(pset1<Packet>(Scalar(1)),a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_inverse_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasDiv }; };
+
+/** \internal
+  * \brief Template functor to compute the square of a scalar
+  * \sa class CwiseUnaryOp, Cwise::square()
+  */
+template<typename Scalar>
+struct scalar_square_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_square_op)
+  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return a*a; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a,a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_square_op<Scalar> >
+{ enum { Cost = NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+/** \internal
+  * \brief Template functor to compute the cube of a scalar
+  * \sa class CwiseUnaryOp, Cwise::cube()
+  */
+template<typename Scalar>
+struct scalar_cube_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_cube_op)
+  EIGEN_DEVICE_FUNC inline Scalar operator() (const Scalar& a) const { return a*a*a; }
+  template<typename Packet>
+  EIGEN_DEVICE_FUNC inline const Packet packetOp(const Packet& a) const
+  { return internal::pmul(a,pmul(a,a)); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_cube_op<Scalar> >
+{ enum { Cost = 2*NumTraits<Scalar>::MulCost, PacketAccess = packet_traits<Scalar>::HasMul }; };
+
+/** \internal
+  * \brief Template functor to compute the rounded value of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::round()
+  */
+template<typename Scalar> struct scalar_round_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_round_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::round(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pround(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_round_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasRound
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the floor of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::floor()
+  */
+template<typename Scalar> struct scalar_floor_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_floor_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::floor(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pfloor(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_floor_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasFloor
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the ceil of a scalar
+  * \sa class CwiseUnaryOp, ArrayBase::ceil()
+  */
+template<typename Scalar> struct scalar_ceil_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_ceil_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Scalar operator() (const Scalar& a) const { return numext::ceil(a); }
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::pceil(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_ceil_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::MulCost,
+    PacketAccess = packet_traits<Scalar>::HasCeil
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute whether a scalar is NaN
+  * \sa class CwiseUnaryOp, ArrayBase::isnan()
+  */
+template<typename Scalar> struct scalar_isnan_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_isnan_op)
+  typedef bool result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return (numext::isnan)(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_isnan_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::MulCost,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+  * \brief Template functor to check whether a scalar is +/-inf
+  * \sa class CwiseUnaryOp, ArrayBase::isinf()
+  */
+template<typename Scalar> struct scalar_isinf_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_isinf_op)
+  typedef bool result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return (numext::isinf)(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_isinf_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::MulCost,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+  * \brief Template functor to check whether a scalar has a finite value
+  * \sa class CwiseUnaryOp, ArrayBase::isfinite()
+  */
+template<typename Scalar> struct scalar_isfinite_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_isfinite_op)
+  typedef bool result_type;
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE result_type operator() (const Scalar& a) const { return (numext::isfinite)(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_isfinite_op<Scalar> >
+{
+  enum {
+    Cost = NumTraits<Scalar>::MulCost,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the logical not of a boolean
+  *
+  * \sa class CwiseUnaryOp, ArrayBase::operator!
+  */
+template<typename Scalar> struct scalar_boolean_not_op {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_boolean_not_op)
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE bool operator() (const bool& a) const { return !a; }
+};
+template<typename Scalar>
+struct functor_traits<scalar_boolean_not_op<Scalar> > {
+  enum {
+    Cost = NumTraits<bool>::AddCost,
+    PacketAccess = false
+  };
+};
+
+/** \internal
+  * \brief Template functor to compute the signum of a scalar
+  * \sa class CwiseUnaryOp, Cwise::sign()
+  */
+template<typename Scalar,bool iscpx=(NumTraits<Scalar>::IsComplex!=0) > struct scalar_sign_op;
+template<typename Scalar>
+struct scalar_sign_op<Scalar,false> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sign_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const
+  {
+      return Scalar( (a>Scalar(0)) - (a<Scalar(0)) );
+  }
+  //TODO
+  //template <typename Packet>
+  //EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psign(a); }
+};
+template<typename Scalar>
+struct scalar_sign_op<Scalar,true> {
+  EIGEN_EMPTY_STRUCT_CTOR(scalar_sign_op)
+  EIGEN_DEVICE_FUNC inline const Scalar operator() (const Scalar& a) const
+  {
+    typedef typename NumTraits<Scalar>::Real real_type;
+    real_type aa = numext::abs(a);
+    if (aa==real_type(0))
+      return Scalar(0);
+    aa = real_type(1)/aa;
+    return Scalar(real(a)*aa, imag(a)*aa );
+  }
+  //TODO
+  //template <typename Packet>
+  //EIGEN_DEVICE_FUNC inline Packet packetOp(const Packet& a) const { return internal::psign(a); }
+};
+template<typename Scalar>
+struct functor_traits<scalar_sign_op<Scalar> >
+{ enum {
+    Cost = 
+        NumTraits<Scalar>::IsComplex
+        ? ( 8*NumTraits<Scalar>::MulCost  ) // roughly
+        : ( 3*NumTraits<Scalar>::AddCost),
+    PacketAccess = packet_traits<Scalar>::HasSign
+  };
+};
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_FUNCTORS_H
diff --git a/eigenlib/Eigen/src/Core/products/CMakeLists.txt b/eigenlib/Eigen/src/Core/products/CMakeLists.txt
deleted file mode 100644
index 21fc94ae..00000000
--- a/eigenlib/Eigen/src/Core/products/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Core_Product_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Core_Product_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/products COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/Core/products/CoeffBasedProduct.h b/eigenlib/Eigen/src/Core/products/CoeffBasedProduct.h
deleted file mode 100644
index 2a9d65b9..00000000
--- a/eigenlib/Eigen/src/Core/products/CoeffBasedProduct.h
+++ /dev/null
@@ -1,476 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COEFFBASED_PRODUCT_H
-#define EIGEN_COEFFBASED_PRODUCT_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/*********************************************************************************
-*  Coefficient based product implementation.
-*  It is designed for the following use cases:
-*  - small fixed sizes
-*  - lazy products
-*********************************************************************************/
-
-/* Since the all the dimensions of the product are small, here we can rely
- * on the generic Assign mechanism to evaluate the product per coeff (or packet).
- *
- * Note that here the inner-loops should always be unrolled.
- */
-
-template<int Traversal, int UnrollingIndex, typename Lhs, typename Rhs, typename RetScalar>
-struct product_coeff_impl;
-
-template<int StorageOrder, int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct product_packet_impl;
-
-template<typename LhsNested, typename RhsNested, int NestingFlags>
-struct traits<CoeffBasedProduct<LhsNested,RhsNested,NestingFlags> >
-{
-  typedef MatrixXpr XprKind;
-  typedef typename remove_all<LhsNested>::type _LhsNested;
-  typedef typename remove_all<RhsNested>::type _RhsNested;
-  typedef typename scalar_product_traits<typename _LhsNested::Scalar, typename _RhsNested::Scalar>::ReturnType Scalar;
-  typedef typename promote_storage_type<typename traits<_LhsNested>::StorageKind,
-                                           typename traits<_RhsNested>::StorageKind>::ret StorageKind;
-  typedef typename promote_index_type<typename traits<_LhsNested>::Index,
-                                         typename traits<_RhsNested>::Index>::type Index;
-
-  enum {
-      LhsCoeffReadCost = _LhsNested::CoeffReadCost,
-      RhsCoeffReadCost = _RhsNested::CoeffReadCost,
-      LhsFlags = _LhsNested::Flags,
-      RhsFlags = _RhsNested::Flags,
-
-      RowsAtCompileTime = _LhsNested::RowsAtCompileTime,
-      ColsAtCompileTime = _RhsNested::ColsAtCompileTime,
-      InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(_LhsNested::ColsAtCompileTime, _RhsNested::RowsAtCompileTime),
-
-      MaxRowsAtCompileTime = _LhsNested::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = _RhsNested::MaxColsAtCompileTime,
-
-      LhsRowMajor = LhsFlags & RowMajorBit,
-      RhsRowMajor = RhsFlags & RowMajorBit,
-
-      SameType = is_same<typename _LhsNested::Scalar,typename _RhsNested::Scalar>::value,
-
-      CanVectorizeRhs = RhsRowMajor && (RhsFlags & PacketAccessBit)
-                      && (ColsAtCompileTime == Dynamic
-                          || ( (ColsAtCompileTime % packet_traits<Scalar>::size) == 0
-                              && (RhsFlags&AlignedBit)
-                             )
-                         ),
-
-      CanVectorizeLhs = (!LhsRowMajor) && (LhsFlags & PacketAccessBit)
-                      && (RowsAtCompileTime == Dynamic
-                          || ( (RowsAtCompileTime % packet_traits<Scalar>::size) == 0
-                              && (LhsFlags&AlignedBit)
-                             )
-                         ),
-
-      EvalToRowMajor = (MaxRowsAtCompileTime==1&&MaxColsAtCompileTime!=1) ? 1
-                     : (MaxColsAtCompileTime==1&&MaxRowsAtCompileTime!=1) ? 0
-                     : (RhsRowMajor && !CanVectorizeLhs),
-
-      Flags = ((unsigned int)(LhsFlags | RhsFlags) & HereditaryBits & ~RowMajorBit)
-            | (EvalToRowMajor ? RowMajorBit : 0)
-            | NestingFlags
-            | (LhsFlags & RhsFlags & AlignedBit)
-            // TODO enable vectorization for mixed types
-            | (SameType && (CanVectorizeLhs || CanVectorizeRhs) ? PacketAccessBit : 0),
-
-      CoeffReadCost = InnerSize == Dynamic ? Dynamic
-                    : InnerSize == 0 ? 0
-                    : InnerSize * (NumTraits<Scalar>::MulCost + LhsCoeffReadCost + RhsCoeffReadCost)
-                      + (InnerSize - 1) * NumTraits<Scalar>::AddCost,
-
-      /* CanVectorizeInner deserves special explanation. It does not affect the product flags. It is not used outside
-      * of Product. If the Product itself is not a packet-access expression, there is still a chance that the inner
-      * loop of the product might be vectorized. This is the meaning of CanVectorizeInner. Since it doesn't affect
-      * the Flags, it is safe to make this value depend on ActualPacketAccessBit, that doesn't affect the ABI.
-      */
-      CanVectorizeInner =    SameType
-                          && LhsRowMajor
-                          && (!RhsRowMajor)
-                          && (LhsFlags & RhsFlags & ActualPacketAccessBit)
-                          && (LhsFlags & RhsFlags & AlignedBit)
-                          && (InnerSize % packet_traits<Scalar>::size == 0)
-    };
-};
-
-} // end namespace internal
-
-template<typename LhsNested, typename RhsNested, int NestingFlags>
-class CoeffBasedProduct
-  : internal::no_assignment_operator,
-    public MatrixBase<CoeffBasedProduct<LhsNested, RhsNested, NestingFlags> >
-{
-  public:
-
-    typedef MatrixBase<CoeffBasedProduct> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(CoeffBasedProduct)
-    typedef typename Base::PlainObject PlainObject;
-
-  private:
-
-    typedef typename internal::traits<CoeffBasedProduct>::_LhsNested _LhsNested;
-    typedef typename internal::traits<CoeffBasedProduct>::_RhsNested _RhsNested;
-
-    enum {
-      PacketSize = internal::packet_traits<Scalar>::size,
-      InnerSize  = internal::traits<CoeffBasedProduct>::InnerSize,
-      Unroll = CoeffReadCost != Dynamic && CoeffReadCost <= EIGEN_UNROLLING_LIMIT,
-      CanVectorizeInner = internal::traits<CoeffBasedProduct>::CanVectorizeInner
-    };
-
-    typedef internal::product_coeff_impl<CanVectorizeInner ? InnerVectorizedTraversal : DefaultTraversal,
-                                   Unroll ? InnerSize : Dynamic,
-                                   _LhsNested, _RhsNested, Scalar> ScalarCoeffImpl;
-
-    typedef CoeffBasedProduct<LhsNested,RhsNested,NestByRefBit> LazyCoeffBasedProductType;
-
-  public:
-
-    inline CoeffBasedProduct(const CoeffBasedProduct& other)
-      : Base(), m_lhs(other.m_lhs), m_rhs(other.m_rhs)
-    {}
-
-    template<typename Lhs, typename Rhs>
-    inline CoeffBasedProduct(const Lhs& lhs, const Rhs& rhs)
-      : m_lhs(lhs), m_rhs(rhs)
-    {
-      // we don't allow taking products of matrices of different real types, as that wouldn't be vectorizable.
-      // We still allow to mix T and complex<T>.
-      EIGEN_STATIC_ASSERT((internal::scalar_product_traits<typename Lhs::RealScalar, typename Rhs::RealScalar>::Defined),
-        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-      eigen_assert(lhs.cols() == rhs.rows()
-        && "invalid matrix product"
-        && "if you wanted a coeff-wise or a dot product use the respective explicit functions");
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const { return m_lhs.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return m_rhs.cols(); }
-
-    EIGEN_STRONG_INLINE const Scalar coeff(Index row, Index col) const
-    {
-      Scalar res;
-      ScalarCoeffImpl::run(row, col, m_lhs, m_rhs, res);
-      return res;
-    }
-
-    /* Allow index-based non-packet access. It is impossible though to allow index-based packed access,
-     * which is why we don't set the LinearAccessBit.
-     */
-    EIGEN_STRONG_INLINE const Scalar coeff(Index index) const
-    {
-      Scalar res;
-      const Index row = RowsAtCompileTime == 1 ? 0 : index;
-      const Index col = RowsAtCompileTime == 1 ? index : 0;
-      ScalarCoeffImpl::run(row, col, m_lhs, m_rhs, res);
-      return res;
-    }
-
-    template<int LoadMode>
-    EIGEN_STRONG_INLINE const PacketScalar packet(Index row, Index col) const
-    {
-      PacketScalar res;
-      internal::product_packet_impl<Flags&RowMajorBit ? RowMajor : ColMajor,
-                              Unroll ? InnerSize : Dynamic,
-                              _LhsNested, _RhsNested, PacketScalar, LoadMode>
-        ::run(row, col, m_lhs, m_rhs, res);
-      return res;
-    }
-
-    // Implicit conversion to the nested type (trigger the evaluation of the product)
-    EIGEN_STRONG_INLINE operator const PlainObject& () const
-    {
-      m_result.lazyAssign(*this);
-      return m_result;
-    }
-
-    const _LhsNested& lhs() const { return m_lhs; }
-    const _RhsNested& rhs() const { return m_rhs; }
-
-    const Diagonal<const LazyCoeffBasedProductType,0> diagonal() const
-    { return reinterpret_cast<const LazyCoeffBasedProductType&>(*this); }
-
-    template<int DiagonalIndex>
-    const Diagonal<const LazyCoeffBasedProductType,DiagonalIndex> diagonal() const
-    { return reinterpret_cast<const LazyCoeffBasedProductType&>(*this); }
-
-    const Diagonal<const LazyCoeffBasedProductType,Dynamic> diagonal(Index index) const
-    { return reinterpret_cast<const LazyCoeffBasedProductType&>(*this).diagonal(index); }
-
-  protected:
-    typename internal::add_const_on_value_type<LhsNested>::type m_lhs;
-    typename internal::add_const_on_value_type<RhsNested>::type m_rhs;
-
-    mutable PlainObject m_result;
-};
-
-namespace internal {
-
-// here we need to overload the nested rule for products
-// such that the nested type is a const reference to a plain matrix
-template<typename Lhs, typename Rhs, int N, typename PlainObject>
-struct nested<CoeffBasedProduct<Lhs,Rhs,EvalBeforeNestingBit|EvalBeforeAssigningBit>, N, PlainObject>
-{
-  typedef PlainObject const& type;
-};
-
-/***************************************************************************
-* Normal product .coeff() implementation (with meta-unrolling)
-***************************************************************************/
-
-/**************************************
-*** Scalar path  - no vectorization ***
-**************************************/
-
-template<int UnrollingIndex, typename Lhs, typename Rhs, typename RetScalar>
-struct product_coeff_impl<DefaultTraversal, UnrollingIndex, Lhs, Rhs, RetScalar>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar &res)
-  {
-    product_coeff_impl<DefaultTraversal, UnrollingIndex-1, Lhs, Rhs, RetScalar>::run(row, col, lhs, rhs, res);
-    res += lhs.coeff(row, UnrollingIndex-1) * rhs.coeff(UnrollingIndex-1, col);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename RetScalar>
-struct product_coeff_impl<DefaultTraversal, 1, Lhs, Rhs, RetScalar>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar &res)
-  {
-    res = lhs.coeff(row, 0) * rhs.coeff(0, col);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename RetScalar>
-struct product_coeff_impl<DefaultTraversal, 0, Lhs, Rhs, RetScalar>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, RetScalar &res)
-  {
-    res = RetScalar(0);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename RetScalar>
-struct product_coeff_impl<DefaultTraversal, Dynamic, Lhs, Rhs, RetScalar>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar& res)
-  {
-    res = (lhs.row(row).transpose().cwiseProduct( rhs.col(col) )).sum();
-  }
-};
-
-/*******************************************
-*** Scalar path with inner vectorization ***
-*******************************************/
-
-template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet>
-struct product_coeff_vectorized_unroller
-{
-  typedef typename Lhs::Index Index;
-  enum { PacketSize = packet_traits<typename Lhs::Scalar>::size };
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::PacketScalar &pres)
-  {
-    product_coeff_vectorized_unroller<UnrollingIndex-PacketSize, Lhs, Rhs, Packet>::run(row, col, lhs, rhs, pres);
-    pres = padd(pres, pmul( lhs.template packet<Aligned>(row, UnrollingIndex) , rhs.template packet<Aligned>(UnrollingIndex, col) ));
-  }
-};
-
-template<typename Lhs, typename Rhs, typename Packet>
-struct product_coeff_vectorized_unroller<0, Lhs, Rhs, Packet>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::PacketScalar &pres)
-  {
-    pres = pmul(lhs.template packet<Aligned>(row, 0) , rhs.template packet<Aligned>(0, col));
-  }
-};
-
-template<typename Lhs, typename Rhs, typename RetScalar>
-struct product_coeff_impl<InnerVectorizedTraversal, 0, Lhs, Rhs, RetScalar>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, RetScalar &res)
-  {
-    res = 0;
-  }
-};
-
-template<int UnrollingIndex, typename Lhs, typename Rhs, typename RetScalar>
-struct product_coeff_impl<InnerVectorizedTraversal, UnrollingIndex, Lhs, Rhs, RetScalar>
-{
-  typedef typename Lhs::PacketScalar Packet;
-  typedef typename Lhs::Index Index;
-  enum { PacketSize = packet_traits<typename Lhs::Scalar>::size };
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, RetScalar &res)
-  {
-    Packet pres;
-    product_coeff_vectorized_unroller<UnrollingIndex-PacketSize, Lhs, Rhs, Packet>::run(row, col, lhs, rhs, pres);
-    res = predux(pres);
-  }
-};
-
-template<typename Lhs, typename Rhs, int LhsRows = Lhs::RowsAtCompileTime, int RhsCols = Rhs::ColsAtCompileTime>
-struct product_coeff_vectorized_dyn_selector
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
-  {
-    res = lhs.row(row).transpose().cwiseProduct(rhs.col(col)).sum();
-  }
-};
-
-// NOTE the 3 following specializations are because taking .col(0) on a vector is a bit slower
-// NOTE maybe they are now useless since we have a specialization for Block<Matrix>
-template<typename Lhs, typename Rhs, int RhsCols>
-struct product_coeff_vectorized_dyn_selector<Lhs,Rhs,1,RhsCols>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
-  {
-    res = lhs.transpose().cwiseProduct(rhs.col(col)).sum();
-  }
-};
-
-template<typename Lhs, typename Rhs, int LhsRows>
-struct product_coeff_vectorized_dyn_selector<Lhs,Rhs,LhsRows,1>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index row, Index /*col*/, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
-  {
-    res = lhs.row(row).transpose().cwiseProduct(rhs).sum();
-  }
-};
-
-template<typename Lhs, typename Rhs>
-struct product_coeff_vectorized_dyn_selector<Lhs,Rhs,1,1>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
-  {
-    res = lhs.transpose().cwiseProduct(rhs).sum();
-  }
-};
-
-template<typename Lhs, typename Rhs, typename RetScalar>
-struct product_coeff_impl<InnerVectorizedTraversal, Dynamic, Lhs, Rhs, RetScalar>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, typename Lhs::Scalar &res)
-  {
-    product_coeff_vectorized_dyn_selector<Lhs,Rhs>::run(row, col, lhs, rhs, res);
-  }
-};
-
-/*******************
-*** Packet path  ***
-*******************/
-
-template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct product_packet_impl<RowMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res)
-  {
-    product_packet_impl<RowMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, res);
-    res =  pmadd(pset1<Packet>(lhs.coeff(row, UnrollingIndex-1)), rhs.template packet<LoadMode>(UnrollingIndex-1, col), res);
-  }
-};
-
-template<int UnrollingIndex, typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct product_packet_impl<ColMajor, UnrollingIndex, Lhs, Rhs, Packet, LoadMode>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res)
-  {
-    product_packet_impl<ColMajor, UnrollingIndex-1, Lhs, Rhs, Packet, LoadMode>::run(row, col, lhs, rhs, res);
-    res =  pmadd(lhs.template packet<LoadMode>(row, UnrollingIndex-1), pset1<Packet>(rhs.coeff(UnrollingIndex-1, col)), res);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct product_packet_impl<RowMajor, 1, Lhs, Rhs, Packet, LoadMode>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res)
-  {
-    res = pmul(pset1<Packet>(lhs.coeff(row, 0)),rhs.template packet<LoadMode>(0, col));
-  }
-};
-
-template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct product_packet_impl<ColMajor, 1, Lhs, Rhs, Packet, LoadMode>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet &res)
-  {
-    res = pmul(lhs.template packet<LoadMode>(row, 0), pset1<Packet>(rhs.coeff(0, col)));
-  }
-};
-
-template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct product_packet_impl<RowMajor, 0, Lhs, Rhs, Packet, LoadMode>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Packet &res)
-  {
-    res = pset1<Packet>(0);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct product_packet_impl<ColMajor, 0, Lhs, Rhs, Packet, LoadMode>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index /*row*/, Index /*col*/, const Lhs& /*lhs*/, const Rhs& /*rhs*/, Packet &res)
-  {
-    res = pset1<Packet>(0);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct product_packet_impl<RowMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet& res)
-  {
-    res = pset1<Packet>(0);
-    for(Index i = 0; i < lhs.cols(); ++i)
-      res =  pmadd(pset1<Packet>(lhs.coeff(row, i)), rhs.template packet<LoadMode>(i, col), res);
-  }
-};
-
-template<typename Lhs, typename Rhs, typename Packet, int LoadMode>
-struct product_packet_impl<ColMajor, Dynamic, Lhs, Rhs, Packet, LoadMode>
-{
-  typedef typename Lhs::Index Index;
-  static EIGEN_STRONG_INLINE void run(Index row, Index col, const Lhs& lhs, const Rhs& rhs, Packet& res)
-  {
-    res = pset1<Packet>(0);
-    for(Index i = 0; i < lhs.cols(); ++i)
-      res =  pmadd(lhs.template packet<LoadMode>(row, i), pset1<Packet>(rhs.coeff(i, col)), res);
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_COEFFBASED_PRODUCT_H
diff --git a/eigenlib/Eigen/src/Core/products/GeneralBlockPanelKernel.h b/eigenlib/Eigen/src/Core/products/GeneralBlockPanelKernel.h
index bcdca5b0..45230bce 100644
--- a/eigenlib/Eigen/src/Core/products/GeneralBlockPanelKernel.h
+++ b/eigenlib/Eigen/src/Core/products/GeneralBlockPanelKernel.h
@@ -10,8 +10,9 @@
 #ifndef EIGEN_GENERAL_BLOCK_PANEL_H
 #define EIGEN_GENERAL_BLOCK_PANEL_H
 
-namespace Eigen { 
-  
+
+namespace Eigen {
+
 namespace internal {
 
 template<typename _LhsScalar, typename _RhsScalar, bool _ConjLhs=false, bool _ConjRhs=false>
@@ -24,29 +25,51 @@ inline std::ptrdiff_t manage_caching_sizes_helper(std::ptrdiff_t a, std::ptrdiff
   return a<=0 ? b : a;
 }
 
+#if EIGEN_ARCH_i386_OR_x86_64
+const std::ptrdiff_t defaultL1CacheSize = 32*1024;
+const std::ptrdiff_t defaultL2CacheSize = 256*1024;
+const std::ptrdiff_t defaultL3CacheSize = 2*1024*1024;
+#else
+const std::ptrdiff_t defaultL1CacheSize = 16*1024;
+const std::ptrdiff_t defaultL2CacheSize = 512*1024;
+const std::ptrdiff_t defaultL3CacheSize = 512*1024;
+#endif
+
 /** \internal */
-inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1=0, std::ptrdiff_t* l2=0)
-{
-  static std::ptrdiff_t m_l1CacheSize = 0;
-  static std::ptrdiff_t m_l2CacheSize = 0;
-  if(m_l2CacheSize==0)
-  {
-    m_l1CacheSize = manage_caching_sizes_helper(queryL1CacheSize(),8 * 1024);
-    m_l2CacheSize = manage_caching_sizes_helper(queryTopLevelCacheSize(),1*1024*1024);
+struct CacheSizes {
+  CacheSizes(): m_l1(-1),m_l2(-1),m_l3(-1) {
+    int l1CacheSize, l2CacheSize, l3CacheSize;
+    queryCacheSizes(l1CacheSize, l2CacheSize, l3CacheSize);
+    m_l1 = manage_caching_sizes_helper(l1CacheSize, defaultL1CacheSize);
+    m_l2 = manage_caching_sizes_helper(l2CacheSize, defaultL2CacheSize);
+    m_l3 = manage_caching_sizes_helper(l3CacheSize, defaultL3CacheSize);
   }
-  
+
+  std::ptrdiff_t m_l1;
+  std::ptrdiff_t m_l2;
+  std::ptrdiff_t m_l3;
+};
+
+
+/** \internal */
+inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1, std::ptrdiff_t* l2, std::ptrdiff_t* l3)
+{
+  static CacheSizes m_cacheSizes;
+
   if(action==SetAction)
   {
     // set the cpu cache size and cache all block sizes from a global cache size in byte
     eigen_internal_assert(l1!=0 && l2!=0);
-    m_l1CacheSize = *l1;
-    m_l2CacheSize = *l2;
+    m_cacheSizes.m_l1 = *l1;
+    m_cacheSizes.m_l2 = *l2;
+    m_cacheSizes.m_l3 = *l3;
   }
   else if(action==GetAction)
   {
     eigen_internal_assert(l1!=0 && l2!=0);
-    *l1 = m_l1CacheSize;
-    *l2 = m_l2CacheSize;
+    *l1 = m_cacheSizes.m_l1;
+    *l2 = m_cacheSizes.m_l2;
+    *l3 = m_cacheSizes.m_l3;
   }
   else
   {
@@ -54,6 +77,206 @@ inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1=0, std::ptrdi
   }
 }
 
+/* Helper for computeProductBlockingSizes.
+ *
+ * Given a m x k times k x n matrix product of scalar types \c LhsScalar and \c RhsScalar,
+ * this function computes the blocking size parameters along the respective dimensions
+ * for matrix products and related algorithms. The blocking sizes depends on various
+ * parameters:
+ * - the L1 and L2 cache sizes,
+ * - the register level blocking sizes defined by gebp_traits,
+ * - the number of scalars that fit into a packet (when vectorization is enabled).
+ *
+ * \sa setCpuCacheSizes */
+
+template<typename LhsScalar, typename RhsScalar, int KcFactor, typename Index>
+void evaluateProductBlockingSizesHeuristic(Index& k, Index& m, Index& n, Index num_threads = 1)
+{
+  typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+  // Explanations:
+  // Let's recall that the product algorithms form mc x kc vertical panels A' on the lhs and
+  // kc x nc blocks B' on the rhs. B' has to fit into L2/L3 cache. Moreover, A' is processed
+  // per mr x kc horizontal small panels where mr is the blocking size along the m dimension
+  // at the register level. This small horizontal panel has to stay within L1 cache.
+  std::ptrdiff_t l1, l2, l3;
+  manage_caching_sizes(GetAction, &l1, &l2, &l3);
+
+  if (num_threads > 1) {
+    typedef typename Traits::ResScalar ResScalar;
+    enum {
+      kdiv = KcFactor * (Traits::mr * sizeof(LhsScalar) + Traits::nr * sizeof(RhsScalar)),
+      ksub = Traits::mr * Traits::nr * sizeof(ResScalar),
+      kr = 8,
+      mr = Traits::mr,
+      nr = Traits::nr
+    };
+    // Increasing k gives us more time to prefetch the content of the "C"
+    // registers. However once the latency is hidden there is no point in
+    // increasing the value of k, so we'll cap it at 320 (value determined
+    // experimentally).
+    const Index k_cache = (numext::mini<Index>)((l1-ksub)/kdiv, 320);
+    if (k_cache < k) {
+      k = k_cache - (k_cache % kr);
+      eigen_internal_assert(k > 0);
+    }
+
+    const Index n_cache = (l2-l1) / (nr * sizeof(RhsScalar) * k);
+    const Index n_per_thread = numext::div_ceil(n, num_threads);
+    if (n_cache <= n_per_thread) {
+      // Don't exceed the capacity of the l2 cache.
+      eigen_internal_assert(n_cache >= static_cast<Index>(nr));
+      n = n_cache - (n_cache % nr);
+      eigen_internal_assert(n > 0);
+    } else {
+      n = (numext::mini<Index>)(n, (n_per_thread + nr - 1) - ((n_per_thread + nr - 1) % nr));
+    }
+
+    if (l3 > l2) {
+      // l3 is shared between all cores, so we'll give each thread its own chunk of l3.
+      const Index m_cache = (l3-l2) / (sizeof(LhsScalar) * k * num_threads);
+      const Index m_per_thread = numext::div_ceil(m, num_threads);
+      if(m_cache < m_per_thread && m_cache >= static_cast<Index>(mr)) {
+        m = m_cache - (m_cache % mr);
+        eigen_internal_assert(m > 0);
+      } else {
+        m = (numext::mini<Index>)(m, (m_per_thread + mr - 1) - ((m_per_thread + mr - 1) % mr));
+      }
+    }
+  }
+  else {
+    // In unit tests we do not want to use extra large matrices,
+    // so we reduce the cache size to check the blocking strategy is not flawed
+#ifdef EIGEN_DEBUG_SMALL_PRODUCT_BLOCKS
+    l1 = 9*1024;
+    l2 = 32*1024;
+    l3 = 512*1024;
+#endif
+
+    // Early return for small problems because the computation below are time consuming for small problems.
+    // Perhaps it would make more sense to consider k*n*m??
+    // Note that for very tiny problem, this function should be bypassed anyway
+    // because we use the coefficient-based implementation for them.
+    if((numext::maxi)(k,(numext::maxi)(m,n))<48)
+      return;
+
+    typedef typename Traits::ResScalar ResScalar;
+    enum {
+      k_peeling = 8,
+      k_div = KcFactor * (Traits::mr * sizeof(LhsScalar) + Traits::nr * sizeof(RhsScalar)),
+      k_sub = Traits::mr * Traits::nr * sizeof(ResScalar)
+    };
+
+    // ---- 1st level of blocking on L1, yields kc ----
+
+    // Blocking on the third dimension (i.e., k) is chosen so that an horizontal panel
+    // of size mr x kc of the lhs plus a vertical panel of kc x nr of the rhs both fits within L1 cache.
+    // We also include a register-level block of the result (mx x nr).
+    // (In an ideal world only the lhs panel would stay in L1)
+    // Moreover, kc has to be a multiple of 8 to be compatible with loop peeling, leading to a maximum blocking size of:
+    const Index max_kc = numext::maxi<Index>(((l1-k_sub)/k_div) & (~(k_peeling-1)),1);
+    const Index old_k = k;
+    if(k>max_kc)
+    {
+      // We are really blocking on the third dimension:
+      // -> reduce blocking size to make sure the last block is as large as possible
+      //    while keeping the same number of sweeps over the result.
+      k = (k%max_kc)==0 ? max_kc
+                        : max_kc - k_peeling * ((max_kc-1-(k%max_kc))/(k_peeling*(k/max_kc+1)));
+
+      eigen_internal_assert(((old_k/k) == (old_k/max_kc)) && "the number of sweeps has to remain the same");
+    }
+
+    // ---- 2nd level of blocking on max(L2,L3), yields nc ----
+
+    // TODO find a reliable way to get the actual amount of cache per core to use for 2nd level blocking, that is:
+    //      actual_l2 = max(l2, l3/nb_core_sharing_l3)
+    // The number below is quite conservative: it is better to underestimate the cache size rather than overestimating it)
+    // For instance, it corresponds to 6MB of L3 shared among 4 cores.
+    #ifdef EIGEN_DEBUG_SMALL_PRODUCT_BLOCKS
+    const Index actual_l2 = l3;
+    #else
+    const Index actual_l2 = 1572864; // == 1.5 MB
+    #endif
+
+    // Here, nc is chosen such that a block of kc x nc of the rhs fit within half of L2.
+    // The second half is implicitly reserved to access the result and lhs coefficients.
+    // When k<max_kc, then nc can arbitrarily growth. In practice, it seems to be fruitful
+    // to limit this growth: we bound nc to growth by a factor x1.5.
+    // However, if the entire lhs block fit within L1, then we are not going to block on the rows at all,
+    // and it becomes fruitful to keep the packed rhs blocks in L1 if there is enough remaining space.
+    Index max_nc;
+    const Index lhs_bytes = m * k * sizeof(LhsScalar);
+    const Index remaining_l1 = l1- k_sub - lhs_bytes;
+    if(remaining_l1 >= Index(Traits::nr*sizeof(RhsScalar))*k)
+    {
+      // L1 blocking
+      max_nc = remaining_l1 / (k*sizeof(RhsScalar));
+    }
+    else
+    {
+      // L2 blocking
+      max_nc = (3*actual_l2)/(2*2*max_kc*sizeof(RhsScalar));
+    }
+    // WARNING Below, we assume that Traits::nr is a power of two.
+    Index nc = numext::mini<Index>(actual_l2/(2*k*sizeof(RhsScalar)), max_nc) & (~(Traits::nr-1));
+    if(n>nc)
+    {
+      // We are really blocking over the columns:
+      // -> reduce blocking size to make sure the last block is as large as possible
+      //    while keeping the same number of sweeps over the packed lhs.
+      //    Here we allow one more sweep if this gives us a perfect match, thus the commented "-1"
+      n = (n%nc)==0 ? nc
+                    : (nc - Traits::nr * ((nc/*-1*/-(n%nc))/(Traits::nr*(n/nc+1))));
+    }
+    else if(old_k==k)
+    {
+      // So far, no blocking at all, i.e., kc==k, and nc==n.
+      // In this case, let's perform a blocking over the rows such that the packed lhs data is kept in cache L1/L2
+      // TODO: part of this blocking strategy is now implemented within the kernel itself, so the L1-based heuristic here should be obsolete.
+      Index problem_size = k*n*sizeof(LhsScalar);
+      Index actual_lm = actual_l2;
+      Index max_mc = m;
+      if(problem_size<=1024)
+      {
+        // problem is small enough to keep in L1
+        // Let's choose m such that lhs's block fit in 1/3 of L1
+        actual_lm = l1;
+      }
+      else if(l3!=0 && problem_size<=32768)
+      {
+        // we have both L2 and L3, and problem is small enough to be kept in L2
+        // Let's choose m such that lhs's block fit in 1/3 of L2
+        actual_lm = l2;
+        max_mc = (numext::mini<Index>)(576,max_mc);
+      }
+      Index mc = (numext::mini<Index>)(actual_lm/(3*k*sizeof(LhsScalar)), max_mc);
+      if (mc > Traits::mr) mc -= mc % Traits::mr;
+      else if (mc==0) return;
+      m = (m%mc)==0 ? mc
+                    : (mc - Traits::mr * ((mc/*-1*/-(m%mc))/(Traits::mr*(m/mc+1))));
+    }
+  }
+}
+
+template <typename Index>
+inline bool useSpecificBlockingSizes(Index& k, Index& m, Index& n)
+{
+#ifdef EIGEN_TEST_SPECIFIC_BLOCKING_SIZES
+  if (EIGEN_TEST_SPECIFIC_BLOCKING_SIZES) {
+    k = numext::mini<Index>(k, EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_K);
+    m = numext::mini<Index>(m, EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_M);
+    n = numext::mini<Index>(n, EIGEN_TEST_SPECIFIC_BLOCKING_SIZE_N);
+    return true;
+  }
+#else
+  EIGEN_UNUSED_VARIABLE(k)
+  EIGEN_UNUSED_VARIABLE(m)
+  EIGEN_UNUSED_VARIABLE(n)
+#endif
+  return false;
+}
+
 /** \brief Computes the blocking parameters for a m x k times k x n matrix product
   *
   * \param[in,out] k Input: the third dimension of the product. Output: the blocking size along the same dimension.
@@ -62,48 +285,30 @@ inline void manage_caching_sizes(Action action, std::ptrdiff_t* l1=0, std::ptrdi
   *
   * Given a m x k times k x n matrix product of scalar types \c LhsScalar and \c RhsScalar,
   * this function computes the blocking size parameters along the respective dimensions
-  * for matrix products and related algorithms. The blocking sizes depends on various
-  * parameters:
-  * - the L1 and L2 cache sizes,
-  * - the register level blocking sizes defined by gebp_traits,
-  * - the number of scalars that fit into a packet (when vectorization is enabled).
+  * for matrix products and related algorithms.
+  *
+  * The blocking size parameters may be evaluated:
+  *   - either by a heuristic based on cache sizes;
+  *   - or using fixed prescribed values (for testing purposes).
   *
   * \sa setCpuCacheSizes */
-template<typename LhsScalar, typename RhsScalar, int KcFactor, typename SizeType>
-void computeProductBlockingSizes(SizeType& k, SizeType& m, SizeType& n)
+
+template<typename LhsScalar, typename RhsScalar, int KcFactor, typename Index>
+void computeProductBlockingSizes(Index& k, Index& m, Index& n, Index num_threads = 1)
 {
-  EIGEN_UNUSED_VARIABLE(n);
-  // Explanations:
-  // Let's recall the product algorithms form kc x nc horizontal panels B' on the rhs and
-  // mc x kc blocks A' on the lhs. A' has to fit into L2 cache. Moreover, B' is processed
-  // per kc x nr vertical small panels where nr is the blocking size along the n dimension
-  // at the register level. For vectorization purpose, these small vertical panels are unpacked,
-  // e.g., each coefficient is replicated to fit a packet. This small vertical panel has to
-  // stay in L1 cache.
-  std::ptrdiff_t l1, l2;
-
-  typedef gebp_traits<LhsScalar,RhsScalar> Traits;
-  enum {
-    kdiv = KcFactor * 2 * Traits::nr
-         * Traits::RhsProgress * sizeof(RhsScalar),
-    mr = gebp_traits<LhsScalar,RhsScalar>::mr,
-    mr_mask = (0xffffffff/mr)*mr
-  };
-
-  manage_caching_sizes(GetAction, &l1, &l2);
-  k = std::min<SizeType>(k, l1/kdiv);
-  SizeType _m = k>0 ? l2/(4 * sizeof(LhsScalar) * k) : 0;
-  if(_m<m) m = _m & mr_mask;
+  if (!useSpecificBlockingSizes(k, m, n)) {
+    evaluateProductBlockingSizesHeuristic<LhsScalar, RhsScalar, KcFactor, Index>(k, m, n, num_threads);
+  }
 }
 
-template<typename LhsScalar, typename RhsScalar, typename SizeType>
-inline void computeProductBlockingSizes(SizeType& k, SizeType& m, SizeType& n)
+template<typename LhsScalar, typename RhsScalar, typename Index>
+inline void computeProductBlockingSizes(Index& k, Index& m, Index& n, Index num_threads = 1)
 {
-  computeProductBlockingSizes<LhsScalar,RhsScalar,1>(k, m, n);
+  computeProductBlockingSizes<LhsScalar,RhsScalar,1,Index>(k, m, n, num_threads);
 }
 
-#ifdef EIGEN_HAS_FUSE_CJMADD
-  #define MADD(CJ,A,B,C,T)  C = CJ.pmadd(A,B,C);
+#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_CJMADD
+  #define CJMADD(CJ,A,B,C,T)  C = CJ.pmadd(A,B,C);
 #else
 
   // FIXME (a bit overkill maybe ?)
@@ -128,8 +333,8 @@ inline void computeProductBlockingSizes(SizeType& k, SizeType& m, SizeType& n)
     gebp_madd_selector<CJ,A,B,C,T>::run(cj,a,b,c,t);
   }
 
-  #define MADD(CJ,A,B,C,T)  gebp_madd(CJ,A,B,C,T);
-//   #define MADD(CJ,A,B,C,T)  T = B; T = CJ.pmul(A,T); C = padd(C,T);
+  #define CJMADD(CJ,A,B,C,T)  gebp_madd(CJ,A,B,C,T);
+//   #define CJMADD(CJ,A,B,C,T)  T = B; T = CJ.pmul(A,T); C = padd(C,T);
 #endif
 
 /* Vectorization logic
@@ -148,7 +353,7 @@ class gebp_traits
 public:
   typedef _LhsScalar LhsScalar;
   typedef _RhsScalar RhsScalar;
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
 
   enum {
     ConjLhs = _ConjLhs,
@@ -160,16 +365,22 @@ public:
     
     NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
 
-    // register block size along the N direction (must be either 2 or 4)
-    nr = NumberOfRegisters/4,
+    // register block size along the N direction must be 1 or 4
+    nr = 4,
 
     // register block size along the M direction (currently, this one cannot be modified)
-    mr = 2 * LhsPacketSize,
+    default_mr = (EIGEN_PLAIN_ENUM_MIN(16,NumberOfRegisters)/2/nr)*LhsPacketSize,
+#if defined(EIGEN_HAS_SINGLE_INSTRUCTION_MADD) && !defined(EIGEN_VECTORIZE_ALTIVEC) && !defined(EIGEN_VECTORIZE_VSX)
+    // we assume 16 registers
+    // See bug 992, if the scalar type is not vectorizable but that EIGEN_HAS_SINGLE_INSTRUCTION_MADD is defined,
+    // then using 3*LhsPacketSize triggers non-implemented paths in syrk.
+    mr = Vectorizable ? 3*LhsPacketSize : default_mr,
+#else
+    mr = default_mr,
+#endif
     
-    WorkSpaceFactor = nr * RhsPacketSize,
-
     LhsProgress = LhsPacketSize,
-    RhsProgress = RhsPacketSize
+    RhsProgress = 1
   };
 
   typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
@@ -186,36 +397,67 @@ public:
   {
     p = pset1<ResPacket>(ResScalar(0));
   }
-
-  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const RhsScalar* rhs, RhsScalar* b)
+  
+  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
   {
-    for(DenseIndex k=0; k<n; k++)
-      pstore1<RhsPacket>(&b[k*RhsPacketSize], rhs[k]);
+    pbroadcast4(b, b0, b1, b2, b3);
+  }
+  
+//   EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
+//   {
+//     pbroadcast2(b, b0, b1);
+//   }
+  
+  template<typename RhsPacketType>
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacketType& dest) const
+  {
+    dest = pset1<RhsPacketType>(*b);
+  }
+  
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
+  {
+    dest = ploadquad<RhsPacket>(b);
   }
 
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
+  template<typename LhsPacketType>
+  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacketType& dest) const
   {
-    dest = pload<RhsPacket>(b);
+    dest = pload<LhsPacketType>(a);
   }
 
-  EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
+  template<typename LhsPacketType>
+  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacketType& dest) const
   {
-    dest = pload<LhsPacket>(a);
+    dest = ploadu<LhsPacketType>(a);
   }
 
-  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, AccPacket& tmp) const
+  template<typename LhsPacketType, typename RhsPacketType, typename AccPacketType>
+  EIGEN_STRONG_INLINE void madd(const LhsPacketType& a, const RhsPacketType& b, AccPacketType& c, AccPacketType& tmp) const
   {
-    tmp = b; tmp = pmul(a,tmp); c = padd(c,tmp);
+    conj_helper<LhsPacketType,RhsPacketType,ConjLhs,ConjRhs> cj;
+    // It would be a lot cleaner to call pmadd all the time. Unfortunately if we
+    // let gcc allocate the register in which to store the result of the pmul
+    // (in the case where there is no FMA) gcc fails to figure out how to avoid
+    // spilling register.
+#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+    EIGEN_UNUSED_VARIABLE(tmp);
+    c = cj.pmadd(a,b,c);
+#else
+    tmp = b; tmp = cj.pmul(a,tmp); c = padd(c,tmp);
+#endif
   }
 
   EIGEN_STRONG_INLINE void acc(const AccPacket& c, const ResPacket& alpha, ResPacket& r) const
   {
     r = pmadd(c,alpha,r);
   }
+  
+  template<typename ResPacketHalf>
+  EIGEN_STRONG_INLINE void acc(const ResPacketHalf& c, const ResPacketHalf& alpha, ResPacketHalf& r) const
+  {
+    r = pmadd(c,alpha,r);
+  }
 
-protected:
-//   conj_helper<LhsScalar,RhsScalar,ConjLhs,ConjRhs> cj;
-//   conj_helper<LhsPacket,RhsPacket,ConjLhs,ConjRhs> pcj;
 };
 
 template<typename RealScalar, bool _ConjLhs>
@@ -224,7 +466,7 @@ class gebp_traits<std::complex<RealScalar>, RealScalar, _ConjLhs, false>
 public:
   typedef std::complex<RealScalar> LhsScalar;
   typedef RealScalar RhsScalar;
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
 
   enum {
     ConjLhs = _ConjLhs,
@@ -235,12 +477,16 @@ public:
     ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
     
     NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
-    nr = NumberOfRegisters/4,
-    mr = 2 * LhsPacketSize,
-    WorkSpaceFactor = nr*RhsPacketSize,
+    nr = 4,
+#if defined(EIGEN_HAS_SINGLE_INSTRUCTION_MADD) && !defined(EIGEN_VECTORIZE_ALTIVEC) && !defined(EIGEN_VECTORIZE_VSX)
+    // we assume 16 registers
+    mr = 3*LhsPacketSize,
+#else
+    mr = (EIGEN_PLAIN_ENUM_MIN(16,NumberOfRegisters)/2/nr)*LhsPacketSize,
+#endif
 
     LhsProgress = LhsPacketSize,
-    RhsProgress = RhsPacketSize
+    RhsProgress = 1
   };
 
   typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
@@ -258,15 +504,14 @@ public:
     p = pset1<ResPacket>(ResScalar(0));
   }
 
-  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const RhsScalar* rhs, RhsScalar* b)
-  {
-    for(DenseIndex k=0; k<n; k++)
-      pstore1<RhsPacket>(&b[k*RhsPacketSize], rhs[k]);
-  }
-
   EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
   {
-    dest = pload<RhsPacket>(b);
+    dest = pset1<RhsPacket>(*b);
+  }
+  
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
+  {
+    dest = pset1<RhsPacket>(*b);
   }
 
   EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
@@ -274,6 +519,21 @@ public:
     dest = pload<LhsPacket>(a);
   }
 
+  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = ploadu<LhsPacket>(a);
+  }
+
+  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
+  {
+    pbroadcast4(b, b0, b1, b2, b3);
+  }
+  
+//   EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
+//   {
+//     pbroadcast2(b, b0, b1);
+//   }
+
   EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
   {
     madd_impl(a, b, c, tmp, typename conditional<Vectorizable,true_type,false_type>::type());
@@ -281,7 +541,12 @@ public:
 
   EIGEN_STRONG_INLINE void madd_impl(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp, const true_type&) const
   {
+#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+    EIGEN_UNUSED_VARIABLE(tmp);
+    c.v = pmadd(a.v,b,c.v);
+#else
     tmp = b; tmp = pmul(a.v,tmp); c.v = padd(c.v,tmp);
+#endif
   }
 
   EIGEN_STRONG_INLINE void madd_impl(const LhsScalar& a, const RhsScalar& b, ResScalar& c, RhsScalar& /*tmp*/, const false_type&) const
@@ -298,6 +563,38 @@ protected:
   conj_helper<ResPacket,ResPacket,ConjLhs,false> cj;
 };
 
+template<typename Packet>
+struct DoublePacket
+{
+  Packet first;
+  Packet second;
+};
+
+template<typename Packet>
+DoublePacket<Packet> padd(const DoublePacket<Packet> &a, const DoublePacket<Packet> &b)
+{
+  DoublePacket<Packet> res;
+  res.first  = padd(a.first, b.first);
+  res.second = padd(a.second,b.second);
+  return res;
+}
+
+template<typename Packet>
+const DoublePacket<Packet>& predux_downto4(const DoublePacket<Packet> &a)
+{
+  return a;
+}
+
+template<typename Packet> struct unpacket_traits<DoublePacket<Packet> > { typedef DoublePacket<Packet> half; };
+// template<typename Packet>
+// DoublePacket<Packet> pmadd(const DoublePacket<Packet> &a, const DoublePacket<Packet> &b)
+// {
+//   DoublePacket<Packet> res;
+//   res.first  = padd(a.first, b.first);
+//   res.second = padd(a.second,b.second);
+//   return res;
+// }
+
 template<typename RealScalar, bool _ConjLhs, bool _ConjRhs>
 class gebp_traits<std::complex<RealScalar>, std::complex<RealScalar>, _ConjLhs, _ConjRhs >
 {
@@ -314,60 +611,80 @@ public:
                 && packet_traits<Scalar>::Vectorizable,
     RealPacketSize  = Vectorizable ? packet_traits<RealScalar>::size : 1,
     ResPacketSize   = Vectorizable ? packet_traits<ResScalar>::size : 1,
-    
-    nr = 2,
-    mr = 2 * ResPacketSize,
-    WorkSpaceFactor = Vectorizable ? 2*nr*RealPacketSize : nr,
+    LhsPacketSize = Vectorizable ? packet_traits<LhsScalar>::size : 1,
+    RhsPacketSize = Vectorizable ? packet_traits<RhsScalar>::size : 1,
+
+    // FIXME: should depend on NumberOfRegisters
+    nr = 4,
+    mr = ResPacketSize,
 
     LhsProgress = ResPacketSize,
-    RhsProgress = Vectorizable ? 2*ResPacketSize : 1
+    RhsProgress = 1
   };
   
   typedef typename packet_traits<RealScalar>::type RealPacket;
   typedef typename packet_traits<Scalar>::type     ScalarPacket;
-  struct DoublePacket
-  {
-    RealPacket first;
-    RealPacket second;
-  };
+  typedef DoublePacket<RealPacket> DoublePacketType;
 
   typedef typename conditional<Vectorizable,RealPacket,  Scalar>::type LhsPacket;
-  typedef typename conditional<Vectorizable,DoublePacket,Scalar>::type RhsPacket;
+  typedef typename conditional<Vectorizable,DoublePacketType,Scalar>::type RhsPacket;
   typedef typename conditional<Vectorizable,ScalarPacket,Scalar>::type ResPacket;
-  typedef typename conditional<Vectorizable,DoublePacket,Scalar>::type AccPacket;
+  typedef typename conditional<Vectorizable,DoublePacketType,Scalar>::type AccPacket;
   
   EIGEN_STRONG_INLINE void initAcc(Scalar& p) { p = Scalar(0); }
 
-  EIGEN_STRONG_INLINE void initAcc(DoublePacket& p)
+  EIGEN_STRONG_INLINE void initAcc(DoublePacketType& p)
   {
     p.first   = pset1<RealPacket>(RealScalar(0));
     p.second  = pset1<RealPacket>(RealScalar(0));
   }
 
-  /* Unpack the rhs coeff such that each complex coefficient is spread into
-   * two packects containing respectively the real and imaginary coefficient
-   * duplicated as many time as needed: (x+iy) => [x, ..., x] [y, ..., y]
-   */
-  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const Scalar* rhs, Scalar* b)
+  // Scalar path
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, ResPacket& dest) const
   {
-    for(DenseIndex k=0; k<n; k++)
-    {
-      if(Vectorizable)
-      {
-        pstore1<RealPacket>((RealScalar*)&b[k*ResPacketSize*2+0],             real(rhs[k]));
-        pstore1<RealPacket>((RealScalar*)&b[k*ResPacketSize*2+ResPacketSize], imag(rhs[k]));
-      }
-      else
-        b[k] = rhs[k];
-    }
+    dest = pset1<ResPacket>(*b);
   }
 
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, ResPacket& dest) const { dest = *b; }
-
-  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, DoublePacket& dest) const
+  // Vectorized path
+  EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, DoublePacketType& dest) const
   {
-    dest.first  = pload<RealPacket>((const RealScalar*)b);
-    dest.second = pload<RealPacket>((const RealScalar*)(b+ResPacketSize));
+    dest.first  = pset1<RealPacket>(real(*b));
+    dest.second = pset1<RealPacket>(imag(*b));
+  }
+  
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, ResPacket& dest) const
+  {
+    loadRhs(b,dest);
+  }
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, DoublePacketType& dest) const
+  {
+    eigen_internal_assert(unpacket_traits<ScalarPacket>::size<=4);
+    loadRhs(b,dest);
+  }
+  
+  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
+  {
+    // FIXME not sure that's the best way to implement it!
+    loadRhs(b+0, b0);
+    loadRhs(b+1, b1);
+    loadRhs(b+2, b2);
+    loadRhs(b+3, b3);
+  }
+  
+  // Vectorized path
+  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, DoublePacketType& b0, DoublePacketType& b1)
+  {
+    // FIXME not sure that's the best way to implement it!
+    loadRhs(b+0, b0);
+    loadRhs(b+1, b1);
+  }
+  
+  // Scalar path
+  EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsScalar& b0, RhsScalar& b1)
+  {
+    // FIXME not sure that's the best way to implement it!
+    loadRhs(b+0, b0);
+    loadRhs(b+1, b1);
   }
 
   // nothing special here
@@ -376,7 +693,12 @@ public:
     dest = pload<LhsPacket>((const typename unpacket_traits<LhsPacket>::type*)(a));
   }
 
-  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, DoublePacket& c, RhsPacket& /*tmp*/) const
+  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = ploadu<LhsPacket>((const typename unpacket_traits<LhsPacket>::type*)(a));
+  }
+
+  EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, DoublePacketType& c, RhsPacket& /*tmp*/) const
   {
     c.first   = padd(pmul(a,b.first), c.first);
     c.second  = padd(pmul(a,b.second),c.second);
@@ -389,7 +711,7 @@ public:
   
   EIGEN_STRONG_INLINE void acc(const Scalar& c, const Scalar& alpha, Scalar& r) const { r += alpha * c; }
   
-  EIGEN_STRONG_INLINE void acc(const DoublePacket& c, const ResPacket& alpha, ResPacket& r) const
+  EIGEN_STRONG_INLINE void acc(const DoublePacketType& c, const ResPacket& alpha, ResPacket& r) const
   {
     // assemble c
     ResPacket tmp;
@@ -440,12 +762,12 @@ public:
     ResPacketSize = Vectorizable ? packet_traits<ResScalar>::size : 1,
     
     NumberOfRegisters = EIGEN_ARCH_DEFAULT_NUMBER_OF_REGISTERS,
+    // FIXME: should depend on NumberOfRegisters
     nr = 4,
-    mr = 2*ResPacketSize,
-    WorkSpaceFactor = nr*RhsPacketSize,
+    mr = (EIGEN_PLAIN_ENUM_MIN(16,NumberOfRegisters)/2/nr)*ResPacketSize,
 
     LhsProgress = ResPacketSize,
-    RhsProgress = ResPacketSize
+    RhsProgress = 1
   };
 
   typedef typename packet_traits<LhsScalar>::type  _LhsPacket;
@@ -463,21 +785,38 @@ public:
     p = pset1<ResPacket>(ResScalar(0));
   }
 
-  EIGEN_STRONG_INLINE void unpackRhs(DenseIndex n, const RhsScalar* rhs, RhsScalar* b)
-  {
-    for(DenseIndex k=0; k<n; k++)
-      pstore1<RhsPacket>(&b[k*RhsPacketSize], rhs[k]);
-  }
-
   EIGEN_STRONG_INLINE void loadRhs(const RhsScalar* b, RhsPacket& dest) const
   {
-    dest = pload<RhsPacket>(b);
+    dest = pset1<RhsPacket>(*b);
   }
+  
+  void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1, RhsPacket& b2, RhsPacket& b3)
+  {
+    pbroadcast4(b, b0, b1, b2, b3);
+  }
+  
+//   EIGEN_STRONG_INLINE void broadcastRhs(const RhsScalar* b, RhsPacket& b0, RhsPacket& b1)
+//   {
+//     // FIXME not sure that's the best way to implement it!
+//     b0 = pload1<RhsPacket>(b+0);
+//     b1 = pload1<RhsPacket>(b+1);
+//   }
 
   EIGEN_STRONG_INLINE void loadLhs(const LhsScalar* a, LhsPacket& dest) const
   {
     dest = ploaddup<LhsPacket>(a);
   }
+  
+  EIGEN_STRONG_INLINE void loadRhsQuad(const RhsScalar* b, RhsPacket& dest) const
+  {
+    eigen_internal_assert(unpacket_traits<RhsPacket>::size<=4);
+    loadRhs(b,dest);
+  }
+
+  EIGEN_STRONG_INLINE void loadLhsUnaligned(const LhsScalar* a, LhsPacket& dest) const
+  {
+    dest = ploaddup<LhsPacket>(a);
+  }
 
   EIGEN_STRONG_INLINE void madd(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp) const
   {
@@ -486,7 +825,13 @@ public:
 
   EIGEN_STRONG_INLINE void madd_impl(const LhsPacket& a, const RhsPacket& b, AccPacket& c, RhsPacket& tmp, const true_type&) const
   {
+#ifdef EIGEN_HAS_SINGLE_INSTRUCTION_MADD
+    EIGEN_UNUSED_VARIABLE(tmp);
+    c.v = pmadd(a,b.v,c.v);
+#else
     tmp = b; tmp.v = pmul(a,tmp.v); c = padd(c,tmp);
+#endif
+    
   }
 
   EIGEN_STRONG_INLINE void madd_impl(const LhsScalar& a, const RhsScalar& b, ResScalar& c, RhsScalar& /*tmp*/, const false_type&) const
@@ -510,7 +855,7 @@ protected:
  *  |real |cplx | no vectorization yet, would require to pack A with duplication
  *  |cplx |real | easy vectorization
  */
-template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
 struct gebp_kernel
 {
   typedef gebp_traits<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> Traits;
@@ -520,6 +865,15 @@ struct gebp_kernel
   typedef typename Traits::ResPacket ResPacket;
   typedef typename Traits::AccPacket AccPacket;
 
+  typedef gebp_traits<RhsScalar,LhsScalar,ConjugateRhs,ConjugateLhs> SwappedTraits;
+  typedef typename SwappedTraits::ResScalar SResScalar;
+  typedef typename SwappedTraits::LhsPacket SLhsPacket;
+  typedef typename SwappedTraits::RhsPacket SRhsPacket;
+  typedef typename SwappedTraits::ResPacket SResPacket;
+  typedef typename SwappedTraits::AccPacket SAccPacket;
+
+  typedef typename DataMapper::LinearMapper LinearMapper;
+
   enum {
     Vectorizable  = Traits::Vectorizable,
     LhsProgress   = Traits::LhsProgress,
@@ -528,571 +882,788 @@ struct gebp_kernel
   };
 
   EIGEN_DONT_INLINE
-  void operator()(ResScalar* res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index rows, Index depth, Index cols, ResScalar alpha,
-                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0, RhsScalar* unpackedB=0);
+  void operator()(const DataMapper& res, const LhsScalar* blockA, const RhsScalar* blockB,
+                  Index rows, Index depth, Index cols, ResScalar alpha,
+                  Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0);
 };
 
-template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
+template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
 EIGEN_DONT_INLINE
-void gebp_kernel<LhsScalar,RhsScalar,Index,mr,nr,ConjugateLhs,ConjugateRhs>
-  ::operator()(ResScalar* res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index rows, Index depth, Index cols, ResScalar alpha,
-               Index strideA, Index strideB, Index offsetA, Index offsetB, RhsScalar* unpackedB)
+void gebp_kernel<LhsScalar,RhsScalar,Index,DataMapper,mr,nr,ConjugateLhs,ConjugateRhs>
+  ::operator()(const DataMapper& res, const LhsScalar* blockA, const RhsScalar* blockB,
+               Index rows, Index depth, Index cols, ResScalar alpha,
+               Index strideA, Index strideB, Index offsetA, Index offsetB)
   {
     Traits traits;
+    SwappedTraits straits;
     
     if(strideA==-1) strideA = depth;
     if(strideB==-1) strideB = depth;
     conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
-//     conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
-    Index packet_cols = (cols/nr) * nr;
-    const Index peeled_mc = (rows/mr)*mr;
-    // FIXME:
-    const Index peeled_mc2 = peeled_mc + (rows-peeled_mc >= LhsProgress ? LhsProgress : 0);
-    const Index peeled_kc = (depth/4)*4;
+    Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
+    const Index peeled_mc3 = mr>=3*Traits::LhsProgress ? (rows/(3*LhsProgress))*(3*LhsProgress) : 0;
+    const Index peeled_mc2 = mr>=2*Traits::LhsProgress ? peeled_mc3+((rows-peeled_mc3)/(2*LhsProgress))*(2*LhsProgress) : 0;
+    const Index peeled_mc1 = mr>=1*Traits::LhsProgress ? (rows/(1*LhsProgress))*(1*LhsProgress) : 0;
+    enum { pk = 8 }; // NOTE Such a large peeling factor is important for large matrices (~ +5% when >1000 on Haswell)
+    const Index peeled_kc  = depth & ~(pk-1);
+    const Index prefetch_res_offset = 32/sizeof(ResScalar);    
+//     const Index depth2     = depth & ~1;
 
-    if(unpackedB==0)
-      unpackedB = const_cast<RhsScalar*>(blockB - strideB * nr * RhsProgress);
-
-    // loops on each micro vertical panel of rhs (depth x nr)
-    for(Index j2=0; j2<packet_cols; j2+=nr)
+    //---------- Process 3 * LhsProgress rows at once ----------
+    // This corresponds to 3*LhsProgress x nr register blocks.
+    // Usually, make sense only with FMA
+    if(mr>=3*Traits::LhsProgress)
     {
-      traits.unpackRhs(depth*nr,&blockB[j2*strideB+offsetB*nr],unpackedB); 
-
-      // loops on each largest micro horizontal panel of lhs (mr x depth)
-      // => we select a mr x nr micro block of res which is entirely
-      //    stored into mr/packet_size x nr registers.
-      for(Index i=0; i<peeled_mc; i+=mr)
+      // Here, the general idea is to loop on each largest micro horizontal panel of the lhs (3*Traits::LhsProgress x depth)
+      // and on each largest micro vertical panel of the rhs (depth * nr).
+      // Blocking sizes, i.e., 'depth' has been computed so that the micro horizontal panel of the lhs fit in L1.
+      // However, if depth is too small, we can extend the number of rows of these horizontal panels.
+      // This actual number of rows is computed as follow:
+      const Index l1 = defaultL1CacheSize; // in Bytes, TODO, l1 should be passed to this function.
+      // The max(1, ...) here is needed because we may be using blocking params larger than what our known l1 cache size
+      // suggests we should be using: either because our known l1 cache size is inaccurate (e.g. on Android, we can only guess),
+      // or because we are testing specific blocking sizes.
+      const Index actual_panel_rows = (3*LhsProgress) * std::max<Index>(1,( (l1 - sizeof(ResScalar)*mr*nr - depth*nr*sizeof(RhsScalar)) / (depth * sizeof(LhsScalar) * 3*LhsProgress) ));
+      for(Index i1=0; i1<peeled_mc3; i1+=actual_panel_rows)
       {
-        const LhsScalar* blA = &blockA[i*strideA+offsetA*mr];
-        prefetch(&blA[0]);
-
-        // gets res block as register
-        AccPacket C0, C1, C2, C3, C4, C5, C6, C7;
-                  traits.initAcc(C0);
-                  traits.initAcc(C1);
-        if(nr==4) traits.initAcc(C2);
-        if(nr==4) traits.initAcc(C3);
-                  traits.initAcc(C4);
-                  traits.initAcc(C5);
-        if(nr==4) traits.initAcc(C6);
-        if(nr==4) traits.initAcc(C7);
-
-        ResScalar* r0 = &res[(j2+0)*resStride + i];
-        ResScalar* r1 = r0 + resStride;
-        ResScalar* r2 = r1 + resStride;
-        ResScalar* r3 = r2 + resStride;
-
-        prefetch(r0+16);
-        prefetch(r1+16);
-        prefetch(r2+16);
-        prefetch(r3+16);
-
-        // performs "inner" product
-        // TODO let's check wether the folowing peeled loop could not be
-        //      optimized via optimal prefetching from one loop to the other
-        const RhsScalar* blB = unpackedB;
-        for(Index k=0; k<peeled_kc; k+=4)
+        const Index actual_panel_end = (std::min)(i1+actual_panel_rows, peeled_mc3);
+        for(Index j2=0; j2<packet_cols4; j2+=nr)
         {
-          if(nr==2)
+          for(Index i=i1; i<actual_panel_end; i+=3*LhsProgress)
           {
-            LhsPacket A0, A1;
-            RhsPacket B_0;
-            RhsPacket T0;
-            
-EIGEN_ASM_COMMENT("mybegin2");
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadLhs(&blA[1*LhsProgress], A1);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B_0);
-            traits.madd(A0,B_0,C1,T0);
-            traits.madd(A1,B_0,C5,B_0);
-
-            traits.loadLhs(&blA[2*LhsProgress], A0);
-            traits.loadLhs(&blA[3*LhsProgress], A1);
-            traits.loadRhs(&blB[2*RhsProgress], B_0);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[3*RhsProgress], B_0);
-            traits.madd(A0,B_0,C1,T0);
-            traits.madd(A1,B_0,C5,B_0);
-
-            traits.loadLhs(&blA[4*LhsProgress], A0);
-            traits.loadLhs(&blA[5*LhsProgress], A1);
-            traits.loadRhs(&blB[4*RhsProgress], B_0);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[5*RhsProgress], B_0);
-            traits.madd(A0,B_0,C1,T0);
-            traits.madd(A1,B_0,C5,B_0);
-
-            traits.loadLhs(&blA[6*LhsProgress], A0);
-            traits.loadLhs(&blA[7*LhsProgress], A1);
-            traits.loadRhs(&blB[6*RhsProgress], B_0);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[7*RhsProgress], B_0);
-            traits.madd(A0,B_0,C1,T0);
-            traits.madd(A1,B_0,C5,B_0);
-EIGEN_ASM_COMMENT("myend");
-          }
-          else
-          {
-EIGEN_ASM_COMMENT("mybegin4");
-            LhsPacket A0, A1;
-            RhsPacket B_0, B1, B2, B3;
-            RhsPacket T0;
-            
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadLhs(&blA[1*LhsProgress], A1);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B1);
-
-            traits.madd(A0,B_0,C0,T0);
-            traits.loadRhs(&blB[2*RhsProgress], B2);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[3*RhsProgress], B3);
-            traits.loadRhs(&blB[4*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,T0);
-            traits.madd(A1,B1,C5,B1);
-            traits.loadRhs(&blB[5*RhsProgress], B1);
-            traits.madd(A0,B2,C2,T0);
-            traits.madd(A1,B2,C6,B2);
-            traits.loadRhs(&blB[6*RhsProgress], B2);
-            traits.madd(A0,B3,C3,T0);
-            traits.loadLhs(&blA[2*LhsProgress], A0);
-            traits.madd(A1,B3,C7,B3);
-            traits.loadLhs(&blA[3*LhsProgress], A1);
-            traits.loadRhs(&blB[7*RhsProgress], B3);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[8*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,T0);
-            traits.madd(A1,B1,C5,B1);
-            traits.loadRhs(&blB[9*RhsProgress], B1);
-            traits.madd(A0,B2,C2,T0);
-            traits.madd(A1,B2,C6,B2);
-            traits.loadRhs(&blB[10*RhsProgress], B2);
-            traits.madd(A0,B3,C3,T0);
-            traits.loadLhs(&blA[4*LhsProgress], A0);
-            traits.madd(A1,B3,C7,B3);
-            traits.loadLhs(&blA[5*LhsProgress], A1);
-            traits.loadRhs(&blB[11*RhsProgress], B3);
-
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[12*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,T0);
-            traits.madd(A1,B1,C5,B1);
-            traits.loadRhs(&blB[13*RhsProgress], B1);
-            traits.madd(A0,B2,C2,T0);
-            traits.madd(A1,B2,C6,B2);
-            traits.loadRhs(&blB[14*RhsProgress], B2);
-            traits.madd(A0,B3,C3,T0);
-            traits.loadLhs(&blA[6*LhsProgress], A0);
-            traits.madd(A1,B3,C7,B3);
-            traits.loadLhs(&blA[7*LhsProgress], A1);
-            traits.loadRhs(&blB[15*RhsProgress], B3);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.madd(A0,B1,C1,T0);
-            traits.madd(A1,B1,C5,B1);
-            traits.madd(A0,B2,C2,T0);
-            traits.madd(A1,B2,C6,B2);
-            traits.madd(A0,B3,C3,T0);
-            traits.madd(A1,B3,C7,B3);
-          }
-
-          blB += 4*nr*RhsProgress;
-          blA += 4*mr;
-        }
-        // process remaining peeled loop
-        for(Index k=peeled_kc; k<depth; k++)
-        {
-          if(nr==2)
-          {
-            LhsPacket A0, A1;
-            RhsPacket B_0;
-            RhsPacket T0;
-
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadLhs(&blA[1*LhsProgress], A1);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.madd(A0,B_0,C0,T0);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B_0);
-            traits.madd(A0,B_0,C1,T0);
-            traits.madd(A1,B_0,C5,B_0);
-          }
-          else
-          {
-            LhsPacket A0, A1;
-            RhsPacket B_0, B1, B2, B3;
-            RhsPacket T0;
-
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadLhs(&blA[1*LhsProgress], A1);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B1);
-
-            traits.madd(A0,B_0,C0,T0);
-            traits.loadRhs(&blB[2*RhsProgress], B2);
-            traits.madd(A1,B_0,C4,B_0);
-            traits.loadRhs(&blB[3*RhsProgress], B3);
-            traits.madd(A0,B1,C1,T0);
-            traits.madd(A1,B1,C5,B1);
-            traits.madd(A0,B2,C2,T0);
-            traits.madd(A1,B2,C6,B2);
-            traits.madd(A0,B3,C3,T0);
-            traits.madd(A1,B3,C7,B3);
-          }
-
-          blB += nr*RhsProgress;
-          blA += mr;
-        }
-
-        if(nr==4)
-        {
-          ResPacket R0, R1, R2, R3, R4, R5, R6;
-          ResPacket alphav = pset1<ResPacket>(alpha);
-
-          R0 = ploadu<ResPacket>(r0);
-          R1 = ploadu<ResPacket>(r1);
-          R2 = ploadu<ResPacket>(r2);
-          R3 = ploadu<ResPacket>(r3);
-          R4 = ploadu<ResPacket>(r0 + ResPacketSize);
-          R5 = ploadu<ResPacket>(r1 + ResPacketSize);
-          R6 = ploadu<ResPacket>(r2 + ResPacketSize);
-          traits.acc(C0, alphav, R0);
-          pstoreu(r0, R0);
-          R0 = ploadu<ResPacket>(r3 + ResPacketSize);
-
-          traits.acc(C1, alphav, R1);
-          traits.acc(C2, alphav, R2);
-          traits.acc(C3, alphav, R3);
-          traits.acc(C4, alphav, R4);
-          traits.acc(C5, alphav, R5);
-          traits.acc(C6, alphav, R6);
-          traits.acc(C7, alphav, R0);
           
-          pstoreu(r1, R1);
-          pstoreu(r2, R2);
-          pstoreu(r3, R3);
-          pstoreu(r0 + ResPacketSize, R4);
-          pstoreu(r1 + ResPacketSize, R5);
-          pstoreu(r2 + ResPacketSize, R6);
-          pstoreu(r3 + ResPacketSize, R0);
-        }
-        else
-        {
-          ResPacket R0, R1, R4;
+          // We selected a 3*Traits::LhsProgress x nr micro block of res which is entirely
+          // stored into 3 x nr registers.
+          
+          const LhsScalar* blA = &blockA[i*strideA+offsetA*(3*LhsProgress)];
+          prefetch(&blA[0]);
+
+          // gets res block as register
+          AccPacket C0, C1, C2,  C3,
+                    C4, C5, C6,  C7,
+                    C8, C9, C10, C11;
+          traits.initAcc(C0);  traits.initAcc(C1);  traits.initAcc(C2);  traits.initAcc(C3);
+          traits.initAcc(C4);  traits.initAcc(C5);  traits.initAcc(C6);  traits.initAcc(C7);
+          traits.initAcc(C8);  traits.initAcc(C9);  traits.initAcc(C10); traits.initAcc(C11);
+
+          LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
+          LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
+          LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
+          LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
+
+          r0.prefetch(0);
+          r1.prefetch(0);
+          r2.prefetch(0);
+          r3.prefetch(0);
+
+          // performs "inner" products
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+          prefetch(&blB[0]);
+          LhsPacket A0, A1;
+
+          for(Index k=0; k<peeled_kc; k+=pk)
+          {
+            EIGEN_ASM_COMMENT("begin gebp micro kernel 3pX4");
+            RhsPacket B_0, T0;
+            LhsPacket A2;
+
+#define EIGEN_GEBP_ONESTEP(K) \
+            do { \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 3pX4"); \
+              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+              internal::prefetch(blA+(3*K+16)*LhsProgress); \
+              if (EIGEN_ARCH_ARM) { internal::prefetch(blB+(4*K+16)*RhsProgress); } /* Bug 953 */ \
+              traits.loadLhs(&blA[(0+3*K)*LhsProgress], A0);  \
+              traits.loadLhs(&blA[(1+3*K)*LhsProgress], A1);  \
+              traits.loadLhs(&blA[(2+3*K)*LhsProgress], A2);  \
+              traits.loadRhs(blB + (0+4*K)*Traits::RhsProgress, B_0); \
+              traits.madd(A0, B_0, C0, T0); \
+              traits.madd(A1, B_0, C4, T0); \
+              traits.madd(A2, B_0, C8, B_0); \
+              traits.loadRhs(blB + (1+4*K)*Traits::RhsProgress, B_0); \
+              traits.madd(A0, B_0, C1, T0); \
+              traits.madd(A1, B_0, C5, T0); \
+              traits.madd(A2, B_0, C9, B_0); \
+              traits.loadRhs(blB + (2+4*K)*Traits::RhsProgress, B_0); \
+              traits.madd(A0, B_0, C2,  T0); \
+              traits.madd(A1, B_0, C6,  T0); \
+              traits.madd(A2, B_0, C10, B_0); \
+              traits.loadRhs(blB + (3+4*K)*Traits::RhsProgress, B_0); \
+              traits.madd(A0, B_0, C3 , T0); \
+              traits.madd(A1, B_0, C7,  T0); \
+              traits.madd(A2, B_0, C11, B_0); \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 3pX4"); \
+            } while(false)
+
+            internal::prefetch(blB);
+            EIGEN_GEBP_ONESTEP(0);
+            EIGEN_GEBP_ONESTEP(1);
+            EIGEN_GEBP_ONESTEP(2);
+            EIGEN_GEBP_ONESTEP(3);
+            EIGEN_GEBP_ONESTEP(4);
+            EIGEN_GEBP_ONESTEP(5);
+            EIGEN_GEBP_ONESTEP(6);
+            EIGEN_GEBP_ONESTEP(7);
+
+            blB += pk*4*RhsProgress;
+            blA += pk*3*Traits::LhsProgress;
+
+            EIGEN_ASM_COMMENT("end gebp micro kernel 3pX4");
+          }
+          // process remaining peeled loop
+          for(Index k=peeled_kc; k<depth; k++)
+          {
+            RhsPacket B_0, T0;
+            LhsPacket A2;
+            EIGEN_GEBP_ONESTEP(0);
+            blB += 4*RhsProgress;
+            blA += 3*Traits::LhsProgress;
+          }
+
+#undef EIGEN_GEBP_ONESTEP
+
+          ResPacket R0, R1, R2;
           ResPacket alphav = pset1<ResPacket>(alpha);
 
-          R0 = ploadu<ResPacket>(r0);
-          R1 = ploadu<ResPacket>(r1);
-          R4 = ploadu<ResPacket>(r0 + ResPacketSize);
+          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r0.loadPacket(2 * Traits::ResPacketSize);
           traits.acc(C0, alphav, R0);
-          pstoreu(r0, R0);
-          R0 = ploadu<ResPacket>(r1 + ResPacketSize);
-          traits.acc(C1, alphav, R1);
-          traits.acc(C4, alphav, R4);
-          traits.acc(C5, alphav, R0);
-          pstoreu(r1, R1);
-          pstoreu(r0 + ResPacketSize, R4);
-          pstoreu(r1 + ResPacketSize, R0);
+          traits.acc(C4, alphav, R1);
+          traits.acc(C8, alphav, R2);
+          r0.storePacket(0 * Traits::ResPacketSize, R0);
+          r0.storePacket(1 * Traits::ResPacketSize, R1);
+          r0.storePacket(2 * Traits::ResPacketSize, R2);
+
+          R0 = r1.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r1.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r1.loadPacket(2 * Traits::ResPacketSize);
+          traits.acc(C1, alphav, R0);
+          traits.acc(C5, alphav, R1);
+          traits.acc(C9, alphav, R2);
+          r1.storePacket(0 * Traits::ResPacketSize, R0);
+          r1.storePacket(1 * Traits::ResPacketSize, R1);
+          r1.storePacket(2 * Traits::ResPacketSize, R2);
+
+          R0 = r2.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r2.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r2.loadPacket(2 * Traits::ResPacketSize);
+          traits.acc(C2, alphav, R0);
+          traits.acc(C6, alphav, R1);
+          traits.acc(C10, alphav, R2);
+          r2.storePacket(0 * Traits::ResPacketSize, R0);
+          r2.storePacket(1 * Traits::ResPacketSize, R1);
+          r2.storePacket(2 * Traits::ResPacketSize, R2);
+
+          R0 = r3.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r3.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r3.loadPacket(2 * Traits::ResPacketSize);
+          traits.acc(C3, alphav, R0);
+          traits.acc(C7, alphav, R1);
+          traits.acc(C11, alphav, R2);
+          r3.storePacket(0 * Traits::ResPacketSize, R0);
+          r3.storePacket(1 * Traits::ResPacketSize, R1);
+          r3.storePacket(2 * Traits::ResPacketSize, R2);          
+          }
         }
+
+        // Deal with remaining columns of the rhs
+        for(Index j2=packet_cols4; j2<cols; j2++)
+        {
+          for(Index i=i1; i<actual_panel_end; i+=3*LhsProgress)
+          {
+          // One column at a time
+          const LhsScalar* blA = &blockA[i*strideA+offsetA*(3*Traits::LhsProgress)];
+          prefetch(&blA[0]);
+
+          // gets res block as register
+          AccPacket C0, C4, C8;
+          traits.initAcc(C0);
+          traits.initAcc(C4);
+          traits.initAcc(C8);
+
+          LinearMapper r0 = res.getLinearMapper(i, j2);
+          r0.prefetch(0);
+
+          // performs "inner" products
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+          LhsPacket A0, A1, A2;
+          
+          for(Index k=0; k<peeled_kc; k+=pk)
+          {
+            EIGEN_ASM_COMMENT("begin gebp micro kernel 3pX1");
+            RhsPacket B_0;
+#define EIGEN_GEBGP_ONESTEP(K) \
+            do { \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 3pX1"); \
+              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+              traits.loadLhs(&blA[(0+3*K)*LhsProgress], A0);  \
+              traits.loadLhs(&blA[(1+3*K)*LhsProgress], A1);  \
+              traits.loadLhs(&blA[(2+3*K)*LhsProgress], A2);  \
+              traits.loadRhs(&blB[(0+K)*RhsProgress], B_0);   \
+              traits.madd(A0, B_0, C0, B_0); \
+              traits.madd(A1, B_0, C4, B_0); \
+              traits.madd(A2, B_0, C8, B_0); \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 3pX1"); \
+            } while(false)
         
-      }
-      
-      if(rows-peeled_mc>=LhsProgress)
-      {
-        Index i = peeled_mc;
-        const LhsScalar* blA = &blockA[i*strideA+offsetA*LhsProgress];
-        prefetch(&blA[0]);
+            EIGEN_GEBGP_ONESTEP(0);
+            EIGEN_GEBGP_ONESTEP(1);
+            EIGEN_GEBGP_ONESTEP(2);
+            EIGEN_GEBGP_ONESTEP(3);
+            EIGEN_GEBGP_ONESTEP(4);
+            EIGEN_GEBGP_ONESTEP(5);
+            EIGEN_GEBGP_ONESTEP(6);
+            EIGEN_GEBGP_ONESTEP(7);
 
-        // gets res block as register
-        AccPacket C0, C1, C2, C3;
-                  traits.initAcc(C0);
-                  traits.initAcc(C1);
-        if(nr==4) traits.initAcc(C2);
-        if(nr==4) traits.initAcc(C3);
+            blB += pk*RhsProgress;
+            blA += pk*3*Traits::LhsProgress;
 
-        // performs "inner" product
-        const RhsScalar* blB = unpackedB;
-        for(Index k=0; k<peeled_kc; k+=4)
-        {
-          if(nr==2)
-          {
-            LhsPacket A0;
-            RhsPacket B_0, B1;
-
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B1);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.loadRhs(&blB[2*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.loadLhs(&blA[1*LhsProgress], A0);
-            traits.loadRhs(&blB[3*RhsProgress], B1);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.loadRhs(&blB[4*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.loadLhs(&blA[2*LhsProgress], A0);
-            traits.loadRhs(&blB[5*RhsProgress], B1);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.loadRhs(&blB[6*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.loadLhs(&blA[3*LhsProgress], A0);
-            traits.loadRhs(&blB[7*RhsProgress], B1);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.madd(A0,B1,C1,B1);
-          }
-          else
-          {
-            LhsPacket A0;
-            RhsPacket B_0, B1, B2, B3;
-
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B1);
-
-            traits.madd(A0,B_0,C0,B_0);
-            traits.loadRhs(&blB[2*RhsProgress], B2);
-            traits.loadRhs(&blB[3*RhsProgress], B3);
-            traits.loadRhs(&blB[4*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.loadRhs(&blB[5*RhsProgress], B1);
-            traits.madd(A0,B2,C2,B2);
-            traits.loadRhs(&blB[6*RhsProgress], B2);
-            traits.madd(A0,B3,C3,B3);
-            traits.loadLhs(&blA[1*LhsProgress], A0);
-            traits.loadRhs(&blB[7*RhsProgress], B3);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.loadRhs(&blB[8*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.loadRhs(&blB[9*RhsProgress], B1);
-            traits.madd(A0,B2,C2,B2);
-            traits.loadRhs(&blB[10*RhsProgress], B2);
-            traits.madd(A0,B3,C3,B3);
-            traits.loadLhs(&blA[2*LhsProgress], A0);
-            traits.loadRhs(&blB[11*RhsProgress], B3);
-
-            traits.madd(A0,B_0,C0,B_0);
-            traits.loadRhs(&blB[12*RhsProgress], B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.loadRhs(&blB[13*RhsProgress], B1);
-            traits.madd(A0,B2,C2,B2);
-            traits.loadRhs(&blB[14*RhsProgress], B2);
-            traits.madd(A0,B3,C3,B3);
-
-            traits.loadLhs(&blA[3*LhsProgress], A0);
-            traits.loadRhs(&blB[15*RhsProgress], B3);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.madd(A0,B2,C2,B2);
-            traits.madd(A0,B3,C3,B3);
+            EIGEN_ASM_COMMENT("end gebp micro kernel 3pX1");
           }
 
-          blB += nr*4*RhsProgress;
-          blA += 4*LhsProgress;
+          // process remaining peeled loop
+          for(Index k=peeled_kc; k<depth; k++)
+          {
+            RhsPacket B_0;
+            EIGEN_GEBGP_ONESTEP(0);
+            blB += RhsProgress;
+            blA += 3*Traits::LhsProgress;
+          }
+#undef EIGEN_GEBGP_ONESTEP
+          ResPacket R0, R1, R2;
+          ResPacket alphav = pset1<ResPacket>(alpha);
+
+          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r0.loadPacket(2 * Traits::ResPacketSize);
+          traits.acc(C0, alphav, R0);
+          traits.acc(C4, alphav, R1);
+          traits.acc(C8, alphav, R2);
+          r0.storePacket(0 * Traits::ResPacketSize, R0);
+          r0.storePacket(1 * Traits::ResPacketSize, R1);
+          r0.storePacket(2 * Traits::ResPacketSize, R2);          
+          }
         }
-        // process remaining peeled loop
-        for(Index k=peeled_kc; k<depth; k++)
-        {
-          if(nr==2)
-          {
-            LhsPacket A0;
-            RhsPacket B_0, B1;
-
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B1);
-            traits.madd(A0,B_0,C0,B_0);
-            traits.madd(A0,B1,C1,B1);
-          }
-          else
-          {
-            LhsPacket A0;
-            RhsPacket B_0, B1, B2, B3;
-
-            traits.loadLhs(&blA[0*LhsProgress], A0);
-            traits.loadRhs(&blB[0*RhsProgress], B_0);
-            traits.loadRhs(&blB[1*RhsProgress], B1);
-            traits.loadRhs(&blB[2*RhsProgress], B2);
-            traits.loadRhs(&blB[3*RhsProgress], B3);
-
-            traits.madd(A0,B_0,C0,B_0);
-            traits.madd(A0,B1,C1,B1);
-            traits.madd(A0,B2,C2,B2);
-            traits.madd(A0,B3,C3,B3);
-          }
-
-          blB += nr*RhsProgress;
-          blA += LhsProgress;
-        }
-
-        ResPacket R0, R1, R2, R3;
-        ResPacket alphav = pset1<ResPacket>(alpha);
-
-        ResScalar* r0 = &res[(j2+0)*resStride + i];
-        ResScalar* r1 = r0 + resStride;
-        ResScalar* r2 = r1 + resStride;
-        ResScalar* r3 = r2 + resStride;
-
-                  R0 = ploadu<ResPacket>(r0);
-                  R1 = ploadu<ResPacket>(r1);
-        if(nr==4) R2 = ploadu<ResPacket>(r2);
-        if(nr==4) R3 = ploadu<ResPacket>(r3);
-
-                  traits.acc(C0, alphav, R0);
-                  traits.acc(C1, alphav, R1);
-        if(nr==4) traits.acc(C2, alphav, R2);
-        if(nr==4) traits.acc(C3, alphav, R3);
-
-                  pstoreu(r0, R0);
-                  pstoreu(r1, R1);
-        if(nr==4) pstoreu(r2, R2);
-        if(nr==4) pstoreu(r3, R3);
-      }
-      for(Index i=peeled_mc2; i<rows; i++)
-      {
-        const LhsScalar* blA = &blockA[i*strideA+offsetA];
-        prefetch(&blA[0]);
-
-        // gets a 1 x nr res block as registers
-        ResScalar C0(0), C1(0), C2(0), C3(0);
-        // TODO directly use blockB ???
-        const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
-        for(Index k=0; k<depth; k++)
-        {
-          if(nr==2)
-          {
-            LhsScalar A0;
-            RhsScalar B_0, B1;
-
-            A0 = blA[k];
-            B_0 = blB[0];
-            B1 = blB[1];
-            MADD(cj,A0,B_0,C0,B_0);
-            MADD(cj,A0,B1,C1,B1);
-          }
-          else
-          {
-            LhsScalar A0;
-            RhsScalar B_0, B1, B2, B3;
-
-            A0 = blA[k];
-            B_0 = blB[0];
-            B1 = blB[1];
-            B2 = blB[2];
-            B3 = blB[3];
-
-            MADD(cj,A0,B_0,C0,B_0);
-            MADD(cj,A0,B1,C1,B1);
-            MADD(cj,A0,B2,C2,B2);
-            MADD(cj,A0,B3,C3,B3);
-          }
-
-          blB += nr;
-        }
-                  res[(j2+0)*resStride + i] += alpha*C0;
-                  res[(j2+1)*resStride + i] += alpha*C1;
-        if(nr==4) res[(j2+2)*resStride + i] += alpha*C2;
-        if(nr==4) res[(j2+3)*resStride + i] += alpha*C3;
       }
     }
-    // process remaining rhs/res columns one at a time
-    // => do the same but with nr==1
-    for(Index j2=packet_cols; j2<cols; j2++)
+
+    //---------- Process 2 * LhsProgress rows at once ----------
+    if(mr>=2*Traits::LhsProgress)
     {
-      // unpack B
-      traits.unpackRhs(depth, &blockB[j2*strideB+offsetB], unpackedB);
+      const Index l1 = defaultL1CacheSize; // in Bytes, TODO, l1 should be passed to this function.
+      // The max(1, ...) here is needed because we may be using blocking params larger than what our known l1 cache size
+      // suggests we should be using: either because our known l1 cache size is inaccurate (e.g. on Android, we can only guess),
+      // or because we are testing specific blocking sizes.
+      Index actual_panel_rows = (2*LhsProgress) * std::max<Index>(1,( (l1 - sizeof(ResScalar)*mr*nr - depth*nr*sizeof(RhsScalar)) / (depth * sizeof(LhsScalar) * 2*LhsProgress) ));
 
-      for(Index i=0; i<peeled_mc; i+=mr)
+      for(Index i1=peeled_mc3; i1<peeled_mc2; i1+=actual_panel_rows)
       {
-        const LhsScalar* blA = &blockA[i*strideA+offsetA*mr];
-        prefetch(&blA[0]);
-
-        // TODO move the res loads to the stores
-
-        // get res block as registers
-        AccPacket C0, C4;
-        traits.initAcc(C0);
-        traits.initAcc(C4);
-
-        const RhsScalar* blB = unpackedB;
-        for(Index k=0; k<depth; k++)
+        Index actual_panel_end = (std::min)(i1+actual_panel_rows, peeled_mc2);
+        for(Index j2=0; j2<packet_cols4; j2+=nr)
         {
+          for(Index i=i1; i<actual_panel_end; i+=2*LhsProgress)
+          {
+          
+          // We selected a 2*Traits::LhsProgress x nr micro block of res which is entirely
+          // stored into 2 x nr registers.
+          
+          const LhsScalar* blA = &blockA[i*strideA+offsetA*(2*Traits::LhsProgress)];
+          prefetch(&blA[0]);
+
+          // gets res block as register
+          AccPacket C0, C1, C2, C3,
+                    C4, C5, C6, C7;
+          traits.initAcc(C0); traits.initAcc(C1); traits.initAcc(C2); traits.initAcc(C3);
+          traits.initAcc(C4); traits.initAcc(C5); traits.initAcc(C6); traits.initAcc(C7);
+
+          LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
+          LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
+          LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
+          LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
+
+          r0.prefetch(prefetch_res_offset);
+          r1.prefetch(prefetch_res_offset);
+          r2.prefetch(prefetch_res_offset);
+          r3.prefetch(prefetch_res_offset);
+
+          // performs "inner" products
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+          prefetch(&blB[0]);
           LhsPacket A0, A1;
-          RhsPacket B_0;
-          RhsPacket T0;
 
-          traits.loadLhs(&blA[0*LhsProgress], A0);
-          traits.loadLhs(&blA[1*LhsProgress], A1);
-          traits.loadRhs(&blB[0*RhsProgress], B_0);
-          traits.madd(A0,B_0,C0,T0);
-          traits.madd(A1,B_0,C4,B_0);
+          for(Index k=0; k<peeled_kc; k+=pk)
+          {
+            EIGEN_ASM_COMMENT("begin gebp micro kernel 2pX4");
+            RhsPacket B_0, B1, B2, B3, T0;
 
-          blB += RhsProgress;
-          blA += 2*LhsProgress;
+   #define EIGEN_GEBGP_ONESTEP(K) \
+            do {                                                                \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 2pX4");        \
+              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+              traits.loadLhs(&blA[(0+2*K)*LhsProgress], A0);                    \
+              traits.loadLhs(&blA[(1+2*K)*LhsProgress], A1);                    \
+              traits.broadcastRhs(&blB[(0+4*K)*RhsProgress], B_0, B1, B2, B3);  \
+              traits.madd(A0, B_0, C0, T0);                                     \
+              traits.madd(A1, B_0, C4, B_0);                                    \
+              traits.madd(A0, B1,  C1, T0);                                     \
+              traits.madd(A1, B1,  C5, B1);                                     \
+              traits.madd(A0, B2,  C2, T0);                                     \
+              traits.madd(A1, B2,  C6, B2);                                     \
+              traits.madd(A0, B3,  C3, T0);                                     \
+              traits.madd(A1, B3,  C7, B3);                                     \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 2pX4");          \
+            } while(false)
+            
+            internal::prefetch(blB+(48+0));
+            EIGEN_GEBGP_ONESTEP(0);
+            EIGEN_GEBGP_ONESTEP(1);
+            EIGEN_GEBGP_ONESTEP(2);
+            EIGEN_GEBGP_ONESTEP(3);
+            internal::prefetch(blB+(48+16));
+            EIGEN_GEBGP_ONESTEP(4);
+            EIGEN_GEBGP_ONESTEP(5);
+            EIGEN_GEBGP_ONESTEP(6);
+            EIGEN_GEBGP_ONESTEP(7);
+
+            blB += pk*4*RhsProgress;
+            blA += pk*(2*Traits::LhsProgress);
+
+            EIGEN_ASM_COMMENT("end gebp micro kernel 2pX4");
+          }
+          // process remaining peeled loop
+          for(Index k=peeled_kc; k<depth; k++)
+          {
+            RhsPacket B_0, B1, B2, B3, T0;
+            EIGEN_GEBGP_ONESTEP(0);
+            blB += 4*RhsProgress;
+            blA += 2*Traits::LhsProgress;
+          }
+#undef EIGEN_GEBGP_ONESTEP
+
+          ResPacket R0, R1, R2, R3;
+          ResPacket alphav = pset1<ResPacket>(alpha);
+
+          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r1.loadPacket(0 * Traits::ResPacketSize);
+          R3 = r1.loadPacket(1 * Traits::ResPacketSize);
+          traits.acc(C0, alphav, R0);
+          traits.acc(C4, alphav, R1);
+          traits.acc(C1, alphav, R2);
+          traits.acc(C5, alphav, R3);
+          r0.storePacket(0 * Traits::ResPacketSize, R0);
+          r0.storePacket(1 * Traits::ResPacketSize, R1);
+          r1.storePacket(0 * Traits::ResPacketSize, R2);
+          r1.storePacket(1 * Traits::ResPacketSize, R3);
+
+          R0 = r2.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r2.loadPacket(1 * Traits::ResPacketSize);
+          R2 = r3.loadPacket(0 * Traits::ResPacketSize);
+          R3 = r3.loadPacket(1 * Traits::ResPacketSize);
+          traits.acc(C2,  alphav, R0);
+          traits.acc(C6,  alphav, R1);
+          traits.acc(C3,  alphav, R2);
+          traits.acc(C7,  alphav, R3);
+          r2.storePacket(0 * Traits::ResPacketSize, R0);
+          r2.storePacket(1 * Traits::ResPacketSize, R1);
+          r3.storePacket(0 * Traits::ResPacketSize, R2);
+          r3.storePacket(1 * Traits::ResPacketSize, R3);
+          }
         }
-        ResPacket R0, R4;
-        ResPacket alphav = pset1<ResPacket>(alpha);
-
-        ResScalar* r0 = &res[(j2+0)*resStride + i];
-
-        R0 = ploadu<ResPacket>(r0);
-        R4 = ploadu<ResPacket>(r0+ResPacketSize);
-
-        traits.acc(C0, alphav, R0);
-        traits.acc(C4, alphav, R4);
-
-        pstoreu(r0,               R0);
-        pstoreu(r0+ResPacketSize, R4);
-      }
-      if(rows-peeled_mc>=LhsProgress)
-      {
-        Index i = peeled_mc;
-        const LhsScalar* blA = &blockA[i*strideA+offsetA*LhsProgress];
-        prefetch(&blA[0]);
-
-        AccPacket C0;
-        traits.initAcc(C0);
-
-        const RhsScalar* blB = unpackedB;
-        for(Index k=0; k<depth; k++)
+      
+        // Deal with remaining columns of the rhs
+        for(Index j2=packet_cols4; j2<cols; j2++)
         {
+          for(Index i=i1; i<actual_panel_end; i+=2*LhsProgress)
+          {
+          // One column at a time
+          const LhsScalar* blA = &blockA[i*strideA+offsetA*(2*Traits::LhsProgress)];
+          prefetch(&blA[0]);
+
+          // gets res block as register
+          AccPacket C0, C4;
+          traits.initAcc(C0);
+          traits.initAcc(C4);
+
+          LinearMapper r0 = res.getLinearMapper(i, j2);
+          r0.prefetch(prefetch_res_offset);
+
+          // performs "inner" products
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+          LhsPacket A0, A1;
+
+          for(Index k=0; k<peeled_kc; k+=pk)
+          {
+            EIGEN_ASM_COMMENT("begin gebp micro kernel 2pX1");
+            RhsPacket B_0, B1;
+        
+#define EIGEN_GEBGP_ONESTEP(K) \
+            do {                                                                  \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 2pX1");          \
+              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+              traits.loadLhs(&blA[(0+2*K)*LhsProgress], A0);                      \
+              traits.loadLhs(&blA[(1+2*K)*LhsProgress], A1);                      \
+              traits.loadRhs(&blB[(0+K)*RhsProgress], B_0);                       \
+              traits.madd(A0, B_0, C0, B1);                                       \
+              traits.madd(A1, B_0, C4, B_0);                                      \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 2pX1");            \
+            } while(false)
+        
+            EIGEN_GEBGP_ONESTEP(0);
+            EIGEN_GEBGP_ONESTEP(1);
+            EIGEN_GEBGP_ONESTEP(2);
+            EIGEN_GEBGP_ONESTEP(3);
+            EIGEN_GEBGP_ONESTEP(4);
+            EIGEN_GEBGP_ONESTEP(5);
+            EIGEN_GEBGP_ONESTEP(6);
+            EIGEN_GEBGP_ONESTEP(7);
+
+            blB += pk*RhsProgress;
+            blA += pk*2*Traits::LhsProgress;
+
+            EIGEN_ASM_COMMENT("end gebp micro kernel 2pX1");
+          }
+
+          // process remaining peeled loop
+          for(Index k=peeled_kc; k<depth; k++)
+          {
+            RhsPacket B_0, B1;
+            EIGEN_GEBGP_ONESTEP(0);
+            blB += RhsProgress;
+            blA += 2*Traits::LhsProgress;
+          }
+#undef EIGEN_GEBGP_ONESTEP
+          ResPacket R0, R1;
+          ResPacket alphav = pset1<ResPacket>(alpha);
+
+          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r0.loadPacket(1 * Traits::ResPacketSize);
+          traits.acc(C0, alphav, R0);
+          traits.acc(C4, alphav, R1);
+          r0.storePacket(0 * Traits::ResPacketSize, R0);
+          r0.storePacket(1 * Traits::ResPacketSize, R1);
+          }
+        }
+      }
+    }
+    //---------- Process 1 * LhsProgress rows at once ----------
+    if(mr>=1*Traits::LhsProgress)
+    {
+      // loops on each largest micro horizontal panel of lhs (1*LhsProgress x depth)
+      for(Index i=peeled_mc2; i<peeled_mc1; i+=1*LhsProgress)
+      {
+        // loops on each largest micro vertical panel of rhs (depth * nr)
+        for(Index j2=0; j2<packet_cols4; j2+=nr)
+        {
+          // We select a 1*Traits::LhsProgress x nr micro block of res which is entirely
+          // stored into 1 x nr registers.
+          
+          const LhsScalar* blA = &blockA[i*strideA+offsetA*(1*Traits::LhsProgress)];
+          prefetch(&blA[0]);
+
+          // gets res block as register
+          AccPacket C0, C1, C2, C3;
+          traits.initAcc(C0);
+          traits.initAcc(C1);
+          traits.initAcc(C2);
+          traits.initAcc(C3);
+
+          LinearMapper r0 = res.getLinearMapper(i, j2 + 0);
+          LinearMapper r1 = res.getLinearMapper(i, j2 + 1);
+          LinearMapper r2 = res.getLinearMapper(i, j2 + 2);
+          LinearMapper r3 = res.getLinearMapper(i, j2 + 3);
+
+          r0.prefetch(prefetch_res_offset);
+          r1.prefetch(prefetch_res_offset);
+          r2.prefetch(prefetch_res_offset);
+          r3.prefetch(prefetch_res_offset);
+
+          // performs "inner" products
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+          prefetch(&blB[0]);
           LhsPacket A0;
-          RhsPacket B_0;
-          traits.loadLhs(blA, A0);
-          traits.loadRhs(blB, B_0);
-          traits.madd(A0, B_0, C0, B_0);
-          blB += RhsProgress;
-          blA += LhsProgress;
+
+          for(Index k=0; k<peeled_kc; k+=pk)
+          {
+            EIGEN_ASM_COMMENT("begin gebp micro kernel 1pX4");
+            RhsPacket B_0, B1, B2, B3;
+               
+#define EIGEN_GEBGP_ONESTEP(K) \
+            do {                                                                \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 1pX4");        \
+              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+              traits.loadLhs(&blA[(0+1*K)*LhsProgress], A0);                    \
+              traits.broadcastRhs(&blB[(0+4*K)*RhsProgress], B_0, B1, B2, B3);  \
+              traits.madd(A0, B_0, C0, B_0);                                    \
+              traits.madd(A0, B1,  C1, B1);                                     \
+              traits.madd(A0, B2,  C2, B2);                                     \
+              traits.madd(A0, B3,  C3, B3);                                     \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 1pX4");          \
+            } while(false)
+            
+            internal::prefetch(blB+(48+0));
+            EIGEN_GEBGP_ONESTEP(0);
+            EIGEN_GEBGP_ONESTEP(1);
+            EIGEN_GEBGP_ONESTEP(2);
+            EIGEN_GEBGP_ONESTEP(3);
+            internal::prefetch(blB+(48+16));
+            EIGEN_GEBGP_ONESTEP(4);
+            EIGEN_GEBGP_ONESTEP(5);
+            EIGEN_GEBGP_ONESTEP(6);
+            EIGEN_GEBGP_ONESTEP(7);
+
+            blB += pk*4*RhsProgress;
+            blA += pk*1*LhsProgress;
+
+            EIGEN_ASM_COMMENT("end gebp micro kernel 1pX4");
+          }
+          // process remaining peeled loop
+          for(Index k=peeled_kc; k<depth; k++)
+          {
+            RhsPacket B_0, B1, B2, B3;
+            EIGEN_GEBGP_ONESTEP(0);
+            blB += 4*RhsProgress;
+            blA += 1*LhsProgress;
+          }
+#undef EIGEN_GEBGP_ONESTEP
+
+          ResPacket R0, R1;
+          ResPacket alphav = pset1<ResPacket>(alpha);
+
+          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r1.loadPacket(0 * Traits::ResPacketSize);
+          traits.acc(C0, alphav, R0);
+          traits.acc(C1,  alphav, R1);
+          r0.storePacket(0 * Traits::ResPacketSize, R0);
+          r1.storePacket(0 * Traits::ResPacketSize, R1);
+
+          R0 = r2.loadPacket(0 * Traits::ResPacketSize);
+          R1 = r3.loadPacket(0 * Traits::ResPacketSize);
+          traits.acc(C2,  alphav, R0);
+          traits.acc(C3,  alphav, R1);
+          r2.storePacket(0 * Traits::ResPacketSize, R0);
+          r3.storePacket(0 * Traits::ResPacketSize, R1);
         }
 
-        ResPacket alphav = pset1<ResPacket>(alpha);
-        ResPacket R0 = ploadu<ResPacket>(&res[(j2+0)*resStride + i]);
-        traits.acc(C0, alphav, R0);
-        pstoreu(&res[(j2+0)*resStride + i], R0);
-      }
-      for(Index i=peeled_mc2; i<rows; i++)
-      {
-        const LhsScalar* blA = &blockA[i*strideA+offsetA];
-        prefetch(&blA[0]);
-
-        // gets a 1 x 1 res block as registers
-        ResScalar C0(0);
-        // FIXME directly use blockB ??
-        const RhsScalar* blB = &blockB[j2*strideB+offsetB];
-        for(Index k=0; k<depth; k++)
+        // Deal with remaining columns of the rhs
+        for(Index j2=packet_cols4; j2<cols; j2++)
         {
-          LhsScalar A0 = blA[k];
-          RhsScalar B_0 = blB[k];
-          MADD(cj, A0, B_0, C0, B_0);
+          // One column at a time
+          const LhsScalar* blA = &blockA[i*strideA+offsetA*(1*Traits::LhsProgress)];
+          prefetch(&blA[0]);
+
+          // gets res block as register
+          AccPacket C0;
+          traits.initAcc(C0);
+
+          LinearMapper r0 = res.getLinearMapper(i, j2);
+
+          // performs "inner" products
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+          LhsPacket A0;
+
+          for(Index k=0; k<peeled_kc; k+=pk)
+          {
+            EIGEN_ASM_COMMENT("begin gebp micro kernel 1pX1");
+            RhsPacket B_0;
+        
+#define EIGEN_GEBGP_ONESTEP(K) \
+            do {                                                                \
+              EIGEN_ASM_COMMENT("begin step of gebp micro kernel 1pX1");        \
+              EIGEN_ASM_COMMENT("Note: these asm comments work around bug 935!"); \
+              traits.loadLhs(&blA[(0+1*K)*LhsProgress], A0);                    \
+              traits.loadRhs(&blB[(0+K)*RhsProgress], B_0);                     \
+              traits.madd(A0, B_0, C0, B_0);                                    \
+              EIGEN_ASM_COMMENT("end step of gebp micro kernel 1pX1");          \
+            } while(false);
+
+            EIGEN_GEBGP_ONESTEP(0);
+            EIGEN_GEBGP_ONESTEP(1);
+            EIGEN_GEBGP_ONESTEP(2);
+            EIGEN_GEBGP_ONESTEP(3);
+            EIGEN_GEBGP_ONESTEP(4);
+            EIGEN_GEBGP_ONESTEP(5);
+            EIGEN_GEBGP_ONESTEP(6);
+            EIGEN_GEBGP_ONESTEP(7);
+
+            blB += pk*RhsProgress;
+            blA += pk*1*Traits::LhsProgress;
+
+            EIGEN_ASM_COMMENT("end gebp micro kernel 1pX1");
+          }
+
+          // process remaining peeled loop
+          for(Index k=peeled_kc; k<depth; k++)
+          {
+            RhsPacket B_0;
+            EIGEN_GEBGP_ONESTEP(0);
+            blB += RhsProgress;
+            blA += 1*Traits::LhsProgress;
+          }
+#undef EIGEN_GEBGP_ONESTEP
+          ResPacket R0;
+          ResPacket alphav = pset1<ResPacket>(alpha);
+          R0 = r0.loadPacket(0 * Traits::ResPacketSize);
+          traits.acc(C0, alphav, R0);
+          r0.storePacket(0 * Traits::ResPacketSize, R0);
+        }
+      }
+    }
+    //---------- Process remaining rows, 1 at once ----------
+    if(peeled_mc1<rows)
+    {
+      // loop on each panel of the rhs
+      for(Index j2=0; j2<packet_cols4; j2+=nr)
+      {
+        // loop on each row of the lhs (1*LhsProgress x depth)
+        for(Index i=peeled_mc1; i<rows; i+=1)
+        {
+          const LhsScalar* blA = &blockA[i*strideA+offsetA];
+          prefetch(&blA[0]);
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB*nr];
+
+          // The following piece of code wont work for 512 bit registers
+          // Moreover, if LhsProgress==8 it assumes that there is a half packet of the same size
+          // as nr (which is currently 4) for the return type.
+          typedef typename unpacket_traits<SResPacket>::half SResPacketHalf;
+          if ((SwappedTraits::LhsProgress % 4) == 0 &&
+              (SwappedTraits::LhsProgress <= 8) &&
+              (SwappedTraits::LhsProgress!=8 || unpacket_traits<SResPacketHalf>::size==nr))
+          {
+            SAccPacket C0, C1, C2, C3;
+            straits.initAcc(C0);
+            straits.initAcc(C1);
+            straits.initAcc(C2);
+            straits.initAcc(C3);
+
+            const Index spk   = (std::max)(1,SwappedTraits::LhsProgress/4);
+            const Index endk  = (depth/spk)*spk;
+            const Index endk4 = (depth/(spk*4))*(spk*4);
+
+            Index k=0;
+            for(; k<endk4; k+=4*spk)
+            {
+              SLhsPacket A0,A1;
+              SRhsPacket B_0,B_1;
+
+              straits.loadLhsUnaligned(blB+0*SwappedTraits::LhsProgress, A0);
+              straits.loadLhsUnaligned(blB+1*SwappedTraits::LhsProgress, A1);
+
+              straits.loadRhsQuad(blA+0*spk, B_0);
+              straits.loadRhsQuad(blA+1*spk, B_1);
+              straits.madd(A0,B_0,C0,B_0);
+              straits.madd(A1,B_1,C1,B_1);
+
+              straits.loadLhsUnaligned(blB+2*SwappedTraits::LhsProgress, A0);
+              straits.loadLhsUnaligned(blB+3*SwappedTraits::LhsProgress, A1);
+              straits.loadRhsQuad(blA+2*spk, B_0);
+              straits.loadRhsQuad(blA+3*spk, B_1);
+              straits.madd(A0,B_0,C2,B_0);
+              straits.madd(A1,B_1,C3,B_1);
+
+              blB += 4*SwappedTraits::LhsProgress;
+              blA += 4*spk;
+            }
+            C0 = padd(padd(C0,C1),padd(C2,C3));
+            for(; k<endk; k+=spk)
+            {
+              SLhsPacket A0;
+              SRhsPacket B_0;
+
+              straits.loadLhsUnaligned(blB, A0);
+              straits.loadRhsQuad(blA, B_0);
+              straits.madd(A0,B_0,C0,B_0);
+
+              blB += SwappedTraits::LhsProgress;
+              blA += spk;
+            }
+            if(SwappedTraits::LhsProgress==8)
+            {
+              // Special case where we have to first reduce the accumulation register C0
+              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SResPacket>::half,SResPacket>::type SResPacketHalf;
+              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SLhsPacket>::half,SLhsPacket>::type SLhsPacketHalf;
+              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SLhsPacket>::half,SRhsPacket>::type SRhsPacketHalf;
+              typedef typename conditional<SwappedTraits::LhsProgress>=8,typename unpacket_traits<SAccPacket>::half,SAccPacket>::type SAccPacketHalf;
+
+              SResPacketHalf R = res.template gatherPacket<SResPacketHalf>(i, j2);
+              SResPacketHalf alphav = pset1<SResPacketHalf>(alpha);
+
+              if(depth-endk>0)
+              {
+                // We have to handle the last row of the rhs which corresponds to a half-packet
+                SLhsPacketHalf a0;
+                SRhsPacketHalf b0;
+                straits.loadLhsUnaligned(blB, a0);
+                straits.loadRhs(blA, b0);
+                SAccPacketHalf c0 = predux_downto4(C0);
+                straits.madd(a0,b0,c0,b0);
+                straits.acc(c0, alphav, R);
+              }
+              else
+              {
+                straits.acc(predux_downto4(C0), alphav, R);
+              }
+              res.scatterPacket(i, j2, R);
+            }
+            else
+            {
+              SResPacket R = res.template gatherPacket<SResPacket>(i, j2);
+              SResPacket alphav = pset1<SResPacket>(alpha);
+              straits.acc(C0, alphav, R);
+              res.scatterPacket(i, j2, R);
+            }
+          }
+          else // scalar path
+          {
+            // get a 1 x 4 res block as registers
+            ResScalar C0(0), C1(0), C2(0), C3(0);
+
+            for(Index k=0; k<depth; k++)
+            {
+              LhsScalar A0;
+              RhsScalar B_0, B_1;
+
+              A0 = blA[k];
+
+              B_0 = blB[0];
+              B_1 = blB[1];
+              CJMADD(cj,A0,B_0,C0,  B_0);
+              CJMADD(cj,A0,B_1,C1,  B_1);
+              
+              B_0 = blB[2];
+              B_1 = blB[3];
+              CJMADD(cj,A0,B_0,C2,  B_0);
+              CJMADD(cj,A0,B_1,C3,  B_1);
+              
+              blB += 4;
+            }
+            res(i, j2 + 0) += alpha * C0;
+            res(i, j2 + 1) += alpha * C1;
+            res(i, j2 + 2) += alpha * C2;
+            res(i, j2 + 3) += alpha * C3;
+          }
+        }
+      }
+      // remaining columns
+      for(Index j2=packet_cols4; j2<cols; j2++)
+      {
+        // loop on each row of the lhs (1*LhsProgress x depth)
+        for(Index i=peeled_mc1; i<rows; i+=1)
+        {
+          const LhsScalar* blA = &blockA[i*strideA+offsetA];
+          prefetch(&blA[0]);
+          // gets a 1 x 1 res block as registers
+          ResScalar C0(0);
+          const RhsScalar* blB = &blockB[j2*strideB+offsetB];
+          for(Index k=0; k<depth; k++)
+          {
+            LhsScalar A0 = blA[k];
+            RhsScalar B_0 = blB[k];
+            CJMADD(cj, A0, B_0, C0, B_0);
+          }
+          res(i, j2) += alpha * C0;
         }
-        res[(j2+0)*resStride + i] += alpha*C0;
       }
     }
   }
@@ -1114,81 +1685,193 @@ EIGEN_ASM_COMMENT("mybegin4");
 //
 //  32 33 34 35 ...
 //  36 36 38 39 ...
-template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder, bool Conjugate, bool PanelMode>
-struct gemm_pack_lhs
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, ColMajor, Conjugate, PanelMode>
 {
-  EIGEN_DONT_INLINE void operator()(Scalar* blockA, const Scalar* EIGEN_RESTRICT _lhs, Index lhsStride, Index depth, Index rows, Index stride=0, Index offset=0);
+  typedef typename DataMapper::LinearMapper LinearMapper;
+  EIGEN_DONT_INLINE void operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
 };
 
-template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder, bool Conjugate, bool PanelMode>
-EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, Pack1, Pack2, StorageOrder, Conjugate, PanelMode>
-  ::operator()(Scalar* blockA, const Scalar* EIGEN_RESTRICT _lhs, Index lhsStride, Index depth, Index rows, Index stride, Index offset)
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, ColMajor, Conjugate, PanelMode>
+  ::operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
 {
   typedef typename packet_traits<Scalar>::type Packet;
   enum { PacketSize = packet_traits<Scalar>::size };
 
   EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK LHS");
-  EIGEN_UNUSED_VARIABLE(stride)
-  EIGEN_UNUSED_VARIABLE(offset)
+  EIGEN_UNUSED_VARIABLE(stride);
+  EIGEN_UNUSED_VARIABLE(offset);
   eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
-  eigen_assert( (StorageOrder==RowMajor) || ((Pack1%PacketSize)==0 && Pack1<=4*PacketSize) );
+  eigen_assert( ((Pack1%PacketSize)==0 && Pack1<=4*PacketSize) || (Pack1<=4) );
   conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
-  const_blas_data_mapper<Scalar, Index, StorageOrder> lhs(_lhs,lhsStride);
   Index count = 0;
-  Index peeled_mc = (rows/Pack1)*Pack1;
-  for(Index i=0; i<peeled_mc; i+=Pack1)
-  {
-    if(PanelMode) count += Pack1 * offset;
 
-    if(StorageOrder==ColMajor)
+  const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
+  const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
+  const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
+  const Index peeled_mc0 = Pack2>=1*PacketSize ? peeled_mc1
+                         : Pack2>1             ? (rows/Pack2)*Pack2 : 0;
+
+  Index i=0;
+
+  // Pack 3 packets
+  if(Pack1>=3*PacketSize)
+  {
+    for(; i<peeled_mc3; i+=3*PacketSize)
     {
+      if(PanelMode) count += (3*PacketSize) * offset;
+
       for(Index k=0; k<depth; k++)
       {
-        Packet A, B, C, D;
-        if(Pack1>=1*PacketSize) A = ploadu<Packet>(&lhs(i+0*PacketSize, k));
-        if(Pack1>=2*PacketSize) B = ploadu<Packet>(&lhs(i+1*PacketSize, k));
-        if(Pack1>=3*PacketSize) C = ploadu<Packet>(&lhs(i+2*PacketSize, k));
-        if(Pack1>=4*PacketSize) D = ploadu<Packet>(&lhs(i+3*PacketSize, k));
-        if(Pack1>=1*PacketSize) { pstore(blockA+count, cj.pconj(A)); count+=PacketSize; }
-        if(Pack1>=2*PacketSize) { pstore(blockA+count, cj.pconj(B)); count+=PacketSize; }
-        if(Pack1>=3*PacketSize) { pstore(blockA+count, cj.pconj(C)); count+=PacketSize; }
-        if(Pack1>=4*PacketSize) { pstore(blockA+count, cj.pconj(D)); count+=PacketSize; }
+        Packet A, B, C;
+        A = lhs.loadPacket(i+0*PacketSize, k);
+        B = lhs.loadPacket(i+1*PacketSize, k);
+        C = lhs.loadPacket(i+2*PacketSize, k);
+        pstore(blockA+count, cj.pconj(A)); count+=PacketSize;
+        pstore(blockA+count, cj.pconj(B)); count+=PacketSize;
+        pstore(blockA+count, cj.pconj(C)); count+=PacketSize;
       }
+      if(PanelMode) count += (3*PacketSize) * (stride-offset-depth);
     }
-    else
+  }
+  // Pack 2 packets
+  if(Pack1>=2*PacketSize)
+  {
+    for(; i<peeled_mc2; i+=2*PacketSize)
     {
+      if(PanelMode) count += (2*PacketSize) * offset;
+
       for(Index k=0; k<depth; k++)
       {
-        // TODO add a vectorized transpose here
+        Packet A, B;
+        A = lhs.loadPacket(i+0*PacketSize, k);
+        B = lhs.loadPacket(i+1*PacketSize, k);
+        pstore(blockA+count, cj.pconj(A)); count+=PacketSize;
+        pstore(blockA+count, cj.pconj(B)); count+=PacketSize;
+      }
+      if(PanelMode) count += (2*PacketSize) * (stride-offset-depth);
+    }
+  }
+  // Pack 1 packets
+  if(Pack1>=1*PacketSize)
+  {
+    for(; i<peeled_mc1; i+=1*PacketSize)
+    {
+      if(PanelMode) count += (1*PacketSize) * offset;
+
+      for(Index k=0; k<depth; k++)
+      {
+        Packet A;
+        A = lhs.loadPacket(i+0*PacketSize, k);
+        pstore(blockA+count, cj.pconj(A));
+        count+=PacketSize;
+      }
+      if(PanelMode) count += (1*PacketSize) * (stride-offset-depth);
+    }
+  }
+  // Pack scalars
+  if(Pack2<PacketSize && Pack2>1)
+  {
+    for(; i<peeled_mc0; i+=Pack2)
+    {
+      if(PanelMode) count += Pack2 * offset;
+
+      for(Index k=0; k<depth; k++)
+        for(Index w=0; w<Pack2; w++)
+          blockA[count++] = cj(lhs(i+w, k));
+
+      if(PanelMode) count += Pack2 * (stride-offset-depth);
+    }
+  }
+  for(; i<rows; i++)
+  {
+    if(PanelMode) count += offset;
+    for(Index k=0; k<depth; k++)
+      blockA[count++] = cj(lhs(i, k));
+    if(PanelMode) count += (stride-offset-depth);
+  }
+}
+
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
+struct gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, RowMajor, Conjugate, PanelMode>
+{
+  typedef typename DataMapper::LinearMapper LinearMapper;
+  EIGEN_DONT_INLINE void operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride=0, Index offset=0);
+};
+
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, DataMapper, Pack1, Pack2, RowMajor, Conjugate, PanelMode>
+  ::operator()(Scalar* blockA, const DataMapper& lhs, Index depth, Index rows, Index stride, Index offset)
+{
+  typedef typename packet_traits<Scalar>::type Packet;
+  enum { PacketSize = packet_traits<Scalar>::size };
+
+  EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK LHS");
+  EIGEN_UNUSED_VARIABLE(stride);
+  EIGEN_UNUSED_VARIABLE(offset);
+  eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
+  conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
+  Index count = 0;
+
+//   const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
+//   const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
+//   const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
+
+  int pack = Pack1;
+  Index i = 0;
+  while(pack>0)
+  {
+    Index remaining_rows = rows-i;
+    Index peeled_mc = i+(remaining_rows/pack)*pack;
+    for(; i<peeled_mc; i+=pack)
+    {
+      if(PanelMode) count += pack * offset;
+
+      const Index peeled_k = (depth/PacketSize)*PacketSize;
+      Index k=0;
+      if(pack>=PacketSize)
+      {
+        for(; k<peeled_k; k+=PacketSize)
+        {
+          for (Index m = 0; m < pack; m += PacketSize)
+          {
+            PacketBlock<Packet> kernel;
+            for (int p = 0; p < PacketSize; ++p) kernel.packet[p] = lhs.loadPacket(i+p+m, k);
+            ptranspose(kernel);
+            for (int p = 0; p < PacketSize; ++p) pstore(blockA+count+m+(pack)*p, cj.pconj(kernel.packet[p]));
+          }
+          count += PacketSize*pack;
+        }
+      }
+      for(; k<depth; k++)
+      {
         Index w=0;
-        for(; w<Pack1-3; w+=4)
+        for(; w<pack-3; w+=4)
         {
           Scalar a(cj(lhs(i+w+0, k))),
-                  b(cj(lhs(i+w+1, k))),
-                  c(cj(lhs(i+w+2, k))),
-                  d(cj(lhs(i+w+3, k)));
+                 b(cj(lhs(i+w+1, k))),
+                 c(cj(lhs(i+w+2, k))),
+                 d(cj(lhs(i+w+3, k)));
           blockA[count++] = a;
           blockA[count++] = b;
           blockA[count++] = c;
           blockA[count++] = d;
         }
-        if(Pack1%4)
-          for(;w<Pack1;++w)
+        if(pack%4)
+          for(;w<pack;++w)
             blockA[count++] = cj(lhs(i+w, k));
       }
+
+      if(PanelMode) count += pack * (stride-offset-depth);
     }
-    if(PanelMode) count += Pack1 * (stride-offset-depth);
+
+    pack -= PacketSize;
+    if(pack<Pack2 && (pack+PacketSize)!=Pack2)
+      pack = Pack2;
   }
-  if(rows-peeled_mc>=Pack2)
-  {
-    if(PanelMode) count += Pack2*offset;
-    for(Index k=0; k<depth; k++)
-      for(Index w=0; w<Pack2; w++)
-        blockA[count++] = cj(lhs(peeled_mc+w, k));
-    if(PanelMode) count += Pack2 * (stride-offset-depth);
-    peeled_mc += Pack2;
-  }
-  for(Index i=peeled_mc; i<rows; i++)
+
+  for(; i<rows; i++)
   {
     if(PanelMode) count += offset;
     for(Index k=0; k<depth; k++)
@@ -1204,53 +1887,123 @@ EIGEN_DONT_INLINE void gemm_pack_lhs<Scalar, Index, Pack1, Pack2, StorageOrder,
 //  4  5  6  7   16 17 18 19   25 28
 //  8  9 10 11   20 21 22 23   26 29
 //  .  .  .  .    .  .  .  .    .  .
-template<typename Scalar, typename Index, int nr, bool Conjugate, bool PanelMode>
-struct gemm_pack_rhs<Scalar, Index, nr, ColMajor, Conjugate, PanelMode>
+template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<Scalar, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
 {
   typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename DataMapper::LinearMapper LinearMapper;
   enum { PacketSize = packet_traits<Scalar>::size };
-  EIGEN_DONT_INLINE void operator()(Scalar* blockB, const Scalar* rhs, Index rhsStride, Index depth, Index cols, Index stride=0, Index offset=0);
+  EIGEN_DONT_INLINE void operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
 };
 
-template<typename Scalar, typename Index, int nr, bool Conjugate, bool PanelMode>
-EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, nr, ColMajor, Conjugate, PanelMode>
-  ::operator()(Scalar* blockB, const Scalar* rhs, Index rhsStride, Index depth, Index cols, Index stride, Index offset)
+template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, DataMapper, nr, ColMajor, Conjugate, PanelMode>
+  ::operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
 {
   EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK RHS COLMAJOR");
-  EIGEN_UNUSED_VARIABLE(stride)
-  EIGEN_UNUSED_VARIABLE(offset)
+  EIGEN_UNUSED_VARIABLE(stride);
+  EIGEN_UNUSED_VARIABLE(offset);
   eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
   conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
-  Index packet_cols = (cols/nr) * nr;
+  Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
+  Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
   Index count = 0;
-  for(Index j2=0; j2<packet_cols; j2+=nr)
+  const Index peeled_k = (depth/PacketSize)*PacketSize;
+//   if(nr>=8)
+//   {
+//     for(Index j2=0; j2<packet_cols8; j2+=8)
+//     {
+//       // skip what we have before
+//       if(PanelMode) count += 8 * offset;
+//       const Scalar* b0 = &rhs[(j2+0)*rhsStride];
+//       const Scalar* b1 = &rhs[(j2+1)*rhsStride];
+//       const Scalar* b2 = &rhs[(j2+2)*rhsStride];
+//       const Scalar* b3 = &rhs[(j2+3)*rhsStride];
+//       const Scalar* b4 = &rhs[(j2+4)*rhsStride];
+//       const Scalar* b5 = &rhs[(j2+5)*rhsStride];
+//       const Scalar* b6 = &rhs[(j2+6)*rhsStride];
+//       const Scalar* b7 = &rhs[(j2+7)*rhsStride];
+//       Index k=0;
+//       if(PacketSize==8) // TODO enbale vectorized transposition for PacketSize==4
+//       {
+//         for(; k<peeled_k; k+=PacketSize) {
+//           PacketBlock<Packet> kernel;
+//           for (int p = 0; p < PacketSize; ++p) {
+//             kernel.packet[p] = ploadu<Packet>(&rhs[(j2+p)*rhsStride+k]);
+//           }
+//           ptranspose(kernel);
+//           for (int p = 0; p < PacketSize; ++p) {
+//             pstoreu(blockB+count, cj.pconj(kernel.packet[p]));
+//             count+=PacketSize;
+//           }
+//         }
+//       }
+//       for(; k<depth; k++)
+//       {
+//         blockB[count+0] = cj(b0[k]);
+//         blockB[count+1] = cj(b1[k]);
+//         blockB[count+2] = cj(b2[k]);
+//         blockB[count+3] = cj(b3[k]);
+//         blockB[count+4] = cj(b4[k]);
+//         blockB[count+5] = cj(b5[k]);
+//         blockB[count+6] = cj(b6[k]);
+//         blockB[count+7] = cj(b7[k]);
+//         count += 8;
+//       }
+//       // skip what we have after
+//       if(PanelMode) count += 8 * (stride-offset-depth);
+//     }
+//   }
+
+  if(nr>=4)
   {
-    // skip what we have before
-    if(PanelMode) count += nr * offset;
-    const Scalar* b0 = &rhs[(j2+0)*rhsStride];
-    const Scalar* b1 = &rhs[(j2+1)*rhsStride];
-    const Scalar* b2 = &rhs[(j2+2)*rhsStride];
-    const Scalar* b3 = &rhs[(j2+3)*rhsStride];
-    for(Index k=0; k<depth; k++)
+    for(Index j2=packet_cols8; j2<packet_cols4; j2+=4)
     {
-                blockB[count+0] = cj(b0[k]);
-                blockB[count+1] = cj(b1[k]);
-      if(nr==4) blockB[count+2] = cj(b2[k]);
-      if(nr==4) blockB[count+3] = cj(b3[k]);
-      count += nr;
+      // skip what we have before
+      if(PanelMode) count += 4 * offset;
+      const LinearMapper dm0 = rhs.getLinearMapper(0, j2 + 0);
+      const LinearMapper dm1 = rhs.getLinearMapper(0, j2 + 1);
+      const LinearMapper dm2 = rhs.getLinearMapper(0, j2 + 2);
+      const LinearMapper dm3 = rhs.getLinearMapper(0, j2 + 3);
+
+      Index k=0;
+      if((PacketSize%4)==0) // TODO enable vectorized transposition for PacketSize==2 ??
+      {
+        for(; k<peeled_k; k+=PacketSize) {
+          PacketBlock<Packet,(PacketSize%4)==0?4:PacketSize> kernel;
+          kernel.packet[0] = dm0.loadPacket(k);
+          kernel.packet[1%PacketSize] = dm1.loadPacket(k);
+          kernel.packet[2%PacketSize] = dm2.loadPacket(k);
+          kernel.packet[3%PacketSize] = dm3.loadPacket(k);
+          ptranspose(kernel);
+          pstoreu(blockB+count+0*PacketSize, cj.pconj(kernel.packet[0]));
+          pstoreu(blockB+count+1*PacketSize, cj.pconj(kernel.packet[1%PacketSize]));
+          pstoreu(blockB+count+2*PacketSize, cj.pconj(kernel.packet[2%PacketSize]));
+          pstoreu(blockB+count+3*PacketSize, cj.pconj(kernel.packet[3%PacketSize]));
+          count+=4*PacketSize;
+        }
+      }
+      for(; k<depth; k++)
+      {
+        blockB[count+0] = cj(dm0(k));
+        blockB[count+1] = cj(dm1(k));
+        blockB[count+2] = cj(dm2(k));
+        blockB[count+3] = cj(dm3(k));
+        count += 4;
+      }
+      // skip what we have after
+      if(PanelMode) count += 4 * (stride-offset-depth);
     }
-    // skip what we have after
-    if(PanelMode) count += nr * (stride-offset-depth);
   }
 
   // copy the remaining columns one at a time (nr==1)
-  for(Index j2=packet_cols; j2<cols; ++j2)
+  for(Index j2=packet_cols4; j2<cols; ++j2)
   {
     if(PanelMode) count += offset;
-    const Scalar* b0 = &rhs[(j2+0)*rhsStride];
+    const LinearMapper dm0 = rhs.getLinearMapper(0, j2);
     for(Index k=0; k<depth; k++)
     {
-      blockB[count] = cj(b0[k]);
+      blockB[count] = cj(dm0(k));
       count += 1;
     }
     if(PanelMode) count += (stride-offset-depth);
@@ -1258,48 +2011,93 @@ EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, nr, ColMajor, Conjugate, Pan
 }
 
 // this version is optimized for row major matrices
-template<typename Scalar, typename Index, int nr, bool Conjugate, bool PanelMode>
-struct gemm_pack_rhs<Scalar, Index, nr, RowMajor, Conjugate, PanelMode>
+template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+struct gemm_pack_rhs<Scalar, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
 {
+  typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename DataMapper::LinearMapper LinearMapper;
   enum { PacketSize = packet_traits<Scalar>::size };
-  EIGEN_DONT_INLINE void operator()(Scalar* blockB, const Scalar* rhs, Index rhsStride, Index depth, Index cols, Index stride=0, Index offset=0);
+  EIGEN_DONT_INLINE void operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride=0, Index offset=0);
 };
 
-template<typename Scalar, typename Index, int nr, bool Conjugate, bool PanelMode>
-EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, nr, RowMajor, Conjugate, PanelMode>
-  ::operator()(Scalar* blockB, const Scalar* rhs, Index rhsStride, Index depth, Index cols, Index stride, Index offset)
+template<typename Scalar, typename Index, typename DataMapper, int nr, bool Conjugate, bool PanelMode>
+EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, DataMapper, nr, RowMajor, Conjugate, PanelMode>
+  ::operator()(Scalar* blockB, const DataMapper& rhs, Index depth, Index cols, Index stride, Index offset)
 {
   EIGEN_ASM_COMMENT("EIGEN PRODUCT PACK RHS ROWMAJOR");
-  EIGEN_UNUSED_VARIABLE(stride)
-  EIGEN_UNUSED_VARIABLE(offset)
+  EIGEN_UNUSED_VARIABLE(stride);
+  EIGEN_UNUSED_VARIABLE(offset);
   eigen_assert(((!PanelMode) && stride==0 && offset==0) || (PanelMode && stride>=depth && offset<=stride));
   conj_if<NumTraits<Scalar>::IsComplex && Conjugate> cj;
-  Index packet_cols = (cols/nr) * nr;
+  Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
+  Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
   Index count = 0;
-  for(Index j2=0; j2<packet_cols; j2+=nr)
+
+//   if(nr>=8)
+//   {
+//     for(Index j2=0; j2<packet_cols8; j2+=8)
+//     {
+//       // skip what we have before
+//       if(PanelMode) count += 8 * offset;
+//       for(Index k=0; k<depth; k++)
+//       {
+//         if (PacketSize==8) {
+//           Packet A = ploadu<Packet>(&rhs[k*rhsStride + j2]);
+//           pstoreu(blockB+count, cj.pconj(A));
+//         } else if (PacketSize==4) {
+//           Packet A = ploadu<Packet>(&rhs[k*rhsStride + j2]);
+//           Packet B = ploadu<Packet>(&rhs[k*rhsStride + j2 + PacketSize]);
+//           pstoreu(blockB+count, cj.pconj(A));
+//           pstoreu(blockB+count+PacketSize, cj.pconj(B));
+//         } else {
+//           const Scalar* b0 = &rhs[k*rhsStride + j2];
+//           blockB[count+0] = cj(b0[0]);
+//           blockB[count+1] = cj(b0[1]);
+//           blockB[count+2] = cj(b0[2]);
+//           blockB[count+3] = cj(b0[3]);
+//           blockB[count+4] = cj(b0[4]);
+//           blockB[count+5] = cj(b0[5]);
+//           blockB[count+6] = cj(b0[6]);
+//           blockB[count+7] = cj(b0[7]);
+//         }
+//         count += 8;
+//       }
+//       // skip what we have after
+//       if(PanelMode) count += 8 * (stride-offset-depth);
+//     }
+//   }
+  if(nr>=4)
   {
-    // skip what we have before
-    if(PanelMode) count += nr * offset;
-    for(Index k=0; k<depth; k++)
+    for(Index j2=packet_cols8; j2<packet_cols4; j2+=4)
     {
-      const Scalar* b0 = &rhs[k*rhsStride + j2];
-                blockB[count+0] = cj(b0[0]);
-                blockB[count+1] = cj(b0[1]);
-      if(nr==4) blockB[count+2] = cj(b0[2]);
-      if(nr==4) blockB[count+3] = cj(b0[3]);
-      count += nr;
+      // skip what we have before
+      if(PanelMode) count += 4 * offset;
+      for(Index k=0; k<depth; k++)
+      {
+        if (PacketSize==4) {
+          Packet A = rhs.loadPacket(k, j2);
+          pstoreu(blockB+count, cj.pconj(A));
+          count += PacketSize;
+        } else {
+          const LinearMapper dm0 = rhs.getLinearMapper(k, j2);
+          blockB[count+0] = cj(dm0(0));
+          blockB[count+1] = cj(dm0(1));
+          blockB[count+2] = cj(dm0(2));
+          blockB[count+3] = cj(dm0(3));
+          count += 4;
+        }
+      }
+      // skip what we have after
+      if(PanelMode) count += 4 * (stride-offset-depth);
     }
-    // skip what we have after
-    if(PanelMode) count += nr * (stride-offset-depth);
   }
   // copy the remaining columns one at a time (nr==1)
-  for(Index j2=packet_cols; j2<cols; ++j2)
+  for(Index j2=packet_cols4; j2<cols; ++j2)
   {
     if(PanelMode) count += offset;
-    const Scalar* b0 = &rhs[j2];
     for(Index k=0; k<depth; k++)
     {
-      blockB[count] = cj(b0[k*rhsStride]);
+      blockB[count] = cj(rhs(k, j2));
       count += 1;
     }
     if(PanelMode) count += stride-offset-depth;
@@ -1312,8 +2110,8 @@ EIGEN_DONT_INLINE void gemm_pack_rhs<Scalar, Index, nr, RowMajor, Conjugate, Pan
   * \sa setCpuCacheSize */
 inline std::ptrdiff_t l1CacheSize()
 {
-  std::ptrdiff_t l1, l2;
-  internal::manage_caching_sizes(GetAction, &l1, &l2);
+  std::ptrdiff_t l1, l2, l3;
+  internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
   return l1;
 }
 
@@ -1321,19 +2119,29 @@ inline std::ptrdiff_t l1CacheSize()
   * \sa setCpuCacheSize */
 inline std::ptrdiff_t l2CacheSize()
 {
-  std::ptrdiff_t l1, l2;
-  internal::manage_caching_sizes(GetAction, &l1, &l2);
+  std::ptrdiff_t l1, l2, l3;
+  internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
   return l2;
 }
 
+/** \returns the currently set level 3 cpu cache size (in bytes) used to estimate the ideal blocking size paramete\
+rs.                                                                                                                
+* \sa setCpuCacheSize */
+inline std::ptrdiff_t l3CacheSize()
+{
+  std::ptrdiff_t l1, l2, l3;
+  internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
+  return l3;
+}
+
 /** Set the cpu L1 and L2 cache sizes (in bytes).
   * These values are use to adjust the size of the blocks
   * for the algorithms working per blocks.
   *
   * \sa computeProductBlockingSizes */
-inline void setCpuCacheSizes(std::ptrdiff_t l1, std::ptrdiff_t l2)
+inline void setCpuCacheSizes(std::ptrdiff_t l1, std::ptrdiff_t l2, std::ptrdiff_t l3)
 {
-  internal::manage_caching_sizes(SetAction, &l1, &l2);
+  internal::manage_caching_sizes(SetAction, &l1, &l2, &l3);
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrix.h b/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrix.h
index 3f5ffcf5..61df3be5 100644
--- a/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrix.h
+++ b/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrix.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_GENERAL_MATRIX_MATRIX_H
 #define EIGEN_GENERAL_MATRIX_MATRIX_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -23,7 +23,9 @@ template<
   typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs>
 struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor>
 {
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef gebp_traits<RhsScalar,LhsScalar> Traits;
+
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
   static EIGEN_STRONG_INLINE void run(
     Index rows, Index cols, Index depth,
     const LhsScalar* lhs, Index lhsStride,
@@ -51,27 +53,31 @@ template<
 struct general_matrix_matrix_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor>
 {
 
-typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+
+typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
 static void run(Index rows, Index cols, Index depth,
   const LhsScalar* _lhs, Index lhsStride,
   const RhsScalar* _rhs, Index rhsStride,
-  ResScalar* res, Index resStride,
+  ResScalar* _res, Index resStride,
   ResScalar alpha,
   level3_blocking<LhsScalar,RhsScalar>& blocking,
   GemmParallelInfo<Index>* info = 0)
 {
-  const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
-  const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
-
-  typedef gebp_traits<LhsScalar,RhsScalar> Traits;
+  typedef const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> LhsMapper;
+  typedef const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> RhsMapper;
+  typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+  LhsMapper lhs(_lhs,lhsStride);
+  RhsMapper rhs(_rhs,rhsStride);
+  ResMapper res(_res, resStride);
 
   Index kc = blocking.kc();                   // cache block size along the K direction
   Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
-  //Index nc = blocking.nc(); // cache block size along the N direction
+  Index nc = (std::min)(cols,blocking.nc());  // cache block size along the N direction
 
-  gemm_pack_lhs<LhsScalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-  gemm_pack_rhs<RhsScalar, Index, Traits::nr, RhsStorageOrder> pack_rhs;
-  gebp_kernel<LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
+  gemm_pack_lhs<LhsScalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+  gemm_pack_rhs<RhsScalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
+  gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
 
 #ifdef EIGEN_HAS_OPENMP
   if(info)
@@ -79,14 +85,12 @@ static void run(Index rows, Index cols, Index depth,
     // this is the parallel version!
     Index tid = omp_get_thread_num();
     Index threads = omp_get_num_threads();
-    
-    std::size_t sizeA = kc*mc;
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
-    ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, sizeA, 0);
-    ei_declare_aligned_stack_constructed_variable(RhsScalar, w, sizeW, 0);
-    
-    RhsScalar* blockB = blocking.blockB();
-    eigen_internal_assert(blockB!=0);
+
+    LhsScalar* blockA = blocking.blockA();
+    eigen_internal_assert(blockA!=0);
+
+    std::size_t sizeB = kc*nc;
+    ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, 0);
 
     // For each horizontal panel of the rhs, and corresponding vertical panel of the lhs...
     for(Index k=0; k<depth; k+=kc)
@@ -94,54 +98,56 @@ static void run(Index rows, Index cols, Index depth,
       const Index actual_kc = (std::min)(k+kc,depth)-k; // => rows of B', and cols of the A'
 
       // In order to reduce the chance that a thread has to wait for the other,
-      // let's start by packing A'.
-      pack_lhs(blockA, &lhs(0,k), lhsStride, actual_kc, mc);
+      // let's start by packing B'.
+      pack_rhs(blockB, rhs.getSubMapper(k,0), actual_kc, nc);
 
-      // Pack B_k to B' in a parallel fashion:
-      // each thread packs the sub block B_k,j to B'_j where j is the thread id.
+      // Pack A_k to A' in a parallel fashion:
+      // each thread packs the sub block A_k,i to A'_i where i is the thread id.
 
-      // However, before copying to B'_j, we have to make sure that no other thread is still using it,
+      // However, before copying to A'_i, we have to make sure that no other thread is still using it,
       // i.e., we test that info[tid].users equals 0.
       // Then, we set info[tid].users to the number of threads to mark that all other threads are going to use it.
       while(info[tid].users!=0) {}
       info[tid].users += threads;
 
-      pack_rhs(blockB+info[tid].rhs_start*actual_kc, &rhs(k,info[tid].rhs_start), rhsStride, actual_kc, info[tid].rhs_length);
+      pack_lhs(blockA+info[tid].lhs_start*actual_kc, lhs.getSubMapper(info[tid].lhs_start,k), actual_kc, info[tid].lhs_length);
 
-      // Notify the other threads that the part B'_j is ready to go.
+      // Notify the other threads that the part A'_i is ready to go.
       info[tid].sync = k;
 
-      // Computes C_i += A' * B' per B'_j
+      // Computes C_i += A' * B' per A'_i
       for(Index shift=0; shift<threads; ++shift)
       {
-        Index j = (tid+shift)%threads;
+        Index i = (tid+shift)%threads;
 
-        // At this point we have to make sure that B'_j has been updated by the thread j,
+        // At this point we have to make sure that A'_i has been updated by the thread i,
         // we use testAndSetOrdered to mimic a volatile access.
         // However, no need to wait for the B' part which has been updated by the current thread!
-        if(shift>0)
-          while(info[j].sync!=k) {}
+        if (shift>0) {
+          while(info[i].sync!=k) {
+          }
+        }
 
-        gebp(res+info[j].rhs_start*resStride, resStride, blockA, blockB+info[j].rhs_start*actual_kc, mc, actual_kc, info[j].rhs_length, alpha, -1,-1,0,0, w);
+        gebp(res.getSubMapper(info[i].lhs_start, 0), blockA+info[i].lhs_start*actual_kc, blockB, info[i].lhs_length, actual_kc, nc, alpha);
       }
 
-      // Then keep going as usual with the remaining A'
-      for(Index i=mc; i<rows; i+=mc)
+      // Then keep going as usual with the remaining B'
+      for(Index j=nc; j<cols; j+=nc)
       {
-        const Index actual_mc = (std::min)(i+mc,rows)-i;
+        const Index actual_nc = (std::min)(j+nc,cols)-j;
 
-        // pack A_i,k to A'
-        pack_lhs(blockA, &lhs(i,k), lhsStride, actual_kc, actual_mc);
+        // pack B_k,j to B'
+        pack_rhs(blockB, rhs.getSubMapper(k,j), actual_kc, actual_nc);
 
-        // C_i += A' * B'
-        gebp(res+i, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha, -1,-1,0,0, w);
+        // C_j += A' * B'
+        gebp(res.getSubMapper(0, j), blockA, blockB, rows, actual_kc, actual_nc, alpha);
       }
 
-      // Release all the sub blocks B'_j of B' for the current thread,
+      // Release all the sub blocks A'_i of A' for the current thread,
       // i.e., we simply decrement the number of users by 1
-      for(Index j=0; j<threads; ++j)
+      for(Index i=0; i<threads; ++i)
         #pragma omp atomic
-        --(info[j].users);
+        info[i].users -= 1;
     }
   }
   else
@@ -151,38 +157,42 @@ static void run(Index rows, Index cols, Index depth,
 
     // this is the sequential version!
     std::size_t sizeA = kc*mc;
-    std::size_t sizeB = kc*cols;
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = kc*nc;
 
     ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, sizeA, blocking.blockA());
     ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, blocking.blockB());
-    ei_declare_aligned_stack_constructed_variable(RhsScalar, blockW, sizeW, blocking.blockW());
+
+    const bool pack_rhs_once = mc!=rows && kc==depth && nc==cols;
 
     // For each horizontal panel of the rhs, and corresponding panel of the lhs...
-    // (==GEMM_VAR1)
-    for(Index k2=0; k2<depth; k2+=kc)
+    for(Index i2=0; i2<rows; i2+=mc)
     {
-      const Index actual_kc = (std::min)(k2+kc,depth)-k2;
+      const Index actual_mc = (std::min)(i2+mc,rows)-i2;
 
-      // OK, here we have selected one horizontal panel of rhs and one vertical panel of lhs.
-      // => Pack rhs's panel into a sequential chunk of memory (L2 caching)
-      // Note that this panel will be read as many times as the number of blocks in the lhs's
-      // vertical panel which is, in practice, a very low number.
-      pack_rhs(blockB, &rhs(k2,0), rhsStride, actual_kc, cols);
-
-      // For each mc x kc block of the lhs's vertical panel...
-      // (==GEPP_VAR1)
-      for(Index i2=0; i2<rows; i2+=mc)
+      for(Index k2=0; k2<depth; k2+=kc)
       {
-        const Index actual_mc = (std::min)(i2+mc,rows)-i2;
+        const Index actual_kc = (std::min)(k2+kc,depth)-k2;
 
-        // We pack the lhs's block into a sequential chunk of memory (L1 caching)
-        // Note that this block will be read a very high number of times, which is equal to the number of
-        // micro vertical panel of the large rhs's panel (e.g., cols/4 times).
-        pack_lhs(blockA, &lhs(i2,k2), lhsStride, actual_kc, actual_mc);
+        // OK, here we have selected one horizontal panel of rhs and one vertical panel of lhs.
+        // => Pack lhs's panel into a sequential chunk of memory (L2/L3 caching)
+        // Note that this panel will be read as many times as the number of blocks in the rhs's
+        // horizontal panel which is, in practice, a very low number.
+        pack_lhs(blockA, lhs.getSubMapper(i2,k2), actual_kc, actual_mc);
 
-        // Everything is packed, we can now call the block * panel kernel:
-        gebp(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha, -1, -1, 0, 0, blockW);
+        // For each kc x nc block of the rhs's horizontal panel...
+        for(Index j2=0; j2<cols; j2+=nc)
+        {
+          const Index actual_nc = (std::min)(j2+nc,cols)-j2;
+
+          // We pack the rhs's block into a sequential chunk of memory (L2 caching)
+          // Note that this block will be read a very high number of times, which is equal to the number of
+          // micro horizontal panel of the large rhs's panel (e.g., rows/12 times).
+          if((!pack_rhs_once) || i2==0)
+            pack_rhs(blockB, rhs.getSubMapper(k2,j2), actual_kc, actual_nc);
+
+          // Everything is packed, we can now call the panel * block kernel:
+          gebp(res.getSubMapper(i2, j2), blockA, blockB, actual_mc, actual_kc, actual_nc, alpha);
+        }
       }
     }
   }
@@ -191,26 +201,21 @@ static void run(Index rows, Index cols, Index depth,
 };
 
 /*********************************************************************************
-*  Specialization of GeneralProduct<> for "large" GEMM, i.e.,
+*  Specialization of generic_product_impl for "large" GEMM, i.e.,
 *  implementation of the high level wrapper to general_matrix_matrix_product
 **********************************************************************************/
 
-template<typename Lhs, typename Rhs>
-struct traits<GeneralProduct<Lhs,Rhs,GemmProduct> >
- : traits<ProductBase<GeneralProduct<Lhs,Rhs,GemmProduct>, Lhs, Rhs> >
-{};
-
 template<typename Scalar, typename Index, typename Gemm, typename Lhs, typename Rhs, typename Dest, typename BlockingType>
 struct gemm_functor
 {
-  gemm_functor(const Lhs& lhs, const Rhs& rhs, Dest& dest, const Scalar& actualAlpha,
-                  BlockingType& blocking)
+  gemm_functor(const Lhs& lhs, const Rhs& rhs, Dest& dest, const Scalar& actualAlpha, BlockingType& blocking)
     : m_lhs(lhs), m_rhs(rhs), m_dest(dest), m_actualAlpha(actualAlpha), m_blocking(blocking)
   {}
 
-  void initParallelSession() const
+  void initParallelSession(Index num_threads) const
   {
-    m_blocking.allocateB();
+    m_blocking.initParallel(m_lhs.rows(), m_rhs.cols(), m_lhs.cols(), num_threads);
+    m_blocking.allocateA();
   }
 
   void operator() (Index row, Index rows, Index col=0, Index cols=-1, GemmParallelInfo<Index>* info=0) const
@@ -219,12 +224,14 @@ struct gemm_functor
       cols = m_rhs.cols();
 
     Gemm::run(rows, cols, m_lhs.cols(),
-              /*(const Scalar*)*/&m_lhs.coeffRef(row,0), m_lhs.outerStride(),
-              /*(const Scalar*)*/&m_rhs.coeffRef(0,col), m_rhs.outerStride(),
+              &m_lhs.coeffRef(row,0), m_lhs.outerStride(),
+              &m_rhs.coeffRef(0,col), m_rhs.outerStride(),
               (Scalar*)&(m_dest.coeffRef(row,col)), m_dest.outerStride(),
               m_actualAlpha, m_blocking, info);
   }
 
+  typedef typename Gemm::Traits Traits;
+
   protected:
     const Lhs& m_lhs;
     const Rhs& m_rhs;
@@ -245,29 +252,27 @@ class level3_blocking
   protected:
     LhsScalar* m_blockA;
     RhsScalar* m_blockB;
-    RhsScalar* m_blockW;
 
-    DenseIndex m_mc;
-    DenseIndex m_nc;
-    DenseIndex m_kc;
+    Index m_mc;
+    Index m_nc;
+    Index m_kc;
 
   public:
 
     level3_blocking()
-      : m_blockA(0), m_blockB(0), m_blockW(0), m_mc(0), m_nc(0), m_kc(0)
+      : m_blockA(0), m_blockB(0), m_mc(0), m_nc(0), m_kc(0)
     {}
 
-    inline DenseIndex mc() const { return m_mc; }
-    inline DenseIndex nc() const { return m_nc; }
-    inline DenseIndex kc() const { return m_kc; }
+    inline Index mc() const { return m_mc; }
+    inline Index nc() const { return m_nc; }
+    inline Index kc() const { return m_kc; }
 
     inline LhsScalar* blockA() { return m_blockA; }
     inline RhsScalar* blockB() { return m_blockB; }
-    inline RhsScalar* blockW() { return m_blockW; }
 };
 
 template<int StorageOrder, typename _LhsScalar, typename _RhsScalar, int MaxRows, int MaxCols, int MaxDepth, int KcFactor>
-class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, MaxDepth, KcFactor, true>
+class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, MaxDepth, KcFactor, true /* == FiniteAtCompileTime */>
   : public level3_blocking<
       typename conditional<StorageOrder==RowMajor,_RhsScalar,_LhsScalar>::type,
       typename conditional<StorageOrder==RowMajor,_LhsScalar,_RhsScalar>::type>
@@ -282,29 +287,38 @@ class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, M
     typedef gebp_traits<LhsScalar,RhsScalar> Traits;
     enum {
       SizeA = ActualRows * MaxDepth,
-      SizeB = ActualCols * MaxDepth,
-      SizeW = MaxDepth * Traits::WorkSpaceFactor
+      SizeB = ActualCols * MaxDepth
     };
 
-    EIGEN_ALIGN16 LhsScalar m_staticA[SizeA];
-    EIGEN_ALIGN16 RhsScalar m_staticB[SizeB];
-    EIGEN_ALIGN16 RhsScalar m_staticW[SizeW];
+#if EIGEN_MAX_STATIC_ALIGN_BYTES >= EIGEN_DEFAULT_ALIGN_BYTES
+    EIGEN_ALIGN_MAX LhsScalar m_staticA[SizeA];
+    EIGEN_ALIGN_MAX RhsScalar m_staticB[SizeB];
+#else
+    EIGEN_ALIGN_MAX char m_staticA[SizeA * sizeof(LhsScalar) + EIGEN_DEFAULT_ALIGN_BYTES-1];
+    EIGEN_ALIGN_MAX char m_staticB[SizeB * sizeof(RhsScalar) + EIGEN_DEFAULT_ALIGN_BYTES-1];
+#endif
 
   public:
 
-    gemm_blocking_space(DenseIndex /*rows*/, DenseIndex /*cols*/, DenseIndex /*depth*/)
+    gemm_blocking_space(Index /*rows*/, Index /*cols*/, Index /*depth*/, Index /*num_threads*/, bool /*full_rows = false*/)
     {
       this->m_mc = ActualRows;
       this->m_nc = ActualCols;
       this->m_kc = MaxDepth;
+#if EIGEN_MAX_STATIC_ALIGN_BYTES >= EIGEN_DEFAULT_ALIGN_BYTES
       this->m_blockA = m_staticA;
       this->m_blockB = m_staticB;
-      this->m_blockW = m_staticW;
+#else
+      this->m_blockA = reinterpret_cast<LhsScalar*>((internal::UIntPtr(m_staticA) + (EIGEN_DEFAULT_ALIGN_BYTES-1)) & ~std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1));
+      this->m_blockB = reinterpret_cast<RhsScalar*>((internal::UIntPtr(m_staticB) + (EIGEN_DEFAULT_ALIGN_BYTES-1)) & ~std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1));
+#endif
     }
 
+    void initParallel(Index, Index, Index, Index)
+    {}
+
     inline void allocateA() {}
     inline void allocateB() {}
-    inline void allocateW() {}
     inline void allocateAll() {}
 };
 
@@ -321,22 +335,42 @@ class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, M
     typedef typename conditional<Transpose,_LhsScalar,_RhsScalar>::type RhsScalar;
     typedef gebp_traits<LhsScalar,RhsScalar> Traits;
 
-    DenseIndex m_sizeA;
-    DenseIndex m_sizeB;
-    DenseIndex m_sizeW;
+    Index m_sizeA;
+    Index m_sizeB;
 
   public:
 
-    gemm_blocking_space(DenseIndex rows, DenseIndex cols, DenseIndex depth)
+    gemm_blocking_space(Index rows, Index cols, Index depth, Index num_threads, bool l3_blocking)
     {
       this->m_mc = Transpose ? cols : rows;
       this->m_nc = Transpose ? rows : cols;
       this->m_kc = depth;
 
-      computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, this->m_mc, this->m_nc);
+      if(l3_blocking)
+      {
+        computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, this->m_mc, this->m_nc, num_threads);
+      }
+      else  // no l3 blocking
+      {
+        Index n = this->m_nc;
+        computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, this->m_mc, n, num_threads);
+      }
+
+      m_sizeA = this->m_mc * this->m_kc;
+      m_sizeB = this->m_kc * this->m_nc;
+    }
+
+    void initParallel(Index rows, Index cols, Index depth, Index num_threads)
+    {
+      this->m_mc = Transpose ? cols : rows;
+      this->m_nc = Transpose ? rows : cols;
+      this->m_kc = depth;
+
+      eigen_internal_assert(this->m_blockA==0 && this->m_blockB==0);
+      Index m = this->m_mc;
+      computeProductBlockingSizes<LhsScalar,RhsScalar,KcFactor>(this->m_kc, m, this->m_nc, num_threads);
       m_sizeA = this->m_mc * this->m_kc;
       m_sizeB = this->m_kc * this->m_nc;
-      m_sizeW = this->m_kc*Traits::WorkSpaceFactor;
     }
 
     void allocateA()
@@ -351,77 +385,108 @@ class gemm_blocking_space<StorageOrder,_LhsScalar,_RhsScalar,MaxRows, MaxCols, M
         this->m_blockB = aligned_new<RhsScalar>(m_sizeB);
     }
 
-    void allocateW()
-    {
-      if(this->m_blockW==0)
-        this->m_blockW = aligned_new<RhsScalar>(m_sizeW);
-    }
-
     void allocateAll()
     {
       allocateA();
       allocateB();
-      allocateW();
     }
 
     ~gemm_blocking_space()
     {
       aligned_delete(this->m_blockA, m_sizeA);
       aligned_delete(this->m_blockB, m_sizeB);
-      aligned_delete(this->m_blockW, m_sizeW);
     }
 };
 
 } // end namespace internal
 
+namespace internal {
+
 template<typename Lhs, typename Rhs>
-class GeneralProduct<Lhs, Rhs, GemmProduct>
-  : public ProductBase<GeneralProduct<Lhs,Rhs,GemmProduct>, Lhs, Rhs>
+struct generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemmProduct>
+  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,GemmProduct> >
 {
-    enum {
-      MaxDepthAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(Lhs::MaxColsAtCompileTime,Rhs::MaxRowsAtCompileTime)
-    };
-  public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(GeneralProduct)
-    
-    typedef typename  Lhs::Scalar LhsScalar;
-    typedef typename  Rhs::Scalar RhsScalar;
-    typedef           Scalar      ResScalar;
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  typedef typename Lhs::Scalar LhsScalar;
+  typedef typename Rhs::Scalar RhsScalar;
 
-    GeneralProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+  typedef internal::blas_traits<Lhs> LhsBlasTraits;
+  typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+  typedef typename internal::remove_all<ActualLhsType>::type ActualLhsTypeCleaned;
+
+  typedef internal::blas_traits<Rhs> RhsBlasTraits;
+  typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+  typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
+
+  enum {
+    MaxDepthAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(Lhs::MaxColsAtCompileTime,Rhs::MaxRowsAtCompileTime)
+  };
+
+  typedef generic_product_impl<Lhs,Rhs,DenseShape,DenseShape,CoeffBasedProductMode> lazyproduct;
+
+  template<typename Dst>
+  static void evalTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    if((rhs.rows()+dst.rows()+dst.cols())<20 && rhs.rows()>0)
+      lazyproduct::evalTo(dst, lhs, rhs);
+    else
     {
-      typedef internal::scalar_product_op<LhsScalar,RhsScalar> BinOp;
-      EIGEN_CHECK_BINARY_COMPATIBILIY(BinOp,LhsScalar,RhsScalar);
+      dst.setZero();
+      scaleAndAddTo(dst, lhs, rhs, Scalar(1));
     }
+  }
 
-    template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
-    {
-      eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+  template<typename Dst>
+  static void addTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    if((rhs.rows()+dst.rows()+dst.cols())<20 && rhs.rows()>0)
+      lazyproduct::addTo(dst, lhs, rhs);
+    else
+      scaleAndAddTo(dst,lhs, rhs, Scalar(1));
+  }
 
-      typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(m_lhs);
-      typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(m_rhs);
+  template<typename Dst>
+  static void subTo(Dst& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    if((rhs.rows()+dst.rows()+dst.cols())<20 && rhs.rows()>0)
+      lazyproduct::subTo(dst, lhs, rhs);
+    else
+      scaleAndAddTo(dst, lhs, rhs, Scalar(-1));
+  }
 
-      Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
-                                 * RhsBlasTraits::extractScalarFactor(m_rhs);
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& a_lhs, const Rhs& a_rhs, const Scalar& alpha)
+  {
+    eigen_assert(dst.rows()==a_lhs.rows() && dst.cols()==a_rhs.cols());
+    if(a_lhs.cols()==0 || a_lhs.rows()==0 || a_rhs.cols()==0)
+      return;
 
-      typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,LhsScalar,RhsScalar,
-              Dest::MaxRowsAtCompileTime,Dest::MaxColsAtCompileTime,MaxDepthAtCompileTime> BlockingType;
+    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
+    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
 
-      typedef internal::gemm_functor<
-        Scalar, Index,
-        internal::general_matrix_matrix_product<
-          Index,
-          LhsScalar, (_ActualLhsType::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(LhsBlasTraits::NeedToConjugate),
-          RhsScalar, (_ActualRhsType::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(RhsBlasTraits::NeedToConjugate),
-          (Dest::Flags&RowMajorBit) ? RowMajor : ColMajor>,
-        _ActualLhsType, _ActualRhsType, Dest, BlockingType> GemmFunctor;
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
+                               * RhsBlasTraits::extractScalarFactor(a_rhs);
 
-      BlockingType blocking(dst.rows(), dst.cols(), lhs.cols());
+    typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,LhsScalar,RhsScalar,
+            Dest::MaxRowsAtCompileTime,Dest::MaxColsAtCompileTime,MaxDepthAtCompileTime> BlockingType;
 
-      internal::parallelize_gemm<(Dest::MaxRowsAtCompileTime>32 || Dest::MaxRowsAtCompileTime==Dynamic)>(GemmFunctor(lhs, rhs, dst, actualAlpha, blocking), this->rows(), this->cols(), Dest::Flags&RowMajorBit);
-    }
+    typedef internal::gemm_functor<
+      Scalar, Index,
+      internal::general_matrix_matrix_product<
+        Index,
+        LhsScalar, (ActualLhsTypeCleaned::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(LhsBlasTraits::NeedToConjugate),
+        RhsScalar, (ActualRhsTypeCleaned::Flags&RowMajorBit) ? RowMajor : ColMajor, bool(RhsBlasTraits::NeedToConjugate),
+        (Dest::Flags&RowMajorBit) ? RowMajor : ColMajor>,
+      ActualLhsTypeCleaned, ActualRhsTypeCleaned, Dest, BlockingType> GemmFunctor;
+
+    BlockingType blocking(dst.rows(), dst.cols(), lhs.cols(), 1, true);
+    internal::parallelize_gemm<(Dest::MaxRowsAtCompileTime>32 || Dest::MaxRowsAtCompileTime==Dynamic)>
+        (GemmFunctor(lhs, rhs, dst, actualAlpha, blocking), a_lhs.rows(), a_rhs.cols(), a_lhs.cols(), Dest::Flags&RowMajorBit);
+  }
 };
 
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_GENERAL_MATRIX_MATRIX_H
diff --git a/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h b/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
index 5c376390..5cd2794a 100644
--- a/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
+++ b/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrixTriangular.h
@@ -20,7 +20,7 @@ namespace internal {
 /**********************************************************************
 * This file implements a general A * B product while
 * evaluating only one triangular part of the product.
-* This is more general version of self adjoint product (C += A A^T)
+* This is a more general version of self adjoint product (C += A A^T)
 * as the level 3 SYRK Blas routine.
 **********************************************************************/
 
@@ -40,15 +40,16 @@ template <typename Index, typename LhsScalar, int LhsStorageOrder, bool Conjugat
                           typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs, int  UpLo, int Version>
 struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,RowMajor,UpLo,Version>
 {
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
   static EIGEN_STRONG_INLINE void run(Index size, Index depth,const LhsScalar* lhs, Index lhsStride,
-                                      const RhsScalar* rhs, Index rhsStride, ResScalar* res, Index resStride, const ResScalar& alpha)
+                                      const RhsScalar* rhs, Index rhsStride, ResScalar* res, Index resStride,
+                                      const ResScalar& alpha, level3_blocking<RhsScalar,LhsScalar>& blocking)
   {
     general_matrix_matrix_triangular_product<Index,
         RhsScalar, RhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateRhs,
         LhsScalar, LhsStorageOrder==RowMajor ? ColMajor : RowMajor, ConjugateLhs,
         ColMajor, UpLo==Lower?Upper:Lower>
-      ::run(size,depth,rhs,rhsStride,lhs,lhsStride,res,resStride,alpha);
+      ::run(size,depth,rhs,rhsStride,lhs,lhsStride,res,resStride,alpha,blocking);
   }
 };
 
@@ -56,32 +57,36 @@ template <typename Index, typename LhsScalar, int LhsStorageOrder, bool Conjugat
                           typename RhsScalar, int RhsStorageOrder, bool ConjugateRhs, int  UpLo, int Version>
 struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,RhsStorageOrder,ConjugateRhs,ColMajor,UpLo,Version>
 {
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
   static EIGEN_STRONG_INLINE void run(Index size, Index depth,const LhsScalar* _lhs, Index lhsStride,
-                                      const RhsScalar* _rhs, Index rhsStride, ResScalar* res, Index resStride, const ResScalar& alpha)
+                                      const RhsScalar* _rhs, Index rhsStride, ResScalar* _res, Index resStride,
+                                      const ResScalar& alpha, level3_blocking<LhsScalar,RhsScalar>& blocking)
   {
-    const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
-    const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
-
     typedef gebp_traits<LhsScalar,RhsScalar> Traits;
 
-    Index kc = depth; // cache block size along the K direction
-    Index mc = size;  // cache block size along the M direction
-    Index nc = size;  // cache block size along the N direction
-    computeProductBlockingSizes<LhsScalar,RhsScalar>(kc, mc, nc);
+    typedef const_blas_data_mapper<LhsScalar, Index, LhsStorageOrder> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar, Index, RhsStorageOrder> RhsMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    LhsMapper lhs(_lhs,lhsStride);
+    RhsMapper rhs(_rhs,rhsStride);
+    ResMapper res(_res, resStride);
+
+    Index kc = blocking.kc();
+    Index mc = (std::min)(size,blocking.mc());
+
     // !!! mc must be a multiple of nr:
     if(mc > Traits::nr)
       mc = (mc/Traits::nr)*Traits::nr;
 
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
-    std::size_t sizeB = sizeW + kc*size;
-    ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, kc*mc, 0);
-    ei_declare_aligned_stack_constructed_variable(RhsScalar, allocatedBlockB, sizeB, 0);
-    RhsScalar* blockB = allocatedBlockB + sizeW;
-    
-    gemm_pack_lhs<LhsScalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-    gemm_pack_rhs<RhsScalar, Index, Traits::nr, RhsStorageOrder> pack_rhs;
-    gebp_kernel <LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
+    std::size_t sizeA = kc*mc;
+    std::size_t sizeB = kc*size;
+
+    ei_declare_aligned_stack_constructed_variable(LhsScalar, blockA, sizeA, blocking.blockA());
+    ei_declare_aligned_stack_constructed_variable(RhsScalar, blockB, sizeB, blocking.blockB());
+
+    gemm_pack_lhs<LhsScalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<RhsScalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
+    gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp;
     tribb_kernel<LhsScalar, RhsScalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs, UpLo> sybb;
 
     for(Index k2=0; k2<depth; k2+=kc)
@@ -89,29 +94,30 @@ struct general_matrix_matrix_triangular_product<Index,LhsScalar,LhsStorageOrder,
       const Index actual_kc = (std::min)(k2+kc,depth)-k2;
 
       // note that the actual rhs is the transpose/adjoint of mat
-      pack_rhs(blockB, &rhs(k2,0), rhsStride, actual_kc, size);
+      pack_rhs(blockB, rhs.getSubMapper(k2,0), actual_kc, size);
 
       for(Index i2=0; i2<size; i2+=mc)
       {
         const Index actual_mc = (std::min)(i2+mc,size)-i2;
 
-        pack_lhs(blockA, &lhs(i2, k2), lhsStride, actual_kc, actual_mc);
+        pack_lhs(blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc);
 
         // the selected actual_mc * size panel of res is split into three different part:
         //  1 - before the diagonal => processed with gebp or skipped
         //  2 - the actual_mc x actual_mc symmetric block => processed with a special kernel
         //  3 - after the diagonal => processed with gebp or skipped
         if (UpLo==Lower)
-          gebp(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, (std::min)(size,i2), alpha,
-               -1, -1, 0, 0, allocatedBlockB);
+          gebp(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc,
+               (std::min)(size,i2), alpha, -1, -1, 0, 0);
 
-        sybb(res+resStride*i2 + i2, resStride, blockA, blockB + actual_kc*i2, actual_mc, actual_kc, alpha, allocatedBlockB);
+
+        sybb(_res+resStride*i2 + i2, resStride, blockA, blockB + actual_kc*i2, actual_mc, actual_kc, alpha);
 
         if (UpLo==Upper)
         {
           Index j2 = i2+actual_mc;
-          gebp(res+resStride*j2+i2, resStride, blockA, blockB+actual_kc*j2, actual_mc, actual_kc, (std::max)(Index(0), size-j2), alpha,
-               -1, -1, 0, 0, allocatedBlockB);
+          gebp(res.getSubMapper(i2, j2), blockA, blockB+actual_kc*j2, actual_mc,
+               actual_kc, (std::max)(Index(0), size-j2), alpha, -1, -1, 0, 0);
         }
       }
     }
@@ -132,13 +138,16 @@ struct tribb_kernel
 {
   typedef gebp_traits<LhsScalar,RhsScalar,ConjLhs,ConjRhs> Traits;
   typedef typename Traits::ResScalar ResScalar;
-  
+
   enum {
-    BlockSize  = EIGEN_PLAIN_ENUM_MAX(mr,nr)
+    BlockSize  = meta_least_common_multiple<EIGEN_PLAIN_ENUM_MAX(mr,nr),EIGEN_PLAIN_ENUM_MIN(mr,nr)>::ret
   };
-  void operator()(ResScalar* res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index size, Index depth, const ResScalar& alpha, RhsScalar* workspace)
+  void operator()(ResScalar* _res, Index resStride, const LhsScalar* blockA, const RhsScalar* blockB, Index size, Index depth, const ResScalar& alpha)
   {
-    gebp_kernel<LhsScalar, RhsScalar, Index, mr, nr, ConjLhs, ConjRhs> gebp_kernel;
+    typedef blas_data_mapper<ResScalar, Index, ColMajor> ResMapper;
+    ResMapper res(_res, resStride);
+    gebp_kernel<LhsScalar, RhsScalar, Index, ResMapper, mr, nr, ConjLhs, ConjRhs> gebp_kernel;
+
     Matrix<ResScalar,BlockSize,BlockSize,ColMajor> buffer;
 
     // let's process the block per panel of actual_mc x BlockSize,
@@ -149,20 +158,20 @@ struct tribb_kernel
       const RhsScalar* actual_b = blockB+j*depth;
 
       if(UpLo==Upper)
-        gebp_kernel(res+j*resStride, resStride, blockA, actual_b, j, depth, actualBlockSize, alpha,
-                    -1, -1, 0, 0, workspace);
+        gebp_kernel(res.getSubMapper(0, j), blockA, actual_b, j, depth, actualBlockSize, alpha,
+                    -1, -1, 0, 0);
 
       // selfadjoint micro block
       {
         Index i = j;
         buffer.setZero();
         // 1 - apply the kernel on the temporary buffer
-        gebp_kernel(buffer.data(), BlockSize, blockA+depth*i, actual_b, actualBlockSize, depth, actualBlockSize, alpha,
-                    -1, -1, 0, 0, workspace);
+        gebp_kernel(ResMapper(buffer.data(), BlockSize), blockA+depth*i, actual_b, actualBlockSize, depth, actualBlockSize, alpha,
+                    -1, -1, 0, 0);
         // 2 - triangular accumulation
         for(Index j1=0; j1<actualBlockSize; ++j1)
         {
-          ResScalar* r = res + (j+j1)*resStride + i;
+          ResScalar* r = &res(i, j + j1);
           for(Index i1=UpLo==Lower ? j1 : 0;
               UpLo==Lower ? i1<actualBlockSize : i1<=j1; ++i1)
             r[i1] += buffer(i1,j1);
@@ -172,8 +181,8 @@ struct tribb_kernel
       if(UpLo==Lower)
       {
         Index i = j+actualBlockSize;
-        gebp_kernel(res+j*resStride+i, resStride, blockA+depth*i, actual_b, size-i, depth, actualBlockSize, alpha,
-                    -1, -1, 0, 0, workspace);
+        gebp_kernel(res.getSubMapper(i, j), blockA+depth*i, actual_b, size-i, 
+                    depth, actualBlockSize, alpha, -1, -1, 0, 0);
       }
     }
   }
@@ -190,10 +199,9 @@ struct general_product_to_triangular_selector;
 template<typename MatrixType, typename ProductType, int UpLo>
 struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,true>
 {
-  static void run(MatrixType& mat, const ProductType& prod, const typename MatrixType::Scalar& alpha)
+  static void run(MatrixType& mat, const ProductType& prod, const typename MatrixType::Scalar& alpha, bool beta)
   {
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
     
     typedef typename internal::remove_all<typename ProductType::LhsNested>::type Lhs;
     typedef internal::blas_traits<Lhs> LhsBlasTraits;
@@ -209,6 +217,9 @@ struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,true>
 
     Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs().derived()) * RhsBlasTraits::extractScalarFactor(prod.rhs().derived());
 
+    if(!beta)
+      mat.template triangularView<UpLo>().setZero();
+
     enum {
       StorageOrder = (internal::traits<MatrixType>::Flags&RowMajorBit) ? RowMajor : ColMajor,
       UseLhsDirectly = _ActualLhs::InnerStrideAtCompileTime==1,
@@ -236,10 +247,8 @@ struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,true>
 template<typename MatrixType, typename ProductType, int UpLo>
 struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,false>
 {
-  static void run(MatrixType& mat, const ProductType& prod, const typename MatrixType::Scalar& alpha)
+  static void run(MatrixType& mat, const ProductType& prod, const typename MatrixType::Scalar& alpha, bool beta)
   {
-    typedef typename MatrixType::Index Index;
-    
     typedef typename internal::remove_all<typename ProductType::LhsNested>::type Lhs;
     typedef internal::blas_traits<Lhs> LhsBlasTraits;
     typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhs;
@@ -254,23 +263,42 @@ struct general_product_to_triangular_selector<MatrixType,ProductType,UpLo,false>
 
     typename ProductType::Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs().derived()) * RhsBlasTraits::extractScalarFactor(prod.rhs().derived());
 
+    if(!beta)
+      mat.template triangularView<UpLo>().setZero();
+
+    enum {
+      IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0,
+      LhsIsRowMajor = _ActualLhs::Flags&RowMajorBit ? 1 : 0,
+      RhsIsRowMajor = _ActualRhs::Flags&RowMajorBit ? 1 : 0
+    };
+
+    Index size = mat.cols();
+    Index depth = actualLhs.cols();
+
+    typedef internal::gemm_blocking_space<IsRowMajor ? RowMajor : ColMajor,typename Lhs::Scalar,typename Rhs::Scalar,
+          MatrixType::MaxColsAtCompileTime, MatrixType::MaxColsAtCompileTime, _ActualRhs::MaxColsAtCompileTime> BlockingType;
+
+    BlockingType blocking(size, size, depth, 1, false);
+
     internal::general_matrix_matrix_triangular_product<Index,
-      typename Lhs::Scalar, _ActualLhs::Flags&RowMajorBit ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
-      typename Rhs::Scalar, _ActualRhs::Flags&RowMajorBit ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
-      MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor, UpLo>
-      ::run(mat.cols(), actualLhs.cols(),
+      typename Lhs::Scalar, LhsIsRowMajor ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
+      typename Rhs::Scalar, RhsIsRowMajor ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
+      IsRowMajor ? RowMajor : ColMajor, UpLo>
+      ::run(size, depth,
             &actualLhs.coeffRef(0,0), actualLhs.outerStride(), &actualRhs.coeffRef(0,0), actualRhs.outerStride(),
-            mat.data(), mat.outerStride(), actualAlpha);
+            mat.data(), mat.outerStride(), actualAlpha, blocking);
   }
 };
 
 template<typename MatrixType, unsigned int UpLo>
-template<typename ProductDerived, typename _Lhs, typename _Rhs>
-TriangularView<MatrixType,UpLo>& TriangularView<MatrixType,UpLo>::assignProduct(const ProductBase<ProductDerived, _Lhs,_Rhs>& prod, const Scalar& alpha)
+template<typename ProductType>
+TriangularView<MatrixType,UpLo>& TriangularViewImpl<MatrixType,UpLo,Dense>::_assignProduct(const ProductType& prod, const Scalar& alpha, bool beta)
 {
-  general_product_to_triangular_selector<MatrixType, ProductDerived, UpLo, (_Lhs::ColsAtCompileTime==1) || (_Rhs::RowsAtCompileTime==1)>::run(m_matrix.const_cast_derived(), prod.derived(), alpha);
+  eigen_assert(derived().nestedExpression().rows() == prod.rows() && derived().cols() == prod.cols());
   
-  return *this;
+  general_product_to_triangular_selector<MatrixType, ProductType, UpLo, internal::traits<ProductType>::InnerSize==1>::run(derived().nestedExpression().const_cast_derived(), prod, alpha, beta);
+  
+  return derived();
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_MKL.h b/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h
similarity index 69%
rename from eigenlib/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_MKL.h
rename to eigenlib/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h
index 3deed068..5b7c15cc 100644
--- a/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_MKL.h
+++ b/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrixTriangular_BLAS.h
@@ -25,15 +25,15 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to BLAS F77
  *   Level 3 BLAS SYRK/HERK implementation.
  ********************************************************************************
 */
 
-#ifndef EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_MKL_H
-#define EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_MKL_H
+#ifndef EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_BLAS_H
+#define EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_BLAS_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -44,34 +44,35 @@ struct general_matrix_matrix_rankupdate :
 
 
 // try to go to BLAS specialization
-#define EIGEN_MKL_RANKUPDATE_SPECIALIZE(Scalar) \
+#define EIGEN_BLAS_RANKUPDATE_SPECIALIZE(Scalar) \
 template <typename Index, int LhsStorageOrder, bool ConjugateLhs, \
                           int RhsStorageOrder, bool ConjugateRhs, int  UpLo> \
 struct general_matrix_matrix_triangular_product<Index,Scalar,LhsStorageOrder,ConjugateLhs, \
                Scalar,RhsStorageOrder,ConjugateRhs,ColMajor,UpLo,Specialized> { \
   static EIGEN_STRONG_INLINE void run(Index size, Index depth,const Scalar* lhs, Index lhsStride, \
-                          const Scalar* rhs, Index rhsStride, Scalar* res, Index resStride, Scalar alpha) \
+                          const Scalar* rhs, Index rhsStride, Scalar* res, Index resStride, Scalar alpha, level3_blocking<Scalar, Scalar>& blocking) \
   { \
     if (lhs==rhs) { \
       general_matrix_matrix_rankupdate<Index,Scalar,LhsStorageOrder,ConjugateLhs,ColMajor,UpLo> \
-      ::run(size,depth,lhs,lhsStride,rhs,rhsStride,res,resStride,alpha); \
+      ::run(size,depth,lhs,lhsStride,rhs,rhsStride,res,resStride,alpha,blocking); \
     } else { \
       general_matrix_matrix_triangular_product<Index, \
         Scalar, LhsStorageOrder, ConjugateLhs, \
         Scalar, RhsStorageOrder, ConjugateRhs, \
         ColMajor, UpLo, BuiltIn> \
-      ::run(size,depth,lhs,lhsStride,rhs,rhsStride,res,resStride,alpha); \
+      ::run(size,depth,lhs,lhsStride,rhs,rhsStride,res,resStride,alpha,blocking); \
     } \
   } \
 };
 
-EIGEN_MKL_RANKUPDATE_SPECIALIZE(double)
-//EIGEN_MKL_RANKUPDATE_SPECIALIZE(dcomplex)
-EIGEN_MKL_RANKUPDATE_SPECIALIZE(float)
-//EIGEN_MKL_RANKUPDATE_SPECIALIZE(scomplex)
+EIGEN_BLAS_RANKUPDATE_SPECIALIZE(double)
+EIGEN_BLAS_RANKUPDATE_SPECIALIZE(float)
+// TODO handle complex cases
+// EIGEN_BLAS_RANKUPDATE_SPECIALIZE(dcomplex)
+// EIGEN_BLAS_RANKUPDATE_SPECIALIZE(scomplex)
 
 // SYRK for float/double
-#define EIGEN_MKL_RANKUPDATE_R(EIGTYPE, MKLTYPE, MKLFUNC) \
+#define EIGEN_BLAS_RANKUPDATE_R(EIGTYPE, BLASTYPE, BLASFUNC) \
 template <typename Index, int AStorageOrder, bool ConjugateA, int  UpLo> \
 struct general_matrix_matrix_rankupdate<Index,EIGTYPE,AStorageOrder,ConjugateA,ColMajor,UpLo> { \
   enum { \
@@ -80,23 +81,19 @@ struct general_matrix_matrix_rankupdate<Index,EIGTYPE,AStorageOrder,ConjugateA,C
     conjA = ((AStorageOrder==ColMajor) && ConjugateA) ? 1 : 0 \
   }; \
   static EIGEN_STRONG_INLINE void run(Index size, Index depth,const EIGTYPE* lhs, Index lhsStride, \
-                          const EIGTYPE* rhs, Index rhsStride, EIGTYPE* res, Index resStride, EIGTYPE alpha) \
+                          const EIGTYPE* /*rhs*/, Index /*rhsStride*/, EIGTYPE* res, Index resStride, EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
   { \
   /* typedef Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder> MatrixRhs;*/ \
 \
-   MKL_INT lda=lhsStride, ldc=resStride, n=size, k=depth; \
-   char uplo=(IsLower) ? 'L' : 'U', trans=(AStorageOrder==RowMajor) ? 'T':'N'; \
-   MKLTYPE alpha_, beta_; \
-\
-/* Set alpha_ & beta_ */ \
-   assign_scalar_eig2mkl<MKLTYPE, EIGTYPE>(alpha_, alpha); \
-   assign_scalar_eig2mkl<MKLTYPE, EIGTYPE>(beta_, EIGTYPE(1)); \
-   MKLFUNC(&uplo, &trans, &n, &k, &alpha_, lhs, &lda, &beta_, res, &ldc); \
+   BlasIndex lda=convert_index<BlasIndex>(lhsStride), ldc=convert_index<BlasIndex>(resStride), n=convert_index<BlasIndex>(size), k=convert_index<BlasIndex>(depth); \
+   char uplo=((IsLower) ? 'L' : 'U'), trans=((AStorageOrder==RowMajor) ? 'T':'N'); \
+   EIGTYPE beta(1); \
+   BLASFUNC(&uplo, &trans, &n, &k, &numext::real_ref(alpha), lhs, &lda, &numext::real_ref(beta), res, &ldc); \
   } \
 };
 
 // HERK for complex data
-#define EIGEN_MKL_RANKUPDATE_C(EIGTYPE, MKLTYPE, RTYPE, MKLFUNC) \
+#define EIGEN_BLAS_RANKUPDATE_C(EIGTYPE, BLASTYPE, RTYPE, BLASFUNC) \
 template <typename Index, int AStorageOrder, bool ConjugateA, int  UpLo> \
 struct general_matrix_matrix_rankupdate<Index,EIGTYPE,AStorageOrder,ConjugateA,ColMajor,UpLo> { \
   enum { \
@@ -105,18 +102,15 @@ struct general_matrix_matrix_rankupdate<Index,EIGTYPE,AStorageOrder,ConjugateA,C
     conjA = (((AStorageOrder==ColMajor) && ConjugateA) || ((AStorageOrder==RowMajor) && !ConjugateA)) ? 1 : 0 \
   }; \
   static EIGEN_STRONG_INLINE void run(Index size, Index depth,const EIGTYPE* lhs, Index lhsStride, \
-                          const EIGTYPE* rhs, Index rhsStride, EIGTYPE* res, Index resStride, EIGTYPE alpha) \
+                          const EIGTYPE* /*rhs*/, Index /*rhsStride*/, EIGTYPE* res, Index resStride, EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
   { \
    typedef Matrix<EIGTYPE, Dynamic, Dynamic, AStorageOrder> MatrixType; \
 \
-   MKL_INT lda=lhsStride, ldc=resStride, n=size, k=depth; \
-   char uplo=(IsLower) ? 'L' : 'U', trans=(AStorageOrder==RowMajor) ? 'C':'N'; \
+   BlasIndex lda=convert_index<BlasIndex>(lhsStride), ldc=convert_index<BlasIndex>(resStride), n=convert_index<BlasIndex>(size), k=convert_index<BlasIndex>(depth); \
+   char uplo=((IsLower) ? 'L' : 'U'), trans=((AStorageOrder==RowMajor) ? 'C':'N'); \
    RTYPE alpha_, beta_; \
    const EIGTYPE* a_ptr; \
 \
-/* Set alpha_ & beta_ */ \
-/*   assign_scalar_eig2mkl<MKLTYPE, EIGTYPE>(alpha_, alpha); */\
-/*   assign_scalar_eig2mkl<MKLTYPE, EIGTYPE>(beta_, EIGTYPE(1));*/ \
    alpha_ = alpha.real(); \
    beta_ = 1.0; \
 /* Copy with conjugation in some cases*/ \
@@ -127,20 +121,21 @@ struct general_matrix_matrix_rankupdate<Index,EIGTYPE,AStorageOrder,ConjugateA,C
      lda = a.outerStride(); \
      a_ptr = a.data(); \
    } else a_ptr=lhs; \
-   MKLFUNC(&uplo, &trans, &n, &k, &alpha_, (MKLTYPE*)a_ptr, &lda, &beta_, (MKLTYPE*)res, &ldc); \
+   BLASFUNC(&uplo, &trans, &n, &k, &alpha_, (BLASTYPE*)a_ptr, &lda, &beta_, (BLASTYPE*)res, &ldc); \
   } \
 };
 
 
-EIGEN_MKL_RANKUPDATE_R(double, double, dsyrk)
-EIGEN_MKL_RANKUPDATE_R(float,  float,  ssyrk)
+EIGEN_BLAS_RANKUPDATE_R(double, double, dsyrk_)
+EIGEN_BLAS_RANKUPDATE_R(float,  float,  ssyrk_)
 
-//EIGEN_MKL_RANKUPDATE_C(dcomplex, MKL_Complex16, double, zherk)
-//EIGEN_MKL_RANKUPDATE_C(scomplex, MKL_Complex8,  double, cherk)
+// TODO hanlde complex cases
+// EIGEN_BLAS_RANKUPDATE_C(dcomplex, double, double, zherk_)
+// EIGEN_BLAS_RANKUPDATE_C(scomplex, float,  float, cherk_)
 
 
 } // end namespace internal
 
 } // end namespace Eigen
 
-#endif // EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_MKL_H
+#endif // EIGEN_GENERAL_MATRIX_MATRIX_TRIANGULAR_BLAS_H
diff --git a/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrix_MKL.h b/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h
similarity index 76%
rename from eigenlib/Eigen/src/Core/products/GeneralMatrixMatrix_MKL.h
rename to eigenlib/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h
index 060af328..7a3bdbf2 100644
--- a/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrix_MKL.h
+++ b/eigenlib/Eigen/src/Core/products/GeneralMatrixMatrix_BLAS.h
@@ -25,13 +25,13 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to BLAS F77
  *   General matrix-matrix product functionality based on ?GEMM.
  ********************************************************************************
 */
 
-#ifndef EIGEN_GENERAL_MATRIX_MATRIX_MKL_H
-#define EIGEN_GENERAL_MATRIX_MATRIX_MKL_H
+#ifndef EIGEN_GENERAL_MATRIX_MATRIX_BLAS_H
+#define EIGEN_GENERAL_MATRIX_MATRIX_BLAS_H
 
 namespace Eigen { 
 
@@ -46,13 +46,15 @@ namespace internal {
 
 // gemm specialization
 
-#define GEMM_SPECIALIZATION(EIGTYPE, EIGPREFIX, MKLTYPE, MKLPREFIX) \
+#define GEMM_SPECIALIZATION(EIGTYPE, EIGPREFIX, BLASTYPE, BLASPREFIX) \
 template< \
   typename Index, \
   int LhsStorageOrder, bool ConjugateLhs, \
   int RhsStorageOrder, bool ConjugateRhs> \
 struct general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor> \
 { \
+typedef gebp_traits<EIGTYPE,EIGTYPE> Traits; \
+\
 static void run(Index rows, Index cols, Index depth, \
   const EIGTYPE* _lhs, Index lhsStride, \
   const EIGTYPE* _rhs, Index rhsStride, \
@@ -64,55 +66,50 @@ static void run(Index rows, Index cols, Index depth, \
   using std::conj; \
 \
   char transa, transb; \
-  MKL_INT m, n, k, lda, ldb, ldc; \
+  BlasIndex m, n, k, lda, ldb, ldc; \
   const EIGTYPE *a, *b; \
-  MKLTYPE alpha_, beta_; \
+  EIGTYPE beta(1); \
   MatrixX##EIGPREFIX a_tmp, b_tmp; \
-  EIGTYPE myone(1);\
 \
 /* Set transpose options */ \
   transa = (LhsStorageOrder==RowMajor) ? ((ConjugateLhs) ? 'C' : 'T') : 'N'; \
   transb = (RhsStorageOrder==RowMajor) ? ((ConjugateRhs) ? 'C' : 'T') : 'N'; \
 \
 /* Set m, n, k */ \
-  m = (MKL_INT)rows;  \
-  n = (MKL_INT)cols;  \
-  k = (MKL_INT)depth; \
-\
-/* Set alpha_ & beta_ */ \
-  assign_scalar_eig2mkl(alpha_, alpha); \
-  assign_scalar_eig2mkl(beta_, myone); \
+  m = convert_index<BlasIndex>(rows);  \
+  n = convert_index<BlasIndex>(cols);  \
+  k = convert_index<BlasIndex>(depth); \
 \
 /* Set lda, ldb, ldc */ \
-  lda = (MKL_INT)lhsStride; \
-  ldb = (MKL_INT)rhsStride; \
-  ldc = (MKL_INT)resStride; \
+  lda = convert_index<BlasIndex>(lhsStride); \
+  ldb = convert_index<BlasIndex>(rhsStride); \
+  ldc = convert_index<BlasIndex>(resStride); \
 \
 /* Set a, b, c */ \
   if ((LhsStorageOrder==ColMajor) && (ConjugateLhs)) { \
     Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > lhs(_lhs,m,k,OuterStride<>(lhsStride)); \
     a_tmp = lhs.conjugate(); \
     a = a_tmp.data(); \
-    lda = a_tmp.outerStride(); \
+    lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
   } else a = _lhs; \
 \
   if ((RhsStorageOrder==ColMajor) && (ConjugateRhs)) { \
     Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > rhs(_rhs,k,n,OuterStride<>(rhsStride)); \
     b_tmp = rhs.conjugate(); \
     b = b_tmp.data(); \
-    ldb = b_tmp.outerStride(); \
+    ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
   } else b = _rhs; \
 \
-  MKLPREFIX##gemm(&transa, &transb, &m, &n, &k, &alpha_, (const MKLTYPE*)a, &lda, (const MKLTYPE*)b, &ldb, &beta_, (MKLTYPE*)res, &ldc); \
+  BLASPREFIX##gemm_(&transa, &transb, &m, &n, &k, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
 }};
 
-GEMM_SPECIALIZATION(double,   d,  double,        d)
-GEMM_SPECIALIZATION(float,    f,  float,         s)
-GEMM_SPECIALIZATION(dcomplex, cd, MKL_Complex16, z)
-GEMM_SPECIALIZATION(scomplex, cf, MKL_Complex8,  c)
+GEMM_SPECIALIZATION(double,   d,  double, d)
+GEMM_SPECIALIZATION(float,    f,  float,  s)
+GEMM_SPECIALIZATION(dcomplex, cd, double, z)
+GEMM_SPECIALIZATION(scomplex, cf, float,  c)
 
 } // end namespase internal
 
 } // end namespace Eigen
 
-#endif // EIGEN_GENERAL_MATRIX_MATRIX_MKL_H
+#endif // EIGEN_GENERAL_MATRIX_MATRIX_BLAS_H
diff --git a/eigenlib/Eigen/src/Core/products/GeneralMatrixVector.h b/eigenlib/Eigen/src/Core/products/GeneralMatrixVector.h
index 09387703..3c1a7fc4 100644
--- a/eigenlib/Eigen/src/Core/products/GeneralMatrixVector.h
+++ b/eigenlib/Eigen/src/Core/products/GeneralMatrixVector.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_GENERAL_MATRIX_VECTOR_H
 #define EIGEN_GENERAL_MATRIX_VECTOR_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -26,11 +26,39 @@ namespace internal {
  *  |real |cplx |real | alpha is converted to a cplx when calling the run function, no vectorization
  *  |cplx |real |cplx | invalid, the caller has to do tmp: = A * B; C += alpha*tmp
  *  |cplx |real |real | optimal case, vectorization possible via real-cplx mul
+ *
+ * Accesses to the matrix coefficients follow the following logic:
+ *
+ * - if all columns have the same alignment then
+ *   - if the columns have the same alignment as the result vector, then easy! (-> AllAligned case)
+ *   - otherwise perform unaligned loads only (-> NoneAligned case)
+ * - otherwise
+ *   - if even columns have the same alignment then
+ *     // odd columns are guaranteed to have the same alignment too
+ *     - if even or odd columns have the same alignment as the result, then
+ *       // for a register size of 2 scalars, this is guarantee to be the case (e.g., SSE with double)
+ *       - perform half aligned and half unaligned loads (-> EvenAligned case)
+ *     - otherwise perform unaligned loads only (-> NoneAligned case)
+ *   - otherwise, if the register size is 4 scalars (e.g., SSE with float) then
+ *     - one over 4 consecutive columns is guaranteed to be aligned with the result vector,
+ *       perform simple aligned loads for this column and aligned loads plus re-alignment for the other. (-> FirstAligned case)
+ *       // this re-alignment is done by the palign function implemented for SSE in Eigen/src/Core/arch/SSE/PacketMath.h
+ *   - otherwise,
+ *     // if we get here, this means the register size is greater than 4 (e.g., AVX with floats),
+ *     // we currently fall back to the NoneAligned case
+ *
+ * The same reasoning apply for the transposed case.
+ *
+ * The last case (PacketSize>4) could probably be improved by generalizing the FirstAligned case, but since we do not support AVX yet...
+ * One might also wonder why in the EvenAligned case we perform unaligned loads instead of using the aligned-loads plus re-alignment
+ * strategy as in the FirstAligned case. The reason is that we observed that unaligned loads on a 8 byte boundary are not too slow
+ * compared to unaligned loads on a 4 byte boundary.
+ *
  */
-template<typename Index, typename LhsScalar, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs, int Version>
-struct general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjugateLhs,RhsScalar,ConjugateRhs,Version>
+template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
+struct general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>
 {
-typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
 
 enum {
   Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable
@@ -50,31 +78,35 @@ typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
 
 EIGEN_DONT_INLINE static void run(
   Index rows, Index cols,
-  const LhsScalar* lhs, Index lhsStride,
-  const RhsScalar* rhs, Index rhsIncr,
-  ResScalar* res, Index resIncr, RhsScalar alpha);
+  const LhsMapper& lhs,
+  const RhsMapper& rhs,
+        ResScalar* res, Index resIncr,
+  RhsScalar alpha);
 };
 
-template<typename Index, typename LhsScalar, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs, int Version>
-EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjugateLhs,RhsScalar,ConjugateRhs,Version>::run(
+template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
+EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>::run(
   Index rows, Index cols,
-  const LhsScalar* lhs, Index lhsStride,
-  const RhsScalar* rhs, Index rhsIncr,
-  ResScalar* res, Index resIncr, RhsScalar alpha)
+  const LhsMapper& lhs,
+  const RhsMapper& rhs,
+        ResScalar* res, Index resIncr,
+  RhsScalar alpha)
 {
-  EIGEN_UNUSED_VARIABLE(resIncr)
+  EIGEN_UNUSED_VARIABLE(resIncr);
   eigen_internal_assert(resIncr==1);
   #ifdef _EIGEN_ACCUMULATE_PACKETS
   #error _EIGEN_ACCUMULATE_PACKETS has already been defined
   #endif
-  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2) \
+  #define _EIGEN_ACCUMULATE_PACKETS(Alignment0,Alignment13,Alignment2) \
     pstore(&res[j], \
       padd(pload<ResPacket>(&res[j]), \
         padd( \
-          padd(pcj.pmul(EIGEN_CAT(ploa , A0)<LhsPacket>(&lhs0[j]),    ptmp0), \
-                  pcj.pmul(EIGEN_CAT(ploa , A13)<LhsPacket>(&lhs1[j]),   ptmp1)), \
-          padd(pcj.pmul(EIGEN_CAT(ploa , A2)<LhsPacket>(&lhs2[j]),    ptmp2), \
-                  pcj.pmul(EIGEN_CAT(ploa , A13)<LhsPacket>(&lhs3[j]),   ptmp3)) )))
+      padd(pcj.pmul(lhs0.template load<LhsPacket, Alignment0>(j),    ptmp0), \
+      pcj.pmul(lhs1.template load<LhsPacket, Alignment13>(j),   ptmp1)),   \
+      padd(pcj.pmul(lhs2.template load<LhsPacket, Alignment2>(j),    ptmp2), \
+      pcj.pmul(lhs3.template load<LhsPacket, Alignment13>(j),   ptmp3)) )))
+
+  typedef typename LhsMapper::VectorMapper LhsScalars;
 
   conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
   conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
@@ -88,10 +120,12 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
   const Index ResPacketAlignedMask = ResPacketSize-1;
 //  const Index PeelAlignedMask = ResPacketSize*peels-1;
   const Index size = rows;
-  
+
+  const Index lhsStride = lhs.stride();
+
   // How many coeffs of the result do we have to skip to be aligned.
   // Here we assume data are at least aligned on the base scalar type.
-  Index alignedStart = internal::first_aligned(res,size);
+  Index alignedStart = internal::first_default_aligned(res,size);
   Index alignedSize = ResPacketSize>1 ? alignedStart + ((size-alignedStart) & ~ResPacketAlignedMask) : 0;
   const Index peeledSize = alignedSize - RhsPacketSize*peels - RhsPacketSize + 1;
 
@@ -101,19 +135,26 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
                        : FirstAligned;
 
   // we cannot assume the first element is aligned because of sub-matrices
-  const Index lhsAlignmentOffset = internal::first_aligned(lhs,size);
+  const Index lhsAlignmentOffset = lhs.firstAligned(size);
 
   // find how many columns do we have to skip to be aligned with the result (if possible)
   Index skipColumns = 0;
   // if the data cannot be aligned (TODO add some compile time tests when possible, e.g. for floats)
-  if( (size_t(lhs)%sizeof(LhsScalar)) || (size_t(res)%sizeof(ResScalar)) )
+  if( (lhsAlignmentOffset < 0) || (lhsAlignmentOffset == size) || (UIntPtr(res)%sizeof(ResScalar)) )
   {
     alignedSize = 0;
     alignedStart = 0;
+    alignmentPattern = NoneAligned;
+  }
+  else if(LhsPacketSize > 4)
+  {
+    // TODO: extend the code to support aligned loads whenever possible when LhsPacketSize > 4.
+    // Currently, it seems to be better to perform unaligned loads anyway
+    alignmentPattern = NoneAligned;
   }
   else if (LhsPacketSize>1)
   {
-    eigen_internal_assert(size_t(lhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0 || size<LhsPacketSize);
+  //    eigen_internal_assert(size_t(firstLhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0 || size<LhsPacketSize);
 
     while (skipColumns<LhsPacketSize &&
           alignedStart != ((lhsAlignmentOffset + alignmentStep*skipColumns)%LhsPacketSize))
@@ -130,10 +171,10 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
       // note that the skiped columns are processed later.
     }
 
-    eigen_internal_assert(  (alignmentPattern==NoneAligned)
+    /*    eigen_internal_assert(  (alignmentPattern==NoneAligned)
                       || (skipColumns + columnsAtOnce >= cols)
                       || LhsPacketSize > size
-                      || (size_t(lhs+alignedStart+lhsStride*skipColumns)%sizeof(LhsPacket))==0);
+                      || (size_t(firstLhs+alignedStart+lhsStride*skipColumns)%sizeof(LhsPacket))==0);*/
   }
   else if(Vectorizable)
   {
@@ -142,20 +183,20 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
     alignmentPattern = AllAligned;
   }
 
-  Index offset1 = (FirstAligned && alignmentStep==1?3:1);
-  Index offset3 = (FirstAligned && alignmentStep==1?1:3);
+  const Index offset1 = (FirstAligned && alignmentStep==1)?3:1;
+  const Index offset3 = (FirstAligned && alignmentStep==1)?1:3;
 
   Index columnBound = ((cols-skipColumns)/columnsAtOnce)*columnsAtOnce + skipColumns;
   for (Index i=skipColumns; i<columnBound; i+=columnsAtOnce)
   {
-    RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs[i*rhsIncr]),
-              ptmp1 = pset1<RhsPacket>(alpha*rhs[(i+offset1)*rhsIncr]),
-              ptmp2 = pset1<RhsPacket>(alpha*rhs[(i+2)*rhsIncr]),
-              ptmp3 = pset1<RhsPacket>(alpha*rhs[(i+offset3)*rhsIncr]);
+    RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs(i, 0)),
+              ptmp1 = pset1<RhsPacket>(alpha*rhs(i+offset1, 0)),
+              ptmp2 = pset1<RhsPacket>(alpha*rhs(i+2, 0)),
+              ptmp3 = pset1<RhsPacket>(alpha*rhs(i+offset3, 0));
 
     // this helps a lot generating better binary code
-    const LhsScalar *lhs0 = lhs + i*lhsStride,     *lhs1 = lhs + (i+offset1)*lhsStride,
-                    *lhs2 = lhs + (i+2)*lhsStride, *lhs3 = lhs + (i+offset3)*lhsStride;
+    const LhsScalars lhs0 = lhs.getVectorMapper(0, i+0),   lhs1 = lhs.getVectorMapper(0, i+offset1),
+                     lhs2 = lhs.getVectorMapper(0, i+2),   lhs3 = lhs.getVectorMapper(0, i+offset3);
 
     if (Vectorizable)
     {
@@ -163,10 +204,10 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
       // process initial unaligned coeffs
       for (Index j=0; j<alignedStart; ++j)
       {
-        res[j] = cj.pmadd(lhs0[j], pfirst(ptmp0), res[j]);
-        res[j] = cj.pmadd(lhs1[j], pfirst(ptmp1), res[j]);
-        res[j] = cj.pmadd(lhs2[j], pfirst(ptmp2), res[j]);
-        res[j] = cj.pmadd(lhs3[j], pfirst(ptmp3), res[j]);
+        res[j] = cj.pmadd(lhs0(j), pfirst(ptmp0), res[j]);
+        res[j] = cj.pmadd(lhs1(j), pfirst(ptmp1), res[j]);
+        res[j] = cj.pmadd(lhs2(j), pfirst(ptmp2), res[j]);
+        res[j] = cj.pmadd(lhs3(j), pfirst(ptmp3), res[j]);
       }
 
       if (alignedSize>alignedStart)
@@ -175,11 +216,11 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
         {
           case AllAligned:
             for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,d,d);
+              _EIGEN_ACCUMULATE_PACKETS(Aligned,Aligned,Aligned);
             break;
           case EvenAligned:
             for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,du,d);
+              _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Aligned);
             break;
           case FirstAligned:
           {
@@ -189,28 +230,28 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
               LhsPacket A00, A01, A02, A03, A10, A11, A12, A13;
               ResPacket T0, T1;
 
-              A01 = pload<LhsPacket>(&lhs1[alignedStart-1]);
-              A02 = pload<LhsPacket>(&lhs2[alignedStart-2]);
-              A03 = pload<LhsPacket>(&lhs3[alignedStart-3]);
+              A01 = lhs1.template load<LhsPacket, Aligned>(alignedStart-1);
+              A02 = lhs2.template load<LhsPacket, Aligned>(alignedStart-2);
+              A03 = lhs3.template load<LhsPacket, Aligned>(alignedStart-3);
 
               for (; j<peeledSize; j+=peels*ResPacketSize)
               {
-                A11 = pload<LhsPacket>(&lhs1[j-1+LhsPacketSize]);  palign<1>(A01,A11);
-                A12 = pload<LhsPacket>(&lhs2[j-2+LhsPacketSize]);  palign<2>(A02,A12);
-                A13 = pload<LhsPacket>(&lhs3[j-3+LhsPacketSize]);  palign<3>(A03,A13);
+                A11 = lhs1.template load<LhsPacket, Aligned>(j-1+LhsPacketSize);  palign<1>(A01,A11);
+                A12 = lhs2.template load<LhsPacket, Aligned>(j-2+LhsPacketSize);  palign<2>(A02,A12);
+                A13 = lhs3.template load<LhsPacket, Aligned>(j-3+LhsPacketSize);  palign<3>(A03,A13);
 
-                A00 = pload<LhsPacket>(&lhs0[j]);
-                A10 = pload<LhsPacket>(&lhs0[j+LhsPacketSize]);
+                A00 = lhs0.template load<LhsPacket, Aligned>(j);
+                A10 = lhs0.template load<LhsPacket, Aligned>(j+LhsPacketSize);
                 T0  = pcj.pmadd(A00, ptmp0, pload<ResPacket>(&res[j]));
                 T1  = pcj.pmadd(A10, ptmp0, pload<ResPacket>(&res[j+ResPacketSize]));
 
                 T0  = pcj.pmadd(A01, ptmp1, T0);
-                A01 = pload<LhsPacket>(&lhs1[j-1+2*LhsPacketSize]);  palign<1>(A11,A01);
+                A01 = lhs1.template load<LhsPacket, Aligned>(j-1+2*LhsPacketSize);  palign<1>(A11,A01);
                 T0  = pcj.pmadd(A02, ptmp2, T0);
-                A02 = pload<LhsPacket>(&lhs2[j-2+2*LhsPacketSize]);  palign<2>(A12,A02);
+                A02 = lhs2.template load<LhsPacket, Aligned>(j-2+2*LhsPacketSize);  palign<2>(A12,A02);
                 T0  = pcj.pmadd(A03, ptmp3, T0);
                 pstore(&res[j],T0);
-                A03 = pload<LhsPacket>(&lhs3[j-3+2*LhsPacketSize]);  palign<3>(A13,A03);
+                A03 = lhs3.template load<LhsPacket, Aligned>(j-3+2*LhsPacketSize);  palign<3>(A13,A03);
                 T1  = pcj.pmadd(A11, ptmp1, T1);
                 T1  = pcj.pmadd(A12, ptmp2, T1);
                 T1  = pcj.pmadd(A13, ptmp3, T1);
@@ -218,12 +259,12 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
               }
             }
             for (; j<alignedSize; j+=ResPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,du,du);
+              _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Unaligned);
             break;
           }
           default:
             for (Index j = alignedStart; j<alignedSize; j+=ResPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(du,du,du);
+              _EIGEN_ACCUMULATE_PACKETS(Unaligned,Unaligned,Unaligned);
             break;
         }
       }
@@ -232,10 +273,10 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
     /* process remaining coeffs (or all if there is no explicit vectorization) */
     for (Index j=alignedSize; j<size; ++j)
     {
-      res[j] = cj.pmadd(lhs0[j], pfirst(ptmp0), res[j]);
-      res[j] = cj.pmadd(lhs1[j], pfirst(ptmp1), res[j]);
-      res[j] = cj.pmadd(lhs2[j], pfirst(ptmp2), res[j]);
-      res[j] = cj.pmadd(lhs3[j], pfirst(ptmp3), res[j]);
+      res[j] = cj.pmadd(lhs0(j), pfirst(ptmp0), res[j]);
+      res[j] = cj.pmadd(lhs1(j), pfirst(ptmp1), res[j]);
+      res[j] = cj.pmadd(lhs2(j), pfirst(ptmp2), res[j]);
+      res[j] = cj.pmadd(lhs3(j), pfirst(ptmp3), res[j]);
     }
   }
 
@@ -246,27 +287,27 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
   {
     for (Index k=start; k<end; ++k)
     {
-      RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs[k*rhsIncr]);
-      const LhsScalar* lhs0 = lhs + k*lhsStride;
+      RhsPacket ptmp0 = pset1<RhsPacket>(alpha*rhs(k, 0));
+      const LhsScalars lhs0 = lhs.getVectorMapper(0, k);
 
       if (Vectorizable)
       {
         /* explicit vectorization */
         // process first unaligned result's coeffs
         for (Index j=0; j<alignedStart; ++j)
-          res[j] += cj.pmul(lhs0[j], pfirst(ptmp0));
+          res[j] += cj.pmul(lhs0(j), pfirst(ptmp0));
         // process aligned result's coeffs
-        if ((size_t(lhs0+alignedStart)%sizeof(LhsPacket))==0)
+        if (lhs0.template aligned<LhsPacket>(alignedStart))
           for (Index i = alignedStart;i<alignedSize;i+=ResPacketSize)
-            pstore(&res[i], pcj.pmadd(pload<LhsPacket>(&lhs0[i]), ptmp0, pload<ResPacket>(&res[i])));
+            pstore(&res[i], pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(i), ptmp0, pload<ResPacket>(&res[i])));
         else
           for (Index i = alignedStart;i<alignedSize;i+=ResPacketSize)
-            pstore(&res[i], pcj.pmadd(ploadu<LhsPacket>(&lhs0[i]), ptmp0, pload<ResPacket>(&res[i])));
+            pstore(&res[i], pcj.pmadd(lhs0.template load<LhsPacket, Unaligned>(i), ptmp0, pload<ResPacket>(&res[i])));
       }
 
       // process remaining scalars (or all if no explicit vectorization)
       for (Index i=alignedSize; i<size; ++i)
-        res[i] += cj.pmul(lhs0[i], pfirst(ptmp0));
+        res[i] += cj.pmul(lhs0(i), pfirst(ptmp0));
     }
     if (skipColumns)
     {
@@ -290,10 +331,10 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,ColMajor,Co
  *  - alpha is always a complex (or converted to a complex)
  *  - no vectorization
  */
-template<typename Index, typename LhsScalar, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs, int Version>
-struct general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjugateLhs,RhsScalar,ConjugateRhs,Version>
+template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
+struct general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>
 {
-typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
 
 enum {
   Vectorizable = packet_traits<LhsScalar>::Vectorizable && packet_traits<RhsScalar>::Vectorizable
@@ -310,73 +351,84 @@ typedef typename packet_traits<ResScalar>::type  _ResPacket;
 typedef typename conditional<Vectorizable,_LhsPacket,LhsScalar>::type LhsPacket;
 typedef typename conditional<Vectorizable,_RhsPacket,RhsScalar>::type RhsPacket;
 typedef typename conditional<Vectorizable,_ResPacket,ResScalar>::type ResPacket;
-  
+
 EIGEN_DONT_INLINE static void run(
   Index rows, Index cols,
-  const LhsScalar* lhs, Index lhsStride,
-  const RhsScalar* rhs, Index rhsIncr,
-  ResScalar* res, Index resIncr,
+  const LhsMapper& lhs,
+  const RhsMapper& rhs,
+        ResScalar* res, Index resIncr,
   ResScalar alpha);
 };
 
-template<typename Index, typename LhsScalar, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs, int Version>
-EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjugateLhs,RhsScalar,ConjugateRhs,Version>::run(
+template<typename Index, typename LhsScalar, typename LhsMapper, bool ConjugateLhs, typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version>
+EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjugateLhs,RhsScalar,RhsMapper,ConjugateRhs,Version>::run(
   Index rows, Index cols,
-  const LhsScalar* lhs, Index lhsStride,
-  const RhsScalar* rhs, Index rhsIncr,
+  const LhsMapper& lhs,
+  const RhsMapper& rhs,
   ResScalar* res, Index resIncr,
   ResScalar alpha)
 {
-  EIGEN_UNUSED_VARIABLE(rhsIncr);
-  eigen_internal_assert(rhsIncr==1);
+  eigen_internal_assert(rhs.stride()==1);
+
   #ifdef _EIGEN_ACCUMULATE_PACKETS
   #error _EIGEN_ACCUMULATE_PACKETS has already been defined
   #endif
 
-  #define _EIGEN_ACCUMULATE_PACKETS(A0,A13,A2) {\
-    RhsPacket b = pload<RhsPacket>(&rhs[j]); \
-    ptmp0 = pcj.pmadd(EIGEN_CAT(ploa,A0) <LhsPacket>(&lhs0[j]), b, ptmp0); \
-    ptmp1 = pcj.pmadd(EIGEN_CAT(ploa,A13)<LhsPacket>(&lhs1[j]), b, ptmp1); \
-    ptmp2 = pcj.pmadd(EIGEN_CAT(ploa,A2) <LhsPacket>(&lhs2[j]), b, ptmp2); \
-    ptmp3 = pcj.pmadd(EIGEN_CAT(ploa,A13)<LhsPacket>(&lhs3[j]), b, ptmp3); }
+  #define _EIGEN_ACCUMULATE_PACKETS(Alignment0,Alignment13,Alignment2) {\
+    RhsPacket b = rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0);  \
+    ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Alignment0>(j), b, ptmp0); \
+    ptmp1 = pcj.pmadd(lhs1.template load<LhsPacket, Alignment13>(j), b, ptmp1); \
+    ptmp2 = pcj.pmadd(lhs2.template load<LhsPacket, Alignment2>(j), b, ptmp2); \
+    ptmp3 = pcj.pmadd(lhs3.template load<LhsPacket, Alignment13>(j), b, ptmp3); }
 
   conj_helper<LhsScalar,RhsScalar,ConjugateLhs,ConjugateRhs> cj;
   conj_helper<LhsPacket,RhsPacket,ConjugateLhs,ConjugateRhs> pcj;
 
+  typedef typename LhsMapper::VectorMapper LhsScalars;
+
   enum { AllAligned=0, EvenAligned=1, FirstAligned=2, NoneAligned=3 };
   const Index rowsAtOnce = 4;
   const Index peels = 2;
   const Index RhsPacketAlignedMask = RhsPacketSize-1;
   const Index LhsPacketAlignedMask = LhsPacketSize-1;
-//   const Index PeelAlignedMask = RhsPacketSize*peels-1;
   const Index depth = cols;
+  const Index lhsStride = lhs.stride();
 
   // How many coeffs of the result do we have to skip to be aligned.
   // Here we assume data are at least aligned on the base scalar type
   // if that's not the case then vectorization is discarded, see below.
-  Index alignedStart = internal::first_aligned(rhs, depth);
+  Index alignedStart = rhs.firstAligned(depth);
   Index alignedSize = RhsPacketSize>1 ? alignedStart + ((depth-alignedStart) & ~RhsPacketAlignedMask) : 0;
   const Index peeledSize = alignedSize - RhsPacketSize*peels - RhsPacketSize + 1;
 
   const Index alignmentStep = LhsPacketSize>1 ? (LhsPacketSize - lhsStride % LhsPacketSize) & LhsPacketAlignedMask : 0;
   Index alignmentPattern = alignmentStep==0 ? AllAligned
-                         : alignmentStep==(LhsPacketSize/2) ? EvenAligned
-                         : FirstAligned;
+                           : alignmentStep==(LhsPacketSize/2) ? EvenAligned
+                           : FirstAligned;
 
   // we cannot assume the first element is aligned because of sub-matrices
-  const Index lhsAlignmentOffset = internal::first_aligned(lhs,depth);
+  const Index lhsAlignmentOffset = lhs.firstAligned(depth);
+  const Index rhsAlignmentOffset = rhs.firstAligned(rows);
 
   // find how many rows do we have to skip to be aligned with rhs (if possible)
   Index skipRows = 0;
   // if the data cannot be aligned (TODO add some compile time tests when possible, e.g. for floats)
-  if( (sizeof(LhsScalar)!=sizeof(RhsScalar)) || (size_t(lhs)%sizeof(LhsScalar)) || (size_t(rhs)%sizeof(RhsScalar)) )
+  if( (sizeof(LhsScalar)!=sizeof(RhsScalar)) ||
+      (lhsAlignmentOffset < 0) || (lhsAlignmentOffset == depth) ||
+      (rhsAlignmentOffset < 0) || (rhsAlignmentOffset == rows) )
   {
     alignedSize = 0;
     alignedStart = 0;
+    alignmentPattern = NoneAligned;
+  }
+  else if(LhsPacketSize > 4)
+  {
+    // TODO: extend the code to support aligned loads whenever possible when LhsPacketSize > 4.
+    alignmentPattern = NoneAligned;
   }
   else if (LhsPacketSize>1)
   {
-    eigen_internal_assert(size_t(lhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0  || depth<LhsPacketSize);
+  //    eigen_internal_assert(size_t(firstLhs+lhsAlignmentOffset)%sizeof(LhsPacket)==0  || depth<LhsPacketSize);
 
     while (skipRows<LhsPacketSize &&
            alignedStart != ((lhsAlignmentOffset + alignmentStep*skipRows)%LhsPacketSize))
@@ -392,11 +444,11 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
       skipRows = (std::min)(skipRows,Index(rows));
       // note that the skiped columns are processed later.
     }
-    eigen_internal_assert(  alignmentPattern==NoneAligned
+    /*    eigen_internal_assert(  alignmentPattern==NoneAligned
                       || LhsPacketSize==1
                       || (skipRows + rowsAtOnce >= rows)
                       || LhsPacketSize > depth
-                      || (size_t(lhs+alignedStart+lhsStride*skipRows)%sizeof(LhsPacket))==0);
+                      || (size_t(firstLhs+alignedStart+lhsStride*skipRows)%sizeof(LhsPacket))==0);*/
   }
   else if(Vectorizable)
   {
@@ -405,18 +457,19 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
     alignmentPattern = AllAligned;
   }
 
-  Index offset1 = (FirstAligned && alignmentStep==1?3:1);
-  Index offset3 = (FirstAligned && alignmentStep==1?1:3);
+  const Index offset1 = (FirstAligned && alignmentStep==1)?3:1;
+  const Index offset3 = (FirstAligned && alignmentStep==1)?1:3;
 
   Index rowBound = ((rows-skipRows)/rowsAtOnce)*rowsAtOnce + skipRows;
   for (Index i=skipRows; i<rowBound; i+=rowsAtOnce)
   {
-    EIGEN_ALIGN16 ResScalar tmp0 = ResScalar(0);
+    // FIXME: what is the purpose of this EIGEN_ALIGN_DEFAULT ??
+    EIGEN_ALIGN_MAX ResScalar tmp0 = ResScalar(0);
     ResScalar tmp1 = ResScalar(0), tmp2 = ResScalar(0), tmp3 = ResScalar(0);
 
     // this helps the compiler generating good binary code
-    const LhsScalar *lhs0 = lhs + i*lhsStride,     *lhs1 = lhs + (i+offset1)*lhsStride,
-                    *lhs2 = lhs + (i+2)*lhsStride, *lhs3 = lhs + (i+offset3)*lhsStride;
+    const LhsScalars lhs0 = lhs.getVectorMapper(i+0, 0),    lhs1 = lhs.getVectorMapper(i+offset1, 0),
+                     lhs2 = lhs.getVectorMapper(i+2, 0),    lhs3 = lhs.getVectorMapper(i+offset3, 0);
 
     if (Vectorizable)
     {
@@ -428,9 +481,9 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
       // FIXME this loop get vectorized by the compiler !
       for (Index j=0; j<alignedStart; ++j)
       {
-        RhsScalar b = rhs[j];
-        tmp0 += cj.pmul(lhs0[j],b); tmp1 += cj.pmul(lhs1[j],b);
-        tmp2 += cj.pmul(lhs2[j],b); tmp3 += cj.pmul(lhs3[j],b);
+        RhsScalar b = rhs(j, 0);
+        tmp0 += cj.pmul(lhs0(j),b); tmp1 += cj.pmul(lhs1(j),b);
+        tmp2 += cj.pmul(lhs2(j),b); tmp3 += cj.pmul(lhs3(j),b);
       }
 
       if (alignedSize>alignedStart)
@@ -439,11 +492,11 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
         {
           case AllAligned:
             for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,d,d);
+              _EIGEN_ACCUMULATE_PACKETS(Aligned,Aligned,Aligned);
             break;
           case EvenAligned:
             for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,du,d);
+              _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Aligned);
             break;
           case FirstAligned:
           {
@@ -457,39 +510,39 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
                * than basic unaligned loads.
                */
               LhsPacket A01, A02, A03, A11, A12, A13;
-              A01 = pload<LhsPacket>(&lhs1[alignedStart-1]);
-              A02 = pload<LhsPacket>(&lhs2[alignedStart-2]);
-              A03 = pload<LhsPacket>(&lhs3[alignedStart-3]);
+              A01 = lhs1.template load<LhsPacket, Aligned>(alignedStart-1);
+              A02 = lhs2.template load<LhsPacket, Aligned>(alignedStart-2);
+              A03 = lhs3.template load<LhsPacket, Aligned>(alignedStart-3);
 
               for (; j<peeledSize; j+=peels*RhsPacketSize)
               {
-                RhsPacket b = pload<RhsPacket>(&rhs[j]);
-                A11 = pload<LhsPacket>(&lhs1[j-1+LhsPacketSize]);  palign<1>(A01,A11);
-                A12 = pload<LhsPacket>(&lhs2[j-2+LhsPacketSize]);  palign<2>(A02,A12);
-                A13 = pload<LhsPacket>(&lhs3[j-3+LhsPacketSize]);  palign<3>(A03,A13);
+                RhsPacket b = rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0);
+                A11 = lhs1.template load<LhsPacket, Aligned>(j-1+LhsPacketSize);  palign<1>(A01,A11);
+                A12 = lhs2.template load<LhsPacket, Aligned>(j-2+LhsPacketSize);  palign<2>(A02,A12);
+                A13 = lhs3.template load<LhsPacket, Aligned>(j-3+LhsPacketSize);  palign<3>(A03,A13);
 
-                ptmp0 = pcj.pmadd(pload<LhsPacket>(&lhs0[j]), b, ptmp0);
+                ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(j), b, ptmp0);
                 ptmp1 = pcj.pmadd(A01, b, ptmp1);
-                A01 = pload<LhsPacket>(&lhs1[j-1+2*LhsPacketSize]);  palign<1>(A11,A01);
+                A01 = lhs1.template load<LhsPacket, Aligned>(j-1+2*LhsPacketSize);  palign<1>(A11,A01);
                 ptmp2 = pcj.pmadd(A02, b, ptmp2);
-                A02 = pload<LhsPacket>(&lhs2[j-2+2*LhsPacketSize]);  palign<2>(A12,A02);
+                A02 = lhs2.template load<LhsPacket, Aligned>(j-2+2*LhsPacketSize);  palign<2>(A12,A02);
                 ptmp3 = pcj.pmadd(A03, b, ptmp3);
-                A03 = pload<LhsPacket>(&lhs3[j-3+2*LhsPacketSize]);  palign<3>(A13,A03);
+                A03 = lhs3.template load<LhsPacket, Aligned>(j-3+2*LhsPacketSize);  palign<3>(A13,A03);
 
-                b = pload<RhsPacket>(&rhs[j+RhsPacketSize]);
-                ptmp0 = pcj.pmadd(pload<LhsPacket>(&lhs0[j+LhsPacketSize]), b, ptmp0);
+                b = rhs.getVectorMapper(j+RhsPacketSize, 0).template load<RhsPacket, Aligned>(0);
+                ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(j+LhsPacketSize), b, ptmp0);
                 ptmp1 = pcj.pmadd(A11, b, ptmp1);
                 ptmp2 = pcj.pmadd(A12, b, ptmp2);
                 ptmp3 = pcj.pmadd(A13, b, ptmp3);
               }
             }
             for (; j<alignedSize; j+=RhsPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(d,du,du);
+              _EIGEN_ACCUMULATE_PACKETS(Aligned,Unaligned,Unaligned);
             break;
           }
           default:
             for (Index j = alignedStart; j<alignedSize; j+=RhsPacketSize)
-              _EIGEN_ACCUMULATE_PACKETS(du,du,du);
+              _EIGEN_ACCUMULATE_PACKETS(Unaligned,Unaligned,Unaligned);
             break;
         }
         tmp0 += predux(ptmp0);
@@ -503,9 +556,9 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
     // FIXME this loop get vectorized by the compiler !
     for (Index j=alignedSize; j<depth; ++j)
     {
-      RhsScalar b = rhs[j];
-      tmp0 += cj.pmul(lhs0[j],b); tmp1 += cj.pmul(lhs1[j],b);
-      tmp2 += cj.pmul(lhs2[j],b); tmp3 += cj.pmul(lhs3[j],b);
+      RhsScalar b = rhs(j, 0);
+      tmp0 += cj.pmul(lhs0(j),b); tmp1 += cj.pmul(lhs1(j),b);
+      tmp2 += cj.pmul(lhs2(j),b); tmp3 += cj.pmul(lhs3(j),b);
     }
     res[i*resIncr]            += alpha*tmp0;
     res[(i+offset1)*resIncr]  += alpha*tmp1;
@@ -520,30 +573,30 @@ EIGEN_DONT_INLINE void general_matrix_vector_product<Index,LhsScalar,RowMajor,Co
   {
     for (Index i=start; i<end; ++i)
     {
-      EIGEN_ALIGN16 ResScalar tmp0 = ResScalar(0);
+      EIGEN_ALIGN_MAX ResScalar tmp0 = ResScalar(0);
       ResPacket ptmp0 = pset1<ResPacket>(tmp0);
-      const LhsScalar* lhs0 = lhs + i*lhsStride;
+      const LhsScalars lhs0 = lhs.getVectorMapper(i, 0);
       // process first unaligned result's coeffs
       // FIXME this loop get vectorized by the compiler !
       for (Index j=0; j<alignedStart; ++j)
-        tmp0 += cj.pmul(lhs0[j], rhs[j]);
+        tmp0 += cj.pmul(lhs0(j), rhs(j, 0));
 
       if (alignedSize>alignedStart)
       {
         // process aligned rhs coeffs
-        if ((size_t(lhs0+alignedStart)%sizeof(LhsPacket))==0)
+        if (lhs0.template aligned<LhsPacket>(alignedStart))
           for (Index j = alignedStart;j<alignedSize;j+=RhsPacketSize)
-            ptmp0 = pcj.pmadd(pload<LhsPacket>(&lhs0[j]), pload<RhsPacket>(&rhs[j]), ptmp0);
+            ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Aligned>(j), rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0), ptmp0);
         else
           for (Index j = alignedStart;j<alignedSize;j+=RhsPacketSize)
-            ptmp0 = pcj.pmadd(ploadu<LhsPacket>(&lhs0[j]), pload<RhsPacket>(&rhs[j]), ptmp0);
+            ptmp0 = pcj.pmadd(lhs0.template load<LhsPacket, Unaligned>(j), rhs.getVectorMapper(j, 0).template load<RhsPacket, Aligned>(0), ptmp0);
         tmp0 += predux(ptmp0);
       }
 
       // process remaining scalars
       // FIXME this loop get vectorized by the compiler !
       for (Index j=alignedSize; j<depth; ++j)
-        tmp0 += cj.pmul(lhs0[j], rhs[j]);
+        tmp0 += cj.pmul(lhs0(j), rhs(j, 0));
       res[i*resIncr] += alpha*tmp0;
     }
     if (skipRows)
diff --git a/eigenlib/Eigen/src/Core/products/GeneralMatrixVector_MKL.h b/eigenlib/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h
similarity index 60%
rename from eigenlib/Eigen/src/Core/products/GeneralMatrixVector_MKL.h
rename to eigenlib/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h
index 1cb9fe6b..e3a5d589 100644
--- a/eigenlib/Eigen/src/Core/products/GeneralMatrixVector_MKL.h
+++ b/eigenlib/Eigen/src/Core/products/GeneralMatrixVector_BLAS.h
@@ -25,13 +25,13 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to BLAS F77
  *   General matrix-vector product functionality based on ?GEMV.
  ********************************************************************************
 */
 
-#ifndef EIGEN_GENERAL_MATRIX_VECTOR_MKL_H
-#define EIGEN_GENERAL_MATRIX_VECTOR_MKL_H
+#ifndef EIGEN_GENERAL_MATRIX_VECTOR_BLAS_H
+#define EIGEN_GENERAL_MATRIX_VECTOR_BLAS_H
 
 namespace Eigen { 
 
@@ -46,47 +46,46 @@ namespace internal {
 
 // gemv specialization
 
-template<typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs>
-struct general_matrix_vector_product_gemv :
-  general_matrix_vector_product<Index,LhsScalar,LhsStorageOrder,ConjugateLhs,RhsScalar,ConjugateRhs,BuiltIn> {};
+template<typename Index, typename LhsScalar, int StorageOrder, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs>
+struct general_matrix_vector_product_gemv;
 
-#define EIGEN_MKL_GEMV_SPECIALIZE(Scalar) \
+#define EIGEN_BLAS_GEMV_SPECIALIZE(Scalar) \
 template<typename Index, bool ConjugateLhs, bool ConjugateRhs> \
-struct general_matrix_vector_product<Index,Scalar,ColMajor,ConjugateLhs,Scalar,ConjugateRhs,Specialized> { \
+struct general_matrix_vector_product<Index,Scalar,const_blas_data_mapper<Scalar,Index,ColMajor>,ColMajor,ConjugateLhs,Scalar,const_blas_data_mapper<Scalar,Index,RowMajor>,ConjugateRhs,Specialized> { \
 static void run( \
   Index rows, Index cols, \
-  const Scalar* lhs, Index lhsStride, \
-  const Scalar* rhs, Index rhsIncr, \
+  const const_blas_data_mapper<Scalar,Index,ColMajor> &lhs, \
+  const const_blas_data_mapper<Scalar,Index,RowMajor> &rhs, \
   Scalar* res, Index resIncr, Scalar alpha) \
 { \
   if (ConjugateLhs) { \
-    general_matrix_vector_product<Index,Scalar,ColMajor,ConjugateLhs,Scalar,ConjugateRhs,BuiltIn>::run( \
-      rows, cols, lhs, lhsStride, rhs, rhsIncr, res, resIncr, alpha); \
+    general_matrix_vector_product<Index,Scalar,const_blas_data_mapper<Scalar,Index,ColMajor>,ColMajor,ConjugateLhs,Scalar,const_blas_data_mapper<Scalar,Index,RowMajor>,ConjugateRhs,BuiltIn>::run( \
+      rows, cols, lhs, rhs, res, resIncr, alpha); \
   } else { \
     general_matrix_vector_product_gemv<Index,Scalar,ColMajor,ConjugateLhs,Scalar,ConjugateRhs>::run( \
-      rows, cols, lhs, lhsStride, rhs, rhsIncr, res, resIncr, alpha); \
+      rows, cols, lhs.data(), lhs.stride(), rhs.data(), rhs.stride(), res, resIncr, alpha); \
   } \
 } \
 }; \
 template<typename Index, bool ConjugateLhs, bool ConjugateRhs> \
-struct general_matrix_vector_product<Index,Scalar,RowMajor,ConjugateLhs,Scalar,ConjugateRhs,Specialized> { \
+struct general_matrix_vector_product<Index,Scalar,const_blas_data_mapper<Scalar,Index,RowMajor>,RowMajor,ConjugateLhs,Scalar,const_blas_data_mapper<Scalar,Index,ColMajor>,ConjugateRhs,Specialized> { \
 static void run( \
   Index rows, Index cols, \
-  const Scalar* lhs, Index lhsStride, \
-  const Scalar* rhs, Index rhsIncr, \
+  const const_blas_data_mapper<Scalar,Index,RowMajor> &lhs, \
+  const const_blas_data_mapper<Scalar,Index,ColMajor> &rhs, \
   Scalar* res, Index resIncr, Scalar alpha) \
 { \
     general_matrix_vector_product_gemv<Index,Scalar,RowMajor,ConjugateLhs,Scalar,ConjugateRhs>::run( \
-      rows, cols, lhs, lhsStride, rhs, rhsIncr, res, resIncr, alpha); \
+      rows, cols, lhs.data(), lhs.stride(), rhs.data(), rhs.stride(), res, resIncr, alpha); \
 } \
 }; \
 
-EIGEN_MKL_GEMV_SPECIALIZE(double)
-EIGEN_MKL_GEMV_SPECIALIZE(float)
-EIGEN_MKL_GEMV_SPECIALIZE(dcomplex)
-EIGEN_MKL_GEMV_SPECIALIZE(scomplex)
+EIGEN_BLAS_GEMV_SPECIALIZE(double)
+EIGEN_BLAS_GEMV_SPECIALIZE(float)
+EIGEN_BLAS_GEMV_SPECIALIZE(dcomplex)
+EIGEN_BLAS_GEMV_SPECIALIZE(scomplex)
 
-#define EIGEN_MKL_GEMV_SPECIALIZATION(EIGTYPE,MKLTYPE,MKLPREFIX) \
+#define EIGEN_BLAS_GEMV_SPECIALIZATION(EIGTYPE,BLASTYPE,BLASPREFIX) \
 template<typename Index, int LhsStorageOrder, bool ConjugateLhs, bool ConjugateRhs> \
 struct general_matrix_vector_product_gemv<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,ConjugateRhs> \
 { \
@@ -98,16 +97,15 @@ static void run( \
   const EIGTYPE* rhs, Index rhsIncr, \
   EIGTYPE* res, Index resIncr, EIGTYPE alpha) \
 { \
-  MKL_INT m=rows, n=cols, lda=lhsStride, incx=rhsIncr, incy=resIncr; \
-  MKLTYPE alpha_, beta_; \
-  const EIGTYPE *x_ptr, myone(1); \
+  BlasIndex m=convert_index<BlasIndex>(rows), n=convert_index<BlasIndex>(cols), \
+            lda=convert_index<BlasIndex>(lhsStride), incx=convert_index<BlasIndex>(rhsIncr), incy=convert_index<BlasIndex>(resIncr); \
+  const EIGTYPE beta(1); \
+  const EIGTYPE *x_ptr; \
   char trans=(LhsStorageOrder==ColMajor) ? 'N' : (ConjugateLhs) ? 'C' : 'T'; \
   if (LhsStorageOrder==RowMajor) { \
-    m=cols; \
-    n=rows; \
+    m = convert_index<BlasIndex>(cols); \
+    n = convert_index<BlasIndex>(rows); \
   }\
-  assign_scalar_eig2mkl(alpha_, alpha); \
-  assign_scalar_eig2mkl(beta_, myone); \
   GEMVVector x_tmp; \
   if (ConjugateRhs) { \
     Map<const GEMVVector, 0, InnerStride<> > map_x(rhs,cols,1,InnerStride<>(incx)); \
@@ -115,17 +113,17 @@ static void run( \
     x_ptr=x_tmp.data(); \
     incx=1; \
   } else x_ptr=rhs; \
-  MKLPREFIX##gemv(&trans, &m, &n, &alpha_, (const MKLTYPE*)lhs, &lda, (const MKLTYPE*)x_ptr, &incx, &beta_, (MKLTYPE*)res, &incy); \
+  BLASPREFIX##gemv_(&trans, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)lhs, &lda, (const BLASTYPE*)x_ptr, &incx, &numext::real_ref(beta), (BLASTYPE*)res, &incy); \
 }\
 };
 
-EIGEN_MKL_GEMV_SPECIALIZATION(double,   double,        d)
-EIGEN_MKL_GEMV_SPECIALIZATION(float,    float,         s)
-EIGEN_MKL_GEMV_SPECIALIZATION(dcomplex, MKL_Complex16, z)
-EIGEN_MKL_GEMV_SPECIALIZATION(scomplex, MKL_Complex8,  c)
+EIGEN_BLAS_GEMV_SPECIALIZATION(double,   double, d)
+EIGEN_BLAS_GEMV_SPECIALIZATION(float,    float,  s)
+EIGEN_BLAS_GEMV_SPECIALIZATION(dcomplex, double, z)
+EIGEN_BLAS_GEMV_SPECIALIZATION(scomplex, float,  c)
 
 } // end namespase internal
 
 } // end namespace Eigen
 
-#endif // EIGEN_GENERAL_MATRIX_VECTOR_MKL_H
+#endif // EIGEN_GENERAL_MATRIX_VECTOR_BLAS_H
diff --git a/eigenlib/Eigen/src/Core/products/Parallelizer.h b/eigenlib/Eigen/src/Core/products/Parallelizer.h
index 6937ee33..2a31e4cb 100644
--- a/eigenlib/Eigen/src/Core/products/Parallelizer.h
+++ b/eigenlib/Eigen/src/Core/products/Parallelizer.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_PARALLELIZER_H
 #define EIGEN_PARALLELIZER_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -49,8 +49,8 @@ inline void initParallel()
 {
   int nbt;
   internal::manage_multi_threading(GetAction, &nbt);
-  std::ptrdiff_t l1, l2;
-  internal::manage_caching_sizes(GetAction, &l1, &l2);
+  std::ptrdiff_t l1, l2, l3;
+  internal::manage_caching_sizes(GetAction, &l1, &l2, &l3);
 }
 
 /** \returns the max number of threads reserved for Eigen
@@ -73,17 +73,17 @@ namespace internal {
 
 template<typename Index> struct GemmParallelInfo
 {
-  GemmParallelInfo() : sync(-1), users(0), rhs_start(0), rhs_length(0) {}
+  GemmParallelInfo() : sync(-1), users(0), lhs_start(0), lhs_length(0) {}
 
   int volatile sync;
   int volatile users;
 
-  Index rhs_start;
-  Index rhs_length;
+  Index lhs_start;
+  Index lhs_length;
 };
 
 template<bool Condition, typename Functor, typename Index>
-void parallelize_gemm(const Functor& func, Index rows, Index cols, bool transpose)
+void parallelize_gemm(const Functor& func, Index rows, Index cols, Index depth, bool transpose)
 {
   // TODO when EIGEN_USE_BLAS is defined,
   // we should still enable OMP for other scalar types
@@ -92,6 +92,7 @@ void parallelize_gemm(const Functor& func, Index rows, Index cols, bool transpos
   // the matrix product when multithreading is enabled. This is a temporary
   // fix to support row-major destination matrices. This whole
   // parallelizer mechanism has to be redisigned anyway.
+  EIGEN_UNUSED_VARIABLE(depth);
   EIGEN_UNUSED_VARIABLE(transpose);
   func(0,rows, 0,cols);
 #else
@@ -102,56 +103,55 @@ void parallelize_gemm(const Functor& func, Index rows, Index cols, bool transpos
   // - we are not already in a parallel code
   // - the sizes are large enough
 
-  // 1- are we already in a parallel session?
-  // FIXME omp_get_num_threads()>1 only works for openmp, what if the user does not use openmp?
-  if((!Condition) || (omp_get_num_threads()>1))
-    return func(0,rows, 0,cols);
-
-  Index size = transpose ? cols : rows;
-
-  // 2- compute the maximal number of threads from the size of the product:
+  // compute the maximal number of threads from the size of the product:
   // FIXME this has to be fine tuned
-  Index max_threads = std::max<Index>(1,size / 32);
+  Index size = transpose ? rows : cols;
+  Index pb_max_threads = std::max<Index>(1,size / 32);
+  // compute the maximal number of threads from the total amount of work:
+  double work = static_cast<double>(rows) * static_cast<double>(cols) *
+      static_cast<double>(depth);
+  double kMinTaskSize = 50000;  // Heuristic.
+  pb_max_threads = std::max<Index>(1, std::min<Index>(pb_max_threads, work / kMinTaskSize));
 
-  // 3 - compute the number of threads we are going to use
-  Index threads = std::min<Index>(nbThreads(), max_threads);
+  // compute the number of threads we are going to use
+  Index threads = std::min<Index>(nbThreads(), pb_max_threads);
 
-  if(threads==1)
+  // if multi-threading is explicitely disabled, not useful, or if we already are in a parallel session,
+  // then abort multi-threading
+  // FIXME omp_get_num_threads()>1 only works for openmp, what if the user does not use openmp?
+  if((!Condition) || (threads==1) || (omp_get_num_threads()>1))
     return func(0,rows, 0,cols);
 
   Eigen::initParallel();
-  func.initParallelSession();
+  func.initParallelSession(threads);
 
   if(transpose)
     std::swap(rows,cols);
 
-  GemmParallelInfo<Index>* info = new GemmParallelInfo<Index>[threads];
+  ei_declare_aligned_stack_constructed_variable(GemmParallelInfo<Index>,info,threads,0);
 
   #pragma omp parallel num_threads(threads)
   {
     Index i = omp_get_thread_num();
     // Note that the actual number of threads might be lower than the number of request ones.
     Index actual_threads = omp_get_num_threads();
-    
+
     Index blockCols = (cols / actual_threads) & ~Index(0x3);
-    Index blockRows = (rows / actual_threads) & ~Index(0x7);
-    
+    Index blockRows = (rows / actual_threads);
+    blockRows = (blockRows/Functor::Traits::mr)*Functor::Traits::mr;
+
     Index r0 = i*blockRows;
     Index actualBlockRows = (i+1==actual_threads) ? rows-r0 : blockRows;
 
     Index c0 = i*blockCols;
     Index actualBlockCols = (i+1==actual_threads) ? cols-c0 : blockCols;
 
-    info[i].rhs_start = c0;
-    info[i].rhs_length = actualBlockCols;
+    info[i].lhs_start = r0;
+    info[i].lhs_length = actualBlockRows;
 
-    if(transpose)
-      func(0, cols, r0, actualBlockRows, info);
-    else
-      func(r0, actualBlockRows, 0,cols, info);
+    if(transpose) func(c0, actualBlockCols, 0, rows, info);
+    else          func(0, rows, c0, actualBlockCols, info);
   }
-
-  delete[] info;
 #endif
 }
 
diff --git a/eigenlib/Eigen/src/Core/products/SelfadjointMatrixMatrix.h b/eigenlib/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
index 99cf9e0a..da6f82ab 100644
--- a/eigenlib/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
+++ b/eigenlib/Eigen/src/Core/products/SelfadjointMatrixMatrix.h
@@ -15,7 +15,7 @@ namespace Eigen {
 namespace internal {
 
 // pack a selfadjoint block diagonal for use with the gebp_kernel
-template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder>
+template<typename Scalar, typename Index, int Pack1, int Pack2_dummy, int StorageOrder>
 struct symm_pack_lhs
 {
   template<int BlockRows> inline
@@ -45,25 +45,32 @@ struct symm_pack_lhs
   }
   void operator()(Scalar* blockA, const Scalar* _lhs, Index lhsStride, Index cols, Index rows)
   {
+    enum { PacketSize = packet_traits<Scalar>::size };
     const_blas_data_mapper<Scalar,Index,StorageOrder> lhs(_lhs,lhsStride);
     Index count = 0;
-    Index peeled_mc = (rows/Pack1)*Pack1;
-    for(Index i=0; i<peeled_mc; i+=Pack1)
-    {
-      pack<Pack1>(blockA, lhs, cols, i, count);
-    }
-
-    if(rows-peeled_mc>=Pack2)
-    {
-      pack<Pack2>(blockA, lhs, cols, peeled_mc, count);
-      peeled_mc += Pack2;
-    }
+    //Index peeled_mc3 = (rows/Pack1)*Pack1;
+    
+    const Index peeled_mc3 = Pack1>=3*PacketSize ? (rows/(3*PacketSize))*(3*PacketSize) : 0;
+    const Index peeled_mc2 = Pack1>=2*PacketSize ? peeled_mc3+((rows-peeled_mc3)/(2*PacketSize))*(2*PacketSize) : 0;
+    const Index peeled_mc1 = Pack1>=1*PacketSize ? (rows/(1*PacketSize))*(1*PacketSize) : 0;
+    
+    if(Pack1>=3*PacketSize)
+      for(Index i=0; i<peeled_mc3; i+=3*PacketSize)
+        pack<3*PacketSize>(blockA, lhs, cols, i, count);
+    
+    if(Pack1>=2*PacketSize)
+      for(Index i=peeled_mc3; i<peeled_mc2; i+=2*PacketSize)
+        pack<2*PacketSize>(blockA, lhs, cols, i, count);
+    
+    if(Pack1>=1*PacketSize)
+      for(Index i=peeled_mc2; i<peeled_mc1; i+=1*PacketSize)
+        pack<1*PacketSize>(blockA, lhs, cols, i, count);
 
     // do the same with mr==1
-    for(Index i=peeled_mc; i<rows; i++)
+    for(Index i=peeled_mc1; i<rows; i++)
     {
       for(Index k=0; k<i; k++)
-        blockA[count++] = lhs(i, k);              // normal
+        blockA[count++] = lhs(i, k);                   // normal
 
       blockA[count++] = numext::real(lhs(i, i));       // real (diagonal)
 
@@ -82,7 +89,8 @@ struct symm_pack_rhs
     Index end_k = k2 + rows;
     Index count = 0;
     const_blas_data_mapper<Scalar,Index,StorageOrder> rhs(_rhs,rhsStride);
-    Index packet_cols = (cols/nr)*nr;
+    Index packet_cols8 = nr>=8 ? (cols/8) * 8 : 0;
+    Index packet_cols4 = nr>=4 ? (cols/4) * 4 : 0;
 
     // first part: normal case
     for(Index j2=0; j2<k2; j2+=nr)
@@ -91,79 +99,151 @@ struct symm_pack_rhs
       {
         blockB[count+0] = rhs(k,j2+0);
         blockB[count+1] = rhs(k,j2+1);
-        if (nr==4)
+        if (nr>=4)
         {
           blockB[count+2] = rhs(k,j2+2);
           blockB[count+3] = rhs(k,j2+3);
         }
+        if (nr>=8)
+        {
+          blockB[count+4] = rhs(k,j2+4);
+          blockB[count+5] = rhs(k,j2+5);
+          blockB[count+6] = rhs(k,j2+6);
+          blockB[count+7] = rhs(k,j2+7);
+        }
         count += nr;
       }
     }
 
     // second part: diagonal block
-    for(Index j2=k2; j2<(std::min)(k2+rows,packet_cols); j2+=nr)
+    Index end8 = nr>=8 ? (std::min)(k2+rows,packet_cols8) : k2;
+    if(nr>=8)
     {
-      // again we can split vertically in three different parts (transpose, symmetric, normal)
-      // transpose
-      for(Index k=k2; k<j2; k++)
+      for(Index j2=k2; j2<end8; j2+=8)
       {
-        blockB[count+0] = numext::conj(rhs(j2+0,k));
-        blockB[count+1] = numext::conj(rhs(j2+1,k));
-        if (nr==4)
+        // again we can split vertically in three different parts (transpose, symmetric, normal)
+        // transpose
+        for(Index k=k2; k<j2; k++)
         {
+          blockB[count+0] = numext::conj(rhs(j2+0,k));
+          blockB[count+1] = numext::conj(rhs(j2+1,k));
           blockB[count+2] = numext::conj(rhs(j2+2,k));
           blockB[count+3] = numext::conj(rhs(j2+3,k));
+          blockB[count+4] = numext::conj(rhs(j2+4,k));
+          blockB[count+5] = numext::conj(rhs(j2+5,k));
+          blockB[count+6] = numext::conj(rhs(j2+6,k));
+          blockB[count+7] = numext::conj(rhs(j2+7,k));
+          count += 8;
         }
-        count += nr;
-      }
-      // symmetric
-      Index h = 0;
-      for(Index k=j2; k<j2+nr; k++)
-      {
-        // normal
-        for (Index w=0 ; w<h; ++w)
-          blockB[count+w] = rhs(k,j2+w);
-
-        blockB[count+h] = numext::real(rhs(k,k));
-
-        // transpose
-        for (Index w=h+1 ; w<nr; ++w)
-          blockB[count+w] = numext::conj(rhs(j2+w,k));
-        count += nr;
-        ++h;
-      }
-      // normal
-      for(Index k=j2+nr; k<end_k; k++)
-      {
-        blockB[count+0] = rhs(k,j2+0);
-        blockB[count+1] = rhs(k,j2+1);
-        if (nr==4)
+        // symmetric
+        Index h = 0;
+        for(Index k=j2; k<j2+8; k++)
         {
+          // normal
+          for (Index w=0 ; w<h; ++w)
+            blockB[count+w] = rhs(k,j2+w);
+
+          blockB[count+h] = numext::real(rhs(k,k));
+
+          // transpose
+          for (Index w=h+1 ; w<8; ++w)
+            blockB[count+w] = numext::conj(rhs(j2+w,k));
+          count += 8;
+          ++h;
+        }
+        // normal
+        for(Index k=j2+8; k<end_k; k++)
+        {
+          blockB[count+0] = rhs(k,j2+0);
+          blockB[count+1] = rhs(k,j2+1);
           blockB[count+2] = rhs(k,j2+2);
           blockB[count+3] = rhs(k,j2+3);
+          blockB[count+4] = rhs(k,j2+4);
+          blockB[count+5] = rhs(k,j2+5);
+          blockB[count+6] = rhs(k,j2+6);
+          blockB[count+7] = rhs(k,j2+7);
+          count += 8;
+        }
+      }
+    }
+    if(nr>=4)
+    {
+      for(Index j2=end8; j2<(std::min)(k2+rows,packet_cols4); j2+=4)
+      {
+        // again we can split vertically in three different parts (transpose, symmetric, normal)
+        // transpose
+        for(Index k=k2; k<j2; k++)
+        {
+          blockB[count+0] = numext::conj(rhs(j2+0,k));
+          blockB[count+1] = numext::conj(rhs(j2+1,k));
+          blockB[count+2] = numext::conj(rhs(j2+2,k));
+          blockB[count+3] = numext::conj(rhs(j2+3,k));
+          count += 4;
+        }
+        // symmetric
+        Index h = 0;
+        for(Index k=j2; k<j2+4; k++)
+        {
+          // normal
+          for (Index w=0 ; w<h; ++w)
+            blockB[count+w] = rhs(k,j2+w);
+
+          blockB[count+h] = numext::real(rhs(k,k));
+
+          // transpose
+          for (Index w=h+1 ; w<4; ++w)
+            blockB[count+w] = numext::conj(rhs(j2+w,k));
+          count += 4;
+          ++h;
+        }
+        // normal
+        for(Index k=j2+4; k<end_k; k++)
+        {
+          blockB[count+0] = rhs(k,j2+0);
+          blockB[count+1] = rhs(k,j2+1);
+          blockB[count+2] = rhs(k,j2+2);
+          blockB[count+3] = rhs(k,j2+3);
+          count += 4;
         }
-        count += nr;
       }
     }
 
     // third part: transposed
-    for(Index j2=k2+rows; j2<packet_cols; j2+=nr)
+    if(nr>=8)
     {
-      for(Index k=k2; k<end_k; k++)
+      for(Index j2=k2+rows; j2<packet_cols8; j2+=8)
       {
-        blockB[count+0] = numext::conj(rhs(j2+0,k));
-        blockB[count+1] = numext::conj(rhs(j2+1,k));
-        if (nr==4)
+        for(Index k=k2; k<end_k; k++)
         {
+          blockB[count+0] = numext::conj(rhs(j2+0,k));
+          blockB[count+1] = numext::conj(rhs(j2+1,k));
           blockB[count+2] = numext::conj(rhs(j2+2,k));
           blockB[count+3] = numext::conj(rhs(j2+3,k));
+          blockB[count+4] = numext::conj(rhs(j2+4,k));
+          blockB[count+5] = numext::conj(rhs(j2+5,k));
+          blockB[count+6] = numext::conj(rhs(j2+6,k));
+          blockB[count+7] = numext::conj(rhs(j2+7,k));
+          count += 8;
+        }
+      }
+    }
+    if(nr>=4)
+    {
+      for(Index j2=(std::max)(packet_cols8,k2+rows); j2<packet_cols4; j2+=4)
+      {
+        for(Index k=k2; k<end_k; k++)
+        {
+          blockB[count+0] = numext::conj(rhs(j2+0,k));
+          blockB[count+1] = numext::conj(rhs(j2+1,k));
+          blockB[count+2] = numext::conj(rhs(j2+2,k));
+          blockB[count+3] = numext::conj(rhs(j2+3,k));
+          count += 4;
         }
-        count += nr;
       }
     }
 
     // copy the remaining columns one at a time (=> the same with nr==1)
-    for(Index j2=packet_cols; j2<cols; ++j2)
+    for(Index j2=packet_cols4; j2<cols; ++j2)
     {
       // transpose
       Index half = (std::min)(end_k,j2);
@@ -211,7 +291,7 @@ struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,LhsSelfAdjoint,Co
     const Scalar* lhs, Index lhsStride,
     const Scalar* rhs, Index rhsStride,
     Scalar* res,       Index resStride,
-    const Scalar& alpha)
+    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     product_selfadjoint_matrix<Scalar, Index,
       EIGEN_LOGICAL_XOR(RhsSelfAdjoint,RhsStorageOrder==RowMajor) ? ColMajor : RowMajor,
@@ -219,7 +299,7 @@ struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,LhsSelfAdjoint,Co
       EIGEN_LOGICAL_XOR(LhsSelfAdjoint,LhsStorageOrder==RowMajor) ? ColMajor : RowMajor,
       LhsSelfAdjoint, NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(LhsSelfAdjoint,ConjugateLhs),
       ColMajor>
-      ::run(cols, rows,  rhs, rhsStride,  lhs, lhsStride,  res, resStride,  alpha);
+      ::run(cols, rows,  rhs, rhsStride,  lhs, lhsStride,  res, resStride,  alpha, blocking);
   }
 };
 
@@ -234,7 +314,7 @@ struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,true,ConjugateLhs
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
     Scalar* res,        Index resStride,
-    const Scalar& alpha);
+    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
 };
 
 template <typename Scalar, typename Index,
@@ -244,33 +324,35 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,t
     Index rows, Index cols,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
-    const Scalar& alpha)
+    Scalar* _res,        Index resStride,
+    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     Index size = rows;
 
-    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
-    const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
-
     typedef gebp_traits<Scalar,Scalar> Traits;
 
-    Index kc = size;  // cache block size along the K direction
-    Index mc = rows;  // cache block size along the M direction
-    Index nc = cols;  // cache block size along the N direction
-    computeProductBlockingSizes<Scalar,Scalar>(kc, mc, nc);
-    // kc must smaller than mc
+    typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
+    typedef const_blas_data_mapper<Scalar, Index, (LhsStorageOrder == RowMajor) ? ColMajor : RowMajor> LhsTransposeMapper;
+    typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    LhsMapper lhs(_lhs,lhsStride);
+    LhsTransposeMapper lhs_transpose(_lhs,lhsStride);
+    RhsMapper rhs(_rhs,rhsStride);
+    ResMapper res(_res, resStride);
+
+    Index kc = blocking.kc();                   // cache block size along the K direction
+    Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
+    // kc must be smaller than mc
     kc = (std::min)(kc,mc);
+    std::size_t sizeA = kc*mc;
+    std::size_t sizeB = kc*cols;
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
 
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
-    std::size_t sizeB = sizeW + kc*cols;
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, kc*mc, 0);
-    ei_declare_aligned_stack_constructed_variable(Scalar, allocatedBlockB, sizeB, 0);
-    Scalar* blockB = allocatedBlockB + sizeW;
-
-    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
     symm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
-    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder==RowMajor?ColMajor:RowMajor, true> pack_lhs_transposed;
+    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
+    gemm_pack_lhs<Scalar, Index, LhsTransposeMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder==RowMajor?ColMajor:RowMajor, true> pack_lhs_transposed;
 
     for(Index k2=0; k2<size; k2+=kc)
     {
@@ -279,7 +361,7 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,t
       // we have selected one row panel of rhs and one column panel of lhs
       // pack rhs's panel into a sequential chunk of memory
       // and expand each coeff to a constant packet for further reuse
-      pack_rhs(blockB, &rhs(k2,0), rhsStride, actual_kc, cols);
+      pack_rhs(blockB, rhs.getSubMapper(k2,0), actual_kc, cols);
 
       // the select lhs's panel has to be split in three different parts:
       //  1 - the transposed panel above the diagonal block => transposed packed copy
@@ -289,9 +371,9 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,t
       {
         const Index actual_mc = (std::min)(i2+mc,k2)-i2;
         // transposed packed copy
-        pack_lhs_transposed(blockA, &lhs(k2, i2), lhsStride, actual_kc, actual_mc);
+        pack_lhs_transposed(blockA, lhs_transpose.getSubMapper(i2, k2), actual_kc, actual_mc);
 
-        gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+        gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
       }
       // the block diagonal
       {
@@ -299,16 +381,16 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,t
         // symmetric packed copy
         pack_lhs(blockA, &lhs(k2,k2), lhsStride, actual_kc, actual_mc);
 
-        gebp_kernel(res+k2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+        gebp_kernel(res.getSubMapper(k2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
       }
 
       for(Index i2=k2+kc; i2<size; i2+=mc)
       {
         const Index actual_mc = (std::min)(i2+mc,size)-i2;
-        gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder,false>()
-          (blockA, &lhs(i2, k2), lhsStride, actual_kc, actual_mc);
+        gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder,false>()
+          (blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc);
 
-        gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+        gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
       }
     }
   }
@@ -325,7 +407,7 @@ struct product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,false,ConjugateLh
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
     Scalar* res,        Index resStride,
-    const Scalar& alpha);
+    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking);
 };
 
 template <typename Scalar, typename Index,
@@ -335,27 +417,27 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,f
     Index rows, Index cols,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
-    const Scalar& alpha)
+    Scalar* _res,        Index resStride,
+    const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     Index size = cols;
 
-    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
-
     typedef gebp_traits<Scalar,Scalar> Traits;
 
-    Index kc = size; // cache block size along the K direction
-    Index mc = rows;  // cache block size along the M direction
-    Index nc = cols;  // cache block size along the N direction
-    computeProductBlockingSizes<Scalar,Scalar>(kc, mc, nc);
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
-    std::size_t sizeB = sizeW + kc*cols;
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, kc*mc, 0);
-    ei_declare_aligned_stack_constructed_variable(Scalar, allocatedBlockB, sizeB, 0);
-    Scalar* blockB = allocatedBlockB + sizeW;
+    typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    LhsMapper lhs(_lhs,lhsStride);
+    ResMapper res(_res,resStride);
 
-    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    Index kc = blocking.kc();                   // cache block size along the K direction
+    Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
+    std::size_t sizeA = kc*mc;
+    std::size_t sizeB = kc*cols;
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
+    ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
+
+    gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
     symm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
 
     for(Index k2=0; k2<size; k2+=kc)
@@ -368,9 +450,9 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,f
       for(Index i2=0; i2<rows; i2+=mc)
       {
         const Index actual_mc = (std::min)(i2+mc,rows)-i2;
-        pack_lhs(blockA, &lhs(i2, k2), lhsStride, actual_kc, actual_mc);
+        pack_lhs(blockA, lhs.getSubMapper(i2, k2), actual_kc, actual_mc);
 
-        gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha);
+        gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, alpha);
       }
     }
   }
@@ -382,55 +464,58 @@ EIGEN_DONT_INLINE void product_selfadjoint_matrix<Scalar,Index,LhsStorageOrder,f
 ***************************************************************************/
 
 namespace internal {
+  
 template<typename Lhs, int LhsMode, typename Rhs, int RhsMode>
-struct traits<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false> >
-  : traits<ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false>, Lhs, Rhs> >
-{};
-}
-
-template<typename Lhs, int LhsMode, typename Rhs, int RhsMode>
-struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false>
-  : public ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,RhsMode,false>, Lhs, Rhs >
+struct selfadjoint_product_impl<Lhs,LhsMode,false,Rhs,RhsMode,false>
 {
-  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
-
-  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
-
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  typedef internal::blas_traits<Lhs> LhsBlasTraits;
+  typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+  typedef internal::blas_traits<Rhs> RhsBlasTraits;
+  typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+  
   enum {
     LhsIsUpper = (LhsMode&(Upper|Lower))==Upper,
     LhsIsSelfAdjoint = (LhsMode&SelfAdjoint)==SelfAdjoint,
     RhsIsUpper = (RhsMode&(Upper|Lower))==Upper,
     RhsIsSelfAdjoint = (RhsMode&SelfAdjoint)==SelfAdjoint
   };
-
-  template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
+  
+  template<typename Dest>
+  static void run(Dest &dst, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
   {
-    eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+    eigen_assert(dst.rows()==a_lhs.rows() && dst.cols()==a_rhs.cols());
 
-    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(m_lhs);
-    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(m_rhs);
+    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
+    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
 
-    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
-                               * RhsBlasTraits::extractScalarFactor(m_rhs);
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
+                               * RhsBlasTraits::extractScalarFactor(a_rhs);
+
+    typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
+              Lhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxColsAtCompileTime,1> BlockingType;
+
+    BlockingType blocking(lhs.rows(), rhs.cols(), lhs.cols(), 1, false);
 
     internal::product_selfadjoint_matrix<Scalar, Index,
-      EIGEN_LOGICAL_XOR(LhsIsUpper,
-                        internal::traits<Lhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, LhsIsSelfAdjoint,
+      EIGEN_LOGICAL_XOR(LhsIsUpper,internal::traits<Lhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, LhsIsSelfAdjoint,
       NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(LhsIsUpper,bool(LhsBlasTraits::NeedToConjugate)),
-      EIGEN_LOGICAL_XOR(RhsIsUpper,
-                        internal::traits<Rhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, RhsIsSelfAdjoint,
+      EIGEN_LOGICAL_XOR(RhsIsUpper,internal::traits<Rhs>::Flags &RowMajorBit) ? RowMajor : ColMajor, RhsIsSelfAdjoint,
       NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(RhsIsUpper,bool(RhsBlasTraits::NeedToConjugate)),
       internal::traits<Dest>::Flags&RowMajorBit  ? RowMajor : ColMajor>
       ::run(
         lhs.rows(), rhs.cols(),                 // sizes
-        &lhs.coeffRef(0,0),    lhs.outerStride(),  // lhs info
-        &rhs.coeffRef(0,0),    rhs.outerStride(),  // rhs info
+        &lhs.coeffRef(0,0), lhs.outerStride(),  // lhs info
+        &rhs.coeffRef(0,0), rhs.outerStride(),  // rhs info
         &dst.coeffRef(0,0), dst.outerStride(),  // result info
-        actualAlpha                             // alpha
+        actualAlpha, blocking                   // alpha
       );
   }
 };
 
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SELFADJOINT_MATRIX_MATRIX_H
diff --git a/eigenlib/Eigen/src/Core/products/SelfadjointMatrixMatrix_MKL.h b/eigenlib/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h
similarity index 68%
rename from eigenlib/Eigen/src/Core/products/SelfadjointMatrixMatrix_MKL.h
rename to eigenlib/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h
index dfa687fe..a45238d6 100644
--- a/eigenlib/Eigen/src/Core/products/SelfadjointMatrixMatrix_MKL.h
+++ b/eigenlib/Eigen/src/Core/products/SelfadjointMatrixMatrix_BLAS.h
@@ -25,13 +25,13 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 //
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to BLAS F77
  *   Self adjoint matrix * matrix product functionality based on ?SYMM/?HEMM.
  ********************************************************************************
 */
 
-#ifndef EIGEN_SELFADJOINT_MATRIX_MATRIX_MKL_H
-#define EIGEN_SELFADJOINT_MATRIX_MATRIX_MKL_H
+#ifndef EIGEN_SELFADJOINT_MATRIX_MATRIX_BLAS_H
+#define EIGEN_SELFADJOINT_MATRIX_MATRIX_BLAS_H
 
 namespace Eigen { 
 
@@ -40,7 +40,7 @@ namespace internal {
 
 /* Optimized selfadjoint matrix * matrix (?SYMM/?HEMM) product */
 
-#define EIGEN_MKL_SYMM_L(EIGTYPE, MKLTYPE, EIGPREFIX, MKLPREFIX) \
+#define EIGEN_BLAS_SYMM_L(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
 template <typename Index, \
           int LhsStorageOrder, bool ConjugateLhs, \
           int RhsStorageOrder, bool ConjugateRhs> \
@@ -52,28 +52,23 @@ struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,true,ConjugateLh
     const EIGTYPE* _lhs, Index lhsStride, \
     const EIGTYPE* _rhs, Index rhsStride, \
     EIGTYPE* res,        Index resStride, \
-    EIGTYPE alpha) \
+    EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
   { \
     char side='L', uplo='L'; \
-    MKL_INT m, n, lda, ldb, ldc; \
+    BlasIndex m, n, lda, ldb, ldc; \
     const EIGTYPE *a, *b; \
-    MKLTYPE alpha_, beta_; \
+    EIGTYPE beta(1); \
     MatrixX##EIGPREFIX b_tmp; \
-    EIGTYPE myone(1);\
 \
 /* Set transpose options */ \
 /* Set m, n, k */ \
-    m = (MKL_INT)rows;  \
-    n = (MKL_INT)cols;  \
-\
-/* Set alpha_ & beta_ */ \
-    assign_scalar_eig2mkl(alpha_, alpha); \
-    assign_scalar_eig2mkl(beta_, myone); \
+    m = convert_index<BlasIndex>(rows);  \
+    n = convert_index<BlasIndex>(cols);  \
 \
 /* Set lda, ldb, ldc */ \
-    lda = (MKL_INT)lhsStride; \
-    ldb = (MKL_INT)rhsStride; \
-    ldc = (MKL_INT)resStride; \
+    lda = convert_index<BlasIndex>(lhsStride); \
+    ldb = convert_index<BlasIndex>(rhsStride); \
+    ldc = convert_index<BlasIndex>(resStride); \
 \
 /* Set a, b, c */ \
     if (LhsStorageOrder==RowMajor) uplo='U'; \
@@ -83,16 +78,16 @@ struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,true,ConjugateLh
       Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > rhs(_rhs,n,m,OuterStride<>(rhsStride)); \
       b_tmp = rhs.adjoint(); \
       b = b_tmp.data(); \
-      ldb = b_tmp.outerStride(); \
+      ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
     } else b = _rhs; \
 \
-    MKLPREFIX##symm(&side, &uplo, &m, &n, &alpha_, (const MKLTYPE*)a, &lda, (const MKLTYPE*)b, &ldb, &beta_, (MKLTYPE*)res, &ldc); \
+    BLASPREFIX##symm_(&side, &uplo, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
 \
   } \
 };
 
 
-#define EIGEN_MKL_HEMM_L(EIGTYPE, MKLTYPE, EIGPREFIX, MKLPREFIX) \
+#define EIGEN_BLAS_HEMM_L(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
 template <typename Index, \
           int LhsStorageOrder, bool ConjugateLhs, \
           int RhsStorageOrder, bool ConjugateRhs> \
@@ -103,36 +98,31 @@ struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,true,ConjugateLh
     const EIGTYPE* _lhs, Index lhsStride, \
     const EIGTYPE* _rhs, Index rhsStride, \
     EIGTYPE* res,        Index resStride, \
-    EIGTYPE alpha) \
+    EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
   { \
     char side='L', uplo='L'; \
-    MKL_INT m, n, lda, ldb, ldc; \
+    BlasIndex m, n, lda, ldb, ldc; \
     const EIGTYPE *a, *b; \
-    MKLTYPE alpha_, beta_; \
+    EIGTYPE beta(1); \
     MatrixX##EIGPREFIX b_tmp; \
     Matrix<EIGTYPE, Dynamic, Dynamic, LhsStorageOrder> a_tmp; \
-    EIGTYPE myone(1); \
 \
 /* Set transpose options */ \
 /* Set m, n, k */ \
-    m = (MKL_INT)rows; \
-    n = (MKL_INT)cols; \
-\
-/* Set alpha_ & beta_ */ \
-    assign_scalar_eig2mkl(alpha_, alpha); \
-    assign_scalar_eig2mkl(beta_, myone); \
+    m = convert_index<BlasIndex>(rows); \
+    n = convert_index<BlasIndex>(cols); \
 \
 /* Set lda, ldb, ldc */ \
-    lda = (MKL_INT)lhsStride; \
-    ldb = (MKL_INT)rhsStride; \
-    ldc = (MKL_INT)resStride; \
+    lda = convert_index<BlasIndex>(lhsStride); \
+    ldb = convert_index<BlasIndex>(rhsStride); \
+    ldc = convert_index<BlasIndex>(resStride); \
 \
 /* Set a, b, c */ \
     if (((LhsStorageOrder==ColMajor) && ConjugateLhs) || ((LhsStorageOrder==RowMajor) && (!ConjugateLhs))) { \
       Map<const Matrix<EIGTYPE, Dynamic, Dynamic, LhsStorageOrder>, 0, OuterStride<> > lhs(_lhs,m,m,OuterStride<>(lhsStride)); \
       a_tmp = lhs.conjugate(); \
       a = a_tmp.data(); \
-      lda = a_tmp.outerStride(); \
+      lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
     } else a = _lhs; \
     if (LhsStorageOrder==RowMajor) uplo='U'; \
 \
@@ -151,23 +141,23 @@ struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,true,ConjugateLh
         b_tmp = rhs.transpose(); \
       } \
       b = b_tmp.data(); \
-      ldb = b_tmp.outerStride(); \
+      ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
     } \
 \
-    MKLPREFIX##hemm(&side, &uplo, &m, &n, &alpha_, (const MKLTYPE*)a, &lda, (const MKLTYPE*)b, &ldb, &beta_, (MKLTYPE*)res, &ldc); \
+    BLASPREFIX##hemm_(&side, &uplo, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
 \
   } \
 };
 
-EIGEN_MKL_SYMM_L(double, double, d, d)
-EIGEN_MKL_SYMM_L(float, float, f, s)
-EIGEN_MKL_HEMM_L(dcomplex, MKL_Complex16, cd, z)
-EIGEN_MKL_HEMM_L(scomplex, MKL_Complex8, cf, c)
+EIGEN_BLAS_SYMM_L(double, double, d, d)
+EIGEN_BLAS_SYMM_L(float, float, f, s)
+EIGEN_BLAS_HEMM_L(dcomplex, double, cd, z)
+EIGEN_BLAS_HEMM_L(scomplex, float, cf, c)
 
 
 /* Optimized matrix * selfadjoint matrix (?SYMM/?HEMM) product */
 
-#define EIGEN_MKL_SYMM_R(EIGTYPE, MKLTYPE, EIGPREFIX, MKLPREFIX) \
+#define EIGEN_BLAS_SYMM_R(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
 template <typename Index, \
           int LhsStorageOrder, bool ConjugateLhs, \
           int RhsStorageOrder, bool ConjugateRhs> \
@@ -179,27 +169,22 @@ struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,false,ConjugateL
     const EIGTYPE* _lhs, Index lhsStride, \
     const EIGTYPE* _rhs, Index rhsStride, \
     EIGTYPE* res,        Index resStride, \
-    EIGTYPE alpha) \
+    EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
   { \
     char side='R', uplo='L'; \
-    MKL_INT m, n, lda, ldb, ldc; \
+    BlasIndex m, n, lda, ldb, ldc; \
     const EIGTYPE *a, *b; \
-    MKLTYPE alpha_, beta_; \
+    EIGTYPE beta(1); \
     MatrixX##EIGPREFIX b_tmp; \
-    EIGTYPE myone(1);\
 \
 /* Set m, n, k */ \
-    m = (MKL_INT)rows;  \
-    n = (MKL_INT)cols;  \
-\
-/* Set alpha_ & beta_ */ \
-    assign_scalar_eig2mkl(alpha_, alpha); \
-    assign_scalar_eig2mkl(beta_, myone); \
+    m = convert_index<BlasIndex>(rows);  \
+    n = convert_index<BlasIndex>(cols);  \
 \
 /* Set lda, ldb, ldc */ \
-    lda = (MKL_INT)rhsStride; \
-    ldb = (MKL_INT)lhsStride; \
-    ldc = (MKL_INT)resStride; \
+    lda = convert_index<BlasIndex>(rhsStride); \
+    ldb = convert_index<BlasIndex>(lhsStride); \
+    ldc = convert_index<BlasIndex>(resStride); \
 \
 /* Set a, b, c */ \
     if (RhsStorageOrder==RowMajor) uplo='U'; \
@@ -209,16 +194,16 @@ struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,false,ConjugateL
       Map<const MatrixX##EIGPREFIX, 0, OuterStride<> > lhs(_lhs,n,m,OuterStride<>(rhsStride)); \
       b_tmp = lhs.adjoint(); \
       b = b_tmp.data(); \
-      ldb = b_tmp.outerStride(); \
+      ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
     } else b = _lhs; \
 \
-    MKLPREFIX##symm(&side, &uplo, &m, &n, &alpha_, (const MKLTYPE*)a, &lda, (const MKLTYPE*)b, &ldb, &beta_, (MKLTYPE*)res, &ldc); \
+    BLASPREFIX##symm_(&side, &uplo, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
 \
   } \
 };
 
 
-#define EIGEN_MKL_HEMM_R(EIGTYPE, MKLTYPE, EIGPREFIX, MKLPREFIX) \
+#define EIGEN_BLAS_HEMM_R(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
 template <typename Index, \
           int LhsStorageOrder, bool ConjugateLhs, \
           int RhsStorageOrder, bool ConjugateRhs> \
@@ -229,35 +214,30 @@ struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,false,ConjugateL
     const EIGTYPE* _lhs, Index lhsStride, \
     const EIGTYPE* _rhs, Index rhsStride, \
     EIGTYPE* res,        Index resStride, \
-    EIGTYPE alpha) \
+    EIGTYPE alpha, level3_blocking<EIGTYPE, EIGTYPE>& /*blocking*/) \
   { \
     char side='R', uplo='L'; \
-    MKL_INT m, n, lda, ldb, ldc; \
+    BlasIndex m, n, lda, ldb, ldc; \
     const EIGTYPE *a, *b; \
-    MKLTYPE alpha_, beta_; \
+    EIGTYPE beta(1); \
     MatrixX##EIGPREFIX b_tmp; \
     Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder> a_tmp; \
-    EIGTYPE myone(1); \
 \
 /* Set m, n, k */ \
-    m = (MKL_INT)rows; \
-    n = (MKL_INT)cols; \
-\
-/* Set alpha_ & beta_ */ \
-    assign_scalar_eig2mkl(alpha_, alpha); \
-    assign_scalar_eig2mkl(beta_, myone); \
+    m = convert_index<BlasIndex>(rows); \
+    n = convert_index<BlasIndex>(cols); \
 \
 /* Set lda, ldb, ldc */ \
-    lda = (MKL_INT)rhsStride; \
-    ldb = (MKL_INT)lhsStride; \
-    ldc = (MKL_INT)resStride; \
+    lda = convert_index<BlasIndex>(rhsStride); \
+    ldb = convert_index<BlasIndex>(lhsStride); \
+    ldc = convert_index<BlasIndex>(resStride); \
 \
 /* Set a, b, c */ \
     if (((RhsStorageOrder==ColMajor) && ConjugateRhs) || ((RhsStorageOrder==RowMajor) && (!ConjugateRhs))) { \
       Map<const Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder>, 0, OuterStride<> > rhs(_rhs,n,n,OuterStride<>(rhsStride)); \
       a_tmp = rhs.conjugate(); \
       a = a_tmp.data(); \
-      lda = a_tmp.outerStride(); \
+      lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
     } else a = _rhs; \
     if (RhsStorageOrder==RowMajor) uplo='U'; \
 \
@@ -276,20 +256,20 @@ struct product_selfadjoint_matrix<EIGTYPE,Index,LhsStorageOrder,false,ConjugateL
         b_tmp = lhs.transpose(); \
       } \
       b = b_tmp.data(); \
-      ldb = b_tmp.outerStride(); \
+      ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
     } \
 \
-    MKLPREFIX##hemm(&side, &uplo, &m, &n, &alpha_, (const MKLTYPE*)a, &lda, (const MKLTYPE*)b, &ldb, &beta_, (MKLTYPE*)res, &ldc); \
+    BLASPREFIX##hemm_(&side, &uplo, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)b, &ldb, &numext::real_ref(beta), (BLASTYPE*)res, &ldc); \
   } \
 };
 
-EIGEN_MKL_SYMM_R(double, double, d, d)
-EIGEN_MKL_SYMM_R(float, float, f, s)
-EIGEN_MKL_HEMM_R(dcomplex, MKL_Complex16, cd, z)
-EIGEN_MKL_HEMM_R(scomplex, MKL_Complex8, cf, c)
+EIGEN_BLAS_SYMM_R(double, double, d, d)
+EIGEN_BLAS_SYMM_R(float, float, f, s)
+EIGEN_BLAS_HEMM_R(dcomplex, double, cd, z)
+EIGEN_BLAS_HEMM_R(scomplex, float, cf, c)
 
 } // end namespace internal
 
 } // end namespace Eigen
 
-#endif // EIGEN_SELFADJOINT_MATRIX_MATRIX_MKL_H
+#endif // EIGEN_SELFADJOINT_MATRIX_MATRIX_BLAS_H
diff --git a/eigenlib/Eigen/src/Core/products/SelfadjointMatrixVector.h b/eigenlib/Eigen/src/Core/products/SelfadjointMatrixVector.h
index f698f67f..d97f8caa 100644
--- a/eigenlib/Eigen/src/Core/products/SelfadjointMatrixVector.h
+++ b/eigenlib/Eigen/src/Core/products/SelfadjointMatrixVector.h
@@ -30,7 +30,7 @@ struct selfadjoint_matrix_vector_product
 static EIGEN_DONT_INLINE void run(
   Index size,
   const Scalar*  lhs, Index lhsStride,
-  const Scalar* _rhs, Index rhsIncr,
+  const Scalar*  rhs,
   Scalar* res,
   Scalar alpha);
 };
@@ -39,11 +39,12 @@ template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool Conju
 EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,Version>::run(
   Index size,
   const Scalar*  lhs, Index lhsStride,
-  const Scalar* _rhs, Index rhsIncr,
+  const Scalar*  rhs,
   Scalar* res,
   Scalar alpha)
 {
   typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
   const Index PacketSize = sizeof(Packet)/sizeof(Scalar);
 
   enum {
@@ -54,23 +55,13 @@ EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrd
 
   conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs,  IsRowMajor), ConjugateRhs> cj0;
   conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> cj1;
-  conj_helper<Scalar,Scalar,NumTraits<Scalar>::IsComplex, ConjugateRhs> cjd;
+  conj_helper<RealScalar,Scalar,false, ConjugateRhs> cjd;
 
   conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs,  IsRowMajor), ConjugateRhs> pcj0;
   conj_helper<Packet,Packet,NumTraits<Scalar>::IsComplex && EIGEN_LOGICAL_XOR(ConjugateLhs, !IsRowMajor), ConjugateRhs> pcj1;
 
   Scalar cjAlpha = ConjugateRhs ? numext::conj(alpha) : alpha;
 
-  // FIXME this copy is now handled outside product_selfadjoint_vector, so it could probably be removed.
-  // if the rhs is not sequentially stored in memory we copy it to a temporary buffer,
-  // this is because we need to extract packets
-  ei_declare_aligned_stack_constructed_variable(Scalar,rhs,size,rhsIncr==1 ? const_cast<Scalar*>(_rhs) : 0);  
-  if (rhsIncr!=1)
-  {
-    const Scalar* it = _rhs;
-    for (Index i=0; i<size; ++i, it+=rhsIncr)
-      rhs[i] = *it;
-  }
 
   Index bound = (std::max)(Index(0),size-8) & 0xfffffffe;
   if (FirstTriangular)
@@ -94,10 +85,9 @@ EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrd
 
     size_t starti = FirstTriangular ? 0 : j+2;
     size_t endi   = FirstTriangular ? j : size;
-    size_t alignedStart = (starti) + internal::first_aligned(&res[starti], endi-starti);
+    size_t alignedStart = (starti) + internal::first_default_aligned(&res[starti], endi-starti);
     size_t alignedEnd = alignedStart + ((endi-alignedStart)/(PacketSize))*(PacketSize);
 
-    // TODO make sure this product is a real * complex and that the rhs is properly conjugated if needed
     res[j]   += cjd.pmul(numext::real(A0[j]), t0);
     res[j+1] += cjd.pmul(numext::real(A1[j+1]), t1);
     if(FirstTriangular)
@@ -113,9 +103,9 @@ EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrd
 
     for (size_t i=starti; i<alignedStart; ++i)
     {
-      res[i] += t0 * A0[i] + t1 * A1[i];
-      t2 += numext::conj(A0[i]) * rhs[i];
-      t3 += numext::conj(A1[i]) * rhs[i];
+      res[i] += cj0.pmul(A0[i], t0) + cj0.pmul(A1[i],t1);
+      t2 += cj1.pmul(A0[i], rhs[i]);
+      t3 += cj1.pmul(A1[i], rhs[i]);
     }
     // Yes this an optimization for gcc 4.3 and 4.4 (=> huge speed up)
     // gcc 4.2 does this optimization automatically.
@@ -151,7 +141,6 @@ EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrd
 
     Scalar t1 = cjAlpha * rhs[j];
     Scalar t2(0);
-    // TODO make sure this product is a real * complex and that the rhs is properly conjugated if needed
     res[j] += cjd.pmul(numext::real(A0[j]), t1);
     for (Index i=FirstTriangular ? 0 : j+1; i<(FirstTriangular ? j : size); i++)
     {
@@ -169,45 +158,44 @@ EIGEN_DONT_INLINE void selfadjoint_matrix_vector_product<Scalar,Index,StorageOrd
 ***************************************************************************/
 
 namespace internal {
-template<typename Lhs, int LhsMode, typename Rhs>
-struct traits<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true> >
-  : traits<ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>, Lhs, Rhs> >
-{};
-}
 
 template<typename Lhs, int LhsMode, typename Rhs>
-struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>
-  : public ProductBase<SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>, Lhs, Rhs >
+struct selfadjoint_product_impl<Lhs,LhsMode,false,Rhs,0,true>
 {
-  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  typedef internal::blas_traits<Lhs> LhsBlasTraits;
+  typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+  typedef typename internal::remove_all<ActualLhsType>::type ActualLhsTypeCleaned;
+  
+  typedef internal::blas_traits<Rhs> RhsBlasTraits;
+  typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+  typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
 
-  enum {
-    LhsUpLo = LhsMode&(Upper|Lower)
-  };
+  enum { LhsUpLo = LhsMode&(Upper|Lower) };
 
-  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
-
-  template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
+  template<typename Dest>
+  static void run(Dest& dest, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
   {
     typedef typename Dest::Scalar ResScalar;
-    typedef typename Base::RhsScalar RhsScalar;
-    typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
+    typedef typename Rhs::Scalar RhsScalar;
+    typedef Map<Matrix<ResScalar,Dynamic,1>, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits<ResScalar>::size)> MappedDest;
     
-    eigen_assert(dest.rows()==m_lhs.rows() && dest.cols()==m_rhs.cols());
+    eigen_assert(dest.rows()==a_lhs.rows() && dest.cols()==a_rhs.cols());
 
-    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(m_lhs);
-    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(m_rhs);
+    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
+    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
 
-    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
-                               * RhsBlasTraits::extractScalarFactor(m_rhs);
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
+                               * RhsBlasTraits::extractScalarFactor(a_rhs);
 
     enum {
       EvalToDest = (Dest::InnerStrideAtCompileTime==1),
-      UseRhs = (_ActualRhsType::InnerStrideAtCompileTime==1)
+      UseRhs = (ActualRhsTypeCleaned::InnerStrideAtCompileTime==1)
     };
     
     internal::gemv_static_vector_if<ResScalar,Dest::SizeAtCompileTime,Dest::MaxSizeAtCompileTime,!EvalToDest> static_dest;
-    internal::gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!UseRhs> static_rhs;
+    internal::gemv_static_vector_if<RhsScalar,ActualRhsTypeCleaned::SizeAtCompileTime,ActualRhsTypeCleaned::MaxSizeAtCompileTime,!UseRhs> static_rhs;
 
     ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
                                                   EvalToDest ? dest.data() : static_dest.data());
@@ -218,7 +206,7 @@ struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>
     if(!EvalToDest)
     {
       #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      int size = dest.size();
+      Index size = dest.size();
       EIGEN_DENSE_STORAGE_CTOR_PLUGIN
       #endif
       MappedDest(actualDestPtr, dest.size()) = dest;
@@ -227,18 +215,19 @@ struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>
     if(!UseRhs)
     {
       #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      int size = rhs.size();
+      Index size = rhs.size();
       EIGEN_DENSE_STORAGE_CTOR_PLUGIN
       #endif
-      Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, rhs.size()) = rhs;
+      Map<typename ActualRhsTypeCleaned::PlainObject>(actualRhsPtr, rhs.size()) = rhs;
     }
       
       
-    internal::selfadjoint_matrix_vector_product<Scalar, Index, (internal::traits<_ActualLhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, int(LhsUpLo), bool(LhsBlasTraits::NeedToConjugate), bool(RhsBlasTraits::NeedToConjugate)>::run
+    internal::selfadjoint_matrix_vector_product<Scalar, Index, (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor,
+                                                int(LhsUpLo), bool(LhsBlasTraits::NeedToConjugate), bool(RhsBlasTraits::NeedToConjugate)>::run
       (
         lhs.rows(),                             // size
         &lhs.coeffRef(0,0),  lhs.outerStride(), // lhs info
-        actualRhsPtr, 1,                        // rhs info
+        actualRhsPtr,                           // rhs info
         actualDestPtr,                          // result info
         actualAlpha                             // scale factor
       );
@@ -248,34 +237,24 @@ struct SelfadjointProductMatrix<Lhs,LhsMode,false,Rhs,0,true>
   }
 };
 
-namespace internal {
 template<typename Lhs, typename Rhs, int RhsMode>
-struct traits<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false> >
-  : traits<ProductBase<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>, Lhs, Rhs> >
-{};
-}
-
-template<typename Lhs, typename Rhs, int RhsMode>
-struct SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>
-  : public ProductBase<SelfadjointProductMatrix<Lhs,0,true,Rhs,RhsMode,false>, Lhs, Rhs >
+struct selfadjoint_product_impl<Lhs,0,true,Rhs,RhsMode,false>
 {
-  EIGEN_PRODUCT_PUBLIC_INTERFACE(SelfadjointProductMatrix)
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  enum { RhsUpLo = RhsMode&(Upper|Lower)  };
 
-  enum {
-    RhsUpLo = RhsMode&(Upper|Lower)
-  };
-
-  SelfadjointProductMatrix(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
-
-  template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
+  template<typename Dest>
+  static void run(Dest& dest, const Lhs &a_lhs, const Rhs &a_rhs, const Scalar& alpha)
   {
     // let's simply transpose the product
     Transpose<Dest> destT(dest);
-    SelfadjointProductMatrix<Transpose<const Rhs>, int(RhsUpLo)==Upper ? Lower : Upper, false,
-                             Transpose<const Lhs>, 0, true>(m_rhs.transpose(), m_lhs.transpose()).scaleAndAddTo(destT, alpha);
+    selfadjoint_product_impl<Transpose<const Rhs>, int(RhsUpLo)==Upper ? Lower : Upper, false,
+                             Transpose<const Lhs>, 0, true>::run(destT, a_rhs.transpose(), a_lhs.transpose(), alpha);
   }
 };
 
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SELFADJOINT_MATRIX_VECTOR_H
diff --git a/eigenlib/Eigen/src/Core/products/SelfadjointMatrixVector_MKL.h b/eigenlib/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h
similarity index 72%
rename from eigenlib/Eigen/src/Core/products/SelfadjointMatrixVector_MKL.h
rename to eigenlib/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h
index 86684b66..38f23acc 100644
--- a/eigenlib/Eigen/src/Core/products/SelfadjointMatrixVector_MKL.h
+++ b/eigenlib/Eigen/src/Core/products/SelfadjointMatrixVector_BLAS.h
@@ -25,13 +25,13 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to BLAS F77
  *   Selfadjoint matrix-vector product functionality based on ?SYMV/HEMV.
  ********************************************************************************
 */
 
-#ifndef EIGEN_SELFADJOINT_MATRIX_VECTOR_MKL_H
-#define EIGEN_SELFADJOINT_MATRIX_VECTOR_MKL_H
+#ifndef EIGEN_SELFADJOINT_MATRIX_VECTOR_BLAS_H
+#define EIGEN_SELFADJOINT_MATRIX_VECTOR_BLAS_H
 
 namespace Eigen { 
 
@@ -47,31 +47,31 @@ template<typename Scalar, typename Index, int StorageOrder, int UpLo, bool Conju
 struct selfadjoint_matrix_vector_product_symv :
   selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,BuiltIn> {};
 
-#define EIGEN_MKL_SYMV_SPECIALIZE(Scalar) \
+#define EIGEN_BLAS_SYMV_SPECIALIZE(Scalar) \
 template<typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs> \
 struct selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,Specialized> { \
 static void run( \
   Index size, const Scalar*  lhs, Index lhsStride, \
-  const Scalar* _rhs, Index rhsIncr, Scalar* res, Scalar alpha) { \
+  const Scalar* _rhs, Scalar* res, Scalar alpha) { \
     enum {\
       IsColMajor = StorageOrder==ColMajor \
     }; \
     if (IsColMajor == ConjugateLhs) {\
       selfadjoint_matrix_vector_product<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs,BuiltIn>::run( \
-        size, lhs, lhsStride, _rhs, rhsIncr, res, alpha);  \
+        size, lhs, lhsStride, _rhs, res, alpha);  \
     } else {\
       selfadjoint_matrix_vector_product_symv<Scalar,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs>::run( \
-        size, lhs, lhsStride, _rhs, rhsIncr, res, alpha);  \
+        size, lhs, lhsStride, _rhs, res, alpha);  \
     }\
   } \
 }; \
 
-EIGEN_MKL_SYMV_SPECIALIZE(double)
-EIGEN_MKL_SYMV_SPECIALIZE(float)
-EIGEN_MKL_SYMV_SPECIALIZE(dcomplex)
-EIGEN_MKL_SYMV_SPECIALIZE(scomplex)
+EIGEN_BLAS_SYMV_SPECIALIZE(double)
+EIGEN_BLAS_SYMV_SPECIALIZE(float)
+EIGEN_BLAS_SYMV_SPECIALIZE(dcomplex)
+EIGEN_BLAS_SYMV_SPECIALIZE(scomplex)
 
-#define EIGEN_MKL_SYMV_SPECIALIZATION(EIGTYPE,MKLTYPE,MKLFUNC) \
+#define EIGEN_BLAS_SYMV_SPECIALIZATION(EIGTYPE,BLASTYPE,BLASFUNC) \
 template<typename Index, int StorageOrder, int UpLo, bool ConjugateLhs, bool ConjugateRhs> \
 struct selfadjoint_matrix_vector_product_symv<EIGTYPE,Index,StorageOrder,UpLo,ConjugateLhs,ConjugateRhs> \
 { \
@@ -79,36 +79,33 @@ typedef Matrix<EIGTYPE,Dynamic,1,ColMajor> SYMVVector;\
 \
 static void run( \
 Index size, const EIGTYPE*  lhs, Index lhsStride, \
-const EIGTYPE* _rhs, Index rhsIncr, EIGTYPE* res, EIGTYPE alpha) \
+const EIGTYPE* _rhs, EIGTYPE* res, EIGTYPE alpha) \
 { \
   enum {\
     IsRowMajor = StorageOrder==RowMajor ? 1 : 0, \
     IsLower = UpLo == Lower ? 1 : 0 \
   }; \
-  MKL_INT n=size, lda=lhsStride, incx=rhsIncr, incy=1; \
-  MKLTYPE alpha_, beta_; \
-  const EIGTYPE *x_ptr, myone(1); \
+  BlasIndex n=convert_index<BlasIndex>(size), lda=convert_index<BlasIndex>(lhsStride), incx=1, incy=1; \
+  EIGTYPE beta(1); \
+  const EIGTYPE *x_ptr; \
   char uplo=(IsRowMajor) ? (IsLower ? 'U' : 'L') : (IsLower ? 'L' : 'U'); \
-  assign_scalar_eig2mkl(alpha_, alpha); \
-  assign_scalar_eig2mkl(beta_, myone); \
   SYMVVector x_tmp; \
   if (ConjugateRhs) { \
-    Map<const SYMVVector, 0, InnerStride<> > map_x(_rhs,size,1,InnerStride<>(incx)); \
+    Map<const SYMVVector, 0 > map_x(_rhs,size,1); \
     x_tmp=map_x.conjugate(); \
     x_ptr=x_tmp.data(); \
-    incx=1; \
   } else x_ptr=_rhs; \
-  MKLFUNC(&uplo, &n, &alpha_, (const MKLTYPE*)lhs, &lda, (const MKLTYPE*)x_ptr, &incx, &beta_, (MKLTYPE*)res, &incy); \
+  BLASFUNC(&uplo, &n, &numext::real_ref(alpha), (const BLASTYPE*)lhs, &lda, (const BLASTYPE*)x_ptr, &incx, &numext::real_ref(beta), (BLASTYPE*)res, &incy); \
 }\
 };
 
-EIGEN_MKL_SYMV_SPECIALIZATION(double,   double,        dsymv)
-EIGEN_MKL_SYMV_SPECIALIZATION(float,    float,         ssymv)
-EIGEN_MKL_SYMV_SPECIALIZATION(dcomplex, MKL_Complex16, zhemv)
-EIGEN_MKL_SYMV_SPECIALIZATION(scomplex, MKL_Complex8,  chemv)
+EIGEN_BLAS_SYMV_SPECIALIZATION(double,   double, dsymv_)
+EIGEN_BLAS_SYMV_SPECIALIZATION(float,    float,  ssymv_)
+EIGEN_BLAS_SYMV_SPECIALIZATION(dcomplex, double, zhemv_)
+EIGEN_BLAS_SYMV_SPECIALIZATION(scomplex, float,  chemv_)
 
 } // end namespace internal
 
 } // end namespace Eigen
 
-#endif // EIGEN_SELFADJOINT_MATRIX_VECTOR_MKL_H
+#endif // EIGEN_SELFADJOINT_MATRIX_VECTOR_BLAS_H
diff --git a/eigenlib/Eigen/src/Core/products/SelfadjointProduct.h b/eigenlib/Eigen/src/Core/products/SelfadjointProduct.h
index 6ca4ae6c..f038d686 100644
--- a/eigenlib/Eigen/src/Core/products/SelfadjointProduct.h
+++ b/eigenlib/Eigen/src/Core/products/SelfadjointProduct.h
@@ -53,7 +53,6 @@ struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,true>
   static void run(MatrixType& mat, const OtherType& other, const typename MatrixType::Scalar& alpha)
   {
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
     typedef internal::blas_traits<OtherType> OtherBlasTraits;
     typedef typename OtherBlasTraits::DirectLinearAccessType ActualOtherType;
     typedef typename internal::remove_all<ActualOtherType>::type _ActualOtherType;
@@ -86,7 +85,6 @@ struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,false>
   static void run(MatrixType& mat, const OtherType& other, const typename MatrixType::Scalar& alpha)
   {
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
     typedef internal::blas_traits<OtherType> OtherBlasTraits;
     typedef typename OtherBlasTraits::DirectLinearAccessType ActualOtherType;
     typedef typename internal::remove_all<ActualOtherType>::type _ActualOtherType;
@@ -94,15 +92,27 @@ struct selfadjoint_product_selector<MatrixType,OtherType,UpLo,false>
 
     Scalar actualAlpha = alpha * OtherBlasTraits::extractScalarFactor(other.derived());
 
-    enum { IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0 };
+    enum {
+      IsRowMajor = (internal::traits<MatrixType>::Flags&RowMajorBit) ? 1 : 0,
+      OtherIsRowMajor = _ActualOtherType::Flags&RowMajorBit ? 1 : 0
+    };
+
+    Index size = mat.cols();
+    Index depth = actualOther.cols();
+
+    typedef internal::gemm_blocking_space<IsRowMajor ? RowMajor : ColMajor,Scalar,Scalar,
+              MatrixType::MaxColsAtCompileTime, MatrixType::MaxColsAtCompileTime, _ActualOtherType::MaxColsAtCompileTime> BlockingType;
+
+    BlockingType blocking(size, size, depth, 1, false);
+
 
     internal::general_matrix_matrix_triangular_product<Index,
-      Scalar, _ActualOtherType::Flags&RowMajorBit ? RowMajor : ColMajor,   OtherBlasTraits::NeedToConjugate  && NumTraits<Scalar>::IsComplex,
-      Scalar, _ActualOtherType::Flags&RowMajorBit ? ColMajor : RowMajor, (!OtherBlasTraits::NeedToConjugate) && NumTraits<Scalar>::IsComplex,
-      MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor, UpLo>
-      ::run(mat.cols(), actualOther.cols(),
+      Scalar, OtherIsRowMajor ? RowMajor : ColMajor,   OtherBlasTraits::NeedToConjugate  && NumTraits<Scalar>::IsComplex,
+      Scalar, OtherIsRowMajor ? ColMajor : RowMajor, (!OtherBlasTraits::NeedToConjugate) && NumTraits<Scalar>::IsComplex,
+      IsRowMajor ? RowMajor : ColMajor, UpLo>
+      ::run(size, depth,
             &actualOther.coeffRef(0,0), actualOther.outerStride(), &actualOther.coeffRef(0,0), actualOther.outerStride(),
-            mat.data(), mat.outerStride(), actualAlpha);
+            mat.data(), mat.outerStride(), actualAlpha, blocking);
   }
 };
 
diff --git a/eigenlib/Eigen/src/Core/products/SelfadjointRank2Update.h b/eigenlib/Eigen/src/Core/products/SelfadjointRank2Update.h
index 8594a97c..2ae36411 100644
--- a/eigenlib/Eigen/src/Core/products/SelfadjointRank2Update.h
+++ b/eigenlib/Eigen/src/Core/products/SelfadjointRank2Update.h
@@ -79,11 +79,11 @@ SelfAdjointView<MatrixType,UpLo>& SelfAdjointView<MatrixType,UpLo>
   if (IsRowMajor)
     actualAlpha = numext::conj(actualAlpha);
 
-  internal::selfadjoint_rank2_update_selector<Scalar, Index,
-    typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ UBlasTraits::NeedToConjugate,_ActualUType>::type>::type,
-    typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ VBlasTraits::NeedToConjugate,_ActualVType>::type>::type,
+  typedef typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ UBlasTraits::NeedToConjugate,_ActualUType>::type>::type UType;
+  typedef typename internal::remove_all<typename internal::conj_expr_if<IsRowMajor ^ VBlasTraits::NeedToConjugate,_ActualVType>::type>::type VType;
+  internal::selfadjoint_rank2_update_selector<Scalar, Index, UType, VType,
     (IsRowMajor ? int(UpLo==Upper ? Lower : Upper) : UpLo)>
-    ::run(_expression().const_cast_derived().data(),_expression().outerStride(),actualU,actualV,actualAlpha);
+    ::run(_expression().const_cast_derived().data(),_expression().outerStride(),UType(actualU),VType(actualV),actualAlpha);
 
   return *this;
 }
diff --git a/eigenlib/Eigen/src/Core/products/TriangularMatrixMatrix.h b/eigenlib/Eigen/src/Core/products/TriangularMatrixMatrix.h
index 8110507b..8a2f7cd7 100644
--- a/eigenlib/Eigen/src/Core/products/TriangularMatrixMatrix.h
+++ b/eigenlib/Eigen/src/Core/products/TriangularMatrixMatrix.h
@@ -108,7 +108,7 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
     Index _rows, Index _cols, Index _depth,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
+    Scalar* _res,        Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
     // strip zeros
@@ -117,19 +117,25 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
     Index depth     = IsLower ? diagSize : _depth;
     Index cols      = _cols;
     
-    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
-    const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+    typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
+    typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    LhsMapper lhs(_lhs,lhsStride);
+    RhsMapper rhs(_rhs,rhsStride);
+    ResMapper res(_res, resStride);
 
     Index kc = blocking.kc();                   // cache block size along the K direction
     Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
+    // The small panel size must not be larger than blocking size.
+    // Usually this should never be the case because SmallPanelWidth^2 is very small
+    // compared to L2 cache size, but let's be safe:
+    Index panelWidth = (std::min)(Index(SmallPanelWidth),(std::min)(kc,mc));
 
     std::size_t sizeA = kc*mc;
     std::size_t sizeB = kc*cols;
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
 
     ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
     ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockW, sizeW, blocking.blockW());
 
     Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,LhsStorageOrder> triangularBuffer;
     triangularBuffer.setZero();
@@ -138,9 +144,9 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
     else
       triangularBuffer.diagonal().setOnes();
 
-    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
+    gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
 
     for(Index k2=IsLower ? depth : 0;
         IsLower ? k2>0 : k2<depth;
@@ -156,7 +162,7 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
         k2 = k2+actual_kc-kc;
       }
 
-      pack_rhs(blockB, &rhs(actual_k2,0), rhsStride, actual_kc, cols);
+      pack_rhs(blockB, rhs.getSubMapper(actual_k2,0), actual_kc, cols);
 
       // the selected lhs's panel has to be split in three different parts:
       //  1 - the part which is zero => skip it
@@ -167,9 +173,9 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
       if(IsLower || actual_k2<rows)
       {
         // for each small vertical panels of lhs
-        for (Index k1=0; k1<actual_kc; k1+=SmallPanelWidth)
+        for (Index k1=0; k1<actual_kc; k1+=panelWidth)
         {
-          Index actualPanelWidth = std::min<Index>(actual_kc-k1, SmallPanelWidth);
+          Index actualPanelWidth = std::min<Index>(actual_kc-k1, panelWidth);
           Index lengthTarget = IsLower ? actual_kc-k1-actualPanelWidth : k1;
           Index startBlock   = actual_k2+k1;
           Index blockBOffset = k1;
@@ -184,20 +190,22 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
             for (Index i=IsLower ? k+1 : 0; IsLower ? i<actualPanelWidth : i<k; ++i)
               triangularBuffer.coeffRef(i,k) = lhs(startBlock+i,startBlock+k);
           }
-          pack_lhs(blockA, triangularBuffer.data(), triangularBuffer.outerStride(), actualPanelWidth, actualPanelWidth);
+          pack_lhs(blockA, LhsMapper(triangularBuffer.data(), triangularBuffer.outerStride()), actualPanelWidth, actualPanelWidth);
 
-          gebp_kernel(res+startBlock, resStride, blockA, blockB, actualPanelWidth, actualPanelWidth, cols, alpha,
-                      actualPanelWidth, actual_kc, 0, blockBOffset, blockW);
+          gebp_kernel(res.getSubMapper(startBlock, 0), blockA, blockB,
+                      actualPanelWidth, actualPanelWidth, cols, alpha,
+                      actualPanelWidth, actual_kc, 0, blockBOffset);
 
           // GEBP with remaining micro panel
           if (lengthTarget>0)
           {
             Index startTarget  = IsLower ? actual_k2+k1+actualPanelWidth : actual_k2;
 
-            pack_lhs(blockA, &lhs(startTarget,startBlock), lhsStride, actualPanelWidth, lengthTarget);
+            pack_lhs(blockA, lhs.getSubMapper(startTarget,startBlock), actualPanelWidth, lengthTarget);
 
-            gebp_kernel(res+startTarget, resStride, blockA, blockB, lengthTarget, actualPanelWidth, cols, alpha,
-                        actualPanelWidth, actual_kc, 0, blockBOffset, blockW);
+            gebp_kernel(res.getSubMapper(startTarget, 0), blockA, blockB,
+                        lengthTarget, actualPanelWidth, cols, alpha,
+                        actualPanelWidth, actual_kc, 0, blockBOffset);
           }
         }
       }
@@ -208,10 +216,11 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,true,
         for(Index i2=start; i2<end; i2+=mc)
         {
           const Index actual_mc = (std::min)(i2+mc,end)-i2;
-          gemm_pack_lhs<Scalar, Index, Traits::mr,Traits::LhsProgress, LhsStorageOrder,false>()
-            (blockA, &lhs(i2, actual_k2), lhsStride, actual_kc, actual_mc);
+          gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr,Traits::LhsProgress, LhsStorageOrder,false>()
+            (blockA, lhs.getSubMapper(i2, actual_k2), actual_kc, actual_mc);
 
-          gebp_kernel(res+i2, resStride, blockA, blockB, actual_mc, actual_kc, cols, alpha, -1, -1, 0, 0, blockW);
+          gebp_kernel(res.getSubMapper(i2, 0), blockA, blockB, actual_mc,
+                      actual_kc, cols, alpha, -1, -1, 0, 0);
         }
       }
     }
@@ -249,28 +258,31 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
     Index _rows, Index _cols, Index _depth,
     const Scalar* _lhs, Index lhsStride,
     const Scalar* _rhs, Index rhsStride,
-    Scalar* res,        Index resStride,
+    Scalar* _res,        Index resStride,
     const Scalar& alpha, level3_blocking<Scalar,Scalar>& blocking)
   {
+    const Index PacketBytes = packet_traits<Scalar>::size*sizeof(Scalar);
     // strip zeros
     Index diagSize  = (std::min)(_cols,_depth);
     Index rows      = _rows;
     Index depth     = IsLower ? _depth : diagSize;
     Index cols      = IsLower ? diagSize : _cols;
     
-    const_blas_data_mapper<Scalar, Index, LhsStorageOrder> lhs(_lhs,lhsStride);
-    const_blas_data_mapper<Scalar, Index, RhsStorageOrder> rhs(_rhs,rhsStride);
+    typedef const_blas_data_mapper<Scalar, Index, LhsStorageOrder> LhsMapper;
+    typedef const_blas_data_mapper<Scalar, Index, RhsStorageOrder> RhsMapper;
+    typedef blas_data_mapper<typename Traits::ResScalar, Index, ColMajor> ResMapper;
+    LhsMapper lhs(_lhs,lhsStride);
+    RhsMapper rhs(_rhs,rhsStride);
+    ResMapper res(_res, resStride);
 
     Index kc = blocking.kc();                   // cache block size along the K direction
     Index mc = (std::min)(rows,blocking.mc());  // cache block size along the M direction
 
     std::size_t sizeA = kc*mc;
-    std::size_t sizeB = kc*cols;
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
+    std::size_t sizeB = kc*cols+EIGEN_MAX_ALIGN_BYTES/sizeof(Scalar);
 
     ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
     ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockW, sizeW, blocking.blockW());
 
     Matrix<Scalar,SmallPanelWidth,SmallPanelWidth,RhsStorageOrder> triangularBuffer;
     triangularBuffer.setZero();
@@ -279,10 +291,10 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
     else
       triangularBuffer.diagonal().setOnes();
 
-    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
-    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
-    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder,false,true> pack_rhs_panel;
+    gebp_kernel<Scalar, Scalar, Index, ResMapper, Traits::mr, Traits::nr, ConjugateLhs, ConjugateRhs> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, LhsStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder> pack_rhs;
+    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr,RhsStorageOrder,false,true> pack_rhs_panel;
 
     for(Index k2=IsLower ? 0 : depth;
         IsLower ? k2<depth  : k2>0;
@@ -304,8 +316,9 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
       Index ts = (IsLower && actual_k2>=cols) ? 0 : actual_kc;
 
       Scalar* geb = blockB+ts*ts;
+      geb = geb + internal::first_aligned<PacketBytes>(geb,PacketBytes/sizeof(Scalar));
 
-      pack_rhs(geb, &rhs(actual_k2,IsLower ? 0 : k2), rhsStride, actual_kc, rs);
+      pack_rhs(geb, rhs.getSubMapper(actual_k2,IsLower ? 0 : k2), actual_kc, rs);
 
       // pack the triangular part of the rhs padding the unrolled blocks with zeros
       if(ts>0)
@@ -318,7 +331,7 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
           Index panelLength = IsLower ? actual_kc-j2-actualPanelWidth : j2;
           // general part
           pack_rhs_panel(blockB+j2*actual_kc,
-                         &rhs(actual_k2+panelOffset, actual_j2), rhsStride,
+                         rhs.getSubMapper(actual_k2+panelOffset, actual_j2),
                          panelLength, actualPanelWidth,
                          actual_kc, panelOffset);
 
@@ -332,7 +345,7 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
           }
 
           pack_rhs_panel(blockB+j2*actual_kc,
-                         triangularBuffer.data(), triangularBuffer.outerStride(),
+                         RhsMapper(triangularBuffer.data(), triangularBuffer.outerStride()),
                          actualPanelWidth, actualPanelWidth,
                          actual_kc, j2);
         }
@@ -341,7 +354,7 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
       for (Index i2=0; i2<rows; i2+=mc)
       {
         const Index actual_mc = (std::min)(mc,rows-i2);
-        pack_lhs(blockA, &lhs(i2, actual_k2), lhsStride, actual_kc, actual_mc);
+        pack_lhs(blockA, lhs.getSubMapper(i2, actual_k2), actual_kc, actual_mc);
 
         // triangular kernel
         if(ts>0)
@@ -352,19 +365,18 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
             Index panelLength = IsLower ? actual_kc-j2 : j2+actualPanelWidth;
             Index blockOffset = IsLower ? j2 : 0;
 
-            gebp_kernel(res+i2+(actual_k2+j2)*resStride, resStride,
+            gebp_kernel(res.getSubMapper(i2, actual_k2 + j2),
                         blockA, blockB+j2*actual_kc,
                         actual_mc, panelLength, actualPanelWidth,
                         alpha,
                         actual_kc, actual_kc,  // strides
-                        blockOffset, blockOffset,// offsets
-                        blockW); // workspace
+                        blockOffset, blockOffset);// offsets
           }
         }
-        gebp_kernel(res+i2+(IsLower ? 0 : k2)*resStride, resStride,
+        gebp_kernel(res.getSubMapper(i2, IsLower ? 0 : k2),
                     blockA, geb, actual_mc, actual_kc, rs,
                     alpha,
-                    -1, -1, 0, 0, blockW);
+                    -1, -1, 0, 0);
       }
     }
   }
@@ -373,28 +385,28 @@ EIGEN_DONT_INLINE void product_triangular_matrix_matrix<Scalar,Index,Mode,false,
 * Wrapper to product_triangular_matrix_matrix
 ***************************************************************************/
 
-template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
-struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false> >
-  : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>, Lhs, Rhs> >
-{};
-
 } // end namespace internal
 
+namespace internal {
 template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
-struct TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
-  : public ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>, Lhs, Rhs >
+struct triangular_product_impl<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
 {
-  EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
-
-  TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
-
-  template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
+  template<typename Dest> static void run(Dest& dst, const Lhs &a_lhs, const Rhs &a_rhs, const typename Dest::Scalar& alpha)
   {
-    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(m_lhs);
-    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(m_rhs);
+    typedef typename Dest::Scalar     Scalar;
+    
+    typedef internal::blas_traits<Lhs> LhsBlasTraits;
+    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+    typedef typename internal::remove_all<ActualLhsType>::type ActualLhsTypeCleaned;
+    typedef internal::blas_traits<Rhs> RhsBlasTraits;
+    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+    typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
+    
+    typename internal::add_const_on_value_type<ActualLhsType>::type lhs = LhsBlasTraits::extract(a_lhs);
+    typename internal::add_const_on_value_type<ActualRhsType>::type rhs = RhsBlasTraits::extract(a_rhs);
 
-    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(m_lhs)
-                               * RhsBlasTraits::extractScalarFactor(m_rhs);
+    Scalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(a_lhs)
+                               * RhsBlasTraits::extractScalarFactor(a_rhs);
 
     typedef internal::gemm_blocking_space<(Dest::Flags&RowMajorBit) ? RowMajor : ColMajor,Scalar,Scalar,
               Lhs::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime, Lhs::MaxColsAtCompileTime,4> BlockingType;
@@ -405,23 +417,25 @@ struct TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,false>
     Index stripedDepth = LhsIsTriangular ? ((!IsLower) ? lhs.cols() : (std::min)(lhs.cols(),lhs.rows()))
                                          : ((IsLower)  ? rhs.rows() : (std::min)(rhs.rows(),rhs.cols()));
 
-    BlockingType blocking(stripedRows, stripedCols, stripedDepth);
+    BlockingType blocking(stripedRows, stripedCols, stripedDepth, 1, false);
 
     internal::product_triangular_matrix_matrix<Scalar, Index,
       Mode, LhsIsTriangular,
-      (internal::traits<_ActualLhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
-      (internal::traits<_ActualRhsType>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
+      (internal::traits<ActualLhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, LhsBlasTraits::NeedToConjugate,
+      (internal::traits<ActualRhsTypeCleaned>::Flags&RowMajorBit) ? RowMajor : ColMajor, RhsBlasTraits::NeedToConjugate,
       (internal::traits<Dest          >::Flags&RowMajorBit) ? RowMajor : ColMajor>
       ::run(
         stripedRows, stripedCols, stripedDepth,   // sizes
-        &lhs.coeffRef(0,0),    lhs.outerStride(), // lhs info
-        &rhs.coeffRef(0,0),    rhs.outerStride(), // rhs info
+        &lhs.coeffRef(0,0), lhs.outerStride(),    // lhs info
+        &rhs.coeffRef(0,0), rhs.outerStride(),    // rhs info
         &dst.coeffRef(0,0), dst.outerStride(),    // result info
         actualAlpha, blocking
       );
   }
 };
 
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_TRIANGULAR_MATRIX_MATRIX_H
diff --git a/eigenlib/Eigen/src/Core/products/TriangularMatrixMatrix_MKL.h b/eigenlib/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h
similarity index 76%
rename from eigenlib/Eigen/src/Core/products/TriangularMatrixMatrix_MKL.h
rename to eigenlib/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h
index ba41a1c9..aecded6b 100644
--- a/eigenlib/Eigen/src/Core/products/TriangularMatrixMatrix_MKL.h
+++ b/eigenlib/Eigen/src/Core/products/TriangularMatrixMatrix_BLAS.h
@@ -25,13 +25,13 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to BLAS F77
  *   Triangular matrix * matrix product functionality based on ?TRMM.
  ********************************************************************************
 */
 
-#ifndef EIGEN_TRIANGULAR_MATRIX_MATRIX_MKL_H
-#define EIGEN_TRIANGULAR_MATRIX_MATRIX_MKL_H
+#ifndef EIGEN_TRIANGULAR_MATRIX_MATRIX_BLAS_H
+#define EIGEN_TRIANGULAR_MATRIX_MATRIX_BLAS_H
 
 namespace Eigen { 
 
@@ -50,7 +50,7 @@ struct product_triangular_matrix_matrix_trmm :
 
 
 // try to go to BLAS specialization
-#define EIGEN_MKL_TRMM_SPECIALIZE(Scalar, LhsIsTriangular) \
+#define EIGEN_BLAS_TRMM_SPECIALIZE(Scalar, LhsIsTriangular) \
 template <typename Index, int Mode, \
           int LhsStorageOrder, bool ConjugateLhs, \
           int RhsStorageOrder, bool ConjugateRhs> \
@@ -65,17 +65,17 @@ struct product_triangular_matrix_matrix<Scalar,Index, Mode, LhsIsTriangular, \
   } \
 };
 
-EIGEN_MKL_TRMM_SPECIALIZE(double, true)
-EIGEN_MKL_TRMM_SPECIALIZE(double, false)
-EIGEN_MKL_TRMM_SPECIALIZE(dcomplex, true)
-EIGEN_MKL_TRMM_SPECIALIZE(dcomplex, false)
-EIGEN_MKL_TRMM_SPECIALIZE(float, true)
-EIGEN_MKL_TRMM_SPECIALIZE(float, false)
-EIGEN_MKL_TRMM_SPECIALIZE(scomplex, true)
-EIGEN_MKL_TRMM_SPECIALIZE(scomplex, false)
+EIGEN_BLAS_TRMM_SPECIALIZE(double, true)
+EIGEN_BLAS_TRMM_SPECIALIZE(double, false)
+EIGEN_BLAS_TRMM_SPECIALIZE(dcomplex, true)
+EIGEN_BLAS_TRMM_SPECIALIZE(dcomplex, false)
+EIGEN_BLAS_TRMM_SPECIALIZE(float, true)
+EIGEN_BLAS_TRMM_SPECIALIZE(float, false)
+EIGEN_BLAS_TRMM_SPECIALIZE(scomplex, true)
+EIGEN_BLAS_TRMM_SPECIALIZE(scomplex, false)
 
 // implements col-major += alpha * op(triangular) * op(general)
-#define EIGEN_MKL_TRMM_L(EIGTYPE, MKLTYPE, EIGPREFIX, MKLPREFIX) \
+#define EIGEN_BLAS_TRMM_L(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
 template <typename Index, int Mode, \
           int LhsStorageOrder, bool ConjugateLhs, \
           int RhsStorageOrder, bool ConjugateRhs> \
@@ -106,13 +106,14 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,true, \
    typedef Matrix<EIGTYPE, Dynamic, Dynamic, LhsStorageOrder> MatrixLhs; \
    typedef Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder> MatrixRhs; \
 \
-/* Non-square case - doesn't fit to MKL ?TRMM. Fall to default triangular product or call MKL ?GEMM*/ \
+/* Non-square case - doesn't fit to BLAS ?TRMM. Fall to default triangular product or call BLAS ?GEMM*/ \
    if (rows != depth) { \
 \
-     int nthr = mkl_domain_get_max_threads(MKL_BLAS); \
+     /* FIXME handle mkl_domain_get_max_threads */ \
+     /*int nthr = mkl_domain_get_max_threads(EIGEN_BLAS_DOMAIN_BLAS);*/ int nthr = 1;\
 \
      if (((nthr==1) && (((std::max)(rows,depth)-diagSize)/(double)diagSize < 0.5))) { \
-     /* Most likely no benefit to call TRMM or GEMM from MKL*/ \
+     /* Most likely no benefit to call TRMM or GEMM from BLAS */ \
        product_triangular_matrix_matrix<EIGTYPE,Index,Mode,true, \
        LhsStorageOrder,ConjugateLhs, RhsStorageOrder, ConjugateRhs, ColMajor, BuiltIn>::run( \
            _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
@@ -121,27 +122,23 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,true, \
      /* Make sense to call GEMM */ \
        Map<const MatrixLhs, 0, OuterStride<> > lhsMap(_lhs,rows,depth,OuterStride<>(lhsStride)); \
        MatrixLhs aa_tmp=lhsMap.template triangularView<Mode>(); \
-       MKL_INT aStride = aa_tmp.outerStride(); \
-       gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> gemm_blocking(_rows,_cols,_depth); \
+       BlasIndex aStride = convert_index<BlasIndex>(aa_tmp.outerStride()); \
+       gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> gemm_blocking(_rows,_cols,_depth, 1, true); \
        general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor>::run( \
        rows, cols, depth, aa_tmp.data(), aStride, _rhs, rhsStride, res, resStride, alpha, gemm_blocking, 0); \
 \
-     /*std::cout << "TRMM_L: A is not square! Go to MKL GEMM implementation! " << nthr<<" \n";*/ \
+     /*std::cout << "TRMM_L: A is not square! Go to BLAS GEMM implementation! " << nthr<<" \n";*/ \
      } \
      return; \
    } \
    char side = 'L', transa, uplo, diag = 'N'; \
    EIGTYPE *b; \
    const EIGTYPE *a; \
-   MKL_INT m, n, lda, ldb; \
-   MKLTYPE alpha_; \
-\
-/* Set alpha_*/ \
-   assign_scalar_eig2mkl<MKLTYPE, EIGTYPE>(alpha_, alpha); \
+   BlasIndex m, n, lda, ldb; \
 \
 /* Set m, n */ \
-   m = (MKL_INT)diagSize; \
-   n = (MKL_INT)cols; \
+   m = convert_index<BlasIndex>(diagSize); \
+   n = convert_index<BlasIndex>(cols); \
 \
 /* Set trans */ \
    transa = (LhsStorageOrder==RowMajor) ? ((ConjugateLhs) ? 'C' : 'T') : 'N'; \
@@ -152,7 +149,7 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,true, \
 \
    if (ConjugateRhs) b_tmp = rhs.conjugate(); else b_tmp = rhs; \
    b = b_tmp.data(); \
-   ldb = b_tmp.outerStride(); \
+   ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
 \
 /* Set uplo */ \
    uplo = IsLower ? 'L' : 'U'; \
@@ -168,14 +165,14 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,true, \
      else if (IsUnitDiag) \
        a_tmp.diagonal().setOnes();\
      a = a_tmp.data(); \
-     lda = a_tmp.outerStride(); \
+     lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
    } else { \
      a = _lhs; \
-     lda = lhsStride; \
+     lda = convert_index<BlasIndex>(lhsStride); \
    } \
-   /*std::cout << "TRMM_L: A is square! Go to MKL TRMM implementation! \n";*/ \
+   /*std::cout << "TRMM_L: A is square! Go to BLAS TRMM implementation! \n";*/ \
 /* call ?trmm*/ \
-   MKLPREFIX##trmm(&side, &uplo, &transa, &diag, &m, &n, &alpha_, (const MKLTYPE*)a, &lda, (MKLTYPE*)b, &ldb); \
+   BLASPREFIX##trmm_(&side, &uplo, &transa, &diag, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (BLASTYPE*)b, &ldb); \
 \
 /* Add op(a_triangular)*b into res*/ \
    Map<MatrixX##EIGPREFIX, 0, OuterStride<> > res_tmp(res,rows,cols,OuterStride<>(resStride)); \
@@ -183,13 +180,13 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,true, \
   } \
 };
 
-EIGEN_MKL_TRMM_L(double, double, d, d)
-EIGEN_MKL_TRMM_L(dcomplex, MKL_Complex16, cd, z)
-EIGEN_MKL_TRMM_L(float, float, f, s)
-EIGEN_MKL_TRMM_L(scomplex, MKL_Complex8, cf, c)
+EIGEN_BLAS_TRMM_L(double, double, d, d)
+EIGEN_BLAS_TRMM_L(dcomplex, double, cd, z)
+EIGEN_BLAS_TRMM_L(float, float, f, s)
+EIGEN_BLAS_TRMM_L(scomplex, float, cf, c)
 
 // implements col-major += alpha * op(general) * op(triangular)
-#define EIGEN_MKL_TRMM_R(EIGTYPE, MKLTYPE, EIGPREFIX, MKLPREFIX) \
+#define EIGEN_BLAS_TRMM_R(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
 template <typename Index, int Mode, \
           int LhsStorageOrder, bool ConjugateLhs, \
           int RhsStorageOrder, bool ConjugateRhs> \
@@ -220,13 +217,13 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,false, \
    typedef Matrix<EIGTYPE, Dynamic, Dynamic, LhsStorageOrder> MatrixLhs; \
    typedef Matrix<EIGTYPE, Dynamic, Dynamic, RhsStorageOrder> MatrixRhs; \
 \
-/* Non-square case - doesn't fit to MKL ?TRMM. Fall to default triangular product or call MKL ?GEMM*/ \
+/* Non-square case - doesn't fit to BLAS ?TRMM. Fall to default triangular product or call BLAS ?GEMM*/ \
    if (cols != depth) { \
 \
-     int nthr = mkl_domain_get_max_threads(MKL_BLAS); \
+     int nthr = 1 /*mkl_domain_get_max_threads(EIGEN_BLAS_DOMAIN_BLAS)*/; \
 \
      if ((nthr==1) && (((std::max)(cols,depth)-diagSize)/(double)diagSize < 0.5)) { \
-     /* Most likely no benefit to call TRMM or GEMM from MKL*/ \
+     /* Most likely no benefit to call TRMM or GEMM from BLAS*/ \
        product_triangular_matrix_matrix<EIGTYPE,Index,Mode,false, \
        LhsStorageOrder,ConjugateLhs, RhsStorageOrder, ConjugateRhs, ColMajor, BuiltIn>::run( \
            _rows, _cols, _depth, _lhs, lhsStride, _rhs, rhsStride, res, resStride, alpha, blocking); \
@@ -235,27 +232,23 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,false, \
      /* Make sense to call GEMM */ \
        Map<const MatrixRhs, 0, OuterStride<> > rhsMap(_rhs,depth,cols, OuterStride<>(rhsStride)); \
        MatrixRhs aa_tmp=rhsMap.template triangularView<Mode>(); \
-       MKL_INT aStride = aa_tmp.outerStride(); \
-       gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> gemm_blocking(_rows,_cols,_depth); \
+       BlasIndex aStride = convert_index<BlasIndex>(aa_tmp.outerStride()); \
+       gemm_blocking_space<ColMajor,EIGTYPE,EIGTYPE,Dynamic,Dynamic,Dynamic> gemm_blocking(_rows,_cols,_depth, 1, true); \
        general_matrix_matrix_product<Index,EIGTYPE,LhsStorageOrder,ConjugateLhs,EIGTYPE,RhsStorageOrder,ConjugateRhs,ColMajor>::run( \
        rows, cols, depth, _lhs, lhsStride, aa_tmp.data(), aStride, res, resStride, alpha, gemm_blocking, 0); \
 \
-     /*std::cout << "TRMM_R: A is not square! Go to MKL GEMM implementation! " << nthr<<" \n";*/ \
+     /*std::cout << "TRMM_R: A is not square! Go to BLAS GEMM implementation! " << nthr<<" \n";*/ \
      } \
      return; \
    } \
    char side = 'R', transa, uplo, diag = 'N'; \
    EIGTYPE *b; \
    const EIGTYPE *a; \
-   MKL_INT m, n, lda, ldb; \
-   MKLTYPE alpha_; \
-\
-/* Set alpha_*/ \
-   assign_scalar_eig2mkl<MKLTYPE, EIGTYPE>(alpha_, alpha); \
+   BlasIndex m, n, lda, ldb; \
 \
 /* Set m, n */ \
-   m = (MKL_INT)rows; \
-   n = (MKL_INT)diagSize; \
+   m = convert_index<BlasIndex>(rows); \
+   n = convert_index<BlasIndex>(diagSize); \
 \
 /* Set trans */ \
    transa = (RhsStorageOrder==RowMajor) ? ((ConjugateRhs) ? 'C' : 'T') : 'N'; \
@@ -266,7 +259,7 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,false, \
 \
    if (ConjugateLhs) b_tmp = lhs.conjugate(); else b_tmp = lhs; \
    b = b_tmp.data(); \
-   ldb = b_tmp.outerStride(); \
+   ldb = convert_index<BlasIndex>(b_tmp.outerStride()); \
 \
 /* Set uplo */ \
    uplo = IsLower ? 'L' : 'U'; \
@@ -282,14 +275,14 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,false, \
      else if (IsUnitDiag) \
        a_tmp.diagonal().setOnes();\
      a = a_tmp.data(); \
-     lda = a_tmp.outerStride(); \
+     lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
    } else { \
      a = _rhs; \
-     lda = rhsStride; \
+     lda = convert_index<BlasIndex>(rhsStride); \
    } \
-   /*std::cout << "TRMM_R: A is square! Go to MKL TRMM implementation! \n";*/ \
+   /*std::cout << "TRMM_R: A is square! Go to BLAS TRMM implementation! \n";*/ \
 /* call ?trmm*/ \
-   MKLPREFIX##trmm(&side, &uplo, &transa, &diag, &m, &n, &alpha_, (const MKLTYPE*)a, &lda, (MKLTYPE*)b, &ldb); \
+   BLASPREFIX##trmm_(&side, &uplo, &transa, &diag, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (BLASTYPE*)b, &ldb); \
 \
 /* Add op(a_triangular)*b into res*/ \
    Map<MatrixX##EIGPREFIX, 0, OuterStride<> > res_tmp(res,rows,cols,OuterStride<>(resStride)); \
@@ -297,13 +290,13 @@ struct product_triangular_matrix_matrix_trmm<EIGTYPE,Index,Mode,false, \
   } \
 };
 
-EIGEN_MKL_TRMM_R(double, double, d, d)
-EIGEN_MKL_TRMM_R(dcomplex, MKL_Complex16, cd, z)
-EIGEN_MKL_TRMM_R(float, float, f, s)
-EIGEN_MKL_TRMM_R(scomplex, MKL_Complex8, cf, c)
+EIGEN_BLAS_TRMM_R(double, double, d, d)
+EIGEN_BLAS_TRMM_R(dcomplex, double, cd, z)
+EIGEN_BLAS_TRMM_R(float, float, f, s)
+EIGEN_BLAS_TRMM_R(scomplex, float, cf, c)
 
 } // end namespace internal
 
 } // end namespace Eigen
 
-#endif // EIGEN_TRIANGULAR_MATRIX_MATRIX_MKL_H
+#endif // EIGEN_TRIANGULAR_MATRIX_MATRIX_BLAS_H
diff --git a/eigenlib/Eigen/src/Core/products/TriangularMatrixVector.h b/eigenlib/Eigen/src/Core/products/TriangularMatrixVector.h
index 6117d5a8..4b292e74 100644
--- a/eigenlib/Eigen/src/Core/products/TriangularMatrixVector.h
+++ b/eigenlib/Eigen/src/Core/products/TriangularMatrixVector.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_TRIANGULARMATRIXVECTOR_H
 #define EIGEN_TRIANGULARMATRIXVECTOR_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -20,20 +20,20 @@ struct triangular_matrix_vector_product;
 template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int Version>
 struct triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,ColMajor,Version>
 {
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
   enum {
     IsLower = ((Mode&Lower)==Lower),
     HasUnitDiag = (Mode & UnitDiag)==UnitDiag,
     HasZeroDiag = (Mode & ZeroDiag)==ZeroDiag
   };
   static EIGEN_DONT_INLINE  void run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
-                                     const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const ResScalar& alpha);
+                                     const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const RhsScalar& alpha);
 };
 
 template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs, int Version>
 EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,ColMajor,Version>
   ::run(Index _rows, Index _cols, const LhsScalar* _lhs, Index lhsStride,
-        const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const ResScalar& alpha)
+        const RhsScalar* _rhs, Index rhsIncr, ResScalar* _res, Index resIncr, const RhsScalar& alpha)
   {
     static const Index PanelWidth = EIGEN_TUNE_TRIANGULAR_PANEL_WIDTH;
     Index size = (std::min)(_rows,_cols);
@@ -43,7 +43,7 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
     typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,ColMajor>, 0, OuterStride<> > LhsMap;
     const LhsMap lhs(_lhs,rows,cols,OuterStride<>(lhsStride));
     typename conj_expr_if<ConjLhs,LhsMap>::type cjLhs(lhs);
-    
+
     typedef Map<const Matrix<RhsScalar,Dynamic,1>, 0, InnerStride<> > RhsMap;
     const RhsMap rhs(_rhs,cols,InnerStride<>(rhsIncr));
     typename conj_expr_if<ConjRhs,RhsMap>::type cjRhs(rhs);
@@ -51,6 +51,9 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
     typedef Map<Matrix<ResScalar,Dynamic,1> > ResMap;
     ResMap res(_res,rows);
 
+    typedef const_blas_data_mapper<LhsScalar,Index,ColMajor> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar,Index,RowMajor> RhsMapper;
+
     for (Index pi=0; pi<size; pi+=PanelWidth)
     {
       Index actualPanelWidth = (std::min)(PanelWidth, size-pi);
@@ -68,19 +71,19 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
       if (r>0)
       {
         Index s = IsLower ? pi+actualPanelWidth : 0;
-        general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjLhs,RhsScalar,ConjRhs,BuiltIn>::run(
+        general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
             r, actualPanelWidth,
-            &lhs.coeffRef(s,pi), lhsStride,
-            &rhs.coeffRef(pi), rhsIncr,
+            LhsMapper(&lhs.coeffRef(s,pi), lhsStride),
+            RhsMapper(&rhs.coeffRef(pi), rhsIncr),
             &res.coeffRef(s), resIncr, alpha);
       }
     }
     if((!IsLower) && cols>size)
     {
-      general_matrix_vector_product<Index,LhsScalar,ColMajor,ConjLhs,RhsScalar,ConjRhs>::run(
+      general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs>::run(
           rows, cols-size,
-          &lhs.coeffRef(0,size), lhsStride,
-          &rhs.coeffRef(size), rhsIncr,
+          LhsMapper(&lhs.coeffRef(0,size), lhsStride),
+          RhsMapper(&rhs.coeffRef(size), rhsIncr),
           _res, resIncr, alpha);
     }
   }
@@ -88,7 +91,7 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
 template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename RhsScalar, bool ConjRhs,int Version>
 struct triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,RowMajor,Version>
 {
-  typedef typename scalar_product_traits<LhsScalar, RhsScalar>::ReturnType ResScalar;
+  typedef typename ScalarBinaryOpTraits<LhsScalar, RhsScalar>::ReturnType ResScalar;
   enum {
     IsLower = ((Mode&Lower)==Lower),
     HasUnitDiag = (Mode & UnitDiag)==UnitDiag,
@@ -118,7 +121,10 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
 
     typedef Map<Matrix<ResScalar,Dynamic,1>, 0, InnerStride<> > ResMap;
     ResMap res(_res,rows,InnerStride<>(resIncr));
-    
+
+    typedef const_blas_data_mapper<LhsScalar,Index,RowMajor> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar,Index,RowMajor> RhsMapper;
+
     for (Index pi=0; pi<diagSize; pi+=PanelWidth)
     {
       Index actualPanelWidth = (std::min)(PanelWidth, diagSize-pi);
@@ -136,19 +142,19 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
       if (r>0)
       {
         Index s = IsLower ? 0 : pi + actualPanelWidth;
-        general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjLhs,RhsScalar,ConjRhs,BuiltIn>::run(
+        general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs,BuiltIn>::run(
             actualPanelWidth, r,
-            &lhs.coeffRef(pi,s), lhsStride,
-            &rhs.coeffRef(s), rhsIncr,
+            LhsMapper(&lhs.coeffRef(pi,s), lhsStride),
+            RhsMapper(&rhs.coeffRef(s), rhsIncr),
             &res.coeffRef(pi), resIncr, alpha);
       }
     }
     if(IsLower && rows>diagSize)
     {
-      general_matrix_vector_product<Index,LhsScalar,RowMajor,ConjLhs,RhsScalar,ConjRhs>::run(
+      general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,ConjLhs,RhsScalar,RhsMapper,ConjRhs>::run(
             rows-diagSize, cols,
-            &lhs.coeffRef(diagSize,0), lhsStride,
-            &rhs.coeffRef(0), rhsIncr,
+            LhsMapper(&lhs.coeffRef(diagSize,0), lhsStride),
+            RhsMapper(&rhs.coeffRef(0), rhsIncr),
             &res.coeffRef(diagSize), resIncr, alpha);
     }
   }
@@ -157,83 +163,66 @@ EIGEN_DONT_INLINE void triangular_matrix_vector_product<Index,Mode,LhsScalar,Con
 * Wrapper to product_triangular_vector
 ***************************************************************************/
 
-template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
-struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,true> >
- : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,false,Rhs,true>, Lhs, Rhs> >
-{};
-
-template<int Mode, bool LhsIsTriangular, typename Lhs, typename Rhs>
-struct traits<TriangularProduct<Mode,LhsIsTriangular,Lhs,true,Rhs,false> >
- : traits<ProductBase<TriangularProduct<Mode,LhsIsTriangular,Lhs,true,Rhs,false>, Lhs, Rhs> >
-{};
-
-
-template<int StorageOrder>
+template<int Mode,int StorageOrder>
 struct trmv_selector;
 
 } // end namespace internal
 
+namespace internal {
+
 template<int Mode, typename Lhs, typename Rhs>
-struct TriangularProduct<Mode,true,Lhs,false,Rhs,true>
-  : public ProductBase<TriangularProduct<Mode,true,Lhs,false,Rhs,true>, Lhs, Rhs >
+struct triangular_product_impl<Mode,true,Lhs,false,Rhs,true>
 {
-  EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
-
-  TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
-
-  template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
+  template<typename Dest> static void run(Dest& dst, const Lhs &lhs, const Rhs &rhs, const typename Dest::Scalar& alpha)
   {
-    eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+    eigen_assert(dst.rows()==lhs.rows() && dst.cols()==rhs.cols());
   
-    internal::trmv_selector<(int(internal::traits<Lhs>::Flags)&RowMajorBit) ? RowMajor : ColMajor>::run(*this, dst, alpha);
+    internal::trmv_selector<Mode,(int(internal::traits<Lhs>::Flags)&RowMajorBit) ? RowMajor : ColMajor>::run(lhs, rhs, dst, alpha);
   }
 };
 
 template<int Mode, typename Lhs, typename Rhs>
-struct TriangularProduct<Mode,false,Lhs,true,Rhs,false>
-  : public ProductBase<TriangularProduct<Mode,false,Lhs,true,Rhs,false>, Lhs, Rhs >
+struct triangular_product_impl<Mode,false,Lhs,true,Rhs,false>
 {
-  EIGEN_PRODUCT_PUBLIC_INTERFACE(TriangularProduct)
-
-  TriangularProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs) {}
-
-  template<typename Dest> void scaleAndAddTo(Dest& dst, const Scalar& alpha) const
+  template<typename Dest> static void run(Dest& dst, const Lhs &lhs, const Rhs &rhs, const typename Dest::Scalar& alpha)
   {
-    eigen_assert(dst.rows()==m_lhs.rows() && dst.cols()==m_rhs.cols());
+    eigen_assert(dst.rows()==lhs.rows() && dst.cols()==rhs.cols());
 
-    typedef TriangularProduct<(Mode & (UnitDiag|ZeroDiag)) | ((Mode & Lower) ? Upper : Lower),true,Transpose<const Rhs>,false,Transpose<const Lhs>,true> TriangularProductTranspose;
     Transpose<Dest> dstT(dst);
-    internal::trmv_selector<(int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>::run(
-      TriangularProductTranspose(m_rhs.transpose(),m_lhs.transpose()), dstT, alpha);
+    internal::trmv_selector<(Mode & (UnitDiag|ZeroDiag)) | ((Mode & Lower) ? Upper : Lower),
+                            (int(internal::traits<Rhs>::Flags)&RowMajorBit) ? ColMajor : RowMajor>
+            ::run(rhs.transpose(),lhs.transpose(), dstT, alpha);
   }
 };
 
+} // end namespace internal
+
 namespace internal {
 
 // TODO: find a way to factorize this piece of code with gemv_selector since the logic is exactly the same.
   
-template<> struct trmv_selector<ColMajor>
+template<int Mode> struct trmv_selector<Mode,ColMajor>
 {
-  template<int Mode, typename Lhs, typename Rhs, typename Dest>
-  static void run(const TriangularProduct<Mode,true,Lhs,false,Rhs,true>& prod, Dest& dest, const typename TriangularProduct<Mode,true,Lhs,false,Rhs,true>::Scalar& alpha)
+  template<typename Lhs, typename Rhs, typename Dest>
+  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
   {
-    typedef TriangularProduct<Mode,true,Lhs,false,Rhs,true> ProductType;
-    typedef typename ProductType::Index Index;
-    typedef typename ProductType::LhsScalar   LhsScalar;
-    typedef typename ProductType::RhsScalar   RhsScalar;
-    typedef typename ProductType::Scalar      ResScalar;
-    typedef typename ProductType::RealScalar  RealScalar;
-    typedef typename ProductType::ActualLhsType ActualLhsType;
-    typedef typename ProductType::ActualRhsType ActualRhsType;
-    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
-    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
-    typedef Map<Matrix<ResScalar,Dynamic,1>, Aligned> MappedDest;
+    typedef typename Lhs::Scalar      LhsScalar;
+    typedef typename Rhs::Scalar      RhsScalar;
+    typedef typename Dest::Scalar     ResScalar;
+    typedef typename Dest::RealScalar RealScalar;
+    
+    typedef internal::blas_traits<Lhs> LhsBlasTraits;
+    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+    typedef internal::blas_traits<Rhs> RhsBlasTraits;
+    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+    
+    typedef Map<Matrix<ResScalar,Dynamic,1>, EIGEN_PLAIN_ENUM_MIN(AlignedMax,internal::packet_traits<ResScalar>::size)> MappedDest;
 
-    typename internal::add_const_on_value_type<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
-    typename internal::add_const_on_value_type<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
+    typename internal::add_const_on_value_type<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
+    typename internal::add_const_on_value_type<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
 
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
-                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
+                                  * RhsBlasTraits::extractScalarFactor(rhs);
 
     enum {
       // FIXME find a way to allow an inner stride on the result if packet_traits<Scalar>::size==1
@@ -247,7 +236,7 @@ template<> struct trmv_selector<ColMajor>
 
     bool alphaIsCompatible = (!ComplexByReal) || (numext::imag(actualAlpha)==RealScalar(0));
     bool evalToDest = EvalToDestAtCompileTime && alphaIsCompatible;
-    
+
     RhsScalar compatibleAlpha = get_factor<ResScalar,RhsScalar>::run(actualAlpha);
 
     ei_declare_aligned_stack_constructed_variable(ResScalar,actualDestPtr,dest.size(),
@@ -267,7 +256,7 @@ template<> struct trmv_selector<ColMajor>
       else
         MappedDest(actualDestPtr, dest.size()) = dest;
     }
-    
+
     internal::triangular_matrix_vector_product
       <Index,Mode,
        LhsScalar, LhsBlasTraits::NeedToConjugate,
@@ -288,33 +277,32 @@ template<> struct trmv_selector<ColMajor>
   }
 };
 
-template<> struct trmv_selector<RowMajor>
+template<int Mode> struct trmv_selector<Mode,RowMajor>
 {
-  template<int Mode, typename Lhs, typename Rhs, typename Dest>
-  static void run(const TriangularProduct<Mode,true,Lhs,false,Rhs,true>& prod, Dest& dest, const typename TriangularProduct<Mode,true,Lhs,false,Rhs,true>::Scalar& alpha)
+  template<typename Lhs, typename Rhs, typename Dest>
+  static void run(const Lhs &lhs, const Rhs &rhs, Dest& dest, const typename Dest::Scalar& alpha)
   {
-    typedef TriangularProduct<Mode,true,Lhs,false,Rhs,true> ProductType;
-    typedef typename ProductType::LhsScalar LhsScalar;
-    typedef typename ProductType::RhsScalar RhsScalar;
-    typedef typename ProductType::Scalar    ResScalar;
-    typedef typename ProductType::Index Index;
-    typedef typename ProductType::ActualLhsType ActualLhsType;
-    typedef typename ProductType::ActualRhsType ActualRhsType;
-    typedef typename ProductType::_ActualRhsType _ActualRhsType;
-    typedef typename ProductType::LhsBlasTraits LhsBlasTraits;
-    typedef typename ProductType::RhsBlasTraits RhsBlasTraits;
+    typedef typename Lhs::Scalar      LhsScalar;
+    typedef typename Rhs::Scalar      RhsScalar;
+    typedef typename Dest::Scalar     ResScalar;
+    
+    typedef internal::blas_traits<Lhs> LhsBlasTraits;
+    typedef typename LhsBlasTraits::DirectLinearAccessType ActualLhsType;
+    typedef internal::blas_traits<Rhs> RhsBlasTraits;
+    typedef typename RhsBlasTraits::DirectLinearAccessType ActualRhsType;
+    typedef typename internal::remove_all<ActualRhsType>::type ActualRhsTypeCleaned;
 
-    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(prod.lhs());
-    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(prod.rhs());
+    typename add_const<ActualLhsType>::type actualLhs = LhsBlasTraits::extract(lhs);
+    typename add_const<ActualRhsType>::type actualRhs = RhsBlasTraits::extract(rhs);
 
-    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(prod.lhs())
-                                  * RhsBlasTraits::extractScalarFactor(prod.rhs());
+    ResScalar actualAlpha = alpha * LhsBlasTraits::extractScalarFactor(lhs)
+                                  * RhsBlasTraits::extractScalarFactor(rhs);
 
     enum {
-      DirectlyUseRhs = _ActualRhsType::InnerStrideAtCompileTime==1
+      DirectlyUseRhs = ActualRhsTypeCleaned::InnerStrideAtCompileTime==1
     };
 
-    gemv_static_vector_if<RhsScalar,_ActualRhsType::SizeAtCompileTime,_ActualRhsType::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
+    gemv_static_vector_if<RhsScalar,ActualRhsTypeCleaned::SizeAtCompileTime,ActualRhsTypeCleaned::MaxSizeAtCompileTime,!DirectlyUseRhs> static_rhs;
 
     ei_declare_aligned_stack_constructed_variable(RhsScalar,actualRhsPtr,actualRhs.size(),
         DirectlyUseRhs ? const_cast<RhsScalar*>(actualRhs.data()) : static_rhs.data());
@@ -322,12 +310,12 @@ template<> struct trmv_selector<RowMajor>
     if(!DirectlyUseRhs)
     {
       #ifdef EIGEN_DENSE_STORAGE_CTOR_PLUGIN
-      int size = actualRhs.size();
+      Index size = actualRhs.size();
       EIGEN_DENSE_STORAGE_CTOR_PLUGIN
       #endif
-      Map<typename _ActualRhsType::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
+      Map<typename ActualRhsTypeCleaned::PlainObject>(actualRhsPtr, actualRhs.size()) = actualRhs;
     }
-    
+
     internal::triangular_matrix_vector_product
       <Index,Mode,
        LhsScalar, LhsBlasTraits::NeedToConjugate,
diff --git a/eigenlib/Eigen/src/Core/products/TriangularMatrixVector_MKL.h b/eigenlib/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h
similarity index 74%
rename from eigenlib/Eigen/src/Core/products/TriangularMatrixVector_MKL.h
rename to eigenlib/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h
index 09f110da..07bf26ce 100644
--- a/eigenlib/Eigen/src/Core/products/TriangularMatrixVector_MKL.h
+++ b/eigenlib/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h
@@ -25,13 +25,13 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to BLAS F77
  *   Triangular matrix-vector product functionality based on ?TRMV.
  ********************************************************************************
 */
 
-#ifndef EIGEN_TRIANGULAR_MATRIX_VECTOR_MKL_H
-#define EIGEN_TRIANGULAR_MATRIX_VECTOR_MKL_H
+#ifndef EIGEN_TRIANGULAR_MATRIX_VECTOR_BLAS_H
+#define EIGEN_TRIANGULAR_MATRIX_VECTOR_BLAS_H
 
 namespace Eigen { 
 
@@ -47,7 +47,7 @@ template<typename Index, int Mode, typename LhsScalar, bool ConjLhs, typename Rh
 struct triangular_matrix_vector_product_trmv :
   triangular_matrix_vector_product<Index,Mode,LhsScalar,ConjLhs,RhsScalar,ConjRhs,StorageOrder,BuiltIn> {};
 
-#define EIGEN_MKL_TRMV_SPECIALIZE(Scalar) \
+#define EIGEN_BLAS_TRMV_SPECIALIZE(Scalar) \
 template<typename Index, int Mode, bool ConjLhs, bool ConjRhs> \
 struct triangular_matrix_vector_product<Index,Mode,Scalar,ConjLhs,Scalar,ConjRhs,ColMajor,Specialized> { \
  static void run(Index _rows, Index _cols, const Scalar* _lhs, Index lhsStride, \
@@ -65,13 +65,13 @@ struct triangular_matrix_vector_product<Index,Mode,Scalar,ConjLhs,Scalar,ConjRhs
   } \
 };
 
-EIGEN_MKL_TRMV_SPECIALIZE(double)
-EIGEN_MKL_TRMV_SPECIALIZE(float)
-EIGEN_MKL_TRMV_SPECIALIZE(dcomplex)
-EIGEN_MKL_TRMV_SPECIALIZE(scomplex)
+EIGEN_BLAS_TRMV_SPECIALIZE(double)
+EIGEN_BLAS_TRMV_SPECIALIZE(float)
+EIGEN_BLAS_TRMV_SPECIALIZE(dcomplex)
+EIGEN_BLAS_TRMV_SPECIALIZE(scomplex)
 
 // implements col-major: res += alpha * op(triangular) * vector
-#define EIGEN_MKL_TRMV_CM(EIGTYPE, MKLTYPE, EIGPREFIX, MKLPREFIX) \
+#define EIGEN_BLAS_TRMV_CM(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
 template<typename Index, int Mode, bool ConjLhs, bool ConjRhs> \
 struct triangular_matrix_vector_product_trmv<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,ConjRhs,ColMajor> { \
   enum { \
@@ -105,17 +105,15 @@ struct triangular_matrix_vector_product_trmv<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,
 /* Square part handling */\
 \
    char trans, uplo, diag; \
-   MKL_INT m, n, lda, incx, incy; \
+   BlasIndex m, n, lda, incx, incy; \
    EIGTYPE const *a; \
-   MKLTYPE alpha_, beta_; \
-   assign_scalar_eig2mkl<MKLTYPE, EIGTYPE>(alpha_, alpha); \
-   assign_scalar_eig2mkl<MKLTYPE, EIGTYPE>(beta_, EIGTYPE(1)); \
+   EIGTYPE beta(1); \
 \
 /* Set m, n */ \
-   n = (MKL_INT)size; \
-   lda = lhsStride; \
+   n = convert_index<BlasIndex>(size); \
+   lda = convert_index<BlasIndex>(lhsStride); \
    incx = 1; \
-   incy = resIncr; \
+   incy = convert_index<BlasIndex>(resIncr); \
 \
 /* Set uplo, trans and diag*/ \
    trans = 'N'; \
@@ -123,40 +121,39 @@ struct triangular_matrix_vector_product_trmv<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,
    diag = IsUnitDiag ? 'U' : 'N'; \
 \
 /* call ?TRMV*/ \
-   MKLPREFIX##trmv(&uplo, &trans, &diag, &n, (const MKLTYPE*)_lhs, &lda, (MKLTYPE*)x, &incx); \
+   BLASPREFIX##trmv_(&uplo, &trans, &diag, &n, (const BLASTYPE*)_lhs, &lda, (BLASTYPE*)x, &incx); \
 \
 /* Add op(a_tr)rhs into res*/ \
-   MKLPREFIX##axpy(&n, &alpha_,(const MKLTYPE*)x, &incx, (MKLTYPE*)_res, &incy); \
-/* Non-square case - doesn't fit to MKL ?TRMV. Fall to default triangular product*/ \
+   BLASPREFIX##axpy_(&n, &numext::real_ref(alpha),(const BLASTYPE*)x, &incx, (BLASTYPE*)_res, &incy); \
+/* Non-square case - doesn't fit to BLAS ?TRMV. Fall to default triangular product*/ \
    if (size<(std::max)(rows,cols)) { \
-     typedef Matrix<EIGTYPE, Dynamic, Dynamic> MatrixLhs; \
      if (ConjRhs) x_tmp = rhs.conjugate(); else x_tmp = rhs; \
      x = x_tmp.data(); \
      if (size<rows) { \
        y = _res + size*resIncr; \
        a = _lhs + size; \
-       m = rows-size; \
-       n = size; \
+       m = convert_index<BlasIndex>(rows-size); \
+       n = convert_index<BlasIndex>(size); \
      } \
      else { \
        x += size; \
        y = _res; \
        a = _lhs + size*lda; \
-       m = size; \
-       n = cols-size; \
+       m = convert_index<BlasIndex>(size); \
+       n = convert_index<BlasIndex>(cols-size); \
      } \
-     MKLPREFIX##gemv(&trans, &m, &n, &alpha_, (const MKLTYPE*)a, &lda, (const MKLTYPE*)x, &incx, &beta_, (MKLTYPE*)y, &incy); \
+     BLASPREFIX##gemv_(&trans, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)x, &incx, &numext::real_ref(beta), (BLASTYPE*)y, &incy); \
    } \
   } \
 };
 
-EIGEN_MKL_TRMV_CM(double, double, d, d)
-EIGEN_MKL_TRMV_CM(dcomplex, MKL_Complex16, cd, z)
-EIGEN_MKL_TRMV_CM(float, float, f, s)
-EIGEN_MKL_TRMV_CM(scomplex, MKL_Complex8, cf, c)
+EIGEN_BLAS_TRMV_CM(double,   double, d,  d)
+EIGEN_BLAS_TRMV_CM(dcomplex, double, cd, z)
+EIGEN_BLAS_TRMV_CM(float,    float,  f,  s)
+EIGEN_BLAS_TRMV_CM(scomplex, float,  cf, c)
 
 // implements row-major: res += alpha * op(triangular) * vector
-#define EIGEN_MKL_TRMV_RM(EIGTYPE, MKLTYPE, EIGPREFIX, MKLPREFIX) \
+#define EIGEN_BLAS_TRMV_RM(EIGTYPE, BLASTYPE, EIGPREFIX, BLASPREFIX) \
 template<typename Index, int Mode, bool ConjLhs, bool ConjRhs> \
 struct triangular_matrix_vector_product_trmv<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,ConjRhs,RowMajor> { \
   enum { \
@@ -190,17 +187,15 @@ struct triangular_matrix_vector_product_trmv<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,
 /* Square part handling */\
 \
    char trans, uplo, diag; \
-   MKL_INT m, n, lda, incx, incy; \
+   BlasIndex m, n, lda, incx, incy; \
    EIGTYPE const *a; \
-   MKLTYPE alpha_, beta_; \
-   assign_scalar_eig2mkl<MKLTYPE, EIGTYPE>(alpha_, alpha); \
-   assign_scalar_eig2mkl<MKLTYPE, EIGTYPE>(beta_, EIGTYPE(1)); \
+   EIGTYPE beta(1); \
 \
 /* Set m, n */ \
-   n = (MKL_INT)size; \
-   lda = lhsStride; \
+   n = convert_index<BlasIndex>(size); \
+   lda = convert_index<BlasIndex>(lhsStride); \
    incx = 1; \
-   incy = resIncr; \
+   incy = convert_index<BlasIndex>(resIncr); \
 \
 /* Set uplo, trans and diag*/ \
    trans = ConjLhs ? 'C' : 'T'; \
@@ -208,40 +203,39 @@ struct triangular_matrix_vector_product_trmv<Index,Mode,EIGTYPE,ConjLhs,EIGTYPE,
    diag = IsUnitDiag ? 'U' : 'N'; \
 \
 /* call ?TRMV*/ \
-   MKLPREFIX##trmv(&uplo, &trans, &diag, &n, (const MKLTYPE*)_lhs, &lda, (MKLTYPE*)x, &incx); \
+   BLASPREFIX##trmv_(&uplo, &trans, &diag, &n, (const BLASTYPE*)_lhs, &lda, (BLASTYPE*)x, &incx); \
 \
 /* Add op(a_tr)rhs into res*/ \
-   MKLPREFIX##axpy(&n, &alpha_,(const MKLTYPE*)x, &incx, (MKLTYPE*)_res, &incy); \
-/* Non-square case - doesn't fit to MKL ?TRMV. Fall to default triangular product*/ \
+   BLASPREFIX##axpy_(&n, &numext::real_ref(alpha),(const BLASTYPE*)x, &incx, (BLASTYPE*)_res, &incy); \
+/* Non-square case - doesn't fit to BLAS ?TRMV. Fall to default triangular product*/ \
    if (size<(std::max)(rows,cols)) { \
-     typedef Matrix<EIGTYPE, Dynamic, Dynamic> MatrixLhs; \
      if (ConjRhs) x_tmp = rhs.conjugate(); else x_tmp = rhs; \
      x = x_tmp.data(); \
      if (size<rows) { \
        y = _res + size*resIncr; \
        a = _lhs + size*lda; \
-       m = rows-size; \
-       n = size; \
+       m = convert_index<BlasIndex>(rows-size); \
+       n = convert_index<BlasIndex>(size); \
      } \
      else { \
        x += size; \
        y = _res; \
        a = _lhs + size; \
-       m = size; \
-       n = cols-size; \
+       m = convert_index<BlasIndex>(size); \
+       n = convert_index<BlasIndex>(cols-size); \
      } \
-     MKLPREFIX##gemv(&trans, &n, &m, &alpha_, (const MKLTYPE*)a, &lda, (const MKLTYPE*)x, &incx, &beta_, (MKLTYPE*)y, &incy); \
+     BLASPREFIX##gemv_(&trans, &n, &m, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (const BLASTYPE*)x, &incx, &numext::real_ref(beta), (BLASTYPE*)y, &incy); \
    } \
   } \
 };
 
-EIGEN_MKL_TRMV_RM(double, double, d, d)
-EIGEN_MKL_TRMV_RM(dcomplex, MKL_Complex16, cd, z)
-EIGEN_MKL_TRMV_RM(float, float, f, s)
-EIGEN_MKL_TRMV_RM(scomplex, MKL_Complex8, cf, c)
+EIGEN_BLAS_TRMV_RM(double,   double, d,  d)
+EIGEN_BLAS_TRMV_RM(dcomplex, double, cd, z)
+EIGEN_BLAS_TRMV_RM(float,    float,  f,  s)
+EIGEN_BLAS_TRMV_RM(scomplex, float,  cf, c)
 
 } // end namespase internal
 
 } // end namespace Eigen
 
-#endif // EIGEN_TRIANGULAR_MATRIX_VECTOR_MKL_H
+#endif // EIGEN_TRIANGULAR_MATRIX_VECTOR_BLAS_H
diff --git a/eigenlib/Eigen/src/Core/products/TriangularSolverMatrix.h b/eigenlib/Eigen/src/Core/products/TriangularSolverMatrix.h
index f103eae7..223c38b8 100644
--- a/eigenlib/Eigen/src/Core/products/TriangularSolverMatrix.h
+++ b/eigenlib/Eigen/src/Core/products/TriangularSolverMatrix.h
@@ -52,10 +52,14 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conju
     level3_blocking<Scalar,Scalar>& blocking)
   {
     Index cols = otherSize;
-    const_blas_data_mapper<Scalar, Index, TriStorageOrder> tri(_tri,triStride);
-    blas_data_mapper<Scalar, Index, ColMajor> other(_other,otherStride);
+
+    typedef const_blas_data_mapper<Scalar, Index, TriStorageOrder> TriMapper;
+    typedef blas_data_mapper<Scalar, Index, ColMajor> OtherMapper;
+    TriMapper tri(_tri, triStride);
+    OtherMapper other(_other, otherStride);
 
     typedef gebp_traits<Scalar,Scalar> Traits;
+
     enum {
       SmallPanelWidth   = EIGEN_PLAIN_ENUM_MAX(Traits::mr,Traits::nr),
       IsLower = (Mode&Lower) == Lower
@@ -66,22 +70,20 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conju
 
     std::size_t sizeA = kc*mc;
     std::size_t sizeB = kc*cols;
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
 
     ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
     ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockW, sizeW, blocking.blockW());
 
     conj_if<Conjugate> conj;
-    gebp_kernel<Scalar, Scalar, Index, Traits::mr, Traits::nr, Conjugate, false> gebp_kernel;
-    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, TriStorageOrder> pack_lhs;
-    gemm_pack_rhs<Scalar, Index, Traits::nr, ColMajor, false, true> pack_rhs;
+    gebp_kernel<Scalar, Scalar, Index, OtherMapper, Traits::mr, Traits::nr, Conjugate, false> gebp_kernel;
+    gemm_pack_lhs<Scalar, Index, TriMapper, Traits::mr, Traits::LhsProgress, TriStorageOrder> pack_lhs;
+    gemm_pack_rhs<Scalar, Index, OtherMapper, Traits::nr, ColMajor, false, true> pack_rhs;
 
     // the goal here is to subdivise the Rhs panels such that we keep some cache
     // coherence when accessing the rhs elements
-    std::ptrdiff_t l1, l2;
-    manage_caching_sizes(GetAction, &l1, &l2);
-    Index subcols = cols>0 ? l2/(4 * sizeof(Scalar) * otherStride) : 0;
+    std::ptrdiff_t l1, l2, l3;
+    manage_caching_sizes(GetAction, &l1, &l2, &l3);
+    Index subcols = cols>0 ? l2/(4 * sizeof(Scalar) * std::max<Index>(otherStride,size)) : 0;
     subcols = std::max<Index>((subcols/Traits::nr)*Traits::nr, Traits::nr);
 
     for(Index k2=IsLower ? 0 : size;
@@ -115,8 +117,9 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conju
           {
             // TODO write a small kernel handling this (can be shared with trsv)
             Index i  = IsLower ? k2+k1+k : k2-k1-k-1;
-            Index s  = IsLower ? k2+k1 : i+1;
             Index rs = actualPanelWidth - k - 1; // remaining size
+            Index s  = TriStorageOrder==RowMajor ? (IsLower ? k2+k1 : i+1)
+                                                 :  IsLower ? i+1 : i-rs;
 
             Scalar a = (Mode & UnitDiag) ? Scalar(1) : Scalar(1)/conj(tri(i,i));
             for (Index j=j2; j<j2+actual_cols; ++j)
@@ -133,7 +136,6 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conju
               }
               else
               {
-                Index s = IsLower ? i+1 : i-rs;
                 Scalar b = (other(i,j) *= a);
                 Scalar* r = &other(s,j);
                 const Scalar* l = &tri(s,i);
@@ -148,17 +150,17 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conju
           Index blockBOffset = IsLower ? k1 : lengthTarget;
 
           // update the respective rows of B from other
-          pack_rhs(blockB+actual_kc*j2, &other(startBlock,j2), otherStride, actualPanelWidth, actual_cols, actual_kc, blockBOffset);
+          pack_rhs(blockB+actual_kc*j2, other.getSubMapper(startBlock,j2), actualPanelWidth, actual_cols, actual_kc, blockBOffset);
 
           // GEBP
           if (lengthTarget>0)
           {
             Index startTarget  = IsLower ? k2+k1+actualPanelWidth : k2-actual_kc;
 
-            pack_lhs(blockA, &tri(startTarget,startBlock), triStride, actualPanelWidth, lengthTarget);
+            pack_lhs(blockA, tri.getSubMapper(startTarget,startBlock), actualPanelWidth, lengthTarget);
 
-            gebp_kernel(&other(startTarget,j2), otherStride, blockA, blockB+actual_kc*j2, lengthTarget, actualPanelWidth, actual_cols, Scalar(-1),
-                        actualPanelWidth, actual_kc, 0, blockBOffset, blockW);
+            gebp_kernel(other.getSubMapper(startTarget,j2), blockA, blockB+actual_kc*j2, lengthTarget, actualPanelWidth, actual_cols, Scalar(-1),
+                        actualPanelWidth, actual_kc, 0, blockBOffset);
           }
         }
       }
@@ -172,16 +174,16 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheLeft,Mode,Conju
           const Index actual_mc = (std::min)(mc,end-i2);
           if (actual_mc>0)
           {
-            pack_lhs(blockA, &tri(i2, IsLower ? k2 : k2-kc), triStride, actual_kc, actual_mc);
+            pack_lhs(blockA, tri.getSubMapper(i2, IsLower ? k2 : k2-kc), actual_kc, actual_mc);
 
-            gebp_kernel(_other+i2, otherStride, blockA, blockB, actual_mc, actual_kc, cols, Scalar(-1), -1, -1, 0, 0, blockW);
+            gebp_kernel(other.getSubMapper(i2, 0), blockA, blockB, actual_mc, actual_kc, cols, Scalar(-1), -1, -1, 0, 0);
           }
         }
       }
     }
   }
 
-/* Optimized triangular solver with multiple left hand sides and the trinagular matrix on the right
+/* Optimized triangular solver with multiple left hand sides and the triangular matrix on the right
  */
 template <typename Scalar, typename Index, int Mode, bool Conjugate, int TriStorageOrder>
 struct triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor>
@@ -200,8 +202,12 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
     level3_blocking<Scalar,Scalar>& blocking)
   {
     Index rows = otherSize;
-    const_blas_data_mapper<Scalar, Index, TriStorageOrder> rhs(_tri,triStride);
-    blas_data_mapper<Scalar, Index, ColMajor> lhs(_other,otherStride);
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+
+    typedef blas_data_mapper<Scalar, Index, ColMajor> LhsMapper;
+    typedef const_blas_data_mapper<Scalar, Index, TriStorageOrder> RhsMapper;
+    LhsMapper lhs(_other, otherStride);
+    RhsMapper rhs(_tri, triStride);
 
     typedef gebp_traits<Scalar,Scalar> Traits;
     enum {
@@ -215,17 +221,15 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
 
     std::size_t sizeA = kc*mc;
     std::size_t sizeB = kc*size;
-    std::size_t sizeW = kc*Traits::WorkSpaceFactor;
 
     ei_declare_aligned_stack_constructed_variable(Scalar, blockA, sizeA, blocking.blockA());
     ei_declare_aligned_stack_constructed_variable(Scalar, blockB, sizeB, blocking.blockB());
-    ei_declare_aligned_stack_constructed_variable(Scalar, blockW, sizeW, blocking.blockW());
 
     conj_if<Conjugate> conj;
-    gebp_kernel<Scalar,Scalar, Index, Traits::mr, Traits::nr, false, Conjugate> gebp_kernel;
-    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder> pack_rhs;
-    gemm_pack_rhs<Scalar, Index, Traits::nr,RhsStorageOrder,false,true> pack_rhs_panel;
-    gemm_pack_lhs<Scalar, Index, Traits::mr, Traits::LhsProgress, ColMajor, false, true> pack_lhs_panel;
+    gebp_kernel<Scalar, Scalar, Index, LhsMapper, Traits::mr, Traits::nr, false, Conjugate> gebp_kernel;
+    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr, RhsStorageOrder> pack_rhs;
+    gemm_pack_rhs<Scalar, Index, RhsMapper, Traits::nr, RhsStorageOrder,false,true> pack_rhs_panel;
+    gemm_pack_lhs<Scalar, Index, LhsMapper, Traits::mr, Traits::LhsProgress, ColMajor, false, true> pack_lhs_panel;
 
     for(Index k2=IsLower ? size : 0;
         IsLower ? k2>0 : k2<size;
@@ -238,7 +242,7 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
       Index rs = IsLower ? actual_k2 : size - actual_k2 - actual_kc;
       Scalar* geb = blockB+actual_kc*actual_kc;
 
-      if (rs>0) pack_rhs(geb, &rhs(actual_k2,startPanel), triStride, actual_kc, rs);
+      if (rs>0) pack_rhs(geb, rhs.getSubMapper(actual_k2,startPanel), actual_kc, rs);
 
       // triangular packing (we only pack the panels off the diagonal,
       // neglecting the blocks overlapping the diagonal
@@ -252,7 +256,7 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
 
           if (panelLength>0)
           pack_rhs_panel(blockB+j2*actual_kc,
-                         &rhs(actual_k2+panelOffset, actual_j2), triStride,
+                         rhs.getSubMapper(actual_k2+panelOffset, actual_j2),
                          panelLength, actualPanelWidth,
                          actual_kc, panelOffset);
         }
@@ -280,13 +284,12 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
             // GEBP
             if(panelLength>0)
             {
-              gebp_kernel(&lhs(i2,absolute_j2), otherStride,
+              gebp_kernel(lhs.getSubMapper(i2,absolute_j2),
                           blockA, blockB+j2*actual_kc,
                           actual_mc, panelLength, actualPanelWidth,
                           Scalar(-1),
                           actual_kc, actual_kc, // strides
-                          panelOffset, panelOffset, // offsets
-                          blockW);  // workspace
+                          panelOffset, panelOffset); // offsets
             }
 
             // unblocked triangular solve
@@ -302,22 +305,25 @@ EIGEN_DONT_INLINE void triangular_solve_matrix<Scalar,Index,OnTheRight,Mode,Conj
                 for (Index i=0; i<actual_mc; ++i)
                   r[i] -= a[i] * b;
               }
-              Scalar b = (Mode & UnitDiag) ? Scalar(1) : Scalar(1)/conj(rhs(j,j));
-              for (Index i=0; i<actual_mc; ++i)
-                r[i] *= b;
+              if((Mode & UnitDiag)==0)
+              {
+                Scalar inv_rjj = RealScalar(1)/conj(rhs(j,j));
+                for (Index i=0; i<actual_mc; ++i)
+                  r[i] *= inv_rjj;
+              }
             }
 
             // pack the just computed part of lhs to A
-            pack_lhs_panel(blockA, _other+absolute_j2*otherStride+i2, otherStride,
+            pack_lhs_panel(blockA, LhsMapper(_other+absolute_j2*otherStride+i2, otherStride),
                            actualPanelWidth, actual_mc,
                            actual_kc, j2);
           }
         }
 
         if (rs>0)
-          gebp_kernel(_other+i2+startPanel*otherStride, otherStride, blockA, geb,
+          gebp_kernel(lhs.getSubMapper(i2, startPanel), blockA, geb,
                       actual_mc, actual_kc, rs, Scalar(-1),
-                      -1, -1, 0, 0, blockW);
+                      -1, -1, 0, 0);
       }
     }
   }
diff --git a/eigenlib/Eigen/src/Core/products/TriangularSolverMatrix_MKL.h b/eigenlib/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h
similarity index 75%
rename from eigenlib/Eigen/src/Core/products/TriangularSolverMatrix_MKL.h
rename to eigenlib/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h
index 6a0bb833..88c0fb79 100644
--- a/eigenlib/Eigen/src/Core/products/TriangularSolverMatrix_MKL.h
+++ b/eigenlib/Eigen/src/Core/products/TriangularSolverMatrix_BLAS.h
@@ -25,20 +25,20 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to BLAS F77
  *   Triangular matrix * matrix product functionality based on ?TRMM.
  ********************************************************************************
 */
 
-#ifndef EIGEN_TRIANGULAR_SOLVER_MATRIX_MKL_H
-#define EIGEN_TRIANGULAR_SOLVER_MATRIX_MKL_H
+#ifndef EIGEN_TRIANGULAR_SOLVER_MATRIX_BLAS_H
+#define EIGEN_TRIANGULAR_SOLVER_MATRIX_BLAS_H
 
 namespace Eigen {
 
 namespace internal {
 
 // implements LeftSide op(triangular)^-1 * general
-#define EIGEN_MKL_TRSM_L(EIGTYPE, MKLTYPE, MKLPREFIX) \
+#define EIGEN_BLAS_TRSM_L(EIGTYPE, BLASTYPE, BLASPREFIX) \
 template <typename Index, int Mode, bool Conjugate, int TriStorageOrder> \
 struct triangular_solve_matrix<EIGTYPE,Index,OnTheLeft,Mode,Conjugate,TriStorageOrder,ColMajor> \
 { \
@@ -53,13 +53,11 @@ struct triangular_solve_matrix<EIGTYPE,Index,OnTheLeft,Mode,Conjugate,TriStorage
       const EIGTYPE* _tri, Index triStride, \
       EIGTYPE* _other, Index otherStride, level3_blocking<EIGTYPE,EIGTYPE>& /*blocking*/) \
   { \
-   MKL_INT m = size, n = otherSize, lda, ldb; \
+   BlasIndex m = convert_index<BlasIndex>(size), n = convert_index<BlasIndex>(otherSize), lda, ldb; \
    char side = 'L', uplo, diag='N', transa; \
    /* Set alpha_ */ \
-   MKLTYPE alpha; \
-   EIGTYPE myone(1); \
-   assign_scalar_eig2mkl(alpha, myone); \
-   ldb = otherStride;\
+   EIGTYPE alpha(1); \
+   ldb = convert_index<BlasIndex>(otherStride);\
 \
    const EIGTYPE *a; \
 /* Set trans */ \
@@ -75,25 +73,25 @@ struct triangular_solve_matrix<EIGTYPE,Index,OnTheLeft,Mode,Conjugate,TriStorage
    if (conjA) { \
      a_tmp = tri.conjugate(); \
      a = a_tmp.data(); \
-     lda = a_tmp.outerStride(); \
+     lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
    } else { \
      a = _tri; \
-     lda = triStride; \
+     lda = convert_index<BlasIndex>(triStride); \
    } \
    if (IsUnitDiag) diag='U'; \
 /* call ?trsm*/ \
-   MKLPREFIX##trsm(&side, &uplo, &transa, &diag, &m, &n, &alpha, (const MKLTYPE*)a, &lda, (MKLTYPE*)_other, &ldb); \
+   BLASPREFIX##trsm_(&side, &uplo, &transa, &diag, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (BLASTYPE*)_other, &ldb); \
  } \
 };
 
-EIGEN_MKL_TRSM_L(double, double, d)
-EIGEN_MKL_TRSM_L(dcomplex, MKL_Complex16, z)
-EIGEN_MKL_TRSM_L(float, float, s)
-EIGEN_MKL_TRSM_L(scomplex, MKL_Complex8, c)
+EIGEN_BLAS_TRSM_L(double,   double, d)
+EIGEN_BLAS_TRSM_L(dcomplex, double, z)
+EIGEN_BLAS_TRSM_L(float,    float,  s)
+EIGEN_BLAS_TRSM_L(scomplex, float,  c)
 
 
 // implements RightSide general * op(triangular)^-1
-#define EIGEN_MKL_TRSM_R(EIGTYPE, MKLTYPE, MKLPREFIX) \
+#define EIGEN_BLAS_TRSM_R(EIGTYPE, BLASTYPE, BLASPREFIX) \
 template <typename Index, int Mode, bool Conjugate, int TriStorageOrder> \
 struct triangular_solve_matrix<EIGTYPE,Index,OnTheRight,Mode,Conjugate,TriStorageOrder,ColMajor> \
 { \
@@ -108,13 +106,11 @@ struct triangular_solve_matrix<EIGTYPE,Index,OnTheRight,Mode,Conjugate,TriStorag
       const EIGTYPE* _tri, Index triStride, \
       EIGTYPE* _other, Index otherStride, level3_blocking<EIGTYPE,EIGTYPE>& /*blocking*/) \
   { \
-   MKL_INT m = otherSize, n = size, lda, ldb; \
+   BlasIndex m = convert_index<BlasIndex>(otherSize), n = convert_index<BlasIndex>(size), lda, ldb; \
    char side = 'R', uplo, diag='N', transa; \
    /* Set alpha_ */ \
-   MKLTYPE alpha; \
-   EIGTYPE myone(1); \
-   assign_scalar_eig2mkl(alpha, myone); \
-   ldb = otherStride;\
+   EIGTYPE alpha(1); \
+   ldb = convert_index<BlasIndex>(otherStride);\
 \
    const EIGTYPE *a; \
 /* Set trans */ \
@@ -130,26 +126,26 @@ struct triangular_solve_matrix<EIGTYPE,Index,OnTheRight,Mode,Conjugate,TriStorag
    if (conjA) { \
      a_tmp = tri.conjugate(); \
      a = a_tmp.data(); \
-     lda = a_tmp.outerStride(); \
+     lda = convert_index<BlasIndex>(a_tmp.outerStride()); \
    } else { \
      a = _tri; \
-     lda = triStride; \
+     lda = convert_index<BlasIndex>(triStride); \
    } \
    if (IsUnitDiag) diag='U'; \
 /* call ?trsm*/ \
-   MKLPREFIX##trsm(&side, &uplo, &transa, &diag, &m, &n, &alpha, (const MKLTYPE*)a, &lda, (MKLTYPE*)_other, &ldb); \
+   BLASPREFIX##trsm_(&side, &uplo, &transa, &diag, &m, &n, &numext::real_ref(alpha), (const BLASTYPE*)a, &lda, (BLASTYPE*)_other, &ldb); \
    /*std::cout << "TRMS_L specialization!\n";*/ \
  } \
 };
 
-EIGEN_MKL_TRSM_R(double, double, d)
-EIGEN_MKL_TRSM_R(dcomplex, MKL_Complex16, z)
-EIGEN_MKL_TRSM_R(float, float, s)
-EIGEN_MKL_TRSM_R(scomplex, MKL_Complex8, c)
+EIGEN_BLAS_TRSM_R(double,   double, d)
+EIGEN_BLAS_TRSM_R(dcomplex, double, z)
+EIGEN_BLAS_TRSM_R(float,    float,  s)
+EIGEN_BLAS_TRSM_R(scomplex, float,  c)
 
 
 } // end namespace internal
 
 } // end namespace Eigen
 
-#endif // EIGEN_TRIANGULAR_SOLVER_MATRIX_MKL_H
+#endif // EIGEN_TRIANGULAR_SOLVER_MATRIX_BLAS_H
diff --git a/eigenlib/Eigen/src/Core/products/TriangularSolverVector.h b/eigenlib/Eigen/src/Core/products/TriangularSolverVector.h
index ce4d1008..b994759b 100644
--- a/eigenlib/Eigen/src/Core/products/TriangularSolverVector.h
+++ b/eigenlib/Eigen/src/Core/products/TriangularSolverVector.h
@@ -10,7 +10,7 @@
 #ifndef EIGEN_TRIANGULAR_SOLVER_VECTOR_H
 #define EIGEN_TRIANGULAR_SOLVER_VECTOR_H
 
-namespace Eigen { 
+namespace Eigen {
 
 namespace internal {
 
@@ -25,7 +25,7 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheRight, Mode, Co
       >::run(size, _lhs, lhsStride, rhs);
   }
 };
-    
+
 // forward and backward substitution, row-major, rhs is a vector
 template<typename LhsScalar, typename RhsScalar, typename Index, int Mode, bool Conjugate>
 struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Conjugate, RowMajor>
@@ -37,6 +37,10 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Con
   {
     typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,RowMajor>, 0, OuterStride<> > LhsMap;
     const LhsMap lhs(_lhs,size,size,OuterStride<>(lhsStride));
+
+    typedef const_blas_data_mapper<LhsScalar,Index,RowMajor> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar,Index,ColMajor> RhsMapper;
+
     typename internal::conditional<
                           Conjugate,
                           const CwiseUnaryOp<typename internal::scalar_conjugate_op<LhsScalar>,LhsMap>,
@@ -58,10 +62,10 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Con
         Index startRow = IsLower ? pi : pi-actualPanelWidth;
         Index startCol = IsLower ? 0 : pi;
 
-        general_matrix_vector_product<Index,LhsScalar,RowMajor,Conjugate,RhsScalar,false>::run(
+        general_matrix_vector_product<Index,LhsScalar,LhsMapper,RowMajor,Conjugate,RhsScalar,RhsMapper,false>::run(
           actualPanelWidth, r,
-          &lhs.coeffRef(startRow,startCol), lhsStride,
-          rhs + startCol, 1,
+          LhsMapper(&lhs.coeffRef(startRow,startCol), lhsStride),
+          RhsMapper(rhs + startCol, 1),
           rhs + startRow, 1,
           RhsScalar(-1));
       }
@@ -72,7 +76,7 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Con
         Index s = IsLower ? pi   : i+1;
         if (k>0)
           rhs[i] -= (cjLhs.row(i).segment(s,k).transpose().cwiseProduct(Map<const Matrix<RhsScalar,Dynamic,1> >(rhs+s,k))).sum();
-        
+
         if(!(Mode & UnitDiag))
           rhs[i] /= cjLhs(i,i);
       }
@@ -91,6 +95,8 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Con
   {
     typedef Map<const Matrix<LhsScalar,Dynamic,Dynamic,ColMajor>, 0, OuterStride<> > LhsMap;
     const LhsMap lhs(_lhs,size,size,OuterStride<>(lhsStride));
+    typedef const_blas_data_mapper<LhsScalar,Index,ColMajor> LhsMapper;
+    typedef const_blas_data_mapper<RhsScalar,Index,ColMajor> RhsMapper;
     typename internal::conditional<Conjugate,
                                    const CwiseUnaryOp<typename internal::scalar_conjugate_op<LhsScalar>,LhsMap>,
                                    const LhsMap&
@@ -122,10 +128,10 @@ struct triangular_solve_vector<LhsScalar, RhsScalar, Index, OnTheLeft, Mode, Con
         // let's directly call the low level product function because:
         // 1 - it is faster to compile
         // 2 - it is slighlty faster at runtime
-        general_matrix_vector_product<Index,LhsScalar,ColMajor,Conjugate,RhsScalar,false>::run(
+        general_matrix_vector_product<Index,LhsScalar,LhsMapper,ColMajor,Conjugate,RhsScalar,RhsMapper,false>::run(
             r, actualPanelWidth,
-            &lhs.coeffRef(endBlock,startBlock), lhsStride,
-            rhs+startBlock, 1,
+            LhsMapper(&lhs.coeffRef(endBlock,startBlock), lhsStride),
+            RhsMapper(rhs+startBlock, 1),
             rhs+endBlock, 1, RhsScalar(-1));
       }
     }
diff --git a/eigenlib/Eigen/src/Core/util/BlasUtil.h b/eigenlib/Eigen/src/Core/util/BlasUtil.h
old mode 100644
new mode 100755
index a28f16fa..6e6ee119
--- a/eigenlib/Eigen/src/Core/util/BlasUtil.h
+++ b/eigenlib/Eigen/src/Core/util/BlasUtil.h
@@ -18,13 +18,13 @@ namespace Eigen {
 namespace internal {
 
 // forward declarations
-template<typename LhsScalar, typename RhsScalar, typename Index, int mr, int nr, bool ConjugateLhs=false, bool ConjugateRhs=false>
+template<typename LhsScalar, typename RhsScalar, typename Index, typename DataMapper, int mr, int nr, bool ConjugateLhs=false, bool ConjugateRhs=false>
 struct gebp_kernel;
 
-template<typename Scalar, typename Index, int nr, int StorageOrder, bool Conjugate = false, bool PanelMode=false>
+template<typename Scalar, typename Index, typename DataMapper, int nr, int StorageOrder, bool Conjugate = false, bool PanelMode=false>
 struct gemm_pack_rhs;
 
-template<typename Scalar, typename Index, int Pack1, int Pack2, int StorageOrder, bool Conjugate = false, bool PanelMode = false>
+template<typename Scalar, typename Index, typename DataMapper, int Pack1, int Pack2, int StorageOrder, bool Conjugate = false, bool PanelMode = false>
 struct gemm_pack_lhs;
 
 template<
@@ -34,7 +34,9 @@ template<
   int ResStorageOrder>
 struct general_matrix_matrix_product;
 
-template<typename Index, typename LhsScalar, int LhsStorageOrder, bool ConjugateLhs, typename RhsScalar, bool ConjugateRhs, int Version=Specialized>
+template<typename Index,
+         typename LhsScalar, typename LhsMapper, int LhsStorageOrder, bool ConjugateLhs,
+         typename RhsScalar, typename RhsMapper, bool ConjugateRhs, int Version=Specialized>
 struct general_matrix_vector_product;
 
 
@@ -42,22 +44,35 @@ template<bool Conjugate> struct conj_if;
 
 template<> struct conj_if<true> {
   template<typename T>
-  inline T operator()(const T& x) { return numext::conj(x); }
+  inline T operator()(const T& x) const { return numext::conj(x); }
   template<typename T>
-  inline T pconj(const T& x) { return internal::pconj(x); }
+  inline T pconj(const T& x) const { return internal::pconj(x); }
 };
 
 template<> struct conj_if<false> {
   template<typename T>
-  inline const T& operator()(const T& x) { return x; }
+  inline const T& operator()(const T& x) const { return x; }
   template<typename T>
-  inline const T& pconj(const T& x) { return x; }
+  inline const T& pconj(const T& x) const { return x; }
+};
+
+// Generic implementation for custom complex types.
+template<typename LhsScalar, typename RhsScalar, bool ConjLhs, bool ConjRhs>
+struct conj_helper
+{
+  typedef typename ScalarBinaryOpTraits<LhsScalar,RhsScalar>::ReturnType Scalar;
+
+  EIGEN_STRONG_INLINE Scalar pmadd(const LhsScalar& x, const RhsScalar& y, const Scalar& c) const
+  { return padd(c, pmul(x,y)); }
+
+  EIGEN_STRONG_INLINE Scalar pmul(const LhsScalar& x, const RhsScalar& y) const
+  { return conj_if<ConjLhs>()(x) *  conj_if<ConjRhs>()(y); }
 };
 
 template<typename Scalar> struct conj_helper<Scalar,Scalar,false,false>
 {
-  EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const { return internal::pmadd(x,y,c); }
-  EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const { return internal::pmul(x,y); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar pmadd(const Scalar& x, const Scalar& y, const Scalar& c) const { return internal::pmadd(x,y,c); }
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Scalar pmul(const Scalar& x, const Scalar& y) const { return internal::pmul(x,y); }
 };
 
 template<typename RealScalar> struct conj_helper<std::complex<RealScalar>, std::complex<RealScalar>, false,true>
@@ -109,39 +124,142 @@ template<typename RealScalar,bool Conj> struct conj_helper<RealScalar, std::comp
 };
 
 template<typename From,typename To> struct get_factor {
-  static EIGEN_STRONG_INLINE To run(const From& x) { return x; }
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE To run(const From& x) { return To(x); }
 };
 
 template<typename Scalar> struct get_factor<Scalar,typename NumTraits<Scalar>::Real> {
+  EIGEN_DEVICE_FUNC
   static EIGEN_STRONG_INLINE typename NumTraits<Scalar>::Real run(const Scalar& x) { return numext::real(x); }
 };
 
-// Lightweight helper class to access matrix coefficients.
-// Yes, this is somehow redundant with Map<>, but this version is much much lighter,
-// and so I hope better compilation performance (time and code quality).
-template<typename Scalar, typename Index, int StorageOrder>
-class blas_data_mapper
-{
+
+template<typename Scalar, typename Index>
+class BlasVectorMapper {
   public:
-    blas_data_mapper(Scalar* data, Index stride) : m_data(data), m_stride(stride) {}
-    EIGEN_STRONG_INLINE Scalar& operator()(Index i, Index j)
-    { return m_data[StorageOrder==RowMajor ? j + i*m_stride : i + j*m_stride]; }
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE BlasVectorMapper(Scalar *data) : m_data(data) {}
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Scalar operator()(Index i) const {
+    return m_data[i];
+  }
+  template <typename Packet, int AlignmentType>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet load(Index i) const {
+    return ploadt<Packet, AlignmentType>(m_data + i);
+  }
+
+  template <typename Packet>
+  EIGEN_DEVICE_FUNC bool aligned(Index i) const {
+    return (UIntPtr(m_data+i)%sizeof(Packet))==0;
+  }
+
   protected:
-    Scalar* EIGEN_RESTRICT m_data;
-    Index m_stride;
+  Scalar* m_data;
+};
+
+template<typename Scalar, typename Index, int AlignmentType>
+class BlasLinearMapper {
+  public:
+  typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename packet_traits<Scalar>::half HalfPacket;
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE BlasLinearMapper(Scalar *data) : m_data(data) {}
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void prefetch(int i) const {
+    internal::prefetch(&operator()(i));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Scalar& operator()(Index i) const {
+    return m_data[i];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i) const {
+    return ploadt<Packet, AlignmentType>(m_data + i);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE HalfPacket loadHalfPacket(Index i) const {
+    return ploadt<HalfPacket, AlignmentType>(m_data + i);
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void storePacket(Index i, const Packet &p) const {
+    pstoret<Scalar, Packet, AlignmentType>(m_data + i, p);
+  }
+
+  protected:
+  Scalar *m_data;
+};
+
+// Lightweight helper class to access matrix coefficients.
+template<typename Scalar, typename Index, int StorageOrder, int AlignmentType = Unaligned>
+class blas_data_mapper {
+  public:
+  typedef typename packet_traits<Scalar>::type Packet;
+  typedef typename packet_traits<Scalar>::half HalfPacket;
+
+  typedef BlasLinearMapper<Scalar, Index, AlignmentType> LinearMapper;
+  typedef BlasVectorMapper<Scalar, Index> VectorMapper;
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE blas_data_mapper(Scalar* data, Index stride) : m_data(data), m_stride(stride) {}
+
+  EIGEN_DEVICE_FUNC  EIGEN_ALWAYS_INLINE blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType>
+  getSubMapper(Index i, Index j) const {
+    return blas_data_mapper<Scalar, Index, StorageOrder, AlignmentType>(&operator()(i, j), m_stride);
+  }
+
+  EIGEN_DEVICE_FUNC  EIGEN_ALWAYS_INLINE LinearMapper getLinearMapper(Index i, Index j) const {
+    return LinearMapper(&operator()(i, j));
+  }
+
+  EIGEN_DEVICE_FUNC  EIGEN_ALWAYS_INLINE VectorMapper getVectorMapper(Index i, Index j) const {
+    return VectorMapper(&operator()(i, j));
+  }
+
+
+  EIGEN_DEVICE_FUNC
+  EIGEN_ALWAYS_INLINE Scalar& operator()(Index i, Index j) const {
+    return m_data[StorageOrder==RowMajor ? j + i*m_stride : i + j*m_stride];
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE Packet loadPacket(Index i, Index j) const {
+    return ploadt<Packet, AlignmentType>(&operator()(i, j));
+  }
+
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE HalfPacket loadHalfPacket(Index i, Index j) const {
+    return ploadt<HalfPacket, AlignmentType>(&operator()(i, j));
+  }
+
+  template<typename SubPacket>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void scatterPacket(Index i, Index j, const SubPacket &p) const {
+    pscatter<Scalar, SubPacket>(&operator()(i, j), p, m_stride);
+  }
+
+  template<typename SubPacket>
+  EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE SubPacket gatherPacket(Index i, Index j) const {
+    return pgather<Scalar, SubPacket>(&operator()(i, j), m_stride);
+  }
+
+  EIGEN_DEVICE_FUNC const Index stride() const { return m_stride; }
+  EIGEN_DEVICE_FUNC const Scalar* data() const { return m_data; }
+
+  EIGEN_DEVICE_FUNC Index firstAligned(Index size) const {
+    if (UIntPtr(m_data)%sizeof(Scalar)) {
+      return -1;
+    }
+    return internal::first_default_aligned(m_data, size);
+  }
+
+  protected:
+  Scalar* EIGEN_RESTRICT m_data;
+  const Index m_stride;
 };
 
 // lightweight helper class to access matrix coefficients (const version)
 template<typename Scalar, typename Index, int StorageOrder>
-class const_blas_data_mapper
-{
+class const_blas_data_mapper : public blas_data_mapper<const Scalar, Index, StorageOrder> {
   public:
-    const_blas_data_mapper(const Scalar* data, Index stride) : m_data(data), m_stride(stride) {}
-    EIGEN_STRONG_INLINE const Scalar& operator()(Index i, Index j) const
-    { return m_data[StorageOrder==RowMajor ? j + i*m_stride : i + j*m_stride]; }
-  protected:
-    const Scalar* EIGEN_RESTRICT m_data;
-    Index m_stride;
+  EIGEN_ALWAYS_INLINE const_blas_data_mapper(const Scalar *data, Index stride) : blas_data_mapper<const Scalar, Index, StorageOrder>(data, stride) {}
+
+  EIGEN_ALWAYS_INLINE const_blas_data_mapper<Scalar, Index, StorageOrder> getSubMapper(Index i, Index j) const {
+    return const_blas_data_mapper<Scalar, Index, StorageOrder>(&(this->operator()(i, j)), this->m_stride);
+  }
 };
 
 
@@ -188,17 +306,33 @@ struct blas_traits<CwiseUnaryOp<scalar_conjugate_op<Scalar>, NestedXpr> >
 };
 
 // pop scalar multiple
-template<typename Scalar, typename NestedXpr>
-struct blas_traits<CwiseUnaryOp<scalar_multiple_op<Scalar>, NestedXpr> >
+template<typename Scalar, typename NestedXpr, typename Plain>
+struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain>, NestedXpr> >
  : blas_traits<NestedXpr>
 {
   typedef blas_traits<NestedXpr> Base;
-  typedef CwiseUnaryOp<scalar_multiple_op<Scalar>, NestedXpr> XprType;
+  typedef CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain>, NestedXpr> XprType;
   typedef typename Base::ExtractType ExtractType;
-  static inline ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+  static inline ExtractType extract(const XprType& x) { return Base::extract(x.rhs()); }
   static inline Scalar extractScalarFactor(const XprType& x)
-  { return x.functor().m_other * Base::extractScalarFactor(x.nestedExpression()); }
+  { return x.lhs().functor().m_other * Base::extractScalarFactor(x.rhs()); }
 };
+template<typename Scalar, typename NestedXpr, typename Plain>
+struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, NestedXpr, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain> > >
+ : blas_traits<NestedXpr>
+{
+  typedef blas_traits<NestedXpr> Base;
+  typedef CwiseBinaryOp<scalar_product_op<Scalar>, NestedXpr, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain> > XprType;
+  typedef typename Base::ExtractType ExtractType;
+  static inline ExtractType extract(const XprType& x) { return Base::extract(x.lhs()); }
+  static inline Scalar extractScalarFactor(const XprType& x)
+  { return Base::extractScalarFactor(x.lhs()) * x.rhs().functor().m_other; }
+};
+template<typename Scalar, typename Plain1, typename Plain2>
+struct blas_traits<CwiseBinaryOp<scalar_product_op<Scalar>, const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain1>,
+                                                            const CwiseNullaryOp<scalar_constant_op<Scalar>,Plain2> > >
+ : blas_traits<CwiseNullaryOp<scalar_constant_op<Scalar>,Plain1> >
+{};
 
 // pop opposite
 template<typename Scalar, typename NestedXpr>
@@ -230,7 +364,7 @@ struct blas_traits<Transpose<NestedXpr> >
   enum {
     IsTransposed = Base::IsTransposed ? 0 : 1
   };
-  static inline ExtractType extract(const XprType& x) { return Base::extract(x.nestedExpression()); }
+  static inline ExtractType extract(const XprType& x) { return ExtractType(Base::extract(x.nestedExpression())); }
   static inline Scalar extractScalarFactor(const XprType& x) { return Base::extractScalarFactor(x.nestedExpression()); }
 };
 
diff --git a/eigenlib/Eigen/src/Core/util/CMakeLists.txt b/eigenlib/Eigen/src/Core/util/CMakeLists.txt
deleted file mode 100644
index a1e2e521..00000000
--- a/eigenlib/Eigen/src/Core/util/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Core_util_SRCS "*.h")
-
-INSTALL(FILES 
-  ${Eigen_Core_util_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Core/util COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/Core/util/Constants.h b/eigenlib/Eigen/src/Core/util/Constants.h
index 1e6277c4..7587d684 100644
--- a/eigenlib/Eigen/src/Core/util/Constants.h
+++ b/eigenlib/Eigen/src/Core/util/Constants.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2007-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -30,6 +30,14 @@ const int DynamicIndex = 0xffffff;
   */
 const int Infinity = -1;
 
+/** This value means that the cost to evaluate an expression coefficient is either very expensive or
+  * cannot be known at compile time.
+  *
+  * This value has to be positive to (1) simplify cost computation, and (2) allow to distinguish between a very expensive and very very expensive expressions.
+  * It thus must also be large enough to make sure unrolling won't happen and that sub expressions will be evaluated, but not too large to avoid overflow.
+  */
+const int HugeCost = 10000;
+
 /** \defgroup flags Flags
   * \ingroup Core_Module
   *
@@ -48,19 +56,19 @@ const int Infinity = -1;
   * for a matrix, this means that the storage order is row-major.
   * If this bit is not set, the storage order is column-major.
   * For an expression, this determines the storage order of
-  * the matrix created by evaluation of that expression. 
-  * \sa \ref TopicStorageOrders */
+  * the matrix created by evaluation of that expression.
+  * \sa \blank  \ref TopicStorageOrders */
 const unsigned int RowMajorBit = 0x1;
 
 /** \ingroup flags
-  *
   * means the expression should be evaluated by the calling expression */
 const unsigned int EvalBeforeNestingBit = 0x2;
 
 /** \ingroup flags
-  *
+  * \deprecated
   * means the expression should be evaluated before any assignment */
-const unsigned int EvalBeforeAssigningBit = 0x4;
+EIGEN_DEPRECATED
+const unsigned int EvalBeforeAssigningBit = 0x4; // FIXME deprecated
 
 /** \ingroup flags
   *
@@ -141,17 +149,46 @@ const unsigned int LvalueBit = 0x20;
   */
 const unsigned int DirectAccessBit = 0x40;
 
-/** \ingroup flags
+/** \deprecated \ingroup flags
   *
-  * means the first coefficient packet is guaranteed to be aligned */
-const unsigned int AlignedBit = 0x80;
+  * means the first coefficient packet is guaranteed to be aligned.
+  * An expression cannot has the AlignedBit without the PacketAccessBit flag.
+  * In other words, this means we are allow to perform an aligned packet access to the first element regardless
+  * of the expression kind:
+  * \code
+  * expression.packet<Aligned>(0);
+  * \endcode
+  */
+EIGEN_DEPRECATED const unsigned int AlignedBit = 0x80;
 
 const unsigned int NestByRefBit = 0x100;
 
+/** \ingroup flags
+  *
+  * for an expression, this means that the storage order
+  * can be either row-major or column-major.
+  * The precise choice will be decided at evaluation time or when
+  * combined with other expressions.
+  * \sa \blank  \ref RowMajorBit, \ref TopicStorageOrders */
+const unsigned int NoPreferredStorageOrderBit = 0x200;
+
+/** \ingroup flags
+  *
+  * Means that the underlying coefficients can be accessed through pointers to the sparse (un)compressed storage format,
+  * that is, the expression provides:
+  * \code
+    inline const Scalar* valuePtr() const;
+    inline const Index* innerIndexPtr() const;
+    inline const Index* outerIndexPtr() const;
+    inline const Index* innerNonZeroPtr() const;
+    \endcode
+  */
+const unsigned int CompressedAccessBit = 0x400;
+
+
 // list of flags that are inherited by default
 const unsigned int HereditaryBits = RowMajorBit
-                                  | EvalBeforeNestingBit
-                                  | EvalBeforeAssigningBit;
+                                  | EvalBeforeNestingBit;
 
 /** \defgroup enums Enumerations
   * \ingroup Core_Module
@@ -160,9 +197,9 @@ const unsigned int HereditaryBits = RowMajorBit
   */
 
 /** \ingroup enums
-  * Enum containing possible values for the \p Mode parameter of 
-  * MatrixBase::selfadjointView() and MatrixBase::triangularView(). */
-enum {
+  * Enum containing possible values for the \c Mode or \c UpLo parameter of
+  * MatrixBase::selfadjointView() and MatrixBase::triangularView(), and selfadjoint solvers. */
+enum UpLoType {
   /** View matrix as a lower triangular matrix. */
   Lower=0x1,                      
   /** View matrix as an upper triangular matrix. */
@@ -186,12 +223,31 @@ enum {
 };
 
 /** \ingroup enums
-  * Enum for indicating whether an object is aligned or not. */
-enum { 
-  /** Object is not correctly aligned for vectorization. */
-  Unaligned=0, 
-  /** Object is aligned for vectorization. */
-  Aligned=1 
+  * Enum for indicating whether a buffer is aligned or not. */
+enum AlignmentType {
+  Unaligned=0,        /**< Data pointer has no specific alignment. */
+  Aligned8=8,         /**< Data pointer is aligned on a 8 bytes boundary. */
+  Aligned16=16,       /**< Data pointer is aligned on a 16 bytes boundary. */
+  Aligned32=32,       /**< Data pointer is aligned on a 32 bytes boundary. */
+  Aligned64=64,       /**< Data pointer is aligned on a 64 bytes boundary. */
+  Aligned128=128,     /**< Data pointer is aligned on a 128 bytes boundary. */
+  AlignedMask=255,
+  Aligned=16,         /**< \deprecated Synonym for Aligned16. */
+#if EIGEN_MAX_ALIGN_BYTES==128
+  AlignedMax = Aligned128
+#elif EIGEN_MAX_ALIGN_BYTES==64
+  AlignedMax = Aligned64
+#elif EIGEN_MAX_ALIGN_BYTES==32
+  AlignedMax = Aligned32
+#elif EIGEN_MAX_ALIGN_BYTES==16
+  AlignedMax = Aligned16
+#elif EIGEN_MAX_ALIGN_BYTES==8
+  AlignedMax = Aligned8
+#elif EIGEN_MAX_ALIGN_BYTES==0
+  AlignedMax = Unaligned
+#else
+#error Invalid value for EIGEN_MAX_ALIGN_BYTES
+#endif
 };
 
 /** \ingroup enums
@@ -217,7 +273,7 @@ enum DirectionType {
 
 /** \internal \ingroup enums
   * Enum to specify how to traverse the entries of a matrix. */
-enum {
+enum TraversalType {
   /** \internal Default traversal, no vectorization, no index-based access */
   DefaultTraversal,
   /** \internal No vectorization, use index-based access to have only one for loop instead of 2 nested loops */
@@ -239,7 +295,7 @@ enum {
 
 /** \internal \ingroup enums
   * Enum to specify whether to unroll loops when traversing over the entries of a matrix. */
-enum {
+enum UnrollingType {
   /** \internal Do not unroll loops. */
   NoUnrolling,
   /** \internal Unroll only the inner loop, but not the outer loop. */
@@ -251,7 +307,7 @@ enum {
 
 /** \internal \ingroup enums
   * Enum to specify whether to use the default (built-in) implementation or the specialization. */
-enum {
+enum SpecializedType {
   Specialized,
   BuiltIn
 };
@@ -259,7 +315,7 @@ enum {
 /** \ingroup enums
   * Enum containing possible values for the \p _Options template parameter of
   * Matrix, Array and BandMatrix. */
-enum {
+enum StorageOptions {
   /** Storage order is column major (see \ref TopicStorageOrders). */
   ColMajor = 0,
   /** Storage order is row major (see \ref TopicStorageOrders). */
@@ -272,7 +328,7 @@ enum {
 
 /** \ingroup enums
   * Enum for specifying whether to apply or solve on the left or right. */
-enum {
+enum SideType {
   /** Apply transformation on the left. */
   OnTheLeft = 1,  
   /** Apply transformation on the right. */
@@ -297,7 +353,7 @@ enum Default_t    { Default };
 
 /** \internal \ingroup enums
   * Used in AmbiVector. */
-enum {
+enum AmbiVectorMode {
   IsDense         = 0,
   IsSparse
 };
@@ -406,10 +462,16 @@ namespace Architecture
     Generic = 0x0,
     SSE = 0x1,
     AltiVec = 0x2,
+    VSX = 0x3,
+    NEON = 0x4,
 #if defined EIGEN_VECTORIZE_SSE
     Target = SSE
 #elif defined EIGEN_VECTORIZE_ALTIVEC
     Target = AltiVec
+#elif defined EIGEN_VECTORIZE_VSX
+    Target = VSX
+#elif defined EIGEN_VECTORIZE_NEON
+    Target = NEON
 #else
     Target = Generic
 #endif
@@ -417,8 +479,9 @@ namespace Architecture
 }
 
 /** \internal \ingroup enums
-  * Enum used as template parameter in GeneralProduct. */
-enum { CoeffBasedProductMode, LazyCoeffBasedProductMode, OuterProduct, InnerProduct, GemvProduct, GemmProduct };
+  * Enum used as template parameter in Product and product evaluators. */
+enum ProductImplType
+{ DefaultProduct=0, LazyProduct, AliasFreeProduct, CoeffBasedProductMode, LazyCoeffBasedProductMode, OuterProduct, InnerProduct, GemvProduct, GemmProduct };
 
 /** \internal \ingroup enums
   * Enum used in experimental parallel implementation. */
@@ -427,24 +490,57 @@ enum Action {GetAction, SetAction};
 /** The type used to identify a dense storage. */
 struct Dense {};
 
+/** The type used to identify a general sparse storage. */
+struct Sparse {};
+
+/** The type used to identify a general solver (factored) storage. */
+struct SolverStorage {};
+
+/** The type used to identify a permutation storage. */
+struct PermutationStorage {};
+
+/** The type used to identify a permutation storage. */
+struct TranspositionsStorage {};
+
 /** The type used to identify a matrix expression */
 struct MatrixXpr {};
 
 /** The type used to identify an array expression */
 struct ArrayXpr {};
 
+// An evaluator must define its shape. By default, it can be one of the following:
+struct DenseShape             { static std::string debugName() { return "DenseShape"; } };
+struct SolverShape            { static std::string debugName() { return "SolverShape"; } };
+struct HomogeneousShape       { static std::string debugName() { return "HomogeneousShape"; } };
+struct DiagonalShape          { static std::string debugName() { return "DiagonalShape"; } };
+struct BandShape              { static std::string debugName() { return "BandShape"; } };
+struct TriangularShape        { static std::string debugName() { return "TriangularShape"; } };
+struct SelfAdjointShape       { static std::string debugName() { return "SelfAdjointShape"; } };
+struct PermutationShape       { static std::string debugName() { return "PermutationShape"; } };
+struct TranspositionsShape    { static std::string debugName() { return "TranspositionsShape"; } };
+struct SparseShape            { static std::string debugName() { return "SparseShape"; } };
+
 namespace internal {
-  /** \internal
-  * Constants for comparison functors
-  */
-  enum ComparisonName {
-    cmp_EQ = 0,
-    cmp_LT = 1,
-    cmp_LE = 2,
-    cmp_UNORD = 3,
-    cmp_NEQ = 4
-  };
-}
+
+  // random access iterators based on coeff*() accessors.
+struct IndexBased {};
+
+// evaluator based on iterators to access coefficients. 
+struct IteratorBased {};
+
+/** \internal
+ * Constants for comparison functors
+ */
+enum ComparisonName {
+  cmp_EQ = 0,
+  cmp_LT = 1,
+  cmp_LE = 2,
+  cmp_UNORD = 3,
+  cmp_NEQ = 4,
+  cmp_GT = 5,
+  cmp_GE = 6
+};
+} // end namespace internal
 
 } // end namespace Eigen
 
diff --git a/eigenlib/Eigen/src/Core/util/DisableStupidWarnings.h b/eigenlib/Eigen/src/Core/util/DisableStupidWarnings.h
old mode 100644
new mode 100755
index 6a0bf062..7559e129
--- a/eigenlib/Eigen/src/Core/util/DisableStupidWarnings.h
+++ b/eigenlib/Eigen/src/Core/util/DisableStupidWarnings.h
@@ -10,24 +10,31 @@
   // 4244 - 'argument' : conversion from 'type1' to 'type2', possible loss of data
   // 4273 - QtAlignedMalloc, inconsistent DLL linkage
   // 4324 - structure was padded due to declspec(align())
+  // 4503 - decorated name length exceeded, name was truncated
   // 4512 - assignment operator could not be generated
   // 4522 - 'class' : multiple assignment operators specified
   // 4700 - uninitialized local variable 'xyz' used
+  // 4714 - function marked as __forceinline not inlined
   // 4717 - 'function' : recursive on all control paths, function will cause runtime stack overflow
+  // 4800 - 'type' : forcing value to bool 'true' or 'false' (performance warning)
   #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
     #pragma warning( push )
   #endif
-  #pragma warning( disable : 4100 4101 4127 4181 4211 4244 4273 4324 4512 4522 4700 4717 )
+  #pragma warning( disable : 4100 4101 4127 4181 4211 4244 4273 4324 4503 4512 4522 4700 4714 4717 4800)
+
 #elif defined __INTEL_COMPILER
   // 2196 - routine is both "inline" and "noinline" ("noinline" assumed)
   //        ICC 12 generates this warning even without any inline keyword, when defining class methods 'inline' i.e. inside of class body
   //        typedef that may be a reference type.
   // 279  - controlling expression is constant
   //        ICC 12 generates this warning on assert(constant_expression_depending_on_template_params) and frankly this is a legitimate use case.
+  // 1684 - conversion from pointer to same-sized integral type (potential portability problem)
+  // 2259 - non-pointer conversion from "Eigen::Index={ptrdiff_t={long}}" to "int" may lose significant bits
   #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
     #pragma warning push
   #endif
-  #pragma warning disable 2196 279
+  #pragma warning disable 2196 279 1684 2259
+
 #elif defined __clang__
   // -Wconstant-logical-operand - warning: use of logical && with constant operand; switch to bitwise & or remove constant
   //     this is really a stupid warning as it warns on compile-time expressions involving enums
@@ -35,6 +42,34 @@
     #pragma clang diagnostic push
   #endif
   #pragma clang diagnostic ignored "-Wconstant-logical-operand"
+
+#elif defined __GNUC__ && __GNUC__>=6
+
+  #ifndef EIGEN_PERMANENTLY_DISABLE_STUPID_WARNINGS
+    #pragma GCC diagnostic push
+  #endif
+  #pragma GCC diagnostic ignored "-Wignored-attributes"
+
+#endif
+
+#if defined __NVCC__
+  // Disable the "statement is unreachable" message
+  #pragma diag_suppress code_is_unreachable
+  // Disable the "dynamic initialization in unreachable code" message
+  #pragma diag_suppress initialization_not_reachable
+  // Disable the "invalid error number" message that we get with older versions of nvcc
+  #pragma diag_suppress 1222
+  // Disable the "calling a __host__ function from a __host__ __device__ function is not allowed" messages (yes, there are many of them and they seem to change with every version of the compiler)
+  #pragma diag_suppress 2527
+  #pragma diag_suppress 2529
+  #pragma diag_suppress 2651
+  #pragma diag_suppress 2653
+  #pragma diag_suppress 2668
+  #pragma diag_suppress 2669
+  #pragma diag_suppress 2670
+  #pragma diag_suppress 2671
+  #pragma diag_suppress 2735
+  #pragma diag_suppress 2737
 #endif
 
 #endif // not EIGEN_WARNINGS_DISABLED
diff --git a/eigenlib/Eigen/src/Core/util/ForwardDeclarations.h b/eigenlib/Eigen/src/Core/util/ForwardDeclarations.h
index d6a81458..ea107393 100644
--- a/eigenlib/Eigen/src/Core/util/ForwardDeclarations.h
+++ b/eigenlib/Eigen/src/Core/util/ForwardDeclarations.h
@@ -36,6 +36,10 @@ template<typename Derived> struct accessors_level
   };
 };
 
+template<typename T> struct evaluator_traits;
+
+template< typename T> struct evaluator;
+
 } // end namespace internal
 
 template<typename T> struct NumTraits;
@@ -51,18 +55,18 @@ class DenseCoeffsBase;
 
 template<typename _Scalar, int _Rows, int _Cols,
          int _Options = AutoAlign |
-#if defined(__GNUC__) && __GNUC__==3 && __GNUC_MINOR__==4
+#if EIGEN_GNUC_AT(3,4)
     // workaround a bug in at least gcc 3.4.6
     // the innermost ?: ternary operator is misparsed. We write it slightly
     // differently and this makes gcc 3.4.6 happy, but it's ugly.
     // The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
     // (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
-                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
                           : !(_Cols==1 && _Rows!=1) ?  EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
-                          : ColMajor ),
+                          : Eigen::ColMajor ),
 #else
-                          ( (_Rows==1 && _Cols!=1) ? RowMajor
-                          : (_Cols==1 && _Rows!=1) ? ColMajor
+                          ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
+                          : (_Cols==1 && _Rows!=1) ? Eigen::ColMajor
                           : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
 #endif
          int _MaxRows = _Rows,
@@ -87,10 +91,11 @@ template<typename NullaryOp, typename MatrixType>         class CwiseNullaryOp;
 template<typename UnaryOp,   typename MatrixType>         class CwiseUnaryOp;
 template<typename ViewOp,    typename MatrixType>         class CwiseUnaryView;
 template<typename BinaryOp,  typename Lhs, typename Rhs>  class CwiseBinaryOp;
-template<typename BinOp,     typename Lhs, typename Rhs>  class SelfCwiseBinaryOp;
-template<typename Derived,   typename Lhs, typename Rhs>  class ProductBase;
-template<typename Lhs, typename Rhs, int Mode>            class GeneralProduct;
-template<typename Lhs, typename Rhs, int NestingFlags>    class CoeffBasedProduct;
+template<typename TernaryOp, typename Arg1, typename Arg2, typename Arg3>  class CwiseTernaryOp;
+template<typename Decomposition, typename Rhstype>        class Solve;
+template<typename XprType>                                class Inverse;
+
+template<typename Lhs, typename Rhs, int Option = DefaultProduct> class Product;
 
 template<typename Derived> class DiagonalBase;
 template<typename _DiagonalVectorType> class DiagonalWrapper;
@@ -108,7 +113,12 @@ template<typename Derived,
          int Level = internal::accessors_level<Derived>::has_write_access ? WriteAccessors : ReadOnlyAccessors
 > class MapBase;
 template<int InnerStrideAtCompileTime, int OuterStrideAtCompileTime> class Stride;
+template<int Value = Dynamic> class InnerStride;
+template<int Value = Dynamic> class OuterStride;
 template<typename MatrixType, int MapOptions=Unaligned, typename StrideType = Stride<0,0> > class Map;
+template<typename Derived> class RefBase;
+template<typename PlainObjectType, int Options = 0,
+         typename StrideType = typename internal::conditional<PlainObjectType::IsVectorAtCompileTime,InnerStride<1>,OuterStride<> >::type > class Ref;
 
 template<typename Derived> class TriangularBase;
 template<typename MatrixType, unsigned int Mode> class TriangularView;
@@ -119,10 +129,10 @@ template<typename MatrixType> struct CommaInitializer;
 template<typename Derived> class ReturnByValue;
 template<typename ExpressionType> class ArrayWrapper;
 template<typename ExpressionType> class MatrixWrapper;
+template<typename Derived> class SolverBase;
+template<typename XprType> class InnerIterator;
 
 namespace internal {
-template<typename DecompositionType, typename Rhs> struct solve_retval_base;
-template<typename DecompositionType, typename Rhs> struct solve_retval;
 template<typename DecompositionType> struct kernel_retval_base;
 template<typename DecompositionType> struct kernel_retval;
 template<typename DecompositionType> struct image_retval_base;
@@ -135,6 +145,21 @@ template<typename _Scalar, int Rows=Dynamic, int Cols=Dynamic, int Supers=Dynami
 
 namespace internal {
 template<typename Lhs, typename Rhs> struct product_type;
+
+template<bool> struct EnableIf;
+
+/** \internal
+  * \class product_evaluator
+  * Products need their own evaluator with more template arguments allowing for
+  * easier partial template specializations.
+  */
+template< typename T,
+          int ProductTag = internal::product_type<typename T::Lhs,typename T::Rhs>::ret,
+          typename LhsShape = typename evaluator_traits<typename T::Lhs>::Shape,
+          typename RhsShape = typename evaluator_traits<typename T::Rhs>::Shape,
+          typename LhsScalar = typename traits<typename T::Lhs>::Scalar,
+          typename RhsScalar = typename traits<typename T::Rhs>::Scalar
+        > struct product_evaluator;
 }
 
 template<typename Lhs, typename Rhs,
@@ -150,9 +175,11 @@ namespace internal {
 // with optional conjugation of the arguments.
 template<typename LhsScalar, typename RhsScalar, bool ConjLhs=false, bool ConjRhs=false> struct conj_helper;
 
-template<typename Scalar> struct scalar_sum_op;
-template<typename Scalar> struct scalar_difference_op;
-template<typename LhsScalar,typename RhsScalar> struct scalar_conj_product_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_sum_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_difference_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_conj_product_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_min_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_max_op;
 template<typename Scalar> struct scalar_opposite_op;
 template<typename Scalar> struct scalar_conjugate_op;
 template<typename Scalar> struct scalar_real_op;
@@ -160,6 +187,7 @@ template<typename Scalar> struct scalar_imag_op;
 template<typename Scalar> struct scalar_abs_op;
 template<typename Scalar> struct scalar_abs2_op;
 template<typename Scalar> struct scalar_sqrt_op;
+template<typename Scalar> struct scalar_rsqrt_op;
 template<typename Scalar> struct scalar_exp_op;
 template<typename Scalar> struct scalar_log_op;
 template<typename Scalar> struct scalar_cos_op;
@@ -167,24 +195,29 @@ template<typename Scalar> struct scalar_sin_op;
 template<typename Scalar> struct scalar_acos_op;
 template<typename Scalar> struct scalar_asin_op;
 template<typename Scalar> struct scalar_tan_op;
-template<typename Scalar> struct scalar_pow_op;
 template<typename Scalar> struct scalar_inverse_op;
 template<typename Scalar> struct scalar_square_op;
 template<typename Scalar> struct scalar_cube_op;
 template<typename Scalar, typename NewType> struct scalar_cast_op;
-template<typename Scalar> struct scalar_multiple_op;
-template<typename Scalar> struct scalar_quotient1_op;
-template<typename Scalar> struct scalar_min_op;
-template<typename Scalar> struct scalar_max_op;
 template<typename Scalar> struct scalar_random_op;
-template<typename Scalar> struct scalar_add_op;
 template<typename Scalar> struct scalar_constant_op;
 template<typename Scalar> struct scalar_identity_op;
-
+template<typename Scalar,bool iscpx> struct scalar_sign_op;
+template<typename Scalar,typename ScalarExponent> struct scalar_pow_op;
+template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_hypot_op;
 template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_product_op;
-template<typename LhsScalar,typename RhsScalar> struct scalar_multiple2_op;
 template<typename LhsScalar,typename RhsScalar=LhsScalar> struct scalar_quotient_op;
 
+// SpecialFunctions module
+template<typename Scalar> struct scalar_lgamma_op;
+template<typename Scalar> struct scalar_digamma_op;
+template<typename Scalar> struct scalar_erf_op;
+template<typename Scalar> struct scalar_erfc_op;
+template<typename Scalar> struct scalar_igamma_op;
+template<typename Scalar> struct scalar_igammac_op;
+template<typename Scalar> struct scalar_zeta_op;
+template<typename Scalar> struct scalar_betainc_op;
+
 } // end namespace internal
 
 struct IOFormat;
@@ -192,18 +225,18 @@ struct IOFormat;
 // Array module
 template<typename _Scalar, int _Rows, int _Cols,
          int _Options = AutoAlign |
-#if defined(__GNUC__) && __GNUC__==3 && __GNUC_MINOR__==4
+#if EIGEN_GNUC_AT(3,4)
     // workaround a bug in at least gcc 3.4.6
     // the innermost ?: ternary operator is misparsed. We write it slightly
     // differently and this makes gcc 3.4.6 happy, but it's ugly.
     // The error would only show up with EIGEN_DEFAULT_TO_ROW_MAJOR is defined
     // (when EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION is RowMajor)
-                          ( (_Rows==1 && _Cols!=1) ? RowMajor
+                          ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
                           : !(_Cols==1 && _Rows!=1) ?  EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION
-                          : ColMajor ),
+                          : Eigen::ColMajor ),
 #else
-                          ( (_Rows==1 && _Cols!=1) ? RowMajor
-                          : (_Cols==1 && _Rows!=1) ? ColMajor
+                          ( (_Rows==1 && _Cols!=1) ? Eigen::RowMajor
+                          : (_Cols==1 && _Rows!=1) ? Eigen::ColMajor
                           : EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ),
 #endif
          int _MaxRows = _Rows, int _MaxCols = _Cols> class Array;
@@ -221,7 +254,9 @@ template<typename MatrixType> struct inverse_impl;
 template<typename MatrixType> class HouseholderQR;
 template<typename MatrixType> class ColPivHouseholderQR;
 template<typename MatrixType> class FullPivHouseholderQR;
+template<typename MatrixType> class CompleteOrthogonalDecomposition;
 template<typename MatrixType, int QRPreconditioner = ColPivHouseholderQRPreconditioner> class JacobiSVD;
+template<typename MatrixType> class BDCSVD;
 template<typename MatrixType, int UpLo = Lower> class LLT;
 template<typename MatrixType, int UpLo = Lower> class LDLT;
 template<typename VectorsType, typename CoeffsType, int Side=OnTheLeft> class HouseholderSequence;
@@ -234,36 +269,16 @@ template<typename Derived> class QuaternionBase;
 template<typename Scalar> class Rotation2D;
 template<typename Scalar> class AngleAxis;
 template<typename Scalar,int Dim> class Translation;
-
-#ifdef EIGEN2_SUPPORT
-template<typename Derived, int _Dim> class eigen2_RotationBase;
-template<typename Lhs, typename Rhs> class eigen2_Cross;
-template<typename Scalar> class eigen2_Quaternion;
-template<typename Scalar> class eigen2_Rotation2D;
-template<typename Scalar> class eigen2_AngleAxis;
-template<typename Scalar,int Dim> class eigen2_Transform;
-template <typename _Scalar, int _AmbientDim> class eigen2_ParametrizedLine;
-template <typename _Scalar, int _AmbientDim> class eigen2_Hyperplane;
-template<typename Scalar,int Dim> class eigen2_Translation;
-template<typename Scalar,int Dim> class eigen2_Scaling;
-#endif
-
-#if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
-template<typename Scalar> class Quaternion;
-template<typename Scalar,int Dim> class Transform;
-template <typename _Scalar, int _AmbientDim> class ParametrizedLine;
-template <typename _Scalar, int _AmbientDim> class Hyperplane;
-template<typename Scalar,int Dim> class Scaling;
-#endif
-
-#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
+template<typename Scalar,int Dim> class AlignedBox;
 template<typename Scalar, int Options = AutoAlign> class Quaternion;
 template<typename Scalar,int Dim,int Mode,int _Options=AutoAlign> class Transform;
 template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class ParametrizedLine;
 template <typename _Scalar, int _AmbientDim, int Options=AutoAlign> class Hyperplane;
 template<typename Scalar> class UniformScaling;
 template<typename MatrixType,int Direction> class Homogeneous;
-#endif
+
+// Sparse module:
+template<typename Derived> class SparseMatrixBase;
 
 // MatrixFunctions module
 template<typename Derived> struct MatrixExponentialReturnValue;
@@ -271,7 +286,7 @@ template<typename Derived> class MatrixFunctionReturnValue;
 template<typename Derived> class MatrixSquareRootReturnValue;
 template<typename Derived> class MatrixLogarithmReturnValue;
 template<typename Derived> class MatrixPowerReturnValue;
-template<typename Derived, typename Lhs, typename Rhs> class MatrixPowerProduct;
+template<typename Derived> class MatrixComplexPowerReturnValue;
 
 namespace internal {
 template <typename Scalar>
@@ -282,18 +297,6 @@ struct stem_function
 };
 }
 
-
-#ifdef EIGEN2_SUPPORT
-template<typename ExpressionType> class Cwise;
-template<typename MatrixType> class Minor;
-template<typename MatrixType> class LU;
-template<typename MatrixType> class QR;
-template<typename MatrixType> class SVD;
-namespace internal {
-template<typename MatrixType, unsigned int Mode> struct eigen2_part_return_type;
-}
-#endif
-
 } // end namespace Eigen
 
 #endif // EIGEN_FORWARDDECLARATIONS_H
diff --git a/eigenlib/Eigen/src/Core/util/MKL_support.h b/eigenlib/Eigen/src/Core/util/MKL_support.h
old mode 100644
new mode 100755
index 8acca9c8..26b59669
--- a/eigenlib/Eigen/src/Core/util/MKL_support.h
+++ b/eigenlib/Eigen/src/Core/util/MKL_support.h
@@ -49,7 +49,7 @@
   #define EIGEN_USE_LAPACKE
 #endif
 
-#if defined(EIGEN_USE_BLAS) || defined(EIGEN_USE_LAPACKE) || defined(EIGEN_USE_MKL_VML)
+#if defined(EIGEN_USE_MKL_VML)
   #define EIGEN_USE_MKL
 #endif
 
@@ -64,7 +64,6 @@
 #   ifndef EIGEN_USE_MKL
     /*If the MKL version is too old, undef everything*/
 #       undef   EIGEN_USE_MKL_ALL
-#       undef   EIGEN_USE_BLAS
 #       undef   EIGEN_USE_LAPACKE
 #       undef   EIGEN_USE_MKL_VML
 #       undef   EIGEN_USE_LAPACKE_STRICT
@@ -73,54 +72,57 @@
 #endif
 
 #if defined EIGEN_USE_MKL
-#include <mkl_lapacke.h>
+
 #define EIGEN_MKL_VML_THRESHOLD 128
 
+/* MKL_DOMAIN_BLAS, etc are defined only in 10.3 update 7 */
+/* MKL_BLAS, etc are not defined in 11.2 */
+#ifdef MKL_DOMAIN_ALL
+#define EIGEN_MKL_DOMAIN_ALL MKL_DOMAIN_ALL
+#else
+#define EIGEN_MKL_DOMAIN_ALL MKL_ALL
+#endif
+
+#ifdef MKL_DOMAIN_BLAS
+#define EIGEN_MKL_DOMAIN_BLAS MKL_DOMAIN_BLAS
+#else
+#define EIGEN_MKL_DOMAIN_BLAS MKL_BLAS
+#endif
+
+#ifdef MKL_DOMAIN_FFT
+#define EIGEN_MKL_DOMAIN_FFT MKL_DOMAIN_FFT
+#else
+#define EIGEN_MKL_DOMAIN_FFT MKL_FFT
+#endif
+
+#ifdef MKL_DOMAIN_VML
+#define EIGEN_MKL_DOMAIN_VML MKL_DOMAIN_VML
+#else
+#define EIGEN_MKL_DOMAIN_VML MKL_VML
+#endif
+
+#ifdef MKL_DOMAIN_PARDISO
+#define EIGEN_MKL_DOMAIN_PARDISO MKL_DOMAIN_PARDISO
+#else
+#define EIGEN_MKL_DOMAIN_PARDISO MKL_PARDISO
+#endif
+#endif
+
 namespace Eigen {
 
 typedef std::complex<double> dcomplex;
 typedef std::complex<float>  scomplex;
 
-namespace internal {
-
-template<typename MKLType, typename EigenType>
-static inline void assign_scalar_eig2mkl(MKLType& mklScalar, const EigenType& eigenScalar) {
-  mklScalar=eigenScalar;
-}
-
-template<typename MKLType, typename EigenType>
-static inline void assign_conj_scalar_eig2mkl(MKLType& mklScalar, const EigenType& eigenScalar) {
-  mklScalar=eigenScalar;
-}
-
-template <>
-inline void assign_scalar_eig2mkl<MKL_Complex16,dcomplex>(MKL_Complex16& mklScalar, const dcomplex& eigenScalar) {
-  mklScalar.real=eigenScalar.real();
-  mklScalar.imag=eigenScalar.imag();
-}
-
-template <>
-inline void assign_scalar_eig2mkl<MKL_Complex8,scomplex>(MKL_Complex8& mklScalar, const scomplex& eigenScalar) {
-  mklScalar.real=eigenScalar.real();
-  mklScalar.imag=eigenScalar.imag();
-}
-
-template <>
-inline void assign_conj_scalar_eig2mkl<MKL_Complex16,dcomplex>(MKL_Complex16& mklScalar, const dcomplex& eigenScalar) {
-  mklScalar.real=eigenScalar.real();
-  mklScalar.imag=-eigenScalar.imag();
-}
-
-template <>
-inline void assign_conj_scalar_eig2mkl<MKL_Complex8,scomplex>(MKL_Complex8& mklScalar, const scomplex& eigenScalar) {
-  mklScalar.real=eigenScalar.real();
-  mklScalar.imag=-eigenScalar.imag();
-}
-
-} // end namespace internal
+#if defined(EIGEN_USE_MKL)
+typedef MKL_INT BlasIndex;
+#else
+typedef int BlasIndex;
+#endif
 
 } // end namespace Eigen
 
+#if defined(EIGEN_USE_BLAS)
+#include "../../misc/blas.h"
 #endif
 
 #endif // EIGEN_MKL_SUPPORT_H
diff --git a/eigenlib/Eigen/src/Core/util/Macros.h b/eigenlib/Eigen/src/Core/util/Macros.h
index f69970f0..ace330b3 100644
--- a/eigenlib/Eigen/src/Core/util/Macros.h
+++ b/eigenlib/Eigen/src/Core/util/Macros.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -12,84 +12,324 @@
 #define EIGEN_MACROS_H
 
 #define EIGEN_WORLD_VERSION 3
-#define EIGEN_MAJOR_VERSION 2
-#define EIGEN_MINOR_VERSION 5
+#define EIGEN_MAJOR_VERSION 3
+#define EIGEN_MINOR_VERSION 2
 
 #define EIGEN_VERSION_AT_LEAST(x,y,z) (EIGEN_WORLD_VERSION>x || (EIGEN_WORLD_VERSION>=x && \
                                       (EIGEN_MAJOR_VERSION>y || (EIGEN_MAJOR_VERSION>=y && \
                                                                  EIGEN_MINOR_VERSION>=z))))
+
+// Compiler identification, EIGEN_COMP_*
+
+/// \internal EIGEN_COMP_GNUC set to 1 for all compilers compatible with GCC
 #ifdef __GNUC__
-  #define EIGEN_GNUC_AT_LEAST(x,y) ((__GNUC__==x && __GNUC_MINOR__>=y) || __GNUC__>x)
+  #define EIGEN_COMP_GNUC 1
 #else
-  #define EIGEN_GNUC_AT_LEAST(x,y) 0
-#endif
- 
-#ifdef __GNUC__
-  #define EIGEN_GNUC_AT_MOST(x,y) ((__GNUC__==x && __GNUC_MINOR__<=y) || __GNUC__<x)
-#else
-  #define EIGEN_GNUC_AT_MOST(x,y) 0
+  #define EIGEN_COMP_GNUC 0
 #endif
 
-#if EIGEN_GNUC_AT_MOST(4,3) && !defined(__clang__)
+/// \internal EIGEN_COMP_CLANG set to major+minor version (e.g., 307 for clang 3.7) if the compiler is clang
+#if defined(__clang__)
+  #define EIGEN_COMP_CLANG (__clang_major__*100+__clang_minor__)
+#else
+  #define EIGEN_COMP_CLANG 0
+#endif
+
+
+/// \internal EIGEN_COMP_LLVM set to 1 if the compiler backend is llvm
+#if defined(__llvm__)
+  #define EIGEN_COMP_LLVM 1
+#else
+  #define EIGEN_COMP_LLVM 0
+#endif
+
+/// \internal EIGEN_COMP_ICC set to __INTEL_COMPILER if the compiler is Intel compiler, 0 otherwise
+#if defined(__INTEL_COMPILER)
+  #define EIGEN_COMP_ICC __INTEL_COMPILER
+#else
+  #define EIGEN_COMP_ICC 0
+#endif
+
+/// \internal EIGEN_COMP_MINGW set to 1 if the compiler is mingw
+#if defined(__MINGW32__)
+  #define EIGEN_COMP_MINGW 1
+#else
+  #define EIGEN_COMP_MINGW 0
+#endif
+
+/// \internal EIGEN_COMP_SUNCC set to 1 if the compiler is Solaris Studio
+#if defined(__SUNPRO_CC)
+  #define EIGEN_COMP_SUNCC 1
+#else
+  #define EIGEN_COMP_SUNCC 0
+#endif
+
+/// \internal EIGEN_COMP_MSVC set to _MSC_VER if the compiler is Microsoft Visual C++, 0 otherwise.
+#if defined(_MSC_VER)
+  #define EIGEN_COMP_MSVC _MSC_VER
+#else
+  #define EIGEN_COMP_MSVC 0
+#endif
+
+// For the record, here is a table summarizing the possible values for EIGEN_COMP_MSVC:
+//  name  ver   MSC_VER
+//  2008    9      1500
+//  2010   10      1600
+//  2012   11      1700
+//  2013   12      1800
+//  2015   14      1900
+//  "15"   15      1900
+
+/// \internal EIGEN_COMP_MSVC_STRICT set to 1 if the compiler is really Microsoft Visual C++ and not ,e.g., ICC
+#if EIGEN_COMP_MSVC && !(EIGEN_COMP_ICC)
+  #define EIGEN_COMP_MSVC_STRICT _MSC_VER
+#else
+  #define EIGEN_COMP_MSVC_STRICT 0
+#endif
+
+/// \internal EIGEN_COMP_IBM set to 1 if the compiler is IBM XL C++
+#if defined(__IBMCPP__) || defined(__xlc__)
+  #define EIGEN_COMP_IBM 1
+#else
+  #define EIGEN_COMP_IBM 0
+#endif
+
+/// \internal EIGEN_COMP_PGI set to 1 if the compiler is Portland Group Compiler
+#if defined(__PGI)
+  #define EIGEN_COMP_PGI 1
+#else
+  #define EIGEN_COMP_PGI 0
+#endif
+
+/// \internal EIGEN_COMP_ARM set to 1 if the compiler is ARM Compiler
+#if defined(__CC_ARM) || defined(__ARMCC_VERSION)
+  #define EIGEN_COMP_ARM 1
+#else
+  #define EIGEN_COMP_ARM 0
+#endif
+
+/// \internal EIGEN_COMP_ARM set to 1 if the compiler is ARM Compiler
+#if defined(__EMSCRIPTEN__)
+  #define EIGEN_COMP_EMSCRIPTEN 1
+#else
+  #define EIGEN_COMP_EMSCRIPTEN 0
+#endif
+
+
+/// \internal EIGEN_GNUC_STRICT set to 1 if the compiler is really GCC and not a compatible compiler (e.g., ICC, clang, mingw, etc.)
+#if EIGEN_COMP_GNUC && !(EIGEN_COMP_CLANG || EIGEN_COMP_ICC || EIGEN_COMP_MINGW || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM || EIGEN_COMP_EMSCRIPTEN)
+  #define EIGEN_COMP_GNUC_STRICT 1
+#else
+  #define EIGEN_COMP_GNUC_STRICT 0
+#endif
+
+
+#if EIGEN_COMP_GNUC
+  #define EIGEN_GNUC_AT_LEAST(x,y) ((__GNUC__==x && __GNUC_MINOR__>=y) || __GNUC__>x)
+  #define EIGEN_GNUC_AT_MOST(x,y)  ((__GNUC__==x && __GNUC_MINOR__<=y) || __GNUC__<x)
+  #define EIGEN_GNUC_AT(x,y)       ( __GNUC__==x && __GNUC_MINOR__==y )
+#else
+  #define EIGEN_GNUC_AT_LEAST(x,y) 0
+  #define EIGEN_GNUC_AT_MOST(x,y)  0
+  #define EIGEN_GNUC_AT(x,y)       0
+#endif
+
+// FIXME: could probably be removed as we do not support gcc 3.x anymore
+#if EIGEN_COMP_GNUC && (__GNUC__ <= 3)
+#define EIGEN_GCC3_OR_OLDER 1
+#else
+#define EIGEN_GCC3_OR_OLDER 0
+#endif
+
+
+// Architecture identification, EIGEN_ARCH_*
+
+#if defined(__x86_64__) || defined(_M_X64) || defined(__amd64)
+  #define EIGEN_ARCH_x86_64 1
+#else
+  #define EIGEN_ARCH_x86_64 0
+#endif
+
+#if defined(__i386__) || defined(_M_IX86) || defined(_X86_) || defined(__i386)
+  #define EIGEN_ARCH_i386 1
+#else
+  #define EIGEN_ARCH_i386 0
+#endif
+
+#if EIGEN_ARCH_x86_64 || EIGEN_ARCH_i386
+  #define EIGEN_ARCH_i386_OR_x86_64 1
+#else
+  #define EIGEN_ARCH_i386_OR_x86_64 0
+#endif
+
+/// \internal EIGEN_ARCH_ARM set to 1 if the architecture is ARM
+#if defined(__arm__)
+  #define EIGEN_ARCH_ARM 1
+#else
+  #define EIGEN_ARCH_ARM 0
+#endif
+
+/// \internal EIGEN_ARCH_ARM64 set to 1 if the architecture is ARM64
+#if defined(__aarch64__)
+  #define EIGEN_ARCH_ARM64 1
+#else
+  #define EIGEN_ARCH_ARM64 0
+#endif
+
+#if EIGEN_ARCH_ARM || EIGEN_ARCH_ARM64
+  #define EIGEN_ARCH_ARM_OR_ARM64 1
+#else
+  #define EIGEN_ARCH_ARM_OR_ARM64 0
+#endif
+
+/// \internal EIGEN_ARCH_MIPS set to 1 if the architecture is MIPS
+#if defined(__mips__) || defined(__mips)
+  #define EIGEN_ARCH_MIPS 1
+#else
+  #define EIGEN_ARCH_MIPS 0
+#endif
+
+/// \internal EIGEN_ARCH_SPARC set to 1 if the architecture is SPARC
+#if defined(__sparc__) || defined(__sparc)
+  #define EIGEN_ARCH_SPARC 1
+#else
+  #define EIGEN_ARCH_SPARC 0
+#endif
+
+/// \internal EIGEN_ARCH_IA64 set to 1 if the architecture is Intel Itanium
+#if defined(__ia64__)
+  #define EIGEN_ARCH_IA64 1
+#else
+  #define EIGEN_ARCH_IA64 0
+#endif
+
+/// \internal EIGEN_ARCH_PPC set to 1 if the architecture is PowerPC
+#if defined(__powerpc__) || defined(__ppc__) || defined(_M_PPC)
+  #define EIGEN_ARCH_PPC 1
+#else
+  #define EIGEN_ARCH_PPC 0
+#endif
+
+
+
+// Operating system identification, EIGEN_OS_*
+
+/// \internal EIGEN_OS_UNIX set to 1 if the OS is a unix variant
+#if defined(__unix__) || defined(__unix)
+  #define EIGEN_OS_UNIX 1
+#else
+  #define EIGEN_OS_UNIX 0
+#endif
+
+/// \internal EIGEN_OS_LINUX set to 1 if the OS is based on Linux kernel
+#if defined(__linux__)
+  #define EIGEN_OS_LINUX 1
+#else
+  #define EIGEN_OS_LINUX 0
+#endif
+
+/// \internal EIGEN_OS_ANDROID set to 1 if the OS is Android
+// note: ANDROID is defined when using ndk_build, __ANDROID__ is defined when using a standalone toolchain.
+#if defined(__ANDROID__) || defined(ANDROID)
+  #define EIGEN_OS_ANDROID 1
+#else
+  #define EIGEN_OS_ANDROID 0
+#endif
+
+/// \internal EIGEN_OS_GNULINUX set to 1 if the OS is GNU Linux and not Linux-based OS (e.g., not android)
+#if defined(__gnu_linux__) && !(EIGEN_OS_ANDROID)
+  #define EIGEN_OS_GNULINUX 1
+#else
+  #define EIGEN_OS_GNULINUX 0
+#endif
+
+/// \internal EIGEN_OS_BSD set to 1 if the OS is a BSD variant
+#if defined(__FreeBSD__) || defined(__NetBSD__) || defined(__OpenBSD__) || defined(__bsdi__) || defined(__DragonFly__)
+  #define EIGEN_OS_BSD 1
+#else
+  #define EIGEN_OS_BSD 0
+#endif
+
+/// \internal EIGEN_OS_MAC set to 1 if the OS is MacOS
+#if defined(__APPLE__)
+  #define EIGEN_OS_MAC 1
+#else
+  #define EIGEN_OS_MAC 0
+#endif
+
+/// \internal EIGEN_OS_QNX set to 1 if the OS is QNX
+#if defined(__QNX__)
+  #define EIGEN_OS_QNX 1
+#else
+  #define EIGEN_OS_QNX 0
+#endif
+
+/// \internal EIGEN_OS_WIN set to 1 if the OS is Windows based
+#if defined(_WIN32)
+  #define EIGEN_OS_WIN 1
+#else
+  #define EIGEN_OS_WIN 0
+#endif
+
+/// \internal EIGEN_OS_WIN64 set to 1 if the OS is Windows 64bits
+#if defined(_WIN64)
+  #define EIGEN_OS_WIN64 1
+#else
+  #define EIGEN_OS_WIN64 0
+#endif
+
+/// \internal EIGEN_OS_WINCE set to 1 if the OS is Windows CE
+#if defined(_WIN32_WCE)
+  #define EIGEN_OS_WINCE 1
+#else
+  #define EIGEN_OS_WINCE 0
+#endif
+
+/// \internal EIGEN_OS_CYGWIN set to 1 if the OS is Windows/Cygwin
+#if defined(__CYGWIN__)
+  #define EIGEN_OS_CYGWIN 1
+#else
+  #define EIGEN_OS_CYGWIN 0
+#endif
+
+/// \internal EIGEN_OS_WIN_STRICT set to 1 if the OS is really Windows and not some variants
+#if EIGEN_OS_WIN && !( EIGEN_OS_WINCE || EIGEN_OS_CYGWIN )
+  #define EIGEN_OS_WIN_STRICT 1
+#else
+  #define EIGEN_OS_WIN_STRICT 0
+#endif
+
+/// \internal EIGEN_OS_SUN set to 1 if the OS is SUN
+#if (defined(sun) || defined(__sun)) && !(defined(__SVR4) || defined(__svr4__))
+  #define EIGEN_OS_SUN 1
+#else
+  #define EIGEN_OS_SUN 0
+#endif
+
+/// \internal EIGEN_OS_SOLARIS set to 1 if the OS is Solaris
+#if (defined(sun) || defined(__sun)) && (defined(__SVR4) || defined(__svr4__))
+  #define EIGEN_OS_SOLARIS 1
+#else
+  #define EIGEN_OS_SOLARIS 0
+#endif
+
+
+
+#if EIGEN_GNUC_AT_MOST(4,3) && !EIGEN_COMP_CLANG
   // see bug 89
   #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 0
 #else
   #define EIGEN_SAFE_TO_USE_STANDARD_ASSERT_MACRO 1
 #endif
 
-#if defined(__GNUC__) && (__GNUC__ <= 3)
-#define EIGEN_GCC3_OR_OLDER 1
-#else
-#define EIGEN_GCC3_OR_OLDER 0
-#endif
-
-// 16 byte alignment is only useful for vectorization. Since it affects the ABI, we need to enable
-// 16 byte alignment on all platforms where vectorization might be enabled. In theory we could always
-// enable alignment, but it can be a cause of problems on some platforms, so we just disable it in
-// certain common platform (compiler+architecture combinations) to avoid these problems.
-// Only static alignment is really problematic (relies on nonstandard compiler extensions that don't
-// work everywhere, for example don't work on GCC/ARM), try to keep heap alignment even
-// when we have to disable static alignment.
-#if defined(__GNUC__) && !(defined(__i386__) || defined(__x86_64__) || defined(__powerpc__) || defined(__ppc__) || defined(__ia64__))
-#define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
-#else
-#define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 0
-#endif
-
-// static alignment is completely disabled with GCC 3, Sun Studio, and QCC/QNX
-#if !EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT \
- && !EIGEN_GCC3_OR_OLDER \
- && !defined(__SUNPRO_CC) \
- && !defined(__QNXNTO__)
-  #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 1
-#else
-  #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 0
-#endif
-
-#ifdef EIGEN_DONT_ALIGN
-  #ifndef EIGEN_DONT_ALIGN_STATICALLY
-    #define EIGEN_DONT_ALIGN_STATICALLY
-  #endif
-  #define EIGEN_ALIGN 0
-#else
-  #define EIGEN_ALIGN 1
-#endif
-
-// EIGEN_ALIGN_STATICALLY is the true test whether we want to align arrays on the stack or not. It takes into account both the user choice to explicitly disable
-// alignment (EIGEN_DONT_ALIGN_STATICALLY) and the architecture config (EIGEN_ARCH_WANTS_STACK_ALIGNMENT). Henceforth, only EIGEN_ALIGN_STATICALLY should be used.
-#if EIGEN_ARCH_WANTS_STACK_ALIGNMENT && !defined(EIGEN_DONT_ALIGN_STATICALLY)
-  #define EIGEN_ALIGN_STATICALLY 1
-#else
-  #define EIGEN_ALIGN_STATICALLY 0
-  #ifndef EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
-    #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
-  #endif
-#endif
+// This macro can be used to prevent from macro expansion, e.g.:
+//   std::max EIGEN_NOT_A_MACRO(a,b)
+#define EIGEN_NOT_A_MACRO
 
 #ifdef EIGEN_DEFAULT_TO_ROW_MAJOR
-#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION RowMajor
+#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION Eigen::RowMajor
 #else
-#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION ColMajor
+#define EIGEN_DEFAULT_MATRIX_STORAGE_ORDER_OPTION Eigen::ColMajor
 #endif
 
 #ifndef EIGEN_DEFAULT_DENSE_INDEX_TYPE
@@ -103,10 +343,130 @@
 #  define EIGEN_HAS_BUILTIN(x) 0
 #endif
 
+// A Clang feature extension to determine compiler features.
+// We use it to determine 'cxx_rvalue_references'
+#ifndef __has_feature
+# define __has_feature(x) 0
+#endif
+
+// Upperbound on the C++ version to use.
+// Expected values are 03, 11, 14, 17, etc.
+// By default, let's use an arbitrarily large C++ version.
+#ifndef EIGEN_MAX_CPP_VER
+#define EIGEN_MAX_CPP_VER 99
+#endif
+
+#if EIGEN_MAX_CPP_VER>=11 && (defined(__cplusplus) && (__cplusplus >= 201103L) || EIGEN_COMP_MSVC >= 1900)
+#define EIGEN_HAS_CXX11 1
+#else
+#define EIGEN_HAS_CXX11 0
+#endif
+
+
+// Do we support r-value references?
+#ifndef EIGEN_HAS_RVALUE_REFERENCES
+#if EIGEN_MAX_CPP_VER>=11 && \
+    (__has_feature(cxx_rvalue_references) || \
+    (defined(__cplusplus) && __cplusplus >= 201103L) || \
+    (EIGEN_COMP_MSVC >= 1600))
+  #define EIGEN_HAS_RVALUE_REFERENCES 1
+#else
+  #define EIGEN_HAS_RVALUE_REFERENCES 0
+#endif
+#endif
+
+// Does the compiler support C99?
+#ifndef EIGEN_HAS_C99_MATH
+#if EIGEN_MAX_CPP_VER>=11 && \
+    ((defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901))       \
+  || (defined(__GNUC__) && defined(_GLIBCXX_USE_C99)) \
+  || (defined(_LIBCPP_VERSION) && !defined(_MSC_VER)))
+  #define EIGEN_HAS_C99_MATH 1
+#else
+  #define EIGEN_HAS_C99_MATH 0
+#endif
+#endif
+
+// Does the compiler support result_of?
+#ifndef EIGEN_HAS_STD_RESULT_OF
+#if EIGEN_MAX_CPP_VER>=11 && ((__has_feature(cxx_lambdas) || (defined(__cplusplus) && __cplusplus >= 201103L)))
+#define EIGEN_HAS_STD_RESULT_OF 1
+#else
+#define EIGEN_HAS_STD_RESULT_OF 0
+#endif
+#endif
+
+// Does the compiler support variadic templates?
+#ifndef EIGEN_HAS_VARIADIC_TEMPLATES
+#if EIGEN_MAX_CPP_VER>=11 && (__cplusplus > 199711L || EIGEN_COMP_MSVC >= 1900) \
+  && ( !defined(__NVCC__) || !EIGEN_ARCH_ARM_OR_ARM64 || (defined __CUDACC_VER__ && __CUDACC_VER__ >= 80000) )
+    // ^^ Disable the use of variadic templates when compiling with versions of nvcc older than 8.0 on ARM devices:
+    //    this prevents nvcc from crashing when compiling Eigen on Tegra X1
+#define EIGEN_HAS_VARIADIC_TEMPLATES 1
+#else
+#define EIGEN_HAS_VARIADIC_TEMPLATES 0
+#endif
+#endif
+
+// Does the compiler fully support const expressions? (as in c++14)
+#ifndef EIGEN_HAS_CONSTEXPR
+
+#ifdef __CUDACC__
+// Const expressions are supported provided that c++11 is enabled and we're using either clang or nvcc 7.5 or above
+#if EIGEN_MAX_CPP_VER>=14 && (__cplusplus > 199711L && defined(__CUDACC_VER__) && (EIGEN_COMP_CLANG || __CUDACC_VER__ >= 70500))
+  #define EIGEN_HAS_CONSTEXPR 1
+#endif
+#elif EIGEN_MAX_CPP_VER>=14 && (__has_feature(cxx_relaxed_constexpr) || (defined(__cplusplus) && __cplusplus >= 201402L) || \
+  (EIGEN_GNUC_AT_LEAST(4,8) && (__cplusplus > 199711L)))
+#define EIGEN_HAS_CONSTEXPR 1
+#endif
+
+#ifndef EIGEN_HAS_CONSTEXPR
+#define EIGEN_HAS_CONSTEXPR 0
+#endif
+
+#endif
+
+// Does the compiler support C++11 math?
+// Let's be conservative and enable the default C++11 implementation only if we are sure it exists
+#ifndef EIGEN_HAS_CXX11_MATH
+  #if EIGEN_MAX_CPP_VER>=11 && ((__cplusplus > 201103L) || (__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_MSVC || EIGEN_COMP_ICC)  \
+      && (EIGEN_ARCH_i386_OR_x86_64) && (EIGEN_OS_GNULINUX || EIGEN_OS_WIN_STRICT || EIGEN_OS_MAC))
+    #define EIGEN_HAS_CXX11_MATH 1
+  #else
+    #define EIGEN_HAS_CXX11_MATH 0
+  #endif
+#endif
+
+// Does the compiler support proper C++11 containers?
+#ifndef EIGEN_HAS_CXX11_CONTAINERS
+  #if    EIGEN_MAX_CPP_VER>=11 && \
+         ((__cplusplus > 201103L) \
+      || ((__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_ICC>=1400)) \
+      || EIGEN_COMP_MSVC >= 1900)
+    #define EIGEN_HAS_CXX11_CONTAINERS 1
+  #else
+    #define EIGEN_HAS_CXX11_CONTAINERS 0
+  #endif
+#endif
+
+// Does the compiler support C++11 noexcept?
+#ifndef EIGEN_HAS_CXX11_NOEXCEPT
+  #if    EIGEN_MAX_CPP_VER>=11 && \
+         (__has_feature(cxx_noexcept) \
+      || (__cplusplus > 201103L) \
+      || ((__cplusplus >= 201103L) && (EIGEN_COMP_GNUC_STRICT || EIGEN_COMP_CLANG || EIGEN_COMP_ICC>=1400)) \
+      || EIGEN_COMP_MSVC >= 1900)
+    #define EIGEN_HAS_CXX11_NOEXCEPT 1
+  #else
+    #define EIGEN_HAS_CXX11_NOEXCEPT 0
+  #endif
+#endif
+
 /** Allows to disable some optimizations which might affect the accuracy of the result.
   * Such optimization are enabled by default, and set EIGEN_FAST_MATH to 0 to disable them.
   * They currently include:
-  *   - single precision Cwise::sin() and Cwise::cos() when SSE vectorization is enabled.
+  *   - single precision ArrayBase::sin() and ArrayBase::cos() for SSE and AVX vectorization.
   */
 #ifndef EIGEN_FAST_MATH
 #define EIGEN_FAST_MATH 1
@@ -118,6 +478,8 @@
 #define EIGEN_CAT2(a,b) a ## b
 #define EIGEN_CAT(a,b) EIGEN_CAT2(a,b)
 
+#define EIGEN_COMMA ,
+
 // convert a token to a string
 #define EIGEN_MAKESTRING2(a) #a
 #define EIGEN_MAKESTRING(a) EIGEN_MAKESTRING2(a)
@@ -125,7 +487,7 @@
 // EIGEN_STRONG_INLINE is a stronger version of the inline, using __forceinline on MSVC,
 // but it still doesn't use GCC's always_inline. This is useful in (common) situations where MSVC needs forceinline
 // but GCC is still doing fine with just inline.
-#if (defined _MSC_VER) || (defined __INTEL_COMPILER)
+#if EIGEN_COMP_MSVC || EIGEN_COMP_ICC
 #define EIGEN_STRONG_INLINE __forceinline
 #else
 #define EIGEN_STRONG_INLINE inline
@@ -135,24 +497,25 @@
 // attribute to maximize inlining. This should only be used when really necessary: in particular,
 // it uses __attribute__((always_inline)) on GCC, which most of the time is useless and can severely harm compile times.
 // FIXME with the always_inline attribute,
-// gcc 3.4.x reports the following compilation error:
+// gcc 3.4.x and 4.1 reports the following compilation error:
 //   Eval.h:91: sorry, unimplemented: inlining failed in call to 'const Eigen::Eval<Derived> Eigen::MatrixBase<Scalar, Derived>::eval() const'
 //    : function body not available
-#if EIGEN_GNUC_AT_LEAST(4,0)
+//   See also bug 1367
+#if EIGEN_GNUC_AT_LEAST(4,2)
 #define EIGEN_ALWAYS_INLINE __attribute__((always_inline)) inline
 #else
 #define EIGEN_ALWAYS_INLINE EIGEN_STRONG_INLINE
 #endif
 
-#if (defined __GNUC__)
+#if EIGEN_COMP_GNUC
 #define EIGEN_DONT_INLINE __attribute__((noinline))
-#elif (defined _MSC_VER)
+#elif EIGEN_COMP_MSVC
 #define EIGEN_DONT_INLINE __declspec(noinline)
 #else
 #define EIGEN_DONT_INLINE
 #endif
 
-#if (defined __GNUC__)
+#if EIGEN_COMP_GNUC
 #define EIGEN_PERMISSIVE_EXPR __extension__
 #else
 #define EIGEN_PERMISSIVE_EXPR
@@ -221,15 +584,15 @@
 #endif
 
 #ifdef EIGEN_NO_DEBUG
-#define EIGEN_ONLY_USED_FOR_DEBUG(x) (void)x
+#define EIGEN_ONLY_USED_FOR_DEBUG(x) EIGEN_UNUSED_VARIABLE(x)
 #else
 #define EIGEN_ONLY_USED_FOR_DEBUG(x)
 #endif
 
 #ifndef EIGEN_NO_DEPRECATED_WARNING
-  #if (defined __GNUC__)
+  #if EIGEN_COMP_GNUC
     #define EIGEN_DEPRECATED __attribute__((deprecated))
-  #elif (defined _MSC_VER)
+  #elif EIGEN_COMP_MSVC
     #define EIGEN_DEPRECATED __declspec(deprecated)
   #else
     #define EIGEN_DEPRECATED
@@ -238,7 +601,7 @@
   #define EIGEN_DEPRECATED
 #endif
 
-#if (defined __GNUC__)
+#if EIGEN_COMP_GNUC
 #define EIGEN_UNUSED __attribute__((unused))
 #else
 #define EIGEN_UNUSED
@@ -247,19 +610,33 @@
 // Suppresses 'unused variable' warnings.
 namespace Eigen {
   namespace internal {
-    template<typename T> void ignore_unused_variable(const T&) {}
+    template<typename T> EIGEN_DEVICE_FUNC void ignore_unused_variable(const T&) {}
   }
 }
 #define EIGEN_UNUSED_VARIABLE(var) Eigen::internal::ignore_unused_variable(var);
 
 #if !defined(EIGEN_ASM_COMMENT)
-  #if (defined __GNUC__) && ( defined(__i386__) || defined(__x86_64__) )
+  #if EIGEN_COMP_GNUC && (EIGEN_ARCH_i386_OR_x86_64 || EIGEN_ARCH_ARM_OR_ARM64)
     #define EIGEN_ASM_COMMENT(X)  __asm__("#" X)
   #else
     #define EIGEN_ASM_COMMENT(X)
   #endif
 #endif
 
+
+//------------------------------------------------------------------------------------------
+// Static and dynamic alignment control
+//
+// The main purpose of this section is to define EIGEN_MAX_ALIGN_BYTES and EIGEN_MAX_STATIC_ALIGN_BYTES
+// as the maximal boundary in bytes on which dynamically and statically allocated data may be alignment respectively.
+// The values of EIGEN_MAX_ALIGN_BYTES and EIGEN_MAX_STATIC_ALIGN_BYTES can be specified by the user. If not,
+// a default value is automatically computed based on architecture, compiler, and OS.
+//
+// This section also defines macros EIGEN_ALIGN_TO_BOUNDARY(N) and the shortcuts EIGEN_ALIGN{8,16,32,_MAX}
+// to be used to declare statically aligned buffers.
+//------------------------------------------------------------------------------------------
+
+
 /* EIGEN_ALIGN_TO_BOUNDARY(n) forces data to be n-byte aligned. This is used to satisfy SIMD requirements.
  * However, we do that EVEN if vectorization (EIGEN_VECTORIZE) is disabled,
  * so that vectorization doesn't affect binary compatibility.
@@ -267,28 +644,149 @@ namespace Eigen {
  * If we made alignment depend on whether or not EIGEN_VECTORIZE is defined, it would be impossible to link
  * vectorized and non-vectorized code.
  */
-#if (defined __GNUC__) || (defined __PGI) || (defined __IBMCPP__) || (defined __ARMCC_VERSION)
+#if (defined __CUDACC__)
+  #define EIGEN_ALIGN_TO_BOUNDARY(n) __align__(n)
+#elif EIGEN_COMP_GNUC || EIGEN_COMP_PGI || EIGEN_COMP_IBM || EIGEN_COMP_ARM
   #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
-#elif (defined _MSC_VER)
+#elif EIGEN_COMP_MSVC
   #define EIGEN_ALIGN_TO_BOUNDARY(n) __declspec(align(n))
-#elif (defined __SUNPRO_CC)
+#elif EIGEN_COMP_SUNCC
   // FIXME not sure about this one:
   #define EIGEN_ALIGN_TO_BOUNDARY(n) __attribute__((aligned(n)))
 #else
   #error Please tell me what is the equivalent of __attribute__((aligned(n))) for your compiler
 #endif
 
+// If the user explicitly disable vectorization, then we also disable alignment
+#if defined(EIGEN_DONT_VECTORIZE)
+  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 0
+#elif defined(EIGEN_VECTORIZE_AVX512)
+  // 64 bytes static alignmeent is preferred only if really required
+  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 64
+#elif defined(__AVX__)
+  // 32 bytes static alignmeent is preferred only if really required
+  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 32
+#else
+  #define EIGEN_IDEAL_MAX_ALIGN_BYTES 16
+#endif
+
+
+// EIGEN_MIN_ALIGN_BYTES defines the minimal value for which the notion of explicit alignment makes sense
+#define EIGEN_MIN_ALIGN_BYTES 16
+
+// Defined the boundary (in bytes) on which the data needs to be aligned. Note
+// that unless EIGEN_ALIGN is defined and not equal to 0, the data may not be
+// aligned at all regardless of the value of this #define.
+
+#if (defined(EIGEN_DONT_ALIGN_STATICALLY) || defined(EIGEN_DONT_ALIGN))  && defined(EIGEN_MAX_STATIC_ALIGN_BYTES) && EIGEN_MAX_STATIC_ALIGN_BYTES>0
+#error EIGEN_MAX_STATIC_ALIGN_BYTES and EIGEN_DONT_ALIGN[_STATICALLY] are both defined with EIGEN_MAX_STATIC_ALIGN_BYTES!=0. Use EIGEN_MAX_STATIC_ALIGN_BYTES=0 as a synonym of EIGEN_DONT_ALIGN_STATICALLY.
+#endif
+
+// EIGEN_DONT_ALIGN_STATICALLY and EIGEN_DONT_ALIGN are deprectated
+// They imply EIGEN_MAX_STATIC_ALIGN_BYTES=0
+#if defined(EIGEN_DONT_ALIGN_STATICALLY) || defined(EIGEN_DONT_ALIGN)
+  #ifdef EIGEN_MAX_STATIC_ALIGN_BYTES
+    #undef EIGEN_MAX_STATIC_ALIGN_BYTES
+  #endif
+  #define EIGEN_MAX_STATIC_ALIGN_BYTES 0
+#endif
+
+#ifndef EIGEN_MAX_STATIC_ALIGN_BYTES
+
+  // Try to automatically guess what is the best default value for EIGEN_MAX_STATIC_ALIGN_BYTES
+
+  // 16 byte alignment is only useful for vectorization. Since it affects the ABI, we need to enable
+  // 16 byte alignment on all platforms where vectorization might be enabled. In theory we could always
+  // enable alignment, but it can be a cause of problems on some platforms, so we just disable it in
+  // certain common platform (compiler+architecture combinations) to avoid these problems.
+  // Only static alignment is really problematic (relies on nonstandard compiler extensions),
+  // try to keep heap alignment even when we have to disable static alignment.
+  #if EIGEN_COMP_GNUC && !(EIGEN_ARCH_i386_OR_x86_64 || EIGEN_ARCH_ARM_OR_ARM64 || EIGEN_ARCH_PPC || EIGEN_ARCH_IA64)
+  #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
+  #elif EIGEN_ARCH_ARM_OR_ARM64 && EIGEN_COMP_GNUC_STRICT && EIGEN_GNUC_AT_MOST(4, 6)
+  // Old versions of GCC on ARM, at least 4.4, were once seen to have buggy static alignment support.
+  // Not sure which version fixed it, hopefully it doesn't affect 4.7, which is still somewhat in use.
+  // 4.8 and newer seem definitely unaffected.
+  #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 1
+  #else
+  #define EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT 0
+  #endif
+
+  // static alignment is completely disabled with GCC 3, Sun Studio, and QCC/QNX
+  #if !EIGEN_GCC_AND_ARCH_DOESNT_WANT_STACK_ALIGNMENT \
+  && !EIGEN_GCC3_OR_OLDER \
+  && !EIGEN_COMP_SUNCC \
+  && !EIGEN_OS_QNX
+    #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 1
+  #else
+    #define EIGEN_ARCH_WANTS_STACK_ALIGNMENT 0
+  #endif
+
+  #if EIGEN_ARCH_WANTS_STACK_ALIGNMENT
+    #define EIGEN_MAX_STATIC_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
+  #else
+    #define EIGEN_MAX_STATIC_ALIGN_BYTES 0
+  #endif
+
+#endif
+
+// If EIGEN_MAX_ALIGN_BYTES is defined, then it is considered as an upper bound for EIGEN_MAX_ALIGN_BYTES
+#if defined(EIGEN_MAX_ALIGN_BYTES) && EIGEN_MAX_ALIGN_BYTES<EIGEN_MAX_STATIC_ALIGN_BYTES
+#undef EIGEN_MAX_STATIC_ALIGN_BYTES
+#define EIGEN_MAX_STATIC_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
+#endif
+
+#if EIGEN_MAX_STATIC_ALIGN_BYTES==0 && !defined(EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT)
+  #define EIGEN_DISABLE_UNALIGNED_ARRAY_ASSERT
+#endif
+
+// At this stage, EIGEN_MAX_STATIC_ALIGN_BYTES>0 is the true test whether we want to align arrays on the stack or not.
+// It takes into account both the user choice to explicitly enable/disable alignment (by settting EIGEN_MAX_STATIC_ALIGN_BYTES)
+// and the architecture config (EIGEN_ARCH_WANTS_STACK_ALIGNMENT).
+// Henceforth, only EIGEN_MAX_STATIC_ALIGN_BYTES should be used.
+
+
+// Shortcuts to EIGEN_ALIGN_TO_BOUNDARY
 #define EIGEN_ALIGN8  EIGEN_ALIGN_TO_BOUNDARY(8)
 #define EIGEN_ALIGN16 EIGEN_ALIGN_TO_BOUNDARY(16)
-
-#if EIGEN_ALIGN_STATICALLY
-#define EIGEN_USER_ALIGN_TO_BOUNDARY(n) EIGEN_ALIGN_TO_BOUNDARY(n)
-#define EIGEN_USER_ALIGN16 EIGEN_ALIGN16
+#define EIGEN_ALIGN32 EIGEN_ALIGN_TO_BOUNDARY(32)
+#define EIGEN_ALIGN64 EIGEN_ALIGN_TO_BOUNDARY(64)
+#if EIGEN_MAX_STATIC_ALIGN_BYTES>0
+#define EIGEN_ALIGN_MAX EIGEN_ALIGN_TO_BOUNDARY(EIGEN_MAX_STATIC_ALIGN_BYTES)
 #else
-#define EIGEN_USER_ALIGN_TO_BOUNDARY(n)
-#define EIGEN_USER_ALIGN16
+#define EIGEN_ALIGN_MAX
 #endif
 
+
+// Dynamic alignment control
+
+#if defined(EIGEN_DONT_ALIGN) && defined(EIGEN_MAX_ALIGN_BYTES) && EIGEN_MAX_ALIGN_BYTES>0
+#error EIGEN_MAX_ALIGN_BYTES and EIGEN_DONT_ALIGN are both defined with EIGEN_MAX_ALIGN_BYTES!=0. Use EIGEN_MAX_ALIGN_BYTES=0 as a synonym of EIGEN_DONT_ALIGN.
+#endif
+
+#ifdef EIGEN_DONT_ALIGN
+  #ifdef EIGEN_MAX_ALIGN_BYTES
+    #undef EIGEN_MAX_ALIGN_BYTES
+  #endif
+  #define EIGEN_MAX_ALIGN_BYTES 0
+#elif !defined(EIGEN_MAX_ALIGN_BYTES)
+  #define EIGEN_MAX_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
+#endif
+
+#if EIGEN_IDEAL_MAX_ALIGN_BYTES > EIGEN_MAX_ALIGN_BYTES
+#define EIGEN_DEFAULT_ALIGN_BYTES EIGEN_IDEAL_MAX_ALIGN_BYTES
+#else
+#define EIGEN_DEFAULT_ALIGN_BYTES EIGEN_MAX_ALIGN_BYTES
+#endif
+
+
+#ifndef EIGEN_UNALIGNED_VECTORIZE
+#define EIGEN_UNALIGNED_VECTORIZE 1
+#endif
+
+//----------------------------------------------------------------------
+
+
 #ifdef EIGEN_DONT_USE_RESTRICT_KEYWORD
   #define EIGEN_RESTRICT
 #endif
@@ -314,25 +812,26 @@ namespace Eigen {
 // just an empty macro !
 #define EIGEN_EMPTY
 
-#if defined(_MSC_VER) && (_MSC_VER < 1800) && (!defined(__INTEL_COMPILER))
-#define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
-  using Base::operator =;
-#elif defined(__clang__) // workaround clang bug (see http://forum.kde.org/viewtopic.php?f=74&t=102653)
-#define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
-  using Base::operator =; \
-  EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) { Base::operator=(other); return *this; } \
-  template <typename OtherDerived> \
-  EIGEN_STRONG_INLINE Derived& operator=(const DenseBase<OtherDerived>& other) { Base::operator=(other.derived()); return *this; }
+#if EIGEN_COMP_MSVC_STRICT && (EIGEN_COMP_MSVC < 1900 ||  __CUDACC_VER__) // for older MSVC versions, as well as 1900 && CUDA 8, using the base operator is sufficient (cf Bugs 1000, 1324)
+  #define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+    using Base::operator =;
+#elif EIGEN_COMP_CLANG // workaround clang bug (see http://forum.kde.org/viewtopic.php?f=74&t=102653)
+  #define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+    using Base::operator =; \
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) { Base::operator=(other); return *this; } \
+    template <typename OtherDerived> \
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const DenseBase<OtherDerived>& other) { Base::operator=(other.derived()); return *this; }
 #else
-#define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
-  using Base::operator =; \
-  EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) \
-  { \
-    Base::operator=(other); \
-    return *this; \
-  }
+  #define EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Derived) \
+    using Base::operator =; \
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const Derived& other) \
+    { \
+      Base::operator=(other); \
+      return *this; \
+    }
 #endif
 
+
 /** \internal
  * \brief Macro to manually inherit assignment operators.
  * This is necessary, because the implicitly defined assignment operator gets deleted when a custom operator= is defined.
@@ -351,32 +850,12 @@ namespace Eigen {
   typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; /*!< \brief Numeric type, e.g. float, double, int or std::complex<float>. */ \
   typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; /*!< \brief The underlying numeric type for composed scalar types. \details In cases where Scalar is e.g. std::complex<T>, T were corresponding to RealScalar. */ \
   typedef typename Base::CoeffReturnType CoeffReturnType; /*!< \brief The return type for coefficient access. \details Depending on whether the object allows direct coefficient access (e.g. for a MatrixXd), this type is either 'const Scalar&' or simply 'Scalar' for objects that do not allow direct coefficient access. */ \
-  typedef typename Eigen::internal::nested<Derived>::type Nested; \
+  typedef typename Eigen::internal::ref_selector<Derived>::type Nested; \
   typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
-  typedef typename Eigen::internal::traits<Derived>::Index Index; \
+  typedef typename Eigen::internal::traits<Derived>::StorageIndex StorageIndex; \
   enum { RowsAtCompileTime = Eigen::internal::traits<Derived>::RowsAtCompileTime, \
         ColsAtCompileTime = Eigen::internal::traits<Derived>::ColsAtCompileTime, \
         Flags = Eigen::internal::traits<Derived>::Flags, \
-        CoeffReadCost = Eigen::internal::traits<Derived>::CoeffReadCost, \
-        SizeAtCompileTime = Base::SizeAtCompileTime, \
-        MaxSizeAtCompileTime = Base::MaxSizeAtCompileTime, \
-        IsVectorAtCompileTime = Base::IsVectorAtCompileTime };
-
-
-#define EIGEN_DENSE_PUBLIC_INTERFACE(Derived) \
-  typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; /*!< \brief Numeric type, e.g. float, double, int or std::complex<float>. */ \
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; /*!< \brief The underlying numeric type for composed scalar types. \details In cases where Scalar is e.g. std::complex<T>, T were corresponding to RealScalar. */ \
-  typedef typename Base::PacketScalar PacketScalar; \
-  typedef typename Base::CoeffReturnType CoeffReturnType; /*!< \brief The return type for coefficient access. \details Depending on whether the object allows direct coefficient access (e.g. for a MatrixXd), this type is either 'const Scalar&' or simply 'Scalar' for objects that do not allow direct coefficient access. */ \
-  typedef typename Eigen::internal::nested<Derived>::type Nested; \
-  typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
-  typedef typename Eigen::internal::traits<Derived>::Index Index; \
-  enum { RowsAtCompileTime = Eigen::internal::traits<Derived>::RowsAtCompileTime, \
-        ColsAtCompileTime = Eigen::internal::traits<Derived>::ColsAtCompileTime, \
-        MaxRowsAtCompileTime = Eigen::internal::traits<Derived>::MaxRowsAtCompileTime, \
-        MaxColsAtCompileTime = Eigen::internal::traits<Derived>::MaxColsAtCompileTime, \
-        Flags = Eigen::internal::traits<Derived>::Flags, \
-        CoeffReadCost = Eigen::internal::traits<Derived>::CoeffReadCost, \
         SizeAtCompileTime = Base::SizeAtCompileTime, \
         MaxSizeAtCompileTime = Base::MaxSizeAtCompileTime, \
         IsVectorAtCompileTime = Base::IsVectorAtCompileTime }; \
@@ -384,6 +863,12 @@ namespace Eigen {
   using Base::const_cast_derived;
 
 
+// FIXME Maybe the EIGEN_DENSE_PUBLIC_INTERFACE could be removed as importing PacketScalar is rarely needed
+#define EIGEN_DENSE_PUBLIC_INTERFACE(Derived) \
+  EIGEN_GENERIC_PUBLIC_INTERFACE(Derived) \
+  typedef typename Base::PacketScalar PacketScalar;
+
+
 #define EIGEN_PLAIN_ENUM_MIN(a,b) (((int)a <= (int)b) ? (int)a : (int)b)
 #define EIGEN_PLAIN_ENUM_MAX(a,b) (((int)a >= (int)b) ? (int)a : (int)b)
 
@@ -413,18 +898,10 @@ namespace Eigen {
 
 #define EIGEN_IMPLIES(a,b) (!(a) || (b))
 
-#define EIGEN_MAKE_CWISE_BINARY_OP(METHOD,FUNCTOR) \
-  template<typename OtherDerived> \
-  EIGEN_STRONG_INLINE const CwiseBinaryOp<FUNCTOR<Scalar>, const Derived, const OtherDerived> \
-  (METHOD)(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
-  { \
-    return CwiseBinaryOp<FUNCTOR<Scalar>, const Derived, const OtherDerived>(derived(), other.derived()); \
-  }
-
-// the expression type of a cwise product
-#define EIGEN_CWISE_PRODUCT_RETURN_TYPE(LHS,RHS) \
+// the expression type of a standard coefficient wise binary operation
+#define EIGEN_CWISE_BINARY_RETURN_TYPE(LHS,RHS,OPNAME) \
     CwiseBinaryOp< \
-      internal::scalar_product_op< \
+      EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)< \
           typename internal::traits<LHS>::Scalar, \
           typename internal::traits<RHS>::Scalar \
       >, \
@@ -432,4 +909,84 @@ namespace Eigen {
       const RHS \
     >
 
+#define EIGEN_MAKE_CWISE_BINARY_OP(METHOD,OPNAME) \
+  template<typename OtherDerived> \
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,OPNAME) \
+  (METHOD)(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
+  { \
+    return EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,OPNAME)(derived(), other.derived()); \
+  }
+
+#define EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,TYPEA,TYPEB) \
+  (Eigen::internal::has_ReturnType<Eigen::ScalarBinaryOpTraits<TYPEA,TYPEB,EIGEN_CAT(EIGEN_CAT(Eigen::internal::scalar_,OPNAME),_op)<TYPEA,TYPEB>  > >::value)
+
+#define EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(EXPR,SCALAR,OPNAME) \
+  CwiseBinaryOp<EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)<typename internal::traits<EXPR>::Scalar,SCALAR>, const EXPR, \
+                const typename internal::plain_constant_type<EXPR,SCALAR>::type>
+
+#define EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(SCALAR,EXPR,OPNAME) \
+  CwiseBinaryOp<EIGEN_CAT(EIGEN_CAT(internal::scalar_,OPNAME),_op)<SCALAR,typename internal::traits<EXPR>::Scalar>, \
+                const typename internal::plain_constant_type<EXPR,SCALAR>::type, const EXPR>
+
+// Workaround for MSVC 2010 (see ML thread "patch with compile for for MSVC 2010")
+#if EIGEN_COMP_MSVC_STRICT<=1600
+#define EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(X) typename internal::enable_if<true,X>::type
+#else
+#define EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(X) X
+#endif
+
+#define EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(METHOD,OPNAME) \
+  template <typename T> EIGEN_DEVICE_FUNC inline \
+  EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,typename internal::promote_scalar_arg<Scalar EIGEN_COMMA T EIGEN_COMMA EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,Scalar,T)>::type,OPNAME))\
+  (METHOD)(const T& scalar) const { \
+    typedef typename internal::promote_scalar_arg<Scalar,T,EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,Scalar,T)>::type PromotedT; \
+    return EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,PromotedT,OPNAME)(derived(), \
+           typename internal::plain_constant_type<Derived,PromotedT>::type(derived().rows(), derived().cols(), internal::scalar_constant_op<PromotedT>(scalar))); \
+  }
+
+#define EIGEN_MAKE_SCALAR_BINARY_OP_ONTHELEFT(METHOD,OPNAME) \
+  template <typename T> EIGEN_DEVICE_FUNC inline friend \
+  EIGEN_MSVC10_WORKAROUND_BINARYOP_RETURN_TYPE(const EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(typename internal::promote_scalar_arg<Scalar EIGEN_COMMA T EIGEN_COMMA EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,T,Scalar)>::type,Derived,OPNAME)) \
+  (METHOD)(const T& scalar, const StorageBaseType& matrix) { \
+    typedef typename internal::promote_scalar_arg<Scalar,T,EIGEN_SCALAR_BINARY_SUPPORTED(OPNAME,T,Scalar)>::type PromotedT; \
+    return EIGEN_SCALAR_BINARYOP_EXPR_RETURN_TYPE(PromotedT,Derived,OPNAME)( \
+           typename internal::plain_constant_type<Derived,PromotedT>::type(matrix.derived().rows(), matrix.derived().cols(), internal::scalar_constant_op<PromotedT>(scalar)), matrix.derived()); \
+  }
+
+#define EIGEN_MAKE_SCALAR_BINARY_OP(METHOD,OPNAME) \
+  EIGEN_MAKE_SCALAR_BINARY_OP_ONTHELEFT(METHOD,OPNAME) \
+  EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(METHOD,OPNAME)
+
+
+#ifdef EIGEN_EXCEPTIONS
+#  define EIGEN_THROW_X(X) throw X
+#  define EIGEN_THROW throw
+#  define EIGEN_TRY try
+#  define EIGEN_CATCH(X) catch (X)
+#else
+#  ifdef __CUDA_ARCH__
+#    define EIGEN_THROW_X(X) asm("trap;")
+#    define EIGEN_THROW asm("trap;")
+#  else
+#    define EIGEN_THROW_X(X) std::abort()
+#    define EIGEN_THROW std::abort()
+#  endif
+#  define EIGEN_TRY if (true)
+#  define EIGEN_CATCH(X) else
+#endif
+
+
+#if EIGEN_HAS_CXX11_NOEXCEPT
+#   define EIGEN_INCLUDE_TYPE_TRAITS
+#   define EIGEN_NOEXCEPT noexcept
+#   define EIGEN_NOEXCEPT_IF(x) noexcept(x)
+#   define EIGEN_NO_THROW noexcept(true)
+#   define EIGEN_EXCEPTION_SPEC(X) noexcept(false)
+#else
+#   define EIGEN_NOEXCEPT
+#   define EIGEN_NOEXCEPT_IF(x)
+#   define EIGEN_NO_THROW throw()
+#   define EIGEN_EXCEPTION_SPEC(X) throw(X)
+#endif
+
 #endif // EIGEN_MACROS_H
diff --git a/eigenlib/Eigen/src/Core/util/Memory.h b/eigenlib/Eigen/src/Core/util/Memory.h
index b9af5cf8..67053db6 100644
--- a/eigenlib/Eigen/src/Core/util/Memory.h
+++ b/eigenlib/Eigen/src/Core/util/Memory.h
@@ -1,11 +1,12 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2008-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
 // Copyright (C) 2009 Kenneth Riddile <kfriddile@yahoo.com>
 // Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
 // Copyright (C) 2010 Thomas Capricelli <orzel@freehackers.org>
+// Copyright (C) 2013 Pavel Holoborodko <pavel@holoborodko.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -31,7 +32,7 @@
 // page 114, "[The] LP64 model [...] is used by all 64-bit UNIX ports" so it's indeed
 // quite safe, at least within the context of glibc, to equate 64-bit with LP64.
 #if defined(__GLIBC__) && ((__GLIBC__>=2 && __GLIBC_MINOR__ >= 8) || __GLIBC__>2) \
- && defined(__LP64__) && ! defined( __SANITIZE_ADDRESS__ )
+ && defined(__LP64__) && ! defined( __SANITIZE_ADDRESS__ ) && (EIGEN_DEFAULT_ALIGN_BYTES == 16)
   #define EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED 1
 #else
   #define EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED 0
@@ -41,15 +42,15 @@
 //   See http://svn.freebsd.org/viewvc/base/stable/6/lib/libc/stdlib/malloc.c?view=markup
 // FreeBSD 7 seems to have 16-byte aligned malloc except on ARM and MIPS architectures
 //   See http://svn.freebsd.org/viewvc/base/stable/7/lib/libc/stdlib/malloc.c?view=markup
-#if defined(__FreeBSD__) && !defined(__arm__) && !defined(__mips__)
+#if defined(__FreeBSD__) && !(EIGEN_ARCH_ARM || EIGEN_ARCH_MIPS) && (EIGEN_DEFAULT_ALIGN_BYTES == 16)
   #define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 1
 #else
   #define EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED 0
 #endif
 
-#if defined(__APPLE__) \
- || defined(_WIN64) \
- || EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED \
+#if (EIGEN_OS_MAC && (EIGEN_DEFAULT_ALIGN_BYTES == 16))     \
+ || (EIGEN_OS_WIN64 && (EIGEN_DEFAULT_ALIGN_BYTES == 16))   \
+ || EIGEN_GLIBC_MALLOC_ALREADY_ALIGNED              \
  || EIGEN_FREEBSD_MALLOC_ALREADY_ALIGNED
   #define EIGEN_MALLOC_ALREADY_ALIGNED 1
 #else
@@ -58,36 +59,17 @@
 
 #endif
 
-// See bug 554 (http://eigen.tuxfamily.org/bz/show_bug.cgi?id=554)
-// It seems to be unsafe to check _POSIX_ADVISORY_INFO without including unistd.h first.
-// Currently, let's include it only on unix systems:
-#if defined(__unix__) || defined(__unix)
-  #include <unistd.h>
-  #if ((defined __QNXNTO__) || (defined _GNU_SOURCE) || (defined __PGI) || ((defined _XOPEN_SOURCE) && (_XOPEN_SOURCE >= 600))) && (defined _POSIX_ADVISORY_INFO) && (_POSIX_ADVISORY_INFO > 0)
-    #define EIGEN_HAS_POSIX_MEMALIGN 1
-  #endif
-#endif
-
-#ifndef EIGEN_HAS_POSIX_MEMALIGN
-  #define EIGEN_HAS_POSIX_MEMALIGN 0
-#endif
-
-#ifdef EIGEN_VECTORIZE_SSE
-  #define EIGEN_HAS_MM_MALLOC 1
-#else
-  #define EIGEN_HAS_MM_MALLOC 0
-#endif
-
 namespace Eigen {
 
 namespace internal {
 
+EIGEN_DEVICE_FUNC 
 inline void throw_std_bad_alloc()
 {
   #ifdef EIGEN_EXCEPTIONS
     throw std::bad_alloc();
   #else
-    std::size_t huge = -1;
+    std::size_t huge = static_cast<std::size_t>(-1);
     new int[huge];
   #endif
 }
@@ -103,9 +85,9 @@ inline void throw_std_bad_alloc()
   */
 inline void* handmade_aligned_malloc(std::size_t size)
 {
-  void *original = std::malloc(size+16);
+  void *original = std::malloc(size+EIGEN_DEFAULT_ALIGN_BYTES);
   if (original == 0) return 0;
-  void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(15))) + 16);
+  void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1))) + EIGEN_DEFAULT_ALIGN_BYTES);
   *(reinterpret_cast<void**>(aligned) - 1) = original;
   return aligned;
 }
@@ -118,7 +100,7 @@ inline void handmade_aligned_free(void *ptr)
 
 /** \internal
   * \brief Reallocates aligned memory.
-  * Since we know that our handmade version is based on std::realloc
+  * Since we know that our handmade version is based on std::malloc
   * we can use std::realloc to implement efficient reallocation.
   */
 inline void* handmade_aligned_realloc(void* ptr, std::size_t size, std::size_t = 0)
@@ -126,9 +108,9 @@ inline void* handmade_aligned_realloc(void* ptr, std::size_t size, std::size_t =
   if (ptr == 0) return handmade_aligned_malloc(size);
   void *original = *(reinterpret_cast<void**>(ptr) - 1);
   std::ptrdiff_t previous_offset = static_cast<char *>(ptr)-static_cast<char *>(original);
-  original = std::realloc(original,size+16);
+  original = std::realloc(original,size+EIGEN_DEFAULT_ALIGN_BYTES);
   if (original == 0) return 0;
-  void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(15))) + 16);
+  void *aligned = reinterpret_cast<void*>((reinterpret_cast<std::size_t>(original) & ~(std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1))) + EIGEN_DEFAULT_ALIGN_BYTES);
   void *previous_aligned = static_cast<char *>(original)+previous_offset;
   if(aligned!=previous_aligned)
     std::memmove(aligned, previous_aligned, size);
@@ -137,93 +119,47 @@ inline void* handmade_aligned_realloc(void* ptr, std::size_t size, std::size_t =
   return aligned;
 }
 
-/*****************************************************************************
-*** Implementation of generic aligned realloc (when no realloc can be used)***
-*****************************************************************************/
-
-void* aligned_malloc(std::size_t size);
-void  aligned_free(void *ptr);
-
-/** \internal
-  * \brief Reallocates aligned memory.
-  * Allows reallocation with aligned ptr types. This implementation will
-  * always create a new memory chunk and copy the old data.
-  */
-inline void* generic_aligned_realloc(void* ptr, size_t size, size_t old_size)
-{
-  if (ptr==0)
-    return aligned_malloc(size);
-
-  if (size==0)
-  {
-    aligned_free(ptr);
-    return 0;
-  }
-
-  void* newptr = aligned_malloc(size);
-  if (newptr == 0)
-  {
-    #ifdef EIGEN_HAS_ERRNO
-    errno = ENOMEM; // according to the standard
-    #endif
-    return 0;
-  }
-
-  if (ptr != 0)
-  {
-    std::memcpy(newptr, ptr, (std::min)(size,old_size));
-    aligned_free(ptr);
-  }
-
-  return newptr;
-}
-
 /*****************************************************************************
 *** Implementation of portable aligned versions of malloc/free/realloc     ***
 *****************************************************************************/
 
 #ifdef EIGEN_NO_MALLOC
-inline void check_that_malloc_is_allowed()
+EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed()
 {
   eigen_assert(false && "heap allocation is forbidden (EIGEN_NO_MALLOC is defined)");
 }
 #elif defined EIGEN_RUNTIME_NO_MALLOC
-inline bool is_malloc_allowed_impl(bool update, bool new_value = false)
+EIGEN_DEVICE_FUNC inline bool is_malloc_allowed_impl(bool update, bool new_value = false)
 {
   static bool value = true;
   if (update == 1)
     value = new_value;
   return value;
 }
-inline bool is_malloc_allowed() { return is_malloc_allowed_impl(false); }
-inline bool set_is_malloc_allowed(bool new_value) { return is_malloc_allowed_impl(true, new_value); }
-inline void check_that_malloc_is_allowed()
+EIGEN_DEVICE_FUNC inline bool is_malloc_allowed() { return is_malloc_allowed_impl(false); }
+EIGEN_DEVICE_FUNC inline bool set_is_malloc_allowed(bool new_value) { return is_malloc_allowed_impl(true, new_value); }
+EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed()
 {
   eigen_assert(is_malloc_allowed() && "heap allocation is forbidden (EIGEN_RUNTIME_NO_MALLOC is defined and g_is_malloc_allowed is false)");
 }
 #else 
-inline void check_that_malloc_is_allowed()
+EIGEN_DEVICE_FUNC inline void check_that_malloc_is_allowed()
 {}
 #endif
 
-/** \internal Allocates \a size bytes. The returned pointer is guaranteed to have 16 bytes alignment.
+/** \internal Allocates \a size bytes. The returned pointer is guaranteed to have 16 or 32 bytes alignment depending on the requirements.
   * On allocation error, the returned pointer is null, and std::bad_alloc is thrown.
   */
-inline void* aligned_malloc(size_t size)
+EIGEN_DEVICE_FUNC inline void* aligned_malloc(size_t size)
 {
   check_that_malloc_is_allowed();
 
   void *result;
-  #if !EIGEN_ALIGN
+  #if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
     result = std::malloc(size);
-  #elif EIGEN_MALLOC_ALREADY_ALIGNED
-    result = std::malloc(size);
-  #elif EIGEN_HAS_POSIX_MEMALIGN
-    if(posix_memalign(&result, 16, size)) result = 0;
-  #elif EIGEN_HAS_MM_MALLOC
-    result = _mm_malloc(size, 16);
-  #elif defined(_MSC_VER) && (!defined(_WIN32_WCE))
-    result = _aligned_malloc(size, 16);
+    #if EIGEN_DEFAULT_ALIGN_BYTES==16
+    eigen_assert((size<16 || (std::size_t(result)%16)==0) && "System's malloc returned an unaligned pointer. Compile with EIGEN_MALLOC_ALREADY_ALIGNED=0 to fallback to handmade alignd memory allocator.");
+    #endif
   #else
     result = handmade_aligned_malloc(size);
   #endif
@@ -235,50 +171,27 @@ inline void* aligned_malloc(size_t size)
 }
 
 /** \internal Frees memory allocated with aligned_malloc. */
-inline void aligned_free(void *ptr)
+EIGEN_DEVICE_FUNC inline void aligned_free(void *ptr)
 {
-  #if !EIGEN_ALIGN
+  #if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
     std::free(ptr);
-  #elif EIGEN_MALLOC_ALREADY_ALIGNED
-    std::free(ptr);
-  #elif EIGEN_HAS_POSIX_MEMALIGN
-    std::free(ptr);
-  #elif EIGEN_HAS_MM_MALLOC
-    _mm_free(ptr);
-  #elif defined(_MSC_VER) && (!defined(_WIN32_WCE))
-    _aligned_free(ptr);
   #else
     handmade_aligned_free(ptr);
   #endif
 }
 
 /**
-* \internal
-* \brief Reallocates an aligned block of memory.
-* \throws std::bad_alloc on allocation failure
-**/
+  * \internal
+  * \brief Reallocates an aligned block of memory.
+  * \throws std::bad_alloc on allocation failure
+  */
 inline void* aligned_realloc(void *ptr, size_t new_size, size_t old_size)
 {
   EIGEN_UNUSED_VARIABLE(old_size);
 
   void *result;
-#if !EIGEN_ALIGN
+#if (EIGEN_DEFAULT_ALIGN_BYTES==0) || EIGEN_MALLOC_ALREADY_ALIGNED
   result = std::realloc(ptr,new_size);
-#elif EIGEN_MALLOC_ALREADY_ALIGNED
-  result = std::realloc(ptr,new_size);
-#elif EIGEN_HAS_POSIX_MEMALIGN
-  result = generic_aligned_realloc(ptr,new_size,old_size);
-#elif EIGEN_HAS_MM_MALLOC
-  // The defined(_mm_free) is just here to verify that this MSVC version
-  // implements _mm_malloc/_mm_free based on the corresponding _aligned_
-  // functions. This may not always be the case and we just try to be safe.
-  #if defined(_MSC_VER) && (!defined(_WIN32_WCE)) && defined(_mm_free)
-    result = _aligned_realloc(ptr,new_size,16);
-  #else
-    result = generic_aligned_realloc(ptr,new_size,old_size);
-  #endif
-#elif defined(_MSC_VER) && (!defined(_WIN32_WCE))
-  result = _aligned_realloc(ptr,new_size,16);
 #else
   result = handmade_aligned_realloc(ptr,new_size,old_size);
 #endif
@@ -296,12 +209,12 @@ inline void* aligned_realloc(void *ptr, size_t new_size, size_t old_size)
 /** \internal Allocates \a size bytes. If Align is true, then the returned ptr is 16-byte-aligned.
   * On allocation error, the returned pointer is null, and a std::bad_alloc is thrown.
   */
-template<bool Align> inline void* conditional_aligned_malloc(size_t size)
+template<bool Align> EIGEN_DEVICE_FUNC inline void* conditional_aligned_malloc(size_t size)
 {
   return aligned_malloc(size);
 }
 
-template<> inline void* conditional_aligned_malloc<false>(size_t size)
+template<> EIGEN_DEVICE_FUNC inline void* conditional_aligned_malloc<false>(size_t size)
 {
   check_that_malloc_is_allowed();
 
@@ -312,12 +225,12 @@ template<> inline void* conditional_aligned_malloc<false>(size_t size)
 }
 
 /** \internal Frees memory allocated with conditional_aligned_malloc */
-template<bool Align> inline void conditional_aligned_free(void *ptr)
+template<bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_free(void *ptr)
 {
   aligned_free(ptr);
 }
 
-template<> inline void conditional_aligned_free<false>(void *ptr)
+template<> EIGEN_DEVICE_FUNC inline void conditional_aligned_free<false>(void *ptr)
 {
   std::free(ptr);
 }
@@ -336,31 +249,41 @@ template<> inline void* conditional_aligned_realloc<false>(void* ptr, size_t new
 *** Construction/destruction of array elements                             ***
 *****************************************************************************/
 
-/** \internal Constructs the elements of an array.
-  * The \a size parameter tells on how many objects to call the constructor of T.
-  */
-template<typename T> inline T* construct_elements_of_array(T *ptr, size_t size)
-{
-  for (size_t i=0; i < size; ++i) ::new (ptr + i) T;
-  return ptr;
-}
-
 /** \internal Destructs the elements of an array.
   * The \a size parameters tells on how many objects to call the destructor of T.
   */
-template<typename T> inline void destruct_elements_of_array(T *ptr, size_t size)
+template<typename T> EIGEN_DEVICE_FUNC inline void destruct_elements_of_array(T *ptr, size_t size)
 {
   // always destruct an array starting from the end.
   if(ptr)
     while(size) ptr[--size].~T();
 }
 
+/** \internal Constructs the elements of an array.
+  * The \a size parameter tells on how many objects to call the constructor of T.
+  */
+template<typename T> EIGEN_DEVICE_FUNC inline T* construct_elements_of_array(T *ptr, size_t size)
+{
+  size_t i;
+  EIGEN_TRY
+  {
+      for (i = 0; i < size; ++i) ::new (ptr + i) T;
+      return ptr;
+  }
+  EIGEN_CATCH(...)
+  {
+    destruct_elements_of_array(ptr, i);
+    EIGEN_THROW;
+  }
+  return NULL;
+}
+
 /*****************************************************************************
 *** Implementation of aligned new/delete-like functions                    ***
 *****************************************************************************/
 
 template<typename T>
-EIGEN_ALWAYS_INLINE void check_size_for_overflow(size_t size)
+EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE void check_size_for_overflow(size_t size)
 {
   if(size > size_t(-1) / sizeof(T))
     throw_std_bad_alloc();
@@ -370,24 +293,42 @@ EIGEN_ALWAYS_INLINE void check_size_for_overflow(size_t size)
   * On allocation error, the returned pointer is undefined, but a std::bad_alloc is thrown.
   * The default constructor of T is called.
   */
-template<typename T> inline T* aligned_new(size_t size)
+template<typename T> EIGEN_DEVICE_FUNC inline T* aligned_new(size_t size)
 {
   check_size_for_overflow<T>(size);
   T *result = reinterpret_cast<T*>(aligned_malloc(sizeof(T)*size));
-  return construct_elements_of_array(result, size);
+  EIGEN_TRY
+  {
+    return construct_elements_of_array(result, size);
+  }
+  EIGEN_CATCH(...)
+  {
+    aligned_free(result);
+    EIGEN_THROW;
+  }
+  return result;
 }
 
-template<typename T, bool Align> inline T* conditional_aligned_new(size_t size)
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline T* conditional_aligned_new(size_t size)
 {
   check_size_for_overflow<T>(size);
   T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
-  return construct_elements_of_array(result, size);
+  EIGEN_TRY
+  {
+    return construct_elements_of_array(result, size);
+  }
+  EIGEN_CATCH(...)
+  {
+    conditional_aligned_free<Align>(result);
+    EIGEN_THROW;
+  }
+  return result;
 }
 
 /** \internal Deletes objects constructed with aligned_new
   * The \a size parameters tells on how many objects to call the destructor of T.
   */
-template<typename T> inline void aligned_delete(T *ptr, size_t size)
+template<typename T> EIGEN_DEVICE_FUNC inline void aligned_delete(T *ptr, size_t size)
 {
   destruct_elements_of_array<T>(ptr, size);
   aligned_free(ptr);
@@ -396,13 +337,13 @@ template<typename T> inline void aligned_delete(T *ptr, size_t size)
 /** \internal Deletes objects constructed with conditional_aligned_new
   * The \a size parameters tells on how many objects to call the destructor of T.
   */
-template<typename T, bool Align> inline void conditional_aligned_delete(T *ptr, size_t size)
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_delete(T *ptr, size_t size)
 {
   destruct_elements_of_array<T>(ptr, size);
   conditional_aligned_free<Align>(ptr);
 }
 
-template<typename T, bool Align> inline T* conditional_aligned_realloc_new(T* pts, size_t new_size, size_t old_size)
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline T* conditional_aligned_realloc_new(T* pts, size_t new_size, size_t old_size)
 {
   check_size_for_overflow<T>(new_size);
   check_size_for_overflow<T>(old_size);
@@ -410,19 +351,39 @@ template<typename T, bool Align> inline T* conditional_aligned_realloc_new(T* pt
     destruct_elements_of_array(pts+new_size, old_size-new_size);
   T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
   if(new_size > old_size)
-    construct_elements_of_array(result+old_size, new_size-old_size);
+  {
+    EIGEN_TRY
+    {
+      construct_elements_of_array(result+old_size, new_size-old_size);
+    }
+    EIGEN_CATCH(...)
+    {
+      conditional_aligned_free<Align>(result);
+      EIGEN_THROW;
+    }
+  }
   return result;
 }
 
 
-template<typename T, bool Align> inline T* conditional_aligned_new_auto(size_t size)
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline T* conditional_aligned_new_auto(size_t size)
 {
   if(size==0)
     return 0; // short-cut. Also fixes Bug 884
   check_size_for_overflow<T>(size);
   T *result = reinterpret_cast<T*>(conditional_aligned_malloc<Align>(sizeof(T)*size));
   if(NumTraits<T>::RequireInitialization)
-    construct_elements_of_array(result, size);
+  {
+    EIGEN_TRY
+    {
+      construct_elements_of_array(result, size);
+    }
+    EIGEN_CATCH(...)
+    {
+      conditional_aligned_free<Align>(result);
+      EIGEN_THROW;
+    }
+  }
   return result;
 }
 
@@ -434,11 +395,21 @@ template<typename T, bool Align> inline T* conditional_aligned_realloc_new_auto(
     destruct_elements_of_array(pts+new_size, old_size-new_size);
   T *result = reinterpret_cast<T*>(conditional_aligned_realloc<Align>(reinterpret_cast<void*>(pts), sizeof(T)*new_size, sizeof(T)*old_size));
   if(NumTraits<T>::RequireInitialization && (new_size > old_size))
-    construct_elements_of_array(result+old_size, new_size-old_size);
+  {
+    EIGEN_TRY
+    {
+      construct_elements_of_array(result+old_size, new_size-old_size);
+    }
+    EIGEN_CATCH(...)
+    {
+      conditional_aligned_free<Align>(result);
+      EIGEN_THROW;
+    }
+  }
   return result;
 }
 
-template<typename T, bool Align> inline void conditional_aligned_delete_auto(T *ptr, size_t size)
+template<typename T, bool Align> EIGEN_DEVICE_FUNC inline void conditional_aligned_delete_auto(T *ptr, size_t size)
 {
   if(NumTraits<T>::RequireInitialization)
     destruct_elements_of_array<T>(ptr, size);
@@ -447,51 +418,62 @@ template<typename T, bool Align> inline void conditional_aligned_delete_auto(T *
 
 /****************************************************************************/
 
-/** \internal Returns the index of the first element of the array that is well aligned for vectorization.
+/** \internal Returns the index of the first element of the array that is well aligned with respect to the requested \a Alignment.
   *
+  * \tparam Alignment requested alignment in Bytes.
   * \param array the address of the start of the array
   * \param size the size of the array
   *
-  * \note If no element of the array is well aligned, the size of the array is returned. Typically,
-  * for example with SSE, "well aligned" means 16-byte-aligned. If vectorization is disabled or if the
+  * \note If no element of the array is well aligned or the requested alignment is not a multiple of a scalar,
+  * the size of the array is returned. For example with SSE, the requested alignment is typically 16-bytes. If
   * packet size for the given scalar type is 1, then everything is considered well-aligned.
   *
-  * \note If the scalar type is vectorizable, we rely on the following assumptions: sizeof(Scalar) is a
-  * power of 2, the packet size in bytes is also a power of 2, and is a multiple of sizeof(Scalar). On the
-  * other hand, we do not assume that the array address is a multiple of sizeof(Scalar), as that fails for
+  * \note Otherwise, if the Alignment is larger that the scalar size, we rely on the assumptions that sizeof(Scalar) is a
+  * power of 2. On the other hand, we do not assume that the array address is a multiple of sizeof(Scalar), as that fails for
   * example with Scalar=double on certain 32-bit platforms, see bug #79.
   *
   * There is also the variant first_aligned(const MatrixBase&) defined in DenseCoeffsBase.h.
+  * \sa first_default_aligned()
   */
-template<typename Scalar, typename Index>
-static inline Index first_aligned(const Scalar* array, Index size)
+template<int Alignment, typename Scalar, typename Index>
+EIGEN_DEVICE_FUNC inline Index first_aligned(const Scalar* array, Index size)
 {
-  static const Index PacketSize = packet_traits<Scalar>::size;
-  static const Index PacketAlignedMask = PacketSize-1;
+  const Index ScalarSize = sizeof(Scalar);
+  const Index AlignmentSize = Alignment / ScalarSize;
+  const Index AlignmentMask = AlignmentSize-1;
 
-  if(PacketSize==1)
+  if(AlignmentSize<=1)
   {
-    // Either there is no vectorization, or a packet consists of exactly 1 scalar so that all elements
-    // of the array have the same alignment.
+    // Either the requested alignment if smaller than a scalar, or it exactly match a 1 scalar
+    // so that all elements of the array have the same alignment.
     return 0;
   }
-  else if(size_t(array) & (sizeof(Scalar)-1))
+  else if( (UIntPtr(array) & (sizeof(Scalar)-1)) || (Alignment%ScalarSize)!=0)
   {
-    // There is vectorization for this scalar type, but the array is not aligned to the size of a single scalar.
+    // The array is not aligned to the size of a single scalar, or the requested alignment is not a multiple of the scalar size.
     // Consequently, no element of the array is well aligned.
     return size;
   }
   else
   {
-    return std::min<Index>( (PacketSize - (Index((size_t(array)/sizeof(Scalar))) & PacketAlignedMask))
-                           & PacketAlignedMask, size);
+    Index first = (AlignmentSize - (Index((UIntPtr(array)/sizeof(Scalar))) & AlignmentMask)) & AlignmentMask;
+    return (first < size) ? first : size;
   }
 }
 
+/** \internal Returns the index of the first element of the array that is well aligned with respect the largest packet requirement.
+   * \sa first_aligned(Scalar*,Index) and first_default_aligned(DenseBase<Derived>) */
+template<typename Scalar, typename Index>
+EIGEN_DEVICE_FUNC inline Index first_default_aligned(const Scalar* array, Index size)
+{
+  typedef typename packet_traits<Scalar>::type DefaultPacketType;
+  return first_aligned<unpacket_traits<DefaultPacketType>::alignment>(array, size);
+}
+
 /** \internal Returns the smallest integer multiple of \a base and greater or equal to \a size
   */ 
 template<typename Index> 
-inline static Index first_multiple(Index size, Index base)
+inline Index first_multiple(Index size, Index base)
 {
   return ((size+base-1)/base)*base;
 }
@@ -500,21 +482,59 @@ inline static Index first_multiple(Index size, Index base)
 // use memcpy on trivial types, i.e., on types that does not require an initialization ctor.
 template<typename T, bool UseMemcpy> struct smart_copy_helper;
 
-template<typename T> void smart_copy(const T* start, const T* end, T* target)
+template<typename T> EIGEN_DEVICE_FUNC void smart_copy(const T* start, const T* end, T* target)
 {
   smart_copy_helper<T,!NumTraits<T>::RequireInitialization>::run(start, end, target);
 }
 
 template<typename T> struct smart_copy_helper<T,true> {
-  static inline void run(const T* start, const T* end, T* target)
-  { memcpy(target, start, std::ptrdiff_t(end)-std::ptrdiff_t(start)); }
+  EIGEN_DEVICE_FUNC static inline void run(const T* start, const T* end, T* target)
+  {
+    IntPtr size = IntPtr(end)-IntPtr(start);
+    if(size==0) return;
+    eigen_internal_assert(start!=0 && end!=0 && target!=0);
+    memcpy(target, start, size);
+  }
 };
 
 template<typename T> struct smart_copy_helper<T,false> {
-  static inline void run(const T* start, const T* end, T* target)
+  EIGEN_DEVICE_FUNC static inline void run(const T* start, const T* end, T* target)
   { std::copy(start, end, target); }
 };
 
+// intelligent memmove. falls back to std::memmove for POD types, uses std::copy otherwise. 
+template<typename T, bool UseMemmove> struct smart_memmove_helper;
+
+template<typename T> void smart_memmove(const T* start, const T* end, T* target)
+{
+  smart_memmove_helper<T,!NumTraits<T>::RequireInitialization>::run(start, end, target);
+}
+
+template<typename T> struct smart_memmove_helper<T,true> {
+  static inline void run(const T* start, const T* end, T* target)
+  {
+    IntPtr size = IntPtr(end)-IntPtr(start);
+    if(size==0) return;
+    eigen_internal_assert(start!=0 && end!=0 && target!=0);
+    std::memmove(target, start, size);
+  }
+};
+
+template<typename T> struct smart_memmove_helper<T,false> {
+  static inline void run(const T* start, const T* end, T* target)
+  { 
+    if (UIntPtr(target) < UIntPtr(start))
+    {
+      std::copy(start, end, target);
+    }
+    else                                 
+    {
+      std::ptrdiff_t count = (std::ptrdiff_t(end)-std::ptrdiff_t(start)) / sizeof(T);
+      std::copy_backward(start, end, target + count); 
+    }
+  }
+};
+
 
 /*****************************************************************************
 *** Implementation of runtime stack allocation (falling back to malloc)    ***
@@ -523,16 +543,16 @@ template<typename T> struct smart_copy_helper<T,false> {
 // you can overwrite Eigen's default behavior regarding alloca by defining EIGEN_ALLOCA
 // to the appropriate stack allocation function
 #ifndef EIGEN_ALLOCA
-  #if (defined __linux__) || (defined __APPLE__) || (defined alloca)
+  #if EIGEN_OS_LINUX || EIGEN_OS_MAC || (defined alloca)
     #define EIGEN_ALLOCA alloca
-  #elif defined(_MSC_VER)
+  #elif EIGEN_COMP_MSVC
     #define EIGEN_ALLOCA _alloca
   #endif
 #endif
 
 // This helper class construct the allocated memory, and takes care of destructing and freeing the handled data
 // at destruction time. In practice this helper class is mainly useful to avoid memory leak in case of exceptions.
-template<typename T> class aligned_stack_memory_handler
+template<typename T> class aligned_stack_memory_handler : noncopyable
 {
   public:
     /* Creates a stack_memory_handler responsible for the buffer \a ptr of size \a size.
@@ -560,6 +580,30 @@ template<typename T> class aligned_stack_memory_handler
     bool m_deallocate;
 };
 
+template<typename T> class scoped_array : noncopyable
+{
+  T* m_ptr;
+public:
+  explicit scoped_array(std::ptrdiff_t size)
+  {
+    m_ptr = new T[size];
+  }
+  ~scoped_array()
+  {
+    delete[] m_ptr;
+  }
+  T& operator[](std::ptrdiff_t i) { return m_ptr[i]; }
+  const T& operator[](std::ptrdiff_t i) const { return m_ptr[i]; }
+  T* &ptr() { return m_ptr; }
+  const T* ptr() const { return m_ptr; }
+  operator const T*() const { return m_ptr; }
+};
+
+template<typename T> void swap(scoped_array<T> &a,scoped_array<T> &b)
+{
+  std::swap(a.ptr(),b.ptr());
+}
+    
 } // end namespace internal
 
 /** \internal
@@ -578,11 +622,13 @@ template<typename T> class aligned_stack_memory_handler
   * The underlying stack allocation function can controlled with the EIGEN_ALLOCA preprocessor token.
   */
 #ifdef EIGEN_ALLOCA
-
-  #if defined(__arm__) || defined(_WIN32)
-    #define EIGEN_ALIGNED_ALLOCA(SIZE) reinterpret_cast<void*>((reinterpret_cast<size_t>(EIGEN_ALLOCA(SIZE+16)) & ~(size_t(15))) + 16)
+  
+  #if EIGEN_DEFAULT_ALIGN_BYTES>0
+    // We always manually re-align the result of EIGEN_ALLOCA.
+    // If alloca is already aligned, the compiler should be smart enough to optimize away the re-alignment.
+    #define EIGEN_ALIGNED_ALLOCA(SIZE) reinterpret_cast<void*>((internal::UIntPtr(EIGEN_ALLOCA(SIZE+EIGEN_DEFAULT_ALIGN_BYTES-1)) + EIGEN_DEFAULT_ALIGN_BYTES-1) & ~(std::size_t(EIGEN_DEFAULT_ALIGN_BYTES-1)))
   #else
-    #define EIGEN_ALIGNED_ALLOCA EIGEN_ALLOCA
+    #define EIGEN_ALIGNED_ALLOCA(SIZE) EIGEN_ALLOCA(SIZE)
   #endif
 
   #define ei_declare_aligned_stack_constructed_variable(TYPE,NAME,SIZE,BUFFER) \
@@ -607,20 +653,12 @@ template<typename T> class aligned_stack_memory_handler
 *** Implementation of EIGEN_MAKE_ALIGNED_OPERATOR_NEW [_IF]                ***
 *****************************************************************************/
 
-#if EIGEN_ALIGN
-  #ifdef EIGEN_EXCEPTIONS
-    #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
-      void* operator new(size_t size, const std::nothrow_t&) throw() { \
-        try { return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); } \
-        catch (...) { return 0; } \
+#if EIGEN_MAX_ALIGN_BYTES!=0
+  #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
+      void* operator new(size_t size, const std::nothrow_t&) EIGEN_NO_THROW { \
+        EIGEN_TRY { return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); } \
+        EIGEN_CATCH (...) { return 0; } \
       }
-  #else
-    #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
-      void* operator new(size_t size, const std::nothrow_t&) throw() { \
-        return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
-      }
-  #endif
-
   #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(NeedsToAlign) \
       void *operator new(size_t size) { \
         return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
@@ -628,18 +666,20 @@ template<typename T> class aligned_stack_memory_handler
       void *operator new[](size_t size) { \
         return Eigen::internal::conditional_aligned_malloc<NeedsToAlign>(size); \
       } \
-      void operator delete(void * ptr) throw() { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
-      void operator delete[](void * ptr) throw() { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      void operator delete(void * ptr) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      void operator delete[](void * ptr) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      void operator delete(void * ptr, std::size_t /* sz */) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
+      void operator delete[](void * ptr, std::size_t /* sz */) EIGEN_NO_THROW { Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); } \
       /* in-place new and delete. since (at least afaik) there is no actual   */ \
       /* memory allocated we can safely let the default implementation handle */ \
       /* this particular case. */ \
       static void *operator new(size_t size, void *ptr) { return ::operator new(size,ptr); } \
       static void *operator new[](size_t size, void* ptr) { return ::operator new[](size,ptr); } \
-      void operator delete(void * memory, void *ptr) throw() { return ::operator delete(memory,ptr); } \
-      void operator delete[](void * memory, void *ptr) throw() { return ::operator delete[](memory,ptr); } \
+      void operator delete(void * memory, void *ptr) EIGEN_NO_THROW { return ::operator delete(memory,ptr); } \
+      void operator delete[](void * memory, void *ptr) EIGEN_NO_THROW { return ::operator delete[](memory,ptr); } \
       /* nothrow-new (returns zero instead of std::bad_alloc) */ \
       EIGEN_MAKE_ALIGNED_OPERATOR_NEW_NOTHROW(NeedsToAlign) \
-      void operator delete(void *ptr, const std::nothrow_t&) throw() { \
+      void operator delete(void *ptr, const std::nothrow_t&) EIGEN_NO_THROW { \
         Eigen::internal::conditional_aligned_free<NeedsToAlign>(ptr); \
       } \
       typedef void eigen_aligned_operator_new_marker_type;
@@ -649,7 +689,7 @@ template<typename T> class aligned_stack_memory_handler
 
 #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(true)
 #define EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar,Size) \
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(bool(((Size)!=Eigen::Dynamic) && ((sizeof(Scalar)*(Size))%16==0)))
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(bool(((Size)!=Eigen::Dynamic) && ((sizeof(Scalar)*(Size))%EIGEN_MAX_ALIGN_BYTES==0)))
 
 /****************************************************************************/
 
@@ -667,96 +707,56 @@ template<typename T> class aligned_stack_memory_handler
 * std::map< int, Vector3f > my_map_vec3;
 * \endcode
 *
-* \sa \ref TopicStlContainers.
+* \sa \blank \ref TopicStlContainers.
 */
 template<class T>
-class aligned_allocator
+class aligned_allocator : public std::allocator<T>
 {
 public:
-    typedef size_t    size_type;
-    typedef std::ptrdiff_t difference_type;
-    typedef T*        pointer;
-    typedef const T*  const_pointer;
-    typedef T&        reference;
-    typedef const T&  const_reference;
-    typedef T         value_type;
+  typedef size_t          size_type;
+  typedef std::ptrdiff_t  difference_type;
+  typedef T*              pointer;
+  typedef const T*        const_pointer;
+  typedef T&              reference;
+  typedef const T&        const_reference;
+  typedef T               value_type;
 
-    template<class U>
-    struct rebind
-    {
-        typedef aligned_allocator<U> other;
-    };
+  template<class U>
+  struct rebind
+  {
+    typedef aligned_allocator<U> other;
+  };
 
-    pointer address( reference value ) const
-    {
-        return &value;
-    }
+  aligned_allocator() : std::allocator<T>() {}
 
-    const_pointer address( const_reference value ) const
-    {
-        return &value;
-    }
+  aligned_allocator(const aligned_allocator& other) : std::allocator<T>(other) {}
 
-    aligned_allocator()
-    {
-    }
+  template<class U>
+  aligned_allocator(const aligned_allocator<U>& other) : std::allocator<T>(other) {}
 
-    aligned_allocator( const aligned_allocator& )
-    {
-    }
+  ~aligned_allocator() {}
 
-    template<class U>
-    aligned_allocator( const aligned_allocator<U>& )
-    {
-    }
+  pointer allocate(size_type num, const void* /*hint*/ = 0)
+  {
+    internal::check_size_for_overflow<T>(num);
+    return static_cast<pointer>( internal::aligned_malloc(num * sizeof(T)) );
+  }
 
-    ~aligned_allocator()
-    {
-    }
-
-    size_type max_size() const
-    {
-        return (std::numeric_limits<size_type>::max)();
-    }
-
-    pointer allocate( size_type num, const void* hint = 0 )
-    {
-        EIGEN_UNUSED_VARIABLE(hint);
-        internal::check_size_for_overflow<T>(num);
-        return static_cast<pointer>( internal::aligned_malloc( num * sizeof(T) ) );
-    }
-
-    void construct( pointer p, const T& value )
-    {
-        ::new( p ) T( value );
-    }
-
-    void destroy( pointer p )
-    {
-        p->~T();
-    }
-
-    void deallocate( pointer p, size_type /*num*/ )
-    {
-        internal::aligned_free( p );
-    }
-
-    bool operator!=(const aligned_allocator<T>& ) const
-    { return false; }
-
-    bool operator==(const aligned_allocator<T>& ) const
-    { return true; }
+  void deallocate(pointer p, size_type /*num*/)
+  {
+    internal::aligned_free(p);
+  }
 };
 
 //---------- Cache sizes ----------
 
 #if !defined(EIGEN_NO_CPUID)
-#  if defined(__GNUC__) && ( defined(__i386__) || defined(__x86_64__) )
-#    if defined(__PIC__) && defined(__i386__)
+#  if EIGEN_COMP_GNUC && EIGEN_ARCH_i386_OR_x86_64
+#    if defined(__PIC__) && EIGEN_ARCH_i386
        // Case for x86 with PIC
 #      define EIGEN_CPUID(abcd,func,id) \
          __asm__ __volatile__ ("xchgl %%ebx, %k1;cpuid; xchgl %%ebx,%k1": "=a" (abcd[0]), "=&r" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "a" (func), "c" (id));
-#    elif defined(__PIC__) && defined(__x86_64__)
+#    elif defined(__PIC__) && EIGEN_ARCH_x86_64
        // Case for x64 with PIC. In theory this is only a problem with recent gcc and with medium or large code model, not with the default small code model.
        // However, we cannot detect which code model is used, and the xchg overhead is negligible anyway.
 #      define EIGEN_CPUID(abcd,func,id) \
@@ -766,8 +766,8 @@ public:
 #      define EIGEN_CPUID(abcd,func,id) \
          __asm__ __volatile__ ("cpuid": "=a" (abcd[0]), "=b" (abcd[1]), "=c" (abcd[2]), "=d" (abcd[3]) : "0" (func), "2" (id) );
 #    endif
-#  elif defined(_MSC_VER)
-#    if (_MSC_VER > 1500) && ( defined(_M_IX86) || defined(_M_X64) )
+#  elif EIGEN_COMP_MSVC
+#    if (EIGEN_COMP_MSVC > 1500) && EIGEN_ARCH_i386_OR_x86_64
 #      define EIGEN_CPUID(abcd,func,id) __cpuidex((int*)abcd,func,id)
 #    endif
 #  endif
diff --git a/eigenlib/Eigen/src/Core/util/Meta.h b/eigenlib/Eigen/src/Core/util/Meta.h
old mode 100644
new mode 100755
index 71d58710..7f637075
--- a/eigenlib/Eigen/src/Core/util/Meta.h
+++ b/eigenlib/Eigen/src/Core/util/Meta.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -11,8 +11,27 @@
 #ifndef EIGEN_META_H
 #define EIGEN_META_H
 
+#if defined(__CUDA_ARCH__)
+#include <cfloat>
+#include <math_constants.h>
+#endif
+
+#if EIGEN_COMP_ICC>=1600 &&  __cplusplus >= 201103L
+#include <cstdint>
+#endif
+
 namespace Eigen {
 
+typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE DenseIndex;
+
+/**
+ * \brief The Index type as used for the API.
+ * \details To change this, \c \#define the preprocessor symbol \c EIGEN_DEFAULT_DENSE_INDEX_TYPE.
+ * \sa \blank \ref TopicPreprocessorDirectives, StorageIndex.
+ */
+
+typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE Index;
+
 namespace internal {
 
 /** \internal
@@ -22,6 +41,16 @@ namespace internal {
   * we however don't want to add a dependency to Boost.
   */
 
+// Only recent versions of ICC complain about using ptrdiff_t to hold pointers,
+// and older versions do not provide *intptr_t types.
+#if EIGEN_COMP_ICC>=1600 &&  __cplusplus >= 201103L
+typedef std::intptr_t  IntPtr;
+typedef std::uintptr_t UIntPtr;
+#else
+typedef std::ptrdiff_t IntPtr;
+typedef std::size_t UIntPtr;
+#endif
+
 struct true_type {  enum { value = 1 }; };
 struct false_type { enum { value = 0 }; };
 
@@ -68,6 +97,18 @@ template<> struct is_arithmetic<unsigned int>  { enum { value = true }; };
 template<> struct is_arithmetic<signed long>   { enum { value = true }; };
 template<> struct is_arithmetic<unsigned long> { enum { value = true }; };
 
+template<typename T> struct is_integral        { enum { value = false }; };
+template<> struct is_integral<bool>            { enum { value = true }; };
+template<> struct is_integral<char>            { enum { value = true }; };
+template<> struct is_integral<signed char>     { enum { value = true }; };
+template<> struct is_integral<unsigned char>   { enum { value = true }; };
+template<> struct is_integral<signed short>    { enum { value = true }; };
+template<> struct is_integral<unsigned short>  { enum { value = true }; };
+template<> struct is_integral<signed int>      { enum { value = true }; };
+template<> struct is_integral<unsigned int>    { enum { value = true }; };
+template<> struct is_integral<signed long>     { enum { value = true }; };
+template<> struct is_integral<unsigned long>   { enum { value = true }; };
+
 template <typename T> struct add_const { typedef const T type; };
 template <typename T> struct add_const<T&> { typedef T& type; };
 
@@ -80,29 +121,163 @@ template<typename T> struct add_const_on_value_type<T*>        { typedef T const
 template<typename T> struct add_const_on_value_type<T* const>  { typedef T const* const type; };
 template<typename T> struct add_const_on_value_type<T const* const>  { typedef T const* const type; };
 
+
+template<typename From, typename To>
+struct is_convertible_impl
+{
+private:
+  struct any_conversion
+  {
+    template <typename T> any_conversion(const volatile T&);
+    template <typename T> any_conversion(T&);
+  };
+  struct yes {int a[1];};
+  struct no  {int a[2];};
+
+  static yes test(const To&, int);
+  static no  test(any_conversion, ...);
+
+public:
+  static From ms_from;
+#ifdef __INTEL_COMPILER
+  #pragma warning push
+  #pragma warning ( disable : 2259 )
+#endif
+  enum { value = sizeof(test(ms_from, 0))==sizeof(yes) };
+#ifdef __INTEL_COMPILER
+  #pragma warning pop
+#endif
+};
+
+template<typename From, typename To>
+struct is_convertible
+{
+  enum { value = is_convertible_impl<typename remove_all<From>::type,
+                                     typename remove_all<To  >::type>::value };
+};
+
 /** \internal Allows to enable/disable an overload
   * according to a compile time condition.
   */
-template<bool Condition, typename T> struct enable_if;
+template<bool Condition, typename T=void> struct enable_if;
 
 template<typename T> struct enable_if<true,T>
 { typedef T type; };
 
+#if defined(__CUDA_ARCH__)
+#if !defined(__FLT_EPSILON__)
+#define __FLT_EPSILON__ FLT_EPSILON
+#define __DBL_EPSILON__ DBL_EPSILON
+#endif
 
+namespace device {
+
+template<typename T> struct numeric_limits
+{
+  EIGEN_DEVICE_FUNC
+  static T epsilon() { return 0; }
+  static T (max)() { assert(false && "Highest not supported for this type"); }
+  static T (min)() { assert(false && "Lowest not supported for this type"); }
+  static T infinity() { assert(false && "Infinity not supported for this type"); }
+  static T quiet_NaN() { assert(false && "quiet_NaN not supported for this type"); }
+};
+template<> struct numeric_limits<float>
+{
+  EIGEN_DEVICE_FUNC
+  static float epsilon() { return __FLT_EPSILON__; }
+  EIGEN_DEVICE_FUNC
+  static float (max)() { return CUDART_MAX_NORMAL_F; }
+  EIGEN_DEVICE_FUNC
+  static float (min)() { return FLT_MIN; }
+  EIGEN_DEVICE_FUNC
+  static float infinity() { return CUDART_INF_F; }
+  EIGEN_DEVICE_FUNC
+  static float quiet_NaN() { return CUDART_NAN_F; }
+};
+template<> struct numeric_limits<double>
+{
+  EIGEN_DEVICE_FUNC
+  static double epsilon() { return __DBL_EPSILON__; }
+  EIGEN_DEVICE_FUNC
+  static double (max)() { return DBL_MAX; }
+  EIGEN_DEVICE_FUNC
+  static double (min)() { return DBL_MIN; }
+  EIGEN_DEVICE_FUNC
+  static double infinity() { return CUDART_INF; }
+  EIGEN_DEVICE_FUNC
+  static double quiet_NaN() { return CUDART_NAN; }
+};
+template<> struct numeric_limits<int>
+{
+  EIGEN_DEVICE_FUNC
+  static int epsilon() { return 0; }
+  EIGEN_DEVICE_FUNC
+  static int (max)() { return INT_MAX; }
+  EIGEN_DEVICE_FUNC
+  static int (min)() { return INT_MIN; }
+};
+template<> struct numeric_limits<unsigned int>
+{
+  EIGEN_DEVICE_FUNC
+  static unsigned int epsilon() { return 0; }
+  EIGEN_DEVICE_FUNC
+  static unsigned int (max)() { return UINT_MAX; }
+  EIGEN_DEVICE_FUNC
+  static unsigned int (min)() { return 0; }
+};
+template<> struct numeric_limits<long>
+{
+  EIGEN_DEVICE_FUNC
+  static long epsilon() { return 0; }
+  EIGEN_DEVICE_FUNC
+  static long (max)() { return LONG_MAX; }
+  EIGEN_DEVICE_FUNC
+  static long (min)() { return LONG_MIN; }
+};
+template<> struct numeric_limits<unsigned long>
+{
+  EIGEN_DEVICE_FUNC
+  static unsigned long epsilon() { return 0; }
+  EIGEN_DEVICE_FUNC
+  static unsigned long (max)() { return ULONG_MAX; }
+  EIGEN_DEVICE_FUNC
+  static unsigned long (min)() { return 0; }
+};
+template<> struct numeric_limits<long long>
+{
+  EIGEN_DEVICE_FUNC
+  static long long epsilon() { return 0; }
+  EIGEN_DEVICE_FUNC
+  static long long (max)() { return LLONG_MAX; }
+  EIGEN_DEVICE_FUNC
+  static long long (min)() { return LLONG_MIN; }
+};
+template<> struct numeric_limits<unsigned long long>
+{
+  EIGEN_DEVICE_FUNC
+  static unsigned long long epsilon() { return 0; }
+  EIGEN_DEVICE_FUNC
+  static unsigned long long (max)() { return ULLONG_MAX; }
+  EIGEN_DEVICE_FUNC
+  static unsigned long long (min)() { return 0; }
+};
+
+}
+
+#endif
 
 /** \internal
   * A base class do disable default copy ctor and copy assignement operator.
   */
 class noncopyable
 {
-  noncopyable(const noncopyable&);
-  const noncopyable& operator=(const noncopyable&);
+  EIGEN_DEVICE_FUNC noncopyable(const noncopyable&);
+  EIGEN_DEVICE_FUNC const noncopyable& operator=(const noncopyable&);
 protected:
-  noncopyable() {}
-  ~noncopyable() {}
+  EIGEN_DEVICE_FUNC noncopyable() {}
+  EIGEN_DEVICE_FUNC ~noncopyable() {}
 };
 
-
 /** \internal
   * Convenient struct to get the result type of a unary or binary functor.
   *
@@ -110,14 +285,20 @@ protected:
   * upcoming next STL generation (using a templated result member).
   * If none of these members is provided, then the type of the first argument is returned. FIXME, that behavior is a pretty bad hack.
   */
-template<typename T> struct result_of {};
+#if EIGEN_HAS_STD_RESULT_OF
+template<typename T> struct result_of {
+  typedef typename std::result_of<T>::type type1;
+  typedef typename remove_all<type1>::type type;
+};
+#else
+template<typename T> struct result_of { };
 
 struct has_none {int a[1];};
 struct has_std_result_type {int a[2];};
 struct has_tr1_result {int a[3];};
 
 template<typename Func, typename ArgType, int SizeOf=sizeof(has_none)>
-struct unary_result_of_select {typedef ArgType type;};
+struct unary_result_of_select {typedef typename internal::remove_all<ArgType>::type type;};
 
 template<typename Func, typename ArgType>
 struct unary_result_of_select<Func, ArgType, sizeof(has_std_result_type)> {typedef typename Func::result_type type;};
@@ -128,10 +309,10 @@ struct unary_result_of_select<Func, ArgType, sizeof(has_tr1_result)> {typedef ty
 template<typename Func, typename ArgType>
 struct result_of<Func(ArgType)> {
     template<typename T>
-    static has_std_result_type testFunctor(T const *, typename T::result_type const * = 0);
+    static has_std_result_type    testFunctor(T const *, typename T::result_type const * = 0);
     template<typename T>
-    static has_tr1_result      testFunctor(T const *, typename T::template result<T(ArgType)>::type const * = 0);
-    static has_none            testFunctor(...);
+    static has_tr1_result         testFunctor(T const *, typename T::template result<T(ArgType)>::type const * = 0);
+    static has_none               testFunctor(...);
 
     // note that the following indirection is needed for gcc-3.3
     enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
@@ -139,7 +320,7 @@ struct result_of<Func(ArgType)> {
 };
 
 template<typename Func, typename ArgType0, typename ArgType1, int SizeOf=sizeof(has_none)>
-struct binary_result_of_select {typedef ArgType0 type;};
+struct binary_result_of_select {typedef typename internal::remove_all<ArgType0>::type type;};
 
 template<typename Func, typename ArgType0, typename ArgType1>
 struct binary_result_of_select<Func, ArgType0, ArgType1, sizeof(has_std_result_type)>
@@ -152,16 +333,83 @@ struct binary_result_of_select<Func, ArgType0, ArgType1, sizeof(has_tr1_result)>
 template<typename Func, typename ArgType0, typename ArgType1>
 struct result_of<Func(ArgType0,ArgType1)> {
     template<typename T>
-    static has_std_result_type testFunctor(T const *, typename T::result_type const * = 0);
+    static has_std_result_type    testFunctor(T const *, typename T::result_type const * = 0);
     template<typename T>
-    static has_tr1_result      testFunctor(T const *, typename T::template result<T(ArgType0,ArgType1)>::type const * = 0);
-    static has_none            testFunctor(...);
+    static has_tr1_result         testFunctor(T const *, typename T::template result<T(ArgType0,ArgType1)>::type const * = 0);
+    static has_none               testFunctor(...);
 
     // note that the following indirection is needed for gcc-3.3
     enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
     typedef typename binary_result_of_select<Func, ArgType0, ArgType1, FunctorType>::type type;
 };
 
+template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2, int SizeOf=sizeof(has_none)>
+struct ternary_result_of_select {typedef typename internal::remove_all<ArgType0>::type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2>
+struct ternary_result_of_select<Func, ArgType0, ArgType1, ArgType2, sizeof(has_std_result_type)>
+{typedef typename Func::result_type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2>
+struct ternary_result_of_select<Func, ArgType0, ArgType1, ArgType2, sizeof(has_tr1_result)>
+{typedef typename Func::template result<Func(ArgType0,ArgType1,ArgType2)>::type type;};
+
+template<typename Func, typename ArgType0, typename ArgType1, typename ArgType2>
+struct result_of<Func(ArgType0,ArgType1,ArgType2)> {
+    template<typename T>
+    static has_std_result_type    testFunctor(T const *, typename T::result_type const * = 0);
+    template<typename T>
+    static has_tr1_result         testFunctor(T const *, typename T::template result<T(ArgType0,ArgType1,ArgType2)>::type const * = 0);
+    static has_none               testFunctor(...);
+
+    // note that the following indirection is needed for gcc-3.3
+    enum {FunctorType = sizeof(testFunctor(static_cast<Func*>(0)))};
+    typedef typename ternary_result_of_select<Func, ArgType0, ArgType1, ArgType2, FunctorType>::type type;
+};
+#endif
+
+struct meta_yes { char a[1]; };
+struct meta_no  { char a[2]; };
+
+// Check whether T::ReturnType does exist
+template <typename T>
+struct has_ReturnType
+{
+  template <typename C> static meta_yes testFunctor(typename C::ReturnType const *);
+  template <typename C> static meta_no testFunctor(...);
+
+  enum { value = sizeof(testFunctor<T>(0)) == sizeof(meta_yes) };
+};
+
+template<typename T> const T* return_ptr();
+
+template <typename T, typename IndexType=Index>
+struct has_nullary_operator
+{
+  template <typename C> static meta_yes testFunctor(C const *,typename enable_if<(sizeof(return_ptr<C>()->operator()())>0)>::type * = 0);
+  static meta_no testFunctor(...);
+
+  enum { value = sizeof(testFunctor(static_cast<T*>(0))) == sizeof(meta_yes) };
+};
+
+template <typename T, typename IndexType=Index>
+struct has_unary_operator
+{
+  template <typename C> static meta_yes testFunctor(C const *,typename enable_if<(sizeof(return_ptr<C>()->operator()(IndexType(0)))>0)>::type * = 0);
+  static meta_no testFunctor(...);
+
+  enum { value = sizeof(testFunctor(static_cast<T*>(0))) == sizeof(meta_yes) };
+};
+
+template <typename T, typename IndexType=Index>
+struct has_binary_operator
+{
+  template <typename C> static meta_yes testFunctor(C const *,typename enable_if<(sizeof(return_ptr<C>()->operator()(IndexType(0),IndexType(0)))>0)>::type * = 0);
+  static meta_no testFunctor(...);
+
+  enum { value = sizeof(testFunctor(static_cast<T*>(0))) == sizeof(meta_yes) };
+};
+
 /** \internal In short, it computes int(sqrt(\a Y)) with \a Y an integer.
   * Usage example: \code meta_sqrt<1023>::ret \endcode
   */
@@ -185,59 +433,60 @@ class meta_sqrt
 template<int Y, int InfX, int SupX>
 class meta_sqrt<Y, InfX, SupX, true> { public:  enum { ret = (SupX*SupX <= Y) ? SupX : InfX }; };
 
+
+/** \internal Computes the least common multiple of two positive integer A and B
+  * at compile-time. It implements a naive algorithm testing all multiples of A.
+  * It thus works better if A>=B.
+  */
+template<int A, int B, int K=1, bool Done = ((A*K)%B)==0>
+struct meta_least_common_multiple
+{
+  enum { ret = meta_least_common_multiple<A,B,K+1>::ret };
+};
+template<int A, int B, int K>
+struct meta_least_common_multiple<A,B,K,true>
+{
+  enum { ret = A*K };
+};
+
 /** \internal determines whether the product of two numeric types is allowed and what the return type is */
 template<typename T, typename U> struct scalar_product_traits
 {
   enum { Defined = 0 };
 };
 
-template<typename T> struct scalar_product_traits<T,T>
-{
-  enum {
-    // Cost = NumTraits<T>::MulCost,
-    Defined = 1
-  };
-  typedef T ReturnType;
-};
-
-template<typename T> struct scalar_product_traits<T,std::complex<T> >
-{
-  enum {
-    // Cost = 2*NumTraits<T>::MulCost,
-    Defined = 1
-  };
-  typedef std::complex<T> ReturnType;
-};
-
-template<typename T> struct scalar_product_traits<std::complex<T>, T>
-{
-  enum {
-    // Cost = 2*NumTraits<T>::MulCost,
-    Defined = 1
-  };
-  typedef std::complex<T> ReturnType;
-};
-
 // FIXME quick workaround around current limitation of result_of
 // template<typename Scalar, typename ArgType0, typename ArgType1>
 // struct result_of<scalar_product_op<Scalar>(ArgType0,ArgType1)> {
 // typedef typename scalar_product_traits<typename remove_all<ArgType0>::type, typename remove_all<ArgType1>::type>::ReturnType type;
 // };
 
-template<typename T> struct is_diagonal
-{ enum { ret = false }; };
-
-template<typename T> struct is_diagonal<DiagonalBase<T> >
-{ enum { ret = true }; };
-
-template<typename T> struct is_diagonal<DiagonalWrapper<T> >
-{ enum { ret = true }; };
-
-template<typename T, int S> struct is_diagonal<DiagonalMatrix<T,S> >
-{ enum { ret = true }; };
-
 } // end namespace internal
 
+namespace numext {
+  
+#if defined(__CUDA_ARCH__)
+template<typename T> EIGEN_DEVICE_FUNC   void swap(T &a, T &b) { T tmp = b; b = a; a = tmp; }
+#else
+template<typename T> EIGEN_STRONG_INLINE void swap(T &a, T &b) { std::swap(a,b); }
+#endif
+
+#if defined(__CUDA_ARCH__)
+using internal::device::numeric_limits;
+#else
+using std::numeric_limits;
+#endif
+
+// Integer division with rounding up.
+// T is assumed to be an integer type with a>=0, and b>0
+template<typename T>
+T div_ceil(const T &a, const T &b)
+{
+  return (a+b-1) / b;
+}
+
+} // end namespace numext
+
 } // end namespace Eigen
 
 #endif // EIGEN_META_H
diff --git a/eigenlib/Eigen/src/Core/util/ReenableStupidWarnings.h b/eigenlib/Eigen/src/Core/util/ReenableStupidWarnings.h
index 5ddfbd4a..86b60f52 100644
--- a/eigenlib/Eigen/src/Core/util/ReenableStupidWarnings.h
+++ b/eigenlib/Eigen/src/Core/util/ReenableStupidWarnings.h
@@ -8,7 +8,20 @@
     #pragma warning pop
   #elif defined __clang__
     #pragma clang diagnostic pop
+  #elif defined __GNUC__ && __GNUC__>=6
+    #pragma GCC diagnostic pop
   #endif
+
+  #if defined __NVCC__
+//    Don't reenable the diagnostic messages, as it turns out these messages need
+//    to be disabled at the point of the template instantiation (i.e the user code)
+//    otherwise they'll be triggered by nvcc.
+//    #pragma diag_default code_is_unreachable
+//    #pragma diag_default initialization_not_reachable
+//    #pragma diag_default 2651
+//    #pragma diag_default 2653
+  #endif
+
 #endif
 
 #endif // EIGEN_WARNINGS_DISABLED
diff --git a/eigenlib/Eigen/src/Core/util/StaticAssert.h b/eigenlib/Eigen/src/Core/util/StaticAssert.h
index bac5d9fe..983361a4 100644
--- a/eigenlib/Eigen/src/Core/util/StaticAssert.h
+++ b/eigenlib/Eigen/src/Core/util/StaticAssert.h
@@ -26,7 +26,7 @@
 
 #ifndef EIGEN_NO_STATIC_ASSERT
 
-  #if defined(__GXX_EXPERIMENTAL_CXX0X__) || (defined(_MSC_VER) && (_MSC_VER >= 1600))
+  #if EIGEN_MAX_CPP_VER>=11 && (__has_feature(cxx_static_assert) || (defined(__cplusplus) && __cplusplus >= 201103L) || (EIGEN_COMP_MSVC >= 1600))
 
     // if native static_assert is enabled, let's use it
     #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
@@ -50,6 +50,7 @@
         THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE,
         THIS_METHOD_IS_ONLY_FOR_MATRICES_OF_A_SPECIFIC_SIZE,
         THIS_METHOD_IS_ONLY_FOR_OBJECTS_OF_A_SPECIFIC_SIZE,
+        OUT_OF_RANGE_ACCESS,
         YOU_MADE_A_PROGRAMMING_MISTAKE,
         EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT,
         EIGEN_INTERNAL_COMPILATION_ERROR_OR_YOU_MADE_A_PROGRAMMING_MISTAKE,
@@ -84,6 +85,7 @@
         THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY,
         YOU_ARE_TRYING_TO_USE_AN_INDEX_BASED_ACCESSOR_ON_AN_EXPRESSION_THAT_DOES_NOT_SUPPORT_THAT,
         THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS,
+        THIS_METHOD_IS_ONLY_FOR_INNER_OR_LAZY_PRODUCTS,
         THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL,
         THIS_METHOD_IS_ONLY_FOR_ARRAYS_NOT_MATRICES,
         YOU_PASSED_A_ROW_VECTOR_BUT_A_COLUMN_VECTOR_WAS_EXPECTED,
@@ -92,7 +94,14 @@
         THE_STORAGE_ORDER_OF_BOTH_SIDES_MUST_MATCH,
         OBJECT_ALLOCATED_ON_STACK_IS_TOO_BIG,
         IMPLICIT_CONVERSION_TO_SCALAR_IS_FOR_INNER_PRODUCT_ONLY,
-        STORAGE_LAYOUT_DOES_NOT_MATCH
+        STORAGE_LAYOUT_DOES_NOT_MATCH,
+        EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT__INVALID_COST_VALUE,
+        THIS_COEFFICIENT_ACCESSOR_TAKING_ONE_ACCESS_IS_ONLY_FOR_EXPRESSIONS_ALLOWING_LINEAR_ACCESS,
+        MATRIX_FREE_CONJUGATE_GRADIENT_IS_COMPATIBLE_WITH_UPPER_UNION_LOWER_MODE_ONLY,
+        THIS_TYPE_IS_NOT_SUPPORTED,
+        STORAGE_KIND_MUST_MATCH,
+        STORAGE_INDEX_MUST_MATCH,
+        CHOLMOD_SUPPORTS_DOUBLE_PRECISION_ONLY
       };
     };
 
@@ -103,15 +112,15 @@
     // Specialized implementation for MSVC to avoid "conditional
     // expression is constant" warnings.  This implementation doesn't
     // appear to work under GCC, hence the multiple implementations.
-    #ifdef _MSC_VER
+    #if EIGEN_COMP_MSVC
 
       #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
         {Eigen::internal::static_assertion<bool(CONDITION)>::MSG;}
 
     #else
-
+      // In some cases clang interprets bool(CONDITION) as function declaration
       #define EIGEN_STATIC_ASSERT(CONDITION,MSG) \
-        if (Eigen::internal::static_assertion<bool(CONDITION)>::MSG) {}
+        if (Eigen::internal::static_assertion<static_cast<bool>(CONDITION)>::MSG) {}
 
     #endif
 
@@ -159,7 +168,7 @@
 
 #define EIGEN_PREDICATE_SAME_MATRIX_SIZE(TYPE0,TYPE1) \
      ( \
-        (int(TYPE0::SizeAtCompileTime)==0 && int(TYPE1::SizeAtCompileTime)==0) \
+        (int(Eigen::internal::size_of_xpr_at_compile_time<TYPE0>::ret)==0 && int(Eigen::internal::size_of_xpr_at_compile_time<TYPE1>::ret)==0) \
     || (\
           (int(TYPE0::RowsAtCompileTime)==Eigen::Dynamic \
         || int(TYPE1::RowsAtCompileTime)==Eigen::Dynamic \
@@ -170,13 +179,8 @@
        ) \
      )
 
-#ifdef EIGEN2_SUPPORT
-  #define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
-    eigen_assert(!NumTraits<Scalar>::IsInteger);
-#else
-  #define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
+#define EIGEN_STATIC_ASSERT_NON_INTEGER(TYPE) \
     EIGEN_STATIC_ASSERT(!NumTraits<TYPE>::IsInteger, THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
-#endif
 
 
 // static assertion failing if it is guaranteed at compile-time that the two matrix expression types have different sizes
@@ -191,18 +195,22 @@
                           THIS_METHOD_IS_ONLY_FOR_1x1_EXPRESSIONS)
 
 #define EIGEN_STATIC_ASSERT_LVALUE(Derived) \
-      EIGEN_STATIC_ASSERT(internal::is_lvalue<Derived>::value, \
+      EIGEN_STATIC_ASSERT(Eigen::internal::is_lvalue<Derived>::value, \
                           THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY)
 
 #define EIGEN_STATIC_ASSERT_ARRAYXPR(Derived) \
-      EIGEN_STATIC_ASSERT((internal::is_same<typename internal::traits<Derived>::XprKind, ArrayXpr>::value), \
+      EIGEN_STATIC_ASSERT((Eigen::internal::is_same<typename Eigen::internal::traits<Derived>::XprKind, ArrayXpr>::value), \
                           THIS_METHOD_IS_ONLY_FOR_ARRAYS_NOT_MATRICES)
 
 #define EIGEN_STATIC_ASSERT_SAME_XPR_KIND(Derived1, Derived2) \
-      EIGEN_STATIC_ASSERT((internal::is_same<typename internal::traits<Derived1>::XprKind, \
-                                             typename internal::traits<Derived2>::XprKind \
+      EIGEN_STATIC_ASSERT((Eigen::internal::is_same<typename Eigen::internal::traits<Derived1>::XprKind, \
+                                             typename Eigen::internal::traits<Derived2>::XprKind \
                                             >::value), \
                           YOU_CANNOT_MIX_ARRAYS_AND_MATRICES)
 
+// Check that a cost value is positive, and that is stay within a reasonable range
+// TODO this check could be enabled for internal debugging only
+#define EIGEN_INTERNAL_CHECK_COST_VALUE(C) \
+      EIGEN_STATIC_ASSERT((C)>=0 && (C)<=HugeCost*HugeCost, EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT__INVALID_COST_VALUE);
 
 #endif // EIGEN_STATIC_ASSERT_H
diff --git a/eigenlib/Eigen/src/Core/util/XprHelper.h b/eigenlib/Eigen/src/Core/util/XprHelper.h
index 781965d2..e88510dc 100644
--- a/eigenlib/Eigen/src/Core/util/XprHelper.h
+++ b/eigenlib/Eigen/src/Core/util/XprHelper.h
@@ -14,20 +14,77 @@
 // just a workaround because GCC seems to not really like empty structs
 // FIXME: gcc 4.3 generates bad code when strict-aliasing is enabled
 // so currently we simply disable this optimization for gcc 4.3
-#if (defined __GNUG__) && !((__GNUC__==4) && (__GNUC_MINOR__==3))
+#if EIGEN_COMP_GNUC && !EIGEN_GNUC_AT(4,3)
   #define EIGEN_EMPTY_STRUCT_CTOR(X) \
-    EIGEN_STRONG_INLINE X() {} \
-    EIGEN_STRONG_INLINE X(const X& ) {}
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE X() {} \
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE X(const X& ) {}
 #else
   #define EIGEN_EMPTY_STRUCT_CTOR(X)
 #endif
 
 namespace Eigen {
 
-typedef EIGEN_DEFAULT_DENSE_INDEX_TYPE DenseIndex;
-
 namespace internal {
 
+template<typename IndexDest, typename IndexSrc>
+EIGEN_DEVICE_FUNC
+inline IndexDest convert_index(const IndexSrc& idx) {
+  // for sizeof(IndexDest)>=sizeof(IndexSrc) compilers should be able to optimize this away:
+  eigen_internal_assert(idx <= NumTraits<IndexDest>::highest() && "Index value to big for target type");
+  return IndexDest(idx);
+}
+
+
+// promote_scalar_arg is an helper used in operation between an expression and a scalar, like:
+//    expression * scalar
+// Its role is to determine how the type T of the scalar operand should be promoted given the scalar type ExprScalar of the given expression.
+// The IsSupported template parameter must be provided by the caller as: internal::has_ReturnType<ScalarBinaryOpTraits<ExprScalar,T,op> >::value using the proper order for ExprScalar and T.
+// Then the logic is as follows:
+//  - if the operation is natively supported as defined by IsSupported, then the scalar type is not promoted, and T is returned.
+//  - otherwise, NumTraits<ExprScalar>::Literal is returned if T is implicitly convertible to NumTraits<ExprScalar>::Literal AND that this does not imply a float to integer conversion.
+//  - otherwise, ExprScalar is returned if T is implicitly convertible to ExprScalar AND that this does not imply a float to integer conversion.
+//  - In all other cases, the promoted type is not defined, and the respective operation is thus invalid and not available (SFINAE).
+template<typename ExprScalar,typename T, bool IsSupported>
+struct promote_scalar_arg;
+
+template<typename S,typename T>
+struct promote_scalar_arg<S,T,true>
+{
+  typedef T type;
+};
+
+// Recursively check safe conversion to PromotedType, and then ExprScalar if they are different.
+template<typename ExprScalar,typename T,typename PromotedType,
+  bool ConvertibleToLiteral = internal::is_convertible<T,PromotedType>::value,
+  bool IsSafe = NumTraits<T>::IsInteger || !NumTraits<PromotedType>::IsInteger>
+struct promote_scalar_arg_unsupported;
+
+// Start recursion with NumTraits<ExprScalar>::Literal
+template<typename S,typename T>
+struct promote_scalar_arg<S,T,false> : promote_scalar_arg_unsupported<S,T,typename NumTraits<S>::Literal> {};
+
+// We found a match!
+template<typename S,typename T, typename PromotedType>
+struct promote_scalar_arg_unsupported<S,T,PromotedType,true,true>
+{
+  typedef PromotedType type;
+};
+
+// No match, but no real-to-integer issues, and ExprScalar and current PromotedType are different,
+// so let's try to promote to ExprScalar
+template<typename ExprScalar,typename T, typename PromotedType>
+struct promote_scalar_arg_unsupported<ExprScalar,T,PromotedType,false,true>
+   : promote_scalar_arg_unsupported<ExprScalar,T,ExprScalar>
+{};
+
+// Unsafe real-to-integer, let's stop.
+template<typename S,typename T, typename PromotedType, bool ConvertibleToLiteral>
+struct promote_scalar_arg_unsupported<S,T,PromotedType,ConvertibleToLiteral,false> {};
+
+// T is not even convertible to ExprScalar, let's stop.
+template<typename S,typename T>
+struct promote_scalar_arg_unsupported<S,T,S,false,true> {};
+
 //classes inheriting no_assignment_operator don't generate a default operator=.
 class no_assignment_operator
 {
@@ -50,19 +107,19 @@ template<typename T, int Value> class variable_if_dynamic
 {
   public:
     EIGEN_EMPTY_STRUCT_CTOR(variable_if_dynamic)
-    explicit variable_if_dynamic(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); assert(v == T(Value)); }
-    static T value() { return T(Value); }
-    void setValue(T) {}
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamic(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); eigen_assert(v == T(Value)); }
+    EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T value() { return T(Value); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T) {}
 };
 
 template<typename T> class variable_if_dynamic<T, Dynamic>
 {
     T m_value;
-    variable_if_dynamic() { assert(false); }
+    EIGEN_DEVICE_FUNC variable_if_dynamic() { eigen_assert(false); }
   public:
-    explicit variable_if_dynamic(T value) : m_value(value) {}
-    T value() const { return m_value; }
-    void setValue(T value) { m_value = value; }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamic(T value) : m_value(value) {}
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE T value() const { return m_value; }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T value) { m_value = value; }
 };
 
 /** \internal like variable_if_dynamic but for DynamicIndex
@@ -71,19 +128,19 @@ template<typename T, int Value> class variable_if_dynamicindex
 {
   public:
     EIGEN_EMPTY_STRUCT_CTOR(variable_if_dynamicindex)
-    explicit variable_if_dynamicindex(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); assert(v == T(Value)); }
-    static T value() { return T(Value); }
-    void setValue(T) {}
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamicindex(T v) { EIGEN_ONLY_USED_FOR_DEBUG(v); eigen_assert(v == T(Value)); }
+    EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE T value() { return T(Value); }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T) {}
 };
 
 template<typename T> class variable_if_dynamicindex<T, DynamicIndex>
 {
     T m_value;
-    variable_if_dynamicindex() { assert(false); }
+    EIGEN_DEVICE_FUNC variable_if_dynamicindex() { eigen_assert(false); }
   public:
-    explicit variable_if_dynamicindex(T value) : m_value(value) {}
-    T value() const { return m_value; }
-    void setValue(T value) { m_value = value; }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE explicit variable_if_dynamicindex(T value) : m_value(value) {}
+    EIGEN_DEVICE_FUNC T EIGEN_STRONG_INLINE value() const { return m_value; }
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE void setValue(T value) { m_value = value; }
 };
 
 template<typename T> struct functor_traits
@@ -101,7 +158,73 @@ template<typename T> struct packet_traits;
 template<typename T> struct unpacket_traits
 {
   typedef T type;
-  enum {size=1};
+  typedef T half;
+  enum
+  {
+    size = 1,
+    alignment = 1
+  };
+};
+
+template<int Size, typename PacketType,
+         bool Stop = Size==Dynamic || (Size%unpacket_traits<PacketType>::size)==0 || is_same<PacketType,typename unpacket_traits<PacketType>::half>::value>
+struct find_best_packet_helper;
+
+template< int Size, typename PacketType>
+struct find_best_packet_helper<Size,PacketType,true>
+{
+  typedef PacketType type;
+};
+
+template<int Size, typename PacketType>
+struct find_best_packet_helper<Size,PacketType,false>
+{
+  typedef typename find_best_packet_helper<Size,typename unpacket_traits<PacketType>::half>::type type;
+};
+
+template<typename T, int Size>
+struct find_best_packet
+{
+  typedef typename find_best_packet_helper<Size,typename packet_traits<T>::type>::type type;
+};
+
+#if EIGEN_MAX_STATIC_ALIGN_BYTES>0
+template<int ArrayBytes, int AlignmentBytes,
+         bool Match     =  bool((ArrayBytes%AlignmentBytes)==0),
+         bool TryHalf   =  bool(EIGEN_MIN_ALIGN_BYTES<AlignmentBytes) >
+struct compute_default_alignment_helper
+{
+  enum { value = 0 };
+};
+
+template<int ArrayBytes, int AlignmentBytes, bool TryHalf>
+struct compute_default_alignment_helper<ArrayBytes, AlignmentBytes, true, TryHalf> // Match
+{
+  enum { value = AlignmentBytes };
+};
+
+template<int ArrayBytes, int AlignmentBytes>
+struct compute_default_alignment_helper<ArrayBytes, AlignmentBytes, false, true> // Try-half
+{
+  // current packet too large, try with an half-packet
+  enum { value = compute_default_alignment_helper<ArrayBytes, AlignmentBytes/2>::value };
+};
+#else
+// If static alignment is disabled, no need to bother.
+// This also avoids a division by zero in "bool Match =  bool((ArrayBytes%AlignmentBytes)==0)"
+template<int ArrayBytes, int AlignmentBytes>
+struct compute_default_alignment_helper
+{
+  enum { value = 0 };
+};
+#endif
+
+template<typename T, int Size> struct compute_default_alignment {
+  enum { value = compute_default_alignment_helper<Size*sizeof(T),EIGEN_MAX_STATIC_ALIGN_BYTES>::value };
+};
+
+template<typename T> struct compute_default_alignment<T,Dynamic> {
+  enum { value = EIGEN_MAX_ALIGN_BYTES };
 };
 
 template<typename _Scalar, int _Rows, int _Cols,
@@ -127,35 +250,12 @@ template<typename _Scalar, int _Rows, int _Cols,
 template<typename Scalar, int Rows, int Cols, int Options, int MaxRows, int MaxCols>
 class compute_matrix_flags
 {
-    enum {
-      row_major_bit = Options&RowMajor ? RowMajorBit : 0,
-      is_dynamic_size_storage = MaxRows==Dynamic || MaxCols==Dynamic,
-
-      aligned_bit =
-      (
-            ((Options&DontAlign)==0)
-        && (
-#if EIGEN_ALIGN_STATICALLY
-             ((!is_dynamic_size_storage) && (((MaxCols*MaxRows*int(sizeof(Scalar))) % 16) == 0))
-#else
-             0
-#endif
-
-          ||
-
-#if EIGEN_ALIGN
-             is_dynamic_size_storage
-#else
-             0
-#endif
-
-          )
-      ) ? AlignedBit : 0,
-      packet_access_bit = packet_traits<Scalar>::Vectorizable && aligned_bit ? PacketAccessBit : 0
-    };
-
+    enum { row_major_bit = Options&RowMajor ? RowMajorBit : 0 };
   public:
-    enum { ret = LinearAccessBit | LvalueBit | DirectAccessBit | NestByRefBit | packet_access_bit | row_major_bit | aligned_bit };
+    // FIXME currently we still have to handle DirectAccessBit at the expression level to handle DenseCoeffsBase<>
+    // and then propagate this information to the evaluator's flags.
+    // However, I (Gael) think that DirectAccessBit should only matter at the evaluation stage.
+    enum { ret = DirectAccessBit | LvalueBit | NestByRefBit | row_major_bit };
 };
 
 template<int _Rows, int _Cols> struct size_at_compile_time
@@ -163,34 +263,43 @@ template<int _Rows, int _Cols> struct size_at_compile_time
   enum { ret = (_Rows==Dynamic || _Cols==Dynamic) ? Dynamic : _Rows * _Cols };
 };
 
+template<typename XprType> struct size_of_xpr_at_compile_time
+{
+  enum { ret = size_at_compile_time<traits<XprType>::RowsAtCompileTime,traits<XprType>::ColsAtCompileTime>::ret };
+};
+
 /* plain_matrix_type : the difference from eval is that plain_matrix_type is always a plain matrix type,
  * whereas eval is a const reference in the case of a matrix
  */
 
 template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct plain_matrix_type;
-template<typename T, typename BaseClassType> struct plain_matrix_type_dense;
+template<typename T, typename BaseClassType, int Flags> struct plain_matrix_type_dense;
 template<typename T> struct plain_matrix_type<T,Dense>
 {
-  typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind>::type type;
+  typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, traits<T>::Flags>::type type;
+};
+template<typename T> struct plain_matrix_type<T,DiagonalShape>
+{
+  typedef typename T::PlainObject type;
 };
 
-template<typename T> struct plain_matrix_type_dense<T,MatrixXpr>
+template<typename T, int Flags> struct plain_matrix_type_dense<T,MatrixXpr,Flags>
 {
   typedef Matrix<typename traits<T>::Scalar,
                 traits<T>::RowsAtCompileTime,
                 traits<T>::ColsAtCompileTime,
-                AutoAlign | (traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                AutoAlign | (Flags&RowMajorBit ? RowMajor : ColMajor),
                 traits<T>::MaxRowsAtCompileTime,
                 traits<T>::MaxColsAtCompileTime
           > type;
 };
 
-template<typename T> struct plain_matrix_type_dense<T,ArrayXpr>
+template<typename T, int Flags> struct plain_matrix_type_dense<T,ArrayXpr,Flags>
 {
   typedef Array<typename traits<T>::Scalar,
                 traits<T>::RowsAtCompileTime,
                 traits<T>::ColsAtCompileTime,
-                AutoAlign | (traits<T>::Flags&RowMajorBit ? RowMajor : ColMajor),
+                AutoAlign | (Flags&RowMajorBit ? RowMajor : ColMajor),
                 traits<T>::MaxRowsAtCompileTime,
                 traits<T>::MaxColsAtCompileTime
           > type;
@@ -215,6 +324,11 @@ template<typename T> struct eval<T,Dense>
 //           > type;
 };
 
+template<typename T> struct eval<T,DiagonalShape>
+{
+  typedef typename plain_matrix_type<T>::type type;
+};
+
 // for matrices, no need to evaluate, just use a const reference to avoid a useless copy
 template<typename _Scalar, int _Rows, int _Cols, int _Options, int _MaxRows, int _MaxCols>
 struct eval<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, Dense>
@@ -229,6 +343,15 @@ struct eval<Array<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols>, Dense>
 };
 
 
+/* similar to plain_matrix_type, but using the evaluator's Flags */
+template<typename T, typename StorageKind = typename traits<T>::StorageKind> struct plain_object_eval;
+
+template<typename T>
+struct plain_object_eval<T,Dense>
+{
+  typedef typename plain_matrix_type_dense<T,typename traits<T>::XprKind, evaluator<T>::Flags>::type type;
+};
+
 
 /* plain_matrix_type_column_major : same as plain_matrix_type but guaranteed to be column-major
  */
@@ -266,9 +389,6 @@ template<typename T> struct plain_matrix_type_row_major
           > type;
 };
 
-// we should be able to get rid of this one too
-template<typename T> struct must_nest_by_value { enum { ret = false }; };
-
 /** \internal The reference selector for template expressions. The idea is that we don't
   * need to use references for expressions since they are light weight proxy
   * objects which should generate no copying overhead. */
@@ -280,6 +400,12 @@ struct ref_selector
     T const&,
     const T
   >::type type;
+  
+  typedef typename conditional<
+    bool(traits<T>::Flags & NestByRefBit),
+    T &,
+    T
+  >::type non_const_type;
 };
 
 /** \internal Adds the const qualifier on the value-type of T2 if and only if T1 is a const type */
@@ -293,54 +419,41 @@ struct transfer_constness
   >::type type;
 };
 
-/** \internal Determines how a given expression should be nested into another one.
+
+// However, we still need a mechanism to detect whether an expression which is evaluated multiple time
+// has to be evaluated into a temporary.
+// That's the purpose of this new nested_eval helper:
+/** \internal Determines how a given expression should be nested when evaluated multiple times.
   * For example, when you do a * (b+c), Eigen will determine how the expression b+c should be
-  * nested into the bigger product expression. The choice is between nesting the expression b+c as-is, or
+  * evaluated into the bigger product expression. The choice is between nesting the expression b+c as-is, or
   * evaluating that expression b+c into a temporary variable d, and nest d so that the resulting expression is
   * a*d. Evaluating can be beneficial for example if every coefficient access in the resulting expression causes
   * many coefficient accesses in the nested expressions -- as is the case with matrix product for example.
   *
-  * \param T the type of the expression being nested
-  * \param n the number of coefficient accesses in the nested expression for each coefficient access in the bigger expression.
-  *
-  * Note that if no evaluation occur, then the constness of T is preserved.
-  *
-  * Example. Suppose that a, b, and c are of type Matrix3d. The user forms the expression a*(b+c).
-  * b+c is an expression "sum of matrices", which we will denote by S. In order to determine how to nest it,
-  * the Product expression uses: nested<S, 3>::ret, which turns out to be Matrix3d because the internal logic of
-  * nested determined that in this case it was better to evaluate the expression b+c into a temporary. On the other hand,
-  * since a is of type Matrix3d, the Product expression nests it as nested<Matrix3d, 3>::ret, which turns out to be
-  * const Matrix3d&, because the internal logic of nested determined that since a was already a matrix, there was no point
-  * in copying it into another matrix.
+  * \tparam T the type of the expression being nested.
+  * \tparam n the number of coefficient accesses in the nested expression for each coefficient access in the bigger expression.
+  * \tparam PlainObject the type of the temporary if needed.
   */
-template<typename T, int n=1, typename PlainObject = typename eval<T>::type> struct nested
+template<typename T, int n, typename PlainObject = typename plain_object_eval<T>::type> struct nested_eval
 {
   enum {
-    // for the purpose of this test, to keep it reasonably simple, we arbitrarily choose a value of Dynamic values.
-    // the choice of 10000 makes it larger than any practical fixed value and even most dynamic values.
-    // in extreme cases where these assumptions would be wrong, we would still at worst suffer performance issues
-    // (poor choice of temporaries).
-    // it's important that this value can still be squared without integer overflowing.
-    DynamicAsInteger = 10000,
     ScalarReadCost = NumTraits<typename traits<T>::Scalar>::ReadCost,
-    ScalarReadCostAsInteger = ScalarReadCost == Dynamic ? int(DynamicAsInteger) : int(ScalarReadCost),
-    CoeffReadCost = traits<T>::CoeffReadCost,
-    CoeffReadCostAsInteger = CoeffReadCost == Dynamic ? int(DynamicAsInteger) : int(CoeffReadCost),
-    NAsInteger = n == Dynamic ? int(DynamicAsInteger) : n,
-    CostEvalAsInteger   = (NAsInteger+1) * ScalarReadCostAsInteger + CoeffReadCostAsInteger,
-    CostNoEvalAsInteger = NAsInteger * CoeffReadCostAsInteger
+    CoeffReadCost = evaluator<T>::CoeffReadCost,  // NOTE What if an evaluator evaluate itself into a tempory?
+                                                  //      Then CoeffReadCost will be small (e.g., 1) but we still have to evaluate, especially if n>1.
+                                                  //      This situation is already taken care by the EvalBeforeNestingBit flag, which is turned ON
+                                                  //      for all evaluator creating a temporary. This flag is then propagated by the parent evaluators.
+                                                  //      Another solution could be to count the number of temps?
+    NAsInteger = n == Dynamic ? HugeCost : n,
+    CostEval   = (NAsInteger+1) * ScalarReadCost + CoeffReadCost,
+    CostNoEval = NAsInteger * CoeffReadCost,
+    Evaluate = (int(evaluator<T>::Flags) & EvalBeforeNestingBit) || (int(CostEval) < int(CostNoEval))
   };
 
-  typedef typename conditional<
-      ( (int(traits<T>::Flags) & EvalBeforeNestingBit) ||
-        int(CostEvalAsInteger) < int(CostNoEvalAsInteger)
-      ),
-      PlainObject,
-      typename ref_selector<T>::type
-  >::type type;
+  typedef typename conditional<Evaluate, PlainObject, typename ref_selector<T>::type>::type type;
 };
 
 template<typename T>
+EIGEN_DEVICE_FUNC
 inline T* const_cast_ptr(const T* ptr)
 {
   return const_cast<T*>(ptr);
@@ -364,30 +477,13 @@ struct dense_xpr_base<Derived, ArrayXpr>
   typedef ArrayBase<Derived> type;
 };
 
-/** \internal Helper base class to add a scalar multiple operator
-  * overloads for complex types */
-template<typename Derived,typename Scalar,typename OtherScalar,
-         bool EnableIt = !is_same<Scalar,OtherScalar>::value >
-struct special_scalar_op_base : public DenseCoeffsBase<Derived>
-{
-  // dummy operator* so that the
-  // "using special_scalar_op_base::operator*" compiles
-  void operator*() const;
-};
+template<typename Derived, typename XprKind = typename traits<Derived>::XprKind, typename StorageKind = typename traits<Derived>::StorageKind>
+struct generic_xpr_base;
 
-template<typename Derived,typename Scalar,typename OtherScalar>
-struct special_scalar_op_base<Derived,Scalar,OtherScalar,true>  : public DenseCoeffsBase<Derived>
+template<typename Derived, typename XprKind>
+struct generic_xpr_base<Derived, XprKind, Dense>
 {
-  const CwiseUnaryOp<scalar_multiple2_op<Scalar,OtherScalar>, Derived>
-  operator*(const OtherScalar& scalar) const
-  {
-    return CwiseUnaryOp<scalar_multiple2_op<Scalar,OtherScalar>, Derived>
-      (*static_cast<const Derived*>(this), scalar_multiple2_op<Scalar,OtherScalar>(scalar));
-  }
-
-  inline friend const CwiseUnaryOp<scalar_multiple2_op<Scalar,OtherScalar>, Derived>
-  operator*(const OtherScalar& scalar, const Derived& matrix)
-  { return static_cast<const special_scalar_op_base&>(matrix).operator*(scalar); }
+  typedef typename dense_xpr_base<Derived,XprKind>::type type;
 };
 
 template<typename XprType, typename CastType> struct cast_return_type
@@ -405,9 +501,79 @@ template <typename A> struct promote_storage_type<A,A>
 {
   typedef A ret;
 };
+template <typename A> struct promote_storage_type<A, const A>
+{
+  typedef A ret;
+};
+template <typename A> struct promote_storage_type<const A, A>
+{
+  typedef A ret;
+};
+
+/** \internal Specify the "storage kind" of applying a coefficient-wise
+  * binary operations between two expressions of kinds A and B respectively.
+  * The template parameter Functor permits to specialize the resulting storage kind wrt to
+  * the functor.
+  * The default rules are as follows:
+  * \code
+  * A      op A      -> A
+  * A      op dense  -> dense
+  * dense  op B      -> dense
+  * sparse op dense  -> sparse
+  * dense  op sparse -> sparse
+  * \endcode
+  */
+template <typename A, typename B, typename Functor> struct cwise_promote_storage_type;
+
+template <typename A, typename Functor>                   struct cwise_promote_storage_type<A,A,Functor>                                      { typedef A      ret; };
+template <typename Functor>                               struct cwise_promote_storage_type<Dense,Dense,Functor>                              { typedef Dense  ret; };
+template <typename A, typename Functor>                   struct cwise_promote_storage_type<A,Dense,Functor>                                  { typedef Dense  ret; };
+template <typename B, typename Functor>                   struct cwise_promote_storage_type<Dense,B,Functor>                                  { typedef Dense  ret; };
+template <typename Functor>                               struct cwise_promote_storage_type<Sparse,Dense,Functor>                             { typedef Sparse ret; };
+template <typename Functor>                               struct cwise_promote_storage_type<Dense,Sparse,Functor>                             { typedef Sparse ret; };
+
+template <typename LhsKind, typename RhsKind, int LhsOrder, int RhsOrder> struct cwise_promote_storage_order {
+  enum { value = LhsOrder };
+};
+
+template <typename LhsKind, int LhsOrder, int RhsOrder>   struct cwise_promote_storage_order<LhsKind,Sparse,LhsOrder,RhsOrder>                { enum { value = RhsOrder }; };
+template <typename RhsKind, int LhsOrder, int RhsOrder>   struct cwise_promote_storage_order<Sparse,RhsKind,LhsOrder,RhsOrder>                { enum { value = LhsOrder }; };
+template <int Order>                                      struct cwise_promote_storage_order<Sparse,Sparse,Order,Order>                       { enum { value = Order }; };
+
+
+/** \internal Specify the "storage kind" of multiplying an expression of kind A with kind B.
+  * The template parameter ProductTag permits to specialize the resulting storage kind wrt to
+  * some compile-time properties of the product: GemmProduct, GemvProduct, OuterProduct, InnerProduct.
+  * The default rules are as follows:
+  * \code
+  *  K * K            -> K
+  *  dense * K        -> dense
+  *  K * dense        -> dense
+  *  diag * K         -> K
+  *  K * diag         -> K
+  *  Perm * K         -> K
+  * K * Perm          -> K
+  * \endcode
+  */
+template <typename A, typename B, int ProductTag> struct product_promote_storage_type;
+
+template <typename A, int ProductTag> struct product_promote_storage_type<A,                  A,                  ProductTag> { typedef A     ret;};
+template <int ProductTag>             struct product_promote_storage_type<Dense,              Dense,              ProductTag> { typedef Dense ret;};
+template <typename A, int ProductTag> struct product_promote_storage_type<A,                  Dense,              ProductTag> { typedef Dense ret; };
+template <typename B, int ProductTag> struct product_promote_storage_type<Dense,              B,                  ProductTag> { typedef Dense ret; };
+
+template <typename A, int ProductTag> struct product_promote_storage_type<A,                  DiagonalShape,      ProductTag> { typedef A ret; };
+template <typename B, int ProductTag> struct product_promote_storage_type<DiagonalShape,      B,                  ProductTag> { typedef B ret; };
+template <int ProductTag>             struct product_promote_storage_type<Dense,              DiagonalShape,      ProductTag> { typedef Dense ret; };
+template <int ProductTag>             struct product_promote_storage_type<DiagonalShape,      Dense,              ProductTag> { typedef Dense ret; };
+
+template <typename A, int ProductTag> struct product_promote_storage_type<A,                  PermutationStorage, ProductTag> { typedef A ret; };
+template <typename B, int ProductTag> struct product_promote_storage_type<PermutationStorage, B,                  ProductTag> { typedef B ret; };
+template <int ProductTag>             struct product_promote_storage_type<Dense,              PermutationStorage, ProductTag> { typedef Dense ret; };
+template <int ProductTag>             struct product_promote_storage_type<PermutationStorage, Dense,              ProductTag> { typedef Dense ret; };
 
 /** \internal gives the plain matrix or array type to store a row/column/diagonal of a matrix type.
-  * \param Scalar optional parameter allowing to pass a different scalar type than the one of the MatrixType.
+  * \tparam Scalar optional parameter allowing to pass a different scalar type than the one of the MatrixType.
   */
 template<typename ExpressionType, typename Scalar = typename ExpressionType::Scalar>
 struct plain_row_type
@@ -455,6 +621,20 @@ struct plain_diag_type
   >::type type;
 };
 
+template<typename Expr,typename Scalar = typename Expr::Scalar>
+struct plain_constant_type
+{
+  enum { Options = (traits<Expr>::Flags&RowMajorBit)?RowMajor:0 };
+
+  typedef Array<Scalar,  traits<Expr>::RowsAtCompileTime,   traits<Expr>::ColsAtCompileTime,
+                Options, traits<Expr>::MaxRowsAtCompileTime,traits<Expr>::MaxColsAtCompileTime> array_type;
+
+  typedef Matrix<Scalar,  traits<Expr>::RowsAtCompileTime,   traits<Expr>::ColsAtCompileTime,
+                 Options, traits<Expr>::MaxRowsAtCompileTime,traits<Expr>::MaxColsAtCompileTime> matrix_type;
+
+  typedef CwiseNullaryOp<scalar_constant_op<Scalar>, const typename conditional<is_same< typename traits<Expr>::XprKind, MatrixXpr >::value, matrix_type, array_type>::type > type;
+};
+
 template<typename ExpressionType>
 struct is_lvalue
 {
@@ -462,8 +642,180 @@ struct is_lvalue
                  bool(traits<ExpressionType>::Flags & LvalueBit) };
 };
 
+template<typename T> struct is_diagonal
+{ enum { ret = false }; };
+
+template<typename T> struct is_diagonal<DiagonalBase<T> >
+{ enum { ret = true }; };
+
+template<typename T> struct is_diagonal<DiagonalWrapper<T> >
+{ enum { ret = true }; };
+
+template<typename T, int S> struct is_diagonal<DiagonalMatrix<T,S> >
+{ enum { ret = true }; };
+
+template<typename S1, typename S2> struct glue_shapes;
+template<> struct glue_shapes<DenseShape,TriangularShape> { typedef TriangularShape type;  };
+
+template<typename T1, typename T2>
+bool is_same_dense(const T1 &mat1, const T2 &mat2, typename enable_if<has_direct_access<T1>::ret&&has_direct_access<T2>::ret, T1>::type * = 0)
+{
+  return (mat1.data()==mat2.data()) && (mat1.innerStride()==mat2.innerStride()) && (mat1.outerStride()==mat2.outerStride());
+}
+
+template<typename T1, typename T2>
+bool is_same_dense(const T1 &, const T2 &, typename enable_if<!(has_direct_access<T1>::ret&&has_direct_access<T2>::ret), T1>::type * = 0)
+{
+  return false;
+}
+
+// Internal helper defining the cost of a scalar division for the type T.
+// The default heuristic can be specialized for each scalar type and architecture.
+template<typename T,bool Vectorized=false,typename EnaleIf = void>
+struct scalar_div_cost {
+  enum { value = 8*NumTraits<T>::MulCost };
+};
+
+template<typename T,bool Vectorized>
+struct scalar_div_cost<std::complex<T>, Vectorized> {
+  enum { value = 2*scalar_div_cost<T>::value
+               + 6*NumTraits<T>::MulCost
+               + 3*NumTraits<T>::AddCost
+  };
+};
+
+
+template<bool Vectorized>
+struct scalar_div_cost<signed long,Vectorized,typename conditional<sizeof(long)==8,void,false_type>::type> { enum { value = 24 }; };
+template<bool Vectorized>
+struct scalar_div_cost<unsigned long,Vectorized,typename conditional<sizeof(long)==8,void,false_type>::type> { enum { value = 21 }; };
+
+
+#ifdef EIGEN_DEBUG_ASSIGN
+std::string demangle_traversal(int t)
+{
+  if(t==DefaultTraversal) return "DefaultTraversal";
+  if(t==LinearTraversal) return "LinearTraversal";
+  if(t==InnerVectorizedTraversal) return "InnerVectorizedTraversal";
+  if(t==LinearVectorizedTraversal) return "LinearVectorizedTraversal";
+  if(t==SliceVectorizedTraversal) return "SliceVectorizedTraversal";
+  return "?";
+}
+std::string demangle_unrolling(int t)
+{
+  if(t==NoUnrolling) return "NoUnrolling";
+  if(t==InnerUnrolling) return "InnerUnrolling";
+  if(t==CompleteUnrolling) return "CompleteUnrolling";
+  return "?";
+}
+std::string demangle_flags(int f)
+{
+  std::string res;
+  if(f&RowMajorBit)                 res += " | RowMajor";
+  if(f&PacketAccessBit)             res += " | Packet";
+  if(f&LinearAccessBit)             res += " | Linear";
+  if(f&LvalueBit)                   res += " | Lvalue";
+  if(f&DirectAccessBit)             res += " | Direct";
+  if(f&NestByRefBit)                res += " | NestByRef";
+  if(f&NoPreferredStorageOrderBit)  res += " | NoPreferredStorageOrderBit";
+  
+  return res;
+}
+#endif
+
 } // end namespace internal
 
+
+/** \class ScalarBinaryOpTraits
+  * \ingroup Core_Module
+  *
+  * \brief Determines whether the given binary operation of two numeric types is allowed and what the scalar return type is.
+  *
+  * This class permits to control the scalar return type of any binary operation performed on two different scalar types through (partial) template specializations.
+  *
+  * For instance, let \c U1, \c U2 and \c U3 be three user defined scalar types for which most operations between instances of \c U1 and \c U2 returns an \c U3.
+  * You can let %Eigen knows that by defining:
+    \code
+    template<typename BinaryOp>
+    struct ScalarBinaryOpTraits<U1,U2,BinaryOp> { typedef U3 ReturnType;  };
+    template<typename BinaryOp>
+    struct ScalarBinaryOpTraits<U2,U1,BinaryOp> { typedef U3 ReturnType;  };
+    \endcode
+  * You can then explicitly disable some particular operations to get more explicit error messages:
+    \code
+    template<>
+    struct ScalarBinaryOpTraits<U1,U2,internal::scalar_max_op<U1,U2> > {};
+    \endcode
+  * Or customize the return type for individual operation:
+    \code
+    template<>
+    struct ScalarBinaryOpTraits<U1,U2,internal::scalar_sum_op<U1,U2> > { typedef U1 ReturnType; };
+    \endcode
+  *
+  * By default, the following generic combinations are supported:
+  <table class="manual">
+  <tr><th>ScalarA</th><th>ScalarB</th><th>BinaryOp</th><th>ReturnType</th><th>Note</th></tr>
+  <tr            ><td>\c T </td><td>\c T </td><td>\c * </td><td>\c T </td><td></td></tr>
+  <tr class="alt"><td>\c NumTraits<T>::Real </td><td>\c T </td><td>\c * </td><td>\c T </td><td>Only if \c NumTraits<T>::IsComplex </td></tr>
+  <tr            ><td>\c T </td><td>\c NumTraits<T>::Real </td><td>\c * </td><td>\c T </td><td>Only if \c NumTraits<T>::IsComplex </td></tr>
+  </table>
+  *
+  * \sa CwiseBinaryOp
+  */
+template<typename ScalarA, typename ScalarB, typename BinaryOp=internal::scalar_product_op<ScalarA,ScalarB> >
+struct ScalarBinaryOpTraits
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+  // for backward compatibility, use the hints given by the (deprecated) internal::scalar_product_traits class.
+  : internal::scalar_product_traits<ScalarA,ScalarB>
+#endif // EIGEN_PARSED_BY_DOXYGEN
+{};
+
+template<typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<T,T,BinaryOp>
+{
+  typedef T ReturnType;
+};
+
+template <typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<T, typename NumTraits<typename internal::enable_if<NumTraits<T>::IsComplex,T>::type>::Real, BinaryOp>
+{
+  typedef T ReturnType;
+};
+template <typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<typename NumTraits<typename internal::enable_if<NumTraits<T>::IsComplex,T>::type>::Real, T, BinaryOp>
+{
+  typedef T ReturnType;
+};
+
+// For Matrix * Permutation
+template<typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<T,void,BinaryOp>
+{
+  typedef T ReturnType;
+};
+
+// For Permutation * Matrix
+template<typename T, typename BinaryOp>
+struct ScalarBinaryOpTraits<void,T,BinaryOp>
+{
+  typedef T ReturnType;
+};
+
+// for Permutation*Permutation
+template<typename BinaryOp>
+struct ScalarBinaryOpTraits<void,void,BinaryOp>
+{
+  typedef void ReturnType;
+};
+
+// We require Lhs and Rhs to have "compatible" scalar types.
+// It is tempting to always allow mixing different types but remember that this is often impossible in the vectorized paths.
+// So allowing mixing different types gives very unexpected errors when enabling vectorization, when the user tries to
+// add together a float matrix and a double matrix.
+#define EIGEN_CHECK_BINARY_COMPATIBILIY(BINOP,LHS,RHS) \
+  EIGEN_STATIC_ASSERT((Eigen::internal::has_ReturnType<ScalarBinaryOpTraits<LHS, RHS,BINOP> >::value), \
+    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+    
 } // end namespace Eigen
 
 #endif // EIGEN_XPRHELPER_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/Block.h b/eigenlib/Eigen/src/Eigen2Support/Block.h
deleted file mode 100644
index 604456f4..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Block.h
+++ /dev/null
@@ -1,126 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BLOCK2_H
-#define EIGEN_BLOCK2_H
-
-namespace Eigen { 
-
-/** \returns a dynamic-size expression of a corner of *this.
-  *
-  * \param type the type of corner. Can be \a Eigen::TopLeft, \a Eigen::TopRight,
-  * \a Eigen::BottomLeft, \a Eigen::BottomRight.
-  * \param cRows the number of rows in the corner
-  * \param cCols the number of columns in the corner
-  *
-  * Example: \include MatrixBase_corner_enum_int_int.cpp
-  * Output: \verbinclude MatrixBase_corner_enum_int_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size matrix, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-template<typename Derived>
-inline Block<Derived> DenseBase<Derived>
-  ::corner(CornerType type, Index cRows, Index cCols)
-{
-  switch(type)
-  {
-    default:
-      eigen_assert(false && "Bad corner type.");
-    case TopLeft:
-      return Block<Derived>(derived(), 0, 0, cRows, cCols);
-    case TopRight:
-      return Block<Derived>(derived(), 0, cols() - cCols, cRows, cCols);
-    case BottomLeft:
-      return Block<Derived>(derived(), rows() - cRows, 0, cRows, cCols);
-    case BottomRight:
-      return Block<Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
-  }
-}
-
-/** This is the const version of corner(CornerType, Index, Index).*/
-template<typename Derived>
-inline const Block<Derived>
-DenseBase<Derived>::corner(CornerType type, Index cRows, Index cCols) const
-{
-  switch(type)
-  {
-    default:
-      eigen_assert(false && "Bad corner type.");
-    case TopLeft:
-      return Block<Derived>(derived(), 0, 0, cRows, cCols);
-    case TopRight:
-      return Block<Derived>(derived(), 0, cols() - cCols, cRows, cCols);
-    case BottomLeft:
-      return Block<Derived>(derived(), rows() - cRows, 0, cRows, cCols);
-    case BottomRight:
-      return Block<Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
-  }
-}
-
-/** \returns a fixed-size expression of a corner of *this.
-  *
-  * \param type the type of corner. Can be \a Eigen::TopLeft, \a Eigen::TopRight,
-  * \a Eigen::BottomLeft, \a Eigen::BottomRight.
-  *
-  * The template parameters CRows and CCols arethe number of rows and columns in the corner.
-  *
-  * Example: \include MatrixBase_template_int_int_corner_enum.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_corner_enum.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-template<typename Derived>
-template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols>
-DenseBase<Derived>::corner(CornerType type)
-{
-  switch(type)
-  {
-    default:
-      eigen_assert(false && "Bad corner type.");
-    case TopLeft:
-      return Block<Derived, CRows, CCols>(derived(), 0, 0);
-    case TopRight:
-      return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
-    case BottomLeft:
-      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
-    case BottomRight:
-      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
-  }
-}
-
-/** This is the const version of corner<int, int>(CornerType).*/
-template<typename Derived>
-template<int CRows, int CCols>
-inline const Block<Derived, CRows, CCols>
-DenseBase<Derived>::corner(CornerType type) const
-{
-  switch(type)
-  {
-    default:
-      eigen_assert(false && "Bad corner type.");
-    case TopLeft:
-      return Block<Derived, CRows, CCols>(derived(), 0, 0);
-    case TopRight:
-      return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
-    case BottomLeft:
-      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
-    case BottomRight:
-      return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
-  }
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_BLOCK2_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/CMakeLists.txt b/eigenlib/Eigen/src/Eigen2Support/CMakeLists.txt
deleted file mode 100644
index 7ae41b3c..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-FILE(GLOB Eigen_Eigen2Support_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Eigen2Support_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Eigen2Support COMPONENT Devel
-  )
-
-ADD_SUBDIRECTORY(Geometry)
\ No newline at end of file
diff --git a/eigenlib/Eigen/src/Eigen2Support/Cwise.h b/eigenlib/Eigen/src/Eigen2Support/Cwise.h
deleted file mode 100644
index d95009b6..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Cwise.h
+++ /dev/null
@@ -1,192 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_CWISE_H
-#define EIGEN_CWISE_H
-
-namespace Eigen { 
-
-/** \internal
-  * convenient macro to defined the return type of a cwise binary operation */
-#define EIGEN_CWISE_BINOP_RETURN_TYPE(OP) \
-    CwiseBinaryOp<OP<typename internal::traits<ExpressionType>::Scalar>, ExpressionType, OtherDerived>
-
-/** \internal
-  * convenient macro to defined the return type of a cwise unary operation */
-#define EIGEN_CWISE_UNOP_RETURN_TYPE(OP) \
-    CwiseUnaryOp<OP<typename internal::traits<ExpressionType>::Scalar>, ExpressionType>
-
-/** \internal
-  * convenient macro to defined the return type of a cwise comparison to a scalar */
-#define EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(OP) \
-    CwiseBinaryOp<OP<typename internal::traits<ExpressionType>::Scalar>, ExpressionType, \
-        typename ExpressionType::ConstantReturnType >
-
-/** \class Cwise
-  *
-  * \brief Pseudo expression providing additional coefficient-wise operations
-  *
-  * \param ExpressionType the type of the object on which to do coefficient-wise operations
-  *
-  * This class represents an expression with additional coefficient-wise features.
-  * It is the return type of MatrixBase::cwise()
-  * and most of the time this is the only way it is used.
-  *
-  * Example: \include MatrixBase_cwise_const.cpp
-  * Output: \verbinclude MatrixBase_cwise_const.out
-  *
-  * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_CWISE_PLUGIN.
-  *
-  * \sa MatrixBase::cwise() const, MatrixBase::cwise()
-  */
-template<typename ExpressionType> class Cwise
-{
-  public:
-
-    typedef typename internal::traits<ExpressionType>::Scalar Scalar;
-    typedef typename internal::conditional<internal::must_nest_by_value<ExpressionType>::ret,
-        ExpressionType, const ExpressionType&>::type ExpressionTypeNested;
-    typedef CwiseUnaryOp<internal::scalar_add_op<Scalar>, ExpressionType> ScalarAddReturnType;
-
-    inline Cwise(const ExpressionType& matrix) : m_matrix(matrix) {}
-
-    /** \internal */
-    inline const ExpressionType& _expression() const { return m_matrix; }
-
-    template<typename OtherDerived>
-    const EIGEN_CWISE_PRODUCT_RETURN_TYPE(ExpressionType,OtherDerived)
-    operator*(const MatrixBase<OtherDerived> &other) const;
-
-    template<typename OtherDerived>
-    const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)
-    operator/(const MatrixBase<OtherDerived> &other) const;
-
-    /** \deprecated ArrayBase::min() */
-    template<typename OtherDerived>
-    const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_min_op)
-    (min)(const MatrixBase<OtherDerived> &other) const
-    { return EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_min_op)(_expression(), other.derived()); }
-
-    /** \deprecated ArrayBase::max() */
-    template<typename OtherDerived>
-    const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_max_op)
-    (max)(const MatrixBase<OtherDerived> &other) const
-    { return EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_max_op)(_expression(), other.derived()); }
-
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs_op)      abs() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs2_op)     abs2() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_square_op)   square() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cube_op)     cube() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_inverse_op)  inverse() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sqrt_op)     sqrt() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_exp_op)      exp() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_log_op)      log() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cos_op)      cos() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sin_op)      sin() const;
-    const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_pow_op)      pow(const Scalar& exponent) const;
-
-    const ScalarAddReturnType
-    operator+(const Scalar& scalar) const;
-
-    /** \relates Cwise */
-    friend const ScalarAddReturnType
-    operator+(const Scalar& scalar, const Cwise& mat)
-    { return mat + scalar; }
-
-    ExpressionType& operator+=(const Scalar& scalar);
-
-    const ScalarAddReturnType
-    operator-(const Scalar& scalar) const;
-
-    ExpressionType& operator-=(const Scalar& scalar);
-
-    template<typename OtherDerived>
-    inline ExpressionType& operator*=(const MatrixBase<OtherDerived> &other);
-
-    template<typename OtherDerived>
-    inline ExpressionType& operator/=(const MatrixBase<OtherDerived> &other);
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)
-    operator<(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)
-    operator<=(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)
-    operator>(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)
-    operator>=(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)
-    operator==(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> const EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)
-    operator!=(const MatrixBase<OtherDerived>& other) const;
-
-    // comparisons to a scalar value
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)
-    operator<(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)
-    operator<=(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)
-    operator>(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)
-    operator>=(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)
-    operator==(Scalar s) const;
-
-    const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)
-    operator!=(Scalar s) const;
-
-    // allow to extend Cwise outside Eigen
-    #ifdef EIGEN_CWISE_PLUGIN
-    #include EIGEN_CWISE_PLUGIN
-    #endif
-
-  protected:
-    ExpressionTypeNested m_matrix;
-};
-
-
-/** \returns a Cwise wrapper of *this providing additional coefficient-wise operations
-  *
-  * Example: \include MatrixBase_cwise_const.cpp
-  * Output: \verbinclude MatrixBase_cwise_const.out
-  *
-  * \sa class Cwise, cwise()
-  */
-template<typename Derived>
-inline const Cwise<Derived> MatrixBase<Derived>::cwise() const
-{
-  return derived();
-}
-
-/** \returns a Cwise wrapper of *this providing additional coefficient-wise operations
-  *
-  * Example: \include MatrixBase_cwise.cpp
-  * Output: \verbinclude MatrixBase_cwise.out
-  *
-  * \sa class Cwise, cwise() const
-  */
-template<typename Derived>
-inline Cwise<Derived> MatrixBase<Derived>::cwise()
-{
-  return derived();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_CWISE_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/CwiseOperators.h b/eigenlib/Eigen/src/Eigen2Support/CwiseOperators.h
deleted file mode 100644
index 482f3064..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/CwiseOperators.h
+++ /dev/null
@@ -1,298 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ARRAY_CWISE_OPERATORS_H
-#define EIGEN_ARRAY_CWISE_OPERATORS_H
-
-namespace Eigen { 
-
-/***************************************************************************
-* The following functions were defined in Core
-***************************************************************************/
-
-
-/** \deprecated ArrayBase::abs() */
-template<typename ExpressionType>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs_op)
-Cwise<ExpressionType>::abs() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::abs2() */
-template<typename ExpressionType>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_abs2_op)
-Cwise<ExpressionType>::abs2() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::exp() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_exp_op)
-Cwise<ExpressionType>::exp() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::log() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_log_op)
-Cwise<ExpressionType>::log() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::operator*() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_PRODUCT_RETURN_TYPE(ExpressionType,OtherDerived)
-Cwise<ExpressionType>::operator*(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_PRODUCT_RETURN_TYPE(ExpressionType,OtherDerived)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::operator/() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)
-Cwise<ExpressionType>::operator/(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(internal::scalar_quotient_op)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::operator*=() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline ExpressionType& Cwise<ExpressionType>::operator*=(const MatrixBase<OtherDerived> &other)
-{
-  return m_matrix.const_cast_derived() = *this * other;
-}
-
-/** \deprecated ArrayBase::operator/=() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline ExpressionType& Cwise<ExpressionType>::operator/=(const MatrixBase<OtherDerived> &other)
-{
-  return m_matrix.const_cast_derived() = *this / other;
-}
-
-/***************************************************************************
-* The following functions were defined in Array
-***************************************************************************/
-
-// -- unary operators --
-
-/** \deprecated ArrayBase::sqrt() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sqrt_op)
-Cwise<ExpressionType>::sqrt() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::cos() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cos_op)
-Cwise<ExpressionType>::cos() const
-{
-  return _expression();
-}
-
-
-/** \deprecated ArrayBase::sin() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_sin_op)
-Cwise<ExpressionType>::sin() const
-{
-  return _expression();
-}
-
-
-/** \deprecated ArrayBase::log() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_pow_op)
-Cwise<ExpressionType>::pow(const Scalar& exponent) const
-{
-  return EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_pow_op)(_expression(), internal::scalar_pow_op<Scalar>(exponent));
-}
-
-
-/** \deprecated ArrayBase::inverse() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_inverse_op)
-Cwise<ExpressionType>::inverse() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::square() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_square_op)
-Cwise<ExpressionType>::square() const
-{
-  return _expression();
-}
-
-/** \deprecated ArrayBase::cube() */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_UNOP_RETURN_TYPE(internal::scalar_cube_op)
-Cwise<ExpressionType>::cube() const
-{
-  return _expression();
-}
-
-
-// -- binary operators --
-
-/** \deprecated ArrayBase::operator<() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)
-Cwise<ExpressionType>::operator<(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::less)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::<=() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)
-Cwise<ExpressionType>::operator<=(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::less_equal)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::operator>() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)
-Cwise<ExpressionType>::operator>(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::operator>=() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)
-Cwise<ExpressionType>::operator>=(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::greater_equal)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::operator==() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)
-Cwise<ExpressionType>::operator==(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::equal_to)(_expression(), other.derived());
-}
-
-/** \deprecated ArrayBase::operator!=() */
-template<typename ExpressionType>
-template<typename OtherDerived>
-inline const EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)
-Cwise<ExpressionType>::operator!=(const MatrixBase<OtherDerived> &other) const
-{
-  return EIGEN_CWISE_BINOP_RETURN_TYPE(std::not_equal_to)(_expression(), other.derived());
-}
-
-// comparisons to scalar value
-
-/** \deprecated ArrayBase::operator<(Scalar) */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)
-Cwise<ExpressionType>::operator<(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \deprecated ArrayBase::operator<=(Scalar) */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)
-Cwise<ExpressionType>::operator<=(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::less_equal)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \deprecated ArrayBase::operator>(Scalar) */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)
-Cwise<ExpressionType>::operator>(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \deprecated ArrayBase::operator>=(Scalar) */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)
-Cwise<ExpressionType>::operator>=(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::greater_equal)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \deprecated ArrayBase::operator==(Scalar) */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)
-Cwise<ExpressionType>::operator==(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::equal_to)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-/** \deprecated ArrayBase::operator!=(Scalar) */
-template<typename ExpressionType>
-inline const EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)
-Cwise<ExpressionType>::operator!=(Scalar s) const
-{
-  return EIGEN_CWISE_COMP_TO_SCALAR_RETURN_TYPE(std::not_equal_to)(_expression(),
-            typename ExpressionType::ConstantReturnType(_expression().rows(), _expression().cols(), s));
-}
-
-// scalar addition
-
-/** \deprecated ArrayBase::operator+(Scalar) */
-template<typename ExpressionType>
-inline const typename Cwise<ExpressionType>::ScalarAddReturnType
-Cwise<ExpressionType>::operator+(const Scalar& scalar) const
-{
-  return typename Cwise<ExpressionType>::ScalarAddReturnType(m_matrix, internal::scalar_add_op<Scalar>(scalar));
-}
-
-/** \deprecated ArrayBase::operator+=(Scalar) */
-template<typename ExpressionType>
-inline ExpressionType& Cwise<ExpressionType>::operator+=(const Scalar& scalar)
-{
-  return m_matrix.const_cast_derived() = *this + scalar;
-}
-
-/** \deprecated ArrayBase::operator-(Scalar) */
-template<typename ExpressionType>
-inline const typename Cwise<ExpressionType>::ScalarAddReturnType
-Cwise<ExpressionType>::operator-(const Scalar& scalar) const
-{
-  return *this + (-scalar);
-}
-
-/** \deprecated ArrayBase::operator-=(Scalar) */
-template<typename ExpressionType>
-inline ExpressionType& Cwise<ExpressionType>::operator-=(const Scalar& scalar)
-{
-  return m_matrix.const_cast_derived() = *this - scalar;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_ARRAY_CWISE_OPERATORS_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/Geometry/AlignedBox.h b/eigenlib/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
deleted file mode 100644
index 2e4309dd..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Geometry/AlignedBox.h
+++ /dev/null
@@ -1,159 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  * \nonstableyet
-  *
-  * \class AlignedBox
-  *
-  * \brief An axis aligned box
-  *
-  * \param _Scalar the type of the scalar coefficients
-  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
-  *
-  * This class represents an axis aligned box as a pair of the minimal and maximal corners.
-  */
-template <typename _Scalar, int _AmbientDim>
-class AlignedBox
-{
-public:
-EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
-  enum { AmbientDimAtCompileTime = _AmbientDim };
-  typedef _Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
-
-  /** Default constructor initializing a null box. */
-  inline AlignedBox()
-  { if (AmbientDimAtCompileTime!=Dynamic) setNull(); }
-
-  /** Constructs a null box with \a _dim the dimension of the ambient space. */
-  inline explicit AlignedBox(int _dim) : m_min(_dim), m_max(_dim)
-  { setNull(); }
-
-  /** Constructs a box with extremities \a _min and \a _max. */
-  inline AlignedBox(const VectorType& _min, const VectorType& _max) : m_min(_min), m_max(_max) {}
-
-  /** Constructs a box containing a single point \a p. */
-  inline explicit AlignedBox(const VectorType& p) : m_min(p), m_max(p) {}
-
-  ~AlignedBox() {}
-
-  /** \returns the dimension in which the box holds */
-  inline int dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size()-1 : AmbientDimAtCompileTime; }
-
-  /** \returns true if the box is null, i.e, empty. */
-  inline bool isNull() const { return (m_min.cwise() > m_max).any(); }
-
-  /** Makes \c *this a null/empty box. */
-  inline void setNull()
-  {
-    m_min.setConstant( (std::numeric_limits<Scalar>::max)());
-    m_max.setConstant(-(std::numeric_limits<Scalar>::max)());
-  }
-
-  /** \returns the minimal corner */
-  inline const VectorType& (min)() const { return m_min; }
-  /** \returns a non const reference to the minimal corner */
-  inline VectorType& (min)() { return m_min; }
-  /** \returns the maximal corner */
-  inline const VectorType& (max)() const { return m_max; }
-  /** \returns a non const reference to the maximal corner */
-  inline VectorType& (max)() { return m_max; }
-
-  /** \returns true if the point \a p is inside the box \c *this. */
-  inline bool contains(const VectorType& p) const
-  { return (m_min.cwise()<=p).all() && (p.cwise()<=m_max).all(); }
-
-  /** \returns true if the box \a b is entirely inside the box \c *this. */
-  inline bool contains(const AlignedBox& b) const
-  { return (m_min.cwise()<=(b.min)()).all() && ((b.max)().cwise()<=m_max).all(); }
-
-  /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this. */
-  inline AlignedBox& extend(const VectorType& p)
-  { m_min = (m_min.cwise().min)(p); m_max = (m_max.cwise().max)(p); return *this; }
-
-  /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this. */
-  inline AlignedBox& extend(const AlignedBox& b)
-  { m_min = (m_min.cwise().min)(b.m_min); m_max = (m_max.cwise().max)(b.m_max); return *this; }
-
-  /** Clamps \c *this by the box \a b and returns a reference to \c *this. */
-  inline AlignedBox& clamp(const AlignedBox& b)
-  { m_min = (m_min.cwise().max)(b.m_min); m_max = (m_max.cwise().min)(b.m_max); return *this; }
-
-  /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
-  inline AlignedBox& translate(const VectorType& t)
-  { m_min += t; m_max += t; return *this; }
-
-  /** \returns the squared distance between the point \a p and the box \c *this,
-    * and zero if \a p is inside the box.
-    * \sa exteriorDistance()
-    */
-  inline Scalar squaredExteriorDistance(const VectorType& p) const;
-
-  /** \returns the distance between the point \a p and the box \c *this,
-    * and zero if \a p is inside the box.
-    * \sa squaredExteriorDistance()
-    */
-  inline Scalar exteriorDistance(const VectorType& p) const
-  { return ei_sqrt(squaredExteriorDistance(p)); }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<AlignedBox,
-           AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
-  {
-    return typename internal::cast_return_type<AlignedBox,
-                    AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
-  }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
-  {
-    m_min = (other.min)().template cast<Scalar>();
-    m_max = (other.max)().template cast<Scalar>();
-  }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const AlignedBox& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
-
-protected:
-
-  VectorType m_min, m_max;
-};
-
-template<typename Scalar,int AmbiantDim>
-inline Scalar AlignedBox<Scalar,AmbiantDim>::squaredExteriorDistance(const VectorType& p) const
-{
-  Scalar dist2(0);
-  Scalar aux;
-  for (int k=0; k<dim(); ++k)
-  {
-    if ((aux = (p[k]-m_min[k]))<Scalar(0))
-      dist2 += aux*aux;
-    else if ( (aux = (m_max[k]-p[k]))<Scalar(0))
-      dist2 += aux*aux;
-  }
-  return dist2;
-}
-
-} // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Eigen2Support/Geometry/All.h b/eigenlib/Eigen/src/Eigen2Support/Geometry/All.h
deleted file mode 100644
index e0b00fcc..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Geometry/All.h
+++ /dev/null
@@ -1,115 +0,0 @@
-#ifndef EIGEN2_GEOMETRY_MODULE_H
-#define EIGEN2_GEOMETRY_MODULE_H
-
-#include <limits>
-
-#ifndef M_PI
-#define M_PI 3.14159265358979323846
-#endif
-
-#if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
-#include "RotationBase.h"
-#include "Rotation2D.h"
-#include "Quaternion.h"
-#include "AngleAxis.h"
-#include "Transform.h"
-#include "Translation.h"
-#include "Scaling.h"
-#include "AlignedBox.h"
-#include "Hyperplane.h"
-#include "ParametrizedLine.h"
-#endif
-
-
-#define RotationBase eigen2_RotationBase
-#define Rotation2D eigen2_Rotation2D
-#define Rotation2Df eigen2_Rotation2Df
-#define Rotation2Dd eigen2_Rotation2Dd
-
-#define Quaternion  eigen2_Quaternion
-#define Quaternionf eigen2_Quaternionf
-#define Quaterniond eigen2_Quaterniond
-
-#define AngleAxis eigen2_AngleAxis
-#define AngleAxisf eigen2_AngleAxisf
-#define AngleAxisd eigen2_AngleAxisd
-
-#define Transform   eigen2_Transform
-#define Transform2f eigen2_Transform2f
-#define Transform2d eigen2_Transform2d
-#define Transform3f eigen2_Transform3f
-#define Transform3d eigen2_Transform3d
-
-#define Translation eigen2_Translation
-#define Translation2f eigen2_Translation2f
-#define Translation2d eigen2_Translation2d
-#define Translation3f eigen2_Translation3f
-#define Translation3d eigen2_Translation3d
-
-#define Scaling eigen2_Scaling
-#define Scaling2f eigen2_Scaling2f
-#define Scaling2d eigen2_Scaling2d
-#define Scaling3f eigen2_Scaling3f
-#define Scaling3d eigen2_Scaling3d
-
-#define AlignedBox eigen2_AlignedBox
-
-#define Hyperplane eigen2_Hyperplane
-#define ParametrizedLine eigen2_ParametrizedLine
-
-#define ei_toRotationMatrix eigen2_ei_toRotationMatrix
-#define ei_quaternion_assign_impl eigen2_ei_quaternion_assign_impl
-#define ei_transform_product_impl eigen2_ei_transform_product_impl
-
-#include "RotationBase.h"
-#include "Rotation2D.h"
-#include "Quaternion.h"
-#include "AngleAxis.h"
-#include "Transform.h"
-#include "Translation.h"
-#include "Scaling.h"
-#include "AlignedBox.h"
-#include "Hyperplane.h"
-#include "ParametrizedLine.h"
-
-#undef ei_toRotationMatrix
-#undef ei_quaternion_assign_impl
-#undef ei_transform_product_impl
-
-#undef RotationBase
-#undef Rotation2D
-#undef Rotation2Df
-#undef Rotation2Dd
-
-#undef Quaternion
-#undef Quaternionf
-#undef Quaterniond
-
-#undef AngleAxis
-#undef AngleAxisf
-#undef AngleAxisd
-
-#undef Transform
-#undef Transform2f
-#undef Transform2d
-#undef Transform3f
-#undef Transform3d
-
-#undef Translation
-#undef Translation2f
-#undef Translation2d
-#undef Translation3f
-#undef Translation3d
-
-#undef Scaling
-#undef Scaling2f
-#undef Scaling2d
-#undef Scaling3f
-#undef Scaling3d
-
-#undef AlignedBox
-
-#undef Hyperplane
-#undef ParametrizedLine
-
-#endif // EIGEN2_GEOMETRY_MODULE_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/Geometry/AngleAxis.h b/eigenlib/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
deleted file mode 100644
index af598a40..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Geometry/AngleAxis.h
+++ /dev/null
@@ -1,214 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class AngleAxis
-  *
-  * \brief Represents a 3D rotation as a rotation angle around an arbitrary 3D axis
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients.
-  *
-  * The following two typedefs are provided for convenience:
-  * \li \c AngleAxisf for \c float
-  * \li \c AngleAxisd for \c double
-  *
-  * \addexample AngleAxisForEuler \label How to define a rotation from Euler-angles
-  *
-  * Combined with MatrixBase::Unit{X,Y,Z}, AngleAxis can be used to easily
-  * mimic Euler-angles. Here is an example:
-  * \include AngleAxis_mimic_euler.cpp
-  * Output: \verbinclude AngleAxis_mimic_euler.out
-  *
-  * \note This class is not aimed to be used to store a rotation transformation,
-  * but rather to make easier the creation of other rotation (Quaternion, rotation Matrix)
-  * and transformation objects.
-  *
-  * \sa class Quaternion, class Transform, MatrixBase::UnitX()
-  */
-
-template<typename _Scalar> struct ei_traits<AngleAxis<_Scalar> >
-{
-  typedef _Scalar Scalar;
-};
-
-template<typename _Scalar>
-class AngleAxis : public RotationBase<AngleAxis<_Scalar>,3>
-{
-  typedef RotationBase<AngleAxis<_Scalar>,3> Base;
-
-public:
-
-  using Base::operator*;
-
-  enum { Dim = 3 };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  typedef Matrix<Scalar,3,3> Matrix3;
-  typedef Matrix<Scalar,3,1> Vector3;
-  typedef Quaternion<Scalar> QuaternionType;
-
-protected:
-
-  Vector3 m_axis;
-  Scalar m_angle;
-
-public:
-
-  /** Default constructor without initialization. */
-  AngleAxis() {}
-  /** Constructs and initialize the angle-axis rotation from an \a angle in radian
-    * and an \a axis which must be normalized. */
-  template<typename Derived>
-  inline AngleAxis(Scalar angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
-  /** Constructs and initialize the angle-axis rotation from a quaternion \a q. */
-  inline AngleAxis(const QuaternionType& q) { *this = q; }
-  /** Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. */
-  template<typename Derived>
-  inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; }
-
-  Scalar angle() const { return m_angle; }
-  Scalar& angle() { return m_angle; }
-
-  const Vector3& axis() const { return m_axis; }
-  Vector3& axis() { return m_axis; }
-
-  /** Concatenates two rotations */
-  inline QuaternionType operator* (const AngleAxis& other) const
-  { return QuaternionType(*this) * QuaternionType(other); }
-
-  /** Concatenates two rotations */
-  inline QuaternionType operator* (const QuaternionType& other) const
-  { return QuaternionType(*this) * other; }
-
-  /** Concatenates two rotations */
-  friend inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
-  { return a * QuaternionType(b); }
-
-  /** Concatenates two rotations */
-  inline Matrix3 operator* (const Matrix3& other) const
-  { return toRotationMatrix() * other; }
-
-  /** Concatenates two rotations */
-  inline friend Matrix3 operator* (const Matrix3& a, const AngleAxis& b)
-  { return a * b.toRotationMatrix(); }
-
-  /** Applies rotation to vector */
-  inline Vector3 operator* (const Vector3& other) const
-  { return toRotationMatrix() * other; }
-
-  /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
-  AngleAxis inverse() const
-  { return AngleAxis(-m_angle, m_axis); }
-
-  AngleAxis& operator=(const QuaternionType& q);
-  template<typename Derived>
-  AngleAxis& operator=(const MatrixBase<Derived>& m);
-
-  template<typename Derived>
-  AngleAxis& fromRotationMatrix(const MatrixBase<Derived>& m);
-  Matrix3 toRotationMatrix(void) const;
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type cast() const
-  { return typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit AngleAxis(const AngleAxis<OtherScalarType>& other)
-  {
-    m_axis = other.axis().template cast<Scalar>();
-    m_angle = Scalar(other.angle());
-  }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const AngleAxis& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_axis.isApprox(other.m_axis, prec) && ei_isApprox(m_angle,other.m_angle, prec); }
-};
-
-/** \ingroup Geometry_Module
-  * single precision angle-axis type */
-typedef AngleAxis<float> AngleAxisf;
-/** \ingroup Geometry_Module
-  * double precision angle-axis type */
-typedef AngleAxis<double> AngleAxisd;
-
-/** Set \c *this from a quaternion.
-  * The axis is normalized.
-  */
-template<typename Scalar>
-AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionType& q)
-{
-  Scalar n2 = q.vec().squaredNorm();
-  if (n2 < precision<Scalar>()*precision<Scalar>())
-  {
-    m_angle = 0;
-    m_axis << 1, 0, 0;
-  }
-  else
-  {
-    m_angle = 2*std::acos(q.w());
-    m_axis = q.vec() / ei_sqrt(n2);
-  }
-  return *this;
-}
-
-/** Set \c *this from a 3x3 rotation matrix \a mat.
-  */
-template<typename Scalar>
-template<typename Derived>
-AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
-{
-  // Since a direct conversion would not be really faster,
-  // let's use the robust Quaternion implementation:
-  return *this = QuaternionType(mat);
-}
-
-/** Constructs and \returns an equivalent 3x3 rotation matrix.
-  */
-template<typename Scalar>
-typename AngleAxis<Scalar>::Matrix3
-AngleAxis<Scalar>::toRotationMatrix(void) const
-{
-  Matrix3 res;
-  Vector3 sin_axis  = ei_sin(m_angle) * m_axis;
-  Scalar c = ei_cos(m_angle);
-  Vector3 cos1_axis = (Scalar(1)-c) * m_axis;
-
-  Scalar tmp;
-  tmp = cos1_axis.x() * m_axis.y();
-  res.coeffRef(0,1) = tmp - sin_axis.z();
-  res.coeffRef(1,0) = tmp + sin_axis.z();
-
-  tmp = cos1_axis.x() * m_axis.z();
-  res.coeffRef(0,2) = tmp + sin_axis.y();
-  res.coeffRef(2,0) = tmp - sin_axis.y();
-
-  tmp = cos1_axis.y() * m_axis.z();
-  res.coeffRef(1,2) = tmp - sin_axis.x();
-  res.coeffRef(2,1) = tmp + sin_axis.x();
-
-  res.diagonal() = (cos1_axis.cwise() * m_axis).cwise() + c;
-
-  return res;
-}
-
-} // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Eigen2Support/Geometry/CMakeLists.txt b/eigenlib/Eigen/src/Eigen2Support/Geometry/CMakeLists.txt
deleted file mode 100644
index c347a8f2..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Geometry/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Eigen2Support_Geometry_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Eigen2Support_Geometry_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Eigen2Support/Geometry
-  )
diff --git a/eigenlib/Eigen/src/Eigen2Support/Geometry/Hyperplane.h b/eigenlib/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
deleted file mode 100644
index b95bf00e..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Geometry/Hyperplane.h
+++ /dev/null
@@ -1,254 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Hyperplane
-  *
-  * \brief A hyperplane
-  *
-  * A hyperplane is an affine subspace of dimension n-1 in a space of dimension n.
-  * For example, a hyperplane in a plane is a line; a hyperplane in 3-space is a plane.
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
-  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
-  *             Notice that the dimension of the hyperplane is _AmbientDim-1.
-  *
-  * This class represents an hyperplane as the zero set of the implicit equation
-  * \f$ n \cdot x + d = 0 \f$ where \f$ n \f$ is a unit normal vector of the plane (linear part)
-  * and \f$ d \f$ is the distance (offset) to the origin.
-  */
-template <typename _Scalar, int _AmbientDim>
-class Hyperplane
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
-  enum { AmbientDimAtCompileTime = _AmbientDim };
-  typedef _Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
-  typedef Matrix<Scalar,int(AmbientDimAtCompileTime)==Dynamic
-                        ? Dynamic
-                        : int(AmbientDimAtCompileTime)+1,1> Coefficients;
-  typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType;
-
-  /** Default constructor without initialization */
-  inline Hyperplane() {}
-
-  /** Constructs a dynamic-size hyperplane with \a _dim the dimension
-    * of the ambient space */
-  inline explicit Hyperplane(int _dim) : m_coeffs(_dim+1) {}
-
-  /** Construct a plane from its normal \a n and a point \a e onto the plane.
-    * \warning the vector normal is assumed to be normalized.
-    */
-  inline Hyperplane(const VectorType& n, const VectorType& e)
-    : m_coeffs(n.size()+1)
-  {
-    normal() = n;
-    offset() = -e.eigen2_dot(n);
-  }
-
-  /** Constructs a plane from its normal \a n and distance to the origin \a d
-    * such that the algebraic equation of the plane is \f$ n \cdot x + d = 0 \f$.
-    * \warning the vector normal is assumed to be normalized.
-    */
-  inline Hyperplane(const VectorType& n, Scalar d)
-    : m_coeffs(n.size()+1)
-  {
-    normal() = n;
-    offset() = d;
-  }
-
-  /** Constructs a hyperplane passing through the two points. If the dimension of the ambient space
-    * is greater than 2, then there isn't uniqueness, so an arbitrary choice is made.
-    */
-  static inline Hyperplane Through(const VectorType& p0, const VectorType& p1)
-  {
-    Hyperplane result(p0.size());
-    result.normal() = (p1 - p0).unitOrthogonal();
-    result.offset() = -result.normal().eigen2_dot(p0);
-    return result;
-  }
-
-  /** Constructs a hyperplane passing through the three points. The dimension of the ambient space
-    * is required to be exactly 3.
-    */
-  static inline Hyperplane Through(const VectorType& p0, const VectorType& p1, const VectorType& p2)
-  {
-    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
-    Hyperplane result(p0.size());
-    result.normal() = (p2 - p0).cross(p1 - p0).normalized();
-    result.offset() = -result.normal().eigen2_dot(p0);
-    return result;
-  }
-
-  /** Constructs a hyperplane passing through the parametrized line \a parametrized.
-    * If the dimension of the ambient space is greater than 2, then there isn't uniqueness,
-    * so an arbitrary choice is made.
-    */
-  // FIXME to be consitent with the rest this could be implemented as a static Through function ??
-  explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
-  {
-    normal() = parametrized.direction().unitOrthogonal();
-    offset() = -normal().eigen2_dot(parametrized.origin());
-  }
-
-  ~Hyperplane() {}
-
-  /** \returns the dimension in which the plane holds */
-  inline int dim() const { return int(AmbientDimAtCompileTime)==Dynamic ? m_coeffs.size()-1 : int(AmbientDimAtCompileTime); }
-
-  /** normalizes \c *this */
-  void normalize(void)
-  {
-    m_coeffs /= normal().norm();
-  }
-
-  /** \returns the signed distance between the plane \c *this and a point \a p.
-    * \sa absDistance()
-    */
-  inline Scalar signedDistance(const VectorType& p) const { return p.eigen2_dot(normal()) + offset(); }
-
-  /** \returns the absolute distance between the plane \c *this and a point \a p.
-    * \sa signedDistance()
-    */
-  inline Scalar absDistance(const VectorType& p) const { return ei_abs(signedDistance(p)); }
-
-  /** \returns the projection of a point \a p onto the plane \c *this.
-    */
-  inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); }
-
-  /** \returns a constant reference to the unit normal vector of the plane, which corresponds
-    * to the linear part of the implicit equation.
-    */
-  inline const NormalReturnType normal() const { return NormalReturnType(*const_cast<Coefficients*>(&m_coeffs),0,0,dim(),1); }
-
-  /** \returns a non-constant reference to the unit normal vector of the plane, which corresponds
-    * to the linear part of the implicit equation.
-    */
-  inline NormalReturnType normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); }
-
-  /** \returns the distance to the origin, which is also the "constant term" of the implicit equation
-    * \warning the vector normal is assumed to be normalized.
-    */
-  inline const Scalar& offset() const { return m_coeffs.coeff(dim()); }
-
-  /** \returns a non-constant reference to the distance to the origin, which is also the constant part
-    * of the implicit equation */
-  inline Scalar& offset() { return m_coeffs(dim()); }
-
-  /** \returns a constant reference to the coefficients c_i of the plane equation:
-    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
-    */
-  inline const Coefficients& coeffs() const { return m_coeffs; }
-
-  /** \returns a non-constant reference to the coefficients c_i of the plane equation:
-    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
-    */
-  inline Coefficients& coeffs() { return m_coeffs; }
-
-  /** \returns the intersection of *this with \a other.
-    *
-    * \warning The ambient space must be a plane, i.e. have dimension 2, so that \c *this and \a other are lines.
-    *
-    * \note If \a other is approximately parallel to *this, this method will return any point on *this.
-    */
-  VectorType intersection(const Hyperplane& other)
-  {
-    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
-    Scalar det = coeffs().coeff(0) * other.coeffs().coeff(1) - coeffs().coeff(1) * other.coeffs().coeff(0);
-    // since the line equations ax+by=c are normalized with a^2+b^2=1, the following tests
-    // whether the two lines are approximately parallel.
-    if(ei_isMuchSmallerThan(det, Scalar(1)))
-    {   // special case where the two lines are approximately parallel. Pick any point on the first line.
-        if(ei_abs(coeffs().coeff(1))>ei_abs(coeffs().coeff(0)))
-            return VectorType(coeffs().coeff(1), -coeffs().coeff(2)/coeffs().coeff(1)-coeffs().coeff(0));
-        else
-            return VectorType(-coeffs().coeff(2)/coeffs().coeff(0)-coeffs().coeff(1), coeffs().coeff(0));
-    }
-    else
-    {   // general case
-        Scalar invdet = Scalar(1) / det;
-        return VectorType(invdet*(coeffs().coeff(1)*other.coeffs().coeff(2)-other.coeffs().coeff(1)*coeffs().coeff(2)),
-                          invdet*(other.coeffs().coeff(0)*coeffs().coeff(2)-coeffs().coeff(0)*other.coeffs().coeff(2)));
-    }
-  }
-
-  /** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this.
-    *
-    * \param mat the Dim x Dim transformation matrix
-    * \param traits specifies whether the matrix \a mat represents an Isometry
-    *               or a more generic Affine transformation. The default is Affine.
-    */
-  template<typename XprType>
-  inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
-  {
-    if (traits==Affine)
-      normal() = mat.inverse().transpose() * normal();
-    else if (traits==Isometry)
-      normal() = mat * normal();
-    else
-    {
-      ei_assert("invalid traits value in Hyperplane::transform()");
-    }
-    return *this;
-  }
-
-  /** Applies the transformation \a t to \c *this and returns a reference to \c *this.
-    *
-    * \param t the transformation of dimension Dim
-    * \param traits specifies whether the transformation \a t represents an Isometry
-    *               or a more generic Affine transformation. The default is Affine.
-    *               Other kind of transformations are not supported.
-    */
-  inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime>& t,
-                                TransformTraits traits = Affine)
-  {
-    transform(t.linear(), traits);
-    offset() -= t.translation().eigen2_dot(normal());
-    return *this;
-  }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<Hyperplane,
-           Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
-  {
-    return typename internal::cast_return_type<Hyperplane,
-                    Hyperplane<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
-  }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime>& other)
-  { m_coeffs = other.coeffs().template cast<Scalar>(); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const Hyperplane& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_coeffs.isApprox(other.m_coeffs, prec); }
-
-protected:
-
-  Coefficients m_coeffs;
-};
-
-} // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h b/eigenlib/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
deleted file mode 100644
index 9b57b7e0..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Geometry/ParametrizedLine.h
+++ /dev/null
@@ -1,141 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class ParametrizedLine
-  *
-  * \brief A parametrized line
-  *
-  * A parametrized line is defined by an origin point \f$ \mathbf{o} \f$ and a unit
-  * direction vector \f$ \mathbf{d} \f$ such that the line corresponds to
-  * the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ l \in \mathbf{R} \f$.
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
-  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
-  */
-template <typename _Scalar, int _AmbientDim>
-class ParametrizedLine
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
-  enum { AmbientDimAtCompileTime = _AmbientDim };
-  typedef _Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
-
-  /** Default constructor without initialization */
-  inline ParametrizedLine() {}
-
-  /** Constructs a dynamic-size line with \a _dim the dimension
-    * of the ambient space */
-  inline explicit ParametrizedLine(int _dim) : m_origin(_dim), m_direction(_dim) {}
-
-  /** Initializes a parametrized line of direction \a direction and origin \a origin.
-    * \warning the vector direction is assumed to be normalized.
-    */
-  ParametrizedLine(const VectorType& origin, const VectorType& direction)
-    : m_origin(origin), m_direction(direction) {}
-
-  explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
-
-  /** Constructs a parametrized line going from \a p0 to \a p1. */
-  static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
-  { return ParametrizedLine(p0, (p1-p0).normalized()); }
-
-  ~ParametrizedLine() {}
-
-  /** \returns the dimension in which the line holds */
-  inline int dim() const { return m_direction.size(); }
-
-  const VectorType& origin() const { return m_origin; }
-  VectorType& origin() { return m_origin; }
-
-  const VectorType& direction() const { return m_direction; }
-  VectorType& direction() { return m_direction; }
-
-  /** \returns the squared distance of a point \a p to its projection onto the line \c *this.
-    * \sa distance()
-    */
-  RealScalar squaredDistance(const VectorType& p) const
-  {
-    VectorType diff = p-origin();
-    return (diff - diff.eigen2_dot(direction())* direction()).squaredNorm();
-  }
-  /** \returns the distance of a point \a p to its projection onto the line \c *this.
-    * \sa squaredDistance()
-    */
-  RealScalar distance(const VectorType& p) const { return ei_sqrt(squaredDistance(p)); }
-
-  /** \returns the projection of a point \a p onto the line \c *this. */
-  VectorType projection(const VectorType& p) const
-  { return origin() + (p-origin()).eigen2_dot(direction()) * direction(); }
-
-  Scalar intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane);
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<ParametrizedLine,
-           ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
-  {
-    return typename internal::cast_return_type<ParametrizedLine,
-                    ParametrizedLine<NewScalarType,AmbientDimAtCompileTime> >::type(*this);
-  }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime>& other)
-  {
-    m_origin = other.origin().template cast<Scalar>();
-    m_direction = other.direction().template cast<Scalar>();
-  }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const ParametrizedLine& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); }
-
-protected:
-
-  VectorType m_origin, m_direction;
-};
-
-/** Constructs a parametrized line from a 2D hyperplane
-  *
-  * \warning the ambient space must have dimension 2 such that the hyperplane actually describes a line
-  */
-template <typename _Scalar, int _AmbientDim>
-inline ParametrizedLine<_Scalar, _AmbientDim>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
-  direction() = hyperplane.normal().unitOrthogonal();
-  origin() = -hyperplane.normal()*hyperplane.offset();
-}
-
-/** \returns the parameter value of the intersection between \c *this and the given hyperplane
-  */
-template <typename _Scalar, int _AmbientDim>
-inline _Scalar ParametrizedLine<_Scalar, _AmbientDim>::intersection(const Hyperplane<_Scalar, _AmbientDim>& hyperplane)
-{
-  return -(hyperplane.offset()+origin().eigen2_dot(hyperplane.normal()))
-          /(direction().eigen2_dot(hyperplane.normal()));
-}
-
-} // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Eigen2Support/Geometry/Quaternion.h b/eigenlib/Eigen/src/Eigen2Support/Geometry/Quaternion.h
deleted file mode 100644
index 4b6390cf..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Geometry/Quaternion.h
+++ /dev/null
@@ -1,495 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
-
-namespace Eigen { 
-
-template<typename Other,
-         int OtherRows=Other::RowsAtCompileTime,
-         int OtherCols=Other::ColsAtCompileTime>
-struct ei_quaternion_assign_impl;
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Quaternion
-  *
-  * \brief The quaternion class used to represent 3D orientations and rotations
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
-  *
-  * This class represents a quaternion \f$ w+xi+yj+zk \f$ that is a convenient representation of
-  * orientations and rotations of objects in three dimensions. Compared to other representations
-  * like Euler angles or 3x3 matrices, quatertions offer the following advantages:
-  * \li \b compact storage (4 scalars)
-  * \li \b efficient to compose (28 flops),
-  * \li \b stable spherical interpolation
-  *
-  * The following two typedefs are provided for convenience:
-  * \li \c Quaternionf for \c float
-  * \li \c Quaterniond for \c double
-  *
-  * \sa  class AngleAxis, class Transform
-  */
-
-template<typename _Scalar> struct ei_traits<Quaternion<_Scalar> >
-{
-  typedef _Scalar Scalar;
-};
-
-template<typename _Scalar>
-class Quaternion : public RotationBase<Quaternion<_Scalar>,3>
-{
-  typedef RotationBase<Quaternion<_Scalar>,3> Base;
-
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,4)
-
-  using Base::operator*;
-
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-
-  /** the type of the Coefficients 4-vector */
-  typedef Matrix<Scalar, 4, 1> Coefficients;
-  /** the type of a 3D vector */
-  typedef Matrix<Scalar,3,1> Vector3;
-  /** the equivalent rotation matrix type */
-  typedef Matrix<Scalar,3,3> Matrix3;
-  /** the equivalent angle-axis type */
-  typedef AngleAxis<Scalar> AngleAxisType;
-
-  /** \returns the \c x coefficient */
-  inline Scalar x() const { return m_coeffs.coeff(0); }
-  /** \returns the \c y coefficient */
-  inline Scalar y() const { return m_coeffs.coeff(1); }
-  /** \returns the \c z coefficient */
-  inline Scalar z() const { return m_coeffs.coeff(2); }
-  /** \returns the \c w coefficient */
-  inline Scalar w() const { return m_coeffs.coeff(3); }
-
-  /** \returns a reference to the \c x coefficient */
-  inline Scalar& x() { return m_coeffs.coeffRef(0); }
-  /** \returns a reference to the \c y coefficient */
-  inline Scalar& y() { return m_coeffs.coeffRef(1); }
-  /** \returns a reference to the \c z coefficient */
-  inline Scalar& z() { return m_coeffs.coeffRef(2); }
-  /** \returns a reference to the \c w coefficient */
-  inline Scalar& w() { return m_coeffs.coeffRef(3); }
-
-  /** \returns a read-only vector expression of the imaginary part (x,y,z) */
-  inline const Block<const Coefficients,3,1> vec() const { return m_coeffs.template start<3>(); }
-
-  /** \returns a vector expression of the imaginary part (x,y,z) */
-  inline Block<Coefficients,3,1> vec() { return m_coeffs.template start<3>(); }
-
-  /** \returns a read-only vector expression of the coefficients (x,y,z,w) */
-  inline const Coefficients& coeffs() const { return m_coeffs; }
-
-  /** \returns a vector expression of the coefficients (x,y,z,w) */
-  inline Coefficients& coeffs() { return m_coeffs; }
-
-  /** Default constructor leaving the quaternion uninitialized. */
-  inline Quaternion() {}
-
-  /** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
-    * its four coefficients \a w, \a x, \a y and \a z.
-    *
-    * \warning Note the order of the arguments: the real \a w coefficient first,
-    * while internally the coefficients are stored in the following order:
-    * [\c x, \c y, \c z, \c w]
-    */
-  inline Quaternion(Scalar w, Scalar x, Scalar y, Scalar z)
-  { m_coeffs << x, y, z, w; }
-
-  /** Copy constructor */
-  inline Quaternion(const Quaternion& other) { m_coeffs = other.m_coeffs; }
-
-  /** Constructs and initializes a quaternion from the angle-axis \a aa */
-  explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
-
-  /** Constructs and initializes a quaternion from either:
-    *  - a rotation matrix expression,
-    *  - a 4D vector expression representing quaternion coefficients.
-    * \sa operator=(MatrixBase<Derived>)
-    */
-  template<typename Derived>
-  explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
-
-  Quaternion& operator=(const Quaternion& other);
-  Quaternion& operator=(const AngleAxisType& aa);
-  template<typename Derived>
-  Quaternion& operator=(const MatrixBase<Derived>& m);
-
-  /** \returns a quaternion representing an identity rotation
-    * \sa MatrixBase::Identity()
-    */
-  static inline Quaternion Identity() { return Quaternion(1, 0, 0, 0); }
-
-  /** \sa Quaternion::Identity(), MatrixBase::setIdentity()
-    */
-  inline Quaternion& setIdentity() { m_coeffs << 0, 0, 0, 1; return *this; }
-
-  /** \returns the squared norm of the quaternion's coefficients
-    * \sa Quaternion::norm(), MatrixBase::squaredNorm()
-    */
-  inline Scalar squaredNorm() const { return m_coeffs.squaredNorm(); }
-
-  /** \returns the norm of the quaternion's coefficients
-    * \sa Quaternion::squaredNorm(), MatrixBase::norm()
-    */
-  inline Scalar norm() const { return m_coeffs.norm(); }
-
-  /** Normalizes the quaternion \c *this
-    * \sa normalized(), MatrixBase::normalize() */
-  inline void normalize() { m_coeffs.normalize(); }
-  /** \returns a normalized version of \c *this
-    * \sa normalize(), MatrixBase::normalized() */
-  inline Quaternion normalized() const { return Quaternion(m_coeffs.normalized()); }
-
-  /** \returns the dot product of \c *this and \a other
-    * Geometrically speaking, the dot product of two unit quaternions
-    * corresponds to the cosine of half the angle between the two rotations.
-    * \sa angularDistance()
-    */
-  inline Scalar eigen2_dot(const Quaternion& other) const { return m_coeffs.eigen2_dot(other.m_coeffs); }
-
-  inline Scalar angularDistance(const Quaternion& other) const;
-
-  Matrix3 toRotationMatrix(void) const;
-
-  template<typename Derived1, typename Derived2>
-  Quaternion& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
-
-  inline Quaternion operator* (const Quaternion& q) const;
-  inline Quaternion& operator*= (const Quaternion& q);
-
-  Quaternion inverse(void) const;
-  Quaternion conjugate(void) const;
-
-  Quaternion slerp(Scalar t, const Quaternion& other) const;
-
-  template<typename Derived>
-  Vector3 operator* (const MatrixBase<Derived>& vec) const;
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<Quaternion,Quaternion<NewScalarType> >::type cast() const
-  { return typename internal::cast_return_type<Quaternion,Quaternion<NewScalarType> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit Quaternion(const Quaternion<OtherScalarType>& other)
-  { m_coeffs = other.coeffs().template cast<Scalar>(); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const Quaternion& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_coeffs.isApprox(other.m_coeffs, prec); }
-
-protected:
-  Coefficients m_coeffs;
-};
-
-/** \ingroup Geometry_Module
-  * single precision quaternion type */
-typedef Quaternion<float> Quaternionf;
-/** \ingroup Geometry_Module
-  * double precision quaternion type */
-typedef Quaternion<double> Quaterniond;
-
-// Generic Quaternion * Quaternion product
-template<typename Scalar> inline Quaternion<Scalar>
-ei_quaternion_product(const Quaternion<Scalar>& a, const Quaternion<Scalar>& b)
-{
-  return Quaternion<Scalar>
-  (
-    a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
-    a.w() * b.x() + a.x() * b.w() + a.y() * b.z() - a.z() * b.y(),
-    a.w() * b.y() + a.y() * b.w() + a.z() * b.x() - a.x() * b.z(),
-    a.w() * b.z() + a.z() * b.w() + a.x() * b.y() - a.y() * b.x()
-  );
-}
-
-/** \returns the concatenation of two rotations as a quaternion-quaternion product */
-template <typename Scalar>
-inline Quaternion<Scalar> Quaternion<Scalar>::operator* (const Quaternion& other) const
-{
-  return ei_quaternion_product(*this,other);
-}
-
-/** \sa operator*(Quaternion) */
-template <typename Scalar>
-inline Quaternion<Scalar>& Quaternion<Scalar>::operator*= (const Quaternion& other)
-{
-  return (*this = *this * other);
-}
-
-/** Rotation of a vector by a quaternion.
-  * \remarks If the quaternion is used to rotate several points (>1)
-  * then it is much more efficient to first convert it to a 3x3 Matrix.
-  * Comparison of the operation cost for n transformations:
-  *   - Quaternion:    30n
-  *   - Via a Matrix3: 24 + 15n
-  */
-template <typename Scalar>
-template<typename Derived>
-inline typename Quaternion<Scalar>::Vector3
-Quaternion<Scalar>::operator* (const MatrixBase<Derived>& v) const
-{
-    // Note that this algorithm comes from the optimization by hand
-    // of the conversion to a Matrix followed by a Matrix/Vector product.
-    // It appears to be much faster than the common algorithm found
-    // in the litterature (30 versus 39 flops). It also requires two
-    // Vector3 as temporaries.
-    Vector3 uv;
-    uv = 2 * this->vec().cross(v);
-    return v + this->w() * uv + this->vec().cross(uv);
-}
-
-template<typename Scalar>
-inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const Quaternion& other)
-{
-  m_coeffs = other.m_coeffs;
-  return *this;
-}
-
-/** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
-  */
-template<typename Scalar>
-inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const AngleAxisType& aa)
-{
-  Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
-  this->w() = ei_cos(ha);
-  this->vec() = ei_sin(ha) * aa.axis();
-  return *this;
-}
-
-/** Set \c *this from the expression \a xpr:
-  *   - if \a xpr is a 4x1 vector, then \a xpr is assumed to be a quaternion
-  *   - if \a xpr is a 3x3 matrix, then \a xpr is assumed to be rotation matrix
-  *     and \a xpr is converted to a quaternion
-  */
-template<typename Scalar>
-template<typename Derived>
-inline Quaternion<Scalar>& Quaternion<Scalar>::operator=(const MatrixBase<Derived>& xpr)
-{
-  ei_quaternion_assign_impl<Derived>::run(*this, xpr.derived());
-  return *this;
-}
-
-/** Convert the quaternion to a 3x3 rotation matrix */
-template<typename Scalar>
-inline typename Quaternion<Scalar>::Matrix3
-Quaternion<Scalar>::toRotationMatrix(void) const
-{
-  // NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
-  // if not inlined then the cost of the return by value is huge ~ +35%,
-  // however, not inlining this function is an order of magnitude slower, so
-  // it has to be inlined, and so the return by value is not an issue
-  Matrix3 res;
-
-  const Scalar tx  = Scalar(2)*this->x();
-  const Scalar ty  = Scalar(2)*this->y();
-  const Scalar tz  = Scalar(2)*this->z();
-  const Scalar twx = tx*this->w();
-  const Scalar twy = ty*this->w();
-  const Scalar twz = tz*this->w();
-  const Scalar txx = tx*this->x();
-  const Scalar txy = ty*this->x();
-  const Scalar txz = tz*this->x();
-  const Scalar tyy = ty*this->y();
-  const Scalar tyz = tz*this->y();
-  const Scalar tzz = tz*this->z();
-
-  res.coeffRef(0,0) = Scalar(1)-(tyy+tzz);
-  res.coeffRef(0,1) = txy-twz;
-  res.coeffRef(0,2) = txz+twy;
-  res.coeffRef(1,0) = txy+twz;
-  res.coeffRef(1,1) = Scalar(1)-(txx+tzz);
-  res.coeffRef(1,2) = tyz-twx;
-  res.coeffRef(2,0) = txz-twy;
-  res.coeffRef(2,1) = tyz+twx;
-  res.coeffRef(2,2) = Scalar(1)-(txx+tyy);
-
-  return res;
-}
-
-/** Sets *this to be a quaternion representing a rotation sending the vector \a a to the vector \a b.
-  *
-  * \returns a reference to *this.
-  *
-  * Note that the two input vectors do \b not have to be normalized.
-  */
-template<typename Scalar>
-template<typename Derived1, typename Derived2>
-inline Quaternion<Scalar>& Quaternion<Scalar>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
-{
-  Vector3 v0 = a.normalized();
-  Vector3 v1 = b.normalized();
-  Scalar c = v0.eigen2_dot(v1);
-
-  // if dot == 1, vectors are the same
-  if (ei_isApprox(c,Scalar(1)))
-  {
-    // set to identity
-    this->w() = 1; this->vec().setZero();
-    return *this;
-  }
-  // if dot == -1, vectors are opposites
-  if (ei_isApprox(c,Scalar(-1)))
-  {
-    this->vec() = v0.unitOrthogonal();
-    this->w() = 0;
-    return *this;
-  }
-
-  Vector3 axis = v0.cross(v1);
-  Scalar s = ei_sqrt((Scalar(1)+c)*Scalar(2));
-  Scalar invs = Scalar(1)/s;
-  this->vec() = axis * invs;
-  this->w() = s * Scalar(0.5);
-
-  return *this;
-}
-
-/** \returns the multiplicative inverse of \c *this
-  * Note that in most cases, i.e., if you simply want the opposite rotation,
-  * and/or the quaternion is normalized, then it is enough to use the conjugate.
-  *
-  * \sa Quaternion::conjugate()
-  */
-template <typename Scalar>
-inline Quaternion<Scalar> Quaternion<Scalar>::inverse() const
-{
-  // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite()  ??
-  Scalar n2 = this->squaredNorm();
-  if (n2 > 0)
-    return Quaternion(conjugate().coeffs() / n2);
-  else
-  {
-    // return an invalid result to flag the error
-    return Quaternion(Coefficients::Zero());
-  }
-}
-
-/** \returns the conjugate of the \c *this which is equal to the multiplicative inverse
-  * if the quaternion is normalized.
-  * The conjugate of a quaternion represents the opposite rotation.
-  *
-  * \sa Quaternion::inverse()
-  */
-template <typename Scalar>
-inline Quaternion<Scalar> Quaternion<Scalar>::conjugate() const
-{
-  return Quaternion(this->w(),-this->x(),-this->y(),-this->z());
-}
-
-/** \returns the angle (in radian) between two rotations
-  * \sa eigen2_dot()
-  */
-template <typename Scalar>
-inline Scalar Quaternion<Scalar>::angularDistance(const Quaternion& other) const
-{
-  double d = ei_abs(this->eigen2_dot(other));
-  if (d>=1.0)
-    return 0;
-  return Scalar(2) * std::acos(d);
-}
-
-/** \returns the spherical linear interpolation between the two quaternions
-  * \c *this and \a other at the parameter \a t
-  */
-template <typename Scalar>
-Quaternion<Scalar> Quaternion<Scalar>::slerp(Scalar t, const Quaternion& other) const
-{
-  static const Scalar one = Scalar(1) - machine_epsilon<Scalar>();
-  Scalar d = this->eigen2_dot(other);
-  Scalar absD = ei_abs(d);
-
-  Scalar scale0;
-  Scalar scale1;
-
-  if (absD>=one)
-  {
-    scale0 = Scalar(1) - t;
-    scale1 = t;
-  }
-  else
-  {
-    // theta is the angle between the 2 quaternions
-    Scalar theta = std::acos(absD);
-    Scalar sinTheta = ei_sin(theta);
-
-    scale0 = ei_sin( ( Scalar(1) - t ) * theta) / sinTheta;
-    scale1 = ei_sin( ( t * theta) ) / sinTheta;
-    if (d<0)
-      scale1 = -scale1;
-  }
-
-  return Quaternion<Scalar>(scale0 * coeffs() + scale1 * other.coeffs());
-}
-
-// set from a rotation matrix
-template<typename Other>
-struct ei_quaternion_assign_impl<Other,3,3>
-{
-  typedef typename Other::Scalar Scalar;
-  static inline void run(Quaternion<Scalar>& q, const Other& mat)
-  {
-    // This algorithm comes from  "Quaternion Calculus and Fast Animation",
-    // Ken Shoemake, 1987 SIGGRAPH course notes
-    Scalar t = mat.trace();
-    if (t > 0)
-    {
-      t = ei_sqrt(t + Scalar(1.0));
-      q.w() = Scalar(0.5)*t;
-      t = Scalar(0.5)/t;
-      q.x() = (mat.coeff(2,1) - mat.coeff(1,2)) * t;
-      q.y() = (mat.coeff(0,2) - mat.coeff(2,0)) * t;
-      q.z() = (mat.coeff(1,0) - mat.coeff(0,1)) * t;
-    }
-    else
-    {
-      int i = 0;
-      if (mat.coeff(1,1) > mat.coeff(0,0))
-        i = 1;
-      if (mat.coeff(2,2) > mat.coeff(i,i))
-        i = 2;
-      int j = (i+1)%3;
-      int k = (j+1)%3;
-
-      t = ei_sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
-      q.coeffs().coeffRef(i) = Scalar(0.5) * t;
-      t = Scalar(0.5)/t;
-      q.w() = (mat.coeff(k,j)-mat.coeff(j,k))*t;
-      q.coeffs().coeffRef(j) = (mat.coeff(j,i)+mat.coeff(i,j))*t;
-      q.coeffs().coeffRef(k) = (mat.coeff(k,i)+mat.coeff(i,k))*t;
-    }
-  }
-};
-
-// set from a vector of coefficients assumed to be a quaternion
-template<typename Other>
-struct ei_quaternion_assign_impl<Other,4,1>
-{
-  typedef typename Other::Scalar Scalar;
-  static inline void run(Quaternion<Scalar>& q, const Other& vec)
-  {
-    q.coeffs() = vec;
-  }
-};
-
-} // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Eigen2Support/Geometry/Rotation2D.h b/eigenlib/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
deleted file mode 100644
index 19b8582a..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Geometry/Rotation2D.h
+++ /dev/null
@@ -1,145 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Rotation2D
-  *
-  * \brief Represents a rotation/orientation in a 2 dimensional space.
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
-  *
-  * This class is equivalent to a single scalar representing a counter clock wise rotation
-  * as a single angle in radian. It provides some additional features such as the automatic
-  * conversion from/to a 2x2 rotation matrix. Moreover this class aims to provide a similar
-  * interface to Quaternion in order to facilitate the writing of generic algorithms
-  * dealing with rotations.
-  *
-  * \sa class Quaternion, class Transform
-  */
-template<typename _Scalar> struct ei_traits<Rotation2D<_Scalar> >
-{
-  typedef _Scalar Scalar;
-};
-
-template<typename _Scalar>
-class Rotation2D : public RotationBase<Rotation2D<_Scalar>,2>
-{
-  typedef RotationBase<Rotation2D<_Scalar>,2> Base;
-
-public:
-
-  using Base::operator*;
-
-  enum { Dim = 2 };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  typedef Matrix<Scalar,2,1> Vector2;
-  typedef Matrix<Scalar,2,2> Matrix2;
-
-protected:
-
-  Scalar m_angle;
-
-public:
-
-  /** Construct a 2D counter clock wise rotation from the angle \a a in radian. */
-  inline Rotation2D(Scalar a) : m_angle(a) {}
-
-  /** \returns the rotation angle */
-  inline Scalar angle() const { return m_angle; }
-
-  /** \returns a read-write reference to the rotation angle */
-  inline Scalar& angle() { return m_angle; }
-
-  /** \returns the inverse rotation */
-  inline Rotation2D inverse() const { return -m_angle; }
-
-  /** Concatenates two rotations */
-  inline Rotation2D operator*(const Rotation2D& other) const
-  { return m_angle + other.m_angle; }
-
-  /** Concatenates two rotations */
-  inline Rotation2D& operator*=(const Rotation2D& other)
-  { return m_angle += other.m_angle; return *this; }
-
-  /** Applies the rotation to a 2D vector */
-  Vector2 operator* (const Vector2& vec) const
-  { return toRotationMatrix() * vec; }
-
-  template<typename Derived>
-  Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
-  Matrix2 toRotationMatrix(void) const;
-
-  /** \returns the spherical interpolation between \c *this and \a other using
-    * parameter \a t. It is in fact equivalent to a linear interpolation.
-    */
-  inline Rotation2D slerp(Scalar t, const Rotation2D& other) const
-  { return m_angle * (1-t) + other.angle() * t; }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const
-  { return typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other)
-  {
-    m_angle = Scalar(other.angle());
-  }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const Rotation2D& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return ei_isApprox(m_angle,other.m_angle, prec); }
-};
-
-/** \ingroup Geometry_Module
-  * single precision 2D rotation type */
-typedef Rotation2D<float> Rotation2Df;
-/** \ingroup Geometry_Module
-  * double precision 2D rotation type */
-typedef Rotation2D<double> Rotation2Dd;
-
-/** Set \c *this from a 2x2 rotation matrix \a mat.
-  * In other words, this function extract the rotation angle
-  * from the rotation matrix.
-  */
-template<typename Scalar>
-template<typename Derived>
-Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
-{
-  EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
-  m_angle = ei_atan2(mat.coeff(1,0), mat.coeff(0,0));
-  return *this;
-}
-
-/** Constructs and \returns an equivalent 2x2 rotation matrix.
-  */
-template<typename Scalar>
-typename Rotation2D<Scalar>::Matrix2
-Rotation2D<Scalar>::toRotationMatrix(void) const
-{
-  Scalar sinA = ei_sin(m_angle);
-  Scalar cosA = ei_cos(m_angle);
-  return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
-}
-
-} // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Eigen2Support/Geometry/RotationBase.h b/eigenlib/Eigen/src/Eigen2Support/Geometry/RotationBase.h
deleted file mode 100644
index b1c8f38d..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Geometry/RotationBase.h
+++ /dev/null
@@ -1,123 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
-
-namespace Eigen { 
-
-// this file aims to contains the various representations of rotation/orientation
-// in 2D and 3D space excepted Matrix and Quaternion.
-
-/** \class RotationBase
-  *
-  * \brief Common base class for compact rotation representations
-  *
-  * \param Derived is the derived type, i.e., a rotation type
-  * \param _Dim the dimension of the space
-  */
-template<typename Derived, int _Dim>
-class RotationBase
-{
-  public:
-    enum { Dim = _Dim };
-    /** the scalar type of the coefficients */
-    typedef typename ei_traits<Derived>::Scalar Scalar;
-    
-    /** corresponding linear transformation matrix type */
-    typedef Matrix<Scalar,Dim,Dim> RotationMatrixType;
-
-    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    inline Derived& derived() { return *static_cast<Derived*>(this); }
-
-    /** \returns an equivalent rotation matrix */
-    inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
-
-    /** \returns the inverse rotation */
-    inline Derived inverse() const { return derived().inverse(); }
-
-    /** \returns the concatenation of the rotation \c *this with a translation \a t */
-    inline Transform<Scalar,Dim> operator*(const Translation<Scalar,Dim>& t) const
-    { return toRotationMatrix() * t; }
-
-    /** \returns the concatenation of the rotation \c *this with a scaling \a s */
-    inline RotationMatrixType operator*(const Scaling<Scalar,Dim>& s) const
-    { return toRotationMatrix() * s; }
-
-    /** \returns the concatenation of the rotation \c *this with an affine transformation \a t */
-    inline Transform<Scalar,Dim> operator*(const Transform<Scalar,Dim>& t) const
-    { return toRotationMatrix() * t; }
-};
-
-/** \geometry_module
-  *
-  * Constructs a Dim x Dim rotation matrix from the rotation \a r
-  */
-template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
-template<typename OtherDerived>
-Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
-::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
-{
-  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
-  *this = r.toRotationMatrix();
-}
-
-/** \geometry_module
-  *
-  * Set a Dim x Dim rotation matrix from the rotation \a r
-  */
-template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
-template<typename OtherDerived>
-Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
-Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
-::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
-{
-  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
-  return *this = r.toRotationMatrix();
-}
-
-/** \internal
-  *
-  * Helper function to return an arbitrary rotation object to a rotation matrix.
-  *
-  * \param Scalar the numeric type of the matrix coefficients
-  * \param Dim the dimension of the current space
-  *
-  * It returns a Dim x Dim fixed size matrix.
-  *
-  * Default specializations are provided for:
-  *   - any scalar type (2D),
-  *   - any matrix expression,
-  *   - any type based on RotationBase (e.g., Quaternion, AngleAxis, Rotation2D)
-  *
-  * Currently ei_toRotationMatrix is only used by Transform.
-  *
-  * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
-  */
-template<typename Scalar, int Dim>
-static inline Matrix<Scalar,2,2> ei_toRotationMatrix(const Scalar& s)
-{
-  EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
-  return Rotation2D<Scalar>(s).toRotationMatrix();
-}
-
-template<typename Scalar, int Dim, typename OtherDerived>
-static inline Matrix<Scalar,Dim,Dim> ei_toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
-{
-  return r.toRotationMatrix();
-}
-
-template<typename Scalar, int Dim, typename OtherDerived>
-static inline const MatrixBase<OtherDerived>& ei_toRotationMatrix(const MatrixBase<OtherDerived>& mat)
-{
-  EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
-    YOU_MADE_A_PROGRAMMING_MISTAKE)
-  return mat;
-}
-
-} // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Eigen2Support/Geometry/Scaling.h b/eigenlib/Eigen/src/Eigen2Support/Geometry/Scaling.h
deleted file mode 100644
index b8fa6cd3..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Geometry/Scaling.h
+++ /dev/null
@@ -1,167 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Scaling
-  *
-  * \brief Represents a possibly non uniform scaling transformation
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients.
-  * \param _Dim the  dimension of the space, can be a compile time value or Dynamic
-  *
-  * \note This class is not aimed to be used to store a scaling transformation,
-  * but rather to make easier the constructions and updates of Transform objects.
-  *
-  * \sa class Translation, class Transform
-  */
-template<typename _Scalar, int _Dim>
-class Scaling
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
-  /** dimension of the space */
-  enum { Dim = _Dim };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  /** corresponding vector type */
-  typedef Matrix<Scalar,Dim,1> VectorType;
-  /** corresponding linear transformation matrix type */
-  typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
-  /** corresponding translation type */
-  typedef Translation<Scalar,Dim> TranslationType;
-  /** corresponding affine transformation type */
-  typedef Transform<Scalar,Dim> TransformType;
-
-protected:
-
-  VectorType m_coeffs;
-
-public:
-
-  /** Default constructor without initialization. */
-  Scaling() {}
-  /** Constructs and initialize a uniform scaling transformation */
-  explicit inline Scaling(const Scalar& s) { m_coeffs.setConstant(s); }
-  /** 2D only */
-  inline Scaling(const Scalar& sx, const Scalar& sy)
-  {
-    ei_assert(Dim==2);
-    m_coeffs.x() = sx;
-    m_coeffs.y() = sy;
-  }
-  /** 3D only */
-  inline Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz)
-  {
-    ei_assert(Dim==3);
-    m_coeffs.x() = sx;
-    m_coeffs.y() = sy;
-    m_coeffs.z() = sz;
-  }
-  /** Constructs and initialize the scaling transformation from a vector of scaling coefficients */
-  explicit inline Scaling(const VectorType& coeffs) : m_coeffs(coeffs) {}
-
-  const VectorType& coeffs() const { return m_coeffs; }
-  VectorType& coeffs() { return m_coeffs; }
-
-  /** Concatenates two scaling */
-  inline Scaling operator* (const Scaling& other) const
-  { return Scaling(coeffs().cwise() * other.coeffs()); }
-
-  /** Concatenates a scaling and a translation */
-  inline TransformType operator* (const TranslationType& t) const;
-
-  /** Concatenates a scaling and an affine transformation */
-  inline TransformType operator* (const TransformType& t) const;
-
-  /** Concatenates a scaling and a linear transformation matrix */
-  // TODO returns an expression
-  inline LinearMatrixType operator* (const LinearMatrixType& other) const
-  { return coeffs().asDiagonal() * other; }
-
-  /** Concatenates a linear transformation matrix and a scaling */
-  // TODO returns an expression
-  friend inline LinearMatrixType operator* (const LinearMatrixType& other, const Scaling& s)
-  { return other * s.coeffs().asDiagonal(); }
-
-  template<typename Derived>
-  inline LinearMatrixType operator*(const RotationBase<Derived,Dim>& r) const
-  { return *this * r.toRotationMatrix(); }
-
-  /** Applies scaling to vector */
-  inline VectorType operator* (const VectorType& other) const
-  { return coeffs().asDiagonal() * other; }
-
-  /** \returns the inverse scaling */
-  inline Scaling inverse() const
-  { return Scaling(coeffs().cwise().inverse()); }
-
-  inline Scaling& operator=(const Scaling& other)
-  {
-    m_coeffs = other.m_coeffs;
-    return *this;
-  }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<Scaling,Scaling<NewScalarType,Dim> >::type cast() const
-  { return typename internal::cast_return_type<Scaling,Scaling<NewScalarType,Dim> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit Scaling(const Scaling<OtherScalarType,Dim>& other)
-  { m_coeffs = other.coeffs().template cast<Scalar>(); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const Scaling& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_coeffs.isApprox(other.m_coeffs, prec); }
-
-};
-
-/** \addtogroup Geometry_Module */
-//@{
-typedef Scaling<float, 2> Scaling2f;
-typedef Scaling<double,2> Scaling2d;
-typedef Scaling<float, 3> Scaling3f;
-typedef Scaling<double,3> Scaling3d;
-//@}
-
-template<typename Scalar, int Dim>
-inline typename Scaling<Scalar,Dim>::TransformType
-Scaling<Scalar,Dim>::operator* (const TranslationType& t) const
-{
-  TransformType res;
-  res.matrix().setZero();
-  res.linear().diagonal() = coeffs();
-  res.translation() = m_coeffs.cwise() * t.vector();
-  res(Dim,Dim) = Scalar(1);
-  return res;
-}
-
-template<typename Scalar, int Dim>
-inline typename Scaling<Scalar,Dim>::TransformType
-Scaling<Scalar,Dim>::operator* (const TransformType& t) const
-{
-  TransformType res = t;
-  res.prescale(m_coeffs);
-  return res;
-}
-
-} // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Eigen2Support/Geometry/Transform.h b/eigenlib/Eigen/src/Eigen2Support/Geometry/Transform.h
deleted file mode 100644
index fab60b25..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Geometry/Transform.h
+++ /dev/null
@@ -1,786 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
-
-namespace Eigen { 
-
-// Note that we have to pass Dim and HDim because it is not allowed to use a template
-// parameter to define a template specialization. To be more precise, in the following
-// specializations, it is not allowed to use Dim+1 instead of HDim.
-template< typename Other,
-          int Dim,
-          int HDim,
-          int OtherRows=Other::RowsAtCompileTime,
-          int OtherCols=Other::ColsAtCompileTime>
-struct ei_transform_product_impl;
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Transform
-  *
-  * \brief Represents an homogeneous transformation in a N dimensional space
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
-  * \param _Dim the dimension of the space
-  *
-  * The homography is internally represented and stored as a (Dim+1)^2 matrix which
-  * is available through the matrix() method.
-  *
-  * Conversion methods from/to Qt's QMatrix and QTransform are available if the
-  * preprocessor token EIGEN_QT_SUPPORT is defined.
-  *
-  * \sa class Matrix, class Quaternion
-  */
-template<typename _Scalar, int _Dim>
-class Transform
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim==Dynamic ? Dynamic : (_Dim+1)*(_Dim+1))
-  enum {
-    Dim = _Dim,     ///< space dimension in which the transformation holds
-    HDim = _Dim+1   ///< size of a respective homogeneous vector
-  };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  /** type of the matrix used to represent the transformation */
-  typedef Matrix<Scalar,HDim,HDim> MatrixType;
-  /** type of the matrix used to represent the linear part of the transformation */
-  typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
-  /** type of read/write reference to the linear part of the transformation */
-  typedef Block<MatrixType,Dim,Dim> LinearPart;
-  /** type of read/write reference to the linear part of the transformation */
-  typedef const Block<const MatrixType,Dim,Dim> ConstLinearPart;
-  /** type of a vector */
-  typedef Matrix<Scalar,Dim,1> VectorType;
-  /** type of a read/write reference to the translation part of the rotation */
-  typedef Block<MatrixType,Dim,1> TranslationPart;
-  /** type of a read/write reference to the translation part of the rotation */
-  typedef const Block<const MatrixType,Dim,1> ConstTranslationPart;
-  /** corresponding translation type */
-  typedef Translation<Scalar,Dim> TranslationType;
-  /** corresponding scaling transformation type */
-  typedef Scaling<Scalar,Dim> ScalingType;
-
-protected:
-
-  MatrixType m_matrix;
-
-public:
-
-  /** Default constructor without initialization of the coefficients. */
-  inline Transform() { }
-
-  inline Transform(const Transform& other)
-  {
-    m_matrix = other.m_matrix;
-  }
-
-  inline explicit Transform(const TranslationType& t) { *this = t; }
-  inline explicit Transform(const ScalingType& s) { *this = s; }
-  template<typename Derived>
-  inline explicit Transform(const RotationBase<Derived, Dim>& r) { *this = r; }
-
-  inline Transform& operator=(const Transform& other)
-  { m_matrix = other.m_matrix; return *this; }
-
-  template<typename OtherDerived, bool BigMatrix> // MSVC 2005 will commit suicide if BigMatrix has a default value
-  struct construct_from_matrix
-  {
-    static inline void run(Transform *transform, const MatrixBase<OtherDerived>& other)
-    {
-      transform->matrix() = other;
-    }
-  };
-
-  template<typename OtherDerived> struct construct_from_matrix<OtherDerived, true>
-  {
-    static inline void run(Transform *transform, const MatrixBase<OtherDerived>& other)
-    {
-      transform->linear() = other;
-      transform->translation().setZero();
-      transform->matrix()(Dim,Dim) = Scalar(1);
-      transform->matrix().template block<1,Dim>(Dim,0).setZero();
-    }
-  };
-
-  /** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
-  template<typename OtherDerived>
-  inline explicit Transform(const MatrixBase<OtherDerived>& other)
-  {
-    construct_from_matrix<OtherDerived, int(OtherDerived::RowsAtCompileTime) == Dim>::run(this, other);
-  }
-
-  /** Set \c *this from a (Dim+1)^2 matrix. */
-  template<typename OtherDerived>
-  inline Transform& operator=(const MatrixBase<OtherDerived>& other)
-  { m_matrix = other; return *this; }
-
-  #ifdef EIGEN_QT_SUPPORT
-  inline Transform(const QMatrix& other);
-  inline Transform& operator=(const QMatrix& other);
-  inline QMatrix toQMatrix(void) const;
-  inline Transform(const QTransform& other);
-  inline Transform& operator=(const QTransform& other);
-  inline QTransform toQTransform(void) const;
-  #endif
-
-  /** shortcut for m_matrix(row,col);
-    * \sa MatrixBase::operaror(int,int) const */
-  inline Scalar operator() (int row, int col) const { return m_matrix(row,col); }
-  /** shortcut for m_matrix(row,col);
-    * \sa MatrixBase::operaror(int,int) */
-  inline Scalar& operator() (int row, int col) { return m_matrix(row,col); }
-
-  /** \returns a read-only expression of the transformation matrix */
-  inline const MatrixType& matrix() const { return m_matrix; }
-  /** \returns a writable expression of the transformation matrix */
-  inline MatrixType& matrix() { return m_matrix; }
-
-  /** \returns a read-only expression of the linear (linear) part of the transformation */
-  inline ConstLinearPart linear() const { return m_matrix.template block<Dim,Dim>(0,0); }
-  /** \returns a writable expression of the linear (linear) part of the transformation */
-  inline LinearPart linear() { return m_matrix.template block<Dim,Dim>(0,0); }
-
-  /** \returns a read-only expression of the translation vector of the transformation */
-  inline ConstTranslationPart translation() const { return m_matrix.template block<Dim,1>(0,Dim); }
-  /** \returns a writable expression of the translation vector of the transformation */
-  inline TranslationPart translation() { return m_matrix.template block<Dim,1>(0,Dim); }
-
-  /** \returns an expression of the product between the transform \c *this and a matrix expression \a other
-  *
-  * The right hand side \a other might be either:
-  * \li a vector of size Dim,
-  * \li an homogeneous vector of size Dim+1,
-  * \li a transformation matrix of size Dim+1 x Dim+1.
-  */
-  // note: this function is defined here because some compilers cannot find the respective declaration
-  template<typename OtherDerived>
-  inline const typename ei_transform_product_impl<OtherDerived,_Dim,_Dim+1>::ResultType
-  operator * (const MatrixBase<OtherDerived> &other) const
-  { return ei_transform_product_impl<OtherDerived,Dim,HDim>::run(*this,other.derived()); }
-
-  /** \returns the product expression of a transformation matrix \a a times a transform \a b
-    * The transformation matrix \a a must have a Dim+1 x Dim+1 sizes. */
-  template<typename OtherDerived>
-  friend inline const typename ProductReturnType<OtherDerived,MatrixType>::Type
-  operator * (const MatrixBase<OtherDerived> &a, const Transform &b)
-  { return a.derived() * b.matrix(); }
-
-  /** Contatenates two transformations */
-  inline const Transform
-  operator * (const Transform& other) const
-  { return Transform(m_matrix * other.matrix()); }
-
-  /** \sa MatrixBase::setIdentity() */
-  void setIdentity() { m_matrix.setIdentity(); }
-  static const typename MatrixType::IdentityReturnType Identity()
-  {
-    return MatrixType::Identity();
-  }
-
-  template<typename OtherDerived>
-  inline Transform& scale(const MatrixBase<OtherDerived> &other);
-
-  template<typename OtherDerived>
-  inline Transform& prescale(const MatrixBase<OtherDerived> &other);
-
-  inline Transform& scale(Scalar s);
-  inline Transform& prescale(Scalar s);
-
-  template<typename OtherDerived>
-  inline Transform& translate(const MatrixBase<OtherDerived> &other);
-
-  template<typename OtherDerived>
-  inline Transform& pretranslate(const MatrixBase<OtherDerived> &other);
-
-  template<typename RotationType>
-  inline Transform& rotate(const RotationType& rotation);
-
-  template<typename RotationType>
-  inline Transform& prerotate(const RotationType& rotation);
-
-  Transform& shear(Scalar sx, Scalar sy);
-  Transform& preshear(Scalar sx, Scalar sy);
-
-  inline Transform& operator=(const TranslationType& t);
-  inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
-  inline Transform operator*(const TranslationType& t) const;
-
-  inline Transform& operator=(const ScalingType& t);
-  inline Transform& operator*=(const ScalingType& s) { return scale(s.coeffs()); }
-  inline Transform operator*(const ScalingType& s) const;
-  friend inline Transform operator*(const LinearMatrixType& mat, const Transform& t)
-  {
-    Transform res = t;
-    res.matrix().row(Dim) = t.matrix().row(Dim);
-    res.matrix().template block<Dim,HDim>(0,0) = (mat * t.matrix().template block<Dim,HDim>(0,0)).lazy();
-    return res;
-  }
-
-  template<typename Derived>
-  inline Transform& operator=(const RotationBase<Derived,Dim>& r);
-  template<typename Derived>
-  inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
-  template<typename Derived>
-  inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
-
-  LinearMatrixType rotation() const;
-  template<typename RotationMatrixType, typename ScalingMatrixType>
-  void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
-  template<typename ScalingMatrixType, typename RotationMatrixType>
-  void computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const;
-
-  template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
-  Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
-    const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale);
-
-  inline const MatrixType inverse(TransformTraits traits = Affine) const;
-
-  /** \returns a const pointer to the column major internal matrix */
-  const Scalar* data() const { return m_matrix.data(); }
-  /** \returns a non-const pointer to the column major internal matrix */
-  Scalar* data() { return m_matrix.data(); }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim> >::type cast() const
-  { return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit Transform(const Transform<OtherScalarType,Dim>& other)
-  { m_matrix = other.matrix().template cast<Scalar>(); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const Transform& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_matrix.isApprox(other.m_matrix, prec); }
-
-  #ifdef EIGEN_TRANSFORM_PLUGIN
-  #include EIGEN_TRANSFORM_PLUGIN
-  #endif
-
-protected:
-
-};
-
-/** \ingroup Geometry_Module */
-typedef Transform<float,2> Transform2f;
-/** \ingroup Geometry_Module */
-typedef Transform<float,3> Transform3f;
-/** \ingroup Geometry_Module */
-typedef Transform<double,2> Transform2d;
-/** \ingroup Geometry_Module */
-typedef Transform<double,3> Transform3d;
-
-/**************************
-*** Optional QT support ***
-**************************/
-
-#ifdef EIGEN_QT_SUPPORT
-/** Initialises \c *this from a QMatrix assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim>
-Transform<Scalar,Dim>::Transform(const QMatrix& other)
-{
-  *this = other;
-}
-
-/** Set \c *this from a QMatrix assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim>
-Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const QMatrix& other)
-{
-  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  m_matrix << other.m11(), other.m21(), other.dx(),
-              other.m12(), other.m22(), other.dy(),
-              0, 0, 1;
-   return *this;
-}
-
-/** \returns a QMatrix from \c *this assuming the dimension is 2.
-  *
-  * \warning this convertion might loss data if \c *this is not affine
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim>
-QMatrix Transform<Scalar,Dim>::toQMatrix(void) const
-{
-  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  return QMatrix(m_matrix.coeff(0,0), m_matrix.coeff(1,0),
-                 m_matrix.coeff(0,1), m_matrix.coeff(1,1),
-                 m_matrix.coeff(0,2), m_matrix.coeff(1,2));
-}
-
-/** Initialises \c *this from a QTransform assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim>
-Transform<Scalar,Dim>::Transform(const QTransform& other)
-{
-  *this = other;
-}
-
-/** Set \c *this from a QTransform assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim>
-Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const QTransform& other)
-{
-  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  m_matrix << other.m11(), other.m21(), other.dx(),
-              other.m12(), other.m22(), other.dy(),
-              other.m13(), other.m23(), other.m33();
-   return *this;
-}
-
-/** \returns a QTransform from \c *this assuming the dimension is 2.
-  *
-  * This function is available only if the token EIGEN_QT_SUPPORT is defined.
-  */
-template<typename Scalar, int Dim>
-QTransform Transform<Scalar,Dim>::toQTransform(void) const
-{
-  EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  return QTransform(m_matrix.coeff(0,0), m_matrix.coeff(1,0), m_matrix.coeff(2,0),
-                    m_matrix.coeff(0,1), m_matrix.coeff(1,1), m_matrix.coeff(2,1),
-                    m_matrix.coeff(0,2), m_matrix.coeff(1,2), m_matrix.coeff(2,2));
-}
-#endif
-
-/*********************
-*** Procedural API ***
-*********************/
-
-/** Applies on the right the non uniform scale transformation represented
-  * by the vector \a other to \c *this and returns a reference to \c *this.
-  * \sa prescale()
-  */
-template<typename Scalar, int Dim>
-template<typename OtherDerived>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::scale(const MatrixBase<OtherDerived> &other)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
-  linear() = (linear() * other.asDiagonal()).lazy();
-  return *this;
-}
-
-/** Applies on the right a uniform scale of a factor \a c to \c *this
-  * and returns a reference to \c *this.
-  * \sa prescale(Scalar)
-  */
-template<typename Scalar, int Dim>
-inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::scale(Scalar s)
-{
-  linear() *= s;
-  return *this;
-}
-
-/** Applies on the left the non uniform scale transformation represented
-  * by the vector \a other to \c *this and returns a reference to \c *this.
-  * \sa scale()
-  */
-template<typename Scalar, int Dim>
-template<typename OtherDerived>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::prescale(const MatrixBase<OtherDerived> &other)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
-  m_matrix.template block<Dim,HDim>(0,0) = (other.asDiagonal() * m_matrix.template block<Dim,HDim>(0,0)).lazy();
-  return *this;
-}
-
-/** Applies on the left a uniform scale of a factor \a c to \c *this
-  * and returns a reference to \c *this.
-  * \sa scale(Scalar)
-  */
-template<typename Scalar, int Dim>
-inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::prescale(Scalar s)
-{
-  m_matrix.template corner<Dim,HDim>(TopLeft) *= s;
-  return *this;
-}
-
-/** Applies on the right the translation matrix represented by the vector \a other
-  * to \c *this and returns a reference to \c *this.
-  * \sa pretranslate()
-  */
-template<typename Scalar, int Dim>
-template<typename OtherDerived>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::translate(const MatrixBase<OtherDerived> &other)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
-  translation() += linear() * other;
-  return *this;
-}
-
-/** Applies on the left the translation matrix represented by the vector \a other
-  * to \c *this and returns a reference to \c *this.
-  * \sa translate()
-  */
-template<typename Scalar, int Dim>
-template<typename OtherDerived>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::pretranslate(const MatrixBase<OtherDerived> &other)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
-  translation() += other;
-  return *this;
-}
-
-/** Applies on the right the rotation represented by the rotation \a rotation
-  * to \c *this and returns a reference to \c *this.
-  *
-  * The template parameter \a RotationType is the type of the rotation which
-  * must be known by ei_toRotationMatrix<>.
-  *
-  * Natively supported types includes:
-  *   - any scalar (2D),
-  *   - a Dim x Dim matrix expression,
-  *   - a Quaternion (3D),
-  *   - a AngleAxis (3D)
-  *
-  * This mechanism is easily extendable to support user types such as Euler angles,
-  * or a pair of Quaternion for 4D rotations.
-  *
-  * \sa rotate(Scalar), class Quaternion, class AngleAxis, prerotate(RotationType)
-  */
-template<typename Scalar, int Dim>
-template<typename RotationType>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::rotate(const RotationType& rotation)
-{
-  linear() *= ei_toRotationMatrix<Scalar,Dim>(rotation);
-  return *this;
-}
-
-/** Applies on the left the rotation represented by the rotation \a rotation
-  * to \c *this and returns a reference to \c *this.
-  *
-  * See rotate() for further details.
-  *
-  * \sa rotate()
-  */
-template<typename Scalar, int Dim>
-template<typename RotationType>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::prerotate(const RotationType& rotation)
-{
-  m_matrix.template block<Dim,HDim>(0,0) = ei_toRotationMatrix<Scalar,Dim>(rotation)
-                                         * m_matrix.template block<Dim,HDim>(0,0);
-  return *this;
-}
-
-/** Applies on the right the shear transformation represented
-  * by the vector \a other to \c *this and returns a reference to \c *this.
-  * \warning 2D only.
-  * \sa preshear()
-  */
-template<typename Scalar, int Dim>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::shear(Scalar sx, Scalar sy)
-{
-  EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  VectorType tmp = linear().col(0)*sy + linear().col(1);
-  linear() << linear().col(0) + linear().col(1)*sx, tmp;
-  return *this;
-}
-
-/** Applies on the left the shear transformation represented
-  * by the vector \a other to \c *this and returns a reference to \c *this.
-  * \warning 2D only.
-  * \sa shear()
-  */
-template<typename Scalar, int Dim>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::preshear(Scalar sx, Scalar sy)
-{
-  EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  m_matrix.template block<Dim,HDim>(0,0) = LinearMatrixType(1, sx, sy, 1) * m_matrix.template block<Dim,HDim>(0,0);
-  return *this;
-}
-
-/******************************************************
-*** Scaling, Translation and Rotation compatibility ***
-******************************************************/
-
-template<typename Scalar, int Dim>
-inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const TranslationType& t)
-{
-  linear().setIdentity();
-  translation() = t.vector();
-  m_matrix.template block<1,Dim>(Dim,0).setZero();
-  m_matrix(Dim,Dim) = Scalar(1);
-  return *this;
-}
-
-template<typename Scalar, int Dim>
-inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const TranslationType& t) const
-{
-  Transform res = *this;
-  res.translate(t.vector());
-  return res;
-}
-
-template<typename Scalar, int Dim>
-inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const ScalingType& s)
-{
-  m_matrix.setZero();
-  linear().diagonal() = s.coeffs();
-  m_matrix.coeffRef(Dim,Dim) = Scalar(1);
-  return *this;
-}
-
-template<typename Scalar, int Dim>
-inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const ScalingType& s) const
-{
-  Transform res = *this;
-  res.scale(s.coeffs());
-  return res;
-}
-
-template<typename Scalar, int Dim>
-template<typename Derived>
-inline Transform<Scalar,Dim>& Transform<Scalar,Dim>::operator=(const RotationBase<Derived,Dim>& r)
-{
-  linear() = ei_toRotationMatrix<Scalar,Dim>(r);
-  translation().setZero();
-  m_matrix.template block<1,Dim>(Dim,0).setZero();
-  m_matrix.coeffRef(Dim,Dim) = Scalar(1);
-  return *this;
-}
-
-template<typename Scalar, int Dim>
-template<typename Derived>
-inline Transform<Scalar,Dim> Transform<Scalar,Dim>::operator*(const RotationBase<Derived,Dim>& r) const
-{
-  Transform res = *this;
-  res.rotate(r.derived());
-  return res;
-}
-
-/************************
-*** Special functions ***
-************************/
-
-/** \returns the rotation part of the transformation
-  * \nonstableyet
-  *
-  * \svd_module
-  *
-  * \sa computeRotationScaling(), computeScalingRotation(), class SVD
-  */
-template<typename Scalar, int Dim>
-typename Transform<Scalar,Dim>::LinearMatrixType
-Transform<Scalar,Dim>::rotation() const
-{
-  LinearMatrixType result;
-  computeRotationScaling(&result, (LinearMatrixType*)0);
-  return result;
-}
-
-
-/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
-  * not necessarily positive.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  * \nonstableyet
-  *
-  * \svd_module
-  *
-  * \sa computeScalingRotation(), rotation(), class SVD
-  */
-template<typename Scalar, int Dim>
-template<typename RotationMatrixType, typename ScalingMatrixType>
-void Transform<Scalar,Dim>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
-{
-  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU|ComputeFullV);
-  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
-  Matrix<Scalar, Dim, 1> sv(svd.singularValues());
-  sv.coeffRef(0) *= x;
-  if(scaling)
-  {
-    scaling->noalias() = svd.matrixV() * sv.asDiagonal() * svd.matrixV().adjoint();
-  }
-  if(rotation)
-  {
-    LinearMatrixType m(svd.matrixU());
-    m.col(0) /= x;
-    rotation->noalias() = m * svd.matrixV().adjoint();
-  }
-}
-
-/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
-  * not necessarily positive.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  * \nonstableyet
-  *
-  * \svd_module
-  *
-  * \sa computeRotationScaling(), rotation(), class SVD
-  */
-template<typename Scalar, int Dim>
-template<typename ScalingMatrixType, typename RotationMatrixType>
-void Transform<Scalar,Dim>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
-{
-  JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU|ComputeFullV);
-  Scalar x = (svd.matrixU() * svd.matrixV().adjoint()).determinant(); // so x has absolute value 1
-  Matrix<Scalar, Dim, 1> sv(svd.singularValues());
-  sv.coeffRef(0) *= x;
-  if(scaling)
-  {
-    scaling->noalias() = svd.matrixU() * sv.asDiagonal() * svd.matrixU().adjoint();
-  }
-  if(rotation)
-  {
-    LinearMatrixType m(svd.matrixU());
-    m.col(0) /= x;
-    rotation->noalias() = m * svd.matrixV().adjoint();
-  }
-}
-
-/** Convenient method to set \c *this from a position, orientation and scale
-  * of a 3D object.
-  */
-template<typename Scalar, int Dim>
-template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
-Transform<Scalar,Dim>&
-Transform<Scalar,Dim>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
-  const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
-{
-  linear() = ei_toRotationMatrix<Scalar,Dim>(orientation);
-  linear() *= scale.asDiagonal();
-  translation() = position;
-  m_matrix.template block<1,Dim>(Dim,0).setZero();
-  m_matrix(Dim,Dim) = Scalar(1);
-  return *this;
-}
-
-/** \nonstableyet
-  *
-  * \returns the inverse transformation matrix according to some given knowledge
-  * on \c *this.
-  *
-  * \param traits allows to optimize the inversion process when the transformion
-  * is known to be not a general transformation. The possible values are:
-  *  - Projective if the transformation is not necessarily affine, i.e., if the
-  *    last row is not guaranteed to be [0 ... 0 1]
-  *  - Affine is the default, the last row is assumed to be [0 ... 0 1]
-  *  - Isometry if the transformation is only a concatenations of translations
-  *    and rotations.
-  *
-  * \warning unless \a traits is always set to NoShear or NoScaling, this function
-  * requires the generic inverse method of MatrixBase defined in the LU module. If
-  * you forget to include this module, then you will get hard to debug linking errors.
-  *
-  * \sa MatrixBase::inverse()
-  */
-template<typename Scalar, int Dim>
-inline const typename Transform<Scalar,Dim>::MatrixType
-Transform<Scalar,Dim>::inverse(TransformTraits traits) const
-{
-  if (traits == Projective)
-  {
-    return m_matrix.inverse();
-  }
-  else
-  {
-    MatrixType res;
-    if (traits == Affine)
-    {
-      res.template corner<Dim,Dim>(TopLeft) = linear().inverse();
-    }
-    else if (traits == Isometry)
-    {
-      res.template corner<Dim,Dim>(TopLeft) = linear().transpose();
-    }
-    else
-    {
-      ei_assert("invalid traits value in Transform::inverse()");
-    }
-    // translation and remaining parts
-    res.template corner<Dim,1>(TopRight) = - res.template corner<Dim,Dim>(TopLeft) * translation();
-    res.template corner<1,Dim>(BottomLeft).setZero();
-    res.coeffRef(Dim,Dim) = Scalar(1);
-    return res;
-  }
-}
-
-/*****************************************************
-*** Specializations of operator* with a MatrixBase ***
-*****************************************************/
-
-template<typename Other, int Dim, int HDim>
-struct ei_transform_product_impl<Other,Dim,HDim, HDim,HDim>
-{
-  typedef Transform<typename Other::Scalar,Dim> TransformType;
-  typedef typename TransformType::MatrixType MatrixType;
-  typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
-  static ResultType run(const TransformType& tr, const Other& other)
-  { return tr.matrix() * other; }
-};
-
-template<typename Other, int Dim, int HDim>
-struct ei_transform_product_impl<Other,Dim,HDim, Dim,Dim>
-{
-  typedef Transform<typename Other::Scalar,Dim> TransformType;
-  typedef typename TransformType::MatrixType MatrixType;
-  typedef TransformType ResultType;
-  static ResultType run(const TransformType& tr, const Other& other)
-  {
-    TransformType res;
-    res.translation() = tr.translation();
-    res.matrix().row(Dim) = tr.matrix().row(Dim);
-    res.linear() = (tr.linear() * other).lazy();
-    return res;
-  }
-};
-
-template<typename Other, int Dim, int HDim>
-struct ei_transform_product_impl<Other,Dim,HDim, HDim,1>
-{
-  typedef Transform<typename Other::Scalar,Dim> TransformType;
-  typedef typename TransformType::MatrixType MatrixType;
-  typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
-  static ResultType run(const TransformType& tr, const Other& other)
-  { return tr.matrix() * other; }
-};
-
-template<typename Other, int Dim, int HDim>
-struct ei_transform_product_impl<Other,Dim,HDim, Dim,1>
-{
-  typedef typename Other::Scalar Scalar;
-  typedef Transform<Scalar,Dim> TransformType;
-  typedef Matrix<Scalar,Dim,1> ResultType;
-  static ResultType run(const TransformType& tr, const Other& other)
-  { return ((tr.linear() * other) + tr.translation())
-          * (Scalar(1) / ( (tr.matrix().template block<1,Dim>(Dim,0) * other).coeff(0) + tr.matrix().coeff(Dim,Dim))); }
-};
-
-} // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Eigen2Support/Geometry/Translation.h b/eigenlib/Eigen/src/Eigen2Support/Geometry/Translation.h
deleted file mode 100644
index 2b9859f6..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Geometry/Translation.h
+++ /dev/null
@@ -1,184 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// no include guard, we'll include this twice from All.h from Eigen2Support, and it's internal anyway
-
-namespace Eigen { 
-
-/** \geometry_module \ingroup Geometry_Module
-  *
-  * \class Translation
-  *
-  * \brief Represents a translation transformation
-  *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients.
-  * \param _Dim the  dimension of the space, can be a compile time value or Dynamic
-  *
-  * \note This class is not aimed to be used to store a translation transformation,
-  * but rather to make easier the constructions and updates of Transform objects.
-  *
-  * \sa class Scaling, class Transform
-  */
-template<typename _Scalar, int _Dim>
-class Translation
-{
-public:
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Dim)
-  /** dimension of the space */
-  enum { Dim = _Dim };
-  /** the scalar type of the coefficients */
-  typedef _Scalar Scalar;
-  /** corresponding vector type */
-  typedef Matrix<Scalar,Dim,1> VectorType;
-  /** corresponding linear transformation matrix type */
-  typedef Matrix<Scalar,Dim,Dim> LinearMatrixType;
-  /** corresponding scaling transformation type */
-  typedef Scaling<Scalar,Dim> ScalingType;
-  /** corresponding affine transformation type */
-  typedef Transform<Scalar,Dim> TransformType;
-
-protected:
-
-  VectorType m_coeffs;
-
-public:
-
-  /** Default constructor without initialization. */
-  Translation() {}
-  /**  */
-  inline Translation(const Scalar& sx, const Scalar& sy)
-  {
-    ei_assert(Dim==2);
-    m_coeffs.x() = sx;
-    m_coeffs.y() = sy;
-  }
-  /**  */
-  inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
-  {
-    ei_assert(Dim==3);
-    m_coeffs.x() = sx;
-    m_coeffs.y() = sy;
-    m_coeffs.z() = sz;
-  }
-  /** Constructs and initialize the scaling transformation from a vector of scaling coefficients */
-  explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
-
-  const VectorType& vector() const { return m_coeffs; }
-  VectorType& vector() { return m_coeffs; }
-
-  /** Concatenates two translation */
-  inline Translation operator* (const Translation& other) const
-  { return Translation(m_coeffs + other.m_coeffs); }
-
-  /** Concatenates a translation and a scaling */
-  inline TransformType operator* (const ScalingType& other) const;
-
-  /** Concatenates a translation and a linear transformation */
-  inline TransformType operator* (const LinearMatrixType& linear) const;
-
-  template<typename Derived>
-  inline TransformType operator*(const RotationBase<Derived,Dim>& r) const
-  { return *this * r.toRotationMatrix(); }
-
-  /** Concatenates a linear transformation and a translation */
-  // its a nightmare to define a templated friend function outside its declaration
-  friend inline TransformType operator* (const LinearMatrixType& linear, const Translation& t)
-  {
-    TransformType res;
-    res.matrix().setZero();
-    res.linear() = linear;
-    res.translation() = linear * t.m_coeffs;
-    res.matrix().row(Dim).setZero();
-    res(Dim,Dim) = Scalar(1);
-    return res;
-  }
-
-  /** Concatenates a translation and an affine transformation */
-  inline TransformType operator* (const TransformType& t) const;
-
-  /** Applies translation to vector */
-  inline VectorType operator* (const VectorType& other) const
-  { return m_coeffs + other; }
-
-  /** \returns the inverse translation (opposite) */
-  Translation inverse() const { return Translation(-m_coeffs); }
-
-  Translation& operator=(const Translation& other)
-  {
-    m_coeffs = other.m_coeffs;
-    return *this;
-  }
-
-  /** \returns \c *this with scalar type casted to \a NewScalarType
-    *
-    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
-    * then this function smartly returns a const reference to \c *this.
-    */
-  template<typename NewScalarType>
-  inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
-  { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
-
-  /** Copy constructor with scalar type conversion */
-  template<typename OtherScalarType>
-  inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
-  { m_coeffs = other.vector().template cast<Scalar>(); }
-
-  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
-    * determined by \a prec.
-    *
-    * \sa MatrixBase::isApprox() */
-  bool isApprox(const Translation& other, typename NumTraits<Scalar>::Real prec = precision<Scalar>()) const
-  { return m_coeffs.isApprox(other.m_coeffs, prec); }
-
-};
-
-/** \addtogroup Geometry_Module */
-//@{
-typedef Translation<float, 2> Translation2f;
-typedef Translation<double,2> Translation2d;
-typedef Translation<float, 3> Translation3f;
-typedef Translation<double,3> Translation3d;
-//@}
-
-
-template<typename Scalar, int Dim>
-inline typename Translation<Scalar,Dim>::TransformType
-Translation<Scalar,Dim>::operator* (const ScalingType& other) const
-{
-  TransformType res;
-  res.matrix().setZero();
-  res.linear().diagonal() = other.coeffs();
-  res.translation() = m_coeffs;
-  res(Dim,Dim) = Scalar(1);
-  return res;
-}
-
-template<typename Scalar, int Dim>
-inline typename Translation<Scalar,Dim>::TransformType
-Translation<Scalar,Dim>::operator* (const LinearMatrixType& linear) const
-{
-  TransformType res;
-  res.matrix().setZero();
-  res.linear() = linear;
-  res.translation() = m_coeffs;
-  res.matrix().row(Dim).setZero();
-  res(Dim,Dim) = Scalar(1);
-  return res;
-}
-
-template<typename Scalar, int Dim>
-inline typename Translation<Scalar,Dim>::TransformType
-Translation<Scalar,Dim>::operator* (const TransformType& t) const
-{
-  TransformType res = t;
-  res.pretranslate(m_coeffs);
-  return res;
-}
-
-} // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Eigen2Support/LU.h b/eigenlib/Eigen/src/Eigen2Support/LU.h
deleted file mode 100644
index 49f19ad7..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/LU.h
+++ /dev/null
@@ -1,120 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_LU_H
-#define EIGEN2_LU_H
-
-namespace Eigen { 
-
-template<typename MatrixType>
-class LU : public FullPivLU<MatrixType>
-{
-  public:
-
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef Matrix<int, 1, MatrixType::ColsAtCompileTime, MatrixType::Options, 1, MatrixType::MaxColsAtCompileTime> IntRowVectorType;
-    typedef Matrix<int, MatrixType::RowsAtCompileTime, 1, MatrixType::Options, MatrixType::MaxRowsAtCompileTime, 1> IntColVectorType;
-    typedef Matrix<Scalar, 1, MatrixType::ColsAtCompileTime, MatrixType::Options, 1, MatrixType::MaxColsAtCompileTime> RowVectorType;
-    typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, 1, MatrixType::Options, MatrixType::MaxRowsAtCompileTime, 1> ColVectorType;
-
-    typedef Matrix<typename MatrixType::Scalar,
-                  MatrixType::ColsAtCompileTime, // the number of rows in the "kernel matrix" is the number of cols of the original matrix
-                                                 // so that the product "matrix * kernel = zero" makes sense
-                  Dynamic,                       // we don't know at compile-time the dimension of the kernel
-                  MatrixType::Options,
-                  MatrixType::MaxColsAtCompileTime, // see explanation for 2nd template parameter
-                  MatrixType::MaxColsAtCompileTime // the kernel is a subspace of the domain space, whose dimension is the number
-                                                   // of columns of the original matrix
-    > KernelResultType;
-
-    typedef Matrix<typename MatrixType::Scalar,
-                   MatrixType::RowsAtCompileTime, // the image is a subspace of the destination space, whose dimension is the number
-                                                  // of rows of the original matrix
-                   Dynamic,                       // we don't know at compile time the dimension of the image (the rank)
-                   MatrixType::Options,
-                   MatrixType::MaxRowsAtCompileTime, // the image matrix will consist of columns from the original matrix,
-                   MatrixType::MaxColsAtCompileTime  // so it has the same number of rows and at most as many columns.
-    > ImageResultType;
-
-    typedef FullPivLU<MatrixType> Base;
-
-    template<typename T>
-    explicit LU(const T& t) : Base(t), m_originalMatrix(t) {}
-
-    template<typename OtherDerived, typename ResultType>
-    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
-    {
-      *result = static_cast<const Base*>(this)->solve(b);
-      return true;
-    }
-
-    template<typename ResultType>
-    inline void computeInverse(ResultType *result) const
-    {
-      solve(MatrixType::Identity(this->rows(), this->cols()), result);
-    }
-    
-    template<typename KernelMatrixType>
-    void computeKernel(KernelMatrixType *result) const
-    {
-      *result = static_cast<const Base*>(this)->kernel();
-    }
-    
-    template<typename ImageMatrixType>
-    void computeImage(ImageMatrixType *result) const
-    {
-      *result = static_cast<const Base*>(this)->image(m_originalMatrix);
-    }
-    
-    const ImageResultType image() const
-    {
-      return static_cast<const Base*>(this)->image(m_originalMatrix);
-    }
-    
-    const MatrixType& m_originalMatrix;
-};
-
-#if EIGEN2_SUPPORT_STAGE < STAGE20_RESOLVE_API_CONFLICTS
-/** \lu_module
-  *
-  * Synonym of partialPivLu().
-  *
-  * \return the partial-pivoting LU decomposition of \c *this.
-  *
-  * \sa class PartialPivLU
-  */
-template<typename Derived>
-inline const LU<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::lu() const
-{
-  return LU<PlainObject>(eval());
-}
-#endif
-
-#ifdef EIGEN2_SUPPORT
-/** \lu_module
-  *
-  * Synonym of partialPivLu().
-  *
-  * \return the partial-pivoting LU decomposition of \c *this.
-  *
-  * \sa class PartialPivLU
-  */
-template<typename Derived>
-inline const LU<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::eigen2_lu() const
-{
-  return LU<PlainObject>(eval());
-}
-#endif
-
-} // end namespace Eigen
-
-#endif // EIGEN2_LU_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/Lazy.h b/eigenlib/Eigen/src/Eigen2Support/Lazy.h
deleted file mode 100644
index 593fc78e..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Lazy.h
+++ /dev/null
@@ -1,71 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LAZY_H
-#define EIGEN_LAZY_H
-
-namespace Eigen { 
-
-/** \deprecated it is only used by lazy() which is deprecated
-  *
-  * \returns an expression of *this with added flags
-  *
-  * Example: \include MatrixBase_marked.cpp
-  * Output: \verbinclude MatrixBase_marked.out
-  *
-  * \sa class Flagged, extract(), part()
-  */
-template<typename Derived>
-template<unsigned int Added>
-inline const Flagged<Derived, Added, 0>
-MatrixBase<Derived>::marked() const
-{
-  return derived();
-}
-
-/** \deprecated use MatrixBase::noalias()
-  *
-  * \returns an expression of *this with the EvalBeforeAssigningBit flag removed.
-  *
-  * Example: \include MatrixBase_lazy.cpp
-  * Output: \verbinclude MatrixBase_lazy.out
-  *
-  * \sa class Flagged, marked()
-  */
-template<typename Derived>
-inline const Flagged<Derived, 0, EvalBeforeAssigningBit>
-MatrixBase<Derived>::lazy() const
-{
-  return derived();
-}
-
-
-/** \internal
-  * Overloaded to perform an efficient C += (A*B).lazy() */
-template<typename Derived>
-template<typename ProductDerived, typename Lhs, typename Rhs>
-Derived& MatrixBase<Derived>::operator+=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
-                                                       EvalBeforeAssigningBit>& other)
-{
-  other._expression().derived().addTo(derived()); return derived();
-}
-
-/** \internal
-  * Overloaded to perform an efficient C -= (A*B).lazy() */
-template<typename Derived>
-template<typename ProductDerived, typename Lhs, typename Rhs>
-Derived& MatrixBase<Derived>::operator-=(const Flagged<ProductBase<ProductDerived, Lhs,Rhs>, 0,
-                                                       EvalBeforeAssigningBit>& other)
-{
-  other._expression().derived().subTo(derived()); return derived();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_LAZY_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/LeastSquares.h b/eigenlib/Eigen/src/Eigen2Support/LeastSquares.h
deleted file mode 100644
index 7992d494..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/LeastSquares.h
+++ /dev/null
@@ -1,169 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_LEASTSQUARES_H
-#define EIGEN2_LEASTSQUARES_H
-
-namespace Eigen { 
-
-/** \ingroup LeastSquares_Module
-  *
-  * \leastsquares_module
-  *
-  * For a set of points, this function tries to express
-  * one of the coords as a linear (affine) function of the other coords.
-  *
-  * This is best explained by an example. This function works in full
-  * generality, for points in a space of arbitrary dimension, and also over
-  * the complex numbers, but for this example we will work in dimension 3
-  * over the real numbers (doubles).
-  *
-  * So let us work with the following set of 5 points given by their
-  * \f$(x,y,z)\f$ coordinates:
-  * @code
-    Vector3d points[5];
-    points[0] = Vector3d( 3.02, 6.89, -4.32 );
-    points[1] = Vector3d( 2.01, 5.39, -3.79 );
-    points[2] = Vector3d( 2.41, 6.01, -4.01 );
-    points[3] = Vector3d( 2.09, 5.55, -3.86 );
-    points[4] = Vector3d( 2.58, 6.32, -4.10 );
-  * @endcode
-  * Suppose that we want to express the second coordinate (\f$y\f$) as a linear
-  * expression in \f$x\f$ and \f$z\f$, that is,
-  * \f[ y=ax+bz+c \f]
-  * for some constants \f$a,b,c\f$. Thus, we want to find the best possible
-  * constants \f$a,b,c\f$ so that the plane of equation \f$y=ax+bz+c\f$ fits
-  * best the five above points. To do that, call this function as follows:
-  * @code
-    Vector3d coeffs; // will store the coefficients a, b, c
-    linearRegression(
-      5,
-      &points,
-      &coeffs,
-      1 // the coord to express as a function of
-        // the other ones. 0 means x, 1 means y, 2 means z.
-    );
-  * @endcode
-  * Now the vector \a coeffs is approximately
-  * \f$( 0.495 ,  -1.927 ,  -2.906 )\f$.
-  * Thus, we get \f$a=0.495, b = -1.927, c = -2.906\f$. Let us check for
-  * instance how near points[0] is from the plane of equation \f$y=ax+bz+c\f$.
-  * Looking at the coords of points[0], we see that:
-  * \f[ax+bz+c = 0.495 * 3.02 + (-1.927) * (-4.32) + (-2.906) = 6.91.\f]
-  * On the other hand, we have \f$y=6.89\f$. We see that the values
-  * \f$6.91\f$ and \f$6.89\f$
-  * are near, so points[0] is very near the plane of equation \f$y=ax+bz+c\f$.
-  *
-  * Let's now describe precisely the parameters:
-  * @param numPoints the number of points
-  * @param points the array of pointers to the points on which to perform the linear regression
-  * @param result pointer to the vector in which to store the result.
-                  This vector must be of the same type and size as the
-                  data points. The meaning of its coords is as follows.
-                  For brevity, let \f$n=Size\f$,
-                  \f$r_i=result[i]\f$,
-                  and \f$f=funcOfOthers\f$. Denote by
-                  \f$x_0,\ldots,x_{n-1}\f$
-                  the n coordinates in the n-dimensional space.
-                  Then the resulting equation is:
-                  \f[ x_f = r_0 x_0 + \cdots + r_{f-1}x_{f-1}
-                   + r_{f+1}x_{f+1} + \cdots + r_{n-1}x_{n-1} + r_n. \f]
-  * @param funcOfOthers Determines which coord to express as a function of the
-                        others. Coords are numbered starting from 0, so that a
-                        value of 0 means \f$x\f$, 1 means \f$y\f$,
-                        2 means \f$z\f$, ...
-  *
-  * \sa fitHyperplane()
-  */
-template<typename VectorType>
-void linearRegression(int numPoints,
-                      VectorType **points,
-                      VectorType *result,
-                      int funcOfOthers )
-{
-  typedef typename VectorType::Scalar Scalar;
-  typedef Hyperplane<Scalar, VectorType::SizeAtCompileTime> HyperplaneType;
-  const int size = points[0]->size();
-  result->resize(size);
-  HyperplaneType h(size);
-  fitHyperplane(numPoints, points, &h);
-  for(int i = 0; i < funcOfOthers; i++)
-    result->coeffRef(i) = - h.coeffs()[i] / h.coeffs()[funcOfOthers];
-  for(int i = funcOfOthers; i < size; i++)
-    result->coeffRef(i) = - h.coeffs()[i+1] / h.coeffs()[funcOfOthers];
-}
-
-/** \ingroup LeastSquares_Module
-  *
-  * \leastsquares_module
-  *
-  * This function is quite similar to linearRegression(), so we refer to the
-  * documentation of this function and only list here the differences.
-  *
-  * The main difference from linearRegression() is that this function doesn't
-  * take a \a funcOfOthers argument. Instead, it finds a general equation
-  * of the form
-  * \f[ r_0 x_0 + \cdots + r_{n-1}x_{n-1} + r_n = 0, \f]
-  * where \f$n=Size\f$, \f$r_i=retCoefficients[i]\f$, and we denote by
-  * \f$x_0,\ldots,x_{n-1}\f$ the n coordinates in the n-dimensional space.
-  *
-  * Thus, the vector \a retCoefficients has size \f$n+1\f$, which is another
-  * difference from linearRegression().
-  *
-  * In practice, this function performs an hyper-plane fit in a total least square sense
-  * via the following steps:
-  *  1 - center the data to the mean
-  *  2 - compute the covariance matrix
-  *  3 - pick the eigenvector corresponding to the smallest eigenvalue of the covariance matrix
-  * The ratio of the smallest eigenvalue and the second one gives us a hint about the relevance
-  * of the solution. This value is optionally returned in \a soundness.
-  *
-  * \sa linearRegression()
-  */
-template<typename VectorType, typename HyperplaneType>
-void fitHyperplane(int numPoints,
-                   VectorType **points,
-                   HyperplaneType *result,
-                   typename NumTraits<typename VectorType::Scalar>::Real* soundness = 0)
-{
-  typedef typename VectorType::Scalar Scalar;
-  typedef Matrix<Scalar,VectorType::SizeAtCompileTime,VectorType::SizeAtCompileTime> CovMatrixType;
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(VectorType)
-  ei_assert(numPoints >= 1);
-  int size = points[0]->size();
-  ei_assert(size+1 == result->coeffs().size());
-
-  // compute the mean of the data
-  VectorType mean = VectorType::Zero(size);
-  for(int i = 0; i < numPoints; ++i)
-    mean += *(points[i]);
-  mean /= numPoints;
-
-  // compute the covariance matrix
-  CovMatrixType covMat = CovMatrixType::Zero(size, size);
-  for(int i = 0; i < numPoints; ++i)
-  {
-    VectorType diff = (*(points[i]) - mean).conjugate();
-    covMat += diff * diff.adjoint();
-  }
-
-  // now we just have to pick the eigen vector with smallest eigen value
-  SelfAdjointEigenSolver<CovMatrixType> eig(covMat);
-  result->normal() = eig.eigenvectors().col(0);
-  if (soundness)
-    *soundness = eig.eigenvalues().coeff(0)/eig.eigenvalues().coeff(1);
-
-  // let's compute the constant coefficient such that the
-  // plane pass trough the mean point:
-  result->offset() = - (result->normal().cwise()* mean).sum();
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN2_LEASTSQUARES_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/Macros.h b/eigenlib/Eigen/src/Eigen2Support/Macros.h
deleted file mode 100644
index 351c32af..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Macros.h
+++ /dev/null
@@ -1,20 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_MACROS_H
-#define EIGEN2_MACROS_H
-
-#define ei_assert eigen_assert
-#define ei_internal_assert eigen_internal_assert
-
-#define EIGEN_ALIGN_128 EIGEN_ALIGN16
-
-#define EIGEN_ARCH_WANTS_ALIGNMENT EIGEN_ALIGN_STATICALLY
-
-#endif // EIGEN2_MACROS_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/MathFunctions.h b/eigenlib/Eigen/src/Eigen2Support/MathFunctions.h
deleted file mode 100644
index 3544af25..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/MathFunctions.h
+++ /dev/null
@@ -1,57 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_MATH_FUNCTIONS_H
-#define EIGEN2_MATH_FUNCTIONS_H
-
-namespace Eigen { 
-
-template<typename T> inline typename NumTraits<T>::Real ei_real(const T& x) { return numext::real(x); }
-template<typename T> inline typename NumTraits<T>::Real ei_imag(const T& x) { return numext::imag(x); }
-template<typename T> inline T ei_conj(const T& x) { return numext::conj(x); }
-template<typename T> inline typename NumTraits<T>::Real ei_abs (const T& x) { using std::abs; return abs(x); }
-template<typename T> inline typename NumTraits<T>::Real ei_abs2(const T& x) { return numext::abs2(x); }
-template<typename T> inline T ei_sqrt(const T& x) { using std::sqrt; return sqrt(x); }
-template<typename T> inline T ei_exp (const T& x) { using std::exp;  return exp(x); }
-template<typename T> inline T ei_log (const T& x) { using std::log;  return log(x); }
-template<typename T> inline T ei_sin (const T& x) { using std::sin;  return sin(x); }
-template<typename T> inline T ei_cos (const T& x) { using std::cos;  return cos(x); }
-template<typename T> inline T ei_atan2(const T& x,const T& y) { using std::atan2; return atan2(x,y); }
-template<typename T> inline T ei_pow (const T& x,const T& y) { return numext::pow(x,y); }
-template<typename T> inline T ei_random () { return internal::random<T>(); }
-template<typename T> inline T ei_random (const T& x, const T& y) { return internal::random(x, y); }
-
-template<typename T> inline T precision () { return NumTraits<T>::dummy_precision(); }
-template<typename T> inline T machine_epsilon () { return NumTraits<T>::epsilon(); }
-
-
-template<typename Scalar, typename OtherScalar>
-inline bool ei_isMuchSmallerThan(const Scalar& x, const OtherScalar& y,
-                                   typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
-{
-  return internal::isMuchSmallerThan(x, y, precision);
-}
-
-template<typename Scalar>
-inline bool ei_isApprox(const Scalar& x, const Scalar& y,
-                          typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
-{
-  return internal::isApprox(x, y, precision);
-}
-
-template<typename Scalar>
-inline bool ei_isApproxOrLessThan(const Scalar& x, const Scalar& y,
-                                    typename NumTraits<Scalar>::Real precision = NumTraits<Scalar>::dummy_precision())
-{
-  return internal::isApproxOrLessThan(x, y, precision);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN2_MATH_FUNCTIONS_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/Memory.h b/eigenlib/Eigen/src/Eigen2Support/Memory.h
deleted file mode 100644
index f86372b6..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Memory.h
+++ /dev/null
@@ -1,45 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_MEMORY_H
-#define EIGEN2_MEMORY_H
-
-namespace Eigen { 
-
-inline void* ei_aligned_malloc(size_t size) { return internal::aligned_malloc(size); }
-inline void  ei_aligned_free(void *ptr) { internal::aligned_free(ptr); }
-inline void* ei_aligned_realloc(void *ptr, size_t new_size, size_t old_size) { return internal::aligned_realloc(ptr, new_size, old_size); }
-inline void* ei_handmade_aligned_malloc(size_t size) { return internal::handmade_aligned_malloc(size); }
-inline void  ei_handmade_aligned_free(void *ptr) { internal::handmade_aligned_free(ptr); }
-
-template<bool Align> inline void* ei_conditional_aligned_malloc(size_t size)
-{
-  return internal::conditional_aligned_malloc<Align>(size);
-}
-template<bool Align> inline void ei_conditional_aligned_free(void *ptr)
-{
-  internal::conditional_aligned_free<Align>(ptr);
-}
-template<bool Align> inline void* ei_conditional_aligned_realloc(void* ptr, size_t new_size, size_t old_size)
-{
-  return internal::conditional_aligned_realloc<Align>(ptr, new_size, old_size);
-}
-
-template<typename T> inline T* ei_aligned_new(size_t size)
-{
-  return internal::aligned_new<T>(size);
-}
-template<typename T> inline void ei_aligned_delete(T *ptr, size_t size)
-{
-  return internal::aligned_delete(ptr, size);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN2_MACROS_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/Meta.h b/eigenlib/Eigen/src/Eigen2Support/Meta.h
deleted file mode 100644
index fa37cfc9..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Meta.h
+++ /dev/null
@@ -1,75 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_META_H
-#define EIGEN2_META_H
-
-namespace Eigen { 
-
-template<typename T>
-struct ei_traits : internal::traits<T>
-{};
-
-struct ei_meta_true {  enum { ret = 1 }; };
-struct ei_meta_false { enum { ret = 0 }; };
-
-template<bool Condition, typename Then, typename Else>
-struct ei_meta_if { typedef Then ret; };
-
-template<typename Then, typename Else>
-struct ei_meta_if <false, Then, Else> { typedef Else ret; };
-
-template<typename T, typename U> struct ei_is_same_type { enum { ret = 0 }; };
-template<typename T> struct ei_is_same_type<T,T> { enum { ret = 1 }; };
-
-template<typename T> struct ei_unref { typedef T type; };
-template<typename T> struct ei_unref<T&> { typedef T type; };
-
-template<typename T> struct ei_unpointer { typedef T type; };
-template<typename T> struct ei_unpointer<T*> { typedef T type; };
-template<typename T> struct ei_unpointer<T*const> { typedef T type; };
-
-template<typename T> struct ei_unconst { typedef T type; };
-template<typename T> struct ei_unconst<const T> { typedef T type; };
-template<typename T> struct ei_unconst<T const &> { typedef T & type; };
-template<typename T> struct ei_unconst<T const *> { typedef T * type; };
-
-template<typename T> struct ei_cleantype { typedef T type; };
-template<typename T> struct ei_cleantype<const T>   { typedef typename ei_cleantype<T>::type type; };
-template<typename T> struct ei_cleantype<const T&>  { typedef typename ei_cleantype<T>::type type; };
-template<typename T> struct ei_cleantype<T&>        { typedef typename ei_cleantype<T>::type type; };
-template<typename T> struct ei_cleantype<const T*>  { typedef typename ei_cleantype<T>::type type; };
-template<typename T> struct ei_cleantype<T*>        { typedef typename ei_cleantype<T>::type type; };
-
-/** \internal In short, it computes int(sqrt(\a Y)) with \a Y an integer.
-  * Usage example: \code ei_meta_sqrt<1023>::ret \endcode
-  */
-template<int Y,
-         int InfX = 0,
-         int SupX = ((Y==1) ? 1 : Y/2),
-         bool Done = ((SupX-InfX)<=1 ? true : ((SupX*SupX <= Y) && ((SupX+1)*(SupX+1) > Y))) >
-                                // use ?: instead of || just to shut up a stupid gcc 4.3 warning
-class ei_meta_sqrt
-{
-    enum {
-      MidX = (InfX+SupX)/2,
-      TakeInf = MidX*MidX > Y ? 1 : 0,
-      NewInf = int(TakeInf) ? InfX : int(MidX),
-      NewSup = int(TakeInf) ? int(MidX) : SupX
-    };
-  public:
-    enum { ret = ei_meta_sqrt<Y,NewInf,NewSup>::ret };
-};
-
-template<int Y, int InfX, int SupX>
-class ei_meta_sqrt<Y, InfX, SupX, true> { public:  enum { ret = (SupX*SupX <= Y) ? SupX : InfX }; };
-
-} // end namespace Eigen
-
-#endif // EIGEN2_META_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/Minor.h b/eigenlib/Eigen/src/Eigen2Support/Minor.h
deleted file mode 100644
index 4cded573..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/Minor.h
+++ /dev/null
@@ -1,117 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2006-2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MINOR_H
-#define EIGEN_MINOR_H
-
-namespace Eigen { 
-
-/**
-  * \class Minor
-  *
-  * \brief Expression of a minor
-  *
-  * \param MatrixType the type of the object in which we are taking a minor
-  *
-  * This class represents an expression of a minor. It is the return
-  * type of MatrixBase::minor() and most of the time this is the only way it
-  * is used.
-  *
-  * \sa MatrixBase::minor()
-  */
-
-namespace internal {
-template<typename MatrixType>
-struct traits<Minor<MatrixType> >
- : traits<MatrixType>
-{
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
-  typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
-  typedef typename MatrixType::StorageKind StorageKind;
-  enum {
-    RowsAtCompileTime = (MatrixType::RowsAtCompileTime != Dynamic) ?
-                          int(MatrixType::RowsAtCompileTime) - 1 : Dynamic,
-    ColsAtCompileTime = (MatrixType::ColsAtCompileTime != Dynamic) ?
-                          int(MatrixType::ColsAtCompileTime) - 1 : Dynamic,
-    MaxRowsAtCompileTime = (MatrixType::MaxRowsAtCompileTime != Dynamic) ?
-                             int(MatrixType::MaxRowsAtCompileTime) - 1 : Dynamic,
-    MaxColsAtCompileTime = (MatrixType::MaxColsAtCompileTime != Dynamic) ?
-                             int(MatrixType::MaxColsAtCompileTime) - 1 : Dynamic,
-    Flags = _MatrixTypeNested::Flags & (HereditaryBits | LvalueBit),
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost // minor is used typically on tiny matrices,
-      // where loops are unrolled and the 'if' evaluates at compile time
-  };
-};
-}
-
-template<typename MatrixType> class Minor
-  : public MatrixBase<Minor<MatrixType> >
-{
-  public:
-
-    typedef MatrixBase<Minor> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(Minor)
-
-    inline Minor(const MatrixType& matrix,
-                       Index row, Index col)
-      : m_matrix(matrix), m_row(row), m_col(col)
-    {
-      eigen_assert(row >= 0 && row < matrix.rows()
-          && col >= 0 && col < matrix.cols());
-    }
-
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Minor)
-
-    inline Index rows() const { return m_matrix.rows() - 1; }
-    inline Index cols() const { return m_matrix.cols() - 1; }
-
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      return m_matrix.const_cast_derived().coeffRef(row + (row >= m_row), col + (col >= m_col));
-    }
-
-    inline const Scalar coeff(Index row, Index col) const
-    {
-      return m_matrix.coeff(row + (row >= m_row), col + (col >= m_col));
-    }
-
-  protected:
-    const typename MatrixType::Nested m_matrix;
-    const Index m_row, m_col;
-};
-
-/**
-  * \return an expression of the (\a row, \a col)-minor of *this,
-  * i.e. an expression constructed from *this by removing the specified
-  * row and column.
-  *
-  * Example: \include MatrixBase_minor.cpp
-  * Output: \verbinclude MatrixBase_minor.out
-  *
-  * \sa class Minor
-  */
-template<typename Derived>
-inline Minor<Derived>
-MatrixBase<Derived>::minor(Index row, Index col)
-{
-  return Minor<Derived>(derived(), row, col);
-}
-
-/**
-  * This is the const version of minor(). */
-template<typename Derived>
-inline const Minor<Derived>
-MatrixBase<Derived>::minor(Index row, Index col) const
-{
-  return Minor<Derived>(derived(), row, col);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MINOR_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/QR.h b/eigenlib/Eigen/src/Eigen2Support/QR.h
deleted file mode 100644
index 2042c985..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/QR.h
+++ /dev/null
@@ -1,67 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2011 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_QR_H
-#define EIGEN2_QR_H
-
-namespace Eigen { 
-
-template<typename MatrixType>
-class QR : public HouseholderQR<MatrixType>
-{
-  public:
-
-    typedef HouseholderQR<MatrixType> Base;
-    typedef Block<const MatrixType, MatrixType::ColsAtCompileTime, MatrixType::ColsAtCompileTime> MatrixRBlockType;
-
-    QR() : Base() {}
-
-    template<typename T>
-    explicit QR(const T& t) : Base(t) {}
-
-    template<typename OtherDerived, typename ResultType>
-    bool solve(const MatrixBase<OtherDerived>& b, ResultType *result) const
-    {
-      *result = static_cast<const Base*>(this)->solve(b);
-      return true;
-    }
-
-    MatrixType matrixQ(void) const {
-      MatrixType ret = MatrixType::Identity(this->rows(), this->cols());
-      ret = this->householderQ() * ret;
-      return ret;
-    }
-
-    bool isFullRank() const {
-      return true;
-    }
-    
-    const TriangularView<MatrixRBlockType, UpperTriangular>
-    matrixR(void) const
-    {
-      int cols = this->cols();
-      return MatrixRBlockType(this->matrixQR(), 0, 0, cols, cols).template triangularView<UpperTriangular>();
-    }
-};
-
-/** \return the QR decomposition of \c *this.
-  *
-  * \sa class QR
-  */
-template<typename Derived>
-const QR<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::qr() const
-{
-  return QR<PlainObject>(eval());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN2_QR_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/SVD.h b/eigenlib/Eigen/src/Eigen2Support/SVD.h
deleted file mode 100644
index 3d03d228..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/SVD.h
+++ /dev/null
@@ -1,637 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_SVD_H
-#define EIGEN2_SVD_H
-
-namespace Eigen {
-
-/** \ingroup SVD_Module
-  * \nonstableyet
-  *
-  * \class SVD
-  *
-  * \brief Standard SVD decomposition of a matrix and associated features
-  *
-  * \param MatrixType the type of the matrix of which we are computing the SVD decomposition
-  *
-  * This class performs a standard SVD decomposition of a real matrix A of size \c M x \c N
-  * with \c M \>= \c N.
-  *
-  *
-  * \sa MatrixBase::SVD()
-  */
-template<typename MatrixType> class SVD
-{
-  private:
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-
-    enum {
-      PacketSize = internal::packet_traits<Scalar>::size,
-      AlignmentMask = int(PacketSize)-1,
-      MinSize = EIGEN_SIZE_MIN_PREFER_DYNAMIC(MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime)
-    };
-
-    typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> ColVector;
-    typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, 1> RowVector;
-
-    typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, MinSize> MatrixUType;
-    typedef Matrix<Scalar, MatrixType::ColsAtCompileTime, MatrixType::ColsAtCompileTime> MatrixVType;
-    typedef Matrix<Scalar, MinSize, 1> SingularValuesType;
-
-  public:
-
-    SVD() {} // a user who relied on compiler-generated default compiler reported problems with MSVC in 2.0.7
-    
-    SVD(const MatrixType& matrix)
-      : m_matU(matrix.rows(), (std::min)(matrix.rows(), matrix.cols())),
-        m_matV(matrix.cols(),matrix.cols()),
-        m_sigma((std::min)(matrix.rows(),matrix.cols()))
-    {
-      compute(matrix);
-    }
-
-    template<typename OtherDerived, typename ResultType>
-    bool solve(const MatrixBase<OtherDerived> &b, ResultType* result) const;
-
-    const MatrixUType& matrixU() const { return m_matU; }
-    const SingularValuesType& singularValues() const { return m_sigma; }
-    const MatrixVType& matrixV() const { return m_matV; }
-
-    void compute(const MatrixType& matrix);
-    SVD& sort();
-
-    template<typename UnitaryType, typename PositiveType>
-    void computeUnitaryPositive(UnitaryType *unitary, PositiveType *positive) const;
-    template<typename PositiveType, typename UnitaryType>
-    void computePositiveUnitary(PositiveType *positive, UnitaryType *unitary) const;
-    template<typename RotationType, typename ScalingType>
-    void computeRotationScaling(RotationType *unitary, ScalingType *positive) const;
-    template<typename ScalingType, typename RotationType>
-    void computeScalingRotation(ScalingType *positive, RotationType *unitary) const;
-
-  protected:
-    /** \internal */
-    MatrixUType m_matU;
-    /** \internal */
-    MatrixVType m_matV;
-    /** \internal */
-    SingularValuesType m_sigma;
-};
-
-/** Computes / recomputes the SVD decomposition A = U S V^* of \a matrix
-  *
-  * \note this code has been adapted from JAMA (public domain)
-  */
-template<typename MatrixType>
-void SVD<MatrixType>::compute(const MatrixType& matrix)
-{
-  const int m = matrix.rows();
-  const int n = matrix.cols();
-  const int nu = (std::min)(m,n);
-  ei_assert(m>=n && "In Eigen 2.0, SVD only works for MxN matrices with M>=N. Sorry!");
-  ei_assert(m>1 && "In Eigen 2.0, SVD doesn't work on 1x1 matrices");
-
-  m_matU.resize(m, nu);
-  m_matU.setZero();
-  m_sigma.resize((std::min)(m,n));
-  m_matV.resize(n,n);
-
-  RowVector e(n);
-  ColVector work(m);
-  MatrixType matA(matrix);
-  const bool wantu = true;
-  const bool wantv = true;
-  int i=0, j=0, k=0;
-
-  // Reduce A to bidiagonal form, storing the diagonal elements
-  // in s and the super-diagonal elements in e.
-  int nct = (std::min)(m-1,n);
-  int nrt = (std::max)(0,(std::min)(n-2,m));
-  for (k = 0; k < (std::max)(nct,nrt); ++k)
-  {
-    if (k < nct)
-    {
-      // Compute the transformation for the k-th column and
-      // place the k-th diagonal in m_sigma[k].
-      m_sigma[k] = matA.col(k).end(m-k).norm();
-      if (m_sigma[k] != 0.0) // FIXME
-      {
-        if (matA(k,k) < 0.0)
-          m_sigma[k] = -m_sigma[k];
-        matA.col(k).end(m-k) /= m_sigma[k];
-        matA(k,k) += 1.0;
-      }
-      m_sigma[k] = -m_sigma[k];
-    }
-
-    for (j = k+1; j < n; ++j)
-    {
-      if ((k < nct) && (m_sigma[k] != 0.0))
-      {
-        // Apply the transformation.
-        Scalar t = matA.col(k).end(m-k).eigen2_dot(matA.col(j).end(m-k)); // FIXME dot product or cwise prod + .sum() ??
-        t = -t/matA(k,k);
-        matA.col(j).end(m-k) += t * matA.col(k).end(m-k);
-      }
-
-      // Place the k-th row of A into e for the
-      // subsequent calculation of the row transformation.
-      e[j] = matA(k,j);
-    }
-
-    // Place the transformation in U for subsequent back multiplication.
-    if (wantu & (k < nct))
-      m_matU.col(k).end(m-k) = matA.col(k).end(m-k);
-
-    if (k < nrt)
-    {
-      // Compute the k-th row transformation and place the
-      // k-th super-diagonal in e[k].
-      e[k] = e.end(n-k-1).norm();
-      if (e[k] != 0.0)
-      {
-          if (e[k+1] < 0.0)
-            e[k] = -e[k];
-          e.end(n-k-1) /= e[k];
-          e[k+1] += 1.0;
-      }
-      e[k] = -e[k];
-      if ((k+1 < m) & (e[k] != 0.0))
-      {
-        // Apply the transformation.
-        work.end(m-k-1) = matA.corner(BottomRight,m-k-1,n-k-1) * e.end(n-k-1);
-        for (j = k+1; j < n; ++j)
-          matA.col(j).end(m-k-1) += (-e[j]/e[k+1]) * work.end(m-k-1);
-      }
-
-      // Place the transformation in V for subsequent back multiplication.
-      if (wantv)
-        m_matV.col(k).end(n-k-1) = e.end(n-k-1);
-    }
-  }
-
-
-  // Set up the final bidiagonal matrix or order p.
-  int p = (std::min)(n,m+1);
-  if (nct < n)
-    m_sigma[nct] = matA(nct,nct);
-  if (m < p)
-    m_sigma[p-1] = 0.0;
-  if (nrt+1 < p)
-    e[nrt] = matA(nrt,p-1);
-  e[p-1] = 0.0;
-
-  // If required, generate U.
-  if (wantu)
-  {
-    for (j = nct; j < nu; ++j)
-    {
-      m_matU.col(j).setZero();
-      m_matU(j,j) = 1.0;
-    }
-    for (k = nct-1; k >= 0; k--)
-    {
-      if (m_sigma[k] != 0.0)
-      {
-        for (j = k+1; j < nu; ++j)
-        {
-          Scalar t = m_matU.col(k).end(m-k).eigen2_dot(m_matU.col(j).end(m-k)); // FIXME is it really a dot product we want ?
-          t = -t/m_matU(k,k);
-          m_matU.col(j).end(m-k) += t * m_matU.col(k).end(m-k);
-        }
-        m_matU.col(k).end(m-k) = - m_matU.col(k).end(m-k);
-        m_matU(k,k) = Scalar(1) + m_matU(k,k);
-        if (k-1>0)
-          m_matU.col(k).start(k-1).setZero();
-      }
-      else
-      {
-        m_matU.col(k).setZero();
-        m_matU(k,k) = 1.0;
-      }
-    }
-  }
-
-  // If required, generate V.
-  if (wantv)
-  {
-    for (k = n-1; k >= 0; k--)
-    {
-      if ((k < nrt) & (e[k] != 0.0))
-      {
-        for (j = k+1; j < nu; ++j)
-        {
-          Scalar t = m_matV.col(k).end(n-k-1).eigen2_dot(m_matV.col(j).end(n-k-1)); // FIXME is it really a dot product we want ?
-          t = -t/m_matV(k+1,k);
-          m_matV.col(j).end(n-k-1) += t * m_matV.col(k).end(n-k-1);
-        }
-      }
-      m_matV.col(k).setZero();
-      m_matV(k,k) = 1.0;
-    }
-  }
-
-  // Main iteration loop for the singular values.
-  int pp = p-1;
-  int iter = 0;
-  Scalar eps = ei_pow(Scalar(2),ei_is_same_type<Scalar,float>::ret ? Scalar(-23) : Scalar(-52));
-  while (p > 0)
-  {
-    int k=0;
-    int kase=0;
-
-    // Here is where a test for too many iterations would go.
-
-    // This section of the program inspects for
-    // negligible elements in the s and e arrays.  On
-    // completion the variables kase and k are set as follows.
-
-    // kase = 1     if s(p) and e[k-1] are negligible and k<p
-    // kase = 2     if s(k) is negligible and k<p
-    // kase = 3     if e[k-1] is negligible, k<p, and
-    //              s(k), ..., s(p) are not negligible (qr step).
-    // kase = 4     if e(p-1) is negligible (convergence).
-
-    for (k = p-2; k >= -1; --k)
-    {
-      if (k == -1)
-          break;
-      if (ei_abs(e[k]) <= eps*(ei_abs(m_sigma[k]) + ei_abs(m_sigma[k+1])))
-      {
-          e[k] = 0.0;
-          break;
-      }
-    }
-    if (k == p-2)
-    {
-      kase = 4;
-    }
-    else
-    {
-      int ks;
-      for (ks = p-1; ks >= k; --ks)
-      {
-        if (ks == k)
-          break;
-        Scalar t = (ks != p ? ei_abs(e[ks]) : Scalar(0)) + (ks != k+1 ? ei_abs(e[ks-1]) : Scalar(0));
-        if (ei_abs(m_sigma[ks]) <= eps*t)
-        {
-          m_sigma[ks] = 0.0;
-          break;
-        }
-      }
-      if (ks == k)
-      {
-        kase = 3;
-      }
-      else if (ks == p-1)
-      {
-        kase = 1;
-      }
-      else
-      {
-        kase = 2;
-        k = ks;
-      }
-    }
-    ++k;
-
-    // Perform the task indicated by kase.
-    switch (kase)
-    {
-
-      // Deflate negligible s(p).
-      case 1:
-      {
-        Scalar f(e[p-2]);
-        e[p-2] = 0.0;
-        for (j = p-2; j >= k; --j)
-        {
-          Scalar t(numext::hypot(m_sigma[j],f));
-          Scalar cs(m_sigma[j]/t);
-          Scalar sn(f/t);
-          m_sigma[j] = t;
-          if (j != k)
-          {
-            f = -sn*e[j-1];
-            e[j-1] = cs*e[j-1];
-          }
-          if (wantv)
-          {
-            for (i = 0; i < n; ++i)
-            {
-              t = cs*m_matV(i,j) + sn*m_matV(i,p-1);
-              m_matV(i,p-1) = -sn*m_matV(i,j) + cs*m_matV(i,p-1);
-              m_matV(i,j) = t;
-            }
-          }
-        }
-      }
-      break;
-
-      // Split at negligible s(k).
-      case 2:
-      {
-        Scalar f(e[k-1]);
-        e[k-1] = 0.0;
-        for (j = k; j < p; ++j)
-        {
-          Scalar t(numext::hypot(m_sigma[j],f));
-          Scalar cs( m_sigma[j]/t);
-          Scalar sn(f/t);
-          m_sigma[j] = t;
-          f = -sn*e[j];
-          e[j] = cs*e[j];
-          if (wantu)
-          {
-            for (i = 0; i < m; ++i)
-            {
-              t = cs*m_matU(i,j) + sn*m_matU(i,k-1);
-              m_matU(i,k-1) = -sn*m_matU(i,j) + cs*m_matU(i,k-1);
-              m_matU(i,j) = t;
-            }
-          }
-        }
-      }
-      break;
-
-      // Perform one qr step.
-      case 3:
-      {
-        // Calculate the shift.
-        Scalar scale = (std::max)((std::max)((std::max)((std::max)(
-                        ei_abs(m_sigma[p-1]),ei_abs(m_sigma[p-2])),ei_abs(e[p-2])),
-                        ei_abs(m_sigma[k])),ei_abs(e[k]));
-        Scalar sp = m_sigma[p-1]/scale;
-        Scalar spm1 = m_sigma[p-2]/scale;
-        Scalar epm1 = e[p-2]/scale;
-        Scalar sk = m_sigma[k]/scale;
-        Scalar ek = e[k]/scale;
-        Scalar b = ((spm1 + sp)*(spm1 - sp) + epm1*epm1)/Scalar(2);
-        Scalar c = (sp*epm1)*(sp*epm1);
-        Scalar shift(0);
-        if ((b != 0.0) || (c != 0.0))
-        {
-          shift = ei_sqrt(b*b + c);
-          if (b < 0.0)
-            shift = -shift;
-          shift = c/(b + shift);
-        }
-        Scalar f = (sk + sp)*(sk - sp) + shift;
-        Scalar g = sk*ek;
-
-        // Chase zeros.
-
-        for (j = k; j < p-1; ++j)
-        {
-          Scalar t = numext::hypot(f,g);
-          Scalar cs = f/t;
-          Scalar sn = g/t;
-          if (j != k)
-            e[j-1] = t;
-          f = cs*m_sigma[j] + sn*e[j];
-          e[j] = cs*e[j] - sn*m_sigma[j];
-          g = sn*m_sigma[j+1];
-          m_sigma[j+1] = cs*m_sigma[j+1];
-          if (wantv)
-          {
-            for (i = 0; i < n; ++i)
-            {
-              t = cs*m_matV(i,j) + sn*m_matV(i,j+1);
-              m_matV(i,j+1) = -sn*m_matV(i,j) + cs*m_matV(i,j+1);
-              m_matV(i,j) = t;
-            }
-          }
-          t = numext::hypot(f,g);
-          cs = f/t;
-          sn = g/t;
-          m_sigma[j] = t;
-          f = cs*e[j] + sn*m_sigma[j+1];
-          m_sigma[j+1] = -sn*e[j] + cs*m_sigma[j+1];
-          g = sn*e[j+1];
-          e[j+1] = cs*e[j+1];
-          if (wantu && (j < m-1))
-          {
-            for (i = 0; i < m; ++i)
-            {
-              t = cs*m_matU(i,j) + sn*m_matU(i,j+1);
-              m_matU(i,j+1) = -sn*m_matU(i,j) + cs*m_matU(i,j+1);
-              m_matU(i,j) = t;
-            }
-          }
-        }
-        e[p-2] = f;
-        iter = iter + 1;
-      }
-      break;
-
-      // Convergence.
-      case 4:
-      {
-        // Make the singular values positive.
-        if (m_sigma[k] <= 0.0)
-        {
-          m_sigma[k] = m_sigma[k] < Scalar(0) ? -m_sigma[k] : Scalar(0);
-          if (wantv)
-            m_matV.col(k).start(pp+1) = -m_matV.col(k).start(pp+1);
-        }
-
-        // Order the singular values.
-        while (k < pp)
-        {
-          if (m_sigma[k] >= m_sigma[k+1])
-            break;
-          Scalar t = m_sigma[k];
-          m_sigma[k] = m_sigma[k+1];
-          m_sigma[k+1] = t;
-          if (wantv && (k < n-1))
-            m_matV.col(k).swap(m_matV.col(k+1));
-          if (wantu && (k < m-1))
-            m_matU.col(k).swap(m_matU.col(k+1));
-          ++k;
-        }
-        iter = 0;
-        p--;
-      }
-      break;
-    } // end big switch
-  } // end iterations
-}
-
-template<typename MatrixType>
-SVD<MatrixType>& SVD<MatrixType>::sort()
-{
-  int mu = m_matU.rows();
-  int mv = m_matV.rows();
-  int n  = m_matU.cols();
-
-  for (int i=0; i<n; ++i)
-  {
-    int  k = i;
-    Scalar p = m_sigma.coeff(i);
-
-    for (int j=i+1; j<n; ++j)
-    {
-      if (m_sigma.coeff(j) > p)
-      {
-        k = j;
-        p = m_sigma.coeff(j);
-      }
-    }
-    if (k != i)
-    {
-      m_sigma.coeffRef(k) = m_sigma.coeff(i);  // i.e.
-      m_sigma.coeffRef(i) = p;                 // swaps the i-th and the k-th elements
-
-      int j = mu;
-      for(int s=0; j!=0; ++s, --j)
-        std::swap(m_matU.coeffRef(s,i), m_matU.coeffRef(s,k));
-
-      j = mv;
-      for (int s=0; j!=0; ++s, --j)
-        std::swap(m_matV.coeffRef(s,i), m_matV.coeffRef(s,k));
-    }
-  }
-  return *this;
-}
-
-/** \returns the solution of \f$ A x = b \f$ using the current SVD decomposition of A.
-  * The parts of the solution corresponding to zero singular values are ignored.
-  *
-  * \sa MatrixBase::svd(), LU::solve(), LLT::solve()
-  */
-template<typename MatrixType>
-template<typename OtherDerived, typename ResultType>
-bool SVD<MatrixType>::solve(const MatrixBase<OtherDerived> &b, ResultType* result) const
-{
-  ei_assert(b.rows() == m_matU.rows());
-
-  Scalar maxVal = m_sigma.cwise().abs().maxCoeff();
-  for (int j=0; j<b.cols(); ++j)
-  {
-    Matrix<Scalar,MatrixUType::RowsAtCompileTime,1> aux = m_matU.transpose() * b.col(j);
-
-    for (int i = 0; i <m_matU.cols(); ++i)
-    {
-      Scalar si = m_sigma.coeff(i);
-      if (ei_isMuchSmallerThan(ei_abs(si),maxVal))
-        aux.coeffRef(i) = 0;
-      else
-        aux.coeffRef(i) /= si;
-    }
-
-    result->col(j) = m_matV * aux;
-  }
-  return true;
-}
-
-/** Computes the polar decomposition of the matrix, as a product unitary x positive.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  * Only for square matrices.
-  *
-  * \sa computePositiveUnitary(), computeRotationScaling()
-  */
-template<typename MatrixType>
-template<typename UnitaryType, typename PositiveType>
-void SVD<MatrixType>::computeUnitaryPositive(UnitaryType *unitary,
-                                             PositiveType *positive) const
-{
-  ei_assert(m_matU.cols() == m_matV.cols() && "Polar decomposition is only for square matrices");
-  if(unitary) *unitary = m_matU * m_matV.adjoint();
-  if(positive) *positive = m_matV * m_sigma.asDiagonal() * m_matV.adjoint();
-}
-
-/** Computes the polar decomposition of the matrix, as a product positive x unitary.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  * Only for square matrices.
-  *
-  * \sa computeUnitaryPositive(), computeRotationScaling()
-  */
-template<typename MatrixType>
-template<typename UnitaryType, typename PositiveType>
-void SVD<MatrixType>::computePositiveUnitary(UnitaryType *positive,
-                                             PositiveType *unitary) const
-{
-  ei_assert(m_matU.rows() == m_matV.rows() && "Polar decomposition is only for square matrices");
-  if(unitary) *unitary = m_matU * m_matV.adjoint();
-  if(positive) *positive = m_matU * m_sigma.asDiagonal() * m_matU.adjoint();
-}
-
-/** decomposes the matrix as a product rotation x scaling, the scaling being
-  * not necessarily positive.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  * This method requires the Geometry module.
-  *
-  * \sa computeScalingRotation(), computeUnitaryPositive()
-  */
-template<typename MatrixType>
-template<typename RotationType, typename ScalingType>
-void SVD<MatrixType>::computeRotationScaling(RotationType *rotation, ScalingType *scaling) const
-{
-  ei_assert(m_matU.rows() == m_matV.rows() && "Polar decomposition is only for square matrices");
-  Scalar x = (m_matU * m_matV.adjoint()).determinant(); // so x has absolute value 1
-  Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> sv(m_sigma);
-  sv.coeffRef(0) *= x;
-  if(scaling) scaling->lazyAssign(m_matV * sv.asDiagonal() * m_matV.adjoint());
-  if(rotation)
-  {
-    MatrixType m(m_matU);
-    m.col(0) /= x;
-    rotation->lazyAssign(m * m_matV.adjoint());
-  }
-}
-
-/** decomposes the matrix as a product scaling x rotation, the scaling being
-  * not necessarily positive.
-  *
-  * If either pointer is zero, the corresponding computation is skipped.
-  *
-  * This method requires the Geometry module.
-  *
-  * \sa computeRotationScaling(), computeUnitaryPositive()
-  */
-template<typename MatrixType>
-template<typename ScalingType, typename RotationType>
-void SVD<MatrixType>::computeScalingRotation(ScalingType *scaling, RotationType *rotation) const
-{
-  ei_assert(m_matU.rows() == m_matV.rows() && "Polar decomposition is only for square matrices");
-  Scalar x = (m_matU * m_matV.adjoint()).determinant(); // so x has absolute value 1
-  Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> sv(m_sigma);
-  sv.coeffRef(0) *= x;
-  if(scaling) scaling->lazyAssign(m_matU * sv.asDiagonal() * m_matU.adjoint());
-  if(rotation)
-  {
-    MatrixType m(m_matU);
-    m.col(0) /= x;
-    rotation->lazyAssign(m * m_matV.adjoint());
-  }
-}
-
-
-/** \svd_module
-  * \returns the SVD decomposition of \c *this
-  */
-template<typename Derived>
-inline SVD<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::svd() const
-{
-  return SVD<PlainObject>(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN2_SVD_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/TriangularSolver.h b/eigenlib/Eigen/src/Eigen2Support/TriangularSolver.h
deleted file mode 100644
index ebbeb3b4..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/TriangularSolver.h
+++ /dev/null
@@ -1,42 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_TRIANGULAR_SOLVER2_H
-#define EIGEN_TRIANGULAR_SOLVER2_H
-
-namespace Eigen { 
-
-const unsigned int UnitDiagBit = UnitDiag;
-const unsigned int SelfAdjointBit = SelfAdjoint;
-const unsigned int UpperTriangularBit = Upper;
-const unsigned int LowerTriangularBit = Lower;
-
-const unsigned int UpperTriangular = Upper;
-const unsigned int LowerTriangular = Lower;
-const unsigned int UnitUpperTriangular = UnitUpper;
-const unsigned int UnitLowerTriangular = UnitLower;
-
-template<typename ExpressionType, unsigned int Added, unsigned int Removed>
-template<typename OtherDerived>
-typename ExpressionType::PlainObject
-Flagged<ExpressionType,Added,Removed>::solveTriangular(const MatrixBase<OtherDerived>& other) const
-{
-  return m_matrix.template triangularView<Added>().solve(other.derived());
-}
-
-template<typename ExpressionType, unsigned int Added, unsigned int Removed>
-template<typename OtherDerived>
-void Flagged<ExpressionType,Added,Removed>::solveTriangularInPlace(const MatrixBase<OtherDerived>& other) const
-{
-  m_matrix.template triangularView<Added>().solveInPlace(other.derived());
-}
-
-} // end namespace Eigen
-    
-#endif // EIGEN_TRIANGULAR_SOLVER2_H
diff --git a/eigenlib/Eigen/src/Eigen2Support/VectorBlock.h b/eigenlib/Eigen/src/Eigen2Support/VectorBlock.h
deleted file mode 100644
index 71a8080a..00000000
--- a/eigenlib/Eigen/src/Eigen2Support/VectorBlock.h
+++ /dev/null
@@ -1,94 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN2_VECTORBLOCK_H
-#define EIGEN2_VECTORBLOCK_H
-
-namespace Eigen { 
-
-/** \deprecated use DenseMase::head(Index) */
-template<typename Derived>
-inline VectorBlock<Derived>
-MatrixBase<Derived>::start(Index size)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<Derived>(derived(), 0, size);
-}
-
-/** \deprecated use DenseMase::head(Index) */
-template<typename Derived>
-inline const VectorBlock<const Derived>
-MatrixBase<Derived>::start(Index size) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<const Derived>(derived(), 0, size);
-}
-
-/** \deprecated use DenseMase::tail(Index) */
-template<typename Derived>
-inline VectorBlock<Derived>
-MatrixBase<Derived>::end(Index size)
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<Derived>(derived(), this->size() - size, size);
-}
-
-/** \deprecated use DenseMase::tail(Index) */
-template<typename Derived>
-inline const VectorBlock<const Derived>
-MatrixBase<Derived>::end(Index size) const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<const Derived>(derived(), this->size() - size, size);
-}
-
-/** \deprecated use DenseMase::head() */
-template<typename Derived>
-template<int Size>
-inline VectorBlock<Derived,Size>
-MatrixBase<Derived>::start()
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<Derived,Size>(derived(), 0);
-}
-
-/** \deprecated use DenseMase::head() */
-template<typename Derived>
-template<int Size>
-inline const VectorBlock<const Derived,Size>
-MatrixBase<Derived>::start() const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<const Derived,Size>(derived(), 0);
-}
-
-/** \deprecated use DenseMase::tail() */
-template<typename Derived>
-template<int Size>
-inline VectorBlock<Derived,Size>
-MatrixBase<Derived>::end()
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<Derived, Size>(derived(), size() - Size);
-}
-
-/** \deprecated use DenseMase::tail() */
-template<typename Derived>
-template<int Size>
-inline const VectorBlock<const Derived,Size>
-MatrixBase<Derived>::end() const
-{
-  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
-  return VectorBlock<const Derived, Size>(derived(), size() - Size);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN2_VECTORBLOCK_H
diff --git a/eigenlib/Eigen/src/Eigenvalues/CMakeLists.txt b/eigenlib/Eigen/src/Eigenvalues/CMakeLists.txt
deleted file mode 100644
index 193e0268..00000000
--- a/eigenlib/Eigen/src/Eigenvalues/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_EIGENVALUES_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_EIGENVALUES_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Eigenvalues COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/Eigenvalues/ComplexEigenSolver.h b/eigenlib/Eigen/src/Eigenvalues/ComplexEigenSolver.h
index 417c7294..ec3b1633 100644
--- a/eigenlib/Eigen/src/Eigenvalues/ComplexEigenSolver.h
+++ b/eigenlib/Eigen/src/Eigenvalues/ComplexEigenSolver.h
@@ -60,7 +60,7 @@ template<typename _MatrixType> class ComplexEigenSolver
     /** \brief Scalar type for matrices of type #MatrixType. */
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     /** \brief Complex scalar type for #MatrixType.
       *
@@ -104,7 +104,7 @@ template<typename _MatrixType> class ComplexEigenSolver
       * according to the specified problem \a size.
       * \sa ComplexEigenSolver()
       */
-    ComplexEigenSolver(Index size)
+    explicit ComplexEigenSolver(Index size)
             : m_eivec(size, size),
               m_eivalues(size),
               m_schur(size),
@@ -122,7 +122,8 @@ template<typename _MatrixType> class ComplexEigenSolver
       *
       * This constructor calls compute() to compute the eigendecomposition.
       */
-      ComplexEigenSolver(const MatrixType& matrix, bool computeEigenvectors = true)
+    template<typename InputType>
+    explicit ComplexEigenSolver(const EigenBase<InputType>& matrix, bool computeEigenvectors = true)
             : m_eivec(matrix.rows(),matrix.cols()),
               m_eivalues(matrix.cols()),
               m_schur(matrix.rows()),
@@ -130,7 +131,7 @@ template<typename _MatrixType> class ComplexEigenSolver
               m_eigenvectorsOk(false),
               m_matX(matrix.rows(),matrix.cols())
     {
-      compute(matrix, computeEigenvectors);
+      compute(matrix.derived(), computeEigenvectors);
     }
 
     /** \brief Returns the eigenvectors of given matrix.
@@ -208,7 +209,8 @@ template<typename _MatrixType> class ComplexEigenSolver
       * Example: \include ComplexEigenSolver_compute.cpp
       * Output: \verbinclude ComplexEigenSolver_compute.out
       */
-    ComplexEigenSolver& compute(const MatrixType& matrix, bool computeEigenvectors = true);
+    template<typename InputType>
+    ComplexEigenSolver& compute(const EigenBase<InputType>& matrix, bool computeEigenvectors = true);
 
     /** \brief Reports whether previous computation was successful.
       *
@@ -254,8 +256,9 @@ template<typename _MatrixType> class ComplexEigenSolver
 
 
 template<typename MatrixType>
+template<typename InputType>
 ComplexEigenSolver<MatrixType>& 
-ComplexEigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEigenvectors)
+ComplexEigenSolver<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeEigenvectors)
 {
   check_template_parameters();
   
@@ -264,13 +267,13 @@ ComplexEigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEi
 
   // Do a complex Schur decomposition, A = U T U^*
   // The eigenvalues are on the diagonal of T.
-  m_schur.compute(matrix, computeEigenvectors);
+  m_schur.compute(matrix.derived(), computeEigenvectors);
 
   if(m_schur.info() == Success)
   {
     m_eivalues = m_schur.matrixT().diagonal();
     if(computeEigenvectors)
-      doComputeEigenvectors(matrix.norm());
+      doComputeEigenvectors(m_schur.matrixT().norm());
     sortEigenvalues(computeEigenvectors);
   }
 
diff --git a/eigenlib/Eigen/src/Eigenvalues/ComplexSchur.h b/eigenlib/Eigen/src/Eigenvalues/ComplexSchur.h
index 89e6cade..7f38919f 100644
--- a/eigenlib/Eigen/src/Eigenvalues/ComplexSchur.h
+++ b/eigenlib/Eigen/src/Eigenvalues/ComplexSchur.h
@@ -63,7 +63,7 @@ template<typename _MatrixType> class ComplexSchur
     /** \brief Scalar type for matrices of type \p _MatrixType. */
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     /** \brief Complex scalar type for \p _MatrixType. 
       *
@@ -91,7 +91,7 @@ template<typename _MatrixType> class ComplexSchur
       *
       * \sa compute() for an example.
       */
-    ComplexSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
+    explicit ComplexSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
       : m_matT(size,size),
         m_matU(size,size),
         m_hess(size),
@@ -109,7 +109,8 @@ template<typename _MatrixType> class ComplexSchur
       *
       * \sa matrixT() and matrixU() for examples.
       */
-    ComplexSchur(const MatrixType& matrix, bool computeU = true)
+    template<typename InputType>
+    explicit ComplexSchur(const EigenBase<InputType>& matrix, bool computeU = true)
       : m_matT(matrix.rows(),matrix.cols()),
         m_matU(matrix.rows(),matrix.cols()),
         m_hess(matrix.rows()),
@@ -117,7 +118,7 @@ template<typename _MatrixType> class ComplexSchur
         m_matUisUptodate(false),
         m_maxIters(-1)
     {
-      compute(matrix, computeU);
+      compute(matrix.derived(), computeU);
     }
 
     /** \brief Returns the unitary matrix in the Schur decomposition. 
@@ -186,7 +187,8 @@ template<typename _MatrixType> class ComplexSchur
       *
       * \sa compute(const MatrixType&, bool, Index)
       */
-    ComplexSchur& compute(const MatrixType& matrix, bool computeU = true);
+    template<typename InputType>
+    ComplexSchur& compute(const EigenBase<InputType>& matrix, bool computeU = true);
     
     /** \brief Compute Schur decomposition from a given Hessenberg matrix
      *  \param[in] matrixH Matrix in Hessenberg form H
@@ -313,14 +315,15 @@ typename ComplexSchur<MatrixType>::ComplexScalar ComplexSchur<MatrixType>::compu
 
 
 template<typename MatrixType>
-ComplexSchur<MatrixType>& ComplexSchur<MatrixType>::compute(const MatrixType& matrix, bool computeU)
+template<typename InputType>
+ComplexSchur<MatrixType>& ComplexSchur<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeU)
 {
   m_matUisUptodate = false;
   eigen_assert(matrix.cols() == matrix.rows());
 
   if(matrix.cols() == 1)
   {
-    m_matT = matrix.template cast<ComplexScalar>();
+    m_matT = matrix.derived().template cast<ComplexScalar>();
     if(computeU)  m_matU = ComplexMatrixType::Identity(1,1);
     m_info = Success;
     m_isInitialized = true;
@@ -328,7 +331,7 @@ ComplexSchur<MatrixType>& ComplexSchur<MatrixType>::compute(const MatrixType& ma
     return *this;
   }
 
-  internal::complex_schur_reduce_to_hessenberg<MatrixType, NumTraits<Scalar>::IsComplex>::run(*this, matrix, computeU);
+  internal::complex_schur_reduce_to_hessenberg<MatrixType, NumTraits<Scalar>::IsComplex>::run(*this, matrix.derived(), computeU);
   computeFromHessenberg(m_matT, m_matU, computeU);
   return *this;
 }
diff --git a/eigenlib/Eigen/src/Eigenvalues/ComplexSchur_MKL.h b/eigenlib/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h
similarity index 65%
rename from eigenlib/Eigen/src/Eigenvalues/ComplexSchur_MKL.h
rename to eigenlib/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h
index 91496ae5..4980a3ed 100644
--- a/eigenlib/Eigen/src/Eigenvalues/ComplexSchur_MKL.h
+++ b/eigenlib/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h
@@ -25,27 +25,24 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to LAPACKe
  *    Complex Schur needed to complex unsymmetrical eigenvalues/eigenvectors.
  ********************************************************************************
 */
 
-#ifndef EIGEN_COMPLEX_SCHUR_MKL_H
-#define EIGEN_COMPLEX_SCHUR_MKL_H
-
-#include "Eigen/src/Core/util/MKL_support.h"
+#ifndef EIGEN_COMPLEX_SCHUR_LAPACKE_H
+#define EIGEN_COMPLEX_SCHUR_LAPACKE_H
 
 namespace Eigen { 
 
-/** \internal Specialization for the data types supported by MKL */
+/** \internal Specialization for the data types supported by LAPACKe */
 
-#define EIGEN_MKL_SCHUR_COMPLEX(EIGTYPE, MKLTYPE, MKLPREFIX, MKLPREFIX_U, EIGCOLROW, MKLCOLROW) \
-template<> inline \
+#define EIGEN_LAPACKE_SCHUR_COMPLEX(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX, LAPACKE_PREFIX_U, EIGCOLROW, LAPACKE_COLROW) \
+template<> template<typename InputType> inline \
 ComplexSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >& \
-ComplexSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW>& matrix, bool computeU) \
+ComplexSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const EigenBase<InputType>& matrix, bool computeU) \
 { \
   typedef Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> MatrixType; \
-  typedef MatrixType::Scalar Scalar; \
   typedef MatrixType::RealScalar RealScalar; \
   typedef std::complex<RealScalar> ComplexScalar; \
 \
@@ -54,25 +51,25 @@ ComplexSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const Matri
   m_matUisUptodate = false; \
   if(matrix.cols() == 1) \
   { \
-    m_matT = matrix.cast<ComplexScalar>(); \
+    m_matT = matrix.derived().template cast<ComplexScalar>(); \
     if(computeU)  m_matU = ComplexMatrixType::Identity(1,1); \
       m_info = Success; \
       m_isInitialized = true; \
       m_matUisUptodate = computeU; \
       return *this; \
   } \
-  lapack_int n = matrix.cols(), sdim, info; \
-  lapack_int lda = matrix.outerStride(); \
-  lapack_int matrix_order = MKLCOLROW; \
+  lapack_int n = internal::convert_index<lapack_int>(matrix.cols()), sdim, info; \
+  lapack_int matrix_order = LAPACKE_COLROW; \
   char jobvs, sort='N'; \
-  LAPACK_##MKLPREFIX_U##_SELECT1 select = 0; \
+  LAPACK_##LAPACKE_PREFIX_U##_SELECT1 select = 0; \
   jobvs = (computeU) ? 'V' : 'N'; \
   m_matU.resize(n, n); \
-  lapack_int ldvs  = m_matU.outerStride(); \
+  lapack_int ldvs  = internal::convert_index<lapack_int>(m_matU.outerStride()); \
   m_matT = matrix; \
+  lapack_int lda = internal::convert_index<lapack_int>(m_matT.outerStride()); \
   Matrix<EIGTYPE, Dynamic, Dynamic> w; \
   w.resize(n, 1);\
-  info = LAPACKE_##MKLPREFIX##gees( matrix_order, jobvs, sort, select, n, (MKLTYPE*)m_matT.data(), lda, &sdim, (MKLTYPE*)w.data(), (MKLTYPE*)m_matU.data(), ldvs ); \
+  info = LAPACKE_##LAPACKE_PREFIX##gees( matrix_order, jobvs, sort, select, n, (LAPACKE_TYPE*)m_matT.data(), lda, &sdim, (LAPACKE_TYPE*)w.data(), (LAPACKE_TYPE*)m_matU.data(), ldvs ); \
   if(info == 0) \
     m_info = Success; \
   else \
@@ -84,11 +81,11 @@ ComplexSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const Matri
 \
 }
 
-EIGEN_MKL_SCHUR_COMPLEX(dcomplex, MKL_Complex16, z, Z, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_MKL_SCHUR_COMPLEX(scomplex, MKL_Complex8,  c, C, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_MKL_SCHUR_COMPLEX(dcomplex, MKL_Complex16, z, Z, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_MKL_SCHUR_COMPLEX(scomplex, MKL_Complex8,  c, C, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_SCHUR_COMPLEX(dcomplex, lapack_complex_double, z, Z, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SCHUR_COMPLEX(scomplex, lapack_complex_float,  c, C, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SCHUR_COMPLEX(dcomplex, lapack_complex_double, z, Z, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_SCHUR_COMPLEX(scomplex, lapack_complex_float,  c, C, RowMajor, LAPACK_ROW_MAJOR)
 
 } // end namespace Eigen
 
-#endif // EIGEN_COMPLEX_SCHUR_MKL_H
+#endif // EIGEN_COMPLEX_SCHUR_LAPACKE_H
diff --git a/eigenlib/Eigen/src/Eigenvalues/EigenSolver.h b/eigenlib/Eigen/src/Eigenvalues/EigenSolver.h
index 20c59a7a..f205b185 100644
--- a/eigenlib/Eigen/src/Eigenvalues/EigenSolver.h
+++ b/eigenlib/Eigen/src/Eigenvalues/EigenSolver.h
@@ -79,7 +79,7 @@ template<typename _MatrixType> class EigenSolver
     /** \brief Scalar type for matrices of type #MatrixType. */
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     /** \brief Complex scalar type for #MatrixType. 
       *
@@ -110,7 +110,7 @@ template<typename _MatrixType> class EigenSolver
       *
       * \sa compute() for an example.
       */
- EigenSolver() : m_eivec(), m_eivalues(), m_isInitialized(false), m_realSchur(), m_matT(), m_tmp() {}
+    EigenSolver() : m_eivec(), m_eivalues(), m_isInitialized(false), m_realSchur(), m_matT(), m_tmp() {}
 
     /** \brief Default constructor with memory preallocation
       *
@@ -118,7 +118,7 @@ template<typename _MatrixType> class EigenSolver
       * according to the specified problem \a size.
       * \sa EigenSolver()
       */
-    EigenSolver(Index size)
+    explicit EigenSolver(Index size)
       : m_eivec(size, size),
         m_eivalues(size),
         m_isInitialized(false),
@@ -143,7 +143,8 @@ template<typename _MatrixType> class EigenSolver
       *
       * \sa compute()
       */
-    EigenSolver(const MatrixType& matrix, bool computeEigenvectors = true)
+    template<typename InputType>
+    explicit EigenSolver(const EigenBase<InputType>& matrix, bool computeEigenvectors = true)
       : m_eivec(matrix.rows(), matrix.cols()),
         m_eivalues(matrix.cols()),
         m_isInitialized(false),
@@ -152,7 +153,7 @@ template<typename _MatrixType> class EigenSolver
         m_matT(matrix.rows(), matrix.cols()), 
         m_tmp(matrix.cols())
     {
-      compute(matrix, computeEigenvectors);
+      compute(matrix.derived(), computeEigenvectors);
     }
 
     /** \brief Returns the eigenvectors of given matrix. 
@@ -273,12 +274,14 @@ template<typename _MatrixType> class EigenSolver
       * Example: \include EigenSolver_compute.cpp
       * Output: \verbinclude EigenSolver_compute.out
       */
-    EigenSolver& compute(const MatrixType& matrix, bool computeEigenvectors = true);
+    template<typename InputType>
+    EigenSolver& compute(const EigenBase<InputType>& matrix, bool computeEigenvectors = true);
 
+    /** \returns NumericalIssue if the input contains INF or NaN values or overflow occured. Returns Success otherwise. */
     ComputationInfo info() const
     {
       eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
-      return m_realSchur.info();
+      return m_info;
     }
 
     /** \brief Sets the maximum number of iterations allowed. */
@@ -309,6 +312,7 @@ template<typename _MatrixType> class EigenSolver
     EigenvalueType m_eivalues;
     bool m_isInitialized;
     bool m_eigenvectorsOk;
+    ComputationInfo m_info;
     RealSchur<MatrixType> m_realSchur;
     MatrixType m_matT;
 
@@ -320,11 +324,12 @@ template<typename MatrixType>
 MatrixType EigenSolver<MatrixType>::pseudoEigenvalueMatrix() const
 {
   eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+  const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
   Index n = m_eivalues.rows();
   MatrixType matD = MatrixType::Zero(n,n);
   for (Index i=0; i<n; ++i)
   {
-    if (internal::isMuchSmallerThan(numext::imag(m_eivalues.coeff(i)), numext::real(m_eivalues.coeff(i))))
+    if (internal::isMuchSmallerThan(numext::imag(m_eivalues.coeff(i)), numext::real(m_eivalues.coeff(i)), precision))
       matD.coeffRef(i,i) = numext::real(m_eivalues.coeff(i));
     else
     {
@@ -341,11 +346,12 @@ typename EigenSolver<MatrixType>::EigenvectorsType EigenSolver<MatrixType>::eige
 {
   eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
   eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
+  const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
   Index n = m_eivec.cols();
   EigenvectorsType matV(n,n);
   for (Index j=0; j<n; ++j)
   {
-    if (internal::isMuchSmallerThan(numext::imag(m_eivalues.coeff(j)), numext::real(m_eivalues.coeff(j))) || j+1==n)
+    if (internal::isMuchSmallerThan(numext::imag(m_eivalues.coeff(j)), numext::real(m_eivalues.coeff(j)), precision) || j+1==n)
     {
       // we have a real eigen value
       matV.col(j) = m_eivec.col(j).template cast<ComplexScalar>();
@@ -368,19 +374,23 @@ typename EigenSolver<MatrixType>::EigenvectorsType EigenSolver<MatrixType>::eige
 }
 
 template<typename MatrixType>
+template<typename InputType>
 EigenSolver<MatrixType>& 
-EigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEigenvectors)
+EigenSolver<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeEigenvectors)
 {
   check_template_parameters();
   
   using std::sqrt;
   using std::abs;
+  using numext::isfinite;
   eigen_assert(matrix.cols() == matrix.rows());
 
   // Reduce to real Schur form.
-  m_realSchur.compute(matrix, computeEigenvectors);
+  m_realSchur.compute(matrix.derived(), computeEigenvectors);
+  
+  m_info = m_realSchur.info();
 
-  if (m_realSchur.info() == Success)
+  if (m_info == Success)
   {
     m_matT = m_realSchur.matrixT();
     if (computeEigenvectors)
@@ -394,14 +404,40 @@ EigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEigenvect
       if (i == matrix.cols() - 1 || m_matT.coeff(i+1, i) == Scalar(0)) 
       {
         m_eivalues.coeffRef(i) = m_matT.coeff(i, i);
+        if(!(isfinite)(m_eivalues.coeffRef(i)))
+        {
+          m_isInitialized = true;
+          m_eigenvectorsOk = false;
+          m_info = NumericalIssue;
+          return *this;
+        }
         ++i;
       }
       else
       {
         Scalar p = Scalar(0.5) * (m_matT.coeff(i, i) - m_matT.coeff(i+1, i+1));
-        Scalar z = sqrt(abs(p * p + m_matT.coeff(i+1, i) * m_matT.coeff(i, i+1)));
+        Scalar z;
+        // Compute z = sqrt(abs(p * p + m_matT.coeff(i+1, i) * m_matT.coeff(i, i+1)));
+        // without overflow
+        {
+          Scalar t0 = m_matT.coeff(i+1, i);
+          Scalar t1 = m_matT.coeff(i, i+1);
+          Scalar maxval = numext::maxi<Scalar>(abs(p),numext::maxi<Scalar>(abs(t0),abs(t1)));
+          t0 /= maxval;
+          t1 /= maxval;
+          Scalar p0 = p/maxval;
+          z = maxval * sqrt(abs(p0 * p0 + t0 * t1));
+        }
+        
         m_eivalues.coeffRef(i)   = ComplexScalar(m_matT.coeff(i+1, i+1) + p, z);
         m_eivalues.coeffRef(i+1) = ComplexScalar(m_matT.coeff(i+1, i+1) + p, -z);
+        if(!((isfinite)(m_eivalues.coeffRef(i)) && (isfinite)(m_eivalues.coeffRef(i+1))))
+        {
+          m_isInitialized = true;
+          m_eigenvectorsOk = false;
+          m_info = NumericalIssue;
+          return *this;
+        }
         i += 2;
       }
     }
@@ -417,26 +453,6 @@ EigenSolver<MatrixType>::compute(const MatrixType& matrix, bool computeEigenvect
   return *this;
 }
 
-// Complex scalar division.
-template<typename Scalar>
-std::complex<Scalar> cdiv(const Scalar& xr, const Scalar& xi, const Scalar& yr, const Scalar& yi)
-{
-  using std::abs;
-  Scalar r,d;
-  if (abs(yr) > abs(yi))
-  {
-      r = yi/yr;
-      d = yr + r*yi;
-      return std::complex<Scalar>((xr + r*xi)/d, (xi - r*xr)/d);
-  }
-  else
-  {
-      r = yr/yi;
-      d = yi + r*yr;
-      return std::complex<Scalar>((r*xr + xi)/d, (r*xi - xr)/d);
-  }
-}
-
 
 template<typename MatrixType>
 void EigenSolver<MatrixType>::doComputeEigenvectors()
@@ -453,7 +469,7 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
   }
   
   // Backsubstitute to find vectors of upper triangular form
-  if (norm == 0.0)
+  if (norm == Scalar(0))
   {
     return;
   }
@@ -469,13 +485,13 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
       Scalar lastr(0), lastw(0);
       Index l = n;
 
-      m_matT.coeffRef(n,n) = 1.0;
+      m_matT.coeffRef(n,n) = Scalar(1);
       for (Index i = n-1; i >= 0; i--)
       {
         Scalar w = m_matT.coeff(i,i) - p;
         Scalar r = m_matT.row(i).segment(l,n-l+1).dot(m_matT.col(n).segment(l, n-l+1));
 
-        if (m_eivalues.coeff(i).imag() < 0.0)
+        if (m_eivalues.coeff(i).imag() < Scalar(0))
         {
           lastw = w;
           lastr = r;
@@ -483,9 +499,9 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
         else
         {
           l = i;
-          if (m_eivalues.coeff(i).imag() == 0.0)
+          if (m_eivalues.coeff(i).imag() == Scalar(0))
           {
-            if (w != 0.0)
+            if (w != Scalar(0))
               m_matT.coeffRef(i,n) = -r / w;
             else
               m_matT.coeffRef(i,n) = -r / (eps * norm);
@@ -523,19 +539,19 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
       }
       else
       {
-        std::complex<Scalar> cc = cdiv<Scalar>(0.0,-m_matT.coeff(n-1,n),m_matT.coeff(n-1,n-1)-p,q);
+        ComplexScalar cc = ComplexScalar(Scalar(0),-m_matT.coeff(n-1,n)) / ComplexScalar(m_matT.coeff(n-1,n-1)-p,q);
         m_matT.coeffRef(n-1,n-1) = numext::real(cc);
         m_matT.coeffRef(n-1,n) = numext::imag(cc);
       }
-      m_matT.coeffRef(n,n-1) = 0.0;
-      m_matT.coeffRef(n,n) = 1.0;
+      m_matT.coeffRef(n,n-1) = Scalar(0);
+      m_matT.coeffRef(n,n) = Scalar(1);
       for (Index i = n-2; i >= 0; i--)
       {
         Scalar ra = m_matT.row(i).segment(l, n-l+1).dot(m_matT.col(n-1).segment(l, n-l+1));
         Scalar sa = m_matT.row(i).segment(l, n-l+1).dot(m_matT.col(n).segment(l, n-l+1));
         Scalar w = m_matT.coeff(i,i) - p;
 
-        if (m_eivalues.coeff(i).imag() < 0.0)
+        if (m_eivalues.coeff(i).imag() < Scalar(0))
         {
           lastw = w;
           lastra = ra;
@@ -546,7 +562,7 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
           l = i;
           if (m_eivalues.coeff(i).imag() == RealScalar(0))
           {
-            std::complex<Scalar> cc = cdiv(-ra,-sa,w,q);
+            ComplexScalar cc = ComplexScalar(-ra,-sa) / ComplexScalar(w,q);
             m_matT.coeffRef(i,n-1) = numext::real(cc);
             m_matT.coeffRef(i,n) = numext::imag(cc);
           }
@@ -557,10 +573,10 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
             Scalar y = m_matT.coeff(i+1,i);
             Scalar vr = (m_eivalues.coeff(i).real() - p) * (m_eivalues.coeff(i).real() - p) + m_eivalues.coeff(i).imag() * m_eivalues.coeff(i).imag() - q * q;
             Scalar vi = (m_eivalues.coeff(i).real() - p) * Scalar(2) * q;
-            if ((vr == 0.0) && (vi == 0.0))
+            if ((vr == Scalar(0)) && (vi == Scalar(0)))
               vr = eps * norm * (abs(w) + abs(q) + abs(x) + abs(y) + abs(lastw));
 
-            std::complex<Scalar> cc = cdiv(x*lastra-lastw*ra+q*sa,x*lastsa-lastw*sa-q*ra,vr,vi);
+            ComplexScalar cc = ComplexScalar(x*lastra-lastw*ra+q*sa,x*lastsa-lastw*sa-q*ra) / ComplexScalar(vr,vi);
             m_matT.coeffRef(i,n-1) = numext::real(cc);
             m_matT.coeffRef(i,n) = numext::imag(cc);
             if (abs(x) > (abs(lastw) + abs(q)))
@@ -570,15 +586,14 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
             }
             else
             {
-              cc = cdiv(-lastra-y*m_matT.coeff(i,n-1),-lastsa-y*m_matT.coeff(i,n),lastw,q);
+              cc = ComplexScalar(-lastra-y*m_matT.coeff(i,n-1),-lastsa-y*m_matT.coeff(i,n)) / ComplexScalar(lastw,q);
               m_matT.coeffRef(i+1,n-1) = numext::real(cc);
               m_matT.coeffRef(i+1,n) = numext::imag(cc);
             }
           }
 
           // Overflow control
-          using std::max;
-          Scalar t = (max)(abs(m_matT.coeff(i,n-1)),abs(m_matT.coeff(i,n)));
+          Scalar t = numext::maxi<Scalar>(abs(m_matT.coeff(i,n-1)),abs(m_matT.coeff(i,n)));
           if ((eps * t) * t > Scalar(1))
             m_matT.block(i, n-1, size-i, 2) /= t;
 
@@ -590,7 +605,7 @@ void EigenSolver<MatrixType>::doComputeEigenvectors()
     }
     else
     {
-      eigen_assert(0 && "Internal bug in EigenSolver"); // this should not happen
+      eigen_assert(0 && "Internal bug in EigenSolver (INF or NaN has not been detected)"); // this should not happen
     }
   }
 
diff --git a/eigenlib/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h b/eigenlib/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
index 956e80d9..36a91dff 100644
--- a/eigenlib/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
+++ b/eigenlib/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h
@@ -1,8 +1,9 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2012-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010,2012 Jitse Niesen <jitse@maths.leeds.ac.uk>
+// Copyright (C) 2016 Tobias Wood <tobias@spinicist.org.uk>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -72,7 +73,7 @@ template<typename _MatrixType> class GeneralizedEigenSolver
     /** \brief Scalar type for matrices of type #MatrixType. */
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     /** \brief Complex scalar type for #MatrixType. 
       *
@@ -89,7 +90,7 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       */
     typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> VectorType;
 
-    /** \brief Type for vector of complex scalar values eigenvalues as returned by betas().
+    /** \brief Type for vector of complex scalar values eigenvalues as returned by alphas().
       *
       * This is a column vector with entries of type #ComplexScalar.
       * The length of the vector is the size of #MatrixType.
@@ -114,7 +115,14 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       *
       * \sa compute() for an example.
       */
-    GeneralizedEigenSolver() : m_eivec(), m_alphas(), m_betas(), m_isInitialized(false), m_realQZ(), m_matS(), m_tmp() {}
+    GeneralizedEigenSolver()
+      : m_eivec(),
+        m_alphas(),
+        m_betas(),
+        m_valuesOkay(false),
+        m_vectorsOkay(false),
+        m_realQZ()
+    {}
 
     /** \brief Default constructor with memory preallocation
       *
@@ -122,14 +130,13 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       * according to the specified problem \a size.
       * \sa GeneralizedEigenSolver()
       */
-    GeneralizedEigenSolver(Index size)
+    explicit GeneralizedEigenSolver(Index size)
       : m_eivec(size, size),
         m_alphas(size),
         m_betas(size),
-        m_isInitialized(false),
-        m_eigenvectorsOk(false),
+        m_valuesOkay(false),
+        m_vectorsOkay(false),
         m_realQZ(size),
-        m_matS(size, size),
         m_tmp(size)
     {}
 
@@ -149,10 +156,9 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       : m_eivec(A.rows(), A.cols()),
         m_alphas(A.cols()),
         m_betas(A.cols()),
-        m_isInitialized(false),
-        m_eigenvectorsOk(false),
+        m_valuesOkay(false),
+        m_vectorsOkay(false),
         m_realQZ(A.cols()),
-        m_matS(A.rows(), A.cols()),
         m_tmp(A.cols())
     {
       compute(A, B, computeEigenvectors);
@@ -160,22 +166,20 @@ template<typename _MatrixType> class GeneralizedEigenSolver
 
     /* \brief Returns the computed generalized eigenvectors.
       *
-      * \returns  %Matrix whose columns are the (possibly complex) eigenvectors.
+      * \returns  %Matrix whose columns are the (possibly complex) right eigenvectors.
+      * i.e. the eigenvectors that solve (A - l*B)x = 0. The ordering matches the eigenvalues.
       *
       * \pre Either the constructor 
       * GeneralizedEigenSolver(const MatrixType&,const MatrixType&, bool) or the member function
       * compute(const MatrixType&, const MatrixType& bool) has been called before, and
       * \p computeEigenvectors was set to true (the default).
       *
-      * Column \f$ k \f$ of the returned matrix is an eigenvector corresponding
-      * to eigenvalue number \f$ k \f$ as returned by eigenvalues().  The
-      * eigenvectors are normalized to have (Euclidean) norm equal to one. The
-      * matrix returned by this function is the matrix \f$ V \f$ in the
-      * generalized eigendecomposition \f$ A = B V D V^{-1} \f$, if it exists.
-      *
       * \sa eigenvalues()
       */
-//    EigenvectorsType eigenvectors() const;
+    EigenvectorsType eigenvectors() const {
+      eigen_assert(m_vectorsOkay && "Eigenvectors for GeneralizedEigenSolver were not calculated.");
+      return m_eivec;
+    }
 
     /** \brief Returns an expression of the computed generalized eigenvalues.
       *
@@ -197,7 +201,7 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       */
     EigenvalueType eigenvalues() const
     {
-      eigen_assert(m_isInitialized && "GeneralizedEigenSolver is not initialized.");
+      eigen_assert(m_valuesOkay && "GeneralizedEigenSolver is not initialized.");
       return EigenvalueType(m_alphas,m_betas);
     }
 
@@ -208,7 +212,7 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       * \sa betas(), eigenvalues() */
     ComplexVectorType alphas() const
     {
-      eigen_assert(m_isInitialized && "GeneralizedEigenSolver is not initialized.");
+      eigen_assert(m_valuesOkay && "GeneralizedEigenSolver is not initialized.");
       return m_alphas;
     }
 
@@ -219,7 +223,7 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       * \sa alphas(), eigenvalues() */
     VectorType betas() const
     {
-      eigen_assert(m_isInitialized && "GeneralizedEigenSolver is not initialized.");
+      eigen_assert(m_valuesOkay && "GeneralizedEigenSolver is not initialized.");
       return m_betas;
     }
 
@@ -250,7 +254,7 @@ template<typename _MatrixType> class GeneralizedEigenSolver
 
     ComputationInfo info() const
     {
-      eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
+      eigen_assert(m_valuesOkay && "EigenSolver is not initialized.");
       return m_realQZ.info();
     }
 
@@ -270,29 +274,14 @@ template<typename _MatrixType> class GeneralizedEigenSolver
       EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL);
     }
     
-    MatrixType m_eivec;
+    EigenvectorsType m_eivec;
     ComplexVectorType m_alphas;
     VectorType m_betas;
-    bool m_isInitialized;
-    bool m_eigenvectorsOk;
+    bool m_valuesOkay, m_vectorsOkay;
     RealQZ<MatrixType> m_realQZ;
-    MatrixType m_matS;
-
-    typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
-    ColumnVectorType m_tmp;
+    ComplexVectorType m_tmp;
 };
 
-//template<typename MatrixType>
-//typename GeneralizedEigenSolver<MatrixType>::EigenvectorsType GeneralizedEigenSolver<MatrixType>::eigenvectors() const
-//{
-//  eigen_assert(m_isInitialized && "EigenSolver is not initialized.");
-//  eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-//  Index n = m_eivec.cols();
-//  EigenvectorsType matV(n,n);
-//  // TODO
-//  return matV;
-//}
-
 template<typename MatrixType>
 GeneralizedEigenSolver<MatrixType>&
 GeneralizedEigenSolver<MatrixType>::compute(const MatrixType& A, const MatrixType& B, bool computeEigenvectors)
@@ -302,46 +291,126 @@ GeneralizedEigenSolver<MatrixType>::compute(const MatrixType& A, const MatrixTyp
   using std::sqrt;
   using std::abs;
   eigen_assert(A.cols() == A.rows() && B.cols() == A.rows() && B.cols() == B.rows());
-
+  Index size = A.cols();
+  m_valuesOkay = false;
+  m_vectorsOkay = false;
   // Reduce to generalized real Schur form:
   // A = Q S Z and B = Q T Z
   m_realQZ.compute(A, B, computeEigenvectors);
-
   if (m_realQZ.info() == Success)
   {
-    m_matS = m_realQZ.matrixS();
+    // Resize storage
+    m_alphas.resize(size);
+    m_betas.resize(size);
     if (computeEigenvectors)
-      m_eivec = m_realQZ.matrixZ().transpose();
-  
-    // Compute eigenvalues from matS
-    m_alphas.resize(A.cols());
-    m_betas.resize(A.cols());
-    Index i = 0;
-    while (i < A.cols())
     {
-      if (i == A.cols() - 1 || m_matS.coeff(i+1, i) == Scalar(0))
+      m_eivec.resize(size,size);
+      m_tmp.resize(size);
+    }
+
+    // Aliases:
+    Map<VectorType> v(reinterpret_cast<Scalar*>(m_tmp.data()), size);
+    ComplexVectorType &cv = m_tmp;
+    const MatrixType &mZ = m_realQZ.matrixZ();
+    const MatrixType &mS = m_realQZ.matrixS();
+    const MatrixType &mT = m_realQZ.matrixT();
+
+    Index i = 0;
+    while (i < size)
+    {
+      if (i == size - 1 || mS.coeff(i+1, i) == Scalar(0))
       {
-        m_alphas.coeffRef(i) = m_matS.coeff(i, i);
-        m_betas.coeffRef(i)  = m_realQZ.matrixT().coeff(i,i);
+        // Real eigenvalue
+        m_alphas.coeffRef(i) = mS.diagonal().coeff(i);
+        m_betas.coeffRef(i)  = mT.diagonal().coeff(i);
+        if (computeEigenvectors)
+        {
+          v.setConstant(Scalar(0.0));
+          v.coeffRef(i) = Scalar(1.0);
+          // For singular eigenvalues do nothing more
+          if(abs(m_betas.coeffRef(i)) >= (std::numeric_limits<RealScalar>::min)())
+          {
+            // Non-singular eigenvalue
+            const Scalar alpha = real(m_alphas.coeffRef(i));
+            const Scalar beta = m_betas.coeffRef(i);
+            for (Index j = i-1; j >= 0; j--)
+            {
+              const Index st = j+1;
+              const Index sz = i-j;
+              if (j > 0 && mS.coeff(j, j-1) != Scalar(0))
+              {
+                // 2x2 block
+                Matrix<Scalar, 2, 1> rhs = (alpha*mT.template block<2,Dynamic>(j-1,st,2,sz) - beta*mS.template block<2,Dynamic>(j-1,st,2,sz)) .lazyProduct( v.segment(st,sz) );
+                Matrix<Scalar, 2, 2> lhs = beta * mS.template block<2,2>(j-1,j-1) - alpha * mT.template block<2,2>(j-1,j-1);
+                v.template segment<2>(j-1) = lhs.partialPivLu().solve(rhs);
+                j--;
+              }
+              else
+              {
+                v.coeffRef(j) = -v.segment(st,sz).transpose().cwiseProduct(beta*mS.block(j,st,1,sz) - alpha*mT.block(j,st,1,sz)).sum() / (beta*mS.coeffRef(j,j) - alpha*mT.coeffRef(j,j));
+              }
+            }
+          }
+          m_eivec.col(i).real().noalias() = mZ.transpose() * v;
+          m_eivec.col(i).real().normalize();
+          m_eivec.col(i).imag().setConstant(0);
+        }
         ++i;
       }
       else
       {
-        Scalar p = Scalar(0.5) * (m_matS.coeff(i, i) - m_matS.coeff(i+1, i+1));
-        Scalar z = sqrt(abs(p * p + m_matS.coeff(i+1, i) * m_matS.coeff(i, i+1)));
-        m_alphas.coeffRef(i)   = ComplexScalar(m_matS.coeff(i+1, i+1) + p, z);
-        m_alphas.coeffRef(i+1) = ComplexScalar(m_matS.coeff(i+1, i+1) + p, -z);
+        // We need to extract the generalized eigenvalues of the pair of a general 2x2 block S and a positive diagonal 2x2 block T
+        // Then taking beta=T_00*T_11, we can avoid any division, and alpha is the eigenvalues of A = (U^-1 * S * U) * diag(T_11,T_00):
 
-        m_betas.coeffRef(i)   = m_realQZ.matrixT().coeff(i,i);
-        m_betas.coeffRef(i+1) = m_realQZ.matrixT().coeff(i,i);
+        // T =  [a 0]
+        //      [0 b]
+        RealScalar a = mT.diagonal().coeff(i),
+                   b = mT.diagonal().coeff(i+1);
+        const RealScalar beta = m_betas.coeffRef(i) = m_betas.coeffRef(i+1) = a*b;
+
+        // ^^ NOTE: using diagonal()(i) instead of coeff(i,i) workarounds a MSVC bug.
+        Matrix<RealScalar,2,2> S2 = mS.template block<2,2>(i,i) * Matrix<Scalar,2,1>(b,a).asDiagonal();
+
+        Scalar p = Scalar(0.5) * (S2.coeff(0,0) - S2.coeff(1,1));
+        Scalar z = sqrt(abs(p * p + S2.coeff(1,0) * S2.coeff(0,1)));
+        const ComplexScalar alpha = ComplexScalar(S2.coeff(1,1) + p, (beta > 0) ? z : -z);
+        m_alphas.coeffRef(i)   = conj(alpha);
+        m_alphas.coeffRef(i+1) = alpha;
+
+        if (computeEigenvectors) {
+          // Compute eigenvector in position (i+1) and then position (i) is just the conjugate
+          cv.setZero();
+          cv.coeffRef(i+1) = Scalar(1.0);
+          // here, the "static_cast" workaound expression template issues.
+          cv.coeffRef(i) = -(static_cast<Scalar>(beta*mS.coeffRef(i,i+1)) - alpha*mT.coeffRef(i,i+1))
+                          / (static_cast<Scalar>(beta*mS.coeffRef(i,i))   - alpha*mT.coeffRef(i,i));
+          for (Index j = i-1; j >= 0; j--)
+          {
+            const Index st = j+1;
+            const Index sz = i+1-j;
+            if (j > 0 && mS.coeff(j, j-1) != Scalar(0))
+            {
+              // 2x2 block
+              Matrix<ComplexScalar, 2, 1> rhs = (alpha*mT.template block<2,Dynamic>(j-1,st,2,sz) - beta*mS.template block<2,Dynamic>(j-1,st,2,sz)) .lazyProduct( cv.segment(st,sz) );
+              Matrix<ComplexScalar, 2, 2> lhs = beta * mS.template block<2,2>(j-1,j-1) - alpha * mT.template block<2,2>(j-1,j-1);
+              cv.template segment<2>(j-1) = lhs.partialPivLu().solve(rhs);
+              j--;
+            } else {
+              cv.coeffRef(j) =  cv.segment(st,sz).transpose().cwiseProduct(beta*mS.block(j,st,1,sz) - alpha*mT.block(j,st,1,sz)).sum()
+                              / (alpha*mT.coeffRef(j,j) - static_cast<Scalar>(beta*mS.coeffRef(j,j)));
+            }
+          }
+          m_eivec.col(i+1).noalias() = (mZ.transpose() * cv);
+          m_eivec.col(i+1).normalize();
+          m_eivec.col(i) = m_eivec.col(i+1).conjugate();
+        }
         i += 2;
       }
     }
+
+    m_valuesOkay = true;
+    m_vectorsOkay = computeEigenvectors;
   }
-
-  m_isInitialized = true;
-  m_eigenvectorsOk = false;//computeEigenvectors;
-
   return *this;
 }
 
diff --git a/eigenlib/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h b/eigenlib/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
index 07bf1ea0..5f6bb828 100644
--- a/eigenlib/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
+++ b/eigenlib/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h
@@ -50,7 +50,6 @@ class GeneralizedSelfAdjointEigenSolver : public SelfAdjointEigenSolver<_MatrixT
     typedef SelfAdjointEigenSolver<_MatrixType> Base;
   public:
 
-    typedef typename Base::Index Index;
     typedef _MatrixType MatrixType;
 
     /** \brief Default constructor for fixed-size matrices.
@@ -74,7 +73,7 @@ class GeneralizedSelfAdjointEigenSolver : public SelfAdjointEigenSolver<_MatrixT
       *
       * \sa compute() for an example
       */
-    GeneralizedSelfAdjointEigenSolver(Index size)
+    explicit GeneralizedSelfAdjointEigenSolver(Index size)
         : Base(size)
     {}
 
diff --git a/eigenlib/Eigen/src/Eigenvalues/HessenbergDecomposition.h b/eigenlib/Eigen/src/Eigenvalues/HessenbergDecomposition.h
index 3db0c010..f647f69b 100644
--- a/eigenlib/Eigen/src/Eigenvalues/HessenbergDecomposition.h
+++ b/eigenlib/Eigen/src/Eigenvalues/HessenbergDecomposition.h
@@ -71,7 +71,7 @@ template<typename _MatrixType> class HessenbergDecomposition
 
     /** \brief Scalar type for matrices of type #MatrixType. */
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     /** \brief Type for vector of Householder coefficients.
       *
@@ -97,7 +97,7 @@ template<typename _MatrixType> class HessenbergDecomposition
       *
       * \sa compute() for an example.
       */
-    HessenbergDecomposition(Index size = Size==Dynamic ? 2 : Size)
+    explicit HessenbergDecomposition(Index size = Size==Dynamic ? 2 : Size)
       : m_matrix(size,size),
         m_temp(size),
         m_isInitialized(false)
@@ -115,8 +115,9 @@ template<typename _MatrixType> class HessenbergDecomposition
       *
       * \sa matrixH() for an example.
       */
-    HessenbergDecomposition(const MatrixType& matrix)
-      : m_matrix(matrix),
+    template<typename InputType>
+    explicit HessenbergDecomposition(const EigenBase<InputType>& matrix)
+      : m_matrix(matrix.derived()),
         m_temp(matrix.rows()),
         m_isInitialized(false)
     {
@@ -147,9 +148,10 @@ template<typename _MatrixType> class HessenbergDecomposition
       * Example: \include HessenbergDecomposition_compute.cpp
       * Output: \verbinclude HessenbergDecomposition_compute.out
       */
-    HessenbergDecomposition& compute(const MatrixType& matrix)
+    template<typename InputType>
+    HessenbergDecomposition& compute(const EigenBase<InputType>& matrix)
     {
-      m_matrix = matrix;
+      m_matrix = matrix.derived();
       if(matrix.rows()<2)
       {
         m_isInitialized = true;
@@ -337,7 +339,6 @@ namespace internal {
 template<typename MatrixType> struct HessenbergDecompositionMatrixHReturnType
 : public ReturnByValue<HessenbergDecompositionMatrixHReturnType<MatrixType> >
 {
-    typedef typename MatrixType::Index Index;
   public:
     /** \brief Constructor.
       *
diff --git a/eigenlib/Eigen/src/Eigenvalues/RealQZ.h b/eigenlib/Eigen/src/Eigenvalues/RealQZ.h
index aa3833eb..b3a910dd 100644
--- a/eigenlib/Eigen/src/Eigenvalues/RealQZ.h
+++ b/eigenlib/Eigen/src/Eigenvalues/RealQZ.h
@@ -67,7 +67,7 @@ namespace Eigen {
       };
       typedef typename MatrixType::Scalar Scalar;
       typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
-      typedef typename MatrixType::Index Index;
+      typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
       typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
       typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
@@ -83,7 +83,7 @@ namespace Eigen {
        *
        * \sa compute() for an example.
        */
-      RealQZ(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime) : 
+      explicit RealQZ(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime) :
         m_S(size, size),
         m_T(size, size),
         m_Q(size, size),
@@ -276,7 +276,7 @@ namespace Eigen {
 
   /** \internal Look for single small sub-diagonal element S(res, res-1) and return res (or 0) */
   template<typename MatrixType>
-    inline typename MatrixType::Index RealQZ<MatrixType>::findSmallSubdiagEntry(Index iu)
+    inline Index RealQZ<MatrixType>::findSmallSubdiagEntry(Index iu)
     {
       using std::abs;
       Index res = iu;
@@ -294,7 +294,7 @@ namespace Eigen {
 
   /** \internal Look for single small diagonal element T(res, res) for res between f and l, and return res (or f-1)  */
   template<typename MatrixType>
-    inline typename MatrixType::Index RealQZ<MatrixType>::findSmallDiagEntry(Index f, Index l)
+    inline Index RealQZ<MatrixType>::findSmallDiagEntry(Index f, Index l)
     {
       using std::abs;
       Index res = l;
@@ -315,8 +315,8 @@ namespace Eigen {
       const Index dim=m_S.cols();
       if (abs(m_S.coeff(i+1,i))==Scalar(0))
         return;
-      Index z = findSmallDiagEntry(i,i+1);
-      if (z==i-1)
+      Index j = findSmallDiagEntry(i,i+1);
+      if (j==i-1)
       {
         // block of (S T^{-1})
         Matrix2s STi = m_T.template block<2,2>(i,i).template triangularView<Upper>().
@@ -352,7 +352,7 @@ namespace Eigen {
       }
       else
       {
-        pushDownZero(z,i,i+1);
+        pushDownZero(j,i,i+1);
       }
     }
 
@@ -552,7 +552,6 @@ namespace Eigen {
       m_T.coeffRef(l,l-1) = Scalar(0.0);
     }
 
-
   template<typename MatrixType>
     RealQZ<MatrixType>& RealQZ<MatrixType>::compute(const MatrixType& A_in, const MatrixType& B_in, bool computeQZ)
     {
@@ -616,6 +615,37 @@ namespace Eigen {
       }
       // check if we converged before reaching iterations limit
       m_info = (local_iter<m_maxIters) ? Success : NoConvergence;
+
+      // For each non triangular 2x2 diagonal block of S,
+      //    reduce the respective 2x2 diagonal block of T to positive diagonal form using 2x2 SVD.
+      // This step is not mandatory for QZ, but it does help further extraction of eigenvalues/eigenvectors,
+      // and is in par with Lapack/Matlab QZ.
+      if(m_info==Success)
+      {
+        for(Index i=0; i<dim-1; ++i)
+        {
+          if(m_S.coeff(i+1, i) != Scalar(0))
+          {
+            JacobiRotation<Scalar> j_left, j_right;
+            internal::real_2x2_jacobi_svd(m_T, i, i+1, &j_left, &j_right);
+
+            // Apply resulting Jacobi rotations
+            m_S.applyOnTheLeft(i,i+1,j_left);
+            m_S.applyOnTheRight(i,i+1,j_right);
+            m_T.applyOnTheLeft(i,i+1,j_left);
+            m_T.applyOnTheRight(i,i+1,j_right);
+            m_T(i+1,i) = m_T(i,i+1) = Scalar(0);
+
+            if(m_computeQZ) {
+              m_Q.applyOnTheRight(i,i+1,j_left.transpose());
+              m_Z.applyOnTheLeft(i,i+1,j_right.transpose());
+            }
+
+            i++;
+          }
+        }
+      }
+
       return *this;
     } // end compute
 
diff --git a/eigenlib/Eigen/src/Eigenvalues/RealSchur.h b/eigenlib/Eigen/src/Eigenvalues/RealSchur.h
index 16d38753..d6a339f0 100644
--- a/eigenlib/Eigen/src/Eigenvalues/RealSchur.h
+++ b/eigenlib/Eigen/src/Eigenvalues/RealSchur.h
@@ -64,7 +64,7 @@ template<typename _MatrixType> class RealSchur
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     typedef Matrix<ComplexScalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> EigenvalueType;
     typedef Matrix<Scalar, ColsAtCompileTime, 1, Options & ~RowMajor, MaxColsAtCompileTime, 1> ColumnVectorType;
@@ -80,7 +80,7 @@ template<typename _MatrixType> class RealSchur
       *
       * \sa compute() for an example.
       */
-    RealSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
+    explicit RealSchur(Index size = RowsAtCompileTime==Dynamic ? 1 : RowsAtCompileTime)
             : m_matT(size, size),
               m_matU(size, size),
               m_workspaceVector(size),
@@ -100,7 +100,8 @@ template<typename _MatrixType> class RealSchur
       * Example: \include RealSchur_RealSchur_MatrixType.cpp
       * Output: \verbinclude RealSchur_RealSchur_MatrixType.out
       */
-    RealSchur(const MatrixType& matrix, bool computeU = true)
+    template<typename InputType>
+    explicit RealSchur(const EigenBase<InputType>& matrix, bool computeU = true)
             : m_matT(matrix.rows(),matrix.cols()),
               m_matU(matrix.rows(),matrix.cols()),
               m_workspaceVector(matrix.rows()),
@@ -109,7 +110,7 @@ template<typename _MatrixType> class RealSchur
               m_matUisUptodate(false),
               m_maxIters(-1)
     {
-      compute(matrix, computeU);
+      compute(matrix.derived(), computeU);
     }
 
     /** \brief Returns the orthogonal matrix in the Schur decomposition. 
@@ -165,7 +166,8 @@ template<typename _MatrixType> class RealSchur
       *
       * \sa compute(const MatrixType&, bool, Index)
       */
-    RealSchur& compute(const MatrixType& matrix, bool computeU = true);
+    template<typename InputType>
+    RealSchur& compute(const EigenBase<InputType>& matrix, bool computeU = true);
 
     /** \brief Computes Schur decomposition of a Hessenberg matrix H = Z T Z^T
      *  \param[in] matrixH Matrix in Hessenberg form H
@@ -243,26 +245,33 @@ template<typename _MatrixType> class RealSchur
 
 
 template<typename MatrixType>
-RealSchur<MatrixType>& RealSchur<MatrixType>::compute(const MatrixType& matrix, bool computeU)
+template<typename InputType>
+RealSchur<MatrixType>& RealSchur<MatrixType>::compute(const EigenBase<InputType>& matrix, bool computeU)
 {
   eigen_assert(matrix.cols() == matrix.rows());
   Index maxIters = m_maxIters;
   if (maxIters == -1)
     maxIters = m_maxIterationsPerRow * matrix.rows();
 
+  Scalar scale = matrix.derived().cwiseAbs().maxCoeff();
+
   // Step 1. Reduce to Hessenberg form
-  m_hess.compute(matrix);
+  m_hess.compute(matrix.derived()/scale);
 
   // Step 2. Reduce to real Schur form  
   computeFromHessenberg(m_hess.matrixH(), m_hess.matrixQ(), computeU);
+
+  m_matT *= scale;
   
   return *this;
 }
 template<typename MatrixType>
 template<typename HessMatrixType, typename OrthMatrixType>
 RealSchur<MatrixType>& RealSchur<MatrixType>::computeFromHessenberg(const HessMatrixType& matrixH, const OrthMatrixType& matrixQ,  bool computeU)
-{  
-  m_matT = matrixH; 
+{
+  using std::abs;
+
+  m_matT = matrixH;
   if(computeU)
     m_matU = matrixQ;
   
@@ -343,7 +352,7 @@ inline typename MatrixType::Scalar RealSchur<MatrixType>::computeNormOfT()
 
 /** \internal Look for single small sub-diagonal element and returns its index */
 template<typename MatrixType>
-inline typename MatrixType::Index RealSchur<MatrixType>::findSmallSubdiagEntry(Index iu)
+inline Index RealSchur<MatrixType>::findSmallSubdiagEntry(Index iu)
 {
   using std::abs;
   Index res = iu;
diff --git a/eigenlib/Eigen/src/Eigenvalues/RealSchur_MKL.h b/eigenlib/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h
similarity index 64%
rename from eigenlib/Eigen/src/Eigenvalues/RealSchur_MKL.h
rename to eigenlib/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h
index ad973646..2c225171 100644
--- a/eigenlib/Eigen/src/Eigenvalues/RealSchur_MKL.h
+++ b/eigenlib/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h
@@ -25,43 +25,37 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to LAPACKe
  *    Real Schur needed to real unsymmetrical eigenvalues/eigenvectors.
  ********************************************************************************
 */
 
-#ifndef EIGEN_REAL_SCHUR_MKL_H
-#define EIGEN_REAL_SCHUR_MKL_H
-
-#include "Eigen/src/Core/util/MKL_support.h"
+#ifndef EIGEN_REAL_SCHUR_LAPACKE_H
+#define EIGEN_REAL_SCHUR_LAPACKE_H
 
 namespace Eigen { 
 
-/** \internal Specialization for the data types supported by MKL */
+/** \internal Specialization for the data types supported by LAPACKe */
 
-#define EIGEN_MKL_SCHUR_REAL(EIGTYPE, MKLTYPE, MKLPREFIX, MKLPREFIX_U, EIGCOLROW, MKLCOLROW) \
-template<> inline \
+#define EIGEN_LAPACKE_SCHUR_REAL(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX, LAPACKE_PREFIX_U, EIGCOLROW, LAPACKE_COLROW) \
+template<> template<typename InputType> inline \
 RealSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >& \
-RealSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW>& matrix, bool computeU) \
+RealSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const EigenBase<InputType>& matrix, bool computeU) \
 { \
-  typedef Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> MatrixType; \
-  typedef MatrixType::Scalar Scalar; \
-  typedef MatrixType::RealScalar RealScalar; \
-\
   eigen_assert(matrix.cols() == matrix.rows()); \
 \
-  lapack_int n = matrix.cols(), sdim, info; \
-  lapack_int lda = matrix.outerStride(); \
-  lapack_int matrix_order = MKLCOLROW; \
+  lapack_int n = internal::convert_index<lapack_int>(matrix.cols()), sdim, info; \
+  lapack_int matrix_order = LAPACKE_COLROW; \
   char jobvs, sort='N'; \
-  LAPACK_##MKLPREFIX_U##_SELECT2 select = 0; \
+  LAPACK_##LAPACKE_PREFIX_U##_SELECT2 select = 0; \
   jobvs = (computeU) ? 'V' : 'N'; \
   m_matU.resize(n, n); \
-  lapack_int ldvs  = m_matU.outerStride(); \
+  lapack_int ldvs  = internal::convert_index<lapack_int>(m_matU.outerStride()); \
   m_matT = matrix; \
+  lapack_int lda = internal::convert_index<lapack_int>(m_matT.outerStride()); \
   Matrix<EIGTYPE, Dynamic, Dynamic> wr, wi; \
   wr.resize(n, 1); wi.resize(n, 1); \
-  info = LAPACKE_##MKLPREFIX##gees( matrix_order, jobvs, sort, select, n, (MKLTYPE*)m_matT.data(), lda, &sdim, (MKLTYPE*)wr.data(), (MKLTYPE*)wi.data(), (MKLTYPE*)m_matU.data(), ldvs ); \
+  info = LAPACKE_##LAPACKE_PREFIX##gees( matrix_order, jobvs, sort, select, n, (LAPACKE_TYPE*)m_matT.data(), lda, &sdim, (LAPACKE_TYPE*)wr.data(), (LAPACKE_TYPE*)wi.data(), (LAPACKE_TYPE*)m_matU.data(), ldvs ); \
   if(info == 0) \
     m_info = Success; \
   else \
@@ -73,11 +67,11 @@ RealSchur<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const Matrix<E
 \
 }
 
-EIGEN_MKL_SCHUR_REAL(double,   double, d, D, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_MKL_SCHUR_REAL(float,    float,  s, S, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_MKL_SCHUR_REAL(double,   double, d, D, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_MKL_SCHUR_REAL(float,    float,  s, S, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_SCHUR_REAL(double,   double, d, D, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SCHUR_REAL(float,    float,  s, S, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SCHUR_REAL(double,   double, d, D, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_SCHUR_REAL(float,    float,  s, S, RowMajor, LAPACK_ROW_MAJOR)
 
 } // end namespace Eigen
 
-#endif // EIGEN_REAL_SCHUR_MKL_H
+#endif // EIGEN_REAL_SCHUR_LAPACKE_H
diff --git a/eigenlib/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h b/eigenlib/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
index c2e76c88..a9f56c4f 100644
--- a/eigenlib/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
+++ b/eigenlib/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h
@@ -20,6 +20,8 @@ class GeneralizedSelfAdjointEigenSolver;
 
 namespace internal {
 template<typename SolverType,int Size,bool IsComplex> struct direct_selfadjoint_eigenvalues;
+template<typename MatrixType, typename DiagType, typename SubDiagType>
+ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec);
 }
 
 /** \eigenvalues_module \ingroup Eigenvalues_Module
@@ -79,7 +81,9 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
     
     /** \brief Scalar type for matrices of type \p _MatrixType. */
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+    
+    typedef Matrix<Scalar,Size,Size,ColMajor,MaxColsAtCompileTime,MaxColsAtCompileTime> EigenvectorsType;
 
     /** \brief Real scalar type for \p _MatrixType.
       *
@@ -98,6 +102,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       */
     typedef typename internal::plain_col_type<MatrixType, RealScalar>::type RealVectorType;
     typedef Tridiagonalization<MatrixType> TridiagonalizationType;
+    typedef typename TridiagonalizationType::SubDiagonalType SubDiagonalType;
 
     /** \brief Default constructor for fixed-size matrices.
       *
@@ -109,6 +114,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       * Example: \include SelfAdjointEigenSolver_SelfAdjointEigenSolver.cpp
       * Output: \verbinclude SelfAdjointEigenSolver_SelfAdjointEigenSolver.out
       */
+    EIGEN_DEVICE_FUNC
     SelfAdjointEigenSolver()
         : m_eivec(),
           m_eivalues(),
@@ -128,7 +134,8 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       *
       * \sa compute() for an example
       */
-    SelfAdjointEigenSolver(Index size)
+    EIGEN_DEVICE_FUNC
+    explicit SelfAdjointEigenSolver(Index size)
         : m_eivec(size, size),
           m_eivalues(size),
           m_subdiag(size > 1 ? size - 1 : 1),
@@ -150,13 +157,15 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       *
       * \sa compute(const MatrixType&, int)
       */
-    SelfAdjointEigenSolver(const MatrixType& matrix, int options = ComputeEigenvectors)
+    template<typename InputType>
+    EIGEN_DEVICE_FUNC
+    explicit SelfAdjointEigenSolver(const EigenBase<InputType>& matrix, int options = ComputeEigenvectors)
       : m_eivec(matrix.rows(), matrix.cols()),
         m_eivalues(matrix.cols()),
         m_subdiag(matrix.rows() > 1 ? matrix.rows() - 1 : 1),
         m_isInitialized(false)
     {
-      compute(matrix, options);
+      compute(matrix.derived(), options);
     }
 
     /** \brief Computes eigendecomposition of given matrix.
@@ -189,24 +198,45 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       *
       * \sa SelfAdjointEigenSolver(const MatrixType&, int)
       */
-    SelfAdjointEigenSolver& compute(const MatrixType& matrix, int options = ComputeEigenvectors);
+    template<typename InputType>
+    EIGEN_DEVICE_FUNC
+    SelfAdjointEigenSolver& compute(const EigenBase<InputType>& matrix, int options = ComputeEigenvectors);
     
-    /** \brief Computes eigendecomposition of given matrix using a direct algorithm
+    /** \brief Computes eigendecomposition of given matrix using a closed-form algorithm
       *
       * This is a variant of compute(const MatrixType&, int options) which
       * directly solves the underlying polynomial equation.
       * 
-      * Currently only 3x3 matrices for which the sizes are known at compile time are supported (e.g., Matrix3d).
+      * Currently only 2x2 and 3x3 matrices for which the sizes are known at compile time are supported (e.g., Matrix3d).
       * 
-      * This method is usually significantly faster than the QR algorithm
+      * This method is usually significantly faster than the QR iterative algorithm
       * but it might also be less accurate. It is also worth noting that
       * for 3x3 matrices it involves trigonometric operations which are
       * not necessarily available for all scalar types.
+      * 
+      * For the 3x3 case, we observed the following worst case relative error regarding the eigenvalues:
+      *   - double: 1e-8
+      *   - float:  1e-3
       *
       * \sa compute(const MatrixType&, int options)
       */
+    EIGEN_DEVICE_FUNC
     SelfAdjointEigenSolver& computeDirect(const MatrixType& matrix, int options = ComputeEigenvectors);
 
+    /**
+      *\brief Computes the eigen decomposition from a tridiagonal symmetric matrix
+      *
+      * \param[in] diag The vector containing the diagonal of the matrix.
+      * \param[in] subdiag The subdiagonal of the matrix.
+      * \param[in] options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
+      * \returns Reference to \c *this
+      *
+      * This function assumes that the matrix has been reduced to tridiagonal form.
+      *
+      * \sa compute(const MatrixType&, int) for more information
+      */
+    SelfAdjointEigenSolver& computeFromTridiagonal(const RealVectorType& diag, const SubDiagonalType& subdiag , int options=ComputeEigenvectors);
+
     /** \brief Returns the eigenvectors of given matrix.
       *
       * \returns  A const reference to the matrix whose columns are the eigenvectors.
@@ -225,7 +255,8 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       *
       * \sa eigenvalues()
       */
-    const MatrixType& eigenvectors() const
+    EIGEN_DEVICE_FUNC
+    const EigenvectorsType& eigenvectors() const
     {
       eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
       eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
@@ -247,6 +278,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       *
       * \sa eigenvectors(), MatrixBase::eigenvalues()
       */
+    EIGEN_DEVICE_FUNC
     const RealVectorType& eigenvalues() const
     {
       eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
@@ -268,9 +300,9 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       * Example: \include SelfAdjointEigenSolver_operatorSqrt.cpp
       * Output: \verbinclude SelfAdjointEigenSolver_operatorSqrt.out
       *
-      * \sa operatorInverseSqrt(),
-      *     \ref MatrixFunctions_Module "MatrixFunctions Module"
+      * \sa operatorInverseSqrt(), <a href="unsupported/group__MatrixFunctions__Module.html">MatrixFunctions Module</a>
       */
+    EIGEN_DEVICE_FUNC
     MatrixType operatorSqrt() const
     {
       eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
@@ -293,9 +325,9 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       * Example: \include SelfAdjointEigenSolver_operatorInverseSqrt.cpp
       * Output: \verbinclude SelfAdjointEigenSolver_operatorInverseSqrt.out
       *
-      * \sa operatorSqrt(), MatrixBase::inverse(),
-      *     \ref MatrixFunctions_Module "MatrixFunctions Module"
+      * \sa operatorSqrt(), MatrixBase::inverse(), <a href="unsupported/group__MatrixFunctions__Module.html">MatrixFunctions Module</a>
       */
+    EIGEN_DEVICE_FUNC
     MatrixType operatorInverseSqrt() const
     {
       eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
@@ -307,6 +339,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       *
       * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
       */
+    EIGEN_DEVICE_FUNC
     ComputationInfo info() const
     {
       eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
@@ -320,43 +353,13 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
       */
     static const int m_maxIterations = 30;
 
-    #ifdef EIGEN2_SUPPORT
-    SelfAdjointEigenSolver(const MatrixType& matrix, bool computeEigenvectors)
-      : m_eivec(matrix.rows(), matrix.cols()),
-        m_eivalues(matrix.cols()),
-        m_subdiag(matrix.rows() > 1 ? matrix.rows() - 1 : 1),
-        m_isInitialized(false)
-    {
-      compute(matrix, computeEigenvectors);
-    }
-    
-    SelfAdjointEigenSolver(const MatrixType& matA, const MatrixType& matB, bool computeEigenvectors = true)
-        : m_eivec(matA.cols(), matA.cols()),
-          m_eivalues(matA.cols()),
-          m_subdiag(matA.cols() > 1 ? matA.cols() - 1 : 1),
-          m_isInitialized(false)
-    {
-      static_cast<GeneralizedSelfAdjointEigenSolver<MatrixType>*>(this)->compute(matA, matB, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
-    }
-    
-    void compute(const MatrixType& matrix, bool computeEigenvectors)
-    {
-      compute(matrix, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
-    }
-
-    void compute(const MatrixType& matA, const MatrixType& matB, bool computeEigenvectors = true)
-    {
-      compute(matA, matB, computeEigenvectors ? ComputeEigenvectors : EigenvaluesOnly);
-    }
-    #endif // EIGEN2_SUPPORT
-
   protected:
     static void check_template_parameters()
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
     
-    MatrixType m_eivec;
+    EigenvectorsType m_eivec;
     RealVectorType m_eivalues;
     typename TridiagonalizationType::SubDiagonalType m_subdiag;
     ComputationInfo m_info;
@@ -364,6 +367,7 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
     bool m_eigenvectorsOk;
 };
 
+namespace internal {
 /** \internal
   *
   * \eigenvalues_module \ingroup Eigenvalues_Module
@@ -371,8 +375,12 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
   * Performs a QR step on a tridiagonal symmetric matrix represented as a
   * pair of two vectors \a diag and \a subdiag.
   *
-  * \param matA the input selfadjoint matrix
-  * \param hCoeffs returned Householder coefficients
+  * \param diag the diagonal part of the input selfadjoint tridiagonal matrix
+  * \param subdiag the sub-diagonal part of the input selfadjoint tridiagonal matrix
+  * \param start starting index of the submatrix to work on
+  * \param end last+1 index of the submatrix to work on
+  * \param matrixQ pointer to the column-major matrix holding the eigenvectors, can be 0
+  * \param n size of the input matrix
   *
   * For compilation efficiency reasons, this procedure does not use eigen expression
   * for its arguments.
@@ -380,17 +388,21 @@ template<typename _MatrixType> class SelfAdjointEigenSolver
   * Implemented from Golub's "Matrix Computations", algorithm 8.3.2:
   * "implicit symmetric QR step with Wilkinson shift"
   */
-namespace internal {
 template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
+EIGEN_DEVICE_FUNC
 static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n);
 }
 
 template<typename MatrixType>
+template<typename InputType>
+EIGEN_DEVICE_FUNC
 SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
-::compute(const MatrixType& matrix, int options)
+::compute(const EigenBase<InputType>& a_matrix, int options)
 {
   check_template_parameters();
   
+  const InputType &matrix(a_matrix.derived());
+  
   using std::abs;
   eigen_assert(matrix.cols() == matrix.rows());
   eigen_assert((options&~(EigVecMask|GenEigMask))==0
@@ -402,7 +414,7 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
 
   if(n==1)
   {
-    m_eivalues.coeffRef(0,0) = numext::real(matrix.coeff(0,0));
+    m_eivalues.coeffRef(0,0) = numext::real(matrix.diagonal()[0]);
     if(computeEigenvectors)
       m_eivec.setOnes(n,n);
     m_info = Success;
@@ -413,7 +425,7 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
 
   // declare some aliases
   RealVectorType& diag = m_eivalues;
-  MatrixType& mat = m_eivec;
+  EigenvectorsType& mat = m_eivec;
 
   // map the matrix coefficients to [-1:1] to avoid over- and underflow.
   mat = matrix.template triangularView<Lower>();
@@ -422,58 +434,8 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
   mat.template triangularView<Lower>() /= scale;
   m_subdiag.resize(n-1);
   internal::tridiagonalization_inplace(mat, diag, m_subdiag, computeEigenvectors);
-  
-  Index end = n-1;
-  Index start = 0;
-  Index iter = 0; // total number of iterations
 
-  while (end>0)
-  {
-    for (Index i = start; i<end; ++i)
-      if (internal::isMuchSmallerThan(abs(m_subdiag[i]),(abs(diag[i])+abs(diag[i+1]))))
-        m_subdiag[i] = 0;
-
-    // find the largest unreduced block
-    while (end>0 && m_subdiag[end-1]==0)
-    {
-      end--;
-    }
-    if (end<=0)
-      break;
-
-    // if we spent too many iterations, we give up
-    iter++;
-    if(iter > m_maxIterations * n) break;
-
-    start = end - 1;
-    while (start>0 && m_subdiag[start-1]!=0)
-      start--;
-
-    internal::tridiagonal_qr_step<MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor>(diag.data(), m_subdiag.data(), start, end, computeEigenvectors ? m_eivec.data() : (Scalar*)0, n);
-  }
-
-  if (iter <= m_maxIterations * n)
-    m_info = Success;
-  else
-    m_info = NoConvergence;
-
-  // Sort eigenvalues and corresponding vectors.
-  // TODO make the sort optional ?
-  // TODO use a better sort algorithm !!
-  if (m_info == Success)
-  {
-    for (Index i = 0; i < n-1; ++i)
-    {
-      Index k;
-      m_eivalues.segment(i,n-i).minCoeff(&k);
-      if (k > 0)
-      {
-        std::swap(m_eivalues[i], m_eivalues[k+i]);
-        if(computeEigenvectors)
-          m_eivec.col(i).swap(m_eivec.col(k+i));
-      }
-    }
-  }
+  m_info = internal::computeFromTridiagonal_impl(diag, m_subdiag, m_maxIterations, computeEigenvectors, m_eivec);
   
   // scale back the eigen values
   m_eivalues *= scale;
@@ -483,11 +445,107 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
   return *this;
 }
 
+template<typename MatrixType>
+SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
+::computeFromTridiagonal(const RealVectorType& diag, const SubDiagonalType& subdiag , int options)
+{
+  //TODO : Add an option to scale the values beforehand
+  bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
+
+  m_eivalues = diag;
+  m_subdiag = subdiag;
+  if (computeEigenvectors)
+  {
+    m_eivec.setIdentity(diag.size(), diag.size());
+  }
+  m_info = internal::computeFromTridiagonal_impl(m_eivalues, m_subdiag, m_maxIterations, computeEigenvectors, m_eivec);
+
+  m_isInitialized = true;
+  m_eigenvectorsOk = computeEigenvectors;
+  return *this;
+}
 
 namespace internal {
+/**
+  * \internal
+  * \brief Compute the eigendecomposition from a tridiagonal matrix
+  *
+  * \param[in,out] diag : On input, the diagonal of the matrix, on output the eigenvalues
+  * \param[in,out] subdiag : The subdiagonal part of the matrix (entries are modified during the decomposition)
+  * \param[in] maxIterations : the maximum number of iterations
+  * \param[in] computeEigenvectors : whether the eigenvectors have to be computed or not
+  * \param[out] eivec : The matrix to store the eigenvectors if computeEigenvectors==true. Must be allocated on input.
+  * \returns \c Success or \c NoConvergence
+  */
+template<typename MatrixType, typename DiagType, typename SubDiagType>
+ComputationInfo computeFromTridiagonal_impl(DiagType& diag, SubDiagType& subdiag, const Index maxIterations, bool computeEigenvectors, MatrixType& eivec)
+{
+  using std::abs;
+
+  ComputationInfo info;
+  typedef typename MatrixType::Scalar Scalar;
+
+  Index n = diag.size();
+  Index end = n-1;
+  Index start = 0;
+  Index iter = 0; // total number of iterations
+  
+  typedef typename DiagType::RealScalar RealScalar;
+  const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
+  const RealScalar precision = RealScalar(2)*NumTraits<RealScalar>::epsilon();
+  
+  while (end>0)
+  {
+    for (Index i = start; i<end; ++i)
+      if (internal::isMuchSmallerThan(abs(subdiag[i]),(abs(diag[i])+abs(diag[i+1])),precision) || abs(subdiag[i]) <= considerAsZero)
+        subdiag[i] = 0;
+
+    // find the largest unreduced block
+    while (end>0 && subdiag[end-1]==RealScalar(0))
+    {
+      end--;
+    }
+    if (end<=0)
+      break;
+
+    // if we spent too many iterations, we give up
+    iter++;
+    if(iter > maxIterations * n) break;
+
+    start = end - 1;
+    while (start>0 && subdiag[start-1]!=0)
+      start--;
+
+    internal::tridiagonal_qr_step<MatrixType::Flags&RowMajorBit ? RowMajor : ColMajor>(diag.data(), subdiag.data(), start, end, computeEigenvectors ? eivec.data() : (Scalar*)0, n);
+  }
+  if (iter <= maxIterations * n)
+    info = Success;
+  else
+    info = NoConvergence;
+
+  // Sort eigenvalues and corresponding vectors.
+  // TODO make the sort optional ?
+  // TODO use a better sort algorithm !!
+  if (info == Success)
+  {
+    for (Index i = 0; i < n-1; ++i)
+    {
+      Index k;
+      diag.segment(i,n-i).minCoeff(&k);
+      if (k > 0)
+      {
+        std::swap(diag[i], diag[k+i]);
+        if(computeEigenvectors)
+          eivec.col(i).swap(eivec.col(k+i));
+      }
+    }
+  }
+  return info;
+}
   
 template<typename SolverType,int Size,bool IsComplex> struct direct_selfadjoint_eigenvalues
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(SolverType& eig, const typename SolverType::MatrixType& A, int options)
   { eig.compute(A,options); }
 };
@@ -497,20 +555,22 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
   typedef typename SolverType::MatrixType MatrixType;
   typedef typename SolverType::RealVectorType VectorType;
   typedef typename SolverType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
+  typedef typename SolverType::EigenvectorsType EigenvectorsType;
   
+
   /** \internal
    * Computes the roots of the characteristic polynomial of \a m.
    * For numerical stability m.trace() should be near zero and to avoid over- or underflow m should be normalized.
    */
+  EIGEN_DEVICE_FUNC
   static inline void computeRoots(const MatrixType& m, VectorType& roots)
   {
-    using std::sqrt;
-    using std::atan2;
-    using std::cos;
-    using std::sin;
-    const Scalar s_inv3 = Scalar(1.0)/Scalar(3.0);
-    const Scalar s_sqrt3 = sqrt(Scalar(3.0));
+    EIGEN_USING_STD_MATH(sqrt)
+    EIGEN_USING_STD_MATH(atan2)
+    EIGEN_USING_STD_MATH(cos)
+    EIGEN_USING_STD_MATH(sin)
+    const Scalar s_inv3 = Scalar(1)/Scalar(3);
+    const Scalar s_sqrt3 = sqrt(Scalar(3));
 
     // The characteristic equation is x^3 - c2*x^2 + c1*x - c0 = 0.  The
     // eigenvalues are the roots to this equation, all guaranteed to be
@@ -523,14 +583,12 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
     // and in solving the equation for the roots in closed form.
     Scalar c2_over_3 = c2*s_inv3;
     Scalar a_over_3 = (c2*c2_over_3 - c1)*s_inv3;
-    if(a_over_3<Scalar(0))
-      a_over_3 = Scalar(0);
+    a_over_3 = numext::maxi(a_over_3, Scalar(0));
 
     Scalar half_b = Scalar(0.5)*(c0 + c2_over_3*(Scalar(2)*c2_over_3*c2_over_3 - c1));
 
     Scalar q = a_over_3*a_over_3*a_over_3 - half_b*half_b;
-    if(q<Scalar(0))
-      q = Scalar(0);
+    q = numext::maxi(q, Scalar(0));
 
     // Compute the eigenvalues by solving for the roots of the polynomial.
     Scalar rho = sqrt(a_over_3);
@@ -543,6 +601,7 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
     roots(2) = c2_over_3 + Scalar(2)*rho*cos_theta;
   }
 
+  EIGEN_DEVICE_FUNC
   static inline bool extract_kernel(MatrixType& mat, Ref<VectorType> res, Ref<VectorType> representative)
   {
     using std::abs;
@@ -562,6 +621,7 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
     return true;
   }
 
+  EIGEN_DEVICE_FUNC
   static inline void run(SolverType& solver, const MatrixType& mat, int options)
   {
     eigen_assert(mat.cols() == 3 && mat.cols() == mat.rows());
@@ -570,7 +630,7 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
             && "invalid option parameter");
     bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
     
-    MatrixType& eivecs = solver.m_eivec;
+    EigenvectorsType& eivecs = solver.m_eivec;
     VectorType& eivals = solver.m_eivalues;
   
     // Shift the matrix to the mean eigenvalue and map the matrix coefficients to [-1:1] to avoid over- and underflow.
@@ -603,7 +663,7 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
         Index k(0), l(2);
         if(d0 > d1)
         {
-          std::swap(k,l);
+          numext::swap(k,l);
           d0 = d1;
         }
 
@@ -647,12 +707,15 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,3
 };
 
 // 2x2 direct eigenvalues decomposition, code from Hauke Heibel
-template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,2,false>
+template<typename SolverType> 
+struct direct_selfadjoint_eigenvalues<SolverType,2,false>
 {
   typedef typename SolverType::MatrixType MatrixType;
   typedef typename SolverType::RealVectorType VectorType;
   typedef typename SolverType::Scalar Scalar;
+  typedef typename SolverType::EigenvectorsType EigenvectorsType;
   
+  EIGEN_DEVICE_FUNC
   static inline void computeRoots(const MatrixType& m, VectorType& roots)
   {
     using std::sqrt;
@@ -662,28 +725,33 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,2
     roots(1) = t1 + t0;
   }
   
+  EIGEN_DEVICE_FUNC
   static inline void run(SolverType& solver, const MatrixType& mat, int options)
   {
-    using std::sqrt;
-    using std::abs;
-
+    EIGEN_USING_STD_MATH(sqrt);
+    EIGEN_USING_STD_MATH(abs);
+    
     eigen_assert(mat.cols() == 2 && mat.cols() == mat.rows());
     eigen_assert((options&~(EigVecMask|GenEigMask))==0
             && (options&EigVecMask)!=EigVecMask
             && "invalid option parameter");
     bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors;
     
-    MatrixType& eivecs = solver.m_eivec;
+    EigenvectorsType& eivecs = solver.m_eivec;
     VectorType& eivals = solver.m_eivalues;
   
-    // map the matrix coefficients to [-1:1] to avoid over- and underflow.
-    Scalar scale = mat.cwiseAbs().maxCoeff();
-    scale = (std::max)(scale,Scalar(1));
-    MatrixType scaledMat = mat / scale;
-    
+    // Shift the matrix to the mean eigenvalue and map the matrix coefficients to [-1:1] to avoid over- and underflow.
+    Scalar shift = mat.trace() / Scalar(2);
+    MatrixType scaledMat = mat;
+    scaledMat.coeffRef(0,1) = mat.coeff(1,0);
+    scaledMat.diagonal().array() -= shift;
+    Scalar scale = scaledMat.cwiseAbs().maxCoeff();
+    if(scale > Scalar(0))
+      scaledMat /= scale;
+
     // Compute the eigenvalues
     computeRoots(scaledMat,eivals);
-    
+
     // compute the eigen vectors
     if(computeEigenvectors)
     {
@@ -711,10 +779,11 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,2
         eivecs.col(0) << eivecs.col(1).unitOrthogonal();
       }
     }
-    
+
     // Rescale back to the original size.
     eivals *= scale;
-    
+    eivals.array() += shift;
+
     solver.m_info = Success;
     solver.m_isInitialized = true;
     solver.m_eigenvectorsOk = computeEigenvectors;
@@ -724,6 +793,7 @@ template<typename SolverType> struct direct_selfadjoint_eigenvalues<SolverType,2
 }
 
 template<typename MatrixType>
+EIGEN_DEVICE_FUNC
 SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
 ::computeDirect(const MatrixType& matrix, int options)
 {
@@ -733,6 +803,7 @@ SelfAdjointEigenSolver<MatrixType>& SelfAdjointEigenSolver<MatrixType>
 
 namespace internal {
 template<int StorageOrder,typename RealScalar, typename Scalar, typename Index>
+EIGEN_DEVICE_FUNC
 static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index start, Index end, Scalar* matrixQ, Index n)
 {
   using std::abs;
@@ -744,14 +815,14 @@ static void tridiagonal_qr_step(RealScalar* diag, RealScalar* subdiag, Index sta
 //   RealScalar mu = diag[end] - e2 / (td + (td>0 ? 1 : -1) * sqrt(td*td + e2));
   // This explain the following, somewhat more complicated, version:
   RealScalar mu = diag[end];
-  if(td==0)
+  if(td==RealScalar(0))
     mu -= abs(e);
   else
   {
     RealScalar e2 = numext::abs2(subdiag[end-1]);
     RealScalar h = numext::hypot(td,e);
-    if(e2==0)  mu -= (e / (td + (td>0 ? 1 : -1))) * (e / h);
-    else       mu -= e2 / (td + (td>0 ? h : -h));
+    if(e2==RealScalar(0)) mu -= (e / (td + (td>RealScalar(0) ? RealScalar(1) : RealScalar(-1)))) * (e / h);
+    else                  mu -= e2 / (td + (td>RealScalar(0) ? h : -h));
   }
   
   RealScalar x = diag[start] - mu;
diff --git a/eigenlib/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_MKL.h b/eigenlib/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
similarity index 62%
rename from eigenlib/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_MKL.h
rename to eigenlib/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
index 17c0dadd..3891cf88 100644
--- a/eigenlib/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_MKL.h
+++ b/eigenlib/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h
@@ -25,38 +25,36 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to LAPACKe
  *    Self-adjoint eigenvalues/eigenvectors.
  ********************************************************************************
 */
 
-#ifndef EIGEN_SAEIGENSOLVER_MKL_H
-#define EIGEN_SAEIGENSOLVER_MKL_H
-
-#include "Eigen/src/Core/util/MKL_support.h"
+#ifndef EIGEN_SAEIGENSOLVER_LAPACKE_H
+#define EIGEN_SAEIGENSOLVER_LAPACKE_H
 
 namespace Eigen { 
 
-/** \internal Specialization for the data types supported by MKL */
+/** \internal Specialization for the data types supported by LAPACKe */
 
-#define EIGEN_MKL_EIG_SELFADJ(EIGTYPE, MKLTYPE, MKLRTYPE, MKLNAME, EIGCOLROW, MKLCOLROW ) \
-template<> inline \
+#define EIGEN_LAPACKE_EIG_SELFADJ(EIGTYPE, LAPACKE_TYPE, LAPACKE_RTYPE, LAPACKE_NAME, EIGCOLROW, LAPACKE_COLROW ) \
+template<> template<typename InputType> inline \
 SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >& \
-SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW>& matrix, int options) \
+SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(const EigenBase<InputType>& matrix, int options) \
 { \
   eigen_assert(matrix.cols() == matrix.rows()); \
   eigen_assert((options&~(EigVecMask|GenEigMask))==0 \
           && (options&EigVecMask)!=EigVecMask \
           && "invalid option parameter"); \
   bool computeEigenvectors = (options&ComputeEigenvectors)==ComputeEigenvectors; \
-  lapack_int n = matrix.cols(), lda, matrix_order, info; \
+  lapack_int n = internal::convert_index<lapack_int>(matrix.cols()), lda, matrix_order, info; \
   m_eivalues.resize(n,1); \
   m_subdiag.resize(n-1); \
   m_eivec = matrix; \
 \
   if(n==1) \
   { \
-    m_eivalues.coeffRef(0,0) = numext::real(matrix.coeff(0,0)); \
+    m_eivalues.coeffRef(0,0) = numext::real(m_eivec.coeff(0,0)); \
     if(computeEigenvectors) m_eivec.setOnes(n,n); \
     m_info = Success; \
     m_isInitialized = true; \
@@ -64,12 +62,12 @@ SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(c
     return *this; \
   } \
 \
-  lda = matrix.outerStride(); \
-  matrix_order=MKLCOLROW; \
+  lda = internal::convert_index<lapack_int>(m_eivec.outerStride()); \
+  matrix_order=LAPACKE_COLROW; \
   char jobz, uplo='L'/*, range='A'*/; \
   jobz = computeEigenvectors ? 'V' : 'N'; \
 \
-  info = LAPACKE_##MKLNAME( matrix_order, jobz, uplo, n, (MKLTYPE*)m_eivec.data(), lda, (MKLRTYPE*)m_eivalues.data() ); \
+  info = LAPACKE_##LAPACKE_NAME( matrix_order, jobz, uplo, n, (LAPACKE_TYPE*)m_eivec.data(), lda, (LAPACKE_RTYPE*)m_eivalues.data() ); \
   m_info = (info==0) ? Success : NoConvergence; \
   m_isInitialized = true; \
   m_eigenvectorsOk = computeEigenvectors; \
@@ -77,15 +75,15 @@ SelfAdjointEigenSolver<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW> >::compute(c
 }
 
 
-EIGEN_MKL_EIG_SELFADJ(double,   double,        double, dsyev, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_MKL_EIG_SELFADJ(float,    float,         float,  ssyev, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_MKL_EIG_SELFADJ(dcomplex, MKL_Complex16, double, zheev, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_MKL_EIG_SELFADJ(scomplex, MKL_Complex8,  float,  cheev, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(double,   double,                double, dsyev, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(float,    float,                 float,  ssyev, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(dcomplex, lapack_complex_double, double, zheev, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(scomplex, lapack_complex_float,  float,  cheev, ColMajor, LAPACK_COL_MAJOR)
 
-EIGEN_MKL_EIG_SELFADJ(double,   double,        double, dsyev, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_MKL_EIG_SELFADJ(float,    float,         float,  ssyev, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_MKL_EIG_SELFADJ(dcomplex, MKL_Complex16, double, zheev, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_MKL_EIG_SELFADJ(scomplex, MKL_Complex8,  float,  cheev, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(double,   double,                double, dsyev, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(float,    float,                 float,  ssyev, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(dcomplex, lapack_complex_double, double, zheev, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_EIG_SELFADJ(scomplex, lapack_complex_float,  float,  cheev, RowMajor, LAPACK_ROW_MAJOR)
 
 } // end namespace Eigen
 
diff --git a/eigenlib/Eigen/src/Eigenvalues/Tridiagonalization.h b/eigenlib/Eigen/src/Eigenvalues/Tridiagonalization.h
index 192278d6..1d102c17 100644
--- a/eigenlib/Eigen/src/Eigenvalues/Tridiagonalization.h
+++ b/eigenlib/Eigen/src/Eigenvalues/Tridiagonalization.h
@@ -18,8 +18,10 @@ namespace internal {
 template<typename MatrixType> struct TridiagonalizationMatrixTReturnType;
 template<typename MatrixType>
 struct traits<TridiagonalizationMatrixTReturnType<MatrixType> >
+  : public traits<typename MatrixType::PlainObject>
 {
-  typedef typename MatrixType::PlainObject ReturnType;
+  typedef typename MatrixType::PlainObject ReturnType; // FIXME shall it be a BandMatrix?
+  enum { Flags = 0 };
 };
 
 template<typename MatrixType, typename CoeffVectorType>
@@ -67,7 +69,7 @@ template<typename _MatrixType> class Tridiagonalization
 
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
 
     enum {
       Size = MatrixType::RowsAtCompileTime,
@@ -89,10 +91,8 @@ template<typename _MatrixType> class Tridiagonalization
             >::type DiagonalReturnType;
 
     typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
-              typename internal::add_const_on_value_type<typename Diagonal<
-                Block<const MatrixType,SizeMinusOne,SizeMinusOne> >::RealReturnType>::type,
-              const Diagonal<
-                Block<const MatrixType,SizeMinusOne,SizeMinusOne> >
+              typename internal::add_const_on_value_type<typename Diagonal<const MatrixType, -1>::RealReturnType>::type,
+              const Diagonal<const MatrixType, -1>
             >::type SubDiagonalReturnType;
 
     /** \brief Return type of matrixQ() */
@@ -110,7 +110,7 @@ template<typename _MatrixType> class Tridiagonalization
       *
       * \sa compute() for an example.
       */
-    Tridiagonalization(Index size = Size==Dynamic ? 2 : Size)
+    explicit Tridiagonalization(Index size = Size==Dynamic ? 2 : Size)
       : m_matrix(size,size),
         m_hCoeffs(size > 1 ? size-1 : 1),
         m_isInitialized(false)
@@ -126,8 +126,9 @@ template<typename _MatrixType> class Tridiagonalization
       * Example: \include Tridiagonalization_Tridiagonalization_MatrixType.cpp
       * Output: \verbinclude Tridiagonalization_Tridiagonalization_MatrixType.out
       */
-    Tridiagonalization(const MatrixType& matrix)
-      : m_matrix(matrix),
+    template<typename InputType>
+    explicit Tridiagonalization(const EigenBase<InputType>& matrix)
+      : m_matrix(matrix.derived()),
         m_hCoeffs(matrix.cols() > 1 ? matrix.cols()-1 : 1),
         m_isInitialized(false)
     {
@@ -152,9 +153,10 @@ template<typename _MatrixType> class Tridiagonalization
       * Example: \include Tridiagonalization_compute.cpp
       * Output: \verbinclude Tridiagonalization_compute.out
       */
-    Tridiagonalization& compute(const MatrixType& matrix)
+    template<typename InputType>
+    Tridiagonalization& compute(const EigenBase<InputType>& matrix)
     {
-      m_matrix = matrix;
+      m_matrix = matrix.derived();
       m_hCoeffs.resize(matrix.rows()-1, 1);
       internal::tridiagonalization_inplace(m_matrix, m_hCoeffs);
       m_isInitialized = true;
@@ -305,7 +307,7 @@ typename Tridiagonalization<MatrixType>::DiagonalReturnType
 Tridiagonalization<MatrixType>::diagonal() const
 {
   eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
-  return m_matrix.diagonal();
+  return m_matrix.diagonal().real();
 }
 
 template<typename MatrixType>
@@ -313,8 +315,7 @@ typename Tridiagonalization<MatrixType>::SubDiagonalReturnType
 Tridiagonalization<MatrixType>::subDiagonal() const
 {
   eigen_assert(m_isInitialized && "Tridiagonalization is not initialized.");
-  Index n = m_matrix.rows();
-  return Block<const MatrixType,SizeMinusOne,SizeMinusOne>(m_matrix, 1, 0, n-1,n-1).diagonal();
+  return m_matrix.template diagonal<-1>().real();
 }
 
 namespace internal {
@@ -346,7 +347,6 @@ template<typename MatrixType, typename CoeffVectorType>
 void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs)
 {
   using numext::conj;
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::Scalar Scalar;
   typedef typename MatrixType::RealScalar RealScalar;
   Index n = matA.rows();
@@ -367,10 +367,10 @@ void tridiagonalization_inplace(MatrixType& matA, CoeffVectorType& hCoeffs)
     hCoeffs.tail(n-i-1).noalias() = (matA.bottomRightCorner(remainingSize,remainingSize).template selfadjointView<Lower>()
                                   * (conj(h) * matA.col(i).tail(remainingSize)));
 
-    hCoeffs.tail(n-i-1) += (conj(h)*Scalar(-0.5)*(hCoeffs.tail(remainingSize).dot(matA.col(i).tail(remainingSize)))) * matA.col(i).tail(n-i-1);
+    hCoeffs.tail(n-i-1) += (conj(h)*RealScalar(-0.5)*(hCoeffs.tail(remainingSize).dot(matA.col(i).tail(remainingSize)))) * matA.col(i).tail(n-i-1);
 
     matA.bottomRightCorner(remainingSize, remainingSize).template selfadjointView<Lower>()
-      .rankUpdate(matA.col(i).tail(remainingSize), hCoeffs.tail(remainingSize), -1);
+      .rankUpdate(matA.col(i).tail(remainingSize), hCoeffs.tail(remainingSize), Scalar(-1));
 
     matA.col(i).coeffRef(i+1) = beta;
     hCoeffs.coeffRef(i) = h;
@@ -438,7 +438,6 @@ struct tridiagonalization_inplace_selector
 {
   typedef typename Tridiagonalization<MatrixType>::CoeffVectorType CoeffVectorType;
   typedef typename Tridiagonalization<MatrixType>::HouseholderSequenceType HouseholderSequenceType;
-  typedef typename MatrixType::Index Index;
   template<typename DiagonalType, typename SubDiagonalType>
   static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
   {
@@ -467,9 +466,10 @@ struct tridiagonalization_inplace_selector<MatrixType,3,false>
   static void run(MatrixType& mat, DiagonalType& diag, SubDiagonalType& subdiag, bool extractQ)
   {
     using std::sqrt;
+    const RealScalar tol = (std::numeric_limits<RealScalar>::min)();
     diag[0] = mat(0,0);
     RealScalar v1norm2 = numext::abs2(mat(2,0));
-    if(v1norm2 == RealScalar(0))
+    if(v1norm2 <= tol)
     {
       diag[1] = mat(1,1);
       diag[2] = mat(2,2);
@@ -526,7 +526,6 @@ struct tridiagonalization_inplace_selector<MatrixType,1,IsComplex>
 template<typename MatrixType> struct TridiagonalizationMatrixTReturnType
 : public ReturnByValue<TridiagonalizationMatrixTReturnType<MatrixType> >
 {
-    typedef typename MatrixType::Index Index;
   public:
     /** \brief Constructor.
       *
diff --git a/eigenlib/Eigen/src/Geometry/AlignedBox.h b/eigenlib/Eigen/src/Geometry/AlignedBox.h
index b226336d..066eae4f 100644
--- a/eigenlib/Eigen/src/Geometry/AlignedBox.h
+++ b/eigenlib/Eigen/src/Geometry/AlignedBox.h
@@ -34,10 +34,11 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
   enum { AmbientDimAtCompileTime = _AmbientDim };
   typedef _Scalar                                   Scalar;
   typedef NumTraits<Scalar>                         ScalarTraits;
-  typedef DenseIndex                                Index;
+  typedef Eigen::Index                              Index; ///< \deprecated since Eigen 3.3
   typedef typename ScalarTraits::Real               RealScalar;
-  typedef typename ScalarTraits::NonInteger      NonInteger;
+  typedef typename ScalarTraits::NonInteger         NonInteger;
   typedef Matrix<Scalar,AmbientDimAtCompileTime,1>  VectorType;
+  typedef CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> VectorTypeSum;
 
   /** Define constants to name the corners of a 1D, 2D or 3D axis aligned bounding box */
   enum CornerType
@@ -61,77 +62,76 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
 
 
   /** Default constructor initializing a null box. */
-  inline AlignedBox()
+  EIGEN_DEVICE_FUNC inline AlignedBox()
   { if (AmbientDimAtCompileTime!=Dynamic) setEmpty(); }
 
   /** Constructs a null box with \a _dim the dimension of the ambient space. */
-  inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
+  EIGEN_DEVICE_FUNC inline explicit AlignedBox(Index _dim) : m_min(_dim), m_max(_dim)
   { setEmpty(); }
 
   /** Constructs a box with extremities \a _min and \a _max.
    * \warning If either component of \a _min is larger than the same component of \a _max, the constructed box is empty. */
   template<typename OtherVectorType1, typename OtherVectorType2>
-  inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
+  EIGEN_DEVICE_FUNC inline AlignedBox(const OtherVectorType1& _min, const OtherVectorType2& _max) : m_min(_min), m_max(_max) {}
 
   /** Constructs a box containing a single point \a p. */
   template<typename Derived>
-  inline explicit AlignedBox(const MatrixBase<Derived>& p) : m_min(p), m_max(m_min)
+  EIGEN_DEVICE_FUNC inline explicit AlignedBox(const MatrixBase<Derived>& p) : m_min(p), m_max(m_min)
   { }
 
-  ~AlignedBox() {}
+  EIGEN_DEVICE_FUNC ~AlignedBox() {}
 
   /** \returns the dimension in which the box holds */
-  inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); }
+  EIGEN_DEVICE_FUNC inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_min.size() : Index(AmbientDimAtCompileTime); }
 
   /** \deprecated use isEmpty() */
-  inline bool isNull() const { return isEmpty(); }
+  EIGEN_DEVICE_FUNC inline bool isNull() const { return isEmpty(); }
 
   /** \deprecated use setEmpty() */
-  inline void setNull() { setEmpty(); }
+  EIGEN_DEVICE_FUNC inline void setNull() { setEmpty(); }
 
   /** \returns true if the box is empty.
    * \sa setEmpty */
-  inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); }
+  EIGEN_DEVICE_FUNC inline bool isEmpty() const { return (m_min.array() > m_max.array()).any(); }
 
   /** Makes \c *this an empty box.
    * \sa isEmpty */
-  inline void setEmpty()
+  EIGEN_DEVICE_FUNC inline void setEmpty()
   {
     m_min.setConstant( ScalarTraits::highest() );
     m_max.setConstant( ScalarTraits::lowest() );
   }
 
   /** \returns the minimal corner */
-  inline const VectorType& (min)() const { return m_min; }
+  EIGEN_DEVICE_FUNC inline const VectorType& (min)() const { return m_min; }
   /** \returns a non const reference to the minimal corner */
-  inline VectorType& (min)() { return m_min; }
+  EIGEN_DEVICE_FUNC inline VectorType& (min)() { return m_min; }
   /** \returns the maximal corner */
-  inline const VectorType& (max)() const { return m_max; }
+  EIGEN_DEVICE_FUNC inline const VectorType& (max)() const { return m_max; }
   /** \returns a non const reference to the maximal corner */
-  inline VectorType& (max)() { return m_max; }
+  EIGEN_DEVICE_FUNC inline VectorType& (max)() { return m_max; }
 
   /** \returns the center of the box */
-  inline const CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>,
-                            const CwiseBinaryOp<internal::scalar_sum_op<Scalar>, const VectorType, const VectorType> >
+  EIGEN_DEVICE_FUNC inline const EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(VectorTypeSum, RealScalar, quotient)
   center() const
-  { return (m_min+m_max)/2; }
+  { return (m_min+m_max)/RealScalar(2); }
 
   /** \returns the lengths of the sides of the bounding box.
     * Note that this function does not get the same
     * result for integral or floating scalar types: see
     */
-  inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> sizes() const
+  EIGEN_DEVICE_FUNC inline const CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> sizes() const
   { return m_max - m_min; }
 
   /** \returns the volume of the bounding box */
-  inline Scalar volume() const
+  EIGEN_DEVICE_FUNC inline Scalar volume() const
   { return sizes().prod(); }
 
   /** \returns an expression for the bounding box diagonal vector
     * if the length of the diagonal is needed: diagonal().norm()
     * will provide it.
     */
-  inline CwiseBinaryOp< internal::scalar_difference_op<Scalar>, const VectorType, const VectorType> diagonal() const
+  EIGEN_DEVICE_FUNC inline CwiseBinaryOp< internal::scalar_difference_op<Scalar,Scalar>, const VectorType, const VectorType> diagonal() const
   { return sizes(); }
 
   /** \returns the vertex of the bounding box at the corner defined by
@@ -143,7 +143,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
     * For 3D bounding boxes, the following names are added:
     * BottomLeftCeil, BottomRightCeil, TopLeftCeil, TopRightCeil.
     */
-  inline VectorType corner(CornerType corner) const
+  EIGEN_DEVICE_FUNC inline VectorType corner(CornerType corner) const
   {
     EIGEN_STATIC_ASSERT(_AmbientDim <= 3, THIS_METHOD_IS_ONLY_FOR_VECTORS_OF_A_SPECIFIC_SIZE);
 
@@ -161,9 +161,9 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
 
   /** \returns a random point inside the bounding box sampled with
    * a uniform distribution */
-  inline VectorType sample() const
+  EIGEN_DEVICE_FUNC inline VectorType sample() const
   {
-    VectorType r;
+    VectorType r(dim());
     for(Index d=0; d<dim(); ++d)
     {
       if(!ScalarTraits::IsInteger)
@@ -179,27 +179,27 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
 
   /** \returns true if the point \a p is inside the box \c *this. */
   template<typename Derived>
-  inline bool contains(const MatrixBase<Derived>& p) const
+  EIGEN_DEVICE_FUNC inline bool contains(const MatrixBase<Derived>& p) const
   {
-    typename internal::nested<Derived,2>::type p_n(p.derived());
+    typename internal::nested_eval<Derived,2>::type p_n(p.derived());
     return (m_min.array()<=p_n.array()).all() && (p_n.array()<=m_max.array()).all();
   }
 
   /** \returns true if the box \a b is entirely inside the box \c *this. */
-  inline bool contains(const AlignedBox& b) const
+  EIGEN_DEVICE_FUNC inline bool contains(const AlignedBox& b) const
   { return (m_min.array()<=(b.min)().array()).all() && ((b.max)().array()<=m_max.array()).all(); }
 
   /** \returns true if the box \a b is intersecting the box \c *this.
    * \sa intersection, clamp */
-  inline bool intersects(const AlignedBox& b) const
+  EIGEN_DEVICE_FUNC inline bool intersects(const AlignedBox& b) const
   { return (m_min.array()<=(b.max)().array()).all() && ((b.min)().array()<=m_max.array()).all(); }
 
   /** Extends \c *this such that it contains the point \a p and returns a reference to \c *this.
    * \sa extend(const AlignedBox&) */
   template<typename Derived>
-  inline AlignedBox& extend(const MatrixBase<Derived>& p)
+  EIGEN_DEVICE_FUNC inline AlignedBox& extend(const MatrixBase<Derived>& p)
   {
-    typename internal::nested<Derived,2>::type p_n(p.derived());
+    typename internal::nested_eval<Derived,2>::type p_n(p.derived());
     m_min = m_min.cwiseMin(p_n);
     m_max = m_max.cwiseMax(p_n);
     return *this;
@@ -207,7 +207,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
 
   /** Extends \c *this such that it contains the box \a b and returns a reference to \c *this.
    * \sa merged, extend(const MatrixBase&) */
-  inline AlignedBox& extend(const AlignedBox& b)
+  EIGEN_DEVICE_FUNC inline AlignedBox& extend(const AlignedBox& b)
   {
     m_min = m_min.cwiseMin(b.m_min);
     m_max = m_max.cwiseMax(b.m_max);
@@ -217,7 +217,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
   /** Clamps \c *this by the box \a b and returns a reference to \c *this.
    * \note If the boxes don't intersect, the resulting box is empty.
    * \sa intersection(), intersects() */
-  inline AlignedBox& clamp(const AlignedBox& b)
+  EIGEN_DEVICE_FUNC inline AlignedBox& clamp(const AlignedBox& b)
   {
     m_min = m_min.cwiseMax(b.m_min);
     m_max = m_max.cwiseMin(b.m_max);
@@ -227,20 +227,20 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
   /** Returns an AlignedBox that is the intersection of \a b and \c *this
    * \note If the boxes don't intersect, the resulting box is empty.
    * \sa intersects(), clamp, contains()  */
-  inline AlignedBox intersection(const AlignedBox& b) const
+  EIGEN_DEVICE_FUNC inline AlignedBox intersection(const AlignedBox& b) const
   {return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
 
   /** Returns an AlignedBox that is the union of \a b and \c *this.
    * \note Merging with an empty box may result in a box bigger than \c *this. 
    * \sa extend(const AlignedBox&) */
-  inline AlignedBox merged(const AlignedBox& b) const
+  EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const
   { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
 
   /** Translate \c *this by the vector \a t and returns a reference to \c *this. */
   template<typename Derived>
-  inline AlignedBox& translate(const MatrixBase<Derived>& a_t)
+  EIGEN_DEVICE_FUNC inline AlignedBox& translate(const MatrixBase<Derived>& a_t)
   {
-    const typename internal::nested<Derived,2>::type t(a_t.derived());
+    const typename internal::nested_eval<Derived,2>::type t(a_t.derived());
     m_min += t;
     m_max += t;
     return *this;
@@ -251,28 +251,28 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
     * \sa exteriorDistance(const MatrixBase&), squaredExteriorDistance(const AlignedBox&)
     */
   template<typename Derived>
-  inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& p) const;
+  EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const MatrixBase<Derived>& p) const;
 
   /** \returns the squared distance between the boxes \a b and \c *this,
     * and zero if the boxes intersect.
     * \sa exteriorDistance(const AlignedBox&), squaredExteriorDistance(const MatrixBase&)
     */
-  inline Scalar squaredExteriorDistance(const AlignedBox& b) const;
+  EIGEN_DEVICE_FUNC inline Scalar squaredExteriorDistance(const AlignedBox& b) const;
 
   /** \returns the distance between the point \a p and the box \c *this,
     * and zero if \a p is inside the box.
     * \sa squaredExteriorDistance(const MatrixBase&), exteriorDistance(const AlignedBox&)
     */
   template<typename Derived>
-  inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
-  { using std::sqrt; return sqrt(NonInteger(squaredExteriorDistance(p))); }
+  EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const MatrixBase<Derived>& p) const
+  { EIGEN_USING_STD_MATH(sqrt) return sqrt(NonInteger(squaredExteriorDistance(p))); }
 
   /** \returns the distance between the boxes \a b and \c *this,
     * and zero if the boxes intersect.
     * \sa squaredExteriorDistance(const AlignedBox&), exteriorDistance(const MatrixBase&)
     */
-  inline NonInteger exteriorDistance(const AlignedBox& b) const
-  { using std::sqrt; return sqrt(NonInteger(squaredExteriorDistance(b))); }
+  EIGEN_DEVICE_FUNC inline NonInteger exteriorDistance(const AlignedBox& b) const
+  { EIGEN_USING_STD_MATH(sqrt) return sqrt(NonInteger(squaredExteriorDistance(b))); }
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
@@ -280,7 +280,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename internal::cast_return_type<AlignedBox,
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<AlignedBox,
            AlignedBox<NewScalarType,AmbientDimAtCompileTime> >::type cast() const
   {
     return typename internal::cast_return_type<AlignedBox,
@@ -289,7 +289,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType>
-  inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
+  EIGEN_DEVICE_FUNC inline explicit AlignedBox(const AlignedBox<OtherScalarType,AmbientDimAtCompileTime>& other)
   {
     m_min = (other.min)().template cast<Scalar>();
     m_max = (other.max)().template cast<Scalar>();
@@ -299,7 +299,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
     * determined by \a prec.
     *
     * \sa MatrixBase::isApprox() */
-  bool isApprox(const AlignedBox& other, const RealScalar& prec = ScalarTraits::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const AlignedBox& other, const RealScalar& prec = ScalarTraits::dummy_precision()) const
   { return m_min.isApprox(other.m_min, prec) && m_max.isApprox(other.m_max, prec); }
 
 protected:
@@ -311,9 +311,9 @@ protected:
 
 template<typename Scalar,int AmbientDim>
 template<typename Derived>
-inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const
+EIGEN_DEVICE_FUNC inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const MatrixBase<Derived>& a_p) const
 {
-  typename internal::nested<Derived,2*AmbientDim>::type p(a_p.derived());
+  typename internal::nested_eval<Derived,2*AmbientDim>::type p(a_p.derived());
   Scalar dist2(0);
   Scalar aux;
   for (Index k=0; k<dim(); ++k)
@@ -333,7 +333,7 @@ inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const Matri
 }
 
 template<typename Scalar,int AmbientDim>
-inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const
+EIGEN_DEVICE_FUNC inline Scalar AlignedBox<Scalar,AmbientDim>::squaredExteriorDistance(const AlignedBox& b) const
 {
   Scalar dist2(0);
   Scalar aux;
diff --git a/eigenlib/Eigen/src/Geometry/AngleAxis.h b/eigenlib/Eigen/src/Geometry/AngleAxis.h
index 553d38c7..0af3c1b0 100644
--- a/eigenlib/Eigen/src/Geometry/AngleAxis.h
+++ b/eigenlib/Eigen/src/Geometry/AngleAxis.h
@@ -69,50 +69,61 @@ protected:
 public:
 
   /** Default constructor without initialization. */
-  AngleAxis() {}
+  EIGEN_DEVICE_FUNC AngleAxis() {}
   /** Constructs and initialize the angle-axis rotation from an \a angle in radian
     * and an \a axis which \b must \b be \b normalized.
     *
     * \warning If the \a axis vector is not normalized, then the angle-axis object
     *          represents an invalid rotation. */
   template<typename Derived>
+  EIGEN_DEVICE_FUNC 
   inline AngleAxis(const Scalar& angle, const MatrixBase<Derived>& axis) : m_axis(axis), m_angle(angle) {}
-  /** Constructs and initialize the angle-axis rotation from a quaternion \a q. */
-  template<typename QuatDerived> inline explicit AngleAxis(const QuaternionBase<QuatDerived>& q) { *this = q; }
+  /** Constructs and initialize the angle-axis rotation from a quaternion \a q.
+    * This function implicitly normalizes the quaternion \a q.
+    */
+  template<typename QuatDerived> 
+  EIGEN_DEVICE_FUNC inline explicit AngleAxis(const QuaternionBase<QuatDerived>& q) { *this = q; }
   /** Constructs and initialize the angle-axis rotation from a 3x3 rotation matrix. */
   template<typename Derived>
-  inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; }
+  EIGEN_DEVICE_FUNC inline explicit AngleAxis(const MatrixBase<Derived>& m) { *this = m; }
 
-  Scalar angle() const { return m_angle; }
-  Scalar& angle() { return m_angle; }
+  /** \returns the value of the rotation angle in radian */
+  EIGEN_DEVICE_FUNC Scalar angle() const { return m_angle; }
+  /** \returns a read-write reference to the stored angle in radian */
+  EIGEN_DEVICE_FUNC Scalar& angle() { return m_angle; }
 
-  const Vector3& axis() const { return m_axis; }
-  Vector3& axis() { return m_axis; }
+  /** \returns the rotation axis */
+  EIGEN_DEVICE_FUNC const Vector3& axis() const { return m_axis; }
+  /** \returns a read-write reference to the stored rotation axis.
+    *
+    * \warning The rotation axis must remain a \b unit vector.
+    */
+  EIGEN_DEVICE_FUNC Vector3& axis() { return m_axis; }
 
   /** Concatenates two rotations */
-  inline QuaternionType operator* (const AngleAxis& other) const
+  EIGEN_DEVICE_FUNC inline QuaternionType operator* (const AngleAxis& other) const
   { return QuaternionType(*this) * QuaternionType(other); }
 
   /** Concatenates two rotations */
-  inline QuaternionType operator* (const QuaternionType& other) const
+  EIGEN_DEVICE_FUNC inline QuaternionType operator* (const QuaternionType& other) const
   { return QuaternionType(*this) * other; }
 
   /** Concatenates two rotations */
-  friend inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
+  friend EIGEN_DEVICE_FUNC inline QuaternionType operator* (const QuaternionType& a, const AngleAxis& b)
   { return a * QuaternionType(b); }
 
   /** \returns the inverse rotation, i.e., an angle-axis with opposite rotation angle */
-  AngleAxis inverse() const
+  EIGEN_DEVICE_FUNC AngleAxis inverse() const
   { return AngleAxis(-m_angle, m_axis); }
 
   template<class QuatDerived>
-  AngleAxis& operator=(const QuaternionBase<QuatDerived>& q);
+  EIGEN_DEVICE_FUNC AngleAxis& operator=(const QuaternionBase<QuatDerived>& q);
   template<typename Derived>
-  AngleAxis& operator=(const MatrixBase<Derived>& m);
+  EIGEN_DEVICE_FUNC AngleAxis& operator=(const MatrixBase<Derived>& m);
 
   template<typename Derived>
-  AngleAxis& fromRotationMatrix(const MatrixBase<Derived>& m);
-  Matrix3 toRotationMatrix(void) const;
+  EIGEN_DEVICE_FUNC AngleAxis& fromRotationMatrix(const MatrixBase<Derived>& m);
+  EIGEN_DEVICE_FUNC Matrix3 toRotationMatrix(void) const;
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
@@ -120,24 +131,24 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type cast() const
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type cast() const
   { return typename internal::cast_return_type<AngleAxis,AngleAxis<NewScalarType> >::type(*this); }
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType>
-  inline explicit AngleAxis(const AngleAxis<OtherScalarType>& other)
+  EIGEN_DEVICE_FUNC inline explicit AngleAxis(const AngleAxis<OtherScalarType>& other)
   {
     m_axis = other.axis().template cast<Scalar>();
     m_angle = Scalar(other.angle());
   }
 
-  static inline const AngleAxis Identity() { return AngleAxis(0, Vector3::UnitX()); }
+  EIGEN_DEVICE_FUNC static inline const AngleAxis Identity() { return AngleAxis(Scalar(0), Vector3::UnitX()); }
 
   /** \returns \c true if \c *this is approximately equal to \a other, within the precision
     * determined by \a prec.
     *
     * \sa MatrixBase::isApprox() */
-  bool isApprox(const AngleAxis& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const AngleAxis& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
   { return m_axis.isApprox(other.m_axis, prec) && internal::isApprox(m_angle,other.m_angle, prec); }
 };
 
@@ -149,29 +160,32 @@ typedef AngleAxis<float> AngleAxisf;
 typedef AngleAxis<double> AngleAxisd;
 
 /** Set \c *this from a \b unit quaternion.
-  * The axis is normalized.
+  *
+  * The resulting axis is normalized, and the computed angle is in the [0,pi] range.
   * 
-  * \warning As any other method dealing with quaternion, if the input quaternion
-  *          is not normalized then the result is undefined.
+  * This function implicitly normalizes the quaternion \a q.
   */
 template<typename Scalar>
 template<typename QuatDerived>
-AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
+EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived>& q)
 {
-  using std::acos;
-  using std::min;
-  using std::max;
-  using std::sqrt;
-  Scalar n2 = q.vec().squaredNorm();
-  if (n2 < NumTraits<Scalar>::dummy_precision()*NumTraits<Scalar>::dummy_precision())
+  EIGEN_USING_STD_MATH(atan2)
+  EIGEN_USING_STD_MATH(abs)
+  Scalar n = q.vec().norm();
+  if(n<NumTraits<Scalar>::epsilon())
+    n = q.vec().stableNorm();
+
+  if (n != Scalar(0))
   {
-    m_angle = 0;
-    m_axis << 1, 0, 0;
+    m_angle = Scalar(2)*atan2(n, abs(q.w()));
+    if(q.w() < 0)
+      n = -n;
+    m_axis  = q.vec() / n;
   }
   else
   {
-    m_angle = Scalar(2)*acos((min)((max)(Scalar(-1),q.w()),Scalar(1)));
-    m_axis = q.vec() / sqrt(n2);
+    m_angle = Scalar(0);
+    m_axis << Scalar(1), Scalar(0), Scalar(0);
   }
   return *this;
 }
@@ -180,7 +194,7 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const QuaternionBase<QuatDerived
   */
 template<typename Scalar>
 template<typename Derived>
-AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
+EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
 {
   // Since a direct conversion would not be really faster,
   // let's use the robust Quaternion implementation:
@@ -192,7 +206,7 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::operator=(const MatrixBase<Derived>& mat)
 **/
 template<typename Scalar>
 template<typename Derived>
-AngleAxis<Scalar>& AngleAxis<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
+EIGEN_DEVICE_FUNC AngleAxis<Scalar>& AngleAxis<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
 {
   return *this = QuaternionType(mat);
 }
@@ -201,10 +215,10 @@ AngleAxis<Scalar>& AngleAxis<Scalar>::fromRotationMatrix(const MatrixBase<Derive
   */
 template<typename Scalar>
 typename AngleAxis<Scalar>::Matrix3
-AngleAxis<Scalar>::toRotationMatrix(void) const
+EIGEN_DEVICE_FUNC AngleAxis<Scalar>::toRotationMatrix(void) const
 {
-  using std::sin;
-  using std::cos;
+  EIGEN_USING_STD_MATH(sin)
+  EIGEN_USING_STD_MATH(cos)
   Matrix3 res;
   Vector3 sin_axis  = sin(m_angle) * m_axis;
   Scalar c = cos(m_angle);
diff --git a/eigenlib/Eigen/src/Geometry/CMakeLists.txt b/eigenlib/Eigen/src/Geometry/CMakeLists.txt
deleted file mode 100644
index f8f728b8..00000000
--- a/eigenlib/Eigen/src/Geometry/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-FILE(GLOB Eigen_Geometry_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Geometry_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Geometry COMPONENT Devel
-  )
-
-ADD_SUBDIRECTORY(arch)
diff --git a/eigenlib/Eigen/src/Geometry/EulerAngles.h b/eigenlib/Eigen/src/Geometry/EulerAngles.h
index 82802fb4..c633268a 100644
--- a/eigenlib/Eigen/src/Geometry/EulerAngles.h
+++ b/eigenlib/Eigen/src/Geometry/EulerAngles.h
@@ -33,12 +33,12 @@ namespace Eigen {
   * \sa class AngleAxis
   */
 template<typename Derived>
-inline Matrix<typename MatrixBase<Derived>::Scalar,3,1>
+EIGEN_DEVICE_FUNC inline Matrix<typename MatrixBase<Derived>::Scalar,3,1>
 MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const
 {
-  using std::atan2;
-  using std::sin;
-  using std::cos;
+  EIGEN_USING_STD_MATH(atan2)
+  EIGEN_USING_STD_MATH(sin)
+  EIGEN_USING_STD_MATH(cos)
   /* Implemented from Graphics Gems IV */
   EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived,3,3)
 
@@ -55,7 +55,12 @@ MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const
     res[0] = atan2(coeff(j,i), coeff(k,i));
     if((odd && res[0]<Scalar(0)) || ((!odd) && res[0]>Scalar(0)))
     {
-      res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI);
+      if(res[0] > Scalar(0)) {
+        res[0] -= Scalar(EIGEN_PI);
+      }
+      else {
+        res[0] += Scalar(EIGEN_PI);
+      }
       Scalar s2 = Vector2(coeff(j,i), coeff(k,i)).norm();
       res[1] = -atan2(s2, coeff(i,i));
     }
@@ -84,7 +89,12 @@ MatrixBase<Derived>::eulerAngles(Index a0, Index a1, Index a2) const
     res[0] = atan2(coeff(j,k), coeff(k,k));
     Scalar c2 = Vector2(coeff(i,i), coeff(i,j)).norm();
     if((odd && res[0]<Scalar(0)) || ((!odd) && res[0]>Scalar(0))) {
-      res[0] = (res[0] > Scalar(0)) ? res[0] - Scalar(M_PI) : res[0] + Scalar(M_PI);
+      if(res[0] > Scalar(0)) {
+        res[0] -= Scalar(EIGEN_PI);
+      }
+      else {
+        res[0] += Scalar(EIGEN_PI);
+      }
       res[1] = atan2(-coeff(i,k), -c2);
     }
     else
diff --git a/eigenlib/Eigen/src/Geometry/Homogeneous.h b/eigenlib/Eigen/src/Geometry/Homogeneous.h
index 372e422b..5f0da1a9 100644
--- a/eigenlib/Eigen/src/Geometry/Homogeneous.h
+++ b/eigenlib/Eigen/src/Geometry/Homogeneous.h
@@ -34,7 +34,7 @@ struct traits<Homogeneous<MatrixType,Direction> >
  : traits<MatrixType>
 {
   typedef typename traits<MatrixType>::StorageKind StorageKind;
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
   enum {
     RowsPlusOne = (MatrixType::RowsAtCompileTime != Dynamic) ?
@@ -48,8 +48,7 @@ struct traits<Homogeneous<MatrixType,Direction> >
     TmpFlags = _MatrixTypeNested::Flags & HereditaryBits,
     Flags = ColsAtCompileTime==1 ? (TmpFlags & ~RowMajorBit)
           : RowsAtCompileTime==1 ? (TmpFlags | RowMajorBit)
-          : TmpFlags,
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost
+          : TmpFlags
   };
 };
 
@@ -59,102 +58,117 @@ template<typename MatrixType,typename Rhs> struct homogeneous_right_product_impl
 } // end namespace internal
 
 template<typename MatrixType,int _Direction> class Homogeneous
-  : internal::no_assignment_operator, public MatrixBase<Homogeneous<MatrixType,_Direction> >
+  : public MatrixBase<Homogeneous<MatrixType,_Direction> >, internal::no_assignment_operator
 {
   public:
 
+    typedef MatrixType NestedExpression;
     enum { Direction = _Direction };
 
     typedef MatrixBase<Homogeneous> Base;
     EIGEN_DENSE_PUBLIC_INTERFACE(Homogeneous)
 
-    inline Homogeneous(const MatrixType& matrix)
+    EIGEN_DEVICE_FUNC explicit inline Homogeneous(const MatrixType& matrix)
       : m_matrix(matrix)
     {}
 
-    inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical   ? 1 : 0); }
-    inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
-
-    inline Scalar coeff(Index row, Index col) const
-    {
-      if(  (int(Direction)==Vertical   && row==m_matrix.rows())
-        || (int(Direction)==Horizontal && col==m_matrix.cols()))
-        return Scalar(1);
-      return m_matrix.coeff(row, col);
-    }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_matrix.rows() + (int(Direction)==Vertical   ? 1 : 0); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_matrix.cols() + (int(Direction)==Horizontal ? 1 : 0); }
+    
+    EIGEN_DEVICE_FUNC const NestedExpression& nestedExpression() const { return m_matrix; }
 
     template<typename Rhs>
-    inline const internal::homogeneous_right_product_impl<Homogeneous,Rhs>
+    EIGEN_DEVICE_FUNC inline const Product<Homogeneous,Rhs>
     operator* (const MatrixBase<Rhs>& rhs) const
     {
       eigen_assert(int(Direction)==Horizontal);
-      return internal::homogeneous_right_product_impl<Homogeneous,Rhs>(m_matrix,rhs.derived());
+      return Product<Homogeneous,Rhs>(*this,rhs.derived());
     }
 
     template<typename Lhs> friend
-    inline const internal::homogeneous_left_product_impl<Homogeneous,Lhs>
+    EIGEN_DEVICE_FUNC inline const Product<Lhs,Homogeneous>
     operator* (const MatrixBase<Lhs>& lhs, const Homogeneous& rhs)
     {
       eigen_assert(int(Direction)==Vertical);
-      return internal::homogeneous_left_product_impl<Homogeneous,Lhs>(lhs.derived(),rhs.m_matrix);
+      return Product<Lhs,Homogeneous>(lhs.derived(),rhs);
     }
 
     template<typename Scalar, int Dim, int Mode, int Options> friend
-    inline const internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >
+    EIGEN_DEVICE_FUNC inline const Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous >
     operator* (const Transform<Scalar,Dim,Mode,Options>& lhs, const Homogeneous& rhs)
     {
       eigen_assert(int(Direction)==Vertical);
-      return internal::homogeneous_left_product_impl<Homogeneous,Transform<Scalar,Dim,Mode,Options> >(lhs,rhs.m_matrix);
+      return Product<Transform<Scalar,Dim,Mode,Options>, Homogeneous>(lhs,rhs);
+    }
+
+    template<typename Func>
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::result_of<Func(Scalar,Scalar)>::type
+    redux(const Func& func) const
+    {
+      return func(m_matrix.redux(func), Scalar(1));
     }
 
   protected:
     typename MatrixType::Nested m_matrix;
 };
 
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
   *
-  * \return an expression of the equivalent homogeneous vector
+  * \returns a vector expression that is one longer than the vector argument, with the value 1 symbolically appended as the last coefficient.
+  *
+  * This can be used to convert affine coordinates to homogeneous coordinates.
   *
   * \only_for_vectors
   *
   * Example: \include MatrixBase_homogeneous.cpp
   * Output: \verbinclude MatrixBase_homogeneous.out
   *
-  * \sa class Homogeneous
+  * \sa VectorwiseOp::homogeneous(), class Homogeneous
   */
 template<typename Derived>
-inline typename MatrixBase<Derived>::HomogeneousReturnType
+EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::HomogeneousReturnType
 MatrixBase<Derived>::homogeneous() const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
-  return derived();
+  return HomogeneousReturnType(derived());
 }
 
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
   *
-  * \returns a matrix expression of homogeneous column (or row) vectors
+  * \returns an expression where the value 1 is symbolically appended as the final coefficient to each column (or row) of the matrix.
+  *
+  * This can be used to convert affine coordinates to homogeneous coordinates.
   *
   * Example: \include VectorwiseOp_homogeneous.cpp
   * Output: \verbinclude VectorwiseOp_homogeneous.out
   *
-  * \sa MatrixBase::homogeneous() */
+  * \sa MatrixBase::homogeneous(), class Homogeneous */
 template<typename ExpressionType, int Direction>
-inline Homogeneous<ExpressionType,Direction>
+EIGEN_DEVICE_FUNC inline Homogeneous<ExpressionType,Direction>
 VectorwiseOp<ExpressionType,Direction>::homogeneous() const
 {
-  return _expression();
+  return HomogeneousReturnType(_expression());
 }
 
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
   *
-  * \returns an expression of the homogeneous normalized vector of \c *this
+  * \brief homogeneous normalization
+  *
+  * \returns a vector expression of the N-1 first coefficients of \c *this divided by that last coefficient.
+  *
+  * This can be used to convert homogeneous coordinates to affine coordinates.
+  *
+  * It is essentially a shortcut for:
+  * \code
+    this->head(this->size()-1)/this->coeff(this->size()-1);
+    \endcode
   *
   * Example: \include MatrixBase_hnormalized.cpp
   * Output: \verbinclude MatrixBase_hnormalized.out
   *
   * \sa VectorwiseOp::hnormalized() */
 template<typename Derived>
-inline const typename MatrixBase<Derived>::HNormalizedReturnType
+EIGEN_DEVICE_FUNC inline const typename MatrixBase<Derived>::HNormalizedReturnType
 MatrixBase<Derived>::hnormalized() const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
@@ -163,16 +177,22 @@ MatrixBase<Derived>::hnormalized() const
     ColsAtCompileTime==1?1:size()-1) / coeff(size()-1);
 }
 
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
   *
-  * \returns an expression of the homogeneous normalized vector of \c *this
+  * \brief column or row-wise homogeneous normalization
+  *
+  * \returns an expression of the first N-1 coefficients of each column (or row) of \c *this divided by the last coefficient of each column (or row).
+  *
+  * This can be used to convert homogeneous coordinates to affine coordinates.
+  *
+  * It is conceptually equivalent to calling MatrixBase::hnormalized() to each column (or row) of \c *this.
   *
   * Example: \include DirectionWise_hnormalized.cpp
   * Output: \verbinclude DirectionWise_hnormalized.out
   *
   * \sa MatrixBase::hnormalized() */
 template<typename ExpressionType, int Direction>
-inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
+EIGEN_DEVICE_FUNC inline const typename VectorwiseOp<ExpressionType,Direction>::HNormalizedReturnType
 VectorwiseOp<ExpressionType,Direction>::hnormalized() const
 {
   return HNormalized_Block(_expression(),0,0,
@@ -196,7 +216,7 @@ template<typename MatrixOrTransformType>
 struct take_matrix_for_product
 {
   typedef MatrixOrTransformType type;
-  static const type& run(const type &x) { return x; }
+  EIGEN_DEVICE_FUNC static const type& run(const type &x) { return x; }
 };
 
 template<typename Scalar, int Dim, int Mode,int Options>
@@ -204,7 +224,7 @@ struct take_matrix_for_product<Transform<Scalar, Dim, Mode, Options> >
 {
   typedef Transform<Scalar, Dim, Mode, Options> TransformType;
   typedef typename internal::add_const<typename TransformType::ConstAffinePart>::type type;
-  static type run (const TransformType& x) { return x.affine(); }
+  EIGEN_DEVICE_FUNC static type run (const TransformType& x) { return x.affine(); }
 };
 
 template<typename Scalar, int Dim, int Options>
@@ -212,7 +232,7 @@ struct take_matrix_for_product<Transform<Scalar, Dim, Projective, Options> >
 {
   typedef Transform<Scalar, Dim, Projective, Options> TransformType;
   typedef typename TransformType::MatrixType type;
-  static const type& run (const TransformType& x) { return x.matrix(); }
+  EIGEN_DEVICE_FUNC static const type& run (const TransformType& x) { return x.matrix(); }
 };
 
 template<typename MatrixType,typename Lhs>
@@ -237,16 +257,15 @@ struct homogeneous_left_product_impl<Homogeneous<MatrixType,Vertical>,Lhs>
   typedef typename traits<homogeneous_left_product_impl>::LhsMatrixType LhsMatrixType;
   typedef typename remove_all<LhsMatrixType>::type LhsMatrixTypeCleaned;
   typedef typename remove_all<typename LhsMatrixTypeCleaned::Nested>::type LhsMatrixTypeNested;
-  typedef typename MatrixType::Index Index;
-  homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
+  EIGEN_DEVICE_FUNC homogeneous_left_product_impl(const Lhs& lhs, const MatrixType& rhs)
     : m_lhs(take_matrix_for_product<Lhs>::run(lhs)),
       m_rhs(rhs)
   {}
 
-  inline Index rows() const { return m_lhs.rows(); }
-  inline Index cols() const { return m_rhs.cols(); }
+  EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); }
+  EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); }
 
-  template<typename Dest> void evalTo(Dest& dst) const
+  template<typename Dest> EIGEN_DEVICE_FUNC void evalTo(Dest& dst) const
   {
     // FIXME investigate how to allow lazy evaluation of this product when possible
     dst = Block<const LhsMatrixTypeNested,
@@ -277,15 +296,14 @@ struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
   : public ReturnByValue<homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs> >
 {
   typedef typename remove_all<typename Rhs::Nested>::type RhsNested;
-  typedef typename MatrixType::Index Index;
-  homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
+  EIGEN_DEVICE_FUNC homogeneous_right_product_impl(const MatrixType& lhs, const Rhs& rhs)
     : m_lhs(lhs), m_rhs(rhs)
   {}
 
-  inline Index rows() const { return m_lhs.rows(); }
-  inline Index cols() const { return m_rhs.cols(); }
+  EIGEN_DEVICE_FUNC inline Index rows() const { return m_lhs.rows(); }
+  EIGEN_DEVICE_FUNC inline Index cols() const { return m_rhs.cols(); }
 
-  template<typename Dest> void evalTo(Dest& dst) const
+  template<typename Dest> EIGEN_DEVICE_FUNC void evalTo(Dest& dst) const
   {
     // FIXME investigate how to allow lazy evaluation of this product when possible
     dst = m_lhs * Block<const RhsNested,
@@ -300,6 +318,178 @@ struct homogeneous_right_product_impl<Homogeneous<MatrixType,Horizontal>,Rhs>
   typename Rhs::Nested m_rhs;
 };
 
+template<typename ArgType,int Direction>
+struct evaluator_traits<Homogeneous<ArgType,Direction> >
+{
+  typedef typename storage_kind_to_evaluator_kind<typename ArgType::StorageKind>::Kind Kind;
+  typedef HomogeneousShape Shape;  
+};
+
+template<> struct AssignmentKind<DenseShape,HomogeneousShape> { typedef Dense2Dense Kind; };
+
+
+template<typename ArgType,int Direction>
+struct unary_evaluator<Homogeneous<ArgType,Direction>, IndexBased>
+  : evaluator<typename Homogeneous<ArgType,Direction>::PlainObject >
+{
+  typedef Homogeneous<ArgType,Direction> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  EIGEN_DEVICE_FUNC explicit unary_evaluator(const XprType& op)
+    : Base(), m_temp(op)
+  {
+    ::new (static_cast<Base*>(this)) Base(m_temp);
+  }
+
+protected:
+  PlainObject m_temp;
+};
+
+// dense = homogeneous
+template< typename DstXprType, typename ArgType, typename Scalar>
+struct Assignment<DstXprType, Homogeneous<ArgType,Vertical>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense>
+{
+  typedef Homogeneous<ArgType,Vertical> SrcXprType;
+  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename ArgType::Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    dst.template topRows<ArgType::RowsAtCompileTime>(src.nestedExpression().rows()) = src.nestedExpression();
+    dst.row(dst.rows()-1).setOnes();
+  }
+};
+
+// dense = homogeneous
+template< typename DstXprType, typename ArgType, typename Scalar>
+struct Assignment<DstXprType, Homogeneous<ArgType,Horizontal>, internal::assign_op<Scalar,typename ArgType::Scalar>, Dense2Dense>
+{
+  typedef Homogeneous<ArgType,Horizontal> SrcXprType;
+  EIGEN_DEVICE_FUNC static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename ArgType::Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    dst.template leftCols<ArgType::ColsAtCompileTime>(src.nestedExpression().cols()) = src.nestedExpression();
+    dst.col(dst.cols()-1).setOnes();
+  }
+};
+
+template<typename LhsArg, typename Rhs, int ProductTag>
+struct generic_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs, HomogeneousShape, DenseShape, ProductTag>
+{
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const Homogeneous<LhsArg,Horizontal>& lhs, const Rhs& rhs)
+  {
+    homogeneous_right_product_impl<Homogeneous<LhsArg,Horizontal>, Rhs>(lhs.nestedExpression(), rhs).evalTo(dst);
+  }
+};
+
+template<typename Lhs,typename Rhs>
+struct homogeneous_right_product_refactoring_helper
+{
+  enum {
+    Dim  = Lhs::ColsAtCompileTime,
+    Rows = Lhs::RowsAtCompileTime
+  };
+  typedef typename Rhs::template ConstNRowsBlockXpr<Dim>::Type          LinearBlockConst;
+  typedef typename remove_const<LinearBlockConst>::type                 LinearBlock;
+  typedef typename Rhs::ConstRowXpr                                     ConstantColumn;
+  typedef Replicate<const ConstantColumn,Rows,1>                        ConstantBlock;
+  typedef Product<Lhs,LinearBlock,LazyProduct>                          LinearProduct;
+  typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar,typename Rhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr;
+};
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, HomogeneousShape, DenseShape>
+ : public evaluator<typename homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs>::Xpr>
+{
+  typedef Product<Lhs, Rhs, LazyProduct> XprType;
+  typedef homogeneous_right_product_refactoring_helper<typename Lhs::NestedExpression,Rhs> helper;
+  typedef typename helper::ConstantBlock ConstantBlock;
+  typedef typename helper::Xpr RefactoredXpr;
+  typedef evaluator<RefactoredXpr> Base;
+  
+  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+    : Base(  xpr.lhs().nestedExpression() .lazyProduct(  xpr.rhs().template topRows<helper::Dim>(xpr.lhs().nestedExpression().cols()) )
+            + ConstantBlock(xpr.rhs().row(xpr.rhs().rows()-1),xpr.lhs().rows(), 1) )
+  {}
+};
+
+template<typename Lhs, typename RhsArg, int ProductTag>
+struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
+{
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const Lhs& lhs, const Homogeneous<RhsArg,Vertical>& rhs)
+  {
+    homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, Lhs>(lhs, rhs.nestedExpression()).evalTo(dst);
+  }
+};
+
+// TODO: the following specialization is to address a regression from 3.2 to 3.3
+// In the future, this path should be optimized.
+template<typename Lhs, typename RhsArg, int ProductTag>
+struct generic_product_impl<Lhs, Homogeneous<RhsArg,Vertical>, TriangularShape, HomogeneousShape, ProductTag>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Homogeneous<RhsArg,Vertical>& rhs)
+  {
+    dst.noalias() = lhs * rhs.eval();
+  }
+};
+
+template<typename Lhs,typename Rhs>
+struct homogeneous_left_product_refactoring_helper
+{
+  enum {
+    Dim = Rhs::RowsAtCompileTime,
+    Cols = Rhs::ColsAtCompileTime
+  };
+  typedef typename Lhs::template ConstNColsBlockXpr<Dim>::Type          LinearBlockConst;
+  typedef typename remove_const<LinearBlockConst>::type                 LinearBlock;
+  typedef typename Lhs::ConstColXpr                                     ConstantColumn;
+  typedef Replicate<const ConstantColumn,1,Cols>                        ConstantBlock;
+  typedef Product<LinearBlock,Rhs,LazyProduct>                          LinearProduct;
+  typedef CwiseBinaryOp<internal::scalar_sum_op<typename Lhs::Scalar,typename Rhs::Scalar>, const LinearProduct, const ConstantBlock> Xpr;
+};
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, LazyProduct>, ProductTag, DenseShape, HomogeneousShape>
+ : public evaluator<typename homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression>::Xpr>
+{
+  typedef Product<Lhs, Rhs, LazyProduct> XprType;
+  typedef homogeneous_left_product_refactoring_helper<Lhs,typename Rhs::NestedExpression> helper;
+  typedef typename helper::ConstantBlock ConstantBlock;
+  typedef typename helper::Xpr RefactoredXpr;
+  typedef evaluator<RefactoredXpr> Base;
+  
+  EIGEN_DEVICE_FUNC explicit product_evaluator(const XprType& xpr)
+    : Base(   xpr.lhs().template leftCols<helper::Dim>(xpr.rhs().nestedExpression().rows()) .lazyProduct( xpr.rhs().nestedExpression() )
+            + ConstantBlock(xpr.lhs().col(xpr.lhs().cols()-1),1,xpr.rhs().cols()) )
+  {}
+};
+
+template<typename Scalar, int Dim, int Mode,int Options, typename RhsArg, int ProductTag>
+struct generic_product_impl<Transform<Scalar,Dim,Mode,Options>, Homogeneous<RhsArg,Vertical>, DenseShape, HomogeneousShape, ProductTag>
+{
+  typedef Transform<Scalar,Dim,Mode,Options> TransformType;
+  template<typename Dest>
+  EIGEN_DEVICE_FUNC static void evalTo(Dest& dst, const TransformType& lhs, const Homogeneous<RhsArg,Vertical>& rhs)
+  {
+    homogeneous_left_product_impl<Homogeneous<RhsArg,Vertical>, TransformType>(lhs, rhs.nestedExpression()).evalTo(dst);
+  }
+};
+
+template<typename ExpressionType, int Side, bool Transposed>
+struct permutation_matrix_product<ExpressionType, Side, Transposed, HomogeneousShape>
+  : public permutation_matrix_product<ExpressionType, Side, Transposed, DenseShape>
+{};
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Geometry/Hyperplane.h b/eigenlib/Eigen/src/Geometry/Hyperplane.h
index 00b7c430..05929b29 100644
--- a/eigenlib/Eigen/src/Geometry/Hyperplane.h
+++ b/eigenlib/Eigen/src/Geometry/Hyperplane.h
@@ -22,8 +22,8 @@ namespace Eigen {
   * A hyperplane is an affine subspace of dimension n-1 in a space of dimension n.
   * For example, a hyperplane in a plane is a line; a hyperplane in 3-space is a plane.
   *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
-  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
+  * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
   *             Notice that the dimension of the hyperplane is _AmbientDim-1.
   *
   * This class represents an hyperplane as the zero set of the implicit equation
@@ -41,7 +41,7 @@ public:
   };
   typedef _Scalar Scalar;
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef DenseIndex Index;
+  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
   typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
   typedef Matrix<Scalar,Index(AmbientDimAtCompileTime)==Dynamic
                         ? Dynamic
@@ -50,21 +50,21 @@ public:
   typedef const Block<const Coefficients,AmbientDimAtCompileTime,1> ConstNormalReturnType;
 
   /** Default constructor without initialization */
-  inline Hyperplane() {}
+  EIGEN_DEVICE_FUNC inline Hyperplane() {}
   
   template<int OtherOptions>
-  Hyperplane(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
+  EIGEN_DEVICE_FUNC Hyperplane(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
    : m_coeffs(other.coeffs())
   {}
 
   /** Constructs a dynamic-size hyperplane with \a _dim the dimension
     * of the ambient space */
-  inline explicit Hyperplane(Index _dim) : m_coeffs(_dim+1) {}
+  EIGEN_DEVICE_FUNC inline explicit Hyperplane(Index _dim) : m_coeffs(_dim+1) {}
 
   /** Construct a plane from its normal \a n and a point \a e onto the plane.
     * \warning the vector normal is assumed to be normalized.
     */
-  inline Hyperplane(const VectorType& n, const VectorType& e)
+  EIGEN_DEVICE_FUNC inline Hyperplane(const VectorType& n, const VectorType& e)
     : m_coeffs(n.size()+1)
   {
     normal() = n;
@@ -75,7 +75,7 @@ public:
     * such that the algebraic equation of the plane is \f$ n \cdot x + d = 0 \f$.
     * \warning the vector normal is assumed to be normalized.
     */
-  inline Hyperplane(const VectorType& n, const Scalar& d)
+  EIGEN_DEVICE_FUNC inline Hyperplane(const VectorType& n, const Scalar& d)
     : m_coeffs(n.size()+1)
   {
     normal() = n;
@@ -85,7 +85,7 @@ public:
   /** Constructs a hyperplane passing through the two points. If the dimension of the ambient space
     * is greater than 2, then there isn't uniqueness, so an arbitrary choice is made.
     */
-  static inline Hyperplane Through(const VectorType& p0, const VectorType& p1)
+  EIGEN_DEVICE_FUNC static inline Hyperplane Through(const VectorType& p0, const VectorType& p1)
   {
     Hyperplane result(p0.size());
     result.normal() = (p1 - p0).unitOrthogonal();
@@ -96,7 +96,7 @@ public:
   /** Constructs a hyperplane passing through the three points. The dimension of the ambient space
     * is required to be exactly 3.
     */
-  static inline Hyperplane Through(const VectorType& p0, const VectorType& p1, const VectorType& p2)
+  EIGEN_DEVICE_FUNC static inline Hyperplane Through(const VectorType& p0, const VectorType& p1, const VectorType& p2)
   {
     EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
     Hyperplane result(p0.size());
@@ -120,19 +120,19 @@ public:
     * so an arbitrary choice is made.
     */
   // FIXME to be consitent with the rest this could be implemented as a static Through function ??
-  explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
+  EIGEN_DEVICE_FUNC explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
   {
     normal() = parametrized.direction().unitOrthogonal();
     offset() = -parametrized.origin().dot(normal());
   }
 
-  ~Hyperplane() {}
+  EIGEN_DEVICE_FUNC ~Hyperplane() {}
 
   /** \returns the dimension in which the plane holds */
-  inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_coeffs.size()-1 : Index(AmbientDimAtCompileTime); }
+  EIGEN_DEVICE_FUNC inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_coeffs.size()-1 : Index(AmbientDimAtCompileTime); }
 
   /** normalizes \c *this */
-  void normalize(void)
+  EIGEN_DEVICE_FUNC void normalize(void)
   {
     m_coeffs /= normal().norm();
   }
@@ -140,45 +140,45 @@ public:
   /** \returns the signed distance between the plane \c *this and a point \a p.
     * \sa absDistance()
     */
-  inline Scalar signedDistance(const VectorType& p) const { return normal().dot(p) + offset(); }
+  EIGEN_DEVICE_FUNC inline Scalar signedDistance(const VectorType& p) const { return normal().dot(p) + offset(); }
 
   /** \returns the absolute distance between the plane \c *this and a point \a p.
     * \sa signedDistance()
     */
-  inline Scalar absDistance(const VectorType& p) const { using std::abs; return abs(signedDistance(p)); }
+  EIGEN_DEVICE_FUNC inline Scalar absDistance(const VectorType& p) const { return numext::abs(signedDistance(p)); }
 
   /** \returns the projection of a point \a p onto the plane \c *this.
     */
-  inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); }
+  EIGEN_DEVICE_FUNC inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); }
 
   /** \returns a constant reference to the unit normal vector of the plane, which corresponds
     * to the linear part of the implicit equation.
     */
-  inline ConstNormalReturnType normal() const { return ConstNormalReturnType(m_coeffs,0,0,dim(),1); }
+  EIGEN_DEVICE_FUNC inline ConstNormalReturnType normal() const { return ConstNormalReturnType(m_coeffs,0,0,dim(),1); }
 
   /** \returns a non-constant reference to the unit normal vector of the plane, which corresponds
     * to the linear part of the implicit equation.
     */
-  inline NormalReturnType normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); }
+  EIGEN_DEVICE_FUNC inline NormalReturnType normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); }
 
   /** \returns the distance to the origin, which is also the "constant term" of the implicit equation
     * \warning the vector normal is assumed to be normalized.
     */
-  inline const Scalar& offset() const { return m_coeffs.coeff(dim()); }
+  EIGEN_DEVICE_FUNC inline const Scalar& offset() const { return m_coeffs.coeff(dim()); }
 
   /** \returns a non-constant reference to the distance to the origin, which is also the constant part
     * of the implicit equation */
-  inline Scalar& offset() { return m_coeffs(dim()); }
+  EIGEN_DEVICE_FUNC inline Scalar& offset() { return m_coeffs(dim()); }
 
   /** \returns a constant reference to the coefficients c_i of the plane equation:
     * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
     */
-  inline const Coefficients& coeffs() const { return m_coeffs; }
+  EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs; }
 
   /** \returns a non-constant reference to the coefficients c_i of the plane equation:
     * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
     */
-  inline Coefficients& coeffs() { return m_coeffs; }
+  EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs; }
 
   /** \returns the intersection of *this with \a other.
     *
@@ -186,16 +186,15 @@ public:
     *
     * \note If \a other is approximately parallel to *this, this method will return any point on *this.
     */
-  VectorType intersection(const Hyperplane& other) const
+  EIGEN_DEVICE_FUNC VectorType intersection(const Hyperplane& other) const
   {
-    using std::abs;
     EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
     Scalar det = coeffs().coeff(0) * other.coeffs().coeff(1) - coeffs().coeff(1) * other.coeffs().coeff(0);
     // since the line equations ax+by=c are normalized with a^2+b^2=1, the following tests
     // whether the two lines are approximately parallel.
     if(internal::isMuchSmallerThan(det, Scalar(1)))
     {   // special case where the two lines are approximately parallel. Pick any point on the first line.
-        if(abs(coeffs().coeff(1))>abs(coeffs().coeff(0)))
+        if(numext::abs(coeffs().coeff(1))>numext::abs(coeffs().coeff(0)))
             return VectorType(coeffs().coeff(1), -coeffs().coeff(2)/coeffs().coeff(1)-coeffs().coeff(0));
         else
             return VectorType(-coeffs().coeff(2)/coeffs().coeff(0)-coeffs().coeff(1), coeffs().coeff(0));
@@ -215,10 +214,13 @@ public:
     *               or a more generic #Affine transformation. The default is #Affine.
     */
   template<typename XprType>
-  inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
+  EIGEN_DEVICE_FUNC inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
   {
     if (traits==Affine)
+    {
       normal() = mat.inverse().transpose() * normal();
+      m_coeffs /= normal().norm();
+    }
     else if (traits==Isometry)
       normal() = mat * normal();
     else
@@ -236,7 +238,7 @@ public:
     *               Other kind of transformations are not supported.
     */
   template<int TrOptions>
-  inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t,
+  EIGEN_DEVICE_FUNC inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t,
                                 TransformTraits traits = Affine)
   {
     transform(t.linear(), traits);
@@ -250,7 +252,7 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename internal::cast_return_type<Hyperplane,
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Hyperplane,
            Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
   {
     return typename internal::cast_return_type<Hyperplane,
@@ -259,7 +261,7 @@ public:
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType,int OtherOptions>
-  inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
+  EIGEN_DEVICE_FUNC inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
   { m_coeffs = other.coeffs().template cast<Scalar>(); }
 
   /** \returns \c true if \c *this is approximately equal to \a other, within the precision
@@ -267,7 +269,7 @@ public:
     *
     * \sa MatrixBase::isApprox() */
   template<int OtherOptions>
-  bool isApprox(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
   { return m_coeffs.isApprox(other.m_coeffs, prec); }
 
 protected:
diff --git a/eigenlib/Eigen/src/Geometry/OrthoMethods.h b/eigenlib/Eigen/src/Geometry/OrthoMethods.h
index 556bc816..a035e631 100644
--- a/eigenlib/Eigen/src/Geometry/OrthoMethods.h
+++ b/eigenlib/Eigen/src/Geometry/OrthoMethods.h
@@ -13,16 +13,24 @@
 
 namespace Eigen { 
 
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
   *
   * \returns the cross product of \c *this and \a other
   *
   * Here is a very good explanation of cross-product: http://xkcd.com/199/
+  * 
+  * With complex numbers, the cross product is implemented as
+  * \f$ (\mathbf{a}+i\mathbf{b}) \times (\mathbf{c}+i\mathbf{d}) = (\mathbf{a} \times \mathbf{c} - \mathbf{b} \times \mathbf{d}) - i(\mathbf{a} \times \mathbf{d} - \mathbf{b} \times \mathbf{c})\f$
+  * 
   * \sa MatrixBase::cross3()
   */
 template<typename Derived>
 template<typename OtherDerived>
-inline typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
+#else
+inline typename MatrixBase<Derived>::PlainObject
+#endif
 MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,3)
@@ -30,8 +38,8 @@ MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
 
   // Note that there is no need for an expression here since the compiler
   // optimize such a small temporary very well (even within a complex expression)
-  typename internal::nested<Derived,2>::type lhs(derived());
-  typename internal::nested<OtherDerived,2>::type rhs(other.derived());
+  typename internal::nested_eval<Derived,2>::type lhs(derived());
+  typename internal::nested_eval<OtherDerived,2>::type rhs(other.derived());
   return typename cross_product_return_type<OtherDerived>::type(
     numext::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
     numext::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
@@ -45,7 +53,7 @@ template< int Arch,typename VectorLhs,typename VectorRhs,
           typename Scalar = typename VectorLhs::Scalar,
           bool Vectorizable = bool((VectorLhs::Flags&VectorRhs::Flags)&PacketAccessBit)>
 struct cross3_impl {
-  static inline typename internal::plain_matrix_type<VectorLhs>::type
+  EIGEN_DEVICE_FUNC static inline typename internal::plain_matrix_type<VectorLhs>::type
   run(const VectorLhs& lhs, const VectorRhs& rhs)
   {
     return typename internal::plain_matrix_type<VectorLhs>::type(
@@ -59,7 +67,7 @@ struct cross3_impl {
 
 }
 
-/** \geometry_module
+/** \geometry_module \ingroup Geometry_Module
   *
   * \returns the cross product of \c *this and \a other using only the x, y, and z coefficients
   *
@@ -70,14 +78,14 @@ struct cross3_impl {
   */
 template<typename Derived>
 template<typename OtherDerived>
-inline typename MatrixBase<Derived>::PlainObject
+EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::PlainObject
 MatrixBase<Derived>::cross3(const MatrixBase<OtherDerived>& other) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,4)
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,4)
 
-  typedef typename internal::nested<Derived,2>::type DerivedNested;
-  typedef typename internal::nested<OtherDerived,2>::type OtherDerivedNested;
+  typedef typename internal::nested_eval<Derived,2>::type DerivedNested;
+  typedef typename internal::nested_eval<OtherDerived,2>::type OtherDerivedNested;
   DerivedNested lhs(derived());
   OtherDerivedNested rhs(other.derived());
 
@@ -86,38 +94,42 @@ MatrixBase<Derived>::cross3(const MatrixBase<OtherDerived>& other) const
                         typename internal::remove_all<OtherDerivedNested>::type>::run(lhs,rhs);
 }
 
-/** \returns a matrix expression of the cross product of each column or row
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \returns a matrix expression of the cross product of each column or row
   * of the referenced expression with the \a other vector.
   *
   * The referenced matrix must have one dimension equal to 3.
   * The result matrix has the same dimensions than the referenced one.
   *
-  * \geometry_module
-  *
   * \sa MatrixBase::cross() */
 template<typename ExpressionType, int Direction>
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC 
 const typename VectorwiseOp<ExpressionType,Direction>::CrossReturnType
 VectorwiseOp<ExpressionType,Direction>::cross(const MatrixBase<OtherDerived>& other) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
   EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
     YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+  
+  typename internal::nested_eval<ExpressionType,2>::type mat(_expression());
+  typename internal::nested_eval<OtherDerived,2>::type vec(other.derived());
 
   CrossReturnType res(_expression().rows(),_expression().cols());
   if(Direction==Vertical)
   {
     eigen_assert(CrossReturnType::RowsAtCompileTime==3 && "the matrix must have exactly 3 rows");
-    res.row(0) = (_expression().row(1) * other.coeff(2) - _expression().row(2) * other.coeff(1)).conjugate();
-    res.row(1) = (_expression().row(2) * other.coeff(0) - _expression().row(0) * other.coeff(2)).conjugate();
-    res.row(2) = (_expression().row(0) * other.coeff(1) - _expression().row(1) * other.coeff(0)).conjugate();
+    res.row(0) = (mat.row(1) * vec.coeff(2) - mat.row(2) * vec.coeff(1)).conjugate();
+    res.row(1) = (mat.row(2) * vec.coeff(0) - mat.row(0) * vec.coeff(2)).conjugate();
+    res.row(2) = (mat.row(0) * vec.coeff(1) - mat.row(1) * vec.coeff(0)).conjugate();
   }
   else
   {
     eigen_assert(CrossReturnType::ColsAtCompileTime==3 && "the matrix must have exactly 3 columns");
-    res.col(0) = (_expression().col(1) * other.coeff(2) - _expression().col(2) * other.coeff(1)).conjugate();
-    res.col(1) = (_expression().col(2) * other.coeff(0) - _expression().col(0) * other.coeff(2)).conjugate();
-    res.col(2) = (_expression().col(0) * other.coeff(1) - _expression().col(1) * other.coeff(0)).conjugate();
+    res.col(0) = (mat.col(1) * vec.coeff(2) - mat.col(2) * vec.coeff(1)).conjugate();
+    res.col(1) = (mat.col(2) * vec.coeff(0) - mat.col(0) * vec.coeff(2)).conjugate();
+    res.col(2) = (mat.col(0) * vec.coeff(1) - mat.col(1) * vec.coeff(0)).conjugate();
   }
   return res;
 }
@@ -130,8 +142,8 @@ struct unitOrthogonal_selector
   typedef typename plain_matrix_type<Derived>::type VectorType;
   typedef typename traits<Derived>::Scalar Scalar;
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef typename Derived::Index Index;
   typedef Matrix<Scalar,2,1> Vector2;
+  EIGEN_DEVICE_FUNC
   static inline VectorType run(const Derived& src)
   {
     VectorType perp = VectorType::Zero(src.size());
@@ -154,6 +166,7 @@ struct unitOrthogonal_selector<Derived,3>
   typedef typename plain_matrix_type<Derived>::type VectorType;
   typedef typename traits<Derived>::Scalar Scalar;
   typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
   static inline VectorType run(const Derived& src)
   {
     VectorType perp;
@@ -192,13 +205,16 @@ template<typename Derived>
 struct unitOrthogonal_selector<Derived,2>
 {
   typedef typename plain_matrix_type<Derived>::type VectorType;
+  EIGEN_DEVICE_FUNC
   static inline VectorType run(const Derived& src)
   { return VectorType(-numext::conj(src.y()), numext::conj(src.x())).normalized(); }
 };
 
 } // end namespace internal
 
-/** \returns a unit vector which is orthogonal to \c *this
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \returns a unit vector which is orthogonal to \c *this
   *
   * The size of \c *this must be at least 2. If the size is exactly 2,
   * then the returned vector is a counter clock wise rotation of \c *this, i.e., (-y,x).normalized().
@@ -206,7 +222,7 @@ struct unitOrthogonal_selector<Derived,2>
   * \sa cross()
   */
 template<typename Derived>
-typename MatrixBase<Derived>::PlainObject
+EIGEN_DEVICE_FUNC typename MatrixBase<Derived>::PlainObject
 MatrixBase<Derived>::unitOrthogonal() const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
diff --git a/eigenlib/Eigen/src/Geometry/ParametrizedLine.h b/eigenlib/Eigen/src/Geometry/ParametrizedLine.h
index 77fa228e..1e985d8c 100644
--- a/eigenlib/Eigen/src/Geometry/ParametrizedLine.h
+++ b/eigenlib/Eigen/src/Geometry/ParametrizedLine.h
@@ -23,8 +23,8 @@ namespace Eigen {
   * direction vector \f$ \mathbf{d} \f$ such that the line corresponds to
   * the set \f$ l(t) = \mathbf{o} + t \mathbf{d} \f$, \f$ t \in \mathbf{R} \f$.
   *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
-  * \param _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
+  * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
   */
 template <typename _Scalar, int _AmbientDim, int _Options>
 class ParametrizedLine
@@ -37,49 +37,49 @@ public:
   };
   typedef _Scalar Scalar;
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef DenseIndex Index;
+  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
   typedef Matrix<Scalar,AmbientDimAtCompileTime,1,Options> VectorType;
 
   /** Default constructor without initialization */
-  inline ParametrizedLine() {}
+  EIGEN_DEVICE_FUNC inline ParametrizedLine() {}
   
   template<int OtherOptions>
-  ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
+  EIGEN_DEVICE_FUNC ParametrizedLine(const ParametrizedLine<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
    : m_origin(other.origin()), m_direction(other.direction())
   {}
 
   /** Constructs a dynamic-size line with \a _dim the dimension
     * of the ambient space */
-  inline explicit ParametrizedLine(Index _dim) : m_origin(_dim), m_direction(_dim) {}
+  EIGEN_DEVICE_FUNC inline explicit ParametrizedLine(Index _dim) : m_origin(_dim), m_direction(_dim) {}
 
   /** Initializes a parametrized line of direction \a direction and origin \a origin.
     * \warning the vector direction is assumed to be normalized.
     */
-  ParametrizedLine(const VectorType& origin, const VectorType& direction)
+  EIGEN_DEVICE_FUNC ParametrizedLine(const VectorType& origin, const VectorType& direction)
     : m_origin(origin), m_direction(direction) {}
 
   template <int OtherOptions>
-  explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
+  EIGEN_DEVICE_FUNC explicit ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane);
 
   /** Constructs a parametrized line going from \a p0 to \a p1. */
-  static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
+  EIGEN_DEVICE_FUNC static inline ParametrizedLine Through(const VectorType& p0, const VectorType& p1)
   { return ParametrizedLine(p0, (p1-p0).normalized()); }
 
-  ~ParametrizedLine() {}
+  EIGEN_DEVICE_FUNC ~ParametrizedLine() {}
 
   /** \returns the dimension in which the line holds */
-  inline Index dim() const { return m_direction.size(); }
+  EIGEN_DEVICE_FUNC inline Index dim() const { return m_direction.size(); }
 
-  const VectorType& origin() const { return m_origin; }
-  VectorType& origin() { return m_origin; }
+  EIGEN_DEVICE_FUNC const VectorType& origin() const { return m_origin; }
+  EIGEN_DEVICE_FUNC VectorType& origin() { return m_origin; }
 
-  const VectorType& direction() const { return m_direction; }
-  VectorType& direction() { return m_direction; }
+  EIGEN_DEVICE_FUNC const VectorType& direction() const { return m_direction; }
+  EIGEN_DEVICE_FUNC VectorType& direction() { return m_direction; }
 
   /** \returns the squared distance of a point \a p to its projection onto the line \c *this.
     * \sa distance()
     */
-  RealScalar squaredDistance(const VectorType& p) const
+  EIGEN_DEVICE_FUNC RealScalar squaredDistance(const VectorType& p) const
   {
     VectorType diff = p - origin();
     return (diff - direction().dot(diff) * direction()).squaredNorm();
@@ -87,22 +87,22 @@ public:
   /** \returns the distance of a point \a p to its projection onto the line \c *this.
     * \sa squaredDistance()
     */
-  RealScalar distance(const VectorType& p) const { using std::sqrt; return sqrt(squaredDistance(p)); }
+  EIGEN_DEVICE_FUNC RealScalar distance(const VectorType& p) const { EIGEN_USING_STD_MATH(sqrt) return sqrt(squaredDistance(p)); }
 
   /** \returns the projection of a point \a p onto the line \c *this. */
-  VectorType projection(const VectorType& p) const
+  EIGEN_DEVICE_FUNC VectorType projection(const VectorType& p) const
   { return origin() + direction().dot(p-origin()) * direction(); }
 
-  VectorType pointAt(const Scalar& t) const;
+  EIGEN_DEVICE_FUNC VectorType pointAt(const Scalar& t) const;
   
   template <int OtherOptions>
-  Scalar intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
+  EIGEN_DEVICE_FUNC Scalar intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
  
   template <int OtherOptions>
-  Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
+  EIGEN_DEVICE_FUNC Scalar intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
   
   template <int OtherOptions>
-  VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
+  EIGEN_DEVICE_FUNC VectorType intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const;
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
@@ -110,7 +110,7 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename internal::cast_return_type<ParametrizedLine,
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<ParametrizedLine,
            ParametrizedLine<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
   {
     return typename internal::cast_return_type<ParametrizedLine,
@@ -119,7 +119,7 @@ public:
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType,int OtherOptions>
-  inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
+  EIGEN_DEVICE_FUNC inline explicit ParametrizedLine(const ParametrizedLine<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
   {
     m_origin = other.origin().template cast<Scalar>();
     m_direction = other.direction().template cast<Scalar>();
@@ -129,7 +129,7 @@ public:
     * determined by \a prec.
     *
     * \sa MatrixBase::isApprox() */
-  bool isApprox(const ParametrizedLine& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const ParametrizedLine& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
   { return m_origin.isApprox(other.m_origin, prec) && m_direction.isApprox(other.m_direction, prec); }
 
 protected:
@@ -143,7 +143,7 @@ protected:
   */
 template <typename _Scalar, int _AmbientDim, int _Options>
 template <int OtherOptions>
-inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane)
+EIGEN_DEVICE_FUNC inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const Hyperplane<_Scalar, _AmbientDim,OtherOptions>& hyperplane)
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
   direction() = hyperplane.normal().unitOrthogonal();
@@ -153,7 +153,7 @@ inline ParametrizedLine<_Scalar, _AmbientDim,_Options>::ParametrizedLine(const H
 /** \returns the point at \a t along this line
   */
 template <typename _Scalar, int _AmbientDim, int _Options>
-inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
+EIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
 ParametrizedLine<_Scalar, _AmbientDim,_Options>::pointAt(const _Scalar& t) const
 {
   return origin() + (direction()*t); 
@@ -163,7 +163,7 @@ ParametrizedLine<_Scalar, _AmbientDim,_Options>::pointAt(const _Scalar& t) const
   */
 template <typename _Scalar, int _AmbientDim, int _Options>
 template <int OtherOptions>
-inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
+EIGEN_DEVICE_FUNC inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionParameter(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
 {
   return -(hyperplane.offset()+hyperplane.normal().dot(origin()))
           / hyperplane.normal().dot(direction());
@@ -175,7 +175,7 @@ inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionPara
   */
 template <typename _Scalar, int _AmbientDim, int _Options>
 template <int OtherOptions>
-inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
+EIGEN_DEVICE_FUNC inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
 {
   return intersectionParameter(hyperplane);
 }
@@ -184,7 +184,7 @@ inline _Scalar ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersection(con
   */
 template <typename _Scalar, int _AmbientDim, int _Options>
 template <int OtherOptions>
-inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
+EIGEN_DEVICE_FUNC inline typename ParametrizedLine<_Scalar, _AmbientDim,_Options>::VectorType
 ParametrizedLine<_Scalar, _AmbientDim,_Options>::intersectionPoint(const Hyperplane<_Scalar, _AmbientDim, OtherOptions>& hyperplane) const
 {
   return pointAt(intersectionParameter(hyperplane));
diff --git a/eigenlib/Eigen/src/Geometry/Quaternion.h b/eigenlib/Eigen/src/Geometry/Quaternion.h
index 93056f60..f6ef1bcf 100644
--- a/eigenlib/Eigen/src/Geometry/Quaternion.h
+++ b/eigenlib/Eigen/src/Geometry/Quaternion.h
@@ -34,8 +34,9 @@ struct quaternionbase_assign_impl;
 template<class Derived>
 class QuaternionBase : public RotationBase<Derived, 3>
 {
+ public:
   typedef RotationBase<Derived, 3> Base;
-public:
+
   using Base::operator*;
   using Base::derived;
 
@@ -57,37 +58,37 @@ public:
 
 
   /** \returns the \c x coefficient */
-  inline Scalar x() const { return this->derived().coeffs().coeff(0); }
+  EIGEN_DEVICE_FUNC inline Scalar x() const { return this->derived().coeffs().coeff(0); }
   /** \returns the \c y coefficient */
-  inline Scalar y() const { return this->derived().coeffs().coeff(1); }
+  EIGEN_DEVICE_FUNC inline Scalar y() const { return this->derived().coeffs().coeff(1); }
   /** \returns the \c z coefficient */
-  inline Scalar z() const { return this->derived().coeffs().coeff(2); }
+  EIGEN_DEVICE_FUNC inline Scalar z() const { return this->derived().coeffs().coeff(2); }
   /** \returns the \c w coefficient */
-  inline Scalar w() const { return this->derived().coeffs().coeff(3); }
+  EIGEN_DEVICE_FUNC inline Scalar w() const { return this->derived().coeffs().coeff(3); }
 
   /** \returns a reference to the \c x coefficient */
-  inline Scalar& x() { return this->derived().coeffs().coeffRef(0); }
+  EIGEN_DEVICE_FUNC inline Scalar& x() { return this->derived().coeffs().coeffRef(0); }
   /** \returns a reference to the \c y coefficient */
-  inline Scalar& y() { return this->derived().coeffs().coeffRef(1); }
+  EIGEN_DEVICE_FUNC inline Scalar& y() { return this->derived().coeffs().coeffRef(1); }
   /** \returns a reference to the \c z coefficient */
-  inline Scalar& z() { return this->derived().coeffs().coeffRef(2); }
+  EIGEN_DEVICE_FUNC inline Scalar& z() { return this->derived().coeffs().coeffRef(2); }
   /** \returns a reference to the \c w coefficient */
-  inline Scalar& w() { return this->derived().coeffs().coeffRef(3); }
+  EIGEN_DEVICE_FUNC inline Scalar& w() { return this->derived().coeffs().coeffRef(3); }
 
   /** \returns a read-only vector expression of the imaginary part (x,y,z) */
-  inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }
+  EIGEN_DEVICE_FUNC inline const VectorBlock<const Coefficients,3> vec() const { return coeffs().template head<3>(); }
 
   /** \returns a vector expression of the imaginary part (x,y,z) */
-  inline VectorBlock<Coefficients,3> vec() { return coeffs().template head<3>(); }
+  EIGEN_DEVICE_FUNC inline VectorBlock<Coefficients,3> vec() { return coeffs().template head<3>(); }
 
   /** \returns a read-only vector expression of the coefficients (x,y,z,w) */
-  inline const typename internal::traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
+  EIGEN_DEVICE_FUNC inline const typename internal::traits<Derived>::Coefficients& coeffs() const { return derived().coeffs(); }
 
   /** \returns a vector expression of the coefficients (x,y,z,w) */
-  inline typename internal::traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
+  EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Coefficients& coeffs() { return derived().coeffs(); }
 
-  EIGEN_STRONG_INLINE QuaternionBase<Derived>& operator=(const QuaternionBase<Derived>& other);
-  template<class OtherDerived> EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE QuaternionBase<Derived>& operator=(const QuaternionBase<Derived>& other);
+  template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator=(const QuaternionBase<OtherDerived>& other);
 
 // disabled this copy operator as it is giving very strange compilation errors when compiling
 // test_stdvector with GCC 4.4.2. This looks like a GCC bug though, so feel free to re-enable it if it's
@@ -96,72 +97,72 @@ public:
 //  Derived& operator=(const QuaternionBase& other)
 //  { return operator=<Derived>(other); }
 
-  Derived& operator=(const AngleAxisType& aa);
-  template<class OtherDerived> Derived& operator=(const MatrixBase<OtherDerived>& m);
+  EIGEN_DEVICE_FUNC Derived& operator=(const AngleAxisType& aa);
+  template<class OtherDerived> EIGEN_DEVICE_FUNC Derived& operator=(const MatrixBase<OtherDerived>& m);
 
   /** \returns a quaternion representing an identity rotation
     * \sa MatrixBase::Identity()
     */
-  static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(1, 0, 0, 0); }
+  EIGEN_DEVICE_FUNC static inline Quaternion<Scalar> Identity() { return Quaternion<Scalar>(Scalar(1), Scalar(0), Scalar(0), Scalar(0)); }
 
   /** \sa QuaternionBase::Identity(), MatrixBase::setIdentity()
     */
-  inline QuaternionBase& setIdentity() { coeffs() << 0, 0, 0, 1; return *this; }
+  EIGEN_DEVICE_FUNC inline QuaternionBase& setIdentity() { coeffs() << Scalar(0), Scalar(0), Scalar(0), Scalar(1); return *this; }
 
   /** \returns the squared norm of the quaternion's coefficients
     * \sa QuaternionBase::norm(), MatrixBase::squaredNorm()
     */
-  inline Scalar squaredNorm() const { return coeffs().squaredNorm(); }
+  EIGEN_DEVICE_FUNC inline Scalar squaredNorm() const { return coeffs().squaredNorm(); }
 
   /** \returns the norm of the quaternion's coefficients
     * \sa QuaternionBase::squaredNorm(), MatrixBase::norm()
     */
-  inline Scalar norm() const { return coeffs().norm(); }
+  EIGEN_DEVICE_FUNC inline Scalar norm() const { return coeffs().norm(); }
 
   /** Normalizes the quaternion \c *this
     * \sa normalized(), MatrixBase::normalize() */
-  inline void normalize() { coeffs().normalize(); }
+  EIGEN_DEVICE_FUNC inline void normalize() { coeffs().normalize(); }
   /** \returns a normalized copy of \c *this
     * \sa normalize(), MatrixBase::normalized() */
-  inline Quaternion<Scalar> normalized() const { return Quaternion<Scalar>(coeffs().normalized()); }
+  EIGEN_DEVICE_FUNC inline Quaternion<Scalar> normalized() const { return Quaternion<Scalar>(coeffs().normalized()); }
 
     /** \returns the dot product of \c *this and \a other
     * Geometrically speaking, the dot product of two unit quaternions
     * corresponds to the cosine of half the angle between the two rotations.
     * \sa angularDistance()
     */
-  template<class OtherDerived> inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
+  template<class OtherDerived> EIGEN_DEVICE_FUNC inline Scalar dot(const QuaternionBase<OtherDerived>& other) const { return coeffs().dot(other.coeffs()); }
 
-  template<class OtherDerived> Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
+  template<class OtherDerived> EIGEN_DEVICE_FUNC Scalar angularDistance(const QuaternionBase<OtherDerived>& other) const;
 
   /** \returns an equivalent 3x3 rotation matrix */
-  Matrix3 toRotationMatrix() const;
+  EIGEN_DEVICE_FUNC Matrix3 toRotationMatrix() const;
 
   /** \returns the quaternion which transform \a a into \a b through a rotation */
   template<typename Derived1, typename Derived2>
-  Derived& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
+  EIGEN_DEVICE_FUNC Derived& setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
 
-  template<class OtherDerived> EIGEN_STRONG_INLINE Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const;
-  template<class OtherDerived> EIGEN_STRONG_INLINE Derived& operator*= (const QuaternionBase<OtherDerived>& q);
+  template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion<Scalar> operator* (const QuaternionBase<OtherDerived>& q) const;
+  template<class OtherDerived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& operator*= (const QuaternionBase<OtherDerived>& q);
 
   /** \returns the quaternion describing the inverse rotation */
-  Quaternion<Scalar> inverse() const;
+  EIGEN_DEVICE_FUNC Quaternion<Scalar> inverse() const;
 
   /** \returns the conjugated quaternion */
-  Quaternion<Scalar> conjugate() const;
+  EIGEN_DEVICE_FUNC Quaternion<Scalar> conjugate() const;
 
-  template<class OtherDerived> Quaternion<Scalar> slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const;
+  template<class OtherDerived> EIGEN_DEVICE_FUNC Quaternion<Scalar> slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const;
 
   /** \returns \c true if \c *this is approximately equal to \a other, within the precision
     * determined by \a prec.
     *
     * \sa MatrixBase::isApprox() */
   template<class OtherDerived>
-  bool isApprox(const QuaternionBase<OtherDerived>& other, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const QuaternionBase<OtherDerived>& other, const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
   { return coeffs().isApprox(other.coeffs(), prec); }
 
-	/** return the result vector of \a v through the rotation*/
-  EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const;
+  /** return the result vector of \a v through the rotation*/
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Vector3 _transformVector(const Vector3& v) const;
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
@@ -169,7 +170,7 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type cast() const
   {
     return typename internal::cast_return_type<Derived,Quaternion<NewScalarType> >::type(derived());
   }
@@ -216,8 +217,8 @@ struct traits<Quaternion<_Scalar,_Options> >
   typedef _Scalar Scalar;
   typedef Matrix<_Scalar,4,1,_Options> Coefficients;
   enum{
-    IsAligned = internal::traits<Coefficients>::Flags & AlignedBit,
-    Flags = IsAligned ? (AlignedBit | LvalueBit) : LvalueBit
+    Alignment = internal::traits<Coefficients>::Alignment,
+    Flags = LvalueBit
   };
 };
 }
@@ -225,10 +226,10 @@ struct traits<Quaternion<_Scalar,_Options> >
 template<typename _Scalar, int _Options>
 class Quaternion : public QuaternionBase<Quaternion<_Scalar,_Options> >
 {
-  typedef QuaternionBase<Quaternion<_Scalar,_Options> > Base;
-  enum { IsAligned = internal::traits<Quaternion>::IsAligned };
-
 public:
+  typedef QuaternionBase<Quaternion<_Scalar,_Options> > Base;
+  enum { NeedsAlignment = internal::traits<Quaternion>::Alignment>0 };
+
   typedef _Scalar Scalar;
 
   EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Quaternion)
@@ -238,7 +239,7 @@ public:
   typedef typename Base::AngleAxisType AngleAxisType;
 
   /** Default constructor leaving the quaternion uninitialized. */
-  inline Quaternion() {}
+  EIGEN_DEVICE_FUNC inline Quaternion() {}
 
   /** Constructs and initializes the quaternion \f$ w+xi+yj+zk \f$ from
     * its four coefficients \a w, \a x, \a y and \a z.
@@ -247,36 +248,42 @@ public:
     * while internally the coefficients are stored in the following order:
     * [\c x, \c y, \c z, \c w]
     */
-  inline Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar& z) : m_coeffs(x, y, z, w){}
+  EIGEN_DEVICE_FUNC inline Quaternion(const Scalar& w, const Scalar& x, const Scalar& y, const Scalar& z) : m_coeffs(x, y, z, w){}
 
   /** Constructs and initialize a quaternion from the array data */
-  inline Quaternion(const Scalar* data) : m_coeffs(data) {}
+  EIGEN_DEVICE_FUNC explicit inline Quaternion(const Scalar* data) : m_coeffs(data) {}
 
   /** Copy constructor */
-  template<class Derived> EIGEN_STRONG_INLINE Quaternion(const QuaternionBase<Derived>& other) { this->Base::operator=(other); }
+  template<class Derived> EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion(const QuaternionBase<Derived>& other) { this->Base::operator=(other); }
 
   /** Constructs and initializes a quaternion from the angle-axis \a aa */
-  explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
+  EIGEN_DEVICE_FUNC explicit inline Quaternion(const AngleAxisType& aa) { *this = aa; }
 
   /** Constructs and initializes a quaternion from either:
     *  - a rotation matrix expression,
     *  - a 4D vector expression representing quaternion coefficients.
     */
   template<typename Derived>
-  explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
+  EIGEN_DEVICE_FUNC explicit inline Quaternion(const MatrixBase<Derived>& other) { *this = other; }
 
   /** Explicit copy constructor with scalar conversion */
   template<typename OtherScalar, int OtherOptions>
-  explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
+  EIGEN_DEVICE_FUNC explicit inline Quaternion(const Quaternion<OtherScalar, OtherOptions>& other)
   { m_coeffs = other.coeffs().template cast<Scalar>(); }
 
+  EIGEN_DEVICE_FUNC static Quaternion UnitRandom();
+
   template<typename Derived1, typename Derived2>
-  static Quaternion FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
+  EIGEN_DEVICE_FUNC static Quaternion FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b);
 
-  inline Coefficients& coeffs() { return m_coeffs;}
-  inline const Coefficients& coeffs() const { return m_coeffs;}
+  EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs;}
+  EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs;}
 
-  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(IsAligned)
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF(bool(NeedsAlignment))
+  
+#ifdef EIGEN_QUATERNION_PLUGIN
+# include EIGEN_QUATERNION_PLUGIN
+#endif
 
 protected:
   Coefficients m_coeffs;
@@ -336,9 +343,9 @@ template<typename _Scalar, int _Options>
 class Map<const Quaternion<_Scalar>, _Options >
   : public QuaternionBase<Map<const Quaternion<_Scalar>, _Options> >
 {
+  public:
     typedef QuaternionBase<Map<const Quaternion<_Scalar>, _Options> > Base;
 
-  public:
     typedef _Scalar Scalar;
     typedef typename internal::traits<Map>::Coefficients Coefficients;
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
@@ -350,9 +357,9 @@ class Map<const Quaternion<_Scalar>, _Options >
       * \code *coeffs == {x, y, z, w} \endcode
       *
       * If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
-    EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
+    EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(const Scalar* coeffs) : m_coeffs(coeffs) {}
 
-    inline const Coefficients& coeffs() const { return m_coeffs;}
+    EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs;}
 
   protected:
     const Coefficients m_coeffs;
@@ -373,9 +380,9 @@ template<typename _Scalar, int _Options>
 class Map<Quaternion<_Scalar>, _Options >
   : public QuaternionBase<Map<Quaternion<_Scalar>, _Options> >
 {
+  public:
     typedef QuaternionBase<Map<Quaternion<_Scalar>, _Options> > Base;
 
-  public:
     typedef _Scalar Scalar;
     typedef typename internal::traits<Map>::Coefficients Coefficients;
     EIGEN_INHERIT_ASSIGNMENT_OPERATORS(Map)
@@ -387,10 +394,10 @@ class Map<Quaternion<_Scalar>, _Options >
       * \code *coeffs == {x, y, z, w} \endcode
       *
       * If the template parameter _Options is set to #Aligned, then the pointer coeffs must be aligned. */
-    EIGEN_STRONG_INLINE Map(Scalar* coeffs) : m_coeffs(coeffs) {}
+    EIGEN_DEVICE_FUNC explicit EIGEN_STRONG_INLINE Map(Scalar* coeffs) : m_coeffs(coeffs) {}
 
-    inline Coefficients& coeffs() { return m_coeffs; }
-    inline const Coefficients& coeffs() const { return m_coeffs; }
+    EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs; }
+    EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs; }
 
   protected:
     Coefficients m_coeffs;
@@ -418,7 +425,7 @@ typedef Map<Quaternion<double>, Aligned>  QuaternionMapAlignedd;
 namespace internal {
 template<int Arch, class Derived1, class Derived2, typename Scalar, int _Options> struct quat_product
 {
-  static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived1>& a, const QuaternionBase<Derived2>& b){
     return Quaternion<Scalar>
     (
       a.w() * b.w() - a.x() * b.x() - a.y() * b.y() - a.z() * b.z(),
@@ -433,20 +440,20 @@ template<int Arch, class Derived1, class Derived2, typename Scalar, int _Options
 /** \returns the concatenation of two rotations as a quaternion-quaternion product */
 template <class Derived>
 template <class OtherDerived>
-EIGEN_STRONG_INLINE Quaternion<typename internal::traits<Derived>::Scalar>
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Quaternion<typename internal::traits<Derived>::Scalar>
 QuaternionBase<Derived>::operator* (const QuaternionBase<OtherDerived>& other) const
 {
   EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename OtherDerived::Scalar>::value),
    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
   return internal::quat_product<Architecture::Target, Derived, OtherDerived,
                          typename internal::traits<Derived>::Scalar,
-                         internal::traits<Derived>::IsAligned && internal::traits<OtherDerived>::IsAligned>::run(*this, other);
+                         EIGEN_PLAIN_ENUM_MIN(internal::traits<Derived>::Alignment, internal::traits<OtherDerived>::Alignment)>::run(*this, other);
 }
 
 /** \sa operator*(Quaternion) */
 template <class Derived>
 template <class OtherDerived>
-EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const QuaternionBase<OtherDerived>& other)
 {
   derived() = derived() * other.derived();
   return derived();
@@ -460,7 +467,7 @@ EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator*= (const Quaterni
   *   - Via a Matrix3: 24 + 15n
   */
 template <class Derived>
-EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename QuaternionBase<Derived>::Vector3
 QuaternionBase<Derived>::_transformVector(const Vector3& v) const
 {
     // Note that this algorithm comes from the optimization by hand
@@ -474,7 +481,7 @@ QuaternionBase<Derived>::_transformVector(const Vector3& v) const
 }
 
 template<class Derived>
-EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const QuaternionBase<Derived>& other)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(const QuaternionBase<Derived>& other)
 {
   coeffs() = other.coeffs();
   return derived();
@@ -482,7 +489,7 @@ EIGEN_STRONG_INLINE QuaternionBase<Derived>& QuaternionBase<Derived>::operator=(
 
 template<class Derived>
 template<class OtherDerived>
-EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const QuaternionBase<OtherDerived>& other)
 {
   coeffs() = other.coeffs();
   return derived();
@@ -491,10 +498,10 @@ EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const Quaternion
 /** Set \c *this from an angle-axis \a aa and returns a reference to \c *this
   */
 template<class Derived>
-EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisType& aa)
 {
-  using std::cos;
-  using std::sin;
+  EIGEN_USING_STD_MATH(cos)
+  EIGEN_USING_STD_MATH(sin)
   Scalar ha = Scalar(0.5)*aa.angle(); // Scalar(0.5) to suppress precision loss warnings
   this->w() = cos(ha);
   this->vec() = sin(ha) * aa.axis();
@@ -509,7 +516,7 @@ EIGEN_STRONG_INLINE Derived& QuaternionBase<Derived>::operator=(const AngleAxisT
 
 template<class Derived>
 template<class MatrixDerived>
-inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
+EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerived>& xpr)
 {
   EIGEN_STATIC_ASSERT((internal::is_same<typename Derived::Scalar, typename MatrixDerived::Scalar>::value),
    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
@@ -521,7 +528,7 @@ inline Derived& QuaternionBase<Derived>::operator=(const MatrixBase<MatrixDerive
   * be normalized, otherwise the result is undefined.
   */
 template<class Derived>
-inline typename QuaternionBase<Derived>::Matrix3
+EIGEN_DEVICE_FUNC inline typename QuaternionBase<Derived>::Matrix3
 QuaternionBase<Derived>::toRotationMatrix(void) const
 {
   // NOTE if inlined, then gcc 4.2 and 4.4 get rid of the temporary (not gcc 4.3 !!)
@@ -568,10 +575,9 @@ QuaternionBase<Derived>::toRotationMatrix(void) const
   */
 template<class Derived>
 template<typename Derived1, typename Derived2>
-inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
+EIGEN_DEVICE_FUNC inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
 {
-  using std::max;
-  using std::sqrt;
+  EIGEN_USING_STD_MATH(sqrt)
   Vector3 v0 = a.normalized();
   Vector3 v1 = b.normalized();
   Scalar c = v1.dot(v0);
@@ -586,7 +592,7 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri
   //    which yields a singular value problem
   if (c < Scalar(-1)+NumTraits<Scalar>::dummy_precision())
   {
-    c = (max)(c,Scalar(-1));
+    c = numext::maxi(c,Scalar(-1));
     Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
     JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
     Vector3 axis = svd.matrixV().col(2);
@@ -605,6 +611,24 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri
   return derived();
 }
 
+/** \returns a random unit quaternion following a uniform distribution law on SO(3)
+  *
+  * \note The implementation is based on http://planning.cs.uiuc.edu/node198.html
+  */
+template<typename Scalar, int Options>
+EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::UnitRandom()
+{
+  EIGEN_USING_STD_MATH(sqrt)
+  EIGEN_USING_STD_MATH(sin)
+  EIGEN_USING_STD_MATH(cos)
+  const Scalar u1 = internal::random<Scalar>(0, 1),
+               u2 = internal::random<Scalar>(0, 2*EIGEN_PI),
+               u3 = internal::random<Scalar>(0, 2*EIGEN_PI);
+  const Scalar a = sqrt(1 - u1),
+               b = sqrt(u1);
+  return Quaternion (a * sin(u2), a * cos(u2), b * sin(u3), b * cos(u3));
+}
+
 
 /** Returns a quaternion representing a rotation between
   * the two arbitrary vectors \a a and \a b. In other words, the built
@@ -618,7 +642,7 @@ inline Derived& QuaternionBase<Derived>::setFromTwoVectors(const MatrixBase<Deri
   */
 template<typename Scalar, int Options>
 template<typename Derived1, typename Derived2>
-Quaternion<Scalar,Options> Quaternion<Scalar,Options>::FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
+EIGEN_DEVICE_FUNC Quaternion<Scalar,Options> Quaternion<Scalar,Options>::FromTwoVectors(const MatrixBase<Derived1>& a, const MatrixBase<Derived2>& b)
 {
     Quaternion quat;
     quat.setFromTwoVectors(a, b);
@@ -633,7 +657,7 @@ Quaternion<Scalar,Options> Quaternion<Scalar,Options>::FromTwoVectors(const Matr
   * \sa QuaternionBase::conjugate()
   */
 template <class Derived>
-inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
+EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Derived>::inverse() const
 {
   // FIXME should this function be called multiplicativeInverse and conjugate() be called inverse() or opposite()  ??
   Scalar n2 = this->squaredNorm();
@@ -646,6 +670,16 @@ inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Der
   }
 }
 
+// Generic conjugate of a Quaternion
+namespace internal {
+template<int Arch, class Derived, typename Scalar, int _Options> struct quat_conj
+{
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE Quaternion<Scalar> run(const QuaternionBase<Derived>& q){
+    return Quaternion<Scalar>(q.w(),-q.x(),-q.y(),-q.z());
+  }
+};
+}
+                         
 /** \returns the conjugate of the \c *this which is equal to the multiplicative inverse
   * if the quaternion is normalized.
   * The conjugate of a quaternion represents the opposite rotation.
@@ -653,10 +687,13 @@ inline Quaternion<typename internal::traits<Derived>::Scalar> QuaternionBase<Der
   * \sa Quaternion2::inverse()
   */
 template <class Derived>
-inline Quaternion<typename internal::traits<Derived>::Scalar>
+EIGEN_DEVICE_FUNC inline Quaternion<typename internal::traits<Derived>::Scalar>
 QuaternionBase<Derived>::conjugate() const
 {
-  return Quaternion<Scalar>(this->w(),-this->x(),-this->y(),-this->z());
+  return internal::quat_conj<Architecture::Target, Derived,
+                         typename internal::traits<Derived>::Scalar,
+                         internal::traits<Derived>::Alignment>::run(*this);
+                         
 }
 
 /** \returns the angle (in radian) between two rotations
@@ -664,13 +701,12 @@ QuaternionBase<Derived>::conjugate() const
   */
 template <class Derived>
 template <class OtherDerived>
-inline typename internal::traits<Derived>::Scalar
+EIGEN_DEVICE_FUNC inline typename internal::traits<Derived>::Scalar
 QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& other) const
 {
-  using std::atan2;
-  using std::abs;
+  EIGEN_USING_STD_MATH(atan2)
   Quaternion<Scalar> d = (*this) * other.conjugate();
-  return Scalar(2) * atan2( d.vec().norm(), abs(d.w()) );
+  return Scalar(2) * atan2( d.vec().norm(), numext::abs(d.w()) );
 }
 
  
@@ -683,15 +719,14 @@ QuaternionBase<Derived>::angularDistance(const QuaternionBase<OtherDerived>& oth
   */
 template <class Derived>
 template <class OtherDerived>
-Quaternion<typename internal::traits<Derived>::Scalar>
+EIGEN_DEVICE_FUNC Quaternion<typename internal::traits<Derived>::Scalar>
 QuaternionBase<Derived>::slerp(const Scalar& t, const QuaternionBase<OtherDerived>& other) const
 {
-  using std::acos;
-  using std::sin;
-  using std::abs;
-  static const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
+  EIGEN_USING_STD_MATH(acos)
+  EIGEN_USING_STD_MATH(sin)
+  const Scalar one = Scalar(1) - NumTraits<Scalar>::epsilon();
   Scalar d = this->dot(other);
-  Scalar absD = abs(d);
+  Scalar absD = numext::abs(d);
 
   Scalar scale0;
   Scalar scale1;
@@ -722,10 +757,10 @@ template<typename Other>
 struct quaternionbase_assign_impl<Other,3,3>
 {
   typedef typename Other::Scalar Scalar;
-  typedef DenseIndex Index;
-  template<class Derived> static inline void run(QuaternionBase<Derived>& q, const Other& mat)
+  template<class Derived> EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& a_mat)
   {
-    using std::sqrt;
+    const typename internal::nested_eval<Other,2>::type mat(a_mat);
+    EIGEN_USING_STD_MATH(sqrt)
     // This algorithm comes from  "Quaternion Calculus and Fast Animation",
     // Ken Shoemake, 1987 SIGGRAPH course notes
     Scalar t = mat.trace();
@@ -740,13 +775,13 @@ struct quaternionbase_assign_impl<Other,3,3>
     }
     else
     {
-      DenseIndex i = 0;
+      Index i = 0;
       if (mat.coeff(1,1) > mat.coeff(0,0))
         i = 1;
       if (mat.coeff(2,2) > mat.coeff(i,i))
         i = 2;
-      DenseIndex j = (i+1)%3;
-      DenseIndex k = (j+1)%3;
+      Index j = (i+1)%3;
+      Index k = (j+1)%3;
 
       t = sqrt(mat.coeff(i,i)-mat.coeff(j,j)-mat.coeff(k,k) + Scalar(1.0));
       q.coeffs().coeffRef(i) = Scalar(0.5) * t;
@@ -763,7 +798,7 @@ template<typename Other>
 struct quaternionbase_assign_impl<Other,4,1>
 {
   typedef typename Other::Scalar Scalar;
-  template<class Derived> static inline void run(QuaternionBase<Derived>& q, const Other& vec)
+  template<class Derived> EIGEN_DEVICE_FUNC static inline void run(QuaternionBase<Derived>& q, const Other& vec)
   {
     q.coeffs() = vec;
   }
diff --git a/eigenlib/Eigen/src/Geometry/Rotation2D.h b/eigenlib/Eigen/src/Geometry/Rotation2D.h
index a2d59fce..884b7d0e 100644
--- a/eigenlib/Eigen/src/Geometry/Rotation2D.h
+++ b/eigenlib/Eigen/src/Geometry/Rotation2D.h
@@ -18,7 +18,7 @@ namespace Eigen {
   *
   * \brief Represents a rotation/orientation in a 2 dimensional space.
   *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients
+  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
   *
   * This class is equivalent to a single scalar representing a counter clock wise rotation
   * as a single angle in radian. It provides some additional features such as the automatic
@@ -59,41 +59,79 @@ protected:
 public:
 
   /** Construct a 2D counter clock wise rotation from the angle \a a in radian. */
-  inline Rotation2D(const Scalar& a) : m_angle(a) {}
+  EIGEN_DEVICE_FUNC explicit inline Rotation2D(const Scalar& a) : m_angle(a) {}
   
   /** Default constructor wihtout initialization. The represented rotation is undefined. */
-  Rotation2D() {}
+  EIGEN_DEVICE_FUNC Rotation2D() {}
+
+  /** Construct a 2D rotation from a 2x2 rotation matrix \a mat.
+    *
+    * \sa fromRotationMatrix()
+    */
+  template<typename Derived>
+  EIGEN_DEVICE_FUNC explicit Rotation2D(const MatrixBase<Derived>& m)
+  {
+    fromRotationMatrix(m.derived());
+  }
 
   /** \returns the rotation angle */
-  inline Scalar angle() const { return m_angle; }
+  EIGEN_DEVICE_FUNC inline Scalar angle() const { return m_angle; }
 
   /** \returns a read-write reference to the rotation angle */
-  inline Scalar& angle() { return m_angle; }
+  EIGEN_DEVICE_FUNC inline Scalar& angle() { return m_angle; }
+  
+  /** \returns the rotation angle in [0,2pi] */
+  EIGEN_DEVICE_FUNC inline Scalar smallestPositiveAngle() const {
+    Scalar tmp = numext::fmod(m_angle,Scalar(2*EIGEN_PI));
+    return tmp<Scalar(0) ? tmp + Scalar(2*EIGEN_PI) : tmp;
+  }
+  
+  /** \returns the rotation angle in [-pi,pi] */
+  EIGEN_DEVICE_FUNC inline Scalar smallestAngle() const {
+    Scalar tmp = numext::fmod(m_angle,Scalar(2*EIGEN_PI));
+    if(tmp>Scalar(EIGEN_PI))       tmp -= Scalar(2*EIGEN_PI);
+    else if(tmp<-Scalar(EIGEN_PI)) tmp += Scalar(2*EIGEN_PI);
+    return tmp;
+  }
 
   /** \returns the inverse rotation */
-  inline Rotation2D inverse() const { return -m_angle; }
+  EIGEN_DEVICE_FUNC inline Rotation2D inverse() const { return Rotation2D(-m_angle); }
 
   /** Concatenates two rotations */
-  inline Rotation2D operator*(const Rotation2D& other) const
-  { return m_angle + other.m_angle; }
+  EIGEN_DEVICE_FUNC inline Rotation2D operator*(const Rotation2D& other) const
+  { return Rotation2D(m_angle + other.m_angle); }
 
   /** Concatenates two rotations */
-  inline Rotation2D& operator*=(const Rotation2D& other)
+  EIGEN_DEVICE_FUNC inline Rotation2D& operator*=(const Rotation2D& other)
   { m_angle += other.m_angle; return *this; }
 
   /** Applies the rotation to a 2D vector */
-  Vector2 operator* (const Vector2& vec) const
+  EIGEN_DEVICE_FUNC Vector2 operator* (const Vector2& vec) const
   { return toRotationMatrix() * vec; }
   
   template<typename Derived>
-  Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
-  Matrix2 toRotationMatrix() const;
+  EIGEN_DEVICE_FUNC Rotation2D& fromRotationMatrix(const MatrixBase<Derived>& m);
+  EIGEN_DEVICE_FUNC Matrix2 toRotationMatrix() const;
+
+  /** Set \c *this from a 2x2 rotation matrix \a mat.
+    * In other words, this function extract the rotation angle from the rotation matrix.
+    *
+    * This method is an alias for fromRotationMatrix()
+    *
+    * \sa fromRotationMatrix()
+    */
+  template<typename Derived>
+  EIGEN_DEVICE_FUNC Rotation2D& operator=(const  MatrixBase<Derived>& m)
+  { return fromRotationMatrix(m.derived()); }
 
   /** \returns the spherical interpolation between \c *this and \a other using
     * parameter \a t. It is in fact equivalent to a linear interpolation.
     */
-  inline Rotation2D slerp(const Scalar& t, const Rotation2D& other) const
-  { return m_angle * (1-t) + other.angle() * t; }
+  EIGEN_DEVICE_FUNC inline Rotation2D slerp(const Scalar& t, const Rotation2D& other) const
+  {
+    Scalar dist = Rotation2D(other.m_angle-m_angle).smallestAngle();
+    return Rotation2D(m_angle + dist*t);
+  }
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
@@ -101,24 +139,25 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type cast() const
   { return typename internal::cast_return_type<Rotation2D,Rotation2D<NewScalarType> >::type(*this); }
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType>
-  inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other)
+  EIGEN_DEVICE_FUNC inline explicit Rotation2D(const Rotation2D<OtherScalarType>& other)
   {
     m_angle = Scalar(other.angle());
   }
 
-  static inline Rotation2D Identity() { return Rotation2D(0); }
+  EIGEN_DEVICE_FUNC static inline Rotation2D Identity() { return Rotation2D(0); }
 
   /** \returns \c true if \c *this is approximately equal to \a other, within the precision
     * determined by \a prec.
     *
     * \sa MatrixBase::isApprox() */
-  bool isApprox(const Rotation2D& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const Rotation2D& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
   { return internal::isApprox(m_angle,other.m_angle, prec); }
+  
 };
 
 /** \ingroup Geometry_Module
@@ -134,9 +173,9 @@ typedef Rotation2D<double> Rotation2Dd;
   */
 template<typename Scalar>
 template<typename Derived>
-Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
+EIGEN_DEVICE_FUNC Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Derived>& mat)
 {
-  using std::atan2;
+  EIGEN_USING_STD_MATH(atan2)
   EIGEN_STATIC_ASSERT(Derived::RowsAtCompileTime==2 && Derived::ColsAtCompileTime==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
   m_angle = atan2(mat.coeff(1,0), mat.coeff(0,0));
   return *this;
@@ -146,10 +185,10 @@ Rotation2D<Scalar>& Rotation2D<Scalar>::fromRotationMatrix(const MatrixBase<Deri
   */
 template<typename Scalar>
 typename Rotation2D<Scalar>::Matrix2
-Rotation2D<Scalar>::toRotationMatrix(void) const
+EIGEN_DEVICE_FUNC Rotation2D<Scalar>::toRotationMatrix(void) const
 {
-  using std::sin;
-  using std::cos;
+  EIGEN_USING_STD_MATH(sin)
+  EIGEN_USING_STD_MATH(cos)
   Scalar sinA = sin(m_angle);
   Scalar cosA = cos(m_angle);
   return (Matrix2() << cosA, -sinA, sinA, cosA).finished();
diff --git a/eigenlib/Eigen/src/Geometry/RotationBase.h b/eigenlib/Eigen/src/Geometry/RotationBase.h
index b88661de..f0ee0bd0 100644
--- a/eigenlib/Eigen/src/Geometry/RotationBase.h
+++ b/eigenlib/Eigen/src/Geometry/RotationBase.h
@@ -22,8 +22,8 @@ struct rotation_base_generic_product_selector;
   *
   * \brief Common base class for compact rotation representations
   *
-  * \param Derived is the derived type, i.e., a rotation type
-  * \param _Dim the dimension of the space
+  * \tparam Derived is the derived type, i.e., a rotation type
+  * \tparam _Dim the dimension of the space
   */
 template<typename Derived, int _Dim>
 class RotationBase
@@ -38,26 +38,26 @@ class RotationBase
     typedef Matrix<Scalar,Dim,1> VectorType;
 
   public:
-    inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    inline Derived& derived() { return *static_cast<Derived*>(this); }
+    EIGEN_DEVICE_FUNC inline const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    EIGEN_DEVICE_FUNC inline Derived& derived() { return *static_cast<Derived*>(this); }
 
     /** \returns an equivalent rotation matrix */
-    inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
+    EIGEN_DEVICE_FUNC inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
 
     /** \returns an equivalent rotation matrix 
       * This function is added to be conform with the Transform class' naming scheme.
       */
-    inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
+    EIGEN_DEVICE_FUNC inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
 
     /** \returns the inverse rotation */
-    inline Derived inverse() const { return derived().inverse(); }
+    EIGEN_DEVICE_FUNC inline Derived inverse() const { return derived().inverse(); }
 
     /** \returns the concatenation of the rotation \c *this with a translation \a t */
-    inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
+    EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Isometry> operator*(const Translation<Scalar,Dim>& t) const
     { return Transform<Scalar,Dim,Isometry>(*this) * t; }
 
     /** \returns the concatenation of the rotation \c *this with a uniform scaling \a s */
-    inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
+    EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const UniformScaling<Scalar>& s) const
     { return toRotationMatrix() * s.factor(); }
 
     /** \returns the concatenation of the rotation \c *this with a generic expression \a e
@@ -67,17 +67,17 @@ class RotationBase
       *  - a vector of size Dim
       */
     template<typename OtherDerived>
-    EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
+    EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE typename internal::rotation_base_generic_product_selector<Derived,OtherDerived,OtherDerived::IsVectorAtCompileTime>::ReturnType
     operator*(const EigenBase<OtherDerived>& e) const
     { return internal::rotation_base_generic_product_selector<Derived,OtherDerived>::run(derived(), e.derived()); }
 
     /** \returns the concatenation of a linear transformation \a l with the rotation \a r */
     template<typename OtherDerived> friend
-    inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
+    EIGEN_DEVICE_FUNC inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
     { return l.derived() * r.toRotationMatrix(); }
 
     /** \returns the concatenation of a scaling \a l with the rotation \a r */
-    friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
+    EIGEN_DEVICE_FUNC friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
     { 
       Transform<Scalar,Dim,Affine> res(r);
       res.linear().applyOnTheLeft(l);
@@ -86,11 +86,11 @@ class RotationBase
 
     /** \returns the concatenation of the rotation \c *this with a transformation \a t */
     template<int Mode, int Options>
-    inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const
+    EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode,Options>& t) const
     { return toRotationMatrix() * t; }
 
     template<typename OtherVectorType>
-    inline VectorType _transformVector(const OtherVectorType& v) const
+    EIGEN_DEVICE_FUNC inline VectorType _transformVector(const OtherVectorType& v) const
     { return toRotationMatrix() * v; }
 };
 
@@ -102,7 +102,7 @@ struct rotation_base_generic_product_selector<RotationDerived,MatrixType,false>
 {
   enum { Dim = RotationDerived::Dim };
   typedef Matrix<typename RotationDerived::Scalar,Dim,Dim> ReturnType;
-  static inline ReturnType run(const RotationDerived& r, const MatrixType& m)
+  EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const MatrixType& m)
   { return r.toRotationMatrix() * m; }
 };
 
@@ -110,7 +110,7 @@ template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
 struct rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
 {
   typedef Transform<Scalar,Dim,Affine> ReturnType;
-  static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
+  EIGEN_DEVICE_FUNC static inline ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
   {
     ReturnType res(r);
     res.linear() *= m;
@@ -123,7 +123,7 @@ struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,tr
 {
   enum { Dim = RotationDerived::Dim };
   typedef Matrix<typename RotationDerived::Scalar,Dim,1> ReturnType;
-  static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v)
+  EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE ReturnType run(const RotationDerived& r, const OtherVectorType& v)
   {
     return r._transformVector(v);
   }
@@ -137,7 +137,7 @@ struct rotation_base_generic_product_selector<RotationDerived,OtherVectorType,tr
   */
 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
 template<typename OtherDerived>
-Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
+EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
 ::Matrix(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
 {
   EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Matrix,int(OtherDerived::Dim),int(OtherDerived::Dim))
@@ -150,7 +150,7 @@ Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
   */
 template<typename _Scalar, int _Rows, int _Cols, int _Storage, int _MaxRows, int _MaxCols>
 template<typename OtherDerived>
-Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
+EIGEN_DEVICE_FUNC Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>&
 Matrix<_Scalar, _Rows, _Cols, _Storage, _MaxRows, _MaxCols>
 ::operator=(const RotationBase<OtherDerived,ColsAtCompileTime>& r)
 {
@@ -164,8 +164,8 @@ namespace internal {
   *
   * Helper function to return an arbitrary rotation object to a rotation matrix.
   *
-  * \param Scalar the numeric type of the matrix coefficients
-  * \param Dim the dimension of the current space
+  * \tparam Scalar the numeric type of the matrix coefficients
+  * \tparam Dim the dimension of the current space
   *
   * It returns a Dim x Dim fixed size matrix.
   *
@@ -179,20 +179,20 @@ namespace internal {
   * \sa class Transform, class Rotation2D, class Quaternion, class AngleAxis
   */
 template<typename Scalar, int Dim>
-static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s)
+EIGEN_DEVICE_FUNC static inline Matrix<Scalar,2,2> toRotationMatrix(const Scalar& s)
 {
   EIGEN_STATIC_ASSERT(Dim==2,YOU_MADE_A_PROGRAMMING_MISTAKE)
   return Rotation2D<Scalar>(s).toRotationMatrix();
 }
 
 template<typename Scalar, int Dim, typename OtherDerived>
-static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
+EIGEN_DEVICE_FUNC static inline Matrix<Scalar,Dim,Dim> toRotationMatrix(const RotationBase<OtherDerived,Dim>& r)
 {
   return r.toRotationMatrix();
 }
 
 template<typename Scalar, int Dim, typename OtherDerived>
-static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
+EIGEN_DEVICE_FUNC static inline const MatrixBase<OtherDerived>& toRotationMatrix(const MatrixBase<OtherDerived>& mat)
 {
   EIGEN_STATIC_ASSERT(OtherDerived::RowsAtCompileTime==Dim && OtherDerived::ColsAtCompileTime==Dim,
     YOU_MADE_A_PROGRAMMING_MISTAKE)
diff --git a/eigenlib/Eigen/src/Geometry/Scaling.h b/eigenlib/Eigen/src/Geometry/Scaling.h
old mode 100644
new mode 100755
index 1c25f36f..f58ca03d
--- a/eigenlib/Eigen/src/Geometry/Scaling.h
+++ b/eigenlib/Eigen/src/Geometry/Scaling.h
@@ -18,7 +18,7 @@ namespace Eigen {
   *
   * \brief Represents a generic uniform scaling transformation
   *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients.
+  * \tparam _Scalar the scalar type, i.e., the type of the coefficients.
   *
   * This class represent a uniform scaling transformation. It is the return
   * type of Scaling(Scalar), and most of the time this is the only way it
@@ -62,10 +62,10 @@ public:
   template<int Dim, int Mode, int Options>
   inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> operator* (const Transform<Scalar,Dim, Mode, Options>& t) const
   {
-   Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> res = t;
-   res.prescale(factor());
-   return res;
-}
+    Transform<Scalar,Dim,(int(Mode)==int(Isometry)?Affine:Mode)> res = t;
+    res.prescale(factor());
+    return res;
+  }
 
   /** Concatenates a uniform scaling and a linear transformation matrix */
   // TODO returns an expression
@@ -104,40 +104,44 @@ public:
 
 };
 
-/** Concatenates a linear transformation matrix and a uniform scaling */
+/** \addtogroup Geometry_Module */
+//@{
+
+/** Concatenates a linear transformation matrix and a uniform scaling
+  * \relates UniformScaling
+  */
 // NOTE this operator is defiend in MatrixBase and not as a friend function
 // of UniformScaling to fix an internal crash of Intel's ICC
-template<typename Derived> typename MatrixBase<Derived>::ScalarMultipleReturnType
-MatrixBase<Derived>::operator*(const UniformScaling<Scalar>& s) const
-{ return derived() * s.factor(); }
+template<typename Derived,typename Scalar>
+EIGEN_EXPR_BINARYOP_SCALAR_RETURN_TYPE(Derived,Scalar,product)
+operator*(const MatrixBase<Derived>& matrix, const UniformScaling<Scalar>& s)
+{ return matrix.derived() * s.factor(); }
 
 /** Constructs a uniform scaling from scale factor \a s */
-static inline UniformScaling<float> Scaling(float s) { return UniformScaling<float>(s); }
+inline UniformScaling<float> Scaling(float s) { return UniformScaling<float>(s); }
 /** Constructs a uniform scaling from scale factor \a s */
-static inline UniformScaling<double> Scaling(double s) { return UniformScaling<double>(s); }
+inline UniformScaling<double> Scaling(double s) { return UniformScaling<double>(s); }
 /** Constructs a uniform scaling from scale factor \a s */
 template<typename RealScalar>
-static inline UniformScaling<std::complex<RealScalar> > Scaling(const std::complex<RealScalar>& s)
+inline UniformScaling<std::complex<RealScalar> > Scaling(const std::complex<RealScalar>& s)
 { return UniformScaling<std::complex<RealScalar> >(s); }
 
 /** Constructs a 2D axis aligned scaling */
 template<typename Scalar>
-static inline DiagonalMatrix<Scalar,2> Scaling(const Scalar& sx, const Scalar& sy)
+inline DiagonalMatrix<Scalar,2> Scaling(const Scalar& sx, const Scalar& sy)
 { return DiagonalMatrix<Scalar,2>(sx, sy); }
 /** Constructs a 3D axis aligned scaling */
 template<typename Scalar>
-static inline DiagonalMatrix<Scalar,3> Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz)
+inline DiagonalMatrix<Scalar,3> Scaling(const Scalar& sx, const Scalar& sy, const Scalar& sz)
 { return DiagonalMatrix<Scalar,3>(sx, sy, sz); }
 
 /** Constructs an axis aligned scaling expression from vector expression \a coeffs
   * This is an alias for coeffs.asDiagonal()
   */
 template<typename Derived>
-static inline const DiagonalWrapper<const Derived> Scaling(const MatrixBase<Derived>& coeffs)
+inline const DiagonalWrapper<const Derived> Scaling(const MatrixBase<Derived>& coeffs)
 { return coeffs.asDiagonal(); }
 
-/** \addtogroup Geometry_Module */
-//@{
 /** \deprecated */
 typedef DiagonalMatrix<float, 2> AlignedScaling2f;
 /** \deprecated */
diff --git a/eigenlib/Eigen/src/Geometry/Transform.h b/eigenlib/Eigen/src/Geometry/Transform.h
index e786e535..3f31ee45 100644
--- a/eigenlib/Eigen/src/Geometry/Transform.h
+++ b/eigenlib/Eigen/src/Geometry/Transform.h
@@ -32,7 +32,8 @@ template< typename TransformType,
           typename MatrixType,
           int Case = transform_traits<TransformType>::IsProjective ? 0
                    : int(MatrixType::RowsAtCompileTime) == int(transform_traits<TransformType>::HDim) ? 1
-                   : 2>
+                   : 2,
+          int RhsCols = MatrixType::ColsAtCompileTime>
 struct transform_right_product_impl;
 
 template< typename Other,
@@ -62,6 +63,22 @@ struct transform_construct_from_matrix;
 
 template<typename TransformType> struct transform_take_affine_part;
 
+template<typename _Scalar, int _Dim, int _Mode, int _Options>
+struct traits<Transform<_Scalar,_Dim,_Mode,_Options> >
+{
+  typedef _Scalar Scalar;
+  typedef Eigen::Index StorageIndex;
+  typedef Dense StorageKind;
+  enum {
+    Dim1 = _Dim==Dynamic ? _Dim : _Dim + 1,
+    RowsAtCompileTime = _Mode==Projective ? Dim1 : _Dim,
+    ColsAtCompileTime = Dim1,
+    MaxRowsAtCompileTime = RowsAtCompileTime,
+    MaxColsAtCompileTime = ColsAtCompileTime,
+    Flags = 0
+  };
+};
+
 template<int Mode> struct transform_make_affine;
 
 } // end namespace internal
@@ -102,15 +119,15 @@ template<int Mode> struct transform_make_affine;
   *
   * However, unlike a plain matrix, the Transform class provides many features
   * simplifying both its assembly and usage. In particular, it can be composed
-  * with any other transformations (Transform,Translation,RotationBase,Matrix)
+  * with any other transformations (Transform,Translation,RotationBase,DiagonalMatrix)
   * and can be directly used to transform implicit homogeneous vectors. All these
   * operations are handled via the operator*. For the composition of transformations,
   * its principle consists to first convert the right/left hand sides of the product
   * to a compatible (Dim+1)^2 matrix and then perform a pure matrix product.
   * Of course, internally, operator* tries to perform the minimal number of operations
   * according to the nature of each terms. Likewise, when applying the transform
-  * to non homogeneous vectors, the latters are automatically promoted to homogeneous
-  * one before doing the matrix product. The convertions to homogeneous representations
+  * to points, the latters are automatically promoted to homogeneous vectors
+  * before doing the matrix product. The conventions to homogeneous representations
   * are performed as follow:
   *
   * \b Translation t (Dim)x(1):
@@ -124,7 +141,7 @@ template<int Mode> struct transform_make_affine;
   * R & 0\\
   * 0\,...\,0 & 1
   * \end{array} \right) \f$
-  *
+  *<!--
   * \b Linear \b Matrix L (Dim)x(Dim):
   * \f$ \left( \begin{array}{cc}
   * L & 0\\
@@ -136,14 +153,20 @@ template<int Mode> struct transform_make_affine;
   * A\\
   * 0\,...\,0\,1
   * \end{array} \right) \f$
+  *-->
+  * \b Scaling \b DiagonalMatrix S (Dim)x(Dim):
+  * \f$ \left( \begin{array}{cc}
+  * S & 0\\
+  * 0\,...\,0 & 1
+  * \end{array} \right) \f$
   *
-  * \b Column \b vector v (Dim)x(1):
+  * \b Column \b point v (Dim)x(1):
   * \f$ \left( \begin{array}{c}
   * v\\
   * 1
   * \end{array} \right) \f$
   *
-  * \b Set \b of \b column \b vectors V1...Vn (Dim)x(n):
+  * \b Set \b of \b column \b points V1...Vn (Dim)x(n):
   * \f$ \left( \begin{array}{ccc}
   * v_1 & ... & v_n\\
   * 1 & ... & 1
@@ -170,7 +193,7 @@ template<int Mode> struct transform_make_affine;
   * preprocessor token EIGEN_QT_SUPPORT is defined.
   *
   * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_TRANSFORM_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_TRANSFORM_PLUGIN.
   *
   * \sa class Matrix, class Quaternion
   */
@@ -188,7 +211,8 @@ public:
   };
   /** the scalar type of the coefficients */
   typedef _Scalar Scalar;
-  typedef DenseIndex Index;
+  typedef Eigen::Index StorageIndex;
+  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
   /** type of the matrix used to represent the transformation */
   typedef typename internal::make_proper_matrix_type<Scalar,Rows,HDim,Options>::type MatrixType;
   /** constified MatrixType */
@@ -210,9 +234,9 @@ public:
   /** type of a vector */
   typedef Matrix<Scalar,Dim,1> VectorType;
   /** type of a read/write reference to the translation part of the rotation */
-  typedef Block<MatrixType,Dim,1,int(Mode)==(AffineCompact)> TranslationPart;
+  typedef Block<MatrixType,Dim,1,!(internal::traits<MatrixType>::Flags & RowMajorBit)> TranslationPart;
   /** type of a read reference to the translation part of the rotation */
-  typedef const Block<ConstMatrixType,Dim,1,int(Mode)==(AffineCompact)> ConstTranslationPart;
+  typedef const Block<ConstMatrixType,Dim,1,!(internal::traits<MatrixType>::Flags & RowMajorBit)> ConstTranslationPart;
   /** corresponding translation type */
   typedef Translation<Scalar,Dim> TranslationType;
   
@@ -229,43 +253,43 @@ public:
 
   /** Default constructor without initialization of the meaningful coefficients.
     * If Mode==Affine, then the last row is set to [0 ... 0 1] */
-  inline Transform()
+  EIGEN_DEVICE_FUNC inline Transform()
   {
     check_template_params();
     internal::transform_make_affine<(int(Mode)==Affine) ? Affine : AffineCompact>::run(m_matrix);
   }
 
-  inline Transform(const Transform& other)
+  EIGEN_DEVICE_FUNC inline Transform(const Transform& other)
   {
     check_template_params();
     m_matrix = other.m_matrix;
   }
 
-  inline explicit Transform(const TranslationType& t)
+  EIGEN_DEVICE_FUNC inline explicit Transform(const TranslationType& t)
   {
     check_template_params();
     *this = t;
   }
-  inline explicit Transform(const UniformScaling<Scalar>& s)
+  EIGEN_DEVICE_FUNC inline explicit Transform(const UniformScaling<Scalar>& s)
   {
     check_template_params();
     *this = s;
   }
   template<typename Derived>
-  inline explicit Transform(const RotationBase<Derived, Dim>& r)
+  EIGEN_DEVICE_FUNC inline explicit Transform(const RotationBase<Derived, Dim>& r)
   {
     check_template_params();
     *this = r;
   }
 
-  inline Transform& operator=(const Transform& other)
+  EIGEN_DEVICE_FUNC inline Transform& operator=(const Transform& other)
   { m_matrix = other.m_matrix; return *this; }
 
   typedef internal::transform_take_affine_part<Transform> take_affine_part;
 
   /** Constructs and initializes a transformation from a Dim^2 or a (Dim+1)^2 matrix. */
   template<typename OtherDerived>
-  inline explicit Transform(const EigenBase<OtherDerived>& other)
+  EIGEN_DEVICE_FUNC inline explicit Transform(const EigenBase<OtherDerived>& other)
   {
     EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value),
       YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
@@ -276,7 +300,7 @@ public:
 
   /** Set \c *this from a Dim^2 or (Dim+1)^2 matrix. */
   template<typename OtherDerived>
-  inline Transform& operator=(const EigenBase<OtherDerived>& other)
+  EIGEN_DEVICE_FUNC inline Transform& operator=(const EigenBase<OtherDerived>& other)
   {
     EIGEN_STATIC_ASSERT((internal::is_same<Scalar,typename OtherDerived::Scalar>::value),
       YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY);
@@ -286,7 +310,7 @@ public:
   }
   
   template<int OtherOptions>
-  inline Transform(const Transform<Scalar,Dim,Mode,OtherOptions>& other)
+  EIGEN_DEVICE_FUNC inline Transform(const Transform<Scalar,Dim,Mode,OtherOptions>& other)
   {
     check_template_params();
     // only the options change, we can directly copy the matrices
@@ -294,7 +318,7 @@ public:
   }
 
   template<int OtherMode,int OtherOptions>
-  inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
+  EIGEN_DEVICE_FUNC inline Transform(const Transform<Scalar,Dim,OtherMode,OtherOptions>& other)
   {
     check_template_params();
     // prevent conversions as:
@@ -335,14 +359,14 @@ public:
   }
 
   template<typename OtherDerived>
-  Transform(const ReturnByValue<OtherDerived>& other)
+  EIGEN_DEVICE_FUNC Transform(const ReturnByValue<OtherDerived>& other)
   {
     check_template_params();
     other.evalTo(*this);
   }
 
   template<typename OtherDerived>
-  Transform& operator=(const ReturnByValue<OtherDerived>& other)
+  EIGEN_DEVICE_FUNC Transform& operator=(const ReturnByValue<OtherDerived>& other)
   {
     other.evalTo(*this);
     return *this;
@@ -356,60 +380,76 @@ public:
   inline Transform& operator=(const QTransform& other);
   inline QTransform toQTransform(void) const;
   #endif
+  
+  EIGEN_DEVICE_FUNC Index rows() const { return int(Mode)==int(Projective) ? m_matrix.cols() : (m_matrix.cols()-1); }
+  EIGEN_DEVICE_FUNC Index cols() const { return m_matrix.cols(); }
 
   /** shortcut for m_matrix(row,col);
     * \sa MatrixBase::operator(Index,Index) const */
-  inline Scalar operator() (Index row, Index col) const { return m_matrix(row,col); }
+  EIGEN_DEVICE_FUNC inline Scalar operator() (Index row, Index col) const { return m_matrix(row,col); }
   /** shortcut for m_matrix(row,col);
     * \sa MatrixBase::operator(Index,Index) */
-  inline Scalar& operator() (Index row, Index col) { return m_matrix(row,col); }
+  EIGEN_DEVICE_FUNC inline Scalar& operator() (Index row, Index col) { return m_matrix(row,col); }
 
   /** \returns a read-only expression of the transformation matrix */
-  inline const MatrixType& matrix() const { return m_matrix; }
+  EIGEN_DEVICE_FUNC inline const MatrixType& matrix() const { return m_matrix; }
   /** \returns a writable expression of the transformation matrix */
-  inline MatrixType& matrix() { return m_matrix; }
+  EIGEN_DEVICE_FUNC inline MatrixType& matrix() { return m_matrix; }
 
   /** \returns a read-only expression of the linear part of the transformation */
-  inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix,0,0); }
+  EIGEN_DEVICE_FUNC inline ConstLinearPart linear() const { return ConstLinearPart(m_matrix,0,0); }
   /** \returns a writable expression of the linear part of the transformation */
-  inline LinearPart linear() { return LinearPart(m_matrix,0,0); }
+  EIGEN_DEVICE_FUNC inline LinearPart linear() { return LinearPart(m_matrix,0,0); }
 
   /** \returns a read-only expression of the Dim x HDim affine part of the transformation */
-  inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
+  EIGEN_DEVICE_FUNC inline ConstAffinePart affine() const { return take_affine_part::run(m_matrix); }
   /** \returns a writable expression of the Dim x HDim affine part of the transformation */
-  inline AffinePart affine() { return take_affine_part::run(m_matrix); }
+  EIGEN_DEVICE_FUNC inline AffinePart affine() { return take_affine_part::run(m_matrix); }
 
   /** \returns a read-only expression of the translation vector of the transformation */
-  inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix,0,Dim); }
+  EIGEN_DEVICE_FUNC inline ConstTranslationPart translation() const { return ConstTranslationPart(m_matrix,0,Dim); }
   /** \returns a writable expression of the translation vector of the transformation */
-  inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); }
+  EIGEN_DEVICE_FUNC inline TranslationPart translation() { return TranslationPart(m_matrix,0,Dim); }
 
-  /** \returns an expression of the product between the transform \c *this and a matrix expression \a other
+  /** \returns an expression of the product between the transform \c *this and a matrix expression \a other.
     *
-    * The right hand side \a other might be either:
-    * \li a vector of size Dim,
+    * The right-hand-side \a other can be either:
     * \li an homogeneous vector of size Dim+1,
-    * \li a set of vectors of size Dim x Dynamic,
-    * \li a set of homogeneous vectors of size Dim+1 x Dynamic,
-    * \li a linear transformation matrix of size Dim x Dim,
-    * \li an affine transformation matrix of size Dim x Dim+1,
+    * \li a set of homogeneous vectors of size Dim+1 x N,
     * \li a transformation matrix of size Dim+1 x Dim+1.
+    *
+    * Moreover, if \c *this represents an affine transformation (i.e., Mode!=Projective), then \a other can also be:
+    * \li a point of size Dim (computes: \code this->linear() * other + this->translation()\endcode),
+    * \li a set of N points as a Dim x N matrix (computes: \code (this->linear() * other).colwise() + this->translation()\endcode),
+    *
+    * In all cases, the return type is a matrix or vector of same sizes as the right-hand-side \a other.
+    *
+    * If you want to interpret \a other as a linear or affine transformation, then first convert it to a Transform<> type,
+    * or do your own cooking.
+    *
+    * Finally, if you want to apply Affine transformations to vectors, then explicitly apply the linear part only:
+    * \code
+    * Affine3f A;
+    * Vector3f v1, v2;
+    * v2 = A.linear() * v1;
+    * \endcode
+    *
     */
   // note: this function is defined here because some compilers cannot find the respective declaration
   template<typename OtherDerived>
-  EIGEN_STRONG_INLINE const typename internal::transform_right_product_impl<Transform, OtherDerived>::ResultType
+  EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const typename internal::transform_right_product_impl<Transform, OtherDerived>::ResultType
   operator * (const EigenBase<OtherDerived> &other) const
   { return internal::transform_right_product_impl<Transform, OtherDerived>::run(*this,other.derived()); }
 
   /** \returns the product expression of a transformation matrix \a a times a transform \a b
     *
-    * The left hand side \a other might be either:
+    * The left hand side \a other can be either:
     * \li a linear transformation matrix of size Dim x Dim,
     * \li an affine transformation matrix of size Dim x Dim+1,
     * \li a general transformation matrix of size Dim+1 x Dim+1.
     */
   template<typename OtherDerived> friend
-  inline const typename internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType
+  EIGEN_DEVICE_FUNC inline const typename internal::transform_left_product_impl<OtherDerived,Mode,Options,_Dim,_Dim+1>::ResultType
     operator * (const EigenBase<OtherDerived> &a, const Transform &b)
   { return internal::transform_left_product_impl<OtherDerived,Mode,Options,Dim,HDim>::run(a.derived(),b); }
 
@@ -420,11 +460,11 @@ public:
     * mode is no isometry. In that case, the returned transform is an affinity.
     */
   template<typename DiagonalDerived>
-  inline const TransformTimeDiagonalReturnType
+  EIGEN_DEVICE_FUNC inline const TransformTimeDiagonalReturnType
     operator * (const DiagonalBase<DiagonalDerived> &b) const
   {
     TransformTimeDiagonalReturnType res(*this);
-    res.linear() *= b;
+    res.linearExt() *= b;
     return res;
   }
 
@@ -435,7 +475,7 @@ public:
     * mode is no isometry. In that case, the returned transform is an affinity.
     */
   template<typename DiagonalDerived>
-  friend inline TransformTimeDiagonalReturnType
+  EIGEN_DEVICE_FUNC friend inline TransformTimeDiagonalReturnType
     operator * (const DiagonalBase<DiagonalDerived> &a, const Transform &b)
   {
     TransformTimeDiagonalReturnType res;
@@ -447,15 +487,15 @@ public:
   }
 
   template<typename OtherDerived>
-  inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
+  EIGEN_DEVICE_FUNC inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
 
   /** Concatenates two transformations */
-  inline const Transform operator * (const Transform& other) const
+  EIGEN_DEVICE_FUNC inline const Transform operator * (const Transform& other) const
   {
     return internal::transform_transform_product_impl<Transform,Transform>::run(*this,other);
   }
   
-  #ifdef __INTEL_COMPILER
+  #if EIGEN_COMP_ICC
 private:
   // this intermediate structure permits to workaround a bug in ICC 11:
   //   error: template instantiation resulted in unexpected function type of "Eigen::Transform<double, 3, 32, 0>
@@ -482,7 +522,7 @@ public:
   #else
   /** Concatenates two different transformations */
   template<int OtherMode,int OtherOptions>
-  inline typename internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType
+  EIGEN_DEVICE_FUNC inline typename internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::ResultType
     operator * (const Transform<Scalar,Dim,OtherMode,OtherOptions>& other) const
   {
     return internal::transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode,OtherOptions> >::run(*this,other);
@@ -490,79 +530,98 @@ public:
   #endif
 
   /** \sa MatrixBase::setIdentity() */
-  void setIdentity() { m_matrix.setIdentity(); }
+  EIGEN_DEVICE_FUNC void setIdentity() { m_matrix.setIdentity(); }
 
   /**
    * \brief Returns an identity transformation.
    * \todo In the future this function should be returning a Transform expression.
    */
-  static const Transform Identity()
+  EIGEN_DEVICE_FUNC static const Transform Identity()
   {
     return Transform(MatrixType::Identity());
   }
 
   template<typename OtherDerived>
+  EIGEN_DEVICE_FUNC 
   inline Transform& scale(const MatrixBase<OtherDerived> &other);
 
   template<typename OtherDerived>
+  EIGEN_DEVICE_FUNC
   inline Transform& prescale(const MatrixBase<OtherDerived> &other);
 
-  inline Transform& scale(const Scalar& s);
-  inline Transform& prescale(const Scalar& s);
+  EIGEN_DEVICE_FUNC inline Transform& scale(const Scalar& s);
+  EIGEN_DEVICE_FUNC inline Transform& prescale(const Scalar& s);
 
   template<typename OtherDerived>
+  EIGEN_DEVICE_FUNC
   inline Transform& translate(const MatrixBase<OtherDerived> &other);
 
   template<typename OtherDerived>
+  EIGEN_DEVICE_FUNC
   inline Transform& pretranslate(const MatrixBase<OtherDerived> &other);
 
   template<typename RotationType>
+  EIGEN_DEVICE_FUNC
   inline Transform& rotate(const RotationType& rotation);
 
   template<typename RotationType>
+  EIGEN_DEVICE_FUNC
   inline Transform& prerotate(const RotationType& rotation);
 
-  Transform& shear(const Scalar& sx, const Scalar& sy);
-  Transform& preshear(const Scalar& sx, const Scalar& sy);
+  EIGEN_DEVICE_FUNC Transform& shear(const Scalar& sx, const Scalar& sy);
+  EIGEN_DEVICE_FUNC Transform& preshear(const Scalar& sx, const Scalar& sy);
 
-  inline Transform& operator=(const TranslationType& t);
+  EIGEN_DEVICE_FUNC inline Transform& operator=(const TranslationType& t);
+  
+  EIGEN_DEVICE_FUNC
   inline Transform& operator*=(const TranslationType& t) { return translate(t.vector()); }
-  inline Transform operator*(const TranslationType& t) const;
+  
+  EIGEN_DEVICE_FUNC inline Transform operator*(const TranslationType& t) const;
 
+  EIGEN_DEVICE_FUNC 
   inline Transform& operator=(const UniformScaling<Scalar>& t);
+  
+  EIGEN_DEVICE_FUNC
   inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
-  inline Transform<Scalar,Dim,(int(Mode)==int(Isometry)?int(Affine):int(Mode))> operator*(const UniformScaling<Scalar>& s) const
+  
+  EIGEN_DEVICE_FUNC
+  inline TransformTimeDiagonalReturnType operator*(const UniformScaling<Scalar>& s) const
   {
-    Transform<Scalar,Dim,(int(Mode)==int(Isometry)?int(Affine):int(Mode)),Options> res = *this;
+    TransformTimeDiagonalReturnType res = *this;
     res.scale(s.factor());
     return res;
   }
 
-  inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linear() *= s; return *this; }
+  EIGEN_DEVICE_FUNC
+  inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linearExt() *= s; return *this; }
 
   template<typename Derived>
-  inline Transform& operator=(const RotationBase<Derived,Dim>& r);
+  EIGEN_DEVICE_FUNC inline Transform& operator=(const RotationBase<Derived,Dim>& r);
   template<typename Derived>
-  inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
+  EIGEN_DEVICE_FUNC inline Transform& operator*=(const RotationBase<Derived,Dim>& r) { return rotate(r.toRotationMatrix()); }
   template<typename Derived>
-  inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
+  EIGEN_DEVICE_FUNC inline Transform operator*(const RotationBase<Derived,Dim>& r) const;
 
-  const LinearMatrixType rotation() const;
+  EIGEN_DEVICE_FUNC const LinearMatrixType rotation() const;
   template<typename RotationMatrixType, typename ScalingMatrixType>
+  EIGEN_DEVICE_FUNC
   void computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const;
   template<typename ScalingMatrixType, typename RotationMatrixType>
+  EIGEN_DEVICE_FUNC
   void computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const;
 
   template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
+  EIGEN_DEVICE_FUNC
   Transform& fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
     const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale);
 
+  EIGEN_DEVICE_FUNC
   inline Transform inverse(TransformTraits traits = (TransformTraits)Mode) const;
 
   /** \returns a const pointer to the column major internal matrix */
-  const Scalar* data() const { return m_matrix.data(); }
+  EIGEN_DEVICE_FUNC const Scalar* data() const { return m_matrix.data(); }
   /** \returns a non-const pointer to the column major internal matrix */
-  Scalar* data() { return m_matrix.data(); }
+  EIGEN_DEVICE_FUNC Scalar* data() { return m_matrix.data(); }
 
   /** \returns \c *this with scalar type casted to \a NewScalarType
     *
@@ -570,12 +629,12 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type cast() const
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type cast() const
   { return typename internal::cast_return_type<Transform,Transform<NewScalarType,Dim,Mode,Options> >::type(*this); }
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType>
-  inline explicit Transform(const Transform<OtherScalarType,Dim,Mode,Options>& other)
+  EIGEN_DEVICE_FUNC inline explicit Transform(const Transform<OtherScalarType,Dim,Mode,Options>& other)
   {
     check_template_params();
     m_matrix = other.matrix().template cast<Scalar>();
@@ -585,12 +644,12 @@ public:
     * determined by \a prec.
     *
     * \sa MatrixBase::isApprox() */
-  bool isApprox(const Transform& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const Transform& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
   { return m_matrix.isApprox(other.m_matrix, prec); }
 
   /** Sets the last row to [0 ... 0 1]
     */
-  void makeAffine()
+  EIGEN_DEVICE_FUNC void makeAffine()
   {
     internal::transform_make_affine<int(Mode)>::run(m_matrix);
   }
@@ -599,26 +658,26 @@ public:
     * \returns the Dim x Dim linear part if the transformation is affine,
     *          and the HDim x Dim part for projective transformations.
     */
-  inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt()
+  EIGEN_DEVICE_FUNC inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt()
   { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
   /** \internal
     * \returns the Dim x Dim linear part if the transformation is affine,
     *          and the HDim x Dim part for projective transformations.
     */
-  inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt() const
+  EIGEN_DEVICE_FUNC inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,Dim> linearExt() const
   { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,Dim>(0,0); }
 
   /** \internal
     * \returns the translation part if the transformation is affine,
     *          and the last column for projective transformations.
     */
-  inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt()
+  EIGEN_DEVICE_FUNC inline Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt()
   { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
   /** \internal
     * \returns the translation part if the transformation is affine,
     *          and the last column for projective transformations.
     */
-  inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt() const
+  EIGEN_DEVICE_FUNC inline const Block<MatrixType,int(Mode)==int(Projective)?HDim:Dim,1> translationExt() const
   { return m_matrix.template block<int(Mode)==int(Projective)?HDim:Dim,1>(0,Dim); }
 
 
@@ -628,7 +687,7 @@ public:
   
 protected:
   #ifndef EIGEN_PARSED_BY_DOXYGEN
-    static EIGEN_STRONG_INLINE void check_template_params()
+    EIGEN_DEVICE_FUNC static EIGEN_STRONG_INLINE void check_template_params()
     {
       EIGEN_STATIC_ASSERT((Options & (DontAlign|RowMajor)) == Options, INVALID_MATRIX_TEMPLATE_PARAMETERS)
     }
@@ -696,9 +755,13 @@ template<typename Scalar, int Dim, int Mode,int Options>
 Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const QMatrix& other)
 {
   EIGEN_STATIC_ASSERT(Dim==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
-  m_matrix << other.m11(), other.m21(), other.dx(),
-              other.m12(), other.m22(), other.dy(),
-              0, 0, 1;
+  if (Mode == int(AffineCompact))
+    m_matrix << other.m11(), other.m21(), other.dx(),
+                other.m12(), other.m22(), other.dy();
+  else
+    m_matrix << other.m11(), other.m21(), other.dx(),
+                other.m12(), other.m22(), other.dy(),
+                0, 0, 1;
   return *this;
 }
 
@@ -777,7 +840,7 @@ QTransform Transform<Scalar,Dim,Mode,Options>::toQTransform(void) const
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename OtherDerived>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::scale(const MatrixBase<OtherDerived> &other)
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
@@ -791,7 +854,7 @@ Transform<Scalar,Dim,Mode,Options>::scale(const MatrixBase<OtherDerived> &other)
   * \sa prescale(Scalar)
   */
 template<typename Scalar, int Dim, int Mode, int Options>
-inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::scale(const Scalar& s)
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::scale(const Scalar& s)
 {
   EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
   linearExt() *= s;
@@ -804,12 +867,12 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::s
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename OtherDerived>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::prescale(const MatrixBase<OtherDerived> &other)
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
   EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
-  m_matrix.template block<Dim,HDim>(0,0).noalias() = (other.asDiagonal() * m_matrix.template block<Dim,HDim>(0,0));
+  affine().noalias() = (other.asDiagonal() * affine());
   return *this;
 }
 
@@ -818,7 +881,7 @@ Transform<Scalar,Dim,Mode,Options>::prescale(const MatrixBase<OtherDerived> &oth
   * \sa scale(Scalar)
   */
 template<typename Scalar, int Dim, int Mode, int Options>
-inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::prescale(const Scalar& s)
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::prescale(const Scalar& s)
 {
   EIGEN_STATIC_ASSERT(Mode!=int(Isometry), THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS)
   m_matrix.template topRows<Dim>() *= s;
@@ -831,7 +894,7 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::p
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename OtherDerived>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::translate(const MatrixBase<OtherDerived> &other)
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
@@ -845,7 +908,7 @@ Transform<Scalar,Dim,Mode,Options>::translate(const MatrixBase<OtherDerived> &ot
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename OtherDerived>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived> &other)
 {
   EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,int(Dim))
@@ -875,7 +938,7 @@ Transform<Scalar,Dim,Mode,Options>::pretranslate(const MatrixBase<OtherDerived>
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename RotationType>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::rotate(const RotationType& rotation)
 {
   linearExt() *= internal::toRotationMatrix<Scalar,Dim>(rotation);
@@ -891,7 +954,7 @@ Transform<Scalar,Dim,Mode,Options>::rotate(const RotationType& rotation)
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename RotationType>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::prerotate(const RotationType& rotation)
 {
   m_matrix.template block<Dim,HDim>(0,0) = internal::toRotationMatrix<Scalar,Dim>(rotation)
@@ -905,7 +968,7 @@ Transform<Scalar,Dim,Mode,Options>::prerotate(const RotationType& rotation)
   * \sa preshear()
   */
 template<typename Scalar, int Dim, int Mode, int Options>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::shear(const Scalar& sx, const Scalar& sy)
 {
   EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
@@ -921,7 +984,7 @@ Transform<Scalar,Dim,Mode,Options>::shear(const Scalar& sx, const Scalar& sy)
   * \sa shear()
   */
 template<typename Scalar, int Dim, int Mode, int Options>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::preshear(const Scalar& sx, const Scalar& sy)
 {
   EIGEN_STATIC_ASSERT(int(Dim)==2, YOU_MADE_A_PROGRAMMING_MISTAKE)
@@ -935,7 +998,7 @@ Transform<Scalar,Dim,Mode,Options>::preshear(const Scalar& sx, const Scalar& sy)
 ******************************************************/
 
 template<typename Scalar, int Dim, int Mode, int Options>
-inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const TranslationType& t)
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const TranslationType& t)
 {
   linear().setIdentity();
   translation() = t.vector();
@@ -944,7 +1007,7 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::o
 }
 
 template<typename Scalar, int Dim, int Mode, int Options>
-inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const TranslationType& t) const
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const TranslationType& t) const
 {
   Transform res = *this;
   res.translate(t.vector());
@@ -952,7 +1015,7 @@ inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::op
 }
 
 template<typename Scalar, int Dim, int Mode, int Options>
-inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const UniformScaling<Scalar>& s)
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const UniformScaling<Scalar>& s)
 {
   m_matrix.setZero();
   linear().diagonal().fill(s.factor());
@@ -962,7 +1025,7 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::o
 
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename Derived>
-inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::operator=(const RotationBase<Derived,Dim>& r)
 {
   linear() = internal::toRotationMatrix<Scalar,Dim>(r);
   translation().setZero();
@@ -972,7 +1035,7 @@ inline Transform<Scalar,Dim,Mode,Options>& Transform<Scalar,Dim,Mode,Options>::o
 
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename Derived>
-inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const RotationBase<Derived,Dim>& r) const
+EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::operator*(const RotationBase<Derived,Dim>& r) const
 {
   Transform res = *this;
   res.rotate(r.derived());
@@ -991,7 +1054,7 @@ inline Transform<Scalar,Dim,Mode,Options> Transform<Scalar,Dim,Mode,Options>::op
   * \sa computeRotationScaling(), computeScalingRotation(), class SVD
   */
 template<typename Scalar, int Dim, int Mode, int Options>
-const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType
+EIGEN_DEVICE_FUNC const typename Transform<Scalar,Dim,Mode,Options>::LinearMatrixType
 Transform<Scalar,Dim,Mode,Options>::rotation() const
 {
   LinearMatrixType result;
@@ -1013,7 +1076,7 @@ Transform<Scalar,Dim,Mode,Options>::rotation() const
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename RotationMatrixType, typename ScalingMatrixType>
-void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
+EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixType *rotation, ScalingMatrixType *scaling) const
 {
   JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
 
@@ -1029,7 +1092,7 @@ void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixTy
   }
 }
 
-/** decomposes the linear part of the transformation as a product rotation x scaling, the scaling being
+/** decomposes the linear part of the transformation as a product scaling x rotation, the scaling being
   * not necessarily positive.
   *
   * If either pointer is zero, the corresponding computation is skipped.
@@ -1042,7 +1105,7 @@ void Transform<Scalar,Dim,Mode,Options>::computeRotationScaling(RotationMatrixTy
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename ScalingMatrixType, typename RotationMatrixType>
-void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
+EIGEN_DEVICE_FUNC void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixType *scaling, RotationMatrixType *rotation) const
 {
   JacobiSVD<LinearMatrixType> svd(linear(), ComputeFullU | ComputeFullV);
 
@@ -1063,7 +1126,7 @@ void Transform<Scalar,Dim,Mode,Options>::computeScalingRotation(ScalingMatrixTyp
   */
 template<typename Scalar, int Dim, int Mode, int Options>
 template<typename PositionDerived, typename OrientationType, typename ScaleDerived>
-Transform<Scalar,Dim,Mode,Options>&
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>&
 Transform<Scalar,Dim,Mode,Options>::fromPositionOrientationScale(const MatrixBase<PositionDerived> &position,
   const OrientationType& orientation, const MatrixBase<ScaleDerived> &scale)
 {
@@ -1080,7 +1143,7 @@ template<int Mode>
 struct transform_make_affine
 {
   template<typename MatrixType>
-  static void run(MatrixType &mat)
+  EIGEN_DEVICE_FUNC static void run(MatrixType &mat)
   {
     static const int Dim = MatrixType::ColsAtCompileTime-1;
     mat.template block<1,Dim>(Dim,0).setZero();
@@ -1091,21 +1154,21 @@ struct transform_make_affine
 template<>
 struct transform_make_affine<AffineCompact>
 {
-  template<typename MatrixType> static void run(MatrixType &) { }
+  template<typename MatrixType> EIGEN_DEVICE_FUNC static void run(MatrixType &) { }
 };
     
 // selector needed to avoid taking the inverse of a 3x4 matrix
 template<typename TransformType, int Mode=TransformType::Mode>
 struct projective_transform_inverse
 {
-  static inline void run(const TransformType&, TransformType&)
+  EIGEN_DEVICE_FUNC static inline void run(const TransformType&, TransformType&)
   {}
 };
 
 template<typename TransformType>
 struct projective_transform_inverse<TransformType, Projective>
 {
-  static inline void run(const TransformType& m, TransformType& res)
+  EIGEN_DEVICE_FUNC static inline void run(const TransformType& m, TransformType& res)
   {
     res.matrix() = m.matrix().inverse();
   }
@@ -1135,7 +1198,7 @@ struct projective_transform_inverse<TransformType, Projective>
   * \sa MatrixBase::inverse()
   */
 template<typename Scalar, int Dim, int Mode, int Options>
-Transform<Scalar,Dim,Mode,Options>
+EIGEN_DEVICE_FUNC Transform<Scalar,Dim,Mode,Options>
 Transform<Scalar,Dim,Mode,Options>::inverse(TransformTraits hint) const
 {
   Transform res;
@@ -1244,8 +1307,8 @@ struct transform_product_result
   };
 };
 
-template< typename TransformType, typename MatrixType >
-struct transform_right_product_impl< TransformType, MatrixType, 0 >
+template< typename TransformType, typename MatrixType, int RhsCols>
+struct transform_right_product_impl< TransformType, MatrixType, 0, RhsCols>
 {
   typedef typename MatrixType::PlainObject ResultType;
 
@@ -1255,8 +1318,8 @@ struct transform_right_product_impl< TransformType, MatrixType, 0 >
   }
 };
 
-template< typename TransformType, typename MatrixType >
-struct transform_right_product_impl< TransformType, MatrixType, 1 >
+template< typename TransformType, typename MatrixType, int RhsCols>
+struct transform_right_product_impl< TransformType, MatrixType, 1, RhsCols>
 {
   enum { 
     Dim = TransformType::Dim, 
@@ -1281,8 +1344,8 @@ struct transform_right_product_impl< TransformType, MatrixType, 1 >
   }
 };
 
-template< typename TransformType, typename MatrixType >
-struct transform_right_product_impl< TransformType, MatrixType, 2 >
+template< typename TransformType, typename MatrixType, int RhsCols>
+struct transform_right_product_impl< TransformType, MatrixType, 2, RhsCols>
 {
   enum { 
     Dim = TransformType::Dim, 
@@ -1305,6 +1368,30 @@ struct transform_right_product_impl< TransformType, MatrixType, 2 >
   }
 };
 
+template< typename TransformType, typename MatrixType >
+struct transform_right_product_impl< TransformType, MatrixType, 2, 1> // rhs is a vector of size Dim
+{
+  typedef typename TransformType::MatrixType TransformMatrix;
+  enum {
+    Dim = TransformType::Dim,
+    HDim = TransformType::HDim,
+    OtherRows = MatrixType::RowsAtCompileTime,
+    WorkingRows = EIGEN_PLAIN_ENUM_MIN(TransformMatrix::RowsAtCompileTime,HDim)
+  };
+
+  typedef typename MatrixType::PlainObject ResultType;
+
+  static EIGEN_STRONG_INLINE ResultType run(const TransformType& T, const MatrixType& other)
+  {
+    EIGEN_STATIC_ASSERT(OtherRows==Dim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
+
+    Matrix<typename ResultType::Scalar, Dim+1, 1> rhs;
+    rhs.template head<Dim>() = other; rhs[Dim] = typename ResultType::Scalar(1);
+    Matrix<typename ResultType::Scalar, WorkingRows, 1> res(T.matrix() * rhs);
+    return res.template head<Dim>();
+  }
+};
+
 /**********************************************************
 ***   Specializations of operator* with lhs EigenBase   ***
 **********************************************************/
diff --git a/eigenlib/Eigen/src/Geometry/Translation.h b/eigenlib/Eigen/src/Geometry/Translation.h
index 7fda179c..51d9a82e 100644
--- a/eigenlib/Eigen/src/Geometry/Translation.h
+++ b/eigenlib/Eigen/src/Geometry/Translation.h
@@ -18,8 +18,8 @@ namespace Eigen {
   *
   * \brief Represents a translation transformation
   *
-  * \param _Scalar the scalar type, i.e., the type of the coefficients.
-  * \param _Dim the  dimension of the space, can be a compile time value or Dynamic
+  * \tparam _Scalar the scalar type, i.e., the type of the coefficients.
+  * \tparam _Dim the  dimension of the space, can be a compile time value or Dynamic
   *
   * \note This class is not aimed to be used to store a translation transformation,
   * but rather to make easier the constructions and updates of Transform objects.
@@ -51,16 +51,16 @@ protected:
 public:
 
   /** Default constructor without initialization. */
-  Translation() {}
+  EIGEN_DEVICE_FUNC Translation() {}
   /**  */
-  inline Translation(const Scalar& sx, const Scalar& sy)
+  EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy)
   {
     eigen_assert(Dim==2);
     m_coeffs.x() = sx;
     m_coeffs.y() = sy;
   }
   /**  */
-  inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
+  EIGEN_DEVICE_FUNC inline Translation(const Scalar& sx, const Scalar& sy, const Scalar& sz)
   {
     eigen_assert(Dim==3);
     m_coeffs.x() = sx;
@@ -68,48 +68,48 @@ public:
     m_coeffs.z() = sz;
   }
   /** Constructs and initialize the translation transformation from a vector of translation coefficients */
-  explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
+  EIGEN_DEVICE_FUNC explicit inline Translation(const VectorType& vector) : m_coeffs(vector) {}
 
   /** \brief Retruns the x-translation by value. **/
-  inline Scalar x() const { return m_coeffs.x(); }
+  EIGEN_DEVICE_FUNC inline Scalar x() const { return m_coeffs.x(); }
   /** \brief Retruns the y-translation by value. **/
-  inline Scalar y() const { return m_coeffs.y(); }
+  EIGEN_DEVICE_FUNC inline Scalar y() const { return m_coeffs.y(); }
   /** \brief Retruns the z-translation by value. **/
-  inline Scalar z() const { return m_coeffs.z(); }
+  EIGEN_DEVICE_FUNC inline Scalar z() const { return m_coeffs.z(); }
 
   /** \brief Retruns the x-translation as a reference. **/
-  inline Scalar& x() { return m_coeffs.x(); }
+  EIGEN_DEVICE_FUNC inline Scalar& x() { return m_coeffs.x(); }
   /** \brief Retruns the y-translation as a reference. **/
-  inline Scalar& y() { return m_coeffs.y(); }
+  EIGEN_DEVICE_FUNC inline Scalar& y() { return m_coeffs.y(); }
   /** \brief Retruns the z-translation as a reference. **/
-  inline Scalar& z() { return m_coeffs.z(); }
+  EIGEN_DEVICE_FUNC inline Scalar& z() { return m_coeffs.z(); }
 
-  const VectorType& vector() const { return m_coeffs; }
-  VectorType& vector() { return m_coeffs; }
+  EIGEN_DEVICE_FUNC const VectorType& vector() const { return m_coeffs; }
+  EIGEN_DEVICE_FUNC VectorType& vector() { return m_coeffs; }
 
-  const VectorType& translation() const { return m_coeffs; }
-  VectorType& translation() { return m_coeffs; }
+  EIGEN_DEVICE_FUNC const VectorType& translation() const { return m_coeffs; }
+  EIGEN_DEVICE_FUNC VectorType& translation() { return m_coeffs; }
 
   /** Concatenates two translation */
-  inline Translation operator* (const Translation& other) const
+  EIGEN_DEVICE_FUNC inline Translation operator* (const Translation& other) const
   { return Translation(m_coeffs + other.m_coeffs); }
 
   /** Concatenates a translation and a uniform scaling */
-  inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
+  EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const UniformScaling<Scalar>& other) const;
 
   /** Concatenates a translation and a linear transformation */
   template<typename OtherDerived>
-  inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
+  EIGEN_DEVICE_FUNC inline AffineTransformType operator* (const EigenBase<OtherDerived>& linear) const;
 
   /** Concatenates a translation and a rotation */
   template<typename Derived>
-  inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
+  EIGEN_DEVICE_FUNC inline IsometryTransformType operator*(const RotationBase<Derived,Dim>& r) const
   { return *this * IsometryTransformType(r); }
 
   /** \returns the concatenation of a linear transformation \a l with the translation \a t */
   // its a nightmare to define a templated friend function outside its declaration
   template<typename OtherDerived> friend
-  inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
+  EIGEN_DEVICE_FUNC inline AffineTransformType operator*(const EigenBase<OtherDerived>& linear, const Translation& t)
   {
     AffineTransformType res;
     res.matrix().setZero();
@@ -122,7 +122,7 @@ public:
 
   /** Concatenates a translation and a transformation */
   template<int Mode, int Options>
-  inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const
+  EIGEN_DEVICE_FUNC inline Transform<Scalar,Dim,Mode> operator* (const Transform<Scalar,Dim,Mode,Options>& t) const
   {
     Transform<Scalar,Dim,Mode> res = t;
     res.pretranslate(m_coeffs);
@@ -130,8 +130,10 @@ public:
   }
 
   /** Applies translation to vector */
-  inline VectorType operator* (const VectorType& other) const
-  { return m_coeffs + other; }
+  template<typename Derived>
+  inline typename internal::enable_if<Derived::IsVectorAtCompileTime,VectorType>::type
+  operator* (const MatrixBase<Derived>& vec) const
+  { return m_coeffs + vec.derived(); }
 
   /** \returns the inverse translation (opposite) */
   Translation inverse() const { return Translation(-m_coeffs); }
@@ -150,19 +152,19 @@ public:
     * then this function smartly returns a const reference to \c *this.
     */
   template<typename NewScalarType>
-  inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type cast() const
   { return typename internal::cast_return_type<Translation,Translation<NewScalarType,Dim> >::type(*this); }
 
   /** Copy constructor with scalar type conversion */
   template<typename OtherScalarType>
-  inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
+  EIGEN_DEVICE_FUNC inline explicit Translation(const Translation<OtherScalarType,Dim>& other)
   { m_coeffs = other.vector().template cast<Scalar>(); }
 
   /** \returns \c true if \c *this is approximately equal to \a other, within the precision
     * determined by \a prec.
     *
     * \sa MatrixBase::isApprox() */
-  bool isApprox(const Translation& other, typename NumTraits<Scalar>::Real prec = NumTraits<Scalar>::dummy_precision()) const
+  EIGEN_DEVICE_FUNC bool isApprox(const Translation& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
   { return m_coeffs.isApprox(other.m_coeffs, prec); }
 
 };
@@ -176,7 +178,7 @@ typedef Translation<double,3> Translation3d;
 //@}
 
 template<typename Scalar, int Dim>
-inline typename Translation<Scalar,Dim>::AffineTransformType
+EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
 Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
 {
   AffineTransformType res;
@@ -189,7 +191,7 @@ Translation<Scalar,Dim>::operator* (const UniformScaling<Scalar>& other) const
 
 template<typename Scalar, int Dim>
 template<typename OtherDerived>
-inline typename Translation<Scalar,Dim>::AffineTransformType
+EIGEN_DEVICE_FUNC inline typename Translation<Scalar,Dim>::AffineTransformType
 Translation<Scalar,Dim>::operator* (const EigenBase<OtherDerived>& linear) const
 {
   AffineTransformType res;
diff --git a/eigenlib/Eigen/src/Geometry/Umeyama.h b/eigenlib/Eigen/src/Geometry/Umeyama.h
index 5e20662f..7e933fca 100644
--- a/eigenlib/Eigen/src/Geometry/Umeyama.h
+++ b/eigenlib/Eigen/src/Geometry/Umeyama.h
@@ -97,7 +97,6 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
   typedef typename internal::umeyama_transform_matrix_type<Derived, OtherDerived>::type TransformationMatrixType;
   typedef typename internal::traits<TransformationMatrixType>::Scalar Scalar;
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef typename Derived::Index Index;
 
   EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
   EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename internal::traits<OtherDerived>::Scalar>::value),
@@ -136,22 +135,12 @@ umeyama(const MatrixBase<Derived>& src, const MatrixBase<OtherDerived>& dst, boo
 
   // Eq. (39)
   VectorType S = VectorType::Ones(m);
-  if (sigma.determinant()<Scalar(0)) S(m-1) = Scalar(-1);
+
+  if  ( svd.matrixU().determinant() * svd.matrixV().determinant() < 0 )
+    S(m-1) = -1;
 
   // Eq. (40) and (43)
-  const VectorType& d = svd.singularValues();
-  Index rank = 0; for (Index i=0; i<m; ++i) if (!internal::isMuchSmallerThan(d.coeff(i),d.coeff(0))) ++rank;
-  if (rank == m-1) {
-    if ( svd.matrixU().determinant() * svd.matrixV().determinant() > Scalar(0) ) {
-      Rt.block(0,0,m,m).noalias() = svd.matrixU()*svd.matrixV().transpose();
-    } else {
-      const Scalar s = S(m-1); S(m-1) = Scalar(-1);
-      Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
-      S(m-1) = s;
-    }
-  } else {
-    Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
-  }
+  Rt.block(0,0,m,m).noalias() = svd.matrixU() * S.asDiagonal() * svd.matrixV().transpose();
 
   if (with_scaling)
   {
diff --git a/eigenlib/Eigen/src/Geometry/arch/CMakeLists.txt b/eigenlib/Eigen/src/Geometry/arch/CMakeLists.txt
deleted file mode 100644
index 1267a79c..00000000
--- a/eigenlib/Eigen/src/Geometry/arch/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Geometry_arch_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Geometry_arch_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Geometry/arch COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/Geometry/arch/Geometry_SSE.h b/eigenlib/Eigen/src/Geometry/arch/Geometry_SSE.h
index 3d8284f2..1a86ff83 100644
--- a/eigenlib/Eigen/src/Geometry/arch/Geometry_SSE.h
+++ b/eigenlib/Eigen/src/Geometry/arch/Geometry_SSE.h
@@ -16,35 +16,47 @@ namespace Eigen {
 namespace internal {
 
 template<class Derived, class OtherDerived>
-struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned>
+struct quat_product<Architecture::SSE, Derived, OtherDerived, float, Aligned16>
 {
   static inline Quaternion<float> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
   {
-    const __m128 mask = _mm_castsi128_ps(_mm_setr_epi32(0,0,0,0x80000000));
     Quaternion<float> res;
-    __m128 a = _a.coeffs().template packet<Aligned>(0);
-    __m128 b = _b.coeffs().template packet<Aligned>(0);
-    __m128 flip1 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),
-                                         vec4f_swizzle1(b,2,0,1,2)),mask);
-    __m128 flip2 = _mm_xor_ps(_mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),
-                                         vec4f_swizzle1(b,0,1,2,1)),mask);
+    const __m128 mask = _mm_setr_ps(0.f,0.f,0.f,-0.f);
+    __m128 a = _a.coeffs().template packet<Aligned16>(0);
+    __m128 b = _b.coeffs().template packet<Aligned16>(0);
+    __m128 s1 = _mm_mul_ps(vec4f_swizzle1(a,1,2,0,2),vec4f_swizzle1(b,2,0,1,2));
+    __m128 s2 = _mm_mul_ps(vec4f_swizzle1(a,3,3,3,1),vec4f_swizzle1(b,0,1,2,1));
     pstore(&res.x(),
               _mm_add_ps(_mm_sub_ps(_mm_mul_ps(a,vec4f_swizzle1(b,3,3,3,3)),
                                     _mm_mul_ps(vec4f_swizzle1(a,2,0,1,0),
                                                vec4f_swizzle1(b,1,2,0,0))),
-                         _mm_add_ps(flip1,flip2)));
+                         _mm_xor_ps(mask,_mm_add_ps(s1,s2))));
+    
     return res;
   }
 };
 
+template<class Derived, int Alignment>
+struct quat_conj<Architecture::SSE, Derived, float, Alignment>
+{
+  static inline Quaternion<float> run(const QuaternionBase<Derived>& q)
+  {
+    Quaternion<float> res;
+    const __m128 mask = _mm_setr_ps(-0.f,-0.f,-0.f,0.f);
+    pstore(&res.x(), _mm_xor_ps(mask, q.coeffs().template packet<Alignment>(0)));
+    return res;
+  }
+};
+
+
 template<typename VectorLhs,typename VectorRhs>
 struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
 {
   static inline typename plain_matrix_type<VectorLhs>::type
   run(const VectorLhs& lhs, const VectorRhs& rhs)
   {
-    __m128 a = lhs.template packet<VectorLhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
-    __m128 b = rhs.template packet<VectorRhs::Flags&AlignedBit ? Aligned : Unaligned>(0);
+    __m128 a = lhs.template packet<traits<VectorLhs>::Alignment>(0);
+    __m128 b = rhs.template packet<traits<VectorRhs>::Alignment>(0);
     __m128 mul1=_mm_mul_ps(vec4f_swizzle1(a,1,2,0,3),vec4f_swizzle1(b,2,0,1,3));
     __m128 mul2=_mm_mul_ps(vec4f_swizzle1(a,2,0,1,3),vec4f_swizzle1(b,1,2,0,3));
     typename plain_matrix_type<VectorLhs>::type res;
@@ -56,8 +68,8 @@ struct cross3_impl<Architecture::SSE,VectorLhs,VectorRhs,float,true>
 
 
 
-template<class Derived, class OtherDerived>
-struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
+template<class Derived, class OtherDerived, int Alignment>
+struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Alignment>
 {
   static inline Quaternion<double> run(const QuaternionBase<Derived>& _a, const QuaternionBase<OtherDerived>& _b)
   {
@@ -66,8 +78,8 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
   Quaternion<double> res;
 
   const double* a = _a.coeffs().data();
-  Packet2d b_xy = _b.coeffs().template packet<Aligned>(0);
-  Packet2d b_zw = _b.coeffs().template packet<Aligned>(2);
+  Packet2d b_xy = _b.coeffs().template packet<Alignment>(0);
+  Packet2d b_zw = _b.coeffs().template packet<Alignment>(2);
   Packet2d a_xx = pset1<Packet2d>(a[0]);
   Packet2d a_yy = pset1<Packet2d>(a[1]);
   Packet2d a_zz = pset1<Packet2d>(a[2]);
@@ -108,6 +120,20 @@ struct quat_product<Architecture::SSE, Derived, OtherDerived, double, Aligned>
 }
 };
 
+template<class Derived, int Alignment>
+struct quat_conj<Architecture::SSE, Derived, double, Alignment>
+{
+  static inline Quaternion<double> run(const QuaternionBase<Derived>& q)
+  {
+    Quaternion<double> res;
+    const __m128d mask0 = _mm_setr_pd(-0.,-0.);
+    const __m128d mask2 = _mm_setr_pd(-0.,0.);
+    pstore(&res.x(), _mm_xor_pd(mask0, q.coeffs().template packet<Alignment>(0)));
+    pstore(&res.z(), _mm_xor_pd(mask2, q.coeffs().template packet<Alignment>(2)));
+    return res;
+  }
+};
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/Householder/BlockHouseholder.h b/eigenlib/Eigen/src/Householder/BlockHouseholder.h
index 60dbea5f..39bf8c83 100644
--- a/eigenlib/Eigen/src/Householder/BlockHouseholder.h
+++ b/eigenlib/Eigen/src/Householder/BlockHouseholder.h
@@ -16,48 +16,82 @@
 namespace Eigen { 
 
 namespace internal {
+  
+/** \internal */
+// template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
+// void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
+// {
+//   typedef typename VectorsType::Scalar Scalar;
+//   const Index nbVecs = vectors.cols();
+//   eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
+// 
+//   for(Index i = 0; i < nbVecs; i++)
+//   {
+//     Index rs = vectors.rows() - i;
+//     // Warning, note that hCoeffs may alias with vectors.
+//     // It is then necessary to copy it before modifying vectors(i,i). 
+//     typename CoeffsType::Scalar h = hCoeffs(i);
+//     // This hack permits to pass trough nested Block<> and Transpose<> expressions.
+//     Scalar *Vii_ptr = const_cast<Scalar*>(vectors.data() + vectors.outerStride()*i + vectors.innerStride()*i);
+//     Scalar Vii = *Vii_ptr;
+//     *Vii_ptr = Scalar(1);
+//     triFactor.col(i).head(i).noalias() = -h * vectors.block(i, 0, rs, i).adjoint()
+//                                        * vectors.col(i).tail(rs);
+//     *Vii_ptr = Vii;
+//     // FIXME add .noalias() once the triangular product can work inplace
+//     triFactor.col(i).head(i) = triFactor.block(0,0,i,i).template triangularView<Upper>()
+//                              * triFactor.col(i).head(i);
+//     triFactor(i,i) = hCoeffs(i);
+//   }
+// }
 
 /** \internal */
+// This variant avoid modifications in vectors
 template<typename TriangularFactorType,typename VectorsType,typename CoeffsType>
 void make_block_householder_triangular_factor(TriangularFactorType& triFactor, const VectorsType& vectors, const CoeffsType& hCoeffs)
 {
-  typedef typename TriangularFactorType::Index Index;
-  typedef typename VectorsType::Scalar Scalar;
   const Index nbVecs = vectors.cols();
   eigen_assert(triFactor.rows() == nbVecs && triFactor.cols() == nbVecs && vectors.rows()>=nbVecs);
 
-  for(Index i = 0; i < nbVecs; i++)
+  for(Index i = nbVecs-1; i >=0 ; --i)
   {
-    Index rs = vectors.rows() - i;
-    Scalar Vii = vectors(i,i);
-    vectors.const_cast_derived().coeffRef(i,i) = Scalar(1);
-    triFactor.col(i).head(i).noalias() = -hCoeffs(i) * vectors.block(i, 0, rs, i).adjoint()
-                                       * vectors.col(i).tail(rs);
-    vectors.const_cast_derived().coeffRef(i, i) = Vii;
-    // FIXME add .noalias() once the triangular product can work inplace
-    triFactor.col(i).head(i) = triFactor.block(0,0,i,i).template triangularView<Upper>()
-                             * triFactor.col(i).head(i);
+    Index rs = vectors.rows() - i - 1;
+    Index rt = nbVecs-i-1;
+
+    if(rt>0)
+    {
+      triFactor.row(i).tail(rt).noalias() = -hCoeffs(i) * vectors.col(i).tail(rs).adjoint()
+                                                        * vectors.bottomRightCorner(rs, rt).template triangularView<UnitLower>();
+            
+      // FIXME add .noalias() once the triangular product can work inplace
+      triFactor.row(i).tail(rt) = triFactor.row(i).tail(rt) * triFactor.bottomRightCorner(rt,rt).template triangularView<Upper>();
+      
+    }
     triFactor(i,i) = hCoeffs(i);
   }
 }
 
-/** \internal */
+/** \internal
+  * if forward then perform   mat = H0 * H1 * H2 * mat
+  * otherwise perform         mat = H2 * H1 * H0 * mat
+  */
 template<typename MatrixType,typename VectorsType,typename CoeffsType>
-void apply_block_householder_on_the_left(MatrixType& mat, const VectorsType& vectors, const CoeffsType& hCoeffs)
+void apply_block_householder_on_the_left(MatrixType& mat, const VectorsType& vectors, const CoeffsType& hCoeffs, bool forward)
 {
-  typedef typename MatrixType::Index Index;
   enum { TFactorSize = MatrixType::ColsAtCompileTime };
   Index nbVecs = vectors.cols();
-  Matrix<typename MatrixType::Scalar, TFactorSize, TFactorSize, ColMajor> T(nbVecs,nbVecs);
-  make_block_householder_triangular_factor(T, vectors, hCoeffs);
-
-  const TriangularView<const VectorsType, UnitLower>& V(vectors);
+  Matrix<typename MatrixType::Scalar, TFactorSize, TFactorSize, RowMajor> T(nbVecs,nbVecs);
+  
+  if(forward) make_block_householder_triangular_factor(T, vectors, hCoeffs);
+  else        make_block_householder_triangular_factor(T, vectors, hCoeffs.conjugate());  
+  const TriangularView<const VectorsType, UnitLower> V(vectors);
 
   // A -= V T V^* A
   Matrix<typename MatrixType::Scalar,VectorsType::ColsAtCompileTime,MatrixType::ColsAtCompileTime,0,
          VectorsType::MaxColsAtCompileTime,MatrixType::MaxColsAtCompileTime> tmp = V.adjoint() * mat;
   // FIXME add .noalias() once the triangular product can work inplace
-  tmp = T.template triangularView<Upper>().adjoint() * tmp;
+  if(forward) tmp = T.template triangularView<Upper>()           * tmp;
+  else        tmp = T.template triangularView<Upper>().adjoint() * tmp;
   mat.noalias() -= V * tmp;
 }
 
diff --git a/eigenlib/Eigen/src/Householder/CMakeLists.txt b/eigenlib/Eigen/src/Householder/CMakeLists.txt
deleted file mode 100644
index ce4937db..00000000
--- a/eigenlib/Eigen/src/Householder/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Householder_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Householder_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Householder COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/Householder/Householder.h b/eigenlib/Eigen/src/Householder/Householder.h
index 32112af9..80de2c30 100644
--- a/eigenlib/Eigen/src/Householder/Householder.h
+++ b/eigenlib/Eigen/src/Householder/Householder.h
@@ -75,8 +75,9 @@ void MatrixBase<Derived>::makeHouseholder(
   
   RealScalar tailSqNorm = size()==1 ? RealScalar(0) : tail.squaredNorm();
   Scalar c0 = coeff(0);
+  const RealScalar tol = (std::numeric_limits<RealScalar>::min)();
 
-  if(tailSqNorm == RealScalar(0) && numext::imag(c0)==RealScalar(0))
+  if(tailSqNorm <= tol && numext::abs2(numext::imag(c0))<=tol)
   {
     tau = RealScalar(0);
     beta = numext::real(c0);
@@ -118,7 +119,7 @@ void MatrixBase<Derived>::applyHouseholderOnTheLeft(
   {
     *this *= Scalar(1)-tau;
   }
-  else
+  else if(tau!=Scalar(0))
   {
     Map<typename internal::plain_row_type<PlainObject>::type> tmp(workspace,cols());
     Block<Derived, EssentialPart::SizeAtCompileTime, Derived::ColsAtCompileTime> bottom(derived(), 1, 0, rows()-1, cols());
@@ -155,7 +156,7 @@ void MatrixBase<Derived>::applyHouseholderOnTheRight(
   {
     *this *= Scalar(1)-tau;
   }
-  else
+  else if(tau!=Scalar(0))
   {
     Map<typename internal::plain_col_type<PlainObject>::type> tmp(workspace,rows());
     Block<Derived, Derived::RowsAtCompileTime, EssentialPart::SizeAtCompileTime> right(derived(), 0, 1, rows(), cols()-1);
diff --git a/eigenlib/Eigen/src/Householder/HouseholderSequence.h b/eigenlib/Eigen/src/Householder/HouseholderSequence.h
index d800ca1f..3ce0a693 100644
--- a/eigenlib/Eigen/src/Householder/HouseholderSequence.h
+++ b/eigenlib/Eigen/src/Householder/HouseholderSequence.h
@@ -60,7 +60,7 @@ template<typename VectorsType, typename CoeffsType, int Side>
 struct traits<HouseholderSequence<VectorsType,CoeffsType,Side> >
 {
   typedef typename VectorsType::Scalar Scalar;
-  typedef typename VectorsType::Index Index;
+  typedef typename VectorsType::StorageIndex StorageIndex;
   typedef typename VectorsType::StorageKind StorageKind;
   enum {
     RowsAtCompileTime = Side==OnTheLeft ? traits<VectorsType>::RowsAtCompileTime
@@ -73,12 +73,20 @@ struct traits<HouseholderSequence<VectorsType,CoeffsType,Side> >
   };
 };
 
+struct HouseholderSequenceShape {};
+
+template<typename VectorsType, typename CoeffsType, int Side>
+struct evaluator_traits<HouseholderSequence<VectorsType,CoeffsType,Side> >
+  : public evaluator_traits_base<HouseholderSequence<VectorsType,CoeffsType,Side> >
+{
+  typedef HouseholderSequenceShape Shape;
+};
+
 template<typename VectorsType, typename CoeffsType, int Side>
 struct hseq_side_dependent_impl
 {
   typedef Block<const VectorsType, Dynamic, 1> EssentialVectorType;
   typedef HouseholderSequence<VectorsType, CoeffsType, OnTheLeft> HouseholderSequenceType;
-  typedef typename VectorsType::Index Index;
   static inline const EssentialVectorType essentialVector(const HouseholderSequenceType& h, Index k)
   {
     Index start = k+1+h.m_shift;
@@ -91,7 +99,6 @@ struct hseq_side_dependent_impl<VectorsType, CoeffsType, OnTheRight>
 {
   typedef Transpose<Block<const VectorsType, 1, Dynamic> > EssentialVectorType;
   typedef HouseholderSequence<VectorsType, CoeffsType, OnTheRight> HouseholderSequenceType;
-  typedef typename VectorsType::Index Index;
   static inline const EssentialVectorType essentialVector(const HouseholderSequenceType& h, Index k)
   {
     Index start = k+1+h.m_shift;
@@ -101,7 +108,7 @@ struct hseq_side_dependent_impl<VectorsType, CoeffsType, OnTheRight>
 
 template<typename OtherScalarType, typename MatrixType> struct matrix_type_times_scalar_type
 {
-  typedef typename scalar_product_traits<OtherScalarType, typename MatrixType::Scalar>::ReturnType
+  typedef typename ScalarBinaryOpTraits<OtherScalarType, typename MatrixType::Scalar>::ReturnType
     ResultScalar;
   typedef Matrix<ResultScalar, MatrixType::RowsAtCompileTime, MatrixType::ColsAtCompileTime,
                  0, MatrixType::MaxRowsAtCompileTime, MatrixType::MaxColsAtCompileTime> Type;
@@ -122,7 +129,6 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
       MaxColsAtCompileTime = internal::traits<HouseholderSequence>::MaxColsAtCompileTime
     };
     typedef typename internal::traits<HouseholderSequence>::Scalar Scalar;
-    typedef typename VectorsType::Index Index;
 
     typedef HouseholderSequence<
       typename internal::conditional<NumTraits<Scalar>::IsComplex,
@@ -237,8 +243,7 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
     {
       workspace.resize(rows());
       Index vecs = m_length;
-      if(    internal::is_same<typename internal::remove_all<VectorsType>::type,Dest>::value
-          && internal::extract_data(dst) == internal::extract_data(m_vectors))
+      if(internal::is_same_dense(dst,m_vectors))
       {
         // in-place
         dst.diagonal().setOnes();
@@ -299,7 +304,7 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
     /** \internal */
     template<typename Dest> inline void applyThisOnTheLeft(Dest& dst) const
     {
-      Matrix<Scalar,1,Dest::ColsAtCompileTime,RowMajor,1,Dest::MaxColsAtCompileTime> workspace(dst.cols());
+      Matrix<Scalar,1,Dest::ColsAtCompileTime,RowMajor,1,Dest::MaxColsAtCompileTime> workspace;
       applyThisOnTheLeft(dst, workspace);
     }
 
@@ -307,12 +312,36 @@ template<typename VectorsType, typename CoeffsType, int Side> class HouseholderS
     template<typename Dest, typename Workspace>
     inline void applyThisOnTheLeft(Dest& dst, Workspace& workspace) const
     {
-      workspace.resize(dst.cols());
-      for(Index k = 0; k < m_length; ++k)
+      const Index BlockSize = 48;
+      // if the entries are large enough, then apply the reflectors by block
+      if(m_length>=BlockSize && dst.cols()>1)
       {
-        Index actual_k = m_trans ? k : m_length-k-1;
-        dst.bottomRows(rows()-m_shift-actual_k)
-           .applyHouseholderOnTheLeft(essentialVector(actual_k), m_coeffs.coeff(actual_k), workspace.data());
+        for(Index i = 0; i < m_length; i+=BlockSize)
+        {
+          Index end = m_trans ? (std::min)(m_length,i+BlockSize) : m_length-i;
+          Index k = m_trans ? i : (std::max)(Index(0),end-BlockSize);
+          Index bs = end-k;
+          Index start = k + m_shift;
+          
+          typedef Block<typename internal::remove_all<VectorsType>::type,Dynamic,Dynamic> SubVectorsType;
+          SubVectorsType sub_vecs1(m_vectors.const_cast_derived(), Side==OnTheRight ? k : start,
+                                                                   Side==OnTheRight ? start : k,
+                                                                   Side==OnTheRight ? bs : m_vectors.rows()-start,
+                                                                   Side==OnTheRight ? m_vectors.cols()-start : bs);
+          typename internal::conditional<Side==OnTheRight, Transpose<SubVectorsType>, SubVectorsType&>::type sub_vecs(sub_vecs1);
+          Block<Dest,Dynamic,Dynamic> sub_dst(dst,dst.rows()-rows()+m_shift+k,0, rows()-m_shift-k,dst.cols());
+          apply_block_householder_on_the_left(sub_dst, sub_vecs, m_coeffs.segment(k, bs), !m_trans);
+        }
+      }
+      else
+      {
+        workspace.resize(dst.cols());
+        for(Index k = 0; k < m_length; ++k)
+        {
+          Index actual_k = m_trans ? k : m_length-k-1;
+          dst.bottomRows(rows()-m_shift-actual_k)
+            .applyHouseholderOnTheLeft(essentialVector(actual_k), m_coeffs.coeff(actual_k), workspace.data());
+        }
       }
     }
 
diff --git a/eigenlib/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h b/eigenlib/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
index 73ca9bfd..358444af 100644
--- a/eigenlib/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
+++ b/eigenlib/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -17,33 +17,37 @@ namespace Eigen {
   *
   * This class allows to approximately solve for A.x = b problems assuming A is a diagonal matrix.
   * In other words, this preconditioner neglects all off diagonal entries and, in Eigen's language, solves for:
-  * \code
-  * A.diagonal().asDiagonal() . x = b
-  * \endcode
+    \code
+    A.diagonal().asDiagonal() . x = b
+    \endcode
   *
   * \tparam _Scalar the type of the scalar.
   *
+  * \implsparsesolverconcept
+  *
   * This preconditioner is suitable for both selfadjoint and general problems.
   * The diagonal entries are pre-inverted and stored into a dense vector.
   *
   * \note A variant that has yet to be implemented would attempt to preserve the norm of each column.
   *
+  * \sa class LeastSquareDiagonalPreconditioner, class ConjugateGradient
   */
 template <typename _Scalar>
 class DiagonalPreconditioner
 {
     typedef _Scalar Scalar;
     typedef Matrix<Scalar,Dynamic,1> Vector;
-    typedef typename Vector::Index Index;
-
   public:
-    // this typedef is only to export the scalar type and compile-time dimensions to solve_retval
-    typedef Matrix<Scalar,Dynamic,Dynamic> MatrixType;
+    typedef typename Vector::StorageIndex StorageIndex;
+    enum {
+      ColsAtCompileTime = Dynamic,
+      MaxColsAtCompileTime = Dynamic
+    };
 
     DiagonalPreconditioner() : m_isInitialized(false) {}
 
     template<typename MatType>
-    DiagonalPreconditioner(const MatType& mat) : m_invdiag(mat.cols())
+    explicit DiagonalPreconditioner(const MatType& mat) : m_invdiag(mat.cols())
     {
       compute(mat);
     }
@@ -65,10 +69,10 @@ class DiagonalPreconditioner
       {
         typename MatType::InnerIterator it(mat,j);
         while(it && it.index()!=j) ++it;
-        if(it && it.index()==j)
+        if(it && it.index()==j && it.value()!=Scalar(0))
           m_invdiag(j) = Scalar(1)/it.value();
         else
-          m_invdiag(j) = 0;
+          m_invdiag(j) = Scalar(1);
       }
       m_isInitialized = true;
       return *this;
@@ -80,46 +84,102 @@ class DiagonalPreconditioner
       return factorize(mat);
     }
 
+    /** \internal */
     template<typename Rhs, typename Dest>
-    void _solve(const Rhs& b, Dest& x) const
+    void _solve_impl(const Rhs& b, Dest& x) const
     {
       x = m_invdiag.array() * b.array() ;
     }
 
-    template<typename Rhs> inline const internal::solve_retval<DiagonalPreconditioner, Rhs>
+    template<typename Rhs> inline const Solve<DiagonalPreconditioner, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "DiagonalPreconditioner is not initialized.");
       eigen_assert(m_invdiag.size()==b.rows()
                 && "DiagonalPreconditioner::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<DiagonalPreconditioner, Rhs>(*this, b.derived());
+      return Solve<DiagonalPreconditioner, Rhs>(*this, b.derived());
     }
+    
+    ComputationInfo info() { return Success; }
 
   protected:
     Vector m_invdiag;
     bool m_isInitialized;
 };
 
-namespace internal {
-
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<DiagonalPreconditioner<_MatrixType>, Rhs>
-  : solve_retval_base<DiagonalPreconditioner<_MatrixType>, Rhs>
+/** \ingroup IterativeLinearSolvers_Module
+  * \brief Jacobi preconditioner for LeastSquaresConjugateGradient
+  *
+  * This class allows to approximately solve for A' A x  = A' b problems assuming A' A is a diagonal matrix.
+  * In other words, this preconditioner neglects all off diagonal entries and, in Eigen's language, solves for:
+    \code
+    (A.adjoint() * A).diagonal().asDiagonal() * x = b
+    \endcode
+  *
+  * \tparam _Scalar the type of the scalar.
+  *
+  * \implsparsesolverconcept
+  *
+  * The diagonal entries are pre-inverted and stored into a dense vector.
+  * 
+  * \sa class LeastSquaresConjugateGradient, class DiagonalPreconditioner
+  */
+template <typename _Scalar>
+class LeastSquareDiagonalPreconditioner : public DiagonalPreconditioner<_Scalar>
 {
-  typedef DiagonalPreconditioner<_MatrixType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
+    typedef _Scalar Scalar;
+    typedef typename NumTraits<Scalar>::Real RealScalar;
+    typedef DiagonalPreconditioner<_Scalar> Base;
+    using Base::m_invdiag;
+  public:
 
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
+    LeastSquareDiagonalPreconditioner() : Base() {}
+
+    template<typename MatType>
+    explicit LeastSquareDiagonalPreconditioner(const MatType& mat) : Base()
+    {
+      compute(mat);
+    }
+
+    template<typename MatType>
+    LeastSquareDiagonalPreconditioner& analyzePattern(const MatType& )
+    {
+      return *this;
+    }
+    
+    template<typename MatType>
+    LeastSquareDiagonalPreconditioner& factorize(const MatType& mat)
+    {
+      // Compute the inverse squared-norm of each column of mat
+      m_invdiag.resize(mat.cols());
+      for(Index j=0; j<mat.outerSize(); ++j)
+      {
+        RealScalar sum = mat.innerVector(j).squaredNorm();
+        if(sum>0)
+          m_invdiag(j) = RealScalar(1)/sum;
+        else
+          m_invdiag(j) = RealScalar(1);
+      }
+      Base::m_isInitialized = true;
+      return *this;
+    }
+    
+    template<typename MatType>
+    LeastSquareDiagonalPreconditioner& compute(const MatType& mat)
+    {
+      return factorize(mat);
+    }
+    
+    ComputationInfo info() { return Success; }
+
+  protected:
 };
 
-}
-
 /** \ingroup IterativeLinearSolvers_Module
   * \brief A naive preconditioner which approximates any matrix as the identity matrix
   *
+  * \implsparsesolverconcept
+  *
   * \sa class DiagonalPreconditioner
   */
 class IdentityPreconditioner
@@ -129,7 +189,7 @@ class IdentityPreconditioner
     IdentityPreconditioner() {}
 
     template<typename MatrixType>
-    IdentityPreconditioner(const MatrixType& ) {}
+    explicit IdentityPreconditioner(const MatrixType& ) {}
     
     template<typename MatrixType>
     IdentityPreconditioner& analyzePattern(const MatrixType& ) { return *this; }
@@ -142,6 +202,8 @@ class IdentityPreconditioner
     
     template<typename Rhs>
     inline const Rhs& solve(const Rhs& b) const { return b; }
+    
+    ComputationInfo info() { return Success; }
 };
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h b/eigenlib/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
index 2625c4dc..454f4681 100644
--- a/eigenlib/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
+++ b/eigenlib/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -27,7 +27,7 @@ namespace internal {
   */
 template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
 bool bicgstab(const MatrixType& mat, const Rhs& rhs, Dest& x,
-              const Preconditioner& precond, int& iters,
+              const Preconditioner& precond, Index& iters,
               typename Dest::RealScalar& tol_error)
 {
   using std::sqrt;
@@ -36,9 +36,9 @@ bool bicgstab(const MatrixType& mat, const Rhs& rhs, Dest& x,
   typedef typename Dest::Scalar Scalar;
   typedef Matrix<Scalar,Dynamic,1> VectorType;
   RealScalar tol = tol_error;
-  int maxIters = iters;
+  Index maxIters = iters;
 
-  int n = mat.cols();
+  Index n = mat.cols();
   VectorType r  = rhs - mat * x;
   VectorType r0 = r;
   
@@ -59,20 +59,21 @@ bool bicgstab(const MatrixType& mat, const Rhs& rhs, Dest& x,
 
   VectorType s(n), t(n);
 
-  RealScalar tol2 = tol*tol;
+  RealScalar tol2 = tol*tol*rhs_sqnorm;
   RealScalar eps2 = NumTraits<Scalar>::epsilon()*NumTraits<Scalar>::epsilon();
-  int i = 0;
-  int restarts = 0;
+  Index i = 0;
+  Index restarts = 0;
 
-  while ( r.squaredNorm()/rhs_sqnorm > tol2 && i<maxIters )
+  while ( r.squaredNorm() > tol2 && i<maxIters )
   {
     Scalar rho_old = rho;
 
     rho = r0.dot(r);
     if (abs(rho) < eps2*r0_sqnorm)
     {
-      // The new residual vector became too orthogonal to the arbitrarily choosen direction r0
+      // The new residual vector became too orthogonal to the arbitrarily chosen direction r0
       // Let's restart with a new r0:
+      r  = rhs - mat * x;
       r0 = r;
       rho = r0_sqnorm = r.squaredNorm();
       if(restarts++ == 0)
@@ -131,35 +132,33 @@ struct traits<BiCGSTAB<_MatrixType,_Preconditioner> >
   * \tparam _MatrixType the type of the sparse matrix A, can be a dense or a sparse matrix.
   * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner
   *
+  * \implsparsesolverconcept
+  *
   * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations()
   * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations
   * and NumTraits<Scalar>::epsilon() for the tolerance.
   * 
+  * The tolerance corresponds to the relative residual error: |Ax-b|/|b|
+  * 
+  * \b Performance: when using sparse matrices, best performance is achied for a row-major sparse matrix format.
+  * Moreover, in this case multi-threading can be exploited if the user code is compiled with OpenMP enabled.
+  * See \ref TopicMultiThreading for details.
+  * 
   * This class can be used as the direct solver classes. Here is a typical usage example:
-  * \code
-  * int n = 10000;
-  * VectorXd x(n), b(n);
-  * SparseMatrix<double> A(n,n);
-  * // fill A and b
-  * BiCGSTAB<SparseMatrix<double> > solver;
-  * solver.compute(A);
-  * x = solver.solve(b);
-  * std::cout << "#iterations:     " << solver.iterations() << std::endl;
-  * std::cout << "estimated error: " << solver.error()      << std::endl;
-  * // update b, and solve again
-  * x = solver.solve(b);
-  * \endcode
+  * \include BiCGSTAB_simple.cpp
   * 
   * By default the iterations start with x=0 as an initial guess of the solution.
   * One can control the start using the solveWithGuess() method.
   * 
+  * BiCGSTAB can also be used in a matrix-free context, see the following \link MatrixfreeSolverExample example \endlink.
+  *
   * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
   */
 template< typename _MatrixType, typename _Preconditioner>
 class BiCGSTAB : public IterativeSolverBase<BiCGSTAB<_MatrixType,_Preconditioner> >
 {
   typedef IterativeSolverBase<BiCGSTAB> Base;
-  using Base::mp_matrix;
+  using Base::matrix;
   using Base::m_error;
   using Base::m_iterations;
   using Base::m_info;
@@ -167,7 +166,6 @@ class BiCGSTAB : public IterativeSolverBase<BiCGSTAB<_MatrixType,_Preconditioner
 public:
   typedef _MatrixType MatrixType;
   typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::RealScalar RealScalar;
   typedef _Preconditioner Preconditioner;
 
@@ -186,38 +184,23 @@ public:
     * this class becomes invalid. Call compute() to update it with the new
     * matrix A, or modify a copy of A.
     */
-  BiCGSTAB(const MatrixType& A) : Base(A) {}
+  template<typename MatrixDerived>
+  explicit BiCGSTAB(const EigenBase<MatrixDerived>& A) : Base(A.derived()) {}
 
   ~BiCGSTAB() {}
-  
-  /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A
-    * \a x0 as an initial solution.
-    *
-    * \sa compute()
-    */
-  template<typename Rhs,typename Guess>
-  inline const internal::solve_retval_with_guess<BiCGSTAB, Rhs, Guess>
-  solveWithGuess(const MatrixBase<Rhs>& b, const Guess& x0) const
-  {
-    eigen_assert(m_isInitialized && "BiCGSTAB is not initialized.");
-    eigen_assert(Base::rows()==b.rows()
-              && "BiCGSTAB::solve(): invalid number of rows of the right hand side matrix b");
-    return internal::solve_retval_with_guess
-            <BiCGSTAB, Rhs, Guess>(*this, b.derived(), x0);
-  }
-  
+
   /** \internal */
   template<typename Rhs,typename Dest>
-  void _solveWithGuess(const Rhs& b, Dest& x) const
+  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
   {    
     bool failed = false;
-    for(int j=0; j<b.cols(); ++j)
+    for(Index j=0; j<b.cols(); ++j)
     {
       m_iterations = Base::maxIterations();
       m_error = Base::m_tolerance;
       
       typename Dest::ColXpr xj(x,j);
-      if(!internal::bicgstab(*mp_matrix, b.col(j), xj, Base::m_preconditioner, m_iterations, m_error))
+      if(!internal::bicgstab(matrix(), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error))
         failed = true;
     }
     m_info = failed ? NumericalIssue
@@ -227,36 +210,19 @@ public:
   }
 
   /** \internal */
+  using Base::_solve_impl;
   template<typename Rhs,typename Dest>
-  void _solve(const Rhs& b, Dest& x) const
+  void _solve_impl(const MatrixBase<Rhs>& b, Dest& x) const
   {
-//     x.setZero();
-  x = b;
-    _solveWithGuess(b,x);
+    x.resize(this->rows(),b.cols());
+    x.setZero();
+    _solve_with_guess_impl(b,x);
   }
 
 protected:
 
 };
 
-
-namespace internal {
-
-  template<typename _MatrixType, typename _Preconditioner, typename Rhs>
-struct solve_retval<BiCGSTAB<_MatrixType, _Preconditioner>, Rhs>
-  : solve_retval_base<BiCGSTAB<_MatrixType, _Preconditioner>, Rhs>
-{
-  typedef BiCGSTAB<_MatrixType, _Preconditioner> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_BICGSTAB_H
diff --git a/eigenlib/Eigen/src/IterativeLinearSolvers/CMakeLists.txt b/eigenlib/Eigen/src/IterativeLinearSolvers/CMakeLists.txt
deleted file mode 100644
index 59ccc007..00000000
--- a/eigenlib/Eigen/src/IterativeLinearSolvers/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_IterativeLinearSolvers_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_IterativeLinearSolvers_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/IterativeLinearSolvers COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h b/eigenlib/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
index 8ba4a8db..395daa8e 100644
--- a/eigenlib/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
+++ b/eigenlib/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -26,7 +26,7 @@ namespace internal {
 template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
 EIGEN_DONT_INLINE
 void conjugate_gradient(const MatrixType& mat, const Rhs& rhs, Dest& x,
-                        const Preconditioner& precond, int& iters,
+                        const Preconditioner& precond, Index& iters,
                         typename Dest::RealScalar& tol_error)
 {
   using std::sqrt;
@@ -36,9 +36,9 @@ void conjugate_gradient(const MatrixType& mat, const Rhs& rhs, Dest& x,
   typedef Matrix<Scalar,Dynamic,1> VectorType;
   
   RealScalar tol = tol_error;
-  int maxIters = iters;
+  Index maxIters = iters;
   
-  int n = mat.cols();
+  Index n = mat.cols();
 
   VectorType residual = rhs - mat * x; //initial residual
 
@@ -60,29 +60,29 @@ void conjugate_gradient(const MatrixType& mat, const Rhs& rhs, Dest& x,
   }
   
   VectorType p(n);
-  p = precond.solve(residual);      //initial search direction
+  p = precond.solve(residual);      // initial search direction
 
   VectorType z(n), tmp(n);
   RealScalar absNew = numext::real(residual.dot(p));  // the square of the absolute value of r scaled by invM
-  int i = 0;
+  Index i = 0;
   while(i < maxIters)
   {
-    tmp.noalias() = mat * p;              // the bottleneck of the algorithm
+    tmp.noalias() = mat * p;                    // the bottleneck of the algorithm
 
-    Scalar alpha = absNew / p.dot(tmp);   // the amount we travel on dir
-    x += alpha * p;                       // update solution
-    residual -= alpha * tmp;              // update residue
+    Scalar alpha = absNew / p.dot(tmp);         // the amount we travel on dir
+    x += alpha * p;                             // update solution
+    residual -= alpha * tmp;                    // update residual
     
     residualNorm2 = residual.squaredNorm();
     if(residualNorm2 < threshold)
       break;
     
-    z = precond.solve(residual);          // approximately solve for "A z = residual"
+    z = precond.solve(residual);                // approximately solve for "A z = residual"
 
     RealScalar absOld = absNew;
     absNew = numext::real(residual.dot(z));     // update the absolute value of r
-    RealScalar beta = absNew / absOld;            // calculate the Gram-Schmidt value used to create the new search direction
-    p = z + beta * p;                             // update search direction
+    RealScalar beta = absNew / absOld;          // calculate the Gram-Schmidt value used to create the new search direction
+    p = z + beta * p;                           // update search direction
     i++;
   }
   tol_error = sqrt(residualNorm2 / rhsNorm2);
@@ -107,45 +107,57 @@ struct traits<ConjugateGradient<_MatrixType,_UpLo,_Preconditioner> >
 }
 
 /** \ingroup IterativeLinearSolvers_Module
-  * \brief A conjugate gradient solver for sparse self-adjoint problems
+  * \brief A conjugate gradient solver for sparse (or dense) self-adjoint problems
   *
-  * This class allows to solve for A.x = b sparse linear problems using a conjugate gradient algorithm.
-  * The sparse matrix A must be selfadjoint. The vectors x and b can be either dense or sparse.
+  * This class allows to solve for A.x = b linear problems using an iterative conjugate gradient algorithm.
+  * The matrix A must be selfadjoint. The matrix A and the vectors x and b can be either dense or sparse.
   *
   * \tparam _MatrixType the type of the matrix A, can be a dense or a sparse matrix.
   * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower,
-  *               Upper, or Lower|Upper in which the full matrix entries will be considered. Default is Lower.
+  *               \c Upper, or \c Lower|Upper in which the full matrix entries will be considered.
+  *               Default is \c Lower, best performance is \c Lower|Upper.
   * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner
   *
+  * \implsparsesolverconcept
+  *
   * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations()
   * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations
   * and NumTraits<Scalar>::epsilon() for the tolerance.
   * 
+  * The tolerance corresponds to the relative residual error: |Ax-b|/|b|
+  * 
+  * \b Performance: Even though the default value of \c _UpLo is \c Lower, significantly higher performance is
+  * achieved when using a complete matrix and \b Lower|Upper as the \a _UpLo template parameter. Moreover, in this
+  * case multi-threading can be exploited if the user code is compiled with OpenMP enabled.
+  * See \ref TopicMultiThreading for details.
+  * 
   * This class can be used as the direct solver classes. Here is a typical usage example:
-  * \code
-  * int n = 10000;
-  * VectorXd x(n), b(n);
-  * SparseMatrix<double> A(n,n);
-  * // fill A and b
-  * ConjugateGradient<SparseMatrix<double> > cg;
-  * cg.compute(A);
-  * x = cg.solve(b);
-  * std::cout << "#iterations:     " << cg.iterations() << std::endl;
-  * std::cout << "estimated error: " << cg.error()      << std::endl;
-  * // update b, and solve again
-  * x = cg.solve(b);
-  * \endcode
+    \code
+    int n = 10000;
+    VectorXd x(n), b(n);
+    SparseMatrix<double> A(n,n);
+    // fill A and b
+    ConjugateGradient<SparseMatrix<double>, Lower|Upper> cg;
+    cg.compute(A);
+    x = cg.solve(b);
+    std::cout << "#iterations:     " << cg.iterations() << std::endl;
+    std::cout << "estimated error: " << cg.error()      << std::endl;
+    // update b, and solve again
+    x = cg.solve(b);
+    \endcode
   * 
   * By default the iterations start with x=0 as an initial guess of the solution.
   * One can control the start using the solveWithGuess() method.
   * 
-  * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
+  * ConjugateGradient can also be used in a matrix-free context, see the following \link MatrixfreeSolverExample example \endlink.
+  *
+  * \sa class LeastSquaresConjugateGradient, class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
   */
 template< typename _MatrixType, int _UpLo, typename _Preconditioner>
 class ConjugateGradient : public IterativeSolverBase<ConjugateGradient<_MatrixType,_UpLo,_Preconditioner> >
 {
   typedef IterativeSolverBase<ConjugateGradient> Base;
-  using Base::mp_matrix;
+  using Base::matrix;
   using Base::m_error;
   using Base::m_iterations;
   using Base::m_info;
@@ -153,7 +165,6 @@ class ConjugateGradient : public IterativeSolverBase<ConjugateGradient<_MatrixTy
 public:
   typedef _MatrixType MatrixType;
   typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::RealScalar RealScalar;
   typedef _Preconditioner Preconditioner;
 
@@ -176,44 +187,40 @@ public:
     * this class becomes invalid. Call compute() to update it with the new
     * matrix A, or modify a copy of A.
     */
-  ConjugateGradient(const MatrixType& A) : Base(A) {}
+  template<typename MatrixDerived>
+  explicit ConjugateGradient(const EigenBase<MatrixDerived>& A) : Base(A.derived()) {}
 
   ~ConjugateGradient() {}
-  
-  /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A
-    * \a x0 as an initial solution.
-    *
-    * \sa compute()
-    */
-  template<typename Rhs,typename Guess>
-  inline const internal::solve_retval_with_guess<ConjugateGradient, Rhs, Guess>
-  solveWithGuess(const MatrixBase<Rhs>& b, const Guess& x0) const
-  {
-    eigen_assert(m_isInitialized && "ConjugateGradient is not initialized.");
-    eigen_assert(Base::rows()==b.rows()
-              && "ConjugateGradient::solve(): invalid number of rows of the right hand side matrix b");
-    return internal::solve_retval_with_guess
-            <ConjugateGradient, Rhs, Guess>(*this, b.derived(), x0);
-  }
 
   /** \internal */
   template<typename Rhs,typename Dest>
-  void _solveWithGuess(const Rhs& b, Dest& x) const
+  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
   {
+    typedef typename Base::MatrixWrapper MatrixWrapper;
+    typedef typename Base::ActualMatrixType ActualMatrixType;
+    enum {
+      TransposeInput  =   (!MatrixWrapper::MatrixFree)
+                      &&  (UpLo==(Lower|Upper))
+                      &&  (!MatrixType::IsRowMajor)
+                      &&  (!NumTraits<Scalar>::IsComplex)
+    };
+    typedef typename internal::conditional<TransposeInput,Transpose<const ActualMatrixType>, ActualMatrixType const&>::type RowMajorWrapper;
+    EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(MatrixWrapper::MatrixFree,UpLo==(Lower|Upper)),MATRIX_FREE_CONJUGATE_GRADIENT_IS_COMPATIBLE_WITH_UPPER_UNION_LOWER_MODE_ONLY);
     typedef typename internal::conditional<UpLo==(Lower|Upper),
-                                           const MatrixType&,
-                                           SparseSelfAdjointView<const MatrixType, UpLo>
-                                          >::type MatrixWrapperType;
+                                           RowMajorWrapper,
+                                           typename MatrixWrapper::template ConstSelfAdjointViewReturnType<UpLo>::Type
+                                          >::type SelfAdjointWrapper;
     m_iterations = Base::maxIterations();
     m_error = Base::m_tolerance;
 
-    for(int j=0; j<b.cols(); ++j)
+    for(Index j=0; j<b.cols(); ++j)
     {
       m_iterations = Base::maxIterations();
       m_error = Base::m_tolerance;
 
       typename Dest::ColXpr xj(x,j);
-      internal::conjugate_gradient(MatrixWrapperType(*mp_matrix), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error);
+      RowMajorWrapper row_mat(matrix());
+      internal::conjugate_gradient(SelfAdjointWrapper(row_mat), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error);
     }
 
     m_isInitialized = true;
@@ -221,35 +228,18 @@ public:
   }
   
   /** \internal */
+  using Base::_solve_impl;
   template<typename Rhs,typename Dest>
-  void _solve(const Rhs& b, Dest& x) const
+  void _solve_impl(const MatrixBase<Rhs>& b, Dest& x) const
   {
     x.setZero();
-    _solveWithGuess(b,x);
+    _solve_with_guess_impl(b.derived(),x);
   }
 
 protected:
 
 };
 
-
-namespace internal {
-
-template<typename _MatrixType, int _UpLo, typename _Preconditioner, typename Rhs>
-struct solve_retval<ConjugateGradient<_MatrixType,_UpLo,_Preconditioner>, Rhs>
-  : solve_retval_base<ConjugateGradient<_MatrixType,_UpLo,_Preconditioner>, Rhs>
-{
-  typedef ConjugateGradient<_MatrixType,_UpLo,_Preconditioner> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_CONJUGATE_GRADIENT_H
diff --git a/eigenlib/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h b/eigenlib/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h
new file mode 100644
index 00000000..e45c272b
--- /dev/null
+++ b/eigenlib/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h
@@ -0,0 +1,400 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
+// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_INCOMPLETE_CHOlESKY_H
+#define EIGEN_INCOMPLETE_CHOlESKY_H
+
+#include <vector>
+#include <list>
+
+namespace Eigen {  
+/** 
+  * \brief Modified Incomplete Cholesky with dual threshold
+  *
+  * References : C-J. Lin and J. J. Moré, Incomplete Cholesky Factorizations with
+  *              Limited memory, SIAM J. Sci. Comput.  21(1), pp. 24-45, 1999
+  *
+  * \tparam Scalar the scalar type of the input matrices
+  * \tparam _UpLo The triangular part that will be used for the computations. It can be Lower
+    *               or Upper. Default is Lower.
+  * \tparam _OrderingType The ordering method to use, either AMDOrdering<> or NaturalOrdering<>. Default is AMDOrdering<int>,
+  *                       unless EIGEN_MPL2_ONLY is defined, in which case the default is NaturalOrdering<int>.
+  *
+  * \implsparsesolverconcept
+  *
+  * It performs the following incomplete factorization: \f$ S P A P' S \approx L L' \f$
+  * where L is a lower triangular factor, S is a diagonal scaling matrix, and P is a
+  * fill-in reducing permutation as computed by the ordering method.
+  *
+  * \b Shifting \b strategy: Let \f$ B = S P A P' S \f$  be the scaled matrix on which the factorization is carried out,
+  * and \f$ \beta \f$ be the minimum value of the diagonal. If \f$ \beta > 0 \f$ then, the factorization is directly performed
+  * on the matrix B. Otherwise, the factorization is performed on the shifted matrix \f$ B + (\sigma+|\beta| I \f$ where
+  * \f$ \sigma \f$ is the initial shift value as returned and set by setInitialShift() method. The default value is \f$ \sigma = 10^{-3} \f$.
+  * If the factorization fails, then the shift in doubled until it succeed or a maximum of ten attempts. If it still fails, as returned by
+  * the info() method, then you can either increase the initial shift, or better use another preconditioning technique.
+  *
+  */
+template <typename Scalar, int _UpLo = Lower, typename _OrderingType =
+#ifndef EIGEN_MPL2_ONLY
+AMDOrdering<int>
+#else
+NaturalOrdering<int>
+#endif
+>
+class IncompleteCholesky : public SparseSolverBase<IncompleteCholesky<Scalar,_UpLo,_OrderingType> >
+{
+  protected:
+    typedef SparseSolverBase<IncompleteCholesky<Scalar,_UpLo,_OrderingType> > Base;
+    using Base::m_isInitialized;
+  public:
+    typedef typename NumTraits<Scalar>::Real RealScalar; 
+    typedef _OrderingType OrderingType;
+    typedef typename OrderingType::PermutationType PermutationType;
+    typedef typename PermutationType::StorageIndex StorageIndex; 
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> FactorType;
+    typedef Matrix<Scalar,Dynamic,1> VectorSx;
+    typedef Matrix<RealScalar,Dynamic,1> VectorRx;
+    typedef Matrix<StorageIndex,Dynamic, 1> VectorIx;
+    typedef std::vector<std::list<StorageIndex> > VectorList; 
+    enum { UpLo = _UpLo };
+    enum {
+      ColsAtCompileTime = Dynamic,
+      MaxColsAtCompileTime = Dynamic
+    };
+  public:
+
+    /** Default constructor leaving the object in a partly non-initialized stage.
+      *
+      * You must call compute() or the pair analyzePattern()/factorize() to make it valid.
+      *
+      * \sa IncompleteCholesky(const MatrixType&)
+      */
+    IncompleteCholesky() : m_initialShift(1e-3),m_factorizationIsOk(false) {}
+    
+    /** Constructor computing the incomplete factorization for the given matrix \a matrix.
+      */
+    template<typename MatrixType>
+    IncompleteCholesky(const MatrixType& matrix) : m_initialShift(1e-3),m_factorizationIsOk(false)
+    {
+      compute(matrix);
+    }
+    
+    /** \returns number of rows of the factored matrix */
+    Index rows() const { return m_L.rows(); }
+    
+    /** \returns number of columns of the factored matrix */
+    Index cols() const { return m_L.cols(); }
+    
+
+    /** \brief Reports whether previous computation was successful.
+      *
+      * It triggers an assertion if \c *this has not been initialized through the respective constructor,
+      * or a call to compute() or analyzePattern().
+      *
+      * \returns \c Success if computation was successful,
+      *          \c NumericalIssue if the matrix appears to be negative.
+      */
+    ComputationInfo info() const
+    {
+      eigen_assert(m_isInitialized && "IncompleteCholesky is not initialized.");
+      return m_info;
+    }
+    
+    /** \brief Set the initial shift parameter \f$ \sigma \f$.
+      */
+    void setInitialShift(RealScalar shift) { m_initialShift = shift; }
+    
+    /** \brief Computes the fill reducing permutation vector using the sparsity pattern of \a mat
+      */
+    template<typename MatrixType>
+    void analyzePattern(const MatrixType& mat)
+    {
+      OrderingType ord; 
+      PermutationType pinv;
+      ord(mat.template selfadjointView<UpLo>(), pinv); 
+      if(pinv.size()>0) m_perm = pinv.inverse();
+      else              m_perm.resize(0);
+      m_L.resize(mat.rows(), mat.cols());
+      m_analysisIsOk = true;
+      m_isInitialized = true;
+      m_info = Success;
+    }
+    
+    /** \brief Performs the numerical factorization of the input matrix \a mat
+      *
+      * The method analyzePattern() or compute() must have been called beforehand
+      * with a matrix having the same pattern.
+      *
+      * \sa compute(), analyzePattern()
+      */
+    template<typename MatrixType>
+    void factorize(const MatrixType& mat);
+    
+    /** Computes or re-computes the incomplete Cholesky factorization of the input matrix \a mat
+      *
+      * It is a shortcut for a sequential call to the analyzePattern() and factorize() methods.
+      *
+      * \sa analyzePattern(), factorize()
+      */
+    template<typename MatrixType>
+    void compute(const MatrixType& mat)
+    {
+      analyzePattern(mat);
+      factorize(mat);
+    }
+    
+    // internal
+    template<typename Rhs, typename Dest>
+    void _solve_impl(const Rhs& b, Dest& x) const
+    {
+      eigen_assert(m_factorizationIsOk && "factorize() should be called first");
+      if (m_perm.rows() == b.rows())  x = m_perm * b;
+      else                            x = b;
+      x = m_scale.asDiagonal() * x;
+      x = m_L.template triangularView<Lower>().solve(x);
+      x = m_L.adjoint().template triangularView<Upper>().solve(x);
+      x = m_scale.asDiagonal() * x;
+      if (m_perm.rows() == b.rows())
+        x = m_perm.inverse() * x;
+    }
+
+    /** \returns the sparse lower triangular factor L */
+    const FactorType& matrixL() const { eigen_assert("m_factorizationIsOk"); return m_L; }
+
+    /** \returns a vector representing the scaling factor S */
+    const VectorRx& scalingS() const { eigen_assert("m_factorizationIsOk"); return m_scale; }
+
+    /** \returns the fill-in reducing permutation P (can be empty for a natural ordering) */
+    const PermutationType& permutationP() const { eigen_assert("m_analysisIsOk"); return m_perm; }
+
+  protected:
+    FactorType m_L;              // The lower part stored in CSC
+    VectorRx m_scale;            // The vector for scaling the matrix 
+    RealScalar m_initialShift;   // The initial shift parameter
+    bool m_analysisIsOk; 
+    bool m_factorizationIsOk; 
+    ComputationInfo m_info;
+    PermutationType m_perm; 
+
+  private:
+    inline void updateList(Ref<const VectorIx> colPtr, Ref<VectorIx> rowIdx, Ref<VectorSx> vals, const Index& col, const Index& jk, VectorIx& firstElt, VectorList& listCol); 
+}; 
+
+// Based on the following paper:
+//   C-J. Lin and J. J. Moré, Incomplete Cholesky Factorizations with
+//   Limited memory, SIAM J. Sci. Comput.  21(1), pp. 24-45, 1999
+//   http://ftp.mcs.anl.gov/pub/tech_reports/reports/P682.pdf
+template<typename Scalar, int _UpLo, typename OrderingType>
+template<typename _MatrixType>
+void IncompleteCholesky<Scalar,_UpLo, OrderingType>::factorize(const _MatrixType& mat)
+{
+  using std::sqrt;
+  eigen_assert(m_analysisIsOk && "analyzePattern() should be called first"); 
+    
+  // Dropping strategy : Keep only the p largest elements per column, where p is the number of elements in the column of the original matrix. Other strategies will be added
+  
+  // Apply the fill-reducing permutation computed in analyzePattern()
+  if (m_perm.rows() == mat.rows() ) // To detect the null permutation
+  {
+    // The temporary is needed to make sure that the diagonal entry is properly sorted
+    FactorType tmp(mat.rows(), mat.cols());
+    tmp = mat.template selfadjointView<_UpLo>().twistedBy(m_perm);
+    m_L.template selfadjointView<Lower>() = tmp.template selfadjointView<Lower>();
+  }
+  else
+  {
+    m_L.template selfadjointView<Lower>() = mat.template selfadjointView<_UpLo>();
+  }
+  
+  Index n = m_L.cols(); 
+  Index nnz = m_L.nonZeros();
+  Map<VectorSx> vals(m_L.valuePtr(), nnz);         //values
+  Map<VectorIx> rowIdx(m_L.innerIndexPtr(), nnz);  //Row indices
+  Map<VectorIx> colPtr( m_L.outerIndexPtr(), n+1); // Pointer to the beginning of each row
+  VectorIx firstElt(n-1); // for each j, points to the next entry in vals that will be used in the factorization
+  VectorList listCol(n);  // listCol(j) is a linked list of columns to update column j
+  VectorSx col_vals(n);   // Store a  nonzero values in each column
+  VectorIx col_irow(n);   // Row indices of nonzero elements in each column
+  VectorIx col_pattern(n);
+  col_pattern.fill(-1);
+  StorageIndex col_nnz;
+  
+  
+  // Computes the scaling factors 
+  m_scale.resize(n);
+  m_scale.setZero();
+  for (Index j = 0; j < n; j++)
+    for (Index k = colPtr[j]; k < colPtr[j+1]; k++)
+    {
+      m_scale(j) += numext::abs2(vals(k));
+      if(rowIdx[k]!=j)
+        m_scale(rowIdx[k]) += numext::abs2(vals(k));
+    }
+  
+  m_scale = m_scale.cwiseSqrt().cwiseSqrt();
+
+  for (Index j = 0; j < n; ++j)
+    if(m_scale(j)>(std::numeric_limits<RealScalar>::min)())
+      m_scale(j) = RealScalar(1)/m_scale(j);
+    else
+      m_scale(j) = 1;
+
+  // TODO disable scaling if not needed, i.e., if it is roughly uniform? (this will make solve() faster)
+  
+  // Scale and compute the shift for the matrix 
+  RealScalar mindiag = NumTraits<RealScalar>::highest();
+  for (Index j = 0; j < n; j++)
+  {
+    for (Index k = colPtr[j]; k < colPtr[j+1]; k++)
+      vals[k] *= (m_scale(j)*m_scale(rowIdx[k]));
+    eigen_internal_assert(rowIdx[colPtr[j]]==j && "IncompleteCholesky: only the lower triangular part must be stored");
+    mindiag = numext::mini(numext::real(vals[colPtr[j]]), mindiag);
+  }
+
+  FactorType L_save = m_L;
+  
+  RealScalar shift = 0;
+  if(mindiag <= RealScalar(0.))
+    shift = m_initialShift - mindiag;
+
+  m_info = NumericalIssue;
+
+  // Try to perform the incomplete factorization using the current shift
+  int iter = 0;
+  do
+  {
+    // Apply the shift to the diagonal elements of the matrix
+    for (Index j = 0; j < n; j++)
+      vals[colPtr[j]] += shift;
+
+    // jki version of the Cholesky factorization
+    Index j=0;
+    for (; j < n; ++j)
+    {
+      // Left-looking factorization of the j-th column
+      // First, load the j-th column into col_vals
+      Scalar diag = vals[colPtr[j]];  // It is assumed that only the lower part is stored
+      col_nnz = 0;
+      for (Index i = colPtr[j] + 1; i < colPtr[j+1]; i++)
+      {
+        StorageIndex l = rowIdx[i];
+        col_vals(col_nnz) = vals[i];
+        col_irow(col_nnz) = l;
+        col_pattern(l) = col_nnz;
+        col_nnz++;
+      }
+      {
+        typename std::list<StorageIndex>::iterator k;
+        // Browse all previous columns that will update column j
+        for(k = listCol[j].begin(); k != listCol[j].end(); k++)
+        {
+          Index jk = firstElt(*k); // First element to use in the column
+          eigen_internal_assert(rowIdx[jk]==j);
+          Scalar v_j_jk = numext::conj(vals[jk]);
+
+          jk += 1;
+          for (Index i = jk; i < colPtr[*k+1]; i++)
+          {
+            StorageIndex l = rowIdx[i];
+            if(col_pattern[l]<0)
+            {
+              col_vals(col_nnz) = vals[i] * v_j_jk;
+              col_irow[col_nnz] = l;
+              col_pattern(l) = col_nnz;
+              col_nnz++;
+            }
+            else
+              col_vals(col_pattern[l]) -= vals[i] * v_j_jk;
+          }
+          updateList(colPtr,rowIdx,vals, *k, jk, firstElt, listCol);
+        }
+      }
+
+      // Scale the current column
+      if(numext::real(diag) <= 0)
+      {
+        if(++iter>=10)
+          return;
+
+        // increase shift
+        shift = numext::maxi(m_initialShift,RealScalar(2)*shift);
+        // restore m_L, col_pattern, and listCol
+        vals = Map<const VectorSx>(L_save.valuePtr(), nnz);
+        rowIdx = Map<const VectorIx>(L_save.innerIndexPtr(), nnz);
+        colPtr = Map<const VectorIx>(L_save.outerIndexPtr(), n+1);
+        col_pattern.fill(-1);
+        for(Index i=0; i<n; ++i)
+          listCol[i].clear();
+
+        break;
+      }
+
+      RealScalar rdiag = sqrt(numext::real(diag));
+      vals[colPtr[j]] = rdiag;
+      for (Index k = 0; k<col_nnz; ++k)
+      {
+        Index i = col_irow[k];
+        //Scale
+        col_vals(k) /= rdiag;
+        //Update the remaining diagonals with col_vals
+        vals[colPtr[i]] -= numext::abs2(col_vals(k));
+      }
+      // Select the largest p elements
+      // p is the original number of elements in the column (without the diagonal)
+      Index p = colPtr[j+1] - colPtr[j] - 1 ;
+      Ref<VectorSx> cvals = col_vals.head(col_nnz);
+      Ref<VectorIx> cirow = col_irow.head(col_nnz);
+      internal::QuickSplit(cvals,cirow, p);
+      // Insert the largest p elements in the matrix
+      Index cpt = 0;
+      for (Index i = colPtr[j]+1; i < colPtr[j+1]; i++)
+      {
+        vals[i] = col_vals(cpt);
+        rowIdx[i] = col_irow(cpt);
+        // restore col_pattern:
+        col_pattern(col_irow(cpt)) = -1;
+        cpt++;
+      }
+      // Get the first smallest row index and put it after the diagonal element
+      Index jk = colPtr(j)+1;
+      updateList(colPtr,rowIdx,vals,j,jk,firstElt,listCol);
+    }
+
+    if(j==n)
+    {
+      m_factorizationIsOk = true;
+      m_info = Success;
+    }
+  } while(m_info!=Success);
+}
+
+template<typename Scalar, int _UpLo, typename OrderingType>
+inline void IncompleteCholesky<Scalar,_UpLo, OrderingType>::updateList(Ref<const VectorIx> colPtr, Ref<VectorIx> rowIdx, Ref<VectorSx> vals, const Index& col, const Index& jk, VectorIx& firstElt, VectorList& listCol)
+{
+  if (jk < colPtr(col+1) )
+  {
+    Index p = colPtr(col+1) - jk;
+    Index minpos; 
+    rowIdx.segment(jk,p).minCoeff(&minpos);
+    minpos += jk;
+    if (rowIdx(minpos) != rowIdx(jk))
+    {
+      //Swap
+      std::swap(rowIdx(jk),rowIdx(minpos));
+      std::swap(vals(jk),vals(minpos));
+    }
+    firstElt(col) = internal::convert_index<StorageIndex,Index>(jk);
+    listCol[rowIdx(jk)].push_back(internal::convert_index<StorageIndex,Index>(col));
+  }
+}
+
+} // end namespace Eigen 
+
+#endif
diff --git a/eigenlib/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h b/eigenlib/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
index 4c169aa6..338e6f10 100644
--- a/eigenlib/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
+++ b/eigenlib/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -24,7 +25,7 @@ namespace internal {
   * \param ind The array of index for the elements in @p row
   * \param ncut  The number of largest elements to keep
   **/ 
-template <typename VectorV, typename VectorI, typename Index>
+template <typename VectorV, typename VectorI>
 Index QuickSplit(VectorV &row, VectorI &ind, Index ncut)
 {
   typedef typename VectorV::RealScalar RealScalar;
@@ -66,6 +67,8 @@ Index QuickSplit(VectorV &row, VectorI &ind, Index ncut)
   * \class IncompleteLUT
   * \brief Incomplete LU factorization with dual-threshold strategy
   *
+  * \implsparsesolverconcept
+  *
   * During the numerical factorization, two dropping rules are used :
   *  1) any element whose magnitude is less than some tolerance is dropped.
   *    This tolerance is obtained by multiplying the input tolerance @p droptol 
@@ -92,28 +95,36 @@ Index QuickSplit(VectorV &row, VectorI &ind, Index ncut)
   * alternatively, on GMANE:
   *   http://comments.gmane.org/gmane.comp.lib.eigen/3302
   */
-template <typename _Scalar>
-class IncompleteLUT : internal::noncopyable
+template <typename _Scalar, typename _StorageIndex = int>
+class IncompleteLUT : public SparseSolverBase<IncompleteLUT<_Scalar, _StorageIndex> >
 {
+  protected:
+    typedef SparseSolverBase<IncompleteLUT> Base;
+    using Base::m_isInitialized;
+  public:
     typedef _Scalar Scalar;
+    typedef _StorageIndex StorageIndex;
     typedef typename NumTraits<Scalar>::Real RealScalar;
     typedef Matrix<Scalar,Dynamic,1> Vector;
-    typedef SparseMatrix<Scalar,RowMajor> FactorType;
-    typedef SparseMatrix<Scalar,ColMajor> PermutType;
-    typedef typename FactorType::Index Index;
+    typedef Matrix<StorageIndex,Dynamic,1> VectorI;
+    typedef SparseMatrix<Scalar,RowMajor,StorageIndex> FactorType;
+
+    enum {
+      ColsAtCompileTime = Dynamic,
+      MaxColsAtCompileTime = Dynamic
+    };
 
   public:
-    typedef Matrix<Scalar,Dynamic,Dynamic> MatrixType;
     
     IncompleteLUT()
       : m_droptol(NumTraits<Scalar>::dummy_precision()), m_fillfactor(10),
-        m_analysisIsOk(false), m_factorizationIsOk(false), m_isInitialized(false)
+        m_analysisIsOk(false), m_factorizationIsOk(false)
     {}
     
     template<typename MatrixType>
-    IncompleteLUT(const MatrixType& mat, const RealScalar& droptol=NumTraits<Scalar>::dummy_precision(), int fillfactor = 10)
+    explicit IncompleteLUT(const MatrixType& mat, const RealScalar& droptol=NumTraits<Scalar>::dummy_precision(), int fillfactor = 10)
       : m_droptol(droptol),m_fillfactor(fillfactor),
-        m_analysisIsOk(false),m_factorizationIsOk(false),m_isInitialized(false)
+        m_analysisIsOk(false),m_factorizationIsOk(false)
     {
       eigen_assert(fillfactor != 0);
       compute(mat); 
@@ -146,7 +157,7 @@ class IncompleteLUT : internal::noncopyable
       * 
       **/
     template<typename MatrixType>
-    IncompleteLUT<Scalar>& compute(const MatrixType& amat)
+    IncompleteLUT& compute(const MatrixType& amat)
     {
       analyzePattern(amat); 
       factorize(amat);
@@ -157,23 +168,14 @@ class IncompleteLUT : internal::noncopyable
     void setFillfactor(int fillfactor); 
     
     template<typename Rhs, typename Dest>
-    void _solve(const Rhs& b, Dest& x) const
+    void _solve_impl(const Rhs& b, Dest& x) const
     {
-      x = m_Pinv * b;  
+      x = m_Pinv * b;
       x = m_lu.template triangularView<UnitLower>().solve(x);
       x = m_lu.template triangularView<Upper>().solve(x);
       x = m_P * x; 
     }
 
-    template<typename Rhs> inline const internal::solve_retval<IncompleteLUT, Rhs>
-     solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "IncompleteLUT is not initialized.");
-      eigen_assert(cols()==b.rows()
-                && "IncompleteLUT::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<IncompleteLUT, Rhs>(*this, b.derived());
-    }
-
 protected:
 
     /** keeps off-diagonal entries; drops diagonal entries */
@@ -191,18 +193,17 @@ protected:
     int m_fillfactor;
     bool m_analysisIsOk;
     bool m_factorizationIsOk;
-    bool m_isInitialized;
     ComputationInfo m_info;
-    PermutationMatrix<Dynamic,Dynamic,Index> m_P;     // Fill-reducing permutation
-    PermutationMatrix<Dynamic,Dynamic,Index> m_Pinv;  // Inverse permutation
+    PermutationMatrix<Dynamic,Dynamic,StorageIndex> m_P;     // Fill-reducing permutation
+    PermutationMatrix<Dynamic,Dynamic,StorageIndex> m_Pinv;  // Inverse permutation
 };
 
 /**
  * Set control parameter droptol
  *  \param droptol   Drop any element whose magnitude is less than this tolerance 
  **/ 
-template<typename Scalar>
-void IncompleteLUT<Scalar>::setDroptol(const RealScalar& droptol)
+template<typename Scalar, typename StorageIndex>
+void IncompleteLUT<Scalar,StorageIndex>::setDroptol(const RealScalar& droptol)
 {
   this->m_droptol = droptol;   
 }
@@ -211,52 +212,62 @@ void IncompleteLUT<Scalar>::setDroptol(const RealScalar& droptol)
  * Set control parameter fillfactor
  * \param fillfactor  This is used to compute the  number @p fill_in of largest elements to keep on each row. 
  **/ 
-template<typename Scalar>
-void IncompleteLUT<Scalar>::setFillfactor(int fillfactor)
+template<typename Scalar, typename StorageIndex>
+void IncompleteLUT<Scalar,StorageIndex>::setFillfactor(int fillfactor)
 {
   this->m_fillfactor = fillfactor;   
 }
 
-template <typename Scalar>
+template <typename Scalar, typename StorageIndex>
 template<typename _MatrixType>
-void IncompleteLUT<Scalar>::analyzePattern(const _MatrixType& amat)
+void IncompleteLUT<Scalar,StorageIndex>::analyzePattern(const _MatrixType& amat)
 {
   // Compute the Fill-reducing permutation
-  SparseMatrix<Scalar,ColMajor, Index> mat1 = amat;
-  SparseMatrix<Scalar,ColMajor, Index> mat2 = amat.transpose();
-  // Symmetrize the pattern
+  // Since ILUT does not perform any numerical pivoting,
+  // it is highly preferable to keep the diagonal through symmetric permutations.
+#ifndef EIGEN_MPL2_ONLY
+  // To this end, let's symmetrize the pattern and perform AMD on it.
+  SparseMatrix<Scalar,ColMajor, StorageIndex> mat1 = amat;
+  SparseMatrix<Scalar,ColMajor, StorageIndex> mat2 = amat.transpose();
   // FIXME for a matrix with nearly symmetric pattern, mat2+mat1 is the appropriate choice.
   //       on the other hand for a really non-symmetric pattern, mat2*mat1 should be prefered...
-  SparseMatrix<Scalar,ColMajor, Index> AtA = mat2 + mat1;
-  AtA.prune(keep_diag());
-  internal::minimum_degree_ordering<Scalar, Index>(AtA, m_P);  // Then compute the AMD ordering...
-
-  m_Pinv  = m_P.inverse(); // ... and the inverse permutation
+  SparseMatrix<Scalar,ColMajor, StorageIndex> AtA = mat2 + mat1;
+  AMDOrdering<StorageIndex> ordering;
+  ordering(AtA,m_P);
+  m_Pinv  = m_P.inverse(); // cache the inverse permutation
+#else
+  // If AMD is not available, (MPL2-only), then let's use the slower COLAMD routine.
+  SparseMatrix<Scalar,ColMajor, StorageIndex> mat1 = amat;
+  COLAMDOrdering<StorageIndex> ordering;
+  ordering(mat1,m_Pinv);
+  m_P = m_Pinv.inverse();
+#endif
 
   m_analysisIsOk = true;
   m_factorizationIsOk = false;
-  m_isInitialized = false;
+  m_isInitialized = true;
 }
 
-template <typename Scalar>
+template <typename Scalar, typename StorageIndex>
 template<typename _MatrixType>
-void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
+void IncompleteLUT<Scalar,StorageIndex>::factorize(const _MatrixType& amat)
 {
   using std::sqrt;
   using std::swap;
   using std::abs;
+  using internal::convert_index;
 
   eigen_assert((amat.rows() == amat.cols()) && "The factorization should be done on a square matrix");
   Index n = amat.cols();  // Size of the matrix
   m_lu.resize(n,n);
   // Declare Working vectors and variables
   Vector u(n) ;     // real values of the row -- maximum size is n --
-  VectorXi ju(n);   // column position of the values in u -- maximum size  is n
-  VectorXi jr(n);   // Indicate the position of the nonzero elements in the vector u -- A zero location is indicated by -1
+  VectorI ju(n);   // column position of the values in u -- maximum size  is n
+  VectorI jr(n);   // Indicate the position of the nonzero elements in the vector u -- A zero location is indicated by -1
 
   // Apply the fill-reducing permutation
   eigen_assert(m_analysisIsOk && "You must first call analyzePattern()");
-  SparseMatrix<Scalar,RowMajor, Index> mat;
+  SparseMatrix<Scalar,RowMajor, StorageIndex> mat;
   mat = amat.twistedBy(m_Pinv);
 
   // Initialization
@@ -265,7 +276,7 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
   u.fill(0);
 
   // number of largest elements to keep in each row:
-  Index fill_in =   static_cast<Index> (amat.nonZeros()*m_fillfactor)/n+1;
+  Index fill_in = (amat.nonZeros()*m_fillfactor)/n + 1;
   if (fill_in > n) fill_in = n;
 
   // number of largest nonzero elements to keep in the L and the U part of the current row:
@@ -280,9 +291,9 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
 
     Index sizeu = 1; // number of nonzero elements in the upper part of the current row
     Index sizel = 0; // number of nonzero elements in the lower part of the current row
-    ju(ii)    = ii;
+    ju(ii)    = convert_index<StorageIndex>(ii);
     u(ii)     = 0;
-    jr(ii)    = ii;
+    jr(ii)    = convert_index<StorageIndex>(ii);
     RealScalar rownorm = 0;
 
     typename FactorType::InnerIterator j_it(mat, ii); // Iterate through the current row ii
@@ -292,9 +303,9 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
       if (k < ii)
       {
         // copy the lower part
-        ju(sizel) = k;
+        ju(sizel) = convert_index<StorageIndex>(k);
         u(sizel) = j_it.value();
-        jr(k) = sizel;
+        jr(k) = convert_index<StorageIndex>(sizel);
         ++sizel;
       }
       else if (k == ii)
@@ -305,9 +316,9 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
       {
         // copy the upper part
         Index jpos = ii + sizeu;
-        ju(jpos) = k;
+        ju(jpos) = convert_index<StorageIndex>(k);
         u(jpos) = j_it.value();
-        jr(k) = jpos;
+        jr(k) = convert_index<StorageIndex>(jpos);
         ++sizeu;
       }
       rownorm += numext::abs2(j_it.value());
@@ -337,7 +348,8 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
         // swap the two locations
         Index j = ju(jj);
         swap(ju(jj), ju(k));
-        jr(minrow) = jj;   jr(j) = k;
+        jr(minrow) = convert_index<StorageIndex>(jj);
+        jr(j) = convert_index<StorageIndex>(k);
         swap(u(jj), u(k));
       }
       // Reset this location
@@ -361,8 +373,8 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
       for (; ki_it; ++ki_it)
       {
         Scalar prod = fact * ki_it.value();
-        Index j       = ki_it.index();
-        Index jpos    = jr(j);
+        Index j     = ki_it.index();
+        Index jpos  = jr(j);
         if (jpos == -1) // fill-in element
         {
           Index newpos;
@@ -378,16 +390,16 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
             sizel++;
             eigen_internal_assert(sizel<=ii);
           }
-          ju(newpos) = j;
+          ju(newpos) = convert_index<StorageIndex>(j);
           u(newpos) = -prod;
-          jr(j) = newpos;
+          jr(j) = convert_index<StorageIndex>(newpos);
         }
         else
           u(jpos) -= prod;
       }
       // store the pivot element
-      u(len) = fact;
-      ju(len) = minrow;
+      u(len)  = fact;
+      ju(len) = convert_index<StorageIndex>(minrow);
       ++len;
 
       jj++;
@@ -402,7 +414,7 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
     sizel = len;
     len = (std::min)(sizel, nnzL);
     typename Vector::SegmentReturnType ul(u.segment(0, sizel));
-    typename VectorXi::SegmentReturnType jul(ju.segment(0, sizel));
+    typename VectorI::SegmentReturnType jul(ju.segment(0, sizel));
     internal::QuickSplit(ul, jul, len);
 
     // store the largest m_fill elements of the L part
@@ -431,39 +443,20 @@ void IncompleteLUT<Scalar>::factorize(const _MatrixType& amat)
     sizeu = len + 1; // +1 to take into account the diagonal element
     len = (std::min)(sizeu, nnzU);
     typename Vector::SegmentReturnType uu(u.segment(ii+1, sizeu-1));
-    typename VectorXi::SegmentReturnType juu(ju.segment(ii+1, sizeu-1));
+    typename VectorI::SegmentReturnType juu(ju.segment(ii+1, sizeu-1));
     internal::QuickSplit(uu, juu, len);
 
     // store the largest elements of the U part
     for(Index k = ii + 1; k < ii + len; k++)
       m_lu.insertBackByOuterInnerUnordered(ii,ju(k)) = u(k);
   }
-
   m_lu.finalize();
   m_lu.makeCompressed();
 
   m_factorizationIsOk = true;
-  m_isInitialized = m_factorizationIsOk;
   m_info = Success;
 }
 
-namespace internal {
-
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<IncompleteLUT<_MatrixType>, Rhs>
-  : solve_retval_base<IncompleteLUT<_MatrixType>, Rhs>
-{
-  typedef IncompleteLUT<_MatrixType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_INCOMPLETE_LUT_H
diff --git a/eigenlib/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h b/eigenlib/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
index 2036922d..7c2326eb 100644
--- a/eigenlib/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
+++ b/eigenlib/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -12,29 +12,158 @@
 
 namespace Eigen { 
 
+namespace internal {
+
+template<typename MatrixType>
+struct is_ref_compatible_impl
+{
+private:
+  template <typename T0>
+  struct any_conversion
+  {
+    template <typename T> any_conversion(const volatile T&);
+    template <typename T> any_conversion(T&);
+  };
+  struct yes {int a[1];};
+  struct no  {int a[2];};
+
+  template<typename T>
+  static yes test(const Ref<const T>&, int);
+  template<typename T>
+  static no  test(any_conversion<T>, ...);
+
+public:
+  static MatrixType ms_from;
+  enum { value = sizeof(test<MatrixType>(ms_from, 0))==sizeof(yes) };
+};
+
+template<typename MatrixType>
+struct is_ref_compatible
+{
+  enum { value = is_ref_compatible_impl<typename remove_all<MatrixType>::type>::value };
+};
+
+template<typename MatrixType, bool MatrixFree = !internal::is_ref_compatible<MatrixType>::value>
+class generic_matrix_wrapper;
+
+// We have an explicit matrix at hand, compatible with Ref<>
+template<typename MatrixType>
+class generic_matrix_wrapper<MatrixType,false>
+{
+public:
+  typedef Ref<const MatrixType> ActualMatrixType;
+  template<int UpLo> struct ConstSelfAdjointViewReturnType {
+    typedef typename ActualMatrixType::template ConstSelfAdjointViewReturnType<UpLo>::Type Type;
+  };
+
+  enum {
+    MatrixFree = false
+  };
+
+  generic_matrix_wrapper()
+    : m_dummy(0,0), m_matrix(m_dummy)
+  {}
+
+  template<typename InputType>
+  generic_matrix_wrapper(const InputType &mat)
+    : m_matrix(mat)
+  {}
+
+  const ActualMatrixType& matrix() const
+  {
+    return m_matrix;
+  }
+
+  template<typename MatrixDerived>
+  void grab(const EigenBase<MatrixDerived> &mat)
+  {
+    m_matrix.~Ref<const MatrixType>();
+    ::new (&m_matrix) Ref<const MatrixType>(mat.derived());
+  }
+
+  void grab(const Ref<const MatrixType> &mat)
+  {
+    if(&(mat.derived()) != &m_matrix)
+    {
+      m_matrix.~Ref<const MatrixType>();
+      ::new (&m_matrix) Ref<const MatrixType>(mat);
+    }
+  }
+
+protected:
+  MatrixType m_dummy; // used to default initialize the Ref<> object
+  ActualMatrixType m_matrix;
+};
+
+// MatrixType is not compatible with Ref<> -> matrix-free wrapper
+template<typename MatrixType>
+class generic_matrix_wrapper<MatrixType,true>
+{
+public:
+  typedef MatrixType ActualMatrixType;
+  template<int UpLo> struct ConstSelfAdjointViewReturnType
+  {
+    typedef ActualMatrixType Type;
+  };
+
+  enum {
+    MatrixFree = true
+  };
+
+  generic_matrix_wrapper()
+    : mp_matrix(0)
+  {}
+
+  generic_matrix_wrapper(const MatrixType &mat)
+    : mp_matrix(&mat)
+  {}
+
+  const ActualMatrixType& matrix() const
+  {
+    return *mp_matrix;
+  }
+
+  void grab(const MatrixType &mat)
+  {
+    mp_matrix = &mat;
+  }
+
+protected:
+  const ActualMatrixType *mp_matrix;
+};
+
+}
+
 /** \ingroup IterativeLinearSolvers_Module
   * \brief Base class for linear iterative solvers
   *
   * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
   */
 template< typename Derived>
-class IterativeSolverBase : internal::noncopyable
+class IterativeSolverBase : public SparseSolverBase<Derived>
 {
+protected:
+  typedef SparseSolverBase<Derived> Base;
+  using Base::m_isInitialized;
+  
 public:
   typedef typename internal::traits<Derived>::MatrixType MatrixType;
   typedef typename internal::traits<Derived>::Preconditioner Preconditioner;
   typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::StorageIndex StorageIndex;
   typedef typename MatrixType::RealScalar RealScalar;
 
+  enum {
+    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+  };
+
 public:
 
-  Derived& derived() { return *static_cast<Derived*>(this); }
-  const Derived& derived() const { return *static_cast<const Derived*>(this); }
+  using Base::derived;
 
   /** Default constructor. */
   IterativeSolverBase()
-    : mp_matrix(0)
   {
     init();
   }
@@ -49,77 +178,90 @@ public:
     * this class becomes invalid. Call compute() to update it with the new
     * matrix A, or modify a copy of A.
     */
-  IterativeSolverBase(const MatrixType& A)
+  template<typename MatrixDerived>
+  explicit IterativeSolverBase(const EigenBase<MatrixDerived>& A)
+    : m_matrixWrapper(A.derived())
   {
     init();
-    compute(A);
+    compute(matrix());
   }
 
   ~IterativeSolverBase() {}
   
-  /** Initializes the iterative solver for the sparcity pattern of the matrix \a A for further solving \c Ax=b problems.
+  /** Initializes the iterative solver for the sparsity pattern of the matrix \a A for further solving \c Ax=b problems.
     *
-    * Currently, this function mostly call analyzePattern on the preconditioner. In the future
-    * we might, for instance, implement column reodering for faster matrix vector products.
+    * Currently, this function mostly calls analyzePattern on the preconditioner. In the future
+    * we might, for instance, implement column reordering for faster matrix vector products.
     */
-  Derived& analyzePattern(const MatrixType& A)
+  template<typename MatrixDerived>
+  Derived& analyzePattern(const EigenBase<MatrixDerived>& A)
   {
-    m_preconditioner.analyzePattern(A);
+    grab(A.derived());
+    m_preconditioner.analyzePattern(matrix());
     m_isInitialized = true;
     m_analysisIsOk = true;
-    m_info = Success;
+    m_info = m_preconditioner.info();
     return derived();
   }
   
   /** Initializes the iterative solver with the numerical values of the matrix \a A for further solving \c Ax=b problems.
     *
-    * Currently, this function mostly call factorize on the preconditioner.
+    * Currently, this function mostly calls factorize on the preconditioner.
     *
     * \warning this class stores a reference to the matrix A as well as some
     * precomputed values that depend on it. Therefore, if \a A is changed
     * this class becomes invalid. Call compute() to update it with the new
     * matrix A, or modify a copy of A.
     */
-  Derived& factorize(const MatrixType& A)
+  template<typename MatrixDerived>
+  Derived& factorize(const EigenBase<MatrixDerived>& A)
   {
     eigen_assert(m_analysisIsOk && "You must first call analyzePattern()"); 
-    mp_matrix = &A;
-    m_preconditioner.factorize(A);
+    grab(A.derived());
+    m_preconditioner.factorize(matrix());
     m_factorizationIsOk = true;
-    m_info = Success;
+    m_info = m_preconditioner.info();
     return derived();
   }
 
   /** Initializes the iterative solver with the matrix \a A for further solving \c Ax=b problems.
     *
-    * Currently, this function mostly initialized/compute the preconditioner. In the future
-    * we might, for instance, implement column reodering for faster matrix vector products.
+    * Currently, this function mostly initializes/computes the preconditioner. In the future
+    * we might, for instance, implement column reordering for faster matrix vector products.
     *
     * \warning this class stores a reference to the matrix A as well as some
     * precomputed values that depend on it. Therefore, if \a A is changed
     * this class becomes invalid. Call compute() to update it with the new
     * matrix A, or modify a copy of A.
     */
-  Derived& compute(const MatrixType& A)
+  template<typename MatrixDerived>
+  Derived& compute(const EigenBase<MatrixDerived>& A)
   {
-    mp_matrix = &A;
-    m_preconditioner.compute(A);
+    grab(A.derived());
+    m_preconditioner.compute(matrix());
     m_isInitialized = true;
     m_analysisIsOk = true;
     m_factorizationIsOk = true;
-    m_info = Success;
+    m_info = m_preconditioner.info();
     return derived();
   }
 
   /** \internal */
-  Index rows() const { return mp_matrix ? mp_matrix->rows() : 0; }
-  /** \internal */
-  Index cols() const { return mp_matrix ? mp_matrix->cols() : 0; }
+  Index rows() const { return matrix().rows(); }
 
-  /** \returns the tolerance threshold used by the stopping criteria */
+  /** \internal */
+  Index cols() const { return matrix().cols(); }
+
+  /** \returns the tolerance threshold used by the stopping criteria.
+    * \sa setTolerance()
+    */
   RealScalar tolerance() const { return m_tolerance; }
   
-  /** Sets the tolerance threshold used by the stopping criteria */
+  /** Sets the tolerance threshold used by the stopping criteria.
+    *
+    * This value is used as an upper bound to the relative residual error: |Ax-b|/|b|.
+    * The default value is the machine precision given by NumTraits<Scalar>::epsilon()
+    */
   Derived& setTolerance(const RealScalar& tolerance)
   {
     m_tolerance = tolerance;
@@ -132,58 +274,52 @@ public:
   /** \returns a read-only reference to the preconditioner. */
   const Preconditioner& preconditioner() const { return m_preconditioner; }
 
-  /** \returns the max number of iterations */
-  int maxIterations() const
+  /** \returns the max number of iterations.
+    * It is either the value setted by setMaxIterations or, by default,
+    * twice the number of columns of the matrix.
+    */
+  Index maxIterations() const
   {
-    return (mp_matrix && m_maxIterations<0) ? mp_matrix->cols() : m_maxIterations;
+    return (m_maxIterations<0) ? 2*matrix().cols() : m_maxIterations;
   }
   
-  /** Sets the max number of iterations */
-  Derived& setMaxIterations(int maxIters)
+  /** Sets the max number of iterations.
+    * Default is twice the number of columns of the matrix.
+    */
+  Derived& setMaxIterations(Index maxIters)
   {
     m_maxIterations = maxIters;
     return derived();
   }
 
   /** \returns the number of iterations performed during the last solve */
-  int iterations() const
+  Index iterations() const
   {
     eigen_assert(m_isInitialized && "ConjugateGradient is not initialized.");
     return m_iterations;
   }
 
-  /** \returns the tolerance error reached during the last solve */
+  /** \returns the tolerance error reached during the last solve.
+    * It is a close approximation of the true relative residual error |Ax-b|/|b|.
+    */
   RealScalar error() const
   {
     eigen_assert(m_isInitialized && "ConjugateGradient is not initialized.");
     return m_error;
   }
 
-  /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
+  /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A
+    * and \a x0 as an initial solution.
     *
-    * \sa compute()
+    * \sa solve(), compute()
     */
-  template<typename Rhs> inline const internal::solve_retval<Derived, Rhs>
-  solve(const MatrixBase<Rhs>& b) const
+  template<typename Rhs,typename Guess>
+  inline const SolveWithGuess<Derived, Rhs, Guess>
+  solveWithGuess(const MatrixBase<Rhs>& b, const Guess& x0) const
   {
-    eigen_assert(m_isInitialized && "IterativeSolverBase is not initialized.");
-    eigen_assert(rows()==b.rows()
-              && "IterativeSolverBase::solve(): invalid number of rows of the right hand side matrix b");
-    return internal::solve_retval<Derived, Rhs>(derived(), b.derived());
-  }
-  
-  /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-    *
-    * \sa compute()
-    */
-  template<typename Rhs>
-  inline const internal::sparse_solve_retval<IterativeSolverBase, Rhs>
-  solve(const SparseMatrixBase<Rhs>& b) const
-  {
-    eigen_assert(m_isInitialized && "IterativeSolverBase is not initialized.");
-    eigen_assert(rows()==b.rows()
-              && "IterativeSolverBase::solve(): invalid number of rows of the right hand side matrix b");
-    return internal::sparse_solve_retval<IterativeSolverBase, Rhs>(*this, b.derived());
+    eigen_assert(m_isInitialized && "Solver is not initialized.");
+    eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
+    return SolveWithGuess<Derived, Rhs, Guess>(derived(), b.derived(), x0);
   }
 
   /** \returns Success if the iterations converged, and NoConvergence otherwise. */
@@ -194,21 +330,27 @@ public:
   }
   
   /** \internal */
-  template<typename Rhs, typename DestScalar, int DestOptions, typename DestIndex>
-  void _solve_sparse(const Rhs& b, SparseMatrix<DestScalar,DestOptions,DestIndex> &dest) const
+  template<typename Rhs, typename DestDerived>
+  void _solve_impl(const Rhs& b, SparseMatrixBase<DestDerived> &aDest) const
   {
     eigen_assert(rows()==b.rows());
     
-    int rhsCols = b.cols();
-    int size = b.rows();
+    Index rhsCols = b.cols();
+    Index size = b.rows();
+    DestDerived& dest(aDest.derived());
+    typedef typename DestDerived::Scalar DestScalar;
     Eigen::Matrix<DestScalar,Dynamic,1> tb(size);
-    Eigen::Matrix<DestScalar,Dynamic,1> tx(size);
-    for(int k=0; k<rhsCols; ++k)
+    Eigen::Matrix<DestScalar,Dynamic,1> tx(cols());
+    // We do not directly fill dest because sparse expressions have to be free of aliasing issue.
+    // For non square least-square problems, b and dest might not have the same size whereas they might alias each-other.
+    typename DestDerived::PlainObject tmp(cols(),rhsCols);
+    for(Index k=0; k<rhsCols; ++k)
     {
       tb = b.col(k);
       tx = derived().solve(tb);
-      dest.col(k) = tx.sparseView(0);
+      tmp.col(k) = tx.sparseView(0);
     }
+    dest.swap(tmp);
   }
 
 protected:
@@ -220,35 +362,33 @@ protected:
     m_maxIterations = -1;
     m_tolerance = NumTraits<Scalar>::epsilon();
   }
-  const MatrixType* mp_matrix;
+
+  typedef internal::generic_matrix_wrapper<MatrixType> MatrixWrapper;
+  typedef typename MatrixWrapper::ActualMatrixType ActualMatrixType;
+
+  const ActualMatrixType& matrix() const
+  {
+    return m_matrixWrapper.matrix();
+  }
+  
+  template<typename InputType>
+  void grab(const InputType &A)
+  {
+    m_matrixWrapper.grab(A);
+  }
+  
+  MatrixWrapper m_matrixWrapper;
   Preconditioner m_preconditioner;
 
-  int m_maxIterations;
+  Index m_maxIterations;
   RealScalar m_tolerance;
   
   mutable RealScalar m_error;
-  mutable int m_iterations;
+  mutable Index m_iterations;
   mutable ComputationInfo m_info;
-  mutable bool m_isInitialized, m_analysisIsOk, m_factorizationIsOk;
+  mutable bool m_analysisIsOk, m_factorizationIsOk;
 };
 
-namespace internal {
- 
-template<typename Derived, typename Rhs>
-struct sparse_solve_retval<IterativeSolverBase<Derived>, Rhs>
-  : sparse_solve_retval_base<IterativeSolverBase<Derived>, Rhs>
-{
-  typedef IterativeSolverBase<Derived> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec().derived()._solve_sparse(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_ITERATIVE_SOLVER_BASE_H
diff --git a/eigenlib/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h b/eigenlib/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h
new file mode 100644
index 00000000..0aea0e09
--- /dev/null
+++ b/eigenlib/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h
@@ -0,0 +1,216 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_LEAST_SQUARE_CONJUGATE_GRADIENT_H
+#define EIGEN_LEAST_SQUARE_CONJUGATE_GRADIENT_H
+
+namespace Eigen { 
+
+namespace internal {
+
+/** \internal Low-level conjugate gradient algorithm for least-square problems
+  * \param mat The matrix A
+  * \param rhs The right hand side vector b
+  * \param x On input and initial solution, on output the computed solution.
+  * \param precond A preconditioner being able to efficiently solve for an
+  *                approximation of A'Ax=b (regardless of b)
+  * \param iters On input the max number of iteration, on output the number of performed iterations.
+  * \param tol_error On input the tolerance error, on output an estimation of the relative error.
+  */
+template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
+EIGEN_DONT_INLINE
+void least_square_conjugate_gradient(const MatrixType& mat, const Rhs& rhs, Dest& x,
+                                     const Preconditioner& precond, Index& iters,
+                                     typename Dest::RealScalar& tol_error)
+{
+  using std::sqrt;
+  using std::abs;
+  typedef typename Dest::RealScalar RealScalar;
+  typedef typename Dest::Scalar Scalar;
+  typedef Matrix<Scalar,Dynamic,1> VectorType;
+  
+  RealScalar tol = tol_error;
+  Index maxIters = iters;
+  
+  Index m = mat.rows(), n = mat.cols();
+
+  VectorType residual        = rhs - mat * x;
+  VectorType normal_residual = mat.adjoint() * residual;
+
+  RealScalar rhsNorm2 = (mat.adjoint()*rhs).squaredNorm();
+  if(rhsNorm2 == 0) 
+  {
+    x.setZero();
+    iters = 0;
+    tol_error = 0;
+    return;
+  }
+  RealScalar threshold = tol*tol*rhsNorm2;
+  RealScalar residualNorm2 = normal_residual.squaredNorm();
+  if (residualNorm2 < threshold)
+  {
+    iters = 0;
+    tol_error = sqrt(residualNorm2 / rhsNorm2);
+    return;
+  }
+  
+  VectorType p(n);
+  p = precond.solve(normal_residual);                         // initial search direction
+
+  VectorType z(n), tmp(m);
+  RealScalar absNew = numext::real(normal_residual.dot(p));  // the square of the absolute value of r scaled by invM
+  Index i = 0;
+  while(i < maxIters)
+  {
+    tmp.noalias() = mat * p;
+
+    Scalar alpha = absNew / tmp.squaredNorm();      // the amount we travel on dir
+    x += alpha * p;                                 // update solution
+    residual -= alpha * tmp;                        // update residual
+    normal_residual = mat.adjoint() * residual;     // update residual of the normal equation
+    
+    residualNorm2 = normal_residual.squaredNorm();
+    if(residualNorm2 < threshold)
+      break;
+    
+    z = precond.solve(normal_residual);             // approximately solve for "A'A z = normal_residual"
+
+    RealScalar absOld = absNew;
+    absNew = numext::real(normal_residual.dot(z));  // update the absolute value of r
+    RealScalar beta = absNew / absOld;              // calculate the Gram-Schmidt value used to create the new search direction
+    p = z + beta * p;                               // update search direction
+    i++;
+  }
+  tol_error = sqrt(residualNorm2 / rhsNorm2);
+  iters = i;
+}
+
+}
+
+template< typename _MatrixType,
+          typename _Preconditioner = LeastSquareDiagonalPreconditioner<typename _MatrixType::Scalar> >
+class LeastSquaresConjugateGradient;
+
+namespace internal {
+
+template< typename _MatrixType, typename _Preconditioner>
+struct traits<LeastSquaresConjugateGradient<_MatrixType,_Preconditioner> >
+{
+  typedef _MatrixType MatrixType;
+  typedef _Preconditioner Preconditioner;
+};
+
+}
+
+/** \ingroup IterativeLinearSolvers_Module
+  * \brief A conjugate gradient solver for sparse (or dense) least-square problems
+  *
+  * This class allows to solve for A x = b linear problems using an iterative conjugate gradient algorithm.
+  * The matrix A can be non symmetric and rectangular, but the matrix A' A should be positive-definite to guaranty stability.
+  * Otherwise, the SparseLU or SparseQR classes might be preferable.
+  * The matrix A and the vectors x and b can be either dense or sparse.
+  *
+  * \tparam _MatrixType the type of the matrix A, can be a dense or a sparse matrix.
+  * \tparam _Preconditioner the type of the preconditioner. Default is LeastSquareDiagonalPreconditioner
+  *
+  * \implsparsesolverconcept
+  * 
+  * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations()
+  * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations
+  * and NumTraits<Scalar>::epsilon() for the tolerance.
+  * 
+  * This class can be used as the direct solver classes. Here is a typical usage example:
+    \code
+    int m=1000000, n = 10000;
+    VectorXd x(n), b(m);
+    SparseMatrix<double> A(m,n);
+    // fill A and b
+    LeastSquaresConjugateGradient<SparseMatrix<double> > lscg;
+    lscg.compute(A);
+    x = lscg.solve(b);
+    std::cout << "#iterations:     " << lscg.iterations() << std::endl;
+    std::cout << "estimated error: " << lscg.error()      << std::endl;
+    // update b, and solve again
+    x = lscg.solve(b);
+    \endcode
+  * 
+  * By default the iterations start with x=0 as an initial guess of the solution.
+  * One can control the start using the solveWithGuess() method.
+  * 
+  * \sa class ConjugateGradient, SparseLU, SparseQR
+  */
+template< typename _MatrixType, typename _Preconditioner>
+class LeastSquaresConjugateGradient : public IterativeSolverBase<LeastSquaresConjugateGradient<_MatrixType,_Preconditioner> >
+{
+  typedef IterativeSolverBase<LeastSquaresConjugateGradient> Base;
+  using Base::matrix;
+  using Base::m_error;
+  using Base::m_iterations;
+  using Base::m_info;
+  using Base::m_isInitialized;
+public:
+  typedef _MatrixType MatrixType;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+  typedef _Preconditioner Preconditioner;
+
+public:
+
+  /** Default constructor. */
+  LeastSquaresConjugateGradient() : Base() {}
+
+  /** Initialize the solver with matrix \a A for further \c Ax=b solving.
+    * 
+    * This constructor is a shortcut for the default constructor followed
+    * by a call to compute().
+    * 
+    * \warning this class stores a reference to the matrix A as well as some
+    * precomputed values that depend on it. Therefore, if \a A is changed
+    * this class becomes invalid. Call compute() to update it with the new
+    * matrix A, or modify a copy of A.
+    */
+  template<typename MatrixDerived>
+  explicit LeastSquaresConjugateGradient(const EigenBase<MatrixDerived>& A) : Base(A.derived()) {}
+
+  ~LeastSquaresConjugateGradient() {}
+
+  /** \internal */
+  template<typename Rhs,typename Dest>
+  void _solve_with_guess_impl(const Rhs& b, Dest& x) const
+  {
+    m_iterations = Base::maxIterations();
+    m_error = Base::m_tolerance;
+
+    for(Index j=0; j<b.cols(); ++j)
+    {
+      m_iterations = Base::maxIterations();
+      m_error = Base::m_tolerance;
+
+      typename Dest::ColXpr xj(x,j);
+      internal::least_square_conjugate_gradient(matrix(), b.col(j), xj, Base::m_preconditioner, m_iterations, m_error);
+    }
+
+    m_isInitialized = true;
+    m_info = m_error <= Base::m_tolerance ? Success : NoConvergence;
+  }
+  
+  /** \internal */
+  using Base::_solve_impl;
+  template<typename Rhs,typename Dest>
+  void _solve_impl(const MatrixBase<Rhs>& b, Dest& x) const
+  {
+    x.setZero();
+    _solve_with_guess_impl(b.derived(),x);
+  }
+
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_LEAST_SQUARE_CONJUGATE_GRADIENT_H
diff --git a/eigenlib/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h b/eigenlib/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h
new file mode 100644
index 00000000..0ace4517
--- /dev/null
+++ b/eigenlib/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h
@@ -0,0 +1,115 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SOLVEWITHGUESS_H
+#define EIGEN_SOLVEWITHGUESS_H
+
+namespace Eigen {
+
+template<typename Decomposition, typename RhsType, typename GuessType> class SolveWithGuess;
+  
+/** \class SolveWithGuess
+  * \ingroup IterativeLinearSolvers_Module
+  *
+  * \brief Pseudo expression representing a solving operation
+  *
+  * \tparam Decomposition the type of the matrix or decomposion object
+  * \tparam Rhstype the type of the right-hand side
+  *
+  * This class represents an expression of A.solve(B)
+  * and most of the time this is the only way it is used.
+  *
+  */
+namespace internal {
+
+
+template<typename Decomposition, typename RhsType, typename GuessType>
+struct traits<SolveWithGuess<Decomposition, RhsType, GuessType> >
+  : traits<Solve<Decomposition,RhsType> >
+{};
+
+}
+
+
+template<typename Decomposition, typename RhsType, typename GuessType>
+class SolveWithGuess : public internal::generic_xpr_base<SolveWithGuess<Decomposition,RhsType,GuessType>, MatrixXpr, typename internal::traits<RhsType>::StorageKind>::type
+{
+public:
+  typedef typename internal::traits<SolveWithGuess>::Scalar Scalar;
+  typedef typename internal::traits<SolveWithGuess>::PlainObject PlainObject;
+  typedef typename internal::generic_xpr_base<SolveWithGuess<Decomposition,RhsType,GuessType>, MatrixXpr, typename internal::traits<RhsType>::StorageKind>::type Base;
+  typedef typename internal::ref_selector<SolveWithGuess>::type Nested;
+  
+  SolveWithGuess(const Decomposition &dec, const RhsType &rhs, const GuessType &guess)
+    : m_dec(dec), m_rhs(rhs), m_guess(guess)
+  {}
+  
+  EIGEN_DEVICE_FUNC Index rows() const { return m_dec.cols(); }
+  EIGEN_DEVICE_FUNC Index cols() const { return m_rhs.cols(); }
+
+  EIGEN_DEVICE_FUNC const Decomposition& dec()   const { return m_dec; }
+  EIGEN_DEVICE_FUNC const RhsType&       rhs()   const { return m_rhs; }
+  EIGEN_DEVICE_FUNC const GuessType&     guess() const { return m_guess; }
+
+protected:
+  const Decomposition &m_dec;
+  const RhsType       &m_rhs;
+  const GuessType     &m_guess;
+  
+private:
+  Scalar coeff(Index row, Index col) const;
+  Scalar coeff(Index i) const;
+};
+
+namespace internal {
+
+// Evaluator of SolveWithGuess -> eval into a temporary
+template<typename Decomposition, typename RhsType, typename GuessType>
+struct evaluator<SolveWithGuess<Decomposition,RhsType, GuessType> >
+  : public evaluator<typename SolveWithGuess<Decomposition,RhsType,GuessType>::PlainObject>
+{
+  typedef SolveWithGuess<Decomposition,RhsType,GuessType> SolveType;
+  typedef typename SolveType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  evaluator(const SolveType& solve)
+    : m_result(solve.rows(), solve.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    m_result = solve.guess();
+    solve.dec()._solve_with_guess_impl(solve.rhs(), m_result);
+  }
+  
+protected:  
+  PlainObject m_result;
+};
+
+// Specialization for "dst = dec.solveWithGuess(rhs)"
+// NOTE we need to specialize it for Dense2Dense to avoid ambiguous specialization error and a Sparse2Sparse specialization must exist somewhere
+template<typename DstXprType, typename DecType, typename RhsType, typename GuessType, typename Scalar>
+struct Assignment<DstXprType, SolveWithGuess<DecType,RhsType,GuessType>, internal::assign_op<Scalar,Scalar>, Dense2Dense>
+{
+  typedef SolveWithGuess<DecType,RhsType,GuessType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    dst = src.guess();
+    src.dec()._solve_with_guess_impl(src.rhs(), dst/*, src.guess()*/);
+  }
+};
+
+} // end namepsace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SOLVEWITHGUESS_H
diff --git a/eigenlib/Eigen/src/Jacobi/CMakeLists.txt b/eigenlib/Eigen/src/Jacobi/CMakeLists.txt
deleted file mode 100644
index 490dac62..00000000
--- a/eigenlib/Eigen/src/Jacobi/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Jacobi_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Jacobi_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/Jacobi COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/Jacobi/Jacobi.h b/eigenlib/Eigen/src/Jacobi/Jacobi.h
index 956f72d5..d25af8e9 100644
--- a/eigenlib/Eigen/src/Jacobi/Jacobi.h
+++ b/eigenlib/Eigen/src/Jacobi/Jacobi.h
@@ -62,7 +62,7 @@ template<typename Scalar> class JacobiRotation
     JacobiRotation adjoint() const { using numext::conj; return JacobiRotation(conj(m_c), -m_s); }
 
     template<typename Derived>
-    bool makeJacobi(const MatrixBase<Derived>&, typename Derived::Index p, typename Derived::Index q);
+    bool makeJacobi(const MatrixBase<Derived>&, Index p, Index q);
     bool makeJacobi(const RealScalar& x, const Scalar& y, const RealScalar& z);
 
     void makeGivens(const Scalar& p, const Scalar& q, Scalar* z=0);
@@ -85,7 +85,8 @@ bool JacobiRotation<Scalar>::makeJacobi(const RealScalar& x, const Scalar& y, co
   using std::sqrt;
   using std::abs;
   typedef typename NumTraits<Scalar>::Real RealScalar;
-  if(y == Scalar(0))
+  RealScalar deno = RealScalar(2)*abs(y);
+  if(deno < (std::numeric_limits<RealScalar>::min)())
   {
     m_c = Scalar(1);
     m_s = Scalar(0);
@@ -93,7 +94,7 @@ bool JacobiRotation<Scalar>::makeJacobi(const RealScalar& x, const Scalar& y, co
   }
   else
   {
-    RealScalar tau = (x-z)/(RealScalar(2)*abs(y));
+    RealScalar tau = (x-z)/deno;
     RealScalar w = sqrt(numext::abs2(tau) + RealScalar(1));
     RealScalar t;
     if(tau>RealScalar(0))
@@ -123,7 +124,7 @@ bool JacobiRotation<Scalar>::makeJacobi(const RealScalar& x, const Scalar& y, co
   */
 template<typename Scalar>
 template<typename Derived>
-inline bool JacobiRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, typename Derived::Index p, typename Derived::Index q)
+inline bool JacobiRotation<Scalar>::makeJacobi(const MatrixBase<Derived>& m, Index p, Index q)
 {
   return makeJacobi(numext::real(m.coeff(p,p)), m.coeff(p,q), numext::real(m.coeff(q,q)));
 }
@@ -255,15 +256,15 @@ void JacobiRotation<Scalar>::makeGivens(const Scalar& p, const Scalar& q, Scalar
 *   Implementation of MatrixBase methods
 ****************************************************************************************/
 
+namespace internal {
 /** \jacobi_module
   * Applies the clock wise 2D rotation \a j to the set of 2D vectors of cordinates \a x and \a y:
   * \f$ \left ( \begin{array}{cc} x \\ y \end{array} \right )  =  J \left ( \begin{array}{cc} x \\ y \end{array} \right ) \f$
   *
   * \sa MatrixBase::applyOnTheLeft(), MatrixBase::applyOnTheRight()
   */
-namespace internal {
 template<typename VectorX, typename VectorY, typename OtherScalar>
-void apply_rotation_in_the_plane(VectorX& _x, VectorY& _y, const JacobiRotation<OtherScalar>& j);
+void apply_rotation_in_the_plane(DenseBase<VectorX>& xpr_x, DenseBase<VectorY>& xpr_y, const JacobiRotation<OtherScalar>& j);
 }
 
 /** \jacobi_module
@@ -298,19 +299,18 @@ inline void MatrixBase<Derived>::applyOnTheRight(Index p, Index q, const JacobiR
 
 namespace internal {
 template<typename VectorX, typename VectorY, typename OtherScalar>
-void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(VectorX& _x, VectorY& _y, const JacobiRotation<OtherScalar>& j)
+void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(DenseBase<VectorX>& xpr_x, DenseBase<VectorY>& xpr_y, const JacobiRotation<OtherScalar>& j)
 {
-  typedef typename VectorX::Index Index;
   typedef typename VectorX::Scalar Scalar;
   enum { PacketSize = packet_traits<Scalar>::size };
   typedef typename packet_traits<Scalar>::type Packet;
-  eigen_assert(_x.size() == _y.size());
-  Index size = _x.size();
-  Index incrx = _x.innerStride();
-  Index incry = _y.innerStride();
+  eigen_assert(xpr_x.size() == xpr_y.size());
+  Index size = xpr_x.size();
+  Index incrx = xpr_x.derived().innerStride();
+  Index incry = xpr_y.derived().innerStride();
 
-  Scalar* EIGEN_RESTRICT x = &_x.coeffRef(0);
-  Scalar* EIGEN_RESTRICT y = &_y.coeffRef(0);
+  Scalar* EIGEN_RESTRICT x = &xpr_x.derived().coeffRef(0);
+  Scalar* EIGEN_RESTRICT y = &xpr_y.derived().coeffRef(0);
   
   OtherScalar c = j.c();
   OtherScalar s = j.s();
@@ -326,7 +326,7 @@ void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(VectorX& _x, VectorY& _y,
     // both vectors are sequentially stored in memory => vectorization
     enum { Peeling = 2 };
 
-    Index alignedStart = internal::first_aligned(y, size);
+    Index alignedStart = internal::first_default_aligned(y, size);
     Index alignedEnd = alignedStart + ((size-alignedStart)/PacketSize)*PacketSize;
 
     const Packet pc = pset1<Packet>(c);
@@ -344,7 +344,7 @@ void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(VectorX& _x, VectorY& _y,
     Scalar* EIGEN_RESTRICT px = x + alignedStart;
     Scalar* EIGEN_RESTRICT py = y + alignedStart;
 
-    if(internal::first_aligned(x, size)==alignedStart)
+    if(internal::first_default_aligned(x, size)==alignedStart)
     {
       for(Index i=alignedStart; i<alignedEnd; i+=PacketSize)
       {
@@ -393,7 +393,7 @@ void /*EIGEN_DONT_INLINE*/ apply_rotation_in_the_plane(VectorX& _x, VectorY& _y,
   /*** fixed-size vectorized path ***/
   else if(VectorX::SizeAtCompileTime != Dynamic &&
           (VectorX::Flags & VectorY::Flags & PacketAccessBit) &&
-          (VectorX::Flags & VectorY::Flags & AlignedBit))
+          (EIGEN_PLAIN_ENUM_MIN(evaluator<VectorX>::Alignment, evaluator<VectorY>::Alignment)>0)) // FIXME should be compared to the required alignment
   {
     const Packet pc = pset1<Packet>(c);
     const Packet ps = pset1<Packet>(s);
diff --git a/eigenlib/Eigen/src/LU/CMakeLists.txt b/eigenlib/Eigen/src/LU/CMakeLists.txt
deleted file mode 100644
index e0d8d78c..00000000
--- a/eigenlib/Eigen/src/LU/CMakeLists.txt
+++ /dev/null
@@ -1,8 +0,0 @@
-FILE(GLOB Eigen_LU_SRCS "*.h")
-
-INSTALL(FILES 
-  ${Eigen_LU_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/LU COMPONENT Devel
-  )
-
-ADD_SUBDIRECTORY(arch)
diff --git a/eigenlib/Eigen/src/LU/Determinant.h b/eigenlib/Eigen/src/LU/Determinant.h
index bb8e78a8..d6a3c1e5 100644
--- a/eigenlib/Eigen/src/LU/Determinant.h
+++ b/eigenlib/Eigen/src/LU/Determinant.h
@@ -92,7 +92,7 @@ template<typename Derived>
 inline typename internal::traits<Derived>::Scalar MatrixBase<Derived>::determinant() const
 {
   eigen_assert(rows() == cols());
-  typedef typename internal::nested<Derived,Base::RowsAtCompileTime>::type Nested;
+  typedef typename internal::nested_eval<Derived,Base::RowsAtCompileTime>::type Nested;
   return internal::determinant_impl<typename internal::remove_all<Nested>::type>::run(derived());
 }
 
diff --git a/eigenlib/Eigen/src/LU/FullPivLU.h b/eigenlib/Eigen/src/LU/FullPivLU.h
index 26bc7144..03b6af70 100644
--- a/eigenlib/Eigen/src/LU/FullPivLU.h
+++ b/eigenlib/Eigen/src/LU/FullPivLU.h
@@ -10,7 +10,18 @@
 #ifndef EIGEN_LU_H
 #define EIGEN_LU_H
 
-namespace Eigen { 
+namespace Eigen {
+
+namespace internal {
+template<typename _MatrixType> struct traits<FullPivLU<_MatrixType> >
+ : traits<_MatrixType>
+{
+  typedef MatrixXpr XprKind;
+  typedef SolverStorage StorageKind;
+  enum { Flags = 0 };
+};
+
+} // end namespace internal
 
 /** \ingroup LU_Module
   *
@@ -18,7 +29,7 @@ namespace Eigen {
   *
   * \brief LU decomposition of a matrix with complete pivoting, and related features
   *
-  * \param MatrixType the type of the matrix of which we are computing the LU decomposition
+  * \tparam _MatrixType the type of the matrix of which we are computing the LU decomposition
   *
   * This class represents a LU decomposition of any matrix, with complete pivoting: the matrix A is
   * decomposed as \f$ A = P^{-1} L U Q^{-1} \f$ where L is unit-lower-triangular, U is
@@ -41,27 +52,28 @@ namespace Eigen {
   * \include class_FullPivLU.cpp
   * Output: \verbinclude class_FullPivLU.out
   *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  * 
   * \sa MatrixBase::fullPivLu(), MatrixBase::determinant(), MatrixBase::inverse()
   */
 template<typename _MatrixType> class FullPivLU
+  : public SolverBase<FullPivLU<_MatrixType> >
 {
   public:
     typedef _MatrixType MatrixType;
+    typedef SolverBase<FullPivLU> Base;
+
+    EIGEN_GENERIC_PUBLIC_INTERFACE(FullPivLU)
+    // FIXME StorageIndex defined in EIGEN_GENERIC_PUBLIC_INTERFACE should be int
     enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef typename internal::traits<MatrixType>::StorageKind StorageKind;
-    typedef typename MatrixType::Index Index;
-    typedef typename internal::plain_row_type<MatrixType, Index>::type IntRowVectorType;
-    typedef typename internal::plain_col_type<MatrixType, Index>::type IntColVectorType;
+    typedef typename internal::plain_row_type<MatrixType, StorageIndex>::type IntRowVectorType;
+    typedef typename internal::plain_col_type<MatrixType, StorageIndex>::type IntColVectorType;
     typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationQType;
     typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationPType;
+    typedef typename MatrixType::PlainObject PlainObject;
 
     /**
       * \brief Default Constructor.
@@ -84,7 +96,17 @@ template<typename _MatrixType> class FullPivLU
       * \param matrix the matrix of which to compute the LU decomposition.
       *               It is required to be nonzero.
       */
-    FullPivLU(const MatrixType& matrix);
+    template<typename InputType>
+    explicit FullPivLU(const EigenBase<InputType>& matrix);
+
+    /** \brief Constructs a LU factorization from a given matrix
+      *
+      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+      *
+      * \sa FullPivLU(const EigenBase&)
+      */
+    template<typename InputType>
+    explicit FullPivLU(EigenBase<InputType>& matrix);
 
     /** Computes the LU decomposition of the given matrix.
       *
@@ -93,7 +115,12 @@ template<typename _MatrixType> class FullPivLU
       *
       * \returns a reference to *this
       */
-    FullPivLU& compute(const MatrixType& matrix);
+    template<typename InputType>
+    FullPivLU& compute(const EigenBase<InputType>& matrix) {
+      m_lu = matrix.derived();
+      computeInPlace();
+      return *this;
+    }
 
     /** \returns the LU decomposition matrix: the upper-triangular part is U, the
       * unit-lower-triangular part is L (at least for square matrices; in the non-square
@@ -129,7 +156,7 @@ template<typename _MatrixType> class FullPivLU
       *
       * \sa permutationQ()
       */
-    inline const PermutationPType& permutationP() const
+    EIGEN_DEVICE_FUNC inline const PermutationPType& permutationP() const
     {
       eigen_assert(m_isInitialized && "LU is not initialized.");
       return m_p;
@@ -166,7 +193,7 @@ template<typename _MatrixType> class FullPivLU
     }
 
     /** \returns the image of the matrix, also called its column-space. The columns of the returned matrix
-      * will form a basis of the kernel.
+      * will form a basis of the image (column-space).
       *
       * \param originalMatrix the original matrix, of which *this is the LU decomposition.
       *                       The reason why it is needed to pass it here, is that this allows
@@ -210,12 +237,22 @@ template<typename _MatrixType> class FullPivLU
       *
       * \sa TriangularView::solve(), kernel(), inverse()
       */
+    // FIXME this is a copy-paste of the base-class member to add the isInitialized assertion.
     template<typename Rhs>
-    inline const internal::solve_retval<FullPivLU, Rhs>
+    inline const Solve<FullPivLU, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "LU is not initialized.");
-      return internal::solve_retval<FullPivLU, Rhs>(*this, b.derived());
+      return Solve<FullPivLU, Rhs>(*this, b.derived());
+    }
+
+    /** \returns an estimate of the reciprocal condition number of the matrix of which \c *this is
+        the LU decomposition.
+      */
+    inline RealScalar rcond() const
+    {
+      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+      return internal::rcond_estimate_helper(m_l1_norm, *this);
     }
 
     /** \returns the determinant of the matrix of which
@@ -360,33 +397,46 @@ template<typename _MatrixType> class FullPivLU
       *
       * \sa MatrixBase::inverse()
       */
-    inline const internal::solve_retval<FullPivLU,typename MatrixType::IdentityReturnType> inverse() const
+    inline const Inverse<FullPivLU> inverse() const
     {
       eigen_assert(m_isInitialized && "LU is not initialized.");
       eigen_assert(m_lu.rows() == m_lu.cols() && "You can't take the inverse of a non-square matrix!");
-      return internal::solve_retval<FullPivLU,typename MatrixType::IdentityReturnType>
-               (*this, MatrixType::Identity(m_lu.rows(), m_lu.cols()));
+      return Inverse<FullPivLU>(*this);
     }
 
     MatrixType reconstructedMatrix() const;
 
-    inline Index rows() const { return m_lu.rows(); }
-    inline Index cols() const { return m_lu.cols(); }
+    EIGEN_DEVICE_FUNC inline Index rows() const { return m_lu.rows(); }
+    EIGEN_DEVICE_FUNC inline Index cols() const { return m_lu.cols(); }
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const;
+
+    template<bool Conjugate, typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const;
+    #endif
 
   protected:
-    
+
     static void check_template_parameters()
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
-    
+
+    void computeInPlace();
+
     MatrixType m_lu;
     PermutationPType m_p;
     PermutationQType m_q;
     IntColVectorType m_rowsTranspositions;
     IntRowVectorType m_colsTranspositions;
-    Index m_det_pq, m_nonzero_pivots;
+    Index m_nonzero_pivots;
+    RealScalar m_l1_norm;
     RealScalar m_maxpivot, m_prescribedThreshold;
+    signed char m_det_pq;
     bool m_isInitialized, m_usePrescribedThreshold;
 };
 
@@ -409,7 +459,8 @@ FullPivLU<MatrixType>::FullPivLU(Index rows, Index cols)
 }
 
 template<typename MatrixType>
-FullPivLU<MatrixType>::FullPivLU(const MatrixType& matrix)
+template<typename InputType>
+FullPivLU<MatrixType>::FullPivLU(const EigenBase<InputType>& matrix)
   : m_lu(matrix.rows(), matrix.cols()),
     m_p(matrix.rows()),
     m_q(matrix.cols()),
@@ -418,28 +469,41 @@ FullPivLU<MatrixType>::FullPivLU(const MatrixType& matrix)
     m_isInitialized(false),
     m_usePrescribedThreshold(false)
 {
-  compute(matrix);
+  compute(matrix.derived());
 }
 
 template<typename MatrixType>
-FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
+template<typename InputType>
+FullPivLU<MatrixType>::FullPivLU(EigenBase<InputType>& matrix)
+  : m_lu(matrix.derived()),
+    m_p(matrix.rows()),
+    m_q(matrix.cols()),
+    m_rowsTranspositions(matrix.rows()),
+    m_colsTranspositions(matrix.cols()),
+    m_isInitialized(false),
+    m_usePrescribedThreshold(false)
+{
+  computeInPlace();
+}
+
+template<typename MatrixType>
+void FullPivLU<MatrixType>::computeInPlace()
 {
   check_template_parameters();
-  
-  // the permutations are stored as int indices, so just to be sure:
-  eigen_assert(matrix.rows()<=NumTraits<int>::highest() && matrix.cols()<=NumTraits<int>::highest());
-  
-  m_isInitialized = true;
-  m_lu = matrix;
 
-  const Index size = matrix.diagonalSize();
-  const Index rows = matrix.rows();
-  const Index cols = matrix.cols();
+  // the permutations are stored as int indices, so just to be sure:
+  eigen_assert(m_lu.rows()<=NumTraits<int>::highest() && m_lu.cols()<=NumTraits<int>::highest());
+
+  m_l1_norm = m_lu.cwiseAbs().colwise().sum().maxCoeff();
+
+  const Index size = m_lu.diagonalSize();
+  const Index rows = m_lu.rows();
+  const Index cols = m_lu.cols();
 
   // will store the transpositions, before we accumulate them at the end.
   // can't accumulate on-the-fly because that will be done in reverse order for the rows.
-  m_rowsTranspositions.resize(matrix.rows());
-  m_colsTranspositions.resize(matrix.cols());
+  m_rowsTranspositions.resize(m_lu.rows());
+  m_colsTranspositions.resize(m_lu.cols());
   Index number_of_transpositions = 0; // number of NONTRIVIAL transpositions, i.e. m_rowsTranspositions[i]!=i
 
   m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
@@ -451,14 +515,16 @@ FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
 
     // biggest coefficient in the remaining bottom-right corner (starting at row k, col k)
     Index row_of_biggest_in_corner, col_of_biggest_in_corner;
-    RealScalar biggest_in_corner;
+    typedef internal::scalar_score_coeff_op<Scalar> Scoring;
+    typedef typename Scoring::result_type Score;
+    Score biggest_in_corner;
     biggest_in_corner = m_lu.bottomRightCorner(rows-k, cols-k)
-                        .cwiseAbs()
+                        .unaryExpr(Scoring())
                         .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
     row_of_biggest_in_corner += k; // correct the values! since they were computed in the corner,
     col_of_biggest_in_corner += k; // need to add k to them.
 
-    if(biggest_in_corner==RealScalar(0))
+    if(biggest_in_corner==Score(0))
     {
       // before exiting, make sure to initialize the still uninitialized transpositions
       // in a sane state without destroying what we already have.
@@ -471,7 +537,8 @@ FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
       break;
     }
 
-    if(biggest_in_corner > m_maxpivot) m_maxpivot = biggest_in_corner;
+    RealScalar abs_pivot = internal::abs_knowing_score<Scalar>()(m_lu(row_of_biggest_in_corner, col_of_biggest_in_corner), biggest_in_corner);
+    if(abs_pivot > m_maxpivot) m_maxpivot = abs_pivot;
 
     // Now that we've found the pivot, we need to apply the row/col swaps to
     // bring it to the location (k,k).
@@ -508,7 +575,8 @@ FullPivLU<MatrixType>& FullPivLU<MatrixType>::compute(const MatrixType& matrix)
     m_q.applyTranspositionOnTheRight(k, m_colsTranspositions.coeff(k));
 
   m_det_pq = (number_of_transpositions%2) ? -1 : 1;
-  return *this;
+
+  m_isInitialized = true;
 }
 
 template<typename MatrixType>
@@ -671,64 +739,136 @@ struct image_retval<FullPivLU<_MatrixType> >
 
 /***** Implementation of solve() *****************************************************/
 
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<FullPivLU<_MatrixType>, Rhs>
-  : solve_retval_base<FullPivLU<_MatrixType>, Rhs>
+} // end namespace internal
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType>
+template<typename RhsType, typename DstType>
+void FullPivLU<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
 {
-  EIGEN_MAKE_SOLVE_HELPERS(FullPivLU<_MatrixType>,Rhs)
+  /* The decomposition PAQ = LU can be rewritten as A = P^{-1} L U Q^{-1}.
+  * So we proceed as follows:
+  * Step 1: compute c = P * rhs.
+  * Step 2: replace c by the solution x to Lx = c. Exists because L is invertible.
+  * Step 3: replace c by the solution x to Ux = c. May or may not exist.
+  * Step 4: result = Q * c;
+  */
 
-  template<typename Dest> void evalTo(Dest& dst) const
+  const Index rows = this->rows(),
+              cols = this->cols(),
+              nonzero_pivots = this->rank();
+  eigen_assert(rhs.rows() == rows);
+  const Index smalldim = (std::min)(rows, cols);
+
+  if(nonzero_pivots == 0)
   {
-    /* The decomposition PAQ = LU can be rewritten as A = P^{-1} L U Q^{-1}.
-     * So we proceed as follows:
-     * Step 1: compute c = P * rhs.
-     * Step 2: replace c by the solution x to Lx = c. Exists because L is invertible.
-     * Step 3: replace c by the solution x to Ux = c. May or may not exist.
-     * Step 4: result = Q * c;
-     */
+    dst.setZero();
+    return;
+  }
 
-    const Index rows = dec().rows(), cols = dec().cols(),
-              nonzero_pivots = dec().nonzeroPivots();
-    eigen_assert(rhs().rows() == rows);
-    const Index smalldim = (std::min)(rows, cols);
+  typename RhsType::PlainObject c(rhs.rows(), rhs.cols());
 
-    if(nonzero_pivots == 0)
-    {
-      dst.setZero();
-      return;
-    }
+  // Step 1
+  c = permutationP() * rhs;
 
-    typename Rhs::PlainObject c(rhs().rows(), rhs().cols());
+  // Step 2
+  m_lu.topLeftCorner(smalldim,smalldim)
+      .template triangularView<UnitLower>()
+      .solveInPlace(c.topRows(smalldim));
+  if(rows>cols)
+    c.bottomRows(rows-cols) -= m_lu.bottomRows(rows-cols) * c.topRows(cols);
 
-    // Step 1
-    c = dec().permutationP() * rhs();
+  // Step 3
+  m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
+      .template triangularView<Upper>()
+      .solveInPlace(c.topRows(nonzero_pivots));
 
+  // Step 4
+  for(Index i = 0; i < nonzero_pivots; ++i)
+    dst.row(permutationQ().indices().coeff(i)) = c.row(i);
+  for(Index i = nonzero_pivots; i < m_lu.cols(); ++i)
+    dst.row(permutationQ().indices().coeff(i)).setZero();
+}
+
+template<typename _MatrixType>
+template<bool Conjugate, typename RhsType, typename DstType>
+void FullPivLU<_MatrixType>::_solve_impl_transposed(const RhsType &rhs, DstType &dst) const
+{
+  /* The decomposition PAQ = LU can be rewritten as A = P^{-1} L U Q^{-1},
+   * and since permutations are real and unitary, we can write this
+   * as   A^T = Q U^T L^T P,
+   * So we proceed as follows:
+   * Step 1: compute c = Q^T rhs.
+   * Step 2: replace c by the solution x to U^T x = c. May or may not exist.
+   * Step 3: replace c by the solution x to L^T x = c.
+   * Step 4: result = P^T c.
+   * If Conjugate is true, replace "^T" by "^*" above.
+   */
+
+  const Index rows = this->rows(), cols = this->cols(),
+    nonzero_pivots = this->rank();
+   eigen_assert(rhs.rows() == cols);
+  const Index smalldim = (std::min)(rows, cols);
+
+  if(nonzero_pivots == 0)
+  {
+    dst.setZero();
+    return;
+  }
+
+  typename RhsType::PlainObject c(rhs.rows(), rhs.cols());
+
+  // Step 1
+  c = permutationQ().inverse() * rhs;
+
+  if (Conjugate) {
     // Step 2
-    dec().matrixLU()
-        .topLeftCorner(smalldim,smalldim)
-        .template triangularView<UnitLower>()
-        .solveInPlace(c.topRows(smalldim));
-    if(rows>cols)
-    {
-      c.bottomRows(rows-cols)
-        -= dec().matrixLU().bottomRows(rows-cols)
-         * c.topRows(cols);
-    }
-
-    // Step 3
-    dec().matrixLU()
-        .topLeftCorner(nonzero_pivots, nonzero_pivots)
+    m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
         .template triangularView<Upper>()
+        .adjoint()
         .solveInPlace(c.topRows(nonzero_pivots));
+    // Step 3
+    m_lu.topLeftCorner(smalldim, smalldim)
+        .template triangularView<UnitLower>()
+        .adjoint()
+        .solveInPlace(c.topRows(smalldim));
+  } else {
+    // Step 2
+    m_lu.topLeftCorner(nonzero_pivots, nonzero_pivots)
+        .template triangularView<Upper>()
+        .transpose()
+        .solveInPlace(c.topRows(nonzero_pivots));
+    // Step 3
+    m_lu.topLeftCorner(smalldim, smalldim)
+        .template triangularView<UnitLower>()
+        .transpose()
+        .solveInPlace(c.topRows(smalldim));
+  }
 
-    // Step 4
-    for(Index i = 0; i < nonzero_pivots; ++i)
-      dst.row(dec().permutationQ().indices().coeff(i)) = c.row(i);
-    for(Index i = nonzero_pivots; i < dec().matrixLU().cols(); ++i)
-      dst.row(dec().permutationQ().indices().coeff(i)).setZero();
+  // Step 4
+  PermutationPType invp = permutationP().inverse().eval();
+  for(Index i = 0; i < smalldim; ++i)
+    dst.row(invp.indices().coeff(i)) = c.row(i);
+  for(Index i = smalldim; i < rows; ++i)
+    dst.row(invp.indices().coeff(i)).setZero();
+}
+
+#endif
+
+namespace internal {
+
+
+/***** Implementation of inverse() *****************************************************/
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<FullPivLU<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename FullPivLU<MatrixType>::Scalar>, Dense2Dense>
+{
+  typedef FullPivLU<MatrixType> LuType;
+  typedef Inverse<LuType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename MatrixType::Scalar> &)
+  {
+    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
   }
 };
-
 } // end namespace internal
 
 /******* MatrixBase methods *****************************************************************/
diff --git a/eigenlib/Eigen/src/LU/Inverse.h b/eigenlib/Eigen/src/LU/InverseImpl.h
similarity index 86%
rename from eigenlib/Eigen/src/LU/Inverse.h
rename to eigenlib/Eigen/src/LU/InverseImpl.h
index 3cf88719..018f99b5 100644
--- a/eigenlib/Eigen/src/LU/Inverse.h
+++ b/eigenlib/Eigen/src/LU/InverseImpl.h
@@ -2,13 +2,14 @@
 // for linear algebra.
 //
 // Copyright (C) 2008-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
-#ifndef EIGEN_INVERSE_H
-#define EIGEN_INVERSE_H
+#ifndef EIGEN_INVERSE_IMPL_H
+#define EIGEN_INVERSE_IMPL_H
 
 namespace Eigen { 
 
@@ -21,6 +22,7 @@ namespace internal {
 template<typename MatrixType, typename ResultType, int Size = MatrixType::RowsAtCompileTime>
 struct compute_inverse
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(const MatrixType& matrix, ResultType& result)
   {
     result = matrix.partialPivLu().inverse();
@@ -37,16 +39,19 @@ struct compute_inverse_and_det_with_check { /* nothing! general case not support
 template<typename MatrixType, typename ResultType>
 struct compute_inverse<MatrixType, ResultType, 1>
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(const MatrixType& matrix, ResultType& result)
   {
     typedef typename MatrixType::Scalar Scalar;
-    result.coeffRef(0,0) = Scalar(1) / matrix.coeff(0,0);
+    internal::evaluator<MatrixType> matrixEval(matrix);
+    result.coeffRef(0,0) = Scalar(1) / matrixEval.coeff(0,0);
   }
 };
 
 template<typename MatrixType, typename ResultType>
 struct compute_inverse_and_det_with_check<MatrixType, ResultType, 1>
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(
     const MatrixType& matrix,
     const typename MatrixType::RealScalar& absDeterminantThreshold,
@@ -67,19 +72,21 @@ struct compute_inverse_and_det_with_check<MatrixType, ResultType, 1>
 ****************************/
 
 template<typename MatrixType, typename ResultType>
+EIGEN_DEVICE_FUNC 
 inline void compute_inverse_size2_helper(
     const MatrixType& matrix, const typename ResultType::Scalar& invdet,
     ResultType& result)
 {
-  result.coeffRef(0,0) = matrix.coeff(1,1) * invdet;
+  result.coeffRef(0,0) =  matrix.coeff(1,1) * invdet;
   result.coeffRef(1,0) = -matrix.coeff(1,0) * invdet;
   result.coeffRef(0,1) = -matrix.coeff(0,1) * invdet;
-  result.coeffRef(1,1) = matrix.coeff(0,0) * invdet;
+  result.coeffRef(1,1) =  matrix.coeff(0,0) * invdet;
 }
 
 template<typename MatrixType, typename ResultType>
 struct compute_inverse<MatrixType, ResultType, 2>
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(const MatrixType& matrix, ResultType& result)
   {
     typedef typename ResultType::Scalar Scalar;
@@ -91,6 +98,7 @@ struct compute_inverse<MatrixType, ResultType, 2>
 template<typename MatrixType, typename ResultType>
 struct compute_inverse_and_det_with_check<MatrixType, ResultType, 2>
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(
     const MatrixType& matrix,
     const typename MatrixType::RealScalar& absDeterminantThreshold,
@@ -114,6 +122,7 @@ struct compute_inverse_and_det_with_check<MatrixType, ResultType, 2>
 ****************************/
 
 template<typename MatrixType, int i, int j>
+EIGEN_DEVICE_FUNC 
 inline typename MatrixType::Scalar cofactor_3x3(const MatrixType& m)
 {
   enum {
@@ -127,6 +136,7 @@ inline typename MatrixType::Scalar cofactor_3x3(const MatrixType& m)
 }
 
 template<typename MatrixType, typename ResultType>
+EIGEN_DEVICE_FUNC
 inline void compute_inverse_size3_helper(
     const MatrixType& matrix,
     const typename ResultType::Scalar& invdet,
@@ -145,6 +155,7 @@ inline void compute_inverse_size3_helper(
 template<typename MatrixType, typename ResultType>
 struct compute_inverse<MatrixType, ResultType, 3>
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(const MatrixType& matrix, ResultType& result)
   {
     typedef typename ResultType::Scalar Scalar;
@@ -161,6 +172,7 @@ struct compute_inverse<MatrixType, ResultType, 3>
 template<typename MatrixType, typename ResultType>
 struct compute_inverse_and_det_with_check<MatrixType, ResultType, 3>
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(
     const MatrixType& matrix,
     const typename MatrixType::RealScalar& absDeterminantThreshold,
@@ -188,6 +200,7 @@ struct compute_inverse_and_det_with_check<MatrixType, ResultType, 3>
 ****************************/
 
 template<typename Derived>
+EIGEN_DEVICE_FUNC 
 inline const typename Derived::Scalar general_det3_helper
 (const MatrixBase<Derived>& matrix, int i1, int i2, int i3, int j1, int j2, int j3)
 {
@@ -196,6 +209,7 @@ inline const typename Derived::Scalar general_det3_helper
 }
 
 template<typename MatrixType, int i, int j>
+EIGEN_DEVICE_FUNC 
 inline typename MatrixType::Scalar cofactor_4x4(const MatrixType& matrix)
 {
   enum {
@@ -214,6 +228,7 @@ inline typename MatrixType::Scalar cofactor_4x4(const MatrixType& matrix)
 template<int Arch, typename Scalar, typename MatrixType, typename ResultType>
 struct compute_inverse_size4
 {
+  EIGEN_DEVICE_FUNC
   static void run(const MatrixType& matrix, ResultType& result)
   {
     result.coeffRef(0,0) =  cofactor_4x4<MatrixType,0,0>(matrix);
@@ -246,6 +261,7 @@ struct compute_inverse<MatrixType, ResultType, 4>
 template<typename MatrixType, typename ResultType>
 struct compute_inverse_and_det_with_check<MatrixType, ResultType, 4>
 {
+  EIGEN_DEVICE_FUNC
   static inline void run(
     const MatrixType& matrix,
     const typename MatrixType::RealScalar& absDeterminantThreshold,
@@ -265,38 +281,37 @@ struct compute_inverse_and_det_with_check<MatrixType, ResultType, 4>
 *** MatrixBase methods ***
 *************************/
 
-template<typename MatrixType>
-struct traits<inverse_impl<MatrixType> >
+} // end namespace internal
+
+namespace internal {
+
+// Specialization for "dense = dense_xpr.inverse()"
+template<typename DstXprType, typename XprType>
+struct Assignment<DstXprType, Inverse<XprType>, internal::assign_op<typename DstXprType::Scalar,typename XprType::Scalar>, Dense2Dense>
 {
-  typedef typename MatrixType::PlainObject ReturnType;
-};
-
-template<typename MatrixType>
-struct inverse_impl : public ReturnByValue<inverse_impl<MatrixType> >
-{
-  typedef typename MatrixType::Index Index;
-  typedef typename internal::eval<MatrixType>::type MatrixTypeNested;
-  typedef typename remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
-  MatrixTypeNested m_matrix;
-
-  inverse_impl(const MatrixType& matrix)
-    : m_matrix(matrix)
-  {}
-
-  inline Index rows() const { return m_matrix.rows(); }
-  inline Index cols() const { return m_matrix.cols(); }
-
-  template<typename Dest> inline void evalTo(Dest& dst) const
+  typedef Inverse<XprType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename XprType::Scalar> &)
   {
-    const int Size = EIGEN_PLAIN_ENUM_MIN(MatrixType::ColsAtCompileTime,Dest::ColsAtCompileTime);
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+    
+    const int Size = EIGEN_PLAIN_ENUM_MIN(XprType::ColsAtCompileTime,DstXprType::ColsAtCompileTime);
     EIGEN_ONLY_USED_FOR_DEBUG(Size);
-    eigen_assert(( (Size<=1) || (Size>4) || (extract_data(m_matrix)!=extract_data(dst)))
+    eigen_assert(( (Size<=1) || (Size>4) || (extract_data(src.nestedExpression())!=extract_data(dst)))
               && "Aliasing problem detected in inverse(), you need to do inverse().eval() here.");
 
-    compute_inverse<MatrixTypeNestedCleaned, Dest>::run(m_matrix, dst);
+    typedef typename internal::nested_eval<XprType,XprType::ColsAtCompileTime>::type  ActualXprType;
+    typedef typename internal::remove_all<ActualXprType>::type                        ActualXprTypeCleanded;
+    
+    ActualXprType actual_xpr(src.nestedExpression());
+    
+    compute_inverse<ActualXprTypeCleanded, DstXprType>::run(actual_xpr, dst);
   }
 };
 
+  
 } // end namespace internal
 
 /** \lu_module
@@ -317,11 +332,11 @@ struct inverse_impl : public ReturnByValue<inverse_impl<MatrixType> >
   * \sa computeInverseAndDetWithCheck()
   */
 template<typename Derived>
-inline const internal::inverse_impl<Derived> MatrixBase<Derived>::inverse() const
+inline const Inverse<Derived> MatrixBase<Derived>::inverse() const
 {
   EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsInteger,THIS_FUNCTION_IS_NOT_FOR_INTEGER_NUMERIC_TYPES)
   eigen_assert(rows() == cols());
-  return internal::inverse_impl<Derived>(derived());
+  return Inverse<Derived>(derived());
 }
 
 /** \lu_module
@@ -357,7 +372,7 @@ inline void MatrixBase<Derived>::computeInverseAndDetWithCheck(
   // for larger sizes, evaluating has negligible cost and limits code size.
   typedef typename internal::conditional<
     RowsAtCompileTime == 2,
-    typename internal::remove_all<typename internal::nested<Derived, 2>::type>::type,
+    typename internal::remove_all<typename internal::nested_eval<Derived, 2>::type>::type,
     PlainObject
   >::type MatrixType;
   internal::compute_inverse_and_det_with_check<MatrixType, ResultType>::run
@@ -397,4 +412,4 @@ inline void MatrixBase<Derived>::computeInverseWithCheck(
 
 } // end namespace Eigen
 
-#endif // EIGEN_INVERSE_H
+#endif // EIGEN_INVERSE_IMPL_H
diff --git a/eigenlib/Eigen/src/LU/PartialPivLU.h b/eigenlib/Eigen/src/LU/PartialPivLU.h
index 7d1db948..d4396188 100644
--- a/eigenlib/Eigen/src/LU/PartialPivLU.h
+++ b/eigenlib/Eigen/src/LU/PartialPivLU.h
@@ -11,7 +11,33 @@
 #ifndef EIGEN_PARTIALLU_H
 #define EIGEN_PARTIALLU_H
 
-namespace Eigen { 
+namespace Eigen {
+
+namespace internal {
+template<typename _MatrixType> struct traits<PartialPivLU<_MatrixType> >
+ : traits<_MatrixType>
+{
+  typedef MatrixXpr XprKind;
+  typedef SolverStorage StorageKind;
+  typedef traits<_MatrixType> BaseTraits;
+  enum {
+    Flags = BaseTraits::Flags & RowMajorBit,
+    CoeffReadCost = Dynamic
+  };
+};
+
+template<typename T,typename Derived>
+struct enable_if_ref;
+// {
+//   typedef Derived type;
+// };
+
+template<typename T,typename Derived>
+struct enable_if_ref<Ref<T>,Derived> {
+  typedef Derived type;
+};
+
+} // end namespace internal
 
 /** \ingroup LU_Module
   *
@@ -19,7 +45,7 @@ namespace Eigen {
   *
   * \brief LU decomposition of a matrix with partial pivoting, and related features
   *
-  * \param MatrixType the type of the matrix of which we are computing the LU decomposition
+  * \tparam _MatrixType the type of the matrix of which we are computing the LU decomposition
   *
   * This class represents a LU decomposition of a \b square \b invertible matrix, with partial pivoting: the matrix A
   * is decomposed as A = PLU where L is unit-lower-triangular, U is upper-triangular, and P
@@ -42,34 +68,33 @@ namespace Eigen {
   *
   * The data of the LU decomposition can be directly accessed through the methods matrixLU(), permutationP().
   *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  * 
   * \sa MatrixBase::partialPivLu(), MatrixBase::determinant(), MatrixBase::inverse(), MatrixBase::computeInverse(), class FullPivLU
   */
 template<typename _MatrixType> class PartialPivLU
+  : public SolverBase<PartialPivLU<_MatrixType> >
 {
   public:
 
     typedef _MatrixType MatrixType;
+    typedef SolverBase<PartialPivLU> Base;
+    EIGEN_GENERIC_PUBLIC_INTERFACE(PartialPivLU)
+    // FIXME StorageIndex defined in EIGEN_GENERIC_PUBLIC_INTERFACE should be int
     enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef typename internal::traits<MatrixType>::StorageKind StorageKind;
-    typedef typename MatrixType::Index Index;
     typedef PermutationMatrix<RowsAtCompileTime, MaxRowsAtCompileTime> PermutationType;
     typedef Transpositions<RowsAtCompileTime, MaxRowsAtCompileTime> TranspositionType;
-
+    typedef typename MatrixType::PlainObject PlainObject;
 
     /**
-    * \brief Default Constructor.
-    *
-    * The default constructor is useful in cases in which the user intends to
-    * perform decompositions via PartialPivLU::compute(const MatrixType&).
-    */
+      * \brief Default Constructor.
+      *
+      * The default constructor is useful in cases in which the user intends to
+      * perform decompositions via PartialPivLU::compute(const MatrixType&).
+      */
     PartialPivLU();
 
     /** \brief Default Constructor with memory preallocation
@@ -78,7 +103,7 @@ template<typename _MatrixType> class PartialPivLU
       * according to the specified problem \a size.
       * \sa PartialPivLU()
       */
-    PartialPivLU(Index size);
+    explicit PartialPivLU(Index size);
 
     /** Constructor.
       *
@@ -87,9 +112,25 @@ template<typename _MatrixType> class PartialPivLU
       * \warning The matrix should have full rank (e.g. if it's square, it should be invertible).
       * If you need to deal with non-full rank, use class FullPivLU instead.
       */
-    PartialPivLU(const MatrixType& matrix);
+    template<typename InputType>
+    explicit PartialPivLU(const EigenBase<InputType>& matrix);
 
-    PartialPivLU& compute(const MatrixType& matrix);
+    /** Constructor for \link InplaceDecomposition inplace decomposition \endlink
+      *
+      * \param matrix the matrix of which to compute the LU decomposition.
+      *
+      * \warning The matrix should have full rank (e.g. if it's square, it should be invertible).
+      * If you need to deal with non-full rank, use class FullPivLU instead.
+      */
+    template<typename InputType>
+    explicit PartialPivLU(EigenBase<InputType>& matrix);
+
+    template<typename InputType>
+    PartialPivLU& compute(const EigenBase<InputType>& matrix) {
+      m_lu = matrix.derived();
+      compute();
+      return *this;
+    }
 
     /** \returns the LU decomposition matrix: the upper-triangular part is U, the
       * unit-lower-triangular part is L (at least for square matrices; in the non-square
@@ -128,12 +169,22 @@ template<typename _MatrixType> class PartialPivLU
       *
       * \sa TriangularView::solve(), inverse(), computeInverse()
       */
+    // FIXME this is a copy-paste of the base-class member to add the isInitialized assertion.
     template<typename Rhs>
-    inline const internal::solve_retval<PartialPivLU, Rhs>
+    inline const Solve<PartialPivLU, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
-      return internal::solve_retval<PartialPivLU, Rhs>(*this, b.derived());
+      return Solve<PartialPivLU, Rhs>(*this, b.derived());
+    }
+
+    /** \returns an estimate of the reciprocal condition number of the matrix of which \c *this is
+        the LU decomposition.
+      */
+    inline RealScalar rcond() const
+    {
+      eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
+      return internal::rcond_estimate_helper(m_l1_norm, *this);
     }
 
     /** \returns the inverse of the matrix of which *this is the LU decomposition.
@@ -143,11 +194,10 @@ template<typename _MatrixType> class PartialPivLU
       *
       * \sa MatrixBase::inverse(), LU::inverse()
       */
-    inline const internal::solve_retval<PartialPivLU,typename MatrixType::IdentityReturnType> inverse() const
+    inline const Inverse<PartialPivLU> inverse() const
     {
       eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
-      return internal::solve_retval<PartialPivLU,typename MatrixType::IdentityReturnType>
-               (*this, MatrixType::Identity(m_lu.rows(), m_lu.cols()));
+      return Inverse<PartialPivLU>(*this);
     }
 
     /** \returns the determinant of the matrix of which
@@ -163,24 +213,78 @@ template<typename _MatrixType> class PartialPivLU
       *
       * \sa MatrixBase::determinant()
       */
-    typename internal::traits<MatrixType>::Scalar determinant() const;
+    Scalar determinant() const;
 
     MatrixType reconstructedMatrix() const;
 
     inline Index rows() const { return m_lu.rows(); }
     inline Index cols() const { return m_lu.cols(); }
 
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const {
+     /* The decomposition PA = LU can be rewritten as A = P^{-1} L U.
+      * So we proceed as follows:
+      * Step 1: compute c = Pb.
+      * Step 2: replace c by the solution x to Lx = c.
+      * Step 3: replace c by the solution x to Ux = c.
+      */
+
+      eigen_assert(rhs.rows() == m_lu.rows());
+
+      // Step 1
+      dst = permutationP() * rhs;
+
+      // Step 2
+      m_lu.template triangularView<UnitLower>().solveInPlace(dst);
+
+      // Step 3
+      m_lu.template triangularView<Upper>().solveInPlace(dst);
+    }
+
+    template<bool Conjugate, typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl_transposed(const RhsType &rhs, DstType &dst) const {
+     /* The decomposition PA = LU can be rewritten as A = P^{-1} L U.
+      * So we proceed as follows:
+      * Step 1: compute c = Pb.
+      * Step 2: replace c by the solution x to Lx = c.
+      * Step 3: replace c by the solution x to Ux = c.
+      */
+
+      eigen_assert(rhs.rows() == m_lu.cols());
+
+      if (Conjugate) {
+        // Step 1
+        dst = m_lu.template triangularView<Upper>().adjoint().solve(rhs);
+        // Step 2
+        m_lu.template triangularView<UnitLower>().adjoint().solveInPlace(dst);
+      } else {
+        // Step 1
+        dst = m_lu.template triangularView<Upper>().transpose().solve(rhs);
+        // Step 2
+        m_lu.template triangularView<UnitLower>().transpose().solveInPlace(dst);
+      }
+      // Step 3
+      dst = permutationP().transpose() * dst;
+    }
+    #endif
+
   protected:
-    
+
     static void check_template_parameters()
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
-    
+
+    void compute();
+
     MatrixType m_lu;
     PermutationType m_p;
     TranspositionType m_rowsTranspositions;
-    Index m_det_p;
+    RealScalar m_l1_norm;
+    signed char m_det_p;
     bool m_isInitialized;
 };
 
@@ -189,6 +293,7 @@ PartialPivLU<MatrixType>::PartialPivLU()
   : m_lu(),
     m_p(),
     m_rowsTranspositions(),
+    m_l1_norm(0),
     m_det_p(0),
     m_isInitialized(false)
 {
@@ -199,20 +304,36 @@ PartialPivLU<MatrixType>::PartialPivLU(Index size)
   : m_lu(size, size),
     m_p(size),
     m_rowsTranspositions(size),
+    m_l1_norm(0),
     m_det_p(0),
     m_isInitialized(false)
 {
 }
 
 template<typename MatrixType>
-PartialPivLU<MatrixType>::PartialPivLU(const MatrixType& matrix)
-  : m_lu(matrix.rows(), matrix.rows()),
+template<typename InputType>
+PartialPivLU<MatrixType>::PartialPivLU(const EigenBase<InputType>& matrix)
+  : m_lu(matrix.rows(),matrix.cols()),
     m_p(matrix.rows()),
     m_rowsTranspositions(matrix.rows()),
+    m_l1_norm(0),
     m_det_p(0),
     m_isInitialized(false)
 {
-  compute(matrix);
+  compute(matrix.derived());
+}
+
+template<typename MatrixType>
+template<typename InputType>
+PartialPivLU<MatrixType>::PartialPivLU(EigenBase<InputType>& matrix)
+  : m_lu(matrix.derived()),
+    m_p(matrix.rows()),
+    m_rowsTranspositions(matrix.rows()),
+    m_l1_norm(0),
+    m_det_p(0),
+    m_isInitialized(false)
+{
+  compute();
 }
 
 namespace internal {
@@ -230,7 +351,6 @@ struct partial_lu_impl
   typedef Block<MapLU, Dynamic, Dynamic> MatrixType;
   typedef Block<MatrixType,Dynamic,Dynamic> BlockType;
   typedef typename MatrixType::RealScalar RealScalar;
-  typedef typename MatrixType::Index Index;
 
   /** \internal performs the LU decomposition in-place of the matrix \a lu
     * using an unblocked algorithm.
@@ -244,6 +364,8 @@ struct partial_lu_impl
     */
   static Index unblocked_lu(MatrixType& lu, PivIndex* row_transpositions, PivIndex& nb_transpositions)
   {
+    typedef scalar_score_coeff_op<Scalar> Scoring;
+    typedef typename Scoring::result_type Score;
     const Index rows = lu.rows();
     const Index cols = lu.cols();
     const Index size = (std::min)(rows,cols);
@@ -253,15 +375,15 @@ struct partial_lu_impl
     {
       Index rrows = rows-k-1;
       Index rcols = cols-k-1;
-        
+
       Index row_of_biggest_in_col;
-      RealScalar biggest_in_corner
-        = lu.col(k).tail(rows-k).cwiseAbs().maxCoeff(&row_of_biggest_in_col);
+      Score biggest_in_corner
+        = lu.col(k).tail(rows-k).unaryExpr(Scoring()).maxCoeff(&row_of_biggest_in_col);
       row_of_biggest_in_col += k;
 
       row_transpositions[k] = PivIndex(row_of_biggest_in_col);
 
-      if(biggest_in_corner != RealScalar(0))
+      if(biggest_in_corner != Score(0))
       {
         if(k != row_of_biggest_in_col)
         {
@@ -354,7 +476,7 @@ struct partial_lu_impl
       // update permutations and apply them to A_0
       for(Index i=k; i<k+bs; ++i)
       {
-        Index piv = (row_transpositions[i] += k);
+        Index piv = (row_transpositions[i] += internal::convert_index<PivIndex>(k));
         A_0.row(i).swap(A_0.row(piv));
       }
 
@@ -377,45 +499,44 @@ struct partial_lu_impl
 /** \internal performs the LU decomposition with partial pivoting in-place.
   */
 template<typename MatrixType, typename TranspositionType>
-void partial_lu_inplace(MatrixType& lu, TranspositionType& row_transpositions, typename TranspositionType::Index& nb_transpositions)
+void partial_lu_inplace(MatrixType& lu, TranspositionType& row_transpositions, typename TranspositionType::StorageIndex& nb_transpositions)
 {
   eigen_assert(lu.cols() == row_transpositions.size());
   eigen_assert((&row_transpositions.coeffRef(1)-&row_transpositions.coeffRef(0)) == 1);
 
   partial_lu_impl
-    <typename MatrixType::Scalar, MatrixType::Flags&RowMajorBit?RowMajor:ColMajor, typename TranspositionType::Index>
+    <typename MatrixType::Scalar, MatrixType::Flags&RowMajorBit?RowMajor:ColMajor, typename TranspositionType::StorageIndex>
     ::blocked_lu(lu.rows(), lu.cols(), &lu.coeffRef(0,0), lu.outerStride(), &row_transpositions.coeffRef(0), nb_transpositions);
 }
 
 } // end namespace internal
 
 template<typename MatrixType>
-PartialPivLU<MatrixType>& PartialPivLU<MatrixType>::compute(const MatrixType& matrix)
+void PartialPivLU<MatrixType>::compute()
 {
   check_template_parameters();
-  
-  // the row permutation is stored as int indices, so just to be sure:
-  eigen_assert(matrix.rows()<NumTraits<int>::highest());
-  
-  m_lu = matrix;
 
-  eigen_assert(matrix.rows() == matrix.cols() && "PartialPivLU is only for square (and moreover invertible) matrices");
-  const Index size = matrix.rows();
+  // the row permutation is stored as int indices, so just to be sure:
+  eigen_assert(m_lu.rows()<NumTraits<int>::highest());
+
+  m_l1_norm = m_lu.cwiseAbs().colwise().sum().maxCoeff();
+
+  eigen_assert(m_lu.rows() == m_lu.cols() && "PartialPivLU is only for square (and moreover invertible) matrices");
+  const Index size = m_lu.rows();
 
   m_rowsTranspositions.resize(size);
 
-  typename TranspositionType::Index nb_transpositions;
+  typename TranspositionType::StorageIndex nb_transpositions;
   internal::partial_lu_inplace(m_lu, m_rowsTranspositions, nb_transpositions);
   m_det_p = (nb_transpositions%2) ? -1 : 1;
 
   m_p = m_rowsTranspositions;
 
   m_isInitialized = true;
-  return *this;
 }
 
 template<typename MatrixType>
-typename internal::traits<MatrixType>::Scalar PartialPivLU<MatrixType>::determinant() const
+typename PartialPivLU<MatrixType>::Scalar PartialPivLU<MatrixType>::determinant() const
 {
   eigen_assert(m_isInitialized && "PartialPivLU is not initialized.");
   return Scalar(m_det_p) * m_lu.diagonal().prod();
@@ -438,38 +559,21 @@ MatrixType PartialPivLU<MatrixType>::reconstructedMatrix() const
   return res;
 }
 
-/***** Implementation of solve() *****************************************************/
+/***** Implementation details *****************************************************/
 
 namespace internal {
 
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<PartialPivLU<_MatrixType>, Rhs>
-  : solve_retval_base<PartialPivLU<_MatrixType>, Rhs>
+/***** Implementation of inverse() *****************************************************/
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<PartialPivLU<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename PartialPivLU<MatrixType>::Scalar>, Dense2Dense>
 {
-  EIGEN_MAKE_SOLVE_HELPERS(PartialPivLU<_MatrixType>,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
+  typedef PartialPivLU<MatrixType> LuType;
+  typedef Inverse<LuType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename LuType::Scalar> &)
   {
-    /* The decomposition PA = LU can be rewritten as A = P^{-1} L U.
-    * So we proceed as follows:
-    * Step 1: compute c = Pb.
-    * Step 2: replace c by the solution x to Lx = c.
-    * Step 3: replace c by the solution x to Ux = c.
-    */
-
-    eigen_assert(rhs().rows() == dec().matrixLU().rows());
-
-    // Step 1
-    dst = dec().permutationP() * rhs();
-
-    // Step 2
-    dec().matrixLU().template triangularView<UnitLower>().solveInPlace(dst);
-
-    // Step 3
-    dec().matrixLU().template triangularView<Upper>().solveInPlace(dst);
+    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
   }
 };
-
 } // end namespace internal
 
 /******** MatrixBase methods *******/
@@ -487,7 +591,6 @@ MatrixBase<Derived>::partialPivLu() const
   return PartialPivLU<PlainObject>(eval());
 }
 
-#if EIGEN2_SUPPORT_STAGE > STAGE20_RESOLVE_API_CONFLICTS
 /** \lu_module
   *
   * Synonym of partialPivLu().
@@ -502,7 +605,6 @@ MatrixBase<Derived>::lu() const
 {
   return PartialPivLU<PlainObject>(eval());
 }
-#endif
 
 } // end namespace Eigen
 
diff --git a/eigenlib/Eigen/src/LU/PartialPivLU_MKL.h b/eigenlib/Eigen/src/LU/PartialPivLU_LAPACKE.h
similarity index 77%
rename from eigenlib/Eigen/src/LU/PartialPivLU_MKL.h
rename to eigenlib/Eigen/src/LU/PartialPivLU_LAPACKE.h
index 9035953c..755168a9 100644
--- a/eigenlib/Eigen/src/LU/PartialPivLU_MKL.h
+++ b/eigenlib/Eigen/src/LU/PartialPivLU_LAPACKE.h
@@ -25,7 +25,7 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to LAPACKe
  *     LU decomposition with partial pivoting based on LAPACKE_?getrf function.
  ********************************************************************************
 */
@@ -33,20 +33,18 @@
 #ifndef EIGEN_PARTIALLU_LAPACK_H
 #define EIGEN_PARTIALLU_LAPACK_H
 
-#include "Eigen/src/Core/util/MKL_support.h"
-
 namespace Eigen { 
 
 namespace internal {
 
-/** \internal Specialization for the data types supported by MKL */
+/** \internal Specialization for the data types supported by LAPACKe */
 
-#define EIGEN_MKL_LU_PARTPIV(EIGTYPE, MKLTYPE, MKLPREFIX) \
+#define EIGEN_LAPACKE_LU_PARTPIV(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX) \
 template<int StorageOrder> \
 struct partial_lu_impl<EIGTYPE, StorageOrder, lapack_int> \
 { \
   /* \internal performs the LU decomposition in-place of the matrix represented */ \
-  static lapack_int blocked_lu(lapack_int rows, lapack_int cols, EIGTYPE* lu_data, lapack_int luStride, lapack_int* row_transpositions, lapack_int& nb_transpositions, lapack_int maxBlockSize=256) \
+  static lapack_int blocked_lu(Index rows, Index cols, EIGTYPE* lu_data, Index luStride, lapack_int* row_transpositions, lapack_int& nb_transpositions, lapack_int maxBlockSize=256) \
   { \
     EIGEN_UNUSED_VARIABLE(maxBlockSize);\
     lapack_int matrix_order, first_zero_pivot; \
@@ -54,14 +52,14 @@ struct partial_lu_impl<EIGTYPE, StorageOrder, lapack_int> \
     EIGTYPE* a; \
 /* Set up parameters for ?getrf */ \
     matrix_order = StorageOrder==RowMajor ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \
-    lda = luStride; \
+    lda = convert_index<lapack_int>(luStride); \
     a = lu_data; \
     ipiv = row_transpositions; \
-    m = rows; \
-    n = cols; \
+    m = convert_index<lapack_int>(rows); \
+    n = convert_index<lapack_int>(cols); \
     nb_transpositions = 0; \
 \
-    info = LAPACKE_##MKLPREFIX##getrf( matrix_order, m, n, (MKLTYPE*)a, lda, ipiv ); \
+    info = LAPACKE_##LAPACKE_PREFIX##getrf( matrix_order, m, n, (LAPACKE_TYPE*)a, lda, ipiv ); \
 \
     for(int i=0;i<m;i++) { ipiv[i]--; if (ipiv[i]!=i) nb_transpositions++; } \
 \
@@ -73,10 +71,10 @@ struct partial_lu_impl<EIGTYPE, StorageOrder, lapack_int> \
   } \
 };
 
-EIGEN_MKL_LU_PARTPIV(double, double, d)
-EIGEN_MKL_LU_PARTPIV(float, float, s)
-EIGEN_MKL_LU_PARTPIV(dcomplex, MKL_Complex16, z)
-EIGEN_MKL_LU_PARTPIV(scomplex, MKL_Complex8, c)
+EIGEN_LAPACKE_LU_PARTPIV(double, double, d)
+EIGEN_LAPACKE_LU_PARTPIV(float, float, s)
+EIGEN_LAPACKE_LU_PARTPIV(dcomplex, lapack_complex_double, z)
+EIGEN_LAPACKE_LU_PARTPIV(scomplex, lapack_complex_float,  c)
 
 } // end namespace internal
 
diff --git a/eigenlib/Eigen/src/LU/arch/CMakeLists.txt b/eigenlib/Eigen/src/LU/arch/CMakeLists.txt
deleted file mode 100644
index f6b7ed9e..00000000
--- a/eigenlib/Eigen/src/LU/arch/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_LU_arch_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_LU_arch_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/LU/arch COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/LU/arch/Inverse_SSE.h b/eigenlib/Eigen/src/LU/arch/Inverse_SSE.h
index 60b7a237..ebb64a62 100644
--- a/eigenlib/Eigen/src/LU/arch/Inverse_SSE.h
+++ b/eigenlib/Eigen/src/LU/arch/Inverse_SSE.h
@@ -35,13 +35,15 @@ template<typename MatrixType, typename ResultType>
 struct compute_inverse_size4<Architecture::SSE, float, MatrixType, ResultType>
 {
   enum {
-    MatrixAlignment     = bool(MatrixType::Flags&AlignedBit),
-    ResultAlignment     = bool(ResultType::Flags&AlignedBit),
+    MatrixAlignment     = traits<MatrixType>::Alignment,
+    ResultAlignment     = traits<ResultType>::Alignment,
     StorageOrdersMatch  = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
   };
+  typedef typename conditional<(MatrixType::Flags&LinearAccessBit),MatrixType const &,typename MatrixType::PlainObject>::type ActualMatrixType;
   
-  static void run(const MatrixType& matrix, ResultType& result)
+  static void run(const MatrixType& mat, ResultType& result)
   {
+    ActualMatrixType matrix(mat);
     EIGEN_ALIGN16 const unsigned int _Sign_PNNP[4] = { 0x00000000, 0x80000000, 0x80000000, 0x00000000 };
 
     // Load the full matrix into registers
@@ -151,10 +153,12 @@ struct compute_inverse_size4<Architecture::SSE, float, MatrixType, ResultType>
     iC = _mm_mul_ps(rd,iC);
     iD = _mm_mul_ps(rd,iD);
 
-    result.template writePacket<ResultAlignment>( 0, _mm_shuffle_ps(iA,iB,0x77));
-    result.template writePacket<ResultAlignment>( 4, _mm_shuffle_ps(iA,iB,0x22));
-    result.template writePacket<ResultAlignment>( 8, _mm_shuffle_ps(iC,iD,0x77));
-    result.template writePacket<ResultAlignment>(12, _mm_shuffle_ps(iC,iD,0x22));
+    Index res_stride = result.outerStride();
+    float* res = result.data();
+    pstoret<float, Packet4f, ResultAlignment>(res+0,            _mm_shuffle_ps(iA,iB,0x77));
+    pstoret<float, Packet4f, ResultAlignment>(res+res_stride,   _mm_shuffle_ps(iA,iB,0x22));
+    pstoret<float, Packet4f, ResultAlignment>(res+2*res_stride, _mm_shuffle_ps(iC,iD,0x77));
+    pstoret<float, Packet4f, ResultAlignment>(res+3*res_stride, _mm_shuffle_ps(iC,iD,0x22));
   }
 
 };
@@ -163,18 +167,21 @@ template<typename MatrixType, typename ResultType>
 struct compute_inverse_size4<Architecture::SSE, double, MatrixType, ResultType>
 {
   enum {
-    MatrixAlignment = bool(MatrixType::Flags&AlignedBit),
-    ResultAlignment = bool(ResultType::Flags&AlignedBit),
+    MatrixAlignment     = traits<MatrixType>::Alignment,
+    ResultAlignment     = traits<ResultType>::Alignment,
     StorageOrdersMatch  = (MatrixType::Flags&RowMajorBit) == (ResultType::Flags&RowMajorBit)
   };
-  static void run(const MatrixType& matrix, ResultType& result)
+  typedef typename conditional<(MatrixType::Flags&LinearAccessBit),MatrixType const &,typename MatrixType::PlainObject>::type ActualMatrixType;
+  
+  static void run(const MatrixType& mat, ResultType& result)
   {
+    ActualMatrixType matrix(mat);
     const __m128d _Sign_NP = _mm_castsi128_pd(_mm_set_epi32(0x0,0x0,0x80000000,0x0));
     const __m128d _Sign_PN = _mm_castsi128_pd(_mm_set_epi32(0x80000000,0x0,0x0,0x0));
 
     // The inverse is calculated using "Divide and Conquer" technique. The
     // original matrix is divide into four 2x2 sub-matrices. Since each
-    // register of the matrix holds two element, the smaller matrices are
+    // register of the matrix holds two elements, the smaller matrices are
     // consisted of two registers. Hence we get a better locality of the
     // calculations.
 
@@ -311,14 +318,16 @@ struct compute_inverse_size4<Architecture::SSE, double, MatrixType, ResultType>
     iC1 = _mm_sub_pd(_mm_mul_pd(B1, dC), iC1);
     iC2 = _mm_sub_pd(_mm_mul_pd(B2, dC), iC2);
 
-    result.template writePacket<ResultAlignment>( 0, _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 3), d1));     // iA# / det
-    result.template writePacket<ResultAlignment>( 4, _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 0), d2));
-    result.template writePacket<ResultAlignment>( 2, _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 3), d1));     // iB# / det
-    result.template writePacket<ResultAlignment>( 6, _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 0), d2));
-    result.template writePacket<ResultAlignment>( 8, _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 3), d1));     // iC# / det
-    result.template writePacket<ResultAlignment>(12, _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 0), d2));
-    result.template writePacket<ResultAlignment>(10, _mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 3), d1));     // iD# / det
-    result.template writePacket<ResultAlignment>(14, _mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 0), d2));
+    Index res_stride = result.outerStride();
+    double* res = result.data();
+    pstoret<double, Packet2d, ResultAlignment>(res+0,             _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 3), d1));
+    pstoret<double, Packet2d, ResultAlignment>(res+res_stride,    _mm_mul_pd(_mm_shuffle_pd(iA2, iA1, 0), d2));
+    pstoret<double, Packet2d, ResultAlignment>(res+2,             _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 3), d1));
+    pstoret<double, Packet2d, ResultAlignment>(res+res_stride+2,  _mm_mul_pd(_mm_shuffle_pd(iB2, iB1, 0), d2));
+    pstoret<double, Packet2d, ResultAlignment>(res+2*res_stride,  _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 3), d1));
+    pstoret<double, Packet2d, ResultAlignment>(res+3*res_stride,  _mm_mul_pd(_mm_shuffle_pd(iC2, iC1, 0), d2));
+    pstoret<double, Packet2d, ResultAlignment>(res+2*res_stride+2,_mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 3), d1));
+    pstoret<double, Packet2d, ResultAlignment>(res+3*res_stride+2,_mm_mul_pd(_mm_shuffle_pd(iD2, iD1, 0), d2));
   }
 };
 
diff --git a/eigenlib/Eigen/src/MetisSupport/CMakeLists.txt b/eigenlib/Eigen/src/MetisSupport/CMakeLists.txt
deleted file mode 100644
index 2bad3141..00000000
--- a/eigenlib/Eigen/src/MetisSupport/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_MetisSupport_SRCS "*.h")
-
-INSTALL(FILES 
-  ${Eigen_MetisSupport_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/MetisSupport COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/MetisSupport/MetisSupport.h b/eigenlib/Eigen/src/MetisSupport/MetisSupport.h
index f2bbef20..4c15304a 100644
--- a/eigenlib/Eigen/src/MetisSupport/MetisSupport.h
+++ b/eigenlib/Eigen/src/MetisSupport/MetisSupport.h
@@ -18,12 +18,12 @@ namespace Eigen {
  * Row (column) i of A is the matperm(i) row (column) of Ap. 
  * WARNING: As computed by METIS, this corresponds to the vector iperm (instead of perm)
  */
-template <typename Index>
+template <typename StorageIndex>
 class MetisOrdering
 {
 public:
-  typedef PermutationMatrix<Dynamic,Dynamic,Index> PermutationType;
-  typedef Matrix<Index,Dynamic,1> IndexVector; 
+  typedef PermutationMatrix<Dynamic,Dynamic,StorageIndex> PermutationType;
+  typedef Matrix<StorageIndex,Dynamic,1> IndexVector; 
   
   template <typename MatrixType>
   void get_symmetrized_graph(const MatrixType& A)
@@ -36,7 +36,7 @@ public:
     Index TotNz = 0; 
     IndexVector visited(m); 
     visited.setConstant(-1); 
-    for (int j = 0; j < m; j++)
+    for (StorageIndex j = 0; j < m; j++)
     {
       // Compute the union structure of of A(j,:) and At(j,:)
       visited(j) = j; // Do not include the diagonal element
@@ -67,8 +67,8 @@ public:
 
     // Now compute the real adjacency list of each column/row 
     visited.setConstant(-1); 
-    Index CurNz = 0; 
-    for (int j = 0; j < m; j++)
+    StorageIndex CurNz = 0; 
+    for (StorageIndex j = 0; j < m; j++)
     {
       m_indexPtr(j) = CurNz; 
       
@@ -76,7 +76,7 @@ public:
       // Add the pattern of row/column j of A to A+At
       for (typename MatrixType::InnerIterator it(A,j); it; ++it)
       {
-        Index idx = it.index(); // Get the row index (for column major) or column index (for row major)
+        StorageIndex idx = it.index(); // Get the row index (for column major) or column index (for row major)
         if (visited(idx) != j ) 
         {
           visited(idx) = j; 
@@ -87,7 +87,7 @@ public:
       //Add the pattern of row/column j of At to A+At
       for (typename MatrixType::InnerIterator it(At, j); it; ++it)
       {
-        Index idx = it.index(); 
+        StorageIndex idx = it.index(); 
         if(visited(idx) != j)
         {
           visited(idx) = j; 
@@ -102,7 +102,7 @@ public:
   template <typename MatrixType>
   void operator() (const MatrixType& A, PermutationType& matperm)
   {
-     Index m = A.cols();
+     StorageIndex m = internal::convert_index<StorageIndex>(A.cols()); // must be StorageIndex, because it is passed by address to METIS
      IndexVector perm(m),iperm(m); 
     // First, symmetrize the matrix graph. 
      get_symmetrized_graph(A); 
diff --git a/eigenlib/Eigen/src/OrderingMethods/Amd.h b/eigenlib/Eigen/src/OrderingMethods/Amd.h
index 1c28bdf4..f91ecb24 100644
--- a/eigenlib/Eigen/src/OrderingMethods/Amd.h
+++ b/eigenlib/Eigen/src/OrderingMethods/Amd.h
@@ -8,7 +8,7 @@
 NOTE: this routine has been adapted from the CSparse library:
 
 Copyright (c) 2006, Timothy A. Davis.
-http://www.cise.ufl.edu/research/sparse/CSparse
+http://www.suitesparse.com
 
 CSparse is free software; you can redistribute it and/or
 modify it under the terms of the GNU Lesser General Public
@@ -41,10 +41,10 @@ template<typename T0, typename T1> inline bool amd_marked(const T0* w, const T1&
 template<typename T0, typename T1> inline void amd_mark(const T0* w, const T1& j) { return w[j] = amd_flip(w[j]); }
 
 /* clear w */
-template<typename Index>
-static int cs_wclear (Index mark, Index lemax, Index *w, Index n)
+template<typename StorageIndex>
+static StorageIndex cs_wclear (StorageIndex mark, StorageIndex lemax, StorageIndex *w, StorageIndex n)
 {
-  Index k;
+  StorageIndex k;
   if(mark < 2 || (mark + lemax < 0))
   {
     for(k = 0; k < n; k++)
@@ -56,10 +56,10 @@ static int cs_wclear (Index mark, Index lemax, Index *w, Index n)
 }
 
 /* depth-first search and postorder of a tree rooted at node j */
-template<typename Index>
-Index cs_tdfs(Index j, Index k, Index *head, const Index *next, Index *post, Index *stack)
+template<typename StorageIndex>
+StorageIndex cs_tdfs(StorageIndex j, StorageIndex k, StorageIndex *head, const StorageIndex *next, StorageIndex *post, StorageIndex *stack)
 {
-  int i, p, top = 0;
+  StorageIndex i, p, top = 0;
   if(!head || !next || !post || !stack) return (-1);    /* check inputs */
   stack[0] = j;                 /* place j on the stack */
   while (top >= 0)                /* while (stack is not empty) */
@@ -84,42 +84,45 @@ Index cs_tdfs(Index j, Index k, Index *head, const Index *next, Index *post, Ind
 /** \internal
   * \ingroup OrderingMethods_Module 
   * Approximate minimum degree ordering algorithm.
-  * \returns the permutation P reducing the fill-in of the input matrix \a C
-  * The input matrix \a C must be a selfadjoint compressed column major SparseMatrix object. Both the upper and lower parts have to be stored, but the diagonal entries are optional.
+  *
+  * \param[in] C the input selfadjoint matrix stored in compressed column major format.
+  * \param[out] perm the permutation P reducing the fill-in of the input matrix \a C
+  *
+  * Note that the input matrix \a C must be complete, that is both the upper and lower parts have to be stored, as well as the diagonal entries.
   * On exit the values of C are destroyed */
-template<typename Scalar, typename Index>
-void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, PermutationMatrix<Dynamic,Dynamic,Index>& perm)
+template<typename Scalar, typename StorageIndex>
+void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,StorageIndex>& C, PermutationMatrix<Dynamic,Dynamic,StorageIndex>& perm)
 {
   using std::sqrt;
   
-  int d, dk, dext, lemax = 0, e, elenk, eln, i, j, k, k1,
-      k2, k3, jlast, ln, dense, nzmax, mindeg = 0, nvi, nvj, nvk, mark, wnvi,
-      ok, nel = 0, p, p1, p2, p3, p4, pj, pk, pk1, pk2, pn, q, t;
-  unsigned int h;
+  StorageIndex d, dk, dext, lemax = 0, e, elenk, eln, i, j, k, k1,
+                k2, k3, jlast, ln, dense, nzmax, mindeg = 0, nvi, nvj, nvk, mark, wnvi,
+                ok, nel = 0, p, p1, p2, p3, p4, pj, pk, pk1, pk2, pn, q, t, h;
   
-  Index n = C.cols();
-  dense = std::max<Index> (16, Index(10 * sqrt(double(n))));   /* find dense threshold */
-  dense = std::min<Index> (n-2, dense);
+  StorageIndex n = StorageIndex(C.cols());
+  dense = std::max<StorageIndex> (16, StorageIndex(10 * sqrt(double(n))));   /* find dense threshold */
+  dense = (std::min)(n-2, dense);
   
-  Index cnz = C.nonZeros();
+  StorageIndex cnz = StorageIndex(C.nonZeros());
   perm.resize(n+1);
   t = cnz + cnz/5 + 2*n;                 /* add elbow room to C */
   C.resizeNonZeros(t);
   
-  Index* W       = new Index[8*(n+1)]; /* get workspace */
-  Index* len     = W;
-  Index* nv      = W +   (n+1);
-  Index* next    = W + 2*(n+1);
-  Index* head    = W + 3*(n+1);
-  Index* elen    = W + 4*(n+1);
-  Index* degree  = W + 5*(n+1);
-  Index* w       = W + 6*(n+1);
-  Index* hhead   = W + 7*(n+1);
-  Index* last    = perm.indices().data();                              /* use P as workspace for last */
+  // get workspace
+  ei_declare_aligned_stack_constructed_variable(StorageIndex,W,8*(n+1),0);
+  StorageIndex* len     = W;
+  StorageIndex* nv      = W +   (n+1);
+  StorageIndex* next    = W + 2*(n+1);
+  StorageIndex* head    = W + 3*(n+1);
+  StorageIndex* elen    = W + 4*(n+1);
+  StorageIndex* degree  = W + 5*(n+1);
+  StorageIndex* w       = W + 6*(n+1);
+  StorageIndex* hhead   = W + 7*(n+1);
+  StorageIndex* last    = perm.indices().data();                              /* use P as workspace for last */
   
   /* --- Initialize quotient graph ---------------------------------------- */
-  Index* Cp = C.outerIndexPtr();
-  Index* Ci = C.innerIndexPtr();
+  StorageIndex* Cp = C.outerIndexPtr();
+  StorageIndex* Ci = C.innerIndexPtr();
   for(k = 0; k < n; k++)
     len[k] = Cp[k+1] - Cp[k];
   len[n] = 0;
@@ -136,10 +139,7 @@ void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, Permutation
     elen[i]   = 0;                      // Ek of node i is empty
     degree[i] = len[i];                 // degree of node i
   }
-  mark = internal::cs_wclear<Index>(0, 0, w, n);         /* clear w */
-  elen[n] = -2;                         /* n is a dead element */
-  Cp[n] = -1;                           /* n is a root of assembly tree */
-  w[n] = 0;                             /* n is a dead element */
+  mark = internal::cs_wclear<StorageIndex>(0, 0, w, n);         /* clear w */
   
   /* --- Initialize degree lists ------------------------------------------ */
   for(i = 0; i < n; i++)
@@ -153,7 +153,7 @@ void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, Permutation
       }
    
     d = degree[i];
-    if(d == 1)                      /* node i is empty */
+    if(d == 1 && has_diag)           /* node i is empty */
     {
       elen[i] = -2;                 /* element i is dead */
       nel++;
@@ -263,7 +263,7 @@ void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, Permutation
     elen[k] = -2;                     /* k is now an element */
     
     /* --- Find set differences ----------------------------------------- */
-    mark = internal::cs_wclear<Index>(mark, lemax, w, n);  /* clear w if necessary */
+    mark = internal::cs_wclear<StorageIndex>(mark, lemax, w, n);  /* clear w if necessary */
     for(pk = pk1; pk < pk2; pk++)    /* scan 1: find |Le\Lk| */
     {
       i = Ci[pk];
@@ -333,7 +333,7 @@ void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, Permutation
       }
       else
       {
-        degree[i] = std::min<Index> (degree[i], d);   /* update degree(i) */
+        degree[i] = std::min<StorageIndex> (degree[i], d);   /* update degree(i) */
         Ci[pn] = Ci[p3];         /* move first node to end */
         Ci[p3] = Ci[p1];         /* move 1st el. to end of Ei */
         Ci[p1] = k;               /* add k as 1st element in of Ei */
@@ -341,12 +341,12 @@ void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, Permutation
         h %= n;                    /* finalize hash of i */
         next[i] = hhead[h];      /* place i in hash bucket */
         hhead[h] = i;
-        last[i] = h;              /* save hash of i in last[i] */
+        last[i] = h;      /* save hash of i in last[i] */
       }
     }                                   /* scan2 is done */
     degree[k] = dk;                   /* finalize |Lk| */
-    lemax = std::max<Index>(lemax, dk);
-    mark = internal::cs_wclear<Index>(mark+lemax, lemax, w, n);    /* clear w */
+    lemax = std::max<StorageIndex>(lemax, dk);
+    mark = internal::cs_wclear<StorageIndex>(mark+lemax, lemax, w, n);    /* clear w */
     
     /* --- Supernode detection ------------------------------------------ */
     for(pk = pk1; pk < pk2; pk++)
@@ -394,12 +394,12 @@ void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, Permutation
       if((nvi = -nv[i]) <= 0) continue;/* skip if i is dead */
       nv[i] = nvi;                      /* restore nv[i] */
       d = degree[i] + dk - nvi;         /* compute external degree(i) */
-      d = std::min<Index> (d, n - nel - nvi);
+      d = std::min<StorageIndex> (d, n - nel - nvi);
       if(head[d] != -1) last[head[d]] = i;
       next[i] = head[d];               /* put i back in degree list */
       last[i] = -1;
       head[d] = i;
-      mindeg = std::min<Index> (mindeg, d);       /* find new minimum degree */
+      mindeg = std::min<StorageIndex> (mindeg, d);       /* find new minimum degree */
       degree[i] = d;
       Ci[p++] = i;                      /* place i in Lk */
     }
@@ -432,12 +432,10 @@ void minimum_degree_ordering(SparseMatrix<Scalar,ColMajor,Index>& C, Permutation
   }
   for(k = 0, i = 0; i <= n; i++)       /* postorder the assembly tree */
   {
-    if(Cp[i] == -1) k = internal::cs_tdfs<Index>(i, k, head, next, perm.indices().data(), w);
+    if(Cp[i] == -1) k = internal::cs_tdfs<StorageIndex>(i, k, head, next, perm.indices().data(), w);
   }
   
   perm.indices().conservativeResize(n);
-
-  delete[] W;
 }
 
 } // namespace internal
diff --git a/eigenlib/Eigen/src/OrderingMethods/CMakeLists.txt b/eigenlib/Eigen/src/OrderingMethods/CMakeLists.txt
deleted file mode 100644
index 9f4bb275..00000000
--- a/eigenlib/Eigen/src/OrderingMethods/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_OrderingMethods_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_OrderingMethods_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/OrderingMethods COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/OrderingMethods/Eigen_Colamd.h b/eigenlib/Eigen/src/OrderingMethods/Eigen_Colamd.h
index 44548f66..933cd564 100644
--- a/eigenlib/Eigen/src/OrderingMethods/Eigen_Colamd.h
+++ b/eigenlib/Eigen/src/OrderingMethods/Eigen_Colamd.h
@@ -41,12 +41,8 @@
 // 
 //   The colamd/symamd library is available at
 // 
-//       http://www.cise.ufl.edu/research/sparse/colamd/
+//       http://www.suitesparse.com
 
-//   This is the http://www.cise.ufl.edu/research/sparse/colamd/colamd.h
-//   file.  It is required by the colamd.c, colamdmex.c, and symamdmex.c
-//   files, and by any C code that calls the routines whose prototypes are
-//   listed below, or that uses the colamd/symamd definitions listed below.
   
 #ifndef EIGEN_COLAMD_H
 #define EIGEN_COLAMD_H
@@ -102,9 +98,6 @@ namespace internal {
 /* === Definitions ========================================================== */
 /* ========================================================================== */
 
-#define COLAMD_MAX(a,b) (((a) > (b)) ? (a) : (b))
-#define COLAMD_MIN(a,b) (((a) < (b)) ? (a) : (b))
-
 #define ONES_COMPLEMENT(r) (-(r)-1)
 
 /* -------------------------------------------------------------------------- */
@@ -135,54 +128,54 @@ namespace internal {
 /* ========================================================================== */
 
 // == Row and Column structures ==
-template <typename Index>
+template <typename IndexType>
 struct colamd_col
 {
-  Index start ;   /* index for A of first row in this column, or DEAD */
+  IndexType start ;   /* index for A of first row in this column, or DEAD */
   /* if column is dead */
-  Index length ;  /* number of rows in this column */
+  IndexType length ;  /* number of rows in this column */
   union
   {
-    Index thickness ; /* number of original columns represented by this */
+    IndexType thickness ; /* number of original columns represented by this */
     /* col, if the column is alive */
-    Index parent ;  /* parent in parent tree super-column structure, if */
+    IndexType parent ;  /* parent in parent tree super-column structure, if */
     /* the column is dead */
   } shared1 ;
   union
   {
-    Index score ; /* the score used to maintain heap, if col is alive */
-    Index order ; /* pivot ordering of this column, if col is dead */
+    IndexType score ; /* the score used to maintain heap, if col is alive */
+    IndexType order ; /* pivot ordering of this column, if col is dead */
   } shared2 ;
   union
   {
-    Index headhash ;  /* head of a hash bucket, if col is at the head of */
+    IndexType headhash ;  /* head of a hash bucket, if col is at the head of */
     /* a degree list */
-    Index hash ;  /* hash value, if col is not in a degree list */
-    Index prev ;  /* previous column in degree list, if col is in a */
+    IndexType hash ;  /* hash value, if col is not in a degree list */
+    IndexType prev ;  /* previous column in degree list, if col is in a */
     /* degree list (but not at the head of a degree list) */
   } shared3 ;
   union
   {
-    Index degree_next ; /* next column, if col is in a degree list */
-    Index hash_next ;   /* next column, if col is in a hash list */
+    IndexType degree_next ; /* next column, if col is in a degree list */
+    IndexType hash_next ;   /* next column, if col is in a hash list */
   } shared4 ;
   
 };
  
-template <typename Index>
+template <typename IndexType>
 struct Colamd_Row
 {
-  Index start ;   /* index for A of first col in this row */
-  Index length ;  /* number of principal columns in this row */
+  IndexType start ;   /* index for A of first col in this row */
+  IndexType length ;  /* number of principal columns in this row */
   union
   {
-    Index degree ;  /* number of principal & non-principal columns in row */
-    Index p ;   /* used as a row pointer in init_rows_cols () */
+    IndexType degree ;  /* number of principal & non-principal columns in row */
+    IndexType p ;   /* used as a row pointer in init_rows_cols () */
   } shared1 ;
   union
   {
-    Index mark ;  /* for computing set differences and marking dead rows*/
-    Index first_column ;/* first column in row (used in garbage collection) */
+    IndexType mark ;  /* for computing set differences and marking dead rows*/
+    IndexType first_column ;/* first column in row (used in garbage collection) */
   } shared2 ;
   
 };
@@ -202,38 +195,38 @@ struct Colamd_Row
   
   This macro is not needed when using symamd.
   
-  Explicit typecast to Index added Sept. 23, 2002, COLAMD version 2.2, to avoid
+  Explicit typecast to IndexType added Sept. 23, 2002, COLAMD version 2.2, to avoid
   gcc -pedantic warning messages.
 */
-template <typename Index>
-inline Index colamd_c(Index n_col) 
-{ return Index( ((n_col) + 1) * sizeof (colamd_col<Index>) / sizeof (Index) ) ; }
+template <typename IndexType>
+inline IndexType colamd_c(IndexType n_col) 
+{ return IndexType( ((n_col) + 1) * sizeof (colamd_col<IndexType>) / sizeof (IndexType) ) ; }
 
-template <typename Index>
-inline Index  colamd_r(Index n_row)
-{ return Index(((n_row) + 1) * sizeof (Colamd_Row<Index>) / sizeof (Index)); }
+template <typename IndexType>
+inline IndexType  colamd_r(IndexType n_row)
+{ return IndexType(((n_row) + 1) * sizeof (Colamd_Row<IndexType>) / sizeof (IndexType)); }
 
 // Prototypes of non-user callable routines
-template <typename Index>
-static Index init_rows_cols (Index n_row, Index n_col, Colamd_Row<Index> Row [], colamd_col<Index> col [], Index A [], Index p [], Index stats[COLAMD_STATS] ); 
+template <typename IndexType>
+static IndexType init_rows_cols (IndexType n_row, IndexType n_col, Colamd_Row<IndexType> Row [], colamd_col<IndexType> col [], IndexType A [], IndexType p [], IndexType stats[COLAMD_STATS] ); 
 
-template <typename Index>
-static void init_scoring (Index n_row, Index n_col, Colamd_Row<Index> Row [], colamd_col<Index> Col [], Index A [], Index head [], double knobs[COLAMD_KNOBS], Index *p_n_row2, Index *p_n_col2, Index *p_max_deg);
+template <typename IndexType>
+static void init_scoring (IndexType n_row, IndexType n_col, Colamd_Row<IndexType> Row [], colamd_col<IndexType> Col [], IndexType A [], IndexType head [], double knobs[COLAMD_KNOBS], IndexType *p_n_row2, IndexType *p_n_col2, IndexType *p_max_deg);
 
-template <typename Index>
-static Index find_ordering (Index n_row, Index n_col, Index Alen, Colamd_Row<Index> Row [], colamd_col<Index> Col [], Index A [], Index head [], Index n_col2, Index max_deg, Index pfree);
+template <typename IndexType>
+static IndexType find_ordering (IndexType n_row, IndexType n_col, IndexType Alen, Colamd_Row<IndexType> Row [], colamd_col<IndexType> Col [], IndexType A [], IndexType head [], IndexType n_col2, IndexType max_deg, IndexType pfree);
 
-template <typename Index>
-static void order_children (Index n_col, colamd_col<Index> Col [], Index p []);
+template <typename IndexType>
+static void order_children (IndexType n_col, colamd_col<IndexType> Col [], IndexType p []);
 
-template <typename Index>
-static void detect_super_cols (colamd_col<Index> Col [], Index A [], Index head [], Index row_start, Index row_length ) ;
+template <typename IndexType>
+static void detect_super_cols (colamd_col<IndexType> Col [], IndexType A [], IndexType head [], IndexType row_start, IndexType row_length ) ;
 
-template <typename Index>
-static Index garbage_collection (Index n_row, Index n_col, Colamd_Row<Index> Row [], colamd_col<Index> Col [], Index A [], Index *pfree) ;
+template <typename IndexType>
+static IndexType garbage_collection (IndexType n_row, IndexType n_col, Colamd_Row<IndexType> Row [], colamd_col<IndexType> Col [], IndexType A [], IndexType *pfree) ;
 
-template <typename Index>
-static inline  Index clear_mark (Index n_row, Colamd_Row<Index> Row [] ) ;
+template <typename IndexType>
+static inline  IndexType clear_mark (IndexType n_row, Colamd_Row<IndexType> Row [] ) ;
 
 /* === No debugging ========================================================= */
 
@@ -260,8 +253,8 @@ static inline  Index clear_mark (Index n_row, Colamd_Row<Index> Row [] ) ;
  * \param n_col number of columns in A
  * \return recommended value of Alen for use by colamd
  */
-template <typename Index>
-inline Index colamd_recommended ( Index nnz, Index n_row, Index n_col)
+template <typename IndexType>
+inline IndexType colamd_recommended ( IndexType nnz, IndexType n_row, IndexType n_col)
 {
   if ((nnz) < 0 || (n_row) < 0 || (n_col) < 0)
     return (-1);
@@ -325,22 +318,22 @@ static inline void colamd_set_defaults(double knobs[COLAMD_KNOBS])
  * \param knobs parameter settings for colamd
  * \param stats colamd output statistics and error codes
  */
-template <typename Index>
-static bool colamd(Index n_row, Index n_col, Index Alen, Index *A, Index *p, double knobs[COLAMD_KNOBS], Index stats[COLAMD_STATS])
+template <typename IndexType>
+static bool colamd(IndexType n_row, IndexType n_col, IndexType Alen, IndexType *A, IndexType *p, double knobs[COLAMD_KNOBS], IndexType stats[COLAMD_STATS])
 {
   /* === Local variables ================================================== */
   
-  Index i ;     /* loop index */
-  Index nnz ;     /* nonzeros in A */
-  Index Row_size ;    /* size of Row [], in integers */
-  Index Col_size ;    /* size of Col [], in integers */
-  Index need ;      /* minimum required length of A */
-  Colamd_Row<Index> *Row ;   /* pointer into A of Row [0..n_row] array */
-  colamd_col<Index> *Col ;   /* pointer into A of Col [0..n_col] array */
-  Index n_col2 ;    /* number of non-dense, non-empty columns */
-  Index n_row2 ;    /* number of non-dense, non-empty rows */
-  Index ngarbage ;    /* number of garbage collections performed */
-  Index max_deg ;   /* maximum row degree */
+  IndexType i ;     /* loop index */
+  IndexType nnz ;     /* nonzeros in A */
+  IndexType Row_size ;    /* size of Row [], in integers */
+  IndexType Col_size ;    /* size of Col [], in integers */
+  IndexType need ;      /* minimum required length of A */
+  Colamd_Row<IndexType> *Row ;   /* pointer into A of Row [0..n_row] array */
+  colamd_col<IndexType> *Col ;   /* pointer into A of Col [0..n_col] array */
+  IndexType n_col2 ;    /* number of non-dense, non-empty columns */
+  IndexType n_row2 ;    /* number of non-dense, non-empty rows */
+  IndexType ngarbage ;    /* number of garbage collections performed */
+  IndexType max_deg ;   /* maximum row degree */
   double default_knobs [COLAMD_KNOBS] ; /* default knobs array */
   
   
@@ -431,8 +424,8 @@ static bool colamd(Index n_row, Index n_col, Index Alen, Index *A, Index *p, dou
   }
   
   Alen -= Col_size + Row_size ;
-  Col = (colamd_col<Index> *) &A [Alen] ;
-  Row = (Colamd_Row<Index> *) &A [Alen + Col_size] ;
+  Col = (colamd_col<IndexType> *) &A [Alen] ;
+  Row = (Colamd_Row<IndexType> *) &A [Alen + Col_size] ;
 
   /* === Construct the row and column data structures ===================== */
   
@@ -485,29 +478,29 @@ static bool colamd(Index n_row, Index n_col, Index Alen, Index *A, Index *p, dou
   column form of the matrix.  Returns false if the matrix is invalid,
   true otherwise.  Not user-callable.
 */
-template <typename Index>
-static Index init_rows_cols  /* returns true if OK, or false otherwise */
+template <typename IndexType>
+static IndexType init_rows_cols  /* returns true if OK, or false otherwise */
   (
     /* === Parameters ======================================================= */
 
-    Index n_row,      /* number of rows of A */
-    Index n_col,      /* number of columns of A */
-    Colamd_Row<Index> Row [],    /* of size n_row+1 */
-    colamd_col<Index> Col [],    /* of size n_col+1 */
-    Index A [],     /* row indices of A, of size Alen */
-    Index p [],     /* pointers to columns in A, of size n_col+1 */
-    Index stats [COLAMD_STATS]  /* colamd statistics */ 
+    IndexType n_row,      /* number of rows of A */
+    IndexType n_col,      /* number of columns of A */
+    Colamd_Row<IndexType> Row [],    /* of size n_row+1 */
+    colamd_col<IndexType> Col [],    /* of size n_col+1 */
+    IndexType A [],     /* row indices of A, of size Alen */
+    IndexType p [],     /* pointers to columns in A, of size n_col+1 */
+    IndexType stats [COLAMD_STATS]  /* colamd statistics */ 
     )
 {
   /* === Local variables ================================================== */
 
-  Index col ;     /* a column index */
-  Index row ;     /* a row index */
-  Index *cp ;     /* a column pointer */
-  Index *cp_end ;   /* a pointer to the end of a column */
-  Index *rp ;     /* a row pointer */
-  Index *rp_end ;   /* a pointer to the end of a row */
-  Index last_row ;    /* previous row */
+  IndexType col ;     /* a column index */
+  IndexType row ;     /* a row index */
+  IndexType *cp ;     /* a column pointer */
+  IndexType *cp_end ;   /* a pointer to the end of a column */
+  IndexType *rp ;     /* a row pointer */
+  IndexType *rp_end ;   /* a pointer to the end of a row */
+  IndexType last_row ;    /* previous row */
 
   /* === Initialize columns, and check column pointers ==================== */
 
@@ -516,7 +509,7 @@ static Index init_rows_cols  /* returns true if OK, or false otherwise */
     Col [col].start = p [col] ;
     Col [col].length = p [col+1] - p [col] ;
 
-    if (Col [col].length < 0)
+    if ((Col [col].length) < 0) // extra parentheses to work-around gcc bug 10200
     {
       /* column pointers must be non-decreasing */
       stats [COLAMD_STATUS] = COLAMD_ERROR_col_length_negative ;
@@ -701,46 +694,46 @@ static Index init_rows_cols  /* returns true if OK, or false otherwise */
   Kills dense or empty columns and rows, calculates an initial score for
   each column, and places all columns in the degree lists.  Not user-callable.
 */
-template <typename Index>
+template <typename IndexType>
 static void init_scoring
   (
     /* === Parameters ======================================================= */
 
-    Index n_row,      /* number of rows of A */
-    Index n_col,      /* number of columns of A */
-    Colamd_Row<Index> Row [],    /* of size n_row+1 */
-    colamd_col<Index> Col [],    /* of size n_col+1 */
-    Index A [],     /* column form and row form of A */
-    Index head [],    /* of size n_col+1 */
+    IndexType n_row,      /* number of rows of A */
+    IndexType n_col,      /* number of columns of A */
+    Colamd_Row<IndexType> Row [],    /* of size n_row+1 */
+    colamd_col<IndexType> Col [],    /* of size n_col+1 */
+    IndexType A [],     /* column form and row form of A */
+    IndexType head [],    /* of size n_col+1 */
     double knobs [COLAMD_KNOBS],/* parameters */
-    Index *p_n_row2,    /* number of non-dense, non-empty rows */
-    Index *p_n_col2,    /* number of non-dense, non-empty columns */
-    Index *p_max_deg    /* maximum row degree */
+    IndexType *p_n_row2,    /* number of non-dense, non-empty rows */
+    IndexType *p_n_col2,    /* number of non-dense, non-empty columns */
+    IndexType *p_max_deg    /* maximum row degree */
     )
 {
   /* === Local variables ================================================== */
 
-  Index c ;     /* a column index */
-  Index r, row ;    /* a row index */
-  Index *cp ;     /* a column pointer */
-  Index deg ;     /* degree of a row or column */
-  Index *cp_end ;   /* a pointer to the end of a column */
-  Index *new_cp ;   /* new column pointer */
-  Index col_length ;    /* length of pruned column */
-  Index score ;     /* current column score */
-  Index n_col2 ;    /* number of non-dense, non-empty columns */
-  Index n_row2 ;    /* number of non-dense, non-empty rows */
-  Index dense_row_count ; /* remove rows with more entries than this */
-  Index dense_col_count ; /* remove cols with more entries than this */
-  Index min_score ;   /* smallest column score */
-  Index max_deg ;   /* maximum row degree */
-  Index next_col ;    /* Used to add to degree list.*/
+  IndexType c ;     /* a column index */
+  IndexType r, row ;    /* a row index */
+  IndexType *cp ;     /* a column pointer */
+  IndexType deg ;     /* degree of a row or column */
+  IndexType *cp_end ;   /* a pointer to the end of a column */
+  IndexType *new_cp ;   /* new column pointer */
+  IndexType col_length ;    /* length of pruned column */
+  IndexType score ;     /* current column score */
+  IndexType n_col2 ;    /* number of non-dense, non-empty columns */
+  IndexType n_row2 ;    /* number of non-dense, non-empty rows */
+  IndexType dense_row_count ; /* remove rows with more entries than this */
+  IndexType dense_col_count ; /* remove cols with more entries than this */
+  IndexType min_score ;   /* smallest column score */
+  IndexType max_deg ;   /* maximum row degree */
+  IndexType next_col ;    /* Used to add to degree list.*/
 
 
   /* === Extract knobs ==================================================== */
 
-  dense_row_count = COLAMD_MAX (0, COLAMD_MIN (knobs [COLAMD_DENSE_ROW] * n_col, n_col)) ;
-  dense_col_count = COLAMD_MAX (0, COLAMD_MIN (knobs [COLAMD_DENSE_COL] * n_row, n_row)) ;
+  dense_row_count = numext::maxi(IndexType(0), numext::mini(IndexType(knobs [COLAMD_DENSE_ROW] * n_col), n_col)) ;
+  dense_col_count = numext::maxi(IndexType(0), numext::mini(IndexType(knobs [COLAMD_DENSE_COL] * n_row), n_row)) ;
   COLAMD_DEBUG1 (("colamd: densecount: %d %d\n", dense_row_count, dense_col_count)) ;
   max_deg = 0 ;
   n_col2 = n_col ;
@@ -804,7 +797,7 @@ static void init_scoring
     else
     {
       /* keep track of max degree of remaining rows */
-      max_deg = COLAMD_MAX (max_deg, deg) ;
+      max_deg = numext::maxi(max_deg, deg) ;
     }
   }
   COLAMD_DEBUG1 (("colamd: Dense and null rows killed: %d\n", n_row - n_row2)) ;
@@ -842,10 +835,10 @@ static void init_scoring
       /* add row's external degree */
       score += Row [row].shared1.degree - 1 ;
       /* guard against integer overflow */
-      score = COLAMD_MIN (score, n_col) ;
+      score = numext::mini(score, n_col) ;
     }
     /* determine pruned column length */
-    col_length = (Index) (new_cp - &A [Col [c].start]) ;
+    col_length = (IndexType) (new_cp - &A [Col [c].start]) ;
     if (col_length == 0)
     {
       /* a newly-made null column (all rows in this col are "dense" */
@@ -914,7 +907,7 @@ static void init_scoring
       head [score] = c ;
 
       /* see if this score is less than current min */
-      min_score = COLAMD_MIN (min_score, score) ;
+      min_score = numext::mini(min_score, score) ;
 
 
     }
@@ -938,56 +931,56 @@ static void init_scoring
   (no supercolumns on input).  Uses a minimum approximate column minimum
   degree ordering method.  Not user-callable.
 */
-template <typename Index>
-static Index find_ordering /* return the number of garbage collections */
+template <typename IndexType>
+static IndexType find_ordering /* return the number of garbage collections */
   (
     /* === Parameters ======================================================= */
 
-    Index n_row,      /* number of rows of A */
-    Index n_col,      /* number of columns of A */
-    Index Alen,     /* size of A, 2*nnz + n_col or larger */
-    Colamd_Row<Index> Row [],    /* of size n_row+1 */
-    colamd_col<Index> Col [],    /* of size n_col+1 */
-    Index A [],     /* column form and row form of A */
-    Index head [],    /* of size n_col+1 */
-    Index n_col2,     /* Remaining columns to order */
-    Index max_deg,    /* Maximum row degree */
-    Index pfree     /* index of first free slot (2*nnz on entry) */
+    IndexType n_row,      /* number of rows of A */
+    IndexType n_col,      /* number of columns of A */
+    IndexType Alen,     /* size of A, 2*nnz + n_col or larger */
+    Colamd_Row<IndexType> Row [],    /* of size n_row+1 */
+    colamd_col<IndexType> Col [],    /* of size n_col+1 */
+    IndexType A [],     /* column form and row form of A */
+    IndexType head [],    /* of size n_col+1 */
+    IndexType n_col2,     /* Remaining columns to order */
+    IndexType max_deg,    /* Maximum row degree */
+    IndexType pfree     /* index of first free slot (2*nnz on entry) */
     )
 {
   /* === Local variables ================================================== */
 
-  Index k ;     /* current pivot ordering step */
-  Index pivot_col ;   /* current pivot column */
-  Index *cp ;     /* a column pointer */
-  Index *rp ;     /* a row pointer */
-  Index pivot_row ;   /* current pivot row */
-  Index *new_cp ;   /* modified column pointer */
-  Index *new_rp ;   /* modified row pointer */
-  Index pivot_row_start ; /* pointer to start of pivot row */
-  Index pivot_row_degree ;  /* number of columns in pivot row */
-  Index pivot_row_length ;  /* number of supercolumns in pivot row */
-  Index pivot_col_score ; /* score of pivot column */
-  Index needed_memory ;   /* free space needed for pivot row */
-  Index *cp_end ;   /* pointer to the end of a column */
-  Index *rp_end ;   /* pointer to the end of a row */
-  Index row ;     /* a row index */
-  Index col ;     /* a column index */
-  Index max_score ;   /* maximum possible score */
-  Index cur_score ;   /* score of current column */
+  IndexType k ;     /* current pivot ordering step */
+  IndexType pivot_col ;   /* current pivot column */
+  IndexType *cp ;     /* a column pointer */
+  IndexType *rp ;     /* a row pointer */
+  IndexType pivot_row ;   /* current pivot row */
+  IndexType *new_cp ;   /* modified column pointer */
+  IndexType *new_rp ;   /* modified row pointer */
+  IndexType pivot_row_start ; /* pointer to start of pivot row */
+  IndexType pivot_row_degree ;  /* number of columns in pivot row */
+  IndexType pivot_row_length ;  /* number of supercolumns in pivot row */
+  IndexType pivot_col_score ; /* score of pivot column */
+  IndexType needed_memory ;   /* free space needed for pivot row */
+  IndexType *cp_end ;   /* pointer to the end of a column */
+  IndexType *rp_end ;   /* pointer to the end of a row */
+  IndexType row ;     /* a row index */
+  IndexType col ;     /* a column index */
+  IndexType max_score ;   /* maximum possible score */
+  IndexType cur_score ;   /* score of current column */
   unsigned int hash ;   /* hash value for supernode detection */
-  Index head_column ;   /* head of hash bucket */
-  Index first_col ;   /* first column in hash bucket */
-  Index tag_mark ;    /* marker value for mark array */
-  Index row_mark ;    /* Row [row].shared2.mark */
-  Index set_difference ;  /* set difference size of row with pivot row */
-  Index min_score ;   /* smallest column score */
-  Index col_thickness ;   /* "thickness" (no. of columns in a supercol) */
-  Index max_mark ;    /* maximum value of tag_mark */
-  Index pivot_col_thickness ; /* number of columns represented by pivot col */
-  Index prev_col ;    /* Used by Dlist operations. */
-  Index next_col ;    /* Used by Dlist operations. */
-  Index ngarbage ;    /* number of garbage collections performed */
+  IndexType head_column ;   /* head of hash bucket */
+  IndexType first_col ;   /* first column in hash bucket */
+  IndexType tag_mark ;    /* marker value for mark array */
+  IndexType row_mark ;    /* Row [row].shared2.mark */
+  IndexType set_difference ;  /* set difference size of row with pivot row */
+  IndexType min_score ;   /* smallest column score */
+  IndexType col_thickness ;   /* "thickness" (no. of columns in a supercol) */
+  IndexType max_mark ;    /* maximum value of tag_mark */
+  IndexType pivot_col_thickness ; /* number of columns represented by pivot col */
+  IndexType prev_col ;    /* Used by Dlist operations. */
+  IndexType next_col ;    /* Used by Dlist operations. */
+  IndexType ngarbage ;    /* number of garbage collections performed */
 
 
   /* === Initialization and clear mark ==================================== */
@@ -1040,7 +1033,7 @@ static Index find_ordering /* return the number of garbage collections */
 
     /* === Garbage_collection, if necessary ============================= */
 
-    needed_memory = COLAMD_MIN (pivot_col_score, n_col - k) ;
+    needed_memory = numext::mini(pivot_col_score, n_col - k) ;
     if (pfree + needed_memory >= Alen)
     {
       pfree = Eigen::internal::garbage_collection (n_row, n_col, Row, Col, A, &A [pfree]) ;
@@ -1099,7 +1092,7 @@ static Index find_ordering /* return the number of garbage collections */
 
     /* clear tag on pivot column */
     Col [pivot_col].shared1.thickness = pivot_col_thickness ;
-    max_deg = COLAMD_MAX (max_deg, pivot_row_degree) ;
+    max_deg = numext::maxi(max_deg, pivot_row_degree) ;
 
 
     /* === Kill all rows used to construct pivot row ==================== */
@@ -1273,11 +1266,11 @@ static Index find_ordering /* return the number of garbage collections */
 	/* add set difference */
 	cur_score += row_mark - tag_mark ;
 	/* integer overflow... */
-	cur_score = COLAMD_MIN (cur_score, n_col) ;
+	cur_score = numext::mini(cur_score, n_col) ;
       }
 
       /* recompute the column's length */
-      Col [col].length = (Index) (new_cp - &A [Col [col].start]) ;
+      Col [col].length = (IndexType) (new_cp - &A [Col [col].start]) ;
 
       /* === Further mass elimination ================================= */
 
@@ -1325,7 +1318,7 @@ static Index find_ordering /* return the number of garbage collections */
 	Col [col].shared4.hash_next = first_col ;
 
 	/* save hash function in Col [col].shared3.hash */
-	Col [col].shared3.hash = (Index) hash ;
+	Col [col].shared3.hash = (IndexType) hash ;
 	COLAMD_ASSERT (COL_IS_ALIVE (col)) ;
       }
     }
@@ -1386,7 +1379,7 @@ static Index find_ordering /* return the number of garbage collections */
       cur_score -= Col [col].shared1.thickness ;
 
       /* make sure score is less or equal than the max score */
-      cur_score = COLAMD_MIN (cur_score, max_score) ;
+      cur_score = numext::mini(cur_score, max_score) ;
       COLAMD_ASSERT (cur_score >= 0) ;
 
       /* store updated score */
@@ -1409,7 +1402,7 @@ static Index find_ordering /* return the number of garbage collections */
       head [cur_score] = col ;
 
       /* see if this score is less than current min */
-      min_score = COLAMD_MIN (min_score, cur_score) ;
+      min_score = numext::mini(min_score, cur_score) ;
 
     }
 
@@ -1420,7 +1413,7 @@ static Index find_ordering /* return the number of garbage collections */
       /* update pivot row length to reflect any cols that were killed */
       /* during super-col detection and mass elimination */
       Row [pivot_row].start  = pivot_row_start ;
-      Row [pivot_row].length = (Index) (new_rp - &A[pivot_row_start]) ;
+      Row [pivot_row].length = (IndexType) (new_rp - &A[pivot_row_start]) ;
       Row [pivot_row].shared1.degree = pivot_row_degree ;
       Row [pivot_row].shared2.mark = 0 ;
       /* pivot row is no longer dead */
@@ -1449,22 +1442,22 @@ static Index find_ordering /* return the number of garbage collections */
   taken by this routine is O (n_col), that is, linear in the number of
   columns.  Not user-callable.
 */
-template <typename Index>
+template <typename IndexType>
 static inline  void order_children
 (
   /* === Parameters ======================================================= */
 
-  Index n_col,      /* number of columns of A */
-  colamd_col<Index> Col [],    /* of size n_col+1 */
-  Index p []      /* p [0 ... n_col-1] is the column permutation*/
+  IndexType n_col,      /* number of columns of A */
+  colamd_col<IndexType> Col [],    /* of size n_col+1 */
+  IndexType p []      /* p [0 ... n_col-1] is the column permutation*/
   )
 {
   /* === Local variables ================================================== */
 
-  Index i ;     /* loop counter for all columns */
-  Index c ;     /* column index */
-  Index parent ;    /* index of column's parent */
-  Index order ;     /* column's order */
+  IndexType i ;     /* loop counter for all columns */
+  IndexType c ;     /* column index */
+  IndexType parent ;    /* index of column's parent */
+  IndexType order ;     /* column's order */
 
   /* === Order each non-principal column ================================== */
 
@@ -1550,33 +1543,33 @@ static inline  void order_children
   just been computed in the approximate degree computation.
   Not user-callable.
 */
-template <typename Index>
+template <typename IndexType>
 static void detect_super_cols
 (
   /* === Parameters ======================================================= */
   
-  colamd_col<Index> Col [],    /* of size n_col+1 */
-  Index A [],     /* row indices of A */
-  Index head [],    /* head of degree lists and hash buckets */
-  Index row_start,    /* pointer to set of columns to check */
-  Index row_length    /* number of columns to check */
+  colamd_col<IndexType> Col [],    /* of size n_col+1 */
+  IndexType A [],     /* row indices of A */
+  IndexType head [],    /* head of degree lists and hash buckets */
+  IndexType row_start,    /* pointer to set of columns to check */
+  IndexType row_length    /* number of columns to check */
 )
 {
   /* === Local variables ================================================== */
 
-  Index hash ;      /* hash value for a column */
-  Index *rp ;     /* pointer to a row */
-  Index c ;     /* a column index */
-  Index super_c ;   /* column index of the column to absorb into */
-  Index *cp1 ;      /* column pointer for column super_c */
-  Index *cp2 ;      /* column pointer for column c */
-  Index length ;    /* length of column super_c */
-  Index prev_c ;    /* column preceding c in hash bucket */
-  Index i ;     /* loop counter */
-  Index *rp_end ;   /* pointer to the end of the row */
-  Index col ;     /* a column index in the row to check */
-  Index head_column ;   /* first column in hash bucket or degree list */
-  Index first_col ;   /* first column in hash bucket */
+  IndexType hash ;      /* hash value for a column */
+  IndexType *rp ;     /* pointer to a row */
+  IndexType c ;     /* a column index */
+  IndexType super_c ;   /* column index of the column to absorb into */
+  IndexType *cp1 ;      /* column pointer for column super_c */
+  IndexType *cp2 ;      /* column pointer for column c */
+  IndexType length ;    /* length of column super_c */
+  IndexType prev_c ;    /* column preceding c in hash bucket */
+  IndexType i ;     /* loop counter */
+  IndexType *rp_end ;   /* pointer to the end of the row */
+  IndexType col ;     /* a column index in the row to check */
+  IndexType head_column ;   /* first column in hash bucket or degree list */
+  IndexType first_col ;   /* first column in hash bucket */
 
   /* === Consider each column in the row ================================== */
 
@@ -1701,27 +1694,27 @@ static void detect_super_cols
   itself linear in the number of nonzeros in the input matrix.
   Not user-callable.
 */
-template <typename Index>
-static Index garbage_collection  /* returns the new value of pfree */
+template <typename IndexType>
+static IndexType garbage_collection  /* returns the new value of pfree */
   (
     /* === Parameters ======================================================= */
     
-    Index n_row,      /* number of rows */
-    Index n_col,      /* number of columns */
-    Colamd_Row<Index> Row [],    /* row info */
-    colamd_col<Index> Col [],    /* column info */
-    Index A [],     /* A [0 ... Alen-1] holds the matrix */
-    Index *pfree      /* &A [0] ... pfree is in use */
+    IndexType n_row,      /* number of rows */
+    IndexType n_col,      /* number of columns */
+    Colamd_Row<IndexType> Row [],    /* row info */
+    colamd_col<IndexType> Col [],    /* column info */
+    IndexType A [],     /* A [0 ... Alen-1] holds the matrix */
+    IndexType *pfree      /* &A [0] ... pfree is in use */
     )
 {
   /* === Local variables ================================================== */
 
-  Index *psrc ;     /* source pointer */
-  Index *pdest ;    /* destination pointer */
-  Index j ;     /* counter */
-  Index r ;     /* a row index */
-  Index c ;     /* a column index */
-  Index length ;    /* length of a row or column */
+  IndexType *psrc ;     /* source pointer */
+  IndexType *pdest ;    /* destination pointer */
+  IndexType j ;     /* counter */
+  IndexType r ;     /* a row index */
+  IndexType c ;     /* a column index */
+  IndexType length ;    /* length of a row or column */
 
   /* === Defragment the columns =========================================== */
 
@@ -1734,7 +1727,7 @@ static Index garbage_collection  /* returns the new value of pfree */
 
       /* move and compact the column */
       COLAMD_ASSERT (pdest <= psrc) ;
-      Col [c].start = (Index) (pdest - &A [0]) ;
+      Col [c].start = (IndexType) (pdest - &A [0]) ;
       length = Col [c].length ;
       for (j = 0 ; j < length ; j++)
       {
@@ -1744,7 +1737,7 @@ static Index garbage_collection  /* returns the new value of pfree */
 	  *pdest++ = r ;
 	}
       }
-      Col [c].length = (Index) (pdest - &A [Col [c].start]) ;
+      Col [c].length = (IndexType) (pdest - &A [Col [c].start]) ;
     }
   }
 
@@ -1791,7 +1784,7 @@ static Index garbage_collection  /* returns the new value of pfree */
 
       /* move and compact the row */
       COLAMD_ASSERT (pdest <= psrc) ;
-      Row [r].start = (Index) (pdest - &A [0]) ;
+      Row [r].start = (IndexType) (pdest - &A [0]) ;
       length = Row [r].length ;
       for (j = 0 ; j < length ; j++)
       {
@@ -1801,7 +1794,7 @@ static Index garbage_collection  /* returns the new value of pfree */
 	  *pdest++ = c ;
 	}
       }
-      Row [r].length = (Index) (pdest - &A [Row [r].start]) ;
+      Row [r].length = (IndexType) (pdest - &A [Row [r].start]) ;
 
     }
   }
@@ -1810,7 +1803,7 @@ static Index garbage_collection  /* returns the new value of pfree */
 
   /* === Return the new value of pfree ==================================== */
 
-  return ((Index) (pdest - &A [0])) ;
+  return ((IndexType) (pdest - &A [0])) ;
 }
 
 
@@ -1822,18 +1815,18 @@ static Index garbage_collection  /* returns the new value of pfree */
   Clears the Row [].shared2.mark array, and returns the new tag_mark.
   Return value is the new tag_mark.  Not user-callable.
 */
-template <typename Index>
-static inline  Index clear_mark  /* return the new value for tag_mark */
+template <typename IndexType>
+static inline  IndexType clear_mark  /* return the new value for tag_mark */
   (
       /* === Parameters ======================================================= */
 
-    Index n_row,    /* number of rows in A */
-    Colamd_Row<Index> Row [] /* Row [0 ... n_row-1].shared2.mark is set to zero */
+    IndexType n_row,    /* number of rows in A */
+    Colamd_Row<IndexType> Row [] /* Row [0 ... n_row-1].shared2.mark is set to zero */
     )
 {
   /* === Local variables ================================================== */
 
-  Index r ;
+  IndexType r ;
 
   for (r = 0 ; r < n_row ; r++)
   {
diff --git a/eigenlib/Eigen/src/OrderingMethods/Ordering.h b/eigenlib/Eigen/src/OrderingMethods/Ordering.h
index f3c31f9c..7ea9b14d 100644
--- a/eigenlib/Eigen/src/OrderingMethods/Ordering.h
+++ b/eigenlib/Eigen/src/OrderingMethods/Ordering.h
@@ -19,20 +19,21 @@ namespace internal {
     
 /** \internal
   * \ingroup OrderingMethods_Module
-  * \returns the symmetric pattern A^T+A from the input matrix A. 
+  * \param[in] A the input non-symmetric matrix
+  * \param[out] symmat the symmetric pattern A^T+A from the input matrix \a A.
   * FIXME: The values should not be considered here
   */
 template<typename MatrixType> 
-void ordering_helper_at_plus_a(const MatrixType& mat, MatrixType& symmat)
+void ordering_helper_at_plus_a(const MatrixType& A, MatrixType& symmat)
 {
   MatrixType C;
-  C = mat.transpose(); // NOTE: Could be  costly
+  C = A.transpose(); // NOTE: Could be  costly
   for (int i = 0; i < C.rows(); i++) 
   {
       for (typename MatrixType::InnerIterator it(C, i); it; ++it)
         it.valueRef() = 0.0;
   }
-  symmat = C + mat; 
+  symmat = C + A;
 }
     
 }
@@ -44,14 +45,14 @@ void ordering_helper_at_plus_a(const MatrixType& mat, MatrixType& symmat)
   *
   * Functor computing the \em approximate \em minimum \em degree ordering
   * If the matrix is not structurally symmetric, an ordering of A^T+A is computed
-  * \tparam  Index The type of indices of the matrix 
+  * \tparam  StorageIndex The type of indices of the matrix 
   * \sa COLAMDOrdering
   */
-template <typename Index>
+template <typename StorageIndex>
 class AMDOrdering
 {
   public:
-    typedef PermutationMatrix<Dynamic, Dynamic, Index> PermutationType;
+    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType;
     
     /** Compute the permutation vector from a sparse matrix
      * This routine is much faster if the input matrix is column-major     
@@ -60,7 +61,7 @@ class AMDOrdering
     void operator()(const MatrixType& mat, PermutationType& perm)
     {
       // Compute the symmetric pattern
-      SparseMatrix<typename MatrixType::Scalar, ColMajor, Index> symm;
+      SparseMatrix<typename MatrixType::Scalar, ColMajor, StorageIndex> symm;
       internal::ordering_helper_at_plus_a(mat,symm); 
     
       // Call the AMD routine 
@@ -72,7 +73,7 @@ class AMDOrdering
     template <typename SrcType, unsigned int SrcUpLo> 
     void operator()(const SparseSelfAdjointView<SrcType, SrcUpLo>& mat, PermutationType& perm)
     { 
-      SparseMatrix<typename SrcType::Scalar, ColMajor, Index> C; C = mat;
+      SparseMatrix<typename SrcType::Scalar, ColMajor, StorageIndex> C; C = mat;
       
       // Call the AMD routine 
       // m_mat.prune(keep_diag()); //Remove the diagonal elements 
@@ -88,13 +89,13 @@ class AMDOrdering
   * Functor computing the natural ordering (identity)
   * 
   * \note Returns an empty permutation matrix
-  * \tparam  Index The type of indices of the matrix 
+  * \tparam  StorageIndex The type of indices of the matrix 
   */
-template <typename Index>
+template <typename StorageIndex>
 class NaturalOrdering
 {
   public:
-    typedef PermutationMatrix<Dynamic, Dynamic, Index> PermutationType;
+    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType;
     
     /** Compute the permutation vector from a column-major sparse matrix */
     template <typename MatrixType>
@@ -108,15 +109,17 @@ class NaturalOrdering
 /** \ingroup OrderingMethods_Module
   * \class COLAMDOrdering
   *
+  * \tparam  StorageIndex The type of indices of the matrix 
+  * 
   * Functor computing the \em column \em approximate \em minimum \em degree ordering 
   * The matrix should be in column-major and \b compressed format (see SparseMatrix::makeCompressed()).
   */
-template<typename Index>
+template<typename StorageIndex>
 class COLAMDOrdering
 {
   public:
-    typedef PermutationMatrix<Dynamic, Dynamic, Index> PermutationType; 
-    typedef Matrix<Index, Dynamic, 1> IndexVector;
+    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType; 
+    typedef Matrix<StorageIndex, Dynamic, 1> IndexVector;
     
     /** Compute the permutation vector \a perm form the sparse matrix \a mat
       * \warning The input sparse matrix \a mat must be in compressed mode (see SparseMatrix::makeCompressed()).
@@ -126,26 +129,26 @@ class COLAMDOrdering
     {
       eigen_assert(mat.isCompressed() && "COLAMDOrdering requires a sparse matrix in compressed mode. Call .makeCompressed() before passing it to COLAMDOrdering");
       
-      Index m = mat.rows();
-      Index n = mat.cols();
-      Index nnz = mat.nonZeros();
+      StorageIndex m = StorageIndex(mat.rows());
+      StorageIndex n = StorageIndex(mat.cols());
+      StorageIndex nnz = StorageIndex(mat.nonZeros());
       // Get the recommended value of Alen to be used by colamd
-      Index Alen = internal::colamd_recommended(nnz, m, n); 
+      StorageIndex Alen = internal::colamd_recommended(nnz, m, n); 
       // Set the default parameters
       double knobs [COLAMD_KNOBS]; 
-      Index stats [COLAMD_STATS];
+      StorageIndex stats [COLAMD_STATS];
       internal::colamd_set_defaults(knobs);
       
       IndexVector p(n+1), A(Alen); 
-      for(Index i=0; i <= n; i++)   p(i) = mat.outerIndexPtr()[i];
-      for(Index i=0; i < nnz; i++)  A(i) = mat.innerIndexPtr()[i];
+      for(StorageIndex i=0; i <= n; i++)   p(i) = mat.outerIndexPtr()[i];
+      for(StorageIndex i=0; i < nnz; i++)  A(i) = mat.innerIndexPtr()[i];
       // Call Colamd routine to compute the ordering 
-      Index info = internal::colamd(m, n, Alen, A.data(), p.data(), knobs, stats); 
+      StorageIndex info = internal::colamd(m, n, Alen, A.data(), p.data(), knobs, stats); 
       EIGEN_UNUSED_VARIABLE(info);
       eigen_assert( info && "COLAMD failed " );
       
       perm.resize(n);
-      for (Index i = 0; i < n; i++) perm.indices()(p(i)) = i;
+      for (StorageIndex i = 0; i < n; i++) perm.indices()(p(i)) = i;
     }
 };
 
diff --git a/eigenlib/Eigen/src/PaStiXSupport/CMakeLists.txt b/eigenlib/Eigen/src/PaStiXSupport/CMakeLists.txt
deleted file mode 100644
index 28c657e9..00000000
--- a/eigenlib/Eigen/src/PaStiXSupport/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_PastixSupport_SRCS "*.h")
-
-INSTALL(FILES 
-  ${Eigen_PastixSupport_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/PaStiXSupport COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/PaStiXSupport/PaStiXSupport.h b/eigenlib/Eigen/src/PaStiXSupport/PaStiXSupport.h
index a955287d..d2ebfd7b 100644
--- a/eigenlib/Eigen/src/PaStiXSupport/PaStiXSupport.h
+++ b/eigenlib/Eigen/src/PaStiXSupport/PaStiXSupport.h
@@ -12,6 +12,14 @@
 
 namespace Eigen { 
 
+#if defined(DCOMPLEX)
+  #define PASTIX_COMPLEX  COMPLEX
+  #define PASTIX_DCOMPLEX DCOMPLEX
+#else
+  #define PASTIX_COMPLEX  std::complex<float>
+  #define PASTIX_DCOMPLEX std::complex<double>
+#endif
+
 /** \ingroup PaStiXSupport_Module
   * \brief Interface to the PaStix solver
   * 
@@ -35,7 +43,7 @@ namespace internal
     typedef _MatrixType MatrixType;
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::Index Index;
+    typedef typename _MatrixType::StorageIndex StorageIndex;
   };
 
   template<typename _MatrixType, int Options>
@@ -44,7 +52,7 @@ namespace internal
     typedef _MatrixType MatrixType;
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::Index Index;
+    typedef typename _MatrixType::StorageIndex StorageIndex;
   };
 
   template<typename _MatrixType, int Options>
@@ -53,7 +61,7 @@ namespace internal
     typedef _MatrixType MatrixType;
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::Index Index;
+    typedef typename _MatrixType::StorageIndex StorageIndex;
   };
   
   void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, float *vals, int *perm, int * invp, float *x, int nbrhs, int *iparm, double *dparm)
@@ -74,14 +82,14 @@ namespace internal
   {
     if (n == 0) { ptr = NULL; idx = NULL; vals = NULL; }
     if (nbrhs == 0) {x = NULL; nbrhs=1;}
-    c_pastix(pastix_data, pastix_comm, n, ptr, idx, reinterpret_cast<COMPLEX*>(vals), perm, invp, reinterpret_cast<COMPLEX*>(x), nbrhs, iparm, dparm); 
+    c_pastix(pastix_data, pastix_comm, n, ptr, idx, reinterpret_cast<PASTIX_COMPLEX*>(vals), perm, invp, reinterpret_cast<PASTIX_COMPLEX*>(x), nbrhs, iparm, dparm); 
   }
   
   void eigen_pastix(pastix_data_t **pastix_data, int pastix_comm, int n, int *ptr, int *idx, std::complex<double> *vals, int *perm, int * invp, std::complex<double> *x, int nbrhs, int *iparm, double *dparm)
   {
     if (n == 0) { ptr = NULL; idx = NULL; vals = NULL; }
     if (nbrhs == 0) {x = NULL; nbrhs=1;}
-    z_pastix(pastix_data, pastix_comm, n, ptr, idx, reinterpret_cast<DCOMPLEX*>(vals), perm, invp, reinterpret_cast<DCOMPLEX*>(x), nbrhs, iparm, dparm); 
+    z_pastix(pastix_data, pastix_comm, n, ptr, idx, reinterpret_cast<PASTIX_DCOMPLEX*>(vals), perm, invp, reinterpret_cast<PASTIX_DCOMPLEX*>(x), nbrhs, iparm, dparm); 
   }
 
   // Convert the matrix  to Fortran-style Numbering
@@ -117,20 +125,30 @@ namespace internal
 // This is the base class to interface with PaStiX functions. 
 // Users should not used this class directly. 
 template <class Derived>
-class PastixBase : internal::noncopyable
+class PastixBase : public SparseSolverBase<Derived>
 {
+  protected:
+    typedef SparseSolverBase<Derived> Base;
+    using Base::derived;
+    using Base::m_isInitialized;
   public:
+    using Base::_solve_impl;
+    
     typedef typename internal::pastix_traits<Derived>::MatrixType _MatrixType;
     typedef _MatrixType MatrixType;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef Matrix<Scalar,Dynamic,1> Vector;
     typedef SparseMatrix<Scalar, ColMajor> ColSpMatrix;
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
     
   public:
     
-    PastixBase() : m_initisOk(false), m_analysisIsOk(false), m_factorizationIsOk(false), m_isInitialized(false), m_pastixdata(0), m_size(0)
+    PastixBase() : m_initisOk(false), m_analysisIsOk(false), m_factorizationIsOk(false), m_pastixdata(0), m_size(0)
     {
       init();
     }
@@ -139,39 +157,16 @@ class PastixBase : internal::noncopyable
     {
       clean();
     }
-
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<PastixBase, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "Pastix solver is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "PastixBase::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<PastixBase, Rhs>(*this, b.derived());
-    }
     
     template<typename Rhs,typename Dest>
-    bool _solve (const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) const;
+    bool _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) const;
     
-    Derived& derived()
-    {
-      return *static_cast<Derived*>(this);
-    }
-    const Derived& derived() const
-    {
-      return *static_cast<const Derived*>(this);
-    }
-
     /** Returns a reference to the integer vector IPARM of PaStiX parameters
       * to modify the default parameters. 
       * The statistics related to the different phases of factorization and solve are saved here as well
       * \sa analyzePattern() factorize()
       */
-    Array<Index,IPARM_SIZE,1>& iparm()
+    Array<StorageIndex,IPARM_SIZE,1>& iparm()
     {
       return m_iparm; 
     }
@@ -189,7 +184,7 @@ class PastixBase : internal::noncopyable
       * The statistics related to the different phases of factorization and solve are saved here as well
       * \sa analyzePattern() factorize()
       */
-    Array<RealScalar,IPARM_SIZE,1>& dparm()
+    Array<double,DPARM_SIZE,1>& dparm()
     {
       return m_dparm; 
     }
@@ -220,20 +215,6 @@ class PastixBase : internal::noncopyable
       return m_info;
     }
     
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<PastixBase, Rhs>
-    solve(const SparseMatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "Pastix LU, LLT or LDLT is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "PastixBase::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::sparse_solve_retval<PastixBase, Rhs>(*this, b.derived());
-    }
-    
   protected:
 
     // Initialize the Pastix data structure, check the matrix
@@ -260,14 +241,13 @@ class PastixBase : internal::noncopyable
     int m_initisOk; 
     int m_analysisIsOk;
     int m_factorizationIsOk;
-    bool m_isInitialized;
     mutable ComputationInfo m_info; 
     mutable pastix_data_t *m_pastixdata; // Data structure for pastix
     mutable int m_comm; // The MPI communicator identifier
-    mutable Matrix<int,IPARM_SIZE,1> m_iparm; // integer vector for the input parameters
-    mutable Matrix<double,DPARM_SIZE,1> m_dparm; // Scalar vector for the input parameters
-    mutable Matrix<Index,Dynamic,1> m_perm;  // Permutation vector
-    mutable Matrix<Index,Dynamic,1> m_invp;  // Inverse permutation vector
+    mutable Array<int,IPARM_SIZE,1> m_iparm; // integer vector for the input parameters
+    mutable Array<double,DPARM_SIZE,1> m_dparm; // Scalar vector for the input parameters
+    mutable Matrix<StorageIndex,Dynamic,1> m_perm;  // Permutation vector
+    mutable Matrix<StorageIndex,Dynamic,1> m_invp;  // Inverse permutation vector
     mutable int m_size; // Size of the matrix 
 }; 
 
@@ -288,7 +268,7 @@ void PastixBase<Derived>::init()
          0, 0, 0, 1, m_iparm.data(), m_dparm.data());
   
   m_iparm[IPARM_MATRIX_VERIFICATION] = API_NO;
-  m_iparm[IPARM_VERBOSE]             = 2;
+  m_iparm[IPARM_VERBOSE]             = API_VERBOSE_NOT;
   m_iparm[IPARM_ORDERING]            = API_ORDER_SCOTCH;
   m_iparm[IPARM_INCOMPLETE]          = API_NO;
   m_iparm[IPARM_OOC_LIMIT]           = 2000;
@@ -320,7 +300,6 @@ void PastixBase<Derived>::compute(ColSpMatrix& mat)
   factorize(mat);
   
   m_iparm(IPARM_MATRIX_VERIFICATION) = API_NO;
-  m_isInitialized = m_factorizationIsOk;
 }
 
 
@@ -333,7 +312,7 @@ void PastixBase<Derived>::analyzePattern(ColSpMatrix& mat)
   if(m_size>0)
     clean();
   
-  m_size = mat.rows();
+  m_size = internal::convert_index<int>(mat.rows());
   m_perm.resize(m_size);
   m_invp.resize(m_size);
   
@@ -362,7 +341,7 @@ void PastixBase<Derived>::factorize(ColSpMatrix& mat)
   eigen_assert(m_analysisIsOk && "The analysis phase should be called before the factorization phase");
   m_iparm(IPARM_START_TASK) = API_TASK_NUMFACT;
   m_iparm(IPARM_END_TASK) = API_TASK_NUMFACT;
-  m_size = mat.rows();
+  m_size = internal::convert_index<int>(mat.rows());
   
   internal::eigen_pastix(&m_pastixdata, MPI_COMM_WORLD, m_size, mat.outerIndexPtr(), mat.innerIndexPtr(),
                mat.valuePtr(), m_perm.data(), m_invp.data(), 0, 0, m_iparm.data(), m_dparm.data());
@@ -385,7 +364,7 @@ void PastixBase<Derived>::factorize(ColSpMatrix& mat)
 /* Solve the system */
 template<typename Base>
 template<typename Rhs,typename Dest>
-bool PastixBase<Base>::_solve (const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) const
+bool PastixBase<Base>::_solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) const
 {
   eigen_assert(m_isInitialized && "The matrix should be factorized first");
   EIGEN_STATIC_ASSERT((Dest::Flags&RowMajorBit)==0,
@@ -398,7 +377,7 @@ bool PastixBase<Base>::_solve (const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) co
     m_iparm[IPARM_START_TASK]          = API_TASK_SOLVE;
     m_iparm[IPARM_END_TASK]            = API_TASK_REFINE;
   
-    internal::eigen_pastix(&m_pastixdata, MPI_COMM_WORLD, x.rows(), 0, 0, 0,
+    internal::eigen_pastix(&m_pastixdata, MPI_COMM_WORLD, internal::convert_index<int>(x.rows()), 0, 0, 0,
                            m_perm.data(), m_invp.data(), &x(0, i), rhs, m_iparm.data(), m_dparm.data());
   }
   
@@ -423,8 +402,10 @@ bool PastixBase<Base>::_solve (const MatrixBase<Rhs> &b, MatrixBase<Dest> &x) co
   * NOTE : Note that if the analysis and factorization phase are called separately, 
   * the input matrix will be symmetrized at each call, hence it is advised to 
   * symmetrize the matrix in a end-user program and set \p IsStrSym to true
-  * 
-  * \sa \ref TutorialSparseDirectSolvers
+  *
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SparseLU
   * 
   */
 template<typename _MatrixType, bool IsStrSym>
@@ -434,7 +415,7 @@ class PastixLU : public PastixBase< PastixLU<_MatrixType> >
     typedef _MatrixType MatrixType;
     typedef PastixBase<PastixLU<MatrixType> > Base;
     typedef typename Base::ColSpMatrix ColSpMatrix;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
     
   public:
     PastixLU() : Base()
@@ -442,7 +423,7 @@ class PastixLU : public PastixBase< PastixLU<_MatrixType> >
       init();
     }
     
-    PastixLU(const MatrixType& matrix):Base()
+    explicit PastixLU(const MatrixType& matrix):Base()
     {
       init();
       compute(matrix);
@@ -534,8 +515,10 @@ class PastixLU : public PastixBase< PastixLU<_MatrixType> >
   * 
   * \tparam MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   * \tparam UpLo The part of the matrix to use : Lower or Upper. The default is Lower as required by PaStiX
-  * 
-  * \sa \ref TutorialSparseDirectSolvers
+  *
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SimplicialLLT
   */
 template<typename _MatrixType, int _UpLo>
 class PastixLLT : public PastixBase< PastixLLT<_MatrixType, _UpLo> >
@@ -552,7 +535,7 @@ class PastixLLT : public PastixBase< PastixLLT<_MatrixType, _UpLo> >
       init();
     }
     
-    PastixLLT(const MatrixType& matrix):Base()
+    explicit PastixLLT(const MatrixType& matrix):Base()
     {
       init();
       compute(matrix);
@@ -598,6 +581,7 @@ class PastixLLT : public PastixBase< PastixLLT<_MatrixType, _UpLo> >
     
     void grabMatrix(const MatrixType& matrix, ColSpMatrix& out)
     {
+      out.resize(matrix.rows(), matrix.cols());
       // Pastix supports only lower, column-major matrices 
       out.template selfadjointView<Lower>() = matrix.template selfadjointView<UpLo>();
       internal::c_to_fortran_numbering(out);
@@ -615,8 +599,10 @@ class PastixLLT : public PastixBase< PastixLLT<_MatrixType, _UpLo> >
   * 
   * \tparam MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   * \tparam UpLo The part of the matrix to use : Lower or Upper. The default is Lower as required by PaStiX
-  * 
-  * \sa \ref TutorialSparseDirectSolvers
+  *
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SimplicialLDLT
   */
 template<typename _MatrixType, int _UpLo>
 class PastixLDLT : public PastixBase< PastixLDLT<_MatrixType, _UpLo> >
@@ -633,7 +619,7 @@ class PastixLDLT : public PastixBase< PastixLDLT<_MatrixType, _UpLo> >
       init();
     }
     
-    PastixLDLT(const MatrixType& matrix):Base()
+    explicit PastixLDLT(const MatrixType& matrix):Base()
     {
       init();
       compute(matrix);
@@ -681,41 +667,12 @@ class PastixLDLT : public PastixBase< PastixLDLT<_MatrixType, _UpLo> >
     void grabMatrix(const MatrixType& matrix, ColSpMatrix& out)
     {
       // Pastix supports only lower, column-major matrices 
+      out.resize(matrix.rows(), matrix.cols());
       out.template selfadjointView<Lower>() = matrix.template selfadjointView<UpLo>();
       internal::c_to_fortran_numbering(out);
     }
 };
 
-namespace internal {
-
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<PastixBase<_MatrixType>, Rhs>
-  : solve_retval_base<PastixBase<_MatrixType>, Rhs>
-{
-  typedef PastixBase<_MatrixType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-template<typename _MatrixType, typename Rhs>
-struct sparse_solve_retval<PastixBase<_MatrixType>, Rhs>
-  : sparse_solve_retval_base<PastixBase<_MatrixType>, Rhs>
-{
-  typedef PastixBase<_MatrixType> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif
diff --git a/eigenlib/Eigen/src/PardisoSupport/CMakeLists.txt b/eigenlib/Eigen/src/PardisoSupport/CMakeLists.txt
deleted file mode 100644
index a097ab40..00000000
--- a/eigenlib/Eigen/src/PardisoSupport/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_PardisoSupport_SRCS "*.h")
-
-INSTALL(FILES 
-  ${Eigen_PardisoSupport_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/PardisoSupport COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/PardisoSupport/PardisoSupport.h b/eigenlib/Eigen/src/PardisoSupport/PardisoSupport.h
index 18cd7d88..091c3970 100644
--- a/eigenlib/Eigen/src/PardisoSupport/PardisoSupport.h
+++ b/eigenlib/Eigen/src/PardisoSupport/PardisoSupport.h
@@ -40,13 +40,13 @@ template<typename _MatrixType, int Options=Upper> class PardisoLDLT;
 
 namespace internal
 {
-  template<typename Index>
+  template<typename IndexType>
   struct pardiso_run_selector
   {
-    static Index run( _MKL_DSS_HANDLE_t pt, Index maxfct, Index mnum, Index type, Index phase, Index n, void *a,
-                      Index *ia, Index *ja, Index *perm, Index nrhs, Index *iparm, Index msglvl, void *b, void *x)
+    static IndexType run( _MKL_DSS_HANDLE_t pt, IndexType maxfct, IndexType mnum, IndexType type, IndexType phase, IndexType n, void *a,
+                      IndexType *ia, IndexType *ja, IndexType *perm, IndexType nrhs, IndexType *iparm, IndexType msglvl, void *b, void *x)
     {
-      Index error = 0;
+      IndexType error = 0;
       ::pardiso(pt, &maxfct, &mnum, &type, &phase, &n, a, ia, ja, perm, &nrhs, iparm, &msglvl, b, x, &error);
       return error;
     }
@@ -54,11 +54,11 @@ namespace internal
   template<>
   struct pardiso_run_selector<long long int>
   {
-    typedef long long int Index;
-    static Index run( _MKL_DSS_HANDLE_t pt, Index maxfct, Index mnum, Index type, Index phase, Index n, void *a,
-                      Index *ia, Index *ja, Index *perm, Index nrhs, Index *iparm, Index msglvl, void *b, void *x)
+    typedef long long int IndexType;
+    static IndexType run( _MKL_DSS_HANDLE_t pt, IndexType maxfct, IndexType mnum, IndexType type, IndexType phase, IndexType n, void *a,
+                      IndexType *ia, IndexType *ja, IndexType *perm, IndexType nrhs, IndexType *iparm, IndexType msglvl, void *b, void *x)
     {
-      Index error = 0;
+      IndexType error = 0;
       ::pardiso_64(pt, &maxfct, &mnum, &type, &phase, &n, a, ia, ja, perm, &nrhs, iparm, &msglvl, b, x, &error);
       return error;
     }
@@ -72,7 +72,7 @@ namespace internal
     typedef _MatrixType MatrixType;
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::Index Index;
+    typedef typename _MatrixType::StorageIndex StorageIndex;
   };
 
   template<typename _MatrixType, int Options>
@@ -81,7 +81,7 @@ namespace internal
     typedef _MatrixType MatrixType;
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::Index Index;
+    typedef typename _MatrixType::StorageIndex StorageIndex;
   };
 
   template<typename _MatrixType, int Options>
@@ -90,35 +90,44 @@ namespace internal
     typedef _MatrixType MatrixType;
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef typename _MatrixType::Index Index;    
+    typedef typename _MatrixType::StorageIndex StorageIndex;    
   };
 
-}
+} // end namespace internal
 
 template<class Derived>
-class PardisoImpl
+class PardisoImpl : public SparseSolverBase<Derived>
 {
+  protected:
+    typedef SparseSolverBase<Derived> Base;
+    using Base::derived;
+    using Base::m_isInitialized;
+    
     typedef internal::pardiso_traits<Derived> Traits;
   public:
+    using Base::_solve_impl;
+    
     typedef typename Traits::MatrixType MatrixType;
     typedef typename Traits::Scalar Scalar;
     typedef typename Traits::RealScalar RealScalar;
-    typedef typename Traits::Index Index;
-    typedef SparseMatrix<Scalar,RowMajor,Index> SparseMatrixType;
+    typedef typename Traits::StorageIndex StorageIndex;
+    typedef SparseMatrix<Scalar,RowMajor,StorageIndex> SparseMatrixType;
     typedef Matrix<Scalar,Dynamic,1> VectorType;
-    typedef Matrix<Index, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
-    typedef Matrix<Index, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
-    typedef Array<Index,64,1,DontAlign> ParameterType;
+    typedef Matrix<StorageIndex, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
+    typedef Matrix<StorageIndex, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
+    typedef Array<StorageIndex,64,1,DontAlign> ParameterType;
     enum {
-      ScalarIsComplex = NumTraits<Scalar>::IsComplex
+      ScalarIsComplex = NumTraits<Scalar>::IsComplex,
+      ColsAtCompileTime = Dynamic,
+      MaxColsAtCompileTime = Dynamic
     };
 
     PardisoImpl()
     {
-      eigen_assert((sizeof(Index) >= sizeof(_INTEGER_t) && sizeof(Index) <= 8) && "Non-supported index type");
+      eigen_assert((sizeof(StorageIndex) >= sizeof(_INTEGER_t) && sizeof(StorageIndex) <= 8) && "Non-supported index type");
       m_iparm.setZero();
       m_msglvl = 0; // No output
-      m_initialized = false;
+      m_isInitialized = false;
     }
 
     ~PardisoImpl()
@@ -136,7 +145,7 @@ class PardisoImpl
       */
     ComputationInfo info() const
     {
-      eigen_assert(m_initialized && "Decomposition is not initialized.");
+      eigen_assert(m_isInitialized && "Decomposition is not initialized.");
       return m_info;
     }
 
@@ -165,54 +174,18 @@ class PardisoImpl
     Derived& factorize(const MatrixType& matrix);
 
     Derived& compute(const MatrixType& matrix);
-    
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<PardisoImpl, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_initialized && "Pardiso solver is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "PardisoImpl::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<PardisoImpl, Rhs>(*this, b.derived());
-    }
 
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<PardisoImpl, Rhs>
-    solve(const SparseMatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_initialized && "Pardiso solver is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "PardisoImpl::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::sparse_solve_retval<PardisoImpl, Rhs>(*this, b.derived());
-    }
-
-    Derived& derived()
-    {
-      return *static_cast<Derived*>(this);
-    }
-    const Derived& derived() const
-    {
-      return *static_cast<const Derived*>(this);
-    }
-
-    template<typename BDerived, typename XDerived>
-    bool _solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived>& x) const;
+    template<typename Rhs,typename Dest>
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const;
 
   protected:
     void pardisoRelease()
     {
-      if(m_initialized) // Factorization ran at least once
+      if(m_isInitialized) // Factorization ran at least once
       {
-        internal::pardiso_run_selector<Index>::run(m_pt, 1, 1, m_type, -1, m_size, 0, 0, 0, m_perm.data(), 0,
-                                                   m_iparm.data(), m_msglvl, 0, 0);
+        internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, -1, internal::convert_index<StorageIndex>(m_size),0, 0, 0, m_perm.data(), 0,
+                                                          m_iparm.data(), m_msglvl, NULL, NULL);
+        m_isInitialized = false;
       }
     }
 
@@ -221,11 +194,11 @@ class PardisoImpl
       m_type = type;
       bool symmetric = std::abs(m_type) < 10;
       m_iparm[0] = 1;   // No solver default
-      m_iparm[1] = 3;   // use Metis for the ordering
-      m_iparm[2] = 1;   // Numbers of processors, value of OMP_NUM_THREADS
+      m_iparm[1] = 2;   // use Metis for the ordering
+      m_iparm[2] = 0;   // Reserved. Set to zero. (??Numbers of processors, value of OMP_NUM_THREADS??)
       m_iparm[3] = 0;   // No iterative-direct algorithm
       m_iparm[4] = 0;   // No user fill-in reducing permutation
-      m_iparm[5] = 0;   // Write solution into x
+      m_iparm[5] = 0;   // Write solution into x, b is left unchanged
       m_iparm[6] = 0;   // Not in use
       m_iparm[7] = 2;   // Max numbers of iterative refinement steps
       m_iparm[8] = 0;   // Not in use
@@ -246,13 +219,16 @@ class PardisoImpl
       m_iparm[26] = 0;  // No matrix checker
       m_iparm[27] = (sizeof(RealScalar) == 4) ? 1 : 0;
       m_iparm[34] = 1;  // C indexing
-      m_iparm[59] = 1;  // Automatic switch between In-Core and Out-of-Core modes
+      m_iparm[36] = 0;  // CSR
+      m_iparm[59] = 0;  // 0 - In-Core ; 1 - Automatic switch between In-Core and Out-of-Core modes ; 2 - Out-of-Core
+      
+      memset(m_pt, 0, sizeof(m_pt));
     }
 
   protected:
     // cached data to reduce reallocation, etc.
     
-    void manageErrorCode(Index error)
+    void manageErrorCode(Index error) const
     {
       switch(error)
       {
@@ -269,16 +245,14 @@ class PardisoImpl
     }
 
     mutable SparseMatrixType m_matrix;
-    ComputationInfo m_info;
-    bool m_initialized, m_analysisIsOk, m_factorizationIsOk;
-    Index m_type, m_msglvl;
+    mutable ComputationInfo m_info;
+    bool m_analysisIsOk, m_factorizationIsOk;
+    StorageIndex m_type, m_msglvl;
     mutable void *m_pt[64];
     mutable ParameterType m_iparm;
     mutable IntColVectorType m_perm;
     Index m_size;
     
-  private:
-    PardisoImpl(PardisoImpl &) {}
 };
 
 template<class Derived>
@@ -288,19 +262,17 @@ Derived& PardisoImpl<Derived>::compute(const MatrixType& a)
   eigen_assert(a.rows() == a.cols());
 
   pardisoRelease();
-  memset(m_pt, 0, sizeof(m_pt));
   m_perm.setZero(m_size);
   derived().getMatrix(a);
   
   Index error;
-  error = internal::pardiso_run_selector<Index>::run(m_pt, 1, 1, m_type, 12, m_size,
-                                                     m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
-                                                     m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
-
+  error = internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, 12, internal::convert_index<StorageIndex>(m_size),
+                                                            m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
+                                                            m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
   manageErrorCode(error);
   m_analysisIsOk = true;
   m_factorizationIsOk = true;
-  m_initialized = true;
+  m_isInitialized = true;
   return derived();
 }
 
@@ -311,19 +283,18 @@ Derived& PardisoImpl<Derived>::analyzePattern(const MatrixType& a)
   eigen_assert(m_size == a.cols());
 
   pardisoRelease();
-  memset(m_pt, 0, sizeof(m_pt));
   m_perm.setZero(m_size);
   derived().getMatrix(a);
   
   Index error;
-  error = internal::pardiso_run_selector<Index>::run(m_pt, 1, 1, m_type, 11, m_size,
-                                                     m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
-                                                     m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
+  error = internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, 11, internal::convert_index<StorageIndex>(m_size),
+                                                            m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
+                                                            m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
   
   manageErrorCode(error);
   m_analysisIsOk = true;
   m_factorizationIsOk = false;
-  m_initialized = true;
+  m_isInitialized = true;
   return derived();
 }
 
@@ -335,22 +306,25 @@ Derived& PardisoImpl<Derived>::factorize(const MatrixType& a)
   
   derived().getMatrix(a);
 
-  Index error;  
-  error = internal::pardiso_run_selector<Index>::run(m_pt, 1, 1, m_type, 22, m_size,
-                                                     m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
-                                                     m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
+  Index error;
+  error = internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, 22, internal::convert_index<StorageIndex>(m_size),
+                                                            m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
+                                                            m_perm.data(), 0, m_iparm.data(), m_msglvl, NULL, NULL);
   
   manageErrorCode(error);
   m_factorizationIsOk = true;
   return derived();
 }
 
-template<class Base>
+template<class Derived>
 template<typename BDerived,typename XDerived>
-bool PardisoImpl<Base>::_solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived>& x) const
+void PardisoImpl<Derived>::_solve_impl(const MatrixBase<BDerived> &b, MatrixBase<XDerived>& x) const
 {
   if(m_iparm[0] == 0) // Factorization was not computed
-    return false;
+  {
+    m_info = InvalidInput;
+    return;
+  }
 
   //Index n = m_matrix.rows();
   Index nrhs = Index(b.cols());
@@ -380,12 +354,12 @@ bool PardisoImpl<Base>::_solve(const MatrixBase<BDerived> &b, MatrixBase<XDerive
   }
   
   Index error;
-  error = internal::pardiso_run_selector<Index>::run(m_pt, 1, 1, m_type, 33, m_size,
-                                                     m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
-                                                     m_perm.data(), nrhs, m_iparm.data(), m_msglvl,
-                                                     rhs_ptr, x.derived().data());
+  error = internal::pardiso_run_selector<StorageIndex>::run(m_pt, 1, 1, m_type, 33, internal::convert_index<StorageIndex>(m_size),
+                                                            m_matrix.valuePtr(), m_matrix.outerIndexPtr(), m_matrix.innerIndexPtr(),
+                                                            m_perm.data(), internal::convert_index<StorageIndex>(nrhs), m_iparm.data(), m_msglvl,
+                                                            rhs_ptr, x.derived().data());
 
-  return error==0;
+  manageErrorCode(error);
 }
 
 
@@ -397,15 +371,20 @@ bool PardisoImpl<Base>::_solve(const MatrixBase<BDerived> &b, MatrixBase<XDerive
   * using the Intel MKL PARDISO library. The sparse matrix A must be squared and invertible.
   * The vectors or matrices X and B can be either dense or sparse.
   *
+  * By default, it runs in in-core mode. To enable PARDISO's out-of-core feature, set:
+  * \code solver.pardisoParameterArray()[59] = 1; \endcode
+  *
   * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SparseLU
   */
 template<typename MatrixType>
 class PardisoLU : public PardisoImpl< PardisoLU<MatrixType> >
 {
   protected:
-    typedef PardisoImpl< PardisoLU<MatrixType> > Base;
+    typedef PardisoImpl<PardisoLU> Base;
     typedef typename Base::Scalar Scalar;
     typedef typename Base::RealScalar RealScalar;
     using Base::pardisoInit;
@@ -423,7 +402,7 @@ class PardisoLU : public PardisoImpl< PardisoLU<MatrixType> >
       pardisoInit(Base::ScalarIsComplex ? 13 : 11);
     }
 
-    PardisoLU(const MatrixType& matrix)
+    explicit PardisoLU(const MatrixType& matrix)
       : Base()
     {
       pardisoInit(Base::ScalarIsComplex ? 13 : 11);
@@ -433,10 +412,8 @@ class PardisoLU : public PardisoImpl< PardisoLU<MatrixType> >
     void getMatrix(const MatrixType& matrix)
     {
       m_matrix = matrix;
+      m_matrix.makeCompressed();
     }
-    
-  private:
-    PardisoLU(PardisoLU& ) {}
 };
 
 /** \ingroup PardisoSupport_Module
@@ -447,11 +424,16 @@ class PardisoLU : public PardisoImpl< PardisoLU<MatrixType> >
   * using the Intel MKL PARDISO library. The sparse matrix A must be selfajoint and positive definite.
   * The vectors or matrices X and B can be either dense or sparse.
   *
+  * By default, it runs in in-core mode. To enable PARDISO's out-of-core feature, set:
+  * \code solver.pardisoParameterArray()[59] = 1; \endcode
+  *
   * \tparam MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   * \tparam UpLo can be any bitwise combination of Upper, Lower. The default is Upper, meaning only the upper triangular part has to be used.
   *         Upper|Lower can be used to tell both triangular parts can be used as input.
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SimplicialLLT
   */
 template<typename MatrixType, int _UpLo>
 class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
@@ -459,7 +441,6 @@ class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
   protected:
     typedef PardisoImpl< PardisoLLT<MatrixType,_UpLo> > Base;
     typedef typename Base::Scalar Scalar;
-    typedef typename Base::Index Index;
     typedef typename Base::RealScalar RealScalar;
     using Base::pardisoInit;
     using Base::m_matrix;
@@ -467,9 +448,9 @@ class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
 
   public:
 
+    typedef typename Base::StorageIndex StorageIndex;
     enum { UpLo = _UpLo };
     using Base::compute;
-    using Base::solve;
 
     PardisoLLT()
       : Base()
@@ -477,7 +458,7 @@ class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
       pardisoInit(Base::ScalarIsComplex ? 4 : 2);
     }
 
-    PardisoLLT(const MatrixType& matrix)
+    explicit PardisoLLT(const MatrixType& matrix)
       : Base()
     {
       pardisoInit(Base::ScalarIsComplex ? 4 : 2);
@@ -489,13 +470,11 @@ class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
     void getMatrix(const MatrixType& matrix)
     {
       // PARDISO supports only upper, row-major matrices
-      PermutationMatrix<Dynamic,Dynamic,Index> p_null;
+      PermutationMatrix<Dynamic,Dynamic,StorageIndex> p_null;
       m_matrix.resize(matrix.rows(), matrix.cols());
       m_matrix.template selfadjointView<Upper>() = matrix.template selfadjointView<UpLo>().twistedBy(p_null);
+      m_matrix.makeCompressed();
     }
-    
-  private:
-    PardisoLLT(PardisoLLT& ) {}
 };
 
 /** \ingroup PardisoSupport_Module
@@ -507,12 +486,17 @@ class PardisoLLT : public PardisoImpl< PardisoLLT<MatrixType,_UpLo> >
   * For complex matrices, A can also be symmetric only, see the \a Options template parameter.
   * The vectors or matrices X and B can be either dense or sparse.
   *
+  * By default, it runs in in-core mode. To enable PARDISO's out-of-core feature, set:
+  * \code solver.pardisoParameterArray()[59] = 1; \endcode
+  *
   * \tparam MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   * \tparam Options can be any bitwise combination of Upper, Lower, and Symmetric. The default is Upper, meaning only the upper triangular part has to be used.
   *         Symmetric can be used for symmetric, non-selfadjoint complex matrices, the default being to assume a selfadjoint matrix.
   *         Upper|Lower can be used to tell both triangular parts can be used as input.
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SimplicialLDLT
   */
 template<typename MatrixType, int Options>
 class PardisoLDLT : public PardisoImpl< PardisoLDLT<MatrixType,Options> >
@@ -520,7 +504,6 @@ class PardisoLDLT : public PardisoImpl< PardisoLDLT<MatrixType,Options> >
   protected:
     typedef PardisoImpl< PardisoLDLT<MatrixType,Options> > Base;
     typedef typename Base::Scalar Scalar;
-    typedef typename Base::Index Index;
     typedef typename Base::RealScalar RealScalar;
     using Base::pardisoInit;
     using Base::m_matrix;
@@ -528,8 +511,8 @@ class PardisoLDLT : public PardisoImpl< PardisoLDLT<MatrixType,Options> >
 
   public:
 
+    typedef typename Base::StorageIndex StorageIndex;
     using Base::compute;
-    using Base::solve;
     enum { UpLo = Options&(Upper|Lower) };
 
     PardisoLDLT()
@@ -538,7 +521,7 @@ class PardisoLDLT : public PardisoImpl< PardisoLDLT<MatrixType,Options> >
       pardisoInit(Base::ScalarIsComplex ? ( bool(Options&Symmetric) ? 6 : -4 ) : -2);
     }
 
-    PardisoLDLT(const MatrixType& matrix)
+    explicit PardisoLDLT(const MatrixType& matrix)
       : Base()
     {
       pardisoInit(Base::ScalarIsComplex ? ( bool(Options&Symmetric) ? 6 : -4 ) : -2);
@@ -548,45 +531,13 @@ class PardisoLDLT : public PardisoImpl< PardisoLDLT<MatrixType,Options> >
     void getMatrix(const MatrixType& matrix)
     {
       // PARDISO supports only upper, row-major matrices
-      PermutationMatrix<Dynamic,Dynamic,Index> p_null;
+      PermutationMatrix<Dynamic,Dynamic,StorageIndex> p_null;
       m_matrix.resize(matrix.rows(), matrix.cols());
       m_matrix.template selfadjointView<Upper>() = matrix.template selfadjointView<UpLo>().twistedBy(p_null);
+      m_matrix.makeCompressed();
     }
-    
-  private:
-    PardisoLDLT(PardisoLDLT& ) {}
 };
 
-namespace internal {
-  
-template<typename _Derived, typename Rhs>
-struct solve_retval<PardisoImpl<_Derived>, Rhs>
-  : solve_retval_base<PardisoImpl<_Derived>, Rhs>
-{
-  typedef PardisoImpl<_Derived> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-template<typename Derived, typename Rhs>
-struct sparse_solve_retval<PardisoImpl<Derived>, Rhs>
-  : sparse_solve_retval_base<PardisoImpl<Derived>, Rhs>
-{
-  typedef PardisoImpl<Derived> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_PARDISOSUPPORT_H
diff --git a/eigenlib/Eigen/src/QR/CMakeLists.txt b/eigenlib/Eigen/src/QR/CMakeLists.txt
deleted file mode 100644
index 96f43d7f..00000000
--- a/eigenlib/Eigen/src/QR/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_QR_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_QR_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/QR COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/QR/ColPivHouseholderQR.h b/eigenlib/Eigen/src/QR/ColPivHouseholderQR.h
index 567eab7c..0e47c833 100644
--- a/eigenlib/Eigen/src/QR/ColPivHouseholderQR.h
+++ b/eigenlib/Eigen/src/QR/ColPivHouseholderQR.h
@@ -11,7 +11,16 @@
 #ifndef EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
 #define EIGEN_COLPIVOTINGHOUSEHOLDERQR_H
 
-namespace Eigen { 
+namespace Eigen {
+
+namespace internal {
+template<typename _MatrixType> struct traits<ColPivHouseholderQR<_MatrixType> >
+ : traits<_MatrixType>
+{
+  enum { Flags = 0 };
+};
+
+} // end namespace internal
 
 /** \ingroup QR_Module
   *
@@ -19,19 +28,21 @@ namespace Eigen {
   *
   * \brief Householder rank-revealing QR decomposition of a matrix with column-pivoting
   *
-  * \param MatrixType the type of the matrix of which we are computing the QR decomposition
+  * \tparam _MatrixType the type of the matrix of which we are computing the QR decomposition
   *
   * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b Q and \b R
-  * such that 
+  * such that
   * \f[
   *  \mathbf{A} \, \mathbf{P} = \mathbf{Q} \, \mathbf{R}
   * \f]
-  * by using Householder transformations. Here, \b P is a permutation matrix, \b Q a unitary matrix and \b R an 
+  * by using Householder transformations. Here, \b P is a permutation matrix, \b Q a unitary matrix and \b R an
   * upper triangular matrix.
   *
   * This decomposition performs column pivoting in order to be rank-revealing and improve
   * numerical stability. It is slower than HouseholderQR, and faster than FullPivHouseholderQR.
   *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  * 
   * \sa MatrixBase::colPivHouseholderQr()
   */
 template<typename _MatrixType> class ColPivHouseholderQR
@@ -42,25 +53,25 @@ template<typename _MatrixType> class ColPivHouseholderQR
     enum {
       RowsAtCompileTime = MatrixType::RowsAtCompileTime,
       ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, Options, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixQType;
+    // FIXME should be int
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
     typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationType;
     typedef typename internal::plain_row_type<MatrixType, Index>::type IntRowVectorType;
     typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
     typedef typename internal::plain_row_type<MatrixType, RealScalar>::type RealRowVectorType;
     typedef HouseholderSequence<MatrixType,typename internal::remove_all<typename HCoeffsType::ConjugateReturnType>::type> HouseholderSequenceType;
-    
+    typedef typename MatrixType::PlainObject PlainObject;
+
   private:
-    
-    typedef typename PermutationType::Index PermIndexType;
-    
+
+    typedef typename PermutationType::StorageIndex PermIndexType;
+
   public:
 
     /**
@@ -75,7 +86,8 @@ template<typename _MatrixType> class ColPivHouseholderQR
         m_colsPermutation(),
         m_colsTranspositions(),
         m_temp(),
-        m_colSqNorms(),
+        m_colNormsUpdated(),
+        m_colNormsDirect(),
         m_isInitialized(false),
         m_usePrescribedThreshold(false) {}
 
@@ -91,7 +103,8 @@ template<typename _MatrixType> class ColPivHouseholderQR
         m_colsPermutation(PermIndexType(cols)),
         m_colsTranspositions(cols),
         m_temp(cols),
-        m_colSqNorms(cols),
+        m_colNormsUpdated(cols),
+        m_colNormsDirect(cols),
         m_isInitialized(false),
         m_usePrescribedThreshold(false) {}
 
@@ -99,25 +112,48 @@ template<typename _MatrixType> class ColPivHouseholderQR
       *
       * This constructor computes the QR factorization of the matrix \a matrix by calling
       * the method compute(). It is a short cut for:
-      * 
+      *
       * \code
       * ColPivHouseholderQR<MatrixType> qr(matrix.rows(), matrix.cols());
       * qr.compute(matrix);
       * \endcode
-      * 
+      *
       * \sa compute()
       */
-    ColPivHouseholderQR(const MatrixType& matrix)
+    template<typename InputType>
+    explicit ColPivHouseholderQR(const EigenBase<InputType>& matrix)
       : m_qr(matrix.rows(), matrix.cols()),
         m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
         m_colsPermutation(PermIndexType(matrix.cols())),
         m_colsTranspositions(matrix.cols()),
         m_temp(matrix.cols()),
-        m_colSqNorms(matrix.cols()),
+        m_colNormsUpdated(matrix.cols()),
+        m_colNormsDirect(matrix.cols()),
         m_isInitialized(false),
         m_usePrescribedThreshold(false)
     {
-      compute(matrix);
+      compute(matrix.derived());
+    }
+
+    /** \brief Constructs a QR factorization from a given matrix
+      *
+      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+      *
+      * \sa ColPivHouseholderQR(const EigenBase&)
+      */
+    template<typename InputType>
+    explicit ColPivHouseholderQR(EigenBase<InputType>& matrix)
+      : m_qr(matrix.derived()),
+        m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
+        m_colsPermutation(PermIndexType(matrix.cols())),
+        m_colsTranspositions(matrix.cols()),
+        m_temp(matrix.cols()),
+        m_colNormsUpdated(matrix.cols()),
+        m_colNormsDirect(matrix.cols()),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false)
+    {
+      computeInPlace();
     }
 
     /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
@@ -127,9 +163,6 @@ template<typename _MatrixType> class ColPivHouseholderQR
       *
       * \returns a solution.
       *
-      * \note The case where b is a matrix is not yet implemented. Also, this
-      *       code is space inefficient.
-      *
       * \note_about_checking_solutions
       *
       * \note_about_arbitrary_choice_of_solution
@@ -138,17 +171,17 @@ template<typename _MatrixType> class ColPivHouseholderQR
       * Output: \verbinclude ColPivHouseholderQR_solve.out
       */
     template<typename Rhs>
-    inline const internal::solve_retval<ColPivHouseholderQR, Rhs>
+    inline const Solve<ColPivHouseholderQR, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return internal::solve_retval<ColPivHouseholderQR, Rhs>(*this, b.derived());
+      return Solve<ColPivHouseholderQR, Rhs>(*this, b.derived());
     }
 
-    HouseholderSequenceType householderQ(void) const;
-    HouseholderSequenceType matrixQ(void) const
+    HouseholderSequenceType householderQ() const;
+    HouseholderSequenceType matrixQ() const
     {
-      return householderQ(); 
+      return householderQ();
     }
 
     /** \returns a reference to the matrix where the Householder QR decomposition is stored
@@ -158,14 +191,14 @@ template<typename _MatrixType> class ColPivHouseholderQR
       eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
       return m_qr;
     }
-    
-    /** \returns a reference to the matrix where the result Householder QR is stored 
-     * \warning The strict lower part of this matrix contains internal values. 
+
+    /** \returns a reference to the matrix where the result Householder QR is stored
+     * \warning The strict lower part of this matrix contains internal values.
      * Only the upper triangular part should be referenced. To get it, use
      * \code matrixR().template triangularView<Upper>() \endcode
-     * For rank-deficient matrices, use 
-     * \code 
-     * matrixR().topLeftCorner(rank(), rank()).template triangularView<Upper>() 
+     * For rank-deficient matrices, use
+     * \code
+     * matrixR().topLeftCorner(rank(), rank()).template triangularView<Upper>()
      * \endcode
      */
     const MatrixType& matrixR() const
@@ -173,8 +206,9 @@ template<typename _MatrixType> class ColPivHouseholderQR
       eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
       return m_qr;
     }
-    
-    ColPivHouseholderQR& compute(const MatrixType& matrix);
+
+    template<typename InputType>
+    ColPivHouseholderQR& compute(const EigenBase<InputType>& matrix);
 
     /** \returns a const reference to the column permutation matrix */
     const PermutationType& colsPermutation() const
@@ -284,20 +318,17 @@ template<typename _MatrixType> class ColPivHouseholderQR
       * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
       *       Use isInvertible() to first determine whether this matrix is invertible.
       */
-    inline const
-    internal::solve_retval<ColPivHouseholderQR, typename MatrixType::IdentityReturnType>
-    inverse() const
+    inline const Inverse<ColPivHouseholderQR> inverse() const
     {
       eigen_assert(m_isInitialized && "ColPivHouseholderQR is not initialized.");
-      return internal::solve_retval<ColPivHouseholderQR,typename MatrixType::IdentityReturnType>
-               (*this, MatrixType::Identity(m_qr.rows(), m_qr.cols()));
+      return Inverse<ColPivHouseholderQR>(*this);
     }
 
     inline Index rows() const { return m_qr.rows(); }
     inline Index cols() const { return m_qr.cols(); }
-    
+
     /** \returns a const reference to the vector of Householder coefficients used to represent the factor \c Q.
-      * 
+      *
       * For advanced uses only.
       */
     const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
@@ -370,12 +401,12 @@ template<typename _MatrixType> class ColPivHouseholderQR
       *          diagonal coefficient of R.
       */
     RealScalar maxPivot() const { return m_maxpivot; }
-    
+
     /** \brief Reports whether the QR factorization was succesful.
       *
-      * \note This function always returns \c Success. It is provided for compatibility 
+      * \note This function always returns \c Success. It is provided for compatibility
       * with other factorization routines.
-      * \returns \c Success 
+      * \returns \c Success
       */
     ComputationInfo info() const
     {
@@ -383,19 +414,30 @@ template<typename _MatrixType> class ColPivHouseholderQR
       return Success;
     }
 
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const;
+    #endif
+
   protected:
-    
+
+    friend class CompleteOrthogonalDecomposition<MatrixType>;
+
     static void check_template_parameters()
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
-    
+
+    void computeInPlace();
+
     MatrixType m_qr;
     HCoeffsType m_hCoeffs;
     PermutationType m_colsPermutation;
     IntRowVectorType m_colsTranspositions;
     RowVectorType m_temp;
-    RealRowVectorType m_colSqNorms;
+    RealRowVectorType m_colNormsUpdated;
+    RealRowVectorType m_colNormsDirect;
     bool m_isInitialized, m_usePrescribedThreshold;
     RealScalar m_prescribedThreshold, m_maxpivot;
     Index m_nonzero_pivots;
@@ -426,51 +468,57 @@ typename MatrixType::RealScalar ColPivHouseholderQR<MatrixType>::logAbsDetermina
   * \sa class ColPivHouseholderQR, ColPivHouseholderQR(const MatrixType&)
   */
 template<typename MatrixType>
-ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const MatrixType& matrix)
+template<typename InputType>
+ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const EigenBase<InputType>& matrix)
+{
+  m_qr = matrix.derived();
+  computeInPlace();
+  return *this;
+}
+
+template<typename MatrixType>
+void ColPivHouseholderQR<MatrixType>::computeInPlace()
 {
   check_template_parameters();
-  
-  using std::abs;
-  Index rows = matrix.rows();
-  Index cols = matrix.cols();
-  Index size = matrix.diagonalSize();
-  
-  // the column permutation is stored as int indices, so just to be sure:
-  eigen_assert(cols<=NumTraits<int>::highest());
 
-  m_qr = matrix;
+  // the column permutation is stored as int indices, so just to be sure:
+  eigen_assert(m_qr.cols()<=NumTraits<int>::highest());
+
+  using std::abs;
+
+  Index rows = m_qr.rows();
+  Index cols = m_qr.cols();
+  Index size = m_qr.diagonalSize();
+
   m_hCoeffs.resize(size);
 
   m_temp.resize(cols);
 
-  m_colsTranspositions.resize(matrix.cols());
+  m_colsTranspositions.resize(m_qr.cols());
   Index number_of_transpositions = 0;
 
-  m_colSqNorms.resize(cols);
-  for(Index k = 0; k < cols; ++k)
-    m_colSqNorms.coeffRef(k) = m_qr.col(k).squaredNorm();
+  m_colNormsUpdated.resize(cols);
+  m_colNormsDirect.resize(cols);
+  for (Index k = 0; k < cols; ++k) {
+    // colNormsDirect(k) caches the most recent directly computed norm of
+    // column k.
+    m_colNormsDirect.coeffRef(k) = m_qr.col(k).norm();
+    m_colNormsUpdated.coeffRef(k) = m_colNormsDirect.coeffRef(k);
+  }
 
-  RealScalar threshold_helper = m_colSqNorms.maxCoeff() * numext::abs2(NumTraits<Scalar>::epsilon()) / RealScalar(rows);
+  RealScalar threshold_helper =  numext::abs2<Scalar>(m_colNormsUpdated.maxCoeff() * NumTraits<Scalar>::epsilon()) / RealScalar(rows);
+  RealScalar norm_downdate_threshold = numext::sqrt(NumTraits<Scalar>::epsilon());
 
   m_nonzero_pivots = size; // the generic case is that in which all pivots are nonzero (invertible case)
   m_maxpivot = RealScalar(0);
 
   for(Index k = 0; k < size; ++k)
   {
-    // first, we look up in our table m_colSqNorms which column has the biggest squared norm
+    // first, we look up in our table m_colNormsUpdated which column has the biggest norm
     Index biggest_col_index;
-    RealScalar biggest_col_sq_norm = m_colSqNorms.tail(cols-k).maxCoeff(&biggest_col_index);
+    RealScalar biggest_col_sq_norm = numext::abs2(m_colNormsUpdated.tail(cols-k).maxCoeff(&biggest_col_index));
     biggest_col_index += k;
 
-    // since our table m_colSqNorms accumulates imprecision at every step, we must now recompute
-    // the actual squared norm of the selected column.
-    // Note that not doing so does result in solve() sometimes returning inf/nan values
-    // when running the unit test with 1000 repetitions.
-    biggest_col_sq_norm = m_qr.col(biggest_col_index).tail(rows-k).squaredNorm();
-
-    // we store that back into our table: it can't hurt to correct our table.
-    m_colSqNorms.coeffRef(biggest_col_index) = biggest_col_sq_norm;
-
     // Track the number of meaningful pivots but do not stop the decomposition to make
     // sure that the initial matrix is properly reproduced. See bug 941.
     if(m_nonzero_pivots==size && biggest_col_sq_norm < threshold_helper * RealScalar(rows-k))
@@ -480,7 +528,8 @@ ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const
     m_colsTranspositions.coeffRef(k) = biggest_col_index;
     if(k != biggest_col_index) {
       m_qr.col(k).swap(m_qr.col(biggest_col_index));
-      std::swap(m_colSqNorms.coeffRef(k), m_colSqNorms.coeffRef(biggest_col_index));
+      std::swap(m_colNormsUpdated.coeffRef(k), m_colNormsUpdated.coeffRef(biggest_col_index));
+      std::swap(m_colNormsDirect.coeffRef(k), m_colNormsDirect.coeffRef(biggest_col_index));
       ++number_of_transpositions;
     }
 
@@ -498,8 +547,28 @@ ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const
     m_qr.bottomRightCorner(rows-k, cols-k-1)
         .applyHouseholderOnTheLeft(m_qr.col(k).tail(rows-k-1), m_hCoeffs.coeffRef(k), &m_temp.coeffRef(k+1));
 
-    // update our table of squared norms of the columns
-    m_colSqNorms.tail(cols-k-1) -= m_qr.row(k).tail(cols-k-1).cwiseAbs2();
+    // update our table of norms of the columns
+    for (Index j = k + 1; j < cols; ++j) {
+      // The following implements the stable norm downgrade step discussed in
+      // http://www.netlib.org/lapack/lawnspdf/lawn176.pdf
+      // and used in LAPACK routines xGEQPF and xGEQP3.
+      // See lines 278-297 in http://www.netlib.org/lapack/explore-html/dc/df4/sgeqpf_8f_source.html
+      if (m_colNormsUpdated.coeffRef(j) != 0) {
+        RealScalar temp = abs(m_qr.coeffRef(k, j)) / m_colNormsUpdated.coeffRef(j);
+        temp = (RealScalar(1) + temp) * (RealScalar(1) - temp);
+        temp = temp < 0 ? 0 : temp;
+        RealScalar temp2 = temp * numext::abs2<Scalar>(m_colNormsUpdated.coeffRef(j) /
+                                                       m_colNormsDirect.coeffRef(j));
+        if (temp2 <= norm_downdate_threshold) {
+          // The updated norm has become too inaccurate so re-compute the column
+          // norm directly.
+          m_colNormsDirect.coeffRef(j) = m_qr.col(j).tail(rows - k - 1).norm();
+          m_colNormsUpdated.coeffRef(j) = m_colNormsDirect.coeffRef(j);
+        } else {
+          m_colNormsUpdated.coeffRef(j) *= numext::sqrt(temp);
+        }
+      }
+    }
   }
 
   m_colsPermutation.setIdentity(PermIndexType(cols));
@@ -508,46 +577,50 @@ ColPivHouseholderQR<MatrixType>& ColPivHouseholderQR<MatrixType>::compute(const
 
   m_det_pq = (number_of_transpositions%2) ? -1 : 1;
   m_isInitialized = true;
-
-  return *this;
 }
 
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType>
+template<typename RhsType, typename DstType>
+void ColPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+  eigen_assert(rhs.rows() == rows());
+
+  const Index nonzero_pivots = nonzeroPivots();
+
+  if(nonzero_pivots == 0)
+  {
+    dst.setZero();
+    return;
+  }
+
+  typename RhsType::PlainObject c(rhs);
+
+  // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
+  c.applyOnTheLeft(householderSequence(m_qr, m_hCoeffs)
+                    .setLength(nonzero_pivots)
+                    .transpose()
+    );
+
+  m_qr.topLeftCorner(nonzero_pivots, nonzero_pivots)
+      .template triangularView<Upper>()
+      .solveInPlace(c.topRows(nonzero_pivots));
+
+  for(Index i = 0; i < nonzero_pivots; ++i) dst.row(m_colsPermutation.indices().coeff(i)) = c.row(i);
+  for(Index i = nonzero_pivots; i < cols(); ++i) dst.row(m_colsPermutation.indices().coeff(i)).setZero();
+}
+#endif
+
 namespace internal {
 
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<ColPivHouseholderQR<_MatrixType>, Rhs>
-  : solve_retval_base<ColPivHouseholderQR<_MatrixType>, Rhs>
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<ColPivHouseholderQR<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename ColPivHouseholderQR<MatrixType>::Scalar>, Dense2Dense>
 {
-  EIGEN_MAKE_SOLVE_HELPERS(ColPivHouseholderQR<_MatrixType>,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
+  typedef ColPivHouseholderQR<MatrixType> QrType;
+  typedef Inverse<QrType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename QrType::Scalar> &)
   {
-    eigen_assert(rhs().rows() == dec().rows());
-
-    const Index cols = dec().cols(),
-				nonzero_pivots = dec().nonzeroPivots();
-
-    if(nonzero_pivots == 0)
-    {
-      dst.setZero();
-      return;
-    }
-
-    typename Rhs::PlainObject c(rhs());
-
-    // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
-    c.applyOnTheLeft(householderSequence(dec().matrixQR(), dec().hCoeffs())
-                     .setLength(dec().nonzeroPivots())
-		     .transpose()
-      );
-
-    dec().matrixR()
-       .topLeftCorner(nonzero_pivots, nonzero_pivots)
-       .template triangularView<Upper>()
-       .solveInPlace(c.topRows(nonzero_pivots));
-
-    for(Index i = 0; i < nonzero_pivots; ++i) dst.row(dec().colsPermutation().indices().coeff(i)) = c.row(i);
-    for(Index i = nonzero_pivots; i < cols; ++i) dst.row(dec().colsPermutation().indices().coeff(i)).setZero();
+    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
   }
 };
 
diff --git a/eigenlib/Eigen/src/QR/ColPivHouseholderQR_MKL.h b/eigenlib/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h
similarity index 64%
rename from eigenlib/Eigen/src/QR/ColPivHouseholderQR_MKL.h
rename to eigenlib/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h
index b5b19832..4e9651f8 100644
--- a/eigenlib/Eigen/src/QR/ColPivHouseholderQR_MKL.h
+++ b/eigenlib/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h
@@ -25,37 +25,34 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to LAPACKe
  *    Householder QR decomposition of a matrix with column pivoting based on
  *    LAPACKE_?geqp3 function.
  ********************************************************************************
 */
 
-#ifndef EIGEN_COLPIVOTINGHOUSEHOLDERQR_MKL_H
-#define EIGEN_COLPIVOTINGHOUSEHOLDERQR_MKL_H
-
-#include "Eigen/src/Core/util/MKL_support.h"
+#ifndef EIGEN_COLPIVOTINGHOUSEHOLDERQR_LAPACKE_H
+#define EIGEN_COLPIVOTINGHOUSEHOLDERQR_LAPACKE_H
 
 namespace Eigen { 
 
-/** \internal Specialization for the data types supported by MKL */
+/** \internal Specialization for the data types supported by LAPACKe */
 
-#define EIGEN_MKL_QR_COLPIV(EIGTYPE, MKLTYPE, MKLPREFIX, EIGCOLROW, MKLCOLROW) \
-template<> inline \
+#define EIGEN_LAPACKE_QR_COLPIV(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX, EIGCOLROW, LAPACKE_COLROW) \
+template<> template<typename InputType> inline \
 ColPivHouseholderQR<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> >& \
 ColPivHouseholderQR<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> >::compute( \
-              const Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>& matrix) \
+              const EigenBase<InputType>& matrix) \
 \
 { \
   using std::abs; \
   typedef Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> MatrixType; \
-  typedef MatrixType::Scalar Scalar; \
   typedef MatrixType::RealScalar RealScalar; \
   Index rows = matrix.rows();\
   Index cols = matrix.cols();\
-  Index size = matrix.diagonalSize();\
 \
   m_qr = matrix;\
+  Index size = m_qr.diagonalSize();\
   m_hCoeffs.resize(size);\
 \
   m_colsTranspositions.resize(cols);\
@@ -66,34 +63,35 @@ ColPivHouseholderQR<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynami
   m_colsPermutation.resize(cols); \
   m_colsPermutation.indices().setZero(); \
 \
-  lapack_int lda = m_qr.outerStride(), i; \
-  lapack_int matrix_order = MKLCOLROW; \
-  LAPACKE_##MKLPREFIX##geqp3( matrix_order, rows, cols, (MKLTYPE*)m_qr.data(), lda, (lapack_int*)m_colsPermutation.indices().data(), (MKLTYPE*)m_hCoeffs.data()); \
+  lapack_int lda = internal::convert_index<lapack_int,Index>(m_qr.outerStride()); \
+  lapack_int matrix_order = LAPACKE_COLROW; \
+  LAPACKE_##LAPACKE_PREFIX##geqp3( matrix_order, internal::convert_index<lapack_int,Index>(rows), internal::convert_index<lapack_int,Index>(cols), \
+                              (LAPACKE_TYPE*)m_qr.data(), lda, (lapack_int*)m_colsPermutation.indices().data(), (LAPACKE_TYPE*)m_hCoeffs.data()); \
   m_isInitialized = true; \
   m_maxpivot=m_qr.diagonal().cwiseAbs().maxCoeff(); \
   m_hCoeffs.adjointInPlace(); \
   RealScalar premultiplied_threshold = abs(m_maxpivot) * threshold(); \
   lapack_int *perm = m_colsPermutation.indices().data(); \
-  for(i=0;i<size;i++) { \
+  for(Index i=0;i<size;i++) { \
     m_nonzero_pivots += (abs(m_qr.coeff(i,i)) > premultiplied_threshold);\
   } \
-  for(i=0;i<cols;i++) perm[i]--;\
+  for(Index i=0;i<cols;i++) perm[i]--;\
 \
   /*m_det_pq = (number_of_transpositions%2) ? -1 : 1;  // TODO: It's not needed now; fix upon availability in Eigen */ \
 \
   return *this; \
 }
 
-EIGEN_MKL_QR_COLPIV(double,   double,        d, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_MKL_QR_COLPIV(float,    float,         s, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_MKL_QR_COLPIV(dcomplex, MKL_Complex16, z, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_MKL_QR_COLPIV(scomplex, MKL_Complex8,  c, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(double,   double,        d, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(float,    float,         s, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(dcomplex, lapack_complex_double, z, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(scomplex, lapack_complex_float,  c, ColMajor, LAPACK_COL_MAJOR)
 
-EIGEN_MKL_QR_COLPIV(double,   double,        d, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_MKL_QR_COLPIV(float,    float,         s, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_MKL_QR_COLPIV(dcomplex, MKL_Complex16, z, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_MKL_QR_COLPIV(scomplex, MKL_Complex8,  c, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(double,   double,        d, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(float,    float,         s, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(dcomplex, lapack_complex_double, z, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_QR_COLPIV(scomplex, lapack_complex_float,  c, RowMajor, LAPACK_ROW_MAJOR)
 
 } // end namespace Eigen
 
-#endif // EIGEN_COLPIVOTINGHOUSEHOLDERQR_MKL_H
+#endif // EIGEN_COLPIVOTINGHOUSEHOLDERQR_LAPACKE_H
diff --git a/eigenlib/Eigen/src/QR/CompleteOrthogonalDecomposition.h b/eigenlib/Eigen/src/QR/CompleteOrthogonalDecomposition.h
new file mode 100644
index 00000000..34c637b7
--- /dev/null
+++ b/eigenlib/Eigen/src/QR/CompleteOrthogonalDecomposition.h
@@ -0,0 +1,562 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2016 Rasmus Munk Larsen <rmlarsen@google.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_COMPLETEORTHOGONALDECOMPOSITION_H
+#define EIGEN_COMPLETEORTHOGONALDECOMPOSITION_H
+
+namespace Eigen {
+
+namespace internal {
+template <typename _MatrixType>
+struct traits<CompleteOrthogonalDecomposition<_MatrixType> >
+    : traits<_MatrixType> {
+  enum { Flags = 0 };
+};
+
+}  // end namespace internal
+
+/** \ingroup QR_Module
+  *
+  * \class CompleteOrthogonalDecomposition
+  *
+  * \brief Complete orthogonal decomposition (COD) of a matrix.
+  *
+  * \param MatrixType the type of the matrix of which we are computing the COD.
+  *
+  * This class performs a rank-revealing complete orthogonal decomposition of a
+  * matrix  \b A into matrices \b P, \b Q, \b T, and \b Z such that
+  * \f[
+  *  \mathbf{A} \, \mathbf{P} = \mathbf{Q} \,
+  *                     \begin{bmatrix} \mathbf{T} &  \mathbf{0} \\
+  *                                     \mathbf{0} & \mathbf{0} \end{bmatrix} \, \mathbf{Z}
+  * \f]
+  * by using Householder transformations. Here, \b P is a permutation matrix,
+  * \b Q and \b Z are unitary matrices and \b T an upper triangular matrix of
+  * size rank-by-rank. \b A may be rank deficient.
+  *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  * 
+  * \sa MatrixBase::completeOrthogonalDecomposition()
+  */
+template <typename _MatrixType>
+class CompleteOrthogonalDecomposition {
+ public:
+  typedef _MatrixType MatrixType;
+  enum {
+    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
+    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
+    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+  };
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename MatrixType::RealScalar RealScalar;
+  typedef typename MatrixType::StorageIndex StorageIndex;
+  typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
+  typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime>
+      PermutationType;
+  typedef typename internal::plain_row_type<MatrixType, Index>::type
+      IntRowVectorType;
+  typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
+  typedef typename internal::plain_row_type<MatrixType, RealScalar>::type
+      RealRowVectorType;
+  typedef HouseholderSequence<
+      MatrixType, typename internal::remove_all<
+                      typename HCoeffsType::ConjugateReturnType>::type>
+      HouseholderSequenceType;
+  typedef typename MatrixType::PlainObject PlainObject;
+
+ private:
+  typedef typename PermutationType::Index PermIndexType;
+
+ public:
+  /**
+   * \brief Default Constructor.
+   *
+   * The default constructor is useful in cases in which the user intends to
+   * perform decompositions via
+   * \c CompleteOrthogonalDecomposition::compute(const* MatrixType&).
+   */
+  CompleteOrthogonalDecomposition() : m_cpqr(), m_zCoeffs(), m_temp() {}
+
+  /** \brief Default Constructor with memory preallocation
+   *
+   * Like the default constructor but with preallocation of the internal data
+   * according to the specified problem \a size.
+   * \sa CompleteOrthogonalDecomposition()
+   */
+  CompleteOrthogonalDecomposition(Index rows, Index cols)
+      : m_cpqr(rows, cols), m_zCoeffs((std::min)(rows, cols)), m_temp(cols) {}
+
+  /** \brief Constructs a complete orthogonal decomposition from a given
+   * matrix.
+   *
+   * This constructor computes the complete orthogonal decomposition of the
+   * matrix \a matrix by calling the method compute(). The default
+   * threshold for rank determination will be used. It is a short cut for:
+   *
+   * \code
+   * CompleteOrthogonalDecomposition<MatrixType> cod(matrix.rows(),
+   *                                                 matrix.cols());
+   * cod.setThreshold(Default);
+   * cod.compute(matrix);
+   * \endcode
+   *
+   * \sa compute()
+   */
+  template <typename InputType>
+  explicit CompleteOrthogonalDecomposition(const EigenBase<InputType>& matrix)
+      : m_cpqr(matrix.rows(), matrix.cols()),
+        m_zCoeffs((std::min)(matrix.rows(), matrix.cols())),
+        m_temp(matrix.cols())
+  {
+    compute(matrix.derived());
+  }
+
+  /** \brief Constructs a complete orthogonal decomposition from a given matrix
+    *
+    * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+    *
+    * \sa CompleteOrthogonalDecomposition(const EigenBase&)
+    */
+  template<typename InputType>
+  explicit CompleteOrthogonalDecomposition(EigenBase<InputType>& matrix)
+    : m_cpqr(matrix.derived()),
+      m_zCoeffs((std::min)(matrix.rows(), matrix.cols())),
+      m_temp(matrix.cols())
+  {
+    computeInPlace();
+  }
+
+
+  /** This method computes the minimum-norm solution X to a least squares
+   * problem \f[\mathrm{minimize} \|A X - B\|, \f] where \b A is the matrix of
+   * which \c *this is the complete orthogonal decomposition.
+   *
+   * \param b the right-hand sides of the problem to solve.
+   *
+   * \returns a solution.
+   *
+   */
+  template <typename Rhs>
+  inline const Solve<CompleteOrthogonalDecomposition, Rhs> solve(
+      const MatrixBase<Rhs>& b) const {
+    eigen_assert(m_cpqr.m_isInitialized &&
+                 "CompleteOrthogonalDecomposition is not initialized.");
+    return Solve<CompleteOrthogonalDecomposition, Rhs>(*this, b.derived());
+  }
+
+  HouseholderSequenceType householderQ(void) const;
+  HouseholderSequenceType matrixQ(void) const { return m_cpqr.householderQ(); }
+
+  /** \returns the matrix \b Z.
+   */
+  MatrixType matrixZ() const {
+    MatrixType Z = MatrixType::Identity(m_cpqr.cols(), m_cpqr.cols());
+    applyZAdjointOnTheLeftInPlace(Z);
+    return Z.adjoint();
+  }
+
+  /** \returns a reference to the matrix where the complete orthogonal
+   * decomposition is stored
+   */
+  const MatrixType& matrixQTZ() const { return m_cpqr.matrixQR(); }
+
+  /** \returns a reference to the matrix where the complete orthogonal
+   * decomposition is stored.
+   * \warning The strict lower part and \code cols() - rank() \endcode right
+   * columns of this matrix contains internal values.
+   * Only the upper triangular part should be referenced. To get it, use
+   * \code matrixT().template triangularView<Upper>() \endcode
+   * For rank-deficient matrices, use
+   * \code
+   * matrixR().topLeftCorner(rank(), rank()).template triangularView<Upper>()
+   * \endcode
+   */
+  const MatrixType& matrixT() const { return m_cpqr.matrixQR(); }
+
+  template <typename InputType>
+  CompleteOrthogonalDecomposition& compute(const EigenBase<InputType>& matrix) {
+    // Compute the column pivoted QR factorization A P = Q R.
+    m_cpqr.compute(matrix);
+    computeInPlace();
+    return *this;
+  }
+
+  /** \returns a const reference to the column permutation matrix */
+  const PermutationType& colsPermutation() const {
+    return m_cpqr.colsPermutation();
+  }
+
+  /** \returns the absolute value of the determinant of the matrix of which
+   * *this is the complete orthogonal decomposition. It has only linear
+   * complexity (that is, O(n) where n is the dimension of the square matrix)
+   * as the complete orthogonal decomposition has already been computed.
+   *
+   * \note This is only for square matrices.
+   *
+   * \warning a determinant can be very big or small, so for matrices
+   * of large enough dimension, there is a risk of overflow/underflow.
+   * One way to work around that is to use logAbsDeterminant() instead.
+   *
+   * \sa logAbsDeterminant(), MatrixBase::determinant()
+   */
+  typename MatrixType::RealScalar absDeterminant() const;
+
+  /** \returns the natural log of the absolute value of the determinant of the
+   * matrix of which *this is the complete orthogonal decomposition. It has
+   * only linear complexity (that is, O(n) where n is the dimension of the
+   * square matrix) as the complete orthogonal decomposition has already been
+   * computed.
+   *
+   * \note This is only for square matrices.
+   *
+   * \note This method is useful to work around the risk of overflow/underflow
+   * that's inherent to determinant computation.
+   *
+   * \sa absDeterminant(), MatrixBase::determinant()
+   */
+  typename MatrixType::RealScalar logAbsDeterminant() const;
+
+  /** \returns the rank of the matrix of which *this is the complete orthogonal
+   * decomposition.
+   *
+   * \note This method has to determine which pivots should be considered
+   * nonzero. For that, it uses the threshold value that you can control by
+   * calling setThreshold(const RealScalar&).
+   */
+  inline Index rank() const { return m_cpqr.rank(); }
+
+  /** \returns the dimension of the kernel of the matrix of which *this is the
+   * complete orthogonal decomposition.
+   *
+   * \note This method has to determine which pivots should be considered
+   * nonzero. For that, it uses the threshold value that you can control by
+   * calling setThreshold(const RealScalar&).
+   */
+  inline Index dimensionOfKernel() const { return m_cpqr.dimensionOfKernel(); }
+
+  /** \returns true if the matrix of which *this is the decomposition represents
+   * an injective linear map, i.e. has trivial kernel; false otherwise.
+   *
+   * \note This method has to determine which pivots should be considered
+   * nonzero. For that, it uses the threshold value that you can control by
+   * calling setThreshold(const RealScalar&).
+   */
+  inline bool isInjective() const { return m_cpqr.isInjective(); }
+
+  /** \returns true if the matrix of which *this is the decomposition represents
+   * a surjective linear map; false otherwise.
+   *
+   * \note This method has to determine which pivots should be considered
+   * nonzero. For that, it uses the threshold value that you can control by
+   * calling setThreshold(const RealScalar&).
+   */
+  inline bool isSurjective() const { return m_cpqr.isSurjective(); }
+
+  /** \returns true if the matrix of which *this is the complete orthogonal
+   * decomposition is invertible.
+   *
+   * \note This method has to determine which pivots should be considered
+   * nonzero. For that, it uses the threshold value that you can control by
+   * calling setThreshold(const RealScalar&).
+   */
+  inline bool isInvertible() const { return m_cpqr.isInvertible(); }
+
+  /** \returns the pseudo-inverse of the matrix of which *this is the complete
+   * orthogonal decomposition.
+   * \warning: Do not compute \c this->pseudoInverse()*rhs to solve a linear systems.
+   * It is more efficient and numerically stable to call \c this->solve(rhs).
+   */
+  inline const Inverse<CompleteOrthogonalDecomposition> pseudoInverse() const
+  {
+    return Inverse<CompleteOrthogonalDecomposition>(*this);
+  }
+
+  inline Index rows() const { return m_cpqr.rows(); }
+  inline Index cols() const { return m_cpqr.cols(); }
+
+  /** \returns a const reference to the vector of Householder coefficients used
+   * to represent the factor \c Q.
+   *
+   * For advanced uses only.
+   */
+  inline const HCoeffsType& hCoeffs() const { return m_cpqr.hCoeffs(); }
+
+  /** \returns a const reference to the vector of Householder coefficients
+   * used to represent the factor \c Z.
+   *
+   * For advanced uses only.
+   */
+  const HCoeffsType& zCoeffs() const { return m_zCoeffs; }
+
+  /** Allows to prescribe a threshold to be used by certain methods, such as
+   * rank(), who need to determine when pivots are to be considered nonzero.
+   * Most be called before calling compute().
+   *
+   * When it needs to get the threshold value, Eigen calls threshold(). By
+   * default, this uses a formula to automatically determine a reasonable
+   * threshold. Once you have called the present method
+   * setThreshold(const RealScalar&), your value is used instead.
+   *
+   * \param threshold The new value to use as the threshold.
+   *
+   * A pivot will be considered nonzero if its absolute value is strictly
+   * greater than
+   *  \f$ \vert pivot \vert \leqslant threshold \times \vert maxpivot \vert \f$
+   * where maxpivot is the biggest pivot.
+   *
+   * If you want to come back to the default behavior, call
+   * setThreshold(Default_t)
+   */
+  CompleteOrthogonalDecomposition& setThreshold(const RealScalar& threshold) {
+    m_cpqr.setThreshold(threshold);
+    return *this;
+  }
+
+  /** Allows to come back to the default behavior, letting Eigen use its default
+   * formula for determining the threshold.
+   *
+   * You should pass the special object Eigen::Default as parameter here.
+   * \code qr.setThreshold(Eigen::Default); \endcode
+   *
+   * See the documentation of setThreshold(const RealScalar&).
+   */
+  CompleteOrthogonalDecomposition& setThreshold(Default_t) {
+    m_cpqr.setThreshold(Default);
+    return *this;
+  }
+
+  /** Returns the threshold that will be used by certain methods such as rank().
+   *
+   * See the documentation of setThreshold(const RealScalar&).
+   */
+  RealScalar threshold() const { return m_cpqr.threshold(); }
+
+  /** \returns the number of nonzero pivots in the complete orthogonal
+   * decomposition. Here nonzero is meant in the exact sense, not in a
+   * fuzzy sense. So that notion isn't really intrinsically interesting,
+   * but it is still useful when implementing algorithms.
+   *
+   * \sa rank()
+   */
+  inline Index nonzeroPivots() const { return m_cpqr.nonzeroPivots(); }
+
+  /** \returns the absolute value of the biggest pivot, i.e. the biggest
+   *          diagonal coefficient of R.
+   */
+  inline RealScalar maxPivot() const { return m_cpqr.maxPivot(); }
+
+  /** \brief Reports whether the complete orthogonal decomposition was
+   * succesful.
+   *
+   * \note This function always returns \c Success. It is provided for
+   * compatibility
+   * with other factorization routines.
+   * \returns \c Success
+   */
+  ComputationInfo info() const {
+    eigen_assert(m_cpqr.m_isInitialized && "Decomposition is not initialized.");
+    return Success;
+  }
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+  template <typename RhsType, typename DstType>
+  EIGEN_DEVICE_FUNC void _solve_impl(const RhsType& rhs, DstType& dst) const;
+#endif
+
+ protected:
+  static void check_template_parameters() {
+    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+  }
+
+  void computeInPlace();
+
+  /** Overwrites \b rhs with \f$ \mathbf{Z}^* * \mathbf{rhs} \f$.
+   */
+  template <typename Rhs>
+  void applyZAdjointOnTheLeftInPlace(Rhs& rhs) const;
+
+  ColPivHouseholderQR<MatrixType> m_cpqr;
+  HCoeffsType m_zCoeffs;
+  RowVectorType m_temp;
+};
+
+template <typename MatrixType>
+typename MatrixType::RealScalar
+CompleteOrthogonalDecomposition<MatrixType>::absDeterminant() const {
+  return m_cpqr.absDeterminant();
+}
+
+template <typename MatrixType>
+typename MatrixType::RealScalar
+CompleteOrthogonalDecomposition<MatrixType>::logAbsDeterminant() const {
+  return m_cpqr.logAbsDeterminant();
+}
+
+/** Performs the complete orthogonal decomposition of the given matrix \a
+ * matrix. The result of the factorization is stored into \c *this, and a
+ * reference to \c *this is returned.
+ *
+ * \sa class CompleteOrthogonalDecomposition,
+ * CompleteOrthogonalDecomposition(const MatrixType&)
+ */
+template <typename MatrixType>
+void CompleteOrthogonalDecomposition<MatrixType>::computeInPlace()
+{
+  check_template_parameters();
+
+  // the column permutation is stored as int indices, so just to be sure:
+  eigen_assert(m_cpqr.cols() <= NumTraits<int>::highest());
+
+  const Index rank = m_cpqr.rank();
+  const Index cols = m_cpqr.cols();
+  const Index rows = m_cpqr.rows();
+  m_zCoeffs.resize((std::min)(rows, cols));
+  m_temp.resize(cols);
+
+  if (rank < cols) {
+    // We have reduced the (permuted) matrix to the form
+    //   [R11 R12]
+    //   [ 0  R22]
+    // where R11 is r-by-r (r = rank) upper triangular, R12 is
+    // r-by-(n-r), and R22 is empty or the norm of R22 is negligible.
+    // We now compute the complete orthogonal decomposition by applying
+    // Householder transformations from the right to the upper trapezoidal
+    // matrix X = [R11 R12] to zero out R12 and obtain the factorization
+    // [R11 R12] = [T11 0] * Z, where T11 is r-by-r upper triangular and
+    // Z = Z(0) * Z(1) ... Z(r-1) is an n-by-n orthogonal matrix.
+    // We store the data representing Z in R12 and m_zCoeffs.
+    for (Index k = rank - 1; k >= 0; --k) {
+      if (k != rank - 1) {
+        // Given the API for Householder reflectors, it is more convenient if
+        // we swap the leading parts of columns k and r-1 (zero-based) to form
+        // the matrix X_k = [X(0:k, k), X(0:k, r:n)]
+        m_cpqr.m_qr.col(k).head(k + 1).swap(
+            m_cpqr.m_qr.col(rank - 1).head(k + 1));
+      }
+      // Construct Householder reflector Z(k) to zero out the last row of X_k,
+      // i.e. choose Z(k) such that
+      // [X(k, k), X(k, r:n)] * Z(k) = [beta, 0, .., 0].
+      RealScalar beta;
+      m_cpqr.m_qr.row(k)
+          .tail(cols - rank + 1)
+          .makeHouseholderInPlace(m_zCoeffs(k), beta);
+      m_cpqr.m_qr(k, rank - 1) = beta;
+      if (k > 0) {
+        // Apply Z(k) to the first k rows of X_k
+        m_cpqr.m_qr.topRightCorner(k, cols - rank + 1)
+            .applyHouseholderOnTheRight(
+                m_cpqr.m_qr.row(k).tail(cols - rank).transpose(), m_zCoeffs(k),
+                &m_temp(0));
+      }
+      if (k != rank - 1) {
+        // Swap X(0:k,k) back to its proper location.
+        m_cpqr.m_qr.col(k).head(k + 1).swap(
+            m_cpqr.m_qr.col(rank - 1).head(k + 1));
+      }
+    }
+  }
+}
+
+template <typename MatrixType>
+template <typename Rhs>
+void CompleteOrthogonalDecomposition<MatrixType>::applyZAdjointOnTheLeftInPlace(
+    Rhs& rhs) const {
+  const Index cols = this->cols();
+  const Index nrhs = rhs.cols();
+  const Index rank = this->rank();
+  Matrix<typename MatrixType::Scalar, Dynamic, 1> temp((std::max)(cols, nrhs));
+  for (Index k = 0; k < rank; ++k) {
+    if (k != rank - 1) {
+      rhs.row(k).swap(rhs.row(rank - 1));
+    }
+    rhs.middleRows(rank - 1, cols - rank + 1)
+        .applyHouseholderOnTheLeft(
+            matrixQTZ().row(k).tail(cols - rank).adjoint(), zCoeffs()(k),
+            &temp(0));
+    if (k != rank - 1) {
+      rhs.row(k).swap(rhs.row(rank - 1));
+    }
+  }
+}
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template <typename _MatrixType>
+template <typename RhsType, typename DstType>
+void CompleteOrthogonalDecomposition<_MatrixType>::_solve_impl(
+    const RhsType& rhs, DstType& dst) const {
+  eigen_assert(rhs.rows() == this->rows());
+
+  const Index rank = this->rank();
+  if (rank == 0) {
+    dst.setZero();
+    return;
+  }
+
+  // Compute c = Q^* * rhs
+  // Note that the matrix Q = H_0^* H_1^*... so its inverse is
+  // Q^* = (H_0 H_1 ...)^T
+  typename RhsType::PlainObject c(rhs);
+  c.applyOnTheLeft(
+      householderSequence(matrixQTZ(), hCoeffs()).setLength(rank).transpose());
+
+  // Solve T z = c(1:rank, :)
+  dst.topRows(rank) = matrixT()
+                          .topLeftCorner(rank, rank)
+                          .template triangularView<Upper>()
+                          .solve(c.topRows(rank));
+
+  const Index cols = this->cols();
+  if (rank < cols) {
+    // Compute y = Z^* * [ z ]
+    //                   [ 0 ]
+    dst.bottomRows(cols - rank).setZero();
+    applyZAdjointOnTheLeftInPlace(dst);
+  }
+
+  // Undo permutation to get x = P^{-1} * y.
+  dst = colsPermutation() * dst;
+}
+#endif
+
+namespace internal {
+
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<CompleteOrthogonalDecomposition<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename CompleteOrthogonalDecomposition<MatrixType>::Scalar>, Dense2Dense>
+{
+  typedef CompleteOrthogonalDecomposition<MatrixType> CodType;
+  typedef Inverse<CodType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename CodType::Scalar> &)
+  {
+    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.rows()));
+  }
+};
+
+} // end namespace internal
+
+/** \returns the matrix Q as a sequence of householder transformations */
+template <typename MatrixType>
+typename CompleteOrthogonalDecomposition<MatrixType>::HouseholderSequenceType
+CompleteOrthogonalDecomposition<MatrixType>::householderQ() const {
+  return m_cpqr.householderQ();
+}
+
+/** \return the complete orthogonal decomposition of \c *this.
+  *
+  * \sa class CompleteOrthogonalDecomposition
+  */
+template <typename Derived>
+const CompleteOrthogonalDecomposition<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::completeOrthogonalDecomposition() const {
+  return CompleteOrthogonalDecomposition<PlainObject>(eval());
+}
+
+}  // end namespace Eigen
+
+#endif  // EIGEN_COMPLETEORTHOGONALDECOMPOSITION_H
diff --git a/eigenlib/Eigen/src/QR/FullPivHouseholderQR.h b/eigenlib/Eigen/src/QR/FullPivHouseholderQR.h
index 0b39966e..e489bddc 100644
--- a/eigenlib/Eigen/src/QR/FullPivHouseholderQR.h
+++ b/eigenlib/Eigen/src/QR/FullPivHouseholderQR.h
@@ -15,6 +15,12 @@ namespace Eigen {
 
 namespace internal {
 
+template<typename _MatrixType> struct traits<FullPivHouseholderQR<_MatrixType> >
+ : traits<_MatrixType>
+{
+  enum { Flags = 0 };
+};
+
 template<typename MatrixType> struct FullPivHouseholderQRMatrixQReturnType;
 
 template<typename MatrixType>
@@ -23,7 +29,7 @@ struct traits<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
   typedef typename MatrixType::PlainObject ReturnType;
 };
 
-}
+} // end namespace internal
 
 /** \ingroup QR_Module
   *
@@ -31,19 +37,21 @@ struct traits<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
   *
   * \brief Householder rank-revealing QR decomposition of a matrix with full pivoting
   *
-  * \param MatrixType the type of the matrix of which we are computing the QR decomposition
+  * \tparam _MatrixType the type of the matrix of which we are computing the QR decomposition
   *
-  * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b Q and \b R
+  * This class performs a rank-revealing QR decomposition of a matrix \b A into matrices \b P, \b P', \b Q and \b R
   * such that 
   * \f[
-  *  \mathbf{A} \, \mathbf{P} = \mathbf{Q} \, \mathbf{R}
+  *  \mathbf{P} \, \mathbf{A} \, \mathbf{P}' = \mathbf{Q} \, \mathbf{R}
   * \f]
-  * by using Householder transformations. Here, \b P is a permutation matrix, \b Q a unitary matrix and \b R an 
-  * upper triangular matrix.
+  * by using Householder transformations. Here, \b P and \b P' are permutation matrices, \b Q a unitary matrix 
+  * and \b R an upper triangular matrix.
   *
   * This decomposition performs a very prudent full pivoting in order to be rank-revealing and achieve optimal
   * numerical stability. The trade-off is that it is slower than HouseholderQR and ColPivHouseholderQR.
   *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  * 
   * \sa MatrixBase::fullPivHouseholderQr()
   */
 template<typename _MatrixType> class FullPivHouseholderQR
@@ -54,21 +62,22 @@ template<typename _MatrixType> class FullPivHouseholderQR
     enum {
       RowsAtCompileTime = MatrixType::RowsAtCompileTime,
       ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    // FIXME should be int
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef internal::FullPivHouseholderQRMatrixQReturnType<MatrixType> MatrixQReturnType;
     typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
-    typedef Matrix<Index, 1,
+    typedef Matrix<StorageIndex, 1,
                    EIGEN_SIZE_MIN_PREFER_DYNAMIC(ColsAtCompileTime,RowsAtCompileTime), RowMajor, 1,
                    EIGEN_SIZE_MIN_PREFER_FIXED(MaxColsAtCompileTime,MaxRowsAtCompileTime)> IntDiagSizeVectorType;
     typedef PermutationMatrix<ColsAtCompileTime, MaxColsAtCompileTime> PermutationType;
     typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
     typedef typename internal::plain_col_type<MatrixType>::type ColVectorType;
+    typedef typename MatrixType::PlainObject PlainObject;
 
     /** \brief Default Constructor.
       *
@@ -113,7 +122,8 @@ template<typename _MatrixType> class FullPivHouseholderQR
       * 
       * \sa compute()
       */
-    FullPivHouseholderQR(const MatrixType& matrix)
+    template<typename InputType>
+    explicit FullPivHouseholderQR(const EigenBase<InputType>& matrix)
       : m_qr(matrix.rows(), matrix.cols()),
         m_hCoeffs((std::min)(matrix.rows(), matrix.cols())),
         m_rows_transpositions((std::min)(matrix.rows(), matrix.cols())),
@@ -123,7 +133,27 @@ template<typename _MatrixType> class FullPivHouseholderQR
         m_isInitialized(false),
         m_usePrescribedThreshold(false)
     {
-      compute(matrix);
+      compute(matrix.derived());
+    }
+
+    /** \brief Constructs a QR factorization from a given matrix
+      *
+      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when \c MatrixType is a Eigen::Ref.
+      *
+      * \sa FullPivHouseholderQR(const EigenBase&)
+      */
+    template<typename InputType>
+    explicit FullPivHouseholderQR(EigenBase<InputType>& matrix)
+      : m_qr(matrix.derived()),
+        m_hCoeffs((std::min)(matrix.rows(), matrix.cols())),
+        m_rows_transpositions((std::min)(matrix.rows(), matrix.cols())),
+        m_cols_transpositions((std::min)(matrix.rows(), matrix.cols())),
+        m_cols_permutation(matrix.cols()),
+        m_temp(matrix.cols()),
+        m_isInitialized(false),
+        m_usePrescribedThreshold(false)
+    {
+      computeInPlace();
     }
 
     /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
@@ -134,9 +164,6 @@ template<typename _MatrixType> class FullPivHouseholderQR
       * \returns the exact or least-square solution if the rank is greater or equal to the number of columns of A,
       * and an arbitrary solution otherwise.
       *
-      * \note The case where b is a matrix is not yet implemented. Also, this
-      *       code is space inefficient.
-      *
       * \note_about_checking_solutions
       *
       * \note_about_arbitrary_choice_of_solution
@@ -145,11 +172,11 @@ template<typename _MatrixType> class FullPivHouseholderQR
       * Output: \verbinclude FullPivHouseholderQR_solve.out
       */
     template<typename Rhs>
-    inline const internal::solve_retval<FullPivHouseholderQR, Rhs>
+    inline const Solve<FullPivHouseholderQR, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return internal::solve_retval<FullPivHouseholderQR, Rhs>(*this, b.derived());
+      return Solve<FullPivHouseholderQR, Rhs>(*this, b.derived());
     }
 
     /** \returns Expression object representing the matrix Q
@@ -164,7 +191,8 @@ template<typename _MatrixType> class FullPivHouseholderQR
       return m_qr;
     }
 
-    FullPivHouseholderQR& compute(const MatrixType& matrix);
+    template<typename InputType>
+    FullPivHouseholderQR& compute(const EigenBase<InputType>& matrix);
 
     /** \returns a const reference to the column permutation matrix */
     const PermutationType& colsPermutation() const
@@ -280,13 +308,11 @@ template<typename _MatrixType> class FullPivHouseholderQR
       *
       * \note If this matrix is not invertible, the returned matrix has undefined coefficients.
       *       Use isInvertible() to first determine whether this matrix is invertible.
-      */    inline const
-    internal::solve_retval<FullPivHouseholderQR, typename MatrixType::IdentityReturnType>
-    inverse() const
+      */
+    inline const Inverse<FullPivHouseholderQR> inverse() const
     {
       eigen_assert(m_isInitialized && "FullPivHouseholderQR is not initialized.");
-      return internal::solve_retval<FullPivHouseholderQR,typename MatrixType::IdentityReturnType>
-               (*this, MatrixType::Identity(m_qr.rows(), m_qr.cols()));
+      return Inverse<FullPivHouseholderQR>(*this);
     }
 
     inline Index rows() const { return m_qr.rows(); }
@@ -366,6 +392,12 @@ template<typename _MatrixType> class FullPivHouseholderQR
       *          diagonal coefficient of U.
       */
     RealScalar maxPivot() const { return m_maxpivot; }
+    
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const;
+    #endif
 
   protected:
     
@@ -374,6 +406,8 @@ template<typename _MatrixType> class FullPivHouseholderQR
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
     
+    void computeInPlace();
+    
     MatrixType m_qr;
     HCoeffsType m_hCoeffs;
     IntDiagSizeVectorType m_rows_transpositions;
@@ -411,16 +445,25 @@ typename MatrixType::RealScalar FullPivHouseholderQR<MatrixType>::logAbsDetermin
   * \sa class FullPivHouseholderQR, FullPivHouseholderQR(const MatrixType&)
   */
 template<typename MatrixType>
-FullPivHouseholderQR<MatrixType>& FullPivHouseholderQR<MatrixType>::compute(const MatrixType& matrix)
+template<typename InputType>
+FullPivHouseholderQR<MatrixType>& FullPivHouseholderQR<MatrixType>::compute(const EigenBase<InputType>& matrix)
+{
+  m_qr = matrix.derived();
+  computeInPlace();
+  return *this;
+}
+
+template<typename MatrixType>
+void FullPivHouseholderQR<MatrixType>::computeInPlace()
 {
   check_template_parameters();
-  
+
   using std::abs;
-  Index rows = matrix.rows();
-  Index cols = matrix.cols();
+  Index rows = m_qr.rows();
+  Index cols = m_qr.cols();
   Index size = (std::min)(rows,cols);
 
-  m_qr = matrix;
+  
   m_hCoeffs.resize(size);
 
   m_temp.resize(cols);
@@ -439,13 +482,15 @@ FullPivHouseholderQR<MatrixType>& FullPivHouseholderQR<MatrixType>::compute(cons
   for (Index k = 0; k < size; ++k)
   {
     Index row_of_biggest_in_corner, col_of_biggest_in_corner;
-    RealScalar biggest_in_corner;
+    typedef internal::scalar_score_coeff_op<Scalar> Scoring;
+    typedef typename Scoring::result_type Score;
 
-    biggest_in_corner = m_qr.bottomRightCorner(rows-k, cols-k)
-                            .cwiseAbs()
-                            .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
+    Score score = m_qr.bottomRightCorner(rows-k, cols-k)
+                      .unaryExpr(Scoring())
+                      .maxCoeff(&row_of_biggest_in_corner, &col_of_biggest_in_corner);
     row_of_biggest_in_corner += k;
     col_of_biggest_in_corner += k;
+    RealScalar biggest_in_corner = internal::abs_knowing_score<Scalar>()(m_qr(row_of_biggest_in_corner, col_of_biggest_in_corner), score);
     if(k==0) biggest = biggest_in_corner;
 
     // if the corner is negligible, then we have less than full rank, and we can finish early
@@ -489,50 +534,55 @@ FullPivHouseholderQR<MatrixType>& FullPivHouseholderQR<MatrixType>::compute(cons
 
   m_det_pq = (number_of_transpositions%2) ? -1 : 1;
   m_isInitialized = true;
-
-  return *this;
 }
 
-namespace internal {
-
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<FullPivHouseholderQR<_MatrixType>, Rhs>
-  : solve_retval_base<FullPivHouseholderQR<_MatrixType>, Rhs>
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType>
+template<typename RhsType, typename DstType>
+void FullPivHouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
 {
-  EIGEN_MAKE_SOLVE_HELPERS(FullPivHouseholderQR<_MatrixType>,Rhs)
+  eigen_assert(rhs.rows() == rows());
+  const Index l_rank = rank();
 
-  template<typename Dest> void evalTo(Dest& dst) const
+  // FIXME introduce nonzeroPivots() and use it here. and more generally,
+  // make the same improvements in this dec as in FullPivLU.
+  if(l_rank==0)
   {
-    const Index rows = dec().rows(), cols = dec().cols();
-    eigen_assert(rhs().rows() == rows);
+    dst.setZero();
+    return;
+  }
 
-    // FIXME introduce nonzeroPivots() and use it here. and more generally,
-    // make the same improvements in this dec as in FullPivLU.
-    if(dec().rank()==0)
-    {
-      dst.setZero();
-      return;
-    }
+  typename RhsType::PlainObject c(rhs);
 
-    typename Rhs::PlainObject c(rhs());
+  Matrix<Scalar,1,RhsType::ColsAtCompileTime> temp(rhs.cols());
+  for (Index k = 0; k < l_rank; ++k)
+  {
+    Index remainingSize = rows()-k;
+    c.row(k).swap(c.row(m_rows_transpositions.coeff(k)));
+    c.bottomRightCorner(remainingSize, rhs.cols())
+      .applyHouseholderOnTheLeft(m_qr.col(k).tail(remainingSize-1),
+                               m_hCoeffs.coeff(k), &temp.coeffRef(0));
+  }
 
-    Matrix<Scalar,1,Rhs::ColsAtCompileTime> temp(rhs().cols());
-    for (Index k = 0; k < dec().rank(); ++k)
-    {
-      Index remainingSize = rows-k;
-      c.row(k).swap(c.row(dec().rowsTranspositions().coeff(k)));
-      c.bottomRightCorner(remainingSize, rhs().cols())
-       .applyHouseholderOnTheLeft(dec().matrixQR().col(k).tail(remainingSize-1),
-                                  dec().hCoeffs().coeff(k), &temp.coeffRef(0));
-    }
+  m_qr.topLeftCorner(l_rank, l_rank)
+      .template triangularView<Upper>()
+      .solveInPlace(c.topRows(l_rank));
 
-    dec().matrixQR()
-       .topLeftCorner(dec().rank(), dec().rank())
-       .template triangularView<Upper>()
-       .solveInPlace(c.topRows(dec().rank()));
+  for(Index i = 0; i < l_rank; ++i) dst.row(m_cols_permutation.indices().coeff(i)) = c.row(i);
+  for(Index i = l_rank; i < cols(); ++i) dst.row(m_cols_permutation.indices().coeff(i)).setZero();
+}
+#endif
 
-    for(Index i = 0; i < dec().rank(); ++i) dst.row(dec().colsPermutation().indices().coeff(i)) = c.row(i);
-    for(Index i = dec().rank(); i < cols; ++i) dst.row(dec().colsPermutation().indices().coeff(i)).setZero();
+namespace internal {
+  
+template<typename DstXprType, typename MatrixType>
+struct Assignment<DstXprType, Inverse<FullPivHouseholderQR<MatrixType> >, internal::assign_op<typename DstXprType::Scalar,typename FullPivHouseholderQR<MatrixType>::Scalar>, Dense2Dense>
+{
+  typedef FullPivHouseholderQR<MatrixType> QrType;
+  typedef Inverse<QrType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename QrType::Scalar> &)
+  {    
+    dst = src.nestedExpression().solve(MatrixType::Identity(src.rows(), src.cols()));
   }
 };
 
@@ -546,7 +596,6 @@ template<typename MatrixType> struct FullPivHouseholderQRMatrixQReturnType
   : public ReturnByValue<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
 {
 public:
-  typedef typename MatrixType::Index Index;
   typedef typename FullPivHouseholderQR<MatrixType>::IntDiagSizeVectorType IntDiagSizeVectorType;
   typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
   typedef Matrix<typename MatrixType::Scalar, 1, MatrixType::RowsAtCompileTime, RowMajor, 1,
@@ -558,7 +607,7 @@ public:
     : m_qr(qr),
       m_hCoeffs(hCoeffs),
       m_rowsTranspositions(rowsTranspositions)
-      {}
+  {}
 
   template <typename ResultType>
   void evalTo(ResultType& result) const
@@ -588,8 +637,8 @@ public:
     }
   }
 
-    Index rows() const { return m_qr.rows(); }
-    Index cols() const { return m_qr.rows(); }
+  Index rows() const { return m_qr.rows(); }
+  Index cols() const { return m_qr.rows(); }
 
 protected:
   typename MatrixType::Nested m_qr;
@@ -597,6 +646,11 @@ protected:
   typename IntDiagSizeVectorType::Nested m_rowsTranspositions;
 };
 
+// template<typename MatrixType>
+// struct evaluator<FullPivHouseholderQRMatrixQReturnType<MatrixType> >
+//  : public evaluator<ReturnByValue<FullPivHouseholderQRMatrixQReturnType<MatrixType> > >
+// {};
+
 } // end namespace internal
 
 template<typename MatrixType>
diff --git a/eigenlib/Eigen/src/QR/HouseholderQR.h b/eigenlib/Eigen/src/QR/HouseholderQR.h
index 343a6649..3513d995 100644
--- a/eigenlib/Eigen/src/QR/HouseholderQR.h
+++ b/eigenlib/Eigen/src/QR/HouseholderQR.h
@@ -21,7 +21,7 @@ namespace Eigen {
   *
   * \brief Householder QR decomposition of a matrix
   *
-  * \param MatrixType the type of the matrix of which we are computing the QR decomposition
+  * \tparam _MatrixType the type of the matrix of which we are computing the QR decomposition
   *
   * This class performs a QR decomposition of a matrix \b A into matrices \b Q and \b R
   * such that 
@@ -37,6 +37,8 @@ namespace Eigen {
   * This Householder QR decomposition is faster, but less numerically stable and less feature-full than
   * FullPivHouseholderQR or ColPivHouseholderQR.
   *
+  * This class supports the \link InplaceDecomposition inplace decomposition \endlink mechanism.
+  *
   * \sa MatrixBase::householderQr()
   */
 template<typename _MatrixType> class HouseholderQR
@@ -47,13 +49,13 @@ template<typename _MatrixType> class HouseholderQR
     enum {
       RowsAtCompileTime = MatrixType::RowsAtCompileTime,
       ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      Options = MatrixType::Options,
       MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
       MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    // FIXME should be int
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, (MatrixType::Flags&RowMajorBit) ? RowMajor : ColMajor, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixQType;
     typedef typename internal::plain_diag_type<MatrixType>::type HCoeffsType;
     typedef typename internal::plain_row_type<MatrixType>::type RowVectorType;
@@ -91,13 +93,32 @@ template<typename _MatrixType> class HouseholderQR
       * 
       * \sa compute()
       */
-    HouseholderQR(const MatrixType& matrix)
+    template<typename InputType>
+    explicit HouseholderQR(const EigenBase<InputType>& matrix)
       : m_qr(matrix.rows(), matrix.cols()),
         m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
         m_temp(matrix.cols()),
         m_isInitialized(false)
     {
-      compute(matrix);
+      compute(matrix.derived());
+    }
+
+
+    /** \brief Constructs a QR factorization from a given matrix
+      *
+      * This overloaded constructor is provided for \link InplaceDecomposition inplace decomposition \endlink when
+      * \c MatrixType is a Eigen::Ref.
+      *
+      * \sa HouseholderQR(const EigenBase&)
+      */
+    template<typename InputType>
+    explicit HouseholderQR(EigenBase<InputType>& matrix)
+      : m_qr(matrix.derived()),
+        m_hCoeffs((std::min)(matrix.rows(),matrix.cols())),
+        m_temp(matrix.cols()),
+        m_isInitialized(false)
+    {
+      computeInPlace();
     }
 
     /** This method finds a solution x to the equation Ax=b, where A is the matrix of which
@@ -107,9 +128,6 @@ template<typename _MatrixType> class HouseholderQR
       *
       * \returns a solution.
       *
-      * \note The case where b is a matrix is not yet implemented. Also, this
-      *       code is space inefficient.
-      *
       * \note_about_checking_solutions
       *
       * \note_about_arbitrary_choice_of_solution
@@ -118,11 +136,11 @@ template<typename _MatrixType> class HouseholderQR
       * Output: \verbinclude HouseholderQR_solve.out
       */
     template<typename Rhs>
-    inline const internal::solve_retval<HouseholderQR, Rhs>
+    inline const Solve<HouseholderQR, Rhs>
     solve(const MatrixBase<Rhs>& b) const
     {
       eigen_assert(m_isInitialized && "HouseholderQR is not initialized.");
-      return internal::solve_retval<HouseholderQR, Rhs>(*this, b.derived());
+      return Solve<HouseholderQR, Rhs>(*this, b.derived());
     }
 
     /** This method returns an expression of the unitary matrix Q as a sequence of Householder transformations.
@@ -148,7 +166,12 @@ template<typename _MatrixType> class HouseholderQR
         return m_qr;
     }
 
-    HouseholderQR& compute(const MatrixType& matrix);
+    template<typename InputType>
+    HouseholderQR& compute(const EigenBase<InputType>& matrix) {
+      m_qr = matrix.derived();
+      computeInPlace();
+      return *this;
+    }
 
     /** \returns the absolute value of the determinant of the matrix of which
       * *this is the QR decomposition. It has only linear complexity
@@ -187,6 +210,12 @@ template<typename _MatrixType> class HouseholderQR
       * For advanced uses only.
       */
     const HCoeffsType& hCoeffs() const { return m_hCoeffs; }
+    
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    void _solve_impl(const RhsType &rhs, DstType &dst) const;
+    #endif
 
   protected:
     
@@ -194,6 +223,8 @@ template<typename _MatrixType> class HouseholderQR
     {
       EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
     }
+
+    void computeInPlace();
     
     MatrixType m_qr;
     HCoeffsType m_hCoeffs;
@@ -224,7 +255,6 @@ namespace internal {
 template<typename MatrixQR, typename HCoeffs>
 void householder_qr_inplace_unblocked(MatrixQR& mat, HCoeffs& hCoeffs, typename MatrixQR::Scalar* tempData = 0)
 {
-  typedef typename MatrixQR::Index Index;
   typedef typename MatrixQR::Scalar Scalar;
   typedef typename MatrixQR::RealScalar RealScalar;
   Index rows = mat.rows();
@@ -263,11 +293,9 @@ template<typename MatrixQR, typename HCoeffs,
 struct householder_qr_inplace_blocked
 {
   // This is specialized for MKL-supported Scalar types in HouseholderQR_MKL.h
-  static void run(MatrixQR& mat, HCoeffs& hCoeffs,
-      typename MatrixQR::Index maxBlockSize=32,
+  static void run(MatrixQR& mat, HCoeffs& hCoeffs, Index maxBlockSize=32,
       typename MatrixQR::Scalar* tempData = 0)
   {
-    typedef typename MatrixQR::Index Index;
     typedef typename MatrixQR::Scalar Scalar;
     typedef Block<MatrixQR,Dynamic,Dynamic> BlockType;
 
@@ -289,8 +317,8 @@ struct householder_qr_inplace_blocked
     for (k = 0; k < size; k += blockSize)
     {
       Index bs = (std::min)(size-k,blockSize);  // actual size of the block
-      Index tcols = cols - k - bs;            // trailing columns
-      Index brows = rows-k;                   // rows of the block
+      Index tcols = cols - k - bs;              // trailing columns
+      Index brows = rows-k;                     // rows of the block
 
       // partition the matrix:
       //        A00 | A01 | A02
@@ -308,44 +336,39 @@ struct householder_qr_inplace_blocked
       if(tcols)
       {
         BlockType A21_22 = mat.block(k,k+bs,brows,tcols);
-        apply_block_householder_on_the_left(A21_22,A11_21,hCoeffsSegment.adjoint());
+        apply_block_householder_on_the_left(A21_22,A11_21,hCoeffsSegment, false); // false == backward
       }
     }
   }
 };
 
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<HouseholderQR<_MatrixType>, Rhs>
-  : solve_retval_base<HouseholderQR<_MatrixType>, Rhs>
-{
-  EIGEN_MAKE_SOLVE_HELPERS(HouseholderQR<_MatrixType>,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    const Index rows = dec().rows(), cols = dec().cols();
-    const Index rank = (std::min)(rows, cols);
-    eigen_assert(rhs().rows() == rows);
-
-    typename Rhs::PlainObject c(rhs());
-
-    // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
-    c.applyOnTheLeft(householderSequence(
-      dec().matrixQR().leftCols(rank),
-      dec().hCoeffs().head(rank)).transpose()
-    );
-
-    dec().matrixQR()
-       .topLeftCorner(rank, rank)
-       .template triangularView<Upper>()
-       .solveInPlace(c.topRows(rank));
-
-    dst.topRows(rank) = c.topRows(rank);
-    dst.bottomRows(cols-rank).setZero();
-  }
-};
-
 } // end namespace internal
 
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename _MatrixType>
+template<typename RhsType, typename DstType>
+void HouseholderQR<_MatrixType>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+  const Index rank = (std::min)(rows(), cols());
+  eigen_assert(rhs.rows() == rows());
+
+  typename RhsType::PlainObject c(rhs);
+
+  // Note that the matrix Q = H_0^* H_1^*... so its inverse is Q^* = (H_0 H_1 ...)^T
+  c.applyOnTheLeft(householderSequence(
+    m_qr.leftCols(rank),
+    m_hCoeffs.head(rank)).transpose()
+  );
+
+  m_qr.topLeftCorner(rank, rank)
+      .template triangularView<Upper>()
+      .solveInPlace(c.topRows(rank));
+
+  dst.topRows(rank) = c.topRows(rank);
+  dst.bottomRows(cols()-rank).setZero();
+}
+#endif
+
 /** Performs the QR factorization of the given matrix \a matrix. The result of
   * the factorization is stored into \c *this, and a reference to \c *this
   * is returned.
@@ -353,15 +376,14 @@ struct solve_retval<HouseholderQR<_MatrixType>, Rhs>
   * \sa class HouseholderQR, HouseholderQR(const MatrixType&)
   */
 template<typename MatrixType>
-HouseholderQR<MatrixType>& HouseholderQR<MatrixType>::compute(const MatrixType& matrix)
+void HouseholderQR<MatrixType>::computeInPlace()
 {
   check_template_parameters();
   
-  Index rows = matrix.rows();
-  Index cols = matrix.cols();
+  Index rows = m_qr.rows();
+  Index cols = m_qr.cols();
   Index size = (std::min)(rows,cols);
 
-  m_qr = matrix;
   m_hCoeffs.resize(size);
 
   m_temp.resize(cols);
@@ -369,7 +391,6 @@ HouseholderQR<MatrixType>& HouseholderQR<MatrixType>::compute(const MatrixType&
   internal::householder_qr_inplace_blocked<MatrixType, HCoeffsType>::run(m_qr, m_hCoeffs, 48, m_temp.data());
 
   m_isInitialized = true;
-  return *this;
 }
 
 /** \return the Householder QR decomposition of \c *this.
diff --git a/eigenlib/Eigen/src/QR/HouseholderQR_MKL.h b/eigenlib/Eigen/src/QR/HouseholderQR_LAPACKE.h
similarity index 77%
rename from eigenlib/Eigen/src/QR/HouseholderQR_MKL.h
rename to eigenlib/Eigen/src/QR/HouseholderQR_LAPACKE.h
index b80f1b48..1dc7d536 100644
--- a/eigenlib/Eigen/src/QR/HouseholderQR_MKL.h
+++ b/eigenlib/Eigen/src/QR/HouseholderQR_LAPACKE.h
@@ -25,47 +25,44 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to LAPACKe
  *    Householder QR decomposition of a matrix w/o pivoting based on
  *    LAPACKE_?geqrf function.
  ********************************************************************************
 */
 
-#ifndef EIGEN_QR_MKL_H
-#define EIGEN_QR_MKL_H
-
-#include "../Core/util/MKL_support.h"
+#ifndef EIGEN_QR_LAPACKE_H
+#define EIGEN_QR_LAPACKE_H
 
 namespace Eigen { 
 
-  namespace internal {
+namespace internal {
 
-    /** \internal Specialization for the data types supported by MKL */
+/** \internal Specialization for the data types supported by LAPACKe */
 
-#define EIGEN_MKL_QR_NOPIV(EIGTYPE, MKLTYPE, MKLPREFIX) \
+#define EIGEN_LAPACKE_QR_NOPIV(EIGTYPE, LAPACKE_TYPE, LAPACKE_PREFIX) \
 template<typename MatrixQR, typename HCoeffs> \
 struct householder_qr_inplace_blocked<MatrixQR, HCoeffs, EIGTYPE, true> \
 { \
-  static void run(MatrixQR& mat, HCoeffs& hCoeffs, \
-      typename MatrixQR::Index = 32, \
+  static void run(MatrixQR& mat, HCoeffs& hCoeffs, Index = 32, \
       typename MatrixQR::Scalar* = 0) \
   { \
     lapack_int m = (lapack_int) mat.rows(); \
     lapack_int n = (lapack_int) mat.cols(); \
     lapack_int lda = (lapack_int) mat.outerStride(); \
     lapack_int matrix_order = (MatrixQR::IsRowMajor) ? LAPACK_ROW_MAJOR : LAPACK_COL_MAJOR; \
-    LAPACKE_##MKLPREFIX##geqrf( matrix_order, m, n, (MKLTYPE*)mat.data(), lda, (MKLTYPE*)hCoeffs.data()); \
+    LAPACKE_##LAPACKE_PREFIX##geqrf( matrix_order, m, n, (LAPACKE_TYPE*)mat.data(), lda, (LAPACKE_TYPE*)hCoeffs.data()); \
     hCoeffs.adjointInPlace(); \
   } \
 };
 
-EIGEN_MKL_QR_NOPIV(double, double, d)
-EIGEN_MKL_QR_NOPIV(float, float, s)
-EIGEN_MKL_QR_NOPIV(dcomplex, MKL_Complex16, z)
-EIGEN_MKL_QR_NOPIV(scomplex, MKL_Complex8, c)
+EIGEN_LAPACKE_QR_NOPIV(double, double, d)
+EIGEN_LAPACKE_QR_NOPIV(float, float, s)
+EIGEN_LAPACKE_QR_NOPIV(dcomplex, lapack_complex_double, z)
+EIGEN_LAPACKE_QR_NOPIV(scomplex, lapack_complex_float, c)
 
 } // end namespace internal
 
 } // end namespace Eigen
 
-#endif // EIGEN_QR_MKL_H
+#endif // EIGEN_QR_LAPACKE_H
diff --git a/eigenlib/Eigen/src/SPQRSupport/CMakeLists.txt b/eigenlib/Eigen/src/SPQRSupport/CMakeLists.txt
deleted file mode 100644
index 4968beaf..00000000
--- a/eigenlib/Eigen/src/SPQRSupport/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_SPQRSupport_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_SPQRSupport_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/SPQRSupport/ COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h b/eigenlib/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h
index de00877d..953d57c9 100644
--- a/eigenlib/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h
+++ b/eigenlib/Eigen/src/SPQRSupport/SuiteSparseQRSupport.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2012 Desire Nuentsa <desire.nuentsa_wakam@inria.fr>
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -32,45 +33,54 @@ namespace Eigen {
   } // End namespace internal
   
 /**
- * \ingroup SPQRSupport_Module
- * \class SPQR
- * \brief Sparse QR factorization based on SuiteSparseQR library
- * 
- * This class is used to perform a multithreaded and multifrontal rank-revealing QR decomposition 
- * of sparse matrices. The result is then used to solve linear leasts_square systems.
- * Clearly, a QR factorization is returned such that A*P = Q*R where :
- * 
- * P is the column permutation. Use colsPermutation() to get it.
- * 
- * Q is the orthogonal matrix represented as Householder reflectors. 
- * Use matrixQ() to get an expression and matrixQ().transpose() to get the transpose.
- * You can then apply it to a vector.
- * 
- * R is the sparse triangular factor. Use matrixQR() to get it as SparseMatrix.
- * NOTE : The Index type of R is always UF_long. You can get it with SPQR::Index
- * 
- * \tparam _MatrixType The type of the sparse matrix A, must be a column-major SparseMatrix<>
- * NOTE 
- * 
- */
+  * \ingroup SPQRSupport_Module
+  * \class SPQR
+  * \brief Sparse QR factorization based on SuiteSparseQR library
+  *
+  * This class is used to perform a multithreaded and multifrontal rank-revealing QR decomposition
+  * of sparse matrices. The result is then used to solve linear leasts_square systems.
+  * Clearly, a QR factorization is returned such that A*P = Q*R where :
+  *
+  * P is the column permutation. Use colsPermutation() to get it.
+  *
+  * Q is the orthogonal matrix represented as Householder reflectors.
+  * Use matrixQ() to get an expression and matrixQ().transpose() to get the transpose.
+  * You can then apply it to a vector.
+  *
+  * R is the sparse triangular factor. Use matrixQR() to get it as SparseMatrix.
+  * NOTE : The Index type of R is always SuiteSparse_long. You can get it with SPQR::Index
+  *
+  * \tparam _MatrixType The type of the sparse matrix A, must be a column-major SparseMatrix<>
+  *
+  * \implsparsesolverconcept
+  *
+  *
+  */
 template<typename _MatrixType>
-class SPQR
+class SPQR : public SparseSolverBase<SPQR<_MatrixType> >
 {
+  protected:
+    typedef SparseSolverBase<SPQR<_MatrixType> > Base;
+    using Base::m_isInitialized;
   public:
     typedef typename _MatrixType::Scalar Scalar;
     typedef typename _MatrixType::RealScalar RealScalar;
-    typedef UF_long Index ; 
-    typedef SparseMatrix<Scalar, ColMajor, Index> MatrixType;
-    typedef PermutationMatrix<Dynamic, Dynamic> PermutationType;
+    typedef SuiteSparse_long StorageIndex ;
+    typedef SparseMatrix<Scalar, ColMajor, StorageIndex> MatrixType;
+    typedef Map<PermutationMatrix<Dynamic, Dynamic, StorageIndex> > PermutationType;
+    enum {
+      ColsAtCompileTime = Dynamic,
+      MaxColsAtCompileTime = Dynamic
+    };
   public:
     SPQR() 
-      : m_isInitialized(false), m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits<Scalar>::epsilon()), m_useDefaultThreshold(true)
+      : m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits<Scalar>::epsilon()), m_useDefaultThreshold(true)
     { 
       cholmod_l_start(&m_cc);
     }
     
-    SPQR(const _MatrixType& matrix)
-    : m_isInitialized(false), m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits<Scalar>::epsilon()), m_useDefaultThreshold(true)
+    explicit SPQR(const _MatrixType& matrix)
+    : m_ordering(SPQR_ORDERING_DEFAULT), m_allow_tol(SPQR_DEFAULT_TOL), m_tolerance (NumTraits<Scalar>::epsilon()), m_useDefaultThreshold(true)
     {
       cholmod_l_start(&m_cc);
       compute(matrix);
@@ -103,23 +113,22 @@ class SPQR
       RealScalar pivotThreshold = m_tolerance;
       if(m_useDefaultThreshold) 
       {
-        using std::max;
         RealScalar max2Norm = 0.0;
-        for (int j = 0; j < mat.cols(); j++) max2Norm = (max)(max2Norm, mat.col(j).norm());
+        for (int j = 0; j < mat.cols(); j++) max2Norm = numext::maxi(max2Norm, mat.col(j).norm());
         if(max2Norm==RealScalar(0))
           max2Norm = RealScalar(1);
         pivotThreshold = 20 * (mat.rows() + mat.cols()) * max2Norm * NumTraits<RealScalar>::epsilon();
       }
-      
       cholmod_sparse A; 
       A = viewAsCholmod(mat);
+      m_rows = matrix.rows();
       Index col = matrix.cols();
       m_rank = SuiteSparseQR<Scalar>(m_ordering, pivotThreshold, col, &A, 
                              &m_cR, &m_E, &m_H, &m_HPinv, &m_HTau, &m_cc);
 
       if (!m_cR)
       {
-        m_info = NumericalIssue; 
+        m_info = NumericalIssue;
         m_isInitialized = false;
         return;
       }
@@ -130,28 +139,15 @@ class SPQR
     /** 
      * Get the number of rows of the input matrix and the Q matrix
      */
-    inline Index rows() const {return m_cR->nrow; }
+    inline Index rows() const {return m_rows; }
     
     /** 
      * Get the number of columns of the input matrix. 
      */
     inline Index cols() const { return m_cR->ncol; }
-   
-      /** \returns the solution X of \f$ A X = B \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<SPQR, Rhs> solve(const MatrixBase<Rhs>& B) const 
-    {
-      eigen_assert(m_isInitialized && " The QR factorization should be computed first, call compute()");
-      eigen_assert(this->rows()==B.rows()
-                    && "SPQR::solve(): invalid number of rows of the right hand side matrix B");
-          return internal::solve_retval<SPQR, Rhs>(*this, B.derived());
-    }
     
     template<typename Rhs, typename Dest>
-    void _solve(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
     {
       eigen_assert(m_isInitialized && " The QR factorization should be computed first, call compute()");
       eigen_assert(b.cols()==1 && "This method is for vectors only");
@@ -184,7 +180,7 @@ class SPQR
     {
       eigen_assert(m_isInitialized && " The QR factorization should be computed first, call compute()");
       if(!m_isRUpToDate) {
-        m_R = viewAsEigen<Scalar,ColMajor, typename MatrixType::Index>(*m_cR);
+        m_R = viewAsEigen<Scalar,ColMajor, typename MatrixType::StorageIndex>(*m_cR);
         m_isRUpToDate = true;
       }
       return m_R;
@@ -198,11 +194,7 @@ class SPQR
     PermutationType colsPermutation() const
     { 
       eigen_assert(m_isInitialized && "Decomposition is not initialized.");
-      Index n = m_cR->ncol;
-      PermutationType colsPerm(n);
-      for(Index j = 0; j <n; j++) colsPerm.indices()(j) = m_E[j];
-      return colsPerm; 
-      
+      return PermutationType(m_E, m_cR->ncol);
     }
     /**
      * Gets the rank of the matrix. 
@@ -237,7 +229,6 @@ class SPQR
       return m_info;
     }
   protected:
-    bool m_isInitialized;
     bool m_analysisIsOk;
     bool m_factorizationIsOk;
     mutable bool m_isRUpToDate;
@@ -247,13 +238,14 @@ class SPQR
     RealScalar m_tolerance; // treat columns with 2-norm below this tolerance as zero
     mutable cholmod_sparse *m_cR; // The sparse R factor in cholmod format
     mutable MatrixType m_R; // The sparse matrix R in Eigen format
-    mutable Index *m_E; // The permutation applied to columns
+    mutable StorageIndex *m_E; // The permutation applied to columns
     mutable cholmod_sparse *m_H;  //The householder vectors
-    mutable Index *m_HPinv; // The row permutation of H
+    mutable StorageIndex *m_HPinv; // The row permutation of H
     mutable cholmod_dense *m_HTau; // The Householder coefficients
     mutable Index m_rank; // The rank of the matrix
     mutable cholmod_common m_cc; // Workspace and parameters
     bool m_useDefaultThreshold;     // Use default threshold
+    Index m_rows;
     template<typename ,typename > friend struct SPQR_QProduct;
 };
 
@@ -261,7 +253,7 @@ template <typename SPQRType, typename Derived>
 struct SPQR_QProduct : ReturnByValue<SPQR_QProduct<SPQRType,Derived> >
 {
   typedef typename SPQRType::Scalar Scalar;
-  typedef typename SPQRType::Index Index;
+  typedef typename SPQRType::StorageIndex StorageIndex;
   //Define the constructor to get reference to argument types
   SPQR_QProduct(const SPQRType& spqr, const Derived& other, bool transpose) : m_spqr(spqr),m_other(other),m_transpose(transpose) {}
   
@@ -317,22 +309,5 @@ struct SPQRMatrixQTransposeReturnType{
   const SPQRType& m_spqr;
 };
 
-namespace internal {
-  
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<SPQR<_MatrixType>, Rhs>
-  : solve_retval_base<SPQR<_MatrixType>, Rhs>
-{
-  typedef SPQR<_MatrixType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
 }// End namespace Eigen
 #endif
diff --git a/eigenlib/Eigen/src/SVD/BDCSVD.h b/eigenlib/Eigen/src/SVD/BDCSVD.h
new file mode 100644
index 00000000..25fca6f4
--- /dev/null
+++ b/eigenlib/Eigen/src/SVD/BDCSVD.h
@@ -0,0 +1,1230 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+// 
+// We used the "A Divide-And-Conquer Algorithm for the Bidiagonal SVD"
+// research report written by Ming Gu and Stanley C.Eisenstat
+// The code variable names correspond to the names they used in their 
+// report
+//
+// Copyright (C) 2013 Gauthier Brun <brun.gauthier@gmail.com>
+// Copyright (C) 2013 Nicolas Carre <nicolas.carre@ensimag.fr>
+// Copyright (C) 2013 Jean Ceccato <jean.ceccato@ensimag.fr>
+// Copyright (C) 2013 Pierre Zoppitelli <pierre.zoppitelli@ensimag.fr>
+// Copyright (C) 2013 Jitse Niesen <jitse@maths.leeds.ac.uk>
+// Copyright (C) 2014-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_BDCSVD_H
+#define EIGEN_BDCSVD_H
+// #define EIGEN_BDCSVD_DEBUG_VERBOSE
+// #define EIGEN_BDCSVD_SANITY_CHECKS
+
+namespace Eigen {
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+IOFormat bdcsvdfmt(8, 0, ", ", "\n", "  [", "]");
+#endif
+  
+template<typename _MatrixType> class BDCSVD;
+
+namespace internal {
+
+template<typename _MatrixType> 
+struct traits<BDCSVD<_MatrixType> >
+{
+  typedef _MatrixType MatrixType;
+};  
+
+} // end namespace internal
+  
+  
+/** \ingroup SVD_Module
+ *
+ *
+ * \class BDCSVD
+ *
+ * \brief class Bidiagonal Divide and Conquer SVD
+ *
+ * \tparam _MatrixType the type of the matrix of which we are computing the SVD decomposition
+ *
+ * This class first reduces the input matrix to bi-diagonal form using class UpperBidiagonalization,
+ * and then performs a divide-and-conquer diagonalization. Small blocks are diagonalized using class JacobiSVD.
+ * You can control the switching size with the setSwitchSize() method, default is 16.
+ * For small matrice (<16), it is thus preferable to directly use JacobiSVD. For larger ones, BDCSVD is highly
+ * recommended and can several order of magnitude faster.
+ *
+ * \warning this algorithm is unlikely to provide accurate result when compiled with unsafe math optimizations.
+ * For instance, this concerns Intel's compiler (ICC), which perfroms such optimization by default unless
+ * you compile with the \c -fp-model \c precise option. Likewise, the \c -ffast-math option of GCC or clang will
+ * significantly degrade the accuracy.
+ *
+ * \sa class JacobiSVD
+ */
+template<typename _MatrixType> 
+class BDCSVD : public SVDBase<BDCSVD<_MatrixType> >
+{
+  typedef SVDBase<BDCSVD> Base;
+    
+public:
+  using Base::rows;
+  using Base::cols;
+  using Base::computeU;
+  using Base::computeV;
+  
+  typedef _MatrixType MatrixType;
+  typedef typename MatrixType::Scalar Scalar;
+  typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
+  enum {
+    RowsAtCompileTime = MatrixType::RowsAtCompileTime, 
+    ColsAtCompileTime = MatrixType::ColsAtCompileTime, 
+    DiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime, ColsAtCompileTime), 
+    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime, 
+    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime, 
+    MaxDiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(MaxRowsAtCompileTime, MaxColsAtCompileTime), 
+    MatrixOptions = MatrixType::Options
+  };
+
+  typedef typename Base::MatrixUType MatrixUType;
+  typedef typename Base::MatrixVType MatrixVType;
+  typedef typename Base::SingularValuesType SingularValuesType;
+  
+  typedef Matrix<Scalar, Dynamic, Dynamic, ColMajor> MatrixX;
+  typedef Matrix<RealScalar, Dynamic, Dynamic, ColMajor> MatrixXr;
+  typedef Matrix<RealScalar, Dynamic, 1> VectorType;
+  typedef Array<RealScalar, Dynamic, 1> ArrayXr;
+  typedef Array<Index,1,Dynamic> ArrayXi;
+  typedef Ref<ArrayXr> ArrayRef;
+  typedef Ref<ArrayXi> IndicesRef;
+
+  /** \brief Default Constructor.
+   *
+   * The default constructor is useful in cases in which the user intends to
+   * perform decompositions via BDCSVD::compute(const MatrixType&).
+   */
+  BDCSVD() : m_algoswap(16), m_numIters(0)
+  {}
+
+
+  /** \brief Default Constructor with memory preallocation
+   *
+   * Like the default constructor but with preallocation of the internal data
+   * according to the specified problem size.
+   * \sa BDCSVD()
+   */
+  BDCSVD(Index rows, Index cols, unsigned int computationOptions = 0)
+    : m_algoswap(16), m_numIters(0)
+  {
+    allocate(rows, cols, computationOptions);
+  }
+
+  /** \brief Constructor performing the decomposition of given matrix.
+   *
+   * \param matrix the matrix to decompose
+   * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
+   *                           By default, none is computed. This is a bit - field, the possible bits are #ComputeFullU, #ComputeThinU, 
+   *                           #ComputeFullV, #ComputeThinV.
+   *
+   * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
+   * available with the (non - default) FullPivHouseholderQR preconditioner.
+   */
+  BDCSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
+    : m_algoswap(16), m_numIters(0)
+  {
+    compute(matrix, computationOptions);
+  }
+
+  ~BDCSVD() 
+  {
+  }
+  
+  /** \brief Method performing the decomposition of given matrix using custom options.
+   *
+   * \param matrix the matrix to decompose
+   * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
+   *                           By default, none is computed. This is a bit - field, the possible bits are #ComputeFullU, #ComputeThinU, 
+   *                           #ComputeFullV, #ComputeThinV.
+   *
+   * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
+   * available with the (non - default) FullPivHouseholderQR preconditioner.
+   */
+  BDCSVD& compute(const MatrixType& matrix, unsigned int computationOptions);
+
+  /** \brief Method performing the decomposition of given matrix using current options.
+   *
+   * \param matrix the matrix to decompose
+   *
+   * This method uses the current \a computationOptions, as already passed to the constructor or to compute(const MatrixType&, unsigned int).
+   */
+  BDCSVD& compute(const MatrixType& matrix)
+  {
+    return compute(matrix, this->m_computationOptions);
+  }
+
+  void setSwitchSize(int s) 
+  {
+    eigen_assert(s>3 && "BDCSVD the size of the algo switch has to be greater than 3");
+    m_algoswap = s;
+  }
+ 
+private:
+  void allocate(Index rows, Index cols, unsigned int computationOptions);
+  void divide(Index firstCol, Index lastCol, Index firstRowW, Index firstColW, Index shift);
+  void computeSVDofM(Index firstCol, Index n, MatrixXr& U, VectorType& singVals, MatrixXr& V);
+  void computeSingVals(const ArrayRef& col0, const ArrayRef& diag, const IndicesRef& perm, VectorType& singVals, ArrayRef shifts, ArrayRef mus);
+  void perturbCol0(const ArrayRef& col0, const ArrayRef& diag, const IndicesRef& perm, const VectorType& singVals, const ArrayRef& shifts, const ArrayRef& mus, ArrayRef zhat);
+  void computeSingVecs(const ArrayRef& zhat, const ArrayRef& diag, const IndicesRef& perm, const VectorType& singVals, const ArrayRef& shifts, const ArrayRef& mus, MatrixXr& U, MatrixXr& V);
+  void deflation43(Index firstCol, Index shift, Index i, Index size);
+  void deflation44(Index firstColu , Index firstColm, Index firstRowW, Index firstColW, Index i, Index j, Index size);
+  void deflation(Index firstCol, Index lastCol, Index k, Index firstRowW, Index firstColW, Index shift);
+  template<typename HouseholderU, typename HouseholderV, typename NaiveU, typename NaiveV>
+  void copyUV(const HouseholderU &householderU, const HouseholderV &householderV, const NaiveU &naiveU, const NaiveV &naivev);
+  void structured_update(Block<MatrixXr,Dynamic,Dynamic> A, const MatrixXr &B, Index n1);
+  static RealScalar secularEq(RealScalar x, const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm, const ArrayRef& diagShifted, RealScalar shift);
+
+protected:
+  MatrixXr m_naiveU, m_naiveV;
+  MatrixXr m_computed;
+  Index m_nRec;
+  ArrayXr m_workspace;
+  ArrayXi m_workspaceI;
+  int m_algoswap;
+  bool m_isTranspose, m_compU, m_compV;
+  
+  using Base::m_singularValues;
+  using Base::m_diagSize;
+  using Base::m_computeFullU;
+  using Base::m_computeFullV;
+  using Base::m_computeThinU;
+  using Base::m_computeThinV;
+  using Base::m_matrixU;
+  using Base::m_matrixV;
+  using Base::m_isInitialized;
+  using Base::m_nonzeroSingularValues;
+
+public:  
+  int m_numIters;
+}; //end class BDCSVD
+
+
+// Method to allocate and initialize matrix and attributes
+template<typename MatrixType>
+void BDCSVD<MatrixType>::allocate(Index rows, Index cols, unsigned int computationOptions)
+{
+  m_isTranspose = (cols > rows);
+
+  if (Base::allocate(rows, cols, computationOptions))
+    return;
+  
+  m_computed = MatrixXr::Zero(m_diagSize + 1, m_diagSize );
+  m_compU = computeV();
+  m_compV = computeU();
+  if (m_isTranspose)
+    std::swap(m_compU, m_compV);
+  
+  if (m_compU) m_naiveU = MatrixXr::Zero(m_diagSize + 1, m_diagSize + 1 );
+  else         m_naiveU = MatrixXr::Zero(2, m_diagSize + 1 );
+  
+  if (m_compV) m_naiveV = MatrixXr::Zero(m_diagSize, m_diagSize);
+  
+  m_workspace.resize((m_diagSize+1)*(m_diagSize+1)*3);
+  m_workspaceI.resize(3*m_diagSize);
+}// end allocate
+
+template<typename MatrixType>
+BDCSVD<MatrixType>& BDCSVD<MatrixType>::compute(const MatrixType& matrix, unsigned int computationOptions) 
+{
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "\n\n\n======================================================================================================================\n\n\n";
+#endif
+  allocate(matrix.rows(), matrix.cols(), computationOptions);
+  using std::abs;
+
+  const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
+  
+  //**** step -1 - If the problem is too small, directly falls back to JacobiSVD and return
+  if(matrix.cols() < m_algoswap)
+  {
+    // FIXME this line involves temporaries
+    JacobiSVD<MatrixType> jsvd(matrix,computationOptions);
+    if(computeU()) m_matrixU = jsvd.matrixU();
+    if(computeV()) m_matrixV = jsvd.matrixV();
+    m_singularValues = jsvd.singularValues();
+    m_nonzeroSingularValues = jsvd.nonzeroSingularValues();
+    m_isInitialized = true;
+    return *this;
+  }
+  
+  //**** step 0 - Copy the input matrix and apply scaling to reduce over/under-flows
+  RealScalar scale = matrix.cwiseAbs().maxCoeff();
+  if(scale==RealScalar(0)) scale = RealScalar(1);
+  MatrixX copy;
+  if (m_isTranspose) copy = matrix.adjoint()/scale;
+  else               copy = matrix/scale;
+  
+  //**** step 1 - Bidiagonalization
+  // FIXME this line involves temporaries
+  internal::UpperBidiagonalization<MatrixX> bid(copy);
+
+  //**** step 2 - Divide & Conquer
+  m_naiveU.setZero();
+  m_naiveV.setZero();
+  // FIXME this line involves a temporary matrix
+  m_computed.topRows(m_diagSize) = bid.bidiagonal().toDenseMatrix().transpose();
+  m_computed.template bottomRows<1>().setZero();
+  divide(0, m_diagSize - 1, 0, 0, 0);
+
+  //**** step 3 - Copy singular values and vectors
+  for (int i=0; i<m_diagSize; i++)
+  {
+    RealScalar a = abs(m_computed.coeff(i, i));
+    m_singularValues.coeffRef(i) = a * scale;
+    if (a<considerZero)
+    {
+      m_nonzeroSingularValues = i;
+      m_singularValues.tail(m_diagSize - i - 1).setZero();
+      break;
+    }
+    else if (i == m_diagSize - 1)
+    {
+      m_nonzeroSingularValues = i + 1;
+      break;
+    }
+  }
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+//   std::cout << "m_naiveU\n" << m_naiveU << "\n\n";
+//   std::cout << "m_naiveV\n" << m_naiveV << "\n\n";
+#endif
+  if(m_isTranspose) copyUV(bid.householderV(), bid.householderU(), m_naiveV, m_naiveU);
+  else              copyUV(bid.householderU(), bid.householderV(), m_naiveU, m_naiveV);
+
+  m_isInitialized = true;
+  return *this;
+}// end compute
+
+
+template<typename MatrixType>
+template<typename HouseholderU, typename HouseholderV, typename NaiveU, typename NaiveV>
+void BDCSVD<MatrixType>::copyUV(const HouseholderU &householderU, const HouseholderV &householderV, const NaiveU &naiveU, const NaiveV &naiveV)
+{
+  // Note exchange of U and V: m_matrixU is set from m_naiveV and vice versa
+  if (computeU())
+  {
+    Index Ucols = m_computeThinU ? m_diagSize : householderU.cols();
+    m_matrixU = MatrixX::Identity(householderU.cols(), Ucols);
+    m_matrixU.topLeftCorner(m_diagSize, m_diagSize) = naiveV.template cast<Scalar>().topLeftCorner(m_diagSize, m_diagSize);
+    householderU.applyThisOnTheLeft(m_matrixU); // FIXME this line involves a temporary buffer
+  }
+  if (computeV())
+  {
+    Index Vcols = m_computeThinV ? m_diagSize : householderV.cols();
+    m_matrixV = MatrixX::Identity(householderV.cols(), Vcols);
+    m_matrixV.topLeftCorner(m_diagSize, m_diagSize) = naiveU.template cast<Scalar>().topLeftCorner(m_diagSize, m_diagSize);
+    householderV.applyThisOnTheLeft(m_matrixV); // FIXME this line involves a temporary buffer
+  }
+}
+
+/** \internal
+  * Performs A = A * B exploiting the special structure of the matrix A. Splitting A as:
+  *  A = [A1]
+  *      [A2]
+  * such that A1.rows()==n1, then we assume that at least half of the columns of A1 and A2 are zeros.
+  * We can thus pack them prior to the the matrix product. However, this is only worth the effort if the matrix is large
+  * enough.
+  */
+template<typename MatrixType>
+void BDCSVD<MatrixType>::structured_update(Block<MatrixXr,Dynamic,Dynamic> A, const MatrixXr &B, Index n1)
+{
+  Index n = A.rows();
+  if(n>100)
+  {
+    // If the matrices are large enough, let's exploit the sparse structure of A by
+    // splitting it in half (wrt n1), and packing the non-zero columns.
+    Index n2 = n - n1;
+    Map<MatrixXr> A1(m_workspace.data()      , n1, n);
+    Map<MatrixXr> A2(m_workspace.data()+ n1*n, n2, n);
+    Map<MatrixXr> B1(m_workspace.data()+  n*n, n,  n);
+    Map<MatrixXr> B2(m_workspace.data()+2*n*n, n,  n);
+    Index k1=0, k2=0;
+    for(Index j=0; j<n; ++j)
+    {
+      if( (A.col(j).head(n1).array()!=0).any() )
+      {
+        A1.col(k1) = A.col(j).head(n1);
+        B1.row(k1) = B.row(j);
+        ++k1;
+      }
+      if( (A.col(j).tail(n2).array()!=0).any() )
+      {
+        A2.col(k2) = A.col(j).tail(n2);
+        B2.row(k2) = B.row(j);
+        ++k2;
+      }
+    }
+  
+    A.topRows(n1).noalias()    = A1.leftCols(k1) * B1.topRows(k1);
+    A.bottomRows(n2).noalias() = A2.leftCols(k2) * B2.topRows(k2);
+  }
+  else
+  {
+    Map<MatrixXr,Aligned> tmp(m_workspace.data(),n,n);
+    tmp.noalias() = A*B;
+    A = tmp;
+  }
+}
+
+// The divide algorithm is done "in place", we are always working on subsets of the same matrix. The divide methods takes as argument the 
+// place of the submatrix we are currently working on.
+
+//@param firstCol : The Index of the first column of the submatrix of m_computed and for m_naiveU;
+//@param lastCol : The Index of the last column of the submatrix of m_computed and for m_naiveU; 
+// lastCol + 1 - firstCol is the size of the submatrix.
+//@param firstRowW : The Index of the first row of the matrix W that we are to change. (see the reference paper section 1 for more information on W)
+//@param firstRowW : Same as firstRowW with the column.
+//@param shift : Each time one takes the left submatrix, one must add 1 to the shift. Why? Because! We actually want the last column of the U submatrix 
+// to become the first column (*coeff) and to shift all the other columns to the right. There are more details on the reference paper.
+template<typename MatrixType>
+void BDCSVD<MatrixType>::divide (Index firstCol, Index lastCol, Index firstRowW, Index firstColW, Index shift)
+{
+  // requires rows = cols + 1;
+  using std::pow;
+  using std::sqrt;
+  using std::abs;
+  const Index n = lastCol - firstCol + 1;
+  const Index k = n/2;
+  const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
+  RealScalar alphaK;
+  RealScalar betaK; 
+  RealScalar r0; 
+  RealScalar lambda, phi, c0, s0;
+  VectorType l, f;
+  // We use the other algorithm which is more efficient for small 
+  // matrices.
+  if (n < m_algoswap)
+  {
+    // FIXME this line involves temporaries
+    JacobiSVD<MatrixXr> b(m_computed.block(firstCol, firstCol, n + 1, n), ComputeFullU | (m_compV ? ComputeFullV : 0));
+    if (m_compU)
+      m_naiveU.block(firstCol, firstCol, n + 1, n + 1).real() = b.matrixU();
+    else 
+    {
+      m_naiveU.row(0).segment(firstCol, n + 1).real() = b.matrixU().row(0);
+      m_naiveU.row(1).segment(firstCol, n + 1).real() = b.matrixU().row(n);
+    }
+    if (m_compV) m_naiveV.block(firstRowW, firstColW, n, n).real() = b.matrixV();
+    m_computed.block(firstCol + shift, firstCol + shift, n + 1, n).setZero();
+    m_computed.diagonal().segment(firstCol + shift, n) = b.singularValues().head(n);
+    return;
+  }
+  // We use the divide and conquer algorithm
+  alphaK =  m_computed(firstCol + k, firstCol + k);
+  betaK = m_computed(firstCol + k + 1, firstCol + k);
+  // The divide must be done in that order in order to have good results. Divide change the data inside the submatrices
+  // and the divide of the right submatrice reads one column of the left submatrice. That's why we need to treat the 
+  // right submatrix before the left one. 
+  divide(k + 1 + firstCol, lastCol, k + 1 + firstRowW, k + 1 + firstColW, shift);
+  divide(firstCol, k - 1 + firstCol, firstRowW, firstColW + 1, shift + 1);
+
+  if (m_compU)
+  {
+    lambda = m_naiveU(firstCol + k, firstCol + k);
+    phi = m_naiveU(firstCol + k + 1, lastCol + 1);
+  } 
+  else 
+  {
+    lambda = m_naiveU(1, firstCol + k);
+    phi = m_naiveU(0, lastCol + 1);
+  }
+  r0 = sqrt((abs(alphaK * lambda) * abs(alphaK * lambda)) + abs(betaK * phi) * abs(betaK * phi));
+  if (m_compU)
+  {
+    l = m_naiveU.row(firstCol + k).segment(firstCol, k);
+    f = m_naiveU.row(firstCol + k + 1).segment(firstCol + k + 1, n - k - 1);
+  } 
+  else 
+  {
+    l = m_naiveU.row(1).segment(firstCol, k);
+    f = m_naiveU.row(0).segment(firstCol + k + 1, n - k - 1);
+  }
+  if (m_compV) m_naiveV(firstRowW+k, firstColW) = 1;
+  if (r0<considerZero)
+  {
+    c0 = 1;
+    s0 = 0;
+  }
+  else
+  {
+    c0 = alphaK * lambda / r0;
+    s0 = betaK * phi / r0;
+  }
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+  
+  if (m_compU)
+  {
+    MatrixXr q1 (m_naiveU.col(firstCol + k).segment(firstCol, k + 1));     
+    // we shiftW Q1 to the right
+    for (Index i = firstCol + k - 1; i >= firstCol; i--) 
+      m_naiveU.col(i + 1).segment(firstCol, k + 1) = m_naiveU.col(i).segment(firstCol, k + 1);
+    // we shift q1 at the left with a factor c0
+    m_naiveU.col(firstCol).segment( firstCol, k + 1) = (q1 * c0);
+    // last column = q1 * - s0
+    m_naiveU.col(lastCol + 1).segment(firstCol, k + 1) = (q1 * ( - s0));
+    // first column = q2 * s0
+    m_naiveU.col(firstCol).segment(firstCol + k + 1, n - k) = m_naiveU.col(lastCol + 1).segment(firstCol + k + 1, n - k) * s0; 
+    // q2 *= c0
+    m_naiveU.col(lastCol + 1).segment(firstCol + k + 1, n - k) *= c0;
+  } 
+  else 
+  {
+    RealScalar q1 = m_naiveU(0, firstCol + k);
+    // we shift Q1 to the right
+    for (Index i = firstCol + k - 1; i >= firstCol; i--) 
+      m_naiveU(0, i + 1) = m_naiveU(0, i);
+    // we shift q1 at the left with a factor c0
+    m_naiveU(0, firstCol) = (q1 * c0);
+    // last column = q1 * - s0
+    m_naiveU(0, lastCol + 1) = (q1 * ( - s0));
+    // first column = q2 * s0
+    m_naiveU(1, firstCol) = m_naiveU(1, lastCol + 1) *s0; 
+    // q2 *= c0
+    m_naiveU(1, lastCol + 1) *= c0;
+    m_naiveU.row(1).segment(firstCol + 1, k).setZero();
+    m_naiveU.row(0).segment(firstCol + k + 1, n - k - 1).setZero();
+  }
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+  
+  m_computed(firstCol + shift, firstCol + shift) = r0;
+  m_computed.col(firstCol + shift).segment(firstCol + shift + 1, k) = alphaK * l.transpose().real();
+  m_computed.col(firstCol + shift).segment(firstCol + shift + k + 1, n - k - 1) = betaK * f.transpose().real();
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  ArrayXr tmp1 = (m_computed.block(firstCol+shift, firstCol+shift, n, n)).jacobiSvd().singularValues();
+#endif
+  // Second part: try to deflate singular values in combined matrix
+  deflation(firstCol, lastCol, k, firstRowW, firstColW, shift);
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  ArrayXr tmp2 = (m_computed.block(firstCol+shift, firstCol+shift, n, n)).jacobiSvd().singularValues();
+  std::cout << "\n\nj1 = " << tmp1.transpose().format(bdcsvdfmt) << "\n";
+  std::cout << "j2 = " << tmp2.transpose().format(bdcsvdfmt) << "\n\n";
+  std::cout << "err:      " << ((tmp1-tmp2).abs()>1e-12*tmp2.abs()).transpose() << "\n";
+  static int count = 0;
+  std::cout << "# " << ++count << "\n\n";
+  assert((tmp1-tmp2).matrix().norm() < 1e-14*tmp2.matrix().norm());
+//   assert(count<681);
+//   assert(((tmp1-tmp2).abs()<1e-13*tmp2.abs()).all());
+#endif
+  
+  // Third part: compute SVD of combined matrix
+  MatrixXr UofSVD, VofSVD;
+  VectorType singVals;
+  computeSVDofM(firstCol + shift, n, UofSVD, singVals, VofSVD);
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(UofSVD.allFinite());
+  assert(VofSVD.allFinite());
+#endif
+  
+  if (m_compU)
+    structured_update(m_naiveU.block(firstCol, firstCol, n + 1, n + 1), UofSVD, (n+2)/2);
+  else
+  {
+    Map<Matrix<RealScalar,2,Dynamic>,Aligned> tmp(m_workspace.data(),2,n+1);
+    tmp.noalias() = m_naiveU.middleCols(firstCol, n+1) * UofSVD;
+    m_naiveU.middleCols(firstCol, n + 1) = tmp;
+  }
+  
+  if (m_compV)  structured_update(m_naiveV.block(firstRowW, firstColW, n, n), VofSVD, (n+1)/2);
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+  
+  m_computed.block(firstCol + shift, firstCol + shift, n, n).setZero();
+  m_computed.block(firstCol + shift, firstCol + shift, n, n).diagonal() = singVals;
+}// end divide
+
+// Compute SVD of m_computed.block(firstCol, firstCol, n + 1, n); this block only has non-zeros in
+// the first column and on the diagonal and has undergone deflation, so diagonal is in increasing
+// order except for possibly the (0,0) entry. The computed SVD is stored U, singVals and V, except
+// that if m_compV is false, then V is not computed. Singular values are sorted in decreasing order.
+//
+// TODO Opportunities for optimization: better root finding algo, better stopping criterion, better
+// handling of round-off errors, be consistent in ordering
+// For instance, to solve the secular equation using FMM, see http://www.stat.uchicago.edu/~lekheng/courses/302/classics/greengard-rokhlin.pdf
+template <typename MatrixType>
+void BDCSVD<MatrixType>::computeSVDofM(Index firstCol, Index n, MatrixXr& U, VectorType& singVals, MatrixXr& V)
+{
+  const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
+  using std::abs;
+  ArrayRef col0 = m_computed.col(firstCol).segment(firstCol, n);
+  m_workspace.head(n) =  m_computed.block(firstCol, firstCol, n, n).diagonal();
+  ArrayRef diag = m_workspace.head(n);
+  diag(0) = 0;
+
+  // Allocate space for singular values and vectors
+  singVals.resize(n);
+  U.resize(n+1, n+1);
+  if (m_compV) V.resize(n, n);
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  if (col0.hasNaN() || diag.hasNaN())
+    std::cout << "\n\nHAS NAN\n\n";
+#endif
+  
+  // Many singular values might have been deflated, the zero ones have been moved to the end,
+  // but others are interleaved and we must ignore them at this stage.
+  // To this end, let's compute a permutation skipping them:
+  Index actual_n = n;
+  while(actual_n>1 && diag(actual_n-1)==0) --actual_n;
+  Index m = 0; // size of the deflated problem
+  for(Index k=0;k<actual_n;++k)
+    if(abs(col0(k))>considerZero)
+      m_workspaceI(m++) = k;
+  Map<ArrayXi> perm(m_workspaceI.data(),m);
+  
+  Map<ArrayXr> shifts(m_workspace.data()+1*n, n);
+  Map<ArrayXr> mus(m_workspace.data()+2*n, n);
+  Map<ArrayXr> zhat(m_workspace.data()+3*n, n);
+
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "computeSVDofM using:\n";
+  std::cout << "  z: " << col0.transpose() << "\n";
+  std::cout << "  d: " << diag.transpose() << "\n";
+#endif
+  
+  // Compute singVals, shifts, and mus
+  computeSingVals(col0, diag, perm, singVals, shifts, mus);
+  
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "  j:        " << (m_computed.block(firstCol, firstCol, n, n)).jacobiSvd().singularValues().transpose().reverse() << "\n\n";
+  std::cout << "  sing-val: " << singVals.transpose() << "\n";
+  std::cout << "  mu:       " << mus.transpose() << "\n";
+  std::cout << "  shift:    " << shifts.transpose() << "\n";
+  
+  {
+    Index actual_n = n;
+    while(actual_n>1 && abs(col0(actual_n-1))<considerZero) --actual_n;
+    std::cout << "\n\n    mus:    " << mus.head(actual_n).transpose() << "\n\n";
+    std::cout << "    check1 (expect0) : " << ((singVals.array()-(shifts+mus)) / singVals.array()).head(actual_n).transpose() << "\n\n";
+    std::cout << "    check2 (>0)      : " << ((singVals.array()-diag) / singVals.array()).head(actual_n).transpose() << "\n\n";
+    std::cout << "    check3 (>0)      : " << ((diag.segment(1,actual_n-1)-singVals.head(actual_n-1).array()) / singVals.head(actual_n-1).array()).transpose() << "\n\n\n";
+    std::cout << "    check4 (>0)      : " << ((singVals.segment(1,actual_n-1)-singVals.head(actual_n-1))).transpose() << "\n\n\n";
+  }
+#endif
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(singVals.allFinite());
+  assert(mus.allFinite());
+  assert(shifts.allFinite());
+#endif
+  
+  // Compute zhat
+  perturbCol0(col0, diag, perm, singVals, shifts, mus, zhat);
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "  zhat: " << zhat.transpose() << "\n";
+#endif
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(zhat.allFinite());
+#endif
+  
+  computeSingVecs(zhat, diag, perm, singVals, shifts, mus, U, V);
+  
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "U^T U: " << (U.transpose() * U - MatrixXr(MatrixXr::Identity(U.cols(),U.cols()))).norm() << "\n";
+  std::cout << "V^T V: " << (V.transpose() * V - MatrixXr(MatrixXr::Identity(V.cols(),V.cols()))).norm() << "\n";
+#endif
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(U.allFinite());
+  assert(V.allFinite());
+  assert((U.transpose() * U - MatrixXr(MatrixXr::Identity(U.cols(),U.cols()))).norm() < 1e-14 * n);
+  assert((V.transpose() * V - MatrixXr(MatrixXr::Identity(V.cols(),V.cols()))).norm() < 1e-14 * n);
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+  
+  // Because of deflation, the singular values might not be completely sorted.
+  // Fortunately, reordering them is a O(n) problem
+  for(Index i=0; i<actual_n-1; ++i)
+  {
+    if(singVals(i)>singVals(i+1))
+    {
+      using std::swap;
+      swap(singVals(i),singVals(i+1));
+      U.col(i).swap(U.col(i+1));
+      if(m_compV) V.col(i).swap(V.col(i+1));
+    }
+  }
+  
+  // Reverse order so that singular values in increased order
+  // Because of deflation, the zeros singular-values are already at the end
+  singVals.head(actual_n).reverseInPlace();
+  U.leftCols(actual_n).rowwise().reverseInPlace();
+  if (m_compV) V.leftCols(actual_n).rowwise().reverseInPlace();
+  
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  JacobiSVD<MatrixXr> jsvd(m_computed.block(firstCol, firstCol, n, n) );
+  std::cout << "  * j:        " << jsvd.singularValues().transpose() << "\n\n";
+  std::cout << "  * sing-val: " << singVals.transpose() << "\n";
+//   std::cout << "  * err:      " << ((jsvd.singularValues()-singVals)>1e-13*singVals.norm()).transpose() << "\n";
+#endif
+}
+
+template <typename MatrixType>
+typename BDCSVD<MatrixType>::RealScalar BDCSVD<MatrixType>::secularEq(RealScalar mu, const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm, const ArrayRef& diagShifted, RealScalar shift)
+{
+  Index m = perm.size();
+  RealScalar res = 1;
+  for(Index i=0; i<m; ++i)
+  {
+    Index j = perm(i);
+    res += numext::abs2(col0(j)) / ((diagShifted(j) - mu) * (diag(j) + shift + mu));
+  }
+  return res;
+
+}
+
+template <typename MatrixType>
+void BDCSVD<MatrixType>::computeSingVals(const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm,
+                                         VectorType& singVals, ArrayRef shifts, ArrayRef mus)
+{
+  using std::abs;
+  using std::swap;
+
+  Index n = col0.size();
+  Index actual_n = n;
+  while(actual_n>1 && col0(actual_n-1)==0) --actual_n;
+
+  for (Index k = 0; k < n; ++k)
+  {
+    if (col0(k) == 0 || actual_n==1)
+    {
+      // if col0(k) == 0, then entry is deflated, so singular value is on diagonal
+      // if actual_n==1, then the deflated problem is already diagonalized
+      singVals(k) = k==0 ? col0(0) : diag(k);
+      mus(k) = 0;
+      shifts(k) = k==0 ? col0(0) : diag(k);
+      continue;
+    } 
+
+    // otherwise, use secular equation to find singular value
+    RealScalar left = diag(k);
+    RealScalar right; // was: = (k != actual_n-1) ? diag(k+1) : (diag(actual_n-1) + col0.matrix().norm());
+    if(k==actual_n-1)
+      right = (diag(actual_n-1) + col0.matrix().norm());
+    else
+    {
+      // Skip deflated singular values
+      Index l = k+1;
+      while(col0(l)==0) { ++l; eigen_internal_assert(l<actual_n); }
+      right = diag(l);
+    }
+
+    // first decide whether it's closer to the left end or the right end
+    RealScalar mid = left + (right-left) / 2;
+    RealScalar fMid = secularEq(mid, col0, diag, perm, diag, 0);
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+    std::cout << right-left << "\n";
+    std::cout << "fMid = " << fMid << " " << secularEq(mid-left, col0, diag, perm, diag-left, left) << " " << secularEq(mid-right, col0, diag, perm, diag-right, right)   << "\n";
+    std::cout << "     = " << secularEq(0.1*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.2*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.3*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.4*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.49*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.5*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.51*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.6*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.7*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.8*(left+right), col0, diag, perm, diag, 0)
+              << " "       << secularEq(0.9*(left+right), col0, diag, perm, diag, 0) << "\n";
+#endif
+    RealScalar shift = (k == actual_n-1 || fMid > 0) ? left : right;
+    
+    // measure everything relative to shift
+    Map<ArrayXr> diagShifted(m_workspace.data()+4*n, n);
+    diagShifted = diag - shift;
+    
+    // initial guess
+    RealScalar muPrev, muCur;
+    if (shift == left)
+    {
+      muPrev = (right - left) * RealScalar(0.1);
+      if (k == actual_n-1) muCur = right - left;
+      else                 muCur = (right - left) * RealScalar(0.5);
+    }
+    else
+    {
+      muPrev = -(right - left) * RealScalar(0.1);
+      muCur = -(right - left) * RealScalar(0.5);
+    }
+
+    RealScalar fPrev = secularEq(muPrev, col0, diag, perm, diagShifted, shift);
+    RealScalar fCur = secularEq(muCur, col0, diag, perm, diagShifted, shift);
+    if (abs(fPrev) < abs(fCur))
+    {
+      swap(fPrev, fCur);
+      swap(muPrev, muCur);
+    }
+
+    // rational interpolation: fit a function of the form a / mu + b through the two previous
+    // iterates and use its zero to compute the next iterate
+    bool useBisection = fPrev*fCur>0;
+    while (fCur!=0 && abs(muCur - muPrev) > 8 * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(abs(muCur), abs(muPrev)) && abs(fCur - fPrev)>NumTraits<RealScalar>::epsilon() && !useBisection)
+    {
+      ++m_numIters;
+
+      // Find a and b such that the function f(mu) = a / mu + b matches the current and previous samples.
+      RealScalar a = (fCur - fPrev) / (1/muCur - 1/muPrev);
+      RealScalar b = fCur - a / muCur;
+      // And find mu such that f(mu)==0:
+      RealScalar muZero = -a/b;
+      RealScalar fZero = secularEq(muZero, col0, diag, perm, diagShifted, shift);
+      
+      muPrev = muCur;
+      fPrev = fCur;
+      muCur = muZero;
+      fCur = fZero;
+      
+      
+      if (shift == left  && (muCur < 0 || muCur > right - left)) useBisection = true;
+      if (shift == right && (muCur < -(right - left) || muCur > 0)) useBisection = true;
+      if (abs(fCur)>abs(fPrev)) useBisection = true;
+    }
+
+    // fall back on bisection method if rational interpolation did not work
+    if (useBisection)
+    {
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+      std::cout << "useBisection for k = " << k << ", actual_n = " << actual_n << "\n";
+#endif
+      RealScalar leftShifted, rightShifted;
+      if (shift == left)
+      {
+        leftShifted = (std::numeric_limits<RealScalar>::min)();
+        // I don't understand why the case k==0 would be special there:
+        // if (k == 0) rightShifted = right - left; else 
+        rightShifted = (k==actual_n-1) ? right : ((right - left) * RealScalar(0.6)); // theoretically we can take 0.5, but let's be safe
+      }
+      else
+      {
+        leftShifted = -(right - left) * RealScalar(0.6);
+        rightShifted = -(std::numeric_limits<RealScalar>::min)();
+      }
+      
+      RealScalar fLeft = secularEq(leftShifted, col0, diag, perm, diagShifted, shift);
+
+#if defined EIGEN_INTERNAL_DEBUGGING || defined EIGEN_BDCSVD_DEBUG_VERBOSE
+      RealScalar fRight = secularEq(rightShifted, col0, diag, perm, diagShifted, shift);
+#endif
+
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+      if(!(fLeft * fRight<0))
+      {
+        std::cout << "fLeft: " << leftShifted << " - " << diagShifted.head(10).transpose()  << "\n ; " << bool(left==shift) << " " << (left-shift) << "\n";
+        std::cout << k << " : " <<  fLeft << " * " << fRight << " == " << fLeft * fRight << "  ;  " << left << " - " << right << " -> " <<  leftShifted << " " << rightShifted << "   shift=" << shift << "\n";
+      }
+#endif
+      eigen_internal_assert(fLeft * fRight < 0);
+      
+      while (rightShifted - leftShifted > 2 * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(abs(leftShifted), abs(rightShifted)))
+      {
+        RealScalar midShifted = (leftShifted + rightShifted) / 2;
+        fMid = secularEq(midShifted, col0, diag, perm, diagShifted, shift);
+        if (fLeft * fMid < 0)
+        {
+          rightShifted = midShifted;
+        }
+        else
+        {
+          leftShifted = midShifted;
+          fLeft = fMid;
+        }
+      }
+
+      muCur = (leftShifted + rightShifted) / 2;
+    }
+      
+    singVals[k] = shift + muCur;
+    shifts[k] = shift;
+    mus[k] = muCur;
+
+    // perturb singular value slightly if it equals diagonal entry to avoid division by zero later
+    // (deflation is supposed to avoid this from happening)
+    // - this does no seem to be necessary anymore -
+//     if (singVals[k] == left) singVals[k] *= 1 + NumTraits<RealScalar>::epsilon();
+//     if (singVals[k] == right) singVals[k] *= 1 - NumTraits<RealScalar>::epsilon();
+  }
+}
+
+
+// zhat is perturbation of col0 for which singular vectors can be computed stably (see Section 3.1)
+template <typename MatrixType>
+void BDCSVD<MatrixType>::perturbCol0
+   (const ArrayRef& col0, const ArrayRef& diag, const IndicesRef &perm, const VectorType& singVals,
+    const ArrayRef& shifts, const ArrayRef& mus, ArrayRef zhat)
+{
+  using std::sqrt;
+  Index n = col0.size();
+  Index m = perm.size();
+  if(m==0)
+  {
+    zhat.setZero();
+    return;
+  }
+  Index last = perm(m-1);
+  // The offset permits to skip deflated entries while computing zhat
+  for (Index k = 0; k < n; ++k)
+  {
+    if (col0(k) == 0) // deflated
+      zhat(k) = 0;
+    else
+    {
+      // see equation (3.6)
+      RealScalar dk = diag(k);
+      RealScalar prod = (singVals(last) + dk) * (mus(last) + (shifts(last) - dk));
+
+      for(Index l = 0; l<m; ++l)
+      {
+        Index i = perm(l);
+        if(i!=k)
+        {
+          Index j = i<k ? i : perm(l-1);
+          prod *= ((singVals(j)+dk) / ((diag(i)+dk))) * ((mus(j)+(shifts(j)-dk)) / ((diag(i)-dk)));
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+          if(i!=k && std::abs(((singVals(j)+dk)*(mus(j)+(shifts(j)-dk)))/((diag(i)+dk)*(diag(i)-dk)) - 1) > 0.9 )
+            std::cout << "     " << ((singVals(j)+dk)*(mus(j)+(shifts(j)-dk)))/((diag(i)+dk)*(diag(i)-dk)) << " == (" << (singVals(j)+dk) << " * " << (mus(j)+(shifts(j)-dk))
+                       << ") / (" << (diag(i)+dk) << " * " << (diag(i)-dk) << ")\n";
+#endif
+        }
+      }
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+      std::cout << "zhat(" << k << ") =  sqrt( " << prod << ")  ;  " << (singVals(last) + dk) << " * " << mus(last) + shifts(last) << " - " << dk << "\n";
+#endif
+      RealScalar tmp = sqrt(prod);
+      zhat(k) = col0(k) > 0 ? tmp : -tmp;
+    }
+  }
+}
+
+// compute singular vectors
+template <typename MatrixType>
+void BDCSVD<MatrixType>::computeSingVecs
+   (const ArrayRef& zhat, const ArrayRef& diag, const IndicesRef &perm, const VectorType& singVals,
+    const ArrayRef& shifts, const ArrayRef& mus, MatrixXr& U, MatrixXr& V)
+{
+  Index n = zhat.size();
+  Index m = perm.size();
+  
+  for (Index k = 0; k < n; ++k)
+  {
+    if (zhat(k) == 0)
+    {
+      U.col(k) = VectorType::Unit(n+1, k);
+      if (m_compV) V.col(k) = VectorType::Unit(n, k);
+    }
+    else
+    {
+      U.col(k).setZero();
+      for(Index l=0;l<m;++l)
+      {
+        Index i = perm(l);
+        U(i,k) = zhat(i)/(((diag(i) - shifts(k)) - mus(k)) )/( (diag(i) + singVals[k]));
+      }
+      U(n,k) = 0;      
+      U.col(k).normalize();
+    
+      if (m_compV)
+      {
+        V.col(k).setZero();
+        for(Index l=1;l<m;++l)
+        {
+          Index i = perm(l);
+          V(i,k) = diag(i) * zhat(i) / (((diag(i) - shifts(k)) - mus(k)) )/( (diag(i) + singVals[k]));
+        }
+        V(0,k) = -1;
+        V.col(k).normalize();
+      }
+    }
+  }
+  U.col(n) = VectorType::Unit(n+1, n);
+}
+
+
+// page 12_13
+// i >= 1, di almost null and zi non null.
+// We use a rotation to zero out zi applied to the left of M
+template <typename MatrixType>
+void BDCSVD<MatrixType>::deflation43(Index firstCol, Index shift, Index i, Index size)
+{
+  using std::abs;
+  using std::sqrt;
+  using std::pow;
+  Index start = firstCol + shift;
+  RealScalar c = m_computed(start, start);
+  RealScalar s = m_computed(start+i, start);
+  RealScalar r = sqrt(numext::abs2(c) + numext::abs2(s));
+  if (r == 0)
+  {
+    m_computed(start+i, start+i) = 0;
+    return;
+  }
+  m_computed(start,start) = r;  
+  m_computed(start+i, start) = 0;
+  m_computed(start+i, start+i) = 0;
+  
+  JacobiRotation<RealScalar> J(c/r,-s/r);
+  if (m_compU)  m_naiveU.middleRows(firstCol, size+1).applyOnTheRight(firstCol, firstCol+i, J);
+  else          m_naiveU.applyOnTheRight(firstCol, firstCol+i, J);
+}// end deflation 43
+
+
+// page 13
+// i,j >= 1, i!=j and |di - dj| < epsilon * norm2(M)
+// We apply two rotations to have zj = 0;
+// TODO deflation44 is still broken and not properly tested
+template <typename MatrixType>
+void BDCSVD<MatrixType>::deflation44(Index firstColu , Index firstColm, Index firstRowW, Index firstColW, Index i, Index j, Index size)
+{
+  using std::abs;
+  using std::sqrt;
+  using std::conj;
+  using std::pow;
+  RealScalar c = m_computed(firstColm+i, firstColm);
+  RealScalar s = m_computed(firstColm+j, firstColm);
+  RealScalar r = sqrt(numext::abs2(c) + numext::abs2(s));
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "deflation 4.4: " << i << "," << j << " -> " << c << " " << s << " " << r << " ; "
+    << m_computed(firstColm + i-1, firstColm)  << " "
+    << m_computed(firstColm + i, firstColm)  << " "
+    << m_computed(firstColm + i+1, firstColm) << " "
+    << m_computed(firstColm + i+2, firstColm) << "\n";
+  std::cout << m_computed(firstColm + i-1, firstColm + i-1)  << " "
+    << m_computed(firstColm + i, firstColm+i)  << " "
+    << m_computed(firstColm + i+1, firstColm+i+1) << " "
+    << m_computed(firstColm + i+2, firstColm+i+2) << "\n";
+#endif
+  if (r==0)
+  {
+    m_computed(firstColm + i, firstColm + i) = m_computed(firstColm + j, firstColm + j);
+    return;
+  }
+  c/=r;
+  s/=r;
+  m_computed(firstColm + i, firstColm) = r;  
+  m_computed(firstColm + j, firstColm + j) = m_computed(firstColm + i, firstColm + i);
+  m_computed(firstColm + j, firstColm) = 0;
+
+  JacobiRotation<RealScalar> J(c,-s);
+  if (m_compU)  m_naiveU.middleRows(firstColu, size+1).applyOnTheRight(firstColu + i, firstColu + j, J);
+  else          m_naiveU.applyOnTheRight(firstColu+i, firstColu+j, J);
+  if (m_compV)  m_naiveV.middleRows(firstRowW, size).applyOnTheRight(firstColW + i, firstColW + j, J);
+}// end deflation 44
+
+
+// acts on block from (firstCol+shift, firstCol+shift) to (lastCol+shift, lastCol+shift) [inclusive]
+template <typename MatrixType>
+void BDCSVD<MatrixType>::deflation(Index firstCol, Index lastCol, Index k, Index firstRowW, Index firstColW, Index shift)
+{
+  using std::sqrt;
+  using std::abs;
+  const Index length = lastCol + 1 - firstCol;
+  
+  Block<MatrixXr,Dynamic,1> col0(m_computed, firstCol+shift, firstCol+shift, length, 1);
+  Diagonal<MatrixXr> fulldiag(m_computed);
+  VectorBlock<Diagonal<MatrixXr>,Dynamic> diag(fulldiag, firstCol+shift, length);
+  
+  const RealScalar considerZero = (std::numeric_limits<RealScalar>::min)();
+  RealScalar maxDiag = diag.tail((std::max)(Index(1),length-1)).cwiseAbs().maxCoeff();
+  RealScalar epsilon_strict = numext::maxi<RealScalar>(considerZero,NumTraits<RealScalar>::epsilon() * maxDiag);
+  RealScalar epsilon_coarse = 8 * NumTraits<RealScalar>::epsilon() * numext::maxi<RealScalar>(col0.cwiseAbs().maxCoeff(), maxDiag);
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE  
+  std::cout << "\ndeflate:" << diag.head(k+1).transpose() << "  |  " << diag.segment(k+1,length-k-1).transpose() << "\n";
+#endif
+  
+  //condition 4.1
+  if (diag(0) < epsilon_coarse)
+  { 
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+    std::cout << "deflation 4.1, because " << diag(0) << " < " << epsilon_coarse << "\n";
+#endif
+    diag(0) = epsilon_coarse;
+  }
+
+  //condition 4.2
+  for (Index i=1;i<length;++i)
+    if (abs(col0(i)) < epsilon_strict)
+    {
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+      std::cout << "deflation 4.2, set z(" << i << ") to zero because " << abs(col0(i)) << " < " << epsilon_strict << "  (diag(" << i << ")=" << diag(i) << ")\n";
+#endif
+      col0(i) = 0;
+    }
+
+  //condition 4.3
+  for (Index i=1;i<length; i++)
+    if (diag(i) < epsilon_coarse)
+    {
+#ifdef  EIGEN_BDCSVD_DEBUG_VERBOSE
+      std::cout << "deflation 4.3, cancel z(" << i << ")=" << col0(i) << " because diag(" << i << ")=" << diag(i) << " < " << epsilon_coarse << "\n";
+#endif
+      deflation43(firstCol, shift, i, length);
+    }
+
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "to be sorted: " << diag.transpose() << "\n\n";
+#endif
+  {
+    // Check for total deflation
+    // If we have a total deflation, then we have to consider col0(0)==diag(0) as a singular value during sorting
+    bool total_deflation = (col0.tail(length-1).array()<considerZero).all();
+    
+    // Sort the diagonal entries, since diag(1:k-1) and diag(k:length) are already sorted, let's do a sorted merge.
+    // First, compute the respective permutation.
+    Index *permutation = m_workspaceI.data();
+    {
+      permutation[0] = 0;
+      Index p = 1;
+      
+      // Move deflated diagonal entries at the end.
+      for(Index i=1; i<length; ++i)
+        if(abs(diag(i))<considerZero)
+          permutation[p++] = i;
+        
+      Index i=1, j=k+1;
+      for( ; p < length; ++p)
+      {
+             if (i > k)             permutation[p] = j++;
+        else if (j >= length)       permutation[p] = i++;
+        else if (diag(i) < diag(j)) permutation[p] = j++;
+        else                        permutation[p] = i++;
+      }
+    }
+    
+    // If we have a total deflation, then we have to insert diag(0) at the right place
+    if(total_deflation)
+    {
+      for(Index i=1; i<length; ++i)
+      {
+        Index pi = permutation[i];
+        if(abs(diag(pi))<considerZero || diag(0)<diag(pi))
+          permutation[i-1] = permutation[i];
+        else
+        {
+          permutation[i-1] = 0;
+          break;
+        }
+      }
+    }
+    
+    // Current index of each col, and current column of each index
+    Index *realInd = m_workspaceI.data()+length;
+    Index *realCol = m_workspaceI.data()+2*length;
+    
+    for(int pos = 0; pos< length; pos++)
+    {
+      realCol[pos] = pos;
+      realInd[pos] = pos;
+    }
+    
+    for(Index i = total_deflation?0:1; i < length; i++)
+    {
+      const Index pi = permutation[length - (total_deflation ? i+1 : i)];
+      const Index J = realCol[pi];
+      
+      using std::swap;
+      // swap diagonal and first column entries:
+      swap(diag(i), diag(J));
+      if(i!=0 && J!=0) swap(col0(i), col0(J));
+
+      // change columns
+      if (m_compU) m_naiveU.col(firstCol+i).segment(firstCol, length + 1).swap(m_naiveU.col(firstCol+J).segment(firstCol, length + 1));
+      else         m_naiveU.col(firstCol+i).segment(0, 2)                .swap(m_naiveU.col(firstCol+J).segment(0, 2));
+      if (m_compV) m_naiveV.col(firstColW + i).segment(firstRowW, length).swap(m_naiveV.col(firstColW + J).segment(firstRowW, length));
+
+      //update real pos
+      const Index realI = realInd[i];
+      realCol[realI] = J;
+      realCol[pi] = i;
+      realInd[J] = realI;
+      realInd[i] = pi;
+    }
+  }
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+  std::cout << "sorted: " << diag.transpose().format(bdcsvdfmt) << "\n";
+  std::cout << "      : " << col0.transpose() << "\n\n";
+#endif
+    
+  //condition 4.4
+  {
+    Index i = length-1;
+    while(i>0 && (abs(diag(i))<considerZero || abs(col0(i))<considerZero)) --i;
+    for(; i>1;--i)
+       if( (diag(i) - diag(i-1)) < NumTraits<RealScalar>::epsilon()*maxDiag )
+      {
+#ifdef EIGEN_BDCSVD_DEBUG_VERBOSE
+        std::cout << "deflation 4.4 with i = " << i << " because " << (diag(i) - diag(i-1)) << " < " << NumTraits<RealScalar>::epsilon()*diag(i) << "\n";
+#endif
+        eigen_internal_assert(abs(diag(i) - diag(i-1))<epsilon_coarse && " diagonal entries are not properly sorted");
+        deflation44(firstCol, firstCol + shift, firstRowW, firstColW, i-1, i, length);
+      }
+  }
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  for(Index j=2;j<length;++j)
+    assert(diag(j-1)<=diag(j) || abs(diag(j))<considerZero);
+#endif
+  
+#ifdef EIGEN_BDCSVD_SANITY_CHECKS
+  assert(m_naiveU.allFinite());
+  assert(m_naiveV.allFinite());
+  assert(m_computed.allFinite());
+#endif
+}//end deflation
+
+#ifndef __CUDACC__
+/** \svd_module
+  *
+  * \return the singular value decomposition of \c *this computed by Divide & Conquer algorithm
+  *
+  * \sa class BDCSVD
+  */
+template<typename Derived>
+BDCSVD<typename MatrixBase<Derived>::PlainObject>
+MatrixBase<Derived>::bdcSvd(unsigned int computationOptions) const
+{
+  return BDCSVD<PlainObject>(*this, computationOptions);
+}
+#endif
+
+} // end namespace Eigen
+
+#endif
diff --git a/eigenlib/Eigen/src/SVD/CMakeLists.txt b/eigenlib/Eigen/src/SVD/CMakeLists.txt
deleted file mode 100644
index 55efc44b..00000000
--- a/eigenlib/Eigen/src/SVD/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_SVD_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_SVD_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/SVD COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/SVD/JacobiSVD.h b/eigenlib/Eigen/src/SVD/JacobiSVD.h
index 1b297741..e0cfb628 100644
--- a/eigenlib/Eigen/src/SVD/JacobiSVD.h
+++ b/eigenlib/Eigen/src/SVD/JacobiSVD.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2013-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -51,7 +52,6 @@ template<typename MatrixType, int QRPreconditioner, int Case>
 class qr_preconditioner_impl<MatrixType, QRPreconditioner, Case, false>
 {
 public:
-  typedef typename MatrixType::Index Index;
   void allocate(const JacobiSVD<MatrixType, QRPreconditioner>&) {}
   bool run(JacobiSVD<MatrixType, QRPreconditioner>&, const MatrixType&)
   {
@@ -65,7 +65,6 @@ template<typename MatrixType>
 class qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
 {
 public:
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::Scalar Scalar;
   enum
   {
@@ -106,7 +105,6 @@ template<typename MatrixType>
 class qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
 {
 public:
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::Scalar Scalar;
   enum
   {
@@ -156,8 +154,6 @@ template<typename MatrixType>
 class qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
 {
 public:
-  typedef typename MatrixType::Index Index;
-
   void allocate(const JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd)
   {
     if (svd.rows() != m_qr.rows() || svd.cols() != m_qr.cols())
@@ -197,7 +193,6 @@ template<typename MatrixType>
 class qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
 {
 public:
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::Scalar Scalar;
   enum
   {
@@ -256,8 +251,6 @@ template<typename MatrixType>
 class qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
 {
 public:
-  typedef typename MatrixType::Index Index;
-
   void allocate(const JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd)
   {
     if (svd.rows() != m_qr.rows() || svd.cols() != m_qr.cols())
@@ -296,7 +289,6 @@ template<typename MatrixType>
 class qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
 {
 public:
-  typedef typename MatrixType::Index Index;
   typedef typename MatrixType::Scalar Scalar;
   enum
   {
@@ -358,8 +350,8 @@ template<typename MatrixType, int QRPreconditioner>
 struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, false>
 {
   typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
-  typedef typename SVD::Index Index;
-  static void run(typename SVD::WorkMatrixType&, SVD&, Index, Index) {}
+  typedef typename MatrixType::RealScalar RealScalar;
+  static bool run(typename SVD::WorkMatrixType&, SVD&, Index, Index, RealScalar&) { return true; }
 };
 
 template<typename MatrixType, int QRPreconditioner>
@@ -368,20 +360,30 @@ struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, true>
   typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
   typedef typename MatrixType::Scalar Scalar;
   typedef typename MatrixType::RealScalar RealScalar;
-  typedef typename SVD::Index Index;
-  static void run(typename SVD::WorkMatrixType& work_matrix, SVD& svd, Index p, Index q)
+  static bool run(typename SVD::WorkMatrixType& work_matrix, SVD& svd, Index p, Index q, RealScalar& maxDiagEntry)
   {
     using std::sqrt;
+    using std::abs;
     Scalar z;
     JacobiRotation<Scalar> rot;
     RealScalar n = sqrt(numext::abs2(work_matrix.coeff(p,p)) + numext::abs2(work_matrix.coeff(q,p)));
-    
+
+    const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
+    const RealScalar precision = NumTraits<Scalar>::epsilon();
+
     if(n==0)
     {
-      z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
-      work_matrix.row(p) *= z;
-      if(svd.computeU()) svd.m_matrixU.col(p) *= conj(z);
-      if(work_matrix.coeff(q,q)!=Scalar(0))
+      // make sure first column is zero
+      work_matrix.coeffRef(p,p) = work_matrix.coeffRef(q,p) = Scalar(0);
+
+      if(abs(numext::imag(work_matrix.coeff(p,q)))>considerAsZero)
+      {
+        // work_matrix.coeff(p,q) can be zero if work_matrix.coeff(q,p) is not zero but small enough to underflow when computing n
+        z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
+        work_matrix.row(p) *= z;
+        if(svd.computeU()) svd.m_matrixU.col(p) *= conj(z);
+      }
+      if(abs(numext::imag(work_matrix.coeff(q,q)))>considerAsZero)
       {
         z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
         work_matrix.row(q) *= z;
@@ -395,52 +397,33 @@ struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, true>
       rot.s() = work_matrix.coeff(q,p) / n;
       work_matrix.applyOnTheLeft(p,q,rot);
       if(svd.computeU()) svd.m_matrixU.applyOnTheRight(p,q,rot.adjoint());
-      if(work_matrix.coeff(p,q) != Scalar(0))
+      if(abs(numext::imag(work_matrix.coeff(p,q)))>considerAsZero)
       {
-        Scalar z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
+        z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
         work_matrix.col(q) *= z;
         if(svd.computeV()) svd.m_matrixV.col(q) *= z;
       }
-      if(work_matrix.coeff(q,q) != Scalar(0))
+      if(abs(numext::imag(work_matrix.coeff(q,q)))>considerAsZero)
       {
         z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
         work_matrix.row(q) *= z;
         if(svd.computeU()) svd.m_matrixU.col(q) *= conj(z);
       }
     }
+
+    // update largest diagonal entry
+    maxDiagEntry = numext::maxi<RealScalar>(maxDiagEntry,numext::maxi<RealScalar>(abs(work_matrix.coeff(p,p)), abs(work_matrix.coeff(q,q))));
+    // and check whether the 2x2 block is already diagonal
+    RealScalar threshold = numext::maxi<RealScalar>(considerAsZero, precision * maxDiagEntry);
+    return abs(work_matrix.coeff(p,q))>threshold || abs(work_matrix.coeff(q,p)) > threshold;
   }
 };
 
-template<typename MatrixType, typename RealScalar, typename Index>
-void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
-                            JacobiRotation<RealScalar> *j_left,
-                            JacobiRotation<RealScalar> *j_right)
+template<typename _MatrixType, int QRPreconditioner> 
+struct traits<JacobiSVD<_MatrixType,QRPreconditioner> >
 {
-  using std::sqrt;
-  using std::abs;
-  Matrix<RealScalar,2,2> m;
-  m << numext::real(matrix.coeff(p,p)), numext::real(matrix.coeff(p,q)),
-       numext::real(matrix.coeff(q,p)), numext::real(matrix.coeff(q,q));
-  JacobiRotation<RealScalar> rot1;
-  RealScalar t = m.coeff(0,0) + m.coeff(1,1);
-  RealScalar d = m.coeff(1,0) - m.coeff(0,1);
-  if(t == RealScalar(0))
-  {
-    rot1.c() = RealScalar(0);
-    rot1.s() = d > RealScalar(0) ? RealScalar(1) : RealScalar(-1);
-  }
-  else
-  {
-    RealScalar t2d2 = numext::hypot(t,d);
-    rot1.c() = abs(t)/t2d2;
-    rot1.s() = d/t2d2;
-    if(t<RealScalar(0))
-      rot1.s() = -rot1.s();
-  }
-  m.applyOnTheLeft(0,1,rot1);
-  j_right->makeJacobi(m,0,1);
-  *j_left  = rot1 * j_right->transpose();
-}
+  typedef _MatrixType MatrixType;
+};
 
 } // end namespace internal
 
@@ -451,8 +434,8 @@ void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
   *
   * \brief Two-sided Jacobi SVD decomposition of a rectangular matrix
   *
-  * \param MatrixType the type of the matrix of which we are computing the SVD decomposition
-  * \param QRPreconditioner this optional parameter allows to specify the type of QR decomposition that will be used internally
+  * \tparam _MatrixType the type of the matrix of which we are computing the SVD decomposition
+  * \tparam QRPreconditioner this optional parameter allows to specify the type of QR decomposition that will be used internally
   *                        for the R-SVD step for non-square matrices. See discussion of possible values below.
   *
   * SVD decomposition consists in decomposing any n-by-p matrix \a A as a product
@@ -498,13 +481,14 @@ void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
   * \sa MatrixBase::jacobiSvd()
   */
 template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
+ : public SVDBase<JacobiSVD<_MatrixType,QRPreconditioner> >
 {
+    typedef SVDBase<JacobiSVD> Base;
   public:
 
     typedef _MatrixType MatrixType;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
     enum {
       RowsAtCompileTime = MatrixType::RowsAtCompileTime,
       ColsAtCompileTime = MatrixType::ColsAtCompileTime,
@@ -515,13 +499,10 @@ template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
       MatrixOptions = MatrixType::Options
     };
 
-    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime,
-                   MatrixOptions, MaxRowsAtCompileTime, MaxRowsAtCompileTime>
-            MatrixUType;
-    typedef Matrix<Scalar, ColsAtCompileTime, ColsAtCompileTime,
-                   MatrixOptions, MaxColsAtCompileTime, MaxColsAtCompileTime>
-            MatrixVType;
-    typedef typename internal::plain_diag_type<MatrixType, RealScalar>::type SingularValuesType;
+    typedef typename Base::MatrixUType MatrixUType;
+    typedef typename Base::MatrixVType MatrixVType;
+    typedef typename Base::SingularValuesType SingularValuesType;
+    
     typedef typename internal::plain_row_type<MatrixType>::type RowType;
     typedef typename internal::plain_col_type<MatrixType>::type ColType;
     typedef Matrix<Scalar, DiagSizeAtCompileTime, DiagSizeAtCompileTime,
@@ -534,11 +515,6 @@ template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
       * perform decompositions via JacobiSVD::compute(const MatrixType&).
       */
     JacobiSVD()
-      : m_isInitialized(false),
-        m_isAllocated(false),
-        m_usePrescribedThreshold(false),
-        m_computationOptions(0),
-        m_rows(-1), m_cols(-1), m_diagSize(0)
     {}
 
 
@@ -549,11 +525,6 @@ template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
       * \sa JacobiSVD()
       */
     JacobiSVD(Index rows, Index cols, unsigned int computationOptions = 0)
-      : m_isInitialized(false),
-        m_isAllocated(false),
-        m_usePrescribedThreshold(false),
-        m_computationOptions(0),
-        m_rows(-1), m_cols(-1)
     {
       allocate(rows, cols, computationOptions);
     }
@@ -568,12 +539,7 @@ template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
      * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
      * available with the (non-default) FullPivHouseholderQR preconditioner.
      */
-    JacobiSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
-      : m_isInitialized(false),
-        m_isAllocated(false),
-        m_usePrescribedThreshold(false),
-        m_computationOptions(0),
-        m_rows(-1), m_cols(-1)
+    explicit JacobiSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
     {
       compute(matrix, computationOptions);
     }
@@ -601,164 +567,33 @@ template<typename _MatrixType, int QRPreconditioner> class JacobiSVD
       return compute(matrix, m_computationOptions);
     }
 
-    /** \returns the \a U matrix.
-     *
-     * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
-     * the U matrix is n-by-n if you asked for #ComputeFullU, and is n-by-m if you asked for #ComputeThinU.
-     *
-     * The \a m first columns of \a U are the left singular vectors of the matrix being decomposed.
-     *
-     * This method asserts that you asked for \a U to be computed.
-     */
-    const MatrixUType& matrixU() const
-    {
-      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
-      eigen_assert(computeU() && "This JacobiSVD decomposition didn't compute U. Did you ask for it?");
-      return m_matrixU;
-    }
-
-    /** \returns the \a V matrix.
-     *
-     * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
-     * the V matrix is p-by-p if you asked for #ComputeFullV, and is p-by-m if you asked for ComputeThinV.
-     *
-     * The \a m first columns of \a V are the right singular vectors of the matrix being decomposed.
-     *
-     * This method asserts that you asked for \a V to be computed.
-     */
-    const MatrixVType& matrixV() const
-    {
-      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
-      eigen_assert(computeV() && "This JacobiSVD decomposition didn't compute V. Did you ask for it?");
-      return m_matrixV;
-    }
-
-    /** \returns the vector of singular values.
-     *
-     * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p, the
-     * returned vector has size \a m.  Singular values are always sorted in decreasing order.
-     */
-    const SingularValuesType& singularValues() const
-    {
-      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
-      return m_singularValues;
-    }
-
-    /** \returns true if \a U (full or thin) is asked for in this SVD decomposition */
-    inline bool computeU() const { return m_computeFullU || m_computeThinU; }
-    /** \returns true if \a V (full or thin) is asked for in this SVD decomposition */
-    inline bool computeV() const { return m_computeFullV || m_computeThinV; }
-
-    /** \returns a (least squares) solution of \f$ A x = b \f$ using the current SVD decomposition of A.
-      *
-      * \param b the right-hand-side of the equation to solve.
-      *
-      * \note Solving requires both U and V to be computed. Thin U and V are enough, there is no need for full U or V.
-      *
-      * \note SVD solving is implicitly least-squares. Thus, this method serves both purposes of exact solving and least-squares solving.
-      * In other words, the returned solution is guaranteed to minimize the Euclidean norm \f$ \Vert A x - b \Vert \f$.
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<JacobiSVD, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
-      eigen_assert(computeU() && computeV() && "JacobiSVD::solve() requires both unitaries U and V to be computed (thin unitaries suffice).");
-      return internal::solve_retval<JacobiSVD, Rhs>(*this, b.derived());
-    }
-
-    /** \returns the number of singular values that are not exactly 0 */
-    Index nonzeroSingularValues() const
-    {
-      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
-      return m_nonzeroSingularValues;
-    }
-    
-    /** \returns the rank of the matrix of which \c *this is the SVD.
-      *
-      * \note This method has to determine which singular values should be considered nonzero.
-      *       For that, it uses the threshold value that you can control by calling
-      *       setThreshold(const RealScalar&).
-      */
-    inline Index rank() const
-    {
-      using std::abs;
-      eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
-      if(m_singularValues.size()==0) return 0;
-      RealScalar premultiplied_threshold = m_singularValues.coeff(0) * threshold();
-      Index i = m_nonzeroSingularValues-1;
-      while(i>=0 && m_singularValues.coeff(i) < premultiplied_threshold) --i;
-      return i+1;
-    }
-    
-    /** Allows to prescribe a threshold to be used by certain methods, such as rank() and solve(),
-      * which need to determine when singular values are to be considered nonzero.
-      * This is not used for the SVD decomposition itself.
-      *
-      * When it needs to get the threshold value, Eigen calls threshold().
-      * The default is \c NumTraits<Scalar>::epsilon()
-      *
-      * \param threshold The new value to use as the threshold.
-      *
-      * A singular value will be considered nonzero if its value is strictly greater than
-      *  \f$ \vert singular value \vert \leqslant threshold \times \vert max singular value \vert \f$.
-      *
-      * If you want to come back to the default behavior, call setThreshold(Default_t)
-      */
-    JacobiSVD& setThreshold(const RealScalar& threshold)
-    {
-      m_usePrescribedThreshold = true;
-      m_prescribedThreshold = threshold;
-      return *this;
-    }
-
-    /** Allows to come back to the default behavior, letting Eigen use its default formula for
-      * determining the threshold.
-      *
-      * You should pass the special object Eigen::Default as parameter here.
-      * \code svd.setThreshold(Eigen::Default); \endcode
-      *
-      * See the documentation of setThreshold(const RealScalar&).
-      */
-    JacobiSVD& setThreshold(Default_t)
-    {
-      m_usePrescribedThreshold = false;
-      return *this;
-    }
-
-    /** Returns the threshold that will be used by certain methods such as rank().
-      *
-      * See the documentation of setThreshold(const RealScalar&).
-      */
-    RealScalar threshold() const
-    {
-      eigen_assert(m_isInitialized || m_usePrescribedThreshold);
-      return m_usePrescribedThreshold ? m_prescribedThreshold
-                                      : (std::max<Index>)(1,m_diagSize)*NumTraits<Scalar>::epsilon();
-    }
-
-    inline Index rows() const { return m_rows; }
-    inline Index cols() const { return m_cols; }
+    using Base::computeU;
+    using Base::computeV;
+    using Base::rows;
+    using Base::cols;
+    using Base::rank;
 
   private:
     void allocate(Index rows, Index cols, unsigned int computationOptions);
-    
-    static void check_template_parameters()
-    {
-      EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
-    }
 
   protected:
-    MatrixUType m_matrixU;
-    MatrixVType m_matrixV;
-    SingularValuesType m_singularValues;
+    using Base::m_matrixU;
+    using Base::m_matrixV;
+    using Base::m_singularValues;
+    using Base::m_isInitialized;
+    using Base::m_isAllocated;
+    using Base::m_usePrescribedThreshold;
+    using Base::m_computeFullU;
+    using Base::m_computeThinU;
+    using Base::m_computeFullV;
+    using Base::m_computeThinV;
+    using Base::m_computationOptions;
+    using Base::m_nonzeroSingularValues;
+    using Base::m_rows;
+    using Base::m_cols;
+    using Base::m_diagSize;
+    using Base::m_prescribedThreshold;
     WorkMatrixType m_workMatrix;
-    bool m_isInitialized, m_isAllocated, m_usePrescribedThreshold;
-    bool m_computeFullU, m_computeThinU;
-    bool m_computeFullV, m_computeThinV;
-    unsigned int m_computationOptions;
-    Index m_nonzeroSingularValues, m_rows, m_cols, m_diagSize;
-    RealScalar m_prescribedThreshold;
 
     template<typename __MatrixType, int _QRPreconditioner, bool _IsComplex>
     friend struct internal::svd_precondition_2x2_block_to_be_real;
@@ -816,15 +651,13 @@ void JacobiSVD<MatrixType, QRPreconditioner>::allocate(Index rows, Index cols, u
   
   if(m_cols>m_rows)   m_qr_precond_morecols.allocate(*this);
   if(m_rows>m_cols)   m_qr_precond_morerows.allocate(*this);
-  if(m_cols!=m_cols)  m_scaledMatrix.resize(rows,cols);
+  if(m_rows!=m_cols)  m_scaledMatrix.resize(rows,cols);
 }
 
 template<typename MatrixType, int QRPreconditioner>
 JacobiSVD<MatrixType, QRPreconditioner>&
 JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsigned int computationOptions)
 {
-  check_template_parameters();
-  
   using std::abs;
   allocate(matrix.rows(), matrix.cols(), computationOptions);
 
@@ -832,8 +665,8 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
   // only worsening the precision of U and V as we accumulate more rotations
   const RealScalar precision = RealScalar(2) * NumTraits<Scalar>::epsilon();
 
-  // limit for very small denormal numbers to be considered zero in order to avoid infinite loops (see bug 286)
-  const RealScalar considerAsZero = RealScalar(2) * std::numeric_limits<RealScalar>::denorm_min();
+  // limit for denormal numbers to be considered zero in order to avoid infinite loops (see bug 286)
+  const RealScalar considerAsZero = (std::numeric_limits<RealScalar>::min)();
 
   // Scaling factor to reduce over/under-flows
   RealScalar scale = matrix.cwiseAbs().maxCoeff();
@@ -857,6 +690,7 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
   }
 
   /*** step 2. The main Jacobi SVD iteration. ***/
+  RealScalar maxDiagEntry = m_workMatrix.cwiseAbs().diagonal().maxCoeff();
 
   bool finished = false;
   while(!finished)
@@ -872,25 +706,27 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
         // if this 2x2 sub-matrix is not diagonal already...
         // notice that this comparison will evaluate to false if any NaN is involved, ensuring that NaN's don't
         // keep us iterating forever. Similarly, small denormal numbers are considered zero.
-        using std::max;
-        RealScalar threshold = (max)(considerAsZero, precision * (max)(abs(m_workMatrix.coeff(p,p)),
-                                                                       abs(m_workMatrix.coeff(q,q))));
-        // We compare both values to threshold instead of calling max to be robust to NaN (See bug 791)
+        RealScalar threshold = numext::maxi<RealScalar>(considerAsZero, precision * maxDiagEntry);
         if(abs(m_workMatrix.coeff(p,q))>threshold || abs(m_workMatrix.coeff(q,p)) > threshold)
         {
           finished = false;
-
           // perform SVD decomposition of 2x2 sub-matrix corresponding to indices p,q to make it diagonal
-          internal::svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner>::run(m_workMatrix, *this, p, q);
-          JacobiRotation<RealScalar> j_left, j_right;
-          internal::real_2x2_jacobi_svd(m_workMatrix, p, q, &j_left, &j_right);
+          // the complex to real operation returns true if the updated 2x2 block is not already diagonal
+          if(internal::svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner>::run(m_workMatrix, *this, p, q, maxDiagEntry))
+          {
+            JacobiRotation<RealScalar> j_left, j_right;
+            internal::real_2x2_jacobi_svd(m_workMatrix, p, q, &j_left, &j_right);
 
-          // accumulate resulting Jacobi rotations
-          m_workMatrix.applyOnTheLeft(p,q,j_left);
-          if(computeU()) m_matrixU.applyOnTheRight(p,q,j_left.transpose());
+            // accumulate resulting Jacobi rotations
+            m_workMatrix.applyOnTheLeft(p,q,j_left);
+            if(computeU()) m_matrixU.applyOnTheRight(p,q,j_left.transpose());
 
-          m_workMatrix.applyOnTheRight(p,q,j_right);
-          if(computeV()) m_matrixV.applyOnTheRight(p,q,j_right);
+            m_workMatrix.applyOnTheRight(p,q,j_right);
+            if(computeV()) m_matrixV.applyOnTheRight(p,q,j_right);
+
+            // keep track of the largest diagonal coefficient
+            maxDiagEntry = numext::maxi<RealScalar>(maxDiagEntry,numext::maxi<RealScalar>(abs(m_workMatrix.coeff(p,p)), abs(m_workMatrix.coeff(q,q))));
+          }
         }
       }
     }
@@ -900,10 +736,25 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
 
   for(Index i = 0; i < m_diagSize; ++i)
   {
-    RealScalar a = abs(m_workMatrix.coeff(i,i));
-    m_singularValues.coeffRef(i) = a;
-    if(computeU() && (a!=RealScalar(0))) m_matrixU.col(i) *= m_workMatrix.coeff(i,i)/a;
+    // For a complex matrix, some diagonal coefficients might note have been
+    // treated by svd_precondition_2x2_block_to_be_real, and the imaginary part
+    // of some diagonal entry might not be null.
+    if(NumTraits<Scalar>::IsComplex && abs(numext::imag(m_workMatrix.coeff(i,i)))>considerAsZero)
+    {
+      RealScalar a = abs(m_workMatrix.coeff(i,i));
+      m_singularValues.coeffRef(i) = abs(a);
+      if(computeU()) m_matrixU.col(i) *= m_workMatrix.coeff(i,i)/a;
+    }
+    else
+    {
+      // m_workMatrix.coeff(i,i) is already real, no difficulty:
+      RealScalar a = numext::real(m_workMatrix.coeff(i,i));
+      m_singularValues.coeffRef(i) = abs(a);
+      if(computeU() && (a<RealScalar(0))) m_matrixU.col(i) = -m_matrixU.col(i);
+    }
   }
+  
+  m_singularValues *= scale;
 
   /*** step 4. Sort singular values in descending order and compute the number of nonzero singular values ***/
 
@@ -925,38 +776,11 @@ JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsig
       if(computeV()) m_matrixV.col(pos).swap(m_matrixV.col(i));
     }
   }
-  
-  m_singularValues *= scale;
 
   m_isInitialized = true;
   return *this;
 }
 
-namespace internal {
-template<typename _MatrixType, int QRPreconditioner, typename Rhs>
-struct solve_retval<JacobiSVD<_MatrixType, QRPreconditioner>, Rhs>
-  : solve_retval_base<JacobiSVD<_MatrixType, QRPreconditioner>, Rhs>
-{
-  typedef JacobiSVD<_MatrixType, QRPreconditioner> JacobiSVDType;
-  EIGEN_MAKE_SOLVE_HELPERS(JacobiSVDType,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    eigen_assert(rhs().rows() == dec().rows());
-
-    // A = U S V^*
-    // So A^{-1} = V S^{-1} U^*
-
-    Matrix<Scalar, Dynamic, Rhs::ColsAtCompileTime, 0, _MatrixType::MaxRowsAtCompileTime, Rhs::MaxColsAtCompileTime> tmp;
-    Index rank = dec().rank();
-    
-    tmp.noalias() = dec().matrixU().leftCols(rank).adjoint() * rhs();
-    tmp = dec().singularValues().head(rank).asDiagonal().inverse() * tmp;
-    dst = dec().matrixV().leftCols(rank) * tmp;
-  }
-};
-} // end namespace internal
-
 /** \svd_module
   *
   * \return the singular value decomposition of \c *this computed by two-sided
diff --git a/eigenlib/Eigen/src/SVD/JacobiSVD_MKL.h b/eigenlib/Eigen/src/SVD/JacobiSVD_LAPACKE.h
similarity index 60%
rename from eigenlib/Eigen/src/SVD/JacobiSVD_MKL.h
rename to eigenlib/Eigen/src/SVD/JacobiSVD_LAPACKE.h
index decda754..50272154 100644
--- a/eigenlib/Eigen/src/SVD/JacobiSVD_MKL.h
+++ b/eigenlib/Eigen/src/SVD/JacobiSVD_LAPACKE.h
@@ -25,68 +25,66 @@
  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
  ********************************************************************************
- *   Content : Eigen bindings to Intel(R) MKL
+ *   Content : Eigen bindings to LAPACKe
  *    Singular Value Decomposition - SVD.
  ********************************************************************************
 */
 
-#ifndef EIGEN_JACOBISVD_MKL_H
-#define EIGEN_JACOBISVD_MKL_H
-
-#include "Eigen/src/Core/util/MKL_support.h"
+#ifndef EIGEN_JACOBISVD_LAPACKE_H
+#define EIGEN_JACOBISVD_LAPACKE_H
 
 namespace Eigen { 
 
-/** \internal Specialization for the data types supported by MKL */
+/** \internal Specialization for the data types supported by LAPACKe */
 
-#define EIGEN_MKL_SVD(EIGTYPE, MKLTYPE, MKLRTYPE, MKLPREFIX, EIGCOLROW, MKLCOLROW) \
+#define EIGEN_LAPACKE_SVD(EIGTYPE, LAPACKE_TYPE, LAPACKE_RTYPE, LAPACKE_PREFIX, EIGCOLROW, LAPACKE_COLROW) \
 template<> inline \
 JacobiSVD<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>, ColPivHouseholderQRPreconditioner>& \
 JacobiSVD<Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>, ColPivHouseholderQRPreconditioner>::compute(const Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic>& matrix, unsigned int computationOptions) \
 { \
   typedef Matrix<EIGTYPE, Dynamic, Dynamic, EIGCOLROW, Dynamic, Dynamic> MatrixType; \
-  typedef MatrixType::Scalar Scalar; \
-  typedef MatrixType::RealScalar RealScalar; \
+  /*typedef MatrixType::Scalar Scalar;*/ \
+  /*typedef MatrixType::RealScalar RealScalar;*/ \
   allocate(matrix.rows(), matrix.cols(), computationOptions); \
 \
   /*const RealScalar precision = RealScalar(2) * NumTraits<Scalar>::epsilon();*/ \
   m_nonzeroSingularValues = m_diagSize; \
 \
-  lapack_int lda = matrix.outerStride(), ldu, ldvt; \
-  lapack_int matrix_order = MKLCOLROW; \
+  lapack_int lda = internal::convert_index<lapack_int>(matrix.outerStride()), ldu, ldvt; \
+  lapack_int matrix_order = LAPACKE_COLROW; \
   char jobu, jobvt; \
-  MKLTYPE *u, *vt, dummy; \
+  LAPACKE_TYPE *u, *vt, dummy; \
   jobu  = (m_computeFullU) ? 'A' : (m_computeThinU) ? 'S' : 'N'; \
   jobvt = (m_computeFullV) ? 'A' : (m_computeThinV) ? 'S' : 'N'; \
   if (computeU()) { \
-    ldu  = m_matrixU.outerStride(); \
-    u    = (MKLTYPE*)m_matrixU.data(); \
+    ldu  = internal::convert_index<lapack_int>(m_matrixU.outerStride()); \
+    u    = (LAPACKE_TYPE*)m_matrixU.data(); \
   } else { ldu=1; u=&dummy; }\
   MatrixType localV; \
-  ldvt = (m_computeFullV) ? m_cols : (m_computeThinV) ? m_diagSize : 1; \
+  ldvt = (m_computeFullV) ? internal::convert_index<lapack_int>(m_cols) : (m_computeThinV) ? internal::convert_index<lapack_int>(m_diagSize) : 1; \
   if (computeV()) { \
     localV.resize(ldvt, m_cols); \
-    vt   = (MKLTYPE*)localV.data(); \
+    vt   = (LAPACKE_TYPE*)localV.data(); \
   } else { ldvt=1; vt=&dummy; }\
-  Matrix<MKLRTYPE, Dynamic, Dynamic> superb; superb.resize(m_diagSize, 1); \
+  Matrix<LAPACKE_RTYPE, Dynamic, Dynamic> superb; superb.resize(m_diagSize, 1); \
   MatrixType m_temp; m_temp = matrix; \
-  LAPACKE_##MKLPREFIX##gesvd( matrix_order, jobu, jobvt, m_rows, m_cols, (MKLTYPE*)m_temp.data(), lda, (MKLRTYPE*)m_singularValues.data(), u, ldu, vt, ldvt, superb.data()); \
+  LAPACKE_##LAPACKE_PREFIX##gesvd( matrix_order, jobu, jobvt, internal::convert_index<lapack_int>(m_rows), internal::convert_index<lapack_int>(m_cols), (LAPACKE_TYPE*)m_temp.data(), lda, (LAPACKE_RTYPE*)m_singularValues.data(), u, ldu, vt, ldvt, superb.data()); \
   if (computeV()) m_matrixV = localV.adjoint(); \
  /* for(int i=0;i<m_diagSize;i++) if (m_singularValues.coeffRef(i) < precision) { m_nonzeroSingularValues--; m_singularValues.coeffRef(i)=RealScalar(0);}*/ \
   m_isInitialized = true; \
   return *this; \
 }
 
-EIGEN_MKL_SVD(double,   double,        double, d, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_MKL_SVD(float,    float,         float , s, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_MKL_SVD(dcomplex, MKL_Complex16, double, z, ColMajor, LAPACK_COL_MAJOR)
-EIGEN_MKL_SVD(scomplex, MKL_Complex8,  float , c, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SVD(double,   double,                double, d, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SVD(float,    float,                 float , s, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SVD(dcomplex, lapack_complex_double, double, z, ColMajor, LAPACK_COL_MAJOR)
+EIGEN_LAPACKE_SVD(scomplex, lapack_complex_float,  float , c, ColMajor, LAPACK_COL_MAJOR)
 
-EIGEN_MKL_SVD(double,   double,        double, d, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_MKL_SVD(float,    float,         float , s, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_MKL_SVD(dcomplex, MKL_Complex16, double, z, RowMajor, LAPACK_ROW_MAJOR)
-EIGEN_MKL_SVD(scomplex, MKL_Complex8,  float , c, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_SVD(double,   double,                double, d, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_SVD(float,    float,                 float , s, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_SVD(dcomplex, lapack_complex_double, double, z, RowMajor, LAPACK_ROW_MAJOR)
+EIGEN_LAPACKE_SVD(scomplex, lapack_complex_float,  float , c, RowMajor, LAPACK_ROW_MAJOR)
 
 } // end namespace Eigen
 
-#endif // EIGEN_JACOBISVD_MKL_H
+#endif // EIGEN_JACOBISVD_LAPACKE_H
diff --git a/eigenlib/unsupported/Eigen/src/SVD/SVDBase.h b/eigenlib/Eigen/src/SVD/SVDBase.h
similarity index 52%
rename from eigenlib/unsupported/Eigen/src/SVD/SVDBase.h
rename to eigenlib/Eigen/src/SVD/SVDBase.h
index fd8af3b8..cc90a3b7 100644
--- a/eigenlib/unsupported/Eigen/src/SVD/SVDBase.h
+++ b/eigenlib/Eigen/src/SVD/SVDBase.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // Copyright (C) 2013 Gauthier Brun <brun.gauthier@gmail.com>
 // Copyright (C) 2013 Nicolas Carre <nicolas.carre@ensimag.fr>
@@ -12,8 +13,8 @@
 // Public License v. 2.0. If a copy of the MPL was not distributed
 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
-#ifndef EIGEN_SVD_H
-#define EIGEN_SVD_H
+#ifndef EIGEN_SVDBASE_H
+#define EIGEN_SVDBASE_H
 
 namespace Eigen {
 /** \ingroup SVD_Module
@@ -21,9 +22,10 @@ namespace Eigen {
  *
  * \class SVDBase
  *
- * \brief Mother class of SVD classes algorithms
+ * \brief Base class of SVD algorithms
+ *
+ * \tparam Derived the type of the actual SVD decomposition
  *
- * \param MatrixType the type of the matrix of which we are computing the SVD decomposition
  * SVD decomposition consists in decomposing any n-by-p matrix \a A as a product
  *   \f[ A = U S V^* \f]
  * where \a U is a n-by-n unitary, \a V is a p-by-p unitary, and \a S is a n-by-p real positive matrix which is zero outside of its main diagonal;
@@ -40,17 +42,18 @@ namespace Eigen {
  *  
  * If the input matrix has inf or nan coefficients, the result of the computation is undefined, but the computation is guaranteed to
  * terminate in finite (and reasonable) time.
- * \sa MatrixBase::genericSvd()
+ * \sa class BDCSVD, class JacobiSVD
  */
-template<typename _MatrixType> 
+template<typename Derived>
 class SVDBase
 {
 
 public:
-  typedef _MatrixType MatrixType;
+  typedef typename internal::traits<Derived>::MatrixType MatrixType;
   typedef typename MatrixType::Scalar Scalar;
   typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::StorageIndex StorageIndex;
+  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
   enum {
     RowsAtCompileTime = MatrixType::RowsAtCompileTime,
     ColsAtCompileTime = MatrixType::ColsAtCompileTime,
@@ -61,47 +64,17 @@ public:
     MatrixOptions = MatrixType::Options
   };
 
-  typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime,
-		 MatrixOptions, MaxRowsAtCompileTime, MaxRowsAtCompileTime>
-  MatrixUType;
-  typedef Matrix<Scalar, ColsAtCompileTime, ColsAtCompileTime,
-		 MatrixOptions, MaxColsAtCompileTime, MaxColsAtCompileTime>
-  MatrixVType;
+  typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, MatrixOptions, MaxRowsAtCompileTime, MaxRowsAtCompileTime> MatrixUType;
+  typedef Matrix<Scalar, ColsAtCompileTime, ColsAtCompileTime, MatrixOptions, MaxColsAtCompileTime, MaxColsAtCompileTime> MatrixVType;
   typedef typename internal::plain_diag_type<MatrixType, RealScalar>::type SingularValuesType;
-  typedef typename internal::plain_row_type<MatrixType>::type RowType;
-  typedef typename internal::plain_col_type<MatrixType>::type ColType;
-  typedef Matrix<Scalar, DiagSizeAtCompileTime, DiagSizeAtCompileTime,
-		 MatrixOptions, MaxDiagSizeAtCompileTime, MaxDiagSizeAtCompileTime>
-  WorkMatrixType;
-	
-
-
-
-  /** \brief Method performing the decomposition of given matrix using custom options.
-   *
-   * \param matrix the matrix to decompose
-   * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
-   *                           By default, none is computed. This is a bit-field, the possible bits are #ComputeFullU, #ComputeThinU,
-   *                           #ComputeFullV, #ComputeThinV.
-   *
-   * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
-   * available with the (non-default) FullPivHouseholderQR preconditioner.
-   */
-  SVDBase& compute(const MatrixType& matrix, unsigned int computationOptions);
-
-  /** \brief Method performing the decomposition of given matrix using current options.
-   *
-   * \param matrix the matrix to decompose
-   *
-   * This method uses the current \a computationOptions, as already passed to the constructor or to compute(const MatrixType&, unsigned int).
-   */
-  //virtual SVDBase& compute(const MatrixType& matrix) = 0;
-  SVDBase& compute(const MatrixType& matrix);
+  
+  Derived& derived() { return *static_cast<Derived*>(this); }
+  const Derived& derived() const { return *static_cast<const Derived*>(this); }
 
   /** \returns the \a U matrix.
    *
-   * For the SVDBase decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
-   * the U matrix is n-by-n if you asked for #ComputeFullU, and is n-by-m if you asked for #ComputeThinU.
+   * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
+   * the U matrix is n-by-n if you asked for \link Eigen::ComputeFullU ComputeFullU \endlink, and is n-by-m if you asked for \link Eigen::ComputeThinU ComputeThinU \endlink.
    *
    * The \a m first columns of \a U are the left singular vectors of the matrix being decomposed.
    *
@@ -117,7 +90,7 @@ public:
   /** \returns the \a V matrix.
    *
    * For the SVD decomposition of a n-by-p matrix, letting \a m be the minimum of \a n and \a p,
-   * the V matrix is p-by-p if you asked for #ComputeFullV, and is p-by-m if you asked for ComputeThinV.
+   * the V matrix is p-by-p if you asked for \link Eigen::ComputeFullV ComputeFullV \endlink, and is p-by-m if you asked for \link Eigen::ComputeThinV ComputeThinV \endlink.
    *
    * The \a m first columns of \a V are the right singular vectors of the matrix being decomposed.
    *
@@ -141,39 +114,127 @@ public:
     return m_singularValues;
   }
 
-  
-
   /** \returns the number of singular values that are not exactly 0 */
   Index nonzeroSingularValues() const
   {
     eigen_assert(m_isInitialized && "SVD is not initialized.");
     return m_nonzeroSingularValues;
   }
+  
+  /** \returns the rank of the matrix of which \c *this is the SVD.
+    *
+    * \note This method has to determine which singular values should be considered nonzero.
+    *       For that, it uses the threshold value that you can control by calling
+    *       setThreshold(const RealScalar&).
+    */
+  inline Index rank() const
+  {
+    using std::abs;
+    eigen_assert(m_isInitialized && "JacobiSVD is not initialized.");
+    if(m_singularValues.size()==0) return 0;
+    RealScalar premultiplied_threshold = numext::maxi<RealScalar>(m_singularValues.coeff(0) * threshold(), (std::numeric_limits<RealScalar>::min)());
+    Index i = m_nonzeroSingularValues-1;
+    while(i>=0 && m_singularValues.coeff(i) < premultiplied_threshold) --i;
+    return i+1;
+  }
+  
+  /** Allows to prescribe a threshold to be used by certain methods, such as rank() and solve(),
+    * which need to determine when singular values are to be considered nonzero.
+    * This is not used for the SVD decomposition itself.
+    *
+    * When it needs to get the threshold value, Eigen calls threshold().
+    * The default is \c NumTraits<Scalar>::epsilon()
+    *
+    * \param threshold The new value to use as the threshold.
+    *
+    * A singular value will be considered nonzero if its value is strictly greater than
+    *  \f$ \vert singular value \vert \leqslant threshold \times \vert max singular value \vert \f$.
+    *
+    * If you want to come back to the default behavior, call setThreshold(Default_t)
+    */
+  Derived& setThreshold(const RealScalar& threshold)
+  {
+    m_usePrescribedThreshold = true;
+    m_prescribedThreshold = threshold;
+    return derived();
+  }
 
+  /** Allows to come back to the default behavior, letting Eigen use its default formula for
+    * determining the threshold.
+    *
+    * You should pass the special object Eigen::Default as parameter here.
+    * \code svd.setThreshold(Eigen::Default); \endcode
+    *
+    * See the documentation of setThreshold(const RealScalar&).
+    */
+  Derived& setThreshold(Default_t)
+  {
+    m_usePrescribedThreshold = false;
+    return derived();
+  }
+
+  /** Returns the threshold that will be used by certain methods such as rank().
+    *
+    * See the documentation of setThreshold(const RealScalar&).
+    */
+  RealScalar threshold() const
+  {
+    eigen_assert(m_isInitialized || m_usePrescribedThreshold);
+    return m_usePrescribedThreshold ? m_prescribedThreshold
+                                    : (std::max<Index>)(1,m_diagSize)*NumTraits<Scalar>::epsilon();
+  }
 
   /** \returns true if \a U (full or thin) is asked for in this SVD decomposition */
   inline bool computeU() const { return m_computeFullU || m_computeThinU; }
   /** \returns true if \a V (full or thin) is asked for in this SVD decomposition */
   inline bool computeV() const { return m_computeFullV || m_computeThinV; }
 
-
   inline Index rows() const { return m_rows; }
   inline Index cols() const { return m_cols; }
-
+  
+  /** \returns a (least squares) solution of \f$ A x = b \f$ using the current SVD decomposition of A.
+    *
+    * \param b the right-hand-side of the equation to solve.
+    *
+    * \note Solving requires both U and V to be computed. Thin U and V are enough, there is no need for full U or V.
+    *
+    * \note SVD solving is implicitly least-squares. Thus, this method serves both purposes of exact solving and least-squares solving.
+    * In other words, the returned solution is guaranteed to minimize the Euclidean norm \f$ \Vert A x - b \Vert \f$.
+    */
+  template<typename Rhs>
+  inline const Solve<Derived, Rhs>
+  solve(const MatrixBase<Rhs>& b) const
+  {
+    eigen_assert(m_isInitialized && "SVD is not initialized.");
+    eigen_assert(computeU() && computeV() && "SVD::solve() requires both unitaries U and V to be computed (thin unitaries suffice).");
+    return Solve<Derived, Rhs>(derived(), b.derived());
+  }
+  
+  #ifndef EIGEN_PARSED_BY_DOXYGEN
+  template<typename RhsType, typename DstType>
+  EIGEN_DEVICE_FUNC
+  void _solve_impl(const RhsType &rhs, DstType &dst) const;
+  #endif
 
 protected:
+  
+  static void check_template_parameters()
+  {
+    EIGEN_STATIC_ASSERT_NON_INTEGER(Scalar);
+  }
+  
   // return true if already allocated
   bool allocate(Index rows, Index cols, unsigned int computationOptions) ;
 
   MatrixUType m_matrixU;
   MatrixVType m_matrixV;
   SingularValuesType m_singularValues;
-  bool m_isInitialized, m_isAllocated;
+  bool m_isInitialized, m_isAllocated, m_usePrescribedThreshold;
   bool m_computeFullU, m_computeThinU;
   bool m_computeFullV, m_computeThinV;
   unsigned int m_computationOptions;
   Index m_nonzeroSingularValues, m_rows, m_cols, m_diagSize;
-
+  RealScalar m_prescribedThreshold;
 
   /** \brief Default Constructor.
    *
@@ -182,13 +243,33 @@ protected:
   SVDBase()
     : m_isInitialized(false),
       m_isAllocated(false),
+      m_usePrescribedThreshold(false),
       m_computationOptions(0),
-      m_rows(-1), m_cols(-1)
-  {}
+      m_rows(-1), m_cols(-1), m_diagSize(0)
+  {
+    check_template_parameters();
+  }
 
 
 };
 
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename Derived>
+template<typename RhsType, typename DstType>
+void SVDBase<Derived>::_solve_impl(const RhsType &rhs, DstType &dst) const
+{
+  eigen_assert(rhs.rows() == rows());
+
+  // A = U S V^*
+  // So A^{-1} = V S^{-1} U^*
+
+  Matrix<Scalar, Dynamic, RhsType::ColsAtCompileTime, 0, MatrixType::MaxRowsAtCompileTime, RhsType::MaxColsAtCompileTime> tmp;
+  Index l_rank = rank();
+  tmp.noalias() =  m_matrixU.leftCols(l_rank).adjoint() * rhs;
+  tmp = m_singularValues.head(l_rank).asDiagonal().inverse() * tmp;
+  dst = m_matrixV.leftCols(l_rank) * tmp;
+}
+#endif
 
 template<typename MatrixType>
 bool SVDBase<MatrixType>::allocate(Index rows, Index cols, unsigned int computationOptions)
@@ -220,17 +301,13 @@ bool SVDBase<MatrixType>::allocate(Index rows, Index cols, unsigned int computat
   m_diagSize = (std::min)(m_rows, m_cols);
   m_singularValues.resize(m_diagSize);
   if(RowsAtCompileTime==Dynamic)
-    m_matrixU.resize(m_rows, m_computeFullU ? m_rows
-		     : m_computeThinU ? m_diagSize
-		     : 0);
+    m_matrixU.resize(m_rows, m_computeFullU ? m_rows : m_computeThinU ? m_diagSize : 0);
   if(ColsAtCompileTime==Dynamic)
-    m_matrixV.resize(m_cols, m_computeFullV ? m_cols
-		     : m_computeThinV ? m_diagSize
-		     : 0);
+    m_matrixV.resize(m_cols, m_computeFullV ? m_cols : m_computeThinV ? m_diagSize : 0);
 
   return false;
 }
 
 }// end namespace
 
-#endif // EIGEN_SVD_H
+#endif // EIGEN_SVDBASE_H
diff --git a/eigenlib/Eigen/src/SVD/UpperBidiagonalization.h b/eigenlib/Eigen/src/SVD/UpperBidiagonalization.h
index 587de37a..0b146089 100644
--- a/eigenlib/Eigen/src/SVD/UpperBidiagonalization.h
+++ b/eigenlib/Eigen/src/SVD/UpperBidiagonalization.h
@@ -2,6 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2013-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -28,15 +29,15 @@ template<typename _MatrixType> class UpperBidiagonalization
     };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
     typedef Matrix<Scalar, 1, ColsAtCompileTime> RowVectorType;
     typedef Matrix<Scalar, RowsAtCompileTime, 1> ColVectorType;
-    typedef BandMatrix<RealScalar, ColsAtCompileTime, ColsAtCompileTime, 1, 0> BidiagonalType;
+    typedef BandMatrix<RealScalar, ColsAtCompileTime, ColsAtCompileTime, 1, 0, RowMajor> BidiagonalType;
     typedef Matrix<Scalar, ColsAtCompileTime, 1> DiagVectorType;
     typedef Matrix<Scalar, ColsAtCompileTimeMinusOne, 1> SuperDiagVectorType;
     typedef HouseholderSequence<
               const MatrixType,
-              CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, const Diagonal<const MatrixType,0> >
+              const typename internal::remove_all<typename Diagonal<const MatrixType,0>::ConjugateReturnType>::type
             > HouseholderUSequenceType;
     typedef HouseholderSequence<
               const typename internal::remove_all<typename MatrixType::ConjugateReturnType>::type,
@@ -52,7 +53,7 @@ template<typename _MatrixType> class UpperBidiagonalization
     */
     UpperBidiagonalization() : m_householder(), m_bidiagonal(), m_isInitialized(false) {}
 
-    UpperBidiagonalization(const MatrixType& matrix)
+    explicit UpperBidiagonalization(const MatrixType& matrix)
       : m_householder(matrix.rows(), matrix.cols()),
         m_bidiagonal(matrix.cols(), matrix.cols()),
         m_isInitialized(false)
@@ -61,6 +62,7 @@ template<typename _MatrixType> class UpperBidiagonalization
     }
     
     UpperBidiagonalization& compute(const MatrixType& matrix);
+    UpperBidiagonalization& computeUnblocked(const MatrixType& matrix);
     
     const MatrixType& householder() const { return m_householder; }
     const BidiagonalType& bidiagonal() const { return m_bidiagonal; }
@@ -85,45 +87,307 @@ template<typename _MatrixType> class UpperBidiagonalization
     bool m_isInitialized;
 };
 
-template<typename _MatrixType>
-UpperBidiagonalization<_MatrixType>& UpperBidiagonalization<_MatrixType>::compute(const _MatrixType& matrix)
+// Standard upper bidiagonalization without fancy optimizations
+// This version should be faster for small matrix size
+template<typename MatrixType>
+void upperbidiagonalization_inplace_unblocked(MatrixType& mat,
+                                              typename MatrixType::RealScalar *diagonal,
+                                              typename MatrixType::RealScalar *upper_diagonal,
+                                              typename MatrixType::Scalar* tempData = 0)
 {
-  Index rows = matrix.rows();
-  Index cols = matrix.cols();
-  
-  eigen_assert(rows >= cols && "UpperBidiagonalization is only for matrices satisfying rows>=cols.");
-  
-  m_householder = matrix;
+  typedef typename MatrixType::Scalar Scalar;
 
-  ColVectorType temp(rows);
+  Index rows = mat.rows();
+  Index cols = mat.cols();
+
+  typedef Matrix<Scalar,Dynamic,1,ColMajor,MatrixType::MaxRowsAtCompileTime,1> TempType;
+  TempType tempVector;
+  if(tempData==0)
+  {
+    tempVector.resize(rows);
+    tempData = tempVector.data();
+  }
 
   for (Index k = 0; /* breaks at k==cols-1 below */ ; ++k)
   {
     Index remainingRows = rows - k;
     Index remainingCols = cols - k - 1;
 
-    // construct left householder transform in-place in m_householder
-    m_householder.col(k).tail(remainingRows)
-                 .makeHouseholderInPlace(m_householder.coeffRef(k,k),
-                                         m_bidiagonal.template diagonal<0>().coeffRef(k));
-    // apply householder transform to remaining part of m_householder on the left
-    m_householder.bottomRightCorner(remainingRows, remainingCols)
-                 .applyHouseholderOnTheLeft(m_householder.col(k).tail(remainingRows-1),
-                                            m_householder.coeff(k,k),
-                                            temp.data());
+    // construct left householder transform in-place in A
+    mat.col(k).tail(remainingRows)
+       .makeHouseholderInPlace(mat.coeffRef(k,k), diagonal[k]);
+    // apply householder transform to remaining part of A on the left
+    mat.bottomRightCorner(remainingRows, remainingCols)
+       .applyHouseholderOnTheLeft(mat.col(k).tail(remainingRows-1), mat.coeff(k,k), tempData);
 
     if(k == cols-1) break;
-    
-    // construct right householder transform in-place in m_householder
-    m_householder.row(k).tail(remainingCols)
-                 .makeHouseholderInPlace(m_householder.coeffRef(k,k+1),
-                                         m_bidiagonal.template diagonal<1>().coeffRef(k));
-    // apply householder transform to remaining part of m_householder on the left
-    m_householder.bottomRightCorner(remainingRows-1, remainingCols)
-                 .applyHouseholderOnTheRight(m_householder.row(k).tail(remainingCols-1).transpose(),
-                                             m_householder.coeff(k,k+1),
-                                             temp.data());
+
+    // construct right householder transform in-place in mat
+    mat.row(k).tail(remainingCols)
+       .makeHouseholderInPlace(mat.coeffRef(k,k+1), upper_diagonal[k]);
+    // apply householder transform to remaining part of mat on the left
+    mat.bottomRightCorner(remainingRows-1, remainingCols)
+       .applyHouseholderOnTheRight(mat.row(k).tail(remainingCols-1).transpose(), mat.coeff(k,k+1), tempData);
   }
+}
+
+/** \internal
+  * Helper routine for the block reduction to upper bidiagonal form.
+  *
+  * Let's partition the matrix A:
+  * 
+  *      | A00 A01 |
+  *  A = |         |
+  *      | A10 A11 |
+  *
+  * This function reduces to bidiagonal form the left \c rows x \a blockSize vertical panel [A00/A10]
+  * and the \a blockSize x \c cols horizontal panel [A00 A01] of the matrix \a A. The bottom-right block A11
+  * is updated using matrix-matrix products:
+  *   A22 -= V * Y^T - X * U^T
+  * where V and U contains the left and right Householder vectors. U and V are stored in A10, and A01
+  * respectively, and the update matrices X and Y are computed during the reduction.
+  * 
+  */
+template<typename MatrixType>
+void upperbidiagonalization_blocked_helper(MatrixType& A,
+                                           typename MatrixType::RealScalar *diagonal,
+                                           typename MatrixType::RealScalar *upper_diagonal,
+                                           Index bs,
+                                           Ref<Matrix<typename MatrixType::Scalar, Dynamic, Dynamic,
+                                                      traits<MatrixType>::Flags & RowMajorBit> > X,
+                                           Ref<Matrix<typename MatrixType::Scalar, Dynamic, Dynamic,
+                                                      traits<MatrixType>::Flags & RowMajorBit> > Y)
+{
+  typedef typename MatrixType::Scalar Scalar;
+  enum { StorageOrder = traits<MatrixType>::Flags & RowMajorBit };
+  typedef InnerStride<int(StorageOrder) == int(ColMajor) ? 1 : Dynamic> ColInnerStride;
+  typedef InnerStride<int(StorageOrder) == int(ColMajor) ? Dynamic : 1> RowInnerStride;
+  typedef Ref<Matrix<Scalar, Dynamic, 1>, 0, ColInnerStride>    SubColumnType;
+  typedef Ref<Matrix<Scalar, 1, Dynamic>, 0, RowInnerStride>    SubRowType;
+  typedef Ref<Matrix<Scalar, Dynamic, Dynamic, StorageOrder > > SubMatType;
+  
+  Index brows = A.rows();
+  Index bcols = A.cols();
+
+  Scalar tau_u, tau_u_prev(0), tau_v;
+
+  for(Index k = 0; k < bs; ++k)
+  {
+    Index remainingRows = brows - k;
+    Index remainingCols = bcols - k - 1;
+
+    SubMatType X_k1( X.block(k,0, remainingRows,k) );
+    SubMatType V_k1( A.block(k,0, remainingRows,k) );
+
+    // 1 - update the k-th column of A
+    SubColumnType v_k = A.col(k).tail(remainingRows);
+          v_k -= V_k1 * Y.row(k).head(k).adjoint();
+    if(k) v_k -= X_k1 * A.col(k).head(k);
+    
+    // 2 - construct left Householder transform in-place
+    v_k.makeHouseholderInPlace(tau_v, diagonal[k]);
+       
+    if(k+1<bcols)
+    {
+      SubMatType Y_k  ( Y.block(k+1,0, remainingCols, k+1) );
+      SubMatType U_k1 ( A.block(0,k+1, k,remainingCols) );
+      
+      // this eases the application of Householder transforAions
+      // A(k,k) will store tau_v later
+      A(k,k) = Scalar(1);
+
+      // 3 - Compute y_k^T = tau_v * ( A^T*v_k - Y_k-1*V_k-1^T*v_k - U_k-1*X_k-1^T*v_k )
+      {
+        SubColumnType y_k( Y.col(k).tail(remainingCols) );
+        
+        // let's use the begining of column k of Y as a temporary vector
+        SubColumnType tmp( Y.col(k).head(k) );
+        y_k.noalias()  = A.block(k,k+1, remainingRows,remainingCols).adjoint() * v_k; // bottleneck
+        tmp.noalias()  = V_k1.adjoint()  * v_k;
+        y_k.noalias() -= Y_k.leftCols(k) * tmp;
+        tmp.noalias()  = X_k1.adjoint()  * v_k;
+        y_k.noalias() -= U_k1.adjoint()  * tmp;
+        y_k *= numext::conj(tau_v);
+      }
+
+      // 4 - update k-th row of A (it will become u_k)
+      SubRowType u_k( A.row(k).tail(remainingCols) );
+      u_k = u_k.conjugate();
+      {
+        u_k -= Y_k * A.row(k).head(k+1).adjoint();
+        if(k) u_k -= U_k1.adjoint() * X.row(k).head(k).adjoint();
+      }
+
+      // 5 - construct right Householder transform in-place
+      u_k.makeHouseholderInPlace(tau_u, upper_diagonal[k]);
+
+      // this eases the application of Householder transformations
+      // A(k,k+1) will store tau_u later
+      A(k,k+1) = Scalar(1);
+
+      // 6 - Compute x_k = tau_u * ( A*u_k - X_k-1*U_k-1^T*u_k - V_k*Y_k^T*u_k )
+      {
+        SubColumnType x_k ( X.col(k).tail(remainingRows-1) );
+        
+        // let's use the begining of column k of X as a temporary vectors
+        // note that tmp0 and tmp1 overlaps
+        SubColumnType tmp0 ( X.col(k).head(k) ),
+                      tmp1 ( X.col(k).head(k+1) );
+                    
+        x_k.noalias()   = A.block(k+1,k+1, remainingRows-1,remainingCols) * u_k.transpose(); // bottleneck
+        tmp0.noalias()  = U_k1 * u_k.transpose();
+        x_k.noalias()  -= X_k1.bottomRows(remainingRows-1) * tmp0;
+        tmp1.noalias()  = Y_k.adjoint() * u_k.transpose();
+        x_k.noalias()  -= A.block(k+1,0, remainingRows-1,k+1) * tmp1;
+        x_k *= numext::conj(tau_u);
+        tau_u = numext::conj(tau_u);
+        u_k = u_k.conjugate();
+      }
+
+      if(k>0) A.coeffRef(k-1,k) = tau_u_prev;
+      tau_u_prev = tau_u;
+    }
+    else
+      A.coeffRef(k-1,k) = tau_u_prev;
+
+    A.coeffRef(k,k) = tau_v;
+  }
+  
+  if(bs<bcols)
+    A.coeffRef(bs-1,bs) = tau_u_prev;
+
+  // update A22
+  if(bcols>bs && brows>bs)
+  {
+    SubMatType A11( A.bottomRightCorner(brows-bs,bcols-bs) );
+    SubMatType A10( A.block(bs,0, brows-bs,bs) );
+    SubMatType A01( A.block(0,bs, bs,bcols-bs) );
+    Scalar tmp = A01(bs-1,0);
+    A01(bs-1,0) = 1;
+    A11.noalias() -= A10 * Y.topLeftCorner(bcols,bs).bottomRows(bcols-bs).adjoint();
+    A11.noalias() -= X.topLeftCorner(brows,bs).bottomRows(brows-bs) * A01;
+    A01(bs-1,0) = tmp;
+  }
+}
+
+/** \internal
+  *
+  * Implementation of a block-bidiagonal reduction.
+  * It is based on the following paper:
+  *   The Design of a Parallel Dense Linear Algebra Software Library: Reduction to Hessenberg, Tridiagonal, and Bidiagonal Form.
+  *   by Jaeyoung Choi, Jack J. Dongarra, David W. Walker. (1995)
+  *   section 3.3
+  */
+template<typename MatrixType, typename BidiagType>
+void upperbidiagonalization_inplace_blocked(MatrixType& A, BidiagType& bidiagonal,
+                                            Index maxBlockSize=32,
+                                            typename MatrixType::Scalar* /*tempData*/ = 0)
+{
+  typedef typename MatrixType::Scalar Scalar;
+  typedef Block<MatrixType,Dynamic,Dynamic> BlockType;
+
+  Index rows = A.rows();
+  Index cols = A.cols();
+  Index size = (std::min)(rows, cols);
+
+  // X and Y are work space
+  enum { StorageOrder = traits<MatrixType>::Flags & RowMajorBit };
+  Matrix<Scalar,
+         MatrixType::RowsAtCompileTime,
+         Dynamic,
+         StorageOrder,
+         MatrixType::MaxRowsAtCompileTime> X(rows,maxBlockSize);
+  Matrix<Scalar,
+         MatrixType::ColsAtCompileTime,
+         Dynamic,
+         StorageOrder,
+         MatrixType::MaxColsAtCompileTime> Y(cols,maxBlockSize);
+  Index blockSize = (std::min)(maxBlockSize,size);
+
+  Index k = 0;
+  for(k = 0; k < size; k += blockSize)
+  {
+    Index bs = (std::min)(size-k,blockSize);  // actual size of the block
+    Index brows = rows - k;                   // rows of the block
+    Index bcols = cols - k;                   // columns of the block
+
+    // partition the matrix A:
+    // 
+    //      | A00 A01 A02 |
+    //      |             |
+    // A  = | A10 A11 A12 |
+    //      |             |
+    //      | A20 A21 A22 |
+    //
+    // where A11 is a bs x bs diagonal block,
+    // and let:
+    //      | A11 A12 |
+    //  B = |         |
+    //      | A21 A22 |
+
+    BlockType B = A.block(k,k,brows,bcols);
+    
+    // This stage performs the bidiagonalization of A11, A21, A12, and updating of A22.
+    // Finally, the algorithm continue on the updated A22.
+    //
+    // However, if B is too small, or A22 empty, then let's use an unblocked strategy
+    if(k+bs==cols || bcols<48) // somewhat arbitrary threshold
+    {
+      upperbidiagonalization_inplace_unblocked(B,
+                                               &(bidiagonal.template diagonal<0>().coeffRef(k)),
+                                               &(bidiagonal.template diagonal<1>().coeffRef(k)),
+                                               X.data()
+                                              );
+      break; // We're done
+    }
+    else
+    {
+      upperbidiagonalization_blocked_helper<BlockType>( B,
+                                                        &(bidiagonal.template diagonal<0>().coeffRef(k)),
+                                                        &(bidiagonal.template diagonal<1>().coeffRef(k)),
+                                                        bs,
+                                                        X.topLeftCorner(brows,bs),
+                                                        Y.topLeftCorner(bcols,bs)
+                                                      );
+    }
+  }
+}
+
+template<typename _MatrixType>
+UpperBidiagonalization<_MatrixType>& UpperBidiagonalization<_MatrixType>::computeUnblocked(const _MatrixType& matrix)
+{
+  Index rows = matrix.rows();
+  Index cols = matrix.cols();
+  EIGEN_ONLY_USED_FOR_DEBUG(cols);
+
+  eigen_assert(rows >= cols && "UpperBidiagonalization is only for Arices satisfying rows>=cols.");
+
+  m_householder = matrix;
+
+  ColVectorType temp(rows);
+
+  upperbidiagonalization_inplace_unblocked(m_householder,
+                                           &(m_bidiagonal.template diagonal<0>().coeffRef(0)),
+                                           &(m_bidiagonal.template diagonal<1>().coeffRef(0)),
+                                           temp.data());
+
+  m_isInitialized = true;
+  return *this;
+}
+
+template<typename _MatrixType>
+UpperBidiagonalization<_MatrixType>& UpperBidiagonalization<_MatrixType>::compute(const _MatrixType& matrix)
+{
+  Index rows = matrix.rows();
+  Index cols = matrix.cols();
+  EIGEN_ONLY_USED_FOR_DEBUG(rows);
+  EIGEN_ONLY_USED_FOR_DEBUG(cols);
+
+  eigen_assert(rows >= cols && "UpperBidiagonalization is only for Arices satisfying rows>=cols.");
+
+  m_householder = matrix;
+  upperbidiagonalization_inplace_blocked(m_householder, m_bidiagonal);
+            
   m_isInitialized = true;
   return *this;
 }
diff --git a/eigenlib/Eigen/src/SparseCholesky/CMakeLists.txt b/eigenlib/Eigen/src/SparseCholesky/CMakeLists.txt
deleted file mode 100644
index 375a59d7..00000000
--- a/eigenlib/Eigen/src/SparseCholesky/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_SparseCholesky_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_SparseCholesky_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/SparseCholesky COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/SparseCholesky/SimplicialCholesky.h b/eigenlib/Eigen/src/SparseCholesky/SimplicialCholesky.h
index e1f96ba5..2907f652 100644
--- a/eigenlib/Eigen/src/SparseCholesky/SimplicialCholesky.h
+++ b/eigenlib/Eigen/src/SparseCholesky/SimplicialCholesky.h
@@ -17,43 +17,74 @@ enum SimplicialCholeskyMode {
   SimplicialCholeskyLDLT
 };
 
+namespace internal {
+  template<typename CholMatrixType, typename InputMatrixType>
+  struct simplicial_cholesky_grab_input {
+    typedef CholMatrixType const * ConstCholMatrixPtr;
+    static void run(const InputMatrixType& input, ConstCholMatrixPtr &pmat, CholMatrixType &tmp)
+    {
+      tmp = input;
+      pmat = &tmp;
+    }
+  };
+  
+  template<typename MatrixType>
+  struct simplicial_cholesky_grab_input<MatrixType,MatrixType> {
+    typedef MatrixType const * ConstMatrixPtr;
+    static void run(const MatrixType& input, ConstMatrixPtr &pmat, MatrixType &/*tmp*/)
+    {
+      pmat = &input;
+    }
+  };
+} // end namespace internal
+
 /** \ingroup SparseCholesky_Module
-  * \brief A direct sparse Cholesky factorizations
+  * \brief A base class for direct sparse Cholesky factorizations
   *
-  * These classes provide LL^T and LDL^T Cholesky factorizations of sparse matrices that are
-  * selfadjoint and positive definite. The factorization allows for solving A.X = B where
+  * This is a base class for LL^T and LDL^T Cholesky factorizations of sparse matrices that are
+  * selfadjoint and positive definite. These factorizations allow for solving A.X = B where
   * X and B can be either dense or sparse.
   * 
   * In order to reduce the fill-in, a symmetric permutation P is applied prior to the factorization
   * such that the factorized matrix is P A P^-1.
   *
-  * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
-  * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
-  *               or Upper. Default is Lower.
+  * \tparam Derived the type of the derived class, that is the actual factorization type.
   *
   */
 template<typename Derived>
-class SimplicialCholeskyBase : internal::noncopyable
+class SimplicialCholeskyBase : public SparseSolverBase<Derived>
 {
+    typedef SparseSolverBase<Derived> Base;
+    using Base::m_isInitialized;
+    
   public:
     typedef typename internal::traits<Derived>::MatrixType MatrixType;
     typedef typename internal::traits<Derived>::OrderingType OrderingType;
     enum { UpLo = internal::traits<Derived>::UpLo };
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-    typedef SparseMatrix<Scalar,ColMajor,Index> CholMatrixType;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> CholMatrixType;
+    typedef CholMatrixType const * ConstCholMatrixPtr;
     typedef Matrix<Scalar,Dynamic,1> VectorType;
+    typedef Matrix<StorageIndex,Dynamic,1> VectorI;
+
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
 
   public:
+    
+    using Base::derived;
 
     /** Default constructor */
     SimplicialCholeskyBase()
-      : m_info(Success), m_isInitialized(false), m_shiftOffset(0), m_shiftScale(1)
+      : m_info(Success), m_shiftOffset(0), m_shiftScale(1)
     {}
 
-    SimplicialCholeskyBase(const MatrixType& matrix)
-      : m_info(Success), m_isInitialized(false), m_shiftOffset(0), m_shiftScale(1)
+    explicit SimplicialCholeskyBase(const MatrixType& matrix)
+      : m_info(Success), m_shiftOffset(0), m_shiftScale(1)
     {
       derived().compute(matrix);
     }
@@ -79,42 +110,14 @@ class SimplicialCholeskyBase : internal::noncopyable
       return m_info;
     }
     
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<SimplicialCholeskyBase, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "Simplicial LLT or LDLT is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "SimplicialCholeskyBase::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<SimplicialCholeskyBase, Rhs>(*this, b.derived());
-    }
-    
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<SimplicialCholeskyBase, Rhs>
-    solve(const SparseMatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "Simplicial LLT or LDLT is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "SimplicialCholesky::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::sparse_solve_retval<SimplicialCholeskyBase, Rhs>(*this, b.derived());
-    }
-    
     /** \returns the permutation P
       * \sa permutationPinv() */
-    const PermutationMatrix<Dynamic,Dynamic,Index>& permutationP() const
+    const PermutationMatrix<Dynamic,Dynamic,StorageIndex>& permutationP() const
     { return m_P; }
     
     /** \returns the inverse P^-1 of the permutation P
       * \sa permutationP() */
-    const PermutationMatrix<Dynamic,Dynamic,Index>& permutationPinv() const
+    const PermutationMatrix<Dynamic,Dynamic,StorageIndex>& permutationPinv() const
     { return m_Pinv; }
 
     /** Sets the shift parameters that will be used to adjust the diagonal coefficients during the numerical factorization.
@@ -150,7 +153,7 @@ class SimplicialCholeskyBase : internal::noncopyable
 
     /** \internal */
     template<typename Rhs,typename Dest>
-    void _solve(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
     {
       eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
       eigen_assert(m_matrix.rows()==b.rows());
@@ -175,6 +178,12 @@ class SimplicialCholeskyBase : internal::noncopyable
       if(m_P.size()>0)
         dest = m_Pinv * dest;
     }
+    
+    template<typename Rhs,typename Dest>
+    void _solve_impl(const SparseMatrixBase<Rhs> &b, SparseMatrixBase<Dest> &dest) const
+    {
+      internal::solve_sparse_through_dense_panels(derived(), b, dest);
+    }
 
 #endif // EIGEN_PARSED_BY_DOXYGEN
 
@@ -186,20 +195,33 @@ class SimplicialCholeskyBase : internal::noncopyable
     {
       eigen_assert(matrix.rows()==matrix.cols());
       Index size = matrix.cols();
-      CholMatrixType ap(size,size);
-      ordering(matrix, ap);
-      analyzePattern_preordered(ap, DoLDLT);
-      factorize_preordered<DoLDLT>(ap);
+      CholMatrixType tmp(size,size);
+      ConstCholMatrixPtr pmat;
+      ordering(matrix, pmat, tmp);
+      analyzePattern_preordered(*pmat, DoLDLT);
+      factorize_preordered<DoLDLT>(*pmat);
     }
     
     template<bool DoLDLT>
     void factorize(const MatrixType& a)
     {
       eigen_assert(a.rows()==a.cols());
-      int size = a.cols();
-      CholMatrixType ap(size,size);
-      ap.template selfadjointView<Upper>() = a.template selfadjointView<UpLo>().twistedBy(m_P);
-      factorize_preordered<DoLDLT>(ap);
+      Index size = a.cols();
+      CholMatrixType tmp(size,size);
+      ConstCholMatrixPtr pmat;
+      
+      if(m_P.size()==0 && (UpLo&Upper)==Upper)
+      {
+        // If there is no ordering, try to directly use the input matrix without any copy
+        internal::simplicial_cholesky_grab_input<CholMatrixType,MatrixType>::run(a, pmat, tmp);
+      }
+      else
+      {
+        tmp.template selfadjointView<Upper>() = a.template selfadjointView<UpLo>().twistedBy(m_P);
+        pmat = &tmp;
+      }
+      
+      factorize_preordered<DoLDLT>(*pmat);
     }
 
     template<bool DoLDLT>
@@ -208,14 +230,15 @@ class SimplicialCholeskyBase : internal::noncopyable
     void analyzePattern(const MatrixType& a, bool doLDLT)
     {
       eigen_assert(a.rows()==a.cols());
-      int size = a.cols();
-      CholMatrixType ap(size,size);
-      ordering(a, ap);
-      analyzePattern_preordered(ap,doLDLT);
+      Index size = a.cols();
+      CholMatrixType tmp(size,size);
+      ConstCholMatrixPtr pmat;
+      ordering(a, pmat, tmp);
+      analyzePattern_preordered(*pmat,doLDLT);
     }
     void analyzePattern_preordered(const CholMatrixType& a, bool doLDLT);
     
-    void ordering(const MatrixType& a, CholMatrixType& ap);
+    void ordering(const MatrixType& a, ConstCholMatrixPtr &pmat, CholMatrixType& ap);
 
     /** keeps off-diagonal entries; drops diagonal entries */
     struct keep_diag {
@@ -226,24 +249,23 @@ class SimplicialCholeskyBase : internal::noncopyable
     };
 
     mutable ComputationInfo m_info;
-    bool m_isInitialized;
     bool m_factorizationIsOk;
     bool m_analysisIsOk;
     
     CholMatrixType m_matrix;
     VectorType m_diag;                                // the diagonal coefficients (LDLT mode)
-    VectorXi m_parent;                                // elimination tree
-    VectorXi m_nonZerosPerCol;
-    PermutationMatrix<Dynamic,Dynamic,Index> m_P;     // the permutation
-    PermutationMatrix<Dynamic,Dynamic,Index> m_Pinv;  // the inverse permutation
+    VectorI m_parent;                                 // elimination tree
+    VectorI m_nonZerosPerCol;
+    PermutationMatrix<Dynamic,Dynamic,StorageIndex> m_P;     // the permutation
+    PermutationMatrix<Dynamic,Dynamic,StorageIndex> m_Pinv;  // the inverse permutation
 
     RealScalar m_shiftOffset;
     RealScalar m_shiftScale;
 };
 
-template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::Index> > class SimplicialLLT;
-template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::Index> > class SimplicialLDLT;
-template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::Index> > class SimplicialCholesky;
+template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::StorageIndex> > class SimplicialLLT;
+template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::StorageIndex> > class SimplicialLDLT;
+template<typename _MatrixType, int _UpLo = Lower, typename _Ordering = AMDOrdering<typename _MatrixType::StorageIndex> > class SimplicialCholesky;
 
 namespace internal {
 
@@ -253,12 +275,12 @@ template<typename _MatrixType, int _UpLo, typename _Ordering> struct traits<Simp
   typedef _Ordering OrderingType;
   enum { UpLo = _UpLo };
   typedef typename MatrixType::Scalar                         Scalar;
-  typedef typename MatrixType::Index                          Index;
-  typedef SparseMatrix<Scalar, ColMajor, Index>               CholMatrixType;
-  typedef SparseTriangularView<CholMatrixType, Eigen::Lower>  MatrixL;
-  typedef SparseTriangularView<typename CholMatrixType::AdjointReturnType, Eigen::Upper>   MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return m; }
-  static inline MatrixU getU(const MatrixType& m) { return m.adjoint(); }
+  typedef typename MatrixType::StorageIndex                   StorageIndex;
+  typedef SparseMatrix<Scalar, ColMajor, StorageIndex>        CholMatrixType;
+  typedef TriangularView<const CholMatrixType, Eigen::Lower>  MatrixL;
+  typedef TriangularView<const typename CholMatrixType::AdjointReturnType, Eigen::Upper>   MatrixU;
+  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
+  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
 };
 
 template<typename _MatrixType,int _UpLo, typename _Ordering> struct traits<SimplicialLDLT<_MatrixType,_UpLo,_Ordering> >
@@ -267,12 +289,12 @@ template<typename _MatrixType,int _UpLo, typename _Ordering> struct traits<Simpl
   typedef _Ordering OrderingType;
   enum { UpLo = _UpLo };
   typedef typename MatrixType::Scalar                             Scalar;
-  typedef typename MatrixType::Index                              Index;
-  typedef SparseMatrix<Scalar, ColMajor, Index>                   CholMatrixType;
-  typedef SparseTriangularView<CholMatrixType, Eigen::UnitLower>  MatrixL;
-  typedef SparseTriangularView<typename CholMatrixType::AdjointReturnType, Eigen::UnitUpper> MatrixU;
-  static inline MatrixL getL(const MatrixType& m) { return m; }
-  static inline MatrixU getU(const MatrixType& m) { return m.adjoint(); }
+  typedef typename MatrixType::StorageIndex                       StorageIndex;
+  typedef SparseMatrix<Scalar, ColMajor, StorageIndex>            CholMatrixType;
+  typedef TriangularView<const CholMatrixType, Eigen::UnitLower>  MatrixL;
+  typedef TriangularView<const typename CholMatrixType::AdjointReturnType, Eigen::UnitUpper> MatrixU;
+  static inline MatrixL getL(const MatrixType& m) { return MatrixL(m); }
+  static inline MatrixU getU(const MatrixType& m) { return MatrixU(m.adjoint()); }
 };
 
 template<typename _MatrixType, int _UpLo, typename _Ordering> struct traits<SimplicialCholesky<_MatrixType,_UpLo,_Ordering> >
@@ -300,6 +322,8 @@ template<typename _MatrixType, int _UpLo, typename _Ordering> struct traits<Simp
   *               or Upper. Default is Lower.
   * \tparam _Ordering The ordering method to use, either AMDOrdering<> or NaturalOrdering<>. Default is AMDOrdering<>
   *
+  * \implsparsesolverconcept
+  *
   * \sa class SimplicialLDLT, class AMDOrdering, class NaturalOrdering
   */
 template<typename _MatrixType, int _UpLo, typename _Ordering>
@@ -311,7 +335,7 @@ public:
     typedef SimplicialCholeskyBase<SimplicialLLT> Base;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef SparseMatrix<Scalar,ColMajor,Index> CholMatrixType;
     typedef Matrix<Scalar,Dynamic,1> VectorType;
     typedef internal::traits<SimplicialLLT> Traits;
@@ -321,7 +345,7 @@ public:
     /** Default constructor */
     SimplicialLLT() : Base() {}
     /** Constructs and performs the LLT factorization of \a matrix */
-    SimplicialLLT(const MatrixType& matrix)
+    explicit SimplicialLLT(const MatrixType& matrix)
         : Base(matrix) {}
 
     /** \returns an expression of the factor L */
@@ -389,6 +413,8 @@ public:
   *               or Upper. Default is Lower.
   * \tparam _Ordering The ordering method to use, either AMDOrdering<> or NaturalOrdering<>. Default is AMDOrdering<>
   *
+  * \implsparsesolverconcept
+  *
   * \sa class SimplicialLLT, class AMDOrdering, class NaturalOrdering
   */
 template<typename _MatrixType, int _UpLo, typename _Ordering>
@@ -400,8 +426,8 @@ public:
     typedef SimplicialCholeskyBase<SimplicialLDLT> Base;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-    typedef SparseMatrix<Scalar,ColMajor,Index> CholMatrixType;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> CholMatrixType;
     typedef Matrix<Scalar,Dynamic,1> VectorType;
     typedef internal::traits<SimplicialLDLT> Traits;
     typedef typename Traits::MatrixL  MatrixL;
@@ -411,7 +437,7 @@ public:
     SimplicialLDLT() : Base() {}
 
     /** Constructs and performs the LLT factorization of \a matrix */
-    SimplicialLDLT(const MatrixType& matrix)
+    explicit SimplicialLDLT(const MatrixType& matrix)
         : Base(matrix) {}
 
     /** \returns a vector expression of the diagonal D */
@@ -482,8 +508,8 @@ public:
     typedef SimplicialCholeskyBase<SimplicialCholesky> Base;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-    typedef SparseMatrix<Scalar,ColMajor,Index> CholMatrixType;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> CholMatrixType;
     typedef Matrix<Scalar,Dynamic,1> VectorType;
     typedef internal::traits<SimplicialCholesky> Traits;
     typedef internal::traits<SimplicialLDLT<MatrixType,UpLo> > LDLTTraits;
@@ -491,7 +517,7 @@ public:
   public:
     SimplicialCholesky() : Base(), m_LDLT(true) {}
 
-    SimplicialCholesky(const MatrixType& matrix)
+    explicit SimplicialCholesky(const MatrixType& matrix)
       : Base(), m_LDLT(true)
     {
       compute(matrix);
@@ -560,7 +586,7 @@ public:
 
     /** \internal */
     template<typename Rhs,typename Dest>
-    void _solve(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const
     {
       eigen_assert(Base::m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or symbolic()/numeric()");
       eigen_assert(Base::m_matrix.rows()==b.rows());
@@ -596,6 +622,13 @@ public:
         dest = Base::m_Pinv * dest;
     }
     
+    /** \internal */
+    template<typename Rhs,typename Dest>
+    void _solve_impl(const SparseMatrixBase<Rhs> &b, SparseMatrixBase<Dest> &dest) const
+    {
+      internal::solve_sparse_through_dense_panels(*this, b, dest);
+    }
+    
     Scalar determinant() const
     {
       if(m_LDLT)
@@ -614,58 +647,43 @@ public:
 };
 
 template<typename Derived>
-void SimplicialCholeskyBase<Derived>::ordering(const MatrixType& a, CholMatrixType& ap)
+void SimplicialCholeskyBase<Derived>::ordering(const MatrixType& a, ConstCholMatrixPtr &pmat, CholMatrixType& ap)
 {
   eigen_assert(a.rows()==a.cols());
   const Index size = a.rows();
-  // Note that amd compute the inverse permutation
+  pmat = &ap;
+  // Note that ordering methods compute the inverse permutation
+  if(!internal::is_same<OrderingType,NaturalOrdering<Index> >::value)
   {
-    CholMatrixType C;
-    C = a.template selfadjointView<UpLo>();
+    {
+      CholMatrixType C;
+      C = a.template selfadjointView<UpLo>();
+      
+      OrderingType ordering;
+      ordering(C,m_Pinv);
+    }
+
+    if(m_Pinv.size()>0) m_P = m_Pinv.inverse();
+    else                m_P.resize(0);
     
-    OrderingType ordering;
-    ordering(C,m_Pinv);
+    ap.resize(size,size);
+    ap.template selfadjointView<Upper>() = a.template selfadjointView<UpLo>().twistedBy(m_P);
   }
-
-  if(m_Pinv.size()>0)
-    m_P = m_Pinv.inverse();
   else
+  {
+    m_Pinv.resize(0);
     m_P.resize(0);
-
-  ap.resize(size,size);
-  ap.template selfadjointView<Upper>() = a.template selfadjointView<UpLo>().twistedBy(m_P);
+    if(int(UpLo)==int(Lower) || MatrixType::IsRowMajor)
+    {
+      // we have to transpose the lower part to to the upper one
+      ap.resize(size,size);
+      ap.template selfadjointView<Upper>() = a.template selfadjointView<UpLo>();
+    }
+    else
+      internal::simplicial_cholesky_grab_input<CholMatrixType,MatrixType>::run(a, pmat, ap);
+  }  
 }
 
-namespace internal {
-  
-template<typename Derived, typename Rhs>
-struct solve_retval<SimplicialCholeskyBase<Derived>, Rhs>
-  : solve_retval_base<SimplicialCholeskyBase<Derived>, Rhs>
-{
-  typedef SimplicialCholeskyBase<Derived> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec().derived()._solve(rhs(),dst);
-  }
-};
-
-template<typename Derived, typename Rhs>
-struct sparse_solve_retval<SimplicialCholeskyBase<Derived>, Rhs>
-  : sparse_solve_retval_base<SimplicialCholeskyBase<Derived>, Rhs>
-{
-  typedef SimplicialCholeskyBase<Derived> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_SIMPLICIAL_CHOLESKY_H
diff --git a/eigenlib/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h b/eigenlib/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h
index 7aaf702b..31e06995 100644
--- a/eigenlib/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h
+++ b/eigenlib/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h
@@ -50,14 +50,14 @@ namespace Eigen {
 template<typename Derived>
 void SimplicialCholeskyBase<Derived>::analyzePattern_preordered(const CholMatrixType& ap, bool doLDLT)
 {
-  const Index size = ap.rows();
+  const StorageIndex size = StorageIndex(ap.rows());
   m_matrix.resize(size, size);
   m_parent.resize(size);
   m_nonZerosPerCol.resize(size);
 
-  ei_declare_aligned_stack_constructed_variable(Index, tags, size, 0);
+  ei_declare_aligned_stack_constructed_variable(StorageIndex, tags, size, 0);
 
-  for(Index k = 0; k < size; ++k)
+  for(StorageIndex k = 0; k < size; ++k)
   {
     /* L(k,:) pattern: all nodes reachable in etree from nz in A(0:k-1,k) */
     m_parent[k] = -1;             /* parent of k is not yet known */
@@ -65,7 +65,7 @@ void SimplicialCholeskyBase<Derived>::analyzePattern_preordered(const CholMatrix
     m_nonZerosPerCol[k] = 0;      /* count of nonzeros in column k of L */
     for(typename CholMatrixType::InnerIterator it(ap,k); it; ++it)
     {
-      Index i = it.index();
+      StorageIndex i = it.index();
       if(i < k)
       {
         /* follow path from i to root of etree, stop at flagged node */
@@ -82,9 +82,9 @@ void SimplicialCholeskyBase<Derived>::analyzePattern_preordered(const CholMatrix
   }
 
   /* construct Lp index array from m_nonZerosPerCol column counts */
-  Index* Lp = m_matrix.outerIndexPtr();
+  StorageIndex* Lp = m_matrix.outerIndexPtr();
   Lp[0] = 0;
-  for(Index k = 0; k < size; ++k)
+  for(StorageIndex k = 0; k < size; ++k)
     Lp[k+1] = Lp[k] + m_nonZerosPerCol[k] + (doLDLT ? 0 : 1);
 
   m_matrix.resizeNonZeros(Lp[size]);
@@ -104,31 +104,31 @@ void SimplicialCholeskyBase<Derived>::factorize_preordered(const CholMatrixType&
 
   eigen_assert(m_analysisIsOk && "You must first call analyzePattern()");
   eigen_assert(ap.rows()==ap.cols());
-  const Index size = ap.rows();
-  eigen_assert(m_parent.size()==size);
-  eigen_assert(m_nonZerosPerCol.size()==size);
+  eigen_assert(m_parent.size()==ap.rows());
+  eigen_assert(m_nonZerosPerCol.size()==ap.rows());
 
-  const Index* Lp = m_matrix.outerIndexPtr();
-  Index* Li = m_matrix.innerIndexPtr();
+  const StorageIndex size = StorageIndex(ap.rows());
+  const StorageIndex* Lp = m_matrix.outerIndexPtr();
+  StorageIndex* Li = m_matrix.innerIndexPtr();
   Scalar* Lx = m_matrix.valuePtr();
 
   ei_declare_aligned_stack_constructed_variable(Scalar, y, size, 0);
-  ei_declare_aligned_stack_constructed_variable(Index,  pattern, size, 0);
-  ei_declare_aligned_stack_constructed_variable(Index,  tags, size, 0);
+  ei_declare_aligned_stack_constructed_variable(StorageIndex,  pattern, size, 0);
+  ei_declare_aligned_stack_constructed_variable(StorageIndex,  tags, size, 0);
 
   bool ok = true;
   m_diag.resize(DoLDLT ? size : 0);
 
-  for(Index k = 0; k < size; ++k)
+  for(StorageIndex k = 0; k < size; ++k)
   {
     // compute nonzero pattern of kth row of L, in topological order
     y[k] = 0.0;                     // Y(0:k) is now all zero
-    Index top = size;               // stack for pattern is empty
+    StorageIndex top = size;               // stack for pattern is empty
     tags[k] = k;                    // mark node k as visited
     m_nonZerosPerCol[k] = 0;        // count of nonzeros in column k of L
-    for(typename MatrixType::InnerIterator it(ap,k); it; ++it)
+    for(typename CholMatrixType::InnerIterator it(ap,k); it; ++it)
     {
-      Index i = it.index();
+      StorageIndex i = it.index();
       if(i <= k)
       {
         y[i] += numext::conj(it.value());            /* scatter A(i,k) into Y (sum duplicates) */
diff --git a/eigenlib/Eigen/src/SparseCore/AmbiVector.h b/eigenlib/Eigen/src/SparseCore/AmbiVector.h
index 220c6451..1233e164 100644
--- a/eigenlib/Eigen/src/SparseCore/AmbiVector.h
+++ b/eigenlib/Eigen/src/SparseCore/AmbiVector.h
@@ -19,15 +19,15 @@ namespace internal {
   *
   * See BasicSparseLLT and SparseProduct for usage examples.
   */
-template<typename _Scalar, typename _Index>
+template<typename _Scalar, typename _StorageIndex>
 class AmbiVector
 {
   public:
     typedef _Scalar Scalar;
-    typedef _Index Index;
+    typedef _StorageIndex StorageIndex;
     typedef typename NumTraits<Scalar>::Real RealScalar;
 
-    AmbiVector(Index size)
+    explicit AmbiVector(Index size)
       : m_buffer(0), m_zero(0), m_size(0), m_allocatedSize(0), m_allocatedElements(0), m_mode(-1)
     {
       resize(size);
@@ -39,7 +39,7 @@ class AmbiVector
     Index nonZeros() const;
 
     /** Specifies a sub-vector to work on */
-    void setBounds(Index start, Index end) { m_start = start; m_end = end; }
+    void setBounds(Index start, Index end) { m_start = convert_index(start); m_end = convert_index(end); }
 
     void setZero();
 
@@ -55,12 +55,16 @@ class AmbiVector
     {
       if (m_allocatedSize < size)
         reallocate(size);
-      m_size = size;
+      m_size = convert_index(size);
     }
 
-    Index size() const { return m_size; }
+    StorageIndex size() const { return m_size; }
 
   protected:
+    StorageIndex convert_index(Index idx)
+    {
+      return internal::convert_index<StorageIndex>(idx);
+    }
 
     void reallocate(Index size)
     {
@@ -70,15 +74,15 @@ class AmbiVector
       if (size<1000)
       {
         Index allocSize = (size * sizeof(ListEl) + sizeof(Scalar) - 1)/sizeof(Scalar);
-        m_allocatedElements = (allocSize*sizeof(Scalar))/sizeof(ListEl);
+        m_allocatedElements = convert_index((allocSize*sizeof(Scalar))/sizeof(ListEl));
         m_buffer = new Scalar[allocSize];
       }
       else
       {
-        m_allocatedElements = (size*sizeof(Scalar))/sizeof(ListEl);
+        m_allocatedElements = convert_index((size*sizeof(Scalar))/sizeof(ListEl));
         m_buffer = new Scalar[size];
       }
-      m_size = size;
+      m_size = convert_index(size);
       m_start = 0;
       m_end = m_size;
     }
@@ -86,7 +90,7 @@ class AmbiVector
     void reallocateSparse()
     {
       Index copyElements = m_allocatedElements;
-      m_allocatedElements = (std::min)(Index(m_allocatedElements*1.5),m_size);
+      m_allocatedElements = (std::min)(StorageIndex(m_allocatedElements*1.5),m_size);
       Index allocSize = m_allocatedElements * sizeof(ListEl);
       allocSize = (allocSize + sizeof(Scalar) - 1)/sizeof(Scalar);
       Scalar* newBuffer = new Scalar[allocSize];
@@ -99,30 +103,30 @@ class AmbiVector
     // element type of the linked list
     struct ListEl
     {
-      Index next;
-      Index index;
+      StorageIndex next;
+      StorageIndex index;
       Scalar value;
     };
 
     // used to store data in both mode
     Scalar* m_buffer;
     Scalar m_zero;
-    Index m_size;
-    Index m_start;
-    Index m_end;
-    Index m_allocatedSize;
-    Index m_allocatedElements;
-    Index m_mode;
+    StorageIndex m_size;
+    StorageIndex m_start;
+    StorageIndex m_end;
+    StorageIndex m_allocatedSize;
+    StorageIndex m_allocatedElements;
+    StorageIndex m_mode;
 
     // linked list mode
-    Index m_llStart;
-    Index m_llCurrent;
-    Index m_llSize;
+    StorageIndex m_llStart;
+    StorageIndex m_llCurrent;
+    StorageIndex m_llSize;
 };
 
 /** \returns the number of non zeros in the current sub vector */
-template<typename _Scalar,typename _Index>
-_Index AmbiVector<_Scalar,_Index>::nonZeros() const
+template<typename _Scalar,typename _StorageIndex>
+Index AmbiVector<_Scalar,_StorageIndex>::nonZeros() const
 {
   if (m_mode==IsSparse)
     return m_llSize;
@@ -130,8 +134,8 @@ _Index AmbiVector<_Scalar,_Index>::nonZeros() const
     return m_end - m_start;
 }
 
-template<typename _Scalar,typename _Index>
-void AmbiVector<_Scalar,_Index>::init(double estimatedDensity)
+template<typename _Scalar,typename _StorageIndex>
+void AmbiVector<_Scalar,_StorageIndex>::init(double estimatedDensity)
 {
   if (estimatedDensity>0.1)
     init(IsDense);
@@ -139,8 +143,8 @@ void AmbiVector<_Scalar,_Index>::init(double estimatedDensity)
     init(IsSparse);
 }
 
-template<typename _Scalar,typename _Index>
-void AmbiVector<_Scalar,_Index>::init(int mode)
+template<typename _Scalar,typename _StorageIndex>
+void AmbiVector<_Scalar,_StorageIndex>::init(int mode)
 {
   m_mode = mode;
   if (m_mode==IsSparse)
@@ -155,15 +159,15 @@ void AmbiVector<_Scalar,_Index>::init(int mode)
   *
   * Don't worry, this function is extremely cheap.
   */
-template<typename _Scalar,typename _Index>
-void AmbiVector<_Scalar,_Index>::restart()
+template<typename _Scalar,typename _StorageIndex>
+void AmbiVector<_Scalar,_StorageIndex>::restart()
 {
   m_llCurrent = m_llStart;
 }
 
 /** Set all coefficients of current subvector to zero */
-template<typename _Scalar,typename _Index>
-void AmbiVector<_Scalar,_Index>::setZero()
+template<typename _Scalar,typename _StorageIndex>
+void AmbiVector<_Scalar,_StorageIndex>::setZero()
 {
   if (m_mode==IsDense)
   {
@@ -178,8 +182,8 @@ void AmbiVector<_Scalar,_Index>::setZero()
   }
 }
 
-template<typename _Scalar,typename _Index>
-_Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
+template<typename _Scalar,typename _StorageIndex>
+_Scalar& AmbiVector<_Scalar,_StorageIndex>::coeffRef(Index i)
 {
   if (m_mode==IsDense)
     return m_buffer[i];
@@ -195,7 +199,7 @@ _Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
       m_llCurrent = 0;
       ++m_llSize;
       llElements[0].value = Scalar(0);
-      llElements[0].index = i;
+      llElements[0].index = convert_index(i);
       llElements[0].next = -1;
       return llElements[0].value;
     }
@@ -204,7 +208,7 @@ _Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
       // this is going to be the new first element of the list
       ListEl& el = llElements[m_llSize];
       el.value = Scalar(0);
-      el.index = i;
+      el.index = convert_index(i);
       el.next = m_llStart;
       m_llStart = m_llSize;
       ++m_llSize;
@@ -213,7 +217,7 @@ _Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
     }
     else
     {
-      Index nextel = llElements[m_llCurrent].next;
+      StorageIndex nextel = llElements[m_llCurrent].next;
       eigen_assert(i>=llElements[m_llCurrent].index && "you must call restart() before inserting an element with lower or equal index");
       while (nextel >= 0 && llElements[nextel].index<=i)
       {
@@ -237,7 +241,7 @@ _Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
         // let's insert a new coefficient
         ListEl& el = llElements[m_llSize];
         el.value = Scalar(0);
-        el.index = i;
+        el.index = convert_index(i);
         el.next = llElements[m_llCurrent].next;
         llElements[m_llCurrent].next = m_llSize;
         ++m_llSize;
@@ -247,8 +251,8 @@ _Scalar& AmbiVector<_Scalar,_Index>::coeffRef(_Index i)
   }
 }
 
-template<typename _Scalar,typename _Index>
-_Scalar& AmbiVector<_Scalar,_Index>::coeff(_Index i)
+template<typename _Scalar,typename _StorageIndex>
+_Scalar& AmbiVector<_Scalar,_StorageIndex>::coeff(Index i)
 {
   if (m_mode==IsDense)
     return m_buffer[i];
@@ -275,8 +279,8 @@ _Scalar& AmbiVector<_Scalar,_Index>::coeff(_Index i)
 }
 
 /** Iterator over the nonzero coefficients */
-template<typename _Scalar,typename _Index>
-class AmbiVector<_Scalar,_Index>::Iterator
+template<typename _Scalar,typename _StorageIndex>
+class AmbiVector<_Scalar,_StorageIndex>::Iterator
 {
   public:
     typedef _Scalar Scalar;
@@ -288,7 +292,7 @@ class AmbiVector<_Scalar,_Index>::Iterator
       * In practice, all coefficients having a magnitude smaller than \a epsilon
       * are skipped.
       */
-    Iterator(const AmbiVector& vec, const RealScalar& epsilon = 0)
+    explicit Iterator(const AmbiVector& vec, const RealScalar& epsilon = 0)
       : m_vector(vec)
     {
       using std::abs;
@@ -320,7 +324,7 @@ class AmbiVector<_Scalar,_Index>::Iterator
       }
     }
 
-    Index index() const { return m_cachedIndex; }
+    StorageIndex index() const { return m_cachedIndex; }
     Scalar value() const { return m_cachedValue; }
 
     operator bool() const { return m_cachedIndex>=0; }
@@ -359,9 +363,9 @@ class AmbiVector<_Scalar,_Index>::Iterator
 
   protected:
     const AmbiVector& m_vector; // the target vector
-    Index m_currentEl;            // the current element in sparse/linked-list mode
+    StorageIndex m_currentEl;            // the current element in sparse/linked-list mode
     RealScalar m_epsilon;       // epsilon used to prune zero coefficients
-    Index m_cachedIndex;          // current coordinate
+    StorageIndex m_cachedIndex;          // current coordinate
     Scalar m_cachedValue;       // current value
     bool m_isDense;             // mode of the vector
 };
diff --git a/eigenlib/Eigen/src/SparseCore/CMakeLists.txt b/eigenlib/Eigen/src/SparseCore/CMakeLists.txt
deleted file mode 100644
index d860452a..00000000
--- a/eigenlib/Eigen/src/SparseCore/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_SparseCore_SRCS "*.h")
-
-INSTALL(FILES 
-  ${Eigen_SparseCore_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/SparseCore COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/SparseCore/CompressedStorage.h b/eigenlib/Eigen/src/SparseCore/CompressedStorage.h
index a667cb56..d89fa0da 100644
--- a/eigenlib/Eigen/src/SparseCore/CompressedStorage.h
+++ b/eigenlib/Eigen/src/SparseCore/CompressedStorage.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -18,13 +18,13 @@ namespace internal {
   * Stores a sparse set of values as a list of values and a list of indices.
   *
   */
-template<typename _Scalar,typename _Index>
+template<typename _Scalar,typename _StorageIndex>
 class CompressedStorage
 {
   public:
 
     typedef _Scalar Scalar;
-    typedef _Index Index;
+    typedef _StorageIndex StorageIndex;
 
   protected:
 
@@ -36,7 +36,7 @@ class CompressedStorage
       : m_values(0), m_indices(0), m_size(0), m_allocatedSize(0)
     {}
 
-    CompressedStorage(size_t size)
+    explicit CompressedStorage(Index size)
       : m_values(0), m_indices(0), m_size(0), m_allocatedSize(0)
     {
       resize(size);
@@ -51,8 +51,11 @@ class CompressedStorage
     CompressedStorage& operator=(const CompressedStorage& other)
     {
       resize(other.size());
-      internal::smart_copy(other.m_values,  other.m_values  + m_size, m_values);
-      internal::smart_copy(other.m_indices, other.m_indices + m_size, m_indices);
+      if(other.size()>0)
+      {
+        internal::smart_copy(other.m_values,  other.m_values  + m_size, m_values);
+        internal::smart_copy(other.m_indices, other.m_indices + m_size, m_indices);
+      }
       return *this;
     }
 
@@ -70,9 +73,9 @@ class CompressedStorage
       delete[] m_indices;
     }
 
-    void reserve(size_t size)
+    void reserve(Index size)
     {
-      size_t newAllocatedSize = m_size + size;
+      Index newAllocatedSize = m_size + size;
       if (newAllocatedSize > m_allocatedSize)
         reallocate(newAllocatedSize);
     }
@@ -83,39 +86,40 @@ class CompressedStorage
         reallocate(m_size);
     }
 
-    void resize(size_t size, double reserveSizeFactor = 0)
+    void resize(Index size, double reserveSizeFactor = 0)
     {
       if (m_allocatedSize<size)
-        reallocate(size + size_t(reserveSizeFactor*double(size)));
+      {
+        Index realloc_size = (std::min<Index>)(NumTraits<StorageIndex>::highest(),  size + Index(reserveSizeFactor*double(size)));
+        if(realloc_size<size)
+          internal::throw_std_bad_alloc();
+        reallocate(realloc_size);
+      }
       m_size = size;
     }
 
     void append(const Scalar& v, Index i)
     {
-      Index id = static_cast<Index>(m_size);
+      Index id = m_size;
       resize(m_size+1, 1);
       m_values[id] = v;
-      m_indices[id] = i;
+      m_indices[id] = internal::convert_index<StorageIndex>(i);
     }
 
-    inline size_t size() const { return m_size; }
-    inline size_t allocatedSize() const { return m_allocatedSize; }
+    inline Index size() const { return m_size; }
+    inline Index allocatedSize() const { return m_allocatedSize; }
     inline void clear() { m_size = 0; }
 
-    inline Scalar& value(size_t i) { return m_values[i]; }
-    inline const Scalar& value(size_t i) const { return m_values[i]; }
+    const Scalar* valuePtr() const { return m_values; }
+    Scalar* valuePtr() { return m_values; }
+    const StorageIndex* indexPtr() const { return m_indices; }
+    StorageIndex* indexPtr() { return m_indices; }
 
-    inline Index& index(size_t i) { return m_indices[i]; }
-    inline const Index& index(size_t i) const { return m_indices[i]; }
+    inline Scalar& value(Index i) { eigen_internal_assert(m_values!=0); return m_values[i]; }
+    inline const Scalar& value(Index i) const { eigen_internal_assert(m_values!=0); return m_values[i]; }
 
-    static CompressedStorage Map(Index* indices, Scalar* values, size_t size)
-    {
-      CompressedStorage res;
-      res.m_indices = indices;
-      res.m_values = values;
-      res.m_allocatedSize = res.m_size = size;
-      return res;
-    }
+    inline StorageIndex& index(Index i) { eigen_internal_assert(m_indices!=0); return m_indices[i]; }
+    inline const StorageIndex& index(Index i) const { eigen_internal_assert(m_indices!=0); return m_indices[i]; }
 
     /** \returns the largest \c k such that for all \c j in [0,k) index[\c j]\<\a key */
     inline Index searchLowerIndex(Index key) const
@@ -124,17 +128,17 @@ class CompressedStorage
     }
 
     /** \returns the largest \c k in [start,end) such that for all \c j in [start,k) index[\c j]\<\a key */
-    inline Index searchLowerIndex(size_t start, size_t end, Index key) const
+    inline Index searchLowerIndex(Index start, Index end, Index key) const
     {
       while(end>start)
       {
-        size_t mid = (end+start)>>1;
+        Index mid = (end+start)>>1;
         if (m_indices[mid]<key)
           start = mid+1;
         else
           end = mid;
       }
-      return static_cast<Index>(start);
+      return start;
     }
 
     /** \returns the stored value at index \a key
@@ -147,20 +151,20 @@ class CompressedStorage
         return m_values[m_size-1];
       // ^^  optimization: let's first check if it is the last coefficient
       // (very common in high level algorithms)
-      const size_t id = searchLowerIndex(0,m_size-1,key);
+      const Index id = searchLowerIndex(0,m_size-1,key);
       return ((id<m_size) && (m_indices[id]==key)) ? m_values[id] : defaultValue;
     }
 
     /** Like at(), but the search is performed in the range [start,end) */
-    inline Scalar atInRange(size_t start, size_t end, Index key, const Scalar& defaultValue = Scalar(0)) const
+    inline Scalar atInRange(Index start, Index end, Index key, const Scalar &defaultValue = Scalar(0)) const
     {
       if (start>=end)
-        return Scalar(0);
+        return defaultValue;
       else if (end>start && key==m_indices[end-1])
         return m_values[end-1];
       // ^^  optimization: let's first check if it is the last coefficient
       // (very common in high level algorithms)
-      const size_t id = searchLowerIndex(start,end-1,key);
+      const Index id = searchLowerIndex(start,end-1,key);
       return ((id<end) && (m_indices[id]==key)) ? m_values[id] : defaultValue;
     }
 
@@ -169,16 +173,35 @@ class CompressedStorage
       * such that the keys are sorted. */
     inline Scalar& atWithInsertion(Index key, const Scalar& defaultValue = Scalar(0))
     {
-      size_t id = searchLowerIndex(0,m_size,key);
+      Index id = searchLowerIndex(0,m_size,key);
       if (id>=m_size || m_indices[id]!=key)
       {
-        resize(m_size+1,1);
-        for (size_t j=m_size-1; j>id; --j)
+        if (m_allocatedSize<m_size+1)
         {
-          m_indices[j] = m_indices[j-1];
-          m_values[j] = m_values[j-1];
+          m_allocatedSize = 2*(m_size+1);
+          internal::scoped_array<Scalar> newValues(m_allocatedSize);
+          internal::scoped_array<StorageIndex> newIndices(m_allocatedSize);
+
+          // copy first chunk
+          internal::smart_copy(m_values,  m_values +id, newValues.ptr());
+          internal::smart_copy(m_indices, m_indices+id, newIndices.ptr());
+
+          // copy the rest
+          if(m_size>id)
+          {
+            internal::smart_copy(m_values +id,  m_values +m_size, newValues.ptr() +id+1);
+            internal::smart_copy(m_indices+id,  m_indices+m_size, newIndices.ptr()+id+1);
+          }
+          std::swap(m_values,newValues.ptr());
+          std::swap(m_indices,newIndices.ptr());
         }
-        m_indices[id] = key;
+        else if(m_size>id)
+        {
+          internal::smart_memmove(m_values +id, m_values +m_size, m_values +id+1);
+          internal::smart_memmove(m_indices+id, m_indices+m_size, m_indices+id+1);
+        }
+        m_size++;
+        m_indices[id] = internal::convert_index<StorageIndex>(key);
         m_values[id] = defaultValue;
       }
       return m_values[id];
@@ -186,9 +209,9 @@ class CompressedStorage
 
     void prune(const Scalar& reference, const RealScalar& epsilon = NumTraits<RealScalar>::dummy_precision())
     {
-      size_t k = 0;
-      size_t n = size();
-      for (size_t i=0; i<n; ++i)
+      Index k = 0;
+      Index n = size();
+      for (Index i=0; i<n; ++i)
       {
         if (!internal::isMuchSmallerThan(value(i), reference, epsilon))
         {
@@ -202,27 +225,29 @@ class CompressedStorage
 
   protected:
 
-    inline void reallocate(size_t size)
+    inline void reallocate(Index size)
     {
-      Scalar* newValues  = new Scalar[size];
-      Index* newIndices = new Index[size];
-      size_t copySize = (std::min)(size, m_size);
-      // copy
-      internal::smart_copy(m_values, m_values+copySize, newValues);
-      internal::smart_copy(m_indices, m_indices+copySize, newIndices);
-      // delete old stuff
-      delete[] m_values;
-      delete[] m_indices;
-      m_values = newValues;
-      m_indices = newIndices;
+      #ifdef EIGEN_SPARSE_COMPRESSED_STORAGE_REALLOCATE_PLUGIN
+        EIGEN_SPARSE_COMPRESSED_STORAGE_REALLOCATE_PLUGIN
+      #endif
+      eigen_internal_assert(size!=m_allocatedSize);
+      internal::scoped_array<Scalar> newValues(size);
+      internal::scoped_array<StorageIndex> newIndices(size);
+      Index copySize = (std::min)(size, m_size);
+      if (copySize>0) {
+        internal::smart_copy(m_values, m_values+copySize, newValues.ptr());
+        internal::smart_copy(m_indices, m_indices+copySize, newIndices.ptr());
+      }
+      std::swap(m_values,newValues.ptr());
+      std::swap(m_indices,newIndices.ptr());
       m_allocatedSize = size;
     }
 
   protected:
     Scalar* m_values;
-    Index* m_indices;
-    size_t m_size;
-    size_t m_allocatedSize;
+    StorageIndex* m_indices;
+    Index m_size;
+    Index m_allocatedSize;
 
 };
 
diff --git a/eigenlib/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h b/eigenlib/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
index 5c320e2d..492eb0a2 100644
--- a/eigenlib/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
+++ b/eigenlib/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -15,27 +15,31 @@ namespace Eigen {
 namespace internal {
 
 template<typename Lhs, typename Rhs, typename ResultType>
-static void conservative_sparse_sparse_product_impl(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+static void conservative_sparse_sparse_product_impl(const Lhs& lhs, const Rhs& rhs, ResultType& res, bool sortedInsertion = false)
 {
   typedef typename remove_all<Lhs>::type::Scalar Scalar;
-  typedef typename remove_all<Lhs>::type::Index Index;
 
   // make sure to call innerSize/outerSize since we fake the storage order.
   Index rows = lhs.innerSize();
   Index cols = rhs.outerSize();
   eigen_assert(lhs.outerSize() == rhs.innerSize());
+  
+  ei_declare_aligned_stack_constructed_variable(bool,   mask,     rows, 0);
+  ei_declare_aligned_stack_constructed_variable(Scalar, values,   rows, 0);
+  ei_declare_aligned_stack_constructed_variable(Index,  indices,  rows, 0);
+  
+  std::memset(mask,0,sizeof(bool)*rows);
 
-  std::vector<bool> mask(rows,false);
-  Matrix<Scalar,Dynamic,1> values(rows);
-  Matrix<Index,Dynamic,1>  indices(rows);
-
+  evaluator<Lhs> lhsEval(lhs);
+  evaluator<Rhs> rhsEval(rhs);
+  
   // estimate the number of non zero entries
   // given a rhs column containing Y non zeros, we assume that the respective Y columns
   // of the lhs differs in average of one non zeros, thus the number of non zeros for
   // the product of a rhs column with the lhs is X+Y where X is the average number of non zero
   // per column of the lhs.
   // Therefore, we have nnz(lhs*rhs) = nnz(lhs) + nnz(rhs)
-  Index estimated_nnz_prod = lhs.nonZeros() + rhs.nonZeros();
+  Index estimated_nnz_prod = lhsEval.nonZerosEstimate() + rhsEval.nonZerosEstimate();
 
   res.setZero();
   res.reserve(Index(estimated_nnz_prod));
@@ -45,11 +49,11 @@ static void conservative_sparse_sparse_product_impl(const Lhs& lhs, const Rhs& r
 
     res.startVec(j);
     Index nnz = 0;
-    for (typename Rhs::InnerIterator rhsIt(rhs, j); rhsIt; ++rhsIt)
+    for (typename evaluator<Rhs>::InnerIterator rhsIt(rhsEval, j); rhsIt; ++rhsIt)
     {
       Scalar y = rhsIt.value();
       Index k = rhsIt.index();
-      for (typename Lhs::InnerIterator lhsIt(lhs, k); lhsIt; ++lhsIt)
+      for (typename evaluator<Lhs>::InnerIterator lhsIt(lhsEval, k); lhsIt; ++lhsIt)
       {
         Index i = lhsIt.index();
         Scalar x = lhsIt.value();
@@ -64,53 +68,51 @@ static void conservative_sparse_sparse_product_impl(const Lhs& lhs, const Rhs& r
           values[i] += x * y;
       }
     }
-
-    // unordered insertion
-    for(Index k=0; k<nnz; ++k)
+    if(!sortedInsertion)
     {
-      Index i = indices[k];
-      res.insertBackByOuterInnerUnordered(j,i) = values[i];
-      mask[i] = false;
-    }
-
-#if 0
-    // alternative ordered insertion code:
-
-    Index t200 = rows/(log2(200)*1.39);
-    Index t = (rows*100)/139;
-
-    // FIXME reserve nnz non zeros
-    // FIXME implement fast sort algorithms for very small nnz
-    // if the result is sparse enough => use a quick sort
-    // otherwise => loop through the entire vector
-    // In order to avoid to perform an expensive log2 when the
-    // result is clearly very sparse we use a linear bound up to 200.
-    //if((nnz<200 && nnz<t200) || nnz * log2(nnz) < t)
-    //res.startVec(j);
-    if(true)
-    {
-      if(nnz>1) std::sort(indices.data(),indices.data()+nnz);
+      // unordered insertion
       for(Index k=0; k<nnz; ++k)
       {
         Index i = indices[k];
-        res.insertBackByOuterInner(j,i) = values[i];
+        res.insertBackByOuterInnerUnordered(j,i) = values[i];
         mask[i] = false;
       }
     }
     else
     {
-      // dense path
-      for(Index i=0; i<rows; ++i)
+      // alternative ordered insertion code:
+      const Index t200 = rows/11; // 11 == (log2(200)*1.39)
+      const Index t = (rows*100)/139;
+
+      // FIXME reserve nnz non zeros
+      // FIXME implement faster sorting algorithms for very small nnz
+      // if the result is sparse enough => use a quick sort
+      // otherwise => loop through the entire vector
+      // In order to avoid to perform an expensive log2 when the
+      // result is clearly very sparse we use a linear bound up to 200.
+      if((nnz<200 && nnz<t200) || nnz * numext::log2(int(nnz)) < t)
       {
-        if(mask[i])
+        if(nnz>1) std::sort(indices,indices+nnz);
+        for(Index k=0; k<nnz; ++k)
         {
-          mask[i] = false;
+          Index i = indices[k];
           res.insertBackByOuterInner(j,i) = values[i];
+          mask[i] = false;
+        }
+      }
+      else
+      {
+        // dense path
+        for(Index i=0; i<rows; ++i)
+        {
+          if(mask[i])
+          {
+            mask[i] = false;
+            res.insertBackByOuterInner(j,i) = values[i];
+          }
         }
       }
     }
-#endif
-
   }
   res.finalize();
 }
@@ -134,13 +136,28 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,C
 
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::Index> RowMajorMatrix;
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::Index> ColMajorMatrix;
-    ColMajorMatrix resCol(lhs.rows(),rhs.cols());
-    internal::conservative_sparse_sparse_product_impl<Lhs,Rhs,ColMajorMatrix>(lhs, rhs, resCol);
-    // sort the non zeros:
-    RowMajorMatrix resRow(resCol);
-    res = resRow;
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrixAux;
+    typedef typename sparse_eval<ColMajorMatrixAux,ResultType::RowsAtCompileTime,ResultType::ColsAtCompileTime,ColMajorMatrixAux::Flags>::type ColMajorMatrix;
+    
+    // If the result is tall and thin (in the extreme case a column vector)
+    // then it is faster to sort the coefficients inplace instead of transposing twice.
+    // FIXME, the following heuristic is probably not very good.
+    if(lhs.rows()>rhs.cols())
+    {
+      ColMajorMatrix resCol(lhs.rows(),rhs.cols());
+      // perform sorted insertion
+      internal::conservative_sparse_sparse_product_impl<Lhs,Rhs,ColMajorMatrix>(lhs, rhs, resCol, true);
+      res = resCol.markAsRValue();
+    }
+    else
+    {
+      ColMajorMatrixAux resCol(lhs.rows(),rhs.cols());
+      // ressort to transpose to sort the entries
+      internal::conservative_sparse_sparse_product_impl<Lhs,Rhs,ColMajorMatrixAux>(lhs, rhs, resCol, false);
+      RowMajorMatrix resRow(resCol);
+      res = resRow.markAsRValue();
+    }
   }
 };
 
@@ -149,7 +166,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,C
 {
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-     typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::Index> RowMajorMatrix;
+     typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
      RowMajorMatrix rhsRow = rhs;
      RowMajorMatrix resRow(lhs.rows(), rhs.cols());
      internal::conservative_sparse_sparse_product_impl<RowMajorMatrix,Lhs,RowMajorMatrix>(rhsRow, lhs, resRow);
@@ -162,7 +179,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,R
 {
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::Index> RowMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
     RowMajorMatrix lhsRow = lhs;
     RowMajorMatrix resRow(lhs.rows(), rhs.cols());
     internal::conservative_sparse_sparse_product_impl<Rhs,RowMajorMatrix,RowMajorMatrix>(rhs, lhsRow, resRow);
@@ -175,7 +192,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,R
 {
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::Index> RowMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
     RowMajorMatrix resRow(lhs.rows(), rhs.cols());
     internal::conservative_sparse_sparse_product_impl<Rhs,Lhs,RowMajorMatrix>(rhs, lhs, resRow);
     res = resRow;
@@ -190,7 +207,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,C
 
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::Index> ColMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
     ColMajorMatrix resCol(lhs.rows(), rhs.cols());
     internal::conservative_sparse_sparse_product_impl<Lhs,Rhs,ColMajorMatrix>(lhs, rhs, resCol);
     res = resCol;
@@ -202,7 +219,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,C
 {
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::Index> ColMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
     ColMajorMatrix lhsCol = lhs;
     ColMajorMatrix resCol(lhs.rows(), rhs.cols());
     internal::conservative_sparse_sparse_product_impl<ColMajorMatrix,Rhs,ColMajorMatrix>(lhsCol, rhs, resCol);
@@ -215,7 +232,7 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,ColMajor,R
 {
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::Index> ColMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
     ColMajorMatrix rhsCol = rhs;
     ColMajorMatrix resCol(lhs.rows(), rhs.cols());
     internal::conservative_sparse_sparse_product_impl<Lhs,ColMajorMatrix,ColMajorMatrix>(lhs, rhsCol, resCol);
@@ -228,8 +245,8 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,R
 {
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::Index> RowMajorMatrix;
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::Index> ColMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename ResultType::StorageIndex> RowMajorMatrix;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
     RowMajorMatrix resRow(lhs.rows(),rhs.cols());
     internal::conservative_sparse_sparse_product_impl<Rhs,Lhs,RowMajorMatrix>(rhs, lhs, resRow);
     // sort the non zeros:
@@ -238,6 +255,89 @@ struct conservative_sparse_sparse_product_selector<Lhs,Rhs,ResultType,RowMajor,R
   }
 };
 
+} // end namespace internal
+
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, typename ResultType>
+static void sparse_sparse_to_dense_product_impl(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+{
+  typedef typename remove_all<Lhs>::type::Scalar Scalar;
+  Index cols = rhs.outerSize();
+  eigen_assert(lhs.outerSize() == rhs.innerSize());
+
+  evaluator<Lhs> lhsEval(lhs);
+  evaluator<Rhs> rhsEval(rhs);
+
+  for (Index j=0; j<cols; ++j)
+  {
+    for (typename evaluator<Rhs>::InnerIterator rhsIt(rhsEval, j); rhsIt; ++rhsIt)
+    {
+      Scalar y = rhsIt.value();
+      Index k = rhsIt.index();
+      for (typename evaluator<Lhs>::InnerIterator lhsIt(lhsEval, k); lhsIt; ++lhsIt)
+      {
+        Index i = lhsIt.index();
+        Scalar x = lhsIt.value();
+        res.coeffRef(i,j) += x * y;
+      }
+    }
+  }
+}
+
+
+} // end namespace internal
+
+namespace internal {
+
+template<typename Lhs, typename Rhs, typename ResultType,
+  int LhsStorageOrder = (traits<Lhs>::Flags&RowMajorBit) ? RowMajor : ColMajor,
+  int RhsStorageOrder = (traits<Rhs>::Flags&RowMajorBit) ? RowMajor : ColMajor>
+struct sparse_sparse_to_dense_product_selector;
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_to_dense_product_selector<Lhs,Rhs,ResultType,ColMajor,ColMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    internal::sparse_sparse_to_dense_product_impl<Lhs,Rhs,ResultType>(lhs, rhs, res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_to_dense_product_selector<Lhs,Rhs,ResultType,RowMajor,ColMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
+    ColMajorMatrix lhsCol(lhs);
+    internal::sparse_sparse_to_dense_product_impl<ColMajorMatrix,Rhs,ResultType>(lhsCol, rhs, res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_to_dense_product_selector<Lhs,Rhs,ResultType,ColMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> ColMajorMatrix;
+    ColMajorMatrix rhsCol(rhs);
+    internal::sparse_sparse_to_dense_product_impl<Lhs,ColMajorMatrix,ResultType>(lhs, rhsCol, res);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_to_dense_product_selector<Lhs,Rhs,ResultType,RowMajor,RowMajor>
+{
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res)
+  {
+    Transpose<ResultType> trRes(res);
+    internal::sparse_sparse_to_dense_product_impl<Rhs,Lhs,Transpose<ResultType> >(rhs, lhs, trRes);
+  }
+};
+
+
 } // end namespace internal
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/SparseCore/MappedSparseMatrix.h b/eigenlib/Eigen/src/SparseCore/MappedSparseMatrix.h
index ab1a266a..67718c85 100644
--- a/eigenlib/Eigen/src/SparseCore/MappedSparseMatrix.h
+++ b/eigenlib/Eigen/src/SparseCore/MappedSparseMatrix.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -10,9 +10,10 @@
 #ifndef EIGEN_MAPPED_SPARSEMATRIX_H
 #define EIGEN_MAPPED_SPARSEMATRIX_H
 
-namespace Eigen { 
+namespace Eigen {
 
-/** \class MappedSparseMatrix
+/** \deprecated Use Map<SparseMatrix<> >
+  * \class MappedSparseMatrix
   *
   * \brief Sparse matrix
   *
@@ -22,159 +23,44 @@ namespace Eigen {
   *
   */
 namespace internal {
-template<typename _Scalar, int _Flags, typename _Index>
-struct traits<MappedSparseMatrix<_Scalar, _Flags, _Index> > : traits<SparseMatrix<_Scalar, _Flags, _Index> >
+template<typename _Scalar, int _Flags, typename _StorageIndex>
+struct traits<MappedSparseMatrix<_Scalar, _Flags, _StorageIndex> > : traits<SparseMatrix<_Scalar, _Flags, _StorageIndex> >
 {};
-}
+} // end namespace internal
 
-template<typename _Scalar, int _Flags, typename _Index>
+template<typename _Scalar, int _Flags, typename _StorageIndex>
 class MappedSparseMatrix
-  : public SparseMatrixBase<MappedSparseMatrix<_Scalar, _Flags, _Index> >
+  : public Map<SparseMatrix<_Scalar, _Flags, _StorageIndex> >
 {
-  public:
-    EIGEN_SPARSE_PUBLIC_INTERFACE(MappedSparseMatrix)
-    enum { IsRowMajor = Base::IsRowMajor };
-
-  protected:
-
-    Index   m_outerSize;
-    Index   m_innerSize;
-    Index   m_nnz;
-    Index*  m_outerIndex;
-    Index*  m_innerIndices;
-    Scalar* m_values;
+    typedef Map<SparseMatrix<_Scalar, _Flags, _StorageIndex> > Base;
 
   public:
-
-    inline Index rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
-    inline Index cols() const { return IsRowMajor ? m_innerSize : m_outerSize; }
-    inline Index innerSize() const { return m_innerSize; }
-    inline Index outerSize() const { return m_outerSize; }
     
-    bool isCompressed() const { return true; }
+    typedef typename Base::StorageIndex StorageIndex;
+    typedef typename Base::Scalar Scalar;
 
-    //----------------------------------------
-    // direct access interface
-    inline const Scalar* valuePtr() const { return m_values; }
-    inline Scalar* valuePtr() { return m_values; }
-
-    inline const Index* innerIndexPtr() const { return m_innerIndices; }
-    inline Index* innerIndexPtr() { return m_innerIndices; }
-
-    inline const Index* outerIndexPtr() const { return m_outerIndex; }
-    inline Index* outerIndexPtr() { return m_outerIndex; }
-    //----------------------------------------
-
-    inline Scalar coeff(Index row, Index col) const
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-
-      Index start = m_outerIndex[outer];
-      Index end = m_outerIndex[outer+1];
-      if (start==end)
-        return Scalar(0);
-      else if (end>0 && inner==m_innerIndices[end-1])
-        return m_values[end-1];
-      // ^^  optimization: let's first check if it is the last coefficient
-      // (very common in high level algorithms)
-
-      const Index* r = std::lower_bound(&m_innerIndices[start],&m_innerIndices[end-1],inner);
-      const Index id = r-&m_innerIndices[0];
-      return ((*r==inner) && (id<end)) ? m_values[id] : Scalar(0);
-    }
-
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-
-      Index start = m_outerIndex[outer];
-      Index end = m_outerIndex[outer+1];
-      eigen_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
-      eigen_assert(end>start && "coeffRef cannot be called on a zero coefficient");
-      Index* r = std::lower_bound(&m_innerIndices[start],&m_innerIndices[end],inner);
-      const Index id = r-&m_innerIndices[0];
-      eigen_assert((*r==inner) && (id<end) && "coeffRef cannot be called on a zero coefficient");
-      return m_values[id];
-    }
-
-    class InnerIterator;
-    class ReverseInnerIterator;
-
-    /** \returns the number of non zero coefficients */
-    inline Index nonZeros() const  { return m_nnz; }
-
-    inline MappedSparseMatrix(Index rows, Index cols, Index nnz, Index* outerIndexPtr, Index* innerIndexPtr, Scalar* valuePtr)
-      : m_outerSize(IsRowMajor?rows:cols), m_innerSize(IsRowMajor?cols:rows), m_nnz(nnz), m_outerIndex(outerIndexPtr),
-        m_innerIndices(innerIndexPtr), m_values(valuePtr)
+    inline MappedSparseMatrix(Index rows, Index cols, Index nnz, StorageIndex* outerIndexPtr, StorageIndex* innerIndexPtr, Scalar* valuePtr, StorageIndex* innerNonZeroPtr = 0)
+      : Base(rows, cols, nnz, outerIndexPtr, innerIndexPtr, valuePtr, innerNonZeroPtr)
     {}
 
     /** Empty destructor */
     inline ~MappedSparseMatrix() {}
 };
 
-template<typename Scalar, int _Flags, typename _Index>
-class MappedSparseMatrix<Scalar,_Flags,_Index>::InnerIterator
+namespace internal {
+
+template<typename _Scalar, int _Options, typename _StorageIndex>
+struct evaluator<MappedSparseMatrix<_Scalar,_Options,_StorageIndex> >
+  : evaluator<SparseCompressedBase<MappedSparseMatrix<_Scalar,_Options,_StorageIndex> > >
 {
-  public:
-    InnerIterator(const MappedSparseMatrix& mat, Index outer)
-      : m_matrix(mat),
-        m_outer(outer),
-        m_id(mat.outerIndexPtr()[outer]),
-        m_start(m_id),
-        m_end(mat.outerIndexPtr()[outer+1])
-    {}
-
-    inline InnerIterator& operator++() { m_id++; return *this; }
-
-    inline Scalar value() const { return m_matrix.valuePtr()[m_id]; }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_matrix.valuePtr()[m_id]); }
-
-    inline Index index() const { return m_matrix.innerIndexPtr()[m_id]; }
-    inline Index row() const { return IsRowMajor ? m_outer : index(); }
-    inline Index col() const { return IsRowMajor ? index() : m_outer; }
-
-    inline operator bool() const { return (m_id < m_end) && (m_id>=m_start); }
-
-  protected:
-    const MappedSparseMatrix& m_matrix;
-    const Index m_outer;
-    Index m_id;
-    const Index m_start;
-    const Index m_end;
+  typedef MappedSparseMatrix<_Scalar,_Options,_StorageIndex> XprType;
+  typedef evaluator<SparseCompressedBase<XprType> > Base;
+  
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
 };
 
-template<typename Scalar, int _Flags, typename _Index>
-class MappedSparseMatrix<Scalar,_Flags,_Index>::ReverseInnerIterator
-{
-  public:
-    ReverseInnerIterator(const MappedSparseMatrix& mat, Index outer)
-      : m_matrix(mat),
-        m_outer(outer),
-        m_id(mat.outerIndexPtr()[outer+1]),
-        m_start(mat.outerIndexPtr()[outer]),
-        m_end(m_id)
-    {}
-
-    inline ReverseInnerIterator& operator--() { m_id--; return *this; }
-
-    inline Scalar value() const { return m_matrix.valuePtr()[m_id-1]; }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_matrix.valuePtr()[m_id-1]); }
-
-    inline Index index() const { return m_matrix.innerIndexPtr()[m_id-1]; }
-    inline Index row() const { return IsRowMajor ? m_outer : index(); }
-    inline Index col() const { return IsRowMajor ? index() : m_outer; }
-
-    inline operator bool() const { return (m_id <= m_end) && (m_id>m_start); }
-
-  protected:
-    const MappedSparseMatrix& m_matrix;
-    const Index m_outer;
-    Index m_id;
-    const Index m_start;
-    const Index m_end;
-};
+}
 
 } // end namespace Eigen
 
diff --git a/eigenlib/Eigen/src/SparseCore/SparseAssign.h b/eigenlib/Eigen/src/SparseCore/SparseAssign.h
new file mode 100644
index 00000000..83776645
--- /dev/null
+++ b/eigenlib/Eigen/src/SparseCore/SparseAssign.h
@@ -0,0 +1,219 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SPARSEASSIGN_H
+#define EIGEN_SPARSEASSIGN_H
+
+namespace Eigen { 
+
+template<typename Derived>    
+template<typename OtherDerived>
+Derived& SparseMatrixBase<Derived>::operator=(const EigenBase<OtherDerived> &other)
+{
+  internal::call_assignment_no_alias(derived(), other.derived());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+Derived& SparseMatrixBase<Derived>::operator=(const ReturnByValue<OtherDerived>& other)
+{
+  // TODO use the evaluator mechanism
+  other.evalTo(derived());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+inline Derived& SparseMatrixBase<Derived>::operator=(const SparseMatrixBase<OtherDerived>& other)
+{
+  // by default sparse evaluation do not alias, so we can safely bypass the generic call_assignment routine
+  internal::Assignment<Derived,OtherDerived,internal::assign_op<Scalar,typename OtherDerived::Scalar> >
+          ::run(derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
+  return derived();
+}
+
+template<typename Derived>
+inline Derived& SparseMatrixBase<Derived>::operator=(const Derived& other)
+{
+  internal::call_assignment_no_alias(derived(), other.derived());
+  return derived();
+}
+
+namespace internal {
+
+template<>
+struct storage_kind_to_evaluator_kind<Sparse> {
+  typedef IteratorBased Kind;
+};
+
+template<>
+struct storage_kind_to_shape<Sparse> {
+  typedef SparseShape Shape;
+};
+
+struct Sparse2Sparse {};
+struct Sparse2Dense  {};
+
+template<> struct AssignmentKind<SparseShape, SparseShape>           { typedef Sparse2Sparse Kind; };
+template<> struct AssignmentKind<SparseShape, SparseTriangularShape> { typedef Sparse2Sparse Kind; };
+template<> struct AssignmentKind<DenseShape,  SparseShape>           { typedef Sparse2Dense  Kind; };
+template<> struct AssignmentKind<DenseShape,  SparseTriangularShape> { typedef Sparse2Dense  Kind; };
+
+
+template<typename DstXprType, typename SrcXprType>
+void assign_sparse_to_sparse(DstXprType &dst, const SrcXprType &src)
+{
+  typedef typename DstXprType::Scalar Scalar;
+  typedef internal::evaluator<DstXprType> DstEvaluatorType;
+  typedef internal::evaluator<SrcXprType> SrcEvaluatorType;
+
+  SrcEvaluatorType srcEvaluator(src);
+
+  const bool transpose = (DstEvaluatorType::Flags & RowMajorBit) != (SrcEvaluatorType::Flags & RowMajorBit);
+  const Index outerEvaluationSize = (SrcEvaluatorType::Flags&RowMajorBit) ? src.rows() : src.cols();
+  if ((!transpose) && src.isRValue())
+  {
+    // eval without temporary
+    dst.resize(src.rows(), src.cols());
+    dst.setZero();
+    dst.reserve((std::max)(src.rows(),src.cols())*2);
+    for (Index j=0; j<outerEvaluationSize; ++j)
+    {
+      dst.startVec(j);
+      for (typename SrcEvaluatorType::InnerIterator it(srcEvaluator, j); it; ++it)
+      {
+        Scalar v = it.value();
+        dst.insertBackByOuterInner(j,it.index()) = v;
+      }
+    }
+    dst.finalize();
+  }
+  else
+  {
+    // eval through a temporary
+    eigen_assert(( ((internal::traits<DstXprType>::SupportedAccessPatterns & OuterRandomAccessPattern)==OuterRandomAccessPattern) ||
+              (!((DstEvaluatorType::Flags & RowMajorBit) != (SrcEvaluatorType::Flags & RowMajorBit)))) &&
+              "the transpose operation is supposed to be handled in SparseMatrix::operator=");
+
+    enum { Flip = (DstEvaluatorType::Flags & RowMajorBit) != (SrcEvaluatorType::Flags & RowMajorBit) };
+
+    
+    DstXprType temp(src.rows(), src.cols());
+
+    temp.reserve((std::max)(src.rows(),src.cols())*2);
+    for (Index j=0; j<outerEvaluationSize; ++j)
+    {
+      temp.startVec(j);
+      for (typename SrcEvaluatorType::InnerIterator it(srcEvaluator, j); it; ++it)
+      {
+        Scalar v = it.value();
+        temp.insertBackByOuterInner(Flip?it.index():j,Flip?j:it.index()) = v;
+      }
+    }
+    temp.finalize();
+
+    dst = temp.markAsRValue();
+  }
+}
+
+// Generic Sparse to Sparse assignment
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Sparse2Sparse>
+{
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  {
+    assign_sparse_to_sparse(dst.derived(), src.derived());
+  }
+};
+
+// Generic Sparse to Dense assignment
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Sparse2Dense>
+{
+  static void run(DstXprType &dst, const SrcXprType &src, const Functor &func)
+  {
+    if(internal::is_same<Functor,internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> >::value)
+      dst.setZero();
+    
+    internal::evaluator<SrcXprType> srcEval(src);
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+    internal::evaluator<DstXprType> dstEval(dst);
+    
+    const Index outerEvaluationSize = (internal::evaluator<SrcXprType>::Flags&RowMajorBit) ? src.rows() : src.cols();
+    for (Index j=0; j<outerEvaluationSize; ++j)
+      for (typename internal::evaluator<SrcXprType>::InnerIterator i(srcEval,j); i; ++i)
+        func.assignCoeff(dstEval.coeffRef(i.row(),i.col()), i.value());
+  }
+};
+
+// Specialization for "dst = dec.solve(rhs)"
+// NOTE we need to specialize it for Sparse2Sparse to avoid ambiguous specialization error
+template<typename DstXprType, typename DecType, typename RhsType, typename Scalar>
+struct Assignment<DstXprType, Solve<DecType,RhsType>, internal::assign_op<Scalar,Scalar>, Sparse2Sparse>
+{
+  typedef Solve<DecType,RhsType> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    src.dec()._solve_impl(src.rhs(), dst);
+  }
+};
+
+struct Diagonal2Sparse {};
+
+template<> struct AssignmentKind<SparseShape,DiagonalShape> { typedef Diagonal2Sparse Kind; };
+
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, Diagonal2Sparse>
+{
+  typedef typename DstXprType::StorageIndex StorageIndex;
+  typedef typename DstXprType::Scalar Scalar;
+  typedef Array<StorageIndex,Dynamic,1> ArrayXI;
+  typedef Array<Scalar,Dynamic,1> ArrayXS;
+  template<int Options>
+  static void run(SparseMatrix<Scalar,Options,StorageIndex> &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+
+    Index size = src.diagonal().size();
+    dst.makeCompressed();
+    dst.resizeNonZeros(size);
+    Map<ArrayXI>(dst.innerIndexPtr(), size).setLinSpaced(0,StorageIndex(size)-1);
+    Map<ArrayXI>(dst.outerIndexPtr(), size+1).setLinSpaced(0,StorageIndex(size));
+    Map<ArrayXS>(dst.valuePtr(), size) = src.diagonal();
+  }
+  
+  template<typename DstDerived>
+  static void run(SparseMatrixBase<DstDerived> &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  {
+    dst.diagonal() = src.diagonal();
+  }
+  
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  { dst.diagonal() += src.diagonal(); }
+  
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &/*func*/)
+  { dst.diagonal() -= src.diagonal(); }
+};
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_SPARSEASSIGN_H
diff --git a/eigenlib/Eigen/src/SparseCore/SparseBlock.h b/eigenlib/Eigen/src/SparseCore/SparseBlock.h
index 0c90bafb..511e92b2 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseBlock.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseBlock.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -10,8 +10,9 @@
 #ifndef EIGEN_SPARSE_BLOCK_H
 #define EIGEN_SPARSE_BLOCK_H
 
-namespace Eigen { 
+namespace Eigen {
 
+// Subset of columns or rows
 template<typename XprType, int BlockRows, int BlockCols>
 class BlockImpl<XprType,BlockRows,BlockCols,true,Sparse>
   : public SparseMatrixBase<Block<XprType,BlockRows,BlockCols,true> >
@@ -22,185 +23,189 @@ public:
     enum { IsRowMajor = internal::traits<BlockType>::IsRowMajor };
 protected:
     enum { OuterSize = IsRowMajor ? BlockRows : BlockCols };
+    typedef SparseMatrixBase<BlockType> Base;
+    using Base::convert_index;
 public:
     EIGEN_SPARSE_PUBLIC_INTERFACE(BlockType)
-    
-    class InnerIterator: public XprType::InnerIterator
-    {
-        typedef typename BlockImpl::Index Index;
-      public:
-        inline InnerIterator(const BlockType& xpr, Index outer)
-          : XprType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
-    class ReverseInnerIterator: public XprType::ReverseInnerIterator
-    {
-        typedef typename BlockImpl::Index Index;
-      public:
-        inline ReverseInnerIterator(const BlockType& xpr, Index outer)
-          : XprType::ReverseInnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
 
-    inline BlockImpl(const XprType& xpr, int i)
-      : m_matrix(xpr), m_outerStart(i), m_outerSize(OuterSize)
+    inline BlockImpl(XprType& xpr, Index i)
+      : m_matrix(xpr), m_outerStart(convert_index(i)), m_outerSize(OuterSize)
     {}
 
-    inline BlockImpl(const XprType& xpr, int startRow, int startCol, int blockRows, int blockCols)
-      : m_matrix(xpr), m_outerStart(IsRowMajor ? startRow : startCol), m_outerSize(IsRowMajor ? blockRows : blockCols)
+    inline BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+      : m_matrix(xpr), m_outerStart(convert_index(IsRowMajor ? startRow : startCol)), m_outerSize(convert_index(IsRowMajor ? blockRows : blockCols))
     {}
-    
-    inline const Scalar coeff(int row, int col) const
-    {
-      return m_matrix.coeff(row + IsRowMajor ? m_outerStart : 0, col +IsRowMajor ? 0 :  m_outerStart);
-    }
-    
-    inline const Scalar coeff(int index) const
-    {
-      return m_matrix.coeff(IsRowMajor ? m_outerStart : index, IsRowMajor ? index :  m_outerStart);
-    }
 
     EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
     EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
 
+    Index nonZeros() const
+    {
+      typedef internal::evaluator<XprType> EvaluatorType;
+      EvaluatorType matEval(m_matrix);
+      Index nnz = 0;
+      Index end = m_outerStart + m_outerSize.value();
+      for(Index j=m_outerStart; j<end; ++j)
+        for(typename EvaluatorType::InnerIterator it(matEval, j); it; ++it)
+          ++nnz;
+      return nnz;
+    }
+
+    inline const Scalar coeff(Index row, Index col) const
+    {
+      return m_matrix.coeff(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 :  m_outerStart));
+    }
+
+    inline const Scalar coeff(Index index) const
+    {
+      return m_matrix.coeff(IsRowMajor ? m_outerStart : index, IsRowMajor ? index :  m_outerStart);
+    }
+
+    inline const XprType& nestedExpression() const { return m_matrix; }
+    inline XprType& nestedExpression() { return m_matrix; }
+    Index startRow() const { return IsRowMajor ? m_outerStart : 0; }
+    Index startCol() const { return IsRowMajor ? 0 : m_outerStart; }
+    Index blockRows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    Index blockCols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+
   protected:
 
-    typename XprType::Nested m_matrix;
+    typename internal::ref_selector<XprType>::non_const_type m_matrix;
     Index m_outerStart;
     const internal::variable_if_dynamic<Index, OuterSize> m_outerSize;
 
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl)
-  private:
-    Index nonZeros() const;
+  protected:
+    // Disable assignment with clear error message.
+    // Note that simply removing operator= yields compilation errors with ICC+MSVC
+    template<typename T>
+    BlockImpl& operator=(const T&)
+    {
+      EIGEN_STATIC_ASSERT(sizeof(T)==0, THIS_SPARSE_BLOCK_SUBEXPRESSION_IS_READ_ONLY);
+      return *this;
+    }
 };
 
 
 /***************************************************************************
-* specialisation for SparseMatrix
+* specialization for SparseMatrix
 ***************************************************************************/
 
-template<typename _Scalar, int _Options, typename _Index, int BlockRows, int BlockCols>
-class BlockImpl<SparseMatrix<_Scalar, _Options, _Index>,BlockRows,BlockCols,true,Sparse>
-  : public SparseMatrixBase<Block<SparseMatrix<_Scalar, _Options, _Index>,BlockRows,BlockCols,true> >
+namespace internal {
+
+template<typename SparseMatrixType, int BlockRows, int BlockCols>
+class sparse_matrix_block_impl
+  : public SparseCompressedBase<Block<SparseMatrixType,BlockRows,BlockCols,true> >
 {
-    typedef SparseMatrix<_Scalar, _Options, _Index> SparseMatrixType;
     typedef typename internal::remove_all<typename SparseMatrixType::Nested>::type _MatrixTypeNested;
     typedef Block<SparseMatrixType, BlockRows, BlockCols, true> BlockType;
-    typedef Block<const SparseMatrixType, BlockRows, BlockCols, true> ConstBlockType;
+    typedef SparseCompressedBase<Block<SparseMatrixType,BlockRows,BlockCols,true> > Base;
+    using Base::convert_index;
 public:
     enum { IsRowMajor = internal::traits<BlockType>::IsRowMajor };
     EIGEN_SPARSE_PUBLIC_INTERFACE(BlockType)
 protected:
+    typedef typename Base::IndexVector IndexVector;
     enum { OuterSize = IsRowMajor ? BlockRows : BlockCols };
 public:
-    
-    class InnerIterator: public SparseMatrixType::InnerIterator
-    {
-      public:
-        inline InnerIterator(const BlockType& xpr, Index outer)
-          : SparseMatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
-    class ReverseInnerIterator: public SparseMatrixType::ReverseInnerIterator
-    {
-      public:
-        inline ReverseInnerIterator(const BlockType& xpr, Index outer)
-          : SparseMatrixType::ReverseInnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
 
-    inline BlockImpl(const SparseMatrixType& xpr, int i)
-      : m_matrix(xpr), m_outerStart(i), m_outerSize(OuterSize)
+    inline sparse_matrix_block_impl(SparseMatrixType& xpr, Index i)
+      : m_matrix(xpr), m_outerStart(convert_index(i)), m_outerSize(OuterSize)
     {}
 
-    inline BlockImpl(const SparseMatrixType& xpr, int startRow, int startCol, int blockRows, int blockCols)
-      : m_matrix(xpr), m_outerStart(IsRowMajor ? startRow : startCol), m_outerSize(IsRowMajor ? blockRows : blockCols)
+    inline sparse_matrix_block_impl(SparseMatrixType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+      : m_matrix(xpr), m_outerStart(convert_index(IsRowMajor ? startRow : startCol)), m_outerSize(convert_index(IsRowMajor ? blockRows : blockCols))
     {}
 
     template<typename OtherDerived>
     inline BlockType& operator=(const SparseMatrixBase<OtherDerived>& other)
     {
       typedef typename internal::remove_all<typename SparseMatrixType::Nested>::type _NestedMatrixType;
-      _NestedMatrixType& matrix = const_cast<_NestedMatrixType&>(m_matrix);;
-      // This assignement is slow if this vector set is not empty
+      _NestedMatrixType& matrix = m_matrix;
+      // This assignment is slow if this vector set is not empty
       // and/or it is not at the end of the nonzeros of the underlying matrix.
 
       // 1 - eval to a temporary to avoid transposition and/or aliasing issues
-      SparseMatrix<Scalar, IsRowMajor ? RowMajor : ColMajor, Index> tmp(other);
+      Ref<const SparseMatrix<Scalar, IsRowMajor ? RowMajor : ColMajor, StorageIndex> > tmp(other.derived());
+      eigen_internal_assert(tmp.outerSize()==m_outerSize.value());
 
       // 2 - let's check whether there is enough allocated memory
       Index nnz           = tmp.nonZeros();
-      Index start         = m_outerStart==0 ? 0 : matrix.outerIndexPtr()[m_outerStart]; // starting position of the current block
-      Index end           = m_matrix.outerIndexPtr()[m_outerStart+m_outerSize.value()]; // ending posiiton of the current block
+      Index start         = m_outerStart==0 ? 0 : m_matrix.outerIndexPtr()[m_outerStart]; // starting position of the current block
+      Index end           = m_matrix.outerIndexPtr()[m_outerStart+m_outerSize.value()]; // ending position of the current block
       Index block_size    = end - start;                                                // available room in the current block
       Index tail_size     = m_matrix.outerIndexPtr()[m_matrix.outerSize()] - end;
-      
+
       Index free_size     = m_matrix.isCompressed()
                           ? Index(matrix.data().allocatedSize()) + block_size
                           : block_size;
 
-      if(nnz>free_size) 
+      Index tmp_start = tmp.outerIndexPtr()[0];
+
+      bool update_trailing_pointers = false;
+      if(nnz>free_size)
       {
         // realloc manually to reduce copies
         typename SparseMatrixType::Storage newdata(m_matrix.data().allocatedSize() - block_size + nnz);
 
-        std::memcpy(&newdata.value(0), &m_matrix.data().value(0), start*sizeof(Scalar));
-        std::memcpy(&newdata.index(0), &m_matrix.data().index(0), start*sizeof(Index));
+        internal::smart_copy(m_matrix.valuePtr(),       m_matrix.valuePtr() + start,      newdata.valuePtr());
+        internal::smart_copy(m_matrix.innerIndexPtr(),  m_matrix.innerIndexPtr() + start, newdata.indexPtr());
 
-        std::memcpy(&newdata.value(start), &tmp.data().value(0), nnz*sizeof(Scalar));
-        std::memcpy(&newdata.index(start), &tmp.data().index(0), nnz*sizeof(Index));
+        internal::smart_copy(tmp.valuePtr() + tmp_start,      tmp.valuePtr() + tmp_start + nnz,       newdata.valuePtr() + start);
+        internal::smart_copy(tmp.innerIndexPtr() + tmp_start, tmp.innerIndexPtr() + tmp_start + nnz,  newdata.indexPtr() + start);
+
+        internal::smart_copy(matrix.valuePtr()+end,       matrix.valuePtr()+end + tail_size,      newdata.valuePtr()+start+nnz);
+        internal::smart_copy(matrix.innerIndexPtr()+end,  matrix.innerIndexPtr()+end + tail_size, newdata.indexPtr()+start+nnz);
 
-        std::memcpy(&newdata.value(start+nnz), &matrix.data().value(end), tail_size*sizeof(Scalar));
-        std::memcpy(&newdata.index(start+nnz), &matrix.data().index(end), tail_size*sizeof(Index));
-        
         newdata.resize(m_matrix.outerIndexPtr()[m_matrix.outerSize()] - block_size + nnz);
 
         matrix.data().swap(newdata);
+
+        update_trailing_pointers = true;
       }
       else
       {
-        // no need to realloc, simply copy the tail at its respective position and insert tmp
-        matrix.data().resize(start + nnz + tail_size);
+        if(m_matrix.isCompressed())
+        {
+          // no need to realloc, simply copy the tail at its respective position and insert tmp
+          matrix.data().resize(start + nnz + tail_size);
 
-        std::memmove(&matrix.data().value(start+nnz), &matrix.data().value(end), tail_size*sizeof(Scalar));
-        std::memmove(&matrix.data().index(start+nnz), &matrix.data().index(end), tail_size*sizeof(Index));
+          internal::smart_memmove(matrix.valuePtr()+end,      matrix.valuePtr() + end+tail_size,      matrix.valuePtr() + start+nnz);
+          internal::smart_memmove(matrix.innerIndexPtr()+end, matrix.innerIndexPtr() + end+tail_size, matrix.innerIndexPtr() + start+nnz);
 
-        std::memcpy(&matrix.data().value(start), &tmp.data().value(0), nnz*sizeof(Scalar));
-        std::memcpy(&matrix.data().index(start), &tmp.data().index(0), nnz*sizeof(Index));
+          update_trailing_pointers = true;
+        }
+
+        internal::smart_copy(tmp.valuePtr() + tmp_start,      tmp.valuePtr() + tmp_start + nnz,       matrix.valuePtr() + start);
+        internal::smart_copy(tmp.innerIndexPtr() + tmp_start, tmp.innerIndexPtr() + tmp_start + nnz,  matrix.innerIndexPtr() + start);
       }
-      
-      // update innerNonZeros
-      if(!m_matrix.isCompressed())
-        for(Index j=0; j<m_outerSize.value(); ++j)
-          matrix.innerNonZeroPtr()[m_outerStart+j] = tmp.innerVector(j).nonZeros();
 
-      // update outer index pointers
-      Index p = start;
-      for(Index k=0; k<m_outerSize.value(); ++k)
+      // update outer index pointers and innerNonZeros
+      if(IsVectorAtCompileTime)
       {
-        matrix.outerIndexPtr()[m_outerStart+k] = p;
-        p += tmp.innerVector(k).nonZeros();
+        if(!m_matrix.isCompressed())
+          matrix.innerNonZeroPtr()[m_outerStart] = StorageIndex(nnz);
+        matrix.outerIndexPtr()[m_outerStart] = StorageIndex(start);
       }
-      std::ptrdiff_t offset = nnz - block_size;
-      for(Index k = m_outerStart + m_outerSize.value(); k<=matrix.outerSize(); ++k)
+      else
       {
-        matrix.outerIndexPtr()[k] += offset;
+        StorageIndex p = StorageIndex(start);
+        for(Index k=0; k<m_outerSize.value(); ++k)
+        {
+          StorageIndex nnz_k = internal::convert_index<StorageIndex>(tmp.innerVector(k).nonZeros());
+          if(!m_matrix.isCompressed())
+            matrix.innerNonZeroPtr()[m_outerStart+k] = nnz_k;
+          matrix.outerIndexPtr()[m_outerStart+k] = p;
+          p += nnz_k;
+        }
+      }
+
+      if(update_trailing_pointers)
+      {
+        StorageIndex offset = internal::convert_index<StorageIndex>(nnz - block_size);
+        for(Index k = m_outerStart + m_outerSize.value(); k<=matrix.outerSize(); ++k)
+        {
+          matrix.outerIndexPtr()[k] += offset;
+        }
       }
 
       return derived();
@@ -212,50 +217,46 @@ public:
     }
 
     inline const Scalar* valuePtr() const
-    { return m_matrix.valuePtr() + m_matrix.outerIndexPtr()[m_outerStart]; }
+    { return m_matrix.valuePtr(); }
     inline Scalar* valuePtr()
-    { return m_matrix.const_cast_derived().valuePtr() + m_matrix.outerIndexPtr()[m_outerStart]; }
+    { return m_matrix.valuePtr(); }
 
-    inline const Index* innerIndexPtr() const
-    { return m_matrix.innerIndexPtr() + m_matrix.outerIndexPtr()[m_outerStart]; }
-    inline Index* innerIndexPtr()
-    { return m_matrix.const_cast_derived().innerIndexPtr() + m_matrix.outerIndexPtr()[m_outerStart]; }
+    inline const StorageIndex* innerIndexPtr() const
+    { return m_matrix.innerIndexPtr(); }
+    inline StorageIndex* innerIndexPtr()
+    { return m_matrix.innerIndexPtr(); }
 
-    inline const Index* outerIndexPtr() const
+    inline const StorageIndex* outerIndexPtr() const
+    { return m_matrix.outerIndexPtr() + m_outerStart; }
+    inline StorageIndex* outerIndexPtr()
     { return m_matrix.outerIndexPtr() + m_outerStart; }
-    inline Index* outerIndexPtr()
-    { return m_matrix.const_cast_derived().outerIndexPtr() + m_outerStart; }
 
-    Index nonZeros() const
+    inline const StorageIndex* innerNonZeroPtr() const
+    { return isCompressed() ? 0 : (m_matrix.innerNonZeroPtr()+m_outerStart); }
+    inline StorageIndex* innerNonZeroPtr()
+    { return isCompressed() ? 0 : (m_matrix.innerNonZeroPtr()+m_outerStart); }
+
+    bool isCompressed() const { return m_matrix.innerNonZeroPtr()==0; }
+
+    inline Scalar& coeffRef(Index row, Index col)
     {
-      if(m_matrix.isCompressed())
-        return  std::size_t(m_matrix.outerIndexPtr()[m_outerStart+m_outerSize.value()])
-              - std::size_t(m_matrix.outerIndexPtr()[m_outerStart]);
-      else if(m_outerSize.value()==0)
-        return 0;
-      else
-        return Map<const Matrix<Index,OuterSize,1> >(m_matrix.innerNonZeroPtr()+m_outerStart, m_outerSize.value()).sum();
+      return m_matrix.coeffRef(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 :  m_outerStart));
     }
-    
-    inline Scalar& coeffRef(int row, int col)
-    {
-      return m_matrix.const_cast_derived().coeffRef(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 :  m_outerStart));
-    }
-    
-    inline const Scalar coeff(int row, int col) const
+
+    inline const Scalar coeff(Index row, Index col) const
     {
       return m_matrix.coeff(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 :  m_outerStart));
     }
-    
-    inline const Scalar coeff(int index) const
+
+    inline const Scalar coeff(Index index) const
     {
       return m_matrix.coeff(IsRowMajor ? m_outerStart : index, IsRowMajor ? index :  m_outerStart);
     }
 
     const Scalar& lastCoeff() const
     {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(BlockImpl);
-      eigen_assert(nonZeros()>0);
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(sparse_matrix_block_impl);
+      eigen_assert(Base::nonZeros()>0);
       if(m_matrix.isCompressed())
         return m_matrix.valuePtr()[m_matrix.outerIndexPtr()[m_outerStart+1]-1];
       else
@@ -265,109 +266,62 @@ public:
     EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
     EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
 
+    inline const SparseMatrixType& nestedExpression() const { return m_matrix; }
+    inline SparseMatrixType& nestedExpression() { return m_matrix; }
+    Index startRow() const { return IsRowMajor ? m_outerStart : 0; }
+    Index startCol() const { return IsRowMajor ? 0 : m_outerStart; }
+    Index blockRows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
+    Index blockCols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
+
   protected:
 
-    typename SparseMatrixType::Nested m_matrix;
+    typename internal::ref_selector<SparseMatrixType>::non_const_type m_matrix;
     Index m_outerStart;
     const internal::variable_if_dynamic<Index, OuterSize> m_outerSize;
 
 };
 
+} // namespace internal
 
-template<typename _Scalar, int _Options, typename _Index, int BlockRows, int BlockCols>
-class BlockImpl<const SparseMatrix<_Scalar, _Options, _Index>,BlockRows,BlockCols,true,Sparse>
-  : public SparseMatrixBase<Block<const SparseMatrix<_Scalar, _Options, _Index>,BlockRows,BlockCols,true> >
+template<typename _Scalar, int _Options, typename _StorageIndex, int BlockRows, int BlockCols>
+class BlockImpl<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true,Sparse>
+  : public internal::sparse_matrix_block_impl<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols>
 {
-    typedef SparseMatrix<_Scalar, _Options, _Index> SparseMatrixType;
-    typedef typename internal::remove_all<typename SparseMatrixType::Nested>::type _MatrixTypeNested;
-    typedef Block<const SparseMatrixType, BlockRows, BlockCols, true> BlockType;
 public:
-    enum { IsRowMajor = internal::traits<BlockType>::IsRowMajor };
-    EIGEN_SPARSE_PUBLIC_INTERFACE(BlockType)
-protected:
-    enum { OuterSize = IsRowMajor ? BlockRows : BlockCols };
+  typedef _StorageIndex StorageIndex;
+  typedef SparseMatrix<_Scalar, _Options, _StorageIndex> SparseMatrixType;
+  typedef internal::sparse_matrix_block_impl<SparseMatrixType,BlockRows,BlockCols> Base;
+  inline BlockImpl(SparseMatrixType& xpr, Index i)
+    : Base(xpr, i)
+  {}
+
+  inline BlockImpl(SparseMatrixType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+    : Base(xpr, startRow, startCol, blockRows, blockCols)
+  {}
+
+  using Base::operator=;
+};
+
+template<typename _Scalar, int _Options, typename _StorageIndex, int BlockRows, int BlockCols>
+class BlockImpl<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true,Sparse>
+  : public internal::sparse_matrix_block_impl<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols>
+{
 public:
-    
-    class InnerIterator: public SparseMatrixType::InnerIterator
-    {
-      public:
-        inline InnerIterator(const BlockType& xpr, Index outer)
-          : SparseMatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
-    class ReverseInnerIterator: public SparseMatrixType::ReverseInnerIterator
-    {
-      public:
-        inline ReverseInnerIterator(const BlockType& xpr, Index outer)
-          : SparseMatrixType::ReverseInnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
+  typedef _StorageIndex StorageIndex;
+  typedef const SparseMatrix<_Scalar, _Options, _StorageIndex> SparseMatrixType;
+  typedef internal::sparse_matrix_block_impl<SparseMatrixType,BlockRows,BlockCols> Base;
+  inline BlockImpl(SparseMatrixType& xpr, Index i)
+    : Base(xpr, i)
+  {}
 
-    inline BlockImpl(const SparseMatrixType& xpr, int i)
-      : m_matrix(xpr), m_outerStart(i), m_outerSize(OuterSize)
-    {}
-
-    inline BlockImpl(const SparseMatrixType& xpr, int startRow, int startCol, int blockRows, int blockCols)
-      : m_matrix(xpr), m_outerStart(IsRowMajor ? startRow : startCol), m_outerSize(IsRowMajor ? blockRows : blockCols)
-    {}
-
-    inline const Scalar* valuePtr() const
-    { return m_matrix.valuePtr() + m_matrix.outerIndexPtr()[m_outerStart]; }
-
-    inline const Index* innerIndexPtr() const
-    { return m_matrix.innerIndexPtr() + m_matrix.outerIndexPtr()[m_outerStart]; }
-
-    inline const Index* outerIndexPtr() const
-    { return m_matrix.outerIndexPtr() + m_outerStart; }
-
-    Index nonZeros() const
-    {
-      if(m_matrix.isCompressed())
-        return  std::size_t(m_matrix.outerIndexPtr()[m_outerStart+m_outerSize.value()])
-              - std::size_t(m_matrix.outerIndexPtr()[m_outerStart]);
-      else if(m_outerSize.value()==0)
-        return 0;
-      else
-        return Map<const Matrix<Index,OuterSize,1> >(m_matrix.innerNonZeroPtr()+m_outerStart, m_outerSize.value()).sum();
-    }
-    
-    inline const Scalar coeff(int row, int col) const
-    {
-      return m_matrix.coeff(row + (IsRowMajor ? m_outerStart : 0), col + (IsRowMajor ? 0 :  m_outerStart));
-    }
-    
-    inline const Scalar coeff(int index) const
-    {
-      return m_matrix.coeff(IsRowMajor ? m_outerStart : index, IsRowMajor ? index :  m_outerStart);
-    }
-
-    const Scalar& lastCoeff() const
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(BlockImpl);
-      eigen_assert(nonZeros()>0);
-      if(m_matrix.isCompressed())
-        return m_matrix.valuePtr()[m_matrix.outerIndexPtr()[m_outerStart+1]-1];
-      else
-        return m_matrix.valuePtr()[m_matrix.outerIndexPtr()[m_outerStart]+m_matrix.innerNonZeroPtr()[m_outerStart]-1];
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
-
-  protected:
-
-    typename SparseMatrixType::Nested m_matrix;
-    Index m_outerStart;
-    const internal::variable_if_dynamic<Index, OuterSize> m_outerSize;
+  inline BlockImpl(SparseMatrixType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+    : Base(xpr, startRow, startCol, blockRows, blockCols)
+  {}
 
+  using Base::operator=;
+private:
+  template<typename Derived> BlockImpl(const SparseMatrixBase<Derived>& xpr, Index i);
+  template<typename Derived> BlockImpl(const SparseMatrixBase<Derived>& xpr);
 };
 
 //----------
@@ -396,7 +350,7 @@ SparseMatrixBase<Derived>::innerVectors(Index outerStart, Index outerSize)
   return Block<Derived,Dynamic,Dynamic,true>(derived(),
                                              IsRowMajor ? outerStart : 0, IsRowMajor ? 0 : outerStart,
                                              IsRowMajor ? outerSize : rows(), IsRowMajor ? cols() : outerSize);
-  
+
 }
 
 /** \returns the \a outer -th column (resp. row) of the matrix \c *this if \c *this
@@ -409,129 +363,241 @@ SparseMatrixBase<Derived>::innerVectors(Index outerStart, Index outerSize) const
   return Block<const Derived,Dynamic,Dynamic,true>(derived(),
                                                   IsRowMajor ? outerStart : 0, IsRowMajor ? 0 : outerStart,
                                                   IsRowMajor ? outerSize : rows(), IsRowMajor ? cols() : outerSize);
-  
+
 }
 
 /** Generic implementation of sparse Block expression.
-  * Real-only. 
+  * Real-only.
   */
 template<typename XprType, int BlockRows, int BlockCols, bool InnerPanel>
 class BlockImpl<XprType,BlockRows,BlockCols,InnerPanel,Sparse>
   : public SparseMatrixBase<Block<XprType,BlockRows,BlockCols,InnerPanel> >, internal::no_assignment_operator
 {
-  typedef typename internal::remove_all<typename XprType::Nested>::type _MatrixTypeNested;
-  typedef Block<XprType, BlockRows, BlockCols, InnerPanel> BlockType;
+    typedef Block<XprType, BlockRows, BlockCols, InnerPanel> BlockType;
+    typedef SparseMatrixBase<BlockType> Base;
+    using Base::convert_index;
 public:
     enum { IsRowMajor = internal::traits<BlockType>::IsRowMajor };
     EIGEN_SPARSE_PUBLIC_INTERFACE(BlockType)
 
+    typedef typename internal::remove_all<typename XprType::Nested>::type _MatrixTypeNested;
+
     /** Column or Row constructor
       */
-    inline BlockImpl(const XprType& xpr, int i)
+    inline BlockImpl(XprType& xpr, Index i)
       : m_matrix(xpr),
-        m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? i : 0),
-        m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? i : 0),
+        m_startRow( (BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) ? convert_index(i) : 0),
+        m_startCol( (BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) ? convert_index(i) : 0),
         m_blockRows(BlockRows==1 ? 1 : xpr.rows()),
         m_blockCols(BlockCols==1 ? 1 : xpr.cols())
     {}
 
     /** Dynamic-size constructor
       */
-    inline BlockImpl(const XprType& xpr, int startRow, int startCol, int blockRows, int blockCols)
-      : m_matrix(xpr), m_startRow(startRow), m_startCol(startCol), m_blockRows(blockRows), m_blockCols(blockCols)
+    inline BlockImpl(XprType& xpr, Index startRow, Index startCol, Index blockRows, Index blockCols)
+      : m_matrix(xpr), m_startRow(convert_index(startRow)), m_startCol(convert_index(startCol)), m_blockRows(convert_index(blockRows)), m_blockCols(convert_index(blockCols))
     {}
 
-    inline int rows() const { return m_blockRows.value(); }
-    inline int cols() const { return m_blockCols.value(); }
+    inline Index rows() const { return m_blockRows.value(); }
+    inline Index cols() const { return m_blockCols.value(); }
 
-    inline Scalar& coeffRef(int row, int col)
+    inline Scalar& coeffRef(Index row, Index col)
     {
-      return m_matrix.const_cast_derived()
-               .coeffRef(row + m_startRow.value(), col + m_startCol.value());
+      return m_matrix.coeffRef(row + m_startRow.value(), col + m_startCol.value());
     }
 
-    inline const Scalar coeff(int row, int col) const
+    inline const Scalar coeff(Index row, Index col) const
     {
       return m_matrix.coeff(row + m_startRow.value(), col + m_startCol.value());
     }
 
-    inline Scalar& coeffRef(int index)
+    inline Scalar& coeffRef(Index index)
     {
-      return m_matrix.const_cast_derived()
-             .coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                       m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+      return m_matrix.coeffRef(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                               m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
     }
 
-    inline const Scalar coeff(int index) const
+    inline const Scalar coeff(Index index) const
     {
-      return m_matrix
-             .coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
-                    m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
+      return m_matrix.coeff(m_startRow.value() + (RowsAtCompileTime == 1 ? 0 : index),
+                            m_startCol.value() + (RowsAtCompileTime == 1 ? index : 0));
     }
-    
-    inline const _MatrixTypeNested& nestedExpression() const { return m_matrix; }
-    
-    class InnerIterator : public _MatrixTypeNested::InnerIterator
-    {
-      typedef typename _MatrixTypeNested::InnerIterator Base;
-      const BlockType& m_block;
-      Index m_end;
-    public:
 
-      EIGEN_STRONG_INLINE InnerIterator(const BlockType& block, Index outer)
-        : Base(block.derived().nestedExpression(), outer + (IsRowMajor ? block.m_startRow.value() : block.m_startCol.value())),
-          m_block(block),
-          m_end(IsRowMajor ? block.m_startCol.value()+block.m_blockCols.value() : block.m_startRow.value()+block.m_blockRows.value())
-      {
-        while( (Base::operator bool()) && (Base::index() < (IsRowMajor ? m_block.m_startCol.value() : m_block.m_startRow.value())) )
-          Base::operator++();
-      }
+    inline const XprType& nestedExpression() const { return m_matrix; }
+    inline XprType& nestedExpression() { return m_matrix; }
+    Index startRow() const { return m_startRow.value(); }
+    Index startCol() const { return m_startCol.value(); }
+    Index blockRows() const { return m_blockRows.value(); }
+    Index blockCols() const { return m_blockCols.value(); }
 
-      inline Index index()  const { return Base::index() - (IsRowMajor ? m_block.m_startCol.value() : m_block.m_startRow.value()); }
-      inline Index outer()  const { return Base::outer() - (IsRowMajor ? m_block.m_startRow.value() : m_block.m_startCol.value()); }
-      inline Index row()    const { return Base::row()   - m_block.m_startRow.value(); }
-      inline Index col()    const { return Base::col()   - m_block.m_startCol.value(); }
-      
-      inline operator bool() const { return Base::operator bool() && Base::index() < m_end; }
-    };
-    class ReverseInnerIterator : public _MatrixTypeNested::ReverseInnerIterator
-    {
-      typedef typename _MatrixTypeNested::ReverseInnerIterator Base;
-      const BlockType& m_block;
-      Index m_begin;
-    public:
-
-      EIGEN_STRONG_INLINE ReverseInnerIterator(const BlockType& block, Index outer)
-        : Base(block.derived().nestedExpression(), outer + (IsRowMajor ? block.m_startRow.value() : block.m_startCol.value())),
-          m_block(block),
-          m_begin(IsRowMajor ? block.m_startCol.value() : block.m_startRow.value())
-      {
-        while( (Base::operator bool()) && (Base::index() >= (IsRowMajor ? m_block.m_startCol.value()+block.m_blockCols.value() : m_block.m_startRow.value()+block.m_blockRows.value())) )
-          Base::operator--();
-      }
-
-      inline Index index()  const { return Base::index() - (IsRowMajor ? m_block.m_startCol.value() : m_block.m_startRow.value()); }
-      inline Index outer()  const { return Base::outer() - (IsRowMajor ? m_block.m_startRow.value() : m_block.m_startCol.value()); }
-      inline Index row()    const { return Base::row()   - m_block.m_startRow.value(); }
-      inline Index col()    const { return Base::col()   - m_block.m_startCol.value(); }
-      
-      inline operator bool() const { return Base::operator bool() && Base::index() >= m_begin; }
-    };
   protected:
-    friend class InnerIterator;
-    friend class ReverseInnerIterator;
-    
-    EIGEN_INHERIT_ASSIGNMENT_OPERATORS(BlockImpl)
+//     friend class internal::GenericSparseBlockInnerIteratorImpl<XprType,BlockRows,BlockCols,InnerPanel>;
+    friend struct internal::unary_evaluator<Block<XprType,BlockRows,BlockCols,InnerPanel>, internal::IteratorBased, Scalar >;
 
-    typename XprType::Nested m_matrix;
+    Index nonZeros() const { return Dynamic; }
+
+    typename internal::ref_selector<XprType>::non_const_type m_matrix;
     const internal::variable_if_dynamic<Index, XprType::RowsAtCompileTime == 1 ? 0 : Dynamic> m_startRow;
     const internal::variable_if_dynamic<Index, XprType::ColsAtCompileTime == 1 ? 0 : Dynamic> m_startCol;
     const internal::variable_if_dynamic<Index, RowsAtCompileTime> m_blockRows;
     const internal::variable_if_dynamic<Index, ColsAtCompileTime> m_blockCols;
 
+  protected:
+    // Disable assignment with clear error message.
+    // Note that simply removing operator= yields compilation errors with ICC+MSVC
+    template<typename T>
+    BlockImpl& operator=(const T&)
+    {
+      EIGEN_STATIC_ASSERT(sizeof(T)==0, THIS_SPARSE_BLOCK_SUBEXPRESSION_IS_READ_ONLY);
+      return *this;
+    }
+
 };
 
+namespace internal {
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+struct unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBased >
+ : public evaluator_base<Block<ArgType,BlockRows,BlockCols,InnerPanel> >
+{
+    class InnerVectorInnerIterator;
+    class OuterVectorInnerIterator;
+  public:
+    typedef Block<ArgType,BlockRows,BlockCols,InnerPanel> XprType;
+    typedef typename XprType::StorageIndex StorageIndex;
+    typedef typename XprType::Scalar Scalar;
+
+    enum {
+      IsRowMajor = XprType::IsRowMajor,
+
+      OuterVector =  (BlockCols==1 && ArgType::IsRowMajor)
+                    | // FIXME | instead of || to please GCC 4.4.0 stupid warning "suggest parentheses around &&".
+                      // revert to || as soon as not needed anymore.
+                     (BlockRows==1 && !ArgType::IsRowMajor),
+
+      CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+      Flags = XprType::Flags
+    };
+
+    typedef typename internal::conditional<OuterVector,OuterVectorInnerIterator,InnerVectorInnerIterator>::type InnerIterator;
+
+    explicit unary_evaluator(const XprType& op)
+      : m_argImpl(op.nestedExpression()), m_block(op)
+    {}
+
+    inline Index nonZerosEstimate() const {
+      Index nnz = m_block.nonZeros();
+      if(nnz<0)
+        return m_argImpl.nonZerosEstimate() * m_block.size() / m_block.nestedExpression().size();
+      return nnz;
+    }
+
+  protected:
+    typedef typename evaluator<ArgType>::InnerIterator EvalIterator;
+
+    evaluator<ArgType> m_argImpl;
+    const XprType &m_block;
+};
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+class unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBased>::InnerVectorInnerIterator
+ : public EvalIterator
+{
+  enum { IsRowMajor = unary_evaluator::IsRowMajor };
+  const XprType& m_block;
+  Index m_end;
+public:
+
+  EIGEN_STRONG_INLINE InnerVectorInnerIterator(const unary_evaluator& aEval, Index outer)
+    : EvalIterator(aEval.m_argImpl, outer + (IsRowMajor ? aEval.m_block.startRow() : aEval.m_block.startCol())),
+      m_block(aEval.m_block),
+      m_end(IsRowMajor ? aEval.m_block.startCol()+aEval.m_block.blockCols() : aEval.m_block.startRow()+aEval.m_block.blockRows())
+  {
+    while( (EvalIterator::operator bool()) && (EvalIterator::index() < (IsRowMajor ? m_block.startCol() : m_block.startRow())) )
+      EvalIterator::operator++();
+  }
+
+  inline StorageIndex index() const { return EvalIterator::index() - convert_index<StorageIndex>(IsRowMajor ? m_block.startCol() : m_block.startRow()); }
+  inline Index outer()  const { return EvalIterator::outer() - (IsRowMajor ? m_block.startRow() : m_block.startCol()); }
+  inline Index row()    const { return EvalIterator::row()   - m_block.startRow(); }
+  inline Index col()    const { return EvalIterator::col()   - m_block.startCol(); }
+
+  inline operator bool() const { return EvalIterator::operator bool() && EvalIterator::index() < m_end; }
+};
+
+template<typename ArgType, int BlockRows, int BlockCols, bool InnerPanel>
+class unary_evaluator<Block<ArgType,BlockRows,BlockCols,InnerPanel>, IteratorBased>::OuterVectorInnerIterator
+{
+  enum { IsRowMajor = unary_evaluator::IsRowMajor };
+  const unary_evaluator& m_eval;
+  Index m_outerPos;
+  const Index m_innerIndex;
+  Index m_end;
+  EvalIterator m_it;
+public:
+
+  EIGEN_STRONG_INLINE OuterVectorInnerIterator(const unary_evaluator& aEval, Index outer)
+    : m_eval(aEval),
+      m_outerPos( (IsRowMajor ? aEval.m_block.startCol() : aEval.m_block.startRow()) ),
+      m_innerIndex(IsRowMajor ? aEval.m_block.startRow() : aEval.m_block.startCol()),
+      m_end(IsRowMajor ? aEval.m_block.startCol()+aEval.m_block.blockCols() : aEval.m_block.startRow()+aEval.m_block.blockRows()),
+      m_it(m_eval.m_argImpl, m_outerPos)
+  {
+    EIGEN_UNUSED_VARIABLE(outer);
+    eigen_assert(outer==0);
+
+    while(m_it && m_it.index() < m_innerIndex) ++m_it;
+    if((!m_it) || (m_it.index()!=m_innerIndex))
+      ++(*this);
+  }
+
+  inline StorageIndex index() const { return convert_index<StorageIndex>(m_outerPos - (IsRowMajor ? m_eval.m_block.startCol() : m_eval.m_block.startRow())); }
+  inline Index outer()  const { return 0; }
+  inline Index row()    const { return IsRowMajor ? 0 : index(); }
+  inline Index col()    const { return IsRowMajor ? index() : 0; }
+
+  inline Scalar value() const { return m_it.value(); }
+  inline Scalar& valueRef() { return m_it.valueRef(); }
+
+  inline OuterVectorInnerIterator& operator++()
+  {
+    // search next non-zero entry
+    while(++m_outerPos<m_end)
+    {
+      // Restart iterator at the next inner-vector:
+      m_it.~EvalIterator();
+      ::new (&m_it) EvalIterator(m_eval.m_argImpl, m_outerPos);
+      // search for the key m_innerIndex in the current outer-vector
+      while(m_it && m_it.index() < m_innerIndex) ++m_it;
+      if(m_it && m_it.index()==m_innerIndex) break;
+    }
+    return *this;
+  }
+
+  inline operator bool() const { return m_outerPos < m_end; }
+};
+
+template<typename _Scalar, int _Options, typename _StorageIndex, int BlockRows, int BlockCols>
+struct unary_evaluator<Block<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true>, IteratorBased>
+  : evaluator<SparseCompressedBase<Block<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true> > >
+{
+  typedef Block<SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true> XprType;
+  typedef evaluator<SparseCompressedBase<XprType> > Base;
+  explicit unary_evaluator(const XprType &xpr) : Base(xpr) {}
+};
+
+template<typename _Scalar, int _Options, typename _StorageIndex, int BlockRows, int BlockCols>
+struct unary_evaluator<Block<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true>, IteratorBased>
+  : evaluator<SparseCompressedBase<Block<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true> > >
+{
+  typedef Block<const SparseMatrix<_Scalar, _Options, _StorageIndex>,BlockRows,BlockCols,true> XprType;
+  typedef evaluator<SparseCompressedBase<XprType> > Base;
+  explicit unary_evaluator(const XprType &xpr) : Base(xpr) {}
+};
+
+} // end namespace internal
+
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSE_BLOCK_H
-
diff --git a/eigenlib/Eigen/src/SparseCore/SparseColEtree.h b/eigenlib/Eigen/src/SparseCore/SparseColEtree.h
index f8745f46..ebe02d1a 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseColEtree.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseColEtree.h
@@ -58,30 +58,29 @@ Index etree_find (Index i, IndexVector& pp)
   * \param perm The permutation to apply to the column of \b mat
   */
 template <typename MatrixType, typename IndexVector>
-int coletree(const MatrixType& mat, IndexVector& parent, IndexVector& firstRowElt, typename MatrixType::Index *perm=0)
+int coletree(const MatrixType& mat, IndexVector& parent, IndexVector& firstRowElt, typename MatrixType::StorageIndex *perm=0)
 {
-  typedef typename MatrixType::Index Index;
-  Index nc = mat.cols(); // Number of columns 
-  Index m = mat.rows();
-  Index diagSize = (std::min)(nc,m);
+  typedef typename MatrixType::StorageIndex StorageIndex;
+  StorageIndex nc = convert_index<StorageIndex>(mat.cols()); // Number of columns
+  StorageIndex m = convert_index<StorageIndex>(mat.rows());
+  StorageIndex diagSize = (std::min)(nc,m);
   IndexVector root(nc); // root of subtree of etree 
   root.setZero();
   IndexVector pp(nc); // disjoint sets 
   pp.setZero(); // Initialize disjoint sets 
   parent.resize(mat.cols());
   //Compute first nonzero column in each row 
-  Index row,col; 
   firstRowElt.resize(m);
   firstRowElt.setConstant(nc);
   firstRowElt.segment(0, diagSize).setLinSpaced(diagSize, 0, diagSize-1);
   bool found_diag;
-  for (col = 0; col < nc; col++)
+  for (StorageIndex col = 0; col < nc; col++)
   {
-    Index pcol = col;
+    StorageIndex pcol = col;
     if(perm) pcol  = perm[col];
     for (typename MatrixType::InnerIterator it(mat, pcol); it; ++it)
     { 
-      row = it.row();
+      Index row = it.row();
       firstRowElt(row) = (std::min)(firstRowElt(row), col);
     }
   }
@@ -89,8 +88,8 @@ int coletree(const MatrixType& mat, IndexVector& parent, IndexVector& firstRowEl
           except use (firstRowElt[r],c) in place of an edge (r,c) of A.
     Thus each row clique in A'*A is replaced by a star
     centered at its first vertex, which has the same fill. */
-  Index rset, cset, rroot; 
-  for (col = 0; col < nc; col++) 
+  StorageIndex rset, cset, rroot;
+  for (StorageIndex col = 0; col < nc; col++) 
   {
     found_diag = col>=m;
     pp(col) = col; 
@@ -99,7 +98,7 @@ int coletree(const MatrixType& mat, IndexVector& parent, IndexVector& firstRowEl
     parent(col) = nc; 
     /* The diagonal element is treated here even if it does not exist in the matrix
      * hence the loop is executed once more */ 
-    Index pcol = col;
+    StorageIndex pcol = col;
     if(perm) pcol  = perm[col];
     for (typename MatrixType::InnerIterator it(mat, pcol); it||!found_diag; ++it)
     { //  A sequence of interleaved find and union is performed 
@@ -107,7 +106,7 @@ int coletree(const MatrixType& mat, IndexVector& parent, IndexVector& firstRowEl
       if(it) i = it.index();
       if (i == col) found_diag = true;
       
-      row = firstRowElt(i);
+      StorageIndex row = firstRowElt(i);
       if (row >= col) continue; 
       rset = internal::etree_find(row, pp); // Find the name of the set containing row
       rroot = root(rset);
@@ -127,10 +126,11 @@ int coletree(const MatrixType& mat, IndexVector& parent, IndexVector& firstRowEl
   * Depth-first search from vertex n.  No recursion.
   * This routine was contributed by Cédric Doucet, CEDRAT Group, Meylan, France.
 */
-template <typename Index, typename IndexVector>
-void nr_etdfs (Index n, IndexVector& parent, IndexVector& first_kid, IndexVector& next_kid, IndexVector& post, Index postnum)
+template <typename IndexVector>
+void nr_etdfs (typename IndexVector::Scalar n, IndexVector& parent, IndexVector& first_kid, IndexVector& next_kid, IndexVector& post, typename IndexVector::Scalar postnum)
 {
-  Index current = n, first, next;
+  typedef typename IndexVector::Scalar StorageIndex;
+  StorageIndex current = n, first, next;
   while (postnum != n) 
   {
     // No kid for the current node
@@ -174,22 +174,22 @@ void nr_etdfs (Index n, IndexVector& parent, IndexVector& first_kid, IndexVector
   * \param parent Input tree
   * \param post postordered tree
   */
-template <typename Index, typename IndexVector>
-void treePostorder(Index n, IndexVector& parent, IndexVector& post)
+template <typename IndexVector>
+void treePostorder(typename IndexVector::Scalar n, IndexVector& parent, IndexVector& post)
 {
+  typedef typename IndexVector::Scalar StorageIndex;
   IndexVector first_kid, next_kid; // Linked list of children 
-  Index postnum; 
+  StorageIndex postnum; 
   // Allocate storage for working arrays and results 
   first_kid.resize(n+1); 
   next_kid.setZero(n+1);
   post.setZero(n+1);
   
   // Set up structure describing children
-  Index v, dad; 
   first_kid.setConstant(-1); 
-  for (v = n-1; v >= 0; v--) 
+  for (StorageIndex v = n-1; v >= 0; v--) 
   {
-    dad = parent(v);
+    StorageIndex dad = parent(v);
     next_kid(v) = first_kid(dad); 
     first_kid(dad) = v; 
   }
diff --git a/eigenlib/Eigen/src/SparseCore/SparseCompressedBase.h b/eigenlib/Eigen/src/SparseCore/SparseCompressedBase.h
new file mode 100644
index 00000000..e0850795
--- /dev/null
+++ b/eigenlib/Eigen/src/SparseCore/SparseCompressedBase.h
@@ -0,0 +1,325 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SPARSE_COMPRESSED_BASE_H
+#define EIGEN_SPARSE_COMPRESSED_BASE_H
+
+namespace Eigen { 
+
+template<typename Derived> class SparseCompressedBase;
+  
+namespace internal {
+
+template<typename Derived>
+struct traits<SparseCompressedBase<Derived> > : traits<Derived>
+{};
+
+} // end namespace internal
+
+/** \ingroup SparseCore_Module
+  * \class SparseCompressedBase
+  * \brief Common base class for sparse [compressed]-{row|column}-storage format.
+  *
+  * This class defines the common interface for all derived classes implementing the compressed sparse storage format, such as:
+  *  - SparseMatrix
+  *  - Ref<SparseMatrixType,Options>
+  *  - Map<SparseMatrixType>
+  *
+  */
+template<typename Derived>
+class SparseCompressedBase
+  : public SparseMatrixBase<Derived>
+{
+  public:
+    typedef SparseMatrixBase<Derived> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseCompressedBase)
+    using Base::operator=;
+    using Base::IsRowMajor;
+    
+    class InnerIterator;
+    class ReverseInnerIterator;
+    
+  protected:
+    typedef typename Base::IndexVector IndexVector;
+    Eigen::Map<IndexVector> innerNonZeros() { return Eigen::Map<IndexVector>(innerNonZeroPtr(), isCompressed()?0:derived().outerSize()); }
+    const  Eigen::Map<const IndexVector> innerNonZeros() const { return Eigen::Map<const IndexVector>(innerNonZeroPtr(), isCompressed()?0:derived().outerSize()); }
+        
+  public:
+    
+    /** \returns the number of non zero coefficients */
+    inline Index nonZeros() const
+    {
+      if(Derived::IsVectorAtCompileTime && outerIndexPtr()==0)
+        return derived().nonZeros();
+      else if(isCompressed())
+        return outerIndexPtr()[derived().outerSize()]-outerIndexPtr()[0];
+      else if(derived().outerSize()==0)
+        return 0;
+      else
+        return innerNonZeros().sum();
+    }
+    
+    /** \returns a const pointer to the array of values.
+      * This function is aimed at interoperability with other libraries.
+      * \sa innerIndexPtr(), outerIndexPtr() */
+    inline const Scalar* valuePtr() const { return derived().valuePtr(); }
+    /** \returns a non-const pointer to the array of values.
+      * This function is aimed at interoperability with other libraries.
+      * \sa innerIndexPtr(), outerIndexPtr() */
+    inline Scalar* valuePtr() { return derived().valuePtr(); }
+
+    /** \returns a const pointer to the array of inner indices.
+      * This function is aimed at interoperability with other libraries.
+      * \sa valuePtr(), outerIndexPtr() */
+    inline const StorageIndex* innerIndexPtr() const { return derived().innerIndexPtr(); }
+    /** \returns a non-const pointer to the array of inner indices.
+      * This function is aimed at interoperability with other libraries.
+      * \sa valuePtr(), outerIndexPtr() */
+    inline StorageIndex* innerIndexPtr() { return derived().innerIndexPtr(); }
+
+    /** \returns a const pointer to the array of the starting positions of the inner vectors.
+      * This function is aimed at interoperability with other libraries.
+      * \warning it returns the null pointer 0 for SparseVector
+      * \sa valuePtr(), innerIndexPtr() */
+    inline const StorageIndex* outerIndexPtr() const { return derived().outerIndexPtr(); }
+    /** \returns a non-const pointer to the array of the starting positions of the inner vectors.
+      * This function is aimed at interoperability with other libraries.
+      * \warning it returns the null pointer 0 for SparseVector
+      * \sa valuePtr(), innerIndexPtr() */
+    inline StorageIndex* outerIndexPtr() { return derived().outerIndexPtr(); }
+
+    /** \returns a const pointer to the array of the number of non zeros of the inner vectors.
+      * This function is aimed at interoperability with other libraries.
+      * \warning it returns the null pointer 0 in compressed mode */
+    inline const StorageIndex* innerNonZeroPtr() const { return derived().innerNonZeroPtr(); }
+    /** \returns a non-const pointer to the array of the number of non zeros of the inner vectors.
+      * This function is aimed at interoperability with other libraries.
+      * \warning it returns the null pointer 0 in compressed mode */
+    inline StorageIndex* innerNonZeroPtr() { return derived().innerNonZeroPtr(); }
+    
+    /** \returns whether \c *this is in compressed form. */
+    inline bool isCompressed() const { return innerNonZeroPtr()==0; }
+
+    /** \returns a read-only view of the stored coefficients as a 1D array expression.
+      *
+      * \warning this method is for \b compressed \b storage \b only, and it will trigger an assertion otherwise.
+      *
+      * \sa valuePtr(), isCompressed() */
+    const Map<const Array<Scalar,Dynamic,1> > coeffs() const { eigen_assert(isCompressed()); return Array<Scalar,Dynamic,1>::Map(valuePtr(),nonZeros()); }
+
+    /** \returns a read-write view of the stored coefficients as a 1D array expression
+      *
+      * \warning this method is for \b compressed \b storage \b only, and it will trigger an assertion otherwise.
+      *
+      * Here is an example:
+      * \include SparseMatrix_coeffs.cpp
+      * and the output is:
+      * \include SparseMatrix_coeffs.out
+      *
+      * \sa valuePtr(), isCompressed() */
+    Map<Array<Scalar,Dynamic,1> > coeffs() { eigen_assert(isCompressed()); return Array<Scalar,Dynamic,1>::Map(valuePtr(),nonZeros()); }
+
+  protected:
+    /** Default constructor. Do nothing. */
+    SparseCompressedBase() {}
+  private:
+    template<typename OtherDerived> explicit SparseCompressedBase(const SparseCompressedBase<OtherDerived>&);
+};
+
+template<typename Derived>
+class SparseCompressedBase<Derived>::InnerIterator
+{
+  public:
+    InnerIterator()
+      : m_values(0), m_indices(0), m_outer(0), m_id(0), m_end(0)
+    {}
+
+    InnerIterator(const InnerIterator& other)
+      : m_values(other.m_values), m_indices(other.m_indices), m_outer(other.m_outer), m_id(other.m_id), m_end(other.m_end)
+    {}
+
+    InnerIterator& operator=(const InnerIterator& other)
+    {
+      m_values = other.m_values;
+      m_indices = other.m_indices;
+      const_cast<OuterType&>(m_outer).setValue(other.m_outer.value());
+      m_id = other.m_id;
+      m_end = other.m_end;
+      return *this;
+    }
+
+    InnerIterator(const SparseCompressedBase& mat, Index outer)
+      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(outer)
+    {
+      if(Derived::IsVectorAtCompileTime && mat.outerIndexPtr()==0)
+      {
+        m_id = 0;
+        m_end = mat.nonZeros();
+      }
+      else
+      {
+        m_id = mat.outerIndexPtr()[outer];
+        if(mat.isCompressed())
+          m_end = mat.outerIndexPtr()[outer+1];
+        else
+          m_end = m_id + mat.innerNonZeroPtr()[outer];
+      }
+    }
+
+    explicit InnerIterator(const SparseCompressedBase& mat)
+      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(0), m_id(0), m_end(mat.nonZeros())
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+    }
+
+    explicit InnerIterator(const internal::CompressedStorage<Scalar,StorageIndex>& data)
+      : m_values(data.valuePtr()), m_indices(data.indexPtr()), m_outer(0), m_id(0), m_end(data.size())
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+    }
+
+    inline InnerIterator& operator++() { m_id++; return *this; }
+
+    inline const Scalar& value() const { return m_values[m_id]; }
+    inline Scalar& valueRef() { return const_cast<Scalar&>(m_values[m_id]); }
+
+    inline StorageIndex index() const { return m_indices[m_id]; }
+    inline Index outer() const { return m_outer.value(); }
+    inline Index row() const { return IsRowMajor ? m_outer.value() : index(); }
+    inline Index col() const { return IsRowMajor ? index() : m_outer.value(); }
+
+    inline operator bool() const { return (m_id < m_end); }
+
+  protected:
+    const Scalar* m_values;
+    const StorageIndex* m_indices;
+    typedef internal::variable_if_dynamic<Index,Derived::IsVectorAtCompileTime?0:Dynamic> OuterType;
+    const OuterType m_outer;
+    Index m_id;
+    Index m_end;
+  private:
+    // If you get here, then you're not using the right InnerIterator type, e.g.:
+    //   SparseMatrix<double,RowMajor> A;
+    //   SparseMatrix<double>::InnerIterator it(A,0);
+    template<typename T> InnerIterator(const SparseMatrixBase<T>&, Index outer);
+};
+
+template<typename Derived>
+class SparseCompressedBase<Derived>::ReverseInnerIterator
+{
+  public:
+    ReverseInnerIterator(const SparseCompressedBase& mat, Index outer)
+      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(outer)
+    {
+      if(Derived::IsVectorAtCompileTime && mat.outerIndexPtr()==0)
+      {
+        m_start = 0;
+        m_id = mat.nonZeros();
+      }
+      else
+      {
+        m_start = mat.outerIndexPtr()[outer];
+        if(mat.isCompressed())
+          m_id = mat.outerIndexPtr()[outer+1];
+        else
+          m_id = m_start + mat.innerNonZeroPtr()[outer];
+      }
+    }
+
+    explicit ReverseInnerIterator(const SparseCompressedBase& mat)
+      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(0), m_start(0), m_id(mat.nonZeros())
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+    }
+
+    explicit ReverseInnerIterator(const internal::CompressedStorage<Scalar,StorageIndex>& data)
+      : m_values(data.valuePtr()), m_indices(data.indexPtr()), m_outer(0), m_start(0), m_id(data.size())
+    {
+      EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived);
+    }
+
+    inline ReverseInnerIterator& operator--() { --m_id; return *this; }
+
+    inline const Scalar& value() const { return m_values[m_id-1]; }
+    inline Scalar& valueRef() { return const_cast<Scalar&>(m_values[m_id-1]); }
+
+    inline StorageIndex index() const { return m_indices[m_id-1]; }
+    inline Index outer() const { return m_outer.value(); }
+    inline Index row() const { return IsRowMajor ? m_outer.value() : index(); }
+    inline Index col() const { return IsRowMajor ? index() : m_outer.value(); }
+
+    inline operator bool() const { return (m_id > m_start); }
+
+  protected:
+    const Scalar* m_values;
+    const StorageIndex* m_indices;
+    typedef internal::variable_if_dynamic<Index,Derived::IsVectorAtCompileTime?0:Dynamic> OuterType;
+    const OuterType m_outer;
+    Index m_start;
+    Index m_id;
+};
+
+namespace internal {
+
+template<typename Derived>
+struct evaluator<SparseCompressedBase<Derived> >
+  : evaluator_base<Derived>
+{
+  typedef typename Derived::Scalar Scalar;
+  typedef typename Derived::InnerIterator InnerIterator;
+  
+  enum {
+    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    Flags = Derived::Flags
+  };
+  
+  evaluator() : m_matrix(0)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  explicit evaluator(const Derived &mat) : m_matrix(&mat)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  inline Index nonZerosEstimate() const {
+    return m_matrix->nonZeros();
+  }
+  
+  operator Derived&() { return m_matrix->const_cast_derived(); }
+  operator const Derived&() const { return *m_matrix; }
+  
+  typedef typename DenseCoeffsBase<Derived,ReadOnlyAccessors>::CoeffReturnType CoeffReturnType;
+  Scalar coeff(Index row, Index col) const
+  { return m_matrix->coeff(row,col); }
+  
+  Scalar& coeffRef(Index row, Index col)
+  {
+    eigen_internal_assert(row>=0 && row<m_matrix->rows() && col>=0 && col<m_matrix->cols());
+      
+    const Index outer = Derived::IsRowMajor ? row : col;
+    const Index inner = Derived::IsRowMajor ? col : row;
+
+    Index start = m_matrix->outerIndexPtr()[outer];
+    Index end = m_matrix->isCompressed() ? m_matrix->outerIndexPtr()[outer+1] : m_matrix->outerIndexPtr()[outer] + m_matrix->innerNonZeroPtr()[outer];
+    eigen_assert(end>start && "you are using a non finalized sparse matrix or written coefficient does not exist");
+    const Index p =   std::lower_bound(m_matrix->innerIndexPtr()+start, m_matrix->innerIndexPtr()+end,inner)
+                    - m_matrix->innerIndexPtr();
+    eigen_assert((p<end) && (m_matrix->innerIndexPtr()[p]==inner) && "written coefficient does not exist");
+    return m_matrix->const_cast_derived().valuePtr()[p];
+  }
+
+  const Derived *m_matrix;
+};
+
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_SPARSE_COMPRESSED_BASE_H
diff --git a/eigenlib/Eigen/src/SparseCore/SparseCwiseBinaryOp.h b/eigenlib/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
index 60ca7690..526c7121 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseCwiseBinaryOp.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -28,89 +28,57 @@ namespace Eigen {
 //                         generic      sparse
 //  4 - dense op dense     product      dense
 //                         generic      dense
-
-namespace internal {
-
-template<> struct promote_storage_type<Dense,Sparse>
-{ typedef Sparse ret; };
-
-template<> struct promote_storage_type<Sparse,Dense>
-{ typedef Sparse ret; };
-
-template<typename BinaryOp, typename Lhs, typename Rhs, typename Derived,
-  typename _LhsStorageMode = typename traits<Lhs>::StorageKind,
-  typename _RhsStorageMode = typename traits<Rhs>::StorageKind>
-class sparse_cwise_binary_op_inner_iterator_selector;
-
-} // end namespace internal
+//
+// TODO to ease compiler job, we could specialize product/quotient with a scalar
+//      and fallback to cwise-unary evaluator using bind1st_op and bind2nd_op.
 
 template<typename BinaryOp, typename Lhs, typename Rhs>
 class CwiseBinaryOpImpl<BinaryOp, Lhs, Rhs, Sparse>
   : public SparseMatrixBase<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
 {
   public:
-    class InnerIterator;
-    class ReverseInnerIterator;
     typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> Derived;
+    typedef SparseMatrixBase<Derived> Base;
     EIGEN_SPARSE_PUBLIC_INTERFACE(Derived)
     CwiseBinaryOpImpl()
     {
-      typedef typename internal::traits<Lhs>::StorageKind LhsStorageKind;
-      typedef typename internal::traits<Rhs>::StorageKind RhsStorageKind;
       EIGEN_STATIC_ASSERT((
-                (!internal::is_same<LhsStorageKind,RhsStorageKind>::value)
-            ||  ((Lhs::Flags&RowMajorBit) == (Rhs::Flags&RowMajorBit))),
+                (!internal::is_same<typename internal::traits<Lhs>::StorageKind,
+                                    typename internal::traits<Rhs>::StorageKind>::value)
+            ||  ((internal::evaluator<Lhs>::Flags&RowMajorBit) == (internal::evaluator<Rhs>::Flags&RowMajorBit))),
             THE_STORAGE_ORDER_OF_BOTH_SIDES_MUST_MATCH);
     }
 };
 
-template<typename BinaryOp, typename Lhs, typename Rhs>
-class CwiseBinaryOpImpl<BinaryOp,Lhs,Rhs,Sparse>::InnerIterator
-  : public internal::sparse_cwise_binary_op_inner_iterator_selector<BinaryOp,Lhs,Rhs,typename CwiseBinaryOpImpl<BinaryOp,Lhs,Rhs,Sparse>::InnerIterator>
-{
-  public:
-    typedef typename Lhs::Index Index;
-    typedef internal::sparse_cwise_binary_op_inner_iterator_selector<
-      BinaryOp,Lhs,Rhs, InnerIterator> Base;
-
-    // NOTE: we have to prefix Index by "typename Lhs::" to avoid an ICE with VC11
-    EIGEN_STRONG_INLINE InnerIterator(const CwiseBinaryOpImpl& binOp, typename Lhs::Index outer)
-      : Base(binOp.derived(),outer)
-    {}
-};
-
-/***************************************************************************
-* Implementation of inner-iterators
-***************************************************************************/
-
-// template<typename T> struct internal::func_is_conjunction { enum { ret = false }; };
-// template<typename T> struct internal::func_is_conjunction<internal::scalar_product_op<T> > { enum { ret = true }; };
-
-// TODO generalize the internal::scalar_product_op specialization to all conjunctions if any !
-
 namespace internal {
 
-// sparse - sparse  (generic)
-template<typename BinaryOp, typename Lhs, typename Rhs, typename Derived>
-class sparse_cwise_binary_op_inner_iterator_selector<BinaryOp, Lhs, Rhs, Derived, Sparse, Sparse>
+  
+// Generic "sparse OP sparse"
+template<typename XprType> struct binary_sparse_evaluator;
+
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IteratorBased, IteratorBased>
+  : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
 {
-    typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> CwiseBinaryXpr;
-    typedef typename traits<CwiseBinaryXpr>::Scalar Scalar;
-    typedef typename traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
-    typedef typename traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
-    typedef typename _LhsNested::InnerIterator LhsIterator;
-    typedef typename _RhsNested::InnerIterator RhsIterator;
-    typedef typename Lhs::Index Index;
+protected:
+  typedef typename evaluator<Lhs>::InnerIterator  LhsIterator;
+  typedef typename evaluator<Rhs>::InnerIterator  RhsIterator;
+  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
+  typedef typename traits<XprType>::Scalar Scalar;
+  typedef typename XprType::StorageIndex StorageIndex;
+public:
 
+  class InnerIterator
+  {
   public:
-
-    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
-      : m_lhsIter(xpr.lhs(),outer), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor())
+    
+    EIGEN_STRONG_INLINE InnerIterator(const binary_evaluator& aEval, Index outer)
+      : m_lhsIter(aEval.m_lhsImpl,outer), m_rhsIter(aEval.m_rhsImpl,outer), m_functor(aEval.m_functor)
     {
       this->operator++();
     }
 
-    EIGEN_STRONG_INLINE Derived& operator++()
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
     {
       if (m_lhsIter && m_rhsIter && (m_lhsIter.index() == m_rhsIter.index()))
       {
@@ -136,12 +104,13 @@ class sparse_cwise_binary_op_inner_iterator_selector<BinaryOp, Lhs, Rhs, Derived
         m_value = 0; // this is to avoid a compilation warning
         m_id = -1;
       }
-      return *static_cast<Derived*>(this);
+      return *this;
     }
 
     EIGEN_STRONG_INLINE Scalar value() const { return m_value; }
 
-    EIGEN_STRONG_INLINE Index index() const { return m_id; }
+    EIGEN_STRONG_INLINE StorageIndex index() const { return m_id; }
+    EIGEN_STRONG_INLINE Index outer() const { return m_lhsIter.outer(); }
     EIGEN_STRONG_INLINE Index row() const { return Lhs::IsRowMajor ? m_lhsIter.row() : index(); }
     EIGEN_STRONG_INLINE Index col() const { return Lhs::IsRowMajor ? index() : m_lhsIter.col(); }
 
@@ -152,25 +121,293 @@ class sparse_cwise_binary_op_inner_iterator_selector<BinaryOp, Lhs, Rhs, Derived
     RhsIterator m_rhsIter;
     const BinaryOp& m_functor;
     Scalar m_value;
-    Index m_id;
+    StorageIndex m_id;
+  };
+  
+  
+  enum {
+    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    Flags = XprType::Flags
+  };
+  
+  explicit binary_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()), 
+      m_rhsImpl(xpr.rhs())  
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  inline Index nonZerosEstimate() const {
+    return m_lhsImpl.nonZerosEstimate() + m_rhsImpl.nonZerosEstimate();
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<Lhs> m_lhsImpl;
+  evaluator<Rhs> m_rhsImpl;
 };
 
-// sparse - sparse  (product)
-template<typename T, typename Lhs, typename Rhs, typename Derived>
-class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs, Rhs, Derived, Sparse, Sparse>
+// dense op sparse
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IndexBased, IteratorBased>
+  : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
 {
-    typedef scalar_product_op<T> BinaryFunc;
-    typedef CwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
-    typedef typename CwiseBinaryXpr::Scalar Scalar;
-    typedef typename traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
-    typedef typename _LhsNested::InnerIterator LhsIterator;
-    typedef typename traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
-    typedef typename _RhsNested::InnerIterator RhsIterator;
-    typedef typename Lhs::Index Index;
+protected:
+  typedef typename evaluator<Rhs>::InnerIterator  RhsIterator;
+  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
+  typedef typename traits<XprType>::Scalar Scalar;
+  typedef typename XprType::StorageIndex StorageIndex;
+public:
+
+  class InnerIterator
+  {
+    enum { IsRowMajor = (int(Rhs::Flags)&RowMajorBit)==RowMajorBit };
   public:
 
-    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
-      : m_lhsIter(xpr.lhs(),outer), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor())
+    EIGEN_STRONG_INLINE InnerIterator(const binary_evaluator& aEval, Index outer)
+      : m_lhsEval(aEval.m_lhsImpl), m_rhsIter(aEval.m_rhsImpl,outer), m_functor(aEval.m_functor), m_value(0), m_id(-1), m_innerSize(aEval.m_expr.rhs().innerSize())
+    {
+      this->operator++();
+    }
+
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
+    {
+      ++m_id;
+      if(m_id<m_innerSize)
+      {
+        Scalar lhsVal = m_lhsEval.coeff(IsRowMajor?m_rhsIter.outer():m_id,
+                                        IsRowMajor?m_id:m_rhsIter.outer());
+        if(m_rhsIter && m_rhsIter.index()==m_id)
+        {
+          m_value = m_functor(lhsVal, m_rhsIter.value());
+          ++m_rhsIter;
+        }
+        else
+          m_value = m_functor(lhsVal, Scalar(0));
+      }
+
+      return *this;
+    }
+
+    EIGEN_STRONG_INLINE Scalar value() const { eigen_internal_assert(m_id<m_innerSize); return m_value; }
+
+    EIGEN_STRONG_INLINE StorageIndex index() const { return m_id; }
+    EIGEN_STRONG_INLINE Index outer() const { return m_rhsIter.outer(); }
+    EIGEN_STRONG_INLINE Index row() const { return IsRowMajor ? m_rhsIter.outer() : m_id; }
+    EIGEN_STRONG_INLINE Index col() const { return IsRowMajor ? m_id : m_rhsIter.outer(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_id<m_innerSize; }
+
+  protected:
+    const evaluator<Lhs> &m_lhsEval;
+    RhsIterator m_rhsIter;
+    const BinaryOp& m_functor;
+    Scalar m_value;
+    StorageIndex m_id;
+    StorageIndex m_innerSize;
+  };
+
+
+  enum {
+    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    // Expose storage order of the sparse expression
+    Flags = (XprType::Flags & ~RowMajorBit) | (int(Rhs::Flags)&RowMajorBit)
+  };
+
+  explicit binary_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()),
+      m_rhsImpl(xpr.rhs()),
+      m_expr(xpr)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  inline Index nonZerosEstimate() const {
+    return m_expr.size();
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<Lhs> m_lhsImpl;
+  evaluator<Rhs> m_rhsImpl;
+  const XprType &m_expr;
+};
+
+// sparse op dense
+template<typename BinaryOp, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<BinaryOp, Lhs, Rhs>, IteratorBased, IndexBased>
+  : evaluator_base<CwiseBinaryOp<BinaryOp, Lhs, Rhs> >
+{
+protected:
+  typedef typename evaluator<Lhs>::InnerIterator  LhsIterator;
+  typedef CwiseBinaryOp<BinaryOp, Lhs, Rhs> XprType;
+  typedef typename traits<XprType>::Scalar Scalar;
+  typedef typename XprType::StorageIndex StorageIndex;
+public:
+
+  class InnerIterator
+  {
+    enum { IsRowMajor = (int(Lhs::Flags)&RowMajorBit)==RowMajorBit };
+  public:
+
+    EIGEN_STRONG_INLINE InnerIterator(const binary_evaluator& aEval, Index outer)
+      : m_lhsIter(aEval.m_lhsImpl,outer), m_rhsEval(aEval.m_rhsImpl), m_functor(aEval.m_functor), m_value(0), m_id(-1), m_innerSize(aEval.m_expr.lhs().innerSize())
+    {
+      this->operator++();
+    }
+
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
+    {
+      ++m_id;
+      if(m_id<m_innerSize)
+      {
+        Scalar rhsVal = m_rhsEval.coeff(IsRowMajor?m_lhsIter.outer():m_id,
+                                        IsRowMajor?m_id:m_lhsIter.outer());
+        if(m_lhsIter && m_lhsIter.index()==m_id)
+        {
+          m_value = m_functor(m_lhsIter.value(), rhsVal);
+          ++m_lhsIter;
+        }
+        else
+          m_value = m_functor(Scalar(0),rhsVal);
+      }
+
+      return *this;
+    }
+
+    EIGEN_STRONG_INLINE Scalar value() const { eigen_internal_assert(m_id<m_innerSize); return m_value; }
+
+    EIGEN_STRONG_INLINE StorageIndex index() const { return m_id; }
+    EIGEN_STRONG_INLINE Index outer() const { return m_lhsIter.outer(); }
+    EIGEN_STRONG_INLINE Index row() const { return IsRowMajor ? m_lhsIter.outer() : m_id; }
+    EIGEN_STRONG_INLINE Index col() const { return IsRowMajor ? m_id : m_lhsIter.outer(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_id<m_innerSize; }
+
+  protected:
+    LhsIterator m_lhsIter;
+    const evaluator<Rhs> &m_rhsEval;
+    const BinaryOp& m_functor;
+    Scalar m_value;
+    StorageIndex m_id;
+    StorageIndex m_innerSize;
+  };
+
+
+  enum {
+    CoeffReadCost = evaluator<Lhs>::CoeffReadCost + evaluator<Rhs>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    // Expose storage order of the sparse expression
+    Flags = (XprType::Flags & ~RowMajorBit) | (int(Lhs::Flags)&RowMajorBit)
+  };
+
+  explicit binary_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()),
+      m_rhsImpl(xpr.rhs()),
+      m_expr(xpr)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+
+  inline Index nonZerosEstimate() const {
+    return m_expr.size();
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<Lhs> m_lhsImpl;
+  evaluator<Rhs> m_rhsImpl;
+  const XprType &m_expr;
+};
+
+template<typename T,
+         typename LhsKind   = typename evaluator_traits<typename T::Lhs>::Kind,
+         typename RhsKind   = typename evaluator_traits<typename T::Rhs>::Kind,
+         typename LhsScalar = typename traits<typename T::Lhs>::Scalar,
+         typename RhsScalar = typename traits<typename T::Rhs>::Scalar> struct sparse_conjunction_evaluator;
+
+// "sparse .* sparse"
+template<typename T1, typename T2, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs>, IteratorBased, IteratorBased>
+  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> XprType;
+  typedef sparse_conjunction_evaluator<XprType> Base;
+  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
+};
+// "dense .* sparse"
+template<typename T1, typename T2, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs>, IndexBased, IteratorBased>
+  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> XprType;
+  typedef sparse_conjunction_evaluator<XprType> Base;
+  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
+};
+// "sparse .* dense"
+template<typename T1, typename T2, typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs>, IteratorBased, IndexBased>
+  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<scalar_product_op<T1,T2>, Lhs, Rhs> XprType;
+  typedef sparse_conjunction_evaluator<XprType> Base;
+  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
+};
+
+// "sparse && sparse"
+template<typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs>, IteratorBased, IteratorBased>
+  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> XprType;
+  typedef sparse_conjunction_evaluator<XprType> Base;
+  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
+};
+// "dense && sparse"
+template<typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs>, IndexBased, IteratorBased>
+  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> XprType;
+  typedef sparse_conjunction_evaluator<XprType> Base;
+  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
+};
+// "sparse && dense"
+template<typename Lhs, typename Rhs>
+struct binary_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs>, IteratorBased, IndexBased>
+  : sparse_conjunction_evaluator<CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> >
+{
+  typedef CwiseBinaryOp<scalar_boolean_and_op, Lhs, Rhs> XprType;
+  typedef sparse_conjunction_evaluator<XprType> Base;
+  explicit binary_evaluator(const XprType& xpr) : Base(xpr) {}
+};
+
+// "sparse ^ sparse"
+template<typename XprType>
+struct sparse_conjunction_evaluator<XprType, IteratorBased, IteratorBased>
+  : evaluator_base<XprType>
+{
+protected:
+  typedef typename XprType::Functor BinaryOp;
+  typedef typename XprType::Lhs LhsArg;
+  typedef typename XprType::Rhs RhsArg;
+  typedef typename evaluator<LhsArg>::InnerIterator  LhsIterator;
+  typedef typename evaluator<RhsArg>::InnerIterator  RhsIterator;
+  typedef typename XprType::StorageIndex StorageIndex;
+  typedef typename traits<XprType>::Scalar Scalar;
+public:
+
+  class InnerIterator
+  {
+  public:
+    
+    EIGEN_STRONG_INLINE InnerIterator(const sparse_conjunction_evaluator& aEval, Index outer)
+      : m_lhsIter(aEval.m_lhsImpl,outer), m_rhsIter(aEval.m_rhsImpl,outer), m_functor(aEval.m_functor)
     {
       while (m_lhsIter && m_rhsIter && (m_lhsIter.index() != m_rhsIter.index()))
       {
@@ -181,7 +418,7 @@ class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs,
       }
     }
 
-    EIGEN_STRONG_INLINE Derived& operator++()
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
     {
       ++m_lhsIter;
       ++m_rhsIter;
@@ -192,12 +429,13 @@ class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs,
         else
           ++m_rhsIter;
       }
-      return *static_cast<Derived*>(this);
+      return *this;
     }
-
+    
     EIGEN_STRONG_INLINE Scalar value() const { return m_functor(m_lhsIter.value(), m_rhsIter.value()); }
 
-    EIGEN_STRONG_INLINE Index index() const { return m_lhsIter.index(); }
+    EIGEN_STRONG_INLINE StorageIndex index() const { return m_lhsIter.index(); }
+    EIGEN_STRONG_INLINE Index outer() const { return m_lhsIter.outer(); }
     EIGEN_STRONG_INLINE Index row() const { return m_lhsIter.row(); }
     EIGEN_STRONG_INLINE Index col() const { return m_lhsIter.col(); }
 
@@ -206,96 +444,205 @@ class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs,
   protected:
     LhsIterator m_lhsIter;
     RhsIterator m_rhsIter;
-    const BinaryFunc& m_functor;
+    const BinaryOp& m_functor;
+  };
+  
+  
+  enum {
+    CoeffReadCost = evaluator<LhsArg>::CoeffReadCost + evaluator<RhsArg>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    Flags = XprType::Flags
+  };
+  
+  explicit sparse_conjunction_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()), 
+      m_rhsImpl(xpr.rhs())  
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  inline Index nonZerosEstimate() const {
+    return (std::min)(m_lhsImpl.nonZerosEstimate(), m_rhsImpl.nonZerosEstimate());
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<LhsArg> m_lhsImpl;
+  evaluator<RhsArg> m_rhsImpl;
 };
 
-// sparse - dense  (product)
-template<typename T, typename Lhs, typename Rhs, typename Derived>
-class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs, Rhs, Derived, Sparse, Dense>
+// "dense ^ sparse"
+template<typename XprType>
+struct sparse_conjunction_evaluator<XprType, IndexBased, IteratorBased>
+  : evaluator_base<XprType>
 {
-    typedef scalar_product_op<T> BinaryFunc;
-    typedef CwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
-    typedef typename CwiseBinaryXpr::Scalar Scalar;
-    typedef typename traits<CwiseBinaryXpr>::_LhsNested _LhsNested;
-    typedef typename traits<CwiseBinaryXpr>::RhsNested RhsNested;
-    typedef typename _LhsNested::InnerIterator LhsIterator;
-    typedef typename Lhs::Index Index;
-    enum { IsRowMajor = (int(Lhs::Flags)&RowMajorBit)==RowMajorBit };
-  public:
+protected:
+  typedef typename XprType::Functor BinaryOp;
+  typedef typename XprType::Lhs LhsArg;
+  typedef typename XprType::Rhs RhsArg;
+  typedef evaluator<LhsArg> LhsEvaluator;
+  typedef typename evaluator<RhsArg>::InnerIterator  RhsIterator;
+  typedef typename XprType::StorageIndex StorageIndex;
+  typedef typename traits<XprType>::Scalar Scalar;
+public:
 
-    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
-      : m_rhs(xpr.rhs()), m_lhsIter(xpr.lhs(),outer), m_functor(xpr.functor()), m_outer(outer)
+  class InnerIterator
+  {
+    enum { IsRowMajor = (int(RhsArg::Flags)&RowMajorBit)==RowMajorBit };
+
+  public:
+    
+    EIGEN_STRONG_INLINE InnerIterator(const sparse_conjunction_evaluator& aEval, Index outer)
+      : m_lhsEval(aEval.m_lhsImpl), m_rhsIter(aEval.m_rhsImpl,outer), m_functor(aEval.m_functor), m_outer(outer)
     {}
 
-    EIGEN_STRONG_INLINE Derived& operator++()
-    {
-      ++m_lhsIter;
-      return *static_cast<Derived*>(this);
-    }
-
-    EIGEN_STRONG_INLINE Scalar value() const
-    { return m_functor(m_lhsIter.value(),
-                       m_rhs.coeff(IsRowMajor?m_outer:m_lhsIter.index(),IsRowMajor?m_lhsIter.index():m_outer)); }
-
-    EIGEN_STRONG_INLINE Index index() const { return m_lhsIter.index(); }
-    EIGEN_STRONG_INLINE Index row() const { return m_lhsIter.row(); }
-    EIGEN_STRONG_INLINE Index col() const { return m_lhsIter.col(); }
-
-    EIGEN_STRONG_INLINE operator bool() const { return m_lhsIter; }
-
-  protected:
-    RhsNested m_rhs;
-    LhsIterator m_lhsIter;
-    const BinaryFunc m_functor;
-    const Index m_outer;
-};
-
-// sparse - dense  (product)
-template<typename T, typename Lhs, typename Rhs, typename Derived>
-class sparse_cwise_binary_op_inner_iterator_selector<scalar_product_op<T>, Lhs, Rhs, Derived, Dense, Sparse>
-{
-    typedef scalar_product_op<T> BinaryFunc;
-    typedef CwiseBinaryOp<BinaryFunc, Lhs, Rhs> CwiseBinaryXpr;
-    typedef typename CwiseBinaryXpr::Scalar Scalar;
-    typedef typename traits<CwiseBinaryXpr>::_RhsNested _RhsNested;
-    typedef typename _RhsNested::InnerIterator RhsIterator;
-    typedef typename Lhs::Index Index;
-
-    enum { IsRowMajor = (int(Rhs::Flags)&RowMajorBit)==RowMajorBit };
-  public:
-
-    EIGEN_STRONG_INLINE sparse_cwise_binary_op_inner_iterator_selector(const CwiseBinaryXpr& xpr, Index outer)
-      : m_xpr(xpr), m_rhsIter(xpr.rhs(),outer), m_functor(xpr.functor()), m_outer(outer)
-    {}
-
-    EIGEN_STRONG_INLINE Derived& operator++()
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
     {
       ++m_rhsIter;
-      return *static_cast<Derived*>(this);
+      return *this;
     }
 
     EIGEN_STRONG_INLINE Scalar value() const
-    { return m_functor(m_xpr.lhs().coeff(IsRowMajor?m_outer:m_rhsIter.index(),IsRowMajor?m_rhsIter.index():m_outer), m_rhsIter.value()); }
+    { return m_functor(m_lhsEval.coeff(IsRowMajor?m_outer:m_rhsIter.index(),IsRowMajor?m_rhsIter.index():m_outer), m_rhsIter.value()); }
 
-    EIGEN_STRONG_INLINE Index index() const { return m_rhsIter.index(); }
+    EIGEN_STRONG_INLINE StorageIndex index() const { return m_rhsIter.index(); }
+    EIGEN_STRONG_INLINE Index outer() const { return m_rhsIter.outer(); }
     EIGEN_STRONG_INLINE Index row() const { return m_rhsIter.row(); }
     EIGEN_STRONG_INLINE Index col() const { return m_rhsIter.col(); }
 
     EIGEN_STRONG_INLINE operator bool() const { return m_rhsIter; }
-
+    
   protected:
-    const CwiseBinaryXpr& m_xpr;
+    const LhsEvaluator &m_lhsEval;
     RhsIterator m_rhsIter;
-    const BinaryFunc& m_functor;
+    const BinaryOp& m_functor;
     const Index m_outer;
+  };
+  
+  
+  enum {
+    CoeffReadCost = evaluator<LhsArg>::CoeffReadCost + evaluator<RhsArg>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    // Expose storage order of the sparse expression
+    Flags = (XprType::Flags & ~RowMajorBit) | (int(RhsArg::Flags)&RowMajorBit)
+  };
+  
+  explicit sparse_conjunction_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()), 
+      m_rhsImpl(xpr.rhs())  
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  inline Index nonZerosEstimate() const {
+    return m_rhsImpl.nonZerosEstimate();
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<LhsArg> m_lhsImpl;
+  evaluator<RhsArg> m_rhsImpl;
 };
 
-} // end namespace internal
+// "sparse ^ dense"
+template<typename XprType>
+struct sparse_conjunction_evaluator<XprType, IteratorBased, IndexBased>
+  : evaluator_base<XprType>
+{
+protected:
+  typedef typename XprType::Functor BinaryOp;
+  typedef typename XprType::Lhs LhsArg;
+  typedef typename XprType::Rhs RhsArg;
+  typedef typename evaluator<LhsArg>::InnerIterator LhsIterator;
+  typedef evaluator<RhsArg> RhsEvaluator;
+  typedef typename XprType::StorageIndex StorageIndex;
+  typedef typename traits<XprType>::Scalar Scalar;
+public:
+
+  class InnerIterator
+  {
+    enum { IsRowMajor = (int(LhsArg::Flags)&RowMajorBit)==RowMajorBit };
+
+  public:
+    
+    EIGEN_STRONG_INLINE InnerIterator(const sparse_conjunction_evaluator& aEval, Index outer)
+      : m_lhsIter(aEval.m_lhsImpl,outer), m_rhsEval(aEval.m_rhsImpl), m_functor(aEval.m_functor), m_outer(outer)
+    {}
+
+    EIGEN_STRONG_INLINE InnerIterator& operator++()
+    {
+      ++m_lhsIter;
+      return *this;
+    }
+
+    EIGEN_STRONG_INLINE Scalar value() const
+    { return m_functor(m_lhsIter.value(),
+                       m_rhsEval.coeff(IsRowMajor?m_outer:m_lhsIter.index(),IsRowMajor?m_lhsIter.index():m_outer)); }
+
+    EIGEN_STRONG_INLINE StorageIndex index() const { return m_lhsIter.index(); }
+    EIGEN_STRONG_INLINE Index outer() const { return m_lhsIter.outer(); }
+    EIGEN_STRONG_INLINE Index row() const { return m_lhsIter.row(); }
+    EIGEN_STRONG_INLINE Index col() const { return m_lhsIter.col(); }
+
+    EIGEN_STRONG_INLINE operator bool() const { return m_lhsIter; }
+    
+  protected:
+    LhsIterator m_lhsIter;
+    const evaluator<RhsArg> &m_rhsEval;
+    const BinaryOp& m_functor;
+    const Index m_outer;
+  };
+  
+  
+  enum {
+    CoeffReadCost = evaluator<LhsArg>::CoeffReadCost + evaluator<RhsArg>::CoeffReadCost + functor_traits<BinaryOp>::Cost,
+    // Expose storage order of the sparse expression
+    Flags = (XprType::Flags & ~RowMajorBit) | (int(LhsArg::Flags)&RowMajorBit)
+  };
+  
+  explicit sparse_conjunction_evaluator(const XprType& xpr)
+    : m_functor(xpr.functor()),
+      m_lhsImpl(xpr.lhs()), 
+      m_rhsImpl(xpr.rhs())  
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<BinaryOp>::Cost);
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  inline Index nonZerosEstimate() const {
+    return m_lhsImpl.nonZerosEstimate();
+  }
+
+protected:
+  const BinaryOp m_functor;
+  evaluator<LhsArg> m_lhsImpl;
+  evaluator<RhsArg> m_rhsImpl;
+};
+
+}
 
 /***************************************************************************
 * Implementation of SparseMatrixBase and SparseCwise functions/operators
 ***************************************************************************/
 
+template<typename Derived>
+template<typename OtherDerived>
+Derived& SparseMatrixBase<Derived>::operator+=(const EigenBase<OtherDerived> &other)
+{
+  call_assignment(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+Derived& SparseMatrixBase<Derived>::operator-=(const EigenBase<OtherDerived> &other)
+{
+  call_assignment(derived(), other.derived(), internal::assign_op<Scalar,typename OtherDerived::Scalar>());
+  return derived();
+}
+
 template<typename Derived>
 template<typename OtherDerived>
 EIGEN_STRONG_INLINE Derived &
@@ -314,10 +661,54 @@ SparseMatrixBase<Derived>::operator+=(const SparseMatrixBase<OtherDerived>& othe
 
 template<typename Derived>
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE
+Derived& SparseMatrixBase<Derived>::operator+=(const DiagonalBase<OtherDerived>& other)
+{
+  call_assignment_no_alias(derived(), other.derived(), internal::add_assign_op<Scalar,typename OtherDerived::Scalar>());
+  return derived();
+}
+
+template<typename Derived>
+template<typename OtherDerived>
+Derived& SparseMatrixBase<Derived>::operator-=(const DiagonalBase<OtherDerived>& other)
+{
+  call_assignment_no_alias(derived(), other.derived(), internal::sub_assign_op<Scalar,typename OtherDerived::Scalar>());
+  return derived();
+}
+    
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_STRONG_INLINE const typename SparseMatrixBase<Derived>::template CwiseProductDenseReturnType<OtherDerived>::Type
 SparseMatrixBase<Derived>::cwiseProduct(const MatrixBase<OtherDerived> &other) const
 {
-  return EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE(derived(), other.derived());
+  return typename CwiseProductDenseReturnType<OtherDerived>::Type(derived(), other.derived());
+}
+
+template<typename DenseDerived, typename SparseDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_sum_op<typename DenseDerived::Scalar,typename SparseDerived::Scalar>, const DenseDerived, const SparseDerived>
+operator+(const MatrixBase<DenseDerived> &a, const SparseMatrixBase<SparseDerived> &b)
+{
+  return CwiseBinaryOp<internal::scalar_sum_op<typename DenseDerived::Scalar,typename SparseDerived::Scalar>, const DenseDerived, const SparseDerived>(a.derived(), b.derived());
+}
+
+template<typename SparseDerived, typename DenseDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_sum_op<typename SparseDerived::Scalar,typename DenseDerived::Scalar>, const SparseDerived, const DenseDerived>
+operator+(const SparseMatrixBase<SparseDerived> &a, const MatrixBase<DenseDerived> &b)
+{
+  return CwiseBinaryOp<internal::scalar_sum_op<typename SparseDerived::Scalar,typename DenseDerived::Scalar>, const SparseDerived, const DenseDerived>(a.derived(), b.derived());
+}
+
+template<typename DenseDerived, typename SparseDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_difference_op<typename DenseDerived::Scalar,typename SparseDerived::Scalar>, const DenseDerived, const SparseDerived>
+operator-(const MatrixBase<DenseDerived> &a, const SparseMatrixBase<SparseDerived> &b)
+{
+  return CwiseBinaryOp<internal::scalar_difference_op<typename DenseDerived::Scalar,typename SparseDerived::Scalar>, const DenseDerived, const SparseDerived>(a.derived(), b.derived());
+}
+
+template<typename SparseDerived, typename DenseDerived>
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_difference_op<typename SparseDerived::Scalar,typename DenseDerived::Scalar>, const SparseDerived, const DenseDerived>
+operator-(const SparseMatrixBase<SparseDerived> &a, const MatrixBase<DenseDerived> &b)
+{
+  return CwiseBinaryOp<internal::scalar_difference_op<typename SparseDerived::Scalar,typename DenseDerived::Scalar>, const SparseDerived, const DenseDerived>(a.derived(), b.derived());
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/SparseCore/SparseCwiseUnaryOp.h b/eigenlib/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
index 5a50c780..ea797379 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseCwiseUnaryOp.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -12,138 +12,121 @@
 
 namespace Eigen { 
 
-template<typename UnaryOp, typename MatrixType>
-class CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>
-  : public SparseMatrixBase<CwiseUnaryOp<UnaryOp, MatrixType> >
+namespace internal {
+  
+template<typename UnaryOp, typename ArgType>
+struct unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>
+  : public evaluator_base<CwiseUnaryOp<UnaryOp,ArgType> >
 {
   public:
+    typedef CwiseUnaryOp<UnaryOp, ArgType> XprType;
 
     class InnerIterator;
-    class ReverseInnerIterator;
-
-    typedef CwiseUnaryOp<UnaryOp, MatrixType> Derived;
-    EIGEN_SPARSE_PUBLIC_INTERFACE(Derived)
+    
+    enum {
+      CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<UnaryOp>::Cost,
+      Flags = XprType::Flags
+    };
+    
+    explicit unary_evaluator(const XprType& op) : m_functor(op.functor()), m_argImpl(op.nestedExpression())
+    {
+      EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<UnaryOp>::Cost);
+      EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+    }
+    
+    inline Index nonZerosEstimate() const {
+      return m_argImpl.nonZerosEstimate();
+    }
 
   protected:
-    typedef typename internal::traits<Derived>::_XprTypeNested _MatrixTypeNested;
-    typedef typename _MatrixTypeNested::InnerIterator MatrixTypeIterator;
-    typedef typename _MatrixTypeNested::ReverseInnerIterator MatrixTypeReverseIterator;
+    typedef typename evaluator<ArgType>::InnerIterator        EvalIterator;
+    
+    const UnaryOp m_functor;
+    evaluator<ArgType> m_argImpl;
 };
 
-template<typename UnaryOp, typename MatrixType>
-class CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::InnerIterator
-    : public CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::MatrixTypeIterator
+template<typename UnaryOp, typename ArgType>
+class unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>::InnerIterator
+    : public unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>::EvalIterator
 {
-    typedef typename CwiseUnaryOpImpl::Scalar Scalar;
-    typedef typename CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::MatrixTypeIterator Base;
+    typedef typename XprType::Scalar Scalar;
+    typedef typename unary_evaluator<CwiseUnaryOp<UnaryOp,ArgType>, IteratorBased>::EvalIterator Base;
   public:
 
-    EIGEN_STRONG_INLINE InnerIterator(const CwiseUnaryOpImpl& unaryOp, typename CwiseUnaryOpImpl::Index outer)
-      : Base(unaryOp.derived().nestedExpression(),outer), m_functor(unaryOp.derived().functor())
+    EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& unaryOp, Index outer)
+      : Base(unaryOp.m_argImpl,outer), m_functor(unaryOp.m_functor)
     {}
 
     EIGEN_STRONG_INLINE InnerIterator& operator++()
     { Base::operator++(); return *this; }
 
-    EIGEN_STRONG_INLINE typename CwiseUnaryOpImpl::Scalar value() const { return m_functor(Base::value()); }
+    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(Base::value()); }
 
   protected:
     const UnaryOp m_functor;
   private:
-    typename CwiseUnaryOpImpl::Scalar& valueRef();
+    Scalar& valueRef();
 };
 
-template<typename UnaryOp, typename MatrixType>
-class CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::ReverseInnerIterator
-    : public CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::MatrixTypeReverseIterator
-{
-    typedef typename CwiseUnaryOpImpl::Scalar Scalar;
-    typedef typename CwiseUnaryOpImpl<UnaryOp,MatrixType,Sparse>::MatrixTypeReverseIterator Base;
-  public:
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator(const CwiseUnaryOpImpl& unaryOp, typename CwiseUnaryOpImpl::Index outer)
-      : Base(unaryOp.derived().nestedExpression(),outer), m_functor(unaryOp.derived().functor())
-    {}
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator& operator--()
-    { Base::operator--(); return *this; }
-
-    EIGEN_STRONG_INLINE typename CwiseUnaryOpImpl::Scalar value() const { return m_functor(Base::value()); }
-
-  protected:
-    const UnaryOp m_functor;
-  private:
-    typename CwiseUnaryOpImpl::Scalar& valueRef();
-};
-
-template<typename ViewOp, typename MatrixType>
-class CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>
-  : public SparseMatrixBase<CwiseUnaryView<ViewOp, MatrixType> >
+template<typename ViewOp, typename ArgType>
+struct unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>
+  : public evaluator_base<CwiseUnaryView<ViewOp,ArgType> >
 {
   public:
+    typedef CwiseUnaryView<ViewOp, ArgType> XprType;
 
     class InnerIterator;
-    class ReverseInnerIterator;
-
-    typedef CwiseUnaryView<ViewOp, MatrixType> Derived;
-    EIGEN_SPARSE_PUBLIC_INTERFACE(Derived)
+    
+    enum {
+      CoeffReadCost = evaluator<ArgType>::CoeffReadCost + functor_traits<ViewOp>::Cost,
+      Flags = XprType::Flags
+    };
+    
+    explicit unary_evaluator(const XprType& op) : m_functor(op.functor()), m_argImpl(op.nestedExpression())
+    {
+      EIGEN_INTERNAL_CHECK_COST_VALUE(functor_traits<ViewOp>::Cost);
+      EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+    }
 
   protected:
-    typedef typename internal::traits<Derived>::_MatrixTypeNested _MatrixTypeNested;
-    typedef typename _MatrixTypeNested::InnerIterator MatrixTypeIterator;
-    typedef typename _MatrixTypeNested::ReverseInnerIterator MatrixTypeReverseIterator;
+    typedef typename evaluator<ArgType>::InnerIterator        EvalIterator;
+    
+    const ViewOp m_functor;
+    evaluator<ArgType> m_argImpl;
 };
 
-template<typename ViewOp, typename MatrixType>
-class CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::InnerIterator
-    : public CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::MatrixTypeIterator
+template<typename ViewOp, typename ArgType>
+class unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>::InnerIterator
+    : public unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>::EvalIterator
 {
-    typedef typename CwiseUnaryViewImpl::Scalar Scalar;
-    typedef typename CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::MatrixTypeIterator Base;
+    typedef typename XprType::Scalar Scalar;
+    typedef typename unary_evaluator<CwiseUnaryView<ViewOp,ArgType>, IteratorBased>::EvalIterator Base;
   public:
 
-    EIGEN_STRONG_INLINE InnerIterator(const CwiseUnaryViewImpl& unaryOp, typename CwiseUnaryViewImpl::Index outer)
-      : Base(unaryOp.derived().nestedExpression(),outer), m_functor(unaryOp.derived().functor())
+    EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& unaryOp, Index outer)
+      : Base(unaryOp.m_argImpl,outer), m_functor(unaryOp.m_functor)
     {}
 
     EIGEN_STRONG_INLINE InnerIterator& operator++()
     { Base::operator++(); return *this; }
 
-    EIGEN_STRONG_INLINE typename CwiseUnaryViewImpl::Scalar value() const { return m_functor(Base::value()); }
-    EIGEN_STRONG_INLINE typename CwiseUnaryViewImpl::Scalar& valueRef() { return m_functor(Base::valueRef()); }
+    EIGEN_STRONG_INLINE Scalar value() const { return m_functor(Base::value()); }
+    EIGEN_STRONG_INLINE Scalar& valueRef() { return m_functor(Base::valueRef()); }
 
   protected:
     const ViewOp m_functor;
 };
 
-template<typename ViewOp, typename MatrixType>
-class CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::ReverseInnerIterator
-    : public CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::MatrixTypeReverseIterator
-{
-    typedef typename CwiseUnaryViewImpl::Scalar Scalar;
-    typedef typename CwiseUnaryViewImpl<ViewOp,MatrixType,Sparse>::MatrixTypeReverseIterator Base;
-  public:
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator(const CwiseUnaryViewImpl& unaryOp, typename CwiseUnaryViewImpl::Index outer)
-      : Base(unaryOp.derived().nestedExpression(),outer), m_functor(unaryOp.derived().functor())
-    {}
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator& operator--()
-    { Base::operator--(); return *this; }
-
-    EIGEN_STRONG_INLINE typename CwiseUnaryViewImpl::Scalar value() const { return m_functor(Base::value()); }
-    EIGEN_STRONG_INLINE typename CwiseUnaryViewImpl::Scalar& valueRef() { return m_functor(Base::valueRef()); }
-
-  protected:
-    const ViewOp m_functor;
-};
+} // end namespace internal
 
 template<typename Derived>
 EIGEN_STRONG_INLINE Derived&
 SparseMatrixBase<Derived>::operator*=(const Scalar& other)
 {
+  typedef typename internal::evaluator<Derived>::InnerIterator EvalIterator;
+  internal::evaluator<Derived> thisEval(derived());
   for (Index j=0; j<outerSize(); ++j)
-    for (typename Derived::InnerIterator i(derived(),j); i; ++i)
+    for (EvalIterator i(thisEval,j); i; ++i)
       i.valueRef() *= other;
   return derived();
 }
@@ -152,8 +135,10 @@ template<typename Derived>
 EIGEN_STRONG_INLINE Derived&
 SparseMatrixBase<Derived>::operator/=(const Scalar& other)
 {
+  typedef typename internal::evaluator<Derived>::InnerIterator EvalIterator;
+  internal::evaluator<Derived> thisEval(derived());
   for (Index j=0; j<outerSize(); ++j)
-    for (typename Derived::InnerIterator i(derived(),j); i; ++i)
+    for (EvalIterator i(thisEval,j); i; ++i)
       i.valueRef() /= other;
   return derived();
 }
diff --git a/eigenlib/Eigen/src/SparseCore/SparseDenseProduct.h b/eigenlib/Eigen/src/SparseCore/SparseDenseProduct.h
index ccb6ae7b..0547db59 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseDenseProduct.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseDenseProduct.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -12,196 +12,93 @@
 
 namespace Eigen { 
 
-template<typename Lhs, typename Rhs, int InnerSize> struct SparseDenseProductReturnType
-{
-  typedef SparseTimeDenseProduct<Lhs,Rhs> Type;
-};
-
-template<typename Lhs, typename Rhs> struct SparseDenseProductReturnType<Lhs,Rhs,1>
-{
-  typedef typename internal::conditional<
-    Lhs::IsRowMajor,
-    SparseDenseOuterProduct<Rhs,Lhs,true>,
-    SparseDenseOuterProduct<Lhs,Rhs,false> >::type Type;
-};
-
-template<typename Lhs, typename Rhs, int InnerSize> struct DenseSparseProductReturnType
-{
-  typedef DenseTimeSparseProduct<Lhs,Rhs> Type;
-};
-
-template<typename Lhs, typename Rhs> struct DenseSparseProductReturnType<Lhs,Rhs,1>
-{
-  typedef typename internal::conditional<
-    Rhs::IsRowMajor,
-    SparseDenseOuterProduct<Rhs,Lhs,true>,
-    SparseDenseOuterProduct<Lhs,Rhs,false> >::type Type;
-};
-
 namespace internal {
 
-template<typename Lhs, typename Rhs, bool Tr>
-struct traits<SparseDenseOuterProduct<Lhs,Rhs,Tr> >
-{
-  typedef Sparse StorageKind;
-  typedef typename scalar_product_traits<typename traits<Lhs>::Scalar,
-                                         typename traits<Rhs>::Scalar>::ReturnType Scalar;
-  typedef typename Lhs::Index Index;
-  typedef typename Lhs::Nested LhsNested;
-  typedef typename Rhs::Nested RhsNested;
-  typedef typename remove_all<LhsNested>::type _LhsNested;
-  typedef typename remove_all<RhsNested>::type _RhsNested;
-
-  enum {
-    LhsCoeffReadCost = traits<_LhsNested>::CoeffReadCost,
-    RhsCoeffReadCost = traits<_RhsNested>::CoeffReadCost,
-
-    RowsAtCompileTime    = Tr ? int(traits<Rhs>::RowsAtCompileTime)     : int(traits<Lhs>::RowsAtCompileTime),
-    ColsAtCompileTime    = Tr ? int(traits<Lhs>::ColsAtCompileTime)     : int(traits<Rhs>::ColsAtCompileTime),
-    MaxRowsAtCompileTime = Tr ? int(traits<Rhs>::MaxRowsAtCompileTime)  : int(traits<Lhs>::MaxRowsAtCompileTime),
-    MaxColsAtCompileTime = Tr ? int(traits<Lhs>::MaxColsAtCompileTime)  : int(traits<Rhs>::MaxColsAtCompileTime),
-
-    Flags = Tr ? RowMajorBit : 0,
-
-    CoeffReadCost = LhsCoeffReadCost + RhsCoeffReadCost + NumTraits<Scalar>::MulCost
-  };
-};
-
-} // end namespace internal
-
-template<typename Lhs, typename Rhs, bool Tr>
-class SparseDenseOuterProduct
- : public SparseMatrixBase<SparseDenseOuterProduct<Lhs,Rhs,Tr> >
-{
-  public:
-
-    typedef SparseMatrixBase<SparseDenseOuterProduct> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(SparseDenseOuterProduct)
-    typedef internal::traits<SparseDenseOuterProduct> Traits;
-
-  private:
-
-    typedef typename Traits::LhsNested LhsNested;
-    typedef typename Traits::RhsNested RhsNested;
-    typedef typename Traits::_LhsNested _LhsNested;
-    typedef typename Traits::_RhsNested _RhsNested;
-
-  public:
-
-    class InnerIterator;
-
-    EIGEN_STRONG_INLINE SparseDenseOuterProduct(const Lhs& lhs, const Rhs& rhs)
-      : m_lhs(lhs), m_rhs(rhs)
-    {
-      EIGEN_STATIC_ASSERT(!Tr,YOU_MADE_A_PROGRAMMING_MISTAKE);
-    }
-
-    EIGEN_STRONG_INLINE SparseDenseOuterProduct(const Rhs& rhs, const Lhs& lhs)
-      : m_lhs(lhs), m_rhs(rhs)
-    {
-      EIGEN_STATIC_ASSERT(Tr,YOU_MADE_A_PROGRAMMING_MISTAKE);
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const { return Tr ? m_rhs.rows() : m_lhs.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return Tr ? m_lhs.cols() : m_rhs.cols(); }
-
-    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
-    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
-
-  protected:
-    LhsNested m_lhs;
-    RhsNested m_rhs;
-};
-
-template<typename Lhs, typename Rhs, bool Transpose>
-class SparseDenseOuterProduct<Lhs,Rhs,Transpose>::InnerIterator : public _LhsNested::InnerIterator
-{
-    typedef typename _LhsNested::InnerIterator Base;
-    typedef typename SparseDenseOuterProduct::Index Index;
-  public:
-    EIGEN_STRONG_INLINE InnerIterator(const SparseDenseOuterProduct& prod, Index outer)
-      : Base(prod.lhs(), 0), m_outer(outer), m_factor(get(prod.rhs(), outer, typename internal::traits<Rhs>::StorageKind() ))
-    { }
-
-    inline Index outer() const { return m_outer; }
-    inline Index row() const { return Transpose ? m_outer : Base::index(); }
-    inline Index col() const { return Transpose ? Base::index() : m_outer; }
-
-    inline Scalar value() const { return Base::value() * m_factor; }
-
-  protected:
-    static Scalar get(const _RhsNested &rhs, Index outer, Dense = Dense())
-    {
-      return rhs.coeff(outer);
-    }
-    
-    static Scalar get(const _RhsNested &rhs, Index outer, Sparse = Sparse())
-    {
-      typename Traits::_RhsNested::InnerIterator it(rhs, outer);
-      if (it && it.index()==0)
-        return it.value();
-      
-      return Scalar(0);
-    }
-    
-    Index m_outer;
-    Scalar m_factor;
-};
-
-namespace internal {
-template<typename Lhs, typename Rhs>
-struct traits<SparseTimeDenseProduct<Lhs,Rhs> >
- : traits<ProductBase<SparseTimeDenseProduct<Lhs,Rhs>, Lhs, Rhs> >
-{
-  typedef Dense StorageKind;
-  typedef MatrixXpr XprKind;
-};
+template <> struct product_promote_storage_type<Sparse,Dense, OuterProduct> { typedef Sparse ret; };
+template <> struct product_promote_storage_type<Dense,Sparse, OuterProduct> { typedef Sparse ret; };
 
 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType,
+         typename AlphaType,
          int LhsStorageOrder = ((SparseLhsType::Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor,
          bool ColPerCol = ((DenseRhsType::Flags&RowMajorBit)==0) || DenseRhsType::ColsAtCompileTime==1>
 struct sparse_time_dense_product_impl;
 
 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
-struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, RowMajor, true>
+struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, typename DenseResType::Scalar, RowMajor, true>
 {
   typedef typename internal::remove_all<SparseLhsType>::type Lhs;
   typedef typename internal::remove_all<DenseRhsType>::type Rhs;
   typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename Lhs::Index Index;
-  typedef typename Lhs::InnerIterator LhsInnerIterator;
+  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
+  typedef evaluator<Lhs> LhsEval;
   static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
   {
+    LhsEval lhsEval(lhs);
+    
+    Index n = lhs.outerSize();
+#ifdef EIGEN_HAS_OPENMP
+    Eigen::initParallel();
+    Index threads = Eigen::nbThreads();
+#endif
+    
     for(Index c=0; c<rhs.cols(); ++c)
     {
-      Index n = lhs.outerSize();
-      for(Index j=0; j<n; ++j)
+#ifdef EIGEN_HAS_OPENMP
+      // This 20000 threshold has been found experimentally on 2D and 3D Poisson problems.
+      // It basically represents the minimal amount of work to be done to be worth it.
+      if(threads>1 && lhsEval.nonZerosEstimate() > 20000)
       {
-        typename Res::Scalar tmp(0);
-        for(LhsInnerIterator it(lhs,j); it ;++it)
-          tmp += it.value() * rhs.coeff(it.index(),c);
-        res.coeffRef(j,c) += alpha * tmp;
+        #pragma omp parallel for schedule(dynamic,(n+threads*4-1)/(threads*4)) num_threads(threads)
+        for(Index i=0; i<n; ++i)
+          processRow(lhsEval,rhs,res,alpha,i,c);
+      }
+      else
+#endif
+      {
+        for(Index i=0; i<n; ++i)
+          processRow(lhsEval,rhs,res,alpha,i,c);
       }
     }
   }
+  
+  static void processRow(const LhsEval& lhsEval, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha, Index i, Index col)
+  {
+    typename Res::Scalar tmp(0);
+    for(LhsInnerIterator it(lhsEval,i); it ;++it)
+      tmp += it.value() * rhs.coeff(it.index(),col);
+    res.coeffRef(i,col) += alpha * tmp;
+  }
+  
 };
 
-template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
-struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, ColMajor, true>
+// FIXME: what is the purpose of the following specialization? Is it for the BlockedSparse format?
+// -> let's disable it for now as it is conflicting with generic scalar*matrix and matrix*scalar operators
+// template<typename T1, typename T2/*, int _Options, typename _StrideType*/>
+// struct ScalarBinaryOpTraits<T1, Ref<T2/*, _Options, _StrideType*/> >
+// {
+//   enum {
+//     Defined = 1
+//   };
+//   typedef typename CwiseUnaryOp<scalar_multiple2_op<T1, typename T2::Scalar>, T2>::PlainObject ReturnType;
+// };
+
+template<typename SparseLhsType, typename DenseRhsType, typename DenseResType, typename AlphaType>
+struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, AlphaType, ColMajor, true>
 {
   typedef typename internal::remove_all<SparseLhsType>::type Lhs;
   typedef typename internal::remove_all<DenseRhsType>::type Rhs;
   typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename Lhs::InnerIterator LhsInnerIterator;
-  typedef typename Lhs::Index Index;
-  static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
+  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
+  static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const AlphaType& alpha)
   {
+    evaluator<Lhs> lhsEval(lhs);
     for(Index c=0; c<rhs.cols(); ++c)
     {
       for(Index j=0; j<lhs.outerSize(); ++j)
       {
-        typename Res::Scalar rhs_j = alpha * rhs.coeff(j,c);
-        for(LhsInnerIterator it(lhs,j); it ;++it)
+//        typename Res::Scalar rhs_j = alpha * rhs.coeff(j,c);
+        typename ScalarBinaryOpTraits<AlphaType, typename Rhs::Scalar>::ReturnType rhs_j(alpha * rhs.coeff(j,c));
+        for(LhsInnerIterator it(lhsEval,j); it ;++it)
           res.coeffRef(it.index(),c) += it.value() * rhs_j;
       }
     }
@@ -209,38 +106,38 @@ struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, C
 };
 
 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
-struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, RowMajor, false>
+struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, typename DenseResType::Scalar, RowMajor, false>
 {
   typedef typename internal::remove_all<SparseLhsType>::type Lhs;
   typedef typename internal::remove_all<DenseRhsType>::type Rhs;
   typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename Lhs::InnerIterator LhsInnerIterator;
-  typedef typename Lhs::Index Index;
+  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
   static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
   {
+    evaluator<Lhs> lhsEval(lhs);
     for(Index j=0; j<lhs.outerSize(); ++j)
     {
       typename Res::RowXpr res_j(res.row(j));
-      for(LhsInnerIterator it(lhs,j); it ;++it)
+      for(LhsInnerIterator it(lhsEval,j); it ;++it)
         res_j += (alpha*it.value()) * rhs.row(it.index());
     }
   }
 };
 
 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType>
-struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, ColMajor, false>
+struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, typename DenseResType::Scalar, ColMajor, false>
 {
   typedef typename internal::remove_all<SparseLhsType>::type Lhs;
   typedef typename internal::remove_all<DenseRhsType>::type Rhs;
   typedef typename internal::remove_all<DenseResType>::type Res;
-  typedef typename Lhs::InnerIterator LhsInnerIterator;
-  typedef typename Lhs::Index Index;
+  typedef typename evaluator<Lhs>::InnerIterator LhsInnerIterator;
   static void run(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const typename Res::Scalar& alpha)
   {
+    evaluator<Lhs> lhsEval(lhs);
     for(Index j=0; j<lhs.outerSize(); ++j)
     {
       typename Rhs::ConstRowXpr rhs_j(rhs.row(j));
-      for(LhsInnerIterator it(lhs,j); it ;++it)
+      for(LhsInnerIterator it(lhsEval,j); it ;++it)
         res.row(it.index()) += (alpha*it.value()) * rhs_j;
     }
   }
@@ -249,63 +146,175 @@ struct sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, C
 template<typename SparseLhsType, typename DenseRhsType, typename DenseResType,typename AlphaType>
 inline void sparse_time_dense_product(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const AlphaType& alpha)
 {
-  sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType>::run(lhs, rhs, res, alpha);
+  sparse_time_dense_product_impl<SparseLhsType,DenseRhsType,DenseResType, AlphaType>::run(lhs, rhs, res, alpha);
 }
 
 } // end namespace internal
 
-template<typename Lhs, typename Rhs>
-class SparseTimeDenseProduct
-  : public ProductBase<SparseTimeDenseProduct<Lhs,Rhs>, Lhs, Rhs>
-{
-  public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(SparseTimeDenseProduct)
-
-    SparseTimeDenseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
-    {}
-
-    template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
-    {
-      internal::sparse_time_dense_product(m_lhs, m_rhs, dest, alpha);
-    }
-
-  private:
-    SparseTimeDenseProduct& operator=(const SparseTimeDenseProduct&);
-};
-
-
-// dense = dense * sparse
 namespace internal {
-template<typename Lhs, typename Rhs>
-struct traits<DenseTimeSparseProduct<Lhs,Rhs> >
- : traits<ProductBase<DenseTimeSparseProduct<Lhs,Rhs>, Lhs, Rhs> >
-{
-  typedef Dense StorageKind;
-};
-} // end namespace internal
 
-template<typename Lhs, typename Rhs>
-class DenseTimeSparseProduct
-  : public ProductBase<DenseTimeSparseProduct<Lhs,Rhs>, Lhs, Rhs>
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, SparseShape, DenseShape, ProductType>
+ : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,SparseShape,DenseShape,ProductType> >
 {
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    typedef typename nested_eval<Lhs,((Rhs::Flags&RowMajorBit)==0) ? 1 : Rhs::ColsAtCompileTime>::type LhsNested;
+    typedef typename nested_eval<Rhs,((Lhs::Flags&RowMajorBit)==0) ? 1 : Dynamic>::type RhsNested;
+    LhsNested lhsNested(lhs);
+    RhsNested rhsNested(rhs);
+    internal::sparse_time_dense_product(lhsNested, rhsNested, dst, alpha);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, SparseTriangularShape, DenseShape, ProductType>
+  : generic_product_impl<Lhs, Rhs, SparseShape, DenseShape, ProductType>
+{};
+
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, DenseShape, SparseShape, ProductType>
+  : generic_product_impl_base<Lhs,Rhs,generic_product_impl<Lhs,Rhs,DenseShape,SparseShape,ProductType> >
+{
+  typedef typename Product<Lhs,Rhs>::Scalar Scalar;
+  
+  template<typename Dst>
+  static void scaleAndAddTo(Dst& dst, const Lhs& lhs, const Rhs& rhs, const Scalar& alpha)
+  {
+    typedef typename nested_eval<Lhs,((Rhs::Flags&RowMajorBit)==0) ? Dynamic : 1>::type LhsNested;
+    typedef typename nested_eval<Rhs,((Lhs::Flags&RowMajorBit)==RowMajorBit) ? 1 : Lhs::RowsAtCompileTime>::type RhsNested;
+    LhsNested lhsNested(lhs);
+    RhsNested rhsNested(rhs);
+    
+    // transpose everything
+    Transpose<Dst> dstT(dst);
+    internal::sparse_time_dense_product(rhsNested.transpose(), lhsNested.transpose(), dstT, alpha);
+  }
+};
+
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, DenseShape, SparseTriangularShape, ProductType>
+  : generic_product_impl<Lhs, Rhs, DenseShape, SparseShape, ProductType>
+{};
+
+template<typename LhsT, typename RhsT, bool NeedToTranspose>
+struct sparse_dense_outer_product_evaluator
+{
+protected:
+  typedef typename conditional<NeedToTranspose,RhsT,LhsT>::type Lhs1;
+  typedef typename conditional<NeedToTranspose,LhsT,RhsT>::type ActualRhs;
+  typedef Product<LhsT,RhsT,DefaultProduct> ProdXprType;
+  
+  // if the actual left-hand side is a dense vector,
+  // then build a sparse-view so that we can seamlessly iterate over it.
+  typedef typename conditional<is_same<typename internal::traits<Lhs1>::StorageKind,Sparse>::value,
+            Lhs1, SparseView<Lhs1> >::type ActualLhs;
+  typedef typename conditional<is_same<typename internal::traits<Lhs1>::StorageKind,Sparse>::value,
+            Lhs1 const&, SparseView<Lhs1> >::type LhsArg;
+            
+  typedef evaluator<ActualLhs> LhsEval;
+  typedef evaluator<ActualRhs> RhsEval;
+  typedef typename evaluator<ActualLhs>::InnerIterator LhsIterator;
+  typedef typename ProdXprType::Scalar Scalar;
+  
+public:
+  enum {
+    Flags = NeedToTranspose ? RowMajorBit : 0,
+    CoeffReadCost = HugeCost
+  };
+  
+  class InnerIterator : public LhsIterator
+  {
   public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(DenseTimeSparseProduct)
-
-    DenseTimeSparseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
+    InnerIterator(const sparse_dense_outer_product_evaluator &xprEval, Index outer)
+      : LhsIterator(xprEval.m_lhsXprImpl, 0),
+        m_outer(outer),
+        m_empty(false),
+        m_factor(get(xprEval.m_rhsXprImpl, outer, typename internal::traits<ActualRhs>::StorageKind() ))
     {}
+    
+    EIGEN_STRONG_INLINE Index outer() const { return m_outer; }
+    EIGEN_STRONG_INLINE Index row()   const { return NeedToTranspose ? m_outer : LhsIterator::index(); }
+    EIGEN_STRONG_INLINE Index col()   const { return NeedToTranspose ? LhsIterator::index() : m_outer; }
 
-    template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
+    EIGEN_STRONG_INLINE Scalar value() const { return LhsIterator::value() * m_factor; }
+    EIGEN_STRONG_INLINE operator bool() const { return LhsIterator::operator bool() && (!m_empty); }
+    
+  protected:
+    Scalar get(const RhsEval &rhs, Index outer, Dense = Dense()) const
     {
-      Transpose<const _LhsNested> lhs_t(m_lhs);
-      Transpose<const _RhsNested> rhs_t(m_rhs);
-      Transpose<Dest> dest_t(dest);
-      internal::sparse_time_dense_product(rhs_t, lhs_t, dest_t, alpha);
+      return rhs.coeff(outer);
     }
-
-  private:
-    DenseTimeSparseProduct& operator=(const DenseTimeSparseProduct&);
+    
+    Scalar get(const RhsEval &rhs, Index outer, Sparse = Sparse())
+    {
+      typename RhsEval::InnerIterator it(rhs, outer);
+      if (it && it.index()==0 && it.value()!=Scalar(0))
+        return it.value();
+      m_empty = true;
+      return Scalar(0);
+    }
+    
+    Index m_outer;
+    bool m_empty;
+    Scalar m_factor;
+  };
+  
+  sparse_dense_outer_product_evaluator(const Lhs1 &lhs, const ActualRhs &rhs)
+     : m_lhs(lhs), m_lhsXprImpl(m_lhs), m_rhsXprImpl(rhs)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  // transpose case
+  sparse_dense_outer_product_evaluator(const ActualRhs &rhs, const Lhs1 &lhs)
+     : m_lhs(lhs), m_lhsXprImpl(m_lhs), m_rhsXprImpl(rhs)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+    
+protected:
+  const LhsArg m_lhs;
+  evaluator<ActualLhs> m_lhsXprImpl;
+  evaluator<ActualRhs> m_rhsXprImpl;
 };
 
+// sparse * dense outer product
+template<typename Lhs, typename Rhs>
+struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, OuterProduct, SparseShape, DenseShape>
+  : sparse_dense_outer_product_evaluator<Lhs,Rhs, Lhs::IsRowMajor>
+{
+  typedef sparse_dense_outer_product_evaluator<Lhs,Rhs, Lhs::IsRowMajor> Base;
+  
+  typedef Product<Lhs, Rhs> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+
+  explicit product_evaluator(const XprType& xpr)
+    : Base(xpr.lhs(), xpr.rhs())
+  {}
+  
+};
+
+template<typename Lhs, typename Rhs>
+struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, OuterProduct, DenseShape, SparseShape>
+  : sparse_dense_outer_product_evaluator<Lhs,Rhs, Rhs::IsRowMajor>
+{
+  typedef sparse_dense_outer_product_evaluator<Lhs,Rhs, Rhs::IsRowMajor> Base;
+  
+  typedef Product<Lhs, Rhs> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+
+  explicit product_evaluator(const XprType& xpr)
+    : Base(xpr.lhs(), xpr.rhs())
+  {}
+  
+};
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSEDENSEPRODUCT_H
diff --git a/eigenlib/Eigen/src/SparseCore/SparseDiagonalProduct.h b/eigenlib/Eigen/src/SparseCore/SparseDiagonalProduct.h
index 1bb590e6..e4af49e0 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseDiagonalProduct.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseDiagonalProduct.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -26,171 +26,109 @@ namespace Eigen {
 
 namespace internal {
 
-template<typename Lhs, typename Rhs>
-struct traits<SparseDiagonalProduct<Lhs, Rhs> >
+enum {
+  SDP_AsScalarProduct,
+  SDP_AsCwiseProduct
+};
+  
+template<typename SparseXprType, typename DiagonalCoeffType, int SDP_Tag>
+struct sparse_diagonal_product_evaluator;
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, ProductTag, DiagonalShape, SparseShape>
+  : public sparse_diagonal_product_evaluator<Rhs, typename Lhs::DiagonalVectorType, Rhs::Flags&RowMajorBit?SDP_AsScalarProduct:SDP_AsCwiseProduct>
 {
-  typedef typename remove_all<Lhs>::type _Lhs;
-  typedef typename remove_all<Rhs>::type _Rhs;
-  typedef typename _Lhs::Scalar Scalar;
-  typedef typename promote_index_type<typename traits<Lhs>::Index,
-                                         typename traits<Rhs>::Index>::type Index;
-  typedef Sparse StorageKind;
-  typedef MatrixXpr XprKind;
-  enum {
-    RowsAtCompileTime = _Lhs::RowsAtCompileTime,
-    ColsAtCompileTime = _Rhs::ColsAtCompileTime,
-
-    MaxRowsAtCompileTime = _Lhs::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = _Rhs::MaxColsAtCompileTime,
-
-    SparseFlags = is_diagonal<_Lhs>::ret ? int(_Rhs::Flags) : int(_Lhs::Flags),
-    Flags = (SparseFlags&RowMajorBit),
-    CoeffReadCost = Dynamic
-  };
+  typedef Product<Lhs, Rhs, DefaultProduct> XprType;
+  enum { CoeffReadCost = HugeCost, Flags = Rhs::Flags&RowMajorBit, Alignment = 0 }; // FIXME CoeffReadCost & Flags
+  
+  typedef sparse_diagonal_product_evaluator<Rhs, typename Lhs::DiagonalVectorType, Rhs::Flags&RowMajorBit?SDP_AsScalarProduct:SDP_AsCwiseProduct> Base;
+  explicit product_evaluator(const XprType& xpr) : Base(xpr.rhs(), xpr.lhs().diagonal()) {}
 };
 
-enum {SDP_IsDiagonal, SDP_IsSparseRowMajor, SDP_IsSparseColMajor};
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType, int RhsMode, int LhsMode>
-class sparse_diagonal_product_inner_iterator_selector;
-
-} // end namespace internal
-
-template<typename Lhs, typename Rhs>
-class SparseDiagonalProduct
-  : public SparseMatrixBase<SparseDiagonalProduct<Lhs,Rhs> >,
-    internal::no_assignment_operator
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, DefaultProduct>, ProductTag, SparseShape, DiagonalShape>
+  : public sparse_diagonal_product_evaluator<Lhs, Transpose<const typename Rhs::DiagonalVectorType>, Lhs::Flags&RowMajorBit?SDP_AsCwiseProduct:SDP_AsScalarProduct>
 {
-    typedef typename Lhs::Nested LhsNested;
-    typedef typename Rhs::Nested RhsNested;
-
-    typedef typename internal::remove_all<LhsNested>::type _LhsNested;
-    typedef typename internal::remove_all<RhsNested>::type _RhsNested;
-
-    enum {
-      LhsMode = internal::is_diagonal<_LhsNested>::ret ? internal::SDP_IsDiagonal
-              : (_LhsNested::Flags&RowMajorBit) ? internal::SDP_IsSparseRowMajor : internal::SDP_IsSparseColMajor,
-      RhsMode = internal::is_diagonal<_RhsNested>::ret ? internal::SDP_IsDiagonal
-              : (_RhsNested::Flags&RowMajorBit) ? internal::SDP_IsSparseRowMajor : internal::SDP_IsSparseColMajor
-    };
+  typedef Product<Lhs, Rhs, DefaultProduct> XprType;
+  enum { CoeffReadCost = HugeCost, Flags = Lhs::Flags&RowMajorBit, Alignment = 0 }; // FIXME CoeffReadCost & Flags
+  
+  typedef sparse_diagonal_product_evaluator<Lhs, Transpose<const typename Rhs::DiagonalVectorType>, Lhs::Flags&RowMajorBit?SDP_AsCwiseProduct:SDP_AsScalarProduct> Base;
+  explicit product_evaluator(const XprType& xpr) : Base(xpr.lhs(), xpr.rhs().diagonal().transpose()) {}
+};
 
+template<typename SparseXprType, typename DiagonalCoeffType>
+struct sparse_diagonal_product_evaluator<SparseXprType, DiagonalCoeffType, SDP_AsScalarProduct>
+{
+protected:
+  typedef typename evaluator<SparseXprType>::InnerIterator SparseXprInnerIterator;
+  typedef typename SparseXprType::Scalar Scalar;
+  
+public:
+  class InnerIterator : public SparseXprInnerIterator
+  {
   public:
-
-    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseDiagonalProduct)
-
-    typedef internal::sparse_diagonal_product_inner_iterator_selector
-                      <_LhsNested,_RhsNested,SparseDiagonalProduct,LhsMode,RhsMode> InnerIterator;
+    InnerIterator(const sparse_diagonal_product_evaluator &xprEval, Index outer)
+      : SparseXprInnerIterator(xprEval.m_sparseXprImpl, outer),
+        m_coeff(xprEval.m_diagCoeffImpl.coeff(outer))
+    {}
     
-    // We do not want ReverseInnerIterator for diagonal-sparse products,
-    // but this dummy declaration is needed to make diag * sparse * diag compile.
-    class ReverseInnerIterator;
-
-    EIGEN_STRONG_INLINE SparseDiagonalProduct(const Lhs& lhs, const Rhs& rhs)
-      : m_lhs(lhs), m_rhs(rhs)
-    {
-      eigen_assert(lhs.cols() == rhs.rows() && "invalid sparse matrix * diagonal matrix product");
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const { return m_lhs.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return m_rhs.cols(); }
-
-    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
-    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
-
+    EIGEN_STRONG_INLINE Scalar value() const { return m_coeff * SparseXprInnerIterator::value(); }
   protected:
-    LhsNested m_lhs;
-    RhsNested m_rhs;
+    typename DiagonalCoeffType::Scalar m_coeff;
+  };
+  
+  sparse_diagonal_product_evaluator(const SparseXprType &sparseXpr, const DiagonalCoeffType &diagCoeff)
+    : m_sparseXprImpl(sparseXpr), m_diagCoeffImpl(diagCoeff)
+  {}
+    
+protected:
+  evaluator<SparseXprType> m_sparseXprImpl;
+  evaluator<DiagonalCoeffType> m_diagCoeffImpl;
 };
 
-namespace internal {
 
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
-class sparse_diagonal_product_inner_iterator_selector
-<Lhs,Rhs,SparseDiagonalProductType,SDP_IsDiagonal,SDP_IsSparseRowMajor>
-  : public CwiseUnaryOp<scalar_multiple_op<typename Lhs::Scalar>,const Rhs>::InnerIterator
+template<typename SparseXprType, typename DiagCoeffType>
+struct sparse_diagonal_product_evaluator<SparseXprType, DiagCoeffType, SDP_AsCwiseProduct>
 {
-    typedef typename CwiseUnaryOp<scalar_multiple_op<typename Lhs::Scalar>,const Rhs>::InnerIterator Base;
-    typedef typename Lhs::Index Index;
+  typedef typename SparseXprType::Scalar Scalar;
+  typedef typename SparseXprType::StorageIndex StorageIndex;
+  
+  typedef typename nested_eval<DiagCoeffType,SparseXprType::IsRowMajor ? SparseXprType::RowsAtCompileTime
+                                                                       : SparseXprType::ColsAtCompileTime>::type DiagCoeffNested;
+  
+  class InnerIterator
+  {
+    typedef typename evaluator<SparseXprType>::InnerIterator SparseXprIter;
   public:
-    inline sparse_diagonal_product_inner_iterator_selector(
-              const SparseDiagonalProductType& expr, Index outer)
-      : Base(expr.rhs()*(expr.lhs().diagonal().coeff(outer)), outer)
-    {}
-};
-
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
-class sparse_diagonal_product_inner_iterator_selector
-<Lhs,Rhs,SparseDiagonalProductType,SDP_IsDiagonal,SDP_IsSparseColMajor>
-  : public CwiseBinaryOp<
-      scalar_product_op<typename Lhs::Scalar>,
-      const typename Rhs::ConstInnerVectorReturnType,
-      const typename Lhs::DiagonalVectorType>::InnerIterator
-{
-    typedef typename CwiseBinaryOp<
-      scalar_product_op<typename Lhs::Scalar>,
-      const typename Rhs::ConstInnerVectorReturnType,
-      const typename Lhs::DiagonalVectorType>::InnerIterator Base;
-    typedef typename Lhs::Index Index;
-    Index m_outer;
-  public:
-    inline sparse_diagonal_product_inner_iterator_selector(
-              const SparseDiagonalProductType& expr, Index outer)
-      : Base(expr.rhs().innerVector(outer) .cwiseProduct(expr.lhs().diagonal()), 0), m_outer(outer)
+    InnerIterator(const sparse_diagonal_product_evaluator &xprEval, Index outer)
+      : m_sparseIter(xprEval.m_sparseXprEval, outer), m_diagCoeffNested(xprEval.m_diagCoeffNested)
     {}
     
-    inline Index outer() const { return m_outer; }
-    inline Index col() const { return m_outer; }
-};
-
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
-class sparse_diagonal_product_inner_iterator_selector
-<Lhs,Rhs,SparseDiagonalProductType,SDP_IsSparseColMajor,SDP_IsDiagonal>
-  : public CwiseUnaryOp<scalar_multiple_op<typename Rhs::Scalar>,const Lhs>::InnerIterator
-{
-    typedef typename CwiseUnaryOp<scalar_multiple_op<typename Rhs::Scalar>,const Lhs>::InnerIterator Base;
-    typedef typename Lhs::Index Index;
-  public:
-    inline sparse_diagonal_product_inner_iterator_selector(
-              const SparseDiagonalProductType& expr, Index outer)
-      : Base(expr.lhs()*expr.rhs().diagonal().coeff(outer), outer)
-    {}
-};
-
-template<typename Lhs, typename Rhs, typename SparseDiagonalProductType>
-class sparse_diagonal_product_inner_iterator_selector
-<Lhs,Rhs,SparseDiagonalProductType,SDP_IsSparseRowMajor,SDP_IsDiagonal>
-  : public CwiseBinaryOp<
-      scalar_product_op<typename Rhs::Scalar>,
-      const typename Lhs::ConstInnerVectorReturnType,
-      const Transpose<const typename Rhs::DiagonalVectorType> >::InnerIterator
-{
-    typedef typename CwiseBinaryOp<
-      scalar_product_op<typename Rhs::Scalar>,
-      const typename Lhs::ConstInnerVectorReturnType,
-      const Transpose<const typename Rhs::DiagonalVectorType> >::InnerIterator Base;
-    typedef typename Lhs::Index Index;
-    Index m_outer;
-  public:
-    inline sparse_diagonal_product_inner_iterator_selector(
-              const SparseDiagonalProductType& expr, Index outer)
-      : Base(expr.lhs().innerVector(outer) .cwiseProduct(expr.rhs().diagonal().transpose()), 0), m_outer(outer)
-    {}
+    inline Scalar value() const { return m_sparseIter.value() * m_diagCoeffNested.coeff(index()); }
+    inline StorageIndex index() const  { return m_sparseIter.index(); }
+    inline Index outer() const  { return m_sparseIter.outer(); }
+    inline Index col() const    { return SparseXprType::IsRowMajor ? m_sparseIter.index() : m_sparseIter.outer(); }
+    inline Index row() const    { return SparseXprType::IsRowMajor ? m_sparseIter.outer() : m_sparseIter.index(); }
     
-    inline Index outer() const { return m_outer; }
-    inline Index row() const { return m_outer; }
+    EIGEN_STRONG_INLINE InnerIterator& operator++() { ++m_sparseIter; return *this; }
+    inline operator bool() const  { return m_sparseIter; }
+    
+  protected:
+    SparseXprIter m_sparseIter;
+    DiagCoeffNested m_diagCoeffNested;
+  };
+  
+  sparse_diagonal_product_evaluator(const SparseXprType &sparseXpr, const DiagCoeffType &diagCoeff)
+    : m_sparseXprEval(sparseXpr), m_diagCoeffNested(diagCoeff)
+  {}
+    
+protected:
+  evaluator<SparseXprType> m_sparseXprEval;
+  DiagCoeffNested m_diagCoeffNested;
 };
 
 } // end namespace internal
 
-// SparseMatrixBase functions
-
-template<typename Derived>
-template<typename OtherDerived>
-const SparseDiagonalProduct<Derived,OtherDerived>
-SparseMatrixBase<Derived>::operator*(const DiagonalBase<OtherDerived> &other) const
-{
-  return SparseDiagonalProduct<Derived,OtherDerived>(this->derived(), other.derived());
-}
-
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSE_DIAGONAL_PRODUCT_H
diff --git a/eigenlib/Eigen/src/SparseCore/SparseDot.h b/eigenlib/Eigen/src/SparseCore/SparseDot.h
index db39c9ae..38bc4aa9 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseDot.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseDot.h
@@ -26,7 +26,8 @@ SparseMatrixBase<Derived>::dot(const MatrixBase<OtherDerived>& other) const
   eigen_assert(size() == other.size());
   eigen_assert(other.size()>0 && "you are using a non initialized vector");
 
-  typename Derived::InnerIterator i(derived(),0);
+  internal::evaluator<Derived> thisEval(derived());
+  typename internal::evaluator<Derived>::InnerIterator i(thisEval, 0);
   Scalar res(0);
   while (i)
   {
@@ -49,16 +50,12 @@ SparseMatrixBase<Derived>::dot(const SparseMatrixBase<OtherDerived>& other) cons
 
   eigen_assert(size() == other.size());
 
-  typedef typename Derived::Nested  Nested;
-  typedef typename OtherDerived::Nested  OtherNested;
-  typedef typename internal::remove_all<Nested>::type  NestedCleaned;
-  typedef typename internal::remove_all<OtherNested>::type  OtherNestedCleaned;
+  internal::evaluator<Derived> thisEval(derived());
+  typename internal::evaluator<Derived>::InnerIterator i(thisEval, 0);
+  
+  internal::evaluator<OtherDerived>  otherEval(other.derived());
+  typename internal::evaluator<OtherDerived>::InnerIterator j(otherEval, 0);
 
-  Nested nthis(derived());
-  OtherNested nother(other.derived());
-
-  typename NestedCleaned::InnerIterator i(nthis,0);
-  typename OtherNestedCleaned::InnerIterator j(nother,0);
   Scalar res(0);
   while (i && j)
   {
diff --git a/eigenlib/Eigen/src/SparseCore/SparseFuzzy.h b/eigenlib/Eigen/src/SparseCore/SparseFuzzy.h
index 45f36e9e..7d47eb94 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseFuzzy.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseFuzzy.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -10,17 +10,20 @@
 #ifndef EIGEN_SPARSE_FUZZY_H
 #define EIGEN_SPARSE_FUZZY_H
 
-// template<typename Derived>
-// template<typename OtherDerived>
-// bool SparseMatrixBase<Derived>::isApprox(
-//   const OtherDerived& other,
-//   typename NumTraits<Scalar>::Real prec
-// ) const
-// {
-//   const typename internal::nested<Derived,2>::type nested(derived());
-//   const typename internal::nested<OtherDerived,2>::type otherNested(other.derived());
-//   return    (nested - otherNested).cwise().abs2().sum()
-//          <= prec * prec * (std::min)(nested.cwise().abs2().sum(), otherNested.cwise().abs2().sum());
-// }
+namespace Eigen {
+  
+template<typename Derived>
+template<typename OtherDerived>
+bool SparseMatrixBase<Derived>::isApprox(const SparseMatrixBase<OtherDerived>& other, const RealScalar &prec) const
+{
+  const typename internal::nested_eval<Derived,2,PlainObject>::type actualA(derived());
+  typename internal::conditional<bool(IsRowMajor)==bool(OtherDerived::IsRowMajor),
+    const typename internal::nested_eval<OtherDerived,2,PlainObject>::type,
+    const PlainObject>::type actualB(other.derived());
+
+  return (actualA - actualB).squaredNorm() <= prec * prec * numext::mini(actualA.squaredNorm(), actualB.squaredNorm());
+}
+
+} // end namespace Eigen
 
 #endif // EIGEN_SPARSE_FUZZY_H
diff --git a/eigenlib/Eigen/src/SparseCore/SparseMap.h b/eigenlib/Eigen/src/SparseCore/SparseMap.h
new file mode 100644
index 00000000..f99be337
--- /dev/null
+++ b/eigenlib/Eigen/src/SparseCore/SparseMap.h
@@ -0,0 +1,305 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SPARSE_MAP_H
+#define EIGEN_SPARSE_MAP_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct traits<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : public traits<SparseMatrix<MatScalar,MatOptions,MatIndex> >
+{
+  typedef SparseMatrix<MatScalar,MatOptions,MatIndex> PlainObjectType;
+  typedef traits<PlainObjectType> TraitsBase;
+  enum {
+    Flags = TraitsBase::Flags & (~NestByRefBit)
+  };
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct traits<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : public traits<SparseMatrix<MatScalar,MatOptions,MatIndex> >
+{
+  typedef SparseMatrix<MatScalar,MatOptions,MatIndex> PlainObjectType;
+  typedef traits<PlainObjectType> TraitsBase;
+  enum {
+    Flags = TraitsBase::Flags & (~ (NestByRefBit | LvalueBit))
+  };
+};
+
+} // end namespace internal
+
+template<typename Derived,
+         int Level = internal::accessors_level<Derived>::has_write_access ? WriteAccessors : ReadOnlyAccessors
+> class SparseMapBase;
+
+/** \ingroup SparseCore_Module
+  * class SparseMapBase
+  * \brief Common base class for Map and Ref instance of sparse matrix and vector.
+  */
+template<typename Derived>
+class SparseMapBase<Derived,ReadOnlyAccessors>
+  : public SparseCompressedBase<Derived>
+{
+  public:
+    typedef SparseCompressedBase<Derived> Base;
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::StorageIndex StorageIndex;
+    enum { IsRowMajor = Base::IsRowMajor };
+    using Base::operator=;
+  protected:
+    
+    typedef typename internal::conditional<
+                         bool(internal::is_lvalue<Derived>::value),
+                         Scalar *, const Scalar *>::type ScalarPointer;
+    typedef typename internal::conditional<
+                         bool(internal::is_lvalue<Derived>::value),
+                         StorageIndex *, const StorageIndex *>::type IndexPointer;
+
+    Index   m_outerSize;
+    Index   m_innerSize;
+    Array<StorageIndex,2,1>  m_zero_nnz;
+    IndexPointer  m_outerIndex;
+    IndexPointer  m_innerIndices;
+    ScalarPointer m_values;
+    IndexPointer  m_innerNonZeros;
+
+  public:
+
+    /** \copydoc SparseMatrixBase::rows() */
+    inline Index rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
+    /** \copydoc SparseMatrixBase::cols() */
+    inline Index cols() const { return IsRowMajor ? m_innerSize : m_outerSize; }
+    /** \copydoc SparseMatrixBase::innerSize() */
+    inline Index innerSize() const { return m_innerSize; }
+    /** \copydoc SparseMatrixBase::outerSize() */
+    inline Index outerSize() const { return m_outerSize; }
+    /** \copydoc SparseCompressedBase::nonZeros */
+    inline Index nonZeros() const { return m_zero_nnz[1]; }
+    
+    /** \copydoc SparseCompressedBase::isCompressed */
+    bool isCompressed() const { return m_innerNonZeros==0; }
+
+    //----------------------------------------
+    // direct access interface
+    /** \copydoc SparseMatrix::valuePtr */
+    inline const Scalar* valuePtr() const { return m_values; }
+    /** \copydoc SparseMatrix::innerIndexPtr */
+    inline const StorageIndex* innerIndexPtr() const { return m_innerIndices; }
+    /** \copydoc SparseMatrix::outerIndexPtr */
+    inline const StorageIndex* outerIndexPtr() const { return m_outerIndex; }
+    /** \copydoc SparseMatrix::innerNonZeroPtr */
+    inline const StorageIndex* innerNonZeroPtr() const { return m_innerNonZeros; }
+    //----------------------------------------
+
+    /** \copydoc SparseMatrix::coeff */
+    inline Scalar coeff(Index row, Index col) const
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      Index start = m_outerIndex[outer];
+      Index end = isCompressed() ? m_outerIndex[outer+1] : start + m_innerNonZeros[outer];
+      if (start==end)
+        return Scalar(0);
+      else if (end>0 && inner==m_innerIndices[end-1])
+        return m_values[end-1];
+      // ^^  optimization: let's first check if it is the last coefficient
+      // (very common in high level algorithms)
+
+      const StorageIndex* r = std::lower_bound(&m_innerIndices[start],&m_innerIndices[end-1],inner);
+      const Index id = r-&m_innerIndices[0];
+      return ((*r==inner) && (id<end)) ? m_values[id] : Scalar(0);
+    }
+
+    inline SparseMapBase(Index rows, Index cols, Index nnz, IndexPointer outerIndexPtr, IndexPointer innerIndexPtr,
+                              ScalarPointer valuePtr, IndexPointer innerNonZerosPtr = 0)
+      : m_outerSize(IsRowMajor?rows:cols), m_innerSize(IsRowMajor?cols:rows), m_zero_nnz(0,internal::convert_index<StorageIndex>(nnz)), m_outerIndex(outerIndexPtr),
+        m_innerIndices(innerIndexPtr), m_values(valuePtr), m_innerNonZeros(innerNonZerosPtr)
+    {}
+
+    // for vectors
+    inline SparseMapBase(Index size, Index nnz, IndexPointer innerIndexPtr, ScalarPointer valuePtr)
+      : m_outerSize(1), m_innerSize(size), m_zero_nnz(0,internal::convert_index<StorageIndex>(nnz)), m_outerIndex(m_zero_nnz.data()),
+        m_innerIndices(innerIndexPtr), m_values(valuePtr), m_innerNonZeros(0)
+    {}
+
+    /** Empty destructor */
+    inline ~SparseMapBase() {}
+
+  protected:
+    inline SparseMapBase() {}
+};
+
+/** \ingroup SparseCore_Module
+  * class SparseMapBase
+  * \brief Common base class for writable Map and Ref instance of sparse matrix and vector.
+  */
+template<typename Derived>
+class SparseMapBase<Derived,WriteAccessors>
+  : public SparseMapBase<Derived,ReadOnlyAccessors>
+{
+    typedef MapBase<Derived, ReadOnlyAccessors> ReadOnlyMapBase;
+    
+  public:
+    typedef SparseMapBase<Derived, ReadOnlyAccessors> Base;
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::StorageIndex StorageIndex;
+    enum { IsRowMajor = Base::IsRowMajor };
+    
+    using Base::operator=;
+
+  public:
+    
+    //----------------------------------------
+    // direct access interface
+    using Base::valuePtr;
+    using Base::innerIndexPtr;
+    using Base::outerIndexPtr;
+    using Base::innerNonZeroPtr;
+    /** \copydoc SparseMatrix::valuePtr */
+    inline Scalar* valuePtr()              { return Base::m_values; }
+    /** \copydoc SparseMatrix::innerIndexPtr */
+    inline StorageIndex* innerIndexPtr()   { return Base::m_innerIndices; }
+    /** \copydoc SparseMatrix::outerIndexPtr */
+    inline StorageIndex* outerIndexPtr()   { return Base::m_outerIndex; }
+    /** \copydoc SparseMatrix::innerNonZeroPtr */
+    inline StorageIndex* innerNonZeroPtr() { return Base::m_innerNonZeros; }
+    //----------------------------------------
+
+    /** \copydoc SparseMatrix::coeffRef */
+    inline Scalar& coeffRef(Index row, Index col)
+    {
+      const Index outer = IsRowMajor ? row : col;
+      const Index inner = IsRowMajor ? col : row;
+
+      Index start = Base::m_outerIndex[outer];
+      Index end = Base::isCompressed() ? Base::m_outerIndex[outer+1] : start + Base::m_innerNonZeros[outer];
+      eigen_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
+      eigen_assert(end>start && "coeffRef cannot be called on a zero coefficient");
+      StorageIndex* r = std::lower_bound(&Base::m_innerIndices[start],&Base::m_innerIndices[end],inner);
+      const Index id = r - &Base::m_innerIndices[0];
+      eigen_assert((*r==inner) && (id<end) && "coeffRef cannot be called on a zero coefficient");
+      return const_cast<Scalar*>(Base::m_values)[id];
+    }
+    
+    inline SparseMapBase(Index rows, Index cols, Index nnz, StorageIndex* outerIndexPtr, StorageIndex* innerIndexPtr,
+                         Scalar* valuePtr, StorageIndex* innerNonZerosPtr = 0)
+      : Base(rows, cols, nnz, outerIndexPtr, innerIndexPtr, valuePtr, innerNonZerosPtr)
+    {}
+
+    // for vectors
+    inline SparseMapBase(Index size, Index nnz, StorageIndex* innerIndexPtr, Scalar* valuePtr)
+      : Base(size, nnz, innerIndexPtr, valuePtr)
+    {}
+
+    /** Empty destructor */
+    inline ~SparseMapBase() {}
+
+  protected:
+    inline SparseMapBase() {}
+};
+
+/** \ingroup SparseCore_Module
+  *
+  * \brief Specialization of class Map for SparseMatrix-like storage.
+  *
+  * \tparam SparseMatrixType the equivalent sparse matrix type of the referenced data, it must be a template instance of class SparseMatrix.
+  *
+  * \sa class Map, class SparseMatrix, class Ref<SparseMatrixType,Options>
+  */
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+class Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType>
+  : public SparseMapBase<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+#else
+template<typename SparseMatrixType>
+class Map<SparseMatrixType>
+  : public SparseMapBase<Derived,WriteAccessors>
+#endif
+{
+  public:
+    typedef SparseMapBase<Map> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Map)
+    enum { IsRowMajor = Base::IsRowMajor };
+
+  public:
+
+    /** Constructs a read-write Map to a sparse matrix of size \a rows x \a cols, containing \a nnz non-zero coefficients,
+      * stored as a sparse format as defined by the pointers \a outerIndexPtr, \a innerIndexPtr, and \a valuePtr.
+      * If the optional parameter \a innerNonZerosPtr is the null pointer, then a standard compressed format is assumed.
+      *
+      * This constructor is available only if \c SparseMatrixType is non-const.
+      *
+      * More details on the expected storage schemes are given in the \ref TutorialSparse "manual pages".
+      */
+    inline Map(Index rows, Index cols, Index nnz, StorageIndex* outerIndexPtr,
+               StorageIndex* innerIndexPtr, Scalar* valuePtr, StorageIndex* innerNonZerosPtr = 0)
+      : Base(rows, cols, nnz, outerIndexPtr, innerIndexPtr, valuePtr, innerNonZerosPtr)
+    {}
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** Empty destructor */
+    inline ~Map() {}
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+class Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType>
+  : public SparseMapBase<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+{
+  public:
+    typedef SparseMapBase<Map> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Map)
+    enum { IsRowMajor = Base::IsRowMajor };
+
+  public:
+#endif
+    /** This is the const version of the above constructor.
+      *
+      * This constructor is available only if \c SparseMatrixType is const, e.g.:
+      * \code Map<const SparseMatrix<double> >  \endcode
+      */
+    inline Map(Index rows, Index cols, Index nnz, const StorageIndex* outerIndexPtr,
+               const StorageIndex* innerIndexPtr, const Scalar* valuePtr, const StorageIndex* innerNonZerosPtr = 0)
+      : Base(rows, cols, nnz, outerIndexPtr, innerIndexPtr, valuePtr, innerNonZerosPtr)
+    {}
+
+    /** Empty destructor */
+    inline ~Map() {}
+};
+
+namespace internal {
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct evaluator<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : evaluator<SparseCompressedBase<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
+{
+  typedef evaluator<SparseCompressedBase<Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
+  typedef Map<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;  
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct evaluator<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : evaluator<SparseCompressedBase<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
+{
+  typedef evaluator<SparseCompressedBase<Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
+  typedef Map<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;  
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
+};
+
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_SPARSE_MAP_H
diff --git a/eigenlib/Eigen/src/SparseCore/SparseMatrix.h b/eigenlib/Eigen/src/SparseCore/SparseMatrix.h
index ba5e3a9b..529c7a0a 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseMatrix.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseMatrix.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -32,18 +32,22 @@ namespace Eigen {
   * \tparam _Scalar the scalar type, i.e. the type of the coefficients
   * \tparam _Options Union of bit flags controlling the storage scheme. Currently the only possibility
   *                 is ColMajor or RowMajor. The default is 0 which means column-major.
-  * \tparam _Index the type of the indices. It has to be a \b signed type (e.g., short, int, std::ptrdiff_t). Default is \c int.
+  * \tparam _StorageIndex the type of the indices. It has to be a \b signed type (e.g., short, int, std::ptrdiff_t). Default is \c int.
+  *
+  * \warning In %Eigen 3.2, the undocumented type \c SparseMatrix::Index was improperly defined as the storage index type (e.g., int),
+  *          whereas it is now (starting from %Eigen 3.3) deprecated and always defined as Eigen::Index.
+  *          Codes making use of \c SparseMatrix::Index, might thus likely have to be changed to use \c SparseMatrix::StorageIndex instead.
   *
   * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_SPARSEMATRIX_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_SPARSEMATRIX_PLUGIN.
   */
 
 namespace internal {
-template<typename _Scalar, int _Options, typename _Index>
-struct traits<SparseMatrix<_Scalar, _Options, _Index> >
+template<typename _Scalar, int _Options, typename _StorageIndex>
+struct traits<SparseMatrix<_Scalar, _Options, _StorageIndex> >
 {
   typedef _Scalar Scalar;
-  typedef _Index Index;
+  typedef _StorageIndex StorageIndex;
   typedef Sparse StorageKind;
   typedef MatrixXpr XprKind;
   enum {
@@ -51,22 +55,21 @@ struct traits<SparseMatrix<_Scalar, _Options, _Index> >
     ColsAtCompileTime = Dynamic,
     MaxRowsAtCompileTime = Dynamic,
     MaxColsAtCompileTime = Dynamic,
-    Flags = _Options | NestByRefBit | LvalueBit,
-    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    Flags = _Options | NestByRefBit | LvalueBit | CompressedAccessBit,
     SupportedAccessPatterns = InnerRandomAccessPattern
   };
 };
 
-template<typename _Scalar, int _Options, typename _Index, int DiagIndex>
-struct traits<Diagonal<const SparseMatrix<_Scalar, _Options, _Index>, DiagIndex> >
+template<typename _Scalar, int _Options, typename _StorageIndex, int DiagIndex>
+struct traits<Diagonal<SparseMatrix<_Scalar, _Options, _StorageIndex>, DiagIndex> >
 {
-  typedef SparseMatrix<_Scalar, _Options, _Index> MatrixType;
-  typedef typename nested<MatrixType>::type MatrixTypeNested;
+  typedef SparseMatrix<_Scalar, _Options, _StorageIndex> MatrixType;
+  typedef typename ref_selector<MatrixType>::type MatrixTypeNested;
   typedef typename remove_reference<MatrixTypeNested>::type _MatrixTypeNested;
 
   typedef _Scalar Scalar;
   typedef Dense StorageKind;
-  typedef _Index Index;
+  typedef _StorageIndex StorageIndex;
   typedef MatrixXpr XprKind;
 
   enum {
@@ -74,47 +77,61 @@ struct traits<Diagonal<const SparseMatrix<_Scalar, _Options, _Index>, DiagIndex>
     ColsAtCompileTime = 1,
     MaxRowsAtCompileTime = Dynamic,
     MaxColsAtCompileTime = 1,
-    Flags = 0,
-    CoeffReadCost = _MatrixTypeNested::CoeffReadCost*10
+    Flags = LvalueBit
+  };
+};
+
+template<typename _Scalar, int _Options, typename _StorageIndex, int DiagIndex>
+struct traits<Diagonal<const SparseMatrix<_Scalar, _Options, _StorageIndex>, DiagIndex> >
+ : public traits<Diagonal<SparseMatrix<_Scalar, _Options, _StorageIndex>, DiagIndex> >
+{
+  enum {
+    Flags = 0
   };
 };
 
 } // end namespace internal
 
-template<typename _Scalar, int _Options, typename _Index>
+template<typename _Scalar, int _Options, typename _StorageIndex>
 class SparseMatrix
-  : public SparseMatrixBase<SparseMatrix<_Scalar, _Options, _Index> >
+  : public SparseCompressedBase<SparseMatrix<_Scalar, _Options, _StorageIndex> >
 {
+    typedef SparseCompressedBase<SparseMatrix> Base;
+    using Base::convert_index;
+    friend class SparseVector<_Scalar,0,_StorageIndex>;
   public:
+    using Base::isCompressed;
+    using Base::nonZeros;
     EIGEN_SPARSE_PUBLIC_INTERFACE(SparseMatrix)
-    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseMatrix, +=)
-    EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseMatrix, -=)
+    using Base::operator+=;
+    using Base::operator-=;
 
     typedef MappedSparseMatrix<Scalar,Flags> Map;
+    typedef Diagonal<SparseMatrix> DiagonalReturnType;
+    typedef Diagonal<const SparseMatrix> ConstDiagonalReturnType;
+    typedef typename Base::InnerIterator InnerIterator;
+    typedef typename Base::ReverseInnerIterator ReverseInnerIterator;
+    
+
     using Base::IsRowMajor;
-    typedef internal::CompressedStorage<Scalar,Index> Storage;
+    typedef internal::CompressedStorage<Scalar,StorageIndex> Storage;
     enum {
       Options = _Options
     };
 
+    typedef typename Base::IndexVector IndexVector;
+    typedef typename Base::ScalarVector ScalarVector;
   protected:
-
     typedef SparseMatrix<Scalar,(Flags&~RowMajorBit)|(IsRowMajor?RowMajorBit:0)> TransposedSparseMatrix;
 
     Index m_outerSize;
     Index m_innerSize;
-    Index* m_outerIndex;
-    Index* m_innerNonZeros;     // optional, if null then the data is compressed
+    StorageIndex* m_outerIndex;
+    StorageIndex* m_innerNonZeros;     // optional, if null then the data is compressed
     Storage m_data;
-    
-    Eigen::Map<Matrix<Index,Dynamic,1> > innerNonZeros() { return Eigen::Map<Matrix<Index,Dynamic,1> >(m_innerNonZeros, m_innerNonZeros?m_outerSize:0); }
-    const  Eigen::Map<const Matrix<Index,Dynamic,1> > innerNonZeros() const { return Eigen::Map<const Matrix<Index,Dynamic,1> >(m_innerNonZeros, m_innerNonZeros?m_outerSize:0); }
 
   public:
     
-    /** \returns whether \c *this is in compressed form. */
-    inline bool isCompressed() const { return m_innerNonZeros==0; }
-
     /** \returns the number of rows of the matrix */
     inline Index rows() const { return IsRowMajor ? m_outerSize : m_innerSize; }
     /** \returns the number of columns of the matrix */
@@ -128,38 +145,38 @@ class SparseMatrix
     /** \returns a const pointer to the array of values.
       * This function is aimed at interoperability with other libraries.
       * \sa innerIndexPtr(), outerIndexPtr() */
-    inline const Scalar* valuePtr() const { return &m_data.value(0); }
+    inline const Scalar* valuePtr() const { return m_data.valuePtr(); }
     /** \returns a non-const pointer to the array of values.
       * This function is aimed at interoperability with other libraries.
       * \sa innerIndexPtr(), outerIndexPtr() */
-    inline Scalar* valuePtr() { return &m_data.value(0); }
+    inline Scalar* valuePtr() { return m_data.valuePtr(); }
 
     /** \returns a const pointer to the array of inner indices.
       * This function is aimed at interoperability with other libraries.
       * \sa valuePtr(), outerIndexPtr() */
-    inline const Index* innerIndexPtr() const { return &m_data.index(0); }
+    inline const StorageIndex* innerIndexPtr() const { return m_data.indexPtr(); }
     /** \returns a non-const pointer to the array of inner indices.
       * This function is aimed at interoperability with other libraries.
       * \sa valuePtr(), outerIndexPtr() */
-    inline Index* innerIndexPtr() { return &m_data.index(0); }
+    inline StorageIndex* innerIndexPtr() { return m_data.indexPtr(); }
 
     /** \returns a const pointer to the array of the starting positions of the inner vectors.
       * This function is aimed at interoperability with other libraries.
       * \sa valuePtr(), innerIndexPtr() */
-    inline const Index* outerIndexPtr() const { return m_outerIndex; }
+    inline const StorageIndex* outerIndexPtr() const { return m_outerIndex; }
     /** \returns a non-const pointer to the array of the starting positions of the inner vectors.
       * This function is aimed at interoperability with other libraries.
       * \sa valuePtr(), innerIndexPtr() */
-    inline Index* outerIndexPtr() { return m_outerIndex; }
+    inline StorageIndex* outerIndexPtr() { return m_outerIndex; }
 
     /** \returns a const pointer to the array of the number of non zeros of the inner vectors.
       * This function is aimed at interoperability with other libraries.
       * \warning it returns the null pointer 0 in compressed mode */
-    inline const Index* innerNonZeroPtr() const { return m_innerNonZeros; }
+    inline const StorageIndex* innerNonZeroPtr() const { return m_innerNonZeros; }
     /** \returns a non-const pointer to the array of the number of non zeros of the inner vectors.
       * This function is aimed at interoperability with other libraries.
       * \warning it returns the null pointer 0 in compressed mode */
-    inline Index* innerNonZeroPtr() { return m_innerNonZeros; }
+    inline StorageIndex* innerNonZeroPtr() { return m_innerNonZeros; }
 
     /** \internal */
     inline Storage& data() { return m_data; }
@@ -175,7 +192,7 @@ class SparseMatrix
       const Index outer = IsRowMajor ? row : col;
       const Index inner = IsRowMajor ? col : row;
       Index end = m_innerNonZeros ? m_outerIndex[outer] + m_innerNonZeros[outer] : m_outerIndex[outer+1];
-      return m_data.atInRange(m_outerIndex[outer], end, inner);
+      return m_data.atInRange(m_outerIndex[outer], end, StorageIndex(inner));
     }
 
     /** \returns a non-const reference to the value of the matrix at position \a i, \a j
@@ -198,7 +215,7 @@ class SparseMatrix
       eigen_assert(end>=start && "you probably called coeffRef on a non finalized matrix");
       if(end<=start)
         return insert(row,col);
-      const Index p = m_data.searchLowerIndex(start,end-1,inner);
+      const Index p = m_data.searchLowerIndex(start,end-1,StorageIndex(inner));
       if((p<end) && (m_data.index(p)==inner))
         return m_data.value(p);
       else
@@ -209,45 +226,34 @@ class SparseMatrix
       * The non zero coefficient must \b not already exist.
       *
       * If the matrix \c *this is in compressed mode, then \c *this is turned into uncompressed
-      * mode while reserving room for 2 non zeros per inner vector. It is strongly recommended to first
-      * call reserve(const SizesType &) to reserve a more appropriate number of elements per
-      * inner vector that better match your scenario.
+      * mode while reserving room for 2 x this->innerSize() non zeros if reserve(Index) has not been called earlier.
+      * In this case, the insertion procedure is optimized for a \e sequential insertion mode where elements are assumed to be
+      * inserted by increasing outer-indices.
+      * 
+      * If that's not the case, then it is strongly recommended to either use a triplet-list to assemble the matrix, or to first
+      * call reserve(const SizesType &) to reserve the appropriate number of non-zero elements per inner vector.
       *
-      * This function performs a sorted insertion in O(1) if the elements of each inner vector are
-      * inserted in increasing inner index order, and in O(nnz_j) for a random insertion.
+      * Assuming memory has been appropriately reserved, this function performs a sorted insertion in O(1)
+      * if the elements of each inner vector are inserted in increasing inner index order, and in O(nnz_j) for a random insertion.
       *
       */
-    Scalar& insert(Index row, Index col)
-    {
-      eigen_assert(row>=0 && row<rows() && col>=0 && col<cols());
-      
-      if(isCompressed())
-      {
-        reserve(Matrix<Index,Dynamic,1>::Constant(outerSize(), 2));
-      }
-      return insertUncompressed(row,col);
-    }
+    Scalar& insert(Index row, Index col);
 
   public:
 
-    class InnerIterator;
-    class ReverseInnerIterator;
-
-    /** Removes all non zeros but keep allocated memory */
+    /** Removes all non zeros but keep allocated memory
+      *
+      * This function does not free the currently allocated memory. To release as much as memory as possible,
+      * call \code mat.data().squeeze(); \endcode after resizing it.
+      * 
+      * \sa resize(Index,Index), data()
+      */
     inline void setZero()
     {
       m_data.clear();
-      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(Index));
+      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(StorageIndex));
       if(m_innerNonZeros)
-        memset(m_innerNonZeros, 0, (m_outerSize)*sizeof(Index));
-    }
-
-    /** \returns the number of non zero coefficients */
-    inline Index nonZeros() const
-    {
-      if(m_innerNonZeros)
-        return innerNonZeros().sum();
-      return static_cast<Index>(m_data.size());
+        memset(m_innerNonZeros, 0, (m_outerSize)*sizeof(StorageIndex));
     }
 
     /** Preallocates \a reserveSize non zeros.
@@ -262,22 +268,25 @@ class SparseMatrix
     #ifdef EIGEN_PARSED_BY_DOXYGEN
     /** Preallocates \a reserveSize[\c j] non zeros for each column (resp. row) \c j.
       *
-      * This function turns the matrix in non-compressed mode */
+      * This function turns the matrix in non-compressed mode.
+      * 
+      * The type \c SizesType must expose the following interface:
+        \code
+        typedef value_type;
+        const value_type& operator[](i) const;
+        \endcode
+      * for \c i in the [0,this->outerSize()[ range.
+      * Typical choices include std::vector<int>, Eigen::VectorXi, Eigen::VectorXi::Constant, etc.
+      */
     template<class SizesType>
     inline void reserve(const SizesType& reserveSizes);
     #else
     template<class SizesType>
-    inline void reserve(const SizesType& reserveSizes, const typename SizesType::value_type& enableif = typename SizesType::value_type())
-    {
-      EIGEN_UNUSED_VARIABLE(enableif);
-      reserveInnerVectors(reserveSizes);
-    }
-    template<class SizesType>
-    inline void reserve(const SizesType& reserveSizes, const typename SizesType::Scalar& enableif =
-    #if (!defined(_MSC_VER)) || (_MSC_VER>=1500) // MSVC 2005 fails to compile with this typename
+    inline void reserve(const SizesType& reserveSizes, const typename SizesType::value_type& enableif =
+    #if (!EIGEN_COMP_MSVC) || (EIGEN_COMP_MSVC>=1500) // MSVC 2005 fails to compile with this typename
         typename
     #endif
-        SizesType::Scalar())
+        SizesType::value_type())
     {
       EIGEN_UNUSED_VARIABLE(enableif);
       reserveInnerVectors(reserveSizes);
@@ -289,15 +298,15 @@ class SparseMatrix
     {
       if(isCompressed())
       {
-        std::size_t totalReserveSize = 0;
+        Index totalReserveSize = 0;
         // turn the matrix into non-compressed mode
-        m_innerNonZeros = static_cast<Index*>(std::malloc(m_outerSize * sizeof(Index)));
+        m_innerNonZeros = static_cast<StorageIndex*>(std::malloc(m_outerSize * sizeof(StorageIndex)));
         if (!m_innerNonZeros) internal::throw_std_bad_alloc();
         
         // temporarily use m_innerSizes to hold the new starting points.
-        Index* newOuterIndex = m_innerNonZeros;
+        StorageIndex* newOuterIndex = m_innerNonZeros;
         
-        Index count = 0;
+        StorageIndex count = 0;
         for(Index j=0; j<m_outerSize; ++j)
         {
           newOuterIndex[j] = count;
@@ -305,10 +314,10 @@ class SparseMatrix
           totalReserveSize += reserveSizes[j];
         }
         m_data.reserve(totalReserveSize);
-        Index previousOuterIndex = m_outerIndex[m_outerSize];
+        StorageIndex previousOuterIndex = m_outerIndex[m_outerSize];
         for(Index j=m_outerSize-1; j>=0; --j)
         {
-          Index innerNNZ = previousOuterIndex - m_outerIndex[j];
+          StorageIndex innerNNZ = previousOuterIndex - m_outerIndex[j];
           for(Index i=innerNNZ-1; i>=0; --i)
           {
             m_data.index(newOuterIndex[j]+i) = m_data.index(m_outerIndex[j]+i);
@@ -324,15 +333,15 @@ class SparseMatrix
       }
       else
       {
-        Index* newOuterIndex = static_cast<Index*>(std::malloc((m_outerSize+1)*sizeof(Index)));
+        StorageIndex* newOuterIndex = static_cast<StorageIndex*>(std::malloc((m_outerSize+1)*sizeof(StorageIndex)));
         if (!newOuterIndex) internal::throw_std_bad_alloc();
         
-        Index count = 0;
+        StorageIndex count = 0;
         for(Index j=0; j<m_outerSize; ++j)
         {
           newOuterIndex[j] = count;
-          Index alreadyReserved = (m_outerIndex[j+1]-m_outerIndex[j]) - m_innerNonZeros[j];
-          Index toReserve = std::max<Index>(reserveSizes[j], alreadyReserved);
+          StorageIndex alreadyReserved = (m_outerIndex[j+1]-m_outerIndex[j]) - m_innerNonZeros[j];
+          StorageIndex toReserve = std::max<StorageIndex>(reserveSizes[j], alreadyReserved);
           count += toReserve + m_innerNonZeros[j];
         }
         newOuterIndex[m_outerSize] = count;
@@ -343,7 +352,7 @@ class SparseMatrix
           Index offset = newOuterIndex[j] - m_outerIndex[j];
           if(offset>0)
           {
-            Index innerNNZ = m_innerNonZeros[j];
+            StorageIndex innerNNZ = m_innerNonZeros[j];
             for(Index i=innerNNZ-1; i>=0; --i)
             {
               m_data.index(newOuterIndex[j]+i) = m_data.index(m_outerIndex[j]+i);
@@ -380,11 +389,11 @@ class SparseMatrix
       * \sa insertBack, startVec */
     inline Scalar& insertBackByOuterInner(Index outer, Index inner)
     {
-      eigen_assert(size_t(m_outerIndex[outer+1]) == m_data.size() && "Invalid ordered insertion (invalid outer index)");
+      eigen_assert(Index(m_outerIndex[outer+1]) == m_data.size() && "Invalid ordered insertion (invalid outer index)");
       eigen_assert( (m_outerIndex[outer+1]-m_outerIndex[outer]==0 || m_data.index(m_data.size()-1)<inner) && "Invalid ordered insertion (invalid inner index)");
       Index p = m_outerIndex[outer+1];
       ++m_outerIndex[outer+1];
-      m_data.append(0, inner);
+      m_data.append(Scalar(0), inner);
       return m_data.value(p);
     }
 
@@ -394,7 +403,7 @@ class SparseMatrix
     {
       Index p = m_outerIndex[outer+1];
       ++m_outerIndex[outer+1];
-      m_data.append(0, inner);
+      m_data.append(Scalar(0), inner);
       return m_data.value(p);
     }
 
@@ -414,7 +423,7 @@ class SparseMatrix
     {
       if(isCompressed())
       {
-        Index size = static_cast<Index>(m_data.size());
+        StorageIndex size = internal::convert_index<StorageIndex>(m_data.size());
         Index i = m_outerSize;
         // find the last filled column
         while (i>=0 && m_outerIndex[i]==0)
@@ -433,7 +442,13 @@ class SparseMatrix
     template<typename InputIterators>
     void setFromTriplets(const InputIterators& begin, const InputIterators& end);
 
-    void sumupDuplicates();
+    template<typename InputIterators,typename DupFunctor>
+    void setFromTriplets(const InputIterators& begin, const InputIterators& end, DupFunctor dup_func);
+
+    void sumupDuplicates() { collapseDuplicates(internal::scalar_sum_op<Scalar,Scalar>()); }
+
+    template<typename DupFunctor>
+    void collapseDuplicates(DupFunctor dup_func = DupFunctor());
 
     //---
     
@@ -451,6 +466,8 @@ class SparseMatrix
       if(isCompressed())
         return;
       
+      eigen_internal_assert(m_outerIndex!=0 && m_outerSize>0);
+      
       Index oldStart = m_outerIndex[1];
       m_outerIndex[1] = m_innerNonZeros[0];
       for(Index j=1; j<m_outerSize; ++j)
@@ -479,7 +496,7 @@ class SparseMatrix
     {
       if(m_innerNonZeros != 0)
         return; 
-      m_innerNonZeros = static_cast<Index*>(std::malloc(m_outerSize * sizeof(Index)));
+      m_innerNonZeros = static_cast<StorageIndex*>(std::malloc(m_outerSize * sizeof(StorageIndex)));
       for (Index i = 0; i < m_outerSize; i++)
       {
         m_innerNonZeros[i] = m_outerIndex[i+1] - m_outerIndex[i]; 
@@ -503,10 +520,9 @@ class SparseMatrix
     void prune(const KeepFunc& keep = KeepFunc())
     {
       // TODO optimize the uncompressed mode to avoid moving and allocating the data twice
-      // TODO also implement a unit test
       makeCompressed();
 
-      Index k = 0;
+      StorageIndex k = 0;
       for(Index j=0; j<m_outerSize; ++j)
       {
         Index previousStart = m_outerIndex[j];
@@ -527,7 +543,12 @@ class SparseMatrix
     }
 
     /** Resizes the matrix to a \a rows x \a cols matrix leaving old values untouched.
-      * \sa resizeNonZeros(Index), reserve(), setZero()
+      *
+      * If the sizes of the matrix are decreased, then the matrix is turned to \b uncompressed-mode
+      * and the storage of the out of bounds coefficients is kept and reserved.
+      * Call makeCompressed() to pack the entries and squeeze extra memory.
+      *
+      * \sa reserve(), setZero(), makeCompressed()
       */
     void conservativeResize(Index rows, Index cols) 
     {
@@ -539,13 +560,13 @@ class SparseMatrix
 
       Index innerChange = IsRowMajor ? cols - this->cols() : rows - this->rows();
       Index outerChange = IsRowMajor ? rows - this->rows() : cols - this->cols();
-      Index newInnerSize = IsRowMajor ? cols : rows;
+      StorageIndex newInnerSize = convert_index(IsRowMajor ? cols : rows);
 
       // Deals with inner non zeros
       if (m_innerNonZeros)
       {
         // Resize m_innerNonZeros
-        Index *newInnerNonZeros = static_cast<Index*>(std::realloc(m_innerNonZeros, (m_outerSize + outerChange) * sizeof(Index)));
+        StorageIndex *newInnerNonZeros = static_cast<StorageIndex*>(std::realloc(m_innerNonZeros, (m_outerSize + outerChange) * sizeof(StorageIndex)));
         if (!newInnerNonZeros) internal::throw_std_bad_alloc();
         m_innerNonZeros = newInnerNonZeros;
         
@@ -555,7 +576,7 @@ class SparseMatrix
       else if (innerChange < 0) 
       {
         // Inner size decreased: allocate a new m_innerNonZeros
-        m_innerNonZeros = static_cast<Index*>(std::malloc((m_outerSize+outerChange+1) * sizeof(Index)));
+        m_innerNonZeros = static_cast<StorageIndex*>(std::malloc((m_outerSize+outerChange+1) * sizeof(StorageIndex)));
         if (!m_innerNonZeros) internal::throw_std_bad_alloc();
         for(Index i = 0; i < m_outerSize; i++)
           m_innerNonZeros[i] = m_outerIndex[i+1] - m_outerIndex[i];
@@ -566,8 +587,8 @@ class SparseMatrix
       {
         for(Index i = 0; i < m_outerSize + (std::min)(outerChange, Index(0)); i++)
         {
-          Index &n = m_innerNonZeros[i];
-          Index start = m_outerIndex[i];
+          StorageIndex &n = m_innerNonZeros[i];
+          StorageIndex start = m_outerIndex[i];
           while (n > 0 && m_data.index(start+n-1) >= newInnerSize) --n; 
         }
       }
@@ -578,12 +599,12 @@ class SparseMatrix
       if (outerChange == 0)
         return;
           
-      Index *newOuterIndex = static_cast<Index*>(std::realloc(m_outerIndex, (m_outerSize + outerChange + 1) * sizeof(Index)));
+      StorageIndex *newOuterIndex = static_cast<StorageIndex*>(std::realloc(m_outerIndex, (m_outerSize + outerChange + 1) * sizeof(StorageIndex)));
       if (!newOuterIndex) internal::throw_std_bad_alloc();
       m_outerIndex = newOuterIndex;
       if (outerChange > 0)
       {
-        Index last = m_outerSize == 0 ? 0 : m_outerIndex[m_outerSize];
+        StorageIndex last = m_outerSize == 0 ? 0 : m_outerIndex[m_outerSize];
         for(Index i=m_outerSize; i<m_outerSize+outerChange+1; i++)          
           m_outerIndex[i] = last; 
       }
@@ -591,7 +612,11 @@ class SparseMatrix
     }
     
     /** Resizes the matrix to a \a rows x \a cols matrix and initializes it to zero.
-      * \sa resizeNonZeros(Index), reserve(), setZero()
+      * 
+      * This function does not free the currently allocated memory. To release as much as memory as possible,
+      * call \code mat.data().squeeze(); \endcode after resizing it.
+      * 
+      * \sa reserve(), setZero()
       */
     void resize(Index rows, Index cols)
     {
@@ -601,7 +626,7 @@ class SparseMatrix
       if (m_outerSize != outerSize || m_outerSize==0)
       {
         std::free(m_outerIndex);
-        m_outerIndex = static_cast<Index*>(std::malloc((outerSize + 1) * sizeof(Index)));
+        m_outerIndex = static_cast<StorageIndex*>(std::malloc((outerSize + 1) * sizeof(StorageIndex)));
         if (!m_outerIndex) internal::throw_std_bad_alloc();
         
         m_outerSize = outerSize;
@@ -611,19 +636,24 @@ class SparseMatrix
         std::free(m_innerNonZeros);
         m_innerNonZeros = 0;
       }
-      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(Index));
+      memset(m_outerIndex, 0, (m_outerSize+1)*sizeof(StorageIndex));
     }
 
     /** \internal
       * Resize the nonzero vector to \a size */
     void resizeNonZeros(Index size)
     {
-      // TODO remove this function
       m_data.resize(size);
     }
 
-    /** \returns a const expression of the diagonal coefficients */
-    const Diagonal<const SparseMatrix> diagonal() const { return *this; }
+    /** \returns a const expression of the diagonal coefficients. */
+    const ConstDiagonalReturnType diagonal() const { return ConstDiagonalReturnType(*this); }
+    
+    /** \returns a read-write expression of the diagonal coefficients.
+      * \warning If the diagonal entries are written, then all diagonal
+      * entries \b must already exist, otherwise an assertion will be raised.
+      */
+    DiagonalReturnType diagonal() { return DiagonalReturnType(*this); }
 
     /** Default constructor yielding an empty \c 0 \c x \c 0 matrix */
     inline SparseMatrix()
@@ -649,7 +679,16 @@ class SparseMatrix
       EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
         YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
       check_template_parameters();
-      *this = other.derived();
+      const bool needToTranspose = (Flags & RowMajorBit) != (internal::evaluator<OtherDerived>::Flags & RowMajorBit);
+      if (needToTranspose)
+        *this = other.derived();
+      else
+      {
+        #ifdef EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+          EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+        #endif
+        internal::call_assignment_no_alias(*this, other.derived());
+      }
     }
     
     /** Constructs a sparse matrix from the sparse selfadjoint view \a other */
@@ -658,7 +697,7 @@ class SparseMatrix
       : m_outerSize(0), m_innerSize(0), m_outerIndex(0), m_innerNonZeros(0)
     {
       check_template_parameters();
-      *this = other;
+      Base::operator=(other);
     }
 
     /** Copy constructor (it performs a deep copy) */
@@ -678,6 +717,15 @@ class SparseMatrix
       initAssignment(other);
       other.evalTo(*this);
     }
+    
+    /** \brief Copy constructor with in-place evaluation */
+    template<typename OtherDerived>
+    explicit SparseMatrix(const DiagonalBase<OtherDerived>& other)
+      : Base(), m_outerSize(0), m_innerSize(0), m_outerIndex(0), m_innerNonZeros(0)
+    {
+      check_template_parameters();
+      *this = other.derived();
+    }
 
     /** Swaps the content of two sparse matrices of the same type.
       * This is a fast operation that simply swaps the underlying pointers and parameters. */
@@ -691,14 +739,17 @@ class SparseMatrix
       m_data.swap(other.m_data);
     }
 
-    /** Sets *this to the identity matrix */
+    /** Sets *this to the identity matrix.
+      * This function also turns the matrix into compressed mode, and drop any reserved memory. */
     inline void setIdentity()
     {
       eigen_assert(rows() == cols() && "ONLY FOR SQUARED MATRICES");
       this->m_data.resize(rows());
-      Eigen::Map<Matrix<Index, Dynamic, 1> >(&this->m_data.index(0), rows()).setLinSpaced(0, rows()-1);
-      Eigen::Map<Matrix<Scalar, Dynamic, 1> >(&this->m_data.value(0), rows()).setOnes();
-      Eigen::Map<Matrix<Index, Dynamic, 1> >(this->m_outerIndex, rows()+1).setLinSpaced(0, rows());
+      Eigen::Map<IndexVector>(this->m_data.indexPtr(), rows()).setLinSpaced(0, StorageIndex(rows()-1));
+      Eigen::Map<ScalarVector>(this->m_data.valuePtr(), rows()).setOnes();
+      Eigen::Map<IndexVector>(this->m_outerIndex, rows()+1).setLinSpaced(0, StorageIndex(rows()));
+      std::free(m_innerNonZeros);
+      m_innerNonZeros = 0;
     }
     inline SparseMatrix& operator=(const SparseMatrix& other)
     {
@@ -708,10 +759,13 @@ class SparseMatrix
       }
       else if(this!=&other)
       {
+        #ifdef EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+          EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+        #endif
         initAssignment(other);
         if(other.isCompressed())
         {
-          memcpy(m_outerIndex, other.m_outerIndex, (m_outerSize+1)*sizeof(Index));
+          internal::smart_copy(other.m_outerIndex, other.m_outerIndex + m_outerSize + 1, m_outerIndex);
           m_data = other.m_data;
         }
         else
@@ -722,22 +776,11 @@ class SparseMatrix
       return *this;
     }
 
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
-    template<typename Lhs, typename Rhs>
-    inline SparseMatrix& operator=(const SparseSparseProduct<Lhs,Rhs>& product)
-    { return Base::operator=(product); }
-    
-    template<typename OtherDerived>
-    inline SparseMatrix& operator=(const ReturnByValue<OtherDerived>& other)
-    {
-      initAssignment(other);
-      return Base::operator=(other.derived());
-    }
-    
+#ifndef EIGEN_PARSED_BY_DOXYGEN
     template<typename OtherDerived>
     inline SparseMatrix& operator=(const EigenBase<OtherDerived>& other)
     { return Base::operator=(other.derived()); }
-    #endif
+#endif // EIGEN_PARSED_BY_DOXYGEN
 
     template<typename OtherDerived>
     EIGEN_DONT_INLINE SparseMatrix& operator=(const SparseMatrixBase<OtherDerived>& other);
@@ -747,30 +790,38 @@ class SparseMatrix
       EIGEN_DBG_SPARSE(
         s << "Nonzero entries:\n";
         if(m.isCompressed())
+        {
           for (Index i=0; i<m.nonZeros(); ++i)
             s << "(" << m.m_data.value(i) << "," << m.m_data.index(i) << ") ";
+        }
         else
+        {
           for (Index i=0; i<m.outerSize(); ++i)
           {
             Index p = m.m_outerIndex[i];
             Index pe = m.m_outerIndex[i]+m.m_innerNonZeros[i];
             Index k=p;
-            for (; k<pe; ++k)
+            for (; k<pe; ++k) {
               s << "(" << m.m_data.value(k) << "," << m.m_data.index(k) << ") ";
-            for (; k<m.m_outerIndex[i+1]; ++k)
+            }
+            for (; k<m.m_outerIndex[i+1]; ++k) {
               s << "(_,_) ";
+            }
           }
+        }
         s << std::endl;
         s << std::endl;
         s << "Outer pointers:\n";
-        for (Index i=0; i<m.outerSize(); ++i)
+        for (Index i=0; i<m.outerSize(); ++i) {
           s << m.m_outerIndex[i] << " ";
+        }
         s << " $" << std::endl;
         if(!m.isCompressed())
         {
           s << "Inner non zeros:\n";
-          for (Index i=0; i<m.outerSize(); ++i)
+          for (Index i=0; i<m.outerSize(); ++i) {
             s << m.m_innerNonZeros[i] << " ";
+          }
           s << " $" << std::endl;
         }
         s << std::endl;
@@ -786,10 +837,8 @@ class SparseMatrix
       std::free(m_innerNonZeros);
     }
 
-#ifndef EIGEN_PARSED_BY_DOXYGEN
     /** Overloaded for performance */
     Scalar sum() const;
-#endif
     
 #   ifdef EIGEN_SPARSEMATRIX_PLUGIN
 #     include EIGEN_SPARSEMATRIX_PLUGIN
@@ -816,15 +865,15 @@ protected:
       * A vector object that is equal to 0 everywhere but v at the position i */
     class SingletonVector
     {
-        Index m_index;
-        Index m_value;
+        StorageIndex m_index;
+        StorageIndex m_value;
       public:
-        typedef Index value_type;
+        typedef StorageIndex value_type;
         SingletonVector(Index i, Index v)
-          : m_index(i), m_value(v)
+          : m_index(convert_index(i)), m_value(convert_index(v))
         {}
 
-        Index operator[](Index i) const { return i==m_index ? m_value : 0; }
+        StorageIndex operator[](Index i) const { return i==m_index ? m_value : 0; }
     };
 
     /** \internal
@@ -843,14 +892,14 @@ public:
       eigen_assert(m_innerNonZeros[outer]<=(m_outerIndex[outer+1] - m_outerIndex[outer]));
 
       Index p = m_outerIndex[outer] + m_innerNonZeros[outer]++;
-      m_data.index(p) = inner;
+      m_data.index(p) = convert_index(inner);
       return (m_data.value(p) = 0);
     }
 
 private:
   static void check_template_parameters()
   {
-    EIGEN_STATIC_ASSERT(NumTraits<Index>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE);
+    EIGEN_STATIC_ASSERT(NumTraits<StorageIndex>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE);
     EIGEN_STATIC_ASSERT((Options&(ColMajor|RowMajor))==Options,INVALID_MATRIX_TEMPLATE_PARAMETERS);
   }
 
@@ -865,87 +914,20 @@ private:
   };
 };
 
-template<typename Scalar, int _Options, typename _Index>
-class SparseMatrix<Scalar,_Options,_Index>::InnerIterator
-{
-  public:
-    InnerIterator(const SparseMatrix& mat, Index outer)
-      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(outer), m_id(mat.m_outerIndex[outer])
-    {
-      if(mat.isCompressed())
-        m_end = mat.m_outerIndex[outer+1];
-      else
-        m_end = m_id + mat.m_innerNonZeros[outer];
-    }
-
-    inline InnerIterator& operator++() { m_id++; return *this; }
-
-    inline const Scalar& value() const { return m_values[m_id]; }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_values[m_id]); }
-
-    inline Index index() const { return m_indices[m_id]; }
-    inline Index outer() const { return m_outer; }
-    inline Index row() const { return IsRowMajor ? m_outer : index(); }
-    inline Index col() const { return IsRowMajor ? index() : m_outer; }
-
-    inline operator bool() const { return (m_id < m_end); }
-
-  protected:
-    const Scalar* m_values;
-    const Index* m_indices;
-    const Index m_outer;
-    Index m_id;
-    Index m_end;
-};
-
-template<typename Scalar, int _Options, typename _Index>
-class SparseMatrix<Scalar,_Options,_Index>::ReverseInnerIterator
-{
-  public:
-    ReverseInnerIterator(const SparseMatrix& mat, Index outer)
-      : m_values(mat.valuePtr()), m_indices(mat.innerIndexPtr()), m_outer(outer), m_start(mat.m_outerIndex[outer])
-    {
-      if(mat.isCompressed())
-        m_id = mat.m_outerIndex[outer+1];
-      else
-        m_id = m_start + mat.m_innerNonZeros[outer];
-    }
-
-    inline ReverseInnerIterator& operator--() { --m_id; return *this; }
-
-    inline const Scalar& value() const { return m_values[m_id-1]; }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_values[m_id-1]); }
-
-    inline Index index() const { return m_indices[m_id-1]; }
-    inline Index outer() const { return m_outer; }
-    inline Index row() const { return IsRowMajor ? m_outer : index(); }
-    inline Index col() const { return IsRowMajor ? index() : m_outer; }
-
-    inline operator bool() const { return (m_id > m_start); }
-
-  protected:
-    const Scalar* m_values;
-    const Index* m_indices;
-    const Index m_outer;
-    Index m_id;
-    const Index m_start;
-};
-
 namespace internal {
 
-template<typename InputIterator, typename SparseMatrixType>
-void set_from_triplets(const InputIterator& begin, const InputIterator& end, SparseMatrixType& mat, int Options = 0)
+template<typename InputIterator, typename SparseMatrixType, typename DupFunctor>
+void set_from_triplets(const InputIterator& begin, const InputIterator& end, SparseMatrixType& mat, DupFunctor dup_func)
 {
-  EIGEN_UNUSED_VARIABLE(Options);
   enum { IsRowMajor = SparseMatrixType::IsRowMajor };
   typedef typename SparseMatrixType::Scalar Scalar;
-  typedef typename SparseMatrixType::Index Index;
-  SparseMatrix<Scalar,IsRowMajor?ColMajor:RowMajor,Index> trMat(mat.rows(),mat.cols());
+  typedef typename SparseMatrixType::StorageIndex StorageIndex;
+  SparseMatrix<Scalar,IsRowMajor?ColMajor:RowMajor,StorageIndex> trMat(mat.rows(),mat.cols());
 
   if(begin!=end)
   {
     // pass 1: count the nnz per inner-vector
-    Matrix<Index,Dynamic,1> wi(trMat.outerSize());
+    typename SparseMatrixType::IndexVector wi(trMat.outerSize());
     wi.setZero();
     for(InputIterator it(begin); it!=end; ++it)
     {
@@ -959,7 +941,7 @@ void set_from_triplets(const InputIterator& begin, const InputIterator& end, Spa
       trMat.insertBackUncompressed(it->row(),it->col()) = it->value();
 
     // pass 3:
-    trMat.sumupDuplicates();
+    trMat.collapseDuplicates(dup_func);
   }
 
   // pass 4: transposed copy -> implicit sorting
@@ -1006,26 +988,43 @@ void set_from_triplets(const InputIterator& begin, const InputIterator& end, Spa
   * an abstract iterator over a complex data-structure that would be expensive to evaluate. The triplets should rather
   * be explicitely stored into a std::vector for instance.
   */
-template<typename Scalar, int _Options, typename _Index>
+template<typename Scalar, int _Options, typename _StorageIndex>
 template<typename InputIterators>
-void SparseMatrix<Scalar,_Options,_Index>::setFromTriplets(const InputIterators& begin, const InputIterators& end)
+void SparseMatrix<Scalar,_Options,_StorageIndex>::setFromTriplets(const InputIterators& begin, const InputIterators& end)
 {
-  internal::set_from_triplets(begin, end, *this);
+  internal::set_from_triplets<InputIterators, SparseMatrix<Scalar,_Options,_StorageIndex> >(begin, end, *this, internal::scalar_sum_op<Scalar,Scalar>());
+}
+
+/** The same as setFromTriplets but when duplicates are met the functor \a dup_func is applied:
+  * \code
+  * value = dup_func(OldValue, NewValue)
+  * \endcode 
+  * Here is a C++11 example keeping the latest entry only:
+  * \code
+  * mat.setFromTriplets(triplets.begin(), triplets.end(), [] (const Scalar&,const Scalar &b) { return b; });
+  * \endcode
+  */
+template<typename Scalar, int _Options, typename _StorageIndex>
+template<typename InputIterators,typename DupFunctor>
+void SparseMatrix<Scalar,_Options,_StorageIndex>::setFromTriplets(const InputIterators& begin, const InputIterators& end, DupFunctor dup_func)
+{
+  internal::set_from_triplets<InputIterators, SparseMatrix<Scalar,_Options,_StorageIndex>, DupFunctor>(begin, end, *this, dup_func);
 }
 
 /** \internal */
-template<typename Scalar, int _Options, typename _Index>
-void SparseMatrix<Scalar,_Options,_Index>::sumupDuplicates()
+template<typename Scalar, int _Options, typename _StorageIndex>
+template<typename DupFunctor>
+void SparseMatrix<Scalar,_Options,_StorageIndex>::collapseDuplicates(DupFunctor dup_func)
 {
   eigen_assert(!isCompressed());
   // TODO, in practice we should be able to use m_innerNonZeros for that task
-  Matrix<Index,Dynamic,1> wi(innerSize());
+  IndexVector wi(innerSize());
   wi.fill(-1);
-  Index count = 0;
+  StorageIndex count = 0;
   // for each inner-vector, wi[inner_index] will hold the position of first element into the index/value buffers
   for(Index j=0; j<outerSize(); ++j)
   {
-    Index start   = count;
+    StorageIndex start   = count;
     Index oldEnd  = m_outerIndex[j]+m_innerNonZeros[j];
     for(Index k=m_outerIndex[j]; k<oldEnd; ++k)
     {
@@ -1033,7 +1032,7 @@ void SparseMatrix<Scalar,_Options,_Index>::sumupDuplicates()
       if(wi(i)>=start)
       {
         // we already meet this entry => accumulate it
-        m_data.value(wi(i)) += m_data.value(k);
+        m_data.value(wi(i)) = dup_func(m_data.value(wi(i)), m_data.value(k));
       }
       else
       {
@@ -1053,39 +1052,48 @@ void SparseMatrix<Scalar,_Options,_Index>::sumupDuplicates()
   m_data.resize(m_outerIndex[m_outerSize]);
 }
 
-template<typename Scalar, int _Options, typename _Index>
+template<typename Scalar, int _Options, typename _StorageIndex>
 template<typename OtherDerived>
-EIGEN_DONT_INLINE SparseMatrix<Scalar,_Options,_Index>& SparseMatrix<Scalar,_Options,_Index>::operator=(const SparseMatrixBase<OtherDerived>& other)
+EIGEN_DONT_INLINE SparseMatrix<Scalar,_Options,_StorageIndex>& SparseMatrix<Scalar,_Options,_StorageIndex>::operator=(const SparseMatrixBase<OtherDerived>& other)
 {
   EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
         YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-  
-  const bool needToTranspose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
+
+  #ifdef EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+    EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+  #endif
+      
+  const bool needToTranspose = (Flags & RowMajorBit) != (internal::evaluator<OtherDerived>::Flags & RowMajorBit);
   if (needToTranspose)
   {
+    #ifdef EIGEN_SPARSE_TRANSPOSED_COPY_PLUGIN
+      EIGEN_SPARSE_TRANSPOSED_COPY_PLUGIN
+    #endif
     // two passes algorithm:
     //  1 - compute the number of coeffs per dest inner vector
     //  2 - do the actual copy/eval
     // Since each coeff of the rhs has to be evaluated twice, let's evaluate it if needed
-    typedef typename internal::nested<OtherDerived,2>::type OtherCopy;
+    typedef typename internal::nested_eval<OtherDerived,2,typename internal::plain_matrix_type<OtherDerived>::type >::type OtherCopy;
     typedef typename internal::remove_all<OtherCopy>::type _OtherCopy;
+    typedef internal::evaluator<_OtherCopy> OtherCopyEval;
     OtherCopy otherCopy(other.derived());
+    OtherCopyEval otherCopyEval(otherCopy);
 
     SparseMatrix dest(other.rows(),other.cols());
-    Eigen::Map<Matrix<Index, Dynamic, 1> > (dest.m_outerIndex,dest.outerSize()).setZero();
+    Eigen::Map<IndexVector> (dest.m_outerIndex,dest.outerSize()).setZero();
 
     // pass 1
     // FIXME the above copy could be merged with that pass
     for (Index j=0; j<otherCopy.outerSize(); ++j)
-      for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
+      for (typename OtherCopyEval::InnerIterator it(otherCopyEval, j); it; ++it)
         ++dest.m_outerIndex[it.index()];
 
     // prefix sum
-    Index count = 0;
-    Matrix<Index,Dynamic,1> positions(dest.outerSize());
+    StorageIndex count = 0;
+    IndexVector positions(dest.outerSize());
     for (Index j=0; j<dest.outerSize(); ++j)
     {
-      Index tmp = dest.m_outerIndex[j];
+      StorageIndex tmp = dest.m_outerIndex[j];
       dest.m_outerIndex[j] = count;
       positions[j] = count;
       count += tmp;
@@ -1094,9 +1102,9 @@ EIGEN_DONT_INLINE SparseMatrix<Scalar,_Options,_Index>& SparseMatrix<Scalar,_Opt
     // alloc
     dest.m_data.resize(count);
     // pass 2
-    for (Index j=0; j<otherCopy.outerSize(); ++j)
+    for (StorageIndex j=0; j<otherCopy.outerSize(); ++j)
     {
-      for (typename _OtherCopy::InnerIterator it(otherCopy, j); it; ++it)
+      for (typename OtherCopyEval::InnerIterator it(otherCopyEval, j); it; ++it)
       {
         Index pos = positions[it.index()]++;
         dest.m_data.index(pos) = j;
@@ -1109,26 +1117,148 @@ EIGEN_DONT_INLINE SparseMatrix<Scalar,_Options,_Index>& SparseMatrix<Scalar,_Opt
   else
   {
     if(other.isRValue())
+    {
       initAssignment(other.derived());
+    }
     // there is no special optimization
     return Base::operator=(other.derived());
   }
 }
 
-template<typename _Scalar, int _Options, typename _Index>
-EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_Index>::Scalar& SparseMatrix<_Scalar,_Options,_Index>::insertUncompressed(Index row, Index col)
+template<typename _Scalar, int _Options, typename _StorageIndex>
+typename SparseMatrix<_Scalar,_Options,_StorageIndex>::Scalar& SparseMatrix<_Scalar,_Options,_StorageIndex>::insert(Index row, Index col)
+{
+  eigen_assert(row>=0 && row<rows() && col>=0 && col<cols());
+  
+  const Index outer = IsRowMajor ? row : col;
+  const Index inner = IsRowMajor ? col : row;
+  
+  if(isCompressed())
+  {
+    if(nonZeros()==0)
+    {
+      // reserve space if not already done
+      if(m_data.allocatedSize()==0)
+        m_data.reserve(2*m_innerSize);
+      
+      // turn the matrix into non-compressed mode
+      m_innerNonZeros = static_cast<StorageIndex*>(std::malloc(m_outerSize * sizeof(StorageIndex)));
+      if(!m_innerNonZeros) internal::throw_std_bad_alloc();
+      
+      memset(m_innerNonZeros, 0, (m_outerSize)*sizeof(StorageIndex));
+      
+      // pack all inner-vectors to the end of the pre-allocated space
+      // and allocate the entire free-space to the first inner-vector
+      StorageIndex end = convert_index(m_data.allocatedSize());
+      for(Index j=1; j<=m_outerSize; ++j)
+        m_outerIndex[j] = end;
+    }
+    else
+    {
+      // turn the matrix into non-compressed mode
+      m_innerNonZeros = static_cast<StorageIndex*>(std::malloc(m_outerSize * sizeof(StorageIndex)));
+      if(!m_innerNonZeros) internal::throw_std_bad_alloc();
+      for(Index j=0; j<m_outerSize; ++j)
+        m_innerNonZeros[j] = m_outerIndex[j+1]-m_outerIndex[j];
+    }
+  }
+  
+  // check whether we can do a fast "push back" insertion
+  Index data_end = m_data.allocatedSize();
+  
+  // First case: we are filling a new inner vector which is packed at the end.
+  // We assume that all remaining inner-vectors are also empty and packed to the end.
+  if(m_outerIndex[outer]==data_end)
+  {
+    eigen_internal_assert(m_innerNonZeros[outer]==0);
+    
+    // pack previous empty inner-vectors to end of the used-space
+    // and allocate the entire free-space to the current inner-vector.
+    StorageIndex p = convert_index(m_data.size());
+    Index j = outer;
+    while(j>=0 && m_innerNonZeros[j]==0)
+      m_outerIndex[j--] = p;
+    
+    // push back the new element
+    ++m_innerNonZeros[outer];
+    m_data.append(Scalar(0), inner);
+    
+    // check for reallocation
+    if(data_end != m_data.allocatedSize())
+    {
+      // m_data has been reallocated
+      //  -> move remaining inner-vectors back to the end of the free-space
+      //     so that the entire free-space is allocated to the current inner-vector.
+      eigen_internal_assert(data_end < m_data.allocatedSize());
+      StorageIndex new_end = convert_index(m_data.allocatedSize());
+      for(Index k=outer+1; k<=m_outerSize; ++k)
+        if(m_outerIndex[k]==data_end)
+          m_outerIndex[k] = new_end;
+    }
+    return m_data.value(p);
+  }
+  
+  // Second case: the next inner-vector is packed to the end
+  // and the current inner-vector end match the used-space.
+  if(m_outerIndex[outer+1]==data_end && m_outerIndex[outer]+m_innerNonZeros[outer]==m_data.size())
+  {
+    eigen_internal_assert(outer+1==m_outerSize || m_innerNonZeros[outer+1]==0);
+    
+    // add space for the new element
+    ++m_innerNonZeros[outer];
+    m_data.resize(m_data.size()+1);
+    
+    // check for reallocation
+    if(data_end != m_data.allocatedSize())
+    {
+      // m_data has been reallocated
+      //  -> move remaining inner-vectors back to the end of the free-space
+      //     so that the entire free-space is allocated to the current inner-vector.
+      eigen_internal_assert(data_end < m_data.allocatedSize());
+      StorageIndex new_end = convert_index(m_data.allocatedSize());
+      for(Index k=outer+1; k<=m_outerSize; ++k)
+        if(m_outerIndex[k]==data_end)
+          m_outerIndex[k] = new_end;
+    }
+    
+    // and insert it at the right position (sorted insertion)
+    Index startId = m_outerIndex[outer];
+    Index p = m_outerIndex[outer]+m_innerNonZeros[outer]-1;
+    while ( (p > startId) && (m_data.index(p-1) > inner) )
+    {
+      m_data.index(p) = m_data.index(p-1);
+      m_data.value(p) = m_data.value(p-1);
+      --p;
+    }
+    
+    m_data.index(p) = convert_index(inner);
+    return (m_data.value(p) = 0);
+  }
+  
+  if(m_data.size() != m_data.allocatedSize())
+  {
+    // make sure the matrix is compatible to random un-compressed insertion:
+    m_data.resize(m_data.allocatedSize());
+    this->reserveInnerVectors(Array<StorageIndex,Dynamic,1>::Constant(m_outerSize, 2));
+  }
+  
+  return insertUncompressed(row,col);
+}
+    
+template<typename _Scalar, int _Options, typename _StorageIndex>
+EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_StorageIndex>::Scalar& SparseMatrix<_Scalar,_Options,_StorageIndex>::insertUncompressed(Index row, Index col)
 {
   eigen_assert(!isCompressed());
 
   const Index outer = IsRowMajor ? row : col;
-  const Index inner = IsRowMajor ? col : row;
+  const StorageIndex inner = convert_index(IsRowMajor ? col : row);
 
   Index room = m_outerIndex[outer+1] - m_outerIndex[outer];
-  Index innerNNZ = m_innerNonZeros[outer];
+  StorageIndex innerNNZ = m_innerNonZeros[outer];
   if(innerNNZ>=room)
   {
     // this inner vector is full, we need to reallocate the whole buffer :(
-    reserve(SingletonVector(outer,std::max<Index>(2,innerNNZ)));
+    reserve(SingletonVector(outer,std::max<StorageIndex>(2,innerNNZ)));
   }
 
   Index startId = m_outerIndex[outer];
@@ -1139,7 +1269,7 @@ EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_Index>::Scalar& Sparse
     m_data.value(p) = m_data.value(p-1);
     --p;
   }
-  eigen_assert((p<=startId || m_data.index(p-1)!=inner) && "you cannot insert an element that already exist, you must call coeffRef to this end");
+  eigen_assert((p<=startId || m_data.index(p-1)!=inner) && "you cannot insert an element that already exists, you must call coeffRef to this end");
 
   m_innerNonZeros[outer]++;
 
@@ -1147,8 +1277,8 @@ EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_Index>::Scalar& Sparse
   return (m_data.value(p) = 0);
 }
 
-template<typename _Scalar, int _Options, typename _Index>
-EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_Index>::Scalar& SparseMatrix<_Scalar,_Options,_Index>::insertCompressed(Index row, Index col)
+template<typename _Scalar, int _Options, typename _StorageIndex>
+EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_StorageIndex>::Scalar& SparseMatrix<_Scalar,_Options,_StorageIndex>::insertCompressed(Index row, Index col)
 {
   eigen_assert(isCompressed());
 
@@ -1161,7 +1291,7 @@ EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_Index>::Scalar& Sparse
     // we start a new inner vector
     while (previousOuter>=0 && m_outerIndex[previousOuter]==0)
     {
-      m_outerIndex[previousOuter] = static_cast<Index>(m_data.size());
+      m_outerIndex[previousOuter] = convert_index(m_data.size());
       --previousOuter;
     }
     m_outerIndex[outer+1] = m_outerIndex[outer];
@@ -1254,6 +1384,20 @@ EIGEN_DONT_INLINE typename SparseMatrix<_Scalar,_Options,_Index>::Scalar& Sparse
   return (m_data.value(p) = 0);
 }
 
+namespace internal {
+
+template<typename _Scalar, int _Options, typename _StorageIndex>
+struct evaluator<SparseMatrix<_Scalar,_Options,_StorageIndex> >
+  : evaluator<SparseCompressedBase<SparseMatrix<_Scalar,_Options,_StorageIndex> > >
+{
+  typedef evaluator<SparseCompressedBase<SparseMatrix<_Scalar,_Options,_StorageIndex> > > Base;
+  typedef SparseMatrix<_Scalar,_Options,_StorageIndex> SparseMatrixType;
+  evaluator() : Base() {}
+  explicit evaluator(const SparseMatrixType &mat) : Base(mat) {}
+};
+
+}
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSEMATRIX_H
diff --git a/eigenlib/Eigen/src/SparseCore/SparseMatrixBase.h b/eigenlib/Eigen/src/SparseCore/SparseMatrixBase.h
index 6b2169a7..c6b548f1 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseMatrixBase.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseMatrixBase.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -18,32 +18,41 @@ namespace Eigen {
   *
   * \brief Base class of any sparse matrices or sparse expressions
   *
-  * \tparam Derived
+  * \tparam Derived is the derived type, e.g. a sparse matrix type, or an expression, etc.
   *
   * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_SPARSEMATRIXBASE_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_SPARSEMATRIXBASE_PLUGIN.
   */
-template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
+template<typename Derived> class SparseMatrixBase
+  : public EigenBase<Derived>
 {
   public:
 
     typedef typename internal::traits<Derived>::Scalar Scalar;
+    
+    /** The numeric type of the expression' coefficients, e.g. float, double, int or std::complex<float>, etc.
+      *
+      * It is an alias for the Scalar type */
+    typedef Scalar value_type;
+    
     typedef typename internal::packet_traits<Scalar>::type PacketScalar;
     typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::traits<Derived>::Index Index;
+
+    /** The integer type used to \b store indices within a SparseMatrix.
+      * For a \c SparseMatrix<Scalar,Options,IndexType> it an alias of the third template parameter \c IndexType. */
+    typedef typename internal::traits<Derived>::StorageIndex StorageIndex;
+
     typedef typename internal::add_const_on_value_type_if_arithmetic<
                          typename internal::packet_traits<Scalar>::type
                      >::type PacketReturnType;
 
     typedef SparseMatrixBase StorageBaseType;
-    typedef EigenBase<Derived> Base;
+
+    typedef Matrix<StorageIndex,Dynamic,1> IndexVector;
+    typedef Matrix<Scalar,Dynamic,1> ScalarVector;
     
     template<typename OtherDerived>
-    Derived& operator=(const EigenBase<OtherDerived> &other)
-    {
-      other.derived().evalTo(derived());
-      return derived();
-    }
+    Derived& operator=(const EigenBase<OtherDerived> &other);
 
     enum {
 
@@ -83,11 +92,6 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
           * constructed from this one. See the \ref flags "list of flags".
           */
 
-      CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
-        /**< This is a rough measure of how expensive it is to read one coefficient from
-          * this expression.
-          */
-
       IsRowMajor = Flags&RowMajorBit ? 1 : 0,
       
       InnerSizeAtCompileTime = int(IsVectorAtCompileTime) ? int(SizeAtCompileTime)
@@ -103,10 +107,11 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
                         CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, Eigen::Transpose<const Derived> >,
                         Transpose<const Derived>
                      >::type AdjointReturnType;
+    typedef Transpose<Derived> TransposeReturnType;
+    typedef typename internal::add_const<Transpose<const Derived> >::type ConstTransposeReturnType;
 
-
-    typedef SparseMatrix<Scalar, Flags&RowMajorBit ? RowMajor : ColMajor, Index> PlainObject;
-
+    // FIXME storage order do not match evaluator storage order
+    typedef SparseMatrix<Scalar, Flags&RowMajorBit ? RowMajor : ColMajor, StorageIndex> PlainObject;
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** This is the "real scalar" type; if the \a Scalar type is already real numbers
@@ -124,6 +129,8 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
     /** \internal Represents a matrix with all coefficients equal to one another*/
     typedef CwiseNullaryOp<internal::scalar_constant_op<Scalar>,Matrix<Scalar,Dynamic,Dynamic> > ConstantReturnType;
 
+    /** type of the equivalent dense matrix */
+    typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> DenseMatrixType;
     /** type of the equivalent square matrix */
     typedef Matrix<Scalar,EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime),
                           EIGEN_SIZE_MAX(RowsAtCompileTime,ColsAtCompileTime)> SquareMatrixType;
@@ -132,9 +139,21 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
     inline Derived& derived() { return *static_cast<Derived*>(this); }
     inline Derived& const_cast_derived() const
     { return *static_cast<Derived*>(const_cast<SparseMatrixBase*>(this)); }
+
+    typedef EigenBase<Derived> Base;
+
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 
 #define EIGEN_CURRENT_STORAGE_BASE_CLASS Eigen::SparseMatrixBase
+#ifdef EIGEN_PARSED_BY_DOXYGEN
+#define EIGEN_DOC_UNARY_ADDONS(METHOD,OP)           /** <p>This method does not change the sparsity of \c *this: the OP is applied to explicitly stored coefficients only. \sa SparseCompressedBase::coeffs() </p> */
+#define EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL      /** <p> \warning This method returns a read-only expression for any sparse matrices. \sa \ref TutorialSparse_SubMatrices "Sparse block operations" </p> */
+#define EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(COND) /** <p> \warning This method returns a read-write expression for COND sparse matrices only. Otherwise, the returned expression is read-only. \sa \ref TutorialSparse_SubMatrices "Sparse block operations" </p> */
+#else
+#define EIGEN_DOC_UNARY_ADDONS(X,Y)
+#define EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+#define EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(COND)
+#endif
 #   include "../plugins/CommonCwiseUnaryOps.h"
 #   include "../plugins/CommonCwiseBinaryOps.h"
 #   include "../plugins/MatrixCwiseUnaryOps.h"
@@ -143,8 +162,10 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
 #   ifdef EIGEN_SPARSEMATRIXBASE_PLUGIN
 #     include EIGEN_SPARSEMATRIXBASE_PLUGIN
 #   endif
-#   undef EIGEN_CURRENT_STORAGE_BASE_CLASS
 #undef EIGEN_CURRENT_STORAGE_BASE_CLASS
+#undef EIGEN_DOC_UNARY_ADDONS
+#undef EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+#undef EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF
 
     /** \returns the number of rows. \sa cols() */
     inline Index rows() const { return derived().rows(); }
@@ -153,9 +174,6 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
     /** \returns the number of coefficients, which is \a rows()*cols().
       * \sa rows(), cols(). */
     inline Index size() const { return rows() * cols(); }
-    /** \returns the number of nonzero coefficients which is in practice the number
-      * of stored coefficients. */
-    inline Index nonZeros() const { return derived().nonZeros(); }
     /** \returns true if either the number of rows or the number of columns is equal to 1.
       * In other words, this function returns
       * \code rows()==1 || cols()==1 \endcode
@@ -175,93 +193,23 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
 
     
     template<typename OtherDerived>
-    Derived& operator=(const ReturnByValue<OtherDerived>& other)
-    {
-      other.evalTo(derived());
-      return derived();
-    }
-
+    Derived& operator=(const ReturnByValue<OtherDerived>& other);
 
     template<typename OtherDerived>
-    inline Derived& operator=(const SparseMatrixBase<OtherDerived>& other)
-    {
-      return assign(other.derived());
-    }
+    inline Derived& operator=(const SparseMatrixBase<OtherDerived>& other);
 
-    inline Derived& operator=(const Derived& other)
-    {
-//       if (other.isRValue())
-//         derived().swap(other.const_cast_derived());
-//       else
-      return assign(other.derived());
-    }
+    inline Derived& operator=(const Derived& other);
 
   protected:
 
     template<typename OtherDerived>
-    inline Derived& assign(const OtherDerived& other)
-    {
-      const bool transpose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
-      const Index outerSize = (int(OtherDerived::Flags) & RowMajorBit) ? other.rows() : other.cols();
-      if ((!transpose) && other.isRValue())
-      {
-        // eval without temporary
-        derived().resize(other.rows(), other.cols());
-        derived().setZero();
-        derived().reserve((std::max)(this->rows(),this->cols())*2);
-        for (Index j=0; j<outerSize; ++j)
-        {
-          derived().startVec(j);
-          for (typename OtherDerived::InnerIterator it(other, j); it; ++it)
-          {
-            Scalar v = it.value();
-            derived().insertBackByOuterInner(j,it.index()) = v;
-          }
-        }
-        derived().finalize();
-      }
-      else
-      {
-        assignGeneric(other);
-      }
-      return derived();
-    }
+    inline Derived& assign(const OtherDerived& other);
 
     template<typename OtherDerived>
-    inline void assignGeneric(const OtherDerived& other)
-    {
-      //const bool transpose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
-      eigen_assert(( ((internal::traits<Derived>::SupportedAccessPatterns&OuterRandomAccessPattern)==OuterRandomAccessPattern) ||
-                  (!((Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit)))) &&
-                  "the transpose operation is supposed to be handled in SparseMatrix::operator=");
-
-      enum { Flip = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit) };
-
-      const Index outerSize = other.outerSize();
-      //typedef typename internal::conditional<transpose, LinkedVectorMatrix<Scalar,Flags&RowMajorBit>, Derived>::type TempType;
-      // thanks to shallow copies, we always eval to a tempary
-      Derived temp(other.rows(), other.cols());
-
-      temp.reserve((std::max)(this->rows(),this->cols())*2);
-      for (Index j=0; j<outerSize; ++j)
-      {
-        temp.startVec(j);
-        for (typename OtherDerived::InnerIterator it(other.derived(), j); it; ++it)
-        {
-          Scalar v = it.value();
-          temp.insertBackByOuterInner(Flip?it.index():j,Flip?j:it.index()) = v;
-        }
-      }
-      temp.finalize();
-
-      derived() = temp.markAsRValue();
-    }
+    inline void assignGeneric(const OtherDerived& other);
 
   public:
 
-    template<typename Lhs, typename Rhs>
-    inline Derived& operator=(const SparseSparseProduct<Lhs,Rhs>& product);
-
     friend std::ostream & operator << (std::ostream & s, const SparseMatrixBase& m)
     {
       typedef typename Derived::Nested Nested;
@@ -269,11 +217,12 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
 
       if (Flags&RowMajorBit)
       {
-        const Nested nm(m.derived());
+        Nested nm(m.derived());
+        internal::evaluator<NestedCleaned> thisEval(nm);
         for (Index row=0; row<nm.outerSize(); ++row)
         {
           Index col = 0;
-          for (typename NestedCleaned::InnerIterator it(nm.derived(), row); it; ++it)
+          for (typename internal::evaluator<NestedCleaned>::InnerIterator it(thisEval, row); it; ++it)
           {
             for ( ; col<it.index(); ++col)
               s << "0 ";
@@ -287,10 +236,11 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
       }
       else
       {
-        const Nested nm(m.derived());
+        Nested nm(m.derived());
+        internal::evaluator<NestedCleaned> thisEval(nm);
         if (m.cols() == 1) {
           Index row = 0;
-          for (typename NestedCleaned::InnerIterator it(nm.derived(), 0); it; ++it)
+          for (typename internal::evaluator<NestedCleaned>::InnerIterator it(thisEval, 0); it; ++it)
           {
             for ( ; row<it.index(); ++row)
               s << "0" << std::endl;
@@ -302,8 +252,8 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
         }
         else
         {
-          SparseMatrix<Scalar, RowMajorBit, Index> trans = m;
-          s << static_cast<const SparseMatrixBase<SparseMatrix<Scalar, RowMajorBit, Index> >&>(trans);
+          SparseMatrix<Scalar, RowMajorBit, StorageIndex> trans = m;
+          s << static_cast<const SparseMatrixBase<SparseMatrix<Scalar, RowMajorBit, StorageIndex> >&>(trans);
         }
       }
       return s;
@@ -313,56 +263,65 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
     Derived& operator+=(const SparseMatrixBase<OtherDerived>& other);
     template<typename OtherDerived>
     Derived& operator-=(const SparseMatrixBase<OtherDerived>& other);
+    
+    template<typename OtherDerived>
+    Derived& operator+=(const DiagonalBase<OtherDerived>& other);
+    template<typename OtherDerived>
+    Derived& operator-=(const DiagonalBase<OtherDerived>& other);
+
+    template<typename OtherDerived>
+    Derived& operator+=(const EigenBase<OtherDerived> &other);
+    template<typename OtherDerived>
+    Derived& operator-=(const EigenBase<OtherDerived> &other);
 
     Derived& operator*=(const Scalar& other);
     Derived& operator/=(const Scalar& other);
 
-    #define EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE \
-      CwiseBinaryOp< \
-        internal::scalar_product_op< \
-          typename internal::scalar_product_traits< \
-            typename internal::traits<Derived>::Scalar, \
-            typename internal::traits<OtherDerived>::Scalar \
-          >::ReturnType \
-        >, \
-        const Derived, \
-        const OtherDerived \
-      >
+    template<typename OtherDerived> struct CwiseProductDenseReturnType {
+      typedef CwiseBinaryOp<internal::scalar_product_op<typename ScalarBinaryOpTraits<
+                                                          typename internal::traits<Derived>::Scalar,
+                                                          typename internal::traits<OtherDerived>::Scalar
+                                                        >::ReturnType>,
+                            const Derived,
+                            const OtherDerived
+                          > Type;
+    };
 
     template<typename OtherDerived>
-    EIGEN_STRONG_INLINE const EIGEN_SPARSE_CWISE_PRODUCT_RETURN_TYPE
+    EIGEN_STRONG_INLINE const typename CwiseProductDenseReturnType<OtherDerived>::Type
     cwiseProduct(const MatrixBase<OtherDerived> &other) const;
 
-    // sparse * sparse
-    template<typename OtherDerived>
-    const typename SparseSparseProductReturnType<Derived,OtherDerived>::Type
-    operator*(const SparseMatrixBase<OtherDerived> &other) const;
-
     // sparse * diagonal
     template<typename OtherDerived>
-    const SparseDiagonalProduct<Derived,OtherDerived>
-    operator*(const DiagonalBase<OtherDerived> &other) const;
+    const Product<Derived,OtherDerived>
+    operator*(const DiagonalBase<OtherDerived> &other) const
+    { return Product<Derived,OtherDerived>(derived(), other.derived()); }
 
     // diagonal * sparse
     template<typename OtherDerived> friend
-    const SparseDiagonalProduct<OtherDerived,Derived>
+    const Product<OtherDerived,Derived>
     operator*(const DiagonalBase<OtherDerived> &lhs, const SparseMatrixBase& rhs)
-    { return SparseDiagonalProduct<OtherDerived,Derived>(lhs.derived(), rhs.derived()); }
-
-    /** dense * sparse (return a dense object unless it is an outer product) */
-    template<typename OtherDerived> friend
-    const typename DenseSparseProductReturnType<OtherDerived,Derived>::Type
-    operator*(const MatrixBase<OtherDerived>& lhs, const Derived& rhs)
-    { return typename DenseSparseProductReturnType<OtherDerived,Derived>::Type(lhs.derived(),rhs); }
-
-    /** sparse * dense (returns a dense object unless it is an outer product) */
+    { return Product<OtherDerived,Derived>(lhs.derived(), rhs.derived()); }
+    
+    // sparse * sparse
     template<typename OtherDerived>
-    const typename SparseDenseProductReturnType<Derived,OtherDerived>::Type
+    const Product<Derived,OtherDerived,AliasFreeProduct>
+    operator*(const SparseMatrixBase<OtherDerived> &other) const;
+    
+    // sparse * dense
+    template<typename OtherDerived>
+    const Product<Derived,OtherDerived>
     operator*(const MatrixBase<OtherDerived> &other) const
-    { return typename SparseDenseProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived()); }
+    { return Product<Derived,OtherDerived>(derived(), other.derived()); }
+    
+    // dense * sparse
+    template<typename OtherDerived> friend
+    const Product<OtherDerived,Derived>
+    operator*(const MatrixBase<OtherDerived> &lhs, const SparseMatrixBase& rhs)
+    { return Product<OtherDerived,Derived>(lhs.derived(), rhs.derived()); }
     
      /** \returns an expression of P H P^-1 where H is the matrix represented by \c *this */
-    SparseSymmetricPermutationProduct<Derived,Upper|Lower> twistedBy(const PermutationMatrix<Dynamic,Dynamic,Index>& perm) const
+    SparseSymmetricPermutationProduct<Derived,Upper|Lower> twistedBy(const PermutationMatrix<Dynamic,Dynamic,StorageIndex>& perm) const
     {
       return SparseSymmetricPermutationProduct<Derived,Upper|Lower>(derived(), perm);
     }
@@ -370,22 +329,16 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
     template<typename OtherDerived>
     Derived& operator*=(const SparseMatrixBase<OtherDerived>& other);
 
-    #ifdef EIGEN2_SUPPORT
-    // deprecated
-    template<typename OtherDerived>
-    typename internal::plain_matrix_type_column_major<OtherDerived>::type
-    solveTriangular(const MatrixBase<OtherDerived>& other) const;
-
-    // deprecated
-    template<typename OtherDerived>
-    void solveTriangularInPlace(MatrixBase<OtherDerived>& other) const;
-    #endif // EIGEN2_SUPPORT
-
     template<int Mode>
-    inline const SparseTriangularView<Derived, Mode> triangularView() const;
+    inline const TriangularView<const Derived, Mode> triangularView() const;
+    
+    template<unsigned int UpLo> struct SelfAdjointViewReturnType { typedef SparseSelfAdjointView<Derived, UpLo> Type; };
+    template<unsigned int UpLo> struct ConstSelfAdjointViewReturnType { typedef const SparseSelfAdjointView<const Derived, UpLo> Type; };
 
-    template<unsigned int UpLo> inline const SparseSelfAdjointView<Derived, UpLo> selfadjointView() const;
-    template<unsigned int UpLo> inline SparseSelfAdjointView<Derived, UpLo> selfadjointView();
+    template<unsigned int UpLo> inline 
+    typename ConstSelfAdjointViewReturnType<UpLo>::Type selfadjointView() const;
+    template<unsigned int UpLo> inline
+    typename SelfAdjointViewReturnType<UpLo>::Type selfadjointView();
 
     template<typename OtherDerived> Scalar dot(const MatrixBase<OtherDerived>& other) const;
     template<typename OtherDerived> Scalar dot(const SparseMatrixBase<OtherDerived>& other) const;
@@ -393,9 +346,9 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
     RealScalar norm()  const;
     RealScalar blueNorm() const;
 
-    Transpose<Derived> transpose() { return derived(); }
-    const Transpose<const Derived> transpose() const { return derived(); }
-    const AdjointReturnType adjoint() const { return transpose(); }
+    TransposeReturnType transpose() { return TransposeReturnType(derived()); }
+    const ConstTransposeReturnType transpose() const { return ConstTransposeReturnType(derived()); }
+    const AdjointReturnType adjoint() const { return AdjointReturnType(transpose()); }
 
     // inner-vector
     typedef Block<Derived,IsRowMajor?1:Dynamic,IsRowMajor?Dynamic:1,true>       InnerVectorReturnType;
@@ -409,25 +362,14 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
     InnerVectorsReturnType innerVectors(Index outerStart, Index outerSize);
     const ConstInnerVectorsReturnType innerVectors(Index outerStart, Index outerSize) const;
 
-    /** \internal use operator= */
-    template<typename DenseDerived>
-    void evalTo(MatrixBase<DenseDerived>& dst) const
+    DenseMatrixType toDense() const
     {
-      dst.setZero();
-      for (Index j=0; j<outerSize(); ++j)
-        for (typename Derived::InnerIterator i(derived(),j); i; ++i)
-          dst.coeffRef(i.row(),i.col()) = i.value();
-    }
-
-    Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> toDense() const
-    {
-      return derived();
+      return DenseMatrixType(derived());
     }
 
     template<typename OtherDerived>
     bool isApprox(const SparseMatrixBase<OtherDerived>& other,
-                  const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const
-    { return toDense().isApprox(other.toDense(),prec); }
+                  const RealScalar& prec = NumTraits<Scalar>::dummy_precision()) const;
 
     template<typename OtherDerived>
     bool isApprox(const MatrixBase<OtherDerived>& other,
@@ -443,10 +385,19 @@ template<typename Derived> class SparseMatrixBase : public EigenBase<Derived>
     { return typename internal::eval<Derived>::type(derived()); }
 
     Scalar sum() const;
+    
+    inline const SparseView<Derived>
+    pruned(const Scalar& reference = Scalar(0), const RealScalar& epsilon = NumTraits<Scalar>::dummy_precision()) const;
 
   protected:
 
     bool m_isRValue;
+
+    static inline StorageIndex convert_index(const Index idx) {
+      return internal::convert_index<StorageIndex>(idx);
+    }
+  private:
+    template<typename Dest> void evalTo(Dest &) const;
 };
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/SparseCore/SparsePermutation.h b/eigenlib/Eigen/src/SparseCore/SparsePermutation.h
index 75e21000..ef38357a 100644
--- a/eigenlib/Eigen/src/SparseCore/SparsePermutation.h
+++ b/eigenlib/Eigen/src/SparseCore/SparsePermutation.h
@@ -16,131 +16,161 @@ namespace Eigen {
 
 namespace internal {
 
-template<typename PermutationType, typename MatrixType, int Side, bool Transposed>
-struct traits<permut_sparsematrix_product_retval<PermutationType, MatrixType, Side, Transposed> >
+template<typename ExpressionType, int Side, bool Transposed>
+struct permutation_matrix_product<ExpressionType, Side, Transposed, SparseShape>
 {
-  typedef typename remove_all<typename MatrixType::Nested>::type MatrixTypeNestedCleaned;
-  typedef typename MatrixTypeNestedCleaned::Scalar Scalar;
-  typedef typename MatrixTypeNestedCleaned::Index Index;
-  enum {
-    SrcStorageOrder = MatrixTypeNestedCleaned::Flags&RowMajorBit ? RowMajor : ColMajor,
-    MoveOuter = SrcStorageOrder==RowMajor ? Side==OnTheLeft : Side==OnTheRight
-  };
+    typedef typename nested_eval<ExpressionType, 1>::type MatrixType;
+    typedef typename remove_all<MatrixType>::type MatrixTypeCleaned;
 
-  typedef typename internal::conditional<MoveOuter,
-        SparseMatrix<Scalar,SrcStorageOrder,Index>,
-        SparseMatrix<Scalar,int(SrcStorageOrder)==RowMajor?ColMajor:RowMajor,Index> >::type ReturnType;
-};
-
-template<typename PermutationType, typename MatrixType, int Side, bool Transposed>
-struct permut_sparsematrix_product_retval
- : public ReturnByValue<permut_sparsematrix_product_retval<PermutationType, MatrixType, Side, Transposed> >
-{
-    typedef typename remove_all<typename MatrixType::Nested>::type MatrixTypeNestedCleaned;
-    typedef typename MatrixTypeNestedCleaned::Scalar Scalar;
-    typedef typename MatrixTypeNestedCleaned::Index Index;
+    typedef typename MatrixTypeCleaned::Scalar Scalar;
+    typedef typename MatrixTypeCleaned::StorageIndex StorageIndex;
 
     enum {
-      SrcStorageOrder = MatrixTypeNestedCleaned::Flags&RowMajorBit ? RowMajor : ColMajor,
+      SrcStorageOrder = MatrixTypeCleaned::Flags&RowMajorBit ? RowMajor : ColMajor,
       MoveOuter = SrcStorageOrder==RowMajor ? Side==OnTheLeft : Side==OnTheRight
     };
+    
+    typedef typename internal::conditional<MoveOuter,
+        SparseMatrix<Scalar,SrcStorageOrder,StorageIndex>,
+        SparseMatrix<Scalar,int(SrcStorageOrder)==RowMajor?ColMajor:RowMajor,StorageIndex> >::type ReturnType;
 
-    permut_sparsematrix_product_retval(const PermutationType& perm, const MatrixType& matrix)
-      : m_permutation(perm), m_matrix(matrix)
-    {}
-
-    inline int rows() const { return m_matrix.rows(); }
-    inline int cols() const { return m_matrix.cols(); }
-
-    template<typename Dest> inline void evalTo(Dest& dst) const
+    template<typename Dest,typename PermutationType>
+    static inline void run(Dest& dst, const PermutationType& perm, const ExpressionType& xpr)
     {
+      MatrixType mat(xpr);
       if(MoveOuter)
       {
-        SparseMatrix<Scalar,SrcStorageOrder,Index> tmp(m_matrix.rows(), m_matrix.cols());
-        Matrix<Index,Dynamic,1> sizes(m_matrix.outerSize());
-        for(Index j=0; j<m_matrix.outerSize(); ++j)
+        SparseMatrix<Scalar,SrcStorageOrder,StorageIndex> tmp(mat.rows(), mat.cols());
+        Matrix<StorageIndex,Dynamic,1> sizes(mat.outerSize());
+        for(Index j=0; j<mat.outerSize(); ++j)
         {
-          Index jp = m_permutation.indices().coeff(j);
-          sizes[((Side==OnTheLeft) ^ Transposed) ? jp : j] = m_matrix.innerVector(((Side==OnTheRight) ^ Transposed) ? jp : j).nonZeros();
+          Index jp = perm.indices().coeff(j);
+          sizes[((Side==OnTheLeft) ^ Transposed) ? jp : j] = StorageIndex(mat.innerVector(((Side==OnTheRight) ^ Transposed) ? jp : j).nonZeros());
         }
         tmp.reserve(sizes);
-        for(Index j=0; j<m_matrix.outerSize(); ++j)
+        for(Index j=0; j<mat.outerSize(); ++j)
         {
-          Index jp = m_permutation.indices().coeff(j);
+          Index jp = perm.indices().coeff(j);
           Index jsrc = ((Side==OnTheRight) ^ Transposed) ? jp : j;
           Index jdst = ((Side==OnTheLeft) ^ Transposed) ? jp : j;
-          for(typename MatrixTypeNestedCleaned::InnerIterator it(m_matrix,jsrc); it; ++it)
+          for(typename MatrixTypeCleaned::InnerIterator it(mat,jsrc); it; ++it)
             tmp.insertByOuterInner(jdst,it.index()) = it.value();
         }
         dst = tmp;
       }
       else
       {
-        SparseMatrix<Scalar,int(SrcStorageOrder)==RowMajor?ColMajor:RowMajor,Index> tmp(m_matrix.rows(), m_matrix.cols());
-        Matrix<Index,Dynamic,1> sizes(tmp.outerSize());
+        SparseMatrix<Scalar,int(SrcStorageOrder)==RowMajor?ColMajor:RowMajor,StorageIndex> tmp(mat.rows(), mat.cols());
+        Matrix<StorageIndex,Dynamic,1> sizes(tmp.outerSize());
         sizes.setZero();
-        PermutationMatrix<Dynamic,Dynamic,Index> perm;
+        PermutationMatrix<Dynamic,Dynamic,StorageIndex> perm_cpy;
         if((Side==OnTheLeft) ^ Transposed)
-          perm = m_permutation;
+          perm_cpy = perm;
         else
-          perm = m_permutation.transpose();
+          perm_cpy = perm.transpose();
 
-        for(Index j=0; j<m_matrix.outerSize(); ++j)
-          for(typename MatrixTypeNestedCleaned::InnerIterator it(m_matrix,j); it; ++it)
-            sizes[perm.indices().coeff(it.index())]++;
+        for(Index j=0; j<mat.outerSize(); ++j)
+          for(typename MatrixTypeCleaned::InnerIterator it(mat,j); it; ++it)
+            sizes[perm_cpy.indices().coeff(it.index())]++;
         tmp.reserve(sizes);
-        for(Index j=0; j<m_matrix.outerSize(); ++j)
-          for(typename MatrixTypeNestedCleaned::InnerIterator it(m_matrix,j); it; ++it)
-            tmp.insertByOuterInner(perm.indices().coeff(it.index()),j) = it.value();
+        for(Index j=0; j<mat.outerSize(); ++j)
+          for(typename MatrixTypeCleaned::InnerIterator it(mat,j); it; ++it)
+            tmp.insertByOuterInner(perm_cpy.indices().coeff(it.index()),j) = it.value();
         dst = tmp;
       }
     }
-
-  protected:
-    const PermutationType& m_permutation;
-    typename MatrixType::Nested m_matrix;
 };
 
 }
 
+namespace internal {
 
+template <int ProductTag> struct product_promote_storage_type<Sparse,             PermutationStorage, ProductTag> { typedef Sparse ret; };
+template <int ProductTag> struct product_promote_storage_type<PermutationStorage, Sparse,             ProductTag> { typedef Sparse ret; };
+
+// TODO, the following two overloads are only needed to define the right temporary type through 
+// typename traits<permutation_sparse_matrix_product<Rhs,Lhs,OnTheRight,false> >::ReturnType
+// whereas it should be correctly handled by traits<Product<> >::PlainObject
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, AliasFreeProduct>, ProductTag, PermutationShape, SparseShape>
+  : public evaluator<typename permutation_matrix_product<Rhs,OnTheLeft,false,SparseShape>::ReturnType>
+{
+  typedef Product<Lhs, Rhs, AliasFreeProduct> XprType;
+  typedef typename permutation_matrix_product<Rhs,OnTheLeft,false,SparseShape>::ReturnType PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  enum {
+    Flags = Base::Flags | EvalBeforeNestingBit
+  };
+
+  explicit product_evaluator(const XprType& xpr)
+    : m_result(xpr.rows(), xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    generic_product_impl<Lhs, Rhs, PermutationShape, SparseShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
+  }
+
+protected:
+  PlainObject m_result;
+};
+
+template<typename Lhs, typename Rhs, int ProductTag>
+struct product_evaluator<Product<Lhs, Rhs, AliasFreeProduct>, ProductTag, SparseShape, PermutationShape >
+  : public evaluator<typename permutation_matrix_product<Lhs,OnTheRight,false,SparseShape>::ReturnType>
+{
+  typedef Product<Lhs, Rhs, AliasFreeProduct> XprType;
+  typedef typename permutation_matrix_product<Lhs,OnTheRight,false,SparseShape>::ReturnType PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  enum {
+    Flags = Base::Flags | EvalBeforeNestingBit
+  };
+
+  explicit product_evaluator(const XprType& xpr)
+    : m_result(xpr.rows(), xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    generic_product_impl<Lhs, Rhs, SparseShape, PermutationShape, ProductTag>::evalTo(m_result, xpr.lhs(), xpr.rhs());
+  }
+
+protected:
+  PlainObject m_result;
+};
+
+} // end namespace internal
 
 /** \returns the matrix with the permutation applied to the columns
   */
 template<typename SparseDerived, typename PermDerived>
-inline const internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheRight, false>
+inline const Product<SparseDerived, PermDerived, AliasFreeProduct>
 operator*(const SparseMatrixBase<SparseDerived>& matrix, const PermutationBase<PermDerived>& perm)
-{
-  return internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheRight, false>(perm, matrix.derived());
-}
+{ return Product<SparseDerived, PermDerived, AliasFreeProduct>(matrix.derived(), perm.derived()); }
 
 /** \returns the matrix with the permutation applied to the rows
   */
 template<typename SparseDerived, typename PermDerived>
-inline const internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheLeft, false>
+inline const Product<PermDerived, SparseDerived, AliasFreeProduct>
 operator*( const PermutationBase<PermDerived>& perm, const SparseMatrixBase<SparseDerived>& matrix)
-{
-  return internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheLeft, false>(perm, matrix.derived());
-}
-
+{ return  Product<PermDerived, SparseDerived, AliasFreeProduct>(perm.derived(), matrix.derived()); }
 
 
 /** \returns the matrix with the inverse permutation applied to the columns.
   */
-template<typename SparseDerived, typename PermDerived>
-inline const internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheRight, true>
-operator*(const SparseMatrixBase<SparseDerived>& matrix, const Transpose<PermutationBase<PermDerived> >& tperm)
+template<typename SparseDerived, typename PermutationType>
+inline const Product<SparseDerived, Inverse<PermutationType>, AliasFreeProduct>
+operator*(const SparseMatrixBase<SparseDerived>& matrix, const InverseImpl<PermutationType, PermutationStorage>& tperm)
 {
-  return internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheRight, true>(tperm.nestedPermutation(), matrix.derived());
+  return Product<SparseDerived, Inverse<PermutationType>, AliasFreeProduct>(matrix.derived(), tperm.derived());
 }
 
 /** \returns the matrix with the inverse permutation applied to the rows.
   */
-template<typename SparseDerived, typename PermDerived>
-inline const internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheLeft, true>
-operator*(const Transpose<PermutationBase<PermDerived> >& tperm, const SparseMatrixBase<SparseDerived>& matrix)
+template<typename SparseDerived, typename PermutationType>
+inline const Product<Inverse<PermutationType>, SparseDerived, AliasFreeProduct>
+operator*(const InverseImpl<PermutationType,PermutationStorage>& tperm, const SparseMatrixBase<SparseDerived>& matrix)
 {
-  return internal::permut_sparsematrix_product_retval<PermutationBase<PermDerived>, SparseDerived, OnTheLeft, true>(tperm.nestedPermutation(), matrix.derived());
+  return Product<Inverse<PermutationType>, SparseDerived, AliasFreeProduct>(tperm.derived(), matrix.derived());
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/SparseCore/SparseProduct.h b/eigenlib/Eigen/src/SparseCore/SparseProduct.h
index cf766307..4cbf6878 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseProduct.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseProduct.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2010 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -12,158 +12,6 @@
 
 namespace Eigen { 
 
-template<typename Lhs, typename Rhs>
-struct SparseSparseProductReturnType
-{
-  typedef typename internal::traits<Lhs>::Scalar Scalar;
-  typedef typename internal::traits<Lhs>::Index Index;
-  enum {
-    LhsRowMajor = internal::traits<Lhs>::Flags & RowMajorBit,
-    RhsRowMajor = internal::traits<Rhs>::Flags & RowMajorBit,
-    TransposeRhs = (!LhsRowMajor) && RhsRowMajor,
-    TransposeLhs = LhsRowMajor && (!RhsRowMajor)
-  };
-
-  typedef typename internal::conditional<TransposeLhs,
-    SparseMatrix<Scalar,0,Index>,
-    typename internal::nested<Lhs,Rhs::RowsAtCompileTime>::type>::type LhsNested;
-
-  typedef typename internal::conditional<TransposeRhs,
-    SparseMatrix<Scalar,0,Index>,
-    typename internal::nested<Rhs,Lhs::RowsAtCompileTime>::type>::type RhsNested;
-
-  typedef SparseSparseProduct<LhsNested, RhsNested> Type;
-};
-
-namespace internal {
-template<typename LhsNested, typename RhsNested>
-struct traits<SparseSparseProduct<LhsNested, RhsNested> >
-{
-  typedef MatrixXpr XprKind;
-  // clean the nested types:
-  typedef typename remove_all<LhsNested>::type _LhsNested;
-  typedef typename remove_all<RhsNested>::type _RhsNested;
-  typedef typename _LhsNested::Scalar Scalar;
-  typedef typename promote_index_type<typename traits<_LhsNested>::Index,
-                                         typename traits<_RhsNested>::Index>::type Index;
-
-  enum {
-    LhsCoeffReadCost = _LhsNested::CoeffReadCost,
-    RhsCoeffReadCost = _RhsNested::CoeffReadCost,
-    LhsFlags = _LhsNested::Flags,
-    RhsFlags = _RhsNested::Flags,
-
-    RowsAtCompileTime    = _LhsNested::RowsAtCompileTime,
-    ColsAtCompileTime    = _RhsNested::ColsAtCompileTime,
-    MaxRowsAtCompileTime = _LhsNested::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = _RhsNested::MaxColsAtCompileTime,
-
-    InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(_LhsNested::ColsAtCompileTime, _RhsNested::RowsAtCompileTime),
-
-    EvalToRowMajor = (RhsFlags & LhsFlags & RowMajorBit),
-
-    RemovedBits = ~(EvalToRowMajor ? 0 : RowMajorBit),
-
-    Flags = (int(LhsFlags | RhsFlags) & HereditaryBits & RemovedBits)
-          | EvalBeforeAssigningBit
-          | EvalBeforeNestingBit,
-
-    CoeffReadCost = Dynamic
-  };
-
-  typedef Sparse StorageKind;
-};
-
-} // end namespace internal
-
-template<typename LhsNested, typename RhsNested>
-class SparseSparseProduct : internal::no_assignment_operator,
-  public SparseMatrixBase<SparseSparseProduct<LhsNested, RhsNested> >
-{
-  public:
-
-    typedef SparseMatrixBase<SparseSparseProduct> Base;
-    EIGEN_DENSE_PUBLIC_INTERFACE(SparseSparseProduct)
-
-  private:
-
-    typedef typename internal::traits<SparseSparseProduct>::_LhsNested _LhsNested;
-    typedef typename internal::traits<SparseSparseProduct>::_RhsNested _RhsNested;
-
-  public:
-
-    template<typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE SparseSparseProduct(const Lhs& lhs, const Rhs& rhs)
-      : m_lhs(lhs), m_rhs(rhs), m_tolerance(0), m_conservative(true)
-    {
-      init();
-    }
-
-    template<typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE SparseSparseProduct(const Lhs& lhs, const Rhs& rhs, const RealScalar& tolerance)
-      : m_lhs(lhs), m_rhs(rhs), m_tolerance(tolerance), m_conservative(false)
-    {
-      init();
-    }
-
-    SparseSparseProduct pruned(const Scalar& reference = 0, const RealScalar& epsilon = NumTraits<RealScalar>::dummy_precision()) const
-    {
-      using std::abs;
-      return SparseSparseProduct(m_lhs,m_rhs,abs(reference)*epsilon);
-    }
-
-    template<typename Dest>
-    void evalTo(Dest& result) const
-    {
-      if(m_conservative)
-        internal::conservative_sparse_sparse_product_selector<_LhsNested, _RhsNested, Dest>::run(lhs(),rhs(),result);
-      else
-        internal::sparse_sparse_product_with_pruning_selector<_LhsNested, _RhsNested, Dest>::run(lhs(),rhs(),result,m_tolerance);
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const { return m_lhs.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return m_rhs.cols(); }
-
-    EIGEN_STRONG_INLINE const _LhsNested& lhs() const { return m_lhs; }
-    EIGEN_STRONG_INLINE const _RhsNested& rhs() const { return m_rhs; }
-
-  protected:
-    void init()
-    {
-      eigen_assert(m_lhs.cols() == m_rhs.rows());
-
-      enum {
-        ProductIsValid = _LhsNested::ColsAtCompileTime==Dynamic
-                      || _RhsNested::RowsAtCompileTime==Dynamic
-                      || int(_LhsNested::ColsAtCompileTime)==int(_RhsNested::RowsAtCompileTime),
-        AreVectors = _LhsNested::IsVectorAtCompileTime && _RhsNested::IsVectorAtCompileTime,
-        SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(_LhsNested,_RhsNested)
-      };
-      // note to the lost user:
-      //    * for a dot product use: v1.dot(v2)
-      //    * for a coeff-wise product use: v1.cwise()*v2
-      EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
-        INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
-      EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
-        INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
-      EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
-    }
-
-    LhsNested m_lhs;
-    RhsNested m_rhs;
-    RealScalar m_tolerance;
-    bool m_conservative;
-};
-
-// sparse = sparse * sparse
-template<typename Derived>
-template<typename Lhs, typename Rhs>
-inline Derived& SparseMatrixBase<Derived>::operator=(const SparseSparseProduct<Lhs,Rhs>& product)
-{
-  product.evalTo(derived());
-  return derived();
-}
-
 /** \returns an expression of the product of two sparse matrices.
   * By default a conservative product preserving the symbolic non zeros is performed.
   * The automatic pruning of the small values can be achieved by calling the pruned() function
@@ -177,12 +25,145 @@ inline Derived& SparseMatrixBase<Derived>::operator=(const SparseSparseProduct<L
   * */
 template<typename Derived>
 template<typename OtherDerived>
-inline const typename SparseSparseProductReturnType<Derived,OtherDerived>::Type
+inline const Product<Derived,OtherDerived,AliasFreeProduct>
 SparseMatrixBase<Derived>::operator*(const SparseMatrixBase<OtherDerived> &other) const
 {
-  return typename SparseSparseProductReturnType<Derived,OtherDerived>::Type(derived(), other.derived());
+  return Product<Derived,OtherDerived,AliasFreeProduct>(derived(), other.derived());
 }
 
+namespace internal {
+
+// sparse * sparse
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, SparseShape, SparseShape, ProductType>
+{
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs)
+  {
+    evalTo(dst, lhs, rhs, typename evaluator_traits<Dest>::Shape());
+  }
+
+  // dense += sparse * sparse
+  template<typename Dest,typename ActualLhs>
+  static void addTo(Dest& dst, const ActualLhs& lhs, const Rhs& rhs, typename enable_if<is_same<typename evaluator_traits<Dest>::Shape,DenseShape>::value,int*>::type* = 0)
+  {
+    typedef typename nested_eval<ActualLhs,Dynamic>::type LhsNested;
+    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
+    LhsNested lhsNested(lhs);
+    RhsNested rhsNested(rhs);
+    internal::sparse_sparse_to_dense_product_selector<typename remove_all<LhsNested>::type,
+                                                      typename remove_all<RhsNested>::type, Dest>::run(lhsNested,rhsNested,dst);
+  }
+
+  // dense -= sparse * sparse
+  template<typename Dest>
+  static void subTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, typename enable_if<is_same<typename evaluator_traits<Dest>::Shape,DenseShape>::value,int*>::type* = 0)
+  {
+    addTo(dst, -lhs, rhs);
+  }
+
+protected:
+
+  // sparse = sparse * sparse
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, SparseShape)
+  {
+    typedef typename nested_eval<Lhs,Dynamic>::type LhsNested;
+    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
+    LhsNested lhsNested(lhs);
+    RhsNested rhsNested(rhs);
+    internal::conservative_sparse_sparse_product_selector<typename remove_all<LhsNested>::type,
+                                                          typename remove_all<RhsNested>::type, Dest>::run(lhsNested,rhsNested,dst);
+  }
+
+  // dense = sparse * sparse
+  template<typename Dest>
+  static void evalTo(Dest& dst, const Lhs& lhs, const Rhs& rhs, DenseShape)
+  {
+    dst.setZero();
+    addTo(dst, lhs, rhs);
+  }
+};
+
+// sparse * sparse-triangular
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, SparseShape, SparseTriangularShape, ProductType>
+ : public generic_product_impl<Lhs, Rhs, SparseShape, SparseShape, ProductType>
+{};
+
+// sparse-triangular * sparse
+template<typename Lhs, typename Rhs, int ProductType>
+struct generic_product_impl<Lhs, Rhs, SparseTriangularShape, SparseShape, ProductType>
+ : public generic_product_impl<Lhs, Rhs, SparseShape, SparseShape, ProductType>
+{};
+
+// dense = sparse-product (can be sparse*sparse, sparse*perm, etc.)
+template< typename DstXprType, typename Lhs, typename Rhs>
+struct Assignment<DstXprType, Product<Lhs,Rhs,AliasFreeProduct>, internal::assign_op<typename DstXprType::Scalar,typename Product<Lhs,Rhs,AliasFreeProduct>::Scalar>, Sparse2Dense>
+{
+  typedef Product<Lhs,Rhs,AliasFreeProduct> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &)
+  {
+    Index dstRows = src.rows();
+    Index dstCols = src.cols();
+    if((dst.rows()!=dstRows) || (dst.cols()!=dstCols))
+      dst.resize(dstRows, dstCols);
+    
+    generic_product_impl<Lhs, Rhs>::evalTo(dst,src.lhs(),src.rhs());
+  }
+};
+
+// dense += sparse-product (can be sparse*sparse, sparse*perm, etc.)
+template< typename DstXprType, typename Lhs, typename Rhs>
+struct Assignment<DstXprType, Product<Lhs,Rhs,AliasFreeProduct>, internal::add_assign_op<typename DstXprType::Scalar,typename Product<Lhs,Rhs,AliasFreeProduct>::Scalar>, Sparse2Dense>
+{
+  typedef Product<Lhs,Rhs,AliasFreeProduct> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &)
+  {
+    generic_product_impl<Lhs, Rhs>::addTo(dst,src.lhs(),src.rhs());
+  }
+};
+
+// dense -= sparse-product (can be sparse*sparse, sparse*perm, etc.)
+template< typename DstXprType, typename Lhs, typename Rhs>
+struct Assignment<DstXprType, Product<Lhs,Rhs,AliasFreeProduct>, internal::sub_assign_op<typename DstXprType::Scalar,typename Product<Lhs,Rhs,AliasFreeProduct>::Scalar>, Sparse2Dense>
+{
+  typedef Product<Lhs,Rhs,AliasFreeProduct> SrcXprType;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> &)
+  {
+    generic_product_impl<Lhs, Rhs>::subTo(dst,src.lhs(),src.rhs());
+  }
+};
+
+template<typename Lhs, typename Rhs, int Options>
+struct unary_evaluator<SparseView<Product<Lhs, Rhs, Options> >, IteratorBased>
+ : public evaluator<typename Product<Lhs, Rhs, DefaultProduct>::PlainObject>
+{
+  typedef SparseView<Product<Lhs, Rhs, Options> > XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  explicit unary_evaluator(const XprType& xpr)
+    : m_result(xpr.rows(), xpr.cols())
+  {
+    using std::abs;
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    typedef typename nested_eval<Lhs,Dynamic>::type LhsNested;
+    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
+    LhsNested lhsNested(xpr.nestedExpression().lhs());
+    RhsNested rhsNested(xpr.nestedExpression().rhs());
+
+    internal::sparse_sparse_product_with_pruning_selector<typename remove_all<LhsNested>::type,
+                                                          typename remove_all<RhsNested>::type, PlainObject>::run(lhsNested,rhsNested,m_result,
+                                                                                                                  abs(xpr.reference())*xpr.epsilon());
+  }
+
+protected:
+  PlainObject m_result;
+};
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSEPRODUCT_H
diff --git a/eigenlib/Eigen/src/SparseCore/SparseRedux.h b/eigenlib/Eigen/src/SparseCore/SparseRedux.h
index f3da93a7..45877496 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseRedux.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseRedux.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -18,8 +18,9 @@ SparseMatrixBase<Derived>::sum() const
 {
   eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
   Scalar res(0);
+  internal::evaluator<Derived> thisEval(derived());
   for (Index j=0; j<outerSize(); ++j)
-    for (typename Derived::InnerIterator iter(derived(),j); iter; ++iter)
+    for (typename internal::evaluator<Derived>::InnerIterator iter(thisEval,j); iter; ++iter)
       res += iter.value();
   return res;
 }
@@ -29,7 +30,10 @@ typename internal::traits<SparseMatrix<_Scalar,_Options,_Index> >::Scalar
 SparseMatrix<_Scalar,_Options,_Index>::sum() const
 {
   eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
-  return Matrix<Scalar,1,Dynamic>::Map(&m_data.value(0), m_data.size()).sum();
+  if(this->isCompressed())
+    return Matrix<Scalar,1,Dynamic>::Map(m_data.valuePtr(), m_data.size()).sum();
+  else
+    return Base::sum();
 }
 
 template<typename _Scalar, int _Options, typename _Index>
@@ -37,7 +41,7 @@ typename internal::traits<SparseVector<_Scalar,_Options, _Index> >::Scalar
 SparseVector<_Scalar,_Options,_Index>::sum() const
 {
   eigen_assert(rows()>0 && cols()>0 && "you are using a non initialized matrix");
-  return Matrix<Scalar,1,Dynamic>::Map(&m_data.value(0), m_data.size()).sum();
+  return Matrix<Scalar,1,Dynamic>::Map(m_data.valuePtr(), m_data.size()).sum();
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/SparseCore/SparseRef.h b/eigenlib/Eigen/src/SparseCore/SparseRef.h
new file mode 100644
index 00000000..d91f38f9
--- /dev/null
+++ b/eigenlib/Eigen/src/SparseCore/SparseRef.h
@@ -0,0 +1,397 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2015 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SPARSE_REF_H
+#define EIGEN_SPARSE_REF_H
+
+namespace Eigen {
+
+enum {
+  StandardCompressedFormat = 2 /**< used by Ref<SparseMatrix> to specify whether the input storage must be in standard compressed form */
+};
+  
+namespace internal {
+
+template<typename Derived> class SparseRefBase;
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int _Options, typename _StrideType>
+struct traits<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
+  : public traits<SparseMatrix<MatScalar,MatOptions,MatIndex> >
+{
+  typedef SparseMatrix<MatScalar,MatOptions,MatIndex> PlainObjectType;
+  enum {
+    Options = _Options,
+    Flags = traits<PlainObjectType>::Flags | CompressedAccessBit | NestByRefBit
+  };
+
+  template<typename Derived> struct match {
+    enum {
+      StorageOrderMatch = PlainObjectType::IsVectorAtCompileTime || Derived::IsVectorAtCompileTime || ((PlainObjectType::Flags&RowMajorBit)==(Derived::Flags&RowMajorBit)),
+      MatchAtCompileTime = (Derived::Flags&CompressedAccessBit) && StorageOrderMatch
+    };
+    typedef typename internal::conditional<MatchAtCompileTime,internal::true_type,internal::false_type>::type type;
+  };
+  
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int _Options, typename _StrideType>
+struct traits<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
+  : public traits<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
+{
+  enum {
+    Flags = (traits<SparseMatrix<MatScalar,MatOptions,MatIndex> >::Flags | CompressedAccessBit | NestByRefBit) & ~LvalueBit
+  };
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int _Options, typename _StrideType>
+struct traits<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
+  : public traits<SparseVector<MatScalar,MatOptions,MatIndex> >
+{
+  typedef SparseVector<MatScalar,MatOptions,MatIndex> PlainObjectType;
+  enum {
+    Options = _Options,
+    Flags = traits<PlainObjectType>::Flags | CompressedAccessBit | NestByRefBit
+  };
+
+  template<typename Derived> struct match {
+    enum {
+      MatchAtCompileTime = (Derived::Flags&CompressedAccessBit) && Derived::IsVectorAtCompileTime
+    };
+    typedef typename internal::conditional<MatchAtCompileTime,internal::true_type,internal::false_type>::type type;
+  };
+
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int _Options, typename _StrideType>
+struct traits<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
+  : public traits<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, _Options, _StrideType> >
+{
+  enum {
+    Flags = (traits<SparseVector<MatScalar,MatOptions,MatIndex> >::Flags | CompressedAccessBit | NestByRefBit) & ~LvalueBit
+  };
+};
+
+template<typename Derived>
+struct traits<SparseRefBase<Derived> > : public traits<Derived> {};
+
+template<typename Derived> class SparseRefBase
+  : public SparseMapBase<Derived>
+{
+public:
+
+  typedef SparseMapBase<Derived> Base;
+  EIGEN_SPARSE_PUBLIC_INTERFACE(SparseRefBase)
+
+  SparseRefBase()
+    : Base(RowsAtCompileTime==Dynamic?0:RowsAtCompileTime,ColsAtCompileTime==Dynamic?0:ColsAtCompileTime, 0, 0, 0, 0, 0)
+  {}
+  
+protected:
+
+  template<typename Expression>
+  void construct(Expression& expr)
+  {
+    if(expr.outerIndexPtr()==0)
+      ::new (static_cast<Base*>(this)) Base(expr.size(), expr.nonZeros(), expr.innerIndexPtr(), expr.valuePtr());
+    else
+      ::new (static_cast<Base*>(this)) Base(expr.rows(), expr.cols(), expr.nonZeros(), expr.outerIndexPtr(), expr.innerIndexPtr(), expr.valuePtr(), expr.innerNonZeroPtr());
+  }
+};
+
+} // namespace internal
+
+
+/** 
+  * \ingroup SparseCore_Module
+  *
+  * \brief A sparse matrix expression referencing an existing sparse expression
+  *
+  * \tparam SparseMatrixType the equivalent sparse matrix type of the referenced data, it must be a template instance of class SparseMatrix.
+  * \tparam Options specifies whether the a standard compressed format is required \c Options is  \c #StandardCompressedFormat, or \c 0.
+  *                The default is \c 0.
+  *
+  * \sa class Ref
+  */
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+class Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType >
+  : public internal::SparseRefBase<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType > >
+#else
+template<typename SparseMatrixType, int Options>
+class Ref<SparseMatrixType, Options>
+  : public SparseMapBase<Derived,WriteAccessors> // yes, that's weird to use Derived here, but that works!
+#endif
+{
+    typedef SparseMatrix<MatScalar,MatOptions,MatIndex> PlainObjectType;
+    typedef internal::traits<Ref> Traits;
+    template<int OtherOptions>
+    inline Ref(const SparseMatrix<MatScalar,OtherOptions,MatIndex>& expr);
+    template<int OtherOptions>
+    inline Ref(const MappedSparseMatrix<MatScalar,OtherOptions,MatIndex>& expr);
+  public:
+
+    typedef internal::SparseRefBase<Ref> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Ref)
+
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<int OtherOptions>
+    inline Ref(SparseMatrix<MatScalar,OtherOptions,MatIndex>& expr)
+    {
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<SparseMatrix<MatScalar,OtherOptions,MatIndex> >::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      eigen_assert( ((Options & int(StandardCompressedFormat))==0) || (expr.isCompressed()) );
+      Base::construct(expr.derived());
+    }
+    
+    template<int OtherOptions>
+    inline Ref(MappedSparseMatrix<MatScalar,OtherOptions,MatIndex>& expr)
+    {
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<SparseMatrix<MatScalar,OtherOptions,MatIndex> >::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      eigen_assert( ((Options & int(StandardCompressedFormat))==0) || (expr.isCompressed()) );
+      Base::construct(expr.derived());
+    }
+    
+    template<typename Derived>
+    inline Ref(const SparseCompressedBase<Derived>& expr)
+    #else
+    /** Implicit constructor from any sparse expression (2D matrix or 1D vector) */
+    template<typename Derived>
+    inline Ref(SparseCompressedBase<Derived>& expr)
+    #endif
+    {
+      EIGEN_STATIC_ASSERT(bool(internal::is_lvalue<Derived>::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      eigen_assert( ((Options & int(StandardCompressedFormat))==0) || (expr.isCompressed()) );
+      Base::construct(expr.const_cast_derived());
+    }
+};
+
+// this is the const ref version
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+class Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType>
+  : public internal::SparseRefBase<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+{
+    typedef SparseMatrix<MatScalar,MatOptions,MatIndex> TPlainObjectType;
+    typedef internal::traits<Ref> Traits;
+  public:
+
+    typedef internal::SparseRefBase<Ref> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Ref)
+
+    template<typename Derived>
+    inline Ref(const SparseMatrixBase<Derived>& expr) : m_hasCopy(false)
+    {
+      construct(expr.derived(), typename Traits::template match<Derived>::type());
+    }
+
+    inline Ref(const Ref& other) : Base(other), m_hasCopy(false) {
+      // copy constructor shall not copy the m_object, to avoid unnecessary malloc and copy
+    }
+
+    template<typename OtherRef>
+    inline Ref(const RefBase<OtherRef>& other) : m_hasCopy(false) {
+      construct(other.derived(), typename Traits::template match<OtherRef>::type());
+    }
+
+    ~Ref() {
+      if(m_hasCopy) {
+        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+        obj->~TPlainObjectType();
+      }
+    }
+
+  protected:
+
+    template<typename Expression>
+    void construct(const Expression& expr,internal::true_type)
+    {
+      if((Options & int(StandardCompressedFormat)) && (!expr.isCompressed()))
+      {
+        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+        ::new (obj) TPlainObjectType(expr);
+        m_hasCopy = true;
+        Base::construct(*obj);
+      }
+      else
+      {
+        Base::construct(expr);
+      }
+    }
+
+    template<typename Expression>
+    void construct(const Expression& expr, internal::false_type)
+    {
+      TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+      ::new (obj) TPlainObjectType(expr);
+      m_hasCopy = true;
+      Base::construct(*obj);
+    }
+
+  protected:
+    char m_object_bytes[sizeof(TPlainObjectType)];
+    bool m_hasCopy;
+};
+
+
+
+/**
+  * \ingroup SparseCore_Module
+  *
+  * \brief A sparse vector expression referencing an existing sparse vector expression
+  *
+  * \tparam SparseVectorType the equivalent sparse vector type of the referenced data, it must be a template instance of class SparseVector.
+  *
+  * \sa class Ref
+  */
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+class Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType >
+  : public internal::SparseRefBase<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType > >
+#else
+template<typename SparseVectorType>
+class Ref<SparseVectorType>
+  : public SparseMapBase<Derived,WriteAccessors>
+#endif
+{
+    typedef SparseVector<MatScalar,MatOptions,MatIndex> PlainObjectType;
+    typedef internal::traits<Ref> Traits;
+    template<int OtherOptions>
+    inline Ref(const SparseVector<MatScalar,OtherOptions,MatIndex>& expr);
+  public:
+
+    typedef internal::SparseRefBase<Ref> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Ref)
+
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    template<int OtherOptions>
+    inline Ref(SparseVector<MatScalar,OtherOptions,MatIndex>& expr)
+    {
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<SparseVector<MatScalar,OtherOptions,MatIndex> >::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      Base::construct(expr.derived());
+    }
+
+    template<typename Derived>
+    inline Ref(const SparseCompressedBase<Derived>& expr)
+    #else
+    /** Implicit constructor from any 1D sparse vector expression */
+    template<typename Derived>
+    inline Ref(SparseCompressedBase<Derived>& expr)
+    #endif
+    {
+      EIGEN_STATIC_ASSERT(bool(internal::is_lvalue<Derived>::value), THIS_EXPRESSION_IS_NOT_A_LVALUE__IT_IS_READ_ONLY);
+      EIGEN_STATIC_ASSERT(bool(Traits::template match<Derived>::MatchAtCompileTime), STORAGE_LAYOUT_DOES_NOT_MATCH);
+      Base::construct(expr.const_cast_derived());
+    }
+};
+
+// this is the const ref version
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+class Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType>
+  : public internal::SparseRefBase<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+{
+    typedef SparseVector<MatScalar,MatOptions,MatIndex> TPlainObjectType;
+    typedef internal::traits<Ref> Traits;
+  public:
+
+    typedef internal::SparseRefBase<Ref> Base;
+    EIGEN_SPARSE_PUBLIC_INTERFACE(Ref)
+
+    template<typename Derived>
+    inline Ref(const SparseMatrixBase<Derived>& expr) : m_hasCopy(false)
+    {
+      construct(expr.derived(), typename Traits::template match<Derived>::type());
+    }
+
+    inline Ref(const Ref& other) : Base(other), m_hasCopy(false) {
+      // copy constructor shall not copy the m_object, to avoid unnecessary malloc and copy
+    }
+
+    template<typename OtherRef>
+    inline Ref(const RefBase<OtherRef>& other) : m_hasCopy(false) {
+      construct(other.derived(), typename Traits::template match<OtherRef>::type());
+    }
+
+    ~Ref() {
+      if(m_hasCopy) {
+        TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+        obj->~TPlainObjectType();
+      }
+    }
+
+  protected:
+
+    template<typename Expression>
+    void construct(const Expression& expr,internal::true_type)
+    {
+      Base::construct(expr);
+    }
+
+    template<typename Expression>
+    void construct(const Expression& expr, internal::false_type)
+    {
+      TPlainObjectType* obj = reinterpret_cast<TPlainObjectType*>(m_object_bytes);
+      ::new (obj) TPlainObjectType(expr);
+      m_hasCopy = true;
+      Base::construct(*obj);
+    }
+
+  protected:
+    char m_object_bytes[sizeof(TPlainObjectType)];
+    bool m_hasCopy;
+};
+
+namespace internal {
+
+// FIXME shall we introduce a general evaluatior_ref that we can specialize for any sparse object once, and thus remove this copy-pasta thing...
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct evaluator<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : evaluator<SparseCompressedBase<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
+{
+  typedef evaluator<SparseCompressedBase<Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
+  typedef Ref<SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;  
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct evaluator<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : evaluator<SparseCompressedBase<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
+{
+  typedef evaluator<SparseCompressedBase<Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
+  typedef Ref<const SparseMatrix<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;  
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct evaluator<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : evaluator<SparseCompressedBase<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
+{
+  typedef evaluator<SparseCompressedBase<Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
+  typedef Ref<SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
+};
+
+template<typename MatScalar, int MatOptions, typename MatIndex, int Options, typename StrideType>
+struct evaluator<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> >
+  : evaluator<SparseCompressedBase<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> > >
+{
+  typedef evaluator<SparseCompressedBase<Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> > > Base;
+  typedef Ref<const SparseVector<MatScalar,MatOptions,MatIndex>, Options, StrideType> XprType;
+  evaluator() : Base() {}
+  explicit evaluator(const XprType &mat) : Base(mat) {}
+};
+
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_SPARSE_REF_H
diff --git a/eigenlib/Eigen/src/SparseCore/SparseSelfAdjointView.h b/eigenlib/Eigen/src/SparseCore/SparseSelfAdjointView.h
index 0eda96bc..9e39be73 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseSelfAdjointView.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseSelfAdjointView.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -11,14 +11,14 @@
 #define EIGEN_SPARSE_SELFADJOINTVIEW_H
 
 namespace Eigen { 
-
+  
 /** \ingroup SparseCore_Module
   * \class SparseSelfAdjointView
   *
   * \brief Pseudo expression to manipulate a triangular sparse matrix as a selfadjoint matrix.
   *
   * \param MatrixType the type of the dense matrix storing the coefficients
-  * \param UpLo can be either \c #Lower or \c #Upper
+  * \param Mode can be either \c #Lower or \c #Upper
   *
   * This class is an expression of a sefladjoint matrix from a triangular part of a matrix
   * with given dense storage of the coefficients. It is the return type of MatrixBase::selfadjointView()
@@ -26,38 +26,39 @@ namespace Eigen {
   *
   * \sa SparseMatrixBase::selfadjointView()
   */
-template<typename Lhs, typename Rhs, int UpLo>
-class SparseSelfAdjointTimeDenseProduct;
-
-template<typename Lhs, typename Rhs, int UpLo>
-class DenseTimeSparseSelfAdjointProduct;
-
 namespace internal {
   
-template<typename MatrixType, unsigned int UpLo>
-struct traits<SparseSelfAdjointView<MatrixType,UpLo> > : traits<MatrixType> {
+template<typename MatrixType, unsigned int Mode>
+struct traits<SparseSelfAdjointView<MatrixType,Mode> > : traits<MatrixType> {
 };
 
-template<int SrcUpLo,int DstUpLo,typename MatrixType,int DestOrder>
-void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm = 0);
+template<int SrcMode,int DstMode,typename MatrixType,int DestOrder>
+void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::StorageIndex>& _dest, const typename MatrixType::StorageIndex* perm = 0);
 
-template<int UpLo,typename MatrixType,int DestOrder>
-void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm = 0);
+template<int Mode,typename MatrixType,int DestOrder>
+void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::StorageIndex>& _dest, const typename MatrixType::StorageIndex* perm = 0);
 
 }
 
-template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
-  : public EigenBase<SparseSelfAdjointView<MatrixType,UpLo> >
+template<typename MatrixType, unsigned int _Mode> class SparseSelfAdjointView
+  : public EigenBase<SparseSelfAdjointView<MatrixType,_Mode> >
 {
   public:
+    
+    enum {
+      Mode = _Mode,
+      RowsAtCompileTime = internal::traits<SparseSelfAdjointView>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<SparseSelfAdjointView>::ColsAtCompileTime
+    };
 
+    typedef EigenBase<SparseSelfAdjointView> Base;
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
-    typedef Matrix<Index,Dynamic,1> VectorI;
-    typedef typename MatrixType::Nested MatrixTypeNested;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef Matrix<StorageIndex,Dynamic,1> VectorI;
+    typedef typename internal::ref_selector<MatrixType>::non_const_type MatrixTypeNested;
     typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
-
-    inline SparseSelfAdjointView(const MatrixType& matrix) : m_matrix(matrix)
+    
+    explicit inline SparseSelfAdjointView(MatrixType& matrix) : m_matrix(matrix)
     {
       eigen_assert(rows()==cols() && "SelfAdjointView is only for squared matrices");
     }
@@ -67,7 +68,7 @@ template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
 
     /** \internal \returns a reference to the nested matrix */
     const _MatrixTypeNested& matrix() const { return m_matrix; }
-    _MatrixTypeNested& matrix() { return m_matrix.const_cast_derived(); }
+    typename internal::remove_reference<MatrixTypeNested>::type& matrix() { return m_matrix; }
 
     /** \returns an expression of the matrix product between a sparse self-adjoint matrix \c *this and a sparse matrix \a rhs.
       *
@@ -75,10 +76,10 @@ template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
       * Indeed, the SparseSelfadjointView operand is first copied into a temporary SparseMatrix before computing the product.
       */
     template<typename OtherDerived>
-    SparseSparseProduct<typename OtherDerived::PlainObject, OtherDerived>
+    Product<SparseSelfAdjointView, OtherDerived>
     operator*(const SparseMatrixBase<OtherDerived>& rhs) const
     {
-      return SparseSparseProduct<typename OtherDerived::PlainObject, OtherDerived>(*this, rhs.derived());
+      return Product<SparseSelfAdjointView, OtherDerived>(*this, rhs.derived());
     }
 
     /** \returns an expression of the matrix product between a sparse matrix \a lhs and a sparse self-adjoint matrix \a rhs.
@@ -87,26 +88,26 @@ template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
       * Indeed, the SparseSelfadjointView operand is first copied into a temporary SparseMatrix before computing the product.
       */
     template<typename OtherDerived> friend
-    SparseSparseProduct<OtherDerived, typename OtherDerived::PlainObject >
+    Product<OtherDerived, SparseSelfAdjointView>
     operator*(const SparseMatrixBase<OtherDerived>& lhs, const SparseSelfAdjointView& rhs)
     {
-      return SparseSparseProduct<OtherDerived, typename OtherDerived::PlainObject>(lhs.derived(), rhs);
+      return Product<OtherDerived, SparseSelfAdjointView>(lhs.derived(), rhs);
     }
     
     /** Efficient sparse self-adjoint matrix times dense vector/matrix product */
     template<typename OtherDerived>
-    SparseSelfAdjointTimeDenseProduct<MatrixType,OtherDerived,UpLo>
+    Product<SparseSelfAdjointView,OtherDerived>
     operator*(const MatrixBase<OtherDerived>& rhs) const
     {
-      return SparseSelfAdjointTimeDenseProduct<MatrixType,OtherDerived,UpLo>(m_matrix, rhs.derived());
+      return Product<SparseSelfAdjointView,OtherDerived>(*this, rhs.derived());
     }
 
     /** Efficient dense vector/matrix times sparse self-adjoint matrix product */
     template<typename OtherDerived> friend
-    DenseTimeSparseSelfAdjointProduct<OtherDerived,MatrixType,UpLo>
+    Product<OtherDerived,SparseSelfAdjointView>
     operator*(const MatrixBase<OtherDerived>& lhs, const SparseSelfAdjointView& rhs)
     {
-      return DenseTimeSparseSelfAdjointProduct<OtherDerived,_MatrixTypeNested,UpLo>(lhs.derived(), rhs.m_matrix);
+      return Product<OtherDerived,SparseSelfAdjointView>(lhs.derived(), rhs);
     }
 
     /** Perform a symmetric rank K update of the selfadjoint matrix \c *this:
@@ -120,56 +121,48 @@ template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
     template<typename DerivedU>
     SparseSelfAdjointView& rankUpdate(const SparseMatrixBase<DerivedU>& u, const Scalar& alpha = Scalar(1));
     
-    /** \internal triggered by sparse_matrix = SparseSelfadjointView; */
-    template<typename DestScalar,int StorageOrder> void evalTo(SparseMatrix<DestScalar,StorageOrder,Index>& _dest) const
-    {
-      internal::permute_symm_to_fullsymm<UpLo>(m_matrix, _dest);
-    }
-    
-    template<typename DestScalar> void evalTo(DynamicSparseMatrix<DestScalar,ColMajor,Index>& _dest) const
-    {
-      // TODO directly evaluate into _dest;
-      SparseMatrix<DestScalar,ColMajor,Index> tmp(_dest.rows(),_dest.cols());
-      internal::permute_symm_to_fullsymm<UpLo>(m_matrix, tmp);
-      _dest = tmp;
-    }
-    
     /** \returns an expression of P H P^-1 */
-    SparseSymmetricPermutationProduct<_MatrixTypeNested,UpLo> twistedBy(const PermutationMatrix<Dynamic,Dynamic,Index>& perm) const
+    // TODO implement twists in a more evaluator friendly fashion
+    SparseSymmetricPermutationProduct<_MatrixTypeNested,Mode> twistedBy(const PermutationMatrix<Dynamic,Dynamic,StorageIndex>& perm) const
     {
-      return SparseSymmetricPermutationProduct<_MatrixTypeNested,UpLo>(m_matrix, perm);
+      return SparseSymmetricPermutationProduct<_MatrixTypeNested,Mode>(m_matrix, perm);
     }
-    
-    template<typename SrcMatrixType,int SrcUpLo>
-    SparseSelfAdjointView& operator=(const SparseSymmetricPermutationProduct<SrcMatrixType,SrcUpLo>& permutedMatrix)
+
+    template<typename SrcMatrixType,int SrcMode>
+    SparseSelfAdjointView& operator=(const SparseSymmetricPermutationProduct<SrcMatrixType,SrcMode>& permutedMatrix)
     {
-      permutedMatrix.evalTo(*this);
+      internal::call_assignment_no_alias_no_transpose(*this, permutedMatrix);
       return *this;
     }
 
-
     SparseSelfAdjointView& operator=(const SparseSelfAdjointView& src)
     {
-      PermutationMatrix<Dynamic> pnull;
+      PermutationMatrix<Dynamic,Dynamic,StorageIndex> pnull;
       return *this = src.twistedBy(pnull);
     }
 
-    template<typename SrcMatrixType,unsigned int SrcUpLo>
-    SparseSelfAdjointView& operator=(const SparseSelfAdjointView<SrcMatrixType,SrcUpLo>& src)
+    template<typename SrcMatrixType,unsigned int SrcMode>
+    SparseSelfAdjointView& operator=(const SparseSelfAdjointView<SrcMatrixType,SrcMode>& src)
     {
-      PermutationMatrix<Dynamic> pnull;
+      PermutationMatrix<Dynamic,Dynamic,StorageIndex> pnull;
       return *this = src.twistedBy(pnull);
     }
     
-
-    // const SparseLLT<PlainObject, UpLo> llt() const;
-    // const SparseLDLT<PlainObject, UpLo> ldlt() const;
-
+    void resize(Index rows, Index cols)
+    {
+      EIGEN_ONLY_USED_FOR_DEBUG(rows);
+      EIGEN_ONLY_USED_FOR_DEBUG(cols);
+      eigen_assert(rows == this->rows() && cols == this->cols()
+                && "SparseSelfadjointView::resize() does not actually allow to resize.");
+    }
+    
   protected:
 
-    typename MatrixType::Nested m_matrix;
-    mutable VectorI m_countPerRow;
-    mutable VectorI m_countPerCol;
+    MatrixTypeNested m_matrix;
+    //mutable VectorI m_countPerRow;
+    //mutable VectorI m_countPerCol;
+  private:
+    template<typename Dest> void evalTo(Dest &) const;
 };
 
 /***************************************************************************
@@ -178,146 +171,268 @@ template<typename MatrixType, unsigned int UpLo> class SparseSelfAdjointView
 
 template<typename Derived>
 template<unsigned int UpLo>
-const SparseSelfAdjointView<Derived, UpLo> SparseMatrixBase<Derived>::selfadjointView() const
+typename SparseMatrixBase<Derived>::template ConstSelfAdjointViewReturnType<UpLo>::Type SparseMatrixBase<Derived>::selfadjointView() const
 {
-  return derived();
+  return SparseSelfAdjointView<const Derived, UpLo>(derived());
 }
 
 template<typename Derived>
 template<unsigned int UpLo>
-SparseSelfAdjointView<Derived, UpLo> SparseMatrixBase<Derived>::selfadjointView()
+typename SparseMatrixBase<Derived>::template SelfAdjointViewReturnType<UpLo>::Type SparseMatrixBase<Derived>::selfadjointView()
 {
-  return derived();
+  return SparseSelfAdjointView<Derived, UpLo>(derived());
 }
 
 /***************************************************************************
 * Implementation of SparseSelfAdjointView methods
 ***************************************************************************/
 
-template<typename MatrixType, unsigned int UpLo>
+template<typename MatrixType, unsigned int Mode>
 template<typename DerivedU>
-SparseSelfAdjointView<MatrixType,UpLo>&
-SparseSelfAdjointView<MatrixType,UpLo>::rankUpdate(const SparseMatrixBase<DerivedU>& u, const Scalar& alpha)
+SparseSelfAdjointView<MatrixType,Mode>&
+SparseSelfAdjointView<MatrixType,Mode>::rankUpdate(const SparseMatrixBase<DerivedU>& u, const Scalar& alpha)
 {
-  SparseMatrix<Scalar,MatrixType::Flags&RowMajorBit?RowMajor:ColMajor> tmp = u * u.adjoint();
+  SparseMatrix<Scalar,(MatrixType::Flags&RowMajorBit)?RowMajor:ColMajor> tmp = u * u.adjoint();
   if(alpha==Scalar(0))
-    m_matrix.const_cast_derived() = tmp.template triangularView<UpLo>();
+    m_matrix = tmp.template triangularView<Mode>();
   else
-    m_matrix.const_cast_derived() += alpha * tmp.template triangularView<UpLo>();
+    m_matrix += alpha * tmp.template triangularView<Mode>();
 
   return *this;
 }
 
+namespace internal {
+  
+// TODO currently a selfadjoint expression has the form SelfAdjointView<.,.>
+//      in the future selfadjoint-ness should be defined by the expression traits
+//      such that Transpose<SelfAdjointView<.,.> > is valid. (currently TriangularBase::transpose() is overloaded to make it work)
+template<typename MatrixType, unsigned int Mode>
+struct evaluator_traits<SparseSelfAdjointView<MatrixType,Mode> >
+{
+  typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
+  typedef SparseSelfAdjointShape Shape;
+};
+
+struct SparseSelfAdjoint2Sparse {};
+
+template<> struct AssignmentKind<SparseShape,SparseSelfAdjointShape> { typedef SparseSelfAdjoint2Sparse Kind; };
+template<> struct AssignmentKind<SparseSelfAdjointShape,SparseShape> { typedef Sparse2Sparse Kind; };
+
+template< typename DstXprType, typename SrcXprType, typename Functor>
+struct Assignment<DstXprType, SrcXprType, Functor, SparseSelfAdjoint2Sparse>
+{
+  typedef typename DstXprType::StorageIndex StorageIndex;
+  typedef internal::assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar> AssignOpType;
+
+  template<typename DestScalar,int StorageOrder>
+  static void run(SparseMatrix<DestScalar,StorageOrder,StorageIndex> &dst, const SrcXprType &src, const AssignOpType&/*func*/)
+  {
+    internal::permute_symm_to_fullsymm<SrcXprType::Mode>(src.matrix(), dst);
+  }
+
+  // FIXME: the handling of += and -= in sparse matrices should be cleanup so that next two overloads could be reduced to:
+  template<typename DestScalar,int StorageOrder,typename AssignFunc>
+  static void run(SparseMatrix<DestScalar,StorageOrder,StorageIndex> &dst, const SrcXprType &src, const AssignFunc& func)
+  {
+    SparseMatrix<DestScalar,StorageOrder,StorageIndex> tmp(src.rows(),src.cols());
+    run(tmp, src, AssignOpType());
+    call_assignment_no_alias_no_transpose(dst, tmp, func);
+  }
+
+  template<typename DestScalar,int StorageOrder>
+  static void run(SparseMatrix<DestScalar,StorageOrder,StorageIndex> &dst, const SrcXprType &src,
+                  const internal::add_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>& /* func */)
+  {
+    SparseMatrix<DestScalar,StorageOrder,StorageIndex> tmp(src.rows(),src.cols());
+    run(tmp, src, AssignOpType());
+    dst += tmp;
+  }
+
+  template<typename DestScalar,int StorageOrder>
+  static void run(SparseMatrix<DestScalar,StorageOrder,StorageIndex> &dst, const SrcXprType &src,
+                  const internal::sub_assign_op<typename DstXprType::Scalar,typename SrcXprType::Scalar>& /* func */)
+  {
+    SparseMatrix<DestScalar,StorageOrder,StorageIndex> tmp(src.rows(),src.cols());
+    run(tmp, src, AssignOpType());
+    dst -= tmp;
+  }
+  
+  template<typename DestScalar>
+  static void run(DynamicSparseMatrix<DestScalar,ColMajor,StorageIndex>& dst, const SrcXprType &src, const AssignOpType&/*func*/)
+  {
+    // TODO directly evaluate into dst;
+    SparseMatrix<DestScalar,ColMajor,StorageIndex> tmp(dst.rows(),dst.cols());
+    internal::permute_symm_to_fullsymm<SrcXprType::Mode>(src.matrix(), tmp);
+    dst = tmp;
+  }
+};
+
+} // end namespace internal
+
 /***************************************************************************
 * Implementation of sparse self-adjoint time dense matrix
 ***************************************************************************/
 
 namespace internal {
-template<typename Lhs, typename Rhs, int UpLo>
-struct traits<SparseSelfAdjointTimeDenseProduct<Lhs,Rhs,UpLo> >
- : traits<ProductBase<SparseSelfAdjointTimeDenseProduct<Lhs,Rhs,UpLo>, Lhs, Rhs> >
+
+template<int Mode, typename SparseLhsType, typename DenseRhsType, typename DenseResType, typename AlphaType>
+inline void sparse_selfadjoint_time_dense_product(const SparseLhsType& lhs, const DenseRhsType& rhs, DenseResType& res, const AlphaType& alpha)
 {
-  typedef Dense StorageKind;
-};
-}
+  EIGEN_ONLY_USED_FOR_DEBUG(alpha);
+  
+  typedef typename internal::nested_eval<SparseLhsType,DenseRhsType::MaxColsAtCompileTime>::type SparseLhsTypeNested;
+  typedef typename internal::remove_all<SparseLhsTypeNested>::type SparseLhsTypeNestedCleaned;
+  typedef evaluator<SparseLhsTypeNestedCleaned> LhsEval;
+  typedef typename LhsEval::InnerIterator LhsIterator;
+  typedef typename SparseLhsType::Scalar LhsScalar;
+  
+  enum {
+    LhsIsRowMajor = (LhsEval::Flags&RowMajorBit)==RowMajorBit,
+    ProcessFirstHalf =
+              ((Mode&(Upper|Lower))==(Upper|Lower))
+          || ( (Mode&Upper) && !LhsIsRowMajor)
+          || ( (Mode&Lower) && LhsIsRowMajor),
+    ProcessSecondHalf = !ProcessFirstHalf
+  };
+  
+  SparseLhsTypeNested lhs_nested(lhs);
+  LhsEval lhsEval(lhs_nested);
 
-template<typename Lhs, typename Rhs, int UpLo>
-class SparseSelfAdjointTimeDenseProduct
-  : public ProductBase<SparseSelfAdjointTimeDenseProduct<Lhs,Rhs,UpLo>, Lhs, Rhs>
-{
-  public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(SparseSelfAdjointTimeDenseProduct)
-
-    SparseSelfAdjointTimeDenseProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
-    {}
-
-    template<typename Dest> void scaleAndAddTo(Dest& dest, const Scalar& alpha) const
+  // work on one column at once
+  for (Index k=0; k<rhs.cols(); ++k)
+  {
+    for (Index j=0; j<lhs.outerSize(); ++j)
     {
-      EIGEN_ONLY_USED_FOR_DEBUG(alpha);
-      // TODO use alpha
-      eigen_assert(alpha==Scalar(1) && "alpha != 1 is not implemented yet, sorry");
-      typedef typename internal::remove_all<Lhs>::type _Lhs;
-      typedef typename _Lhs::InnerIterator LhsInnerIterator;
-      enum {
-        LhsIsRowMajor = (_Lhs::Flags&RowMajorBit)==RowMajorBit,
-        ProcessFirstHalf =
-                 ((UpLo&(Upper|Lower))==(Upper|Lower))
-              || ( (UpLo&Upper) && !LhsIsRowMajor)
-              || ( (UpLo&Lower) && LhsIsRowMajor),
-        ProcessSecondHalf = !ProcessFirstHalf
-      };
-      for (Index j=0; j<m_lhs.outerSize(); ++j)
+      LhsIterator i(lhsEval,j);
+      // handle diagonal coeff
+      if (ProcessSecondHalf)
       {
-        LhsInnerIterator i(m_lhs,j);
-        if (ProcessSecondHalf)
+        while (i && i.index()<j) ++i;
+        if(i && i.index()==j)
         {
-          while (i && i.index()<j) ++i;
-          if(i && i.index()==j)
-          {
-            dest.row(j) += i.value() * m_rhs.row(j);
-            ++i;
-          }
+          res(j,k) += alpha * i.value() * rhs(j,k);
+          ++i;
         }
-        for(; (ProcessFirstHalf ? i && i.index() < j : i) ; ++i)
-        {
-          Index a = LhsIsRowMajor ? j : i.index();
-          Index b = LhsIsRowMajor ? i.index() : j;
-          typename Lhs::Scalar v = i.value();
-          dest.row(a) += (v) * m_rhs.row(b);
-          dest.row(b) += numext::conj(v) * m_rhs.row(a);
-        }
-        if (ProcessFirstHalf && i && (i.index()==j))
-          dest.row(j) += i.value() * m_rhs.row(j);
       }
+
+      // premultiplied rhs for scatters
+      typename ScalarBinaryOpTraits<AlphaType, typename DenseRhsType::Scalar>::ReturnType rhs_j(alpha*rhs(j,k));
+      // accumulator for partial scalar product
+      typename DenseResType::Scalar res_j(0);
+      for(; (ProcessFirstHalf ? i && i.index() < j : i) ; ++i)
+      {
+        LhsScalar lhs_ij = i.value();
+        if(!LhsIsRowMajor) lhs_ij = numext::conj(lhs_ij);
+        res_j += lhs_ij * rhs(i.index(),k);
+        res(i.index(),k) += numext::conj(lhs_ij) * rhs_j;
+      }
+      res(j,k) += alpha * res_j;
+
+      // handle diagonal coeff
+      if (ProcessFirstHalf && i && (i.index()==j))
+        res(j,k) += alpha * i.value() * rhs(j,k);
     }
-
-  private:
-    SparseSelfAdjointTimeDenseProduct& operator=(const SparseSelfAdjointTimeDenseProduct&);
-};
-
-namespace internal {
-template<typename Lhs, typename Rhs, int UpLo>
-struct traits<DenseTimeSparseSelfAdjointProduct<Lhs,Rhs,UpLo> >
- : traits<ProductBase<DenseTimeSparseSelfAdjointProduct<Lhs,Rhs,UpLo>, Lhs, Rhs> >
-{};
+  }
 }
 
-template<typename Lhs, typename Rhs, int UpLo>
-class DenseTimeSparseSelfAdjointProduct
-  : public ProductBase<DenseTimeSparseSelfAdjointProduct<Lhs,Rhs,UpLo>, Lhs, Rhs>
+
+template<typename LhsView, typename Rhs, int ProductType>
+struct generic_product_impl<LhsView, Rhs, SparseSelfAdjointShape, DenseShape, ProductType>
+: generic_product_impl_base<LhsView, Rhs, generic_product_impl<LhsView, Rhs, SparseSelfAdjointShape, DenseShape, ProductType> >
 {
-  public:
-    EIGEN_PRODUCT_PUBLIC_INTERFACE(DenseTimeSparseSelfAdjointProduct)
-
-    DenseTimeSparseSelfAdjointProduct(const Lhs& lhs, const Rhs& rhs) : Base(lhs,rhs)
-    {}
-
-    template<typename Dest> void scaleAndAddTo(Dest& /*dest*/, const Scalar& /*alpha*/) const
-    {
-      // TODO
-    }
-
-  private:
-    DenseTimeSparseSelfAdjointProduct& operator=(const DenseTimeSparseSelfAdjointProduct&);
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const LhsView& lhsView, const Rhs& rhs, const typename Dest::Scalar& alpha)
+  {
+    typedef typename LhsView::_MatrixTypeNested Lhs;
+    typedef typename nested_eval<Lhs,Dynamic>::type LhsNested;
+    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
+    LhsNested lhsNested(lhsView.matrix());
+    RhsNested rhsNested(rhs);
+    
+    internal::sparse_selfadjoint_time_dense_product<LhsView::Mode>(lhsNested, rhsNested, dst, alpha);
+  }
 };
 
+template<typename Lhs, typename RhsView, int ProductType>
+struct generic_product_impl<Lhs, RhsView, DenseShape, SparseSelfAdjointShape, ProductType>
+: generic_product_impl_base<Lhs, RhsView, generic_product_impl<Lhs, RhsView, DenseShape, SparseSelfAdjointShape, ProductType> >
+{
+  template<typename Dest>
+  static void scaleAndAddTo(Dest& dst, const Lhs& lhs, const RhsView& rhsView, const typename Dest::Scalar& alpha)
+  {
+    typedef typename RhsView::_MatrixTypeNested Rhs;
+    typedef typename nested_eval<Lhs,Dynamic>::type LhsNested;
+    typedef typename nested_eval<Rhs,Dynamic>::type RhsNested;
+    LhsNested lhsNested(lhs);
+    RhsNested rhsNested(rhsView.matrix());
+    
+    // transpose everything
+    Transpose<Dest> dstT(dst);
+    internal::sparse_selfadjoint_time_dense_product<RhsView::Mode>(rhsNested.transpose(), lhsNested.transpose(), dstT, alpha);
+  }
+};
+
+// NOTE: these two overloads are needed to evaluate the sparse selfadjoint view into a full sparse matrix
+// TODO: maybe the copy could be handled by generic_product_impl so that these overloads would not be needed anymore
+
+template<typename LhsView, typename Rhs, int ProductTag>
+struct product_evaluator<Product<LhsView, Rhs, DefaultProduct>, ProductTag, SparseSelfAdjointShape, SparseShape>
+  : public evaluator<typename Product<typename Rhs::PlainObject, Rhs, DefaultProduct>::PlainObject>
+{
+  typedef Product<LhsView, Rhs, DefaultProduct> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  product_evaluator(const XprType& xpr)
+    : m_lhs(xpr.lhs()), m_result(xpr.rows(), xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    generic_product_impl<typename Rhs::PlainObject, Rhs, SparseShape, SparseShape, ProductTag>::evalTo(m_result, m_lhs, xpr.rhs());
+  }
+  
+protected:
+  typename Rhs::PlainObject m_lhs;
+  PlainObject m_result;
+};
+
+template<typename Lhs, typename RhsView, int ProductTag>
+struct product_evaluator<Product<Lhs, RhsView, DefaultProduct>, ProductTag, SparseShape, SparseSelfAdjointShape>
+  : public evaluator<typename Product<Lhs, typename Lhs::PlainObject, DefaultProduct>::PlainObject>
+{
+  typedef Product<Lhs, RhsView, DefaultProduct> XprType;
+  typedef typename XprType::PlainObject PlainObject;
+  typedef evaluator<PlainObject> Base;
+
+  product_evaluator(const XprType& xpr)
+    : m_rhs(xpr.rhs()), m_result(xpr.rows(), xpr.cols())
+  {
+    ::new (static_cast<Base*>(this)) Base(m_result);
+    generic_product_impl<Lhs, typename Lhs::PlainObject, SparseShape, SparseShape, ProductTag>::evalTo(m_result, xpr.lhs(), m_rhs);
+  }
+  
+protected:
+  typename Lhs::PlainObject m_rhs;
+  PlainObject m_result;
+};
+
+} // namespace internal
+
 /***************************************************************************
 * Implementation of symmetric copies and permutations
 ***************************************************************************/
 namespace internal {
-  
-template<typename MatrixType, int UpLo>
-struct traits<SparseSymmetricPermutationProduct<MatrixType,UpLo> > : traits<MatrixType> {
-};
 
-template<int UpLo,typename MatrixType,int DestOrder>
-void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm)
+template<int Mode,typename MatrixType,int DestOrder>
+void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DestOrder,typename MatrixType::StorageIndex>& _dest, const typename MatrixType::StorageIndex* perm)
 {
-  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::StorageIndex StorageIndex;
   typedef typename MatrixType::Scalar Scalar;
-  typedef SparseMatrix<Scalar,DestOrder,Index> Dest;
-  typedef Matrix<Index,Dynamic,1> VectorI;
+  typedef SparseMatrix<Scalar,DestOrder,StorageIndex> Dest;
+  typedef Matrix<StorageIndex,Dynamic,1> VectorI;
+  typedef evaluator<MatrixType> MatEval;
+  typedef typename evaluator<MatrixType>::InnerIterator MatIterator;
   
+  MatEval matEval(mat);
   Dest& dest(_dest.derived());
   enum {
     StorageOrderMatch = int(Dest::IsRowMajor) == int(MatrixType::IsRowMajor)
@@ -331,17 +446,17 @@ void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename Matri
   for(Index j = 0; j<size; ++j)
   {
     Index jp = perm ? perm[j] : j;
-    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    for(MatIterator it(matEval,j); it; ++it)
     {
       Index i = it.index();
       Index r = it.row();
       Index c = it.col();
       Index ip = perm ? perm[i] : i;
-      if(UpLo==(Upper|Lower))
+      if(Mode==(Upper|Lower))
         count[StorageOrderMatch ? jp : ip]++;
       else if(r==c)
         count[ip]++;
-      else if(( UpLo==Lower && r>c) || ( UpLo==Upper && r<c))
+      else if(( Mode==Lower && r>c) || ( Mode==Upper && r<c))
       {
         count[ip]++;
         count[jp]++;
@@ -359,18 +474,18 @@ void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename Matri
     count[j] = dest.outerIndexPtr()[j];
   
   // copy data
-  for(Index j = 0; j<size; ++j)
+  for(StorageIndex j = 0; j<size; ++j)
   {
-    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    for(MatIterator it(matEval,j); it; ++it)
     {
-      Index i = it.index();
+      StorageIndex i = internal::convert_index<StorageIndex>(it.index());
       Index r = it.row();
       Index c = it.col();
       
-      Index jp = perm ? perm[j] : j;
-      Index ip = perm ? perm[i] : i;
+      StorageIndex jp = perm ? perm[j] : j;
+      StorageIndex ip = perm ? perm[i] : i;
       
-      if(UpLo==(Upper|Lower))
+      if(Mode==(Upper|Lower))
       {
         Index k = count[StorageOrderMatch ? jp : ip]++;
         dest.innerIndexPtr()[k] = StorageOrderMatch ? ip : jp;
@@ -382,7 +497,7 @@ void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename Matri
         dest.innerIndexPtr()[k] = ip;
         dest.valuePtr()[k] = it.value();
       }
-      else if(( (UpLo&Lower)==Lower && r>c) || ( (UpLo&Upper)==Upper && r<c))
+      else if(( (Mode&Lower)==Lower && r>c) || ( (Mode&Upper)==Upper && r<c))
       {
         if(!StorageOrderMatch)
           std::swap(ip,jp);
@@ -397,35 +512,40 @@ void permute_symm_to_fullsymm(const MatrixType& mat, SparseMatrix<typename Matri
   }
 }
 
-template<int _SrcUpLo,int _DstUpLo,typename MatrixType,int DstOrder>
-void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DstOrder,typename MatrixType::Index>& _dest, const typename MatrixType::Index* perm)
+template<int _SrcMode,int _DstMode,typename MatrixType,int DstOrder>
+void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixType::Scalar,DstOrder,typename MatrixType::StorageIndex>& _dest, const typename MatrixType::StorageIndex* perm)
 {
-  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::StorageIndex StorageIndex;
   typedef typename MatrixType::Scalar Scalar;
-  SparseMatrix<Scalar,DstOrder,Index>& dest(_dest.derived());
-  typedef Matrix<Index,Dynamic,1> VectorI;
+  SparseMatrix<Scalar,DstOrder,StorageIndex>& dest(_dest.derived());
+  typedef Matrix<StorageIndex,Dynamic,1> VectorI;
+  typedef evaluator<MatrixType> MatEval;
+  typedef typename evaluator<MatrixType>::InnerIterator MatIterator;
+
   enum {
     SrcOrder = MatrixType::IsRowMajor ? RowMajor : ColMajor,
     StorageOrderMatch = int(SrcOrder) == int(DstOrder),
-    DstUpLo = DstOrder==RowMajor ? (_DstUpLo==Upper ? Lower : Upper) : _DstUpLo,
-    SrcUpLo = SrcOrder==RowMajor ? (_SrcUpLo==Upper ? Lower : Upper) : _SrcUpLo
+    DstMode = DstOrder==RowMajor ? (_DstMode==Upper ? Lower : Upper) : _DstMode,
+    SrcMode = SrcOrder==RowMajor ? (_SrcMode==Upper ? Lower : Upper) : _SrcMode
   };
+
+  MatEval matEval(mat);
   
   Index size = mat.rows();
   VectorI count(size);
   count.setZero();
   dest.resize(size,size);
-  for(Index j = 0; j<size; ++j)
+  for(StorageIndex j = 0; j<size; ++j)
   {
-    Index jp = perm ? perm[j] : j;
-    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    StorageIndex jp = perm ? perm[j] : j;
+    for(MatIterator it(matEval,j); it; ++it)
     {
-      Index i = it.index();
-      if((int(SrcUpLo)==int(Lower) && i<j) || (int(SrcUpLo)==int(Upper) && i>j))
+      StorageIndex i = it.index();
+      if((int(SrcMode)==int(Lower) && i<j) || (int(SrcMode)==int(Upper) && i>j))
         continue;
                   
-      Index ip = perm ? perm[i] : i;
-      count[int(DstUpLo)==int(Lower) ? (std::min)(ip,jp) : (std::max)(ip,jp)]++;
+      StorageIndex ip = perm ? perm[i] : i;
+      count[int(DstMode)==int(Lower) ? (std::min)(ip,jp) : (std::max)(ip,jp)]++;
     }
   }
   dest.outerIndexPtr()[0] = 0;
@@ -435,23 +555,23 @@ void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixTyp
   for(Index j=0; j<size; ++j)
     count[j] = dest.outerIndexPtr()[j];
   
-  for(Index j = 0; j<size; ++j)
+  for(StorageIndex j = 0; j<size; ++j)
   {
     
-    for(typename MatrixType::InnerIterator it(mat,j); it; ++it)
+    for(MatIterator it(matEval,j); it; ++it)
     {
-      Index i = it.index();
-      if((int(SrcUpLo)==int(Lower) && i<j) || (int(SrcUpLo)==int(Upper) && i>j))
+      StorageIndex i = it.index();
+      if((int(SrcMode)==int(Lower) && i<j) || (int(SrcMode)==int(Upper) && i>j))
         continue;
                   
-      Index jp = perm ? perm[j] : j;
-      Index ip = perm? perm[i] : i;
+      StorageIndex jp = perm ? perm[j] : j;
+      StorageIndex ip = perm? perm[i] : i;
       
-      Index k = count[int(DstUpLo)==int(Lower) ? (std::min)(ip,jp) : (std::max)(ip,jp)]++;
-      dest.innerIndexPtr()[k] = int(DstUpLo)==int(Lower) ? (std::max)(ip,jp) : (std::min)(ip,jp);
+      Index k = count[int(DstMode)==int(Lower) ? (std::min)(ip,jp) : (std::max)(ip,jp)]++;
+      dest.innerIndexPtr()[k] = int(DstMode)==int(Lower) ? (std::max)(ip,jp) : (std::min)(ip,jp);
       
       if(!StorageOrderMatch) std::swap(ip,jp);
-      if( ((int(DstUpLo)==int(Lower) && ip<jp) || (int(DstUpLo)==int(Upper) && ip>jp)))
+      if( ((int(DstMode)==int(Lower) && ip<jp) || (int(DstMode)==int(Upper) && ip>jp)))
         dest.valuePtr()[k] = numext::conj(it.value());
       else
         dest.valuePtr()[k] = it.value();
@@ -461,19 +581,33 @@ void permute_symm_to_symm(const MatrixType& mat, SparseMatrix<typename MatrixTyp
 
 }
 
-template<typename MatrixType,int UpLo>
+// TODO implement twists in a more evaluator friendly fashion
+
+namespace internal {
+
+template<typename MatrixType, int Mode>
+struct traits<SparseSymmetricPermutationProduct<MatrixType,Mode> > : traits<MatrixType> {
+};
+
+}
+
+template<typename MatrixType,int Mode>
 class SparseSymmetricPermutationProduct
-  : public EigenBase<SparseSymmetricPermutationProduct<MatrixType,UpLo> >
+  : public EigenBase<SparseSymmetricPermutationProduct<MatrixType,Mode> >
 {
   public:
     typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    enum {
+      RowsAtCompileTime = internal::traits<SparseSymmetricPermutationProduct>::RowsAtCompileTime,
+      ColsAtCompileTime = internal::traits<SparseSymmetricPermutationProduct>::ColsAtCompileTime
+    };
   protected:
-    typedef PermutationMatrix<Dynamic,Dynamic,Index> Perm;
+    typedef PermutationMatrix<Dynamic,Dynamic,StorageIndex> Perm;
   public:
-    typedef Matrix<Index,Dynamic,1> VectorI;
+    typedef Matrix<StorageIndex,Dynamic,1> VectorI;
     typedef typename MatrixType::Nested MatrixTypeNested;
-    typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+    typedef typename internal::remove_all<MatrixTypeNested>::type NestedExpression;
     
     SparseSymmetricPermutationProduct(const MatrixType& mat, const Perm& perm)
       : m_matrix(mat), m_perm(perm)
@@ -481,20 +615,9 @@ class SparseSymmetricPermutationProduct
     
     inline Index rows() const { return m_matrix.rows(); }
     inline Index cols() const { return m_matrix.cols(); }
-    
-    template<typename DestScalar, int Options, typename DstIndex>
-    void evalTo(SparseMatrix<DestScalar,Options,DstIndex>& _dest) const
-    {
-//       internal::permute_symm_to_fullsymm<UpLo>(m_matrix,_dest,m_perm.indices().data());
-      SparseMatrix<DestScalar,(Options&RowMajor)==RowMajor ? ColMajor : RowMajor, DstIndex> tmp;
-      internal::permute_symm_to_fullsymm<UpLo>(m_matrix,tmp,m_perm.indices().data());
-      _dest = tmp;
-    }
-    
-    template<typename DestType,unsigned int DestUpLo> void evalTo(SparseSelfAdjointView<DestType,DestUpLo>& dest) const
-    {
-      internal::permute_symm_to_symm<UpLo,DestUpLo>(m_matrix,dest.matrix(),m_perm.indices().data());
-    }
+        
+    const NestedExpression& matrix() const { return m_matrix; }
+    const Perm& perm() const { return m_perm; }
     
   protected:
     MatrixTypeNested m_matrix;
@@ -502,6 +625,31 @@ class SparseSymmetricPermutationProduct
 
 };
 
+namespace internal {
+  
+template<typename DstXprType, typename MatrixType, int Mode, typename Scalar>
+struct Assignment<DstXprType, SparseSymmetricPermutationProduct<MatrixType,Mode>, internal::assign_op<Scalar,typename MatrixType::Scalar>, Sparse2Sparse>
+{
+  typedef SparseSymmetricPermutationProduct<MatrixType,Mode> SrcXprType;
+  typedef typename DstXprType::StorageIndex DstIndex;
+  template<int Options>
+  static void run(SparseMatrix<Scalar,Options,DstIndex> &dst, const SrcXprType &src, const internal::assign_op<Scalar,typename MatrixType::Scalar> &)
+  {
+    // internal::permute_symm_to_fullsymm<Mode>(m_matrix,_dest,m_perm.indices().data());
+    SparseMatrix<Scalar,(Options&RowMajor)==RowMajor ? ColMajor : RowMajor, DstIndex> tmp;
+    internal::permute_symm_to_fullsymm<Mode>(src.matrix(),tmp,src.perm().indices().data());
+    dst = tmp;
+  }
+  
+  template<typename DestType,unsigned int DestMode>
+  static void run(SparseSelfAdjointView<DestType,DestMode>& dst, const SrcXprType &src, const internal::assign_op<Scalar,typename MatrixType::Scalar> &)
+  {
+    internal::permute_symm_to_symm<Mode,DestMode>(src.matrix(),dst.matrix(),src.perm().indices().data());
+  }
+};
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSE_SELFADJOINTVIEW_H
diff --git a/eigenlib/Eigen/src/SparseCore/SparseSolverBase.h b/eigenlib/Eigen/src/SparseCore/SparseSolverBase.h
new file mode 100644
index 00000000..b4c9a422
--- /dev/null
+++ b/eigenlib/Eigen/src/SparseCore/SparseSolverBase.h
@@ -0,0 +1,124 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2014 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_SPARSESOLVERBASE_H
+#define EIGEN_SPARSESOLVERBASE_H
+
+namespace Eigen { 
+
+namespace internal {
+
+  /** \internal
+  * Helper functions to solve with a sparse right-hand-side and result.
+  * The rhs is decomposed into small vertical panels which are solved through dense temporaries.
+  */
+template<typename Decomposition, typename Rhs, typename Dest>
+typename enable_if<Rhs::ColsAtCompileTime!=1 && Dest::ColsAtCompileTime!=1>::type
+solve_sparse_through_dense_panels(const Decomposition &dec, const Rhs& rhs, Dest &dest)
+{
+  EIGEN_STATIC_ASSERT((Dest::Flags&RowMajorBit)==0,THIS_METHOD_IS_ONLY_FOR_COLUMN_MAJOR_MATRICES);
+  typedef typename Dest::Scalar DestScalar;
+  // we process the sparse rhs per block of NbColsAtOnce columns temporarily stored into a dense matrix.
+  static const Index NbColsAtOnce = 4;
+  Index rhsCols = rhs.cols();
+  Index size = rhs.rows();
+  // the temporary matrices do not need more columns than NbColsAtOnce:
+  Index tmpCols = (std::min)(rhsCols, NbColsAtOnce); 
+  Eigen::Matrix<DestScalar,Dynamic,Dynamic> tmp(size,tmpCols);
+  Eigen::Matrix<DestScalar,Dynamic,Dynamic> tmpX(size,tmpCols);
+  for(Index k=0; k<rhsCols; k+=NbColsAtOnce)
+  {
+    Index actualCols = std::min<Index>(rhsCols-k, NbColsAtOnce);
+    tmp.leftCols(actualCols) = rhs.middleCols(k,actualCols);
+    tmpX.leftCols(actualCols) = dec.solve(tmp.leftCols(actualCols));
+    dest.middleCols(k,actualCols) = tmpX.leftCols(actualCols).sparseView();
+  }
+}
+
+// Overload for vector as rhs
+template<typename Decomposition, typename Rhs, typename Dest>
+typename enable_if<Rhs::ColsAtCompileTime==1 || Dest::ColsAtCompileTime==1>::type
+solve_sparse_through_dense_panels(const Decomposition &dec, const Rhs& rhs, Dest &dest)
+{
+  typedef typename Dest::Scalar DestScalar;
+  Index size = rhs.rows();
+  Eigen::Matrix<DestScalar,Dynamic,1> rhs_dense(rhs);
+  Eigen::Matrix<DestScalar,Dynamic,1> dest_dense(size);
+  dest_dense = dec.solve(rhs_dense);
+  dest = dest_dense.sparseView();
+}
+
+} // end namespace internal
+
+/** \class SparseSolverBase
+  * \ingroup SparseCore_Module
+  * \brief A base class for sparse solvers
+  *
+  * \tparam Derived the actual type of the solver.
+  *
+  */
+template<typename Derived>
+class SparseSolverBase : internal::noncopyable
+{
+  public:
+
+    /** Default constructor */
+    SparseSolverBase()
+      : m_isInitialized(false)
+    {}
+
+    ~SparseSolverBase()
+    {}
+
+    Derived& derived() { return *static_cast<Derived*>(this); }
+    const Derived& derived() const { return *static_cast<const Derived*>(this); }
+    
+    /** \returns an expression of the solution x of \f$ A x = b \f$ using the current decomposition of A.
+      *
+      * \sa compute()
+      */
+    template<typename Rhs>
+    inline const Solve<Derived, Rhs>
+    solve(const MatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "Solver is not initialized.");
+      eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
+      return Solve<Derived, Rhs>(derived(), b.derived());
+    }
+    
+    /** \returns an expression of the solution x of \f$ A x = b \f$ using the current decomposition of A.
+      *
+      * \sa compute()
+      */
+    template<typename Rhs>
+    inline const Solve<Derived, Rhs>
+    solve(const SparseMatrixBase<Rhs>& b) const
+    {
+      eigen_assert(m_isInitialized && "Solver is not initialized.");
+      eigen_assert(derived().rows()==b.rows() && "solve(): invalid number of rows of the right hand side matrix b");
+      return Solve<Derived, Rhs>(derived(), b.derived());
+    }
+    
+    #ifndef EIGEN_PARSED_BY_DOXYGEN
+    /** \internal default implementation of solving with a sparse rhs */
+    template<typename Rhs,typename Dest>
+    void _solve_impl(const SparseMatrixBase<Rhs> &b, SparseMatrixBase<Dest> &dest) const
+    {
+      internal::solve_sparse_through_dense_panels(derived(), b.derived(), dest.derived());
+    }
+    #endif // EIGEN_PARSED_BY_DOXYGEN
+
+  protected:
+    
+    mutable bool m_isInitialized;
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_SPARSESOLVERBASE_H
diff --git a/eigenlib/Eigen/src/SparseCore/SparseSparseProductWithPruning.h b/eigenlib/Eigen/src/SparseCore/SparseSparseProductWithPruning.h
index fcc18f5c..21c41900 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseSparseProductWithPruning.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseSparseProductWithPruning.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -22,7 +22,7 @@ static void sparse_sparse_product_with_pruning_impl(const Lhs& lhs, const Rhs& r
   // return sparse_sparse_product_with_pruning_impl2(lhs,rhs,res);
 
   typedef typename remove_all<Lhs>::type::Scalar Scalar;
-  typedef typename remove_all<Lhs>::type::Index Index;
+  typedef typename remove_all<Lhs>::type::StorageIndex StorageIndex;
 
   // make sure to call innerSize/outerSize since we fake the storage order.
   Index rows = lhs.innerSize();
@@ -31,24 +31,27 @@ static void sparse_sparse_product_with_pruning_impl(const Lhs& lhs, const Rhs& r
   eigen_assert(lhs.outerSize() == rhs.innerSize());
 
   // allocate a temporary buffer
-  AmbiVector<Scalar,Index> tempVector(rows);
-
-  // estimate the number of non zero entries
-  // given a rhs column containing Y non zeros, we assume that the respective Y columns
-  // of the lhs differs in average of one non zeros, thus the number of non zeros for
-  // the product of a rhs column with the lhs is X+Y where X is the average number of non zero
-  // per column of the lhs.
-  // Therefore, we have nnz(lhs*rhs) = nnz(lhs) + nnz(rhs)
-  Index estimated_nnz_prod = lhs.nonZeros() + rhs.nonZeros();
+  AmbiVector<Scalar,StorageIndex> tempVector(rows);
 
   // mimics a resizeByInnerOuter:
   if(ResultType::IsRowMajor)
     res.resize(cols, rows);
   else
     res.resize(rows, cols);
+  
+  evaluator<Lhs> lhsEval(lhs);
+  evaluator<Rhs> rhsEval(rhs);
+  
+  // estimate the number of non zero entries
+  // given a rhs column containing Y non zeros, we assume that the respective Y columns
+  // of the lhs differs in average of one non zeros, thus the number of non zeros for
+  // the product of a rhs column with the lhs is X+Y where X is the average number of non zero
+  // per column of the lhs.
+  // Therefore, we have nnz(lhs*rhs) = nnz(lhs) + nnz(rhs)
+  Index estimated_nnz_prod = lhsEval.nonZerosEstimate() + rhsEval.nonZerosEstimate();
 
   res.reserve(estimated_nnz_prod);
-  double ratioColRes = double(estimated_nnz_prod)/double(lhs.rows()*rhs.cols());
+  double ratioColRes = double(estimated_nnz_prod)/(double(lhs.rows())*double(rhs.cols()));
   for (Index j=0; j<cols; ++j)
   {
     // FIXME:
@@ -56,18 +59,18 @@ static void sparse_sparse_product_with_pruning_impl(const Lhs& lhs, const Rhs& r
     // let's do a more accurate determination of the nnz ratio for the current column j of res
     tempVector.init(ratioColRes);
     tempVector.setZero();
-    for (typename Rhs::InnerIterator rhsIt(rhs, j); rhsIt; ++rhsIt)
+    for (typename evaluator<Rhs>::InnerIterator rhsIt(rhsEval, j); rhsIt; ++rhsIt)
     {
       // FIXME should be written like this: tmp += rhsIt.value() * lhs.col(rhsIt.index())
       tempVector.restart();
       Scalar x = rhsIt.value();
-      for (typename Lhs::InnerIterator lhsIt(lhs, rhsIt.index()); lhsIt; ++lhsIt)
+      for (typename evaluator<Lhs>::InnerIterator lhsIt(lhsEval, rhsIt.index()); lhsIt; ++lhsIt)
       {
         tempVector.coeffRef(lhsIt.index()) += lhsIt.value() * x;
       }
     }
     res.startVec(j);
-    for (typename AmbiVector<Scalar,Index>::Iterator it(tempVector,tolerance); it; ++it)
+    for (typename AmbiVector<Scalar,StorageIndex>::Iterator it(tempVector,tolerance); it; ++it)
       res.insertBackByOuterInner(j,it.index()) = it.value();
   }
   res.finalize();
@@ -100,7 +103,7 @@ struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,ColMajor,C
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
   {
     // we need a col-major matrix to hold the result
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::Index> SparseTemporaryType;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename ResultType::StorageIndex> SparseTemporaryType;
     SparseTemporaryType _res(res.rows(), res.cols());
     internal::sparse_sparse_product_with_pruning_impl<Lhs,Rhs,SparseTemporaryType>(lhs, rhs, _res, tolerance);
     res = _res;
@@ -126,8 +129,8 @@ struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,RowMajor,R
   typedef typename ResultType::RealScalar RealScalar;
   static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
   {
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::Index> ColMajorMatrixLhs;
-    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::Index> ColMajorMatrixRhs;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::StorageIndex> ColMajorMatrixLhs;
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::StorageIndex> ColMajorMatrixRhs;
     ColMajorMatrixLhs colLhs(lhs);
     ColMajorMatrixRhs colRhs(rhs);
     internal::sparse_sparse_product_with_pruning_impl<ColMajorMatrixLhs,ColMajorMatrixRhs,ResultType>(colLhs, colRhs, res, tolerance);
@@ -140,8 +143,53 @@ struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,RowMajor,R
   }
 };
 
-// NOTE the 2 others cases (col row *) must never occur since they are caught
-// by ProductReturnType which transforms it to (col col *) by evaluating rhs.
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,ColMajor,RowMajor,RowMajor>
+{
+  typedef typename ResultType::RealScalar RealScalar;
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename Lhs::StorageIndex> RowMajorMatrixLhs;
+    RowMajorMatrixLhs rowLhs(lhs);
+    sparse_sparse_product_with_pruning_selector<RowMajorMatrixLhs,Rhs,ResultType,RowMajor,RowMajor>(rowLhs,rhs,res,tolerance);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,RowMajor,ColMajor,RowMajor>
+{
+  typedef typename ResultType::RealScalar RealScalar;
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,RowMajor,typename Lhs::StorageIndex> RowMajorMatrixRhs;
+    RowMajorMatrixRhs rowRhs(rhs);
+    sparse_sparse_product_with_pruning_selector<Lhs,RowMajorMatrixRhs,ResultType,RowMajor,RowMajor,RowMajor>(lhs,rowRhs,res,tolerance);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,ColMajor,RowMajor,ColMajor>
+{
+  typedef typename ResultType::RealScalar RealScalar;
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::StorageIndex> ColMajorMatrixRhs;
+    ColMajorMatrixRhs colRhs(rhs);
+    internal::sparse_sparse_product_with_pruning_impl<Lhs,ColMajorMatrixRhs,ResultType>(lhs, colRhs, res, tolerance);
+  }
+};
+
+template<typename Lhs, typename Rhs, typename ResultType>
+struct sparse_sparse_product_with_pruning_selector<Lhs,Rhs,ResultType,RowMajor,ColMajor,ColMajor>
+{
+  typedef typename ResultType::RealScalar RealScalar;
+  static void run(const Lhs& lhs, const Rhs& rhs, ResultType& res, const RealScalar& tolerance)
+  {
+    typedef SparseMatrix<typename ResultType::Scalar,ColMajor,typename Lhs::StorageIndex> ColMajorMatrixLhs;
+    ColMajorMatrixLhs colLhs(lhs);
+    internal::sparse_sparse_product_with_pruning_impl<ColMajorMatrixLhs,Rhs,ResultType>(colLhs, rhs, res, tolerance);
+  }
+};
 
 } // end namespace internal
 
diff --git a/eigenlib/Eigen/src/SparseCore/SparseTranspose.h b/eigenlib/Eigen/src/SparseCore/SparseTranspose.h
index 76d031d5..3757d4c6 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseTranspose.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseTranspose.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -12,52 +12,81 @@
 
 namespace Eigen { 
 
-template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>
-  : public SparseMatrixBase<Transpose<MatrixType> >
-{
-    typedef typename internal::remove_all<typename MatrixType::Nested>::type _MatrixTypeNested;
+namespace internal {
+  template<typename MatrixType,int CompressedAccess=int(MatrixType::Flags&CompressedAccessBit)>
+  class SparseTransposeImpl
+    : public SparseMatrixBase<Transpose<MatrixType> >
+  {};
+  
+  template<typename MatrixType>
+  class SparseTransposeImpl<MatrixType,CompressedAccessBit>
+    : public SparseCompressedBase<Transpose<MatrixType> >
+  {
+    typedef SparseCompressedBase<Transpose<MatrixType> > Base;
   public:
-
-    EIGEN_SPARSE_PUBLIC_INTERFACE(Transpose<MatrixType> )
-
-    class InnerIterator;
-    class ReverseInnerIterator;
+    using Base::derived;
+    typedef typename Base::Scalar Scalar;
+    typedef typename Base::StorageIndex StorageIndex;
 
     inline Index nonZeros() const { return derived().nestedExpression().nonZeros(); }
-};
+    
+    inline const Scalar* valuePtr() const { return derived().nestedExpression().valuePtr(); }
+    inline const StorageIndex* innerIndexPtr() const { return derived().nestedExpression().innerIndexPtr(); }
+    inline const StorageIndex* outerIndexPtr() const { return derived().nestedExpression().outerIndexPtr(); }
+    inline const StorageIndex* innerNonZeroPtr() const { return derived().nestedExpression().innerNonZeroPtr(); }
 
-// NOTE: VC10 and VC11 trigger an ICE if don't put typename TransposeImpl<MatrixType,Sparse>:: in front of Index,
-// a typedef typename TransposeImpl<MatrixType,Sparse>::Index Index;
-// does not fix the issue.
-// An alternative is to define the nested class in the parent class itself.
-template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>::InnerIterator
-  : public _MatrixTypeNested::InnerIterator
+    inline Scalar* valuePtr() { return derived().nestedExpression().valuePtr(); }
+    inline StorageIndex* innerIndexPtr() { return derived().nestedExpression().innerIndexPtr(); }
+    inline StorageIndex* outerIndexPtr() { return derived().nestedExpression().outerIndexPtr(); }
+    inline StorageIndex* innerNonZeroPtr() { return derived().nestedExpression().innerNonZeroPtr(); }
+  };
+}
+  
+template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>
+  : public internal::SparseTransposeImpl<MatrixType>
 {
-    typedef typename _MatrixTypeNested::InnerIterator Base;
-    typedef typename TransposeImpl::Index Index;
-  public:
-
-    EIGEN_STRONG_INLINE InnerIterator(const TransposeImpl& trans, typename TransposeImpl<MatrixType,Sparse>::Index outer)
-      : Base(trans.derived().nestedExpression(), outer)
-    {}
-    typename TransposeImpl<MatrixType,Sparse>::Index row() const { return Base::col(); }
-    typename TransposeImpl<MatrixType,Sparse>::Index col() const { return Base::row(); }
+  protected:
+    typedef internal::SparseTransposeImpl<MatrixType> Base;
 };
 
-template<typename MatrixType> class TransposeImpl<MatrixType,Sparse>::ReverseInnerIterator
-  : public _MatrixTypeNested::ReverseInnerIterator
+namespace internal {
+  
+template<typename ArgType>
+struct unary_evaluator<Transpose<ArgType>, IteratorBased>
+  : public evaluator_base<Transpose<ArgType> >
 {
-    typedef typename _MatrixTypeNested::ReverseInnerIterator Base;
-    typedef typename TransposeImpl::Index Index;
+    typedef typename evaluator<ArgType>::InnerIterator        EvalIterator;
   public:
+    typedef Transpose<ArgType> XprType;
+    
+    inline Index nonZerosEstimate() const {
+      return m_argImpl.nonZerosEstimate();
+    }
 
-    EIGEN_STRONG_INLINE ReverseInnerIterator(const TransposeImpl& xpr, typename TransposeImpl<MatrixType,Sparse>::Index outer)
-      : Base(xpr.derived().nestedExpression(), outer)
-    {}
-    typename TransposeImpl<MatrixType,Sparse>::Index row() const { return Base::col(); }
-    typename TransposeImpl<MatrixType,Sparse>::Index col() const { return Base::row(); }
+    class InnerIterator : public EvalIterator
+    {
+    public:
+      EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& unaryOp, Index outer)
+        : EvalIterator(unaryOp.m_argImpl,outer)
+      {}
+      
+      Index row() const { return EvalIterator::col(); }
+      Index col() const { return EvalIterator::row(); }
+    };
+    
+    enum {
+      CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+      Flags = XprType::Flags
+    };
+    
+    explicit unary_evaluator(const XprType& op) :m_argImpl(op.nestedExpression()) {}
+
+  protected:
+    evaluator<ArgType> m_argImpl;
 };
 
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif // EIGEN_SPARSETRANSPOSE_H
diff --git a/eigenlib/Eigen/src/SparseCore/SparseTriangularView.h b/eigenlib/Eigen/src/SparseCore/SparseTriangularView.h
index 333127b7..9ac12026 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseTriangularView.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseTriangularView.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2009-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -11,19 +11,19 @@
 #ifndef EIGEN_SPARSE_TRIANGULARVIEW_H
 #define EIGEN_SPARSE_TRIANGULARVIEW_H
 
-namespace Eigen { 
+namespace Eigen {
 
-namespace internal {
-  
-template<typename MatrixType, int Mode>
-struct traits<SparseTriangularView<MatrixType,Mode> >
-: public traits<MatrixType>
-{};
-
-} // namespace internal
-
-template<typename MatrixType, int Mode> class SparseTriangularView
-  : public SparseMatrixBase<SparseTriangularView<MatrixType,Mode> >
+/** \ingroup SparseCore_Module
+  *
+  * \brief Base class for a triangular part in a \b sparse matrix
+  *
+  * This class is an abstract base class of class TriangularView, and objects of type TriangularViewImpl cannot be instantiated.
+  * It extends class TriangularView with additional methods which are available for sparse expressions only.
+  *
+  * \sa class TriangularView, SparseMatrixBase::triangularView()
+  */
+template<typename MatrixType, unsigned int Mode> class TriangularViewImpl<MatrixType,Mode,Sparse>
+  : public SparseMatrixBase<TriangularView<MatrixType,Mode> >
 {
     enum { SkipFirst = ((Mode&Lower) && !(MatrixType::Flags&RowMajorBit))
                     || ((Mode&Upper) &&  (MatrixType::Flags&RowMajorBit)),
@@ -31,147 +31,157 @@ template<typename MatrixType, int Mode> class SparseTriangularView
            SkipDiag = (Mode&ZeroDiag) ? 1 : 0,
            HasUnitDiag = (Mode&UnitDiag) ? 1 : 0
     };
+    
+    typedef TriangularView<MatrixType,Mode> TriangularViewType;
+    
+  protected:
+    // dummy solve function to make TriangularView happy.
+    void solve() const;
 
+    typedef SparseMatrixBase<TriangularViewType> Base;
   public:
     
-    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseTriangularView)
-
-    class InnerIterator;
-    class ReverseInnerIterator;
-
-    inline Index rows() const { return m_matrix.rows(); }
-    inline Index cols() const { return m_matrix.cols(); }
-
+    EIGEN_SPARSE_PUBLIC_INTERFACE(TriangularViewType)
+    
     typedef typename MatrixType::Nested MatrixTypeNested;
     typedef typename internal::remove_reference<MatrixTypeNested>::type MatrixTypeNestedNonRef;
     typedef typename internal::remove_all<MatrixTypeNested>::type MatrixTypeNestedCleaned;
 
-    inline SparseTriangularView(const MatrixType& matrix) : m_matrix(matrix) {}
-
-    /** \internal */
-    inline const MatrixTypeNestedCleaned& nestedExpression() const { return m_matrix; }
-
-    template<typename OtherDerived>
-    typename internal::plain_matrix_type_column_major<OtherDerived>::type
-    solve(const MatrixBase<OtherDerived>& other) const;
-
-    template<typename OtherDerived> void solveInPlace(MatrixBase<OtherDerived>& other) const;
-    template<typename OtherDerived> void solveInPlace(SparseMatrixBase<OtherDerived>& other) const;
-
-  protected:
-    MatrixTypeNested m_matrix;
-};
-
-template<typename MatrixType, int Mode>
-class SparseTriangularView<MatrixType,Mode>::InnerIterator : public MatrixTypeNestedCleaned::InnerIterator
-{
-    typedef typename MatrixTypeNestedCleaned::InnerIterator Base;
-    typedef typename SparseTriangularView::Index Index;
-  public:
-
-    EIGEN_STRONG_INLINE InnerIterator(const SparseTriangularView& view, Index outer)
-      : Base(view.nestedExpression(), outer), m_returnOne(false)
-    {
-      if(SkipFirst)
-      {
-        while((*this) && ((HasUnitDiag||SkipDiag)  ? this->index()<=outer : this->index()<outer))
-          Base::operator++();
-        if(HasUnitDiag)
-          m_returnOne = true;
-      }
-      else if(HasUnitDiag && ((!Base::operator bool()) || Base::index()>=Base::outer()))
-      {
-        if((!SkipFirst) && Base::operator bool())
-          Base::operator++();
-        m_returnOne = true;
-      }
+    template<typename RhsType, typename DstType>
+    EIGEN_DEVICE_FUNC
+    EIGEN_STRONG_INLINE void _solve_impl(const RhsType &rhs, DstType &dst) const {
+      if(!(internal::is_same<RhsType,DstType>::value && internal::extract_data(dst) == internal::extract_data(rhs)))
+        dst = rhs;
+      this->solveInPlace(dst);
     }
 
-    EIGEN_STRONG_INLINE InnerIterator& operator++()
-    {
-      if(HasUnitDiag && m_returnOne)
-        m_returnOne = false;
-      else
+    /** Applies the inverse of \c *this to the dense vector or matrix \a other, "in-place" */
+    template<typename OtherDerived> void solveInPlace(MatrixBase<OtherDerived>& other) const;
+
+    /** Applies the inverse of \c *this to the sparse vector or matrix \a other, "in-place" */
+    template<typename OtherDerived> void solveInPlace(SparseMatrixBase<OtherDerived>& other) const;
+  
+};
+
+namespace internal {
+
+template<typename ArgType, unsigned int Mode>
+struct unary_evaluator<TriangularView<ArgType,Mode>, IteratorBased>
+ : evaluator_base<TriangularView<ArgType,Mode> >
+{
+  typedef TriangularView<ArgType,Mode> XprType;
+  
+protected:
+  
+  typedef typename XprType::Scalar Scalar;
+  typedef typename XprType::StorageIndex StorageIndex;
+  typedef typename evaluator<ArgType>::InnerIterator EvalIterator;
+  
+  enum { SkipFirst = ((Mode&Lower) && !(ArgType::Flags&RowMajorBit))
+                    || ((Mode&Upper) &&  (ArgType::Flags&RowMajorBit)),
+         SkipLast = !SkipFirst,
+         SkipDiag = (Mode&ZeroDiag) ? 1 : 0,
+         HasUnitDiag = (Mode&UnitDiag) ? 1 : 0
+  };
+  
+public:
+  
+  enum {
+    CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+    Flags = XprType::Flags
+  };
+    
+  explicit unary_evaluator(const XprType &xpr) : m_argImpl(xpr.nestedExpression()), m_arg(xpr.nestedExpression()) {}
+  
+  inline Index nonZerosEstimate() const {
+    return m_argImpl.nonZerosEstimate();
+  }
+  
+  class InnerIterator : public EvalIterator
+  {
+      typedef EvalIterator Base;
+    public:
+
+      EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& xprEval, Index outer)
+        : Base(xprEval.m_argImpl,outer), m_returnOne(false), m_containsDiag(Base::outer()<xprEval.m_arg.innerSize())
       {
-        Base::operator++();
-        if(HasUnitDiag && (!SkipFirst) && ((!Base::operator bool()) || Base::index()>=Base::outer()))
+        if(SkipFirst)
+        {
+          while((*this) && ((HasUnitDiag||SkipDiag)  ? this->index()<=outer : this->index()<outer))
+            Base::operator++();
+          if(HasUnitDiag)
+            m_returnOne = m_containsDiag;
+        }
+        else if(HasUnitDiag && ((!Base::operator bool()) || Base::index()>=Base::outer()))
         {
           if((!SkipFirst) && Base::operator bool())
             Base::operator++();
-          m_returnOne = true;
+          m_returnOne = m_containsDiag;
         }
       }
-      return *this;
-    }
 
-    inline Index row() const { return (MatrixType::Flags&RowMajorBit ? Base::outer() : this->index()); }
-    inline Index col() const { return (MatrixType::Flags&RowMajorBit ? this->index() : Base::outer()); }
-    inline Index index() const
-    {
-      if(HasUnitDiag && m_returnOne)  return Base::outer();
-      else                            return Base::index();
-    }
-    inline Scalar value() const
-    {
-      if(HasUnitDiag && m_returnOne)  return Scalar(1);
-      else                            return Base::value();
-    }
-
-    EIGEN_STRONG_INLINE operator bool() const
-    {
-      if(HasUnitDiag && m_returnOne)
-        return true;
-      if(SkipFirst) return  Base::operator bool();
-      else
+      EIGEN_STRONG_INLINE InnerIterator& operator++()
       {
-        if (SkipDiag) return (Base::operator bool() && this->index() < this->outer());
-        else return (Base::operator bool() && this->index() <= this->outer());
+        if(HasUnitDiag && m_returnOne)
+          m_returnOne = false;
+        else
+        {
+          Base::operator++();
+          if(HasUnitDiag && (!SkipFirst) && ((!Base::operator bool()) || Base::index()>=Base::outer()))
+          {
+            if((!SkipFirst) && Base::operator bool())
+              Base::operator++();
+            m_returnOne = m_containsDiag;
+          }
+        }
+        return *this;
       }
-    }
-  protected:
-    bool m_returnOne;
+      
+      EIGEN_STRONG_INLINE operator bool() const
+      {
+        if(HasUnitDiag && m_returnOne)
+          return true;
+        if(SkipFirst) return  Base::operator bool();
+        else
+        {
+          if (SkipDiag) return (Base::operator bool() && this->index() < this->outer());
+          else return (Base::operator bool() && this->index() <= this->outer());
+        }
+      }
+
+//       inline Index row() const { return (ArgType::Flags&RowMajorBit ? Base::outer() : this->index()); }
+//       inline Index col() const { return (ArgType::Flags&RowMajorBit ? this->index() : Base::outer()); }
+      inline StorageIndex index() const
+      {
+        if(HasUnitDiag && m_returnOne)  return internal::convert_index<StorageIndex>(Base::outer());
+        else                            return Base::index();
+      }
+      inline Scalar value() const
+      {
+        if(HasUnitDiag && m_returnOne)  return Scalar(1);
+        else                            return Base::value();
+      }
+
+    protected:
+      bool m_returnOne;
+      bool m_containsDiag;
+    private:
+      Scalar& valueRef();
+  };
+  
+protected:
+  evaluator<ArgType> m_argImpl;
+  const ArgType& m_arg;
 };
 
-template<typename MatrixType, int Mode>
-class SparseTriangularView<MatrixType,Mode>::ReverseInnerIterator : public MatrixTypeNestedCleaned::ReverseInnerIterator
-{
-    typedef typename MatrixTypeNestedCleaned::ReverseInnerIterator Base;
-    typedef typename SparseTriangularView::Index Index;
-  public:
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator(const SparseTriangularView& view, Index outer)
-      : Base(view.nestedExpression(), outer)
-    {
-      eigen_assert((!HasUnitDiag) && "ReverseInnerIterator does not support yet triangular views with a unit diagonal");
-      if(SkipLast) {
-        while((*this) && (SkipDiag ? this->index()>=outer : this->index()>outer))
-          --(*this);
-      }
-    }
-
-    EIGEN_STRONG_INLINE ReverseInnerIterator& operator--()
-    { Base::operator--(); return *this; }
-
-    inline Index row() const { return Base::row(); }
-    inline Index col() const { return Base::col(); }
-
-    EIGEN_STRONG_INLINE operator bool() const
-    {
-      if (SkipLast) return Base::operator bool() ;
-      else
-      {
-        if(SkipDiag) return (Base::operator bool() && this->index() > this->outer());
-        else return (Base::operator bool() && this->index() >= this->outer());
-      }
-    }
-};
+} // end namespace internal
 
 template<typename Derived>
 template<int Mode>
-inline const SparseTriangularView<Derived, Mode>
+inline const TriangularView<const Derived, Mode>
 SparseMatrixBase<Derived>::triangularView() const
 {
-  return derived();
+  return TriangularView<const Derived, Mode>(derived());
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/SparseCore/SparseUtil.h b/eigenlib/Eigen/src/SparseCore/SparseUtil.h
index 0ba47132..74df0d49 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseUtil.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseUtil.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -37,43 +37,23 @@ EIGEN_STRONG_INLINE Derived& operator Op(const Other& scalar) \
 }
 
 #define EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
-EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, =) \
-EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, +=) \
-EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, -=) \
-EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, *=) \
-EIGEN_SPARSE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, /=)
+EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(Derived, =)
 
-#define _EIGEN_SPARSE_PUBLIC_INTERFACE(Derived, BaseClass) \
-  typedef BaseClass Base; \
-  typedef typename Eigen::internal::traits<Derived >::Scalar Scalar; \
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; \
-  typedef typename Eigen::internal::nested<Derived >::type Nested; \
-  typedef typename Eigen::internal::traits<Derived >::StorageKind StorageKind; \
-  typedef typename Eigen::internal::traits<Derived >::Index Index; \
-  enum { RowsAtCompileTime = Eigen::internal::traits<Derived >::RowsAtCompileTime, \
-        ColsAtCompileTime = Eigen::internal::traits<Derived >::ColsAtCompileTime, \
-        Flags = Eigen::internal::traits<Derived >::Flags, \
-        CoeffReadCost = Eigen::internal::traits<Derived >::CoeffReadCost, \
-        SizeAtCompileTime = Base::SizeAtCompileTime, \
-        IsVectorAtCompileTime = Base::IsVectorAtCompileTime }; \
-  using Base::derived; \
-  using Base::const_cast_derived;
 
 #define EIGEN_SPARSE_PUBLIC_INTERFACE(Derived) \
-  _EIGEN_SPARSE_PUBLIC_INTERFACE(Derived, Eigen::SparseMatrixBase<Derived >)
+  EIGEN_GENERIC_PUBLIC_INTERFACE(Derived)
 
+  
 const int CoherentAccessPattern     = 0x1;
 const int InnerRandomAccessPattern  = 0x2 | CoherentAccessPattern;
 const int OuterRandomAccessPattern  = 0x4 | CoherentAccessPattern;
 const int RandomAccessPattern       = 0x8 | OuterRandomAccessPattern | InnerRandomAccessPattern;
 
-template<typename Derived> class SparseMatrixBase;
-template<typename _Scalar, int _Flags = 0, typename _Index = int>  class SparseMatrix;
-template<typename _Scalar, int _Flags = 0, typename _Index = int>  class DynamicSparseMatrix;
-template<typename _Scalar, int _Flags = 0, typename _Index = int>  class SparseVector;
-template<typename _Scalar, int _Flags = 0, typename _Index = int>  class MappedSparseMatrix;
+template<typename _Scalar, int _Flags = 0, typename _StorageIndex = int>  class SparseMatrix;
+template<typename _Scalar, int _Flags = 0, typename _StorageIndex = int>  class DynamicSparseMatrix;
+template<typename _Scalar, int _Flags = 0, typename _StorageIndex = int>  class SparseVector;
+template<typename _Scalar, int _Flags = 0, typename _StorageIndex = int>  class MappedSparseMatrix;
 
-template<typename MatrixType, int Mode>           class SparseTriangularView;
 template<typename MatrixType, unsigned int UpLo>  class SparseSelfAdjointView;
 template<typename Lhs, typename Rhs>              class SparseDiagonalProduct;
 template<typename MatrixType> class SparseView;
@@ -85,42 +65,44 @@ template<typename Lhs, typename Rhs, bool Transpose> class SparseDenseOuterProdu
 
 template<typename Lhs, typename Rhs> struct SparseSparseProductReturnType;
 template<typename Lhs, typename Rhs,
-         int InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(internal::traits<Lhs>::ColsAtCompileTime,internal::traits<Rhs>::RowsAtCompileTime)> struct DenseSparseProductReturnType;         
+         int InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(internal::traits<Lhs>::ColsAtCompileTime,internal::traits<Rhs>::RowsAtCompileTime)> struct DenseSparseProductReturnType;
+         
 template<typename Lhs, typename Rhs,
          int InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(internal::traits<Lhs>::ColsAtCompileTime,internal::traits<Rhs>::RowsAtCompileTime)> struct SparseDenseProductReturnType;
 template<typename MatrixType,int UpLo> class SparseSymmetricPermutationProduct;
 
 namespace internal {
 
-template<typename T,int Rows,int Cols> struct sparse_eval;
+template<typename T,int Rows,int Cols,int Flags> struct sparse_eval;
 
 template<typename T> struct eval<T,Sparse>
-  : public sparse_eval<T, traits<T>::RowsAtCompileTime,traits<T>::ColsAtCompileTime>
+  : sparse_eval<T, traits<T>::RowsAtCompileTime,traits<T>::ColsAtCompileTime,traits<T>::Flags>
 {};
 
-template<typename T,int Cols> struct sparse_eval<T,1,Cols> {
+template<typename T,int Cols,int Flags> struct sparse_eval<T,1,Cols,Flags> {
     typedef typename traits<T>::Scalar _Scalar;
-    typedef typename traits<T>::Index _Index;
+    typedef typename traits<T>::StorageIndex _StorageIndex;
   public:
-    typedef SparseVector<_Scalar, RowMajor, _Index> type;
+    typedef SparseVector<_Scalar, RowMajor, _StorageIndex> type;
 };
 
-template<typename T,int Rows> struct sparse_eval<T,Rows,1> {
+template<typename T,int Rows,int Flags> struct sparse_eval<T,Rows,1,Flags> {
     typedef typename traits<T>::Scalar _Scalar;
-    typedef typename traits<T>::Index _Index;
+    typedef typename traits<T>::StorageIndex _StorageIndex;
   public:
-    typedef SparseVector<_Scalar, ColMajor, _Index> type;
+    typedef SparseVector<_Scalar, ColMajor, _StorageIndex> type;
 };
 
-template<typename T,int Rows,int Cols> struct sparse_eval {
+// TODO this seems almost identical to plain_matrix_type<T, Sparse>
+template<typename T,int Rows,int Cols,int Flags> struct sparse_eval {
     typedef typename traits<T>::Scalar _Scalar;
-    typedef typename traits<T>::Index _Index;
-    enum { _Options = ((traits<T>::Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor };
+    typedef typename traits<T>::StorageIndex _StorageIndex;
+    enum { _Options = ((Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor };
   public:
-    typedef SparseMatrix<_Scalar, _Options, _Index> type;
+    typedef SparseMatrix<_Scalar, _Options, _StorageIndex> type;
 };
 
-template<typename T> struct sparse_eval<T,1,1> {
+template<typename T,int Flags> struct sparse_eval<T,1,1,Flags> {
     typedef typename traits<T>::Scalar _Scalar;
   public:
     typedef Matrix<_Scalar, 1, 1> type;
@@ -129,12 +111,35 @@ template<typename T> struct sparse_eval<T,1,1> {
 template<typename T> struct plain_matrix_type<T,Sparse>
 {
   typedef typename traits<T>::Scalar _Scalar;
-  typedef typename traits<T>::Index _Index;
-  enum { _Options = ((traits<T>::Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor };
+  typedef typename traits<T>::StorageIndex _StorageIndex;
+  enum { _Options = ((evaluator<T>::Flags&RowMajorBit)==RowMajorBit) ? RowMajor : ColMajor };
   public:
-    typedef SparseMatrix<_Scalar, _Options, _Index> type;
+    typedef SparseMatrix<_Scalar, _Options, _StorageIndex> type;
 };
 
+template<typename T>
+struct plain_object_eval<T,Sparse>
+  : sparse_eval<T, traits<T>::RowsAtCompileTime,traits<T>::ColsAtCompileTime, evaluator<T>::Flags>
+{};
+
+template<typename Decomposition, typename RhsType>
+struct solve_traits<Decomposition,RhsType,Sparse>
+{
+  typedef typename sparse_eval<RhsType, RhsType::RowsAtCompileTime, RhsType::ColsAtCompileTime,traits<RhsType>::Flags>::type PlainObject;
+};
+
+template<typename Derived>
+struct generic_xpr_base<Derived, MatrixXpr, Sparse>
+{
+  typedef SparseMatrixBase<Derived> type;
+};
+
+struct SparseTriangularShape  { static std::string debugName() { return "SparseTriangularShape"; } };
+struct SparseSelfAdjointShape { static std::string debugName() { return "SparseSelfAdjointShape"; } };
+
+template<> struct glue_shapes<SparseShape,SelfAdjointShape> { typedef SparseSelfAdjointShape type;  };
+template<> struct glue_shapes<SparseShape,TriangularShape > { typedef SparseTriangularShape  type;  };
+
 } // end namespace internal
 
 /** \ingroup SparseCore_Module
@@ -145,26 +150,26 @@ template<typename T> struct plain_matrix_type<T,Sparse>
   *
   * \sa SparseMatrix::setFromTriplets()
   */
-template<typename Scalar, typename Index=typename SparseMatrix<Scalar>::Index >
+template<typename Scalar, typename StorageIndex=typename SparseMatrix<Scalar>::StorageIndex >
 class Triplet
 {
 public:
   Triplet() : m_row(0), m_col(0), m_value(0) {}
 
-  Triplet(const Index& i, const Index& j, const Scalar& v = Scalar(0))
+  Triplet(const StorageIndex& i, const StorageIndex& j, const Scalar& v = Scalar(0))
     : m_row(i), m_col(j), m_value(v)
   {}
 
   /** \returns the row index of the element */
-  const Index& row() const { return m_row; }
+  const StorageIndex& row() const { return m_row; }
 
   /** \returns the column index of the element */
-  const Index& col() const { return m_col; }
+  const StorageIndex& col() const { return m_col; }
 
   /** \returns the value of the element */
   const Scalar& value() const { return m_value; }
 protected:
-  Index m_row, m_col;
+  StorageIndex m_row, m_col;
   Scalar m_value;
 };
 
diff --git a/eigenlib/Eigen/src/SparseCore/SparseVector.h b/eigenlib/Eigen/src/SparseCore/SparseVector.h
index 7e15c814..19b0fbc9 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseVector.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseVector.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -22,15 +22,15 @@ namespace Eigen {
   * See http://www.netlib.org/linalg/html_templates/node91.html for details on the storage scheme.
   *
   * This class can be extended with the help of the plugin mechanism described on the page
-  * \ref TopicCustomizingEigen by defining the preprocessor symbol \c EIGEN_SPARSEVECTOR_PLUGIN.
+  * \ref TopicCustomizing_Plugins by defining the preprocessor symbol \c EIGEN_SPARSEVECTOR_PLUGIN.
   */
 
 namespace internal {
-template<typename _Scalar, int _Options, typename _Index>
-struct traits<SparseVector<_Scalar, _Options, _Index> >
+template<typename _Scalar, int _Options, typename _StorageIndex>
+struct traits<SparseVector<_Scalar, _Options, _StorageIndex> >
 {
   typedef _Scalar Scalar;
-  typedef _Index Index;
+  typedef _StorageIndex StorageIndex;
   typedef Sparse StorageKind;
   typedef MatrixXpr XprKind;
   enum {
@@ -40,8 +40,7 @@ struct traits<SparseVector<_Scalar, _Options, _Index> >
     ColsAtCompileTime = IsColVector ? 1 : Dynamic,
     MaxRowsAtCompileTime = RowsAtCompileTime,
     MaxColsAtCompileTime = ColsAtCompileTime,
-    Flags = _Options | NestByRefBit | LvalueBit | (IsColVector ? 0 : RowMajorBit),
-    CoeffReadCost = NumTraits<Scalar>::ReadCost,
+    Flags = _Options | NestByRefBit | LvalueBit | (IsColVector ? 0 : RowMajorBit) | CompressedAccessBit,
     SupportedAccessPatterns = InnerRandomAccessPattern
   };
 };
@@ -61,18 +60,18 @@ struct sparse_vector_assign_selector;
 
 }
 
-template<typename _Scalar, int _Options, typename _Index>
+template<typename _Scalar, int _Options, typename _StorageIndex>
 class SparseVector
-  : public SparseMatrixBase<SparseVector<_Scalar, _Options, _Index> >
+  : public SparseCompressedBase<SparseVector<_Scalar, _Options, _StorageIndex> >
 {
-    typedef SparseMatrixBase<SparseVector> SparseBase;
-    
+    typedef SparseCompressedBase<SparseVector> Base;
+    using Base::convert_index;
   public:
     EIGEN_SPARSE_PUBLIC_INTERFACE(SparseVector)
     EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseVector, +=)
     EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(SparseVector, -=)
     
-    typedef internal::CompressedStorage<Scalar,Index> Storage;
+    typedef internal::CompressedStorage<Scalar,StorageIndex> Storage;
     enum { IsColVector = internal::traits<SparseVector>::IsColVector };
     
     enum {
@@ -84,11 +83,16 @@ class SparseVector
     EIGEN_STRONG_INLINE Index innerSize() const { return m_size; }
     EIGEN_STRONG_INLINE Index outerSize() const { return 1; }
 
-    EIGEN_STRONG_INLINE const Scalar* valuePtr() const { return &m_data.value(0); }
-    EIGEN_STRONG_INLINE Scalar* valuePtr() { return &m_data.value(0); }
+    EIGEN_STRONG_INLINE const Scalar* valuePtr() const { return m_data.valuePtr(); }
+    EIGEN_STRONG_INLINE Scalar* valuePtr() { return m_data.valuePtr(); }
 
-    EIGEN_STRONG_INLINE const Index* innerIndexPtr() const { return &m_data.index(0); }
-    EIGEN_STRONG_INLINE Index* innerIndexPtr() { return &m_data.index(0); }
+    EIGEN_STRONG_INLINE const StorageIndex* innerIndexPtr() const { return m_data.indexPtr(); }
+    EIGEN_STRONG_INLINE StorageIndex* innerIndexPtr() { return m_data.indexPtr(); }
+
+    inline const StorageIndex* outerIndexPtr() const { return 0; }
+    inline StorageIndex* outerIndexPtr() { return 0; }
+    inline const StorageIndex* innerNonZeroPtr() const { return 0; }
+    inline StorageIndex* innerNonZeroPtr() { return 0; }
     
     /** \internal */
     inline Storage& data() { return m_data; }
@@ -103,13 +107,13 @@ class SparseVector
     inline Scalar coeff(Index i) const
     {
       eigen_assert(i>=0 && i<m_size);
-      return m_data.at(i);
+      return m_data.at(StorageIndex(i));
     }
 
     inline Scalar& coeffRef(Index row, Index col)
     {
       eigen_assert(IsColVector ? (col==0 && row>=0 && row<m_size) : (row==0 && col>=0 && col<m_size));
-      return coeff(IsColVector ? row : col);
+      return coeffRef(IsColVector ? row : col);
     }
 
     /** \returns a reference to the coefficient value at given index \a i
@@ -121,18 +125,19 @@ class SparseVector
     inline Scalar& coeffRef(Index i)
     {
       eigen_assert(i>=0 && i<m_size);
-      return m_data.atWithInsertion(i);
+
+      return m_data.atWithInsertion(StorageIndex(i));
     }
 
   public:
 
-    class InnerIterator;
-    class ReverseInnerIterator;
+    typedef typename Base::InnerIterator InnerIterator;
+    typedef typename Base::ReverseInnerIterator ReverseInnerIterator;
 
     inline void setZero() { m_data.clear(); }
 
     /** \returns the number of non zero coefficients */
-    inline Index nonZeros() const  { return static_cast<Index>(m_data.size()); }
+    inline Index nonZeros() const  { return m_data.size(); }
 
     inline void startVec(Index outer)
     {
@@ -151,6 +156,18 @@ class SparseVector
       m_data.append(0, i);
       return m_data.value(m_data.size()-1);
     }
+    
+    Scalar& insertBackByOuterInnerUnordered(Index outer, Index inner)
+    {
+      EIGEN_UNUSED_VARIABLE(outer);
+      eigen_assert(outer==0);
+      return insertBackUnordered(inner);
+    }
+    inline Scalar& insertBackUnordered(Index i)
+    {
+      m_data.append(0, i);
+      return m_data.value(m_data.size()-1);
+    }
 
     inline Scalar& insert(Index row, Index col)
     {
@@ -158,6 +175,7 @@ class SparseVector
       
       Index inner = IsColVector ? row : col;
       Index outer = IsColVector ? col : row;
+      EIGEN_ONLY_USED_FOR_DEBUG(outer);
       eigen_assert(outer==0);
       return insert(inner);
     }
@@ -176,7 +194,7 @@ class SparseVector
         m_data.value(p+1) = m_data.value(p);
         --p;
       }
-      m_data.index(p+1) = i;
+      m_data.index(p+1) = convert_index(i);
       m_data.value(p+1) = 0;
       return m_data.value(p+1);
     }
@@ -188,28 +206,59 @@ class SparseVector
 
     inline void finalize() {}
 
+    /** \copydoc SparseMatrix::prune(const Scalar&,const RealScalar&) */
     void prune(const Scalar& reference, const RealScalar& epsilon = NumTraits<RealScalar>::dummy_precision())
     {
       m_data.prune(reference,epsilon);
     }
 
+    /** Resizes the sparse vector to \a rows x \a cols
+      *
+      * This method is provided for compatibility with matrices.
+      * For a column vector, \a cols must be equal to 1.
+      * For a row vector, \a rows must be equal to 1.
+      *
+      * \sa resize(Index)
+      */
     void resize(Index rows, Index cols)
     {
-      eigen_assert(rows==1 || cols==1);
+      eigen_assert((IsColVector ? cols : rows)==1 && "Outer dimension must equal 1");
       resize(IsColVector ? rows : cols);
     }
 
+    /** Resizes the sparse vector to \a newSize
+      * This method deletes all entries, thus leaving an empty sparse vector
+      *
+      * \sa  conservativeResize(), setZero() */
     void resize(Index newSize)
     {
       m_size = newSize;
       m_data.clear();
     }
 
+    /** Resizes the sparse vector to \a newSize, while leaving old values untouched.
+      *
+      * If the size of the vector is decreased, then the storage of the out-of bounds coefficients is kept and reserved.
+      * Call .data().squeeze() to free extra memory.
+      *
+      * \sa reserve(), setZero()
+      */
+    void conservativeResize(Index newSize)
+    {
+      if (newSize < m_size)
+      {
+        Index i = 0;
+        while (i<m_data.size() && m_data.index(i)<newSize) ++i;
+        m_data.resize(i);
+      }
+      m_size = newSize;
+    }
+
     void resizeNonZeros(Index size) { m_data.resize(size); }
 
     inline SparseVector() : m_size(0) { check_template_parameters(); resize(0); }
 
-    inline SparseVector(Index size) : m_size(0) { check_template_parameters(); resize(size); }
+    explicit inline SparseVector(Index size) : m_size(0) { check_template_parameters(); resize(size); }
 
     inline SparseVector(Index rows, Index cols) : m_size(0) { check_template_parameters(); resize(rows,cols); }
 
@@ -217,12 +266,15 @@ class SparseVector
     inline SparseVector(const SparseMatrixBase<OtherDerived>& other)
       : m_size(0)
     {
+      #ifdef EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+        EIGEN_SPARSE_CREATE_TEMPORARY_PLUGIN
+      #endif
       check_template_parameters();
       *this = other.derived();
     }
 
     inline SparseVector(const SparseVector& other)
-      : SparseBase(other), m_size(0)
+      : Base(other), m_size(0)
     {
       check_template_parameters();
       *this = other.derived();
@@ -238,6 +290,14 @@ class SparseVector
       m_data.swap(other.m_data);
     }
 
+    template<int OtherOptions>
+    inline void swap(SparseMatrix<Scalar,OtherOptions,StorageIndex>& other)
+    {
+      eigen_assert(other.outerSize()==1);
+      std::swap(m_size, other.m_innerSize);
+      m_data.swap(other.m_data);
+    }
+
     inline SparseVector& operator=(const SparseVector& other)
     {
       if (other.isRValue())
@@ -336,7 +396,7 @@ protected:
   
     static void check_template_parameters()
     {
-      EIGEN_STATIC_ASSERT(NumTraits<Index>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE);
+      EIGEN_STATIC_ASSERT(NumTraits<StorageIndex>::IsSigned,THE_INDEX_TYPE_MUST_BE_A_SIGNED_TYPE);
       EIGEN_STATIC_ASSERT((_Options&(ColMajor|RowMajor))==Options,INVALID_MATRIX_TEMPLATE_PARAMETERS);
     }
     
@@ -344,77 +404,46 @@ protected:
     Index m_size;
 };
 
-template<typename Scalar, int _Options, typename _Index>
-class SparseVector<Scalar,_Options,_Index>::InnerIterator
-{
-  public:
-    InnerIterator(const SparseVector& vec, Index outer=0)
-      : m_data(vec.m_data), m_id(0), m_end(static_cast<Index>(m_data.size()))
-    {
-      EIGEN_UNUSED_VARIABLE(outer);
-      eigen_assert(outer==0);
-    }
-
-    InnerIterator(const internal::CompressedStorage<Scalar,Index>& data)
-      : m_data(data), m_id(0), m_end(static_cast<Index>(m_data.size()))
-    {}
-
-    inline InnerIterator& operator++() { m_id++; return *this; }
-
-    inline Scalar value() const { return m_data.value(m_id); }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_data.value(m_id)); }
-
-    inline Index index() const { return m_data.index(m_id); }
-    inline Index row() const { return IsColVector ? index() : 0; }
-    inline Index col() const { return IsColVector ? 0 : index(); }
-
-    inline operator bool() const { return (m_id < m_end); }
-
-  protected:
-    const internal::CompressedStorage<Scalar,Index>& m_data;
-    Index m_id;
-    const Index m_end;
-};
-
-template<typename Scalar, int _Options, typename _Index>
-class SparseVector<Scalar,_Options,_Index>::ReverseInnerIterator
-{
-  public:
-    ReverseInnerIterator(const SparseVector& vec, Index outer=0)
-      : m_data(vec.m_data), m_id(static_cast<Index>(m_data.size())), m_start(0)
-    {
-      EIGEN_UNUSED_VARIABLE(outer);
-      eigen_assert(outer==0);
-    }
-
-    ReverseInnerIterator(const internal::CompressedStorage<Scalar,Index>& data)
-      : m_data(data), m_id(static_cast<Index>(m_data.size())), m_start(0)
-    {}
-
-    inline ReverseInnerIterator& operator--() { m_id--; return *this; }
-
-    inline Scalar value() const { return m_data.value(m_id-1); }
-    inline Scalar& valueRef() { return const_cast<Scalar&>(m_data.value(m_id-1)); }
-
-    inline Index index() const { return m_data.index(m_id-1); }
-    inline Index row() const { return IsColVector ? index() : 0; }
-    inline Index col() const { return IsColVector ? 0 : index(); }
-
-    inline operator bool() const { return (m_id > m_start); }
-
-  protected:
-    const internal::CompressedStorage<Scalar,Index>& m_data;
-    Index m_id;
-    const Index m_start;
-};
-
 namespace internal {
 
+template<typename _Scalar, int _Options, typename _Index>
+struct evaluator<SparseVector<_Scalar,_Options,_Index> >
+  : evaluator_base<SparseVector<_Scalar,_Options,_Index> >
+{
+  typedef SparseVector<_Scalar,_Options,_Index> SparseVectorType;
+  typedef evaluator_base<SparseVectorType> Base;
+  typedef typename SparseVectorType::InnerIterator InnerIterator;
+  typedef typename SparseVectorType::ReverseInnerIterator ReverseInnerIterator;
+  
+  enum {
+    CoeffReadCost = NumTraits<_Scalar>::ReadCost,
+    Flags = SparseVectorType::Flags
+  };
+
+  evaluator() : Base() {}
+  
+  explicit evaluator(const SparseVectorType &mat) : m_matrix(&mat)
+  {
+    EIGEN_INTERNAL_CHECK_COST_VALUE(CoeffReadCost);
+  }
+  
+  inline Index nonZerosEstimate() const {
+    return m_matrix->nonZeros();
+  }
+  
+  operator SparseVectorType&() { return m_matrix->const_cast_derived(); }
+  operator const SparseVectorType&() const { return *m_matrix; }
+  
+  const SparseVectorType *m_matrix;
+};
+
 template< typename Dest, typename Src>
 struct sparse_vector_assign_selector<Dest,Src,SVA_Inner> {
   static void run(Dest& dst, const Src& src) {
     eigen_internal_assert(src.innerSize()==src.size());
-    for(typename Src::InnerIterator it(src, 0); it; ++it)
+    typedef internal::evaluator<Src> SrcEvaluatorType;
+    SrcEvaluatorType srcEval(src);
+    for(typename SrcEvaluatorType::InnerIterator it(srcEval, 0); it; ++it)
       dst.insert(it.index()) = it.value();
   }
 };
@@ -423,9 +452,11 @@ template< typename Dest, typename Src>
 struct sparse_vector_assign_selector<Dest,Src,SVA_Outer> {
   static void run(Dest& dst, const Src& src) {
     eigen_internal_assert(src.outerSize()==src.size());
-    for(typename Dest::Index i=0; i<src.size(); ++i)
+    typedef internal::evaluator<Src> SrcEvaluatorType;
+    SrcEvaluatorType srcEval(src);
+    for(Index i=0; i<src.size(); ++i)
     {
-      typename Src::InnerIterator it(src, i);
+      typename SrcEvaluatorType::InnerIterator it(srcEval, i);
       if(it)
         dst.insert(i) = it.value();
     }
diff --git a/eigenlib/Eigen/src/SparseCore/SparseView.h b/eigenlib/Eigen/src/SparseCore/SparseView.h
index fd845046..7c4aea74 100644
--- a/eigenlib/Eigen/src/SparseCore/SparseView.h
+++ b/eigenlib/Eigen/src/SparseCore/SparseView.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2011-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2010 Daniel Lowengrub <lowdanie@gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -18,7 +18,7 @@ namespace internal {
 template<typename MatrixType>
 struct traits<SparseView<MatrixType> > : traits<MatrixType>
 {
-  typedef typename MatrixType::Index Index;
+  typedef typename MatrixType::StorageIndex StorageIndex;
   typedef Sparse StorageKind;
   enum {
     Flags = int(traits<MatrixType>::Flags) & (RowMajorBit)
@@ -27,71 +27,225 @@ struct traits<SparseView<MatrixType> > : traits<MatrixType>
 
 } // end namespace internal
 
+/** \ingroup SparseCore_Module
+  * \class SparseView
+  *
+  * \brief Expression of a dense or sparse matrix with zero or too small values removed
+  *
+  * \tparam MatrixType the type of the object of which we are removing the small entries
+  *
+  * This class represents an expression of a given dense or sparse matrix with
+  * entries smaller than \c reference * \c epsilon are removed.
+  * It is the return type of MatrixBase::sparseView() and SparseMatrixBase::pruned()
+  * and most of the time this is the only way it is used.
+  *
+  * \sa MatrixBase::sparseView(), SparseMatrixBase::pruned()
+  */
 template<typename MatrixType>
 class SparseView : public SparseMatrixBase<SparseView<MatrixType> >
 {
   typedef typename MatrixType::Nested MatrixTypeNested;
   typedef typename internal::remove_all<MatrixTypeNested>::type _MatrixTypeNested;
+  typedef SparseMatrixBase<SparseView > Base;
 public:
   EIGEN_SPARSE_PUBLIC_INTERFACE(SparseView)
+  typedef typename internal::remove_all<MatrixType>::type NestedExpression;
 
-  SparseView(const MatrixType& mat, const Scalar& m_reference = Scalar(0),
-             typename NumTraits<Scalar>::Real m_epsilon = NumTraits<Scalar>::dummy_precision()) : 
-    m_matrix(mat), m_reference(m_reference), m_epsilon(m_epsilon) {}
-
-  class InnerIterator;
+  explicit SparseView(const MatrixType& mat, const Scalar& reference = Scalar(0),
+                      const RealScalar &epsilon = NumTraits<Scalar>::dummy_precision())
+    : m_matrix(mat), m_reference(reference), m_epsilon(epsilon) {}
 
   inline Index rows() const { return m_matrix.rows(); }
   inline Index cols() const { return m_matrix.cols(); }
 
   inline Index innerSize() const { return m_matrix.innerSize(); }
   inline Index outerSize() const { return m_matrix.outerSize(); }
-
+  
+  /** \returns the nested expression */
+  const typename internal::remove_all<MatrixTypeNested>::type&
+  nestedExpression() const { return m_matrix; }
+  
+  Scalar reference() const { return m_reference; }
+  RealScalar epsilon() const { return m_epsilon; }
+  
 protected:
   MatrixTypeNested m_matrix;
   Scalar m_reference;
-  typename NumTraits<Scalar>::Real m_epsilon;
+  RealScalar m_epsilon;
 };
 
-template<typename MatrixType>
-class SparseView<MatrixType>::InnerIterator : public _MatrixTypeNested::InnerIterator
+namespace internal {
+
+// TODO find a way to unify the two following variants
+// This is tricky because implementing an inner iterator on top of an IndexBased evaluator is
+// not easy because the evaluators do not expose the sizes of the underlying expression.
+  
+template<typename ArgType>
+struct unary_evaluator<SparseView<ArgType>, IteratorBased>
+  : public evaluator_base<SparseView<ArgType> >
 {
-  typedef typename SparseView::Index Index;
-public:
-  typedef typename _MatrixTypeNested::InnerIterator IterBase;
-  InnerIterator(const SparseView& view, Index outer) :
-  IterBase(view.m_matrix, outer), m_view(view)
-  {
-    incrementToNonZero();
-  }
-
-  EIGEN_STRONG_INLINE InnerIterator& operator++()
-  {
-    IterBase::operator++();
-    incrementToNonZero();
-    return *this;
-  }
-
-  using IterBase::value;
-
-protected:
-  const SparseView& m_view;
-
-private:
-  void incrementToNonZero()
-  {
-    while((bool(*this)) && internal::isMuchSmallerThan(value(), m_view.m_reference, m_view.m_epsilon))
+    typedef typename evaluator<ArgType>::InnerIterator EvalIterator;
+  public:
+    typedef SparseView<ArgType> XprType;
+    
+    class InnerIterator : public EvalIterator
     {
-      IterBase::operator++();
-    }
-  }
+        typedef typename XprType::Scalar Scalar;
+      public:
+
+        EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& sve, Index outer)
+          : EvalIterator(sve.m_argImpl,outer), m_view(sve.m_view)
+        {
+          incrementToNonZero();
+        }
+
+        EIGEN_STRONG_INLINE InnerIterator& operator++()
+        {
+          EvalIterator::operator++();
+          incrementToNonZero();
+          return *this;
+        }
+
+        using EvalIterator::value;
+
+      protected:
+        const XprType &m_view;
+
+      private:
+        void incrementToNonZero()
+        {
+          while((bool(*this)) && internal::isMuchSmallerThan(value(), m_view.reference(), m_view.epsilon()))
+          {
+            EvalIterator::operator++();
+          }
+        }
+    };
+    
+    enum {
+      CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+      Flags = XprType::Flags
+    };
+    
+    explicit unary_evaluator(const XprType& xpr) : m_argImpl(xpr.nestedExpression()), m_view(xpr) {}
+
+  protected:
+    evaluator<ArgType> m_argImpl;
+    const XprType &m_view;
 };
 
-template<typename Derived>
-const SparseView<Derived> MatrixBase<Derived>::sparseView(const Scalar& m_reference,
-                                                          const typename NumTraits<Scalar>::Real& m_epsilon) const
+template<typename ArgType>
+struct unary_evaluator<SparseView<ArgType>, IndexBased>
+  : public evaluator_base<SparseView<ArgType> >
 {
-  return SparseView<Derived>(derived(), m_reference, m_epsilon);
+  public:
+    typedef SparseView<ArgType> XprType;
+  protected:
+    enum { IsRowMajor = (XprType::Flags&RowMajorBit)==RowMajorBit };
+    typedef typename XprType::Scalar Scalar;
+    typedef typename XprType::StorageIndex StorageIndex;
+  public:
+    
+    class InnerIterator
+    {
+      public:
+
+        EIGEN_STRONG_INLINE InnerIterator(const unary_evaluator& sve, Index outer)
+          : m_sve(sve), m_inner(0), m_outer(outer), m_end(sve.m_view.innerSize())
+        {
+          incrementToNonZero();
+        }
+
+        EIGEN_STRONG_INLINE InnerIterator& operator++()
+        {
+          m_inner++;
+          incrementToNonZero();
+          return *this;
+        }
+
+        EIGEN_STRONG_INLINE Scalar value() const
+        {
+          return (IsRowMajor) ? m_sve.m_argImpl.coeff(m_outer, m_inner)
+                              : m_sve.m_argImpl.coeff(m_inner, m_outer);
+        }
+
+        EIGEN_STRONG_INLINE StorageIndex index() const { return m_inner; }
+        inline Index row() const { return IsRowMajor ? m_outer : index(); }
+        inline Index col() const { return IsRowMajor ? index() : m_outer; }
+
+        EIGEN_STRONG_INLINE operator bool() const { return m_inner < m_end && m_inner>=0; }
+
+      protected:
+        const unary_evaluator &m_sve;
+        Index m_inner;
+        const Index m_outer;
+        const Index m_end;
+
+      private:
+        void incrementToNonZero()
+        {
+          while((bool(*this)) && internal::isMuchSmallerThan(value(), m_sve.m_view.reference(), m_sve.m_view.epsilon()))
+          {
+            m_inner++;
+          }
+        }
+    };
+    
+    enum {
+      CoeffReadCost = evaluator<ArgType>::CoeffReadCost,
+      Flags = XprType::Flags
+    };
+    
+    explicit unary_evaluator(const XprType& xpr) : m_argImpl(xpr.nestedExpression()), m_view(xpr) {}
+
+  protected:
+    evaluator<ArgType> m_argImpl;
+    const XprType &m_view;
+};
+
+} // end namespace internal
+
+/** \ingroup SparseCore_Module
+  *
+  * \returns a sparse expression of the dense expression \c *this with values smaller than
+  * \a reference * \a epsilon removed.
+  *
+  * This method is typically used when prototyping to convert a quickly assembled dense Matrix \c D to a SparseMatrix \c S:
+  * \code
+  * MatrixXd D(n,m);
+  * SparseMatrix<double> S;
+  * S = D.sparseView();             // suppress numerical zeros (exact)
+  * S = D.sparseView(reference);
+  * S = D.sparseView(reference,epsilon);
+  * \endcode
+  * where \a reference is a meaningful non zero reference value,
+  * and \a epsilon is a tolerance factor defaulting to NumTraits<Scalar>::dummy_precision().
+  *
+  * \sa SparseMatrixBase::pruned(), class SparseView */
+template<typename Derived>
+const SparseView<Derived> MatrixBase<Derived>::sparseView(const Scalar& reference,
+                                                          const typename NumTraits<Scalar>::Real& epsilon) const
+{
+  return SparseView<Derived>(derived(), reference, epsilon);
+}
+
+/** \returns an expression of \c *this with values smaller than
+  * \a reference * \a epsilon removed.
+  *
+  * This method is typically used in conjunction with the product of two sparse matrices
+  * to automatically prune the smallest values as follows:
+  * \code
+  * C = (A*B).pruned();             // suppress numerical zeros (exact)
+  * C = (A*B).pruned(ref);
+  * C = (A*B).pruned(ref,epsilon);
+  * \endcode
+  * where \c ref is a meaningful non zero reference value.
+  * */
+template<typename Derived>
+const SparseView<Derived>
+SparseMatrixBase<Derived>::pruned(const Scalar& reference,
+                                  const RealScalar& epsilon) const
+{
+  return SparseView<Derived>(derived(), reference, epsilon);
 }
 
 } // end namespace Eigen
diff --git a/eigenlib/Eigen/src/SparseCore/TriangularSolver.h b/eigenlib/Eigen/src/SparseCore/TriangularSolver.h
index ccc12af7..f9c56ba7 100644
--- a/eigenlib/Eigen/src/SparseCore/TriangularSolver.h
+++ b/eigenlib/Eigen/src/SparseCore/TriangularSolver.h
@@ -28,16 +28,19 @@ template<typename Lhs, typename Rhs, int Mode>
 struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Lower,RowMajor>
 {
   typedef typename Rhs::Scalar Scalar;
+  typedef evaluator<Lhs> LhsEval;
+  typedef typename evaluator<Lhs>::InnerIterator LhsIterator;
   static void run(const Lhs& lhs, Rhs& other)
   {
-    for(int col=0 ; col<other.cols() ; ++col)
+    LhsEval lhsEval(lhs);
+    for(Index col=0 ; col<other.cols() ; ++col)
     {
-      for(int i=0; i<lhs.rows(); ++i)
+      for(Index i=0; i<lhs.rows(); ++i)
       {
         Scalar tmp = other.coeff(i,col);
         Scalar lastVal(0);
-        int lastIndex = 0;
-        for(typename Lhs::InnerIterator it(lhs, i); it; ++it)
+        Index lastIndex = 0;
+        for(LhsIterator it(lhsEval, i); it; ++it)
         {
           lastVal = it.value();
           lastIndex = it.index();
@@ -62,15 +65,18 @@ template<typename Lhs, typename Rhs, int Mode>
 struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,RowMajor>
 {
   typedef typename Rhs::Scalar Scalar;
+  typedef evaluator<Lhs> LhsEval;
+  typedef typename evaluator<Lhs>::InnerIterator LhsIterator;
   static void run(const Lhs& lhs, Rhs& other)
   {
-    for(int col=0 ; col<other.cols() ; ++col)
+    LhsEval lhsEval(lhs);
+    for(Index col=0 ; col<other.cols() ; ++col)
     {
-      for(int i=lhs.rows()-1 ; i>=0 ; --i)
+      for(Index i=lhs.rows()-1 ; i>=0 ; --i)
       {
         Scalar tmp = other.coeff(i,col);
         Scalar l_ii(0);
-        typename Lhs::InnerIterator it(lhs, i);
+        LhsIterator it(lhsEval, i);
         while(it && it.index()<i)
           ++it;
         if(!(Mode & UnitDiag))
@@ -86,10 +92,8 @@ struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,RowMajor>
           tmp -= it.value() * other.coeff(it.index(),col);
         }
 
-        if (Mode & UnitDiag)
-          other.coeffRef(i,col) = tmp;
-        else
-          other.coeffRef(i,col) = tmp/l_ii;
+        if (Mode & UnitDiag)  other.coeffRef(i,col) = tmp;
+        else                  other.coeffRef(i,col) = tmp/l_ii;
       }
     }
   }
@@ -100,16 +104,19 @@ template<typename Lhs, typename Rhs, int Mode>
 struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Lower,ColMajor>
 {
   typedef typename Rhs::Scalar Scalar;
+  typedef evaluator<Lhs> LhsEval;
+  typedef typename evaluator<Lhs>::InnerIterator LhsIterator;
   static void run(const Lhs& lhs, Rhs& other)
   {
-    for(int col=0 ; col<other.cols() ; ++col)
+    LhsEval lhsEval(lhs);
+    for(Index col=0 ; col<other.cols() ; ++col)
     {
-      for(int i=0; i<lhs.cols(); ++i)
+      for(Index i=0; i<lhs.cols(); ++i)
       {
         Scalar& tmp = other.coeffRef(i,col);
         if (tmp!=Scalar(0)) // optimization when other is actually sparse
         {
-          typename Lhs::InnerIterator it(lhs, i);
+          LhsIterator it(lhsEval, i);
           while(it && it.index()<i)
             ++it;
           if(!(Mode & UnitDiag))
@@ -132,11 +139,14 @@ template<typename Lhs, typename Rhs, int Mode>
 struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,ColMajor>
 {
   typedef typename Rhs::Scalar Scalar;
+  typedef evaluator<Lhs> LhsEval;
+  typedef typename evaluator<Lhs>::InnerIterator LhsIterator;
   static void run(const Lhs& lhs, Rhs& other)
   {
-    for(int col=0 ; col<other.cols() ; ++col)
+    LhsEval lhsEval(lhs);
+    for(Index col=0 ; col<other.cols() ; ++col)
     {
-      for(int i=lhs.cols()-1; i>=0; --i)
+      for(Index i=lhs.cols()-1; i>=0; --i)
       {
         Scalar& tmp = other.coeffRef(i,col);
         if (tmp!=Scalar(0)) // optimization when other is actually sparse
@@ -144,13 +154,13 @@ struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,ColMajor>
           if(!(Mode & UnitDiag))
           {
             // TODO replace this by a binary search. make sure the binary search is safe for partially sorted elements
-            typename Lhs::ReverseInnerIterator it(lhs, i);
+            LhsIterator it(lhsEval, i);
             while(it && it.index()!=i)
-              --it;
+              ++it;
             eigen_assert(it && it.index()==i);
             other.coeffRef(i,col) /= it.value();
           }
-          typename Lhs::InnerIterator it(lhs, i);
+          LhsIterator it(lhsEval, i);
           for(; it && it.index()<i; ++it)
             other.coeffRef(it.index(), col) -= tmp * it.value();
         }
@@ -161,11 +171,13 @@ struct sparse_solve_triangular_selector<Lhs,Rhs,Mode,Upper,ColMajor>
 
 } // end namespace internal
 
-template<typename ExpressionType,int Mode>
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+
+template<typename ExpressionType,unsigned int Mode>
 template<typename OtherDerived>
-void SparseTriangularView<ExpressionType,Mode>::solveInPlace(MatrixBase<OtherDerived>& other) const
+void TriangularViewImpl<ExpressionType,Mode,Sparse>::solveInPlace(MatrixBase<OtherDerived>& other) const
 {
-  eigen_assert(m_matrix.cols() == m_matrix.rows() && m_matrix.cols() == other.rows());
+  eigen_assert(derived().cols() == derived().rows() && derived().cols() == other.rows());
   eigen_assert((!(Mode & ZeroDiag)) && bool(Mode & (Upper|Lower)));
 
   enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
@@ -174,21 +186,12 @@ void SparseTriangularView<ExpressionType,Mode>::solveInPlace(MatrixBase<OtherDer
     typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
   OtherCopy otherCopy(other.derived());
 
-  internal::sparse_solve_triangular_selector<ExpressionType, typename internal::remove_reference<OtherCopy>::type, Mode>::run(m_matrix, otherCopy);
+  internal::sparse_solve_triangular_selector<ExpressionType, typename internal::remove_reference<OtherCopy>::type, Mode>::run(derived().nestedExpression(), otherCopy);
 
   if (copy)
     other = otherCopy;
 }
-
-template<typename ExpressionType,int Mode>
-template<typename OtherDerived>
-typename internal::plain_matrix_type_column_major<OtherDerived>::type
-SparseTriangularView<ExpressionType,Mode>::solve(const MatrixBase<OtherDerived>& other) const
-{
-  typename internal::plain_matrix_type_column_major<OtherDerived>::type res(other);
-  solveInPlace(res);
-  return res;
-}
+#endif
 
 // pure sparse path
 
@@ -208,18 +211,18 @@ template<typename Lhs, typename Rhs, int Mode, int UpLo>
 struct sparse_solve_triangular_sparse_selector<Lhs,Rhs,Mode,UpLo,ColMajor>
 {
   typedef typename Rhs::Scalar Scalar;
-  typedef typename promote_index_type<typename traits<Lhs>::Index,
-                                         typename traits<Rhs>::Index>::type Index;
+  typedef typename promote_index_type<typename traits<Lhs>::StorageIndex,
+                                      typename traits<Rhs>::StorageIndex>::type StorageIndex;
   static void run(const Lhs& lhs, Rhs& other)
   {
     const bool IsLower = (UpLo==Lower);
-    AmbiVector<Scalar,Index> tempVector(other.rows()*2);
+    AmbiVector<Scalar,StorageIndex> tempVector(other.rows()*2);
     tempVector.setBounds(0,other.rows());
 
     Rhs res(other.rows(), other.cols());
     res.reserve(other.nonZeros());
 
-    for(int col=0 ; col<other.cols() ; ++col)
+    for(Index col=0 ; col<other.cols() ; ++col)
     {
       // FIXME estimate number of non zeros
       tempVector.init(.99/*float(other.col(col).nonZeros())/float(other.rows())*/);
@@ -230,7 +233,7 @@ struct sparse_solve_triangular_sparse_selector<Lhs,Rhs,Mode,UpLo,ColMajor>
         tempVector.coeffRef(rhsIt.index()) = rhsIt.value();
       }
 
-      for(int i=IsLower?0:lhs.cols()-1;
+      for(Index i=IsLower?0:lhs.cols()-1;
           IsLower?i<lhs.cols():i>=0;
           i+=IsLower?1:-1)
       {
@@ -267,9 +270,9 @@ struct sparse_solve_triangular_sparse_selector<Lhs,Rhs,Mode,UpLo,ColMajor>
       }
 
 
-      int count = 0;
+      Index count = 0;
       // FIXME compute a reference value to filter zeros
-      for (typename AmbiVector<Scalar,Index>::Iterator it(tempVector/*,1e-12*/); it; ++it)
+      for (typename AmbiVector<Scalar,StorageIndex>::Iterator it(tempVector/*,1e-12*/); it; ++it)
       {
         ++ count;
 //         std::cerr << "fill " << it.index() << ", " << col << "\n";
@@ -286,11 +289,12 @@ struct sparse_solve_triangular_sparse_selector<Lhs,Rhs,Mode,UpLo,ColMajor>
 
 } // end namespace internal
 
-template<typename ExpressionType,int Mode>
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+template<typename ExpressionType,unsigned int Mode>
 template<typename OtherDerived>
-void SparseTriangularView<ExpressionType,Mode>::solveInPlace(SparseMatrixBase<OtherDerived>& other) const
+void TriangularViewImpl<ExpressionType,Mode,Sparse>::solveInPlace(SparseMatrixBase<OtherDerived>& other) const
 {
-  eigen_assert(m_matrix.cols() == m_matrix.rows() && m_matrix.cols() == other.rows());
+  eigen_assert(derived().cols() == derived().rows() && derived().cols() == other.rows());
   eigen_assert( (!(Mode & ZeroDiag)) && bool(Mode & (Upper|Lower)));
 
 //   enum { copy = internal::traits<OtherDerived>::Flags & RowMajorBit };
@@ -299,35 +303,12 @@ void SparseTriangularView<ExpressionType,Mode>::solveInPlace(SparseMatrixBase<Ot
 //     typename internal::plain_matrix_type_column_major<OtherDerived>::type, OtherDerived&>::type OtherCopy;
 //   OtherCopy otherCopy(other.derived());
 
-  internal::sparse_solve_triangular_sparse_selector<ExpressionType, OtherDerived, Mode>::run(m_matrix, other.derived());
+  internal::sparse_solve_triangular_sparse_selector<ExpressionType, OtherDerived, Mode>::run(derived().nestedExpression(), other.derived());
 
 //   if (copy)
 //     other = otherCopy;
 }
-
-#ifdef EIGEN2_SUPPORT
-
-// deprecated stuff:
-
-/** \deprecated */
-template<typename Derived>
-template<typename OtherDerived>
-void SparseMatrixBase<Derived>::solveTriangularInPlace(MatrixBase<OtherDerived>& other) const
-{
-  this->template triangular<Flags&(Upper|Lower)>().solveInPlace(other);
-}
-
-/** \deprecated */
-template<typename Derived>
-template<typename OtherDerived>
-typename internal::plain_matrix_type_column_major<OtherDerived>::type
-SparseMatrixBase<Derived>::solveTriangular(const MatrixBase<OtherDerived>& other) const
-{
-  typename internal::plain_matrix_type_column_major<OtherDerived>::type res(other);
-  derived().solveTriangularInPlace(res);
-  return res;
-}
-#endif // EIGEN2_SUPPORT
+#endif
 
 } // end namespace Eigen
 
diff --git a/eigenlib/Eigen/src/SparseLU/CMakeLists.txt b/eigenlib/Eigen/src/SparseLU/CMakeLists.txt
deleted file mode 100644
index 69729ee8..00000000
--- a/eigenlib/Eigen/src/SparseLU/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_SparseLU_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_SparseLU_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/SparseLU COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU.h b/eigenlib/Eigen/src/SparseLU/SparseLU.h
index 4514cfd9..f883ab38 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU.h
@@ -2,7 +2,7 @@
 // for linear algebra.
 //
 // Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-// Copyright (C) 2012 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2012-2014 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -14,7 +14,7 @@
 
 namespace Eigen {
 
-template <typename _MatrixType, typename _OrderingType = COLAMDOrdering<typename _MatrixType::Index> > class SparseLU;
+template <typename _MatrixType, typename _OrderingType = COLAMDOrdering<typename _MatrixType::StorageIndex> > class SparseLU;
 template <typename MappedSparseMatrixType> struct SparseLUMatrixLReturnType;
 template <typename MatrixLType, typename MatrixUType> struct SparseLUMatrixUReturnType;
 
@@ -64,33 +64,45 @@ template <typename MatrixLType, typename MatrixUType> struct SparseLUMatrixURetu
   * 
   * \tparam _MatrixType The type of the sparse matrix. It must be a column-major SparseMatrix<>
   * \tparam _OrderingType The ordering method to use, either AMD, COLAMD or METIS. Default is COLMAD
+  *
+  * \implsparsesolverconcept
   * 
-  * 
-  * \sa \ref TutorialSparseDirectSolvers
+  * \sa \ref TutorialSparseSolverConcept
   * \sa \ref OrderingMethods_Module
   */
 template <typename _MatrixType, typename _OrderingType>
-class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typename _MatrixType::Index>
+class SparseLU : public SparseSolverBase<SparseLU<_MatrixType,_OrderingType> >, public internal::SparseLUImpl<typename _MatrixType::Scalar, typename _MatrixType::StorageIndex>
 {
+  protected:
+    typedef SparseSolverBase<SparseLU<_MatrixType,_OrderingType> > APIBase;
+    using APIBase::m_isInitialized;
   public:
+    using APIBase::_solve_impl;
+    
     typedef _MatrixType MatrixType; 
     typedef _OrderingType OrderingType;
     typedef typename MatrixType::Scalar Scalar; 
     typedef typename MatrixType::RealScalar RealScalar; 
-    typedef typename MatrixType::Index Index; 
-    typedef SparseMatrix<Scalar,ColMajor,Index> NCMatrix;
-    typedef internal::MappedSuperNodalMatrix<Scalar, Index> SCMatrix; 
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> NCMatrix;
+    typedef internal::MappedSuperNodalMatrix<Scalar, StorageIndex> SCMatrix;
     typedef Matrix<Scalar,Dynamic,1> ScalarVector;
-    typedef Matrix<Index,Dynamic,1> IndexVector;
-    typedef PermutationMatrix<Dynamic, Dynamic, Index> PermutationType;
-    typedef internal::SparseLUImpl<Scalar, Index> Base;
+    typedef Matrix<StorageIndex,Dynamic,1> IndexVector;
+    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType;
+    typedef internal::SparseLUImpl<Scalar, StorageIndex> Base;
+
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
     
   public:
-    SparseLU():m_isInitialized(true),m_lastError(""),m_Ustore(0,0,0,0,0,0),m_symmetricmode(false),m_diagpivotthresh(1.0),m_detPermR(1)
+    SparseLU():m_lastError(""),m_Ustore(0,0,0,0,0,0),m_symmetricmode(false),m_diagpivotthresh(1.0),m_detPermR(1)
     {
       initperfvalues(); 
     }
-    SparseLU(const MatrixType& matrix):m_isInitialized(true),m_lastError(""),m_Ustore(0,0,0,0,0,0),m_symmetricmode(false),m_diagpivotthresh(1.0),m_detPermR(1)
+    explicit SparseLU(const MatrixType& matrix)
+      : m_lastError(""),m_Ustore(0,0,0,0,0,0),m_symmetricmode(false),m_diagpivotthresh(1.0),m_detPermR(1)
     {
       initperfvalues(); 
       compute(matrix);
@@ -141,9 +153,9 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
       * y = b; matrixU().solveInPlace(y);
       * \endcode
       */
-    SparseLUMatrixUReturnType<SCMatrix,MappedSparseMatrix<Scalar,ColMajor,Index> > matrixU() const
+    SparseLUMatrixUReturnType<SCMatrix,MappedSparseMatrix<Scalar,ColMajor,StorageIndex> > matrixU() const
     {
-      return SparseLUMatrixUReturnType<SCMatrix, MappedSparseMatrix<Scalar,ColMajor,Index> >(m_Lstore, m_Ustore);
+      return SparseLUMatrixUReturnType<SCMatrix, MappedSparseMatrix<Scalar,ColMajor,StorageIndex> >(m_Lstore, m_Ustore);
     }
 
     /**
@@ -168,6 +180,7 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
       m_diagpivotthresh = thresh; 
     }
 
+#ifdef EIGEN_PARSED_BY_DOXYGEN
     /** \returns the solution X of \f$ A X = B \f$ using the current decomposition of A.
       *
       * \warning the destination matrix X in X = this->solve(B) must be colmun-major.
@@ -175,26 +188,8 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
       * \sa compute()
       */
     template<typename Rhs>
-    inline const internal::solve_retval<SparseLU, Rhs> solve(const MatrixBase<Rhs>& B) const 
-    {
-      eigen_assert(m_factorizationIsOk && "SparseLU is not initialized."); 
-      eigen_assert(rows()==B.rows()
-                    && "SparseLU::solve(): invalid number of rows of the right hand side matrix B");
-          return internal::solve_retval<SparseLU, Rhs>(*this, B.derived());
-    }
-
-    /** \returns the solution X of \f$ A X = B \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<SparseLU, Rhs> solve(const SparseMatrixBase<Rhs>& B) const 
-    {
-      eigen_assert(m_factorizationIsOk && "SparseLU is not initialized."); 
-      eigen_assert(rows()==B.rows()
-                    && "SparseLU::solve(): invalid number of rows of the right hand side matrix B");
-          return internal::sparse_solve_retval<SparseLU, Rhs>(*this, B.derived());
-    }
+    inline const Solve<SparseLU, Rhs> solve(const MatrixBase<Rhs>& B) const;
+#endif // EIGEN_PARSED_BY_DOXYGEN
     
     /** \brief Reports whether previous computation was successful.
       *
@@ -219,7 +214,7 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
     }
 
     template<typename Rhs, typename Dest>
-    bool _solve(const MatrixBase<Rhs> &B, MatrixBase<Dest> &X_base) const
+    bool _solve_impl(const MatrixBase<Rhs> &B, MatrixBase<Dest> &X_base) const
     {
       Dest& X(X_base.derived());
       eigen_assert(m_factorizationIsOk && "The matrix should be factorized first");
@@ -255,8 +250,9 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
       *
       * \sa logAbsDeterminant(), signDeterminant()
       */
-     Scalar absDeterminant()
+    Scalar absDeterminant()
     {
+      using std::abs;
       eigen_assert(m_factorizationIsOk && "The matrix should be factorized first.");
       // Initialize with the determinant of the row matrix
       Scalar det = Scalar(1.);
@@ -268,42 +264,43 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
         {
           if(it.index() == j)
           {
-            using std::abs;
             det *= abs(it.value());
             break;
           }
         }
-       }
-       return det;
-     }
+      }
+      return det;
+    }
 
-     /** \returns the natural log of the absolute value of the determinant of the matrix
-       * of which **this is the QR decomposition
-       *
-       * \note This method is useful to work around the risk of overflow/underflow that's
-       * inherent to the determinant computation.
-       *
-       * \sa absDeterminant(), signDeterminant()
-       */
-     Scalar logAbsDeterminant() const
-     {
-       eigen_assert(m_factorizationIsOk && "The matrix should be factorized first.");
-       Scalar det = Scalar(0.);
-       for (Index j = 0; j < this->cols(); ++j)
-       {
-         for (typename SCMatrix::InnerIterator it(m_Lstore, j); it; ++it)
-         {
-           if(it.row() < j) continue;
-           if(it.row() == j)
-           {
-             using std::log; using std::abs;
-             det += log(abs(it.value()));
-             break;
-           }
-         }
-       }
-       return det;
-     }
+    /** \returns the natural log of the absolute value of the determinant of the matrix
+      * of which **this is the QR decomposition
+      *
+      * \note This method is useful to work around the risk of overflow/underflow that's
+      * inherent to the determinant computation.
+      *
+      * \sa absDeterminant(), signDeterminant()
+      */
+    Scalar logAbsDeterminant() const
+    {
+      using std::log;
+      using std::abs;
+
+      eigen_assert(m_factorizationIsOk && "The matrix should be factorized first.");
+      Scalar det = Scalar(0.);
+      for (Index j = 0; j < this->cols(); ++j)
+      {
+        for (typename SCMatrix::InnerIterator it(m_Lstore, j); it; ++it)
+        {
+          if(it.row() < j) continue;
+          if(it.row() == j)
+          {
+            det += log(abs(it.value()));
+            break;
+          }
+        }
+      }
+      return det;
+    }
 
     /** \returns A number representing the sign of the determinant
       *
@@ -355,7 +352,7 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
           }
         }
       }
-      return det * Scalar(m_detPermR * m_detPermC);
+      return (m_detPermR * m_detPermC) > 0 ? det : -det;
     }
 
   protected:
@@ -372,13 +369,12 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
       
     // Variables 
     mutable ComputationInfo m_info;
-    bool m_isInitialized;
     bool m_factorizationIsOk;
     bool m_analysisIsOk;
     std::string m_lastError;
     NCMatrix m_mat; // The input (permuted ) matrix 
     SCMatrix m_Lstore; // The lower triangular matrix (supernodal)
-    MappedSparseMatrix<Scalar,ColMajor,Index> m_Ustore; // The upper triangular matrix
+    MappedSparseMatrix<Scalar,ColMajor,StorageIndex> m_Ustore; // The upper triangular matrix
     PermutationType m_perm_c; // Column permutation 
     PermutationType m_perm_r ; // Row permutation
     IndexVector m_etree; // Column elimination tree 
@@ -388,7 +384,7 @@ class SparseLU : public internal::SparseLUImpl<typename _MatrixType::Scalar, typ
     // SparseLU options 
     bool m_symmetricmode;
     // values for performance 
-    internal::perfvalues<Index> m_perfv; 
+    internal::perfvalues m_perfv;
     RealScalar m_diagpivotthresh; // Specifies the threshold used for a diagonal entry to be an acceptable pivot
     Index m_nnzL, m_nnzU; // Nonzeros in L and U factors
     Index m_detPermR, m_detPermC; // Determinants of the permutation matrices
@@ -417,30 +413,32 @@ void SparseLU<MatrixType, OrderingType>::analyzePattern(const MatrixType& mat)
   
   //TODO  It is possible as in SuperLU to compute row and columns scaling vectors to equilibrate the matrix mat.
   
+  // Firstly, copy the whole input matrix. 
+  m_mat = mat;
+  
+  // Compute fill-in ordering
   OrderingType ord; 
-  ord(mat,m_perm_c);
+  ord(m_mat,m_perm_c);
   
   // Apply the permutation to the column of the input  matrix
-  //First copy the whole input matrix. 
-  m_mat = mat;
-  if (m_perm_c.size()) {
+  if (m_perm_c.size())
+  {
     m_mat.uncompress(); //NOTE: The effect of this command is only to create the InnerNonzeros pointers. FIXME : This vector is filled but not subsequently used.  
-    //Then, permute only the column pointers
-    const Index * outerIndexPtr;
-    if (mat.isCompressed()) outerIndexPtr = mat.outerIndexPtr();
-    else
-    {
-      Index *outerIndexPtr_t = new Index[mat.cols()+1];
-      for(Index i = 0; i <= mat.cols(); i++) outerIndexPtr_t[i] = m_mat.outerIndexPtr()[i];
-      outerIndexPtr = outerIndexPtr_t;
-    }
+    // Then, permute only the column pointers
+    ei_declare_aligned_stack_constructed_variable(StorageIndex,outerIndexPtr,mat.cols()+1,mat.isCompressed()?const_cast<StorageIndex*>(mat.outerIndexPtr()):0);
+    
+    // If the input matrix 'mat' is uncompressed, then the outer-indices do not match the ones of m_mat, and a copy is thus needed.
+    if(!mat.isCompressed()) 
+      IndexVector::Map(outerIndexPtr, mat.cols()+1) = IndexVector::Map(m_mat.outerIndexPtr(),mat.cols()+1);
+    
+    // Apply the permutation and compute the nnz per column.
     for (Index i = 0; i < mat.cols(); i++)
     {
       m_mat.outerIndexPtr()[m_perm_c.indices()(i)] = outerIndexPtr[i];
       m_mat.innerNonZeroPtr()[m_perm_c.indices()(i)] = outerIndexPtr[i+1] - outerIndexPtr[i];
     }
-    if(!mat.isCompressed()) delete[] outerIndexPtr;
   }
+  
   // Compute the column elimination tree of the permuted matrix 
   IndexVector firstRowElt;
   internal::coletree(m_mat, m_etree,firstRowElt); 
@@ -449,7 +447,7 @@ void SparseLU<MatrixType, OrderingType>::analyzePattern(const MatrixType& mat)
   if (!m_symmetricmode) {
     IndexVector post, iwork; 
     // Post order etree
-    internal::treePostorder(m_mat.cols(), m_etree, post); 
+    internal::treePostorder(StorageIndex(m_mat.cols()), m_etree, post); 
       
    
     // Renumber etree in postorder 
@@ -501,7 +499,9 @@ void SparseLU<MatrixType, OrderingType>::factorize(const MatrixType& matrix)
   eigen_assert(m_analysisIsOk && "analyzePattern() should be called first"); 
   eigen_assert((matrix.rows() == matrix.cols()) && "Only for squared matrices");
   
-  typedef typename IndexVector::Scalar Index; 
+  typedef typename IndexVector::Scalar StorageIndex; 
+  
+  m_isInitialized = true;
   
   
   // Apply the column permutation computed in analyzepattern()
@@ -511,11 +511,11 @@ void SparseLU<MatrixType, OrderingType>::factorize(const MatrixType& matrix)
   {
     m_mat.uncompress(); //NOTE: The effect of this command is only to create the InnerNonzeros pointers.
     //Then, permute only the column pointers
-    const Index * outerIndexPtr;
+    const StorageIndex * outerIndexPtr;
     if (matrix.isCompressed()) outerIndexPtr = matrix.outerIndexPtr();
     else
     {
-      Index* outerIndexPtr_t = new Index[matrix.cols()+1];
+      StorageIndex* outerIndexPtr_t = new StorageIndex[matrix.cols()+1];
       for(Index i = 0; i <= matrix.cols(); i++) outerIndexPtr_t[i] = m_mat.outerIndexPtr()[i];
       outerIndexPtr = outerIndexPtr_t;
     }
@@ -529,7 +529,7 @@ void SparseLU<MatrixType, OrderingType>::factorize(const MatrixType& matrix)
   else 
   { //FIXME This should not be needed if the empty permutation is handled transparently
     m_perm_c.resize(matrix.cols());
-    for(Index i = 0; i < matrix.cols(); ++i) m_perm_c.indices()(i) = i;
+    for(StorageIndex i = 0; i < matrix.cols(); ++i) m_perm_c.indices()(i) = i;
   }
   
   Index m = m_mat.rows();
@@ -694,7 +694,7 @@ void SparseLU<MatrixType, OrderingType>::factorize(const MatrixType& matrix)
   // Create supernode matrix L 
   m_Lstore.setInfos(m, n, m_glu.lusup, m_glu.xlusup, m_glu.lsub, m_glu.xlsub, m_glu.supno, m_glu.xsup); 
   // Create the column major upper sparse matrix  U; 
-  new (&m_Ustore) MappedSparseMatrix<Scalar, ColMajor, Index> ( m, n, m_nnzU, m_glu.xusub.data(), m_glu.usub.data(), m_glu.ucol.data() ); 
+  new (&m_Ustore) MappedSparseMatrix<Scalar, ColMajor, StorageIndex> ( m, n, m_nnzU, m_glu.xusub.data(), m_glu.usub.data(), m_glu.ucol.data() );
   
   m_info = Success;
   m_factorizationIsOk = true;
@@ -703,9 +703,8 @@ void SparseLU<MatrixType, OrderingType>::factorize(const MatrixType& matrix)
 template<typename MappedSupernodalType>
 struct SparseLUMatrixLReturnType : internal::no_assignment_operator
 {
-  typedef typename MappedSupernodalType::Index Index;
   typedef typename MappedSupernodalType::Scalar Scalar;
-  SparseLUMatrixLReturnType(const MappedSupernodalType& mapL) : m_mapL(mapL)
+  explicit SparseLUMatrixLReturnType(const MappedSupernodalType& mapL) : m_mapL(mapL)
   { }
   Index rows() { return m_mapL.rows(); }
   Index cols() { return m_mapL.cols(); }
@@ -720,7 +719,6 @@ struct SparseLUMatrixLReturnType : internal::no_assignment_operator
 template<typename MatrixLType, typename MatrixUType>
 struct SparseLUMatrixUReturnType : internal::no_assignment_operator
 {
-  typedef typename MatrixLType::Index Index;
   typedef typename MatrixLType::Scalar Scalar;
   SparseLUMatrixUReturnType(const MatrixLType& mapL, const MatrixUType& mapU)
   : m_mapL(mapL),m_mapU(mapU)
@@ -731,7 +729,7 @@ struct SparseLUMatrixUReturnType : internal::no_assignment_operator
   template<typename Dest>   void solveInPlace(MatrixBase<Dest> &X) const
   {
     Index nrhs = X.cols();
-    Index n = X.rows();
+    Index n    = X.rows();
     // Backward solve with U
     for (Index k = m_mapL.nsuper(); k >= 0; k--)
     {
@@ -749,8 +747,8 @@ struct SparseLUMatrixUReturnType : internal::no_assignment_operator
       }
       else
       {
-        Map<const Matrix<Scalar,Dynamic,Dynamic>, 0, OuterStride<> > A( &(m_mapL.valuePtr()[luptr]), nsupc, nsupc, OuterStride<>(lda) );
-        Map< Matrix<Scalar,Dynamic,Dynamic>, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) );
+        Map<const Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > A( &(m_mapL.valuePtr()[luptr]), nsupc, nsupc, OuterStride<>(lda) );
+        Map< Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor>, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) );
         U = A.template triangularView<Upper>().solve(U);
       }
 
@@ -772,35 +770,6 @@ struct SparseLUMatrixUReturnType : internal::no_assignment_operator
   const MatrixUType& m_mapU;
 };
 
-namespace internal {
-  
-template<typename _MatrixType, typename Derived, typename Rhs>
-struct solve_retval<SparseLU<_MatrixType,Derived>, Rhs>
-  : solve_retval_base<SparseLU<_MatrixType,Derived>, Rhs>
-{
-  typedef SparseLU<_MatrixType,Derived> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-template<typename _MatrixType, typename Derived, typename Rhs>
-struct sparse_solve_retval<SparseLU<_MatrixType,Derived>, Rhs>
-  : sparse_solve_retval_base<SparseLU<_MatrixType,Derived>, Rhs>
-{
-  typedef SparseLU<_MatrixType,Derived> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-} // end namespace internal
-
 } // End namespace Eigen 
 
 #endif
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLUImpl.h b/eigenlib/Eigen/src/SparseLU/SparseLUImpl.h
index 14d70897..fc0cfc4d 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLUImpl.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLUImpl.h
@@ -16,17 +16,19 @@ namespace internal {
   * \class SparseLUImpl
   * Base class for sparseLU
   */
-template <typename Scalar, typename Index>
+template <typename Scalar, typename StorageIndex>
 class SparseLUImpl
 {
   public:
     typedef Matrix<Scalar,Dynamic,1> ScalarVector;
-    typedef Matrix<Index,Dynamic,1> IndexVector; 
+    typedef Matrix<StorageIndex,Dynamic,1> IndexVector; 
+    typedef Matrix<Scalar,Dynamic,Dynamic,ColMajor> ScalarMatrix;
+    typedef Map<ScalarMatrix, 0,  OuterStride<> > MappedMatrixBlock;
     typedef typename ScalarVector::RealScalar RealScalar; 
     typedef Ref<Matrix<Scalar,Dynamic,1> > BlockScalarVector;
-    typedef Ref<Matrix<Index,Dynamic,1> > BlockIndexVector;
+    typedef Ref<Matrix<StorageIndex,Dynamic,1> > BlockIndexVector;
     typedef LU_GlobalLU_t<IndexVector, ScalarVector> GlobalLU_t; 
-    typedef SparseMatrix<Scalar,ColMajor,Index> MatrixType; 
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> MatrixType; 
     
   protected:
      template <typename VectorType>
@@ -40,7 +42,7 @@ class SparseLUImpl
      Index snode_bmod (const Index jcol, const Index fsupc, ScalarVector& dense, GlobalLU_t& glu);
      Index pivotL(const Index jcol, const RealScalar& diagpivotthresh, IndexVector& perm_r, IndexVector& iperm_c, Index& pivrow, GlobalLU_t& glu);
      template <typename Traits>
-     void dfs_kernel(const Index jj, IndexVector& perm_r,
+     void dfs_kernel(const StorageIndex jj, IndexVector& perm_r,
                     Index& nseg, IndexVector& panel_lsub, IndexVector& segrep,
                     Ref<IndexVector> repfnz_col, IndexVector& xprune, Ref<IndexVector> marker, IndexVector& parent,
                     IndexVector& xplore, GlobalLU_t& glu, Index& nextl_col, Index krow, Traits& traits);
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_Memory.h b/eigenlib/Eigen/src/SparseLU/SparseLU_Memory.h
index 1ffa7d54..4dc42e87 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_Memory.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_Memory.h
@@ -36,13 +36,12 @@ namespace internal {
   
 enum { LUNoMarker = 3 };
 enum {emptyIdxLU = -1};
-template<typename Index>
 inline Index LUnumTempV(Index& m, Index& w, Index& t, Index& b)
 {
   return (std::max)(m, (t+b)*w);
 }
 
-template< typename Scalar, typename Index>
+template< typename Scalar>
 inline Index LUTempSpace(Index&m, Index& w)
 {
   return (2*w + 4 + LUNoMarker) * m * sizeof(Index) + (w + 1) * m * sizeof(Scalar);
@@ -59,9 +58,9 @@ inline Index LUTempSpace(Index&m, Index& w)
   * \param keep_prev  1: use length  and do not expand the vector; 0: compute new_len and expand
   * \param[in,out] num_expansions Number of times the memory has been expanded
   */
-template <typename Scalar, typename Index>
+template <typename Scalar, typename StorageIndex>
 template <typename VectorType>
-Index  SparseLUImpl<Scalar,Index>::expand(VectorType& vec, Index& length, Index nbElts, Index keep_prev, Index& num_expansions) 
+Index  SparseLUImpl<Scalar,StorageIndex>::expand(VectorType& vec, Index& length, Index nbElts, Index keep_prev, Index& num_expansions) 
 {
   
   float alpha = 1.5; // Ratio of the memory increase 
@@ -148,13 +147,13 @@ Index  SparseLUImpl<Scalar,Index>::expand(VectorType& vec, Index& length, Index
  * \return an estimated size of the required memory if lwork = -1; otherwise, return the size of actually allocated memory when allocation failed, and 0 on success
  * \note Unlike SuperLU, this routine does not support successive factorization with the same pattern and the same row permutation
  */
-template <typename Scalar, typename Index>
-Index SparseLUImpl<Scalar,Index>::memInit(Index m, Index n, Index annz, Index lwork, Index fillratio, Index panel_size,  GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+Index SparseLUImpl<Scalar,StorageIndex>::memInit(Index m, Index n, Index annz, Index lwork, Index fillratio, Index panel_size,  GlobalLU_t& glu)
 {
   Index& num_expansions = glu.num_expansions; //No memory expansions so far
   num_expansions = 0;
-  glu.nzumax = glu.nzlumax = (std::min)(fillratio * annz / n, m) * n; // estimated number of nonzeros in U 
-  glu.nzlmax = (std::max)(Index(4), fillratio) * annz / 4; // estimated  nnz in L factor
+  glu.nzumax = glu.nzlumax = (std::min)(fillratio * (annz+1) / n, m) * n; // estimated number of nonzeros in U 
+  glu.nzlmax = (std::max)(Index(4), fillratio) * (annz+1) / 4; // estimated  nnz in L factor
   // Return the estimated size to the user if necessary
   Index tempSpace;
   tempSpace = (2*panel_size + 4 + LUNoMarker) * m * sizeof(Index) + (panel_size + 1) * m * sizeof(Scalar);
@@ -205,9 +204,9 @@ Index SparseLUImpl<Scalar,Index>::memInit(Index m, Index n, Index annz, Index lw
  * \param num_expansions Number of expansions 
  * \return 0 on success, > 0 size of the memory allocated so far
  */
-template <typename Scalar, typename Index>
+template <typename Scalar, typename StorageIndex>
 template <typename VectorType>
-Index SparseLUImpl<Scalar,Index>::memXpand(VectorType& vec, Index& maxlen, Index nbElts, MemType memtype, Index& num_expansions)
+Index SparseLUImpl<Scalar,StorageIndex>::memXpand(VectorType& vec, Index& maxlen, Index nbElts, MemType memtype, Index& num_expansions)
 {
   Index failed_size; 
   if (memtype == USUB)
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_Structs.h b/eigenlib/Eigen/src/SparseLU/SparseLU_Structs.h
index 24d6bf17..cf5ec449 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_Structs.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_Structs.h
@@ -75,7 +75,7 @@ typedef enum {LUSUP, UCOL, LSUB, USUB, LLVL, ULVL} MemType;
 
 template <typename IndexVector, typename ScalarVector>
 struct LU_GlobalLU_t {
-  typedef typename IndexVector::Scalar Index; 
+  typedef typename IndexVector::Scalar StorageIndex; 
   IndexVector xsup; //First supernode column ... xsup(s) points to the beginning of the s-th supernode
   IndexVector supno; // Supernode number corresponding to this column (column to supernode mapping)
   ScalarVector  lusup; // nonzero values of L ordered by columns 
@@ -93,7 +93,6 @@ struct LU_GlobalLU_t {
 };
 
 // Values to set for performance
-template <typename Index>
 struct perfvalues {
   Index panel_size; // a panel consists of at most <panel_size> consecutive columns
   Index relax; // To control degree of relaxing supernodes. If the number of nodes (columns) 
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h b/eigenlib/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h
index b16afd6a..721e1883 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h
@@ -29,20 +29,20 @@ namespace internal {
  * SuperInnerIterator to iterate through all supernodes 
  * Function for triangular solve
  */
-template <typename _Scalar, typename _Index>
+template <typename _Scalar, typename _StorageIndex>
 class MappedSuperNodalMatrix
 {
   public:
     typedef _Scalar Scalar; 
-    typedef _Index Index;
-    typedef Matrix<Index,Dynamic,1> IndexVector; 
+    typedef _StorageIndex StorageIndex;
+    typedef Matrix<StorageIndex,Dynamic,1> IndexVector;
     typedef Matrix<Scalar,Dynamic,1> ScalarVector;
   public:
     MappedSuperNodalMatrix()
     {
       
     }
-    MappedSuperNodalMatrix(Index m, Index n,  ScalarVector& nzval, IndexVector& nzval_colptr, IndexVector& rowind, 
+    MappedSuperNodalMatrix(Index m, Index n,  ScalarVector& nzval, IndexVector& nzval_colptr, IndexVector& rowind,
              IndexVector& rowind_colptr, IndexVector& col_to_sup, IndexVector& sup_to_col )
     {
       setInfos(m, n, nzval, nzval_colptr, rowind, rowind_colptr, col_to_sup, sup_to_col);
@@ -58,7 +58,7 @@ class MappedSuperNodalMatrix
      * FIXME This class will be modified such that it can be use in the course 
      * of the factorization.
      */
-    void setInfos(Index m, Index n, ScalarVector& nzval, IndexVector& nzval_colptr, IndexVector& rowind, 
+    void setInfos(Index m, Index n, ScalarVector& nzval, IndexVector& nzval_colptr, IndexVector& rowind,
              IndexVector& rowind_colptr, IndexVector& col_to_sup, IndexVector& sup_to_col )
     {
       m_row = m;
@@ -96,12 +96,12 @@ class MappedSuperNodalMatrix
     /**
      * Return the pointers to the beginning of each column in \ref valuePtr()
      */
-    Index* colIndexPtr()
+    StorageIndex* colIndexPtr()
     {
       return m_nzval_colptr; 
     }
     
-    const Index* colIndexPtr() const
+    const StorageIndex* colIndexPtr() const
     {
       return m_nzval_colptr; 
     }
@@ -109,9 +109,9 @@ class MappedSuperNodalMatrix
     /**
      * Return the array of compressed row indices of all supernodes
      */
-    Index* rowIndex()  { return m_rowind; }
+    StorageIndex* rowIndex()  { return m_rowind; }
     
-    const Index* rowIndex() const
+    const StorageIndex* rowIndex() const
     {
       return m_rowind; 
     }
@@ -119,9 +119,9 @@ class MappedSuperNodalMatrix
     /**
      * Return the location in \em rowvaluePtr() which starts each column
      */
-    Index* rowIndexPtr() { return m_rowind_colptr; }
+    StorageIndex* rowIndexPtr() { return m_rowind_colptr; }
     
-    const Index* rowIndexPtr() const 
+    const StorageIndex* rowIndexPtr() const
     {
       return m_rowind_colptr; 
     }
@@ -129,18 +129,18 @@ class MappedSuperNodalMatrix
     /** 
      * Return the array of column-to-supernode mapping 
      */
-    Index* colToSup()  { return m_col_to_sup; }
+    StorageIndex* colToSup()  { return m_col_to_sup; }
     
-    const Index* colToSup() const
+    const StorageIndex* colToSup() const
     {
       return m_col_to_sup;       
     }
     /**
      * Return the array of supernode-to-column mapping
      */
-    Index* supToCol() { return m_sup_to_col; }
+    StorageIndex* supToCol() { return m_sup_to_col; }
     
-    const Index* supToCol() const 
+    const StorageIndex* supToCol() const
     {
       return m_sup_to_col;
     }
@@ -148,7 +148,7 @@ class MappedSuperNodalMatrix
     /**
      * Return the number of supernodes
      */
-    Index nsuper() const 
+    Index nsuper() const
     {
       return m_nsuper; 
     }
@@ -162,14 +162,14 @@ class MappedSuperNodalMatrix
     
   protected:
     Index m_row; // Number of rows
-    Index m_col; // Number of columns 
-    Index m_nsuper; // Number of supernodes 
+    Index m_col; // Number of columns
+    Index m_nsuper; // Number of supernodes
     Scalar* m_nzval; //array of nonzero values packed by column
-    Index* m_nzval_colptr; //nzval_colptr[j] Stores the location in nzval[] which starts column j 
-    Index* m_rowind; // Array of compressed row indices of rectangular supernodes
-    Index* m_rowind_colptr; //rowind_colptr[j] stores the location in rowind[] which starts column j
-    Index* m_col_to_sup; // col_to_sup[j] is the supernode number to which column j belongs
-    Index* m_sup_to_col; //sup_to_col[s] points to the starting column of the s-th supernode
+    StorageIndex* m_nzval_colptr; //nzval_colptr[j] Stores the location in nzval[] which starts column j
+    StorageIndex* m_rowind; // Array of compressed row indices of rectangular supernodes
+    StorageIndex* m_rowind_colptr; //rowind_colptr[j] stores the location in rowind[] which starts column j
+    StorageIndex* m_col_to_sup; // col_to_sup[j] is the supernode number to which column j belongs
+    StorageIndex* m_sup_to_col; //sup_to_col[s] points to the starting column of the s-th supernode
     
   private :
 };
@@ -178,13 +178,13 @@ class MappedSuperNodalMatrix
   * \brief InnerIterator class to iterate over nonzero values of the current column in the supernodal matrix L
   * 
   */
-template<typename Scalar, typename Index>
-class MappedSuperNodalMatrix<Scalar,Index>::InnerIterator
+template<typename Scalar, typename StorageIndex>
+class MappedSuperNodalMatrix<Scalar,StorageIndex>::InnerIterator
 {
   public:
      InnerIterator(const MappedSuperNodalMatrix& mat, Index outer)
       : m_matrix(mat),
-        m_outer(outer), 
+        m_outer(outer),
         m_supno(mat.colToSup()[outer]),
         m_idval(mat.colIndexPtr()[outer]),
         m_startidval(m_idval),
@@ -229,14 +229,17 @@ class MappedSuperNodalMatrix<Scalar,Index>::InnerIterator
  * \brief Solve with the supernode triangular matrix
  * 
  */
-template<typename Scalar, typename Index>
+template<typename Scalar, typename Index_>
 template<typename Dest>
-void MappedSuperNodalMatrix<Scalar,Index>::solveInPlace( MatrixBase<Dest>&X) const
+void MappedSuperNodalMatrix<Scalar,Index_>::solveInPlace( MatrixBase<Dest>&X) const
 {
-    Index n = X.rows(); 
-    Index nrhs = X.cols(); 
+    /* Explicit type conversion as the Index type of MatrixBase<Dest> may be wider than Index */
+//    eigen_assert(X.rows() <= NumTraits<Index>::highest());
+//    eigen_assert(X.cols() <= NumTraits<Index>::highest());
+    Index n    = int(X.rows());
+    Index nrhs = Index(X.cols());
     const Scalar * Lval = valuePtr();                 // Nonzero values 
-    Matrix<Scalar,Dynamic,Dynamic> work(n, nrhs);     // working vector
+    Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor> work(n, nrhs);     // working vector
     work.setZero();
     for (Index k = 0; k <= nsuper(); k ++)
     {
@@ -267,13 +270,13 @@ void MappedSuperNodalMatrix<Scalar,Index>::solveInPlace( MatrixBase<Dest>&X) con
         Index lda = colIndexPtr()[fsupc+1] - luptr;
         
         // Triangular solve 
-        Map<const Matrix<Scalar,Dynamic,Dynamic>, 0, OuterStride<> > A( &(Lval[luptr]), nsupc, nsupc, OuterStride<>(lda) ); 
-        Map< Matrix<Scalar,Dynamic,Dynamic>, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) ); 
+        Map<const Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > A( &(Lval[luptr]), nsupc, nsupc, OuterStride<>(lda) );
+        Map< Matrix<Scalar,Dynamic,Dest::ColsAtCompileTime, ColMajor>, 0, OuterStride<> > U (&(X(fsupc,0)), nsupc, nrhs, OuterStride<>(n) );
         U = A.template triangularView<UnitLower>().solve(U); 
         
         // Matrix-vector product 
-        new (&A) Map<const Matrix<Scalar,Dynamic,Dynamic>, 0, OuterStride<> > ( &(Lval[luptr+nsupc]), nrow, nsupc, OuterStride<>(lda) ); 
-        work.block(0, 0, nrow, nrhs) = A * U; 
+        new (&A) Map<const Matrix<Scalar,Dynamic,Dynamic, ColMajor>, 0, OuterStride<> > ( &(Lval[luptr+nsupc]), nrow, nsupc, OuterStride<>(lda) );
+        work.topRows(nrow).noalias() = A * U;
         
         //Begin Scatter 
         for (Index j = 0; j < nrhs; j++)
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_Utils.h b/eigenlib/Eigen/src/SparseLU/SparseLU_Utils.h
index 15352ac3..9e3dab44 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_Utils.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_Utils.h
@@ -17,8 +17,8 @@ namespace internal {
 /**
  * \brief Count Nonzero elements in the factors
  */
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::countnz(const Index n, Index& nnzL, Index& nnzU, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::countnz(const Index n, Index& nnzL, Index& nnzU, GlobalLU_t& glu)
 {
  nnzL = 0; 
  nnzU = (glu.xusub)(n); 
@@ -48,12 +48,12 @@ void SparseLUImpl<Scalar,Index>::countnz(const Index n, Index& nnzL, Index& nnzU
  * and applies permutation to the remaining subscripts
  * 
  */
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::fixupL(const Index n, const IndexVector& perm_r, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::fixupL(const Index n, const IndexVector& perm_r, GlobalLU_t& glu)
 {
   Index fsupc, i, j, k, jstart; 
   
-  Index nextl = 0; 
+  StorageIndex nextl = 0; 
   Index nsuper = (glu.supno)(n); 
   
   // For each supernode 
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_column_bmod.h b/eigenlib/Eigen/src/SparseLU/SparseLU_column_bmod.h
index f24bd87d..b57f0680 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_column_bmod.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_column_bmod.h
@@ -49,8 +49,9 @@ namespace internal {
  *         > 0 - number of bytes allocated when run out of space
  * 
  */
-template <typename Scalar, typename Index>
-Index SparseLUImpl<Scalar,Index>::column_bmod(const Index jcol, const Index nseg, BlockScalarVector dense, ScalarVector& tempv, BlockIndexVector segrep, BlockIndexVector repfnz, Index fpanelc, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+Index SparseLUImpl<Scalar,StorageIndex>::column_bmod(const Index jcol, const Index nseg, BlockScalarVector dense, ScalarVector& tempv,
+                                                     BlockIndexVector segrep, BlockIndexVector repfnz, Index fpanelc, GlobalLU_t& glu)
 {
   Index  jsupno, k, ksub, krep, ksupno; 
   Index lptr, nrow, isub, irow, nextlu, new_next, ufirst; 
@@ -137,7 +138,7 @@ Index SparseLUImpl<Scalar,Index>::column_bmod(const Index jcol, const Index nseg
     glu.lusup.segment(nextlu,offset).setZero();
     nextlu += offset;
   }
-  glu.xlusup(jcol + 1) = nextlu;  // close L\U(*,jcol); 
+  glu.xlusup(jcol + 1) = StorageIndex(nextlu);  // close L\U(*,jcol); 
   
   /* For more updates within the panel (also within the current supernode),
    * should start from the first column of the panel, or the first column
@@ -162,11 +163,11 @@ Index SparseLUImpl<Scalar,Index>::column_bmod(const Index jcol, const Index nseg
     // points to the beginning of jcol in snode L\U(jsupno) 
     ufirst = glu.xlusup(jcol) + d_fsupc; 
     Index lda = glu.xlusup(jcol+1) - glu.xlusup(jcol);
-    Map<Matrix<Scalar,Dynamic,Dynamic>, 0,  OuterStride<> > A( &(glu.lusup.data()[luptr]), nsupc, nsupc, OuterStride<>(lda) ); 
+    MappedMatrixBlock A( &(glu.lusup.data()[luptr]), nsupc, nsupc, OuterStride<>(lda) );
     VectorBlock<ScalarVector> u(glu.lusup, ufirst, nsupc); 
     u = A.template triangularView<UnitLower>().solve(u); 
     
-    new (&A) Map<Matrix<Scalar,Dynamic,Dynamic>, 0, OuterStride<> > ( &(glu.lusup.data()[luptr+nsupc]), nrow, nsupc, OuterStride<>(lda) ); 
+    new (&A) MappedMatrixBlock ( &(glu.lusup.data()[luptr+nsupc]), nrow, nsupc, OuterStride<>(lda) );
     VectorBlock<ScalarVector> l(glu.lusup, ufirst+nsupc, nrow); 
     l.noalias() -= A * u;
     
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_column_dfs.h b/eigenlib/Eigen/src/SparseLU/SparseLU_column_dfs.h
index 4c04b0e4..c98b30e3 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_column_dfs.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_column_dfs.h
@@ -30,7 +30,7 @@
 #ifndef SPARSELU_COLUMN_DFS_H
 #define SPARSELU_COLUMN_DFS_H
 
-template <typename Scalar, typename Index> class SparseLUImpl;
+template <typename Scalar, typename StorageIndex> class SparseLUImpl;
 namespace Eigen {
 
 namespace internal {
@@ -39,8 +39,8 @@ template<typename IndexVector, typename ScalarVector>
 struct column_dfs_traits : no_assignment_operator
 {
   typedef typename ScalarVector::Scalar Scalar;
-  typedef typename IndexVector::Scalar Index;
-  column_dfs_traits(Index jcol, Index& jsuper, typename SparseLUImpl<Scalar, Index>::GlobalLU_t& glu, SparseLUImpl<Scalar, Index>& luImpl)
+  typedef typename IndexVector::Scalar StorageIndex;
+  column_dfs_traits(Index jcol, Index& jsuper, typename SparseLUImpl<Scalar, StorageIndex>::GlobalLU_t& glu, SparseLUImpl<Scalar, StorageIndex>& luImpl)
    : m_jcol(jcol), m_jsuper_ref(jsuper), m_glu(glu), m_luImpl(luImpl)
  {}
   bool update_segrep(Index /*krep*/, Index /*jj*/)
@@ -57,8 +57,8 @@ struct column_dfs_traits : no_assignment_operator
   
   Index m_jcol;
   Index& m_jsuper_ref;
-  typename SparseLUImpl<Scalar, Index>::GlobalLU_t& m_glu;
-  SparseLUImpl<Scalar, Index>& m_luImpl;
+  typename SparseLUImpl<Scalar, StorageIndex>::GlobalLU_t& m_glu;
+  SparseLUImpl<Scalar, StorageIndex>& m_luImpl;
 };
 
 
@@ -89,8 +89,10 @@ struct column_dfs_traits : no_assignment_operator
  *         > 0 number of bytes allocated when run out of space
  * 
  */
-template <typename Scalar, typename Index>
-Index SparseLUImpl<Scalar,Index>::column_dfs(const Index m, const Index jcol, IndexVector& perm_r, Index maxsuper, Index& nseg,  BlockIndexVector lsub_col, IndexVector& segrep, BlockIndexVector repfnz, IndexVector& xprune, IndexVector& marker, IndexVector& parent, IndexVector& xplore, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+Index SparseLUImpl<Scalar,StorageIndex>::column_dfs(const Index m, const Index jcol, IndexVector& perm_r, Index maxsuper, Index& nseg,
+                                                    BlockIndexVector lsub_col, IndexVector& segrep, BlockIndexVector repfnz, IndexVector& xprune,
+                                                    IndexVector& marker, IndexVector& parent, IndexVector& xplore, GlobalLU_t& glu)
 {
   
   Index jsuper = glu.supno(jcol); 
@@ -110,13 +112,13 @@ Index SparseLUImpl<Scalar,Index>::column_dfs(const Index m, const Index jcol, In
     // krow was visited before, go to the next nonz; 
     if (kmark == jcol) continue;
     
-    dfs_kernel(jcol, perm_r, nseg, glu.lsub, segrep, repfnz, xprune, marker2, parent,
+    dfs_kernel(StorageIndex(jcol), perm_r, nseg, glu.lsub, segrep, repfnz, xprune, marker2, parent,
                    xplore, glu, nextl, krow, traits);
   } // for each nonzero ... 
   
-  Index fsupc, jptr, jm1ptr, ito, ifrom, istop;
-  Index nsuper = glu.supno(jcol);
-  Index jcolp1 = jcol + 1;
+  Index fsupc;
+  StorageIndex nsuper = glu.supno(jcol);
+  StorageIndex jcolp1 = StorageIndex(jcol) + 1;
   Index jcolm1 = jcol - 1;
   
   // check to see if j belongs in the same supernode as j-1
@@ -127,8 +129,8 @@ Index SparseLUImpl<Scalar,Index>::column_dfs(const Index m, const Index jcol, In
   else 
   {
     fsupc = glu.xsup(nsuper); 
-    jptr = glu.xlsub(jcol); // Not yet compressed
-    jm1ptr = glu.xlsub(jcolm1); 
+    StorageIndex jptr = glu.xlsub(jcol); // Not yet compressed
+    StorageIndex jm1ptr = glu.xlsub(jcolm1); 
     
     // Use supernodes of type T2 : see SuperLU paper
     if ( (nextl-jptr != jptr-jm1ptr-1) ) jsuper = emptyIdxLU;
@@ -146,13 +148,13 @@ Index SparseLUImpl<Scalar,Index>::column_dfs(const Index m, const Index jcol, In
     { // starts a new supernode 
       if ( (fsupc < jcolm1-1) ) 
       { // >= 3 columns in nsuper
-        ito = glu.xlsub(fsupc+1);
+        StorageIndex ito = glu.xlsub(fsupc+1);
         glu.xlsub(jcolm1) = ito; 
-        istop = ito + jptr - jm1ptr; 
+        StorageIndex istop = ito + jptr - jm1ptr; 
         xprune(jcolm1) = istop; // intialize xprune(jcol-1)
         glu.xlsub(jcol) = istop; 
         
-        for (ifrom = jm1ptr; ifrom < nextl; ++ifrom, ++ito)
+        for (StorageIndex ifrom = jm1ptr; ifrom < nextl; ++ifrom, ++ito)
           glu.lsub(ito) = glu.lsub(ifrom); 
         nextl = ito;  // = istop + length(jcol)
       }
@@ -164,8 +166,8 @@ Index SparseLUImpl<Scalar,Index>::column_dfs(const Index m, const Index jcol, In
   // Tidy up the pointers before exit
   glu.xsup(nsuper+1) = jcolp1; 
   glu.supno(jcolp1) = nsuper; 
-  xprune(jcol) = nextl;  // Intialize upper bound for pruning
-  glu.xlsub(jcolp1) = nextl; 
+  xprune(jcol) = StorageIndex(nextl);  // Intialize upper bound for pruning
+  glu.xlsub(jcolp1) = StorageIndex(nextl); 
   
   return 0; 
 }
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h b/eigenlib/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h
index 170610d9..c32d8d8b 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h
@@ -46,8 +46,9 @@ namespace internal {
  *         > 0 - number of bytes allocated when run out of space
  * 
  */
-template <typename Scalar, typename Index>
-Index SparseLUImpl<Scalar,Index>::copy_to_ucol(const Index jcol, const Index nseg, IndexVector& segrep, BlockIndexVector repfnz ,IndexVector& perm_r, BlockScalarVector dense, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+Index SparseLUImpl<Scalar,StorageIndex>::copy_to_ucol(const Index jcol, const Index nseg, IndexVector& segrep,
+                                                      BlockIndexVector repfnz ,IndexVector& perm_r, BlockScalarVector dense, GlobalLU_t& glu)
 {  
   Index ksub, krep, ksupno; 
     
@@ -55,7 +56,7 @@ Index SparseLUImpl<Scalar,Index>::copy_to_ucol(const Index jcol, const Index nse
   
   // For each nonzero supernode segment of U[*,j] in topological order 
   Index k = nseg - 1, i; 
-  Index nextu = glu.xusub(jcol); 
+  StorageIndex nextu = glu.xusub(jcol); 
   Index kfnz, isub, segsize; 
   Index new_next,irow; 
   Index fsupc, mem; 
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_gemm_kernel.h b/eigenlib/Eigen/src/SparseLU/SparseLU_gemm_kernel.h
index 9e4e3e72..95ba7413 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_gemm_kernel.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_gemm_kernel.h
@@ -21,7 +21,7 @@ namespace internal {
   *  - lda and ldc must be multiples of the respective packet size
   *  - C must have the same alignment as A
   */
-template<typename Scalar,typename Index>
+template<typename Scalar>
 EIGEN_DONT_INLINE
 void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const Scalar* B, Index ldb, Scalar* C, Index ldc)
 {
@@ -39,9 +39,9 @@ void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const
   };
   Index d_end = (d/RK)*RK;    // number of columns of A (rows of B) suitable for full register blocking
   Index n_end = (n/RN)*RN;    // number of columns of B-C suitable for processing RN columns at once
-  Index i0 = internal::first_aligned(A,m);
+  Index i0 = internal::first_default_aligned(A,m);
   
-  eigen_internal_assert(((lda%PacketSize)==0) && ((ldc%PacketSize)==0) && (i0==internal::first_aligned(C,m)));
+  eigen_internal_assert(((lda%PacketSize)==0) && ((ldc%PacketSize)==0) && (i0==internal::first_default_aligned(C,m)));
   
   // handle the non aligned rows of A and C without any optimization:
   for(Index i=0; i<i0; ++i)
@@ -72,14 +72,14 @@ void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const
         
         // load and expand a RN x RK block of B
         Packet b00, b10, b20, b30, b01, b11, b21, b31;
-                  b00 = pset1<Packet>(Bc0[0]);
-                  b10 = pset1<Packet>(Bc0[1]);
-        if(RK==4) b20 = pset1<Packet>(Bc0[2]);
-        if(RK==4) b30 = pset1<Packet>(Bc0[3]);
-                  b01 = pset1<Packet>(Bc1[0]);
-                  b11 = pset1<Packet>(Bc1[1]);
-        if(RK==4) b21 = pset1<Packet>(Bc1[2]);
-        if(RK==4) b31 = pset1<Packet>(Bc1[3]);
+                  { b00 = pset1<Packet>(Bc0[0]); }
+                  { b10 = pset1<Packet>(Bc0[1]); }
+        if(RK==4) { b20 = pset1<Packet>(Bc0[2]); }
+        if(RK==4) { b30 = pset1<Packet>(Bc0[3]); }
+                  { b01 = pset1<Packet>(Bc1[0]); }
+                  { b11 = pset1<Packet>(Bc1[1]); }
+        if(RK==4) { b21 = pset1<Packet>(Bc1[2]); }
+        if(RK==4) { b31 = pset1<Packet>(Bc1[3]); }
         
         Packet a0, a1, a2, a3, c0, c1, t0, t1;
         
@@ -106,22 +106,22 @@ void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const
         
 #define KMADD(c, a, b, tmp) {tmp = b; tmp = pmul(a,tmp); c = padd(c,tmp);}
 #define WORK(I)  \
-                    c0 = pload<Packet>(C0+i+(I)*PacketSize);   \
-                    c1 = pload<Packet>(C1+i+(I)*PacketSize);   \
-                    KMADD(c0, a0, b00, t0)      \
-                    KMADD(c1, a0, b01, t1)      \
-                    a0 = pload<Packet>(A0+i+(I+1)*PacketSize); \
-                    KMADD(c0, a1, b10, t0)      \
-                    KMADD(c1, a1, b11, t1)       \
-                    a1 = pload<Packet>(A1+i+(I+1)*PacketSize); \
-          if(RK==4) KMADD(c0, a2, b20, t0)       \
-          if(RK==4) KMADD(c1, a2, b21, t1)       \
-          if(RK==4) a2 = pload<Packet>(A2+i+(I+1)*PacketSize); \
-          if(RK==4) KMADD(c0, a3, b30, t0)       \
-          if(RK==4) KMADD(c1, a3, b31, t1)       \
-          if(RK==4) a3 = pload<Packet>(A3+i+(I+1)*PacketSize); \
-                    pstore(C0+i+(I)*PacketSize, c0);           \
-                    pstore(C1+i+(I)*PacketSize, c1)
+                     c0 = pload<Packet>(C0+i+(I)*PacketSize);    \
+                     c1 = pload<Packet>(C1+i+(I)*PacketSize);    \
+                     KMADD(c0, a0, b00, t0)                      \
+                     KMADD(c1, a0, b01, t1)                      \
+                     a0 = pload<Packet>(A0+i+(I+1)*PacketSize);  \
+                     KMADD(c0, a1, b10, t0)                      \
+                     KMADD(c1, a1, b11, t1)                      \
+                     a1 = pload<Packet>(A1+i+(I+1)*PacketSize);  \
+          if(RK==4){ KMADD(c0, a2, b20, t0)                     }\
+          if(RK==4){ KMADD(c1, a2, b21, t1)                     }\
+          if(RK==4){ a2 = pload<Packet>(A2+i+(I+1)*PacketSize); }\
+          if(RK==4){ KMADD(c0, a3, b30, t0)                     }\
+          if(RK==4){ KMADD(c1, a3, b31, t1)                     }\
+          if(RK==4){ a3 = pload<Packet>(A3+i+(I+1)*PacketSize); }\
+                     pstore(C0+i+(I)*PacketSize, c0);            \
+                     pstore(C1+i+(I)*PacketSize, c1)
         
         // process rows of A' - C' with aggressive vectorization and peeling 
         for(Index i=0; i<actual_b_end1; i+=PacketSize*8)
@@ -131,14 +131,15 @@ void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const
                     prefetch((A1+i+(5)*PacketSize));
           if(RK==4) prefetch((A2+i+(5)*PacketSize));
           if(RK==4) prefetch((A3+i+(5)*PacketSize));
-                    WORK(0);
-                    WORK(1);
-                    WORK(2);
-                    WORK(3);
-                    WORK(4);
-                    WORK(5);
-                    WORK(6);
-                    WORK(7);
+
+          WORK(0);
+          WORK(1);
+          WORK(2);
+          WORK(3);
+          WORK(4);
+          WORK(5);
+          WORK(6);
+          WORK(7);
         }
         // process the remaining rows with vectorization only
         for(Index i=actual_b_end1; i<actual_b_end2; i+=PacketSize)
@@ -165,7 +166,7 @@ void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const
         Bc1 += RK;
       } // peeled loop on k
     } // peeled loop on the columns j
-    // process the last column (we now perform a matrux-vector product)
+    // process the last column (we now perform a matrix-vector product)
     if((n-n_end)>0)
     {
       const Scalar* Bc0 = B+(n-1)*ldb;
@@ -203,16 +204,16 @@ void sparselu_gemm(Index m, Index n, Index d, const Scalar* A, Index lda, const
         }
         
 #define WORK(I) \
-                  c0 = pload<Packet>(C0+i+(I)*PacketSize);   \
-                  KMADD(c0, a0, b00, t0)       \
-                  a0 = pload<Packet>(A0+i+(I+1)*PacketSize); \
-                  KMADD(c0, a1, b10, t0)       \
-                  a1 = pload<Packet>(A1+i+(I+1)*PacketSize); \
-        if(RK==4) KMADD(c0, a2, b20, t0)       \
-        if(RK==4) a2 = pload<Packet>(A2+i+(I+1)*PacketSize); \
-        if(RK==4) KMADD(c0, a3, b30, t0)       \
-        if(RK==4) a3 = pload<Packet>(A3+i+(I+1)*PacketSize); \
-                  pstore(C0+i+(I)*PacketSize, c0);
+                   c0 = pload<Packet>(C0+i+(I)*PacketSize);     \
+                   KMADD(c0, a0, b00, t0)                       \
+                   a0 = pload<Packet>(A0+i+(I+1)*PacketSize);   \
+                   KMADD(c0, a1, b10, t0)                       \
+                   a1 = pload<Packet>(A1+i+(I+1)*PacketSize);   \
+        if(RK==4){ KMADD(c0, a2, b20, t0)                      }\
+        if(RK==4){ a2 = pload<Packet>(A2+i+(I+1)*PacketSize);  }\
+        if(RK==4){ KMADD(c0, a3, b30, t0)                      }\
+        if(RK==4){ a3 = pload<Packet>(A3+i+(I+1)*PacketSize);  }\
+                   pstore(C0+i+(I)*PacketSize, c0);
         
         // agressive vectorization and peeling
         for(Index i=0; i<actual_b_end1; i+=PacketSize*8)
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h b/eigenlib/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h
index 7a4e4305..6f75d500 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h
@@ -42,21 +42,20 @@ namespace internal {
  * \param descendants Number of descendants of each node in the etree
  * \param relax_end last column in a supernode
  */
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::heap_relax_snode (const Index n, IndexVector& et, const Index relax_columns, IndexVector& descendants, IndexVector& relax_end)
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::heap_relax_snode (const Index n, IndexVector& et, const Index relax_columns, IndexVector& descendants, IndexVector& relax_end)
 {
   
   // The etree may not be postordered, but its heap ordered  
   IndexVector post;
-  internal::treePostorder(n, et, post); // Post order etree
+  internal::treePostorder(StorageIndex(n), et, post); // Post order etree
   IndexVector inv_post(n+1); 
-  Index i;
-  for (i = 0; i < n+1; ++i) inv_post(post(i)) = i; // inv_post = post.inverse()???
+  for (StorageIndex i = 0; i < n+1; ++i) inv_post(post(i)) = i; // inv_post = post.inverse()???
   
   // Renumber etree in postorder 
   IndexVector iwork(n);
   IndexVector et_save(n+1);
-  for (i = 0; i < n; ++i)
+  for (Index i = 0; i < n; ++i)
   {
     iwork(post(i)) = post(et(i));
   }
@@ -75,10 +74,10 @@ void SparseLUImpl<Scalar,Index>::heap_relax_snode (const Index n, IndexVector& e
   }
   // Identify the relaxed supernodes by postorder traversal of the etree
   Index snode_start; // beginning of a snode 
-  Index k;
+  StorageIndex k;
   Index nsuper_et_post = 0; // Number of relaxed snodes in postordered etree 
   Index nsuper_et = 0; // Number of relaxed snodes in the original etree 
-  Index l; 
+  StorageIndex l; 
   for (j = 0; j < n; )
   {
     parent = et(j);
@@ -90,8 +89,8 @@ void SparseLUImpl<Scalar,Index>::heap_relax_snode (const Index n, IndexVector& e
     }
     // Found a supernode in postordered etree, j is the last column 
     ++nsuper_et_post;
-    k = n;
-    for (i = snode_start; i <= j; ++i)
+    k = StorageIndex(n);
+    for (Index i = snode_start; i <= j; ++i)
       k = (std::min)(k, inv_post(i));
     l = inv_post(j);
     if ( (l - k) == (j - snode_start) )  // Same number of columns in the snode
@@ -102,7 +101,7 @@ void SparseLUImpl<Scalar,Index>::heap_relax_snode (const Index n, IndexVector& e
     }
     else 
     {
-      for (i = snode_start; i <= j; ++i) 
+      for (Index i = snode_start; i <= j; ++i) 
       {
         l = inv_post(i);
         if (descendants(i) == 0) 
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_kernel_bmod.h b/eigenlib/Eigen/src/SparseLU/SparseLU_kernel_bmod.h
index 0d0283b1..8c1b3e8b 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_kernel_bmod.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_kernel_bmod.h
@@ -14,30 +14,29 @@
 namespace Eigen {
 namespace internal {
   
-/**
- * \brief Performs numeric block updates from a given supernode to a single column
- * 
- * \param segsize Size of the segment (and blocks ) to use for updates
- * \param[in,out] dense Packed values of the original matrix
- * \param tempv temporary vector to use for updates
- * \param lusup array containing the supernodes
- * \param lda Leading dimension in the supernode
- * \param nrow Number of rows in the rectangular part of the supernode
- * \param lsub compressed row subscripts of supernodes
- * \param lptr pointer to the first column of the current supernode in lsub
- * \param no_zeros Number of nonzeros elements before the diagonal part of the supernode
- * \return 0 on success
- */
 template <int SegSizeAtCompileTime> struct LU_kernel_bmod
 {
-  template <typename BlockScalarVector, typename ScalarVector, typename IndexVector, typename Index>
-  static EIGEN_DONT_INLINE void run(const int segsize, BlockScalarVector& dense, ScalarVector& tempv, ScalarVector& lusup, Index& luptr, const Index lda,
+  /** \internal
+    * \brief Performs numeric block updates from a given supernode to a single column
+    *
+    * \param segsize Size of the segment (and blocks ) to use for updates
+    * \param[in,out] dense Packed values of the original matrix
+    * \param tempv temporary vector to use for updates
+    * \param lusup array containing the supernodes
+    * \param lda Leading dimension in the supernode
+    * \param nrow Number of rows in the rectangular part of the supernode
+    * \param lsub compressed row subscripts of supernodes
+    * \param lptr pointer to the first column of the current supernode in lsub
+    * \param no_zeros Number of nonzeros elements before the diagonal part of the supernode
+    */
+  template <typename BlockScalarVector, typename ScalarVector, typename IndexVector>
+  static EIGEN_DONT_INLINE void run(const Index segsize, BlockScalarVector& dense, ScalarVector& tempv, ScalarVector& lusup, Index& luptr, const Index lda,
                                     const Index nrow, IndexVector& lsub, const Index lptr, const Index no_zeros);
 };
 
 template <int SegSizeAtCompileTime>
-template <typename BlockScalarVector, typename ScalarVector, typename IndexVector, typename Index>
-EIGEN_DONT_INLINE void LU_kernel_bmod<SegSizeAtCompileTime>::run(const int segsize, BlockScalarVector& dense, ScalarVector& tempv, ScalarVector& lusup, Index& luptr, const Index lda,
+template <typename BlockScalarVector, typename ScalarVector, typename IndexVector>
+EIGEN_DONT_INLINE void LU_kernel_bmod<SegSizeAtCompileTime>::run(const Index segsize, BlockScalarVector& dense, ScalarVector& tempv, ScalarVector& lusup, Index& luptr, const Index lda,
                                                                   const Index nrow, IndexVector& lsub, const Index lptr, const Index no_zeros)
 {
   typedef typename ScalarVector::Scalar Scalar;
@@ -45,7 +44,7 @@ EIGEN_DONT_INLINE void LU_kernel_bmod<SegSizeAtCompileTime>::run(const int segsi
   // The result of triangular solve is in tempv[*]; 
     // The result of matric-vector update is in dense[*]
   Index isub = lptr + no_zeros; 
-  int i;
+  Index i;
   Index irow;
   for (i = 0; i < ((SegSizeAtCompileTime==Dynamic)?segsize:SegSizeAtCompileTime); i++)
   {
@@ -56,7 +55,7 @@ EIGEN_DONT_INLINE void LU_kernel_bmod<SegSizeAtCompileTime>::run(const int segsi
   // Dense triangular solve -- start effective triangle
   luptr += lda * no_zeros + no_zeros; 
   // Form Eigen matrix and vector 
-  Map<Matrix<Scalar,SegSizeAtCompileTime,SegSizeAtCompileTime>, 0, OuterStride<> > A( &(lusup.data()[luptr]), segsize, segsize, OuterStride<>(lda) );
+  Map<Matrix<Scalar,SegSizeAtCompileTime,SegSizeAtCompileTime, ColMajor>, 0, OuterStride<> > A( &(lusup.data()[luptr]), segsize, segsize, OuterStride<>(lda) );
   Map<Matrix<Scalar,SegSizeAtCompileTime,1> > u(tempv.data(), segsize);
   
   u = A.template triangularView<UnitLower>().solve(u); 
@@ -65,9 +64,9 @@ EIGEN_DONT_INLINE void LU_kernel_bmod<SegSizeAtCompileTime>::run(const int segsi
   luptr += segsize;
   const Index PacketSize = internal::packet_traits<Scalar>::size;
   Index ldl = internal::first_multiple(nrow, PacketSize);
-  Map<Matrix<Scalar,Dynamic,SegSizeAtCompileTime>, 0, OuterStride<> > B( &(lusup.data()[luptr]), nrow, segsize, OuterStride<>(lda) );
-  Index aligned_offset = internal::first_aligned(tempv.data()+segsize, PacketSize);
-  Index aligned_with_B_offset = (PacketSize-internal::first_aligned(B.data(), PacketSize))%PacketSize;
+  Map<Matrix<Scalar,Dynamic,SegSizeAtCompileTime, ColMajor>, 0, OuterStride<> > B( &(lusup.data()[luptr]), nrow, segsize, OuterStride<>(lda) );
+  Index aligned_offset = internal::first_default_aligned(tempv.data()+segsize, PacketSize);
+  Index aligned_with_B_offset = (PacketSize-internal::first_default_aligned(B.data(), PacketSize))%PacketSize;
   Map<Matrix<Scalar,Dynamic,1>, 0, OuterStride<> > l(tempv.data()+segsize+aligned_offset+aligned_with_B_offset, nrow, OuterStride<>(ldl) );
   
   l.setZero();
@@ -91,21 +90,22 @@ EIGEN_DONT_INLINE void LU_kernel_bmod<SegSizeAtCompileTime>::run(const int segsi
 
 template <> struct LU_kernel_bmod<1>
 {
-  template <typename BlockScalarVector, typename ScalarVector, typename IndexVector, typename Index>
-  static EIGEN_DONT_INLINE void run(const int /*segsize*/, BlockScalarVector& dense, ScalarVector& /*tempv*/, ScalarVector& lusup, Index& luptr,
+  template <typename BlockScalarVector, typename ScalarVector, typename IndexVector>
+  static EIGEN_DONT_INLINE void run(const Index /*segsize*/, BlockScalarVector& dense, ScalarVector& /*tempv*/, ScalarVector& lusup, Index& luptr,
                                     const Index lda, const Index nrow, IndexVector& lsub, const Index lptr, const Index no_zeros);
 };
 
 
-template <typename BlockScalarVector, typename ScalarVector, typename IndexVector, typename Index>
-EIGEN_DONT_INLINE void LU_kernel_bmod<1>::run(const int /*segsize*/, BlockScalarVector& dense, ScalarVector& /*tempv*/, ScalarVector& lusup, Index& luptr,
+template <typename BlockScalarVector, typename ScalarVector, typename IndexVector>
+EIGEN_DONT_INLINE void LU_kernel_bmod<1>::run(const Index /*segsize*/, BlockScalarVector& dense, ScalarVector& /*tempv*/, ScalarVector& lusup, Index& luptr,
                                               const Index lda, const Index nrow, IndexVector& lsub, const Index lptr, const Index no_zeros)
 {
   typedef typename ScalarVector::Scalar Scalar;
+  typedef typename IndexVector::Scalar StorageIndex;
   Scalar f = dense(lsub(lptr + no_zeros));
   luptr += lda * no_zeros + no_zeros + 1;
   const Scalar* a(lusup.data() + luptr);
-  const /*typename IndexVector::Scalar*/Index*  irow(lsub.data()+lptr + no_zeros + 1);
+  const StorageIndex*  irow(lsub.data()+lptr + no_zeros + 1);
   Index i = 0;
   for (; i+1 < nrow; i+=2)
   {
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_panel_bmod.h b/eigenlib/Eigen/src/SparseLU/SparseLU_panel_bmod.h
index da0e0fc3..822cf32c 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_panel_bmod.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_panel_bmod.h
@@ -52,8 +52,8 @@ namespace internal {
  * 
  * 
  */
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::panel_bmod(const Index m, const Index w, const Index jcol, 
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::panel_bmod(const Index m, const Index w, const Index jcol, 
                                             const Index nseg, ScalarVector& dense, ScalarVector& tempv,
                                             IndexVector& segrep, IndexVector& repfnz, GlobalLU_t& glu)
 {
@@ -102,7 +102,7 @@ void SparseLUImpl<Scalar,Index>::panel_bmod(const Index m, const Index w, const
     if(nsupc >= 2)
     { 
       Index ldu = internal::first_multiple<Index>(u_rows, PacketSize);
-      Map<Matrix<Scalar,Dynamic,Dynamic>, Aligned,  OuterStride<> > U(tempv.data(), u_rows, u_cols, OuterStride<>(ldu));
+      Map<ScalarMatrix, Aligned,  OuterStride<> > U(tempv.data(), u_rows, u_cols, OuterStride<>(ldu));
       
       // gather U
       Index u_col = 0;
@@ -136,17 +136,17 @@ void SparseLUImpl<Scalar,Index>::panel_bmod(const Index m, const Index w, const
       Index lda = glu.xlusup(fsupc+1) - glu.xlusup(fsupc);
       no_zeros = (krep - u_rows + 1) - fsupc;
       luptr += lda * no_zeros + no_zeros;
-      Map<Matrix<Scalar,Dynamic,Dynamic>, 0, OuterStride<> > A(glu.lusup.data()+luptr, u_rows, u_rows, OuterStride<>(lda) );
+      MappedMatrixBlock A(glu.lusup.data()+luptr, u_rows, u_rows, OuterStride<>(lda) );
       U = A.template triangularView<UnitLower>().solve(U);
       
       // update
       luptr += u_rows;
-      Map<Matrix<Scalar,Dynamic,Dynamic>, 0, OuterStride<> > B(glu.lusup.data()+luptr, nrow, u_rows, OuterStride<>(lda) );
+      MappedMatrixBlock B(glu.lusup.data()+luptr, nrow, u_rows, OuterStride<>(lda) );
       eigen_assert(tempv.size()>w*ldu + nrow*w + 1);
       
       Index ldl = internal::first_multiple<Index>(nrow, PacketSize);
-      Index offset = (PacketSize-internal::first_aligned(B.data(), PacketSize)) % PacketSize;
-      Map<Matrix<Scalar,Dynamic,Dynamic>, 0, OuterStride<> > L(tempv.data()+w*ldu+offset, nrow, u_cols, OuterStride<>(ldl));
+      Index offset = (PacketSize-internal::first_default_aligned(B.data(), PacketSize)) % PacketSize;
+      MappedMatrixBlock L(tempv.data()+w*ldu+offset, nrow, u_cols, OuterStride<>(ldl));
       
       L.setZero();
       internal::sparselu_gemm<Scalar>(L.rows(), L.cols(), B.cols(), B.data(), B.outerStride(), U.data(), U.outerStride(), L.data(), L.outerStride());
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_panel_dfs.h b/eigenlib/Eigen/src/SparseLU/SparseLU_panel_dfs.h
index dc0054ef..155df733 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_panel_dfs.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_panel_dfs.h
@@ -37,11 +37,11 @@ namespace internal {
 template<typename IndexVector>
 struct panel_dfs_traits
 {
-  typedef typename IndexVector::Scalar Index;
-  panel_dfs_traits(Index jcol, Index* marker)
+  typedef typename IndexVector::Scalar StorageIndex;
+  panel_dfs_traits(Index jcol, StorageIndex* marker)
     : m_jcol(jcol), m_marker(marker)
   {}
-  bool update_segrep(Index krep, Index jj)
+  bool update_segrep(Index krep, StorageIndex jj)
   {
     if(m_marker[krep]<m_jcol)
     {
@@ -53,13 +53,13 @@ struct panel_dfs_traits
   void mem_expand(IndexVector& /*glu.lsub*/, Index /*nextl*/, Index /*chmark*/) {}
   enum { ExpandMem = false };
   Index m_jcol;
-  Index* m_marker;
+  StorageIndex* m_marker;
 };
 
 
-template <typename Scalar, typename Index>
+template <typename Scalar, typename StorageIndex>
 template <typename Traits>
-void SparseLUImpl<Scalar,Index>::dfs_kernel(const Index jj, IndexVector& perm_r,
+void SparseLUImpl<Scalar,StorageIndex>::dfs_kernel(const StorageIndex jj, IndexVector& perm_r,
                    Index& nseg, IndexVector& panel_lsub, IndexVector& segrep,
                    Ref<IndexVector> repfnz_col, IndexVector& xprune, Ref<IndexVector> marker, IndexVector& parent,
                    IndexVector& xplore, GlobalLU_t& glu,
@@ -67,14 +67,14 @@ void SparseLUImpl<Scalar,Index>::dfs_kernel(const Index jj, IndexVector& perm_r,
                   )
 {
   
-  Index kmark = marker(krow);
+  StorageIndex kmark = marker(krow);
       
   // For each unmarked krow of jj
   marker(krow) = jj; 
-  Index kperm = perm_r(krow); 
+  StorageIndex kperm = perm_r(krow); 
   if (kperm == emptyIdxLU ) {
     // krow is in L : place it in structure of L(*, jj)
-    panel_lsub(nextl_col++) = krow;  // krow is indexed into A
+    panel_lsub(nextl_col++) = StorageIndex(krow);  // krow is indexed into A
     
     traits.mem_expand(panel_lsub, nextl_col, kmark);
   }
@@ -83,9 +83,9 @@ void SparseLUImpl<Scalar,Index>::dfs_kernel(const Index jj, IndexVector& perm_r,
     // krow is in U : if its supernode-representative krep
     // has been explored, update repfnz(*)
     // krep = supernode representative of the current row
-    Index krep = glu.xsup(glu.supno(kperm)+1) - 1; 
+    StorageIndex krep = glu.xsup(glu.supno(kperm)+1) - 1; 
     // First nonzero element in the current column:
-    Index myfnz = repfnz_col(krep); 
+    StorageIndex myfnz = repfnz_col(krep); 
     
     if (myfnz != emptyIdxLU )
     {
@@ -96,26 +96,26 @@ void SparseLUImpl<Scalar,Index>::dfs_kernel(const Index jj, IndexVector& perm_r,
     else 
     {
       // Otherwise, perform dfs starting at krep
-      Index oldrep = emptyIdxLU; 
+      StorageIndex oldrep = emptyIdxLU; 
       parent(krep) = oldrep; 
       repfnz_col(krep) = kperm; 
-      Index xdfs =  glu.xlsub(krep); 
+      StorageIndex xdfs =  glu.xlsub(krep); 
       Index maxdfs = xprune(krep); 
       
-      Index kpar;
+      StorageIndex kpar;
       do 
       {
         // For each unmarked kchild of krep
         while (xdfs < maxdfs) 
         {
-          Index kchild = glu.lsub(xdfs); 
+          StorageIndex kchild = glu.lsub(xdfs); 
           xdfs++; 
-          Index chmark = marker(kchild); 
+          StorageIndex chmark = marker(kchild); 
           
           if (chmark != jj ) 
           {
             marker(kchild) = jj; 
-            Index chperm = perm_r(kchild); 
+            StorageIndex chperm = perm_r(kchild); 
             
             if (chperm == emptyIdxLU) 
             {
@@ -128,7 +128,7 @@ void SparseLUImpl<Scalar,Index>::dfs_kernel(const Index jj, IndexVector& perm_r,
               // case kchild is in U :
               // chrep = its supernode-rep. If its rep has been explored, 
               // update its repfnz(*)
-              Index chrep = glu.xsup(glu.supno(chperm)+1) - 1; 
+              StorageIndex chrep = glu.xsup(glu.supno(chperm)+1) - 1; 
               myfnz = repfnz_col(chrep); 
               
               if (myfnz != emptyIdxLU) 
@@ -215,8 +215,8 @@ void SparseLUImpl<Scalar,Index>::dfs_kernel(const Index jj, IndexVector& perm_r,
  * 
  */
 
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::panel_dfs(const Index m, const Index w, const Index jcol, MatrixType& A, IndexVector& perm_r, Index& nseg, ScalarVector& dense, IndexVector& panel_lsub, IndexVector& segrep, IndexVector& repfnz, IndexVector& xprune, IndexVector& marker, IndexVector& parent, IndexVector& xplore, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::panel_dfs(const Index m, const Index w, const Index jcol, MatrixType& A, IndexVector& perm_r, Index& nseg, ScalarVector& dense, IndexVector& panel_lsub, IndexVector& segrep, IndexVector& repfnz, IndexVector& xprune, IndexVector& marker, IndexVector& parent, IndexVector& xplore, GlobalLU_t& glu)
 {
   Index nextl_col; // Next available position in panel_lsub[*,jj] 
   
@@ -227,7 +227,7 @@ void SparseLUImpl<Scalar,Index>::panel_dfs(const Index m, const Index w, const I
   panel_dfs_traits<IndexVector> traits(jcol, marker1.data());
   
   // For each column in the panel 
-  for (Index jj = jcol; jj < jcol + w; jj++) 
+  for (StorageIndex jj = StorageIndex(jcol); jj < jcol + w; jj++) 
   {
     nextl_col = (jj - jcol) * m; 
     
@@ -241,7 +241,7 @@ void SparseLUImpl<Scalar,Index>::panel_dfs(const Index m, const Index w, const I
       Index krow = it.row(); 
       dense_col(krow) = it.value();
       
-      Index kmark = marker(krow); 
+      StorageIndex kmark = marker(krow); 
       if (kmark == jj) 
         continue; // krow visited before, go to the next nonzero
       
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_pivotL.h b/eigenlib/Eigen/src/SparseLU/SparseLU_pivotL.h
index 457789c7..a86dac93 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_pivotL.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_pivotL.h
@@ -56,8 +56,8 @@ namespace internal {
  * \return 0 if success, i > 0 if U(i,i) is exactly zero 
  * 
  */
-template <typename Scalar, typename Index>
-Index SparseLUImpl<Scalar,Index>::pivotL(const Index jcol, const RealScalar& diagpivotthresh, IndexVector& perm_r, IndexVector& iperm_c, Index& pivrow, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+Index SparseLUImpl<Scalar,StorageIndex>::pivotL(const Index jcol, const RealScalar& diagpivotthresh, IndexVector& perm_r, IndexVector& iperm_c, Index& pivrow, GlobalLU_t& glu)
 {
   
   Index fsupc = (glu.xsup)((glu.supno)(jcol)); // First column in the supernode containing the column jcol
@@ -67,11 +67,11 @@ Index SparseLUImpl<Scalar,Index>::pivotL(const Index jcol, const RealScalar& dia
   Index lda = glu.xlusup(fsupc+1) - glu.xlusup(fsupc); // leading dimension
   Scalar* lu_sup_ptr = &(glu.lusup.data()[glu.xlusup(fsupc)]); // Start of the current supernode
   Scalar* lu_col_ptr = &(glu.lusup.data()[glu.xlusup(jcol)]); // Start of jcol in the supernode
-  Index* lsub_ptr = &(glu.lsub.data()[lptr]); // Start of row indices of the supernode
+  StorageIndex* lsub_ptr = &(glu.lsub.data()[lptr]); // Start of row indices of the supernode
   
   // Determine the largest abs numerical value for partial pivoting 
   Index diagind = iperm_c(jcol); // diagonal index 
-  RealScalar pivmax = 0.0; 
+  RealScalar pivmax(-1.0);
   Index pivptr = nsupc; 
   Index diag = emptyIdxLU; 
   RealScalar rtemp;
@@ -87,9 +87,10 @@ Index SparseLUImpl<Scalar,Index>::pivotL(const Index jcol, const RealScalar& dia
   }
   
   // Test for singularity
-  if ( pivmax == 0.0 ) {
-    pivrow = lsub_ptr[pivptr];
-    perm_r(pivrow) = jcol;
+  if ( pivmax <= RealScalar(0.0) ) {
+    // if pivmax == -1, the column is structurally empty, otherwise it is only numerically zero
+    pivrow = pivmax < RealScalar(0.0) ? diagind : lsub_ptr[pivptr];
+    perm_r(pivrow) = StorageIndex(jcol);
     return (jcol+1);
   }
   
@@ -104,13 +105,13 @@ Index SparseLUImpl<Scalar,Index>::pivotL(const Index jcol, const RealScalar& dia
       // Diagonal element exists
       using std::abs;
       rtemp = abs(lu_col_ptr[diag]);
-      if (rtemp != 0.0 && rtemp >= thresh) pivptr = diag;
+      if (rtemp != RealScalar(0.0) && rtemp >= thresh) pivptr = diag;
     }
     pivrow = lsub_ptr[pivptr];
   }
   
   // Record pivot row
-  perm_r(pivrow) = jcol; 
+  perm_r(pivrow) = StorageIndex(jcol);
   // Interchange row subscripts
   if (pivptr != nsupc )
   {
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_pruneL.h b/eigenlib/Eigen/src/SparseLU/SparseLU_pruneL.h
index 66460d16..ad32fed5 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_pruneL.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_pruneL.h
@@ -49,8 +49,9 @@ namespace internal {
  * \param glu Global LU data
  * 
  */
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::pruneL(const Index jcol, const IndexVector& perm_r, const Index pivrow, const Index nseg, const IndexVector& segrep, BlockIndexVector repfnz, IndexVector& xprune, GlobalLU_t& glu)
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::pruneL(const Index jcol, const IndexVector& perm_r, const Index pivrow, const Index nseg,
+                                               const IndexVector& segrep, BlockIndexVector repfnz, IndexVector& xprune, GlobalLU_t& glu)
 {
   // For each supernode-rep irep in U(*,j]
   Index jsupno = glu.supno(jcol); 
@@ -123,7 +124,7 @@ void SparseLUImpl<Scalar,Index>::pruneL(const Index jcol, const IndexVector& per
           }
         } // end while 
         
-        xprune(irep) = kmin;  //Pruning 
+        xprune(irep) = StorageIndex(kmin);  //Pruning 
       } // end if do_prune 
     } // end pruning 
   } // End for each U-segment
diff --git a/eigenlib/Eigen/src/SparseLU/SparseLU_relax_snode.h b/eigenlib/Eigen/src/SparseLU/SparseLU_relax_snode.h
index 58ec32e2..c408d01b 100644
--- a/eigenlib/Eigen/src/SparseLU/SparseLU_relax_snode.h
+++ b/eigenlib/Eigen/src/SparseLU/SparseLU_relax_snode.h
@@ -43,15 +43,15 @@ namespace internal {
  * \param descendants Number of descendants of each node in the etree
  * \param relax_end last column in a supernode
  */
-template <typename Scalar, typename Index>
-void SparseLUImpl<Scalar,Index>::relax_snode (const Index n, IndexVector& et, const Index relax_columns, IndexVector& descendants, IndexVector& relax_end)
+template <typename Scalar, typename StorageIndex>
+void SparseLUImpl<Scalar,StorageIndex>::relax_snode (const Index n, IndexVector& et, const Index relax_columns, IndexVector& descendants, IndexVector& relax_end)
 {
   
   // compute the number of descendants of each node in the etree
-  Index j, parent; 
+  Index parent; 
   relax_end.setConstant(emptyIdxLU);
   descendants.setZero();
-  for (j = 0; j < n; j++) 
+  for (Index j = 0; j < n; j++) 
   {
     parent = et(j);
     if (parent != n) // not the dummy root
@@ -59,7 +59,7 @@ void SparseLUImpl<Scalar,Index>::relax_snode (const Index n, IndexVector& et, co
   }
   // Identify the relaxed supernodes by postorder traversal of the etree
   Index snode_start; // beginning of a snode 
-  for (j = 0; j < n; )
+  for (Index j = 0; j < n; )
   {
     parent = et(j);
     snode_start = j; 
@@ -69,7 +69,7 @@ void SparseLUImpl<Scalar,Index>::relax_snode (const Index n, IndexVector& et, co
       parent = et(j);
     }
     // Found a supernode in postordered etree, j is the last column 
-    relax_end(snode_start) = j; // Record last column
+    relax_end(snode_start) = StorageIndex(j); // Record last column
     j++;
     // Search for a new leaf
     while (descendants(j) != 0 && j < n) j++;
diff --git a/eigenlib/Eigen/src/SparseQR/CMakeLists.txt b/eigenlib/Eigen/src/SparseQR/CMakeLists.txt
deleted file mode 100644
index f9ddf2bd..00000000
--- a/eigenlib/Eigen/src/SparseQR/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_SparseQR_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_SparseQR_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/SparseQR/ COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/SparseQR/SparseQR.h b/eigenlib/Eigen/src/SparseQR/SparseQR.h
index a00bd5db..2d4498b0 100644
--- a/eigenlib/Eigen/src/SparseQR/SparseQR.h
+++ b/eigenlib/Eigen/src/SparseQR/SparseQR.h
@@ -21,8 +21,12 @@ namespace internal {
   template <typename SparseQRType> struct traits<SparseQRMatrixQReturnType<SparseQRType> >
   {
     typedef typename SparseQRType::MatrixType ReturnType;
-    typedef typename ReturnType::Index Index;
+    typedef typename ReturnType::StorageIndex StorageIndex;
     typedef typename ReturnType::StorageKind StorageKind;
+    enum {
+      RowsAtCompileTime = Dynamic,
+      ColsAtCompileTime = Dynamic
+    };
   };
   template <typename SparseQRType> struct traits<SparseQRMatrixQTransposeReturnType<SparseQRType> >
   {
@@ -58,24 +62,36 @@ namespace internal {
   * \tparam _OrderingType The fill-reducing ordering method. See the \link OrderingMethods_Module 
   *  OrderingMethods \endlink module for the list of built-in and external ordering methods.
   * 
+  * \implsparsesolverconcept
+  *
   * \warning The input sparse matrix A must be in compressed mode (see SparseMatrix::makeCompressed()).
   * 
   */
 template<typename _MatrixType, typename _OrderingType>
-class SparseQR
+class SparseQR : public SparseSolverBase<SparseQR<_MatrixType,_OrderingType> >
 {
+  protected:
+    typedef SparseSolverBase<SparseQR<_MatrixType,_OrderingType> > Base;
+    using Base::m_isInitialized;
   public:
+    using Base::_solve_impl;
     typedef _MatrixType MatrixType;
     typedef _OrderingType OrderingType;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-    typedef SparseMatrix<Scalar,ColMajor,Index> QRMatrixType;
-    typedef Matrix<Index, Dynamic, 1> IndexVector;
+    typedef typename MatrixType::StorageIndex StorageIndex;
+    typedef SparseMatrix<Scalar,ColMajor,StorageIndex> QRMatrixType;
+    typedef Matrix<StorageIndex, Dynamic, 1> IndexVector;
     typedef Matrix<Scalar, Dynamic, 1> ScalarVector;
-    typedef PermutationMatrix<Dynamic, Dynamic, Index> PermutationType;
+    typedef PermutationMatrix<Dynamic, Dynamic, StorageIndex> PermutationType;
+
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
+    
   public:
-    SparseQR () : m_isInitialized(false), m_analysisIsok(false), m_lastError(""), m_useDefaultThreshold(true),m_isQSorted(false),m_isEtreeOk(false)
+    SparseQR () :  m_analysisIsok(false), m_lastError(""), m_useDefaultThreshold(true),m_isQSorted(false),m_isEtreeOk(false)
     { }
     
     /** Construct a QR factorization of the matrix \a mat.
@@ -84,7 +100,7 @@ class SparseQR
       * 
       * \sa compute()
       */
-    SparseQR(const MatrixType& mat) : m_isInitialized(false), m_analysisIsok(false), m_lastError(""), m_useDefaultThreshold(true),m_isQSorted(false),m_isEtreeOk(false)
+    explicit SparseQR(const MatrixType& mat) : m_analysisIsok(false), m_lastError(""), m_useDefaultThreshold(true),m_isQSorted(false),m_isEtreeOk(false)
     {
       compute(mat);
     }
@@ -112,6 +128,17 @@ class SparseQR
     inline Index cols() const { return m_pmat.cols();}
     
     /** \returns a const reference to the \b sparse upper triangular matrix R of the QR factorization.
+      * \warning The entries of the returned matrix are not sorted. This means that using it in algorithms
+      *          expecting sorted entries will fail. This include random coefficient accesses (SpaseMatrix::coeff()),
+      *          and coefficient-wise operations. Matrix products and triangular solves are fine though.
+      *
+      * To sort the entries, you can assign it to a row-major matrix, and if a column-major matrix
+      * is required, you can copy it again:
+      * \code
+      * SparseMatrix<double>          R  = qr.matrixR();  // column-major, not sorted!
+      * SparseMatrix<double,RowMajor> Rr = qr.matrixR();  // row-major, sorted
+      * SparseMatrix<double>          Rc = Rr;            // column-major, sorted
+      * \endcode
       */
     const QRMatrixType& matrixR() const { return m_R; }
     
@@ -119,7 +146,7 @@ class SparseQR
       *
       * \sa setPivotThreshold()
       */
-    Index rank() const 
+    Index rank() const
     {
       eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
       return m_nonzeropivots; 
@@ -162,7 +189,7 @@ class SparseQR
     
     /** \internal */
     template<typename Rhs, typename Dest>
-    bool _solve(const MatrixBase<Rhs> &B, MatrixBase<Dest> &dest) const
+    bool _solve_impl(const MatrixBase<Rhs> &B, MatrixBase<Dest> &dest) const
     {
       eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
       eigen_assert(this->rows() == B.rows() && "SparseQR::solve() : invalid number of rows in the right hand side matrix");
@@ -175,10 +202,10 @@ class SparseQR
       b = y;
       
       // Solve with the triangular matrix R
-      y.resize((std::max)(cols(),Index(y.rows())),y.cols());
+      y.resize((std::max<Index>)(cols(),y.rows()),y.cols());
       y.topRows(rank) = this->matrixR().topLeftCorner(rank, rank).template triangularView<Upper>().solve(b.topRows(rank));
       y.bottomRows(y.rows()-rank).setZero();
-
+      
       // Apply the column permutation
       if (m_perm_c.size())  dest = colsPermutation() * y.topRows(cols());
       else                  dest = y.topRows(cols());
@@ -186,7 +213,6 @@ class SparseQR
       m_info = Success;
       return true;
     }
-    
 
     /** Sets the threshold that is used to determine linearly dependent columns during the factorization.
       *
@@ -204,18 +230,18 @@ class SparseQR
       * \sa compute()
       */
     template<typename Rhs>
-    inline const internal::solve_retval<SparseQR, Rhs> solve(const MatrixBase<Rhs>& B) const 
+    inline const Solve<SparseQR, Rhs> solve(const MatrixBase<Rhs>& B) const 
     {
       eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
       eigen_assert(this->rows() == B.rows() && "SparseQR::solve() : invalid number of rows in the right hand side matrix");
-      return internal::solve_retval<SparseQR, Rhs>(*this, B.derived());
+      return Solve<SparseQR, Rhs>(*this, B.derived());
     }
     template<typename Rhs>
-    inline const internal::sparse_solve_retval<SparseQR, Rhs> solve(const SparseMatrixBase<Rhs>& B) const
+    inline const Solve<SparseQR, Rhs> solve(const SparseMatrixBase<Rhs>& B) const
     {
           eigen_assert(m_isInitialized && "The factorization should be called first, use compute()");
           eigen_assert(this->rows() == B.rows() && "SparseQR::solve() : invalid number of rows in the right hand side matrix");
-          return internal::sparse_solve_retval<SparseQR, Rhs>(*this, B.derived());
+          return Solve<SparseQR, Rhs>(*this, B.derived());
     }
     
     /** \brief Reports whether previous computation was successful.
@@ -232,8 +258,9 @@ class SparseQR
       return m_info;
     }
 
-  protected:
-    inline void sort_matrix_Q()
+
+    /** \internal */
+    inline void _sort_matrix_Q()
     {
       if(this->m_isQSorted) return;
       // The matrix Q is sorted during the transposition
@@ -244,7 +271,6 @@ class SparseQR
 
     
   protected:
-    bool m_isInitialized;
     bool m_analysisIsok;
     bool m_factorizationIsok;
     mutable ComputationInfo m_info;
@@ -258,14 +284,13 @@ class SparseQR
     PermutationType m_outputPerm_c; // The final column permutation
     RealScalar m_threshold;         // Threshold to determine null Householder reflections
     bool m_useDefaultThreshold;     // Use default threshold
-    Index m_nonzeropivots;          // Number of non zero pivots found 
+    Index m_nonzeropivots;          // Number of non zero pivots found
     IndexVector m_etree;            // Column elimination tree
     IndexVector m_firstRowElt;      // First element in each row
     bool m_isQSorted;               // whether Q is sorted or not
     bool m_isEtreeOk;               // whether the elimination tree match the initial input matrix
     
     template <typename, typename > friend struct SparseQR_QProduct;
-    template <typename > friend struct SparseQRMatrixQReturnType;
     
 };
 
@@ -294,7 +319,7 @@ void SparseQR<MatrixType,OrderingType>::analyzePattern(const MatrixType& mat)
   if (!m_perm_c.size())
   {
     m_perm_c.resize(n);
-    m_perm_c.indices().setLinSpaced(n, 0,n-1);
+    m_perm_c.indices().setLinSpaced(n, 0,StorageIndex(n-1));
   }
   
   // Compute the column elimination tree of the permuted matrix
@@ -323,12 +348,11 @@ template <typename MatrixType, typename OrderingType>
 void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
 {
   using std::abs;
-  using std::max;
   
   eigen_assert(m_analysisIsok && "analyzePattern() should be called before this step");
-  Index m = mat.rows();
-  Index n = mat.cols();
-  Index diagSize = (std::min)(m,n);
+  StorageIndex m = StorageIndex(mat.rows());
+  StorageIndex n = StorageIndex(mat.cols());
+  StorageIndex diagSize = (std::min)(m,n);
   IndexVector mark((std::max)(m,n)); mark.setConstant(-1);  // Record the visited nodes
   IndexVector Ridx(n), Qidx(m);                             // Store temporarily the row indexes for the current column of R and Q
   Index nzcolR, nzcolQ;                                     // Number of nonzero for the current column of R and Q
@@ -353,7 +377,7 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
     // otherwise directly use the input matrix
     // 
     IndexVector originalOuterIndicesCpy;
-    const Index *originalOuterIndices = mat.outerIndexPtr();
+    const StorageIndex *originalOuterIndices = mat.outerIndexPtr();
     if(MatrixType::IsRowMajor)
     {
       originalOuterIndicesCpy = IndexVector::Map(m_pmat.outerIndexPtr(),n+1);
@@ -375,7 +399,7 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
   if(m_useDefaultThreshold) 
   {
     RealScalar max2Norm = 0.0;
-    for (int j = 0; j < n; j++) max2Norm = (max)(max2Norm, m_pmat.col(j).norm());
+    for (int j = 0; j < n; j++) max2Norm = numext::maxi(max2Norm, m_pmat.col(j).norm());
     if(max2Norm==RealScalar(0))
       max2Norm = RealScalar(1);
     pivotThreshold = 20 * (m + n) * max2Norm * NumTraits<RealScalar>::epsilon();
@@ -384,11 +408,11 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
   // Initialize the numerical permutation
   m_pivotperm.setIdentity(n);
   
-  Index nonzeroCol = 0; // Record the number of valid pivots
+  StorageIndex nonzeroCol = 0; // Record the number of valid pivots
   m_Q.startVec(0);
 
   // Left looking rank-revealing QR factorization: compute a column of R and Q at a time
-  for (Index col = 0; col < n; ++col)
+  for (StorageIndex col = 0; col < n; ++col)
   {
     mark.setConstant(-1);
     m_R.startVec(col);
@@ -404,12 +428,12 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
     // thus the trick with found_diag that permits to do one more iteration on the diagonal element if this one has not been found.
     for (typename QRMatrixType::InnerIterator itp(m_pmat, col); itp || !found_diag; ++itp)
     {
-      Index curIdx = nonzeroCol;
-      if(itp) curIdx = itp.row();
+      StorageIndex curIdx = nonzeroCol;
+      if(itp) curIdx = StorageIndex(itp.row());
       if(curIdx == nonzeroCol) found_diag = true;
       
       // Get the nonzeros indexes of the current column of R
-      Index st = m_firstRowElt(curIdx); // The traversal of the etree starts here 
+      StorageIndex st = m_firstRowElt(curIdx); // The traversal of the etree starts here
       if (st < 0 )
       {
         m_lastError = "Empty row found during numerical factorization";
@@ -466,7 +490,7 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
       {
         for (typename QRMatrixType::InnerIterator itq(m_Q, curIdx); itq; ++itq)
         {
-          Index iQ = itq.row();
+          StorageIndex iQ = StorageIndex(itq.row());
           if (mark(iQ) != col)
           {
             Qidx(nzcolQ++) = iQ;  // Add this row to the pattern of Q,
@@ -476,7 +500,7 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
       }
     } // End update current column
     
-    Scalar tau = 0;
+    Scalar tau = RealScalar(0);
     RealScalar beta = 0;
     
     if(nonzeroCol < diagSize)
@@ -572,40 +596,11 @@ void SparseQR<MatrixType,OrderingType>::factorize(const MatrixType& mat)
   m_info = Success;
 }
 
-namespace internal {
-  
-template<typename _MatrixType, typename OrderingType, typename Rhs>
-struct solve_retval<SparseQR<_MatrixType,OrderingType>, Rhs>
-  : solve_retval_base<SparseQR<_MatrixType,OrderingType>, Rhs>
-{
-  typedef SparseQR<_MatrixType,OrderingType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-template<typename _MatrixType, typename OrderingType, typename Rhs>
-struct sparse_solve_retval<SparseQR<_MatrixType, OrderingType>, Rhs>
- : sparse_solve_retval_base<SparseQR<_MatrixType, OrderingType>, Rhs>
-{
-  typedef SparseQR<_MatrixType, OrderingType> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec, Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-} // end namespace internal
-
 template <typename SparseQRType, typename Derived>
 struct SparseQR_QProduct : ReturnByValue<SparseQR_QProduct<SparseQRType, Derived> >
 {
   typedef typename SparseQRType::QRMatrixType MatrixType;
   typedef typename SparseQRType::Scalar Scalar;
-  typedef typename SparseQRType::Index Index;
   // Get the references 
   SparseQR_QProduct(const SparseQRType& qr, const Derived& other, bool transpose) : 
   m_qr(qr),m_other(other),m_transpose(transpose) {}
@@ -661,10 +656,13 @@ struct SparseQR_QProduct : ReturnByValue<SparseQR_QProduct<SparseQRType, Derived
 template<typename SparseQRType>
 struct SparseQRMatrixQReturnType : public EigenBase<SparseQRMatrixQReturnType<SparseQRType> >
 {  
-  typedef typename SparseQRType::Index Index;
   typedef typename SparseQRType::Scalar Scalar;
   typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
-  SparseQRMatrixQReturnType(const SparseQRType& qr) : m_qr(qr) {}
+  enum {
+    RowsAtCompileTime = Dynamic,
+    ColsAtCompileTime = Dynamic
+  };
+  explicit SparseQRMatrixQReturnType(const SparseQRType& qr) : m_qr(qr) {}
   template<typename Derived>
   SparseQR_QProduct<SparseQRType, Derived> operator*(const MatrixBase<Derived>& other)
   {
@@ -681,26 +679,13 @@ struct SparseQRMatrixQReturnType : public EigenBase<SparseQRMatrixQReturnType<Sp
   {
     return SparseQRMatrixQTransposeReturnType<SparseQRType>(m_qr);
   }
-  template<typename Dest> void evalTo(MatrixBase<Dest>& dest) const
-  {
-    dest.derived() = m_qr.matrixQ() * Dest::Identity(m_qr.rows(), m_qr.rows());
-  }
-  template<typename Dest> void evalTo(SparseMatrixBase<Dest>& dest) const
-  {
-    Dest idMat(m_qr.rows(), m_qr.rows());
-    idMat.setIdentity();
-    // Sort the sparse householder reflectors if needed
-    const_cast<SparseQRType *>(&m_qr)->sort_matrix_Q();
-    dest.derived() = SparseQR_QProduct<SparseQRType, Dest>(m_qr, idMat, false);
-  }
-
   const SparseQRType& m_qr;
 };
 
 template<typename SparseQRType>
 struct SparseQRMatrixQTransposeReturnType
 {
-  SparseQRMatrixQTransposeReturnType(const SparseQRType& qr) : m_qr(qr) {}
+  explicit SparseQRMatrixQTransposeReturnType(const SparseQRType& qr) : m_qr(qr) {}
   template<typename Derived>
   SparseQR_QProduct<SparseQRType,Derived> operator*(const MatrixBase<Derived>& other)
   {
@@ -709,6 +694,46 @@ struct SparseQRMatrixQTransposeReturnType
   const SparseQRType& m_qr;
 };
 
+namespace internal {
+  
+template<typename SparseQRType>
+struct evaluator_traits<SparseQRMatrixQReturnType<SparseQRType> >
+{
+  typedef typename SparseQRType::MatrixType MatrixType;
+  typedef typename storage_kind_to_evaluator_kind<typename MatrixType::StorageKind>::Kind Kind;
+  typedef SparseShape Shape;
+};
+
+template< typename DstXprType, typename SparseQRType>
+struct Assignment<DstXprType, SparseQRMatrixQReturnType<SparseQRType>, internal::assign_op<typename DstXprType::Scalar,typename DstXprType::Scalar>, Sparse2Sparse>
+{
+  typedef SparseQRMatrixQReturnType<SparseQRType> SrcXprType;
+  typedef typename DstXprType::Scalar Scalar;
+  typedef typename DstXprType::StorageIndex StorageIndex;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &/*func*/)
+  {
+    typename DstXprType::PlainObject idMat(src.m_qr.rows(), src.m_qr.rows());
+    idMat.setIdentity();
+    // Sort the sparse householder reflectors if needed
+    const_cast<SparseQRType *>(&src.m_qr)->_sort_matrix_Q();
+    dst = SparseQR_QProduct<SparseQRType, DstXprType>(src.m_qr, idMat, false);
+  }
+};
+
+template< typename DstXprType, typename SparseQRType>
+struct Assignment<DstXprType, SparseQRMatrixQReturnType<SparseQRType>, internal::assign_op<typename DstXprType::Scalar,typename DstXprType::Scalar>, Sparse2Dense>
+{
+  typedef SparseQRMatrixQReturnType<SparseQRType> SrcXprType;
+  typedef typename DstXprType::Scalar Scalar;
+  typedef typename DstXprType::StorageIndex StorageIndex;
+  static void run(DstXprType &dst, const SrcXprType &src, const internal::assign_op<Scalar,Scalar> &/*func*/)
+  {
+    dst = src.m_qr.matrixQ() * DstXprType::Identity(src.m_qr.rows(), src.m_qr.rows());
+  }
+};
+
+} // end namespace internal
+
 } // end namespace Eigen
 
 #endif
diff --git a/eigenlib/Eigen/src/StlSupport/CMakeLists.txt b/eigenlib/Eigen/src/StlSupport/CMakeLists.txt
deleted file mode 100644
index 0f094f63..00000000
--- a/eigenlib/Eigen/src/StlSupport/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_StlSupport_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_StlSupport_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/StlSupport COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/StlSupport/StdDeque.h b/eigenlib/Eigen/src/StlSupport/StdDeque.h
index aaf66330..cf1fedf9 100644
--- a/eigenlib/Eigen/src/StlSupport/StdDeque.h
+++ b/eigenlib/Eigen/src/StlSupport/StdDeque.h
@@ -13,32 +13,24 @@
 
 #include "details.h"
 
-// Define the explicit instantiation (e.g. necessary for the Intel compiler)
-#if defined(__INTEL_COMPILER) || defined(__GNUC__)
-  #define EIGEN_EXPLICIT_STL_DEQUE_INSTANTIATION(...) template class std::deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> >;
-#else
-  #define EIGEN_EXPLICIT_STL_DEQUE_INSTANTIATION(...)
-#endif
-
 /**
  * This section contains a convenience MACRO which allows an easy specialization of
  * std::deque such that for data types with alignment issues the correct allocator
  * is used automatically.
  */
 #define EIGEN_DEFINE_STL_DEQUE_SPECIALIZATION(...) \
-EIGEN_EXPLICIT_STL_DEQUE_INSTANTIATION(__VA_ARGS__) \
 namespace std \
 { \
-  template<typename _Ay> \
-  class deque<__VA_ARGS__, _Ay>  \
+  template<> \
+  class deque<__VA_ARGS__, std::allocator<__VA_ARGS__> >           \
     : public deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
   { \
     typedef deque<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > deque_base; \
   public: \
     typedef __VA_ARGS__ value_type; \
-    typedef typename deque_base::allocator_type allocator_type; \
-    typedef typename deque_base::size_type size_type;  \
-    typedef typename deque_base::iterator iterator;  \
+    typedef deque_base::allocator_type allocator_type; \
+    typedef deque_base::size_type size_type;  \
+    typedef deque_base::iterator iterator;  \
     explicit deque(const allocator_type& a = allocator_type()) : deque_base(a) {}  \
     template<typename InputIterator> \
     deque(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : deque_base(first, last, a) {} \
@@ -53,7 +45,7 @@ namespace std \
 }
 
 // check whether we really need the std::deque specialization
-#if !(defined(_GLIBCXX_DEQUE) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::deque::resize(size_type,const T&). */
+#if !EIGEN_HAS_CXX11_CONTAINERS && !(defined(_GLIBCXX_DEQUE) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::deque::resize(size_type,const T&). */
 
 namespace std {
 
diff --git a/eigenlib/Eigen/src/StlSupport/StdList.h b/eigenlib/Eigen/src/StlSupport/StdList.h
index 3c742430..e1eba498 100644
--- a/eigenlib/Eigen/src/StlSupport/StdList.h
+++ b/eigenlib/Eigen/src/StlSupport/StdList.h
@@ -12,32 +12,24 @@
 
 #include "details.h"
 
-// Define the explicit instantiation (e.g. necessary for the Intel compiler)
-#if defined(__INTEL_COMPILER) || defined(__GNUC__)
-  #define EIGEN_EXPLICIT_STL_LIST_INSTANTIATION(...) template class std::list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> >;
-#else
-  #define EIGEN_EXPLICIT_STL_LIST_INSTANTIATION(...)
-#endif
-
 /**
  * This section contains a convenience MACRO which allows an easy specialization of
  * std::list such that for data types with alignment issues the correct allocator
  * is used automatically.
  */
 #define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...) \
-EIGEN_EXPLICIT_STL_LIST_INSTANTIATION(__VA_ARGS__) \
 namespace std \
 { \
-  template<typename _Ay> \
-  class list<__VA_ARGS__, _Ay>  \
+  template<> \
+  class list<__VA_ARGS__, std::allocator<__VA_ARGS__> >           \
     : public list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > \
   { \
     typedef list<__VA_ARGS__, EIGEN_ALIGNED_ALLOCATOR<__VA_ARGS__> > list_base; \
   public: \
     typedef __VA_ARGS__ value_type; \
-    typedef typename list_base::allocator_type allocator_type; \
-    typedef typename list_base::size_type size_type;  \
-    typedef typename list_base::iterator iterator;  \
+    typedef list_base::allocator_type allocator_type; \
+    typedef list_base::size_type size_type;  \
+    typedef list_base::iterator iterator;  \
     explicit list(const allocator_type& a = allocator_type()) : list_base(a) {}  \
     template<typename InputIterator> \
     list(InputIterator first, InputIterator last, const allocator_type& a = allocator_type()) : list_base(first, last, a) {} \
@@ -51,8 +43,8 @@ namespace std \
   }; \
 }
 
-// check whether we really need the std::vector specialization
-#if !(defined(_GLIBCXX_VECTOR) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::list::resize(size_type,const T&). */
+// check whether we really need the std::list specialization
+#if !EIGEN_HAS_CXX11_CONTAINERS && !(defined(_GLIBCXX_LIST) && (!EIGEN_GNUC_AT_LEAST(4,1))) /* Note that before gcc-4.1 we already have: std::list::resize(size_type,const T&). */
 
 namespace std
 {
diff --git a/eigenlib/Eigen/src/StlSupport/StdVector.h b/eigenlib/Eigen/src/StlSupport/StdVector.h
index 611664a2..ec22821d 100644
--- a/eigenlib/Eigen/src/StlSupport/StdVector.h
+++ b/eigenlib/Eigen/src/StlSupport/StdVector.h
@@ -44,6 +44,9 @@ namespace std \
   }; \
 }
 
+// Don't specialize if containers are implemented according to C++11
+#if !EIGEN_HAS_CXX11_CONTAINERS
+
 namespace std {
 
 #define EIGEN_STD_VECTOR_SPECIALIZATION_BODY \
@@ -122,5 +125,7 @@ namespace std {
 #endif
   };
 }
+#endif // !EIGEN_HAS_CXX11_CONTAINERS
+
 
 #endif // EIGEN_STDVECTOR_H
diff --git a/eigenlib/Eigen/src/StlSupport/details.h b/eigenlib/Eigen/src/StlSupport/details.h
index d8debc7c..e42ec024 100644
--- a/eigenlib/Eigen/src/StlSupport/details.h
+++ b/eigenlib/Eigen/src/StlSupport/details.h
@@ -46,7 +46,7 @@ namespace Eigen {
     ~aligned_allocator_indirection() {}
   };
 
-#ifdef _MSC_VER
+#if EIGEN_COMP_MSVC
 
   // sometimes, MSVC detects, at compile time, that the argument x
   // in std::vector::resize(size_t s,T x) won't be aligned and generate an error
diff --git a/eigenlib/Eigen/src/SuperLUSupport/CMakeLists.txt b/eigenlib/Eigen/src/SuperLUSupport/CMakeLists.txt
deleted file mode 100644
index b28ebe58..00000000
--- a/eigenlib/Eigen/src/SuperLUSupport/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_SuperLUSupport_SRCS "*.h")
-
-INSTALL(FILES 
-  ${Eigen_SuperLUSupport_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/SuperLUSupport COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/SuperLUSupport/SuperLUSupport.h b/eigenlib/Eigen/src/SuperLUSupport/SuperLUSupport.h
index bcb35576..50a69f30 100644
--- a/eigenlib/Eigen/src/SuperLUSupport/SuperLUSupport.h
+++ b/eigenlib/Eigen/src/SuperLUSupport/SuperLUSupport.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2011 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2015 Gael Guennebaud <gael.guennebaud@inria.fr>
 //
 // This Source Code Form is subject to the terms of the Mozilla
 // Public License v. 2.0. If a copy of the MPL was not distributed
@@ -10,16 +10,16 @@
 #ifndef EIGEN_SUPERLUSUPPORT_H
 #define EIGEN_SUPERLUSUPPORT_H
 
-namespace Eigen { 
+namespace Eigen {
 
+#if defined(SUPERLU_MAJOR_VERSION) && (SUPERLU_MAJOR_VERSION >= 5)
 #define DECL_GSSVX(PREFIX,FLOATTYPE,KEYTYPE)		\
     extern "C" {                                                                                          \
-      typedef struct { FLOATTYPE for_lu; FLOATTYPE total_needed; int expansions; } PREFIX##mem_usage_t;   \
       extern void PREFIX##gssvx(superlu_options_t *, SuperMatrix *, int *, int *, int *,                  \
                                 char *, FLOATTYPE *, FLOATTYPE *, SuperMatrix *, SuperMatrix *,           \
                                 void *, int, SuperMatrix *, SuperMatrix *,                                \
                                 FLOATTYPE *, FLOATTYPE *, FLOATTYPE *, FLOATTYPE *,                       \
-                                PREFIX##mem_usage_t *, SuperLUStat_t *, int *);                           \
+                                GlobalLU_t *, mem_usage_t *, SuperLUStat_t *, int *);                     \
     }                                                                                                     \
     inline float SuperLU_gssvx(superlu_options_t *options, SuperMatrix *A,                                \
          int *perm_c, int *perm_r, int *etree, char *equed,                                               \
@@ -29,12 +29,37 @@ namespace Eigen {
          FLOATTYPE *recip_pivot_growth,                                                                   \
          FLOATTYPE *rcond, FLOATTYPE *ferr, FLOATTYPE *berr,                                              \
          SuperLUStat_t *stats, int *info, KEYTYPE) {                                                      \
-    PREFIX##mem_usage_t mem_usage;                                                                        \
+    mem_usage_t mem_usage;                                                                                \
+    GlobalLU_t gLU;                                                                                       \
+    PREFIX##gssvx(options, A, perm_c, perm_r, etree, equed, R, C, L,                                      \
+         U, work, lwork, B, X, recip_pivot_growth, rcond,                                                 \
+         ferr, berr, &gLU, &mem_usage, stats, info);                                                      \
+    return mem_usage.for_lu; /* bytes used by the factor storage */                                       \
+  }
+#else // version < 5.0
+#define DECL_GSSVX(PREFIX,FLOATTYPE,KEYTYPE)		\
+    extern "C" {                                                                                          \
+      extern void PREFIX##gssvx(superlu_options_t *, SuperMatrix *, int *, int *, int *,                  \
+                                char *, FLOATTYPE *, FLOATTYPE *, SuperMatrix *, SuperMatrix *,           \
+                                void *, int, SuperMatrix *, SuperMatrix *,                                \
+                                FLOATTYPE *, FLOATTYPE *, FLOATTYPE *, FLOATTYPE *,                       \
+                                mem_usage_t *, SuperLUStat_t *, int *);                                   \
+    }                                                                                                     \
+    inline float SuperLU_gssvx(superlu_options_t *options, SuperMatrix *A,                                \
+         int *perm_c, int *perm_r, int *etree, char *equed,                                               \
+         FLOATTYPE *R, FLOATTYPE *C, SuperMatrix *L,                                                      \
+         SuperMatrix *U, void *work, int lwork,                                                           \
+         SuperMatrix *B, SuperMatrix *X,                                                                  \
+         FLOATTYPE *recip_pivot_growth,                                                                   \
+         FLOATTYPE *rcond, FLOATTYPE *ferr, FLOATTYPE *berr,                                              \
+         SuperLUStat_t *stats, int *info, KEYTYPE) {                                                      \
+    mem_usage_t mem_usage;                                                                                \
     PREFIX##gssvx(options, A, perm_c, perm_r, etree, equed, R, C, L,                                      \
          U, work, lwork, B, X, recip_pivot_growth, rcond,                                                 \
          ferr, berr, &mem_usage, stats, info);                                                            \
     return mem_usage.for_lu; /* bytes used by the factor storage */                                       \
   }
+#endif
 
 DECL_GSSVX(s,float,float)
 DECL_GSSVX(c,float,std::complex<float>)
@@ -53,7 +78,7 @@ DECL_GSSVX(z,double,std::complex<double>)
       extern void PREFIX##gsisx(superlu_options_t *, SuperMatrix *, int *, int *, int *,        \
                          char *, FLOATTYPE *, FLOATTYPE *, SuperMatrix *, SuperMatrix *,        \
                          void *, int, SuperMatrix *, SuperMatrix *, FLOATTYPE *, FLOATTYPE *,   \
-                         PREFIX##mem_usage_t *, SuperLUStat_t *, int *);                        \
+                         mem_usage_t *, SuperLUStat_t *, int *);                        \
     }                                                                                           \
     inline float SuperLU_gsisx(superlu_options_t *options, SuperMatrix *A,                      \
          int *perm_c, int *perm_r, int *etree, char *equed,                                     \
@@ -63,7 +88,7 @@ DECL_GSSVX(z,double,std::complex<double>)
          FLOATTYPE *recip_pivot_growth,                                                         \
          FLOATTYPE *rcond,                                                                      \
          SuperLUStat_t *stats, int *info, KEYTYPE) {                                            \
-    PREFIX##mem_usage_t mem_usage;                                                              \
+    mem_usage_t mem_usage;                                                              \
     PREFIX##gsisx(options, A, perm_c, perm_r, etree, equed, R, C, L,                            \
          U, work, lwork, B, X, recip_pivot_growth, rcond,                                       \
          &mem_usage, stats, info);                                                              \
@@ -156,37 +181,38 @@ struct SluMatrix : SuperMatrix
     res.setScalarType<typename MatrixType::Scalar>();
     res.Mtype     = SLU_GE;
 
-    res.nrow      = mat.rows();
-    res.ncol      = mat.cols();
+    res.nrow      = internal::convert_index<int>(mat.rows());
+    res.ncol      = internal::convert_index<int>(mat.cols());
 
-    res.storage.lda       = MatrixType::IsVectorAtCompileTime ? mat.size() : mat.outerStride();
+    res.storage.lda       = internal::convert_index<int>(MatrixType::IsVectorAtCompileTime ? mat.size() : mat.outerStride());
     res.storage.values    = (void*)(mat.data());
     return res;
   }
 
   template<typename MatrixType>
-  static SluMatrix Map(SparseMatrixBase<MatrixType>& mat)
+  static SluMatrix Map(SparseMatrixBase<MatrixType>& a_mat)
   {
+    MatrixType &mat(a_mat.derived());
     SluMatrix res;
     if ((MatrixType::Flags&RowMajorBit)==RowMajorBit)
     {
       res.setStorageType(SLU_NR);
-      res.nrow      = mat.cols();
-      res.ncol      = mat.rows();
+      res.nrow      = internal::convert_index<int>(mat.cols());
+      res.ncol      = internal::convert_index<int>(mat.rows());
     }
     else
     {
       res.setStorageType(SLU_NC);
-      res.nrow      = mat.rows();
-      res.ncol      = mat.cols();
+      res.nrow      = internal::convert_index<int>(mat.rows());
+      res.ncol      = internal::convert_index<int>(mat.cols());
     }
 
     res.Mtype       = SLU_GE;
 
-    res.storage.nnz       = mat.nonZeros();
-    res.storage.values    = mat.derived().valuePtr();
-    res.storage.innerInd  = mat.derived().innerIndexPtr();
-    res.storage.outerInd  = mat.derived().outerIndexPtr();
+    res.storage.nnz       = internal::convert_index<int>(mat.nonZeros());
+    res.storage.values    = mat.valuePtr();
+    res.storage.innerInd  = mat.innerIndexPtr();
+    res.storage.outerInd  = mat.outerIndexPtr();
 
     res.setScalarType<typename MatrixType::Scalar>();
 
@@ -288,17 +314,26 @@ MappedSparseMatrix<Scalar,Flags,Index> map_superlu(SluMatrix& sluMat)
   * \brief The base class for the direct and incomplete LU factorization of SuperLU
   */
 template<typename _MatrixType, typename Derived>
-class SuperLUBase : internal::noncopyable
+class SuperLUBase : public SparseSolverBase<Derived>
 {
+  protected:
+    typedef SparseSolverBase<Derived> Base;
+    using Base::derived;
+    using Base::m_isInitialized;
   public:
     typedef _MatrixType MatrixType;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef Matrix<Scalar,Dynamic,1> Vector;
     typedef Matrix<int, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
     typedef Matrix<int, MatrixType::RowsAtCompileTime, 1> IntColVectorType;    
+    typedef Map<PermutationMatrix<Dynamic,Dynamic,int> > PermutationMap;
     typedef SparseMatrix<Scalar> LUMatrixType;
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
 
   public:
 
@@ -309,9 +344,6 @@ class SuperLUBase : internal::noncopyable
       clearFactors();
     }
     
-    Derived& derived() { return *static_cast<Derived*>(this); }
-    const Derived& derived() const { return *static_cast<const Derived*>(this); }
-    
     inline Index rows() const { return m_matrix.rows(); }
     inline Index cols() const { return m_matrix.cols(); }
     
@@ -335,33 +367,7 @@ class SuperLUBase : internal::noncopyable
       derived().analyzePattern(matrix);
       derived().factorize(matrix);
     }
-    
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<SuperLUBase, Rhs> solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "SuperLU is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "SuperLU::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<SuperLUBase, Rhs>(*this, b.derived());
-    }
-    
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<SuperLUBase, Rhs> solve(const SparseMatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "SuperLU is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "SuperLU::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::sparse_solve_retval<SuperLUBase, Rhs>(*this, b.derived());
-    }
-    
+
     /** Performs a symbolic decomposition on the sparcity of \a matrix.
       *
       * This function is particularly useful when solving for several problems having the same structure.
@@ -386,7 +392,7 @@ class SuperLUBase : internal::noncopyable
     {
       set_default_options(&this->m_sluOptions);
       
-      const int size = a.rows();
+      const Index size = a.rows();
       m_matrix = a;
 
       m_sluA = internal::asSluMatrix(m_matrix);
@@ -405,7 +411,7 @@ class SuperLUBase : internal::noncopyable
       m_sluB.storage.values = 0;
       m_sluB.nrow           = 0;
       m_sluB.ncol           = 0;
-      m_sluB.storage.lda    = size;
+      m_sluB.storage.lda    = internal::convert_index<int>(size);
       m_sluX                = m_sluB;
       
       m_extractedDataAreDirty = true;
@@ -453,7 +459,6 @@ class SuperLUBase : internal::noncopyable
     mutable char m_sluEqued;
 
     mutable ComputationInfo m_info;
-    bool m_isInitialized;
     int m_factorizationIsOk;
     int m_analysisIsOk;
     mutable bool m_extractedDataAreDirty;
@@ -473,7 +478,11 @@ class SuperLUBase : internal::noncopyable
   *
   * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \warning This class is only for the 4.x versions of SuperLU. The 3.x and 5.x versions are not supported.
+  *
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SparseLU
   */
 template<typename _MatrixType>
 class SuperLU : public SuperLUBase<_MatrixType,SuperLU<_MatrixType> >
@@ -483,18 +492,20 @@ class SuperLU : public SuperLUBase<_MatrixType,SuperLU<_MatrixType> >
     typedef _MatrixType MatrixType;
     typedef typename Base::Scalar Scalar;
     typedef typename Base::RealScalar RealScalar;
-    typedef typename Base::Index Index;
+    typedef typename Base::StorageIndex StorageIndex;
     typedef typename Base::IntRowVectorType IntRowVectorType;
-    typedef typename Base::IntColVectorType IntColVectorType;    
+    typedef typename Base::IntColVectorType IntColVectorType;   
+    typedef typename Base::PermutationMap PermutationMap;
     typedef typename Base::LUMatrixType LUMatrixType;
     typedef TriangularView<LUMatrixType, Lower|UnitDiag>  LMatrixType;
-    typedef TriangularView<LUMatrixType,  Upper>           UMatrixType;
+    typedef TriangularView<LUMatrixType,  Upper>          UMatrixType;
 
   public:
+    using Base::_solve_impl;
 
     SuperLU() : Base() { init(); }
 
-    SuperLU(const MatrixType& matrix) : Base()
+    explicit SuperLU(const MatrixType& matrix) : Base()
     {
       init();
       Base::compute(matrix);
@@ -525,11 +536,9 @@ class SuperLU : public SuperLUBase<_MatrixType,SuperLU<_MatrixType> >
       */
     void factorize(const MatrixType& matrix);
     
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal */
     template<typename Rhs,typename Dest>
-    void _solve(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const;
-    #endif // EIGEN_PARSED_BY_DOXYGEN
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const;
     
     inline const LMatrixType& matrixL() const
     {
@@ -637,12 +646,12 @@ void SuperLU<MatrixType>::factorize(const MatrixType& a)
 
 template<typename MatrixType>
 template<typename Rhs,typename Dest>
-void SuperLU<MatrixType>::_solve(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x) const
+void SuperLU<MatrixType>::_solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x) const
 {
   eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or analyzePattern()/factorize()");
 
-  const int size = m_matrix.rows();
-  const int rhsCols = b.cols();
+  const Index size = m_matrix.rows();
+  const Index rhsCols = b.cols();
   eigen_assert(size==b.rows());
 
   m_sluOptions.Trans = NOTRANS;
@@ -652,8 +661,12 @@ void SuperLU<MatrixType>::_solve(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x)
 
   m_sluFerr.resize(rhsCols);
   m_sluBerr.resize(rhsCols);
-  m_sluB = SluMatrix::Map(b.const_cast_derived());
-  m_sluX = SluMatrix::Map(x.derived());
+  
+  Ref<const Matrix<typename Rhs::Scalar,Dynamic,Dynamic,ColMajor> > b_ref(b);
+  Ref<const Matrix<typename Dest::Scalar,Dynamic,Dynamic,ColMajor> > x_ref(x);
+  
+  m_sluB = SluMatrix::Map(b_ref.const_cast_derived());
+  m_sluX = SluMatrix::Map(x_ref.const_cast_derived());
   
   typename Rhs::PlainObject b_cpy;
   if(m_sluEqued!='N')
@@ -676,6 +689,10 @@ void SuperLU<MatrixType>::_solve(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x)
                 &m_sluFerr[0], &m_sluBerr[0],
                 &m_sluStat, &info, Scalar());
   StatFree(&m_sluStat);
+  
+  if(x.derived().data() != x_ref.data())
+    x = x_ref;
+  
   m_info = info==0 ? Success : NumericalIssue;
 }
 
@@ -699,7 +716,7 @@ void SuperLUBase<MatrixType,Derived>::extractData() const
     NCformat    *Ustore = static_cast<NCformat*>(m_sluU.Store);
     Scalar      *SNptr;
 
-    const int size = m_matrix.rows();
+    const Index size = m_matrix.rows();
     m_l.resize(size,size);
     m_l.resizeNonZeros(Lstore->nnz);
     m_u.resize(size,size);
@@ -791,6 +808,8 @@ typename SuperLU<MatrixType>::Scalar SuperLU<MatrixType>::determinant() const
         det *= m_u.valuePtr()[lastId];
     }
   }
+  if(PermutationMap(m_p.data(),m_p.size()).determinant()*PermutationMap(m_q.data(),m_q.size()).determinant()<0)
+    det = -det;
   if(m_sluEqued!='N')
     return det/m_sluRscale.prod()/m_sluCscale.prod();
   else
@@ -810,11 +829,13 @@ typename SuperLU<MatrixType>::Scalar SuperLU<MatrixType>::determinant() const
   * This class allows to solve for an approximate solution of A.X = B sparse linear problems via an incomplete LU factorization
   * using the SuperLU library. This class is aimed to be used as a preconditioner of the iterative linear solvers.
   *
-  * \warning This class requires SuperLU 4 or later.
+  * \warning This class is only for the 4.x versions of SuperLU. The 3.x and 5.x versions are not supported.
   *
   * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   *
-  * \sa \ref TutorialSparseDirectSolvers, class ConjugateGradient, class BiCGSTAB
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class IncompleteLUT, class ConjugateGradient, class BiCGSTAB
   */
 
 template<typename _MatrixType>
@@ -825,9 +846,9 @@ class SuperILU : public SuperLUBase<_MatrixType,SuperILU<_MatrixType> >
     typedef _MatrixType MatrixType;
     typedef typename Base::Scalar Scalar;
     typedef typename Base::RealScalar RealScalar;
-    typedef typename Base::Index Index;
 
   public:
+    using Base::_solve_impl;
 
     SuperILU() : Base() { init(); }
 
@@ -863,7 +884,7 @@ class SuperILU : public SuperLUBase<_MatrixType,SuperILU<_MatrixType> >
     #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal */
     template<typename Rhs,typename Dest>
-    void _solve(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const;
+    void _solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest> &dest) const;
     #endif // EIGEN_PARSED_BY_DOXYGEN
     
   protected:
@@ -946,9 +967,10 @@ void SuperILU<MatrixType>::factorize(const MatrixType& a)
   m_factorizationIsOk = true;
 }
 
+#ifndef EIGEN_PARSED_BY_DOXYGEN
 template<typename MatrixType>
 template<typename Rhs,typename Dest>
-void SuperILU<MatrixType>::_solve(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x) const
+void SuperILU<MatrixType>::_solve_impl(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x) const
 {
   eigen_assert(m_factorizationIsOk && "The decomposition is not in a valid state for solving, you must first call either compute() or analyzePattern()/factorize()");
 
@@ -962,8 +984,12 @@ void SuperILU<MatrixType>::_solve(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x)
 
   m_sluFerr.resize(rhsCols);
   m_sluBerr.resize(rhsCols);
-  m_sluB = SluMatrix::Map(b.const_cast_derived());
-  m_sluX = SluMatrix::Map(x.derived());
+  
+  Ref<const Matrix<typename Rhs::Scalar,Dynamic,Dynamic,ColMajor> > b_ref(b);
+  Ref<const Matrix<typename Dest::Scalar,Dynamic,Dynamic,ColMajor> > x_ref(x);
+  
+  m_sluB = SluMatrix::Map(b_ref.const_cast_derived());
+  m_sluX = SluMatrix::Map(x_ref.const_cast_derived());
 
   typename Rhs::PlainObject b_cpy;
   if(m_sluEqued!='N')
@@ -986,40 +1012,15 @@ void SuperILU<MatrixType>::_solve(const MatrixBase<Rhs> &b, MatrixBase<Dest>& x)
                 &recip_pivot_growth, &rcond,
                 &m_sluStat, &info, Scalar());
   StatFree(&m_sluStat);
+  
+  if(x.derived().data() != x_ref.data())
+    x = x_ref;
 
   m_info = info==0 ? Success : NumericalIssue;
 }
 #endif
 
-namespace internal {
-  
-template<typename _MatrixType, typename Derived, typename Rhs>
-struct solve_retval<SuperLUBase<_MatrixType,Derived>, Rhs>
-  : solve_retval_base<SuperLUBase<_MatrixType,Derived>, Rhs>
-{
-  typedef SuperLUBase<_MatrixType,Derived> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec().derived()._solve(rhs(),dst);
-  }
-};
-
-template<typename _MatrixType, typename Derived, typename Rhs>
-struct sparse_solve_retval<SuperLUBase<_MatrixType,Derived>, Rhs>
-  : sparse_solve_retval_base<SuperLUBase<_MatrixType,Derived>, Rhs>
-{
-  typedef SuperLUBase<_MatrixType,Derived> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-
-} // end namespace internal
+#endif
 
 } // end namespace Eigen
 
diff --git a/eigenlib/Eigen/src/UmfPackSupport/CMakeLists.txt b/eigenlib/Eigen/src/UmfPackSupport/CMakeLists.txt
deleted file mode 100644
index a57de002..00000000
--- a/eigenlib/Eigen/src/UmfPackSupport/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_UmfPackSupport_SRCS "*.h")
-
-INSTALL(FILES 
-  ${Eigen_UmfPackSupport_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/UmfPackSupport COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/UmfPackSupport/UmfPackSupport.h b/eigenlib/Eigen/src/UmfPackSupport/UmfPackSupport.h
index 29c60c37..dc74de93 100644
--- a/eigenlib/Eigen/src/UmfPackSupport/UmfPackSupport.h
+++ b/eigenlib/Eigen/src/UmfPackSupport/UmfPackSupport.h
@@ -16,6 +16,13 @@ namespace Eigen {
 
 // generic double/complex<double> wrapper functions:
 
+
+inline void umfpack_defaults(double control[UMFPACK_CONTROL], double) 
+{ umfpack_di_defaults(control); }
+
+inline void umfpack_defaults(double control[UMFPACK_CONTROL], std::complex<double>) 
+{ umfpack_zi_defaults(control); }
+
 inline void umfpack_free_numeric(void **Numeric, double)
 { umfpack_di_free_numeric(Numeric); *Numeric = 0; }
 
@@ -107,15 +114,6 @@ inline int umfpack_get_determinant(std::complex<double> *Mx, double *Ex, void *N
   return umfpack_zi_get_determinant(&mx_real,0,Ex,NumericHandle,User_Info);
 }
 
-namespace internal {
-  template<typename T> struct umfpack_helper_is_sparse_plain : false_type {};
-  template<typename Scalar, int Options, typename StorageIndex>
-  struct umfpack_helper_is_sparse_plain<SparseMatrix<Scalar,Options,StorageIndex> >
-    : true_type {};
-  template<typename Scalar, int Options, typename StorageIndex>
-  struct umfpack_helper_is_sparse_plain<MappedSparseMatrix<Scalar,Options,StorageIndex> >
-    : true_type {};
-}
 
 /** \ingroup UmfPackSupport_Module
   * \brief A sparse LU factorization and solver based on UmfPack
@@ -128,27 +126,46 @@ namespace internal {
   * Otherwise an expensive copy will be made. You can call the inexpensive makeCompressed() to get a compressed matrix.
   * \tparam _MatrixType the type of the sparse matrix A, it must be a SparseMatrix<>
   *
-  * \sa \ref TutorialSparseDirectSolvers
+  * \implsparsesolverconcept
+  *
+  * \sa \ref TutorialSparseSolverConcept, class SparseLU
   */
 template<typename _MatrixType>
-class UmfPackLU : internal::noncopyable
+class UmfPackLU : public SparseSolverBase<UmfPackLU<_MatrixType> >
 {
+  protected:
+    typedef SparseSolverBase<UmfPackLU<_MatrixType> > Base;
+    using Base::m_isInitialized;
   public:
+    using Base::_solve_impl;
     typedef _MatrixType MatrixType;
     typedef typename MatrixType::Scalar Scalar;
     typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
+    typedef typename MatrixType::StorageIndex StorageIndex;
     typedef Matrix<Scalar,Dynamic,1> Vector;
     typedef Matrix<int, 1, MatrixType::ColsAtCompileTime> IntRowVectorType;
     typedef Matrix<int, MatrixType::RowsAtCompileTime, 1> IntColVectorType;
     typedef SparseMatrix<Scalar> LUMatrixType;
     typedef SparseMatrix<Scalar,ColMajor,int> UmfpackMatrixType;
+    typedef Ref<const UmfpackMatrixType, StandardCompressedFormat> UmfpackMatrixRef;
+    enum {
+      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
+      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
+    };
 
   public:
 
-    UmfPackLU() { init(); }
+    typedef Array<double, UMFPACK_CONTROL, 1> UmfpackControl;
 
-    UmfPackLU(const MatrixType& matrix)
+    UmfPackLU()
+      : m_dummy(0,0), mp_matrix(m_dummy)
+    {
+      init();
+    }
+
+    template<typename InputMatrixType>
+    explicit UmfPackLU(const InputMatrixType& matrix)
+      : mp_matrix(matrix)
     {
       init();
       compute(matrix);
@@ -160,8 +177,8 @@ class UmfPackLU : internal::noncopyable
       if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar());
     }
 
-    inline Index rows() const { return m_copyMatrix.rows(); }
-    inline Index cols() const { return m_copyMatrix.cols(); }
+    inline Index rows() const { return mp_matrix.rows(); }
+    inline Index cols() const { return mp_matrix.cols(); }
 
     /** \brief Reports whether previous computation was successful.
       *
@@ -207,37 +224,11 @@ class UmfPackLU : internal::noncopyable
     {
       if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar());
       if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar());
-      grapInput(matrix.derived());
+      grab(matrix.derived());
       analyzePattern_impl();
       factorize_impl();
     }
 
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<UmfPackLU, Rhs> solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "UmfPackLU is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "UmfPackLU::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<UmfPackLU, Rhs>(*this, b.derived());
-    }
-
-    /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A.
-      *
-      * \sa compute()
-      */
-    template<typename Rhs>
-    inline const internal::sparse_solve_retval<UmfPackLU, Rhs> solve(const SparseMatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "UmfPackLU is not initialized.");
-      eigen_assert(rows()==b.rows()
-                && "UmfPackLU::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::sparse_solve_retval<UmfPackLU, Rhs>(*this, b.derived());
-    }
-
     /** Performs a symbolic decomposition on the sparcity of \a matrix.
       *
       * This function is particularly useful when solving for several problems having the same structure.
@@ -250,11 +241,44 @@ class UmfPackLU : internal::noncopyable
       if(m_symbolic) umfpack_free_symbolic(&m_symbolic,Scalar());
       if(m_numeric)  umfpack_free_numeric(&m_numeric,Scalar());
       
-      grapInput(matrix.derived());
+      grab(matrix.derived());
 
       analyzePattern_impl();
     }
 
+    /** Provides the return status code returned by UmfPack during the numeric
+      * factorization.
+      *
+      * \sa factorize(), compute()
+      */
+    inline int umfpackFactorizeReturncode() const
+    {
+      eigen_assert(m_numeric && "UmfPackLU: you must first call factorize()");
+      return m_fact_errorCode;
+    }
+
+    /** Provides access to the control settings array used by UmfPack.
+      *
+      * If this array contains NaN's, the default values are used.
+      *
+      * See UMFPACK documentation for details.
+      */
+    inline const UmfpackControl& umfpackControl() const
+    {
+      return m_control;
+    }
+    
+    /** Provides access to the control settings array used by UmfPack.
+      *
+      * If this array contains NaN's, the default values are used.
+      *
+      * See UMFPACK documentation for details.
+      */
+    inline UmfpackControl& umfpackControl()
+    {
+      return m_control;
+    }
+    
     /** Performs a numeric decomposition of \a matrix
       *
       * The given matrix must has the same sparcity than the matrix on which the pattern anylysis has been performed.
@@ -268,16 +292,14 @@ class UmfPackLU : internal::noncopyable
       if(m_numeric)
         umfpack_free_numeric(&m_numeric,Scalar());
 
-      grapInput(matrix.derived());
+      grab(matrix.derived());
       
       factorize_impl();
     }
 
-    #ifndef EIGEN_PARSED_BY_DOXYGEN
     /** \internal */
     template<typename BDerived,typename XDerived>
-    bool _solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived> &x) const;
-    #endif
+    bool _solve_impl(const MatrixBase<BDerived> &b, MatrixBase<XDerived> &x) const;
 
     Scalar determinant() const;
 
@@ -291,52 +313,17 @@ class UmfPackLU : internal::noncopyable
       m_isInitialized         = false;
       m_numeric               = 0;
       m_symbolic              = 0;
-      m_outerIndexPtr         = 0;
-      m_innerIndexPtr         = 0;
-      m_valuePtr              = 0;
       m_extractedDataAreDirty = true;
     }
     
-    template<typename InputMatrixType>
-    void grapInput_impl(const InputMatrixType& mat, internal::true_type)
-    {
-      m_copyMatrix.resize(mat.rows(), mat.cols());
-      if( ((MatrixType::Flags&RowMajorBit)==RowMajorBit) || sizeof(typename MatrixType::Index)!=sizeof(int) || !mat.isCompressed() )
-      {
-        // non supported input -> copy
-        m_copyMatrix = mat;
-        m_outerIndexPtr = m_copyMatrix.outerIndexPtr();
-        m_innerIndexPtr = m_copyMatrix.innerIndexPtr();
-        m_valuePtr      = m_copyMatrix.valuePtr();
-      }
-      else
-      {
-        m_outerIndexPtr = mat.outerIndexPtr();
-        m_innerIndexPtr = mat.innerIndexPtr();
-        m_valuePtr      = mat.valuePtr();
-      }
-    }
-    
-    template<typename InputMatrixType>
-    void grapInput_impl(const InputMatrixType& mat, internal::false_type)
-    {
-      m_copyMatrix = mat;
-      m_outerIndexPtr = m_copyMatrix.outerIndexPtr();
-      m_innerIndexPtr = m_copyMatrix.innerIndexPtr();
-      m_valuePtr      = m_copyMatrix.valuePtr();
-    }
-    
-    template<typename InputMatrixType>
-    void grapInput(const InputMatrixType& mat)
-    {
-      grapInput_impl(mat, internal::umfpack_helper_is_sparse_plain<InputMatrixType>());
-    }
-    
     void analyzePattern_impl()
     {
+      umfpack_defaults(m_control.data(), Scalar());
       int errorCode = 0;
-      errorCode = umfpack_symbolic(m_copyMatrix.rows(), m_copyMatrix.cols(), m_outerIndexPtr, m_innerIndexPtr, m_valuePtr,
-                                   &m_symbolic, 0, 0);
+      errorCode = umfpack_symbolic(internal::convert_index<int>(mp_matrix.rows()),
+                                   internal::convert_index<int>(mp_matrix.cols()),
+                                   mp_matrix.outerIndexPtr(), mp_matrix.innerIndexPtr(), mp_matrix.valuePtr(),
+                                   &m_symbolic, m_control.data(), 0);
 
       m_isInitialized = true;
       m_info = errorCode ? InvalidInput : Success;
@@ -347,36 +334,52 @@ class UmfPackLU : internal::noncopyable
     
     void factorize_impl()
     {
-      int errorCode;
-      errorCode = umfpack_numeric(m_outerIndexPtr, m_innerIndexPtr, m_valuePtr,
-                                  m_symbolic, &m_numeric, 0, 0);
+      m_fact_errorCode = umfpack_numeric(mp_matrix.outerIndexPtr(), mp_matrix.innerIndexPtr(), mp_matrix.valuePtr(),
+                                         m_symbolic, &m_numeric, m_control.data(), 0);
 
-      m_info = errorCode ? NumericalIssue : Success;
+      m_info = m_fact_errorCode == UMFPACK_OK ? Success : NumericalIssue;
       m_factorizationIsOk = true;
       m_extractedDataAreDirty = true;
     }
-
+    
+    template<typename MatrixDerived>
+    void grab(const EigenBase<MatrixDerived> &A)
+    {
+      mp_matrix.~UmfpackMatrixRef();
+      ::new (&mp_matrix) UmfpackMatrixRef(A.derived());
+    }
+    
+    void grab(const UmfpackMatrixRef &A)
+    {
+      if(&(A.derived()) != &mp_matrix)
+      {
+        mp_matrix.~UmfpackMatrixRef();
+        ::new (&mp_matrix) UmfpackMatrixRef(A);
+      }
+    }
+  
     // cached data to reduce reallocation, etc.
     mutable LUMatrixType m_l;
+    int m_fact_errorCode;
+    UmfpackControl m_control;
+    
     mutable LUMatrixType m_u;
     mutable IntColVectorType m_p;
     mutable IntRowVectorType m_q;
 
-    UmfpackMatrixType m_copyMatrix;
-    const Scalar* m_valuePtr;
-    const int* m_outerIndexPtr;
-    const int* m_innerIndexPtr;
+    UmfpackMatrixType m_dummy;
+    UmfpackMatrixRef mp_matrix;
+  
     void* m_numeric;
     void* m_symbolic;
 
     mutable ComputationInfo m_info;
-    bool m_isInitialized;
     int m_factorizationIsOk;
     int m_analysisIsOk;
     mutable bool m_extractedDataAreDirty;
     
   private:
-    UmfPackLU(UmfPackLU& ) { }
+    UmfPackLU(const UmfPackLU& ) { }
 };
 
 
@@ -418,19 +421,30 @@ typename UmfPackLU<MatrixType>::Scalar UmfPackLU<MatrixType>::determinant() cons
 
 template<typename MatrixType>
 template<typename BDerived,typename XDerived>
-bool UmfPackLU<MatrixType>::_solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived> &x) const
+bool UmfPackLU<MatrixType>::_solve_impl(const MatrixBase<BDerived> &b, MatrixBase<XDerived> &x) const
 {
-  const int rhsCols = b.cols();
+  Index rhsCols = b.cols();
   eigen_assert((BDerived::Flags&RowMajorBit)==0 && "UmfPackLU backend does not support non col-major rhs yet");
   eigen_assert((XDerived::Flags&RowMajorBit)==0 && "UmfPackLU backend does not support non col-major result yet");
   eigen_assert(b.derived().data() != x.derived().data() && " Umfpack does not support inplace solve");
   
   int errorCode;
+  Scalar* x_ptr = 0;
+  Matrix<Scalar,Dynamic,1> x_tmp;
+  if(x.innerStride()!=1)
+  {
+    x_tmp.resize(x.rows());
+    x_ptr = x_tmp.data();
+  }
   for (int j=0; j<rhsCols; ++j)
   {
+    if(x.innerStride()==1)
+      x_ptr = &x.col(j).coeffRef(0);
     errorCode = umfpack_solve(UMFPACK_A,
-        m_outerIndexPtr, m_innerIndexPtr, m_valuePtr,
-        &x.col(j).coeffRef(0), &b.const_cast_derived().col(j).coeffRef(0), m_numeric, 0, 0);
+        mp_matrix.outerIndexPtr(), mp_matrix.innerIndexPtr(), mp_matrix.valuePtr(),
+        x_ptr, &b.const_cast_derived().col(j).coeffRef(0), m_numeric, m_control.data(), 0);
+    if(x.innerStride()!=1)
+      x.col(j) = x_tmp;
     if (errorCode!=0)
       return false;
   }
@@ -438,37 +452,6 @@ bool UmfPackLU<MatrixType>::_solve(const MatrixBase<BDerived> &b, MatrixBase<XDe
   return true;
 }
 
-
-namespace internal {
-
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<UmfPackLU<_MatrixType>, Rhs>
-  : solve_retval_base<UmfPackLU<_MatrixType>, Rhs>
-{
-  typedef UmfPackLU<_MatrixType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-template<typename _MatrixType, typename Rhs>
-struct sparse_solve_retval<UmfPackLU<_MatrixType>, Rhs>
-  : sparse_solve_retval_base<UmfPackLU<_MatrixType>, Rhs>
-{
-  typedef UmfPackLU<_MatrixType> Dec;
-  EIGEN_MAKE_SPARSE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    this->defaultEvalTo(dst);
-  }
-};
-
-} // end namespace internal
-
 } // end namespace Eigen
 
 #endif // EIGEN_UMFPACKSUPPORT_H
diff --git a/eigenlib/Eigen/src/misc/CMakeLists.txt b/eigenlib/Eigen/src/misc/CMakeLists.txt
deleted file mode 100644
index a58ffb74..00000000
--- a/eigenlib/Eigen/src/misc/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_misc_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_misc_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/misc COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/misc/Image.h b/eigenlib/Eigen/src/misc/Image.h
index 75c5f433..b8b8a045 100644
--- a/eigenlib/Eigen/src/misc/Image.h
+++ b/eigenlib/Eigen/src/misc/Image.h
@@ -38,7 +38,6 @@ template<typename _DecompositionType> struct image_retval_base
   typedef _DecompositionType DecompositionType;
   typedef typename DecompositionType::MatrixType MatrixType;
   typedef ReturnByValue<image_retval_base> Base;
-  typedef typename Base::Index Index;
 
   image_retval_base(const DecompositionType& dec, const MatrixType& originalMatrix)
     : m_dec(dec), m_rank(dec.rank()),
@@ -69,7 +68,6 @@ template<typename _DecompositionType> struct image_retval_base
   typedef typename DecompositionType::MatrixType MatrixType; \
   typedef typename MatrixType::Scalar Scalar; \
   typedef typename MatrixType::RealScalar RealScalar; \
-  typedef typename MatrixType::Index Index; \
   typedef Eigen::internal::image_retval_base<DecompositionType> Base; \
   using Base::dec; \
   using Base::originalMatrix; \
diff --git a/eigenlib/Eigen/src/misc/Kernel.h b/eigenlib/Eigen/src/misc/Kernel.h
index b9e1518f..bef5d6ff 100644
--- a/eigenlib/Eigen/src/misc/Kernel.h
+++ b/eigenlib/Eigen/src/misc/Kernel.h
@@ -39,9 +39,8 @@ template<typename _DecompositionType> struct kernel_retval_base
 {
   typedef _DecompositionType DecompositionType;
   typedef ReturnByValue<kernel_retval_base> Base;
-  typedef typename Base::Index Index;
 
-  kernel_retval_base(const DecompositionType& dec)
+  explicit kernel_retval_base(const DecompositionType& dec)
     : m_dec(dec),
       m_rank(dec.rank()),
       m_cols(m_rank==dec.cols() ? 1 : dec.cols() - m_rank)
@@ -68,7 +67,6 @@ template<typename _DecompositionType> struct kernel_retval_base
   typedef typename DecompositionType::MatrixType MatrixType; \
   typedef typename MatrixType::Scalar Scalar; \
   typedef typename MatrixType::RealScalar RealScalar; \
-  typedef typename MatrixType::Index Index; \
   typedef Eigen::internal::kernel_retval_base<DecompositionType> Base; \
   using Base::dec; \
   using Base::rank; \
diff --git a/eigenlib/Eigen/src/misc/RealSvd2x2.h b/eigenlib/Eigen/src/misc/RealSvd2x2.h
new file mode 100644
index 00000000..abb4d3c2
--- /dev/null
+++ b/eigenlib/Eigen/src/misc/RealSvd2x2.h
@@ -0,0 +1,55 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
+// Copyright (C) 2013-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_REALSVD2X2_H
+#define EIGEN_REALSVD2X2_H
+
+namespace Eigen {
+
+namespace internal {
+
+template<typename MatrixType, typename RealScalar, typename Index>
+void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
+                         JacobiRotation<RealScalar> *j_left,
+                         JacobiRotation<RealScalar> *j_right)
+{
+  using std::sqrt;
+  using std::abs;
+  Matrix<RealScalar,2,2> m;
+  m << numext::real(matrix.coeff(p,p)), numext::real(matrix.coeff(p,q)),
+       numext::real(matrix.coeff(q,p)), numext::real(matrix.coeff(q,q));
+  JacobiRotation<RealScalar> rot1;
+  RealScalar t = m.coeff(0,0) + m.coeff(1,1);
+  RealScalar d = m.coeff(1,0) - m.coeff(0,1);
+
+  if(abs(d) < (std::numeric_limits<RealScalar>::min)())
+  {
+    rot1.s() = RealScalar(0);
+    rot1.c() = RealScalar(1);
+  }
+  else
+  {
+    // If d!=0, then t/d cannot overflow because the magnitude of the
+    // entries forming d are not too small compared to the ones forming t.
+    RealScalar u = t / d;
+    RealScalar tmp = sqrt(RealScalar(1) + numext::abs2(u));
+    rot1.s() = RealScalar(1) / tmp;
+    rot1.c() = u / tmp;
+  }
+  m.applyOnTheLeft(0,1,rot1);
+  j_right->makeJacobi(m,0,1);
+  *j_left = rot1 * j_right->transpose();
+}
+
+} // end namespace internal
+
+} // end namespace Eigen
+
+#endif // EIGEN_REALSVD2X2_H
diff --git a/eigenlib/Eigen/src/misc/Solve.h b/eigenlib/Eigen/src/misc/Solve.h
deleted file mode 100644
index 7f70d60a..00000000
--- a/eigenlib/Eigen/src/misc/Solve.h
+++ /dev/null
@@ -1,76 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MISC_SOLVE_H
-#define EIGEN_MISC_SOLVE_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \class solve_retval_base
-  *
-  */
-template<typename DecompositionType, typename Rhs>
-struct traits<solve_retval_base<DecompositionType, Rhs> >
-{
-  typedef typename DecompositionType::MatrixType MatrixType;
-  typedef Matrix<typename Rhs::Scalar,
-                 MatrixType::ColsAtCompileTime,
-                 Rhs::ColsAtCompileTime,
-                 Rhs::PlainObject::Options,
-                 MatrixType::MaxColsAtCompileTime,
-                 Rhs::MaxColsAtCompileTime> ReturnType;
-};
-
-template<typename _DecompositionType, typename Rhs> struct solve_retval_base
- : public ReturnByValue<solve_retval_base<_DecompositionType, Rhs> >
-{
-  typedef typename remove_all<typename Rhs::Nested>::type RhsNestedCleaned;
-  typedef _DecompositionType DecompositionType;
-  typedef ReturnByValue<solve_retval_base> Base;
-  typedef typename Base::Index Index;
-
-  solve_retval_base(const DecompositionType& dec, const Rhs& rhs)
-    : m_dec(dec), m_rhs(rhs)
-  {}
-
-  inline Index rows() const { return m_dec.cols(); }
-  inline Index cols() const { return m_rhs.cols(); }
-  inline const DecompositionType& dec() const { return m_dec; }
-  inline const RhsNestedCleaned& rhs() const { return m_rhs; }
-
-  template<typename Dest> inline void evalTo(Dest& dst) const
-  {
-    static_cast<const solve_retval<DecompositionType,Rhs>*>(this)->evalTo(dst);
-  }
-
-  protected:
-    const DecompositionType& m_dec;
-    typename Rhs::Nested m_rhs;
-};
-
-} // end namespace internal
-
-#define EIGEN_MAKE_SOLVE_HELPERS(DecompositionType,Rhs) \
-  typedef typename DecompositionType::MatrixType MatrixType; \
-  typedef typename MatrixType::Scalar Scalar; \
-  typedef typename MatrixType::RealScalar RealScalar; \
-  typedef typename MatrixType::Index Index; \
-  typedef Eigen::internal::solve_retval_base<DecompositionType,Rhs> Base; \
-  using Base::dec; \
-  using Base::rhs; \
-  using Base::rows; \
-  using Base::cols; \
-  solve_retval(const DecompositionType& dec, const Rhs& rhs) \
-    : Base(dec, rhs) {}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MISC_SOLVE_H
diff --git a/eigenlib/Eigen/src/misc/SparseSolve.h b/eigenlib/Eigen/src/misc/SparseSolve.h
deleted file mode 100644
index 244bb8ec..00000000
--- a/eigenlib/Eigen/src/misc/SparseSolve.h
+++ /dev/null
@@ -1,128 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_SOLVE_H
-#define EIGEN_SPARSE_SOLVE_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename _DecompositionType, typename Rhs> struct sparse_solve_retval_base;
-template<typename _DecompositionType, typename Rhs> struct sparse_solve_retval;
-  
-template<typename DecompositionType, typename Rhs>
-struct traits<sparse_solve_retval_base<DecompositionType, Rhs> >
-{
-  typedef typename DecompositionType::MatrixType MatrixType;
-  typedef SparseMatrix<typename Rhs::Scalar, Rhs::Options, typename Rhs::Index> ReturnType;
-};
-
-template<typename _DecompositionType, typename Rhs> struct sparse_solve_retval_base
- : public ReturnByValue<sparse_solve_retval_base<_DecompositionType, Rhs> >
-{
-  typedef typename remove_all<typename Rhs::Nested>::type RhsNestedCleaned;
-  typedef _DecompositionType DecompositionType;
-  typedef ReturnByValue<sparse_solve_retval_base> Base;
-  typedef typename Base::Index Index;
-
-  sparse_solve_retval_base(const DecompositionType& dec, const Rhs& rhs)
-    : m_dec(dec), m_rhs(rhs)
-  {}
-
-  inline Index rows() const { return m_dec.cols(); }
-  inline Index cols() const { return m_rhs.cols(); }
-  inline const DecompositionType& dec() const { return m_dec; }
-  inline const RhsNestedCleaned& rhs() const { return m_rhs; }
-
-  template<typename Dest> inline void evalTo(Dest& dst) const
-  {
-    static_cast<const sparse_solve_retval<DecompositionType,Rhs>*>(this)->evalTo(dst);
-  }
-
-  protected:
-    template<typename DestScalar, int DestOptions, typename DestIndex>
-    inline void defaultEvalTo(SparseMatrix<DestScalar,DestOptions,DestIndex>& dst) const
-    {
-      // we process the sparse rhs per block of NbColsAtOnce columns temporarily stored into a dense matrix.
-      static const int NbColsAtOnce = 4;
-      int rhsCols = m_rhs.cols();
-      int size = m_rhs.rows();
-      Eigen::Matrix<DestScalar,Dynamic,Dynamic> tmp(size,rhsCols);
-      Eigen::Matrix<DestScalar,Dynamic,Dynamic> tmpX(size,rhsCols);
-      for(int k=0; k<rhsCols; k+=NbColsAtOnce)
-      {
-        int actualCols = std::min<int>(rhsCols-k, NbColsAtOnce);
-        tmp.leftCols(actualCols) = m_rhs.middleCols(k,actualCols);
-        tmpX.leftCols(actualCols) = m_dec.solve(tmp.leftCols(actualCols));
-        dst.middleCols(k,actualCols) = tmpX.leftCols(actualCols).sparseView();
-      }
-    }
-    const DecompositionType& m_dec;
-    typename Rhs::Nested m_rhs;
-};
-
-#define EIGEN_MAKE_SPARSE_SOLVE_HELPERS(DecompositionType,Rhs) \
-  typedef typename DecompositionType::MatrixType MatrixType; \
-  typedef typename MatrixType::Scalar Scalar; \
-  typedef typename MatrixType::RealScalar RealScalar; \
-  typedef typename MatrixType::Index Index; \
-  typedef Eigen::internal::sparse_solve_retval_base<DecompositionType,Rhs> Base; \
-  using Base::dec; \
-  using Base::rhs; \
-  using Base::rows; \
-  using Base::cols; \
-  sparse_solve_retval(const DecompositionType& dec, const Rhs& rhs) \
-    : Base(dec, rhs) {}
-
-
-
-template<typename DecompositionType, typename Rhs, typename Guess> struct solve_retval_with_guess;
-
-template<typename DecompositionType, typename Rhs, typename Guess>
-struct traits<solve_retval_with_guess<DecompositionType, Rhs, Guess> >
-{
-  typedef typename DecompositionType::MatrixType MatrixType;
-  typedef Matrix<typename Rhs::Scalar,
-                 MatrixType::ColsAtCompileTime,
-                 Rhs::ColsAtCompileTime,
-                 Rhs::PlainObject::Options,
-                 MatrixType::MaxColsAtCompileTime,
-                 Rhs::MaxColsAtCompileTime> ReturnType;
-};
-
-template<typename DecompositionType, typename Rhs, typename Guess> struct solve_retval_with_guess
- : public ReturnByValue<solve_retval_with_guess<DecompositionType, Rhs, Guess> >
-{
-  typedef typename DecompositionType::Index Index;
-
-  solve_retval_with_guess(const DecompositionType& dec, const Rhs& rhs, const Guess& guess)
-    : m_dec(dec), m_rhs(rhs), m_guess(guess)
-  {}
-
-  inline Index rows() const { return m_dec.cols(); }
-  inline Index cols() const { return m_rhs.cols(); }
-
-  template<typename Dest> inline void evalTo(Dest& dst) const
-  {
-    dst = m_guess;
-    m_dec._solveWithGuess(m_rhs,dst);
-  }
-
-  protected:
-    const DecompositionType& m_dec;
-    const typename Rhs::Nested m_rhs;
-    const typename Guess::Nested m_guess;
-};
-
-} // namepsace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_SOLVE_H
diff --git a/eigenlib/Eigen/src/misc/blas.h b/eigenlib/Eigen/src/misc/blas.h
index 6fce99ed..25215b15 100644
--- a/eigenlib/Eigen/src/misc/blas.h
+++ b/eigenlib/Eigen/src/misc/blas.h
@@ -30,15 +30,15 @@ int  BLASFUNC(cdotcw)  (int *, float  *, int *, float  *, int *, float*);
 int  BLASFUNC(zdotuw)  (int *, double  *, int *, double  *, int *, double*);
 int  BLASFUNC(zdotcw)  (int *, double  *, int *, double  *, int *, double*);
 
-int    BLASFUNC(saxpy) (int *, float  *, float  *, int *, float  *, int *);
-int    BLASFUNC(daxpy) (int *, double *, double *, int *, double *, int *);
-int    BLASFUNC(qaxpy) (int *, double *, double *, int *, double *, int *);
-int    BLASFUNC(caxpy) (int *, float  *, float  *, int *, float  *, int *);
-int    BLASFUNC(zaxpy) (int *, double *, double *, int *, double *, int *);
-int    BLASFUNC(xaxpy) (int *, double *, double *, int *, double *, int *);
-int    BLASFUNC(caxpyc)(int *, float  *, float  *, int *, float  *, int *);
-int    BLASFUNC(zaxpyc)(int *, double *, double *, int *, double *, int *);
-int    BLASFUNC(xaxpyc)(int *, double *, double *, int *, double *, int *);
+int    BLASFUNC(saxpy) (const int *, const float  *, const float  *, const int *, float  *, const int *);
+int    BLASFUNC(daxpy) (const int *, const double *, const double *, const int *, double *, const int *);
+int    BLASFUNC(qaxpy) (const int *, const double *, const double *, const int *, double *, const int *);
+int    BLASFUNC(caxpy) (const int *, const float  *, const float  *, const int *, float  *, const int *);
+int    BLASFUNC(zaxpy) (const int *, const double *, const double *, const int *, double *, const int *);
+int    BLASFUNC(xaxpy) (const int *, const double *, const double *, const int *, double *, const int *);
+int    BLASFUNC(caxpyc)(const int *, const float  *, const float  *, const int *, float  *, const int *);
+int    BLASFUNC(zaxpyc)(const int *, const double *, const double *, const int *, double *, const int *);
+int    BLASFUNC(xaxpyc)(const int *, const double *, const double *, const int *, double *, const int *);
 
 int    BLASFUNC(scopy) (int *, float  *, int *, float  *, int *);
 int    BLASFUNC(dcopy) (int *, double *, int *, double *, int *);
@@ -177,31 +177,19 @@ int BLASFUNC(xgeru)(int *,    int *, double *, double *, int *,
 int BLASFUNC(xgerc)(int *,    int *, double *, double *, int *,
 		    double *, int *, double *, int *);
 
-int BLASFUNC(sgemv)(char *, int *, int *, float  *, float  *, int *,
-		    float  *, int *, float  *, float  *, int *);
-int BLASFUNC(dgemv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-int BLASFUNC(qgemv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-int BLASFUNC(cgemv)(char *, int *, int *, float  *, float  *, int *,
-		    float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zgemv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
-int BLASFUNC(xgemv)(char *, int *, int *, double *, double *, int *,
-		    double *, int *, double *, double *, int *);
+int BLASFUNC(sgemv)(const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(dgemv)(const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(qgemv)(const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(cgemv)(const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zgemv)(const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xgemv)(const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
 
-int BLASFUNC(strsv) (char *, char *, char *, int *, float  *, int *,
-		     float  *, int *);
-int BLASFUNC(dtrsv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
-int BLASFUNC(qtrsv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
-int BLASFUNC(ctrsv) (char *, char *, char *, int *, float  *, int *,
-		     float  *, int *);
-int BLASFUNC(ztrsv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
-int BLASFUNC(xtrsv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
+int BLASFUNC(strsv) (const char *, const char *, const char *, const int *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(dtrsv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(qtrsv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(ctrsv) (const char *, const char *, const char *, const int *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(ztrsv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(xtrsv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
 
 int BLASFUNC(stpsv) (char *, char *, char *, int *, float  *, float  *, int *);
 int BLASFUNC(dtpsv) (char *, char *, char *, int *, double *, double *, int *);
@@ -210,18 +198,12 @@ int BLASFUNC(ctpsv) (char *, char *, char *, int *, float  *, float  *, int *);
 int BLASFUNC(ztpsv) (char *, char *, char *, int *, double *, double *, int *);
 int BLASFUNC(xtpsv) (char *, char *, char *, int *, double *, double *, int *);
 
-int BLASFUNC(strmv) (char *, char *, char *, int *, float  *, int *,
-		     float  *, int *);
-int BLASFUNC(dtrmv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
-int BLASFUNC(qtrmv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
-int BLASFUNC(ctrmv) (char *, char *, char *, int *, float  *, int *,
-		     float  *, int *);
-int BLASFUNC(ztrmv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
-int BLASFUNC(xtrmv) (char *, char *, char *, int *, double *, int *,
-		     double *, int *);
+int BLASFUNC(strmv) (const char *, const char *, const char *, const int *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(dtrmv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(qtrmv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(ctrmv) (const char *, const char *, const char *, const int *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(ztrmv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(xtrmv) (const char *, const char *, const char *, const int *, const double *, const int *, double *, const int *);
 
 int BLASFUNC(stpmv) (char *, char *, char *, int *, float  *, float  *, int *);
 int BLASFUNC(dtpmv) (char *, char *, char *, int *, double *, double *, int *);
@@ -244,18 +226,9 @@ int BLASFUNC(ctbsv) (char *, char *, char *, int *, int *, float  *, int *, floa
 int BLASFUNC(ztbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
 int BLASFUNC(xtbsv) (char *, char *, char *, int *, int *, double *, int *, double *, int *);
 
-int BLASFUNC(ssymv) (char *, int *, float  *, float *, int *,
-		     float  *, int *, float *, float *, int *);
-int BLASFUNC(dsymv) (char *, int *, double  *, double *, int *,
-		     double  *, int *, double *, double *, int *);
-int BLASFUNC(qsymv) (char *, int *, double  *, double *, int *,
-		     double  *, int *, double *, double *, int *);
-int BLASFUNC(csymv) (char *, int *, float  *, float *, int *,
-		     float  *, int *, float *, float *, int *);
-int BLASFUNC(zsymv) (char *, int *, double  *, double *, int *,
-		     double  *, int *, double *, double *, int *);
-int BLASFUNC(xsymv) (char *, int *, double  *, double *, int *,
-		     double  *, int *, double *, double *, int *);
+int BLASFUNC(ssymv) (const char *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(dsymv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(qsymv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
 
 int BLASFUNC(sspmv) (char *, int *, float  *, float *,
 		     float  *, int *, float *, float *, int *);
@@ -263,38 +236,17 @@ int BLASFUNC(dspmv) (char *, int *, double  *, double *,
 		     double  *, int *, double *, double *, int *);
 int BLASFUNC(qspmv) (char *, int *, double  *, double *,
 		     double  *, int *, double *, double *, int *);
-int BLASFUNC(cspmv) (char *, int *, float  *, float *,
-		     float  *, int *, float *, float *, int *);
-int BLASFUNC(zspmv) (char *, int *, double  *, double *,
-		     double  *, int *, double *, double *, int *);
-int BLASFUNC(xspmv) (char *, int *, double  *, double *,
-		     double  *, int *, double *, double *, int *);
 
-int BLASFUNC(ssyr) (char *, int *, float   *, float  *, int *,
-		    float  *, int *);
-int BLASFUNC(dsyr) (char *, int *, double  *, double *, int *,
-		    double *, int *);
-int BLASFUNC(qsyr) (char *, int *, double  *, double *, int *,
-		    double *, int *);
-int BLASFUNC(csyr) (char *, int *, float   *, float  *, int *,
-		    float  *, int *);
-int BLASFUNC(zsyr) (char *, int *, double  *, double *, int *,
-		    double *, int *);
-int BLASFUNC(xsyr) (char *, int *, double  *, double *, int *,
-		    double *, int *);
+int BLASFUNC(ssyr) (const char *, const int *, const float   *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(dsyr) (const char *, const int *, const double  *, const double *, const int *, double *, const int *);
+int BLASFUNC(qsyr) (const char *, const int *, const double  *, const double *, const int *, double *, const int *);
 
-int BLASFUNC(ssyr2) (char *, int *, float   *,
-		     float  *, int *, float  *, int *, float  *, int *);
-int BLASFUNC(dsyr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *, int *);
-int BLASFUNC(qsyr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *, int *);
-int BLASFUNC(csyr2) (char *, int *, float   *,
-		     float  *, int *, float  *, int *, float  *, int *);
-int BLASFUNC(zsyr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *, int *);
-int BLASFUNC(xsyr2) (char *, int *, double  *,
-		     double *, int *, double *, int *, double *, int *);
+int BLASFUNC(ssyr2) (const char *, const int *, const float   *, const float  *, const int *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(dsyr2) (const char *, const int *, const double  *, const double *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(qsyr2) (const char *, const int *, const double  *, const double *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(csyr2) (const char *, const int *, const float   *, const float  *, const int *, const float  *, const int *, float  *, const int *);
+int BLASFUNC(zsyr2) (const char *, const int *, const double  *, const double *, const int *, const double *, const int *, double *, const int *);
+int BLASFUNC(xsyr2) (const char *, const int *, const double  *, const double *, const int *, const double *, const int *, double *, const int *);
 
 int BLASFUNC(sspr) (char *, int *, float   *, float  *, int *,
 		    float  *);
@@ -302,12 +254,6 @@ int BLASFUNC(dspr) (char *, int *, double  *, double *, int *,
 		    double *);
 int BLASFUNC(qspr) (char *, int *, double  *, double *, int *,
 		    double *);
-int BLASFUNC(cspr) (char *, int *, float   *, float  *, int *,
-		    float  *);
-int BLASFUNC(zspr) (char *, int *, double  *, double *, int *,
-		    double *);
-int BLASFUNC(xspr) (char *, int *, double  *, double *, int *,
-		    double *);
 
 int BLASFUNC(sspr2) (char *, int *, float   *,
 		     float  *, int *, float  *, int *, float  *);
@@ -347,12 +293,9 @@ int BLASFUNC(zhpr2) (char *, int *, double  *,
 int BLASFUNC(xhpr2) (char *, int *, double  *,
 		     double *, int *, double *, int *, double *);
 
-int BLASFUNC(chemv) (char *, int *, float  *, float *, int *,
-		     float  *, int *, float *, float *, int *);
-int BLASFUNC(zhemv) (char *, int *, double  *, double *, int *,
-		     double  *, int *, double *, double *, int *);
-int BLASFUNC(xhemv) (char *, int *, double  *, double *, int *,
-		     double  *, int *, double *, double *, int *);
+int BLASFUNC(chemv) (const char *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zhemv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xhemv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
 
 int BLASFUNC(chpmv) (char *, int *, float  *, float *,
 		     float  *, int *, float *, float *, int *);
@@ -401,18 +344,12 @@ int BLASFUNC(xhbmv)(char *, int *, int *, double *, double *, int *,
 
 /* Level 3 routines */
 
-int BLASFUNC(sgemm)(char *, char *, int *, int *, int *, float *,
-	   float  *, int *, float  *, int *, float  *, float  *, int *);
-int BLASFUNC(dgemm)(char *, char *, int *, int *, int *, double *,
-	   double *, int *, double *, int *, double *, double *, int *);
-int BLASFUNC(qgemm)(char *, char *, int *, int *, int *, double *,
-	   double *, int *, double *, int *, double *, double *, int *);
-int BLASFUNC(cgemm)(char *, char *, int *, int *, int *, float *,
-	   float  *, int *, float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zgemm)(char *, char *, int *, int *, int *, double *,
-	   double *, int *, double *, int *, double *, double *, int *);
-int BLASFUNC(xgemm)(char *, char *, int *, int *, int *, double *,
-	   double *, int *, double *, int *, double *, double *, int *);
+int BLASFUNC(sgemm)(const char *, const char *, const int *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(dgemm)(const char *, const char *, const int *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(qgemm)(const char *, const char *, const int *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(cgemm)(const char *, const char *, const int *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zgemm)(const char *, const char *, const int *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xgemm)(const char *, const char *, const int *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
 
 int BLASFUNC(cgemm3m)(char *, char *, int *, int *, int *, float *,
 	   float  *, int *, float  *, int *, float  *, float  *, int *);
@@ -434,84 +371,48 @@ int BLASFUNC(zge2mm)(char *, char *, char *, int *, int *,
 		     double *, double  *, int *, double  *, int *,
 		     double *, double  *, int *);
 
-int BLASFUNC(strsm)(char *, char *, char *, char *, int *, int *,
-	   float *,  float *, int *, float *, int *);
-int BLASFUNC(dtrsm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-int BLASFUNC(qtrsm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-int BLASFUNC(ctrsm)(char *, char *, char *, char *, int *, int *,
-	   float *,  float *, int *, float *, int *);
-int BLASFUNC(ztrsm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-int BLASFUNC(xtrsm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
+int BLASFUNC(strsm)(const char *, const char *, const char *, const char *, const int *, const int *, const float *,  const float *,  const int *, float *,  const int *);
+int BLASFUNC(dtrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+int BLASFUNC(qtrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+int BLASFUNC(ctrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const float *,  const float *,  const int *, float *,  const int *);
+int BLASFUNC(ztrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+int BLASFUNC(xtrsm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
 
-int BLASFUNC(strmm)(char *, char *, char *, char *, int *, int *,
-	   float *,  float *, int *, float *, int *);
-int BLASFUNC(dtrmm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-int BLASFUNC(qtrmm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-int BLASFUNC(ctrmm)(char *, char *, char *, char *, int *, int *,
-	   float *,  float *, int *, float *, int *);
-int BLASFUNC(ztrmm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
-int BLASFUNC(xtrmm)(char *, char *, char *, char *, int *, int *,
-	   double *,  double *, int *, double *, int *);
+int BLASFUNC(strmm)(const char *, const char *, const char *, const char *, const int *, const int *, const float *,  const float *,  const int *, float *,  const int *);
+int BLASFUNC(dtrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+int BLASFUNC(qtrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+int BLASFUNC(ctrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const float *,  const float *,  const int *, float *,  const int *);
+int BLASFUNC(ztrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
+int BLASFUNC(xtrmm)(const char *, const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, double *, const int *);
 
-int BLASFUNC(ssymm)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, int *, float  *, float  *, int *);
-int BLASFUNC(dsymm)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-int BLASFUNC(qsymm)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-int BLASFUNC(csymm)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zsymm)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-int BLASFUNC(xsymm)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
+int BLASFUNC(ssymm)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(dsymm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(qsymm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(csymm)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zsymm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xsymm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
 
-int BLASFUNC(csymm3m)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zsymm3m)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-int BLASFUNC(xsymm3m)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
+int BLASFUNC(csymm3m)(char *, char *, int *, int *, float  *, float  *, int *, float  *, int *, float  *, float  *, int *);
+int BLASFUNC(zsymm3m)(char *, char *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *);
+int BLASFUNC(xsymm3m)(char *, char *, int *, int *, double *, double *, int *, double *, int *, double *, double *, int *);
 
-int BLASFUNC(ssyrk)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, float  *, int *);
-int BLASFUNC(dsyrk)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, double *, int *);
-int BLASFUNC(qsyrk)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, double *, int *);
-int BLASFUNC(csyrk)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, float  *, int *);
-int BLASFUNC(zsyrk)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, double *, int *);
-int BLASFUNC(xsyrk)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, double *, int *);
+int BLASFUNC(ssyrk)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(dsyrk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(qsyrk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(csyrk)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zsyrk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xsyrk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
 
-int BLASFUNC(ssyr2k)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float *, int *, float  *, float  *, int *);
-int BLASFUNC(dsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-int BLASFUNC(qsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-int BLASFUNC(csyr2k)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float *, int *, float  *, float  *, int *);
-int BLASFUNC(zsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-int BLASFUNC(xsyr2k)(char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
+int BLASFUNC(ssyr2k)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(dsyr2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
+int BLASFUNC(qsyr2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
+int BLASFUNC(csyr2k)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zsyr2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
+int BLASFUNC(xsyr2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
 
-int BLASFUNC(chemm)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, int *, float  *, float  *, int *);
-int BLASFUNC(zhemm)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
-int BLASFUNC(xhemm)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, int *, double *, double *, int *);
+int BLASFUNC(chemm)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zhemm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xhemm)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
 
 int BLASFUNC(chemm3m)(char *, char *, int *, int *, float  *, float  *, int *,
 	   float  *, int *, float  *, float  *, int *);
@@ -520,136 +421,17 @@ int BLASFUNC(zhemm3m)(char *, char *, int *, int *, double *, double *, int *,
 int BLASFUNC(xhemm3m)(char *, char *, int *, int *, double *, double *, int *,
 	   double *, int *, double *, double *, int *);
 
-int BLASFUNC(cherk)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float  *, float  *, int *);
-int BLASFUNC(zherk)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, double *, int *);
-int BLASFUNC(xherk)(char *, char *, int *, int *, double *, double *, int *,
-	   double *, double *, int *);
+int BLASFUNC(cherk)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zherk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xherk)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, double *, const int *);
 
-int BLASFUNC(cher2k)(char *, char *, int *, int *, float  *, float  *, int *,
-	   float *, int *, float  *, float  *, int *);
-int BLASFUNC(zher2k)(char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-int BLASFUNC(xher2k)(char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-int BLASFUNC(cher2m)(char *, char *, char *, int *, int *, float  *, float  *, int *,
-	   float *, int *, float  *, float  *, int *);
-int BLASFUNC(zher2m)(char *, char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
-int BLASFUNC(xher2m)(char *, char *, char *, int *, int *, double *, double *, int *,
-	   double*, int *, double *, double *, int *);
+int BLASFUNC(cher2k)(const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zher2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xher2k)(const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(cher2m)(const char *, const char *, const char *, const int *, const int *, const float  *, const float  *, const int *, const float *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zher2m)(const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
+int BLASFUNC(xher2m)(const char *, const char *, const char *, const int *, const int *, const double *, const double *, const int *, const double*, const int *, const double *, double *, const int *);
 
-int BLASFUNC(sgemt)(char *, int *, int *, float  *, float  *, int *,
-		    float  *, int *);
-int BLASFUNC(dgemt)(char *, int *, int *, double *, double *, int *,
-		    double *, int *);
-int BLASFUNC(cgemt)(char *, int *, int *, float  *, float  *, int *,
-		    float  *, int *);
-int BLASFUNC(zgemt)(char *, int *, int *, double *, double *, int *,
-		    double *, int *);
-
-int BLASFUNC(sgema)(char *, char *, int *, int *, float  *,
-		    float  *, int *, float *, float  *, int *, float *, int *);
-int BLASFUNC(dgema)(char *, char *, int *, int *, double *,
-		    double *, int *, double*, double *, int *, double*, int *);
-int BLASFUNC(cgema)(char *, char *, int *, int *, float  *,
-		    float  *, int *, float *, float  *, int *, float *, int *);
-int BLASFUNC(zgema)(char *, char *, int *, int *, double *,
-		    double *, int *, double*, double *, int *, double*, int *);
-
-int BLASFUNC(sgems)(char *, char *, int *, int *, float  *,
-		    float  *, int *, float *, float  *, int *, float *, int *);
-int BLASFUNC(dgems)(char *, char *, int *, int *, double *,
-		    double *, int *, double*, double *, int *, double*, int *);
-int BLASFUNC(cgems)(char *, char *, int *, int *, float  *,
-		    float  *, int *, float *, float  *, int *, float *, int *);
-int BLASFUNC(zgems)(char *, char *, int *, int *, double *,
-		    double *, int *, double*, double *, int *, double*, int *);
-
-int BLASFUNC(sgetf2)(int *, int *, float  *, int *, int *, int *);
-int BLASFUNC(dgetf2)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(qgetf2)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(cgetf2)(int *, int *, float  *, int *, int *, int *);
-int BLASFUNC(zgetf2)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(xgetf2)(int *, int *, double *, int *, int *, int *);
-
-int BLASFUNC(sgetrf)(int *, int *, float  *, int *, int *, int *);
-int BLASFUNC(dgetrf)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(qgetrf)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(cgetrf)(int *, int *, float  *, int *, int *, int *);
-int BLASFUNC(zgetrf)(int *, int *, double *, int *, int *, int *);
-int BLASFUNC(xgetrf)(int *, int *, double *, int *, int *, int *);
-
-int BLASFUNC(slaswp)(int *, float  *, int *, int *, int *, int *, int *);
-int BLASFUNC(dlaswp)(int *, double *, int *, int *, int *, int *, int *);
-int BLASFUNC(qlaswp)(int *, double *, int *, int *, int *, int *, int *);
-int BLASFUNC(claswp)(int *, float  *, int *, int *, int *, int *, int *);
-int BLASFUNC(zlaswp)(int *, double *, int *, int *, int *, int *, int *);
-int BLASFUNC(xlaswp)(int *, double *, int *, int *, int *, int *, int *);
-
-int BLASFUNC(sgetrs)(char *, int *, int *, float  *, int *, int *, float  *, int *, int *);
-int BLASFUNC(dgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
-int BLASFUNC(qgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
-int BLASFUNC(cgetrs)(char *, int *, int *, float  *, int *, int *, float  *, int *, int *);
-int BLASFUNC(zgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
-int BLASFUNC(xgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
-
-int BLASFUNC(sgesv)(int *, int *, float  *, int *, int *, float *, int *, int *);
-int BLASFUNC(dgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
-int BLASFUNC(qgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
-int BLASFUNC(cgesv)(int *, int *, float  *, int *, int *, float *, int *, int *);
-int BLASFUNC(zgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
-int BLASFUNC(xgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
-
-int BLASFUNC(spotf2)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dpotf2)(char *, int *, double *, int *, int *);
-int BLASFUNC(qpotf2)(char *, int *, double *, int *, int *);
-int BLASFUNC(cpotf2)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zpotf2)(char *, int *, double *, int *, int *);
-int BLASFUNC(xpotf2)(char *, int *, double *, int *, int *);
-
-int BLASFUNC(spotrf)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dpotrf)(char *, int *, double *, int *, int *);
-int BLASFUNC(qpotrf)(char *, int *, double *, int *, int *);
-int BLASFUNC(cpotrf)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zpotrf)(char *, int *, double *, int *, int *);
-int BLASFUNC(xpotrf)(char *, int *, double *, int *, int *);
-
-int BLASFUNC(slauu2)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dlauu2)(char *, int *, double *, int *, int *);
-int BLASFUNC(qlauu2)(char *, int *, double *, int *, int *);
-int BLASFUNC(clauu2)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zlauu2)(char *, int *, double *, int *, int *);
-int BLASFUNC(xlauu2)(char *, int *, double *, int *, int *);
-
-int BLASFUNC(slauum)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dlauum)(char *, int *, double *, int *, int *);
-int BLASFUNC(qlauum)(char *, int *, double *, int *, int *);
-int BLASFUNC(clauum)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zlauum)(char *, int *, double *, int *, int *);
-int BLASFUNC(xlauum)(char *, int *, double *, int *, int *);
-
-int BLASFUNC(strti2)(char *, char *, int *, float  *, int *, int *);
-int BLASFUNC(dtrti2)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(qtrti2)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(ctrti2)(char *, char *, int *, float  *, int *, int *);
-int BLASFUNC(ztrti2)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(xtrti2)(char *, char *, int *, double *, int *, int *);
-
-int BLASFUNC(strtri)(char *, char *, int *, float  *, int *, int *);
-int BLASFUNC(dtrtri)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(qtrtri)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(ctrtri)(char *, char *, int *, float  *, int *, int *);
-int BLASFUNC(ztrtri)(char *, char *, int *, double *, int *, int *);
-int BLASFUNC(xtrtri)(char *, char *, int *, double *, int *, int *);
-
-int BLASFUNC(spotri)(char *, int *, float  *, int *, int *);
-int BLASFUNC(dpotri)(char *, int *, double *, int *, int *);
-int BLASFUNC(qpotri)(char *, int *, double *, int *, int *);
-int BLASFUNC(cpotri)(char *, int *, float  *, int *, int *);
-int BLASFUNC(zpotri)(char *, int *, double *, int *, int *);
-int BLASFUNC(xpotri)(char *, int *, double *, int *, int *);
 
 #ifdef __cplusplus
 }
diff --git a/eigenlib/Eigen/src/misc/lapack.h b/eigenlib/Eigen/src/misc/lapack.h
new file mode 100644
index 00000000..249f3575
--- /dev/null
+++ b/eigenlib/Eigen/src/misc/lapack.h
@@ -0,0 +1,152 @@
+#ifndef LAPACK_H
+#define LAPACK_H
+
+#include "blas.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+int BLASFUNC(csymv) (const char *, const int *, const float  *, const float  *, const int *, const float  *, const int *, const float  *, float  *, const int *);
+int BLASFUNC(zsymv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+int BLASFUNC(xsymv) (const char *, const int *, const double *, const double *, const int *, const double *, const int *, const double *, double *, const int *);
+
+
+int BLASFUNC(cspmv) (char *, int *, float  *, float *,
+         float  *, int *, float *, float *, int *);
+int BLASFUNC(zspmv) (char *, int *, double  *, double *,
+         double  *, int *, double *, double *, int *);
+int BLASFUNC(xspmv) (char *, int *, double  *, double *,
+         double  *, int *, double *, double *, int *);
+
+int BLASFUNC(csyr) (char *, int *, float   *, float  *, int *,
+        float  *, int *);
+int BLASFUNC(zsyr) (char *, int *, double  *, double *, int *,
+        double *, int *);
+int BLASFUNC(xsyr) (char *, int *, double  *, double *, int *,
+        double *, int *);
+
+int BLASFUNC(cspr) (char *, int *, float   *, float  *, int *,
+        float  *);
+int BLASFUNC(zspr) (char *, int *, double  *, double *, int *,
+        double *);
+int BLASFUNC(xspr) (char *, int *, double  *, double *, int *,
+        double *);
+
+int BLASFUNC(sgemt)(char *, int *, int *, float  *, float  *, int *,
+        float  *, int *);
+int BLASFUNC(dgemt)(char *, int *, int *, double *, double *, int *,
+        double *, int *);
+int BLASFUNC(cgemt)(char *, int *, int *, float  *, float  *, int *,
+        float  *, int *);
+int BLASFUNC(zgemt)(char *, int *, int *, double *, double *, int *,
+        double *, int *);
+
+int BLASFUNC(sgema)(char *, char *, int *, int *, float  *,
+        float  *, int *, float *, float  *, int *, float *, int *);
+int BLASFUNC(dgema)(char *, char *, int *, int *, double *,
+        double *, int *, double*, double *, int *, double*, int *);
+int BLASFUNC(cgema)(char *, char *, int *, int *, float  *,
+        float  *, int *, float *, float  *, int *, float *, int *);
+int BLASFUNC(zgema)(char *, char *, int *, int *, double *,
+        double *, int *, double*, double *, int *, double*, int *);
+
+int BLASFUNC(sgems)(char *, char *, int *, int *, float  *,
+        float  *, int *, float *, float  *, int *, float *, int *);
+int BLASFUNC(dgems)(char *, char *, int *, int *, double *,
+        double *, int *, double*, double *, int *, double*, int *);
+int BLASFUNC(cgems)(char *, char *, int *, int *, float  *,
+        float  *, int *, float *, float  *, int *, float *, int *);
+int BLASFUNC(zgems)(char *, char *, int *, int *, double *,
+        double *, int *, double*, double *, int *, double*, int *);
+
+int BLASFUNC(sgetf2)(int *, int *, float  *, int *, int *, int *);
+int BLASFUNC(dgetf2)(int *, int *, double *, int *, int *, int *);
+int BLASFUNC(qgetf2)(int *, int *, double *, int *, int *, int *);
+int BLASFUNC(cgetf2)(int *, int *, float  *, int *, int *, int *);
+int BLASFUNC(zgetf2)(int *, int *, double *, int *, int *, int *);
+int BLASFUNC(xgetf2)(int *, int *, double *, int *, int *, int *);
+
+int BLASFUNC(sgetrf)(int *, int *, float  *, int *, int *, int *);
+int BLASFUNC(dgetrf)(int *, int *, double *, int *, int *, int *);
+int BLASFUNC(qgetrf)(int *, int *, double *, int *, int *, int *);
+int BLASFUNC(cgetrf)(int *, int *, float  *, int *, int *, int *);
+int BLASFUNC(zgetrf)(int *, int *, double *, int *, int *, int *);
+int BLASFUNC(xgetrf)(int *, int *, double *, int *, int *, int *);
+
+int BLASFUNC(slaswp)(int *, float  *, int *, int *, int *, int *, int *);
+int BLASFUNC(dlaswp)(int *, double *, int *, int *, int *, int *, int *);
+int BLASFUNC(qlaswp)(int *, double *, int *, int *, int *, int *, int *);
+int BLASFUNC(claswp)(int *, float  *, int *, int *, int *, int *, int *);
+int BLASFUNC(zlaswp)(int *, double *, int *, int *, int *, int *, int *);
+int BLASFUNC(xlaswp)(int *, double *, int *, int *, int *, int *, int *);
+
+int BLASFUNC(sgetrs)(char *, int *, int *, float  *, int *, int *, float  *, int *, int *);
+int BLASFUNC(dgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
+int BLASFUNC(qgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
+int BLASFUNC(cgetrs)(char *, int *, int *, float  *, int *, int *, float  *, int *, int *);
+int BLASFUNC(zgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
+int BLASFUNC(xgetrs)(char *, int *, int *, double *, int *, int *, double *, int *, int *);
+
+int BLASFUNC(sgesv)(int *, int *, float  *, int *, int *, float *, int *, int *);
+int BLASFUNC(dgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
+int BLASFUNC(qgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
+int BLASFUNC(cgesv)(int *, int *, float  *, int *, int *, float *, int *, int *);
+int BLASFUNC(zgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
+int BLASFUNC(xgesv)(int *, int *, double *, int *, int *, double*, int *, int *);
+
+int BLASFUNC(spotf2)(char *, int *, float  *, int *, int *);
+int BLASFUNC(dpotf2)(char *, int *, double *, int *, int *);
+int BLASFUNC(qpotf2)(char *, int *, double *, int *, int *);
+int BLASFUNC(cpotf2)(char *, int *, float  *, int *, int *);
+int BLASFUNC(zpotf2)(char *, int *, double *, int *, int *);
+int BLASFUNC(xpotf2)(char *, int *, double *, int *, int *);
+
+int BLASFUNC(spotrf)(char *, int *, float  *, int *, int *);
+int BLASFUNC(dpotrf)(char *, int *, double *, int *, int *);
+int BLASFUNC(qpotrf)(char *, int *, double *, int *, int *);
+int BLASFUNC(cpotrf)(char *, int *, float  *, int *, int *);
+int BLASFUNC(zpotrf)(char *, int *, double *, int *, int *);
+int BLASFUNC(xpotrf)(char *, int *, double *, int *, int *);
+
+int BLASFUNC(slauu2)(char *, int *, float  *, int *, int *);
+int BLASFUNC(dlauu2)(char *, int *, double *, int *, int *);
+int BLASFUNC(qlauu2)(char *, int *, double *, int *, int *);
+int BLASFUNC(clauu2)(char *, int *, float  *, int *, int *);
+int BLASFUNC(zlauu2)(char *, int *, double *, int *, int *);
+int BLASFUNC(xlauu2)(char *, int *, double *, int *, int *);
+
+int BLASFUNC(slauum)(char *, int *, float  *, int *, int *);
+int BLASFUNC(dlauum)(char *, int *, double *, int *, int *);
+int BLASFUNC(qlauum)(char *, int *, double *, int *, int *);
+int BLASFUNC(clauum)(char *, int *, float  *, int *, int *);
+int BLASFUNC(zlauum)(char *, int *, double *, int *, int *);
+int BLASFUNC(xlauum)(char *, int *, double *, int *, int *);
+
+int BLASFUNC(strti2)(char *, char *, int *, float  *, int *, int *);
+int BLASFUNC(dtrti2)(char *, char *, int *, double *, int *, int *);
+int BLASFUNC(qtrti2)(char *, char *, int *, double *, int *, int *);
+int BLASFUNC(ctrti2)(char *, char *, int *, float  *, int *, int *);
+int BLASFUNC(ztrti2)(char *, char *, int *, double *, int *, int *);
+int BLASFUNC(xtrti2)(char *, char *, int *, double *, int *, int *);
+
+int BLASFUNC(strtri)(char *, char *, int *, float  *, int *, int *);
+int BLASFUNC(dtrtri)(char *, char *, int *, double *, int *, int *);
+int BLASFUNC(qtrtri)(char *, char *, int *, double *, int *, int *);
+int BLASFUNC(ctrtri)(char *, char *, int *, float  *, int *, int *);
+int BLASFUNC(ztrtri)(char *, char *, int *, double *, int *, int *);
+int BLASFUNC(xtrtri)(char *, char *, int *, double *, int *, int *);
+
+int BLASFUNC(spotri)(char *, int *, float  *, int *, int *);
+int BLASFUNC(dpotri)(char *, int *, double *, int *, int *);
+int BLASFUNC(qpotri)(char *, int *, double *, int *, int *);
+int BLASFUNC(cpotri)(char *, int *, float  *, int *, int *);
+int BLASFUNC(zpotri)(char *, int *, double *, int *, int *);
+int BLASFUNC(xpotri)(char *, int *, double *, int *, int *);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
diff --git a/eigenlib/Eigen/src/misc/lapacke.h b/eigenlib/Eigen/src/misc/lapacke.h
new file mode 100755
index 00000000..8c7e79b0
--- /dev/null
+++ b/eigenlib/Eigen/src/misc/lapacke.h
@@ -0,0 +1,16291 @@
+/*****************************************************************************
+  Copyright (c) 2010, Intel Corp.
+  All rights reserved.
+
+  Redistribution and use in source and binary forms, with or without
+  modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright notice,
+      this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of Intel Corporation nor the names of its contributors
+      may be used to endorse or promote products derived from this software
+      without specific prior written permission.
+
+  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
+  THE POSSIBILITY OF SUCH DAMAGE.
+******************************************************************************
+* Contents: Native C interface to LAPACK
+* Author: Intel Corporation
+* Generated November, 2011
+*****************************************************************************/
+
+#ifndef _MKL_LAPACKE_H_
+
+#ifndef _LAPACKE_H_
+#define _LAPACKE_H_
+
+/*
+*  Turn on HAVE_LAPACK_CONFIG_H to redefine C-LAPACK datatypes
+*/
+#ifdef HAVE_LAPACK_CONFIG_H
+#include "lapacke_config.h"
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+#include <stdlib.h>
+
+#ifndef lapack_int
+#define lapack_int     int
+#endif
+
+#ifndef lapack_logical
+#define lapack_logical lapack_int
+#endif
+
+/* Complex types are structures equivalent to the
+* Fortran complex types COMPLEX(4) and COMPLEX(8).
+*
+* One can also redefine the types with his own types
+* for example by including in the code definitions like
+*
+* #define lapack_complex_float std::complex<float>
+* #define lapack_complex_double std::complex<double>
+*
+* or define these types in the command line:
+*
+* -Dlapack_complex_float="std::complex<float>"
+* -Dlapack_complex_double="std::complex<double>"
+*/
+
+#ifndef LAPACK_COMPLEX_CUSTOM
+
+/* Complex type (single precision) */
+#ifndef lapack_complex_float
+#include <complex.h>
+#define lapack_complex_float    float _Complex
+#endif
+
+#ifndef lapack_complex_float_real
+#define lapack_complex_float_real(z)       (creal(z))
+#endif
+
+#ifndef lapack_complex_float_imag
+#define lapack_complex_float_imag(z)       (cimag(z))
+#endif
+
+lapack_complex_float lapack_make_complex_float( float re, float im );
+
+/* Complex type (double precision) */
+#ifndef lapack_complex_double
+#include <complex.h>
+#define lapack_complex_double   double _Complex
+#endif
+
+#ifndef lapack_complex_double_real
+#define lapack_complex_double_real(z)      (creal(z))
+#endif
+
+#ifndef lapack_complex_double_imag
+#define lapack_complex_double_imag(z)       (cimag(z))
+#endif
+
+lapack_complex_double lapack_make_complex_double( double re, double im );
+
+#endif
+
+#ifndef LAPACKE_malloc
+#define LAPACKE_malloc( size ) malloc( size )
+#endif
+#ifndef LAPACKE_free
+#define LAPACKE_free( p )      free( p )
+#endif
+
+#define LAPACK_C2INT( x ) (lapack_int)(*((float*)&x ))
+#define LAPACK_Z2INT( x ) (lapack_int)(*((double*)&x ))
+
+#define LAPACK_ROW_MAJOR               101
+#define LAPACK_COL_MAJOR               102
+
+#define LAPACK_WORK_MEMORY_ERROR       -1010
+#define LAPACK_TRANSPOSE_MEMORY_ERROR  -1011
+
+/* Callback logical functions of one, two, or three arguments are used
+*  to select eigenvalues to sort to the top left of the Schur form.
+*  The value is selected if function returns TRUE (non-zero). */
+
+typedef lapack_logical (*LAPACK_S_SELECT2) ( const float*, const float* );
+typedef lapack_logical (*LAPACK_S_SELECT3)
+    ( const float*, const float*, const float* );
+typedef lapack_logical (*LAPACK_D_SELECT2) ( const double*, const double* );
+typedef lapack_logical (*LAPACK_D_SELECT3)
+    ( const double*, const double*, const double* );
+
+typedef lapack_logical (*LAPACK_C_SELECT1) ( const lapack_complex_float* );
+typedef lapack_logical (*LAPACK_C_SELECT2)
+    ( const lapack_complex_float*, const lapack_complex_float* );
+typedef lapack_logical (*LAPACK_Z_SELECT1) ( const lapack_complex_double* );
+typedef lapack_logical (*LAPACK_Z_SELECT2)
+    ( const lapack_complex_double*, const lapack_complex_double* );
+
+#include "lapacke_mangling.h"
+
+#define LAPACK_lsame LAPACK_GLOBAL(lsame,LSAME)
+lapack_logical LAPACK_lsame( char* ca,  char* cb,
+                              lapack_int lca, lapack_int lcb );
+
+/* C-LAPACK function prototypes */
+
+lapack_int LAPACKE_sbdsdc( int matrix_order, char uplo, char compq,
+                           lapack_int n, float* d, float* e, float* u,
+                           lapack_int ldu, float* vt, lapack_int ldvt, float* q,
+                           lapack_int* iq );
+lapack_int LAPACKE_dbdsdc( int matrix_order, char uplo, char compq,
+                           lapack_int n, double* d, double* e, double* u,
+                           lapack_int ldu, double* vt, lapack_int ldvt,
+                           double* q, lapack_int* iq );
+
+lapack_int LAPACKE_sbdsqr( int matrix_order, char uplo, lapack_int n,
+                           lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                           float* d, float* e, float* vt, lapack_int ldvt,
+                           float* u, lapack_int ldu, float* c, lapack_int ldc );
+lapack_int LAPACKE_dbdsqr( int matrix_order, char uplo, lapack_int n,
+                           lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                           double* d, double* e, double* vt, lapack_int ldvt,
+                           double* u, lapack_int ldu, double* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_cbdsqr( int matrix_order, char uplo, lapack_int n,
+                           lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                           float* d, float* e, lapack_complex_float* vt,
+                           lapack_int ldvt, lapack_complex_float* u,
+                           lapack_int ldu, lapack_complex_float* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_zbdsqr( int matrix_order, char uplo, lapack_int n,
+                           lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                           double* d, double* e, lapack_complex_double* vt,
+                           lapack_int ldvt, lapack_complex_double* u,
+                           lapack_int ldu, lapack_complex_double* c,
+                           lapack_int ldc );
+
+lapack_int LAPACKE_sdisna( char job, lapack_int m, lapack_int n, const float* d,
+                           float* sep );
+lapack_int LAPACKE_ddisna( char job, lapack_int m, lapack_int n,
+                           const double* d, double* sep );
+
+lapack_int LAPACKE_sgbbrd( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int ncc, lapack_int kl,
+                           lapack_int ku, float* ab, lapack_int ldab, float* d,
+                           float* e, float* q, lapack_int ldq, float* pt,
+                           lapack_int ldpt, float* c, lapack_int ldc );
+lapack_int LAPACKE_dgbbrd( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int ncc, lapack_int kl,
+                           lapack_int ku, double* ab, lapack_int ldab,
+                           double* d, double* e, double* q, lapack_int ldq,
+                           double* pt, lapack_int ldpt, double* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_cgbbrd( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int ncc, lapack_int kl,
+                           lapack_int ku, lapack_complex_float* ab,
+                           lapack_int ldab, float* d, float* e,
+                           lapack_complex_float* q, lapack_int ldq,
+                           lapack_complex_float* pt, lapack_int ldpt,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zgbbrd( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int ncc, lapack_int kl,
+                           lapack_int ku, lapack_complex_double* ab,
+                           lapack_int ldab, double* d, double* e,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_complex_double* pt, lapack_int ldpt,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sgbcon( int matrix_order, char norm, lapack_int n,
+                           lapack_int kl, lapack_int ku, const float* ab,
+                           lapack_int ldab, const lapack_int* ipiv, float anorm,
+                           float* rcond );
+lapack_int LAPACKE_dgbcon( int matrix_order, char norm, lapack_int n,
+                           lapack_int kl, lapack_int ku, const double* ab,
+                           lapack_int ldab, const lapack_int* ipiv,
+                           double anorm, double* rcond );
+lapack_int LAPACKE_cgbcon( int matrix_order, char norm, lapack_int n,
+                           lapack_int kl, lapack_int ku,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_zgbcon( int matrix_order, char norm, lapack_int n,
+                           lapack_int kl, lapack_int ku,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_sgbequ( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, const float* ab,
+                           lapack_int ldab, float* r, float* c, float* rowcnd,
+                           float* colcnd, float* amax );
+lapack_int LAPACKE_dgbequ( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, const double* ab,
+                           lapack_int ldab, double* r, double* c,
+                           double* rowcnd, double* colcnd, double* amax );
+lapack_int LAPACKE_cgbequ( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           float* r, float* c, float* rowcnd, float* colcnd,
+                           float* amax );
+lapack_int LAPACKE_zgbequ( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           double* r, double* c, double* rowcnd, double* colcnd,
+                           double* amax );
+
+lapack_int LAPACKE_sgbequb( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_int kl, lapack_int ku, const float* ab,
+                            lapack_int ldab, float* r, float* c, float* rowcnd,
+                            float* colcnd, float* amax );
+lapack_int LAPACKE_dgbequb( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_int kl, lapack_int ku, const double* ab,
+                            lapack_int ldab, double* r, double* c,
+                            double* rowcnd, double* colcnd, double* amax );
+lapack_int LAPACKE_cgbequb( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_int kl, lapack_int ku,
+                            const lapack_complex_float* ab, lapack_int ldab,
+                            float* r, float* c, float* rowcnd, float* colcnd,
+                            float* amax );
+lapack_int LAPACKE_zgbequb( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_int kl, lapack_int ku,
+                            const lapack_complex_double* ab, lapack_int ldab,
+                            double* r, double* c, double* rowcnd,
+                            double* colcnd, double* amax );
+
+lapack_int LAPACKE_sgbrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const float* ab, lapack_int ldab, const float* afb,
+                           lapack_int ldafb, const lapack_int* ipiv,
+                           const float* b, lapack_int ldb, float* x,
+                           lapack_int ldx, float* ferr, float* berr );
+lapack_int LAPACKE_dgbrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const double* ab, lapack_int ldab, const double* afb,
+                           lapack_int ldafb, const lapack_int* ipiv,
+                           const double* b, lapack_int ldb, double* x,
+                           lapack_int ldx, double* ferr, double* berr );
+lapack_int LAPACKE_cgbrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           const lapack_complex_float* afb, lapack_int ldafb,
+                           const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zgbrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           const lapack_complex_double* afb, lapack_int ldafb,
+                           const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_sgbrfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, const float* ab, lapack_int ldab,
+                            const float* afb, lapack_int ldafb,
+                            const lapack_int* ipiv, const float* r,
+                            const float* c, const float* b, lapack_int ldb,
+                            float* x, lapack_int ldx, float* rcond, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dgbrfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, const double* ab, lapack_int ldab,
+                            const double* afb, lapack_int ldafb,
+                            const lapack_int* ipiv, const double* r,
+                            const double* c, const double* b, lapack_int ldb,
+                            double* x, lapack_int ldx, double* rcond,
+                            double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+lapack_int LAPACKE_cgbrfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, const lapack_complex_float* ab,
+                            lapack_int ldab, const lapack_complex_float* afb,
+                            lapack_int ldafb, const lapack_int* ipiv,
+                            const float* r, const float* c,
+                            const lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* x, lapack_int ldx,
+                            float* rcond, float* berr, lapack_int n_err_bnds,
+                            float* err_bnds_norm, float* err_bnds_comp,
+                            lapack_int nparams, float* params );
+lapack_int LAPACKE_zgbrfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, const lapack_complex_double* ab,
+                            lapack_int ldab, const lapack_complex_double* afb,
+                            lapack_int ldafb, const lapack_int* ipiv,
+                            const double* r, const double* c,
+                            const lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* x, lapack_int ldx,
+                            double* rcond, double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+
+lapack_int LAPACKE_sgbsv( int matrix_order, lapack_int n, lapack_int kl,
+                          lapack_int ku, lapack_int nrhs, float* ab,
+                          lapack_int ldab, lapack_int* ipiv, float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dgbsv( int matrix_order, lapack_int n, lapack_int kl,
+                          lapack_int ku, lapack_int nrhs, double* ab,
+                          lapack_int ldab, lapack_int* ipiv, double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_cgbsv( int matrix_order, lapack_int n, lapack_int kl,
+                          lapack_int ku, lapack_int nrhs,
+                          lapack_complex_float* ab, lapack_int ldab,
+                          lapack_int* ipiv, lapack_complex_float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_zgbsv( int matrix_order, lapack_int n, lapack_int kl,
+                          lapack_int ku, lapack_int nrhs,
+                          lapack_complex_double* ab, lapack_int ldab,
+                          lapack_int* ipiv, lapack_complex_double* b,
+                          lapack_int ldb );
+
+lapack_int LAPACKE_sgbsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int kl, lapack_int ku,
+                           lapack_int nrhs, float* ab, lapack_int ldab,
+                           float* afb, lapack_int ldafb, lapack_int* ipiv,
+                           char* equed, float* r, float* c, float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr,
+                           float* rpivot );
+lapack_int LAPACKE_dgbsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int kl, lapack_int ku,
+                           lapack_int nrhs, double* ab, lapack_int ldab,
+                           double* afb, lapack_int ldafb, lapack_int* ipiv,
+                           char* equed, double* r, double* c, double* b,
+                           lapack_int ldb, double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr,
+                           double* rpivot );
+lapack_int LAPACKE_cgbsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int kl, lapack_int ku,
+                           lapack_int nrhs, lapack_complex_float* ab,
+                           lapack_int ldab, lapack_complex_float* afb,
+                           lapack_int ldafb, lapack_int* ipiv, char* equed,
+                           float* r, float* c, lapack_complex_float* b,
+                           lapack_int ldb, lapack_complex_float* x,
+                           lapack_int ldx, float* rcond, float* ferr,
+                           float* berr, float* rpivot );
+lapack_int LAPACKE_zgbsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int kl, lapack_int ku,
+                           lapack_int nrhs, lapack_complex_double* ab,
+                           lapack_int ldab, lapack_complex_double* afb,
+                           lapack_int ldafb, lapack_int* ipiv, char* equed,
+                           double* r, double* c, lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* x,
+                           lapack_int ldx, double* rcond, double* ferr,
+                           double* berr, double* rpivot );
+
+lapack_int LAPACKE_sgbsvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, float* ab, lapack_int ldab,
+                            float* afb, lapack_int ldafb, lapack_int* ipiv,
+                            char* equed, float* r, float* c, float* b,
+                            lapack_int ldb, float* x, lapack_int ldx,
+                            float* rcond, float* rpvgrw, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dgbsvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, double* ab, lapack_int ldab,
+                            double* afb, lapack_int ldafb, lapack_int* ipiv,
+                            char* equed, double* r, double* c, double* b,
+                            lapack_int ldb, double* x, lapack_int ldx,
+                            double* rcond, double* rpvgrw, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+lapack_int LAPACKE_cgbsvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, lapack_complex_float* ab,
+                            lapack_int ldab, lapack_complex_float* afb,
+                            lapack_int ldafb, lapack_int* ipiv, char* equed,
+                            float* r, float* c, lapack_complex_float* b,
+                            lapack_int ldb, lapack_complex_float* x,
+                            lapack_int ldx, float* rcond, float* rpvgrw,
+                            float* berr, lapack_int n_err_bnds,
+                            float* err_bnds_norm, float* err_bnds_comp,
+                            lapack_int nparams, float* params );
+lapack_int LAPACKE_zgbsvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int kl, lapack_int ku,
+                            lapack_int nrhs, lapack_complex_double* ab,
+                            lapack_int ldab, lapack_complex_double* afb,
+                            lapack_int ldafb, lapack_int* ipiv, char* equed,
+                            double* r, double* c, lapack_complex_double* b,
+                            lapack_int ldb, lapack_complex_double* x,
+                            lapack_int ldx, double* rcond, double* rpvgrw,
+                            double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+
+lapack_int LAPACKE_sgbtrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, float* ab,
+                           lapack_int ldab, lapack_int* ipiv );
+lapack_int LAPACKE_dgbtrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, double* ab,
+                           lapack_int ldab, lapack_int* ipiv );
+lapack_int LAPACKE_cgbtrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku,
+                           lapack_complex_float* ab, lapack_int ldab,
+                           lapack_int* ipiv );
+lapack_int LAPACKE_zgbtrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku,
+                           lapack_complex_double* ab, lapack_int ldab,
+                           lapack_int* ipiv );
+
+lapack_int LAPACKE_sgbtrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const float* ab, lapack_int ldab,
+                           const lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_dgbtrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const double* ab, lapack_int ldab,
+                           const lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_cgbtrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           const lapack_int* ipiv, lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zgbtrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int kl, lapack_int ku, lapack_int nrhs,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           const lapack_int* ipiv, lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_sgebak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const float* scale,
+                           lapack_int m, float* v, lapack_int ldv );
+lapack_int LAPACKE_dgebak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const double* scale,
+                           lapack_int m, double* v, lapack_int ldv );
+lapack_int LAPACKE_cgebak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const float* scale,
+                           lapack_int m, lapack_complex_float* v,
+                           lapack_int ldv );
+lapack_int LAPACKE_zgebak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const double* scale,
+                           lapack_int m, lapack_complex_double* v,
+                           lapack_int ldv );
+
+lapack_int LAPACKE_sgebal( int matrix_order, char job, lapack_int n, float* a,
+                           lapack_int lda, lapack_int* ilo, lapack_int* ihi,
+                           float* scale );
+lapack_int LAPACKE_dgebal( int matrix_order, char job, lapack_int n, double* a,
+                           lapack_int lda, lapack_int* ilo, lapack_int* ihi,
+                           double* scale );
+lapack_int LAPACKE_cgebal( int matrix_order, char job, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* ilo, lapack_int* ihi, float* scale );
+lapack_int LAPACKE_zgebal( int matrix_order, char job, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* ilo, lapack_int* ihi, double* scale );
+
+lapack_int LAPACKE_sgebrd( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* d, float* e,
+                           float* tauq, float* taup );
+lapack_int LAPACKE_dgebrd( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* d, double* e,
+                           double* tauq, double* taup );
+lapack_int LAPACKE_cgebrd( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda, float* d,
+                           float* e, lapack_complex_float* tauq,
+                           lapack_complex_float* taup );
+lapack_int LAPACKE_zgebrd( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda, double* d,
+                           double* e, lapack_complex_double* tauq,
+                           lapack_complex_double* taup );
+
+lapack_int LAPACKE_sgecon( int matrix_order, char norm, lapack_int n,
+                           const float* a, lapack_int lda, float anorm,
+                           float* rcond );
+lapack_int LAPACKE_dgecon( int matrix_order, char norm, lapack_int n,
+                           const double* a, lapack_int lda, double anorm,
+                           double* rcond );
+lapack_int LAPACKE_cgecon( int matrix_order, char norm, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           float anorm, float* rcond );
+lapack_int LAPACKE_zgecon( int matrix_order, char norm, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           double anorm, double* rcond );
+
+lapack_int LAPACKE_sgeequ( int matrix_order, lapack_int m, lapack_int n,
+                           const float* a, lapack_int lda, float* r, float* c,
+                           float* rowcnd, float* colcnd, float* amax );
+lapack_int LAPACKE_dgeequ( int matrix_order, lapack_int m, lapack_int n,
+                           const double* a, lapack_int lda, double* r,
+                           double* c, double* rowcnd, double* colcnd,
+                           double* amax );
+lapack_int LAPACKE_cgeequ( int matrix_order, lapack_int m, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           float* r, float* c, float* rowcnd, float* colcnd,
+                           float* amax );
+lapack_int LAPACKE_zgeequ( int matrix_order, lapack_int m, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           double* r, double* c, double* rowcnd, double* colcnd,
+                           double* amax );
+
+lapack_int LAPACKE_sgeequb( int matrix_order, lapack_int m, lapack_int n,
+                            const float* a, lapack_int lda, float* r, float* c,
+                            float* rowcnd, float* colcnd, float* amax );
+lapack_int LAPACKE_dgeequb( int matrix_order, lapack_int m, lapack_int n,
+                            const double* a, lapack_int lda, double* r,
+                            double* c, double* rowcnd, double* colcnd,
+                            double* amax );
+lapack_int LAPACKE_cgeequb( int matrix_order, lapack_int m, lapack_int n,
+                            const lapack_complex_float* a, lapack_int lda,
+                            float* r, float* c, float* rowcnd, float* colcnd,
+                            float* amax );
+lapack_int LAPACKE_zgeequb( int matrix_order, lapack_int m, lapack_int n,
+                            const lapack_complex_double* a, lapack_int lda,
+                            double* r, double* c, double* rowcnd,
+                            double* colcnd, double* amax );
+
+lapack_int LAPACKE_sgees( int matrix_order, char jobvs, char sort,
+                          LAPACK_S_SELECT2 select, lapack_int n, float* a,
+                          lapack_int lda, lapack_int* sdim, float* wr,
+                          float* wi, float* vs, lapack_int ldvs );
+lapack_int LAPACKE_dgees( int matrix_order, char jobvs, char sort,
+                          LAPACK_D_SELECT2 select, lapack_int n, double* a,
+                          lapack_int lda, lapack_int* sdim, double* wr,
+                          double* wi, double* vs, lapack_int ldvs );
+lapack_int LAPACKE_cgees( int matrix_order, char jobvs, char sort,
+                          LAPACK_C_SELECT1 select, lapack_int n,
+                          lapack_complex_float* a, lapack_int lda,
+                          lapack_int* sdim, lapack_complex_float* w,
+                          lapack_complex_float* vs, lapack_int ldvs );
+lapack_int LAPACKE_zgees( int matrix_order, char jobvs, char sort,
+                          LAPACK_Z_SELECT1 select, lapack_int n,
+                          lapack_complex_double* a, lapack_int lda,
+                          lapack_int* sdim, lapack_complex_double* w,
+                          lapack_complex_double* vs, lapack_int ldvs );
+
+lapack_int LAPACKE_sgeesx( int matrix_order, char jobvs, char sort,
+                           LAPACK_S_SELECT2 select, char sense, lapack_int n,
+                           float* a, lapack_int lda, lapack_int* sdim,
+                           float* wr, float* wi, float* vs, lapack_int ldvs,
+                           float* rconde, float* rcondv );
+lapack_int LAPACKE_dgeesx( int matrix_order, char jobvs, char sort,
+                           LAPACK_D_SELECT2 select, char sense, lapack_int n,
+                           double* a, lapack_int lda, lapack_int* sdim,
+                           double* wr, double* wi, double* vs, lapack_int ldvs,
+                           double* rconde, double* rcondv );
+lapack_int LAPACKE_cgeesx( int matrix_order, char jobvs, char sort,
+                           LAPACK_C_SELECT1 select, char sense, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* sdim, lapack_complex_float* w,
+                           lapack_complex_float* vs, lapack_int ldvs,
+                           float* rconde, float* rcondv );
+lapack_int LAPACKE_zgeesx( int matrix_order, char jobvs, char sort,
+                           LAPACK_Z_SELECT1 select, char sense, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* sdim, lapack_complex_double* w,
+                           lapack_complex_double* vs, lapack_int ldvs,
+                           double* rconde, double* rcondv );
+
+lapack_int LAPACKE_sgeev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, float* a, lapack_int lda, float* wr,
+                          float* wi, float* vl, lapack_int ldvl, float* vr,
+                          lapack_int ldvr );
+lapack_int LAPACKE_dgeev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, double* a, lapack_int lda, double* wr,
+                          double* wi, double* vl, lapack_int ldvl, double* vr,
+                          lapack_int ldvr );
+lapack_int LAPACKE_cgeev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, lapack_complex_float* a, lapack_int lda,
+                          lapack_complex_float* w, lapack_complex_float* vl,
+                          lapack_int ldvl, lapack_complex_float* vr,
+                          lapack_int ldvr );
+lapack_int LAPACKE_zgeev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, lapack_complex_double* a,
+                          lapack_int lda, lapack_complex_double* w,
+                          lapack_complex_double* vl, lapack_int ldvl,
+                          lapack_complex_double* vr, lapack_int ldvr );
+
+lapack_int LAPACKE_sgeevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n, float* a,
+                           lapack_int lda, float* wr, float* wi, float* vl,
+                           lapack_int ldvl, float* vr, lapack_int ldvr,
+                           lapack_int* ilo, lapack_int* ihi, float* scale,
+                           float* abnrm, float* rconde, float* rcondv );
+lapack_int LAPACKE_dgeevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n, double* a,
+                           lapack_int lda, double* wr, double* wi, double* vl,
+                           lapack_int ldvl, double* vr, lapack_int ldvr,
+                           lapack_int* ilo, lapack_int* ihi, double* scale,
+                           double* abnrm, double* rconde, double* rcondv );
+lapack_int LAPACKE_cgeevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* w, lapack_complex_float* vl,
+                           lapack_int ldvl, lapack_complex_float* vr,
+                           lapack_int ldvr, lapack_int* ilo, lapack_int* ihi,
+                           float* scale, float* abnrm, float* rconde,
+                           float* rcondv );
+lapack_int LAPACKE_zgeevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* w, lapack_complex_double* vl,
+                           lapack_int ldvl, lapack_complex_double* vr,
+                           lapack_int ldvr, lapack_int* ilo, lapack_int* ihi,
+                           double* scale, double* abnrm, double* rconde,
+                           double* rcondv );
+
+lapack_int LAPACKE_sgehrd( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, float* a, lapack_int lda,
+                           float* tau );
+lapack_int LAPACKE_dgehrd( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, double* a, lapack_int lda,
+                           double* tau );
+lapack_int LAPACKE_cgehrd( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* tau );
+lapack_int LAPACKE_zgehrd( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgejsv( int matrix_order, char joba, char jobu, char jobv,
+                           char jobr, char jobt, char jobp, lapack_int m,
+                           lapack_int n, float* a, lapack_int lda, float* sva,
+                           float* u, lapack_int ldu, float* v, lapack_int ldv,
+                           float* stat, lapack_int* istat );
+lapack_int LAPACKE_dgejsv( int matrix_order, char joba, char jobu, char jobv,
+                           char jobr, char jobt, char jobp, lapack_int m,
+                           lapack_int n, double* a, lapack_int lda, double* sva,
+                           double* u, lapack_int ldu, double* v, lapack_int ldv,
+                           double* stat, lapack_int* istat );
+
+lapack_int LAPACKE_sgelq2( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgelq2( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgelq2( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zgelq2( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgelqf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgelqf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgelqf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zgelqf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgels( int matrix_order, char trans, lapack_int m,
+                          lapack_int n, lapack_int nrhs, float* a,
+                          lapack_int lda, float* b, lapack_int ldb );
+lapack_int LAPACKE_dgels( int matrix_order, char trans, lapack_int m,
+                          lapack_int n, lapack_int nrhs, double* a,
+                          lapack_int lda, double* b, lapack_int ldb );
+lapack_int LAPACKE_cgels( int matrix_order, char trans, lapack_int m,
+                          lapack_int n, lapack_int nrhs,
+                          lapack_complex_float* a, lapack_int lda,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zgels( int matrix_order, char trans, lapack_int m,
+                          lapack_int n, lapack_int nrhs,
+                          lapack_complex_double* a, lapack_int lda,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sgelsd( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, float* a, lapack_int lda, float* b,
+                           lapack_int ldb, float* s, float rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_dgelsd( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, double* a, lapack_int lda,
+                           double* b, lapack_int ldb, double* s, double rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_cgelsd( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, float* s, float rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_zgelsd( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, double* s, double rcond,
+                           lapack_int* rank );
+
+lapack_int LAPACKE_sgelss( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, float* a, lapack_int lda, float* b,
+                           lapack_int ldb, float* s, float rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_dgelss( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, double* a, lapack_int lda,
+                           double* b, lapack_int ldb, double* s, double rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_cgelss( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, float* s, float rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_zgelss( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, double* s, double rcond,
+                           lapack_int* rank );
+
+lapack_int LAPACKE_sgelsy( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, float* a, lapack_int lda, float* b,
+                           lapack_int ldb, lapack_int* jpvt, float rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_dgelsy( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, double* a, lapack_int lda,
+                           double* b, lapack_int ldb, lapack_int* jpvt,
+                           double rcond, lapack_int* rank );
+lapack_int LAPACKE_cgelsy( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, lapack_int* jpvt, float rcond,
+                           lapack_int* rank );
+lapack_int LAPACKE_zgelsy( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nrhs, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, lapack_int* jpvt, double rcond,
+                           lapack_int* rank );
+
+lapack_int LAPACKE_sgeqlf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgeqlf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgeqlf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zgeqlf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgeqp3( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, lapack_int* jpvt,
+                           float* tau );
+lapack_int LAPACKE_dgeqp3( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, lapack_int* jpvt,
+                           double* tau );
+lapack_int LAPACKE_cgeqp3( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* jpvt, lapack_complex_float* tau );
+lapack_int LAPACKE_zgeqp3( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* jpvt, lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgeqpf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, lapack_int* jpvt,
+                           float* tau );
+lapack_int LAPACKE_dgeqpf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, lapack_int* jpvt,
+                           double* tau );
+lapack_int LAPACKE_cgeqpf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* jpvt, lapack_complex_float* tau );
+lapack_int LAPACKE_zgeqpf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* jpvt, lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgeqr2( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgeqr2( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgeqr2( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zgeqr2( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgeqrf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgeqrf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgeqrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zgeqrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgeqrfp( int matrix_order, lapack_int m, lapack_int n,
+                            float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgeqrfp( int matrix_order, lapack_int m, lapack_int n,
+                            double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgeqrfp( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* tau );
+lapack_int LAPACKE_zgeqrfp( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgerfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           const float* af, lapack_int ldaf,
+                           const lapack_int* ipiv, const float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_dgerfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           const double* af, lapack_int ldaf,
+                           const lapack_int* ipiv, const double* b,
+                           lapack_int ldb, double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_cgerfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* af,
+                           lapack_int ldaf, const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zgerfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* af,
+                           lapack_int ldaf, const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_sgerfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int nrhs, const float* a,
+                            lapack_int lda, const float* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const float* r,
+                            const float* c, const float* b, lapack_int ldb,
+                            float* x, lapack_int ldx, float* rcond, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dgerfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int nrhs, const double* a,
+                            lapack_int lda, const double* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const double* r,
+                            const double* c, const double* b, lapack_int ldb,
+                            double* x, lapack_int ldx, double* rcond,
+                            double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+lapack_int LAPACKE_cgerfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_float* a, lapack_int lda,
+                            const lapack_complex_float* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const float* r,
+                            const float* c, const lapack_complex_float* b,
+                            lapack_int ldb, lapack_complex_float* x,
+                            lapack_int ldx, float* rcond, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_zgerfsx( int matrix_order, char trans, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_double* a, lapack_int lda,
+                            const lapack_complex_double* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const double* r,
+                            const double* c, const lapack_complex_double* b,
+                            lapack_int ldb, lapack_complex_double* x,
+                            lapack_int ldx, double* rcond, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+
+lapack_int LAPACKE_sgerqf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dgerqf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_cgerqf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zgerqf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_sgesdd( int matrix_order, char jobz, lapack_int m,
+                           lapack_int n, float* a, lapack_int lda, float* s,
+                           float* u, lapack_int ldu, float* vt,
+                           lapack_int ldvt );
+lapack_int LAPACKE_dgesdd( int matrix_order, char jobz, lapack_int m,
+                           lapack_int n, double* a, lapack_int lda, double* s,
+                           double* u, lapack_int ldu, double* vt,
+                           lapack_int ldvt );
+lapack_int LAPACKE_cgesdd( int matrix_order, char jobz, lapack_int m,
+                           lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, float* s, lapack_complex_float* u,
+                           lapack_int ldu, lapack_complex_float* vt,
+                           lapack_int ldvt );
+lapack_int LAPACKE_zgesdd( int matrix_order, char jobz, lapack_int m,
+                           lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, double* s, lapack_complex_double* u,
+                           lapack_int ldu, lapack_complex_double* vt,
+                           lapack_int ldvt );
+
+lapack_int LAPACKE_sgesv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          float* a, lapack_int lda, lapack_int* ipiv, float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dgesv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          double* a, lapack_int lda, lapack_int* ipiv,
+                          double* b, lapack_int ldb );
+lapack_int LAPACKE_cgesv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          lapack_complex_float* a, lapack_int lda,
+                          lapack_int* ipiv, lapack_complex_float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_zgesv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          lapack_complex_double* a, lapack_int lda,
+                          lapack_int* ipiv, lapack_complex_double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dsgesv( int matrix_order, lapack_int n, lapack_int nrhs,
+                           double* a, lapack_int lda, lapack_int* ipiv,
+                           double* b, lapack_int ldb, double* x, lapack_int ldx,
+                           lapack_int* iter );
+lapack_int LAPACKE_zcgesv( int matrix_order, lapack_int n, lapack_int nrhs,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* ipiv, lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* x,
+                           lapack_int ldx, lapack_int* iter );
+
+lapack_int LAPACKE_sgesvd( int matrix_order, char jobu, char jobvt,
+                           lapack_int m, lapack_int n, float* a, lapack_int lda,
+                           float* s, float* u, lapack_int ldu, float* vt,
+                           lapack_int ldvt, float* superb );
+lapack_int LAPACKE_dgesvd( int matrix_order, char jobu, char jobvt,
+                           lapack_int m, lapack_int n, double* a,
+                           lapack_int lda, double* s, double* u, lapack_int ldu,
+                           double* vt, lapack_int ldvt, double* superb );
+lapack_int LAPACKE_cgesvd( int matrix_order, char jobu, char jobvt,
+                           lapack_int m, lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, float* s, lapack_complex_float* u,
+                           lapack_int ldu, lapack_complex_float* vt,
+                           lapack_int ldvt, float* superb );
+lapack_int LAPACKE_zgesvd( int matrix_order, char jobu, char jobvt,
+                           lapack_int m, lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, double* s, lapack_complex_double* u,
+                           lapack_int ldu, lapack_complex_double* vt,
+                           lapack_int ldvt, double* superb );
+
+lapack_int LAPACKE_sgesvj( int matrix_order, char joba, char jobu, char jobv,
+                           lapack_int m, lapack_int n, float* a, lapack_int lda,
+                           float* sva, lapack_int mv, float* v, lapack_int ldv,
+                           float* stat );
+lapack_int LAPACKE_dgesvj( int matrix_order, char joba, char jobu, char jobv,
+                           lapack_int m, lapack_int n, double* a,
+                           lapack_int lda, double* sva, lapack_int mv,
+                           double* v, lapack_int ldv, double* stat );
+
+lapack_int LAPACKE_sgesvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs, float* a,
+                           lapack_int lda, float* af, lapack_int ldaf,
+                           lapack_int* ipiv, char* equed, float* r, float* c,
+                           float* b, lapack_int ldb, float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr,
+                           float* rpivot );
+lapack_int LAPACKE_dgesvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs, double* a,
+                           lapack_int lda, double* af, lapack_int ldaf,
+                           lapack_int* ipiv, char* equed, double* r, double* c,
+                           double* b, lapack_int ldb, double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr,
+                           double* rpivot );
+lapack_int LAPACKE_cgesvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* af, lapack_int ldaf,
+                           lapack_int* ipiv, char* equed, float* r, float* c,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr,
+                           float* rpivot );
+lapack_int LAPACKE_zgesvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* af, lapack_int ldaf,
+                           lapack_int* ipiv, char* equed, double* r, double* c,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr,
+                           double* rpivot );
+
+lapack_int LAPACKE_sgesvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int nrhs, float* a,
+                            lapack_int lda, float* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, float* r, float* c,
+                            float* b, lapack_int ldb, float* x, lapack_int ldx,
+                            float* rcond, float* rpvgrw, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dgesvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int nrhs, double* a,
+                            lapack_int lda, double* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, double* r, double* c,
+                            double* b, lapack_int ldb, double* x,
+                            lapack_int ldx, double* rcond, double* rpvgrw,
+                            double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+lapack_int LAPACKE_cgesvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, float* r, float* c,
+                            lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* x, lapack_int ldx,
+                            float* rcond, float* rpvgrw, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_zgesvxx( int matrix_order, char fact, char trans,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, double* r, double* c,
+                            lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* x, lapack_int ldx,
+                            double* rcond, double* rpvgrw, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+
+lapack_int LAPACKE_sgetf2( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_dgetf2( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_cgetf2( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* ipiv );
+lapack_int LAPACKE_zgetf2( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* ipiv );
+
+lapack_int LAPACKE_sgetrf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_dgetrf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_cgetrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* ipiv );
+lapack_int LAPACKE_zgetrf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* ipiv );
+
+lapack_int LAPACKE_sgetri( int matrix_order, lapack_int n, float* a,
+                           lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_dgetri( int matrix_order, lapack_int n, double* a,
+                           lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_cgetri( int matrix_order, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           const lapack_int* ipiv );
+lapack_int LAPACKE_zgetri( int matrix_order, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           const lapack_int* ipiv );
+
+lapack_int LAPACKE_sgetrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           const lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_dgetrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           const lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_cgetrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_int* ipiv,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zgetrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_int* ipiv,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sggbak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const float* lscale,
+                           const float* rscale, lapack_int m, float* v,
+                           lapack_int ldv );
+lapack_int LAPACKE_dggbak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const double* lscale,
+                           const double* rscale, lapack_int m, double* v,
+                           lapack_int ldv );
+lapack_int LAPACKE_cggbak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const float* lscale,
+                           const float* rscale, lapack_int m,
+                           lapack_complex_float* v, lapack_int ldv );
+lapack_int LAPACKE_zggbak( int matrix_order, char job, char side, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, const double* lscale,
+                           const double* rscale, lapack_int m,
+                           lapack_complex_double* v, lapack_int ldv );
+
+lapack_int LAPACKE_sggbal( int matrix_order, char job, lapack_int n, float* a,
+                           lapack_int lda, float* b, lapack_int ldb,
+                           lapack_int* ilo, lapack_int* ihi, float* lscale,
+                           float* rscale );
+lapack_int LAPACKE_dggbal( int matrix_order, char job, lapack_int n, double* a,
+                           lapack_int lda, double* b, lapack_int ldb,
+                           lapack_int* ilo, lapack_int* ihi, double* lscale,
+                           double* rscale );
+lapack_int LAPACKE_cggbal( int matrix_order, char job, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_int* ilo, lapack_int* ihi, float* lscale,
+                           float* rscale );
+lapack_int LAPACKE_zggbal( int matrix_order, char job, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_int* ilo, lapack_int* ihi, double* lscale,
+                           double* rscale );
+
+lapack_int LAPACKE_sgges( int matrix_order, char jobvsl, char jobvsr, char sort,
+                          LAPACK_S_SELECT3 selctg, lapack_int n, float* a,
+                          lapack_int lda, float* b, lapack_int ldb,
+                          lapack_int* sdim, float* alphar, float* alphai,
+                          float* beta, float* vsl, lapack_int ldvsl, float* vsr,
+                          lapack_int ldvsr );
+lapack_int LAPACKE_dgges( int matrix_order, char jobvsl, char jobvsr, char sort,
+                          LAPACK_D_SELECT3 selctg, lapack_int n, double* a,
+                          lapack_int lda, double* b, lapack_int ldb,
+                          lapack_int* sdim, double* alphar, double* alphai,
+                          double* beta, double* vsl, lapack_int ldvsl,
+                          double* vsr, lapack_int ldvsr );
+lapack_int LAPACKE_cgges( int matrix_order, char jobvsl, char jobvsr, char sort,
+                          LAPACK_C_SELECT2 selctg, lapack_int n,
+                          lapack_complex_float* a, lapack_int lda,
+                          lapack_complex_float* b, lapack_int ldb,
+                          lapack_int* sdim, lapack_complex_float* alpha,
+                          lapack_complex_float* beta, lapack_complex_float* vsl,
+                          lapack_int ldvsl, lapack_complex_float* vsr,
+                          lapack_int ldvsr );
+lapack_int LAPACKE_zgges( int matrix_order, char jobvsl, char jobvsr, char sort,
+                          LAPACK_Z_SELECT2 selctg, lapack_int n,
+                          lapack_complex_double* a, lapack_int lda,
+                          lapack_complex_double* b, lapack_int ldb,
+                          lapack_int* sdim, lapack_complex_double* alpha,
+                          lapack_complex_double* beta,
+                          lapack_complex_double* vsl, lapack_int ldvsl,
+                          lapack_complex_double* vsr, lapack_int ldvsr );
+
+lapack_int LAPACKE_sggesx( int matrix_order, char jobvsl, char jobvsr,
+                           char sort, LAPACK_S_SELECT3 selctg, char sense,
+                           lapack_int n, float* a, lapack_int lda, float* b,
+                           lapack_int ldb, lapack_int* sdim, float* alphar,
+                           float* alphai, float* beta, float* vsl,
+                           lapack_int ldvsl, float* vsr, lapack_int ldvsr,
+                           float* rconde, float* rcondv );
+lapack_int LAPACKE_dggesx( int matrix_order, char jobvsl, char jobvsr,
+                           char sort, LAPACK_D_SELECT3 selctg, char sense,
+                           lapack_int n, double* a, lapack_int lda, double* b,
+                           lapack_int ldb, lapack_int* sdim, double* alphar,
+                           double* alphai, double* beta, double* vsl,
+                           lapack_int ldvsl, double* vsr, lapack_int ldvsr,
+                           double* rconde, double* rcondv );
+lapack_int LAPACKE_cggesx( int matrix_order, char jobvsl, char jobvsr,
+                           char sort, LAPACK_C_SELECT2 selctg, char sense,
+                           lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, lapack_int* sdim,
+                           lapack_complex_float* alpha,
+                           lapack_complex_float* beta,
+                           lapack_complex_float* vsl, lapack_int ldvsl,
+                           lapack_complex_float* vsr, lapack_int ldvsr,
+                           float* rconde, float* rcondv );
+lapack_int LAPACKE_zggesx( int matrix_order, char jobvsl, char jobvsr,
+                           char sort, LAPACK_Z_SELECT2 selctg, char sense,
+                           lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, lapack_int* sdim,
+                           lapack_complex_double* alpha,
+                           lapack_complex_double* beta,
+                           lapack_complex_double* vsl, lapack_int ldvsl,
+                           lapack_complex_double* vsr, lapack_int ldvsr,
+                           double* rconde, double* rcondv );
+
+lapack_int LAPACKE_sggev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, float* a, lapack_int lda, float* b,
+                          lapack_int ldb, float* alphar, float* alphai,
+                          float* beta, float* vl, lapack_int ldvl, float* vr,
+                          lapack_int ldvr );
+lapack_int LAPACKE_dggev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, double* a, lapack_int lda, double* b,
+                          lapack_int ldb, double* alphar, double* alphai,
+                          double* beta, double* vl, lapack_int ldvl, double* vr,
+                          lapack_int ldvr );
+lapack_int LAPACKE_cggev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, lapack_complex_float* a, lapack_int lda,
+                          lapack_complex_float* b, lapack_int ldb,
+                          lapack_complex_float* alpha,
+                          lapack_complex_float* beta, lapack_complex_float* vl,
+                          lapack_int ldvl, lapack_complex_float* vr,
+                          lapack_int ldvr );
+lapack_int LAPACKE_zggev( int matrix_order, char jobvl, char jobvr,
+                          lapack_int n, lapack_complex_double* a,
+                          lapack_int lda, lapack_complex_double* b,
+                          lapack_int ldb, lapack_complex_double* alpha,
+                          lapack_complex_double* beta,
+                          lapack_complex_double* vl, lapack_int ldvl,
+                          lapack_complex_double* vr, lapack_int ldvr );
+
+lapack_int LAPACKE_sggevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n, float* a,
+                           lapack_int lda, float* b, lapack_int ldb,
+                           float* alphar, float* alphai, float* beta, float* vl,
+                           lapack_int ldvl, float* vr, lapack_int ldvr,
+                           lapack_int* ilo, lapack_int* ihi, float* lscale,
+                           float* rscale, float* abnrm, float* bbnrm,
+                           float* rconde, float* rcondv );
+lapack_int LAPACKE_dggevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n, double* a,
+                           lapack_int lda, double* b, lapack_int ldb,
+                           double* alphar, double* alphai, double* beta,
+                           double* vl, lapack_int ldvl, double* vr,
+                           lapack_int ldvr, lapack_int* ilo, lapack_int* ihi,
+                           double* lscale, double* rscale, double* abnrm,
+                           double* bbnrm, double* rconde, double* rcondv );
+lapack_int LAPACKE_cggevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* alpha,
+                           lapack_complex_float* beta, lapack_complex_float* vl,
+                           lapack_int ldvl, lapack_complex_float* vr,
+                           lapack_int ldvr, lapack_int* ilo, lapack_int* ihi,
+                           float* lscale, float* rscale, float* abnrm,
+                           float* bbnrm, float* rconde, float* rcondv );
+lapack_int LAPACKE_zggevx( int matrix_order, char balanc, char jobvl,
+                           char jobvr, char sense, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* alpha,
+                           lapack_complex_double* beta,
+                           lapack_complex_double* vl, lapack_int ldvl,
+                           lapack_complex_double* vr, lapack_int ldvr,
+                           lapack_int* ilo, lapack_int* ihi, double* lscale,
+                           double* rscale, double* abnrm, double* bbnrm,
+                           double* rconde, double* rcondv );
+
+lapack_int LAPACKE_sggglm( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, float* a, lapack_int lda, float* b,
+                           lapack_int ldb, float* d, float* x, float* y );
+lapack_int LAPACKE_dggglm( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, double* a, lapack_int lda, double* b,
+                           lapack_int ldb, double* d, double* x, double* y );
+lapack_int LAPACKE_cggglm( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, lapack_complex_float* d,
+                           lapack_complex_float* x, lapack_complex_float* y );
+lapack_int LAPACKE_zggglm( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* d,
+                           lapack_complex_double* x, lapack_complex_double* y );
+
+lapack_int LAPACKE_sgghrd( int matrix_order, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           float* a, lapack_int lda, float* b, lapack_int ldb,
+                           float* q, lapack_int ldq, float* z, lapack_int ldz );
+lapack_int LAPACKE_dgghrd( int matrix_order, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           double* a, lapack_int lda, double* b, lapack_int ldb,
+                           double* q, lapack_int ldq, double* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_cgghrd( int matrix_order, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* q, lapack_int ldq,
+                           lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zgghrd( int matrix_order, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sgglse( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int p, float* a, lapack_int lda, float* b,
+                           lapack_int ldb, float* c, float* d, float* x );
+lapack_int LAPACKE_dgglse( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int p, double* a, lapack_int lda, double* b,
+                           lapack_int ldb, double* c, double* d, double* x );
+lapack_int LAPACKE_cgglse( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int p, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, lapack_complex_float* c,
+                           lapack_complex_float* d, lapack_complex_float* x );
+lapack_int LAPACKE_zgglse( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int p, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* c,
+                           lapack_complex_double* d, lapack_complex_double* x );
+
+lapack_int LAPACKE_sggqrf( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, float* a, lapack_int lda, float* taua,
+                           float* b, lapack_int ldb, float* taub );
+lapack_int LAPACKE_dggqrf( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, double* a, lapack_int lda,
+                           double* taua, double* b, lapack_int ldb,
+                           double* taub );
+lapack_int LAPACKE_cggqrf( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* taua,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* taub );
+lapack_int LAPACKE_zggqrf( int matrix_order, lapack_int n, lapack_int m,
+                           lapack_int p, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* taua,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* taub );
+
+lapack_int LAPACKE_sggrqf( int matrix_order, lapack_int m, lapack_int p,
+                           lapack_int n, float* a, lapack_int lda, float* taua,
+                           float* b, lapack_int ldb, float* taub );
+lapack_int LAPACKE_dggrqf( int matrix_order, lapack_int m, lapack_int p,
+                           lapack_int n, double* a, lapack_int lda,
+                           double* taua, double* b, lapack_int ldb,
+                           double* taub );
+lapack_int LAPACKE_cggrqf( int matrix_order, lapack_int m, lapack_int p,
+                           lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* taua,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* taub );
+lapack_int LAPACKE_zggrqf( int matrix_order, lapack_int m, lapack_int p,
+                           lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* taua,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* taub );
+
+lapack_int LAPACKE_sggsvd( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int n, lapack_int p,
+                           lapack_int* k, lapack_int* l, float* a,
+                           lapack_int lda, float* b, lapack_int ldb,
+                           float* alpha, float* beta, float* u, lapack_int ldu,
+                           float* v, lapack_int ldv, float* q, lapack_int ldq,
+                           lapack_int* iwork );
+lapack_int LAPACKE_dggsvd( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int n, lapack_int p,
+                           lapack_int* k, lapack_int* l, double* a,
+                           lapack_int lda, double* b, lapack_int ldb,
+                           double* alpha, double* beta, double* u,
+                           lapack_int ldu, double* v, lapack_int ldv, double* q,
+                           lapack_int ldq, lapack_int* iwork );
+lapack_int LAPACKE_cggsvd( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int n, lapack_int p,
+                           lapack_int* k, lapack_int* l,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           float* alpha, float* beta, lapack_complex_float* u,
+                           lapack_int ldu, lapack_complex_float* v,
+                           lapack_int ldv, lapack_complex_float* q,
+                           lapack_int ldq, lapack_int* iwork );
+lapack_int LAPACKE_zggsvd( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int n, lapack_int p,
+                           lapack_int* k, lapack_int* l,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           double* alpha, double* beta,
+                           lapack_complex_double* u, lapack_int ldu,
+                           lapack_complex_double* v, lapack_int ldv,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_int* iwork );
+
+lapack_int LAPACKE_sggsvp( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n, float* a,
+                           lapack_int lda, float* b, lapack_int ldb, float tola,
+                           float tolb, lapack_int* k, lapack_int* l, float* u,
+                           lapack_int ldu, float* v, lapack_int ldv, float* q,
+                           lapack_int ldq );
+lapack_int LAPACKE_dggsvp( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n, double* a,
+                           lapack_int lda, double* b, lapack_int ldb,
+                           double tola, double tolb, lapack_int* k,
+                           lapack_int* l, double* u, lapack_int ldu, double* v,
+                           lapack_int ldv, double* q, lapack_int ldq );
+lapack_int LAPACKE_cggsvp( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb, float tola,
+                           float tolb, lapack_int* k, lapack_int* l,
+                           lapack_complex_float* u, lapack_int ldu,
+                           lapack_complex_float* v, lapack_int ldv,
+                           lapack_complex_float* q, lapack_int ldq );
+lapack_int LAPACKE_zggsvp( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           double tola, double tolb, lapack_int* k,
+                           lapack_int* l, lapack_complex_double* u,
+                           lapack_int ldu, lapack_complex_double* v,
+                           lapack_int ldv, lapack_complex_double* q,
+                           lapack_int ldq );
+
+lapack_int LAPACKE_sgtcon( char norm, lapack_int n, const float* dl,
+                           const float* d, const float* du, const float* du2,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_dgtcon( char norm, lapack_int n, const double* dl,
+                           const double* d, const double* du, const double* du2,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+lapack_int LAPACKE_cgtcon( char norm, lapack_int n,
+                           const lapack_complex_float* dl,
+                           const lapack_complex_float* d,
+                           const lapack_complex_float* du,
+                           const lapack_complex_float* du2,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_zgtcon( char norm, lapack_int n,
+                           const lapack_complex_double* dl,
+                           const lapack_complex_double* d,
+                           const lapack_complex_double* du,
+                           const lapack_complex_double* du2,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_sgtrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const float* dl, const float* d,
+                           const float* du, const float* dlf, const float* df,
+                           const float* duf, const float* du2,
+                           const lapack_int* ipiv, const float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_dgtrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const double* dl, const double* d,
+                           const double* du, const double* dlf,
+                           const double* df, const double* duf,
+                           const double* du2, const lapack_int* ipiv,
+                           const double* b, lapack_int ldb, double* x,
+                           lapack_int ldx, double* ferr, double* berr );
+lapack_int LAPACKE_cgtrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* dl,
+                           const lapack_complex_float* d,
+                           const lapack_complex_float* du,
+                           const lapack_complex_float* dlf,
+                           const lapack_complex_float* df,
+                           const lapack_complex_float* duf,
+                           const lapack_complex_float* du2,
+                           const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zgtrfs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* dl,
+                           const lapack_complex_double* d,
+                           const lapack_complex_double* du,
+                           const lapack_complex_double* dlf,
+                           const lapack_complex_double* df,
+                           const lapack_complex_double* duf,
+                           const lapack_complex_double* du2,
+                           const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_sgtsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          float* dl, float* d, float* du, float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dgtsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          double* dl, double* d, double* du, double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_cgtsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          lapack_complex_float* dl, lapack_complex_float* d,
+                          lapack_complex_float* du, lapack_complex_float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_zgtsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          lapack_complex_double* dl, lapack_complex_double* d,
+                          lapack_complex_double* du, lapack_complex_double* b,
+                          lapack_int ldb );
+
+lapack_int LAPACKE_sgtsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs, const float* dl,
+                           const float* d, const float* du, float* dlf,
+                           float* df, float* duf, float* du2, lapack_int* ipiv,
+                           const float* b, lapack_int ldb, float* x,
+                           lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dgtsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs, const double* dl,
+                           const double* d, const double* du, double* dlf,
+                           double* df, double* duf, double* du2,
+                           lapack_int* ipiv, const double* b, lapack_int ldb,
+                           double* x, lapack_int ldx, double* rcond,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_cgtsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_float* dl,
+                           const lapack_complex_float* d,
+                           const lapack_complex_float* du,
+                           lapack_complex_float* dlf, lapack_complex_float* df,
+                           lapack_complex_float* duf, lapack_complex_float* du2,
+                           lapack_int* ipiv, const lapack_complex_float* b,
+                           lapack_int ldb, lapack_complex_float* x,
+                           lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zgtsvx( int matrix_order, char fact, char trans,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_double* dl,
+                           const lapack_complex_double* d,
+                           const lapack_complex_double* du,
+                           lapack_complex_double* dlf,
+                           lapack_complex_double* df,
+                           lapack_complex_double* duf,
+                           lapack_complex_double* du2, lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_sgttrf( lapack_int n, float* dl, float* d, float* du,
+                           float* du2, lapack_int* ipiv );
+lapack_int LAPACKE_dgttrf( lapack_int n, double* dl, double* d, double* du,
+                           double* du2, lapack_int* ipiv );
+lapack_int LAPACKE_cgttrf( lapack_int n, lapack_complex_float* dl,
+                           lapack_complex_float* d, lapack_complex_float* du,
+                           lapack_complex_float* du2, lapack_int* ipiv );
+lapack_int LAPACKE_zgttrf( lapack_int n, lapack_complex_double* dl,
+                           lapack_complex_double* d, lapack_complex_double* du,
+                           lapack_complex_double* du2, lapack_int* ipiv );
+
+lapack_int LAPACKE_sgttrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const float* dl, const float* d,
+                           const float* du, const float* du2,
+                           const lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_dgttrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const double* dl, const double* d,
+                           const double* du, const double* du2,
+                           const lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_cgttrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* dl,
+                           const lapack_complex_float* d,
+                           const lapack_complex_float* du,
+                           const lapack_complex_float* du2,
+                           const lapack_int* ipiv, lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zgttrs( int matrix_order, char trans, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* dl,
+                           const lapack_complex_double* d,
+                           const lapack_complex_double* du,
+                           const lapack_complex_double* du2,
+                           const lapack_int* ipiv, lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_chbev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int kd, lapack_complex_float* ab,
+                          lapack_int ldab, float* w, lapack_complex_float* z,
+                          lapack_int ldz );
+lapack_int LAPACKE_zhbev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int kd, lapack_complex_double* ab,
+                          lapack_int ldab, double* w, lapack_complex_double* z,
+                          lapack_int ldz );
+
+lapack_int LAPACKE_chbevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int kd, lapack_complex_float* ab,
+                           lapack_int ldab, float* w, lapack_complex_float* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_zhbevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int kd, lapack_complex_double* ab,
+                           lapack_int ldab, double* w, lapack_complex_double* z,
+                           lapack_int ldz );
+
+lapack_int LAPACKE_chbevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int kd,
+                           lapack_complex_float* ab, lapack_int ldab,
+                           lapack_complex_float* q, lapack_int ldq, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, lapack_complex_float* z,
+                           lapack_int ldz, lapack_int* ifail );
+lapack_int LAPACKE_zhbevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int kd,
+                           lapack_complex_double* ab, lapack_int ldab,
+                           lapack_complex_double* q, lapack_int ldq, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_chbgst( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb,
+                           lapack_complex_float* ab, lapack_int ldab,
+                           const lapack_complex_float* bb, lapack_int ldbb,
+                           lapack_complex_float* x, lapack_int ldx );
+lapack_int LAPACKE_zhbgst( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb,
+                           lapack_complex_double* ab, lapack_int ldab,
+                           const lapack_complex_double* bb, lapack_int ldbb,
+                           lapack_complex_double* x, lapack_int ldx );
+
+lapack_int LAPACKE_chbgv( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int ka, lapack_int kb,
+                          lapack_complex_float* ab, lapack_int ldab,
+                          lapack_complex_float* bb, lapack_int ldbb, float* w,
+                          lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zhbgv( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int ka, lapack_int kb,
+                          lapack_complex_double* ab, lapack_int ldab,
+                          lapack_complex_double* bb, lapack_int ldbb, double* w,
+                          lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_chbgvd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb,
+                           lapack_complex_float* ab, lapack_int ldab,
+                           lapack_complex_float* bb, lapack_int ldbb, float* w,
+                           lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zhbgvd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb,
+                           lapack_complex_double* ab, lapack_int ldab,
+                           lapack_complex_double* bb, lapack_int ldbb,
+                           double* w, lapack_complex_double* z,
+                           lapack_int ldz );
+
+lapack_int LAPACKE_chbgvx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int ka, lapack_int kb,
+                           lapack_complex_float* ab, lapack_int ldab,
+                           lapack_complex_float* bb, lapack_int ldbb,
+                           lapack_complex_float* q, lapack_int ldq, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, lapack_complex_float* z,
+                           lapack_int ldz, lapack_int* ifail );
+lapack_int LAPACKE_zhbgvx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int ka, lapack_int kb,
+                           lapack_complex_double* ab, lapack_int ldab,
+                           lapack_complex_double* bb, lapack_int ldbb,
+                           lapack_complex_double* q, lapack_int ldq, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_chbtrd( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int kd, lapack_complex_float* ab,
+                           lapack_int ldab, float* d, float* e,
+                           lapack_complex_float* q, lapack_int ldq );
+lapack_int LAPACKE_zhbtrd( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int kd, lapack_complex_double* ab,
+                           lapack_int ldab, double* d, double* e,
+                           lapack_complex_double* q, lapack_int ldq );
+
+lapack_int LAPACKE_checon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_zhecon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_cheequb( int matrix_order, char uplo, lapack_int n,
+                            const lapack_complex_float* a, lapack_int lda,
+                            float* s, float* scond, float* amax );
+lapack_int LAPACKE_zheequb( int matrix_order, char uplo, lapack_int n,
+                            const lapack_complex_double* a, lapack_int lda,
+                            double* s, double* scond, double* amax );
+
+lapack_int LAPACKE_cheev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_complex_float* a, lapack_int lda, float* w );
+lapack_int LAPACKE_zheev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_complex_double* a, lapack_int lda, double* w );
+
+lapack_int LAPACKE_cheevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda, float* w );
+lapack_int LAPACKE_zheevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           double* w );
+
+lapack_int LAPACKE_cheevr( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, float vl, float vu, lapack_int il,
+                           lapack_int iu, float abstol, lapack_int* m, float* w,
+                           lapack_complex_float* z, lapack_int ldz,
+                           lapack_int* isuppz );
+lapack_int LAPACKE_zheevr( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, double vl, double vu, lapack_int il,
+                           lapack_int iu, double abstol, lapack_int* m,
+                           double* w, lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* isuppz );
+
+lapack_int LAPACKE_cheevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, float vl, float vu, lapack_int il,
+                           lapack_int iu, float abstol, lapack_int* m, float* w,
+                           lapack_complex_float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_zheevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, double vl, double vu, lapack_int il,
+                           lapack_int iu, double abstol, lapack_int* m,
+                           double* w, lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_chegst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zhegst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_chegv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, lapack_complex_float* a,
+                          lapack_int lda, lapack_complex_float* b,
+                          lapack_int ldb, float* w );
+lapack_int LAPACKE_zhegv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, lapack_complex_double* a,
+                          lapack_int lda, lapack_complex_double* b,
+                          lapack_int ldb, double* w );
+
+lapack_int LAPACKE_chegvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, float* w );
+lapack_int LAPACKE_zhegvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, double* w );
+
+lapack_int LAPACKE_chegvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, lapack_complex_float* z,
+                           lapack_int ldz, lapack_int* ifail );
+lapack_int LAPACKE_zhegvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_cherfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* af,
+                           lapack_int ldaf, const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zherfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* af,
+                           lapack_int ldaf, const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_cherfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_float* a, lapack_int lda,
+                            const lapack_complex_float* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const float* s,
+                            const lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* x, lapack_int ldx,
+                            float* rcond, float* berr, lapack_int n_err_bnds,
+                            float* err_bnds_norm, float* err_bnds_comp,
+                            lapack_int nparams, float* params );
+lapack_int LAPACKE_zherfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_double* a, lapack_int lda,
+                            const lapack_complex_double* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const double* s,
+                            const lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* x, lapack_int ldx,
+                            double* rcond, double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+
+lapack_int LAPACKE_chesv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_float* a,
+                          lapack_int lda, lapack_int* ipiv,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zhesv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_double* a,
+                          lapack_int lda, lapack_int* ipiv,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_chesvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* af,
+                           lapack_int ldaf, lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zhesvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* af,
+                           lapack_int ldaf, lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_chesvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, float* s,
+                            lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* x, lapack_int ldx,
+                            float* rcond, float* rpvgrw, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_zhesvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, double* s,
+                            lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* x, lapack_int ldx,
+                            double* rcond, double* rpvgrw, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+
+lapack_int LAPACKE_chetrd( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda, float* d,
+                           float* e, lapack_complex_float* tau );
+lapack_int LAPACKE_zhetrd( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda, double* d,
+                           double* e, lapack_complex_double* tau );
+
+lapack_int LAPACKE_chetrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* ipiv );
+lapack_int LAPACKE_zhetrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* ipiv );
+
+lapack_int LAPACKE_chetri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           const lapack_int* ipiv );
+lapack_int LAPACKE_zhetri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           const lapack_int* ipiv );
+
+lapack_int LAPACKE_chetrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_int* ipiv,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zhetrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_int* ipiv,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_chfrk( int matrix_order, char transr, char uplo, char trans,
+                          lapack_int n, lapack_int k, float alpha,
+                          const lapack_complex_float* a, lapack_int lda,
+                          float beta, lapack_complex_float* c );
+lapack_int LAPACKE_zhfrk( int matrix_order, char transr, char uplo, char trans,
+                          lapack_int n, lapack_int k, double alpha,
+                          const lapack_complex_double* a, lapack_int lda,
+                          double beta, lapack_complex_double* c );
+
+lapack_int LAPACKE_shgeqz( int matrix_order, char job, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           float* h, lapack_int ldh, float* t, lapack_int ldt,
+                           float* alphar, float* alphai, float* beta, float* q,
+                           lapack_int ldq, float* z, lapack_int ldz );
+lapack_int LAPACKE_dhgeqz( int matrix_order, char job, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           double* h, lapack_int ldh, double* t, lapack_int ldt,
+                           double* alphar, double* alphai, double* beta,
+                           double* q, lapack_int ldq, double* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_chgeqz( int matrix_order, char job, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           lapack_complex_float* h, lapack_int ldh,
+                           lapack_complex_float* t, lapack_int ldt,
+                           lapack_complex_float* alpha,
+                           lapack_complex_float* beta, lapack_complex_float* q,
+                           lapack_int ldq, lapack_complex_float* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_zhgeqz( int matrix_order, char job, char compq, char compz,
+                           lapack_int n, lapack_int ilo, lapack_int ihi,
+                           lapack_complex_double* h, lapack_int ldh,
+                           lapack_complex_double* t, lapack_int ldt,
+                           lapack_complex_double* alpha,
+                           lapack_complex_double* beta,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_chpcon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* ap,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_zhpcon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* ap,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_chpev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_complex_float* ap, float* w,
+                          lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zhpev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_complex_double* ap, double* w,
+                          lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_chpevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_complex_float* ap, float* w,
+                           lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zhpevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_complex_double* ap, double* w,
+                           lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_chpevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_complex_float* ap, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, lapack_complex_float* z,
+                           lapack_int ldz, lapack_int* ifail );
+lapack_int LAPACKE_zhpevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_complex_double* ap, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_chpgst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, lapack_complex_float* ap,
+                           const lapack_complex_float* bp );
+lapack_int LAPACKE_zhpgst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, lapack_complex_double* ap,
+                           const lapack_complex_double* bp );
+
+lapack_int LAPACKE_chpgv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, lapack_complex_float* ap,
+                          lapack_complex_float* bp, float* w,
+                          lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zhpgv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, lapack_complex_double* ap,
+                          lapack_complex_double* bp, double* w,
+                          lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_chpgvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, lapack_complex_float* ap,
+                           lapack_complex_float* bp, float* w,
+                           lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zhpgvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, lapack_complex_double* ap,
+                           lapack_complex_double* bp, double* w,
+                           lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_chpgvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n,
+                           lapack_complex_float* ap, lapack_complex_float* bp,
+                           float vl, float vu, lapack_int il, lapack_int iu,
+                           float abstol, lapack_int* m, float* w,
+                           lapack_complex_float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_zhpgvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n,
+                           lapack_complex_double* ap, lapack_complex_double* bp,
+                           double vl, double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_chprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           const lapack_complex_float* afp,
+                           const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zhprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           const lapack_complex_double* afp,
+                           const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_chpsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_float* ap,
+                          lapack_int* ipiv, lapack_complex_float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_zhpsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_double* ap,
+                          lapack_int* ipiv, lapack_complex_double* b,
+                          lapack_int ldb );
+
+lapack_int LAPACKE_chpsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           lapack_complex_float* afp, lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zhpsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           lapack_complex_double* afp, lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_chptrd( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap, float* d, float* e,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zhptrd( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap, double* d, double* e,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_chptrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap, lapack_int* ipiv );
+lapack_int LAPACKE_zhptrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap, lapack_int* ipiv );
+
+lapack_int LAPACKE_chptri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap, const lapack_int* ipiv );
+lapack_int LAPACKE_zhptri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap, const lapack_int* ipiv );
+
+lapack_int LAPACKE_chptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           const lapack_int* ipiv, lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zhptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           const lapack_int* ipiv, lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_shsein( int matrix_order, char job, char eigsrc, char initv,
+                           lapack_logical* select, lapack_int n, const float* h,
+                           lapack_int ldh, float* wr, const float* wi,
+                           float* vl, lapack_int ldvl, float* vr,
+                           lapack_int ldvr, lapack_int mm, lapack_int* m,
+                           lapack_int* ifaill, lapack_int* ifailr );
+lapack_int LAPACKE_dhsein( int matrix_order, char job, char eigsrc, char initv,
+                           lapack_logical* select, lapack_int n,
+                           const double* h, lapack_int ldh, double* wr,
+                           const double* wi, double* vl, lapack_int ldvl,
+                           double* vr, lapack_int ldvr, lapack_int mm,
+                           lapack_int* m, lapack_int* ifaill,
+                           lapack_int* ifailr );
+lapack_int LAPACKE_chsein( int matrix_order, char job, char eigsrc, char initv,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_float* h, lapack_int ldh,
+                           lapack_complex_float* w, lapack_complex_float* vl,
+                           lapack_int ldvl, lapack_complex_float* vr,
+                           lapack_int ldvr, lapack_int mm, lapack_int* m,
+                           lapack_int* ifaill, lapack_int* ifailr );
+lapack_int LAPACKE_zhsein( int matrix_order, char job, char eigsrc, char initv,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_double* h, lapack_int ldh,
+                           lapack_complex_double* w, lapack_complex_double* vl,
+                           lapack_int ldvl, lapack_complex_double* vr,
+                           lapack_int ldvr, lapack_int mm, lapack_int* m,
+                           lapack_int* ifaill, lapack_int* ifailr );
+
+lapack_int LAPACKE_shseqr( int matrix_order, char job, char compz, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, float* h,
+                           lapack_int ldh, float* wr, float* wi, float* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_dhseqr( int matrix_order, char job, char compz, lapack_int n,
+                           lapack_int ilo, lapack_int ihi, double* h,
+                           lapack_int ldh, double* wr, double* wi, double* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_chseqr( int matrix_order, char job, char compz, lapack_int n,
+                           lapack_int ilo, lapack_int ihi,
+                           lapack_complex_float* h, lapack_int ldh,
+                           lapack_complex_float* w, lapack_complex_float* z,
+                           lapack_int ldz );
+lapack_int LAPACKE_zhseqr( int matrix_order, char job, char compz, lapack_int n,
+                           lapack_int ilo, lapack_int ihi,
+                           lapack_complex_double* h, lapack_int ldh,
+                           lapack_complex_double* w, lapack_complex_double* z,
+                           lapack_int ldz );
+
+lapack_int LAPACKE_clacgv( lapack_int n, lapack_complex_float* x,
+                           lapack_int incx );
+lapack_int LAPACKE_zlacgv( lapack_int n, lapack_complex_double* x,
+                           lapack_int incx );
+
+lapack_int LAPACKE_slacpy( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, const float* a, lapack_int lda, float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_dlacpy( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, const double* a, lapack_int lda, double* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_clacpy( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, const lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zlacpy( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, const lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_zlag2c( int matrix_order, lapack_int m, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_float* sa, lapack_int ldsa );
+
+lapack_int LAPACKE_slag2d( int matrix_order, lapack_int m, lapack_int n,
+                           const float* sa, lapack_int ldsa, double* a,
+                           lapack_int lda );
+
+lapack_int LAPACKE_dlag2s( int matrix_order, lapack_int m, lapack_int n,
+                           const double* a, lapack_int lda, float* sa,
+                           lapack_int ldsa );
+
+lapack_int LAPACKE_clag2z( int matrix_order, lapack_int m, lapack_int n,
+                           const lapack_complex_float* sa, lapack_int ldsa,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_slagge( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, const float* d,
+                           float* a, lapack_int lda, lapack_int* iseed );
+lapack_int LAPACKE_dlagge( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, const double* d,
+                           double* a, lapack_int lda, lapack_int* iseed );
+lapack_int LAPACKE_clagge( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, const float* d,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* iseed );
+lapack_int LAPACKE_zlagge( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int kl, lapack_int ku, const double* d,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* iseed );
+
+float LAPACKE_slamch( char cmach );
+double LAPACKE_dlamch( char cmach );
+
+float LAPACKE_slange( int matrix_order, char norm, lapack_int m,
+                           lapack_int n, const float* a, lapack_int lda );
+double LAPACKE_dlange( int matrix_order, char norm, lapack_int m,
+                           lapack_int n, const double* a, lapack_int lda );
+float LAPACKE_clange( int matrix_order, char norm, lapack_int m,
+                           lapack_int n, const lapack_complex_float* a,
+                           lapack_int lda );
+double LAPACKE_zlange( int matrix_order, char norm, lapack_int m,
+                           lapack_int n, const lapack_complex_double* a,
+                           lapack_int lda );
+
+float LAPACKE_clanhe( int matrix_order, char norm, char uplo, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda );
+double LAPACKE_zlanhe( int matrix_order, char norm, char uplo, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda );
+
+float LAPACKE_slansy( int matrix_order, char norm, char uplo, lapack_int n,
+                           const float* a, lapack_int lda );
+double LAPACKE_dlansy( int matrix_order, char norm, char uplo, lapack_int n,
+                           const double* a, lapack_int lda );
+float LAPACKE_clansy( int matrix_order, char norm, char uplo, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda );
+double LAPACKE_zlansy( int matrix_order, char norm, char uplo, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda );
+
+float LAPACKE_slantr( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int m, lapack_int n, const float* a,
+                           lapack_int lda );
+double LAPACKE_dlantr( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int m, lapack_int n, const double* a,
+                           lapack_int lda );
+float LAPACKE_clantr( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int m, lapack_int n, const lapack_complex_float* a,
+                           lapack_int lda );
+double LAPACKE_zlantr( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int m, lapack_int n, const lapack_complex_double* a,
+                           lapack_int lda );
+
+
+lapack_int LAPACKE_slarfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, const float* v, lapack_int ldv,
+                           const float* t, lapack_int ldt, float* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_dlarfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, const double* v, lapack_int ldv,
+                           const double* t, lapack_int ldt, double* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_clarfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, const lapack_complex_float* v,
+                           lapack_int ldv, const lapack_complex_float* t,
+                           lapack_int ldt, lapack_complex_float* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_zlarfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, const lapack_complex_double* v,
+                           lapack_int ldv, const lapack_complex_double* t,
+                           lapack_int ldt, lapack_complex_double* c,
+                           lapack_int ldc );
+
+lapack_int LAPACKE_slarfg( lapack_int n, float* alpha, float* x,
+                           lapack_int incx, float* tau );
+lapack_int LAPACKE_dlarfg( lapack_int n, double* alpha, double* x,
+                           lapack_int incx, double* tau );
+lapack_int LAPACKE_clarfg( lapack_int n, lapack_complex_float* alpha,
+                           lapack_complex_float* x, lapack_int incx,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_zlarfg( lapack_int n, lapack_complex_double* alpha,
+                           lapack_complex_double* x, lapack_int incx,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_slarft( int matrix_order, char direct, char storev,
+                           lapack_int n, lapack_int k, const float* v,
+                           lapack_int ldv, const float* tau, float* t,
+                           lapack_int ldt );
+lapack_int LAPACKE_dlarft( int matrix_order, char direct, char storev,
+                           lapack_int n, lapack_int k, const double* v,
+                           lapack_int ldv, const double* tau, double* t,
+                           lapack_int ldt );
+lapack_int LAPACKE_clarft( int matrix_order, char direct, char storev,
+                           lapack_int n, lapack_int k,
+                           const lapack_complex_float* v, lapack_int ldv,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_zlarft( int matrix_order, char direct, char storev,
+                           lapack_int n, lapack_int k,
+                           const lapack_complex_double* v, lapack_int ldv,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_slarfx( int matrix_order, char side, lapack_int m,
+                           lapack_int n, const float* v, float tau, float* c,
+                           lapack_int ldc, float* work );
+lapack_int LAPACKE_dlarfx( int matrix_order, char side, lapack_int m,
+                           lapack_int n, const double* v, double tau, double* c,
+                           lapack_int ldc, double* work );
+lapack_int LAPACKE_clarfx( int matrix_order, char side, lapack_int m,
+                           lapack_int n, const lapack_complex_float* v,
+                           lapack_complex_float tau, lapack_complex_float* c,
+                           lapack_int ldc, lapack_complex_float* work );
+lapack_int LAPACKE_zlarfx( int matrix_order, char side, lapack_int m,
+                           lapack_int n, const lapack_complex_double* v,
+                           lapack_complex_double tau, lapack_complex_double* c,
+                           lapack_int ldc, lapack_complex_double* work );
+
+lapack_int LAPACKE_slarnv( lapack_int idist, lapack_int* iseed, lapack_int n,
+                           float* x );
+lapack_int LAPACKE_dlarnv( lapack_int idist, lapack_int* iseed, lapack_int n,
+                           double* x );
+lapack_int LAPACKE_clarnv( lapack_int idist, lapack_int* iseed, lapack_int n,
+                           lapack_complex_float* x );
+lapack_int LAPACKE_zlarnv( lapack_int idist, lapack_int* iseed, lapack_int n,
+                           lapack_complex_double* x );
+
+lapack_int LAPACKE_slaset( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, float alpha, float beta, float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_dlaset( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, double alpha, double beta, double* a,
+                           lapack_int lda );
+lapack_int LAPACKE_claset( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, lapack_complex_float alpha,
+                           lapack_complex_float beta, lapack_complex_float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_zlaset( int matrix_order, char uplo, lapack_int m,
+                           lapack_int n, lapack_complex_double alpha,
+                           lapack_complex_double beta, lapack_complex_double* a,
+                           lapack_int lda );
+
+lapack_int LAPACKE_slasrt( char id, lapack_int n, float* d );
+lapack_int LAPACKE_dlasrt( char id, lapack_int n, double* d );
+
+lapack_int LAPACKE_slaswp( int matrix_order, lapack_int n, float* a,
+                           lapack_int lda, lapack_int k1, lapack_int k2,
+                           const lapack_int* ipiv, lapack_int incx );
+lapack_int LAPACKE_dlaswp( int matrix_order, lapack_int n, double* a,
+                           lapack_int lda, lapack_int k1, lapack_int k2,
+                           const lapack_int* ipiv, lapack_int incx );
+lapack_int LAPACKE_claswp( int matrix_order, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int k1, lapack_int k2, const lapack_int* ipiv,
+                           lapack_int incx );
+lapack_int LAPACKE_zlaswp( int matrix_order, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int k1, lapack_int k2, const lapack_int* ipiv,
+                           lapack_int incx );
+
+lapack_int LAPACKE_slatms( int matrix_order, lapack_int m, lapack_int n,
+                           char dist, lapack_int* iseed, char sym, float* d,
+                           lapack_int mode, float cond, float dmax,
+                           lapack_int kl, lapack_int ku, char pack, float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_dlatms( int matrix_order, lapack_int m, lapack_int n,
+                           char dist, lapack_int* iseed, char sym, double* d,
+                           lapack_int mode, double cond, double dmax,
+                           lapack_int kl, lapack_int ku, char pack, double* a,
+                           lapack_int lda );
+lapack_int LAPACKE_clatms( int matrix_order, lapack_int m, lapack_int n,
+                           char dist, lapack_int* iseed, char sym, float* d,
+                           lapack_int mode, float cond, float dmax,
+                           lapack_int kl, lapack_int ku, char pack,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zlatms( int matrix_order, lapack_int m, lapack_int n,
+                           char dist, lapack_int* iseed, char sym, double* d,
+                           lapack_int mode, double cond, double dmax,
+                           lapack_int kl, lapack_int ku, char pack,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_slauum( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_dlauum( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda );
+lapack_int LAPACKE_clauum( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zlauum( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_sopgtr( int matrix_order, char uplo, lapack_int n,
+                           const float* ap, const float* tau, float* q,
+                           lapack_int ldq );
+lapack_int LAPACKE_dopgtr( int matrix_order, char uplo, lapack_int n,
+                           const double* ap, const double* tau, double* q,
+                           lapack_int ldq );
+
+lapack_int LAPACKE_sopmtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n, const float* ap,
+                           const float* tau, float* c, lapack_int ldc );
+lapack_int LAPACKE_dopmtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n, const double* ap,
+                           const double* tau, double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sorgbr( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int k, float* a, lapack_int lda,
+                           const float* tau );
+lapack_int LAPACKE_dorgbr( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int k, double* a,
+                           lapack_int lda, const double* tau );
+
+lapack_int LAPACKE_sorghr( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, float* a, lapack_int lda,
+                           const float* tau );
+lapack_int LAPACKE_dorghr( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, double* a, lapack_int lda,
+                           const double* tau );
+
+lapack_int LAPACKE_sorglq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, float* a, lapack_int lda,
+                           const float* tau );
+lapack_int LAPACKE_dorglq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, double* a, lapack_int lda,
+                           const double* tau );
+
+lapack_int LAPACKE_sorgql( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, float* a, lapack_int lda,
+                           const float* tau );
+lapack_int LAPACKE_dorgql( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, double* a, lapack_int lda,
+                           const double* tau );
+
+lapack_int LAPACKE_sorgqr( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, float* a, lapack_int lda,
+                           const float* tau );
+lapack_int LAPACKE_dorgqr( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, double* a, lapack_int lda,
+                           const double* tau );
+
+lapack_int LAPACKE_sorgrq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, float* a, lapack_int lda,
+                           const float* tau );
+lapack_int LAPACKE_dorgrq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, double* a, lapack_int lda,
+                           const double* tau );
+
+lapack_int LAPACKE_sorgtr( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda, const float* tau );
+lapack_int LAPACKE_dorgtr( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda, const double* tau );
+
+lapack_int LAPACKE_sormbr( int matrix_order, char vect, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const float* a, lapack_int lda, const float* tau,
+                           float* c, lapack_int ldc );
+lapack_int LAPACKE_dormbr( int matrix_order, char vect, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const double* a, lapack_int lda, const double* tau,
+                           double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormhr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, const float* a, lapack_int lda,
+                           const float* tau, float* c, lapack_int ldc );
+lapack_int LAPACKE_dormhr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, const double* a, lapack_int lda,
+                           const double* tau, double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormlq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const float* a, lapack_int lda, const float* tau,
+                           float* c, lapack_int ldc );
+lapack_int LAPACKE_dormlq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const double* a, lapack_int lda, const double* tau,
+                           double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormql( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const float* a, lapack_int lda, const float* tau,
+                           float* c, lapack_int ldc );
+lapack_int LAPACKE_dormql( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const double* a, lapack_int lda, const double* tau,
+                           double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormqr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const float* a, lapack_int lda, const float* tau,
+                           float* c, lapack_int ldc );
+lapack_int LAPACKE_dormqr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const double* a, lapack_int lda, const double* tau,
+                           double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormrq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const float* a, lapack_int lda, const float* tau,
+                           float* c, lapack_int ldc );
+lapack_int LAPACKE_dormrq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const double* a, lapack_int lda, const double* tau,
+                           double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormrz( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           lapack_int l, const float* a, lapack_int lda,
+                           const float* tau, float* c, lapack_int ldc );
+lapack_int LAPACKE_dormrz( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           lapack_int l, const double* a, lapack_int lda,
+                           const double* tau, double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sormtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n, const float* a,
+                           lapack_int lda, const float* tau, float* c,
+                           lapack_int ldc );
+lapack_int LAPACKE_dormtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n, const double* a,
+                           lapack_int lda, const double* tau, double* c,
+                           lapack_int ldc );
+
+lapack_int LAPACKE_spbcon( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const float* ab, lapack_int ldab,
+                           float anorm, float* rcond );
+lapack_int LAPACKE_dpbcon( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const double* ab, lapack_int ldab,
+                           double anorm, double* rcond );
+lapack_int LAPACKE_cpbcon( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const lapack_complex_float* ab,
+                           lapack_int ldab, float anorm, float* rcond );
+lapack_int LAPACKE_zpbcon( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const lapack_complex_double* ab,
+                           lapack_int ldab, double anorm, double* rcond );
+
+lapack_int LAPACKE_spbequ( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const float* ab, lapack_int ldab,
+                           float* s, float* scond, float* amax );
+lapack_int LAPACKE_dpbequ( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const double* ab, lapack_int ldab,
+                           double* s, double* scond, double* amax );
+lapack_int LAPACKE_cpbequ( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const lapack_complex_float* ab,
+                           lapack_int ldab, float* s, float* scond,
+                           float* amax );
+lapack_int LAPACKE_zpbequ( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, const lapack_complex_double* ab,
+                           lapack_int ldab, double* s, double* scond,
+                           double* amax );
+
+lapack_int LAPACKE_spbrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs, const float* ab,
+                           lapack_int ldab, const float* afb, lapack_int ldafb,
+                           const float* b, lapack_int ldb, float* x,
+                           lapack_int ldx, float* ferr, float* berr );
+lapack_int LAPACKE_dpbrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs, const double* ab,
+                           lapack_int ldab, const double* afb, lapack_int ldafb,
+                           const double* b, lapack_int ldb, double* x,
+                           lapack_int ldx, double* ferr, double* berr );
+lapack_int LAPACKE_cpbrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           const lapack_complex_float* afb, lapack_int ldafb,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zpbrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           const lapack_complex_double* afb, lapack_int ldafb,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_spbstf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kb, float* bb, lapack_int ldbb );
+lapack_int LAPACKE_dpbstf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kb, double* bb, lapack_int ldbb );
+lapack_int LAPACKE_cpbstf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kb, lapack_complex_float* bb,
+                           lapack_int ldbb );
+lapack_int LAPACKE_zpbstf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kb, lapack_complex_double* bb,
+                           lapack_int ldbb );
+
+lapack_int LAPACKE_spbsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int kd, lapack_int nrhs, float* ab,
+                          lapack_int ldab, float* b, lapack_int ldb );
+lapack_int LAPACKE_dpbsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int kd, lapack_int nrhs, double* ab,
+                          lapack_int ldab, double* b, lapack_int ldb );
+lapack_int LAPACKE_cpbsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int kd, lapack_int nrhs,
+                          lapack_complex_float* ab, lapack_int ldab,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpbsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int kd, lapack_int nrhs,
+                          lapack_complex_double* ab, lapack_int ldab,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spbsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs, float* ab,
+                           lapack_int ldab, float* afb, lapack_int ldafb,
+                           char* equed, float* s, float* b, lapack_int ldb,
+                           float* x, lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dpbsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs, double* ab,
+                           lapack_int ldab, double* afb, lapack_int ldafb,
+                           char* equed, double* s, double* b, lapack_int ldb,
+                           double* x, lapack_int ldx, double* rcond,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_cpbsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs,
+                           lapack_complex_float* ab, lapack_int ldab,
+                           lapack_complex_float* afb, lapack_int ldafb,
+                           char* equed, float* s, lapack_complex_float* b,
+                           lapack_int ldb, lapack_complex_float* x,
+                           lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zpbsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs,
+                           lapack_complex_double* ab, lapack_int ldab,
+                           lapack_complex_double* afb, lapack_int ldafb,
+                           char* equed, double* s, lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* x,
+                           lapack_int ldx, double* rcond, double* ferr,
+                           double* berr );
+
+lapack_int LAPACKE_spbtrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, float* ab, lapack_int ldab );
+lapack_int LAPACKE_dpbtrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, double* ab, lapack_int ldab );
+lapack_int LAPACKE_cpbtrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_complex_float* ab,
+                           lapack_int ldab );
+lapack_int LAPACKE_zpbtrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_complex_double* ab,
+                           lapack_int ldab );
+
+lapack_int LAPACKE_spbtrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs, const float* ab,
+                           lapack_int ldab, float* b, lapack_int ldb );
+lapack_int LAPACKE_dpbtrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs, const double* ab,
+                           lapack_int ldab, double* b, lapack_int ldb );
+lapack_int LAPACKE_cpbtrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpbtrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spftrf( int matrix_order, char transr, char uplo,
+                           lapack_int n, float* a );
+lapack_int LAPACKE_dpftrf( int matrix_order, char transr, char uplo,
+                           lapack_int n, double* a );
+lapack_int LAPACKE_cpftrf( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_complex_float* a );
+lapack_int LAPACKE_zpftrf( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_complex_double* a );
+
+lapack_int LAPACKE_spftri( int matrix_order, char transr, char uplo,
+                           lapack_int n, float* a );
+lapack_int LAPACKE_dpftri( int matrix_order, char transr, char uplo,
+                           lapack_int n, double* a );
+lapack_int LAPACKE_cpftri( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_complex_float* a );
+lapack_int LAPACKE_zpftri( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_complex_double* a );
+
+lapack_int LAPACKE_spftrs( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_int nrhs, const float* a,
+                           float* b, lapack_int ldb );
+lapack_int LAPACKE_dpftrs( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_int nrhs, const double* a,
+                           double* b, lapack_int ldb );
+lapack_int LAPACKE_cpftrs( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_float* a,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpftrs( int matrix_order, char transr, char uplo,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_double* a,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spocon( int matrix_order, char uplo, lapack_int n,
+                           const float* a, lapack_int lda, float anorm,
+                           float* rcond );
+lapack_int LAPACKE_dpocon( int matrix_order, char uplo, lapack_int n,
+                           const double* a, lapack_int lda, double anorm,
+                           double* rcond );
+lapack_int LAPACKE_cpocon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           float anorm, float* rcond );
+lapack_int LAPACKE_zpocon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           double anorm, double* rcond );
+
+lapack_int LAPACKE_spoequ( int matrix_order, lapack_int n, const float* a,
+                           lapack_int lda, float* s, float* scond,
+                           float* amax );
+lapack_int LAPACKE_dpoequ( int matrix_order, lapack_int n, const double* a,
+                           lapack_int lda, double* s, double* scond,
+                           double* amax );
+lapack_int LAPACKE_cpoequ( int matrix_order, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           float* s, float* scond, float* amax );
+lapack_int LAPACKE_zpoequ( int matrix_order, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           double* s, double* scond, double* amax );
+
+lapack_int LAPACKE_spoequb( int matrix_order, lapack_int n, const float* a,
+                            lapack_int lda, float* s, float* scond,
+                            float* amax );
+lapack_int LAPACKE_dpoequb( int matrix_order, lapack_int n, const double* a,
+                            lapack_int lda, double* s, double* scond,
+                            double* amax );
+lapack_int LAPACKE_cpoequb( int matrix_order, lapack_int n,
+                            const lapack_complex_float* a, lapack_int lda,
+                            float* s, float* scond, float* amax );
+lapack_int LAPACKE_zpoequb( int matrix_order, lapack_int n,
+                            const lapack_complex_double* a, lapack_int lda,
+                            double* s, double* scond, double* amax );
+
+lapack_int LAPACKE_sporfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           const float* af, lapack_int ldaf, const float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_dporfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           const double* af, lapack_int ldaf, const double* b,
+                           lapack_int ldb, double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_cporfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* af,
+                           lapack_int ldaf, const lapack_complex_float* b,
+                           lapack_int ldb, lapack_complex_float* x,
+                           lapack_int ldx, float* ferr, float* berr );
+lapack_int LAPACKE_zporfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* af,
+                           lapack_int ldaf, const lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* x,
+                           lapack_int ldx, double* ferr, double* berr );
+
+lapack_int LAPACKE_sporfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs, const float* a,
+                            lapack_int lda, const float* af, lapack_int ldaf,
+                            const float* s, const float* b, lapack_int ldb,
+                            float* x, lapack_int ldx, float* rcond, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dporfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs, const double* a,
+                            lapack_int lda, const double* af, lapack_int ldaf,
+                            const double* s, const double* b, lapack_int ldb,
+                            double* x, lapack_int ldx, double* rcond,
+                            double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+lapack_int LAPACKE_cporfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_float* a, lapack_int lda,
+                            const lapack_complex_float* af, lapack_int ldaf,
+                            const float* s, const lapack_complex_float* b,
+                            lapack_int ldb, lapack_complex_float* x,
+                            lapack_int ldx, float* rcond, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_zporfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_double* a, lapack_int lda,
+                            const lapack_complex_double* af, lapack_int ldaf,
+                            const double* s, const lapack_complex_double* b,
+                            lapack_int ldb, lapack_complex_double* x,
+                            lapack_int ldx, double* rcond, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+
+lapack_int LAPACKE_sposv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, float* a, lapack_int lda, float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dposv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, double* a, lapack_int lda, double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_cposv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_float* a,
+                          lapack_int lda, lapack_complex_float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_zposv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_double* a,
+                          lapack_int lda, lapack_complex_double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dsposv( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, double* a, lapack_int lda,
+                           double* b, lapack_int ldb, double* x, lapack_int ldx,
+                           lapack_int* iter );
+lapack_int LAPACKE_zcposv( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, lapack_complex_double* x,
+                           lapack_int ldx, lapack_int* iter );
+
+lapack_int LAPACKE_sposvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, float* a, lapack_int lda, float* af,
+                           lapack_int ldaf, char* equed, float* s, float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_dposvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, double* a, lapack_int lda,
+                           double* af, lapack_int ldaf, char* equed, double* s,
+                           double* b, lapack_int ldb, double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+lapack_int LAPACKE_cposvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* af,
+                           lapack_int ldaf, char* equed, float* s,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zposvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* af,
+                           lapack_int ldaf, char* equed, double* s,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_sposvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs, float* a,
+                            lapack_int lda, float* af, lapack_int ldaf,
+                            char* equed, float* s, float* b, lapack_int ldb,
+                            float* x, lapack_int ldx, float* rcond,
+                            float* rpvgrw, float* berr, lapack_int n_err_bnds,
+                            float* err_bnds_norm, float* err_bnds_comp,
+                            lapack_int nparams, float* params );
+lapack_int LAPACKE_dposvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs, double* a,
+                            lapack_int lda, double* af, lapack_int ldaf,
+                            char* equed, double* s, double* b, lapack_int ldb,
+                            double* x, lapack_int ldx, double* rcond,
+                            double* rpvgrw, double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+lapack_int LAPACKE_cposvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* af, lapack_int ldaf,
+                            char* equed, float* s, lapack_complex_float* b,
+                            lapack_int ldb, lapack_complex_float* x,
+                            lapack_int ldx, float* rcond, float* rpvgrw,
+                            float* berr, lapack_int n_err_bnds,
+                            float* err_bnds_norm, float* err_bnds_comp,
+                            lapack_int nparams, float* params );
+lapack_int LAPACKE_zposvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* af, lapack_int ldaf,
+                            char* equed, double* s, lapack_complex_double* b,
+                            lapack_int ldb, lapack_complex_double* x,
+                            lapack_int ldx, double* rcond, double* rpvgrw,
+                            double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+
+lapack_int LAPACKE_spotrf( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_dpotrf( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda );
+lapack_int LAPACKE_cpotrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zpotrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_spotri( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_dpotri( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda );
+lapack_int LAPACKE_cpotri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zpotri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_spotrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           float* b, lapack_int ldb );
+lapack_int LAPACKE_dpotrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           double* b, lapack_int ldb );
+lapack_int LAPACKE_cpotrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zpotrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_sppcon( int matrix_order, char uplo, lapack_int n,
+                           const float* ap, float anorm, float* rcond );
+lapack_int LAPACKE_dppcon( int matrix_order, char uplo, lapack_int n,
+                           const double* ap, double anorm, double* rcond );
+lapack_int LAPACKE_cppcon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* ap, float anorm,
+                           float* rcond );
+lapack_int LAPACKE_zppcon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* ap, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_sppequ( int matrix_order, char uplo, lapack_int n,
+                           const float* ap, float* s, float* scond,
+                           float* amax );
+lapack_int LAPACKE_dppequ( int matrix_order, char uplo, lapack_int n,
+                           const double* ap, double* s, double* scond,
+                           double* amax );
+lapack_int LAPACKE_cppequ( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* ap, float* s,
+                           float* scond, float* amax );
+lapack_int LAPACKE_zppequ( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* ap, double* s,
+                           double* scond, double* amax );
+
+lapack_int LAPACKE_spprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* ap, const float* afp,
+                           const float* b, lapack_int ldb, float* x,
+                           lapack_int ldx, float* ferr, float* berr );
+lapack_int LAPACKE_dpprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* ap, const double* afp,
+                           const double* b, lapack_int ldb, double* x,
+                           lapack_int ldx, double* ferr, double* berr );
+lapack_int LAPACKE_cpprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           const lapack_complex_float* afp,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zpprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           const lapack_complex_double* afp,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_sppsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, float* ap, float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dppsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, double* ap, double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_cppsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_float* ap,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zppsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_double* ap,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sppsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, float* ap, float* afp, char* equed,
+                           float* s, float* b, lapack_int ldb, float* x,
+                           lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dppsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, double* ap, double* afp,
+                           char* equed, double* s, double* b, lapack_int ldb,
+                           double* x, lapack_int ldx, double* rcond,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_cppsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, lapack_complex_float* ap,
+                           lapack_complex_float* afp, char* equed, float* s,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zppsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, lapack_complex_double* ap,
+                           lapack_complex_double* afp, char* equed, double* s,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_spptrf( int matrix_order, char uplo, lapack_int n,
+                           float* ap );
+lapack_int LAPACKE_dpptrf( int matrix_order, char uplo, lapack_int n,
+                           double* ap );
+lapack_int LAPACKE_cpptrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap );
+lapack_int LAPACKE_zpptrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap );
+
+lapack_int LAPACKE_spptri( int matrix_order, char uplo, lapack_int n,
+                           float* ap );
+lapack_int LAPACKE_dpptri( int matrix_order, char uplo, lapack_int n,
+                           double* ap );
+lapack_int LAPACKE_cpptri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap );
+lapack_int LAPACKE_zpptri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap );
+
+lapack_int LAPACKE_spptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* ap, float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_dpptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* ap, double* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_cpptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spstrf( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda, lapack_int* piv, lapack_int* rank,
+                           float tol );
+lapack_int LAPACKE_dpstrf( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda, lapack_int* piv, lapack_int* rank,
+                           double tol );
+lapack_int LAPACKE_cpstrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* piv, lapack_int* rank, float tol );
+lapack_int LAPACKE_zpstrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* piv, lapack_int* rank, double tol );
+
+lapack_int LAPACKE_sptcon( lapack_int n, const float* d, const float* e,
+                           float anorm, float* rcond );
+lapack_int LAPACKE_dptcon( lapack_int n, const double* d, const double* e,
+                           double anorm, double* rcond );
+lapack_int LAPACKE_cptcon( lapack_int n, const float* d,
+                           const lapack_complex_float* e, float anorm,
+                           float* rcond );
+lapack_int LAPACKE_zptcon( lapack_int n, const double* d,
+                           const lapack_complex_double* e, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_spteqr( int matrix_order, char compz, lapack_int n, float* d,
+                           float* e, float* z, lapack_int ldz );
+lapack_int LAPACKE_dpteqr( int matrix_order, char compz, lapack_int n,
+                           double* d, double* e, double* z, lapack_int ldz );
+lapack_int LAPACKE_cpteqr( int matrix_order, char compz, lapack_int n, float* d,
+                           float* e, lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zpteqr( int matrix_order, char compz, lapack_int n,
+                           double* d, double* e, lapack_complex_double* z,
+                           lapack_int ldz );
+
+lapack_int LAPACKE_sptrfs( int matrix_order, lapack_int n, lapack_int nrhs,
+                           const float* d, const float* e, const float* df,
+                           const float* ef, const float* b, lapack_int ldb,
+                           float* x, lapack_int ldx, float* ferr, float* berr );
+lapack_int LAPACKE_dptrfs( int matrix_order, lapack_int n, lapack_int nrhs,
+                           const double* d, const double* e, const double* df,
+                           const double* ef, const double* b, lapack_int ldb,
+                           double* x, lapack_int ldx, double* ferr,
+                           double* berr );
+lapack_int LAPACKE_cptrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* d,
+                           const lapack_complex_float* e, const float* df,
+                           const lapack_complex_float* ef,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zptrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* d,
+                           const lapack_complex_double* e, const double* df,
+                           const lapack_complex_double* ef,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_sptsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          float* d, float* e, float* b, lapack_int ldb );
+lapack_int LAPACKE_dptsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          double* d, double* e, double* b, lapack_int ldb );
+lapack_int LAPACKE_cptsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          float* d, lapack_complex_float* e,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zptsv( int matrix_order, lapack_int n, lapack_int nrhs,
+                          double* d, lapack_complex_double* e,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sptsvx( int matrix_order, char fact, lapack_int n,
+                           lapack_int nrhs, const float* d, const float* e,
+                           float* df, float* ef, const float* b, lapack_int ldb,
+                           float* x, lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dptsvx( int matrix_order, char fact, lapack_int n,
+                           lapack_int nrhs, const double* d, const double* e,
+                           double* df, double* ef, const double* b,
+                           lapack_int ldb, double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+lapack_int LAPACKE_cptsvx( int matrix_order, char fact, lapack_int n,
+                           lapack_int nrhs, const float* d,
+                           const lapack_complex_float* e, float* df,
+                           lapack_complex_float* ef,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zptsvx( int matrix_order, char fact, lapack_int n,
+                           lapack_int nrhs, const double* d,
+                           const lapack_complex_double* e, double* df,
+                           lapack_complex_double* ef,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_spttrf( lapack_int n, float* d, float* e );
+lapack_int LAPACKE_dpttrf( lapack_int n, double* d, double* e );
+lapack_int LAPACKE_cpttrf( lapack_int n, float* d, lapack_complex_float* e );
+lapack_int LAPACKE_zpttrf( lapack_int n, double* d, lapack_complex_double* e );
+
+lapack_int LAPACKE_spttrs( int matrix_order, lapack_int n, lapack_int nrhs,
+                           const float* d, const float* e, float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_dpttrs( int matrix_order, lapack_int n, lapack_int nrhs,
+                           const double* d, const double* e, double* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_cpttrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* d,
+                           const lapack_complex_float* e,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpttrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* d,
+                           const lapack_complex_double* e,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_ssbev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int kd, float* ab, lapack_int ldab, float* w,
+                          float* z, lapack_int ldz );
+lapack_int LAPACKE_dsbev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int kd, double* ab, lapack_int ldab, double* w,
+                          double* z, lapack_int ldz );
+
+lapack_int LAPACKE_ssbevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int kd, float* ab, lapack_int ldab, float* w,
+                           float* z, lapack_int ldz );
+lapack_int LAPACKE_dsbevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int kd, double* ab, lapack_int ldab,
+                           double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_ssbevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int kd, float* ab,
+                           lapack_int ldab, float* q, lapack_int ldq, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_dsbevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int kd, double* ab,
+                           lapack_int ldab, double* q, lapack_int ldq,
+                           double vl, double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* ifail );
+
+lapack_int LAPACKE_ssbgst( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb, float* ab,
+                           lapack_int ldab, const float* bb, lapack_int ldbb,
+                           float* x, lapack_int ldx );
+lapack_int LAPACKE_dsbgst( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb, double* ab,
+                           lapack_int ldab, const double* bb, lapack_int ldbb,
+                           double* x, lapack_int ldx );
+
+lapack_int LAPACKE_ssbgv( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int ka, lapack_int kb, float* ab,
+                          lapack_int ldab, float* bb, lapack_int ldbb, float* w,
+                          float* z, lapack_int ldz );
+lapack_int LAPACKE_dsbgv( int matrix_order, char jobz, char uplo, lapack_int n,
+                          lapack_int ka, lapack_int kb, double* ab,
+                          lapack_int ldab, double* bb, lapack_int ldbb,
+                          double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_ssbgvd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb, float* ab,
+                           lapack_int ldab, float* bb, lapack_int ldbb,
+                           float* w, float* z, lapack_int ldz );
+lapack_int LAPACKE_dsbgvd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           lapack_int ka, lapack_int kb, double* ab,
+                           lapack_int ldab, double* bb, lapack_int ldbb,
+                           double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_ssbgvx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int ka, lapack_int kb,
+                           float* ab, lapack_int ldab, float* bb,
+                           lapack_int ldbb, float* q, lapack_int ldq, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_dsbgvx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, lapack_int ka, lapack_int kb,
+                           double* ab, lapack_int ldab, double* bb,
+                           lapack_int ldbb, double* q, lapack_int ldq,
+                           double vl, double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* ifail );
+
+lapack_int LAPACKE_ssbtrd( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int kd, float* ab, lapack_int ldab, float* d,
+                           float* e, float* q, lapack_int ldq );
+lapack_int LAPACKE_dsbtrd( int matrix_order, char vect, char uplo, lapack_int n,
+                           lapack_int kd, double* ab, lapack_int ldab,
+                           double* d, double* e, double* q, lapack_int ldq );
+
+lapack_int LAPACKE_ssfrk( int matrix_order, char transr, char uplo, char trans,
+                          lapack_int n, lapack_int k, float alpha,
+                          const float* a, lapack_int lda, float beta,
+                          float* c );
+lapack_int LAPACKE_dsfrk( int matrix_order, char transr, char uplo, char trans,
+                          lapack_int n, lapack_int k, double alpha,
+                          const double* a, lapack_int lda, double beta,
+                          double* c );
+
+lapack_int LAPACKE_sspcon( int matrix_order, char uplo, lapack_int n,
+                           const float* ap, const lapack_int* ipiv, float anorm,
+                           float* rcond );
+lapack_int LAPACKE_dspcon( int matrix_order, char uplo, lapack_int n,
+                           const double* ap, const lapack_int* ipiv,
+                           double anorm, double* rcond );
+lapack_int LAPACKE_cspcon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* ap,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_zspcon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* ap,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_sspev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          float* ap, float* w, float* z, lapack_int ldz );
+lapack_int LAPACKE_dspev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          double* ap, double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sspevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           float* ap, float* w, float* z, lapack_int ldz );
+lapack_int LAPACKE_dspevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           double* ap, double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sspevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, float* ap, float vl, float vu,
+                           lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_dspevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, double* ap, double vl, double vu,
+                           lapack_int il, lapack_int iu, double abstol,
+                           lapack_int* m, double* w, double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_sspgst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, float* ap, const float* bp );
+lapack_int LAPACKE_dspgst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, double* ap, const double* bp );
+
+lapack_int LAPACKE_sspgv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, float* ap, float* bp,
+                          float* w, float* z, lapack_int ldz );
+lapack_int LAPACKE_dspgv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, double* ap, double* bp,
+                          double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sspgvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, float* ap, float* bp,
+                           float* w, float* z, lapack_int ldz );
+lapack_int LAPACKE_dspgvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, double* ap, double* bp,
+                           double* w, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sspgvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n, float* ap,
+                           float* bp, float vl, float vu, lapack_int il,
+                           lapack_int iu, float abstol, lapack_int* m, float* w,
+                           float* z, lapack_int ldz, lapack_int* ifail );
+lapack_int LAPACKE_dspgvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n, double* ap,
+                           double* bp, double vl, double vu, lapack_int il,
+                           lapack_int iu, double abstol, lapack_int* m,
+                           double* w, double* z, lapack_int ldz,
+                           lapack_int* ifail );
+
+lapack_int LAPACKE_ssprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* ap, const float* afp,
+                           const lapack_int* ipiv, const float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_dsprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* ap, const double* afp,
+                           const lapack_int* ipiv, const double* b,
+                           lapack_int ldb, double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_csprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           const lapack_complex_float* afp,
+                           const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zsprfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           const lapack_complex_double* afp,
+                           const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_sspsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, float* ap, lapack_int* ipiv,
+                          float* b, lapack_int ldb );
+lapack_int LAPACKE_dspsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, double* ap, lapack_int* ipiv,
+                          double* b, lapack_int ldb );
+lapack_int LAPACKE_cspsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_float* ap,
+                          lapack_int* ipiv, lapack_complex_float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_zspsv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_double* ap,
+                          lapack_int* ipiv, lapack_complex_double* b,
+                          lapack_int ldb );
+
+lapack_int LAPACKE_sspsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* ap, float* afp,
+                           lapack_int* ipiv, const float* b, lapack_int ldb,
+                           float* x, lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dspsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* ap, double* afp,
+                           lapack_int* ipiv, const double* b, lapack_int ldb,
+                           double* x, lapack_int ldx, double* rcond,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_cspsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           lapack_complex_float* afp, lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zspsvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           lapack_complex_double* afp, lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_ssptrd( int matrix_order, char uplo, lapack_int n, float* ap,
+                           float* d, float* e, float* tau );
+lapack_int LAPACKE_dsptrd( int matrix_order, char uplo, lapack_int n,
+                           double* ap, double* d, double* e, double* tau );
+
+lapack_int LAPACKE_ssptrf( int matrix_order, char uplo, lapack_int n, float* ap,
+                           lapack_int* ipiv );
+lapack_int LAPACKE_dsptrf( int matrix_order, char uplo, lapack_int n,
+                           double* ap, lapack_int* ipiv );
+lapack_int LAPACKE_csptrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap, lapack_int* ipiv );
+lapack_int LAPACKE_zsptrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap, lapack_int* ipiv );
+
+lapack_int LAPACKE_ssptri( int matrix_order, char uplo, lapack_int n, float* ap,
+                           const lapack_int* ipiv );
+lapack_int LAPACKE_dsptri( int matrix_order, char uplo, lapack_int n,
+                           double* ap, const lapack_int* ipiv );
+lapack_int LAPACKE_csptri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* ap, const lapack_int* ipiv );
+lapack_int LAPACKE_zsptri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* ap, const lapack_int* ipiv );
+
+lapack_int LAPACKE_ssptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* ap,
+                           const lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_dsptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* ap,
+                           const lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_csptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* ap,
+                           const lapack_int* ipiv, lapack_complex_float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_zsptrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* ap,
+                           const lapack_int* ipiv, lapack_complex_double* b,
+                           lapack_int ldb );
+
+lapack_int LAPACKE_sstebz( char range, char order, lapack_int n, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           const float* d, const float* e, lapack_int* m,
+                           lapack_int* nsplit, float* w, lapack_int* iblock,
+                           lapack_int* isplit );
+lapack_int LAPACKE_dstebz( char range, char order, lapack_int n, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, const double* d, const double* e,
+                           lapack_int* m, lapack_int* nsplit, double* w,
+                           lapack_int* iblock, lapack_int* isplit );
+
+lapack_int LAPACKE_sstedc( int matrix_order, char compz, lapack_int n, float* d,
+                           float* e, float* z, lapack_int ldz );
+lapack_int LAPACKE_dstedc( int matrix_order, char compz, lapack_int n,
+                           double* d, double* e, double* z, lapack_int ldz );
+lapack_int LAPACKE_cstedc( int matrix_order, char compz, lapack_int n, float* d,
+                           float* e, lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zstedc( int matrix_order, char compz, lapack_int n,
+                           double* d, double* e, lapack_complex_double* z,
+                           lapack_int ldz );
+
+lapack_int LAPACKE_sstegr( int matrix_order, char jobz, char range,
+                           lapack_int n, float* d, float* e, float vl, float vu,
+                           lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* isuppz );
+lapack_int LAPACKE_dstegr( int matrix_order, char jobz, char range,
+                           lapack_int n, double* d, double* e, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* isuppz );
+lapack_int LAPACKE_cstegr( int matrix_order, char jobz, char range,
+                           lapack_int n, float* d, float* e, float vl, float vu,
+                           lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, lapack_complex_float* z,
+                           lapack_int ldz, lapack_int* isuppz );
+lapack_int LAPACKE_zstegr( int matrix_order, char jobz, char range,
+                           lapack_int n, double* d, double* e, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* isuppz );
+
+lapack_int LAPACKE_sstein( int matrix_order, lapack_int n, const float* d,
+                           const float* e, lapack_int m, const float* w,
+                           const lapack_int* iblock, const lapack_int* isplit,
+                           float* z, lapack_int ldz, lapack_int* ifailv );
+lapack_int LAPACKE_dstein( int matrix_order, lapack_int n, const double* d,
+                           const double* e, lapack_int m, const double* w,
+                           const lapack_int* iblock, const lapack_int* isplit,
+                           double* z, lapack_int ldz, lapack_int* ifailv );
+lapack_int LAPACKE_cstein( int matrix_order, lapack_int n, const float* d,
+                           const float* e, lapack_int m, const float* w,
+                           const lapack_int* iblock, const lapack_int* isplit,
+                           lapack_complex_float* z, lapack_int ldz,
+                           lapack_int* ifailv );
+lapack_int LAPACKE_zstein( int matrix_order, lapack_int n, const double* d,
+                           const double* e, lapack_int m, const double* w,
+                           const lapack_int* iblock, const lapack_int* isplit,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* ifailv );
+
+lapack_int LAPACKE_sstemr( int matrix_order, char jobz, char range,
+                           lapack_int n, float* d, float* e, float vl, float vu,
+                           lapack_int il, lapack_int iu, lapack_int* m,
+                           float* w, float* z, lapack_int ldz, lapack_int nzc,
+                           lapack_int* isuppz, lapack_logical* tryrac );
+lapack_int LAPACKE_dstemr( int matrix_order, char jobz, char range,
+                           lapack_int n, double* d, double* e, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           lapack_int* m, double* w, double* z, lapack_int ldz,
+                           lapack_int nzc, lapack_int* isuppz,
+                           lapack_logical* tryrac );
+lapack_int LAPACKE_cstemr( int matrix_order, char jobz, char range,
+                           lapack_int n, float* d, float* e, float vl, float vu,
+                           lapack_int il, lapack_int iu, lapack_int* m,
+                           float* w, lapack_complex_float* z, lapack_int ldz,
+                           lapack_int nzc, lapack_int* isuppz,
+                           lapack_logical* tryrac );
+lapack_int LAPACKE_zstemr( int matrix_order, char jobz, char range,
+                           lapack_int n, double* d, double* e, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           lapack_int* m, double* w, lapack_complex_double* z,
+                           lapack_int ldz, lapack_int nzc, lapack_int* isuppz,
+                           lapack_logical* tryrac );
+
+lapack_int LAPACKE_ssteqr( int matrix_order, char compz, lapack_int n, float* d,
+                           float* e, float* z, lapack_int ldz );
+lapack_int LAPACKE_dsteqr( int matrix_order, char compz, lapack_int n,
+                           double* d, double* e, double* z, lapack_int ldz );
+lapack_int LAPACKE_csteqr( int matrix_order, char compz, lapack_int n, float* d,
+                           float* e, lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zsteqr( int matrix_order, char compz, lapack_int n,
+                           double* d, double* e, lapack_complex_double* z,
+                           lapack_int ldz );
+
+lapack_int LAPACKE_ssterf( lapack_int n, float* d, float* e );
+lapack_int LAPACKE_dsterf( lapack_int n, double* d, double* e );
+
+lapack_int LAPACKE_sstev( int matrix_order, char jobz, lapack_int n, float* d,
+                          float* e, float* z, lapack_int ldz );
+lapack_int LAPACKE_dstev( int matrix_order, char jobz, lapack_int n, double* d,
+                          double* e, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sstevd( int matrix_order, char jobz, lapack_int n, float* d,
+                           float* e, float* z, lapack_int ldz );
+lapack_int LAPACKE_dstevd( int matrix_order, char jobz, lapack_int n, double* d,
+                           double* e, double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sstevr( int matrix_order, char jobz, char range,
+                           lapack_int n, float* d, float* e, float vl, float vu,
+                           lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* isuppz );
+lapack_int LAPACKE_dstevr( int matrix_order, char jobz, char range,
+                           lapack_int n, double* d, double* e, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* isuppz );
+
+lapack_int LAPACKE_sstevx( int matrix_order, char jobz, char range,
+                           lapack_int n, float* d, float* e, float vl, float vu,
+                           lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_dstevx( int matrix_order, char jobz, char range,
+                           lapack_int n, double* d, double* e, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* ifail );
+
+lapack_int LAPACKE_ssycon( int matrix_order, char uplo, lapack_int n,
+                           const float* a, lapack_int lda,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_dsycon( int matrix_order, char uplo, lapack_int n,
+                           const double* a, lapack_int lda,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+lapack_int LAPACKE_csycon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_int* ipiv, float anorm, float* rcond );
+lapack_int LAPACKE_zsycon( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_int* ipiv, double anorm,
+                           double* rcond );
+
+lapack_int LAPACKE_ssyequb( int matrix_order, char uplo, lapack_int n,
+                            const float* a, lapack_int lda, float* s,
+                            float* scond, float* amax );
+lapack_int LAPACKE_dsyequb( int matrix_order, char uplo, lapack_int n,
+                            const double* a, lapack_int lda, double* s,
+                            double* scond, double* amax );
+lapack_int LAPACKE_csyequb( int matrix_order, char uplo, lapack_int n,
+                            const lapack_complex_float* a, lapack_int lda,
+                            float* s, float* scond, float* amax );
+lapack_int LAPACKE_zsyequb( int matrix_order, char uplo, lapack_int n,
+                            const lapack_complex_double* a, lapack_int lda,
+                            double* s, double* scond, double* amax );
+
+lapack_int LAPACKE_ssyev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          float* a, lapack_int lda, float* w );
+lapack_int LAPACKE_dsyev( int matrix_order, char jobz, char uplo, lapack_int n,
+                          double* a, lapack_int lda, double* w );
+
+lapack_int LAPACKE_ssyevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           float* a, lapack_int lda, float* w );
+lapack_int LAPACKE_dsyevd( int matrix_order, char jobz, char uplo, lapack_int n,
+                           double* a, lapack_int lda, double* w );
+
+lapack_int LAPACKE_ssyevr( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, float* a, lapack_int lda, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* isuppz );
+lapack_int LAPACKE_dsyevr( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, double* a, lapack_int lda, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* isuppz );
+
+lapack_int LAPACKE_ssyevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, float* a, lapack_int lda, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_dsyevx( int matrix_order, char jobz, char range, char uplo,
+                           lapack_int n, double* a, lapack_int lda, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* ifail );
+
+lapack_int LAPACKE_ssygst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, float* a, lapack_int lda,
+                           const float* b, lapack_int ldb );
+lapack_int LAPACKE_dsygst( int matrix_order, lapack_int itype, char uplo,
+                           lapack_int n, double* a, lapack_int lda,
+                           const double* b, lapack_int ldb );
+
+lapack_int LAPACKE_ssygv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, float* a, lapack_int lda,
+                          float* b, lapack_int ldb, float* w );
+lapack_int LAPACKE_dsygv( int matrix_order, lapack_int itype, char jobz,
+                          char uplo, lapack_int n, double* a, lapack_int lda,
+                          double* b, lapack_int ldb, double* w );
+
+lapack_int LAPACKE_ssygvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, float* a, lapack_int lda,
+                           float* b, lapack_int ldb, float* w );
+lapack_int LAPACKE_dsygvd( int matrix_order, lapack_int itype, char jobz,
+                           char uplo, lapack_int n, double* a, lapack_int lda,
+                           double* b, lapack_int ldb, double* w );
+
+lapack_int LAPACKE_ssygvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n, float* a,
+                           lapack_int lda, float* b, lapack_int ldb, float vl,
+                           float vu, lapack_int il, lapack_int iu, float abstol,
+                           lapack_int* m, float* w, float* z, lapack_int ldz,
+                           lapack_int* ifail );
+lapack_int LAPACKE_dsygvx( int matrix_order, lapack_int itype, char jobz,
+                           char range, char uplo, lapack_int n, double* a,
+                           lapack_int lda, double* b, lapack_int ldb, double vl,
+                           double vu, lapack_int il, lapack_int iu,
+                           double abstol, lapack_int* m, double* w, double* z,
+                           lapack_int ldz, lapack_int* ifail );
+
+lapack_int LAPACKE_ssyrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           const float* af, lapack_int ldaf,
+                           const lapack_int* ipiv, const float* b,
+                           lapack_int ldb, float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_dsyrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           const double* af, lapack_int ldaf,
+                           const lapack_int* ipiv, const double* b,
+                           lapack_int ldb, double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_csyrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* af,
+                           lapack_int ldaf, const lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_zsyrfs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* af,
+                           lapack_int ldaf, const lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_ssyrfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs, const float* a,
+                            lapack_int lda, const float* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const float* s,
+                            const float* b, lapack_int ldb, float* x,
+                            lapack_int ldx, float* rcond, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dsyrfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs, const double* a,
+                            lapack_int lda, const double* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const double* s,
+                            const double* b, lapack_int ldb, double* x,
+                            lapack_int ldx, double* rcond, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+lapack_int LAPACKE_csyrfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_float* a, lapack_int lda,
+                            const lapack_complex_float* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const float* s,
+                            const lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* x, lapack_int ldx,
+                            float* rcond, float* berr, lapack_int n_err_bnds,
+                            float* err_bnds_norm, float* err_bnds_comp,
+                            lapack_int nparams, float* params );
+lapack_int LAPACKE_zsyrfsx( int matrix_order, char uplo, char equed,
+                            lapack_int n, lapack_int nrhs,
+                            const lapack_complex_double* a, lapack_int lda,
+                            const lapack_complex_double* af, lapack_int ldaf,
+                            const lapack_int* ipiv, const double* s,
+                            const lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* x, lapack_int ldx,
+                            double* rcond, double* berr, lapack_int n_err_bnds,
+                            double* err_bnds_norm, double* err_bnds_comp,
+                            lapack_int nparams, double* params );
+
+lapack_int LAPACKE_ssysv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, float* a, lapack_int lda,
+                          lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_dsysv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, double* a, lapack_int lda,
+                          lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_csysv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_float* a,
+                          lapack_int lda, lapack_int* ipiv,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zsysv( int matrix_order, char uplo, lapack_int n,
+                          lapack_int nrhs, lapack_complex_double* a,
+                          lapack_int lda, lapack_int* ipiv,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_ssysvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           float* af, lapack_int ldaf, lapack_int* ipiv,
+                           const float* b, lapack_int ldb, float* x,
+                           lapack_int ldx, float* rcond, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dsysvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           double* af, lapack_int ldaf, lapack_int* ipiv,
+                           const double* b, lapack_int ldb, double* x,
+                           lapack_int ldx, double* rcond, double* ferr,
+                           double* berr );
+lapack_int LAPACKE_csysvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* af,
+                           lapack_int ldaf, lapack_int* ipiv,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* x, lapack_int ldx,
+                           float* rcond, float* ferr, float* berr );
+lapack_int LAPACKE_zsysvx( int matrix_order, char fact, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* af,
+                           lapack_int ldaf, lapack_int* ipiv,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* x, lapack_int ldx,
+                           double* rcond, double* ferr, double* berr );
+
+lapack_int LAPACKE_ssysvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs, float* a,
+                            lapack_int lda, float* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, float* s, float* b,
+                            lapack_int ldb, float* x, lapack_int ldx,
+                            float* rcond, float* rpvgrw, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_dsysvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs, double* a,
+                            lapack_int lda, double* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, double* s, double* b,
+                            lapack_int ldb, double* x, lapack_int ldx,
+                            double* rcond, double* rpvgrw, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+lapack_int LAPACKE_csysvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, float* s,
+                            lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* x, lapack_int ldx,
+                            float* rcond, float* rpvgrw, float* berr,
+                            lapack_int n_err_bnds, float* err_bnds_norm,
+                            float* err_bnds_comp, lapack_int nparams,
+                            float* params );
+lapack_int LAPACKE_zsysvxx( int matrix_order, char fact, char uplo,
+                            lapack_int n, lapack_int nrhs,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* af, lapack_int ldaf,
+                            lapack_int* ipiv, char* equed, double* s,
+                            lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* x, lapack_int ldx,
+                            double* rcond, double* rpvgrw, double* berr,
+                            lapack_int n_err_bnds, double* err_bnds_norm,
+                            double* err_bnds_comp, lapack_int nparams,
+                            double* params );
+
+lapack_int LAPACKE_ssytrd( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda, float* d, float* e, float* tau );
+lapack_int LAPACKE_dsytrd( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda, double* d, double* e, double* tau );
+
+lapack_int LAPACKE_ssytrf( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_dsytrf( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_csytrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_int* ipiv );
+lapack_int LAPACKE_zsytrf( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_int* ipiv );
+
+lapack_int LAPACKE_ssytri( int matrix_order, char uplo, lapack_int n, float* a,
+                           lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_dsytri( int matrix_order, char uplo, lapack_int n, double* a,
+                           lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_csytri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           const lapack_int* ipiv );
+lapack_int LAPACKE_zsytri( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           const lapack_int* ipiv );
+
+lapack_int LAPACKE_ssytrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const float* a, lapack_int lda,
+                           const lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_dsytrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const double* a, lapack_int lda,
+                           const lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_csytrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_int* ipiv,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zsytrs( int matrix_order, char uplo, lapack_int n,
+                           lapack_int nrhs, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_int* ipiv,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stbcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, lapack_int kd, const float* ab,
+                           lapack_int ldab, float* rcond );
+lapack_int LAPACKE_dtbcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, lapack_int kd, const double* ab,
+                           lapack_int ldab, double* rcond );
+lapack_int LAPACKE_ctbcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, lapack_int kd,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           float* rcond );
+lapack_int LAPACKE_ztbcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, lapack_int kd,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           double* rcond );
+
+lapack_int LAPACKE_stbrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const float* ab, lapack_int ldab, const float* b,
+                           lapack_int ldb, const float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_dtbrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const double* ab, lapack_int ldab, const double* b,
+                           lapack_int ldb, const double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+lapack_int LAPACKE_ctbrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           const lapack_complex_float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_ztbrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           const lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_stbtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const float* ab, lapack_int ldab, float* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_dtbtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const double* ab, lapack_int ldab, double* b,
+                           lapack_int ldb );
+lapack_int LAPACKE_ctbtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_float* ab, lapack_int ldab,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztbtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int kd, lapack_int nrhs,
+                           const lapack_complex_double* ab, lapack_int ldab,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stfsm( int matrix_order, char transr, char side, char uplo,
+                          char trans, char diag, lapack_int m, lapack_int n,
+                          float alpha, const float* a, float* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_dtfsm( int matrix_order, char transr, char side, char uplo,
+                          char trans, char diag, lapack_int m, lapack_int n,
+                          double alpha, const double* a, double* b,
+                          lapack_int ldb );
+lapack_int LAPACKE_ctfsm( int matrix_order, char transr, char side, char uplo,
+                          char trans, char diag, lapack_int m, lapack_int n,
+                          lapack_complex_float alpha,
+                          const lapack_complex_float* a,
+                          lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztfsm( int matrix_order, char transr, char side, char uplo,
+                          char trans, char diag, lapack_int m, lapack_int n,
+                          lapack_complex_double alpha,
+                          const lapack_complex_double* a,
+                          lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stftri( int matrix_order, char transr, char uplo, char diag,
+                           lapack_int n, float* a );
+lapack_int LAPACKE_dtftri( int matrix_order, char transr, char uplo, char diag,
+                           lapack_int n, double* a );
+lapack_int LAPACKE_ctftri( int matrix_order, char transr, char uplo, char diag,
+                           lapack_int n, lapack_complex_float* a );
+lapack_int LAPACKE_ztftri( int matrix_order, char transr, char uplo, char diag,
+                           lapack_int n, lapack_complex_double* a );
+
+lapack_int LAPACKE_stfttp( int matrix_order, char transr, char uplo,
+                           lapack_int n, const float* arf, float* ap );
+lapack_int LAPACKE_dtfttp( int matrix_order, char transr, char uplo,
+                           lapack_int n, const double* arf, double* ap );
+lapack_int LAPACKE_ctfttp( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_float* arf,
+                           lapack_complex_float* ap );
+lapack_int LAPACKE_ztfttp( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_double* arf,
+                           lapack_complex_double* ap );
+
+lapack_int LAPACKE_stfttr( int matrix_order, char transr, char uplo,
+                           lapack_int n, const float* arf, float* a,
+                           lapack_int lda );
+lapack_int LAPACKE_dtfttr( int matrix_order, char transr, char uplo,
+                           lapack_int n, const double* arf, double* a,
+                           lapack_int lda );
+lapack_int LAPACKE_ctfttr( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_float* arf,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_ztfttr( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_double* arf,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_stgevc( int matrix_order, char side, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const float* s, lapack_int lds, const float* p,
+                           lapack_int ldp, float* vl, lapack_int ldvl,
+                           float* vr, lapack_int ldvr, lapack_int mm,
+                           lapack_int* m );
+lapack_int LAPACKE_dtgevc( int matrix_order, char side, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const double* s, lapack_int lds, const double* p,
+                           lapack_int ldp, double* vl, lapack_int ldvl,
+                           double* vr, lapack_int ldvr, lapack_int mm,
+                           lapack_int* m );
+lapack_int LAPACKE_ctgevc( int matrix_order, char side, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_float* s, lapack_int lds,
+                           const lapack_complex_float* p, lapack_int ldp,
+                           lapack_complex_float* vl, lapack_int ldvl,
+                           lapack_complex_float* vr, lapack_int ldvr,
+                           lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_ztgevc( int matrix_order, char side, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_double* s, lapack_int lds,
+                           const lapack_complex_double* p, lapack_int ldp,
+                           lapack_complex_double* vl, lapack_int ldvl,
+                           lapack_complex_double* vr, lapack_int ldvr,
+                           lapack_int mm, lapack_int* m );
+
+lapack_int LAPACKE_stgexc( int matrix_order, lapack_logical wantq,
+                           lapack_logical wantz, lapack_int n, float* a,
+                           lapack_int lda, float* b, lapack_int ldb, float* q,
+                           lapack_int ldq, float* z, lapack_int ldz,
+                           lapack_int* ifst, lapack_int* ilst );
+lapack_int LAPACKE_dtgexc( int matrix_order, lapack_logical wantq,
+                           lapack_logical wantz, lapack_int n, double* a,
+                           lapack_int lda, double* b, lapack_int ldb, double* q,
+                           lapack_int ldq, double* z, lapack_int ldz,
+                           lapack_int* ifst, lapack_int* ilst );
+lapack_int LAPACKE_ctgexc( int matrix_order, lapack_logical wantq,
+                           lapack_logical wantz, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* q, lapack_int ldq,
+                           lapack_complex_float* z, lapack_int ldz,
+                           lapack_int ifst, lapack_int ilst );
+lapack_int LAPACKE_ztgexc( int matrix_order, lapack_logical wantq,
+                           lapack_logical wantz, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int ifst, lapack_int ilst );
+
+lapack_int LAPACKE_stgsen( int matrix_order, lapack_int ijob,
+                           lapack_logical wantq, lapack_logical wantz,
+                           const lapack_logical* select, lapack_int n, float* a,
+                           lapack_int lda, float* b, lapack_int ldb,
+                           float* alphar, float* alphai, float* beta, float* q,
+                           lapack_int ldq, float* z, lapack_int ldz,
+                           lapack_int* m, float* pl, float* pr, float* dif );
+lapack_int LAPACKE_dtgsen( int matrix_order, lapack_int ijob,
+                           lapack_logical wantq, lapack_logical wantz,
+                           const lapack_logical* select, lapack_int n,
+                           double* a, lapack_int lda, double* b, lapack_int ldb,
+                           double* alphar, double* alphai, double* beta,
+                           double* q, lapack_int ldq, double* z, lapack_int ldz,
+                           lapack_int* m, double* pl, double* pr, double* dif );
+lapack_int LAPACKE_ctgsen( int matrix_order, lapack_int ijob,
+                           lapack_logical wantq, lapack_logical wantz,
+                           const lapack_logical* select, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* alpha,
+                           lapack_complex_float* beta, lapack_complex_float* q,
+                           lapack_int ldq, lapack_complex_float* z,
+                           lapack_int ldz, lapack_int* m, float* pl, float* pr,
+                           float* dif );
+lapack_int LAPACKE_ztgsen( int matrix_order, lapack_int ijob,
+                           lapack_logical wantq, lapack_logical wantz,
+                           const lapack_logical* select, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* alpha,
+                           lapack_complex_double* beta,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_complex_double* z, lapack_int ldz,
+                           lapack_int* m, double* pl, double* pr, double* dif );
+
+lapack_int LAPACKE_stgsja( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n,
+                           lapack_int k, lapack_int l, float* a, lapack_int lda,
+                           float* b, lapack_int ldb, float tola, float tolb,
+                           float* alpha, float* beta, float* u, lapack_int ldu,
+                           float* v, lapack_int ldv, float* q, lapack_int ldq,
+                           lapack_int* ncycle );
+lapack_int LAPACKE_dtgsja( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n,
+                           lapack_int k, lapack_int l, double* a,
+                           lapack_int lda, double* b, lapack_int ldb,
+                           double tola, double tolb, double* alpha,
+                           double* beta, double* u, lapack_int ldu, double* v,
+                           lapack_int ldv, double* q, lapack_int ldq,
+                           lapack_int* ncycle );
+lapack_int LAPACKE_ctgsja( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n,
+                           lapack_int k, lapack_int l, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* b,
+                           lapack_int ldb, float tola, float tolb, float* alpha,
+                           float* beta, lapack_complex_float* u, lapack_int ldu,
+                           lapack_complex_float* v, lapack_int ldv,
+                           lapack_complex_float* q, lapack_int ldq,
+                           lapack_int* ncycle );
+lapack_int LAPACKE_ztgsja( int matrix_order, char jobu, char jobv, char jobq,
+                           lapack_int m, lapack_int p, lapack_int n,
+                           lapack_int k, lapack_int l, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* b,
+                           lapack_int ldb, double tola, double tolb,
+                           double* alpha, double* beta,
+                           lapack_complex_double* u, lapack_int ldu,
+                           lapack_complex_double* v, lapack_int ldv,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_int* ncycle );
+
+lapack_int LAPACKE_stgsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const float* a, lapack_int lda, const float* b,
+                           lapack_int ldb, const float* vl, lapack_int ldvl,
+                           const float* vr, lapack_int ldvr, float* s,
+                           float* dif, lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_dtgsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const double* a, lapack_int lda, const double* b,
+                           lapack_int ldb, const double* vl, lapack_int ldvl,
+                           const double* vr, lapack_int ldvr, double* s,
+                           double* dif, lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_ctgsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           const lapack_complex_float* vl, lapack_int ldvl,
+                           const lapack_complex_float* vr, lapack_int ldvr,
+                           float* s, float* dif, lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_ztgsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           const lapack_complex_double* vl, lapack_int ldvl,
+                           const lapack_complex_double* vr, lapack_int ldvr,
+                           double* s, double* dif, lapack_int mm,
+                           lapack_int* m );
+
+lapack_int LAPACKE_stgsyl( int matrix_order, char trans, lapack_int ijob,
+                           lapack_int m, lapack_int n, const float* a,
+                           lapack_int lda, const float* b, lapack_int ldb,
+                           float* c, lapack_int ldc, const float* d,
+                           lapack_int ldd, const float* e, lapack_int lde,
+                           float* f, lapack_int ldf, float* scale, float* dif );
+lapack_int LAPACKE_dtgsyl( int matrix_order, char trans, lapack_int ijob,
+                           lapack_int m, lapack_int n, const double* a,
+                           lapack_int lda, const double* b, lapack_int ldb,
+                           double* c, lapack_int ldc, const double* d,
+                           lapack_int ldd, const double* e, lapack_int lde,
+                           double* f, lapack_int ldf, double* scale,
+                           double* dif );
+lapack_int LAPACKE_ctgsyl( int matrix_order, char trans, lapack_int ijob,
+                           lapack_int m, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* c, lapack_int ldc,
+                           const lapack_complex_float* d, lapack_int ldd,
+                           const lapack_complex_float* e, lapack_int lde,
+                           lapack_complex_float* f, lapack_int ldf,
+                           float* scale, float* dif );
+lapack_int LAPACKE_ztgsyl( int matrix_order, char trans, lapack_int ijob,
+                           lapack_int m, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* c, lapack_int ldc,
+                           const lapack_complex_double* d, lapack_int ldd,
+                           const lapack_complex_double* e, lapack_int lde,
+                           lapack_complex_double* f, lapack_int ldf,
+                           double* scale, double* dif );
+
+lapack_int LAPACKE_stpcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const float* ap, float* rcond );
+lapack_int LAPACKE_dtpcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const double* ap, double* rcond );
+lapack_int LAPACKE_ctpcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const lapack_complex_float* ap,
+                           float* rcond );
+lapack_int LAPACKE_ztpcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const lapack_complex_double* ap,
+                           double* rcond );
+
+lapack_int LAPACKE_stprfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const float* ap,
+                           const float* b, lapack_int ldb, const float* x,
+                           lapack_int ldx, float* ferr, float* berr );
+lapack_int LAPACKE_dtprfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const double* ap,
+                           const double* b, lapack_int ldb, const double* x,
+                           lapack_int ldx, double* ferr, double* berr );
+lapack_int LAPACKE_ctprfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_float* ap,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           const lapack_complex_float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_ztprfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_double* ap,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           const lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_stptri( int matrix_order, char uplo, char diag, lapack_int n,
+                           float* ap );
+lapack_int LAPACKE_dtptri( int matrix_order, char uplo, char diag, lapack_int n,
+                           double* ap );
+lapack_int LAPACKE_ctptri( int matrix_order, char uplo, char diag, lapack_int n,
+                           lapack_complex_float* ap );
+lapack_int LAPACKE_ztptri( int matrix_order, char uplo, char diag, lapack_int n,
+                           lapack_complex_double* ap );
+
+lapack_int LAPACKE_stptrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const float* ap,
+                           float* b, lapack_int ldb );
+lapack_int LAPACKE_dtptrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const double* ap,
+                           double* b, lapack_int ldb );
+lapack_int LAPACKE_ctptrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_float* ap,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztptrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_double* ap,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stpttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const float* ap, float* arf );
+lapack_int LAPACKE_dtpttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const double* ap, double* arf );
+lapack_int LAPACKE_ctpttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_float* ap,
+                           lapack_complex_float* arf );
+lapack_int LAPACKE_ztpttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_double* ap,
+                           lapack_complex_double* arf );
+
+lapack_int LAPACKE_stpttr( int matrix_order, char uplo, lapack_int n,
+                           const float* ap, float* a, lapack_int lda );
+lapack_int LAPACKE_dtpttr( int matrix_order, char uplo, lapack_int n,
+                           const double* ap, double* a, lapack_int lda );
+lapack_int LAPACKE_ctpttr( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* ap,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_ztpttr( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* ap,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_strcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const float* a, lapack_int lda,
+                           float* rcond );
+lapack_int LAPACKE_dtrcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const double* a, lapack_int lda,
+                           double* rcond );
+lapack_int LAPACKE_ctrcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const lapack_complex_float* a,
+                           lapack_int lda, float* rcond );
+lapack_int LAPACKE_ztrcon( int matrix_order, char norm, char uplo, char diag,
+                           lapack_int n, const lapack_complex_double* a,
+                           lapack_int lda, double* rcond );
+
+lapack_int LAPACKE_strevc( int matrix_order, char side, char howmny,
+                           lapack_logical* select, lapack_int n, const float* t,
+                           lapack_int ldt, float* vl, lapack_int ldvl,
+                           float* vr, lapack_int ldvr, lapack_int mm,
+                           lapack_int* m );
+lapack_int LAPACKE_dtrevc( int matrix_order, char side, char howmny,
+                           lapack_logical* select, lapack_int n,
+                           const double* t, lapack_int ldt, double* vl,
+                           lapack_int ldvl, double* vr, lapack_int ldvr,
+                           lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_ctrevc( int matrix_order, char side, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           lapack_complex_float* t, lapack_int ldt,
+                           lapack_complex_float* vl, lapack_int ldvl,
+                           lapack_complex_float* vr, lapack_int ldvr,
+                           lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_ztrevc( int matrix_order, char side, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           lapack_complex_double* t, lapack_int ldt,
+                           lapack_complex_double* vl, lapack_int ldvl,
+                           lapack_complex_double* vr, lapack_int ldvr,
+                           lapack_int mm, lapack_int* m );
+
+lapack_int LAPACKE_strexc( int matrix_order, char compq, lapack_int n, float* t,
+                           lapack_int ldt, float* q, lapack_int ldq,
+                           lapack_int* ifst, lapack_int* ilst );
+lapack_int LAPACKE_dtrexc( int matrix_order, char compq, lapack_int n,
+                           double* t, lapack_int ldt, double* q, lapack_int ldq,
+                           lapack_int* ifst, lapack_int* ilst );
+lapack_int LAPACKE_ctrexc( int matrix_order, char compq, lapack_int n,
+                           lapack_complex_float* t, lapack_int ldt,
+                           lapack_complex_float* q, lapack_int ldq,
+                           lapack_int ifst, lapack_int ilst );
+lapack_int LAPACKE_ztrexc( int matrix_order, char compq, lapack_int n,
+                           lapack_complex_double* t, lapack_int ldt,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_int ifst, lapack_int ilst );
+
+lapack_int LAPACKE_strrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const float* a,
+                           lapack_int lda, const float* b, lapack_int ldb,
+                           const float* x, lapack_int ldx, float* ferr,
+                           float* berr );
+lapack_int LAPACKE_dtrrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const double* a,
+                           lapack_int lda, const double* b, lapack_int ldb,
+                           const double* x, lapack_int ldx, double* ferr,
+                           double* berr );
+lapack_int LAPACKE_ctrrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           const lapack_complex_float* x, lapack_int ldx,
+                           float* ferr, float* berr );
+lapack_int LAPACKE_ztrrfs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           const lapack_complex_double* x, lapack_int ldx,
+                           double* ferr, double* berr );
+
+lapack_int LAPACKE_strsen( int matrix_order, char job, char compq,
+                           const lapack_logical* select, lapack_int n, float* t,
+                           lapack_int ldt, float* q, lapack_int ldq, float* wr,
+                           float* wi, lapack_int* m, float* s, float* sep );
+lapack_int LAPACKE_dtrsen( int matrix_order, char job, char compq,
+                           const lapack_logical* select, lapack_int n,
+                           double* t, lapack_int ldt, double* q, lapack_int ldq,
+                           double* wr, double* wi, lapack_int* m, double* s,
+                           double* sep );
+lapack_int LAPACKE_ctrsen( int matrix_order, char job, char compq,
+                           const lapack_logical* select, lapack_int n,
+                           lapack_complex_float* t, lapack_int ldt,
+                           lapack_complex_float* q, lapack_int ldq,
+                           lapack_complex_float* w, lapack_int* m, float* s,
+                           float* sep );
+lapack_int LAPACKE_ztrsen( int matrix_order, char job, char compq,
+                           const lapack_logical* select, lapack_int n,
+                           lapack_complex_double* t, lapack_int ldt,
+                           lapack_complex_double* q, lapack_int ldq,
+                           lapack_complex_double* w, lapack_int* m, double* s,
+                           double* sep );
+
+lapack_int LAPACKE_strsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const float* t, lapack_int ldt, const float* vl,
+                           lapack_int ldvl, const float* vr, lapack_int ldvr,
+                           float* s, float* sep, lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_dtrsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const double* t, lapack_int ldt, const double* vl,
+                           lapack_int ldvl, const double* vr, lapack_int ldvr,
+                           double* s, double* sep, lapack_int mm,
+                           lapack_int* m );
+lapack_int LAPACKE_ctrsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_float* t, lapack_int ldt,
+                           const lapack_complex_float* vl, lapack_int ldvl,
+                           const lapack_complex_float* vr, lapack_int ldvr,
+                           float* s, float* sep, lapack_int mm, lapack_int* m );
+lapack_int LAPACKE_ztrsna( int matrix_order, char job, char howmny,
+                           const lapack_logical* select, lapack_int n,
+                           const lapack_complex_double* t, lapack_int ldt,
+                           const lapack_complex_double* vl, lapack_int ldvl,
+                           const lapack_complex_double* vr, lapack_int ldvr,
+                           double* s, double* sep, lapack_int mm,
+                           lapack_int* m );
+
+lapack_int LAPACKE_strsyl( int matrix_order, char trana, char tranb,
+                           lapack_int isgn, lapack_int m, lapack_int n,
+                           const float* a, lapack_int lda, const float* b,
+                           lapack_int ldb, float* c, lapack_int ldc,
+                           float* scale );
+lapack_int LAPACKE_dtrsyl( int matrix_order, char trana, char tranb,
+                           lapack_int isgn, lapack_int m, lapack_int n,
+                           const double* a, lapack_int lda, const double* b,
+                           lapack_int ldb, double* c, lapack_int ldc,
+                           double* scale );
+lapack_int LAPACKE_ctrsyl( int matrix_order, char trana, char tranb,
+                           lapack_int isgn, lapack_int m, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* b, lapack_int ldb,
+                           lapack_complex_float* c, lapack_int ldc,
+                           float* scale );
+lapack_int LAPACKE_ztrsyl( int matrix_order, char trana, char tranb,
+                           lapack_int isgn, lapack_int m, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* c, lapack_int ldc,
+                           double* scale );
+
+lapack_int LAPACKE_strtri( int matrix_order, char uplo, char diag, lapack_int n,
+                           float* a, lapack_int lda );
+lapack_int LAPACKE_dtrtri( int matrix_order, char uplo, char diag, lapack_int n,
+                           double* a, lapack_int lda );
+lapack_int LAPACKE_ctrtri( int matrix_order, char uplo, char diag, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_ztrtri( int matrix_order, char uplo, char diag, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_strtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const float* a,
+                           lapack_int lda, float* b, lapack_int ldb );
+lapack_int LAPACKE_dtrtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs, const double* a,
+                           lapack_int lda, double* b, lapack_int ldb );
+lapack_int LAPACKE_ctrtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztrtrs( int matrix_order, char uplo, char trans, char diag,
+                           lapack_int n, lapack_int nrhs,
+                           const lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_strttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const float* a, lapack_int lda,
+                           float* arf );
+lapack_int LAPACKE_dtrttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const double* a, lapack_int lda,
+                           double* arf );
+lapack_int LAPACKE_ctrttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* arf );
+lapack_int LAPACKE_ztrttf( int matrix_order, char transr, char uplo,
+                           lapack_int n, const lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* arf );
+
+lapack_int LAPACKE_strttp( int matrix_order, char uplo, lapack_int n,
+                           const float* a, lapack_int lda, float* ap );
+lapack_int LAPACKE_dtrttp( int matrix_order, char uplo, lapack_int n,
+                           const double* a, lapack_int lda, double* ap );
+lapack_int LAPACKE_ctrttp( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* ap );
+lapack_int LAPACKE_ztrttp( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* ap );
+
+lapack_int LAPACKE_stzrzf( int matrix_order, lapack_int m, lapack_int n,
+                           float* a, lapack_int lda, float* tau );
+lapack_int LAPACKE_dtzrzf( int matrix_order, lapack_int m, lapack_int n,
+                           double* a, lapack_int lda, double* tau );
+lapack_int LAPACKE_ctzrzf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* tau );
+lapack_int LAPACKE_ztzrzf( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* tau );
+
+lapack_int LAPACKE_cungbr( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int k, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau );
+lapack_int LAPACKE_zungbr( int matrix_order, char vect, lapack_int m,
+                           lapack_int n, lapack_int k, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cunghr( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau );
+lapack_int LAPACKE_zunghr( int matrix_order, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cunglq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau );
+lapack_int LAPACKE_zunglq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cungql( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau );
+lapack_int LAPACKE_zungql( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cungqr( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau );
+lapack_int LAPACKE_zungqr( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cungrq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau );
+lapack_int LAPACKE_zungrq( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cungtr( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau );
+lapack_int LAPACKE_zungtr( int matrix_order, char uplo, lapack_int n,
+                           lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau );
+
+lapack_int LAPACKE_cunmbr( int matrix_order, char vect, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmbr( int matrix_order, char vect, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmhr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmhr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int ilo,
+                           lapack_int ihi, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmlq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmlq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmql( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmql( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmqr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmqr( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmrq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmrq( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmrz( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           lapack_int l, const lapack_complex_float* a,
+                           lapack_int lda, const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmrz( int matrix_order, char side, char trans,
+                           lapack_int m, lapack_int n, lapack_int k,
+                           lapack_int l, const lapack_complex_double* a,
+                           lapack_int lda, const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cunmtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n,
+                           const lapack_complex_float* a, lapack_int lda,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zunmtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n,
+                           const lapack_complex_double* a, lapack_int lda,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_cupgtr( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_float* ap,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* q, lapack_int ldq );
+lapack_int LAPACKE_zupgtr( int matrix_order, char uplo, lapack_int n,
+                           const lapack_complex_double* ap,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* q, lapack_int ldq );
+
+lapack_int LAPACKE_cupmtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n,
+                           const lapack_complex_float* ap,
+                           const lapack_complex_float* tau,
+                           lapack_complex_float* c, lapack_int ldc );
+lapack_int LAPACKE_zupmtr( int matrix_order, char side, char uplo, char trans,
+                           lapack_int m, lapack_int n,
+                           const lapack_complex_double* ap,
+                           const lapack_complex_double* tau,
+                           lapack_complex_double* c, lapack_int ldc );
+
+lapack_int LAPACKE_sbdsdc_work( int matrix_order, char uplo, char compq,
+                                lapack_int n, float* d, float* e, float* u,
+                                lapack_int ldu, float* vt, lapack_int ldvt,
+                                float* q, lapack_int* iq, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dbdsdc_work( int matrix_order, char uplo, char compq,
+                                lapack_int n, double* d, double* e, double* u,
+                                lapack_int ldu, double* vt, lapack_int ldvt,
+                                double* q, lapack_int* iq, double* work,
+                                lapack_int* iwork );
+
+lapack_int LAPACKE_sbdsqr_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                                float* d, float* e, float* vt, lapack_int ldvt,
+                                float* u, lapack_int ldu, float* c,
+                                lapack_int ldc, float* work );
+lapack_int LAPACKE_dbdsqr_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                                double* d, double* e, double* vt,
+                                lapack_int ldvt, double* u, lapack_int ldu,
+                                double* c, lapack_int ldc, double* work );
+lapack_int LAPACKE_cbdsqr_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                                float* d, float* e, lapack_complex_float* vt,
+                                lapack_int ldvt, lapack_complex_float* u,
+                                lapack_int ldu, lapack_complex_float* c,
+                                lapack_int ldc, float* work );
+lapack_int LAPACKE_zbdsqr_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int ncvt, lapack_int nru, lapack_int ncc,
+                                double* d, double* e, lapack_complex_double* vt,
+                                lapack_int ldvt, lapack_complex_double* u,
+                                lapack_int ldu, lapack_complex_double* c,
+                                lapack_int ldc, double* work );
+
+lapack_int LAPACKE_sdisna_work( char job, lapack_int m, lapack_int n,
+                                const float* d, float* sep );
+lapack_int LAPACKE_ddisna_work( char job, lapack_int m, lapack_int n,
+                                const double* d, double* sep );
+
+lapack_int LAPACKE_sgbbrd_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int ncc, lapack_int kl,
+                                lapack_int ku, float* ab, lapack_int ldab,
+                                float* d, float* e, float* q, lapack_int ldq,
+                                float* pt, lapack_int ldpt, float* c,
+                                lapack_int ldc, float* work );
+lapack_int LAPACKE_dgbbrd_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int ncc, lapack_int kl,
+                                lapack_int ku, double* ab, lapack_int ldab,
+                                double* d, double* e, double* q, lapack_int ldq,
+                                double* pt, lapack_int ldpt, double* c,
+                                lapack_int ldc, double* work );
+lapack_int LAPACKE_cgbbrd_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int ncc, lapack_int kl,
+                                lapack_int ku, lapack_complex_float* ab,
+                                lapack_int ldab, float* d, float* e,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* pt, lapack_int ldpt,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgbbrd_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int ncc, lapack_int kl,
+                                lapack_int ku, lapack_complex_double* ab,
+                                lapack_int ldab, double* d, double* e,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* pt, lapack_int ldpt,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgbcon_work( int matrix_order, char norm, lapack_int n,
+                                lapack_int kl, lapack_int ku, const float* ab,
+                                lapack_int ldab, const lapack_int* ipiv,
+                                float anorm, float* rcond, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgbcon_work( int matrix_order, char norm, lapack_int n,
+                                lapack_int kl, lapack_int ku, const double* ab,
+                                lapack_int ldab, const lapack_int* ipiv,
+                                double anorm, double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cgbcon_work( int matrix_order, char norm, lapack_int n,
+                                lapack_int kl, lapack_int ku,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zgbcon_work( int matrix_order, char norm, lapack_int n,
+                                lapack_int kl, lapack_int ku,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, const lapack_int* ipiv,
+                                double anorm, double* rcond,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgbequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, const float* ab,
+                                lapack_int ldab, float* r, float* c,
+                                float* rowcnd, float* colcnd, float* amax );
+lapack_int LAPACKE_dgbequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, const double* ab,
+                                lapack_int ldab, double* r, double* c,
+                                double* rowcnd, double* colcnd, double* amax );
+lapack_int LAPACKE_cgbequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                float* r, float* c, float* rowcnd,
+                                float* colcnd, float* amax );
+lapack_int LAPACKE_zgbequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, double* r, double* c,
+                                double* rowcnd, double* colcnd, double* amax );
+
+lapack_int LAPACKE_sgbequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_int kl, lapack_int ku, const float* ab,
+                                 lapack_int ldab, float* r, float* c,
+                                 float* rowcnd, float* colcnd, float* amax );
+lapack_int LAPACKE_dgbequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_int kl, lapack_int ku, const double* ab,
+                                 lapack_int ldab, double* r, double* c,
+                                 double* rowcnd, double* colcnd, double* amax );
+lapack_int LAPACKE_cgbequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_int kl, lapack_int ku,
+                                 const lapack_complex_float* ab,
+                                 lapack_int ldab, float* r, float* c,
+                                 float* rowcnd, float* colcnd, float* amax );
+lapack_int LAPACKE_zgbequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_int kl, lapack_int ku,
+                                 const lapack_complex_double* ab,
+                                 lapack_int ldab, double* r, double* c,
+                                 double* rowcnd, double* colcnd, double* amax );
+
+lapack_int LAPACKE_sgbrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const float* ab, lapack_int ldab,
+                                const float* afb, lapack_int ldafb,
+                                const lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgbrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const double* ab, lapack_int ldab,
+                                const double* afb, lapack_int ldafb,
+                                const lapack_int* ipiv, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* ferr, double* berr, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cgbrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                const lapack_complex_float* afb,
+                                lapack_int ldafb, const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgbrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab,
+                                const lapack_complex_double* afb,
+                                lapack_int ldafb, const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgbrfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs, const float* ab,
+                                 lapack_int ldab, const float* afb,
+                                 lapack_int ldafb, const lapack_int* ipiv,
+                                 const float* r, const float* c, const float* b,
+                                 lapack_int ldb, float* x, lapack_int ldx,
+                                 float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dgbrfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs, const double* ab,
+                                 lapack_int ldab, const double* afb,
+                                 lapack_int ldafb, const lapack_int* ipiv,
+                                 const double* r, const double* c,
+                                 const double* b, lapack_int ldb, double* x,
+                                 lapack_int ldx, double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_cgbrfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs,
+                                 const lapack_complex_float* ab,
+                                 lapack_int ldab,
+                                 const lapack_complex_float* afb,
+                                 lapack_int ldafb, const lapack_int* ipiv,
+                                 const float* r, const float* c,
+                                 const lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* x, lapack_int ldx,
+                                 float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zgbrfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs,
+                                 const lapack_complex_double* ab,
+                                 lapack_int ldab,
+                                 const lapack_complex_double* afb,
+                                 lapack_int ldafb, const lapack_int* ipiv,
+                                 const double* r, const double* c,
+                                 const lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_sgbsv_work( int matrix_order, lapack_int n, lapack_int kl,
+                               lapack_int ku, lapack_int nrhs, float* ab,
+                               lapack_int ldab, lapack_int* ipiv, float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_dgbsv_work( int matrix_order, lapack_int n, lapack_int kl,
+                               lapack_int ku, lapack_int nrhs, double* ab,
+                               lapack_int ldab, lapack_int* ipiv, double* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_cgbsv_work( int matrix_order, lapack_int n, lapack_int kl,
+                               lapack_int ku, lapack_int nrhs,
+                               lapack_complex_float* ab, lapack_int ldab,
+                               lapack_int* ipiv, lapack_complex_float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_zgbsv_work( int matrix_order, lapack_int n, lapack_int kl,
+                               lapack_int ku, lapack_int nrhs,
+                               lapack_complex_double* ab, lapack_int ldab,
+                               lapack_int* ipiv, lapack_complex_double* b,
+                               lapack_int ldb );
+
+lapack_int LAPACKE_sgbsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int kl, lapack_int ku,
+                                lapack_int nrhs, float* ab, lapack_int ldab,
+                                float* afb, lapack_int ldafb, lapack_int* ipiv,
+                                char* equed, float* r, float* c, float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dgbsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int kl, lapack_int ku,
+                                lapack_int nrhs, double* ab, lapack_int ldab,
+                                double* afb, lapack_int ldafb, lapack_int* ipiv,
+                                char* equed, double* r, double* c, double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cgbsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int kl, lapack_int ku,
+                                lapack_int nrhs, lapack_complex_float* ab,
+                                lapack_int ldab, lapack_complex_float* afb,
+                                lapack_int ldafb, lapack_int* ipiv, char* equed,
+                                float* r, float* c, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zgbsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int kl, lapack_int ku,
+                                lapack_int nrhs, lapack_complex_double* ab,
+                                lapack_int ldab, lapack_complex_double* afb,
+                                lapack_int ldafb, lapack_int* ipiv, char* equed,
+                                double* r, double* c, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* x,
+                                lapack_int ldx, double* rcond, double* ferr,
+                                double* berr, lapack_complex_double* work,
+                                double* rwork );
+
+lapack_int LAPACKE_sgbsvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs, float* ab, lapack_int ldab,
+                                 float* afb, lapack_int ldafb, lapack_int* ipiv,
+                                 char* equed, float* r, float* c, float* b,
+                                 lapack_int ldb, float* x, lapack_int ldx,
+                                 float* rcond, float* rpvgrw, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dgbsvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs, double* ab, lapack_int ldab,
+                                 double* afb, lapack_int ldafb,
+                                 lapack_int* ipiv, char* equed, double* r,
+                                 double* c, double* b, lapack_int ldb,
+                                 double* x, lapack_int ldx, double* rcond,
+                                 double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_cgbsvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs, lapack_complex_float* ab,
+                                 lapack_int ldab, lapack_complex_float* afb,
+                                 lapack_int ldafb, lapack_int* ipiv,
+                                 char* equed, float* r, float* c,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* x, lapack_int ldx,
+                                 float* rcond, float* rpvgrw, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zgbsvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int kl, lapack_int ku,
+                                 lapack_int nrhs, lapack_complex_double* ab,
+                                 lapack_int ldab, lapack_complex_double* afb,
+                                 lapack_int ldafb, lapack_int* ipiv,
+                                 char* equed, double* r, double* c,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_sgbtrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, float* ab,
+                                lapack_int ldab, lapack_int* ipiv );
+lapack_int LAPACKE_dgbtrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, double* ab,
+                                lapack_int ldab, lapack_int* ipiv );
+lapack_int LAPACKE_cgbtrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                lapack_int* ipiv );
+lapack_int LAPACKE_zgbtrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                lapack_int* ipiv );
+
+lapack_int LAPACKE_sgbtrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const float* ab, lapack_int ldab,
+                                const lapack_int* ipiv, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dgbtrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const double* ab, lapack_int ldab,
+                                const lapack_int* ipiv, double* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_cgbtrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                const lapack_int* ipiv, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zgbtrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int kl, lapack_int ku, lapack_int nrhs,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sgebak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const float* scale, lapack_int m, float* v,
+                                lapack_int ldv );
+lapack_int LAPACKE_dgebak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const double* scale, lapack_int m, double* v,
+                                lapack_int ldv );
+lapack_int LAPACKE_cgebak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const float* scale, lapack_int m,
+                                lapack_complex_float* v, lapack_int ldv );
+lapack_int LAPACKE_zgebak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const double* scale, lapack_int m,
+                                lapack_complex_double* v, lapack_int ldv );
+
+lapack_int LAPACKE_sgebal_work( int matrix_order, char job, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* ilo,
+                                lapack_int* ihi, float* scale );
+lapack_int LAPACKE_dgebal_work( int matrix_order, char job, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* ilo,
+                                lapack_int* ihi, double* scale );
+lapack_int LAPACKE_cgebal_work( int matrix_order, char job, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* ilo, lapack_int* ihi,
+                                float* scale );
+lapack_int LAPACKE_zgebal_work( int matrix_order, char job, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* ilo, lapack_int* ihi,
+                                double* scale );
+
+lapack_int LAPACKE_sgebrd_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* d, float* e,
+                                float* tauq, float* taup, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dgebrd_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* d, double* e,
+                                double* tauq, double* taup, double* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_cgebrd_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                float* d, float* e, lapack_complex_float* tauq,
+                                lapack_complex_float* taup,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgebrd_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                double* d, double* e,
+                                lapack_complex_double* tauq,
+                                lapack_complex_double* taup,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgecon_work( int matrix_order, char norm, lapack_int n,
+                                const float* a, lapack_int lda, float anorm,
+                                float* rcond, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dgecon_work( int matrix_order, char norm, lapack_int n,
+                                const double* a, lapack_int lda, double anorm,
+                                double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cgecon_work( int matrix_order, char norm, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                float anorm, float* rcond,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgecon_work( int matrix_order, char norm, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                double anorm, double* rcond,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgeequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                const float* a, lapack_int lda, float* r,
+                                float* c, float* rowcnd, float* colcnd,
+                                float* amax );
+lapack_int LAPACKE_dgeequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                const double* a, lapack_int lda, double* r,
+                                double* c, double* rowcnd, double* colcnd,
+                                double* amax );
+lapack_int LAPACKE_cgeequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                float* r, float* c, float* rowcnd,
+                                float* colcnd, float* amax );
+lapack_int LAPACKE_zgeequ_work( int matrix_order, lapack_int m, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                double* r, double* c, double* rowcnd,
+                                double* colcnd, double* amax );
+
+lapack_int LAPACKE_sgeequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 const float* a, lapack_int lda, float* r,
+                                 float* c, float* rowcnd, float* colcnd,
+                                 float* amax );
+lapack_int LAPACKE_dgeequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 const double* a, lapack_int lda, double* r,
+                                 double* c, double* rowcnd, double* colcnd,
+                                 double* amax );
+lapack_int LAPACKE_cgeequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 float* r, float* c, float* rowcnd,
+                                 float* colcnd, float* amax );
+lapack_int LAPACKE_zgeequb_work( int matrix_order, lapack_int m, lapack_int n,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 double* r, double* c, double* rowcnd,
+                                 double* colcnd, double* amax );
+
+lapack_int LAPACKE_sgees_work( int matrix_order, char jobvs, char sort,
+                               LAPACK_S_SELECT2 select, lapack_int n, float* a,
+                               lapack_int lda, lapack_int* sdim, float* wr,
+                               float* wi, float* vs, lapack_int ldvs,
+                               float* work, lapack_int lwork,
+                               lapack_logical* bwork );
+lapack_int LAPACKE_dgees_work( int matrix_order, char jobvs, char sort,
+                               LAPACK_D_SELECT2 select, lapack_int n, double* a,
+                               lapack_int lda, lapack_int* sdim, double* wr,
+                               double* wi, double* vs, lapack_int ldvs,
+                               double* work, lapack_int lwork,
+                               lapack_logical* bwork );
+lapack_int LAPACKE_cgees_work( int matrix_order, char jobvs, char sort,
+                               LAPACK_C_SELECT1 select, lapack_int n,
+                               lapack_complex_float* a, lapack_int lda,
+                               lapack_int* sdim, lapack_complex_float* w,
+                               lapack_complex_float* vs, lapack_int ldvs,
+                               lapack_complex_float* work, lapack_int lwork,
+                               float* rwork, lapack_logical* bwork );
+lapack_int LAPACKE_zgees_work( int matrix_order, char jobvs, char sort,
+                               LAPACK_Z_SELECT1 select, lapack_int n,
+                               lapack_complex_double* a, lapack_int lda,
+                               lapack_int* sdim, lapack_complex_double* w,
+                               lapack_complex_double* vs, lapack_int ldvs,
+                               lapack_complex_double* work, lapack_int lwork,
+                               double* rwork, lapack_logical* bwork );
+
+lapack_int LAPACKE_sgeesx_work( int matrix_order, char jobvs, char sort,
+                                LAPACK_S_SELECT2 select, char sense,
+                                lapack_int n, float* a, lapack_int lda,
+                                lapack_int* sdim, float* wr, float* wi,
+                                float* vs, lapack_int ldvs, float* rconde,
+                                float* rcondv, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork,
+                                lapack_logical* bwork );
+lapack_int LAPACKE_dgeesx_work( int matrix_order, char jobvs, char sort,
+                                LAPACK_D_SELECT2 select, char sense,
+                                lapack_int n, double* a, lapack_int lda,
+                                lapack_int* sdim, double* wr, double* wi,
+                                double* vs, lapack_int ldvs, double* rconde,
+                                double* rcondv, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork,
+                                lapack_logical* bwork );
+lapack_int LAPACKE_cgeesx_work( int matrix_order, char jobvs, char sort,
+                                LAPACK_C_SELECT1 select, char sense,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, lapack_int* sdim,
+                                lapack_complex_float* w,
+                                lapack_complex_float* vs, lapack_int ldvs,
+                                float* rconde, float* rcondv,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_logical* bwork );
+lapack_int LAPACKE_zgeesx_work( int matrix_order, char jobvs, char sort,
+                                LAPACK_Z_SELECT1 select, char sense,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, lapack_int* sdim,
+                                lapack_complex_double* w,
+                                lapack_complex_double* vs, lapack_int ldvs,
+                                double* rconde, double* rcondv,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_logical* bwork );
+
+lapack_int LAPACKE_sgeev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, float* a, lapack_int lda,
+                               float* wr, float* wi, float* vl, lapack_int ldvl,
+                               float* vr, lapack_int ldvr, float* work,
+                               lapack_int lwork );
+lapack_int LAPACKE_dgeev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, double* a, lapack_int lda,
+                               double* wr, double* wi, double* vl,
+                               lapack_int ldvl, double* vr, lapack_int ldvr,
+                               double* work, lapack_int lwork );
+lapack_int LAPACKE_cgeev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, lapack_complex_float* a,
+                               lapack_int lda, lapack_complex_float* w,
+                               lapack_complex_float* vl, lapack_int ldvl,
+                               lapack_complex_float* vr, lapack_int ldvr,
+                               lapack_complex_float* work, lapack_int lwork,
+                               float* rwork );
+lapack_int LAPACKE_zgeev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, lapack_complex_double* a,
+                               lapack_int lda, lapack_complex_double* w,
+                               lapack_complex_double* vl, lapack_int ldvl,
+                               lapack_complex_double* vr, lapack_int ldvr,
+                               lapack_complex_double* work, lapack_int lwork,
+                               double* rwork );
+
+lapack_int LAPACKE_sgeevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n, float* a,
+                                lapack_int lda, float* wr, float* wi, float* vl,
+                                lapack_int ldvl, float* vr, lapack_int ldvr,
+                                lapack_int* ilo, lapack_int* ihi, float* scale,
+                                float* abnrm, float* rconde, float* rcondv,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgeevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n, double* a,
+                                lapack_int lda, double* wr, double* wi,
+                                double* vl, lapack_int ldvl, double* vr,
+                                lapack_int ldvr, lapack_int* ilo,
+                                lapack_int* ihi, double* scale, double* abnrm,
+                                double* rconde, double* rcondv, double* work,
+                                lapack_int lwork, lapack_int* iwork );
+lapack_int LAPACKE_cgeevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* w,
+                                lapack_complex_float* vl, lapack_int ldvl,
+                                lapack_complex_float* vr, lapack_int ldvr,
+                                lapack_int* ilo, lapack_int* ihi, float* scale,
+                                float* abnrm, float* rconde, float* rcondv,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork );
+lapack_int LAPACKE_zgeevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* w,
+                                lapack_complex_double* vl, lapack_int ldvl,
+                                lapack_complex_double* vr, lapack_int ldvr,
+                                lapack_int* ilo, lapack_int* ihi, double* scale,
+                                double* abnrm, double* rconde, double* rcondv,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork );
+
+lapack_int LAPACKE_sgehrd_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, float* a, lapack_int lda,
+                                float* tau, float* work, lapack_int lwork );
+lapack_int LAPACKE_dgehrd_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, double* a, lapack_int lda,
+                                double* tau, double* work, lapack_int lwork );
+lapack_int LAPACKE_cgehrd_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgehrd_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgejsv_work( int matrix_order, char joba, char jobu,
+                                char jobv, char jobr, char jobt, char jobp,
+                                lapack_int m, lapack_int n, float* a,
+                                lapack_int lda, float* sva, float* u,
+                                lapack_int ldu, float* v, lapack_int ldv,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgejsv_work( int matrix_order, char joba, char jobu,
+                                char jobv, char jobr, char jobt, char jobp,
+                                lapack_int m, lapack_int n, double* a,
+                                lapack_int lda, double* sva, double* u,
+                                lapack_int ldu, double* v, lapack_int ldv,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork );
+
+lapack_int LAPACKE_sgelq2_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work );
+lapack_int LAPACKE_dgelq2_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work );
+lapack_int LAPACKE_cgelq2_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zgelq2_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_sgelqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dgelqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_cgelqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgelqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgels_work( int matrix_order, char trans, lapack_int m,
+                               lapack_int n, lapack_int nrhs, float* a,
+                               lapack_int lda, float* b, lapack_int ldb,
+                               float* work, lapack_int lwork );
+lapack_int LAPACKE_dgels_work( int matrix_order, char trans, lapack_int m,
+                               lapack_int n, lapack_int nrhs, double* a,
+                               lapack_int lda, double* b, lapack_int ldb,
+                               double* work, lapack_int lwork );
+lapack_int LAPACKE_cgels_work( int matrix_order, char trans, lapack_int m,
+                               lapack_int n, lapack_int nrhs,
+                               lapack_complex_float* a, lapack_int lda,
+                               lapack_complex_float* b, lapack_int ldb,
+                               lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgels_work( int matrix_order, char trans, lapack_int m,
+                               lapack_int n, lapack_int nrhs,
+                               lapack_complex_double* a, lapack_int lda,
+                               lapack_complex_double* b, lapack_int ldb,
+                               lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgelsd_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, float* s, float rcond,
+                                lapack_int* rank, float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgelsd_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, double* s,
+                                double rcond, lapack_int* rank, double* work,
+                                lapack_int lwork, lapack_int* iwork );
+lapack_int LAPACKE_cgelsd_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, float* s, float rcond,
+                                lapack_int* rank, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_zgelsd_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, double* s, double rcond,
+                                lapack_int* rank, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int* iwork );
+
+lapack_int LAPACKE_sgelss_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, float* s, float rcond,
+                                lapack_int* rank, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dgelss_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, double* s,
+                                double rcond, lapack_int* rank, double* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_cgelss_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, float* s, float rcond,
+                                lapack_int* rank, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork );
+lapack_int LAPACKE_zgelss_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, double* s, double rcond,
+                                lapack_int* rank, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork );
+
+lapack_int LAPACKE_sgelsy_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, lapack_int* jpvt,
+                                float rcond, lapack_int* rank, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dgelsy_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, lapack_int* jpvt,
+                                double rcond, lapack_int* rank, double* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_cgelsy_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, lapack_int* jpvt, float rcond,
+                                lapack_int* rank, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork );
+lapack_int LAPACKE_zgelsy_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nrhs, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, lapack_int* jpvt, double rcond,
+                                lapack_int* rank, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork );
+
+lapack_int LAPACKE_sgeqlf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dgeqlf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_cgeqlf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgeqlf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgeqp3_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* jpvt,
+                                float* tau, float* work, lapack_int lwork );
+lapack_int LAPACKE_dgeqp3_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* jpvt,
+                                double* tau, double* work, lapack_int lwork );
+lapack_int LAPACKE_cgeqp3_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* jpvt, lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork );
+lapack_int LAPACKE_zgeqp3_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* jpvt, lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork );
+
+lapack_int LAPACKE_sgeqpf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* jpvt,
+                                float* tau, float* work );
+lapack_int LAPACKE_dgeqpf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* jpvt,
+                                double* tau, double* work );
+lapack_int LAPACKE_cgeqpf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* jpvt, lapack_complex_float* tau,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgeqpf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* jpvt, lapack_complex_double* tau,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgeqr2_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work );
+lapack_int LAPACKE_dgeqr2_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work );
+lapack_int LAPACKE_cgeqr2_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zgeqr2_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_sgeqrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dgeqrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_cgeqrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgeqrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgeqrfp_work( int matrix_order, lapack_int m, lapack_int n,
+                                 float* a, lapack_int lda, float* tau,
+                                 float* work, lapack_int lwork );
+lapack_int LAPACKE_dgeqrfp_work( int matrix_order, lapack_int m, lapack_int n,
+                                 double* a, lapack_int lda, double* tau,
+                                 double* work, lapack_int lwork );
+lapack_int LAPACKE_cgeqrfp_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* tau,
+                                 lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgeqrfp_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* tau,
+                                 lapack_complex_double* work,
+                                 lapack_int lwork );
+
+lapack_int LAPACKE_sgerfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const float* a, lapack_int lda,
+                                const float* af, lapack_int ldaf,
+                                const lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgerfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const double* a,
+                                lapack_int lda, const double* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cgerfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgerfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_complex_double* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgerfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int nrhs, const float* a,
+                                 lapack_int lda, const float* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const float* r, const float* c, const float* b,
+                                 lapack_int ldb, float* x, lapack_int ldx,
+                                 float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dgerfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int nrhs, const double* a,
+                                 lapack_int lda, const double* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const double* r, const double* c,
+                                 const double* b, lapack_int ldb, double* x,
+                                 lapack_int ldx, double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_cgerfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 const lapack_complex_float* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const float* r, const float* c,
+                                 const lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* x, lapack_int ldx,
+                                 float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zgerfsx_work( int matrix_order, char trans, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 const lapack_complex_double* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const double* r, const double* c,
+                                 const lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_sgerqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dgerqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_cgerqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgerqf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgesdd_work( int matrix_order, char jobz, lapack_int m,
+                                lapack_int n, float* a, lapack_int lda,
+                                float* s, float* u, lapack_int ldu, float* vt,
+                                lapack_int ldvt, float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgesdd_work( int matrix_order, char jobz, lapack_int m,
+                                lapack_int n, double* a, lapack_int lda,
+                                double* s, double* u, lapack_int ldu,
+                                double* vt, lapack_int ldvt, double* work,
+                                lapack_int lwork, lapack_int* iwork );
+lapack_int LAPACKE_cgesdd_work( int matrix_order, char jobz, lapack_int m,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, float* s,
+                                lapack_complex_float* u, lapack_int ldu,
+                                lapack_complex_float* vt, lapack_int ldvt,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int* iwork );
+lapack_int LAPACKE_zgesdd_work( int matrix_order, char jobz, lapack_int m,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, double* s,
+                                lapack_complex_double* u, lapack_int ldu,
+                                lapack_complex_double* vt, lapack_int ldvt,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int* iwork );
+
+lapack_int LAPACKE_sgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               float* a, lapack_int lda, lapack_int* ipiv,
+                               float* b, lapack_int ldb );
+lapack_int LAPACKE_dgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               double* a, lapack_int lda, lapack_int* ipiv,
+                               double* b, lapack_int ldb );
+lapack_int LAPACKE_cgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               lapack_complex_float* a, lapack_int lda,
+                               lapack_int* ipiv, lapack_complex_float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_zgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               lapack_complex_double* a, lapack_int lda,
+                               lapack_int* ipiv, lapack_complex_double* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_dsgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                                double* a, lapack_int lda, lapack_int* ipiv,
+                                double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* work, float* swork,
+                                lapack_int* iter );
+lapack_int LAPACKE_zcgesv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* ipiv, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* x,
+                                lapack_int ldx, lapack_complex_double* work,
+                                lapack_complex_float* swork, double* rwork,
+                                lapack_int* iter );
+
+lapack_int LAPACKE_sgesvd_work( int matrix_order, char jobu, char jobvt,
+                                lapack_int m, lapack_int n, float* a,
+                                lapack_int lda, float* s, float* u,
+                                lapack_int ldu, float* vt, lapack_int ldvt,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dgesvd_work( int matrix_order, char jobu, char jobvt,
+                                lapack_int m, lapack_int n, double* a,
+                                lapack_int lda, double* s, double* u,
+                                lapack_int ldu, double* vt, lapack_int ldvt,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_cgesvd_work( int matrix_order, char jobu, char jobvt,
+                                lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                float* s, lapack_complex_float* u,
+                                lapack_int ldu, lapack_complex_float* vt,
+                                lapack_int ldvt, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork );
+lapack_int LAPACKE_zgesvd_work( int matrix_order, char jobu, char jobvt,
+                                lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                double* s, lapack_complex_double* u,
+                                lapack_int ldu, lapack_complex_double* vt,
+                                lapack_int ldvt, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork );
+
+lapack_int LAPACKE_sgesvj_work( int matrix_order, char joba, char jobu,
+                                char jobv, lapack_int m, lapack_int n, float* a,
+                                lapack_int lda, float* sva, lapack_int mv,
+                                float* v, lapack_int ldv, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dgesvj_work( int matrix_order, char joba, char jobu,
+                                char jobv, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* sva,
+                                lapack_int mv, double* v, lapack_int ldv,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgesvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs, float* a,
+                                lapack_int lda, float* af, lapack_int ldaf,
+                                lapack_int* ipiv, char* equed, float* r,
+                                float* c, float* b, lapack_int ldb, float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dgesvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs, double* a,
+                                lapack_int lda, double* af, lapack_int ldaf,
+                                lapack_int* ipiv, char* equed, double* r,
+                                double* c, double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* rcond, double* ferr,
+                                double* berr, double* work, lapack_int* iwork );
+lapack_int LAPACKE_cgesvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* af, lapack_int ldaf,
+                                lapack_int* ipiv, char* equed, float* r,
+                                float* c, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zgesvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* af, lapack_int ldaf,
+                                lapack_int* ipiv, char* equed, double* r,
+                                double* c, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* x,
+                                lapack_int ldx, double* rcond, double* ferr,
+                                double* berr, lapack_complex_double* work,
+                                double* rwork );
+
+lapack_int LAPACKE_sgesvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int nrhs, float* a,
+                                 lapack_int lda, float* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, float* r,
+                                 float* c, float* b, lapack_int ldb, float* x,
+                                 lapack_int ldx, float* rcond, float* rpvgrw,
+                                 float* berr, lapack_int n_err_bnds,
+                                 float* err_bnds_norm, float* err_bnds_comp,
+                                 lapack_int nparams, float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dgesvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int nrhs, double* a,
+                                 lapack_int lda, double* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, double* r,
+                                 double* c, double* b, lapack_int ldb,
+                                 double* x, lapack_int ldx, double* rcond,
+                                 double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_cgesvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, float* r,
+                                 float* c, lapack_complex_float* b,
+                                 lapack_int ldb, lapack_complex_float* x,
+                                 lapack_int ldx, float* rcond, float* rpvgrw,
+                                 float* berr, lapack_int n_err_bnds,
+                                 float* err_bnds_norm, float* err_bnds_comp,
+                                 lapack_int nparams, float* params,
+                                 lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgesvxx_work( int matrix_order, char fact, char trans,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, double* r,
+                                 double* c, lapack_complex_double* b,
+                                 lapack_int ldb, lapack_complex_double* x,
+                                 lapack_int ldx, double* rcond, double* rpvgrw,
+                                 double* berr, lapack_int n_err_bnds,
+                                 double* err_bnds_norm, double* err_bnds_comp,
+                                 lapack_int nparams, double* params,
+                                 lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgetf2_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_dgetf2_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_cgetf2_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* ipiv );
+lapack_int LAPACKE_zgetf2_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* ipiv );
+
+lapack_int LAPACKE_sgetrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_dgetrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* ipiv );
+lapack_int LAPACKE_cgetrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* ipiv );
+lapack_int LAPACKE_zgetrf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* ipiv );
+
+lapack_int LAPACKE_sgetri_work( int matrix_order, lapack_int n, float* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dgetri_work( int matrix_order, lapack_int n, double* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_cgetri_work( int matrix_order, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                const lapack_int* ipiv,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgetri_work( int matrix_order, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgetrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const float* a, lapack_int lda,
+                                const lapack_int* ipiv, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dgetrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const double* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                double* b, lapack_int ldb );
+lapack_int LAPACKE_cgetrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zgetrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sggbak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const float* lscale, const float* rscale,
+                                lapack_int m, float* v, lapack_int ldv );
+lapack_int LAPACKE_dggbak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const double* lscale, const double* rscale,
+                                lapack_int m, double* v, lapack_int ldv );
+lapack_int LAPACKE_cggbak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const float* lscale, const float* rscale,
+                                lapack_int m, lapack_complex_float* v,
+                                lapack_int ldv );
+lapack_int LAPACKE_zggbak_work( int matrix_order, char job, char side,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                const double* lscale, const double* rscale,
+                                lapack_int m, lapack_complex_double* v,
+                                lapack_int ldv );
+
+lapack_int LAPACKE_sggbal_work( int matrix_order, char job, lapack_int n,
+                                float* a, lapack_int lda, float* b,
+                                lapack_int ldb, lapack_int* ilo,
+                                lapack_int* ihi, float* lscale, float* rscale,
+                                float* work );
+lapack_int LAPACKE_dggbal_work( int matrix_order, char job, lapack_int n,
+                                double* a, lapack_int lda, double* b,
+                                lapack_int ldb, lapack_int* ilo,
+                                lapack_int* ihi, double* lscale, double* rscale,
+                                double* work );
+lapack_int LAPACKE_cggbal_work( int matrix_order, char job, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_int* ilo, lapack_int* ihi, float* lscale,
+                                float* rscale, float* work );
+lapack_int LAPACKE_zggbal_work( int matrix_order, char job, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_int* ilo, lapack_int* ihi,
+                                double* lscale, double* rscale, double* work );
+
+lapack_int LAPACKE_sgges_work( int matrix_order, char jobvsl, char jobvsr,
+                               char sort, LAPACK_S_SELECT3 selctg, lapack_int n,
+                               float* a, lapack_int lda, float* b,
+                               lapack_int ldb, lapack_int* sdim, float* alphar,
+                               float* alphai, float* beta, float* vsl,
+                               lapack_int ldvsl, float* vsr, lapack_int ldvsr,
+                               float* work, lapack_int lwork,
+                               lapack_logical* bwork );
+lapack_int LAPACKE_dgges_work( int matrix_order, char jobvsl, char jobvsr,
+                               char sort, LAPACK_D_SELECT3 selctg, lapack_int n,
+                               double* a, lapack_int lda, double* b,
+                               lapack_int ldb, lapack_int* sdim, double* alphar,
+                               double* alphai, double* beta, double* vsl,
+                               lapack_int ldvsl, double* vsr, lapack_int ldvsr,
+                               double* work, lapack_int lwork,
+                               lapack_logical* bwork );
+lapack_int LAPACKE_cgges_work( int matrix_order, char jobvsl, char jobvsr,
+                               char sort, LAPACK_C_SELECT2 selctg, lapack_int n,
+                               lapack_complex_float* a, lapack_int lda,
+                               lapack_complex_float* b, lapack_int ldb,
+                               lapack_int* sdim, lapack_complex_float* alpha,
+                               lapack_complex_float* beta,
+                               lapack_complex_float* vsl, lapack_int ldvsl,
+                               lapack_complex_float* vsr, lapack_int ldvsr,
+                               lapack_complex_float* work, lapack_int lwork,
+                               float* rwork, lapack_logical* bwork );
+lapack_int LAPACKE_zgges_work( int matrix_order, char jobvsl, char jobvsr,
+                               char sort, LAPACK_Z_SELECT2 selctg, lapack_int n,
+                               lapack_complex_double* a, lapack_int lda,
+                               lapack_complex_double* b, lapack_int ldb,
+                               lapack_int* sdim, lapack_complex_double* alpha,
+                               lapack_complex_double* beta,
+                               lapack_complex_double* vsl, lapack_int ldvsl,
+                               lapack_complex_double* vsr, lapack_int ldvsr,
+                               lapack_complex_double* work, lapack_int lwork,
+                               double* rwork, lapack_logical* bwork );
+
+lapack_int LAPACKE_sggesx_work( int matrix_order, char jobvsl, char jobvsr,
+                                char sort, LAPACK_S_SELECT3 selctg, char sense,
+                                lapack_int n, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, lapack_int* sdim,
+                                float* alphar, float* alphai, float* beta,
+                                float* vsl, lapack_int ldvsl, float* vsr,
+                                lapack_int ldvsr, float* rconde, float* rcondv,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork,
+                                lapack_logical* bwork );
+lapack_int LAPACKE_dggesx_work( int matrix_order, char jobvsl, char jobvsr,
+                                char sort, LAPACK_D_SELECT3 selctg, char sense,
+                                lapack_int n, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, lapack_int* sdim,
+                                double* alphar, double* alphai, double* beta,
+                                double* vsl, lapack_int ldvsl, double* vsr,
+                                lapack_int ldvsr, double* rconde,
+                                double* rcondv, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork,
+                                lapack_logical* bwork );
+lapack_int LAPACKE_cggesx_work( int matrix_order, char jobvsl, char jobvsr,
+                                char sort, LAPACK_C_SELECT2 selctg, char sense,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, lapack_int* sdim,
+                                lapack_complex_float* alpha,
+                                lapack_complex_float* beta,
+                                lapack_complex_float* vsl, lapack_int ldvsl,
+                                lapack_complex_float* vsr, lapack_int ldvsr,
+                                float* rconde, float* rcondv,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int* iwork,
+                                lapack_int liwork, lapack_logical* bwork );
+lapack_int LAPACKE_zggesx_work( int matrix_order, char jobvsl, char jobvsr,
+                                char sort, LAPACK_Z_SELECT2 selctg, char sense,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, lapack_int* sdim,
+                                lapack_complex_double* alpha,
+                                lapack_complex_double* beta,
+                                lapack_complex_double* vsl, lapack_int ldvsl,
+                                lapack_complex_double* vsr, lapack_int ldvsr,
+                                double* rconde, double* rcondv,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int* iwork,
+                                lapack_int liwork, lapack_logical* bwork );
+
+lapack_int LAPACKE_sggev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, float* a, lapack_int lda, float* b,
+                               lapack_int ldb, float* alphar, float* alphai,
+                               float* beta, float* vl, lapack_int ldvl,
+                               float* vr, lapack_int ldvr, float* work,
+                               lapack_int lwork );
+lapack_int LAPACKE_dggev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, double* a, lapack_int lda,
+                               double* b, lapack_int ldb, double* alphar,
+                               double* alphai, double* beta, double* vl,
+                               lapack_int ldvl, double* vr, lapack_int ldvr,
+                               double* work, lapack_int lwork );
+lapack_int LAPACKE_cggev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, lapack_complex_float* a,
+                               lapack_int lda, lapack_complex_float* b,
+                               lapack_int ldb, lapack_complex_float* alpha,
+                               lapack_complex_float* beta,
+                               lapack_complex_float* vl, lapack_int ldvl,
+                               lapack_complex_float* vr, lapack_int ldvr,
+                               lapack_complex_float* work, lapack_int lwork,
+                               float* rwork );
+lapack_int LAPACKE_zggev_work( int matrix_order, char jobvl, char jobvr,
+                               lapack_int n, lapack_complex_double* a,
+                               lapack_int lda, lapack_complex_double* b,
+                               lapack_int ldb, lapack_complex_double* alpha,
+                               lapack_complex_double* beta,
+                               lapack_complex_double* vl, lapack_int ldvl,
+                               lapack_complex_double* vr, lapack_int ldvr,
+                               lapack_complex_double* work, lapack_int lwork,
+                               double* rwork );
+
+lapack_int LAPACKE_sggevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n, float* a,
+                                lapack_int lda, float* b, lapack_int ldb,
+                                float* alphar, float* alphai, float* beta,
+                                float* vl, lapack_int ldvl, float* vr,
+                                lapack_int ldvr, lapack_int* ilo,
+                                lapack_int* ihi, float* lscale, float* rscale,
+                                float* abnrm, float* bbnrm, float* rconde,
+                                float* rcondv, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_logical* bwork );
+lapack_int LAPACKE_dggevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n, double* a,
+                                lapack_int lda, double* b, lapack_int ldb,
+                                double* alphar, double* alphai, double* beta,
+                                double* vl, lapack_int ldvl, double* vr,
+                                lapack_int ldvr, lapack_int* ilo,
+                                lapack_int* ihi, double* lscale, double* rscale,
+                                double* abnrm, double* bbnrm, double* rconde,
+                                double* rcondv, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_logical* bwork );
+lapack_int LAPACKE_cggevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* alpha,
+                                lapack_complex_float* beta,
+                                lapack_complex_float* vl, lapack_int ldvl,
+                                lapack_complex_float* vr, lapack_int ldvr,
+                                lapack_int* ilo, lapack_int* ihi, float* lscale,
+                                float* rscale, float* abnrm, float* bbnrm,
+                                float* rconde, float* rcondv,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int* iwork,
+                                lapack_logical* bwork );
+lapack_int LAPACKE_zggevx_work( int matrix_order, char balanc, char jobvl,
+                                char jobvr, char sense, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* alpha,
+                                lapack_complex_double* beta,
+                                lapack_complex_double* vl, lapack_int ldvl,
+                                lapack_complex_double* vr, lapack_int ldvr,
+                                lapack_int* ilo, lapack_int* ihi,
+                                double* lscale, double* rscale, double* abnrm,
+                                double* bbnrm, double* rconde, double* rcondv,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int* iwork,
+                                lapack_logical* bwork );
+
+lapack_int LAPACKE_sggglm_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, float* d, float* x,
+                                float* y, float* work, lapack_int lwork );
+lapack_int LAPACKE_dggglm_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, double* d, double* x,
+                                double* y, double* work, lapack_int lwork );
+lapack_int LAPACKE_cggglm_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* d,
+                                lapack_complex_float* x,
+                                lapack_complex_float* y,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zggglm_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* d,
+                                lapack_complex_double* x,
+                                lapack_complex_double* y,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sgghrd_work( int matrix_order, char compq, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                float* a, lapack_int lda, float* b,
+                                lapack_int ldb, float* q, lapack_int ldq,
+                                float* z, lapack_int ldz );
+lapack_int LAPACKE_dgghrd_work( int matrix_order, char compq, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                double* a, lapack_int lda, double* b,
+                                lapack_int ldb, double* q, lapack_int ldq,
+                                double* z, lapack_int ldz );
+lapack_int LAPACKE_cgghrd_work( int matrix_order, char compq, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* z, lapack_int ldz );
+lapack_int LAPACKE_zgghrd_work( int matrix_order, char compq, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* z, lapack_int ldz );
+
+lapack_int LAPACKE_sgglse_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int p, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, float* c, float* d,
+                                float* x, float* work, lapack_int lwork );
+lapack_int LAPACKE_dgglse_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int p, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, double* c, double* d,
+                                double* x, double* work, lapack_int lwork );
+lapack_int LAPACKE_cgglse_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int p, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* c,
+                                lapack_complex_float* d,
+                                lapack_complex_float* x,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zgglse_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int p, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* c,
+                                lapack_complex_double* d,
+                                lapack_complex_double* x,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sggqrf_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, float* a, lapack_int lda,
+                                float* taua, float* b, lapack_int ldb,
+                                float* taub, float* work, lapack_int lwork );
+lapack_int LAPACKE_dggqrf_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, double* a, lapack_int lda,
+                                double* taua, double* b, lapack_int ldb,
+                                double* taub, double* work, lapack_int lwork );
+lapack_int LAPACKE_cggqrf_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* taua,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* taub,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zggqrf_work( int matrix_order, lapack_int n, lapack_int m,
+                                lapack_int p, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* taua,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* taub,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sggrqf_work( int matrix_order, lapack_int m, lapack_int p,
+                                lapack_int n, float* a, lapack_int lda,
+                                float* taua, float* b, lapack_int ldb,
+                                float* taub, float* work, lapack_int lwork );
+lapack_int LAPACKE_dggrqf_work( int matrix_order, lapack_int m, lapack_int p,
+                                lapack_int n, double* a, lapack_int lda,
+                                double* taua, double* b, lapack_int ldb,
+                                double* taub, double* work, lapack_int lwork );
+lapack_int LAPACKE_cggrqf_work( int matrix_order, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* taua,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* taub,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zggrqf_work( int matrix_order, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* taua,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* taub,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sggsvd_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int n,
+                                lapack_int p, lapack_int* k, lapack_int* l,
+                                float* a, lapack_int lda, float* b,
+                                lapack_int ldb, float* alpha, float* beta,
+                                float* u, lapack_int ldu, float* v,
+                                lapack_int ldv, float* q, lapack_int ldq,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dggsvd_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int n,
+                                lapack_int p, lapack_int* k, lapack_int* l,
+                                double* a, lapack_int lda, double* b,
+                                lapack_int ldb, double* alpha, double* beta,
+                                double* u, lapack_int ldu, double* v,
+                                lapack_int ldv, double* q, lapack_int ldq,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cggsvd_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int n,
+                                lapack_int p, lapack_int* k, lapack_int* l,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                float* alpha, float* beta,
+                                lapack_complex_float* u, lapack_int ldu,
+                                lapack_complex_float* v, lapack_int ldv,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* work, float* rwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_zggsvd_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int n,
+                                lapack_int p, lapack_int* k, lapack_int* l,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                double* alpha, double* beta,
+                                lapack_complex_double* u, lapack_int ldu,
+                                lapack_complex_double* v, lapack_int ldv,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* work, double* rwork,
+                                lapack_int* iwork );
+
+lapack_int LAPACKE_sggsvp_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, float tola,
+                                float tolb, lapack_int* k, lapack_int* l,
+                                float* u, lapack_int ldu, float* v,
+                                lapack_int ldv, float* q, lapack_int ldq,
+                                lapack_int* iwork, float* tau, float* work );
+lapack_int LAPACKE_dggsvp_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, double tola,
+                                double tolb, lapack_int* k, lapack_int* l,
+                                double* u, lapack_int ldu, double* v,
+                                lapack_int ldv, double* q, lapack_int ldq,
+                                lapack_int* iwork, double* tau, double* work );
+lapack_int LAPACKE_cggsvp_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb, float tola, float tolb,
+                                lapack_int* k, lapack_int* l,
+                                lapack_complex_float* u, lapack_int ldu,
+                                lapack_complex_float* v, lapack_int ldv,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_int* iwork, float* rwork,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zggsvp_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, double tola, double tolb,
+                                lapack_int* k, lapack_int* l,
+                                lapack_complex_double* u, lapack_int ldu,
+                                lapack_complex_double* v, lapack_int ldv,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_int* iwork, double* rwork,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_sgtcon_work( char norm, lapack_int n, const float* dl,
+                                const float* d, const float* du,
+                                const float* du2, const lapack_int* ipiv,
+                                float anorm, float* rcond, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgtcon_work( char norm, lapack_int n, const double* dl,
+                                const double* d, const double* du,
+                                const double* du2, const lapack_int* ipiv,
+                                double anorm, double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cgtcon_work( char norm, lapack_int n,
+                                const lapack_complex_float* dl,
+                                const lapack_complex_float* d,
+                                const lapack_complex_float* du,
+                                const lapack_complex_float* du2,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, lapack_complex_float* work );
+lapack_int LAPACKE_zgtcon_work( char norm, lapack_int n,
+                                const lapack_complex_double* dl,
+                                const lapack_complex_double* d,
+                                const lapack_complex_double* du,
+                                const lapack_complex_double* du2,
+                                const lapack_int* ipiv, double anorm,
+                                double* rcond, lapack_complex_double* work );
+
+lapack_int LAPACKE_sgtrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const float* dl,
+                                const float* d, const float* du,
+                                const float* dlf, const float* df,
+                                const float* duf, const float* du2,
+                                const lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dgtrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const double* dl,
+                                const double* d, const double* du,
+                                const double* dlf, const double* df,
+                                const double* duf, const double* du2,
+                                const lapack_int* ipiv, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* ferr, double* berr, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cgtrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* dl,
+                                const lapack_complex_float* d,
+                                const lapack_complex_float* du,
+                                const lapack_complex_float* dlf,
+                                const lapack_complex_float* df,
+                                const lapack_complex_float* duf,
+                                const lapack_complex_float* du2,
+                                const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgtrfs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* dl,
+                                const lapack_complex_double* d,
+                                const lapack_complex_double* du,
+                                const lapack_complex_double* dlf,
+                                const lapack_complex_double* df,
+                                const lapack_complex_double* duf,
+                                const lapack_complex_double* du2,
+                                const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgtsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               float* dl, float* d, float* du, float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_dgtsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               double* dl, double* d, double* du, double* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_cgtsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               lapack_complex_float* dl,
+                               lapack_complex_float* d,
+                               lapack_complex_float* du,
+                               lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zgtsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               lapack_complex_double* dl,
+                               lapack_complex_double* d,
+                               lapack_complex_double* du,
+                               lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sgtsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs, const float* dl,
+                                const float* d, const float* du, float* dlf,
+                                float* df, float* duf, float* du2,
+                                lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dgtsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs, const double* dl,
+                                const double* d, const double* du, double* dlf,
+                                double* df, double* duf, double* du2,
+                                lapack_int* ipiv, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cgtsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* dl,
+                                const lapack_complex_float* d,
+                                const lapack_complex_float* du,
+                                lapack_complex_float* dlf,
+                                lapack_complex_float* df,
+                                lapack_complex_float* duf,
+                                lapack_complex_float* du2, lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zgtsvx_work( int matrix_order, char fact, char trans,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* dl,
+                                const lapack_complex_double* d,
+                                const lapack_complex_double* du,
+                                lapack_complex_double* dlf,
+                                lapack_complex_double* df,
+                                lapack_complex_double* duf,
+                                lapack_complex_double* du2, lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sgttrf_work( lapack_int n, float* dl, float* d, float* du,
+                                float* du2, lapack_int* ipiv );
+lapack_int LAPACKE_dgttrf_work( lapack_int n, double* dl, double* d, double* du,
+                                double* du2, lapack_int* ipiv );
+lapack_int LAPACKE_cgttrf_work( lapack_int n, lapack_complex_float* dl,
+                                lapack_complex_float* d,
+                                lapack_complex_float* du,
+                                lapack_complex_float* du2, lapack_int* ipiv );
+lapack_int LAPACKE_zgttrf_work( lapack_int n, lapack_complex_double* dl,
+                                lapack_complex_double* d,
+                                lapack_complex_double* du,
+                                lapack_complex_double* du2, lapack_int* ipiv );
+
+lapack_int LAPACKE_sgttrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const float* dl,
+                                const float* d, const float* du,
+                                const float* du2, const lapack_int* ipiv,
+                                float* b, lapack_int ldb );
+lapack_int LAPACKE_dgttrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const double* dl,
+                                const double* d, const double* du,
+                                const double* du2, const lapack_int* ipiv,
+                                double* b, lapack_int ldb );
+lapack_int LAPACKE_cgttrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* dl,
+                                const lapack_complex_float* d,
+                                const lapack_complex_float* du,
+                                const lapack_complex_float* du2,
+                                const lapack_int* ipiv, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zgttrs_work( int matrix_order, char trans, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* dl,
+                                const lapack_complex_double* d,
+                                const lapack_complex_double* du,
+                                const lapack_complex_double* du2,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_chbev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int kd,
+                               lapack_complex_float* ab, lapack_int ldab,
+                               float* w, lapack_complex_float* z,
+                               lapack_int ldz, lapack_complex_float* work,
+                               float* rwork );
+lapack_int LAPACKE_zhbev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int kd,
+                               lapack_complex_double* ab, lapack_int ldab,
+                               double* w, lapack_complex_double* z,
+                               lapack_int ldz, lapack_complex_double* work,
+                               double* rwork );
+
+lapack_int LAPACKE_chbevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int kd,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zhbevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int kd,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_chbevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int kd,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                lapack_complex_float* q, lapack_int ldq,
+                                float vl, float vu, lapack_int il,
+                                lapack_int iu, float abstol, lapack_int* m,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                float* rwork, lapack_int* iwork,
+                                lapack_int* ifail );
+lapack_int LAPACKE_zhbevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int kd,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                lapack_complex_double* q, lapack_int ldq,
+                                double vl, double vu, lapack_int il,
+                                lapack_int iu, double abstol, lapack_int* m,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                double* rwork, lapack_int* iwork,
+                                lapack_int* ifail );
+
+lapack_int LAPACKE_chbgst_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                const lapack_complex_float* bb, lapack_int ldbb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zhbgst_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                const lapack_complex_double* bb,
+                                lapack_int ldbb, lapack_complex_double* x,
+                                lapack_int ldx, lapack_complex_double* work,
+                                double* rwork );
+
+lapack_int LAPACKE_chbgv_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int ka, lapack_int kb,
+                               lapack_complex_float* ab, lapack_int ldab,
+                               lapack_complex_float* bb, lapack_int ldbb,
+                               float* w, lapack_complex_float* z,
+                               lapack_int ldz, lapack_complex_float* work,
+                               float* rwork );
+lapack_int LAPACKE_zhbgv_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int ka, lapack_int kb,
+                               lapack_complex_double* ab, lapack_int ldab,
+                               lapack_complex_double* bb, lapack_int ldbb,
+                               double* w, lapack_complex_double* z,
+                               lapack_int ldz, lapack_complex_double* work,
+                               double* rwork );
+
+lapack_int LAPACKE_chbgvd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                lapack_complex_float* bb, lapack_int ldbb,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zhbgvd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                lapack_complex_double* bb, lapack_int ldbb,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_chbgvx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int ka,
+                                lapack_int kb, lapack_complex_float* ab,
+                                lapack_int ldab, lapack_complex_float* bb,
+                                lapack_int ldbb, lapack_complex_float* q,
+                                lapack_int ldq, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_complex_float* work, float* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_zhbgvx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int ka,
+                                lapack_int kb, lapack_complex_double* ab,
+                                lapack_int ldab, lapack_complex_double* bb,
+                                lapack_int ldbb, lapack_complex_double* q,
+                                lapack_int ldq, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_complex_double* work, double* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_chbtrd_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int kd,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                float* d, float* e, lapack_complex_float* q,
+                                lapack_int ldq, lapack_complex_float* work );
+lapack_int LAPACKE_zhbtrd_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int kd,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                double* d, double* e, lapack_complex_double* q,
+                                lapack_int ldq, lapack_complex_double* work );
+
+lapack_int LAPACKE_checon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, lapack_complex_float* work );
+lapack_int LAPACKE_zhecon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_int* ipiv, double anorm,
+                                double* rcond, lapack_complex_double* work );
+
+lapack_int LAPACKE_cheequb_work( int matrix_order, char uplo, lapack_int n,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 float* s, float* scond, float* amax,
+                                 lapack_complex_float* work );
+lapack_int LAPACKE_zheequb_work( int matrix_order, char uplo, lapack_int n,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 double* s, double* scond, double* amax,
+                                 lapack_complex_double* work );
+
+lapack_int LAPACKE_cheev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_complex_float* a,
+                               lapack_int lda, float* w,
+                               lapack_complex_float* work, lapack_int lwork,
+                               float* rwork );
+lapack_int LAPACKE_zheev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_complex_double* a,
+                               lapack_int lda, double* w,
+                               lapack_complex_double* work, lapack_int lwork,
+                               double* rwork );
+
+lapack_int LAPACKE_cheevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, float* w,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int lrwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_zheevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, double* w,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int lrwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_cheevr_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                float vl, float vu, lapack_int il,
+                                lapack_int iu, float abstol, lapack_int* m,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_int* isuppz,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int lrwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_zheevr_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                double vl, double vu, lapack_int il,
+                                lapack_int iu, double abstol, lapack_int* m,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_int* isuppz,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int lrwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_cheevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                float vl, float vu, lapack_int il,
+                                lapack_int iu, float abstol, lapack_int* m,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_zheevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                double vl, double vu, lapack_int il,
+                                lapack_int iu, double abstol, lapack_int* m,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_chegst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zhegst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda, const lapack_complex_double* b,
+                                lapack_int ldb );
+
+lapack_int LAPACKE_chegv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n, lapack_complex_float* a,
+                               lapack_int lda, lapack_complex_float* b,
+                               lapack_int ldb, float* w,
+                               lapack_complex_float* work, lapack_int lwork,
+                               float* rwork );
+lapack_int LAPACKE_zhegv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n,
+                               lapack_complex_double* a, lapack_int lda,
+                               lapack_complex_double* b, lapack_int ldb,
+                               double* w, lapack_complex_double* work,
+                               lapack_int lwork, double* rwork );
+
+lapack_int LAPACKE_chegvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                float* w, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zhegvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                double* w, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_chegvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                float vl, float vu, lapack_int il,
+                                lapack_int iu, float abstol, lapack_int* m,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_zhegvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                double vl, double vu, lapack_int il,
+                                lapack_int iu, double abstol, lapack_int* m,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_cherfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zherfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_complex_double* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_cherfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 const lapack_complex_float* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const float* s, const lapack_complex_float* b,
+                                 lapack_int ldb, lapack_complex_float* x,
+                                 lapack_int ldx, float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zherfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 const lapack_complex_double* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const double* s,
+                                 const lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_chesv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_float* a,
+                               lapack_int lda, lapack_int* ipiv,
+                               lapack_complex_float* b, lapack_int ldb,
+                               lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zhesv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_double* a,
+                               lapack_int lda, lapack_int* ipiv,
+                               lapack_complex_double* b, lapack_int ldb,
+                               lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_chesvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* af, lapack_int ldaf,
+                                lapack_int* ipiv, const lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork );
+lapack_int LAPACKE_zhesvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* af, lapack_int ldaf,
+                                lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork );
+
+lapack_int LAPACKE_chesvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, float* s,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* x, lapack_int ldx,
+                                 float* rcond, float* rpvgrw, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zhesvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, double* s,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_chetrd_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                float* d, float* e, lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zhetrd_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                double* d, double* e,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_chetrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* ipiv, lapack_complex_float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_zhetrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* ipiv, lapack_complex_double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_chetri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                const lapack_int* ipiv,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zhetri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_chetrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zhetrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_chfrk_work( int matrix_order, char transr, char uplo,
+                               char trans, lapack_int n, lapack_int k,
+                               float alpha, const lapack_complex_float* a,
+                               lapack_int lda, float beta,
+                               lapack_complex_float* c );
+lapack_int LAPACKE_zhfrk_work( int matrix_order, char transr, char uplo,
+                               char trans, lapack_int n, lapack_int k,
+                               double alpha, const lapack_complex_double* a,
+                               lapack_int lda, double beta,
+                               lapack_complex_double* c );
+
+lapack_int LAPACKE_shgeqz_work( int matrix_order, char job, char compq,
+                                char compz, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, float* h, lapack_int ldh,
+                                float* t, lapack_int ldt, float* alphar,
+                                float* alphai, float* beta, float* q,
+                                lapack_int ldq, float* z, lapack_int ldz,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dhgeqz_work( int matrix_order, char job, char compq,
+                                char compz, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, double* h, lapack_int ldh,
+                                double* t, lapack_int ldt, double* alphar,
+                                double* alphai, double* beta, double* q,
+                                lapack_int ldq, double* z, lapack_int ldz,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_chgeqz_work( int matrix_order, char job, char compq,
+                                char compz, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, lapack_complex_float* h,
+                                lapack_int ldh, lapack_complex_float* t,
+                                lapack_int ldt, lapack_complex_float* alpha,
+                                lapack_complex_float* beta,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork );
+lapack_int LAPACKE_zhgeqz_work( int matrix_order, char job, char compq,
+                                char compz, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, lapack_complex_double* h,
+                                lapack_int ldh, lapack_complex_double* t,
+                                lapack_int ldt, lapack_complex_double* alpha,
+                                lapack_complex_double* beta,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork );
+
+lapack_int LAPACKE_chpcon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* ap,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, lapack_complex_float* work );
+lapack_int LAPACKE_zhpcon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* ap,
+                                const lapack_int* ipiv, double anorm,
+                                double* rcond, lapack_complex_double* work );
+
+lapack_int LAPACKE_chpev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_complex_float* ap, float* w,
+                               lapack_complex_float* z, lapack_int ldz,
+                               lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zhpev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_complex_double* ap,
+                               double* w, lapack_complex_double* z,
+                               lapack_int ldz, lapack_complex_double* work,
+                               double* rwork );
+
+lapack_int LAPACKE_chpevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_complex_float* ap,
+                                float* w, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zhpevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_complex_double* ap,
+                                double* w, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_chpevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n,
+                                lapack_complex_float* ap, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_complex_float* work, float* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_zhpevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n,
+                                lapack_complex_double* ap, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_complex_double* work, double* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_chpgst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, lapack_complex_float* ap,
+                                const lapack_complex_float* bp );
+lapack_int LAPACKE_zhpgst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, lapack_complex_double* ap,
+                                const lapack_complex_double* bp );
+
+lapack_int LAPACKE_chpgv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n,
+                               lapack_complex_float* ap,
+                               lapack_complex_float* bp, float* w,
+                               lapack_complex_float* z, lapack_int ldz,
+                               lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zhpgv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n,
+                               lapack_complex_double* ap,
+                               lapack_complex_double* bp, double* w,
+                               lapack_complex_double* z, lapack_int ldz,
+                               lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_chpgvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n,
+                                lapack_complex_float* ap,
+                                lapack_complex_float* bp, float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int lrwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_zhpgvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n,
+                                lapack_complex_double* ap,
+                                lapack_complex_double* bp, double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int lrwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_chpgvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n,
+                                lapack_complex_float* ap,
+                                lapack_complex_float* bp, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_complex_float* work, float* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_zhpgvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n,
+                                lapack_complex_double* ap,
+                                lapack_complex_double* bp, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_complex_double* work, double* rwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_chprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* ap,
+                                const lapack_complex_float* afp,
+                                const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zhprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                const lapack_complex_double* afp,
+                                const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_chpsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_float* ap,
+                               lapack_int* ipiv, lapack_complex_float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_zhpsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_double* ap,
+                               lapack_int* ipiv, lapack_complex_double* b,
+                               lapack_int ldb );
+
+lapack_int LAPACKE_chpsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* ap,
+                                lapack_complex_float* afp, lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zhpsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                lapack_complex_double* afp, lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_chptrd_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap, float* d, float* e,
+                                lapack_complex_float* tau );
+lapack_int LAPACKE_zhptrd_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap, double* d, double* e,
+                                lapack_complex_double* tau );
+
+lapack_int LAPACKE_chptrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap, lapack_int* ipiv );
+lapack_int LAPACKE_zhptrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap, lapack_int* ipiv );
+
+lapack_int LAPACKE_chptri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap,
+                                const lapack_int* ipiv,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zhptri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_chptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* ap,
+                                const lapack_int* ipiv, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zhptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_shsein_work( int matrix_order, char job, char eigsrc,
+                                char initv, lapack_logical* select,
+                                lapack_int n, const float* h, lapack_int ldh,
+                                float* wr, const float* wi, float* vl,
+                                lapack_int ldvl, float* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m, float* work,
+                                lapack_int* ifaill, lapack_int* ifailr );
+lapack_int LAPACKE_dhsein_work( int matrix_order, char job, char eigsrc,
+                                char initv, lapack_logical* select,
+                                lapack_int n, const double* h, lapack_int ldh,
+                                double* wr, const double* wi, double* vl,
+                                lapack_int ldvl, double* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m, double* work,
+                                lapack_int* ifaill, lapack_int* ifailr );
+lapack_int LAPACKE_chsein_work( int matrix_order, char job, char eigsrc,
+                                char initv, const lapack_logical* select,
+                                lapack_int n, const lapack_complex_float* h,
+                                lapack_int ldh, lapack_complex_float* w,
+                                lapack_complex_float* vl, lapack_int ldvl,
+                                lapack_complex_float* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_float* work, float* rwork,
+                                lapack_int* ifaill, lapack_int* ifailr );
+lapack_int LAPACKE_zhsein_work( int matrix_order, char job, char eigsrc,
+                                char initv, const lapack_logical* select,
+                                lapack_int n, const lapack_complex_double* h,
+                                lapack_int ldh, lapack_complex_double* w,
+                                lapack_complex_double* vl, lapack_int ldvl,
+                                lapack_complex_double* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_double* work, double* rwork,
+                                lapack_int* ifaill, lapack_int* ifailr );
+
+lapack_int LAPACKE_shseqr_work( int matrix_order, char job, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                float* h, lapack_int ldh, float* wr, float* wi,
+                                float* z, lapack_int ldz, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dhseqr_work( int matrix_order, char job, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                double* h, lapack_int ldh, double* wr,
+                                double* wi, double* z, lapack_int ldz,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_chseqr_work( int matrix_order, char job, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                lapack_complex_float* h, lapack_int ldh,
+                                lapack_complex_float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zhseqr_work( int matrix_order, char job, char compz,
+                                lapack_int n, lapack_int ilo, lapack_int ihi,
+                                lapack_complex_double* h, lapack_int ldh,
+                                lapack_complex_double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_clacgv_work( lapack_int n, lapack_complex_float* x,
+                                lapack_int incx );
+lapack_int LAPACKE_zlacgv_work( lapack_int n, lapack_complex_double* x,
+                                lapack_int incx );
+
+lapack_int LAPACKE_slacpy_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, const float* a, lapack_int lda,
+                                float* b, lapack_int ldb );
+lapack_int LAPACKE_dlacpy_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, const double* a, lapack_int lda,
+                                double* b, lapack_int ldb );
+lapack_int LAPACKE_clacpy_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, const lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zlacpy_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, const lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb );
+
+lapack_int LAPACKE_zlag2c_work( int matrix_order, lapack_int m, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_float* sa, lapack_int ldsa );
+
+lapack_int LAPACKE_slag2d_work( int matrix_order, lapack_int m, lapack_int n,
+                                const float* sa, lapack_int ldsa, double* a,
+                                lapack_int lda );
+
+lapack_int LAPACKE_dlag2s_work( int matrix_order, lapack_int m, lapack_int n,
+                                const double* a, lapack_int lda, float* sa,
+                                lapack_int ldsa );
+
+lapack_int LAPACKE_clag2z_work( int matrix_order, lapack_int m, lapack_int n,
+                                const lapack_complex_float* sa, lapack_int ldsa,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_slagge_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, const float* d,
+                                float* a, lapack_int lda, lapack_int* iseed,
+                                float* work );
+lapack_int LAPACKE_dlagge_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, const double* d,
+                                double* a, lapack_int lda, lapack_int* iseed,
+                                double* work );
+lapack_int LAPACKE_clagge_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, const float* d,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* iseed, lapack_complex_float* work );
+lapack_int LAPACKE_zlagge_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int kl, lapack_int ku, const double* d,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* iseed,
+                                lapack_complex_double* work );
+                                
+lapack_int LAPACKE_claghe_work( int matrix_order, lapack_int n, lapack_int k,
+                                const float* d, lapack_complex_float* a,
+                                lapack_int lda, lapack_int* iseed,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zlaghe_work( int matrix_order, lapack_int n, lapack_int k,
+                                const double* d, lapack_complex_double* a,
+                                lapack_int lda, lapack_int* iseed,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_slagsy_work( int matrix_order, lapack_int n, lapack_int k,
+                                const float* d, float* a, lapack_int lda,
+                                lapack_int* iseed, float* work );
+lapack_int LAPACKE_dlagsy_work( int matrix_order, lapack_int n, lapack_int k,
+                                const double* d, double* a, lapack_int lda,
+                                lapack_int* iseed, double* work );
+lapack_int LAPACKE_clagsy_work( int matrix_order, lapack_int n, lapack_int k,
+                                const float* d, lapack_complex_float* a,
+                                lapack_int lda, lapack_int* iseed,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zlagsy_work( int matrix_order, lapack_int n, lapack_int k,
+                                const double* d, lapack_complex_double* a,
+                                lapack_int lda, lapack_int* iseed,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_slapmr_work( int matrix_order, lapack_logical forwrd,
+                                lapack_int m, lapack_int n, float* x,
+                                lapack_int ldx, lapack_int* k );
+lapack_int LAPACKE_dlapmr_work( int matrix_order, lapack_logical forwrd,
+                                lapack_int m, lapack_int n, double* x,
+                                lapack_int ldx, lapack_int* k );
+lapack_int LAPACKE_clapmr_work( int matrix_order, lapack_logical forwrd,
+                                lapack_int m, lapack_int n,
+                                lapack_complex_float* x, lapack_int ldx,
+                                lapack_int* k );
+lapack_int LAPACKE_zlapmr_work( int matrix_order, lapack_logical forwrd,
+                                lapack_int m, lapack_int n,
+                                lapack_complex_double* x, lapack_int ldx,
+                                lapack_int* k );
+
+lapack_int LAPACKE_slartgp_work( float f, float g, float* cs, float* sn,
+                                 float* r );
+lapack_int LAPACKE_dlartgp_work( double f, double g, double* cs, double* sn,
+                                 double* r );
+
+lapack_int LAPACKE_slartgs_work( float x, float y, float sigma, float* cs,
+                                 float* sn );
+lapack_int LAPACKE_dlartgs_work( double x, double y, double sigma, double* cs,
+                                 double* sn );
+                                
+float LAPACKE_slapy2_work( float x, float y );
+double LAPACKE_dlapy2_work( double x, double y );
+
+float LAPACKE_slapy3_work( float x, float y, float z );
+double LAPACKE_dlapy3_work( double x, double y, double z );
+
+float LAPACKE_slamch_work( char cmach );
+double LAPACKE_dlamch_work( char cmach );
+
+float LAPACKE_slange_work( int matrix_order, char norm, lapack_int m,
+                                lapack_int n, const float* a, lapack_int lda,
+                                float* work );
+double LAPACKE_dlange_work( int matrix_order, char norm, lapack_int m,
+                                lapack_int n, const double* a, lapack_int lda,
+                                double* work );
+float LAPACKE_clange_work( int matrix_order, char norm, lapack_int m,
+                                lapack_int n, const lapack_complex_float* a,
+                                lapack_int lda, float* work );
+double LAPACKE_zlange_work( int matrix_order, char norm, lapack_int m,
+                                lapack_int n, const lapack_complex_double* a,
+                                lapack_int lda, double* work );
+
+float LAPACKE_clanhe_work( int matrix_order, char norm, char uplo,
+                                lapack_int n, const lapack_complex_float* a,
+                                lapack_int lda, float* work );
+double LAPACKE_zlanhe_work( int matrix_order, char norm, char uplo,
+                                lapack_int n, const lapack_complex_double* a,
+                                lapack_int lda, double* work );
+
+float LAPACKE_slansy_work( int matrix_order, char norm, char uplo,
+                                lapack_int n, const float* a, lapack_int lda,
+                                float* work );
+double LAPACKE_dlansy_work( int matrix_order, char norm, char uplo,
+                                lapack_int n, const double* a, lapack_int lda,
+                                double* work );
+float LAPACKE_clansy_work( int matrix_order, char norm, char uplo,
+                                lapack_int n, const lapack_complex_float* a,
+                                lapack_int lda, float* work );
+double LAPACKE_zlansy_work( int matrix_order, char norm, char uplo,
+                                lapack_int n, const lapack_complex_double* a,
+                                lapack_int lda, double* work );
+
+float LAPACKE_slantr_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int m, lapack_int n, const float* a,
+                                lapack_int lda, float* work );
+double LAPACKE_dlantr_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int m, lapack_int n,
+                                const double* a, lapack_int lda, double* work );
+float LAPACKE_clantr_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int m, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                float* work );
+double LAPACKE_zlantr_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int m, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                double* work );
+
+lapack_int LAPACKE_slarfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k, const float* v,
+                                lapack_int ldv, const float* t, lapack_int ldt,
+                                float* c, lapack_int ldc, float* work,
+                                lapack_int ldwork );
+lapack_int LAPACKE_dlarfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k, const double* v,
+                                lapack_int ldv, const double* t, lapack_int ldt,
+                                double* c, lapack_int ldc, double* work,
+                                lapack_int ldwork );
+lapack_int LAPACKE_clarfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k,
+                                const lapack_complex_float* v, lapack_int ldv,
+                                const lapack_complex_float* t, lapack_int ldt,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int ldwork );
+lapack_int LAPACKE_zlarfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k,
+                                const lapack_complex_double* v, lapack_int ldv,
+                                const lapack_complex_double* t, lapack_int ldt,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work,
+                                lapack_int ldwork );
+
+lapack_int LAPACKE_slarfg_work( lapack_int n, float* alpha, float* x,
+                                lapack_int incx, float* tau );
+lapack_int LAPACKE_dlarfg_work( lapack_int n, double* alpha, double* x,
+                                lapack_int incx, double* tau );
+lapack_int LAPACKE_clarfg_work( lapack_int n, lapack_complex_float* alpha,
+                                lapack_complex_float* x, lapack_int incx,
+                                lapack_complex_float* tau );
+lapack_int LAPACKE_zlarfg_work( lapack_int n, lapack_complex_double* alpha,
+                                lapack_complex_double* x, lapack_int incx,
+                                lapack_complex_double* tau );
+
+lapack_int LAPACKE_slarft_work( int matrix_order, char direct, char storev,
+                                lapack_int n, lapack_int k, const float* v,
+                                lapack_int ldv, const float* tau, float* t,
+                                lapack_int ldt );
+lapack_int LAPACKE_dlarft_work( int matrix_order, char direct, char storev,
+                                lapack_int n, lapack_int k, const double* v,
+                                lapack_int ldv, const double* tau, double* t,
+                                lapack_int ldt );
+lapack_int LAPACKE_clarft_work( int matrix_order, char direct, char storev,
+                                lapack_int n, lapack_int k,
+                                const lapack_complex_float* v, lapack_int ldv,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_zlarft_work( int matrix_order, char direct, char storev,
+                                lapack_int n, lapack_int k,
+                                const lapack_complex_double* v, lapack_int ldv,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_slarfx_work( int matrix_order, char side, lapack_int m,
+                                lapack_int n, const float* v, float tau,
+                                float* c, lapack_int ldc, float* work );
+lapack_int LAPACKE_dlarfx_work( int matrix_order, char side, lapack_int m,
+                                lapack_int n, const double* v, double tau,
+                                double* c, lapack_int ldc, double* work );
+lapack_int LAPACKE_clarfx_work( int matrix_order, char side, lapack_int m,
+                                lapack_int n, const lapack_complex_float* v,
+                                lapack_complex_float tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zlarfx_work( int matrix_order, char side, lapack_int m,
+                                lapack_int n, const lapack_complex_double* v,
+                                lapack_complex_double tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_slarnv_work( lapack_int idist, lapack_int* iseed,
+                                lapack_int n, float* x );
+lapack_int LAPACKE_dlarnv_work( lapack_int idist, lapack_int* iseed,
+                                lapack_int n, double* x );
+lapack_int LAPACKE_clarnv_work( lapack_int idist, lapack_int* iseed,
+                                lapack_int n, lapack_complex_float* x );
+lapack_int LAPACKE_zlarnv_work( lapack_int idist, lapack_int* iseed,
+                                lapack_int n, lapack_complex_double* x );
+
+lapack_int LAPACKE_slaset_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, float alpha, float beta, float* a,
+                                lapack_int lda );
+lapack_int LAPACKE_dlaset_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, double alpha, double beta,
+                                double* a, lapack_int lda );
+lapack_int LAPACKE_claset_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, lapack_complex_float alpha,
+                                lapack_complex_float beta,
+                                lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zlaset_work( int matrix_order, char uplo, lapack_int m,
+                                lapack_int n, lapack_complex_double alpha,
+                                lapack_complex_double beta,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_slasrt_work( char id, lapack_int n, float* d );
+lapack_int LAPACKE_dlasrt_work( char id, lapack_int n, double* d );
+
+lapack_int LAPACKE_slaswp_work( int matrix_order, lapack_int n, float* a,
+                                lapack_int lda, lapack_int k1, lapack_int k2,
+                                const lapack_int* ipiv, lapack_int incx );
+lapack_int LAPACKE_dlaswp_work( int matrix_order, lapack_int n, double* a,
+                                lapack_int lda, lapack_int k1, lapack_int k2,
+                                const lapack_int* ipiv, lapack_int incx );
+lapack_int LAPACKE_claswp_work( int matrix_order, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int k1, lapack_int k2,
+                                const lapack_int* ipiv, lapack_int incx );
+lapack_int LAPACKE_zlaswp_work( int matrix_order, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int k1, lapack_int k2,
+                                const lapack_int* ipiv, lapack_int incx );
+
+lapack_int LAPACKE_slatms_work( int matrix_order, lapack_int m, lapack_int n,
+                                char dist, lapack_int* iseed, char sym,
+                                float* d, lapack_int mode, float cond,
+                                float dmax, lapack_int kl, lapack_int ku,
+                                char pack, float* a, lapack_int lda,
+                                float* work );
+lapack_int LAPACKE_dlatms_work( int matrix_order, lapack_int m, lapack_int n,
+                                char dist, lapack_int* iseed, char sym,
+                                double* d, lapack_int mode, double cond,
+                                double dmax, lapack_int kl, lapack_int ku,
+                                char pack, double* a, lapack_int lda,
+                                double* work );
+lapack_int LAPACKE_clatms_work( int matrix_order, lapack_int m, lapack_int n,
+                                char dist, lapack_int* iseed, char sym,
+                                float* d, lapack_int mode, float cond,
+                                float dmax, lapack_int kl, lapack_int ku,
+                                char pack, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* work );
+lapack_int LAPACKE_zlatms_work( int matrix_order, lapack_int m, lapack_int n,
+                                char dist, lapack_int* iseed, char sym,
+                                double* d, lapack_int mode, double cond,
+                                double dmax, lapack_int kl, lapack_int ku,
+                                char pack, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* work );
+
+lapack_int LAPACKE_slauum_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda );
+lapack_int LAPACKE_dlauum_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda );
+lapack_int LAPACKE_clauum_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zlauum_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_sopgtr_work( int matrix_order, char uplo, lapack_int n,
+                                const float* ap, const float* tau, float* q,
+                                lapack_int ldq, float* work );
+lapack_int LAPACKE_dopgtr_work( int matrix_order, char uplo, lapack_int n,
+                                const double* ap, const double* tau, double* q,
+                                lapack_int ldq, double* work );
+
+lapack_int LAPACKE_sopmtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const float* ap, const float* tau, float* c,
+                                lapack_int ldc, float* work );
+lapack_int LAPACKE_dopmtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const double* ap, const double* tau, double* c,
+                                lapack_int ldc, double* work );
+
+lapack_int LAPACKE_sorgbr_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int k, float* a,
+                                lapack_int lda, const float* tau, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorgbr_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int k, double* a,
+                                lapack_int lda, const double* tau, double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_sorghr_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, float* a, lapack_int lda,
+                                const float* tau, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorghr_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, double* a, lapack_int lda,
+                                const double* tau, double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_sorglq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, float* a, lapack_int lda,
+                                const float* tau, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorglq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, double* a, lapack_int lda,
+                                const double* tau, double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_sorgql_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, float* a, lapack_int lda,
+                                const float* tau, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorgql_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, double* a, lapack_int lda,
+                                const double* tau, double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_sorgqr_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, float* a, lapack_int lda,
+                                const float* tau, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorgqr_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, double* a, lapack_int lda,
+                                const double* tau, double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_sorgrq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, float* a, lapack_int lda,
+                                const float* tau, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorgrq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, double* a, lapack_int lda,
+                                const double* tau, double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_sorgtr_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda, const float* tau,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dorgtr_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda, const double* tau,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormbr_work( int matrix_order, char vect, char side,
+                                char trans, lapack_int m, lapack_int n,
+                                lapack_int k, const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormbr_work( int matrix_order, char vect, char side,
+                                char trans, lapack_int m, lapack_int n,
+                                lapack_int k, const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormhr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormhr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormlq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormlq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormql_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormql_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormqr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormqr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormrq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormrq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormrz_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                lapack_int l, const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormrz_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                lapack_int l, const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_sormtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const float* a, lapack_int lda,
+                                const float* tau, float* c, lapack_int ldc,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dormtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const double* a, lapack_int lda,
+                                const double* tau, double* c, lapack_int ldc,
+                                double* work, lapack_int lwork );
+
+lapack_int LAPACKE_spbcon_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const float* ab, lapack_int ldab,
+                                float anorm, float* rcond, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dpbcon_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const double* ab,
+                                lapack_int ldab, double anorm, double* rcond,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cpbcon_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const lapack_complex_float* ab,
+                                lapack_int ldab, float anorm, float* rcond,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zpbcon_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const lapack_complex_double* ab,
+                                lapack_int ldab, double anorm, double* rcond,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_spbequ_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const float* ab, lapack_int ldab,
+                                float* s, float* scond, float* amax );
+lapack_int LAPACKE_dpbequ_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const double* ab,
+                                lapack_int ldab, double* s, double* scond,
+                                double* amax );
+lapack_int LAPACKE_cpbequ_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const lapack_complex_float* ab,
+                                lapack_int ldab, float* s, float* scond,
+                                float* amax );
+lapack_int LAPACKE_zpbequ_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, const lapack_complex_double* ab,
+                                lapack_int ldab, double* s, double* scond,
+                                double* amax );
+
+lapack_int LAPACKE_spbrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs, const float* ab,
+                                lapack_int ldab, const float* afb,
+                                lapack_int ldafb, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dpbrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs,
+                                const double* ab, lapack_int ldab,
+                                const double* afb, lapack_int ldafb,
+                                const double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cpbrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                const lapack_complex_float* afb,
+                                lapack_int ldafb, const lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zpbrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab,
+                                const lapack_complex_double* afb,
+                                lapack_int ldafb,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_spbstf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kb, float* bb, lapack_int ldbb );
+lapack_int LAPACKE_dpbstf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kb, double* bb, lapack_int ldbb );
+lapack_int LAPACKE_cpbstf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kb, lapack_complex_float* bb,
+                                lapack_int ldbb );
+lapack_int LAPACKE_zpbstf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kb, lapack_complex_double* bb,
+                                lapack_int ldbb );
+
+lapack_int LAPACKE_spbsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int kd, lapack_int nrhs, float* ab,
+                               lapack_int ldab, float* b, lapack_int ldb );
+lapack_int LAPACKE_dpbsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int kd, lapack_int nrhs, double* ab,
+                               lapack_int ldab, double* b, lapack_int ldb );
+lapack_int LAPACKE_cpbsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int kd, lapack_int nrhs,
+                               lapack_complex_float* ab, lapack_int ldab,
+                               lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpbsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int kd, lapack_int nrhs,
+                               lapack_complex_double* ab, lapack_int ldab,
+                               lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spbsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int kd, lapack_int nrhs,
+                                float* ab, lapack_int ldab, float* afb,
+                                lapack_int ldafb, char* equed, float* s,
+                                float* b, lapack_int ldb, float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dpbsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int kd, lapack_int nrhs,
+                                double* ab, lapack_int ldab, double* afb,
+                                lapack_int ldafb, char* equed, double* s,
+                                double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* rcond, double* ferr,
+                                double* berr, double* work, lapack_int* iwork );
+lapack_int LAPACKE_cpbsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int kd, lapack_int nrhs,
+                                lapack_complex_float* ab, lapack_int ldab,
+                                lapack_complex_float* afb, lapack_int ldafb,
+                                char* equed, float* s, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zpbsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int kd, lapack_int nrhs,
+                                lapack_complex_double* ab, lapack_int ldab,
+                                lapack_complex_double* afb, lapack_int ldafb,
+                                char* equed, double* s,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_spbtrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, float* ab, lapack_int ldab );
+lapack_int LAPACKE_dpbtrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, double* ab, lapack_int ldab );
+lapack_int LAPACKE_cpbtrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_complex_float* ab,
+                                lapack_int ldab );
+lapack_int LAPACKE_zpbtrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_complex_double* ab,
+                                lapack_int ldab );
+
+lapack_int LAPACKE_spbtrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs, const float* ab,
+                                lapack_int ldab, float* b, lapack_int ldb );
+lapack_int LAPACKE_dpbtrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs,
+                                const double* ab, lapack_int ldab, double* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_cpbtrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpbtrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int kd, lapack_int nrhs,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, lapack_complex_double* b,
+                                lapack_int ldb );
+
+lapack_int LAPACKE_spftrf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, float* a );
+lapack_int LAPACKE_dpftrf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, double* a );
+lapack_int LAPACKE_cpftrf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_complex_float* a );
+lapack_int LAPACKE_zpftrf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_complex_double* a );
+
+lapack_int LAPACKE_spftri_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, float* a );
+lapack_int LAPACKE_dpftri_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, double* a );
+lapack_int LAPACKE_cpftri_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_complex_float* a );
+lapack_int LAPACKE_zpftri_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_complex_double* a );
+
+lapack_int LAPACKE_spftrs_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_int nrhs, const float* a,
+                                float* b, lapack_int ldb );
+lapack_int LAPACKE_dpftrs_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_int nrhs, const double* a,
+                                double* b, lapack_int ldb );
+lapack_int LAPACKE_cpftrs_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* a,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpftrs_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* a,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spocon_work( int matrix_order, char uplo, lapack_int n,
+                                const float* a, lapack_int lda, float anorm,
+                                float* rcond, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dpocon_work( int matrix_order, char uplo, lapack_int n,
+                                const double* a, lapack_int lda, double anorm,
+                                double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cpocon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                float anorm, float* rcond,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zpocon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                double anorm, double* rcond,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_spoequ_work( int matrix_order, lapack_int n, const float* a,
+                                lapack_int lda, float* s, float* scond,
+                                float* amax );
+lapack_int LAPACKE_dpoequ_work( int matrix_order, lapack_int n, const double* a,
+                                lapack_int lda, double* s, double* scond,
+                                double* amax );
+lapack_int LAPACKE_cpoequ_work( int matrix_order, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                float* s, float* scond, float* amax );
+lapack_int LAPACKE_zpoequ_work( int matrix_order, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                double* s, double* scond, double* amax );
+
+lapack_int LAPACKE_spoequb_work( int matrix_order, lapack_int n, const float* a,
+                                 lapack_int lda, float* s, float* scond,
+                                 float* amax );
+lapack_int LAPACKE_dpoequb_work( int matrix_order, lapack_int n,
+                                 const double* a, lapack_int lda, double* s,
+                                 double* scond, double* amax );
+lapack_int LAPACKE_cpoequb_work( int matrix_order, lapack_int n,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 float* s, float* scond, float* amax );
+lapack_int LAPACKE_zpoequb_work( int matrix_order, lapack_int n,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 double* s, double* scond, double* amax );
+
+lapack_int LAPACKE_sporfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* a, lapack_int lda,
+                                const float* af, lapack_int ldaf,
+                                const float* b, lapack_int ldb, float* x,
+                                lapack_int ldx, float* ferr, float* berr,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dporfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* a,
+                                lapack_int lda, const double* af,
+                                lapack_int ldaf, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* ferr, double* berr, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cporfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* af,
+                                lapack_int ldaf, const lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zporfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_complex_double* af,
+                                lapack_int ldaf, const lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sporfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs, const float* a,
+                                 lapack_int lda, const float* af,
+                                 lapack_int ldaf, const float* s,
+                                 const float* b, lapack_int ldb, float* x,
+                                 lapack_int ldx, float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dporfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs, const double* a,
+                                 lapack_int lda, const double* af,
+                                 lapack_int ldaf, const double* s,
+                                 const double* b, lapack_int ldb, double* x,
+                                 lapack_int ldx, double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_cporfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 const lapack_complex_float* af,
+                                 lapack_int ldaf, const float* s,
+                                 const lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* x, lapack_int ldx,
+                                 float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zporfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 const lapack_complex_double* af,
+                                 lapack_int ldaf, const double* s,
+                                 const lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_sposv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, float* a, lapack_int lda,
+                               float* b, lapack_int ldb );
+lapack_int LAPACKE_dposv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, double* a, lapack_int lda,
+                               double* b, lapack_int ldb );
+lapack_int LAPACKE_cposv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_float* a,
+                               lapack_int lda, lapack_complex_float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_zposv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_double* a,
+                               lapack_int lda, lapack_complex_double* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_dsposv_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, double* a, lapack_int lda,
+                                double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* work, float* swork,
+                                lapack_int* iter );
+lapack_int LAPACKE_zcposv_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* x,
+                                lapack_int ldx, lapack_complex_double* work,
+                                lapack_complex_float* swork, double* rwork,
+                                lapack_int* iter );
+
+lapack_int LAPACKE_sposvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, float* a,
+                                lapack_int lda, float* af, lapack_int ldaf,
+                                char* equed, float* s, float* b, lapack_int ldb,
+                                float* x, lapack_int ldx, float* rcond,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dposvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, double* a,
+                                lapack_int lda, double* af, lapack_int ldaf,
+                                char* equed, double* s, double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cposvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* af, lapack_int ldaf,
+                                char* equed, float* s, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zposvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* af, lapack_int ldaf,
+                                char* equed, double* s,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sposvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs, float* a,
+                                 lapack_int lda, float* af, lapack_int ldaf,
+                                 char* equed, float* s, float* b,
+                                 lapack_int ldb, float* x, lapack_int ldx,
+                                 float* rcond, float* rpvgrw, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dposvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs, double* a,
+                                 lapack_int lda, double* af, lapack_int ldaf,
+                                 char* equed, double* s, double* b,
+                                 lapack_int ldb, double* x, lapack_int ldx,
+                                 double* rcond, double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_cposvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* af, lapack_int ldaf,
+                                 char* equed, float* s, lapack_complex_float* b,
+                                 lapack_int ldb, lapack_complex_float* x,
+                                 lapack_int ldx, float* rcond, float* rpvgrw,
+                                 float* berr, lapack_int n_err_bnds,
+                                 float* err_bnds_norm, float* err_bnds_comp,
+                                 lapack_int nparams, float* params,
+                                 lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zposvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* af, lapack_int ldaf,
+                                 char* equed, double* s,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_spotrf_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda );
+lapack_int LAPACKE_dpotrf_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda );
+lapack_int LAPACKE_cpotrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zpotrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_spotri_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda );
+lapack_int LAPACKE_dpotri_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda );
+lapack_int LAPACKE_cpotri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zpotri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_spotrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* a, lapack_int lda,
+                                float* b, lapack_int ldb );
+lapack_int LAPACKE_dpotrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* a,
+                                lapack_int lda, double* b, lapack_int ldb );
+lapack_int LAPACKE_cpotrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zpotrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* b,
+                                lapack_int ldb );
+
+lapack_int LAPACKE_sppcon_work( int matrix_order, char uplo, lapack_int n,
+                                const float* ap, float anorm, float* rcond,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dppcon_work( int matrix_order, char uplo, lapack_int n,
+                                const double* ap, double anorm, double* rcond,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cppcon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* ap, float anorm,
+                                float* rcond, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zppcon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* ap, double anorm,
+                                double* rcond, lapack_complex_double* work,
+                                double* rwork );
+
+lapack_int LAPACKE_sppequ_work( int matrix_order, char uplo, lapack_int n,
+                                const float* ap, float* s, float* scond,
+                                float* amax );
+lapack_int LAPACKE_dppequ_work( int matrix_order, char uplo, lapack_int n,
+                                const double* ap, double* s, double* scond,
+                                double* amax );
+lapack_int LAPACKE_cppequ_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* ap, float* s,
+                                float* scond, float* amax );
+lapack_int LAPACKE_zppequ_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* ap, double* s,
+                                double* scond, double* amax );
+
+lapack_int LAPACKE_spprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* ap,
+                                const float* afp, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dpprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* ap,
+                                const double* afp, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* ferr, double* berr, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cpprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* ap,
+                                const lapack_complex_float* afp,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zpprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                const lapack_complex_double* afp,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sppsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, float* ap, float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_dppsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, double* ap, double* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_cppsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_float* ap,
+                               lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zppsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_double* ap,
+                               lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sppsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, float* ap,
+                                float* afp, char* equed, float* s, float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dppsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, double* ap,
+                                double* afp, char* equed, double* s, double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cppsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                lapack_complex_float* ap,
+                                lapack_complex_float* afp, char* equed,
+                                float* s, lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_zppsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                lapack_complex_double* ap,
+                                lapack_complex_double* afp, char* equed,
+                                double* s, lapack_complex_double* b,
+                                lapack_int ldb, lapack_complex_double* x,
+                                lapack_int ldx, double* rcond, double* ferr,
+                                double* berr, lapack_complex_double* work,
+                                double* rwork );
+
+lapack_int LAPACKE_spptrf_work( int matrix_order, char uplo, lapack_int n,
+                                float* ap );
+lapack_int LAPACKE_dpptrf_work( int matrix_order, char uplo, lapack_int n,
+                                double* ap );
+lapack_int LAPACKE_cpptrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap );
+lapack_int LAPACKE_zpptrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap );
+
+lapack_int LAPACKE_spptri_work( int matrix_order, char uplo, lapack_int n,
+                                float* ap );
+lapack_int LAPACKE_dpptri_work( int matrix_order, char uplo, lapack_int n,
+                                double* ap );
+lapack_int LAPACKE_cpptri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap );
+lapack_int LAPACKE_zpptri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap );
+
+lapack_int LAPACKE_spptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* ap, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dpptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* ap, double* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_cpptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* ap,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_spstrf_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* piv,
+                                lapack_int* rank, float tol, float* work );
+lapack_int LAPACKE_dpstrf_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* piv,
+                                lapack_int* rank, double tol, double* work );
+lapack_int LAPACKE_cpstrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* piv, lapack_int* rank, float tol,
+                                float* work );
+lapack_int LAPACKE_zpstrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* piv, lapack_int* rank, double tol,
+                                double* work );
+
+lapack_int LAPACKE_sptcon_work( lapack_int n, const float* d, const float* e,
+                                float anorm, float* rcond, float* work );
+lapack_int LAPACKE_dptcon_work( lapack_int n, const double* d, const double* e,
+                                double anorm, double* rcond, double* work );
+lapack_int LAPACKE_cptcon_work( lapack_int n, const float* d,
+                                const lapack_complex_float* e, float anorm,
+                                float* rcond, float* work );
+lapack_int LAPACKE_zptcon_work( lapack_int n, const double* d,
+                                const lapack_complex_double* e, double anorm,
+                                double* rcond, double* work );
+
+lapack_int LAPACKE_spteqr_work( int matrix_order, char compz, lapack_int n,
+                                float* d, float* e, float* z, lapack_int ldz,
+                                float* work );
+lapack_int LAPACKE_dpteqr_work( int matrix_order, char compz, lapack_int n,
+                                double* d, double* e, double* z, lapack_int ldz,
+                                double* work );
+lapack_int LAPACKE_cpteqr_work( int matrix_order, char compz, lapack_int n,
+                                float* d, float* e, lapack_complex_float* z,
+                                lapack_int ldz, float* work );
+lapack_int LAPACKE_zpteqr_work( int matrix_order, char compz, lapack_int n,
+                                double* d, double* e, lapack_complex_double* z,
+                                lapack_int ldz, double* work );
+
+lapack_int LAPACKE_sptrfs_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                                const float* d, const float* e, const float* df,
+                                const float* ef, const float* b, lapack_int ldb,
+                                float* x, lapack_int ldx, float* ferr,
+                                float* berr, float* work );
+lapack_int LAPACKE_dptrfs_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                                const double* d, const double* e,
+                                const double* df, const double* ef,
+                                const double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                double* work );
+lapack_int LAPACKE_cptrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* d,
+                                const lapack_complex_float* e, const float* df,
+                                const lapack_complex_float* ef,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zptrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* d,
+                                const lapack_complex_double* e,
+                                const double* df,
+                                const lapack_complex_double* ef,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sptsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               float* d, float* e, float* b, lapack_int ldb );
+lapack_int LAPACKE_dptsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               double* d, double* e, double* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_cptsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               float* d, lapack_complex_float* e,
+                               lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zptsv_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                               double* d, lapack_complex_double* e,
+                               lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sptsvx_work( int matrix_order, char fact, lapack_int n,
+                                lapack_int nrhs, const float* d, const float* e,
+                                float* df, float* ef, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                float* work );
+lapack_int LAPACKE_dptsvx_work( int matrix_order, char fact, lapack_int n,
+                                lapack_int nrhs, const double* d,
+                                const double* e, double* df, double* ef,
+                                const double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* rcond, double* ferr,
+                                double* berr, double* work );
+lapack_int LAPACKE_cptsvx_work( int matrix_order, char fact, lapack_int n,
+                                lapack_int nrhs, const float* d,
+                                const lapack_complex_float* e, float* df,
+                                lapack_complex_float* ef,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zptsvx_work( int matrix_order, char fact, lapack_int n,
+                                lapack_int nrhs, const double* d,
+                                const lapack_complex_double* e, double* df,
+                                lapack_complex_double* ef,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_spttrf_work( lapack_int n, float* d, float* e );
+lapack_int LAPACKE_dpttrf_work( lapack_int n, double* d, double* e );
+lapack_int LAPACKE_cpttrf_work( lapack_int n, float* d,
+                                lapack_complex_float* e );
+lapack_int LAPACKE_zpttrf_work( lapack_int n, double* d,
+                                lapack_complex_double* e );
+
+lapack_int LAPACKE_spttrs_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                                const float* d, const float* e, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dpttrs_work( int matrix_order, lapack_int n, lapack_int nrhs,
+                                const double* d, const double* e, double* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_cpttrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* d,
+                                const lapack_complex_float* e,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zpttrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* d,
+                                const lapack_complex_double* e,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_ssbev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int kd, float* ab,
+                               lapack_int ldab, float* w, float* z,
+                               lapack_int ldz, float* work );
+lapack_int LAPACKE_dsbev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int kd, double* ab,
+                               lapack_int ldab, double* w, double* z,
+                               lapack_int ldz, double* work );
+
+lapack_int LAPACKE_ssbevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int kd, float* ab,
+                                lapack_int ldab, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dsbevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int kd, double* ab,
+                                lapack_int ldab, double* w, double* z,
+                                lapack_int ldz, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_ssbevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int kd,
+                                float* ab, lapack_int ldab, float* q,
+                                lapack_int ldq, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int* iwork,
+                                lapack_int* ifail );
+lapack_int LAPACKE_dsbevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int kd,
+                                double* ab, lapack_int ldab, double* q,
+                                lapack_int ldq, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w, double* z,
+                                lapack_int ldz, double* work, lapack_int* iwork,
+                                lapack_int* ifail );
+
+lapack_int LAPACKE_ssbgst_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                float* ab, lapack_int ldab, const float* bb,
+                                lapack_int ldbb, float* x, lapack_int ldx,
+                                float* work );
+lapack_int LAPACKE_dsbgst_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                double* ab, lapack_int ldab, const double* bb,
+                                lapack_int ldbb, double* x, lapack_int ldx,
+                                double* work );
+
+lapack_int LAPACKE_ssbgv_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int ka, lapack_int kb,
+                               float* ab, lapack_int ldab, float* bb,
+                               lapack_int ldbb, float* w, float* z,
+                               lapack_int ldz, float* work );
+lapack_int LAPACKE_dsbgv_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, lapack_int ka, lapack_int kb,
+                               double* ab, lapack_int ldab, double* bb,
+                               lapack_int ldbb, double* w, double* z,
+                               lapack_int ldz, double* work );
+
+lapack_int LAPACKE_ssbgvd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                float* ab, lapack_int ldab, float* bb,
+                                lapack_int ldbb, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dsbgvd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, lapack_int ka, lapack_int kb,
+                                double* ab, lapack_int ldab, double* bb,
+                                lapack_int ldbb, double* w, double* z,
+                                lapack_int ldz, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_ssbgvx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int ka,
+                                lapack_int kb, float* ab, lapack_int ldab,
+                                float* bb, lapack_int ldbb, float* q,
+                                lapack_int ldq, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int* iwork,
+                                lapack_int* ifail );
+lapack_int LAPACKE_dsbgvx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, lapack_int ka,
+                                lapack_int kb, double* ab, lapack_int ldab,
+                                double* bb, lapack_int ldbb, double* q,
+                                lapack_int ldq, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w, double* z,
+                                lapack_int ldz, double* work, lapack_int* iwork,
+                                lapack_int* ifail );
+
+lapack_int LAPACKE_ssbtrd_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int kd, float* ab,
+                                lapack_int ldab, float* d, float* e, float* q,
+                                lapack_int ldq, float* work );
+lapack_int LAPACKE_dsbtrd_work( int matrix_order, char vect, char uplo,
+                                lapack_int n, lapack_int kd, double* ab,
+                                lapack_int ldab, double* d, double* e,
+                                double* q, lapack_int ldq, double* work );
+
+lapack_int LAPACKE_ssfrk_work( int matrix_order, char transr, char uplo,
+                               char trans, lapack_int n, lapack_int k,
+                               float alpha, const float* a, lapack_int lda,
+                               float beta, float* c );
+lapack_int LAPACKE_dsfrk_work( int matrix_order, char transr, char uplo,
+                               char trans, lapack_int n, lapack_int k,
+                               double alpha, const double* a, lapack_int lda,
+                               double beta, double* c );
+
+lapack_int LAPACKE_sspcon_work( int matrix_order, char uplo, lapack_int n,
+                                const float* ap, const lapack_int* ipiv,
+                                float anorm, float* rcond, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dspcon_work( int matrix_order, char uplo, lapack_int n,
+                                const double* ap, const lapack_int* ipiv,
+                                double anorm, double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_cspcon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* ap,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, lapack_complex_float* work );
+lapack_int LAPACKE_zspcon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* ap,
+                                const lapack_int* ipiv, double anorm,
+                                double* rcond, lapack_complex_double* work );
+
+lapack_int LAPACKE_sspev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, float* ap, float* w, float* z,
+                               lapack_int ldz, float* work );
+lapack_int LAPACKE_dspev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, double* ap, double* w, double* z,
+                               lapack_int ldz, double* work );
+
+lapack_int LAPACKE_sspevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, float* ap, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dspevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, double* ap, double* w, double* z,
+                                lapack_int ldz, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_sspevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, float* ap, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                float abstol, lapack_int* m, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int* iwork,
+                                lapack_int* ifail );
+lapack_int LAPACKE_dspevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, double* ap, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                double abstol, lapack_int* m, double* w,
+                                double* z, lapack_int ldz, double* work,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_sspgst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, float* ap, const float* bp );
+lapack_int LAPACKE_dspgst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, double* ap, const double* bp );
+
+lapack_int LAPACKE_sspgv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n, float* ap, float* bp,
+                               float* w, float* z, lapack_int ldz,
+                               float* work );
+lapack_int LAPACKE_dspgv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n, double* ap, double* bp,
+                               double* w, double* z, lapack_int ldz,
+                               double* work );
+
+lapack_int LAPACKE_sspgvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n, float* ap, float* bp,
+                                float* w, float* z, lapack_int ldz, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_dspgvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n, double* ap, double* bp,
+                                double* w, double* z, lapack_int ldz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_sspgvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n, float* ap,
+                                float* bp, float vl, float vu, lapack_int il,
+                                lapack_int iu, float abstol, lapack_int* m,
+                                float* w, float* z, lapack_int ldz, float* work,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_dspgvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n, double* ap,
+                                double* bp, double vl, double vu, lapack_int il,
+                                lapack_int iu, double abstol, lapack_int* m,
+                                double* w, double* z, lapack_int ldz,
+                                double* work, lapack_int* iwork,
+                                lapack_int* ifail );
+
+lapack_int LAPACKE_ssprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* ap,
+                                const float* afp, const lapack_int* ipiv,
+                                const float* b, lapack_int ldb, float* x,
+                                lapack_int ldx, float* ferr, float* berr,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dsprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* ap,
+                                const double* afp, const lapack_int* ipiv,
+                                const double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_csprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* ap,
+                                const lapack_complex_float* afp,
+                                const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zsprfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                const lapack_complex_double* afp,
+                                const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_sspsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, float* ap, lapack_int* ipiv,
+                               float* b, lapack_int ldb );
+lapack_int LAPACKE_dspsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, double* ap, lapack_int* ipiv,
+                               double* b, lapack_int ldb );
+lapack_int LAPACKE_cspsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_float* ap,
+                               lapack_int* ipiv, lapack_complex_float* b,
+                               lapack_int ldb );
+lapack_int LAPACKE_zspsv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_double* ap,
+                               lapack_int* ipiv, lapack_complex_double* b,
+                               lapack_int ldb );
+
+lapack_int LAPACKE_sspsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, const float* ap,
+                                float* afp, lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dspsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, const double* ap,
+                                double* afp, lapack_int* ipiv, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_cspsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* ap,
+                                lapack_complex_float* afp, lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zspsvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                lapack_complex_double* afp, lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_ssptrd_work( int matrix_order, char uplo, lapack_int n,
+                                float* ap, float* d, float* e, float* tau );
+lapack_int LAPACKE_dsptrd_work( int matrix_order, char uplo, lapack_int n,
+                                double* ap, double* d, double* e, double* tau );
+
+lapack_int LAPACKE_ssptrf_work( int matrix_order, char uplo, lapack_int n,
+                                float* ap, lapack_int* ipiv );
+lapack_int LAPACKE_dsptrf_work( int matrix_order, char uplo, lapack_int n,
+                                double* ap, lapack_int* ipiv );
+lapack_int LAPACKE_csptrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap, lapack_int* ipiv );
+lapack_int LAPACKE_zsptrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap, lapack_int* ipiv );
+
+lapack_int LAPACKE_ssptri_work( int matrix_order, char uplo, lapack_int n,
+                                float* ap, const lapack_int* ipiv,
+                                float* work );
+lapack_int LAPACKE_dsptri_work( int matrix_order, char uplo, lapack_int n,
+                                double* ap, const lapack_int* ipiv,
+                                double* work );
+lapack_int LAPACKE_csptri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* ap,
+                                const lapack_int* ipiv,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zsptri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* ap,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_ssptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* ap,
+                                const lapack_int* ipiv, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dsptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* ap,
+                                const lapack_int* ipiv, double* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_csptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* ap,
+                                const lapack_int* ipiv, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_zsptrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_sstebz_work( char range, char order, lapack_int n, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                float abstol, const float* d, const float* e,
+                                lapack_int* m, lapack_int* nsplit, float* w,
+                                lapack_int* iblock, lapack_int* isplit,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dstebz_work( char range, char order, lapack_int n, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                double abstol, const double* d, const double* e,
+                                lapack_int* m, lapack_int* nsplit, double* w,
+                                lapack_int* iblock, lapack_int* isplit,
+                                double* work, lapack_int* iwork );
+
+lapack_int LAPACKE_sstedc_work( int matrix_order, char compz, lapack_int n,
+                                float* d, float* e, float* z, lapack_int ldz,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dstedc_work( int matrix_order, char compz, lapack_int n,
+                                double* d, double* e, double* z, lapack_int ldz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_cstedc_work( int matrix_order, char compz, lapack_int n,
+                                float* d, float* e, lapack_complex_float* z,
+                                lapack_int ldz, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zstedc_work( int matrix_order, char compz, lapack_int n,
+                                double* d, double* e, lapack_complex_double* z,
+                                lapack_int ldz, lapack_complex_double* work,
+                                lapack_int lwork, double* rwork,
+                                lapack_int lrwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_sstegr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, float* d, float* e, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                float abstol, lapack_int* m, float* w, float* z,
+                                lapack_int ldz, lapack_int* isuppz, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_dstegr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, double* d, double* e, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                double abstol, lapack_int* m, double* w,
+                                double* z, lapack_int ldz, lapack_int* isuppz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_cstegr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, float* d, float* e, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                float abstol, lapack_int* m, float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_int* isuppz, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zstegr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, double* d, double* e, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                double abstol, lapack_int* m, double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_int* isuppz, double* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_sstein_work( int matrix_order, lapack_int n, const float* d,
+                                const float* e, lapack_int m, const float* w,
+                                const lapack_int* iblock,
+                                const lapack_int* isplit, float* z,
+                                lapack_int ldz, float* work, lapack_int* iwork,
+                                lapack_int* ifailv );
+lapack_int LAPACKE_dstein_work( int matrix_order, lapack_int n, const double* d,
+                                const double* e, lapack_int m, const double* w,
+                                const lapack_int* iblock,
+                                const lapack_int* isplit, double* z,
+                                lapack_int ldz, double* work, lapack_int* iwork,
+                                lapack_int* ifailv );
+lapack_int LAPACKE_cstein_work( int matrix_order, lapack_int n, const float* d,
+                                const float* e, lapack_int m, const float* w,
+                                const lapack_int* iblock,
+                                const lapack_int* isplit,
+                                lapack_complex_float* z, lapack_int ldz,
+                                float* work, lapack_int* iwork,
+                                lapack_int* ifailv );
+lapack_int LAPACKE_zstein_work( int matrix_order, lapack_int n, const double* d,
+                                const double* e, lapack_int m, const double* w,
+                                const lapack_int* iblock,
+                                const lapack_int* isplit,
+                                lapack_complex_double* z, lapack_int ldz,
+                                double* work, lapack_int* iwork,
+                                lapack_int* ifailv );
+
+lapack_int LAPACKE_sstemr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, float* d, float* e, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                lapack_int* m, float* w, float* z,
+                                lapack_int ldz, lapack_int nzc,
+                                lapack_int* isuppz, lapack_logical* tryrac,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dstemr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, double* d, double* e, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                lapack_int* m, double* w, double* z,
+                                lapack_int ldz, lapack_int nzc,
+                                lapack_int* isuppz, lapack_logical* tryrac,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_cstemr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, float* d, float* e, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                lapack_int* m, float* w,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_int nzc, lapack_int* isuppz,
+                                lapack_logical* tryrac, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_zstemr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, double* d, double* e, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                lapack_int* m, double* w,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_int nzc, lapack_int* isuppz,
+                                lapack_logical* tryrac, double* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_ssteqr_work( int matrix_order, char compz, lapack_int n,
+                                float* d, float* e, float* z, lapack_int ldz,
+                                float* work );
+lapack_int LAPACKE_dsteqr_work( int matrix_order, char compz, lapack_int n,
+                                double* d, double* e, double* z, lapack_int ldz,
+                                double* work );
+lapack_int LAPACKE_csteqr_work( int matrix_order, char compz, lapack_int n,
+                                float* d, float* e, lapack_complex_float* z,
+                                lapack_int ldz, float* work );
+lapack_int LAPACKE_zsteqr_work( int matrix_order, char compz, lapack_int n,
+                                double* d, double* e, lapack_complex_double* z,
+                                lapack_int ldz, double* work );
+
+lapack_int LAPACKE_ssterf_work( lapack_int n, float* d, float* e );
+lapack_int LAPACKE_dsterf_work( lapack_int n, double* d, double* e );
+
+lapack_int LAPACKE_sstev_work( int matrix_order, char jobz, lapack_int n,
+                               float* d, float* e, float* z, lapack_int ldz,
+                               float* work );
+lapack_int LAPACKE_dstev_work( int matrix_order, char jobz, lapack_int n,
+                               double* d, double* e, double* z, lapack_int ldz,
+                               double* work );
+
+lapack_int LAPACKE_sstevd_work( int matrix_order, char jobz, lapack_int n,
+                                float* d, float* e, float* z, lapack_int ldz,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dstevd_work( int matrix_order, char jobz, lapack_int n,
+                                double* d, double* e, double* z, lapack_int ldz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_sstevr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, float* d, float* e, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                float abstol, lapack_int* m, float* w, float* z,
+                                lapack_int ldz, lapack_int* isuppz, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_dstevr_work( int matrix_order, char jobz, char range,
+                                lapack_int n, double* d, double* e, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                double abstol, lapack_int* m, double* w,
+                                double* z, lapack_int ldz, lapack_int* isuppz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_sstevx_work( int matrix_order, char jobz, char range,
+                                lapack_int n, float* d, float* e, float vl,
+                                float vu, lapack_int il, lapack_int iu,
+                                float abstol, lapack_int* m, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int* iwork,
+                                lapack_int* ifail );
+lapack_int LAPACKE_dstevx_work( int matrix_order, char jobz, char range,
+                                lapack_int n, double* d, double* e, double vl,
+                                double vu, lapack_int il, lapack_int iu,
+                                double abstol, lapack_int* m, double* w,
+                                double* z, lapack_int ldz, double* work,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_ssycon_work( int matrix_order, char uplo, lapack_int n,
+                                const float* a, lapack_int lda,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dsycon_work( int matrix_order, char uplo, lapack_int n,
+                                const double* a, lapack_int lda,
+                                const lapack_int* ipiv, double anorm,
+                                double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_csycon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_int* ipiv, float anorm,
+                                float* rcond, lapack_complex_float* work );
+lapack_int LAPACKE_zsycon_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_int* ipiv, double anorm,
+                                double* rcond, lapack_complex_double* work );
+
+lapack_int LAPACKE_ssyequb_work( int matrix_order, char uplo, lapack_int n,
+                                 const float* a, lapack_int lda, float* s,
+                                 float* scond, float* amax, float* work );
+lapack_int LAPACKE_dsyequb_work( int matrix_order, char uplo, lapack_int n,
+                                 const double* a, lapack_int lda, double* s,
+                                 double* scond, double* amax, double* work );
+lapack_int LAPACKE_csyequb_work( int matrix_order, char uplo, lapack_int n,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 float* s, float* scond, float* amax,
+                                 lapack_complex_float* work );
+lapack_int LAPACKE_zsyequb_work( int matrix_order, char uplo, lapack_int n,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 double* s, double* scond, double* amax,
+                                 lapack_complex_double* work );
+
+lapack_int LAPACKE_ssyev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, float* a, lapack_int lda, float* w,
+                               float* work, lapack_int lwork );
+lapack_int LAPACKE_dsyev_work( int matrix_order, char jobz, char uplo,
+                               lapack_int n, double* a, lapack_int lda,
+                               double* w, double* work, lapack_int lwork );
+
+lapack_int LAPACKE_ssyevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, float* a, lapack_int lda,
+                                float* w, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dsyevd_work( int matrix_order, char jobz, char uplo,
+                                lapack_int n, double* a, lapack_int lda,
+                                double* w, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_ssyevr_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, float* a,
+                                lapack_int lda, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w, float* z,
+                                lapack_int ldz, lapack_int* isuppz, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_dsyevr_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, double* a,
+                                lapack_int lda, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w, double* z,
+                                lapack_int ldz, lapack_int* isuppz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_ssyevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, float* a,
+                                lapack_int lda, float vl, float vu,
+                                lapack_int il, lapack_int iu, float abstol,
+                                lapack_int* m, float* w, float* z,
+                                lapack_int ldz, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int* ifail );
+lapack_int LAPACKE_dsyevx_work( int matrix_order, char jobz, char range,
+                                char uplo, lapack_int n, double* a,
+                                lapack_int lda, double vl, double vu,
+                                lapack_int il, lapack_int iu, double abstol,
+                                lapack_int* m, double* w, double* z,
+                                lapack_int ldz, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_ssygst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, float* a, lapack_int lda,
+                                const float* b, lapack_int ldb );
+lapack_int LAPACKE_dsygst_work( int matrix_order, lapack_int itype, char uplo,
+                                lapack_int n, double* a, lapack_int lda,
+                                const double* b, lapack_int ldb );
+
+lapack_int LAPACKE_ssygv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n, float* a,
+                               lapack_int lda, float* b, lapack_int ldb,
+                               float* w, float* work, lapack_int lwork );
+lapack_int LAPACKE_dsygv_work( int matrix_order, lapack_int itype, char jobz,
+                               char uplo, lapack_int n, double* a,
+                               lapack_int lda, double* b, lapack_int ldb,
+                               double* w, double* work, lapack_int lwork );
+
+lapack_int LAPACKE_ssygvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n, float* a,
+                                lapack_int lda, float* b, lapack_int ldb,
+                                float* w, float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dsygvd_work( int matrix_order, lapack_int itype, char jobz,
+                                char uplo, lapack_int n, double* a,
+                                lapack_int lda, double* b, lapack_int ldb,
+                                double* w, double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+
+lapack_int LAPACKE_ssygvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n, float* a,
+                                lapack_int lda, float* b, lapack_int ldb,
+                                float vl, float vu, lapack_int il,
+                                lapack_int iu, float abstol, lapack_int* m,
+                                float* w, float* z, lapack_int ldz, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int* ifail );
+lapack_int LAPACKE_dsygvx_work( int matrix_order, lapack_int itype, char jobz,
+                                char range, char uplo, lapack_int n, double* a,
+                                lapack_int lda, double* b, lapack_int ldb,
+                                double vl, double vu, lapack_int il,
+                                lapack_int iu, double abstol, lapack_int* m,
+                                double* w, double* z, lapack_int ldz,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int* ifail );
+
+lapack_int LAPACKE_ssyrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* a, lapack_int lda,
+                                const float* af, lapack_int ldaf,
+                                const lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dsyrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* a,
+                                lapack_int lda, const double* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const double* b, lapack_int ldb, double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                double* work, lapack_int* iwork );
+lapack_int LAPACKE_csyrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_zsyrfs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_complex_double* af,
+                                lapack_int ldaf, const lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_ssyrfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs, const float* a,
+                                 lapack_int lda, const float* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const float* s, const float* b, lapack_int ldb,
+                                 float* x, lapack_int ldx, float* rcond,
+                                 float* berr, lapack_int n_err_bnds,
+                                 float* err_bnds_norm, float* err_bnds_comp,
+                                 lapack_int nparams, float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dsyrfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs, const double* a,
+                                 lapack_int lda, const double* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const double* s, const double* b,
+                                 lapack_int ldb, double* x, lapack_int ldx,
+                                 double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, double* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_csyrfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_float* a, lapack_int lda,
+                                 const lapack_complex_float* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const float* s, const lapack_complex_float* b,
+                                 lapack_int ldb, lapack_complex_float* x,
+                                 lapack_int ldx, float* rcond, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zsyrfsx_work( int matrix_order, char uplo, char equed,
+                                 lapack_int n, lapack_int nrhs,
+                                 const lapack_complex_double* a, lapack_int lda,
+                                 const lapack_complex_double* af,
+                                 lapack_int ldaf, const lapack_int* ipiv,
+                                 const double* s,
+                                 const lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_ssysv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, float* a, lapack_int lda,
+                               lapack_int* ipiv, float* b, lapack_int ldb,
+                               float* work, lapack_int lwork );
+lapack_int LAPACKE_dsysv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, double* a, lapack_int lda,
+                               lapack_int* ipiv, double* b, lapack_int ldb,
+                               double* work, lapack_int lwork );
+lapack_int LAPACKE_csysv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_float* a,
+                               lapack_int lda, lapack_int* ipiv,
+                               lapack_complex_float* b, lapack_int ldb,
+                               lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zsysv_work( int matrix_order, char uplo, lapack_int n,
+                               lapack_int nrhs, lapack_complex_double* a,
+                               lapack_int lda, lapack_int* ipiv,
+                               lapack_complex_double* b, lapack_int ldb,
+                               lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_ssysvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, const float* a,
+                                lapack_int lda, float* af, lapack_int ldaf,
+                                lapack_int* ipiv, const float* b,
+                                lapack_int ldb, float* x, lapack_int ldx,
+                                float* rcond, float* ferr, float* berr,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dsysvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs, const double* a,
+                                lapack_int lda, double* af, lapack_int ldaf,
+                                lapack_int* ipiv, const double* b,
+                                lapack_int ldb, double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_csysvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* af, lapack_int ldaf,
+                                lapack_int* ipiv, const lapack_complex_float* b,
+                                lapack_int ldb, lapack_complex_float* x,
+                                lapack_int ldx, float* rcond, float* ferr,
+                                float* berr, lapack_complex_float* work,
+                                lapack_int lwork, float* rwork );
+lapack_int LAPACKE_zsysvx_work( int matrix_order, char fact, char uplo,
+                                lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* af, lapack_int ldaf,
+                                lapack_int* ipiv,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* x, lapack_int ldx,
+                                double* rcond, double* ferr, double* berr,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork );
+
+lapack_int LAPACKE_ssysvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs, float* a,
+                                 lapack_int lda, float* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, float* s,
+                                 float* b, lapack_int ldb, float* x,
+                                 lapack_int ldx, float* rcond, float* rpvgrw,
+                                 float* berr, lapack_int n_err_bnds,
+                                 float* err_bnds_norm, float* err_bnds_comp,
+                                 lapack_int nparams, float* params, float* work,
+                                 lapack_int* iwork );
+lapack_int LAPACKE_dsysvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs, double* a,
+                                 lapack_int lda, double* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, double* s,
+                                 double* b, lapack_int ldb, double* x,
+                                 lapack_int ldx, double* rcond, double* rpvgrw,
+                                 double* berr, lapack_int n_err_bnds,
+                                 double* err_bnds_norm, double* err_bnds_comp,
+                                 lapack_int nparams, double* params,
+                                 double* work, lapack_int* iwork );
+lapack_int LAPACKE_csysvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, float* s,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* x, lapack_int ldx,
+                                 float* rcond, float* rpvgrw, float* berr,
+                                 lapack_int n_err_bnds, float* err_bnds_norm,
+                                 float* err_bnds_comp, lapack_int nparams,
+                                 float* params, lapack_complex_float* work,
+                                 float* rwork );
+lapack_int LAPACKE_zsysvxx_work( int matrix_order, char fact, char uplo,
+                                 lapack_int n, lapack_int nrhs,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* af, lapack_int ldaf,
+                                 lapack_int* ipiv, char* equed, double* s,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* x, lapack_int ldx,
+                                 double* rcond, double* rpvgrw, double* berr,
+                                 lapack_int n_err_bnds, double* err_bnds_norm,
+                                 double* err_bnds_comp, lapack_int nparams,
+                                 double* params, lapack_complex_double* work,
+                                 double* rwork );
+
+lapack_int LAPACKE_ssytrd_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda, float* d, float* e,
+                                float* tau, float* work, lapack_int lwork );
+lapack_int LAPACKE_dsytrd_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda, double* d, double* e,
+                                double* tau, double* work, lapack_int lwork );
+
+lapack_int LAPACKE_ssytrf_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda, lapack_int* ipiv,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dsytrf_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda, lapack_int* ipiv,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_csytrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_int* ipiv, lapack_complex_float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_zsytrf_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_int* ipiv, lapack_complex_double* work,
+                                lapack_int lwork );
+
+lapack_int LAPACKE_ssytri_work( int matrix_order, char uplo, lapack_int n,
+                                float* a, lapack_int lda,
+                                const lapack_int* ipiv, float* work );
+lapack_int LAPACKE_dsytri_work( int matrix_order, char uplo, lapack_int n,
+                                double* a, lapack_int lda,
+                                const lapack_int* ipiv, double* work );
+lapack_int LAPACKE_csytri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                const lapack_int* ipiv,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zsytri_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                const lapack_int* ipiv,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_ssytrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const float* a, lapack_int lda,
+                                const lapack_int* ipiv, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dsytrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const double* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                double* b, lapack_int ldb );
+lapack_int LAPACKE_csytrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_zsytrs_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_int nrhs, const lapack_complex_double* a,
+                                lapack_int lda, const lapack_int* ipiv,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stbcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, lapack_int kd,
+                                const float* ab, lapack_int ldab, float* rcond,
+                                float* work, lapack_int* iwork );
+lapack_int LAPACKE_dtbcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, lapack_int kd,
+                                const double* ab, lapack_int ldab,
+                                double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctbcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, lapack_int kd,
+                                const lapack_complex_float* ab, lapack_int ldab,
+                                float* rcond, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_ztbcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, lapack_int kd,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, double* rcond,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_stbrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs, const float* ab,
+                                lapack_int ldab, const float* b, lapack_int ldb,
+                                const float* x, lapack_int ldx, float* ferr,
+                                float* berr, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dtbrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs, const double* ab,
+                                lapack_int ldab, const double* b,
+                                lapack_int ldb, const double* x, lapack_int ldx,
+                                double* ferr, double* berr, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctbrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs, const lapack_complex_float* ab,
+                                lapack_int ldab, const lapack_complex_float* b,
+                                lapack_int ldb, const lapack_complex_float* x,
+                                lapack_int ldx, float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_ztbrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, const lapack_complex_double* b,
+                                lapack_int ldb, const lapack_complex_double* x,
+                                lapack_int ldx, double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_stbtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs, const float* ab,
+                                lapack_int ldab, float* b, lapack_int ldb );
+lapack_int LAPACKE_dtbtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs, const double* ab,
+                                lapack_int ldab, double* b, lapack_int ldb );
+lapack_int LAPACKE_ctbtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs, const lapack_complex_float* ab,
+                                lapack_int ldab, lapack_complex_float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_ztbtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int kd,
+                                lapack_int nrhs,
+                                const lapack_complex_double* ab,
+                                lapack_int ldab, lapack_complex_double* b,
+                                lapack_int ldb );
+
+lapack_int LAPACKE_stfsm_work( int matrix_order, char transr, char side,
+                               char uplo, char trans, char diag, lapack_int m,
+                               lapack_int n, float alpha, const float* a,
+                               float* b, lapack_int ldb );
+lapack_int LAPACKE_dtfsm_work( int matrix_order, char transr, char side,
+                               char uplo, char trans, char diag, lapack_int m,
+                               lapack_int n, double alpha, const double* a,
+                               double* b, lapack_int ldb );
+lapack_int LAPACKE_ctfsm_work( int matrix_order, char transr, char side,
+                               char uplo, char trans, char diag, lapack_int m,
+                               lapack_int n, lapack_complex_float alpha,
+                               const lapack_complex_float* a,
+                               lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztfsm_work( int matrix_order, char transr, char side,
+                               char uplo, char trans, char diag, lapack_int m,
+                               lapack_int n, lapack_complex_double alpha,
+                               const lapack_complex_double* a,
+                               lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stftri_work( int matrix_order, char transr, char uplo,
+                                char diag, lapack_int n, float* a );
+lapack_int LAPACKE_dtftri_work( int matrix_order, char transr, char uplo,
+                                char diag, lapack_int n, double* a );
+lapack_int LAPACKE_ctftri_work( int matrix_order, char transr, char uplo,
+                                char diag, lapack_int n,
+                                lapack_complex_float* a );
+lapack_int LAPACKE_ztftri_work( int matrix_order, char transr, char uplo,
+                                char diag, lapack_int n,
+                                lapack_complex_double* a );
+
+lapack_int LAPACKE_stfttp_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const float* arf, float* ap );
+lapack_int LAPACKE_dtfttp_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const double* arf, double* ap );
+lapack_int LAPACKE_ctfttp_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_float* arf,
+                                lapack_complex_float* ap );
+lapack_int LAPACKE_ztfttp_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_double* arf,
+                                lapack_complex_double* ap );
+
+lapack_int LAPACKE_stfttr_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const float* arf, float* a,
+                                lapack_int lda );
+lapack_int LAPACKE_dtfttr_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const double* arf, double* a,
+                                lapack_int lda );
+lapack_int LAPACKE_ctfttr_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_float* arf,
+                                lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_ztfttr_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_double* arf,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_stgevc_work( int matrix_order, char side, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const float* s, lapack_int lds, const float* p,
+                                lapack_int ldp, float* vl, lapack_int ldvl,
+                                float* vr, lapack_int ldvr, lapack_int mm,
+                                lapack_int* m, float* work );
+lapack_int LAPACKE_dtgevc_work( int matrix_order, char side, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const double* s, lapack_int lds,
+                                const double* p, lapack_int ldp, double* vl,
+                                lapack_int ldvl, double* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m, double* work );
+lapack_int LAPACKE_ctgevc_work( int matrix_order, char side, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const lapack_complex_float* s, lapack_int lds,
+                                const lapack_complex_float* p, lapack_int ldp,
+                                lapack_complex_float* vl, lapack_int ldvl,
+                                lapack_complex_float* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_ztgevc_work( int matrix_order, char side, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const lapack_complex_double* s, lapack_int lds,
+                                const lapack_complex_double* p, lapack_int ldp,
+                                lapack_complex_double* vl, lapack_int ldvl,
+                                lapack_complex_double* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_stgexc_work( int matrix_order, lapack_logical wantq,
+                                lapack_logical wantz, lapack_int n, float* a,
+                                lapack_int lda, float* b, lapack_int ldb,
+                                float* q, lapack_int ldq, float* z,
+                                lapack_int ldz, lapack_int* ifst,
+                                lapack_int* ilst, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dtgexc_work( int matrix_order, lapack_logical wantq,
+                                lapack_logical wantz, lapack_int n, double* a,
+                                lapack_int lda, double* b, lapack_int ldb,
+                                double* q, lapack_int ldq, double* z,
+                                lapack_int ldz, lapack_int* ifst,
+                                lapack_int* ilst, double* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_ctgexc_work( int matrix_order, lapack_logical wantq,
+                                lapack_logical wantz, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_int ifst, lapack_int ilst );
+lapack_int LAPACKE_ztgexc_work( int matrix_order, lapack_logical wantq,
+                                lapack_logical wantz, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_int ifst, lapack_int ilst );
+
+lapack_int LAPACKE_stgsen_work( int matrix_order, lapack_int ijob,
+                                lapack_logical wantq, lapack_logical wantz,
+                                const lapack_logical* select, lapack_int n,
+                                float* a, lapack_int lda, float* b,
+                                lapack_int ldb, float* alphar, float* alphai,
+                                float* beta, float* q, lapack_int ldq, float* z,
+                                lapack_int ldz, lapack_int* m, float* pl,
+                                float* pr, float* dif, float* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+lapack_int LAPACKE_dtgsen_work( int matrix_order, lapack_int ijob,
+                                lapack_logical wantq, lapack_logical wantz,
+                                const lapack_logical* select, lapack_int n,
+                                double* a, lapack_int lda, double* b,
+                                lapack_int ldb, double* alphar, double* alphai,
+                                double* beta, double* q, lapack_int ldq,
+                                double* z, lapack_int ldz, lapack_int* m,
+                                double* pl, double* pr, double* dif,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_ctgsen_work( int matrix_order, lapack_int ijob,
+                                lapack_logical wantq, lapack_logical wantz,
+                                const lapack_logical* select, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* alpha,
+                                lapack_complex_float* beta,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* z, lapack_int ldz,
+                                lapack_int* m, float* pl, float* pr, float* dif,
+                                lapack_complex_float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_ztgsen_work( int matrix_order, lapack_int ijob,
+                                lapack_logical wantq, lapack_logical wantz,
+                                const lapack_logical* select, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* alpha,
+                                lapack_complex_double* beta,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* z, lapack_int ldz,
+                                lapack_int* m, double* pl, double* pr,
+                                double* dif, lapack_complex_double* work,
+                                lapack_int lwork, lapack_int* iwork,
+                                lapack_int liwork );
+
+lapack_int LAPACKE_stgsja_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                float* a, lapack_int lda, float* b,
+                                lapack_int ldb, float tola, float tolb,
+                                float* alpha, float* beta, float* u,
+                                lapack_int ldu, float* v, lapack_int ldv,
+                                float* q, lapack_int ldq, float* work,
+                                lapack_int* ncycle );
+lapack_int LAPACKE_dtgsja_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                double* a, lapack_int lda, double* b,
+                                lapack_int ldb, double tola, double tolb,
+                                double* alpha, double* beta, double* u,
+                                lapack_int ldu, double* v, lapack_int ldv,
+                                double* q, lapack_int ldq, double* work,
+                                lapack_int* ncycle );
+lapack_int LAPACKE_ctgsja_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                float tola, float tolb, float* alpha,
+                                float* beta, lapack_complex_float* u,
+                                lapack_int ldu, lapack_complex_float* v,
+                                lapack_int ldv, lapack_complex_float* q,
+                                lapack_int ldq, lapack_complex_float* work,
+                                lapack_int* ncycle );
+lapack_int LAPACKE_ztgsja_work( int matrix_order, char jobu, char jobv,
+                                char jobq, lapack_int m, lapack_int p,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                double tola, double tolb, double* alpha,
+                                double* beta, lapack_complex_double* u,
+                                lapack_int ldu, lapack_complex_double* v,
+                                lapack_int ldv, lapack_complex_double* q,
+                                lapack_int ldq, lapack_complex_double* work,
+                                lapack_int* ncycle );
+
+lapack_int LAPACKE_stgsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const float* a, lapack_int lda, const float* b,
+                                lapack_int ldb, const float* vl,
+                                lapack_int ldvl, const float* vr,
+                                lapack_int ldvr, float* s, float* dif,
+                                lapack_int mm, lapack_int* m, float* work,
+                                lapack_int lwork, lapack_int* iwork );
+lapack_int LAPACKE_dtgsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const double* a, lapack_int lda,
+                                const double* b, lapack_int ldb,
+                                const double* vl, lapack_int ldvl,
+                                const double* vr, lapack_int ldvr, double* s,
+                                double* dif, lapack_int mm, lapack_int* m,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctgsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                const lapack_complex_float* vl, lapack_int ldvl,
+                                const lapack_complex_float* vr, lapack_int ldvr,
+                                float* s, float* dif, lapack_int mm,
+                                lapack_int* m, lapack_complex_float* work,
+                                lapack_int lwork, lapack_int* iwork );
+lapack_int LAPACKE_ztgsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                const lapack_complex_double* vl,
+                                lapack_int ldvl,
+                                const lapack_complex_double* vr,
+                                lapack_int ldvr, double* s, double* dif,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_double* work, lapack_int lwork,
+                                lapack_int* iwork );
+
+lapack_int LAPACKE_stgsyl_work( int matrix_order, char trans, lapack_int ijob,
+                                lapack_int m, lapack_int n, const float* a,
+                                lapack_int lda, const float* b, lapack_int ldb,
+                                float* c, lapack_int ldc, const float* d,
+                                lapack_int ldd, const float* e, lapack_int lde,
+                                float* f, lapack_int ldf, float* scale,
+                                float* dif, float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dtgsyl_work( int matrix_order, char trans, lapack_int ijob,
+                                lapack_int m, lapack_int n, const double* a,
+                                lapack_int lda, const double* b, lapack_int ldb,
+                                double* c, lapack_int ldc, const double* d,
+                                lapack_int ldd, const double* e, lapack_int lde,
+                                double* f, lapack_int ldf, double* scale,
+                                double* dif, double* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctgsyl_work( int matrix_order, char trans, lapack_int ijob,
+                                lapack_int m, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* c, lapack_int ldc,
+                                const lapack_complex_float* d, lapack_int ldd,
+                                const lapack_complex_float* e, lapack_int lde,
+                                lapack_complex_float* f, lapack_int ldf,
+                                float* scale, float* dif,
+                                lapack_complex_float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ztgsyl_work( int matrix_order, char trans, lapack_int ijob,
+                                lapack_int m, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* c, lapack_int ldc,
+                                const lapack_complex_double* d, lapack_int ldd,
+                                const lapack_complex_double* e, lapack_int lde,
+                                lapack_complex_double* f, lapack_int ldf,
+                                double* scale, double* dif,
+                                lapack_complex_double* work, lapack_int lwork,
+                                lapack_int* iwork );
+
+lapack_int LAPACKE_stpcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, const float* ap,
+                                float* rcond, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dtpcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, const double* ap,
+                                double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctpcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n,
+                                const lapack_complex_float* ap, float* rcond,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_ztpcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n,
+                                const lapack_complex_double* ap, double* rcond,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_stprfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const float* ap, const float* b, lapack_int ldb,
+                                const float* x, lapack_int ldx, float* ferr,
+                                float* berr, float* work, lapack_int* iwork );
+lapack_int LAPACKE_dtprfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const double* ap, const double* b,
+                                lapack_int ldb, const double* x, lapack_int ldx,
+                                double* ferr, double* berr, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctprfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* ap,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                const lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_ztprfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                const lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_stptri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, float* ap );
+lapack_int LAPACKE_dtptri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, double* ap );
+lapack_int LAPACKE_ctptri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, lapack_complex_float* ap );
+lapack_int LAPACKE_ztptri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, lapack_complex_double* ap );
+
+lapack_int LAPACKE_stptrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const float* ap, float* b, lapack_int ldb );
+lapack_int LAPACKE_dtptrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const double* ap, double* b, lapack_int ldb );
+lapack_int LAPACKE_ctptrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* ap,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztptrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* ap,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_stpttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const float* ap, float* arf );
+lapack_int LAPACKE_dtpttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const double* ap, double* arf );
+lapack_int LAPACKE_ctpttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_float* ap,
+                                lapack_complex_float* arf );
+lapack_int LAPACKE_ztpttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_double* ap,
+                                lapack_complex_double* arf );
+
+lapack_int LAPACKE_stpttr_work( int matrix_order, char uplo, lapack_int n,
+                                const float* ap, float* a, lapack_int lda );
+lapack_int LAPACKE_dtpttr_work( int matrix_order, char uplo, lapack_int n,
+                                const double* ap, double* a, lapack_int lda );
+lapack_int LAPACKE_ctpttr_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* ap,
+                                lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_ztpttr_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* ap,
+                                lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_strcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, const float* a,
+                                lapack_int lda, float* rcond, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dtrcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n, const double* a,
+                                lapack_int lda, double* rcond, double* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctrcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                float* rcond, lapack_complex_float* work,
+                                float* rwork );
+lapack_int LAPACKE_ztrcon_work( int matrix_order, char norm, char uplo,
+                                char diag, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                double* rcond, lapack_complex_double* work,
+                                double* rwork );
+
+lapack_int LAPACKE_strevc_work( int matrix_order, char side, char howmny,
+                                lapack_logical* select, lapack_int n,
+                                const float* t, lapack_int ldt, float* vl,
+                                lapack_int ldvl, float* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m, float* work );
+lapack_int LAPACKE_dtrevc_work( int matrix_order, char side, char howmny,
+                                lapack_logical* select, lapack_int n,
+                                const double* t, lapack_int ldt, double* vl,
+                                lapack_int ldvl, double* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m, double* work );
+lapack_int LAPACKE_ctrevc_work( int matrix_order, char side, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                lapack_complex_float* t, lapack_int ldt,
+                                lapack_complex_float* vl, lapack_int ldvl,
+                                lapack_complex_float* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_ztrevc_work( int matrix_order, char side, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                lapack_complex_double* t, lapack_int ldt,
+                                lapack_complex_double* vl, lapack_int ldvl,
+                                lapack_complex_double* vr, lapack_int ldvr,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_strexc_work( int matrix_order, char compq, lapack_int n,
+                                float* t, lapack_int ldt, float* q,
+                                lapack_int ldq, lapack_int* ifst,
+                                lapack_int* ilst, float* work );
+lapack_int LAPACKE_dtrexc_work( int matrix_order, char compq, lapack_int n,
+                                double* t, lapack_int ldt, double* q,
+                                lapack_int ldq, lapack_int* ifst,
+                                lapack_int* ilst, double* work );
+lapack_int LAPACKE_ctrexc_work( int matrix_order, char compq, lapack_int n,
+                                lapack_complex_float* t, lapack_int ldt,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_int ifst, lapack_int ilst );
+lapack_int LAPACKE_ztrexc_work( int matrix_order, char compq, lapack_int n,
+                                lapack_complex_double* t, lapack_int ldt,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_int ifst, lapack_int ilst );
+
+lapack_int LAPACKE_strrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const float* a, lapack_int lda, const float* b,
+                                lapack_int ldb, const float* x, lapack_int ldx,
+                                float* ferr, float* berr, float* work,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dtrrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const double* a, lapack_int lda,
+                                const double* b, lapack_int ldb,
+                                const double* x, lapack_int ldx, double* ferr,
+                                double* berr, double* work, lapack_int* iwork );
+lapack_int LAPACKE_ctrrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                const lapack_complex_float* x, lapack_int ldx,
+                                float* ferr, float* berr,
+                                lapack_complex_float* work, float* rwork );
+lapack_int LAPACKE_ztrrfs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                const lapack_complex_double* x, lapack_int ldx,
+                                double* ferr, double* berr,
+                                lapack_complex_double* work, double* rwork );
+
+lapack_int LAPACKE_strsen_work( int matrix_order, char job, char compq,
+                                const lapack_logical* select, lapack_int n,
+                                float* t, lapack_int ldt, float* q,
+                                lapack_int ldq, float* wr, float* wi,
+                                lapack_int* m, float* s, float* sep,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_dtrsen_work( int matrix_order, char job, char compq,
+                                const lapack_logical* select, lapack_int n,
+                                double* t, lapack_int ldt, double* q,
+                                lapack_int ldq, double* wr, double* wi,
+                                lapack_int* m, double* s, double* sep,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork, lapack_int liwork );
+lapack_int LAPACKE_ctrsen_work( int matrix_order, char job, char compq,
+                                const lapack_logical* select, lapack_int n,
+                                lapack_complex_float* t, lapack_int ldt,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* w, lapack_int* m,
+                                float* s, float* sep,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_ztrsen_work( int matrix_order, char job, char compq,
+                                const lapack_logical* select, lapack_int n,
+                                lapack_complex_double* t, lapack_int ldt,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* w, lapack_int* m,
+                                double* s, double* sep,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_strsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const float* t, lapack_int ldt, const float* vl,
+                                lapack_int ldvl, const float* vr,
+                                lapack_int ldvr, float* s, float* sep,
+                                lapack_int mm, lapack_int* m, float* work,
+                                lapack_int ldwork, lapack_int* iwork );
+lapack_int LAPACKE_dtrsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const double* t, lapack_int ldt,
+                                const double* vl, lapack_int ldvl,
+                                const double* vr, lapack_int ldvr, double* s,
+                                double* sep, lapack_int mm, lapack_int* m,
+                                double* work, lapack_int ldwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ctrsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const lapack_complex_float* t, lapack_int ldt,
+                                const lapack_complex_float* vl, lapack_int ldvl,
+                                const lapack_complex_float* vr, lapack_int ldvr,
+                                float* s, float* sep, lapack_int mm,
+                                lapack_int* m, lapack_complex_float* work,
+                                lapack_int ldwork, float* rwork );
+lapack_int LAPACKE_ztrsna_work( int matrix_order, char job, char howmny,
+                                const lapack_logical* select, lapack_int n,
+                                const lapack_complex_double* t, lapack_int ldt,
+                                const lapack_complex_double* vl,
+                                lapack_int ldvl,
+                                const lapack_complex_double* vr,
+                                lapack_int ldvr, double* s, double* sep,
+                                lapack_int mm, lapack_int* m,
+                                lapack_complex_double* work, lapack_int ldwork,
+                                double* rwork );
+
+lapack_int LAPACKE_strsyl_work( int matrix_order, char trana, char tranb,
+                                lapack_int isgn, lapack_int m, lapack_int n,
+                                const float* a, lapack_int lda, const float* b,
+                                lapack_int ldb, float* c, lapack_int ldc,
+                                float* scale );
+lapack_int LAPACKE_dtrsyl_work( int matrix_order, char trana, char tranb,
+                                lapack_int isgn, lapack_int m, lapack_int n,
+                                const double* a, lapack_int lda,
+                                const double* b, lapack_int ldb, double* c,
+                                lapack_int ldc, double* scale );
+lapack_int LAPACKE_ctrsyl_work( int matrix_order, char trana, char tranb,
+                                lapack_int isgn, lapack_int m, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* b, lapack_int ldb,
+                                lapack_complex_float* c, lapack_int ldc,
+                                float* scale );
+lapack_int LAPACKE_ztrsyl_work( int matrix_order, char trana, char tranb,
+                                lapack_int isgn, lapack_int m, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* c, lapack_int ldc,
+                                double* scale );
+
+lapack_int LAPACKE_strtri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, float* a, lapack_int lda );
+lapack_int LAPACKE_dtrtri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, double* a, lapack_int lda );
+lapack_int LAPACKE_ctrtri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, lapack_complex_float* a,
+                                lapack_int lda );
+lapack_int LAPACKE_ztrtri_work( int matrix_order, char uplo, char diag,
+                                lapack_int n, lapack_complex_double* a,
+                                lapack_int lda );
+
+lapack_int LAPACKE_strtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const float* a, lapack_int lda, float* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_dtrtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const double* a, lapack_int lda, double* b,
+                                lapack_int ldb );
+lapack_int LAPACKE_ctrtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztrtrs_work( int matrix_order, char uplo, char trans,
+                                char diag, lapack_int n, lapack_int nrhs,
+                                const lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_strttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const float* a, lapack_int lda,
+                                float* arf );
+lapack_int LAPACKE_dtrttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const double* a, lapack_int lda,
+                                double* arf );
+lapack_int LAPACKE_ctrttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* arf );
+lapack_int LAPACKE_ztrttf_work( int matrix_order, char transr, char uplo,
+                                lapack_int n, const lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* arf );
+
+lapack_int LAPACKE_strttp_work( int matrix_order, char uplo, lapack_int n,
+                                const float* a, lapack_int lda, float* ap );
+lapack_int LAPACKE_dtrttp_work( int matrix_order, char uplo, lapack_int n,
+                                const double* a, lapack_int lda, double* ap );
+lapack_int LAPACKE_ctrttp_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* ap );
+lapack_int LAPACKE_ztrttp_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* ap );
+
+lapack_int LAPACKE_stzrzf_work( int matrix_order, lapack_int m, lapack_int n,
+                                float* a, lapack_int lda, float* tau,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_dtzrzf_work( int matrix_order, lapack_int m, lapack_int n,
+                                double* a, lapack_int lda, double* tau,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_ctzrzf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_ztzrzf_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cungbr_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int k,
+                                lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zungbr_work( int matrix_order, char vect, lapack_int m,
+                                lapack_int n, lapack_int k,
+                                lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunghr_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunghr_work( int matrix_order, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunglq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunglq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cungql_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zungql_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cungqr_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zungqr_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cungrq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zungrq_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int k, lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cungtr_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zungtr_work( int matrix_order, char uplo, lapack_int n,
+                                lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmbr_work( int matrix_order, char vect, char side,
+                                char trans, lapack_int m, lapack_int n,
+                                lapack_int k, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmbr_work( int matrix_order, char vect, char side,
+                                char trans, lapack_int m, lapack_int n,
+                                lapack_int k, const lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmhr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmhr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int ilo,
+                                lapack_int ihi, const lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmlq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmlq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmql_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmql_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmqr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmqr_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmrq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmrq_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmrz_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                lapack_int l, const lapack_complex_float* a,
+                                lapack_int lda, const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmrz_work( int matrix_order, char side, char trans,
+                                lapack_int m, lapack_int n, lapack_int k,
+                                lapack_int l, const lapack_complex_double* a,
+                                lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cunmtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const lapack_complex_float* a, lapack_int lda,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_zunmtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const lapack_complex_double* a, lapack_int lda,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work, lapack_int lwork );
+
+lapack_int LAPACKE_cupgtr_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_float* ap,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* q, lapack_int ldq,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zupgtr_work( int matrix_order, char uplo, lapack_int n,
+                                const lapack_complex_double* ap,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* q, lapack_int ldq,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_cupmtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const lapack_complex_float* ap,
+                                const lapack_complex_float* tau,
+                                lapack_complex_float* c, lapack_int ldc,
+                                lapack_complex_float* work );
+lapack_int LAPACKE_zupmtr_work( int matrix_order, char side, char uplo,
+                                char trans, lapack_int m, lapack_int n,
+                                const lapack_complex_double* ap,
+                                const lapack_complex_double* tau,
+                                lapack_complex_double* c, lapack_int ldc,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_claghe( int matrix_order, lapack_int n, lapack_int k,
+                           const float* d, lapack_complex_float* a,
+                           lapack_int lda, lapack_int* iseed );
+lapack_int LAPACKE_zlaghe( int matrix_order, lapack_int n, lapack_int k,
+                           const double* d, lapack_complex_double* a,
+                           lapack_int lda, lapack_int* iseed );
+
+lapack_int LAPACKE_slagsy( int matrix_order, lapack_int n, lapack_int k,
+                           const float* d, float* a, lapack_int lda,
+                           lapack_int* iseed );
+lapack_int LAPACKE_dlagsy( int matrix_order, lapack_int n, lapack_int k,
+                           const double* d, double* a, lapack_int lda,
+                           lapack_int* iseed );
+lapack_int LAPACKE_clagsy( int matrix_order, lapack_int n, lapack_int k,
+                           const float* d, lapack_complex_float* a,
+                           lapack_int lda, lapack_int* iseed );
+lapack_int LAPACKE_zlagsy( int matrix_order, lapack_int n, lapack_int k,
+                           const double* d, lapack_complex_double* a,
+                           lapack_int lda, lapack_int* iseed );
+
+lapack_int LAPACKE_slapmr( int matrix_order, lapack_logical forwrd,
+                           lapack_int m, lapack_int n, float* x, lapack_int ldx,
+                           lapack_int* k );
+lapack_int LAPACKE_dlapmr( int matrix_order, lapack_logical forwrd,
+                           lapack_int m, lapack_int n, double* x,
+                           lapack_int ldx, lapack_int* k );
+lapack_int LAPACKE_clapmr( int matrix_order, lapack_logical forwrd,
+                           lapack_int m, lapack_int n, lapack_complex_float* x,
+                           lapack_int ldx, lapack_int* k );
+lapack_int LAPACKE_zlapmr( int matrix_order, lapack_logical forwrd,
+                           lapack_int m, lapack_int n, lapack_complex_double* x,
+                           lapack_int ldx, lapack_int* k );
+
+
+float LAPACKE_slapy2( float x, float y );
+double LAPACKE_dlapy2( double x, double y );
+
+float LAPACKE_slapy3( float x, float y, float z );
+double LAPACKE_dlapy3( double x, double y, double z );
+
+lapack_int LAPACKE_slartgp( float f, float g, float* cs, float* sn, float* r );
+lapack_int LAPACKE_dlartgp( double f, double g, double* cs, double* sn,
+                            double* r );
+
+lapack_int LAPACKE_slartgs( float x, float y, float sigma, float* cs,
+                            float* sn );
+lapack_int LAPACKE_dlartgs( double x, double y, double sigma, double* cs,
+                            double* sn );
+
+
+//LAPACK 3.3.0
+lapack_int LAPACKE_cbbcsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, lapack_int m,
+                           lapack_int p, lapack_int q, float* theta, float* phi,
+                           lapack_complex_float* u1, lapack_int ldu1,
+                           lapack_complex_float* u2, lapack_int ldu2,
+                           lapack_complex_float* v1t, lapack_int ldv1t,
+                           lapack_complex_float* v2t, lapack_int ldv2t,
+                           float* b11d, float* b11e, float* b12d, float* b12e,
+                           float* b21d, float* b21e, float* b22d, float* b22e );
+lapack_int LAPACKE_cbbcsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                float* theta, float* phi,
+                                lapack_complex_float* u1, lapack_int ldu1,
+                                lapack_complex_float* u2, lapack_int ldu2,
+                                lapack_complex_float* v1t, lapack_int ldv1t,
+                                lapack_complex_float* v2t, lapack_int ldv2t,
+                                float* b11d, float* b11e, float* b12d,
+                                float* b12e, float* b21d, float* b21e,
+                                float* b22d, float* b22e, float* rwork,
+                                lapack_int lrwork );
+lapack_int LAPACKE_cheswapr( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_float* a, lapack_int i1,
+                             lapack_int i2 );
+lapack_int LAPACKE_cheswapr_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_float* a, lapack_int i1,
+                                  lapack_int i2 );
+lapack_int LAPACKE_chetri2( int matrix_order, char uplo, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            const lapack_int* ipiv );
+lapack_int LAPACKE_chetri2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 const lapack_int* ipiv,
+                                 lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_chetri2x( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_float* a, lapack_int lda,
+                             const lapack_int* ipiv, lapack_int nb );
+lapack_int LAPACKE_chetri2x_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_float* a, lapack_int lda,
+                                  const lapack_int* ipiv,
+                                  lapack_complex_float* work, lapack_int nb );
+lapack_int LAPACKE_chetrs2( int matrix_order, char uplo, lapack_int n,
+                            lapack_int nrhs, const lapack_complex_float* a,
+                            lapack_int lda, const lapack_int* ipiv,
+                            lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_chetrs2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_int nrhs, const lapack_complex_float* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* work );
+lapack_int LAPACKE_csyconv( int matrix_order, char uplo, char way, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            const lapack_int* ipiv );
+lapack_int LAPACKE_csyconv_work( int matrix_order, char uplo, char way,
+                                 lapack_int n, lapack_complex_float* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 lapack_complex_float* work );
+lapack_int LAPACKE_csyswapr( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_float* a, lapack_int i1,
+                             lapack_int i2 );
+lapack_int LAPACKE_csyswapr_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_float* a, lapack_int i1,
+                                  lapack_int i2 );
+lapack_int LAPACKE_csytri2( int matrix_order, char uplo, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            const lapack_int* ipiv );
+lapack_int LAPACKE_csytri2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 const lapack_int* ipiv,
+                                 lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_csytri2x( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_float* a, lapack_int lda,
+                             const lapack_int* ipiv, lapack_int nb );
+lapack_int LAPACKE_csytri2x_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_float* a, lapack_int lda,
+                                  const lapack_int* ipiv,
+                                  lapack_complex_float* work, lapack_int nb );
+lapack_int LAPACKE_csytrs2( int matrix_order, char uplo, lapack_int n,
+                            lapack_int nrhs, const lapack_complex_float* a,
+                            lapack_int lda, const lapack_int* ipiv,
+                            lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_csytrs2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_int nrhs, const lapack_complex_float* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* work );
+lapack_int LAPACKE_cunbdb( int matrix_order, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q,
+                           lapack_complex_float* x11, lapack_int ldx11,
+                           lapack_complex_float* x12, lapack_int ldx12,
+                           lapack_complex_float* x21, lapack_int ldx21,
+                           lapack_complex_float* x22, lapack_int ldx22,
+                           float* theta, float* phi,
+                           lapack_complex_float* taup1,
+                           lapack_complex_float* taup2,
+                           lapack_complex_float* tauq1,
+                           lapack_complex_float* tauq2 );
+lapack_int LAPACKE_cunbdb_work( int matrix_order, char trans, char signs,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                lapack_complex_float* x11, lapack_int ldx11,
+                                lapack_complex_float* x12, lapack_int ldx12,
+                                lapack_complex_float* x21, lapack_int ldx21,
+                                lapack_complex_float* x22, lapack_int ldx22,
+                                float* theta, float* phi,
+                                lapack_complex_float* taup1,
+                                lapack_complex_float* taup2,
+                                lapack_complex_float* tauq1,
+                                lapack_complex_float* tauq2,
+                                lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_cuncsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q,
+                           lapack_complex_float* x11, lapack_int ldx11,
+                           lapack_complex_float* x12, lapack_int ldx12,
+                           lapack_complex_float* x21, lapack_int ldx21,
+                           lapack_complex_float* x22, lapack_int ldx22,
+                           float* theta, lapack_complex_float* u1,
+                           lapack_int ldu1, lapack_complex_float* u2,
+                           lapack_int ldu2, lapack_complex_float* v1t,
+                           lapack_int ldv1t, lapack_complex_float* v2t,
+                           lapack_int ldv2t );
+lapack_int LAPACKE_cuncsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                char signs, lapack_int m, lapack_int p,
+                                lapack_int q, lapack_complex_float* x11,
+                                lapack_int ldx11, lapack_complex_float* x12,
+                                lapack_int ldx12, lapack_complex_float* x21,
+                                lapack_int ldx21, lapack_complex_float* x22,
+                                lapack_int ldx22, float* theta,
+                                lapack_complex_float* u1, lapack_int ldu1,
+                                lapack_complex_float* u2, lapack_int ldu2,
+                                lapack_complex_float* v1t, lapack_int ldv1t,
+                                lapack_complex_float* v2t, lapack_int ldv2t,
+                                lapack_complex_float* work, lapack_int lwork,
+                                float* rwork, lapack_int lrwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dbbcsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, lapack_int m,
+                           lapack_int p, lapack_int q, double* theta,
+                           double* phi, double* u1, lapack_int ldu1, double* u2,
+                           lapack_int ldu2, double* v1t, lapack_int ldv1t,
+                           double* v2t, lapack_int ldv2t, double* b11d,
+                           double* b11e, double* b12d, double* b12e,
+                           double* b21d, double* b21e, double* b22d,
+                           double* b22e );
+lapack_int LAPACKE_dbbcsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                double* theta, double* phi, double* u1,
+                                lapack_int ldu1, double* u2, lapack_int ldu2,
+                                double* v1t, lapack_int ldv1t, double* v2t,
+                                lapack_int ldv2t, double* b11d, double* b11e,
+                                double* b12d, double* b12e, double* b21d,
+                                double* b21e, double* b22d, double* b22e,
+                                double* work, lapack_int lwork );
+lapack_int LAPACKE_dorbdb( int matrix_order, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q,
+                           double* x11, lapack_int ldx11, double* x12,
+                           lapack_int ldx12, double* x21, lapack_int ldx21,
+                           double* x22, lapack_int ldx22, double* theta,
+                           double* phi, double* taup1, double* taup2,
+                           double* tauq1, double* tauq2 );
+lapack_int LAPACKE_dorbdb_work( int matrix_order, char trans, char signs,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                double* x11, lapack_int ldx11, double* x12,
+                                lapack_int ldx12, double* x21, lapack_int ldx21,
+                                double* x22, lapack_int ldx22, double* theta,
+                                double* phi, double* taup1, double* taup2,
+                                double* tauq1, double* tauq2, double* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_dorcsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q,
+                           double* x11, lapack_int ldx11, double* x12,
+                           lapack_int ldx12, double* x21, lapack_int ldx21,
+                           double* x22, lapack_int ldx22, double* theta,
+                           double* u1, lapack_int ldu1, double* u2,
+                           lapack_int ldu2, double* v1t, lapack_int ldv1t,
+                           double* v2t, lapack_int ldv2t );
+lapack_int LAPACKE_dorcsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                char signs, lapack_int m, lapack_int p,
+                                lapack_int q, double* x11, lapack_int ldx11,
+                                double* x12, lapack_int ldx12, double* x21,
+                                lapack_int ldx21, double* x22, lapack_int ldx22,
+                                double* theta, double* u1, lapack_int ldu1,
+                                double* u2, lapack_int ldu2, double* v1t,
+                                lapack_int ldv1t, double* v2t, lapack_int ldv2t,
+                                double* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_dsyconv( int matrix_order, char uplo, char way, lapack_int n,
+                            double* a, lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_dsyconv_work( int matrix_order, char uplo, char way,
+                                 lapack_int n, double* a, lapack_int lda,
+                                 const lapack_int* ipiv, double* work );
+lapack_int LAPACKE_dsyswapr( int matrix_order, char uplo, lapack_int n,
+                             double* a, lapack_int i1, lapack_int i2 );
+lapack_int LAPACKE_dsyswapr_work( int matrix_order, char uplo, lapack_int n,
+                                  double* a, lapack_int i1, lapack_int i2 );
+lapack_int LAPACKE_dsytri2( int matrix_order, char uplo, lapack_int n,
+                            double* a, lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_dsytri2_work( int matrix_order, char uplo, lapack_int n,
+                                 double* a, lapack_int lda,
+                                 const lapack_int* ipiv,
+                                 lapack_complex_double* work, lapack_int lwork );
+lapack_int LAPACKE_dsytri2x( int matrix_order, char uplo, lapack_int n,
+                             double* a, lapack_int lda, const lapack_int* ipiv,
+                             lapack_int nb );
+lapack_int LAPACKE_dsytri2x_work( int matrix_order, char uplo, lapack_int n,
+                                  double* a, lapack_int lda,
+                                  const lapack_int* ipiv, double* work,
+                                  lapack_int nb );
+lapack_int LAPACKE_dsytrs2( int matrix_order, char uplo, lapack_int n,
+                            lapack_int nrhs, const double* a, lapack_int lda,
+                            const lapack_int* ipiv, double* b, lapack_int ldb );
+lapack_int LAPACKE_dsytrs2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_int nrhs, const double* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 double* b, lapack_int ldb, double* work );
+lapack_int LAPACKE_sbbcsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, lapack_int m,
+                           lapack_int p, lapack_int q, float* theta, float* phi,
+                           float* u1, lapack_int ldu1, float* u2,
+                           lapack_int ldu2, float* v1t, lapack_int ldv1t,
+                           float* v2t, lapack_int ldv2t, float* b11d,
+                           float* b11e, float* b12d, float* b12e, float* b21d,
+                           float* b21e, float* b22d, float* b22e );
+lapack_int LAPACKE_sbbcsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                float* theta, float* phi, float* u1,
+                                lapack_int ldu1, float* u2, lapack_int ldu2,
+                                float* v1t, lapack_int ldv1t, float* v2t,
+                                lapack_int ldv2t, float* b11d, float* b11e,
+                                float* b12d, float* b12e, float* b21d,
+                                float* b21e, float* b22d, float* b22e,
+                                float* work, lapack_int lwork );
+lapack_int LAPACKE_sorbdb( int matrix_order, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q, float* x11,
+                           lapack_int ldx11, float* x12, lapack_int ldx12,
+                           float* x21, lapack_int ldx21, float* x22,
+                           lapack_int ldx22, float* theta, float* phi,
+                           float* taup1, float* taup2, float* tauq1,
+                           float* tauq2 );
+lapack_int LAPACKE_sorbdb_work( int matrix_order, char trans, char signs,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                float* x11, lapack_int ldx11, float* x12,
+                                lapack_int ldx12, float* x21, lapack_int ldx21,
+                                float* x22, lapack_int ldx22, float* theta,
+                                float* phi, float* taup1, float* taup2,
+                                float* tauq1, float* tauq2, float* work,
+                                lapack_int lwork );
+lapack_int LAPACKE_sorcsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q, float* x11,
+                           lapack_int ldx11, float* x12, lapack_int ldx12,
+                           float* x21, lapack_int ldx21, float* x22,
+                           lapack_int ldx22, float* theta, float* u1,
+                           lapack_int ldu1, float* u2, lapack_int ldu2,
+                           float* v1t, lapack_int ldv1t, float* v2t,
+                           lapack_int ldv2t );
+lapack_int LAPACKE_sorcsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                char signs, lapack_int m, lapack_int p,
+                                lapack_int q, float* x11, lapack_int ldx11,
+                                float* x12, lapack_int ldx12, float* x21,
+                                lapack_int ldx21, float* x22, lapack_int ldx22,
+                                float* theta, float* u1, lapack_int ldu1,
+                                float* u2, lapack_int ldu2, float* v1t,
+                                lapack_int ldv1t, float* v2t, lapack_int ldv2t,
+                                float* work, lapack_int lwork,
+                                lapack_int* iwork );
+lapack_int LAPACKE_ssyconv( int matrix_order, char uplo, char way, lapack_int n,
+                            float* a, lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_ssyconv_work( int matrix_order, char uplo, char way,
+                                 lapack_int n, float* a, lapack_int lda,
+                                 const lapack_int* ipiv, float* work );
+lapack_int LAPACKE_ssyswapr( int matrix_order, char uplo, lapack_int n,
+                             float* a, lapack_int i1, lapack_int i2 );
+lapack_int LAPACKE_ssyswapr_work( int matrix_order, char uplo, lapack_int n,
+                                  float* a, lapack_int i1, lapack_int i2 );
+lapack_int LAPACKE_ssytri2( int matrix_order, char uplo, lapack_int n, float* a,
+                            lapack_int lda, const lapack_int* ipiv );
+lapack_int LAPACKE_ssytri2_work( int matrix_order, char uplo, lapack_int n,
+                                 float* a, lapack_int lda,
+                                 const lapack_int* ipiv,
+                                 lapack_complex_float* work, lapack_int lwork );
+lapack_int LAPACKE_ssytri2x( int matrix_order, char uplo, lapack_int n,
+                             float* a, lapack_int lda, const lapack_int* ipiv,
+                             lapack_int nb );
+lapack_int LAPACKE_ssytri2x_work( int matrix_order, char uplo, lapack_int n,
+                                  float* a, lapack_int lda,
+                                  const lapack_int* ipiv, float* work,
+                                  lapack_int nb );
+lapack_int LAPACKE_ssytrs2( int matrix_order, char uplo, lapack_int n,
+                            lapack_int nrhs, const float* a, lapack_int lda,
+                            const lapack_int* ipiv, float* b, lapack_int ldb );
+lapack_int LAPACKE_ssytrs2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_int nrhs, const float* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 float* b, lapack_int ldb, float* work );
+lapack_int LAPACKE_zbbcsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, lapack_int m,
+                           lapack_int p, lapack_int q, double* theta,
+                           double* phi, lapack_complex_double* u1,
+                           lapack_int ldu1, lapack_complex_double* u2,
+                           lapack_int ldu2, lapack_complex_double* v1t,
+                           lapack_int ldv1t, lapack_complex_double* v2t,
+                           lapack_int ldv2t, double* b11d, double* b11e,
+                           double* b12d, double* b12e, double* b21d,
+                           double* b21e, double* b22d, double* b22e );
+lapack_int LAPACKE_zbbcsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                double* theta, double* phi,
+                                lapack_complex_double* u1, lapack_int ldu1,
+                                lapack_complex_double* u2, lapack_int ldu2,
+                                lapack_complex_double* v1t, lapack_int ldv1t,
+                                lapack_complex_double* v2t, lapack_int ldv2t,
+                                double* b11d, double* b11e, double* b12d,
+                                double* b12e, double* b21d, double* b21e,
+                                double* b22d, double* b22e, double* rwork,
+                                lapack_int lrwork );
+lapack_int LAPACKE_zheswapr( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_double* a, lapack_int i1,
+                             lapack_int i2 );
+lapack_int LAPACKE_zheswapr_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_double* a, lapack_int i1,
+                                  lapack_int i2 );
+lapack_int LAPACKE_zhetri2( int matrix_order, char uplo, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            const lapack_int* ipiv );
+lapack_int LAPACKE_zhetri2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 const lapack_int* ipiv,
+                                 lapack_complex_double* work, lapack_int lwork );
+lapack_int LAPACKE_zhetri2x( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_double* a, lapack_int lda,
+                             const lapack_int* ipiv, lapack_int nb );
+lapack_int LAPACKE_zhetri2x_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_double* a, lapack_int lda,
+                                  const lapack_int* ipiv,
+                                  lapack_complex_double* work, lapack_int nb );
+lapack_int LAPACKE_zhetrs2( int matrix_order, char uplo, lapack_int n,
+                            lapack_int nrhs, const lapack_complex_double* a,
+                            lapack_int lda, const lapack_int* ipiv,
+                            lapack_complex_double* b, lapack_int ldb );
+lapack_int LAPACKE_zhetrs2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_int nrhs, const lapack_complex_double* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* work );
+lapack_int LAPACKE_zsyconv( int matrix_order, char uplo, char way, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            const lapack_int* ipiv );
+lapack_int LAPACKE_zsyconv_work( int matrix_order, char uplo, char way,
+                                 lapack_int n, lapack_complex_double* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 lapack_complex_double* work );
+lapack_int LAPACKE_zsyswapr( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_double* a, lapack_int i1,
+                             lapack_int i2 );
+lapack_int LAPACKE_zsyswapr_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_double* a, lapack_int i1,
+                                  lapack_int i2 );
+lapack_int LAPACKE_zsytri2( int matrix_order, char uplo, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            const lapack_int* ipiv );
+lapack_int LAPACKE_zsytri2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 const lapack_int* ipiv,
+                                 lapack_complex_double* work, lapack_int lwork );
+lapack_int LAPACKE_zsytri2x( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_double* a, lapack_int lda,
+                             const lapack_int* ipiv, lapack_int nb );
+lapack_int LAPACKE_zsytri2x_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_double* a, lapack_int lda,
+                                  const lapack_int* ipiv,
+                                  lapack_complex_double* work, lapack_int nb );
+lapack_int LAPACKE_zsytrs2( int matrix_order, char uplo, lapack_int n,
+                            lapack_int nrhs, const lapack_complex_double* a,
+                            lapack_int lda, const lapack_int* ipiv,
+                            lapack_complex_double* b, lapack_int ldb );
+lapack_int LAPACKE_zsytrs2_work( int matrix_order, char uplo, lapack_int n,
+                                 lapack_int nrhs, const lapack_complex_double* a,
+                                 lapack_int lda, const lapack_int* ipiv,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* work );
+lapack_int LAPACKE_zunbdb( int matrix_order, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q,
+                           lapack_complex_double* x11, lapack_int ldx11,
+                           lapack_complex_double* x12, lapack_int ldx12,
+                           lapack_complex_double* x21, lapack_int ldx21,
+                           lapack_complex_double* x22, lapack_int ldx22,
+                           double* theta, double* phi,
+                           lapack_complex_double* taup1,
+                           lapack_complex_double* taup2,
+                           lapack_complex_double* tauq1,
+                           lapack_complex_double* tauq2 );
+lapack_int LAPACKE_zunbdb_work( int matrix_order, char trans, char signs,
+                                lapack_int m, lapack_int p, lapack_int q,
+                                lapack_complex_double* x11, lapack_int ldx11,
+                                lapack_complex_double* x12, lapack_int ldx12,
+                                lapack_complex_double* x21, lapack_int ldx21,
+                                lapack_complex_double* x22, lapack_int ldx22,
+                                double* theta, double* phi,
+                                lapack_complex_double* taup1,
+                                lapack_complex_double* taup2,
+                                lapack_complex_double* tauq1,
+                                lapack_complex_double* tauq2,
+                                lapack_complex_double* work, lapack_int lwork );
+lapack_int LAPACKE_zuncsd( int matrix_order, char jobu1, char jobu2,
+                           char jobv1t, char jobv2t, char trans, char signs,
+                           lapack_int m, lapack_int p, lapack_int q,
+                           lapack_complex_double* x11, lapack_int ldx11,
+                           lapack_complex_double* x12, lapack_int ldx12,
+                           lapack_complex_double* x21, lapack_int ldx21,
+                           lapack_complex_double* x22, lapack_int ldx22,
+                           double* theta, lapack_complex_double* u1,
+                           lapack_int ldu1, lapack_complex_double* u2,
+                           lapack_int ldu2, lapack_complex_double* v1t,
+                           lapack_int ldv1t, lapack_complex_double* v2t,
+                           lapack_int ldv2t );
+lapack_int LAPACKE_zuncsd_work( int matrix_order, char jobu1, char jobu2,
+                                char jobv1t, char jobv2t, char trans,
+                                char signs, lapack_int m, lapack_int p,
+                                lapack_int q, lapack_complex_double* x11,
+                                lapack_int ldx11, lapack_complex_double* x12,
+                                lapack_int ldx12, lapack_complex_double* x21,
+                                lapack_int ldx21, lapack_complex_double* x22,
+                                lapack_int ldx22, double* theta,
+                                lapack_complex_double* u1, lapack_int ldu1,
+                                lapack_complex_double* u2, lapack_int ldu2,
+                                lapack_complex_double* v1t, lapack_int ldv1t,
+                                lapack_complex_double* v2t, lapack_int ldv2t,
+                                lapack_complex_double* work, lapack_int lwork,
+                                double* rwork, lapack_int lrwork,
+                                lapack_int* iwork );
+//LAPACK 3.4.0
+lapack_int LAPACKE_sgemqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int nb, const float* v, lapack_int ldv,
+                            const float* t, lapack_int ldt, float* c,
+                            lapack_int ldc );
+lapack_int LAPACKE_dgemqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int nb, const double* v, lapack_int ldv,
+                            const double* t, lapack_int ldt, double* c,
+                            lapack_int ldc );
+lapack_int LAPACKE_cgemqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int nb, const lapack_complex_float* v,
+                            lapack_int ldv, const lapack_complex_float* t,
+                            lapack_int ldt, lapack_complex_float* c,
+                            lapack_int ldc );
+lapack_int LAPACKE_zgemqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int nb, const lapack_complex_double* v,
+                            lapack_int ldv, const lapack_complex_double* t,
+                            lapack_int ldt, lapack_complex_double* c,
+                            lapack_int ldc );
+
+lapack_int LAPACKE_sgeqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nb, float* a, lapack_int lda, float* t,
+                           lapack_int ldt );
+lapack_int LAPACKE_dgeqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nb, double* a, lapack_int lda, double* t,
+                           lapack_int ldt );
+lapack_int LAPACKE_cgeqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nb, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* t,
+                           lapack_int ldt );
+lapack_int LAPACKE_zgeqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int nb, lapack_complex_double* a,
+                           lapack_int lda, lapack_complex_double* t,
+                           lapack_int ldt );
+
+lapack_int LAPACKE_sgeqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            float* a, lapack_int lda, float* t,
+                            lapack_int ldt );
+lapack_int LAPACKE_dgeqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            double* a, lapack_int lda, double* t,
+                            lapack_int ldt );
+lapack_int LAPACKE_cgeqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_zgeqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_sgeqrt3( int matrix_order, lapack_int m, lapack_int n,
+                            float* a, lapack_int lda, float* t,
+                            lapack_int ldt );
+lapack_int LAPACKE_dgeqrt3( int matrix_order, lapack_int m, lapack_int n,
+                            double* a, lapack_int lda, double* t,
+                            lapack_int ldt );
+lapack_int LAPACKE_cgeqrt3( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_zgeqrt3( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_stpmqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int l, lapack_int nb, const float* v,
+                            lapack_int ldv, const float* t, lapack_int ldt,
+                            float* a, lapack_int lda, float* b,
+                            lapack_int ldb );
+lapack_int LAPACKE_dtpmqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int l, lapack_int nb, const double* v,
+                            lapack_int ldv, const double* t, lapack_int ldt,
+                            double* a, lapack_int lda, double* b,
+                            lapack_int ldb );
+lapack_int LAPACKE_ctpmqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int l, lapack_int nb,
+                            const lapack_complex_float* v, lapack_int ldv,
+                            const lapack_complex_float* t, lapack_int ldt,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* b, lapack_int ldb );
+lapack_int LAPACKE_ztpmqrt( int matrix_order, char side, char trans,
+                            lapack_int m, lapack_int n, lapack_int k,
+                            lapack_int l, lapack_int nb,
+                            const lapack_complex_double* v, lapack_int ldv,
+                            const lapack_complex_double* t, lapack_int ldt,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* b, lapack_int ldb );
+
+lapack_int LAPACKE_dtpqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int l, lapack_int nb, double* a,
+                           lapack_int lda, double* b, lapack_int ldb, double* t,
+                           lapack_int ldt );
+lapack_int LAPACKE_ctpqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int l, lapack_int nb, lapack_complex_float* a,
+                           lapack_int lda, lapack_complex_float* t,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_int ldt );
+lapack_int LAPACKE_ztpqrt( int matrix_order, lapack_int m, lapack_int n,
+                           lapack_int l, lapack_int nb,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_stpqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            float* a, lapack_int lda, float* b, lapack_int ldb,
+                            float* t, lapack_int ldt );
+lapack_int LAPACKE_dtpqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            double* a, lapack_int lda, double* b,
+                            lapack_int ldb, double* t, lapack_int ldt );
+lapack_int LAPACKE_ctpqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_float* a, lapack_int lda,
+                            lapack_complex_float* b, lapack_int ldb,
+                            lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_ztpqrt2( int matrix_order, lapack_int m, lapack_int n,
+                            lapack_complex_double* a, lapack_int lda,
+                            lapack_complex_double* b, lapack_int ldb,
+                            lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_stprfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_int l, const float* v,
+                           lapack_int ldv, const float* t, lapack_int ldt,
+                           float* a, lapack_int lda, float* b, lapack_int ldb,
+                           lapack_int myldwork );
+lapack_int LAPACKE_dtprfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_int l, const double* v,
+                           lapack_int ldv, const double* t, lapack_int ldt,
+                           double* a, lapack_int lda, double* b, lapack_int ldb,
+                           lapack_int myldwork );
+lapack_int LAPACKE_ctprfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_int l,
+                           const lapack_complex_float* v, lapack_int ldv,
+                           const lapack_complex_float* t, lapack_int ldt,
+                           lapack_complex_float* a, lapack_int lda,
+                           lapack_complex_float* b, lapack_int ldb,
+                           lapack_int myldwork );
+lapack_int LAPACKE_ztprfb( int matrix_order, char side, char trans, char direct,
+                           char storev, lapack_int m, lapack_int n,
+                           lapack_int k, lapack_int l,
+                           const lapack_complex_double* v, lapack_int ldv,
+                           const lapack_complex_double* t, lapack_int ldt,
+                           lapack_complex_double* a, lapack_int lda,
+                           lapack_complex_double* b, lapack_int ldb,
+                           lapack_int myldwork );
+
+lapack_int LAPACKE_sgemqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int nb, const float* v, lapack_int ldv,
+                                 const float* t, lapack_int ldt, float* c,
+                                 lapack_int ldc, float* work );
+lapack_int LAPACKE_dgemqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int nb, const double* v, lapack_int ldv,
+                                 const double* t, lapack_int ldt, double* c,
+                                 lapack_int ldc, double* work );
+lapack_int LAPACKE_cgemqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int nb, const lapack_complex_float* v,
+                                 lapack_int ldv, const lapack_complex_float* t,
+                                 lapack_int ldt, lapack_complex_float* c,
+                                 lapack_int ldc, lapack_complex_float* work );
+lapack_int LAPACKE_zgemqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int nb, const lapack_complex_double* v,
+                                 lapack_int ldv, const lapack_complex_double* t,
+                                 lapack_int ldt, lapack_complex_double* c,
+                                 lapack_int ldc, lapack_complex_double* work );
+
+lapack_int LAPACKE_sgeqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nb, float* a, lapack_int lda,
+                                float* t, lapack_int ldt, float* work );
+lapack_int LAPACKE_dgeqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nb, double* a, lapack_int lda,
+                                double* t, lapack_int ldt, double* work );
+lapack_int LAPACKE_cgeqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nb, lapack_complex_float* a,
+                                lapack_int lda, lapack_complex_float* t,
+                                lapack_int ldt, lapack_complex_float* work );
+lapack_int LAPACKE_zgeqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int nb, lapack_complex_double* a,
+                                lapack_int lda, lapack_complex_double* t,
+                                lapack_int ldt, lapack_complex_double* work );
+
+lapack_int LAPACKE_sgeqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 float* a, lapack_int lda, float* t,
+                                 lapack_int ldt );
+lapack_int LAPACKE_dgeqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 double* a, lapack_int lda, double* t,
+                                 lapack_int ldt );
+lapack_int LAPACKE_cgeqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_zgeqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_sgeqrt3_work( int matrix_order, lapack_int m, lapack_int n,
+                                 float* a, lapack_int lda, float* t,
+                                 lapack_int ldt );
+lapack_int LAPACKE_dgeqrt3_work( int matrix_order, lapack_int m, lapack_int n,
+                                 double* a, lapack_int lda, double* t,
+                                 lapack_int ldt );
+lapack_int LAPACKE_cgeqrt3_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_zgeqrt3_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_stpmqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int l, lapack_int nb, const float* v,
+                                 lapack_int ldv, const float* t, lapack_int ldt,
+                                 float* a, lapack_int lda, float* b,
+                                 lapack_int ldb, float* work );
+lapack_int LAPACKE_dtpmqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int l, lapack_int nb, const double* v,
+                                 lapack_int ldv, const double* t,
+                                 lapack_int ldt, double* a, lapack_int lda,
+                                 double* b, lapack_int ldb, double* work );
+lapack_int LAPACKE_ctpmqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int l, lapack_int nb,
+                                 const lapack_complex_float* v, lapack_int ldv,
+                                 const lapack_complex_float* t, lapack_int ldt,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* work );
+lapack_int LAPACKE_ztpmqrt_work( int matrix_order, char side, char trans,
+                                 lapack_int m, lapack_int n, lapack_int k,
+                                 lapack_int l, lapack_int nb,
+                                 const lapack_complex_double* v, lapack_int ldv,
+                                 const lapack_complex_double* t, lapack_int ldt,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* work );
+
+lapack_int LAPACKE_dtpqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int l, lapack_int nb, double* a,
+                                lapack_int lda, double* b, lapack_int ldb,
+                                double* t, lapack_int ldt, double* work );
+lapack_int LAPACKE_ctpqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int l, lapack_int nb,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* t,
+                                lapack_complex_float* b, lapack_int ldb,
+                                lapack_int ldt, lapack_complex_float* work );
+lapack_int LAPACKE_ztpqrt_work( int matrix_order, lapack_int m, lapack_int n,
+                                lapack_int l, lapack_int nb,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                lapack_complex_double* t, lapack_int ldt,
+                                lapack_complex_double* work );
+
+lapack_int LAPACKE_stpqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 float* a, lapack_int lda, float* b,
+                                 lapack_int ldb, float* t, lapack_int ldt );
+lapack_int LAPACKE_dtpqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 double* a, lapack_int lda, double* b,
+                                 lapack_int ldb, double* t, lapack_int ldt );
+lapack_int LAPACKE_ctpqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_float* a, lapack_int lda,
+                                 lapack_complex_float* b, lapack_int ldb,
+                                 lapack_complex_float* t, lapack_int ldt );
+lapack_int LAPACKE_ztpqrt2_work( int matrix_order, lapack_int m, lapack_int n,
+                                 lapack_complex_double* a, lapack_int lda,
+                                 lapack_complex_double* b, lapack_int ldb,
+                                 lapack_complex_double* t, lapack_int ldt );
+
+lapack_int LAPACKE_stprfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                const float* v, lapack_int ldv, const float* t,
+                                lapack_int ldt, float* a, lapack_int lda,
+                                float* b, lapack_int ldb, const float* mywork,
+                                lapack_int myldwork );
+lapack_int LAPACKE_dtprfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                const double* v, lapack_int ldv,
+                                const double* t, lapack_int ldt, double* a,
+                                lapack_int lda, double* b, lapack_int ldb,
+                                const double* mywork, lapack_int myldwork );
+lapack_int LAPACKE_ctprfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                const lapack_complex_float* v, lapack_int ldv,
+                                const lapack_complex_float* t, lapack_int ldt,
+                                lapack_complex_float* a, lapack_int lda,
+                                lapack_complex_float* b, lapack_int ldb,
+                                const float* mywork, lapack_int myldwork );
+lapack_int LAPACKE_ztprfb_work( int matrix_order, char side, char trans,
+                                char direct, char storev, lapack_int m,
+                                lapack_int n, lapack_int k, lapack_int l,
+                                const lapack_complex_double* v, lapack_int ldv,
+                                const lapack_complex_double* t, lapack_int ldt,
+                                lapack_complex_double* a, lapack_int lda,
+                                lapack_complex_double* b, lapack_int ldb,
+                                const double* mywork, lapack_int myldwork );
+//LAPACK 3.X.X
+lapack_int LAPACKE_csyr( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_float alpha,
+                             const lapack_complex_float* x, lapack_int incx,
+                             lapack_complex_float* a, lapack_int lda );
+lapack_int LAPACKE_zsyr( int matrix_order, char uplo, lapack_int n,
+                             lapack_complex_double alpha,
+                             const lapack_complex_double* x, lapack_int incx,
+                             lapack_complex_double* a, lapack_int lda );
+
+lapack_int LAPACKE_csyr_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_float alpha,
+                                  const lapack_complex_float* x,
+                                  lapack_int incx, lapack_complex_float* a,
+                                  lapack_int lda );
+lapack_int LAPACKE_zsyr_work( int matrix_order, char uplo, lapack_int n,
+                                  lapack_complex_double alpha,
+                                  const lapack_complex_double* x,
+                                  lapack_int incx, lapack_complex_double* a,
+                                  lapack_int lda );
+
+
+
+#define LAPACK_sgetrf LAPACK_GLOBAL(sgetrf,SGETRF)
+#define LAPACK_dgetrf LAPACK_GLOBAL(dgetrf,DGETRF)
+#define LAPACK_cgetrf LAPACK_GLOBAL(cgetrf,CGETRF)
+#define LAPACK_zgetrf LAPACK_GLOBAL(zgetrf,ZGETRF)
+#define LAPACK_sgbtrf LAPACK_GLOBAL(sgbtrf,SGBTRF)
+#define LAPACK_dgbtrf LAPACK_GLOBAL(dgbtrf,DGBTRF)
+#define LAPACK_cgbtrf LAPACK_GLOBAL(cgbtrf,CGBTRF)
+#define LAPACK_zgbtrf LAPACK_GLOBAL(zgbtrf,ZGBTRF)
+#define LAPACK_sgttrf LAPACK_GLOBAL(sgttrf,SGTTRF)
+#define LAPACK_dgttrf LAPACK_GLOBAL(dgttrf,DGTTRF)
+#define LAPACK_cgttrf LAPACK_GLOBAL(cgttrf,CGTTRF)
+#define LAPACK_zgttrf LAPACK_GLOBAL(zgttrf,ZGTTRF)
+#define LAPACK_spotrf LAPACK_GLOBAL(spotrf,SPOTRF)
+#define LAPACK_dpotrf LAPACK_GLOBAL(dpotrf,DPOTRF)
+#define LAPACK_cpotrf LAPACK_GLOBAL(cpotrf,CPOTRF)
+#define LAPACK_zpotrf LAPACK_GLOBAL(zpotrf,ZPOTRF)
+#define LAPACK_dpstrf LAPACK_GLOBAL(dpstrf,DPSTRF)
+#define LAPACK_spstrf LAPACK_GLOBAL(spstrf,SPSTRF)
+#define LAPACK_zpstrf LAPACK_GLOBAL(zpstrf,ZPSTRF)
+#define LAPACK_cpstrf LAPACK_GLOBAL(cpstrf,CPSTRF)
+#define LAPACK_dpftrf LAPACK_GLOBAL(dpftrf,DPFTRF)
+#define LAPACK_spftrf LAPACK_GLOBAL(spftrf,SPFTRF)
+#define LAPACK_zpftrf LAPACK_GLOBAL(zpftrf,ZPFTRF)
+#define LAPACK_cpftrf LAPACK_GLOBAL(cpftrf,CPFTRF)
+#define LAPACK_spptrf LAPACK_GLOBAL(spptrf,SPPTRF)
+#define LAPACK_dpptrf LAPACK_GLOBAL(dpptrf,DPPTRF)
+#define LAPACK_cpptrf LAPACK_GLOBAL(cpptrf,CPPTRF)
+#define LAPACK_zpptrf LAPACK_GLOBAL(zpptrf,ZPPTRF)
+#define LAPACK_spbtrf LAPACK_GLOBAL(spbtrf,SPBTRF)
+#define LAPACK_dpbtrf LAPACK_GLOBAL(dpbtrf,DPBTRF)
+#define LAPACK_cpbtrf LAPACK_GLOBAL(cpbtrf,CPBTRF)
+#define LAPACK_zpbtrf LAPACK_GLOBAL(zpbtrf,ZPBTRF)
+#define LAPACK_spttrf LAPACK_GLOBAL(spttrf,SPTTRF)
+#define LAPACK_dpttrf LAPACK_GLOBAL(dpttrf,DPTTRF)
+#define LAPACK_cpttrf LAPACK_GLOBAL(cpttrf,CPTTRF)
+#define LAPACK_zpttrf LAPACK_GLOBAL(zpttrf,ZPTTRF)
+#define LAPACK_ssytrf LAPACK_GLOBAL(ssytrf,SSYTRF)
+#define LAPACK_dsytrf LAPACK_GLOBAL(dsytrf,DSYTRF)
+#define LAPACK_csytrf LAPACK_GLOBAL(csytrf,CSYTRF)
+#define LAPACK_zsytrf LAPACK_GLOBAL(zsytrf,ZSYTRF)
+#define LAPACK_chetrf LAPACK_GLOBAL(chetrf,CHETRF)
+#define LAPACK_zhetrf LAPACK_GLOBAL(zhetrf,ZHETRF)
+#define LAPACK_ssptrf LAPACK_GLOBAL(ssptrf,SSPTRF)
+#define LAPACK_dsptrf LAPACK_GLOBAL(dsptrf,DSPTRF)
+#define LAPACK_csptrf LAPACK_GLOBAL(csptrf,CSPTRF)
+#define LAPACK_zsptrf LAPACK_GLOBAL(zsptrf,ZSPTRF)
+#define LAPACK_chptrf LAPACK_GLOBAL(chptrf,CHPTRF)
+#define LAPACK_zhptrf LAPACK_GLOBAL(zhptrf,ZHPTRF)
+#define LAPACK_sgetrs LAPACK_GLOBAL(sgetrs,SGETRS)
+#define LAPACK_dgetrs LAPACK_GLOBAL(dgetrs,DGETRS)
+#define LAPACK_cgetrs LAPACK_GLOBAL(cgetrs,CGETRS)
+#define LAPACK_zgetrs LAPACK_GLOBAL(zgetrs,ZGETRS)
+#define LAPACK_sgbtrs LAPACK_GLOBAL(sgbtrs,SGBTRS)
+#define LAPACK_dgbtrs LAPACK_GLOBAL(dgbtrs,DGBTRS)
+#define LAPACK_cgbtrs LAPACK_GLOBAL(cgbtrs,CGBTRS)
+#define LAPACK_zgbtrs LAPACK_GLOBAL(zgbtrs,ZGBTRS)
+#define LAPACK_sgttrs LAPACK_GLOBAL(sgttrs,SGTTRS)
+#define LAPACK_dgttrs LAPACK_GLOBAL(dgttrs,DGTTRS)
+#define LAPACK_cgttrs LAPACK_GLOBAL(cgttrs,CGTTRS)
+#define LAPACK_zgttrs LAPACK_GLOBAL(zgttrs,ZGTTRS)
+#define LAPACK_spotrs LAPACK_GLOBAL(spotrs,SPOTRS)
+#define LAPACK_dpotrs LAPACK_GLOBAL(dpotrs,DPOTRS)
+#define LAPACK_cpotrs LAPACK_GLOBAL(cpotrs,CPOTRS)
+#define LAPACK_zpotrs LAPACK_GLOBAL(zpotrs,ZPOTRS)
+#define LAPACK_dpftrs LAPACK_GLOBAL(dpftrs,DPFTRS)
+#define LAPACK_spftrs LAPACK_GLOBAL(spftrs,SPFTRS)
+#define LAPACK_zpftrs LAPACK_GLOBAL(zpftrs,ZPFTRS)
+#define LAPACK_cpftrs LAPACK_GLOBAL(cpftrs,CPFTRS)
+#define LAPACK_spptrs LAPACK_GLOBAL(spptrs,SPPTRS)
+#define LAPACK_dpptrs LAPACK_GLOBAL(dpptrs,DPPTRS)
+#define LAPACK_cpptrs LAPACK_GLOBAL(cpptrs,CPPTRS)
+#define LAPACK_zpptrs LAPACK_GLOBAL(zpptrs,ZPPTRS)
+#define LAPACK_spbtrs LAPACK_GLOBAL(spbtrs,SPBTRS)
+#define LAPACK_dpbtrs LAPACK_GLOBAL(dpbtrs,DPBTRS)
+#define LAPACK_cpbtrs LAPACK_GLOBAL(cpbtrs,CPBTRS)
+#define LAPACK_zpbtrs LAPACK_GLOBAL(zpbtrs,ZPBTRS)
+#define LAPACK_spttrs LAPACK_GLOBAL(spttrs,SPTTRS)
+#define LAPACK_dpttrs LAPACK_GLOBAL(dpttrs,DPTTRS)
+#define LAPACK_cpttrs LAPACK_GLOBAL(cpttrs,CPTTRS)
+#define LAPACK_zpttrs LAPACK_GLOBAL(zpttrs,ZPTTRS)
+#define LAPACK_ssytrs LAPACK_GLOBAL(ssytrs,SSYTRS)
+#define LAPACK_dsytrs LAPACK_GLOBAL(dsytrs,DSYTRS)
+#define LAPACK_csytrs LAPACK_GLOBAL(csytrs,CSYTRS)
+#define LAPACK_zsytrs LAPACK_GLOBAL(zsytrs,ZSYTRS)
+#define LAPACK_chetrs LAPACK_GLOBAL(chetrs,CHETRS)
+#define LAPACK_zhetrs LAPACK_GLOBAL(zhetrs,ZHETRS)
+#define LAPACK_ssptrs LAPACK_GLOBAL(ssptrs,SSPTRS)
+#define LAPACK_dsptrs LAPACK_GLOBAL(dsptrs,DSPTRS)
+#define LAPACK_csptrs LAPACK_GLOBAL(csptrs,CSPTRS)
+#define LAPACK_zsptrs LAPACK_GLOBAL(zsptrs,ZSPTRS)
+#define LAPACK_chptrs LAPACK_GLOBAL(chptrs,CHPTRS)
+#define LAPACK_zhptrs LAPACK_GLOBAL(zhptrs,ZHPTRS)
+#define LAPACK_strtrs LAPACK_GLOBAL(strtrs,STRTRS)
+#define LAPACK_dtrtrs LAPACK_GLOBAL(dtrtrs,DTRTRS)
+#define LAPACK_ctrtrs LAPACK_GLOBAL(ctrtrs,CTRTRS)
+#define LAPACK_ztrtrs LAPACK_GLOBAL(ztrtrs,ZTRTRS)
+#define LAPACK_stptrs LAPACK_GLOBAL(stptrs,STPTRS)
+#define LAPACK_dtptrs LAPACK_GLOBAL(dtptrs,DTPTRS)
+#define LAPACK_ctptrs LAPACK_GLOBAL(ctptrs,CTPTRS)
+#define LAPACK_ztptrs LAPACK_GLOBAL(ztptrs,ZTPTRS)
+#define LAPACK_stbtrs LAPACK_GLOBAL(stbtrs,STBTRS)
+#define LAPACK_dtbtrs LAPACK_GLOBAL(dtbtrs,DTBTRS)
+#define LAPACK_ctbtrs LAPACK_GLOBAL(ctbtrs,CTBTRS)
+#define LAPACK_ztbtrs LAPACK_GLOBAL(ztbtrs,ZTBTRS)
+#define LAPACK_sgecon LAPACK_GLOBAL(sgecon,SGECON)
+#define LAPACK_dgecon LAPACK_GLOBAL(dgecon,DGECON)
+#define LAPACK_cgecon LAPACK_GLOBAL(cgecon,CGECON)
+#define LAPACK_zgecon LAPACK_GLOBAL(zgecon,ZGECON)
+#define LAPACK_sgbcon LAPACK_GLOBAL(sgbcon,SGBCON)
+#define LAPACK_dgbcon LAPACK_GLOBAL(dgbcon,DGBCON)
+#define LAPACK_cgbcon LAPACK_GLOBAL(cgbcon,CGBCON)
+#define LAPACK_zgbcon LAPACK_GLOBAL(zgbcon,ZGBCON)
+#define LAPACK_sgtcon LAPACK_GLOBAL(sgtcon,SGTCON)
+#define LAPACK_dgtcon LAPACK_GLOBAL(dgtcon,DGTCON)
+#define LAPACK_cgtcon LAPACK_GLOBAL(cgtcon,CGTCON)
+#define LAPACK_zgtcon LAPACK_GLOBAL(zgtcon,ZGTCON)
+#define LAPACK_spocon LAPACK_GLOBAL(spocon,SPOCON)
+#define LAPACK_dpocon LAPACK_GLOBAL(dpocon,DPOCON)
+#define LAPACK_cpocon LAPACK_GLOBAL(cpocon,CPOCON)
+#define LAPACK_zpocon LAPACK_GLOBAL(zpocon,ZPOCON)
+#define LAPACK_sppcon LAPACK_GLOBAL(sppcon,SPPCON)
+#define LAPACK_dppcon LAPACK_GLOBAL(dppcon,DPPCON)
+#define LAPACK_cppcon LAPACK_GLOBAL(cppcon,CPPCON)
+#define LAPACK_zppcon LAPACK_GLOBAL(zppcon,ZPPCON)
+#define LAPACK_spbcon LAPACK_GLOBAL(spbcon,SPBCON)
+#define LAPACK_dpbcon LAPACK_GLOBAL(dpbcon,DPBCON)
+#define LAPACK_cpbcon LAPACK_GLOBAL(cpbcon,CPBCON)
+#define LAPACK_zpbcon LAPACK_GLOBAL(zpbcon,ZPBCON)
+#define LAPACK_sptcon LAPACK_GLOBAL(sptcon,SPTCON)
+#define LAPACK_dptcon LAPACK_GLOBAL(dptcon,DPTCON)
+#define LAPACK_cptcon LAPACK_GLOBAL(cptcon,CPTCON)
+#define LAPACK_zptcon LAPACK_GLOBAL(zptcon,ZPTCON)
+#define LAPACK_ssycon LAPACK_GLOBAL(ssycon,SSYCON)
+#define LAPACK_dsycon LAPACK_GLOBAL(dsycon,DSYCON)
+#define LAPACK_csycon LAPACK_GLOBAL(csycon,CSYCON)
+#define LAPACK_zsycon LAPACK_GLOBAL(zsycon,ZSYCON)
+#define LAPACK_checon LAPACK_GLOBAL(checon,CHECON)
+#define LAPACK_zhecon LAPACK_GLOBAL(zhecon,ZHECON)
+#define LAPACK_sspcon LAPACK_GLOBAL(sspcon,SSPCON)
+#define LAPACK_dspcon LAPACK_GLOBAL(dspcon,DSPCON)
+#define LAPACK_cspcon LAPACK_GLOBAL(cspcon,CSPCON)
+#define LAPACK_zspcon LAPACK_GLOBAL(zspcon,ZSPCON)
+#define LAPACK_chpcon LAPACK_GLOBAL(chpcon,CHPCON)
+#define LAPACK_zhpcon LAPACK_GLOBAL(zhpcon,ZHPCON)
+#define LAPACK_strcon LAPACK_GLOBAL(strcon,STRCON)
+#define LAPACK_dtrcon LAPACK_GLOBAL(dtrcon,DTRCON)
+#define LAPACK_ctrcon LAPACK_GLOBAL(ctrcon,CTRCON)
+#define LAPACK_ztrcon LAPACK_GLOBAL(ztrcon,ZTRCON)
+#define LAPACK_stpcon LAPACK_GLOBAL(stpcon,STPCON)
+#define LAPACK_dtpcon LAPACK_GLOBAL(dtpcon,DTPCON)
+#define LAPACK_ctpcon LAPACK_GLOBAL(ctpcon,CTPCON)
+#define LAPACK_ztpcon LAPACK_GLOBAL(ztpcon,ZTPCON)
+#define LAPACK_stbcon LAPACK_GLOBAL(stbcon,STBCON)
+#define LAPACK_dtbcon LAPACK_GLOBAL(dtbcon,DTBCON)
+#define LAPACK_ctbcon LAPACK_GLOBAL(ctbcon,CTBCON)
+#define LAPACK_ztbcon LAPACK_GLOBAL(ztbcon,ZTBCON)
+#define LAPACK_sgerfs LAPACK_GLOBAL(sgerfs,SGERFS)
+#define LAPACK_dgerfs LAPACK_GLOBAL(dgerfs,DGERFS)
+#define LAPACK_cgerfs LAPACK_GLOBAL(cgerfs,CGERFS)
+#define LAPACK_zgerfs LAPACK_GLOBAL(zgerfs,ZGERFS)
+#define LAPACK_dgerfsx LAPACK_GLOBAL(dgerfsx,DGERFSX)
+#define LAPACK_sgerfsx LAPACK_GLOBAL(sgerfsx,SGERFSX)
+#define LAPACK_zgerfsx LAPACK_GLOBAL(zgerfsx,ZGERFSX)
+#define LAPACK_cgerfsx LAPACK_GLOBAL(cgerfsx,CGERFSX)
+#define LAPACK_sgbrfs LAPACK_GLOBAL(sgbrfs,SGBRFS)
+#define LAPACK_dgbrfs LAPACK_GLOBAL(dgbrfs,DGBRFS)
+#define LAPACK_cgbrfs LAPACK_GLOBAL(cgbrfs,CGBRFS)
+#define LAPACK_zgbrfs LAPACK_GLOBAL(zgbrfs,ZGBRFS)
+#define LAPACK_dgbrfsx LAPACK_GLOBAL(dgbrfsx,DGBRFSX)
+#define LAPACK_sgbrfsx LAPACK_GLOBAL(sgbrfsx,SGBRFSX)
+#define LAPACK_zgbrfsx LAPACK_GLOBAL(zgbrfsx,ZGBRFSX)
+#define LAPACK_cgbrfsx LAPACK_GLOBAL(cgbrfsx,CGBRFSX)
+#define LAPACK_sgtrfs LAPACK_GLOBAL(sgtrfs,SGTRFS)
+#define LAPACK_dgtrfs LAPACK_GLOBAL(dgtrfs,DGTRFS)
+#define LAPACK_cgtrfs LAPACK_GLOBAL(cgtrfs,CGTRFS)
+#define LAPACK_zgtrfs LAPACK_GLOBAL(zgtrfs,ZGTRFS)
+#define LAPACK_sporfs LAPACK_GLOBAL(sporfs,SPORFS)
+#define LAPACK_dporfs LAPACK_GLOBAL(dporfs,DPORFS)
+#define LAPACK_cporfs LAPACK_GLOBAL(cporfs,CPORFS)
+#define LAPACK_zporfs LAPACK_GLOBAL(zporfs,ZPORFS)
+#define LAPACK_dporfsx LAPACK_GLOBAL(dporfsx,DPORFSX)
+#define LAPACK_sporfsx LAPACK_GLOBAL(sporfsx,SPORFSX)
+#define LAPACK_zporfsx LAPACK_GLOBAL(zporfsx,ZPORFSX)
+#define LAPACK_cporfsx LAPACK_GLOBAL(cporfsx,CPORFSX)
+#define LAPACK_spprfs LAPACK_GLOBAL(spprfs,SPPRFS)
+#define LAPACK_dpprfs LAPACK_GLOBAL(dpprfs,DPPRFS)
+#define LAPACK_cpprfs LAPACK_GLOBAL(cpprfs,CPPRFS)
+#define LAPACK_zpprfs LAPACK_GLOBAL(zpprfs,ZPPRFS)
+#define LAPACK_spbrfs LAPACK_GLOBAL(spbrfs,SPBRFS)
+#define LAPACK_dpbrfs LAPACK_GLOBAL(dpbrfs,DPBRFS)
+#define LAPACK_cpbrfs LAPACK_GLOBAL(cpbrfs,CPBRFS)
+#define LAPACK_zpbrfs LAPACK_GLOBAL(zpbrfs,ZPBRFS)
+#define LAPACK_sptrfs LAPACK_GLOBAL(sptrfs,SPTRFS)
+#define LAPACK_dptrfs LAPACK_GLOBAL(dptrfs,DPTRFS)
+#define LAPACK_cptrfs LAPACK_GLOBAL(cptrfs,CPTRFS)
+#define LAPACK_zptrfs LAPACK_GLOBAL(zptrfs,ZPTRFS)
+#define LAPACK_ssyrfs LAPACK_GLOBAL(ssyrfs,SSYRFS)
+#define LAPACK_dsyrfs LAPACK_GLOBAL(dsyrfs,DSYRFS)
+#define LAPACK_csyrfs LAPACK_GLOBAL(csyrfs,CSYRFS)
+#define LAPACK_zsyrfs LAPACK_GLOBAL(zsyrfs,ZSYRFS)
+#define LAPACK_dsyrfsx LAPACK_GLOBAL(dsyrfsx,DSYRFSX)
+#define LAPACK_ssyrfsx LAPACK_GLOBAL(ssyrfsx,SSYRFSX)
+#define LAPACK_zsyrfsx LAPACK_GLOBAL(zsyrfsx,ZSYRFSX)
+#define LAPACK_csyrfsx LAPACK_GLOBAL(csyrfsx,CSYRFSX)
+#define LAPACK_cherfs LAPACK_GLOBAL(cherfs,CHERFS)
+#define LAPACK_zherfs LAPACK_GLOBAL(zherfs,ZHERFS)
+#define LAPACK_zherfsx LAPACK_GLOBAL(zherfsx,ZHERFSX)
+#define LAPACK_cherfsx LAPACK_GLOBAL(cherfsx,CHERFSX)
+#define LAPACK_ssprfs LAPACK_GLOBAL(ssprfs,SSPRFS)
+#define LAPACK_dsprfs LAPACK_GLOBAL(dsprfs,DSPRFS)
+#define LAPACK_csprfs LAPACK_GLOBAL(csprfs,CSPRFS)
+#define LAPACK_zsprfs LAPACK_GLOBAL(zsprfs,ZSPRFS)
+#define LAPACK_chprfs LAPACK_GLOBAL(chprfs,CHPRFS)
+#define LAPACK_zhprfs LAPACK_GLOBAL(zhprfs,ZHPRFS)
+#define LAPACK_strrfs LAPACK_GLOBAL(strrfs,STRRFS)
+#define LAPACK_dtrrfs LAPACK_GLOBAL(dtrrfs,DTRRFS)
+#define LAPACK_ctrrfs LAPACK_GLOBAL(ctrrfs,CTRRFS)
+#define LAPACK_ztrrfs LAPACK_GLOBAL(ztrrfs,ZTRRFS)
+#define LAPACK_stprfs LAPACK_GLOBAL(stprfs,STPRFS)
+#define LAPACK_dtprfs LAPACK_GLOBAL(dtprfs,DTPRFS)
+#define LAPACK_ctprfs LAPACK_GLOBAL(ctprfs,CTPRFS)
+#define LAPACK_ztprfs LAPACK_GLOBAL(ztprfs,ZTPRFS)
+#define LAPACK_stbrfs LAPACK_GLOBAL(stbrfs,STBRFS)
+#define LAPACK_dtbrfs LAPACK_GLOBAL(dtbrfs,DTBRFS)
+#define LAPACK_ctbrfs LAPACK_GLOBAL(ctbrfs,CTBRFS)
+#define LAPACK_ztbrfs LAPACK_GLOBAL(ztbrfs,ZTBRFS)
+#define LAPACK_sgetri LAPACK_GLOBAL(sgetri,SGETRI)
+#define LAPACK_dgetri LAPACK_GLOBAL(dgetri,DGETRI)
+#define LAPACK_cgetri LAPACK_GLOBAL(cgetri,CGETRI)
+#define LAPACK_zgetri LAPACK_GLOBAL(zgetri,ZGETRI)
+#define LAPACK_spotri LAPACK_GLOBAL(spotri,SPOTRI)
+#define LAPACK_dpotri LAPACK_GLOBAL(dpotri,DPOTRI)
+#define LAPACK_cpotri LAPACK_GLOBAL(cpotri,CPOTRI)
+#define LAPACK_zpotri LAPACK_GLOBAL(zpotri,ZPOTRI)
+#define LAPACK_dpftri LAPACK_GLOBAL(dpftri,DPFTRI)
+#define LAPACK_spftri LAPACK_GLOBAL(spftri,SPFTRI)
+#define LAPACK_zpftri LAPACK_GLOBAL(zpftri,ZPFTRI)
+#define LAPACK_cpftri LAPACK_GLOBAL(cpftri,CPFTRI)
+#define LAPACK_spptri LAPACK_GLOBAL(spptri,SPPTRI)
+#define LAPACK_dpptri LAPACK_GLOBAL(dpptri,DPPTRI)
+#define LAPACK_cpptri LAPACK_GLOBAL(cpptri,CPPTRI)
+#define LAPACK_zpptri LAPACK_GLOBAL(zpptri,ZPPTRI)
+#define LAPACK_ssytri LAPACK_GLOBAL(ssytri,SSYTRI)
+#define LAPACK_dsytri LAPACK_GLOBAL(dsytri,DSYTRI)
+#define LAPACK_csytri LAPACK_GLOBAL(csytri,CSYTRI)
+#define LAPACK_zsytri LAPACK_GLOBAL(zsytri,ZSYTRI)
+#define LAPACK_chetri LAPACK_GLOBAL(chetri,CHETRI)
+#define LAPACK_zhetri LAPACK_GLOBAL(zhetri,ZHETRI)
+#define LAPACK_ssptri LAPACK_GLOBAL(ssptri,SSPTRI)
+#define LAPACK_dsptri LAPACK_GLOBAL(dsptri,DSPTRI)
+#define LAPACK_csptri LAPACK_GLOBAL(csptri,CSPTRI)
+#define LAPACK_zsptri LAPACK_GLOBAL(zsptri,ZSPTRI)
+#define LAPACK_chptri LAPACK_GLOBAL(chptri,CHPTRI)
+#define LAPACK_zhptri LAPACK_GLOBAL(zhptri,ZHPTRI)
+#define LAPACK_strtri LAPACK_GLOBAL(strtri,STRTRI)
+#define LAPACK_dtrtri LAPACK_GLOBAL(dtrtri,DTRTRI)
+#define LAPACK_ctrtri LAPACK_GLOBAL(ctrtri,CTRTRI)
+#define LAPACK_ztrtri LAPACK_GLOBAL(ztrtri,ZTRTRI)
+#define LAPACK_dtftri LAPACK_GLOBAL(dtftri,DTFTRI)
+#define LAPACK_stftri LAPACK_GLOBAL(stftri,STFTRI)
+#define LAPACK_ztftri LAPACK_GLOBAL(ztftri,ZTFTRI)
+#define LAPACK_ctftri LAPACK_GLOBAL(ctftri,CTFTRI)
+#define LAPACK_stptri LAPACK_GLOBAL(stptri,STPTRI)
+#define LAPACK_dtptri LAPACK_GLOBAL(dtptri,DTPTRI)
+#define LAPACK_ctptri LAPACK_GLOBAL(ctptri,CTPTRI)
+#define LAPACK_ztptri LAPACK_GLOBAL(ztptri,ZTPTRI)
+#define LAPACK_sgeequ LAPACK_GLOBAL(sgeequ,SGEEQU)
+#define LAPACK_dgeequ LAPACK_GLOBAL(dgeequ,DGEEQU)
+#define LAPACK_cgeequ LAPACK_GLOBAL(cgeequ,CGEEQU)
+#define LAPACK_zgeequ LAPACK_GLOBAL(zgeequ,ZGEEQU)
+#define LAPACK_dgeequb LAPACK_GLOBAL(dgeequb,DGEEQUB)
+#define LAPACK_sgeequb LAPACK_GLOBAL(sgeequb,SGEEQUB)
+#define LAPACK_zgeequb LAPACK_GLOBAL(zgeequb,ZGEEQUB)
+#define LAPACK_cgeequb LAPACK_GLOBAL(cgeequb,CGEEQUB)
+#define LAPACK_sgbequ LAPACK_GLOBAL(sgbequ,SGBEQU)
+#define LAPACK_dgbequ LAPACK_GLOBAL(dgbequ,DGBEQU)
+#define LAPACK_cgbequ LAPACK_GLOBAL(cgbequ,CGBEQU)
+#define LAPACK_zgbequ LAPACK_GLOBAL(zgbequ,ZGBEQU)
+#define LAPACK_dgbequb LAPACK_GLOBAL(dgbequb,DGBEQUB)
+#define LAPACK_sgbequb LAPACK_GLOBAL(sgbequb,SGBEQUB)
+#define LAPACK_zgbequb LAPACK_GLOBAL(zgbequb,ZGBEQUB)
+#define LAPACK_cgbequb LAPACK_GLOBAL(cgbequb,CGBEQUB)
+#define LAPACK_spoequ LAPACK_GLOBAL(spoequ,SPOEQU)
+#define LAPACK_dpoequ LAPACK_GLOBAL(dpoequ,DPOEQU)
+#define LAPACK_cpoequ LAPACK_GLOBAL(cpoequ,CPOEQU)
+#define LAPACK_zpoequ LAPACK_GLOBAL(zpoequ,ZPOEQU)
+#define LAPACK_dpoequb LAPACK_GLOBAL(dpoequb,DPOEQUB)
+#define LAPACK_spoequb LAPACK_GLOBAL(spoequb,SPOEQUB)
+#define LAPACK_zpoequb LAPACK_GLOBAL(zpoequb,ZPOEQUB)
+#define LAPACK_cpoequb LAPACK_GLOBAL(cpoequb,CPOEQUB)
+#define LAPACK_sppequ LAPACK_GLOBAL(sppequ,SPPEQU)
+#define LAPACK_dppequ LAPACK_GLOBAL(dppequ,DPPEQU)
+#define LAPACK_cppequ LAPACK_GLOBAL(cppequ,CPPEQU)
+#define LAPACK_zppequ LAPACK_GLOBAL(zppequ,ZPPEQU)
+#define LAPACK_spbequ LAPACK_GLOBAL(spbequ,SPBEQU)
+#define LAPACK_dpbequ LAPACK_GLOBAL(dpbequ,DPBEQU)
+#define LAPACK_cpbequ LAPACK_GLOBAL(cpbequ,CPBEQU)
+#define LAPACK_zpbequ LAPACK_GLOBAL(zpbequ,ZPBEQU)
+#define LAPACK_dsyequb LAPACK_GLOBAL(dsyequb,DSYEQUB)
+#define LAPACK_ssyequb LAPACK_GLOBAL(ssyequb,SSYEQUB)
+#define LAPACK_zsyequb LAPACK_GLOBAL(zsyequb,ZSYEQUB)
+#define LAPACK_csyequb LAPACK_GLOBAL(csyequb,CSYEQUB)
+#define LAPACK_zheequb LAPACK_GLOBAL(zheequb,ZHEEQUB)
+#define LAPACK_cheequb LAPACK_GLOBAL(cheequb,CHEEQUB)
+#define LAPACK_sgesv LAPACK_GLOBAL(sgesv,SGESV)
+#define LAPACK_dgesv LAPACK_GLOBAL(dgesv,DGESV)
+#define LAPACK_cgesv LAPACK_GLOBAL(cgesv,CGESV)
+#define LAPACK_zgesv LAPACK_GLOBAL(zgesv,ZGESV)
+#define LAPACK_dsgesv LAPACK_GLOBAL(dsgesv,DSGESV)
+#define LAPACK_zcgesv LAPACK_GLOBAL(zcgesv,ZCGESV)
+#define LAPACK_sgesvx LAPACK_GLOBAL(sgesvx,SGESVX)
+#define LAPACK_dgesvx LAPACK_GLOBAL(dgesvx,DGESVX)
+#define LAPACK_cgesvx LAPACK_GLOBAL(cgesvx,CGESVX)
+#define LAPACK_zgesvx LAPACK_GLOBAL(zgesvx,ZGESVX)
+#define LAPACK_dgesvxx LAPACK_GLOBAL(dgesvxx,DGESVXX)
+#define LAPACK_sgesvxx LAPACK_GLOBAL(sgesvxx,SGESVXX)
+#define LAPACK_zgesvxx LAPACK_GLOBAL(zgesvxx,ZGESVXX)
+#define LAPACK_cgesvxx LAPACK_GLOBAL(cgesvxx,CGESVXX)
+#define LAPACK_sgbsv LAPACK_GLOBAL(sgbsv,SGBSV)
+#define LAPACK_dgbsv LAPACK_GLOBAL(dgbsv,DGBSV)
+#define LAPACK_cgbsv LAPACK_GLOBAL(cgbsv,CGBSV)
+#define LAPACK_zgbsv LAPACK_GLOBAL(zgbsv,ZGBSV)
+#define LAPACK_sgbsvx LAPACK_GLOBAL(sgbsvx,SGBSVX)
+#define LAPACK_dgbsvx LAPACK_GLOBAL(dgbsvx,DGBSVX)
+#define LAPACK_cgbsvx LAPACK_GLOBAL(cgbsvx,CGBSVX)
+#define LAPACK_zgbsvx LAPACK_GLOBAL(zgbsvx,ZGBSVX)
+#define LAPACK_dgbsvxx LAPACK_GLOBAL(dgbsvxx,DGBSVXX)
+#define LAPACK_sgbsvxx LAPACK_GLOBAL(sgbsvxx,SGBSVXX)
+#define LAPACK_zgbsvxx LAPACK_GLOBAL(zgbsvxx,ZGBSVXX)
+#define LAPACK_cgbsvxx LAPACK_GLOBAL(cgbsvxx,CGBSVXX)
+#define LAPACK_sgtsv LAPACK_GLOBAL(sgtsv,SGTSV)
+#define LAPACK_dgtsv LAPACK_GLOBAL(dgtsv,DGTSV)
+#define LAPACK_cgtsv LAPACK_GLOBAL(cgtsv,CGTSV)
+#define LAPACK_zgtsv LAPACK_GLOBAL(zgtsv,ZGTSV)
+#define LAPACK_sgtsvx LAPACK_GLOBAL(sgtsvx,SGTSVX)
+#define LAPACK_dgtsvx LAPACK_GLOBAL(dgtsvx,DGTSVX)
+#define LAPACK_cgtsvx LAPACK_GLOBAL(cgtsvx,CGTSVX)
+#define LAPACK_zgtsvx LAPACK_GLOBAL(zgtsvx,ZGTSVX)
+#define LAPACK_sposv LAPACK_GLOBAL(sposv,SPOSV)
+#define LAPACK_dposv LAPACK_GLOBAL(dposv,DPOSV)
+#define LAPACK_cposv LAPACK_GLOBAL(cposv,CPOSV)
+#define LAPACK_zposv LAPACK_GLOBAL(zposv,ZPOSV)
+#define LAPACK_dsposv LAPACK_GLOBAL(dsposv,DSPOSV)
+#define LAPACK_zcposv LAPACK_GLOBAL(zcposv,ZCPOSV)
+#define LAPACK_sposvx LAPACK_GLOBAL(sposvx,SPOSVX)
+#define LAPACK_dposvx LAPACK_GLOBAL(dposvx,DPOSVX)
+#define LAPACK_cposvx LAPACK_GLOBAL(cposvx,CPOSVX)
+#define LAPACK_zposvx LAPACK_GLOBAL(zposvx,ZPOSVX)
+#define LAPACK_dposvxx LAPACK_GLOBAL(dposvxx,DPOSVXX)
+#define LAPACK_sposvxx LAPACK_GLOBAL(sposvxx,SPOSVXX)
+#define LAPACK_zposvxx LAPACK_GLOBAL(zposvxx,ZPOSVXX)
+#define LAPACK_cposvxx LAPACK_GLOBAL(cposvxx,CPOSVXX)
+#define LAPACK_sppsv LAPACK_GLOBAL(sppsv,SPPSV)
+#define LAPACK_dppsv LAPACK_GLOBAL(dppsv,DPPSV)
+#define LAPACK_cppsv LAPACK_GLOBAL(cppsv,CPPSV)
+#define LAPACK_zppsv LAPACK_GLOBAL(zppsv,ZPPSV)
+#define LAPACK_sppsvx LAPACK_GLOBAL(sppsvx,SPPSVX)
+#define LAPACK_dppsvx LAPACK_GLOBAL(dppsvx,DPPSVX)
+#define LAPACK_cppsvx LAPACK_GLOBAL(cppsvx,CPPSVX)
+#define LAPACK_zppsvx LAPACK_GLOBAL(zppsvx,ZPPSVX)
+#define LAPACK_spbsv LAPACK_GLOBAL(spbsv,SPBSV)
+#define LAPACK_dpbsv LAPACK_GLOBAL(dpbsv,DPBSV)
+#define LAPACK_cpbsv LAPACK_GLOBAL(cpbsv,CPBSV)
+#define LAPACK_zpbsv LAPACK_GLOBAL(zpbsv,ZPBSV)
+#define LAPACK_spbsvx LAPACK_GLOBAL(spbsvx,SPBSVX)
+#define LAPACK_dpbsvx LAPACK_GLOBAL(dpbsvx,DPBSVX)
+#define LAPACK_cpbsvx LAPACK_GLOBAL(cpbsvx,CPBSVX)
+#define LAPACK_zpbsvx LAPACK_GLOBAL(zpbsvx,ZPBSVX)
+#define LAPACK_sptsv LAPACK_GLOBAL(sptsv,SPTSV)
+#define LAPACK_dptsv LAPACK_GLOBAL(dptsv,DPTSV)
+#define LAPACK_cptsv LAPACK_GLOBAL(cptsv,CPTSV)
+#define LAPACK_zptsv LAPACK_GLOBAL(zptsv,ZPTSV)
+#define LAPACK_sptsvx LAPACK_GLOBAL(sptsvx,SPTSVX)
+#define LAPACK_dptsvx LAPACK_GLOBAL(dptsvx,DPTSVX)
+#define LAPACK_cptsvx LAPACK_GLOBAL(cptsvx,CPTSVX)
+#define LAPACK_zptsvx LAPACK_GLOBAL(zptsvx,ZPTSVX)
+#define LAPACK_ssysv LAPACK_GLOBAL(ssysv,SSYSV)
+#define LAPACK_dsysv LAPACK_GLOBAL(dsysv,DSYSV)
+#define LAPACK_csysv LAPACK_GLOBAL(csysv,CSYSV)
+#define LAPACK_zsysv LAPACK_GLOBAL(zsysv,ZSYSV)
+#define LAPACK_ssysvx LAPACK_GLOBAL(ssysvx,SSYSVX)
+#define LAPACK_dsysvx LAPACK_GLOBAL(dsysvx,DSYSVX)
+#define LAPACK_csysvx LAPACK_GLOBAL(csysvx,CSYSVX)
+#define LAPACK_zsysvx LAPACK_GLOBAL(zsysvx,ZSYSVX)
+#define LAPACK_dsysvxx LAPACK_GLOBAL(dsysvxx,DSYSVXX)
+#define LAPACK_ssysvxx LAPACK_GLOBAL(ssysvxx,SSYSVXX)
+#define LAPACK_zsysvxx LAPACK_GLOBAL(zsysvxx,ZSYSVXX)
+#define LAPACK_csysvxx LAPACK_GLOBAL(csysvxx,CSYSVXX)
+#define LAPACK_chesv LAPACK_GLOBAL(chesv,CHESV)
+#define LAPACK_zhesv LAPACK_GLOBAL(zhesv,ZHESV)
+#define LAPACK_chesvx LAPACK_GLOBAL(chesvx,CHESVX)
+#define LAPACK_zhesvx LAPACK_GLOBAL(zhesvx,ZHESVX)
+#define LAPACK_zhesvxx LAPACK_GLOBAL(zhesvxx,ZHESVXX)
+#define LAPACK_chesvxx LAPACK_GLOBAL(chesvxx,CHESVXX)
+#define LAPACK_sspsv LAPACK_GLOBAL(sspsv,SSPSV)
+#define LAPACK_dspsv LAPACK_GLOBAL(dspsv,DSPSV)
+#define LAPACK_cspsv LAPACK_GLOBAL(cspsv,CSPSV)
+#define LAPACK_zspsv LAPACK_GLOBAL(zspsv,ZSPSV)
+#define LAPACK_sspsvx LAPACK_GLOBAL(sspsvx,SSPSVX)
+#define LAPACK_dspsvx LAPACK_GLOBAL(dspsvx,DSPSVX)
+#define LAPACK_cspsvx LAPACK_GLOBAL(cspsvx,CSPSVX)
+#define LAPACK_zspsvx LAPACK_GLOBAL(zspsvx,ZSPSVX)
+#define LAPACK_chpsv LAPACK_GLOBAL(chpsv,CHPSV)
+#define LAPACK_zhpsv LAPACK_GLOBAL(zhpsv,ZHPSV)
+#define LAPACK_chpsvx LAPACK_GLOBAL(chpsvx,CHPSVX)
+#define LAPACK_zhpsvx LAPACK_GLOBAL(zhpsvx,ZHPSVX)
+#define LAPACK_sgeqrf LAPACK_GLOBAL(sgeqrf,SGEQRF)
+#define LAPACK_dgeqrf LAPACK_GLOBAL(dgeqrf,DGEQRF)
+#define LAPACK_cgeqrf LAPACK_GLOBAL(cgeqrf,CGEQRF)
+#define LAPACK_zgeqrf LAPACK_GLOBAL(zgeqrf,ZGEQRF)
+#define LAPACK_sgeqpf LAPACK_GLOBAL(sgeqpf,SGEQPF)
+#define LAPACK_dgeqpf LAPACK_GLOBAL(dgeqpf,DGEQPF)
+#define LAPACK_cgeqpf LAPACK_GLOBAL(cgeqpf,CGEQPF)
+#define LAPACK_zgeqpf LAPACK_GLOBAL(zgeqpf,ZGEQPF)
+#define LAPACK_sgeqp3 LAPACK_GLOBAL(sgeqp3,SGEQP3)
+#define LAPACK_dgeqp3 LAPACK_GLOBAL(dgeqp3,DGEQP3)
+#define LAPACK_cgeqp3 LAPACK_GLOBAL(cgeqp3,CGEQP3)
+#define LAPACK_zgeqp3 LAPACK_GLOBAL(zgeqp3,ZGEQP3)
+#define LAPACK_sorgqr LAPACK_GLOBAL(sorgqr,SORGQR)
+#define LAPACK_dorgqr LAPACK_GLOBAL(dorgqr,DORGQR)
+#define LAPACK_sormqr LAPACK_GLOBAL(sormqr,SORMQR)
+#define LAPACK_dormqr LAPACK_GLOBAL(dormqr,DORMQR)
+#define LAPACK_cungqr LAPACK_GLOBAL(cungqr,CUNGQR)
+#define LAPACK_zungqr LAPACK_GLOBAL(zungqr,ZUNGQR)
+#define LAPACK_cunmqr LAPACK_GLOBAL(cunmqr,CUNMQR)
+#define LAPACK_zunmqr LAPACK_GLOBAL(zunmqr,ZUNMQR)
+#define LAPACK_sgelqf LAPACK_GLOBAL(sgelqf,SGELQF)
+#define LAPACK_dgelqf LAPACK_GLOBAL(dgelqf,DGELQF)
+#define LAPACK_cgelqf LAPACK_GLOBAL(cgelqf,CGELQF)
+#define LAPACK_zgelqf LAPACK_GLOBAL(zgelqf,ZGELQF)
+#define LAPACK_sorglq LAPACK_GLOBAL(sorglq,SORGLQ)
+#define LAPACK_dorglq LAPACK_GLOBAL(dorglq,DORGLQ)
+#define LAPACK_sormlq LAPACK_GLOBAL(sormlq,SORMLQ)
+#define LAPACK_dormlq LAPACK_GLOBAL(dormlq,DORMLQ)
+#define LAPACK_cunglq LAPACK_GLOBAL(cunglq,CUNGLQ)
+#define LAPACK_zunglq LAPACK_GLOBAL(zunglq,ZUNGLQ)
+#define LAPACK_cunmlq LAPACK_GLOBAL(cunmlq,CUNMLQ)
+#define LAPACK_zunmlq LAPACK_GLOBAL(zunmlq,ZUNMLQ)
+#define LAPACK_sgeqlf LAPACK_GLOBAL(sgeqlf,SGEQLF)
+#define LAPACK_dgeqlf LAPACK_GLOBAL(dgeqlf,DGEQLF)
+#define LAPACK_cgeqlf LAPACK_GLOBAL(cgeqlf,CGEQLF)
+#define LAPACK_zgeqlf LAPACK_GLOBAL(zgeqlf,ZGEQLF)
+#define LAPACK_sorgql LAPACK_GLOBAL(sorgql,SORGQL)
+#define LAPACK_dorgql LAPACK_GLOBAL(dorgql,DORGQL)
+#define LAPACK_cungql LAPACK_GLOBAL(cungql,CUNGQL)
+#define LAPACK_zungql LAPACK_GLOBAL(zungql,ZUNGQL)
+#define LAPACK_sormql LAPACK_GLOBAL(sormql,SORMQL)
+#define LAPACK_dormql LAPACK_GLOBAL(dormql,DORMQL)
+#define LAPACK_cunmql LAPACK_GLOBAL(cunmql,CUNMQL)
+#define LAPACK_zunmql LAPACK_GLOBAL(zunmql,ZUNMQL)
+#define LAPACK_sgerqf LAPACK_GLOBAL(sgerqf,SGERQF)
+#define LAPACK_dgerqf LAPACK_GLOBAL(dgerqf,DGERQF)
+#define LAPACK_cgerqf LAPACK_GLOBAL(cgerqf,CGERQF)
+#define LAPACK_zgerqf LAPACK_GLOBAL(zgerqf,ZGERQF)
+#define LAPACK_sorgrq LAPACK_GLOBAL(sorgrq,SORGRQ)
+#define LAPACK_dorgrq LAPACK_GLOBAL(dorgrq,DORGRQ)
+#define LAPACK_cungrq LAPACK_GLOBAL(cungrq,CUNGRQ)
+#define LAPACK_zungrq LAPACK_GLOBAL(zungrq,ZUNGRQ)
+#define LAPACK_sormrq LAPACK_GLOBAL(sormrq,SORMRQ)
+#define LAPACK_dormrq LAPACK_GLOBAL(dormrq,DORMRQ)
+#define LAPACK_cunmrq LAPACK_GLOBAL(cunmrq,CUNMRQ)
+#define LAPACK_zunmrq LAPACK_GLOBAL(zunmrq,ZUNMRQ)
+#define LAPACK_stzrzf LAPACK_GLOBAL(stzrzf,STZRZF)
+#define LAPACK_dtzrzf LAPACK_GLOBAL(dtzrzf,DTZRZF)
+#define LAPACK_ctzrzf LAPACK_GLOBAL(ctzrzf,CTZRZF)
+#define LAPACK_ztzrzf LAPACK_GLOBAL(ztzrzf,ZTZRZF)
+#define LAPACK_sormrz LAPACK_GLOBAL(sormrz,SORMRZ)
+#define LAPACK_dormrz LAPACK_GLOBAL(dormrz,DORMRZ)
+#define LAPACK_cunmrz LAPACK_GLOBAL(cunmrz,CUNMRZ)
+#define LAPACK_zunmrz LAPACK_GLOBAL(zunmrz,ZUNMRZ)
+#define LAPACK_sggqrf LAPACK_GLOBAL(sggqrf,SGGQRF)
+#define LAPACK_dggqrf LAPACK_GLOBAL(dggqrf,DGGQRF)
+#define LAPACK_cggqrf LAPACK_GLOBAL(cggqrf,CGGQRF)
+#define LAPACK_zggqrf LAPACK_GLOBAL(zggqrf,ZGGQRF)
+#define LAPACK_sggrqf LAPACK_GLOBAL(sggrqf,SGGRQF)
+#define LAPACK_dggrqf LAPACK_GLOBAL(dggrqf,DGGRQF)
+#define LAPACK_cggrqf LAPACK_GLOBAL(cggrqf,CGGRQF)
+#define LAPACK_zggrqf LAPACK_GLOBAL(zggrqf,ZGGRQF)
+#define LAPACK_sgebrd LAPACK_GLOBAL(sgebrd,SGEBRD)
+#define LAPACK_dgebrd LAPACK_GLOBAL(dgebrd,DGEBRD)
+#define LAPACK_cgebrd LAPACK_GLOBAL(cgebrd,CGEBRD)
+#define LAPACK_zgebrd LAPACK_GLOBAL(zgebrd,ZGEBRD)
+#define LAPACK_sgbbrd LAPACK_GLOBAL(sgbbrd,SGBBRD)
+#define LAPACK_dgbbrd LAPACK_GLOBAL(dgbbrd,DGBBRD)
+#define LAPACK_cgbbrd LAPACK_GLOBAL(cgbbrd,CGBBRD)
+#define LAPACK_zgbbrd LAPACK_GLOBAL(zgbbrd,ZGBBRD)
+#define LAPACK_sorgbr LAPACK_GLOBAL(sorgbr,SORGBR)
+#define LAPACK_dorgbr LAPACK_GLOBAL(dorgbr,DORGBR)
+#define LAPACK_sormbr LAPACK_GLOBAL(sormbr,SORMBR)
+#define LAPACK_dormbr LAPACK_GLOBAL(dormbr,DORMBR)
+#define LAPACK_cungbr LAPACK_GLOBAL(cungbr,CUNGBR)
+#define LAPACK_zungbr LAPACK_GLOBAL(zungbr,ZUNGBR)
+#define LAPACK_cunmbr LAPACK_GLOBAL(cunmbr,CUNMBR)
+#define LAPACK_zunmbr LAPACK_GLOBAL(zunmbr,ZUNMBR)
+#define LAPACK_sbdsqr LAPACK_GLOBAL(sbdsqr,SBDSQR)
+#define LAPACK_dbdsqr LAPACK_GLOBAL(dbdsqr,DBDSQR)
+#define LAPACK_cbdsqr LAPACK_GLOBAL(cbdsqr,CBDSQR)
+#define LAPACK_zbdsqr LAPACK_GLOBAL(zbdsqr,ZBDSQR)
+#define LAPACK_sbdsdc LAPACK_GLOBAL(sbdsdc,SBDSDC)
+#define LAPACK_dbdsdc LAPACK_GLOBAL(dbdsdc,DBDSDC)
+#define LAPACK_ssytrd LAPACK_GLOBAL(ssytrd,SSYTRD)
+#define LAPACK_dsytrd LAPACK_GLOBAL(dsytrd,DSYTRD)
+#define LAPACK_sorgtr LAPACK_GLOBAL(sorgtr,SORGTR)
+#define LAPACK_dorgtr LAPACK_GLOBAL(dorgtr,DORGTR)
+#define LAPACK_sormtr LAPACK_GLOBAL(sormtr,SORMTR)
+#define LAPACK_dormtr LAPACK_GLOBAL(dormtr,DORMTR)
+#define LAPACK_chetrd LAPACK_GLOBAL(chetrd,CHETRD)
+#define LAPACK_zhetrd LAPACK_GLOBAL(zhetrd,ZHETRD)
+#define LAPACK_cungtr LAPACK_GLOBAL(cungtr,CUNGTR)
+#define LAPACK_zungtr LAPACK_GLOBAL(zungtr,ZUNGTR)
+#define LAPACK_cunmtr LAPACK_GLOBAL(cunmtr,CUNMTR)
+#define LAPACK_zunmtr LAPACK_GLOBAL(zunmtr,ZUNMTR)
+#define LAPACK_ssptrd LAPACK_GLOBAL(ssptrd,SSPTRD)
+#define LAPACK_dsptrd LAPACK_GLOBAL(dsptrd,DSPTRD)
+#define LAPACK_sopgtr LAPACK_GLOBAL(sopgtr,SOPGTR)
+#define LAPACK_dopgtr LAPACK_GLOBAL(dopgtr,DOPGTR)
+#define LAPACK_sopmtr LAPACK_GLOBAL(sopmtr,SOPMTR)
+#define LAPACK_dopmtr LAPACK_GLOBAL(dopmtr,DOPMTR)
+#define LAPACK_chptrd LAPACK_GLOBAL(chptrd,CHPTRD)
+#define LAPACK_zhptrd LAPACK_GLOBAL(zhptrd,ZHPTRD)
+#define LAPACK_cupgtr LAPACK_GLOBAL(cupgtr,CUPGTR)
+#define LAPACK_zupgtr LAPACK_GLOBAL(zupgtr,ZUPGTR)
+#define LAPACK_cupmtr LAPACK_GLOBAL(cupmtr,CUPMTR)
+#define LAPACK_zupmtr LAPACK_GLOBAL(zupmtr,ZUPMTR)
+#define LAPACK_ssbtrd LAPACK_GLOBAL(ssbtrd,SSBTRD)
+#define LAPACK_dsbtrd LAPACK_GLOBAL(dsbtrd,DSBTRD)
+#define LAPACK_chbtrd LAPACK_GLOBAL(chbtrd,CHBTRD)
+#define LAPACK_zhbtrd LAPACK_GLOBAL(zhbtrd,ZHBTRD)
+#define LAPACK_ssterf LAPACK_GLOBAL(ssterf,SSTERF)
+#define LAPACK_dsterf LAPACK_GLOBAL(dsterf,DSTERF)
+#define LAPACK_ssteqr LAPACK_GLOBAL(ssteqr,SSTEQR)
+#define LAPACK_dsteqr LAPACK_GLOBAL(dsteqr,DSTEQR)
+#define LAPACK_csteqr LAPACK_GLOBAL(csteqr,CSTEQR)
+#define LAPACK_zsteqr LAPACK_GLOBAL(zsteqr,ZSTEQR)
+#define LAPACK_sstemr LAPACK_GLOBAL(sstemr,SSTEMR)
+#define LAPACK_dstemr LAPACK_GLOBAL(dstemr,DSTEMR)
+#define LAPACK_cstemr LAPACK_GLOBAL(cstemr,CSTEMR)
+#define LAPACK_zstemr LAPACK_GLOBAL(zstemr,ZSTEMR)
+#define LAPACK_sstedc LAPACK_GLOBAL(sstedc,SSTEDC)
+#define LAPACK_dstedc LAPACK_GLOBAL(dstedc,DSTEDC)
+#define LAPACK_cstedc LAPACK_GLOBAL(cstedc,CSTEDC)
+#define LAPACK_zstedc LAPACK_GLOBAL(zstedc,ZSTEDC)
+#define LAPACK_sstegr LAPACK_GLOBAL(sstegr,SSTEGR)
+#define LAPACK_dstegr LAPACK_GLOBAL(dstegr,DSTEGR)
+#define LAPACK_cstegr LAPACK_GLOBAL(cstegr,CSTEGR)
+#define LAPACK_zstegr LAPACK_GLOBAL(zstegr,ZSTEGR)
+#define LAPACK_spteqr LAPACK_GLOBAL(spteqr,SPTEQR)
+#define LAPACK_dpteqr LAPACK_GLOBAL(dpteqr,DPTEQR)
+#define LAPACK_cpteqr LAPACK_GLOBAL(cpteqr,CPTEQR)
+#define LAPACK_zpteqr LAPACK_GLOBAL(zpteqr,ZPTEQR)
+#define LAPACK_sstebz LAPACK_GLOBAL(sstebz,SSTEBZ)
+#define LAPACK_dstebz LAPACK_GLOBAL(dstebz,DSTEBZ)
+#define LAPACK_sstein LAPACK_GLOBAL(sstein,SSTEIN)
+#define LAPACK_dstein LAPACK_GLOBAL(dstein,DSTEIN)
+#define LAPACK_cstein LAPACK_GLOBAL(cstein,CSTEIN)
+#define LAPACK_zstein LAPACK_GLOBAL(zstein,ZSTEIN)
+#define LAPACK_sdisna LAPACK_GLOBAL(sdisna,SDISNA)
+#define LAPACK_ddisna LAPACK_GLOBAL(ddisna,DDISNA)
+#define LAPACK_ssygst LAPACK_GLOBAL(ssygst,SSYGST)
+#define LAPACK_dsygst LAPACK_GLOBAL(dsygst,DSYGST)
+#define LAPACK_chegst LAPACK_GLOBAL(chegst,CHEGST)
+#define LAPACK_zhegst LAPACK_GLOBAL(zhegst,ZHEGST)
+#define LAPACK_sspgst LAPACK_GLOBAL(sspgst,SSPGST)
+#define LAPACK_dspgst LAPACK_GLOBAL(dspgst,DSPGST)
+#define LAPACK_chpgst LAPACK_GLOBAL(chpgst,CHPGST)
+#define LAPACK_zhpgst LAPACK_GLOBAL(zhpgst,ZHPGST)
+#define LAPACK_ssbgst LAPACK_GLOBAL(ssbgst,SSBGST)
+#define LAPACK_dsbgst LAPACK_GLOBAL(dsbgst,DSBGST)
+#define LAPACK_chbgst LAPACK_GLOBAL(chbgst,CHBGST)
+#define LAPACK_zhbgst LAPACK_GLOBAL(zhbgst,ZHBGST)
+#define LAPACK_spbstf LAPACK_GLOBAL(spbstf,SPBSTF)
+#define LAPACK_dpbstf LAPACK_GLOBAL(dpbstf,DPBSTF)
+#define LAPACK_cpbstf LAPACK_GLOBAL(cpbstf,CPBSTF)
+#define LAPACK_zpbstf LAPACK_GLOBAL(zpbstf,ZPBSTF)
+#define LAPACK_sgehrd LAPACK_GLOBAL(sgehrd,SGEHRD)
+#define LAPACK_dgehrd LAPACK_GLOBAL(dgehrd,DGEHRD)
+#define LAPACK_cgehrd LAPACK_GLOBAL(cgehrd,CGEHRD)
+#define LAPACK_zgehrd LAPACK_GLOBAL(zgehrd,ZGEHRD)
+#define LAPACK_sorghr LAPACK_GLOBAL(sorghr,SORGHR)
+#define LAPACK_dorghr LAPACK_GLOBAL(dorghr,DORGHR)
+#define LAPACK_sormhr LAPACK_GLOBAL(sormhr,SORMHR)
+#define LAPACK_dormhr LAPACK_GLOBAL(dormhr,DORMHR)
+#define LAPACK_cunghr LAPACK_GLOBAL(cunghr,CUNGHR)
+#define LAPACK_zunghr LAPACK_GLOBAL(zunghr,ZUNGHR)
+#define LAPACK_cunmhr LAPACK_GLOBAL(cunmhr,CUNMHR)
+#define LAPACK_zunmhr LAPACK_GLOBAL(zunmhr,ZUNMHR)
+#define LAPACK_sgebal LAPACK_GLOBAL(sgebal,SGEBAL)
+#define LAPACK_dgebal LAPACK_GLOBAL(dgebal,DGEBAL)
+#define LAPACK_cgebal LAPACK_GLOBAL(cgebal,CGEBAL)
+#define LAPACK_zgebal LAPACK_GLOBAL(zgebal,ZGEBAL)
+#define LAPACK_sgebak LAPACK_GLOBAL(sgebak,SGEBAK)
+#define LAPACK_dgebak LAPACK_GLOBAL(dgebak,DGEBAK)
+#define LAPACK_cgebak LAPACK_GLOBAL(cgebak,CGEBAK)
+#define LAPACK_zgebak LAPACK_GLOBAL(zgebak,ZGEBAK)
+#define LAPACK_shseqr LAPACK_GLOBAL(shseqr,SHSEQR)
+#define LAPACK_dhseqr LAPACK_GLOBAL(dhseqr,DHSEQR)
+#define LAPACK_chseqr LAPACK_GLOBAL(chseqr,CHSEQR)
+#define LAPACK_zhseqr LAPACK_GLOBAL(zhseqr,ZHSEQR)
+#define LAPACK_shsein LAPACK_GLOBAL(shsein,SHSEIN)
+#define LAPACK_dhsein LAPACK_GLOBAL(dhsein,DHSEIN)
+#define LAPACK_chsein LAPACK_GLOBAL(chsein,CHSEIN)
+#define LAPACK_zhsein LAPACK_GLOBAL(zhsein,ZHSEIN)
+#define LAPACK_strevc LAPACK_GLOBAL(strevc,STREVC)
+#define LAPACK_dtrevc LAPACK_GLOBAL(dtrevc,DTREVC)
+#define LAPACK_ctrevc LAPACK_GLOBAL(ctrevc,CTREVC)
+#define LAPACK_ztrevc LAPACK_GLOBAL(ztrevc,ZTREVC)
+#define LAPACK_strsna LAPACK_GLOBAL(strsna,STRSNA)
+#define LAPACK_dtrsna LAPACK_GLOBAL(dtrsna,DTRSNA)
+#define LAPACK_ctrsna LAPACK_GLOBAL(ctrsna,CTRSNA)
+#define LAPACK_ztrsna LAPACK_GLOBAL(ztrsna,ZTRSNA)
+#define LAPACK_strexc LAPACK_GLOBAL(strexc,STREXC)
+#define LAPACK_dtrexc LAPACK_GLOBAL(dtrexc,DTREXC)
+#define LAPACK_ctrexc LAPACK_GLOBAL(ctrexc,CTREXC)
+#define LAPACK_ztrexc LAPACK_GLOBAL(ztrexc,ZTREXC)
+#define LAPACK_strsen LAPACK_GLOBAL(strsen,STRSEN)
+#define LAPACK_dtrsen LAPACK_GLOBAL(dtrsen,DTRSEN)
+#define LAPACK_ctrsen LAPACK_GLOBAL(ctrsen,CTRSEN)
+#define LAPACK_ztrsen LAPACK_GLOBAL(ztrsen,ZTRSEN)
+#define LAPACK_strsyl LAPACK_GLOBAL(strsyl,STRSYL)
+#define LAPACK_dtrsyl LAPACK_GLOBAL(dtrsyl,DTRSYL)
+#define LAPACK_ctrsyl LAPACK_GLOBAL(ctrsyl,CTRSYL)
+#define LAPACK_ztrsyl LAPACK_GLOBAL(ztrsyl,ZTRSYL)
+#define LAPACK_sgghrd LAPACK_GLOBAL(sgghrd,SGGHRD)
+#define LAPACK_dgghrd LAPACK_GLOBAL(dgghrd,DGGHRD)
+#define LAPACK_cgghrd LAPACK_GLOBAL(cgghrd,CGGHRD)
+#define LAPACK_zgghrd LAPACK_GLOBAL(zgghrd,ZGGHRD)
+#define LAPACK_sggbal LAPACK_GLOBAL(sggbal,SGGBAL)
+#define LAPACK_dggbal LAPACK_GLOBAL(dggbal,DGGBAL)
+#define LAPACK_cggbal LAPACK_GLOBAL(cggbal,CGGBAL)
+#define LAPACK_zggbal LAPACK_GLOBAL(zggbal,ZGGBAL)
+#define LAPACK_sggbak LAPACK_GLOBAL(sggbak,SGGBAK)
+#define LAPACK_dggbak LAPACK_GLOBAL(dggbak,DGGBAK)
+#define LAPACK_cggbak LAPACK_GLOBAL(cggbak,CGGBAK)
+#define LAPACK_zggbak LAPACK_GLOBAL(zggbak,ZGGBAK)
+#define LAPACK_shgeqz LAPACK_GLOBAL(shgeqz,SHGEQZ)
+#define LAPACK_dhgeqz LAPACK_GLOBAL(dhgeqz,DHGEQZ)
+#define LAPACK_chgeqz LAPACK_GLOBAL(chgeqz,CHGEQZ)
+#define LAPACK_zhgeqz LAPACK_GLOBAL(zhgeqz,ZHGEQZ)
+#define LAPACK_stgevc LAPACK_GLOBAL(stgevc,STGEVC)
+#define LAPACK_dtgevc LAPACK_GLOBAL(dtgevc,DTGEVC)
+#define LAPACK_ctgevc LAPACK_GLOBAL(ctgevc,CTGEVC)
+#define LAPACK_ztgevc LAPACK_GLOBAL(ztgevc,ZTGEVC)
+#define LAPACK_stgexc LAPACK_GLOBAL(stgexc,STGEXC)
+#define LAPACK_dtgexc LAPACK_GLOBAL(dtgexc,DTGEXC)
+#define LAPACK_ctgexc LAPACK_GLOBAL(ctgexc,CTGEXC)
+#define LAPACK_ztgexc LAPACK_GLOBAL(ztgexc,ZTGEXC)
+#define LAPACK_stgsen LAPACK_GLOBAL(stgsen,STGSEN)
+#define LAPACK_dtgsen LAPACK_GLOBAL(dtgsen,DTGSEN)
+#define LAPACK_ctgsen LAPACK_GLOBAL(ctgsen,CTGSEN)
+#define LAPACK_ztgsen LAPACK_GLOBAL(ztgsen,ZTGSEN)
+#define LAPACK_stgsyl LAPACK_GLOBAL(stgsyl,STGSYL)
+#define LAPACK_dtgsyl LAPACK_GLOBAL(dtgsyl,DTGSYL)
+#define LAPACK_ctgsyl LAPACK_GLOBAL(ctgsyl,CTGSYL)
+#define LAPACK_ztgsyl LAPACK_GLOBAL(ztgsyl,ZTGSYL)
+#define LAPACK_stgsna LAPACK_GLOBAL(stgsna,STGSNA)
+#define LAPACK_dtgsna LAPACK_GLOBAL(dtgsna,DTGSNA)
+#define LAPACK_ctgsna LAPACK_GLOBAL(ctgsna,CTGSNA)
+#define LAPACK_ztgsna LAPACK_GLOBAL(ztgsna,ZTGSNA)
+#define LAPACK_sggsvp LAPACK_GLOBAL(sggsvp,SGGSVP)
+#define LAPACK_dggsvp LAPACK_GLOBAL(dggsvp,DGGSVP)
+#define LAPACK_cggsvp LAPACK_GLOBAL(cggsvp,CGGSVP)
+#define LAPACK_zggsvp LAPACK_GLOBAL(zggsvp,ZGGSVP)
+#define LAPACK_stgsja LAPACK_GLOBAL(stgsja,STGSJA)
+#define LAPACK_dtgsja LAPACK_GLOBAL(dtgsja,DTGSJA)
+#define LAPACK_ctgsja LAPACK_GLOBAL(ctgsja,CTGSJA)
+#define LAPACK_ztgsja LAPACK_GLOBAL(ztgsja,ZTGSJA)
+#define LAPACK_sgels LAPACK_GLOBAL(sgels,SGELS)
+#define LAPACK_dgels LAPACK_GLOBAL(dgels,DGELS)
+#define LAPACK_cgels LAPACK_GLOBAL(cgels,CGELS)
+#define LAPACK_zgels LAPACK_GLOBAL(zgels,ZGELS)
+#define LAPACK_sgelsy LAPACK_GLOBAL(sgelsy,SGELSY)
+#define LAPACK_dgelsy LAPACK_GLOBAL(dgelsy,DGELSY)
+#define LAPACK_cgelsy LAPACK_GLOBAL(cgelsy,CGELSY)
+#define LAPACK_zgelsy LAPACK_GLOBAL(zgelsy,ZGELSY)
+#define LAPACK_sgelss LAPACK_GLOBAL(sgelss,SGELSS)
+#define LAPACK_dgelss LAPACK_GLOBAL(dgelss,DGELSS)
+#define LAPACK_cgelss LAPACK_GLOBAL(cgelss,CGELSS)
+#define LAPACK_zgelss LAPACK_GLOBAL(zgelss,ZGELSS)
+#define LAPACK_sgelsd LAPACK_GLOBAL(sgelsd,SGELSD)
+#define LAPACK_dgelsd LAPACK_GLOBAL(dgelsd,DGELSD)
+#define LAPACK_cgelsd LAPACK_GLOBAL(cgelsd,CGELSD)
+#define LAPACK_zgelsd LAPACK_GLOBAL(zgelsd,ZGELSD)
+#define LAPACK_sgglse LAPACK_GLOBAL(sgglse,SGGLSE)
+#define LAPACK_dgglse LAPACK_GLOBAL(dgglse,DGGLSE)
+#define LAPACK_cgglse LAPACK_GLOBAL(cgglse,CGGLSE)
+#define LAPACK_zgglse LAPACK_GLOBAL(zgglse,ZGGLSE)
+#define LAPACK_sggglm LAPACK_GLOBAL(sggglm,SGGGLM)
+#define LAPACK_dggglm LAPACK_GLOBAL(dggglm,DGGGLM)
+#define LAPACK_cggglm LAPACK_GLOBAL(cggglm,CGGGLM)
+#define LAPACK_zggglm LAPACK_GLOBAL(zggglm,ZGGGLM)
+#define LAPACK_ssyev LAPACK_GLOBAL(ssyev,SSYEV)
+#define LAPACK_dsyev LAPACK_GLOBAL(dsyev,DSYEV)
+#define LAPACK_cheev LAPACK_GLOBAL(cheev,CHEEV)
+#define LAPACK_zheev LAPACK_GLOBAL(zheev,ZHEEV)
+#define LAPACK_ssyevd LAPACK_GLOBAL(ssyevd,SSYEVD)
+#define LAPACK_dsyevd LAPACK_GLOBAL(dsyevd,DSYEVD)
+#define LAPACK_cheevd LAPACK_GLOBAL(cheevd,CHEEVD)
+#define LAPACK_zheevd LAPACK_GLOBAL(zheevd,ZHEEVD)
+#define LAPACK_ssyevx LAPACK_GLOBAL(ssyevx,SSYEVX)
+#define LAPACK_dsyevx LAPACK_GLOBAL(dsyevx,DSYEVX)
+#define LAPACK_cheevx LAPACK_GLOBAL(cheevx,CHEEVX)
+#define LAPACK_zheevx LAPACK_GLOBAL(zheevx,ZHEEVX)
+#define LAPACK_ssyevr LAPACK_GLOBAL(ssyevr,SSYEVR)
+#define LAPACK_dsyevr LAPACK_GLOBAL(dsyevr,DSYEVR)
+#define LAPACK_cheevr LAPACK_GLOBAL(cheevr,CHEEVR)
+#define LAPACK_zheevr LAPACK_GLOBAL(zheevr,ZHEEVR)
+#define LAPACK_sspev LAPACK_GLOBAL(sspev,SSPEV)
+#define LAPACK_dspev LAPACK_GLOBAL(dspev,DSPEV)
+#define LAPACK_chpev LAPACK_GLOBAL(chpev,CHPEV)
+#define LAPACK_zhpev LAPACK_GLOBAL(zhpev,ZHPEV)
+#define LAPACK_sspevd LAPACK_GLOBAL(sspevd,SSPEVD)
+#define LAPACK_dspevd LAPACK_GLOBAL(dspevd,DSPEVD)
+#define LAPACK_chpevd LAPACK_GLOBAL(chpevd,CHPEVD)
+#define LAPACK_zhpevd LAPACK_GLOBAL(zhpevd,ZHPEVD)
+#define LAPACK_sspevx LAPACK_GLOBAL(sspevx,SSPEVX)
+#define LAPACK_dspevx LAPACK_GLOBAL(dspevx,DSPEVX)
+#define LAPACK_chpevx LAPACK_GLOBAL(chpevx,CHPEVX)
+#define LAPACK_zhpevx LAPACK_GLOBAL(zhpevx,ZHPEVX)
+#define LAPACK_ssbev LAPACK_GLOBAL(ssbev,SSBEV)
+#define LAPACK_dsbev LAPACK_GLOBAL(dsbev,DSBEV)
+#define LAPACK_chbev LAPACK_GLOBAL(chbev,CHBEV)
+#define LAPACK_zhbev LAPACK_GLOBAL(zhbev,ZHBEV)
+#define LAPACK_ssbevd LAPACK_GLOBAL(ssbevd,SSBEVD)
+#define LAPACK_dsbevd LAPACK_GLOBAL(dsbevd,DSBEVD)
+#define LAPACK_chbevd LAPACK_GLOBAL(chbevd,CHBEVD)
+#define LAPACK_zhbevd LAPACK_GLOBAL(zhbevd,ZHBEVD)
+#define LAPACK_ssbevx LAPACK_GLOBAL(ssbevx,SSBEVX)
+#define LAPACK_dsbevx LAPACK_GLOBAL(dsbevx,DSBEVX)
+#define LAPACK_chbevx LAPACK_GLOBAL(chbevx,CHBEVX)
+#define LAPACK_zhbevx LAPACK_GLOBAL(zhbevx,ZHBEVX)
+#define LAPACK_sstev LAPACK_GLOBAL(sstev,SSTEV)
+#define LAPACK_dstev LAPACK_GLOBAL(dstev,DSTEV)
+#define LAPACK_sstevd LAPACK_GLOBAL(sstevd,SSTEVD)
+#define LAPACK_dstevd LAPACK_GLOBAL(dstevd,DSTEVD)
+#define LAPACK_sstevx LAPACK_GLOBAL(sstevx,SSTEVX)
+#define LAPACK_dstevx LAPACK_GLOBAL(dstevx,DSTEVX)
+#define LAPACK_sstevr LAPACK_GLOBAL(sstevr,SSTEVR)
+#define LAPACK_dstevr LAPACK_GLOBAL(dstevr,DSTEVR)
+#define LAPACK_sgees LAPACK_GLOBAL(sgees,SGEES)
+#define LAPACK_dgees LAPACK_GLOBAL(dgees,DGEES)
+#define LAPACK_cgees LAPACK_GLOBAL(cgees,CGEES)
+#define LAPACK_zgees LAPACK_GLOBAL(zgees,ZGEES)
+#define LAPACK_sgeesx LAPACK_GLOBAL(sgeesx,SGEESX)
+#define LAPACK_dgeesx LAPACK_GLOBAL(dgeesx,DGEESX)
+#define LAPACK_cgeesx LAPACK_GLOBAL(cgeesx,CGEESX)
+#define LAPACK_zgeesx LAPACK_GLOBAL(zgeesx,ZGEESX)
+#define LAPACK_sgeev LAPACK_GLOBAL(sgeev,SGEEV)
+#define LAPACK_dgeev LAPACK_GLOBAL(dgeev,DGEEV)
+#define LAPACK_cgeev LAPACK_GLOBAL(cgeev,CGEEV)
+#define LAPACK_zgeev LAPACK_GLOBAL(zgeev,ZGEEV)
+#define LAPACK_sgeevx LAPACK_GLOBAL(sgeevx,SGEEVX)
+#define LAPACK_dgeevx LAPACK_GLOBAL(dgeevx,DGEEVX)
+#define LAPACK_cgeevx LAPACK_GLOBAL(cgeevx,CGEEVX)
+#define LAPACK_zgeevx LAPACK_GLOBAL(zgeevx,ZGEEVX)
+#define LAPACK_sgesvd LAPACK_GLOBAL(sgesvd,SGESVD)
+#define LAPACK_dgesvd LAPACK_GLOBAL(dgesvd,DGESVD)
+#define LAPACK_cgesvd LAPACK_GLOBAL(cgesvd,CGESVD)
+#define LAPACK_zgesvd LAPACK_GLOBAL(zgesvd,ZGESVD)
+#define LAPACK_sgesdd LAPACK_GLOBAL(sgesdd,SGESDD)
+#define LAPACK_dgesdd LAPACK_GLOBAL(dgesdd,DGESDD)
+#define LAPACK_cgesdd LAPACK_GLOBAL(cgesdd,CGESDD)
+#define LAPACK_zgesdd LAPACK_GLOBAL(zgesdd,ZGESDD)
+#define LAPACK_dgejsv LAPACK_GLOBAL(dgejsv,DGEJSV)
+#define LAPACK_sgejsv LAPACK_GLOBAL(sgejsv,SGEJSV)
+#define LAPACK_dgesvj LAPACK_GLOBAL(dgesvj,DGESVJ)
+#define LAPACK_sgesvj LAPACK_GLOBAL(sgesvj,SGESVJ)
+#define LAPACK_sggsvd LAPACK_GLOBAL(sggsvd,SGGSVD)
+#define LAPACK_dggsvd LAPACK_GLOBAL(dggsvd,DGGSVD)
+#define LAPACK_cggsvd LAPACK_GLOBAL(cggsvd,CGGSVD)
+#define LAPACK_zggsvd LAPACK_GLOBAL(zggsvd,ZGGSVD)
+#define LAPACK_ssygv LAPACK_GLOBAL(ssygv,SSYGV)
+#define LAPACK_dsygv LAPACK_GLOBAL(dsygv,DSYGV)
+#define LAPACK_chegv LAPACK_GLOBAL(chegv,CHEGV)
+#define LAPACK_zhegv LAPACK_GLOBAL(zhegv,ZHEGV)
+#define LAPACK_ssygvd LAPACK_GLOBAL(ssygvd,SSYGVD)
+#define LAPACK_dsygvd LAPACK_GLOBAL(dsygvd,DSYGVD)
+#define LAPACK_chegvd LAPACK_GLOBAL(chegvd,CHEGVD)
+#define LAPACK_zhegvd LAPACK_GLOBAL(zhegvd,ZHEGVD)
+#define LAPACK_ssygvx LAPACK_GLOBAL(ssygvx,SSYGVX)
+#define LAPACK_dsygvx LAPACK_GLOBAL(dsygvx,DSYGVX)
+#define LAPACK_chegvx LAPACK_GLOBAL(chegvx,CHEGVX)
+#define LAPACK_zhegvx LAPACK_GLOBAL(zhegvx,ZHEGVX)
+#define LAPACK_sspgv LAPACK_GLOBAL(sspgv,SSPGV)
+#define LAPACK_dspgv LAPACK_GLOBAL(dspgv,DSPGV)
+#define LAPACK_chpgv LAPACK_GLOBAL(chpgv,CHPGV)
+#define LAPACK_zhpgv LAPACK_GLOBAL(zhpgv,ZHPGV)
+#define LAPACK_sspgvd LAPACK_GLOBAL(sspgvd,SSPGVD)
+#define LAPACK_dspgvd LAPACK_GLOBAL(dspgvd,DSPGVD)
+#define LAPACK_chpgvd LAPACK_GLOBAL(chpgvd,CHPGVD)
+#define LAPACK_zhpgvd LAPACK_GLOBAL(zhpgvd,ZHPGVD)
+#define LAPACK_sspgvx LAPACK_GLOBAL(sspgvx,SSPGVX)
+#define LAPACK_dspgvx LAPACK_GLOBAL(dspgvx,DSPGVX)
+#define LAPACK_chpgvx LAPACK_GLOBAL(chpgvx,CHPGVX)
+#define LAPACK_zhpgvx LAPACK_GLOBAL(zhpgvx,ZHPGVX)
+#define LAPACK_ssbgv LAPACK_GLOBAL(ssbgv,SSBGV)
+#define LAPACK_dsbgv LAPACK_GLOBAL(dsbgv,DSBGV)
+#define LAPACK_chbgv LAPACK_GLOBAL(chbgv,CHBGV)
+#define LAPACK_zhbgv LAPACK_GLOBAL(zhbgv,ZHBGV)
+#define LAPACK_ssbgvd LAPACK_GLOBAL(ssbgvd,SSBGVD)
+#define LAPACK_dsbgvd LAPACK_GLOBAL(dsbgvd,DSBGVD)
+#define LAPACK_chbgvd LAPACK_GLOBAL(chbgvd,CHBGVD)
+#define LAPACK_zhbgvd LAPACK_GLOBAL(zhbgvd,ZHBGVD)
+#define LAPACK_ssbgvx LAPACK_GLOBAL(ssbgvx,SSBGVX)
+#define LAPACK_dsbgvx LAPACK_GLOBAL(dsbgvx,DSBGVX)
+#define LAPACK_chbgvx LAPACK_GLOBAL(chbgvx,CHBGVX)
+#define LAPACK_zhbgvx LAPACK_GLOBAL(zhbgvx,ZHBGVX)
+#define LAPACK_sgges LAPACK_GLOBAL(sgges,SGGES)
+#define LAPACK_dgges LAPACK_GLOBAL(dgges,DGGES)
+#define LAPACK_cgges LAPACK_GLOBAL(cgges,CGGES)
+#define LAPACK_zgges LAPACK_GLOBAL(zgges,ZGGES)
+#define LAPACK_sggesx LAPACK_GLOBAL(sggesx,SGGESX)
+#define LAPACK_dggesx LAPACK_GLOBAL(dggesx,DGGESX)
+#define LAPACK_cggesx LAPACK_GLOBAL(cggesx,CGGESX)
+#define LAPACK_zggesx LAPACK_GLOBAL(zggesx,ZGGESX)
+#define LAPACK_sggev LAPACK_GLOBAL(sggev,SGGEV)
+#define LAPACK_dggev LAPACK_GLOBAL(dggev,DGGEV)
+#define LAPACK_cggev LAPACK_GLOBAL(cggev,CGGEV)
+#define LAPACK_zggev LAPACK_GLOBAL(zggev,ZGGEV)
+#define LAPACK_sggevx LAPACK_GLOBAL(sggevx,SGGEVX)
+#define LAPACK_dggevx LAPACK_GLOBAL(dggevx,DGGEVX)
+#define LAPACK_cggevx LAPACK_GLOBAL(cggevx,CGGEVX)
+#define LAPACK_zggevx LAPACK_GLOBAL(zggevx,ZGGEVX)
+#define LAPACK_dsfrk LAPACK_GLOBAL(dsfrk,DSFRK)
+#define LAPACK_ssfrk LAPACK_GLOBAL(ssfrk,SSFRK)
+#define LAPACK_zhfrk LAPACK_GLOBAL(zhfrk,ZHFRK)
+#define LAPACK_chfrk LAPACK_GLOBAL(chfrk,CHFRK)
+#define LAPACK_dtfsm LAPACK_GLOBAL(dtfsm,DTFSM)
+#define LAPACK_stfsm LAPACK_GLOBAL(stfsm,STFSM)
+#define LAPACK_ztfsm LAPACK_GLOBAL(ztfsm,ZTFSM)
+#define LAPACK_ctfsm LAPACK_GLOBAL(ctfsm,CTFSM)
+#define LAPACK_dtfttp LAPACK_GLOBAL(dtfttp,DTFTTP)
+#define LAPACK_stfttp LAPACK_GLOBAL(stfttp,STFTTP)
+#define LAPACK_ztfttp LAPACK_GLOBAL(ztfttp,ZTFTTP)
+#define LAPACK_ctfttp LAPACK_GLOBAL(ctfttp,CTFTTP)
+#define LAPACK_dtfttr LAPACK_GLOBAL(dtfttr,DTFTTR)
+#define LAPACK_stfttr LAPACK_GLOBAL(stfttr,STFTTR)
+#define LAPACK_ztfttr LAPACK_GLOBAL(ztfttr,ZTFTTR)
+#define LAPACK_ctfttr LAPACK_GLOBAL(ctfttr,CTFTTR)
+#define LAPACK_dtpttf LAPACK_GLOBAL(dtpttf,DTPTTF)
+#define LAPACK_stpttf LAPACK_GLOBAL(stpttf,STPTTF)
+#define LAPACK_ztpttf LAPACK_GLOBAL(ztpttf,ZTPTTF)
+#define LAPACK_ctpttf LAPACK_GLOBAL(ctpttf,CTPTTF)
+#define LAPACK_dtpttr LAPACK_GLOBAL(dtpttr,DTPTTR)
+#define LAPACK_stpttr LAPACK_GLOBAL(stpttr,STPTTR)
+#define LAPACK_ztpttr LAPACK_GLOBAL(ztpttr,ZTPTTR)
+#define LAPACK_ctpttr LAPACK_GLOBAL(ctpttr,CTPTTR)
+#define LAPACK_dtrttf LAPACK_GLOBAL(dtrttf,DTRTTF)
+#define LAPACK_strttf LAPACK_GLOBAL(strttf,STRTTF)
+#define LAPACK_ztrttf LAPACK_GLOBAL(ztrttf,ZTRTTF)
+#define LAPACK_ctrttf LAPACK_GLOBAL(ctrttf,CTRTTF)
+#define LAPACK_dtrttp LAPACK_GLOBAL(dtrttp,DTRTTP)
+#define LAPACK_strttp LAPACK_GLOBAL(strttp,STRTTP)
+#define LAPACK_ztrttp LAPACK_GLOBAL(ztrttp,ZTRTTP)
+#define LAPACK_ctrttp LAPACK_GLOBAL(ctrttp,CTRTTP)
+#define LAPACK_sgeqrfp LAPACK_GLOBAL(sgeqrfp,SGEQRFP)
+#define LAPACK_dgeqrfp LAPACK_GLOBAL(dgeqrfp,DGEQRFP)
+#define LAPACK_cgeqrfp LAPACK_GLOBAL(cgeqrfp,CGEQRFP)
+#define LAPACK_zgeqrfp LAPACK_GLOBAL(zgeqrfp,ZGEQRFP)
+#define LAPACK_clacgv LAPACK_GLOBAL(clacgv,CLACGV)
+#define LAPACK_zlacgv LAPACK_GLOBAL(zlacgv,ZLACGV)
+#define LAPACK_slarnv LAPACK_GLOBAL(slarnv,SLARNV)
+#define LAPACK_dlarnv LAPACK_GLOBAL(dlarnv,DLARNV)
+#define LAPACK_clarnv LAPACK_GLOBAL(clarnv,CLARNV)
+#define LAPACK_zlarnv LAPACK_GLOBAL(zlarnv,ZLARNV)
+#define LAPACK_sgeqr2 LAPACK_GLOBAL(sgeqr2,SGEQR2)
+#define LAPACK_dgeqr2 LAPACK_GLOBAL(dgeqr2,DGEQR2)
+#define LAPACK_cgeqr2 LAPACK_GLOBAL(cgeqr2,CGEQR2)
+#define LAPACK_zgeqr2 LAPACK_GLOBAL(zgeqr2,ZGEQR2)
+#define LAPACK_slacpy LAPACK_GLOBAL(slacpy,SLACPY)
+#define LAPACK_dlacpy LAPACK_GLOBAL(dlacpy,DLACPY)
+#define LAPACK_clacpy LAPACK_GLOBAL(clacpy,CLACPY)
+#define LAPACK_zlacpy LAPACK_GLOBAL(zlacpy,ZLACPY)
+#define LAPACK_sgetf2 LAPACK_GLOBAL(sgetf2,SGETF2)
+#define LAPACK_dgetf2 LAPACK_GLOBAL(dgetf2,DGETF2)
+#define LAPACK_cgetf2 LAPACK_GLOBAL(cgetf2,CGETF2)
+#define LAPACK_zgetf2 LAPACK_GLOBAL(zgetf2,ZGETF2)
+#define LAPACK_slaswp LAPACK_GLOBAL(slaswp,SLASWP)
+#define LAPACK_dlaswp LAPACK_GLOBAL(dlaswp,DLASWP)
+#define LAPACK_claswp LAPACK_GLOBAL(claswp,CLASWP)
+#define LAPACK_zlaswp LAPACK_GLOBAL(zlaswp,ZLASWP)
+#define LAPACK_slange LAPACK_GLOBAL(slange,SLANGE)
+#define LAPACK_dlange LAPACK_GLOBAL(dlange,DLANGE)
+#define LAPACK_clange LAPACK_GLOBAL(clange,CLANGE)
+#define LAPACK_zlange LAPACK_GLOBAL(zlange,ZLANGE)
+#define LAPACK_clanhe LAPACK_GLOBAL(clanhe,CLANHE)
+#define LAPACK_zlanhe LAPACK_GLOBAL(zlanhe,ZLANHE)
+#define LAPACK_slansy LAPACK_GLOBAL(slansy,SLANSY)
+#define LAPACK_dlansy LAPACK_GLOBAL(dlansy,DLANSY)
+#define LAPACK_clansy LAPACK_GLOBAL(clansy,CLANSY)
+#define LAPACK_zlansy LAPACK_GLOBAL(zlansy,ZLANSY)
+#define LAPACK_slantr LAPACK_GLOBAL(slantr,SLANTR)
+#define LAPACK_dlantr LAPACK_GLOBAL(dlantr,DLANTR)
+#define LAPACK_clantr LAPACK_GLOBAL(clantr,CLANTR)
+#define LAPACK_zlantr LAPACK_GLOBAL(zlantr,ZLANTR)
+#define LAPACK_slamch LAPACK_GLOBAL(slamch,SLAMCH)
+#define LAPACK_dlamch LAPACK_GLOBAL(dlamch,DLAMCH)
+#define LAPACK_sgelq2 LAPACK_GLOBAL(sgelq2,SGELQ2)
+#define LAPACK_dgelq2 LAPACK_GLOBAL(dgelq2,DGELQ2)
+#define LAPACK_cgelq2 LAPACK_GLOBAL(cgelq2,CGELQ2)
+#define LAPACK_zgelq2 LAPACK_GLOBAL(zgelq2,ZGELQ2)
+#define LAPACK_slarfb LAPACK_GLOBAL(slarfb,SLARFB)
+#define LAPACK_dlarfb LAPACK_GLOBAL(dlarfb,DLARFB)
+#define LAPACK_clarfb LAPACK_GLOBAL(clarfb,CLARFB)
+#define LAPACK_zlarfb LAPACK_GLOBAL(zlarfb,ZLARFB)
+#define LAPACK_slarfg LAPACK_GLOBAL(slarfg,SLARFG)
+#define LAPACK_dlarfg LAPACK_GLOBAL(dlarfg,DLARFG)
+#define LAPACK_clarfg LAPACK_GLOBAL(clarfg,CLARFG)
+#define LAPACK_zlarfg LAPACK_GLOBAL(zlarfg,ZLARFG)
+#define LAPACK_slarft LAPACK_GLOBAL(slarft,SLARFT)
+#define LAPACK_dlarft LAPACK_GLOBAL(dlarft,DLARFT)
+#define LAPACK_clarft LAPACK_GLOBAL(clarft,CLARFT)
+#define LAPACK_zlarft LAPACK_GLOBAL(zlarft,ZLARFT)
+#define LAPACK_slarfx LAPACK_GLOBAL(slarfx,SLARFX)
+#define LAPACK_dlarfx LAPACK_GLOBAL(dlarfx,DLARFX)
+#define LAPACK_clarfx LAPACK_GLOBAL(clarfx,CLARFX)
+#define LAPACK_zlarfx LAPACK_GLOBAL(zlarfx,ZLARFX)
+#define LAPACK_slatms LAPACK_GLOBAL(slatms,SLATMS)
+#define LAPACK_dlatms LAPACK_GLOBAL(dlatms,DLATMS)
+#define LAPACK_clatms LAPACK_GLOBAL(clatms,CLATMS)
+#define LAPACK_zlatms LAPACK_GLOBAL(zlatms,ZLATMS)
+#define LAPACK_slag2d LAPACK_GLOBAL(slag2d,SLAG2D)
+#define LAPACK_dlag2s LAPACK_GLOBAL(dlag2s,DLAG2S)
+#define LAPACK_clag2z LAPACK_GLOBAL(clag2z,CLAG2Z)
+#define LAPACK_zlag2c LAPACK_GLOBAL(zlag2c,ZLAG2C)
+#define LAPACK_slauum LAPACK_GLOBAL(slauum,SLAUUM)
+#define LAPACK_dlauum LAPACK_GLOBAL(dlauum,DLAUUM)
+#define LAPACK_clauum LAPACK_GLOBAL(clauum,CLAUUM)
+#define LAPACK_zlauum LAPACK_GLOBAL(zlauum,ZLAUUM)
+#define LAPACK_slagge LAPACK_GLOBAL(slagge,SLAGGE)
+#define LAPACK_dlagge LAPACK_GLOBAL(dlagge,DLAGGE)
+#define LAPACK_clagge LAPACK_GLOBAL(clagge,CLAGGE)
+#define LAPACK_zlagge LAPACK_GLOBAL(zlagge,ZLAGGE)
+#define LAPACK_slaset LAPACK_GLOBAL(slaset,SLASET)
+#define LAPACK_dlaset LAPACK_GLOBAL(dlaset,DLASET)
+#define LAPACK_claset LAPACK_GLOBAL(claset,CLASET)
+#define LAPACK_zlaset LAPACK_GLOBAL(zlaset,ZLASET)
+#define LAPACK_slasrt LAPACK_GLOBAL(slasrt,SLASRT)
+#define LAPACK_dlasrt LAPACK_GLOBAL(dlasrt,DLASRT)
+#define LAPACK_slagsy LAPACK_GLOBAL(slagsy,SLAGSY)
+#define LAPACK_dlagsy LAPACK_GLOBAL(dlagsy,DLAGSY)
+#define LAPACK_clagsy LAPACK_GLOBAL(clagsy,CLAGSY)
+#define LAPACK_zlagsy LAPACK_GLOBAL(zlagsy,ZLAGSY)
+#define LAPACK_claghe LAPACK_GLOBAL(claghe,CLAGHE)
+#define LAPACK_zlaghe LAPACK_GLOBAL(zlaghe,ZLAGHE)
+#define LAPACK_slapmr LAPACK_GLOBAL(slapmr,SLAPMR)
+#define LAPACK_dlapmr LAPACK_GLOBAL(dlapmr,DLAPMR)
+#define LAPACK_clapmr LAPACK_GLOBAL(clapmr,CLAPMR)
+#define LAPACK_zlapmr LAPACK_GLOBAL(zlapmr,ZLAPMR)
+#define LAPACK_slapy2 LAPACK_GLOBAL(slapy2,SLAPY2)
+#define LAPACK_dlapy2 LAPACK_GLOBAL(dlapy2,DLAPY2)
+#define LAPACK_slapy3 LAPACK_GLOBAL(slapy3,SLAPY3)
+#define LAPACK_dlapy3 LAPACK_GLOBAL(dlapy3,DLAPY3)
+#define LAPACK_slartgp LAPACK_GLOBAL(slartgp,SLARTGP)
+#define LAPACK_dlartgp LAPACK_GLOBAL(dlartgp,DLARTGP)
+#define LAPACK_slartgs LAPACK_GLOBAL(slartgs,SLARTGS)
+#define LAPACK_dlartgs LAPACK_GLOBAL(dlartgs,DLARTGS)
+// LAPACK 3.3.0
+#define LAPACK_cbbcsd LAPACK_GLOBAL(cbbcsd,CBBCSD)
+#define LAPACK_cheswapr LAPACK_GLOBAL(cheswapr,CHESWAPR)
+#define LAPACK_chetri2 LAPACK_GLOBAL(chetri2,CHETRI2)
+#define LAPACK_chetri2x LAPACK_GLOBAL(chetri2x,CHETRI2X)
+#define LAPACK_chetrs2 LAPACK_GLOBAL(chetrs2,CHETRS2)
+#define LAPACK_csyconv LAPACK_GLOBAL(csyconv,CSYCONV)
+#define LAPACK_csyswapr LAPACK_GLOBAL(csyswapr,CSYSWAPR)
+#define LAPACK_csytri2 LAPACK_GLOBAL(csytri2,CSYTRI2)
+#define LAPACK_csytri2x LAPACK_GLOBAL(csytri2x,CSYTRI2X)
+#define LAPACK_csytrs2 LAPACK_GLOBAL(csytrs2,CSYTRS2)
+#define LAPACK_cunbdb LAPACK_GLOBAL(cunbdb,CUNBDB)
+#define LAPACK_cuncsd LAPACK_GLOBAL(cuncsd,CUNCSD)
+#define LAPACK_dbbcsd LAPACK_GLOBAL(dbbcsd,DBBCSD)
+#define LAPACK_dorbdb LAPACK_GLOBAL(dorbdb,DORBDB)
+#define LAPACK_dorcsd LAPACK_GLOBAL(dorcsd,DORCSD)
+#define LAPACK_dsyconv LAPACK_GLOBAL(dsyconv,DSYCONV)
+#define LAPACK_dsyswapr LAPACK_GLOBAL(dsyswapr,DSYSWAPR)
+#define LAPACK_dsytri2 LAPACK_GLOBAL(dsytri2,DSYTRI2)
+#define LAPACK_dsytri2x LAPACK_GLOBAL(dsytri2x,DSYTRI2X)
+#define LAPACK_dsytrs2 LAPACK_GLOBAL(dsytrs2,DSYTRS2)
+#define LAPACK_sbbcsd LAPACK_GLOBAL(sbbcsd,SBBCSD)
+#define LAPACK_sorbdb LAPACK_GLOBAL(sorbdb,SORBDB)
+#define LAPACK_sorcsd LAPACK_GLOBAL(sorcsd,SORCSD)
+#define LAPACK_ssyconv LAPACK_GLOBAL(ssyconv,SSYCONV)
+#define LAPACK_ssyswapr LAPACK_GLOBAL(ssyswapr,SSYSWAPR)
+#define LAPACK_ssytri2 LAPACK_GLOBAL(ssytri2,SSYTRI2)
+#define LAPACK_ssytri2x LAPACK_GLOBAL(ssytri2x,SSYTRI2X)
+#define LAPACK_ssytrs2 LAPACK_GLOBAL(ssytrs2,SSYTRS2)
+#define LAPACK_zbbcsd LAPACK_GLOBAL(zbbcsd,ZBBCSD)
+#define LAPACK_zheswapr LAPACK_GLOBAL(zheswapr,ZHESWAPR)
+#define LAPACK_zhetri2 LAPACK_GLOBAL(zhetri2,ZHETRI2)
+#define LAPACK_zhetri2x LAPACK_GLOBAL(zhetri2x,ZHETRI2X)
+#define LAPACK_zhetrs2 LAPACK_GLOBAL(zhetrs2,ZHETRS2)
+#define LAPACK_zsyconv LAPACK_GLOBAL(zsyconv,ZSYCONV)
+#define LAPACK_zsyswapr LAPACK_GLOBAL(zsyswapr,ZSYSWAPR)
+#define LAPACK_zsytri2 LAPACK_GLOBAL(zsytri2,ZSYTRI2)
+#define LAPACK_zsytri2x LAPACK_GLOBAL(zsytri2x,ZSYTRI2X)
+#define LAPACK_zsytrs2 LAPACK_GLOBAL(zsytrs2,ZSYTRS2)
+#define LAPACK_zunbdb LAPACK_GLOBAL(zunbdb,ZUNBDB)
+#define LAPACK_zuncsd LAPACK_GLOBAL(zuncsd,ZUNCSD)
+// LAPACK 3.4.0
+#define LAPACK_sgemqrt LAPACK_GLOBAL(sgemqrt,SGEMQRT)
+#define LAPACK_dgemqrt LAPACK_GLOBAL(dgemqrt,DGEMQRT)
+#define LAPACK_cgemqrt LAPACK_GLOBAL(cgemqrt,CGEMQRT)
+#define LAPACK_zgemqrt LAPACK_GLOBAL(zgemqrt,ZGEMQRT)
+#define LAPACK_sgeqrt LAPACK_GLOBAL(sgeqrt,SGEQRT)
+#define LAPACK_dgeqrt LAPACK_GLOBAL(dgeqrt,DGEQRT)
+#define LAPACK_cgeqrt LAPACK_GLOBAL(cgeqrt,CGEQRT)
+#define LAPACK_zgeqrt LAPACK_GLOBAL(zgeqrt,ZGEQRT)
+#define LAPACK_sgeqrt2 LAPACK_GLOBAL(sgeqrt2,SGEQRT2)
+#define LAPACK_dgeqrt2 LAPACK_GLOBAL(dgeqrt2,DGEQRT2)
+#define LAPACK_cgeqrt2 LAPACK_GLOBAL(cgeqrt2,CGEQRT2)
+#define LAPACK_zgeqrt2 LAPACK_GLOBAL(zgeqrt2,ZGEQRT2)
+#define LAPACK_sgeqrt3 LAPACK_GLOBAL(sgeqrt3,SGEQRT3)
+#define LAPACK_dgeqrt3 LAPACK_GLOBAL(dgeqrt3,DGEQRT3)
+#define LAPACK_cgeqrt3 LAPACK_GLOBAL(cgeqrt3,CGEQRT3)
+#define LAPACK_zgeqrt3 LAPACK_GLOBAL(zgeqrt3,ZGEQRT3)
+#define LAPACK_stpmqrt LAPACK_GLOBAL(stpmqrt,STPMQRT)
+#define LAPACK_dtpmqrt LAPACK_GLOBAL(dtpmqrt,DTPMQRT)
+#define LAPACK_ctpmqrt LAPACK_GLOBAL(ctpmqrt,CTPMQRT)
+#define LAPACK_ztpmqrt LAPACK_GLOBAL(ztpmqrt,ZTPMQRT)
+#define LAPACK_dtpqrt LAPACK_GLOBAL(dtpqrt,DTPQRT)
+#define LAPACK_ctpqrt LAPACK_GLOBAL(ctpqrt,CTPQRT)
+#define LAPACK_ztpqrt LAPACK_GLOBAL(ztpqrt,ZTPQRT)
+#define LAPACK_stpqrt2 LAPACK_GLOBAL(stpqrt2,STPQRT2)
+#define LAPACK_dtpqrt2 LAPACK_GLOBAL(dtpqrt2,DTPQRT2)
+#define LAPACK_ctpqrt2 LAPACK_GLOBAL(ctpqrt2,CTPQRT2)
+#define LAPACK_ztpqrt2 LAPACK_GLOBAL(ztpqrt2,ZTPQRT2)
+#define LAPACK_stprfb LAPACK_GLOBAL(stprfb,STPRFB)
+#define LAPACK_dtprfb LAPACK_GLOBAL(dtprfb,DTPRFB)
+#define LAPACK_ctprfb LAPACK_GLOBAL(ctprfb,CTPRFB)
+#define LAPACK_ztprfb LAPACK_GLOBAL(ztprfb,ZTPRFB)
+// LAPACK 3.X.X
+#define LAPACK_csyr LAPACK_GLOBAL(csyr,CSYR)
+#define LAPACK_zsyr LAPACK_GLOBAL(zsyr,ZSYR)
+
+
+void LAPACK_sgetrf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_dgetrf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_cgetrf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* ipiv, lapack_int *info );
+void LAPACK_zgetrf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* ipiv, lapack_int *info );
+void LAPACK_sgbtrf( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, float* ab, lapack_int* ldab,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_dgbtrf( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, double* ab, lapack_int* ldab,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_cgbtrf( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, lapack_complex_float* ab, lapack_int* ldab,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_zgbtrf( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, lapack_complex_double* ab, lapack_int* ldab,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_sgttrf( lapack_int* n, float* dl, float* d, float* du, float* du2,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_dgttrf( lapack_int* n, double* dl, double* d, double* du,
+                    double* du2, lapack_int* ipiv, lapack_int *info );
+void LAPACK_cgttrf( lapack_int* n, lapack_complex_float* dl,
+                    lapack_complex_float* d, lapack_complex_float* du,
+                    lapack_complex_float* du2, lapack_int* ipiv,
+                    lapack_int *info );
+void LAPACK_zgttrf( lapack_int* n, lapack_complex_double* dl,
+                    lapack_complex_double* d, lapack_complex_double* du,
+                    lapack_complex_double* du2, lapack_int* ipiv,
+                    lapack_int *info );
+void LAPACK_spotrf( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_dpotrf( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_cpotrf( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_zpotrf( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_dpstrf( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* piv, lapack_int* rank, double* tol,
+                    double* work, lapack_int *info );
+void LAPACK_spstrf( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* piv, lapack_int* rank, float* tol, float* work,
+                    lapack_int *info );
+void LAPACK_zpstrf( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* piv, lapack_int* rank,
+                    double* tol, double* work, lapack_int *info );
+void LAPACK_cpstrf( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* piv, lapack_int* rank,
+                    float* tol, float* work, lapack_int *info );
+void LAPACK_dpftrf( char* transr, char* uplo, lapack_int* n, double* a,
+                    lapack_int *info );
+void LAPACK_spftrf( char* transr, char* uplo, lapack_int* n, float* a,
+                    lapack_int *info );
+void LAPACK_zpftrf( char* transr, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int *info );
+void LAPACK_cpftrf( char* transr, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int *info );
+void LAPACK_spptrf( char* uplo, lapack_int* n, float* ap, lapack_int *info );
+void LAPACK_dpptrf( char* uplo, lapack_int* n, double* ap, lapack_int *info );
+void LAPACK_cpptrf( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    lapack_int *info );
+void LAPACK_zpptrf( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    lapack_int *info );
+void LAPACK_spbtrf( char* uplo, lapack_int* n, lapack_int* kd, float* ab,
+                    lapack_int* ldab, lapack_int *info );
+void LAPACK_dpbtrf( char* uplo, lapack_int* n, lapack_int* kd, double* ab,
+                    lapack_int* ldab, lapack_int *info );
+void LAPACK_cpbtrf( char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_complex_float* ab, lapack_int* ldab,
+                    lapack_int *info );
+void LAPACK_zpbtrf( char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_complex_double* ab, lapack_int* ldab,
+                    lapack_int *info );
+void LAPACK_spttrf( lapack_int* n, float* d, float* e, lapack_int *info );
+void LAPACK_dpttrf( lapack_int* n, double* d, double* e, lapack_int *info );
+void LAPACK_cpttrf( lapack_int* n, float* d, lapack_complex_float* e,
+                    lapack_int *info );
+void LAPACK_zpttrf( lapack_int* n, double* d, lapack_complex_double* e,
+                    lapack_int *info );
+void LAPACK_ssytrf( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* ipiv, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dsytrf( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* ipiv, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_csytrf( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* ipiv,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zsytrf( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* ipiv,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_chetrf( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* ipiv,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zhetrf( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* ipiv,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_ssptrf( char* uplo, lapack_int* n, float* ap, lapack_int* ipiv,
+                    lapack_int *info );
+void LAPACK_dsptrf( char* uplo, lapack_int* n, double* ap, lapack_int* ipiv,
+                    lapack_int *info );
+void LAPACK_csptrf( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_zsptrf( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_chptrf( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_zhptrf( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_sgetrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const float* a, lapack_int* lda, const lapack_int* ipiv,
+                    float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_dgetrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, const lapack_int* ipiv,
+                    double* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_cgetrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_zgetrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_sgbtrs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const float* ab, lapack_int* ldab,
+                    const lapack_int* ipiv, float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dgbtrs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const double* ab, lapack_int* ldab,
+                    const lapack_int* ipiv, double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_cgbtrs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const lapack_complex_float* ab,
+                    lapack_int* ldab, const lapack_int* ipiv,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zgbtrs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const lapack_complex_double* ab,
+                    lapack_int* ldab, const lapack_int* ipiv,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_sgttrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const float* dl, const float* d, const float* du,
+                    const float* du2, const lapack_int* ipiv, float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_dgttrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const double* dl, const double* d, const double* du,
+                    const double* du2, const lapack_int* ipiv, double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_cgttrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* dl,
+                    const lapack_complex_float* d,
+                    const lapack_complex_float* du,
+                    const lapack_complex_float* du2, const lapack_int* ipiv,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zgttrs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* dl,
+                    const lapack_complex_double* d,
+                    const lapack_complex_double* du,
+                    const lapack_complex_double* du2, const lapack_int* ipiv,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_spotrs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dpotrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_cpotrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zpotrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dpftrs( char* transr, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* a, double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_spftrs( char* transr, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* a, float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zpftrs( char* transr, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_cpftrs( char* transr, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_spptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* ap, float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dpptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* ap, double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_cpptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_zpptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_spbtrs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const float* ab, lapack_int* ldab, float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_dpbtrs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const double* ab, lapack_int* ldab, double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_cpbtrs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_float* ab, lapack_int* ldab,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zpbtrs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_spttrs( lapack_int* n, lapack_int* nrhs, const float* d,
+                    const float* e, float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dpttrs( lapack_int* n, lapack_int* nrhs, const double* d,
+                    const double* e, double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_cpttrs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* d,
+                    const lapack_complex_float* e, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_zpttrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* d, const lapack_complex_double* e,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_ssytrs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* a,
+                    lapack_int* lda, const lapack_int* ipiv, float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_dsytrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, const lapack_int* ipiv,
+                    double* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_csytrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_zsytrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_chetrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_zhetrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_ssptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* ap, const lapack_int* ipiv, float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_dsptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* ap, const lapack_int* ipiv, double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_csptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap, const lapack_int* ipiv,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zsptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap, const lapack_int* ipiv,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_chptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap, const lapack_int* ipiv,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zhptrs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap, const lapack_int* ipiv,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_strtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const float* a, lapack_int* lda, float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_dtrtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const double* a, lapack_int* lda,
+                    double* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_ctrtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_ztrtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_stptrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const float* ap, float* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_dtptrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const double* ap, double* b,
+                    lapack_int* ldb, lapack_int *info );
+void LAPACK_ctptrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_float* ap,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_ztptrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_double* ap,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_stbtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs, const float* ab,
+                    lapack_int* ldab, float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dtbtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs, const double* ab,
+                    lapack_int* ldab, double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_ctbtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_float* ab, lapack_int* ldab,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_ztbtrs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_sgecon( char* norm, lapack_int* n, const float* a, lapack_int* lda,
+                    float* anorm, float* rcond, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgecon( char* norm, lapack_int* n, const double* a, lapack_int* lda,
+                    double* anorm, double* rcond, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_cgecon( char* norm, lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, float* anorm, float* rcond,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgecon( char* norm, lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, double* anorm, double* rcond,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sgbcon( char* norm, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    const float* ab, lapack_int* ldab, const lapack_int* ipiv,
+                    float* anorm, float* rcond, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgbcon( char* norm, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    const double* ab, lapack_int* ldab, const lapack_int* ipiv,
+                    double* anorm, double* rcond, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_cgbcon( char* norm, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    const lapack_complex_float* ab, lapack_int* ldab,
+                    const lapack_int* ipiv, float* anorm, float* rcond,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgbcon( char* norm, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    const lapack_int* ipiv, double* anorm, double* rcond,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sgtcon( char* norm, lapack_int* n, const float* dl, const float* d,
+                    const float* du, const float* du2, const lapack_int* ipiv,
+                    float* anorm, float* rcond, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgtcon( char* norm, lapack_int* n, const double* dl,
+                    const double* d, const double* du, const double* du2,
+                    const lapack_int* ipiv, double* anorm, double* rcond,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cgtcon( char* norm, lapack_int* n, const lapack_complex_float* dl,
+                    const lapack_complex_float* d,
+                    const lapack_complex_float* du,
+                    const lapack_complex_float* du2, const lapack_int* ipiv,
+                    float* anorm, float* rcond, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zgtcon( char* norm, lapack_int* n, const lapack_complex_double* dl,
+                    const lapack_complex_double* d,
+                    const lapack_complex_double* du,
+                    const lapack_complex_double* du2, const lapack_int* ipiv,
+                    double* anorm, double* rcond, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_spocon( char* uplo, lapack_int* n, const float* a, lapack_int* lda,
+                    float* anorm, float* rcond, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dpocon( char* uplo, lapack_int* n, const double* a, lapack_int* lda,
+                    double* anorm, double* rcond, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_cpocon( char* uplo, lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, float* anorm, float* rcond,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zpocon( char* uplo, lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, double* anorm, double* rcond,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sppcon( char* uplo, lapack_int* n, const float* ap, float* anorm,
+                    float* rcond, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dppcon( char* uplo, lapack_int* n, const double* ap, double* anorm,
+                    double* rcond, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cppcon( char* uplo, lapack_int* n, const lapack_complex_float* ap,
+                    float* anorm, float* rcond, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zppcon( char* uplo, lapack_int* n, const lapack_complex_double* ap,
+                    double* anorm, double* rcond, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_spbcon( char* uplo, lapack_int* n, lapack_int* kd, const float* ab,
+                    lapack_int* ldab, float* anorm, float* rcond, float* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dpbcon( char* uplo, lapack_int* n, lapack_int* kd, const double* ab,
+                    lapack_int* ldab, double* anorm, double* rcond,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cpbcon( char* uplo, lapack_int* n, lapack_int* kd,
+                    const lapack_complex_float* ab, lapack_int* ldab,
+                    float* anorm, float* rcond, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zpbcon( char* uplo, lapack_int* n, lapack_int* kd,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    double* anorm, double* rcond, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_sptcon( lapack_int* n, const float* d, const float* e, float* anorm,
+                    float* rcond, float* work, lapack_int *info );
+void LAPACK_dptcon( lapack_int* n, const double* d, const double* e,
+                    double* anorm, double* rcond, double* work,
+                    lapack_int *info );
+void LAPACK_cptcon( lapack_int* n, const float* d,
+                    const lapack_complex_float* e, float* anorm, float* rcond,
+                    float* work, lapack_int *info );
+void LAPACK_zptcon( lapack_int* n, const double* d,
+                    const lapack_complex_double* e, double* anorm,
+                    double* rcond, double* work, lapack_int *info );
+void LAPACK_ssycon( char* uplo, lapack_int* n, const float* a, lapack_int* lda,
+                    const lapack_int* ipiv, float* anorm, float* rcond,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dsycon( char* uplo, lapack_int* n, const double* a, lapack_int* lda,
+                    const lapack_int* ipiv, double* anorm, double* rcond,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_csycon( char* uplo, lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_int* ipiv, float* anorm,
+                    float* rcond, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zsycon( char* uplo, lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_int* ipiv, double* anorm,
+                    double* rcond, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_checon( char* uplo, lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_int* ipiv, float* anorm,
+                    float* rcond, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zhecon( char* uplo, lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_int* ipiv, double* anorm,
+                    double* rcond, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_sspcon( char* uplo, lapack_int* n, const float* ap,
+                    const lapack_int* ipiv, float* anorm, float* rcond,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dspcon( char* uplo, lapack_int* n, const double* ap,
+                    const lapack_int* ipiv, double* anorm, double* rcond,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cspcon( char* uplo, lapack_int* n, const lapack_complex_float* ap,
+                    const lapack_int* ipiv, float* anorm, float* rcond,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zspcon( char* uplo, lapack_int* n, const lapack_complex_double* ap,
+                    const lapack_int* ipiv, double* anorm, double* rcond,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_chpcon( char* uplo, lapack_int* n, const lapack_complex_float* ap,
+                    const lapack_int* ipiv, float* anorm, float* rcond,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zhpcon( char* uplo, lapack_int* n, const lapack_complex_double* ap,
+                    const lapack_int* ipiv, double* anorm, double* rcond,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_strcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const float* a, lapack_int* lda, float* rcond, float* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dtrcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const double* a, lapack_int* lda, double* rcond,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_ctrcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    float* rcond, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztrcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    double* rcond, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_stpcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const float* ap, float* rcond, float* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dtpcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const double* ap, double* rcond, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ctpcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const lapack_complex_float* ap, float* rcond,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztpcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    const lapack_complex_double* ap, double* rcond,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_stbcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    lapack_int* kd, const float* ab, lapack_int* ldab,
+                    float* rcond, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dtbcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    lapack_int* kd, const double* ab, lapack_int* ldab,
+                    double* rcond, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_ctbcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    lapack_int* kd, const lapack_complex_float* ab,
+                    lapack_int* ldab, float* rcond, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_ztbcon( char* norm, char* uplo, char* diag, lapack_int* n,
+                    lapack_int* kd, const lapack_complex_double* ab,
+                    lapack_int* ldab, double* rcond,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sgerfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const float* a, lapack_int* lda, const float* af,
+                    lapack_int* ldaf, const lapack_int* ipiv, const float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* ferr,
+                    float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgerfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, const double* af,
+                    lapack_int* ldaf, const lapack_int* ipiv, const double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cgerfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zgerfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_dgerfsx( char* trans, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const double* a, lapack_int* lda, const double* af,
+                     lapack_int* ldaf, const lapack_int* ipiv, const double* r,
+                     const double* c, const double* b, lapack_int* ldb,
+                     double* x, lapack_int* ldx, double* rcond, double* berr,
+                     lapack_int* n_err_bnds, double* err_bnds_norm,
+                     double* err_bnds_comp, lapack_int* nparams, double* params,
+                     double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_sgerfsx( char* trans, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const float* a, lapack_int* lda, const float* af,
+                     lapack_int* ldaf, const lapack_int* ipiv, const float* r,
+                     const float* c, const float* b, lapack_int* ldb, float* x,
+                     lapack_int* ldx, float* rcond, float* berr,
+                     lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_zgerfsx( char* trans, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_double* a, lapack_int* lda,
+                     const lapack_complex_double* af, lapack_int* ldaf,
+                     const lapack_int* ipiv, const double* r, const double* c,
+                     const lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cgerfsx( char* trans, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_float* a, lapack_int* lda,
+                     const lapack_complex_float* af, lapack_int* ldaf,
+                     const lapack_int* ipiv, const float* r, const float* c,
+                     const lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_sgbrfs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const float* ab, lapack_int* ldab,
+                    const float* afb, lapack_int* ldafb, const lapack_int* ipiv,
+                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgbrfs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const double* ab, lapack_int* ldab,
+                    const double* afb, lapack_int* ldafb,
+                    const lapack_int* ipiv, const double* b, lapack_int* ldb,
+                    double* x, lapack_int* ldx, double* ferr, double* berr,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cgbrfs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const lapack_complex_float* ab,
+                    lapack_int* ldab, const lapack_complex_float* afb,
+                    lapack_int* ldafb, const lapack_int* ipiv,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgbrfs( char* trans, lapack_int* n, lapack_int* kl, lapack_int* ku,
+                    lapack_int* nrhs, const lapack_complex_double* ab,
+                    lapack_int* ldab, const lapack_complex_double* afb,
+                    lapack_int* ldafb, const lapack_int* ipiv,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_dgbrfsx( char* trans, char* equed, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs, const double* ab,
+                     lapack_int* ldab, const double* afb, lapack_int* ldafb,
+                     const lapack_int* ipiv, const double* r, const double* c,
+                     const double* b, lapack_int* ldb, double* x,
+                     lapack_int* ldx, double* rcond, double* berr,
+                     lapack_int* n_err_bnds, double* err_bnds_norm,
+                     double* err_bnds_comp, lapack_int* nparams, double* params,
+                     double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_sgbrfsx( char* trans, char* equed, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs, const float* ab,
+                     lapack_int* ldab, const float* afb, lapack_int* ldafb,
+                     const lapack_int* ipiv, const float* r, const float* c,
+                     const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                     float* rcond, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params, float* work,
+                     lapack_int* iwork, lapack_int *info );
+void LAPACK_zgbrfsx( char* trans, char* equed, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs,
+                     const lapack_complex_double* ab, lapack_int* ldab,
+                     const lapack_complex_double* afb, lapack_int* ldafb,
+                     const lapack_int* ipiv, const double* r, const double* c,
+                     const lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cgbrfsx( char* trans, char* equed, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs,
+                     const lapack_complex_float* ab, lapack_int* ldab,
+                     const lapack_complex_float* afb, lapack_int* ldafb,
+                     const lapack_int* ipiv, const float* r, const float* c,
+                     const lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_sgtrfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const float* dl, const float* d, const float* du,
+                    const float* dlf, const float* df, const float* duf,
+                    const float* du2, const lapack_int* ipiv, const float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* ferr,
+                    float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgtrfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const double* dl, const double* d, const double* du,
+                    const double* dlf, const double* df, const double* duf,
+                    const double* du2, const lapack_int* ipiv, const double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cgtrfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* dl,
+                    const lapack_complex_float* d,
+                    const lapack_complex_float* du,
+                    const lapack_complex_float* dlf,
+                    const lapack_complex_float* df,
+                    const lapack_complex_float* duf,
+                    const lapack_complex_float* du2, const lapack_int* ipiv,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgtrfs( char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* dl,
+                    const lapack_complex_double* d,
+                    const lapack_complex_double* du,
+                    const lapack_complex_double* dlf,
+                    const lapack_complex_double* df,
+                    const lapack_complex_double* duf,
+                    const lapack_complex_double* du2, const lapack_int* ipiv,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sporfs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* a,
+                    lapack_int* lda, const float* af, lapack_int* ldaf,
+                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dporfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, const double* af,
+                    lapack_int* ldaf, const double* b, lapack_int* ldb,
+                    double* x, lapack_int* ldx, double* ferr, double* berr,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cporfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* af, lapack_int* ldaf,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zporfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* af, lapack_int* ldaf,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_dporfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const double* a, lapack_int* lda, const double* af,
+                     lapack_int* ldaf, const double* s, const double* b,
+                     lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
+                     double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params, double* work,
+                     lapack_int* iwork, lapack_int *info );
+void LAPACK_sporfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const float* a, lapack_int* lda, const float* af,
+                     lapack_int* ldaf, const float* s, const float* b,
+                     lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_zporfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_double* a, lapack_int* lda,
+                     const lapack_complex_double* af, lapack_int* ldaf,
+                     const double* s, const lapack_complex_double* b,
+                     lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                     double* rcond, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cporfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_float* a, lapack_int* lda,
+                     const lapack_complex_float* af, lapack_int* ldaf,
+                     const float* s, const lapack_complex_float* b,
+                     lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                     float* rcond, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_spprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* ap, const float* afp, const float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* ferr,
+                    float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dpprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* ap, const double* afp, const double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cpprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap,
+                    const lapack_complex_float* afp,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zpprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap,
+                    const lapack_complex_double* afp,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_spbrfs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const float* ab, lapack_int* ldab, const float* afb,
+                    lapack_int* ldafb, const float* b, lapack_int* ldb,
+                    float* x, lapack_int* ldx, float* ferr, float* berr,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dpbrfs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const double* ab, lapack_int* ldab, const double* afb,
+                    lapack_int* ldafb, const double* b, lapack_int* ldb,
+                    double* x, lapack_int* ldx, double* ferr, double* berr,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cpbrfs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_float* ab, lapack_int* ldab,
+                    const lapack_complex_float* afb, lapack_int* ldafb,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zpbrfs( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    const lapack_complex_double* afb, lapack_int* ldafb,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sptrfs( lapack_int* n, lapack_int* nrhs, const float* d,
+                    const float* e, const float* df, const float* ef,
+                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                    float* ferr, float* berr, float* work, lapack_int *info );
+void LAPACK_dptrfs( lapack_int* n, lapack_int* nrhs, const double* d,
+                    const double* e, const double* df, const double* ef,
+                    const double* b, lapack_int* ldb, double* x,
+                    lapack_int* ldx, double* ferr, double* berr, double* work,
+                    lapack_int *info );
+void LAPACK_cptrfs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* d,
+                    const lapack_complex_float* e, const float* df,
+                    const lapack_complex_float* ef,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zptrfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* d, const lapack_complex_double* e,
+                    const double* df, const lapack_complex_double* ef,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_ssyrfs( char* uplo, lapack_int* n, lapack_int* nrhs, const float* a,
+                    lapack_int* lda, const float* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const float* b, lapack_int* ldb,
+                    float* x, lapack_int* ldx, float* ferr, float* berr,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dsyrfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, const double* af,
+                    lapack_int* ldaf, const lapack_int* ipiv, const double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_csyrfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zsyrfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_dsyrfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const double* a, lapack_int* lda, const double* af,
+                     lapack_int* ldaf, const lapack_int* ipiv, const double* s,
+                     const double* b, lapack_int* ldb, double* x,
+                     lapack_int* ldx, double* rcond, double* berr,
+                     lapack_int* n_err_bnds, double* err_bnds_norm,
+                     double* err_bnds_comp, lapack_int* nparams, double* params,
+                     double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_ssyrfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const float* a, lapack_int* lda, const float* af,
+                     lapack_int* ldaf, const lapack_int* ipiv, const float* s,
+                     const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                     float* rcond, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params, float* work,
+                     lapack_int* iwork, lapack_int *info );
+void LAPACK_zsyrfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_double* a, lapack_int* lda,
+                     const lapack_complex_double* af, lapack_int* ldaf,
+                     const lapack_int* ipiv, const double* s,
+                     const lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_csyrfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_float* a, lapack_int* lda,
+                     const lapack_complex_float* af, lapack_int* ldaf,
+                     const lapack_int* ipiv, const float* s,
+                     const lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_cherfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zherfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* af, lapack_int* ldaf,
+                    const lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_zherfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_double* a, lapack_int* lda,
+                     const lapack_complex_double* af, lapack_int* ldaf,
+                     const lapack_int* ipiv, const double* s,
+                     const lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cherfsx( char* uplo, char* equed, lapack_int* n, lapack_int* nrhs,
+                     const lapack_complex_float* a, lapack_int* lda,
+                     const lapack_complex_float* af, lapack_int* ldaf,
+                     const lapack_int* ipiv, const float* s,
+                     const lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* berr, lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_ssprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* ap, const float* afp, const lapack_int* ipiv,
+                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dsprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* ap, const double* afp, const lapack_int* ipiv,
+                    const double* b, lapack_int* ldb, double* x,
+                    lapack_int* ldx, double* ferr, double* berr, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_csprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap,
+                    const lapack_complex_float* afp, const lapack_int* ipiv,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zsprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap,
+                    const lapack_complex_double* afp, const lapack_int* ipiv,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_chprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap,
+                    const lapack_complex_float* afp, const lapack_int* ipiv,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zhprfs( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap,
+                    const lapack_complex_double* afp, const lapack_int* ipiv,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* ferr,
+                    double* berr, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_strrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const float* a, lapack_int* lda,
+                    const float* b, lapack_int* ldb, const float* x,
+                    lapack_int* ldx, float* ferr, float* berr, float* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dtrrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const double* a, lapack_int* lda,
+                    const double* b, lapack_int* ldb, const double* x,
+                    lapack_int* ldx, double* ferr, double* berr, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ctrrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* b,
+                    lapack_int* ldb, const lapack_complex_float* x,
+                    lapack_int* ldx, float* ferr, float* berr,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztrrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* b,
+                    lapack_int* ldb, const lapack_complex_double* x,
+                    lapack_int* ldx, double* ferr, double* berr,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_stprfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const float* ap, const float* b,
+                    lapack_int* ldb, const float* x, lapack_int* ldx,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dtprfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const double* ap, const double* b,
+                    lapack_int* ldb, const double* x, lapack_int* ldx,
+                    double* ferr, double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_ctprfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_float* ap,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    const lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztprfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* nrhs, const lapack_complex_double* ap,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    const lapack_complex_double* x, lapack_int* ldx,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_stbrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs, const float* ab,
+                    lapack_int* ldab, const float* b, lapack_int* ldb,
+                    const float* x, lapack_int* ldx, float* ferr, float* berr,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dtbrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs, const double* ab,
+                    lapack_int* ldab, const double* b, lapack_int* ldb,
+                    const double* x, lapack_int* ldx, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_ctbrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_float* ab, lapack_int* ldab,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    const lapack_complex_float* x, lapack_int* ldx, float* ferr,
+                    float* berr, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztbrfs( char* uplo, char* trans, char* diag, lapack_int* n,
+                    lapack_int* kd, lapack_int* nrhs,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    const lapack_complex_double* x, lapack_int* ldx,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_sgetri( lapack_int* n, float* a, lapack_int* lda,
+                    const lapack_int* ipiv, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgetri( lapack_int* n, double* a, lapack_int* lda,
+                    const lapack_int* ipiv, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cgetri( lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zgetri( lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                    const lapack_int* ipiv, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_spotri( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_dpotri( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_cpotri( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_zpotri( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_dpftri( char* transr, char* uplo, lapack_int* n, double* a,
+                    lapack_int *info );
+void LAPACK_spftri( char* transr, char* uplo, lapack_int* n, float* a,
+                    lapack_int *info );
+void LAPACK_zpftri( char* transr, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int *info );
+void LAPACK_cpftri( char* transr, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int *info );
+void LAPACK_spptri( char* uplo, lapack_int* n, float* ap, lapack_int *info );
+void LAPACK_dpptri( char* uplo, lapack_int* n, double* ap, lapack_int *info );
+void LAPACK_cpptri( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    lapack_int *info );
+void LAPACK_zpptri( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    lapack_int *info );
+void LAPACK_ssytri( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    const lapack_int* ipiv, float* work, lapack_int *info );
+void LAPACK_dsytri( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    const lapack_int* ipiv, double* work, lapack_int *info );
+void LAPACK_csytri( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, const lapack_int* ipiv,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zsytri( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, const lapack_int* ipiv,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_chetri( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, const lapack_int* ipiv,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zhetri( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, const lapack_int* ipiv,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_ssptri( char* uplo, lapack_int* n, float* ap,
+                    const lapack_int* ipiv, float* work, lapack_int *info );
+void LAPACK_dsptri( char* uplo, lapack_int* n, double* ap,
+                    const lapack_int* ipiv, double* work, lapack_int *info );
+void LAPACK_csptri( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    const lapack_int* ipiv, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zsptri( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    const lapack_int* ipiv, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_chptri( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    const lapack_int* ipiv, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zhptri( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    const lapack_int* ipiv, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_strtri( char* uplo, char* diag, lapack_int* n, float* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_dtrtri( char* uplo, char* diag, lapack_int* n, double* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_ctrtri( char* uplo, char* diag, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_ztrtri( char* uplo, char* diag, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_dtftri( char* transr, char* uplo, char* diag, lapack_int* n,
+                    double* a, lapack_int *info );
+void LAPACK_stftri( char* transr, char* uplo, char* diag, lapack_int* n,
+                    float* a, lapack_int *info );
+void LAPACK_ztftri( char* transr, char* uplo, char* diag, lapack_int* n,
+                    lapack_complex_double* a, lapack_int *info );
+void LAPACK_ctftri( char* transr, char* uplo, char* diag, lapack_int* n,
+                    lapack_complex_float* a, lapack_int *info );
+void LAPACK_stptri( char* uplo, char* diag, lapack_int* n, float* ap,
+                    lapack_int *info );
+void LAPACK_dtptri( char* uplo, char* diag, lapack_int* n, double* ap,
+                    lapack_int *info );
+void LAPACK_ctptri( char* uplo, char* diag, lapack_int* n,
+                    lapack_complex_float* ap, lapack_int *info );
+void LAPACK_ztptri( char* uplo, char* diag, lapack_int* n,
+                    lapack_complex_double* ap, lapack_int *info );
+void LAPACK_sgeequ( lapack_int* m, lapack_int* n, const float* a,
+                    lapack_int* lda, float* r, float* c, float* rowcnd,
+                    float* colcnd, float* amax, lapack_int *info );
+void LAPACK_dgeequ( lapack_int* m, lapack_int* n, const double* a,
+                    lapack_int* lda, double* r, double* c, double* rowcnd,
+                    double* colcnd, double* amax, lapack_int *info );
+void LAPACK_cgeequ( lapack_int* m, lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, float* r, float* c, float* rowcnd,
+                    float* colcnd, float* amax, lapack_int *info );
+void LAPACK_zgeequ( lapack_int* m, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda, double* r,
+                    double* c, double* rowcnd, double* colcnd, double* amax,
+                    lapack_int *info );
+void LAPACK_dgeequb( lapack_int* m, lapack_int* n, const double* a,
+                     lapack_int* lda, double* r, double* c, double* rowcnd,
+                     double* colcnd, double* amax, lapack_int *info );
+void LAPACK_sgeequb( lapack_int* m, lapack_int* n, const float* a,
+                     lapack_int* lda, float* r, float* c, float* rowcnd,
+                     float* colcnd, float* amax, lapack_int *info );
+void LAPACK_zgeequb( lapack_int* m, lapack_int* n,
+                     const lapack_complex_double* a, lapack_int* lda, double* r,
+                     double* c, double* rowcnd, double* colcnd, double* amax,
+                     lapack_int *info );
+void LAPACK_cgeequb( lapack_int* m, lapack_int* n,
+                     const lapack_complex_float* a, lapack_int* lda, float* r,
+                     float* c, float* rowcnd, float* colcnd, float* amax,
+                     lapack_int *info );
+void LAPACK_sgbequ( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const float* ab, lapack_int* ldab, float* r,
+                    float* c, float* rowcnd, float* colcnd, float* amax,
+                    lapack_int *info );
+void LAPACK_dgbequ( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const double* ab, lapack_int* ldab,
+                    double* r, double* c, double* rowcnd, double* colcnd,
+                    double* amax, lapack_int *info );
+void LAPACK_cgbequ( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const lapack_complex_float* ab,
+                    lapack_int* ldab, float* r, float* c, float* rowcnd,
+                    float* colcnd, float* amax, lapack_int *info );
+void LAPACK_zgbequ( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const lapack_complex_double* ab,
+                    lapack_int* ldab, double* r, double* c, double* rowcnd,
+                    double* colcnd, double* amax, lapack_int *info );
+void LAPACK_dgbequb( lapack_int* m, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, const double* ab, lapack_int* ldab,
+                     double* r, double* c, double* rowcnd, double* colcnd,
+                     double* amax, lapack_int *info );
+void LAPACK_sgbequb( lapack_int* m, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, const float* ab, lapack_int* ldab,
+                     float* r, float* c, float* rowcnd, float* colcnd,
+                     float* amax, lapack_int *info );
+void LAPACK_zgbequb( lapack_int* m, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, const lapack_complex_double* ab,
+                     lapack_int* ldab, double* r, double* c, double* rowcnd,
+                     double* colcnd, double* amax, lapack_int *info );
+void LAPACK_cgbequb( lapack_int* m, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, const lapack_complex_float* ab,
+                     lapack_int* ldab, float* r, float* c, float* rowcnd,
+                     float* colcnd, float* amax, lapack_int *info );
+void LAPACK_spoequ( lapack_int* n, const float* a, lapack_int* lda, float* s,
+                    float* scond, float* amax, lapack_int *info );
+void LAPACK_dpoequ( lapack_int* n, const double* a, lapack_int* lda, double* s,
+                    double* scond, double* amax, lapack_int *info );
+void LAPACK_cpoequ( lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, float* s, float* scond, float* amax,
+                    lapack_int *info );
+void LAPACK_zpoequ( lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, double* s, double* scond, double* amax,
+                    lapack_int *info );
+void LAPACK_dpoequb( lapack_int* n, const double* a, lapack_int* lda, double* s,
+                     double* scond, double* amax, lapack_int *info );
+void LAPACK_spoequb( lapack_int* n, const float* a, lapack_int* lda, float* s,
+                     float* scond, float* amax, lapack_int *info );
+void LAPACK_zpoequb( lapack_int* n, const lapack_complex_double* a,
+                     lapack_int* lda, double* s, double* scond, double* amax,
+                     lapack_int *info );
+void LAPACK_cpoequb( lapack_int* n, const lapack_complex_float* a,
+                     lapack_int* lda, float* s, float* scond, float* amax,
+                     lapack_int *info );
+void LAPACK_sppequ( char* uplo, lapack_int* n, const float* ap, float* s,
+                    float* scond, float* amax, lapack_int *info );
+void LAPACK_dppequ( char* uplo, lapack_int* n, const double* ap, double* s,
+                    double* scond, double* amax, lapack_int *info );
+void LAPACK_cppequ( char* uplo, lapack_int* n, const lapack_complex_float* ap,
+                    float* s, float* scond, float* amax, lapack_int *info );
+void LAPACK_zppequ( char* uplo, lapack_int* n, const lapack_complex_double* ap,
+                    double* s, double* scond, double* amax, lapack_int *info );
+void LAPACK_spbequ( char* uplo, lapack_int* n, lapack_int* kd, const float* ab,
+                    lapack_int* ldab, float* s, float* scond, float* amax,
+                    lapack_int *info );
+void LAPACK_dpbequ( char* uplo, lapack_int* n, lapack_int* kd, const double* ab,
+                    lapack_int* ldab, double* s, double* scond, double* amax,
+                    lapack_int *info );
+void LAPACK_cpbequ( char* uplo, lapack_int* n, lapack_int* kd,
+                    const lapack_complex_float* ab, lapack_int* ldab, float* s,
+                    float* scond, float* amax, lapack_int *info );
+void LAPACK_zpbequ( char* uplo, lapack_int* n, lapack_int* kd,
+                    const lapack_complex_double* ab, lapack_int* ldab,
+                    double* s, double* scond, double* amax, lapack_int *info );
+void LAPACK_dsyequb( char* uplo, lapack_int* n, const double* a,
+                     lapack_int* lda, double* s, double* scond, double* amax,
+                     double* work, lapack_int *info );
+void LAPACK_ssyequb( char* uplo, lapack_int* n, const float* a, lapack_int* lda,
+                     float* s, float* scond, float* amax, float* work,
+                     lapack_int *info );
+void LAPACK_zsyequb( char* uplo, lapack_int* n, const lapack_complex_double* a,
+                     lapack_int* lda, double* s, double* scond, double* amax,
+                     lapack_complex_double* work, lapack_int *info );
+void LAPACK_csyequb( char* uplo, lapack_int* n, const lapack_complex_float* a,
+                     lapack_int* lda, float* s, float* scond, float* amax,
+                     lapack_complex_float* work, lapack_int *info );
+void LAPACK_zheequb( char* uplo, lapack_int* n, const lapack_complex_double* a,
+                     lapack_int* lda, double* s, double* scond, double* amax,
+                     lapack_complex_double* work, lapack_int *info );
+void LAPACK_cheequb( char* uplo, lapack_int* n, const lapack_complex_float* a,
+                     lapack_int* lda, float* s, float* scond, float* amax,
+                     lapack_complex_float* work, lapack_int *info );
+void LAPACK_sgesv( lapack_int* n, lapack_int* nrhs, float* a, lapack_int* lda,
+                   lapack_int* ipiv, float* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_dgesv( lapack_int* n, lapack_int* nrhs, double* a, lapack_int* lda,
+                   lapack_int* ipiv, double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_cgesv( lapack_int* n, lapack_int* nrhs, lapack_complex_float* a,
+                   lapack_int* lda, lapack_int* ipiv, lapack_complex_float* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_zgesv( lapack_int* n, lapack_int* nrhs, lapack_complex_double* a,
+                   lapack_int* lda, lapack_int* ipiv, lapack_complex_double* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_dsgesv( lapack_int* n, lapack_int* nrhs, double* a, lapack_int* lda,
+                    lapack_int* ipiv, double* b, lapack_int* ldb, double* x,
+                    lapack_int* ldx, double* work, float* swork,
+                    lapack_int* iter, lapack_int *info );
+void LAPACK_zcgesv( lapack_int* n, lapack_int* nrhs, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* ipiv, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    lapack_complex_double* work, lapack_complex_float* swork,
+                    double* rwork, lapack_int* iter, lapack_int *info );
+void LAPACK_sgesvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    float* a, lapack_int* lda, float* af, lapack_int* ldaf,
+                    lapack_int* ipiv, char* equed, float* r, float* c, float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgesvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    double* a, lapack_int* lda, double* af, lapack_int* ldaf,
+                    lapack_int* ipiv, char* equed, double* r, double* c,
+                    double* b, lapack_int* ldb, double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_cgesvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* af, lapack_int* ldaf,
+                    lapack_int* ipiv, char* equed, float* r, float* c,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zgesvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* af, lapack_int* ldaf,
+                    lapack_int* ipiv, char* equed, double* r, double* c,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_dgesvxx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                     double* a, lapack_int* lda, double* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, double* r, double* c,
+                     double* b, lapack_int* ldb, double* x, lapack_int* ldx,
+                     double* rcond, double* rpvgrw, double* berr,
+                     lapack_int* n_err_bnds, double* err_bnds_norm,
+                     double* err_bnds_comp, lapack_int* nparams, double* params,
+                     double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_sgesvxx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                     float* a, lapack_int* lda, float* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, float* r, float* c,
+                     float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                     float* rcond, float* rpvgrw, float* berr,
+                     lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_zgesvxx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_double* a, lapack_int* lda,
+                     lapack_complex_double* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, double* r, double* c,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cgesvxx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_float* a, lapack_int* lda,
+                     lapack_complex_float* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, float* r, float* c,
+                     lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_sgbsv( lapack_int* n, lapack_int* kl, lapack_int* ku,
+                   lapack_int* nrhs, float* ab, lapack_int* ldab,
+                   lapack_int* ipiv, float* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_dgbsv( lapack_int* n, lapack_int* kl, lapack_int* ku,
+                   lapack_int* nrhs, double* ab, lapack_int* ldab,
+                   lapack_int* ipiv, double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_cgbsv( lapack_int* n, lapack_int* kl, lapack_int* ku,
+                   lapack_int* nrhs, lapack_complex_float* ab, lapack_int* ldab,
+                   lapack_int* ipiv, lapack_complex_float* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_zgbsv( lapack_int* n, lapack_int* kl, lapack_int* ku,
+                   lapack_int* nrhs, lapack_complex_double* ab,
+                   lapack_int* ldab, lapack_int* ipiv, lapack_complex_double* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_sgbsvx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, lapack_int* nrhs, float* ab,
+                    lapack_int* ldab, float* afb, lapack_int* ldafb,
+                    lapack_int* ipiv, char* equed, float* r, float* c, float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgbsvx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, lapack_int* nrhs, double* ab,
+                    lapack_int* ldab, double* afb, lapack_int* ldafb,
+                    lapack_int* ipiv, char* equed, double* r, double* c,
+                    double* b, lapack_int* ldb, double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_cgbsvx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, lapack_int* nrhs, lapack_complex_float* ab,
+                    lapack_int* ldab, lapack_complex_float* afb,
+                    lapack_int* ldafb, lapack_int* ipiv, char* equed, float* r,
+                    float* c, lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zgbsvx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, lapack_int* nrhs, lapack_complex_double* ab,
+                    lapack_int* ldab, lapack_complex_double* afb,
+                    lapack_int* ldafb, lapack_int* ipiv, char* equed, double* r,
+                    double* c, lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_dgbsvxx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs, double* ab,
+                     lapack_int* ldab, double* afb, lapack_int* ldafb,
+                     lapack_int* ipiv, char* equed, double* r, double* c,
+                     double* b, lapack_int* ldb, double* x, lapack_int* ldx,
+                     double* rcond, double* rpvgrw, double* berr,
+                     lapack_int* n_err_bnds, double* err_bnds_norm,
+                     double* err_bnds_comp, lapack_int* nparams, double* params,
+                     double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_sgbsvxx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs, float* ab,
+                     lapack_int* ldab, float* afb, lapack_int* ldafb,
+                     lapack_int* ipiv, char* equed, float* r, float* c,
+                     float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                     float* rcond, float* rpvgrw, float* berr,
+                     lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_zgbsvxx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs,
+                     lapack_complex_double* ab, lapack_int* ldab,
+                     lapack_complex_double* afb, lapack_int* ldafb,
+                     lapack_int* ipiv, char* equed, double* r, double* c,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cgbsvxx( char* fact, char* trans, lapack_int* n, lapack_int* kl,
+                     lapack_int* ku, lapack_int* nrhs, lapack_complex_float* ab,
+                     lapack_int* ldab, lapack_complex_float* afb,
+                     lapack_int* ldafb, lapack_int* ipiv, char* equed, float* r,
+                     float* c, lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_sgtsv( lapack_int* n, lapack_int* nrhs, float* dl, float* d,
+                   float* du, float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_dgtsv( lapack_int* n, lapack_int* nrhs, double* dl, double* d,
+                   double* du, double* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_cgtsv( lapack_int* n, lapack_int* nrhs, lapack_complex_float* dl,
+                   lapack_complex_float* d, lapack_complex_float* du,
+                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_zgtsv( lapack_int* n, lapack_int* nrhs, lapack_complex_double* dl,
+                   lapack_complex_double* d, lapack_complex_double* du,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_sgtsvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    const float* dl, const float* d, const float* du,
+                    float* dlf, float* df, float* duf, float* du2,
+                    lapack_int* ipiv, const float* b, lapack_int* ldb, float* x,
+                    lapack_int* ldx, float* rcond, float* ferr, float* berr,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dgtsvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    const double* dl, const double* d, const double* du,
+                    double* dlf, double* df, double* duf, double* du2,
+                    lapack_int* ipiv, const double* b, lapack_int* ldb,
+                    double* x, lapack_int* ldx, double* rcond, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cgtsvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* dl,
+                    const lapack_complex_float* d,
+                    const lapack_complex_float* du, lapack_complex_float* dlf,
+                    lapack_complex_float* df, lapack_complex_float* duf,
+                    lapack_complex_float* du2, lapack_int* ipiv,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zgtsvx( char* fact, char* trans, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* dl,
+                    const lapack_complex_double* d,
+                    const lapack_complex_double* du, lapack_complex_double* dlf,
+                    lapack_complex_double* df, lapack_complex_double* duf,
+                    lapack_complex_double* du2, lapack_int* ipiv,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_sposv( char* uplo, lapack_int* n, lapack_int* nrhs, float* a,
+                   lapack_int* lda, float* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_dposv( char* uplo, lapack_int* n, lapack_int* nrhs, double* a,
+                   lapack_int* lda, double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_cposv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* a, lapack_int* lda,
+                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_zposv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* a, lapack_int* lda,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_dsposv( char* uplo, lapack_int* n, lapack_int* nrhs, double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb, double* x,
+                    lapack_int* ldx, double* work, float* swork,
+                    lapack_int* iter, lapack_int *info );
+void LAPACK_zcposv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx,
+                    lapack_complex_double* work, lapack_complex_float* swork,
+                    double* rwork, lapack_int* iter, lapack_int *info );
+void LAPACK_sposvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    float* a, lapack_int* lda, float* af, lapack_int* ldaf,
+                    char* equed, float* s, float* b, lapack_int* ldb, float* x,
+                    lapack_int* ldx, float* rcond, float* ferr, float* berr,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dposvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    double* a, lapack_int* lda, double* af, lapack_int* ldaf,
+                    char* equed, double* s, double* b, lapack_int* ldb,
+                    double* x, lapack_int* ldx, double* rcond, double* ferr,
+                    double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cposvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* af, lapack_int* ldaf, char* equed,
+                    float* s, lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zposvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* af, lapack_int* ldaf, char* equed,
+                    double* s, lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_dposvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     double* a, lapack_int* lda, double* af, lapack_int* ldaf,
+                     char* equed, double* s, double* b, lapack_int* ldb,
+                     double* x, lapack_int* ldx, double* rcond, double* rpvgrw,
+                     double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params, double* work,
+                     lapack_int* iwork, lapack_int *info );
+void LAPACK_sposvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     float* a, lapack_int* lda, float* af, lapack_int* ldaf,
+                     char* equed, float* s, float* b, lapack_int* ldb, float* x,
+                     lapack_int* ldx, float* rcond, float* rpvgrw, float* berr,
+                     lapack_int* n_err_bnds, float* err_bnds_norm,
+                     float* err_bnds_comp, lapack_int* nparams, float* params,
+                     float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_zposvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_double* a, lapack_int* lda,
+                     lapack_complex_double* af, lapack_int* ldaf, char* equed,
+                     double* s, lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_cposvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_float* a, lapack_int* lda,
+                     lapack_complex_float* af, lapack_int* ldaf, char* equed,
+                     float* s, lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_sppsv( char* uplo, lapack_int* n, lapack_int* nrhs, float* ap,
+                   float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_dppsv( char* uplo, lapack_int* n, lapack_int* nrhs, double* ap,
+                   double* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_cppsv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* ap, lapack_complex_float* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_zppsv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* ap, lapack_complex_double* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_sppsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    float* ap, float* afp, char* equed, float* s, float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dppsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    double* ap, double* afp, char* equed, double* s, double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cppsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_float* ap, lapack_complex_float* afp,
+                    char* equed, float* s, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zppsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* ap, lapack_complex_double* afp,
+                    char* equed, double* s, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_spbsv( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                   float* ab, lapack_int* ldab, float* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_dpbsv( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                   double* ab, lapack_int* ldab, double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_cpbsv( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                   lapack_complex_float* ab, lapack_int* ldab,
+                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_zpbsv( char* uplo, lapack_int* n, lapack_int* kd, lapack_int* nrhs,
+                   lapack_complex_double* ab, lapack_int* ldab,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_spbsvx( char* fact, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_int* nrhs, float* ab, lapack_int* ldab, float* afb,
+                    lapack_int* ldafb, char* equed, float* s, float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dpbsvx( char* fact, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_int* nrhs, double* ab, lapack_int* ldab, double* afb,
+                    lapack_int* ldafb, char* equed, double* s, double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_cpbsvx( char* fact, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_int* nrhs, lapack_complex_float* ab,
+                    lapack_int* ldab, lapack_complex_float* afb,
+                    lapack_int* ldafb, char* equed, float* s,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zpbsvx( char* fact, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_int* nrhs, lapack_complex_double* ab,
+                    lapack_int* ldab, lapack_complex_double* afb,
+                    lapack_int* ldafb, char* equed, double* s,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_sptsv( lapack_int* n, lapack_int* nrhs, float* d, float* e,
+                   float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_dptsv( lapack_int* n, lapack_int* nrhs, double* d, double* e,
+                   double* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_cptsv( lapack_int* n, lapack_int* nrhs, float* d,
+                   lapack_complex_float* e, lapack_complex_float* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_zptsv( lapack_int* n, lapack_int* nrhs, double* d,
+                   lapack_complex_double* e, lapack_complex_double* b,
+                   lapack_int* ldb, lapack_int *info );
+void LAPACK_sptsvx( char* fact, lapack_int* n, lapack_int* nrhs, const float* d,
+                    const float* e, float* df, float* ef, const float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, float* work, lapack_int *info );
+void LAPACK_dptsvx( char* fact, lapack_int* n, lapack_int* nrhs,
+                    const double* d, const double* e, double* df, double* ef,
+                    const double* b, lapack_int* ldb, double* x,
+                    lapack_int* ldx, double* rcond, double* ferr, double* berr,
+                    double* work, lapack_int *info );
+void LAPACK_cptsvx( char* fact, lapack_int* n, lapack_int* nrhs, const float* d,
+                    const lapack_complex_float* e, float* df,
+                    lapack_complex_float* ef, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zptsvx( char* fact, lapack_int* n, lapack_int* nrhs,
+                    const double* d, const lapack_complex_double* e, double* df,
+                    lapack_complex_double* ef, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_ssysv( char* uplo, lapack_int* n, lapack_int* nrhs, float* a,
+                   lapack_int* lda, lapack_int* ipiv, float* b, lapack_int* ldb,
+                   float* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_dsysv( char* uplo, lapack_int* n, lapack_int* nrhs, double* a,
+                   lapack_int* lda, lapack_int* ipiv, double* b,
+                   lapack_int* ldb, double* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_csysv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* a, lapack_int* lda, lapack_int* ipiv,
+                   lapack_complex_float* b, lapack_int* ldb,
+                   lapack_complex_float* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_zsysv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* a, lapack_int* lda, lapack_int* ipiv,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_ssysvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* a, lapack_int* lda, float* af,
+                    lapack_int* ldaf, lapack_int* ipiv, const float* b,
+                    lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                    float* ferr, float* berr, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dsysvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* a, lapack_int* lda, double* af,
+                    lapack_int* ldaf, lapack_int* ipiv, const double* b,
+                    lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
+                    double* ferr, double* berr, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_csysvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* af, lapack_int* ldaf,
+                    lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int *info );
+void LAPACK_zsysvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* af, lapack_int* ldaf,
+                    lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int *info );
+void LAPACK_dsysvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     double* a, lapack_int* lda, double* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, double* s, double* b,
+                     lapack_int* ldb, double* x, lapack_int* ldx, double* rcond,
+                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params, double* work,
+                     lapack_int* iwork, lapack_int *info );
+void LAPACK_ssysvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     float* a, lapack_int* lda, float* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, float* s, float* b,
+                     lapack_int* ldb, float* x, lapack_int* ldx, float* rcond,
+                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params, float* work,
+                     lapack_int* iwork, lapack_int *info );
+void LAPACK_zsysvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_double* a, lapack_int* lda,
+                     lapack_complex_double* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, double* s,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_csysvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_float* a, lapack_int* lda,
+                     lapack_complex_float* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, float* s,
+                     lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_chesv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* a, lapack_int* lda, lapack_int* ipiv,
+                   lapack_complex_float* b, lapack_int* ldb,
+                   lapack_complex_float* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_zhesv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* a, lapack_int* lda, lapack_int* ipiv,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_chesvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* af, lapack_int* ldaf,
+                    lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int *info );
+void LAPACK_zhesvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* af, lapack_int* ldaf,
+                    lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int *info );
+void LAPACK_zhesvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_double* a, lapack_int* lda,
+                     lapack_complex_double* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, double* s,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* x, lapack_int* ldx, double* rcond,
+                     double* rpvgrw, double* berr, lapack_int* n_err_bnds,
+                     double* err_bnds_norm, double* err_bnds_comp,
+                     lapack_int* nparams, double* params,
+                     lapack_complex_double* work, double* rwork,
+                     lapack_int *info );
+void LAPACK_chesvxx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                     lapack_complex_float* a, lapack_int* lda,
+                     lapack_complex_float* af, lapack_int* ldaf,
+                     lapack_int* ipiv, char* equed, float* s,
+                     lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* x, lapack_int* ldx, float* rcond,
+                     float* rpvgrw, float* berr, lapack_int* n_err_bnds,
+                     float* err_bnds_norm, float* err_bnds_comp,
+                     lapack_int* nparams, float* params,
+                     lapack_complex_float* work, float* rwork,
+                     lapack_int *info );
+void LAPACK_sspsv( char* uplo, lapack_int* n, lapack_int* nrhs, float* ap,
+                   lapack_int* ipiv, float* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_dspsv( char* uplo, lapack_int* n, lapack_int* nrhs, double* ap,
+                   lapack_int* ipiv, double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_cspsv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* ap, lapack_int* ipiv,
+                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_zspsv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* ap, lapack_int* ipiv,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_sspsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const float* ap, float* afp, lapack_int* ipiv,
+                    const float* b, lapack_int* ldb, float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr, float* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dspsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const double* ap, double* afp, lapack_int* ipiv,
+                    const double* b, lapack_int* ldb, double* x,
+                    lapack_int* ldx, double* rcond, double* ferr, double* berr,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cspsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap, lapack_complex_float* afp,
+                    lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zspsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap, lapack_complex_double* afp,
+                    lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_chpsv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* ap, lapack_int* ipiv,
+                   lapack_complex_float* b, lapack_int* ldb, lapack_int *info );
+void LAPACK_zhpsv( char* uplo, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* ap, lapack_int* ipiv,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_int *info );
+void LAPACK_chpsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_float* ap, lapack_complex_float* afp,
+                    lapack_int* ipiv, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* x, lapack_int* ldx,
+                    float* rcond, float* ferr, float* berr,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zhpsvx( char* fact, char* uplo, lapack_int* n, lapack_int* nrhs,
+                    const lapack_complex_double* ap, lapack_complex_double* afp,
+                    lapack_int* ipiv, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* x, lapack_int* ldx,
+                    double* rcond, double* ferr, double* berr,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sgeqrf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgeqrf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cgeqrf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zgeqrf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sgeqpf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* jpvt, float* tau, float* work,
+                    lapack_int *info );
+void LAPACK_dgeqpf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* jpvt, double* tau, double* work,
+                    lapack_int *info );
+void LAPACK_cgeqpf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* jpvt,
+                    lapack_complex_float* tau, lapack_complex_float* work,
+                    float* rwork, lapack_int *info );
+void LAPACK_zgeqpf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* jpvt,
+                    lapack_complex_double* tau, lapack_complex_double* work,
+                    double* rwork, lapack_int *info );
+void LAPACK_sgeqp3( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* jpvt, float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dgeqp3( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* jpvt, double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cgeqp3( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* jpvt,
+                    lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int *info );
+void LAPACK_zgeqp3( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* jpvt,
+                    lapack_complex_double* tau, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_int *info );
+void LAPACK_sorgqr( lapack_int* m, lapack_int* n, lapack_int* k, float* a,
+                    lapack_int* lda, const float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dorgqr( lapack_int* m, lapack_int* n, lapack_int* k, double* a,
+                    lapack_int* lda, const double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sormqr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const float* a, lapack_int* lda,
+                    const float* tau, float* c, lapack_int* ldc, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dormqr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const double* a, lapack_int* lda,
+                    const double* tau, double* c, lapack_int* ldc, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cungqr( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zungqr( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunmqr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmqr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* tau,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sgelqf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgelqf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cgelqf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zgelqf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sorglq( lapack_int* m, lapack_int* n, lapack_int* k, float* a,
+                    lapack_int* lda, const float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dorglq( lapack_int* m, lapack_int* n, lapack_int* k, double* a,
+                    lapack_int* lda, const double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sormlq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const float* a, lapack_int* lda,
+                    const float* tau, float* c, lapack_int* ldc, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dormlq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const double* a, lapack_int* lda,
+                    const double* tau, double* c, lapack_int* ldc, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cunglq( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zunglq( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunmlq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmlq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* tau,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sgeqlf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgeqlf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cgeqlf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zgeqlf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sorgql( lapack_int* m, lapack_int* n, lapack_int* k, float* a,
+                    lapack_int* lda, const float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dorgql( lapack_int* m, lapack_int* n, lapack_int* k, double* a,
+                    lapack_int* lda, const double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cungql( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zungql( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sormql( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const float* a, lapack_int* lda,
+                    const float* tau, float* c, lapack_int* ldc, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dormql( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const double* a, lapack_int* lda,
+                    const double* tau, double* c, lapack_int* ldc, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cunmql( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmql( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* tau,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sgerqf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgerqf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cgerqf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zgerqf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sorgrq( lapack_int* m, lapack_int* n, lapack_int* k, float* a,
+                    lapack_int* lda, const float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dorgrq( lapack_int* m, lapack_int* n, lapack_int* k, double* a,
+                    lapack_int* lda, const double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cungrq( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zungrq( lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sormrq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const float* a, lapack_int* lda,
+                    const float* tau, float* c, lapack_int* ldc, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dormrq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const double* a, lapack_int* lda,
+                    const double* tau, double* c, lapack_int* ldc, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cunmrq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmrq( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* tau,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_stzrzf( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dtzrzf( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_ctzrzf( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_ztzrzf( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sormrz( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, lapack_int* l, const float* a,
+                    lapack_int* lda, const float* tau, float* c,
+                    lapack_int* ldc, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dormrz( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, lapack_int* l, const double* a,
+                    lapack_int* lda, const double* tau, double* c,
+                    lapack_int* ldc, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunmrz( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, lapack_int* l, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmrz( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* k, lapack_int* l,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau, lapack_complex_double* c,
+                    lapack_int* ldc, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sggqrf( lapack_int* n, lapack_int* m, lapack_int* p, float* a,
+                    lapack_int* lda, float* taua, float* b, lapack_int* ldb,
+                    float* taub, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dggqrf( lapack_int* n, lapack_int* m, lapack_int* p, double* a,
+                    lapack_int* lda, double* taua, double* b, lapack_int* ldb,
+                    double* taub, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cggqrf( lapack_int* n, lapack_int* m, lapack_int* p,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* taua, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* taub,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zggqrf( lapack_int* n, lapack_int* m, lapack_int* p,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* taua, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* taub,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sggrqf( lapack_int* m, lapack_int* p, lapack_int* n, float* a,
+                    lapack_int* lda, float* taua, float* b, lapack_int* ldb,
+                    float* taub, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dggrqf( lapack_int* m, lapack_int* p, lapack_int* n, double* a,
+                    lapack_int* lda, double* taua, double* b, lapack_int* ldb,
+                    double* taub, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cggrqf( lapack_int* m, lapack_int* p, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* taua, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* taub,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zggrqf( lapack_int* m, lapack_int* p, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* taua, lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* taub,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sgebrd( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* d, float* e, float* tauq, float* taup, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dgebrd( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* d, double* e, double* tauq, double* taup,
+                    double* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_cgebrd( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, float* d, float* e,
+                    lapack_complex_float* tauq, lapack_complex_float* taup,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zgebrd( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, double* d, double* e,
+                    lapack_complex_double* tauq, lapack_complex_double* taup,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sgbbrd( char* vect, lapack_int* m, lapack_int* n, lapack_int* ncc,
+                    lapack_int* kl, lapack_int* ku, float* ab, lapack_int* ldab,
+                    float* d, float* e, float* q, lapack_int* ldq, float* pt,
+                    lapack_int* ldpt, float* c, lapack_int* ldc, float* work,
+                    lapack_int *info );
+void LAPACK_dgbbrd( char* vect, lapack_int* m, lapack_int* n, lapack_int* ncc,
+                    lapack_int* kl, lapack_int* ku, double* ab,
+                    lapack_int* ldab, double* d, double* e, double* q,
+                    lapack_int* ldq, double* pt, lapack_int* ldpt, double* c,
+                    lapack_int* ldc, double* work, lapack_int *info );
+void LAPACK_cgbbrd( char* vect, lapack_int* m, lapack_int* n, lapack_int* ncc,
+                    lapack_int* kl, lapack_int* ku, lapack_complex_float* ab,
+                    lapack_int* ldab, float* d, float* e,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* pt, lapack_int* ldpt,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgbbrd( char* vect, lapack_int* m, lapack_int* n, lapack_int* ncc,
+                    lapack_int* kl, lapack_int* ku, lapack_complex_double* ab,
+                    lapack_int* ldab, double* d, double* e,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* pt, lapack_int* ldpt,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_sorgbr( char* vect, lapack_int* m, lapack_int* n, lapack_int* k,
+                    float* a, lapack_int* lda, const float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dorgbr( char* vect, lapack_int* m, lapack_int* n, lapack_int* k,
+                    double* a, lapack_int* lda, const double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sormbr( char* vect, char* side, char* trans, lapack_int* m,
+                    lapack_int* n, lapack_int* k, const float* a,
+                    lapack_int* lda, const float* tau, float* c,
+                    lapack_int* ldc, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dormbr( char* vect, char* side, char* trans, lapack_int* m,
+                    lapack_int* n, lapack_int* k, const double* a,
+                    lapack_int* lda, const double* tau, double* c,
+                    lapack_int* ldc, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cungbr( char* vect, lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zungbr( char* vect, lapack_int* m, lapack_int* n, lapack_int* k,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunmbr( char* vect, char* side, char* trans, lapack_int* m,
+                    lapack_int* n, lapack_int* k, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmbr( char* vect, char* side, char* trans, lapack_int* m,
+                    lapack_int* n, lapack_int* k,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau, lapack_complex_double* c,
+                    lapack_int* ldc, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sbdsqr( char* uplo, lapack_int* n, lapack_int* ncvt,
+                    lapack_int* nru, lapack_int* ncc, float* d, float* e,
+                    float* vt, lapack_int* ldvt, float* u, lapack_int* ldu,
+                    float* c, lapack_int* ldc, float* work, lapack_int *info );
+void LAPACK_dbdsqr( char* uplo, lapack_int* n, lapack_int* ncvt,
+                    lapack_int* nru, lapack_int* ncc, double* d, double* e,
+                    double* vt, lapack_int* ldvt, double* u, lapack_int* ldu,
+                    double* c, lapack_int* ldc, double* work,
+                    lapack_int *info );
+void LAPACK_cbdsqr( char* uplo, lapack_int* n, lapack_int* ncvt,
+                    lapack_int* nru, lapack_int* ncc, float* d, float* e,
+                    lapack_complex_float* vt, lapack_int* ldvt,
+                    lapack_complex_float* u, lapack_int* ldu,
+                    lapack_complex_float* c, lapack_int* ldc, float* work,
+                    lapack_int *info );
+void LAPACK_zbdsqr( char* uplo, lapack_int* n, lapack_int* ncvt,
+                    lapack_int* nru, lapack_int* ncc, double* d, double* e,
+                    lapack_complex_double* vt, lapack_int* ldvt,
+                    lapack_complex_double* u, lapack_int* ldu,
+                    lapack_complex_double* c, lapack_int* ldc, double* work,
+                    lapack_int *info );
+void LAPACK_sbdsdc( char* uplo, char* compq, lapack_int* n, float* d, float* e,
+                    float* u, lapack_int* ldu, float* vt, lapack_int* ldvt,
+                    float* q, lapack_int* iq, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dbdsdc( char* uplo, char* compq, lapack_int* n, double* d,
+                    double* e, double* u, lapack_int* ldu, double* vt,
+                    lapack_int* ldvt, double* q, lapack_int* iq, double* work,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ssytrd( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    float* d, float* e, float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dsytrd( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    double* d, double* e, double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sorgtr( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    const float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dorgtr( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    const double* tau, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_sormtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const float* a, lapack_int* lda,
+                    const float* tau, float* c, lapack_int* ldc, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dormtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const double* a, lapack_int* lda,
+                    const double* tau, double* c, lapack_int* ldc, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_chetrd( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, float* d, float* e,
+                    lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zhetrd( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, double* d, double* e,
+                    lapack_complex_double* tau, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cungtr( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zungtr( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunmtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_zunmtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* tau,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_ssptrd( char* uplo, lapack_int* n, float* ap, float* d, float* e,
+                    float* tau, lapack_int *info );
+void LAPACK_dsptrd( char* uplo, lapack_int* n, double* ap, double* d, double* e,
+                    double* tau, lapack_int *info );
+void LAPACK_sopgtr( char* uplo, lapack_int* n, const float* ap,
+                    const float* tau, float* q, lapack_int* ldq, float* work,
+                    lapack_int *info );
+void LAPACK_dopgtr( char* uplo, lapack_int* n, const double* ap,
+                    const double* tau, double* q, lapack_int* ldq, double* work,
+                    lapack_int *info );
+void LAPACK_sopmtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const float* ap, const float* tau, float* c,
+                    lapack_int* ldc, float* work, lapack_int *info );
+void LAPACK_dopmtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const double* ap, const double* tau,
+                    double* c, lapack_int* ldc, double* work,
+                    lapack_int *info );
+void LAPACK_chptrd( char* uplo, lapack_int* n, lapack_complex_float* ap,
+                    float* d, float* e, lapack_complex_float* tau,
+                    lapack_int *info );
+void LAPACK_zhptrd( char* uplo, lapack_int* n, lapack_complex_double* ap,
+                    double* d, double* e, lapack_complex_double* tau,
+                    lapack_int *info );
+void LAPACK_cupgtr( char* uplo, lapack_int* n, const lapack_complex_float* ap,
+                    const lapack_complex_float* tau, lapack_complex_float* q,
+                    lapack_int* ldq, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zupgtr( char* uplo, lapack_int* n, const lapack_complex_double* ap,
+                    const lapack_complex_double* tau, lapack_complex_double* q,
+                    lapack_int* ldq, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_cupmtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const lapack_complex_float* ap,
+                    const lapack_complex_float* tau, lapack_complex_float* c,
+                    lapack_int* ldc, lapack_complex_float* work,
+                    lapack_int *info );
+void LAPACK_zupmtr( char* side, char* uplo, char* trans, lapack_int* m,
+                    lapack_int* n, const lapack_complex_double* ap,
+                    const lapack_complex_double* tau, lapack_complex_double* c,
+                    lapack_int* ldc, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_ssbtrd( char* vect, char* uplo, lapack_int* n, lapack_int* kd,
+                    float* ab, lapack_int* ldab, float* d, float* e, float* q,
+                    lapack_int* ldq, float* work, lapack_int *info );
+void LAPACK_dsbtrd( char* vect, char* uplo, lapack_int* n, lapack_int* kd,
+                    double* ab, lapack_int* ldab, double* d, double* e,
+                    double* q, lapack_int* ldq, double* work,
+                    lapack_int *info );
+void LAPACK_chbtrd( char* vect, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_complex_float* ab, lapack_int* ldab, float* d,
+                    float* e, lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zhbtrd( char* vect, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_complex_double* ab, lapack_int* ldab, double* d,
+                    double* e, lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_ssterf( lapack_int* n, float* d, float* e, lapack_int *info );
+void LAPACK_dsterf( lapack_int* n, double* d, double* e, lapack_int *info );
+void LAPACK_ssteqr( char* compz, lapack_int* n, float* d, float* e, float* z,
+                    lapack_int* ldz, float* work, lapack_int *info );
+void LAPACK_dsteqr( char* compz, lapack_int* n, double* d, double* e, double* z,
+                    lapack_int* ldz, double* work, lapack_int *info );
+void LAPACK_csteqr( char* compz, lapack_int* n, float* d, float* e,
+                    lapack_complex_float* z, lapack_int* ldz, float* work,
+                    lapack_int *info );
+void LAPACK_zsteqr( char* compz, lapack_int* n, double* d, double* e,
+                    lapack_complex_double* z, lapack_int* ldz, double* work,
+                    lapack_int *info );
+void LAPACK_sstemr( char* jobz, char* range, lapack_int* n, float* d, float* e,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    lapack_int* m, float* w, float* z, lapack_int* ldz,
+                    lapack_int* nzc, lapack_int* isuppz, lapack_logical* tryrac,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_dstemr( char* jobz, char* range, lapack_int* n, double* d,
+                    double* e, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, lapack_int* m, double* w, double* z,
+                    lapack_int* ldz, lapack_int* nzc, lapack_int* isuppz,
+                    lapack_logical* tryrac, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_cstemr( char* jobz, char* range, lapack_int* n, float* d, float* e,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_int* nzc, lapack_int* isuppz,
+                    lapack_logical* tryrac, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_zstemr( char* jobz, char* range, lapack_int* n, double* d,
+                    double* e, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, lapack_int* m, double* w,
+                    lapack_complex_double* z, lapack_int* ldz, lapack_int* nzc,
+                    lapack_int* isuppz, lapack_logical* tryrac, double* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_sstedc( char* compz, lapack_int* n, float* d, float* e, float* z,
+                    lapack_int* ldz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dstedc( char* compz, lapack_int* n, double* d, double* e, double* z,
+                    lapack_int* ldz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_cstedc( char* compz, lapack_int* n, float* d, float* e,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zstedc( char* compz, lapack_int* n, double* d, double* e,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_sstegr( char* jobz, char* range, lapack_int* n, float* d, float* e,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    float* abstol, lapack_int* m, float* w, float* z,
+                    lapack_int* ldz, lapack_int* isuppz, float* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_dstegr( char* jobz, char* range, lapack_int* n, double* d,
+                    double* e, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, lapack_int* isuppz,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_cstegr( char* jobz, char* range, lapack_int* n, float* d, float* e,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    float* abstol, lapack_int* m, float* w,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_int* isuppz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_zstegr( char* jobz, char* range, lapack_int* n, double* d,
+                    double* e, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_int* isuppz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_spteqr( char* compz, lapack_int* n, float* d, float* e, float* z,
+                    lapack_int* ldz, float* work, lapack_int *info );
+void LAPACK_dpteqr( char* compz, lapack_int* n, double* d, double* e, double* z,
+                    lapack_int* ldz, double* work, lapack_int *info );
+void LAPACK_cpteqr( char* compz, lapack_int* n, float* d, float* e,
+                    lapack_complex_float* z, lapack_int* ldz, float* work,
+                    lapack_int *info );
+void LAPACK_zpteqr( char* compz, lapack_int* n, double* d, double* e,
+                    lapack_complex_double* z, lapack_int* ldz, double* work,
+                    lapack_int *info );
+void LAPACK_sstebz( char* range, char* order, lapack_int* n, float* vl,
+                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
+                    const float* d, const float* e, lapack_int* m,
+                    lapack_int* nsplit, float* w, lapack_int* iblock,
+                    lapack_int* isplit, float* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dstebz( char* range, char* order, lapack_int* n, double* vl,
+                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
+                    const double* d, const double* e, lapack_int* m,
+                    lapack_int* nsplit, double* w, lapack_int* iblock,
+                    lapack_int* isplit, double* work, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_sstein( lapack_int* n, const float* d, const float* e,
+                    lapack_int* m, const float* w, const lapack_int* iblock,
+                    const lapack_int* isplit, float* z, lapack_int* ldz,
+                    float* work, lapack_int* iwork, lapack_int* ifailv,
+                    lapack_int *info );
+void LAPACK_dstein( lapack_int* n, const double* d, const double* e,
+                    lapack_int* m, const double* w, const lapack_int* iblock,
+                    const lapack_int* isplit, double* z, lapack_int* ldz,
+                    double* work, lapack_int* iwork, lapack_int* ifailv,
+                    lapack_int *info );
+void LAPACK_cstein( lapack_int* n, const float* d, const float* e,
+                    lapack_int* m, const float* w, const lapack_int* iblock,
+                    const lapack_int* isplit, lapack_complex_float* z,
+                    lapack_int* ldz, float* work, lapack_int* iwork,
+                    lapack_int* ifailv, lapack_int *info );
+void LAPACK_zstein( lapack_int* n, const double* d, const double* e,
+                    lapack_int* m, const double* w, const lapack_int* iblock,
+                    const lapack_int* isplit, lapack_complex_double* z,
+                    lapack_int* ldz, double* work, lapack_int* iwork,
+                    lapack_int* ifailv, lapack_int *info );
+void LAPACK_sdisna( char* job, lapack_int* m, lapack_int* n, const float* d,
+                    float* sep, lapack_int *info );
+void LAPACK_ddisna( char* job, lapack_int* m, lapack_int* n, const double* d,
+                    double* sep, lapack_int *info );
+void LAPACK_ssygst( lapack_int* itype, char* uplo, lapack_int* n, float* a,
+                    lapack_int* lda, const float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_dsygst( lapack_int* itype, char* uplo, lapack_int* n, double* a,
+                    lapack_int* lda, const double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_chegst( lapack_int* itype, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_zhegst( lapack_int* itype, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int *info );
+void LAPACK_sspgst( lapack_int* itype, char* uplo, lapack_int* n, float* ap,
+                    const float* bp, lapack_int *info );
+void LAPACK_dspgst( lapack_int* itype, char* uplo, lapack_int* n, double* ap,
+                    const double* bp, lapack_int *info );
+void LAPACK_chpgst( lapack_int* itype, char* uplo, lapack_int* n,
+                    lapack_complex_float* ap, const lapack_complex_float* bp,
+                    lapack_int *info );
+void LAPACK_zhpgst( lapack_int* itype, char* uplo, lapack_int* n,
+                    lapack_complex_double* ap, const lapack_complex_double* bp,
+                    lapack_int *info );
+void LAPACK_ssbgst( char* vect, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, float* ab, lapack_int* ldab,
+                    const float* bb, lapack_int* ldbb, float* x,
+                    lapack_int* ldx, float* work, lapack_int *info );
+void LAPACK_dsbgst( char* vect, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, double* ab, lapack_int* ldab,
+                    const double* bb, lapack_int* ldbb, double* x,
+                    lapack_int* ldx, double* work, lapack_int *info );
+void LAPACK_chbgst( char* vect, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, lapack_complex_float* ab, lapack_int* ldab,
+                    const lapack_complex_float* bb, lapack_int* ldbb,
+                    lapack_complex_float* x, lapack_int* ldx,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_zhbgst( char* vect, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, lapack_complex_double* ab, lapack_int* ldab,
+                    const lapack_complex_double* bb, lapack_int* ldbb,
+                    lapack_complex_double* x, lapack_int* ldx,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_spbstf( char* uplo, lapack_int* n, lapack_int* kb, float* bb,
+                    lapack_int* ldbb, lapack_int *info );
+void LAPACK_dpbstf( char* uplo, lapack_int* n, lapack_int* kb, double* bb,
+                    lapack_int* ldbb, lapack_int *info );
+void LAPACK_cpbstf( char* uplo, lapack_int* n, lapack_int* kb,
+                    lapack_complex_float* bb, lapack_int* ldbb,
+                    lapack_int *info );
+void LAPACK_zpbstf( char* uplo, lapack_int* n, lapack_int* kb,
+                    lapack_complex_double* bb, lapack_int* ldbb,
+                    lapack_int *info );
+void LAPACK_sgehrd( lapack_int* n, lapack_int* ilo, lapack_int* ihi, float* a,
+                    lapack_int* lda, float* tau, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgehrd( lapack_int* n, lapack_int* ilo, lapack_int* ihi, double* a,
+                    lapack_int* lda, double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cgehrd( lapack_int* n, lapack_int* ilo, lapack_int* ihi,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zgehrd( lapack_int* n, lapack_int* ilo, lapack_int* ihi,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* tau, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sorghr( lapack_int* n, lapack_int* ilo, lapack_int* ihi, float* a,
+                    lapack_int* lda, const float* tau, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dorghr( lapack_int* n, lapack_int* ilo, lapack_int* ihi, double* a,
+                    lapack_int* lda, const double* tau, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sormhr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi, const float* a,
+                    lapack_int* lda, const float* tau, float* c,
+                    lapack_int* ldc, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dormhr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi, const double* a,
+                    lapack_int* lda, const double* tau, double* c,
+                    lapack_int* ldc, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunghr( lapack_int* n, lapack_int* ilo, lapack_int* ihi,
+                    lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zunghr( lapack_int* n, lapack_int* ilo, lapack_int* ihi,
+                    lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cunmhr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* tau, lapack_complex_float* c,
+                    lapack_int* ldc, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zunmhr( char* side, char* trans, lapack_int* m, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* tau, lapack_complex_double* c,
+                    lapack_int* ldc, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sgebal( char* job, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* ilo, lapack_int* ihi, float* scale,
+                    lapack_int *info );
+void LAPACK_dgebal( char* job, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* ilo, lapack_int* ihi, double* scale,
+                    lapack_int *info );
+void LAPACK_cgebal( char* job, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* ilo, lapack_int* ihi,
+                    float* scale, lapack_int *info );
+void LAPACK_zgebal( char* job, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* ilo, lapack_int* ihi,
+                    double* scale, lapack_int *info );
+void LAPACK_sgebak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const float* scale, lapack_int* m,
+                    float* v, lapack_int* ldv, lapack_int *info );
+void LAPACK_dgebak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const double* scale, lapack_int* m,
+                    double* v, lapack_int* ldv, lapack_int *info );
+void LAPACK_cgebak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const float* scale, lapack_int* m,
+                    lapack_complex_float* v, lapack_int* ldv,
+                    lapack_int *info );
+void LAPACK_zgebak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const double* scale, lapack_int* m,
+                    lapack_complex_double* v, lapack_int* ldv,
+                    lapack_int *info );
+void LAPACK_shseqr( char* job, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, float* h, lapack_int* ldh, float* wr,
+                    float* wi, float* z, lapack_int* ldz, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dhseqr( char* job, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, double* h, lapack_int* ldh, double* wr,
+                    double* wi, double* z, lapack_int* ldz, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_chseqr( char* job, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, lapack_complex_float* h, lapack_int* ldh,
+                    lapack_complex_float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zhseqr( char* job, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, lapack_complex_double* h, lapack_int* ldh,
+                    lapack_complex_double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_shsein( char* job, char* eigsrc, char* initv,
+                    lapack_logical* select, lapack_int* n, const float* h,
+                    lapack_int* ldh, float* wr, const float* wi, float* vl,
+                    lapack_int* ldvl, float* vr, lapack_int* ldvr,
+                    lapack_int* mm, lapack_int* m, float* work,
+                    lapack_int* ifaill, lapack_int* ifailr, lapack_int *info );
+void LAPACK_dhsein( char* job, char* eigsrc, char* initv,
+                    lapack_logical* select, lapack_int* n, const double* h,
+                    lapack_int* ldh, double* wr, const double* wi, double* vl,
+                    lapack_int* ldvl, double* vr, lapack_int* ldvr,
+                    lapack_int* mm, lapack_int* m, double* work,
+                    lapack_int* ifaill, lapack_int* ifailr, lapack_int *info );
+void LAPACK_chsein( char* job, char* eigsrc, char* initv,
+                    const lapack_logical* select, lapack_int* n,
+                    const lapack_complex_float* h, lapack_int* ldh,
+                    lapack_complex_float* w, lapack_complex_float* vl,
+                    lapack_int* ldvl, lapack_complex_float* vr,
+                    lapack_int* ldvr, lapack_int* mm, lapack_int* m,
+                    lapack_complex_float* work, float* rwork,
+                    lapack_int* ifaill, lapack_int* ifailr, lapack_int *info );
+void LAPACK_zhsein( char* job, char* eigsrc, char* initv,
+                    const lapack_logical* select, lapack_int* n,
+                    const lapack_complex_double* h, lapack_int* ldh,
+                    lapack_complex_double* w, lapack_complex_double* vl,
+                    lapack_int* ldvl, lapack_complex_double* vr,
+                    lapack_int* ldvr, lapack_int* mm, lapack_int* m,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int* ifaill, lapack_int* ifailr, lapack_int *info );
+void LAPACK_strevc( char* side, char* howmny, lapack_logical* select,
+                    lapack_int* n, const float* t, lapack_int* ldt, float* vl,
+                    lapack_int* ldvl, float* vr, lapack_int* ldvr,
+                    lapack_int* mm, lapack_int* m, float* work,
+                    lapack_int *info );
+void LAPACK_dtrevc( char* side, char* howmny, lapack_logical* select,
+                    lapack_int* n, const double* t, lapack_int* ldt, double* vl,
+                    lapack_int* ldvl, double* vr, lapack_int* ldvr,
+                    lapack_int* mm, lapack_int* m, double* work,
+                    lapack_int *info );
+void LAPACK_ctrevc( char* side, char* howmny, const lapack_logical* select,
+                    lapack_int* n, lapack_complex_float* t, lapack_int* ldt,
+                    lapack_complex_float* vl, lapack_int* ldvl,
+                    lapack_complex_float* vr, lapack_int* ldvr, lapack_int* mm,
+                    lapack_int* m, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztrevc( char* side, char* howmny, const lapack_logical* select,
+                    lapack_int* n, lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* vl, lapack_int* ldvl,
+                    lapack_complex_double* vr, lapack_int* ldvr, lapack_int* mm,
+                    lapack_int* m, lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_strsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const float* t, lapack_int* ldt,
+                    const float* vl, lapack_int* ldvl, const float* vr,
+                    lapack_int* ldvr, float* s, float* sep, lapack_int* mm,
+                    lapack_int* m, float* work, lapack_int* ldwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dtrsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const double* t, lapack_int* ldt,
+                    const double* vl, lapack_int* ldvl, const double* vr,
+                    lapack_int* ldvr, double* s, double* sep, lapack_int* mm,
+                    lapack_int* m, double* work, lapack_int* ldwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ctrsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const lapack_complex_float* t,
+                    lapack_int* ldt, const lapack_complex_float* vl,
+                    lapack_int* ldvl, const lapack_complex_float* vr,
+                    lapack_int* ldvr, float* s, float* sep, lapack_int* mm,
+                    lapack_int* m, lapack_complex_float* work,
+                    lapack_int* ldwork, float* rwork, lapack_int *info );
+void LAPACK_ztrsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const lapack_complex_double* t,
+                    lapack_int* ldt, const lapack_complex_double* vl,
+                    lapack_int* ldvl, const lapack_complex_double* vr,
+                    lapack_int* ldvr, double* s, double* sep, lapack_int* mm,
+                    lapack_int* m, lapack_complex_double* work,
+                    lapack_int* ldwork, double* rwork, lapack_int *info );
+void LAPACK_strexc( char* compq, lapack_int* n, float* t, lapack_int* ldt,
+                    float* q, lapack_int* ldq, lapack_int* ifst,
+                    lapack_int* ilst, float* work, lapack_int *info );
+void LAPACK_dtrexc( char* compq, lapack_int* n, double* t, lapack_int* ldt,
+                    double* q, lapack_int* ldq, lapack_int* ifst,
+                    lapack_int* ilst, double* work, lapack_int *info );
+void LAPACK_ctrexc( char* compq, lapack_int* n, lapack_complex_float* t,
+                    lapack_int* ldt, lapack_complex_float* q, lapack_int* ldq,
+                    lapack_int* ifst, lapack_int* ilst, lapack_int *info );
+void LAPACK_ztrexc( char* compq, lapack_int* n, lapack_complex_double* t,
+                    lapack_int* ldt, lapack_complex_double* q, lapack_int* ldq,
+                    lapack_int* ifst, lapack_int* ilst, lapack_int *info );
+void LAPACK_strsen( char* job, char* compq, const lapack_logical* select,
+                    lapack_int* n, float* t, lapack_int* ldt, float* q,
+                    lapack_int* ldq, float* wr, float* wi, lapack_int* m,
+                    float* s, float* sep, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dtrsen( char* job, char* compq, const lapack_logical* select,
+                    lapack_int* n, double* t, lapack_int* ldt, double* q,
+                    lapack_int* ldq, double* wr, double* wi, lapack_int* m,
+                    double* s, double* sep, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_ctrsen( char* job, char* compq, const lapack_logical* select,
+                    lapack_int* n, lapack_complex_float* t, lapack_int* ldt,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* w, lapack_int* m, float* s,
+                    float* sep, lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_ztrsen( char* job, char* compq, const lapack_logical* select,
+                    lapack_int* n, lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* w, lapack_int* m, double* s,
+                    double* sep, lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_strsyl( char* trana, char* tranb, lapack_int* isgn, lapack_int* m,
+                    lapack_int* n, const float* a, lapack_int* lda,
+                    const float* b, lapack_int* ldb, float* c, lapack_int* ldc,
+                    float* scale, lapack_int *info );
+void LAPACK_dtrsyl( char* trana, char* tranb, lapack_int* isgn, lapack_int* m,
+                    lapack_int* n, const double* a, lapack_int* lda,
+                    const double* b, lapack_int* ldb, double* c,
+                    lapack_int* ldc, double* scale, lapack_int *info );
+void LAPACK_ctrsyl( char* trana, char* tranb, lapack_int* isgn, lapack_int* m,
+                    lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* b,
+                    lapack_int* ldb, lapack_complex_float* c, lapack_int* ldc,
+                    float* scale, lapack_int *info );
+void LAPACK_ztrsyl( char* trana, char* tranb, lapack_int* isgn, lapack_int* m,
+                    lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* b,
+                    lapack_int* ldb, lapack_complex_double* c, lapack_int* ldc,
+                    double* scale, lapack_int *info );
+void LAPACK_sgghrd( char* compq, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, float* a, lapack_int* lda, float* b,
+                    lapack_int* ldb, float* q, lapack_int* ldq, float* z,
+                    lapack_int* ldz, lapack_int *info );
+void LAPACK_dgghrd( char* compq, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, double* a, lapack_int* lda, double* b,
+                    lapack_int* ldb, double* q, lapack_int* ldq, double* z,
+                    lapack_int* ldz, lapack_int *info );
+void LAPACK_cgghrd( char* compq, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_int *info );
+void LAPACK_zgghrd( char* compq, char* compz, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_int *info );
+void LAPACK_sggbal( char* job, lapack_int* n, float* a, lapack_int* lda,
+                    float* b, lapack_int* ldb, lapack_int* ilo, lapack_int* ihi,
+                    float* lscale, float* rscale, float* work,
+                    lapack_int *info );
+void LAPACK_dggbal( char* job, lapack_int* n, double* a, lapack_int* lda,
+                    double* b, lapack_int* ldb, lapack_int* ilo,
+                    lapack_int* ihi, double* lscale, double* rscale,
+                    double* work, lapack_int *info );
+void LAPACK_cggbal( char* job, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* b, lapack_int* ldb,
+                    lapack_int* ilo, lapack_int* ihi, float* lscale,
+                    float* rscale, float* work, lapack_int *info );
+void LAPACK_zggbal( char* job, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* b, lapack_int* ldb,
+                    lapack_int* ilo, lapack_int* ihi, double* lscale,
+                    double* rscale, double* work, lapack_int *info );
+void LAPACK_sggbak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const float* lscale, const float* rscale,
+                    lapack_int* m, float* v, lapack_int* ldv,
+                    lapack_int *info );
+void LAPACK_dggbak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const double* lscale, const double* rscale,
+                    lapack_int* m, double* v, lapack_int* ldv,
+                    lapack_int *info );
+void LAPACK_cggbak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const float* lscale, const float* rscale,
+                    lapack_int* m, lapack_complex_float* v, lapack_int* ldv,
+                    lapack_int *info );
+void LAPACK_zggbak( char* job, char* side, lapack_int* n, lapack_int* ilo,
+                    lapack_int* ihi, const double* lscale, const double* rscale,
+                    lapack_int* m, lapack_complex_double* v, lapack_int* ldv,
+                    lapack_int *info );
+void LAPACK_shgeqz( char* job, char* compq, char* compz, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi, float* h, lapack_int* ldh,
+                    float* t, lapack_int* ldt, float* alphar, float* alphai,
+                    float* beta, float* q, lapack_int* ldq, float* z,
+                    lapack_int* ldz, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dhgeqz( char* job, char* compq, char* compz, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi, double* h,
+                    lapack_int* ldh, double* t, lapack_int* ldt, double* alphar,
+                    double* alphai, double* beta, double* q, lapack_int* ldq,
+                    double* z, lapack_int* ldz, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_chgeqz( char* job, char* compq, char* compz, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi, lapack_complex_float* h,
+                    lapack_int* ldh, lapack_complex_float* t, lapack_int* ldt,
+                    lapack_complex_float* alpha, lapack_complex_float* beta,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int *info );
+void LAPACK_zhgeqz( char* job, char* compq, char* compz, lapack_int* n,
+                    lapack_int* ilo, lapack_int* ihi, lapack_complex_double* h,
+                    lapack_int* ldh, lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* alpha, lapack_complex_double* beta,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int *info );
+void LAPACK_stgevc( char* side, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const float* s, lapack_int* lds,
+                    const float* p, lapack_int* ldp, float* vl,
+                    lapack_int* ldvl, float* vr, lapack_int* ldvr,
+                    lapack_int* mm, lapack_int* m, float* work,
+                    lapack_int *info );
+void LAPACK_dtgevc( char* side, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const double* s, lapack_int* lds,
+                    const double* p, lapack_int* ldp, double* vl,
+                    lapack_int* ldvl, double* vr, lapack_int* ldvr,
+                    lapack_int* mm, lapack_int* m, double* work,
+                    lapack_int *info );
+void LAPACK_ctgevc( char* side, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const lapack_complex_float* s,
+                    lapack_int* lds, const lapack_complex_float* p,
+                    lapack_int* ldp, lapack_complex_float* vl, lapack_int* ldvl,
+                    lapack_complex_float* vr, lapack_int* ldvr, lapack_int* mm,
+                    lapack_int* m, lapack_complex_float* work, float* rwork,
+                    lapack_int *info );
+void LAPACK_ztgevc( char* side, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const lapack_complex_double* s,
+                    lapack_int* lds, const lapack_complex_double* p,
+                    lapack_int* ldp, lapack_complex_double* vl,
+                    lapack_int* ldvl, lapack_complex_double* vr,
+                    lapack_int* ldvr, lapack_int* mm, lapack_int* m,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int *info );
+void LAPACK_stgexc( lapack_logical* wantq, lapack_logical* wantz, lapack_int* n,
+                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                    float* q, lapack_int* ldq, float* z, lapack_int* ldz,
+                    lapack_int* ifst, lapack_int* ilst, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dtgexc( lapack_logical* wantq, lapack_logical* wantz, lapack_int* n,
+                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                    double* q, lapack_int* ldq, double* z, lapack_int* ldz,
+                    lapack_int* ifst, lapack_int* ilst, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_ctgexc( lapack_logical* wantq, lapack_logical* wantz, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* z, lapack_int* ldz, lapack_int* ifst,
+                    lapack_int* ilst, lapack_int *info );
+void LAPACK_ztgexc( lapack_logical* wantq, lapack_logical* wantz, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* z, lapack_int* ldz, lapack_int* ifst,
+                    lapack_int* ilst, lapack_int *info );
+void LAPACK_stgsen( lapack_int* ijob, lapack_logical* wantq,
+                    lapack_logical* wantz, const lapack_logical* select,
+                    lapack_int* n, float* a, lapack_int* lda, float* b,
+                    lapack_int* ldb, float* alphar, float* alphai, float* beta,
+                    float* q, lapack_int* ldq, float* z, lapack_int* ldz,
+                    lapack_int* m, float* pl, float* pr, float* dif,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_dtgsen( lapack_int* ijob, lapack_logical* wantq,
+                    lapack_logical* wantz, const lapack_logical* select,
+                    lapack_int* n, double* a, lapack_int* lda, double* b,
+                    lapack_int* ldb, double* alphar, double* alphai,
+                    double* beta, double* q, lapack_int* ldq, double* z,
+                    lapack_int* ldz, lapack_int* m, double* pl, double* pr,
+                    double* dif, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_ctgsen( lapack_int* ijob, lapack_logical* wantq,
+                    lapack_logical* wantz, const lapack_logical* select,
+                    lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* alpha, lapack_complex_float* beta,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* z, lapack_int* ldz, lapack_int* m,
+                    float* pl, float* pr, float* dif,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_ztgsen( lapack_int* ijob, lapack_logical* wantq,
+                    lapack_logical* wantz, const lapack_logical* select,
+                    lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* alpha, lapack_complex_double* beta,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* z, lapack_int* ldz, lapack_int* m,
+                    double* pl, double* pr, double* dif,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_stgsyl( char* trans, lapack_int* ijob, lapack_int* m, lapack_int* n,
+                    const float* a, lapack_int* lda, const float* b,
+                    lapack_int* ldb, float* c, lapack_int* ldc, const float* d,
+                    lapack_int* ldd, const float* e, lapack_int* lde, float* f,
+                    lapack_int* ldf, float* scale, float* dif, float* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_dtgsyl( char* trans, lapack_int* ijob, lapack_int* m, lapack_int* n,
+                    const double* a, lapack_int* lda, const double* b,
+                    lapack_int* ldb, double* c, lapack_int* ldc,
+                    const double* d, lapack_int* ldd, const double* e,
+                    lapack_int* lde, double* f, lapack_int* ldf, double* scale,
+                    double* dif, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ctgsyl( char* trans, lapack_int* ijob, lapack_int* m, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    const lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    const lapack_complex_float* d, lapack_int* ldd,
+                    const lapack_complex_float* e, lapack_int* lde,
+                    lapack_complex_float* f, lapack_int* ldf, float* scale,
+                    float* dif, lapack_complex_float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ztgsyl( char* trans, lapack_int* ijob, lapack_int* m, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    const lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    const lapack_complex_double* d, lapack_int* ldd,
+                    const lapack_complex_double* e, lapack_int* lde,
+                    lapack_complex_double* f, lapack_int* ldf, double* scale,
+                    double* dif, lapack_complex_double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_stgsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const float* a, lapack_int* lda,
+                    const float* b, lapack_int* ldb, const float* vl,
+                    lapack_int* ldvl, const float* vr, lapack_int* ldvr,
+                    float* s, float* dif, lapack_int* mm, lapack_int* m,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dtgsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const double* a, lapack_int* lda,
+                    const double* b, lapack_int* ldb, const double* vl,
+                    lapack_int* ldvl, const double* vr, lapack_int* ldvr,
+                    double* s, double* dif, lapack_int* mm, lapack_int* m,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_ctgsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, const lapack_complex_float* b,
+                    lapack_int* ldb, const lapack_complex_float* vl,
+                    lapack_int* ldvl, const lapack_complex_float* vr,
+                    lapack_int* ldvr, float* s, float* dif, lapack_int* mm,
+                    lapack_int* m, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_ztgsna( char* job, char* howmny, const lapack_logical* select,
+                    lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, const lapack_complex_double* b,
+                    lapack_int* ldb, const lapack_complex_double* vl,
+                    lapack_int* ldvl, const lapack_complex_double* vr,
+                    lapack_int* ldvr, double* s, double* dif, lapack_int* mm,
+                    lapack_int* m, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_sggsvp( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, float* a, lapack_int* lda,
+                    float* b, lapack_int* ldb, float* tola, float* tolb,
+                    lapack_int* k, lapack_int* l, float* u, lapack_int* ldu,
+                    float* v, lapack_int* ldv, float* q, lapack_int* ldq,
+                    lapack_int* iwork, float* tau, float* work,
+                    lapack_int *info );
+void LAPACK_dggsvp( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, double* a, lapack_int* lda,
+                    double* b, lapack_int* ldb, double* tola, double* tolb,
+                    lapack_int* k, lapack_int* l, double* u, lapack_int* ldu,
+                    double* v, lapack_int* ldv, double* q, lapack_int* ldq,
+                    lapack_int* iwork, double* tau, double* work,
+                    lapack_int *info );
+void LAPACK_cggsvp( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* b, lapack_int* ldb,
+                    float* tola, float* tolb, lapack_int* k, lapack_int* l,
+                    lapack_complex_float* u, lapack_int* ldu,
+                    lapack_complex_float* v, lapack_int* ldv,
+                    lapack_complex_float* q, lapack_int* ldq, lapack_int* iwork,
+                    float* rwork, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zggsvp( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* b, lapack_int* ldb,
+                    double* tola, double* tolb, lapack_int* k, lapack_int* l,
+                    lapack_complex_double* u, lapack_int* ldu,
+                    lapack_complex_double* v, lapack_int* ldv,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_int* iwork, double* rwork,
+                    lapack_complex_double* tau, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_stgsja( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, lapack_int* k, lapack_int* l,
+                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                    float* tola, float* tolb, float* alpha, float* beta,
+                    float* u, lapack_int* ldu, float* v, lapack_int* ldv,
+                    float* q, lapack_int* ldq, float* work, lapack_int* ncycle,
+                    lapack_int *info );
+void LAPACK_dtgsja( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, lapack_int* k, lapack_int* l,
+                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                    double* tola, double* tolb, double* alpha, double* beta,
+                    double* u, lapack_int* ldu, double* v, lapack_int* ldv,
+                    double* q, lapack_int* ldq, double* work,
+                    lapack_int* ncycle, lapack_int *info );
+void LAPACK_ctgsja( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, lapack_int* k, lapack_int* l,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, float* tola,
+                    float* tolb, float* alpha, float* beta,
+                    lapack_complex_float* u, lapack_int* ldu,
+                    lapack_complex_float* v, lapack_int* ldv,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* work, lapack_int* ncycle,
+                    lapack_int *info );
+void LAPACK_ztgsja( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* p, lapack_int* n, lapack_int* k, lapack_int* l,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, double* tola,
+                    double* tolb, double* alpha, double* beta,
+                    lapack_complex_double* u, lapack_int* ldu,
+                    lapack_complex_double* v, lapack_int* ldv,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* work, lapack_int* ncycle,
+                    lapack_int *info );
+void LAPACK_sgels( char* trans, lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                   float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                   float* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_dgels( char* trans, lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                   double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                   double* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_cgels( char* trans, lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_float* a, lapack_int* lda,
+                   lapack_complex_float* b, lapack_int* ldb,
+                   lapack_complex_float* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_zgels( char* trans, lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                   lapack_complex_double* a, lapack_int* lda,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_sgelsy( lapack_int* m, lapack_int* n, lapack_int* nrhs, float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb,
+                    lapack_int* jpvt, float* rcond, lapack_int* rank,
+                    float* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_dgelsy( lapack_int* m, lapack_int* n, lapack_int* nrhs, double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb,
+                    lapack_int* jpvt, double* rcond, lapack_int* rank,
+                    double* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_cgelsy( lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, lapack_int* jpvt,
+                    float* rcond, lapack_int* rank, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int *info );
+void LAPACK_zgelsy( lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, lapack_int* jpvt,
+                    double* rcond, lapack_int* rank,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int *info );
+void LAPACK_sgelss( lapack_int* m, lapack_int* n, lapack_int* nrhs, float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb, float* s,
+                    float* rcond, lapack_int* rank, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dgelss( lapack_int* m, lapack_int* n, lapack_int* nrhs, double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb, double* s,
+                    double* rcond, lapack_int* rank, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cgelss( lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, float* s,
+                    float* rcond, lapack_int* rank, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int *info );
+void LAPACK_zgelss( lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, double* s,
+                    double* rcond, lapack_int* rank,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int *info );
+void LAPACK_sgelsd( lapack_int* m, lapack_int* n, lapack_int* nrhs, float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb, float* s,
+                    float* rcond, lapack_int* rank, float* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_dgelsd( lapack_int* m, lapack_int* n, lapack_int* nrhs, double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb, double* s,
+                    double* rcond, lapack_int* rank, double* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_cgelsd( lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, float* s,
+                    float* rcond, lapack_int* rank, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_zgelsd( lapack_int* m, lapack_int* n, lapack_int* nrhs,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, double* s,
+                    double* rcond, lapack_int* rank,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_sgglse( lapack_int* m, lapack_int* n, lapack_int* p, float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb, float* c,
+                    float* d, float* x, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dgglse( lapack_int* m, lapack_int* n, lapack_int* p, double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb, double* c,
+                    double* d, double* x, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cgglse( lapack_int* m, lapack_int* n, lapack_int* p,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* c, lapack_complex_float* d,
+                    lapack_complex_float* x, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zgglse( lapack_int* m, lapack_int* n, lapack_int* p,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* c, lapack_complex_double* d,
+                    lapack_complex_double* x, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sggglm( lapack_int* n, lapack_int* m, lapack_int* p, float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb, float* d,
+                    float* x, float* y, float* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_dggglm( lapack_int* n, lapack_int* m, lapack_int* p, double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb, double* d,
+                    double* x, double* y, double* work, lapack_int* lwork,
+                    lapack_int *info );
+void LAPACK_cggglm( lapack_int* n, lapack_int* m, lapack_int* p,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* d, lapack_complex_float* x,
+                    lapack_complex_float* y, lapack_complex_float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_zggglm( lapack_int* n, lapack_int* m, lapack_int* p,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* d, lapack_complex_double* x,
+                    lapack_complex_double* y, lapack_complex_double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_ssyev( char* jobz, char* uplo, lapack_int* n, float* a,
+                   lapack_int* lda, float* w, float* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_dsyev( char* jobz, char* uplo, lapack_int* n, double* a,
+                   lapack_int* lda, double* w, double* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_cheev( char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_float* a, lapack_int* lda, float* w,
+                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                   lapack_int *info );
+void LAPACK_zheev( char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_double* a, lapack_int* lda, double* w,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   double* rwork, lapack_int *info );
+void LAPACK_ssyevd( char* jobz, char* uplo, lapack_int* n, float* a,
+                    lapack_int* lda, float* w, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dsyevd( char* jobz, char* uplo, lapack_int* n, double* a,
+                    lapack_int* lda, double* w, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_cheevd( char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda, float* w,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zheevd( char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda, double* w,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_ssyevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    float* a, lapack_int* lda, float* vl, float* vu,
+                    lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, float* z, lapack_int* ldz,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_dsyevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    double* a, lapack_int* lda, double* vl, double* vu,
+                    lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, double* z, lapack_int* ldz,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_cheevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda, float* vl,
+                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_zheevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda, double* vl,
+                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_ssyevr( char* jobz, char* range, char* uplo, lapack_int* n,
+                    float* a, lapack_int* lda, float* vl, float* vu,
+                    lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, float* z, lapack_int* ldz,
+                    lapack_int* isuppz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dsyevr( char* jobz, char* range, char* uplo, lapack_int* n,
+                    double* a, lapack_int* lda, double* vl, double* vu,
+                    lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, double* z, lapack_int* ldz,
+                    lapack_int* isuppz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_cheevr( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda, float* vl,
+                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_int* isuppz,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zheevr( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda, double* vl,
+                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_int* isuppz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_sspev( char* jobz, char* uplo, lapack_int* n, float* ap, float* w,
+                   float* z, lapack_int* ldz, float* work, lapack_int *info );
+void LAPACK_dspev( char* jobz, char* uplo, lapack_int* n, double* ap, double* w,
+                   double* z, lapack_int* ldz, double* work, lapack_int *info );
+void LAPACK_chpev( char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_float* ap, float* w, lapack_complex_float* z,
+                   lapack_int* ldz, lapack_complex_float* work, float* rwork,
+                   lapack_int *info );
+void LAPACK_zhpev( char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_double* ap, double* w,
+                   lapack_complex_double* z, lapack_int* ldz,
+                   lapack_complex_double* work, double* rwork,
+                   lapack_int *info );
+void LAPACK_sspevd( char* jobz, char* uplo, lapack_int* n, float* ap, float* w,
+                    float* z, lapack_int* ldz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dspevd( char* jobz, char* uplo, lapack_int* n, double* ap,
+                    double* w, double* z, lapack_int* ldz, double* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_chpevd( char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_float* ap, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int* lrwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_zhpevd( char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_double* ap, double* w,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_sspevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    float* ap, float* vl, float* vu, lapack_int* il,
+                    lapack_int* iu, float* abstol, lapack_int* m, float* w,
+                    float* z, lapack_int* ldz, float* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_dspevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    double* ap, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, double* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_chpevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_complex_float* ap, float* vl, float* vu,
+                    lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work, float* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_zhpevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_complex_double* ap, double* vl, double* vu,
+                    lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_complex_double* work, double* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_ssbev( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                   float* ab, lapack_int* ldab, float* w, float* z,
+                   lapack_int* ldz, float* work, lapack_int *info );
+void LAPACK_dsbev( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                   double* ab, lapack_int* ldab, double* w, double* z,
+                   lapack_int* ldz, double* work, lapack_int *info );
+void LAPACK_chbev( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                   lapack_complex_float* ab, lapack_int* ldab, float* w,
+                   lapack_complex_float* z, lapack_int* ldz,
+                   lapack_complex_float* work, float* rwork, lapack_int *info );
+void LAPACK_zhbev( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                   lapack_complex_double* ab, lapack_int* ldab, double* w,
+                   lapack_complex_double* z, lapack_int* ldz,
+                   lapack_complex_double* work, double* rwork,
+                   lapack_int *info );
+void LAPACK_ssbevd( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                    float* ab, lapack_int* ldab, float* w, float* z,
+                    lapack_int* ldz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dsbevd( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                    double* ab, lapack_int* ldab, double* w, double* z,
+                    lapack_int* ldz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_chbevd( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_complex_float* ab, lapack_int* ldab, float* w,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zhbevd( char* jobz, char* uplo, lapack_int* n, lapack_int* kd,
+                    lapack_complex_double* ab, lapack_int* ldab, double* w,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_ssbevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* kd, float* ab, lapack_int* ldab, float* q,
+                    lapack_int* ldq, float* vl, float* vu, lapack_int* il,
+                    lapack_int* iu, float* abstol, lapack_int* m, float* w,
+                    float* z, lapack_int* ldz, float* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_dsbevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* kd, double* ab, lapack_int* ldab, double* q,
+                    lapack_int* ldq, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, double* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_chbevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* kd, lapack_complex_float* ab, lapack_int* ldab,
+                    lapack_complex_float* q, lapack_int* ldq, float* vl,
+                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work, float* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_zhbevx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* kd, lapack_complex_double* ab, lapack_int* ldab,
+                    lapack_complex_double* q, lapack_int* ldq, double* vl,
+                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_complex_double* work, double* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_sstev( char* jobz, lapack_int* n, float* d, float* e, float* z,
+                   lapack_int* ldz, float* work, lapack_int *info );
+void LAPACK_dstev( char* jobz, lapack_int* n, double* d, double* e, double* z,
+                   lapack_int* ldz, double* work, lapack_int *info );
+void LAPACK_sstevd( char* jobz, lapack_int* n, float* d, float* e, float* z,
+                    lapack_int* ldz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_dstevd( char* jobz, lapack_int* n, double* d, double* e, double* z,
+                    lapack_int* ldz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_sstevx( char* jobz, char* range, lapack_int* n, float* d, float* e,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    float* abstol, lapack_int* m, float* w, float* z,
+                    lapack_int* ldz, float* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_dstevx( char* jobz, char* range, lapack_int* n, double* d,
+                    double* e, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, double* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_sstevr( char* jobz, char* range, lapack_int* n, float* d, float* e,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    float* abstol, lapack_int* m, float* w, float* z,
+                    lapack_int* ldz, lapack_int* isuppz, float* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_dstevr( char* jobz, char* range, lapack_int* n, double* d,
+                    double* e, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, lapack_int* isuppz,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_sgees( char* jobvs, char* sort, LAPACK_S_SELECT2 select,
+                   lapack_int* n, float* a, lapack_int* lda, lapack_int* sdim,
+                   float* wr, float* wi, float* vs, lapack_int* ldvs,
+                   float* work, lapack_int* lwork, lapack_logical* bwork,
+                   lapack_int *info );
+void LAPACK_dgees( char* jobvs, char* sort, LAPACK_D_SELECT2 select,
+                   lapack_int* n, double* a, lapack_int* lda, lapack_int* sdim,
+                   double* wr, double* wi, double* vs, lapack_int* ldvs,
+                   double* work, lapack_int* lwork, lapack_logical* bwork,
+                   lapack_int *info );
+void LAPACK_cgees( char* jobvs, char* sort, LAPACK_C_SELECT1 select,
+                   lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                   lapack_int* sdim, lapack_complex_float* w,
+                   lapack_complex_float* vs, lapack_int* ldvs,
+                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                   lapack_logical* bwork, lapack_int *info );
+void LAPACK_zgees( char* jobvs, char* sort, LAPACK_Z_SELECT1 select,
+                   lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                   lapack_int* sdim, lapack_complex_double* w,
+                   lapack_complex_double* vs, lapack_int* ldvs,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   double* rwork, lapack_logical* bwork, lapack_int *info );
+void LAPACK_sgeesx( char* jobvs, char* sort, LAPACK_S_SELECT2 select,
+                    char* sense, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* sdim, float* wr, float* wi, float* vs,
+                    lapack_int* ldvs, float* rconde, float* rcondv, float* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_logical* bwork, lapack_int *info );
+void LAPACK_dgeesx( char* jobvs, char* sort, LAPACK_D_SELECT2 select,
+                    char* sense, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* sdim, double* wr, double* wi, double* vs,
+                    lapack_int* ldvs, double* rconde, double* rcondv,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_cgeesx( char* jobvs, char* sort, LAPACK_C_SELECT1 select,
+                    char* sense, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* sdim, lapack_complex_float* w,
+                    lapack_complex_float* vs, lapack_int* ldvs, float* rconde,
+                    float* rcondv, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_zgeesx( char* jobvs, char* sort, LAPACK_Z_SELECT1 select,
+                    char* sense, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* sdim, lapack_complex_double* w,
+                    lapack_complex_double* vs, lapack_int* ldvs, double* rconde,
+                    double* rcondv, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_sgeev( char* jobvl, char* jobvr, lapack_int* n, float* a,
+                   lapack_int* lda, float* wr, float* wi, float* vl,
+                   lapack_int* ldvl, float* vr, lapack_int* ldvr, float* work,
+                   lapack_int* lwork, lapack_int *info );
+void LAPACK_dgeev( char* jobvl, char* jobvr, lapack_int* n, double* a,
+                   lapack_int* lda, double* wr, double* wi, double* vl,
+                   lapack_int* ldvl, double* vr, lapack_int* ldvr, double* work,
+                   lapack_int* lwork, lapack_int *info );
+void LAPACK_cgeev( char* jobvl, char* jobvr, lapack_int* n,
+                   lapack_complex_float* a, lapack_int* lda,
+                   lapack_complex_float* w, lapack_complex_float* vl,
+                   lapack_int* ldvl, lapack_complex_float* vr, lapack_int* ldvr,
+                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                   lapack_int *info );
+void LAPACK_zgeev( char* jobvl, char* jobvr, lapack_int* n,
+                   lapack_complex_double* a, lapack_int* lda,
+                   lapack_complex_double* w, lapack_complex_double* vl,
+                   lapack_int* ldvl, lapack_complex_double* vr,
+                   lapack_int* ldvr, lapack_complex_double* work,
+                   lapack_int* lwork, double* rwork, lapack_int *info );
+void LAPACK_sgeevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, float* a, lapack_int* lda, float* wr,
+                    float* wi, float* vl, lapack_int* ldvl, float* vr,
+                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
+                    float* scale, float* abnrm, float* rconde, float* rcondv,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_dgeevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, double* a, lapack_int* lda, double* wr,
+                    double* wi, double* vl, lapack_int* ldvl, double* vr,
+                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
+                    double* scale, double* abnrm, double* rconde,
+                    double* rcondv, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_cgeevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* w, lapack_complex_float* vl,
+                    lapack_int* ldvl, lapack_complex_float* vr,
+                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
+                    float* scale, float* abnrm, float* rconde, float* rcondv,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgeevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* w, lapack_complex_double* vl,
+                    lapack_int* ldvl, lapack_complex_double* vr,
+                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
+                    double* scale, double* abnrm, double* rconde,
+                    double* rcondv, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_int *info );
+void LAPACK_sgesvd( char* jobu, char* jobvt, lapack_int* m, lapack_int* n,
+                    float* a, lapack_int* lda, float* s, float* u,
+                    lapack_int* ldu, float* vt, lapack_int* ldvt, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_dgesvd( char* jobu, char* jobvt, lapack_int* m, lapack_int* n,
+                    double* a, lapack_int* lda, double* s, double* u,
+                    lapack_int* ldu, double* vt, lapack_int* ldvt, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_cgesvd( char* jobu, char* jobvt, lapack_int* m, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda, float* s,
+                    lapack_complex_float* u, lapack_int* ldu,
+                    lapack_complex_float* vt, lapack_int* ldvt,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int *info );
+void LAPACK_zgesvd( char* jobu, char* jobvt, lapack_int* m, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda, double* s,
+                    lapack_complex_double* u, lapack_int* ldu,
+                    lapack_complex_double* vt, lapack_int* ldvt,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int *info );
+void LAPACK_sgesdd( char* jobz, lapack_int* m, lapack_int* n, float* a,
+                    lapack_int* lda, float* s, float* u, lapack_int* ldu,
+                    float* vt, lapack_int* ldvt, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dgesdd( char* jobz, lapack_int* m, lapack_int* n, double* a,
+                    lapack_int* lda, double* s, double* u, lapack_int* ldu,
+                    double* vt, lapack_int* ldvt, double* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_cgesdd( char* jobz, lapack_int* m, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda, float* s,
+                    lapack_complex_float* u, lapack_int* ldu,
+                    lapack_complex_float* vt, lapack_int* ldvt,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_zgesdd( char* jobz, lapack_int* m, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda, double* s,
+                    lapack_complex_double* u, lapack_int* ldu,
+                    lapack_complex_double* vt, lapack_int* ldvt,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* iwork, lapack_int *info );
+void LAPACK_dgejsv( char* joba, char* jobu, char* jobv, char* jobr, char* jobt,
+                    char* jobp, lapack_int* m, lapack_int* n, double* a,
+                    lapack_int* lda, double* sva, double* u, lapack_int* ldu,
+                    double* v, lapack_int* ldv, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_sgejsv( char* joba, char* jobu, char* jobv, char* jobr, char* jobt,
+                    char* jobp, lapack_int* m, lapack_int* n, float* a,
+                    lapack_int* lda, float* sva, float* u, lapack_int* ldu,
+                    float* v, lapack_int* ldv, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_dgesvj( char* joba, char* jobu, char* jobv, lapack_int* m,
+                    lapack_int* n, double* a, lapack_int* lda, double* sva,
+                    lapack_int* mv, double* v, lapack_int* ldv, double* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sgesvj( char* joba, char* jobu, char* jobv, lapack_int* m,
+                    lapack_int* n, float* a, lapack_int* lda, float* sva,
+                    lapack_int* mv, float* v, lapack_int* ldv, float* work,
+                    lapack_int* lwork, lapack_int *info );
+void LAPACK_sggsvd( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* n, lapack_int* p, lapack_int* k, lapack_int* l,
+                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                    float* alpha, float* beta, float* u, lapack_int* ldu,
+                    float* v, lapack_int* ldv, float* q, lapack_int* ldq,
+                    float* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_dggsvd( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* n, lapack_int* p, lapack_int* k, lapack_int* l,
+                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                    double* alpha, double* beta, double* u, lapack_int* ldu,
+                    double* v, lapack_int* ldv, double* q, lapack_int* ldq,
+                    double* work, lapack_int* iwork, lapack_int *info );
+void LAPACK_cggsvd( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* n, lapack_int* p, lapack_int* k, lapack_int* l,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, float* alpha,
+                    float* beta, lapack_complex_float* u, lapack_int* ldu,
+                    lapack_complex_float* v, lapack_int* ldv,
+                    lapack_complex_float* q, lapack_int* ldq,
+                    lapack_complex_float* work, float* rwork, lapack_int* iwork,
+                    lapack_int *info );
+void LAPACK_zggsvd( char* jobu, char* jobv, char* jobq, lapack_int* m,
+                    lapack_int* n, lapack_int* p, lapack_int* k, lapack_int* l,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, double* alpha,
+                    double* beta, lapack_complex_double* u, lapack_int* ldu,
+                    lapack_complex_double* v, lapack_int* ldv,
+                    lapack_complex_double* q, lapack_int* ldq,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int* iwork, lapack_int *info );
+void LAPACK_ssygv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                   float* w, float* work, lapack_int* lwork, lapack_int *info );
+void LAPACK_dsygv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                   double* w, double* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_chegv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_float* a, lapack_int* lda,
+                   lapack_complex_float* b, lapack_int* ldb, float* w,
+                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                   lapack_int *info );
+void LAPACK_zhegv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_double* a, lapack_int* lda,
+                   lapack_complex_double* b, lapack_int* ldb, double* w,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   double* rwork, lapack_int *info );
+void LAPACK_ssygvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                    float* w, float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_dsygvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                    double* w, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_chegvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, float* w,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zhegvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, double* w,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_ssygvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, float* a, lapack_int* lda, float* b,
+                    lapack_int* ldb, float* vl, float* vu, lapack_int* il,
+                    lapack_int* iu, float* abstol, lapack_int* m, float* w,
+                    float* z, lapack_int* ldz, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_dsygvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, double* a, lapack_int* lda, double* b,
+                    lapack_int* ldb, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_chegvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, float* vl,
+                    float* vu, lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_zhegvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, double* vl,
+                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_sspgv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   float* ap, float* bp, float* w, float* z, lapack_int* ldz,
+                   float* work, lapack_int *info );
+void LAPACK_dspgv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   double* ap, double* bp, double* w, double* z,
+                   lapack_int* ldz, double* work, lapack_int *info );
+void LAPACK_chpgv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_float* ap, lapack_complex_float* bp, float* w,
+                   lapack_complex_float* z, lapack_int* ldz,
+                   lapack_complex_float* work, float* rwork, lapack_int *info );
+void LAPACK_zhpgv( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                   lapack_complex_double* ap, lapack_complex_double* bp,
+                   double* w, lapack_complex_double* z, lapack_int* ldz,
+                   lapack_complex_double* work, double* rwork,
+                   lapack_int *info );
+void LAPACK_sspgvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    float* ap, float* bp, float* w, float* z, lapack_int* ldz,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_dspgvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    double* ap, double* bp, double* w, double* z,
+                    lapack_int* ldz, double* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_int* liwork, lapack_int *info );
+void LAPACK_chpgvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_float* ap, lapack_complex_float* bp,
+                    float* w, lapack_complex_float* z, lapack_int* ldz,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zhpgvd( lapack_int* itype, char* jobz, char* uplo, lapack_int* n,
+                    lapack_complex_double* ap, lapack_complex_double* bp,
+                    double* w, lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_sspgvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, float* ap, float* bp, float* vl, float* vu,
+                    lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, float* z, lapack_int* ldz,
+                    float* work, lapack_int* iwork, lapack_int* ifail,
+                    lapack_int *info );
+void LAPACK_dspgvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, double* ap, double* bp, double* vl,
+                    double* vu, lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, double* z, lapack_int* ldz,
+                    double* work, lapack_int* iwork, lapack_int* ifail,
+                    lapack_int *info );
+void LAPACK_chpgvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, lapack_complex_float* ap,
+                    lapack_complex_float* bp, float* vl, float* vu,
+                    lapack_int* il, lapack_int* iu, float* abstol,
+                    lapack_int* m, float* w, lapack_complex_float* z,
+                    lapack_int* ldz, lapack_complex_float* work, float* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_zhpgvx( lapack_int* itype, char* jobz, char* range, char* uplo,
+                    lapack_int* n, lapack_complex_double* ap,
+                    lapack_complex_double* bp, double* vl, double* vu,
+                    lapack_int* il, lapack_int* iu, double* abstol,
+                    lapack_int* m, double* w, lapack_complex_double* z,
+                    lapack_int* ldz, lapack_complex_double* work, double* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_ssbgv( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                   lapack_int* kb, float* ab, lapack_int* ldab, float* bb,
+                   lapack_int* ldbb, float* w, float* z, lapack_int* ldz,
+                   float* work, lapack_int *info );
+void LAPACK_dsbgv( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                   lapack_int* kb, double* ab, lapack_int* ldab, double* bb,
+                   lapack_int* ldbb, double* w, double* z, lapack_int* ldz,
+                   double* work, lapack_int *info );
+void LAPACK_chbgv( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                   lapack_int* kb, lapack_complex_float* ab, lapack_int* ldab,
+                   lapack_complex_float* bb, lapack_int* ldbb, float* w,
+                   lapack_complex_float* z, lapack_int* ldz,
+                   lapack_complex_float* work, float* rwork, lapack_int *info );
+void LAPACK_zhbgv( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                   lapack_int* kb, lapack_complex_double* ab, lapack_int* ldab,
+                   lapack_complex_double* bb, lapack_int* ldbb, double* w,
+                   lapack_complex_double* z, lapack_int* ldz,
+                   lapack_complex_double* work, double* rwork,
+                   lapack_int *info );
+void LAPACK_ssbgvd( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, float* ab, lapack_int* ldab, float* bb,
+                    lapack_int* ldbb, float* w, float* z, lapack_int* ldz,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_dsbgvd( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, double* ab, lapack_int* ldab, double* bb,
+                    lapack_int* ldbb, double* w, double* z, lapack_int* ldz,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_chbgvd( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, lapack_complex_float* ab, lapack_int* ldab,
+                    lapack_complex_float* bb, lapack_int* ldbb, float* w,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* lrwork, lapack_int* iwork, lapack_int* liwork,
+                    lapack_int *info );
+void LAPACK_zhbgvd( char* jobz, char* uplo, lapack_int* n, lapack_int* ka,
+                    lapack_int* kb, lapack_complex_double* ab, lapack_int* ldab,
+                    lapack_complex_double* bb, lapack_int* ldbb, double* w,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_int *info );
+void LAPACK_ssbgvx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* ka, lapack_int* kb, float* ab, lapack_int* ldab,
+                    float* bb, lapack_int* ldbb, float* q, lapack_int* ldq,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    float* abstol, lapack_int* m, float* w, float* z,
+                    lapack_int* ldz, float* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_dsbgvx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* ka, lapack_int* kb, double* ab,
+                    lapack_int* ldab, double* bb, lapack_int* ldbb, double* q,
+                    lapack_int* ldq, double* vl, double* vu, lapack_int* il,
+                    lapack_int* iu, double* abstol, lapack_int* m, double* w,
+                    double* z, lapack_int* ldz, double* work, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_chbgvx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* ka, lapack_int* kb, lapack_complex_float* ab,
+                    lapack_int* ldab, lapack_complex_float* bb,
+                    lapack_int* ldbb, lapack_complex_float* q, lapack_int* ldq,
+                    float* vl, float* vu, lapack_int* il, lapack_int* iu,
+                    float* abstol, lapack_int* m, float* w,
+                    lapack_complex_float* z, lapack_int* ldz,
+                    lapack_complex_float* work, float* rwork, lapack_int* iwork,
+                    lapack_int* ifail, lapack_int *info );
+void LAPACK_zhbgvx( char* jobz, char* range, char* uplo, lapack_int* n,
+                    lapack_int* ka, lapack_int* kb, lapack_complex_double* ab,
+                    lapack_int* ldab, lapack_complex_double* bb,
+                    lapack_int* ldbb, lapack_complex_double* q, lapack_int* ldq,
+                    double* vl, double* vu, lapack_int* il, lapack_int* iu,
+                    double* abstol, lapack_int* m, double* w,
+                    lapack_complex_double* z, lapack_int* ldz,
+                    lapack_complex_double* work, double* rwork,
+                    lapack_int* iwork, lapack_int* ifail, lapack_int *info );
+void LAPACK_sgges( char* jobvsl, char* jobvsr, char* sort,
+                   LAPACK_S_SELECT3 selctg, lapack_int* n, float* a,
+                   lapack_int* lda, float* b, lapack_int* ldb, lapack_int* sdim,
+                   float* alphar, float* alphai, float* beta, float* vsl,
+                   lapack_int* ldvsl, float* vsr, lapack_int* ldvsr,
+                   float* work, lapack_int* lwork, lapack_logical* bwork,
+                   lapack_int *info );
+void LAPACK_dgges( char* jobvsl, char* jobvsr, char* sort,
+                   LAPACK_D_SELECT3 selctg, lapack_int* n, double* a,
+                   lapack_int* lda, double* b, lapack_int* ldb,
+                   lapack_int* sdim, double* alphar, double* alphai,
+                   double* beta, double* vsl, lapack_int* ldvsl, double* vsr,
+                   lapack_int* ldvsr, double* work, lapack_int* lwork,
+                   lapack_logical* bwork, lapack_int *info );
+void LAPACK_cgges( char* jobvsl, char* jobvsr, char* sort,
+                   LAPACK_C_SELECT2 selctg, lapack_int* n,
+                   lapack_complex_float* a, lapack_int* lda,
+                   lapack_complex_float* b, lapack_int* ldb, lapack_int* sdim,
+                   lapack_complex_float* alpha, lapack_complex_float* beta,
+                   lapack_complex_float* vsl, lapack_int* ldvsl,
+                   lapack_complex_float* vsr, lapack_int* ldvsr,
+                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                   lapack_logical* bwork, lapack_int *info );
+void LAPACK_zgges( char* jobvsl, char* jobvsr, char* sort,
+                   LAPACK_Z_SELECT2 selctg, lapack_int* n,
+                   lapack_complex_double* a, lapack_int* lda,
+                   lapack_complex_double* b, lapack_int* ldb, lapack_int* sdim,
+                   lapack_complex_double* alpha, lapack_complex_double* beta,
+                   lapack_complex_double* vsl, lapack_int* ldvsl,
+                   lapack_complex_double* vsr, lapack_int* ldvsr,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   double* rwork, lapack_logical* bwork, lapack_int *info );
+void LAPACK_sggesx( char* jobvsl, char* jobvsr, char* sort,
+                    LAPACK_S_SELECT3 selctg, char* sense, lapack_int* n,
+                    float* a, lapack_int* lda, float* b, lapack_int* ldb,
+                    lapack_int* sdim, float* alphar, float* alphai, float* beta,
+                    float* vsl, lapack_int* ldvsl, float* vsr,
+                    lapack_int* ldvsr, float* rconde, float* rcondv,
+                    float* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_dggesx( char* jobvsl, char* jobvsr, char* sort,
+                    LAPACK_D_SELECT3 selctg, char* sense, lapack_int* n,
+                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                    lapack_int* sdim, double* alphar, double* alphai,
+                    double* beta, double* vsl, lapack_int* ldvsl, double* vsr,
+                    lapack_int* ldvsr, double* rconde, double* rcondv,
+                    double* work, lapack_int* lwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_cggesx( char* jobvsl, char* jobvsr, char* sort,
+                    LAPACK_C_SELECT2 selctg, char* sense, lapack_int* n,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb, lapack_int* sdim,
+                    lapack_complex_float* alpha, lapack_complex_float* beta,
+                    lapack_complex_float* vsl, lapack_int* ldvsl,
+                    lapack_complex_float* vsr, lapack_int* ldvsr, float* rconde,
+                    float* rcondv, lapack_complex_float* work,
+                    lapack_int* lwork, float* rwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_zggesx( char* jobvsl, char* jobvsr, char* sort,
+                    LAPACK_Z_SELECT2 selctg, char* sense, lapack_int* n,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb, lapack_int* sdim,
+                    lapack_complex_double* alpha, lapack_complex_double* beta,
+                    lapack_complex_double* vsl, lapack_int* ldvsl,
+                    lapack_complex_double* vsr, lapack_int* ldvsr,
+                    double* rconde, double* rcondv, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_int* iwork,
+                    lapack_int* liwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_sggev( char* jobvl, char* jobvr, lapack_int* n, float* a,
+                   lapack_int* lda, float* b, lapack_int* ldb, float* alphar,
+                   float* alphai, float* beta, float* vl, lapack_int* ldvl,
+                   float* vr, lapack_int* ldvr, float* work, lapack_int* lwork,
+                   lapack_int *info );
+void LAPACK_dggev( char* jobvl, char* jobvr, lapack_int* n, double* a,
+                   lapack_int* lda, double* b, lapack_int* ldb, double* alphar,
+                   double* alphai, double* beta, double* vl, lapack_int* ldvl,
+                   double* vr, lapack_int* ldvr, double* work,
+                   lapack_int* lwork, lapack_int *info );
+void LAPACK_cggev( char* jobvl, char* jobvr, lapack_int* n,
+                   lapack_complex_float* a, lapack_int* lda,
+                   lapack_complex_float* b, lapack_int* ldb,
+                   lapack_complex_float* alpha, lapack_complex_float* beta,
+                   lapack_complex_float* vl, lapack_int* ldvl,
+                   lapack_complex_float* vr, lapack_int* ldvr,
+                   lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                   lapack_int *info );
+void LAPACK_zggev( char* jobvl, char* jobvr, lapack_int* n,
+                   lapack_complex_double* a, lapack_int* lda,
+                   lapack_complex_double* b, lapack_int* ldb,
+                   lapack_complex_double* alpha, lapack_complex_double* beta,
+                   lapack_complex_double* vl, lapack_int* ldvl,
+                   lapack_complex_double* vr, lapack_int* ldvr,
+                   lapack_complex_double* work, lapack_int* lwork,
+                   double* rwork, lapack_int *info );
+void LAPACK_sggevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, float* a, lapack_int* lda, float* b,
+                    lapack_int* ldb, float* alphar, float* alphai, float* beta,
+                    float* vl, lapack_int* ldvl, float* vr, lapack_int* ldvr,
+                    lapack_int* ilo, lapack_int* ihi, float* lscale,
+                    float* rscale, float* abnrm, float* bbnrm, float* rconde,
+                    float* rcondv, float* work, lapack_int* lwork,
+                    lapack_int* iwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_dggevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, double* a, lapack_int* lda, double* b,
+                    lapack_int* ldb, double* alphar, double* alphai,
+                    double* beta, double* vl, lapack_int* ldvl, double* vr,
+                    lapack_int* ldvr, lapack_int* ilo, lapack_int* ihi,
+                    double* lscale, double* rscale, double* abnrm,
+                    double* bbnrm, double* rconde, double* rcondv, double* work,
+                    lapack_int* lwork, lapack_int* iwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_cggevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    lapack_complex_float* alpha, lapack_complex_float* beta,
+                    lapack_complex_float* vl, lapack_int* ldvl,
+                    lapack_complex_float* vr, lapack_int* ldvr, lapack_int* ilo,
+                    lapack_int* ihi, float* lscale, float* rscale, float* abnrm,
+                    float* bbnrm, float* rconde, float* rcondv,
+                    lapack_complex_float* work, lapack_int* lwork, float* rwork,
+                    lapack_int* iwork, lapack_logical* bwork,
+                    lapack_int *info );
+void LAPACK_zggevx( char* balanc, char* jobvl, char* jobvr, char* sense,
+                    lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* alpha, lapack_complex_double* beta,
+                    lapack_complex_double* vl, lapack_int* ldvl,
+                    lapack_complex_double* vr, lapack_int* ldvr,
+                    lapack_int* ilo, lapack_int* ihi, double* lscale,
+                    double* rscale, double* abnrm, double* bbnrm,
+                    double* rconde, double* rcondv, lapack_complex_double* work,
+                    lapack_int* lwork, double* rwork, lapack_int* iwork,
+                    lapack_logical* bwork, lapack_int *info );
+void LAPACK_dsfrk( char* transr, char* uplo, char* trans, lapack_int* n,
+                   lapack_int* k, double* alpha, const double* a,
+                   lapack_int* lda, double* beta, double* c );
+void LAPACK_ssfrk( char* transr, char* uplo, char* trans, lapack_int* n,
+                   lapack_int* k, float* alpha, const float* a, lapack_int* lda,
+                   float* beta, float* c );
+void LAPACK_zhfrk( char* transr, char* uplo, char* trans, lapack_int* n,
+                   lapack_int* k, double* alpha, const lapack_complex_double* a,
+                   lapack_int* lda, double* beta, lapack_complex_double* c );
+void LAPACK_chfrk( char* transr, char* uplo, char* trans, lapack_int* n,
+                   lapack_int* k, float* alpha, const lapack_complex_float* a,
+                   lapack_int* lda, float* beta, lapack_complex_float* c );
+void LAPACK_dtfsm( char* transr, char* side, char* uplo, char* trans,
+                   char* diag, lapack_int* m, lapack_int* n, double* alpha,
+                   const double* a, double* b, lapack_int* ldb );
+void LAPACK_stfsm( char* transr, char* side, char* uplo, char* trans,
+                   char* diag, lapack_int* m, lapack_int* n, float* alpha,
+                   const float* a, float* b, lapack_int* ldb );
+void LAPACK_ztfsm( char* transr, char* side, char* uplo, char* trans,
+                   char* diag, lapack_int* m, lapack_int* n,
+                   lapack_complex_double* alpha, const lapack_complex_double* a,
+                   lapack_complex_double* b, lapack_int* ldb );
+void LAPACK_ctfsm( char* transr, char* side, char* uplo, char* trans,
+                   char* diag, lapack_int* m, lapack_int* n,
+                   lapack_complex_float* alpha, const lapack_complex_float* a,
+                   lapack_complex_float* b, lapack_int* ldb );
+void LAPACK_dtfttp( char* transr, char* uplo, lapack_int* n, const double* arf,
+                    double* ap, lapack_int *info );
+void LAPACK_stfttp( char* transr, char* uplo, lapack_int* n, const float* arf,
+                    float* ap, lapack_int *info );
+void LAPACK_ztfttp( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_double* arf, lapack_complex_double* ap,
+                    lapack_int *info );
+void LAPACK_ctfttp( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_float* arf, lapack_complex_float* ap,
+                    lapack_int *info );
+void LAPACK_dtfttr( char* transr, char* uplo, lapack_int* n, const double* arf,
+                    double* a, lapack_int* lda, lapack_int *info );
+void LAPACK_stfttr( char* transr, char* uplo, lapack_int* n, const float* arf,
+                    float* a, lapack_int* lda, lapack_int *info );
+void LAPACK_ztfttr( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_double* arf, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_ctfttr( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_float* arf, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_dtpttf( char* transr, char* uplo, lapack_int* n, const double* ap,
+                    double* arf, lapack_int *info );
+void LAPACK_stpttf( char* transr, char* uplo, lapack_int* n, const float* ap,
+                    float* arf, lapack_int *info );
+void LAPACK_ztpttf( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_double* ap, lapack_complex_double* arf,
+                    lapack_int *info );
+void LAPACK_ctpttf( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_float* ap, lapack_complex_float* arf,
+                    lapack_int *info );
+void LAPACK_dtpttr( char* uplo, lapack_int* n, const double* ap, double* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_stpttr( char* uplo, lapack_int* n, const float* ap, float* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_ztpttr( char* uplo, lapack_int* n, const lapack_complex_double* ap,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_ctpttr( char* uplo, lapack_int* n, const lapack_complex_float* ap,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_dtrttf( char* transr, char* uplo, lapack_int* n, const double* a,
+                    lapack_int* lda, double* arf, lapack_int *info );
+void LAPACK_strttf( char* transr, char* uplo, lapack_int* n, const float* a,
+                    lapack_int* lda, float* arf, lapack_int *info );
+void LAPACK_ztrttf( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* arf, lapack_int *info );
+void LAPACK_ctrttf( char* transr, char* uplo, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* arf, lapack_int *info );
+void LAPACK_dtrttp( char* uplo, lapack_int* n, const double* a, lapack_int* lda,
+                    double* ap, lapack_int *info );
+void LAPACK_strttp( char* uplo, lapack_int* n, const float* a, lapack_int* lda,
+                    float* ap, lapack_int *info );
+void LAPACK_ztrttp( char* uplo, lapack_int* n, const lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* ap,
+                    lapack_int *info );
+void LAPACK_ctrttp( char* uplo, lapack_int* n, const lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* ap,
+                    lapack_int *info );
+void LAPACK_sgeqrfp( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                     float* tau, float* work, lapack_int* lwork,
+                     lapack_int *info );
+void LAPACK_dgeqrfp( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                     double* tau, double* work, lapack_int* lwork,
+                     lapack_int *info );
+void LAPACK_cgeqrfp( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                     lapack_int* lda, lapack_complex_float* tau,
+                     lapack_complex_float* work, lapack_int* lwork,
+                     lapack_int *info );
+void LAPACK_zgeqrfp( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                     lapack_int* lda, lapack_complex_double* tau,
+                     lapack_complex_double* work, lapack_int* lwork,
+                     lapack_int *info );
+void LAPACK_clacgv( lapack_int* n, lapack_complex_float* x, lapack_int* incx );
+void LAPACK_zlacgv( lapack_int* n, lapack_complex_double* x, lapack_int* incx );
+void LAPACK_slarnv( lapack_int* idist, lapack_int* iseed, lapack_int* n,
+                    float* x );
+void LAPACK_dlarnv( lapack_int* idist, lapack_int* iseed, lapack_int* n,
+                    double* x );
+void LAPACK_clarnv( lapack_int* idist, lapack_int* iseed, lapack_int* n,
+                    lapack_complex_float* x );
+void LAPACK_zlarnv( lapack_int* idist, lapack_int* iseed, lapack_int* n,
+                    lapack_complex_double* x );
+void LAPACK_sgeqr2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int *info );
+void LAPACK_dgeqr2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int *info );
+void LAPACK_cgeqr2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zgeqr2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_slacpy( char* uplo, lapack_int* m, lapack_int* n, const float* a,
+                    lapack_int* lda, float* b, lapack_int* ldb );
+void LAPACK_dlacpy( char* uplo, lapack_int* m, lapack_int* n, const double* a,
+                    lapack_int* lda, double* b, lapack_int* ldb );
+void LAPACK_clacpy( char* uplo, lapack_int* m, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb );
+void LAPACK_zlacpy( char* uplo, lapack_int* m, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb );
+void LAPACK_sgetf2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_dgetf2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int* ipiv, lapack_int *info );
+void LAPACK_cgetf2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* ipiv, lapack_int *info );
+void LAPACK_zgetf2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* ipiv, lapack_int *info );
+void LAPACK_slaswp( lapack_int* n, float* a, lapack_int* lda, lapack_int* k1,
+                    lapack_int* k2, const lapack_int* ipiv, lapack_int* incx );
+void LAPACK_dlaswp( lapack_int* n, double* a, lapack_int* lda, lapack_int* k1,
+                    lapack_int* k2, const lapack_int* ipiv, lapack_int* incx );
+void LAPACK_claswp( lapack_int* n, lapack_complex_float* a, lapack_int* lda,
+                    lapack_int* k1, lapack_int* k2, const lapack_int* ipiv,
+                    lapack_int* incx );
+void LAPACK_zlaswp( lapack_int* n, lapack_complex_double* a, lapack_int* lda,
+                    lapack_int* k1, lapack_int* k2, const lapack_int* ipiv,
+                    lapack_int* incx );
+float LAPACK_slange( char* norm, lapack_int* m, lapack_int* n, const float* a,
+                    lapack_int* lda, float* work );
+double LAPACK_dlange( char* norm, lapack_int* m, lapack_int* n, const double* a,
+                    lapack_int* lda, double* work );
+float LAPACK_clange( char* norm, lapack_int* m, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda, float* work );
+double LAPACK_zlange( char* norm, lapack_int* m, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda, double* work );
+float LAPACK_clanhe( char* norm, char* uplo, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda, float* work );
+double LAPACK_zlanhe( char* norm, char* uplo, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda, double* work );
+float LAPACK_slansy( char* norm, char* uplo, lapack_int* n, const float* a,
+                    lapack_int* lda, float* work );
+double LAPACK_dlansy( char* norm, char* uplo, lapack_int* n, const double* a,
+                    lapack_int* lda, double* work );
+float LAPACK_clansy( char* norm, char* uplo, lapack_int* n,
+                    const lapack_complex_float* a, lapack_int* lda, float* work );
+double LAPACK_zlansy( char* norm, char* uplo, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda, double* work );
+float LAPACK_slantr( char* norm, char* uplo, char* diag, lapack_int* m,
+                    lapack_int* n, const float* a, lapack_int* lda, float* work );
+double LAPACK_dlantr( char* norm, char* uplo, char* diag, lapack_int* m,
+                    lapack_int* n, const double* a, lapack_int* lda, double* work );
+float LAPACK_clantr( char* norm, char* uplo, char* diag, lapack_int* m,
+                    lapack_int* n, const lapack_complex_float* a, lapack_int* lda,
+                    float* work );
+double LAPACK_zlantr( char* norm, char* uplo, char* diag, lapack_int* m,
+                    lapack_int* n, const lapack_complex_double* a, lapack_int* lda,
+                    double* work );
+float LAPACK_slamch( char* cmach );
+double LAPACK_dlamch( char* cmach );
+void LAPACK_sgelq2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                    float* tau, float* work, lapack_int *info );
+void LAPACK_dgelq2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                    double* tau, double* work, lapack_int *info );
+void LAPACK_cgelq2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_complex_float* tau,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zgelq2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_complex_double* tau,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_slarfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k, const float* v,
+                    lapack_int* ldv, const float* t, lapack_int* ldt, float* c,
+                    lapack_int* ldc, float* work, lapack_int* ldwork );
+void LAPACK_dlarfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k,
+                    const double* v, lapack_int* ldv, const double* t,
+                    lapack_int* ldt, double* c, lapack_int* ldc, double* work,
+                    lapack_int* ldwork );
+void LAPACK_clarfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k,
+                    const lapack_complex_float* v, lapack_int* ldv,
+                    const lapack_complex_float* t, lapack_int* ldt,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work, lapack_int* ldwork );
+void LAPACK_zlarfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k,
+                    const lapack_complex_double* v, lapack_int* ldv,
+                    const lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work, lapack_int* ldwork );
+void LAPACK_slarfg( lapack_int* n, float* alpha, float* x, lapack_int* incx,
+                    float* tau );
+void LAPACK_dlarfg( lapack_int* n, double* alpha, double* x, lapack_int* incx,
+                    double* tau );
+void LAPACK_clarfg( lapack_int* n, lapack_complex_float* alpha,
+                    lapack_complex_float* x, lapack_int* incx,
+                    lapack_complex_float* tau );
+void LAPACK_zlarfg( lapack_int* n, lapack_complex_double* alpha,
+                    lapack_complex_double* x, lapack_int* incx,
+                    lapack_complex_double* tau );
+void LAPACK_slarft( char* direct, char* storev, lapack_int* n, lapack_int* k,
+                    const float* v, lapack_int* ldv, const float* tau, float* t,
+                    lapack_int* ldt );
+void LAPACK_dlarft( char* direct, char* storev, lapack_int* n, lapack_int* k,
+                    const double* v, lapack_int* ldv, const double* tau,
+                    double* t, lapack_int* ldt );
+void LAPACK_clarft( char* direct, char* storev, lapack_int* n, lapack_int* k,
+                    const lapack_complex_float* v, lapack_int* ldv,
+                    const lapack_complex_float* tau, lapack_complex_float* t,
+                    lapack_int* ldt );
+void LAPACK_zlarft( char* direct, char* storev, lapack_int* n, lapack_int* k,
+                    const lapack_complex_double* v, lapack_int* ldv,
+                    const lapack_complex_double* tau, lapack_complex_double* t,
+                    lapack_int* ldt );
+void LAPACK_slarfx( char* side, lapack_int* m, lapack_int* n, const float* v,
+                    float* tau, float* c, lapack_int* ldc, float* work );
+void LAPACK_dlarfx( char* side, lapack_int* m, lapack_int* n, const double* v,
+                    double* tau, double* c, lapack_int* ldc, double* work );
+void LAPACK_clarfx( char* side, lapack_int* m, lapack_int* n,
+                    const lapack_complex_float* v, lapack_complex_float* tau,
+                    lapack_complex_float* c, lapack_int* ldc,
+                    lapack_complex_float* work );
+void LAPACK_zlarfx( char* side, lapack_int* m, lapack_int* n,
+                    const lapack_complex_double* v, lapack_complex_double* tau,
+                    lapack_complex_double* c, lapack_int* ldc,
+                    lapack_complex_double* work );
+void LAPACK_slatms( lapack_int* m, lapack_int* n, char* dist, lapack_int* iseed,
+                    char* sym, float* d, lapack_int* mode, float* cond,
+                    float* dmax, lapack_int* kl, lapack_int* ku, char* pack,
+                    float* a, lapack_int* lda, float* work, lapack_int *info );
+void LAPACK_dlatms( lapack_int* m, lapack_int* n, char* dist, lapack_int* iseed,
+                    char* sym, double* d, lapack_int* mode, double* cond,
+                    double* dmax, lapack_int* kl, lapack_int* ku, char* pack,
+                    double* a, lapack_int* lda, double* work,
+                    lapack_int *info );
+void LAPACK_clatms( lapack_int* m, lapack_int* n, char* dist, lapack_int* iseed,
+                    char* sym, float* d, lapack_int* mode, float* cond,
+                    float* dmax, lapack_int* kl, lapack_int* ku, char* pack,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zlatms( lapack_int* m, lapack_int* n, char* dist, lapack_int* iseed,
+                    char* sym, double* d, lapack_int* mode, double* cond,
+                    double* dmax, lapack_int* kl, lapack_int* ku, char* pack,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_slag2d( lapack_int* m, lapack_int* n, const float* sa,
+                    lapack_int* ldsa, double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_dlag2s( lapack_int* m, lapack_int* n, const double* a,
+                    lapack_int* lda, float* sa, lapack_int* ldsa,
+                    lapack_int *info );
+void LAPACK_clag2z( lapack_int* m, lapack_int* n,
+                    const lapack_complex_float* sa, lapack_int* ldsa,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_zlag2c( lapack_int* m, lapack_int* n,
+                    const lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_float* sa, lapack_int* ldsa,
+                    lapack_int *info );
+void LAPACK_slauum( char* uplo, lapack_int* n, float* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_dlauum( char* uplo, lapack_int* n, double* a, lapack_int* lda,
+                    lapack_int *info );
+void LAPACK_clauum( char* uplo, lapack_int* n, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_zlauum( char* uplo, lapack_int* n, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int *info );
+void LAPACK_slagge( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const float* d, float* a, lapack_int* lda,
+                    lapack_int* iseed, float* work, lapack_int *info );
+void LAPACK_dlagge( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const double* d, double* a, lapack_int* lda,
+                    lapack_int* iseed, double* work, lapack_int *info );
+void LAPACK_clagge( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const float* d, lapack_complex_float* a,
+                    lapack_int* lda, lapack_int* iseed,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zlagge( lapack_int* m, lapack_int* n, lapack_int* kl,
+                    lapack_int* ku, const double* d, lapack_complex_double* a,
+                    lapack_int* lda, lapack_int* iseed,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_slaset( char* uplo, lapack_int* m, lapack_int* n, float* alpha,
+                    float* beta, float* a, lapack_int* lda );
+void LAPACK_dlaset( char* uplo, lapack_int* m, lapack_int* n, double* alpha,
+                    double* beta, double* a, lapack_int* lda );
+void LAPACK_claset( char* uplo, lapack_int* m, lapack_int* n,
+                    lapack_complex_float* alpha, lapack_complex_float* beta,
+                    lapack_complex_float* a, lapack_int* lda );
+void LAPACK_zlaset( char* uplo, lapack_int* m, lapack_int* n,
+                    lapack_complex_double* alpha, lapack_complex_double* beta,
+                    lapack_complex_double* a, lapack_int* lda );
+void LAPACK_slasrt( char* id, lapack_int* n, float* d, lapack_int *info );
+void LAPACK_dlasrt( char* id, lapack_int* n, double* d, lapack_int *info );
+void LAPACK_claghe( lapack_int* n, lapack_int* k, const float* d,
+                    lapack_complex_float* a, lapack_int* lda, lapack_int* iseed,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zlaghe( lapack_int* n, lapack_int* k, const double* d,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_int* iseed, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_slagsy( lapack_int* n, lapack_int* k, const float* d, float* a,
+                    lapack_int* lda, lapack_int* iseed, float* work,
+                    lapack_int *info );
+void LAPACK_dlagsy( lapack_int* n, lapack_int* k, const double* d, double* a,
+                    lapack_int* lda, lapack_int* iseed, double* work,
+                    lapack_int *info );
+void LAPACK_clagsy( lapack_int* n, lapack_int* k, const float* d,
+                    lapack_complex_float* a, lapack_int* lda, lapack_int* iseed,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zlagsy( lapack_int* n, lapack_int* k, const double* d,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_int* iseed, lapack_complex_double* work,
+                    lapack_int *info );
+void LAPACK_slapmr( lapack_logical* forwrd, lapack_int* m, lapack_int* n,
+                    float* x, lapack_int* ldx, lapack_int* k );
+void LAPACK_dlapmr( lapack_logical* forwrd, lapack_int* m, lapack_int* n,
+                    double* x, lapack_int* ldx, lapack_int* k );
+void LAPACK_clapmr( lapack_logical* forwrd, lapack_int* m, lapack_int* n,
+                    lapack_complex_float* x, lapack_int* ldx, lapack_int* k );
+void LAPACK_zlapmr( lapack_logical* forwrd, lapack_int* m, lapack_int* n,
+                    lapack_complex_double* x, lapack_int* ldx, lapack_int* k );
+float LAPACK_slapy2( float* x, float* y );
+double LAPACK_dlapy2( double* x, double* y );
+float LAPACK_slapy3( float* x, float* y, float* z );
+double LAPACK_dlapy3( double* x, double* y, double* z );
+void LAPACK_slartgp( float* f, float* g, float* cs, float* sn, float* r );
+void LAPACK_dlartgp( double* f, double* g, double* cs, double* sn, double* r );
+void LAPACK_slartgs( float* x, float* y, float* sigma, float* cs, float* sn );
+void LAPACK_dlartgs( double* x, double* y, double* sigma, double* cs,
+                     double* sn );
+// LAPACK 3.3.0
+void LAPACK_cbbcsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    float* theta, float* phi,
+                    lapack_complex_float* u1, lapack_int* ldu1,
+                    lapack_complex_float* u2, lapack_int* ldu2,
+                    lapack_complex_float* v1t, lapack_int* ldv1t,
+                    lapack_complex_float* v2t, lapack_int* ldv2t,
+                    float* b11d, float* b11e, float* b12d,
+                    float* b12e, float* b21d, float* b21e,
+                    float* b22d, float* b22e, float* rwork,
+                    lapack_int* lrwork , lapack_int *info );
+void LAPACK_cheswapr( char* uplo, lapack_int* n,
+                      lapack_complex_float* a, lapack_int* i1,
+                      lapack_int* i2 );
+void LAPACK_chetri2( char* uplo, lapack_int* n,
+                     lapack_complex_float* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_float* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_chetri2x( char* uplo, lapack_int* n,
+                      lapack_complex_float* a, lapack_int* lda,
+                      const lapack_int* ipiv,
+                      lapack_complex_float* work, lapack_int* nb , lapack_int *info );
+void LAPACK_chetrs2( char* uplo, lapack_int* n,
+                     lapack_int* nrhs, const lapack_complex_float* a,
+                     lapack_int* lda, const lapack_int* ipiv,
+                     lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* work , lapack_int *info );
+void LAPACK_csyconv( char* uplo, char* way,
+                     lapack_int* n, lapack_complex_float* a,
+                     lapack_int* lda, const lapack_int* ipiv,
+                     lapack_complex_float* work , lapack_int *info );
+void LAPACK_csyswapr( char* uplo, lapack_int* n,
+                      lapack_complex_float* a, lapack_int* i1,
+                      lapack_int* i2 );
+void LAPACK_csytri2( char* uplo, lapack_int* n,
+                     lapack_complex_float* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_float* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_csytri2x( char* uplo, lapack_int* n,
+                      lapack_complex_float* a, lapack_int* lda,
+                      const lapack_int* ipiv,
+                      lapack_complex_float* work, lapack_int* nb , lapack_int *info );
+void LAPACK_csytrs2( char* uplo, lapack_int* n,
+                     lapack_int* nrhs, const lapack_complex_float* a,
+                     lapack_int* lda, const lapack_int* ipiv,
+                     lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* work , lapack_int *info );
+void LAPACK_cunbdb( char* trans, char* signs,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    lapack_complex_float* x11, lapack_int* ldx11,
+                    lapack_complex_float* x12, lapack_int* ldx12,
+                    lapack_complex_float* x21, lapack_int* ldx21,
+                    lapack_complex_float* x22, lapack_int* ldx22,
+                    float* theta, float* phi,
+                    lapack_complex_float* taup1,
+                    lapack_complex_float* taup2,
+                    lapack_complex_float* tauq1,
+                    lapack_complex_float* tauq2,
+                    lapack_complex_float* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_cuncsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    char* signs, lapack_int* m, lapack_int* p,
+                    lapack_int* q, lapack_complex_float* x11,
+                    lapack_int* ldx11, lapack_complex_float* x12,
+                    lapack_int* ldx12, lapack_complex_float* x21,
+                    lapack_int* ldx21, lapack_complex_float* x22,
+                    lapack_int* ldx22, float* theta,
+                    lapack_complex_float* u1, lapack_int* ldu1,
+                    lapack_complex_float* u2, lapack_int* ldu2,
+                    lapack_complex_float* v1t, lapack_int* ldv1t,
+                    lapack_complex_float* v2t, lapack_int* ldv2t,
+                    lapack_complex_float* work, lapack_int* lwork,
+                    float* rwork, lapack_int* lrwork,
+                    lapack_int* iwork , lapack_int *info );
+void LAPACK_dbbcsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    double* theta, double* phi, double* u1,
+                    lapack_int* ldu1, double* u2, lapack_int* ldu2,
+                    double* v1t, lapack_int* ldv1t, double* v2t,
+                    lapack_int* ldv2t, double* b11d, double* b11e,
+                    double* b12d, double* b12e, double* b21d,
+                    double* b21e, double* b22d, double* b22e,
+                    double* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_dorbdb( char* trans, char* signs,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    double* x11, lapack_int* ldx11, double* x12,
+                    lapack_int* ldx12, double* x21, lapack_int* ldx21,
+                    double* x22, lapack_int* ldx22, double* theta,
+                    double* phi, double* taup1, double* taup2,
+                    double* tauq1, double* tauq2, double* work,
+                    lapack_int* lwork , lapack_int *info );
+void LAPACK_dorcsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    char* signs, lapack_int* m, lapack_int* p,
+                    lapack_int* q, double* x11, lapack_int* ldx11,
+                    double* x12, lapack_int* ldx12, double* x21,
+                    lapack_int* ldx21, double* x22, lapack_int* ldx22,
+                    double* theta, double* u1, lapack_int* ldu1,
+                    double* u2, lapack_int* ldu2, double* v1t,
+                    lapack_int* ldv1t, double* v2t, lapack_int* ldv2t,
+                    double* work, lapack_int* lwork,
+                    lapack_int* iwork , lapack_int *info );
+void LAPACK_dsyconv( char* uplo, char* way,
+                     lapack_int* n, double* a, lapack_int* lda,
+                     const lapack_int* ipiv, double* work , lapack_int *info );
+void LAPACK_dsyswapr( char* uplo, lapack_int* n,
+                      double* a, lapack_int* i1, lapack_int* i2 );
+void LAPACK_dsytri2( char* uplo, lapack_int* n,
+                     double* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_double* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_dsytri2x( char* uplo, lapack_int* n,
+                      double* a, lapack_int* lda,
+                      const lapack_int* ipiv, double* work,
+                      lapack_int* nb , lapack_int *info );
+void LAPACK_dsytrs2( char* uplo, lapack_int* n,
+                     lapack_int* nrhs, const double* a,
+                     lapack_int* lda, const lapack_int* ipiv,
+                     double* b, lapack_int* ldb, double* work , lapack_int *info );
+void LAPACK_sbbcsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    float* theta, float* phi, float* u1,
+                    lapack_int* ldu1, float* u2, lapack_int* ldu2,
+                    float* v1t, lapack_int* ldv1t, float* v2t,
+                    lapack_int* ldv2t, float* b11d, float* b11e,
+                    float* b12d, float* b12e, float* b21d,
+                    float* b21e, float* b22d, float* b22e,
+                    float* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_sorbdb( char* trans, char* signs,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    float* x11, lapack_int* ldx11, float* x12,
+                    lapack_int* ldx12, float* x21, lapack_int* ldx21,
+                    float* x22, lapack_int* ldx22, float* theta,
+                    float* phi, float* taup1, float* taup2,
+                    float* tauq1, float* tauq2, float* work,
+                    lapack_int* lwork , lapack_int *info );
+void LAPACK_sorcsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    char* signs, lapack_int* m, lapack_int* p,
+                    lapack_int* q, float* x11, lapack_int* ldx11,
+                    float* x12, lapack_int* ldx12, float* x21,
+                    lapack_int* ldx21, float* x22, lapack_int* ldx22,
+                    float* theta, float* u1, lapack_int* ldu1,
+                    float* u2, lapack_int* ldu2, float* v1t,
+                    lapack_int* ldv1t, float* v2t, lapack_int* ldv2t,
+                    float* work, lapack_int* lwork,
+                    lapack_int* iwork , lapack_int *info );
+void LAPACK_ssyconv( char* uplo, char* way,
+                     lapack_int* n, float* a, lapack_int* lda,
+                     const lapack_int* ipiv, float* work , lapack_int *info );
+void LAPACK_ssyswapr( char* uplo, lapack_int* n,
+                      float* a, lapack_int* i1, lapack_int* i2 );
+void LAPACK_ssytri2( char* uplo, lapack_int* n,
+                     float* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_float* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_ssytri2x( char* uplo, lapack_int* n,
+                      float* a, lapack_int* lda,
+                      const lapack_int* ipiv, float* work,
+                      lapack_int* nb , lapack_int *info );
+void LAPACK_ssytrs2( char* uplo, lapack_int* n,
+                     lapack_int* nrhs, const float* a,
+                     lapack_int* lda, const lapack_int* ipiv,
+                     float* b, lapack_int* ldb, float* work , lapack_int *info );
+void LAPACK_zbbcsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    double* theta, double* phi,
+                    lapack_complex_double* u1, lapack_int* ldu1,
+                    lapack_complex_double* u2, lapack_int* ldu2,
+                    lapack_complex_double* v1t, lapack_int* ldv1t,
+                    lapack_complex_double* v2t, lapack_int* ldv2t,
+                    double* b11d, double* b11e, double* b12d,
+                    double* b12e, double* b21d, double* b21e,
+                    double* b22d, double* b22e, double* rwork,
+                    lapack_int* lrwork , lapack_int *info );
+void LAPACK_zheswapr( char* uplo, lapack_int* n,
+                      lapack_complex_double* a, lapack_int* i1,
+                      lapack_int* i2 );
+void LAPACK_zhetri2( char* uplo, lapack_int* n,
+                     lapack_complex_double* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_double* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_zhetri2x( char* uplo, lapack_int* n,
+                      lapack_complex_double* a, lapack_int* lda,
+                      const lapack_int* ipiv,
+                      lapack_complex_double* work, lapack_int* nb , lapack_int *info );
+void LAPACK_zhetrs2( char* uplo, lapack_int* n,
+                     lapack_int* nrhs,
+                     const lapack_complex_double* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* work , lapack_int *info );
+void LAPACK_zsyconv( char* uplo, char* way,
+                     lapack_int* n, lapack_complex_double* a,
+                     lapack_int* lda, const lapack_int* ipiv,
+                     lapack_complex_double* work , lapack_int *info );
+void LAPACK_zsyswapr( char* uplo, lapack_int* n,
+                      lapack_complex_double* a, lapack_int* i1,
+                      lapack_int* i2 );
+void LAPACK_zsytri2( char* uplo, lapack_int* n,
+                     lapack_complex_double* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_double* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_zsytri2x( char* uplo, lapack_int* n,
+                      lapack_complex_double* a, lapack_int* lda,
+                      const lapack_int* ipiv,
+                      lapack_complex_double* work, lapack_int* nb , lapack_int *info );
+void LAPACK_zsytrs2( char* uplo, lapack_int* n,
+                     lapack_int* nrhs,
+                     const lapack_complex_double* a, lapack_int* lda,
+                     const lapack_int* ipiv,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* work , lapack_int *info );
+void LAPACK_zunbdb( char* trans, char* signs,
+                    lapack_int* m, lapack_int* p, lapack_int* q,
+                    lapack_complex_double* x11, lapack_int* ldx11,
+                    lapack_complex_double* x12, lapack_int* ldx12,
+                    lapack_complex_double* x21, lapack_int* ldx21,
+                    lapack_complex_double* x22, lapack_int* ldx22,
+                    double* theta, double* phi,
+                    lapack_complex_double* taup1,
+                    lapack_complex_double* taup2,
+                    lapack_complex_double* tauq1,
+                    lapack_complex_double* tauq2,
+                    lapack_complex_double* work, lapack_int* lwork , lapack_int *info );
+void LAPACK_zuncsd( char* jobu1, char* jobu2,
+                    char* jobv1t, char* jobv2t, char* trans,
+                    char* signs, lapack_int* m, lapack_int* p,
+                    lapack_int* q, lapack_complex_double* x11,
+                    lapack_int* ldx11, lapack_complex_double* x12,
+                    lapack_int* ldx12, lapack_complex_double* x21,
+                    lapack_int* ldx21, lapack_complex_double* x22,
+                    lapack_int* ldx22, double* theta,
+                    lapack_complex_double* u1, lapack_int* ldu1,
+                    lapack_complex_double* u2, lapack_int* ldu2,
+                    lapack_complex_double* v1t, lapack_int* ldv1t,
+                    lapack_complex_double* v2t, lapack_int* ldv2t,
+                    lapack_complex_double* work, lapack_int* lwork,
+                    double* rwork, lapack_int* lrwork,
+                    lapack_int* iwork , lapack_int *info );
+// LAPACK 3.4.0
+void LAPACK_sgemqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* nb, const float* v,
+                     lapack_int* ldv, const float* t, lapack_int* ldt, float* c,
+                     lapack_int* ldc, float* work, lapack_int *info );
+void LAPACK_dgemqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* nb, const double* v,
+                     lapack_int* ldv, const double* t, lapack_int* ldt,
+                     double* c, lapack_int* ldc, double* work,
+                     lapack_int *info );
+void LAPACK_cgemqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* nb,
+                     const lapack_complex_float* v, lapack_int* ldv,
+                     const lapack_complex_float* t, lapack_int* ldt,
+                     lapack_complex_float* c, lapack_int* ldc,
+                     lapack_complex_float* work, lapack_int *info );
+void LAPACK_zgemqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* nb,
+                     const lapack_complex_double* v, lapack_int* ldv,
+                     const lapack_complex_double* t, lapack_int* ldt,
+                     lapack_complex_double* c, lapack_int* ldc,
+                     lapack_complex_double* work, lapack_int *info );
+void LAPACK_sgeqrt( lapack_int* m, lapack_int* n, lapack_int* nb, float* a,
+                    lapack_int* lda, float* t, lapack_int* ldt, float* work,
+                    lapack_int *info );
+void LAPACK_dgeqrt( lapack_int* m, lapack_int* n, lapack_int* nb, double* a,
+                    lapack_int* lda, double* t, lapack_int* ldt, double* work,
+                    lapack_int *info );
+void LAPACK_cgeqrt( lapack_int* m, lapack_int* n, lapack_int* nb,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* t, lapack_int* ldt,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_zgeqrt( lapack_int* m, lapack_int* n, lapack_int* nb,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_sgeqrt2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                     float* t, lapack_int* ldt, lapack_int *info );
+void LAPACK_dgeqrt2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                     double* t, lapack_int* ldt, lapack_int *info );
+void LAPACK_cgeqrt2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                     lapack_int* lda, lapack_complex_float* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_zgeqrt2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                     lapack_int* lda, lapack_complex_double* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_sgeqrt3( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                     float* t, lapack_int* ldt, lapack_int *info );
+void LAPACK_dgeqrt3( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                     double* t, lapack_int* ldt, lapack_int *info );
+void LAPACK_cgeqrt3( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                     lapack_int* lda, lapack_complex_float* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_zgeqrt3( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                     lapack_int* lda, lapack_complex_double* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_stpmqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* l, lapack_int* nb,
+                     const float* v, lapack_int* ldv, const float* t,
+                     lapack_int* ldt, float* a, lapack_int* lda, float* b,
+                     lapack_int* ldb, float* work, lapack_int *info );
+void LAPACK_dtpmqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* l, lapack_int* nb,
+                     const double* v, lapack_int* ldv, const double* t,
+                     lapack_int* ldt, double* a, lapack_int* lda, double* b,
+                     lapack_int* ldb, double* work, lapack_int *info );
+void LAPACK_ctpmqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* l, lapack_int* nb,
+                     const lapack_complex_float* v, lapack_int* ldv,
+                     const lapack_complex_float* t, lapack_int* ldt,
+                     lapack_complex_float* a, lapack_int* lda,
+                     lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* work, lapack_int *info );
+void LAPACK_ztpmqrt( char* side, char* trans, lapack_int* m, lapack_int* n,
+                     lapack_int* k, lapack_int* l, lapack_int* nb,
+                     const lapack_complex_double* v, lapack_int* ldv,
+                     const lapack_complex_double* t, lapack_int* ldt,
+                     lapack_complex_double* a, lapack_int* lda,
+                     lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* work, lapack_int *info );
+void LAPACK_dtpqrt( lapack_int* m, lapack_int* n, lapack_int* l, lapack_int* nb,
+                    double* a, lapack_int* lda, double* b, lapack_int* ldb,
+                    double* t, lapack_int* ldt, double* work,
+                    lapack_int *info );
+void LAPACK_ctpqrt( lapack_int* m, lapack_int* n, lapack_int* l, lapack_int* nb,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* t, lapack_complex_float* b,
+                    lapack_int* ldb, lapack_int* ldt,
+                    lapack_complex_float* work, lapack_int *info );
+void LAPACK_ztpqrt( lapack_int* m, lapack_int* n, lapack_int* l, lapack_int* nb,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* work, lapack_int *info );
+void LAPACK_stpqrt2( lapack_int* m, lapack_int* n, float* a, lapack_int* lda,
+                     float* b, lapack_int* ldb, float* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_dtpqrt2( lapack_int* m, lapack_int* n, double* a, lapack_int* lda,
+                     double* b, lapack_int* ldb, double* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_ctpqrt2( lapack_int* m, lapack_int* n, lapack_complex_float* a,
+                     lapack_int* lda, lapack_complex_float* b, lapack_int* ldb,
+                     lapack_complex_float* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_ztpqrt2( lapack_int* m, lapack_int* n, lapack_complex_double* a,
+                     lapack_int* lda, lapack_complex_double* b, lapack_int* ldb,
+                     lapack_complex_double* t, lapack_int* ldt,
+                     lapack_int *info );
+void LAPACK_stprfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k, lapack_int* l,
+                    const float* v, lapack_int* ldv, const float* t,
+                    lapack_int* ldt, float* a, lapack_int* lda, float* b,
+                    lapack_int* ldb, const float* mywork,
+                    lapack_int* myldwork );
+void LAPACK_dtprfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k, lapack_int* l,
+                    const double* v, lapack_int* ldv, const double* t,
+                    lapack_int* ldt, double* a, lapack_int* lda, double* b,
+                    lapack_int* ldb, const double* mywork,
+                    lapack_int* myldwork );
+void LAPACK_ctprfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k, lapack_int* l,
+                    const lapack_complex_float* v, lapack_int* ldv,
+                    const lapack_complex_float* t, lapack_int* ldt,
+                    lapack_complex_float* a, lapack_int* lda,
+                    lapack_complex_float* b, lapack_int* ldb,
+                    const float* mywork, lapack_int* myldwork );
+void LAPACK_ztprfb( char* side, char* trans, char* direct, char* storev,
+                    lapack_int* m, lapack_int* n, lapack_int* k, lapack_int* l,
+                    const lapack_complex_double* v, lapack_int* ldv,
+                    const lapack_complex_double* t, lapack_int* ldt,
+                    lapack_complex_double* a, lapack_int* lda,
+                    lapack_complex_double* b, lapack_int* ldb,
+                    const double* mywork, lapack_int* myldwork );
+// LAPACK 3.X.X
+void LAPACK_csyr( char* uplo, lapack_int* n, lapack_complex_float* alpha,
+                      const lapack_complex_float* x, lapack_int* incx,
+                      lapack_complex_float* a, lapack_int* lda );
+void LAPACK_zsyr( char* uplo, lapack_int* n, lapack_complex_double* alpha,
+                      const lapack_complex_double* x, lapack_int* incx,
+                      lapack_complex_double* a, lapack_int* lda );
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#endif /* _LAPACKE_H_ */
+
+#endif /* _MKL_LAPACKE_H_ */
diff --git a/eigenlib/Eigen/src/misc/lapacke_mangling.h b/eigenlib/Eigen/src/misc/lapacke_mangling.h
new file mode 100644
index 00000000..6211fd14
--- /dev/null
+++ b/eigenlib/Eigen/src/misc/lapacke_mangling.h
@@ -0,0 +1,17 @@
+#ifndef LAPACK_HEADER_INCLUDED
+#define LAPACK_HEADER_INCLUDED
+
+#ifndef LAPACK_GLOBAL
+#if defined(LAPACK_GLOBAL_PATTERN_LC) || defined(ADD_)
+#define LAPACK_GLOBAL(lcname,UCNAME)  lcname##_
+#elif defined(LAPACK_GLOBAL_PATTERN_UC) || defined(UPPER)
+#define LAPACK_GLOBAL(lcname,UCNAME)  UCNAME
+#elif defined(LAPACK_GLOBAL_PATTERN_MC) || defined(NOCHANGE)
+#define LAPACK_GLOBAL(lcname,UCNAME)  lcname
+#else
+#define LAPACK_GLOBAL(lcname,UCNAME)  lcname##_
+#endif
+#endif
+
+#endif
+
diff --git a/eigenlib/Eigen/src/plugins/ArrayCwiseBinaryOps.h b/eigenlib/Eigen/src/plugins/ArrayCwiseBinaryOps.h
index 1951286f..1f8a531a 100644
--- a/eigenlib/Eigen/src/plugins/ArrayCwiseBinaryOps.h
+++ b/eigenlib/Eigen/src/plugins/ArrayCwiseBinaryOps.h
@@ -1,12 +1,14 @@
+
 /** \returns an expression of the coefficient wise product of \c *this and \a other
   *
   * \sa MatrixBase::cwiseProduct
   */
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)
 operator*(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
-  return EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)(derived(), other.derived());
+  return EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)(derived(), other.derived());
 }
 
 /** \returns an expression of the coefficient wise quotient of \c *this and \a other
@@ -14,10 +16,11 @@ operator*(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   * \sa MatrixBase::cwiseQuotient
   */
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar,typename OtherDerived::Scalar>, const Derived, const OtherDerived>
 operator/(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
-  return CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+  return CwiseBinaryOp<internal::scalar_quotient_op<Scalar,typename OtherDerived::Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
 }
 
 /** \returns an expression of the coefficient-wise min of \c *this and \a other
@@ -27,13 +30,14 @@ operator/(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   *
   * \sa max()
   */
-EIGEN_MAKE_CWISE_BINARY_OP(min,internal::scalar_min_op)
+EIGEN_MAKE_CWISE_BINARY_OP(min,min)
 
 /** \returns an expression of the coefficient-wise min of \c *this and scalar \a other
   *
   * \sa max()
   */
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived,
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived,
                                         const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
 #ifdef EIGEN_PARSED_BY_DOXYGEN
 min
@@ -52,13 +56,14 @@ min
   *
   * \sa min()
   */
-EIGEN_MAKE_CWISE_BINARY_OP(max,internal::scalar_max_op)
+EIGEN_MAKE_CWISE_BINARY_OP(max,max)
 
 /** \returns an expression of the coefficient-wise max of \c *this and scalar \a other
   *
   * \sa min()
   */
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived,
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived,
                                         const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> >
 #ifdef EIGEN_PARSED_BY_DOXYGEN
 max
@@ -70,33 +75,62 @@ max
   return (max)(Derived::PlainObject::Constant(rows(), cols(), other));
 }
 
+/** \returns an expression of the coefficient-wise power of \c *this to the given array of \a exponents.
+  *
+  * This function computes the coefficient-wise power.
+  *
+  * Example: \include Cwise_array_power_array.cpp
+  * Output: \verbinclude Cwise_array_power_array.out
+  */
+EIGEN_MAKE_CWISE_BINARY_OP(pow,pow)
 
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(pow,pow)
+#else
+/** \returns an expression of the coefficients of \c *this rasied to the constant power \a exponent
+  *
+  * \tparam T is the scalar type of \a exponent. It must be compatible with the scalar type of the given expression.
+  *
+  * This function computes the coefficient-wise power. The function MatrixBase::pow() in the
+  * unsupported module MatrixFunctions computes the matrix power.
+  *
+  * Example: \include Cwise_pow.cpp
+  * Output: \verbinclude Cwise_pow.out
+  *
+  * \sa ArrayBase::pow(ArrayBase), square(), cube(), exp(), log()
+  */
+template<typename T>
+const CwiseBinaryOp<internal::scalar_pow_op<Scalar,T>,Derived,Constant<T> > pow(const T& exponent) const;
+#endif
+
+
+// TODO code generating macros could be moved to Macros.h and could include generation of documentation
 #define EIGEN_MAKE_CWISE_COMP_OP(OP, COMPARATOR) \
 template<typename OtherDerived> \
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_cmp_op<Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const OtherDerived> \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_cmp_op<Scalar, typename OtherDerived::Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const OtherDerived> \
 OP(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
 { \
-  return CwiseBinaryOp<internal::scalar_cmp_op<Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const OtherDerived>(derived(), other.derived()); \
+  return CwiseBinaryOp<internal::scalar_cmp_op<Scalar, typename OtherDerived::Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const OtherDerived>(derived(), other.derived()); \
 }\
-typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> > Cmp ## COMPARATOR ## ReturnType; \
-typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar, internal::cmp_ ## COMPARATOR>, const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject>, const Derived > RCmp ## COMPARATOR ## ReturnType; \
-EIGEN_STRONG_INLINE const Cmp ## COMPARATOR ## ReturnType \
+typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,Scalar, internal::cmp_ ## COMPARATOR>, const Derived, const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject> > Cmp ## COMPARATOR ## ReturnType; \
+typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,Scalar, internal::cmp_ ## COMPARATOR>, const CwiseNullaryOp<internal::scalar_constant_op<Scalar>, PlainObject>, const Derived > RCmp ## COMPARATOR ## ReturnType; \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const Cmp ## COMPARATOR ## ReturnType \
 OP(const Scalar& s) const { \
   return this->OP(Derived::PlainObject::Constant(rows(), cols(), s)); \
 } \
-friend EIGEN_STRONG_INLINE const RCmp ## COMPARATOR ## ReturnType \
+EIGEN_DEVICE_FUNC friend EIGEN_STRONG_INLINE const RCmp ## COMPARATOR ## ReturnType \
 OP(const Scalar& s, const Derived& d) { \
   return Derived::PlainObject::Constant(d.rows(), d.cols(), s).OP(d); \
 }
 
 #define EIGEN_MAKE_CWISE_COMP_R_OP(OP, R_OP, RCOMPARATOR) \
 template<typename OtherDerived> \
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_cmp_op<Scalar, internal::cmp_##RCOMPARATOR>, const OtherDerived, const Derived> \
+EIGEN_DEVICE_FUNC EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_cmp_op<typename OtherDerived::Scalar, Scalar, internal::cmp_##RCOMPARATOR>, const OtherDerived, const Derived> \
 OP(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
 { \
-  return CwiseBinaryOp<internal::scalar_cmp_op<Scalar, internal::cmp_##RCOMPARATOR>, const OtherDerived, const Derived>(other.derived(), derived()); \
+  return CwiseBinaryOp<internal::scalar_cmp_op<typename OtherDerived::Scalar, Scalar, internal::cmp_##RCOMPARATOR>, const OtherDerived, const Derived>(other.derived(), derived()); \
 } \
-\
+EIGEN_DEVICE_FUNC \
 inline const RCmp ## RCOMPARATOR ## ReturnType \
 OP(const Scalar& s) const { \
   return Derived::PlainObject::Constant(rows(), cols(), s).R_OP(*this); \
@@ -107,6 +141,7 @@ OP(const Scalar& s, const Derived& d) { \
 }
 
 
+
 /** \returns an expression of the coefficient-wise \< operator of *this and \a other
   *
   * Example: \include Cwise_less.cpp
@@ -171,83 +206,127 @@ EIGEN_MAKE_CWISE_COMP_OP(operator==, EQ)
   */
 EIGEN_MAKE_CWISE_COMP_OP(operator!=, NEQ)
 
+
 #undef EIGEN_MAKE_CWISE_COMP_OP
 #undef EIGEN_MAKE_CWISE_COMP_R_OP
 
 // scalar addition
-
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP(operator+,sum)
+#else
 /** \returns an expression of \c *this with each coeff incremented by the constant \a scalar
+  *
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
   *
   * Example: \include Cwise_plus.cpp
   * Output: \verbinclude Cwise_plus.out
   *
   * \sa operator+=(), operator-()
   */
-inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>
-operator+(const Scalar& scalar) const
-{
-  return CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>(derived(), internal::scalar_add_op<Scalar>(scalar));
-}
-
-friend inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>
-operator+(const Scalar& scalar,const EIGEN_CURRENT_STORAGE_BASE_CLASS<Derived>& other)
-{
-  return other + scalar;
-}
+template<typename T>
+const CwiseBinaryOp<internal::scalar_sum_op<Scalar,T>,Derived,Constant<T> > operator+(const T& scalar) const;
+/** \returns an expression of \a expr with each coeff incremented by the constant \a scalar
+  *
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+  */
+template<typename T> friend
+const CwiseBinaryOp<internal::scalar_sum_op<T,Scalar>,Constant<T>,Derived> operator+(const T& scalar, const StorageBaseType& expr);
+#endif
 
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP(operator-,difference)
+#else
 /** \returns an expression of \c *this with each coeff decremented by the constant \a scalar
+  *
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
   *
   * Example: \include Cwise_minus.cpp
   * Output: \verbinclude Cwise_minus.out
   *
-  * \sa operator+(), operator-=()
+  * \sa operator+=(), operator-()
   */
-inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const Derived>
-operator-(const Scalar& scalar) const
-{
-  return *this + (-scalar);
-}
-
-friend inline const CwiseUnaryOp<internal::scalar_add_op<Scalar>, const CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const Derived> >
-operator-(const Scalar& scalar,const EIGEN_CURRENT_STORAGE_BASE_CLASS<Derived>& other)
-{
-  return (-other) + scalar;
-}
-
-/** \returns an expression of the coefficient-wise && operator of *this and \a other
+template<typename T>
+const CwiseBinaryOp<internal::scalar_difference_op<Scalar,T>,Derived,Constant<T> > operator-(const T& scalar) const;
+/** \returns an expression of the constant matrix of value \a scalar decremented by the coefficients of \a expr
   *
-  * \warning this operator is for expression of bool only.
-  *
-  * Example: \include Cwise_boolean_and.cpp
-  * Output: \verbinclude Cwise_boolean_and.out
-  *
-  * \sa operator||(), select()
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
   */
+template<typename T> friend
+const CwiseBinaryOp<internal::scalar_difference_op<T,Scalar>,Constant<T>,Derived> operator-(const T& scalar, const StorageBaseType& expr);
+#endif
+
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+  EIGEN_MAKE_SCALAR_BINARY_OP_ONTHELEFT(operator/,quotient)
+#else
+  /**
+    * \brief Component-wise division of the scalar \a s by array elements of \a a.
+    *
+    * \tparam Scalar is the scalar type of \a x. It must be compatible with the scalar type of the given array expression (\c Derived::Scalar).
+    */
+  template<typename T> friend
+  inline const CwiseBinaryOp<internal::scalar_quotient_op<T,Scalar>,Constant<T>,Derived>
+  operator/(const T& s,const StorageBaseType& a);
+#endif
+
+/** \returns an expression of the coefficient-wise ^ operator of *this and \a other
+ *
+ * \warning this operator is for expression of bool only.
+ *
+ * Example: \include Cwise_boolean_xor.cpp
+ * Output: \verbinclude Cwise_boolean_xor.out
+ *
+ * \sa operator&&(), select()
+ */
 template<typename OtherDerived>
-inline const CwiseBinaryOp<internal::scalar_boolean_and_op, const Derived, const OtherDerived>
-operator&&(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+EIGEN_DEVICE_FUNC
+inline const CwiseBinaryOp<internal::scalar_boolean_xor_op, const Derived, const OtherDerived>
+operator^(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
   EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
                       THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
-  return CwiseBinaryOp<internal::scalar_boolean_and_op, const Derived, const OtherDerived>(derived(),other.derived());
+  return CwiseBinaryOp<internal::scalar_boolean_xor_op, const Derived, const OtherDerived>(derived(),other.derived());
 }
 
-/** \returns an expression of the coefficient-wise || operator of *this and \a other
+// NOTE disabled until we agree on argument order
+#if 0
+/** \cpp11 \returns an expression of the coefficient-wise polygamma function.
   *
-  * \warning this operator is for expression of bool only.
+  * \specialfunctions_module
   *
-  * Example: \include Cwise_boolean_or.cpp
-  * Output: \verbinclude Cwise_boolean_or.out
+  * It returns the \a n -th derivative of the digamma(psi) evaluated at \c *this.
   *
-  * \sa operator&&(), select()
+  * \warning Be careful with the order of the parameters: x.polygamma(n) is equivalent to polygamma(n,x)
+  *
+  * \sa Eigen::polygamma()
   */
-template<typename OtherDerived>
-inline const CwiseBinaryOp<internal::scalar_boolean_or_op, const Derived, const OtherDerived>
-operator||(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+template<typename DerivedN>
+inline const CwiseBinaryOp<internal::scalar_polygamma_op<Scalar>, const DerivedN, const Derived>
+polygamma(const EIGEN_CURRENT_STORAGE_BASE_CLASS<DerivedN> &n) const
 {
-  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
-                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
-  return CwiseBinaryOp<internal::scalar_boolean_or_op, const Derived, const OtherDerived>(derived(),other.derived());
+  return CwiseBinaryOp<internal::scalar_polygamma_op<Scalar>, const DerivedN, const Derived>(n.derived(), this->derived());
 }
+#endif
 
-
+/** \returns an expression of the coefficient-wise zeta function.
+  *
+  * \specialfunctions_module
+  *
+  * It returns the Riemann zeta function of two arguments \c *this and \a q:
+  *
+  * \param *this is the exposent, it must be > 1
+  * \param q is the shift, it must be > 0
+  *
+  * \note This function supports only float and double scalar types. To support other scalar types, the user has
+  * to provide implementations of zeta(T,T) for any scalar type T to be supported.
+  *
+  * This method is an alias for zeta(*this,q);
+  *
+  * \sa Eigen::zeta()
+  */
+template<typename DerivedQ>
+inline const CwiseBinaryOp<internal::scalar_zeta_op<Scalar>, const Derived, const DerivedQ>
+zeta(const EIGEN_CURRENT_STORAGE_BASE_CLASS<DerivedQ> &q) const
+{
+  return CwiseBinaryOp<internal::scalar_zeta_op<Scalar>, const Derived, const DerivedQ>(this->derived(), q.derived());
+}
diff --git a/eigenlib/Eigen/src/plugins/ArrayCwiseUnaryOps.h b/eigenlib/Eigen/src/plugins/ArrayCwiseUnaryOps.h
index 1c3ed3fc..ebaa3f19 100644
--- a/eigenlib/Eigen/src/plugins/ArrayCwiseUnaryOps.h
+++ b/eigenlib/Eigen/src/plugins/ArrayCwiseUnaryOps.h
@@ -1,16 +1,62 @@
 
 
+typedef CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived> AbsReturnType;
+typedef CwiseUnaryOp<internal::scalar_arg_op<Scalar>, const Derived> ArgReturnType;
+typedef CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived> Abs2ReturnType;
+typedef CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived> SqrtReturnType;
+typedef CwiseUnaryOp<internal::scalar_rsqrt_op<Scalar>, const Derived> RsqrtReturnType;
+typedef CwiseUnaryOp<internal::scalar_sign_op<Scalar>, const Derived> SignReturnType;
+typedef CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived> InverseReturnType;
+typedef CwiseUnaryOp<internal::scalar_boolean_not_op<Scalar>, const Derived> BooleanNotReturnType;
+
+typedef CwiseUnaryOp<internal::scalar_exp_op<Scalar>, const Derived> ExpReturnType;
+typedef CwiseUnaryOp<internal::scalar_log_op<Scalar>, const Derived> LogReturnType;
+typedef CwiseUnaryOp<internal::scalar_log1p_op<Scalar>, const Derived> Log1pReturnType;
+typedef CwiseUnaryOp<internal::scalar_log10_op<Scalar>, const Derived> Log10ReturnType;
+typedef CwiseUnaryOp<internal::scalar_cos_op<Scalar>, const Derived> CosReturnType;
+typedef CwiseUnaryOp<internal::scalar_sin_op<Scalar>, const Derived> SinReturnType;
+typedef CwiseUnaryOp<internal::scalar_tan_op<Scalar>, const Derived> TanReturnType;
+typedef CwiseUnaryOp<internal::scalar_acos_op<Scalar>, const Derived> AcosReturnType;
+typedef CwiseUnaryOp<internal::scalar_asin_op<Scalar>, const Derived> AsinReturnType;
+typedef CwiseUnaryOp<internal::scalar_atan_op<Scalar>, const Derived> AtanReturnType;
+typedef CwiseUnaryOp<internal::scalar_tanh_op<Scalar>, const Derived> TanhReturnType;
+typedef CwiseUnaryOp<internal::scalar_sinh_op<Scalar>, const Derived> SinhReturnType;
+typedef CwiseUnaryOp<internal::scalar_cosh_op<Scalar>, const Derived> CoshReturnType;
+typedef CwiseUnaryOp<internal::scalar_square_op<Scalar>, const Derived> SquareReturnType;
+typedef CwiseUnaryOp<internal::scalar_cube_op<Scalar>, const Derived> CubeReturnType;
+typedef CwiseUnaryOp<internal::scalar_round_op<Scalar>, const Derived> RoundReturnType;
+typedef CwiseUnaryOp<internal::scalar_floor_op<Scalar>, const Derived> FloorReturnType;
+typedef CwiseUnaryOp<internal::scalar_ceil_op<Scalar>, const Derived> CeilReturnType;
+typedef CwiseUnaryOp<internal::scalar_isnan_op<Scalar>, const Derived> IsNaNReturnType;
+typedef CwiseUnaryOp<internal::scalar_isinf_op<Scalar>, const Derived> IsInfReturnType;
+typedef CwiseUnaryOp<internal::scalar_isfinite_op<Scalar>, const Derived> IsFiniteReturnType;
+
 /** \returns an expression of the coefficient-wise absolute value of \c *this
   *
   * Example: \include Cwise_abs.cpp
   * Output: \verbinclude Cwise_abs.out
   *
-  * \sa abs2()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_abs">Math functions</a>, abs2()
   */
-EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const AbsReturnType
 abs() const
 {
-  return derived();
+  return AbsReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise phase angle of \c *this
+  *
+  * Example: \include Cwise_arg.cpp
+  * Output: \verbinclude Cwise_arg.out
+  *
+  * \sa abs()
+  */
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const ArgReturnType
+arg() const
+{
+  return ArgReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise squared absolute value of \c *this
@@ -18,104 +64,162 @@ abs() const
   * Example: \include Cwise_abs2.cpp
   * Output: \verbinclude Cwise_abs2.out
   *
-  * \sa abs(), square()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_abs2">Math functions</a>, abs(), square()
   */
-EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const Abs2ReturnType
 abs2() const
 {
-  return derived();
+  return Abs2ReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise exponential of *this.
+  *
+  * This function computes the coefficient-wise exponential. The function MatrixBase::exp() in the
+  * unsupported module MatrixFunctions computes the matrix exponential.
   *
   * Example: \include Cwise_exp.cpp
   * Output: \verbinclude Cwise_exp.out
   *
-  * \sa pow(), log(), sin(), cos()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_exp">Math functions</a>, pow(), log(), sin(), cos()
   */
-inline const CwiseUnaryOp<internal::scalar_exp_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const ExpReturnType
 exp() const
 {
-  return derived();
+  return ExpReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise logarithm of *this.
+  *
+  * This function computes the coefficient-wise logarithm. The function MatrixBase::log() in the
+  * unsupported module MatrixFunctions computes the matrix logarithm.
   *
   * Example: \include Cwise_log.cpp
   * Output: \verbinclude Cwise_log.out
   *
-  * \sa exp()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_log">Math functions</a>, exp()
   */
-inline const CwiseUnaryOp<internal::scalar_log_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const LogReturnType
 log() const
 {
-  return derived();
+  return LogReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise logarithm of 1 plus \c *this.
+  *
+  * In exact arithmetic, \c x.log() is equivalent to \c (x+1).log(),
+  * however, with finite precision, this function is much more accurate when \c x is close to zero.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_log1p">Math functions</a>, log()
+  */
+EIGEN_DEVICE_FUNC
+inline const Log1pReturnType
+log1p() const
+{
+  return Log1pReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise base-10 logarithm of *this.
+  *
+  * This function computes the coefficient-wise base-10 logarithm.
+  *
+  * Example: \include Cwise_log10.cpp
+  * Output: \verbinclude Cwise_log10.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_log10">Math functions</a>, log()
+  */
+EIGEN_DEVICE_FUNC
+inline const Log10ReturnType
+log10() const
+{
+  return Log10ReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise square root of *this.
+  *
+  * This function computes the coefficient-wise square root. The function MatrixBase::sqrt() in the
+  * unsupported module MatrixFunctions computes the matrix square root.
+  *
+  * Example: \include Cwise_sqrt.cpp
+  * Output: \verbinclude Cwise_sqrt.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_sqrt">Math functions</a>, pow(), square()
+  */
+EIGEN_DEVICE_FUNC
+inline const SqrtReturnType
+sqrt() const
+{
+  return SqrtReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise inverse square root of *this.
+  *
+  * This function computes the coefficient-wise inverse square root.
   *
   * Example: \include Cwise_sqrt.cpp
   * Output: \verbinclude Cwise_sqrt.out
   *
   * \sa pow(), square()
   */
-inline const CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived>
-sqrt() const
+EIGEN_DEVICE_FUNC
+inline const RsqrtReturnType
+rsqrt() const
 {
-  return derived();
+  return RsqrtReturnType(derived());
 }
 
+/** \returns an expression of the coefficient-wise signum of *this.
+  *
+  * This function computes the coefficient-wise signum.
+  *
+  * Example: \include Cwise_sign.cpp
+  * Output: \verbinclude Cwise_sign.out
+  *
+  * \sa pow(), square()
+  */
+EIGEN_DEVICE_FUNC
+inline const SignReturnType
+sign() const
+{
+  return SignReturnType(derived());
+}
+
+
 /** \returns an expression of the coefficient-wise cosine of *this.
+  *
+  * This function computes the coefficient-wise cosine. The function MatrixBase::cos() in the
+  * unsupported module MatrixFunctions computes the matrix cosine.
   *
   * Example: \include Cwise_cos.cpp
   * Output: \verbinclude Cwise_cos.out
   *
-  * \sa sin(), acos()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cos">Math functions</a>, sin(), acos()
   */
-inline const CwiseUnaryOp<internal::scalar_cos_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const CosReturnType
 cos() const
 {
-  return derived();
+  return CosReturnType(derived());
 }
 
 
 /** \returns an expression of the coefficient-wise sine of *this.
+  *
+  * This function computes the coefficient-wise sine. The function MatrixBase::sin() in the
+  * unsupported module MatrixFunctions computes the matrix sine.
   *
   * Example: \include Cwise_sin.cpp
   * Output: \verbinclude Cwise_sin.out
   *
-  * \sa cos(), asin()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_sin">Math functions</a>, cos(), asin()
   */
-inline const CwiseUnaryOp<internal::scalar_sin_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const SinReturnType
 sin() const
 {
-  return derived();
-}
-
-/** \returns an expression of the coefficient-wise arc cosine of *this.
-  *
-  * Example: \include Cwise_acos.cpp
-  * Output: \verbinclude Cwise_acos.out
-  *
-  * \sa cos(), asin()
-  */
-inline const CwiseUnaryOp<internal::scalar_acos_op<Scalar>, const Derived>
-acos() const
-{
-  return derived();
-}
-
-/** \returns an expression of the coefficient-wise arc sine of *this.
-  *
-  * Example: \include Cwise_asin.cpp
-  * Output: \verbinclude Cwise_asin.out
-  *
-  * \sa sin(), acos()
-  */
-inline const CwiseUnaryOp<internal::scalar_asin_op<Scalar>, const Derived>
-asin() const
-{
-  return derived();
+  return SinReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise tan of *this.
@@ -123,29 +227,98 @@ asin() const
   * Example: \include Cwise_tan.cpp
   * Output: \verbinclude Cwise_tan.out
   *
-  * \sa cos(), sin()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_tan">Math functions</a>, cos(), sin()
   */
-inline const CwiseUnaryOp<internal::scalar_tan_op<Scalar>, Derived>
+EIGEN_DEVICE_FUNC
+inline const TanReturnType
 tan() const
 {
-  return derived();
+  return TanReturnType(derived());
 }
 
-
-/** \returns an expression of the coefficient-wise power of *this to the given exponent.
+/** \returns an expression of the coefficient-wise arc tan of *this.
   *
-  * Example: \include Cwise_pow.cpp
-  * Output: \verbinclude Cwise_pow.out
+  * Example: \include Cwise_atan.cpp
+  * Output: \verbinclude Cwise_atan.out
   *
-  * \sa exp(), log()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_atan">Math functions</a>, tan(), asin(), acos()
   */
-inline const CwiseUnaryOp<internal::scalar_pow_op<Scalar>, const Derived>
-pow(const Scalar& exponent) const
+EIGEN_DEVICE_FUNC
+inline const AtanReturnType
+atan() const
 {
-  return CwiseUnaryOp<internal::scalar_pow_op<Scalar>, const Derived>
-          (derived(), internal::scalar_pow_op<Scalar>(exponent));
+  return AtanReturnType(derived());
 }
 
+/** \returns an expression of the coefficient-wise arc cosine of *this.
+  *
+  * Example: \include Cwise_acos.cpp
+  * Output: \verbinclude Cwise_acos.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_acos">Math functions</a>, cos(), asin()
+  */
+EIGEN_DEVICE_FUNC
+inline const AcosReturnType
+acos() const
+{
+  return AcosReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise arc sine of *this.
+  *
+  * Example: \include Cwise_asin.cpp
+  * Output: \verbinclude Cwise_asin.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_asin">Math functions</a>, sin(), acos()
+  */
+EIGEN_DEVICE_FUNC
+inline const AsinReturnType
+asin() const
+{
+  return AsinReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise hyperbolic tan of *this.
+  *
+  * Example: \include Cwise_tanh.cpp
+  * Output: \verbinclude Cwise_tanh.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_tanh">Math functions</a>, tan(), sinh(), cosh()
+  */
+EIGEN_DEVICE_FUNC
+inline const TanhReturnType
+tanh() const
+{
+  return TanhReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise hyperbolic sin of *this.
+  *
+  * Example: \include Cwise_sinh.cpp
+  * Output: \verbinclude Cwise_sinh.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_sinh">Math functions</a>, sin(), tanh(), cosh()
+  */
+EIGEN_DEVICE_FUNC
+inline const SinhReturnType
+sinh() const
+{
+  return SinhReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise hyperbolic cos of *this.
+  *
+  * Example: \include Cwise_cosh.cpp
+  * Output: \verbinclude Cwise_cosh.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cosh">Math functions</a>, tan(), sinh(), cosh()
+  */
+EIGEN_DEVICE_FUNC
+inline const CoshReturnType
+cosh() const
+{
+  return CoshReturnType(derived());
+}
 
 /** \returns an expression of the coefficient-wise inverse of *this.
   *
@@ -154,10 +327,11 @@ pow(const Scalar& exponent) const
   *
   * \sa operator/(), operator*()
   */
-inline const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const InverseReturnType
 inverse() const
 {
-  return derived();
+  return InverseReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise square of *this.
@@ -165,12 +339,13 @@ inverse() const
   * Example: \include Cwise_square.cpp
   * Output: \verbinclude Cwise_square.out
   *
-  * \sa operator/(), operator*(), abs2()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_squareE">Math functions</a>, abs2(), cube(), pow()
   */
-inline const CwiseUnaryOp<internal::scalar_square_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const SquareReturnType
 square() const
 {
-  return derived();
+  return SquareReturnType(derived());
 }
 
 /** \returns an expression of the coefficient-wise cube of *this.
@@ -178,10 +353,200 @@ square() const
   * Example: \include Cwise_cube.cpp
   * Output: \verbinclude Cwise_cube.out
   *
-  * \sa square(), pow()
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_cube">Math functions</a>, square(), pow()
   */
-inline const CwiseUnaryOp<internal::scalar_cube_op<Scalar>, const Derived>
+EIGEN_DEVICE_FUNC
+inline const CubeReturnType
 cube() const
 {
-  return derived();
+  return CubeReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise round of *this.
+  *
+  * Example: \include Cwise_round.cpp
+  * Output: \verbinclude Cwise_round.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_round">Math functions</a>, ceil(), floor()
+  */
+EIGEN_DEVICE_FUNC
+inline const RoundReturnType
+round() const
+{
+  return RoundReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise floor of *this.
+  *
+  * Example: \include Cwise_floor.cpp
+  * Output: \verbinclude Cwise_floor.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_floor">Math functions</a>, ceil(), round()
+  */
+EIGEN_DEVICE_FUNC
+inline const FloorReturnType
+floor() const
+{
+  return FloorReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise ceil of *this.
+  *
+  * Example: \include Cwise_ceil.cpp
+  * Output: \verbinclude Cwise_ceil.out
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_ceil">Math functions</a>, floor(), round()
+  */
+EIGEN_DEVICE_FUNC
+inline const CeilReturnType
+ceil() const
+{
+  return CeilReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise isnan of *this.
+  *
+  * Example: \include Cwise_isNaN.cpp
+  * Output: \verbinclude Cwise_isNaN.out
+  *
+  * \sa isfinite(), isinf()
+  */
+EIGEN_DEVICE_FUNC
+inline const IsNaNReturnType
+isNaN() const
+{
+  return IsNaNReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise isinf of *this.
+  *
+  * Example: \include Cwise_isInf.cpp
+  * Output: \verbinclude Cwise_isInf.out
+  *
+  * \sa isnan(), isfinite()
+  */
+EIGEN_DEVICE_FUNC
+inline const IsInfReturnType
+isInf() const
+{
+  return IsInfReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise isfinite of *this.
+  *
+  * Example: \include Cwise_isFinite.cpp
+  * Output: \verbinclude Cwise_isFinite.out
+  *
+  * \sa isnan(), isinf()
+  */
+EIGEN_DEVICE_FUNC
+inline const IsFiniteReturnType
+isFinite() const
+{
+  return IsFiniteReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise ! operator of *this
+  *
+  * \warning this operator is for expression of bool only.
+  *
+  * Example: \include Cwise_boolean_not.cpp
+  * Output: \verbinclude Cwise_boolean_not.out
+  *
+  * \sa operator!=()
+  */
+EIGEN_DEVICE_FUNC
+inline const BooleanNotReturnType
+operator!() const
+{
+  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value),
+                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
+  return BooleanNotReturnType(derived());
+}
+
+
+// --- SpecialFunctions module ---
+
+typedef CwiseUnaryOp<internal::scalar_lgamma_op<Scalar>, const Derived> LgammaReturnType;
+typedef CwiseUnaryOp<internal::scalar_digamma_op<Scalar>, const Derived> DigammaReturnType;
+typedef CwiseUnaryOp<internal::scalar_erf_op<Scalar>, const Derived> ErfReturnType;
+typedef CwiseUnaryOp<internal::scalar_erfc_op<Scalar>, const Derived> ErfcReturnType;
+
+/** \cpp11 \returns an expression of the coefficient-wise ln(|gamma(*this)|).
+  *
+  * \specialfunctions_module
+  *
+  * Example: \include Cwise_lgamma.cpp
+  * Output: \verbinclude Cwise_lgamma.out
+  *
+  * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
+  * or float/double in non c++11 mode, the user has to provide implementations of lgamma(T) for any scalar
+  * type T to be supported.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_lgamma">Math functions</a>, digamma()
+  */
+EIGEN_DEVICE_FUNC
+inline const LgammaReturnType
+lgamma() const
+{
+  return LgammaReturnType(derived());
+}
+
+/** \returns an expression of the coefficient-wise digamma (psi, derivative of lgamma).
+  *
+  * \specialfunctions_module
+  *
+  * \note This function supports only float and double scalar types. To support other scalar types,
+  * the user has to provide implementations of digamma(T) for any scalar
+  * type T to be supported.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_digamma">Math functions</a>, Eigen::digamma(), Eigen::polygamma(), lgamma()
+  */
+EIGEN_DEVICE_FUNC
+inline const DigammaReturnType
+digamma() const
+{
+  return DigammaReturnType(derived());
+}
+
+/** \cpp11 \returns an expression of the coefficient-wise Gauss error
+  * function of *this.
+  *
+  * \specialfunctions_module
+  *
+  * Example: \include Cwise_erf.cpp
+  * Output: \verbinclude Cwise_erf.out
+  *
+  * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
+  * or float/double in non c++11 mode, the user has to provide implementations of erf(T) for any scalar
+  * type T to be supported.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_erf">Math functions</a>, erfc()
+  */
+EIGEN_DEVICE_FUNC
+inline const ErfReturnType
+erf() const
+{
+  return ErfReturnType(derived());
+}
+
+/** \cpp11 \returns an expression of the coefficient-wise Complementary error
+  * function of *this.
+  *
+  * \specialfunctions_module
+  *
+  * Example: \include Cwise_erfc.cpp
+  * Output: \verbinclude Cwise_erfc.out
+  *
+  * \note This function supports only float and double scalar types in c++11 mode. To support other scalar types,
+  * or float/double in non c++11 mode, the user has to provide implementations of erfc(T) for any scalar
+  * type T to be supported.
+  *
+  * \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_erfc">Math functions</a>, erf()
+  */
+EIGEN_DEVICE_FUNC
+inline const ErfcReturnType
+erfc() const
+{
+  return ErfcReturnType(derived());
 }
diff --git a/eigenlib/Eigen/src/plugins/BlockMethods.h b/eigenlib/Eigen/src/plugins/BlockMethods.h
index 2788251e..ac35a008 100644
--- a/eigenlib/Eigen/src/plugins/BlockMethods.h
+++ b/eigenlib/Eigen/src/plugins/BlockMethods.h
@@ -8,27 +8,32 @@
 // Public License v. 2.0. If a copy of the MPL was not distributed
 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
-
 #ifndef EIGEN_PARSED_BY_DOXYGEN
 
-/** \internal expression type of a column */
+/// \internal expression type of a column */
 typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, 1, !IsRowMajor> ColXpr;
 typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, 1, !IsRowMajor> ConstColXpr;
-/** \internal expression type of a row */
+/// \internal expression type of a row */
 typedef Block<Derived, 1, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> RowXpr;
 typedef const Block<const Derived, 1, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> ConstRowXpr;
-/** \internal expression type of a block of whole columns */
+/// \internal expression type of a block of whole columns */
 typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, Dynamic, !IsRowMajor> ColsBlockXpr;
 typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, Dynamic, !IsRowMajor> ConstColsBlockXpr;
-/** \internal expression type of a block of whole rows */
+/// \internal expression type of a block of whole rows */
 typedef Block<Derived, Dynamic, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> RowsBlockXpr;
 typedef const Block<const Derived, Dynamic, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> ConstRowsBlockXpr;
-/** \internal expression type of a block of whole columns */
+/// \internal expression type of a block of whole columns */
 template<int N> struct NColsBlockXpr { typedef Block<Derived, internal::traits<Derived>::RowsAtCompileTime, N, !IsRowMajor> Type; };
 template<int N> struct ConstNColsBlockXpr { typedef const Block<const Derived, internal::traits<Derived>::RowsAtCompileTime, N, !IsRowMajor> Type; };
-/** \internal expression type of a block of whole rows */
+/// \internal expression type of a block of whole rows */
 template<int N> struct NRowsBlockXpr { typedef Block<Derived, N, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> Type; };
 template<int N> struct ConstNRowsBlockXpr { typedef const Block<const Derived, N, internal::traits<Derived>::ColsAtCompileTime, IsRowMajor> Type; };
+/// \internal expression of a block */
+typedef Block<Derived> BlockXpr;
+typedef const Block<const Derived> ConstBlockXpr;
+/// \internal expression of a block of fixed sizes */
+template<int Rows, int Cols> struct FixedBlockXpr { typedef Block<Derived,Rows,Cols> Type; };
+template<int Rows, int Cols> struct ConstFixedBlockXpr { typedef Block<const Derived,Rows,Cols> Type; };
 
 typedef VectorBlock<Derived> SegmentReturnType;
 typedef const VectorBlock<const Derived> ConstSegmentReturnType;
@@ -37,378 +42,430 @@ template<int Size> struct ConstFixedSegmentReturnType { typedef const VectorBloc
 
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 
-/** \returns a dynamic-size expression of a block in *this.
-  *
-  * \param startRow the first row in the block
-  * \param startCol the first column in the block
-  * \param blockRows the number of rows in the block
-  * \param blockCols the number of columns in the block
-  *
-  * Example: \include MatrixBase_block_int_int_int_int.cpp
-  * Output: \verbinclude MatrixBase_block_int_int_int_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size matrix, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, block(Index,Index)
-  */
-inline Block<Derived> block(Index startRow, Index startCol, Index blockRows, Index blockCols)
+/// \returns a dynamic-size expression of a block in *this.
+///
+/// \param startRow the first row in the block
+/// \param startCol the first column in the block
+/// \param blockRows the number of rows in the block
+/// \param blockCols the number of columns in the block
+///
+/// Example: \include MatrixBase_block_int_int_int_int.cpp
+/// Output: \verbinclude MatrixBase_block_int_int_int_int.out
+///
+/// \note Even though the returned expression has dynamic size, in the case
+/// when it is applied to a fixed-size matrix, it inherits a fixed maximal size,
+/// which means that evaluating it does not cause a dynamic memory allocation.
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr block(Index startRow, Index startCol, Index blockRows, Index blockCols)
 {
-  return Block<Derived>(derived(), startRow, startCol, blockRows, blockCols);
+  return BlockXpr(derived(), startRow, startCol, blockRows, blockCols);
 }
 
-/** This is the const version of block(Index,Index,Index,Index). */
-inline const Block<const Derived> block(Index startRow, Index startCol, Index blockRows, Index blockCols) const
+/// This is the const version of block(Index,Index,Index,Index). */
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr block(Index startRow, Index startCol, Index blockRows, Index blockCols) const
 {
-  return Block<const Derived>(derived(), startRow, startCol, blockRows, blockCols);
+  return ConstBlockXpr(derived(), startRow, startCol, blockRows, blockCols);
 }
 
 
 
 
-/** \returns a dynamic-size expression of a top-right corner of *this.
-  *
-  * \param cRows the number of rows in the corner
-  * \param cCols the number of columns in the corner
-  *
-  * Example: \include MatrixBase_topRightCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_topRightCorner_int_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-inline Block<Derived> topRightCorner(Index cRows, Index cCols)
+/// \returns a dynamic-size expression of a top-right corner of *this.
+///
+/// \param cRows the number of rows in the corner
+/// \param cCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_topRightCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_topRightCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr topRightCorner(Index cRows, Index cCols)
 {
-  return Block<Derived>(derived(), 0, cols() - cCols, cRows, cCols);
+  return BlockXpr(derived(), 0, cols() - cCols, cRows, cCols);
 }
 
-/** This is the const version of topRightCorner(Index, Index).*/
-inline const Block<const Derived> topRightCorner(Index cRows, Index cCols) const
+/// This is the const version of topRightCorner(Index, Index).
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr topRightCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived>(derived(), 0, cols() - cCols, cRows, cCols);
+  return ConstBlockXpr(derived(), 0, cols() - cCols, cRows, cCols);
 }
 
-/** \returns an expression of a fixed-size top-right corner of *this.
-  *
-  * \tparam CRows the number of rows in the corner
-  * \tparam CCols the number of columns in the corner
-  *
-  * Example: \include MatrixBase_template_int_int_topRightCorner.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_topRightCorner.out
-  *
-  * \sa class Block, block<int,int>(Index,Index)
-  */
+/// \returns an expression of a fixed-size top-right corner of *this.
+///
+/// \tparam CRows the number of rows in the corner
+/// \tparam CCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_template_int_int_topRightCorner.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_topRightCorner.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block<int,int>(Index,Index)
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> topRightCorner()
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<CRows,CCols>::Type topRightCorner()
 {
-  return Block<Derived, CRows, CCols>(derived(), 0, cols() - CCols);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - CCols);
 }
 
-/** This is the const version of topRightCorner<int, int>().*/
+/// This is the const version of topRightCorner<int, int>().
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> topRightCorner() const
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topRightCorner() const
 {
-  return Block<const Derived, CRows, CCols>(derived(), 0, cols() - CCols);
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - CCols);
 }
 
-/** \returns an expression of a top-right corner of *this.
-  *
-  * \tparam CRows number of rows in corner as specified at compile-time
-  * \tparam CCols number of columns in corner as specified at compile-time
-  * \param  cRows number of rows in corner as specified at run-time
-  * \param  cCols number of columns in corner as specified at run-time
-  *
-  * This function is mainly useful for corners where the number of rows is specified at compile-time
-  * and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-  * information should not contradict. In other words, \a cRows should equal \a CRows unless
-  * \a CRows is \a Dynamic, and the same for the number of columns.
-  *
-  * Example: \include MatrixBase_template_int_int_topRightCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_topRightCorner_int_int.out
-  *
-  * \sa class Block
-  */
+/// \returns an expression of a top-right corner of *this.
+///
+/// \tparam CRows number of rows in corner as specified at compile-time
+/// \tparam CCols number of columns in corner as specified at compile-time
+/// \param  cRows number of rows in corner as specified at run-time
+/// \param  cCols number of columns in corner as specified at run-time
+///
+/// This function is mainly useful for corners where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a cRows should equal \a CRows unless
+/// \a CRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_topRightCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_topRightCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> topRightCorner(Index cRows, Index cCols)
+inline typename FixedBlockXpr<CRows,CCols>::Type topRightCorner(Index cRows, Index cCols)
 {
-  return Block<Derived, CRows, CCols>(derived(), 0, cols() - cCols, cRows, cCols);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - cCols, cRows, cCols);
 }
 
-/** This is the const version of topRightCorner<int, int>(Index, Index).*/
+/// This is the const version of topRightCorner<int, int>(Index, Index).
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> topRightCorner(Index cRows, Index cCols) const
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topRightCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived, CRows, CCols>(derived(), 0, cols() - cCols, cRows, cCols);
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, cols() - cCols, cRows, cCols);
 }
 
 
 
-/** \returns a dynamic-size expression of a top-left corner of *this.
-  *
-  * \param cRows the number of rows in the corner
-  * \param cCols the number of columns in the corner
-  *
-  * Example: \include MatrixBase_topLeftCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_topLeftCorner_int_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-inline Block<Derived> topLeftCorner(Index cRows, Index cCols)
+/// \returns a dynamic-size expression of a top-left corner of *this.
+///
+/// \param cRows the number of rows in the corner
+/// \param cCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_topLeftCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_topLeftCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr topLeftCorner(Index cRows, Index cCols)
 {
-  return Block<Derived>(derived(), 0, 0, cRows, cCols);
+  return BlockXpr(derived(), 0, 0, cRows, cCols);
 }
 
-/** This is the const version of topLeftCorner(Index, Index).*/
-inline const Block<const Derived> topLeftCorner(Index cRows, Index cCols) const
+/// This is the const version of topLeftCorner(Index, Index).
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr topLeftCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived>(derived(), 0, 0, cRows, cCols);
+  return ConstBlockXpr(derived(), 0, 0, cRows, cCols);
 }
 
-/** \returns an expression of a fixed-size top-left corner of *this.
-  *
-  * The template parameters CRows and CCols are the number of rows and columns in the corner.
-  *
-  * Example: \include MatrixBase_template_int_int_topLeftCorner.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_topLeftCorner.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns an expression of a fixed-size top-left corner of *this.
+///
+/// The template parameters CRows and CCols are the number of rows and columns in the corner.
+///
+/// Example: \include MatrixBase_template_int_int_topLeftCorner.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_topLeftCorner.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> topLeftCorner()
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<CRows,CCols>::Type topLeftCorner()
 {
-  return Block<Derived, CRows, CCols>(derived(), 0, 0);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0);
 }
 
-/** This is the const version of topLeftCorner<int, int>().*/
+/// This is the const version of topLeftCorner<int, int>().
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> topLeftCorner() const
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topLeftCorner() const
 {
-  return Block<const Derived, CRows, CCols>(derived(), 0, 0);
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0);
 }
 
-/** \returns an expression of a top-left corner of *this.
-  *
-  * \tparam CRows number of rows in corner as specified at compile-time
-  * \tparam CCols number of columns in corner as specified at compile-time
-  * \param  cRows number of rows in corner as specified at run-time
-  * \param  cCols number of columns in corner as specified at run-time
-  *
-  * This function is mainly useful for corners where the number of rows is specified at compile-time
-  * and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-  * information should not contradict. In other words, \a cRows should equal \a CRows unless
-  * \a CRows is \a Dynamic, and the same for the number of columns.
-  *
-  * Example: \include MatrixBase_template_int_int_topLeftCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_topLeftCorner_int_int.out
-  *
-  * \sa class Block
-  */
+/// \returns an expression of a top-left corner of *this.
+///
+/// \tparam CRows number of rows in corner as specified at compile-time
+/// \tparam CCols number of columns in corner as specified at compile-time
+/// \param  cRows number of rows in corner as specified at run-time
+/// \param  cCols number of columns in corner as specified at run-time
+///
+/// This function is mainly useful for corners where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a cRows should equal \a CRows unless
+/// \a CRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_topLeftCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_topLeftCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> topLeftCorner(Index cRows, Index cCols)
+inline typename FixedBlockXpr<CRows,CCols>::Type topLeftCorner(Index cRows, Index cCols)
 {
-  return Block<Derived, CRows, CCols>(derived(), 0, 0, cRows, cCols);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0, cRows, cCols);
 }
 
-/** This is the const version of topLeftCorner<int, int>(Index, Index).*/
+/// This is the const version of topLeftCorner<int, int>(Index, Index).
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> topLeftCorner(Index cRows, Index cCols) const
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type topLeftCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived, CRows, CCols>(derived(), 0, 0, cRows, cCols);
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), 0, 0, cRows, cCols);
 }
 
 
 
-/** \returns a dynamic-size expression of a bottom-right corner of *this.
-  *
-  * \param cRows the number of rows in the corner
-  * \param cCols the number of columns in the corner
-  *
-  * Example: \include MatrixBase_bottomRightCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_bottomRightCorner_int_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-inline Block<Derived> bottomRightCorner(Index cRows, Index cCols)
+/// \returns a dynamic-size expression of a bottom-right corner of *this.
+///
+/// \param cRows the number of rows in the corner
+/// \param cCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_bottomRightCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_bottomRightCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr bottomRightCorner(Index cRows, Index cCols)
 {
-  return Block<Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+  return BlockXpr(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
 }
 
-/** This is the const version of bottomRightCorner(Index, Index).*/
-inline const Block<const Derived> bottomRightCorner(Index cRows, Index cCols) const
+/// This is the const version of bottomRightCorner(Index, Index).
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr bottomRightCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+  return ConstBlockXpr(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
 }
 
-/** \returns an expression of a fixed-size bottom-right corner of *this.
-  *
-  * The template parameters CRows and CCols are the number of rows and columns in the corner.
-  *
-  * Example: \include MatrixBase_template_int_int_bottomRightCorner.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns an expression of a fixed-size bottom-right corner of *this.
+///
+/// The template parameters CRows and CCols are the number of rows and columns in the corner.
+///
+/// Example: \include MatrixBase_template_int_int_bottomRightCorner.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> bottomRightCorner()
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<CRows,CCols>::Type bottomRightCorner()
 {
-  return Block<Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, cols() - CCols);
 }
 
-/** This is the const version of bottomRightCorner<int, int>().*/
+/// This is the const version of bottomRightCorner<int, int>().
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> bottomRightCorner() const
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomRightCorner() const
 {
-  return Block<const Derived, CRows, CCols>(derived(), rows() - CRows, cols() - CCols);
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, cols() - CCols);
 }
 
-/** \returns an expression of a bottom-right corner of *this.
-  *
-  * \tparam CRows number of rows in corner as specified at compile-time
-  * \tparam CCols number of columns in corner as specified at compile-time
-  * \param  cRows number of rows in corner as specified at run-time
-  * \param  cCols number of columns in corner as specified at run-time
-  *
-  * This function is mainly useful for corners where the number of rows is specified at compile-time
-  * and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-  * information should not contradict. In other words, \a cRows should equal \a CRows unless
-  * \a CRows is \a Dynamic, and the same for the number of columns.
-  *
-  * Example: \include MatrixBase_template_int_int_bottomRightCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner_int_int.out
-  *
-  * \sa class Block
-  */
+/// \returns an expression of a bottom-right corner of *this.
+///
+/// \tparam CRows number of rows in corner as specified at compile-time
+/// \tparam CCols number of columns in corner as specified at compile-time
+/// \param  cRows number of rows in corner as specified at run-time
+/// \param  cCols number of columns in corner as specified at run-time
+///
+/// This function is mainly useful for corners where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a cRows should equal \a CRows unless
+/// \a CRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_bottomRightCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_bottomRightCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> bottomRightCorner(Index cRows, Index cCols)
+inline typename FixedBlockXpr<CRows,CCols>::Type bottomRightCorner(Index cRows, Index cCols)
 {
-  return Block<Derived, CRows, CCols>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
 }
 
-/** This is the const version of bottomRightCorner<int, int>(Index, Index).*/
+/// This is the const version of bottomRightCorner<int, int>(Index, Index).
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> bottomRightCorner(Index cRows, Index cCols) const
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomRightCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived, CRows, CCols>(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, cols() - cCols, cRows, cCols);
 }
 
 
 
-/** \returns a dynamic-size expression of a bottom-left corner of *this.
-  *
-  * \param cRows the number of rows in the corner
-  * \param cCols the number of columns in the corner
-  *
-  * Example: \include MatrixBase_bottomLeftCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_bottomLeftCorner_int_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-inline Block<Derived> bottomLeftCorner(Index cRows, Index cCols)
+/// \returns a dynamic-size expression of a bottom-left corner of *this.
+///
+/// \param cRows the number of rows in the corner
+/// \param cCols the number of columns in the corner
+///
+/// Example: \include MatrixBase_bottomLeftCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_bottomLeftCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
+inline BlockXpr bottomLeftCorner(Index cRows, Index cCols)
 {
-  return Block<Derived>(derived(), rows() - cRows, 0, cRows, cCols);
+  return BlockXpr(derived(), rows() - cRows, 0, cRows, cCols);
 }
 
-/** This is the const version of bottomLeftCorner(Index, Index).*/
-inline const Block<const Derived> bottomLeftCorner(Index cRows, Index cCols) const
+/// This is the const version of bottomLeftCorner(Index, Index).
+EIGEN_DEVICE_FUNC
+inline const ConstBlockXpr bottomLeftCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived>(derived(), rows() - cRows, 0, cRows, cCols);
+  return ConstBlockXpr(derived(), rows() - cRows, 0, cRows, cCols);
 }
 
-/** \returns an expression of a fixed-size bottom-left corner of *this.
-  *
-  * The template parameters CRows and CCols are the number of rows and columns in the corner.
-  *
-  * Example: \include MatrixBase_template_int_int_bottomLeftCorner.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns an expression of a fixed-size bottom-left corner of *this.
+///
+/// The template parameters CRows and CCols are the number of rows and columns in the corner.
+///
+/// Example: \include MatrixBase_template_int_int_bottomLeftCorner.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> bottomLeftCorner()
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<CRows,CCols>::Type bottomLeftCorner()
 {
-  return Block<Derived, CRows, CCols>(derived(), rows() - CRows, 0);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, 0);
 }
 
-/** This is the const version of bottomLeftCorner<int, int>().*/
+/// This is the const version of bottomLeftCorner<int, int>().
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> bottomLeftCorner() const
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomLeftCorner() const
 {
-  return Block<const Derived, CRows, CCols>(derived(), rows() - CRows, 0);
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - CRows, 0);
 }
 
-/** \returns an expression of a bottom-left corner of *this.
-  *
-  * \tparam CRows number of rows in corner as specified at compile-time
-  * \tparam CCols number of columns in corner as specified at compile-time
-  * \param  cRows number of rows in corner as specified at run-time
-  * \param  cCols number of columns in corner as specified at run-time
-  *
-  * This function is mainly useful for corners where the number of rows is specified at compile-time
-  * and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-  * information should not contradict. In other words, \a cRows should equal \a CRows unless
-  * \a CRows is \a Dynamic, and the same for the number of columns.
-  *
-  * Example: \include MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner_int_int.out
-  *
-  * \sa class Block
-  */
+/// \returns an expression of a bottom-left corner of *this.
+///
+/// \tparam CRows number of rows in corner as specified at compile-time
+/// \tparam CCols number of columns in corner as specified at compile-time
+/// \param  cRows number of rows in corner as specified at run-time
+/// \param  cCols number of columns in corner as specified at run-time
+///
+/// This function is mainly useful for corners where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a cRows should equal \a CRows unless
+/// \a CRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_bottomLeftCorner_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_bottomLeftCorner_int_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block
+///
 template<int CRows, int CCols>
-inline Block<Derived, CRows, CCols> bottomLeftCorner(Index cRows, Index cCols)
+inline typename FixedBlockXpr<CRows,CCols>::Type bottomLeftCorner(Index cRows, Index cCols)
 {
-  return Block<Derived, CRows, CCols>(derived(), rows() - cRows, 0, cRows, cCols);
+  return typename FixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, 0, cRows, cCols);
 }
 
-/** This is the const version of bottomLeftCorner<int, int>(Index, Index).*/
+/// This is the const version of bottomLeftCorner<int, int>(Index, Index).
 template<int CRows, int CCols>
-inline const Block<const Derived, CRows, CCols> bottomLeftCorner(Index cRows, Index cCols) const
+inline const typename ConstFixedBlockXpr<CRows,CCols>::Type bottomLeftCorner(Index cRows, Index cCols) const
 {
-  return Block<const Derived, CRows, CCols>(derived(), rows() - cRows, 0, cRows, cCols);
+  return typename ConstFixedBlockXpr<CRows,CCols>::Type(derived(), rows() - cRows, 0, cRows, cCols);
 }
 
 
 
-/** \returns a block consisting of the top rows of *this.
-  *
-  * \param n the number of rows in the block
-  *
-  * Example: \include MatrixBase_topRows_int.cpp
-  * Output: \verbinclude MatrixBase_topRows_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the top rows of *this.
+///
+/// \param n the number of rows in the block
+///
+/// Example: \include MatrixBase_topRows_int.cpp
+/// Output: \verbinclude MatrixBase_topRows_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline RowsBlockXpr topRows(Index n)
 {
   return RowsBlockXpr(derived(), 0, 0, n, cols());
 }
 
-/** This is the const version of topRows(Index).*/
+/// This is the const version of topRows(Index).
+EIGEN_DEVICE_FUNC
 inline ConstRowsBlockXpr topRows(Index n) const
 {
   return ConstRowsBlockXpr(derived(), 0, 0, n, cols());
 }
 
-/** \returns a block consisting of the top rows of *this.
-  *
-  * \tparam N the number of rows in the block as specified at compile-time
-  * \param n the number of rows in the block as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_topRows.cpp
-  * Output: \verbinclude MatrixBase_template_int_topRows.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the top rows of *this.
+///
+/// \tparam N the number of rows in the block as specified at compile-time
+/// \param n the number of rows in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_topRows.cpp
+/// Output: \verbinclude MatrixBase_template_int_topRows.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename NRowsBlockXpr<N>::Type topRows(Index n = N)
 {
   return typename NRowsBlockXpr<N>::Type(derived(), 0, 0, n, cols());
 }
 
-/** This is the const version of topRows<int>().*/
+/// This is the const version of topRows<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstNRowsBlockXpr<N>::Type topRows(Index n = N) const
 {
   return typename ConstNRowsBlockXpr<N>::Type(derived(), 0, 0, n, cols());
@@ -416,47 +473,55 @@ inline typename ConstNRowsBlockXpr<N>::Type topRows(Index n = N) const
 
 
 
-/** \returns a block consisting of the bottom rows of *this.
-  *
-  * \param n the number of rows in the block
-  *
-  * Example: \include MatrixBase_bottomRows_int.cpp
-  * Output: \verbinclude MatrixBase_bottomRows_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the bottom rows of *this.
+///
+/// \param n the number of rows in the block
+///
+/// Example: \include MatrixBase_bottomRows_int.cpp
+/// Output: \verbinclude MatrixBase_bottomRows_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline RowsBlockXpr bottomRows(Index n)
 {
   return RowsBlockXpr(derived(), rows() - n, 0, n, cols());
 }
 
-/** This is the const version of bottomRows(Index).*/
+/// This is the const version of bottomRows(Index).
+EIGEN_DEVICE_FUNC
 inline ConstRowsBlockXpr bottomRows(Index n) const
 {
   return ConstRowsBlockXpr(derived(), rows() - n, 0, n, cols());
 }
 
-/** \returns a block consisting of the bottom rows of *this.
-  *
-  * \tparam N the number of rows in the block as specified at compile-time
-  * \param n the number of rows in the block as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_bottomRows.cpp
-  * Output: \verbinclude MatrixBase_template_int_bottomRows.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the bottom rows of *this.
+///
+/// \tparam N the number of rows in the block as specified at compile-time
+/// \param n the number of rows in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_bottomRows.cpp
+/// Output: \verbinclude MatrixBase_template_int_bottomRows.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename NRowsBlockXpr<N>::Type bottomRows(Index n = N)
 {
   return typename NRowsBlockXpr<N>::Type(derived(), rows() - n, 0, n, cols());
 }
 
-/** This is the const version of bottomRows<int>().*/
+/// This is the const version of bottomRows<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstNRowsBlockXpr<N>::Type bottomRows(Index n = N) const
 {
   return typename ConstNRowsBlockXpr<N>::Type(derived(), rows() - n, 0, n, cols());
@@ -464,49 +529,57 @@ inline typename ConstNRowsBlockXpr<N>::Type bottomRows(Index n = N) const
 
 
 
-/** \returns a block consisting of a range of rows of *this.
-  *
-  * \param startRow the index of the first row in the block
-  * \param n the number of rows in the block
-  *
-  * Example: \include DenseBase_middleRows_int.cpp
-  * Output: \verbinclude DenseBase_middleRows_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of a range of rows of *this.
+///
+/// \param startRow the index of the first row in the block
+/// \param n the number of rows in the block
+///
+/// Example: \include DenseBase_middleRows_int.cpp
+/// Output: \verbinclude DenseBase_middleRows_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline RowsBlockXpr middleRows(Index startRow, Index n)
 {
   return RowsBlockXpr(derived(), startRow, 0, n, cols());
 }
 
-/** This is the const version of middleRows(Index,Index).*/
+/// This is the const version of middleRows(Index,Index).
+EIGEN_DEVICE_FUNC
 inline ConstRowsBlockXpr middleRows(Index startRow, Index n) const
 {
   return ConstRowsBlockXpr(derived(), startRow, 0, n, cols());
 }
 
-/** \returns a block consisting of a range of rows of *this.
-  *
-  * \tparam N the number of rows in the block as specified at compile-time
-  * \param startRow the index of the first row in the block
-  * \param n the number of rows in the block as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include DenseBase_template_int_middleRows.cpp
-  * Output: \verbinclude DenseBase_template_int_middleRows.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of a range of rows of *this.
+///
+/// \tparam N the number of rows in the block as specified at compile-time
+/// \param startRow the index of the first row in the block
+/// \param n the number of rows in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include DenseBase_template_int_middleRows.cpp
+/// Output: \verbinclude DenseBase_template_int_middleRows.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename NRowsBlockXpr<N>::Type middleRows(Index startRow, Index n = N)
 {
   return typename NRowsBlockXpr<N>::Type(derived(), startRow, 0, n, cols());
 }
 
-/** This is the const version of middleRows<int>().*/
+/// This is the const version of middleRows<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstNRowsBlockXpr<N>::Type middleRows(Index startRow, Index n = N) const
 {
   return typename ConstNRowsBlockXpr<N>::Type(derived(), startRow, 0, n, cols());
@@ -514,47 +587,55 @@ inline typename ConstNRowsBlockXpr<N>::Type middleRows(Index startRow, Index n =
 
 
 
-/** \returns a block consisting of the left columns of *this.
-  *
-  * \param n the number of columns in the block
-  *
-  * Example: \include MatrixBase_leftCols_int.cpp
-  * Output: \verbinclude MatrixBase_leftCols_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the left columns of *this.
+///
+/// \param n the number of columns in the block
+///
+/// Example: \include MatrixBase_leftCols_int.cpp
+/// Output: \verbinclude MatrixBase_leftCols_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline ColsBlockXpr leftCols(Index n)
 {
   return ColsBlockXpr(derived(), 0, 0, rows(), n);
 }
 
-/** This is the const version of leftCols(Index).*/
+/// This is the const version of leftCols(Index).
+EIGEN_DEVICE_FUNC
 inline ConstColsBlockXpr leftCols(Index n) const
 {
   return ConstColsBlockXpr(derived(), 0, 0, rows(), n);
 }
 
-/** \returns a block consisting of the left columns of *this.
-  *
-  * \tparam N the number of columns in the block as specified at compile-time
-  * \param n the number of columns in the block as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_leftCols.cpp
-  * Output: \verbinclude MatrixBase_template_int_leftCols.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the left columns of *this.
+///
+/// \tparam N the number of columns in the block as specified at compile-time
+/// \param n the number of columns in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_leftCols.cpp
+/// Output: \verbinclude MatrixBase_template_int_leftCols.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename NColsBlockXpr<N>::Type leftCols(Index n = N)
 {
   return typename NColsBlockXpr<N>::Type(derived(), 0, 0, rows(), n);
 }
 
-/** This is the const version of leftCols<int>().*/
+/// This is the const version of leftCols<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstNColsBlockXpr<N>::Type leftCols(Index n = N) const
 {
   return typename ConstNColsBlockXpr<N>::Type(derived(), 0, 0, rows(), n);
@@ -562,47 +643,55 @@ inline typename ConstNColsBlockXpr<N>::Type leftCols(Index n = N) const
 
 
 
-/** \returns a block consisting of the right columns of *this.
-  *
-  * \param n the number of columns in the block
-  *
-  * Example: \include MatrixBase_rightCols_int.cpp
-  * Output: \verbinclude MatrixBase_rightCols_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the right columns of *this.
+///
+/// \param n the number of columns in the block
+///
+/// Example: \include MatrixBase_rightCols_int.cpp
+/// Output: \verbinclude MatrixBase_rightCols_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline ColsBlockXpr rightCols(Index n)
 {
   return ColsBlockXpr(derived(), 0, cols() - n, rows(), n);
 }
 
-/** This is the const version of rightCols(Index).*/
+/// This is the const version of rightCols(Index).
+EIGEN_DEVICE_FUNC
 inline ConstColsBlockXpr rightCols(Index n) const
 {
   return ConstColsBlockXpr(derived(), 0, cols() - n, rows(), n);
 }
 
-/** \returns a block consisting of the right columns of *this.
-  *
-  * \tparam N the number of columns in the block as specified at compile-time
-  * \param n the number of columns in the block as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_rightCols.cpp
-  * Output: \verbinclude MatrixBase_template_int_rightCols.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of the right columns of *this.
+///
+/// \tparam N the number of columns in the block as specified at compile-time
+/// \param n the number of columns in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_rightCols.cpp
+/// Output: \verbinclude MatrixBase_template_int_rightCols.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename NColsBlockXpr<N>::Type rightCols(Index n = N)
 {
   return typename NColsBlockXpr<N>::Type(derived(), 0, cols() - n, rows(), n);
 }
 
-/** This is the const version of rightCols<int>().*/
+/// This is the const version of rightCols<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstNColsBlockXpr<N>::Type rightCols(Index n = N) const
 {
   return typename ConstNColsBlockXpr<N>::Type(derived(), 0, cols() - n, rows(), n);
@@ -610,49 +699,57 @@ inline typename ConstNColsBlockXpr<N>::Type rightCols(Index n = N) const
 
 
 
-/** \returns a block consisting of a range of columns of *this.
-  *
-  * \param startCol the index of the first column in the block
-  * \param numCols the number of columns in the block
-  *
-  * Example: \include DenseBase_middleCols_int.cpp
-  * Output: \verbinclude DenseBase_middleCols_int.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of a range of columns of *this.
+///
+/// \param startCol the index of the first column in the block
+/// \param numCols the number of columns in the block
+///
+/// Example: \include DenseBase_middleCols_int.cpp
+/// Output: \verbinclude DenseBase_middleCols_int.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline ColsBlockXpr middleCols(Index startCol, Index numCols)
 {
   return ColsBlockXpr(derived(), 0, startCol, rows(), numCols);
 }
 
-/** This is the const version of middleCols(Index,Index).*/
+/// This is the const version of middleCols(Index,Index).
+EIGEN_DEVICE_FUNC
 inline ConstColsBlockXpr middleCols(Index startCol, Index numCols) const
 {
   return ConstColsBlockXpr(derived(), 0, startCol, rows(), numCols);
 }
 
-/** \returns a block consisting of a range of columns of *this.
-  *
-  * \tparam N the number of columns in the block as specified at compile-time
-  * \param startCol the index of the first column in the block
-  * \param n the number of columns in the block as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include DenseBase_template_int_middleCols.cpp
-  * Output: \verbinclude DenseBase_template_int_middleCols.out
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
+/// \returns a block consisting of a range of columns of *this.
+///
+/// \tparam N the number of columns in the block as specified at compile-time
+/// \param startCol the index of the first column in the block
+/// \param n the number of columns in the block as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include DenseBase_template_int_middleCols.cpp
+/// Output: \verbinclude DenseBase_template_int_middleCols.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename NColsBlockXpr<N>::Type middleCols(Index startCol, Index n = N)
 {
   return typename NColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), n);
 }
 
-/** This is the const version of middleCols<int>().*/
+/// This is the const version of middleCols<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstNColsBlockXpr<N>::Type middleCols(Index startCol, Index n = N) const
 {
   return typename ConstNColsBlockXpr<N>::Type(derived(), 0, startCol, rows(), n);
@@ -660,119 +757,134 @@ inline typename ConstNColsBlockXpr<N>::Type middleCols(Index startCol, Index n =
 
 
 
-/** \returns a fixed-size expression of a block in *this.
-  *
-  * The template parameters \a BlockRows and \a BlockCols are the number of
-  * rows and columns in the block.
-  *
-  * \param startRow the first row in the block
-  * \param startCol the first column in the block
-  *
-  * Example: \include MatrixBase_block_int_int.cpp
-  * Output: \verbinclude MatrixBase_block_int_int.out
-  *
-  * \note since block is a templated member, the keyword template has to be used
-  * if the matrix type is also a template parameter: \code m.template block<3,3>(1,1); \endcode
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-template<int BlockRows, int BlockCols>
-inline Block<Derived, BlockRows, BlockCols> block(Index startRow, Index startCol)
+/// \returns a fixed-size expression of a block in *this.
+///
+/// The template parameters \a NRows and \a NCols are the number of
+/// rows and columns in the block.
+///
+/// \param startRow the first row in the block
+/// \param startCol the first column in the block
+///
+/// Example: \include MatrixBase_block_int_int.cpp
+/// Output: \verbinclude MatrixBase_block_int_int.out
+///
+/// \note since block is a templated member, the keyword template has to be used
+/// if the matrix type is also a template parameter: \code m.template block<3,3>(1,1); \endcode
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int NRows, int NCols>
+EIGEN_DEVICE_FUNC
+inline typename FixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol)
 {
-  return Block<Derived, BlockRows, BlockCols>(derived(), startRow, startCol);
+  return typename FixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol);
 }
 
-/** This is the const version of block<>(Index, Index). */
-template<int BlockRows, int BlockCols>
-inline const Block<const Derived, BlockRows, BlockCols> block(Index startRow, Index startCol) const
+/// This is the const version of block<>(Index, Index). */
+template<int NRows, int NCols>
+EIGEN_DEVICE_FUNC
+inline const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol) const
 {
-  return Block<const Derived, BlockRows, BlockCols>(derived(), startRow, startCol);
+  return typename ConstFixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol);
 }
 
-/** \returns an expression of a block in *this.
-  *
-  * \tparam BlockRows number of rows in block as specified at compile-time
-  * \tparam BlockCols number of columns in block as specified at compile-time
-  * \param  startRow  the first row in the block
-  * \param  startCol  the first column in the block
-  * \param  blockRows number of rows in block as specified at run-time
-  * \param  blockCols number of columns in block as specified at run-time
-  *
-  * This function is mainly useful for blocks where the number of rows is specified at compile-time
-  * and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
-  * information should not contradict. In other words, \a blockRows should equal \a BlockRows unless
-  * \a BlockRows is \a Dynamic, and the same for the number of columns.
-  *
-  * Example: \include MatrixBase_template_int_int_block_int_int_int_int.cpp
-  * Output: \verbinclude MatrixBase_template_int_int_block_int_int_int_int.cpp
-  *
-  * \sa class Block, block(Index,Index,Index,Index)
-  */
-template<int BlockRows, int BlockCols>
-inline Block<Derived, BlockRows, BlockCols> block(Index startRow, Index startCol, 
+/// \returns an expression of a block in *this.
+///
+/// \tparam NRows number of rows in block as specified at compile-time
+/// \tparam NCols number of columns in block as specified at compile-time
+/// \param  startRow  the first row in the block
+/// \param  startCol  the first column in the block
+/// \param  blockRows number of rows in block as specified at run-time
+/// \param  blockCols number of columns in block as specified at run-time
+///
+/// This function is mainly useful for blocks where the number of rows is specified at compile-time
+/// and the number of columns is specified at run-time, or vice versa. The compile-time and run-time
+/// information should not contradict. In other words, \a blockRows should equal \a NRows unless
+/// \a NRows is \a Dynamic, and the same for the number of columns.
+///
+/// Example: \include MatrixBase_template_int_int_block_int_int_int_int.cpp
+/// Output: \verbinclude MatrixBase_template_int_int_block_int_int_int_int.cpp
+///
+EIGEN_DOC_BLOCK_ADDONS_NOT_INNER_PANEL
+///
+/// \sa class Block, block(Index,Index,Index,Index)
+///
+template<int NRows, int NCols>
+inline typename FixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol,
                                                   Index blockRows, Index blockCols)
 {
-  return Block<Derived, BlockRows, BlockCols>(derived(), startRow, startCol, blockRows, blockCols);
+  return typename FixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol, blockRows, blockCols);
 }
 
-/** This is the const version of block<>(Index, Index, Index, Index). */
-template<int BlockRows, int BlockCols>
-inline const Block<const Derived, BlockRows, BlockCols> block(Index startRow, Index startCol,
+/// This is the const version of block<>(Index, Index, Index, Index).
+template<int NRows, int NCols>
+inline const typename ConstFixedBlockXpr<NRows,NCols>::Type block(Index startRow, Index startCol,
                                                               Index blockRows, Index blockCols) const
 {
-  return Block<const Derived, BlockRows, BlockCols>(derived(), startRow, startCol, blockRows, blockCols);
+  return typename ConstFixedBlockXpr<NRows,NCols>::Type(derived(), startRow, startCol, blockRows, blockCols);
 }
 
-/** \returns an expression of the \a i-th column of *this. Note that the numbering starts at 0.
-  *
-  * Example: \include MatrixBase_col.cpp
-  * Output: \verbinclude MatrixBase_col.out
-  *
+/// \returns an expression of the \a i-th column of *this. Note that the numbering starts at 0.
+///
+/// Example: \include MatrixBase_col.cpp
+/// Output: \verbinclude MatrixBase_col.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(column-major)
+/**
   * \sa row(), class Block */
+EIGEN_DEVICE_FUNC
 inline ColXpr col(Index i)
 {
   return ColXpr(derived(), i);
 }
 
-/** This is the const version of col(). */
+/// This is the const version of col().
+EIGEN_DEVICE_FUNC
 inline ConstColXpr col(Index i) const
 {
   return ConstColXpr(derived(), i);
 }
 
-/** \returns an expression of the \a i-th row of *this. Note that the numbering starts at 0.
-  *
-  * Example: \include MatrixBase_row.cpp
-  * Output: \verbinclude MatrixBase_row.out
-  *
+/// \returns an expression of the \a i-th row of *this. Note that the numbering starts at 0.
+///
+/// Example: \include MatrixBase_row.cpp
+/// Output: \verbinclude MatrixBase_row.out
+///
+EIGEN_DOC_BLOCK_ADDONS_INNER_PANEL_IF(row-major)
+/**
   * \sa col(), class Block */
+EIGEN_DEVICE_FUNC
 inline RowXpr row(Index i)
 {
   return RowXpr(derived(), i);
 }
 
-/** This is the const version of row(). */
+/// This is the const version of row(). */
+EIGEN_DEVICE_FUNC
 inline ConstRowXpr row(Index i) const
 {
   return ConstRowXpr(derived(), i);
 }
 
-/** \returns a dynamic-size expression of a segment (i.e. a vector block) in *this.
-  *
-  * \only_for_vectors
-  *
-  * \param start the first coefficient in the segment
-  * \param n the number of coefficients in the segment
-  *
-  * Example: \include MatrixBase_segment_int_int.cpp
-  * Output: \verbinclude MatrixBase_segment_int_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, segment(Index)
-  */
+/// \returns a dynamic-size expression of a segment (i.e. a vector block) in *this.
+///
+/// \only_for_vectors
+///
+/// \param start the first coefficient in the segment
+/// \param n the number of coefficients in the segment
+///
+/// Example: \include MatrixBase_segment_int_int.cpp
+/// Output: \verbinclude MatrixBase_segment_int_int.out
+///
+/// \note Even though the returned expression has dynamic size, in the case
+/// when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+/// which means that evaluating it does not cause a dynamic memory allocation.
+///
+/// \sa class Block, segment(Index)
+///
+EIGEN_DEVICE_FUNC
 inline SegmentReturnType segment(Index start, Index n)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
@@ -780,154 +892,165 @@ inline SegmentReturnType segment(Index start, Index n)
 }
 
 
-/** This is the const version of segment(Index,Index).*/
+/// This is the const version of segment(Index,Index).
+EIGEN_DEVICE_FUNC
 inline ConstSegmentReturnType segment(Index start, Index n) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return ConstSegmentReturnType(derived(), start, n);
 }
 
-/** \returns a dynamic-size expression of the first coefficients of *this.
-  *
-  * \only_for_vectors
-  *
-  * \param n the number of coefficients in the segment
-  *
-  * Example: \include MatrixBase_start_int.cpp
-  * Output: \verbinclude MatrixBase_start_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, block(Index,Index)
-  */
+/// \returns a dynamic-size expression of the first coefficients of *this.
+///
+/// \only_for_vectors
+///
+/// \param n the number of coefficients in the segment
+///
+/// Example: \include MatrixBase_start_int.cpp
+/// Output: \verbinclude MatrixBase_start_int.out
+///
+/// \note Even though the returned expression has dynamic size, in the case
+/// when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+/// which means that evaluating it does not cause a dynamic memory allocation.
+///
+/// \sa class Block, block(Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline SegmentReturnType head(Index n)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return SegmentReturnType(derived(), 0, n);
 }
 
-/** This is the const version of head(Index).*/
+/// This is the const version of head(Index).
+EIGEN_DEVICE_FUNC
 inline ConstSegmentReturnType head(Index n) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return ConstSegmentReturnType(derived(), 0, n);
 }
 
-/** \returns a dynamic-size expression of the last coefficients of *this.
-  *
-  * \only_for_vectors
-  *
-  * \param n the number of coefficients in the segment
-  *
-  * Example: \include MatrixBase_end_int.cpp
-  * Output: \verbinclude MatrixBase_end_int.out
-  *
-  * \note Even though the returned expression has dynamic size, in the case
-  * when it is applied to a fixed-size vector, it inherits a fixed maximal size,
-  * which means that evaluating it does not cause a dynamic memory allocation.
-  *
-  * \sa class Block, block(Index,Index)
-  */
+/// \returns a dynamic-size expression of the last coefficients of *this.
+///
+/// \only_for_vectors
+///
+/// \param n the number of coefficients in the segment
+///
+/// Example: \include MatrixBase_end_int.cpp
+/// Output: \verbinclude MatrixBase_end_int.out
+///
+/// \note Even though the returned expression has dynamic size, in the case
+/// when it is applied to a fixed-size vector, it inherits a fixed maximal size,
+/// which means that evaluating it does not cause a dynamic memory allocation.
+///
+/// \sa class Block, block(Index,Index)
+///
+EIGEN_DEVICE_FUNC
 inline SegmentReturnType tail(Index n)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return SegmentReturnType(derived(), this->size() - n, n);
 }
 
-/** This is the const version of tail(Index).*/
+/// This is the const version of tail(Index).
+EIGEN_DEVICE_FUNC
 inline ConstSegmentReturnType tail(Index n) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return ConstSegmentReturnType(derived(), this->size() - n, n);
 }
 
-/** \returns a fixed-size expression of a segment (i.e. a vector block) in \c *this
-  *
-  * \only_for_vectors
-  *
-  * \tparam N the number of coefficients in the segment as specified at compile-time
-  * \param start the index of the first element in the segment
-  * \param n the number of coefficients in the segment as specified at compile-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_segment.cpp
-  * Output: \verbinclude MatrixBase_template_int_segment.out
-  *
-  * \sa class Block
-  */
+/// \returns a fixed-size expression of a segment (i.e. a vector block) in \c *this
+///
+/// \only_for_vectors
+///
+/// \tparam N the number of coefficients in the segment as specified at compile-time
+/// \param start the index of the first element in the segment
+/// \param n the number of coefficients in the segment as specified at compile-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_segment.cpp
+/// Output: \verbinclude MatrixBase_template_int_segment.out
+///
+/// \sa class Block
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename FixedSegmentReturnType<N>::Type segment(Index start, Index n = N)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename FixedSegmentReturnType<N>::Type(derived(), start, n);
 }
 
-/** This is the const version of segment<int>(Index).*/
+/// This is the const version of segment<int>(Index).
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstFixedSegmentReturnType<N>::Type segment(Index start, Index n = N) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename ConstFixedSegmentReturnType<N>::Type(derived(), start, n);
 }
 
-/** \returns a fixed-size expression of the first coefficients of *this.
-  *
-  * \only_for_vectors
-  *
-  * \tparam N the number of coefficients in the segment as specified at compile-time
-  * \param  n the number of coefficients in the segment as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_start.cpp
-  * Output: \verbinclude MatrixBase_template_int_start.out
-  *
-  * \sa class Block
-  */
+/// \returns a fixed-size expression of the first coefficients of *this.
+///
+/// \only_for_vectors
+///
+/// \tparam N the number of coefficients in the segment as specified at compile-time
+/// \param  n the number of coefficients in the segment as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_start.cpp
+/// Output: \verbinclude MatrixBase_template_int_start.out
+///
+/// \sa class Block
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename FixedSegmentReturnType<N>::Type head(Index n = N)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename FixedSegmentReturnType<N>::Type(derived(), 0, n);
 }
 
-/** This is the const version of head<int>().*/
+/// This is the const version of head<int>().
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstFixedSegmentReturnType<N>::Type head(Index n = N) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename ConstFixedSegmentReturnType<N>::Type(derived(), 0, n);
 }
 
-/** \returns a fixed-size expression of the last coefficients of *this.
-  *
-  * \only_for_vectors
-  *
-  * \tparam N the number of coefficients in the segment as specified at compile-time
-  * \param  n the number of coefficients in the segment as specified at run-time
-  *
-  * The compile-time and run-time information should not contradict. In other words,
-  * \a n should equal \a N unless \a N is \a Dynamic.
-  *
-  * Example: \include MatrixBase_template_int_end.cpp
-  * Output: \verbinclude MatrixBase_template_int_end.out
-  *
-  * \sa class Block
-  */
+/// \returns a fixed-size expression of the last coefficients of *this.
+///
+/// \only_for_vectors
+///
+/// \tparam N the number of coefficients in the segment as specified at compile-time
+/// \param  n the number of coefficients in the segment as specified at run-time
+///
+/// The compile-time and run-time information should not contradict. In other words,
+/// \a n should equal \a N unless \a N is \a Dynamic.
+///
+/// Example: \include MatrixBase_template_int_end.cpp
+/// Output: \verbinclude MatrixBase_template_int_end.out
+///
+/// \sa class Block
+///
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename FixedSegmentReturnType<N>::Type tail(Index n = N)
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
   return typename FixedSegmentReturnType<N>::Type(derived(), size() - n);
 }
 
-/** This is the const version of tail<int>.*/
+/// This is the const version of tail<int>.
 template<int N>
+EIGEN_DEVICE_FUNC
 inline typename ConstFixedSegmentReturnType<N>::Type tail(Index n = N) const
 {
   EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
diff --git a/eigenlib/Eigen/src/plugins/CMakeLists.txt b/eigenlib/Eigen/src/plugins/CMakeLists.txt
deleted file mode 100644
index 1a1d3ffb..00000000
--- a/eigenlib/Eigen/src/plugins/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_plugins_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_plugins_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/Eigen/src/plugins COMPONENT Devel
-  )
diff --git a/eigenlib/Eigen/src/plugins/CommonCwiseBinaryOps.h b/eigenlib/Eigen/src/plugins/CommonCwiseBinaryOps.h
index 688d2244..8b6730ed 100644
--- a/eigenlib/Eigen/src/plugins/CommonCwiseBinaryOps.h
+++ b/eigenlib/Eigen/src/plugins/CommonCwiseBinaryOps.h
@@ -1,7 +1,7 @@
 // This file is part of Eigen, a lightweight C++ template library
 // for linear algebra.
 //
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008-2016 Gael Guennebaud <gael.guennebaud@inria.fr>
 // Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
 //
 // This Source Code Form is subject to the terms of the Mozilla
@@ -16,7 +16,7 @@
   *
   * \sa class CwiseBinaryOp, operator-=()
   */
-EIGEN_MAKE_CWISE_BINARY_OP(operator-,internal::scalar_difference_op)
+EIGEN_MAKE_CWISE_BINARY_OP(operator-,difference)
 
 /** \returns an expression of the sum of \c *this and \a other
   *
@@ -24,7 +24,7 @@ EIGEN_MAKE_CWISE_BINARY_OP(operator-,internal::scalar_difference_op)
   *
   * \sa class CwiseBinaryOp, operator+=()
   */
-EIGEN_MAKE_CWISE_BINARY_OP(operator+,internal::scalar_sum_op)
+EIGEN_MAKE_CWISE_BINARY_OP(operator+,sum)
 
 /** \returns an expression of a custom coefficient-wise operator \a func of *this and \a other
   *
@@ -38,9 +38,78 @@ EIGEN_MAKE_CWISE_BINARY_OP(operator+,internal::scalar_sum_op)
   * \sa class CwiseBinaryOp, operator+(), operator-(), cwiseProduct()
   */
 template<typename CustomBinaryOp, typename OtherDerived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE const CwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>
 binaryExpr(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other, const CustomBinaryOp& func = CustomBinaryOp()) const
 {
   return CwiseBinaryOp<CustomBinaryOp, const Derived, const OtherDerived>(derived(), other.derived(), func);
 }
 
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP(operator*,product)
+#else
+/** \returns an expression of \c *this scaled by the scalar factor \a scalar
+  *
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+  */
+template<typename T>
+const CwiseBinaryOp<internal::scalar_product_op<Scalar,T>,Derived,Constant<T> > operator*(const T& scalar) const;
+/** \returns an expression of \a expr scaled by the scalar factor \a scalar
+  *
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+  */
+template<typename T> friend
+const CwiseBinaryOp<internal::scalar_product_op<T,Scalar>,Constant<T>,Derived> operator*(const T& scalar, const StorageBaseType& expr);
+#endif
+
+
+
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_MAKE_SCALAR_BINARY_OP_ONTHERIGHT(operator/,quotient)
+#else
+/** \returns an expression of \c *this divided by the scalar value \a scalar
+  *
+  * \tparam T is the scalar type of \a scalar. It must be compatible with the scalar type of the given expression.
+  */
+template<typename T>
+const CwiseBinaryOp<internal::scalar_quotient_op<Scalar,T>,Derived,Constant<T> > operator/(const T& scalar) const;
+#endif
+
+/** \returns an expression of the coefficient-wise boolean \b and operator of \c *this and \a other
+  *
+  * \warning this operator is for expression of bool only.
+  *
+  * Example: \include Cwise_boolean_and.cpp
+  * Output: \verbinclude Cwise_boolean_and.out
+  *
+  * \sa operator||(), select()
+  */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+inline const CwiseBinaryOp<internal::scalar_boolean_and_op, const Derived, const OtherDerived>
+operator&&(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
+                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
+  return CwiseBinaryOp<internal::scalar_boolean_and_op, const Derived, const OtherDerived>(derived(),other.derived());
+}
+
+/** \returns an expression of the coefficient-wise boolean \b or operator of \c *this and \a other
+  *
+  * \warning this operator is for expression of bool only.
+  *
+  * Example: \include Cwise_boolean_or.cpp
+  * Output: \verbinclude Cwise_boolean_or.out
+  *
+  * \sa operator&&(), select()
+  */
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
+inline const CwiseBinaryOp<internal::scalar_boolean_or_op, const Derived, const OtherDerived>
+operator||(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
+{
+  EIGEN_STATIC_ASSERT((internal::is_same<bool,Scalar>::value && internal::is_same<bool,typename OtherDerived::Scalar>::value),
+                      THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_OF_BOOL);
+  return CwiseBinaryOp<internal::scalar_boolean_or_op, const Derived, const OtherDerived>(derived(),other.derived());
+}
diff --git a/eigenlib/Eigen/src/plugins/CommonCwiseUnaryOps.h b/eigenlib/Eigen/src/plugins/CommonCwiseUnaryOps.h
index 08e931aa..89f4faaa 100644
--- a/eigenlib/Eigen/src/plugins/CommonCwiseUnaryOps.h
+++ b/eigenlib/Eigen/src/plugins/CommonCwiseUnaryOps.h
@@ -12,10 +12,6 @@
 
 #ifndef EIGEN_PARSED_BY_DOXYGEN
 
-/** \internal Represents a scalar multiple of an expression */
-typedef CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const Derived> ScalarMultipleReturnType;
-/** \internal Represents a quotient of an expression by a scalar*/
-typedef CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>, const Derived> ScalarQuotient1ReturnType;
 /** \internal the return type of conjugate() */
 typedef typename internal::conditional<NumTraits<Scalar>::IsComplex,
                     const CwiseUnaryOp<internal::scalar_conjugate_op<Scalar>, const Derived>,
@@ -36,137 +32,132 @@ typedef CwiseUnaryOp<internal::scalar_imag_op<Scalar>, const Derived> ImagReturn
 /** \internal the return type of imag() */
 typedef CwiseUnaryView<internal::scalar_imag_ref_op<Scalar>, Derived> NonConstImagReturnType;
 
+typedef CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const Derived> NegativeReturnType;
+
 #endif // not EIGEN_PARSED_BY_DOXYGEN
 
-/** \returns an expression of the opposite of \c *this
-  */
-inline const CwiseUnaryOp<internal::scalar_opposite_op<typename internal::traits<Derived>::Scalar>, const Derived>
-operator-() const { return derived(); }
+/// \returns an expression of the opposite of \c *this
+///
+EIGEN_DOC_UNARY_ADDONS(operator-,opposite)
+///
+EIGEN_DEVICE_FUNC
+inline const NegativeReturnType
+operator-() const { return NegativeReturnType(derived()); }
 
 
-/** \returns an expression of \c *this scaled by the scalar factor \a scalar */
-inline const ScalarMultipleReturnType
-operator*(const Scalar& scalar) const
-{
-  return CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const Derived>
-    (derived(), internal::scalar_multiple_op<Scalar>(scalar));
-}
+template<class NewType> struct CastXpr { typedef typename internal::cast_return_type<Derived,const CwiseUnaryOp<internal::scalar_cast_op<Scalar, NewType>, const Derived> >::type Type; };
 
-#ifdef EIGEN_PARSED_BY_DOXYGEN
-const ScalarMultipleReturnType operator*(const RealScalar& scalar) const;
-#endif
-
-/** \returns an expression of \c *this divided by the scalar value \a scalar */
-inline const CwiseUnaryOp<internal::scalar_quotient1_op<typename internal::traits<Derived>::Scalar>, const Derived>
-operator/(const Scalar& scalar) const
-{
-  return CwiseUnaryOp<internal::scalar_quotient1_op<Scalar>, const Derived>
-    (derived(), internal::scalar_quotient1_op<Scalar>(scalar));
-}
-
-/** Overloaded for efficient real matrix times complex scalar value */
-inline const CwiseUnaryOp<internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >, const Derived>
-operator*(const std::complex<Scalar>& scalar) const
-{
-  return CwiseUnaryOp<internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >, const Derived>
-    (*static_cast<const Derived*>(this), internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >(scalar));
-}
-
-inline friend const ScalarMultipleReturnType
-operator*(const Scalar& scalar, const StorageBaseType& matrix)
-{ return matrix*scalar; }
-
-inline friend const CwiseUnaryOp<internal::scalar_multiple2_op<Scalar,std::complex<Scalar> >, const Derived>
-operator*(const std::complex<Scalar>& scalar, const StorageBaseType& matrix)
-{ return matrix*scalar; }
-
-/** \returns an expression of *this with the \a Scalar type casted to
-  * \a NewScalar.
-  *
-  * The template parameter \a NewScalar is the type we are casting the scalars to.
-  *
-  * \sa class CwiseUnaryOp
-  */
+/// \returns an expression of \c *this with the \a Scalar type casted to
+/// \a NewScalar.
+///
+/// The template parameter \a NewScalar is the type we are casting the scalars to.
+///
+EIGEN_DOC_UNARY_ADDONS(cast,conversion function)
+///
+/// \sa class CwiseUnaryOp
+///
 template<typename NewType>
-typename internal::cast_return_type<Derived,const CwiseUnaryOp<internal::scalar_cast_op<typename internal::traits<Derived>::Scalar, NewType>, const Derived> >::type
+EIGEN_DEVICE_FUNC
+typename CastXpr<NewType>::Type
 cast() const
 {
-  return derived();
+  return typename CastXpr<NewType>::Type(derived());
 }
 
-/** \returns an expression of the complex conjugate of \c *this.
-  *
-  * \sa adjoint() */
+/// \returns an expression of the complex conjugate of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(conjugate,complex conjugate)
+///
+/// \sa <a href="group__CoeffwiseMathFunctions.html#cwisetable_conj">Math functions</a>, MatrixBase::adjoint()
+EIGEN_DEVICE_FUNC
 inline ConjugateReturnType
 conjugate() const
 {
   return ConjugateReturnType(derived());
 }
 
-/** \returns a read-only expression of the real part of \c *this.
-  *
-  * \sa imag() */
+/// \returns a read-only expression of the real part of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(real,real part function)
+///
+/// \sa imag()
+EIGEN_DEVICE_FUNC
 inline RealReturnType
-real() const { return derived(); }
+real() const { return RealReturnType(derived()); }
 
-/** \returns an read-only expression of the imaginary part of \c *this.
-  *
-  * \sa real() */
+/// \returns an read-only expression of the imaginary part of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(imag,imaginary part function)
+///
+/// \sa real()
+EIGEN_DEVICE_FUNC
 inline const ImagReturnType
-imag() const { return derived(); }
+imag() const { return ImagReturnType(derived()); }
 
-/** \brief Apply a unary operator coefficient-wise
-  * \param[in]  func  Functor implementing the unary operator
-  * \tparam  CustomUnaryOp Type of \a func  
-  * \returns An expression of a custom coefficient-wise unary operator \a func of *this
-  *
-  * The function \c ptr_fun() from the C++ standard library can be used to make functors out of normal functions.
-  *
-  * Example:
-  * \include class_CwiseUnaryOp_ptrfun.cpp
-  * Output: \verbinclude class_CwiseUnaryOp_ptrfun.out
-  *
-  * Genuine functors allow for more possibilities, for instance it may contain a state.
-  *
-  * Example:
-  * \include class_CwiseUnaryOp.cpp
-  * Output: \verbinclude class_CwiseUnaryOp.out
-  *
-  * \sa class CwiseUnaryOp, class CwiseBinaryOp
-  */
+/// \brief Apply a unary operator coefficient-wise
+/// \param[in]  func  Functor implementing the unary operator
+/// \tparam  CustomUnaryOp Type of \a func
+/// \returns An expression of a custom coefficient-wise unary operator \a func of *this
+///
+/// The function \c ptr_fun() from the C++ standard library can be used to make functors out of normal functions.
+///
+/// Example:
+/// \include class_CwiseUnaryOp_ptrfun.cpp
+/// Output: \verbinclude class_CwiseUnaryOp_ptrfun.out
+///
+/// Genuine functors allow for more possibilities, for instance it may contain a state.
+///
+/// Example:
+/// \include class_CwiseUnaryOp.cpp
+/// Output: \verbinclude class_CwiseUnaryOp.out
+///
+EIGEN_DOC_UNARY_ADDONS(unaryExpr,unary function)
+///
+/// \sa unaryViewExpr, binaryExpr, class CwiseUnaryOp
+///
 template<typename CustomUnaryOp>
+EIGEN_DEVICE_FUNC
 inline const CwiseUnaryOp<CustomUnaryOp, const Derived>
 unaryExpr(const CustomUnaryOp& func = CustomUnaryOp()) const
 {
   return CwiseUnaryOp<CustomUnaryOp, const Derived>(derived(), func);
 }
 
-/** \returns an expression of a custom coefficient-wise unary operator \a func of *this
-  *
-  * The template parameter \a CustomUnaryOp is the type of the functor
-  * of the custom unary operator.
-  *
-  * Example:
-  * \include class_CwiseUnaryOp.cpp
-  * Output: \verbinclude class_CwiseUnaryOp.out
-  *
-  * \sa class CwiseUnaryOp, class CwiseBinaryOp
-  */
+/// \returns an expression of a custom coefficient-wise unary operator \a func of *this
+///
+/// The template parameter \a CustomUnaryOp is the type of the functor
+/// of the custom unary operator.
+///
+/// Example:
+/// \include class_CwiseUnaryOp.cpp
+/// Output: \verbinclude class_CwiseUnaryOp.out
+///
+EIGEN_DOC_UNARY_ADDONS(unaryViewExpr,unary function)
+///
+/// \sa unaryExpr, binaryExpr class CwiseUnaryOp
+///
 template<typename CustomViewOp>
+EIGEN_DEVICE_FUNC
 inline const CwiseUnaryView<CustomViewOp, const Derived>
 unaryViewExpr(const CustomViewOp& func = CustomViewOp()) const
 {
   return CwiseUnaryView<CustomViewOp, const Derived>(derived(), func);
 }
 
-/** \returns a non const expression of the real part of \c *this.
-  *
-  * \sa imag() */
+/// \returns a non const expression of the real part of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(real,real part function)
+///
+/// \sa imag()
+EIGEN_DEVICE_FUNC
 inline NonConstRealReturnType
-real() { return derived(); }
+real() { return NonConstRealReturnType(derived()); }
 
-/** \returns a non const expression of the imaginary part of \c *this.
-  *
-  * \sa real() */
+/// \returns a non const expression of the imaginary part of \c *this.
+///
+EIGEN_DOC_UNARY_ADDONS(imag,imaginary part function)
+///
+/// \sa real()
+EIGEN_DEVICE_FUNC
 inline NonConstImagReturnType
-imag() { return derived(); }
+imag() { return NonConstImagReturnType(derived()); }
diff --git a/eigenlib/Eigen/src/plugins/MatrixCwiseBinaryOps.h b/eigenlib/Eigen/src/plugins/MatrixCwiseBinaryOps.h
index c4a042b7..f1084abe 100644
--- a/eigenlib/Eigen/src/plugins/MatrixCwiseBinaryOps.h
+++ b/eigenlib/Eigen/src/plugins/MatrixCwiseBinaryOps.h
@@ -18,10 +18,11 @@
   * \sa class CwiseBinaryOp, cwiseAbs2
   */
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE const EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)
 cwiseProduct(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
-  return EIGEN_CWISE_PRODUCT_RETURN_TYPE(Derived,OtherDerived)(derived(), other.derived());
+  return EIGEN_CWISE_BINARY_RETURN_TYPE(Derived,OtherDerived,product)(derived(), other.derived());
 }
 
 /** \returns an expression of the coefficient-wise == operator of *this and \a other
@@ -37,6 +38,7 @@ cwiseProduct(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   * \sa cwiseNotEqual(), isApprox(), isMuchSmallerThan()
   */
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
 inline const CwiseBinaryOp<std::equal_to<Scalar>, const Derived, const OtherDerived>
 cwiseEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
@@ -56,6 +58,7 @@ cwiseEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   * \sa cwiseEqual(), isApprox(), isMuchSmallerThan()
   */
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
 inline const CwiseBinaryOp<std::not_equal_to<Scalar>, const Derived, const OtherDerived>
 cwiseNotEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
@@ -70,17 +73,19 @@ cwiseNotEqual(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
   * \sa class CwiseBinaryOp, max()
   */
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived, const OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const OtherDerived>
 cwiseMin(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
-  return CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+  return CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
 }
 
 /** \returns an expression of the coefficient-wise min of *this and scalar \a other
   *
   * \sa class CwiseBinaryOp, min()
   */
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar>, const Derived, const ConstantReturnType>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_min_op<Scalar,Scalar>, const Derived, const ConstantReturnType>
 cwiseMin(const Scalar &other) const
 {
   return cwiseMin(Derived::Constant(rows(), cols(), other));
@@ -94,17 +99,19 @@ cwiseMin(const Scalar &other) const
   * \sa class CwiseBinaryOp, min()
   */
 template<typename OtherDerived>
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived, const OtherDerived>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const OtherDerived>
 cwiseMax(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
-  return CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
+  return CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
 }
 
 /** \returns an expression of the coefficient-wise max of *this and scalar \a other
   *
   * \sa class CwiseBinaryOp, min()
   */
-EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar>, const Derived, const ConstantReturnType>
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_max_op<Scalar,Scalar>, const Derived, const ConstantReturnType>
 cwiseMax(const Scalar &other) const
 {
   return cwiseMax(Derived::Constant(rows(), cols(), other));
@@ -119,13 +126,14 @@ cwiseMax(const Scalar &other) const
   * \sa class CwiseBinaryOp, cwiseProduct(), cwiseInverse()
   */
 template<typename OtherDerived>
+EIGEN_DEVICE_FUNC
 EIGEN_STRONG_INLINE const CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>
 cwiseQuotient(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const
 {
   return CwiseBinaryOp<internal::scalar_quotient_op<Scalar>, const Derived, const OtherDerived>(derived(), other.derived());
 }
 
-typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,internal::cmp_EQ>, const Derived, const ConstantReturnType> CwiseScalarEqualReturnType;
+typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,Scalar,internal::cmp_EQ>, const Derived, const ConstantReturnType> CwiseScalarEqualReturnType;
 
 /** \returns an expression of the coefficient-wise == operator of \c *this and a scalar \a s
   *
@@ -136,8 +144,9 @@ typedef CwiseBinaryOp<internal::scalar_cmp_op<Scalar,internal::cmp_EQ>, const De
   *
   * \sa cwiseEqual(const MatrixBase<OtherDerived> &) const
   */
+EIGEN_DEVICE_FUNC
 inline const CwiseScalarEqualReturnType
 cwiseEqual(const Scalar& s) const
 {
-  return CwiseScalarEqualReturnType(derived(), Derived::Constant(rows(), cols(), s), internal::scalar_cmp_op<Scalar,internal::cmp_EQ>());
+  return CwiseScalarEqualReturnType(derived(), Derived::Constant(rows(), cols(), s), internal::scalar_cmp_op<Scalar,Scalar,internal::cmp_EQ>());
 }
diff --git a/eigenlib/Eigen/src/plugins/MatrixCwiseUnaryOps.h b/eigenlib/Eigen/src/plugins/MatrixCwiseUnaryOps.h
index 8de10935..b1be3d56 100644
--- a/eigenlib/Eigen/src/plugins/MatrixCwiseUnaryOps.h
+++ b/eigenlib/Eigen/src/plugins/MatrixCwiseUnaryOps.h
@@ -8,45 +8,78 @@
 // Public License v. 2.0. If a copy of the MPL was not distributed
 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
-// This file is a base class plugin containing matrix specifics coefficient wise functions.
+// This file is included into the body of the base classes supporting matrix specific coefficient-wise functions.
+// This include MatrixBase and SparseMatrixBase.
 
-/** \returns an expression of the coefficient-wise absolute value of \c *this
-  *
-  * Example: \include MatrixBase_cwiseAbs.cpp
-  * Output: \verbinclude MatrixBase_cwiseAbs.out
-  *
-  * \sa cwiseAbs2()
-  */
-EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived>
-cwiseAbs() const { return derived(); }
 
-/** \returns an expression of the coefficient-wise squared absolute value of \c *this
-  *
-  * Example: \include MatrixBase_cwiseAbs2.cpp
-  * Output: \verbinclude MatrixBase_cwiseAbs2.out
-  *
-  * \sa cwiseAbs()
-  */
-EIGEN_STRONG_INLINE const CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived>
-cwiseAbs2() const { return derived(); }
+typedef CwiseUnaryOp<internal::scalar_abs_op<Scalar>, const Derived> CwiseAbsReturnType;
+typedef CwiseUnaryOp<internal::scalar_abs2_op<Scalar>, const Derived> CwiseAbs2ReturnType;
+typedef CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived> CwiseSqrtReturnType;
+typedef CwiseUnaryOp<internal::scalar_sign_op<Scalar>, const Derived> CwiseSignReturnType;
+typedef CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived> CwiseInverseReturnType;
 
-/** \returns an expression of the coefficient-wise square root of *this.
-  *
-  * Example: \include MatrixBase_cwiseSqrt.cpp
-  * Output: \verbinclude MatrixBase_cwiseSqrt.out
-  *
-  * \sa cwisePow(), cwiseSquare()
-  */
-inline const CwiseUnaryOp<internal::scalar_sqrt_op<Scalar>, const Derived>
-cwiseSqrt() const { return derived(); }
+/// \returns an expression of the coefficient-wise absolute value of \c *this
+///
+/// Example: \include MatrixBase_cwiseAbs.cpp
+/// Output: \verbinclude MatrixBase_cwiseAbs.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseAbs,absolute value)
+///
+/// \sa cwiseAbs2()
+///
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseAbsReturnType
+cwiseAbs() const { return CwiseAbsReturnType(derived()); }
+
+/// \returns an expression of the coefficient-wise squared absolute value of \c *this
+///
+/// Example: \include MatrixBase_cwiseAbs2.cpp
+/// Output: \verbinclude MatrixBase_cwiseAbs2.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseAbs2,squared absolute value)
+///
+/// \sa cwiseAbs()
+///
+EIGEN_DEVICE_FUNC
+EIGEN_STRONG_INLINE const CwiseAbs2ReturnType
+cwiseAbs2() const { return CwiseAbs2ReturnType(derived()); }
+
+/// \returns an expression of the coefficient-wise square root of *this.
+///
+/// Example: \include MatrixBase_cwiseSqrt.cpp
+/// Output: \verbinclude MatrixBase_cwiseSqrt.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseSqrt,square-root)
+///
+/// \sa cwisePow(), cwiseSquare()
+///
+EIGEN_DEVICE_FUNC
+inline const CwiseSqrtReturnType
+cwiseSqrt() const { return CwiseSqrtReturnType(derived()); }
+
+/// \returns an expression of the coefficient-wise signum of *this.
+///
+/// Example: \include MatrixBase_cwiseSign.cpp
+/// Output: \verbinclude MatrixBase_cwiseSign.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseSign,sign function)
+///
+EIGEN_DEVICE_FUNC
+inline const CwiseSignReturnType
+cwiseSign() const { return CwiseSignReturnType(derived()); }
+
+
+/// \returns an expression of the coefficient-wise inverse of *this.
+///
+/// Example: \include MatrixBase_cwiseInverse.cpp
+/// Output: \verbinclude MatrixBase_cwiseInverse.out
+///
+EIGEN_DOC_UNARY_ADDONS(cwiseInverse,inverse)
+///
+/// \sa cwiseProduct()
+///
+EIGEN_DEVICE_FUNC
+inline const CwiseInverseReturnType
+cwiseInverse() const { return CwiseInverseReturnType(derived()); }
 
-/** \returns an expression of the coefficient-wise inverse of *this.
-  *
-  * Example: \include MatrixBase_cwiseInverse.cpp
-  * Output: \verbinclude MatrixBase_cwiseInverse.out
-  *
-  * \sa cwiseProduct()
-  */
-inline const CwiseUnaryOp<internal::scalar_inverse_op<Scalar>, const Derived>
-cwiseInverse() const { return derived(); }
 
diff --git a/eigenlib/howto.txt b/eigenlib/howto.txt
index 8e354fd4..5f893409 100644
--- a/eigenlib/howto.txt
+++ b/eigenlib/howto.txt
@@ -2,12 +2,12 @@ Current Eigen Version 3.1.2 (05.11.2012)
 Current Eigen Version 3.2.1 (26.02.2014) updated on 14/05/2014
 Current Eigen Version 3.2.2 (04.08.2014) updated on 21/10/2014
 Current Eigen Version 3.2.5 (16.06.2015) updated on 24/09/2015
+Current Eigen Version 3.3.2 (18.01.2017) updated on 24/01/2017
 
 To update the lib:
 - download Eigen
 - unzip it somewhere
-- delete (in the filesystem) the content of the folder eigenlib/Eigen and eigenlib/unsupported
-- copy the two folders 'Eigen' and 'unsupported' here 
-- check the svn status, svn-add the new files and svn-remove the missing ones.
+- delete (in the filesystem) the content of the folder eigenlib/Eigen - copy the folders 'Eigen' there 
+- check the git status.
 - update this file
 - commit everything
diff --git a/eigenlib/unsupported/CMakeLists.txt b/eigenlib/unsupported/CMakeLists.txt
deleted file mode 100644
index 4fef40a8..00000000
--- a/eigenlib/unsupported/CMakeLists.txt
+++ /dev/null
@@ -1,7 +0,0 @@
-add_subdirectory(Eigen)
-add_subdirectory(doc EXCLUDE_FROM_ALL)
-if(EIGEN_LEAVE_TEST_IN_ALL_TARGET)
-  add_subdirectory(test) # can't do EXCLUDE_FROM_ALL here, breaks CTest
-else()
-  add_subdirectory(test EXCLUDE_FROM_ALL)
-endif()
diff --git a/eigenlib/unsupported/Eigen/AdolcForward b/eigenlib/unsupported/Eigen/AdolcForward
deleted file mode 100644
index 2627decd..00000000
--- a/eigenlib/unsupported/Eigen/AdolcForward
+++ /dev/null
@@ -1,156 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ADLOC_FORWARD
-#define EIGEN_ADLOC_FORWARD
-
-//--------------------------------------------------------------------------------
-//
-// This file provides support for adolc's adouble type in forward mode.
-// ADOL-C is a C++ automatic differentiation library,
-// see https://projects.coin-or.org/ADOL-C for more information.
-//
-// Note that the maximal number of directions is controlled by
-// the preprocessor token NUMBER_DIRECTIONS. The default is 2.
-//
-//--------------------------------------------------------------------------------
-
-#define ADOLC_TAPELESS
-#ifndef NUMBER_DIRECTIONS
-# define NUMBER_DIRECTIONS 2
-#endif
-#include <adolc/adouble.h>
-
-// adolc defines some very stupid macros:
-#if defined(malloc)
-# undef malloc
-#endif
-
-#if defined(calloc)
-# undef calloc
-#endif
-
-#if defined(realloc)
-# undef realloc
-#endif
-
-#include <Eigen/Core>
-
-namespace Eigen {
-
-/**
-  * \defgroup AdolcForward_Module Adolc forward module
-  * This module provides support for adolc's adouble type in forward mode.
-  * ADOL-C is a C++ automatic differentiation library,
-  * see https://projects.coin-or.org/ADOL-C for more information.
-  * It mainly consists in:
-  *  - a struct Eigen::NumTraits<adtl::adouble> specialization
-  *  - overloads of internal::* math function for adtl::adouble type.
-  *
-  * Note that the maximal number of directions is controlled by
-  * the preprocessor token NUMBER_DIRECTIONS. The default is 2.
-  *
-  * \code
-  * #include <unsupported/Eigen/AdolcSupport>
-  * \endcode
-  */
-  //@{
-
-} // namespace Eigen
-
-// Eigen's require a few additional functions which must be defined in the same namespace
-// than the custom scalar type own namespace
-namespace adtl {
-
-inline const adouble& conj(const adouble& x)  { return x; }
-inline const adouble& real(const adouble& x)  { return x; }
-inline adouble imag(const adouble&)    { return 0.; }
-inline adouble abs(const adouble&  x)  { return fabs(x); }
-inline adouble abs2(const adouble& x)  { return x*x; }
-
-}
-
-namespace Eigen {
-
-template<> struct NumTraits<adtl::adouble>
-    : NumTraits<double>
-{
-  typedef adtl::adouble Real;
-  typedef adtl::adouble NonInteger;
-  typedef adtl::adouble Nested;
-  enum {
-    IsComplex = 0,
-    IsInteger = 0,
-    IsSigned = 1,
-    RequireInitialization = 1,
-    ReadCost = 1,
-    AddCost = 1,
-    MulCost = 1
-  };
-};
-
-template<typename Functor> class AdolcForwardJacobian : public Functor
-{
-  typedef adtl::adouble ActiveScalar;
-public:
-
-  AdolcForwardJacobian() : Functor() {}
-  AdolcForwardJacobian(const Functor& f) : Functor(f) {}
-
-  // forward constructors
-  template<typename T0>
-  AdolcForwardJacobian(const T0& a0) : Functor(a0) {}
-  template<typename T0, typename T1>
-  AdolcForwardJacobian(const T0& a0, const T1& a1) : Functor(a0, a1) {}
-  template<typename T0, typename T1, typename T2>
-  AdolcForwardJacobian(const T0& a0, const T1& a1, const T1& a2) : Functor(a0, a1, a2) {}
-
-  typedef typename Functor::InputType InputType;
-  typedef typename Functor::ValueType ValueType;
-  typedef typename Functor::JacobianType JacobianType;
-
-  typedef Matrix<ActiveScalar, InputType::SizeAtCompileTime, 1> ActiveInput;
-  typedef Matrix<ActiveScalar, ValueType::SizeAtCompileTime, 1> ActiveValue;
-
-  void operator() (const InputType& x, ValueType* v, JacobianType* _jac) const
-  {
-    eigen_assert(v!=0);
-    if (!_jac)
-    {
-      Functor::operator()(x, v);
-      return;
-    }
-
-    JacobianType& jac = *_jac;
-
-    ActiveInput ax = x.template cast<ActiveScalar>();
-    ActiveValue av(jac.rows());
-
-    for (int j=0; j<jac.cols(); j++)
-      for (int i=0; i<jac.cols(); i++)
-        ax[i].setADValue(j, i==j ? 1 : 0);
-
-    Functor::operator()(ax, &av);
-
-    for (int i=0; i<jac.rows(); i++)
-    {
-      (*v)[i] = av[i].getValue();
-      for (int j=0; j<jac.cols(); j++)
-        jac.coeffRef(i,j) = av[i].getADValue(j);
-    }
-  }
-protected:
-
-};
-
-//@}
-
-}
-
-#endif // EIGEN_ADLOC_FORWARD
diff --git a/eigenlib/unsupported/Eigen/AlignedVector3 b/eigenlib/unsupported/Eigen/AlignedVector3
deleted file mode 100644
index 7b45e6cc..00000000
--- a/eigenlib/unsupported/Eigen/AlignedVector3
+++ /dev/null
@@ -1,190 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ALIGNED_VECTOR3
-#define EIGEN_ALIGNED_VECTOR3
-
-#include <Eigen/Geometry>
-
-namespace Eigen {
-
-/**
-  * \defgroup AlignedVector3_Module Aligned vector3 module
-  *
-  * \code
-  * #include <unsupported/Eigen/AlignedVector3>
-  * \endcode
-  */
-  //@{
-
-
-/** \class AlignedVector3
-  *
-  * \brief A vectorization friendly 3D vector
-  *
-  * This class represents a 3D vector internally using a 4D vector
-  * such that vectorization can be seamlessly enabled. Of course,
-  * the same result can be achieved by directly using a 4D vector.
-  * This class makes this process simpler.
-  *
-  */
-// TODO specialize Cwise
-template<typename _Scalar> class AlignedVector3;
-
-namespace internal {
-template<typename _Scalar> struct traits<AlignedVector3<_Scalar> >
-  : traits<Matrix<_Scalar,3,1,0,4,1> >
-{
-};
-}
-
-template<typename _Scalar> class AlignedVector3
-  : public MatrixBase<AlignedVector3<_Scalar> >
-{
-    typedef Matrix<_Scalar,4,1> CoeffType;
-    CoeffType m_coeffs;
-  public:
-
-    typedef MatrixBase<AlignedVector3<_Scalar> > Base;	
-    EIGEN_DENSE_PUBLIC_INTERFACE(AlignedVector3)
-    using Base::operator*;
-
-    inline Index rows() const { return 3; }
-    inline Index cols() const { return 1; }
-
-    inline const Scalar& coeff(Index row, Index col) const
-    { return m_coeffs.coeff(row, col); }
-
-    inline Scalar& coeffRef(Index row, Index col)
-    { return m_coeffs.coeffRef(row, col); }
-
-    inline const Scalar& coeff(Index index) const
-    { return m_coeffs.coeff(index); }
-
-    inline Scalar& coeffRef(Index index)
-    { return m_coeffs.coeffRef(index);}
-
-
-    inline AlignedVector3(const Scalar& x, const Scalar& y, const Scalar& z)
-      : m_coeffs(x, y, z, Scalar(0))
-    {}
-
-    inline AlignedVector3(const AlignedVector3& other)
-      : Base(), m_coeffs(other.m_coeffs)
-    {}
-
-    template<typename XprType, int Size=XprType::SizeAtCompileTime>
-    struct generic_assign_selector {};
-
-    template<typename XprType> struct generic_assign_selector<XprType,4>
-    {
-      inline static void run(AlignedVector3& dest, const XprType& src)
-      {
-        dest.m_coeffs = src;
-      }
-    };
-
-    template<typename XprType> struct generic_assign_selector<XprType,3>
-    {
-      inline static void run(AlignedVector3& dest, const XprType& src)
-      {
-        dest.m_coeffs.template head<3>() = src;
-        dest.m_coeffs.w() = Scalar(0);
-      }
-    };
-
-    template<typename Derived>
-    inline explicit AlignedVector3(const MatrixBase<Derived>& other)
-    {
-      generic_assign_selector<Derived>::run(*this,other.derived());
-    }
-
-    inline AlignedVector3& operator=(const AlignedVector3& other)
-    { m_coeffs = other.m_coeffs; return *this; }
-
-
-    inline AlignedVector3 operator+(const AlignedVector3& other) const
-    { return AlignedVector3(m_coeffs + other.m_coeffs); }
-
-    inline AlignedVector3& operator+=(const AlignedVector3& other)
-    { m_coeffs += other.m_coeffs; return *this; }
-
-    inline AlignedVector3 operator-(const AlignedVector3& other) const
-    { return AlignedVector3(m_coeffs - other.m_coeffs); }
-
-    inline AlignedVector3 operator-=(const AlignedVector3& other)
-    { m_coeffs -= other.m_coeffs; return *this; }
-
-    inline AlignedVector3 operator*(const Scalar& s) const
-    { return AlignedVector3(m_coeffs * s); }
-
-    inline friend AlignedVector3 operator*(const Scalar& s,const AlignedVector3& vec)
-    { return AlignedVector3(s * vec.m_coeffs); }
-
-    inline AlignedVector3& operator*=(const Scalar& s)
-    { m_coeffs *= s; return *this; }
-
-    inline AlignedVector3 operator/(const Scalar& s) const
-    { return AlignedVector3(m_coeffs / s); }
-
-    inline AlignedVector3& operator/=(const Scalar& s)
-    { m_coeffs /= s; return *this; }
-
-    inline Scalar dot(const AlignedVector3& other) const
-    {
-      eigen_assert(m_coeffs.w()==Scalar(0));
-      eigen_assert(other.m_coeffs.w()==Scalar(0));
-      return m_coeffs.dot(other.m_coeffs);
-    }
-
-    inline void normalize()
-    {
-      m_coeffs /= norm();
-    }
-
-    inline AlignedVector3 normalized()
-    {
-      return AlignedVector3(m_coeffs / norm());
-    }
-
-    inline Scalar sum() const
-    {
-      eigen_assert(m_coeffs.w()==Scalar(0));
-      return m_coeffs.sum();
-    }
-
-    inline Scalar squaredNorm() const
-    {
-      eigen_assert(m_coeffs.w()==Scalar(0));
-      return m_coeffs.squaredNorm();
-    }
-
-    inline Scalar norm() const
-    {
-      using std::sqrt;
-      return sqrt(squaredNorm());
-    }
-
-    inline AlignedVector3 cross(const AlignedVector3& other) const
-    {
-      return AlignedVector3(m_coeffs.cross3(other.m_coeffs));
-    }
-
-    template<typename Derived>
-    inline bool isApprox(const MatrixBase<Derived>& other, RealScalar eps=NumTraits<Scalar>::dummy_precision()) const
-    {
-      return m_coeffs.template head<3>().isApprox(other,eps);
-    }
-};
-
-//@}
-
-}
-
-#endif // EIGEN_ALIGNED_VECTOR3
diff --git a/eigenlib/unsupported/Eigen/ArpackSupport b/eigenlib/unsupported/Eigen/ArpackSupport
deleted file mode 100644
index 37a2799e..00000000
--- a/eigenlib/unsupported/Eigen/ArpackSupport
+++ /dev/null
@@ -1,31 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ARPACKSUPPORT_MODULE_H
-#define EIGEN_ARPACKSUPPORT_MODULE_H
-
-#include <Eigen/Core>
-
-#include <Eigen/src/Core/util/DisableStupidWarnings.h>
-
-/** \defgroup ArpackSupport_Module Arpack support module
-  *
-  * This module provides a wrapper to Arpack, a library for sparse eigenvalue decomposition.
-  *
-  * \code
-  * #include <Eigen/ArpackSupport>
-  * \endcode
-  */
-
-#include <Eigen/SparseCholesky>
-#include "src/Eigenvalues/ArpackSelfAdjointEigenSolver.h"
-
-#include <Eigen/src/Core/util/ReenableStupidWarnings.h>
-
-#endif // EIGEN_ARPACKSUPPORT_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/eigenlib/unsupported/Eigen/AutoDiff b/eigenlib/unsupported/Eigen/AutoDiff
deleted file mode 100644
index abf5b7d6..00000000
--- a/eigenlib/unsupported/Eigen/AutoDiff
+++ /dev/null
@@ -1,40 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_AUTODIFF_MODULE
-#define EIGEN_AUTODIFF_MODULE
-
-namespace Eigen {
-
-/**
-  * \defgroup AutoDiff_Module Auto Diff module
-  *
-  * This module features forward automatic differentation via a simple
-  * templated scalar type wrapper AutoDiffScalar.
-  *
-  * Warning : this should NOT be confused with numerical differentiation, which
-  * is a different method and has its own module in Eigen : \ref NumericalDiff_Module.
-  *
-  * \code
-  * #include <unsupported/Eigen/AutoDiff>
-  * \endcode
-  */
-//@{
-
-}
-
-#include "src/AutoDiff/AutoDiffScalar.h"
-// #include "src/AutoDiff/AutoDiffVector.h"
-#include "src/AutoDiff/AutoDiffJacobian.h"
-
-namespace Eigen {
-//@}
-}
-
-#endif // EIGEN_AUTODIFF_MODULE
diff --git a/eigenlib/unsupported/Eigen/BVH b/eigenlib/unsupported/Eigen/BVH
deleted file mode 100644
index 0161a540..00000000
--- a/eigenlib/unsupported/Eigen/BVH
+++ /dev/null
@@ -1,95 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BVH_MODULE_H
-#define EIGEN_BVH_MODULE_H
-
-#include <Eigen/Core>
-#include <Eigen/Geometry>
-#include <Eigen/StdVector>
-#include <algorithm>
-#include <queue>
-
-namespace Eigen {
-
-/**
-  * \defgroup BVH_Module BVH module
-  * \brief This module provides generic bounding volume hierarchy algorithms
-  * and reference tree implementations.
-  *
-  *
-  * \code
-  * #include <unsupported/Eigen/BVH>
-  * \endcode
-  *
-  * A bounding volume hierarchy (BVH) can accelerate many geometric queries.  This module provides a generic implementation
-  * of the two basic algorithms over a BVH: intersection of a query object against all objects in the hierarchy and minimization
-  * of a function over the objects in the hierarchy.  It also provides intersection and minimization over a cartesian product of
-  * two BVH's.  A BVH accelerates intersection by using the fact that if a query object does not intersect a volume, then it cannot
-  * intersect any object contained in that volume.  Similarly, a BVH accelerates minimization because the minimum of a function
-  * over a volume is no greater than the minimum of a function over any object contained in it.
-  *
-  * Some sample queries that can be written in terms of intersection are:
-  *   - Determine all points where a ray intersects a triangle mesh
-  *   - Given a set of points, determine which are contained in a query sphere
-  *   - Given a set of spheres, determine which contain the query point
-  *   - Given a set of disks, determine if any is completely contained in a query rectangle (represent each 2D disk as a point \f$(x,y,r)\f$
-  *     in 3D and represent the rectangle as a pyramid based on the original rectangle and shrinking in the \f$r\f$ direction)
-  *   - Given a set of points, count how many pairs are \f$d\pm\epsilon\f$ apart (done by looking at the cartesian product of the set
-  *     of points with itself)
-  *
-  * Some sample queries that can be written in terms of function minimization over a set of objects are:
-  *   - Find the intersection between a ray and a triangle mesh closest to the ray origin (function is infinite off the ray)
-  *   - Given a polyline and a query point, determine the closest point on the polyline to the query
-  *   - Find the diameter of a point cloud (done by looking at the cartesian product and using negative distance as the function)
-  *   - Determine how far two meshes are from colliding (this is also a cartesian product query)
-  *
-  * This implementation decouples the basic algorithms both from the type of hierarchy (and the types of the bounding volumes) and
-  * from the particulars of the query.  To enable abstraction from the BVH, the BVH is required to implement a generic mechanism
-  * for traversal.  To abstract from the query, the query is responsible for keeping track of results.
-  *
-  * To be used in the algorithms, a hierarchy must implement the following traversal mechanism (see KdBVH for a sample implementation): \code
-      typedef Volume  //the type of bounding volume
-      typedef Object  //the type of object in the hierarchy
-      typedef Index   //a reference to a node in the hierarchy--typically an int or a pointer
-      typedef VolumeIterator //an iterator type over node children--returns Index
-      typedef ObjectIterator //an iterator over object (leaf) children--returns const Object &
-      Index getRootIndex() const //returns the index of the hierarchy root
-      const Volume &getVolume(Index index) const //returns the bounding volume of the node at given index
-      void getChildren(Index index, VolumeIterator &outVBegin, VolumeIterator &outVEnd,
-                      ObjectIterator &outOBegin, ObjectIterator &outOEnd) const
-      //getChildren takes a node index and makes [outVBegin, outVEnd) range over its node children
-      //and [outOBegin, outOEnd) range over its object children
-    \endcode
-  *
-  * To use the hierarchy, call BVIntersect or BVMinimize, passing it a BVH (or two, for cartesian product) and a minimizer or intersector.
-  * For an intersection query on a single BVH, the intersector encapsulates the query and must provide two functions:
-  * \code
-      bool intersectVolume(const Volume &volume) //returns true if the query intersects the volume
-      bool intersectObject(const Object &object) //returns true if the intersection search should terminate immediately
-    \endcode
-  * The guarantee that BVIntersect provides is that intersectObject will be called on every object whose bounding volume
-  * intersects the query (but possibly on other objects too) unless the search is terminated prematurely.  It is the
-  * responsibility of the intersectObject function to keep track of the results in whatever manner is appropriate.
-  * The cartesian product intersection and the BVMinimize queries are similar--see their individual documentation.
-  *
-  * The following is a simple but complete example for how to use the BVH to accelerate the search for a closest red-blue point pair:
-  * \include BVH_Example.cpp
-  * Output: \verbinclude BVH_Example.out
-  */
-}
-
-//@{
-
-#include "src/BVH/BVAlgorithms.h"
-#include "src/BVH/KdBVH.h"
-
-//@}
-
-#endif // EIGEN_BVH_MODULE_H
diff --git a/eigenlib/unsupported/Eigen/CMakeLists.txt b/eigenlib/unsupported/Eigen/CMakeLists.txt
deleted file mode 100644
index e1fbf97e..00000000
--- a/eigenlib/unsupported/Eigen/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-set(Eigen_HEADERS AdolcForward AlignedVector3 ArpackSupport AutoDiff BVH FFT IterativeSolvers KroneckerProduct LevenbergMarquardt
-                  MatrixFunctions MoreVectorization MPRealSupport NonLinearOptimization NumericalDiff OpenGLSupport Polynomials
-                  Skyline SparseExtra Splines
-   )
-
-install(FILES
-  ${Eigen_HEADERS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen COMPONENT Devel
-  )
-
-add_subdirectory(src)
diff --git a/eigenlib/unsupported/Eigen/FFT b/eigenlib/unsupported/Eigen/FFT
deleted file mode 100644
index 2c45b399..00000000
--- a/eigenlib/unsupported/Eigen/FFT
+++ /dev/null
@@ -1,418 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. 
-//
-// Copyright (C) 2009 Mark Borgerding mark a borgerding net
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_FFT_H
-#define EIGEN_FFT_H
-
-#include <complex>
-#include <vector>
-#include <map>
-#include <Eigen/Core>
-
-
-/**
-  * \defgroup FFT_Module Fast Fourier Transform module
-  *
-  * \code
-  * #include <unsupported/Eigen/FFT>
-  * \endcode
-  *
-  * This module provides Fast Fourier transformation, with a configurable backend
-  * implementation.
-  *
-  * The default implementation is based on kissfft. It is a small, free, and
-  * reasonably efficient default.
-  *
-  * There are currently two implementation backend:
-  *
-  * - fftw (http://www.fftw.org) : faster, GPL -- incompatible with Eigen in LGPL form, bigger code size.
-  * - MKL (http://en.wikipedia.org/wiki/Math_Kernel_Library) : fastest, commercial -- may be incompatible with Eigen in GPL form.
-  *
-  * \section FFTDesign Design
-  *
-  * The following design decisions were made concerning scaling and
-  * half-spectrum for real FFT.
-  *
-  * The intent is to facilitate generic programming and ease migrating code
-  * from  Matlab/octave.
-  * We think the default behavior of Eigen/FFT should favor correctness and
-  * generality over speed. Of course, the caller should be able to "opt-out" from this
-  * behavior and get the speed increase if they want it.
-  *
-  * 1) %Scaling:
-  * Other libraries (FFTW,IMKL,KISSFFT)  do not perform scaling, so there
-  * is a constant gain incurred after the forward&inverse transforms , so 
-  * IFFT(FFT(x)) = Kx;  this is done to avoid a vector-by-value multiply.  
-  * The downside is that algorithms that worked correctly in Matlab/octave 
-  * don't behave the same way once implemented in C++.
-  *
-  * How Eigen/FFT differs: invertible scaling is performed so IFFT( FFT(x) ) = x. 
-  *
-  * 2) Real FFT half-spectrum
-  * Other libraries use only half the frequency spectrum (plus one extra 
-  * sample for the Nyquist bin) for a real FFT, the other half is the 
-  * conjugate-symmetric of the first half.  This saves them a copy and some 
-  * memory.  The downside is the caller needs to have special logic for the 
-  * number of bins in complex vs real.
-  *
-  * How Eigen/FFT differs: The full spectrum is returned from the forward 
-  * transform.  This facilitates generic template programming by obviating 
-  * separate specializations for real vs complex.  On the inverse
-  * transform, only half the spectrum is actually used if the output type is real.
-  */
- 
-
-#ifdef EIGEN_FFTW_DEFAULT
-// FFTW: faster, GPL -- incompatible with Eigen in LGPL form, bigger code size
-#  include <fftw3.h>
-#  include "src/FFT/ei_fftw_impl.h"
-   namespace Eigen {
-     //template <typename T> typedef struct internal::fftw_impl  default_fft_impl; this does not work
-     template <typename T> struct default_fft_impl : public internal::fftw_impl<T> {};
-   }
-#elif defined EIGEN_MKL_DEFAULT
-// TODO 
-// intel Math Kernel Library: fastest, commercial -- may be incompatible with Eigen in GPL form
-#  include "src/FFT/ei_imklfft_impl.h"
-   namespace Eigen {
-     template <typename T> struct default_fft_impl : public internal::imklfft_impl {};
-   }
-#else
-// internal::kissfft_impl:  small, free, reasonably efficient default, derived from kissfft
-//
-# include "src/FFT/ei_kissfft_impl.h"
-  namespace Eigen {
-     template <typename T> 
-       struct default_fft_impl : public internal::kissfft_impl<T> {};
-  }
-#endif
-
-namespace Eigen {
-
- 
-// 
-template<typename T_SrcMat,typename T_FftIfc> struct fft_fwd_proxy;
-template<typename T_SrcMat,typename T_FftIfc> struct fft_inv_proxy;
-
-namespace internal {
-template<typename T_SrcMat,typename T_FftIfc>
-struct traits< fft_fwd_proxy<T_SrcMat,T_FftIfc> >
-{
-  typedef typename T_SrcMat::PlainObject ReturnType;
-};
-template<typename T_SrcMat,typename T_FftIfc>
-struct traits< fft_inv_proxy<T_SrcMat,T_FftIfc> >
-{
-  typedef typename T_SrcMat::PlainObject ReturnType;
-};
-}
-
-template<typename T_SrcMat,typename T_FftIfc> 
-struct fft_fwd_proxy
- : public ReturnByValue<fft_fwd_proxy<T_SrcMat,T_FftIfc> >
-{
-  typedef DenseIndex Index;
-
-  fft_fwd_proxy(const T_SrcMat& src,T_FftIfc & fft, Index nfft) : m_src(src),m_ifc(fft), m_nfft(nfft) {}
-
-  template<typename T_DestMat> void evalTo(T_DestMat& dst) const;
-
-  Index rows() const { return m_src.rows(); }
-  Index cols() const { return m_src.cols(); }
-protected:
-  const T_SrcMat & m_src;
-  T_FftIfc & m_ifc;
-  Index m_nfft;
-private:
-  fft_fwd_proxy& operator=(const fft_fwd_proxy&);
-};
-
-template<typename T_SrcMat,typename T_FftIfc> 
-struct fft_inv_proxy
- : public ReturnByValue<fft_inv_proxy<T_SrcMat,T_FftIfc> >
-{
-  typedef DenseIndex Index;
-
-  fft_inv_proxy(const T_SrcMat& src,T_FftIfc & fft, Index nfft) : m_src(src),m_ifc(fft), m_nfft(nfft) {}
-
-  template<typename T_DestMat> void evalTo(T_DestMat& dst) const;
-
-  Index rows() const { return m_src.rows(); }
-  Index cols() const { return m_src.cols(); }
-protected:
-  const T_SrcMat & m_src;
-  T_FftIfc & m_ifc;
-  Index m_nfft;
-private:
-  fft_inv_proxy& operator=(const fft_inv_proxy&);
-};
-
-
-template <typename T_Scalar,
-         typename T_Impl=default_fft_impl<T_Scalar> >
-class FFT
-{
-  public:
-    typedef T_Impl impl_type;
-    typedef DenseIndex Index;
-    typedef typename impl_type::Scalar Scalar;
-    typedef typename impl_type::Complex Complex;
-
-    enum Flag {
-      Default=0, // goof proof
-      Unscaled=1,
-      HalfSpectrum=2,
-      // SomeOtherSpeedOptimization=4
-      Speedy=32767
-    };
-
-    FFT( const impl_type & impl=impl_type() , Flag flags=Default ) :m_impl(impl),m_flag(flags) { }
-
-    inline
-    bool HasFlag(Flag f) const { return (m_flag & (int)f) == f;}
-
-    inline
-    void SetFlag(Flag f) { m_flag |= (int)f;}
-
-    inline
-    void ClearFlag(Flag f) { m_flag &= (~(int)f);}
-
-    inline
-    void fwd( Complex * dst, const Scalar * src, Index nfft)
-    {
-        m_impl.fwd(dst,src,static_cast<int>(nfft));
-        if ( HasFlag(HalfSpectrum) == false)
-          ReflectSpectrum(dst,nfft);
-    }
-
-    inline
-    void fwd( Complex * dst, const Complex * src, Index nfft)
-    {
-        m_impl.fwd(dst,src,static_cast<int>(nfft));
-    }
-
-    /*
-    inline 
-    void fwd2(Complex * dst, const Complex * src, int n0,int n1)
-    {
-      m_impl.fwd2(dst,src,n0,n1);
-    }
-    */
-
-    template <typename _Input>
-    inline
-    void fwd( std::vector<Complex> & dst, const std::vector<_Input> & src) 
-    {
-      if ( NumTraits<_Input>::IsComplex == 0 && HasFlag(HalfSpectrum) )
-        dst.resize( (src.size()>>1)+1); // half the bins + Nyquist bin
-      else
-        dst.resize(src.size());
-      fwd(&dst[0],&src[0],src.size());
-    }
-
-    template<typename InputDerived, typename ComplexDerived>
-    inline
-    void fwd( MatrixBase<ComplexDerived> & dst, const MatrixBase<InputDerived> & src, Index nfft=-1)
-    {
-      typedef typename ComplexDerived::Scalar dst_type;
-      typedef typename InputDerived::Scalar src_type;
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(InputDerived)
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(ComplexDerived)
-      EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ComplexDerived,InputDerived) // size at compile-time
-      EIGEN_STATIC_ASSERT((internal::is_same<dst_type, Complex>::value),
-            YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-      EIGEN_STATIC_ASSERT(int(InputDerived::Flags)&int(ComplexDerived::Flags)&DirectAccessBit,
-            THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES)
-
-      if (nfft<1)
-        nfft = src.size();
-
-      if ( NumTraits< src_type >::IsComplex == 0 && HasFlag(HalfSpectrum) )
-        dst.derived().resize( (nfft>>1)+1);
-      else
-        dst.derived().resize(nfft);
-
-      if ( src.innerStride() != 1 || src.size() < nfft ) {
-        Matrix<src_type,1,Dynamic> tmp;
-        if (src.size()<nfft) {
-          tmp.setZero(nfft);
-          tmp.block(0,0,src.size(),1 ) = src;
-        }else{
-          tmp = src;
-        }
-        fwd( &dst[0],&tmp[0],nfft );
-      }else{
-        fwd( &dst[0],&src[0],nfft );
-      }
-    }
- 
-    template<typename InputDerived>
-    inline
-    fft_fwd_proxy< MatrixBase<InputDerived>, FFT<T_Scalar,T_Impl> >
-    fwd( const MatrixBase<InputDerived> & src, Index nfft=-1)
-    {
-      return fft_fwd_proxy< MatrixBase<InputDerived> ,FFT<T_Scalar,T_Impl> >( src, *this,nfft );
-    }
-
-    template<typename InputDerived>
-    inline
-    fft_inv_proxy< MatrixBase<InputDerived>, FFT<T_Scalar,T_Impl> >
-    inv( const MatrixBase<InputDerived> & src, Index nfft=-1)
-    {
-      return  fft_inv_proxy< MatrixBase<InputDerived> ,FFT<T_Scalar,T_Impl> >( src, *this,nfft );
-    }
-
-    inline
-    void inv( Complex * dst, const Complex * src, Index nfft)
-    {
-      m_impl.inv( dst,src,static_cast<int>(nfft) );
-      if ( HasFlag( Unscaled ) == false)
-        scale(dst,Scalar(1./nfft),nfft); // scale the time series
-    }
-
-    inline
-    void inv( Scalar * dst, const Complex * src, Index nfft)
-    {
-      m_impl.inv( dst,src,static_cast<int>(nfft) );
-      if ( HasFlag( Unscaled ) == false)
-        scale(dst,Scalar(1./nfft),nfft); // scale the time series
-    }
-
-    template<typename OutputDerived, typename ComplexDerived>
-    inline
-    void inv( MatrixBase<OutputDerived> & dst, const MatrixBase<ComplexDerived> & src, Index nfft=-1)
-    {
-      typedef typename ComplexDerived::Scalar src_type;
-      typedef typename OutputDerived::Scalar dst_type;
-      const bool realfft= (NumTraits<dst_type>::IsComplex == 0);
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(OutputDerived)
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(ComplexDerived)
-      EIGEN_STATIC_ASSERT_SAME_VECTOR_SIZE(ComplexDerived,OutputDerived) // size at compile-time
-      EIGEN_STATIC_ASSERT((internal::is_same<src_type, Complex>::value),
-            YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
-      EIGEN_STATIC_ASSERT(int(OutputDerived::Flags)&int(ComplexDerived::Flags)&DirectAccessBit,
-            THIS_METHOD_IS_ONLY_FOR_EXPRESSIONS_WITH_DIRECT_MEMORY_ACCESS_SUCH_AS_MAP_OR_PLAIN_MATRICES)
-
-      if (nfft<1) { //automatic FFT size determination
-        if ( realfft && HasFlag(HalfSpectrum) ) 
-          nfft = 2*(src.size()-1); //assume even fft size
-        else
-          nfft = src.size();
-      }
-      dst.derived().resize( nfft );
-
-      // check for nfft that does not fit the input data size
-      Index resize_input= ( realfft && HasFlag(HalfSpectrum) )
-        ? ( (nfft/2+1) - src.size() )
-        : ( nfft - src.size() );
-
-      if ( src.innerStride() != 1 || resize_input ) {
-        // if the vector is strided, then we need to copy it to a packed temporary
-        Matrix<src_type,1,Dynamic> tmp;
-        if ( resize_input ) {
-          size_t ncopy = (std::min)(src.size(),src.size() + resize_input);
-          tmp.setZero(src.size() + resize_input);
-          if ( realfft && HasFlag(HalfSpectrum) ) {
-            // pad at the Nyquist bin
-            tmp.head(ncopy) = src.head(ncopy);
-            tmp(ncopy-1) = real(tmp(ncopy-1)); // enforce real-only Nyquist bin
-          }else{
-            size_t nhead,ntail;
-            nhead = 1+ncopy/2-1; // range  [0:pi)
-            ntail = ncopy/2-1;   // range (-pi:0)
-            tmp.head(nhead) = src.head(nhead);
-            tmp.tail(ntail) = src.tail(ntail);
-            if (resize_input<0) { //shrinking -- create the Nyquist bin as the average of the two bins that fold into it
-              tmp(nhead) = ( src(nfft/2) + src( src.size() - nfft/2 ) )*src_type(.5);
-            }else{ // expanding -- split the old Nyquist bin into two halves
-              tmp(nhead) = src(nhead) * src_type(.5);
-              tmp(tmp.size()-nhead) = tmp(nhead);
-            }
-          }
-        }else{
-          tmp = src;
-        }
-        inv( &dst[0],&tmp[0], nfft);
-      }else{
-        inv( &dst[0],&src[0], nfft);
-      }
-    }
-
-    template <typename _Output>
-    inline
-    void inv( std::vector<_Output> & dst, const std::vector<Complex> & src,Index nfft=-1)
-    {
-      if (nfft<1)
-        nfft = ( NumTraits<_Output>::IsComplex == 0 && HasFlag(HalfSpectrum) ) ? 2*(src.size()-1) : src.size();
-      dst.resize( nfft );
-      inv( &dst[0],&src[0],nfft);
-    }
-
-
-    /*
-    // TODO: multi-dimensional FFTs
-    inline 
-    void inv2(Complex * dst, const Complex * src, int n0,int n1)
-    {
-      m_impl.inv2(dst,src,n0,n1);
-      if ( HasFlag( Unscaled ) == false)
-          scale(dst,1./(n0*n1),n0*n1);
-    }
-  */
-
-    inline
-    impl_type & impl() {return m_impl;}
-  private:
-
-    template <typename T_Data>
-    inline
-    void scale(T_Data * x,Scalar s,Index nx)
-    {
-#if 1
-      for (int k=0;k<nx;++k)
-        *x++ *= s;
-#else
-      if ( ((ptrdiff_t)x) & 15 )
-        Matrix<T_Data, Dynamic, 1>::Map(x,nx) *= s;
-      else
-        Matrix<T_Data, Dynamic, 1>::MapAligned(x,nx) *= s;
-         //Matrix<T_Data, Dynamic, Dynamic>::Map(x,nx) * s;
-#endif  
-    }
-
-    inline
-    void ReflectSpectrum(Complex * freq, Index nfft)
-    {
-      // create the implicit right-half spectrum (conjugate-mirror of the left-half)
-      Index nhbins=(nfft>>1)+1;
-      for (Index k=nhbins;k < nfft; ++k )
-        freq[k] = conj(freq[nfft-k]);
-    }
-
-    impl_type m_impl;
-    int m_flag;
-};
-
-template<typename T_SrcMat,typename T_FftIfc> 
-template<typename T_DestMat> inline 
-void fft_fwd_proxy<T_SrcMat,T_FftIfc>::evalTo(T_DestMat& dst) const
-{
-    m_ifc.fwd( dst, m_src, m_nfft);
-}
-
-template<typename T_SrcMat,typename T_FftIfc> 
-template<typename T_DestMat> inline 
-void fft_inv_proxy<T_SrcMat,T_FftIfc>::evalTo(T_DestMat& dst) const
-{
-    m_ifc.inv( dst, m_src, m_nfft);
-}
-
-}
-#endif
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/eigenlib/unsupported/Eigen/IterativeSolvers b/eigenlib/unsupported/Eigen/IterativeSolvers
deleted file mode 100644
index aa15403d..00000000
--- a/eigenlib/unsupported/Eigen/IterativeSolvers
+++ /dev/null
@@ -1,45 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ITERATIVE_SOLVERS_MODULE_H
-#define EIGEN_ITERATIVE_SOLVERS_MODULE_H
-
-#include <Eigen/Sparse>
-
-/**
-  * \defgroup IterativeSolvers_Module Iterative solvers module
-  * This module aims to provide various iterative linear and non linear solver algorithms.
-  * It currently provides:
-  *  - a constrained conjugate gradient
-  *  - a Householder GMRES implementation
-  * \code
-  * #include <unsupported/Eigen/IterativeSolvers>
-  * \endcode
-  */
-//@{
-
-#include "../../Eigen/src/misc/Solve.h"
-#include "../../Eigen/src/misc/SparseSolve.h"
-
-#ifndef EIGEN_MPL2_ONLY
-#include "src/IterativeSolvers/IterationController.h"
-#include "src/IterativeSolvers/ConstrainedConjGrad.h"
-#endif
-
-#include "src/IterativeSolvers/IncompleteLU.h"
-#include "../../Eigen/Jacobi"
-#include "../../Eigen/Householder"
-#include "src/IterativeSolvers/GMRES.h"
-#include "src/IterativeSolvers/IncompleteCholesky.h"
-//#include "src/IterativeSolvers/SSORPreconditioner.h"
-#include "src/IterativeSolvers/MINRES.h"
-
-//@}
-
-#endif // EIGEN_ITERATIVE_SOLVERS_MODULE_H
diff --git a/eigenlib/unsupported/Eigen/KroneckerProduct b/eigenlib/unsupported/Eigen/KroneckerProduct
deleted file mode 100644
index c932c06a..00000000
--- a/eigenlib/unsupported/Eigen/KroneckerProduct
+++ /dev/null
@@ -1,34 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_KRONECKER_PRODUCT_MODULE_H
-#define EIGEN_KRONECKER_PRODUCT_MODULE_H
-
-#include "../../Eigen/Core"
-
-#include "../../Eigen/src/Core/util/DisableStupidWarnings.h"
-
-namespace Eigen {
-
-/**
-  * \defgroup KroneckerProduct_Module KroneckerProduct module
-  *
-  * This module contains an experimental Kronecker product implementation.
-  *
-  * \code
-  * #include <Eigen/KroneckerProduct>
-  * \endcode
-  */
-
-} // namespace Eigen
-
-#include "src/KroneckerProduct/KroneckerTensorProduct.h"
-
-#include "../../Eigen/src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_KRONECKER_PRODUCT_MODULE_H
diff --git a/eigenlib/unsupported/Eigen/LevenbergMarquardt b/eigenlib/unsupported/Eigen/LevenbergMarquardt
deleted file mode 100644
index 0fe2680b..00000000
--- a/eigenlib/unsupported/Eigen/LevenbergMarquardt
+++ /dev/null
@@ -1,45 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LEVENBERGMARQUARDT_MODULE
-#define EIGEN_LEVENBERGMARQUARDT_MODULE
-
-// #include <vector>
-
-#include <Eigen/Core>
-#include <Eigen/Jacobi>
-#include <Eigen/QR>
-#include <unsupported/Eigen/NumericalDiff> 
-
-#include <Eigen/SparseQR>
-
-/**
-  * \defgroup LevenbergMarquardt_Module Levenberg-Marquardt module
-  *
-  * \code
-  * #include </Eigen/LevenbergMarquardt>
-  * \endcode
-  *
-  * 
-  */
-
-#include "Eigen/SparseCore"
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
-#include "src/LevenbergMarquardt/LMqrsolv.h"
-#include "src/LevenbergMarquardt/LMcovar.h"
-#include "src/LevenbergMarquardt/LMpar.h"
-
-#endif
-
-#include "src/LevenbergMarquardt/LevenbergMarquardt.h"
-#include "src/LevenbergMarquardt/LMonestep.h"
-
-
-#endif // EIGEN_LEVENBERGMARQUARDT_MODULE
diff --git a/eigenlib/unsupported/Eigen/MPRealSupport b/eigenlib/unsupported/Eigen/MPRealSupport
deleted file mode 100644
index d4b03647..00000000
--- a/eigenlib/unsupported/Eigen/MPRealSupport
+++ /dev/null
@@ -1,203 +0,0 @@
-// This file is part of a joint effort between Eigen, a lightweight C++ template library
-// for linear algebra, and MPFR C++, a C++ interface to MPFR library (http://www.holoborodko.com/pavel/)
-//
-// Copyright (C) 2010-2012 Pavel Holoborodko <pavel@holoborodko.com>
-// Copyright (C) 2010 Konstantin Holoborodko <konstantin@holoborodko.com>
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MPREALSUPPORT_MODULE_H
-#define EIGEN_MPREALSUPPORT_MODULE_H
-
-#include <Eigen/Core>
-#include <mpreal.h>
-
-namespace Eigen {
-  
-/**
-  * \defgroup MPRealSupport_Module MPFRC++ Support module
-  * \code
-  * #include <Eigen/MPRealSupport>
-  * \endcode
-  *
-  * This module provides support for multi precision floating point numbers
-  * via the <a href="http://www.holoborodko.com/pavel/mpfr">MPFR C++</a>
-  * library which itself is built upon <a href="http://www.mpfr.org/">MPFR</a>/<a href="http://gmplib.org/">GMP</a>.
-  *
-  * You can find a copy of MPFR C++ that is known to be compatible in the unsupported/test/mpreal folder.
-  *
-  * Here is an example:
-  *
-\code
-#include <iostream>
-#include <Eigen/MPRealSupport>
-#include <Eigen/LU>
-using namespace mpfr;
-using namespace Eigen;
-int main()
-{
-  // set precision to 256 bits (double has only 53 bits)
-  mpreal::set_default_prec(256);
-  // Declare matrix and vector types with multi-precision scalar type
-  typedef Matrix<mpreal,Dynamic,Dynamic>  MatrixXmp;
-  typedef Matrix<mpreal,Dynamic,1>        VectorXmp;
-
-  MatrixXmp A = MatrixXmp::Random(100,100);
-  VectorXmp b = VectorXmp::Random(100);
-
-  // Solve Ax=b using LU
-  VectorXmp x = A.lu().solve(b);
-  std::cout << "relative error: " << (A*x - b).norm() / b.norm() << std::endl;
-  return 0;
-}
-\endcode
-  *
-  */
-	
-  template<> struct NumTraits<mpfr::mpreal>
-    : GenericNumTraits<mpfr::mpreal>
-  {
-    enum {
-      IsInteger = 0,
-      IsSigned = 1,
-      IsComplex = 0,
-      RequireInitialization = 1,
-      ReadCost = 10,
-      AddCost = 10,
-      MulCost = 40
-    };
-
-    typedef mpfr::mpreal Real;
-    typedef mpfr::mpreal NonInteger;
-    
-    inline static Real highest   (long Precision = mpfr::mpreal::get_default_prec())  { return  mpfr::maxval(Precision); }
-    inline static Real lowest    (long Precision = mpfr::mpreal::get_default_prec())  { return -mpfr::maxval(Precision); }
-
-    // Constants
-    inline static Real Pi       (long Precision = mpfr::mpreal::get_default_prec())     {    return mpfr::const_pi(Precision);        }
-    inline static Real Euler    (long Precision = mpfr::mpreal::get_default_prec())     {    return mpfr::const_euler(Precision);     }
-    inline static Real Log2     (long Precision = mpfr::mpreal::get_default_prec())     {    return mpfr::const_log2(Precision);      }
-    inline static Real Catalan  (long Precision = mpfr::mpreal::get_default_prec())     {    return mpfr::const_catalan(Precision);   }
-
-    inline static Real epsilon  (long Precision = mpfr::mpreal::get_default_prec())     {    return mpfr::machine_epsilon(Precision); }
-    inline static Real epsilon  (const Real& x)                                         {    return mpfr::machine_epsilon(x); }
-
-    inline static Real dummy_precision()   
-    { 
-        unsigned int weak_prec = ((mpfr::mpreal::get_default_prec()-1) * 90) / 100;
-        return mpfr::machine_epsilon(weak_prec);
-    }
-  };
-
-  namespace internal {
-
-  template<> inline mpfr::mpreal random<mpfr::mpreal>()
-  {
-    return mpfr::random();
-  }
-
-  template<> inline mpfr::mpreal random<mpfr::mpreal>(const mpfr::mpreal& a, const mpfr::mpreal& b)
-  {
-    return a + (b-a) * random<mpfr::mpreal>();
-  }
-
-  inline bool isMuchSmallerThan(const mpfr::mpreal& a, const mpfr::mpreal& b, const mpfr::mpreal& eps)
-  {
-    return mpfr::abs(a) <= mpfr::abs(b) * eps;
-  }
-
-  inline bool isApprox(const mpfr::mpreal& a, const mpfr::mpreal& b, const mpfr::mpreal& eps)
-  {
-    return mpfr::isEqualFuzzy(a,b,eps);
-  }
-
-  inline bool isApproxOrLessThan(const mpfr::mpreal& a, const mpfr::mpreal& b, const mpfr::mpreal& eps)
-  {
-    return a <= b || mpfr::isEqualFuzzy(a,b,eps);
-  }
-
-  template<> inline long double cast<mpfr::mpreal,long double>(const mpfr::mpreal& x)
-  { return x.toLDouble(); }
-
-  template<> inline double cast<mpfr::mpreal,double>(const mpfr::mpreal& x)
-  { return x.toDouble(); }
-
-  template<> inline long cast<mpfr::mpreal,long>(const mpfr::mpreal& x)
-  { return x.toLong(); }
-
-  template<> inline int cast<mpfr::mpreal,int>(const mpfr::mpreal& x)
-  { return int(x.toLong()); }
-
-  // Specialize GEBP kernel and traits for mpreal (no need for peeling, nor complicated stuff)
-  // This also permits to directly call mpfr's routines and avoid many temporaries produced by mpreal
-    template<>
-    class gebp_traits<mpfr::mpreal, mpfr::mpreal, false, false>
-    {
-    public:
-      typedef mpfr::mpreal ResScalar;
-      enum {
-        nr = 2, // must be 2 for proper packing...
-        mr = 1,
-        WorkSpaceFactor = nr,
-        LhsProgress = 1,
-        RhsProgress = 1
-      };
-    };
-
-    template<typename Index, int mr, int nr, bool ConjugateLhs, bool ConjugateRhs>
-    struct gebp_kernel<mpfr::mpreal,mpfr::mpreal,Index,mr,nr,ConjugateLhs,ConjugateRhs>
-    {
-      typedef mpfr::mpreal mpreal;
-
-      EIGEN_DONT_INLINE
-      void operator()(mpreal* res, Index resStride, const mpreal* blockA, const mpreal* blockB, Index rows, Index depth, Index cols, mpreal alpha,
-                      Index strideA=-1, Index strideB=-1, Index offsetA=0, Index offsetB=0, mpreal* /*unpackedB*/ = 0)
-      {
-        mpreal acc1, acc2, tmp;
-        
-        if(strideA==-1) strideA = depth;
-        if(strideB==-1) strideB = depth;
-
-        for(Index j=0; j<cols; j+=nr)
-        {
-          Index actual_nr = (std::min<Index>)(nr,cols-j);
-          mpreal *C1 = res + j*resStride;
-          mpreal *C2 = res + (j+1)*resStride;
-          for(Index i=0; i<rows; i++)
-          {
-            mpreal *B = const_cast<mpreal*>(blockB) + j*strideB + offsetB*actual_nr;
-            mpreal *A = const_cast<mpreal*>(blockA) + i*strideA + offsetA;
-            acc1 = 0;
-            acc2 = 0;
-            for(Index k=0; k<depth; k++)
-            {
-              mpfr_mul(tmp.mpfr_ptr(), A[k].mpfr_ptr(), B[0].mpfr_ptr(), mpreal::get_default_rnd());
-              mpfr_add(acc1.mpfr_ptr(), acc1.mpfr_ptr(), tmp.mpfr_ptr(),  mpreal::get_default_rnd());
-              
-              if(actual_nr==2) {
-                mpfr_mul(tmp.mpfr_ptr(), A[k].mpfr_ptr(), B[1].mpfr_ptr(), mpreal::get_default_rnd());
-                mpfr_add(acc2.mpfr_ptr(), acc2.mpfr_ptr(), tmp.mpfr_ptr(),  mpreal::get_default_rnd());
-              }
-              
-              B+=actual_nr;
-            }
-            
-            mpfr_mul(acc1.mpfr_ptr(), acc1.mpfr_ptr(), alpha.mpfr_ptr(), mpreal::get_default_rnd());
-            mpfr_add(C1[i].mpfr_ptr(), C1[i].mpfr_ptr(), acc1.mpfr_ptr(),  mpreal::get_default_rnd());
-            
-            if(actual_nr==2) {
-              mpfr_mul(acc2.mpfr_ptr(), acc2.mpfr_ptr(), alpha.mpfr_ptr(), mpreal::get_default_rnd());
-              mpfr_add(C2[i].mpfr_ptr(), C2[i].mpfr_ptr(), acc2.mpfr_ptr(),  mpreal::get_default_rnd());
-            }
-          }
-        }
-      }
-    };
-
-  } // end namespace internal
-}
-
-#endif // EIGEN_MPREALSUPPORT_MODULE_H
diff --git a/eigenlib/unsupported/Eigen/MatrixFunctions b/eigenlib/unsupported/Eigen/MatrixFunctions
deleted file mode 100644
index 0991817d..00000000
--- a/eigenlib/unsupported/Eigen/MatrixFunctions
+++ /dev/null
@@ -1,447 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Jitse Niesen <jitse@maths.leeds.ac.uk>
-// Copyright (C) 2012 Chen-Pang He <jdh8@ms63.hinet.net>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_FUNCTIONS
-#define EIGEN_MATRIX_FUNCTIONS
-
-#include <cfloat>
-#include <list>
-#include <functional>
-#include <iterator>
-
-#include <Eigen/Core>
-#include <Eigen/LU>
-#include <Eigen/Eigenvalues>
-
-/**
-  * \defgroup MatrixFunctions_Module Matrix functions module
-  * \brief This module aims to provide various methods for the computation of
-  * matrix functions. 
-  *
-  * To use this module, add 
-  * \code
-  * #include <unsupported/Eigen/MatrixFunctions>
-  * \endcode
-  * at the start of your source file.
-  *
-  * This module defines the following MatrixBase methods.
-  *  - \ref matrixbase_cos "MatrixBase::cos()", for computing the matrix cosine
-  *  - \ref matrixbase_cosh "MatrixBase::cosh()", for computing the matrix hyperbolic cosine
-  *  - \ref matrixbase_exp "MatrixBase::exp()", for computing the matrix exponential
-  *  - \ref matrixbase_log "MatrixBase::log()", for computing the matrix logarithm
-  *  - \ref matrixbase_pow "MatrixBase::pow()", for computing the matrix power
-  *  - \ref matrixbase_matrixfunction "MatrixBase::matrixFunction()", for computing general matrix functions
-  *  - \ref matrixbase_sin "MatrixBase::sin()", for computing the matrix sine
-  *  - \ref matrixbase_sinh "MatrixBase::sinh()", for computing the matrix hyperbolic sine
-  *  - \ref matrixbase_sqrt "MatrixBase::sqrt()", for computing the matrix square root
-  *
-  * These methods are the main entry points to this module. 
-  *
-  * %Matrix functions are defined as follows.  Suppose that \f$ f \f$
-  * is an entire function (that is, a function on the complex plane
-  * that is everywhere complex differentiable).  Then its Taylor
-  * series
-  * \f[ f(0) + f'(0) x + \frac{f''(0)}{2} x^2 + \frac{f'''(0)}{3!} x^3 + \cdots \f]
-  * converges to \f$ f(x) \f$. In this case, we can define the matrix
-  * function by the same series:
-  * \f[ f(M) = f(0) + f'(0) M + \frac{f''(0)}{2} M^2 + \frac{f'''(0)}{3!} M^3 + \cdots \f]
-  *
-  */
-
-#include "src/MatrixFunctions/MatrixExponential.h"
-#include "src/MatrixFunctions/MatrixFunction.h"
-#include "src/MatrixFunctions/MatrixSquareRoot.h"
-#include "src/MatrixFunctions/MatrixLogarithm.h"
-#include "src/MatrixFunctions/MatrixPower.h"
-
-
-/** 
-\page matrixbaseextra_page
-\ingroup MatrixFunctions_Module
-
-\section matrixbaseextra MatrixBase methods defined in the MatrixFunctions module
-
-The remainder of the page documents the following MatrixBase methods
-which are defined in the MatrixFunctions module.
-
-
-
-\subsection matrixbase_cos MatrixBase::cos()
-
-Compute the matrix cosine.
-
-\code
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::cos() const
-\endcode
-
-\param[in]  M  a square matrix.
-\returns  expression representing \f$ \cos(M) \f$.
-
-This function calls \ref matrixbase_matrixfunction "matrixFunction()" with StdStemFunctions::cos().
-
-\sa \ref matrixbase_sin "sin()" for an example.
-
-
-
-\subsection matrixbase_cosh MatrixBase::cosh()
-
-Compute the matrix hyberbolic cosine.
-
-\code
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::cosh() const
-\endcode
-
-\param[in]  M  a square matrix.
-\returns  expression representing \f$ \cosh(M) \f$
-
-This function calls \ref matrixbase_matrixfunction "matrixFunction()" with StdStemFunctions::cosh().
-
-\sa \ref matrixbase_sinh "sinh()" for an example.
-
-
-
-\subsection matrixbase_exp MatrixBase::exp()
-
-Compute the matrix exponential.
-
-\code
-const MatrixExponentialReturnValue<Derived> MatrixBase<Derived>::exp() const
-\endcode
-
-\param[in]  M  matrix whose exponential is to be computed.
-\returns    expression representing the matrix exponential of \p M.
-
-The matrix exponential of \f$ M \f$ is defined by
-\f[ \exp(M) = \sum_{k=0}^\infty \frac{M^k}{k!}. \f]
-The matrix exponential can be used to solve linear ordinary
-differential equations: the solution of \f$ y' = My \f$ with the
-initial condition \f$ y(0) = y_0 \f$ is given by
-\f$ y(t) = \exp(M) y_0 \f$.
-
-The cost of the computation is approximately \f$ 20 n^3 \f$ for
-matrices of size \f$ n \f$. The number 20 depends weakly on the
-norm of the matrix.
-
-The matrix exponential is computed using the scaling-and-squaring
-method combined with Pad&eacute; approximation. The matrix is first
-rescaled, then the exponential of the reduced matrix is computed
-approximant, and then the rescaling is undone by repeated
-squaring. The degree of the Pad&eacute; approximant is chosen such
-that the approximation error is less than the round-off
-error. However, errors may accumulate during the squaring phase.
-
-Details of the algorithm can be found in: Nicholas J. Higham, "The
-scaling and squaring method for the matrix exponential revisited,"
-<em>SIAM J. %Matrix Anal. Applic.</em>, <b>26</b>:1179&ndash;1193,
-2005.
-
-Example: The following program checks that
-\f[ \exp \left[ \begin{array}{ccc}
-      0 & \frac14\pi & 0 \\
-      -\frac14\pi & 0 & 0 \\
-      0 & 0 & 0
-    \end{array} \right] = \left[ \begin{array}{ccc}
-      \frac12\sqrt2 & -\frac12\sqrt2 & 0 \\
-      \frac12\sqrt2 & \frac12\sqrt2 & 0 \\
-      0 & 0 & 1
-    \end{array} \right]. \f]
-This corresponds to a rotation of \f$ \frac14\pi \f$ radians around
-the z-axis.
-
-\include MatrixExponential.cpp
-Output: \verbinclude MatrixExponential.out
-
-\note \p M has to be a matrix of \c float, \c double, \c long double
-\c complex<float>, \c complex<double>, or \c complex<long double> .
-
-
-\subsection matrixbase_log MatrixBase::log()
-
-Compute the matrix logarithm.
-
-\code
-const MatrixLogarithmReturnValue<Derived> MatrixBase<Derived>::log() const
-\endcode
-
-\param[in]  M  invertible matrix whose logarithm is to be computed.
-\returns    expression representing the matrix logarithm root of \p M.
-
-The matrix logarithm of \f$ M \f$ is a matrix \f$ X \f$ such that 
-\f$ \exp(X) = M \f$ where exp denotes the matrix exponential. As for
-the scalar logarithm, the equation \f$ \exp(X) = M \f$ may have
-multiple solutions; this function returns a matrix whose eigenvalues
-have imaginary part in the interval \f$ (-\pi,\pi] \f$.
-
-In the real case, the matrix \f$ M \f$ should be invertible and
-it should have no eigenvalues which are real and negative (pairs of
-complex conjugate eigenvalues are allowed). In the complex case, it
-only needs to be invertible.
-
-This function computes the matrix logarithm using the Schur-Parlett
-algorithm as implemented by MatrixBase::matrixFunction(). The
-logarithm of an atomic block is computed by MatrixLogarithmAtomic,
-which uses direct computation for 1-by-1 and 2-by-2 blocks and an
-inverse scaling-and-squaring algorithm for bigger blocks, with the
-square roots computed by MatrixBase::sqrt().
-
-Details of the algorithm can be found in Section 11.6.2 of:
-Nicholas J. Higham,
-<em>Functions of Matrices: Theory and Computation</em>,
-SIAM 2008. ISBN 978-0-898716-46-7.
-
-Example: The following program checks that
-\f[ \log \left[ \begin{array}{ccc} 
-      \frac12\sqrt2 & -\frac12\sqrt2 & 0 \\
-      \frac12\sqrt2 & \frac12\sqrt2 & 0 \\
-      0 & 0 & 1
-    \end{array} \right] = \left[ \begin{array}{ccc}
-      0 & \frac14\pi & 0 \\ 
-      -\frac14\pi & 0 & 0 \\
-      0 & 0 & 0 
-    \end{array} \right]. \f]
-This corresponds to a rotation of \f$ \frac14\pi \f$ radians around
-the z-axis. This is the inverse of the example used in the
-documentation of \ref matrixbase_exp "exp()".
-
-\include MatrixLogarithm.cpp
-Output: \verbinclude MatrixLogarithm.out
-
-\note \p M has to be a matrix of \c float, \c double, <tt>long
-double</tt>, \c complex<float>, \c complex<double>, or \c complex<long
-double> .
-
-\sa MatrixBase::exp(), MatrixBase::matrixFunction(), 
-    class MatrixLogarithmAtomic, MatrixBase::sqrt().
-
-
-\subsection matrixbase_pow MatrixBase::pow()
-
-Compute the matrix raised to arbitrary real power.
-
-\code
-const MatrixPowerReturnValue<Derived> MatrixBase<Derived>::pow(RealScalar p) const
-\endcode
-
-\param[in]  M  base of the matrix power, should be a square matrix.
-\param[in]  p  exponent of the matrix power, should be real.
-
-The matrix power \f$ M^p \f$ is defined as \f$ \exp(p \log(M)) \f$,
-where exp denotes the matrix exponential, and log denotes the matrix
-logarithm.
-
-The matrix \f$ M \f$ should meet the conditions to be an argument of
-matrix logarithm. If \p p is not of the real scalar type of \p M, it
-is casted into the real scalar type of \p M.
-
-This function computes the matrix power using the Schur-Pad&eacute;
-algorithm as implemented by class MatrixPower. The exponent is split
-into integral part and fractional part, where the fractional part is
-in the interval \f$ (-1, 1) \f$. The main diagonal and the first
-super-diagonal is directly computed.
-
-Details of the algorithm can be found in: Nicholas J. Higham and
-Lijing Lin, "A Schur-Pad&eacute; algorithm for fractional powers of a
-matrix," <em>SIAM J. %Matrix Anal. Applic.</em>,
-<b>32(3)</b>:1056&ndash;1078, 2011.
-
-Example: The following program checks that
-\f[ \left[ \begin{array}{ccc}
-      \cos1 & -\sin1 & 0 \\
-      \sin1 & \cos1 & 0 \\
-      0 & 0 & 1
-    \end{array} \right]^{\frac14\pi} = \left[ \begin{array}{ccc}
-      \frac12\sqrt2 & -\frac12\sqrt2 & 0 \\
-      \frac12\sqrt2 & \frac12\sqrt2 & 0 \\
-      0 & 0 & 1
-    \end{array} \right]. \f]
-This corresponds to \f$ \frac14\pi \f$ rotations of 1 radian around
-the z-axis.
-
-\include MatrixPower.cpp
-Output: \verbinclude MatrixPower.out
-
-MatrixBase::pow() is user-friendly. However, there are some
-circumstances under which you should use class MatrixPower directly.
-MatrixPower can save the result of Schur decomposition, so it's
-better for computing various powers for the same matrix.
-
-Example:
-\include MatrixPower_optimal.cpp
-Output: \verbinclude MatrixPower_optimal.out
-
-\note \p M has to be a matrix of \c float, \c double, <tt>long
-double</tt>, \c complex<float>, \c complex<double>, or \c complex<long
-double> .
-
-\sa MatrixBase::exp(), MatrixBase::log(), class MatrixPower.
-
-
-\subsection matrixbase_matrixfunction MatrixBase::matrixFunction()
-
-Compute a matrix function.
-
-\code
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::matrixFunction(typename internal::stem_function<typename internal::traits<Derived>::Scalar>::type f) const
-\endcode
-
-\param[in]  M  argument of matrix function, should be a square matrix.
-\param[in]  f  an entire function; \c f(x,n) should compute the n-th
-derivative of f at x.
-\returns  expression representing \p f applied to \p M.
-
-Suppose that \p M is a matrix whose entries have type \c Scalar. 
-Then, the second argument, \p f, should be a function with prototype
-\code 
-ComplexScalar f(ComplexScalar, int) 
-\endcode
-where \c ComplexScalar = \c std::complex<Scalar> if \c Scalar is
-real (e.g., \c float or \c double) and \c ComplexScalar =
-\c Scalar if \c Scalar is complex. The return value of \c f(x,n)
-should be \f$ f^{(n)}(x) \f$, the n-th derivative of f at x.
-
-This routine uses the algorithm described in:
-Philip Davies and Nicholas J. Higham, 
-"A Schur-Parlett algorithm for computing matrix functions", 
-<em>SIAM J. %Matrix Anal. Applic.</em>, <b>25</b>:464&ndash;485, 2003.
-
-The actual work is done by the MatrixFunction class.
-
-Example: The following program checks that
-\f[ \exp \left[ \begin{array}{ccc} 
-      0 & \frac14\pi & 0 \\ 
-      -\frac14\pi & 0 & 0 \\
-      0 & 0 & 0 
-    \end{array} \right] = \left[ \begin{array}{ccc}
-      \frac12\sqrt2 & -\frac12\sqrt2 & 0 \\
-      \frac12\sqrt2 & \frac12\sqrt2 & 0 \\
-      0 & 0 & 1
-    \end{array} \right]. \f]
-This corresponds to a rotation of \f$ \frac14\pi \f$ radians around
-the z-axis. This is the same example as used in the documentation
-of \ref matrixbase_exp "exp()".
-
-\include MatrixFunction.cpp
-Output: \verbinclude MatrixFunction.out
-
-Note that the function \c expfn is defined for complex numbers 
-\c x, even though the matrix \c A is over the reals. Instead of
-\c expfn, we could also have used StdStemFunctions::exp:
-\code
-A.matrixFunction(StdStemFunctions<std::complex<double> >::exp, &B);
-\endcode
-
-
-
-\subsection matrixbase_sin MatrixBase::sin()
-
-Compute the matrix sine.
-
-\code
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::sin() const
-\endcode
-
-\param[in]  M  a square matrix.
-\returns  expression representing \f$ \sin(M) \f$.
-
-This function calls \ref matrixbase_matrixfunction "matrixFunction()" with StdStemFunctions::sin().
-
-Example: \include MatrixSine.cpp
-Output: \verbinclude MatrixSine.out
-
-
-
-\subsection matrixbase_sinh MatrixBase::sinh()
-
-Compute the matrix hyperbolic sine.
-
-\code
-MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::sinh() const
-\endcode
-
-\param[in]  M  a square matrix.
-\returns  expression representing \f$ \sinh(M) \f$
-
-This function calls \ref matrixbase_matrixfunction "matrixFunction()" with StdStemFunctions::sinh().
-
-Example: \include MatrixSinh.cpp
-Output: \verbinclude MatrixSinh.out
-
-
-\subsection matrixbase_sqrt MatrixBase::sqrt()
-
-Compute the matrix square root.
-
-\code
-const MatrixSquareRootReturnValue<Derived> MatrixBase<Derived>::sqrt() const
-\endcode
-
-\param[in]  M  invertible matrix whose square root is to be computed.
-\returns    expression representing the matrix square root of \p M.
-
-The matrix square root of \f$ M \f$ is the matrix \f$ M^{1/2} \f$
-whose square is the original matrix; so if \f$ S = M^{1/2} \f$ then
-\f$ S^2 = M \f$. 
-
-In the <b>real case</b>, the matrix \f$ M \f$ should be invertible and
-it should have no eigenvalues which are real and negative (pairs of
-complex conjugate eigenvalues are allowed). In that case, the matrix
-has a square root which is also real, and this is the square root
-computed by this function. 
-
-The matrix square root is computed by first reducing the matrix to
-quasi-triangular form with the real Schur decomposition. The square
-root of the quasi-triangular matrix can then be computed directly. The
-cost is approximately \f$ 25 n^3 \f$ real flops for the real Schur
-decomposition and \f$ 3\frac13 n^3 \f$ real flops for the remainder
-(though the computation time in practice is likely more than this
-indicates).
-
-Details of the algorithm can be found in: Nicholas J. Highan,
-"Computing real square roots of a real matrix", <em>Linear Algebra
-Appl.</em>, 88/89:405&ndash;430, 1987.
-
-If the matrix is <b>positive-definite symmetric</b>, then the square
-root is also positive-definite symmetric. In this case, it is best to
-use SelfAdjointEigenSolver::operatorSqrt() to compute it.
-
-In the <b>complex case</b>, the matrix \f$ M \f$ should be invertible;
-this is a restriction of the algorithm. The square root computed by
-this algorithm is the one whose eigenvalues have an argument in the
-interval \f$ (-\frac12\pi, \frac12\pi] \f$. This is the usual branch
-cut.
-
-The computation is the same as in the real case, except that the
-complex Schur decomposition is used to reduce the matrix to a
-triangular matrix. The theoretical cost is the same. Details are in:
-&Aring;ke Bj&ouml;rck and Sven Hammarling, "A Schur method for the
-square root of a matrix", <em>Linear Algebra Appl.</em>,
-52/53:127&ndash;140, 1983.
-
-Example: The following program checks that the square root of
-\f[ \left[ \begin{array}{cc} 
-              \cos(\frac13\pi) & -\sin(\frac13\pi) \\
-              \sin(\frac13\pi) & \cos(\frac13\pi)
-    \end{array} \right], \f]
-corresponding to a rotation over 60 degrees, is a rotation over 30 degrees:
-\f[ \left[ \begin{array}{cc} 
-              \cos(\frac16\pi) & -\sin(\frac16\pi) \\
-              \sin(\frac16\pi) & \cos(\frac16\pi)
-    \end{array} \right]. \f]
-
-\include MatrixSquareRoot.cpp
-Output: \verbinclude MatrixSquareRoot.out
-
-\sa class RealSchur, class ComplexSchur, class MatrixSquareRoot,
-    SelfAdjointEigenSolver::operatorSqrt().
-
-*/
-
-#endif // EIGEN_MATRIX_FUNCTIONS
-
diff --git a/eigenlib/unsupported/Eigen/NonLinearOptimization b/eigenlib/unsupported/Eigen/NonLinearOptimization
deleted file mode 100644
index 600ab4c1..00000000
--- a/eigenlib/unsupported/Eigen/NonLinearOptimization
+++ /dev/null
@@ -1,134 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_NONLINEAROPTIMIZATION_MODULE
-#define EIGEN_NONLINEAROPTIMIZATION_MODULE
-
-#include <vector>
-
-#include <Eigen/Core>
-#include <Eigen/Jacobi>
-#include <Eigen/QR>
-#include <unsupported/Eigen/NumericalDiff>
-
-/**
-  * \defgroup NonLinearOptimization_Module Non linear optimization module
-  *
-  * \code
-  * #include <unsupported/Eigen/NonLinearOptimization>
-  * \endcode
-  *
-  * This module provides implementation of two important algorithms in non linear
-  * optimization. In both cases, we consider a system of non linear functions. Of
-  * course, this should work, and even work very well if those functions are
-  * actually linear. But if this is so, you should probably better use other
-  * methods more fitted to this special case.
-  *
-  * One algorithm allows to find an extremum of such a system (Levenberg
-  * Marquardt algorithm) and the second one is used to find 
-  * a zero for the system (Powell hybrid "dogleg" method).
-  *
-  * This code is a port of minpack (http://en.wikipedia.org/wiki/MINPACK).
-  * Minpack is a very famous, old, robust and well-reknown package, written in 
-  * fortran. Those implementations have been carefully tuned, tested, and used
-  * for several decades.
-  *
-  * The original fortran code was automatically translated using f2c (http://en.wikipedia.org/wiki/F2c) in C,
-  * then c++, and then cleaned by several different authors.
-  * The last one of those cleanings being our starting point : 
-  * http://devernay.free.fr/hacks/cminpack.html
-  * 
-  * Finally, we ported this code to Eigen, creating classes and API
-  * coherent with Eigen. When possible, we switched to Eigen
-  * implementation, such as most linear algebra (vectors, matrices, stable norms).
-  *
-  * Doing so, we were very careful to check the tests we setup at the very
-  * beginning, which ensure that the same results are found.
-  *
-  * \section Tests Tests
-  * 
-  * The tests are placed in the file unsupported/test/NonLinear.cpp.
-  * 
-  * There are two kinds of tests : those that come from examples bundled with cminpack.
-  * They guaranty we get the same results as the original algorithms (value for 'x',
-  * for the number of evaluations of the function, and for the number of evaluations
-  * of the jacobian if ever).
-  * 
-  * Other tests were added by myself at the very beginning of the 
-  * process and check the results for levenberg-marquardt using the reference data 
-  * on http://www.itl.nist.gov/div898/strd/nls/nls_main.shtml. Since then i've 
-  * carefully checked that the same results were obtained when modifiying the 
-  * code. Please note that we do not always get the exact same decimals as they do,
-  * but this is ok : they use 128bits float, and we do the tests using the C type 'double',
-  * which is 64 bits on most platforms (x86 and amd64, at least).
-  * I've performed those tests on several other implementations of levenberg-marquardt, and
-  * (c)minpack performs VERY well compared to those, both in accuracy and speed.
-  * 
-  * The documentation for running the tests is on the wiki
-  * http://eigen.tuxfamily.org/index.php?title=Tests
-  * 
-  * \section API API : overview of methods
-  * 
-  * Both algorithms can use either the jacobian (provided by the user) or compute 
-  * an approximation by themselves (actually using Eigen \ref NumericalDiff_Module).
-  * The part of API referring to the latter use 'NumericalDiff' in the method names
-  * (exemple: LevenbergMarquardt.minimizeNumericalDiff() ) 
-  * 
-  * The methods LevenbergMarquardt.lmder1()/lmdif1()/lmstr1() and 
-  * HybridNonLinearSolver.hybrj1()/hybrd1() are specific methods from the original 
-  * minpack package that you probably should NOT use until you are porting a code that
-  *  was previously using minpack. They just define a 'simple' API with default values 
-  * for some parameters.
-  * 
-  * All algorithms are provided using Two APIs :
-  *     - one where the user inits the algorithm, and uses '*OneStep()' as much as he wants : 
-  * this way the caller have control over the steps
-  *     - one where the user just calls a method (optimize() or solve()) which will 
-  * handle the loop: init + loop until a stop condition is met. Those are provided for
-  *  convenience.
-  * 
-  * As an example, the method LevenbergMarquardt::minimize() is 
-  * implemented as follow : 
-  * \code
-  * Status LevenbergMarquardt<FunctorType,Scalar>::minimize(FVectorType  &x, const int mode)
-  * {
-  *     Status status = minimizeInit(x, mode);
-  *     do {
-  *         status = minimizeOneStep(x, mode);
-  *     } while (status==Running);
-  *     return status;
-  * }
-  * \endcode
-  * 
-  * \section examples Examples
-  * 
-  * The easiest way to understand how to use this module is by looking at the many examples in the file
-  * unsupported/test/NonLinearOptimization.cpp.
-  */
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
-#include "src/NonLinearOptimization/qrsolv.h"
-#include "src/NonLinearOptimization/r1updt.h"
-#include "src/NonLinearOptimization/r1mpyq.h"
-#include "src/NonLinearOptimization/rwupdt.h"
-#include "src/NonLinearOptimization/fdjac1.h"
-#include "src/NonLinearOptimization/lmpar.h"
-#include "src/NonLinearOptimization/dogleg.h"
-#include "src/NonLinearOptimization/covar.h"
-
-#include "src/NonLinearOptimization/chkder.h"
-
-#endif
-
-#include "src/NonLinearOptimization/HybridNonLinearSolver.h"
-#include "src/NonLinearOptimization/LevenbergMarquardt.h"
-
-
-#endif // EIGEN_NONLINEAROPTIMIZATION_MODULE
diff --git a/eigenlib/unsupported/Eigen/NumericalDiff b/eigenlib/unsupported/Eigen/NumericalDiff
deleted file mode 100644
index 433334ca..00000000
--- a/eigenlib/unsupported/Eigen/NumericalDiff
+++ /dev/null
@@ -1,56 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_NUMERICALDIFF_MODULE
-#define EIGEN_NUMERICALDIFF_MODULE
-
-#include <Eigen/Core>
-
-namespace Eigen {
-
-/**
-  * \defgroup NumericalDiff_Module Numerical differentiation module
-  *
-  * \code
-  * #include <unsupported/Eigen/NumericalDiff>
-  * \endcode
-  *
-  * See http://en.wikipedia.org/wiki/Numerical_differentiation
-  *
-  * Warning : this should NOT be confused with automatic differentiation, which
-  * is a different method and has its own module in Eigen : \ref
-  * AutoDiff_Module.
-  *
-  * Currently only "Forward" and "Central" schemes are implemented. Those
-  * are basic methods, and there exist some more elaborated way of
-  * computing such approximates. They are implemented using both
-  * proprietary and free software, and usually requires linking to an
-  * external library. It is very easy for you to write a functor
-  * using such software, and the purpose is quite orthogonal to what we
-  * want to achieve with Eigen.
-  *
-  * This is why we will not provide wrappers for every great numerical
-  * differentiation software that exist, but should rather stick with those
-  * basic ones, that still are useful for testing.
-  *
-  * Also, the \ref NonLinearOptimization_Module needs this in order to
-  * provide full features compatibility with the original (c)minpack
-  * package.
-  *
-  */
-}
-
-//@{
-
-#include "src/NumericalDiff/NumericalDiff.h"
-
-//@}
-
-
-#endif // EIGEN_NUMERICALDIFF_MODULE
diff --git a/eigenlib/unsupported/Eigen/OpenGLSupport b/eigenlib/unsupported/Eigen/OpenGLSupport
deleted file mode 100644
index e2769449..00000000
--- a/eigenlib/unsupported/Eigen/OpenGLSupport
+++ /dev/null
@@ -1,322 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_OPENGL_MODULE
-#define EIGEN_OPENGL_MODULE
-
-#include <Eigen/Geometry>
-
-#if defined(__APPLE_CC__)
-  #include <OpenGL/gl.h>
-#else
-  #include <GL/gl.h>
-#endif
-
-namespace Eigen {
-
-/**
-  * \defgroup OpenGLSUpport_Module OpenGL Support module
-  *
-  * This module provides wrapper functions for a couple of OpenGL functions
-  * which simplify the way to pass Eigen's object to openGL.
-  * Here is an exmaple:
-  * 
-  * \code
-  * // You need to add path_to_eigen/unsupported to your include path.
-  * #include <Eigen/OpenGLSupport>
-  * // ...
-  * Vector3f x, y;
-  * Matrix3f rot;
-  * 
-  * glVertex(y + x * rot);
-  * 
-  * Quaternion q;
-  * glRotate(q);
-  * 
-  * // ...
-  * \endcode
-  *
-  */
-//@{
-
-#define EIGEN_GL_FUNC_DECLARATION(FUNC)                                                                             \
-namespace internal {                                                                                                \
-  template< typename XprType,                                                                                       \
-            typename Scalar = typename XprType::Scalar,                                                             \
-            int Rows = XprType::RowsAtCompileTime,                                                                  \
-            int Cols = XprType::ColsAtCompileTime,                                                                  \
-            bool IsGLCompatible = bool(XprType::Flags&LinearAccessBit)                                              \
-                              && bool(XprType::Flags&DirectAccessBit)                                               \
-                              && (XprType::IsVectorAtCompileTime || (XprType::Flags&RowMajorBit)==0)>               \
-  struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl);                                                                      \
-                                                                                                                    \
-  template<typename XprType, typename Scalar, int Rows, int Cols>                                                   \
-  struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType,Scalar,Rows,Cols,false> {                                     \
-    inline static void run(const XprType& p) {                                                                      \
-      EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<typename plain_matrix_type_column_major<XprType>::type>::run(p); }       \
-  };                                                                                                                \
-}                                                                                                                   \
-                                                                                                                    \
-template<typename Derived> inline void FUNC(const Eigen::DenseBase<Derived>& p) {                                   \
-  EIGEN_CAT(EIGEN_CAT(internal::gl_,FUNC),_impl)<Derived>::run(p.derived());                                        \
-}
-
-
-#define EIGEN_GL_FUNC_SPECIALIZATION_MAT(FUNC,SCALAR,ROWS,COLS,SUFFIX)                                              \
-namespace internal {                                                                                                \
-  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, ROWS, COLS, true> {      \
-    inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); }                                            \
-  };                                                                                                                \
-}
-
-  
-#define EIGEN_GL_FUNC_SPECIALIZATION_VEC(FUNC,SCALAR,SIZE,SUFFIX)                                                   \
-namespace internal {                                                                                                \
-  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, SIZE, 1, true> {         \
-    inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); }                                            \
-  };                                                                                                                \
-  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, 1, SIZE, true> {         \
-    inline static void run(const XprType& p) { FUNC##SUFFIX(p.data()); }                                            \
-  };                                                                                                                \
-}
-
-  
-EIGEN_GL_FUNC_DECLARATION       (glVertex)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int,    2,2iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short,  2,2sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float,  2,2fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 2,2dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int,    3,3iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short,  3,3sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float,  3,3fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 3,3dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,int,    4,4iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,short,  4,4sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,float,  4,4fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glVertex,double, 4,4dv)
-
-EIGEN_GL_FUNC_DECLARATION       (glTexCoord)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int,    2,2iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short,  2,2sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float,  2,2fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 2,2dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int,    3,3iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short,  3,3sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float,  3,3fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 3,3dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,int,    4,4iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,short,  4,4sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,float,  4,4fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTexCoord,double, 4,4dv)
-
-EIGEN_GL_FUNC_DECLARATION       (glColor)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int,    2,2iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short,  2,2sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float,  2,2fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 2,2dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int,    3,3iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short,  3,3sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float,  3,3fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 3,3dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,int,    4,4iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,short,  4,4sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,float,  4,4fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glColor,double, 4,4dv)
-
-EIGEN_GL_FUNC_DECLARATION       (glNormal)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,int,    3,3iv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,short,  3,3sv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,float,  3,3fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glNormal,double, 3,3dv)
-
-inline void glScale2fv(const float*  v) { glScalef(v[0], v[1], 1.f);  }
-inline void glScale2dv(const double* v) { glScaled(v[0], v[1], 1.0);  }
-inline void glScale3fv(const float*  v) { glScalef(v[0], v[1], v[2]); }
-inline void glScale3dv(const double* v) { glScaled(v[0], v[1], v[2]); }
-
-EIGEN_GL_FUNC_DECLARATION       (glScale)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,float,  2,2fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,double, 2,2dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,float,  3,3fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glScale,double, 3,3dv)
-
-template<typename Scalar> void glScale(const UniformScaling<Scalar>& s)  { glScale(Matrix<Scalar,3,1>::Constant(s.factor())); }
-
-inline void glTranslate2fv(const float*  v) { glTranslatef(v[0], v[1], 0.f);  }
-inline void glTranslate2dv(const double* v) { glTranslated(v[0], v[1], 0.0);  }
-inline void glTranslate3fv(const float*  v) { glTranslatef(v[0], v[1], v[2]); }
-inline void glTranslate3dv(const double* v) { glTranslated(v[0], v[1], v[2]); }
-
-EIGEN_GL_FUNC_DECLARATION       (glTranslate)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,float,  2,2fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,double, 2,2dv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,float,  3,3fv)
-EIGEN_GL_FUNC_SPECIALIZATION_VEC(glTranslate,double, 3,3dv)
-
-template<typename Scalar> void glTranslate(const Translation<Scalar,2>& t)  { glTranslate(t.vector()); }
-template<typename Scalar> void glTranslate(const Translation<Scalar,3>& t)  { glTranslate(t.vector()); }
-
-EIGEN_GL_FUNC_DECLARATION       (glMultMatrix)
-EIGEN_GL_FUNC_SPECIALIZATION_MAT(glMultMatrix,float,  4,4,f)
-EIGEN_GL_FUNC_SPECIALIZATION_MAT(glMultMatrix,double, 4,4,d)
-
-template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,Affine>& t)        { glMultMatrix(t.matrix()); }
-template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,Projective>& t)    { glMultMatrix(t.matrix()); }
-template<typename Scalar> void glMultMatrix(const Transform<Scalar,3,AffineCompact>& t) { glMultMatrix(Transform<Scalar,3,Affine>(t).matrix()); }
-
-EIGEN_GL_FUNC_DECLARATION       (glLoadMatrix)
-EIGEN_GL_FUNC_SPECIALIZATION_MAT(glLoadMatrix,float,  4,4,f)
-EIGEN_GL_FUNC_SPECIALIZATION_MAT(glLoadMatrix,double, 4,4,d)
-
-template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,Affine>& t)        { glLoadMatrix(t.matrix()); }
-template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,Projective>& t)    { glLoadMatrix(t.matrix()); }
-template<typename Scalar> void glLoadMatrix(const Transform<Scalar,3,AffineCompact>& t) { glLoadMatrix(Transform<Scalar,3,Affine>(t).matrix()); }
-
-inline void glRotate(const Rotation2D<float>& rot)
-{
-  glRotatef(rot.angle()*180.f/float(M_PI), 0.f, 0.f, 1.f);
-}
-inline void glRotate(const Rotation2D<double>& rot)
-{
-  glRotated(rot.angle()*180.0/M_PI, 0.0, 0.0, 1.0);
-}
-
-template<typename Derived> void glRotate(const RotationBase<Derived,3>& rot)
-{  
-  Transform<typename Derived::Scalar,3,Projective> tr(rot);
-  glMultMatrix(tr.matrix());
-}
-
-#define EIGEN_GL_MAKE_CONST_const const
-#define EIGEN_GL_MAKE_CONST__ 
-#define EIGEN_GL_EVAL(X) X
-
-#define EIGEN_GL_FUNC1_DECLARATION(FUNC,ARG1,CONST)                                                                             \
-namespace internal {                                                                                                            \
-  template< typename XprType,                                                                                                   \
-            typename Scalar = typename XprType::Scalar,                                                                         \
-            int Rows = XprType::RowsAtCompileTime,                                                                              \
-            int Cols = XprType::ColsAtCompileTime,                                                                              \
-            bool IsGLCompatible = bool(XprType::Flags&LinearAccessBit)                                                          \
-                              && bool(XprType::Flags&DirectAccessBit)                                                           \
-                              && (XprType::IsVectorAtCompileTime || (XprType::Flags&RowMajorBit)==0)>                           \
-  struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl);                                                                                  \
-                                                                                                                                \
-  template<typename XprType, typename Scalar, int Rows, int Cols>                                                               \
-  struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType,Scalar,Rows,Cols,false> {                                                 \
-    inline static void run(ARG1 a,EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) {                                      \
-      EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<typename plain_matrix_type_column_major<XprType>::type>::run(a,p); }                 \
-  };                                                                                                                            \
-}                                                                                                                               \
-                                                                                                                                \
-template<typename Derived> inline void FUNC(ARG1 a,EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) Eigen::DenseBase<Derived>& p) {   \
-  EIGEN_CAT(EIGEN_CAT(internal::gl_,FUNC),_impl)<Derived>::run(a,p.derived());                                                  \
-}
-
-
-#define EIGEN_GL_FUNC1_SPECIALIZATION_MAT(FUNC,ARG1,CONST,SCALAR,ROWS,COLS,SUFFIX)                                              \
-namespace internal {                                                                                                            \
-  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, ROWS, COLS, true> {                  \
-    inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); }         \
-  }; \
-}
-
-  
-#define EIGEN_GL_FUNC1_SPECIALIZATION_VEC(FUNC,ARG1,CONST,SCALAR,SIZE,SUFFIX)                                                   \
-namespace internal {                                                                                                            \
-  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, SIZE, 1, true> {                     \
-    inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); }         \
-  };                                                                                                                            \
-  template< typename XprType> struct EIGEN_CAT(EIGEN_CAT(gl_,FUNC),_impl)<XprType, SCALAR, 1, SIZE, true> {                     \
-    inline static void run(ARG1 a, EIGEN_GL_EVAL(EIGEN_GL_MAKE_CONST_##CONST) XprType& p) { FUNC##SUFFIX(a,p.data()); }         \
-  };                                                                                                                            \
-}
-
-EIGEN_GL_FUNC1_DECLARATION       (glGet,GLenum,_)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glGet,GLenum,_,float,  4,4,Floatv)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glGet,GLenum,_,double, 4,4,Doublev)
-
-// glUniform API
-
-#ifdef GL_VERSION_2_0
-
-inline void glUniform2fv_ei  (GLint loc, const float* v)         { glUniform2fv(loc,1,v); }
-inline void glUniform2iv_ei  (GLint loc, const int* v)           { glUniform2iv(loc,1,v); }
-
-inline void glUniform3fv_ei  (GLint loc, const float* v)         { glUniform3fv(loc,1,v); }
-inline void glUniform3iv_ei  (GLint loc, const int* v)           { glUniform3iv(loc,1,v); }
-
-inline void glUniform4fv_ei  (GLint loc, const float* v)         { glUniform4fv(loc,1,v); }
-inline void glUniform4iv_ei  (GLint loc, const int* v)           { glUniform4iv(loc,1,v); }
-
-inline void glUniformMatrix2fv_ei  (GLint loc, const float* v)         { glUniformMatrix2fv(loc,1,false,v); }
-inline void glUniformMatrix3fv_ei  (GLint loc, const float* v)         { glUniformMatrix3fv(loc,1,false,v); }
-inline void glUniformMatrix4fv_ei  (GLint loc, const float* v)         { glUniformMatrix4fv(loc,1,false,v); }
-
-
-EIGEN_GL_FUNC1_DECLARATION       (glUniform,GLint,const)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float,        2,2fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int,          2,2iv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float,        3,3fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int,          3,3iv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,float,        4,4fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,int,          4,4iv_ei)
-
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        2,2,Matrix2fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        3,3,Matrix3fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        4,4,Matrix4fv_ei)
-
-#endif
-
-#ifdef GL_VERSION_2_1
-
-static void glUniformMatrix2x3fv_ei(GLint loc, const float* v)         { glUniformMatrix2x3fv(loc,1,false,v); }
-static void glUniformMatrix3x2fv_ei(GLint loc, const float* v)         { glUniformMatrix3x2fv(loc,1,false,v); }
-static void glUniformMatrix2x4fv_ei(GLint loc, const float* v)         { glUniformMatrix2x4fv(loc,1,false,v); }
-static void glUniformMatrix4x2fv_ei(GLint loc, const float* v)         { glUniformMatrix4x2fv(loc,1,false,v); }
-static void glUniformMatrix3x4fv_ei(GLint loc, const float* v)         { glUniformMatrix3x4fv(loc,1,false,v); }
-static void glUniformMatrix4x3fv_ei(GLint loc, const float* v)         { glUniformMatrix4x3fv(loc,1,false,v); }
-
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        2,3,Matrix2x3fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        3,2,Matrix3x2fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        2,4,Matrix2x4fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        4,2,Matrix4x2fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        3,4,Matrix3x4fv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_MAT(glUniform,GLint,const,float,        4,3,Matrix4x3fv_ei)
-
-#endif
-
-#ifdef GL_VERSION_3_0
-
-inline void glUniform2uiv_ei (GLint loc, const unsigned int* v)  { glUniform2uiv(loc,1,v); }
-inline void glUniform3uiv_ei (GLint loc, const unsigned int* v)  { glUniform3uiv(loc,1,v); }
-inline void glUniform4uiv_ei (GLint loc, const unsigned int* v)  { glUniform4uiv(loc,1,v); }
-
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 2,2uiv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 3,3uiv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,unsigned int, 4,4uiv_ei)
-
-#endif
-
-#ifdef GL_ARB_gpu_shader_fp64
-inline void glUniform2dv_ei  (GLint loc, const double* v)        { glUniform2dv(loc,1,v); }
-inline void glUniform3dv_ei  (GLint loc, const double* v)        { glUniform3dv(loc,1,v); }
-inline void glUniform4dv_ei  (GLint loc, const double* v)        { glUniform4dv(loc,1,v); }
-
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double,       2,2dv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double,       3,3dv_ei)
-EIGEN_GL_FUNC1_SPECIALIZATION_VEC(glUniform,GLint,const,double,       4,4dv_ei)
-#endif
-
-
-//@}
-
-}
-
-#endif // EIGEN_OPENGL_MODULE
diff --git a/eigenlib/unsupported/Eigen/Polynomials b/eigenlib/unsupported/Eigen/Polynomials
deleted file mode 100644
index cece5633..00000000
--- a/eigenlib/unsupported/Eigen/Polynomials
+++ /dev/null
@@ -1,138 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_POLYNOMIALS_MODULE_H
-#define EIGEN_POLYNOMIALS_MODULE_H
-
-#include <Eigen/Core>
-
-#include <Eigen/src/Core/util/DisableStupidWarnings.h>
-
-#include <Eigen/Eigenvalues>
-
-// Note that EIGEN_HIDE_HEAVY_CODE has to be defined per module
-#if (defined EIGEN_EXTERN_INSTANTIATIONS) && (EIGEN_EXTERN_INSTANTIATIONS>=2)
-  #ifndef EIGEN_HIDE_HEAVY_CODE
-  #define EIGEN_HIDE_HEAVY_CODE
-  #endif
-#elif defined EIGEN_HIDE_HEAVY_CODE
-  #undef EIGEN_HIDE_HEAVY_CODE
-#endif
-
-/**
-  * \defgroup Polynomials_Module Polynomials module
-  * \brief This module provides a QR based polynomial solver.
-	*
-  * To use this module, add
-  * \code
-  * #include <unsupported/Eigen/Polynomials>
-  * \endcode
-	* at the start of your source file.
-  */
-
-#include "src/Polynomials/PolynomialUtils.h"
-#include "src/Polynomials/Companion.h"
-#include "src/Polynomials/PolynomialSolver.h"
-
-/**
-	\page polynomials Polynomials defines functions for dealing with polynomials
-	and a QR based polynomial solver.
-	\ingroup Polynomials_Module
-
-	The remainder of the page documents first the functions for evaluating, computing
-	polynomials, computing estimates about polynomials and next the QR based polynomial
-	solver.
-
-	\section polynomialUtils convenient functions to deal with polynomials
-	\subsection roots_to_monicPolynomial
-	The function
-	\code
-	void roots_to_monicPolynomial( const RootVector& rv, Polynomial& poly )
-	\endcode
-	computes the coefficients \f$ a_i \f$ of
-
-	\f$ p(x) = a_0 + a_{1}x + ... + a_{n-1}x^{n-1} + x^n \f$
-
-	where \f$ p \f$ is known through its roots i.e. \f$ p(x) = (x-r_1)(x-r_2)...(x-r_n) \f$.
-
-	\subsection poly_eval
-	The function
-	\code
-	T poly_eval( const Polynomials& poly, const T& x )
-	\endcode
-	evaluates a polynomial at a given point using stabilized H&ouml;rner method.
-
-	The following code: first computes the coefficients in the monomial basis of the monic polynomial that has the provided roots;
-	then, it evaluates the computed polynomial, using a stabilized H&ouml;rner method.
-
-	\include PolynomialUtils1.cpp
-  Output: \verbinclude PolynomialUtils1.out
-
-	\subsection Cauchy bounds
-	The function
-	\code
-	Real cauchy_max_bound( const Polynomial& poly )
-	\endcode
-	provides a maximum bound (the Cauchy one: \f$C(p)\f$) for the absolute value of a root of the given polynomial i.e.
-	\f$ \forall r_i \f$ root of \f$ p(x) = \sum_{k=0}^d a_k x^k \f$,
-	\f$ |r_i| \le C(p) = \sum_{k=0}^{d} \left | \frac{a_k}{a_d} \right | \f$
-	The leading coefficient \f$ p \f$: should be non zero \f$a_d \neq 0\f$.
-
-
-	The function
-	\code
-	Real cauchy_min_bound( const Polynomial& poly )
-	\endcode
-	provides a minimum bound (the Cauchy one: \f$c(p)\f$) for the absolute value of a non zero root of the given polynomial i.e.
-	\f$ \forall r_i \neq 0 \f$ root of \f$ p(x) = \sum_{k=0}^d a_k x^k \f$,
-	\f$ |r_i| \ge c(p) = \left( \sum_{k=0}^{d} \left | \frac{a_k}{a_0} \right | \right)^{-1} \f$
-
-
-
-
-	\section QR polynomial solver class
-	Computes the complex roots of a polynomial by computing the eigenvalues of the associated companion matrix with the QR algorithm.
-	
-	The roots of \f$ p(x) = a_0 + a_1 x + a_2 x^2 + a_{3} x^3 + x^4 \f$ are the eigenvalues of
-	\f$
-	\left [
-	\begin{array}{cccc}
-	0 & 0 &  0 & a_0 \\
-	1 & 0 &  0 & a_1 \\
-	0 & 1 &  0 & a_2 \\
-	0 & 0 &  1 & a_3
-	\end{array} \right ]
-	\f$
-
-	However, the QR algorithm is not guaranteed to converge when there are several eigenvalues with same modulus.
-
-	Therefore the current polynomial solver is guaranteed to provide a correct result only when the complex roots \f$r_1,r_2,...,r_d\f$ have distinct moduli i.e.
-	
-	\f$ \forall i,j \in [1;d],~ \| r_i \| \neq \| r_j \| \f$.
-
-	With 32bit (float) floating types this problem shows up frequently.
-  However, almost always, correct accuracy is reached even in these cases for 64bit
-  (double) floating types and small polynomial degree (<20).
-
-	\include PolynomialSolver1.cpp
-	
-	In the above example:
-	
-	-# a simple use of the polynomial solver is shown;
-	-# the accuracy problem with the QR algorithm is presented: a polynomial with almost conjugate roots is provided to the solver.
-	Those roots have almost same module therefore the QR algorithm failed to converge: the accuracy
-	of the last root is bad;
-	-# a simple way to circumvent the problem is shown: use doubles instead of floats.
-
-  Output: \verbinclude PolynomialSolver1.out
-*/
-
-#include <Eigen/src/Core/util/ReenableStupidWarnings.h>
-
-#endif // EIGEN_POLYNOMIALS_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/eigenlib/unsupported/Eigen/SVD b/eigenlib/unsupported/Eigen/SVD
deleted file mode 100644
index 7cc05928..00000000
--- a/eigenlib/unsupported/Eigen/SVD
+++ /dev/null
@@ -1,39 +0,0 @@
-#ifndef EIGEN_SVD_MODULE_H
-#define EIGEN_SVD_MODULE_H
-
-#include <Eigen/QR>
-#include <Eigen/Householder>
-#include <Eigen/Jacobi>
-
-#include "../../Eigen/src/Core/util/DisableStupidWarnings.h"
-
-/** \defgroup SVD_Module SVD module
-  *
-  *
-  *
-  * This module provides SVD decomposition for matrices (both real and complex).
-  * This decomposition is accessible via the following MatrixBase method:
-  *  - MatrixBase::jacobiSvd()
-  *
-  * \code
-  * #include <Eigen/SVD>
-  * \endcode
-  */
-
-#include "../../Eigen/src/misc/Solve.h"
-#include "../../Eigen/src/SVD/UpperBidiagonalization.h"
-#include "src/SVD/SVDBase.h"
-#include "src/SVD/JacobiSVD.h"
-#include "src/SVD/BDCSVD.h"
-#if defined(EIGEN_USE_LAPACKE) && !defined(EIGEN_USE_LAPACKE_STRICT)
-#include "../../Eigen/src/SVD/JacobiSVD_MKL.h"
-#endif
-
-#ifdef EIGEN2_SUPPORT
-#include "../../Eigen/src/Eigen2Support/SVD.h"
-#endif
-
-#include "../../Eigen/src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SVD_MODULE_H
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/eigenlib/unsupported/Eigen/Skyline b/eigenlib/unsupported/Eigen/Skyline
deleted file mode 100644
index 71a68cb4..00000000
--- a/eigenlib/unsupported/Eigen/Skyline
+++ /dev/null
@@ -1,39 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINE_MODULE_H
-#define EIGEN_SKYLINE_MODULE_H
-
-
-#include "Eigen/Core"
-
-#include "Eigen/src/Core/util/DisableStupidWarnings.h"
-
-#include <map>
-#include <cstdlib>
-#include <cstring>
-#include <algorithm>
-
-/**
- *  \defgroup Skyline_Module Skyline module
- *
- *
- *
- *
- */
-
-#include "src/Skyline/SkylineUtil.h"
-#include "src/Skyline/SkylineMatrixBase.h"
-#include "src/Skyline/SkylineStorage.h"
-#include "src/Skyline/SkylineMatrix.h"
-#include "src/Skyline/SkylineInplaceLU.h"
-#include "src/Skyline/SkylineProduct.h"
-
-#include "Eigen/src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SKYLINE_MODULE_H
diff --git a/eigenlib/unsupported/Eigen/SparseExtra b/eigenlib/unsupported/Eigen/SparseExtra
deleted file mode 100644
index b5597902..00000000
--- a/eigenlib/unsupported/Eigen/SparseExtra
+++ /dev/null
@@ -1,56 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_EXTRA_MODULE_H
-#define EIGEN_SPARSE_EXTRA_MODULE_H
-
-#include "../../Eigen/Sparse"
-
-#include "../../Eigen/src/Core/util/DisableStupidWarnings.h"
-
-#include <vector>
-#include <map>
-#include <cstdlib>
-#include <cstring>
-#include <algorithm>
-#include <fstream>
-#include <sstream>
-
-#ifdef EIGEN_GOOGLEHASH_SUPPORT
-  #include <google/dense_hash_map>
-#endif
-
-/**
-  * \defgroup SparseExtra_Module SparseExtra module
-  *
-  * This module contains some experimental features extending the sparse module.
-  *
-  * \code
-  * #include <Eigen/SparseExtra>
-  * \endcode
-  */
-
-
-#include "../../Eigen/src/misc/Solve.h"
-#include "../../Eigen/src/misc/SparseSolve.h"
-
-#include "src/SparseExtra/DynamicSparseMatrix.h"
-#include "src/SparseExtra/BlockOfDynamicSparseMatrix.h"
-#include "src/SparseExtra/RandomSetter.h"
-
-#include "src/SparseExtra/MarketIO.h"
-
-#if !defined(_WIN32)
-#include <dirent.h>
-#include "src/SparseExtra/MatrixMarketIterator.h"
-#endif
-
-#include "../../Eigen/src/Core/util/ReenableStupidWarnings.h"
-
-#endif // EIGEN_SPARSE_EXTRA_MODULE_H
diff --git a/eigenlib/unsupported/Eigen/Splines b/eigenlib/unsupported/Eigen/Splines
deleted file mode 100644
index 322e6b9f..00000000
--- a/eigenlib/unsupported/Eigen/Splines
+++ /dev/null
@@ -1,31 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPLINES_MODULE_H
-#define EIGEN_SPLINES_MODULE_H
-
-namespace Eigen 
-{
-/**
-  * \defgroup Splines_Module Spline and spline fitting module
-  *
-  * This module provides a simple multi-dimensional spline class while
-  * offering most basic functionality to fit a spline to point sets.
-  *
-  * \code
-  * #include <unsupported/Eigen/Splines>
-  * \endcode
-  */
-}
-
-#include "src/Splines/SplineFwd.h"
-#include "src/Splines/Spline.h"
-#include "src/Splines/SplineFitting.h"
-
-#endif // EIGEN_SPLINES_MODULE_H
diff --git a/eigenlib/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h b/eigenlib/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
deleted file mode 100644
index 1a61e336..00000000
--- a/eigenlib/unsupported/Eigen/src/AutoDiff/AutoDiffJacobian.h
+++ /dev/null
@@ -1,83 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_AUTODIFF_JACOBIAN_H
-#define EIGEN_AUTODIFF_JACOBIAN_H
-
-namespace Eigen
-{
-
-template<typename Functor> class AutoDiffJacobian : public Functor
-{
-public:
-  AutoDiffJacobian() : Functor() {}
-  AutoDiffJacobian(const Functor& f) : Functor(f) {}
-
-  // forward constructors
-  template<typename T0>
-  AutoDiffJacobian(const T0& a0) : Functor(a0) {}
-  template<typename T0, typename T1>
-  AutoDiffJacobian(const T0& a0, const T1& a1) : Functor(a0, a1) {}
-  template<typename T0, typename T1, typename T2>
-  AutoDiffJacobian(const T0& a0, const T1& a1, const T2& a2) : Functor(a0, a1, a2) {}
-
-  enum {
-    InputsAtCompileTime = Functor::InputsAtCompileTime,
-    ValuesAtCompileTime = Functor::ValuesAtCompileTime
-  };
-
-  typedef typename Functor::InputType InputType;
-  typedef typename Functor::ValueType ValueType;
-  typedef typename Functor::JacobianType JacobianType;
-  typedef typename JacobianType::Scalar Scalar;
-  typedef typename JacobianType::Index Index;
-
-  typedef Matrix<Scalar,InputsAtCompileTime,1> DerivativeType;
-  typedef AutoDiffScalar<DerivativeType> ActiveScalar;
-
-
-  typedef Matrix<ActiveScalar, InputsAtCompileTime, 1> ActiveInput;
-  typedef Matrix<ActiveScalar, ValuesAtCompileTime, 1> ActiveValue;
-
-  void operator() (const InputType& x, ValueType* v, JacobianType* _jac=0) const
-  {
-    eigen_assert(v!=0);
-    if (!_jac)
-    {
-      Functor::operator()(x, v);
-      return;
-    }
-
-    JacobianType& jac = *_jac;
-
-    ActiveInput ax = x.template cast<ActiveScalar>();
-    ActiveValue av(jac.rows());
-
-    if(InputsAtCompileTime==Dynamic)
-      for (Index j=0; j<jac.rows(); j++)
-        av[j].derivatives().resize(this->inputs());
-
-    for (Index i=0; i<jac.cols(); i++)
-      ax[i].derivatives() = DerivativeType::Unit(this->inputs(),i);
-
-    Functor::operator()(ax, &av);
-
-    for (Index i=0; i<jac.rows(); i++)
-    {
-      (*v)[i] = av[i].value();
-      jac.row(i) = av[i].derivatives();
-    }
-  }
-protected:
-
-};
-
-}
-
-#endif // EIGEN_AUTODIFF_JACOBIAN_H
diff --git a/eigenlib/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h b/eigenlib/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h
deleted file mode 100644
index 8d42e69b..00000000
--- a/eigenlib/unsupported/Eigen/src/AutoDiff/AutoDiffScalar.h
+++ /dev/null
@@ -1,642 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_AUTODIFF_SCALAR_H
-#define EIGEN_AUTODIFF_SCALAR_H
-
-namespace Eigen {
-
-namespace internal {
-
-template<typename A, typename B>
-struct make_coherent_impl {
-  static void run(A&, B&) {}
-};
-
-// resize a to match b is a.size()==0, and conversely.
-template<typename A, typename B>
-void make_coherent(const A& a, const B&b)
-{
-  make_coherent_impl<A,B>::run(a.const_cast_derived(), b.const_cast_derived());
-}
-
-template<typename _DerType, bool Enable> struct auto_diff_special_op;
-
-} // end namespace internal
-
-/** \class AutoDiffScalar
-  * \brief A scalar type replacement with automatic differentation capability
-  *
-  * \param _DerType the vector type used to store/represent the derivatives. The base scalar type
-  *                 as well as the number of derivatives to compute are determined from this type.
-  *                 Typical choices include, e.g., \c Vector4f for 4 derivatives, or \c VectorXf
-  *                 if the number of derivatives is not known at compile time, and/or, the number
-  *                 of derivatives is large.
-  *                 Note that _DerType can also be a reference (e.g., \c VectorXf&) to wrap a
-  *                 existing vector into an AutoDiffScalar.
-  *                 Finally, _DerType can also be any Eigen compatible expression.
-  *
-  * This class represents a scalar value while tracking its respective derivatives using Eigen's expression
-  * template mechanism.
-  *
-  * It supports the following list of global math function:
-  *  - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos,
-  *  - internal::abs, internal::sqrt, numext::pow, internal::exp, internal::log, internal::sin, internal::cos,
-  *  - internal::conj, internal::real, internal::imag, numext::abs2.
-  *
-  * AutoDiffScalar can be used as the scalar type of an Eigen::Matrix object. However,
-  * in that case, the expression template mechanism only occurs at the top Matrix level,
-  * while derivatives are computed right away.
-  *
-  */
-
-template<typename _DerType>
-class AutoDiffScalar
-  : public internal::auto_diff_special_op
-            <_DerType, !internal::is_same<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar,
-                                        typename NumTraits<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar>::Real>::value>
-{
-  public:
-    typedef internal::auto_diff_special_op
-            <_DerType, !internal::is_same<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar,
-                       typename NumTraits<typename internal::traits<typename internal::remove_all<_DerType>::type>::Scalar>::Real>::value> Base;
-    typedef typename internal::remove_all<_DerType>::type DerType;
-    typedef typename internal::traits<DerType>::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real Real;
-
-    using Base::operator+;
-    using Base::operator*;
-
-    /** Default constructor without any initialization. */
-    AutoDiffScalar() {}
-
-    /** Constructs an active scalar from its \a value,
-        and initializes the \a nbDer derivatives such that it corresponds to the \a derNumber -th variable */
-    AutoDiffScalar(const Scalar& value, int nbDer, int derNumber)
-      : m_value(value), m_derivatives(DerType::Zero(nbDer))
-    {
-      m_derivatives.coeffRef(derNumber) = Scalar(1);
-    }
-
-    /** Conversion from a scalar constant to an active scalar.
-      * The derivatives are set to zero. */
-    /*explicit*/ AutoDiffScalar(const Real& value)
-      : m_value(value)
-    {
-      if(m_derivatives.size()>0)
-        m_derivatives.setZero();
-    }
-
-    /** Constructs an active scalar from its \a value and derivatives \a der */
-    AutoDiffScalar(const Scalar& value, const DerType& der)
-      : m_value(value), m_derivatives(der)
-    {}
-
-    template<typename OtherDerType>
-    AutoDiffScalar(const AutoDiffScalar<OtherDerType>& other)
-      : m_value(other.value()), m_derivatives(other.derivatives())
-    {}
-
-    friend  std::ostream & operator << (std::ostream & s, const AutoDiffScalar& a)
-    {
-      return s << a.value();
-    }
-
-    AutoDiffScalar(const AutoDiffScalar& other)
-      : m_value(other.value()), m_derivatives(other.derivatives())
-    {}
-
-    template<typename OtherDerType>
-    inline AutoDiffScalar& operator=(const AutoDiffScalar<OtherDerType>& other)
-    {
-      m_value = other.value();
-      m_derivatives = other.derivatives();
-      return *this;
-    }
-
-    inline AutoDiffScalar& operator=(const AutoDiffScalar& other)
-    {
-      m_value = other.value();
-      m_derivatives = other.derivatives();
-      return *this;
-    }
-
-//     inline operator const Scalar& () const { return m_value; }
-//     inline operator Scalar& () { return m_value; }
-
-    inline const Scalar& value() const { return m_value; }
-    inline Scalar& value() { return m_value; }
-
-    inline const DerType& derivatives() const { return m_derivatives; }
-    inline DerType& derivatives() { return m_derivatives; }
-
-    inline bool operator< (const Scalar& other) const  { return m_value <  other; }
-    inline bool operator<=(const Scalar& other) const  { return m_value <= other; }
-    inline bool operator> (const Scalar& other) const  { return m_value >  other; }
-    inline bool operator>=(const Scalar& other) const  { return m_value >= other; }
-    inline bool operator==(const Scalar& other) const  { return m_value == other; }
-    inline bool operator!=(const Scalar& other) const  { return m_value != other; }
-
-    friend inline bool operator< (const Scalar& a, const AutoDiffScalar& b) { return a <  b.value(); }
-    friend inline bool operator<=(const Scalar& a, const AutoDiffScalar& b) { return a <= b.value(); }
-    friend inline bool operator> (const Scalar& a, const AutoDiffScalar& b) { return a >  b.value(); }
-    friend inline bool operator>=(const Scalar& a, const AutoDiffScalar& b) { return a >= b.value(); }
-    friend inline bool operator==(const Scalar& a, const AutoDiffScalar& b) { return a == b.value(); }
-    friend inline bool operator!=(const Scalar& a, const AutoDiffScalar& b) { return a != b.value(); }
-
-    template<typename OtherDerType> inline bool operator< (const AutoDiffScalar<OtherDerType>& b) const  { return m_value <  b.value(); }
-    template<typename OtherDerType> inline bool operator<=(const AutoDiffScalar<OtherDerType>& b) const  { return m_value <= b.value(); }
-    template<typename OtherDerType> inline bool operator> (const AutoDiffScalar<OtherDerType>& b) const  { return m_value >  b.value(); }
-    template<typename OtherDerType> inline bool operator>=(const AutoDiffScalar<OtherDerType>& b) const  { return m_value >= b.value(); }
-    template<typename OtherDerType> inline bool operator==(const AutoDiffScalar<OtherDerType>& b) const  { return m_value == b.value(); }
-    template<typename OtherDerType> inline bool operator!=(const AutoDiffScalar<OtherDerType>& b) const  { return m_value != b.value(); }
-
-    inline const AutoDiffScalar<DerType&> operator+(const Scalar& other) const
-    {
-      return AutoDiffScalar<DerType&>(m_value + other, m_derivatives);
-    }
-
-    friend inline const AutoDiffScalar<DerType&> operator+(const Scalar& a, const AutoDiffScalar& b)
-    {
-      return AutoDiffScalar<DerType&>(a + b.value(), b.derivatives());
-    }
-
-//     inline const AutoDiffScalar<DerType&> operator+(const Real& other) const
-//     {
-//       return AutoDiffScalar<DerType&>(m_value + other, m_derivatives);
-//     }
-
-//     friend inline const AutoDiffScalar<DerType&> operator+(const Real& a, const AutoDiffScalar& b)
-//     {
-//       return AutoDiffScalar<DerType&>(a + b.value(), b.derivatives());
-//     }
-
-    inline AutoDiffScalar& operator+=(const Scalar& other)
-    {
-      value() += other;
-      return *this;
-    }
-
-    template<typename OtherDerType>
-    inline const AutoDiffScalar<CwiseBinaryOp<internal::scalar_sum_op<Scalar>,const DerType,const typename internal::remove_all<OtherDerType>::type> >
-    operator+(const AutoDiffScalar<OtherDerType>& other) const
-    {
-      internal::make_coherent(m_derivatives, other.derivatives());
-      return AutoDiffScalar<CwiseBinaryOp<internal::scalar_sum_op<Scalar>,const DerType,const typename internal::remove_all<OtherDerType>::type> >(
-        m_value + other.value(),
-        m_derivatives + other.derivatives());
-    }
-
-    template<typename OtherDerType>
-    inline AutoDiffScalar&
-    operator+=(const AutoDiffScalar<OtherDerType>& other)
-    {
-      (*this) = (*this) + other;
-      return *this;
-    }
-
-    inline const AutoDiffScalar<DerType&> operator-(const Scalar& b) const
-    {
-      return AutoDiffScalar<DerType&>(m_value - b, m_derivatives);
-    }
-
-    friend inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const DerType> >
-    operator-(const Scalar& a, const AutoDiffScalar& b)
-    {
-      return AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const DerType> >
-            (a - b.value(), -b.derivatives());
-    }
-
-    inline AutoDiffScalar& operator-=(const Scalar& other)
-    {
-      value() -= other;
-      return *this;
-    }
-
-    template<typename OtherDerType>
-    inline const AutoDiffScalar<CwiseBinaryOp<internal::scalar_difference_op<Scalar>, const DerType,const typename internal::remove_all<OtherDerType>::type> >
-    operator-(const AutoDiffScalar<OtherDerType>& other) const
-    {
-      internal::make_coherent(m_derivatives, other.derivatives());
-      return AutoDiffScalar<CwiseBinaryOp<internal::scalar_difference_op<Scalar>, const DerType,const typename internal::remove_all<OtherDerType>::type> >(
-        m_value - other.value(),
-        m_derivatives - other.derivatives());
-    }
-
-    template<typename OtherDerType>
-    inline AutoDiffScalar&
-    operator-=(const AutoDiffScalar<OtherDerType>& other)
-    {
-      *this = *this - other;
-      return *this;
-    }
-
-    inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const DerType> >
-    operator-() const
-    {
-      return AutoDiffScalar<CwiseUnaryOp<internal::scalar_opposite_op<Scalar>, const DerType> >(
-        -m_value,
-        -m_derivatives);
-    }
-
-    inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> >
-    operator*(const Scalar& other) const
-    {
-      return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> >(
-        m_value * other,
-        (m_derivatives * other));
-    }
-
-    friend inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> >
-    operator*(const Scalar& other, const AutoDiffScalar& a)
-    {
-      return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> >(
-        a.value() * other,
-        a.derivatives() * other);
-    }
-
-//     inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >
-//     operator*(const Real& other) const
-//     {
-//       return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >(
-//         m_value * other,
-//         (m_derivatives * other));
-//     }
-//
-//     friend inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >
-//     operator*(const Real& other, const AutoDiffScalar& a)
-//     {
-//       return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >(
-//         a.value() * other,
-//         a.derivatives() * other);
-//     }
-
-    inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> >
-    operator/(const Scalar& other) const
-    {
-      return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> >(
-        m_value / other,
-        (m_derivatives * (Scalar(1)/other)));
-    }
-
-    friend inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> >
-    operator/(const Scalar& other, const AutoDiffScalar& a)
-    {
-      return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType> >(
-        other / a.value(),
-        a.derivatives() * (Scalar(-other) / (a.value()*a.value())));
-    }
-
-//     inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >
-//     operator/(const Real& other) const
-//     {
-//       return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >(
-//         m_value / other,
-//         (m_derivatives * (Real(1)/other)));
-//     }
-//
-//     friend inline const AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >
-//     operator/(const Real& other, const AutoDiffScalar& a)
-//     {
-//       return AutoDiffScalar<typename CwiseUnaryOp<internal::scalar_multiple_op<Real>, DerType>::Type >(
-//         other / a.value(),
-//         a.derivatives() * (-Real(1)/other));
-//     }
-
-    template<typename OtherDerType>
-    inline const AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>,
-        const CwiseBinaryOp<internal::scalar_difference_op<Scalar>,
-          const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType>,
-          const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const typename internal::remove_all<OtherDerType>::type > > > >
-    operator/(const AutoDiffScalar<OtherDerType>& other) const
-    {
-      internal::make_coherent(m_derivatives, other.derivatives());
-      return AutoDiffScalar<CwiseUnaryOp<internal::scalar_multiple_op<Scalar>,
-        const CwiseBinaryOp<internal::scalar_difference_op<Scalar>,
-          const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType>,
-          const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const typename internal::remove_all<OtherDerType>::type > > > >(
-        m_value / other.value(),
-          ((m_derivatives * other.value()) - (m_value * other.derivatives()))
-        * (Scalar(1)/(other.value()*other.value())));
-    }
-
-    template<typename OtherDerType>
-    inline const AutoDiffScalar<CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
-        const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType>,
-        const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const typename internal::remove_all<OtherDerType>::type> > >
-    operator*(const AutoDiffScalar<OtherDerType>& other) const
-    {
-      internal::make_coherent(m_derivatives, other.derivatives());
-      return AutoDiffScalar<const CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
-        const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const DerType>,
-        const CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, const typename internal::remove_all<OtherDerType>::type > > >(
-        m_value * other.value(),
-        (m_derivatives * other.value()) + (m_value * other.derivatives()));
-    }
-
-    inline AutoDiffScalar& operator*=(const Scalar& other)
-    {
-      *this = *this * other;
-      return *this;
-    }
-
-    template<typename OtherDerType>
-    inline AutoDiffScalar& operator*=(const AutoDiffScalar<OtherDerType>& other)
-    {
-      *this = *this * other;
-      return *this;
-    }
-
-    inline AutoDiffScalar& operator/=(const Scalar& other)
-    {
-      *this = *this / other;
-      return *this;
-    }
-
-    template<typename OtherDerType>
-    inline AutoDiffScalar& operator/=(const AutoDiffScalar<OtherDerType>& other)
-    {
-      *this = *this / other;
-      return *this;
-    }
-
-  protected:
-    Scalar m_value;
-    DerType m_derivatives;
-
-};
-
-namespace internal {
-
-template<typename _DerType>
-struct auto_diff_special_op<_DerType, true>
-//   : auto_diff_scalar_op<_DerType, typename NumTraits<Scalar>::Real,
-//                            is_same<Scalar,typename NumTraits<Scalar>::Real>::value>
-{
-  typedef typename remove_all<_DerType>::type DerType;
-  typedef typename traits<DerType>::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real Real;
-
-//   typedef auto_diff_scalar_op<_DerType, typename NumTraits<Scalar>::Real,
-//                            is_same<Scalar,typename NumTraits<Scalar>::Real>::value> Base;
-
-//   using Base::operator+;
-//   using Base::operator+=;
-//   using Base::operator-;
-//   using Base::operator-=;
-//   using Base::operator*;
-//   using Base::operator*=;
-
-  const AutoDiffScalar<_DerType>& derived() const { return *static_cast<const AutoDiffScalar<_DerType>*>(this); }
-  AutoDiffScalar<_DerType>& derived() { return *static_cast<AutoDiffScalar<_DerType>*>(this); }
-
-
-  inline const AutoDiffScalar<DerType&> operator+(const Real& other) const
-  {
-    return AutoDiffScalar<DerType&>(derived().value() + other, derived().derivatives());
-  }
-
-  friend inline const AutoDiffScalar<DerType&> operator+(const Real& a, const AutoDiffScalar<_DerType>& b)
-  {
-    return AutoDiffScalar<DerType&>(a + b.value(), b.derivatives());
-  }
-
-  inline AutoDiffScalar<_DerType>& operator+=(const Real& other)
-  {
-    derived().value() += other;
-    return derived();
-  }
-
-
-  inline const AutoDiffScalar<typename CwiseUnaryOp<scalar_multiple2_op<Scalar,Real>, DerType>::Type >
-  operator*(const Real& other) const
-  {
-    return AutoDiffScalar<typename CwiseUnaryOp<scalar_multiple2_op<Scalar,Real>, DerType>::Type >(
-      derived().value() * other,
-      derived().derivatives() * other);
-  }
-
-  friend inline const AutoDiffScalar<typename CwiseUnaryOp<scalar_multiple2_op<Scalar,Real>, DerType>::Type >
-  operator*(const Real& other, const AutoDiffScalar<_DerType>& a)
-  {
-    return AutoDiffScalar<typename CwiseUnaryOp<scalar_multiple2_op<Scalar,Real>, DerType>::Type >(
-      a.value() * other,
-      a.derivatives() * other);
-  }
-
-  inline AutoDiffScalar<_DerType>& operator*=(const Scalar& other)
-  {
-    *this = *this * other;
-    return derived();
-  }
-};
-
-template<typename _DerType>
-struct auto_diff_special_op<_DerType, false>
-{
-  void operator*() const;
-  void operator-() const;
-  void operator+() const;
-};
-
-template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols, typename B>
-struct make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>, B> {
-  typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> A;
-  static void run(A& a, B& b) {
-    if((A_Rows==Dynamic || A_Cols==Dynamic) && (a.size()==0))
-    {
-      a.resize(b.size());
-      a.setZero();
-    }
-  }
-};
-
-template<typename A, typename B_Scalar, int B_Rows, int B_Cols, int B_Options, int B_MaxRows, int B_MaxCols>
-struct make_coherent_impl<A, Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> > {
-  typedef Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> B;
-  static void run(A& a, B& b) {
-    if((B_Rows==Dynamic || B_Cols==Dynamic) && (b.size()==0))
-    {
-      b.resize(a.size());
-      b.setZero();
-    }
-  }
-};
-
-template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols,
-         typename B_Scalar, int B_Rows, int B_Cols, int B_Options, int B_MaxRows, int B_MaxCols>
-struct make_coherent_impl<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>,
-                             Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> > {
-  typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> A;
-  typedef Matrix<B_Scalar, B_Rows, B_Cols, B_Options, B_MaxRows, B_MaxCols> B;
-  static void run(A& a, B& b) {
-    if((A_Rows==Dynamic || A_Cols==Dynamic) && (a.size()==0))
-    {
-      a.resize(b.size());
-      a.setZero();
-    }
-    else if((B_Rows==Dynamic || B_Cols==Dynamic) && (b.size()==0))
-    {
-      b.resize(a.size());
-      b.setZero();
-    }
-  }
-};
-
-template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols>
-struct scalar_product_traits<Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols>,A_Scalar>
-{
-  enum { Defined = 1 };
-  typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> ReturnType;
-};
-
-template<typename A_Scalar, int A_Rows, int A_Cols, int A_Options, int A_MaxRows, int A_MaxCols>
-struct scalar_product_traits<A_Scalar, Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> >
-{
-  enum { Defined = 1 };
-  typedef Matrix<A_Scalar, A_Rows, A_Cols, A_Options, A_MaxRows, A_MaxCols> ReturnType;
-};
-
-template<typename DerType>
-struct scalar_product_traits<AutoDiffScalar<DerType>,typename DerType::Scalar>
-{
-  enum { Defined = 1 };
-  typedef AutoDiffScalar<DerType> ReturnType;
-};
-
-template<typename DerType>
-struct scalar_product_traits<typename DerType::Scalar,AutoDiffScalar<DerType> >
-{
-  enum { Defined = 1 };
-  typedef AutoDiffScalar<DerType> ReturnType;
-};
-
-} // end namespace internal
-
-#define EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(FUNC,CODE) \
-  template<typename DerType> \
-  inline const Eigen::AutoDiffScalar<Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<typename Eigen::internal::traits<typename Eigen::internal::remove_all<DerType>::type>::Scalar>, const typename Eigen::internal::remove_all<DerType>::type> > \
-  FUNC(const Eigen::AutoDiffScalar<DerType>& x) { \
-    using namespace Eigen; \
-    typedef typename Eigen::internal::traits<typename Eigen::internal::remove_all<DerType>::type>::Scalar Scalar; \
-    typedef AutoDiffScalar<CwiseUnaryOp<Eigen::internal::scalar_multiple_op<Scalar>, const typename Eigen::internal::remove_all<DerType>::type> > ReturnType; \
-    CODE; \
-  }
-
-template<typename DerType>
-inline const AutoDiffScalar<DerType>& conj(const AutoDiffScalar<DerType>& x)  { return x; }
-template<typename DerType>
-inline const AutoDiffScalar<DerType>& real(const AutoDiffScalar<DerType>& x)  { return x; }
-template<typename DerType>
-inline typename DerType::Scalar imag(const AutoDiffScalar<DerType>&)    { return 0.; }
-template<typename DerType, typename T>
-inline AutoDiffScalar<DerType> (min)(const AutoDiffScalar<DerType>& x, const T& y)    { return (x <= y ? x : y); }
-template<typename DerType, typename T>
-inline AutoDiffScalar<DerType> (max)(const AutoDiffScalar<DerType>& x, const T& y)    { return (x >= y ? x : y); }
-template<typename DerType, typename T>
-inline AutoDiffScalar<DerType> (min)(const T& x, const AutoDiffScalar<DerType>& y)    { return (x < y ? x : y); }
-template<typename DerType, typename T>
-inline AutoDiffScalar<DerType> (max)(const T& x, const AutoDiffScalar<DerType>& y)    { return (x > y ? x : y); }
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs,
-  using std::abs;
-  return ReturnType(abs(x.value()), x.derivatives() * (x.value()<0 ? -1 : 1) );)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(abs2,
-  using numext::abs2;
-  return ReturnType(abs2(x.value()), x.derivatives() * (Scalar(2)*x.value()));)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sqrt,
-  using std::sqrt;
-  Scalar sqrtx = sqrt(x.value());
-  return ReturnType(sqrtx,x.derivatives() * (Scalar(0.5) / sqrtx));)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(cos,
-  using std::cos;
-  using std::sin;
-  return ReturnType(cos(x.value()), x.derivatives() * (-sin(x.value())));)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(sin,
-  using std::sin;
-  using std::cos;
-  return ReturnType(sin(x.value()),x.derivatives() * cos(x.value()));)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(exp,
-  using std::exp;
-  Scalar expx = exp(x.value());
-  return ReturnType(expx,x.derivatives() * expx);)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(log,
-  using std::log;
-  return ReturnType(log(x.value()),x.derivatives() * (Scalar(1)/x.value()));)
-
-template<typename DerType>
-inline const Eigen::AutoDiffScalar<Eigen::CwiseUnaryOp<Eigen::internal::scalar_multiple_op<typename Eigen::internal::traits<DerType>::Scalar>, const DerType> >
-pow(const Eigen::AutoDiffScalar<DerType>& x, typename Eigen::internal::traits<DerType>::Scalar y)
-{
-  using namespace Eigen;
-  typedef typename Eigen::internal::traits<DerType>::Scalar Scalar;
-  return AutoDiffScalar<CwiseUnaryOp<Eigen::internal::scalar_multiple_op<Scalar>, const DerType> >(
-    std::pow(x.value(),y),
-    x.derivatives() * (y * std::pow(x.value(),y-1)));
-}
-
-
-template<typename DerTypeA,typename DerTypeB>
-inline const AutoDiffScalar<Matrix<typename internal::traits<DerTypeA>::Scalar,Dynamic,1> >
-atan2(const AutoDiffScalar<DerTypeA>& a, const AutoDiffScalar<DerTypeB>& b)
-{
-  using std::atan2;
-  using std::max;
-  typedef typename internal::traits<DerTypeA>::Scalar Scalar;
-  typedef AutoDiffScalar<Matrix<Scalar,Dynamic,1> > PlainADS;
-  PlainADS ret;
-  ret.value() = atan2(a.value(), b.value());
-  
-  Scalar tmp2 = a.value() * a.value();
-  Scalar tmp3 = b.value() * b.value();
-  Scalar tmp4 = tmp3/(tmp2+tmp3);
-  
-  if (tmp4!=0)
-    ret.derivatives() = (a.derivatives() * b.value() - a.value() * b.derivatives()) * (tmp2+tmp3);
-
-  return ret;
-}
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(tan,
-  using std::tan;
-  using std::cos;
-  return ReturnType(tan(x.value()),x.derivatives() * (Scalar(1)/numext::abs2(cos(x.value()))));)
-
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(asin,
-  using std::sqrt;
-  using std::asin;
-  return ReturnType(asin(x.value()),x.derivatives() * (Scalar(1)/sqrt(1-numext::abs2(x.value()))));)
-  
-EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY(acos,
-  using std::sqrt;
-  using std::acos;
-  return ReturnType(acos(x.value()),x.derivatives() * (Scalar(-1)/sqrt(1-numext::abs2(x.value()))));)
-
-#undef EIGEN_AUTODIFF_DECLARE_GLOBAL_UNARY
-
-template<typename DerType> struct NumTraits<AutoDiffScalar<DerType> >
-  : NumTraits< typename NumTraits<typename DerType::Scalar>::Real >
-{
-  typedef AutoDiffScalar<Matrix<typename NumTraits<typename DerType::Scalar>::Real,DerType::RowsAtCompileTime,DerType::ColsAtCompileTime> > Real;
-  typedef AutoDiffScalar<DerType> NonInteger;
-  typedef AutoDiffScalar<DerType>& Nested;
-  enum{
-    RequireInitialization = 1
-  };
-};
-
-}
-
-#endif // EIGEN_AUTODIFF_SCALAR_H
diff --git a/eigenlib/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h b/eigenlib/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h
deleted file mode 100644
index 8c2d0483..00000000
--- a/eigenlib/unsupported/Eigen/src/AutoDiff/AutoDiffVector.h
+++ /dev/null
@@ -1,220 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_AUTODIFF_VECTOR_H
-#define EIGEN_AUTODIFF_VECTOR_H
-
-namespace Eigen {
-
-/* \class AutoDiffScalar
-  * \brief A scalar type replacement with automatic differentation capability
-  *
-  * \param DerType the vector type used to store/represent the derivatives (e.g. Vector3f)
-  *
-  * This class represents a scalar value while tracking its respective derivatives.
-  *
-  * It supports the following list of global math function:
-  *  - std::abs, std::sqrt, std::pow, std::exp, std::log, std::sin, std::cos,
-  *  - internal::abs, internal::sqrt, numext::pow, internal::exp, internal::log, internal::sin, internal::cos,
-  *  - internal::conj, internal::real, internal::imag, numext::abs2.
-  *
-  * AutoDiffScalar can be used as the scalar type of an Eigen::Matrix object. However,
-  * in that case, the expression template mechanism only occurs at the top Matrix level,
-  * while derivatives are computed right away.
-  *
-  */
-template<typename ValueType, typename JacobianType>
-class AutoDiffVector
-{
-  public:
-    //typedef typename internal::traits<ValueType>::Scalar Scalar;
-    typedef typename internal::traits<ValueType>::Scalar BaseScalar;
-    typedef AutoDiffScalar<Matrix<BaseScalar,JacobianType::RowsAtCompileTime,1> > ActiveScalar;
-    typedef ActiveScalar Scalar;
-    typedef AutoDiffScalar<typename JacobianType::ColXpr> CoeffType;
-    typedef typename JacobianType::Index Index;
-
-    inline AutoDiffVector() {}
-
-    inline AutoDiffVector(const ValueType& values)
-      : m_values(values)
-    {
-      m_jacobian.setZero();
-    }
-
-
-    CoeffType operator[] (Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
-    const CoeffType operator[] (Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
-
-    CoeffType operator() (Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
-    const CoeffType operator() (Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
-
-    CoeffType coeffRef(Index i) { return CoeffType(m_values[i], m_jacobian.col(i)); }
-    const CoeffType coeffRef(Index i) const { return CoeffType(m_values[i], m_jacobian.col(i)); }
-
-    Index size() const { return m_values.size(); }
-
-    // FIXME here we could return an expression of the sum
-    Scalar sum() const { /*std::cerr << "sum \n\n";*/ /*std::cerr << m_jacobian.rowwise().sum() << "\n\n";*/ return Scalar(m_values.sum(), m_jacobian.rowwise().sum()); }
-
-
-    inline AutoDiffVector(const ValueType& values, const JacobianType& jac)
-      : m_values(values), m_jacobian(jac)
-    {}
-
-    template<typename OtherValueType, typename OtherJacobianType>
-    inline AutoDiffVector(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
-      : m_values(other.values()), m_jacobian(other.jacobian())
-    {}
-
-    inline AutoDiffVector(const AutoDiffVector& other)
-      : m_values(other.values()), m_jacobian(other.jacobian())
-    {}
-
-    template<typename OtherValueType, typename OtherJacobianType>
-    inline AutoDiffVector& operator=(const AutoDiffVector<OtherValueType, OtherJacobianType>& other)
-    {
-      m_values = other.values();
-      m_jacobian = other.jacobian();
-      return *this;
-    }
-
-    inline AutoDiffVector& operator=(const AutoDiffVector& other)
-    {
-      m_values = other.values();
-      m_jacobian = other.jacobian();
-      return *this;
-    }
-
-    inline const ValueType& values() const { return m_values; }
-    inline ValueType& values() { return m_values; }
-
-    inline const JacobianType& jacobian() const { return m_jacobian; }
-    inline JacobianType& jacobian() { return m_jacobian; }
-
-    template<typename OtherValueType,typename OtherJacobianType>
-    inline const AutoDiffVector<
-      typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
-      typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >
-    operator+(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
-    {
-      return AutoDiffVector<
-      typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,ValueType,OtherValueType>::Type,
-      typename MakeCwiseBinaryOp<internal::scalar_sum_op<BaseScalar>,JacobianType,OtherJacobianType>::Type >(
-        m_values + other.values(),
-        m_jacobian + other.jacobian());
-    }
-
-    template<typename OtherValueType, typename OtherJacobianType>
-    inline AutoDiffVector&
-    operator+=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
-    {
-      m_values += other.values();
-      m_jacobian += other.jacobian();
-      return *this;
-    }
-
-    template<typename OtherValueType,typename OtherJacobianType>
-    inline const AutoDiffVector<
-      typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
-      typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >
-    operator-(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
-    {
-      return AutoDiffVector<
-        typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,ValueType,OtherValueType>::Type,
-        typename MakeCwiseBinaryOp<internal::scalar_difference_op<Scalar>,JacobianType,OtherJacobianType>::Type >(
-          m_values - other.values(),
-          m_jacobian - other.jacobian());
-    }
-
-    template<typename OtherValueType, typename OtherJacobianType>
-    inline AutoDiffVector&
-    operator-=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
-    {
-      m_values -= other.values();
-      m_jacobian -= other.jacobian();
-      return *this;
-    }
-
-    inline const AutoDiffVector<
-      typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type,
-      typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type >
-    operator-() const
-    {
-      return AutoDiffVector<
-        typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, ValueType>::Type,
-        typename MakeCwiseUnaryOp<internal::scalar_opposite_op<Scalar>, JacobianType>::Type >(
-          -m_values,
-          -m_jacobian);
-    }
-
-    inline const AutoDiffVector<
-      typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
-      typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type>
-    operator*(const BaseScalar& other) const
-    {
-      return AutoDiffVector<
-        typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
-        typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >(
-          m_values * other,
-          m_jacobian * other);
-    }
-
-    friend inline const AutoDiffVector<
-      typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
-      typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >
-    operator*(const Scalar& other, const AutoDiffVector& v)
-    {
-      return AutoDiffVector<
-        typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, ValueType>::Type,
-        typename MakeCwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>::Type >(
-          v.values() * other,
-          v.jacobian() * other);
-    }
-
-//     template<typename OtherValueType,typename OtherJacobianType>
-//     inline const AutoDiffVector<
-//       CwiseBinaryOp<internal::scalar_multiple_op<Scalar>, ValueType, OtherValueType>
-//       CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
-//         CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>,
-//         CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, OtherJacobianType> > >
-//     operator*(const AutoDiffVector<OtherValueType,OtherJacobianType>& other) const
-//     {
-//       return AutoDiffVector<
-//         CwiseBinaryOp<internal::scalar_multiple_op<Scalar>, ValueType, OtherValueType>
-//         CwiseBinaryOp<internal::scalar_sum_op<Scalar>,
-//           CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, JacobianType>,
-//           CwiseUnaryOp<internal::scalar_multiple_op<Scalar>, OtherJacobianType> > >(
-//             m_values.cwise() * other.values(),
-//             (m_jacobian * other.values()) + (m_values * other.jacobian()));
-//     }
-
-    inline AutoDiffVector& operator*=(const Scalar& other)
-    {
-      m_values *= other;
-      m_jacobian *= other;
-      return *this;
-    }
-
-    template<typename OtherValueType,typename OtherJacobianType>
-    inline AutoDiffVector& operator*=(const AutoDiffVector<OtherValueType,OtherJacobianType>& other)
-    {
-      *this = *this * other;
-      return *this;
-    }
-
-  protected:
-    ValueType m_values;
-    JacobianType m_jacobian;
-
-};
-
-}
-
-#endif // EIGEN_AUTODIFF_VECTOR_H
diff --git a/eigenlib/unsupported/Eigen/src/AutoDiff/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/AutoDiff/CMakeLists.txt
deleted file mode 100644
index ad91fd9c..00000000
--- a/eigenlib/unsupported/Eigen/src/AutoDiff/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_AutoDiff_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_AutoDiff_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/AutoDiff COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/BVH/BVAlgorithms.h b/eigenlib/unsupported/Eigen/src/BVH/BVAlgorithms.h
deleted file mode 100644
index 994c8af5..00000000
--- a/eigenlib/unsupported/Eigen/src/BVH/BVAlgorithms.h
+++ /dev/null
@@ -1,293 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BVALGORITHMS_H
-#define EIGEN_BVALGORITHMS_H
-
-namespace Eigen { 
-
-namespace internal {
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename BVH, typename Intersector>
-bool intersect_helper(const BVH &tree, Intersector &intersector, typename BVH::Index root)
-{
-  typedef typename BVH::Index Index;
-  typedef typename BVH::VolumeIterator VolIter;
-  typedef typename BVH::ObjectIterator ObjIter;
-
-  VolIter vBegin = VolIter(), vEnd = VolIter();
-  ObjIter oBegin = ObjIter(), oEnd = ObjIter();
-
-  std::vector<Index> todo(1, root);
-
-  while(!todo.empty()) {
-    tree.getChildren(todo.back(), vBegin, vEnd, oBegin, oEnd);
-    todo.pop_back();
-
-    for(; vBegin != vEnd; ++vBegin) //go through child volumes
-      if(intersector.intersectVolume(tree.getVolume(*vBegin)))
-        todo.push_back(*vBegin);
-
-    for(; oBegin != oEnd; ++oBegin) //go through child objects
-      if(intersector.intersectObject(*oBegin))
-        return true; //intersector said to stop query
-  }
-  return false;
-}
-#endif //not EIGEN_PARSED_BY_DOXYGEN
-
-template<typename Volume1, typename Object1, typename Object2, typename Intersector>
-struct intersector_helper1
-{
-  intersector_helper1(const Object2 &inStored, Intersector &in) : stored(inStored), intersector(in) {}
-  bool intersectVolume(const Volume1 &vol) { return intersector.intersectVolumeObject(vol, stored); }
-  bool intersectObject(const Object1 &obj) { return intersector.intersectObjectObject(obj, stored); }
-  Object2 stored;
-  Intersector &intersector;
-private:
-  intersector_helper1& operator=(const intersector_helper1&);
-};
-
-template<typename Volume2, typename Object2, typename Object1, typename Intersector>
-struct intersector_helper2
-{
-  intersector_helper2(const Object1 &inStored, Intersector &in) : stored(inStored), intersector(in) {}
-  bool intersectVolume(const Volume2 &vol) { return intersector.intersectObjectVolume(stored, vol); }
-  bool intersectObject(const Object2 &obj) { return intersector.intersectObjectObject(stored, obj); }
-  Object1 stored;
-  Intersector &intersector;
-private:
-  intersector_helper2& operator=(const intersector_helper2&);
-};
-
-} // end namespace internal
-
-/**  Given a BVH, runs the query encapsulated by \a intersector.
-  *  The Intersector type must provide the following members: \code
-     bool intersectVolume(const BVH::Volume &volume) //returns true if volume intersects the query
-     bool intersectObject(const BVH::Object &object) //returns true if the search should terminate immediately
-  \endcode
-  */
-template<typename BVH, typename Intersector>
-void BVIntersect(const BVH &tree, Intersector &intersector)
-{
-  internal::intersect_helper(tree, intersector, tree.getRootIndex());
-}
-
-/**  Given two BVH's, runs the query on their Cartesian product encapsulated by \a intersector.
-  *  The Intersector type must provide the following members: \code
-     bool intersectVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2) //returns true if product of volumes intersects the query
-     bool intersectVolumeObject(const BVH1::Volume &v1, const BVH2::Object &o2) //returns true if the volume-object product intersects the query
-     bool intersectObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2) //returns true if the volume-object product intersects the query
-     bool intersectObjectObject(const BVH1::Object &o1, const BVH2::Object &o2) //returns true if the search should terminate immediately
-  \endcode
-  */
-template<typename BVH1, typename BVH2, typename Intersector>
-void BVIntersect(const BVH1 &tree1, const BVH2 &tree2, Intersector &intersector) //TODO: tandem descent when it makes sense
-{
-  typedef typename BVH1::Index Index1;
-  typedef typename BVH2::Index Index2;
-  typedef internal::intersector_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Intersector> Helper1;
-  typedef internal::intersector_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Intersector> Helper2;
-  typedef typename BVH1::VolumeIterator VolIter1;
-  typedef typename BVH1::ObjectIterator ObjIter1;
-  typedef typename BVH2::VolumeIterator VolIter2;
-  typedef typename BVH2::ObjectIterator ObjIter2;
-
-  VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1();
-  ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1();
-  VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2();
-  ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();
-
-  std::vector<std::pair<Index1, Index2> > todo(1, std::make_pair(tree1.getRootIndex(), tree2.getRootIndex()));
-
-  while(!todo.empty()) {
-    tree1.getChildren(todo.back().first, vBegin1, vEnd1, oBegin1, oEnd1);
-    tree2.getChildren(todo.back().second, vBegin2, vEnd2, oBegin2, oEnd2);
-    todo.pop_back();
-
-    for(; vBegin1 != vEnd1; ++vBegin1) { //go through child volumes of first tree
-      const typename BVH1::Volume &vol1 = tree1.getVolume(*vBegin1);
-      for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
-        if(intersector.intersectVolumeVolume(vol1, tree2.getVolume(*vCur2)))
-          todo.push_back(std::make_pair(*vBegin1, *vCur2));
-      }
-
-      for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
-        Helper1 helper(*oCur2, intersector);
-        if(internal::intersect_helper(tree1, helper, *vBegin1))
-          return; //intersector said to stop query
-      }
-    }
-
-    for(; oBegin1 != oEnd1; ++oBegin1) { //go through child objects of first tree
-      for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
-        Helper2 helper(*oBegin1, intersector);
-        if(internal::intersect_helper(tree2, helper, *vCur2))
-          return; //intersector said to stop query
-      }
-
-      for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
-        if(intersector.intersectObjectObject(*oBegin1, *oCur2))
-          return; //intersector said to stop query
-      }
-    }
-  }
-}
-
-namespace internal {
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-template<typename BVH, typename Minimizer>
-typename Minimizer::Scalar minimize_helper(const BVH &tree, Minimizer &minimizer, typename BVH::Index root, typename Minimizer::Scalar minimum)
-{
-  typedef typename Minimizer::Scalar Scalar;
-  typedef typename BVH::Index Index;
-  typedef std::pair<Scalar, Index> QueueElement; //first element is priority
-  typedef typename BVH::VolumeIterator VolIter;
-  typedef typename BVH::ObjectIterator ObjIter;
-
-  VolIter vBegin = VolIter(), vEnd = VolIter();
-  ObjIter oBegin = ObjIter(), oEnd = ObjIter();
-  std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top
-
-  todo.push(std::make_pair(Scalar(), root));
-
-  while(!todo.empty()) {
-    tree.getChildren(todo.top().second, vBegin, vEnd, oBegin, oEnd);
-    todo.pop();
-
-    for(; oBegin != oEnd; ++oBegin) //go through child objects
-      minimum = (std::min)(minimum, minimizer.minimumOnObject(*oBegin));
-
-    for(; vBegin != vEnd; ++vBegin) { //go through child volumes
-      Scalar val = minimizer.minimumOnVolume(tree.getVolume(*vBegin));
-      if(val < minimum)
-        todo.push(std::make_pair(val, *vBegin));
-    }
-  }
-
-  return minimum;
-}
-#endif //not EIGEN_PARSED_BY_DOXYGEN
-
-
-template<typename Volume1, typename Object1, typename Object2, typename Minimizer>
-struct minimizer_helper1
-{
-  typedef typename Minimizer::Scalar Scalar;
-  minimizer_helper1(const Object2 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {}
-  Scalar minimumOnVolume(const Volume1 &vol) { return minimizer.minimumOnVolumeObject(vol, stored); }
-  Scalar minimumOnObject(const Object1 &obj) { return minimizer.minimumOnObjectObject(obj, stored); }
-  Object2 stored;
-  Minimizer &minimizer;
-private:
-  minimizer_helper1& operator=(const minimizer_helper1&);
-};
-
-template<typename Volume2, typename Object2, typename Object1, typename Minimizer>
-struct minimizer_helper2
-{
-  typedef typename Minimizer::Scalar Scalar;
-  minimizer_helper2(const Object1 &inStored, Minimizer &m) : stored(inStored), minimizer(m) {}
-  Scalar minimumOnVolume(const Volume2 &vol) { return minimizer.minimumOnObjectVolume(stored, vol); }
-  Scalar minimumOnObject(const Object2 &obj) { return minimizer.minimumOnObjectObject(stored, obj); }
-  Object1 stored;
-  Minimizer &minimizer;
-private:
-  minimizer_helper2& operator=(const minimizer_helper2&);
-};
-
-} // end namespace internal
-
-/**  Given a BVH, runs the query encapsulated by \a minimizer.
-  *  \returns the minimum value.
-  *  The Minimizer type must provide the following members: \code
-     typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has one)
-     Scalar minimumOnVolume(const BVH::Volume &volume)
-     Scalar minimumOnObject(const BVH::Object &object)
-  \endcode
-  */
-template<typename BVH, typename Minimizer>
-typename Minimizer::Scalar BVMinimize(const BVH &tree, Minimizer &minimizer)
-{
-  return internal::minimize_helper(tree, minimizer, tree.getRootIndex(), (std::numeric_limits<typename Minimizer::Scalar>::max)());
-}
-
-/**  Given two BVH's, runs the query on their cartesian product encapsulated by \a minimizer.
-  *  \returns the minimum value.
-  *  The Minimizer type must provide the following members: \code
-     typedef Scalar //the numeric type of what is being minimized--not necessarily the Scalar type of the BVH (if it has one)
-     Scalar minimumOnVolumeVolume(const BVH1::Volume &v1, const BVH2::Volume &v2)
-     Scalar minimumOnVolumeObject(const BVH1::Volume &v1, const BVH2::Object &o2)
-     Scalar minimumOnObjectVolume(const BVH1::Object &o1, const BVH2::Volume &v2)
-     Scalar minimumOnObjectObject(const BVH1::Object &o1, const BVH2::Object &o2)
-  \endcode
-  */
-template<typename BVH1, typename BVH2, typename Minimizer>
-typename Minimizer::Scalar BVMinimize(const BVH1 &tree1, const BVH2 &tree2, Minimizer &minimizer)
-{
-  typedef typename Minimizer::Scalar Scalar;
-  typedef typename BVH1::Index Index1;
-  typedef typename BVH2::Index Index2;
-  typedef internal::minimizer_helper1<typename BVH1::Volume, typename BVH1::Object, typename BVH2::Object, Minimizer> Helper1;
-  typedef internal::minimizer_helper2<typename BVH2::Volume, typename BVH2::Object, typename BVH1::Object, Minimizer> Helper2;
-  typedef std::pair<Scalar, std::pair<Index1, Index2> > QueueElement; //first element is priority
-  typedef typename BVH1::VolumeIterator VolIter1;
-  typedef typename BVH1::ObjectIterator ObjIter1;
-  typedef typename BVH2::VolumeIterator VolIter2;
-  typedef typename BVH2::ObjectIterator ObjIter2;
-
-  VolIter1 vBegin1 = VolIter1(), vEnd1 = VolIter1();
-  ObjIter1 oBegin1 = ObjIter1(), oEnd1 = ObjIter1();
-  VolIter2 vBegin2 = VolIter2(), vEnd2 = VolIter2(), vCur2 = VolIter2();
-  ObjIter2 oBegin2 = ObjIter2(), oEnd2 = ObjIter2(), oCur2 = ObjIter2();
-  std::priority_queue<QueueElement, std::vector<QueueElement>, std::greater<QueueElement> > todo; //smallest is at the top
-
-  Scalar minimum = (std::numeric_limits<Scalar>::max)();
-  todo.push(std::make_pair(Scalar(), std::make_pair(tree1.getRootIndex(), tree2.getRootIndex())));
-
-  while(!todo.empty()) {
-    tree1.getChildren(todo.top().second.first, vBegin1, vEnd1, oBegin1, oEnd1);
-    tree2.getChildren(todo.top().second.second, vBegin2, vEnd2, oBegin2, oEnd2);
-    todo.pop();
-
-    for(; oBegin1 != oEnd1; ++oBegin1) { //go through child objects of first tree
-      for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
-        minimum = (std::min)(minimum, minimizer.minimumOnObjectObject(*oBegin1, *oCur2));
-      }
-
-      for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
-        Helper2 helper(*oBegin1, minimizer);
-        minimum = (std::min)(minimum, internal::minimize_helper(tree2, helper, *vCur2, minimum));
-      }
-    }
-
-    for(; vBegin1 != vEnd1; ++vBegin1) { //go through child volumes of first tree
-      const typename BVH1::Volume &vol1 = tree1.getVolume(*vBegin1);
-
-      for(oCur2 = oBegin2; oCur2 != oEnd2; ++oCur2) {//go through child objects of second tree
-        Helper1 helper(*oCur2, minimizer);
-        minimum = (std::min)(minimum, internal::minimize_helper(tree1, helper, *vBegin1, minimum));
-      }
-
-      for(vCur2 = vBegin2; vCur2 != vEnd2; ++vCur2) { //go through child volumes of second tree
-        Scalar val = minimizer.minimumOnVolumeVolume(vol1, tree2.getVolume(*vCur2));
-        if(val < minimum)
-          todo.push(std::make_pair(val, std::make_pair(*vBegin1, *vCur2)));
-      }
-    }
-  }
-  return minimum;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_BVALGORITHMS_H
diff --git a/eigenlib/unsupported/Eigen/src/BVH/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/BVH/CMakeLists.txt
deleted file mode 100644
index b377d865..00000000
--- a/eigenlib/unsupported/Eigen/src/BVH/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_BVH_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_BVH_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/BVH COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/BVH/KdBVH.h b/eigenlib/unsupported/Eigen/src/BVH/KdBVH.h
deleted file mode 100644
index 1b8d7586..00000000
--- a/eigenlib/unsupported/Eigen/src/BVH/KdBVH.h
+++ /dev/null
@@ -1,222 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef KDBVH_H_INCLUDED
-#define KDBVH_H_INCLUDED
-
-namespace Eigen { 
-
-namespace internal {
-
-//internal pair class for the BVH--used instead of std::pair because of alignment
-template<typename Scalar, int Dim>
-struct vector_int_pair
-{
-EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(Scalar, Dim)
-  typedef Matrix<Scalar, Dim, 1> VectorType;
-
-  vector_int_pair(const VectorType &v, int i) : first(v), second(i) {}
-
-  VectorType first;
-  int second;
-};
-
-//these templates help the tree initializer get the bounding boxes either from a provided
-//iterator range or using bounding_box in a unified way
-template<typename ObjectList, typename VolumeList, typename BoxIter>
-struct get_boxes_helper {
-  void operator()(const ObjectList &objects, BoxIter boxBegin, BoxIter boxEnd, VolumeList &outBoxes)
-  {
-    outBoxes.insert(outBoxes.end(), boxBegin, boxEnd);
-    eigen_assert(outBoxes.size() == objects.size());
-  }
-};
-
-template<typename ObjectList, typename VolumeList>
-struct get_boxes_helper<ObjectList, VolumeList, int> {
-  void operator()(const ObjectList &objects, int, int, VolumeList &outBoxes)
-  {
-    outBoxes.reserve(objects.size());
-    for(int i = 0; i < (int)objects.size(); ++i)
-      outBoxes.push_back(bounding_box(objects[i]));
-  }
-};
-
-} // end namespace internal
-
-
-/** \class KdBVH
- *  \brief A simple bounding volume hierarchy based on AlignedBox
- *
- *  \param _Scalar The underlying scalar type of the bounding boxes
- *  \param _Dim The dimension of the space in which the hierarchy lives
- *  \param _Object The object type that lives in the hierarchy.  It must have value semantics.  Either bounding_box(_Object) must
- *                 be defined and return an AlignedBox<_Scalar, _Dim> or bounding boxes must be provided to the tree initializer.
- *
- *  This class provides a simple (as opposed to optimized) implementation of a bounding volume hierarchy analogous to a Kd-tree.
- *  Given a sequence of objects, it computes their bounding boxes, constructs a Kd-tree of their centers
- *  and builds a BVH with the structure of that Kd-tree.  When the elements of the tree are too expensive to be copied around,
- *  it is useful for _Object to be a pointer.
- */
-template<typename _Scalar, int _Dim, typename _Object> class KdBVH
-{
-public:
-  enum { Dim = _Dim };
-  typedef _Object Object;
-  typedef std::vector<Object, aligned_allocator<Object> > ObjectList;
-  typedef _Scalar Scalar;
-  typedef AlignedBox<Scalar, Dim> Volume;
-  typedef std::vector<Volume, aligned_allocator<Volume> > VolumeList;
-  typedef int Index;
-  typedef const int *VolumeIterator; //the iterators are just pointers into the tree's vectors
-  typedef const Object *ObjectIterator;
-
-  KdBVH() {}
-
-  /** Given an iterator range over \a Object references, constructs the BVH.  Requires that bounding_box(Object) return a Volume. */
-  template<typename Iter> KdBVH(Iter begin, Iter end) { init(begin, end, 0, 0); } //int is recognized by init as not being an iterator type
-
-  /** Given an iterator range over \a Object references and an iterator range over their bounding boxes, constructs the BVH */
-  template<typename OIter, typename BIter> KdBVH(OIter begin, OIter end, BIter boxBegin, BIter boxEnd) { init(begin, end, boxBegin, boxEnd); }
-
-  /** Given an iterator range over \a Object references, constructs the BVH, overwriting whatever is in there currently.
-    * Requires that bounding_box(Object) return a Volume. */
-  template<typename Iter> void init(Iter begin, Iter end) { init(begin, end, 0, 0); }
-
-  /** Given an iterator range over \a Object references and an iterator range over their bounding boxes,
-    * constructs the BVH, overwriting whatever is in there currently. */
-  template<typename OIter, typename BIter> void init(OIter begin, OIter end, BIter boxBegin, BIter boxEnd)
-  {
-    objects.clear();
-    boxes.clear();
-    children.clear();
-
-    objects.insert(objects.end(), begin, end);
-    int n = static_cast<int>(objects.size());
-
-    if(n < 2)
-      return; //if we have at most one object, we don't need any internal nodes
-
-    VolumeList objBoxes;
-    VIPairList objCenters;
-
-    //compute the bounding boxes depending on BIter type
-    internal::get_boxes_helper<ObjectList, VolumeList, BIter>()(objects, boxBegin, boxEnd, objBoxes);
-
-    objCenters.reserve(n);
-    boxes.reserve(n - 1);
-    children.reserve(2 * n - 2);
-
-    for(int i = 0; i < n; ++i)
-      objCenters.push_back(VIPair(objBoxes[i].center(), i));
-
-    build(objCenters, 0, n, objBoxes, 0); //the recursive part of the algorithm
-
-    ObjectList tmp(n);
-    tmp.swap(objects);
-    for(int i = 0; i < n; ++i)
-      objects[i] = tmp[objCenters[i].second];
-  }
-
-  /** \returns the index of the root of the hierarchy */
-  inline Index getRootIndex() const { return (int)boxes.size() - 1; }
-
-  /** Given an \a index of a node, on exit, \a outVBegin and \a outVEnd range over the indices of the volume children of the node
-    * and \a outOBegin and \a outOEnd range over the object children of the node */
-  EIGEN_STRONG_INLINE void getChildren(Index index, VolumeIterator &outVBegin, VolumeIterator &outVEnd,
-                                       ObjectIterator &outOBegin, ObjectIterator &outOEnd) const
-  { //inlining this function should open lots of optimization opportunities to the compiler
-    if(index < 0) {
-      outVBegin = outVEnd;
-      if(!objects.empty())
-        outOBegin = &(objects[0]);
-      outOEnd = outOBegin + objects.size(); //output all objects--necessary when the tree has only one object
-      return;
-    }
-
-    int numBoxes = static_cast<int>(boxes.size());
-
-    int idx = index * 2;
-    if(children[idx + 1] < numBoxes) { //second index is always bigger
-      outVBegin = &(children[idx]);
-      outVEnd = outVBegin + 2;
-      outOBegin = outOEnd;
-    }
-    else if(children[idx] >= numBoxes) { //if both children are objects
-      outVBegin = outVEnd;
-      outOBegin = &(objects[children[idx] - numBoxes]);
-      outOEnd = outOBegin + 2;
-    } else { //if the first child is a volume and the second is an object
-      outVBegin = &(children[idx]);
-      outVEnd = outVBegin + 1;
-      outOBegin = &(objects[children[idx + 1] - numBoxes]);
-      outOEnd = outOBegin + 1;
-    }
-  }
-
-  /** \returns the bounding box of the node at \a index */
-  inline const Volume &getVolume(Index index) const
-  {
-    return boxes[index];
-  }
-
-private:
-  typedef internal::vector_int_pair<Scalar, Dim> VIPair;
-  typedef std::vector<VIPair, aligned_allocator<VIPair> > VIPairList;
-  typedef Matrix<Scalar, Dim, 1> VectorType;
-  struct VectorComparator //compares vectors, or, more specificall, VIPairs along a particular dimension
-  {
-    VectorComparator(int inDim) : dim(inDim) {}
-    inline bool operator()(const VIPair &v1, const VIPair &v2) const { return v1.first[dim] < v2.first[dim]; }
-    int dim;
-  };
-
-  //Build the part of the tree between objects[from] and objects[to] (not including objects[to]).
-  //This routine partitions the objCenters in [from, to) along the dimension dim, recursively constructs
-  //the two halves, and adds their parent node.  TODO: a cache-friendlier layout
-  void build(VIPairList &objCenters, int from, int to, const VolumeList &objBoxes, int dim)
-  {
-    eigen_assert(to - from > 1);
-    if(to - from == 2) {
-      boxes.push_back(objBoxes[objCenters[from].second].merged(objBoxes[objCenters[from + 1].second]));
-      children.push_back(from + (int)objects.size() - 1); //there are objects.size() - 1 tree nodes
-      children.push_back(from + (int)objects.size());
-    }
-    else if(to - from == 3) {
-      int mid = from + 2;
-      std::nth_element(objCenters.begin() + from, objCenters.begin() + mid,
-                        objCenters.begin() + to, VectorComparator(dim)); //partition
-      build(objCenters, from, mid, objBoxes, (dim + 1) % Dim);
-      int idx1 = (int)boxes.size() - 1;
-      boxes.push_back(boxes[idx1].merged(objBoxes[objCenters[mid].second]));
-      children.push_back(idx1);
-      children.push_back(mid + (int)objects.size() - 1);
-    }
-    else {
-      int mid = from + (to - from) / 2;
-      nth_element(objCenters.begin() + from, objCenters.begin() + mid,
-                  objCenters.begin() + to, VectorComparator(dim)); //partition
-      build(objCenters, from, mid, objBoxes, (dim + 1) % Dim);
-      int idx1 = (int)boxes.size() - 1;
-      build(objCenters, mid, to, objBoxes, (dim + 1) % Dim);
-      int idx2 = (int)boxes.size() - 1;
-      boxes.push_back(boxes[idx1].merged(boxes[idx2]));
-      children.push_back(idx1);
-      children.push_back(idx2);
-    }
-  }
-
-  std::vector<int> children; //children of x are children[2x] and children[2x+1], indices bigger than boxes.size() index into objects.
-  VolumeList boxes;
-  ObjectList objects;
-};
-
-} // end namespace Eigen
-
-#endif //KDBVH_H_INCLUDED
diff --git a/eigenlib/unsupported/Eigen/src/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/CMakeLists.txt
deleted file mode 100644
index 125c43fd..00000000
--- a/eigenlib/unsupported/Eigen/src/CMakeLists.txt
+++ /dev/null
@@ -1,14 +0,0 @@
-ADD_SUBDIRECTORY(AutoDiff)
-ADD_SUBDIRECTORY(BVH)
-ADD_SUBDIRECTORY(FFT)
-ADD_SUBDIRECTORY(IterativeSolvers)
-ADD_SUBDIRECTORY(KroneckerProduct)
-ADD_SUBDIRECTORY(LevenbergMarquardt)
-ADD_SUBDIRECTORY(MatrixFunctions)
-ADD_SUBDIRECTORY(MoreVectorization)
-ADD_SUBDIRECTORY(NonLinearOptimization)
-ADD_SUBDIRECTORY(NumericalDiff)
-ADD_SUBDIRECTORY(Polynomials)
-ADD_SUBDIRECTORY(Skyline)
-ADD_SUBDIRECTORY(SparseExtra)
-ADD_SUBDIRECTORY(Splines)
diff --git a/eigenlib/unsupported/Eigen/src/Eigenvalues/ArpackSelfAdjointEigenSolver.h b/eigenlib/unsupported/Eigen/src/Eigenvalues/ArpackSelfAdjointEigenSolver.h
deleted file mode 100644
index 3b6a69af..00000000
--- a/eigenlib/unsupported/Eigen/src/Eigenvalues/ArpackSelfAdjointEigenSolver.h
+++ /dev/null
@@ -1,805 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 David Harmon <dharmon@gmail.com>
-//
-// Eigen is free software; you can redistribute it and/or
-// modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation; either
-// version 3 of the License, or (at your option) any later version.
-//
-// Alternatively, you can redistribute it and/or
-// modify it under the terms of the GNU General Public License as
-// published by the Free Software Foundation; either version 2 of
-// the License, or (at your option) any later version.
-//
-// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
-// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
-// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
-// GNU General Public License for more details.
-//
-// You should have received a copy of the GNU Lesser General Public
-// License and a copy of the GNU General Public License along with
-// Eigen. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef EIGEN_ARPACKGENERALIZEDSELFADJOINTEIGENSOLVER_H
-#define EIGEN_ARPACKGENERALIZEDSELFADJOINTEIGENSOLVER_H
-
-#include <Eigen/Dense>
-
-namespace Eigen { 
-
-namespace internal {
-  template<typename Scalar, typename RealScalar> struct arpack_wrapper;
-  template<typename MatrixSolver, typename MatrixType, typename Scalar, bool BisSPD> struct OP;
-}
-
-
-
-template<typename MatrixType, typename MatrixSolver=SimplicialLLT<MatrixType>, bool BisSPD=false>
-class ArpackGeneralizedSelfAdjointEigenSolver
-{
-public:
-  //typedef typename MatrixSolver::MatrixType MatrixType;
-
-  /** \brief Scalar type for matrices of type \p MatrixType. */
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
-
-  /** \brief Real scalar type for \p MatrixType.
-   *
-   * This is just \c Scalar if #Scalar is real (e.g., \c float or
-   * \c Scalar), and the type of the real part of \c Scalar if #Scalar is
-   * complex.
-   */
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-
-  /** \brief Type for vector of eigenvalues as returned by eigenvalues().
-   *
-   * This is a column vector with entries of type #RealScalar.
-   * The length of the vector is the size of \p nbrEigenvalues.
-   */
-  typedef typename internal::plain_col_type<MatrixType, RealScalar>::type RealVectorType;
-
-  /** \brief Default constructor.
-   *
-   * The default constructor is for cases in which the user intends to
-   * perform decompositions via compute().
-   *
-   */
-  ArpackGeneralizedSelfAdjointEigenSolver()
-   : m_eivec(),
-     m_eivalues(),
-     m_isInitialized(false),
-     m_eigenvectorsOk(false),
-     m_nbrConverged(0),
-     m_nbrIterations(0)
-  { }
-
-  /** \brief Constructor; computes generalized eigenvalues of given matrix with respect to another matrix.
-   *
-   * \param[in] A Self-adjoint matrix whose eigenvalues / eigenvectors will
-   *    computed. By default, the upper triangular part is used, but can be changed
-   *    through the template parameter.
-   * \param[in] B Self-adjoint matrix for the generalized eigenvalue problem.
-   * \param[in] nbrEigenvalues The number of eigenvalues / eigenvectors to compute.
-   *    Must be less than the size of the input matrix, or an error is returned.
-   * \param[in] eigs_sigma String containing either "LM", "SM", "LA", or "SA", with
-   *    respective meanings to find the largest magnitude , smallest magnitude,
-   *    largest algebraic, or smallest algebraic eigenvalues. Alternatively, this
-   *    value can contain floating point value in string form, in which case the
-   *    eigenvalues closest to this value will be found.
-   * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-   * \param[in] tol What tolerance to find the eigenvalues to. Default is 0, which
-   *    means machine precision.
-   *
-   * This constructor calls compute(const MatrixType&, const MatrixType&, Index, string, int, RealScalar)
-   * to compute the eigenvalues of the matrix \p A with respect to \p B. The eigenvectors are computed if
-   * \p options equals #ComputeEigenvectors.
-   *
-   */
-  ArpackGeneralizedSelfAdjointEigenSolver(const MatrixType& A, const MatrixType& B,
-                                          Index nbrEigenvalues, std::string eigs_sigma="LM",
-                               int options=ComputeEigenvectors, RealScalar tol=0.0)
-    : m_eivec(),
-      m_eivalues(),
-      m_isInitialized(false),
-      m_eigenvectorsOk(false),
-      m_nbrConverged(0),
-      m_nbrIterations(0)
-  {
-    compute(A, B, nbrEigenvalues, eigs_sigma, options, tol);
-  }
-
-  /** \brief Constructor; computes eigenvalues of given matrix.
-   *
-   * \param[in] A Self-adjoint matrix whose eigenvalues / eigenvectors will
-   *    computed. By default, the upper triangular part is used, but can be changed
-   *    through the template parameter.
-   * \param[in] nbrEigenvalues The number of eigenvalues / eigenvectors to compute.
-   *    Must be less than the size of the input matrix, or an error is returned.
-   * \param[in] eigs_sigma String containing either "LM", "SM", "LA", or "SA", with
-   *    respective meanings to find the largest magnitude , smallest magnitude,
-   *    largest algebraic, or smallest algebraic eigenvalues. Alternatively, this
-   *    value can contain floating point value in string form, in which case the
-   *    eigenvalues closest to this value will be found.
-   * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-   * \param[in] tol What tolerance to find the eigenvalues to. Default is 0, which
-   *    means machine precision.
-   *
-   * This constructor calls compute(const MatrixType&, Index, string, int, RealScalar)
-   * to compute the eigenvalues of the matrix \p A. The eigenvectors are computed if
-   * \p options equals #ComputeEigenvectors.
-   *
-   */
-
-  ArpackGeneralizedSelfAdjointEigenSolver(const MatrixType& A,
-                                          Index nbrEigenvalues, std::string eigs_sigma="LM",
-                               int options=ComputeEigenvectors, RealScalar tol=0.0)
-    : m_eivec(),
-      m_eivalues(),
-      m_isInitialized(false),
-      m_eigenvectorsOk(false),
-      m_nbrConverged(0),
-      m_nbrIterations(0)
-  {
-    compute(A, nbrEigenvalues, eigs_sigma, options, tol);
-  }
-
-
-  /** \brief Computes generalized eigenvalues / eigenvectors of given matrix using the external ARPACK library.
-   *
-   * \param[in]  A  Selfadjoint matrix whose eigendecomposition is to be computed.
-   * \param[in]  B  Selfadjoint matrix for generalized eigenvalues.
-   * \param[in] nbrEigenvalues The number of eigenvalues / eigenvectors to compute.
-   *    Must be less than the size of the input matrix, or an error is returned.
-   * \param[in] eigs_sigma String containing either "LM", "SM", "LA", or "SA", with
-   *    respective meanings to find the largest magnitude , smallest magnitude,
-   *    largest algebraic, or smallest algebraic eigenvalues. Alternatively, this
-   *    value can contain floating point value in string form, in which case the
-   *    eigenvalues closest to this value will be found.
-   * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-   * \param[in] tol What tolerance to find the eigenvalues to. Default is 0, which
-   *    means machine precision.
-   *
-   * \returns    Reference to \c *this
-   *
-   * This function computes the generalized eigenvalues of \p A with respect to \p B using ARPACK.  The eigenvalues()
-   * function can be used to retrieve them.  If \p options equals #ComputeEigenvectors,
-   * then the eigenvectors are also computed and can be retrieved by
-   * calling eigenvectors().
-   *
-   */
-  ArpackGeneralizedSelfAdjointEigenSolver& compute(const MatrixType& A, const MatrixType& B,
-                                                   Index nbrEigenvalues, std::string eigs_sigma="LM",
-                                        int options=ComputeEigenvectors, RealScalar tol=0.0);
-  
-  /** \brief Computes eigenvalues / eigenvectors of given matrix using the external ARPACK library.
-   *
-   * \param[in]  A  Selfadjoint matrix whose eigendecomposition is to be computed.
-   * \param[in] nbrEigenvalues The number of eigenvalues / eigenvectors to compute.
-   *    Must be less than the size of the input matrix, or an error is returned.
-   * \param[in] eigs_sigma String containing either "LM", "SM", "LA", or "SA", with
-   *    respective meanings to find the largest magnitude , smallest magnitude,
-   *    largest algebraic, or smallest algebraic eigenvalues. Alternatively, this
-   *    value can contain floating point value in string form, in which case the
-   *    eigenvalues closest to this value will be found.
-   * \param[in]  options Can be #ComputeEigenvectors (default) or #EigenvaluesOnly.
-   * \param[in] tol What tolerance to find the eigenvalues to. Default is 0, which
-   *    means machine precision.
-   *
-   * \returns    Reference to \c *this
-   *
-   * This function computes the eigenvalues of \p A using ARPACK.  The eigenvalues()
-   * function can be used to retrieve them.  If \p options equals #ComputeEigenvectors,
-   * then the eigenvectors are also computed and can be retrieved by
-   * calling eigenvectors().
-   *
-   */
-  ArpackGeneralizedSelfAdjointEigenSolver& compute(const MatrixType& A,
-                                                   Index nbrEigenvalues, std::string eigs_sigma="LM",
-                                        int options=ComputeEigenvectors, RealScalar tol=0.0);
-
-
-  /** \brief Returns the eigenvectors of given matrix.
-   *
-   * \returns  A const reference to the matrix whose columns are the eigenvectors.
-   *
-   * \pre The eigenvectors have been computed before.
-   *
-   * Column \f$ k \f$ of the returned matrix is an eigenvector corresponding
-   * to eigenvalue number \f$ k \f$ as returned by eigenvalues().  The
-   * eigenvectors are normalized to have (Euclidean) norm equal to one. If
-   * this object was used to solve the eigenproblem for the selfadjoint
-   * matrix \f$ A \f$, then the matrix returned by this function is the
-   * matrix \f$ V \f$ in the eigendecomposition \f$ A V = D V \f$.
-   * For the generalized eigenproblem, the matrix returned is the solution \f$ A V = D B V \f$
-   *
-   * Example: \include SelfAdjointEigenSolver_eigenvectors.cpp
-   * Output: \verbinclude SelfAdjointEigenSolver_eigenvectors.out
-   *
-   * \sa eigenvalues()
-   */
-  const Matrix<Scalar, Dynamic, Dynamic>& eigenvectors() const
-  {
-    eigen_assert(m_isInitialized && "ArpackGeneralizedSelfAdjointEigenSolver is not initialized.");
-    eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-    return m_eivec;
-  }
-
-  /** \brief Returns the eigenvalues of given matrix.
-   *
-   * \returns A const reference to the column vector containing the eigenvalues.
-   *
-   * \pre The eigenvalues have been computed before.
-   *
-   * The eigenvalues are repeated according to their algebraic multiplicity,
-   * so there are as many eigenvalues as rows in the matrix. The eigenvalues
-   * are sorted in increasing order.
-   *
-   * Example: \include SelfAdjointEigenSolver_eigenvalues.cpp
-   * Output: \verbinclude SelfAdjointEigenSolver_eigenvalues.out
-   *
-   * \sa eigenvectors(), MatrixBase::eigenvalues()
-   */
-  const Matrix<Scalar, Dynamic, 1>& eigenvalues() const
-  {
-    eigen_assert(m_isInitialized && "ArpackGeneralizedSelfAdjointEigenSolver is not initialized.");
-    return m_eivalues;
-  }
-
-  /** \brief Computes the positive-definite square root of the matrix.
-   *
-   * \returns the positive-definite square root of the matrix
-   *
-   * \pre The eigenvalues and eigenvectors of a positive-definite matrix
-   * have been computed before.
-   *
-   * The square root of a positive-definite matrix \f$ A \f$ is the
-   * positive-definite matrix whose square equals \f$ A \f$. This function
-   * uses the eigendecomposition \f$ A = V D V^{-1} \f$ to compute the
-   * square root as \f$ A^{1/2} = V D^{1/2} V^{-1} \f$.
-   *
-   * Example: \include SelfAdjointEigenSolver_operatorSqrt.cpp
-   * Output: \verbinclude SelfAdjointEigenSolver_operatorSqrt.out
-   *
-   * \sa operatorInverseSqrt(),
-   *     \ref MatrixFunctions_Module "MatrixFunctions Module"
-   */
-  Matrix<Scalar, Dynamic, Dynamic> operatorSqrt() const
-  {
-    eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-    eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-    return m_eivec * m_eivalues.cwiseSqrt().asDiagonal() * m_eivec.adjoint();
-  }
-
-  /** \brief Computes the inverse square root of the matrix.
-   *
-   * \returns the inverse positive-definite square root of the matrix
-   *
-   * \pre The eigenvalues and eigenvectors of a positive-definite matrix
-   * have been computed before.
-   *
-   * This function uses the eigendecomposition \f$ A = V D V^{-1} \f$ to
-   * compute the inverse square root as \f$ V D^{-1/2} V^{-1} \f$. This is
-   * cheaper than first computing the square root with operatorSqrt() and
-   * then its inverse with MatrixBase::inverse().
-   *
-   * Example: \include SelfAdjointEigenSolver_operatorInverseSqrt.cpp
-   * Output: \verbinclude SelfAdjointEigenSolver_operatorInverseSqrt.out
-   *
-   * \sa operatorSqrt(), MatrixBase::inverse(),
-   *     \ref MatrixFunctions_Module "MatrixFunctions Module"
-   */
-  Matrix<Scalar, Dynamic, Dynamic> operatorInverseSqrt() const
-  {
-    eigen_assert(m_isInitialized && "SelfAdjointEigenSolver is not initialized.");
-    eigen_assert(m_eigenvectorsOk && "The eigenvectors have not been computed together with the eigenvalues.");
-    return m_eivec * m_eivalues.cwiseInverse().cwiseSqrt().asDiagonal() * m_eivec.adjoint();
-  }
-
-  /** \brief Reports whether previous computation was successful.
-   *
-   * \returns \c Success if computation was succesful, \c NoConvergence otherwise.
-   */
-  ComputationInfo info() const
-  {
-    eigen_assert(m_isInitialized && "ArpackGeneralizedSelfAdjointEigenSolver is not initialized.");
-    return m_info;
-  }
-
-  size_t getNbrConvergedEigenValues() const
-  { return m_nbrConverged; }
-
-  size_t getNbrIterations() const
-  { return m_nbrIterations; }
-
-protected:
-  Matrix<Scalar, Dynamic, Dynamic> m_eivec;
-  Matrix<Scalar, Dynamic, 1> m_eivalues;
-  ComputationInfo m_info;
-  bool m_isInitialized;
-  bool m_eigenvectorsOk;
-
-  size_t m_nbrConverged;
-  size_t m_nbrIterations;
-};
-
-
-
-
-
-template<typename MatrixType, typename MatrixSolver, bool BisSPD>
-ArpackGeneralizedSelfAdjointEigenSolver<MatrixType, MatrixSolver, BisSPD>&
-    ArpackGeneralizedSelfAdjointEigenSolver<MatrixType, MatrixSolver, BisSPD>
-::compute(const MatrixType& A, Index nbrEigenvalues,
-          std::string eigs_sigma, int options, RealScalar tol)
-{
-    MatrixType B(0,0);
-    compute(A, B, nbrEigenvalues, eigs_sigma, options, tol);
-    
-    return *this;
-}
-
-
-template<typename MatrixType, typename MatrixSolver, bool BisSPD>
-ArpackGeneralizedSelfAdjointEigenSolver<MatrixType, MatrixSolver, BisSPD>&
-    ArpackGeneralizedSelfAdjointEigenSolver<MatrixType, MatrixSolver, BisSPD>
-::compute(const MatrixType& A, const MatrixType& B, Index nbrEigenvalues,
-          std::string eigs_sigma, int options, RealScalar tol)
-{
-  eigen_assert(A.cols() == A.rows());
-  eigen_assert(B.cols() == B.rows());
-  eigen_assert(B.rows() == 0 || A.cols() == B.rows());
-  eigen_assert((options &~ (EigVecMask | GenEigMask)) == 0
-            && (options & EigVecMask) != EigVecMask
-            && "invalid option parameter");
-
-  bool isBempty = (B.rows() == 0) || (B.cols() == 0);
-
-  // For clarity, all parameters match their ARPACK name
-  //
-  // Always 0 on the first call
-  //
-  int ido = 0;
-
-  int n = (int)A.cols();
-
-  // User options: "LA", "SA", "SM", "LM", "BE"
-  //
-  char whch[3] = "LM";
-    
-  // Specifies the shift if iparam[6] = { 3, 4, 5 }, not used if iparam[6] = { 1, 2 }
-  //
-  RealScalar sigma = 0.0;
-
-  if (eigs_sigma.length() >= 2 && isalpha(eigs_sigma[0]) && isalpha(eigs_sigma[1]))
-  {
-      eigs_sigma[0] = toupper(eigs_sigma[0]);
-      eigs_sigma[1] = toupper(eigs_sigma[1]);
-
-      // In the following special case we're going to invert the problem, since solving
-      // for larger magnitude is much much faster
-      // i.e., if 'SM' is specified, we're going to really use 'LM', the default
-      //
-      if (eigs_sigma.substr(0,2) != "SM")
-      {
-          whch[0] = eigs_sigma[0];
-          whch[1] = eigs_sigma[1];
-      }
-  }
-  else
-  {
-      eigen_assert(false && "Specifying clustered eigenvalues is not yet supported!");
-
-      // If it's not scalar values, then the user may be explicitly
-      // specifying the sigma value to cluster the evs around
-      //
-      sigma = atof(eigs_sigma.c_str());
-
-      // If atof fails, it returns 0.0, which is a fine default
-      //
-  }
-
-  // "I" means normal eigenvalue problem, "G" means generalized
-  //
-  char bmat[2] = "I";
-  if (eigs_sigma.substr(0,2) == "SM" || !(isalpha(eigs_sigma[0]) && isalpha(eigs_sigma[1])) || (!isBempty && !BisSPD))
-      bmat[0] = 'G';
-
-  // Now we determine the mode to use
-  //
-  int mode = (bmat[0] == 'G') + 1;
-  if (eigs_sigma.substr(0,2) == "SM" || !(isalpha(eigs_sigma[0]) && isalpha(eigs_sigma[1])))
-  {
-      // We're going to use shift-and-invert mode, and basically find
-      // the largest eigenvalues of the inverse operator
-      //
-      mode = 3;
-  }
-
-  // The user-specified number of eigenvalues/vectors to compute
-  //
-  int nev = (int)nbrEigenvalues;
-
-  // Allocate space for ARPACK to store the residual
-  //
-  Scalar *resid = new Scalar[n];
-
-  // Number of Lanczos vectors, must satisfy nev < ncv <= n
-  // Note that this indicates that nev != n, and we cannot compute
-  // all eigenvalues of a mtrix
-  //
-  int ncv = std::min(std::max(2*nev, 20), n);
-
-  // The working n x ncv matrix, also store the final eigenvectors (if computed)
-  //
-  Scalar *v = new Scalar[n*ncv];
-  int ldv = n;
-
-  // Working space
-  //
-  Scalar *workd = new Scalar[3*n];
-  int lworkl = ncv*ncv+8*ncv; // Must be at least this length
-  Scalar *workl = new Scalar[lworkl];
-
-  int *iparam= new int[11];
-  iparam[0] = 1; // 1 means we let ARPACK perform the shifts, 0 means we'd have to do it
-  iparam[2] = std::max(300, (int)std::ceil(2*n/std::max(ncv,1)));
-  iparam[6] = mode; // The mode, 1 is standard ev problem, 2 for generalized ev, 3 for shift-and-invert
-
-  // Used during reverse communicate to notify where arrays start
-  //
-  int *ipntr = new int[11]; 
-
-  // Error codes are returned in here, initial value of 0 indicates a random initial
-  // residual vector is used, any other values means resid contains the initial residual
-  // vector, possibly from a previous run
-  //
-  int info = 0;
-
-  Scalar scale = 1.0;
-  //if (!isBempty)
-  //{
-  //Scalar scale = B.norm() / std::sqrt(n);
-  //scale = std::pow(2, std::floor(std::log(scale+1)));
-  ////M /= scale;
-  //for (size_t i=0; i<(size_t)B.outerSize(); i++)
-  //    for (typename MatrixType::InnerIterator it(B, i); it; ++it)
-  //        it.valueRef() /= scale;
-  //}
-
-  MatrixSolver OP;
-  if (mode == 1 || mode == 2)
-  {
-      if (!isBempty)
-          OP.compute(B);
-  }
-  else if (mode == 3)
-  {
-      if (sigma == 0.0)
-      {
-          OP.compute(A);
-      }
-      else
-      {
-          // Note: We will never enter here because sigma must be 0.0
-          //
-          if (isBempty)
-          {
-            MatrixType AminusSigmaB(A);
-            for (Index i=0; i<A.rows(); ++i)
-                AminusSigmaB.coeffRef(i,i) -= sigma;
-            
-            OP.compute(AminusSigmaB);
-          }
-          else
-          {
-              MatrixType AminusSigmaB = A - sigma * B;
-              OP.compute(AminusSigmaB);
-          }
-      }
-  }
- 
-  if (!(mode == 1 && isBempty) && !(mode == 2 && isBempty) && OP.info() != Success)
-      std::cout << "Error factoring matrix" << std::endl;
-
-  do
-  {
-    internal::arpack_wrapper<Scalar, RealScalar>::saupd(&ido, bmat, &n, whch, &nev, &tol, resid, 
-                                                        &ncv, v, &ldv, iparam, ipntr, workd, workl,
-                                                        &lworkl, &info);
-
-    if (ido == -1 || ido == 1)
-    {
-      Scalar *in  = workd + ipntr[0] - 1;
-      Scalar *out = workd + ipntr[1] - 1;
-
-      if (ido == 1 && mode != 2)
-      {
-          Scalar *out2 = workd + ipntr[2] - 1;
-          if (isBempty || mode == 1)
-            Matrix<Scalar, Dynamic, 1>::Map(out2, n) = Matrix<Scalar, Dynamic, 1>::Map(in, n);
-          else
-            Matrix<Scalar, Dynamic, 1>::Map(out2, n) = B * Matrix<Scalar, Dynamic, 1>::Map(in, n);
-          
-          in = workd + ipntr[2] - 1;
-      }
-
-      if (mode == 1)
-      {
-        if (isBempty)
-        {
-          // OP = A
-          //
-          Matrix<Scalar, Dynamic, 1>::Map(out, n) = A * Matrix<Scalar, Dynamic, 1>::Map(in, n);
-        }
-        else
-        {
-          // OP = L^{-1}AL^{-T}
-          //
-          internal::OP<MatrixSolver, MatrixType, Scalar, BisSPD>::applyOP(OP, A, n, in, out);
-        }
-      }
-      else if (mode == 2)
-      {
-        if (ido == 1)
-          Matrix<Scalar, Dynamic, 1>::Map(in, n)  = A * Matrix<Scalar, Dynamic, 1>::Map(in, n);
-        
-        // OP = B^{-1} A
-        //
-        Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.solve(Matrix<Scalar, Dynamic, 1>::Map(in, n));
-      }
-      else if (mode == 3)
-      {
-        // OP = (A-\sigmaB)B (\sigma could be 0, and B could be I)
-        // The B * in is already computed and stored at in if ido == 1
-        //
-        if (ido == 1 || isBempty)
-          Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.solve(Matrix<Scalar, Dynamic, 1>::Map(in, n));
-        else
-          Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.solve(B * Matrix<Scalar, Dynamic, 1>::Map(in, n));
-      }
-    }
-    else if (ido == 2)
-    {
-      Scalar *in  = workd + ipntr[0] - 1;
-      Scalar *out = workd + ipntr[1] - 1;
-
-      if (isBempty || mode == 1)
-        Matrix<Scalar, Dynamic, 1>::Map(out, n) = Matrix<Scalar, Dynamic, 1>::Map(in, n);
-      else
-        Matrix<Scalar, Dynamic, 1>::Map(out, n) = B * Matrix<Scalar, Dynamic, 1>::Map(in, n);
-    }
-  } while (ido != 99);
-
-  if (info == 1)
-    m_info = NoConvergence;
-  else if (info == 3)
-    m_info = NumericalIssue;
-  else if (info < 0)
-    m_info = InvalidInput;
-  else if (info != 0)
-    eigen_assert(false && "Unknown ARPACK return value!");
-  else
-  {
-    // Do we compute eigenvectors or not?
-    //
-    int rvec = (options & ComputeEigenvectors) == ComputeEigenvectors;
-
-    // "A" means "All", use "S" to choose specific eigenvalues (not yet supported in ARPACK))
-    //
-    char howmny[2] = "A"; 
-
-    // if howmny == "S", specifies the eigenvalues to compute (not implemented in ARPACK)
-    //
-    int *select = new int[ncv];
-
-    // Final eigenvalues
-    //
-    m_eivalues.resize(nev, 1);
-
-    internal::arpack_wrapper<Scalar, RealScalar>::seupd(&rvec, howmny, select, m_eivalues.data(), v, &ldv,
-                                                        &sigma, bmat, &n, whch, &nev, &tol, resid, &ncv,
-                                                        v, &ldv, iparam, ipntr, workd, workl, &lworkl, &info);
-
-    if (info == -14)
-      m_info = NoConvergence;
-    else if (info != 0)
-      m_info = InvalidInput;
-    else
-    {
-      if (rvec)
-      {
-        m_eivec.resize(A.rows(), nev);
-        for (int i=0; i<nev; i++)
-          for (int j=0; j<n; j++)
-            m_eivec(j,i) = v[i*n+j] / scale;
-      
-        if (mode == 1 && !isBempty && BisSPD)
-          internal::OP<MatrixSolver, MatrixType, Scalar, BisSPD>::project(OP, n, nev, m_eivec.data());
-
-        m_eigenvectorsOk = true;
-      }
-
-      m_nbrIterations = iparam[2];
-      m_nbrConverged  = iparam[4];
-
-      m_info = Success;
-    }
-
-    delete select;
-  }
-
-  delete v;
-  delete iparam;
-  delete ipntr;
-  delete workd;
-  delete workl;
-  delete resid;
-
-  m_isInitialized = true;
-
-  return *this;
-}
-
-
-// Single precision
-//
-extern "C" void ssaupd_(int *ido, char *bmat, int *n, char *which,
-    int *nev, float *tol, float *resid, int *ncv,
-    float *v, int *ldv, int *iparam, int *ipntr,
-    float *workd, float *workl, int *lworkl,
-    int *info);
-
-extern "C" void sseupd_(int *rvec, char *All, int *select, float *d,
-    float *z, int *ldz, float *sigma, 
-    char *bmat, int *n, char *which, int *nev,
-    float *tol, float *resid, int *ncv, float *v,
-    int *ldv, int *iparam, int *ipntr, float *workd,
-    float *workl, int *lworkl, int *ierr);
-
-// Double precision
-//
-extern "C" void dsaupd_(int *ido, char *bmat, int *n, char *which,
-    int *nev, double *tol, double *resid, int *ncv,
-    double *v, int *ldv, int *iparam, int *ipntr,
-    double *workd, double *workl, int *lworkl,
-    int *info);
-
-extern "C" void dseupd_(int *rvec, char *All, int *select, double *d,
-    double *z, int *ldz, double *sigma, 
-    char *bmat, int *n, char *which, int *nev,
-    double *tol, double *resid, int *ncv, double *v,
-    int *ldv, int *iparam, int *ipntr, double *workd,
-    double *workl, int *lworkl, int *ierr);
-
-
-namespace internal {
-
-template<typename Scalar, typename RealScalar> struct arpack_wrapper
-{
-  static inline void saupd(int *ido, char *bmat, int *n, char *which,
-      int *nev, RealScalar *tol, Scalar *resid, int *ncv,
-      Scalar *v, int *ldv, int *iparam, int *ipntr,
-      Scalar *workd, Scalar *workl, int *lworkl, int *info)
-  { 
-    EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
-  }
-
-  static inline void seupd(int *rvec, char *All, int *select, Scalar *d,
-      Scalar *z, int *ldz, RealScalar *sigma,
-      char *bmat, int *n, char *which, int *nev,
-      RealScalar *tol, Scalar *resid, int *ncv, Scalar *v,
-      int *ldv, int *iparam, int *ipntr, Scalar *workd,
-      Scalar *workl, int *lworkl, int *ierr)
-  {
-    EIGEN_STATIC_ASSERT(!NumTraits<Scalar>::IsComplex, NUMERIC_TYPE_MUST_BE_REAL)
-  }
-};
-
-template <> struct arpack_wrapper<float, float>
-{
-  static inline void saupd(int *ido, char *bmat, int *n, char *which,
-      int *nev, float *tol, float *resid, int *ncv,
-      float *v, int *ldv, int *iparam, int *ipntr,
-      float *workd, float *workl, int *lworkl, int *info)
-  {
-    ssaupd_(ido, bmat, n, which, nev, tol, resid, ncv, v, ldv, iparam, ipntr, workd, workl, lworkl, info);
-  }
-
-  static inline void seupd(int *rvec, char *All, int *select, float *d,
-      float *z, int *ldz, float *sigma,
-      char *bmat, int *n, char *which, int *nev,
-      float *tol, float *resid, int *ncv, float *v,
-      int *ldv, int *iparam, int *ipntr, float *workd,
-      float *workl, int *lworkl, int *ierr)
-  {
-    sseupd_(rvec, All, select, d, z, ldz, sigma, bmat, n, which, nev, tol, resid, ncv, v, ldv, iparam, ipntr,
-        workd, workl, lworkl, ierr);
-  }
-};
-
-template <> struct arpack_wrapper<double, double>
-{
-  static inline void saupd(int *ido, char *bmat, int *n, char *which,
-      int *nev, double *tol, double *resid, int *ncv,
-      double *v, int *ldv, int *iparam, int *ipntr,
-      double *workd, double *workl, int *lworkl, int *info)
-  {
-    dsaupd_(ido, bmat, n, which, nev, tol, resid, ncv, v, ldv, iparam, ipntr, workd, workl, lworkl, info);
-  }
-
-  static inline void seupd(int *rvec, char *All, int *select, double *d,
-      double *z, int *ldz, double *sigma,
-      char *bmat, int *n, char *which, int *nev,
-      double *tol, double *resid, int *ncv, double *v,
-      int *ldv, int *iparam, int *ipntr, double *workd,
-      double *workl, int *lworkl, int *ierr)
-  {
-    dseupd_(rvec, All, select, d, v, ldv, sigma, bmat, n, which, nev, tol, resid, ncv, v, ldv, iparam, ipntr,
-        workd, workl, lworkl, ierr);
-  }
-};
-
-
-template<typename MatrixSolver, typename MatrixType, typename Scalar, bool BisSPD>
-struct OP
-{
-    static inline void applyOP(MatrixSolver &OP, const MatrixType &A, int n, Scalar *in, Scalar *out);
-    static inline void project(MatrixSolver &OP, int n, int k, Scalar *vecs);
-};
-
-template<typename MatrixSolver, typename MatrixType, typename Scalar>
-struct OP<MatrixSolver, MatrixType, Scalar, true>
-{
-  static inline void applyOP(MatrixSolver &OP, const MatrixType &A, int n, Scalar *in, Scalar *out)
-{
-    // OP = L^{-1} A L^{-T}  (B = LL^T)
-    //
-    // First solve L^T out = in
-    //
-    Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.matrixU().solve(Matrix<Scalar, Dynamic, 1>::Map(in, n));
-    Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.permutationPinv() * Matrix<Scalar, Dynamic, 1>::Map(out, n);
-
-    // Then compute out = A out
-    //
-    Matrix<Scalar, Dynamic, 1>::Map(out, n) = A * Matrix<Scalar, Dynamic, 1>::Map(out, n);
-
-    // Then solve L out = out
-    //
-    Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.permutationP() * Matrix<Scalar, Dynamic, 1>::Map(out, n);
-    Matrix<Scalar, Dynamic, 1>::Map(out, n) = OP.matrixL().solve(Matrix<Scalar, Dynamic, 1>::Map(out, n));
-}
-
-  static inline void project(MatrixSolver &OP, int n, int k, Scalar *vecs)
-{
-    // Solve L^T out = in
-    //
-    Matrix<Scalar, Dynamic, Dynamic>::Map(vecs, n, k) = OP.matrixU().solve(Matrix<Scalar, Dynamic, Dynamic>::Map(vecs, n, k));
-    Matrix<Scalar, Dynamic, Dynamic>::Map(vecs, n, k) = OP.permutationPinv() * Matrix<Scalar, Dynamic, Dynamic>::Map(vecs, n, k);
-}
-
-};
-
-template<typename MatrixSolver, typename MatrixType, typename Scalar>
-struct OP<MatrixSolver, MatrixType, Scalar, false>
-{
-  static inline void applyOP(MatrixSolver &OP, const MatrixType &A, int n, Scalar *in, Scalar *out)
-{
-    eigen_assert(false && "Should never be in here...");
-}
-
-  static inline void project(MatrixSolver &OP, int n, int k, Scalar *vecs)
-{
-    eigen_assert(false && "Should never be in here...");
-}
-
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_ARPACKSELFADJOINTEIGENSOLVER_H
-
diff --git a/eigenlib/unsupported/Eigen/src/FFT/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/FFT/CMakeLists.txt
deleted file mode 100644
index edcffcb1..00000000
--- a/eigenlib/unsupported/Eigen/src/FFT/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_FFT_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_FFT_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/FFT COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/FFT/ei_fftw_impl.h b/eigenlib/unsupported/Eigen/src/FFT/ei_fftw_impl.h
deleted file mode 100644
index d49aa17f..00000000
--- a/eigenlib/unsupported/Eigen/src/FFT/ei_fftw_impl.h
+++ /dev/null
@@ -1,261 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra. 
-//
-// Copyright (C) 2009 Mark Borgerding mark a borgerding net
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-namespace Eigen { 
-
-namespace internal {
-
-  // FFTW uses non-const arguments
-  // so we must use ugly const_cast calls for all the args it uses
-  //
-  // This should be safe as long as 
-  // 1. we use FFTW_ESTIMATE for all our planning
-  //       see the FFTW docs section 4.3.2 "Planner Flags"
-  // 2. fftw_complex is compatible with std::complex
-  //    This assumes std::complex<T> layout is array of size 2 with real,imag
-  template <typename T> 
-  inline 
-  T * fftw_cast(const T* p)
-  { 
-      return const_cast<T*>( p); 
-  }
-
-  inline 
-  fftw_complex * fftw_cast( const std::complex<double> * p)
-  {
-      return const_cast<fftw_complex*>( reinterpret_cast<const fftw_complex*>(p) ); 
-  }
-
-  inline 
-  fftwf_complex * fftw_cast( const std::complex<float> * p)
-  { 
-      return const_cast<fftwf_complex*>( reinterpret_cast<const fftwf_complex*>(p) ); 
-  }
-
-  inline 
-  fftwl_complex * fftw_cast( const std::complex<long double> * p)
-  { 
-      return const_cast<fftwl_complex*>( reinterpret_cast<const fftwl_complex*>(p) ); 
-  }
-
-  template <typename T> 
-  struct fftw_plan {};
-
-  template <> 
-  struct fftw_plan<float>
-  {
-      typedef float scalar_type;
-      typedef fftwf_complex complex_type;
-      fftwf_plan m_plan;
-      fftw_plan() :m_plan(NULL) {}
-      ~fftw_plan() {if (m_plan) fftwf_destroy_plan(m_plan);}
-
-      inline
-      void fwd(complex_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftwf_plan_dft_1d(nfft,src,dst, FFTW_FORWARD, FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwf_execute_dft( m_plan, src,dst);
-      }
-      inline
-      void inv(complex_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftwf_plan_dft_1d(nfft,src,dst, FFTW_BACKWARD , FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwf_execute_dft( m_plan, src,dst);
-      }
-      inline
-      void fwd(complex_type * dst,scalar_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftwf_plan_dft_r2c_1d(nfft,src,dst,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwf_execute_dft_r2c( m_plan,src,dst);
-      }
-      inline
-      void inv(scalar_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL)
-              m_plan = fftwf_plan_dft_c2r_1d(nfft,src,dst,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwf_execute_dft_c2r( m_plan, src,dst);
-      }
-
-      inline 
-      void fwd2( complex_type * dst,complex_type * src,int n0,int n1) {
-          if (m_plan==NULL) m_plan = fftwf_plan_dft_2d(n0,n1,src,dst,FFTW_FORWARD,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwf_execute_dft( m_plan, src,dst);
-      }
-      inline 
-      void inv2( complex_type * dst,complex_type * src,int n0,int n1) {
-          if (m_plan==NULL) m_plan = fftwf_plan_dft_2d(n0,n1,src,dst,FFTW_BACKWARD,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwf_execute_dft( m_plan, src,dst);
-      }
-
-  };
-  template <> 
-  struct fftw_plan<double>
-  {
-      typedef double scalar_type;
-      typedef fftw_complex complex_type;
-      ::fftw_plan m_plan;
-      fftw_plan() :m_plan(NULL) {}
-      ~fftw_plan() {if (m_plan) fftw_destroy_plan(m_plan);}
-
-      inline
-      void fwd(complex_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftw_plan_dft_1d(nfft,src,dst, FFTW_FORWARD, FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftw_execute_dft( m_plan, src,dst);
-      }
-      inline
-      void inv(complex_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftw_plan_dft_1d(nfft,src,dst, FFTW_BACKWARD , FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftw_execute_dft( m_plan, src,dst);
-      }
-      inline
-      void fwd(complex_type * dst,scalar_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftw_plan_dft_r2c_1d(nfft,src,dst,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftw_execute_dft_r2c( m_plan,src,dst);
-      }
-      inline
-      void inv(scalar_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL)
-              m_plan = fftw_plan_dft_c2r_1d(nfft,src,dst,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftw_execute_dft_c2r( m_plan, src,dst);
-      }
-      inline 
-      void fwd2( complex_type * dst,complex_type * src,int n0,int n1) {
-          if (m_plan==NULL) m_plan = fftw_plan_dft_2d(n0,n1,src,dst,FFTW_FORWARD,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftw_execute_dft( m_plan, src,dst);
-      }
-      inline 
-      void inv2( complex_type * dst,complex_type * src,int n0,int n1) {
-          if (m_plan==NULL) m_plan = fftw_plan_dft_2d(n0,n1,src,dst,FFTW_BACKWARD,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftw_execute_dft( m_plan, src,dst);
-      }
-  };
-  template <> 
-  struct fftw_plan<long double>
-  {
-      typedef long double scalar_type;
-      typedef fftwl_complex complex_type;
-      fftwl_plan m_plan;
-      fftw_plan() :m_plan(NULL) {}
-      ~fftw_plan() {if (m_plan) fftwl_destroy_plan(m_plan);}
-
-      inline
-      void fwd(complex_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftwl_plan_dft_1d(nfft,src,dst, FFTW_FORWARD, FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwl_execute_dft( m_plan, src,dst);
-      }
-      inline
-      void inv(complex_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftwl_plan_dft_1d(nfft,src,dst, FFTW_BACKWARD , FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwl_execute_dft( m_plan, src,dst);
-      }
-      inline
-      void fwd(complex_type * dst,scalar_type * src,int nfft) {
-          if (m_plan==NULL) m_plan = fftwl_plan_dft_r2c_1d(nfft,src,dst,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwl_execute_dft_r2c( m_plan,src,dst);
-      }
-      inline
-      void inv(scalar_type * dst,complex_type * src,int nfft) {
-          if (m_plan==NULL)
-              m_plan = fftwl_plan_dft_c2r_1d(nfft,src,dst,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwl_execute_dft_c2r( m_plan, src,dst);
-      }
-      inline 
-      void fwd2( complex_type * dst,complex_type * src,int n0,int n1) {
-          if (m_plan==NULL) m_plan = fftwl_plan_dft_2d(n0,n1,src,dst,FFTW_FORWARD,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwl_execute_dft( m_plan, src,dst);
-      }
-      inline 
-      void inv2( complex_type * dst,complex_type * src,int n0,int n1) {
-          if (m_plan==NULL) m_plan = fftwl_plan_dft_2d(n0,n1,src,dst,FFTW_BACKWARD,FFTW_ESTIMATE|FFTW_PRESERVE_INPUT);
-          fftwl_execute_dft( m_plan, src,dst);
-      }
-  };
-
-  template <typename _Scalar>
-  struct fftw_impl
-  {
-      typedef _Scalar Scalar;
-      typedef std::complex<Scalar> Complex;
-
-      inline
-      void clear() 
-      {
-        m_plans.clear();
-      }
-
-      // complex-to-complex forward FFT
-      inline
-      void fwd( Complex * dst,const Complex *src,int nfft)
-      {
-        get_plan(nfft,false,dst,src).fwd(fftw_cast(dst), fftw_cast(src),nfft );
-      }
-
-      // real-to-complex forward FFT
-      inline
-      void fwd( Complex * dst,const Scalar * src,int nfft) 
-      {
-          get_plan(nfft,false,dst,src).fwd(fftw_cast(dst), fftw_cast(src) ,nfft);
-      }
-
-      // 2-d complex-to-complex
-      inline
-      void fwd2(Complex * dst, const Complex * src, int n0,int n1)
-      {
-          get_plan(n0,n1,false,dst,src).fwd2(fftw_cast(dst), fftw_cast(src) ,n0,n1);
-      }
-
-      // inverse complex-to-complex
-      inline
-      void inv(Complex * dst,const Complex  *src,int nfft)
-      {
-        get_plan(nfft,true,dst,src).inv(fftw_cast(dst), fftw_cast(src),nfft );
-      }
-
-      // half-complex to scalar
-      inline
-      void inv( Scalar * dst,const Complex * src,int nfft) 
-      {
-        get_plan(nfft,true,dst,src).inv(fftw_cast(dst), fftw_cast(src),nfft );
-      }
-
-      // 2-d complex-to-complex
-      inline
-      void inv2(Complex * dst, const Complex * src, int n0,int n1)
-      {
-        get_plan(n0,n1,true,dst,src).inv2(fftw_cast(dst), fftw_cast(src) ,n0,n1);
-      }
-
-
-  protected:
-      typedef fftw_plan<Scalar> PlanData;
-
-      typedef std::map<int64_t,PlanData> PlanMap;
-
-      PlanMap m_plans;
-
-      inline
-      PlanData & get_plan(int nfft,bool inverse,void * dst,const void * src)
-      {
-          bool inplace = (dst==src);
-          bool aligned = ( (reinterpret_cast<size_t>(src)&15) | (reinterpret_cast<size_t>(dst)&15) ) == 0;
-          int64_t key = ( (nfft<<3 ) | (inverse<<2) | (inplace<<1) | aligned ) << 1;
-          return m_plans[key];
-      }
-
-      inline
-      PlanData & get_plan(int n0,int n1,bool inverse,void * dst,const void * src)
-      {
-          bool inplace = (dst==src);
-          bool aligned = ( (reinterpret_cast<size_t>(src)&15) | (reinterpret_cast<size_t>(dst)&15) ) == 0;
-          int64_t key = ( ( (((int64_t)n0) << 30)|(n1<<3 ) | (inverse<<2) | (inplace<<1) | aligned ) << 1 ) + 1;
-          return m_plans[key];
-      }
-  };
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/eigenlib/unsupported/Eigen/src/FFT/ei_kissfft_impl.h b/eigenlib/unsupported/Eigen/src/FFT/ei_kissfft_impl.h
deleted file mode 100644
index be51b4e6..00000000
--- a/eigenlib/unsupported/Eigen/src/FFT/ei_kissfft_impl.h
+++ /dev/null
@@ -1,420 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Mark Borgerding mark a borgerding net
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-namespace Eigen { 
-
-namespace internal {
-
-  // This FFT implementation was derived from kissfft http:sourceforge.net/projects/kissfft
-  // Copyright 2003-2009 Mark Borgerding
-
-template <typename _Scalar>
-struct kiss_cpx_fft
-{
-  typedef _Scalar Scalar;
-  typedef std::complex<Scalar> Complex;
-  std::vector<Complex> m_twiddles;
-  std::vector<int> m_stageRadix;
-  std::vector<int> m_stageRemainder;
-  std::vector<Complex> m_scratchBuf;
-  bool m_inverse;
-
-  inline
-    void make_twiddles(int nfft,bool inverse)
-    {
-      using std::acos;
-      m_inverse = inverse;
-      m_twiddles.resize(nfft);
-      Scalar phinc =  (inverse?2:-2)* acos( (Scalar) -1)  / nfft;
-      for (int i=0;i<nfft;++i)
-        m_twiddles[i] = exp( Complex(0,i*phinc) );
-    }
-
-  void factorize(int nfft)
-  {
-    //start factoring out 4's, then 2's, then 3,5,7,9,...
-    int n= nfft;
-    int p=4;
-    do {
-      while (n % p) {
-        switch (p) {
-          case 4: p = 2; break;
-          case 2: p = 3; break;
-          default: p += 2; break;
-        }
-        if (p*p>n)
-          p=n;// impossible to have a factor > sqrt(n)
-      }
-      n /= p;
-      m_stageRadix.push_back(p);
-      m_stageRemainder.push_back(n);
-      if ( p > 5 )
-        m_scratchBuf.resize(p); // scratchbuf will be needed in bfly_generic
-    }while(n>1);
-  }
-
-  template <typename _Src>
-    inline
-    void work( int stage,Complex * xout, const _Src * xin, size_t fstride,size_t in_stride)
-    {
-      int p = m_stageRadix[stage];
-      int m = m_stageRemainder[stage];
-      Complex * Fout_beg = xout;
-      Complex * Fout_end = xout + p*m;
-
-      if (m>1) {
-        do{
-          // recursive call:
-          // DFT of size m*p performed by doing
-          // p instances of smaller DFTs of size m, 
-          // each one takes a decimated version of the input
-          work(stage+1, xout , xin, fstride*p,in_stride);
-          xin += fstride*in_stride;
-        }while( (xout += m) != Fout_end );
-      }else{
-        do{
-          *xout = *xin;
-          xin += fstride*in_stride;
-        }while(++xout != Fout_end );
-      }
-      xout=Fout_beg;
-
-      // recombine the p smaller DFTs 
-      switch (p) {
-        case 2: bfly2(xout,fstride,m); break;
-        case 3: bfly3(xout,fstride,m); break;
-        case 4: bfly4(xout,fstride,m); break;
-        case 5: bfly5(xout,fstride,m); break;
-        default: bfly_generic(xout,fstride,m,p); break;
-      }
-    }
-
-  inline
-    void bfly2( Complex * Fout, const size_t fstride, int m)
-    {
-      for (int k=0;k<m;++k) {
-        Complex t = Fout[m+k] * m_twiddles[k*fstride];
-        Fout[m+k] = Fout[k] - t;
-        Fout[k] += t;
-      }
-    }
-
-  inline
-    void bfly4( Complex * Fout, const size_t fstride, const size_t m)
-    {
-      Complex scratch[6];
-      int negative_if_inverse = m_inverse * -2 +1;
-      for (size_t k=0;k<m;++k) {
-        scratch[0] = Fout[k+m] * m_twiddles[k*fstride];
-        scratch[1] = Fout[k+2*m] * m_twiddles[k*fstride*2];
-        scratch[2] = Fout[k+3*m] * m_twiddles[k*fstride*3];
-        scratch[5] = Fout[k] - scratch[1];
-
-        Fout[k] += scratch[1];
-        scratch[3] = scratch[0] + scratch[2];
-        scratch[4] = scratch[0] - scratch[2];
-        scratch[4] = Complex( scratch[4].imag()*negative_if_inverse , -scratch[4].real()* negative_if_inverse );
-
-        Fout[k+2*m]  = Fout[k] - scratch[3];
-        Fout[k] += scratch[3];
-        Fout[k+m] = scratch[5] + scratch[4];
-        Fout[k+3*m] = scratch[5] - scratch[4];
-      }
-    }
-
-  inline
-    void bfly3( Complex * Fout, const size_t fstride, const size_t m)
-    {
-      size_t k=m;
-      const size_t m2 = 2*m;
-      Complex *tw1,*tw2;
-      Complex scratch[5];
-      Complex epi3;
-      epi3 = m_twiddles[fstride*m];
-
-      tw1=tw2=&m_twiddles[0];
-
-      do{
-        scratch[1]=Fout[m] * *tw1;
-        scratch[2]=Fout[m2] * *tw2;
-
-        scratch[3]=scratch[1]+scratch[2];
-        scratch[0]=scratch[1]-scratch[2];
-        tw1 += fstride;
-        tw2 += fstride*2;
-        Fout[m] = Complex( Fout->real() - Scalar(.5)*scratch[3].real() , Fout->imag() - Scalar(.5)*scratch[3].imag() );
-        scratch[0] *= epi3.imag();
-        *Fout += scratch[3];
-        Fout[m2] = Complex(  Fout[m].real() + scratch[0].imag() , Fout[m].imag() - scratch[0].real() );
-        Fout[m] += Complex( -scratch[0].imag(),scratch[0].real() );
-        ++Fout;
-      }while(--k);
-    }
-
-  inline
-    void bfly5( Complex * Fout, const size_t fstride, const size_t m)
-    {
-      Complex *Fout0,*Fout1,*Fout2,*Fout3,*Fout4;
-      size_t u;
-      Complex scratch[13];
-      Complex * twiddles = &m_twiddles[0];
-      Complex *tw;
-      Complex ya,yb;
-      ya = twiddles[fstride*m];
-      yb = twiddles[fstride*2*m];
-
-      Fout0=Fout;
-      Fout1=Fout0+m;
-      Fout2=Fout0+2*m;
-      Fout3=Fout0+3*m;
-      Fout4=Fout0+4*m;
-
-      tw=twiddles;
-      for ( u=0; u<m; ++u ) {
-        scratch[0] = *Fout0;
-
-        scratch[1]  = *Fout1 * tw[u*fstride];
-        scratch[2]  = *Fout2 * tw[2*u*fstride];
-        scratch[3]  = *Fout3 * tw[3*u*fstride];
-        scratch[4]  = *Fout4 * tw[4*u*fstride];
-
-        scratch[7] = scratch[1] + scratch[4];
-        scratch[10] = scratch[1] - scratch[4];
-        scratch[8] = scratch[2] + scratch[3];
-        scratch[9] = scratch[2] - scratch[3];
-
-        *Fout0 +=  scratch[7];
-        *Fout0 +=  scratch[8];
-
-        scratch[5] = scratch[0] + Complex(
-            (scratch[7].real()*ya.real() ) + (scratch[8].real() *yb.real() ),
-            (scratch[7].imag()*ya.real()) + (scratch[8].imag()*yb.real())
-            );
-
-        scratch[6] = Complex(
-            (scratch[10].imag()*ya.imag()) + (scratch[9].imag()*yb.imag()),
-            -(scratch[10].real()*ya.imag()) - (scratch[9].real()*yb.imag())
-            );
-
-        *Fout1 = scratch[5] - scratch[6];
-        *Fout4 = scratch[5] + scratch[6];
-
-        scratch[11] = scratch[0] +
-          Complex(
-              (scratch[7].real()*yb.real()) + (scratch[8].real()*ya.real()),
-              (scratch[7].imag()*yb.real()) + (scratch[8].imag()*ya.real())
-              );
-
-        scratch[12] = Complex(
-            -(scratch[10].imag()*yb.imag()) + (scratch[9].imag()*ya.imag()),
-            (scratch[10].real()*yb.imag()) - (scratch[9].real()*ya.imag())
-            );
-
-        *Fout2=scratch[11]+scratch[12];
-        *Fout3=scratch[11]-scratch[12];
-
-        ++Fout0;++Fout1;++Fout2;++Fout3;++Fout4;
-      }
-    }
-
-  /* perform the butterfly for one stage of a mixed radix FFT */
-  inline
-    void bfly_generic(
-        Complex * Fout,
-        const size_t fstride,
-        int m,
-        int p
-        )
-    {
-      int u,k,q1,q;
-      Complex * twiddles = &m_twiddles[0];
-      Complex t;
-      int Norig = static_cast<int>(m_twiddles.size());
-      Complex * scratchbuf = &m_scratchBuf[0];
-
-      for ( u=0; u<m; ++u ) {
-        k=u;
-        for ( q1=0 ; q1<p ; ++q1 ) {
-          scratchbuf[q1] = Fout[ k  ];
-          k += m;
-        }
-
-        k=u;
-        for ( q1=0 ; q1<p ; ++q1 ) {
-          int twidx=0;
-          Fout[ k ] = scratchbuf[0];
-          for (q=1;q<p;++q ) {
-            twidx += static_cast<int>(fstride) * k;
-            if (twidx>=Norig) twidx-=Norig;
-            t=scratchbuf[q] * twiddles[twidx];
-            Fout[ k ] += t;
-          }
-          k += m;
-        }
-      }
-    }
-};
-
-template <typename _Scalar>
-struct kissfft_impl
-{
-  typedef _Scalar Scalar;
-  typedef std::complex<Scalar> Complex;
-
-  void clear() 
-  {
-    m_plans.clear();
-    m_realTwiddles.clear();
-  }
-
-  inline
-    void fwd( Complex * dst,const Complex *src,int nfft)
-    {
-      get_plan(nfft,false).work(0, dst, src, 1,1);
-    }
-
-  inline
-    void fwd2( Complex * dst,const Complex *src,int n0,int n1)
-    {
-        EIGEN_UNUSED_VARIABLE(dst);
-        EIGEN_UNUSED_VARIABLE(src);
-        EIGEN_UNUSED_VARIABLE(n0);
-        EIGEN_UNUSED_VARIABLE(n1);
-    }
-
-  inline
-    void inv2( Complex * dst,const Complex *src,int n0,int n1)
-    {
-        EIGEN_UNUSED_VARIABLE(dst);
-        EIGEN_UNUSED_VARIABLE(src);
-        EIGEN_UNUSED_VARIABLE(n0);
-        EIGEN_UNUSED_VARIABLE(n1);
-    }
-
-  // real-to-complex forward FFT
-  // perform two FFTs of src even and src odd
-  // then twiddle to recombine them into the half-spectrum format
-  // then fill in the conjugate symmetric half
-  inline
-    void fwd( Complex * dst,const Scalar * src,int nfft) 
-    {
-      if ( nfft&3  ) {
-        // use generic mode for odd
-        m_tmpBuf1.resize(nfft);
-        get_plan(nfft,false).work(0, &m_tmpBuf1[0], src, 1,1);
-        std::copy(m_tmpBuf1.begin(),m_tmpBuf1.begin()+(nfft>>1)+1,dst );
-      }else{
-        int ncfft = nfft>>1;
-        int ncfft2 = nfft>>2;
-        Complex * rtw = real_twiddles(ncfft2);
-
-        // use optimized mode for even real
-        fwd( dst, reinterpret_cast<const Complex*> (src), ncfft);
-        Complex dc = dst[0].real() +  dst[0].imag();
-        Complex nyquist = dst[0].real() -  dst[0].imag();
-        int k;
-        for ( k=1;k <= ncfft2 ; ++k ) {
-          Complex fpk = dst[k];
-          Complex fpnk = conj(dst[ncfft-k]);
-          Complex f1k = fpk + fpnk;
-          Complex f2k = fpk - fpnk;
-          Complex tw= f2k * rtw[k-1];
-          dst[k] =  (f1k + tw) * Scalar(.5);
-          dst[ncfft-k] =  conj(f1k -tw)*Scalar(.5);
-        }
-        dst[0] = dc;
-        dst[ncfft] = nyquist;
-      }
-    }
-
-  // inverse complex-to-complex
-  inline
-    void inv(Complex * dst,const Complex  *src,int nfft)
-    {
-      get_plan(nfft,true).work(0, dst, src, 1,1);
-    }
-
-  // half-complex to scalar
-  inline
-    void inv( Scalar * dst,const Complex * src,int nfft) 
-    {
-      if (nfft&3) {
-        m_tmpBuf1.resize(nfft);
-        m_tmpBuf2.resize(nfft);
-        std::copy(src,src+(nfft>>1)+1,m_tmpBuf1.begin() );
-        for (int k=1;k<(nfft>>1)+1;++k)
-          m_tmpBuf1[nfft-k] = conj(m_tmpBuf1[k]);
-        inv(&m_tmpBuf2[0],&m_tmpBuf1[0],nfft);
-        for (int k=0;k<nfft;++k)
-          dst[k] = m_tmpBuf2[k].real();
-      }else{
-        // optimized version for multiple of 4
-        int ncfft = nfft>>1;
-        int ncfft2 = nfft>>2;
-        Complex * rtw = real_twiddles(ncfft2);
-        m_tmpBuf1.resize(ncfft);
-        m_tmpBuf1[0] = Complex( src[0].real() + src[ncfft].real(), src[0].real() - src[ncfft].real() );
-        for (int k = 1; k <= ncfft / 2; ++k) {
-          Complex fk = src[k];
-          Complex fnkc = conj(src[ncfft-k]);
-          Complex fek = fk + fnkc;
-          Complex tmp = fk - fnkc;
-          Complex fok = tmp * conj(rtw[k-1]);
-          m_tmpBuf1[k] = fek + fok;
-          m_tmpBuf1[ncfft-k] = conj(fek - fok);
-        }
-        get_plan(ncfft,true).work(0, reinterpret_cast<Complex*>(dst), &m_tmpBuf1[0], 1,1);
-      }
-    }
-
-  protected:
-  typedef kiss_cpx_fft<Scalar> PlanData;
-  typedef std::map<int,PlanData> PlanMap;
-
-  PlanMap m_plans;
-  std::map<int, std::vector<Complex> > m_realTwiddles;
-  std::vector<Complex> m_tmpBuf1;
-  std::vector<Complex> m_tmpBuf2;
-
-  inline
-    int PlanKey(int nfft, bool isinverse) const { return (nfft<<1) | int(isinverse); }
-
-  inline
-    PlanData & get_plan(int nfft, bool inverse)
-    {
-      // TODO look for PlanKey(nfft, ! inverse) and conjugate the twiddles
-      PlanData & pd = m_plans[ PlanKey(nfft,inverse) ];
-      if ( pd.m_twiddles.size() == 0 ) {
-        pd.make_twiddles(nfft,inverse);
-        pd.factorize(nfft);
-      }
-      return pd;
-    }
-
-  inline
-    Complex * real_twiddles(int ncfft2)
-    {
-      using std::acos;
-      std::vector<Complex> & twidref = m_realTwiddles[ncfft2];// creates new if not there
-      if ( (int)twidref.size() != ncfft2 ) {
-        twidref.resize(ncfft2);
-        int ncfft= ncfft2<<1;
-        Scalar pi =  acos( Scalar(-1) );
-        for (int k=1;k<=ncfft2;++k) 
-          twidref[k-1] = exp( Complex(0,-pi * (Scalar(k) / ncfft + Scalar(.5)) ) );
-      }
-      return &twidref[0];
-    }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-/* vim: set filetype=cpp et sw=2 ts=2 ai: */
diff --git a/eigenlib/unsupported/Eigen/src/IterativeSolvers/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/IterativeSolvers/CMakeLists.txt
deleted file mode 100644
index 7986afc5..00000000
--- a/eigenlib/unsupported/Eigen/src/IterativeSolvers/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_IterativeSolvers_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_IterativeSolvers_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/IterativeSolvers COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h b/eigenlib/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h
deleted file mode 100644
index dc0093eb..00000000
--- a/eigenlib/unsupported/Eigen/src/IterativeSolvers/ConstrainedConjGrad.h
+++ /dev/null
@@ -1,189 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-
-/* NOTE The functions of this file have been adapted from the GMM++ library */
-
-//========================================================================
-//
-// Copyright (C) 2002-2007 Yves Renard
-//
-// This file is a part of GETFEM++
-//
-// Getfem++ is free software; you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as
-// published by the Free Software Foundation; version 2.1 of the License.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU Lesser General Public License for more details.
-// You should have received a copy of the GNU Lesser General Public
-// License along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301,
-// USA.
-//
-//========================================================================
-
-#include "../../../../Eigen/src/Core/util/NonMPL2.h"
-
-#ifndef EIGEN_CONSTRAINEDCG_H
-#define EIGEN_CONSTRAINEDCG_H
-
-#include <Eigen/Core>
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \ingroup IterativeSolvers_Module
-  * Compute the pseudo inverse of the non-square matrix C such that
-  * \f$ CINV = (C * C^T)^{-1} * C \f$ based on a conjugate gradient method.
-  *
-  * This function is internally used by constrained_cg.
-  */
-template <typename CMatrix, typename CINVMatrix>
-void pseudo_inverse(const CMatrix &C, CINVMatrix &CINV)
-{
-  // optimisable : copie de la ligne, precalcul de C * trans(C).
-  typedef typename CMatrix::Scalar Scalar;
-  typedef typename CMatrix::Index Index;
-  // FIXME use sparse vectors ?
-  typedef Matrix<Scalar,Dynamic,1> TmpVec;
-
-  Index rows = C.rows(), cols = C.cols();
-
-  TmpVec d(rows), e(rows), l(cols), p(rows), q(rows), r(rows);
-  Scalar rho, rho_1, alpha;
-  d.setZero();
-
-  typedef Triplet<double> T;
-  std::vector<T> tripletList;
-    
-  for (Index i = 0; i < rows; ++i)
-  {
-    d[i] = 1.0;
-    rho = 1.0;
-    e.setZero();
-    r = d;
-    p = d;
-
-    while (rho >= 1e-38)
-    { /* conjugate gradient to compute e             */
-      /* which is the i-th row of inv(C * trans(C))  */
-      l = C.transpose() * p;
-      q = C * l;
-      alpha = rho / p.dot(q);
-      e +=  alpha * p;
-      r += -alpha * q;
-      rho_1 = rho;
-      rho = r.dot(r);
-      p = (rho/rho_1) * p + r;
-    }
-
-    l = C.transpose() * e; // l is the i-th row of CINV
-    // FIXME add a generic "prune/filter" expression for both dense and sparse object to sparse
-    for (Index j=0; j<l.size(); ++j)
-      if (l[j]<1e-15)
-	tripletList.push_back(T(i,j,l(j)));
-
-	
-    d[i] = 0.0;
-  }
-  CINV.setFromTriplets(tripletList.begin(), tripletList.end());
-}
-
-
-
-/** \ingroup IterativeSolvers_Module
-  * Constrained conjugate gradient
-  *
-  * Computes the minimum of \f$ 1/2((Ax).x) - bx \f$ under the contraint \f$ Cx \le f \f$
-  */
-template<typename TMatrix, typename CMatrix,
-         typename VectorX, typename VectorB, typename VectorF>
-void constrained_cg(const TMatrix& A, const CMatrix& C, VectorX& x,
-                       const VectorB& b, const VectorF& f, IterationController &iter)
-{
-  using std::sqrt;
-  typedef typename TMatrix::Scalar Scalar;
-  typedef typename TMatrix::Index Index;
-  typedef Matrix<Scalar,Dynamic,1>  TmpVec;
-
-  Scalar rho = 1.0, rho_1, lambda, gamma;
-  Index xSize = x.size();
-  TmpVec  p(xSize), q(xSize), q2(xSize),
-          r(xSize), old_z(xSize), z(xSize),
-          memox(xSize);
-  std::vector<bool> satured(C.rows());
-  p.setZero();
-  iter.setRhsNorm(sqrt(b.dot(b))); // gael vect_sp(PS, b, b)
-  if (iter.rhsNorm() == 0.0) iter.setRhsNorm(1.0);
-
-  SparseMatrix<Scalar,RowMajor> CINV(C.rows(), C.cols());
-  pseudo_inverse(C, CINV);
-
-  while(true)
-  {
-    // computation of residual
-    old_z = z;
-    memox = x;
-    r = b;
-    r += A * -x;
-    z = r;
-    bool transition = false;
-    for (Index i = 0; i < C.rows(); ++i)
-    {
-      Scalar al = C.row(i).dot(x) - f.coeff(i);
-      if (al >= -1.0E-15)
-      {
-        if (!satured[i])
-        {
-          satured[i] = true;
-          transition = true;
-        }
-        Scalar bb = CINV.row(i).dot(z);
-        if (bb > 0.0)
-          // FIXME: we should allow that: z += -bb * C.row(i);
-          for (typename CMatrix::InnerIterator it(C,i); it; ++it)
-            z.coeffRef(it.index()) -= bb*it.value();
-      }
-      else
-        satured[i] = false;
-    }
-
-    // descent direction
-    rho_1 = rho;
-    rho = r.dot(z);
-
-    if (iter.finished(rho)) break;
-
-    if (iter.noiseLevel() > 0 && transition) std::cerr << "CCG: transition\n";
-    if (transition || iter.first()) gamma = 0.0;
-    else gamma = (std::max)(0.0, (rho - old_z.dot(z)) / rho_1);
-    p = z + gamma*p;
-
-    ++iter;
-    // one dimensionnal optimization
-    q = A * p;
-    lambda = rho / q.dot(p);
-    for (Index i = 0; i < C.rows(); ++i)
-    {
-      if (!satured[i])
-      {
-        Scalar bb = C.row(i).dot(p) - f[i];
-        if (bb > 0.0)
-          lambda = (std::min)(lambda, (f.coeff(i)-C.row(i).dot(x)) / bb);
-      }
-    }
-    x += lambda * p;
-    memox -= x;
-  }
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_CONSTRAINEDCG_H
diff --git a/eigenlib/unsupported/Eigen/src/IterativeSolvers/DGMRES.h b/eigenlib/unsupported/Eigen/src/IterativeSolvers/DGMRES.h
deleted file mode 100644
index 9fcc8a8d..00000000
--- a/eigenlib/unsupported/Eigen/src/IterativeSolvers/DGMRES.h
+++ /dev/null
@@ -1,542 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_DGMRES_H
-#define EIGEN_DGMRES_H
-
-#include <Eigen/Eigenvalues>
-
-namespace Eigen { 
-  
-template< typename _MatrixType,
-          typename _Preconditioner = DiagonalPreconditioner<typename _MatrixType::Scalar> >
-class DGMRES;
-
-namespace internal {
-
-template< typename _MatrixType, typename _Preconditioner>
-struct traits<DGMRES<_MatrixType,_Preconditioner> >
-{
-  typedef _MatrixType MatrixType;
-  typedef _Preconditioner Preconditioner;
-};
-
-/** \brief Computes a permutation vector to have a sorted sequence
-  * \param vec The vector to reorder.
-  * \param perm gives the sorted sequence on output. Must be initialized with 0..n-1
-  * \param ncut Put  the ncut smallest elements at the end of the vector
-  * WARNING This is an expensive sort, so should be used only 
-  * for small size vectors
-  * TODO Use modified QuickSplit or std::nth_element to get the smallest values 
-  */
-template <typename VectorType, typename IndexType>
-void sortWithPermutation (VectorType& vec, IndexType& perm, typename IndexType::Scalar& ncut)
-{
-  eigen_assert(vec.size() == perm.size());
-  typedef typename IndexType::Scalar Index; 
-  typedef typename VectorType::Scalar Scalar; 
-  bool flag; 
-  for (Index k  = 0; k < ncut; k++)
-  {
-    flag = false;
-    for (Index j = 0; j < vec.size()-1; j++)
-    {
-      if ( vec(perm(j)) < vec(perm(j+1)) )
-      {
-        std::swap(perm(j),perm(j+1)); 
-        flag = true;
-      }
-      if (!flag) break; // The vector is in sorted order
-    }
-  }
-}
-
-}
-/**
- * \ingroup IterativeLInearSolvers_Module
- * \brief A Restarted GMRES with deflation.
- * This class implements a modification of the GMRES solver for
- * sparse linear systems. The basis is built with modified 
- * Gram-Schmidt. At each restart, a few approximated eigenvectors
- * corresponding to the smallest eigenvalues are used to build a
- * preconditioner for the next cycle. This preconditioner 
- * for deflation can be combined with any other preconditioner, 
- * the IncompleteLUT for instance. The preconditioner is applied 
- * at right of the matrix and the combination is multiplicative.
- * 
- * \tparam _MatrixType the type of the sparse matrix A, can be a dense or a sparse matrix.
- * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner
- * Typical usage :
- * \code
- * SparseMatrix<double> A;
- * VectorXd x, b; 
- * //Fill A and b ...
- * DGMRES<SparseMatrix<double> > solver;
- * solver.set_restart(30); // Set restarting value
- * solver.setEigenv(1); // Set the number of eigenvalues to deflate
- * solver.compute(A);
- * x = solver.solve(b);
- * \endcode
- * 
- * References :
- * [1] D. NUENTSA WAKAM and F. PACULL, Memory Efficient Hybrid
- *  Algebraic Solvers for Linear Systems Arising from Compressible
- *  Flows, Computers and Fluids, In Press,
- *  http://dx.doi.org/10.1016/j.compfluid.2012.03.023   
- * [2] K. Burrage and J. Erhel, On the performance of various 
- * adaptive preconditioned GMRES strategies, 5(1998), 101-121.
- * [3] J. Erhel, K. Burrage and B. Pohl, Restarted GMRES 
- *  preconditioned by deflation,J. Computational and Applied
- *  Mathematics, 69(1996), 303-318. 
-
- * 
- */
-template< typename _MatrixType, typename _Preconditioner>
-class DGMRES : public IterativeSolverBase<DGMRES<_MatrixType,_Preconditioner> >
-{
-    typedef IterativeSolverBase<DGMRES> Base;
-    using Base::mp_matrix;
-    using Base::m_error;
-    using Base::m_iterations;
-    using Base::m_info;
-    using Base::m_isInitialized;
-    using Base::m_tolerance; 
-  public:
-    typedef _MatrixType MatrixType;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef _Preconditioner Preconditioner;
-    typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix; 
-    typedef Matrix<RealScalar,Dynamic,Dynamic> DenseRealMatrix; 
-    typedef Matrix<Scalar,Dynamic,1> DenseVector;
-    typedef Matrix<RealScalar,Dynamic,1> DenseRealVector; 
-    typedef Matrix<std::complex<RealScalar>, Dynamic, 1> ComplexVector;
- 
-    
-  /** Default constructor. */
-  DGMRES() : Base(),m_restart(30),m_neig(0),m_r(0),m_maxNeig(5),m_isDeflAllocated(false),m_isDeflInitialized(false) {}
-
-  /** Initialize the solver with matrix \a A for further \c Ax=b solving.
-    * 
-    * This constructor is a shortcut for the default constructor followed
-    * by a call to compute().
-    * 
-    * \warning this class stores a reference to the matrix A as well as some
-    * precomputed values that depend on it. Therefore, if \a A is changed
-    * this class becomes invalid. Call compute() to update it with the new
-    * matrix A, or modify a copy of A.
-    */
-  DGMRES(const MatrixType& A) : Base(A),m_restart(30),m_neig(0),m_r(0),m_maxNeig(5),m_isDeflAllocated(false),m_isDeflInitialized(false)
-  {}
-
-  ~DGMRES() {}
-  
-  /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A
-    * \a x0 as an initial solution.
-    *
-    * \sa compute()
-    */
-  template<typename Rhs,typename Guess>
-  inline const internal::solve_retval_with_guess<DGMRES, Rhs, Guess>
-  solveWithGuess(const MatrixBase<Rhs>& b, const Guess& x0) const
-  {
-    eigen_assert(m_isInitialized && "DGMRES is not initialized.");
-    eigen_assert(Base::rows()==b.rows()
-              && "DGMRES::solve(): invalid number of rows of the right hand side matrix b");
-    return internal::solve_retval_with_guess
-            <DGMRES, Rhs, Guess>(*this, b.derived(), x0);
-  }
-  
-  /** \internal */
-  template<typename Rhs,typename Dest>
-  void _solveWithGuess(const Rhs& b, Dest& x) const
-  {    
-    bool failed = false;
-    for(int j=0; j<b.cols(); ++j)
-    {
-      m_iterations = Base::maxIterations();
-      m_error = Base::m_tolerance;
-      
-      typename Dest::ColXpr xj(x,j);
-      dgmres(*mp_matrix, b.col(j), xj, Base::m_preconditioner);
-    }
-    m_info = failed ? NumericalIssue
-           : m_error <= Base::m_tolerance ? Success
-           : NoConvergence;
-    m_isInitialized = true;
-  }
-
-  /** \internal */
-  template<typename Rhs,typename Dest>
-  void _solve(const Rhs& b, Dest& x) const
-  {
-    x = b;
-    _solveWithGuess(b,x);
-  }
-  /** 
-   * Get the restart value
-    */
-  int restart() { return m_restart; }
-  
-  /** 
-   * Set the restart value (default is 30)  
-   */
-  void set_restart(const int restart) { m_restart=restart; }
-  
-  /** 
-   * Set the number of eigenvalues to deflate at each restart 
-   */
-  void setEigenv(const int neig) 
-  {
-    m_neig = neig;
-    if (neig+1 > m_maxNeig) m_maxNeig = neig+1; // To allow for complex conjugates
-  }
-  
-  /** 
-   * Get the size of the deflation subspace size
-   */ 
-  int deflSize() {return m_r; }
-  
-  /**
-   * Set the maximum size of the deflation subspace
-   */
-  void setMaxEigenv(const int maxNeig) { m_maxNeig = maxNeig; }
-  
-  protected:
-    // DGMRES algorithm 
-    template<typename Rhs, typename Dest>
-    void dgmres(const MatrixType& mat,const Rhs& rhs, Dest& x, const Preconditioner& precond) const;
-    // Perform one cycle of GMRES
-    template<typename Dest>
-    int dgmresCycle(const MatrixType& mat, const Preconditioner& precond, Dest& x, DenseVector& r0, RealScalar& beta, const RealScalar& normRhs, int& nbIts) const; 
-    // Compute data to use for deflation 
-    int dgmresComputeDeflationData(const MatrixType& mat, const Preconditioner& precond, const Index& it, Index& neig) const;
-    // Apply deflation to a vector
-    template<typename RhsType, typename DestType>
-    int dgmresApplyDeflation(const RhsType& In, DestType& Out) const; 
-    ComplexVector schurValues(const ComplexSchur<DenseMatrix>& schurofH) const;
-    ComplexVector schurValues(const RealSchur<DenseMatrix>& schurofH) const;
-    // Init data for deflation
-    void dgmresInitDeflation(Index& rows) const; 
-    mutable DenseMatrix m_V; // Krylov basis vectors
-    mutable DenseMatrix m_H; // Hessenberg matrix 
-    mutable DenseMatrix m_Hes; // Initial hessenberg matrix wihout Givens rotations applied
-    mutable Index m_restart; // Maximum size of the Krylov subspace
-    mutable DenseMatrix m_U; // Vectors that form the basis of the invariant subspace 
-    mutable DenseMatrix m_MU; // matrix operator applied to m_U (for next cycles)
-    mutable DenseMatrix m_T; /* T=U^T*M^{-1}*A*U */
-    mutable PartialPivLU<DenseMatrix> m_luT; // LU factorization of m_T
-    mutable int m_neig; //Number of eigenvalues to extract at each restart
-    mutable int m_r; // Current number of deflated eigenvalues, size of m_U
-    mutable int m_maxNeig; // Maximum number of eigenvalues to deflate
-    mutable RealScalar m_lambdaN; //Modulus of the largest eigenvalue of A
-    mutable bool m_isDeflAllocated;
-    mutable bool m_isDeflInitialized;
-    
-    //Adaptive strategy 
-    mutable RealScalar m_smv; // Smaller multiple of the remaining number of steps allowed
-    mutable bool m_force; // Force the use of deflation at each restart
-    
-}; 
-/** 
- * \brief Perform several cycles of restarted GMRES with modified Gram Schmidt, 
- * 
- * A right preconditioner is used combined with deflation.
- * 
- */
-template< typename _MatrixType, typename _Preconditioner>
-template<typename Rhs, typename Dest>
-void DGMRES<_MatrixType, _Preconditioner>::dgmres(const MatrixType& mat,const Rhs& rhs, Dest& x,
-              const Preconditioner& precond) const
-{
-  //Initialization
-  int n = mat.rows(); 
-  DenseVector r0(n); 
-  int nbIts = 0; 
-  m_H.resize(m_restart+1, m_restart);
-  m_Hes.resize(m_restart, m_restart);
-  m_V.resize(n,m_restart+1);
-  //Initial residual vector and intial norm
-  x = precond.solve(x);
-  r0 = rhs - mat * x; 
-  RealScalar beta = r0.norm(); 
-  RealScalar normRhs = rhs.norm();
-  m_error = beta/normRhs; 
-  if(m_error < m_tolerance)
-    m_info = Success; 
-  else
-    m_info = NoConvergence;
-  
-  // Iterative process
-  while (nbIts < m_iterations && m_info == NoConvergence)
-  {
-    dgmresCycle(mat, precond, x, r0, beta, normRhs, nbIts); 
-    
-    // Compute the new residual vector for the restart 
-    if (nbIts < m_iterations && m_info == NoConvergence)
-      r0 = rhs - mat * x; 
-  }
-} 
-
-/**
- * \brief Perform one restart cycle of DGMRES
- * \param mat The coefficient matrix
- * \param precond The preconditioner
- * \param x the new approximated solution
- * \param r0 The initial residual vector
- * \param beta The norm of the residual computed so far
- * \param normRhs The norm of the right hand side vector
- * \param nbIts The number of iterations
- */
-template< typename _MatrixType, typename _Preconditioner>
-template<typename Dest>
-int DGMRES<_MatrixType, _Preconditioner>::dgmresCycle(const MatrixType& mat, const Preconditioner& precond, Dest& x, DenseVector& r0, RealScalar& beta, const RealScalar& normRhs, int& nbIts) const
-{
-  //Initialization 
-  DenseVector g(m_restart+1); // Right hand side of the least square problem
-  g.setZero();  
-  g(0) = Scalar(beta); 
-  m_V.col(0) = r0/beta; 
-  m_info = NoConvergence; 
-  std::vector<JacobiRotation<Scalar> >gr(m_restart); // Givens rotations
-  int it = 0; // Number of inner iterations 
-  int n = mat.rows();
-  DenseVector tv1(n), tv2(n);  //Temporary vectors
-  while (m_info == NoConvergence && it < m_restart && nbIts < m_iterations)
-  {    
-    // Apply preconditioner(s) at right
-    if (m_isDeflInitialized )
-    {
-      dgmresApplyDeflation(m_V.col(it), tv1); // Deflation
-      tv2 = precond.solve(tv1); 
-    }
-    else
-    {
-      tv2 = precond.solve(m_V.col(it)); // User's selected preconditioner
-    }
-    tv1 = mat * tv2; 
-   
-    // Orthogonalize it with the previous basis in the basis using modified Gram-Schmidt
-    Scalar coef; 
-    for (int i = 0; i <= it; ++i)
-    { 
-      coef = tv1.dot(m_V.col(i));
-      tv1 = tv1 - coef * m_V.col(i); 
-      m_H(i,it) = coef; 
-      m_Hes(i,it) = coef; 
-    }
-    // Normalize the vector 
-    coef = tv1.norm(); 
-    m_V.col(it+1) = tv1/coef;
-    m_H(it+1, it) = coef;
-//     m_Hes(it+1,it) = coef; 
-    
-    // FIXME Check for happy breakdown 
-    
-    // Update Hessenberg matrix with Givens rotations
-    for (int i = 1; i <= it; ++i) 
-    {
-      m_H.col(it).applyOnTheLeft(i-1,i,gr[i-1].adjoint());
-    }
-    // Compute the new plane rotation 
-    gr[it].makeGivens(m_H(it, it), m_H(it+1,it)); 
-    // Apply the new rotation
-    m_H.col(it).applyOnTheLeft(it,it+1,gr[it].adjoint());
-    g.applyOnTheLeft(it,it+1, gr[it].adjoint()); 
-    
-    beta = std::abs(g(it+1));
-    m_error = beta/normRhs; 
-    std::cerr << nbIts << " Relative Residual Norm " << m_error << std::endl;
-    it++; nbIts++; 
-    
-    if (m_error < m_tolerance)
-    {
-      // The method has converged
-      m_info = Success;
-      break;
-    }
-  }
-  
-  // Compute the new coefficients by solving the least square problem
-//   it++;
-  //FIXME  Check first if the matrix is singular ... zero diagonal
-  DenseVector nrs(m_restart); 
-  nrs = m_H.topLeftCorner(it,it).template triangularView<Upper>().solve(g.head(it)); 
-  
-  // Form the new solution
-  if (m_isDeflInitialized)
-  {
-    tv1 = m_V.leftCols(it) * nrs; 
-    dgmresApplyDeflation(tv1, tv2); 
-    x = x + precond.solve(tv2);
-  }
-  else
-    x = x + precond.solve(m_V.leftCols(it) * nrs); 
-  
-  // Go for a new cycle and compute data for deflation
-  if(nbIts < m_iterations && m_info == NoConvergence && m_neig > 0 && (m_r+m_neig) < m_maxNeig)
-    dgmresComputeDeflationData(mat, precond, it, m_neig); 
-  return 0; 
-  
-}
-
-
-template< typename _MatrixType, typename _Preconditioner>
-void DGMRES<_MatrixType, _Preconditioner>::dgmresInitDeflation(Index& rows) const
-{
-  m_U.resize(rows, m_maxNeig);
-  m_MU.resize(rows, m_maxNeig); 
-  m_T.resize(m_maxNeig, m_maxNeig);
-  m_lambdaN = 0.0; 
-  m_isDeflAllocated = true; 
-}
-
-template< typename _MatrixType, typename _Preconditioner>
-inline typename DGMRES<_MatrixType, _Preconditioner>::ComplexVector DGMRES<_MatrixType, _Preconditioner>::schurValues(const ComplexSchur<DenseMatrix>& schurofH) const
-{
-  return schurofH.matrixT().diagonal();
-}
-
-template< typename _MatrixType, typename _Preconditioner>
-inline typename DGMRES<_MatrixType, _Preconditioner>::ComplexVector DGMRES<_MatrixType, _Preconditioner>::schurValues(const RealSchur<DenseMatrix>& schurofH) const
-{
-  typedef typename MatrixType::Index Index;
-  const DenseMatrix& T = schurofH.matrixT();
-  Index it = T.rows();
-  ComplexVector eig(it);
-  Index j = 0;
-  while (j < it-1)
-  {
-    if (T(j+1,j) ==Scalar(0))
-    {
-      eig(j) = std::complex<RealScalar>(T(j,j),RealScalar(0)); 
-      j++; 
-    }
-    else
-    {
-      eig(j) = std::complex<RealScalar>(T(j,j),T(j+1,j)); 
-      eig(j+1) = std::complex<RealScalar>(T(j,j+1),T(j+1,j+1));
-      j++;
-    }
-  }
-  if (j < it-1) eig(j) = std::complex<RealScalar>(T(j,j),RealScalar(0));
-  return eig;
-}
-
-template< typename _MatrixType, typename _Preconditioner>
-int DGMRES<_MatrixType, _Preconditioner>::dgmresComputeDeflationData(const MatrixType& mat, const Preconditioner& precond, const Index& it, Index& neig) const
-{
-  // First, find the Schur form of the Hessenberg matrix H
-  typename internal::conditional<NumTraits<Scalar>::IsComplex, ComplexSchur<DenseMatrix>, RealSchur<DenseMatrix> >::type schurofH; 
-  bool computeU = true;
-  DenseMatrix matrixQ(it,it); 
-  matrixQ.setIdentity();
-  schurofH.computeFromHessenberg(m_Hes.topLeftCorner(it,it), matrixQ, computeU); 
-  
-  ComplexVector eig(it);
-  Matrix<Index,Dynamic,1>perm(it); 
-  eig = this->schurValues(schurofH);
-  
-  // Reorder the absolute values of Schur values
-  DenseRealVector modulEig(it); 
-  for (int j=0; j<it; ++j) modulEig(j) = std::abs(eig(j)); 
-  perm.setLinSpaced(it,0,it-1);
-  internal::sortWithPermutation(modulEig, perm, neig);
-  
-  if (!m_lambdaN)
-  {
-    m_lambdaN = (std::max)(modulEig.maxCoeff(), m_lambdaN);
-  }
-  //Count the real number of extracted eigenvalues (with complex conjugates)
-  int nbrEig = 0; 
-  while (nbrEig < neig)
-  {
-    if(eig(perm(it-nbrEig-1)).imag() == RealScalar(0)) nbrEig++; 
-    else nbrEig += 2; 
-  }
-  // Extract the  Schur vectors corresponding to the smallest Ritz values
-  DenseMatrix Sr(it, nbrEig); 
-  Sr.setZero();
-  for (int j = 0; j < nbrEig; j++)
-  {
-    Sr.col(j) = schurofH.matrixU().col(perm(it-j-1));
-  }
-  
-  // Form the Schur vectors of the initial matrix using the Krylov basis
-  DenseMatrix X; 
-  X = m_V.leftCols(it) * Sr;
-  if (m_r)
-  {
-   // Orthogonalize X against m_U using modified Gram-Schmidt
-   for (int j = 0; j < nbrEig; j++)
-     for (int k =0; k < m_r; k++)
-      X.col(j) = X.col(j) - (m_U.col(k).dot(X.col(j)))*m_U.col(k); 
-  }
-  
-  // Compute m_MX = A * M^-1 * X
-  Index m = m_V.rows();
-  if (!m_isDeflAllocated) 
-    dgmresInitDeflation(m); 
-  DenseMatrix MX(m, nbrEig);
-  DenseVector tv1(m);
-  for (int j = 0; j < nbrEig; j++)
-  {
-    tv1 = mat * X.col(j);
-    MX.col(j) = precond.solve(tv1);
-  }
-  
-  //Update m_T = [U'MU U'MX; X'MU X'MX]
-  m_T.block(m_r, m_r, nbrEig, nbrEig) = X.transpose() * MX; 
-  if(m_r)
-  {
-    m_T.block(0, m_r, m_r, nbrEig) = m_U.leftCols(m_r).transpose() * MX; 
-    m_T.block(m_r, 0, nbrEig, m_r) = X.transpose() * m_MU.leftCols(m_r);
-  }
-  
-  // Save X into m_U and m_MX in m_MU
-  for (int j = 0; j < nbrEig; j++) m_U.col(m_r+j) = X.col(j);
-  for (int j = 0; j < nbrEig; j++) m_MU.col(m_r+j) = MX.col(j);
-  // Increase the size of the invariant subspace
-  m_r += nbrEig; 
-  
-  // Factorize m_T into m_luT
-  m_luT.compute(m_T.topLeftCorner(m_r, m_r));
-  
-  //FIXME CHeck if the factorization was correctly done (nonsingular matrix)
-  m_isDeflInitialized = true;
-  return 0; 
-}
-template<typename _MatrixType, typename _Preconditioner>
-template<typename RhsType, typename DestType>
-int DGMRES<_MatrixType, _Preconditioner>::dgmresApplyDeflation(const RhsType &x, DestType &y) const
-{
-  DenseVector x1 = m_U.leftCols(m_r).transpose() * x; 
-  y = x + m_U.leftCols(m_r) * ( m_lambdaN * m_luT.solve(x1) - x1);
-  return 0; 
-}
-
-namespace internal {
-
-  template<typename _MatrixType, typename _Preconditioner, typename Rhs>
-struct solve_retval<DGMRES<_MatrixType, _Preconditioner>, Rhs>
-  : solve_retval_base<DGMRES<_MatrixType, _Preconditioner>, Rhs>
-{
-  typedef DGMRES<_MatrixType, _Preconditioner> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-} // end namespace internal
-
-} // end namespace Eigen
-#endif 
diff --git a/eigenlib/unsupported/Eigen/src/IterativeSolvers/GMRES.h b/eigenlib/unsupported/Eigen/src/IterativeSolvers/GMRES.h
deleted file mode 100644
index 7ba13afd..00000000
--- a/eigenlib/unsupported/Eigen/src/IterativeSolvers/GMRES.h
+++ /dev/null
@@ -1,370 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2012, 2014 Kolja Brix <brix@igpm.rwth-aaachen.de>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_GMRES_H
-#define EIGEN_GMRES_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/**
- * Generalized Minimal Residual Algorithm based on the
- * Arnoldi algorithm implemented with Householder reflections.
- *
- * Parameters:
- *  \param mat       matrix of linear system of equations
- *  \param Rhs       right hand side vector of linear system of equations
- *  \param x         on input: initial guess, on output: solution
- *  \param precond   preconditioner used
- *  \param iters     on input: maximum number of iterations to perform
- *                   on output: number of iterations performed
- *  \param restart   number of iterations for a restart
- *  \param tol_error on input: residual tolerance
- *                   on output: residuum achieved
- *
- * \sa IterativeMethods::bicgstab() 
- *  
- *
- * For references, please see:
- *
- * Saad, Y. and Schultz, M. H.
- * GMRES: A Generalized Minimal Residual Algorithm for Solving Nonsymmetric Linear Systems.
- * SIAM J.Sci.Stat.Comp. 7, 1986, pp. 856 - 869.
- *
- * Saad, Y.
- * Iterative Methods for Sparse Linear Systems.
- * Society for Industrial and Applied Mathematics, Philadelphia, 2003.
- *
- * Walker, H. F.
- * Implementations of the GMRES method.
- * Comput.Phys.Comm. 53, 1989, pp. 311 - 320.
- *
- * Walker, H. F.
- * Implementation of the GMRES Method using Householder Transformations.
- * SIAM J.Sci.Stat.Comp. 9, 1988, pp. 152 - 163.
- *
- */
-template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
-bool gmres(const MatrixType & mat, const Rhs & rhs, Dest & x, const Preconditioner & precond,
-		int &iters, const int &restart, typename Dest::RealScalar & tol_error) {
-
-	using std::sqrt;
-	using std::abs;
-
-	typedef typename Dest::RealScalar RealScalar;
-	typedef typename Dest::Scalar Scalar;
-	typedef Matrix < Scalar, Dynamic, 1 > VectorType;
-	typedef Matrix < Scalar, Dynamic, Dynamic > FMatrixType;
-
-	RealScalar tol = tol_error;
-	const int maxIters = iters;
-	iters = 0;
-
-	const int m = mat.rows();
-
-	VectorType p0 = rhs - mat*x;
-	VectorType r0 = precond.solve(p0);
- 
-	// is initial guess already good enough?
-	if(abs(r0.norm()) < tol) {
-		return true; 
-	}
-
-	VectorType w = VectorType::Zero(restart + 1);
-
-	FMatrixType H = FMatrixType::Zero(m, restart + 1); // Hessenberg matrix
-	VectorType tau = VectorType::Zero(restart + 1);
-	std::vector < JacobiRotation < Scalar > > G(restart);
-
-	// generate first Householder vector
-	VectorType e(m-1);
-	RealScalar beta;
-	r0.makeHouseholder(e, tau.coeffRef(0), beta);
-	w(0)=(Scalar) beta;
-	H.bottomLeftCorner(m - 1, 1) = e;
-
-	for (int k = 1; k <= restart; ++k) {
-
-		++iters;
-
-		VectorType v = VectorType::Unit(m, k - 1), workspace(m);
-
-		// apply Householder reflections H_{1} ... H_{k-1} to v
-		for (int i = k - 1; i >= 0; --i) {
-			v.tail(m - i).applyHouseholderOnTheLeft(H.col(i).tail(m - i - 1), tau.coeffRef(i), workspace.data());
-		}
-
-		// apply matrix M to v:  v = mat * v;
-		VectorType t=mat*v;
-		v=precond.solve(t);
-
-		// apply Householder reflections H_{k-1} ... H_{1} to v
-		for (int i = 0; i < k; ++i) {
-			v.tail(m - i).applyHouseholderOnTheLeft(H.col(i).tail(m - i - 1), tau.coeffRef(i), workspace.data());
-		}
-
-		if (v.tail(m - k).norm() != 0.0) {
-
-			if (k <= restart) {
-
-				// generate new Householder vector
-                                  VectorType e(m - k - 1);
-				RealScalar beta;
-				v.tail(m - k).makeHouseholder(e, tau.coeffRef(k), beta);
-				H.col(k).tail(m - k - 1) = e;
-
-				// apply Householder reflection H_{k} to v
-				v.tail(m - k).applyHouseholderOnTheLeft(H.col(k).tail(m - k - 1), tau.coeffRef(k), workspace.data());
-
-			}
-                }
-
-                if (k > 1) {
-                        for (int i = 0; i < k - 1; ++i) {
-                                // apply old Givens rotations to v
-                                v.applyOnTheLeft(i, i + 1, G[i].adjoint());
-                        }
-                }
-
-                if (k<m && v(k) != (Scalar) 0) {
-                        // determine next Givens rotation
-                        G[k - 1].makeGivens(v(k - 1), v(k));
-
-                        // apply Givens rotation to v and w
-                        v.applyOnTheLeft(k - 1, k, G[k - 1].adjoint());
-                        w.applyOnTheLeft(k - 1, k, G[k - 1].adjoint());
-
-                }
-
-                // insert coefficients into upper matrix triangle
-                H.col(k - 1).head(k) = v.head(k);
-
-                bool stop=(k==m || abs(w(k)) < tol || iters == maxIters);
-
-                if (stop || k == restart) {
-
-                        // solve upper triangular system
-                        VectorType y = w.head(k);
-                        H.topLeftCorner(k, k).template triangularView < Eigen::Upper > ().solveInPlace(y);
-
-                        // use Horner-like scheme to calculate solution vector
-                        VectorType x_new = y(k - 1) * VectorType::Unit(m, k - 1);
-
-                        // apply Householder reflection H_{k} to x_new
-                        x_new.tail(m - k + 1).applyHouseholderOnTheLeft(H.col(k - 1).tail(m - k), tau.coeffRef(k - 1), workspace.data());
-
-                        for (int i = k - 2; i >= 0; --i) {
-                                x_new += y(i) * VectorType::Unit(m, i);
-                                // apply Householder reflection H_{i} to x_new
-                                x_new.tail(m - i).applyHouseholderOnTheLeft(H.col(i).tail(m - i - 1), tau.coeffRef(i), workspace.data());
-                        }
-
-                        x += x_new;
-
-                        if (stop) {
-                                return true;
-                        } else {
-                                k=0;
-
-                                // reset data for a restart  r0 = rhs - mat * x;
-                                VectorType p0=mat*x;
-                                VectorType p1=precond.solve(p0);
-                                r0 = rhs - p1;
-//                                 r0_sqnorm = r0.squaredNorm();
-                                w = VectorType::Zero(restart + 1);
-                                H = FMatrixType::Zero(m, restart + 1);
-                                tau = VectorType::Zero(restart + 1);
-
-                                // generate first Householder vector
-                                RealScalar beta;
-                                r0.makeHouseholder(e, tau.coeffRef(0), beta);
-                                w(0)=(Scalar) beta;
-                                H.bottomLeftCorner(m - 1, 1) = e;
-
-                        }
-
-                }
-
-
-
-	}
-	
-	return false;
-
-}
-
-}
-
-template< typename _MatrixType,
-          typename _Preconditioner = DiagonalPreconditioner<typename _MatrixType::Scalar> >
-class GMRES;
-
-namespace internal {
-
-template< typename _MatrixType, typename _Preconditioner>
-struct traits<GMRES<_MatrixType,_Preconditioner> >
-{
-  typedef _MatrixType MatrixType;
-  typedef _Preconditioner Preconditioner;
-};
-
-}
-
-/** \ingroup IterativeLinearSolvers_Module
-  * \brief A GMRES solver for sparse square problems
-  *
-  * This class allows to solve for A.x = b sparse linear problems using a generalized minimal
-  * residual method. The vectors x and b can be either dense or sparse.
-  *
-  * \tparam _MatrixType the type of the sparse matrix A, can be a dense or a sparse matrix.
-  * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner
-  *
-  * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations()
-  * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations
-  * and NumTraits<Scalar>::epsilon() for the tolerance.
-  * 
-  * This class can be used as the direct solver classes. Here is a typical usage example:
-  * \code
-  * int n = 10000;
-  * VectorXd x(n), b(n);
-  * SparseMatrix<double> A(n,n);
-  * // fill A and b
-  * GMRES<SparseMatrix<double> > solver(A);
-  * x = solver.solve(b);
-  * std::cout << "#iterations:     " << solver.iterations() << std::endl;
-  * std::cout << "estimated error: " << solver.error()      << std::endl;
-  * // update b, and solve again
-  * x = solver.solve(b);
-  * \endcode
-  * 
-  * By default the iterations start with x=0 as an initial guess of the solution.
-  * One can control the start using the solveWithGuess() method.
-  * 
-  * \sa class SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
-  */
-template< typename _MatrixType, typename _Preconditioner>
-class GMRES : public IterativeSolverBase<GMRES<_MatrixType,_Preconditioner> >
-{
-  typedef IterativeSolverBase<GMRES> Base;
-  using Base::mp_matrix;
-  using Base::m_error;
-  using Base::m_iterations;
-  using Base::m_info;
-  using Base::m_isInitialized;
- 
-private:
-  int m_restart;
-  
-public:
-  typedef _MatrixType MatrixType;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
-  typedef typename MatrixType::RealScalar RealScalar;
-  typedef _Preconditioner Preconditioner;
-
-public:
-
-  /** Default constructor. */
-  GMRES() : Base(), m_restart(30) {}
-
-  /** Initialize the solver with matrix \a A for further \c Ax=b solving.
-    * 
-    * This constructor is a shortcut for the default constructor followed
-    * by a call to compute().
-    * 
-    * \warning this class stores a reference to the matrix A as well as some
-    * precomputed values that depend on it. Therefore, if \a A is changed
-    * this class becomes invalid. Call compute() to update it with the new
-    * matrix A, or modify a copy of A.
-    */
-  GMRES(const MatrixType& A) : Base(A), m_restart(30) {}
-
-  ~GMRES() {}
-  
-  /** Get the number of iterations after that a restart is performed.
-    */
-  int get_restart() { return m_restart; }
-  
-  /** Set the number of iterations after that a restart is performed.
-    *  \param restart   number of iterations for a restarti, default is 30.
-    */
-  void set_restart(const int restart) { m_restart=restart; }
-  
-  /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A
-    * \a x0 as an initial solution.
-    *
-    * \sa compute()
-    */
-  template<typename Rhs,typename Guess>
-  inline const internal::solve_retval_with_guess<GMRES, Rhs, Guess>
-  solveWithGuess(const MatrixBase<Rhs>& b, const Guess& x0) const
-  {
-    eigen_assert(m_isInitialized && "GMRES is not initialized.");
-    eigen_assert(Base::rows()==b.rows()
-              && "GMRES::solve(): invalid number of rows of the right hand side matrix b");
-    return internal::solve_retval_with_guess
-            <GMRES, Rhs, Guess>(*this, b.derived(), x0);
-  }
-  
-  /** \internal */
-  template<typename Rhs,typename Dest>
-  void _solveWithGuess(const Rhs& b, Dest& x) const
-  {    
-    bool failed = false;
-    for(int j=0; j<b.cols(); ++j)
-    {
-      m_iterations = Base::maxIterations();
-      m_error = Base::m_tolerance;
-      
-      typename Dest::ColXpr xj(x,j);
-      if(!internal::gmres(*mp_matrix, b.col(j), xj, Base::m_preconditioner, m_iterations, m_restart, m_error))
-        failed = true;
-    }
-    m_info = failed ? NumericalIssue
-           : m_error <= Base::m_tolerance ? Success
-           : NoConvergence;
-    m_isInitialized = true;
-  }
-
-  /** \internal */
-  template<typename Rhs,typename Dest>
-  void _solve(const Rhs& b, Dest& x) const
-  {
-    x = b;
-    if(x.squaredNorm() == 0) return; // Check Zero right hand side
-    _solveWithGuess(b,x);
-  }
-
-protected:
-
-};
-
-
-namespace internal {
-
-  template<typename _MatrixType, typename _Preconditioner, typename Rhs>
-struct solve_retval<GMRES<_MatrixType, _Preconditioner>, Rhs>
-  : solve_retval_base<GMRES<_MatrixType, _Preconditioner>, Rhs>
-{
-  typedef GMRES<_MatrixType, _Preconditioner> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_GMRES_H
diff --git a/eigenlib/unsupported/Eigen/src/IterativeSolvers/IncompleteCholesky.h b/eigenlib/unsupported/Eigen/src/IterativeSolvers/IncompleteCholesky.h
deleted file mode 100644
index 661c1f2e..00000000
--- a/eigenlib/unsupported/Eigen/src/IterativeSolvers/IncompleteCholesky.h
+++ /dev/null
@@ -1,278 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Désiré Nuentsa-Wakam <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_INCOMPLETE_CHOlESKY_H
-#define EIGEN_INCOMPLETE_CHOlESKY_H
-#include "Eigen/src/IterativeLinearSolvers/IncompleteLUT.h" 
-#include <Eigen/OrderingMethods>
-#include <list>
-
-namespace Eigen {  
-/** 
- * \brief Modified Incomplete Cholesky with dual threshold
- * 
- * References : C-J. Lin and J. J. Moré, Incomplete Cholesky Factorizations with
- *              Limited memory, SIAM J. Sci. Comput.  21(1), pp. 24-45, 1999
- * 
- * \tparam _MatrixType The type of the sparse matrix. It should be a symmetric 
- *                     matrix. It is advised to give  a row-oriented sparse matrix 
- * \tparam _UpLo The triangular part of the matrix to reference. 
- * \tparam _OrderingType 
- */
-
-template <typename Scalar, int _UpLo = Lower, typename _OrderingType = NaturalOrdering<int> >
-class IncompleteCholesky : internal::noncopyable
-{
-  public:
-    typedef SparseMatrix<Scalar,ColMajor> MatrixType;
-    typedef _OrderingType OrderingType;
-    typedef typename MatrixType::RealScalar RealScalar; 
-    typedef typename MatrixType::Index Index; 
-    typedef PermutationMatrix<Dynamic, Dynamic, Index> PermutationType;
-    typedef Matrix<Scalar,Dynamic,1> ScalarType; 
-    typedef Matrix<Index,Dynamic, 1> IndexType;
-    typedef std::vector<std::list<Index> > VectorList; 
-    enum { UpLo = _UpLo };
-  public:
-    IncompleteCholesky() : m_shift(1),m_factorizationIsOk(false) {}
-    IncompleteCholesky(const MatrixType& matrix) : m_shift(1),m_factorizationIsOk(false)
-    {
-      compute(matrix);
-    }
-    
-    Index rows() const { return m_L.rows(); }
-    
-    Index cols() const { return m_L.cols(); }
-    
-
-    /** \brief Reports whether previous computation was successful.
-      *
-      * \returns \c Success if computation was succesful,
-      *          \c NumericalIssue if the matrix appears to be negative.
-      */
-    ComputationInfo info() const
-    {
-      eigen_assert(m_isInitialized && "IncompleteLLT is not initialized.");
-      return m_info;
-    }
-    
-    /** 
-     * \brief Set the initial shift parameter
-     */
-    void setShift( Scalar shift) { m_shift = shift; }
-    
-    /**
-    * \brief Computes the fill reducing permutation vector. 
-    */
-    template<typename MatrixType>
-    void analyzePattern(const MatrixType& mat)
-    {
-      OrderingType ord; 
-      ord(mat.template selfadjointView<UpLo>(), m_perm); 
-      m_analysisIsOk = true; 
-    }
-    
-    template<typename MatrixType>
-    void factorize(const MatrixType& amat);
-    
-    template<typename MatrixType>
-    void compute (const MatrixType& matrix)
-    {
-      analyzePattern(matrix); 
-      factorize(matrix);
-    }
-    
-    template<typename Rhs, typename Dest>
-    void _solve(const Rhs& b, Dest& x) const
-    {
-      eigen_assert(m_factorizationIsOk && "factorize() should be called first");
-      if (m_perm.rows() == b.rows())
-        x = m_perm.inverse() * b; 
-      else 
-        x = b; 
-      x = m_scal.asDiagonal() * x;
-      x = m_L.template triangularView<UnitLower>().solve(x); 
-      x = m_L.adjoint().template triangularView<Upper>().solve(x); 
-      if (m_perm.rows() == b.rows())
-        x = m_perm * x;
-      x = m_scal.asDiagonal() * x;
-    }
-    template<typename Rhs> inline const internal::solve_retval<IncompleteCholesky, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_factorizationIsOk && "IncompleteLLT did not succeed");
-      eigen_assert(m_isInitialized && "IncompleteLLT is not initialized.");
-      eigen_assert(cols()==b.rows()
-                && "IncompleteLLT::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<IncompleteCholesky, Rhs>(*this, b.derived());
-    }
-  protected:
-    SparseMatrix<Scalar,ColMajor> m_L;  // The lower part stored in CSC
-    ScalarType m_scal; // The vector for scaling the matrix 
-    Scalar m_shift; //The initial shift parameter
-    bool m_analysisIsOk; 
-    bool m_factorizationIsOk; 
-    bool m_isInitialized;
-    ComputationInfo m_info;
-    PermutationType m_perm; 
-    
-  private:
-    template <typename IdxType, typename SclType>
-    inline void updateList(const IdxType& colPtr, IdxType& rowIdx, SclType& vals, const Index& col, const Index& jk, IndexType& firstElt, VectorList& listCol); 
-}; 
-
-template<typename Scalar, int _UpLo, typename OrderingType>
-template<typename _MatrixType>
-void IncompleteCholesky<Scalar,_UpLo, OrderingType>::factorize(const _MatrixType& mat)
-{
-  using std::sqrt;
-  using std::min;
-  eigen_assert(m_analysisIsOk && "analyzePattern() should be called first"); 
-    
-  // Dropping strategies : Keep only the p largest elements per column, where p is the number of elements in the column of the original matrix. Other strategies will be added
-  
-  // Apply the fill-reducing permutation computed in analyzePattern()
-  if (m_perm.rows() == mat.rows() ) // To detect the null permutation
-    m_L.template selfadjointView<Lower>() = mat.template selfadjointView<_UpLo>().twistedBy(m_perm);
-  else
-    m_L.template selfadjointView<Lower>() = mat.template selfadjointView<_UpLo>();
-  
-  Index n = m_L.cols(); 
-  Index nnz = m_L.nonZeros();
-  Map<ScalarType> vals(m_L.valuePtr(), nnz); //values
-  Map<IndexType> rowIdx(m_L.innerIndexPtr(), nnz);  //Row indices
-  Map<IndexType> colPtr( m_L.outerIndexPtr(), n+1); // Pointer to the beginning of each row
-  IndexType firstElt(n-1); // for each j, points to the next entry in vals that will be used in the factorization
-  VectorList listCol(n); // listCol(j) is a linked list of columns to update column j
-  ScalarType curCol(n); // Store a  nonzero values in each column
-  IndexType irow(n); // Row indices of nonzero elements in each column
-  
-  
-  // Computes the scaling factors 
-  m_scal.resize(n);
-  for (int j = 0; j < n; j++)
-  {
-    m_scal(j) = m_L.col(j).norm();
-    m_scal(j) = sqrt(m_scal(j));
-  }
-  // Scale and compute the shift for the matrix 
-  Scalar mindiag = vals[0];
-  for (int j = 0; j < n; j++){
-    for (int k = colPtr[j]; k < colPtr[j+1]; k++)
-     vals[k] /= (m_scal(j) * m_scal(rowIdx[k]));
-    mindiag = (min)(vals[colPtr[j]], mindiag);
-  }
-  
-  if(mindiag < Scalar(0.)) m_shift = m_shift - mindiag;
-  // Apply the shift to the diagonal elements of the matrix
-  for (int j = 0; j < n; j++)
-    vals[colPtr[j]] += m_shift;
-  // jki version of the Cholesky factorization 
-  for (int j=0; j < n; ++j)
-  {  
-    //Left-looking factorize the column j 
-    // First, load the jth column into curCol 
-    Scalar diag = vals[colPtr[j]];  // It is assumed that only the lower part is stored
-    curCol.setZero();
-    irow.setLinSpaced(n,0,n-1); 
-    for (int i = colPtr[j] + 1; i < colPtr[j+1]; i++)
-    {
-      curCol(rowIdx[i]) = vals[i]; 
-      irow(rowIdx[i]) = rowIdx[i]; 
-    }
-    std::list<int>::iterator k; 
-    // Browse all previous columns that will update column j
-    for(k = listCol[j].begin(); k != listCol[j].end(); k++) 
-    {
-      int jk = firstElt(*k); // First element to use in the column 
-      jk += 1; 
-      for (int i = jk; i < colPtr[*k+1]; i++)
-      {
-        curCol(rowIdx[i]) -= vals[i] * vals[jk] ;
-      }
-      updateList(colPtr,rowIdx,vals, *k, jk, firstElt, listCol);
-    }
-    
-    // Scale the current column
-    if(RealScalar(diag) <= 0) 
-    {
-      std::cerr << "\nNegative diagonal during Incomplete factorization... "<< j << "\n";
-      m_info = NumericalIssue; 
-      return; 
-    }
-    RealScalar rdiag = sqrt(RealScalar(diag));
-    vals[colPtr[j]] = rdiag;
-    for (int i = j+1; i < n; i++)
-    {
-      //Scale 
-      curCol(i) /= rdiag;
-      //Update the remaining diagonals with curCol
-      vals[colPtr[i]] -= curCol(i) * curCol(i);
-    }
-    // Select the largest p elements
-    //  p is the original number of elements in the column (without the diagonal)
-    int p = colPtr[j+1] - colPtr[j] - 1 ; 
-    internal::QuickSplit(curCol, irow, p); 
-    // Insert the largest p elements in the matrix
-    int cpt = 0; 
-    for (int i = colPtr[j]+1; i < colPtr[j+1]; i++)
-    {
-      vals[i] = curCol(cpt); 
-      rowIdx[i] = irow(cpt); 
-      cpt ++; 
-    }
-    // Get the first smallest row index and put it after the diagonal element
-    Index jk = colPtr(j)+1;
-    updateList(colPtr,rowIdx,vals,j,jk,firstElt,listCol); 
-  }
-  m_factorizationIsOk = true; 
-  m_isInitialized = true;
-  m_info = Success; 
-}
-
-template<typename Scalar, int _UpLo, typename OrderingType>
-template <typename IdxType, typename SclType>
-inline void IncompleteCholesky<Scalar,_UpLo, OrderingType>::updateList(const IdxType& colPtr, IdxType& rowIdx, SclType& vals, const Index& col, const Index& jk, IndexType& firstElt, VectorList& listCol)
-{
-  if (jk < colPtr(col+1) )
-  {
-    Index p = colPtr(col+1) - jk;
-    Index minpos; 
-    rowIdx.segment(jk,p).minCoeff(&minpos);
-    minpos += jk;
-    if (rowIdx(minpos) != rowIdx(jk))
-    {
-      //Swap
-      std::swap(rowIdx(jk),rowIdx(minpos));
-      std::swap(vals(jk),vals(minpos));
-    }
-    firstElt(col) = jk;
-    listCol[rowIdx(jk)].push_back(col);
-  }
-}
-namespace internal {
-
-template<typename _Scalar, int _UpLo, typename OrderingType, typename Rhs>
-struct solve_retval<IncompleteCholesky<_Scalar,  _UpLo, OrderingType>, Rhs>
-  : solve_retval_base<IncompleteCholesky<_Scalar, _UpLo, OrderingType>, Rhs>
-{
-  typedef IncompleteCholesky<_Scalar, _UpLo, OrderingType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen 
-
-#endif
diff --git a/eigenlib/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h b/eigenlib/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h
deleted file mode 100644
index 67e78018..00000000
--- a/eigenlib/unsupported/Eigen/src/IterativeSolvers/IncompleteLU.h
+++ /dev/null
@@ -1,113 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_INCOMPLETE_LU_H
-#define EIGEN_INCOMPLETE_LU_H
-
-namespace Eigen { 
-
-template <typename _Scalar>
-class IncompleteLU
-{
-    typedef _Scalar Scalar;
-    typedef Matrix<Scalar,Dynamic,1> Vector;
-    typedef typename Vector::Index Index;
-    typedef SparseMatrix<Scalar,RowMajor> FactorType;
-
-  public:
-    typedef Matrix<Scalar,Dynamic,Dynamic> MatrixType;
-
-    IncompleteLU() : m_isInitialized(false) {}
-
-    template<typename MatrixType>
-    IncompleteLU(const MatrixType& mat) : m_isInitialized(false)
-    {
-      compute(mat);
-    }
-
-    Index rows() const { return m_lu.rows(); }
-    Index cols() const { return m_lu.cols(); }
-
-    template<typename MatrixType>
-    IncompleteLU& compute(const MatrixType& mat)
-    {
-      m_lu = mat;
-      int size = mat.cols();
-      Vector diag(size);
-      for(int i=0; i<size; ++i)
-      {
-        typename FactorType::InnerIterator k_it(m_lu,i);
-        for(; k_it && k_it.index()<i; ++k_it)
-        {
-          int k = k_it.index();
-          k_it.valueRef() /= diag(k);
-
-          typename FactorType::InnerIterator j_it(k_it);
-          typename FactorType::InnerIterator kj_it(m_lu, k);
-          while(kj_it && kj_it.index()<=k) ++kj_it;
-          for(++j_it; j_it; )
-          {
-            if(kj_it.index()==j_it.index())
-            {
-              j_it.valueRef() -= k_it.value() * kj_it.value();
-              ++j_it;
-              ++kj_it;
-            }
-            else if(kj_it.index()<j_it.index()) ++kj_it;
-            else                                ++j_it;
-          }
-        }
-        if(k_it && k_it.index()==i) diag(i) = k_it.value();
-        else                        diag(i) = 1;
-      }
-      m_isInitialized = true;
-      return *this;
-    }
-
-    template<typename Rhs, typename Dest>
-    void _solve(const Rhs& b, Dest& x) const
-    {
-      x = m_lu.template triangularView<UnitLower>().solve(b);
-      x = m_lu.template triangularView<Upper>().solve(x);
-    }
-
-    template<typename Rhs> inline const internal::solve_retval<IncompleteLU, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(m_isInitialized && "IncompleteLU is not initialized.");
-      eigen_assert(cols()==b.rows()
-                && "IncompleteLU::solve(): invalid number of rows of the right hand side matrix b");
-      return internal::solve_retval<IncompleteLU, Rhs>(*this, b.derived());
-    }
-
-  protected:
-    FactorType m_lu;
-    bool m_isInitialized;
-};
-
-namespace internal {
-
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<IncompleteLU<_MatrixType>, Rhs>
-  : solve_retval_base<IncompleteLU<_MatrixType>, Rhs>
-{
-  typedef IncompleteLU<_MatrixType> Dec;
-  EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    dec()._solve(rhs(),dst);
-  }
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_INCOMPLETE_LU_H
diff --git a/eigenlib/unsupported/Eigen/src/IterativeSolvers/IterationController.h b/eigenlib/unsupported/Eigen/src/IterativeSolvers/IterationController.h
deleted file mode 100644
index c9c1a4be..00000000
--- a/eigenlib/unsupported/Eigen/src/IterativeSolvers/IterationController.h
+++ /dev/null
@@ -1,154 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-
-/* NOTE The class IterationController has been adapted from the iteration
- *      class of the GMM++ and ITL libraries.
- */
-
-//=======================================================================
-// Copyright (C) 1997-2001
-// Authors: Andrew Lumsdaine <lums@osl.iu.edu> 
-//          Lie-Quan Lee     <llee@osl.iu.edu>
-//
-// This file is part of the Iterative Template Library
-//
-// You should have received a copy of the License Agreement for the
-// Iterative Template Library along with the software;  see the
-// file LICENSE.  
-//
-// Permission to modify the code and to distribute modified code is
-// granted, provided the text of this NOTICE is retained, a notice that
-// the code was modified is included with the above COPYRIGHT NOTICE and
-// with the COPYRIGHT NOTICE in the LICENSE file, and that the LICENSE
-// file is distributed with the modified code.
-//
-// LICENSOR MAKES NO REPRESENTATIONS OR WARRANTIES, EXPRESS OR IMPLIED.
-// By way of example, but not limitation, Licensor MAKES NO
-// REPRESENTATIONS OR WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY
-// PARTICULAR PURPOSE OR THAT THE USE OF THE LICENSED SOFTWARE COMPONENTS
-// OR DOCUMENTATION WILL NOT INFRINGE ANY PATENTS, COPYRIGHTS, TRADEMARKS
-// OR OTHER RIGHTS.
-//=======================================================================
-
-//========================================================================
-//
-// Copyright (C) 2002-2007 Yves Renard
-//
-// This file is a part of GETFEM++
-//
-// Getfem++ is free software; you can redistribute it and/or modify
-// it under the terms of the GNU Lesser General Public License as
-// published by the Free Software Foundation; version 2.1 of the License.
-//
-// This program is distributed in the hope that it will be useful,
-// but WITHOUT ANY WARRANTY; without even the implied warranty of
-// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-// GNU Lesser General Public License for more details.
-// You should have received a copy of the GNU Lesser General Public
-// License along with this program; if not, write to the Free Software
-// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301,
-// USA.
-//
-//========================================================================
-
-#include "../../../../Eigen/src/Core/util/NonMPL2.h"
-
-#ifndef EIGEN_ITERATION_CONTROLLER_H
-#define EIGEN_ITERATION_CONTROLLER_H
-
-namespace Eigen { 
-
-/** \ingroup IterativeSolvers_Module
-  * \class IterationController
-  *
-  * \brief Controls the iterations of the iterative solvers
-  *
-  * This class has been adapted from the iteration class of GMM++ and ITL libraries.
-  *
-  */
-class IterationController
-{
-  protected :
-    double m_rhsn;        ///< Right hand side norm
-    size_t m_maxiter;     ///< Max. number of iterations
-    int m_noise;          ///< if noise > 0 iterations are printed
-    double m_resmax;      ///< maximum residual
-    double m_resminreach, m_resadd;
-    size_t m_nit;         ///< iteration number
-    double m_res;         ///< last computed residual
-    bool m_written;
-    void (*m_callback)(const IterationController&);
-  public :
-
-    void init()
-    {
-      m_nit = 0; m_res = 0.0; m_written = false;
-      m_resminreach = 1E50; m_resadd = 0.0;
-      m_callback = 0;
-    }
-
-    IterationController(double r = 1.0E-8, int noi = 0, size_t mit = size_t(-1))
-      : m_rhsn(1.0), m_maxiter(mit), m_noise(noi), m_resmax(r) { init(); }
-
-    void operator ++(int) { m_nit++; m_written = false; m_resadd += m_res; }
-    void operator ++() { (*this)++; }
-
-    bool first() { return m_nit == 0; }
-
-    /* get/set the "noisyness" (verbosity) of the solvers */
-    int noiseLevel() const { return m_noise; }
-    void setNoiseLevel(int n) { m_noise = n; }
-    void reduceNoiseLevel() { if (m_noise > 0) m_noise--; }
-
-    double maxResidual() const { return m_resmax; }
-    void setMaxResidual(double r) { m_resmax = r; }
-
-    double residual() const { return m_res; }
-
-    /* change the user-definable callback, called after each iteration */
-    void setCallback(void (*t)(const IterationController&))
-    {
-      m_callback = t;
-    }
-
-    size_t iteration() const { return m_nit; }
-    void setIteration(size_t i) { m_nit = i; }
-
-    size_t maxIterarions() const { return m_maxiter; }
-    void setMaxIterations(size_t i) { m_maxiter = i; }
-
-    double rhsNorm() const { return m_rhsn; }
-    void setRhsNorm(double r) { m_rhsn = r; }
-
-    bool converged() const { return m_res <= m_rhsn * m_resmax; }
-    bool converged(double nr)
-    {
-      using std::abs;
-      m_res = abs(nr); 
-      m_resminreach = (std::min)(m_resminreach, m_res);
-      return converged();
-    }
-    template<typename VectorType> bool converged(const VectorType &v)
-    { return converged(v.squaredNorm()); }
-
-    bool finished(double nr)
-    {
-      if (m_callback) m_callback(*this);
-      if (m_noise > 0 && !m_written)
-      {
-        converged(nr);
-        m_written = true;
-      }
-      return (m_nit >= m_maxiter || converged(nr));
-    }
-    template <typename VectorType>
-    bool finished(const MatrixBase<VectorType> &v)
-    { return finished(double(v.squaredNorm())); }
-
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_ITERATION_CONTROLLER_H
diff --git a/eigenlib/unsupported/Eigen/src/IterativeSolvers/MINRES.h b/eigenlib/unsupported/Eigen/src/IterativeSolvers/MINRES.h
deleted file mode 100644
index 30f26aa5..00000000
--- a/eigenlib/unsupported/Eigen/src/IterativeSolvers/MINRES.h
+++ /dev/null
@@ -1,310 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Giacomo Po <gpo@ucla.edu>
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-
-#ifndef EIGEN_MINRES_H_
-#define EIGEN_MINRES_H_
-
-
-namespace Eigen {
-    
-    namespace internal {
-        
-        /** \internal Low-level MINRES algorithm
-         * \param mat The matrix A
-         * \param rhs The right hand side vector b
-         * \param x On input and initial solution, on output the computed solution.
-         * \param precond A right preconditioner being able to efficiently solve for an
-         *                approximation of Ax=b (regardless of b)
-         * \param iters On input the max number of iteration, on output the number of performed iterations.
-         * \param tol_error On input the tolerance error, on output an estimation of the relative error.
-         */
-        template<typename MatrixType, typename Rhs, typename Dest, typename Preconditioner>
-        EIGEN_DONT_INLINE
-        void minres(const MatrixType& mat, const Rhs& rhs, Dest& x,
-                    const Preconditioner& precond, int& iters,
-                    typename Dest::RealScalar& tol_error)
-        {
-            using std::sqrt;
-            typedef typename Dest::RealScalar RealScalar;
-            typedef typename Dest::Scalar Scalar;
-            typedef Matrix<Scalar,Dynamic,1> VectorType;
-
-            // Check for zero rhs
-            const RealScalar rhsNorm2(rhs.squaredNorm());
-            if(rhsNorm2 == 0)
-            {
-                x.setZero();
-                iters = 0;
-                tol_error = 0;
-                return;
-            }
-            
-            // initialize
-            const int maxIters(iters);  // initialize maxIters to iters
-            const int N(mat.cols());    // the size of the matrix
-            const RealScalar threshold2(tol_error*tol_error*rhsNorm2); // convergence threshold (compared to residualNorm2)
-            
-            // Initialize preconditioned Lanczos
-            VectorType v_old(N); // will be initialized inside loop
-            VectorType v( VectorType::Zero(N) ); //initialize v
-            VectorType v_new(rhs-mat*x); //initialize v_new
-            RealScalar residualNorm2(v_new.squaredNorm());
-            VectorType w(N); // will be initialized inside loop
-            VectorType w_new(precond.solve(v_new)); // initialize w_new
-//            RealScalar beta; // will be initialized inside loop
-            RealScalar beta_new2(v_new.dot(w_new));
-            eigen_assert(beta_new2 >= 0.0 && "PRECONDITIONER IS NOT POSITIVE DEFINITE");
-            RealScalar beta_new(sqrt(beta_new2));
-            const RealScalar beta_one(beta_new);
-            v_new /= beta_new;
-            w_new /= beta_new;
-            // Initialize other variables
-            RealScalar c(1.0); // the cosine of the Givens rotation
-            RealScalar c_old(1.0);
-            RealScalar s(0.0); // the sine of the Givens rotation
-            RealScalar s_old(0.0); // the sine of the Givens rotation
-            VectorType p_oold(N); // will be initialized in loop
-            VectorType p_old(VectorType::Zero(N)); // initialize p_old=0
-            VectorType p(p_old); // initialize p=0
-            RealScalar eta(1.0);
-                        
-            iters = 0; // reset iters
-            while ( iters < maxIters )
-            {
-                // Preconditioned Lanczos
-                /* Note that there are 4 variants on the Lanczos algorithm. These are
-                 * described in Paige, C. C. (1972). Computational variants of
-                 * the Lanczos method for the eigenproblem. IMA Journal of Applied
-                 * Mathematics, 10(3), 373–381. The current implementation corresponds 
-                 * to the case A(2,7) in the paper. It also corresponds to 
-                 * algorithm 6.14 in Y. Saad, Iterative Methods for Sparse Linear
-                 * Systems, 2003 p.173. For the preconditioned version see 
-                 * A. Greenbaum, Iterative Methods for Solving Linear Systems, SIAM (1987).
-                 */
-                const RealScalar beta(beta_new);
-                v_old = v; // update: at first time step, this makes v_old = 0 so value of beta doesn't matter
-//                const VectorType v_old(v); // NOT SURE IF CREATING v_old EVERY ITERATION IS EFFICIENT
-                v = v_new; // update
-                w = w_new; // update
-//                const VectorType w(w_new); // NOT SURE IF CREATING w EVERY ITERATION IS EFFICIENT
-                v_new.noalias() = mat*w - beta*v_old; // compute v_new
-                const RealScalar alpha = v_new.dot(w);
-                v_new -= alpha*v; // overwrite v_new
-                w_new = precond.solve(v_new); // overwrite w_new
-                beta_new2 = v_new.dot(w_new); // compute beta_new
-                eigen_assert(beta_new2 >= 0.0 && "PRECONDITIONER IS NOT POSITIVE DEFINITE");
-                beta_new = sqrt(beta_new2); // compute beta_new
-                v_new /= beta_new; // overwrite v_new for next iteration
-                w_new /= beta_new; // overwrite w_new for next iteration
-                
-                // Givens rotation
-                const RealScalar r2 =s*alpha+c*c_old*beta; // s, s_old, c and c_old are still from previous iteration
-                const RealScalar r3 =s_old*beta; // s, s_old, c and c_old are still from previous iteration
-                const RealScalar r1_hat=c*alpha-c_old*s*beta;
-                const RealScalar r1 =sqrt( std::pow(r1_hat,2) + std::pow(beta_new,2) );
-                c_old = c; // store for next iteration
-                s_old = s; // store for next iteration
-                c=r1_hat/r1; // new cosine
-                s=beta_new/r1; // new sine
-                
-                // Update solution
-                p_oold = p_old;
-//                const VectorType p_oold(p_old); // NOT SURE IF CREATING p_oold EVERY ITERATION IS EFFICIENT
-                p_old = p;
-                p.noalias()=(w-r2*p_old-r3*p_oold) /r1; // IS NOALIAS REQUIRED?
-                x += beta_one*c*eta*p;
-                
-                /* Update the squared residual. Note that this is the estimated residual.
-                The real residual |Ax-b|^2 may be slightly larger */
-                residualNorm2 *= s*s;
-                
-                if ( residualNorm2 < threshold2)
-                {
-                    break;
-                }
-                
-                eta=-s*eta; // update eta
-                iters++; // increment iteration number (for output purposes)
-            }
-            
-            /* Compute error. Note that this is the estimated error. The real 
-             error |Ax-b|/|b| may be slightly larger */
-            tol_error = std::sqrt(residualNorm2 / rhsNorm2);
-        }
-        
-    }
-    
-    template< typename _MatrixType, int _UpLo=Lower,
-    typename _Preconditioner = IdentityPreconditioner>
-//    typename _Preconditioner = IdentityPreconditioner<typename _MatrixType::Scalar> > // preconditioner must be positive definite
-    class MINRES;
-    
-    namespace internal {
-        
-        template< typename _MatrixType, int _UpLo, typename _Preconditioner>
-        struct traits<MINRES<_MatrixType,_UpLo,_Preconditioner> >
-        {
-            typedef _MatrixType MatrixType;
-            typedef _Preconditioner Preconditioner;
-        };
-        
-    }
-    
-    /** \ingroup IterativeLinearSolvers_Module
-     * \brief A minimal residual solver for sparse symmetric problems
-     *
-     * This class allows to solve for A.x = b sparse linear problems using the MINRES algorithm
-     * of Paige and Saunders (1975). The sparse matrix A must be symmetric (possibly indefinite).
-     * The vectors x and b can be either dense or sparse.
-     *
-     * \tparam _MatrixType the type of the sparse matrix A, can be a dense or a sparse matrix.
-     * \tparam _UpLo the triangular part that will be used for the computations. It can be Lower
-     *               or Upper. Default is Lower.
-     * \tparam _Preconditioner the type of the preconditioner. Default is DiagonalPreconditioner
-     *
-     * The maximal number of iterations and tolerance value can be controlled via the setMaxIterations()
-     * and setTolerance() methods. The defaults are the size of the problem for the maximal number of iterations
-     * and NumTraits<Scalar>::epsilon() for the tolerance.
-     *
-     * This class can be used as the direct solver classes. Here is a typical usage example:
-     * \code
-     * int n = 10000;
-     * VectorXd x(n), b(n);
-     * SparseMatrix<double> A(n,n);
-     * // fill A and b
-     * MINRES<SparseMatrix<double> > mr;
-     * mr.compute(A);
-     * x = mr.solve(b);
-     * std::cout << "#iterations:     " << mr.iterations() << std::endl;
-     * std::cout << "estimated error: " << mr.error()      << std::endl;
-     * // update b, and solve again
-     * x = mr.solve(b);
-     * \endcode
-     *
-     * By default the iterations start with x=0 as an initial guess of the solution.
-     * One can control the start using the solveWithGuess() method.
-     *
-     * \sa class ConjugateGradient, BiCGSTAB, SimplicialCholesky, DiagonalPreconditioner, IdentityPreconditioner
-     */
-    template< typename _MatrixType, int _UpLo, typename _Preconditioner>
-    class MINRES : public IterativeSolverBase<MINRES<_MatrixType,_UpLo,_Preconditioner> >
-    {
-        
-        typedef IterativeSolverBase<MINRES> Base;
-        using Base::mp_matrix;
-        using Base::m_error;
-        using Base::m_iterations;
-        using Base::m_info;
-        using Base::m_isInitialized;
-    public:
-        typedef _MatrixType MatrixType;
-        typedef typename MatrixType::Scalar Scalar;
-        typedef typename MatrixType::Index Index;
-        typedef typename MatrixType::RealScalar RealScalar;
-        typedef _Preconditioner Preconditioner;
-        
-        enum {UpLo = _UpLo};
-        
-    public:
-        
-        /** Default constructor. */
-        MINRES() : Base() {}
-        
-        /** Initialize the solver with matrix \a A for further \c Ax=b solving.
-         *
-         * This constructor is a shortcut for the default constructor followed
-         * by a call to compute().
-         *
-         * \warning this class stores a reference to the matrix A as well as some
-         * precomputed values that depend on it. Therefore, if \a A is changed
-         * this class becomes invalid. Call compute() to update it with the new
-         * matrix A, or modify a copy of A.
-         */
-        MINRES(const MatrixType& A) : Base(A) {}
-        
-        /** Destructor. */
-        ~MINRES(){}
-		
-        /** \returns the solution x of \f$ A x = b \f$ using the current decomposition of A
-         * \a x0 as an initial solution.
-         *
-         * \sa compute()
-         */
-        template<typename Rhs,typename Guess>
-        inline const internal::solve_retval_with_guess<MINRES, Rhs, Guess>
-        solveWithGuess(const MatrixBase<Rhs>& b, const Guess& x0) const
-        {
-            eigen_assert(m_isInitialized && "MINRES is not initialized.");
-            eigen_assert(Base::rows()==b.rows()
-                         && "MINRES::solve(): invalid number of rows of the right hand side matrix b");
-            return internal::solve_retval_with_guess
-            <MINRES, Rhs, Guess>(*this, b.derived(), x0);
-        }
-        
-        /** \internal */
-        template<typename Rhs,typename Dest>
-        void _solveWithGuess(const Rhs& b, Dest& x) const
-        {
-            typedef typename internal::conditional<UpLo==(Lower|Upper),
-                                                   const MatrixType&,
-                                                   SparseSelfAdjointView<const MatrixType, UpLo>
-                                                  >::type MatrixWrapperType;
-                                          
-            m_iterations = Base::maxIterations();
-            m_error = Base::m_tolerance;
-            
-            for(int j=0; j<b.cols(); ++j)
-            {
-                m_iterations = Base::maxIterations();
-                m_error = Base::m_tolerance;
-                
-                typename Dest::ColXpr xj(x,j);
-                internal::minres(MatrixWrapperType(*mp_matrix), b.col(j), xj,
-                                 Base::m_preconditioner, m_iterations, m_error);
-            }
-            
-            m_isInitialized = true;
-            m_info = m_error <= Base::m_tolerance ? Success : NoConvergence;
-        }
-        
-        /** \internal */
-        template<typename Rhs,typename Dest>
-        void _solve(const Rhs& b, Dest& x) const
-        {
-            x.setZero();
-            _solveWithGuess(b,x);
-        }
-        
-    protected:
-        
-    };
-    
-    namespace internal {
-        
-        template<typename _MatrixType, int _UpLo, typename _Preconditioner, typename Rhs>
-        struct solve_retval<MINRES<_MatrixType,_UpLo,_Preconditioner>, Rhs>
-        : solve_retval_base<MINRES<_MatrixType,_UpLo,_Preconditioner>, Rhs>
-        {
-            typedef MINRES<_MatrixType,_UpLo,_Preconditioner> Dec;
-            EIGEN_MAKE_SOLVE_HELPERS(Dec,Rhs)
-            
-            template<typename Dest> void evalTo(Dest& dst) const
-            {
-                dec()._solve(rhs(),dst);
-            }
-        };
-        
-    } // end namespace internal
-    
-} // end namespace Eigen
-
-#endif // EIGEN_MINRES_H
-
diff --git a/eigenlib/unsupported/Eigen/src/IterativeSolvers/Scaling.h b/eigenlib/unsupported/Eigen/src/IterativeSolvers/Scaling.h
deleted file mode 100644
index 4fd43920..00000000
--- a/eigenlib/unsupported/Eigen/src/IterativeSolvers/Scaling.h
+++ /dev/null
@@ -1,185 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Desire NUENTSA WAKAM <desire.nuentsa_wakam@inria.fr
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_ITERSCALING_H
-#define EIGEN_ITERSCALING_H
-/**
-  * \ingroup IterativeSolvers_Module
-  * \brief iterative scaling algorithm to equilibrate rows and column norms in matrices
-  * 
-  * This class can be used as a preprocessing tool to accelerate the convergence of iterative methods 
-  * 
-  * This feature is  useful to limit the pivoting amount during LU/ILU factorization
-  * The  scaling strategy as presented here preserves the symmetry of the problem
-  * NOTE It is assumed that the matrix does not have empty row or column, 
-  * 
-  * Example with key steps 
-  * \code
-  * VectorXd x(n), b(n);
-  * SparseMatrix<double> A;
-  * // fill A and b;
-  * IterScaling<SparseMatrix<double> > scal; 
-  * // Compute the left and right scaling vectors. The matrix is equilibrated at output
-  * scal.computeRef(A); 
-  * // Scale the right hand side
-  * b = scal.LeftScaling().cwiseProduct(b); 
-  * // Now, solve the equilibrated linear system with any available solver
-  * 
-  * // Scale back the computed solution
-  * x = scal.RightScaling().cwiseProduct(x); 
-  * \endcode
-  * 
-  * \tparam _MatrixType the type of the matrix. It should be a real square sparsematrix
-  * 
-  * References : D. Ruiz and B. Ucar, A Symmetry Preserving Algorithm for Matrix Scaling, INRIA Research report RR-7552
-  * 
-  * \sa \ref IncompleteLUT 
-  */
-namespace Eigen {
-using std::abs; 
-template<typename _MatrixType>
-class IterScaling
-{
-  public:
-    typedef _MatrixType MatrixType; 
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
-    
-  public:
-    IterScaling() { init(); }
-    
-    IterScaling(const MatrixType& matrix)
-    {
-      init();
-      compute(matrix);
-    }
-    
-    ~IterScaling() { }
-    
-    /** 
-     * Compute the left and right diagonal matrices to scale the input matrix @p mat
-     * 
-     * FIXME This algorithm will be modified such that the diagonal elements are permuted on the diagonal. 
-     * 
-     * \sa LeftScaling() RightScaling()
-     */
-    void compute (const MatrixType& mat)
-    {
-      int m = mat.rows(); 
-      int n = mat.cols();
-      eigen_assert((m>0 && m == n) && "Please give a non - empty matrix");
-      m_left.resize(m); 
-      m_right.resize(n);
-      m_left.setOnes();
-      m_right.setOnes();
-      m_matrix = mat;
-      VectorXd Dr, Dc, DrRes, DcRes; // Temporary Left and right scaling vectors
-      Dr.resize(m); Dc.resize(n);
-      DrRes.resize(m); DcRes.resize(n);
-      double EpsRow = 1.0, EpsCol = 1.0;
-      int its = 0; 
-      do
-      { // Iterate until the infinite norm of each row and column is approximately 1
-        // Get the maximum value in each row and column
-        Dr.setZero(); Dc.setZero();
-        for (int k=0; k<m_matrix.outerSize(); ++k)
-        {
-          for (typename MatrixType::InnerIterator it(m_matrix, k); it; ++it)
-          {
-            if ( Dr(it.row()) < abs(it.value()) )
-              Dr(it.row()) = abs(it.value());
-            
-            if ( Dc(it.col()) < abs(it.value()) )
-              Dc(it.col()) = abs(it.value());
-          }
-        }
-        for (int i = 0; i < m; ++i) 
-        {
-          Dr(i) = std::sqrt(Dr(i));
-          Dc(i) = std::sqrt(Dc(i));
-        }
-        // Save the scaling factors 
-        for (int i = 0; i < m; ++i) 
-        {
-          m_left(i) /= Dr(i);
-          m_right(i) /= Dc(i);
-        }
-        // Scale the rows and the columns of the matrix
-        DrRes.setZero(); DcRes.setZero(); 
-        for (int k=0; k<m_matrix.outerSize(); ++k)
-        {
-          for (typename MatrixType::InnerIterator it(m_matrix, k); it; ++it)
-          {
-            it.valueRef() = it.value()/( Dr(it.row()) * Dc(it.col()) );
-            // Accumulate the norms of the row and column vectors   
-            if ( DrRes(it.row()) < abs(it.value()) )
-              DrRes(it.row()) = abs(it.value());
-            
-            if ( DcRes(it.col()) < abs(it.value()) )
-              DcRes(it.col()) = abs(it.value());
-          }
-        }  
-        DrRes.array() = (1-DrRes.array()).abs();
-        EpsRow = DrRes.maxCoeff();
-        DcRes.array() = (1-DcRes.array()).abs();
-        EpsCol = DcRes.maxCoeff();
-        its++;
-      }while ( (EpsRow >m_tol || EpsCol > m_tol) && (its < m_maxits) );
-      m_isInitialized = true;
-    }
-    /** Compute the left and right vectors to scale the vectors
-     * the input matrix is scaled with the computed vectors at output
-     * 
-     * \sa compute()
-     */
-    void computeRef (MatrixType& mat)
-    {
-      compute (mat);
-      mat = m_matrix;
-    }
-    /** Get the vector to scale the rows of the matrix 
-     */
-    VectorXd& LeftScaling()
-    {
-      return m_left;
-    }
-    
-    /** Get the vector to scale the columns of the matrix 
-     */
-    VectorXd& RightScaling()
-    {
-      return m_right;
-    }
-    
-    /** Set the tolerance for the convergence of the iterative scaling algorithm
-     */
-    void setTolerance(double tol)
-    {
-      m_tol = tol; 
-    }
-      
-  protected:
-    
-    void init()
-    {
-      m_tol = 1e-10;
-      m_maxits = 5;
-      m_isInitialized = false;
-    }
-    
-    MatrixType m_matrix;
-    mutable ComputationInfo m_info; 
-    bool m_isInitialized; 
-    VectorXd m_left; // Left scaling vector
-    VectorXd m_right; // m_right scaling vector
-    double m_tol; 
-    int m_maxits; // Maximum number of iterations allowed
-};
-}
-#endif
diff --git a/eigenlib/unsupported/Eigen/src/KroneckerProduct/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/KroneckerProduct/CMakeLists.txt
deleted file mode 100644
index 4daefebe..00000000
--- a/eigenlib/unsupported/Eigen/src/KroneckerProduct/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_KroneckerProduct_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_KroneckerProduct_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/KroneckerProduct COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h b/eigenlib/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h
deleted file mode 100644
index 532896c3..00000000
--- a/eigenlib/unsupported/Eigen/src/KroneckerProduct/KroneckerTensorProduct.h
+++ /dev/null
@@ -1,244 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Kolja Brix <brix@igpm.rwth-aachen.de>
-// Copyright (C) 2011 Andreas Platen <andiplaten@gmx.de>
-// Copyright (C) 2012 Chen-Pang He <jdh8@ms63.hinet.net>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef KRONECKER_TENSOR_PRODUCT_H
-#define KRONECKER_TENSOR_PRODUCT_H
-
-namespace Eigen { 
-
-template<typename Scalar, int Options, typename Index> class SparseMatrix;
-
-/*!
- * \brief Kronecker tensor product helper class for dense matrices
- *
- * This class is the return value of kroneckerProduct(MatrixBase,
- * MatrixBase). Use the function rather than construct this class
- * directly to avoid specifying template prarameters.
- *
- * \tparam Lhs  Type of the left-hand side, a matrix expression.
- * \tparam Rhs  Type of the rignt-hand side, a matrix expression.
- */
-template<typename Lhs, typename Rhs>
-class KroneckerProduct : public ReturnByValue<KroneckerProduct<Lhs,Rhs> >
-{
-  private:
-    typedef ReturnByValue<KroneckerProduct> Base;
-    typedef typename Base::Scalar Scalar;
-    typedef typename Base::Index Index;
-
-  public:
-    /*! \brief Constructor. */
-    KroneckerProduct(const Lhs& A, const Rhs& B)
-      : m_A(A), m_B(B)
-    {}
-
-    /*! \brief Evaluate the Kronecker tensor product. */
-    template<typename Dest> void evalTo(Dest& dst) const;
-    
-    inline Index rows() const { return m_A.rows() * m_B.rows(); }
-    inline Index cols() const { return m_A.cols() * m_B.cols(); }
-
-    Scalar coeff(Index row, Index col) const
-    {
-      return m_A.coeff(row / m_B.rows(), col / m_B.cols()) *
-             m_B.coeff(row % m_B.rows(), col % m_B.cols());
-    }
-
-    Scalar coeff(Index i) const
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(KroneckerProduct);
-      return m_A.coeff(i / m_A.size()) * m_B.coeff(i % m_A.size());
-    }
-
-  private:
-    typename Lhs::Nested m_A;
-    typename Rhs::Nested m_B;
-};
-
-/*!
- * \brief Kronecker tensor product helper class for sparse matrices
- *
- * If at least one of the operands is a sparse matrix expression,
- * then this class is returned and evaluates into a sparse matrix.
- *
- * This class is the return value of kroneckerProduct(EigenBase,
- * EigenBase). Use the function rather than construct this class
- * directly to avoid specifying template prarameters.
- *
- * \tparam Lhs  Type of the left-hand side, a matrix expression.
- * \tparam Rhs  Type of the rignt-hand side, a matrix expression.
- */
-template<typename Lhs, typename Rhs>
-class KroneckerProductSparse : public EigenBase<KroneckerProductSparse<Lhs,Rhs> >
-{
-  private:
-    typedef typename internal::traits<KroneckerProductSparse>::Index Index;
-
-  public:
-    /*! \brief Constructor. */
-    KroneckerProductSparse(const Lhs& A, const Rhs& B)
-      : m_A(A), m_B(B)
-    {}
-
-    /*! \brief Evaluate the Kronecker tensor product. */
-    template<typename Dest> void evalTo(Dest& dst) const;
-    
-    inline Index rows() const { return m_A.rows() * m_B.rows(); }
-    inline Index cols() const { return m_A.cols() * m_B.cols(); }
-
-    template<typename Scalar, int Options, typename Index>
-    operator SparseMatrix<Scalar, Options, Index>()
-    {
-      SparseMatrix<Scalar, Options, Index> result;
-      evalTo(result.derived());
-      return result;
-    }
-
-  private:
-    typename Lhs::Nested m_A;
-    typename Rhs::Nested m_B;
-};
-
-template<typename Lhs, typename Rhs>
-template<typename Dest>
-void KroneckerProduct<Lhs,Rhs>::evalTo(Dest& dst) const
-{
-  const int BlockRows = Rhs::RowsAtCompileTime,
-            BlockCols = Rhs::ColsAtCompileTime;
-  const Index Br = m_B.rows(),
-              Bc = m_B.cols();
-  for (Index i=0; i < m_A.rows(); ++i)
-    for (Index j=0; j < m_A.cols(); ++j)
-      Block<Dest,BlockRows,BlockCols>(dst,i*Br,j*Bc,Br,Bc) = m_A.coeff(i,j) * m_B;
-}
-
-template<typename Lhs, typename Rhs>
-template<typename Dest>
-void KroneckerProductSparse<Lhs,Rhs>::evalTo(Dest& dst) const
-{
-  const Index Br = m_B.rows(),
-              Bc = m_B.cols();
-  dst.resize(rows(),cols());
-  dst.resizeNonZeros(0);
-  dst.reserve(m_A.nonZeros() * m_B.nonZeros());
-
-  for (Index kA=0; kA < m_A.outerSize(); ++kA)
-  {
-    for (Index kB=0; kB < m_B.outerSize(); ++kB)
-    {
-      for (typename Lhs::InnerIterator itA(m_A,kA); itA; ++itA)
-      {
-        for (typename Rhs::InnerIterator itB(m_B,kB); itB; ++itB)
-        {
-          const Index i = itA.row() * Br + itB.row(),
-                      j = itA.col() * Bc + itB.col();
-          dst.insert(i,j) = itA.value() * itB.value();
-        }
-      }
-    }
-  }
-}
-
-namespace internal {
-
-template<typename _Lhs, typename _Rhs>
-struct traits<KroneckerProduct<_Lhs,_Rhs> >
-{
-  typedef typename remove_all<_Lhs>::type Lhs;
-  typedef typename remove_all<_Rhs>::type Rhs;
-  typedef typename scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType Scalar;
-
-  enum {
-    Rows = size_at_compile_time<traits<Lhs>::RowsAtCompileTime, traits<Rhs>::RowsAtCompileTime>::ret,
-    Cols = size_at_compile_time<traits<Lhs>::ColsAtCompileTime, traits<Rhs>::ColsAtCompileTime>::ret,
-    MaxRows = size_at_compile_time<traits<Lhs>::MaxRowsAtCompileTime, traits<Rhs>::MaxRowsAtCompileTime>::ret,
-    MaxCols = size_at_compile_time<traits<Lhs>::MaxColsAtCompileTime, traits<Rhs>::MaxColsAtCompileTime>::ret,
-    CoeffReadCost = Lhs::CoeffReadCost + Rhs::CoeffReadCost + NumTraits<Scalar>::MulCost
-  };
-
-  typedef Matrix<Scalar,Rows,Cols> ReturnType;
-};
-
-template<typename _Lhs, typename _Rhs>
-struct traits<KroneckerProductSparse<_Lhs,_Rhs> >
-{
-  typedef MatrixXpr XprKind;
-  typedef typename remove_all<_Lhs>::type Lhs;
-  typedef typename remove_all<_Rhs>::type Rhs;
-  typedef typename scalar_product_traits<typename Lhs::Scalar, typename Rhs::Scalar>::ReturnType Scalar;
-  typedef typename promote_storage_type<typename traits<Lhs>::StorageKind, typename traits<Rhs>::StorageKind>::ret StorageKind;
-  typedef typename promote_index_type<typename Lhs::Index, typename Rhs::Index>::type Index;
-
-  enum {
-    LhsFlags = Lhs::Flags,
-    RhsFlags = Rhs::Flags,
-
-    RowsAtCompileTime = size_at_compile_time<traits<Lhs>::RowsAtCompileTime, traits<Rhs>::RowsAtCompileTime>::ret,
-    ColsAtCompileTime = size_at_compile_time<traits<Lhs>::ColsAtCompileTime, traits<Rhs>::ColsAtCompileTime>::ret,
-    MaxRowsAtCompileTime = size_at_compile_time<traits<Lhs>::MaxRowsAtCompileTime, traits<Rhs>::MaxRowsAtCompileTime>::ret,
-    MaxColsAtCompileTime = size_at_compile_time<traits<Lhs>::MaxColsAtCompileTime, traits<Rhs>::MaxColsAtCompileTime>::ret,
-
-    EvalToRowMajor = (LhsFlags & RhsFlags & RowMajorBit),
-    RemovedBits = ~(EvalToRowMajor ? 0 : RowMajorBit),
-
-    Flags = ((LhsFlags | RhsFlags) & HereditaryBits & RemovedBits)
-          | EvalBeforeNestingBit | EvalBeforeAssigningBit,
-    CoeffReadCost = Dynamic
-  };
-};
-
-} // end namespace internal
-
-/*!
- * \ingroup KroneckerProduct_Module
- *
- * Computes Kronecker tensor product of two dense matrices
- *
- * \warning If you want to replace a matrix by its Kronecker product
- *          with some matrix, do \b NOT do this:
- * \code
- * A = kroneckerProduct(A,B); // bug!!! caused by aliasing effect
- * \endcode
- * instead, use eval() to work around this:
- * \code
- * A = kroneckerProduct(A,B).eval();
- * \endcode
- *
- * \param a  Dense matrix a
- * \param b  Dense matrix b
- * \return   Kronecker tensor product of a and b
- */
-template<typename A, typename B>
-KroneckerProduct<A,B> kroneckerProduct(const MatrixBase<A>& a, const MatrixBase<B>& b)
-{
-  return KroneckerProduct<A, B>(a.derived(), b.derived());
-}
-
-/*!
- * \ingroup KroneckerProduct_Module
- *
- * Computes Kronecker tensor product of two matrices, at least one of
- * which is sparse
- *
- * \param a  Dense/sparse matrix a
- * \param b  Dense/sparse matrix b
- * \return   Kronecker tensor product of a and b, stored in a sparse
- *           matrix
- */
-template<typename A, typename B>
-KroneckerProductSparse<A,B> kroneckerProduct(const EigenBase<A>& a, const EigenBase<B>& b)
-{
-  return KroneckerProductSparse<A,B>(a.derived(), b.derived());
-}
-
-} // end namespace Eigen
-
-#endif // KRONECKER_TENSOR_PRODUCT_H
diff --git a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/CMakeLists.txt
deleted file mode 100644
index d9690854..00000000
--- a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_LevenbergMarquardt_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_LevenbergMarquardt_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/LevenbergMarquardt COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/CopyrightMINPACK.txt b/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/CopyrightMINPACK.txt
deleted file mode 100644
index ae7984da..00000000
--- a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/CopyrightMINPACK.txt
+++ /dev/null
@@ -1,52 +0,0 @@
-Minpack Copyright Notice (1999) University of Chicago.  All rights reserved
-
-Redistribution and use in source and binary forms, with or
-without modification, are permitted provided that the
-following conditions are met:
-
-1. Redistributions of source code must retain the above
-copyright notice, this list of conditions and the following
-disclaimer.
-
-2. Redistributions in binary form must reproduce the above
-copyright notice, this list of conditions and the following
-disclaimer in the documentation and/or other materials
-provided with the distribution.
-
-3. The end-user documentation included with the
-redistribution, if any, must include the following
-acknowledgment:
-
-   "This product includes software developed by the
-   University of Chicago, as Operator of Argonne National
-   Laboratory.
-
-Alternately, this acknowledgment may appear in the software
-itself, if and wherever such third-party acknowledgments
-normally appear.
-
-4. WARRANTY DISCLAIMER. THE SOFTWARE IS SUPPLIED "AS IS"
-WITHOUT WARRANTY OF ANY KIND. THE COPYRIGHT HOLDER, THE
-UNITED STATES, THE UNITED STATES DEPARTMENT OF ENERGY, AND
-THEIR EMPLOYEES: (1) DISCLAIM ANY WARRANTIES, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES
-OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE
-OR NON-INFRINGEMENT, (2) DO NOT ASSUME ANY LEGAL LIABILITY
-OR RESPONSIBILITY FOR THE ACCURACY, COMPLETENESS, OR
-USEFULNESS OF THE SOFTWARE, (3) DO NOT REPRESENT THAT USE OF
-THE SOFTWARE WOULD NOT INFRINGE PRIVATELY OWNED RIGHTS, (4)
-DO NOT WARRANT THAT THE SOFTWARE WILL FUNCTION
-UNINTERRUPTED, THAT IT IS ERROR-FREE OR THAT ANY ERRORS WILL
-BE CORRECTED.
-
-5. LIMITATION OF LIABILITY. IN NO EVENT WILL THE COPYRIGHT
-HOLDER, THE UNITED STATES, THE UNITED STATES DEPARTMENT OF
-ENERGY, OR THEIR EMPLOYEES: BE LIABLE FOR ANY INDIRECT,
-INCIDENTAL, CONSEQUENTIAL, SPECIAL OR PUNITIVE DAMAGES OF
-ANY KIND OR NATURE, INCLUDING BUT NOT LIMITED TO LOSS OF
-PROFITS OR LOSS OF DATA, FOR ANY REASON WHATSOEVER, WHETHER
-SUCH LIABILITY IS ASSERTED ON THE BASIS OF CONTRACT, TORT
-(INCLUDING NEGLIGENCE OR STRICT LIABILITY), OR OTHERWISE,
-EVEN IF ANY OF SAID PARTIES HAS BEEN WARNED OF THE
-POSSIBILITY OF SUCH LOSS OR DAMAGES.
-
diff --git a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LMcovar.h b/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LMcovar.h
deleted file mode 100644
index 32d3ad51..00000000
--- a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LMcovar.h
+++ /dev/null
@@ -1,85 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This code initially comes from MINPACK whose original authors are:
-// Copyright Jorge More - Argonne National Laboratory
-// Copyright Burt Garbow - Argonne National Laboratory
-// Copyright Ken Hillstrom - Argonne National Laboratory
-//
-// This Source Code Form is subject to the terms of the Minpack license
-// (a BSD-like license) described in the campaigned CopyrightMINPACK.txt file.
-
-#ifndef EIGEN_LMCOVAR_H
-#define EIGEN_LMCOVAR_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar>
-void covar(
-        Matrix< Scalar, Dynamic, Dynamic > &r,
-        const VectorXi& ipvt,
-        Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon()) )
-{
-    using std::abs;
-    typedef DenseIndex Index;
-    /* Local variables */
-    Index i, j, k, l, ii, jj;
-    bool sing;
-    Scalar temp;
-
-    /* Function Body */
-    const Index n = r.cols();
-    const Scalar tolr = tol * abs(r(0,0));
-    Matrix< Scalar, Dynamic, 1 > wa(n);
-    eigen_assert(ipvt.size()==n);
-
-    /* form the inverse of r in the full upper triangle of r. */
-    l = -1;
-    for (k = 0; k < n; ++k)
-        if (abs(r(k,k)) > tolr) {
-            r(k,k) = 1. / r(k,k);
-            for (j = 0; j <= k-1; ++j) {
-                temp = r(k,k) * r(j,k);
-                r(j,k) = 0.;
-                r.col(k).head(j+1) -= r.col(j).head(j+1) * temp;
-            }
-            l = k;
-        }
-
-    /* form the full upper triangle of the inverse of (r transpose)*r */
-    /* in the full upper triangle of r. */
-    for (k = 0; k <= l; ++k) {
-        for (j = 0; j <= k-1; ++j)
-            r.col(j).head(j+1) += r.col(k).head(j+1) * r(j,k);
-        r.col(k).head(k+1) *= r(k,k);
-    }
-
-    /* form the full lower triangle of the covariance matrix */
-    /* in the strict lower triangle of r and in wa. */
-    for (j = 0; j < n; ++j) {
-        jj = ipvt[j];
-        sing = j > l;
-        for (i = 0; i <= j; ++i) {
-            if (sing)
-                r(i,j) = 0.;
-            ii = ipvt[i];
-            if (ii > jj)
-                r(ii,jj) = r(i,j);
-            if (ii < jj)
-                r(jj,ii) = r(i,j);
-        }
-        wa[jj] = r(j,j);
-    }
-
-    /* symmetrize the covariance matrix in r. */
-    r.topLeftCorner(n,n).template triangularView<StrictlyUpper>() = r.topLeftCorner(n,n).transpose();
-    r.diagonal() = wa;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_LMCOVAR_H
diff --git a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LMonestep.h b/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LMonestep.h
deleted file mode 100644
index 25b32ec5..00000000
--- a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LMonestep.h
+++ /dev/null
@@ -1,202 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This code initially comes from MINPACK whose original authors are:
-// Copyright Jorge More - Argonne National Laboratory
-// Copyright Burt Garbow - Argonne National Laboratory
-// Copyright Ken Hillstrom - Argonne National Laboratory
-//
-// This Source Code Form is subject to the terms of the Minpack license
-// (a BSD-like license) described in the campaigned CopyrightMINPACK.txt file.
-
-#ifndef EIGEN_LMONESTEP_H
-#define EIGEN_LMONESTEP_H
-
-namespace Eigen {
-
-template<typename FunctorType>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType>::minimizeOneStep(FVectorType  &x)
-{
-  using std::abs;
-  using std::sqrt;
-  RealScalar temp, temp1,temp2; 
-  RealScalar ratio; 
-  RealScalar pnorm, xnorm, fnorm1, actred, dirder, prered;
-  eigen_assert(x.size()==n); // check the caller is not cheating us
-
-  temp = 0.0; xnorm = 0.0;
-  /* calculate the jacobian matrix. */
-  Index df_ret = m_functor.df(x, m_fjac);
-  if (df_ret<0)
-      return LevenbergMarquardtSpace::UserAsked;
-  if (df_ret>0)
-      // numerical diff, we evaluated the function df_ret times
-      m_nfev += df_ret;
-  else m_njev++;
-
-  /* compute the qr factorization of the jacobian. */
-  for (int j = 0; j < x.size(); ++j)
-    m_wa2(j) = m_fjac.col(j).blueNorm();
-  QRSolver qrfac(m_fjac);
-  if(qrfac.info() != Success) {
-    m_info = NumericalIssue;
-    return LevenbergMarquardtSpace::ImproperInputParameters;
-  }
-  // Make a copy of the first factor with the associated permutation
-  m_rfactor = qrfac.matrixR();
-  m_permutation = (qrfac.colsPermutation());
-
-  /* on the first iteration and if external scaling is not used, scale according */
-  /* to the norms of the columns of the initial jacobian. */
-  if (m_iter == 1) {
-      if (!m_useExternalScaling)
-          for (Index j = 0; j < n; ++j)
-              m_diag[j] = (m_wa2[j]==0.)? 1. : m_wa2[j];
-
-      /* on the first iteration, calculate the norm of the scaled x */
-      /* and initialize the step bound m_delta. */
-      xnorm = m_diag.cwiseProduct(x).stableNorm();
-      m_delta = m_factor * xnorm;
-      if (m_delta == 0.)
-          m_delta = m_factor;
-  }
-
-  /* form (q transpose)*m_fvec and store the first n components in */
-  /* m_qtf. */
-  m_wa4 = m_fvec;
-  m_wa4 = qrfac.matrixQ().adjoint() * m_fvec; 
-  m_qtf = m_wa4.head(n);
-
-  /* compute the norm of the scaled gradient. */
-  m_gnorm = 0.;
-  if (m_fnorm != 0.)
-      for (Index j = 0; j < n; ++j)
-          if (m_wa2[m_permutation.indices()[j]] != 0.)
-              m_gnorm = (std::max)(m_gnorm, abs( m_rfactor.col(j).head(j+1).dot(m_qtf.head(j+1)/m_fnorm) / m_wa2[m_permutation.indices()[j]]));
-
-  /* test for convergence of the gradient norm. */
-  if (m_gnorm <= m_gtol) {
-    m_info = Success;
-    return LevenbergMarquardtSpace::CosinusTooSmall;
-  }
-
-  /* rescale if necessary. */
-  if (!m_useExternalScaling)
-      m_diag = m_diag.cwiseMax(m_wa2);
-
-  do {
-    /* determine the levenberg-marquardt parameter. */
-    internal::lmpar2(qrfac, m_diag, m_qtf, m_delta, m_par, m_wa1);
-
-    /* store the direction p and x + p. calculate the norm of p. */
-    m_wa1 = -m_wa1;
-    m_wa2 = x + m_wa1;
-    pnorm = m_diag.cwiseProduct(m_wa1).stableNorm();
-
-    /* on the first iteration, adjust the initial step bound. */
-    if (m_iter == 1)
-        m_delta = (std::min)(m_delta,pnorm);
-
-    /* evaluate the function at x + p and calculate its norm. */
-    if ( m_functor(m_wa2, m_wa4) < 0)
-        return LevenbergMarquardtSpace::UserAsked;
-    ++m_nfev;
-    fnorm1 = m_wa4.stableNorm();
-
-    /* compute the scaled actual reduction. */
-    actred = -1.;
-    if (Scalar(.1) * fnorm1 < m_fnorm)
-        actred = 1. - numext::abs2(fnorm1 / m_fnorm);
-
-    /* compute the scaled predicted reduction and */
-    /* the scaled directional derivative. */
-    m_wa3 = m_rfactor.template triangularView<Upper>() * (m_permutation.inverse() *m_wa1);
-    temp1 = numext::abs2(m_wa3.stableNorm() / m_fnorm);
-    temp2 = numext::abs2(sqrt(m_par) * pnorm / m_fnorm);
-    prered = temp1 + temp2 / Scalar(.5);
-    dirder = -(temp1 + temp2);
-
-    /* compute the ratio of the actual to the predicted */
-    /* reduction. */
-    ratio = 0.;
-    if (prered != 0.)
-        ratio = actred / prered;
-
-    /* update the step bound. */
-    if (ratio <= Scalar(.25)) {
-        if (actred >= 0.)
-            temp = RealScalar(.5);
-        if (actred < 0.)
-            temp = RealScalar(.5) * dirder / (dirder + RealScalar(.5) * actred);
-        if (RealScalar(.1) * fnorm1 >= m_fnorm || temp < RealScalar(.1))
-            temp = Scalar(.1);
-        /* Computing MIN */
-        m_delta = temp * (std::min)(m_delta, pnorm / RealScalar(.1));
-        m_par /= temp;
-    } else if (!(m_par != 0. && ratio < RealScalar(.75))) {
-        m_delta = pnorm / RealScalar(.5);
-        m_par = RealScalar(.5) * m_par;
-    }
-
-    /* test for successful iteration. */
-    if (ratio >= RealScalar(1e-4)) {
-        /* successful iteration. update x, m_fvec, and their norms. */
-        x = m_wa2;
-        m_wa2 = m_diag.cwiseProduct(x);
-        m_fvec = m_wa4;
-        xnorm = m_wa2.stableNorm();
-        m_fnorm = fnorm1;
-        ++m_iter;
-    }
-
-    /* tests for convergence. */
-    if (abs(actred) <= m_ftol && prered <= m_ftol && Scalar(.5) * ratio <= 1. && m_delta <= m_xtol * xnorm)
-    {
-       m_info = Success;
-      return LevenbergMarquardtSpace::RelativeErrorAndReductionTooSmall;
-    }
-    if (abs(actred) <= m_ftol && prered <= m_ftol && Scalar(.5) * ratio <= 1.) 
-    {
-      m_info = Success;
-      return LevenbergMarquardtSpace::RelativeReductionTooSmall;
-    }
-    if (m_delta <= m_xtol * xnorm)
-    {
-      m_info = Success;
-      return LevenbergMarquardtSpace::RelativeErrorTooSmall;
-    }
-
-    /* tests for termination and stringent tolerances. */
-    if (m_nfev >= m_maxfev) 
-    {
-      m_info = NoConvergence;
-      return LevenbergMarquardtSpace::TooManyFunctionEvaluation;
-    }
-    if (abs(actred) <= NumTraits<Scalar>::epsilon() && prered <= NumTraits<Scalar>::epsilon() && Scalar(.5) * ratio <= 1.)
-    {
-      m_info = Success;
-      return LevenbergMarquardtSpace::FtolTooSmall;
-    }
-    if (m_delta <= NumTraits<Scalar>::epsilon() * xnorm) 
-    {
-      m_info = Success;
-      return LevenbergMarquardtSpace::XtolTooSmall;
-    }
-    if (m_gnorm <= NumTraits<Scalar>::epsilon())
-    {
-      m_info = Success;
-      return LevenbergMarquardtSpace::GtolTooSmall;
-    }
-
-  } while (ratio < Scalar(1e-4));
-
-  return LevenbergMarquardtSpace::Running;
-}
-
-  
-} // end namespace Eigen
-
-#endif // EIGEN_LMONESTEP_H
diff --git a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LMpar.h b/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LMpar.h
deleted file mode 100644
index 9532042d..00000000
--- a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LMpar.h
+++ /dev/null
@@ -1,160 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// This code initially comes from MINPACK whose original authors are:
-// Copyright Jorge More - Argonne National Laboratory
-// Copyright Burt Garbow - Argonne National Laboratory
-// Copyright Ken Hillstrom - Argonne National Laboratory
-//
-// This Source Code Form is subject to the terms of the Minpack license
-// (a BSD-like license) described in the campaigned CopyrightMINPACK.txt file.
-
-#ifndef EIGEN_LMPAR_H
-#define EIGEN_LMPAR_H
-
-namespace Eigen {
-
-namespace internal {
-  
-  template <typename QRSolver, typename VectorType>
-    void lmpar2(
-    const QRSolver &qr,
-    const VectorType  &diag,
-    const VectorType  &qtb,
-    typename VectorType::Scalar m_delta,
-    typename VectorType::Scalar &par,
-    VectorType  &x)
-
-  {
-    using std::sqrt;
-    using std::abs;
-    typedef typename QRSolver::MatrixType MatrixType;
-    typedef typename QRSolver::Scalar Scalar;
-    typedef typename QRSolver::Index Index;
-
-    /* Local variables */
-    Index j;
-    Scalar fp;
-    Scalar parc, parl;
-    Index iter;
-    Scalar temp, paru;
-    Scalar gnorm;
-    Scalar dxnorm;
-    
-    // Make a copy of the triangular factor. 
-    // This copy is modified during call the qrsolv
-    MatrixType s;
-    s = qr.matrixR();
-
-    /* Function Body */
-    const Scalar dwarf = (std::numeric_limits<Scalar>::min)();
-    const Index n = qr.matrixR().cols();
-    eigen_assert(n==diag.size());
-    eigen_assert(n==qtb.size());
-
-    VectorType  wa1, wa2;
-
-    /* compute and store in x the gauss-newton direction. if the */
-    /* jacobian is rank-deficient, obtain a least squares solution. */
-
-    //    const Index rank = qr.nonzeroPivots(); // exactly double(0.)
-    const Index rank = qr.rank(); // use a threshold
-    wa1 = qtb;
-    wa1.tail(n-rank).setZero();
-    //FIXME There is no solve in place for sparse triangularView
-    wa1.head(rank) = s.topLeftCorner(rank,rank).template triangularView<Upper>().solve(qtb.head(rank));
-
-    x = qr.colsPermutation()*wa1;
-
-    /* initialize the iteration counter. */
-    /* evaluate the function at the origin, and test */
-    /* for acceptance of the gauss-newton direction. */
-    iter = 0;
-    wa2 = diag.cwiseProduct(x);
-    dxnorm = wa2.blueNorm();
-    fp = dxnorm - m_delta;
-    if (fp <= Scalar(0.1) * m_delta) {
-      par = 0;
-      return;
-    }
-
-    /* if the jacobian is not rank deficient, the newton */
-    /* step provides a lower bound, parl, for the zero of */
-    /* the function. otherwise set this bound to zero. */
-    parl = 0.;
-    if (rank==n) {
-      wa1 = qr.colsPermutation().inverse() *  diag.cwiseProduct(wa2)/dxnorm;
-      s.topLeftCorner(n,n).transpose().template triangularView<Lower>().solveInPlace(wa1);
-      temp = wa1.blueNorm();
-      parl = fp / m_delta / temp / temp;
-    }
-
-    /* calculate an upper bound, paru, for the zero of the function. */
-    for (j = 0; j < n; ++j)
-      wa1[j] = s.col(j).head(j+1).dot(qtb.head(j+1)) / diag[qr.colsPermutation().indices()(j)];
-
-    gnorm = wa1.stableNorm();
-    paru = gnorm / m_delta;
-    if (paru == 0.)
-      paru = dwarf / (std::min)(m_delta,Scalar(0.1));
-
-    /* if the input par lies outside of the interval (parl,paru), */
-    /* set par to the closer endpoint. */
-    par = (std::max)(par,parl);
-    par = (std::min)(par,paru);
-    if (par == 0.)
-      par = gnorm / dxnorm;
-
-    /* beginning of an iteration. */
-    while (true) {
-      ++iter;
-
-      /* evaluate the function at the current value of par. */
-      if (par == 0.)
-        par = (std::max)(dwarf,Scalar(.001) * paru); /* Computing MAX */
-      wa1 = sqrt(par)* diag;
-
-      VectorType sdiag(n);
-      lmqrsolv(s, qr.colsPermutation(), wa1, qtb, x, sdiag);
-
-      wa2 = diag.cwiseProduct(x);
-      dxnorm = wa2.blueNorm();
-      temp = fp;
-      fp = dxnorm - m_delta;
-
-      /* if the function is small enough, accept the current value */
-      /* of par. also test for the exceptional cases where parl */
-      /* is zero or the number of iterations has reached 10. */
-      if (abs(fp) <= Scalar(0.1) * m_delta || (parl == 0. && fp <= temp && temp < 0.) || iter == 10)
-        break;
-
-      /* compute the newton correction. */
-      wa1 = qr.colsPermutation().inverse() * diag.cwiseProduct(wa2/dxnorm);
-      // we could almost use this here, but the diagonal is outside qr, in sdiag[]
-      for (j = 0; j < n; ++j) {
-        wa1[j] /= sdiag[j];
-        temp = wa1[j];
-        for (Index i = j+1; i < n; ++i)
-          wa1[i] -= s.coeff(i,j) * temp;
-      }
-      temp = wa1.blueNorm();
-      parc = fp / m_delta / temp / temp;
-
-      /* depending on the sign of the function, update parl or paru. */
-      if (fp > 0.)
-        parl = (std::max)(parl,par);
-      if (fp < 0.)
-        paru = (std::min)(paru,par);
-
-      /* compute an improved estimate for par. */
-      par = (std::max)(parl,par+parc);
-    }
-    if (iter == 0)
-      par = 0.;
-    return;
-  }
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_LMPAR_H
diff --git a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LMqrsolv.h b/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LMqrsolv.h
deleted file mode 100644
index f5290dee..00000000
--- a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LMqrsolv.h
+++ /dev/null
@@ -1,189 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-// Copyright (C) 2012 Desire Nuentsa <desire.nuentsa_wakam@inria.fr>
-//
-// This code initially comes from MINPACK whose original authors are:
-// Copyright Jorge More - Argonne National Laboratory
-// Copyright Burt Garbow - Argonne National Laboratory
-// Copyright Ken Hillstrom - Argonne National Laboratory
-//
-// This Source Code Form is subject to the terms of the Minpack license
-// (a BSD-like license) described in the campaigned CopyrightMINPACK.txt file.
-
-#ifndef EIGEN_LMQRSOLV_H
-#define EIGEN_LMQRSOLV_H
-
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar,int Rows, int Cols, typename Index>
-void lmqrsolv(
-  Matrix<Scalar,Rows,Cols> &s,
-  const PermutationMatrix<Dynamic,Dynamic,Index> &iPerm,
-  const Matrix<Scalar,Dynamic,1> &diag,
-  const Matrix<Scalar,Dynamic,1> &qtb,
-  Matrix<Scalar,Dynamic,1> &x,
-  Matrix<Scalar,Dynamic,1> &sdiag)
-{
-
-    /* Local variables */
-    Index i, j, k, l;
-    Scalar temp;
-    Index n = s.cols();
-    Matrix<Scalar,Dynamic,1>  wa(n);
-    JacobiRotation<Scalar> givens;
-
-    /* Function Body */
-    // the following will only change the lower triangular part of s, including
-    // the diagonal, though the diagonal is restored afterward
-
-    /*     copy r and (q transpose)*b to preserve input and initialize s. */
-    /*     in particular, save the diagonal elements of r in x. */
-    x = s.diagonal();
-    wa = qtb;
-    
-   
-    s.topLeftCorner(n,n).template triangularView<StrictlyLower>() = s.topLeftCorner(n,n).transpose();
-    /*     eliminate the diagonal matrix d using a givens rotation. */
-    for (j = 0; j < n; ++j) {
-
-        /*        prepare the row of d to be eliminated, locating the */
-        /*        diagonal element using p from the qr factorization. */
-        l = iPerm.indices()(j);
-        if (diag[l] == 0.)
-            break;
-        sdiag.tail(n-j).setZero();
-        sdiag[j] = diag[l];
-
-        /*        the transformations to eliminate the row of d */
-        /*        modify only a single element of (q transpose)*b */
-        /*        beyond the first n, which is initially zero. */
-        Scalar qtbpj = 0.;
-        for (k = j; k < n; ++k) {
-            /*           determine a givens rotation which eliminates the */
-            /*           appropriate element in the current row of d. */
-            givens.makeGivens(-s(k,k), sdiag[k]);
-
-            /*           compute the modified diagonal element of r and */
-            /*           the modified element of ((q transpose)*b,0). */
-            s(k,k) = givens.c() * s(k,k) + givens.s() * sdiag[k];
-            temp = givens.c() * wa[k] + givens.s() * qtbpj;
-            qtbpj = -givens.s() * wa[k] + givens.c() * qtbpj;
-            wa[k] = temp;
-
-            /*           accumulate the tranformation in the row of s. */
-            for (i = k+1; i<n; ++i) {
-                temp = givens.c() * s(i,k) + givens.s() * sdiag[i];
-                sdiag[i] = -givens.s() * s(i,k) + givens.c() * sdiag[i];
-                s(i,k) = temp;
-            }
-        }
-    }
-  
-    /*     solve the triangular system for z. if the system is */
-    /*     singular, then obtain a least squares solution. */
-    Index nsing;
-    for(nsing=0; nsing<n && sdiag[nsing]!=0; nsing++) {}
-
-    wa.tail(n-nsing).setZero();
-    s.topLeftCorner(nsing, nsing).transpose().template triangularView<Upper>().solveInPlace(wa.head(nsing));
-  
-    // restore
-    sdiag = s.diagonal();
-    s.diagonal() = x;
-
-    /* permute the components of z back to components of x. */
-    x = iPerm * wa; 
-}
-
-template <typename Scalar, int _Options, typename Index>
-void lmqrsolv(
-  SparseMatrix<Scalar,_Options,Index> &s,
-  const PermutationMatrix<Dynamic,Dynamic> &iPerm,
-  const Matrix<Scalar,Dynamic,1> &diag,
-  const Matrix<Scalar,Dynamic,1> &qtb,
-  Matrix<Scalar,Dynamic,1> &x,
-  Matrix<Scalar,Dynamic,1> &sdiag)
-{
-  /* Local variables */
-  typedef SparseMatrix<Scalar,RowMajor,Index> FactorType;
-    Index i, j, k, l;
-    Scalar temp;
-    Index n = s.cols();
-    Matrix<Scalar,Dynamic,1>  wa(n);
-    JacobiRotation<Scalar> givens;
-
-    /* Function Body */
-    // the following will only change the lower triangular part of s, including
-    // the diagonal, though the diagonal is restored afterward
-
-    /*     copy r and (q transpose)*b to preserve input and initialize R. */
-    wa = qtb;
-    FactorType R(s);
-    // Eliminate the diagonal matrix d using a givens rotation
-    for (j = 0; j < n; ++j)
-    {
-      // Prepare the row of d to be eliminated, locating the 
-      // diagonal element using p from the qr factorization
-      l = iPerm.indices()(j);
-      if (diag(l) == Scalar(0)) 
-        break; 
-      sdiag.tail(n-j).setZero();
-      sdiag[j] = diag[l];
-      // the transformations to eliminate the row of d
-      // modify only a single element of (q transpose)*b
-      // beyond the first n, which is initially zero. 
-      
-      Scalar qtbpj = 0; 
-      // Browse the nonzero elements of row j of the upper triangular s
-      for (k = j; k < n; ++k)
-      {
-        typename FactorType::InnerIterator itk(R,k);
-        for (; itk; ++itk){
-          if (itk.index() < k) continue;
-          else break;
-        }
-        //At this point, we have the diagonal element R(k,k)
-        // Determine a givens rotation which eliminates 
-        // the appropriate element in the current row of d
-        givens.makeGivens(-itk.value(), sdiag(k));
-        
-        // Compute the modified diagonal element of r and 
-        // the modified element of ((q transpose)*b,0).
-        itk.valueRef() = givens.c() * itk.value() + givens.s() * sdiag(k);
-        temp = givens.c() * wa(k) + givens.s() * qtbpj; 
-        qtbpj = -givens.s() * wa(k) + givens.c() * qtbpj;
-        wa(k) = temp;
-        
-        // Accumulate the transformation in the remaining k row/column of R
-        for (++itk; itk; ++itk)
-        {
-          i = itk.index();
-          temp = givens.c() *  itk.value() + givens.s() * sdiag(i);
-          sdiag(i) = -givens.s() * itk.value() + givens.c() * sdiag(i);
-          itk.valueRef() = temp;
-        }
-      }
-    }
-    
-    // Solve the triangular system for z. If the system is 
-    // singular, then obtain a least squares solution
-    Index nsing;
-    for(nsing = 0; nsing<n && sdiag(nsing) !=0; nsing++) {}
-    
-    wa.tail(n-nsing).setZero();
-//     x = wa; 
-    wa.head(nsing) = R.topLeftCorner(nsing,nsing).template triangularView<Upper>().solve/*InPlace*/(wa.head(nsing));
-    
-    sdiag = R.diagonal();
-    // Permute the components of z back to components of x
-    x = iPerm * wa; 
-}
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_LMQRSOLV_H
diff --git a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LevenbergMarquardt.h b/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LevenbergMarquardt.h
deleted file mode 100644
index 51dd1d3c..00000000
--- a/eigenlib/unsupported/Eigen/src/LevenbergMarquardt/LevenbergMarquardt.h
+++ /dev/null
@@ -1,377 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-// Copyright (C) 2012 Desire Nuentsa <desire.nuentsa_wakam@inria.fr>
-//
-// The algorithm of this class initially comes from MINPACK whose original authors are:
-// Copyright Jorge More - Argonne National Laboratory
-// Copyright Burt Garbow - Argonne National Laboratory
-// Copyright Ken Hillstrom - Argonne National Laboratory
-//
-// This Source Code Form is subject to the terms of the Minpack license
-// (a BSD-like license) described in the campaigned CopyrightMINPACK.txt file.
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LEVENBERGMARQUARDT_H
-#define EIGEN_LEVENBERGMARQUARDT_H
-
-
-namespace Eigen {
-namespace LevenbergMarquardtSpace {
-    enum Status {
-        NotStarted = -2,
-        Running = -1,
-        ImproperInputParameters = 0,
-        RelativeReductionTooSmall = 1,
-        RelativeErrorTooSmall = 2,
-        RelativeErrorAndReductionTooSmall = 3,
-        CosinusTooSmall = 4,
-        TooManyFunctionEvaluation = 5,
-        FtolTooSmall = 6,
-        XtolTooSmall = 7,
-        GtolTooSmall = 8,
-        UserAsked = 9
-    };
-}
-
-template <typename _Scalar, int NX=Dynamic, int NY=Dynamic>
-struct DenseFunctor
-{
-  typedef _Scalar Scalar;
-  enum {
-    InputsAtCompileTime = NX,
-    ValuesAtCompileTime = NY
-  };
-  typedef Matrix<Scalar,InputsAtCompileTime,1> InputType;
-  typedef Matrix<Scalar,ValuesAtCompileTime,1> ValueType;
-  typedef Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType;
-  typedef ColPivHouseholderQR<JacobianType> QRSolver;
-  const int m_inputs, m_values;
-
-  DenseFunctor() : m_inputs(InputsAtCompileTime), m_values(ValuesAtCompileTime) {}
-  DenseFunctor(int inputs, int values) : m_inputs(inputs), m_values(values) {}
-
-  int inputs() const { return m_inputs; }
-  int values() const { return m_values; }
-
-  //int operator()(const InputType &x, ValueType& fvec) { }
-  // should be defined in derived classes
-  
-  //int df(const InputType &x, JacobianType& fjac) { }
-  // should be defined in derived classes
-};
-
-template <typename _Scalar, typename _Index>
-struct SparseFunctor
-{
-  typedef _Scalar Scalar;
-  typedef _Index Index;
-  typedef Matrix<Scalar,Dynamic,1> InputType;
-  typedef Matrix<Scalar,Dynamic,1> ValueType;
-  typedef SparseMatrix<Scalar, ColMajor, Index> JacobianType;
-  typedef SparseQR<JacobianType, COLAMDOrdering<int> > QRSolver;
-  enum {
-    InputsAtCompileTime = Dynamic,
-    ValuesAtCompileTime = Dynamic
-  };
-  
-  SparseFunctor(int inputs, int values) : m_inputs(inputs), m_values(values) {}
-
-  int inputs() const { return m_inputs; }
-  int values() const { return m_values; }
-  
-  const int m_inputs, m_values;
-  //int operator()(const InputType &x, ValueType& fvec) { }
-  // to be defined in the functor
-  
-  //int df(const InputType &x, JacobianType& fjac) { }
-  // to be defined in the functor if no automatic differentiation
-  
-};
-namespace internal {
-template <typename QRSolver, typename VectorType>
-void lmpar2(const QRSolver &qr, const VectorType  &diag, const VectorType  &qtb,
-	    typename VectorType::Scalar m_delta, typename VectorType::Scalar &par,
-	    VectorType  &x);
-    }
-/**
-  * \ingroup NonLinearOptimization_Module
-  * \brief Performs non linear optimization over a non-linear function,
-  * using a variant of the Levenberg Marquardt algorithm.
-  *
-  * Check wikipedia for more information.
-  * http://en.wikipedia.org/wiki/Levenberg%E2%80%93Marquardt_algorithm
-  */
-template<typename _FunctorType>
-class LevenbergMarquardt : internal::no_assignment_operator
-{
-  public:
-    typedef _FunctorType FunctorType;
-    typedef typename FunctorType::QRSolver QRSolver;
-    typedef typename FunctorType::JacobianType JacobianType;
-    typedef typename JacobianType::Scalar Scalar;
-    typedef typename JacobianType::RealScalar RealScalar; 
-    typedef typename JacobianType::Index Index;
-    typedef typename QRSolver::Index PermIndex;
-    typedef Matrix<Scalar,Dynamic,1> FVectorType;
-    typedef PermutationMatrix<Dynamic,Dynamic> PermutationType;
-  public:
-    LevenbergMarquardt(FunctorType& functor) 
-    : m_functor(functor),m_nfev(0),m_njev(0),m_fnorm(0.0),m_gnorm(0),
-      m_isInitialized(false),m_info(InvalidInput)
-    {
-      resetParameters();
-      m_useExternalScaling=false; 
-    }
-    
-    LevenbergMarquardtSpace::Status minimize(FVectorType &x);
-    LevenbergMarquardtSpace::Status minimizeInit(FVectorType &x);
-    LevenbergMarquardtSpace::Status minimizeOneStep(FVectorType &x);
-    LevenbergMarquardtSpace::Status lmder1(
-      FVectorType  &x, 
-      const Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon())
-    );
-    static LevenbergMarquardtSpace::Status lmdif1(
-            FunctorType &functor,
-            FVectorType  &x,
-            Index *nfev,
-            const Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon())
-            );
-    
-    /** Sets the default parameters */
-    void resetParameters() 
-    { 
-      m_factor = 100.; 
-      m_maxfev = 400; 
-      m_ftol = std::sqrt(NumTraits<RealScalar>::epsilon());
-      m_xtol = std::sqrt(NumTraits<RealScalar>::epsilon());
-      m_gtol = 0. ; 
-      m_epsfcn = 0. ;
-    }
-    
-    /** Sets the tolerance for the norm of the solution vector*/
-    void setXtol(RealScalar xtol) { m_xtol = xtol; }
-    
-    /** Sets the tolerance for the norm of the vector function*/
-    void setFtol(RealScalar ftol) { m_ftol = ftol; }
-    
-    /** Sets the tolerance for the norm of the gradient of the error vector*/
-    void setGtol(RealScalar gtol) { m_gtol = gtol; }
-    
-    /** Sets the step bound for the diagonal shift */
-    void setFactor(RealScalar factor) { m_factor = factor; }    
-    
-    /** Sets the error precision  */
-    void setEpsilon (RealScalar epsfcn) { m_epsfcn = epsfcn; }
-    
-    /** Sets the maximum number of function evaluation */
-    void setMaxfev(Index maxfev) {m_maxfev = maxfev; }
-    
-    /** Use an external Scaling. If set to true, pass a nonzero diagonal to diag() */
-    void setExternalScaling(bool value) {m_useExternalScaling  = value; }
-    
-    /** \returns a reference to the diagonal of the jacobian */
-    FVectorType& diag() {return m_diag; }
-    
-    /** \returns the number of iterations performed */
-    Index iterations() { return m_iter; }
-    
-    /** \returns the number of functions evaluation */
-    Index nfev() { return m_nfev; }
-    
-    /** \returns the number of jacobian evaluation */
-    Index njev() { return m_njev; }
-    
-    /** \returns the norm of current vector function */
-    RealScalar fnorm() {return m_fnorm; }
-    
-    /** \returns the norm of the gradient of the error */
-    RealScalar gnorm() {return m_gnorm; }
-    
-    /** \returns the LevenbergMarquardt parameter */
-    RealScalar lm_param(void) { return m_par; }
-    
-    /** \returns a reference to the  current vector function 
-     */
-    FVectorType& fvec() {return m_fvec; }
-    
-    /** \returns a reference to the matrix where the current Jacobian matrix is stored
-     */
-    JacobianType& jacobian() {return m_fjac; }
-    
-    /** \returns a reference to the triangular matrix R from the QR of the jacobian matrix.
-     * \sa jacobian()
-     */
-    JacobianType& matrixR() {return m_rfactor; }
-    
-    /** the permutation used in the QR factorization
-     */
-    PermutationType permutation() {return m_permutation; }
-    
-    /** 
-     * \brief Reports whether the minimization was successful
-     * \returns \c Success if the minimization was succesful,
-     *         \c NumericalIssue if a numerical problem arises during the 
-     *          minimization process, for exemple during the QR factorization
-     *         \c NoConvergence if the minimization did not converge after 
-     *          the maximum number of function evaluation allowed
-     *          \c InvalidInput if the input matrix is invalid
-     */
-    ComputationInfo info() const
-    {
-      
-      return m_info;
-    }
-  private:
-    JacobianType m_fjac; 
-    JacobianType m_rfactor; // The triangular matrix R from the QR of the jacobian matrix m_fjac
-    FunctorType &m_functor;
-    FVectorType m_fvec, m_qtf, m_diag; 
-    Index n;
-    Index m; 
-    Index m_nfev;
-    Index m_njev; 
-    RealScalar m_fnorm; // Norm of the current vector function
-    RealScalar m_gnorm; //Norm of the gradient of the error 
-    RealScalar m_factor; //
-    Index m_maxfev; // Maximum number of function evaluation
-    RealScalar m_ftol; //Tolerance in the norm of the vector function
-    RealScalar m_xtol; // 
-    RealScalar m_gtol; //tolerance of the norm of the error gradient
-    RealScalar m_epsfcn; //
-    Index m_iter; // Number of iterations performed
-    RealScalar m_delta;
-    bool m_useExternalScaling;
-    PermutationType m_permutation;
-    FVectorType m_wa1, m_wa2, m_wa3, m_wa4; //Temporary vectors
-    RealScalar m_par;
-    bool m_isInitialized; // Check whether the minimization step has been called
-    ComputationInfo m_info; 
-};
-
-template<typename FunctorType>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType>::minimize(FVectorType  &x)
-{
-    LevenbergMarquardtSpace::Status status = minimizeInit(x);
-    if (status==LevenbergMarquardtSpace::ImproperInputParameters) {
-      m_isInitialized = true;
-      return status;
-    }
-    do {
-//       std::cout << " uv " << x.transpose() << "\n";
-        status = minimizeOneStep(x);
-    } while (status==LevenbergMarquardtSpace::Running);
-     m_isInitialized = true;
-     return status;
-}
-
-template<typename FunctorType>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType>::minimizeInit(FVectorType  &x)
-{
-    n = x.size();
-    m = m_functor.values();
-
-    m_wa1.resize(n); m_wa2.resize(n); m_wa3.resize(n);
-    m_wa4.resize(m);
-    m_fvec.resize(m);
-    //FIXME Sparse Case : Allocate space for the jacobian
-    m_fjac.resize(m, n);
-//     m_fjac.reserve(VectorXi::Constant(n,5)); // FIXME Find a better alternative
-    if (!m_useExternalScaling)
-        m_diag.resize(n);
-    eigen_assert( (!m_useExternalScaling || m_diag.size()==n) || "When m_useExternalScaling is set, the caller must provide a valid 'm_diag'");
-    m_qtf.resize(n);
-
-    /* Function Body */
-    m_nfev = 0;
-    m_njev = 0;
-
-    /*     check the input parameters for errors. */
-    if (n <= 0 || m < n || m_ftol < 0. || m_xtol < 0. || m_gtol < 0. || m_maxfev <= 0 || m_factor <= 0.){
-      m_info = InvalidInput;
-      return LevenbergMarquardtSpace::ImproperInputParameters;
-    }
-
-    if (m_useExternalScaling)
-        for (Index j = 0; j < n; ++j)
-            if (m_diag[j] <= 0.) 
-            {
-              m_info = InvalidInput;
-              return LevenbergMarquardtSpace::ImproperInputParameters;
-            }
-
-    /*     evaluate the function at the starting point */
-    /*     and calculate its norm. */
-    m_nfev = 1;
-    if ( m_functor(x, m_fvec) < 0)
-        return LevenbergMarquardtSpace::UserAsked;
-    m_fnorm = m_fvec.stableNorm();
-
-    /*     initialize levenberg-marquardt parameter and iteration counter. */
-    m_par = 0.;
-    m_iter = 1;
-
-    return LevenbergMarquardtSpace::NotStarted;
-}
-
-template<typename FunctorType>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType>::lmder1(
-        FVectorType  &x,
-        const Scalar tol
-        )
-{
-    n = x.size();
-    m = m_functor.values();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || m < n || tol < 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    resetParameters();
-    m_ftol = tol;
-    m_xtol = tol;
-    m_maxfev = 100*(n+1);
-
-    return minimize(x);
-}
-
-
-template<typename FunctorType>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType>::lmdif1(
-        FunctorType &functor,
-        FVectorType  &x,
-        Index *nfev,
-        const Scalar tol
-        )
-{
-    Index n = x.size();
-    Index m = functor.values();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || m < n || tol < 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    NumericalDiff<FunctorType> numDiff(functor);
-    // embedded LevenbergMarquardt
-    LevenbergMarquardt<NumericalDiff<FunctorType> > lm(numDiff);
-    lm.setFtol(tol);
-    lm.setXtol(tol);
-    lm.setMaxfev(200*(n+1));
-
-    LevenbergMarquardtSpace::Status info = LevenbergMarquardtSpace::Status(lm.minimize(x));
-    if (nfev)
-        * nfev = lm.nfev();
-    return info;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_LEVENBERGMARQUARDT_H
diff --git a/eigenlib/unsupported/Eigen/src/MatrixFunctions/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/MatrixFunctions/CMakeLists.txt
deleted file mode 100644
index cdde64d2..00000000
--- a/eigenlib/unsupported/Eigen/src/MatrixFunctions/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_MatrixFunctions_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_MatrixFunctions_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/MatrixFunctions COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h b/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
deleted file mode 100644
index 6825a788..00000000
--- a/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixExponential.h
+++ /dev/null
@@ -1,451 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009, 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
-// Copyright (C) 2011 Chen-Pang He <jdh8@ms63.hinet.net>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_EXPONENTIAL
-#define EIGEN_MATRIX_EXPONENTIAL
-
-#include "StemFunction.h"
-
-namespace Eigen {
-
-/** \ingroup MatrixFunctions_Module
-  * \brief Class for computing the matrix exponential.
-  * \tparam MatrixType type of the argument of the exponential,
-  * expected to be an instantiation of the Matrix class template.
-  */
-template <typename MatrixType>
-class MatrixExponential {
-
-  public:
-
-    /** \brief Constructor.
-      * 
-      * The class stores a reference to \p M, so it should not be
-      * changed (or destroyed) before compute() is called.
-      *
-      * \param[in] M  matrix whose exponential is to be computed.
-      */
-    MatrixExponential(const MatrixType &M);
-
-    /** \brief Computes the matrix exponential.
-      *
-      * \param[out] result  the matrix exponential of \p M in the constructor.
-      */
-    template <typename ResultType> 
-    void compute(ResultType &result);
-
-  private:
-
-    // Prevent copying
-    MatrixExponential(const MatrixExponential&);
-    MatrixExponential& operator=(const MatrixExponential&);
-
-    /** \brief Compute the (3,3)-Pad&eacute; approximant to the exponential.
-     *
-     *  After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Pad&eacute;
-     *  approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
-     *
-     *  \param[in] A   Argument of matrix exponential
-     */
-    void pade3(const MatrixType &A);
-
-    /** \brief Compute the (5,5)-Pad&eacute; approximant to the exponential.
-     *
-     *  After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Pad&eacute;
-     *  approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
-     *
-     *  \param[in] A   Argument of matrix exponential
-     */
-    void pade5(const MatrixType &A);
-
-    /** \brief Compute the (7,7)-Pad&eacute; approximant to the exponential.
-     *
-     *  After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Pad&eacute;
-     *  approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
-     *
-     *  \param[in] A   Argument of matrix exponential
-     */
-    void pade7(const MatrixType &A);
-
-    /** \brief Compute the (9,9)-Pad&eacute; approximant to the exponential.
-     *
-     *  After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Pad&eacute;
-     *  approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
-     *
-     *  \param[in] A   Argument of matrix exponential
-     */
-    void pade9(const MatrixType &A);
-
-    /** \brief Compute the (13,13)-Pad&eacute; approximant to the exponential.
-     *
-     *  After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Pad&eacute;
-     *  approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
-     *
-     *  \param[in] A   Argument of matrix exponential
-     */
-    void pade13(const MatrixType &A);
-
-    /** \brief Compute the (17,17)-Pad&eacute; approximant to the exponential.
-     *
-     *  After exit, \f$ (V+U)(V-U)^{-1} \f$ is the Pad&eacute;
-     *  approximant of \f$ \exp(A) \f$ around \f$ A = 0 \f$.
-     *
-     *  This function activates only if your long double is double-double or quadruple.
-     *
-     *  \param[in] A   Argument of matrix exponential
-     */
-    void pade17(const MatrixType &A);
-
-    /** \brief Compute Pad&eacute; approximant to the exponential.
-     *
-     * Computes \c m_U, \c m_V and \c m_squarings such that
-     * \f$ (V+U)(V-U)^{-1} \f$ is a Pad&eacute; of
-     * \f$ \exp(2^{-\mbox{squarings}}M) \f$ around \f$ M = 0 \f$. The
-     * degree of the Pad&eacute; approximant and the value of
-     * squarings are chosen such that the approximation error is no
-     * more than the round-off error.
-     *
-     * The argument of this function should correspond with the (real
-     * part of) the entries of \c m_M.  It is used to select the
-     * correct implementation using overloading.
-     */
-    void computeUV(double);
-
-    /** \brief Compute Pad&eacute; approximant to the exponential.
-     *
-     *  \sa computeUV(double);
-     */
-    void computeUV(float);
-    
-    /** \brief Compute Pad&eacute; approximant to the exponential.
-     *
-     *  \sa computeUV(double);
-     */
-    void computeUV(long double);
-
-    typedef typename internal::traits<MatrixType>::Scalar Scalar;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename std::complex<RealScalar> ComplexScalar;
-
-    /** \brief Reference to matrix whose exponential is to be computed. */
-    typename internal::nested<MatrixType>::type m_M;
-
-    /** \brief Odd-degree terms in numerator of Pad&eacute; approximant. */
-    MatrixType m_U;
-
-    /** \brief Even-degree terms in numerator of Pad&eacute; approximant. */
-    MatrixType m_V;
-
-    /** \brief Used for temporary storage. */
-    MatrixType m_tmp1;
-
-    /** \brief Used for temporary storage. */
-    MatrixType m_tmp2;
-
-    /** \brief Identity matrix of the same size as \c m_M. */
-    MatrixType m_Id;
-
-    /** \brief Number of squarings required in the last step. */
-    int m_squarings;
-
-    /** \brief L1 norm of m_M. */
-    RealScalar m_l1norm;
-};
-
-template <typename MatrixType>
-MatrixExponential<MatrixType>::MatrixExponential(const MatrixType &M) :
-  m_M(M),
-  m_U(M.rows(),M.cols()),
-  m_V(M.rows(),M.cols()),
-  m_tmp1(M.rows(),M.cols()),
-  m_tmp2(M.rows(),M.cols()),
-  m_Id(MatrixType::Identity(M.rows(), M.cols())),
-  m_squarings(0),
-  m_l1norm(M.cwiseAbs().colwise().sum().maxCoeff())
-{
-  /* empty body */
-}
-
-template <typename MatrixType>
-template <typename ResultType> 
-void MatrixExponential<MatrixType>::compute(ResultType &result)
-{
-#if LDBL_MANT_DIG > 112 // rarely happens
-  if(sizeof(RealScalar) > 14) {
-    result = m_M.matrixFunction(StdStemFunctions<ComplexScalar>::exp);
-    return;
-  }
-#endif
-  computeUV(RealScalar());
-  m_tmp1 = m_U + m_V;   // numerator of Pade approximant
-  m_tmp2 = -m_U + m_V;  // denominator of Pade approximant
-  result = m_tmp2.partialPivLu().solve(m_tmp1);
-  for (int i=0; i<m_squarings; i++)
-    result *= result;   // undo scaling by repeated squaring
-}
-
-template <typename MatrixType>
-EIGEN_STRONG_INLINE void MatrixExponential<MatrixType>::pade3(const MatrixType &A)
-{
-  const RealScalar b[] = {120., 60., 12., 1.};
-  m_tmp1.noalias() = A * A;
-  m_tmp2 = b[3]*m_tmp1 + b[1]*m_Id;
-  m_U.noalias() = A * m_tmp2;
-  m_V = b[2]*m_tmp1 + b[0]*m_Id;
-}
-
-template <typename MatrixType>
-EIGEN_STRONG_INLINE void MatrixExponential<MatrixType>::pade5(const MatrixType &A)
-{
-  const RealScalar b[] = {30240., 15120., 3360., 420., 30., 1.};
-  MatrixType A2 = A * A;
-  m_tmp1.noalias() = A2 * A2;
-  m_tmp2 = b[5]*m_tmp1 + b[3]*A2 + b[1]*m_Id;
-  m_U.noalias() = A * m_tmp2;
-  m_V = b[4]*m_tmp1 + b[2]*A2 + b[0]*m_Id;
-}
-
-template <typename MatrixType>
-EIGEN_STRONG_INLINE void MatrixExponential<MatrixType>::pade7(const MatrixType &A)
-{
-  const RealScalar b[] = {17297280., 8648640., 1995840., 277200., 25200., 1512., 56., 1.};
-  MatrixType A2 = A * A;
-  MatrixType A4 = A2 * A2;
-  m_tmp1.noalias() = A4 * A2;
-  m_tmp2 = b[7]*m_tmp1 + b[5]*A4 + b[3]*A2 + b[1]*m_Id;
-  m_U.noalias() = A * m_tmp2;
-  m_V = b[6]*m_tmp1 + b[4]*A4 + b[2]*A2 + b[0]*m_Id;
-}
-
-template <typename MatrixType>
-EIGEN_STRONG_INLINE void MatrixExponential<MatrixType>::pade9(const MatrixType &A)
-{
-  const RealScalar b[] = {17643225600., 8821612800., 2075673600., 302702400., 30270240.,
-		      2162160., 110880., 3960., 90., 1.};
-  MatrixType A2 = A * A;
-  MatrixType A4 = A2 * A2;
-  MatrixType A6 = A4 * A2;
-  m_tmp1.noalias() = A6 * A2;
-  m_tmp2 = b[9]*m_tmp1 + b[7]*A6 + b[5]*A4 + b[3]*A2 + b[1]*m_Id;
-  m_U.noalias() = A * m_tmp2;
-  m_V = b[8]*m_tmp1 + b[6]*A6 + b[4]*A4 + b[2]*A2 + b[0]*m_Id;
-}
-
-template <typename MatrixType>
-EIGEN_STRONG_INLINE void MatrixExponential<MatrixType>::pade13(const MatrixType &A)
-{
-  const RealScalar b[] = {64764752532480000., 32382376266240000., 7771770303897600.,
-		      1187353796428800., 129060195264000., 10559470521600., 670442572800.,
-		      33522128640., 1323241920., 40840800., 960960., 16380., 182., 1.};
-  MatrixType A2 = A * A;
-  MatrixType A4 = A2 * A2;
-  m_tmp1.noalias() = A4 * A2;
-  m_V = b[13]*m_tmp1 + b[11]*A4 + b[9]*A2; // used for temporary storage
-  m_tmp2.noalias() = m_tmp1 * m_V;
-  m_tmp2 += b[7]*m_tmp1 + b[5]*A4 + b[3]*A2 + b[1]*m_Id;
-  m_U.noalias() = A * m_tmp2;
-  m_tmp2 = b[12]*m_tmp1 + b[10]*A4 + b[8]*A2;
-  m_V.noalias() = m_tmp1 * m_tmp2;
-  m_V += b[6]*m_tmp1 + b[4]*A4 + b[2]*A2 + b[0]*m_Id;
-}
-
-#if LDBL_MANT_DIG > 64
-template <typename MatrixType>
-EIGEN_STRONG_INLINE void MatrixExponential<MatrixType>::pade17(const MatrixType &A)
-{
-  const RealScalar b[] = {830034394580628357120000.L, 415017197290314178560000.L,
-		      100610229646136770560000.L, 15720348382208870400000.L,
-		      1774878043152614400000.L, 153822763739893248000.L, 10608466464820224000.L,
-		      595373117923584000.L, 27563570274240000.L, 1060137318240000.L,
-		      33924394183680.L, 899510451840.L, 19554575040.L, 341863200.L, 4651200.L,
-		      46512.L, 306.L, 1.L};
-  MatrixType A2 = A * A;
-  MatrixType A4 = A2 * A2;
-  MatrixType A6 = A4 * A2;
-  m_tmp1.noalias() = A4 * A4;
-  m_V = b[17]*m_tmp1 + b[15]*A6 + b[13]*A4 + b[11]*A2; // used for temporary storage
-  m_tmp2.noalias() = m_tmp1 * m_V;
-  m_tmp2 += b[9]*m_tmp1 + b[7]*A6 + b[5]*A4 + b[3]*A2 + b[1]*m_Id;
-  m_U.noalias() = A * m_tmp2;
-  m_tmp2 = b[16]*m_tmp1 + b[14]*A6 + b[12]*A4 + b[10]*A2;
-  m_V.noalias() = m_tmp1 * m_tmp2;
-  m_V += b[8]*m_tmp1 + b[6]*A6 + b[4]*A4 + b[2]*A2 + b[0]*m_Id;
-}
-#endif
-
-template <typename MatrixType>
-void MatrixExponential<MatrixType>::computeUV(float)
-{
-  using std::frexp;
-  using std::pow;
-  if (m_l1norm < 4.258730016922831e-001) {
-    pade3(m_M);
-  } else if (m_l1norm < 1.880152677804762e+000) {
-    pade5(m_M);
-  } else {
-    const float maxnorm = 3.925724783138660f;
-    frexp(m_l1norm / maxnorm, &m_squarings);
-    if (m_squarings < 0) m_squarings = 0;
-    MatrixType A = m_M / pow(Scalar(2), m_squarings);
-    pade7(A);
-  }
-}
-
-template <typename MatrixType>
-void MatrixExponential<MatrixType>::computeUV(double)
-{
-  using std::frexp;
-  using std::pow;
-  if (m_l1norm < 1.495585217958292e-002) {
-    pade3(m_M);
-  } else if (m_l1norm < 2.539398330063230e-001) {
-    pade5(m_M);
-  } else if (m_l1norm < 9.504178996162932e-001) {
-    pade7(m_M);
-  } else if (m_l1norm < 2.097847961257068e+000) {
-    pade9(m_M);
-  } else {
-    const double maxnorm = 5.371920351148152;
-    frexp(m_l1norm / maxnorm, &m_squarings);
-    if (m_squarings < 0) m_squarings = 0;
-    MatrixType A = m_M / pow(Scalar(2), m_squarings);
-    pade13(A);
-  }
-}
-
-template <typename MatrixType>
-void MatrixExponential<MatrixType>::computeUV(long double)
-{
-  using std::frexp;
-  using std::pow;
-#if   LDBL_MANT_DIG == 53   // double precision
-  computeUV(double());
-#elif LDBL_MANT_DIG <= 64   // extended precision
-  if (m_l1norm < 4.1968497232266989671e-003L) {
-    pade3(m_M);
-  } else if (m_l1norm < 1.1848116734693823091e-001L) {
-    pade5(m_M);
-  } else if (m_l1norm < 5.5170388480686700274e-001L) {
-    pade7(m_M);
-  } else if (m_l1norm < 1.3759868875587845383e+000L) {
-    pade9(m_M);
-  } else {
-    const long double maxnorm = 4.0246098906697353063L;
-    frexp(m_l1norm / maxnorm, &m_squarings);
-    if (m_squarings < 0) m_squarings = 0;
-    MatrixType A = m_M / pow(Scalar(2), m_squarings);
-    pade13(A);
-  }
-#elif LDBL_MANT_DIG <= 106  // double-double
-  if (m_l1norm < 3.2787892205607026992947488108213e-005L) {
-    pade3(m_M);
-  } else if (m_l1norm < 6.4467025060072760084130906076332e-003L) {
-    pade5(m_M);
-  } else if (m_l1norm < 6.8988028496595374751374122881143e-002L) {
-    pade7(m_M);
-  } else if (m_l1norm < 2.7339737518502231741495857201670e-001L) {
-    pade9(m_M);
-  } else if (m_l1norm < 1.3203382096514474905666448850278e+000L) {
-    pade13(m_M);
-  } else {
-    const long double maxnorm = 3.2579440895405400856599663723517L;
-    frexp(m_l1norm / maxnorm, &m_squarings);
-    if (m_squarings < 0) m_squarings = 0;
-    MatrixType A = m_M / pow(Scalar(2), m_squarings);
-    pade17(A);
-  }
-#elif LDBL_MANT_DIG <= 112  // quadruple precison
-  if (m_l1norm < 1.639394610288918690547467954466970e-005L) {
-    pade3(m_M);
-  } else if (m_l1norm < 4.253237712165275566025884344433009e-003L) {
-    pade5(m_M);
-  } else if (m_l1norm < 5.125804063165764409885122032933142e-002L) {
-    pade7(m_M);
-  } else if (m_l1norm < 2.170000765161155195453205651889853e-001L) {
-    pade9(m_M);
-  } else if (m_l1norm < 1.125358383453143065081397882891878e+000L) {
-    pade13(m_M);
-  } else {
-    const long double maxnorm = 2.884233277829519311757165057717815L;
-    frexp(m_l1norm / maxnorm, &m_squarings);
-    if (m_squarings < 0) m_squarings = 0;
-    MatrixType A = m_M / pow(Scalar(2), m_squarings);
-    pade17(A);
-  }
-#else
-  // this case should be handled in compute()
-  eigen_assert(false && "Bug in MatrixExponential"); 
-#endif  // LDBL_MANT_DIG
-}
-
-/** \ingroup MatrixFunctions_Module
-  *
-  * \brief Proxy for the matrix exponential of some matrix (expression).
-  *
-  * \tparam Derived  Type of the argument to the matrix exponential.
-  *
-  * This class holds the argument to the matrix exponential until it
-  * is assigned or evaluated for some other reason (so the argument
-  * should not be changed in the meantime). It is the return type of
-  * MatrixBase::exp() and most of the time this is the only way it is
-  * used.
-  */
-template<typename Derived> struct MatrixExponentialReturnValue
-: public ReturnByValue<MatrixExponentialReturnValue<Derived> >
-{
-    typedef typename Derived::Index Index;
-  public:
-    /** \brief Constructor.
-      *
-      * \param[in] src %Matrix (expression) forming the argument of the
-      * matrix exponential.
-      */
-    MatrixExponentialReturnValue(const Derived& src) : m_src(src) { }
-
-    /** \brief Compute the matrix exponential.
-      *
-      * \param[out] result the matrix exponential of \p src in the
-      * constructor.
-      */
-    template <typename ResultType>
-    inline void evalTo(ResultType& result) const
-    {
-      const typename Derived::PlainObject srcEvaluated = m_src.eval();
-      MatrixExponential<typename Derived::PlainObject> me(srcEvaluated);
-      me.compute(result);
-    }
-
-    Index rows() const { return m_src.rows(); }
-    Index cols() const { return m_src.cols(); }
-
-  protected:
-    const Derived& m_src;
-  private:
-    MatrixExponentialReturnValue& operator=(const MatrixExponentialReturnValue&);
-};
-
-namespace internal {
-template<typename Derived>
-struct traits<MatrixExponentialReturnValue<Derived> >
-{
-  typedef typename Derived::PlainObject ReturnType;
-};
-}
-
-template <typename Derived>
-const MatrixExponentialReturnValue<Derived> MatrixBase<Derived>::exp() const
-{
-  eigen_assert(rows() == cols());
-  return MatrixExponentialReturnValue<Derived>(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATRIX_EXPONENTIAL
diff --git a/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h b/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h
deleted file mode 100644
index 7d426640..00000000
--- a/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixFunction.h
+++ /dev/null
@@ -1,591 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2011 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_FUNCTION
-#define EIGEN_MATRIX_FUNCTION
-
-#include "StemFunction.h"
-#include "MatrixFunctionAtomic.h"
-
-
-namespace Eigen { 
-
-/** \ingroup MatrixFunctions_Module
-  * \brief Class for computing matrix functions.
-  * \tparam  MatrixType  type of the argument of the matrix function,
-  *                      expected to be an instantiation of the Matrix class template.
-  * \tparam  AtomicType  type for computing matrix function of atomic blocks.
-  * \tparam  IsComplex   used internally to select correct specialization.
-  *
-  * This class implements the Schur-Parlett algorithm for computing matrix functions. The spectrum of the
-  * matrix is divided in clustered of eigenvalues that lies close together. This class delegates the
-  * computation of the matrix function on every block corresponding to these clusters to an object of type
-  * \p AtomicType and uses these results to compute the matrix function of the whole matrix. The class
-  * \p AtomicType should have a \p compute() member function for computing the matrix function of a block.
-  *
-  * \sa class MatrixFunctionAtomic, class MatrixLogarithmAtomic
-  */
-template <typename MatrixType, 
-	  typename AtomicType,  
-          int IsComplex = NumTraits<typename internal::traits<MatrixType>::Scalar>::IsComplex>
-class MatrixFunction
-{  
-  public:
-
-    /** \brief Constructor. 
-      *
-      * \param[in]  A       argument of matrix function, should be a square matrix.
-      * \param[in]  atomic  class for computing matrix function of atomic blocks.
-      *
-      * The class stores references to \p A and \p atomic, so they should not be
-      * changed (or destroyed) before compute() is called.
-      */
-    MatrixFunction(const MatrixType& A, AtomicType& atomic);
-
-    /** \brief Compute the matrix function.
-      *
-      * \param[out] result  the function \p f applied to \p A, as
-      * specified in the constructor.
-      *
-      * See MatrixBase::matrixFunction() for details on how this computation
-      * is implemented.
-      */
-    template <typename ResultType> 
-    void compute(ResultType &result);    
-};
-
-
-/** \internal \ingroup MatrixFunctions_Module 
-  * \brief Partial specialization of MatrixFunction for real matrices
-  */
-template <typename MatrixType, typename AtomicType>
-class MatrixFunction<MatrixType, AtomicType, 0>
-{  
-  private:
-
-    typedef internal::traits<MatrixType> Traits;
-    typedef typename Traits::Scalar Scalar;
-    static const int Rows = Traits::RowsAtCompileTime;
-    static const int Cols = Traits::ColsAtCompileTime;
-    static const int Options = MatrixType::Options;
-    static const int MaxRows = Traits::MaxRowsAtCompileTime;
-    static const int MaxCols = Traits::MaxColsAtCompileTime;
-
-    typedef std::complex<Scalar> ComplexScalar;
-    typedef Matrix<ComplexScalar, Rows, Cols, Options, MaxRows, MaxCols> ComplexMatrix;
-
-  public:
-
-    /** \brief Constructor. 
-      *
-      * \param[in]  A       argument of matrix function, should be a square matrix.
-      * \param[in]  atomic  class for computing matrix function of atomic blocks.
-      */
-    MatrixFunction(const MatrixType& A, AtomicType& atomic) : m_A(A), m_atomic(atomic) { }
-
-    /** \brief Compute the matrix function.
-      *
-      * \param[out] result  the function \p f applied to \p A, as
-      * specified in the constructor.
-      *
-      * This function converts the real matrix \c A to a complex matrix,
-      * uses MatrixFunction<MatrixType,1> and then converts the result back to
-      * a real matrix.
-      */
-    template <typename ResultType>
-    void compute(ResultType& result) 
-    {
-      ComplexMatrix CA = m_A.template cast<ComplexScalar>();
-      ComplexMatrix Cresult;
-      MatrixFunction<ComplexMatrix, AtomicType> mf(CA, m_atomic);
-      mf.compute(Cresult);
-      result = Cresult.real();
-    }
-
-  private:
-    typename internal::nested<MatrixType>::type m_A; /**< \brief Reference to argument of matrix function. */
-    AtomicType& m_atomic; /**< \brief Class for computing matrix function of atomic blocks. */
-
-    MatrixFunction& operator=(const MatrixFunction&);
-};
-
-      
-/** \internal \ingroup MatrixFunctions_Module 
-  * \brief Partial specialization of MatrixFunction for complex matrices
-  */
-template <typename MatrixType, typename AtomicType>
-class MatrixFunction<MatrixType, AtomicType, 1>
-{
-  private:
-
-    typedef internal::traits<MatrixType> Traits;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
-    static const int RowsAtCompileTime = Traits::RowsAtCompileTime;
-    static const int ColsAtCompileTime = Traits::ColsAtCompileTime;
-    static const int Options = MatrixType::Options;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef Matrix<Scalar, Traits::RowsAtCompileTime, 1> VectorType;
-    typedef Matrix<Index, Traits::RowsAtCompileTime, 1> IntVectorType;
-    typedef Matrix<Index, Dynamic, 1> DynamicIntVectorType;
-    typedef std::list<Scalar> Cluster;
-    typedef std::list<Cluster> ListOfClusters;
-    typedef Matrix<Scalar, Dynamic, Dynamic, Options, RowsAtCompileTime, ColsAtCompileTime> DynMatrixType;
-
-  public:
-
-    MatrixFunction(const MatrixType& A, AtomicType& atomic);
-    template <typename ResultType> void compute(ResultType& result);
-
-  private:
-
-    void computeSchurDecomposition();
-    void partitionEigenvalues();
-    typename ListOfClusters::iterator findCluster(Scalar key);
-    void computeClusterSize();
-    void computeBlockStart();
-    void constructPermutation();
-    void permuteSchur();
-    void swapEntriesInSchur(Index index);
-    void computeBlockAtomic();
-    Block<MatrixType> block(MatrixType& A, Index i, Index j);
-    void computeOffDiagonal();
-    DynMatrixType solveTriangularSylvester(const DynMatrixType& A, const DynMatrixType& B, const DynMatrixType& C);
-
-    typename internal::nested<MatrixType>::type m_A; /**< \brief Reference to argument of matrix function. */
-    AtomicType& m_atomic; /**< \brief Class for computing matrix function of atomic blocks. */
-    MatrixType m_T; /**< \brief Triangular part of Schur decomposition */
-    MatrixType m_U; /**< \brief Unitary part of Schur decomposition */
-    MatrixType m_fT; /**< \brief %Matrix function applied to #m_T */
-    ListOfClusters m_clusters; /**< \brief Partition of eigenvalues into clusters of ei'vals "close" to each other */
-    DynamicIntVectorType m_eivalToCluster; /**< \brief m_eivalToCluster[i] = j means i-th ei'val is in j-th cluster */
-    DynamicIntVectorType m_clusterSize; /**< \brief Number of eigenvalues in each clusters  */
-    DynamicIntVectorType m_blockStart; /**< \brief Row index at which block corresponding to i-th cluster starts */
-    IntVectorType m_permutation; /**< \brief Permutation which groups ei'vals in the same cluster together */
-
-    /** \brief Maximum distance allowed between eigenvalues to be considered "close".
-      *
-      * This is morally a \c static \c const \c Scalar, but only
-      * integers can be static constant class members in C++. The
-      * separation constant is set to 0.1, a value taken from the
-      * paper by Davies and Higham. */
-    static const RealScalar separation() { return static_cast<RealScalar>(0.1); }
-
-    MatrixFunction& operator=(const MatrixFunction&);
-};
-
-/** \brief Constructor. 
- *
- * \param[in]  A       argument of matrix function, should be a square matrix.
- * \param[in]  atomic  class for computing matrix function of atomic blocks.
- */
-template <typename MatrixType, typename AtomicType>
-MatrixFunction<MatrixType,AtomicType,1>::MatrixFunction(const MatrixType& A, AtomicType& atomic)
-  : m_A(A), m_atomic(atomic)
-{
-  /* empty body */
-}
-
-/** \brief Compute the matrix function.
-  *
-  * \param[out] result  the function \p f applied to \p A, as
-  * specified in the constructor.
-  */
-template <typename MatrixType, typename AtomicType>
-template <typename ResultType>
-void MatrixFunction<MatrixType,AtomicType,1>::compute(ResultType& result) 
-{
-  computeSchurDecomposition();
-  partitionEigenvalues();
-  computeClusterSize();
-  computeBlockStart();
-  constructPermutation();
-  permuteSchur();
-  computeBlockAtomic();
-  computeOffDiagonal();
-  result = m_U * (m_fT.template triangularView<Upper>() * m_U.adjoint());
-}
-
-/** \brief Store the Schur decomposition of #m_A in #m_T and #m_U */
-template <typename MatrixType, typename AtomicType>
-void MatrixFunction<MatrixType,AtomicType,1>::computeSchurDecomposition()
-{
-  const ComplexSchur<MatrixType> schurOfA(m_A);  
-  m_T = schurOfA.matrixT();
-  m_U = schurOfA.matrixU();
-}
-
-/** \brief Partition eigenvalues in clusters of ei'vals close to each other
-  * 
-  * This function computes #m_clusters. This is a partition of the
-  * eigenvalues of #m_T in clusters, such that
-  * # Any eigenvalue in a certain cluster is at most separation() away
-  *   from another eigenvalue in the same cluster.
-  * # The distance between two eigenvalues in different clusters is
-  *   more than separation().
-  * The implementation follows Algorithm 4.1 in the paper of Davies
-  * and Higham. 
-  */
-template <typename MatrixType, typename AtomicType>
-void MatrixFunction<MatrixType,AtomicType,1>::partitionEigenvalues()
-{
-  using std::abs;
-  const Index rows = m_T.rows();
-  VectorType diag = m_T.diagonal(); // contains eigenvalues of A
-
-  for (Index i=0; i<rows; ++i) {
-    // Find set containing diag(i), adding a new set if necessary
-    typename ListOfClusters::iterator qi = findCluster(diag(i));
-    if (qi == m_clusters.end()) {
-      Cluster l;
-      l.push_back(diag(i));
-      m_clusters.push_back(l);
-      qi = m_clusters.end();
-      --qi;
-    }
-
-    // Look for other element to add to the set
-    for (Index j=i+1; j<rows; ++j) {
-      if (abs(diag(j) - diag(i)) <= separation() && std::find(qi->begin(), qi->end(), diag(j)) == qi->end()) {
-        typename ListOfClusters::iterator qj = findCluster(diag(j));
-        if (qj == m_clusters.end()) {
-          qi->push_back(diag(j));
-        } else {
-          qi->insert(qi->end(), qj->begin(), qj->end());
-          m_clusters.erase(qj);
-        }
-      }
-    }
-  }
-}
-
-/** \brief Find cluster in #m_clusters containing some value 
-  * \param[in] key Value to find
-  * \returns Iterator to cluster containing \c key, or
-  * \c m_clusters.end() if no cluster in m_clusters contains \c key.
-  */
-template <typename MatrixType, typename AtomicType>
-typename MatrixFunction<MatrixType,AtomicType,1>::ListOfClusters::iterator MatrixFunction<MatrixType,AtomicType,1>::findCluster(Scalar key)
-{
-  typename Cluster::iterator j;
-  for (typename ListOfClusters::iterator i = m_clusters.begin(); i != m_clusters.end(); ++i) {
-    j = std::find(i->begin(), i->end(), key);
-    if (j != i->end())
-      return i;
-  }
-  return m_clusters.end();
-}
-
-/** \brief Compute #m_clusterSize and #m_eivalToCluster using #m_clusters */
-template <typename MatrixType, typename AtomicType>
-void MatrixFunction<MatrixType,AtomicType,1>::computeClusterSize()
-{
-  const Index rows = m_T.rows();
-  VectorType diag = m_T.diagonal(); 
-  const Index numClusters = static_cast<Index>(m_clusters.size());
-
-  m_clusterSize.setZero(numClusters);
-  m_eivalToCluster.resize(rows);
-  Index clusterIndex = 0;
-  for (typename ListOfClusters::const_iterator cluster = m_clusters.begin(); cluster != m_clusters.end(); ++cluster) {
-    for (Index i = 0; i < diag.rows(); ++i) {
-      if (std::find(cluster->begin(), cluster->end(), diag(i)) != cluster->end()) {
-        ++m_clusterSize[clusterIndex];
-        m_eivalToCluster[i] = clusterIndex;
-      }
-    }
-    ++clusterIndex;
-  }
-}
-
-/** \brief Compute #m_blockStart using #m_clusterSize */
-template <typename MatrixType, typename AtomicType>
-void MatrixFunction<MatrixType,AtomicType,1>::computeBlockStart()
-{
-  m_blockStart.resize(m_clusterSize.rows());
-  m_blockStart(0) = 0;
-  for (Index i = 1; i < m_clusterSize.rows(); i++) {
-    m_blockStart(i) = m_blockStart(i-1) + m_clusterSize(i-1);
-  }
-}
-
-/** \brief Compute #m_permutation using #m_eivalToCluster and #m_blockStart */
-template <typename MatrixType, typename AtomicType>
-void MatrixFunction<MatrixType,AtomicType,1>::constructPermutation()
-{
-  DynamicIntVectorType indexNextEntry = m_blockStart;
-  m_permutation.resize(m_T.rows());
-  for (Index i = 0; i < m_T.rows(); i++) {
-    Index cluster = m_eivalToCluster[i];
-    m_permutation[i] = indexNextEntry[cluster];
-    ++indexNextEntry[cluster];
-  }
-}  
-
-/** \brief Permute Schur decomposition in #m_U and #m_T according to #m_permutation */
-template <typename MatrixType, typename AtomicType>
-void MatrixFunction<MatrixType,AtomicType,1>::permuteSchur()
-{
-  IntVectorType p = m_permutation;
-  for (Index i = 0; i < p.rows() - 1; i++) {
-    Index j;
-    for (j = i; j < p.rows(); j++) {
-      if (p(j) == i) break;
-    }
-    eigen_assert(p(j) == i);
-    for (Index k = j-1; k >= i; k--) {
-      swapEntriesInSchur(k);
-      std::swap(p.coeffRef(k), p.coeffRef(k+1));
-    }
-  }
-}
-
-/** \brief Swap rows \a index and \a index+1 in Schur decomposition in #m_U and #m_T */
-template <typename MatrixType, typename AtomicType>
-void MatrixFunction<MatrixType,AtomicType,1>::swapEntriesInSchur(Index index)
-{
-  JacobiRotation<Scalar> rotation;
-  rotation.makeGivens(m_T(index, index+1), m_T(index+1, index+1) - m_T(index, index));
-  m_T.applyOnTheLeft(index, index+1, rotation.adjoint());
-  m_T.applyOnTheRight(index, index+1, rotation);
-  m_U.applyOnTheRight(index, index+1, rotation);
-}  
-
-/** \brief Compute block diagonal part of #m_fT.
-  *
-  * This routine computes the matrix function applied to the block diagonal part of #m_T, with the blocking
-  * given by #m_blockStart. The matrix function of each diagonal block is computed by #m_atomic. The
-  * off-diagonal parts of #m_fT are set to zero.
-  */
-template <typename MatrixType, typename AtomicType>
-void MatrixFunction<MatrixType,AtomicType,1>::computeBlockAtomic()
-{ 
-  m_fT.resize(m_T.rows(), m_T.cols());
-  m_fT.setZero();
-  for (Index i = 0; i < m_clusterSize.rows(); ++i) {
-    block(m_fT, i, i) = m_atomic.compute(block(m_T, i, i));
-  }
-}
-
-/** \brief Return block of matrix according to blocking given by #m_blockStart */
-template <typename MatrixType, typename AtomicType>
-Block<MatrixType> MatrixFunction<MatrixType,AtomicType,1>::block(MatrixType& A, Index i, Index j)
-{
-  return A.block(m_blockStart(i), m_blockStart(j), m_clusterSize(i), m_clusterSize(j));
-}
-
-/** \brief Compute part of #m_fT above block diagonal.
-  *
-  * This routine assumes that the block diagonal part of #m_fT (which
-  * equals the matrix function applied to #m_T) has already been computed and computes
-  * the part above the block diagonal. The part below the diagonal is
-  * zero, because #m_T is upper triangular.
-  */
-template <typename MatrixType, typename AtomicType>
-void MatrixFunction<MatrixType,AtomicType,1>::computeOffDiagonal()
-{ 
-  for (Index diagIndex = 1; diagIndex < m_clusterSize.rows(); diagIndex++) {
-    for (Index blockIndex = 0; blockIndex < m_clusterSize.rows() - diagIndex; blockIndex++) {
-      // compute (blockIndex, blockIndex+diagIndex) block
-      DynMatrixType A = block(m_T, blockIndex, blockIndex);
-      DynMatrixType B = -block(m_T, blockIndex+diagIndex, blockIndex+diagIndex);
-      DynMatrixType C = block(m_fT, blockIndex, blockIndex) * block(m_T, blockIndex, blockIndex+diagIndex);
-      C -= block(m_T, blockIndex, blockIndex+diagIndex) * block(m_fT, blockIndex+diagIndex, blockIndex+diagIndex);
-      for (Index k = blockIndex + 1; k < blockIndex + diagIndex; k++) {
-	C += block(m_fT, blockIndex, k) * block(m_T, k, blockIndex+diagIndex);
-	C -= block(m_T, blockIndex, k) * block(m_fT, k, blockIndex+diagIndex);
-      }
-      block(m_fT, blockIndex, blockIndex+diagIndex) = solveTriangularSylvester(A, B, C);
-    }
-  }
-}
-
-/** \brief Solve a triangular Sylvester equation AX + XB = C 
-  *
-  * \param[in]  A  the matrix A; should be square and upper triangular
-  * \param[in]  B  the matrix B; should be square and upper triangular
-  * \param[in]  C  the matrix C; should have correct size.
-  *
-  * \returns the solution X.
-  *
-  * If A is m-by-m and B is n-by-n, then both C and X are m-by-n. 
-  * The (i,j)-th component of the Sylvester equation is
-  * \f[ 
-  *     \sum_{k=i}^m A_{ik} X_{kj} + \sum_{k=1}^j X_{ik} B_{kj} = C_{ij}. 
-  * \f]
-  * This can be re-arranged to yield:
-  * \f[ 
-  *     X_{ij} = \frac{1}{A_{ii} + B_{jj}} \Bigl( C_{ij}
-  *     - \sum_{k=i+1}^m A_{ik} X_{kj} - \sum_{k=1}^{j-1} X_{ik} B_{kj} \Bigr).
-  * \f]
-  * It is assumed that A and B are such that the numerator is never
-  * zero (otherwise the Sylvester equation does not have a unique
-  * solution). In that case, these equations can be evaluated in the
-  * order \f$ i=m,\ldots,1 \f$ and \f$ j=1,\ldots,n \f$.
-  */
-template <typename MatrixType, typename AtomicType>
-typename MatrixFunction<MatrixType,AtomicType,1>::DynMatrixType MatrixFunction<MatrixType,AtomicType,1>::solveTriangularSylvester(
-  const DynMatrixType& A, 
-  const DynMatrixType& B, 
-  const DynMatrixType& C)
-{
-  eigen_assert(A.rows() == A.cols());
-  eigen_assert(A.isUpperTriangular());
-  eigen_assert(B.rows() == B.cols());
-  eigen_assert(B.isUpperTriangular());
-  eigen_assert(C.rows() == A.rows());
-  eigen_assert(C.cols() == B.rows());
-
-  Index m = A.rows();
-  Index n = B.rows();
-  DynMatrixType X(m, n);
-
-  for (Index i = m - 1; i >= 0; --i) {
-    for (Index j = 0; j < n; ++j) {
-
-      // Compute AX = \sum_{k=i+1}^m A_{ik} X_{kj}
-      Scalar AX;
-      if (i == m - 1) {
-	AX = 0; 
-      } else {
-	Matrix<Scalar,1,1> AXmatrix = A.row(i).tail(m-1-i) * X.col(j).tail(m-1-i);
-	AX = AXmatrix(0,0);
-      }
-
-      // Compute XB = \sum_{k=1}^{j-1} X_{ik} B_{kj}
-      Scalar XB;
-      if (j == 0) {
-	XB = 0; 
-      } else {
-	Matrix<Scalar,1,1> XBmatrix = X.row(i).head(j) * B.col(j).head(j);
-	XB = XBmatrix(0,0);
-      }
-
-      X(i,j) = (C(i,j) - AX - XB) / (A(i,i) + B(j,j));
-    }
-  }
-  return X;
-}
-
-/** \ingroup MatrixFunctions_Module
-  *
-  * \brief Proxy for the matrix function of some matrix (expression).
-  *
-  * \tparam Derived  Type of the argument to the matrix function.
-  *
-  * This class holds the argument to the matrix function until it is
-  * assigned or evaluated for some other reason (so the argument
-  * should not be changed in the meantime). It is the return type of
-  * matrixBase::matrixFunction() and related functions and most of the
-  * time this is the only way it is used.
-  */
-template<typename Derived> class MatrixFunctionReturnValue
-: public ReturnByValue<MatrixFunctionReturnValue<Derived> >
-{
-  public:
-
-    typedef typename Derived::Scalar Scalar;
-    typedef typename Derived::Index Index;
-    typedef typename internal::stem_function<Scalar>::type StemFunction;
-
-   /** \brief Constructor.
-      *
-      * \param[in] A  %Matrix (expression) forming the argument of the
-      * matrix function.
-      * \param[in] f  Stem function for matrix function under consideration.
-      */
-    MatrixFunctionReturnValue(const Derived& A, StemFunction f) : m_A(A), m_f(f) { }
-
-    /** \brief Compute the matrix function.
-      *
-      * \param[out] result \p f applied to \p A, where \p f and \p A
-      * are as in the constructor.
-      */
-    template <typename ResultType>
-    inline void evalTo(ResultType& result) const
-    {
-      typedef typename Derived::PlainObject PlainObject;
-      typedef internal::traits<PlainObject> Traits;
-      static const int RowsAtCompileTime = Traits::RowsAtCompileTime;
-      static const int ColsAtCompileTime = Traits::ColsAtCompileTime;
-      static const int Options = PlainObject::Options;
-      typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
-      typedef Matrix<ComplexScalar, Dynamic, Dynamic, Options, RowsAtCompileTime, ColsAtCompileTime> DynMatrixType;
-      typedef MatrixFunctionAtomic<DynMatrixType> AtomicType;
-      AtomicType atomic(m_f);
-
-      const PlainObject Aevaluated = m_A.eval();
-      MatrixFunction<PlainObject, AtomicType> mf(Aevaluated, atomic);
-      mf.compute(result);
-    }
-
-    Index rows() const { return m_A.rows(); }
-    Index cols() const { return m_A.cols(); }
-
-  private:
-    typename internal::nested<Derived>::type m_A;
-    StemFunction *m_f;
-
-    MatrixFunctionReturnValue& operator=(const MatrixFunctionReturnValue&);
-};
-
-namespace internal {
-template<typename Derived>
-struct traits<MatrixFunctionReturnValue<Derived> >
-{
-  typedef typename Derived::PlainObject ReturnType;
-};
-}
-
-
-/********** MatrixBase methods **********/
-
-
-template <typename Derived>
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::matrixFunction(typename internal::stem_function<typename internal::traits<Derived>::Scalar>::type f) const
-{
-  eigen_assert(rows() == cols());
-  return MatrixFunctionReturnValue<Derived>(derived(), f);
-}
-
-template <typename Derived>
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::sin() const
-{
-  eigen_assert(rows() == cols());
-  typedef typename internal::stem_function<Scalar>::ComplexScalar ComplexScalar;
-  return MatrixFunctionReturnValue<Derived>(derived(), StdStemFunctions<ComplexScalar>::sin);
-}
-
-template <typename Derived>
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::cos() const
-{
-  eigen_assert(rows() == cols());
-  typedef typename internal::stem_function<Scalar>::ComplexScalar ComplexScalar;
-  return MatrixFunctionReturnValue<Derived>(derived(), StdStemFunctions<ComplexScalar>::cos);
-}
-
-template <typename Derived>
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::sinh() const
-{
-  eigen_assert(rows() == cols());
-  typedef typename internal::stem_function<Scalar>::ComplexScalar ComplexScalar;
-  return MatrixFunctionReturnValue<Derived>(derived(), StdStemFunctions<ComplexScalar>::sinh);
-}
-
-template <typename Derived>
-const MatrixFunctionReturnValue<Derived> MatrixBase<Derived>::cosh() const
-{
-  eigen_assert(rows() == cols());
-  typedef typename internal::stem_function<Scalar>::ComplexScalar ComplexScalar;
-  return MatrixFunctionReturnValue<Derived>(derived(), StdStemFunctions<ComplexScalar>::cosh);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATRIX_FUNCTION
diff --git a/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixFunctionAtomic.h b/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixFunctionAtomic.h
deleted file mode 100644
index efe332c4..00000000
--- a/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixFunctionAtomic.h
+++ /dev/null
@@ -1,131 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_FUNCTION_ATOMIC
-#define EIGEN_MATRIX_FUNCTION_ATOMIC
-
-namespace Eigen { 
-
-/** \ingroup MatrixFunctions_Module
-  * \class MatrixFunctionAtomic
-  * \brief Helper class for computing matrix functions of atomic matrices.
-  *
-  * \internal
-  * Here, an atomic matrix is a triangular matrix whose diagonal
-  * entries are close to each other.
-  */
-template <typename MatrixType>
-class MatrixFunctionAtomic
-{
-  public:
-
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef typename internal::stem_function<Scalar>::type StemFunction;
-    typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> VectorType;
-
-    /** \brief Constructor
-      * \param[in]  f  matrix function to compute.
-      */
-    MatrixFunctionAtomic(StemFunction f) : m_f(f) { }
-
-    /** \brief Compute matrix function of atomic matrix
-      * \param[in]  A  argument of matrix function, should be upper triangular and atomic
-      * \returns  f(A), the matrix function evaluated at the given matrix
-      */
-    MatrixType compute(const MatrixType& A);
-
-  private:
-
-    // Prevent copying
-    MatrixFunctionAtomic(const MatrixFunctionAtomic&);
-    MatrixFunctionAtomic& operator=(const MatrixFunctionAtomic&);
-
-    void computeMu();
-    bool taylorConverged(Index s, const MatrixType& F, const MatrixType& Fincr, const MatrixType& P);
-
-    /** \brief Pointer to scalar function */
-    StemFunction* m_f;
-
-    /** \brief Size of matrix function */
-    Index m_Arows;
-
-    /** \brief Mean of eigenvalues */
-    Scalar m_avgEival;
-
-    /** \brief Argument shifted by mean of eigenvalues */
-    MatrixType m_Ashifted;
-
-    /** \brief Constant used to determine whether Taylor series has converged */
-    RealScalar m_mu;
-};
-
-template <typename MatrixType>
-MatrixType MatrixFunctionAtomic<MatrixType>::compute(const MatrixType& A)
-{
-  // TODO: Use that A is upper triangular
-  m_Arows = A.rows();
-  m_avgEival = A.trace() / Scalar(RealScalar(m_Arows));
-  m_Ashifted = A - m_avgEival * MatrixType::Identity(m_Arows, m_Arows);
-  computeMu();
-  MatrixType F = m_f(m_avgEival, 0) * MatrixType::Identity(m_Arows, m_Arows);
-  MatrixType P = m_Ashifted;
-  MatrixType Fincr;
-  for (Index s = 1; s < 1.1 * m_Arows + 10; s++) { // upper limit is fairly arbitrary
-    Fincr = m_f(m_avgEival, static_cast<int>(s)) * P;
-    F += Fincr;
-    P = Scalar(RealScalar(1.0/(s + 1))) * P * m_Ashifted;
-    if (taylorConverged(s, F, Fincr, P)) {
-      return F;
-    }
-  }
-  eigen_assert("Taylor series does not converge" && 0);
-  return F;
-}
-
-/** \brief Compute \c m_mu. */
-template <typename MatrixType>
-void MatrixFunctionAtomic<MatrixType>::computeMu()
-{
-  const MatrixType N = MatrixType::Identity(m_Arows, m_Arows) - m_Ashifted;
-  VectorType e = VectorType::Ones(m_Arows);
-  N.template triangularView<Upper>().solveInPlace(e);
-  m_mu = e.cwiseAbs().maxCoeff();
-}
-
-/** \brief Determine whether Taylor series has converged */
-template <typename MatrixType>
-bool MatrixFunctionAtomic<MatrixType>::taylorConverged(Index s, const MatrixType& F,
-						       const MatrixType& Fincr, const MatrixType& P)
-{
-  const Index n = F.rows();
-  const RealScalar F_norm = F.cwiseAbs().rowwise().sum().maxCoeff();
-  const RealScalar Fincr_norm = Fincr.cwiseAbs().rowwise().sum().maxCoeff();
-  if (Fincr_norm < NumTraits<Scalar>::epsilon() * F_norm) {
-    RealScalar delta = 0;
-    RealScalar rfactorial = 1;
-    for (Index r = 0; r < n; r++) {
-      RealScalar mx = 0;
-      for (Index i = 0; i < n; i++)
-        mx = (std::max)(mx, std::abs(m_f(m_Ashifted(i, i) + m_avgEival, static_cast<int>(s+r))));
-      if (r != 0)
-        rfactorial *= RealScalar(r);
-      delta = (std::max)(delta, mx / rfactorial);
-    }
-    const RealScalar P_norm = P.cwiseAbs().rowwise().sum().maxCoeff();
-    if (m_mu * delta * P_norm < NumTraits<Scalar>::epsilon() * F_norm)
-      return true;
-  }
-  return false;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATRIX_FUNCTION_ATOMIC
diff --git a/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h b/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h
deleted file mode 100644
index c744fc05..00000000
--- a/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixLogarithm.h
+++ /dev/null
@@ -1,486 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Jitse Niesen <jitse@maths.leeds.ac.uk>
-// Copyright (C) 2011 Chen-Pang He <jdh8@ms63.hinet.net>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_LOGARITHM
-#define EIGEN_MATRIX_LOGARITHM
-
-#ifndef M_PI
-#define M_PI 3.141592653589793238462643383279503L
-#endif
-
-namespace Eigen { 
-
-/** \ingroup MatrixFunctions_Module
-  * \class MatrixLogarithmAtomic
-  * \brief Helper class for computing matrix logarithm of atomic matrices.
-  *
-  * \internal
-  * Here, an atomic matrix is a triangular matrix whose diagonal
-  * entries are close to each other.
-  *
-  * \sa class MatrixFunctionAtomic, MatrixBase::log()
-  */
-template <typename MatrixType>
-class MatrixLogarithmAtomic
-{
-public:
-
-  typedef typename MatrixType::Scalar Scalar;
-  // typedef typename MatrixType::Index Index;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  // typedef typename internal::stem_function<Scalar>::type StemFunction;
-  // typedef Matrix<Scalar, MatrixType::RowsAtCompileTime, 1> VectorType;
-
-  /** \brief Constructor. */
-  MatrixLogarithmAtomic() { }
-
-  /** \brief Compute matrix logarithm of atomic matrix
-    * \param[in]  A  argument of matrix logarithm, should be upper triangular and atomic
-    * \returns  The logarithm of \p A.
-    */
-  MatrixType compute(const MatrixType& A);
-
-private:
-
-  void compute2x2(const MatrixType& A, MatrixType& result);
-  void computeBig(const MatrixType& A, MatrixType& result);
-  int getPadeDegree(float normTminusI);
-  int getPadeDegree(double normTminusI);
-  int getPadeDegree(long double normTminusI);
-  void computePade(MatrixType& result, const MatrixType& T, int degree);
-  void computePade3(MatrixType& result, const MatrixType& T);
-  void computePade4(MatrixType& result, const MatrixType& T);
-  void computePade5(MatrixType& result, const MatrixType& T);
-  void computePade6(MatrixType& result, const MatrixType& T);
-  void computePade7(MatrixType& result, const MatrixType& T);
-  void computePade8(MatrixType& result, const MatrixType& T);
-  void computePade9(MatrixType& result, const MatrixType& T);
-  void computePade10(MatrixType& result, const MatrixType& T);
-  void computePade11(MatrixType& result, const MatrixType& T);
-
-  static const int minPadeDegree = 3;
-  static const int maxPadeDegree = std::numeric_limits<RealScalar>::digits<= 24?  5:  // single precision
-                                   std::numeric_limits<RealScalar>::digits<= 53?  7:  // double precision
-                                   std::numeric_limits<RealScalar>::digits<= 64?  8:  // extended precision
-                                   std::numeric_limits<RealScalar>::digits<=106? 10:  // double-double
-                                                                                 11;  // quadruple precision
-
-  // Prevent copying
-  MatrixLogarithmAtomic(const MatrixLogarithmAtomic&);
-  MatrixLogarithmAtomic& operator=(const MatrixLogarithmAtomic&);
-};
-
-/** \brief Compute logarithm of triangular matrix with clustered eigenvalues. */
-template <typename MatrixType>
-MatrixType MatrixLogarithmAtomic<MatrixType>::compute(const MatrixType& A)
-{
-  using std::log;
-  MatrixType result(A.rows(), A.rows());
-  if (A.rows() == 1)
-    result(0,0) = log(A(0,0));
-  else if (A.rows() == 2)
-    compute2x2(A, result);
-  else
-    computeBig(A, result);
-  return result;
-}
-
-/** \brief Compute logarithm of 2x2 triangular matrix. */
-template <typename MatrixType>
-void MatrixLogarithmAtomic<MatrixType>::compute2x2(const MatrixType& A, MatrixType& result)
-{
-  using std::abs;
-  using std::ceil;
-  using std::imag;
-  using std::log;
-
-  Scalar logA00 = log(A(0,0));
-  Scalar logA11 = log(A(1,1));
-
-  result(0,0) = logA00;
-  result(1,0) = Scalar(0);
-  result(1,1) = logA11;
-
-  if (A(0,0) == A(1,1)) {
-    result(0,1) = A(0,1) / A(0,0);
-  } else if ((abs(A(0,0)) < 0.5*abs(A(1,1))) || (abs(A(0,0)) > 2*abs(A(1,1)))) {
-    result(0,1) = A(0,1) * (logA11 - logA00) / (A(1,1) - A(0,0));
-  } else {
-    // computation in previous branch is inaccurate if A(1,1) \approx A(0,0)
-    int unwindingNumber = static_cast<int>(ceil((imag(logA11 - logA00) - M_PI) / (2*M_PI)));
-    Scalar y = A(1,1) - A(0,0), x = A(1,1) + A(0,0);
-    result(0,1) = A(0,1) * (Scalar(2) * numext::atanh2(y,x) + Scalar(0,2*M_PI*unwindingNumber)) / y;
-  }
-}
-
-/** \brief Compute logarithm of triangular matrices with size > 2. 
-  * \details This uses a inverse scale-and-square algorithm. */
-template <typename MatrixType>
-void MatrixLogarithmAtomic<MatrixType>::computeBig(const MatrixType& A, MatrixType& result)
-{
-  using std::pow;
-  int numberOfSquareRoots = 0;
-  int numberOfExtraSquareRoots = 0;
-  int degree;
-  MatrixType T = A, sqrtT;
-  const RealScalar maxNormForPade = maxPadeDegree<= 5? 5.3149729967117310e-1:                     // single precision
-                                    maxPadeDegree<= 7? 2.6429608311114350e-1:                     // double precision
-                                    maxPadeDegree<= 8? 2.32777776523703892094e-1L:                // extended precision
-                                    maxPadeDegree<=10? 1.05026503471351080481093652651105e-1L:    // double-double
-                                                       1.1880960220216759245467951592883642e-1L;  // quadruple precision
-
-  while (true) {
-    RealScalar normTminusI = (T - MatrixType::Identity(T.rows(), T.rows())).cwiseAbs().colwise().sum().maxCoeff();
-    if (normTminusI < maxNormForPade) {
-      degree = getPadeDegree(normTminusI);
-      int degree2 = getPadeDegree(normTminusI / RealScalar(2));
-      if ((degree - degree2 <= 1) || (numberOfExtraSquareRoots == 1)) 
-        break;
-      ++numberOfExtraSquareRoots;
-    }
-    MatrixSquareRootTriangular<MatrixType>(T).compute(sqrtT);
-    T = sqrtT.template triangularView<Upper>();
-    ++numberOfSquareRoots;
-  }
-
-  computePade(result, T, degree);
-  result *= pow(RealScalar(2), numberOfSquareRoots);
-}
-
-/* \brief Get suitable degree for Pade approximation. (specialized for RealScalar = float) */
-template <typename MatrixType>
-int MatrixLogarithmAtomic<MatrixType>::getPadeDegree(float normTminusI)
-{
-  const float maxNormForPade[] = { 2.5111573934555054e-1 /* degree = 3 */ , 4.0535837411880493e-1,
-            5.3149729967117310e-1 };
-  int degree = 3;
-  for (; degree <= maxPadeDegree; ++degree) 
-    if (normTminusI <= maxNormForPade[degree - minPadeDegree])
-      break;
-  return degree;
-}
-
-/* \brief Get suitable degree for Pade approximation. (specialized for RealScalar = double) */
-template <typename MatrixType>
-int MatrixLogarithmAtomic<MatrixType>::getPadeDegree(double normTminusI)
-{
-  const double maxNormForPade[] = { 1.6206284795015624e-2 /* degree = 3 */ , 5.3873532631381171e-2,
-            1.1352802267628681e-1, 1.8662860613541288e-1, 2.642960831111435e-1 };
-  int degree = 3;
-  for (; degree <= maxPadeDegree; ++degree)
-    if (normTminusI <= maxNormForPade[degree - minPadeDegree])
-      break;
-  return degree;
-}
-
-/* \brief Get suitable degree for Pade approximation. (specialized for RealScalar = long double) */
-template <typename MatrixType>
-int MatrixLogarithmAtomic<MatrixType>::getPadeDegree(long double normTminusI)
-{
-#if   LDBL_MANT_DIG == 53         // double precision
-  const long double maxNormForPade[] = { 1.6206284795015624e-2L /* degree = 3 */ , 5.3873532631381171e-2L,
-            1.1352802267628681e-1L, 1.8662860613541288e-1L, 2.642960831111435e-1L };
-#elif LDBL_MANT_DIG <= 64         // extended precision
-  const long double maxNormForPade[] = { 5.48256690357782863103e-3L /* degree = 3 */, 2.34559162387971167321e-2L,
-            5.84603923897347449857e-2L, 1.08486423756725170223e-1L, 1.68385767881294446649e-1L,
-            2.32777776523703892094e-1L };
-#elif LDBL_MANT_DIG <= 106        // double-double
-  const long double maxNormForPade[] = { 8.58970550342939562202529664318890e-5L /* degree = 3 */,
-            9.34074328446359654039446552677759e-4L, 4.26117194647672175773064114582860e-3L,
-            1.21546224740281848743149666560464e-2L, 2.61100544998339436713088248557444e-2L,
-            4.66170074627052749243018566390567e-2L, 7.32585144444135027565872014932387e-2L,
-            1.05026503471351080481093652651105e-1L };
-#else                             // quadruple precision
-  const long double maxNormForPade[] = { 4.7419931187193005048501568167858103e-5L /* degree = 3 */,
-            5.8853168473544560470387769480192666e-4L, 2.9216120366601315391789493628113520e-3L,
-            8.8415758124319434347116734705174308e-3L, 1.9850836029449446668518049562565291e-2L,
-            3.6688019729653446926585242192447447e-2L, 5.9290962294020186998954055264528393e-2L,
-            8.6998436081634343903250580992127677e-2L, 1.1880960220216759245467951592883642e-1L };
-#endif
-  int degree = 3;
-  for (; degree <= maxPadeDegree; ++degree)
-    if (normTminusI <= maxNormForPade[degree - minPadeDegree])
-      break;
-  return degree;
-}
-
-/* \brief Compute Pade approximation to matrix logarithm */
-template <typename MatrixType>
-void MatrixLogarithmAtomic<MatrixType>::computePade(MatrixType& result, const MatrixType& T, int degree)
-{
-  switch (degree) {
-    case 3:  computePade3(result, T);  break;
-    case 4:  computePade4(result, T);  break;
-    case 5:  computePade5(result, T);  break;
-    case 6:  computePade6(result, T);  break;
-    case 7:  computePade7(result, T);  break;
-    case 8:  computePade8(result, T);  break;
-    case 9:  computePade9(result, T);  break;
-    case 10: computePade10(result, T); break;
-    case 11: computePade11(result, T); break;
-    default: assert(false); // should never happen
-  }
-} 
-
-template <typename MatrixType>
-void MatrixLogarithmAtomic<MatrixType>::computePade3(MatrixType& result, const MatrixType& T)
-{
-  const int degree = 3;
-  const RealScalar nodes[]   = { 0.1127016653792583114820734600217600L, 0.5000000000000000000000000000000000L,
-            0.8872983346207416885179265399782400L };
-  const RealScalar weights[] = { 0.2777777777777777777777777777777778L, 0.4444444444444444444444444444444444L,
-            0.2777777777777777777777777777777778L };
-  eigen_assert(degree <= maxPadeDegree);
-  MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows());
-  result.setZero(T.rows(), T.rows());
-  for (int k = 0; k < degree; ++k)
-    result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI)
-                           .template triangularView<Upper>().solve(TminusI);
-}
-
-template <typename MatrixType>
-void MatrixLogarithmAtomic<MatrixType>::computePade4(MatrixType& result, const MatrixType& T)
-{
-  const int degree = 4;
-  const RealScalar nodes[]   = { 0.0694318442029737123880267555535953L, 0.3300094782075718675986671204483777L,
-            0.6699905217924281324013328795516223L, 0.9305681557970262876119732444464048L };
-  const RealScalar weights[] = { 0.1739274225687269286865319746109997L, 0.3260725774312730713134680253890003L,
-            0.3260725774312730713134680253890003L, 0.1739274225687269286865319746109997L };
-  eigen_assert(degree <= maxPadeDegree);
-  MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows());
-  result.setZero(T.rows(), T.rows());
-  for (int k = 0; k < degree; ++k)
-    result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI)
-                           .template triangularView<Upper>().solve(TminusI);
-}
-
-template <typename MatrixType>
-void MatrixLogarithmAtomic<MatrixType>::computePade5(MatrixType& result, const MatrixType& T)
-{
-  const int degree = 5;
-  const RealScalar nodes[]   = { 0.0469100770306680036011865608503035L, 0.2307653449471584544818427896498956L,
-            0.5000000000000000000000000000000000L, 0.7692346550528415455181572103501044L,
-            0.9530899229693319963988134391496965L };
-  const RealScalar weights[] = { 0.1184634425280945437571320203599587L, 0.2393143352496832340206457574178191L,
-            0.2844444444444444444444444444444444L, 0.2393143352496832340206457574178191L,
-            0.1184634425280945437571320203599587L };
-  eigen_assert(degree <= maxPadeDegree);
-  MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows());
-  result.setZero(T.rows(), T.rows());
-  for (int k = 0; k < degree; ++k)
-    result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI)
-                           .template triangularView<Upper>().solve(TminusI);
-}
-
-template <typename MatrixType>
-void MatrixLogarithmAtomic<MatrixType>::computePade6(MatrixType& result, const MatrixType& T)
-{
-  const int degree = 6;
-  const RealScalar nodes[]   = { 0.0337652428984239860938492227530027L, 0.1693953067668677431693002024900473L,
-            0.3806904069584015456847491391596440L, 0.6193095930415984543152508608403560L,
-            0.8306046932331322568306997975099527L, 0.9662347571015760139061507772469973L };
-  const RealScalar weights[] = { 0.0856622461895851725201480710863665L, 0.1803807865240693037849167569188581L,
-            0.2339569672863455236949351719947755L, 0.2339569672863455236949351719947755L,
-            0.1803807865240693037849167569188581L, 0.0856622461895851725201480710863665L };
-  eigen_assert(degree <= maxPadeDegree);
-  MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows());
-  result.setZero(T.rows(), T.rows());
-  for (int k = 0; k < degree; ++k)
-    result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI)
-                           .template triangularView<Upper>().solve(TminusI);
-}
-
-template <typename MatrixType>
-void MatrixLogarithmAtomic<MatrixType>::computePade7(MatrixType& result, const MatrixType& T)
-{
-  const int degree = 7;
-  const RealScalar nodes[]   = { 0.0254460438286207377369051579760744L, 0.1292344072003027800680676133596058L,
-            0.2970774243113014165466967939615193L, 0.5000000000000000000000000000000000L,
-            0.7029225756886985834533032060384807L, 0.8707655927996972199319323866403942L,
-            0.9745539561713792622630948420239256L };
-  const RealScalar weights[] = { 0.0647424830844348466353057163395410L, 0.1398526957446383339507338857118898L,
-            0.1909150252525594724751848877444876L, 0.2089795918367346938775510204081633L,
-            0.1909150252525594724751848877444876L, 0.1398526957446383339507338857118898L,
-            0.0647424830844348466353057163395410L };
-  eigen_assert(degree <= maxPadeDegree);
-  MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows());
-  result.setZero(T.rows(), T.rows());
-  for (int k = 0; k < degree; ++k)
-    result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI)
-                           .template triangularView<Upper>().solve(TminusI);
-}
-
-template <typename MatrixType>
-void MatrixLogarithmAtomic<MatrixType>::computePade8(MatrixType& result, const MatrixType& T)
-{
-  const int degree = 8;
-  const RealScalar nodes[]   = { 0.0198550717512318841582195657152635L, 0.1016667612931866302042230317620848L,
-            0.2372337950418355070911304754053768L, 0.4082826787521750975302619288199080L,
-            0.5917173212478249024697380711800920L, 0.7627662049581644929088695245946232L,
-            0.8983332387068133697957769682379152L, 0.9801449282487681158417804342847365L };
-  const RealScalar weights[] = { 0.0506142681451881295762656771549811L, 0.1111905172266872352721779972131204L,
-            0.1568533229389436436689811009933007L, 0.1813418916891809914825752246385978L,
-            0.1813418916891809914825752246385978L, 0.1568533229389436436689811009933007L,
-            0.1111905172266872352721779972131204L, 0.0506142681451881295762656771549811L };
-  eigen_assert(degree <= maxPadeDegree);
-  MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows());
-  result.setZero(T.rows(), T.rows());
-  for (int k = 0; k < degree; ++k)
-    result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI)
-                           .template triangularView<Upper>().solve(TminusI);
-}
-
-template <typename MatrixType>
-void MatrixLogarithmAtomic<MatrixType>::computePade9(MatrixType& result, const MatrixType& T)
-{
-  const int degree = 9;
-  const RealScalar nodes[]   = { 0.0159198802461869550822118985481636L, 0.0819844463366821028502851059651326L,
-            0.1933142836497048013456489803292629L, 0.3378732882980955354807309926783317L,
-            0.5000000000000000000000000000000000L, 0.6621267117019044645192690073216683L,
-            0.8066857163502951986543510196707371L, 0.9180155536633178971497148940348674L,
-            0.9840801197538130449177881014518364L };
-  const RealScalar weights[] = { 0.0406371941807872059859460790552618L, 0.0903240803474287020292360156214564L,
-            0.1303053482014677311593714347093164L, 0.1561735385200014200343152032922218L,
-            0.1651196775006298815822625346434870L, 0.1561735385200014200343152032922218L,
-            0.1303053482014677311593714347093164L, 0.0903240803474287020292360156214564L,
-            0.0406371941807872059859460790552618L };
-  eigen_assert(degree <= maxPadeDegree);
-  MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows());
-  result.setZero(T.rows(), T.rows());
-  for (int k = 0; k < degree; ++k)
-    result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI)
-                           .template triangularView<Upper>().solve(TminusI);
-}
-
-template <typename MatrixType>
-void MatrixLogarithmAtomic<MatrixType>::computePade10(MatrixType& result, const MatrixType& T)
-{
-  const int degree = 10;
-  const RealScalar nodes[]   = { 0.0130467357414141399610179939577740L, 0.0674683166555077446339516557882535L,
-            0.1602952158504877968828363174425632L, 0.2833023029353764046003670284171079L,
-            0.4255628305091843945575869994351400L, 0.5744371694908156054424130005648600L,
-            0.7166976970646235953996329715828921L, 0.8397047841495122031171636825574368L,
-            0.9325316833444922553660483442117465L, 0.9869532642585858600389820060422260L };
-  const RealScalar weights[] = { 0.0333356721543440687967844049466659L, 0.0747256745752902965728881698288487L,
-            0.1095431812579910219977674671140816L, 0.1346333596549981775456134607847347L,
-            0.1477621123573764350869464973256692L, 0.1477621123573764350869464973256692L,
-            0.1346333596549981775456134607847347L, 0.1095431812579910219977674671140816L,
-            0.0747256745752902965728881698288487L, 0.0333356721543440687967844049466659L };
-  eigen_assert(degree <= maxPadeDegree);
-  MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows());
-  result.setZero(T.rows(), T.rows());
-  for (int k = 0; k < degree; ++k)
-    result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI)
-                           .template triangularView<Upper>().solve(TminusI);
-}
-
-template <typename MatrixType>
-void MatrixLogarithmAtomic<MatrixType>::computePade11(MatrixType& result, const MatrixType& T)
-{
-  const int degree = 11;
-  const RealScalar nodes[]   = { 0.0108856709269715035980309994385713L, 0.0564687001159523504624211153480364L,
-            0.1349239972129753379532918739844233L, 0.2404519353965940920371371652706952L,
-            0.3652284220238275138342340072995692L, 0.5000000000000000000000000000000000L,
-            0.6347715779761724861657659927004308L, 0.7595480646034059079628628347293048L,
-            0.8650760027870246620467081260155767L, 0.9435312998840476495375788846519636L,
-            0.9891143290730284964019690005614287L };
-  const RealScalar weights[] = { 0.0278342835580868332413768602212743L, 0.0627901847324523123173471496119701L,
-            0.0931451054638671257130488207158280L, 0.1165968822959952399592618524215876L,
-            0.1314022722551233310903444349452546L, 0.1364625433889503153572417641681711L,
-            0.1314022722551233310903444349452546L, 0.1165968822959952399592618524215876L,
-            0.0931451054638671257130488207158280L, 0.0627901847324523123173471496119701L,
-            0.0278342835580868332413768602212743L };
-  eigen_assert(degree <= maxPadeDegree);
-  MatrixType TminusI = T - MatrixType::Identity(T.rows(), T.rows());
-  result.setZero(T.rows(), T.rows());
-  for (int k = 0; k < degree; ++k)
-    result += weights[k] * (MatrixType::Identity(T.rows(), T.rows()) + nodes[k] * TminusI)
-                           .template triangularView<Upper>().solve(TminusI);
-}
-
-/** \ingroup MatrixFunctions_Module
-  *
-  * \brief Proxy for the matrix logarithm of some matrix (expression).
-  *
-  * \tparam Derived  Type of the argument to the matrix function.
-  *
-  * This class holds the argument to the matrix function until it is
-  * assigned or evaluated for some other reason (so the argument
-  * should not be changed in the meantime). It is the return type of
-  * MatrixBase::log() and most of the time this is the only way it
-  * is used.
-  */
-template<typename Derived> class MatrixLogarithmReturnValue
-: public ReturnByValue<MatrixLogarithmReturnValue<Derived> >
-{
-public:
-
-  typedef typename Derived::Scalar Scalar;
-  typedef typename Derived::Index Index;
-
-  /** \brief Constructor.
-    *
-    * \param[in]  A  %Matrix (expression) forming the argument of the matrix logarithm.
-    */
-  MatrixLogarithmReturnValue(const Derived& A) : m_A(A) { }
-  
-  /** \brief Compute the matrix logarithm.
-    *
-    * \param[out]  result  Logarithm of \p A, where \A is as specified in the constructor.
-    */
-  template <typename ResultType>
-  inline void evalTo(ResultType& result) const
-  {
-    typedef typename Derived::PlainObject PlainObject;
-    typedef internal::traits<PlainObject> Traits;
-    static const int RowsAtCompileTime = Traits::RowsAtCompileTime;
-    static const int ColsAtCompileTime = Traits::ColsAtCompileTime;
-    static const int Options = PlainObject::Options;
-    typedef std::complex<typename NumTraits<Scalar>::Real> ComplexScalar;
-    typedef Matrix<ComplexScalar, Dynamic, Dynamic, Options, RowsAtCompileTime, ColsAtCompileTime> DynMatrixType;
-    typedef MatrixLogarithmAtomic<DynMatrixType> AtomicType;
-    AtomicType atomic;
-    
-    const PlainObject Aevaluated = m_A.eval();
-    MatrixFunction<PlainObject, AtomicType> mf(Aevaluated, atomic);
-    mf.compute(result);
-  }
-
-  Index rows() const { return m_A.rows(); }
-  Index cols() const { return m_A.cols(); }
-  
-private:
-  typename internal::nested<Derived>::type m_A;
-  
-  MatrixLogarithmReturnValue& operator=(const MatrixLogarithmReturnValue&);
-};
-
-namespace internal {
-  template<typename Derived>
-  struct traits<MatrixLogarithmReturnValue<Derived> >
-  {
-    typedef typename Derived::PlainObject ReturnType;
-  };
-}
-
-
-/********** MatrixBase method **********/
-
-
-template <typename Derived>
-const MatrixLogarithmReturnValue<Derived> MatrixBase<Derived>::log() const
-{
-  eigen_assert(rows() == cols());
-  return MatrixLogarithmReturnValue<Derived>(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATRIX_LOGARITHM
diff --git a/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h b/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h
deleted file mode 100644
index 78a307e9..00000000
--- a/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixPower.h
+++ /dev/null
@@ -1,508 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012, 2013 Chen-Pang He <jdh8@ms63.hinet.net>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_POWER
-#define EIGEN_MATRIX_POWER
-
-namespace Eigen {
-
-template<typename MatrixType> class MatrixPower;
-
-template<typename MatrixType>
-class MatrixPowerRetval : public ReturnByValue< MatrixPowerRetval<MatrixType> >
-{
-  public:
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-
-    MatrixPowerRetval(MatrixPower<MatrixType>& pow, RealScalar p) : m_pow(pow), m_p(p)
-    { }
-
-    template<typename ResultType>
-    inline void evalTo(ResultType& res) const
-    { m_pow.compute(res, m_p); }
-
-    Index rows() const { return m_pow.rows(); }
-    Index cols() const { return m_pow.cols(); }
-
-  private:
-    MatrixPower<MatrixType>& m_pow;
-    const RealScalar m_p;
-    MatrixPowerRetval& operator=(const MatrixPowerRetval&);
-};
-
-template<typename MatrixType>
-class MatrixPowerAtomic
-{
-  private:
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime
-    };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef std::complex<RealScalar> ComplexScalar;
-    typedef typename MatrixType::Index Index;
-    typedef Array<Scalar, RowsAtCompileTime, 1, ColMajor, MaxRowsAtCompileTime> ArrayType;
-
-    const MatrixType& m_A;
-    RealScalar m_p;
-
-    void computePade(int degree, const MatrixType& IminusT, MatrixType& res) const;
-    void compute2x2(MatrixType& res, RealScalar p) const;
-    void computeBig(MatrixType& res) const;
-    static int getPadeDegree(float normIminusT);
-    static int getPadeDegree(double normIminusT);
-    static int getPadeDegree(long double normIminusT);
-    static ComplexScalar computeSuperDiag(const ComplexScalar&, const ComplexScalar&, RealScalar p);
-    static RealScalar computeSuperDiag(RealScalar, RealScalar, RealScalar p);
-
-  public:
-    MatrixPowerAtomic(const MatrixType& T, RealScalar p);
-    void compute(MatrixType& res) const;
-};
-
-template<typename MatrixType>
-MatrixPowerAtomic<MatrixType>::MatrixPowerAtomic(const MatrixType& T, RealScalar p) :
-  m_A(T), m_p(p)
-{ eigen_assert(T.rows() == T.cols()); }
-
-template<typename MatrixType>
-void MatrixPowerAtomic<MatrixType>::compute(MatrixType& res) const
-{
-  res.resizeLike(m_A);
-  switch (m_A.rows()) {
-    case 0:
-      break;
-    case 1:
-      res(0,0) = std::pow(m_A(0,0), m_p);
-      break;
-    case 2:
-      compute2x2(res, m_p);
-      break;
-    default:
-      computeBig(res);
-  }
-}
-
-template<typename MatrixType>
-void MatrixPowerAtomic<MatrixType>::computePade(int degree, const MatrixType& IminusT, MatrixType& res) const
-{
-  int i = degree<<1;
-  res = (m_p-degree) / ((i-1)<<1) * IminusT;
-  for (--i; i; --i) {
-    res = (MatrixType::Identity(IminusT.rows(), IminusT.cols()) + res).template triangularView<Upper>()
-	.solve((i==1 ? -m_p : i&1 ? (-m_p-(i>>1))/(i<<1) : (m_p-(i>>1))/((i-1)<<1)) * IminusT).eval();
-  }
-  res += MatrixType::Identity(IminusT.rows(), IminusT.cols());
-}
-
-// This function assumes that res has the correct size (see bug 614)
-template<typename MatrixType>
-void MatrixPowerAtomic<MatrixType>::compute2x2(MatrixType& res, RealScalar p) const
-{
-  using std::abs;
-  using std::pow;
-  
-  res.coeffRef(0,0) = pow(m_A.coeff(0,0), p);
-
-  for (Index i=1; i < m_A.cols(); ++i) {
-    res.coeffRef(i,i) = pow(m_A.coeff(i,i), p);
-    if (m_A.coeff(i-1,i-1) == m_A.coeff(i,i))
-      res.coeffRef(i-1,i) = p * pow(m_A.coeff(i,i), p-1);
-    else if (2*abs(m_A.coeff(i-1,i-1)) < abs(m_A.coeff(i,i)) || 2*abs(m_A.coeff(i,i)) < abs(m_A.coeff(i-1,i-1)))
-      res.coeffRef(i-1,i) = (res.coeff(i,i)-res.coeff(i-1,i-1)) / (m_A.coeff(i,i)-m_A.coeff(i-1,i-1));
-    else
-      res.coeffRef(i-1,i) = computeSuperDiag(m_A.coeff(i,i), m_A.coeff(i-1,i-1), p);
-    res.coeffRef(i-1,i) *= m_A.coeff(i-1,i);
-  }
-}
-
-template<typename MatrixType>
-void MatrixPowerAtomic<MatrixType>::computeBig(MatrixType& res) const
-{
-  const int digits = std::numeric_limits<RealScalar>::digits;
-  const RealScalar maxNormForPade = digits <=  24? 4.3386528e-1f:                           // sigle precision
-				    digits <=  53? 2.789358995219730e-1:                    // double precision
-				    digits <=  64? 2.4471944416607995472e-1L:               // extended precision
-				    digits <= 106? 1.1016843812851143391275867258512e-1L:   // double-double
-						   9.134603732914548552537150753385375e-2L; // quadruple precision
-  MatrixType IminusT, sqrtT, T = m_A.template triangularView<Upper>();
-  RealScalar normIminusT;
-  int degree, degree2, numberOfSquareRoots = 0;
-  bool hasExtraSquareRoot = false;
-
-  /* FIXME
-   * For singular T, norm(I - T) >= 1 but maxNormForPade < 1, leads to infinite
-   * loop.  We should move 0 eigenvalues to bottom right corner.  We need not
-   * worry about tiny values (e.g. 1e-300) because they will reach 1 if
-   * repetitively sqrt'ed.
-   *
-   * If the 0 eigenvalues are semisimple, they can form a 0 matrix at the
-   * bottom right corner.
-   *
-   * [ T  A ]^p   [ T^p  (T^-1 T^p A) ]
-   * [      ]   = [                   ]
-   * [ 0  0 ]     [  0         0      ]
-   */
-  for (Index i=0; i < m_A.cols(); ++i)
-    eigen_assert(m_A(i,i) != RealScalar(0));
-
-  while (true) {
-    IminusT = MatrixType::Identity(m_A.rows(), m_A.cols()) - T;
-    normIminusT = IminusT.cwiseAbs().colwise().sum().maxCoeff();
-    if (normIminusT < maxNormForPade) {
-      degree = getPadeDegree(normIminusT);
-      degree2 = getPadeDegree(normIminusT/2);
-      if (degree - degree2 <= 1 || hasExtraSquareRoot)
-	break;
-      hasExtraSquareRoot = true;
-    }
-    MatrixSquareRootTriangular<MatrixType>(T).compute(sqrtT);
-    T = sqrtT.template triangularView<Upper>();
-    ++numberOfSquareRoots;
-  }
-  computePade(degree, IminusT, res);
-
-  for (; numberOfSquareRoots; --numberOfSquareRoots) {
-    compute2x2(res, std::ldexp(m_p, -numberOfSquareRoots));
-    res = res.template triangularView<Upper>() * res;
-  }
-  compute2x2(res, m_p);
-}
-  
-template<typename MatrixType>
-inline int MatrixPowerAtomic<MatrixType>::getPadeDegree(float normIminusT)
-{
-  const float maxNormForPade[] = { 2.8064004e-1f /* degree = 3 */ , 4.3386528e-1f };
-  int degree = 3;
-  for (; degree <= 4; ++degree)
-    if (normIminusT <= maxNormForPade[degree - 3])
-      break;
-  return degree;
-}
-
-template<typename MatrixType>
-inline int MatrixPowerAtomic<MatrixType>::getPadeDegree(double normIminusT)
-{
-  const double maxNormForPade[] = { 1.884160592658218e-2 /* degree = 3 */ , 6.038881904059573e-2, 1.239917516308172e-1,
-      1.999045567181744e-1, 2.789358995219730e-1 };
-  int degree = 3;
-  for (; degree <= 7; ++degree)
-    if (normIminusT <= maxNormForPade[degree - 3])
-      break;
-  return degree;
-}
-
-template<typename MatrixType>
-inline int MatrixPowerAtomic<MatrixType>::getPadeDegree(long double normIminusT)
-{
-#if   LDBL_MANT_DIG == 53
-  const int maxPadeDegree = 7;
-  const double maxNormForPade[] = { 1.884160592658218e-2L /* degree = 3 */ , 6.038881904059573e-2L, 1.239917516308172e-1L,
-      1.999045567181744e-1L, 2.789358995219730e-1L };
-#elif LDBL_MANT_DIG <= 64
-  const int maxPadeDegree = 8;
-  const double maxNormForPade[] = { 6.3854693117491799460e-3L /* degree = 3 */ , 2.6394893435456973676e-2L,
-      6.4216043030404063729e-2L, 1.1701165502926694307e-1L, 1.7904284231268670284e-1L, 2.4471944416607995472e-1L };
-#elif LDBL_MANT_DIG <= 106
-  const int maxPadeDegree = 10;
-  const double maxNormForPade[] = { 1.0007161601787493236741409687186e-4L /* degree = 3 */ ,
-      1.0007161601787493236741409687186e-3L, 4.7069769360887572939882574746264e-3L, 1.3220386624169159689406653101695e-2L,
-      2.8063482381631737920612944054906e-2L, 4.9625993951953473052385361085058e-2L, 7.7367040706027886224557538328171e-2L,
-      1.1016843812851143391275867258512e-1L };
-#else
-  const int maxPadeDegree = 10;
-  const double maxNormForPade[] = { 5.524506147036624377378713555116378e-5L /* degree = 3 */ ,
-      6.640600568157479679823602193345995e-4L, 3.227716520106894279249709728084626e-3L,
-      9.619593944683432960546978734646284e-3L, 2.134595382433742403911124458161147e-2L,
-      3.908166513900489428442993794761185e-2L, 6.266780814639442865832535460550138e-2L,
-      9.134603732914548552537150753385375e-2L };
-#endif
-  int degree = 3;
-  for (; degree <= maxPadeDegree; ++degree)
-    if (normIminusT <= maxNormForPade[degree - 3])
-      break;
-  return degree;
-}
-
-template<typename MatrixType>
-inline typename MatrixPowerAtomic<MatrixType>::ComplexScalar
-MatrixPowerAtomic<MatrixType>::computeSuperDiag(const ComplexScalar& curr, const ComplexScalar& prev, RealScalar p)
-{
-  ComplexScalar logCurr = std::log(curr);
-  ComplexScalar logPrev = std::log(prev);
-  int unwindingNumber = std::ceil((numext::imag(logCurr - logPrev) - M_PI) / (2*M_PI));
-  ComplexScalar w = numext::atanh2(curr - prev, curr + prev) + ComplexScalar(0, M_PI*unwindingNumber);
-  return RealScalar(2) * std::exp(RealScalar(0.5) * p * (logCurr + logPrev)) * std::sinh(p * w) / (curr - prev);
-}
-
-template<typename MatrixType>
-inline typename MatrixPowerAtomic<MatrixType>::RealScalar
-MatrixPowerAtomic<MatrixType>::computeSuperDiag(RealScalar curr, RealScalar prev, RealScalar p)
-{
-  RealScalar w = numext::atanh2(curr - prev, curr + prev);
-  return 2 * std::exp(p * (std::log(curr) + std::log(prev)) / 2) * std::sinh(p * w) / (curr - prev);
-}
-
-/**
- * \ingroup MatrixFunctions_Module
- *
- * \brief Class for computing matrix powers.
- *
- * \tparam MatrixType  type of the base, expected to be an instantiation
- * of the Matrix class template.
- *
- * This class is capable of computing real/complex matrices raised to
- * an arbitrary real power. Meanwhile, it saves the result of Schur
- * decomposition if an non-integral power has even been calculated.
- * Therefore, if you want to compute multiple (>= 2) matrix powers
- * for the same matrix, using the class directly is more efficient than
- * calling MatrixBase::pow().
- *
- * Example:
- * \include MatrixPower_optimal.cpp
- * Output: \verbinclude MatrixPower_optimal.out
- */
-template<typename MatrixType>
-class MatrixPower
-{
-  private:
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime
-    };
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    typedef typename MatrixType::Index Index;
-
-  public:
-    /**
-     * \brief Constructor.
-     *
-     * \param[in] A  the base of the matrix power.
-     *
-     * The class stores a reference to A, so it should not be changed
-     * (or destroyed) before evaluation.
-     */
-    explicit MatrixPower(const MatrixType& A) : m_A(A), m_conditionNumber(0)
-    { eigen_assert(A.rows() == A.cols()); }
-
-    /**
-     * \brief Returns the matrix power.
-     *
-     * \param[in] p  exponent, a real scalar.
-     * \return The expression \f$ A^p \f$, where A is specified in the
-     * constructor.
-     */
-    const MatrixPowerRetval<MatrixType> operator()(RealScalar p)
-    { return MatrixPowerRetval<MatrixType>(*this, p); }
-
-    /**
-     * \brief Compute the matrix power.
-     *
-     * \param[in]  p    exponent, a real scalar.
-     * \param[out] res  \f$ A^p \f$ where A is specified in the
-     * constructor.
-     */
-    template<typename ResultType>
-    void compute(ResultType& res, RealScalar p);
-    
-    Index rows() const { return m_A.rows(); }
-    Index cols() const { return m_A.cols(); }
-
-  private:
-    typedef std::complex<RealScalar> ComplexScalar;
-    typedef Matrix<ComplexScalar, RowsAtCompileTime, ColsAtCompileTime, MatrixType::Options,
-              MaxRowsAtCompileTime, MaxColsAtCompileTime> ComplexMatrix;
-
-    typename MatrixType::Nested m_A;
-    MatrixType m_tmp;
-    ComplexMatrix m_T, m_U, m_fT;
-    RealScalar m_conditionNumber;
-
-    RealScalar modfAndInit(RealScalar, RealScalar*);
-
-    template<typename ResultType>
-    void computeIntPower(ResultType&, RealScalar);
-
-    template<typename ResultType>
-    void computeFracPower(ResultType&, RealScalar);
-
-    template<int Rows, int Cols, int Options, int MaxRows, int MaxCols>
-    static void revertSchur(
-        Matrix<ComplexScalar, Rows, Cols, Options, MaxRows, MaxCols>& res,
-        const ComplexMatrix& T,
-        const ComplexMatrix& U);
-
-    template<int Rows, int Cols, int Options, int MaxRows, int MaxCols>
-    static void revertSchur(
-        Matrix<RealScalar, Rows, Cols, Options, MaxRows, MaxCols>& res,
-        const ComplexMatrix& T,
-        const ComplexMatrix& U);
-};
-
-template<typename MatrixType>
-template<typename ResultType>
-void MatrixPower<MatrixType>::compute(ResultType& res, RealScalar p)
-{
-  switch (cols()) {
-    case 0:
-      break;
-    case 1:
-      res(0,0) = std::pow(m_A.coeff(0,0), p);
-      break;
-    default:
-      RealScalar intpart, x = modfAndInit(p, &intpart);
-      computeIntPower(res, intpart);
-      computeFracPower(res, x);
-  }
-}
-
-template<typename MatrixType>
-typename MatrixPower<MatrixType>::RealScalar
-MatrixPower<MatrixType>::modfAndInit(RealScalar x, RealScalar* intpart)
-{
-  typedef Array<RealScalar, RowsAtCompileTime, 1, ColMajor, MaxRowsAtCompileTime> RealArray;
-
-  *intpart = std::floor(x);
-  RealScalar res = x - *intpart;
-
-  if (!m_conditionNumber && res) {
-    const ComplexSchur<MatrixType> schurOfA(m_A);
-    m_T = schurOfA.matrixT();
-    m_U = schurOfA.matrixU();
-    
-    const RealArray absTdiag = m_T.diagonal().array().abs();
-    m_conditionNumber = absTdiag.maxCoeff() / absTdiag.minCoeff();
-  }
-
-  if (res>RealScalar(0.5) && res>(1-res)*std::pow(m_conditionNumber, res)) {
-    --res;
-    ++*intpart;
-  }
-  return res;
-}
-
-template<typename MatrixType>
-template<typename ResultType>
-void MatrixPower<MatrixType>::computeIntPower(ResultType& res, RealScalar p)
-{
-  RealScalar pp = std::abs(p);
-
-  if (p<0)  m_tmp = m_A.inverse();
-  else      m_tmp = m_A;
-
-  res = MatrixType::Identity(rows(), cols());
-  while (pp >= 1) {
-    if (std::fmod(pp, 2) >= 1)
-      res = m_tmp * res;
-    m_tmp *= m_tmp;
-    pp /= 2;
-  }
-}
-
-template<typename MatrixType>
-template<typename ResultType>
-void MatrixPower<MatrixType>::computeFracPower(ResultType& res, RealScalar p)
-{
-  if (p) {
-    eigen_assert(m_conditionNumber);
-    MatrixPowerAtomic<ComplexMatrix>(m_T, p).compute(m_fT);
-    revertSchur(m_tmp, m_fT, m_U);
-    res = m_tmp * res;
-  }
-}
-
-template<typename MatrixType>
-template<int Rows, int Cols, int Options, int MaxRows, int MaxCols>
-inline void MatrixPower<MatrixType>::revertSchur(
-    Matrix<ComplexScalar, Rows, Cols, Options, MaxRows, MaxCols>& res,
-    const ComplexMatrix& T,
-    const ComplexMatrix& U)
-{ res.noalias() = U * (T.template triangularView<Upper>() * U.adjoint()); }
-
-template<typename MatrixType>
-template<int Rows, int Cols, int Options, int MaxRows, int MaxCols>
-inline void MatrixPower<MatrixType>::revertSchur(
-    Matrix<RealScalar, Rows, Cols, Options, MaxRows, MaxCols>& res,
-    const ComplexMatrix& T,
-    const ComplexMatrix& U)
-{ res.noalias() = (U * (T.template triangularView<Upper>() * U.adjoint())).real(); }
-
-/**
- * \ingroup MatrixFunctions_Module
- *
- * \brief Proxy for the matrix power of some matrix (expression).
- *
- * \tparam Derived  type of the base, a matrix (expression).
- *
- * This class holds the arguments to the matrix power until it is
- * assigned or evaluated for some other reason (so the argument
- * should not be changed in the meantime). It is the return type of
- * MatrixBase::pow() and related functions and most of the
- * time this is the only way it is used.
- */
-template<typename Derived>
-class MatrixPowerReturnValue : public ReturnByValue< MatrixPowerReturnValue<Derived> >
-{
-  public:
-    typedef typename Derived::PlainObject PlainObject;
-    typedef typename Derived::RealScalar RealScalar;
-    typedef typename Derived::Index Index;
-
-    /**
-     * \brief Constructor.
-     *
-     * \param[in] A  %Matrix (expression), the base of the matrix power.
-     * \param[in] p  scalar, the exponent of the matrix power.
-     */
-    MatrixPowerReturnValue(const Derived& A, RealScalar p) : m_A(A), m_p(p)
-    { }
-
-    /**
-     * \brief Compute the matrix power.
-     *
-     * \param[out] result  \f$ A^p \f$ where \p A and \p p are as in the
-     * constructor.
-     */
-    template<typename ResultType>
-    inline void evalTo(ResultType& res) const
-    { MatrixPower<PlainObject>(m_A.eval()).compute(res, m_p); }
-
-    Index rows() const { return m_A.rows(); }
-    Index cols() const { return m_A.cols(); }
-
-  private:
-    const Derived& m_A;
-    const RealScalar m_p;
-    MatrixPowerReturnValue& operator=(const MatrixPowerReturnValue&);
-};
-
-namespace internal {
-
-template<typename MatrixPowerType>
-struct traits< MatrixPowerRetval<MatrixPowerType> >
-{ typedef typename MatrixPowerType::PlainObject ReturnType; };
-
-template<typename Derived>
-struct traits< MatrixPowerReturnValue<Derived> >
-{ typedef typename Derived::PlainObject ReturnType; };
-
-}
-
-template<typename Derived>
-const MatrixPowerReturnValue<Derived> MatrixBase<Derived>::pow(const RealScalar& p) const
-{ return MatrixPowerReturnValue<Derived>(derived(), p); }
-
-} // namespace Eigen
-
-#endif // EIGEN_MATRIX_POWER
diff --git a/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h b/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h
deleted file mode 100644
index b48ea9d4..00000000
--- a/eigenlib/unsupported/Eigen/src/MatrixFunctions/MatrixSquareRoot.h
+++ /dev/null
@@ -1,466 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MATRIX_SQUARE_ROOT
-#define EIGEN_MATRIX_SQUARE_ROOT
-
-namespace Eigen { 
-
-/** \ingroup MatrixFunctions_Module
-  * \brief Class for computing matrix square roots of upper quasi-triangular matrices.
-  * \tparam  MatrixType  type of the argument of the matrix square root,
-  *                      expected to be an instantiation of the Matrix class template.
-  *
-  * This class computes the square root of the upper quasi-triangular
-  * matrix stored in the upper Hessenberg part of the matrix passed to
-  * the constructor.
-  *
-  * \sa MatrixSquareRoot, MatrixSquareRootTriangular
-  */
-template <typename MatrixType>
-class MatrixSquareRootQuasiTriangular
-{
-  public:
-
-    /** \brief Constructor. 
-      *
-      * \param[in]  A  upper quasi-triangular matrix whose square root 
-      *                is to be computed.
-      *
-      * The class stores a reference to \p A, so it should not be
-      * changed (or destroyed) before compute() is called.
-      */
-    MatrixSquareRootQuasiTriangular(const MatrixType& A) 
-      : m_A(A) 
-    {
-      eigen_assert(A.rows() == A.cols());
-    }
-    
-    /** \brief Compute the matrix square root
-      *
-      * \param[out] result  square root of \p A, as specified in the constructor.
-      *
-      * Only the upper Hessenberg part of \p result is updated, the
-      * rest is not touched.  See MatrixBase::sqrt() for details on
-      * how this computation is implemented.
-      */
-    template <typename ResultType> void compute(ResultType &result);    
-    
-  private:
-    typedef typename MatrixType::Index Index;
-    typedef typename MatrixType::Scalar Scalar;
-    
-    void computeDiagonalPartOfSqrt(MatrixType& sqrtT, const MatrixType& T);
-    void computeOffDiagonalPartOfSqrt(MatrixType& sqrtT, const MatrixType& T);
-    void compute2x2diagonalBlock(MatrixType& sqrtT, const MatrixType& T, typename MatrixType::Index i);
-    void compute1x1offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-				  typename MatrixType::Index i, typename MatrixType::Index j);
-    void compute1x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-				  typename MatrixType::Index i, typename MatrixType::Index j);
-    void compute2x1offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-				  typename MatrixType::Index i, typename MatrixType::Index j);
-    void compute2x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-				  typename MatrixType::Index i, typename MatrixType::Index j);
-  
-    template <typename SmallMatrixType>
-    static void solveAuxiliaryEquation(SmallMatrixType& X, const SmallMatrixType& A, 
-				     const SmallMatrixType& B, const SmallMatrixType& C);
-  
-    const MatrixType& m_A;
-};
-
-template <typename MatrixType>
-template <typename ResultType> 
-void MatrixSquareRootQuasiTriangular<MatrixType>::compute(ResultType &result)
-{
-  result.resize(m_A.rows(), m_A.cols());
-  computeDiagonalPartOfSqrt(result, m_A);
-  computeOffDiagonalPartOfSqrt(result, m_A);
-}
-
-// pre:  T is quasi-upper-triangular and sqrtT is a zero matrix of the same size
-// post: the diagonal blocks of sqrtT are the square roots of the diagonal blocks of T
-template <typename MatrixType>
-void MatrixSquareRootQuasiTriangular<MatrixType>::computeDiagonalPartOfSqrt(MatrixType& sqrtT, 
-									  const MatrixType& T)
-{
-  using std::sqrt;
-  const Index size = m_A.rows();
-  for (Index i = 0; i < size; i++) {
-    if (i == size - 1 || T.coeff(i+1, i) == 0) {
-      eigen_assert(T(i,i) >= 0);
-      sqrtT.coeffRef(i,i) = sqrt(T.coeff(i,i));
-    }
-    else {
-      compute2x2diagonalBlock(sqrtT, T, i);
-      ++i;
-    }
-  }
-}
-
-// pre:  T is quasi-upper-triangular and diagonal blocks of sqrtT are square root of diagonal blocks of T.
-// post: sqrtT is the square root of T.
-template <typename MatrixType>
-void MatrixSquareRootQuasiTriangular<MatrixType>::computeOffDiagonalPartOfSqrt(MatrixType& sqrtT, 
-									     const MatrixType& T)
-{
-  const Index size = m_A.rows();
-  for (Index j = 1; j < size; j++) {
-      if (T.coeff(j, j-1) != 0)  // if T(j-1:j, j-1:j) is a 2-by-2 block
-	continue;
-    for (Index i = j-1; i >= 0; i--) {
-      if (i > 0 && T.coeff(i, i-1) != 0)  // if T(i-1:i, i-1:i) is a 2-by-2 block
-	continue;
-      bool iBlockIs2x2 = (i < size - 1) && (T.coeff(i+1, i) != 0);
-      bool jBlockIs2x2 = (j < size - 1) && (T.coeff(j+1, j) != 0);
-      if (iBlockIs2x2 && jBlockIs2x2) 
-	compute2x2offDiagonalBlock(sqrtT, T, i, j);
-      else if (iBlockIs2x2 && !jBlockIs2x2) 
-	compute2x1offDiagonalBlock(sqrtT, T, i, j);
-      else if (!iBlockIs2x2 && jBlockIs2x2) 
-	compute1x2offDiagonalBlock(sqrtT, T, i, j);
-      else if (!iBlockIs2x2 && !jBlockIs2x2) 
-	compute1x1offDiagonalBlock(sqrtT, T, i, j);
-    }
-  }
-}
-
-// pre:  T.block(i,i,2,2) has complex conjugate eigenvalues
-// post: sqrtT.block(i,i,2,2) is square root of T.block(i,i,2,2)
-template <typename MatrixType>
-void MatrixSquareRootQuasiTriangular<MatrixType>
-     ::compute2x2diagonalBlock(MatrixType& sqrtT, const MatrixType& T, typename MatrixType::Index i)
-{
-  // TODO: This case (2-by-2 blocks with complex conjugate eigenvalues) is probably hidden somewhere
-  //       in EigenSolver. If we expose it, we could call it directly from here.
-  Matrix<Scalar,2,2> block = T.template block<2,2>(i,i);
-  EigenSolver<Matrix<Scalar,2,2> > es(block);
-  sqrtT.template block<2,2>(i,i)
-    = (es.eigenvectors() * es.eigenvalues().cwiseSqrt().asDiagonal() * es.eigenvectors().inverse()).real();
-}
-
-// pre:  block structure of T is such that (i,j) is a 1x1 block,
-//       all blocks of sqrtT to left of and below (i,j) are correct
-// post: sqrtT(i,j) has the correct value
-template <typename MatrixType>
-void MatrixSquareRootQuasiTriangular<MatrixType>
-     ::compute1x1offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-				  typename MatrixType::Index i, typename MatrixType::Index j)
-{
-  Scalar tmp = (sqrtT.row(i).segment(i+1,j-i-1) * sqrtT.col(j).segment(i+1,j-i-1)).value();
-  sqrtT.coeffRef(i,j) = (T.coeff(i,j) - tmp) / (sqrtT.coeff(i,i) + sqrtT.coeff(j,j));
-}
-
-// similar to compute1x1offDiagonalBlock()
-template <typename MatrixType>
-void MatrixSquareRootQuasiTriangular<MatrixType>
-     ::compute1x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-				  typename MatrixType::Index i, typename MatrixType::Index j)
-{
-  Matrix<Scalar,1,2> rhs = T.template block<1,2>(i,j);
-  if (j-i > 1)
-    rhs -= sqrtT.block(i, i+1, 1, j-i-1) * sqrtT.block(i+1, j, j-i-1, 2);
-  Matrix<Scalar,2,2> A = sqrtT.coeff(i,i) * Matrix<Scalar,2,2>::Identity();
-  A += sqrtT.template block<2,2>(j,j).transpose();
-  sqrtT.template block<1,2>(i,j).transpose() = A.fullPivLu().solve(rhs.transpose());
-}
-
-// similar to compute1x1offDiagonalBlock()
-template <typename MatrixType>
-void MatrixSquareRootQuasiTriangular<MatrixType>
-     ::compute2x1offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-				  typename MatrixType::Index i, typename MatrixType::Index j)
-{
-  Matrix<Scalar,2,1> rhs = T.template block<2,1>(i,j);
-  if (j-i > 2)
-    rhs -= sqrtT.block(i, i+2, 2, j-i-2) * sqrtT.block(i+2, j, j-i-2, 1);
-  Matrix<Scalar,2,2> A = sqrtT.coeff(j,j) * Matrix<Scalar,2,2>::Identity();
-  A += sqrtT.template block<2,2>(i,i);
-  sqrtT.template block<2,1>(i,j) = A.fullPivLu().solve(rhs);
-}
-
-// similar to compute1x1offDiagonalBlock()
-template <typename MatrixType>
-void MatrixSquareRootQuasiTriangular<MatrixType>
-     ::compute2x2offDiagonalBlock(MatrixType& sqrtT, const MatrixType& T, 
-				  typename MatrixType::Index i, typename MatrixType::Index j)
-{
-  Matrix<Scalar,2,2> A = sqrtT.template block<2,2>(i,i);
-  Matrix<Scalar,2,2> B = sqrtT.template block<2,2>(j,j);
-  Matrix<Scalar,2,2> C = T.template block<2,2>(i,j);
-  if (j-i > 2)
-    C -= sqrtT.block(i, i+2, 2, j-i-2) * sqrtT.block(i+2, j, j-i-2, 2);
-  Matrix<Scalar,2,2> X;
-  solveAuxiliaryEquation(X, A, B, C);
-  sqrtT.template block<2,2>(i,j) = X;
-}
-
-// solves the equation A X + X B = C where all matrices are 2-by-2
-template <typename MatrixType>
-template <typename SmallMatrixType>
-void MatrixSquareRootQuasiTriangular<MatrixType>
-     ::solveAuxiliaryEquation(SmallMatrixType& X, const SmallMatrixType& A,
-			      const SmallMatrixType& B, const SmallMatrixType& C)
-{
-  EIGEN_STATIC_ASSERT((internal::is_same<SmallMatrixType, Matrix<Scalar,2,2> >::value),
-		      EIGEN_INTERNAL_ERROR_PLEASE_FILE_A_BUG_REPORT);
-
-  Matrix<Scalar,4,4> coeffMatrix = Matrix<Scalar,4,4>::Zero();
-  coeffMatrix.coeffRef(0,0) = A.coeff(0,0) + B.coeff(0,0);
-  coeffMatrix.coeffRef(1,1) = A.coeff(0,0) + B.coeff(1,1);
-  coeffMatrix.coeffRef(2,2) = A.coeff(1,1) + B.coeff(0,0);
-  coeffMatrix.coeffRef(3,3) = A.coeff(1,1) + B.coeff(1,1);
-  coeffMatrix.coeffRef(0,1) = B.coeff(1,0);
-  coeffMatrix.coeffRef(0,2) = A.coeff(0,1);
-  coeffMatrix.coeffRef(1,0) = B.coeff(0,1);
-  coeffMatrix.coeffRef(1,3) = A.coeff(0,1);
-  coeffMatrix.coeffRef(2,0) = A.coeff(1,0);
-  coeffMatrix.coeffRef(2,3) = B.coeff(1,0);
-  coeffMatrix.coeffRef(3,1) = A.coeff(1,0);
-  coeffMatrix.coeffRef(3,2) = B.coeff(0,1);
-  
-  Matrix<Scalar,4,1> rhs;
-  rhs.coeffRef(0) = C.coeff(0,0);
-  rhs.coeffRef(1) = C.coeff(0,1);
-  rhs.coeffRef(2) = C.coeff(1,0);
-  rhs.coeffRef(3) = C.coeff(1,1);
-  
-  Matrix<Scalar,4,1> result;
-  result = coeffMatrix.fullPivLu().solve(rhs);
-
-  X.coeffRef(0,0) = result.coeff(0);
-  X.coeffRef(0,1) = result.coeff(1);
-  X.coeffRef(1,0) = result.coeff(2);
-  X.coeffRef(1,1) = result.coeff(3);
-}
-
-
-/** \ingroup MatrixFunctions_Module
-  * \brief Class for computing matrix square roots of upper triangular matrices.
-  * \tparam  MatrixType  type of the argument of the matrix square root,
-  *                      expected to be an instantiation of the Matrix class template.
-  *
-  * This class computes the square root of the upper triangular matrix
-  * stored in the upper triangular part (including the diagonal) of
-  * the matrix passed to the constructor.
-  *
-  * \sa MatrixSquareRoot, MatrixSquareRootQuasiTriangular
-  */
-template <typename MatrixType>
-class MatrixSquareRootTriangular
-{
-  public:
-    MatrixSquareRootTriangular(const MatrixType& A) 
-      : m_A(A) 
-    {
-      eigen_assert(A.rows() == A.cols());
-    }
-
-    /** \brief Compute the matrix square root
-      *
-      * \param[out] result  square root of \p A, as specified in the constructor.
-      *
-      * Only the upper triangular part (including the diagonal) of 
-      * \p result is updated, the rest is not touched.  See
-      * MatrixBase::sqrt() for details on how this computation is
-      * implemented.
-      */
-    template <typename ResultType> void compute(ResultType &result);    
-
- private:
-    const MatrixType& m_A;
-};
-
-template <typename MatrixType>
-template <typename ResultType> 
-void MatrixSquareRootTriangular<MatrixType>::compute(ResultType &result)
-{
-  using std::sqrt;
-
-  // Compute square root of m_A and store it in upper triangular part of result
-  // This uses that the square root of triangular matrices can be computed directly.
-  result.resize(m_A.rows(), m_A.cols());
-  typedef typename MatrixType::Index Index;
-  for (Index i = 0; i < m_A.rows(); i++) {
-    result.coeffRef(i,i) = sqrt(m_A.coeff(i,i));
-  }
-  for (Index j = 1; j < m_A.cols(); j++) {
-    for (Index i = j-1; i >= 0; i--) {
-      typedef typename MatrixType::Scalar Scalar;
-      // if i = j-1, then segment has length 0 so tmp = 0
-      Scalar tmp = (result.row(i).segment(i+1,j-i-1) * result.col(j).segment(i+1,j-i-1)).value();
-      // denominator may be zero if original matrix is singular
-      result.coeffRef(i,j) = (m_A.coeff(i,j) - tmp) / (result.coeff(i,i) + result.coeff(j,j));
-    }
-  }
-}
-
-
-/** \ingroup MatrixFunctions_Module
-  * \brief Class for computing matrix square roots of general matrices.
-  * \tparam  MatrixType  type of the argument of the matrix square root,
-  *                      expected to be an instantiation of the Matrix class template.
-  *
-  * \sa MatrixSquareRootTriangular, MatrixSquareRootQuasiTriangular, MatrixBase::sqrt()
-  */
-template <typename MatrixType, int IsComplex = NumTraits<typename internal::traits<MatrixType>::Scalar>::IsComplex>
-class MatrixSquareRoot
-{
-  public:
-
-    /** \brief Constructor. 
-      *
-      * \param[in]  A  matrix whose square root is to be computed.
-      *
-      * The class stores a reference to \p A, so it should not be
-      * changed (or destroyed) before compute() is called.
-      */
-    MatrixSquareRoot(const MatrixType& A); 
-    
-    /** \brief Compute the matrix square root
-      *
-      * \param[out] result  square root of \p A, as specified in the constructor.
-      *
-      * See MatrixBase::sqrt() for details on how this computation is
-      * implemented.
-      */
-    template <typename ResultType> void compute(ResultType &result);    
-};
-
-
-// ********** Partial specialization for real matrices **********
-
-template <typename MatrixType>
-class MatrixSquareRoot<MatrixType, 0>
-{
-  public:
-
-    MatrixSquareRoot(const MatrixType& A) 
-      : m_A(A) 
-    {  
-      eigen_assert(A.rows() == A.cols());
-    }
-  
-    template <typename ResultType> void compute(ResultType &result)
-    {
-      // Compute Schur decomposition of m_A
-      const RealSchur<MatrixType> schurOfA(m_A);  
-      const MatrixType& T = schurOfA.matrixT();
-      const MatrixType& U = schurOfA.matrixU();
-    
-      // Compute square root of T
-      MatrixType sqrtT = MatrixType::Zero(m_A.rows(), m_A.cols());
-      MatrixSquareRootQuasiTriangular<MatrixType>(T).compute(sqrtT);
-    
-      // Compute square root of m_A
-      result = U * sqrtT * U.adjoint();
-    }
-    
-  private:
-    const MatrixType& m_A;
-};
-
-
-// ********** Partial specialization for complex matrices **********
-
-template <typename MatrixType>
-class MatrixSquareRoot<MatrixType, 1>
-{
-  public:
-
-    MatrixSquareRoot(const MatrixType& A) 
-      : m_A(A) 
-    {  
-      eigen_assert(A.rows() == A.cols());
-    }
-  
-    template <typename ResultType> void compute(ResultType &result)
-    {
-      // Compute Schur decomposition of m_A
-      const ComplexSchur<MatrixType> schurOfA(m_A);  
-      const MatrixType& T = schurOfA.matrixT();
-      const MatrixType& U = schurOfA.matrixU();
-    
-      // Compute square root of T
-      MatrixType sqrtT;
-      MatrixSquareRootTriangular<MatrixType>(T).compute(sqrtT);
-    
-      // Compute square root of m_A
-      result = U * (sqrtT.template triangularView<Upper>() * U.adjoint());
-    }
-    
-  private:
-    const MatrixType& m_A;
-};
-
-
-/** \ingroup MatrixFunctions_Module
-  *
-  * \brief Proxy for the matrix square root of some matrix (expression).
-  *
-  * \tparam Derived  Type of the argument to the matrix square root.
-  *
-  * This class holds the argument to the matrix square root until it
-  * is assigned or evaluated for some other reason (so the argument
-  * should not be changed in the meantime). It is the return type of
-  * MatrixBase::sqrt() and most of the time this is the only way it is
-  * used.
-  */
-template<typename Derived> class MatrixSquareRootReturnValue
-: public ReturnByValue<MatrixSquareRootReturnValue<Derived> >
-{
-    typedef typename Derived::Index Index;
-  public:
-    /** \brief Constructor.
-      *
-      * \param[in]  src  %Matrix (expression) forming the argument of the
-      * matrix square root.
-      */
-    MatrixSquareRootReturnValue(const Derived& src) : m_src(src) { }
-
-    /** \brief Compute the matrix square root.
-      *
-      * \param[out]  result  the matrix square root of \p src in the
-      * constructor.
-      */
-    template <typename ResultType>
-    inline void evalTo(ResultType& result) const
-    {
-      const typename Derived::PlainObject srcEvaluated = m_src.eval();
-      MatrixSquareRoot<typename Derived::PlainObject> me(srcEvaluated);
-      me.compute(result);
-    }
-
-    Index rows() const { return m_src.rows(); }
-    Index cols() const { return m_src.cols(); }
-
-  protected:
-    const Derived& m_src;
-  private:
-    MatrixSquareRootReturnValue& operator=(const MatrixSquareRootReturnValue&);
-};
-
-namespace internal {
-template<typename Derived>
-struct traits<MatrixSquareRootReturnValue<Derived> >
-{
-  typedef typename Derived::PlainObject ReturnType;
-};
-}
-
-template <typename Derived>
-const MatrixSquareRootReturnValue<Derived> MatrixBase<Derived>::sqrt() const
-{
-  eigen_assert(rows() == cols());
-  return MatrixSquareRootReturnValue<Derived>(derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_MATRIX_FUNCTION
diff --git a/eigenlib/unsupported/Eigen/src/MatrixFunctions/StemFunction.h b/eigenlib/unsupported/Eigen/src/MatrixFunctions/StemFunction.h
deleted file mode 100644
index 724e55c1..00000000
--- a/eigenlib/unsupported/Eigen/src/MatrixFunctions/StemFunction.h
+++ /dev/null
@@ -1,105 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_STEM_FUNCTION
-#define EIGEN_STEM_FUNCTION
-
-namespace Eigen { 
-
-/** \ingroup MatrixFunctions_Module 
-  * \brief Stem functions corresponding to standard mathematical functions.
-  */
-template <typename Scalar>
-class StdStemFunctions
-{
-  public:
-
-    /** \brief The exponential function (and its derivatives). */
-    static Scalar exp(Scalar x, int)
-    {
-      return std::exp(x);
-    }
-
-    /** \brief Cosine (and its derivatives). */
-    static Scalar cos(Scalar x, int n)
-    {
-      Scalar res;
-      switch (n % 4) {
-      case 0: 
-	res = std::cos(x);
-	break;
-      case 1:
-	res = -std::sin(x);
-	break;
-      case 2:
-	res = -std::cos(x);
-	break;
-      case 3:
-	res = std::sin(x);
-	break;
-      }
-      return res;
-    }
-
-    /** \brief Sine (and its derivatives). */
-    static Scalar sin(Scalar x, int n)
-    {
-      Scalar res;
-      switch (n % 4) {
-      case 0:
-	res = std::sin(x);
-	break;
-      case 1:
-	res = std::cos(x);
-	break;
-      case 2:
-	res = -std::sin(x);
-	break;
-      case 3:
-	res = -std::cos(x);
-	break;
-      }
-      return res;
-    }
-
-    /** \brief Hyperbolic cosine (and its derivatives). */
-    static Scalar cosh(Scalar x, int n)
-    {
-      Scalar res;
-      switch (n % 2) {
-      case 0:
-	res = std::cosh(x);
-	break;
-      case 1:
-	res = std::sinh(x);
-	break;
-      }
-      return res;
-    }
-	
-    /** \brief Hyperbolic sine (and its derivatives). */
-    static Scalar sinh(Scalar x, int n)
-    {
-      Scalar res;
-      switch (n % 2) {
-      case 0:
-	res = std::sinh(x);
-	break;
-      case 1:
-	res = std::cosh(x);
-	break;
-      }
-      return res;
-    }
-
-}; // end of class StdStemFunctions
-
-} // end namespace Eigen
-
-#endif // EIGEN_STEM_FUNCTION
diff --git a/eigenlib/unsupported/Eigen/src/MoreVectorization/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/MoreVectorization/CMakeLists.txt
deleted file mode 100644
index 1b887cc8..00000000
--- a/eigenlib/unsupported/Eigen/src/MoreVectorization/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_MoreVectorization_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_MoreVectorization_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/MoreVectorization COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/MoreVectorization/MathFunctions.h b/eigenlib/unsupported/Eigen/src/MoreVectorization/MathFunctions.h
deleted file mode 100644
index 63cb28de..00000000
--- a/eigenlib/unsupported/Eigen/src/MoreVectorization/MathFunctions.h
+++ /dev/null
@@ -1,95 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Rohit Garg <rpg.314@gmail.com>
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_MOREVECTORIZATION_MATHFUNCTIONS_H
-#define EIGEN_MOREVECTORIZATION_MATHFUNCTIONS_H
-
-namespace Eigen { 
-
-namespace internal {
-
-/** \internal \returns the arcsin of \a a (coeff-wise) */
-template<typename Packet> inline static Packet pasin(Packet a) { return std::asin(a); }
-
-#ifdef EIGEN_VECTORIZE_SSE
-
-template<> EIGEN_DONT_INLINE Packet4f pasin(Packet4f x)
-{
-  _EIGEN_DECLARE_CONST_Packet4f(half, 0.5);
-  _EIGEN_DECLARE_CONST_Packet4f(minus_half, -0.5);
-  _EIGEN_DECLARE_CONST_Packet4f(3half, 1.5);
-
-  _EIGEN_DECLARE_CONST_Packet4f_FROM_INT(sign_mask, 0x80000000);
-
-  _EIGEN_DECLARE_CONST_Packet4f(pi, 3.141592654);
-  _EIGEN_DECLARE_CONST_Packet4f(pi_over_2, 3.141592654*0.5);
-
-  _EIGEN_DECLARE_CONST_Packet4f(asin1, 4.2163199048E-2);
-  _EIGEN_DECLARE_CONST_Packet4f(asin2, 2.4181311049E-2);
-  _EIGEN_DECLARE_CONST_Packet4f(asin3, 4.5470025998E-2);
-  _EIGEN_DECLARE_CONST_Packet4f(asin4, 7.4953002686E-2);
-  _EIGEN_DECLARE_CONST_Packet4f(asin5, 1.6666752422E-1);
-
-  Packet4f a = pabs(x);//got the absolute value
-
-  Packet4f sign_bit= _mm_and_ps(x, p4f_sign_mask);//extracted the sign bit
-
-  Packet4f z1,z2;//will need them during computation    
-
-
-//will compute the two branches for asin
-//so first compare with half
-
-  Packet4f branch_mask= _mm_cmpgt_ps(a, p4f_half);//this is to select which branch to take
-//both will be taken, and finally results will be merged
-//the branch for values >0.5
-
-    {
-//the core series expansion 
-    z1=pmadd(p4f_minus_half,a,p4f_half);
-    Packet4f x1=psqrt(z1);
-    Packet4f s1=pmadd(p4f_asin1, z1, p4f_asin2);
-    Packet4f s2=pmadd(s1, z1, p4f_asin3);
-    Packet4f s3=pmadd(s2,z1, p4f_asin4);
-    Packet4f s4=pmadd(s3,z1, p4f_asin5);
-    Packet4f temp=pmul(s4,z1);//not really a madd but a mul by z so that the next term can be a madd
-    z1=pmadd(temp,x1,x1);
-    z1=padd(z1,z1);
-    z1=psub(p4f_pi_over_2,z1);
-    }
-
-    {
-//the core series expansion 
-    Packet4f x2=a;
-    z2=pmul(x2,x2);
-    Packet4f s1=pmadd(p4f_asin1, z2, p4f_asin2);
-    Packet4f s2=pmadd(s1, z2, p4f_asin3);
-    Packet4f s3=pmadd(s2,z2, p4f_asin4);
-    Packet4f s4=pmadd(s3,z2, p4f_asin5);
-    Packet4f temp=pmul(s4,z2);//not really a madd but a mul by z so that the next term can be a madd
-    z2=pmadd(temp,x2,x2);
-    }
-
-/* select the correct result from the two branch evaluations */
-  z1  = _mm_and_ps(branch_mask, z1);
-  z2  = _mm_andnot_ps(branch_mask, z2);
-  Packet4f z  = _mm_or_ps(z1,z2);
-
-/* update the sign */
-  return _mm_xor_ps(z, sign_bit);
-}
-
-#endif // EIGEN_VECTORIZE_SSE
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_MOREVECTORIZATION_MATHFUNCTIONS_H
diff --git a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/NonLinearOptimization/CMakeLists.txt
deleted file mode 100644
index 9322ddad..00000000
--- a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_NonLinearOptimization_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_NonLinearOptimization_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/NonLinearOptimization COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h b/eigenlib/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
deleted file mode 100644
index b8ba6ddc..00000000
--- a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/HybridNonLinearSolver.h
+++ /dev/null
@@ -1,601 +0,0 @@
-// -*- coding: utf-8
-// vim: set fileencoding=utf-8
-
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_HYBRIDNONLINEARSOLVER_H
-#define EIGEN_HYBRIDNONLINEARSOLVER_H
-
-namespace Eigen { 
-
-namespace HybridNonLinearSolverSpace { 
-    enum Status {
-        Running = -1,
-        ImproperInputParameters = 0,
-        RelativeErrorTooSmall = 1,
-        TooManyFunctionEvaluation = 2,
-        TolTooSmall = 3,
-        NotMakingProgressJacobian = 4,
-        NotMakingProgressIterations = 5,
-        UserAsked = 6
-    };
-}
-
-/**
-  * \ingroup NonLinearOptimization_Module
-  * \brief Finds a zero of a system of n
-  * nonlinear functions in n variables by a modification of the Powell
-  * hybrid method ("dogleg").
-  *
-  * The user must provide a subroutine which calculates the
-  * functions. The Jacobian is either provided by the user, or approximated
-  * using a forward-difference method.
-  *
-  */
-template<typename FunctorType, typename Scalar=double>
-class HybridNonLinearSolver
-{
-public:
-    typedef DenseIndex Index;
-
-    HybridNonLinearSolver(FunctorType &_functor)
-        : functor(_functor) { nfev=njev=iter = 0;  fnorm= 0.; useExternalScaling=false;}
-
-    struct Parameters {
-        Parameters()
-            : factor(Scalar(100.))
-            , maxfev(1000)
-            , xtol(std::sqrt(NumTraits<Scalar>::epsilon()))
-            , nb_of_subdiagonals(-1)
-            , nb_of_superdiagonals(-1)
-            , epsfcn(Scalar(0.)) {}
-        Scalar factor;
-        Index maxfev;   // maximum number of function evaluation
-        Scalar xtol;
-        Index nb_of_subdiagonals;
-        Index nb_of_superdiagonals;
-        Scalar epsfcn;
-    };
-    typedef Matrix< Scalar, Dynamic, 1 > FVectorType;
-    typedef Matrix< Scalar, Dynamic, Dynamic > JacobianType;
-    /* TODO: if eigen provides a triangular storage, use it here */
-    typedef Matrix< Scalar, Dynamic, Dynamic > UpperTriangularType;
-
-    HybridNonLinearSolverSpace::Status hybrj1(
-            FVectorType  &x,
-            const Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon())
-            );
-
-    HybridNonLinearSolverSpace::Status solveInit(FVectorType  &x);
-    HybridNonLinearSolverSpace::Status solveOneStep(FVectorType  &x);
-    HybridNonLinearSolverSpace::Status solve(FVectorType  &x);
-
-    HybridNonLinearSolverSpace::Status hybrd1(
-            FVectorType  &x,
-            const Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon())
-            );
-
-    HybridNonLinearSolverSpace::Status solveNumericalDiffInit(FVectorType  &x);
-    HybridNonLinearSolverSpace::Status solveNumericalDiffOneStep(FVectorType  &x);
-    HybridNonLinearSolverSpace::Status solveNumericalDiff(FVectorType  &x);
-
-    void resetParameters(void) { parameters = Parameters(); }
-    Parameters parameters;
-    FVectorType  fvec, qtf, diag;
-    JacobianType fjac;
-    UpperTriangularType R;
-    Index nfev;
-    Index njev;
-    Index iter;
-    Scalar fnorm;
-    bool useExternalScaling; 
-private:
-    FunctorType &functor;
-    Index n;
-    Scalar sum;
-    bool sing;
-    Scalar temp;
-    Scalar delta;
-    bool jeval;
-    Index ncsuc;
-    Scalar ratio;
-    Scalar pnorm, xnorm, fnorm1;
-    Index nslow1, nslow2;
-    Index ncfail;
-    Scalar actred, prered;
-    FVectorType wa1, wa2, wa3, wa4;
-
-    HybridNonLinearSolver& operator=(const HybridNonLinearSolver&);
-};
-
-
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::hybrj1(
-        FVectorType  &x,
-        const Scalar tol
-        )
-{
-    n = x.size();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || tol < 0.)
-        return HybridNonLinearSolverSpace::ImproperInputParameters;
-
-    resetParameters();
-    parameters.maxfev = 100*(n+1);
-    parameters.xtol = tol;
-    diag.setConstant(n, 1.);
-    useExternalScaling = true;
-    return solve(x);
-}
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::solveInit(FVectorType  &x)
-{
-    n = x.size();
-
-    wa1.resize(n); wa2.resize(n); wa3.resize(n); wa4.resize(n);
-    fvec.resize(n);
-    qtf.resize(n);
-    fjac.resize(n, n);
-    if (!useExternalScaling)
-        diag.resize(n);
-    eigen_assert( (!useExternalScaling || diag.size()==n) || "When useExternalScaling is set, the caller must provide a valid 'diag'");
-
-    /* Function Body */
-    nfev = 0;
-    njev = 0;
-
-    /*     check the input parameters for errors. */
-    if (n <= 0 || parameters.xtol < 0. || parameters.maxfev <= 0 || parameters.factor <= 0. )
-        return HybridNonLinearSolverSpace::ImproperInputParameters;
-    if (useExternalScaling)
-        for (Index j = 0; j < n; ++j)
-            if (diag[j] <= 0.)
-                return HybridNonLinearSolverSpace::ImproperInputParameters;
-
-    /*     evaluate the function at the starting point */
-    /*     and calculate its norm. */
-    nfev = 1;
-    if ( functor(x, fvec) < 0)
-        return HybridNonLinearSolverSpace::UserAsked;
-    fnorm = fvec.stableNorm();
-
-    /*     initialize iteration counter and monitors. */
-    iter = 1;
-    ncsuc = 0;
-    ncfail = 0;
-    nslow1 = 0;
-    nslow2 = 0;
-
-    return HybridNonLinearSolverSpace::Running;
-}
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::solveOneStep(FVectorType  &x)
-{
-    using std::abs;
-    
-    eigen_assert(x.size()==n); // check the caller is not cheating us
-
-    Index j;
-    std::vector<JacobiRotation<Scalar> > v_givens(n), w_givens(n);
-
-    jeval = true;
-
-    /* calculate the jacobian matrix. */
-    if ( functor.df(x, fjac) < 0)
-        return HybridNonLinearSolverSpace::UserAsked;
-    ++njev;
-
-    wa2 = fjac.colwise().blueNorm();
-
-    /* on the first iteration and if external scaling is not used, scale according */
-    /* to the norms of the columns of the initial jacobian. */
-    if (iter == 1) {
-        if (!useExternalScaling)
-            for (j = 0; j < n; ++j)
-                diag[j] = (wa2[j]==0.) ? 1. : wa2[j];
-
-        /* on the first iteration, calculate the norm of the scaled x */
-        /* and initialize the step bound delta. */
-        xnorm = diag.cwiseProduct(x).stableNorm();
-        delta = parameters.factor * xnorm;
-        if (delta == 0.)
-            delta = parameters.factor;
-    }
-
-    /* compute the qr factorization of the jacobian. */
-    HouseholderQR<JacobianType> qrfac(fjac); // no pivoting:
-
-    /* copy the triangular factor of the qr factorization into r. */
-    R = qrfac.matrixQR();
-
-    /* accumulate the orthogonal factor in fjac. */
-    fjac = qrfac.householderQ();
-
-    /* form (q transpose)*fvec and store in qtf. */
-    qtf = fjac.transpose() * fvec;
-
-    /* rescale if necessary. */
-    if (!useExternalScaling)
-        diag = diag.cwiseMax(wa2);
-
-    while (true) {
-        /* determine the direction p. */
-        internal::dogleg<Scalar>(R, diag, qtf, delta, wa1);
-
-        /* store the direction p and x + p. calculate the norm of p. */
-        wa1 = -wa1;
-        wa2 = x + wa1;
-        pnorm = diag.cwiseProduct(wa1).stableNorm();
-
-        /* on the first iteration, adjust the initial step bound. */
-        if (iter == 1)
-            delta = (std::min)(delta,pnorm);
-
-        /* evaluate the function at x + p and calculate its norm. */
-        if ( functor(wa2, wa4) < 0)
-            return HybridNonLinearSolverSpace::UserAsked;
-        ++nfev;
-        fnorm1 = wa4.stableNorm();
-
-        /* compute the scaled actual reduction. */
-        actred = -1.;
-        if (fnorm1 < fnorm) /* Computing 2nd power */
-            actred = 1. - numext::abs2(fnorm1 / fnorm);
-
-        /* compute the scaled predicted reduction. */
-        wa3 = R.template triangularView<Upper>()*wa1 + qtf;
-        temp = wa3.stableNorm();
-        prered = 0.;
-        if (temp < fnorm) /* Computing 2nd power */
-            prered = 1. - numext::abs2(temp / fnorm);
-
-        /* compute the ratio of the actual to the predicted reduction. */
-        ratio = 0.;
-        if (prered > 0.)
-            ratio = actred / prered;
-
-        /* update the step bound. */
-        if (ratio < Scalar(.1)) {
-            ncsuc = 0;
-            ++ncfail;
-            delta = Scalar(.5) * delta;
-        } else {
-            ncfail = 0;
-            ++ncsuc;
-            if (ratio >= Scalar(.5) || ncsuc > 1)
-                delta = (std::max)(delta, pnorm / Scalar(.5));
-            if (abs(ratio - 1.) <= Scalar(.1)) {
-                delta = pnorm / Scalar(.5);
-            }
-        }
-
-        /* test for successful iteration. */
-        if (ratio >= Scalar(1e-4)) {
-            /* successful iteration. update x, fvec, and their norms. */
-            x = wa2;
-            wa2 = diag.cwiseProduct(x);
-            fvec = wa4;
-            xnorm = wa2.stableNorm();
-            fnorm = fnorm1;
-            ++iter;
-        }
-
-        /* determine the progress of the iteration. */
-        ++nslow1;
-        if (actred >= Scalar(.001))
-            nslow1 = 0;
-        if (jeval)
-            ++nslow2;
-        if (actred >= Scalar(.1))
-            nslow2 = 0;
-
-        /* test for convergence. */
-        if (delta <= parameters.xtol * xnorm || fnorm == 0.)
-            return HybridNonLinearSolverSpace::RelativeErrorTooSmall;
-
-        /* tests for termination and stringent tolerances. */
-        if (nfev >= parameters.maxfev)
-            return HybridNonLinearSolverSpace::TooManyFunctionEvaluation;
-        if (Scalar(.1) * (std::max)(Scalar(.1) * delta, pnorm) <= NumTraits<Scalar>::epsilon() * xnorm)
-            return HybridNonLinearSolverSpace::TolTooSmall;
-        if (nslow2 == 5)
-            return HybridNonLinearSolverSpace::NotMakingProgressJacobian;
-        if (nslow1 == 10)
-            return HybridNonLinearSolverSpace::NotMakingProgressIterations;
-
-        /* criterion for recalculating jacobian. */
-        if (ncfail == 2)
-            break; // leave inner loop and go for the next outer loop iteration
-
-        /* calculate the rank one modification to the jacobian */
-        /* and update qtf if necessary. */
-        wa1 = diag.cwiseProduct( diag.cwiseProduct(wa1)/pnorm );
-        wa2 = fjac.transpose() * wa4;
-        if (ratio >= Scalar(1e-4))
-            qtf = wa2;
-        wa2 = (wa2-wa3)/pnorm;
-
-        /* compute the qr factorization of the updated jacobian. */
-        internal::r1updt<Scalar>(R, wa1, v_givens, w_givens, wa2, wa3, &sing);
-        internal::r1mpyq<Scalar>(n, n, fjac.data(), v_givens, w_givens);
-        internal::r1mpyq<Scalar>(1, n, qtf.data(), v_givens, w_givens);
-
-        jeval = false;
-    }
-    return HybridNonLinearSolverSpace::Running;
-}
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::solve(FVectorType  &x)
-{
-    HybridNonLinearSolverSpace::Status status = solveInit(x);
-    if (status==HybridNonLinearSolverSpace::ImproperInputParameters)
-        return status;
-    while (status==HybridNonLinearSolverSpace::Running)
-        status = solveOneStep(x);
-    return status;
-}
-
-
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::hybrd1(
-        FVectorType  &x,
-        const Scalar tol
-        )
-{
-    n = x.size();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || tol < 0.)
-        return HybridNonLinearSolverSpace::ImproperInputParameters;
-
-    resetParameters();
-    parameters.maxfev = 200*(n+1);
-    parameters.xtol = tol;
-
-    diag.setConstant(n, 1.);
-    useExternalScaling = true;
-    return solveNumericalDiff(x);
-}
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::solveNumericalDiffInit(FVectorType  &x)
-{
-    n = x.size();
-
-    if (parameters.nb_of_subdiagonals<0) parameters.nb_of_subdiagonals= n-1;
-    if (parameters.nb_of_superdiagonals<0) parameters.nb_of_superdiagonals= n-1;
-
-    wa1.resize(n); wa2.resize(n); wa3.resize(n); wa4.resize(n);
-    qtf.resize(n);
-    fjac.resize(n, n);
-    fvec.resize(n);
-    if (!useExternalScaling)
-        diag.resize(n);
-    eigen_assert( (!useExternalScaling || diag.size()==n) || "When useExternalScaling is set, the caller must provide a valid 'diag'");
-
-    /* Function Body */
-    nfev = 0;
-    njev = 0;
-
-    /*     check the input parameters for errors. */
-    if (n <= 0 || parameters.xtol < 0. || parameters.maxfev <= 0 || parameters.nb_of_subdiagonals< 0 || parameters.nb_of_superdiagonals< 0 || parameters.factor <= 0. )
-        return HybridNonLinearSolverSpace::ImproperInputParameters;
-    if (useExternalScaling)
-        for (Index j = 0; j < n; ++j)
-            if (diag[j] <= 0.)
-                return HybridNonLinearSolverSpace::ImproperInputParameters;
-
-    /*     evaluate the function at the starting point */
-    /*     and calculate its norm. */
-    nfev = 1;
-    if ( functor(x, fvec) < 0)
-        return HybridNonLinearSolverSpace::UserAsked;
-    fnorm = fvec.stableNorm();
-
-    /*     initialize iteration counter and monitors. */
-    iter = 1;
-    ncsuc = 0;
-    ncfail = 0;
-    nslow1 = 0;
-    nslow2 = 0;
-
-    return HybridNonLinearSolverSpace::Running;
-}
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::solveNumericalDiffOneStep(FVectorType  &x)
-{
-    using std::sqrt;
-    using std::abs;
-    
-    assert(x.size()==n); // check the caller is not cheating us
-
-    Index j;
-    std::vector<JacobiRotation<Scalar> > v_givens(n), w_givens(n);
-
-    jeval = true;
-    if (parameters.nb_of_subdiagonals<0) parameters.nb_of_subdiagonals= n-1;
-    if (parameters.nb_of_superdiagonals<0) parameters.nb_of_superdiagonals= n-1;
-
-    /* calculate the jacobian matrix. */
-    if (internal::fdjac1(functor, x, fvec, fjac, parameters.nb_of_subdiagonals, parameters.nb_of_superdiagonals, parameters.epsfcn) <0)
-        return HybridNonLinearSolverSpace::UserAsked;
-    nfev += (std::min)(parameters.nb_of_subdiagonals+parameters.nb_of_superdiagonals+ 1, n);
-
-    wa2 = fjac.colwise().blueNorm();
-
-    /* on the first iteration and if external scaling is not used, scale according */
-    /* to the norms of the columns of the initial jacobian. */
-    if (iter == 1) {
-        if (!useExternalScaling)
-            for (j = 0; j < n; ++j)
-                diag[j] = (wa2[j]==0.) ? 1. : wa2[j];
-
-        /* on the first iteration, calculate the norm of the scaled x */
-        /* and initialize the step bound delta. */
-        xnorm = diag.cwiseProduct(x).stableNorm();
-        delta = parameters.factor * xnorm;
-        if (delta == 0.)
-            delta = parameters.factor;
-    }
-
-    /* compute the qr factorization of the jacobian. */
-    HouseholderQR<JacobianType> qrfac(fjac); // no pivoting:
-
-    /* copy the triangular factor of the qr factorization into r. */
-    R = qrfac.matrixQR();
-
-    /* accumulate the orthogonal factor in fjac. */
-    fjac = qrfac.householderQ();
-
-    /* form (q transpose)*fvec and store in qtf. */
-    qtf = fjac.transpose() * fvec;
-
-    /* rescale if necessary. */
-    if (!useExternalScaling)
-        diag = diag.cwiseMax(wa2);
-
-    while (true) {
-        /* determine the direction p. */
-        internal::dogleg<Scalar>(R, diag, qtf, delta, wa1);
-
-        /* store the direction p and x + p. calculate the norm of p. */
-        wa1 = -wa1;
-        wa2 = x + wa1;
-        pnorm = diag.cwiseProduct(wa1).stableNorm();
-
-        /* on the first iteration, adjust the initial step bound. */
-        if (iter == 1)
-            delta = (std::min)(delta,pnorm);
-
-        /* evaluate the function at x + p and calculate its norm. */
-        if ( functor(wa2, wa4) < 0)
-            return HybridNonLinearSolverSpace::UserAsked;
-        ++nfev;
-        fnorm1 = wa4.stableNorm();
-
-        /* compute the scaled actual reduction. */
-        actred = -1.;
-        if (fnorm1 < fnorm) /* Computing 2nd power */
-            actred = 1. - numext::abs2(fnorm1 / fnorm);
-
-        /* compute the scaled predicted reduction. */
-        wa3 = R.template triangularView<Upper>()*wa1 + qtf;
-        temp = wa3.stableNorm();
-        prered = 0.;
-        if (temp < fnorm) /* Computing 2nd power */
-            prered = 1. - numext::abs2(temp / fnorm);
-
-        /* compute the ratio of the actual to the predicted reduction. */
-        ratio = 0.;
-        if (prered > 0.)
-            ratio = actred / prered;
-
-        /* update the step bound. */
-        if (ratio < Scalar(.1)) {
-            ncsuc = 0;
-            ++ncfail;
-            delta = Scalar(.5) * delta;
-        } else {
-            ncfail = 0;
-            ++ncsuc;
-            if (ratio >= Scalar(.5) || ncsuc > 1)
-                delta = (std::max)(delta, pnorm / Scalar(.5));
-            if (abs(ratio - 1.) <= Scalar(.1)) {
-                delta = pnorm / Scalar(.5);
-            }
-        }
-
-        /* test for successful iteration. */
-        if (ratio >= Scalar(1e-4)) {
-            /* successful iteration. update x, fvec, and their norms. */
-            x = wa2;
-            wa2 = diag.cwiseProduct(x);
-            fvec = wa4;
-            xnorm = wa2.stableNorm();
-            fnorm = fnorm1;
-            ++iter;
-        }
-
-        /* determine the progress of the iteration. */
-        ++nslow1;
-        if (actred >= Scalar(.001))
-            nslow1 = 0;
-        if (jeval)
-            ++nslow2;
-        if (actred >= Scalar(.1))
-            nslow2 = 0;
-
-        /* test for convergence. */
-        if (delta <= parameters.xtol * xnorm || fnorm == 0.)
-            return HybridNonLinearSolverSpace::RelativeErrorTooSmall;
-
-        /* tests for termination and stringent tolerances. */
-        if (nfev >= parameters.maxfev)
-            return HybridNonLinearSolverSpace::TooManyFunctionEvaluation;
-        if (Scalar(.1) * (std::max)(Scalar(.1) * delta, pnorm) <= NumTraits<Scalar>::epsilon() * xnorm)
-            return HybridNonLinearSolverSpace::TolTooSmall;
-        if (nslow2 == 5)
-            return HybridNonLinearSolverSpace::NotMakingProgressJacobian;
-        if (nslow1 == 10)
-            return HybridNonLinearSolverSpace::NotMakingProgressIterations;
-
-        /* criterion for recalculating jacobian. */
-        if (ncfail == 2)
-            break; // leave inner loop and go for the next outer loop iteration
-
-        /* calculate the rank one modification to the jacobian */
-        /* and update qtf if necessary. */
-        wa1 = diag.cwiseProduct( diag.cwiseProduct(wa1)/pnorm );
-        wa2 = fjac.transpose() * wa4;
-        if (ratio >= Scalar(1e-4))
-            qtf = wa2;
-        wa2 = (wa2-wa3)/pnorm;
-
-        /* compute the qr factorization of the updated jacobian. */
-        internal::r1updt<Scalar>(R, wa1, v_givens, w_givens, wa2, wa3, &sing);
-        internal::r1mpyq<Scalar>(n, n, fjac.data(), v_givens, w_givens);
-        internal::r1mpyq<Scalar>(1, n, qtf.data(), v_givens, w_givens);
-
-        jeval = false;
-    }
-    return HybridNonLinearSolverSpace::Running;
-}
-
-template<typename FunctorType, typename Scalar>
-HybridNonLinearSolverSpace::Status
-HybridNonLinearSolver<FunctorType,Scalar>::solveNumericalDiff(FVectorType  &x)
-{
-    HybridNonLinearSolverSpace::Status status = solveNumericalDiffInit(x);
-    if (status==HybridNonLinearSolverSpace::ImproperInputParameters)
-        return status;
-    while (status==HybridNonLinearSolverSpace::Running)
-        status = solveNumericalDiffOneStep(x);
-    return status;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_HYBRIDNONLINEARSOLVER_H
-
-//vim: ai ts=4 sts=4 et sw=4
diff --git a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h b/eigenlib/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h
deleted file mode 100644
index bfeb26fc..00000000
--- a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/LevenbergMarquardt.h
+++ /dev/null
@@ -1,650 +0,0 @@
-// -*- coding: utf-8
-// vim: set fileencoding=utf-8
-
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_LEVENBERGMARQUARDT__H
-#define EIGEN_LEVENBERGMARQUARDT__H
-
-namespace Eigen { 
-
-namespace LevenbergMarquardtSpace {
-    enum Status {
-        NotStarted = -2,
-        Running = -1,
-        ImproperInputParameters = 0,
-        RelativeReductionTooSmall = 1,
-        RelativeErrorTooSmall = 2,
-        RelativeErrorAndReductionTooSmall = 3,
-        CosinusTooSmall = 4,
-        TooManyFunctionEvaluation = 5,
-        FtolTooSmall = 6,
-        XtolTooSmall = 7,
-        GtolTooSmall = 8,
-        UserAsked = 9
-    };
-}
-
-
-
-/**
-  * \ingroup NonLinearOptimization_Module
-  * \brief Performs non linear optimization over a non-linear function,
-  * using a variant of the Levenberg Marquardt algorithm.
-  *
-  * Check wikipedia for more information.
-  * http://en.wikipedia.org/wiki/Levenberg%E2%80%93Marquardt_algorithm
-  */
-template<typename FunctorType, typename Scalar=double>
-class LevenbergMarquardt
-{
-public:
-    LevenbergMarquardt(FunctorType &_functor)
-        : functor(_functor) { nfev = njev = iter = 0;  fnorm = gnorm = 0.; useExternalScaling=false; }
-
-    typedef DenseIndex Index;
-
-    struct Parameters {
-        Parameters()
-            : factor(Scalar(100.))
-            , maxfev(400)
-            , ftol(std::sqrt(NumTraits<Scalar>::epsilon()))
-            , xtol(std::sqrt(NumTraits<Scalar>::epsilon()))
-            , gtol(Scalar(0.))
-            , epsfcn(Scalar(0.)) {}
-        Scalar factor;
-        Index maxfev;   // maximum number of function evaluation
-        Scalar ftol;
-        Scalar xtol;
-        Scalar gtol;
-        Scalar epsfcn;
-    };
-
-    typedef Matrix< Scalar, Dynamic, 1 > FVectorType;
-    typedef Matrix< Scalar, Dynamic, Dynamic > JacobianType;
-
-    LevenbergMarquardtSpace::Status lmder1(
-            FVectorType &x,
-            const Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon())
-            );
-
-    LevenbergMarquardtSpace::Status minimize(FVectorType &x);
-    LevenbergMarquardtSpace::Status minimizeInit(FVectorType &x);
-    LevenbergMarquardtSpace::Status minimizeOneStep(FVectorType &x);
-
-    static LevenbergMarquardtSpace::Status lmdif1(
-            FunctorType &functor,
-            FVectorType &x,
-            Index *nfev,
-            const Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon())
-            );
-
-    LevenbergMarquardtSpace::Status lmstr1(
-            FVectorType  &x,
-            const Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon())
-            );
-
-    LevenbergMarquardtSpace::Status minimizeOptimumStorage(FVectorType  &x);
-    LevenbergMarquardtSpace::Status minimizeOptimumStorageInit(FVectorType  &x);
-    LevenbergMarquardtSpace::Status minimizeOptimumStorageOneStep(FVectorType  &x);
-
-    void resetParameters(void) { parameters = Parameters(); }
-
-    Parameters parameters;
-    FVectorType  fvec, qtf, diag;
-    JacobianType fjac;
-    PermutationMatrix<Dynamic,Dynamic> permutation;
-    Index nfev;
-    Index njev;
-    Index iter;
-    Scalar fnorm, gnorm;
-    bool useExternalScaling; 
-
-    Scalar lm_param(void) { return par; }
-private:
-    FunctorType &functor;
-    Index n;
-    Index m;
-    FVectorType wa1, wa2, wa3, wa4;
-
-    Scalar par, sum;
-    Scalar temp, temp1, temp2;
-    Scalar delta;
-    Scalar ratio;
-    Scalar pnorm, xnorm, fnorm1, actred, dirder, prered;
-
-    LevenbergMarquardt& operator=(const LevenbergMarquardt&);
-};
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::lmder1(
-        FVectorType  &x,
-        const Scalar tol
-        )
-{
-    n = x.size();
-    m = functor.values();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || m < n || tol < 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    resetParameters();
-    parameters.ftol = tol;
-    parameters.xtol = tol;
-    parameters.maxfev = 100*(n+1);
-
-    return minimize(x);
-}
-
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::minimize(FVectorType  &x)
-{
-    LevenbergMarquardtSpace::Status status = minimizeInit(x);
-    if (status==LevenbergMarquardtSpace::ImproperInputParameters)
-        return status;
-    do {
-        status = minimizeOneStep(x);
-    } while (status==LevenbergMarquardtSpace::Running);
-    return status;
-}
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::minimizeInit(FVectorType  &x)
-{
-    n = x.size();
-    m = functor.values();
-
-    wa1.resize(n); wa2.resize(n); wa3.resize(n);
-    wa4.resize(m);
-    fvec.resize(m);
-    fjac.resize(m, n);
-    if (!useExternalScaling)
-        diag.resize(n);
-    eigen_assert( (!useExternalScaling || diag.size()==n) || "When useExternalScaling is set, the caller must provide a valid 'diag'");
-    qtf.resize(n);
-
-    /* Function Body */
-    nfev = 0;
-    njev = 0;
-
-    /*     check the input parameters for errors. */
-    if (n <= 0 || m < n || parameters.ftol < 0. || parameters.xtol < 0. || parameters.gtol < 0. || parameters.maxfev <= 0 || parameters.factor <= 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    if (useExternalScaling)
-        for (Index j = 0; j < n; ++j)
-            if (diag[j] <= 0.)
-                return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    /*     evaluate the function at the starting point */
-    /*     and calculate its norm. */
-    nfev = 1;
-    if ( functor(x, fvec) < 0)
-        return LevenbergMarquardtSpace::UserAsked;
-    fnorm = fvec.stableNorm();
-
-    /*     initialize levenberg-marquardt parameter and iteration counter. */
-    par = 0.;
-    iter = 1;
-
-    return LevenbergMarquardtSpace::NotStarted;
-}
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::minimizeOneStep(FVectorType  &x)
-{
-    using std::abs;
-    using std::sqrt;
-    
-    eigen_assert(x.size()==n); // check the caller is not cheating us
-
-    /* calculate the jacobian matrix. */
-    Index df_ret = functor.df(x, fjac);
-    if (df_ret<0)
-        return LevenbergMarquardtSpace::UserAsked;
-    if (df_ret>0)
-        // numerical diff, we evaluated the function df_ret times
-        nfev += df_ret;
-    else njev++;
-
-    /* compute the qr factorization of the jacobian. */
-    wa2 = fjac.colwise().blueNorm();
-    ColPivHouseholderQR<JacobianType> qrfac(fjac);
-    fjac = qrfac.matrixQR();
-    permutation = qrfac.colsPermutation();
-
-    /* on the first iteration and if external scaling is not used, scale according */
-    /* to the norms of the columns of the initial jacobian. */
-    if (iter == 1) {
-        if (!useExternalScaling)
-            for (Index j = 0; j < n; ++j)
-                diag[j] = (wa2[j]==0.)? 1. : wa2[j];
-
-        /* on the first iteration, calculate the norm of the scaled x */
-        /* and initialize the step bound delta. */
-        xnorm = diag.cwiseProduct(x).stableNorm();
-        delta = parameters.factor * xnorm;
-        if (delta == 0.)
-            delta = parameters.factor;
-    }
-
-    /* form (q transpose)*fvec and store the first n components in */
-    /* qtf. */
-    wa4 = fvec;
-    wa4.applyOnTheLeft(qrfac.householderQ().adjoint());
-    qtf = wa4.head(n);
-
-    /* compute the norm of the scaled gradient. */
-    gnorm = 0.;
-    if (fnorm != 0.)
-        for (Index j = 0; j < n; ++j)
-            if (wa2[permutation.indices()[j]] != 0.)
-                gnorm = (std::max)(gnorm, abs( fjac.col(j).head(j+1).dot(qtf.head(j+1)/fnorm) / wa2[permutation.indices()[j]]));
-
-    /* test for convergence of the gradient norm. */
-    if (gnorm <= parameters.gtol)
-        return LevenbergMarquardtSpace::CosinusTooSmall;
-
-    /* rescale if necessary. */
-    if (!useExternalScaling)
-        diag = diag.cwiseMax(wa2);
-
-    do {
-
-        /* determine the levenberg-marquardt parameter. */
-        internal::lmpar2<Scalar>(qrfac, diag, qtf, delta, par, wa1);
-
-        /* store the direction p and x + p. calculate the norm of p. */
-        wa1 = -wa1;
-        wa2 = x + wa1;
-        pnorm = diag.cwiseProduct(wa1).stableNorm();
-
-        /* on the first iteration, adjust the initial step bound. */
-        if (iter == 1)
-            delta = (std::min)(delta,pnorm);
-
-        /* evaluate the function at x + p and calculate its norm. */
-        if ( functor(wa2, wa4) < 0)
-            return LevenbergMarquardtSpace::UserAsked;
-        ++nfev;
-        fnorm1 = wa4.stableNorm();
-
-        /* compute the scaled actual reduction. */
-        actred = -1.;
-        if (Scalar(.1) * fnorm1 < fnorm)
-            actred = 1. - numext::abs2(fnorm1 / fnorm);
-
-        /* compute the scaled predicted reduction and */
-        /* the scaled directional derivative. */
-        wa3 = fjac.template triangularView<Upper>() * (qrfac.colsPermutation().inverse() *wa1);
-        temp1 = numext::abs2(wa3.stableNorm() / fnorm);
-        temp2 = numext::abs2(sqrt(par) * pnorm / fnorm);
-        prered = temp1 + temp2 / Scalar(.5);
-        dirder = -(temp1 + temp2);
-
-        /* compute the ratio of the actual to the predicted */
-        /* reduction. */
-        ratio = 0.;
-        if (prered != 0.)
-            ratio = actred / prered;
-
-        /* update the step bound. */
-        if (ratio <= Scalar(.25)) {
-            if (actred >= 0.)
-                temp = Scalar(.5);
-            if (actred < 0.)
-                temp = Scalar(.5) * dirder / (dirder + Scalar(.5) * actred);
-            if (Scalar(.1) * fnorm1 >= fnorm || temp < Scalar(.1))
-                temp = Scalar(.1);
-            /* Computing MIN */
-            delta = temp * (std::min)(delta, pnorm / Scalar(.1));
-            par /= temp;
-        } else if (!(par != 0. && ratio < Scalar(.75))) {
-            delta = pnorm / Scalar(.5);
-            par = Scalar(.5) * par;
-        }
-
-        /* test for successful iteration. */
-        if (ratio >= Scalar(1e-4)) {
-            /* successful iteration. update x, fvec, and their norms. */
-            x = wa2;
-            wa2 = diag.cwiseProduct(x);
-            fvec = wa4;
-            xnorm = wa2.stableNorm();
-            fnorm = fnorm1;
-            ++iter;
-        }
-
-        /* tests for convergence. */
-        if (abs(actred) <= parameters.ftol && prered <= parameters.ftol && Scalar(.5) * ratio <= 1. && delta <= parameters.xtol * xnorm)
-            return LevenbergMarquardtSpace::RelativeErrorAndReductionTooSmall;
-        if (abs(actred) <= parameters.ftol && prered <= parameters.ftol && Scalar(.5) * ratio <= 1.)
-            return LevenbergMarquardtSpace::RelativeReductionTooSmall;
-        if (delta <= parameters.xtol * xnorm)
-            return LevenbergMarquardtSpace::RelativeErrorTooSmall;
-
-        /* tests for termination and stringent tolerances. */
-        if (nfev >= parameters.maxfev)
-            return LevenbergMarquardtSpace::TooManyFunctionEvaluation;
-        if (abs(actred) <= NumTraits<Scalar>::epsilon() && prered <= NumTraits<Scalar>::epsilon() && Scalar(.5) * ratio <= 1.)
-            return LevenbergMarquardtSpace::FtolTooSmall;
-        if (delta <= NumTraits<Scalar>::epsilon() * xnorm)
-            return LevenbergMarquardtSpace::XtolTooSmall;
-        if (gnorm <= NumTraits<Scalar>::epsilon())
-            return LevenbergMarquardtSpace::GtolTooSmall;
-
-    } while (ratio < Scalar(1e-4));
-
-    return LevenbergMarquardtSpace::Running;
-}
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::lmstr1(
-        FVectorType  &x,
-        const Scalar tol
-        )
-{
-    n = x.size();
-    m = functor.values();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || m < n || tol < 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    resetParameters();
-    parameters.ftol = tol;
-    parameters.xtol = tol;
-    parameters.maxfev = 100*(n+1);
-
-    return minimizeOptimumStorage(x);
-}
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::minimizeOptimumStorageInit(FVectorType  &x)
-{
-    n = x.size();
-    m = functor.values();
-
-    wa1.resize(n); wa2.resize(n); wa3.resize(n);
-    wa4.resize(m);
-    fvec.resize(m);
-    // Only R is stored in fjac. Q is only used to compute 'qtf', which is
-    // Q.transpose()*rhs. qtf will be updated using givens rotation,
-    // instead of storing them in Q.
-    // The purpose it to only use a nxn matrix, instead of mxn here, so
-    // that we can handle cases where m>>n :
-    fjac.resize(n, n);
-    if (!useExternalScaling)
-        diag.resize(n);
-    eigen_assert( (!useExternalScaling || diag.size()==n) || "When useExternalScaling is set, the caller must provide a valid 'diag'");
-    qtf.resize(n);
-
-    /* Function Body */
-    nfev = 0;
-    njev = 0;
-
-    /*     check the input parameters for errors. */
-    if (n <= 0 || m < n || parameters.ftol < 0. || parameters.xtol < 0. || parameters.gtol < 0. || parameters.maxfev <= 0 || parameters.factor <= 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    if (useExternalScaling)
-        for (Index j = 0; j < n; ++j)
-            if (diag[j] <= 0.)
-                return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    /*     evaluate the function at the starting point */
-    /*     and calculate its norm. */
-    nfev = 1;
-    if ( functor(x, fvec) < 0)
-        return LevenbergMarquardtSpace::UserAsked;
-    fnorm = fvec.stableNorm();
-
-    /*     initialize levenberg-marquardt parameter and iteration counter. */
-    par = 0.;
-    iter = 1;
-
-    return LevenbergMarquardtSpace::NotStarted;
-}
-
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::minimizeOptimumStorageOneStep(FVectorType  &x)
-{
-    using std::abs;
-    using std::sqrt;
-    
-    eigen_assert(x.size()==n); // check the caller is not cheating us
-
-    Index i, j;
-    bool sing;
-
-    /* compute the qr factorization of the jacobian matrix */
-    /* calculated one row at a time, while simultaneously */
-    /* forming (q transpose)*fvec and storing the first */
-    /* n components in qtf. */
-    qtf.fill(0.);
-    fjac.fill(0.);
-    Index rownb = 2;
-    for (i = 0; i < m; ++i) {
-        if (functor.df(x, wa3, rownb) < 0) return LevenbergMarquardtSpace::UserAsked;
-        internal::rwupdt<Scalar>(fjac, wa3, qtf, fvec[i]);
-        ++rownb;
-    }
-    ++njev;
-
-    /* if the jacobian is rank deficient, call qrfac to */
-    /* reorder its columns and update the components of qtf. */
-    sing = false;
-    for (j = 0; j < n; ++j) {
-        if (fjac(j,j) == 0.)
-            sing = true;
-        wa2[j] = fjac.col(j).head(j).stableNorm();
-    }
-    permutation.setIdentity(n);
-    if (sing) {
-        wa2 = fjac.colwise().blueNorm();
-        // TODO We have no unit test covering this code path, do not modify
-        // until it is carefully tested
-        ColPivHouseholderQR<JacobianType> qrfac(fjac);
-        fjac = qrfac.matrixQR();
-        wa1 = fjac.diagonal();
-        fjac.diagonal() = qrfac.hCoeffs();
-        permutation = qrfac.colsPermutation();
-        // TODO : avoid this:
-        for(Index ii=0; ii< fjac.cols(); ii++) fjac.col(ii).segment(ii+1, fjac.rows()-ii-1) *= fjac(ii,ii); // rescale vectors
-
-        for (j = 0; j < n; ++j) {
-            if (fjac(j,j) != 0.) {
-                sum = 0.;
-                for (i = j; i < n; ++i)
-                    sum += fjac(i,j) * qtf[i];
-                temp = -sum / fjac(j,j);
-                for (i = j; i < n; ++i)
-                    qtf[i] += fjac(i,j) * temp;
-            }
-            fjac(j,j) = wa1[j];
-        }
-    }
-
-    /* on the first iteration and if external scaling is not used, scale according */
-    /* to the norms of the columns of the initial jacobian. */
-    if (iter == 1) {
-        if (!useExternalScaling)
-            for (j = 0; j < n; ++j)
-                diag[j] = (wa2[j]==0.)? 1. : wa2[j];
-
-        /* on the first iteration, calculate the norm of the scaled x */
-        /* and initialize the step bound delta. */
-        xnorm = diag.cwiseProduct(x).stableNorm();
-        delta = parameters.factor * xnorm;
-        if (delta == 0.)
-            delta = parameters.factor;
-    }
-
-    /* compute the norm of the scaled gradient. */
-    gnorm = 0.;
-    if (fnorm != 0.)
-        for (j = 0; j < n; ++j)
-            if (wa2[permutation.indices()[j]] != 0.)
-                gnorm = (std::max)(gnorm, abs( fjac.col(j).head(j+1).dot(qtf.head(j+1)/fnorm) / wa2[permutation.indices()[j]]));
-
-    /* test for convergence of the gradient norm. */
-    if (gnorm <= parameters.gtol)
-        return LevenbergMarquardtSpace::CosinusTooSmall;
-
-    /* rescale if necessary. */
-    if (!useExternalScaling)
-        diag = diag.cwiseMax(wa2);
-
-    do {
-
-        /* determine the levenberg-marquardt parameter. */
-        internal::lmpar<Scalar>(fjac, permutation.indices(), diag, qtf, delta, par, wa1);
-
-        /* store the direction p and x + p. calculate the norm of p. */
-        wa1 = -wa1;
-        wa2 = x + wa1;
-        pnorm = diag.cwiseProduct(wa1).stableNorm();
-
-        /* on the first iteration, adjust the initial step bound. */
-        if (iter == 1)
-            delta = (std::min)(delta,pnorm);
-
-        /* evaluate the function at x + p and calculate its norm. */
-        if ( functor(wa2, wa4) < 0)
-            return LevenbergMarquardtSpace::UserAsked;
-        ++nfev;
-        fnorm1 = wa4.stableNorm();
-
-        /* compute the scaled actual reduction. */
-        actred = -1.;
-        if (Scalar(.1) * fnorm1 < fnorm)
-            actred = 1. - numext::abs2(fnorm1 / fnorm);
-
-        /* compute the scaled predicted reduction and */
-        /* the scaled directional derivative. */
-        wa3 = fjac.topLeftCorner(n,n).template triangularView<Upper>() * (permutation.inverse() * wa1);
-        temp1 = numext::abs2(wa3.stableNorm() / fnorm);
-        temp2 = numext::abs2(sqrt(par) * pnorm / fnorm);
-        prered = temp1 + temp2 / Scalar(.5);
-        dirder = -(temp1 + temp2);
-
-        /* compute the ratio of the actual to the predicted */
-        /* reduction. */
-        ratio = 0.;
-        if (prered != 0.)
-            ratio = actred / prered;
-
-        /* update the step bound. */
-        if (ratio <= Scalar(.25)) {
-            if (actred >= 0.)
-                temp = Scalar(.5);
-            if (actred < 0.)
-                temp = Scalar(.5) * dirder / (dirder + Scalar(.5) * actred);
-            if (Scalar(.1) * fnorm1 >= fnorm || temp < Scalar(.1))
-                temp = Scalar(.1);
-            /* Computing MIN */
-            delta = temp * (std::min)(delta, pnorm / Scalar(.1));
-            par /= temp;
-        } else if (!(par != 0. && ratio < Scalar(.75))) {
-            delta = pnorm / Scalar(.5);
-            par = Scalar(.5) * par;
-        }
-
-        /* test for successful iteration. */
-        if (ratio >= Scalar(1e-4)) {
-            /* successful iteration. update x, fvec, and their norms. */
-            x = wa2;
-            wa2 = diag.cwiseProduct(x);
-            fvec = wa4;
-            xnorm = wa2.stableNorm();
-            fnorm = fnorm1;
-            ++iter;
-        }
-
-        /* tests for convergence. */
-        if (abs(actred) <= parameters.ftol && prered <= parameters.ftol && Scalar(.5) * ratio <= 1. && delta <= parameters.xtol * xnorm)
-            return LevenbergMarquardtSpace::RelativeErrorAndReductionTooSmall;
-        if (abs(actred) <= parameters.ftol && prered <= parameters.ftol && Scalar(.5) * ratio <= 1.)
-            return LevenbergMarquardtSpace::RelativeReductionTooSmall;
-        if (delta <= parameters.xtol * xnorm)
-            return LevenbergMarquardtSpace::RelativeErrorTooSmall;
-
-        /* tests for termination and stringent tolerances. */
-        if (nfev >= parameters.maxfev)
-            return LevenbergMarquardtSpace::TooManyFunctionEvaluation;
-        if (abs(actred) <= NumTraits<Scalar>::epsilon() && prered <= NumTraits<Scalar>::epsilon() && Scalar(.5) * ratio <= 1.)
-            return LevenbergMarquardtSpace::FtolTooSmall;
-        if (delta <= NumTraits<Scalar>::epsilon() * xnorm)
-            return LevenbergMarquardtSpace::XtolTooSmall;
-        if (gnorm <= NumTraits<Scalar>::epsilon())
-            return LevenbergMarquardtSpace::GtolTooSmall;
-
-    } while (ratio < Scalar(1e-4));
-
-    return LevenbergMarquardtSpace::Running;
-}
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::minimizeOptimumStorage(FVectorType  &x)
-{
-    LevenbergMarquardtSpace::Status status = minimizeOptimumStorageInit(x);
-    if (status==LevenbergMarquardtSpace::ImproperInputParameters)
-        return status;
-    do {
-        status = minimizeOptimumStorageOneStep(x);
-    } while (status==LevenbergMarquardtSpace::Running);
-    return status;
-}
-
-template<typename FunctorType, typename Scalar>
-LevenbergMarquardtSpace::Status
-LevenbergMarquardt<FunctorType,Scalar>::lmdif1(
-        FunctorType &functor,
-        FVectorType  &x,
-        Index *nfev,
-        const Scalar tol
-        )
-{
-    Index n = x.size();
-    Index m = functor.values();
-
-    /* check the input parameters for errors. */
-    if (n <= 0 || m < n || tol < 0.)
-        return LevenbergMarquardtSpace::ImproperInputParameters;
-
-    NumericalDiff<FunctorType> numDiff(functor);
-    // embedded LevenbergMarquardt
-    LevenbergMarquardt<NumericalDiff<FunctorType>, Scalar > lm(numDiff);
-    lm.parameters.ftol = tol;
-    lm.parameters.xtol = tol;
-    lm.parameters.maxfev = 200*(n+1);
-
-    LevenbergMarquardtSpace::Status info = LevenbergMarquardtSpace::Status(lm.minimize(x));
-    if (nfev)
-        * nfev = lm.nfev;
-    return info;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_LEVENBERGMARQUARDT__H
-
-//vim: ai ts=4 sts=4 et sw=4
diff --git a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/chkder.h b/eigenlib/unsupported/Eigen/src/NonLinearOptimization/chkder.h
deleted file mode 100644
index db8ff7d6..00000000
--- a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/chkder.h
+++ /dev/null
@@ -1,66 +0,0 @@
-#define chkder_log10e 0.43429448190325182765
-#define chkder_factor 100.
-
-namespace Eigen { 
-
-namespace internal {
-
-template<typename Scalar>
-void chkder(
-        const Matrix< Scalar, Dynamic, 1 >  &x,
-        const Matrix< Scalar, Dynamic, 1 >  &fvec,
-        const Matrix< Scalar, Dynamic, Dynamic > &fjac,
-        Matrix< Scalar, Dynamic, 1 >  &xp,
-        const Matrix< Scalar, Dynamic, 1 >  &fvecp,
-        int mode,
-        Matrix< Scalar, Dynamic, 1 >  &err
-        )
-{
-    using std::sqrt;
-    using std::abs;
-    using std::log;
-    
-    typedef DenseIndex Index;
-
-    const Scalar eps = sqrt(NumTraits<Scalar>::epsilon());
-    const Scalar epsf = chkder_factor * NumTraits<Scalar>::epsilon();
-    const Scalar epslog = chkder_log10e * log(eps);
-    Scalar temp;
-
-    const Index m = fvec.size(), n = x.size();
-
-    if (mode != 2) {
-        /* mode = 1. */
-        xp.resize(n);
-        for (Index j = 0; j < n; ++j) {
-            temp = eps * abs(x[j]);
-            if (temp == 0.)
-                temp = eps;
-            xp[j] = x[j] + temp;
-        }
-    }
-    else {
-        /* mode = 2. */
-        err.setZero(m); 
-        for (Index j = 0; j < n; ++j) {
-            temp = abs(x[j]);
-            if (temp == 0.)
-                temp = 1.;
-            err += temp * fjac.col(j);
-        }
-        for (Index i = 0; i < m; ++i) {
-            temp = 1.;
-            if (fvec[i] != 0. && fvecp[i] != 0. && abs(fvecp[i] - fvec[i]) >= epsf * abs(fvec[i]))
-                temp = eps * abs((fvecp[i] - fvec[i]) / eps - err[i]) / (abs(fvec[i]) + abs(fvecp[i]));
-            err[i] = 1.;
-            if (temp > NumTraits<Scalar>::epsilon() && temp < eps)
-                err[i] = (chkder_log10e * log(temp) - epslog) / epslog;
-            if (temp >= eps)
-                err[i] = 0.;
-        }
-    }
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/covar.h b/eigenlib/unsupported/Eigen/src/NonLinearOptimization/covar.h
deleted file mode 100644
index 68260d19..00000000
--- a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/covar.h
+++ /dev/null
@@ -1,70 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar>
-void covar(
-        Matrix< Scalar, Dynamic, Dynamic > &r,
-        const VectorXi &ipvt,
-        Scalar tol = std::sqrt(NumTraits<Scalar>::epsilon()) )
-{
-    using std::abs;
-    typedef DenseIndex Index;
-
-    /* Local variables */
-    Index i, j, k, l, ii, jj;
-    bool sing;
-    Scalar temp;
-
-    /* Function Body */
-    const Index n = r.cols();
-    const Scalar tolr = tol * abs(r(0,0));
-    Matrix< Scalar, Dynamic, 1 > wa(n);
-    eigen_assert(ipvt.size()==n);
-
-    /* form the inverse of r in the full upper triangle of r. */
-    l = -1;
-    for (k = 0; k < n; ++k)
-        if (abs(r(k,k)) > tolr) {
-            r(k,k) = 1. / r(k,k);
-            for (j = 0; j <= k-1; ++j) {
-                temp = r(k,k) * r(j,k);
-                r(j,k) = 0.;
-                r.col(k).head(j+1) -= r.col(j).head(j+1) * temp;
-            }
-            l = k;
-        }
-
-    /* form the full upper triangle of the inverse of (r transpose)*r */
-    /* in the full upper triangle of r. */
-    for (k = 0; k <= l; ++k) {
-        for (j = 0; j <= k-1; ++j)
-            r.col(j).head(j+1) += r.col(k).head(j+1) * r(j,k);
-        r.col(k).head(k+1) *= r(k,k);
-    }
-
-    /* form the full lower triangle of the covariance matrix */
-    /* in the strict lower triangle of r and in wa. */
-    for (j = 0; j < n; ++j) {
-        jj = ipvt[j];
-        sing = j > l;
-        for (i = 0; i <= j; ++i) {
-            if (sing)
-                r(i,j) = 0.;
-            ii = ipvt[i];
-            if (ii > jj)
-                r(ii,jj) = r(i,j);
-            if (ii < jj)
-                r(jj,ii) = r(i,j);
-        }
-        wa[jj] = r(j,j);
-    }
-
-    /* symmetrize the covariance matrix in r. */
-    r.topLeftCorner(n,n).template triangularView<StrictlyUpper>() = r.topLeftCorner(n,n).transpose();
-    r.diagonal() = wa;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/dogleg.h b/eigenlib/unsupported/Eigen/src/NonLinearOptimization/dogleg.h
deleted file mode 100644
index 80c5d277..00000000
--- a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/dogleg.h
+++ /dev/null
@@ -1,107 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar>
-void dogleg(
-        const Matrix< Scalar, Dynamic, Dynamic >  &qrfac,
-        const Matrix< Scalar, Dynamic, 1 >  &diag,
-        const Matrix< Scalar, Dynamic, 1 >  &qtb,
-        Scalar delta,
-        Matrix< Scalar, Dynamic, 1 >  &x)
-{
-    using std::abs;
-    using std::sqrt;
-    
-    typedef DenseIndex Index;
-
-    /* Local variables */
-    Index i, j;
-    Scalar sum, temp, alpha, bnorm;
-    Scalar gnorm, qnorm;
-    Scalar sgnorm;
-
-    /* Function Body */
-    const Scalar epsmch = NumTraits<Scalar>::epsilon();
-    const Index n = qrfac.cols();
-    eigen_assert(n==qtb.size());
-    eigen_assert(n==x.size());
-    eigen_assert(n==diag.size());
-    Matrix< Scalar, Dynamic, 1 >  wa1(n), wa2(n);
-
-    /* first, calculate the gauss-newton direction. */
-    for (j = n-1; j >=0; --j) {
-        temp = qrfac(j,j);
-        if (temp == 0.) {
-            temp = epsmch * qrfac.col(j).head(j+1).maxCoeff();
-            if (temp == 0.)
-                temp = epsmch;
-        }
-        if (j==n-1)
-            x[j] = qtb[j] / temp;
-        else
-            x[j] = (qtb[j] - qrfac.row(j).tail(n-j-1).dot(x.tail(n-j-1))) / temp;
-    }
-
-    /* test whether the gauss-newton direction is acceptable. */
-    qnorm = diag.cwiseProduct(x).stableNorm();
-    if (qnorm <= delta)
-        return;
-
-    // TODO : this path is not tested by Eigen unit tests
-
-    /* the gauss-newton direction is not acceptable. */
-    /* next, calculate the scaled gradient direction. */
-
-    wa1.fill(0.);
-    for (j = 0; j < n; ++j) {
-        wa1.tail(n-j) += qrfac.row(j).tail(n-j) * qtb[j];
-        wa1[j] /= diag[j];
-    }
-
-    /* calculate the norm of the scaled gradient and test for */
-    /* the special case in which the scaled gradient is zero. */
-    gnorm = wa1.stableNorm();
-    sgnorm = 0.;
-    alpha = delta / qnorm;
-    if (gnorm == 0.)
-        goto algo_end;
-
-    /* calculate the point along the scaled gradient */
-    /* at which the quadratic is minimized. */
-    wa1.array() /= (diag*gnorm).array();
-    // TODO : once unit tests cover this part,:
-    // wa2 = qrfac.template triangularView<Upper>() * wa1;
-    for (j = 0; j < n; ++j) {
-        sum = 0.;
-        for (i = j; i < n; ++i) {
-            sum += qrfac(j,i) * wa1[i];
-        }
-        wa2[j] = sum;
-    }
-    temp = wa2.stableNorm();
-    sgnorm = gnorm / temp / temp;
-
-    /* test whether the scaled gradient direction is acceptable. */
-    alpha = 0.;
-    if (sgnorm >= delta)
-        goto algo_end;
-
-    /* the scaled gradient direction is not acceptable. */
-    /* finally, calculate the point along the dogleg */
-    /* at which the quadratic is minimized. */
-    bnorm = qtb.stableNorm();
-    temp = bnorm / gnorm * (bnorm / qnorm) * (sgnorm / delta);
-    temp = temp - delta / qnorm * numext::abs2(sgnorm / delta) + sqrt(numext::abs2(temp - delta / qnorm) + (1.-numext::abs2(delta / qnorm)) * (1.-numext::abs2(sgnorm / delta)));
-    alpha = delta / qnorm * (1. - numext::abs2(sgnorm / delta)) / temp;
-algo_end:
-
-    /* form appropriate convex combination of the gauss-newton */
-    /* direction and the scaled gradient direction. */
-    temp = (1.-alpha) * (std::min)(sgnorm,delta);
-    x = temp * wa1 + alpha * x;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h b/eigenlib/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h
deleted file mode 100644
index bb7cf267..00000000
--- a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/fdjac1.h
+++ /dev/null
@@ -1,79 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-template<typename FunctorType, typename Scalar>
-DenseIndex fdjac1(
-        const FunctorType &Functor,
-        Matrix< Scalar, Dynamic, 1 >  &x,
-        Matrix< Scalar, Dynamic, 1 >  &fvec,
-        Matrix< Scalar, Dynamic, Dynamic > &fjac,
-        DenseIndex ml, DenseIndex mu,
-        Scalar epsfcn)
-{
-    using std::sqrt;
-    using std::abs;
-    
-    typedef DenseIndex Index;
-
-    /* Local variables */
-    Scalar h;
-    Index j, k;
-    Scalar eps, temp;
-    Index msum;
-    int iflag;
-    Index start, length;
-
-    /* Function Body */
-    const Scalar epsmch = NumTraits<Scalar>::epsilon();
-    const Index n = x.size();
-    eigen_assert(fvec.size()==n);
-    Matrix< Scalar, Dynamic, 1 >  wa1(n);
-    Matrix< Scalar, Dynamic, 1 >  wa2(n);
-
-    eps = sqrt((std::max)(epsfcn,epsmch));
-    msum = ml + mu + 1;
-    if (msum >= n) {
-        /* computation of dense approximate jacobian. */
-        for (j = 0; j < n; ++j) {
-            temp = x[j];
-            h = eps * abs(temp);
-            if (h == 0.)
-                h = eps;
-            x[j] = temp + h;
-            iflag = Functor(x, wa1);
-            if (iflag < 0)
-                return iflag;
-            x[j] = temp;
-            fjac.col(j) = (wa1-fvec)/h;
-        }
-
-    }else {
-        /* computation of banded approximate jacobian. */
-        for (k = 0; k < msum; ++k) {
-            for (j = k; (msum<0) ? (j>n): (j<n); j += msum) {
-                wa2[j] = x[j];
-                h = eps * abs(wa2[j]);
-                if (h == 0.) h = eps;
-                x[j] = wa2[j] + h;
-            }
-            iflag = Functor(x, wa1);
-            if (iflag < 0)
-                return iflag;
-            for (j = k; (msum<0) ? (j>n): (j<n); j += msum) {
-                x[j] = wa2[j];
-                h = eps * abs(wa2[j]);
-                if (h == 0.) h = eps;
-                fjac.col(j).setZero();
-                start = std::max<Index>(0,j-mu);
-                length = (std::min)(n-1, j+ml) - start + 1;
-                fjac.col(j).segment(start, length) = ( wa1.segment(start, length)-fvec.segment(start, length))/h;
-            }
-        }
-    }
-    return 0;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/lmpar.h b/eigenlib/unsupported/Eigen/src/NonLinearOptimization/lmpar.h
deleted file mode 100644
index 4c17d4cd..00000000
--- a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/lmpar.h
+++ /dev/null
@@ -1,298 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar>
-void lmpar(
-        Matrix< Scalar, Dynamic, Dynamic > &r,
-        const VectorXi &ipvt,
-        const Matrix< Scalar, Dynamic, 1 >  &diag,
-        const Matrix< Scalar, Dynamic, 1 >  &qtb,
-        Scalar delta,
-        Scalar &par,
-        Matrix< Scalar, Dynamic, 1 >  &x)
-{
-    using std::abs;
-    using std::sqrt;
-    typedef DenseIndex Index;
-
-    /* Local variables */
-    Index i, j, l;
-    Scalar fp;
-    Scalar parc, parl;
-    Index iter;
-    Scalar temp, paru;
-    Scalar gnorm;
-    Scalar dxnorm;
-
-
-    /* Function Body */
-    const Scalar dwarf = (std::numeric_limits<Scalar>::min)();
-    const Index n = r.cols();
-    eigen_assert(n==diag.size());
-    eigen_assert(n==qtb.size());
-    eigen_assert(n==x.size());
-
-    Matrix< Scalar, Dynamic, 1 >  wa1, wa2;
-
-    /* compute and store in x the gauss-newton direction. if the */
-    /* jacobian is rank-deficient, obtain a least squares solution. */
-    Index nsing = n-1;
-    wa1 = qtb;
-    for (j = 0; j < n; ++j) {
-        if (r(j,j) == 0. && nsing == n-1)
-            nsing = j - 1;
-        if (nsing < n-1)
-            wa1[j] = 0.;
-    }
-    for (j = nsing; j>=0; --j) {
-        wa1[j] /= r(j,j);
-        temp = wa1[j];
-        for (i = 0; i < j ; ++i)
-            wa1[i] -= r(i,j) * temp;
-    }
-
-    for (j = 0; j < n; ++j)
-        x[ipvt[j]] = wa1[j];
-
-    /* initialize the iteration counter. */
-    /* evaluate the function at the origin, and test */
-    /* for acceptance of the gauss-newton direction. */
-    iter = 0;
-    wa2 = diag.cwiseProduct(x);
-    dxnorm = wa2.blueNorm();
-    fp = dxnorm - delta;
-    if (fp <= Scalar(0.1) * delta) {
-        par = 0;
-        return;
-    }
-
-    /* if the jacobian is not rank deficient, the newton */
-    /* step provides a lower bound, parl, for the zero of */
-    /* the function. otherwise set this bound to zero. */
-    parl = 0.;
-    if (nsing >= n-1) {
-        for (j = 0; j < n; ++j) {
-            l = ipvt[j];
-            wa1[j] = diag[l] * (wa2[l] / dxnorm);
-        }
-        // it's actually a triangularView.solveInplace(), though in a weird
-        // way:
-        for (j = 0; j < n; ++j) {
-            Scalar sum = 0.;
-            for (i = 0; i < j; ++i)
-                sum += r(i,j) * wa1[i];
-            wa1[j] = (wa1[j] - sum) / r(j,j);
-        }
-        temp = wa1.blueNorm();
-        parl = fp / delta / temp / temp;
-    }
-
-    /* calculate an upper bound, paru, for the zero of the function. */
-    for (j = 0; j < n; ++j)
-        wa1[j] = r.col(j).head(j+1).dot(qtb.head(j+1)) / diag[ipvt[j]];
-
-    gnorm = wa1.stableNorm();
-    paru = gnorm / delta;
-    if (paru == 0.)
-        paru = dwarf / (std::min)(delta,Scalar(0.1));
-
-    /* if the input par lies outside of the interval (parl,paru), */
-    /* set par to the closer endpoint. */
-    par = (std::max)(par,parl);
-    par = (std::min)(par,paru);
-    if (par == 0.)
-        par = gnorm / dxnorm;
-
-    /* beginning of an iteration. */
-    while (true) {
-        ++iter;
-
-        /* evaluate the function at the current value of par. */
-        if (par == 0.)
-            par = (std::max)(dwarf,Scalar(.001) * paru); /* Computing MAX */
-        wa1 = sqrt(par)* diag;
-
-        Matrix< Scalar, Dynamic, 1 > sdiag(n);
-        qrsolv<Scalar>(r, ipvt, wa1, qtb, x, sdiag);
-
-        wa2 = diag.cwiseProduct(x);
-        dxnorm = wa2.blueNorm();
-        temp = fp;
-        fp = dxnorm - delta;
-
-        /* if the function is small enough, accept the current value */
-        /* of par. also test for the exceptional cases where parl */
-        /* is zero or the number of iterations has reached 10. */
-        if (abs(fp) <= Scalar(0.1) * delta || (parl == 0. && fp <= temp && temp < 0.) || iter == 10)
-            break;
-
-        /* compute the newton correction. */
-        for (j = 0; j < n; ++j) {
-            l = ipvt[j];
-            wa1[j] = diag[l] * (wa2[l] / dxnorm);
-        }
-        for (j = 0; j < n; ++j) {
-            wa1[j] /= sdiag[j];
-            temp = wa1[j];
-            for (i = j+1; i < n; ++i)
-                wa1[i] -= r(i,j) * temp;
-        }
-        temp = wa1.blueNorm();
-        parc = fp / delta / temp / temp;
-
-        /* depending on the sign of the function, update parl or paru. */
-        if (fp > 0.)
-            parl = (std::max)(parl,par);
-        if (fp < 0.)
-            paru = (std::min)(paru,par);
-
-        /* compute an improved estimate for par. */
-        /* Computing MAX */
-        par = (std::max)(parl,par+parc);
-
-        /* end of an iteration. */
-    }
-
-    /* termination. */
-    if (iter == 0)
-        par = 0.;
-    return;
-}
-
-template <typename Scalar>
-void lmpar2(
-        const ColPivHouseholderQR<Matrix< Scalar, Dynamic, Dynamic> > &qr,
-        const Matrix< Scalar, Dynamic, 1 >  &diag,
-        const Matrix< Scalar, Dynamic, 1 >  &qtb,
-        Scalar delta,
-        Scalar &par,
-        Matrix< Scalar, Dynamic, 1 >  &x)
-
-{
-    using std::sqrt;
-    using std::abs;
-    typedef DenseIndex Index;
-
-    /* Local variables */
-    Index j;
-    Scalar fp;
-    Scalar parc, parl;
-    Index iter;
-    Scalar temp, paru;
-    Scalar gnorm;
-    Scalar dxnorm;
-
-
-    /* Function Body */
-    const Scalar dwarf = (std::numeric_limits<Scalar>::min)();
-    const Index n = qr.matrixQR().cols();
-    eigen_assert(n==diag.size());
-    eigen_assert(n==qtb.size());
-
-    Matrix< Scalar, Dynamic, 1 >  wa1, wa2;
-
-    /* compute and store in x the gauss-newton direction. if the */
-    /* jacobian is rank-deficient, obtain a least squares solution. */
-
-//    const Index rank = qr.nonzeroPivots(); // exactly double(0.)
-    const Index rank = qr.rank(); // use a threshold
-    wa1 = qtb;
-    wa1.tail(n-rank).setZero();
-    qr.matrixQR().topLeftCorner(rank, rank).template triangularView<Upper>().solveInPlace(wa1.head(rank));
-
-    x = qr.colsPermutation()*wa1;
-
-    /* initialize the iteration counter. */
-    /* evaluate the function at the origin, and test */
-    /* for acceptance of the gauss-newton direction. */
-    iter = 0;
-    wa2 = diag.cwiseProduct(x);
-    dxnorm = wa2.blueNorm();
-    fp = dxnorm - delta;
-    if (fp <= Scalar(0.1) * delta) {
-        par = 0;
-        return;
-    }
-
-    /* if the jacobian is not rank deficient, the newton */
-    /* step provides a lower bound, parl, for the zero of */
-    /* the function. otherwise set this bound to zero. */
-    parl = 0.;
-    if (rank==n) {
-        wa1 = qr.colsPermutation().inverse() *  diag.cwiseProduct(wa2)/dxnorm;
-        qr.matrixQR().topLeftCorner(n, n).transpose().template triangularView<Lower>().solveInPlace(wa1);
-        temp = wa1.blueNorm();
-        parl = fp / delta / temp / temp;
-    }
-
-    /* calculate an upper bound, paru, for the zero of the function. */
-    for (j = 0; j < n; ++j)
-        wa1[j] = qr.matrixQR().col(j).head(j+1).dot(qtb.head(j+1)) / diag[qr.colsPermutation().indices()(j)];
-
-    gnorm = wa1.stableNorm();
-    paru = gnorm / delta;
-    if (paru == 0.)
-        paru = dwarf / (std::min)(delta,Scalar(0.1));
-
-    /* if the input par lies outside of the interval (parl,paru), */
-    /* set par to the closer endpoint. */
-    par = (std::max)(par,parl);
-    par = (std::min)(par,paru);
-    if (par == 0.)
-        par = gnorm / dxnorm;
-
-    /* beginning of an iteration. */
-    Matrix< Scalar, Dynamic, Dynamic > s = qr.matrixQR();
-    while (true) {
-        ++iter;
-
-        /* evaluate the function at the current value of par. */
-        if (par == 0.)
-            par = (std::max)(dwarf,Scalar(.001) * paru); /* Computing MAX */
-        wa1 = sqrt(par)* diag;
-
-        Matrix< Scalar, Dynamic, 1 > sdiag(n);
-        qrsolv<Scalar>(s, qr.colsPermutation().indices(), wa1, qtb, x, sdiag);
-
-        wa2 = diag.cwiseProduct(x);
-        dxnorm = wa2.blueNorm();
-        temp = fp;
-        fp = dxnorm - delta;
-
-        /* if the function is small enough, accept the current value */
-        /* of par. also test for the exceptional cases where parl */
-        /* is zero or the number of iterations has reached 10. */
-        if (abs(fp) <= Scalar(0.1) * delta || (parl == 0. && fp <= temp && temp < 0.) || iter == 10)
-            break;
-
-        /* compute the newton correction. */
-        wa1 = qr.colsPermutation().inverse() * diag.cwiseProduct(wa2/dxnorm);
-        // we could almost use this here, but the diagonal is outside qr, in sdiag[]
-        // qr.matrixQR().topLeftCorner(n, n).transpose().template triangularView<Lower>().solveInPlace(wa1);
-        for (j = 0; j < n; ++j) {
-            wa1[j] /= sdiag[j];
-            temp = wa1[j];
-            for (Index i = j+1; i < n; ++i)
-                wa1[i] -= s(i,j) * temp;
-        }
-        temp = wa1.blueNorm();
-        parc = fp / delta / temp / temp;
-
-        /* depending on the sign of the function, update parl or paru. */
-        if (fp > 0.)
-            parl = (std::max)(parl,par);
-        if (fp < 0.)
-            paru = (std::min)(paru,par);
-
-        /* compute an improved estimate for par. */
-        par = (std::max)(parl,par+parc);
-    }
-    if (iter == 0)
-        par = 0.;
-    return;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h b/eigenlib/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h
deleted file mode 100644
index feafd62a..00000000
--- a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/qrsolv.h
+++ /dev/null
@@ -1,91 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-// TODO : once qrsolv2 is removed, use ColPivHouseholderQR or PermutationMatrix instead of ipvt
-template <typename Scalar>
-void qrsolv(
-        Matrix< Scalar, Dynamic, Dynamic > &s,
-        // TODO : use a PermutationMatrix once lmpar is no more:
-        const VectorXi &ipvt,
-        const Matrix< Scalar, Dynamic, 1 >  &diag,
-        const Matrix< Scalar, Dynamic, 1 >  &qtb,
-        Matrix< Scalar, Dynamic, 1 >  &x,
-        Matrix< Scalar, Dynamic, 1 >  &sdiag)
-
-{
-    typedef DenseIndex Index;
-
-    /* Local variables */
-    Index i, j, k, l;
-    Scalar temp;
-    Index n = s.cols();
-    Matrix< Scalar, Dynamic, 1 >  wa(n);
-    JacobiRotation<Scalar> givens;
-
-    /* Function Body */
-    // the following will only change the lower triangular part of s, including
-    // the diagonal, though the diagonal is restored afterward
-
-    /*     copy r and (q transpose)*b to preserve input and initialize s. */
-    /*     in particular, save the diagonal elements of r in x. */
-    x = s.diagonal();
-    wa = qtb;
-
-    s.topLeftCorner(n,n).template triangularView<StrictlyLower>() = s.topLeftCorner(n,n).transpose();
-
-    /*     eliminate the diagonal matrix d using a givens rotation. */
-    for (j = 0; j < n; ++j) {
-
-        /*        prepare the row of d to be eliminated, locating the */
-        /*        diagonal element using p from the qr factorization. */
-        l = ipvt[j];
-        if (diag[l] == 0.)
-            break;
-        sdiag.tail(n-j).setZero();
-        sdiag[j] = diag[l];
-
-        /*        the transformations to eliminate the row of d */
-        /*        modify only a single element of (q transpose)*b */
-        /*        beyond the first n, which is initially zero. */
-        Scalar qtbpj = 0.;
-        for (k = j; k < n; ++k) {
-            /*           determine a givens rotation which eliminates the */
-            /*           appropriate element in the current row of d. */
-            givens.makeGivens(-s(k,k), sdiag[k]);
-
-            /*           compute the modified diagonal element of r and */
-            /*           the modified element of ((q transpose)*b,0). */
-            s(k,k) = givens.c() * s(k,k) + givens.s() * sdiag[k];
-            temp = givens.c() * wa[k] + givens.s() * qtbpj;
-            qtbpj = -givens.s() * wa[k] + givens.c() * qtbpj;
-            wa[k] = temp;
-
-            /*           accumulate the tranformation in the row of s. */
-            for (i = k+1; i<n; ++i) {
-                temp = givens.c() * s(i,k) + givens.s() * sdiag[i];
-                sdiag[i] = -givens.s() * s(i,k) + givens.c() * sdiag[i];
-                s(i,k) = temp;
-            }
-        }
-    }
-
-    /*     solve the triangular system for z. if the system is */
-    /*     singular, then obtain a least squares solution. */
-    Index nsing;
-    for(nsing=0; nsing<n && sdiag[nsing]!=0; nsing++) {}
-
-    wa.tail(n-nsing).setZero();
-    s.topLeftCorner(nsing, nsing).transpose().template triangularView<Upper>().solveInPlace(wa.head(nsing));
-
-    // restore
-    sdiag = s.diagonal();
-    s.diagonal() = x;
-
-    /*     permute the components of z back to components of x. */
-    for (j = 0; j < n; ++j) x[ipvt[j]] = wa[j];
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h b/eigenlib/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h
deleted file mode 100644
index 36ff700e..00000000
--- a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/r1mpyq.h
+++ /dev/null
@@ -1,30 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-// TODO : move this to GivensQR once there's such a thing in Eigen
-
-template <typename Scalar>
-void r1mpyq(DenseIndex m, DenseIndex n, Scalar *a, const std::vector<JacobiRotation<Scalar> > &v_givens, const std::vector<JacobiRotation<Scalar> > &w_givens)
-{
-    typedef DenseIndex Index;
-
-    /*     apply the first set of givens rotations to a. */
-    for (Index j = n-2; j>=0; --j)
-        for (Index i = 0; i<m; ++i) {
-            Scalar temp = v_givens[j].c() * a[i+m*j] - v_givens[j].s() * a[i+m*(n-1)];
-            a[i+m*(n-1)] = v_givens[j].s() * a[i+m*j] + v_givens[j].c() * a[i+m*(n-1)];
-            a[i+m*j] = temp;
-        }
-    /*     apply the second set of givens rotations to a. */
-    for (Index j = 0; j<n-1; ++j)
-        for (Index i = 0; i<m; ++i) {
-            Scalar temp = w_givens[j].c() * a[i+m*j] + w_givens[j].s() * a[i+m*(n-1)];
-            a[i+m*(n-1)] = -w_givens[j].s() * a[i+m*j] + w_givens[j].c() * a[i+m*(n-1)];
-            a[i+m*j] = temp;
-        }
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/r1updt.h b/eigenlib/unsupported/Eigen/src/NonLinearOptimization/r1updt.h
deleted file mode 100644
index f2876606..00000000
--- a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/r1updt.h
+++ /dev/null
@@ -1,99 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar>
-void r1updt(
-        Matrix< Scalar, Dynamic, Dynamic > &s,
-        const Matrix< Scalar, Dynamic, 1> &u,
-        std::vector<JacobiRotation<Scalar> > &v_givens,
-        std::vector<JacobiRotation<Scalar> > &w_givens,
-        Matrix< Scalar, Dynamic, 1> &v,
-        Matrix< Scalar, Dynamic, 1> &w,
-        bool *sing)
-{
-    typedef DenseIndex Index;
-    const JacobiRotation<Scalar> IdentityRotation = JacobiRotation<Scalar>(1,0);
-
-    /* Local variables */
-    const Index m = s.rows();
-    const Index n = s.cols();
-    Index i, j=1;
-    Scalar temp;
-    JacobiRotation<Scalar> givens;
-
-    // r1updt had a broader usecase, but we dont use it here. And, more
-    // importantly, we can not test it.
-    eigen_assert(m==n);
-    eigen_assert(u.size()==m);
-    eigen_assert(v.size()==n);
-    eigen_assert(w.size()==n);
-
-    /* move the nontrivial part of the last column of s into w. */
-    w[n-1] = s(n-1,n-1);
-
-    /* rotate the vector v into a multiple of the n-th unit vector */
-    /* in such a way that a spike is introduced into w. */
-    for (j=n-2; j>=0; --j) {
-        w[j] = 0.;
-        if (v[j] != 0.) {
-            /* determine a givens rotation which eliminates the */
-            /* j-th element of v. */
-            givens.makeGivens(-v[n-1], v[j]);
-
-            /* apply the transformation to v and store the information */
-            /* necessary to recover the givens rotation. */
-            v[n-1] = givens.s() * v[j] + givens.c() * v[n-1];
-            v_givens[j] = givens;
-
-            /* apply the transformation to s and extend the spike in w. */
-            for (i = j; i < m; ++i) {
-                temp = givens.c() * s(j,i) - givens.s() * w[i];
-                w[i] = givens.s() * s(j,i) + givens.c() * w[i];
-                s(j,i) = temp;
-            }
-        } else
-            v_givens[j] = IdentityRotation;
-    }
-
-    /* add the spike from the rank 1 update to w. */
-    w += v[n-1] * u;
-
-    /* eliminate the spike. */
-    *sing = false;
-    for (j = 0; j < n-1; ++j) {
-        if (w[j] != 0.) {
-            /* determine a givens rotation which eliminates the */
-            /* j-th element of the spike. */
-            givens.makeGivens(-s(j,j), w[j]);
-
-            /* apply the transformation to s and reduce the spike in w. */
-            for (i = j; i < m; ++i) {
-                temp = givens.c() * s(j,i) + givens.s() * w[i];
-                w[i] = -givens.s() * s(j,i) + givens.c() * w[i];
-                s(j,i) = temp;
-            }
-
-            /* store the information necessary to recover the */
-            /* givens rotation. */
-            w_givens[j] = givens;
-        } else
-            v_givens[j] = IdentityRotation;
-
-        /* test for zero diagonal elements in the output s. */
-        if (s(j,j) == 0.) {
-            *sing = true;
-        }
-    }
-    /* move w back into the last column of the output s. */
-    s(n-1,n-1) = w[n-1];
-
-    if (s(j,j) == 0.) {
-        *sing = true;
-    }
-    return;
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h b/eigenlib/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h
deleted file mode 100644
index 6ebf8563..00000000
--- a/eigenlib/unsupported/Eigen/src/NonLinearOptimization/rwupdt.h
+++ /dev/null
@@ -1,49 +0,0 @@
-namespace Eigen { 
-
-namespace internal {
-
-template <typename Scalar>
-void rwupdt(
-        Matrix< Scalar, Dynamic, Dynamic >  &r,
-        const Matrix< Scalar, Dynamic, 1>  &w,
-        Matrix< Scalar, Dynamic, 1>  &b,
-        Scalar alpha)
-{
-    typedef DenseIndex Index;
-
-    const Index n = r.cols();
-    eigen_assert(r.rows()>=n);
-    std::vector<JacobiRotation<Scalar> > givens(n);
-
-    /* Local variables */
-    Scalar temp, rowj;
-
-    /* Function Body */
-    for (Index j = 0; j < n; ++j) {
-        rowj = w[j];
-
-        /* apply the previous transformations to */
-        /* r(i,j), i=0,1,...,j-1, and to w(j). */
-        for (Index i = 0; i < j; ++i) {
-            temp = givens[i].c() * r(i,j) + givens[i].s() * rowj;
-            rowj = -givens[i].s() * r(i,j) + givens[i].c() * rowj;
-            r(i,j) = temp;
-        }
-
-        /* determine a givens rotation which eliminates w(j). */
-        givens[j].makeGivens(-r(j,j), rowj);
-
-        if (rowj == 0.)
-            continue; // givens[j] is identity
-
-        /* apply the current transformation to r(j,j), b(j), and alpha. */
-        r(j,j) = givens[j].c() * r(j,j) + givens[j].s() * rowj;
-        temp = givens[j].c() * b[j] + givens[j].s() * alpha;
-        alpha = -givens[j].s() * b[j] + givens[j].c() * alpha;
-        b[j] = temp;
-    }
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
diff --git a/eigenlib/unsupported/Eigen/src/NumericalDiff/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/NumericalDiff/CMakeLists.txt
deleted file mode 100644
index 1199aca2..00000000
--- a/eigenlib/unsupported/Eigen/src/NumericalDiff/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_NumericalDiff_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_NumericalDiff_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/NumericalDiff COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h b/eigenlib/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h
deleted file mode 100644
index ea5d8bc2..00000000
--- a/eigenlib/unsupported/Eigen/src/NumericalDiff/NumericalDiff.h
+++ /dev/null
@@ -1,130 +0,0 @@
-// -*- coding: utf-8
-// vim: set fileencoding=utf-8
-
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_NUMERICAL_DIFF_H
-#define EIGEN_NUMERICAL_DIFF_H
-
-namespace Eigen { 
-
-enum NumericalDiffMode {
-    Forward,
-    Central
-};
-
-
-/**
-  * This class allows you to add a method df() to your functor, which will 
-  * use numerical differentiation to compute an approximate of the
-  * derivative for the functor. Of course, if you have an analytical form
-  * for the derivative, you should rather implement df() by yourself.
-  *
-  * More information on
-  * http://en.wikipedia.org/wiki/Numerical_differentiation
-  *
-  * Currently only "Forward" and "Central" scheme are implemented.
-  */
-template<typename _Functor, NumericalDiffMode mode=Forward>
-class NumericalDiff : public _Functor
-{
-public:
-    typedef _Functor Functor;
-    typedef typename Functor::Scalar Scalar;
-    typedef typename Functor::InputType InputType;
-    typedef typename Functor::ValueType ValueType;
-    typedef typename Functor::JacobianType JacobianType;
-
-    NumericalDiff(Scalar _epsfcn=0.) : Functor(), epsfcn(_epsfcn) {}
-    NumericalDiff(const Functor& f, Scalar _epsfcn=0.) : Functor(f), epsfcn(_epsfcn) {}
-
-    // forward constructors
-    template<typename T0>
-        NumericalDiff(const T0& a0) : Functor(a0), epsfcn(0) {}
-    template<typename T0, typename T1>
-        NumericalDiff(const T0& a0, const T1& a1) : Functor(a0, a1), epsfcn(0) {}
-    template<typename T0, typename T1, typename T2>
-        NumericalDiff(const T0& a0, const T1& a1, const T2& a2) : Functor(a0, a1, a2), epsfcn(0) {}
-
-    enum {
-        InputsAtCompileTime = Functor::InputsAtCompileTime,
-        ValuesAtCompileTime = Functor::ValuesAtCompileTime
-    };
-
-    /**
-      * return the number of evaluation of functor
-     */
-    int df(const InputType& _x, JacobianType &jac) const
-    {
-        using std::sqrt;
-        using std::abs;
-        /* Local variables */
-        Scalar h;
-        int nfev=0;
-        const typename InputType::Index n = _x.size();
-        const Scalar eps = sqrt(((std::max)(epsfcn,NumTraits<Scalar>::epsilon() )));
-        ValueType val1, val2;
-        InputType x = _x;
-        // TODO : we should do this only if the size is not already known
-        val1.resize(Functor::values());
-        val2.resize(Functor::values());
-
-        // initialization
-        switch(mode) {
-            case Forward:
-                // compute f(x)
-                Functor::operator()(x, val1); nfev++;
-                break;
-            case Central:
-                // do nothing
-                break;
-            default:
-                eigen_assert(false);
-        };
-
-        // Function Body
-        for (int j = 0; j < n; ++j) {
-            h = eps * abs(x[j]);
-            if (h == 0.) {
-                h = eps;
-            }
-            switch(mode) {
-                case Forward:
-                    x[j] += h;
-                    Functor::operator()(x, val2);
-                    nfev++;
-                    x[j] = _x[j];
-                    jac.col(j) = (val2-val1)/h;
-                    break;
-                case Central:
-                    x[j] += h;
-                    Functor::operator()(x, val2); nfev++;
-                    x[j] -= 2*h;
-                    Functor::operator()(x, val1); nfev++;
-                    x[j] = _x[j];
-                    jac.col(j) = (val2-val1)/(2*h);
-                    break;
-                default:
-                    eigen_assert(false);
-            };
-        }
-        return nfev;
-    }
-private:
-    Scalar epsfcn;
-
-    NumericalDiff& operator=(const NumericalDiff&);
-};
-
-} // end namespace Eigen
-
-//vim: ai ts=4 sts=4 et sw=4
-#endif // EIGEN_NUMERICAL_DIFF_H
-
diff --git a/eigenlib/unsupported/Eigen/src/Polynomials/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/Polynomials/CMakeLists.txt
deleted file mode 100644
index 51f13f3c..00000000
--- a/eigenlib/unsupported/Eigen/src/Polynomials/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Polynomials_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Polynomials_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/Polynomials COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/Polynomials/Companion.h b/eigenlib/unsupported/Eigen/src/Polynomials/Companion.h
deleted file mode 100644
index b515c292..00000000
--- a/eigenlib/unsupported/Eigen/src/Polynomials/Companion.h
+++ /dev/null
@@ -1,276 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Manuel Yguel <manuel.yguel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_COMPANION_H
-#define EIGEN_COMPANION_H
-
-// This file requires the user to include
-// * Eigen/Core
-// * Eigen/src/PolynomialSolver.h
-
-namespace Eigen { 
-
-namespace internal {
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-
-template <typename T>
-T radix(){ return 2; }
-
-template <typename T>
-T radix2(){ return radix<T>()*radix<T>(); }
-
-template<int Size>
-struct decrement_if_fixed_size
-{
-  enum {
-    ret = (Size == Dynamic) ? Dynamic : Size-1 };
-};
-
-#endif
-
-template< typename _Scalar, int _Deg >
-class companion
-{
-  public:
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Deg==Dynamic ? Dynamic : _Deg)
-
-    enum {
-      Deg = _Deg,
-      Deg_1=decrement_if_fixed_size<Deg>::ret
-    };
-
-    typedef _Scalar                                Scalar;
-    typedef typename NumTraits<Scalar>::Real       RealScalar;
-    typedef Matrix<Scalar, Deg, 1>                 RightColumn;
-    //typedef DiagonalMatrix< Scalar, Deg_1, Deg_1 > BottomLeftDiagonal;
-    typedef Matrix<Scalar, Deg_1, 1>               BottomLeftDiagonal;
-
-    typedef Matrix<Scalar, Deg, Deg>               DenseCompanionMatrixType;
-    typedef Matrix< Scalar, _Deg, Deg_1 >          LeftBlock;
-    typedef Matrix< Scalar, Deg_1, Deg_1 >         BottomLeftBlock;
-    typedef Matrix< Scalar, 1, Deg_1 >             LeftBlockFirstRow;
-
-    typedef DenseIndex Index;
-
-  public:
-    EIGEN_STRONG_INLINE const _Scalar operator()(Index row, Index col ) const
-    {
-      if( m_bl_diag.rows() > col )
-      {
-        if( 0 < row ){ return m_bl_diag[col]; }
-        else{ return 0; }
-      }
-      else{ return m_monic[row]; }
-    }
-
-  public:
-    template<typename VectorType>
-    void setPolynomial( const VectorType& poly )
-    {
-      const Index deg = poly.size()-1;
-      m_monic = -1/poly[deg] * poly.head(deg);
-      //m_bl_diag.setIdentity( deg-1 );
-      m_bl_diag.setOnes(deg-1);
-    }
-
-    template<typename VectorType>
-    companion( const VectorType& poly ){
-      setPolynomial( poly ); }
-
-  public:
-    DenseCompanionMatrixType denseMatrix() const
-    {
-      const Index deg   = m_monic.size();
-      const Index deg_1 = deg-1;
-      DenseCompanionMatrixType companion(deg,deg);
-      companion <<
-        ( LeftBlock(deg,deg_1)
-          << LeftBlockFirstRow::Zero(1,deg_1),
-          BottomLeftBlock::Identity(deg-1,deg-1)*m_bl_diag.asDiagonal() ).finished()
-        , m_monic;
-      return companion;
-    }
-
-
-
-  protected:
-    /** Helper function for the balancing algorithm.
-     * \returns true if the row and the column, having colNorm and rowNorm
-     * as norms, are balanced, false otherwise.
-     * colB and rowB are repectively the multipliers for
-     * the column and the row in order to balance them.
-     * */
-    bool balanced( Scalar colNorm, Scalar rowNorm,
-        bool& isBalanced, Scalar& colB, Scalar& rowB );
-
-    /** Helper function for the balancing algorithm.
-     * \returns true if the row and the column, having colNorm and rowNorm
-     * as norms, are balanced, false otherwise.
-     * colB and rowB are repectively the multipliers for
-     * the column and the row in order to balance them.
-     * */
-    bool balancedR( Scalar colNorm, Scalar rowNorm,
-        bool& isBalanced, Scalar& colB, Scalar& rowB );
-
-  public:
-    /**
-     * Balancing algorithm from B. N. PARLETT and C. REINSCH (1969)
-     * "Balancing a matrix for calculation of eigenvalues and eigenvectors"
-     * adapted to the case of companion matrices.
-     * A matrix with non zero row and non zero column is balanced
-     * for a certain norm if the i-th row and the i-th column
-     * have same norm for all i.
-     */
-    void balance();
-
-  protected:
-      RightColumn                m_monic;
-      BottomLeftDiagonal         m_bl_diag;
-};
-
-
-
-template< typename _Scalar, int _Deg >
-inline
-bool companion<_Scalar,_Deg>::balanced( Scalar colNorm, Scalar rowNorm,
-    bool& isBalanced, Scalar& colB, Scalar& rowB )
-{
-  if( Scalar(0) == colNorm || Scalar(0) == rowNorm ){ return true; }
-  else
-  {
-    //To find the balancing coefficients, if the radix is 2,
-    //one finds \f$ \sigma \f$ such that
-    // \f$ 2^{2\sigma-1} < rowNorm / colNorm \le 2^{2\sigma+1} \f$
-    // then the balancing coefficient for the row is \f$ 1/2^{\sigma} \f$
-    // and the balancing coefficient for the column is \f$ 2^{\sigma} \f$
-    rowB = rowNorm / radix<Scalar>();
-    colB = Scalar(1);
-    const Scalar s = colNorm + rowNorm;
-
-    while (colNorm < rowB)
-    {
-      colB *= radix<Scalar>();
-      colNorm *= radix2<Scalar>();
-    }
-
-    rowB = rowNorm * radix<Scalar>();
-
-    while (colNorm >= rowB)
-    {
-      colB /= radix<Scalar>();
-      colNorm /= radix2<Scalar>();
-    }
-
-    //This line is used to avoid insubstantial balancing
-    if ((rowNorm + colNorm) < Scalar(0.95) * s * colB)
-    {
-      isBalanced = false;
-      rowB = Scalar(1) / colB;
-      return false;
-    }
-    else{
-      return true; }
-  }
-}
-
-template< typename _Scalar, int _Deg >
-inline
-bool companion<_Scalar,_Deg>::balancedR( Scalar colNorm, Scalar rowNorm,
-    bool& isBalanced, Scalar& colB, Scalar& rowB )
-{
-  if( Scalar(0) == colNorm || Scalar(0) == rowNorm ){ return true; }
-  else
-  {
-    /**
-     * Set the norm of the column and the row to the geometric mean
-     * of the row and column norm
-     */
-    const _Scalar q = colNorm/rowNorm;
-    if( !isApprox( q, _Scalar(1) ) )
-    {
-      rowB = sqrt( colNorm/rowNorm );
-      colB = Scalar(1)/rowB;
-
-      isBalanced = false;
-      return false;
-    }
-    else{
-      return true; }
-  }
-}
-
-
-template< typename _Scalar, int _Deg >
-void companion<_Scalar,_Deg>::balance()
-{
-  using std::abs;
-  EIGEN_STATIC_ASSERT( Deg == Dynamic || 1 < Deg, YOU_MADE_A_PROGRAMMING_MISTAKE );
-  const Index deg   = m_monic.size();
-  const Index deg_1 = deg-1;
-
-  bool hasConverged=false;
-  while( !hasConverged )
-  {
-    hasConverged = true;
-    Scalar colNorm,rowNorm;
-    Scalar colB,rowB;
-
-    //First row, first column excluding the diagonal
-    //==============================================
-    colNorm = abs(m_bl_diag[0]);
-    rowNorm = abs(m_monic[0]);
-
-    //Compute balancing of the row and the column
-    if( !balanced( colNorm, rowNorm, hasConverged, colB, rowB ) )
-    {
-      m_bl_diag[0] *= colB;
-      m_monic[0] *= rowB;
-    }
-
-    //Middle rows and columns excluding the diagonal
-    //==============================================
-    for( Index i=1; i<deg_1; ++i )
-    {
-      // column norm, excluding the diagonal
-      colNorm = abs(m_bl_diag[i]);
-
-      // row norm, excluding the diagonal
-      rowNorm = abs(m_bl_diag[i-1]) + abs(m_monic[i]);
-
-      //Compute balancing of the row and the column
-      if( !balanced( colNorm, rowNorm, hasConverged, colB, rowB ) )
-      {
-        m_bl_diag[i]   *= colB;
-        m_bl_diag[i-1] *= rowB;
-        m_monic[i]     *= rowB;
-      }
-    }
-
-    //Last row, last column excluding the diagonal
-    //============================================
-    const Index ebl = m_bl_diag.size()-1;
-    VectorBlock<RightColumn,Deg_1> headMonic( m_monic, 0, deg_1 );
-    colNorm = headMonic.array().abs().sum();
-    rowNorm = abs( m_bl_diag[ebl] );
-
-    //Compute balancing of the row and the column
-    if( !balanced( colNorm, rowNorm, hasConverged, colB, rowB ) )
-    {
-      headMonic      *= colB;
-      m_bl_diag[ebl] *= rowB;
-    }
-  }
-}
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPANION_H
diff --git a/eigenlib/unsupported/Eigen/src/Polynomials/PolynomialSolver.h b/eigenlib/unsupported/Eigen/src/Polynomials/PolynomialSolver.h
deleted file mode 100644
index cd5c04bb..00000000
--- a/eigenlib/unsupported/Eigen/src/Polynomials/PolynomialSolver.h
+++ /dev/null
@@ -1,389 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Manuel Yguel <manuel.yguel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_POLYNOMIAL_SOLVER_H
-#define EIGEN_POLYNOMIAL_SOLVER_H
-
-namespace Eigen { 
-
-/** \ingroup Polynomials_Module
- *  \class PolynomialSolverBase.
- *
- * \brief Defined to be inherited by polynomial solvers: it provides
- * convenient methods such as
- *  - real roots,
- *  - greatest, smallest complex roots,
- *  - real roots with greatest, smallest absolute real value,
- *  - greatest, smallest real roots.
- *
- * It stores the set of roots as a vector of complexes.
- *
- */
-template< typename _Scalar, int _Deg >
-class PolynomialSolverBase
-{
-  public:
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Deg==Dynamic ? Dynamic : _Deg)
-
-    typedef _Scalar                             Scalar;
-    typedef typename NumTraits<Scalar>::Real    RealScalar;
-    typedef std::complex<RealScalar>            RootType;
-    typedef Matrix<RootType,_Deg,1>             RootsType;
-
-    typedef DenseIndex Index;
-
-  protected:
-    template< typename OtherPolynomial >
-    inline void setPolynomial( const OtherPolynomial& poly ){
-      m_roots.resize(poly.size()); }
-
-  public:
-    template< typename OtherPolynomial >
-    inline PolynomialSolverBase( const OtherPolynomial& poly ){
-      setPolynomial( poly() ); }
-
-    inline PolynomialSolverBase(){}
-
-  public:
-    /** \returns the complex roots of the polynomial */
-    inline const RootsType& roots() const { return m_roots; }
-
-  public:
-    /** Clear and fills the back insertion sequence with the real roots of the polynomial
-     * i.e. the real part of the complex roots that have an imaginary part which
-     * absolute value is smaller than absImaginaryThreshold.
-     * absImaginaryThreshold takes the dummy_precision associated
-     * with the _Scalar template parameter of the PolynomialSolver class as the default value.
-     *
-     * \param[out] bi_seq : the back insertion sequence (stl concept)
-     * \param[in]  absImaginaryThreshold : the maximum bound of the imaginary part of a complex
-     *  number that is considered as real.
-     * */
-    template<typename Stl_back_insertion_sequence>
-    inline void realRoots( Stl_back_insertion_sequence& bi_seq,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      using std::abs;
-      bi_seq.clear();
-      for(Index i=0; i<m_roots.size(); ++i )
-      {
-        if( abs( m_roots[i].imag() ) < absImaginaryThreshold ){
-          bi_seq.push_back( m_roots[i].real() ); }
-      }
-    }
-
-  protected:
-    template<typename squaredNormBinaryPredicate>
-    inline const RootType& selectComplexRoot_withRespectToNorm( squaredNormBinaryPredicate& pred ) const
-    {
-      Index res=0;
-      RealScalar norm2 = numext::abs2( m_roots[0] );
-      for( Index i=1; i<m_roots.size(); ++i )
-      {
-        const RealScalar currNorm2 = numext::abs2( m_roots[i] );
-        if( pred( currNorm2, norm2 ) ){
-          res=i; norm2=currNorm2; }
-      }
-      return m_roots[res];
-    }
-
-  public:
-    /**
-     * \returns the complex root with greatest norm.
-     */
-    inline const RootType& greatestRoot() const
-    {
-      std::greater<Scalar> greater;
-      return selectComplexRoot_withRespectToNorm( greater );
-    }
-
-    /**
-     * \returns the complex root with smallest norm.
-     */
-    inline const RootType& smallestRoot() const
-    {
-      std::less<Scalar> less;
-      return selectComplexRoot_withRespectToNorm( less );
-    }
-
-  protected:
-    template<typename squaredRealPartBinaryPredicate>
-    inline const RealScalar& selectRealRoot_withRespectToAbsRealPart(
-        squaredRealPartBinaryPredicate& pred,
-        bool& hasArealRoot,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      using std::abs;
-      hasArealRoot = false;
-      Index res=0;
-      RealScalar abs2(0);
-
-      for( Index i=0; i<m_roots.size(); ++i )
-      {
-        if( abs( m_roots[i].imag() ) < absImaginaryThreshold )
-        {
-          if( !hasArealRoot )
-          {
-            hasArealRoot = true;
-            res = i;
-            abs2 = m_roots[i].real() * m_roots[i].real();
-          }
-          else
-          {
-            const RealScalar currAbs2 = m_roots[i].real() * m_roots[i].real();
-            if( pred( currAbs2, abs2 ) )
-            {
-              abs2 = currAbs2;
-              res = i;
-            }
-          }
-        }
-        else
-        {
-          if( abs( m_roots[i].imag() ) < abs( m_roots[res].imag() ) ){
-            res = i; }
-        }
-      }
-      return numext::real_ref(m_roots[res]);
-    }
-
-
-    template<typename RealPartBinaryPredicate>
-    inline const RealScalar& selectRealRoot_withRespectToRealPart(
-        RealPartBinaryPredicate& pred,
-        bool& hasArealRoot,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      using std::abs;
-      hasArealRoot = false;
-      Index res=0;
-      RealScalar val(0);
-
-      for( Index i=0; i<m_roots.size(); ++i )
-      {
-        if( abs( m_roots[i].imag() ) < absImaginaryThreshold )
-        {
-          if( !hasArealRoot )
-          {
-            hasArealRoot = true;
-            res = i;
-            val = m_roots[i].real();
-          }
-          else
-          {
-            const RealScalar curr = m_roots[i].real();
-            if( pred( curr, val ) )
-            {
-              val = curr;
-              res = i;
-            }
-          }
-        }
-        else
-        {
-          if( abs( m_roots[i].imag() ) < abs( m_roots[res].imag() ) ){
-            res = i; }
-        }
-      }
-      return numext::real_ref(m_roots[res]);
-    }
-
-  public:
-    /**
-     * \returns a real root with greatest absolute magnitude.
-     * A real root is defined as the real part of a complex root with absolute imaginary
-     * part smallest than absImaginaryThreshold.
-     * absImaginaryThreshold takes the dummy_precision associated
-     * with the _Scalar template parameter of the PolynomialSolver class as the default value.
-     * If no real root is found the boolean hasArealRoot is set to false and the real part of
-     * the root with smallest absolute imaginary part is returned instead.
-     *
-     * \param[out] hasArealRoot : boolean true if a real root is found according to the
-     *  absImaginaryThreshold criterion, false otherwise.
-     * \param[in] absImaginaryThreshold : threshold on the absolute imaginary part to decide
-     *  whether or not a root is real.
-     */
-    inline const RealScalar& absGreatestRealRoot(
-        bool& hasArealRoot,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      std::greater<Scalar> greater;
-      return selectRealRoot_withRespectToAbsRealPart( greater, hasArealRoot, absImaginaryThreshold );
-    }
-
-
-    /**
-     * \returns a real root with smallest absolute magnitude.
-     * A real root is defined as the real part of a complex root with absolute imaginary
-     * part smallest than absImaginaryThreshold.
-     * absImaginaryThreshold takes the dummy_precision associated
-     * with the _Scalar template parameter of the PolynomialSolver class as the default value.
-     * If no real root is found the boolean hasArealRoot is set to false and the real part of
-     * the root with smallest absolute imaginary part is returned instead.
-     *
-     * \param[out] hasArealRoot : boolean true if a real root is found according to the
-     *  absImaginaryThreshold criterion, false otherwise.
-     * \param[in] absImaginaryThreshold : threshold on the absolute imaginary part to decide
-     *  whether or not a root is real.
-     */
-    inline const RealScalar& absSmallestRealRoot(
-        bool& hasArealRoot,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      std::less<Scalar> less;
-      return selectRealRoot_withRespectToAbsRealPart( less, hasArealRoot, absImaginaryThreshold );
-    }
-
-
-    /**
-     * \returns the real root with greatest value.
-     * A real root is defined as the real part of a complex root with absolute imaginary
-     * part smallest than absImaginaryThreshold.
-     * absImaginaryThreshold takes the dummy_precision associated
-     * with the _Scalar template parameter of the PolynomialSolver class as the default value.
-     * If no real root is found the boolean hasArealRoot is set to false and the real part of
-     * the root with smallest absolute imaginary part is returned instead.
-     *
-     * \param[out] hasArealRoot : boolean true if a real root is found according to the
-     *  absImaginaryThreshold criterion, false otherwise.
-     * \param[in] absImaginaryThreshold : threshold on the absolute imaginary part to decide
-     *  whether or not a root is real.
-     */
-    inline const RealScalar& greatestRealRoot(
-        bool& hasArealRoot,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      std::greater<Scalar> greater;
-      return selectRealRoot_withRespectToRealPart( greater, hasArealRoot, absImaginaryThreshold );
-    }
-
-
-    /**
-     * \returns the real root with smallest value.
-     * A real root is defined as the real part of a complex root with absolute imaginary
-     * part smallest than absImaginaryThreshold.
-     * absImaginaryThreshold takes the dummy_precision associated
-     * with the _Scalar template parameter of the PolynomialSolver class as the default value.
-     * If no real root is found the boolean hasArealRoot is set to false and the real part of
-     * the root with smallest absolute imaginary part is returned instead.
-     *
-     * \param[out] hasArealRoot : boolean true if a real root is found according to the
-     *  absImaginaryThreshold criterion, false otherwise.
-     * \param[in] absImaginaryThreshold : threshold on the absolute imaginary part to decide
-     *  whether or not a root is real.
-     */
-    inline const RealScalar& smallestRealRoot(
-        bool& hasArealRoot,
-        const RealScalar& absImaginaryThreshold = NumTraits<Scalar>::dummy_precision() ) const
-    {
-      std::less<Scalar> less;
-      return selectRealRoot_withRespectToRealPart( less, hasArealRoot, absImaginaryThreshold );
-    }
-
-  protected:
-    RootsType               m_roots;
-};
-
-#define EIGEN_POLYNOMIAL_SOLVER_BASE_INHERITED_TYPES( BASE )  \
-  typedef typename BASE::Scalar                 Scalar;       \
-  typedef typename BASE::RealScalar             RealScalar;   \
-  typedef typename BASE::RootType               RootType;     \
-  typedef typename BASE::RootsType              RootsType;
-
-
-
-/** \ingroup Polynomials_Module
-  *
-  * \class PolynomialSolver
-  *
-  * \brief A polynomial solver
-  *
-  * Computes the complex roots of a real polynomial.
-  *
-  * \param _Scalar the scalar type, i.e., the type of the polynomial coefficients
-  * \param _Deg the degree of the polynomial, can be a compile time value or Dynamic.
-  *             Notice that the number of polynomial coefficients is _Deg+1.
-  *
-  * This class implements a polynomial solver and provides convenient methods such as
-  * - real roots,
-  * - greatest, smallest complex roots,
-  * - real roots with greatest, smallest absolute real value.
-  * - greatest, smallest real roots.
-  *
-  * WARNING: this polynomial solver is experimental, part of the unsuported Eigen modules.
-  *
-  *
-  * Currently a QR algorithm is used to compute the eigenvalues of the companion matrix of
-  * the polynomial to compute its roots.
-  * This supposes that the complex moduli of the roots are all distinct: e.g. there should
-  * be no multiple roots or conjugate roots for instance.
-  * With 32bit (float) floating types this problem shows up frequently.
-  * However, almost always, correct accuracy is reached even in these cases for 64bit
-  * (double) floating types and small polynomial degree (<20).
-  */
-template< typename _Scalar, int _Deg >
-class PolynomialSolver : public PolynomialSolverBase<_Scalar,_Deg>
-{
-  public:
-    EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_Deg==Dynamic ? Dynamic : _Deg)
-
-    typedef PolynomialSolverBase<_Scalar,_Deg>    PS_Base;
-    EIGEN_POLYNOMIAL_SOLVER_BASE_INHERITED_TYPES( PS_Base )
-
-    typedef Matrix<Scalar,_Deg,_Deg>                 CompanionMatrixType;
-    typedef EigenSolver<CompanionMatrixType>         EigenSolverType;
-
-  public:
-    /** Computes the complex roots of a new polynomial. */
-    template< typename OtherPolynomial >
-    void compute( const OtherPolynomial& poly )
-    {
-      eigen_assert( Scalar(0) != poly[poly.size()-1] );
-      internal::companion<Scalar,_Deg> companion( poly );
-      companion.balance();
-      m_eigenSolver.compute( companion.denseMatrix() );
-      m_roots = m_eigenSolver.eigenvalues();
-    }
-
-  public:
-    template< typename OtherPolynomial >
-    inline PolynomialSolver( const OtherPolynomial& poly ){
-      compute( poly ); }
-
-    inline PolynomialSolver(){}
-
-  protected:
-    using                   PS_Base::m_roots;
-    EigenSolverType         m_eigenSolver;
-};
-
-
-template< typename _Scalar >
-class PolynomialSolver<_Scalar,1> : public PolynomialSolverBase<_Scalar,1>
-{
-  public:
-    typedef PolynomialSolverBase<_Scalar,1>    PS_Base;
-    EIGEN_POLYNOMIAL_SOLVER_BASE_INHERITED_TYPES( PS_Base )
-
-  public:
-    /** Computes the complex roots of a new polynomial. */
-    template< typename OtherPolynomial >
-    void compute( const OtherPolynomial& poly )
-    {
-      eigen_assert( Scalar(0) != poly[poly.size()-1] );
-      m_roots[0] = -poly[0]/poly[poly.size()-1];
-    }
-
-  protected:
-    using                   PS_Base::m_roots;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_POLYNOMIAL_SOLVER_H
diff --git a/eigenlib/unsupported/Eigen/src/Polynomials/PolynomialUtils.h b/eigenlib/unsupported/Eigen/src/Polynomials/PolynomialUtils.h
deleted file mode 100644
index 2bb8bc84..00000000
--- a/eigenlib/unsupported/Eigen/src/Polynomials/PolynomialUtils.h
+++ /dev/null
@@ -1,143 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Manuel Yguel <manuel.yguel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_POLYNOMIAL_UTILS_H
-#define EIGEN_POLYNOMIAL_UTILS_H
-
-namespace Eigen { 
-
-/** \ingroup Polynomials_Module
- * \returns the evaluation of the polynomial at x using Horner algorithm.
- *
- * \param[in] poly : the vector of coefficients of the polynomial ordered
- *  by degrees i.e. poly[i] is the coefficient of degree i of the polynomial
- *  e.g. \f$ 1 + 3x^2 \f$ is stored as a vector \f$ [ 1, 0, 3 ] \f$.
- * \param[in] x : the value to evaluate the polynomial at.
- *
- * <i><b>Note for stability:</b></i>
- *  <dd> \f$ |x| \le 1 \f$ </dd>
- */
-template <typename Polynomials, typename T>
-inline
-T poly_eval_horner( const Polynomials& poly, const T& x )
-{
-  T val=poly[poly.size()-1];
-  for(DenseIndex i=poly.size()-2; i>=0; --i ){
-    val = val*x + poly[i]; }
-  return val;
-}
-
-/** \ingroup Polynomials_Module
- * \returns the evaluation of the polynomial at x using stabilized Horner algorithm.
- *
- * \param[in] poly : the vector of coefficients of the polynomial ordered
- *  by degrees i.e. poly[i] is the coefficient of degree i of the polynomial
- *  e.g. \f$ 1 + 3x^2 \f$ is stored as a vector \f$ [ 1, 0, 3 ] \f$.
- * \param[in] x : the value to evaluate the polynomial at.
- */
-template <typename Polynomials, typename T>
-inline
-T poly_eval( const Polynomials& poly, const T& x )
-{
-  typedef typename NumTraits<T>::Real Real;
-
-  if( numext::abs2( x ) <= Real(1) ){
-    return poly_eval_horner( poly, x ); }
-  else
-  {
-    T val=poly[0];
-    T inv_x = T(1)/x;
-    for( DenseIndex i=1; i<poly.size(); ++i ){
-      val = val*inv_x + poly[i]; }
-
-    return std::pow(x,(T)(poly.size()-1)) * val;
-  }
-}
-
-/** \ingroup Polynomials_Module
- * \returns a maximum bound for the absolute value of any root of the polynomial.
- *
- * \param[in] poly : the vector of coefficients of the polynomial ordered
- *  by degrees i.e. poly[i] is the coefficient of degree i of the polynomial
- *  e.g. \f$ 1 + 3x^2 \f$ is stored as a vector \f$ [ 1, 0, 3 ] \f$.
- *
- *  <i><b>Precondition:</b></i>
- *  <dd> the leading coefficient of the input polynomial poly must be non zero </dd>
- */
-template <typename Polynomial>
-inline
-typename NumTraits<typename Polynomial::Scalar>::Real cauchy_max_bound( const Polynomial& poly )
-{
-  using std::abs;
-  typedef typename Polynomial::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real Real;
-
-  eigen_assert( Scalar(0) != poly[poly.size()-1] );
-  const Scalar inv_leading_coeff = Scalar(1)/poly[poly.size()-1];
-  Real cb(0);
-
-  for( DenseIndex i=0; i<poly.size()-1; ++i ){
-    cb += abs(poly[i]*inv_leading_coeff); }
-  return cb + Real(1);
-}
-
-/** \ingroup Polynomials_Module
- * \returns a minimum bound for the absolute value of any non zero root of the polynomial.
- * \param[in] poly : the vector of coefficients of the polynomial ordered
- *  by degrees i.e. poly[i] is the coefficient of degree i of the polynomial
- *  e.g. \f$ 1 + 3x^2 \f$ is stored as a vector \f$ [ 1, 0, 3 ] \f$.
- */
-template <typename Polynomial>
-inline
-typename NumTraits<typename Polynomial::Scalar>::Real cauchy_min_bound( const Polynomial& poly )
-{
-  using std::abs;
-  typedef typename Polynomial::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real Real;
-
-  DenseIndex i=0;
-  while( i<poly.size()-1 && Scalar(0) == poly(i) ){ ++i; }
-  if( poly.size()-1 == i ){
-    return Real(1); }
-
-  const Scalar inv_min_coeff = Scalar(1)/poly[i];
-  Real cb(1);
-  for( DenseIndex j=i+1; j<poly.size(); ++j ){
-    cb += abs(poly[j]*inv_min_coeff); }
-  return Real(1)/cb;
-}
-
-/** \ingroup Polynomials_Module
- * Given the roots of a polynomial compute the coefficients in the
- * monomial basis of the monic polynomial with same roots and minimal degree.
- * If RootVector is a vector of complexes, Polynomial should also be a vector
- * of complexes.
- * \param[in] rv : a vector containing the roots of a polynomial.
- * \param[out] poly : the vector of coefficients of the polynomial ordered
- *  by degrees i.e. poly[i] is the coefficient of degree i of the polynomial
- *  e.g. \f$ 3 + x^2 \f$ is stored as a vector \f$ [ 3, 0, 1 ] \f$.
- */
-template <typename RootVector, typename Polynomial>
-void roots_to_monicPolynomial( const RootVector& rv, Polynomial& poly )
-{
-
-  typedef typename Polynomial::Scalar Scalar;
-
-  poly.setZero( rv.size()+1 );
-  poly[0] = -rv[0]; poly[1] = Scalar(1);
-  for( DenseIndex i=1; i< rv.size(); ++i )
-  {
-    for( DenseIndex j=i+1; j>0; --j ){ poly[j] = poly[j-1] - rv[i]*poly[j]; }
-    poly[0] = -rv[i]*poly[0];
-  }
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_POLYNOMIAL_UTILS_H
diff --git a/eigenlib/unsupported/Eigen/src/SVD/BDCSVD.h b/eigenlib/unsupported/Eigen/src/SVD/BDCSVD.h
deleted file mode 100644
index 11d4882e..00000000
--- a/eigenlib/unsupported/Eigen/src/SVD/BDCSVD.h
+++ /dev/null
@@ -1,748 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-// 
-// We used the "A Divide-And-Conquer Algorithm for the Bidiagonal SVD"
-// research report written by Ming Gu and Stanley C.Eisenstat
-// The code variable names correspond to the names they used in their 
-// report
-//
-// Copyright (C) 2013 Gauthier Brun <brun.gauthier@gmail.com>
-// Copyright (C) 2013 Nicolas Carre <nicolas.carre@ensimag.fr>
-// Copyright (C) 2013 Jean Ceccato <jean.ceccato@ensimag.fr>
-// Copyright (C) 2013 Pierre Zoppitelli <pierre.zoppitelli@ensimag.fr>
-//
-// Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BDCSVD_H
-#define EIGEN_BDCSVD_H
-
-#define EPSILON 0.0000000000000001
-
-#define ALGOSWAP 32
-
-namespace Eigen {
-/** \ingroup SVD_Module
- *
- *
- * \class BDCSVD
- *
- * \brief class Bidiagonal Divide and Conquer SVD
- *
- * \param MatrixType the type of the matrix of which we are computing the SVD decomposition
- * We plan to have a very similar interface to JacobiSVD on this class.
- * It should be used to speed up the calcul of SVD for big matrices. 
- */
-template<typename _MatrixType> 
-class BDCSVD : public SVDBase<_MatrixType>
-{
-  typedef SVDBase<_MatrixType> Base;
-    
-public:
-  using Base::rows;
-  using Base::cols;
-  
-  typedef _MatrixType MatrixType;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-  typedef typename MatrixType::Index Index;
-  enum {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime, 
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime, 
-    DiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime, ColsAtCompileTime), 
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime, 
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime, 
-    MaxDiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(MaxRowsAtCompileTime, MaxColsAtCompileTime), 
-    MatrixOptions = MatrixType::Options
-  };
-
-  typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime, 
-		 MatrixOptions, MaxRowsAtCompileTime, MaxRowsAtCompileTime>
-  MatrixUType;
-  typedef Matrix<Scalar, ColsAtCompileTime, ColsAtCompileTime, 
-		 MatrixOptions, MaxColsAtCompileTime, MaxColsAtCompileTime>
-  MatrixVType;
-  typedef typename internal::plain_diag_type<MatrixType, RealScalar>::type SingularValuesType;
-  typedef typename internal::plain_row_type<MatrixType>::type RowType;
-  typedef typename internal::plain_col_type<MatrixType>::type ColType;
-  typedef Matrix<Scalar, Dynamic, Dynamic> MatrixX;
-  typedef Matrix<RealScalar, Dynamic, Dynamic> MatrixXr;
-  typedef Matrix<RealScalar, Dynamic, 1> VectorType;
-
-  /** \brief Default Constructor.
-   *
-   * The default constructor is useful in cases in which the user intends to
-   * perform decompositions via BDCSVD::compute(const MatrixType&).
-   */
-  BDCSVD()
-    : SVDBase<_MatrixType>::SVDBase(), 
-      algoswap(ALGOSWAP)
-  {}
-
-
-  /** \brief Default Constructor with memory preallocation
-   *
-   * Like the default constructor but with preallocation of the internal data
-   * according to the specified problem size.
-   * \sa BDCSVD()
-   */
-  BDCSVD(Index rows, Index cols, unsigned int computationOptions = 0)
-    : SVDBase<_MatrixType>::SVDBase(), 
-      algoswap(ALGOSWAP)
-  {
-    allocate(rows, cols, computationOptions);
-  }
-
-  /** \brief Constructor performing the decomposition of given matrix.
-   *
-   * \param matrix the matrix to decompose
-   * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
-   *                           By default, none is computed. This is a bit - field, the possible bits are #ComputeFullU, #ComputeThinU, 
-   *                           #ComputeFullV, #ComputeThinV.
-   *
-   * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
-   * available with the (non - default) FullPivHouseholderQR preconditioner.
-   */
-  BDCSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
-    : SVDBase<_MatrixType>::SVDBase(), 
-      algoswap(ALGOSWAP)
-  {
-    compute(matrix, computationOptions);
-  }
-
-  ~BDCSVD() 
-  {
-  }
-  /** \brief Method performing the decomposition of given matrix using custom options.
-   *
-   * \param matrix the matrix to decompose
-   * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
-   *                           By default, none is computed. This is a bit - field, the possible bits are #ComputeFullU, #ComputeThinU, 
-   *                           #ComputeFullV, #ComputeThinV.
-   *
-   * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
-   * available with the (non - default) FullPivHouseholderQR preconditioner.
-   */
-  SVDBase<MatrixType>& compute(const MatrixType& matrix, unsigned int computationOptions);
-
-  /** \brief Method performing the decomposition of given matrix using current options.
-   *
-   * \param matrix the matrix to decompose
-   *
-   * This method uses the current \a computationOptions, as already passed to the constructor or to compute(const MatrixType&, unsigned int).
-   */
-  SVDBase<MatrixType>& compute(const MatrixType& matrix)
-  {
-    return compute(matrix, this->m_computationOptions);
-  }
-
-  void setSwitchSize(int s) 
-  {
-    eigen_assert(s>3 && "BDCSVD the size of the algo switch has to be greater than 4");
-    algoswap = s;
-  }
-
-
-  /** \returns a (least squares) solution of \f$ A x = b \f$ using the current SVD decomposition of A.
-   *
-   * \param b the right - hand - side of the equation to solve.
-   *
-   * \note Solving requires both U and V to be computed. Thin U and V are enough, there is no need for full U or V.
-   *
-   * \note SVD solving is implicitly least - squares. Thus, this method serves both purposes of exact solving and least - squares solving.
-   * In other words, the returned solution is guaranteed to minimize the Euclidean norm \f$ \Vert A x - b \Vert \f$.
-   */
-  template<typename Rhs>
-  inline const internal::solve_retval<BDCSVD, Rhs>
-  solve(const MatrixBase<Rhs>& b) const
-  {
-    eigen_assert(this->m_isInitialized && "BDCSVD is not initialized.");
-    eigen_assert(SVDBase<_MatrixType>::computeU() && SVDBase<_MatrixType>::computeV() && 
-		 "BDCSVD::solve() requires both unitaries U and V to be computed (thin unitaries suffice).");
-    return internal::solve_retval<BDCSVD, Rhs>(*this, b.derived());
-  }
-
- 
-  const MatrixUType& matrixU() const
-  {
-    eigen_assert(this->m_isInitialized && "SVD is not initialized.");
-    if (isTranspose){
-      eigen_assert(this->computeV() && "This SVD decomposition didn't compute U. Did you ask for it?");
-      return this->m_matrixV;
-    }
-    else 
-    {
-      eigen_assert(this->computeU() && "This SVD decomposition didn't compute U. Did you ask for it?");
-      return this->m_matrixU;
-    }
-     
-  }
-
-
-  const MatrixVType& matrixV() const
-  {
-    eigen_assert(this->m_isInitialized && "SVD is not initialized.");
-    if (isTranspose){
-      eigen_assert(this->computeU() && "This SVD decomposition didn't compute V. Did you ask for it?");
-      return this->m_matrixU;
-    }
-    else
-    {
-      eigen_assert(this->computeV() && "This SVD decomposition didn't compute V. Did you ask for it?");
-      return this->m_matrixV;
-    }
-  }
- 
-private:
-  void allocate(Index rows, Index cols, unsigned int computationOptions);
-  void divide (Index firstCol, Index lastCol, Index firstRowW, 
-	       Index firstColW, Index shift);
-  void deflation43(Index firstCol, Index shift, Index i, Index size);
-  void deflation44(Index firstColu , Index firstColm, Index firstRowW, Index firstColW, Index i, Index j, Index size);
-  void deflation(Index firstCol, Index lastCol, Index k, Index firstRowW, Index firstColW, Index shift);
-  void copyUV(MatrixXr naiveU, MatrixXr naiveV, MatrixX householderU, MatrixX houseHolderV);
-
-protected:
-  MatrixXr m_naiveU, m_naiveV;
-  MatrixXr m_computed;
-  Index nRec;
-  int algoswap;
-  bool isTranspose, compU, compV;
-  
-}; //end class BDCSVD
-
-
-// Methode to allocate ans initialize matrix and attributs
-template<typename MatrixType>
-void BDCSVD<MatrixType>::allocate(Index rows, Index cols, unsigned int computationOptions)
-{
-  isTranspose = (cols > rows);
-  if (SVDBase<MatrixType>::allocate(rows, cols, computationOptions)) return;
-  m_computed = MatrixXr::Zero(this->m_diagSize + 1, this->m_diagSize );
-  if (isTranspose){
-    compU = this->computeU();
-    compV = this->computeV();    
-  } 
-  else
-  {
-    compV = this->computeU();
-    compU = this->computeV();   
-  }
-  if (compU) m_naiveU = MatrixXr::Zero(this->m_diagSize + 1, this->m_diagSize + 1 );
-  else m_naiveU = MatrixXr::Zero(2, this->m_diagSize + 1 );
-  
-  if (compV) m_naiveV = MatrixXr::Zero(this->m_diagSize, this->m_diagSize);
-  
-
-  //should be changed for a cleaner implementation
-  if (isTranspose){
-    bool aux;
-    if (this->computeU()||this->computeV()){
-      aux = this->m_computeFullU;
-      this->m_computeFullU = this->m_computeFullV;
-      this->m_computeFullV = aux;
-      aux = this->m_computeThinU;
-      this->m_computeThinU = this->m_computeThinV;
-      this->m_computeThinV = aux;
-    } 
-  }
-}// end allocate
-
-// Methode which compute the BDCSVD for the int
-template<>
-SVDBase<Matrix<int, Dynamic, Dynamic> >&
-BDCSVD<Matrix<int, Dynamic, Dynamic> >::compute(const MatrixType& matrix, unsigned int computationOptions) {
-  allocate(matrix.rows(), matrix.cols(), computationOptions);
-  this->m_nonzeroSingularValues = 0;
-  m_computed = Matrix<int, Dynamic, Dynamic>::Zero(rows(), cols());
-  for (int i=0; i<this->m_diagSize; i++)   {
-    this->m_singularValues.coeffRef(i) = 0;
-  }
-  if (this->m_computeFullU) this->m_matrixU = Matrix<int, Dynamic, Dynamic>::Zero(rows(), rows());
-  if (this->m_computeFullV) this->m_matrixV = Matrix<int, Dynamic, Dynamic>::Zero(cols(), cols()); 
-  this->m_isInitialized = true;
-  return *this;
-}
-
-
-// Methode which compute the BDCSVD
-template<typename MatrixType>
-SVDBase<MatrixType>&
-BDCSVD<MatrixType>::compute(const MatrixType& matrix, unsigned int computationOptions) 
-{
-  allocate(matrix.rows(), matrix.cols(), computationOptions);
-  using std::abs;
-
-  //**** step 1 Bidiagonalization  isTranspose = (matrix.cols()>matrix.rows()) ;
-  MatrixType copy;
-  if (isTranspose) copy = matrix.adjoint();
-  else copy = matrix;
-  
-  internal::UpperBidiagonalization<MatrixX > bid(copy);
-
-  //**** step 2 Divide
-  // this is ugly and has to be redone (care of complex cast)
-  MatrixXr temp;
-  temp = bid.bidiagonal().toDenseMatrix().transpose();
-  m_computed.setZero();
-  for (int i=0; i<this->m_diagSize - 1; i++)   {
-    m_computed(i, i) = temp(i, i);
-    m_computed(i + 1, i) = temp(i + 1, i);
-  }
-  m_computed(this->m_diagSize - 1, this->m_diagSize - 1) = temp(this->m_diagSize - 1, this->m_diagSize - 1);
-  divide(0, this->m_diagSize - 1, 0, 0, 0);
-
-  //**** step 3 copy
-  for (int i=0; i<this->m_diagSize; i++)   {
-    RealScalar a = abs(m_computed.coeff(i, i));
-    this->m_singularValues.coeffRef(i) = a;
-    if (a == 0){
-      this->m_nonzeroSingularValues = i;
-      break;
-    }
-    else  if (i == this->m_diagSize - 1)
-    {
-      this->m_nonzeroSingularValues = i + 1;
-      break;
-    }
-  }
-  copyUV(m_naiveV, m_naiveU, bid.householderU(), bid.householderV());
-  this->m_isInitialized = true;
-  return *this;
-}// end compute
-
-
-template<typename MatrixType>
-void BDCSVD<MatrixType>::copyUV(MatrixXr naiveU, MatrixXr naiveV, MatrixX householderU, MatrixX householderV){
-  if (this->computeU()){
-    MatrixX temp = MatrixX::Zero(naiveU.rows(), naiveU.cols());
-    temp.real() = naiveU;
-    if (this->m_computeThinU){
-      this->m_matrixU = MatrixX::Identity(householderU.cols(), this->m_nonzeroSingularValues );
-      this->m_matrixU.block(0, 0, this->m_diagSize, this->m_nonzeroSingularValues) = 
-	temp.block(0, 0, this->m_diagSize, this->m_nonzeroSingularValues);
-      this->m_matrixU = householderU * this->m_matrixU ;
-    }
-    else
-    {
-      this->m_matrixU = MatrixX::Identity(householderU.cols(), householderU.cols());
-      this->m_matrixU.block(0, 0, this->m_diagSize, this->m_diagSize) = temp.block(0, 0, this->m_diagSize, this->m_diagSize);
-      this->m_matrixU = householderU * this->m_matrixU ;
-    }
-  }
-  if (this->computeV()){
-    MatrixX temp = MatrixX::Zero(naiveV.rows(), naiveV.cols());
-    temp.real() = naiveV;
-    if (this->m_computeThinV){
-      this->m_matrixV = MatrixX::Identity(householderV.cols(),this->m_nonzeroSingularValues );
-      this->m_matrixV.block(0, 0, this->m_nonzeroSingularValues, this->m_nonzeroSingularValues) = 
-	temp.block(0, 0, this->m_nonzeroSingularValues, this->m_nonzeroSingularValues);
-      this->m_matrixV = householderV * this->m_matrixV ;
-    }
-    else  
-    {
-      this->m_matrixV = MatrixX::Identity(householderV.cols(), householderV.cols());
-      this->m_matrixV.block(0, 0, this->m_diagSize, this->m_diagSize) = temp.block(0, 0, this->m_diagSize, this->m_diagSize);
-      this->m_matrixV = householderV * this->m_matrixV;
-    }
-  }
-}
-
-// The divide algorithm is done "in place", we are always working on subsets of the same matrix. The divide methods takes as argument the 
-// place of the submatrix we are currently working on.
-
-//@param firstCol : The Index of the first column of the submatrix of m_computed and for m_naiveU;
-//@param lastCol : The Index of the last column of the submatrix of m_computed and for m_naiveU; 
-// lastCol + 1 - firstCol is the size of the submatrix.
-//@param firstRowW : The Index of the first row of the matrix W that we are to change. (see the reference paper section 1 for more information on W)
-//@param firstRowW : Same as firstRowW with the column.
-//@param shift : Each time one takes the left submatrix, one must add 1 to the shift. Why? Because! We actually want the last column of the U submatrix 
-// to become the first column (*coeff) and to shift all the other columns to the right. There are more details on the reference paper.
-template<typename MatrixType>
-void BDCSVD<MatrixType>::divide (Index firstCol, Index lastCol, Index firstRowW, 
-				 Index firstColW, Index shift)
-{
-  // requires nbRows = nbCols + 1;
-  using std::pow;
-  using std::sqrt;
-  using std::abs;
-  const Index n = lastCol - firstCol + 1;
-  const Index k = n/2;
-  RealScalar alphaK;
-  RealScalar betaK; 
-  RealScalar r0; 
-  RealScalar lambda, phi, c0, s0;
-  MatrixXr l, f;
-  // We use the other algorithm which is more efficient for small 
-  // matrices.
-  if (n < algoswap){
-    JacobiSVD<MatrixXr> b(m_computed.block(firstCol, firstCol, n + 1, n), 
-			  ComputeFullU | (ComputeFullV * compV)) ;
-    if (compU) m_naiveU.block(firstCol, firstCol, n + 1, n + 1).real() << b.matrixU();
-    else 
-    {
-      m_naiveU.row(0).segment(firstCol, n + 1).real() << b.matrixU().row(0);
-      m_naiveU.row(1).segment(firstCol, n + 1).real() << b.matrixU().row(n);
-    }
-    if (compV) m_naiveV.block(firstRowW, firstColW, n, n).real() << b.matrixV();
-    m_computed.block(firstCol + shift, firstCol + shift, n + 1, n).setZero();
-    for (int i=0; i<n; i++)
-    {
-      m_computed(firstCol + shift + i, firstCol + shift +i) = b.singularValues().coeffRef(i);
-    }
-    return;
-  }
-  // We use the divide and conquer algorithm
-  alphaK =  m_computed(firstCol + k, firstCol + k);
-  betaK = m_computed(firstCol + k + 1, firstCol + k);
-  // The divide must be done in that order in order to have good results. Divide change the data inside the submatrices
-  // and the divide of the right submatrice reads one column of the left submatrice. That's why we need to treat the 
-  // right submatrix before the left one. 
-  divide(k + 1 + firstCol, lastCol, k + 1 + firstRowW, k + 1 + firstColW, shift);
-  divide(firstCol, k - 1 + firstCol, firstRowW, firstColW + 1, shift + 1);
-  if (compU)
-  {
-    lambda = m_naiveU(firstCol + k, firstCol + k);
-    phi = m_naiveU(firstCol + k + 1, lastCol + 1);
-  } 
-  else 
-  {
-    lambda = m_naiveU(1, firstCol + k);
-    phi = m_naiveU(0, lastCol + 1);
-  }
-  r0 = sqrt((abs(alphaK * lambda) * abs(alphaK * lambda))
-	    + abs(betaK * phi) * abs(betaK * phi));
-  if (compU)
-  {
-    l = m_naiveU.row(firstCol + k).segment(firstCol, k);
-    f = m_naiveU.row(firstCol + k + 1).segment(firstCol + k + 1, n - k - 1);
-  } 
-  else 
-  {
-    l = m_naiveU.row(1).segment(firstCol, k);
-    f = m_naiveU.row(0).segment(firstCol + k + 1, n - k - 1);
-  }
-  if (compV) m_naiveV(firstRowW+k, firstColW) = 1;
-  if (r0 == 0)
-  {
-    c0 = 1;
-    s0 = 0;
-  }
-  else
-  {
-    c0 = alphaK * lambda / r0;
-    s0 = betaK * phi / r0;
-  }
-  if (compU)
-  {
-    MatrixXr q1 (m_naiveU.col(firstCol + k).segment(firstCol, k + 1));     
-    // we shiftW Q1 to the right
-    for (Index i = firstCol + k - 1; i >= firstCol; i--) 
-    {
-      m_naiveU.col(i + 1).segment(firstCol, k + 1) << m_naiveU.col(i).segment(firstCol, k + 1);
-    }
-    // we shift q1 at the left with a factor c0
-    m_naiveU.col(firstCol).segment( firstCol, k + 1) << (q1 * c0);
-    // last column = q1 * - s0
-    m_naiveU.col(lastCol + 1).segment(firstCol, k + 1) << (q1 * ( - s0));
-    // first column = q2 * s0
-    m_naiveU.col(firstCol).segment(firstCol + k + 1, n - k) << 
-      m_naiveU.col(lastCol + 1).segment(firstCol + k + 1, n - k) *s0; 
-    // q2 *= c0
-    m_naiveU.col(lastCol + 1).segment(firstCol + k + 1, n - k) *= c0; 
-  } 
-  else 
-  {
-    RealScalar q1 = (m_naiveU(0, firstCol + k));
-    // we shift Q1 to the right
-    for (Index i = firstCol + k - 1; i >= firstCol; i--) 
-    {
-      m_naiveU(0, i + 1) = m_naiveU(0, i);
-    }
-    // we shift q1 at the left with a factor c0
-    m_naiveU(0, firstCol) = (q1 * c0);
-    // last column = q1 * - s0
-    m_naiveU(0, lastCol + 1) = (q1 * ( - s0));
-    // first column = q2 * s0
-    m_naiveU(1, firstCol) = m_naiveU(1, lastCol + 1) *s0; 
-    // q2 *= c0
-    m_naiveU(1, lastCol + 1) *= c0;
-    m_naiveU.row(1).segment(firstCol + 1, k).setZero();
-    m_naiveU.row(0).segment(firstCol + k + 1, n - k - 1).setZero();
-  }
-  m_computed(firstCol + shift, firstCol + shift) = r0;
-  m_computed.col(firstCol + shift).segment(firstCol + shift + 1, k) << alphaK * l.transpose().real();
-  m_computed.col(firstCol + shift).segment(firstCol + shift + k + 1, n - k - 1) << betaK * f.transpose().real();
-
-
-  // the line below do the deflation of the matrix for the third part of the algorithm
-  // Here the deflation is commented because the third part of the algorithm is not implemented
-  // the third part of the algorithm is a fast SVD on the matrix m_computed which works thanks to the deflation
-
-  deflation(firstCol, lastCol, k, firstRowW, firstColW, shift);
-
-  // Third part of the algorithm, since the real third part of the algorithm is not implemeted we use a JacobiSVD
-  JacobiSVD<MatrixXr> res= JacobiSVD<MatrixXr>(m_computed.block(firstCol + shift, firstCol +shift, n + 1, n), 
-					       ComputeFullU | (ComputeFullV * compV)) ;
-  if (compU) m_naiveU.block(firstCol, firstCol, n + 1, n + 1) *= res.matrixU();
-  else m_naiveU.block(0, firstCol, 2, n + 1) *= res.matrixU();
-  
-  if (compV) m_naiveV.block(firstRowW, firstColW, n, n) *= res.matrixV();
-  m_computed.block(firstCol + shift, firstCol + shift, n, n) << MatrixXr::Zero(n, n);
-  for (int i=0; i<n; i++)
-    m_computed(firstCol + shift + i, firstCol + shift +i) = res.singularValues().coeffRef(i);
-  // end of the third part
-
-
-}// end divide
-
-
-// page 12_13
-// i >= 1, di almost null and zi non null.
-// We use a rotation to zero out zi applied to the left of M
-template <typename MatrixType>
-void BDCSVD<MatrixType>::deflation43(Index firstCol, Index shift, Index i, Index size){
-  using std::abs;
-  using std::sqrt;
-  using std::pow;
-  RealScalar c = m_computed(firstCol + shift, firstCol + shift);
-  RealScalar s = m_computed(i, firstCol + shift);
-  RealScalar r = sqrt(pow(abs(c), 2) + pow(abs(s), 2));
-  if (r == 0){
-    m_computed(i, i)=0;
-    return;
-  }
-  c/=r;
-  s/=r;
-  m_computed(firstCol + shift, firstCol + shift) = r;  
-  m_computed(i, firstCol + shift) = 0;
-  m_computed(i, i) = 0;
-  if (compU){
-    m_naiveU.col(firstCol).segment(firstCol,size) = 
-      c * m_naiveU.col(firstCol).segment(firstCol, size) - 
-      s * m_naiveU.col(i).segment(firstCol, size) ;
-
-    m_naiveU.col(i).segment(firstCol, size) = 
-      (c + s*s/c) * m_naiveU.col(i).segment(firstCol, size) + 
-      (s/c) * m_naiveU.col(firstCol).segment(firstCol,size);
-  }
-}// end deflation 43
-
-
-// page 13
-// i,j >= 1, i != j and |di - dj| < epsilon * norm2(M)
-// We apply two rotations to have zj = 0;
-template <typename MatrixType>
-void BDCSVD<MatrixType>::deflation44(Index firstColu , Index firstColm, Index firstRowW, Index firstColW, Index i, Index j, Index size){
-  using std::abs;
-  using std::sqrt;
-  using std::conj;
-  using std::pow;
-  RealScalar c = m_computed(firstColm, firstColm + j - 1);
-  RealScalar s = m_computed(firstColm, firstColm + i - 1);
-  RealScalar r = sqrt(pow(abs(c), 2) + pow(abs(s), 2));
-  if (r==0){
-    m_computed(firstColm + i, firstColm + i) = m_computed(firstColm + j, firstColm + j);
-    return;
-  }
-  c/=r;
-  s/=r;
-  m_computed(firstColm + i, firstColm) = r;  
-  m_computed(firstColm + i, firstColm + i) = m_computed(firstColm + j, firstColm + j);
-  m_computed(firstColm + j, firstColm) = 0;
-  if (compU){
-    m_naiveU.col(firstColu + i).segment(firstColu, size) = 
-      c * m_naiveU.col(firstColu + i).segment(firstColu, size) - 
-      s * m_naiveU.col(firstColu + j).segment(firstColu, size) ;
-
-    m_naiveU.col(firstColu + j).segment(firstColu, size) = 
-      (c + s*s/c) *  m_naiveU.col(firstColu + j).segment(firstColu, size) + 
-      (s/c) * m_naiveU.col(firstColu + i).segment(firstColu, size);
-  } 
-  if (compV){
-    m_naiveV.col(firstColW + i).segment(firstRowW, size - 1) = 
-      c * m_naiveV.col(firstColW + i).segment(firstRowW, size - 1) + 
-      s * m_naiveV.col(firstColW + j).segment(firstRowW, size - 1) ;
-
-    m_naiveV.col(firstColW + j).segment(firstRowW, size - 1)  = 
-      (c + s*s/c) * m_naiveV.col(firstColW + j).segment(firstRowW, size - 1) - 
-      (s/c) * m_naiveV.col(firstColW + i).segment(firstRowW, size - 1);
-  }
-}// end deflation 44
-
-
-
-template <typename MatrixType>
-void BDCSVD<MatrixType>::deflation(Index firstCol, Index lastCol, Index k, Index firstRowW, Index firstColW, Index shift){
-  //condition 4.1
-  RealScalar EPS = EPSILON * (std::max<RealScalar>(m_computed(firstCol + shift + 1, firstCol + shift + 1), m_computed(firstCol + k, firstCol + k)));
-  const Index length = lastCol + 1 - firstCol;
-  if (m_computed(firstCol + shift, firstCol + shift) < EPS){
-    m_computed(firstCol + shift, firstCol + shift) = EPS;
-  }
-  //condition 4.2
-  for (Index i=firstCol + shift + 1;i<=lastCol + shift;i++){
-    if (std::abs(m_computed(i, firstCol + shift)) < EPS){
-      m_computed(i, firstCol + shift) = 0;
-    }
-  }
-
-  //condition 4.3
-  for (Index i=firstCol + shift + 1;i<=lastCol + shift; i++){
-    if (m_computed(i, i) < EPS){
-      deflation43(firstCol, shift, i, length);
-    }
-  }
-
-  //condition 4.4
- 
-  Index i=firstCol + shift + 1, j=firstCol + shift + k + 1;
-  //we stock the final place of each line
-  Index *permutation = new Index[length];
-
-  for (Index p =1; p < length; p++) {
-    if (i> firstCol + shift + k){
-      permutation[p] = j;
-      j++;
-    } else if (j> lastCol + shift) 
-    {
-      permutation[p] = i;
-      i++;
-    }
-    else 
-    {
-      if (m_computed(i, i) < m_computed(j, j)){
-        permutation[p] = j;
-        j++;
-      } 
-      else
-      {
-        permutation[p] = i;
-        i++;
-      }
-    }
-  }
-  //we do the permutation
-  RealScalar aux;
-  //we stock the current index of each col
-  //and the column of each index
-  Index *realInd = new Index[length];
-  Index *realCol = new Index[length];
-  for (int pos = 0; pos< length; pos++){
-    realCol[pos] = pos + firstCol + shift;
-    realInd[pos] = pos;
-  }
-  const Index Zero = firstCol + shift;
-  VectorType temp;
-  for (int i = 1; i < length - 1; i++){
-    const Index I = i + Zero;
-    const Index realI = realInd[i];
-    const Index j  = permutation[length - i] - Zero;
-    const Index J = realCol[j];
-    
-    //diag displace
-    aux = m_computed(I, I); 
-    m_computed(I, I) = m_computed(J, J);
-    m_computed(J, J) = aux;
-    
-    //firstrow displace
-    aux = m_computed(I, Zero); 
-    m_computed(I, Zero) = m_computed(J, Zero);
-    m_computed(J, Zero) = aux;
-
-    // change columns
-    if (compU) {
-      temp = m_naiveU.col(I - shift).segment(firstCol, length + 1);
-      m_naiveU.col(I - shift).segment(firstCol, length + 1) << 
-        m_naiveU.col(J - shift).segment(firstCol, length + 1);
-      m_naiveU.col(J - shift).segment(firstCol, length + 1) << temp;
-    } 
-    else
-    {
-      temp = m_naiveU.col(I - shift).segment(0, 2);
-      m_naiveU.col(I - shift).segment(0, 2) << 
-        m_naiveU.col(J - shift).segment(0, 2);
-      m_naiveU.col(J - shift).segment(0, 2) << temp;      
-    }
-    if (compV) {
-      const Index CWI = I + firstColW - Zero;
-      const Index CWJ = J + firstColW - Zero;
-      temp = m_naiveV.col(CWI).segment(firstRowW, length);
-      m_naiveV.col(CWI).segment(firstRowW, length) << m_naiveV.col(CWJ).segment(firstRowW, length);
-      m_naiveV.col(CWJ).segment(firstRowW, length) << temp;
-    }
-
-    //update real pos
-    realCol[realI] = J;
-    realCol[j] = I;
-    realInd[J - Zero] = realI;
-    realInd[I - Zero] = j;
-  }
-  for (Index i = firstCol + shift + 1; i<lastCol + shift;i++){
-    if ((m_computed(i + 1, i + 1) - m_computed(i, i)) < EPS){
-      deflation44(firstCol , 
-		  firstCol + shift, 
-		  firstRowW, 
-		  firstColW, 
-		  i - Zero, 
-		  i + 1 - Zero, 
-		  length);
-    }
-  }
-  delete [] permutation;
-  delete [] realInd;
-  delete [] realCol;
-
-}//end deflation
-
-
-namespace internal{
-
-template<typename _MatrixType, typename Rhs>
-struct solve_retval<BDCSVD<_MatrixType>, Rhs>
-  : solve_retval_base<BDCSVD<_MatrixType>, Rhs>
-{
-  typedef BDCSVD<_MatrixType> BDCSVDType;
-  EIGEN_MAKE_SOLVE_HELPERS(BDCSVDType, Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    eigen_assert(rhs().rows() == dec().rows());
-    // A = U S V^*
-    // So A^{ - 1} = V S^{ - 1} U^*    
-    Index diagSize = (std::min)(dec().rows(), dec().cols());
-    typename BDCSVDType::SingularValuesType invertedSingVals(diagSize);
-    Index nonzeroSingVals = dec().nonzeroSingularValues();
-    invertedSingVals.head(nonzeroSingVals) = dec().singularValues().head(nonzeroSingVals).array().inverse();
-    invertedSingVals.tail(diagSize - nonzeroSingVals).setZero();
-    
-    dst = dec().matrixV().leftCols(diagSize)
-      * invertedSingVals.asDiagonal()
-      * dec().matrixU().leftCols(diagSize).adjoint()
-      * rhs();	
-    return;
-  }
-};
-
-} //end namespace internal
-
-  /** \svd_module
-   *
-   * \return the singular value decomposition of \c *this computed by 
-   *  BDC Algorithm
-   *
-   * \sa class BDCSVD
-   */
-/*
-template<typename Derived>
-BDCSVD<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::bdcSvd(unsigned int computationOptions) const
-{
-  return BDCSVD<PlainObject>(*this, computationOptions);
-}
-*/
-
-} // end namespace Eigen
-
-#endif
diff --git a/eigenlib/unsupported/Eigen/src/SVD/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/SVD/CMakeLists.txt
deleted file mode 100644
index b40baf09..00000000
--- a/eigenlib/unsupported/Eigen/src/SVD/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_SVD_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_SVD_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}unsupported/Eigen/src/SVD COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/SVD/JacobiSVD.h b/eigenlib/unsupported/Eigen/src/SVD/JacobiSVD.h
deleted file mode 100644
index 02fac409..00000000
--- a/eigenlib/unsupported/Eigen/src/SVD/JacobiSVD.h
+++ /dev/null
@@ -1,782 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2010 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_JACOBISVD_H
-#define EIGEN_JACOBISVD_H
-
-namespace Eigen { 
-
-namespace internal {
-// forward declaration (needed by ICC)
-// the empty body is required by MSVC
-template<typename MatrixType, int QRPreconditioner,
-         bool IsComplex = NumTraits<typename MatrixType::Scalar>::IsComplex>
-struct svd_precondition_2x2_block_to_be_real {};
-
-/*** QR preconditioners (R-SVD)
- ***
- *** Their role is to reduce the problem of computing the SVD to the case of a square matrix.
- *** This approach, known as R-SVD, is an optimization for rectangular-enough matrices, and is a requirement for
- *** JacobiSVD which by itself is only able to work on square matrices.
- ***/
-
-enum { PreconditionIfMoreColsThanRows, PreconditionIfMoreRowsThanCols };
-
-template<typename MatrixType, int QRPreconditioner, int Case>
-struct qr_preconditioner_should_do_anything
-{
-  enum { a = MatrixType::RowsAtCompileTime != Dynamic &&
-             MatrixType::ColsAtCompileTime != Dynamic &&
-             MatrixType::ColsAtCompileTime <= MatrixType::RowsAtCompileTime,
-         b = MatrixType::RowsAtCompileTime != Dynamic &&
-             MatrixType::ColsAtCompileTime != Dynamic &&
-             MatrixType::RowsAtCompileTime <= MatrixType::ColsAtCompileTime,
-         ret = !( (QRPreconditioner == NoQRPreconditioner) ||
-                  (Case == PreconditionIfMoreColsThanRows && bool(a)) ||
-                  (Case == PreconditionIfMoreRowsThanCols && bool(b)) )
-  };
-};
-
-template<typename MatrixType, int QRPreconditioner, int Case,
-         bool DoAnything = qr_preconditioner_should_do_anything<MatrixType, QRPreconditioner, Case>::ret
-> struct qr_preconditioner_impl {};
-
-template<typename MatrixType, int QRPreconditioner, int Case>
-class qr_preconditioner_impl<MatrixType, QRPreconditioner, Case, false>
-{
-public:
-  typedef typename MatrixType::Index Index;
-  void allocate(const JacobiSVD<MatrixType, QRPreconditioner>&) {}
-  bool run(JacobiSVD<MatrixType, QRPreconditioner>&, const MatrixType&)
-  {
-    return false;
-  }
-};
-
-/*** preconditioner using FullPivHouseholderQR ***/
-
-template<typename MatrixType>
-class qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
-{
-public:
-  typedef typename MatrixType::Index Index;
-  typedef typename MatrixType::Scalar Scalar;
-  enum
-  {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime
-  };
-  typedef Matrix<Scalar, 1, RowsAtCompileTime, RowMajor, 1, MaxRowsAtCompileTime> WorkspaceType;
-
-  void allocate(const JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd)
-  {
-    if (svd.rows() != m_qr.rows() || svd.cols() != m_qr.cols())
-    {
-      m_qr.~QRType();
-      ::new (&m_qr) QRType(svd.rows(), svd.cols());
-    }
-    if (svd.m_computeFullU) m_workspace.resize(svd.rows());
-  }
-
-  bool run(JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
-  {
-    if(matrix.rows() > matrix.cols())
-    {
-      m_qr.compute(matrix);
-      svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
-      if(svd.m_computeFullU) m_qr.matrixQ().evalTo(svd.m_matrixU, m_workspace);
-      if(svd.computeV()) svd.m_matrixV = m_qr.colsPermutation();
-      return true;
-    }
-    return false;
-  }
-private:
-  typedef FullPivHouseholderQR<MatrixType> QRType;
-  QRType m_qr;
-  WorkspaceType m_workspace;
-};
-
-template<typename MatrixType>
-class qr_preconditioner_impl<MatrixType, FullPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
-{
-public:
-  typedef typename MatrixType::Index Index;
-  typedef typename MatrixType::Scalar Scalar;
-  enum
-  {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    Options = MatrixType::Options
-  };
-  typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, Options, MaxColsAtCompileTime, MaxRowsAtCompileTime>
-          TransposeTypeWithSameStorageOrder;
-
-  void allocate(const JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd)
-  {
-    if (svd.cols() != m_qr.rows() || svd.rows() != m_qr.cols())
-    {
-      m_qr.~QRType();
-      ::new (&m_qr) QRType(svd.cols(), svd.rows());
-    }
-    m_adjoint.resize(svd.cols(), svd.rows());
-    if (svd.m_computeFullV) m_workspace.resize(svd.cols());
-  }
-
-  bool run(JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
-  {
-    if(matrix.cols() > matrix.rows())
-    {
-      m_adjoint = matrix.adjoint();
-      m_qr.compute(m_adjoint);
-      svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
-      if(svd.m_computeFullV) m_qr.matrixQ().evalTo(svd.m_matrixV, m_workspace);
-      if(svd.computeU()) svd.m_matrixU = m_qr.colsPermutation();
-      return true;
-    }
-    else return false;
-  }
-private:
-  typedef FullPivHouseholderQR<TransposeTypeWithSameStorageOrder> QRType;
-  QRType m_qr;
-  TransposeTypeWithSameStorageOrder m_adjoint;
-  typename internal::plain_row_type<MatrixType>::type m_workspace;
-};
-
-/*** preconditioner using ColPivHouseholderQR ***/
-
-template<typename MatrixType>
-class qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
-{
-public:
-  typedef typename MatrixType::Index Index;
-
-  void allocate(const JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd)
-  {
-    if (svd.rows() != m_qr.rows() || svd.cols() != m_qr.cols())
-    {
-      m_qr.~QRType();
-      ::new (&m_qr) QRType(svd.rows(), svd.cols());
-    }
-    if (svd.m_computeFullU) m_workspace.resize(svd.rows());
-    else if (svd.m_computeThinU) m_workspace.resize(svd.cols());
-  }
-
-  bool run(JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
-  {
-    if(matrix.rows() > matrix.cols())
-    {
-      m_qr.compute(matrix);
-      svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
-      if(svd.m_computeFullU) m_qr.householderQ().evalTo(svd.m_matrixU, m_workspace);
-      else if(svd.m_computeThinU)
-      {
-        svd.m_matrixU.setIdentity(matrix.rows(), matrix.cols());
-        m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixU, m_workspace);
-      }
-      if(svd.computeV()) svd.m_matrixV = m_qr.colsPermutation();
-      return true;
-    }
-    return false;
-  }
-
-private:
-  typedef ColPivHouseholderQR<MatrixType> QRType;
-  QRType m_qr;
-  typename internal::plain_col_type<MatrixType>::type m_workspace;
-};
-
-template<typename MatrixType>
-class qr_preconditioner_impl<MatrixType, ColPivHouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
-{
-public:
-  typedef typename MatrixType::Index Index;
-  typedef typename MatrixType::Scalar Scalar;
-  enum
-  {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    Options = MatrixType::Options
-  };
-
-  typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, Options, MaxColsAtCompileTime, MaxRowsAtCompileTime>
-          TransposeTypeWithSameStorageOrder;
-
-  void allocate(const JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd)
-  {
-    if (svd.cols() != m_qr.rows() || svd.rows() != m_qr.cols())
-    {
-      m_qr.~QRType();
-      ::new (&m_qr) QRType(svd.cols(), svd.rows());
-    }
-    if (svd.m_computeFullV) m_workspace.resize(svd.cols());
-    else if (svd.m_computeThinV) m_workspace.resize(svd.rows());
-    m_adjoint.resize(svd.cols(), svd.rows());
-  }
-
-  bool run(JacobiSVD<MatrixType, ColPivHouseholderQRPreconditioner>& svd, const MatrixType& matrix)
-  {
-    if(matrix.cols() > matrix.rows())
-    {
-      m_adjoint = matrix.adjoint();
-      m_qr.compute(m_adjoint);
-
-      svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
-      if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
-      else if(svd.m_computeThinV)
-      {
-        svd.m_matrixV.setIdentity(matrix.cols(), matrix.rows());
-        m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
-      }
-      if(svd.computeU()) svd.m_matrixU = m_qr.colsPermutation();
-      return true;
-    }
-    else return false;
-  }
-
-private:
-  typedef ColPivHouseholderQR<TransposeTypeWithSameStorageOrder> QRType;
-  QRType m_qr;
-  TransposeTypeWithSameStorageOrder m_adjoint;
-  typename internal::plain_row_type<MatrixType>::type m_workspace;
-};
-
-/*** preconditioner using HouseholderQR ***/
-
-template<typename MatrixType>
-class qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreRowsThanCols, true>
-{
-public:
-  typedef typename MatrixType::Index Index;
-
-  void allocate(const JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd)
-  {
-    if (svd.rows() != m_qr.rows() || svd.cols() != m_qr.cols())
-    {
-      m_qr.~QRType();
-      ::new (&m_qr) QRType(svd.rows(), svd.cols());
-    }
-    if (svd.m_computeFullU) m_workspace.resize(svd.rows());
-    else if (svd.m_computeThinU) m_workspace.resize(svd.cols());
-  }
-
-  bool run(JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd, const MatrixType& matrix)
-  {
-    if(matrix.rows() > matrix.cols())
-    {
-      m_qr.compute(matrix);
-      svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.cols(),matrix.cols()).template triangularView<Upper>();
-      if(svd.m_computeFullU) m_qr.householderQ().evalTo(svd.m_matrixU, m_workspace);
-      else if(svd.m_computeThinU)
-      {
-        svd.m_matrixU.setIdentity(matrix.rows(), matrix.cols());
-        m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixU, m_workspace);
-      }
-      if(svd.computeV()) svd.m_matrixV.setIdentity(matrix.cols(), matrix.cols());
-      return true;
-    }
-    return false;
-  }
-private:
-  typedef HouseholderQR<MatrixType> QRType;
-  QRType m_qr;
-  typename internal::plain_col_type<MatrixType>::type m_workspace;
-};
-
-template<typename MatrixType>
-class qr_preconditioner_impl<MatrixType, HouseholderQRPreconditioner, PreconditionIfMoreColsThanRows, true>
-{
-public:
-  typedef typename MatrixType::Index Index;
-  typedef typename MatrixType::Scalar Scalar;
-  enum
-  {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-    MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-    MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-    Options = MatrixType::Options
-  };
-
-  typedef Matrix<Scalar, ColsAtCompileTime, RowsAtCompileTime, Options, MaxColsAtCompileTime, MaxRowsAtCompileTime>
-          TransposeTypeWithSameStorageOrder;
-
-  void allocate(const JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd)
-  {
-    if (svd.cols() != m_qr.rows() || svd.rows() != m_qr.cols())
-    {
-      m_qr.~QRType();
-      ::new (&m_qr) QRType(svd.cols(), svd.rows());
-    }
-    if (svd.m_computeFullV) m_workspace.resize(svd.cols());
-    else if (svd.m_computeThinV) m_workspace.resize(svd.rows());
-    m_adjoint.resize(svd.cols(), svd.rows());
-  }
-
-  bool run(JacobiSVD<MatrixType, HouseholderQRPreconditioner>& svd, const MatrixType& matrix)
-  {
-    if(matrix.cols() > matrix.rows())
-    {
-      m_adjoint = matrix.adjoint();
-      m_qr.compute(m_adjoint);
-
-      svd.m_workMatrix = m_qr.matrixQR().block(0,0,matrix.rows(),matrix.rows()).template triangularView<Upper>().adjoint();
-      if(svd.m_computeFullV) m_qr.householderQ().evalTo(svd.m_matrixV, m_workspace);
-      else if(svd.m_computeThinV)
-      {
-        svd.m_matrixV.setIdentity(matrix.cols(), matrix.rows());
-        m_qr.householderQ().applyThisOnTheLeft(svd.m_matrixV, m_workspace);
-      }
-      if(svd.computeU()) svd.m_matrixU.setIdentity(matrix.rows(), matrix.rows());
-      return true;
-    }
-    else return false;
-  }
-
-private:
-  typedef HouseholderQR<TransposeTypeWithSameStorageOrder> QRType;
-  QRType m_qr;
-  TransposeTypeWithSameStorageOrder m_adjoint;
-  typename internal::plain_row_type<MatrixType>::type m_workspace;
-};
-
-/*** 2x2 SVD implementation
- ***
- *** JacobiSVD consists in performing a series of 2x2 SVD subproblems
- ***/
-
-template<typename MatrixType, int QRPreconditioner>
-struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, false>
-{
-  typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
-  typedef typename SVD::Index Index;
-  static void run(typename SVD::WorkMatrixType&, SVD&, Index, Index) {}
-};
-
-template<typename MatrixType, int QRPreconditioner>
-struct svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner, true>
-{
-  typedef JacobiSVD<MatrixType, QRPreconditioner> SVD;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::RealScalar RealScalar;
-  typedef typename SVD::Index Index;
-  static void run(typename SVD::WorkMatrixType& work_matrix, SVD& svd, Index p, Index q)
-  {
-    using std::sqrt;
-    Scalar z;
-    JacobiRotation<Scalar> rot;
-    RealScalar n = sqrt(numext::abs2(work_matrix.coeff(p,p)) + numext::abs2(work_matrix.coeff(q,p)));
-    if(n==0)
-    {
-      z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
-      work_matrix.row(p) *= z;
-      if(svd.computeU()) svd.m_matrixU.col(p) *= conj(z);
-      z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
-      work_matrix.row(q) *= z;
-      if(svd.computeU()) svd.m_matrixU.col(q) *= conj(z);
-    }
-    else
-    {
-      rot.c() = conj(work_matrix.coeff(p,p)) / n;
-      rot.s() = work_matrix.coeff(q,p) / n;
-      work_matrix.applyOnTheLeft(p,q,rot);
-      if(svd.computeU()) svd.m_matrixU.applyOnTheRight(p,q,rot.adjoint());
-      if(work_matrix.coeff(p,q) != Scalar(0))
-      {
-        Scalar z = abs(work_matrix.coeff(p,q)) / work_matrix.coeff(p,q);
-        work_matrix.col(q) *= z;
-        if(svd.computeV()) svd.m_matrixV.col(q) *= z;
-      }
-      if(work_matrix.coeff(q,q) != Scalar(0))
-      {
-        z = abs(work_matrix.coeff(q,q)) / work_matrix.coeff(q,q);
-        work_matrix.row(q) *= z;
-        if(svd.computeU()) svd.m_matrixU.col(q) *= conj(z);
-      }
-    }
-  }
-};
-
-template<typename MatrixType, typename RealScalar, typename Index>
-void real_2x2_jacobi_svd(const MatrixType& matrix, Index p, Index q,
-                            JacobiRotation<RealScalar> *j_left,
-                            JacobiRotation<RealScalar> *j_right)
-{
-  using std::sqrt;
-  Matrix<RealScalar,2,2> m;
-  m << numext::real(matrix.coeff(p,p)), numext::real(matrix.coeff(p,q)),
-       numext::real(matrix.coeff(q,p)), numext::real(matrix.coeff(q,q));
-  JacobiRotation<RealScalar> rot1;
-  RealScalar t = m.coeff(0,0) + m.coeff(1,1);
-  RealScalar d = m.coeff(1,0) - m.coeff(0,1);
-  if(t == RealScalar(0))
-  {
-    rot1.c() = RealScalar(0);
-    rot1.s() = d > RealScalar(0) ? RealScalar(1) : RealScalar(-1);
-  }
-  else
-  {
-    RealScalar u = d / t;
-    rot1.c() = RealScalar(1) / sqrt(RealScalar(1) + numext::abs2(u));
-    rot1.s() = rot1.c() * u;
-  }
-  m.applyOnTheLeft(0,1,rot1);
-  j_right->makeJacobi(m,0,1);
-  *j_left  = rot1 * j_right->transpose();
-}
-
-} // end namespace internal
-
-/** \ingroup SVD_Module
-  *
-  *
-  * \class JacobiSVD
-  *
-  * \brief Two-sided Jacobi SVD decomposition of a rectangular matrix
-  *
-  * \param MatrixType the type of the matrix of which we are computing the SVD decomposition
-  * \param QRPreconditioner this optional parameter allows to specify the type of QR decomposition that will be used internally
-  *                        for the R-SVD step for non-square matrices. See discussion of possible values below.
-  *
-  * SVD decomposition consists in decomposing any n-by-p matrix \a A as a product
-  *   \f[ A = U S V^* \f]
-  * where \a U is a n-by-n unitary, \a V is a p-by-p unitary, and \a S is a n-by-p real positive matrix which is zero outside of its main diagonal;
-  * the diagonal entries of S are known as the \em singular \em values of \a A and the columns of \a U and \a V are known as the left
-  * and right \em singular \em vectors of \a A respectively.
-  *
-  * Singular values are always sorted in decreasing order.
-  *
-  * This JacobiSVD decomposition computes only the singular values by default. If you want \a U or \a V, you need to ask for them explicitly.
-  *
-  * You can ask for only \em thin \a U or \a V to be computed, meaning the following. In case of a rectangular n-by-p matrix, letting \a m be the
-  * smaller value among \a n and \a p, there are only \a m singular vectors; the remaining columns of \a U and \a V do not correspond to actual
-  * singular vectors. Asking for \em thin \a U or \a V means asking for only their \a m first columns to be formed. So \a U is then a n-by-m matrix,
-  * and \a V is then a p-by-m matrix. Notice that thin \a U and \a V are all you need for (least squares) solving.
-  *
-  * Here's an example demonstrating basic usage:
-  * \include JacobiSVD_basic.cpp
-  * Output: \verbinclude JacobiSVD_basic.out
-  *
-  * This JacobiSVD class is a two-sided Jacobi R-SVD decomposition, ensuring optimal reliability and accuracy. The downside is that it's slower than
-  * bidiagonalizing SVD algorithms for large square matrices; however its complexity is still \f$ O(n^2p) \f$ where \a n is the smaller dimension and
-  * \a p is the greater dimension, meaning that it is still of the same order of complexity as the faster bidiagonalizing R-SVD algorithms.
-  * In particular, like any R-SVD, it takes advantage of non-squareness in that its complexity is only linear in the greater dimension.
-  *
-  * If the input matrix has inf or nan coefficients, the result of the computation is undefined, but the computation is guaranteed to
-  * terminate in finite (and reasonable) time.
-  *
-  * The possible values for QRPreconditioner are:
-  * \li ColPivHouseholderQRPreconditioner is the default. In practice it's very safe. It uses column-pivoting QR.
-  * \li FullPivHouseholderQRPreconditioner, is the safest and slowest. It uses full-pivoting QR.
-  *     Contrary to other QRs, it doesn't allow computing thin unitaries.
-  * \li HouseholderQRPreconditioner is the fastest, and less safe and accurate than the pivoting variants. It uses non-pivoting QR.
-  *     This is very similar in safety and accuracy to the bidiagonalization process used by bidiagonalizing SVD algorithms (since bidiagonalization
-  *     is inherently non-pivoting). However the resulting SVD is still more reliable than bidiagonalizing SVDs because the Jacobi-based iterarive
-  *     process is more reliable than the optimized bidiagonal SVD iterations.
-  * \li NoQRPreconditioner allows not to use a QR preconditioner at all. This is useful if you know that you will only be computing
-  *     JacobiSVD decompositions of square matrices. Non-square matrices require a QR preconditioner. Using this option will result in
-  *     faster compilation and smaller executable code. It won't significantly speed up computation, since JacobiSVD is always checking
-  *     if QR preconditioning is needed before applying it anyway.
-  *
-  * \sa MatrixBase::jacobiSvd()
-  */
-template<typename _MatrixType, int QRPreconditioner> 
-class JacobiSVD : public SVDBase<_MatrixType>
-{
-  public:
-
-    typedef _MatrixType MatrixType;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-    typedef typename MatrixType::Index Index;
-    enum {
-      RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-      ColsAtCompileTime = MatrixType::ColsAtCompileTime,
-      DiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_DYNAMIC(RowsAtCompileTime,ColsAtCompileTime),
-      MaxRowsAtCompileTime = MatrixType::MaxRowsAtCompileTime,
-      MaxColsAtCompileTime = MatrixType::MaxColsAtCompileTime,
-      MaxDiagSizeAtCompileTime = EIGEN_SIZE_MIN_PREFER_FIXED(MaxRowsAtCompileTime,MaxColsAtCompileTime),
-      MatrixOptions = MatrixType::Options
-    };
-
-    typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime,
-                   MatrixOptions, MaxRowsAtCompileTime, MaxRowsAtCompileTime>
-            MatrixUType;
-    typedef Matrix<Scalar, ColsAtCompileTime, ColsAtCompileTime,
-                   MatrixOptions, MaxColsAtCompileTime, MaxColsAtCompileTime>
-            MatrixVType;
-    typedef typename internal::plain_diag_type<MatrixType, RealScalar>::type SingularValuesType;
-    typedef typename internal::plain_row_type<MatrixType>::type RowType;
-    typedef typename internal::plain_col_type<MatrixType>::type ColType;
-    typedef Matrix<Scalar, DiagSizeAtCompileTime, DiagSizeAtCompileTime,
-                   MatrixOptions, MaxDiagSizeAtCompileTime, MaxDiagSizeAtCompileTime>
-            WorkMatrixType;
-
-    /** \brief Default Constructor.
-      *
-      * The default constructor is useful in cases in which the user intends to
-      * perform decompositions via JacobiSVD::compute(const MatrixType&).
-      */
-    JacobiSVD()
-      : SVDBase<_MatrixType>::SVDBase()
-    {}
-
-
-    /** \brief Default Constructor with memory preallocation
-      *
-      * Like the default constructor but with preallocation of the internal data
-      * according to the specified problem size.
-      * \sa JacobiSVD()
-      */
-    JacobiSVD(Index rows, Index cols, unsigned int computationOptions = 0)
-      : SVDBase<_MatrixType>::SVDBase() 
-    {
-      allocate(rows, cols, computationOptions);
-    }
-
-    /** \brief Constructor performing the decomposition of given matrix.
-     *
-     * \param matrix the matrix to decompose
-     * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
-     *                           By default, none is computed. This is a bit-field, the possible bits are #ComputeFullU, #ComputeThinU,
-     *                           #ComputeFullV, #ComputeThinV.
-     *
-     * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
-     * available with the (non-default) FullPivHouseholderQR preconditioner.
-     */
-    JacobiSVD(const MatrixType& matrix, unsigned int computationOptions = 0)
-      : SVDBase<_MatrixType>::SVDBase()
-    {
-      compute(matrix, computationOptions);
-    }
-
-    /** \brief Method performing the decomposition of given matrix using custom options.
-     *
-     * \param matrix the matrix to decompose
-     * \param computationOptions optional parameter allowing to specify if you want full or thin U or V unitaries to be computed.
-     *                           By default, none is computed. This is a bit-field, the possible bits are #ComputeFullU, #ComputeThinU,
-     *                           #ComputeFullV, #ComputeThinV.
-     *
-     * Thin unitaries are only available if your matrix type has a Dynamic number of columns (for example MatrixXf). They also are not
-     * available with the (non-default) FullPivHouseholderQR preconditioner.
-     */
-    SVDBase<MatrixType>& compute(const MatrixType& matrix, unsigned int computationOptions);
-
-    /** \brief Method performing the decomposition of given matrix using current options.
-     *
-     * \param matrix the matrix to decompose
-     *
-     * This method uses the current \a computationOptions, as already passed to the constructor or to compute(const MatrixType&, unsigned int).
-     */
-    SVDBase<MatrixType>& compute(const MatrixType& matrix)
-    {
-      return compute(matrix, this->m_computationOptions);
-    }
-    
-    /** \returns a (least squares) solution of \f$ A x = b \f$ using the current SVD decomposition of A.
-      *
-      * \param b the right-hand-side of the equation to solve.
-      *
-      * \note Solving requires both U and V to be computed. Thin U and V are enough, there is no need for full U or V.
-      *
-      * \note SVD solving is implicitly least-squares. Thus, this method serves both purposes of exact solving and least-squares solving.
-      * In other words, the returned solution is guaranteed to minimize the Euclidean norm \f$ \Vert A x - b \Vert \f$.
-      */
-    template<typename Rhs>
-    inline const internal::solve_retval<JacobiSVD, Rhs>
-    solve(const MatrixBase<Rhs>& b) const
-    {
-      eigen_assert(this->m_isInitialized && "JacobiSVD is not initialized.");
-      eigen_assert(SVDBase<MatrixType>::computeU() && SVDBase<MatrixType>::computeV() && "JacobiSVD::solve() requires both unitaries U and V to be computed (thin unitaries suffice).");
-      return internal::solve_retval<JacobiSVD, Rhs>(*this, b.derived());
-    }
-
-    
-
-  private:
-    void allocate(Index rows, Index cols, unsigned int computationOptions);
-
-  protected:
-    WorkMatrixType m_workMatrix;
-   
-    template<typename __MatrixType, int _QRPreconditioner, bool _IsComplex>
-    friend struct internal::svd_precondition_2x2_block_to_be_real;
-    template<typename __MatrixType, int _QRPreconditioner, int _Case, bool _DoAnything>
-    friend struct internal::qr_preconditioner_impl;
-
-    internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreColsThanRows> m_qr_precond_morecols;
-    internal::qr_preconditioner_impl<MatrixType, QRPreconditioner, internal::PreconditionIfMoreRowsThanCols> m_qr_precond_morerows;
-};
-
-template<typename MatrixType, int QRPreconditioner>
-void JacobiSVD<MatrixType, QRPreconditioner>::allocate(Index rows, Index cols, unsigned int computationOptions)
-{
-  if (SVDBase<MatrixType>::allocate(rows, cols, computationOptions)) return;
-
-  if (QRPreconditioner == FullPivHouseholderQRPreconditioner)
-  {
-      eigen_assert(!(this->m_computeThinU || this->m_computeThinV) &&
-              "JacobiSVD: can't compute thin U or thin V with the FullPivHouseholderQR preconditioner. "
-              "Use the ColPivHouseholderQR preconditioner instead.");
-  }
-
-  m_workMatrix.resize(this->m_diagSize, this->m_diagSize);
-  
-  if(this->m_cols>this->m_rows) m_qr_precond_morecols.allocate(*this);
-  if(this->m_rows>this->m_cols) m_qr_precond_morerows.allocate(*this);
-}
-
-template<typename MatrixType, int QRPreconditioner>
-SVDBase<MatrixType>&
-JacobiSVD<MatrixType, QRPreconditioner>::compute(const MatrixType& matrix, unsigned int computationOptions)
-{
-  using std::abs;
-  allocate(matrix.rows(), matrix.cols(), computationOptions);
-
-  // currently we stop when we reach precision 2*epsilon as the last bit of precision can require an unreasonable number of iterations,
-  // only worsening the precision of U and V as we accumulate more rotations
-  const RealScalar precision = RealScalar(2) * NumTraits<Scalar>::epsilon();
-
-  // limit for very small denormal numbers to be considered zero in order to avoid infinite loops (see bug 286)
-  const RealScalar considerAsZero = RealScalar(2) * std::numeric_limits<RealScalar>::denorm_min();
-
-  /*** step 1. The R-SVD step: we use a QR decomposition to reduce to the case of a square matrix */
-
-  if(!m_qr_precond_morecols.run(*this, matrix) && !m_qr_precond_morerows.run(*this, matrix))
-  {
-    m_workMatrix = matrix.block(0,0,this->m_diagSize,this->m_diagSize);
-    if(this->m_computeFullU) this->m_matrixU.setIdentity(this->m_rows,this->m_rows);
-    if(this->m_computeThinU) this->m_matrixU.setIdentity(this->m_rows,this->m_diagSize);
-    if(this->m_computeFullV) this->m_matrixV.setIdentity(this->m_cols,this->m_cols);
-    if(this->m_computeThinV) this->m_matrixV.setIdentity(this->m_cols, this->m_diagSize);
-  }
-
-  /*** step 2. The main Jacobi SVD iteration. ***/
-
-  bool finished = false;
-  while(!finished)
-  {
-    finished = true;
-
-    // do a sweep: for all index pairs (p,q), perform SVD of the corresponding 2x2 sub-matrix
-
-    for(Index p = 1; p < this->m_diagSize; ++p)
-    {
-      for(Index q = 0; q < p; ++q)
-      {
-        // if this 2x2 sub-matrix is not diagonal already...
-        // notice that this comparison will evaluate to false if any NaN is involved, ensuring that NaN's don't
-        // keep us iterating forever. Similarly, small denormal numbers are considered zero.
-        using std::max;
-        RealScalar threshold = (max)(considerAsZero, precision * (max)(abs(m_workMatrix.coeff(p,p)),
-                                                                       abs(m_workMatrix.coeff(q,q))));
-        if((max)(abs(m_workMatrix.coeff(p,q)),abs(m_workMatrix.coeff(q,p))) > threshold)
-        {
-          finished = false;
-
-          // perform SVD decomposition of 2x2 sub-matrix corresponding to indices p,q to make it diagonal
-          internal::svd_precondition_2x2_block_to_be_real<MatrixType, QRPreconditioner>::run(m_workMatrix, *this, p, q);
-          JacobiRotation<RealScalar> j_left, j_right;
-          internal::real_2x2_jacobi_svd(m_workMatrix, p, q, &j_left, &j_right);
-
-          // accumulate resulting Jacobi rotations
-          m_workMatrix.applyOnTheLeft(p,q,j_left);
-          if(SVDBase<MatrixType>::computeU()) this->m_matrixU.applyOnTheRight(p,q,j_left.transpose());
-
-          m_workMatrix.applyOnTheRight(p,q,j_right);
-          if(SVDBase<MatrixType>::computeV()) this->m_matrixV.applyOnTheRight(p,q,j_right);
-        }
-      }
-    }
-  }
-
-  /*** step 3. The work matrix is now diagonal, so ensure it's positive so its diagonal entries are the singular values ***/
-
-  for(Index i = 0; i < this->m_diagSize; ++i)
-  {
-    RealScalar a = abs(m_workMatrix.coeff(i,i));
-    this->m_singularValues.coeffRef(i) = a;
-    if(SVDBase<MatrixType>::computeU() && (a!=RealScalar(0))) this->m_matrixU.col(i) *= this->m_workMatrix.coeff(i,i)/a;
-  }
-
-  /*** step 4. Sort singular values in descending order and compute the number of nonzero singular values ***/
-
-  this->m_nonzeroSingularValues = this->m_diagSize;
-  for(Index i = 0; i < this->m_diagSize; i++)
-  {
-    Index pos;
-    RealScalar maxRemainingSingularValue = this->m_singularValues.tail(this->m_diagSize-i).maxCoeff(&pos);
-    if(maxRemainingSingularValue == RealScalar(0))
-    {
-      this->m_nonzeroSingularValues = i;
-      break;
-    }
-    if(pos)
-    {
-      pos += i;
-      std::swap(this->m_singularValues.coeffRef(i), this->m_singularValues.coeffRef(pos));
-      if(SVDBase<MatrixType>::computeU()) this->m_matrixU.col(pos).swap(this->m_matrixU.col(i));
-      if(SVDBase<MatrixType>::computeV()) this->m_matrixV.col(pos).swap(this->m_matrixV.col(i));
-    }
-  }
-
-  this->m_isInitialized = true;
-  return *this;
-}
-
-namespace internal {
-template<typename _MatrixType, int QRPreconditioner, typename Rhs>
-struct solve_retval<JacobiSVD<_MatrixType, QRPreconditioner>, Rhs>
-  : solve_retval_base<JacobiSVD<_MatrixType, QRPreconditioner>, Rhs>
-{
-  typedef JacobiSVD<_MatrixType, QRPreconditioner> JacobiSVDType;
-  EIGEN_MAKE_SOLVE_HELPERS(JacobiSVDType,Rhs)
-
-  template<typename Dest> void evalTo(Dest& dst) const
-  {
-    eigen_assert(rhs().rows() == dec().rows());
-
-    // A = U S V^*
-    // So A^{-1} = V S^{-1} U^*
-
-    Index diagSize = (std::min)(dec().rows(), dec().cols());
-    typename JacobiSVDType::SingularValuesType invertedSingVals(diagSize);
-
-    Index nonzeroSingVals = dec().nonzeroSingularValues();
-    invertedSingVals.head(nonzeroSingVals) = dec().singularValues().head(nonzeroSingVals).array().inverse();
-    invertedSingVals.tail(diagSize - nonzeroSingVals).setZero();
-
-    dst = dec().matrixV().leftCols(diagSize)
-        * invertedSingVals.asDiagonal()
-        * dec().matrixU().leftCols(diagSize).adjoint()
-        * rhs();
-  }
-};
-} // end namespace internal
-
-/** \svd_module
-  *
-  * \return the singular value decomposition of \c *this computed by two-sided
-  * Jacobi transformations.
-  *
-  * \sa class JacobiSVD
-  */
-template<typename Derived>
-JacobiSVD<typename MatrixBase<Derived>::PlainObject>
-MatrixBase<Derived>::jacobiSvd(unsigned int computationOptions) const
-{
-  return JacobiSVD<PlainObject>(*this, computationOptions);
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_JACOBISVD_H
diff --git a/eigenlib/unsupported/Eigen/src/SVD/TODOBdcsvd.txt b/eigenlib/unsupported/Eigen/src/SVD/TODOBdcsvd.txt
deleted file mode 100644
index 0bc9a46e..00000000
--- a/eigenlib/unsupported/Eigen/src/SVD/TODOBdcsvd.txt
+++ /dev/null
@@ -1,29 +0,0 @@
-TO DO LIST
-
-
-
-(optional optimization) - do all the allocations in the allocate part 
-                        - support static matrices
-                        - return a error at compilation time when using integer matrices (int, long, std::complex<int>, ...)
-
-to finish the algorithm :
-			-implement the last part of the algorithm as described on the reference paper. 
-			    You may find more information on that part on this paper
-
-			-to replace the call to JacobiSVD at the end of the divide algorithm, just after the call to 
-			    deflation.
-
-(suggested step by step resolution)
-                       0) comment the call to Jacobi in the last part of the divide method and everything right after
-                               until the end of the method. What is commented can be a guideline to steps 3) 4) and 6)
-                       1) solve the secular equation (Characteristic equation) on the values that are not null (zi!=0 and di!=0), after the deflation
-                               wich should be uncommented in the divide method
-                       2) remember the values of the singular values that are already computed (zi=0)
-                       3) assign the singular values found in m_computed at the right places (with the ones found in step 2) )
-                               in decreasing order
-                       4) set the firstcol to zero (except the first element) in m_computed
-                       5) compute all the singular vectors when CompV is set to true and only the left vectors when
-                               CompV is set to false
-                       6) multiply naiveU and naiveV to the right by the matrices found, only naiveU when CompV is set to
-                               false, /!\ if CompU is false NaiveU has only 2 rows
-                       7) delete everything commented in step 0)
diff --git a/eigenlib/unsupported/Eigen/src/SVD/doneInBDCSVD.txt b/eigenlib/unsupported/Eigen/src/SVD/doneInBDCSVD.txt
deleted file mode 100644
index 8563ddab..00000000
--- a/eigenlib/unsupported/Eigen/src/SVD/doneInBDCSVD.txt
+++ /dev/null
@@ -1,21 +0,0 @@
-This unsupported package is about a divide and conquer algorithm to compute SVD.
-
-The implementation follows as closely as possible the following reference paper : 
-http://www.cs.yale.edu/publications/techreports/tr933.pdf
-
-The code documentation uses the same names for variables as the reference paper. The code, deflation included, is
-working  but there are a few things that could be optimised as explained in the TODOBdsvd. 
-
-In the code comments were put at the line where would be the third step of the algorithm so one could simply add the call 
-of a function doing the last part of the algorithm and that would not require any knowledge of the part we implemented.
-
-In the TODOBdcsvd we explain what is the main difficulty of the last part and suggest a reference paper to help solve it.
-
-The implemented has trouble with fixed size matrices. 
-
-In the actual implementation, it returns matrices of zero when ask to do a svd on an int matrix. 
-
-
-Paper for the third part:
-http://www.stat.uchicago.edu/~lekheng/courses/302/classics/greengard-rokhlin.pdf
-
diff --git a/eigenlib/unsupported/Eigen/src/Skyline/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/Skyline/CMakeLists.txt
deleted file mode 100644
index 3bf1b0dd..00000000
--- a/eigenlib/unsupported/Eigen/src/Skyline/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Skyline_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Skyline_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/Skyline COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h b/eigenlib/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h
deleted file mode 100644
index a1f54ed3..00000000
--- a/eigenlib/unsupported/Eigen/src/Skyline/SkylineInplaceLU.h
+++ /dev/null
@@ -1,352 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Guillaume Saupin <guillaume.saupin@cea.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINEINPLACELU_H
-#define EIGEN_SKYLINEINPLACELU_H
-
-namespace Eigen { 
-
-/** \ingroup Skyline_Module
- *
- * \class SkylineInplaceLU
- *
- * \brief Inplace LU decomposition of a skyline matrix and associated features
- *
- * \param MatrixType the type of the matrix of which we are computing the LU factorization
- *
- */
-template<typename MatrixType>
-class SkylineInplaceLU {
-protected:
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::Index Index;
-    
-    typedef typename NumTraits<typename MatrixType::Scalar>::Real RealScalar;
-
-public:
-
-    /** Creates a LU object and compute the respective factorization of \a matrix using
-     * flags \a flags. */
-    SkylineInplaceLU(MatrixType& matrix, int flags = 0)
-    : /*m_matrix(matrix.rows(), matrix.cols()),*/ m_flags(flags), m_status(0), m_lu(matrix) {
-        m_precision = RealScalar(0.1) * Eigen::dummy_precision<RealScalar > ();
-        m_lu.IsRowMajor ? computeRowMajor() : compute();
-    }
-
-    /** Sets the relative threshold value used to prune zero coefficients during the decomposition.
-     *
-     * Setting a value greater than zero speeds up computation, and yields to an imcomplete
-     * factorization with fewer non zero coefficients. Such approximate factors are especially
-     * useful to initialize an iterative solver.
-     *
-     * Note that the exact meaning of this parameter might depends on the actual
-     * backend. Moreover, not all backends support this feature.
-     *
-     * \sa precision() */
-    void setPrecision(RealScalar v) {
-        m_precision = v;
-    }
-
-    /** \returns the current precision.
-     *
-     * \sa setPrecision() */
-    RealScalar precision() const {
-        return m_precision;
-    }
-
-    /** Sets the flags. Possible values are:
-     *  - CompleteFactorization
-     *  - IncompleteFactorization
-     *  - MemoryEfficient
-     *  - one of the ordering methods
-     *  - etc...
-     *
-     * \sa flags() */
-    void setFlags(int f) {
-        m_flags = f;
-    }
-
-    /** \returns the current flags */
-    int flags() const {
-        return m_flags;
-    }
-
-    void setOrderingMethod(int m) {
-        m_flags = m;
-    }
-
-    int orderingMethod() const {
-        return m_flags;
-    }
-
-    /** Computes/re-computes the LU factorization */
-    void compute();
-    void computeRowMajor();
-
-    /** \returns the lower triangular matrix L */
-    //inline const MatrixType& matrixL() const { return m_matrixL; }
-
-    /** \returns the upper triangular matrix U */
-    //inline const MatrixType& matrixU() const { return m_matrixU; }
-
-    template<typename BDerived, typename XDerived>
-    bool solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived>* x,
-            const int transposed = 0) const;
-
-    /** \returns true if the factorization succeeded */
-    inline bool succeeded(void) const {
-        return m_succeeded;
-    }
-
-protected:
-    RealScalar m_precision;
-    int m_flags;
-    mutable int m_status;
-    bool m_succeeded;
-    MatrixType& m_lu;
-};
-
-/** Computes / recomputes the in place LU decomposition of the SkylineInplaceLU.
- * using the default algorithm.
- */
-template<typename MatrixType>
-//template<typename _Scalar>
-void SkylineInplaceLU<MatrixType>::compute() {
-    const size_t rows = m_lu.rows();
-    const size_t cols = m_lu.cols();
-
-    eigen_assert(rows == cols && "We do not (yet) support rectangular LU.");
-    eigen_assert(!m_lu.IsRowMajor && "LU decomposition does not work with rowMajor Storage");
-
-    for (Index row = 0; row < rows; row++) {
-        const double pivot = m_lu.coeffDiag(row);
-
-        //Lower matrix Columns update
-        const Index& col = row;
-        for (typename MatrixType::InnerLowerIterator lIt(m_lu, col); lIt; ++lIt) {
-            lIt.valueRef() /= pivot;
-        }
-
-        //Upper matrix update -> contiguous memory access
-        typename MatrixType::InnerLowerIterator lIt(m_lu, col);
-        for (Index rrow = row + 1; rrow < m_lu.rows(); rrow++) {
-            typename MatrixType::InnerUpperIterator uItPivot(m_lu, row);
-            typename MatrixType::InnerUpperIterator uIt(m_lu, rrow);
-            const double coef = lIt.value();
-
-            uItPivot += (rrow - row - 1);
-
-            //update upper part  -> contiguous memory access
-            for (++uItPivot; uIt && uItPivot;) {
-                uIt.valueRef() -= uItPivot.value() * coef;
-
-                ++uIt;
-                ++uItPivot;
-            }
-            ++lIt;
-        }
-
-        //Upper matrix update -> non contiguous memory access
-        typename MatrixType::InnerLowerIterator lIt3(m_lu, col);
-        for (Index rrow = row + 1; rrow < m_lu.rows(); rrow++) {
-            typename MatrixType::InnerUpperIterator uItPivot(m_lu, row);
-            const double coef = lIt3.value();
-
-            //update lower part ->  non contiguous memory access
-            for (Index i = 0; i < rrow - row - 1; i++) {
-                m_lu.coeffRefLower(rrow, row + i + 1) -= uItPivot.value() * coef;
-                ++uItPivot;
-            }
-            ++lIt3;
-        }
-        //update diag -> contiguous
-        typename MatrixType::InnerLowerIterator lIt2(m_lu, col);
-        for (Index rrow = row + 1; rrow < m_lu.rows(); rrow++) {
-
-            typename MatrixType::InnerUpperIterator uItPivot(m_lu, row);
-            typename MatrixType::InnerUpperIterator uIt(m_lu, rrow);
-            const double coef = lIt2.value();
-
-            uItPivot += (rrow - row - 1);
-            m_lu.coeffRefDiag(rrow) -= uItPivot.value() * coef;
-            ++lIt2;
-        }
-    }
-}
-
-template<typename MatrixType>
-void SkylineInplaceLU<MatrixType>::computeRowMajor() {
-    const size_t rows = m_lu.rows();
-    const size_t cols = m_lu.cols();
-
-    eigen_assert(rows == cols && "We do not (yet) support rectangular LU.");
-    eigen_assert(m_lu.IsRowMajor && "You're trying to apply rowMajor decomposition on a ColMajor matrix !");
-
-    for (Index row = 0; row < rows; row++) {
-        typename MatrixType::InnerLowerIterator llIt(m_lu, row);
-
-
-        for (Index col = llIt.col(); col < row; col++) {
-            if (m_lu.coeffExistLower(row, col)) {
-                const double diag = m_lu.coeffDiag(col);
-
-                typename MatrixType::InnerLowerIterator lIt(m_lu, row);
-                typename MatrixType::InnerUpperIterator uIt(m_lu, col);
-
-
-                const Index offset = lIt.col() - uIt.row();
-
-
-                Index stop = offset > 0 ? col - lIt.col() : col - uIt.row();
-
-                //#define VECTORIZE
-#ifdef VECTORIZE
-                Map<VectorXd > rowVal(lIt.valuePtr() + (offset > 0 ? 0 : -offset), stop);
-                Map<VectorXd > colVal(uIt.valuePtr() + (offset > 0 ? offset : 0), stop);
-
-
-                Scalar newCoeff = m_lu.coeffLower(row, col) - rowVal.dot(colVal);
-#else
-                if (offset > 0) //Skip zero value of lIt
-                    uIt += offset;
-                else //Skip zero values of uIt
-                    lIt += -offset;
-                Scalar newCoeff = m_lu.coeffLower(row, col);
-
-                for (Index k = 0; k < stop; ++k) {
-                    const Scalar tmp = newCoeff;
-                    newCoeff = tmp - lIt.value() * uIt.value();
-                    ++lIt;
-                    ++uIt;
-                }
-#endif
-
-                m_lu.coeffRefLower(row, col) = newCoeff / diag;
-            }
-        }
-
-        //Upper matrix update
-        const Index col = row;
-        typename MatrixType::InnerUpperIterator uuIt(m_lu, col);
-        for (Index rrow = uuIt.row(); rrow < col; rrow++) {
-
-            typename MatrixType::InnerLowerIterator lIt(m_lu, rrow);
-            typename MatrixType::InnerUpperIterator uIt(m_lu, col);
-            const Index offset = lIt.col() - uIt.row();
-
-            Index stop = offset > 0 ? rrow - lIt.col() : rrow - uIt.row();
-
-#ifdef VECTORIZE
-            Map<VectorXd > rowVal(lIt.valuePtr() + (offset > 0 ? 0 : -offset), stop);
-            Map<VectorXd > colVal(uIt.valuePtr() + (offset > 0 ? offset : 0), stop);
-
-            Scalar newCoeff = m_lu.coeffUpper(rrow, col) - rowVal.dot(colVal);
-#else
-            if (offset > 0) //Skip zero value of lIt
-                uIt += offset;
-            else //Skip zero values of uIt
-                lIt += -offset;
-            Scalar newCoeff = m_lu.coeffUpper(rrow, col);
-            for (Index k = 0; k < stop; ++k) {
-                const Scalar tmp = newCoeff;
-                newCoeff = tmp - lIt.value() * uIt.value();
-
-                ++lIt;
-                ++uIt;
-            }
-#endif
-            m_lu.coeffRefUpper(rrow, col) = newCoeff;
-        }
-
-
-        //Diag matrix update
-        typename MatrixType::InnerLowerIterator lIt(m_lu, row);
-        typename MatrixType::InnerUpperIterator uIt(m_lu, row);
-
-        const Index offset = lIt.col() - uIt.row();
-
-
-        Index stop = offset > 0 ? lIt.size() : uIt.size();
-#ifdef VECTORIZE
-        Map<VectorXd > rowVal(lIt.valuePtr() + (offset > 0 ? 0 : -offset), stop);
-        Map<VectorXd > colVal(uIt.valuePtr() + (offset > 0 ? offset : 0), stop);
-        Scalar newCoeff = m_lu.coeffDiag(row) - rowVal.dot(colVal);
-#else
-        if (offset > 0) //Skip zero value of lIt
-            uIt += offset;
-        else //Skip zero values of uIt
-            lIt += -offset;
-        Scalar newCoeff = m_lu.coeffDiag(row);
-        for (Index k = 0; k < stop; ++k) {
-            const Scalar tmp = newCoeff;
-            newCoeff = tmp - lIt.value() * uIt.value();
-            ++lIt;
-            ++uIt;
-        }
-#endif
-        m_lu.coeffRefDiag(row) = newCoeff;
-    }
-}
-
-/** Computes *x = U^-1 L^-1 b
- *
- * If \a transpose is set to SvTranspose or SvAdjoint, the solution
- * of the transposed/adjoint system is computed instead.
- *
- * Not all backends implement the solution of the transposed or
- * adjoint system.
- */
-template<typename MatrixType>
-template<typename BDerived, typename XDerived>
-bool SkylineInplaceLU<MatrixType>::solve(const MatrixBase<BDerived> &b, MatrixBase<XDerived>* x, const int transposed) const {
-    const size_t rows = m_lu.rows();
-    const size_t cols = m_lu.cols();
-
-
-    for (Index row = 0; row < rows; row++) {
-        x->coeffRef(row) = b.coeff(row);
-        Scalar newVal = x->coeff(row);
-        typename MatrixType::InnerLowerIterator lIt(m_lu, row);
-
-        Index col = lIt.col();
-        while (lIt.col() < row) {
-
-            newVal -= x->coeff(col++) * lIt.value();
-            ++lIt;
-        }
-
-        x->coeffRef(row) = newVal;
-    }
-
-
-    for (Index col = rows - 1; col > 0; col--) {
-        x->coeffRef(col) = x->coeff(col) / m_lu.coeffDiag(col);
-
-        const Scalar x_col = x->coeff(col);
-
-        typename MatrixType::InnerUpperIterator uIt(m_lu, col);
-        uIt += uIt.size()-1;
-
-
-        while (uIt) {
-            x->coeffRef(uIt.row()) -= x_col * uIt.value();
-            //TODO : introduce --operator
-            uIt += -1;
-        }
-
-
-    }
-    x->coeffRef(0) = x->coeff(0) / m_lu.coeffDiag(0);
-
-    return true;
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SKYLINELU_H
diff --git a/eigenlib/unsupported/Eigen/src/Skyline/SkylineMatrix.h b/eigenlib/unsupported/Eigen/src/Skyline/SkylineMatrix.h
deleted file mode 100644
index a2a8933c..00000000
--- a/eigenlib/unsupported/Eigen/src/Skyline/SkylineMatrix.h
+++ /dev/null
@@ -1,862 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Guillaume Saupin <guillaume.saupin@cea.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINEMATRIX_H
-#define EIGEN_SKYLINEMATRIX_H
-
-#include "SkylineStorage.h"
-#include "SkylineMatrixBase.h"
-
-namespace Eigen { 
-
-/** \ingroup Skyline_Module
- *
- * \class SkylineMatrix
- *
- * \brief The main skyline matrix class
- *
- * This class implements a skyline matrix using the very uncommon storage
- * scheme.
- *
- * \param _Scalar the scalar type, i.e. the type of the coefficients
- * \param _Options Union of bit flags controlling the storage scheme. Currently the only possibility
- *                 is RowMajor. The default is 0 which means column-major.
- *
- *
- */
-namespace internal {
-template<typename _Scalar, int _Options>
-struct traits<SkylineMatrix<_Scalar, _Options> > {
-    typedef _Scalar Scalar;
-    typedef Sparse StorageKind;
-
-    enum {
-        RowsAtCompileTime = Dynamic,
-        ColsAtCompileTime = Dynamic,
-        MaxRowsAtCompileTime = Dynamic,
-        MaxColsAtCompileTime = Dynamic,
-        Flags = SkylineBit | _Options,
-        CoeffReadCost = NumTraits<Scalar>::ReadCost,
-    };
-};
-}
-
-template<typename _Scalar, int _Options>
-class SkylineMatrix
-: public SkylineMatrixBase<SkylineMatrix<_Scalar, _Options> > {
-public:
-    EIGEN_SKYLINE_GENERIC_PUBLIC_INTERFACE(SkylineMatrix)
-    EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATOR(SkylineMatrix, +=)
-    EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATOR(SkylineMatrix, -=)
-
-    using Base::IsRowMajor;
-
-protected:
-
-    typedef SkylineMatrix<Scalar, (Flags&~RowMajorBit) | (IsRowMajor ? RowMajorBit : 0) > TransposedSkylineMatrix;
-
-    Index m_outerSize;
-    Index m_innerSize;
-
-public:
-    Index* m_colStartIndex;
-    Index* m_rowStartIndex;
-    SkylineStorage<Scalar> m_data;
-
-public:
-
-    inline Index rows() const {
-        return IsRowMajor ? m_outerSize : m_innerSize;
-    }
-
-    inline Index cols() const {
-        return IsRowMajor ? m_innerSize : m_outerSize;
-    }
-
-    inline Index innerSize() const {
-        return m_innerSize;
-    }
-
-    inline Index outerSize() const {
-        return m_outerSize;
-    }
-
-    inline Index upperNonZeros() const {
-        return m_data.upperSize();
-    }
-
-    inline Index lowerNonZeros() const {
-        return m_data.lowerSize();
-    }
-
-    inline Index upperNonZeros(Index j) const {
-        return m_colStartIndex[j + 1] - m_colStartIndex[j];
-    }
-
-    inline Index lowerNonZeros(Index j) const {
-        return m_rowStartIndex[j + 1] - m_rowStartIndex[j];
-    }
-
-    inline const Scalar* _diagPtr() const {
-        return &m_data.diag(0);
-    }
-
-    inline Scalar* _diagPtr() {
-        return &m_data.diag(0);
-    }
-
-    inline const Scalar* _upperPtr() const {
-        return &m_data.upper(0);
-    }
-
-    inline Scalar* _upperPtr() {
-        return &m_data.upper(0);
-    }
-
-    inline const Scalar* _lowerPtr() const {
-        return &m_data.lower(0);
-    }
-
-    inline Scalar* _lowerPtr() {
-        return &m_data.lower(0);
-    }
-
-    inline const Index* _upperProfilePtr() const {
-        return &m_data.upperProfile(0);
-    }
-
-    inline Index* _upperProfilePtr() {
-        return &m_data.upperProfile(0);
-    }
-
-    inline const Index* _lowerProfilePtr() const {
-        return &m_data.lowerProfile(0);
-    }
-
-    inline Index* _lowerProfilePtr() {
-        return &m_data.lowerProfile(0);
-    }
-
-    inline Scalar coeff(Index row, Index col) const {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-
-        if (outer == inner)
-            return this->m_data.diag(outer);
-
-        if (IsRowMajor) {
-            if (inner > outer) //upper matrix
-            {
-                const Index minOuterIndex = inner - m_data.upperProfile(inner);
-                if (outer >= minOuterIndex)
-                    return this->m_data.upper(m_colStartIndex[inner] + outer - (inner - m_data.upperProfile(inner)));
-                else
-                    return Scalar(0);
-            }
-            if (inner < outer) //lower matrix
-            {
-                const Index minInnerIndex = outer - m_data.lowerProfile(outer);
-                if (inner >= minInnerIndex)
-                    return this->m_data.lower(m_rowStartIndex[outer] + inner - (outer - m_data.lowerProfile(outer)));
-                else
-                    return Scalar(0);
-            }
-            return m_data.upper(m_colStartIndex[inner] + outer - inner);
-        } else {
-            if (outer > inner) //upper matrix
-            {
-                const Index maxOuterIndex = inner + m_data.upperProfile(inner);
-                if (outer <= maxOuterIndex)
-                    return this->m_data.upper(m_colStartIndex[inner] + (outer - inner));
-                else
-                    return Scalar(0);
-            }
-            if (outer < inner) //lower matrix
-            {
-                const Index maxInnerIndex = outer + m_data.lowerProfile(outer);
-
-                if (inner <= maxInnerIndex)
-                    return this->m_data.lower(m_rowStartIndex[outer] + (inner - outer));
-                else
-                    return Scalar(0);
-            }
-        }
-    }
-
-    inline Scalar& coeffRef(Index row, Index col) {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-
-        if (outer == inner)
-            return this->m_data.diag(outer);
-
-        if (IsRowMajor) {
-            if (col > row) //upper matrix
-            {
-                const Index minOuterIndex = inner - m_data.upperProfile(inner);
-                eigen_assert(outer >= minOuterIndex && "you try to acces a coeff that do not exist in the storage");
-                return this->m_data.upper(m_colStartIndex[inner] + outer - (inner - m_data.upperProfile(inner)));
-            }
-            if (col < row) //lower matrix
-            {
-                const Index minInnerIndex = outer - m_data.lowerProfile(outer);
-                eigen_assert(inner >= minInnerIndex && "you try to acces a coeff that do not exist in the storage");
-                return this->m_data.lower(m_rowStartIndex[outer] + inner - (outer - m_data.lowerProfile(outer)));
-            }
-        } else {
-            if (outer > inner) //upper matrix
-            {
-                const Index maxOuterIndex = inner + m_data.upperProfile(inner);
-                eigen_assert(outer <= maxOuterIndex && "you try to acces a coeff that do not exist in the storage");
-                return this->m_data.upper(m_colStartIndex[inner] + (outer - inner));
-            }
-            if (outer < inner) //lower matrix
-            {
-                const Index maxInnerIndex = outer + m_data.lowerProfile(outer);
-                eigen_assert(inner <= maxInnerIndex && "you try to acces a coeff that do not exist in the storage");
-                return this->m_data.lower(m_rowStartIndex[outer] + (inner - outer));
-            }
-        }
-    }
-
-    inline Scalar coeffDiag(Index idx) const {
-        eigen_assert(idx < outerSize());
-        eigen_assert(idx < innerSize());
-        return this->m_data.diag(idx);
-    }
-
-    inline Scalar coeffLower(Index row, Index col) const {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-        eigen_assert(inner != outer);
-
-        if (IsRowMajor) {
-            const Index minInnerIndex = outer - m_data.lowerProfile(outer);
-            if (inner >= minInnerIndex)
-                return this->m_data.lower(m_rowStartIndex[outer] + inner - (outer - m_data.lowerProfile(outer)));
-            else
-                return Scalar(0);
-
-        } else {
-            const Index maxInnerIndex = outer + m_data.lowerProfile(outer);
-            if (inner <= maxInnerIndex)
-                return this->m_data.lower(m_rowStartIndex[outer] + (inner - outer));
-            else
-                return Scalar(0);
-        }
-    }
-
-    inline Scalar coeffUpper(Index row, Index col) const {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-        eigen_assert(inner != outer);
-
-        if (IsRowMajor) {
-            const Index minOuterIndex = inner - m_data.upperProfile(inner);
-            if (outer >= minOuterIndex)
-                return this->m_data.upper(m_colStartIndex[inner] + outer - (inner - m_data.upperProfile(inner)));
-            else
-                return Scalar(0);
-        } else {
-            const Index maxOuterIndex = inner + m_data.upperProfile(inner);
-            if (outer <= maxOuterIndex)
-                return this->m_data.upper(m_colStartIndex[inner] + (outer - inner));
-            else
-                return Scalar(0);
-        }
-    }
-
-    inline Scalar& coeffRefDiag(Index idx) {
-        eigen_assert(idx < outerSize());
-        eigen_assert(idx < innerSize());
-        return this->m_data.diag(idx);
-    }
-
-    inline Scalar& coeffRefLower(Index row, Index col) {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-        eigen_assert(inner != outer);
-
-        if (IsRowMajor) {
-            const Index minInnerIndex = outer - m_data.lowerProfile(outer);
-            eigen_assert(inner >= minInnerIndex && "you try to acces a coeff that do not exist in the storage");
-            return this->m_data.lower(m_rowStartIndex[outer] + inner - (outer - m_data.lowerProfile(outer)));
-        } else {
-            const Index maxInnerIndex = outer + m_data.lowerProfile(outer);
-            eigen_assert(inner <= maxInnerIndex && "you try to acces a coeff that do not exist in the storage");
-            return this->m_data.lower(m_rowStartIndex[outer] + (inner - outer));
-        }
-    }
-
-    inline bool coeffExistLower(Index row, Index col) {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-        eigen_assert(inner != outer);
-
-        if (IsRowMajor) {
-            const Index minInnerIndex = outer - m_data.lowerProfile(outer);
-            return inner >= minInnerIndex;
-        } else {
-            const Index maxInnerIndex = outer + m_data.lowerProfile(outer);
-            return inner <= maxInnerIndex;
-        }
-    }
-
-    inline Scalar& coeffRefUpper(Index row, Index col) {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-        eigen_assert(inner != outer);
-
-        if (IsRowMajor) {
-            const Index minOuterIndex = inner - m_data.upperProfile(inner);
-            eigen_assert(outer >= minOuterIndex && "you try to acces a coeff that do not exist in the storage");
-            return this->m_data.upper(m_colStartIndex[inner] + outer - (inner - m_data.upperProfile(inner)));
-        } else {
-            const Index maxOuterIndex = inner + m_data.upperProfile(inner);
-            eigen_assert(outer <= maxOuterIndex && "you try to acces a coeff that do not exist in the storage");
-            return this->m_data.upper(m_colStartIndex[inner] + (outer - inner));
-        }
-    }
-
-    inline bool coeffExistUpper(Index row, Index col) {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-        eigen_assert(inner != outer);
-
-        if (IsRowMajor) {
-            const Index minOuterIndex = inner - m_data.upperProfile(inner);
-            return outer >= minOuterIndex;
-        } else {
-            const Index maxOuterIndex = inner + m_data.upperProfile(inner);
-            return outer <= maxOuterIndex;
-        }
-    }
-
-
-protected:
-
-public:
-    class InnerUpperIterator;
-    class InnerLowerIterator;
-
-    class OuterUpperIterator;
-    class OuterLowerIterator;
-
-    /** Removes all non zeros */
-    inline void setZero() {
-        m_data.clear();
-        memset(m_colStartIndex, 0, (m_outerSize + 1) * sizeof (Index));
-        memset(m_rowStartIndex, 0, (m_outerSize + 1) * sizeof (Index));
-    }
-
-    /** \returns the number of non zero coefficients */
-    inline Index nonZeros() const {
-        return m_data.diagSize() + m_data.upperSize() + m_data.lowerSize();
-    }
-
-    /** Preallocates \a reserveSize non zeros */
-    inline void reserve(Index reserveSize, Index reserveUpperSize, Index reserveLowerSize) {
-        m_data.reserve(reserveSize, reserveUpperSize, reserveLowerSize);
-    }
-
-    /** \returns a reference to a novel non zero coefficient with coordinates \a row x \a col.
-
-     *
-     * \warning This function can be extremely slow if the non zero coefficients
-     * are not inserted in a coherent order.
-     *
-     * After an insertion session, you should call the finalize() function.
-     */
-    EIGEN_DONT_INLINE Scalar & insert(Index row, Index col) {
-        const Index outer = IsRowMajor ? row : col;
-        const Index inner = IsRowMajor ? col : row;
-
-        eigen_assert(outer < outerSize());
-        eigen_assert(inner < innerSize());
-
-        if (outer == inner)
-            return m_data.diag(col);
-
-        if (IsRowMajor) {
-            if (outer < inner) //upper matrix
-            {
-                Index minOuterIndex = 0;
-                minOuterIndex = inner - m_data.upperProfile(inner);
-
-                if (outer < minOuterIndex) //The value does not yet exist
-                {
-                    const Index previousProfile = m_data.upperProfile(inner);
-
-                    m_data.upperProfile(inner) = inner - outer;
-
-
-                    const Index bandIncrement = m_data.upperProfile(inner) - previousProfile;
-                    //shift data stored after this new one
-                    const Index stop = m_colStartIndex[cols()];
-                    const Index start = m_colStartIndex[inner];
-
-
-                    for (Index innerIdx = stop; innerIdx >= start; innerIdx--) {
-                        m_data.upper(innerIdx + bandIncrement) = m_data.upper(innerIdx);
-                    }
-
-                    for (Index innerIdx = cols(); innerIdx > inner; innerIdx--) {
-                        m_colStartIndex[innerIdx] += bandIncrement;
-                    }
-
-                    //zeros new data
-                    memset(this->_upperPtr() + start, 0, (bandIncrement - 1) * sizeof (Scalar));
-
-                    return m_data.upper(m_colStartIndex[inner]);
-                } else {
-                    return m_data.upper(m_colStartIndex[inner] + outer - (inner - m_data.upperProfile(inner)));
-                }
-            }
-
-            if (outer > inner) //lower matrix
-            {
-                const Index minInnerIndex = outer - m_data.lowerProfile(outer);
-                if (inner < minInnerIndex) //The value does not yet exist
-                {
-                    const Index previousProfile = m_data.lowerProfile(outer);
-                    m_data.lowerProfile(outer) = outer - inner;
-
-                    const Index bandIncrement = m_data.lowerProfile(outer) - previousProfile;
-                    //shift data stored after this new one
-                    const Index stop = m_rowStartIndex[rows()];
-                    const Index start = m_rowStartIndex[outer];
-
-
-                    for (Index innerIdx = stop; innerIdx >= start; innerIdx--) {
-                        m_data.lower(innerIdx + bandIncrement) = m_data.lower(innerIdx);
-                    }
-
-                    for (Index innerIdx = rows(); innerIdx > outer; innerIdx--) {
-                        m_rowStartIndex[innerIdx] += bandIncrement;
-                    }
-
-                    //zeros new data
-                    memset(this->_lowerPtr() + start, 0, (bandIncrement - 1) * sizeof (Scalar));
-                    return m_data.lower(m_rowStartIndex[outer]);
-                } else {
-                    return m_data.lower(m_rowStartIndex[outer] + inner - (outer - m_data.lowerProfile(outer)));
-                }
-            }
-        } else {
-            if (outer > inner) //upper matrix
-            {
-                const Index maxOuterIndex = inner + m_data.upperProfile(inner);
-                if (outer > maxOuterIndex) //The value does not yet exist
-                {
-                    const Index previousProfile = m_data.upperProfile(inner);
-                    m_data.upperProfile(inner) = outer - inner;
-
-                    const Index bandIncrement = m_data.upperProfile(inner) - previousProfile;
-                    //shift data stored after this new one
-                    const Index stop = m_rowStartIndex[rows()];
-                    const Index start = m_rowStartIndex[inner + 1];
-
-                    for (Index innerIdx = stop; innerIdx >= start; innerIdx--) {
-                        m_data.upper(innerIdx + bandIncrement) = m_data.upper(innerIdx);
-                    }
-
-                    for (Index innerIdx = inner + 1; innerIdx < outerSize() + 1; innerIdx++) {
-                        m_rowStartIndex[innerIdx] += bandIncrement;
-                    }
-                    memset(this->_upperPtr() + m_rowStartIndex[inner] + previousProfile + 1, 0, (bandIncrement - 1) * sizeof (Scalar));
-                    return m_data.upper(m_rowStartIndex[inner] + m_data.upperProfile(inner));
-                } else {
-                    return m_data.upper(m_rowStartIndex[inner] + (outer - inner));
-                }
-            }
-
-            if (outer < inner) //lower matrix
-            {
-                const Index maxInnerIndex = outer + m_data.lowerProfile(outer);
-                if (inner > maxInnerIndex) //The value does not yet exist
-                {
-                    const Index previousProfile = m_data.lowerProfile(outer);
-                    m_data.lowerProfile(outer) = inner - outer;
-
-                    const Index bandIncrement = m_data.lowerProfile(outer) - previousProfile;
-                    //shift data stored after this new one
-                    const Index stop = m_colStartIndex[cols()];
-                    const Index start = m_colStartIndex[outer + 1];
-
-                    for (Index innerIdx = stop; innerIdx >= start; innerIdx--) {
-                        m_data.lower(innerIdx + bandIncrement) = m_data.lower(innerIdx);
-                    }
-
-                    for (Index innerIdx = outer + 1; innerIdx < outerSize() + 1; innerIdx++) {
-                        m_colStartIndex[innerIdx] += bandIncrement;
-                    }
-                    memset(this->_lowerPtr() + m_colStartIndex[outer] + previousProfile + 1, 0, (bandIncrement - 1) * sizeof (Scalar));
-                    return m_data.lower(m_colStartIndex[outer] + m_data.lowerProfile(outer));
-                } else {
-                    return m_data.lower(m_colStartIndex[outer] + (inner - outer));
-                }
-            }
-        }
-    }
-
-    /** Must be called after inserting a set of non zero entries.
-     */
-    inline void finalize() {
-        if (IsRowMajor) {
-            if (rows() > cols())
-                m_data.resize(cols(), cols(), rows(), m_colStartIndex[cols()] + 1, m_rowStartIndex[rows()] + 1);
-            else
-                m_data.resize(rows(), cols(), rows(), m_colStartIndex[cols()] + 1, m_rowStartIndex[rows()] + 1);
-
-            //            eigen_assert(rows() == cols() && "memory reorganisatrion only works with suare matrix");
-            //
-            //            Scalar* newArray = new Scalar[m_colStartIndex[cols()] + 1 + m_rowStartIndex[rows()] + 1];
-            //            Index dataIdx = 0;
-            //            for (Index row = 0; row < rows(); row++) {
-            //
-            //                const Index nbLowerElts = m_rowStartIndex[row + 1] - m_rowStartIndex[row];
-            //                //                std::cout << "nbLowerElts" << nbLowerElts << std::endl;
-            //                memcpy(newArray + dataIdx, m_data.m_lower + m_rowStartIndex[row], nbLowerElts * sizeof (Scalar));
-            //                m_rowStartIndex[row] = dataIdx;
-            //                dataIdx += nbLowerElts;
-            //
-            //                const Index nbUpperElts = m_colStartIndex[row + 1] - m_colStartIndex[row];
-            //                memcpy(newArray + dataIdx, m_data.m_upper + m_colStartIndex[row], nbUpperElts * sizeof (Scalar));
-            //                m_colStartIndex[row] = dataIdx;
-            //                dataIdx += nbUpperElts;
-            //
-            //
-            //            }
-            //            //todo : don't access m_data profile directly : add an accessor from SkylineMatrix
-            //            m_rowStartIndex[rows()] = m_rowStartIndex[rows()-1] + m_data.lowerProfile(rows()-1);
-            //            m_colStartIndex[cols()] = m_colStartIndex[cols()-1] + m_data.upperProfile(cols()-1);
-            //
-            //            delete[] m_data.m_lower;
-            //            delete[] m_data.m_upper;
-            //
-            //            m_data.m_lower = newArray;
-            //            m_data.m_upper = newArray;
-        } else {
-            if (rows() > cols())
-                m_data.resize(cols(), rows(), cols(), m_rowStartIndex[cols()] + 1, m_colStartIndex[cols()] + 1);
-            else
-                m_data.resize(rows(), rows(), cols(), m_rowStartIndex[rows()] + 1, m_colStartIndex[rows()] + 1);
-        }
-    }
-
-    inline void squeeze() {
-        finalize();
-        m_data.squeeze();
-    }
-
-    void prune(Scalar reference, RealScalar epsilon = dummy_precision<RealScalar > ()) {
-        //TODO
-    }
-
-    /** Resizes the matrix to a \a rows x \a cols matrix and initializes it to zero
-     * \sa resizeNonZeros(Index), reserve(), setZero()
-     */
-    void resize(size_t rows, size_t cols) {
-        const Index diagSize = rows > cols ? cols : rows;
-        m_innerSize = IsRowMajor ? cols : rows;
-
-        eigen_assert(rows == cols && "Skyline matrix must be square matrix");
-
-        if (diagSize % 2) { // diagSize is odd
-            const Index k = (diagSize - 1) / 2;
-
-            m_data.resize(diagSize, IsRowMajor ? cols : rows, IsRowMajor ? rows : cols,
-                    2 * k * k + k + 1,
-                    2 * k * k + k + 1);
-
-        } else // diagSize is even
-        {
-            const Index k = diagSize / 2;
-            m_data.resize(diagSize, IsRowMajor ? cols : rows, IsRowMajor ? rows : cols,
-                    2 * k * k - k + 1,
-                    2 * k * k - k + 1);
-        }
-
-        if (m_colStartIndex && m_rowStartIndex) {
-            delete[] m_colStartIndex;
-            delete[] m_rowStartIndex;
-        }
-        m_colStartIndex = new Index [cols + 1];
-        m_rowStartIndex = new Index [rows + 1];
-        m_outerSize = diagSize;
-
-        m_data.reset();
-        m_data.clear();
-
-        m_outerSize = diagSize;
-        memset(m_colStartIndex, 0, (cols + 1) * sizeof (Index));
-        memset(m_rowStartIndex, 0, (rows + 1) * sizeof (Index));
-    }
-
-    void resizeNonZeros(Index size) {
-        m_data.resize(size);
-    }
-
-    inline SkylineMatrix()
-    : m_outerSize(-1), m_innerSize(0), m_colStartIndex(0), m_rowStartIndex(0) {
-        resize(0, 0);
-    }
-
-    inline SkylineMatrix(size_t rows, size_t cols)
-    : m_outerSize(0), m_innerSize(0), m_colStartIndex(0), m_rowStartIndex(0) {
-        resize(rows, cols);
-    }
-
-    template<typename OtherDerived>
-    inline SkylineMatrix(const SkylineMatrixBase<OtherDerived>& other)
-    : m_outerSize(0), m_innerSize(0), m_colStartIndex(0), m_rowStartIndex(0) {
-        *this = other.derived();
-    }
-
-    inline SkylineMatrix(const SkylineMatrix & other)
-    : Base(), m_outerSize(0), m_innerSize(0), m_colStartIndex(0), m_rowStartIndex(0) {
-        *this = other.derived();
-    }
-
-    inline void swap(SkylineMatrix & other) {
-        //EIGEN_DBG_SKYLINE(std::cout << "SkylineMatrix:: swap\n");
-        std::swap(m_colStartIndex, other.m_colStartIndex);
-        std::swap(m_rowStartIndex, other.m_rowStartIndex);
-        std::swap(m_innerSize, other.m_innerSize);
-        std::swap(m_outerSize, other.m_outerSize);
-        m_data.swap(other.m_data);
-    }
-
-    inline SkylineMatrix & operator=(const SkylineMatrix & other) {
-        std::cout << "SkylineMatrix& operator=(const SkylineMatrix& other)\n";
-        if (other.isRValue()) {
-            swap(other.const_cast_derived());
-        } else {
-            resize(other.rows(), other.cols());
-            memcpy(m_colStartIndex, other.m_colStartIndex, (m_outerSize + 1) * sizeof (Index));
-            memcpy(m_rowStartIndex, other.m_rowStartIndex, (m_outerSize + 1) * sizeof (Index));
-            m_data = other.m_data;
-        }
-        return *this;
-    }
-
-    template<typename OtherDerived>
-            inline SkylineMatrix & operator=(const SkylineMatrixBase<OtherDerived>& other) {
-        const bool needToTranspose = (Flags & RowMajorBit) != (OtherDerived::Flags & RowMajorBit);
-        if (needToTranspose) {
-            //         TODO
-            //            return *this;
-        } else {
-            // there is no special optimization
-            return SkylineMatrixBase<SkylineMatrix>::operator=(other.derived());
-        }
-    }
-
-    friend std::ostream & operator <<(std::ostream & s, const SkylineMatrix & m) {
-
-        EIGEN_DBG_SKYLINE(
-        std::cout << "upper elements : " << std::endl;
-        for (Index i = 0; i < m.m_data.upperSize(); i++)
-            std::cout << m.m_data.upper(i) << "\t";
-        std::cout << std::endl;
-        std::cout << "upper profile : " << std::endl;
-        for (Index i = 0; i < m.m_data.upperProfileSize(); i++)
-            std::cout << m.m_data.upperProfile(i) << "\t";
-        std::cout << std::endl;
-        std::cout << "lower startIdx : " << std::endl;
-        for (Index i = 0; i < m.m_data.upperProfileSize(); i++)
-            std::cout << (IsRowMajor ? m.m_colStartIndex[i] : m.m_rowStartIndex[i]) << "\t";
-        std::cout << std::endl;
-
-
-        std::cout << "lower elements : " << std::endl;
-        for (Index i = 0; i < m.m_data.lowerSize(); i++)
-            std::cout << m.m_data.lower(i) << "\t";
-        std::cout << std::endl;
-        std::cout << "lower profile : " << std::endl;
-        for (Index i = 0; i < m.m_data.lowerProfileSize(); i++)
-            std::cout << m.m_data.lowerProfile(i) << "\t";
-        std::cout << std::endl;
-        std::cout << "lower startIdx : " << std::endl;
-        for (Index i = 0; i < m.m_data.lowerProfileSize(); i++)
-            std::cout << (IsRowMajor ? m.m_rowStartIndex[i] : m.m_colStartIndex[i]) << "\t";
-        std::cout << std::endl;
-        );
-        for (Index rowIdx = 0; rowIdx < m.rows(); rowIdx++) {
-            for (Index colIdx = 0; colIdx < m.cols(); colIdx++) {
-                s << m.coeff(rowIdx, colIdx) << "\t";
-            }
-            s << std::endl;
-        }
-        return s;
-    }
-
-    /** Destructor */
-    inline ~SkylineMatrix() {
-        delete[] m_colStartIndex;
-        delete[] m_rowStartIndex;
-    }
-
-    /** Overloaded for performance */
-    Scalar sum() const;
-};
-
-template<typename Scalar, int _Options>
-class SkylineMatrix<Scalar, _Options>::InnerUpperIterator {
-public:
-
-    InnerUpperIterator(const SkylineMatrix& mat, Index outer)
-    : m_matrix(mat), m_outer(outer),
-    m_id(_Options == RowMajor ? mat.m_colStartIndex[outer] : mat.m_rowStartIndex[outer] + 1),
-    m_start(m_id),
-    m_end(_Options == RowMajor ? mat.m_colStartIndex[outer + 1] : mat.m_rowStartIndex[outer + 1] + 1) {
-    }
-
-    inline InnerUpperIterator & operator++() {
-        m_id++;
-        return *this;
-    }
-
-    inline InnerUpperIterator & operator+=(Index shift) {
-        m_id += shift;
-        return *this;
-    }
-
-    inline Scalar value() const {
-        return m_matrix.m_data.upper(m_id);
-    }
-
-    inline Scalar* valuePtr() {
-        return const_cast<Scalar*> (&(m_matrix.m_data.upper(m_id)));
-    }
-
-    inline Scalar& valueRef() {
-        return const_cast<Scalar&> (m_matrix.m_data.upper(m_id));
-    }
-
-    inline Index index() const {
-        return IsRowMajor ? m_outer - m_matrix.m_data.upperProfile(m_outer) + (m_id - m_start) :
-                m_outer + (m_id - m_start) + 1;
-    }
-
-    inline Index row() const {
-        return IsRowMajor ? index() : m_outer;
-    }
-
-    inline Index col() const {
-        return IsRowMajor ? m_outer : index();
-    }
-
-    inline size_t size() const {
-        return m_matrix.m_data.upperProfile(m_outer);
-    }
-
-    inline operator bool() const {
-        return (m_id < m_end) && (m_id >= m_start);
-    }
-
-protected:
-    const SkylineMatrix& m_matrix;
-    const Index m_outer;
-    Index m_id;
-    const Index m_start;
-    const Index m_end;
-};
-
-template<typename Scalar, int _Options>
-class SkylineMatrix<Scalar, _Options>::InnerLowerIterator {
-public:
-
-    InnerLowerIterator(const SkylineMatrix& mat, Index outer)
-    : m_matrix(mat),
-    m_outer(outer),
-    m_id(_Options == RowMajor ? mat.m_rowStartIndex[outer] : mat.m_colStartIndex[outer] + 1),
-    m_start(m_id),
-    m_end(_Options == RowMajor ? mat.m_rowStartIndex[outer + 1] : mat.m_colStartIndex[outer + 1] + 1) {
-    }
-
-    inline InnerLowerIterator & operator++() {
-        m_id++;
-        return *this;
-    }
-
-    inline InnerLowerIterator & operator+=(Index shift) {
-        m_id += shift;
-        return *this;
-    }
-
-    inline Scalar value() const {
-        return m_matrix.m_data.lower(m_id);
-    }
-
-    inline Scalar* valuePtr() {
-        return const_cast<Scalar*> (&(m_matrix.m_data.lower(m_id)));
-    }
-
-    inline Scalar& valueRef() {
-        return const_cast<Scalar&> (m_matrix.m_data.lower(m_id));
-    }
-
-    inline Index index() const {
-        return IsRowMajor ? m_outer - m_matrix.m_data.lowerProfile(m_outer) + (m_id - m_start) :
-                m_outer + (m_id - m_start) + 1;
-        ;
-    }
-
-    inline Index row() const {
-        return IsRowMajor ? m_outer : index();
-    }
-
-    inline Index col() const {
-        return IsRowMajor ? index() : m_outer;
-    }
-
-    inline size_t size() const {
-        return m_matrix.m_data.lowerProfile(m_outer);
-    }
-
-    inline operator bool() const {
-        return (m_id < m_end) && (m_id >= m_start);
-    }
-
-protected:
-    const SkylineMatrix& m_matrix;
-    const Index m_outer;
-    Index m_id;
-    const Index m_start;
-    const Index m_end;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_SkylineMatrix_H
diff --git a/eigenlib/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h b/eigenlib/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h
deleted file mode 100644
index b3a23723..00000000
--- a/eigenlib/unsupported/Eigen/src/Skyline/SkylineMatrixBase.h
+++ /dev/null
@@ -1,212 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Guillaume Saupin <guillaume.saupin@cea.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINEMATRIXBASE_H
-#define EIGEN_SKYLINEMATRIXBASE_H
-
-#include "SkylineUtil.h"
-
-namespace Eigen { 
-
-/** \ingroup Skyline_Module
- *
- * \class SkylineMatrixBase
- *
- * \brief Base class of any skyline matrices or skyline expressions
- *
- * \param Derived
- *
- */
-template<typename Derived> class SkylineMatrixBase : public EigenBase<Derived> {
-public:
-
-    typedef typename internal::traits<Derived>::Scalar Scalar;
-    typedef typename internal::traits<Derived>::StorageKind StorageKind;
-    typedef typename internal::index<StorageKind>::type Index;
-
-    enum {
-        RowsAtCompileTime = internal::traits<Derived>::RowsAtCompileTime,
-        /**< The number of rows at compile-time. This is just a copy of the value provided
-         * by the \a Derived type. If a value is not known at compile-time,
-         * it is set to the \a Dynamic constant.
-         * \sa MatrixBase::rows(), MatrixBase::cols(), ColsAtCompileTime, SizeAtCompileTime */
-
-        ColsAtCompileTime = internal::traits<Derived>::ColsAtCompileTime,
-        /**< The number of columns at compile-time. This is just a copy of the value provided
-         * by the \a Derived type. If a value is not known at compile-time,
-         * it is set to the \a Dynamic constant.
-         * \sa MatrixBase::rows(), MatrixBase::cols(), RowsAtCompileTime, SizeAtCompileTime */
-
-
-        SizeAtCompileTime = (internal::size_at_compile_time<internal::traits<Derived>::RowsAtCompileTime,
-        internal::traits<Derived>::ColsAtCompileTime>::ret),
-        /**< This is equal to the number of coefficients, i.e. the number of
-         * rows times the number of columns, or to \a Dynamic if this is not
-         * known at compile-time. \sa RowsAtCompileTime, ColsAtCompileTime */
-
-        MaxRowsAtCompileTime = RowsAtCompileTime,
-        MaxColsAtCompileTime = ColsAtCompileTime,
-
-        MaxSizeAtCompileTime = (internal::size_at_compile_time<MaxRowsAtCompileTime,
-        MaxColsAtCompileTime>::ret),
-
-        IsVectorAtCompileTime = RowsAtCompileTime == 1 || ColsAtCompileTime == 1,
-        /**< This is set to true if either the number of rows or the number of
-         * columns is known at compile-time to be equal to 1. Indeed, in that case,
-         * we are dealing with a column-vector (if there is only one column) or with
-         * a row-vector (if there is only one row). */
-
-        Flags = internal::traits<Derived>::Flags,
-        /**< This stores expression \ref flags flags which may or may not be inherited by new expressions
-         * constructed from this one. See the \ref flags "list of flags".
-         */
-
-        CoeffReadCost = internal::traits<Derived>::CoeffReadCost,
-        /**< This is a rough measure of how expensive it is to read one coefficient from
-         * this expression.
-         */
-
-        IsRowMajor = Flags & RowMajorBit ? 1 : 0
-    };
-
-#ifndef EIGEN_PARSED_BY_DOXYGEN
-    /** This is the "real scalar" type; if the \a Scalar type is already real numbers
-     * (e.g. int, float or double) then \a RealScalar is just the same as \a Scalar. If
-     * \a Scalar is \a std::complex<T> then RealScalar is \a T.
-     *
-     * \sa class NumTraits
-     */
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-
-    /** type of the equivalent square matrix */
-    typedef Matrix<Scalar, EIGEN_SIZE_MAX(RowsAtCompileTime, ColsAtCompileTime),
-                           EIGEN_SIZE_MAX(RowsAtCompileTime, ColsAtCompileTime) > SquareMatrixType;
-
-    inline const Derived& derived() const {
-        return *static_cast<const Derived*> (this);
-    }
-
-    inline Derived& derived() {
-        return *static_cast<Derived*> (this);
-    }
-
-    inline Derived& const_cast_derived() const {
-        return *static_cast<Derived*> (const_cast<SkylineMatrixBase*> (this));
-    }
-#endif // not EIGEN_PARSED_BY_DOXYGEN
-
-    /** \returns the number of rows. \sa cols(), RowsAtCompileTime */
-    inline Index rows() const {
-        return derived().rows();
-    }
-
-    /** \returns the number of columns. \sa rows(), ColsAtCompileTime*/
-    inline Index cols() const {
-        return derived().cols();
-    }
-
-    /** \returns the number of coefficients, which is \a rows()*cols().
-     * \sa rows(), cols(), SizeAtCompileTime. */
-    inline Index size() const {
-        return rows() * cols();
-    }
-
-    /** \returns the number of nonzero coefficients which is in practice the number
-     * of stored coefficients. */
-    inline Index nonZeros() const {
-        return derived().nonZeros();
-    }
-
-    /** \returns the size of the storage major dimension,
-     * i.e., the number of columns for a columns major matrix, and the number of rows otherwise */
-    Index outerSize() const {
-        return (int(Flags) & RowMajorBit) ? this->rows() : this->cols();
-    }
-
-    /** \returns the size of the inner dimension according to the storage order,
-     * i.e., the number of rows for a columns major matrix, and the number of cols otherwise */
-    Index innerSize() const {
-        return (int(Flags) & RowMajorBit) ? this->cols() : this->rows();
-    }
-
-    bool isRValue() const {
-        return m_isRValue;
-    }
-
-    Derived& markAsRValue() {
-        m_isRValue = true;
-        return derived();
-    }
-
-    SkylineMatrixBase() : m_isRValue(false) {
-        /* TODO check flags */
-    }
-
-    inline Derived & operator=(const Derived& other) {
-        this->operator=<Derived > (other);
-        return derived();
-    }
-
-    template<typename OtherDerived>
-    inline void assignGeneric(const OtherDerived& other) {
-        derived().resize(other.rows(), other.cols());
-        for (Index row = 0; row < rows(); row++)
-            for (Index col = 0; col < cols(); col++) {
-                if (other.coeff(row, col) != Scalar(0))
-                    derived().insert(row, col) = other.coeff(row, col);
-            }
-        derived().finalize();
-    }
-
-    template<typename OtherDerived>
-            inline Derived & operator=(const SkylineMatrixBase<OtherDerived>& other) {
-        //TODO
-    }
-
-    template<typename Lhs, typename Rhs>
-            inline Derived & operator=(const SkylineProduct<Lhs, Rhs, SkylineTimeSkylineProduct>& product);
-
-    friend std::ostream & operator <<(std::ostream & s, const SkylineMatrixBase& m) {
-        s << m.derived();
-        return s;
-    }
-
-    template<typename OtherDerived>
-    const typename SkylineProductReturnType<Derived, OtherDerived>::Type
-    operator*(const MatrixBase<OtherDerived> &other) const;
-
-    /** \internal use operator= */
-    template<typename DenseDerived>
-    void evalTo(MatrixBase<DenseDerived>& dst) const {
-        dst.setZero();
-        for (Index i = 0; i < rows(); i++)
-            for (Index j = 0; j < rows(); j++)
-                dst(i, j) = derived().coeff(i, j);
-    }
-
-    Matrix<Scalar, RowsAtCompileTime, ColsAtCompileTime> toDense() const {
-        return derived();
-    }
-
-    /** \returns the matrix or vector obtained by evaluating this expression.
-     *
-     * Notice that in the case of a plain matrix or vector (not an expression) this function just returns
-     * a const reference, in order to avoid a useless copy.
-     */
-    EIGEN_STRONG_INLINE const typename internal::eval<Derived, IsSkyline>::type eval() const {
-        return typename internal::eval<Derived>::type(derived());
-    }
-
-protected:
-    bool m_isRValue;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_SkylineMatrixBase_H
diff --git a/eigenlib/unsupported/Eigen/src/Skyline/SkylineProduct.h b/eigenlib/unsupported/Eigen/src/Skyline/SkylineProduct.h
deleted file mode 100644
index 1ddf455e..00000000
--- a/eigenlib/unsupported/Eigen/src/Skyline/SkylineProduct.h
+++ /dev/null
@@ -1,295 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Guillaume Saupin <guillaume.saupin@cea.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINEPRODUCT_H
-#define EIGEN_SKYLINEPRODUCT_H
-
-namespace Eigen { 
-
-template<typename Lhs, typename Rhs, int ProductMode>
-struct SkylineProductReturnType {
-    typedef const typename internal::nested<Lhs, Rhs::RowsAtCompileTime>::type LhsNested;
-    typedef const typename internal::nested<Rhs, Lhs::RowsAtCompileTime>::type RhsNested;
-
-    typedef SkylineProduct<LhsNested, RhsNested, ProductMode> Type;
-};
-
-template<typename LhsNested, typename RhsNested, int ProductMode>
-struct internal::traits<SkylineProduct<LhsNested, RhsNested, ProductMode> > {
-    // clean the nested types:
-    typedef typename internal::remove_all<LhsNested>::type _LhsNested;
-    typedef typename internal::remove_all<RhsNested>::type _RhsNested;
-    typedef typename _LhsNested::Scalar Scalar;
-
-    enum {
-        LhsCoeffReadCost = _LhsNested::CoeffReadCost,
-        RhsCoeffReadCost = _RhsNested::CoeffReadCost,
-        LhsFlags = _LhsNested::Flags,
-        RhsFlags = _RhsNested::Flags,
-
-        RowsAtCompileTime = _LhsNested::RowsAtCompileTime,
-        ColsAtCompileTime = _RhsNested::ColsAtCompileTime,
-        InnerSize = EIGEN_SIZE_MIN_PREFER_FIXED(_LhsNested::ColsAtCompileTime, _RhsNested::RowsAtCompileTime),
-
-        MaxRowsAtCompileTime = _LhsNested::MaxRowsAtCompileTime,
-        MaxColsAtCompileTime = _RhsNested::MaxColsAtCompileTime,
-
-        EvalToRowMajor = (RhsFlags & LhsFlags & RowMajorBit),
-        ResultIsSkyline = ProductMode == SkylineTimeSkylineProduct,
-
-        RemovedBits = ~((EvalToRowMajor ? 0 : RowMajorBit) | (ResultIsSkyline ? 0 : SkylineBit)),
-
-        Flags = (int(LhsFlags | RhsFlags) & HereditaryBits & RemovedBits)
-        | EvalBeforeAssigningBit
-        | EvalBeforeNestingBit,
-
-        CoeffReadCost = Dynamic
-    };
-
-    typedef typename internal::conditional<ResultIsSkyline,
-            SkylineMatrixBase<SkylineProduct<LhsNested, RhsNested, ProductMode> >,
-            MatrixBase<SkylineProduct<LhsNested, RhsNested, ProductMode> > >::type Base;
-};
-
-namespace internal {
-template<typename LhsNested, typename RhsNested, int ProductMode>
-class SkylineProduct : no_assignment_operator,
-public traits<SkylineProduct<LhsNested, RhsNested, ProductMode> >::Base {
-public:
-
-    EIGEN_GENERIC_PUBLIC_INTERFACE(SkylineProduct)
-
-private:
-
-    typedef typename traits<SkylineProduct>::_LhsNested _LhsNested;
-    typedef typename traits<SkylineProduct>::_RhsNested _RhsNested;
-
-public:
-
-    template<typename Lhs, typename Rhs>
-    EIGEN_STRONG_INLINE SkylineProduct(const Lhs& lhs, const Rhs& rhs)
-    : m_lhs(lhs), m_rhs(rhs) {
-        eigen_assert(lhs.cols() == rhs.rows());
-
-        enum {
-            ProductIsValid = _LhsNested::ColsAtCompileTime == Dynamic
-            || _RhsNested::RowsAtCompileTime == Dynamic
-            || int(_LhsNested::ColsAtCompileTime) == int(_RhsNested::RowsAtCompileTime),
-            AreVectors = _LhsNested::IsVectorAtCompileTime && _RhsNested::IsVectorAtCompileTime,
-            SameSizes = EIGEN_PREDICATE_SAME_MATRIX_SIZE(_LhsNested, _RhsNested)
-        };
-        // note to the lost user:
-        //    * for a dot product use: v1.dot(v2)
-        //    * for a coeff-wise product use: v1.cwise()*v2
-        EIGEN_STATIC_ASSERT(ProductIsValid || !(AreVectors && SameSizes),
-                INVALID_VECTOR_VECTOR_PRODUCT__IF_YOU_WANTED_A_DOT_OR_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTIONS)
-                EIGEN_STATIC_ASSERT(ProductIsValid || !(SameSizes && !AreVectors),
-                INVALID_MATRIX_PRODUCT__IF_YOU_WANTED_A_COEFF_WISE_PRODUCT_YOU_MUST_USE_THE_EXPLICIT_FUNCTION)
-                EIGEN_STATIC_ASSERT(ProductIsValid || SameSizes, INVALID_MATRIX_PRODUCT)
-    }
-
-    EIGEN_STRONG_INLINE Index rows() const {
-        return m_lhs.rows();
-    }
-
-    EIGEN_STRONG_INLINE Index cols() const {
-        return m_rhs.cols();
-    }
-
-    EIGEN_STRONG_INLINE const _LhsNested& lhs() const {
-        return m_lhs;
-    }
-
-    EIGEN_STRONG_INLINE const _RhsNested& rhs() const {
-        return m_rhs;
-    }
-
-protected:
-    LhsNested m_lhs;
-    RhsNested m_rhs;
-};
-
-// dense = skyline * dense
-// Note that here we force no inlining and separate the setZero() because GCC messes up otherwise
-
-template<typename Lhs, typename Rhs, typename Dest>
-EIGEN_DONT_INLINE void skyline_row_major_time_dense_product(const Lhs& lhs, const Rhs& rhs, Dest& dst) {
-    typedef typename remove_all<Lhs>::type _Lhs;
-    typedef typename remove_all<Rhs>::type _Rhs;
-    typedef typename traits<Lhs>::Scalar Scalar;
-
-    enum {
-        LhsIsRowMajor = (_Lhs::Flags & RowMajorBit) == RowMajorBit,
-        LhsIsSelfAdjoint = (_Lhs::Flags & SelfAdjointBit) == SelfAdjointBit,
-        ProcessFirstHalf = LhsIsSelfAdjoint
-        && (((_Lhs::Flags & (UpperTriangularBit | LowerTriangularBit)) == 0)
-        || ((_Lhs::Flags & UpperTriangularBit) && !LhsIsRowMajor)
-        || ((_Lhs::Flags & LowerTriangularBit) && LhsIsRowMajor)),
-        ProcessSecondHalf = LhsIsSelfAdjoint && (!ProcessFirstHalf)
-    };
-
-    //Use matrix diagonal part <- Improvement : use inner iterator on dense matrix.
-    for (Index col = 0; col < rhs.cols(); col++) {
-        for (Index row = 0; row < lhs.rows(); row++) {
-            dst(row, col) = lhs.coeffDiag(row) * rhs(row, col);
-        }
-    }
-    //Use matrix lower triangular part
-    for (Index row = 0; row < lhs.rows(); row++) {
-        typename _Lhs::InnerLowerIterator lIt(lhs, row);
-        const Index stop = lIt.col() + lIt.size();
-        for (Index col = 0; col < rhs.cols(); col++) {
-
-            Index k = lIt.col();
-            Scalar tmp = 0;
-            while (k < stop) {
-                tmp +=
-                        lIt.value() *
-                        rhs(k++, col);
-                ++lIt;
-            }
-            dst(row, col) += tmp;
-            lIt += -lIt.size();
-        }
-
-    }
-
-    //Use matrix upper triangular part
-    for (Index lhscol = 0; lhscol < lhs.cols(); lhscol++) {
-        typename _Lhs::InnerUpperIterator uIt(lhs, lhscol);
-        const Index stop = uIt.size() + uIt.row();
-        for (Index rhscol = 0; rhscol < rhs.cols(); rhscol++) {
-
-
-            const Scalar rhsCoeff = rhs.coeff(lhscol, rhscol);
-            Index k = uIt.row();
-            while (k < stop) {
-                dst(k++, rhscol) +=
-                        uIt.value() *
-                        rhsCoeff;
-                ++uIt;
-            }
-            uIt += -uIt.size();
-        }
-    }
-
-}
-
-template<typename Lhs, typename Rhs, typename Dest>
-EIGEN_DONT_INLINE void skyline_col_major_time_dense_product(const Lhs& lhs, const Rhs& rhs, Dest& dst) {
-    typedef typename remove_all<Lhs>::type _Lhs;
-    typedef typename remove_all<Rhs>::type _Rhs;
-    typedef typename traits<Lhs>::Scalar Scalar;
-
-    enum {
-        LhsIsRowMajor = (_Lhs::Flags & RowMajorBit) == RowMajorBit,
-        LhsIsSelfAdjoint = (_Lhs::Flags & SelfAdjointBit) == SelfAdjointBit,
-        ProcessFirstHalf = LhsIsSelfAdjoint
-        && (((_Lhs::Flags & (UpperTriangularBit | LowerTriangularBit)) == 0)
-        || ((_Lhs::Flags & UpperTriangularBit) && !LhsIsRowMajor)
-        || ((_Lhs::Flags & LowerTriangularBit) && LhsIsRowMajor)),
-        ProcessSecondHalf = LhsIsSelfAdjoint && (!ProcessFirstHalf)
-    };
-
-    //Use matrix diagonal part <- Improvement : use inner iterator on dense matrix.
-    for (Index col = 0; col < rhs.cols(); col++) {
-        for (Index row = 0; row < lhs.rows(); row++) {
-            dst(row, col) = lhs.coeffDiag(row) * rhs(row, col);
-        }
-    }
-
-    //Use matrix upper triangular part
-    for (Index row = 0; row < lhs.rows(); row++) {
-        typename _Lhs::InnerUpperIterator uIt(lhs, row);
-        const Index stop = uIt.col() + uIt.size();
-        for (Index col = 0; col < rhs.cols(); col++) {
-
-            Index k = uIt.col();
-            Scalar tmp = 0;
-            while (k < stop) {
-                tmp +=
-                        uIt.value() *
-                        rhs(k++, col);
-                ++uIt;
-            }
-
-
-            dst(row, col) += tmp;
-            uIt += -uIt.size();
-        }
-    }
-
-    //Use matrix lower triangular part
-    for (Index lhscol = 0; lhscol < lhs.cols(); lhscol++) {
-        typename _Lhs::InnerLowerIterator lIt(lhs, lhscol);
-        const Index stop = lIt.size() + lIt.row();
-        for (Index rhscol = 0; rhscol < rhs.cols(); rhscol++) {
-
-            const Scalar rhsCoeff = rhs.coeff(lhscol, rhscol);
-            Index k = lIt.row();
-            while (k < stop) {
-                dst(k++, rhscol) +=
-                        lIt.value() *
-                        rhsCoeff;
-                ++lIt;
-            }
-            lIt += -lIt.size();
-        }
-    }
-
-}
-
-template<typename Lhs, typename Rhs, typename ResultType,
-        int LhsStorageOrder = traits<Lhs>::Flags&RowMajorBit>
-        struct skyline_product_selector;
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct skyline_product_selector<Lhs, Rhs, ResultType, RowMajor> {
-    typedef typename traits<typename remove_all<Lhs>::type>::Scalar Scalar;
-
-    static void run(const Lhs& lhs, const Rhs& rhs, ResultType & res) {
-        skyline_row_major_time_dense_product<Lhs, Rhs, ResultType > (lhs, rhs, res);
-    }
-};
-
-template<typename Lhs, typename Rhs, typename ResultType>
-struct skyline_product_selector<Lhs, Rhs, ResultType, ColMajor> {
-    typedef typename traits<typename remove_all<Lhs>::type>::Scalar Scalar;
-
-    static void run(const Lhs& lhs, const Rhs& rhs, ResultType & res) {
-        skyline_col_major_time_dense_product<Lhs, Rhs, ResultType > (lhs, rhs, res);
-    }
-};
-
-} // end namespace internal
-
-// template<typename Derived>
-// template<typename Lhs, typename Rhs >
-// Derived & MatrixBase<Derived>::lazyAssign(const SkylineProduct<Lhs, Rhs, SkylineTimeDenseProduct>& product) {
-//     typedef typename internal::remove_all<Lhs>::type _Lhs;
-//     internal::skyline_product_selector<typename internal::remove_all<Lhs>::type,
-//             typename internal::remove_all<Rhs>::type,
-//             Derived>::run(product.lhs(), product.rhs(), derived());
-// 
-//     return derived();
-// }
-
-// skyline * dense
-
-template<typename Derived>
-template<typename OtherDerived >
-EIGEN_STRONG_INLINE const typename SkylineProductReturnType<Derived, OtherDerived>::Type
-SkylineMatrixBase<Derived>::operator*(const MatrixBase<OtherDerived> &other) const {
-
-    return typename SkylineProductReturnType<Derived, OtherDerived>::Type(derived(), other.derived());
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SKYLINEPRODUCT_H
diff --git a/eigenlib/unsupported/Eigen/src/Skyline/SkylineStorage.h b/eigenlib/unsupported/Eigen/src/Skyline/SkylineStorage.h
deleted file mode 100644
index 378a8deb..00000000
--- a/eigenlib/unsupported/Eigen/src/Skyline/SkylineStorage.h
+++ /dev/null
@@ -1,259 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Guillaume Saupin <guillaume.saupin@cea.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINE_STORAGE_H
-#define EIGEN_SKYLINE_STORAGE_H
-
-namespace Eigen { 
-
-/** Stores a skyline set of values in three structures :
- * The diagonal elements
- * The upper elements
- * The lower elements
- *
- */
-template<typename Scalar>
-class SkylineStorage {
-    typedef typename NumTraits<Scalar>::Real RealScalar;
-    typedef SparseIndex Index;
-public:
-
-    SkylineStorage()
-    : m_diag(0),
-    m_lower(0),
-    m_upper(0),
-    m_lowerProfile(0),
-    m_upperProfile(0),
-    m_diagSize(0),
-    m_upperSize(0),
-    m_lowerSize(0),
-    m_upperProfileSize(0),
-    m_lowerProfileSize(0),
-    m_allocatedSize(0) {
-    }
-
-    SkylineStorage(const SkylineStorage& other)
-    : m_diag(0),
-    m_lower(0),
-    m_upper(0),
-    m_lowerProfile(0),
-    m_upperProfile(0),
-    m_diagSize(0),
-    m_upperSize(0),
-    m_lowerSize(0),
-    m_upperProfileSize(0),
-    m_lowerProfileSize(0),
-    m_allocatedSize(0) {
-        *this = other;
-    }
-
-    SkylineStorage & operator=(const SkylineStorage& other) {
-        resize(other.diagSize(), other.m_upperProfileSize, other.m_lowerProfileSize, other.upperSize(), other.lowerSize());
-        memcpy(m_diag, other.m_diag, m_diagSize * sizeof (Scalar));
-        memcpy(m_upper, other.m_upper, other.upperSize() * sizeof (Scalar));
-        memcpy(m_lower, other.m_lower, other.lowerSize() * sizeof (Scalar));
-        memcpy(m_upperProfile, other.m_upperProfile, m_upperProfileSize * sizeof (Index));
-        memcpy(m_lowerProfile, other.m_lowerProfile, m_lowerProfileSize * sizeof (Index));
-        return *this;
-    }
-
-    void swap(SkylineStorage& other) {
-        std::swap(m_diag, other.m_diag);
-        std::swap(m_upper, other.m_upper);
-        std::swap(m_lower, other.m_lower);
-        std::swap(m_upperProfile, other.m_upperProfile);
-        std::swap(m_lowerProfile, other.m_lowerProfile);
-        std::swap(m_diagSize, other.m_diagSize);
-        std::swap(m_upperSize, other.m_upperSize);
-        std::swap(m_lowerSize, other.m_lowerSize);
-        std::swap(m_allocatedSize, other.m_allocatedSize);
-    }
-
-    ~SkylineStorage() {
-        delete[] m_diag;
-        delete[] m_upper;
-        if (m_upper != m_lower)
-            delete[] m_lower;
-        delete[] m_upperProfile;
-        delete[] m_lowerProfile;
-    }
-
-    void reserve(Index size, Index upperProfileSize, Index lowerProfileSize, Index upperSize, Index lowerSize) {
-        Index newAllocatedSize = size + upperSize + lowerSize;
-        if (newAllocatedSize > m_allocatedSize)
-            reallocate(size, upperProfileSize, lowerProfileSize, upperSize, lowerSize);
-    }
-
-    void squeeze() {
-        if (m_allocatedSize > m_diagSize + m_upperSize + m_lowerSize)
-            reallocate(m_diagSize, m_upperProfileSize, m_lowerProfileSize, m_upperSize, m_lowerSize);
-    }
-
-    void resize(Index diagSize, Index upperProfileSize, Index lowerProfileSize, Index upperSize, Index lowerSize, float reserveSizeFactor = 0) {
-        if (m_allocatedSize < diagSize + upperSize + lowerSize)
-            reallocate(diagSize, upperProfileSize, lowerProfileSize, upperSize + Index(reserveSizeFactor * upperSize), lowerSize + Index(reserveSizeFactor * lowerSize));
-        m_diagSize = diagSize;
-        m_upperSize = upperSize;
-        m_lowerSize = lowerSize;
-        m_upperProfileSize = upperProfileSize;
-        m_lowerProfileSize = lowerProfileSize;
-    }
-
-    inline Index diagSize() const {
-        return m_diagSize;
-    }
-
-    inline Index upperSize() const {
-        return m_upperSize;
-    }
-
-    inline Index lowerSize() const {
-        return m_lowerSize;
-    }
-
-    inline Index upperProfileSize() const {
-        return m_upperProfileSize;
-    }
-
-    inline Index lowerProfileSize() const {
-        return m_lowerProfileSize;
-    }
-
-    inline Index allocatedSize() const {
-        return m_allocatedSize;
-    }
-
-    inline void clear() {
-        m_diagSize = 0;
-    }
-
-    inline Scalar& diag(Index i) {
-        return m_diag[i];
-    }
-
-    inline const Scalar& diag(Index i) const {
-        return m_diag[i];
-    }
-
-    inline Scalar& upper(Index i) {
-        return m_upper[i];
-    }
-
-    inline const Scalar& upper(Index i) const {
-        return m_upper[i];
-    }
-
-    inline Scalar& lower(Index i) {
-        return m_lower[i];
-    }
-
-    inline const Scalar& lower(Index i) const {
-        return m_lower[i];
-    }
-
-    inline Index& upperProfile(Index i) {
-        return m_upperProfile[i];
-    }
-
-    inline const Index& upperProfile(Index i) const {
-        return m_upperProfile[i];
-    }
-
-    inline Index& lowerProfile(Index i) {
-        return m_lowerProfile[i];
-    }
-
-    inline const Index& lowerProfile(Index i) const {
-        return m_lowerProfile[i];
-    }
-
-    static SkylineStorage Map(Index* upperProfile, Index* lowerProfile, Scalar* diag, Scalar* upper, Scalar* lower, Index size, Index upperSize, Index lowerSize) {
-        SkylineStorage res;
-        res.m_upperProfile = upperProfile;
-        res.m_lowerProfile = lowerProfile;
-        res.m_diag = diag;
-        res.m_upper = upper;
-        res.m_lower = lower;
-        res.m_allocatedSize = res.m_diagSize = size;
-        res.m_upperSize = upperSize;
-        res.m_lowerSize = lowerSize;
-        return res;
-    }
-
-    inline void reset() {
-        memset(m_diag, 0, m_diagSize * sizeof (Scalar));
-        memset(m_upper, 0, m_upperSize * sizeof (Scalar));
-        memset(m_lower, 0, m_lowerSize * sizeof (Scalar));
-        memset(m_upperProfile, 0, m_diagSize * sizeof (Index));
-        memset(m_lowerProfile, 0, m_diagSize * sizeof (Index));
-    }
-
-    void prune(Scalar reference, RealScalar epsilon = dummy_precision<RealScalar>()) {
-        //TODO
-    }
-
-protected:
-
-    inline void reallocate(Index diagSize, Index upperProfileSize, Index lowerProfileSize, Index upperSize, Index lowerSize) {
-
-        Scalar* diag = new Scalar[diagSize];
-        Scalar* upper = new Scalar[upperSize];
-        Scalar* lower = new Scalar[lowerSize];
-        Index* upperProfile = new Index[upperProfileSize];
-        Index* lowerProfile = new Index[lowerProfileSize];
-
-        Index copyDiagSize = (std::min)(diagSize, m_diagSize);
-        Index copyUpperSize = (std::min)(upperSize, m_upperSize);
-        Index copyLowerSize = (std::min)(lowerSize, m_lowerSize);
-        Index copyUpperProfileSize = (std::min)(upperProfileSize, m_upperProfileSize);
-        Index copyLowerProfileSize = (std::min)(lowerProfileSize, m_lowerProfileSize);
-
-        // copy
-        memcpy(diag, m_diag, copyDiagSize * sizeof (Scalar));
-        memcpy(upper, m_upper, copyUpperSize * sizeof (Scalar));
-        memcpy(lower, m_lower, copyLowerSize * sizeof (Scalar));
-        memcpy(upperProfile, m_upperProfile, copyUpperProfileSize * sizeof (Index));
-        memcpy(lowerProfile, m_lowerProfile, copyLowerProfileSize * sizeof (Index));
-
-
-
-        // delete old stuff
-        delete[] m_diag;
-        delete[] m_upper;
-        delete[] m_lower;
-        delete[] m_upperProfile;
-        delete[] m_lowerProfile;
-        m_diag = diag;
-        m_upper = upper;
-        m_lower = lower;
-        m_upperProfile = upperProfile;
-        m_lowerProfile = lowerProfile;
-        m_allocatedSize = diagSize + upperSize + lowerSize;
-        m_upperSize = upperSize;
-        m_lowerSize = lowerSize;
-    }
-
-public:
-    Scalar* m_diag;
-    Scalar* m_upper;
-    Scalar* m_lower;
-    Index* m_upperProfile;
-    Index* m_lowerProfile;
-    Index m_diagSize;
-    Index m_upperSize;
-    Index m_lowerSize;
-    Index m_upperProfileSize;
-    Index m_lowerProfileSize;
-    Index m_allocatedSize;
-
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_COMPRESSED_STORAGE_H
diff --git a/eigenlib/unsupported/Eigen/src/Skyline/SkylineUtil.h b/eigenlib/unsupported/Eigen/src/Skyline/SkylineUtil.h
deleted file mode 100644
index 75eb612f..00000000
--- a/eigenlib/unsupported/Eigen/src/Skyline/SkylineUtil.h
+++ /dev/null
@@ -1,89 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Guillaume Saupin <guillaume.saupin@cea.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SKYLINEUTIL_H
-#define EIGEN_SKYLINEUTIL_H
-
-namespace Eigen { 
-
-#ifdef NDEBUG
-#define EIGEN_DBG_SKYLINE(X)
-#else
-#define EIGEN_DBG_SKYLINE(X) X
-#endif
-
-const unsigned int SkylineBit = 0x1200;
-template<typename Lhs, typename Rhs, int ProductMode> class SkylineProduct;
-enum AdditionalProductEvaluationMode {SkylineTimeDenseProduct, SkylineTimeSkylineProduct, DenseTimeSkylineProduct};
-enum {IsSkyline = SkylineBit};
-
-
-#define EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATOR(Derived, Op) \
-template<typename OtherDerived> \
-EIGEN_STRONG_INLINE Derived& operator Op(const Eigen::SkylineMatrixBase<OtherDerived>& other) \
-{ \
-  return Base::operator Op(other.derived()); \
-} \
-EIGEN_STRONG_INLINE Derived& operator Op(const Derived& other) \
-{ \
-  return Base::operator Op(other); \
-}
-
-#define EIGEN_SKYLINE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, Op) \
-template<typename Other> \
-EIGEN_STRONG_INLINE Derived& operator Op(const Other& scalar) \
-{ \
-  return Base::operator Op(scalar); \
-}
-
-#define EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATORS(Derived) \
-  EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATOR(Derived, =) \
-  EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATOR(Derived, +=) \
-  EIGEN_SKYLINE_INHERIT_ASSIGNMENT_OPERATOR(Derived, -=) \
-  EIGEN_SKYLINE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, *=) \
-  EIGEN_SKYLINE_INHERIT_SCALAR_ASSIGNMENT_OPERATOR(Derived, /=)
-
-#define _EIGEN_SKYLINE_GENERIC_PUBLIC_INTERFACE(Derived, BaseClass) \
-  typedef BaseClass Base; \
-  typedef typename Eigen::internal::traits<Derived>::Scalar Scalar; \
-  typedef typename Eigen::NumTraits<Scalar>::Real RealScalar; \
-  typedef typename Eigen::internal::traits<Derived>::StorageKind StorageKind; \
-  typedef typename Eigen::internal::index<StorageKind>::type Index; \
-  enum {  Flags = Eigen::internal::traits<Derived>::Flags, };
-
-#define EIGEN_SKYLINE_GENERIC_PUBLIC_INTERFACE(Derived) \
-  _EIGEN_SKYLINE_GENERIC_PUBLIC_INTERFACE(Derived, Eigen::SkylineMatrixBase<Derived>)
-
-template<typename Derived> class SkylineMatrixBase;
-template<typename _Scalar, int _Flags = 0> class SkylineMatrix;
-template<typename _Scalar, int _Flags = 0> class DynamicSkylineMatrix;
-template<typename _Scalar, int _Flags = 0> class SkylineVector;
-template<typename _Scalar, int _Flags = 0> class MappedSkylineMatrix;
-
-namespace internal {
-
-template<typename Lhs, typename Rhs> struct skyline_product_mode;
-template<typename Lhs, typename Rhs, int ProductMode = skyline_product_mode<Lhs,Rhs>::value> struct SkylineProductReturnType;
-
-template<typename T> class eval<T,IsSkyline>
-{
-    typedef typename traits<T>::Scalar _Scalar;
-    enum {
-          _Flags = traits<T>::Flags
-    };
-
-  public:
-    typedef SkylineMatrix<_Scalar, _Flags> type;
-};
-
-} // end namespace internal
-
-} // end namespace Eigen
-
-#endif // EIGEN_SKYLINEUTIL_H
diff --git a/eigenlib/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h b/eigenlib/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h
deleted file mode 100644
index e9ec746e..00000000
--- a/eigenlib/unsupported/Eigen/src/SparseExtra/BlockOfDynamicSparseMatrix.h
+++ /dev/null
@@ -1,122 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_BLOCKFORDYNAMICMATRIX_H
-#define EIGEN_SPARSE_BLOCKFORDYNAMICMATRIX_H
-
-namespace Eigen { 
-
-#if 0
-
-// NOTE Have to be reimplemented as a specialization of BlockImpl< DynamicSparseMatrix<_Scalar, _Options, _Index>, ... >
-// See SparseBlock.h for an example
-
-
-/***************************************************************************
-* specialisation for DynamicSparseMatrix
-***************************************************************************/
-
-template<typename _Scalar, int _Options, typename _Index, int Size>
-class SparseInnerVectorSet<DynamicSparseMatrix<_Scalar, _Options, _Index>, Size>
-  : public SparseMatrixBase<SparseInnerVectorSet<DynamicSparseMatrix<_Scalar, _Options, _Index>, Size> >
-{
-    typedef DynamicSparseMatrix<_Scalar, _Options, _Index> MatrixType;
-  public:
-
-    enum { IsRowMajor = internal::traits<SparseInnerVectorSet>::IsRowMajor };
-
-    EIGEN_SPARSE_PUBLIC_INTERFACE(SparseInnerVectorSet)
-    class InnerIterator: public MatrixType::InnerIterator
-    {
-      public:
-        inline InnerIterator(const SparseInnerVectorSet& xpr, Index outer)
-          : MatrixType::InnerIterator(xpr.m_matrix, xpr.m_outerStart + outer), m_outer(outer)
-        {}
-        inline Index row() const { return IsRowMajor ? m_outer : this->index(); }
-        inline Index col() const { return IsRowMajor ? this->index() : m_outer; }
-      protected:
-        Index m_outer;
-    };
-
-    inline SparseInnerVectorSet(const MatrixType& matrix, Index outerStart, Index outerSize)
-      : m_matrix(matrix), m_outerStart(outerStart), m_outerSize(outerSize)
-    {
-      eigen_assert( (outerStart>=0) && ((outerStart+outerSize)<=matrix.outerSize()) );
-    }
-
-    inline SparseInnerVectorSet(const MatrixType& matrix, Index outer)
-      : m_matrix(matrix), m_outerStart(outer), m_outerSize(Size)
-    {
-      eigen_assert(Size!=Dynamic);
-      eigen_assert( (outer>=0) && (outer<matrix.outerSize()) );
-    }
-
-    template<typename OtherDerived>
-    inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
-    {
-      if (IsRowMajor != ((OtherDerived::Flags&RowMajorBit)==RowMajorBit))
-      {
-        // need to transpose => perform a block evaluation followed by a big swap
-        DynamicSparseMatrix<Scalar,IsRowMajor?RowMajorBit:0> aux(other);
-        *this = aux.markAsRValue();
-      }
-      else
-      {
-        // evaluate/copy vector per vector
-        for (Index j=0; j<m_outerSize.value(); ++j)
-        {
-          SparseVector<Scalar,IsRowMajor ? RowMajorBit : 0> aux(other.innerVector(j));
-          m_matrix.const_cast_derived()._data()[m_outerStart+j].swap(aux._data());
-        }
-      }
-      return *this;
-    }
-
-    inline SparseInnerVectorSet& operator=(const SparseInnerVectorSet& other)
-    {
-      return operator=<SparseInnerVectorSet>(other);
-    }
-
-    Index nonZeros() const
-    {
-      Index count = 0;
-      for (Index j=0; j<m_outerSize.value(); ++j)
-        count += m_matrix._data()[m_outerStart+j].size();
-      return count;
-    }
-
-    const Scalar& lastCoeff() const
-    {
-      EIGEN_STATIC_ASSERT_VECTOR_ONLY(SparseInnerVectorSet);
-      eigen_assert(m_matrix.data()[m_outerStart].size()>0);
-      return m_matrix.data()[m_outerStart].vale(m_matrix.data()[m_outerStart].size()-1);
-    }
-
-//     template<typename Sparse>
-//     inline SparseInnerVectorSet& operator=(const SparseMatrixBase<OtherDerived>& other)
-//     {
-//       return *this;
-//     }
-
-    EIGEN_STRONG_INLINE Index rows() const { return IsRowMajor ? m_outerSize.value() : m_matrix.rows(); }
-    EIGEN_STRONG_INLINE Index cols() const { return IsRowMajor ? m_matrix.cols() : m_outerSize.value(); }
-
-  protected:
-
-    const typename MatrixType::Nested m_matrix;
-    Index m_outerStart;
-    const internal::variable_if_dynamic<Index, Size> m_outerSize;
-
-};
-
-#endif
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_BLOCKFORDYNAMICMATRIX_H
diff --git a/eigenlib/unsupported/Eigen/src/SparseExtra/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/SparseExtra/CMakeLists.txt
deleted file mode 100644
index 7ea32ca5..00000000
--- a/eigenlib/unsupported/Eigen/src/SparseExtra/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_SparseExtra_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_SparseExtra_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/SparseExtra COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h b/eigenlib/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h
deleted file mode 100644
index dec16df2..00000000
--- a/eigenlib/unsupported/Eigen/src/SparseExtra/DynamicSparseMatrix.h
+++ /dev/null
@@ -1,357 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_DYNAMIC_SPARSEMATRIX_H
-#define EIGEN_DYNAMIC_SPARSEMATRIX_H
-
-namespace Eigen { 
-
-/** \deprecated use a SparseMatrix in an uncompressed mode
-  *
-  * \class DynamicSparseMatrix
-  *
-  * \brief A sparse matrix class designed for matrix assembly purpose
-  *
-  * \param _Scalar the scalar type, i.e. the type of the coefficients
-  *
-  * Unlike SparseMatrix, this class provides a much higher degree of flexibility. In particular, it allows
-  * random read/write accesses in log(rho*outer_size) where \c rho is the probability that a coefficient is
-  * nonzero and outer_size is the number of columns if the matrix is column-major and the number of rows
-  * otherwise.
-  *
-  * Internally, the data are stored as a std::vector of compressed vector. The performances of random writes might
-  * decrease as the number of nonzeros per inner-vector increase. In practice, we observed very good performance
-  * till about 100 nonzeros/vector, and the performance remains relatively good till 500 nonzeros/vectors.
-  *
-  * \see SparseMatrix
-  */
-
-namespace internal {
-template<typename _Scalar, int _Options, typename _Index>
-struct traits<DynamicSparseMatrix<_Scalar, _Options, _Index> >
-{
-  typedef _Scalar Scalar;
-  typedef _Index Index;
-  typedef Sparse StorageKind;
-  typedef MatrixXpr XprKind;
-  enum {
-    RowsAtCompileTime = Dynamic,
-    ColsAtCompileTime = Dynamic,
-    MaxRowsAtCompileTime = Dynamic,
-    MaxColsAtCompileTime = Dynamic,
-    Flags = _Options | NestByRefBit | LvalueBit,
-    CoeffReadCost = NumTraits<Scalar>::ReadCost,
-    SupportedAccessPatterns = OuterRandomAccessPattern
-  };
-};
-}
-
-template<typename _Scalar, int _Options, typename _Index>
- class  DynamicSparseMatrix
-  : public SparseMatrixBase<DynamicSparseMatrix<_Scalar, _Options, _Index> >
-{
-  public:
-    EIGEN_SPARSE_PUBLIC_INTERFACE(DynamicSparseMatrix)
-    // FIXME: why are these operator already alvailable ???
-    // EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(DynamicSparseMatrix, +=)
-    // EIGEN_SPARSE_INHERIT_ASSIGNMENT_OPERATOR(DynamicSparseMatrix, -=)
-    typedef MappedSparseMatrix<Scalar,Flags> Map;
-    using Base::IsRowMajor;
-    using Base::operator=;
-    enum {
-      Options = _Options
-    };
-
-  protected:
-
-    typedef DynamicSparseMatrix<Scalar,(Flags&~RowMajorBit)|(IsRowMajor?RowMajorBit:0)> TransposedSparseMatrix;
-
-    Index m_innerSize;
-    std::vector<internal::CompressedStorage<Scalar,Index> > m_data;
-
-  public:
-
-    inline Index rows() const { return IsRowMajor ? outerSize() : m_innerSize; }
-    inline Index cols() const { return IsRowMajor ? m_innerSize : outerSize(); }
-    inline Index innerSize() const { return m_innerSize; }
-    inline Index outerSize() const { return static_cast<Index>(m_data.size()); }
-    inline Index innerNonZeros(Index j) const { return m_data[j].size(); }
-
-    std::vector<internal::CompressedStorage<Scalar,Index> >& _data() { return m_data; }
-    const std::vector<internal::CompressedStorage<Scalar,Index> >& _data() const { return m_data; }
-
-    /** \returns the coefficient value at given position \a row, \a col
-      * This operation involes a log(rho*outer_size) binary search.
-      */
-    inline Scalar coeff(Index row, Index col) const
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-      return m_data[outer].at(inner);
-    }
-
-    /** \returns a reference to the coefficient value at given position \a row, \a col
-      * This operation involes a log(rho*outer_size) binary search. If the coefficient does not
-      * exist yet, then a sorted insertion into a sequential buffer is performed.
-      */
-    inline Scalar& coeffRef(Index row, Index col)
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-      return m_data[outer].atWithInsertion(inner);
-    }
-
-    class InnerIterator;
-    class ReverseInnerIterator;
-
-    void setZero()
-    {
-      for (Index j=0; j<outerSize(); ++j)
-        m_data[j].clear();
-    }
-
-    /** \returns the number of non zero coefficients */
-    Index nonZeros() const
-    {
-      Index res = 0;
-      for (Index j=0; j<outerSize(); ++j)
-        res += static_cast<Index>(m_data[j].size());
-      return res;
-    }
-
-
-
-    void reserve(Index reserveSize = 1000)
-    {
-      if (outerSize()>0)
-      {
-        Index reserveSizePerVector = (std::max)(reserveSize/outerSize(),Index(4));
-        for (Index j=0; j<outerSize(); ++j)
-        {
-          m_data[j].reserve(reserveSizePerVector);
-        }
-      }
-    }
-
-    /** Does nothing: provided for compatibility with SparseMatrix */
-    inline void startVec(Index /*outer*/) {}
-
-    /** \returns a reference to the non zero coefficient at position \a row, \a col assuming that:
-      * - the nonzero does not already exist
-      * - the new coefficient is the last one of the given inner vector.
-      *
-      * \sa insert, insertBackByOuterInner */
-    inline Scalar& insertBack(Index row, Index col)
-    {
-      return insertBackByOuterInner(IsRowMajor?row:col, IsRowMajor?col:row);
-    }
-
-    /** \sa insertBack */
-    inline Scalar& insertBackByOuterInner(Index outer, Index inner)
-    {
-      eigen_assert(outer<Index(m_data.size()) && inner<m_innerSize && "out of range");
-      eigen_assert(((m_data[outer].size()==0) || (m_data[outer].index(m_data[outer].size()-1)<inner))
-                && "wrong sorted insertion");
-      m_data[outer].append(0, inner);
-      return m_data[outer].value(m_data[outer].size()-1);
-    }
-
-    inline Scalar& insert(Index row, Index col)
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-
-      Index startId = 0;
-      Index id = static_cast<Index>(m_data[outer].size()) - 1;
-      m_data[outer].resize(id+2,1);
-
-      while ( (id >= startId) && (m_data[outer].index(id) > inner) )
-      {
-        m_data[outer].index(id+1) = m_data[outer].index(id);
-        m_data[outer].value(id+1) = m_data[outer].value(id);
-        --id;
-      }
-      m_data[outer].index(id+1) = inner;
-      m_data[outer].value(id+1) = 0;
-      return m_data[outer].value(id+1);
-    }
-
-    /** Does nothing: provided for compatibility with SparseMatrix */
-    inline void finalize() {}
-
-    /** Suppress all nonzeros which are smaller than \a reference under the tolerence \a epsilon */
-    void prune(Scalar reference, RealScalar epsilon = NumTraits<RealScalar>::dummy_precision())
-    {
-      for (Index j=0; j<outerSize(); ++j)
-        m_data[j].prune(reference,epsilon);
-    }
-
-    /** Resize the matrix without preserving the data (the matrix is set to zero)
-      */
-    void resize(Index rows, Index cols)
-    {
-      const Index outerSize = IsRowMajor ? rows : cols;
-      m_innerSize = IsRowMajor ? cols : rows;
-      setZero();
-      if (Index(m_data.size()) != outerSize)
-      {
-        m_data.resize(outerSize);
-      }
-    }
-
-    void resizeAndKeepData(Index rows, Index cols)
-    {
-      const Index outerSize = IsRowMajor ? rows : cols;
-      const Index innerSize = IsRowMajor ? cols : rows;
-      if (m_innerSize>innerSize)
-      {
-        // remove all coefficients with innerCoord>=innerSize
-        // TODO
-        //std::cerr << "not implemented yet\n";
-        exit(2);
-      }
-      if (m_data.size() != outerSize)
-      {
-        m_data.resize(outerSize);
-      }
-    }
-
-    /** The class DynamicSparseMatrix is deprectaed */
-    EIGEN_DEPRECATED inline DynamicSparseMatrix()
-      : m_innerSize(0), m_data(0)
-    {
-      eigen_assert(innerSize()==0 && outerSize()==0);
-    }
-
-    /** The class DynamicSparseMatrix is deprectaed */
-    EIGEN_DEPRECATED inline DynamicSparseMatrix(Index rows, Index cols)
-      : m_innerSize(0)
-    {
-      resize(rows, cols);
-    }
-
-    /** The class DynamicSparseMatrix is deprectaed */
-    template<typename OtherDerived>
-    EIGEN_DEPRECATED explicit inline DynamicSparseMatrix(const SparseMatrixBase<OtherDerived>& other)
-      : m_innerSize(0)
-    {
-    Base::operator=(other.derived());
-    }
-
-    inline DynamicSparseMatrix(const DynamicSparseMatrix& other)
-      : Base(), m_innerSize(0)
-    {
-      *this = other.derived();
-    }
-
-    inline void swap(DynamicSparseMatrix& other)
-    {
-      //EIGEN_DBG_SPARSE(std::cout << "SparseMatrix:: swap\n");
-      std::swap(m_innerSize, other.m_innerSize);
-      //std::swap(m_outerSize, other.m_outerSize);
-      m_data.swap(other.m_data);
-    }
-
-    inline DynamicSparseMatrix& operator=(const DynamicSparseMatrix& other)
-    {
-      if (other.isRValue())
-      {
-        swap(other.const_cast_derived());
-      }
-      else
-      {
-        resize(other.rows(), other.cols());
-        m_data = other.m_data;
-      }
-      return *this;
-    }
-
-    /** Destructor */
-    inline ~DynamicSparseMatrix() {}
-
-  public:
-
-    /** \deprecated
-      * Set the matrix to zero and reserve the memory for \a reserveSize nonzero coefficients. */
-    EIGEN_DEPRECATED void startFill(Index reserveSize = 1000)
-    {
-      setZero();
-      reserve(reserveSize);
-    }
-
-    /** \deprecated use insert()
-      * inserts a nonzero coefficient at given coordinates \a row, \a col and returns its reference assuming that:
-      *  1 - the coefficient does not exist yet
-      *  2 - this the coefficient with greater inner coordinate for the given outer coordinate.
-      * In other words, assuming \c *this is column-major, then there must not exists any nonzero coefficient of coordinates
-      * \c i \c x \a col such that \c i >= \a row. Otherwise the matrix is invalid.
-      *
-      * \see fillrand(), coeffRef()
-      */
-    EIGEN_DEPRECATED Scalar& fill(Index row, Index col)
-    {
-      const Index outer = IsRowMajor ? row : col;
-      const Index inner = IsRowMajor ? col : row;
-      return insertBack(outer,inner);
-    }
-
-    /** \deprecated use insert()
-      * Like fill() but with random inner coordinates.
-      * Compared to the generic coeffRef(), the unique limitation is that we assume
-      * the coefficient does not exist yet.
-      */
-    EIGEN_DEPRECATED Scalar& fillrand(Index row, Index col)
-    {
-      return insert(row,col);
-    }
-
-    /** \deprecated use finalize()
-      * Does nothing. Provided for compatibility with SparseMatrix. */
-    EIGEN_DEPRECATED void endFill() {}
-    
-#   ifdef EIGEN_DYNAMICSPARSEMATRIX_PLUGIN
-#     include EIGEN_DYNAMICSPARSEMATRIX_PLUGIN
-#   endif
- };
-
-template<typename Scalar, int _Options, typename _Index>
-class DynamicSparseMatrix<Scalar,_Options,_Index>::InnerIterator : public SparseVector<Scalar,_Options,_Index>::InnerIterator
-{
-    typedef typename SparseVector<Scalar,_Options,_Index>::InnerIterator Base;
-  public:
-    InnerIterator(const DynamicSparseMatrix& mat, Index outer)
-      : Base(mat.m_data[outer]), m_outer(outer)
-    {}
-
-    inline Index row() const { return IsRowMajor ? m_outer : Base::index(); }
-    inline Index col() const { return IsRowMajor ? Base::index() : m_outer; }
-
-  protected:
-    const Index m_outer;
-};
-
-template<typename Scalar, int _Options, typename _Index>
-class DynamicSparseMatrix<Scalar,_Options,_Index>::ReverseInnerIterator : public SparseVector<Scalar,_Options,_Index>::ReverseInnerIterator
-{
-    typedef typename SparseVector<Scalar,_Options,_Index>::ReverseInnerIterator Base;
-  public:
-    ReverseInnerIterator(const DynamicSparseMatrix& mat, Index outer)
-      : Base(mat.m_data[outer]), m_outer(outer)
-    {}
-
-    inline Index row() const { return IsRowMajor ? m_outer : Base::index(); }
-    inline Index col() const { return IsRowMajor ? Base::index() : m_outer; }
-
-  protected:
-    const Index m_outer;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_DYNAMIC_SPARSEMATRIX_H
diff --git a/eigenlib/unsupported/Eigen/src/SparseExtra/MarketIO.h b/eigenlib/unsupported/Eigen/src/SparseExtra/MarketIO.h
deleted file mode 100644
index 7aafce92..00000000
--- a/eigenlib/unsupported/Eigen/src/SparseExtra/MarketIO.h
+++ /dev/null
@@ -1,273 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2012 Desire NUENTSA WAKAM <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPARSE_MARKET_IO_H
-#define EIGEN_SPARSE_MARKET_IO_H
-
-#include <iostream>
-
-namespace Eigen { 
-
-namespace internal 
-{
-  template <typename Scalar>
-  inline bool GetMarketLine (std::stringstream& line, int& M, int& N, int& i, int& j, Scalar& value)
-  {
-    line >> i >> j >> value;
-    i--;
-    j--;
-    if(i>=0 && j>=0 && i<M && j<N)
-    {
-      return true; 
-    }
-    else
-      return false;
-  }
-  template <typename Scalar>
-  inline bool GetMarketLine (std::stringstream& line, int& M, int& N, int& i, int& j, std::complex<Scalar>& value)
-  {
-    Scalar valR, valI;
-    line >> i >> j >> valR >> valI;
-    i--;
-    j--;
-    if(i>=0 && j>=0 && i<M && j<N)
-    {
-      value = std::complex<Scalar>(valR, valI);
-      return true; 
-    }
-    else
-      return false;
-  }
-
-  template <typename RealScalar>
-  inline void  GetVectorElt (const std::string& line, RealScalar& val)
-  {
-    std::istringstream newline(line);
-    newline >> val;  
-  }
-
-  template <typename RealScalar>
-  inline void GetVectorElt (const std::string& line, std::complex<RealScalar>& val)
-  {
-    RealScalar valR, valI; 
-    std::istringstream newline(line);
-    newline >> valR >> valI; 
-    val = std::complex<RealScalar>(valR, valI);
-  }
-  
-  template<typename Scalar>
-  inline void putMarketHeader(std::string& header,int sym)
-  {
-    header= "%%MatrixMarket matrix coordinate ";
-    if(internal::is_same<Scalar, std::complex<float> >::value || internal::is_same<Scalar, std::complex<double> >::value)
-    {
-      header += " complex"; 
-      if(sym == Symmetric) header += " symmetric";
-      else if (sym == SelfAdjoint) header += " Hermitian";
-      else header += " general";
-    }
-    else
-    {
-      header += " real"; 
-      if(sym == Symmetric) header += " symmetric";
-      else header += " general";
-    }
-  }
-
-  template<typename Scalar>
-  inline void PutMatrixElt(Scalar value, int row, int col, std::ofstream& out)
-  {
-    out << row << " "<< col << " " << value << "\n";
-  }
-  template<typename Scalar>
-  inline void PutMatrixElt(std::complex<Scalar> value, int row, int col, std::ofstream& out)
-  {
-    out << row << " " << col << " " << value.real() << " " << value.imag() << "\n";
-  }
-
-
-  template<typename Scalar>
-  inline void putVectorElt(Scalar value, std::ofstream& out)
-  {
-    out << value << "\n"; 
-  }
-  template<typename Scalar>
-  inline void putVectorElt(std::complex<Scalar> value, std::ofstream& out)
-  {
-    out << value.real << " " << value.imag()<< "\n"; 
-  }
-
-} // end namepsace internal
-
-inline bool getMarketHeader(const std::string& filename, int& sym, bool& iscomplex, bool& isvector)
-{
-  sym = 0; 
-  isvector = false;
-  std::ifstream in(filename.c_str(),std::ios::in);
-  if(!in)
-    return false;
-  
-  std::string line; 
-  // The matrix header is always the first line in the file 
-  std::getline(in, line); eigen_assert(in.good());
-  
-  std::stringstream fmtline(line); 
-  std::string substr[5];
-  fmtline>> substr[0] >> substr[1] >> substr[2] >> substr[3] >> substr[4];
-  if(substr[2].compare("array") == 0) isvector = true;
-  if(substr[3].compare("complex") == 0) iscomplex = true;
-  if(substr[4].compare("symmetric") == 0) sym = Symmetric;
-  else if (substr[4].compare("Hermitian") == 0) sym = SelfAdjoint;
-  
-  return true;
-}
-  
-template<typename SparseMatrixType>
-bool loadMarket(SparseMatrixType& mat, const std::string& filename)
-{
-  typedef typename SparseMatrixType::Scalar Scalar;
-  std::ifstream input(filename.c_str(),std::ios::in);
-  if(!input)
-    return false;
-  
-  const int maxBuffersize = 2048;
-  char buffer[maxBuffersize];
-  
-  bool readsizes = false;
-
-  typedef Triplet<Scalar,int> T;
-  std::vector<T> elements;
-  
-  int M(-1), N(-1), NNZ(-1);
-  int count = 0;
-  while(input.getline(buffer, maxBuffersize))
-  {
-    // skip comments   
-    //NOTE An appropriate test should be done on the header to get the  symmetry
-    if(buffer[0]=='%')
-      continue;
-    
-    std::stringstream line(buffer);
-    
-    if(!readsizes)
-    {
-      line >> M >> N >> NNZ;
-      if(M > 0 && N > 0 && NNZ > 0) 
-      {
-        readsizes = true;
-        std::cout << "sizes: " << M << "," << N << "," << NNZ << "\n";
-        mat.resize(M,N);
-        mat.reserve(NNZ);
-      }
-    }
-    else
-    { 
-      int i(-1), j(-1);
-      Scalar value; 
-      if( internal::GetMarketLine(line, M, N, i, j, value) ) 
-      {
-        ++ count;
-        elements.push_back(T(i,j,value));
-      }
-      else 
-        std::cerr << "Invalid read: " << i << "," << j << "\n";        
-    }
-  }
-  mat.setFromTriplets(elements.begin(), elements.end());
-  if(count!=NNZ)
-    std::cerr << count << "!=" << NNZ << "\n";
-  
-  input.close();
-  return true;
-}
-
-template<typename VectorType>
-bool loadMarketVector(VectorType& vec, const std::string& filename)
-{
-   typedef typename VectorType::Scalar Scalar;
-  std::ifstream in(filename.c_str(), std::ios::in);
-  if(!in)
-    return false;
-  
-  std::string line; 
-  int n(0), col(0); 
-  do 
-  { // Skip comments
-    std::getline(in, line); eigen_assert(in.good());
-  } while (line[0] == '%');
-  std::istringstream newline(line);
-  newline  >> n >> col; 
-  eigen_assert(n>0 && col>0);
-  vec.resize(n);
-  int i = 0; 
-  Scalar value; 
-  while ( std::getline(in, line) && (i < n) ){
-    internal::GetVectorElt(line, value); 
-    vec(i++) = value; 
-  }
-  in.close();
-  if (i!=n){
-    std::cerr<< "Unable to read all elements from file " << filename << "\n";
-    return false;
-  }
-  return true;
-}
-
-template<typename SparseMatrixType>
-bool saveMarket(const SparseMatrixType& mat, const std::string& filename, int sym = 0)
-{
-  typedef typename SparseMatrixType::Scalar Scalar;
-  std::ofstream out(filename.c_str(),std::ios::out);
-  if(!out)
-    return false;
-  
-  out.flags(std::ios_base::scientific);
-  out.precision(64);
-  std::string header; 
-  internal::putMarketHeader<Scalar>(header, sym); 
-  out << header << std::endl; 
-  out << mat.rows() << " " << mat.cols() << " " << mat.nonZeros() << "\n";
-  int count = 0;
-  for(int j=0; j<mat.outerSize(); ++j)
-    for(typename SparseMatrixType::InnerIterator it(mat,j); it; ++it)
-    {
-	++ count;
-	internal::PutMatrixElt(it.value(), it.row()+1, it.col()+1, out);
-	// out << it.row()+1 << " " << it.col()+1 << " " << it.value() << "\n";
-    }
-  out.close();
-  return true;
-}
-
-template<typename VectorType>
-bool saveMarketVector (const VectorType& vec, const std::string& filename)
-{
- typedef typename VectorType::Scalar Scalar; 
- std::ofstream out(filename.c_str(),std::ios::out);
-  if(!out)
-    return false;
-  
-  out.flags(std::ios_base::scientific);
-  out.precision(64);
-  if(internal::is_same<Scalar, std::complex<float> >::value || internal::is_same<Scalar, std::complex<double> >::value)
-      out << "%%MatrixMarket matrix array complex general\n"; 
-  else
-    out << "%%MatrixMarket matrix array real general\n"; 
-  out << vec.size() << " "<< 1 << "\n";
-  for (int i=0; i < vec.size(); i++){
-    internal::putVectorElt(vec(i), out); 
-  }
-  out.close();
-  return true; 
-}
-
-} // end namespace Eigen
-
-#endif // EIGEN_SPARSE_MARKET_IO_H
diff --git a/eigenlib/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h b/eigenlib/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h
deleted file mode 100644
index bf13cf21..00000000
--- a/eigenlib/unsupported/Eigen/src/SparseExtra/MatrixMarketIterator.h
+++ /dev/null
@@ -1,232 +0,0 @@
-
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Desire NUENTSA WAKAM <desire.nuentsa_wakam@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_BROWSE_MATRICES_H
-#define EIGEN_BROWSE_MATRICES_H
-
-namespace Eigen {
-
-enum {
-  SPD = 0x100,
-  NonSymmetric = 0x0
-}; 
-
-/** 
- * @brief Iterator to browse matrices from a specified folder
- * 
- * This is used to load all the matrices from a folder. 
- * The matrices should be in Matrix Market format
- * It is assumed that the matrices are named as matname.mtx
- * and matname_SPD.mtx if the matrix is Symmetric and positive definite (or Hermitian)
- * The right hand side vectors are loaded as well, if they exist.
- * They should be named as matname_b.mtx. 
- * Note that the right hand side for a SPD matrix is named as matname_SPD_b.mtx
- * 
- * Sometimes a reference solution is available. In this case, it should be named as matname_x.mtx
- * 
- * Sample code
- * \code
- * 
- * \endcode
- * 
- * \tparam Scalar The scalar type 
- */
-template <typename Scalar>
-class MatrixMarketIterator 
-{
-  public:
-    typedef Matrix<Scalar,Dynamic,1> VectorType; 
-    typedef SparseMatrix<Scalar,ColMajor> MatrixType; 
-  
-  public:
-    MatrixMarketIterator(const std::string folder):m_sym(0),m_isvalid(false),m_matIsLoaded(false),m_hasRhs(false),m_hasrefX(false),m_folder(folder)
-    {
-      m_folder_id = opendir(folder.c_str());
-      if (!m_folder_id){
-        m_isvalid = false;
-        std::cerr << "The provided Matrix folder could not be opened \n\n";
-        abort();
-      }
-      Getnextvalidmatrix();
-    }
-    
-    ~MatrixMarketIterator()
-    {
-      if (m_folder_id) closedir(m_folder_id); 
-    }
-    
-    inline MatrixMarketIterator& operator++()
-    {
-      m_matIsLoaded = false;
-      m_hasrefX = false;
-      m_hasRhs = false;
-      Getnextvalidmatrix();
-      return *this;
-    }
-    inline operator bool() const { return m_isvalid;}
-    
-    /** Return the sparse matrix corresponding to the current file */
-    inline MatrixType& matrix() 
-    { 
-      // Read the matrix
-      if (m_matIsLoaded) return m_mat;
-      
-      std::string matrix_file = m_folder + "/" + m_matname + ".mtx";
-      if ( !loadMarket(m_mat, matrix_file)) 
-      {
-        m_matIsLoaded = false;
-        return m_mat;
-      }
-      m_matIsLoaded = true; 
-      
-      if (m_sym != NonSymmetric) 
-      { // Store the upper part of the matrix. It is needed by the solvers dealing with nonsymmetric matrices ??
-        MatrixType B; 
-        B = m_mat;
-        m_mat = B.template selfadjointView<Lower>();
-      }
-      return m_mat; 
-    }
-    
-    /** Return the right hand side corresponding to the current matrix. 
-     * If the rhs file is not provided, a random rhs is generated
-     */
-    inline VectorType& rhs() 
-    { 
-       // Get the right hand side
-      if (m_hasRhs) return m_rhs;
-      
-      std::string rhs_file;
-      rhs_file = m_folder + "/" + m_matname + "_b.mtx"; // The pattern is matname_b.mtx
-      m_hasRhs = Fileexists(rhs_file);
-      if (m_hasRhs)
-      {
-        m_rhs.resize(m_mat.cols());
-        m_hasRhs = loadMarketVector(m_rhs, rhs_file);
-      }
-      if (!m_hasRhs)
-      {
-        // Generate a random right hand side
-        if (!m_matIsLoaded) this->matrix(); 
-        m_refX.resize(m_mat.cols());
-        m_refX.setRandom();
-        m_rhs = m_mat * m_refX;
-        m_hasrefX = true;
-        m_hasRhs = true;
-      }
-      return m_rhs; 
-    }
-    
-    /** Return a reference solution
-     * If it is not provided and if the right hand side is not available
-     * then refX is randomly generated such that A*refX = b 
-     * where A and b are the matrix and the rhs. 
-     * Note that when a rhs is provided, refX is not available 
-     */
-    inline VectorType& refX() 
-    { 
-      // Check if a reference solution is provided
-      if (m_hasrefX) return m_refX;
-      
-      std::string lhs_file;
-      lhs_file = m_folder + "/" + m_matname + "_x.mtx"; 
-      m_hasrefX = Fileexists(lhs_file);
-      if (m_hasrefX)
-      {
-        m_refX.resize(m_mat.cols());
-        m_hasrefX = loadMarketVector(m_refX, lhs_file);
-      }
-      return m_refX; 
-    }
-    
-    inline std::string& matname() { return m_matname; }
-    
-    inline int sym() { return m_sym; }
-    
-    inline bool hasRhs() {return m_hasRhs; }
-    inline bool hasrefX() {return m_hasrefX; }
-    
-  protected:
-    
-    inline bool Fileexists(std::string file)
-    {
-      std::ifstream file_id(file.c_str());
-      if (!file_id.good() ) 
-      {
-        return false;
-      }
-      else 
-      {
-        file_id.close();
-        return true;
-      }
-    }
-    
-    void Getnextvalidmatrix( )
-    {
-      m_isvalid = false;
-      // Here, we return with the next valid matrix in the folder
-      while ( (m_curs_id = readdir(m_folder_id)) != NULL) {
-        m_isvalid = false;
-        std::string curfile;
-        curfile = m_folder + "/" + m_curs_id->d_name;
-        // Discard if it is a folder
-        if (m_curs_id->d_type == DT_DIR) continue; //FIXME This may not be available on non BSD systems
-//         struct stat st_buf; 
-//         stat (curfile.c_str(), &st_buf);
-//         if (S_ISDIR(st_buf.st_mode)) continue;
-        
-        // Determine from the header if it is a matrix or a right hand side 
-        bool isvector,iscomplex=false;
-        if(!getMarketHeader(curfile,m_sym,iscomplex,isvector)) continue;
-        if(isvector) continue;
-        if (!iscomplex)
-        {
-          if(internal::is_same<Scalar, std::complex<float> >::value || internal::is_same<Scalar, std::complex<double> >::value)
-            continue; 
-        }
-        if (iscomplex)
-        {
-          if(internal::is_same<Scalar, float>::value || internal::is_same<Scalar, double>::value)
-            continue; 
-        }
-        
-        
-        // Get the matrix name
-        std::string filename = m_curs_id->d_name;
-        m_matname = filename.substr(0, filename.length()-4); 
-        
-        // Find if the matrix is SPD 
-        size_t found = m_matname.find("SPD");
-        if( (found!=std::string::npos) && (m_sym != NonSymmetric) )
-          m_sym = SPD;
-       
-        m_isvalid = true;
-        break; 
-      }
-    }
-    int m_sym; // Symmetry of the matrix
-    MatrixType m_mat; // Current matrix  
-    VectorType m_rhs;  // Current vector
-    VectorType m_refX; // The reference solution, if exists
-    std::string m_matname; // Matrix Name
-    bool m_isvalid; 
-    bool m_matIsLoaded; // Determine if the matrix has already been loaded from the file
-    bool m_hasRhs; // The right hand side exists
-    bool m_hasrefX; // A reference solution is provided
-    std::string m_folder;
-    DIR * m_folder_id;
-    struct dirent *m_curs_id; 
-    
-};
-
-} // end namespace Eigen
-
-#endif
diff --git a/eigenlib/unsupported/Eigen/src/SparseExtra/RandomSetter.h b/eigenlib/unsupported/Eigen/src/SparseExtra/RandomSetter.h
deleted file mode 100644
index dee1708e..00000000
--- a/eigenlib/unsupported/Eigen/src/SparseExtra/RandomSetter.h
+++ /dev/null
@@ -1,327 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_RANDOMSETTER_H
-#define EIGEN_RANDOMSETTER_H
-
-namespace Eigen { 
-
-/** Represents a std::map
-  *
-  * \see RandomSetter
-  */
-template<typename Scalar> struct StdMapTraits
-{
-  typedef int KeyType;
-  typedef std::map<KeyType,Scalar> Type;
-  enum {
-    IsSorted = 1
-  };
-
-  static void setInvalidKey(Type&, const KeyType&) {}
-};
-
-#ifdef EIGEN_UNORDERED_MAP_SUPPORT
-/** Represents a std::unordered_map
-  *
-  * To use it you need to both define EIGEN_UNORDERED_MAP_SUPPORT and include the unordered_map header file
-  * yourself making sure that unordered_map is defined in the std namespace.
-  *
-  * For instance, with current version of gcc you can either enable C++0x standard (-std=c++0x) or do:
-  * \code
-  * #include <tr1/unordered_map>
-  * #define EIGEN_UNORDERED_MAP_SUPPORT
-  * namespace std {
-  *   using std::tr1::unordered_map;
-  * }
-  * \endcode
-  *
-  * \see RandomSetter
-  */
-template<typename Scalar> struct StdUnorderedMapTraits
-{
-  typedef int KeyType;
-  typedef std::unordered_map<KeyType,Scalar> Type;
-  enum {
-    IsSorted = 0
-  };
-
-  static void setInvalidKey(Type&, const KeyType&) {}
-};
-#endif // EIGEN_UNORDERED_MAP_SUPPORT
-
-#ifdef _DENSE_HASH_MAP_H_
-/** Represents a google::dense_hash_map
-  *
-  * \see RandomSetter
-  */
-template<typename Scalar> struct GoogleDenseHashMapTraits
-{
-  typedef int KeyType;
-  typedef google::dense_hash_map<KeyType,Scalar> Type;
-  enum {
-    IsSorted = 0
-  };
-
-  static void setInvalidKey(Type& map, const KeyType& k)
-  { map.set_empty_key(k); }
-};
-#endif
-
-#ifdef _SPARSE_HASH_MAP_H_
-/** Represents a google::sparse_hash_map
-  *
-  * \see RandomSetter
-  */
-template<typename Scalar> struct GoogleSparseHashMapTraits
-{
-  typedef int KeyType;
-  typedef google::sparse_hash_map<KeyType,Scalar> Type;
-  enum {
-    IsSorted = 0
-  };
-
-  static void setInvalidKey(Type&, const KeyType&) {}
-};
-#endif
-
-/** \class RandomSetter
-  *
-  * \brief The RandomSetter is a wrapper object allowing to set/update a sparse matrix with random access
-  *
-  * \param SparseMatrixType the type of the sparse matrix we are updating
-  * \param MapTraits a traits class representing the map implementation used for the temporary sparse storage.
-  *                  Its default value depends on the system.
-  * \param OuterPacketBits defines the number of rows (or columns) manage by a single map object
-  *                        as a power of two exponent.
-  *
-  * This class temporarily represents a sparse matrix object using a generic map implementation allowing for
-  * efficient random access. The conversion from the compressed representation to a hash_map object is performed
-  * in the RandomSetter constructor, while the sparse matrix is updated back at destruction time. This strategy
-  * suggest the use of nested blocks as in this example:
-  *
-  * \code
-  * SparseMatrix<double> m(rows,cols);
-  * {
-  *   RandomSetter<SparseMatrix<double> > w(m);
-  *   // don't use m but w instead with read/write random access to the coefficients:
-  *   for(;;)
-  *     w(rand(),rand()) = rand;
-  * }
-  * // when w is deleted, the data are copied back to m
-  * // and m is ready to use.
-  * \endcode
-  *
-  * Since hash_map objects are not fully sorted, representing a full matrix as a single hash_map would
-  * involve a big and costly sort to update the compressed matrix back. To overcome this issue, a RandomSetter
-  * use multiple hash_map, each representing 2^OuterPacketBits columns or rows according to the storage order.
-  * To reach optimal performance, this value should be adjusted according to the average number of nonzeros
-  * per rows/columns.
-  *
-  * The possible values for the template parameter MapTraits are:
-  *  - \b StdMapTraits: corresponds to std::map. (does not perform very well)
-  *  - \b GnuHashMapTraits: corresponds to __gnu_cxx::hash_map (available only with GCC)
-  *  - \b GoogleDenseHashMapTraits: corresponds to google::dense_hash_map (best efficiency, reasonable memory consumption)
-  *  - \b GoogleSparseHashMapTraits: corresponds to google::sparse_hash_map (best memory consumption, relatively good performance)
-  *
-  * The default map implementation depends on the availability, and the preferred order is:
-  * GoogleSparseHashMapTraits, GnuHashMapTraits, and finally StdMapTraits.
-  *
-  * For performance and memory consumption reasons it is highly recommended to use one of
-  * the Google's hash_map implementation. To enable the support for them, you have two options:
-  *  - \#include <google/dense_hash_map> yourself \b before Eigen/Sparse header
-  *  - define EIGEN_GOOGLEHASH_SUPPORT
-  * In the later case the inclusion of <google/dense_hash_map> is made for you.
-  *
-  * \see http://code.google.com/p/google-sparsehash/
-  */
-template<typename SparseMatrixType,
-         template <typename T> class MapTraits =
-#if defined _DENSE_HASH_MAP_H_
-          GoogleDenseHashMapTraits
-#elif defined _HASH_MAP
-          GnuHashMapTraits
-#else
-          StdMapTraits
-#endif
-         ,int OuterPacketBits = 6>
-class RandomSetter
-{
-    typedef typename SparseMatrixType::Scalar Scalar;
-    typedef typename SparseMatrixType::Index Index;
-
-    struct ScalarWrapper
-    {
-      ScalarWrapper() : value(0) {}
-      Scalar value;
-    };
-    typedef typename MapTraits<ScalarWrapper>::KeyType KeyType;
-    typedef typename MapTraits<ScalarWrapper>::Type HashMapType;
-    static const int OuterPacketMask = (1 << OuterPacketBits) - 1;
-    enum {
-      SwapStorage = 1 - MapTraits<ScalarWrapper>::IsSorted,
-      TargetRowMajor = (SparseMatrixType::Flags & RowMajorBit) ? 1 : 0,
-      SetterRowMajor = SwapStorage ? 1-TargetRowMajor : TargetRowMajor
-    };
-
-  public:
-
-    /** Constructs a random setter object from the sparse matrix \a target
-      *
-      * Note that the initial value of \a target are imported. If you want to re-set
-      * a sparse matrix from scratch, then you must set it to zero first using the
-      * setZero() function.
-      */
-    inline RandomSetter(SparseMatrixType& target)
-      : mp_target(&target)
-    {
-      const Index outerSize = SwapStorage ? target.innerSize() : target.outerSize();
-      const Index innerSize = SwapStorage ? target.outerSize() : target.innerSize();
-      m_outerPackets = outerSize >> OuterPacketBits;
-      if (outerSize&OuterPacketMask)
-        m_outerPackets += 1;
-      m_hashmaps = new HashMapType[m_outerPackets];
-      // compute number of bits needed to store inner indices
-      Index aux = innerSize - 1;
-      m_keyBitsOffset = 0;
-      while (aux)
-      {
-        ++m_keyBitsOffset;
-        aux = aux >> 1;
-      }
-      KeyType ik = (1<<(OuterPacketBits+m_keyBitsOffset));
-      for (Index k=0; k<m_outerPackets; ++k)
-        MapTraits<ScalarWrapper>::setInvalidKey(m_hashmaps[k],ik);
-
-      // insert current coeffs
-      for (Index j=0; j<mp_target->outerSize(); ++j)
-        for (typename SparseMatrixType::InnerIterator it(*mp_target,j); it; ++it)
-          (*this)(TargetRowMajor?j:it.index(), TargetRowMajor?it.index():j) = it.value();
-    }
-
-    /** Destructor updating back the sparse matrix target */
-    ~RandomSetter()
-    {
-      KeyType keyBitsMask = (1<<m_keyBitsOffset)-1;
-      if (!SwapStorage) // also means the map is sorted
-      {
-        mp_target->setZero();
-        mp_target->makeCompressed();
-        mp_target->reserve(nonZeros());
-        Index prevOuter = -1;
-        for (Index k=0; k<m_outerPackets; ++k)
-        {
-          const Index outerOffset = (1<<OuterPacketBits) * k;
-          typename HashMapType::iterator end = m_hashmaps[k].end();
-          for (typename HashMapType::iterator it = m_hashmaps[k].begin(); it!=end; ++it)
-          {
-            const Index outer = (it->first >> m_keyBitsOffset) + outerOffset;
-            const Index inner = it->first & keyBitsMask;
-            if (prevOuter!=outer)
-            {
-              for (Index j=prevOuter+1;j<=outer;++j)
-                mp_target->startVec(j);
-              prevOuter = outer;
-            }
-            mp_target->insertBackByOuterInner(outer, inner) = it->second.value;
-          }
-        }
-        mp_target->finalize();
-      }
-      else
-      {
-        VectorXi positions(mp_target->outerSize());
-        positions.setZero();
-        // pass 1
-        for (Index k=0; k<m_outerPackets; ++k)
-        {
-          typename HashMapType::iterator end = m_hashmaps[k].end();
-          for (typename HashMapType::iterator it = m_hashmaps[k].begin(); it!=end; ++it)
-          {
-            const Index outer = it->first & keyBitsMask;
-            ++positions[outer];
-          }
-        }
-        // prefix sum
-        Index count = 0;
-        for (Index j=0; j<mp_target->outerSize(); ++j)
-        {
-          Index tmp = positions[j];
-          mp_target->outerIndexPtr()[j] = count;
-          positions[j] = count;
-          count += tmp;
-        }
-        mp_target->makeCompressed();
-        mp_target->outerIndexPtr()[mp_target->outerSize()] = count;
-        mp_target->resizeNonZeros(count);
-        // pass 2
-        for (Index k=0; k<m_outerPackets; ++k)
-        {
-          const Index outerOffset = (1<<OuterPacketBits) * k;
-          typename HashMapType::iterator end = m_hashmaps[k].end();
-          for (typename HashMapType::iterator it = m_hashmaps[k].begin(); it!=end; ++it)
-          {
-            const Index inner = (it->first >> m_keyBitsOffset) + outerOffset;
-            const Index outer = it->first & keyBitsMask;
-            // sorted insertion
-            // Note that we have to deal with at most 2^OuterPacketBits unsorted coefficients,
-            // moreover those 2^OuterPacketBits coeffs are likely to be sparse, an so only a
-            // small fraction of them have to be sorted, whence the following simple procedure:
-            Index posStart = mp_target->outerIndexPtr()[outer];
-            Index i = (positions[outer]++) - 1;
-            while ( (i >= posStart) && (mp_target->innerIndexPtr()[i] > inner) )
-            {
-              mp_target->valuePtr()[i+1] = mp_target->valuePtr()[i];
-              mp_target->innerIndexPtr()[i+1] = mp_target->innerIndexPtr()[i];
-              --i;
-            }
-            mp_target->innerIndexPtr()[i+1] = inner;
-            mp_target->valuePtr()[i+1] = it->second.value;
-          }
-        }
-      }
-      delete[] m_hashmaps;
-    }
-
-    /** \returns a reference to the coefficient at given coordinates \a row, \a col */
-    Scalar& operator() (Index row, Index col)
-    {
-      const Index outer = SetterRowMajor ? row : col;
-      const Index inner = SetterRowMajor ? col : row;
-      const Index outerMajor = outer >> OuterPacketBits; // index of the packet/map
-      const Index outerMinor = outer & OuterPacketMask;  // index of the inner vector in the packet
-      const KeyType key = (KeyType(outerMinor)<<m_keyBitsOffset) | inner;
-      return m_hashmaps[outerMajor][key].value;
-    }
-
-    /** \returns the number of non zero coefficients
-      *
-      * \note According to the underlying map/hash_map implementation,
-      * this function might be quite expensive.
-      */
-    Index nonZeros() const
-    {
-      Index nz = 0;
-      for (Index k=0; k<m_outerPackets; ++k)
-        nz += static_cast<Index>(m_hashmaps[k].size());
-      return nz;
-    }
-
-
-  protected:
-
-    HashMapType* m_hashmaps;
-    SparseMatrixType* mp_target;
-    Index m_outerPackets;
-    unsigned char m_keyBitsOffset;
-};
-
-} // end namespace Eigen
-
-#endif // EIGEN_RANDOMSETTER_H
diff --git a/eigenlib/unsupported/Eigen/src/Splines/CMakeLists.txt b/eigenlib/unsupported/Eigen/src/Splines/CMakeLists.txt
deleted file mode 100644
index 55c6271e..00000000
--- a/eigenlib/unsupported/Eigen/src/Splines/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-FILE(GLOB Eigen_Splines_SRCS "*.h")
-
-INSTALL(FILES
-  ${Eigen_Splines_SRCS}
-  DESTINATION ${INCLUDE_INSTALL_DIR}/unsupported/Eigen/src/Splines COMPONENT Devel
-  )
diff --git a/eigenlib/unsupported/Eigen/src/Splines/Spline.h b/eigenlib/unsupported/Eigen/src/Splines/Spline.h
deleted file mode 100644
index 771f1043..00000000
--- a/eigenlib/unsupported/Eigen/src/Splines/Spline.h
+++ /dev/null
@@ -1,474 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPLINE_H
-#define EIGEN_SPLINE_H
-
-#include "SplineFwd.h"
-
-namespace Eigen
-{
-    /**
-     * \ingroup Splines_Module
-     * \class Spline
-     * \brief A class representing multi-dimensional spline curves.
-     *
-     * The class represents B-splines with non-uniform knot vectors. Each control
-     * point of the B-spline is associated with a basis function
-     * \f{align*}
-     *   C(u) & = \sum_{i=0}^{n}N_{i,p}(u)P_i
-     * \f}
-     *
-     * \tparam _Scalar The underlying data type (typically float or double)
-     * \tparam _Dim The curve dimension (e.g. 2 or 3)
-     * \tparam _Degree Per default set to Dynamic; could be set to the actual desired
-     *                degree for optimization purposes (would result in stack allocation
-     *                of several temporary variables).
-     **/
-  template <typename _Scalar, int _Dim, int _Degree>
-  class Spline
-  {
-  public:
-    typedef _Scalar Scalar; /*!< The spline curve's scalar type. */
-    enum { Dimension = _Dim /*!< The spline curve's dimension. */ };
-    enum { Degree = _Degree /*!< The spline curve's degree. */ };
-
-    /** \brief The point type the spline is representing. */
-    typedef typename SplineTraits<Spline>::PointType PointType;
-    
-    /** \brief The data type used to store knot vectors. */
-    typedef typename SplineTraits<Spline>::KnotVectorType KnotVectorType;
-    
-    /** \brief The data type used to store non-zero basis functions. */
-    typedef typename SplineTraits<Spline>::BasisVectorType BasisVectorType;
-    
-    /** \brief The data type representing the spline's control points. */
-    typedef typename SplineTraits<Spline>::ControlPointVectorType ControlPointVectorType;
-    
-    /**
-    * \brief Creates a (constant) zero spline.
-    * For Splines with dynamic degree, the resulting degree will be 0.
-    **/
-    Spline() 
-    : m_knots(1, (Degree==Dynamic ? 2 : 2*Degree+2))
-    , m_ctrls(ControlPointVectorType::Zero(2,(Degree==Dynamic ? 1 : Degree+1))) 
-    {
-      // in theory this code can go to the initializer list but it will get pretty
-      // much unreadable ...
-      enum { MinDegree = (Degree==Dynamic ? 0 : Degree) };
-      m_knots.template segment<MinDegree+1>(0) = Array<Scalar,1,MinDegree+1>::Zero();
-      m_knots.template segment<MinDegree+1>(MinDegree+1) = Array<Scalar,1,MinDegree+1>::Ones();
-    }
-
-    /**
-    * \brief Creates a spline from a knot vector and control points.
-    * \param knots The spline's knot vector.
-    * \param ctrls The spline's control point vector.
-    **/
-    template <typename OtherVectorType, typename OtherArrayType>
-    Spline(const OtherVectorType& knots, const OtherArrayType& ctrls) : m_knots(knots), m_ctrls(ctrls) {}
-
-    /**
-    * \brief Copy constructor for splines.
-    * \param spline The input spline.
-    **/
-    template <int OtherDegree>
-    Spline(const Spline<Scalar, Dimension, OtherDegree>& spline) : 
-    m_knots(spline.knots()), m_ctrls(spline.ctrls()) {}
-
-    /**
-     * \brief Returns the knots of the underlying spline.
-     **/
-    const KnotVectorType& knots() const { return m_knots; }
-    
-    /**
-     * \brief Returns the knots of the underlying spline.
-     **/    
-    const ControlPointVectorType& ctrls() const { return m_ctrls; }
-
-    /**
-     * \brief Returns the spline value at a given site \f$u\f$.
-     *
-     * The function returns
-     * \f{align*}
-     *   C(u) & = \sum_{i=0}^{n}N_{i,p}P_i
-     * \f}
-     *
-     * \param u Parameter \f$u \in [0;1]\f$ at which the spline is evaluated.
-     * \return The spline value at the given location \f$u\f$.
-     **/
-    PointType operator()(Scalar u) const;
-
-    /**
-     * \brief Evaluation of spline derivatives of up-to given order.
-     *
-     * The function returns
-     * \f{align*}
-     *   \frac{d^i}{du^i}C(u) & = \sum_{i=0}^{n} \frac{d^i}{du^i} N_{i,p}(u)P_i
-     * \f}
-     * for i ranging between 0 and order.
-     *
-     * \param u Parameter \f$u \in [0;1]\f$ at which the spline derivative is evaluated.
-     * \param order The order up to which the derivatives are computed.
-     **/
-    typename SplineTraits<Spline>::DerivativeType
-      derivatives(Scalar u, DenseIndex order) const;
-
-    /**
-     * \copydoc Spline::derivatives
-     * Using the template version of this function is more efficieent since
-     * temporary objects are allocated on the stack whenever this is possible.
-     **/    
-    template <int DerivativeOrder>
-    typename SplineTraits<Spline,DerivativeOrder>::DerivativeType
-      derivatives(Scalar u, DenseIndex order = DerivativeOrder) const;
-
-    /**
-     * \brief Computes the non-zero basis functions at the given site.
-     *
-     * Splines have local support and a point from their image is defined
-     * by exactly \f$p+1\f$ control points \f$P_i\f$ where \f$p\f$ is the
-     * spline degree.
-     *
-     * This function computes the \f$p+1\f$ non-zero basis function values
-     * for a given parameter value \f$u\f$. It returns
-     * \f{align*}{
-     *   N_{i,p}(u), \hdots, N_{i+p+1,p}(u)
-     * \f}
-     *
-     * \param u Parameter \f$u \in [0;1]\f$ at which the non-zero basis functions 
-     *          are computed.
-     **/
-    typename SplineTraits<Spline>::BasisVectorType
-      basisFunctions(Scalar u) const;
-
-    /**
-     * \brief Computes the non-zero spline basis function derivatives up to given order.
-     *
-     * The function computes
-     * \f{align*}{
-     *   \frac{d^i}{du^i} N_{i,p}(u), \hdots, \frac{d^i}{du^i} N_{i+p+1,p}(u)
-     * \f}
-     * with i ranging from 0 up to the specified order.
-     *
-     * \param u Parameter \f$u \in [0;1]\f$ at which the non-zero basis function
-     *          derivatives are computed.
-     * \param order The order up to which the basis function derivatives are computes.
-     **/
-    typename SplineTraits<Spline>::BasisDerivativeType
-      basisFunctionDerivatives(Scalar u, DenseIndex order) const;
-
-    /**
-     * \copydoc Spline::basisFunctionDerivatives
-     * Using the template version of this function is more efficieent since
-     * temporary objects are allocated on the stack whenever this is possible.
-     **/    
-    template <int DerivativeOrder>
-    typename SplineTraits<Spline,DerivativeOrder>::BasisDerivativeType
-      basisFunctionDerivatives(Scalar u, DenseIndex order = DerivativeOrder) const;
-
-    /**
-     * \brief Returns the spline degree.
-     **/ 
-    DenseIndex degree() const;
-
-    /** 
-     * \brief Returns the span within the knot vector in which u is falling.
-     * \param u The site for which the span is determined.
-     **/
-    DenseIndex span(Scalar u) const;
-
-    /**
-     * \brief Computes the spang within the provided knot vector in which u is falling.
-     **/
-    static DenseIndex Span(typename SplineTraits<Spline>::Scalar u, DenseIndex degree, const typename SplineTraits<Spline>::KnotVectorType& knots);
-    
-    /**
-     * \brief Returns the spline's non-zero basis functions.
-     *
-     * The function computes and returns
-     * \f{align*}{
-     *   N_{i,p}(u), \hdots, N_{i+p+1,p}(u)
-     * \f}
-     *
-     * \param u The site at which the basis functions are computed.
-     * \param degree The degree of the underlying spline.
-     * \param knots The underlying spline's knot vector.
-     **/
-    static BasisVectorType BasisFunctions(Scalar u, DenseIndex degree, const KnotVectorType& knots);
-
-
-  private:
-    KnotVectorType m_knots; /*!< Knot vector. */
-    ControlPointVectorType  m_ctrls; /*!< Control points. */
-  };
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  DenseIndex Spline<_Scalar, _Dim, _Degree>::Span(
-    typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::Scalar u,
-    DenseIndex degree,
-    const typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::KnotVectorType& knots)
-  {
-    // Piegl & Tiller, "The NURBS Book", A2.1 (p. 68)
-    if (u <= knots(0)) return degree;
-    const Scalar* pos = std::upper_bound(knots.data()+degree-1, knots.data()+knots.size()-degree-1, u);
-    return static_cast<DenseIndex>( std::distance(knots.data(), pos) - 1 );
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  typename Spline<_Scalar, _Dim, _Degree>::BasisVectorType
-    Spline<_Scalar, _Dim, _Degree>::BasisFunctions(
-    typename Spline<_Scalar, _Dim, _Degree>::Scalar u,
-    DenseIndex degree,
-    const typename Spline<_Scalar, _Dim, _Degree>::KnotVectorType& knots)
-  {
-    typedef typename Spline<_Scalar, _Dim, _Degree>::BasisVectorType BasisVectorType;
-
-    const DenseIndex p = degree;
-    const DenseIndex i = Spline::Span(u, degree, knots);
-
-    const KnotVectorType& U = knots;
-
-    BasisVectorType left(p+1); left(0) = Scalar(0);
-    BasisVectorType right(p+1); right(0) = Scalar(0);        
-
-    VectorBlock<BasisVectorType,Degree>(left,1,p) = u - VectorBlock<const KnotVectorType,Degree>(U,i+1-p,p).reverse();
-    VectorBlock<BasisVectorType,Degree>(right,1,p) = VectorBlock<const KnotVectorType,Degree>(U,i+1,p) - u;
-
-    BasisVectorType N(1,p+1);
-    N(0) = Scalar(1);
-    for (DenseIndex j=1; j<=p; ++j)
-    {
-      Scalar saved = Scalar(0);
-      for (DenseIndex r=0; r<j; r++)
-      {
-        const Scalar tmp = N(r)/(right(r+1)+left(j-r));
-        N[r] = saved + right(r+1)*tmp;
-        saved = left(j-r)*tmp;
-      }
-      N(j) = saved;
-    }
-    return N;
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  DenseIndex Spline<_Scalar, _Dim, _Degree>::degree() const
-  {
-    if (_Degree == Dynamic)
-      return m_knots.size() - m_ctrls.cols() - 1;
-    else
-      return _Degree;
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  DenseIndex Spline<_Scalar, _Dim, _Degree>::span(Scalar u) const
-  {
-    return Spline::Span(u, degree(), knots());
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  typename Spline<_Scalar, _Dim, _Degree>::PointType Spline<_Scalar, _Dim, _Degree>::operator()(Scalar u) const
-  {
-    enum { Order = SplineTraits<Spline>::OrderAtCompileTime };
-
-    const DenseIndex span = this->span(u);
-    const DenseIndex p = degree();
-    const BasisVectorType basis_funcs = basisFunctions(u);
-
-    const Replicate<BasisVectorType,Dimension,1> ctrl_weights(basis_funcs);
-    const Block<const ControlPointVectorType,Dimension,Order> ctrl_pts(ctrls(),0,span-p,Dimension,p+1);
-    return (ctrl_weights * ctrl_pts).rowwise().sum();
-  }
-
-  /* --------------------------------------------------------------------------------------------- */
-
-  template <typename SplineType, typename DerivativeType>
-  void derivativesImpl(const SplineType& spline, typename SplineType::Scalar u, DenseIndex order, DerivativeType& der)
-  {    
-    enum { Dimension = SplineTraits<SplineType>::Dimension };
-    enum { Order = SplineTraits<SplineType>::OrderAtCompileTime };
-    enum { DerivativeOrder = DerivativeType::ColsAtCompileTime };
-
-    typedef typename SplineTraits<SplineType>::ControlPointVectorType ControlPointVectorType;
-    typedef typename SplineTraits<SplineType,DerivativeOrder>::BasisDerivativeType BasisDerivativeType;
-    typedef typename BasisDerivativeType::ConstRowXpr BasisDerivativeRowXpr;    
-
-    const DenseIndex p = spline.degree();
-    const DenseIndex span = spline.span(u);
-
-    const DenseIndex n = (std::min)(p, order);
-
-    der.resize(Dimension,n+1);
-
-    // Retrieve the basis function derivatives up to the desired order...    
-    const BasisDerivativeType basis_func_ders = spline.template basisFunctionDerivatives<DerivativeOrder>(u, n+1);
-
-    // ... and perform the linear combinations of the control points.
-    for (DenseIndex der_order=0; der_order<n+1; ++der_order)
-    {
-      const Replicate<BasisDerivativeRowXpr,Dimension,1> ctrl_weights( basis_func_ders.row(der_order) );
-      const Block<const ControlPointVectorType,Dimension,Order> ctrl_pts(spline.ctrls(),0,span-p,Dimension,p+1);
-      der.col(der_order) = (ctrl_weights * ctrl_pts).rowwise().sum();
-    }
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::DerivativeType
-    Spline<_Scalar, _Dim, _Degree>::derivatives(Scalar u, DenseIndex order) const
-  {
-    typename SplineTraits< Spline >::DerivativeType res;
-    derivativesImpl(*this, u, order, res);
-    return res;
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  template <int DerivativeOrder>
-  typename SplineTraits< Spline<_Scalar, _Dim, _Degree>, DerivativeOrder >::DerivativeType
-    Spline<_Scalar, _Dim, _Degree>::derivatives(Scalar u, DenseIndex order) const
-  {
-    typename SplineTraits< Spline, DerivativeOrder >::DerivativeType res;
-    derivativesImpl(*this, u, order, res);
-    return res;
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::BasisVectorType
-    Spline<_Scalar, _Dim, _Degree>::basisFunctions(Scalar u) const
-  {
-    return Spline::BasisFunctions(u, degree(), knots());
-  }
-
-  /* --------------------------------------------------------------------------------------------- */
-
-  template <typename SplineType, typename DerivativeType>
-  void basisFunctionDerivativesImpl(const SplineType& spline, typename SplineType::Scalar u, DenseIndex order, DerivativeType& N_)
-  {
-    enum { Order = SplineTraits<SplineType>::OrderAtCompileTime };
-
-    typedef typename SplineTraits<SplineType>::Scalar Scalar;
-    typedef typename SplineTraits<SplineType>::BasisVectorType BasisVectorType;
-    typedef typename SplineTraits<SplineType>::KnotVectorType KnotVectorType;
-
-    const KnotVectorType& U = spline.knots();
-
-    const DenseIndex p = spline.degree();
-    const DenseIndex span = spline.span(u);
-
-    const DenseIndex n = (std::min)(p, order);
-
-    N_.resize(n+1, p+1);
-
-    BasisVectorType left = BasisVectorType::Zero(p+1);
-    BasisVectorType right = BasisVectorType::Zero(p+1);
-
-    Matrix<Scalar,Order,Order> ndu(p+1,p+1);
-
-    double saved, temp;
-
-    ndu(0,0) = 1.0;
-
-    DenseIndex j;
-    for (j=1; j<=p; ++j)
-    {
-      left[j] = u-U[span+1-j];
-      right[j] = U[span+j]-u;
-      saved = 0.0;
-
-      for (DenseIndex r=0; r<j; ++r)
-      {
-        /* Lower triangle */
-        ndu(j,r) = right[r+1]+left[j-r];
-        temp = ndu(r,j-1)/ndu(j,r);
-        /* Upper triangle */
-        ndu(r,j) = static_cast<Scalar>(saved+right[r+1] * temp);
-        saved = left[j-r] * temp;
-      }
-
-      ndu(j,j) = static_cast<Scalar>(saved);
-    }
-
-    for (j = p; j>=0; --j) 
-      N_(0,j) = ndu(j,p);
-
-    // Compute the derivatives
-    DerivativeType a(n+1,p+1);
-    DenseIndex r=0;
-    for (; r<=p; ++r)
-    {
-      DenseIndex s1,s2;
-      s1 = 0; s2 = 1; // alternate rows in array a
-      a(0,0) = 1.0;
-
-      // Compute the k-th derivative
-      for (DenseIndex k=1; k<=static_cast<DenseIndex>(n); ++k)
-      {
-        double d = 0.0;
-        DenseIndex rk,pk,j1,j2;
-        rk = r-k; pk = p-k;
-
-        if (r>=k)
-        {
-          a(s2,0) = a(s1,0)/ndu(pk+1,rk);
-          d = a(s2,0)*ndu(rk,pk);
-        }
-
-        if (rk>=-1) j1 = 1;
-        else        j1 = -rk;
-
-        if (r-1 <= pk) j2 = k-1;
-        else           j2 = p-r;
-
-        for (j=j1; j<=j2; ++j)
-        {
-          a(s2,j) = (a(s1,j)-a(s1,j-1))/ndu(pk+1,rk+j);
-          d += a(s2,j)*ndu(rk+j,pk);
-        }
-
-        if (r<=pk)
-        {
-          a(s2,k) = -a(s1,k-1)/ndu(pk+1,r);
-          d += a(s2,k)*ndu(r,pk);
-        }
-
-        N_(k,r) = static_cast<Scalar>(d);
-        j = s1; s1 = s2; s2 = j; // Switch rows
-      }
-    }
-
-    /* Multiply through by the correct factors */
-    /* (Eq. [2.9])                             */
-    r = p;
-    for (DenseIndex k=1; k<=static_cast<DenseIndex>(n); ++k)
-    {
-      for (DenseIndex j=p; j>=0; --j) N_(k,j) *= r;
-      r *= p-k;
-    }
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  typename SplineTraits< Spline<_Scalar, _Dim, _Degree> >::BasisDerivativeType
-    Spline<_Scalar, _Dim, _Degree>::basisFunctionDerivatives(Scalar u, DenseIndex order) const
-  {
-    typename SplineTraits< Spline >::BasisDerivativeType der;
-    basisFunctionDerivativesImpl(*this, u, order, der);
-    return der;
-  }
-
-  template <typename _Scalar, int _Dim, int _Degree>
-  template <int DerivativeOrder>
-  typename SplineTraits< Spline<_Scalar, _Dim, _Degree>, DerivativeOrder >::BasisDerivativeType
-    Spline<_Scalar, _Dim, _Degree>::basisFunctionDerivatives(Scalar u, DenseIndex order) const
-  {
-    typename SplineTraits< Spline, DerivativeOrder >::BasisDerivativeType der;
-    basisFunctionDerivativesImpl(*this, u, order, der);
-    return der;
-  }
-}
-
-#endif // EIGEN_SPLINE_H
diff --git a/eigenlib/unsupported/Eigen/src/Splines/SplineFitting.h b/eigenlib/unsupported/Eigen/src/Splines/SplineFitting.h
deleted file mode 100644
index 0265d532..00000000
--- a/eigenlib/unsupported/Eigen/src/Splines/SplineFitting.h
+++ /dev/null
@@ -1,156 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPLINE_FITTING_H
-#define EIGEN_SPLINE_FITTING_H
-
-#include <numeric>
-
-#include "SplineFwd.h"
-
-#include <Eigen/QR>
-
-namespace Eigen
-{
-  /**
-   * \brief Computes knot averages.
-   * \ingroup Splines_Module
-   *
-   * The knots are computed as
-   * \f{align*}
-   *  u_0 & = \hdots = u_p = 0 \\
-   *  u_{m-p} & = \hdots = u_{m} = 1 \\
-   *  u_{j+p} & = \frac{1}{p}\sum_{i=j}^{j+p-1}\bar{u}_i \quad\quad j=1,\hdots,n-p
-   * \f}
-   * where \f$p\f$ is the degree and \f$m+1\f$ the number knots
-   * of the desired interpolating spline.
-   *
-   * \param[in] parameters The input parameters. During interpolation one for each data point.
-   * \param[in] degree The spline degree which is used during the interpolation.
-   * \param[out] knots The output knot vector.
-   *
-   * \sa Les Piegl and Wayne Tiller, The NURBS book (2nd ed.), 1997, 9.2.1 Global Curve Interpolation to Point Data
-   **/
-  template <typename KnotVectorType>
-  void KnotAveraging(const KnotVectorType& parameters, DenseIndex degree, KnotVectorType& knots)
-  {
-    knots.resize(parameters.size()+degree+1);      
-
-    for (DenseIndex j=1; j<parameters.size()-degree; ++j)
-      knots(j+degree) = parameters.segment(j,degree).mean();
-
-    knots.segment(0,degree+1) = KnotVectorType::Zero(degree+1);
-    knots.segment(knots.size()-degree-1,degree+1) = KnotVectorType::Ones(degree+1);
-  }
-
-  /**
-   * \brief Computes chord length parameters which are required for spline interpolation.
-   * \ingroup Splines_Module
-   *
-   * \param[in] pts The data points to which a spline should be fit.
-   * \param[out] chord_lengths The resulting chord lenggth vector.
-   *
-   * \sa Les Piegl and Wayne Tiller, The NURBS book (2nd ed.), 1997, 9.2.1 Global Curve Interpolation to Point Data
-   **/   
-  template <typename PointArrayType, typename KnotVectorType>
-  void ChordLengths(const PointArrayType& pts, KnotVectorType& chord_lengths)
-  {
-    typedef typename KnotVectorType::Scalar Scalar;
-
-    const DenseIndex n = pts.cols();
-
-    // 1. compute the column-wise norms
-    chord_lengths.resize(pts.cols());
-    chord_lengths[0] = 0;
-    chord_lengths.rightCols(n-1) = (pts.array().leftCols(n-1) - pts.array().rightCols(n-1)).matrix().colwise().norm();
-
-    // 2. compute the partial sums
-    std::partial_sum(chord_lengths.data(), chord_lengths.data()+n, chord_lengths.data());
-
-    // 3. normalize the data
-    chord_lengths /= chord_lengths(n-1);
-    chord_lengths(n-1) = Scalar(1);
-  }
-
-  /**
-   * \brief Spline fitting methods.
-   * \ingroup Splines_Module
-   **/     
-  template <typename SplineType>
-  struct SplineFitting
-  {
-    typedef typename SplineType::KnotVectorType KnotVectorType;
-
-    /**
-     * \brief Fits an interpolating Spline to the given data points.
-     *
-     * \param pts The points for which an interpolating spline will be computed.
-     * \param degree The degree of the interpolating spline.
-     *
-     * \returns A spline interpolating the initially provided points.
-     **/
-    template <typename PointArrayType>
-    static SplineType Interpolate(const PointArrayType& pts, DenseIndex degree);
-
-    /**
-     * \brief Fits an interpolating Spline to the given data points.
-     *
-     * \param pts The points for which an interpolating spline will be computed.
-     * \param degree The degree of the interpolating spline.
-     * \param knot_parameters The knot parameters for the interpolation.
-     *
-     * \returns A spline interpolating the initially provided points.
-     **/
-    template <typename PointArrayType>
-    static SplineType Interpolate(const PointArrayType& pts, DenseIndex degree, const KnotVectorType& knot_parameters);
-  };
-
-  template <typename SplineType>
-  template <typename PointArrayType>
-  SplineType SplineFitting<SplineType>::Interpolate(const PointArrayType& pts, DenseIndex degree, const KnotVectorType& knot_parameters)
-  {
-    typedef typename SplineType::KnotVectorType::Scalar Scalar;      
-    typedef typename SplineType::ControlPointVectorType ControlPointVectorType;      
-
-    typedef Matrix<Scalar,Dynamic,Dynamic> MatrixType;
-
-    KnotVectorType knots;
-    KnotAveraging(knot_parameters, degree, knots);
-
-    DenseIndex n = pts.cols();
-    MatrixType A = MatrixType::Zero(n,n);
-    for (DenseIndex i=1; i<n-1; ++i)
-    {
-      const DenseIndex span = SplineType::Span(knot_parameters[i], degree, knots);
-
-      // The segment call should somehow be told the spline order at compile time.
-      A.row(i).segment(span-degree, degree+1) = SplineType::BasisFunctions(knot_parameters[i], degree, knots);
-    }
-    A(0,0) = 1.0;
-    A(n-1,n-1) = 1.0;
-
-    HouseholderQR<MatrixType> qr(A);
-
-    // Here, we are creating a temporary due to an Eigen issue.
-    ControlPointVectorType ctrls = qr.solve(MatrixType(pts.transpose())).transpose();
-
-    return SplineType(knots, ctrls);
-  }
-
-  template <typename SplineType>
-  template <typename PointArrayType>
-  SplineType SplineFitting<SplineType>::Interpolate(const PointArrayType& pts, DenseIndex degree)
-  {
-    KnotVectorType chord_lengths; // knot parameters
-    ChordLengths(pts, chord_lengths);
-    return Interpolate(pts, degree, chord_lengths);
-  }
-}
-
-#endif // EIGEN_SPLINE_FITTING_H
diff --git a/eigenlib/unsupported/Eigen/src/Splines/SplineFwd.h b/eigenlib/unsupported/Eigen/src/Splines/SplineFwd.h
deleted file mode 100644
index 49db8d35..00000000
--- a/eigenlib/unsupported/Eigen/src/Splines/SplineFwd.h
+++ /dev/null
@@ -1,86 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 20010-2011 Hauke Heibel <hauke.heibel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#ifndef EIGEN_SPLINES_FWD_H
-#define EIGEN_SPLINES_FWD_H
-
-#include <Eigen/Core>
-
-namespace Eigen
-{
-    template <typename Scalar, int Dim, int Degree = Dynamic> class Spline;
-
-    template < typename SplineType, int DerivativeOrder = Dynamic > struct SplineTraits {};
-
-    /**
-     * \ingroup Splines_Module
-     * \brief Compile-time attributes of the Spline class for Dynamic degree.
-     **/
-    template <typename _Scalar, int _Dim, int _Degree>
-    struct SplineTraits< Spline<_Scalar, _Dim, _Degree>, Dynamic >
-    {
-      typedef _Scalar Scalar; /*!< The spline curve's scalar type. */
-      enum { Dimension = _Dim /*!< The spline curve's dimension. */ };
-      enum { Degree = _Degree /*!< The spline curve's degree. */ };
-
-      enum { OrderAtCompileTime = _Degree==Dynamic ? Dynamic : _Degree+1 /*!< The spline curve's order at compile-time. */ };
-      enum { NumOfDerivativesAtCompileTime = OrderAtCompileTime /*!< The number of derivatives defined for the current spline. */ };
-
-      /** \brief The data type used to store non-zero basis functions. */
-      typedef Array<Scalar,1,OrderAtCompileTime> BasisVectorType;
-
-      /** \brief The data type used to store the values of the basis function derivatives. */
-      typedef Array<Scalar,Dynamic,Dynamic,RowMajor,NumOfDerivativesAtCompileTime,OrderAtCompileTime> BasisDerivativeType;
-      
-      /** \brief The data type used to store the spline's derivative values. */
-      typedef Array<Scalar,Dimension,Dynamic,ColMajor,Dimension,NumOfDerivativesAtCompileTime> DerivativeType;
-
-      /** \brief The point type the spline is representing. */
-      typedef Array<Scalar,Dimension,1> PointType;
-      
-      /** \brief The data type used to store knot vectors. */
-      typedef Array<Scalar,1,Dynamic> KnotVectorType;
-      
-      /** \brief The data type representing the spline's control points. */
-      typedef Array<Scalar,Dimension,Dynamic> ControlPointVectorType;
-    };
-
-    /**
-     * \ingroup Splines_Module
-     * \brief Compile-time attributes of the Spline class for fixed degree.
-     *
-     * The traits class inherits all attributes from the SplineTraits of Dynamic degree.
-     **/
-    template < typename _Scalar, int _Dim, int _Degree, int _DerivativeOrder >
-    struct SplineTraits< Spline<_Scalar, _Dim, _Degree>, _DerivativeOrder > : public SplineTraits< Spline<_Scalar, _Dim, _Degree> >
-    {
-      enum { OrderAtCompileTime = _Degree==Dynamic ? Dynamic : _Degree+1 /*!< The spline curve's order at compile-time. */ };
-      enum { NumOfDerivativesAtCompileTime = _DerivativeOrder==Dynamic ? Dynamic : _DerivativeOrder+1 /*!< The number of derivatives defined for the current spline. */ };
-
-      /** \brief The data type used to store the values of the basis function derivatives. */
-      typedef Array<_Scalar,Dynamic,Dynamic,RowMajor,NumOfDerivativesAtCompileTime,OrderAtCompileTime> BasisDerivativeType;
-      
-      /** \brief The data type used to store the spline's derivative values. */      
-      typedef Array<_Scalar,_Dim,Dynamic,ColMajor,_Dim,NumOfDerivativesAtCompileTime> DerivativeType;
-    };
-
-    /** \brief 2D float B-spline with dynamic degree. */
-    typedef Spline<float,2> Spline2f;
-    
-    /** \brief 3D float B-spline with dynamic degree. */
-    typedef Spline<float,3> Spline3f;
-
-    /** \brief 2D double B-spline with dynamic degree. */
-    typedef Spline<double,2> Spline2d;
-    
-    /** \brief 3D double B-spline with dynamic degree. */
-    typedef Spline<double,3> Spline3d;
-}
-
-#endif // EIGEN_SPLINES_FWD_H
diff --git a/eigenlib/unsupported/README.txt b/eigenlib/unsupported/README.txt
deleted file mode 100644
index 83479ff0..00000000
--- a/eigenlib/unsupported/README.txt
+++ /dev/null
@@ -1,50 +0,0 @@
-This directory contains contributions from various users.
-They are provided "as is", without any support. Nevertheless,
-most of them are subject to be included in Eigen in the future.
-
-In order to use an unsupported module you have to do either:
-
- - add the path_to_eigen/unsupported directory to your include path and do:
-   #include <Eigen/ModuleHeader>
-
- - or directly do:
-   #include <unsupported/Eigen/ModuleHeader>
-
-
-If you are interested in contributing to one of them, or have other stuff
-you would like to share, feel free to contact us:
-http://eigen.tuxfamily.org/index.php?title=Main_Page#Mailing_list
-
-Any kind of contributions are much appreciated, even very preliminary ones.
-However, it:
- - must rely on Eigen,
- - must be highly related to math,
- - should have some general purpose in the sense that it could
-   potentially become an offical Eigen module (or be merged into another one).
-
-In doubt feel free to contact us. For instance, if your addons is very too specific
-but it shows an interesting way of using Eigen, then it could be a nice demo.
-
-
-This directory is organized as follow:
-
-unsupported/Eigen/ModuleHeader1
-unsupported/Eigen/ModuleHeader2
-unsupported/Eigen/...
-unsupported/Eigen/src/Module1/SourceFile1.h
-unsupported/Eigen/src/Module1/SourceFile2.h
-unsupported/Eigen/src/Module1/...
-unsupported/Eigen/src/Module2/SourceFile1.h
-unsupported/Eigen/src/Module2/SourceFile2.h
-unsupported/Eigen/src/Module2/...
-unsupported/Eigen/src/...
-unsupported/doc/snippets/.cpp   <- code snippets for the doc
-unsupported/doc/examples/.cpp   <- examples for the doc
-unsupported/doc/TutorialModule1.dox
-unsupported/doc/TutorialModule2.dox
-unsupported/doc/...
-unsupported/test/.cpp           <- unit test files
-
-The documentation is generated at the same time than the main Eigen documentation.
-The .html files are generated in: build_dir/doc/html/unsupported/
-
diff --git a/eigenlib/unsupported/bench/bench_svd.cpp b/eigenlib/unsupported/bench/bench_svd.cpp
deleted file mode 100644
index 01d8231a..00000000
--- a/eigenlib/unsupported/bench/bench_svd.cpp
+++ /dev/null
@@ -1,123 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2013 Gauthier Brun <brun.gauthier@gmail.com>
-// Copyright (C) 2013 Nicolas Carre <nicolas.carre@ensimag.fr>
-// Copyright (C) 2013 Jean Ceccato <jean.ceccato@ensimag.fr>
-// Copyright (C) 2013 Pierre Zoppitelli <pierre.zoppitelli@ensimag.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/
-
-// Bench to compare the efficiency of SVD algorithms
-
-#include <iostream>
-#include <bench/BenchTimer.h>
-#include <unsupported/Eigen/SVD>
-
-
-using namespace Eigen;
-using namespace std;
-
-// number of computations of each algorithm before the print of the time
-#ifndef REPEAT
-#define REPEAT 10
-#endif
-
-// number of tests of the same type
-#ifndef NUMBER_SAMPLE
-#define NUMBER_SAMPLE 2
-#endif
-
-template<typename MatrixType>
-void bench_svd(const MatrixType& a = MatrixType())
-{
-  MatrixType m = MatrixType::Random(a.rows(), a.cols());
-  BenchTimer timerJacobi;
-  BenchTimer timerBDC;
-  timerJacobi.reset();
-  timerBDC.reset();
-
-  cout << " Only compute Singular Values" <<endl;
-  for (int k=1; k<=NUMBER_SAMPLE; ++k)
-  {
-    timerBDC.start();
-    for (int i=0; i<REPEAT; ++i) 
-    {
-      BDCSVD<MatrixType> bdc_matrix(m);
-    }
-    timerBDC.stop();
-    
-    timerJacobi.start();
-    for (int i=0; i<REPEAT; ++i) 
-    {
-      JacobiSVD<MatrixType> jacobi_matrix(m);
-    }
-    timerJacobi.stop();
-
-
-    cout << "Sample " << k << " : " << REPEAT << " computations :  Jacobi : " << fixed << timerJacobi.value() << "s ";
-    cout << " || " << " BDC : " << timerBDC.value() << "s " <<endl <<endl;
-      
-    if (timerBDC.value() >= timerJacobi.value())  
-      cout << "KO : BDC is " <<  timerJacobi.value() / timerBDC.value() << "  times faster than Jacobi" <<endl;
-    else 
-      cout << "OK : BDC is " << timerJacobi.value() / timerBDC.value() << "  times faster than Jacobi"  <<endl;
-      
-  }
-  cout << "       =================" <<endl;
-  std::cout<< std::endl;
-  timerJacobi.reset();
-  timerBDC.reset();
-  cout << " Computes rotaion matrix" <<endl;
-  for (int k=1; k<=NUMBER_SAMPLE; ++k)
-  {
-    timerBDC.start();
-    for (int i=0; i<REPEAT; ++i) 
-    {
-      BDCSVD<MatrixType> bdc_matrix(m, ComputeFullU|ComputeFullV);
-    }
-    timerBDC.stop();
-    
-    timerJacobi.start();
-    for (int i=0; i<REPEAT; ++i) 
-    {
-      JacobiSVD<MatrixType> jacobi_matrix(m, ComputeFullU|ComputeFullV);
-    }
-    timerJacobi.stop();
-
-
-    cout << "Sample " << k << " : " << REPEAT << " computations :  Jacobi : " << fixed << timerJacobi.value() << "s ";
-    cout << " || " << " BDC : " << timerBDC.value() << "s " <<endl <<endl;
-      
-    if (timerBDC.value() >= timerJacobi.value())  
-      cout << "KO : BDC is " <<  timerJacobi.value() / timerBDC.value() << "  times faster than Jacobi" <<endl;
-    else 
-      cout << "OK : BDC is " << timerJacobi.value() / timerBDC.value() << "  times faster than Jacobi"  <<endl;
-      
-  }
-  std::cout<< std::endl;
-}
-
-
-
-int main(int argc, char* argv[])
-{
-  std::cout<< std::endl;
-
-  std::cout<<"On a (Dynamic, Dynamic) (6, 6) Matrix" <<std::endl;
-  bench_svd<Matrix<double,Dynamic,Dynamic> >(Matrix<double,Dynamic,Dynamic>(6, 6));
-  
-  std::cout<<"On a (Dynamic, Dynamic) (32, 32) Matrix" <<std::endl;
-  bench_svd<Matrix<double,Dynamic,Dynamic> >(Matrix<double,Dynamic,Dynamic>(32, 32));
-
-  //std::cout<<"On a (Dynamic, Dynamic) (128, 128) Matrix" <<std::endl;
-  //bench_svd<Matrix<double,Dynamic,Dynamic> >(Matrix<double,Dynamic,Dynamic>(128, 128));
-
-  std::cout<<"On a (Dynamic, Dynamic) (160, 160) Matrix" <<std::endl;
-  bench_svd<Matrix<double,Dynamic,Dynamic> >(Matrix<double,Dynamic,Dynamic>(160, 160));
-  
-  std::cout<< "--------------------------------------------------------------------"<< std::endl;
-           
-}
diff --git a/eigenlib/unsupported/doc/CMakeLists.txt b/eigenlib/unsupported/doc/CMakeLists.txt
deleted file mode 100644
index 9e9ab980..00000000
--- a/eigenlib/unsupported/doc/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-set_directory_properties(PROPERTIES EXCLUDE_FROM_ALL TRUE)
-
-add_subdirectory(examples)
-add_subdirectory(snippets)
diff --git a/eigenlib/unsupported/doc/Overview.dox b/eigenlib/unsupported/doc/Overview.dox
deleted file mode 100644
index d048377d..00000000
--- a/eigenlib/unsupported/doc/Overview.dox
+++ /dev/null
@@ -1,25 +0,0 @@
-namespace Eigen {
-
-/** \mainpage Eigen's unsupported modules
-
-This is the API documentation for Eigen's unsupported modules.
-
-These modules are contributions from various users. They are provided "as is", without any support.
-
-Click on the \e Modules tab at the top of this page to get a list of all unsupported modules.
-
-Don't miss the <a href="..//index.html">official Eigen documentation</a>.
-
-*/
-
-/*
-
-\defgroup Unsupported_modules Unsupported modules
-
-The unsupported modules are contributions from various users. They are
-provided "as is", without any support. Nevertheless, some of them are
-subject to be included in Eigen in the future.
-
-*/
-
-}
diff --git a/eigenlib/unsupported/doc/eigendoxy_layout.xml.in b/eigenlib/unsupported/doc/eigendoxy_layout.xml.in
deleted file mode 100644
index c93621ed..00000000
--- a/eigenlib/unsupported/doc/eigendoxy_layout.xml.in
+++ /dev/null
@@ -1,177 +0,0 @@
-<?xml version="1.0"?>
-<doxygenlayout version="1.0">
-  <!-- Navigation index tabs for HTML output -->
-  <navindex>
-    <tab type="user" url="index.html" title="Overview" />
-    <tab type="modules" visible="yes" title="Unsupported Modules" intro=""/>
-<!--     <tab type="mainpage" visible="yes" title=""/> -->
-    <tab type="classlist" visible="yes" title="" intro=""/>
-<!--     <tab type="classmembers" visible="yes" title="" intro=""/> -->
-  </navindex>
-
-  <!-- Layout definition for a class page -->
-  <class>
-    <briefdescription visible="no"/>
-    <includes visible="$SHOW_INCLUDE_FILES"/>
-    <detaileddescription title=""/>
-    <inheritancegraph visible="$CLASS_GRAPH"/>
-    <collaborationgraph visible="$COLLABORATION_GRAPH"/>
-    <allmemberslink visible="yes"/>
-    <memberdecl>
-      <nestedclasses visible="yes" title=""/>
-      <publictypes title=""/>
-      <publicslots title=""/>
-      <signals title=""/>
-      <publicmethods title=""/>
-      <publicstaticmethods title=""/>
-      <publicattributes title=""/>
-      <publicstaticattributes title=""/>
-      <protectedtypes title=""/>
-      <protectedslots title=""/>
-      <protectedmethods title=""/>
-      <protectedstaticmethods title=""/>
-      <protectedattributes title=""/>
-      <protectedstaticattributes title=""/>
-      <packagetypes title=""/>
-      <packagemethods title=""/>
-      <packagestaticmethods title=""/>
-      <packageattributes title=""/>
-      <packagestaticattributes title=""/>
-      <properties title=""/>
-      <events title=""/>
-      <privatetypes title=""/>
-      <privateslots title=""/>
-      <privatemethods title=""/>
-      <privatestaticmethods title=""/>
-      <privateattributes title=""/>
-      <privatestaticattributes title=""/>
-      <friends title=""/>
-      <related title="" subtitle=""/>
-      <membergroups visible="yes"/>
-    </memberdecl>
-    
-    <memberdef>
-      <inlineclasses title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <constructors title=""/>
-      <functions title=""/>
-      <related title=""/>
-      <variables title=""/>
-      <properties title=""/>
-      <events title=""/>
-    </memberdef>
-    <usedfiles visible="$SHOW_USED_FILES"/>
-    <authorsection visible="yes"/>
-  </class>
-
-  <!-- Layout definition for a namespace page -->
-  <namespace>
-    <briefdescription visible="yes"/>
-    <memberdecl>
-      <nestednamespaces visible="yes" title=""/>
-      <classes visible="yes" title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <membergroups visible="yes"/>
-    </memberdecl>
-    <detaileddescription title=""/>
-    <memberdef>
-      <inlineclasses title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
-    </memberdef>
-    <authorsection visible="yes"/>
-  </namespace>
-
-  <!-- Layout definition for a file page -->
-  <file>
-    <briefdescription visible="yes"/>
-    <includes visible="$SHOW_INCLUDE_FILES"/>
-    <includegraph visible="$INCLUDE_GRAPH"/>
-    <includedbygraph visible="$INCLUDED_BY_GRAPH"/>
-    <sourcelink visible="yes"/>
-    <memberdecl>
-      <classes visible="yes" title=""/>
-      <namespaces visible="yes" title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <membergroups visible="yes"/>
-    </memberdecl>
-    <detaileddescription title=""/>
-    <memberdef>
-      <inlineclasses title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <functions title=""/>
-      <variables title=""/>
-    </memberdef>
-    <authorsection/>
-  </file>
-
-  <!-- Layout definition for a group page -->
-  <group>
-    <briefdescription visible="no"/>
-    <detaileddescription title=""/>
-    <groupgraph visible="$GROUP_GRAPHS"/>
-    <memberdecl>
-      <nestedgroups visible="yes" title=""/>
-      <dirs visible="yes" title=""/>
-      <files visible="yes" title=""/>
-      <namespaces visible="yes" title=""/>
-      <classes visible="yes" title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <enumvalues title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <signals title=""/>
-      <publicslots title=""/>
-      <protectedslots title=""/>
-      <privateslots title=""/>
-      <events title=""/>
-      <properties title=""/>
-      <friends title=""/>
-      <membergroups visible="yes"/>
-    </memberdecl>
-    
-    <memberdef>
-      <pagedocs/>
-      <inlineclasses title=""/>
-      <defines title=""/>
-      <typedefs title=""/>
-      <enums title=""/>
-      <enumvalues title=""/>
-      <functions title=""/>
-      <variables title=""/>
-      <signals title=""/>
-      <publicslots title=""/>
-      <protectedslots title=""/>
-      <privateslots title=""/>
-      <events title=""/>
-      <properties title=""/>
-      <friends title=""/>
-    </memberdef>
-    <authorsection visible="yes"/>
-  </group>
-
-  <!-- Layout definition for a directory page -->
-  <directory>
-    <briefdescription visible="yes"/>
-    <directorygraph visible="yes"/>
-    <memberdecl>
-      <dirs visible="yes"/>
-      <files visible="yes"/>
-    </memberdecl>
-    <detaileddescription title=""/>
-  </directory>
-</doxygenlayout>
diff --git a/eigenlib/unsupported/doc/examples/BVH_Example.cpp b/eigenlib/unsupported/doc/examples/BVH_Example.cpp
deleted file mode 100644
index 6b6fac07..00000000
--- a/eigenlib/unsupported/doc/examples/BVH_Example.cpp
+++ /dev/null
@@ -1,52 +0,0 @@
-#include <Eigen/StdVector>
-#include <unsupported/Eigen/BVH>
-#include <iostream>
-
-using namespace Eigen;
-typedef AlignedBox<double, 2> Box2d;
-
-namespace Eigen {
-    namespace internal {
-        Box2d bounding_box(const Vector2d &v) { return Box2d(v, v); } //compute the bounding box of a single point
-    }
-}
-
-struct PointPointMinimizer //how to compute squared distances between points and rectangles
-{
-  PointPointMinimizer() : calls(0) {}
-  typedef double Scalar;
-
-  double minimumOnVolumeVolume(const Box2d &r1, const Box2d &r2) { ++calls; return r1.squaredExteriorDistance(r2); }
-  double minimumOnVolumeObject(const Box2d &r, const Vector2d &v) { ++calls; return r.squaredExteriorDistance(v); }
-  double minimumOnObjectVolume(const Vector2d &v, const Box2d &r) { ++calls; return r.squaredExteriorDistance(v); }
-  double minimumOnObjectObject(const Vector2d &v1, const Vector2d &v2) { ++calls; return (v1 - v2).squaredNorm(); }
-
-  int calls;
-};
-
-int main()
-{
-  typedef std::vector<Vector2d, aligned_allocator<Vector2d> > StdVectorOfVector2d;
-  StdVectorOfVector2d redPoints, bluePoints;
-  for(int i = 0; i < 100; ++i) { //initialize random set of red points and blue points
-    redPoints.push_back(Vector2d::Random());
-    bluePoints.push_back(Vector2d::Random());
-  }
-
-  PointPointMinimizer minimizer;
-  double minDistSq = std::numeric_limits<double>::max();
-
-  //brute force to find closest red-blue pair
-  for(int i = 0; i < (int)redPoints.size(); ++i)
-    for(int j = 0; j < (int)bluePoints.size(); ++j)
-      minDistSq = std::min(minDistSq, minimizer.minimumOnObjectObject(redPoints[i], bluePoints[j]));
-  std::cout << "Brute force distance = " << sqrt(minDistSq) << ", calls = " << minimizer.calls << std::endl;
-
-  //using BVH to find closest red-blue pair
-  minimizer.calls = 0;
-  KdBVH<double, 2, Vector2d> redTree(redPoints.begin(), redPoints.end()), blueTree(bluePoints.begin(), bluePoints.end()); //construct the trees
-  minDistSq = BVMinimize(redTree, blueTree, minimizer); //actual BVH minimization call
-  std::cout << "BVH distance         = " << sqrt(minDistSq) << ", calls = " << minimizer.calls << std::endl;
-
-  return 0;
-}
diff --git a/eigenlib/unsupported/doc/examples/CMakeLists.txt b/eigenlib/unsupported/doc/examples/CMakeLists.txt
deleted file mode 100644
index c47646df..00000000
--- a/eigenlib/unsupported/doc/examples/CMakeLists.txt
+++ /dev/null
@@ -1,20 +0,0 @@
-FILE(GLOB examples_SRCS "*.cpp")
-
-ADD_CUSTOM_TARGET(unsupported_examples)
-
-INCLUDE_DIRECTORIES(../../../unsupported ../../../unsupported/test)
-
-FOREACH(example_src ${examples_SRCS})
-  GET_FILENAME_COMPONENT(example ${example_src} NAME_WE)
-  ADD_EXECUTABLE(example_${example} ${example_src})
-  if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO)
-    target_link_libraries(example_${example} ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO})
-  endif()
-  ADD_CUSTOM_COMMAND(
-    TARGET example_${example}
-    POST_BUILD
-    COMMAND example_${example}
-    ARGS >${CMAKE_CURRENT_BINARY_DIR}/${example}.out
-  )
-  ADD_DEPENDENCIES(unsupported_examples example_${example})
-ENDFOREACH(example_src)
diff --git a/eigenlib/unsupported/doc/examples/FFT.cpp b/eigenlib/unsupported/doc/examples/FFT.cpp
deleted file mode 100644
index fcbf8127..00000000
--- a/eigenlib/unsupported/doc/examples/FFT.cpp
+++ /dev/null
@@ -1,118 +0,0 @@
-//  To use the simple FFT implementation
-//  g++ -o demofft -I.. -Wall -O3 FFT.cpp 
-
-//  To use the FFTW implementation
-//  g++ -o demofft -I.. -DUSE_FFTW -Wall -O3 FFT.cpp -lfftw3 -lfftw3f -lfftw3l
-
-#ifdef USE_FFTW
-#include <fftw3.h>
-#endif
-
-#include <vector>
-#include <complex>
-#include <algorithm>
-#include <iterator>
-#include <iostream>
-#include <Eigen/Core>
-#include <unsupported/Eigen/FFT>
-
-using namespace std;
-using namespace Eigen;
-
-template <typename T>
-T mag2(T a)
-{
-    return a*a;
-}
-template <typename T>
-T mag2(std::complex<T> a)
-{
-    return norm(a);
-}
-
-template <typename T>
-T mag2(const std::vector<T> & vec)
-{
-    T out=0;
-    for (size_t k=0;k<vec.size();++k)
-        out += mag2(vec[k]);
-    return out;
-}
-
-template <typename T>
-T mag2(const std::vector<std::complex<T> > & vec)
-{
-    T out=0;
-    for (size_t k=0;k<vec.size();++k)
-        out += mag2(vec[k]);
-    return out;
-}
-
-template <typename T>
-vector<T> operator-(const vector<T> & a,const vector<T> & b )
-{
-    vector<T> c(a);
-    for (size_t k=0;k<b.size();++k) 
-        c[k] -= b[k];
-    return c;
-}
-
-template <typename T>
-void RandomFill(std::vector<T> & vec)
-{
-    for (size_t k=0;k<vec.size();++k)
-        vec[k] = T( rand() )/T(RAND_MAX) - .5;
-}
-
-template <typename T>
-void RandomFill(std::vector<std::complex<T> > & vec)
-{
-    for (size_t k=0;k<vec.size();++k)
-        vec[k] = std::complex<T> ( T( rand() )/T(RAND_MAX) - .5, T( rand() )/T(RAND_MAX) - .5);
-}
-
-template <typename T_time,typename T_freq>
-void fwd_inv(size_t nfft)
-{
-    typedef typename NumTraits<T_freq>::Real Scalar;
-    vector<T_time> timebuf(nfft);
-    RandomFill(timebuf);
-
-    vector<T_freq> freqbuf;
-    static FFT<Scalar> fft;
-    fft.fwd(freqbuf,timebuf);
-
-    vector<T_time> timebuf2;
-    fft.inv(timebuf2,freqbuf);
-
-    long double rmse = mag2(timebuf - timebuf2) / mag2(timebuf);
-    cout << "roundtrip rmse: " << rmse << endl;
-}
-
-template <typename T_scalar>
-void two_demos(int nfft)
-{
-    cout << "     scalar ";
-    fwd_inv<T_scalar,std::complex<T_scalar> >(nfft);
-    cout << "    complex ";
-    fwd_inv<std::complex<T_scalar>,std::complex<T_scalar> >(nfft);
-}
-
-void demo_all_types(int nfft)
-{
-    cout << "nfft=" << nfft << endl;
-    cout << "   float" << endl;
-    two_demos<float>(nfft);
-    cout << "   double" << endl;
-    two_demos<double>(nfft);
-    cout << "   long double" << endl;
-    two_demos<long double>(nfft);
-}
-
-int main()
-{
-    demo_all_types( 2*3*4*5*7 );
-    demo_all_types( 2*9*16*25 );
-    demo_all_types( 1024 );
-    return 0;
-}
diff --git a/eigenlib/unsupported/doc/examples/MatrixExponential.cpp b/eigenlib/unsupported/doc/examples/MatrixExponential.cpp
deleted file mode 100644
index ebd3b967..00000000
--- a/eigenlib/unsupported/doc/examples/MatrixExponential.cpp
+++ /dev/null
@@ -1,16 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  const double pi = std::acos(-1.0);
-
-  MatrixXd A(3,3);
-  A << 0,    -pi/4, 0,
-       pi/4, 0,     0,
-       0,    0,     0;
-  std::cout << "The matrix A is:\n" << A << "\n\n";
-  std::cout << "The matrix exponential of A is:\n" << A.exp() << "\n\n";
-}
diff --git a/eigenlib/unsupported/doc/examples/MatrixFunction.cpp b/eigenlib/unsupported/doc/examples/MatrixFunction.cpp
deleted file mode 100644
index a4172e4a..00000000
--- a/eigenlib/unsupported/doc/examples/MatrixFunction.cpp
+++ /dev/null
@@ -1,23 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-std::complex<double> expfn(std::complex<double> x, int)
-{
-  return std::exp(x);
-}
-
-int main()
-{
-  const double pi = std::acos(-1.0);
-
-  MatrixXd A(3,3);
-  A << 0,    -pi/4, 0,
-       pi/4, 0,     0,
-       0,    0,     0;
-
-  std::cout << "The matrix A is:\n" << A << "\n\n";
-  std::cout << "The matrix exponential of A is:\n" 
-            << A.matrixFunction(expfn) << "\n\n";
-}
diff --git a/eigenlib/unsupported/doc/examples/MatrixLogarithm.cpp b/eigenlib/unsupported/doc/examples/MatrixLogarithm.cpp
deleted file mode 100644
index 8c5d9705..00000000
--- a/eigenlib/unsupported/doc/examples/MatrixLogarithm.cpp
+++ /dev/null
@@ -1,15 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  using std::sqrt;
-  MatrixXd A(3,3);
-  A << 0.5*sqrt(2), -0.5*sqrt(2), 0,
-       0.5*sqrt(2),  0.5*sqrt(2), 0,
-       0,            0,           1;
-  std::cout << "The matrix A is:\n" << A << "\n\n";
-  std::cout << "The matrix logarithm of A is:\n" << A.log() << "\n";
-}
diff --git a/eigenlib/unsupported/doc/examples/MatrixPower.cpp b/eigenlib/unsupported/doc/examples/MatrixPower.cpp
deleted file mode 100644
index 22245247..00000000
--- a/eigenlib/unsupported/doc/examples/MatrixPower.cpp
+++ /dev/null
@@ -1,16 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  const double pi = std::acos(-1.0);
-  Matrix3d A;
-  A << cos(1), -sin(1), 0,
-       sin(1),  cos(1), 0,
-	   0 ,      0 , 1;
-  std::cout << "The matrix A is:\n" << A << "\n\n"
-	       "The matrix power A^(pi/4) is:\n" << A.pow(pi/4) << std::endl;
-  return 0;
-}
diff --git a/eigenlib/unsupported/doc/examples/MatrixPower_optimal.cpp b/eigenlib/unsupported/doc/examples/MatrixPower_optimal.cpp
deleted file mode 100644
index 86470ba0..00000000
--- a/eigenlib/unsupported/doc/examples/MatrixPower_optimal.cpp
+++ /dev/null
@@ -1,17 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  Matrix4cd A = Matrix4cd::Random();
-  MatrixPower<Matrix4cd> Apow(A);
-
-  std::cout << "The matrix A is:\n" << A << "\n\n"
-	       "A^3.1 is:\n" << Apow(3.1) << "\n\n"
-	       "A^3.3 is:\n" << Apow(3.3) << "\n\n"
-	       "A^3.7 is:\n" << Apow(3.7) << "\n\n"
-	       "A^3.9 is:\n" << Apow(3.9) << std::endl;
-  return 0;
-}
diff --git a/eigenlib/unsupported/doc/examples/MatrixSine.cpp b/eigenlib/unsupported/doc/examples/MatrixSine.cpp
deleted file mode 100644
index 9eea9a08..00000000
--- a/eigenlib/unsupported/doc/examples/MatrixSine.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  MatrixXd A = MatrixXd::Random(3,3);
-  std::cout << "A = \n" << A << "\n\n";
-
-  MatrixXd sinA = A.sin();
-  std::cout << "sin(A) = \n" << sinA << "\n\n";
-
-  MatrixXd cosA = A.cos();
-  std::cout << "cos(A) = \n" << cosA << "\n\n";
-  
-  // The matrix functions satisfy sin^2(A) + cos^2(A) = I, 
-  // like the scalar functions.
-  std::cout << "sin^2(A) + cos^2(A) = \n" << sinA*sinA + cosA*cosA << "\n\n";
-}
diff --git a/eigenlib/unsupported/doc/examples/MatrixSinh.cpp b/eigenlib/unsupported/doc/examples/MatrixSinh.cpp
deleted file mode 100644
index f7718672..00000000
--- a/eigenlib/unsupported/doc/examples/MatrixSinh.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  MatrixXf A = MatrixXf::Random(3,3);
-  std::cout << "A = \n" << A << "\n\n";
-
-  MatrixXf sinhA = A.sinh();
-  std::cout << "sinh(A) = \n" << sinhA << "\n\n";
-
-  MatrixXf coshA = A.cosh();
-  std::cout << "cosh(A) = \n" << coshA << "\n\n";
-  
-  // The matrix functions satisfy cosh^2(A) - sinh^2(A) = I, 
-  // like the scalar functions.
-  std::cout << "cosh^2(A) - sinh^2(A) = \n" << coshA*coshA - sinhA*sinhA << "\n\n";
-}
diff --git a/eigenlib/unsupported/doc/examples/MatrixSquareRoot.cpp b/eigenlib/unsupported/doc/examples/MatrixSquareRoot.cpp
deleted file mode 100644
index 88e7557d..00000000
--- a/eigenlib/unsupported/doc/examples/MatrixSquareRoot.cpp
+++ /dev/null
@@ -1,16 +0,0 @@
-#include <unsupported/Eigen/MatrixFunctions>
-#include <iostream>
-
-using namespace Eigen;
-
-int main()
-{
-  const double pi = std::acos(-1.0);
-
-  MatrixXd A(2,2);
-  A << cos(pi/3), -sin(pi/3), 
-       sin(pi/3),  cos(pi/3);
-  std::cout << "The matrix A is:\n" << A << "\n\n";
-  std::cout << "The matrix square root of A is:\n" << A.sqrt() << "\n\n";
-  std::cout << "The square of the last matrix is:\n" << A.sqrt() * A.sqrt() << "\n";
-}
diff --git a/eigenlib/unsupported/doc/examples/PolynomialSolver1.cpp b/eigenlib/unsupported/doc/examples/PolynomialSolver1.cpp
deleted file mode 100644
index cd777a4e..00000000
--- a/eigenlib/unsupported/doc/examples/PolynomialSolver1.cpp
+++ /dev/null
@@ -1,53 +0,0 @@
-#include <unsupported/Eigen/Polynomials>
-#include <vector>
-#include <iostream>
-
-using namespace Eigen;
-using namespace std;
-
-int main()
-{
-  typedef Matrix<double,5,1> Vector5d;
-
-  Vector5d roots = Vector5d::Random();
-  cout << "Roots: " << roots.transpose() << endl;
-  Eigen::Matrix<double,6,1> polynomial;
-  roots_to_monicPolynomial( roots, polynomial );
-
-  PolynomialSolver<double,5> psolve( polynomial );
-  cout << "Complex roots: " << psolve.roots().transpose() << endl;
-
-  std::vector<double> realRoots;
-  psolve.realRoots( realRoots );
-  Map<Vector5d> mapRR( &realRoots[0] );
-  cout << "Real roots: " << mapRR.transpose() << endl;
-
-  cout << endl;
-  cout << "Illustration of the convergence problem with the QR algorithm: " << endl;
-  cout << "---------------------------------------------------------------" << endl;
-  Eigen::Matrix<float,7,1> hardCase_polynomial;
-  hardCase_polynomial <<
-  -0.957, 0.9219, 0.3516, 0.9453, -0.4023, -0.5508, -0.03125;
-  cout << "Hard case polynomial defined by floats: " << hardCase_polynomial.transpose() << endl;
-  PolynomialSolver<float,6> psolvef( hardCase_polynomial );
-  cout << "Complex roots: " << psolvef.roots().transpose() << endl;
-  Eigen::Matrix<float,6,1> evals;
-  for( int i=0; i<6; ++i ){ evals[i] = std::abs( poly_eval( hardCase_polynomial, psolvef.roots()[i] ) ); }
-  cout << "Norms of the evaluations of the polynomial at the roots: " << evals.transpose() << endl << endl;
-
-  cout << "Using double's almost always solves the problem for small degrees: " << endl;
-  cout << "-------------------------------------------------------------------" << endl;
-  PolynomialSolver<double,6> psolve6d( hardCase_polynomial.cast<double>() );
-  cout << "Complex roots: " << psolve6d.roots().transpose() << endl;
-  for( int i=0; i<6; ++i )
-  {
-    std::complex<float> castedRoot( psolve6d.roots()[i].real(), psolve6d.roots()[i].imag() );
-    evals[i] = std::abs( poly_eval( hardCase_polynomial, castedRoot ) );
-  }
-  cout << "Norms of the evaluations of the polynomial at the roots: " << evals.transpose() << endl << endl;
-
-  cout.precision(10);
-  cout << "The last root in float then in double: " << psolvef.roots()[5] << "\t" << psolve6d.roots()[5] << endl;
-  std::complex<float> castedRoot( psolve6d.roots()[5].real(), psolve6d.roots()[5].imag() );
-  cout << "Norm of the difference: " << std::abs( psolvef.roots()[5] - castedRoot ) << endl;
-}
diff --git a/eigenlib/unsupported/doc/examples/PolynomialUtils1.cpp b/eigenlib/unsupported/doc/examples/PolynomialUtils1.cpp
deleted file mode 100644
index dbfe520b..00000000
--- a/eigenlib/unsupported/doc/examples/PolynomialUtils1.cpp
+++ /dev/null
@@ -1,20 +0,0 @@
-#include <unsupported/Eigen/Polynomials>
-#include <iostream>
-
-using namespace Eigen;
-using namespace std;
-
-int main()
-{
-  Vector4d roots = Vector4d::Random();
-  cout << "Roots: " << roots.transpose() << endl;
-  Eigen::Matrix<double,5,1> polynomial;
-  roots_to_monicPolynomial( roots, polynomial );
-  cout << "Polynomial: ";
-  for( int i=0; i<4; ++i ){ cout << polynomial[i] << ".x^" << i << "+ "; }
-  cout << polynomial[4] << ".x^4" << endl;
-  Vector4d evaluation;
-  for( int i=0; i<4; ++i ){
-    evaluation[i] = poly_eval( polynomial, roots[i] ); }
-  cout << "Evaluation of the polynomial at the roots: " << evaluation.transpose();
-}
diff --git a/eigenlib/unsupported/doc/snippets/CMakeLists.txt b/eigenlib/unsupported/doc/snippets/CMakeLists.txt
deleted file mode 100644
index f0c5cc2a..00000000
--- a/eigenlib/unsupported/doc/snippets/CMakeLists.txt
+++ /dev/null
@@ -1,26 +0,0 @@
-FILE(GLOB snippets_SRCS "*.cpp")
-
-ADD_CUSTOM_TARGET(unsupported_snippets)
-
-FOREACH(snippet_src ${snippets_SRCS})
-  GET_FILENAME_COMPONENT(snippet ${snippet_src} NAME_WE)
-  SET(compile_snippet_target compile_${snippet})
-  SET(compile_snippet_src ${compile_snippet_target}.cpp)
-  FILE(READ ${snippet_src} snippet_source_code)
-  CONFIGURE_FILE(${PROJECT_SOURCE_DIR}/doc/snippets/compile_snippet.cpp.in
-                 ${CMAKE_CURRENT_BINARY_DIR}/${compile_snippet_src})
-  ADD_EXECUTABLE(${compile_snippet_target}
-                 ${CMAKE_CURRENT_BINARY_DIR}/${compile_snippet_src})
-  if(EIGEN_STANDARD_LIBRARIES_TO_LINK_TO)
-    target_link_libraries(${compile_snippet_target} ${EIGEN_STANDARD_LIBRARIES_TO_LINK_TO})
-  endif()
-  ADD_CUSTOM_COMMAND(
-    TARGET ${compile_snippet_target}
-    POST_BUILD
-    COMMAND ${compile_snippet_target}
-    ARGS >${CMAKE_CURRENT_BINARY_DIR}/${snippet}.out
-  )
-  ADD_DEPENDENCIES(unsupported_snippets ${compile_snippet_target})
-  set_source_files_properties(${CMAKE_CURRENT_BINARY_DIR}/${compile_snippet_src}
-                              PROPERTIES OBJECT_DEPENDS ${snippet_src})
-ENDFOREACH(snippet_src)
diff --git a/eigenlib/unsupported/test/BVH.cpp b/eigenlib/unsupported/test/BVH.cpp
deleted file mode 100644
index ff5b3299..00000000
--- a/eigenlib/unsupported/test/BVH.cpp
+++ /dev/null
@@ -1,222 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Ilya Baran <ibaran@mit.edu>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "main.h"
-#include <Eigen/StdVector>
-#include <Eigen/Geometry>
-#include <unsupported/Eigen/BVH>
-
-namespace Eigen {
-
-template<typename Scalar, int Dim> AlignedBox<Scalar, Dim> bounding_box(const Matrix<Scalar, Dim, 1> &v) { return AlignedBox<Scalar, Dim>(v); }
-
-}
-
-
-template<int Dim>
-struct Ball
-{
-EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(double, Dim)
-
-  typedef Matrix<double, Dim, 1> VectorType;
-
-  Ball() {}
-  Ball(const VectorType &c, double r) : center(c), radius(r) {}
-
-  VectorType center;
-  double radius;
-};
-template<int Dim> AlignedBox<double, Dim> bounding_box(const Ball<Dim> &b)
-{ return AlignedBox<double, Dim>(b.center.array() - b.radius, b.center.array() + b.radius); }
-
-inline double SQR(double x) { return x * x; }
-
-template<int Dim>
-struct BallPointStuff //this class provides functions to be both an intersector and a minimizer, both for a ball and a point and for two trees
-{
-  typedef double Scalar;
-  typedef Matrix<double, Dim, 1> VectorType;
-  typedef Ball<Dim> BallType;
-  typedef AlignedBox<double, Dim> BoxType;
-
-  BallPointStuff() : calls(0), count(0) {}
-  BallPointStuff(const VectorType &inP) : p(inP), calls(0), count(0) {}
-
-
-  bool intersectVolume(const BoxType &r) { ++calls; return r.contains(p); }
-  bool intersectObject(const BallType &b) {
-    ++calls;
-    if((b.center - p).squaredNorm() < SQR(b.radius))
-      ++count;
-    return false; //continue
-  }
-
-  bool intersectVolumeVolume(const BoxType &r1, const BoxType &r2) { ++calls; return !(r1.intersection(r2)).isNull(); }
-  bool intersectVolumeObject(const BoxType &r, const BallType &b) { ++calls; return r.squaredExteriorDistance(b.center) < SQR(b.radius); }
-  bool intersectObjectVolume(const BallType &b, const BoxType &r) { ++calls; return r.squaredExteriorDistance(b.center) < SQR(b.radius); }
-  bool intersectObjectObject(const BallType &b1, const BallType &b2){
-    ++calls;
-    if((b1.center - b2.center).norm() < b1.radius + b2.radius)
-      ++count;
-    return false;
-  }
-  bool intersectVolumeObject(const BoxType &r, const VectorType &v) { ++calls; return r.contains(v); }
-  bool intersectObjectObject(const BallType &b, const VectorType &v){
-    ++calls;
-    if((b.center - v).squaredNorm() < SQR(b.radius))
-      ++count;
-    return false;
-  }
-
-  double minimumOnVolume(const BoxType &r) { ++calls; return r.squaredExteriorDistance(p); }
-  double minimumOnObject(const BallType &b) { ++calls; return (std::max)(0., (b.center - p).squaredNorm() - SQR(b.radius)); }
-  double minimumOnVolumeVolume(const BoxType &r1, const BoxType &r2) { ++calls; return r1.squaredExteriorDistance(r2); }
-  double minimumOnVolumeObject(const BoxType &r, const BallType &b) { ++calls; return SQR((std::max)(0., r.exteriorDistance(b.center) - b.radius)); }
-  double minimumOnObjectVolume(const BallType &b, const BoxType &r) { ++calls; return SQR((std::max)(0., r.exteriorDistance(b.center) - b.radius)); }
-  double minimumOnObjectObject(const BallType &b1, const BallType &b2){ ++calls; return SQR((std::max)(0., (b1.center - b2.center).norm() - b1.radius - b2.radius)); }
-  double minimumOnVolumeObject(const BoxType &r, const VectorType &v) { ++calls; return r.squaredExteriorDistance(v); }
-  double minimumOnObjectObject(const BallType &b, const VectorType &v){ ++calls; return SQR((std::max)(0., (b.center - v).norm() - b.radius)); }
-
-  VectorType p;
-  int calls;
-  int count;
-};
-
-
-template<int Dim>
-struct TreeTest
-{
-  typedef Matrix<double, Dim, 1> VectorType;
-  typedef std::vector<VectorType, aligned_allocator<VectorType> > VectorTypeList;
-  typedef Ball<Dim> BallType;
-  typedef std::vector<BallType, aligned_allocator<BallType> > BallTypeList;
-  typedef AlignedBox<double, Dim> BoxType;
-
-  void testIntersect1()
-  {
-    BallTypeList b;
-    for(int i = 0; i < 500; ++i) {
-        b.push_back(BallType(VectorType::Random(), 0.5 * internal::random(0., 1.)));
-    }
-    KdBVH<double, Dim, BallType> tree(b.begin(), b.end());
-
-    VectorType pt = VectorType::Random();
-    BallPointStuff<Dim> i1(pt), i2(pt);
-
-    for(int i = 0; i < (int)b.size(); ++i)
-      i1.intersectObject(b[i]);
-
-    BVIntersect(tree, i2);
-
-    VERIFY(i1.count == i2.count);
-  }
-
-  void testMinimize1()
-  {
-    BallTypeList b;
-    for(int i = 0; i < 500; ++i) {
-        b.push_back(BallType(VectorType::Random(), 0.01 * internal::random(0., 1.)));
-    }
-    KdBVH<double, Dim, BallType> tree(b.begin(), b.end());
-
-    VectorType pt = VectorType::Random();
-    BallPointStuff<Dim> i1(pt), i2(pt);
-
-    double m1 = (std::numeric_limits<double>::max)(), m2 = m1;
-
-    for(int i = 0; i < (int)b.size(); ++i)
-      m1 = (std::min)(m1, i1.minimumOnObject(b[i]));
-
-    m2 = BVMinimize(tree, i2);
-
-    VERIFY_IS_APPROX(m1, m2);
-  }
-
-  void testIntersect2()
-  {
-    BallTypeList b;
-    VectorTypeList v;
-
-    for(int i = 0; i < 50; ++i) {
-        b.push_back(BallType(VectorType::Random(), 0.5 * internal::random(0., 1.)));
-        for(int j = 0; j < 3; ++j)
-            v.push_back(VectorType::Random());
-    }
-
-    KdBVH<double, Dim, BallType> tree(b.begin(), b.end());
-    KdBVH<double, Dim, VectorType> vTree(v.begin(), v.end());
-
-    BallPointStuff<Dim> i1, i2;
-
-    for(int i = 0; i < (int)b.size(); ++i)
-        for(int j = 0; j < (int)v.size(); ++j)
-            i1.intersectObjectObject(b[i], v[j]);
-
-    BVIntersect(tree, vTree, i2);
-
-    VERIFY(i1.count == i2.count);
-  }
-
-  void testMinimize2()
-  {
-    BallTypeList b;
-    VectorTypeList v;
-
-    for(int i = 0; i < 50; ++i) {
-        b.push_back(BallType(VectorType::Random(), 1e-7 + 1e-6 * internal::random(0., 1.)));
-        for(int j = 0; j < 3; ++j)
-            v.push_back(VectorType::Random());
-    }
-
-    KdBVH<double, Dim, BallType> tree(b.begin(), b.end());
-    KdBVH<double, Dim, VectorType> vTree(v.begin(), v.end());
-
-    BallPointStuff<Dim> i1, i2;
-
-    double m1 = (std::numeric_limits<double>::max)(), m2 = m1;
-
-    for(int i = 0; i < (int)b.size(); ++i)
-        for(int j = 0; j < (int)v.size(); ++j)
-            m1 = (std::min)(m1, i1.minimumOnObjectObject(b[i], v[j]));
-
-    m2 = BVMinimize(tree, vTree, i2);
-
-    VERIFY_IS_APPROX(m1, m2);
-  }
-};
-
-
-void test_BVH()
-{
-  for(int i = 0; i < g_repeat; i++) {
-#ifdef EIGEN_TEST_PART_1
-    TreeTest<2> test2;
-    CALL_SUBTEST(test2.testIntersect1());
-    CALL_SUBTEST(test2.testMinimize1());
-    CALL_SUBTEST(test2.testIntersect2());
-    CALL_SUBTEST(test2.testMinimize2());
-#endif
-
-#ifdef EIGEN_TEST_PART_2
-    TreeTest<3> test3;
-    CALL_SUBTEST(test3.testIntersect1());
-    CALL_SUBTEST(test3.testMinimize1());
-    CALL_SUBTEST(test3.testIntersect2());
-    CALL_SUBTEST(test3.testMinimize2());
-#endif
-
-#ifdef EIGEN_TEST_PART_3
-    TreeTest<4> test4;
-    CALL_SUBTEST(test4.testIntersect1());
-    CALL_SUBTEST(test4.testMinimize1());
-    CALL_SUBTEST(test4.testIntersect2());
-    CALL_SUBTEST(test4.testMinimize2());
-#endif
-  }
-}
diff --git a/eigenlib/unsupported/test/CMakeLists.txt b/eigenlib/unsupported/test/CMakeLists.txt
deleted file mode 100644
index 2e4cfdb2..00000000
--- a/eigenlib/unsupported/test/CMakeLists.txt
+++ /dev/null
@@ -1,90 +0,0 @@
-
-set_property(GLOBAL PROPERTY EIGEN_CURRENT_SUBPROJECT "Unsupported")
-add_custom_target(BuildUnsupported)
-
-include_directories(../../test ../../unsupported ../../Eigen 
-                    ${CMAKE_CURRENT_BINARY_DIR}/../../test)
-
-find_package(GoogleHash)
-if(GOOGLEHASH_FOUND)
-  add_definitions("-DEIGEN_GOOGLEHASH_SUPPORT")
-  include_directories(${GOOGLEHASH_INCLUDES})
-  ei_add_property(EIGEN_TESTED_BACKENDS  "GoogleHash, ")
-else(GOOGLEHASH_FOUND)
-  ei_add_property(EIGEN_MISSING_BACKENDS  "GoogleHash, ")
-endif(GOOGLEHASH_FOUND)
-
-find_package(Adolc)
-if(ADOLC_FOUND)
-  include_directories(${ADOLC_INCLUDES})
-  ei_add_property(EIGEN_TESTED_BACKENDS "Adolc, ")
-  ei_add_test(forward_adolc "" ${ADOLC_LIBRARIES})
-else(ADOLC_FOUND)
-  ei_add_property(EIGEN_MISSING_BACKENDS "Adolc, ")
-endif(ADOLC_FOUND)
-
-# this test seems to never have been successful on x87, so is considered to contain a FP-related bug.
-# see thread: "non-linear optimization test summary"
-ei_add_test(NonLinearOptimization)
-
-ei_add_test(NumericalDiff)
-ei_add_test(autodiff)
-ei_add_test(BVH)
-ei_add_test(matrix_exponential)
-ei_add_test(matrix_function)
-ei_add_test(matrix_power)
-ei_add_test(matrix_square_root)
-ei_add_test(alignedvector3)
-ei_add_test(FFT)
-
-find_package(MPFR 2.3.0)
-find_package(GMP)
-if(MPFR_FOUND)
-  include_directories(${MPFR_INCLUDES} ./mpreal)
-  ei_add_property(EIGEN_TESTED_BACKENDS "MPFR C++, ")
-  set(EIGEN_MPFR_TEST_LIBRARIES ${MPFR_LIBRARIES} ${GMP_LIBRARIES})
-  ei_add_test(mpreal_support "" "${EIGEN_MPFR_TEST_LIBRARIES}" )
-else()
-  ei_add_property(EIGEN_MISSING_BACKENDS "MPFR C++, ")
-endif()
-
-ei_add_test(sparse_extra   "" "")
-
-find_package(FFTW)
-if(FFTW_FOUND)
-  ei_add_property(EIGEN_TESTED_BACKENDS "fftw, ")
-  include_directories( ${FFTW_INCLUDES} )
-  if(FFTWL_LIB)
-    ei_add_test(FFTW  "-DEIGEN_FFTW_DEFAULT -DEIGEN_HAS_FFTWL" "${FFTW_LIBRARIES}" )
-  else()
-    ei_add_test(FFTW  "-DEIGEN_FFTW_DEFAULT" "${FFTW_LIBRARIES}" )
-  endif()
-else()
-  ei_add_property(EIGEN_MISSING_BACKENDS "fftw, ")
-endif()
-
-option(EIGEN_TEST_NO_OPENGL "Disable OpenGL support in unit tests" OFF)
-if(NOT EIGEN_TEST_NO_OPENGL)
-  find_package(OpenGL)
-  find_package(GLUT)
-  find_package(GLEW)
-  if(OPENGL_FOUND AND GLUT_FOUND AND GLEW_FOUND)
-    include_directories(${OPENGL_INCLUDE_DIR} ${GLUT_INCLUDE_DIR} ${GLEW_INCLUDE_DIRS})
-    ei_add_property(EIGEN_TESTED_BACKENDS "OpenGL, ")
-    set(EIGEN_GL_LIB ${GLUT_LIBRARIES} ${GLEW_LIBRARIES} ${OPENGL_LIBRARIES})
-    ei_add_test(openglsupport  "" "${EIGEN_GL_LIB}" )
-  else()
-    ei_add_property(EIGEN_MISSING_BACKENDS "OpenGL, ")
-  endif()
-else()
-    ei_add_property(EIGEN_MISSING_BACKENDS "OpenGL, ")
-endif()
-
-ei_add_test(polynomialsolver)
-ei_add_test(polynomialutils)
-ei_add_test(kronecker_product)
-ei_add_test(splines)
-ei_add_test(gmres)
-ei_add_test(minres)
-ei_add_test(levenberg_marquardt)
-ei_add_test(bdcsvd)
diff --git a/eigenlib/unsupported/test/FFT.cpp b/eigenlib/unsupported/test/FFT.cpp
deleted file mode 100644
index 45c87f5a..00000000
--- a/eigenlib/unsupported/test/FFT.cpp
+++ /dev/null
@@ -1,2 +0,0 @@
-#define test_FFTW test_FFT
-#include "FFTW.cpp"
diff --git a/eigenlib/unsupported/test/FFTW.cpp b/eigenlib/unsupported/test/FFTW.cpp
deleted file mode 100644
index d3718e2d..00000000
--- a/eigenlib/unsupported/test/FFTW.cpp
+++ /dev/null
@@ -1,262 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Mark Borgerding mark a borgerding net
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "main.h"
-#include <unsupported/Eigen/FFT>
-
-template <typename T> 
-std::complex<T> RandomCpx() { return std::complex<T>( (T)(rand()/(T)RAND_MAX - .5), (T)(rand()/(T)RAND_MAX - .5) ); }
-
-using namespace std;
-using namespace Eigen;
-
-
-template < typename T>
-complex<long double>  promote(complex<T> x) { return complex<long double>(x.real(),x.imag()); }
-
-complex<long double>  promote(float x) { return complex<long double>( x); }
-complex<long double>  promote(double x) { return complex<long double>( x); }
-complex<long double>  promote(long double x) { return complex<long double>( x); }
-    
-
-    template <typename VT1,typename VT2>
-    long double fft_rmse( const VT1 & fftbuf,const VT2 & timebuf)
-    {
-        long double totalpower=0;
-        long double difpower=0;
-        long double pi = acos((long double)-1 );
-        for (size_t k0=0;k0<(size_t)fftbuf.size();++k0) {
-            complex<long double> acc = 0;
-            long double phinc = -2.*k0* pi / timebuf.size();
-            for (size_t k1=0;k1<(size_t)timebuf.size();++k1) {
-                acc +=  promote( timebuf[k1] ) * exp( complex<long double>(0,k1*phinc) );
-            }
-            totalpower += numext::abs2(acc);
-            complex<long double> x = promote(fftbuf[k0]); 
-            complex<long double> dif = acc - x;
-            difpower += numext::abs2(dif);
-            //cerr << k0 << "\t" << acc << "\t" <<  x << "\t" << sqrt(numext::abs2(dif)) << endl;
-        }
-        cerr << "rmse:" << sqrt(difpower/totalpower) << endl;
-        return sqrt(difpower/totalpower);
-    }
-
-    template <typename VT1,typename VT2>
-    long double dif_rmse( const VT1 buf1,const VT2 buf2)
-    {
-        long double totalpower=0;
-        long double difpower=0;
-        size_t n = (min)( buf1.size(),buf2.size() );
-        for (size_t k=0;k<n;++k) {
-            totalpower += (numext::abs2( buf1[k] ) + numext::abs2(buf2[k]) )/2.;
-            difpower += numext::abs2(buf1[k] - buf2[k]);
-        }
-        return sqrt(difpower/totalpower);
-    }
-
-enum { StdVectorContainer, EigenVectorContainer };
-
-template<int Container, typename Scalar> struct VectorType;
-
-template<typename Scalar> struct VectorType<StdVectorContainer,Scalar>
-{
-  typedef vector<Scalar> type;
-};
-
-template<typename Scalar> struct VectorType<EigenVectorContainer,Scalar>
-{
-  typedef Matrix<Scalar,Dynamic,1> type;
-};
-
-template <int Container, typename T>
-void test_scalar_generic(int nfft)
-{
-    typedef typename FFT<T>::Complex Complex;
-    typedef typename FFT<T>::Scalar Scalar;
-    typedef typename VectorType<Container,Scalar>::type ScalarVector;
-    typedef typename VectorType<Container,Complex>::type ComplexVector;
-
-    FFT<T> fft;
-    ScalarVector tbuf(nfft);
-    ComplexVector freqBuf;
-    for (int k=0;k<nfft;++k)
-        tbuf[k]= (T)( rand()/(double)RAND_MAX - .5);
-
-    // make sure it DOESN'T give the right full spectrum answer
-    // if we've asked for half-spectrum
-    fft.SetFlag(fft.HalfSpectrum );
-    fft.fwd( freqBuf,tbuf);
-    VERIFY((size_t)freqBuf.size() == (size_t)( (nfft>>1)+1) );
-    VERIFY( fft_rmse(freqBuf,tbuf) < test_precision<T>()  );// gross check
-
-    fft.ClearFlag(fft.HalfSpectrum );
-    fft.fwd( freqBuf,tbuf);
-    VERIFY( (size_t)freqBuf.size() == (size_t)nfft);
-    VERIFY( fft_rmse(freqBuf,tbuf) < test_precision<T>()  );// gross check
-
-    if (nfft&1)
-        return; // odd FFTs get the wrong size inverse FFT
-
-    ScalarVector tbuf2;
-    fft.inv( tbuf2 , freqBuf);
-    VERIFY( dif_rmse(tbuf,tbuf2) < test_precision<T>()  );// gross check
-
-
-    // verify that the Unscaled flag takes effect
-    ScalarVector tbuf3;
-    fft.SetFlag(fft.Unscaled);
-
-    fft.inv( tbuf3 , freqBuf);
-
-    for (int k=0;k<nfft;++k)
-        tbuf3[k] *= T(1./nfft);
-
-
-    //for (size_t i=0;i<(size_t) tbuf.size();++i)
-    //    cout << "freqBuf=" << freqBuf[i] << " in2=" << tbuf3[i] << " -  in=" << tbuf[i] << " => " << (tbuf3[i] - tbuf[i] ) <<  endl;
-
-    VERIFY( dif_rmse(tbuf,tbuf3) < test_precision<T>()  );// gross check
-
-    // verify that ClearFlag works
-    fft.ClearFlag(fft.Unscaled);
-    fft.inv( tbuf2 , freqBuf);
-    VERIFY( dif_rmse(tbuf,tbuf2) < test_precision<T>()  );// gross check
-}
-
-template <typename T>
-void test_scalar(int nfft)
-{
-  test_scalar_generic<StdVectorContainer,T>(nfft);
-  //test_scalar_generic<EigenVectorContainer,T>(nfft);
-}
-
-
-template <int Container, typename T>
-void test_complex_generic(int nfft)
-{
-    typedef typename FFT<T>::Complex Complex;
-    typedef typename VectorType<Container,Complex>::type ComplexVector;
-
-    FFT<T> fft;
-
-    ComplexVector inbuf(nfft);
-    ComplexVector outbuf;
-    ComplexVector buf3;
-    for (int k=0;k<nfft;++k)
-        inbuf[k]= Complex( (T)(rand()/(double)RAND_MAX - .5), (T)(rand()/(double)RAND_MAX - .5) );
-    fft.fwd( outbuf , inbuf);
-
-    VERIFY( fft_rmse(outbuf,inbuf) < test_precision<T>()  );// gross check
-    fft.inv( buf3 , outbuf);
-
-    VERIFY( dif_rmse(inbuf,buf3) < test_precision<T>()  );// gross check
-
-    // verify that the Unscaled flag takes effect
-    ComplexVector buf4;
-    fft.SetFlag(fft.Unscaled);
-    fft.inv( buf4 , outbuf);
-    for (int k=0;k<nfft;++k)
-        buf4[k] *= T(1./nfft);
-    VERIFY( dif_rmse(inbuf,buf4) < test_precision<T>()  );// gross check
-
-    // verify that ClearFlag works
-    fft.ClearFlag(fft.Unscaled);
-    fft.inv( buf3 , outbuf);
-    VERIFY( dif_rmse(inbuf,buf3) < test_precision<T>()  );// gross check
-}
-
-template <typename T>
-void test_complex(int nfft)
-{
-  test_complex_generic<StdVectorContainer,T>(nfft);
-  test_complex_generic<EigenVectorContainer,T>(nfft);
-}
-/*
-template <typename T,int nrows,int ncols>
-void test_complex2d()
-{
-    typedef typename Eigen::FFT<T>::Complex Complex;
-    FFT<T> fft;
-    Eigen::Matrix<Complex,nrows,ncols> src,src2,dst,dst2;
-
-    src = Eigen::Matrix<Complex,nrows,ncols>::Random();
-    //src =  Eigen::Matrix<Complex,nrows,ncols>::Identity();
-
-    for (int k=0;k<ncols;k++) {
-        Eigen::Matrix<Complex,nrows,1> tmpOut;
-        fft.fwd( tmpOut,src.col(k) );
-        dst2.col(k) = tmpOut;
-    }
-
-    for (int k=0;k<nrows;k++) {
-        Eigen::Matrix<Complex,1,ncols> tmpOut;
-        fft.fwd( tmpOut,  dst2.row(k) );
-        dst2.row(k) = tmpOut;
-    }
-
-    fft.fwd2(dst.data(),src.data(),ncols,nrows);
-    fft.inv2(src2.data(),dst.data(),ncols,nrows);
-    VERIFY( (src-src2).norm() < test_precision<T>() );
-    VERIFY( (dst-dst2).norm() < test_precision<T>() );
-}
-*/
-
-
-void test_return_by_value(int len)
-{
-    VectorXf in;
-    VectorXf in1;
-    in.setRandom( len );
-    VectorXcf out1,out2;
-    FFT<float> fft;
-
-    fft.SetFlag(fft.HalfSpectrum );
-
-    fft.fwd(out1,in);
-    out2 = fft.fwd(in);
-    VERIFY( (out1-out2).norm() < test_precision<float>() );
-    in1 = fft.inv(out1);
-    VERIFY( (in1-in).norm() < test_precision<float>() );
-}
-
-void test_FFTW()
-{
-  CALL_SUBTEST( test_return_by_value(32) );
-  //CALL_SUBTEST( ( test_complex2d<float,4,8> () ) ); CALL_SUBTEST( ( test_complex2d<double,4,8> () ) );
-  //CALL_SUBTEST( ( test_complex2d<long double,4,8> () ) );
-  CALL_SUBTEST( test_complex<float>(32) ); CALL_SUBTEST( test_complex<double>(32) ); 
-  CALL_SUBTEST( test_complex<float>(256) ); CALL_SUBTEST( test_complex<double>(256) ); 
-  CALL_SUBTEST( test_complex<float>(3*8) ); CALL_SUBTEST( test_complex<double>(3*8) ); 
-  CALL_SUBTEST( test_complex<float>(5*32) ); CALL_SUBTEST( test_complex<double>(5*32) ); 
-  CALL_SUBTEST( test_complex<float>(2*3*4) ); CALL_SUBTEST( test_complex<double>(2*3*4) ); 
-  CALL_SUBTEST( test_complex<float>(2*3*4*5) ); CALL_SUBTEST( test_complex<double>(2*3*4*5) ); 
-  CALL_SUBTEST( test_complex<float>(2*3*4*5*7) ); CALL_SUBTEST( test_complex<double>(2*3*4*5*7) ); 
-
-  CALL_SUBTEST( test_scalar<float>(32) ); CALL_SUBTEST( test_scalar<double>(32) ); 
-  CALL_SUBTEST( test_scalar<float>(45) ); CALL_SUBTEST( test_scalar<double>(45) ); 
-  CALL_SUBTEST( test_scalar<float>(50) ); CALL_SUBTEST( test_scalar<double>(50) ); 
-  CALL_SUBTEST( test_scalar<float>(256) ); CALL_SUBTEST( test_scalar<double>(256) ); 
-  CALL_SUBTEST( test_scalar<float>(2*3*4*5*7) ); CALL_SUBTEST( test_scalar<double>(2*3*4*5*7) ); 
-  
-  #ifdef EIGEN_HAS_FFTWL
-  CALL_SUBTEST( test_complex<long double>(32) );
-  CALL_SUBTEST( test_complex<long double>(256) );
-  CALL_SUBTEST( test_complex<long double>(3*8) );
-  CALL_SUBTEST( test_complex<long double>(5*32) );
-  CALL_SUBTEST( test_complex<long double>(2*3*4) );
-  CALL_SUBTEST( test_complex<long double>(2*3*4*5) );
-  CALL_SUBTEST( test_complex<long double>(2*3*4*5*7) );
-  
-  CALL_SUBTEST( test_scalar<long double>(32) );
-  CALL_SUBTEST( test_scalar<long double>(45) );
-  CALL_SUBTEST( test_scalar<long double>(50) );
-  CALL_SUBTEST( test_scalar<long double>(256) );
-  CALL_SUBTEST( test_scalar<long double>(2*3*4*5*7) );
-  #endif
-}
diff --git a/eigenlib/unsupported/test/NonLinearOptimization.cpp b/eigenlib/unsupported/test/NonLinearOptimization.cpp
deleted file mode 100644
index d7376b0f..00000000
--- a/eigenlib/unsupported/test/NonLinearOptimization.cpp
+++ /dev/null
@@ -1,1870 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-
-#include <stdio.h>
-
-#include "main.h"
-#include <unsupported/Eigen/NonLinearOptimization>
-
-// This disables some useless Warnings on MSVC.
-// It is intended to be done for this test only.
-#include <Eigen/src/Core/util/DisableStupidWarnings.h>
-
-using std::sqrt;
-
-int fcn_chkder(const VectorXd &x, VectorXd &fvec, MatrixXd &fjac, int iflag)
-{
-    /*      subroutine fcn for chkder example. */
-
-    int i;
-    assert(15 ==  fvec.size());
-    assert(3 ==  x.size());
-    double tmp1, tmp2, tmp3, tmp4;
-    static const double y[15]={1.4e-1, 1.8e-1, 2.2e-1, 2.5e-1, 2.9e-1, 3.2e-1, 3.5e-1,
-        3.9e-1, 3.7e-1, 5.8e-1, 7.3e-1, 9.6e-1, 1.34, 2.1, 4.39};
-
-
-    if (iflag == 0)
-        return 0;
-
-    if (iflag != 2)
-        for (i=0; i<15; i++) {
-            tmp1 = i+1;
-            tmp2 = 16-i-1;
-            tmp3 = tmp1;
-            if (i >= 8) tmp3 = tmp2;
-            fvec[i] = y[i] - (x[0] + tmp1/(x[1]*tmp2 + x[2]*tmp3));
-        }
-    else {
-        for (i = 0; i < 15; i++) {
-            tmp1 = i+1;
-            tmp2 = 16-i-1;
-
-            /* error introduced into next statement for illustration. */
-            /* corrected statement should read    tmp3 = tmp1 . */
-
-            tmp3 = tmp2;
-            if (i >= 8) tmp3 = tmp2;
-            tmp4 = (x[1]*tmp2 + x[2]*tmp3); tmp4=tmp4*tmp4;
-            fjac(i,0) = -1.;
-            fjac(i,1) = tmp1*tmp2/tmp4;
-            fjac(i,2) = tmp1*tmp3/tmp4;
-        }
-    }
-    return 0;
-}
-
-
-void testChkder()
-{
-  const int m=15, n=3;
-  VectorXd x(n), fvec(m), xp, fvecp(m), err;
-  MatrixXd fjac(m,n);
-  VectorXi ipvt;
-
-  /*      the following values should be suitable for */
-  /*      checking the jacobian matrix. */
-  x << 9.2e-1, 1.3e-1, 5.4e-1;
-
-  internal::chkder(x, fvec, fjac, xp, fvecp, 1, err);
-  fcn_chkder(x, fvec, fjac, 1);
-  fcn_chkder(x, fvec, fjac, 2);
-  fcn_chkder(xp, fvecp, fjac, 1);
-  internal::chkder(x, fvec, fjac, xp, fvecp, 2, err);
-
-  fvecp -= fvec;
-
-  // check those
-  VectorXd fvec_ref(m), fvecp_ref(m), err_ref(m);
-  fvec_ref <<
-      -1.181606, -1.429655, -1.606344,
-      -1.745269, -1.840654, -1.921586,
-      -1.984141, -2.022537, -2.468977,
-      -2.827562, -3.473582, -4.437612,
-      -6.047662, -9.267761, -18.91806;
-  fvecp_ref <<
-      -7.724666e-09, -3.432406e-09, -2.034843e-10,
-      2.313685e-09,  4.331078e-09,  5.984096e-09,
-      7.363281e-09,   8.53147e-09,  1.488591e-08,
-      2.33585e-08,  3.522012e-08,  5.301255e-08,
-      8.26666e-08,  1.419747e-07,   3.19899e-07;
-  err_ref <<
-      0.1141397,  0.09943516,  0.09674474,
-      0.09980447,  0.1073116, 0.1220445,
-      0.1526814, 1, 1,
-      1, 1, 1,
-      1, 1, 1;
-
-  VERIFY_IS_APPROX(fvec, fvec_ref);
-  VERIFY_IS_APPROX(fvecp, fvecp_ref);
-  VERIFY_IS_APPROX(err, err_ref);
-}
-
-// Generic functor
-template<typename _Scalar, int NX=Dynamic, int NY=Dynamic>
-struct Functor
-{
-  typedef _Scalar Scalar;
-  enum {
-    InputsAtCompileTime = NX,
-    ValuesAtCompileTime = NY
-  };
-  typedef Matrix<Scalar,InputsAtCompileTime,1> InputType;
-  typedef Matrix<Scalar,ValuesAtCompileTime,1> ValueType;
-  typedef Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType;
-
-  const int m_inputs, m_values;
-
-  Functor() : m_inputs(InputsAtCompileTime), m_values(ValuesAtCompileTime) {}
-  Functor(int inputs, int values) : m_inputs(inputs), m_values(values) {}
-
-  int inputs() const { return m_inputs; }
-  int values() const { return m_values; }
-
-  // you should define that in the subclass :
-//  void operator() (const InputType& x, ValueType* v, JacobianType* _j=0) const;
-};
-
-struct lmder_functor : Functor<double>
-{
-    lmder_functor(void): Functor<double>(3,15) {}
-    int operator()(const VectorXd &x, VectorXd &fvec) const
-    {
-        double tmp1, tmp2, tmp3;
-        static const double y[15] = {1.4e-1, 1.8e-1, 2.2e-1, 2.5e-1, 2.9e-1, 3.2e-1, 3.5e-1,
-            3.9e-1, 3.7e-1, 5.8e-1, 7.3e-1, 9.6e-1, 1.34, 2.1, 4.39};
-
-        for (int i = 0; i < values(); i++)
-        {
-            tmp1 = i+1;
-            tmp2 = 16 - i - 1;
-            tmp3 = (i>=8)? tmp2 : tmp1;
-            fvec[i] = y[i] - (x[0] + tmp1/(x[1]*tmp2 + x[2]*tmp3));
-        }
-        return 0;
-    }
-
-    int df(const VectorXd &x, MatrixXd &fjac) const
-    {
-        double tmp1, tmp2, tmp3, tmp4;
-        for (int i = 0; i < values(); i++)
-        {
-            tmp1 = i+1;
-            tmp2 = 16 - i - 1;
-            tmp3 = (i>=8)? tmp2 : tmp1;
-            tmp4 = (x[1]*tmp2 + x[2]*tmp3); tmp4 = tmp4*tmp4;
-            fjac(i,0) = -1;
-            fjac(i,1) = tmp1*tmp2/tmp4;
-            fjac(i,2) = tmp1*tmp3/tmp4;
-        }
-        return 0;
-    }
-};
-
-void testLmder1()
-{
-  int n=3, info;
-
-  VectorXd x;
-
-  /* the following starting values provide a rough fit. */
-  x.setConstant(n, 1.);
-
-  // do the computation
-  lmder_functor functor;
-  LevenbergMarquardt<lmder_functor> lm(functor);
-  info = lm.lmder1(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 6);
-  VERIFY_IS_EQUAL(lm.njev, 5);
-
-  // check norm
-  VERIFY_IS_APPROX(lm.fvec.blueNorm(), 0.09063596);
-
-  // check x
-  VectorXd x_ref(n);
-  x_ref << 0.08241058, 1.133037, 2.343695;
-  VERIFY_IS_APPROX(x, x_ref);
-}
-
-void testLmder()
-{
-  const int m=15, n=3;
-  int info;
-  double fnorm, covfac;
-  VectorXd x;
-
-  /* the following starting values provide a rough fit. */
-  x.setConstant(n, 1.);
-
-  // do the computation
-  lmder_functor functor;
-  LevenbergMarquardt<lmder_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return values
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 6);
-  VERIFY_IS_EQUAL(lm.njev, 5);
-
-  // check norm
-  fnorm = lm.fvec.blueNorm();
-  VERIFY_IS_APPROX(fnorm, 0.09063596);
-
-  // check x
-  VectorXd x_ref(n);
-  x_ref << 0.08241058, 1.133037, 2.343695;
-  VERIFY_IS_APPROX(x, x_ref);
-
-  // check covariance
-  covfac = fnorm*fnorm/(m-n);
-  internal::covar(lm.fjac, lm.permutation.indices()); // TODO : move this as a function of lm
-
-  MatrixXd cov_ref(n,n);
-  cov_ref <<
-      0.0001531202,   0.002869941,  -0.002656662,
-      0.002869941,    0.09480935,   -0.09098995,
-      -0.002656662,   -0.09098995,    0.08778727;
-
-//  std::cout << fjac*covfac << std::endl;
-
-  MatrixXd cov;
-  cov =  covfac*lm.fjac.topLeftCorner<n,n>();
-  VERIFY_IS_APPROX( cov, cov_ref);
-  // TODO: why isn't this allowed ? :
-  // VERIFY_IS_APPROX( covfac*fjac.topLeftCorner<n,n>() , cov_ref);
-}
-
-struct hybrj_functor : Functor<double>
-{
-    hybrj_functor(void) : Functor<double>(9,9) {}
-
-    int operator()(const VectorXd &x, VectorXd &fvec)
-    {
-        double temp, temp1, temp2;
-        const int n = x.size();
-        assert(fvec.size()==n);
-        for (int k = 0; k < n; k++)
-        {
-            temp = (3. - 2.*x[k])*x[k];
-            temp1 = 0.;
-            if (k) temp1 = x[k-1];
-            temp2 = 0.;
-            if (k != n-1) temp2 = x[k+1];
-            fvec[k] = temp - temp1 - 2.*temp2 + 1.;
-        }
-        return 0;
-    }
-    int df(const VectorXd &x, MatrixXd &fjac)
-    {
-        const int n = x.size();
-        assert(fjac.rows()==n);
-        assert(fjac.cols()==n);
-        for (int k = 0; k < n; k++)
-        {
-            for (int j = 0; j < n; j++)
-                fjac(k,j) = 0.;
-            fjac(k,k) = 3.- 4.*x[k];
-            if (k) fjac(k,k-1) = -1.;
-            if (k != n-1) fjac(k,k+1) = -2.;
-        }
-        return 0;
-    }
-};
-
-
-void testHybrj1()
-{
-  const int n=9;
-  int info;
-  VectorXd x(n);
-
-  /* the following starting values provide a rough fit. */
-  x.setConstant(n, -1.);
-
-  // do the computation
-  hybrj_functor functor;
-  HybridNonLinearSolver<hybrj_functor> solver(functor);
-  info = solver.hybrj1(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(solver.nfev, 11);
-  VERIFY_IS_EQUAL(solver.njev, 1);
-
-  // check norm
-  VERIFY_IS_APPROX(solver.fvec.blueNorm(), 1.192636e-08);
-
-
-// check x
-  VectorXd x_ref(n);
-  x_ref <<
-     -0.5706545,    -0.6816283,    -0.7017325,
-     -0.7042129,     -0.701369,    -0.6918656,
-     -0.665792,    -0.5960342,    -0.4164121;
-  VERIFY_IS_APPROX(x, x_ref);
-}
-
-void testHybrj()
-{
-  const int n=9;
-  int info;
-  VectorXd x(n);
-
-  /* the following starting values provide a rough fit. */
-  x.setConstant(n, -1.);
-
-
-  // do the computation
-  hybrj_functor functor;
-  HybridNonLinearSolver<hybrj_functor> solver(functor);
-  solver.diag.setConstant(n, 1.);
-  solver.useExternalScaling = true;
-  info = solver.solve(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(solver.nfev, 11);
-  VERIFY_IS_EQUAL(solver.njev, 1);
-
-  // check norm
-  VERIFY_IS_APPROX(solver.fvec.blueNorm(), 1.192636e-08);
-
-
-// check x
-  VectorXd x_ref(n);
-  x_ref <<
-     -0.5706545,    -0.6816283,    -0.7017325,
-     -0.7042129,     -0.701369,    -0.6918656,
-     -0.665792,    -0.5960342,    -0.4164121;
-  VERIFY_IS_APPROX(x, x_ref);
-
-}
-
-struct hybrd_functor : Functor<double>
-{
-    hybrd_functor(void) : Functor<double>(9,9) {}
-    int operator()(const VectorXd &x, VectorXd &fvec) const
-    {
-        double temp, temp1, temp2;
-        const int n = x.size();
-
-        assert(fvec.size()==n);
-        for (int k=0; k < n; k++)
-        {
-            temp = (3. - 2.*x[k])*x[k];
-            temp1 = 0.;
-            if (k) temp1 = x[k-1];
-            temp2 = 0.;
-            if (k != n-1) temp2 = x[k+1];
-            fvec[k] = temp - temp1 - 2.*temp2 + 1.;
-        }
-        return 0;
-    }
-};
-
-void testHybrd1()
-{
-  int n=9, info;
-  VectorXd x(n);
-
-  /* the following starting values provide a rough solution. */
-  x.setConstant(n, -1.);
-
-  // do the computation
-  hybrd_functor functor;
-  HybridNonLinearSolver<hybrd_functor> solver(functor);
-  info = solver.hybrd1(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(solver.nfev, 20);
-
-  // check norm
-  VERIFY_IS_APPROX(solver.fvec.blueNorm(), 1.192636e-08);
-
-  // check x
-  VectorXd x_ref(n);
-  x_ref << -0.5706545, -0.6816283, -0.7017325, -0.7042129, -0.701369, -0.6918656, -0.665792, -0.5960342, -0.4164121;
-  VERIFY_IS_APPROX(x, x_ref);
-}
-
-void testHybrd()
-{
-  const int n=9;
-  int info;
-  VectorXd x;
-
-  /* the following starting values provide a rough fit. */
-  x.setConstant(n, -1.);
-
-  // do the computation
-  hybrd_functor functor;
-  HybridNonLinearSolver<hybrd_functor> solver(functor);
-  solver.parameters.nb_of_subdiagonals = 1;
-  solver.parameters.nb_of_superdiagonals = 1;
-  solver.diag.setConstant(n, 1.);
-  solver.useExternalScaling = true;
-  info = solver.solveNumericalDiff(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(solver.nfev, 14);
-
-  // check norm
-  VERIFY_IS_APPROX(solver.fvec.blueNorm(), 1.192636e-08);
-
-  // check x
-  VectorXd x_ref(n);
-  x_ref <<
-      -0.5706545,    -0.6816283,    -0.7017325,
-      -0.7042129,     -0.701369,    -0.6918656,
-      -0.665792,    -0.5960342,    -0.4164121;
-  VERIFY_IS_APPROX(x, x_ref);
-}
-
-struct lmstr_functor : Functor<double>
-{
-    lmstr_functor(void) : Functor<double>(3,15) {}
-    int operator()(const VectorXd &x, VectorXd &fvec)
-    {
-        /*  subroutine fcn for lmstr1 example. */
-        double tmp1, tmp2, tmp3;
-        static const double y[15]={1.4e-1, 1.8e-1, 2.2e-1, 2.5e-1, 2.9e-1, 3.2e-1, 3.5e-1,
-            3.9e-1, 3.7e-1, 5.8e-1, 7.3e-1, 9.6e-1, 1.34, 2.1, 4.39};
-
-        assert(15==fvec.size());
-        assert(3==x.size());
-
-        for (int i=0; i<15; i++)
-        {
-            tmp1 = i+1;
-            tmp2 = 16 - i - 1;
-            tmp3 = (i>=8)? tmp2 : tmp1;
-            fvec[i] = y[i] - (x[0] + tmp1/(x[1]*tmp2 + x[2]*tmp3));
-        }
-        return 0;
-    }
-    int df(const VectorXd &x, VectorXd &jac_row, VectorXd::Index rownb)
-    {
-        assert(x.size()==3);
-        assert(jac_row.size()==x.size());
-        double tmp1, tmp2, tmp3, tmp4;
-
-        int i = rownb-2;
-        tmp1 = i+1;
-        tmp2 = 16 - i - 1;
-        tmp3 = (i>=8)? tmp2 : tmp1;
-        tmp4 = (x[1]*tmp2 + x[2]*tmp3); tmp4 = tmp4*tmp4;
-        jac_row[0] = -1;
-        jac_row[1] = tmp1*tmp2/tmp4;
-        jac_row[2] = tmp1*tmp3/tmp4;
-        return 0;
-    }
-};
-
-void testLmstr1()
-{
-  const int n=3;
-  int info;
-
-  VectorXd x(n);
-
-  /* the following starting values provide a rough fit. */
-  x.setConstant(n, 1.);
-
-  // do the computation
-  lmstr_functor functor;
-  LevenbergMarquardt<lmstr_functor> lm(functor);
-  info = lm.lmstr1(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 6);
-  VERIFY_IS_EQUAL(lm.njev, 5);
-
-  // check norm
-  VERIFY_IS_APPROX(lm.fvec.blueNorm(), 0.09063596);
-
-  // check x
-  VectorXd x_ref(n);
-  x_ref << 0.08241058, 1.133037, 2.343695 ;
-  VERIFY_IS_APPROX(x, x_ref);
-}
-
-void testLmstr()
-{
-  const int n=3;
-  int info;
-  double fnorm;
-  VectorXd x(n);
-
-  /* the following starting values provide a rough fit. */
-  x.setConstant(n, 1.);
-
-  // do the computation
-  lmstr_functor functor;
-  LevenbergMarquardt<lmstr_functor> lm(functor);
-  info = lm.minimizeOptimumStorage(x);
-
-  // check return values
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 6);
-  VERIFY_IS_EQUAL(lm.njev, 5);
-
-  // check norm
-  fnorm = lm.fvec.blueNorm();
-  VERIFY_IS_APPROX(fnorm, 0.09063596);
-
-  // check x
-  VectorXd x_ref(n);
-  x_ref << 0.08241058, 1.133037, 2.343695;
-  VERIFY_IS_APPROX(x, x_ref);
-
-}
-
-struct lmdif_functor : Functor<double>
-{
-    lmdif_functor(void) : Functor<double>(3,15) {}
-    int operator()(const VectorXd &x, VectorXd &fvec) const
-    {
-        int i;
-        double tmp1,tmp2,tmp3;
-        static const double y[15]={1.4e-1,1.8e-1,2.2e-1,2.5e-1,2.9e-1,3.2e-1,3.5e-1,3.9e-1,
-            3.7e-1,5.8e-1,7.3e-1,9.6e-1,1.34e0,2.1e0,4.39e0};
-
-        assert(x.size()==3);
-        assert(fvec.size()==15);
-        for (i=0; i<15; i++)
-        {
-            tmp1 = i+1;
-            tmp2 = 15 - i;
-            tmp3 = tmp1;
-
-            if (i >= 8) tmp3 = tmp2;
-            fvec[i] = y[i] - (x[0] + tmp1/(x[1]*tmp2 + x[2]*tmp3));
-        }
-        return 0;
-    }
-};
-
-void testLmdif1()
-{
-  const int n=3;
-  int info;
-
-  VectorXd x(n), fvec(15);
-
-  /* the following starting values provide a rough fit. */
-  x.setConstant(n, 1.);
-
-  // do the computation
-  lmdif_functor functor;
-  DenseIndex nfev;
-  info = LevenbergMarquardt<lmdif_functor>::lmdif1(functor, x, &nfev);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(nfev, 26);
-
-  // check norm
-  functor(x, fvec);
-  VERIFY_IS_APPROX(fvec.blueNorm(), 0.09063596);
-
-  // check x
-  VectorXd x_ref(n);
-  x_ref << 0.0824106, 1.1330366, 2.3436947;
-  VERIFY_IS_APPROX(x, x_ref);
-
-}
-
-void testLmdif()
-{
-  const int m=15, n=3;
-  int info;
-  double fnorm, covfac;
-  VectorXd x(n);
-
-  /* the following starting values provide a rough fit. */
-  x.setConstant(n, 1.);
-
-  // do the computation
-  lmdif_functor functor;
-  NumericalDiff<lmdif_functor> numDiff(functor);
-  LevenbergMarquardt<NumericalDiff<lmdif_functor> > lm(numDiff);
-  info = lm.minimize(x);
-
-  // check return values
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 26);
-
-  // check norm
-  fnorm = lm.fvec.blueNorm();
-  VERIFY_IS_APPROX(fnorm, 0.09063596);
-
-  // check x
-  VectorXd x_ref(n);
-  x_ref << 0.08241058, 1.133037, 2.343695;
-  VERIFY_IS_APPROX(x, x_ref);
-
-  // check covariance
-  covfac = fnorm*fnorm/(m-n);
-  internal::covar(lm.fjac, lm.permutation.indices()); // TODO : move this as a function of lm
-
-  MatrixXd cov_ref(n,n);
-  cov_ref <<
-      0.0001531202,   0.002869942,  -0.002656662,
-      0.002869942,    0.09480937,   -0.09098997,
-      -0.002656662,   -0.09098997,    0.08778729;
-
-//  std::cout << fjac*covfac << std::endl;
-
-  MatrixXd cov;
-  cov =  covfac*lm.fjac.topLeftCorner<n,n>();
-  VERIFY_IS_APPROX( cov, cov_ref);
-  // TODO: why isn't this allowed ? :
-  // VERIFY_IS_APPROX( covfac*fjac.topLeftCorner<n,n>() , cov_ref);
-}
-
-struct chwirut2_functor : Functor<double>
-{
-    chwirut2_functor(void) : Functor<double>(3,54) {}
-    static const double m_x[54];
-    static const double m_y[54];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        int i;
-
-        assert(b.size()==3);
-        assert(fvec.size()==54);
-        for(i=0; i<54; i++) {
-            double x = m_x[i];
-            fvec[i] = exp(-b[0]*x)/(b[1]+b[2]*x) - m_y[i];
-        }
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==3);
-        assert(fjac.rows()==54);
-        assert(fjac.cols()==3);
-        for(int i=0; i<54; i++) {
-            double x = m_x[i];
-            double factor = 1./(b[1]+b[2]*x);
-            double e = exp(-b[0]*x);
-            fjac(i,0) = -x*e*factor;
-            fjac(i,1) = -e*factor*factor;
-            fjac(i,2) = -x*e*factor*factor;
-        }
-        return 0;
-    }
-};
-const double chwirut2_functor::m_x[54] = { 0.500E0, 1.000E0, 1.750E0, 3.750E0, 5.750E0, 0.875E0, 2.250E0, 3.250E0, 5.250E0, 0.750E0, 1.750E0, 2.750E0, 4.750E0, 0.625E0, 1.250E0, 2.250E0, 4.250E0, .500E0, 3.000E0, .750E0, 3.000E0, 1.500E0, 6.000E0, 3.000E0, 6.000E0, 1.500E0, 3.000E0, .500E0, 2.000E0, 4.000E0, .750E0, 2.000E0, 5.000E0, .750E0, 2.250E0, 3.750E0, 5.750E0, 3.000E0, .750E0, 2.500E0, 4.000E0, .750E0, 2.500E0, 4.000E0, .750E0, 2.500E0, 4.000E0, .500E0, 6.000E0, 3.000E0, .500E0, 2.750E0, .500E0, 1.750E0};
-const double chwirut2_functor::m_y[54] = { 92.9000E0 ,57.1000E0 ,31.0500E0 ,11.5875E0 ,8.0250E0 ,63.6000E0 ,21.4000E0 ,14.2500E0 ,8.4750E0 ,63.8000E0 ,26.8000E0 ,16.4625E0 ,7.1250E0 ,67.3000E0 ,41.0000E0 ,21.1500E0 ,8.1750E0 ,81.5000E0 ,13.1200E0 ,59.9000E0 ,14.6200E0 ,32.9000E0 ,5.4400E0 ,12.5600E0 ,5.4400E0 ,32.0000E0 ,13.9500E0 ,75.8000E0 ,20.0000E0 ,10.4200E0 ,59.5000E0 ,21.6700E0 ,8.5500E0 ,62.0000E0 ,20.2000E0 ,7.7600E0 ,3.7500E0 ,11.8100E0 ,54.7000E0 ,23.7000E0 ,11.5500E0 ,61.3000E0 ,17.7000E0 ,8.7400E0 ,59.2000E0 ,16.3000E0 ,8.6200E0 ,81.0000E0 ,4.8700E0 ,14.6200E0 ,81.7000E0 ,17.1700E0 ,81.3000E0 ,28.9000E0  };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/chwirut2.shtml
-void testNistChwirut2(void)
-{
-  const int n=3;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 0.1, 0.01, 0.02;
-  // do the computation
-  chwirut2_functor functor;
-  LevenbergMarquardt<chwirut2_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 10);
-  VERIFY_IS_EQUAL(lm.njev, 8);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 5.1304802941E+02);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.6657666537E-01);
-  VERIFY_IS_APPROX(x[1], 5.1653291286E-03);
-  VERIFY_IS_APPROX(x[2], 1.2150007096E-02);
-
-  /*
-   * Second try
-   */
-  x<< 0.15, 0.008, 0.010;
-  // do the computation
-  lm.resetParameters();
-  lm.parameters.ftol = 1.E6*NumTraits<double>::epsilon();
-  lm.parameters.xtol = 1.E6*NumTraits<double>::epsilon();
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 7);
-  VERIFY_IS_EQUAL(lm.njev, 6);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 5.1304802941E+02);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.6657666537E-01);
-  VERIFY_IS_APPROX(x[1], 5.1653291286E-03);
-  VERIFY_IS_APPROX(x[2], 1.2150007096E-02);
-}
-
-
-struct misra1a_functor : Functor<double>
-{
-    misra1a_functor(void) : Functor<double>(2,14) {}
-    static const double m_x[14];
-    static const double m_y[14];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==2);
-        assert(fvec.size()==14);
-        for(int i=0; i<14; i++) {
-            fvec[i] = b[0]*(1.-exp(-b[1]*m_x[i])) - m_y[i] ;
-        }
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==2);
-        assert(fjac.rows()==14);
-        assert(fjac.cols()==2);
-        for(int i=0; i<14; i++) {
-            fjac(i,0) = (1.-exp(-b[1]*m_x[i]));
-            fjac(i,1) = (b[0]*m_x[i]*exp(-b[1]*m_x[i]));
-        }
-        return 0;
-    }
-};
-const double misra1a_functor::m_x[14] = { 77.6E0, 114.9E0, 141.1E0, 190.8E0, 239.9E0, 289.0E0, 332.8E0, 378.4E0, 434.8E0, 477.3E0, 536.8E0, 593.1E0, 689.1E0, 760.0E0};
-const double misra1a_functor::m_y[14] = { 10.07E0, 14.73E0, 17.94E0, 23.93E0, 29.61E0, 35.18E0, 40.02E0, 44.82E0, 50.76E0, 55.05E0, 61.01E0, 66.40E0, 75.47E0, 81.78E0};
-
-// http://www.itl.nist.gov/div898/strd/nls/data/misra1a.shtml
-void testNistMisra1a(void)
-{
-  const int n=2;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 500., 0.0001;
-  // do the computation
-  misra1a_functor functor;
-  LevenbergMarquardt<misra1a_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 19);
-  VERIFY_IS_EQUAL(lm.njev, 15);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 1.2455138894E-01);
-  // check x
-  VERIFY_IS_APPROX(x[0], 2.3894212918E+02);
-  VERIFY_IS_APPROX(x[1], 5.5015643181E-04);
-
-  /*
-   * Second try
-   */
-  x<< 250., 0.0005;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 5);
-  VERIFY_IS_EQUAL(lm.njev, 4);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 1.2455138894E-01);
-  // check x
-  VERIFY_IS_APPROX(x[0], 2.3894212918E+02);
-  VERIFY_IS_APPROX(x[1], 5.5015643181E-04);
-}
-
-struct hahn1_functor : Functor<double>
-{
-    hahn1_functor(void) : Functor<double>(7,236) {}
-    static const double m_x[236];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        static const double m_y[236] = { .591E0 , 1.547E0 , 2.902E0 , 2.894E0 , 4.703E0 , 6.307E0 , 7.03E0  , 7.898E0 , 9.470E0 , 9.484E0 , 10.072E0 , 10.163E0 , 11.615E0 , 12.005E0 , 12.478E0 , 12.982E0 , 12.970E0 , 13.926E0 , 14.452E0 , 14.404E0 , 15.190E0 , 15.550E0 , 15.528E0 , 15.499E0 , 16.131E0 , 16.438E0 , 16.387E0 , 16.549E0 , 16.872E0 , 16.830E0 , 16.926E0 , 16.907E0 , 16.966E0 , 17.060E0 , 17.122E0 , 17.311E0 , 17.355E0 , 17.668E0 , 17.767E0 , 17.803E0 , 17.765E0 , 17.768E0 , 17.736E0 , 17.858E0 , 17.877E0 , 17.912E0 , 18.046E0 , 18.085E0 , 18.291E0 , 18.357E0 , 18.426E0 , 18.584E0 , 18.610E0 , 18.870E0 , 18.795E0 , 19.111E0 , .367E0 , .796E0 , 0.892E0 , 1.903E0 , 2.150E0 , 3.697E0 , 5.870E0 , 6.421E0 , 7.422E0 , 9.944E0 , 11.023E0 , 11.87E0  , 12.786E0 , 14.067E0 , 13.974E0 , 14.462E0 , 14.464E0 , 15.381E0 , 15.483E0 , 15.59E0  , 16.075E0 , 16.347E0 , 16.181E0 , 16.915E0 , 17.003E0 , 16.978E0 , 17.756E0 , 17.808E0 , 17.868E0 , 18.481E0 , 18.486E0 , 19.090E0 , 16.062E0 , 16.337E0 , 16.345E0 ,
-        16.388E0 , 17.159E0 , 17.116E0 , 17.164E0 , 17.123E0 , 17.979E0 , 17.974E0 , 18.007E0 , 17.993E0 , 18.523E0 , 18.669E0 , 18.617E0 , 19.371E0 , 19.330E0 , 0.080E0 , 0.248E0 , 1.089E0 , 1.418E0 , 2.278E0 , 3.624E0 , 4.574E0 , 5.556E0 , 7.267E0 , 7.695E0 , 9.136E0 , 9.959E0 , 9.957E0 , 11.600E0 , 13.138E0 , 13.564E0 , 13.871E0 , 13.994E0 , 14.947E0 , 15.473E0 , 15.379E0 , 15.455E0 , 15.908E0 , 16.114E0 , 17.071E0 , 17.135E0 , 17.282E0 , 17.368E0 , 17.483E0 , 17.764E0 , 18.185E0 , 18.271E0 , 18.236E0 , 18.237E0 , 18.523E0 , 18.627E0 , 18.665E0 , 19.086E0 , 0.214E0 , 0.943E0 , 1.429E0 , 2.241E0 , 2.951E0 , 3.782E0 , 4.757E0 , 5.602E0 , 7.169E0 , 8.920E0 , 10.055E0 , 12.035E0 , 12.861E0 , 13.436E0 , 14.167E0 , 14.755E0 , 15.168E0 , 15.651E0 , 15.746E0 , 16.216E0 , 16.445E0 , 16.965E0 , 17.121E0 , 17.206E0 , 17.250E0 , 17.339E0 , 17.793E0 , 18.123E0 , 18.49E0  , 18.566E0 , 18.645E0 , 18.706E0 , 18.924E0 , 19.1E0   , 0.375E0 , 0.471E0 , 1.504E0 , 2.204E0 , 2.813E0 , 4.765E0 , 9.835E0 , 10.040E0 , 11.946E0 , 12.596E0 , 
-13.303E0 , 13.922E0 , 14.440E0 , 14.951E0 , 15.627E0 , 15.639E0 , 15.814E0 , 16.315E0 , 16.334E0 , 16.430E0 , 16.423E0 , 17.024E0 , 17.009E0 , 17.165E0 , 17.134E0 , 17.349E0 , 17.576E0 , 17.848E0 , 18.090E0 , 18.276E0 , 18.404E0 , 18.519E0 , 19.133E0 , 19.074E0 , 19.239E0 , 19.280E0 , 19.101E0 , 19.398E0 , 19.252E0 , 19.89E0  , 20.007E0 , 19.929E0 , 19.268E0 , 19.324E0 , 20.049E0 , 20.107E0 , 20.062E0 , 20.065E0 , 19.286E0 , 19.972E0 , 20.088E0 , 20.743E0 , 20.83E0  , 20.935E0 , 21.035E0 , 20.93E0  , 21.074E0 , 21.085E0 , 20.935E0 };
-
-        //        int called=0; printf("call hahn1_functor with  iflag=%d, called=%d\n", iflag, called); if (iflag==1) called++;
-
-        assert(b.size()==7);
-        assert(fvec.size()==236);
-        for(int i=0; i<236; i++) {
-            double x=m_x[i], xx=x*x, xxx=xx*x;
-            fvec[i] = (b[0]+b[1]*x+b[2]*xx+b[3]*xxx) / (1.+b[4]*x+b[5]*xx+b[6]*xxx) - m_y[i];
-        }
-        return 0;
-    }
-
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==7);
-        assert(fjac.rows()==236);
-        assert(fjac.cols()==7);
-        for(int i=0; i<236; i++) {
-            double x=m_x[i], xx=x*x, xxx=xx*x;
-            double fact = 1./(1.+b[4]*x+b[5]*xx+b[6]*xxx);
-            fjac(i,0) = 1.*fact;
-            fjac(i,1) = x*fact;
-            fjac(i,2) = xx*fact;
-            fjac(i,3) = xxx*fact;
-            fact = - (b[0]+b[1]*x+b[2]*xx+b[3]*xxx) * fact * fact;
-            fjac(i,4) = x*fact;
-            fjac(i,5) = xx*fact;
-            fjac(i,6) = xxx*fact;
-        }
-        return 0;
-    }
-};
-const double hahn1_functor::m_x[236] = { 24.41E0 , 34.82E0 , 44.09E0 , 45.07E0 , 54.98E0 , 65.51E0 , 70.53E0 , 75.70E0 , 89.57E0 , 91.14E0 , 96.40E0 , 97.19E0 , 114.26E0 , 120.25E0 , 127.08E0 , 133.55E0 , 133.61E0 , 158.67E0 , 172.74E0 , 171.31E0 , 202.14E0 , 220.55E0 , 221.05E0 , 221.39E0 , 250.99E0 , 268.99E0 , 271.80E0 , 271.97E0 , 321.31E0 , 321.69E0 , 330.14E0 , 333.03E0 , 333.47E0 , 340.77E0 , 345.65E0 , 373.11E0 , 373.79E0 , 411.82E0 , 419.51E0 , 421.59E0 , 422.02E0 , 422.47E0 , 422.61E0 , 441.75E0 , 447.41E0 , 448.7E0  , 472.89E0 , 476.69E0 , 522.47E0 , 522.62E0 , 524.43E0 , 546.75E0 , 549.53E0 , 575.29E0 , 576.00E0 , 625.55E0 , 20.15E0 , 28.78E0 , 29.57E0 , 37.41E0 , 39.12E0 , 50.24E0 , 61.38E0 , 66.25E0 , 73.42E0 , 95.52E0 , 107.32E0 , 122.04E0 , 134.03E0 , 163.19E0 , 163.48E0 , 175.70E0 , 179.86E0 , 211.27E0 , 217.78E0 , 219.14E0 , 262.52E0 , 268.01E0 , 268.62E0 , 336.25E0 , 337.23E0 , 339.33E0 , 427.38E0 , 428.58E0 , 432.68E0 , 528.99E0 , 531.08E0 , 628.34E0 , 253.24E0 , 273.13E0 , 273.66E0 ,
-282.10E0 , 346.62E0 , 347.19E0 , 348.78E0 , 351.18E0 , 450.10E0 , 450.35E0 , 451.92E0 , 455.56E0 , 552.22E0 , 553.56E0 , 555.74E0 , 652.59E0 , 656.20E0 , 14.13E0 , 20.41E0 , 31.30E0 , 33.84E0 , 39.70E0 , 48.83E0 , 54.50E0 , 60.41E0 , 72.77E0 , 75.25E0 , 86.84E0 , 94.88E0 , 96.40E0 , 117.37E0 , 139.08E0 , 147.73E0 , 158.63E0 , 161.84E0 , 192.11E0 , 206.76E0 , 209.07E0 , 213.32E0 , 226.44E0 , 237.12E0 , 330.90E0 , 358.72E0 , 370.77E0 , 372.72E0 , 396.24E0 , 416.59E0 , 484.02E0 , 495.47E0 , 514.78E0 , 515.65E0 , 519.47E0 , 544.47E0 , 560.11E0 , 620.77E0 , 18.97E0 , 28.93E0 , 33.91E0 , 40.03E0 , 44.66E0 , 49.87E0 , 55.16E0 , 60.90E0 , 72.08E0 , 85.15E0 , 97.06E0 , 119.63E0 , 133.27E0 , 143.84E0 , 161.91E0 , 180.67E0 , 198.44E0 , 226.86E0 , 229.65E0 , 258.27E0 , 273.77E0 , 339.15E0 , 350.13E0 , 362.75E0 , 371.03E0 , 393.32E0 , 448.53E0 , 473.78E0 , 511.12E0 , 524.70E0 , 548.75E0 , 551.64E0 , 574.02E0 , 623.86E0 , 21.46E0 , 24.33E0 , 33.43E0 , 39.22E0 , 44.18E0 , 55.02E0 , 94.33E0 , 96.44E0 , 118.82E0 , 128.48E0 ,
-141.94E0 , 156.92E0 , 171.65E0 , 190.00E0 , 223.26E0 , 223.88E0 , 231.50E0 , 265.05E0 , 269.44E0 , 271.78E0 , 273.46E0 , 334.61E0 , 339.79E0 , 349.52E0 , 358.18E0 , 377.98E0 , 394.77E0 , 429.66E0 , 468.22E0 , 487.27E0 , 519.54E0 , 523.03E0 , 612.99E0 , 638.59E0 , 641.36E0 , 622.05E0 , 631.50E0 , 663.97E0 , 646.9E0  , 748.29E0 , 749.21E0 , 750.14E0 , 647.04E0 , 646.89E0 , 746.9E0  , 748.43E0 , 747.35E0 , 749.27E0 , 647.61E0 , 747.78E0 , 750.51E0 , 851.37E0 , 845.97E0 , 847.54E0 , 849.93E0 , 851.61E0 , 849.75E0 , 850.98E0 , 848.23E0};
-
-// http://www.itl.nist.gov/div898/strd/nls/data/hahn1.shtml
-void testNistHahn1(void)
-{
-  const int  n=7;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 10., -1., .05, -.00001, -.05, .001, -.000001;
-  // do the computation
-  hahn1_functor functor;
-  LevenbergMarquardt<hahn1_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 11);
-  VERIFY_IS_EQUAL(lm.njev, 10);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 1.5324382854E+00);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.0776351733E+00);
-  VERIFY_IS_APPROX(x[1],-1.2269296921E-01);
-  VERIFY_IS_APPROX(x[2], 4.0863750610E-03);
-  VERIFY_IS_APPROX(x[3],-1.426264e-06); // shoulde be : -1.4262662514E-06
-  VERIFY_IS_APPROX(x[4],-5.7609940901E-03);
-  VERIFY_IS_APPROX(x[5], 2.4053735503E-04);
-  VERIFY_IS_APPROX(x[6],-1.2314450199E-07);
-
-  /*
-   * Second try
-   */
-  x<< .1, -.1, .005, -.000001, -.005, .0001, -.0000001;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 11);
-  VERIFY_IS_EQUAL(lm.njev, 10);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 1.5324382854E+00);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.077640); // should be :  1.0776351733E+00
-  VERIFY_IS_APPROX(x[1], -0.1226933); // should be : -1.2269296921E-01
-  VERIFY_IS_APPROX(x[2], 0.004086383); // should be : 4.0863750610E-03
-  VERIFY_IS_APPROX(x[3], -1.426277e-06); // shoulde be : -1.4262662514E-06
-  VERIFY_IS_APPROX(x[4],-5.7609940901E-03);
-  VERIFY_IS_APPROX(x[5], 0.00024053772); // should be : 2.4053735503E-04
-  VERIFY_IS_APPROX(x[6], -1.231450e-07); // should be : -1.2314450199E-07
-
-}
-
-struct misra1d_functor : Functor<double>
-{
-    misra1d_functor(void) : Functor<double>(2,14) {}
-    static const double x[14];
-    static const double y[14];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==2);
-        assert(fvec.size()==14);
-        for(int i=0; i<14; i++) {
-            fvec[i] = b[0]*b[1]*x[i]/(1.+b[1]*x[i]) - y[i];
-        }
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==2);
-        assert(fjac.rows()==14);
-        assert(fjac.cols()==2);
-        for(int i=0; i<14; i++) {
-            double den = 1.+b[1]*x[i];
-            fjac(i,0) = b[1]*x[i] / den;
-            fjac(i,1) = b[0]*x[i]*(den-b[1]*x[i])/den/den;
-        }
-        return 0;
-    }
-};
-const double misra1d_functor::x[14] = { 77.6E0, 114.9E0, 141.1E0, 190.8E0, 239.9E0, 289.0E0, 332.8E0, 378.4E0, 434.8E0, 477.3E0, 536.8E0, 593.1E0, 689.1E0, 760.0E0};
-const double misra1d_functor::y[14] = { 10.07E0, 14.73E0, 17.94E0, 23.93E0, 29.61E0, 35.18E0, 40.02E0, 44.82E0, 50.76E0, 55.05E0, 61.01E0, 66.40E0, 75.47E0, 81.78E0};
-
-// http://www.itl.nist.gov/div898/strd/nls/data/misra1d.shtml
-void testNistMisra1d(void)
-{
-  const int n=2;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 500., 0.0001;
-  // do the computation
-  misra1d_functor functor;
-  LevenbergMarquardt<misra1d_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 3);
-  VERIFY_IS_EQUAL(lm.nfev, 9);
-  VERIFY_IS_EQUAL(lm.njev, 7);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 5.6419295283E-02);
-  // check x
-  VERIFY_IS_APPROX(x[0], 4.3736970754E+02);
-  VERIFY_IS_APPROX(x[1], 3.0227324449E-04);
-
-  /*
-   * Second try
-   */
-  x<< 450., 0.0003;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 4);
-  VERIFY_IS_EQUAL(lm.njev, 3);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 5.6419295283E-02);
-  // check x
-  VERIFY_IS_APPROX(x[0], 4.3736970754E+02);
-  VERIFY_IS_APPROX(x[1], 3.0227324449E-04);
-}
-
-
-struct lanczos1_functor : Functor<double>
-{
-    lanczos1_functor(void) : Functor<double>(6,24) {}
-    static const double x[24];
-    static const double y[24];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==6);
-        assert(fvec.size()==24);
-        for(int i=0; i<24; i++)
-            fvec[i] = b[0]*exp(-b[1]*x[i]) + b[2]*exp(-b[3]*x[i]) + b[4]*exp(-b[5]*x[i])  - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==6);
-        assert(fjac.rows()==24);
-        assert(fjac.cols()==6);
-        for(int i=0; i<24; i++) {
-            fjac(i,0) = exp(-b[1]*x[i]);
-            fjac(i,1) = -b[0]*x[i]*exp(-b[1]*x[i]);
-            fjac(i,2) = exp(-b[3]*x[i]);
-            fjac(i,3) = -b[2]*x[i]*exp(-b[3]*x[i]);
-            fjac(i,4) = exp(-b[5]*x[i]);
-            fjac(i,5) = -b[4]*x[i]*exp(-b[5]*x[i]);
-        }
-        return 0;
-    }
-};
-const double lanczos1_functor::x[24] = { 0.000000000000E+00, 5.000000000000E-02, 1.000000000000E-01, 1.500000000000E-01, 2.000000000000E-01, 2.500000000000E-01, 3.000000000000E-01, 3.500000000000E-01, 4.000000000000E-01, 4.500000000000E-01, 5.000000000000E-01, 5.500000000000E-01, 6.000000000000E-01, 6.500000000000E-01, 7.000000000000E-01, 7.500000000000E-01, 8.000000000000E-01, 8.500000000000E-01, 9.000000000000E-01, 9.500000000000E-01, 1.000000000000E+00, 1.050000000000E+00, 1.100000000000E+00, 1.150000000000E+00 };
-const double lanczos1_functor::y[24] = { 2.513400000000E+00 ,2.044333373291E+00 ,1.668404436564E+00 ,1.366418021208E+00 ,1.123232487372E+00 ,9.268897180037E-01 ,7.679338563728E-01 ,6.388775523106E-01 ,5.337835317402E-01 ,4.479363617347E-01 ,3.775847884350E-01 ,3.197393199326E-01 ,2.720130773746E-01 ,2.324965529032E-01 ,1.996589546065E-01 ,1.722704126914E-01 ,1.493405660168E-01 ,1.300700206922E-01 ,1.138119324644E-01 ,1.000415587559E-01 ,8.833209084540E-02 ,7.833544019350E-02 ,6.976693743449E-02 ,6.239312536719E-02 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/lanczos1.shtml
-void testNistLanczos1(void)
-{
-  const int n=6;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 1.2, 0.3, 5.6, 5.5, 6.5, 7.6;
-  // do the computation
-  lanczos1_functor functor;
-  LevenbergMarquardt<lanczos1_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 2);
-  VERIFY_IS_EQUAL(lm.nfev, 79);
-  VERIFY_IS_EQUAL(lm.njev, 72);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 1.430899764097e-25);  // should be 1.4307867721E-25, but nist results are on 128-bit floats
-  // check x
-  VERIFY_IS_APPROX(x[0], 9.5100000027E-02);
-  VERIFY_IS_APPROX(x[1], 1.0000000001E+00);
-  VERIFY_IS_APPROX(x[2], 8.6070000013E-01);
-  VERIFY_IS_APPROX(x[3], 3.0000000002E+00);
-  VERIFY_IS_APPROX(x[4], 1.5575999998E+00);
-  VERIFY_IS_APPROX(x[5], 5.0000000001E+00);
-
-  /*
-   * Second try
-   */
-  x<< 0.5, 0.7, 3.6, 4.2, 4., 6.3;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 2);
-  VERIFY_IS_EQUAL(lm.nfev, 9);
-  VERIFY_IS_EQUAL(lm.njev, 8);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 1.428595533845e-25);  // should be 1.4307867721E-25, but nist results are on 128-bit floats
-  // check x
-  VERIFY_IS_APPROX(x[0], 9.5100000027E-02);
-  VERIFY_IS_APPROX(x[1], 1.0000000001E+00);
-  VERIFY_IS_APPROX(x[2], 8.6070000013E-01);
-  VERIFY_IS_APPROX(x[3], 3.0000000002E+00);
-  VERIFY_IS_APPROX(x[4], 1.5575999998E+00);
-  VERIFY_IS_APPROX(x[5], 5.0000000001E+00);
-
-}
-
-struct rat42_functor : Functor<double>
-{
-    rat42_functor(void) : Functor<double>(3,9) {}
-    static const double x[9];
-    static const double y[9];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==3);
-        assert(fvec.size()==9);
-        for(int i=0; i<9; i++) {
-            fvec[i] = b[0] / (1.+exp(b[1]-b[2]*x[i])) - y[i];
-        }
-        return 0;
-    }
-
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==3);
-        assert(fjac.rows()==9);
-        assert(fjac.cols()==3);
-        for(int i=0; i<9; i++) {
-            double e = exp(b[1]-b[2]*x[i]);
-            fjac(i,0) = 1./(1.+e);
-            fjac(i,1) = -b[0]*e/(1.+e)/(1.+e);
-            fjac(i,2) = +b[0]*e*x[i]/(1.+e)/(1.+e);
-        }
-        return 0;
-    }
-};
-const double rat42_functor::x[9] = { 9.000E0, 14.000E0, 21.000E0, 28.000E0, 42.000E0, 57.000E0, 63.000E0, 70.000E0, 79.000E0 };
-const double rat42_functor::y[9] = { 8.930E0 ,10.800E0 ,18.590E0 ,22.330E0 ,39.350E0 ,56.110E0 ,61.730E0 ,64.620E0 ,67.080E0 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/ratkowsky2.shtml
-void testNistRat42(void)
-{
-  const int n=3;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 100., 1., 0.1;
-  // do the computation
-  rat42_functor functor;
-  LevenbergMarquardt<rat42_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 10);
-  VERIFY_IS_EQUAL(lm.njev, 8);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 8.0565229338E+00);
-  // check x
-  VERIFY_IS_APPROX(x[0], 7.2462237576E+01);
-  VERIFY_IS_APPROX(x[1], 2.6180768402E+00);
-  VERIFY_IS_APPROX(x[2], 6.7359200066E-02);
-
-  /*
-   * Second try
-   */
-  x<< 75., 2.5, 0.07;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 6);
-  VERIFY_IS_EQUAL(lm.njev, 5);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 8.0565229338E+00);
-  // check x
-  VERIFY_IS_APPROX(x[0], 7.2462237576E+01);
-  VERIFY_IS_APPROX(x[1], 2.6180768402E+00);
-  VERIFY_IS_APPROX(x[2], 6.7359200066E-02);
-}
-
-struct MGH10_functor : Functor<double>
-{
-    MGH10_functor(void) : Functor<double>(3,16) {}
-    static const double x[16];
-    static const double y[16];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==3);
-        assert(fvec.size()==16);
-        for(int i=0; i<16; i++)
-            fvec[i] =  b[0] * exp(b[1]/(x[i]+b[2])) - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==3);
-        assert(fjac.rows()==16);
-        assert(fjac.cols()==3);
-        for(int i=0; i<16; i++) {
-            double factor = 1./(x[i]+b[2]);
-            double e = exp(b[1]*factor);
-            fjac(i,0) = e;
-            fjac(i,1) = b[0]*factor*e;
-            fjac(i,2) = -b[1]*b[0]*factor*factor*e;
-        }
-        return 0;
-    }
-};
-const double MGH10_functor::x[16] = { 5.000000E+01, 5.500000E+01, 6.000000E+01, 6.500000E+01, 7.000000E+01, 7.500000E+01, 8.000000E+01, 8.500000E+01, 9.000000E+01, 9.500000E+01, 1.000000E+02, 1.050000E+02, 1.100000E+02, 1.150000E+02, 1.200000E+02, 1.250000E+02 };
-const double MGH10_functor::y[16] = { 3.478000E+04, 2.861000E+04, 2.365000E+04, 1.963000E+04, 1.637000E+04, 1.372000E+04, 1.154000E+04, 9.744000E+03, 8.261000E+03, 7.030000E+03, 6.005000E+03, 5.147000E+03, 4.427000E+03, 3.820000E+03, 3.307000E+03, 2.872000E+03 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/mgh10.shtml
-void testNistMGH10(void)
-{
-  const int n=3;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 2., 400000., 25000.;
-  // do the computation
-  MGH10_functor functor;
-  LevenbergMarquardt<MGH10_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 2); 
-  VERIFY_IS_EQUAL(lm.nfev, 284 ); 
-  VERIFY_IS_EQUAL(lm.njev, 249 ); 
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 8.7945855171E+01);
-  // check x
-  VERIFY_IS_APPROX(x[0], 5.6096364710E-03);
-  VERIFY_IS_APPROX(x[1], 6.1813463463E+03);
-  VERIFY_IS_APPROX(x[2], 3.4522363462E+02);
-
-  /*
-   * Second try
-   */
-  x<< 0.02, 4000., 250.;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 3);
-  VERIFY_IS_EQUAL(lm.nfev, 126);
-  VERIFY_IS_EQUAL(lm.njev, 116);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 8.7945855171E+01);
-  // check x
-  VERIFY_IS_APPROX(x[0], 5.6096364710E-03);
-  VERIFY_IS_APPROX(x[1], 6.1813463463E+03);
-  VERIFY_IS_APPROX(x[2], 3.4522363462E+02);
-}
-
-
-struct BoxBOD_functor : Functor<double>
-{
-    BoxBOD_functor(void) : Functor<double>(2,6) {}
-    static const double x[6];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        static const double y[6] = { 109., 149., 149., 191., 213., 224. };
-        assert(b.size()==2);
-        assert(fvec.size()==6);
-        for(int i=0; i<6; i++)
-            fvec[i] =  b[0]*(1.-exp(-b[1]*x[i])) - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==2);
-        assert(fjac.rows()==6);
-        assert(fjac.cols()==2);
-        for(int i=0; i<6; i++) {
-            double e = exp(-b[1]*x[i]);
-            fjac(i,0) = 1.-e;
-            fjac(i,1) = b[0]*x[i]*e;
-        }
-        return 0;
-    }
-};
-const double BoxBOD_functor::x[6] = { 1., 2., 3., 5., 7., 10. };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/boxbod.shtml
-void testNistBoxBOD(void)
-{
-  const int n=2;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 1., 1.;
-  // do the computation
-  BoxBOD_functor functor;
-  LevenbergMarquardt<BoxBOD_functor> lm(functor);
-  lm.parameters.ftol = 1.E6*NumTraits<double>::epsilon();
-  lm.parameters.xtol = 1.E6*NumTraits<double>::epsilon();
-  lm.parameters.factor = 10.;
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 31);
-  VERIFY_IS_EQUAL(lm.njev, 25);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 1.1680088766E+03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 2.1380940889E+02);
-  VERIFY_IS_APPROX(x[1], 5.4723748542E-01);
-
-  /*
-   * Second try
-   */
-  x<< 100., 0.75;
-  // do the computation
-  lm.resetParameters();
-  lm.parameters.ftol = NumTraits<double>::epsilon();
-  lm.parameters.xtol = NumTraits<double>::epsilon();
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1); 
-  VERIFY_IS_EQUAL(lm.nfev, 15 ); 
-  VERIFY_IS_EQUAL(lm.njev, 14 ); 
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 1.1680088766E+03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 2.1380940889E+02);
-  VERIFY_IS_APPROX(x[1], 5.4723748542E-01);
-}
-
-struct MGH17_functor : Functor<double>
-{
-    MGH17_functor(void) : Functor<double>(5,33) {}
-    static const double x[33];
-    static const double y[33];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==5);
-        assert(fvec.size()==33);
-        for(int i=0; i<33; i++)
-            fvec[i] =  b[0] + b[1]*exp(-b[3]*x[i]) +  b[2]*exp(-b[4]*x[i]) - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==5);
-        assert(fjac.rows()==33);
-        assert(fjac.cols()==5);
-        for(int i=0; i<33; i++) {
-            fjac(i,0) = 1.;
-            fjac(i,1) = exp(-b[3]*x[i]);
-            fjac(i,2) = exp(-b[4]*x[i]);
-            fjac(i,3) = -x[i]*b[1]*exp(-b[3]*x[i]);
-            fjac(i,4) = -x[i]*b[2]*exp(-b[4]*x[i]);
-        }
-        return 0;
-    }
-};
-const double MGH17_functor::x[33] = { 0.000000E+00, 1.000000E+01, 2.000000E+01, 3.000000E+01, 4.000000E+01, 5.000000E+01, 6.000000E+01, 7.000000E+01, 8.000000E+01, 9.000000E+01, 1.000000E+02, 1.100000E+02, 1.200000E+02, 1.300000E+02, 1.400000E+02, 1.500000E+02, 1.600000E+02, 1.700000E+02, 1.800000E+02, 1.900000E+02, 2.000000E+02, 2.100000E+02, 2.200000E+02, 2.300000E+02, 2.400000E+02, 2.500000E+02, 2.600000E+02, 2.700000E+02, 2.800000E+02, 2.900000E+02, 3.000000E+02, 3.100000E+02, 3.200000E+02 };
-const double MGH17_functor::y[33] = { 8.440000E-01, 9.080000E-01, 9.320000E-01, 9.360000E-01, 9.250000E-01, 9.080000E-01, 8.810000E-01, 8.500000E-01, 8.180000E-01, 7.840000E-01, 7.510000E-01, 7.180000E-01, 6.850000E-01, 6.580000E-01, 6.280000E-01, 6.030000E-01, 5.800000E-01, 5.580000E-01, 5.380000E-01, 5.220000E-01, 5.060000E-01, 4.900000E-01, 4.780000E-01, 4.670000E-01, 4.570000E-01, 4.480000E-01, 4.380000E-01, 4.310000E-01, 4.240000E-01, 4.200000E-01, 4.140000E-01, 4.110000E-01, 4.060000E-01 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/mgh17.shtml
-void testNistMGH17(void)
-{
-  const int n=5;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 50., 150., -100., 1., 2.;
-  // do the computation
-  MGH17_functor functor;
-  LevenbergMarquardt<MGH17_functor> lm(functor);
-  lm.parameters.ftol = NumTraits<double>::epsilon();
-  lm.parameters.xtol = NumTraits<double>::epsilon();
-  lm.parameters.maxfev = 1000;
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 2); 
-  VERIFY_IS_EQUAL(lm.nfev, 602 ); 
-  VERIFY_IS_EQUAL(lm.njev, 545 ); 
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 5.4648946975E-05);
-  // check x
-  VERIFY_IS_APPROX(x[0], 3.7541005211E-01);
-  VERIFY_IS_APPROX(x[1], 1.9358469127E+00);
-  VERIFY_IS_APPROX(x[2], -1.4646871366E+00);
-  VERIFY_IS_APPROX(x[3], 1.2867534640E-02);
-  VERIFY_IS_APPROX(x[4], 2.2122699662E-02);
-
-  /*
-   * Second try
-   */
-  x<< 0.5  ,1.5  ,-1   ,0.01 ,0.02;
-  // do the computation
-  lm.resetParameters();
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 18);
-  VERIFY_IS_EQUAL(lm.njev, 15);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 5.4648946975E-05);
-  // check x
-  VERIFY_IS_APPROX(x[0], 3.7541005211E-01);
-  VERIFY_IS_APPROX(x[1], 1.9358469127E+00);
-  VERIFY_IS_APPROX(x[2], -1.4646871366E+00);
-  VERIFY_IS_APPROX(x[3], 1.2867534640E-02);
-  VERIFY_IS_APPROX(x[4], 2.2122699662E-02);
-}
-
-struct MGH09_functor : Functor<double>
-{
-    MGH09_functor(void) : Functor<double>(4,11) {}
-    static const double _x[11];
-    static const double y[11];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==4);
-        assert(fvec.size()==11);
-        for(int i=0; i<11; i++) {
-            double x = _x[i], xx=x*x;
-            fvec[i] = b[0]*(xx+x*b[1])/(xx+x*b[2]+b[3]) - y[i];
-        }
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==4);
-        assert(fjac.rows()==11);
-        assert(fjac.cols()==4);
-        for(int i=0; i<11; i++) {
-            double x = _x[i], xx=x*x;
-            double factor = 1./(xx+x*b[2]+b[3]);
-            fjac(i,0) = (xx+x*b[1]) * factor;
-            fjac(i,1) = b[0]*x* factor;
-            fjac(i,2) = - b[0]*(xx+x*b[1]) * x * factor * factor;
-            fjac(i,3) = - b[0]*(xx+x*b[1]) * factor * factor;
-        }
-        return 0;
-    }
-};
-const double MGH09_functor::_x[11] = { 4., 2., 1., 5.E-1 , 2.5E-01, 1.670000E-01, 1.250000E-01,  1.E-01, 8.330000E-02, 7.140000E-02, 6.250000E-02 };
-const double MGH09_functor::y[11] = { 1.957000E-01, 1.947000E-01, 1.735000E-01, 1.600000E-01, 8.440000E-02, 6.270000E-02, 4.560000E-02, 3.420000E-02, 3.230000E-02, 2.350000E-02, 2.460000E-02 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/mgh09.shtml
-void testNistMGH09(void)
-{
-  const int n=4;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 25., 39, 41.5, 39.;
-  // do the computation
-  MGH09_functor functor;
-  LevenbergMarquardt<MGH09_functor> lm(functor);
-  lm.parameters.maxfev = 1000;
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1); 
-  VERIFY_IS_EQUAL(lm.nfev, 490 ); 
-  VERIFY_IS_EQUAL(lm.njev, 376 ); 
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 3.0750560385E-04);
-  // check x
-  VERIFY_IS_APPROX(x[0], 0.1928077089); // should be 1.9280693458E-01
-  VERIFY_IS_APPROX(x[1], 0.19126423573); // should be 1.9128232873E-01
-  VERIFY_IS_APPROX(x[2], 0.12305309914); // should be 1.2305650693E-01
-  VERIFY_IS_APPROX(x[3], 0.13605395375); // should be 1.3606233068E-01
-
-  /*
-   * Second try
-   */
-  x<< 0.25, 0.39, 0.415, 0.39;
-  // do the computation
-  lm.resetParameters();
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 18);
-  VERIFY_IS_EQUAL(lm.njev, 16);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 3.0750560385E-04);
-  // check x
-  VERIFY_IS_APPROX(x[0], 0.19280781); // should be 1.9280693458E-01
-  VERIFY_IS_APPROX(x[1], 0.19126265); // should be 1.9128232873E-01
-  VERIFY_IS_APPROX(x[2], 0.12305280); // should be 1.2305650693E-01
-  VERIFY_IS_APPROX(x[3], 0.13605322); // should be 1.3606233068E-01
-}
-
-
-
-struct Bennett5_functor : Functor<double>
-{
-    Bennett5_functor(void) : Functor<double>(3,154) {}
-    static const double x[154];
-    static const double y[154];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==3);
-        assert(fvec.size()==154);
-        for(int i=0; i<154; i++)
-            fvec[i] = b[0]* pow(b[1]+x[i],-1./b[2]) - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==3);
-        assert(fjac.rows()==154);
-        assert(fjac.cols()==3);
-        for(int i=0; i<154; i++) {
-            double e = pow(b[1]+x[i],-1./b[2]);
-            fjac(i,0) = e;
-            fjac(i,1) = - b[0]*e/b[2]/(b[1]+x[i]);
-            fjac(i,2) = b[0]*e*log(b[1]+x[i])/b[2]/b[2];
-        }
-        return 0;
-    }
-};
-const double Bennett5_functor::x[154] = { 7.447168E0, 8.102586E0, 8.452547E0, 8.711278E0, 8.916774E0, 9.087155E0, 9.232590E0, 9.359535E0, 9.472166E0, 9.573384E0, 9.665293E0, 9.749461E0, 9.827092E0, 9.899128E0, 9.966321E0, 10.029280E0, 10.088510E0, 10.144430E0, 10.197380E0, 10.247670E0, 10.295560E0, 10.341250E0, 10.384950E0, 10.426820E0, 10.467000E0, 10.505640E0, 10.542830E0, 10.578690E0, 10.613310E0, 10.646780E0, 10.679150E0, 10.710520E0, 10.740920E0, 10.770440E0, 10.799100E0, 10.826970E0, 10.854080E0, 10.880470E0, 10.906190E0, 10.931260E0, 10.955720E0, 10.979590E0, 11.002910E0, 11.025700E0, 11.047980E0, 11.069770E0, 11.091100E0, 11.111980E0, 11.132440E0, 11.152480E0, 11.172130E0, 11.191410E0, 11.210310E0, 11.228870E0, 11.247090E0, 11.264980E0, 11.282560E0, 11.299840E0, 11.316820E0, 11.333520E0, 11.349940E0, 11.366100E0, 11.382000E0, 11.397660E0, 11.413070E0, 11.428240E0, 11.443200E0, 11.457930E0, 11.472440E0, 11.486750E0, 11.500860E0, 11.514770E0, 11.528490E0, 11.542020E0, 11.555380E0, 11.568550E0,
-11.581560E0, 11.594420E0, 11.607121E0, 11.619640E0, 11.632000E0, 11.644210E0, 11.656280E0, 11.668200E0, 11.679980E0, 11.691620E0, 11.703130E0, 11.714510E0, 11.725760E0, 11.736880E0, 11.747890E0, 11.758780E0, 11.769550E0, 11.780200E0, 11.790730E0, 11.801160E0, 11.811480E0, 11.821700E0, 11.831810E0, 11.841820E0, 11.851730E0, 11.861550E0, 11.871270E0, 11.880890E0, 11.890420E0, 11.899870E0, 11.909220E0, 11.918490E0, 11.927680E0, 11.936780E0, 11.945790E0, 11.954730E0, 11.963590E0, 11.972370E0, 11.981070E0, 11.989700E0, 11.998260E0, 12.006740E0, 12.015150E0, 12.023490E0, 12.031760E0, 12.039970E0, 12.048100E0, 12.056170E0, 12.064180E0, 12.072120E0, 12.080010E0, 12.087820E0, 12.095580E0, 12.103280E0, 12.110920E0, 12.118500E0, 12.126030E0, 12.133500E0, 12.140910E0, 12.148270E0, 12.155570E0, 12.162830E0, 12.170030E0, 12.177170E0, 12.184270E0, 12.191320E0, 12.198320E0, 12.205270E0, 12.212170E0, 12.219030E0, 12.225840E0, 12.232600E0, 12.239320E0, 12.245990E0, 12.252620E0, 12.259200E0, 12.265750E0, 12.272240E0 };
-const double Bennett5_functor::y[154] = { -34.834702E0 ,-34.393200E0 ,-34.152901E0 ,-33.979099E0 ,-33.845901E0 ,-33.732899E0 ,-33.640301E0 ,-33.559200E0 ,-33.486801E0 ,-33.423100E0 ,-33.365101E0 ,-33.313000E0 ,-33.260899E0 ,-33.217400E0 ,-33.176899E0 ,-33.139198E0 ,-33.101601E0 ,-33.066799E0 ,-33.035000E0 ,-33.003101E0 ,-32.971298E0 ,-32.942299E0 ,-32.916302E0 ,-32.890202E0 ,-32.864101E0 ,-32.841000E0 ,-32.817799E0 ,-32.797501E0 ,-32.774300E0 ,-32.757000E0 ,-32.733799E0 ,-32.716400E0 ,-32.699100E0 ,-32.678799E0 ,-32.661400E0 ,-32.644001E0 ,-32.626701E0 ,-32.612202E0 ,-32.597698E0 ,-32.583199E0 ,-32.568699E0 ,-32.554298E0 ,-32.539799E0 ,-32.525299E0 ,-32.510799E0 ,-32.499199E0 ,-32.487598E0 ,-32.473202E0 ,-32.461601E0 ,-32.435501E0 ,-32.435501E0 ,-32.426800E0 ,-32.412300E0 ,-32.400799E0 ,-32.392101E0 ,-32.380501E0 ,-32.366001E0 ,-32.357300E0 ,-32.348598E0 ,-32.339901E0 ,-32.328400E0 ,-32.319698E0 ,-32.311001E0 ,-32.299400E0 ,-32.290699E0 ,-32.282001E0 ,-32.273300E0 ,-32.264599E0 ,-32.256001E0 ,-32.247299E0
-,-32.238602E0 ,-32.229900E0 ,-32.224098E0 ,-32.215401E0 ,-32.203800E0 ,-32.198002E0 ,-32.189400E0 ,-32.183601E0 ,-32.174900E0 ,-32.169102E0 ,-32.163300E0 ,-32.154598E0 ,-32.145901E0 ,-32.140099E0 ,-32.131401E0 ,-32.125599E0 ,-32.119801E0 ,-32.111198E0 ,-32.105400E0 ,-32.096699E0 ,-32.090900E0 ,-32.088001E0 ,-32.079300E0 ,-32.073502E0 ,-32.067699E0 ,-32.061901E0 ,-32.056099E0 ,-32.050301E0 ,-32.044498E0 ,-32.038799E0 ,-32.033001E0 ,-32.027199E0 ,-32.024300E0 ,-32.018501E0 ,-32.012699E0 ,-32.004002E0 ,-32.001099E0 ,-31.995300E0 ,-31.989500E0 ,-31.983700E0 ,-31.977900E0 ,-31.972099E0 ,-31.969299E0 ,-31.963501E0 ,-31.957701E0 ,-31.951900E0 ,-31.946100E0 ,-31.940300E0 ,-31.937401E0 ,-31.931601E0 ,-31.925800E0 ,-31.922899E0 ,-31.917101E0 ,-31.911301E0 ,-31.908400E0 ,-31.902599E0 ,-31.896900E0 ,-31.893999E0 ,-31.888201E0 ,-31.885300E0 ,-31.882401E0 ,-31.876600E0 ,-31.873699E0 ,-31.867901E0 ,-31.862101E0 ,-31.859200E0 ,-31.856300E0 ,-31.850500E0 ,-31.844700E0 ,-31.841801E0 ,-31.838900E0 ,-31.833099E0 ,-31.830200E0 ,
--31.827299E0 ,-31.821600E0 ,-31.818701E0 ,-31.812901E0 ,-31.809999E0 ,-31.807100E0 ,-31.801300E0 ,-31.798401E0 ,-31.795500E0 ,-31.789700E0 ,-31.786800E0 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/bennett5.shtml
-void testNistBennett5(void)
-{
-  const int  n=3;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< -2000., 50., 0.8;
-  // do the computation
-  Bennett5_functor functor;
-  LevenbergMarquardt<Bennett5_functor> lm(functor);
-  lm.parameters.maxfev = 1000;
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 758);
-  VERIFY_IS_EQUAL(lm.njev, 744);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 5.2404744073E-04);
-  // check x
-  VERIFY_IS_APPROX(x[0], -2.5235058043E+03);
-  VERIFY_IS_APPROX(x[1], 4.6736564644E+01);
-  VERIFY_IS_APPROX(x[2], 9.3218483193E-01);
-  /*
-   * Second try
-   */
-  x<< -1500., 45., 0.85;
-  // do the computation
-  lm.resetParameters();
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 203);
-  VERIFY_IS_EQUAL(lm.njev, 192);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 5.2404744073E-04);
-  // check x
-  VERIFY_IS_APPROX(x[0], -2523.3007865); // should be -2.5235058043E+03
-  VERIFY_IS_APPROX(x[1], 46.735705771); // should be 4.6736564644E+01);
-  VERIFY_IS_APPROX(x[2], 0.93219881891); // should be 9.3218483193E-01);
-}
-
-struct thurber_functor : Functor<double>
-{
-    thurber_functor(void) : Functor<double>(7,37) {}
-    static const double _x[37];
-    static const double _y[37];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        //        int called=0; printf("call hahn1_functor with  iflag=%d, called=%d\n", iflag, called); if (iflag==1) called++;
-        assert(b.size()==7);
-        assert(fvec.size()==37);
-        for(int i=0; i<37; i++) {
-            double x=_x[i], xx=x*x, xxx=xx*x;
-            fvec[i] = (b[0]+b[1]*x+b[2]*xx+b[3]*xxx) / (1.+b[4]*x+b[5]*xx+b[6]*xxx) - _y[i];
-        }
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==7);
-        assert(fjac.rows()==37);
-        assert(fjac.cols()==7);
-        for(int i=0; i<37; i++) {
-            double x=_x[i], xx=x*x, xxx=xx*x;
-            double fact = 1./(1.+b[4]*x+b[5]*xx+b[6]*xxx);
-            fjac(i,0) = 1.*fact;
-            fjac(i,1) = x*fact;
-            fjac(i,2) = xx*fact;
-            fjac(i,3) = xxx*fact;
-            fact = - (b[0]+b[1]*x+b[2]*xx+b[3]*xxx) * fact * fact;
-            fjac(i,4) = x*fact;
-            fjac(i,5) = xx*fact;
-            fjac(i,6) = xxx*fact;
-        }
-        return 0;
-    }
-};
-const double thurber_functor::_x[37] = { -3.067E0, -2.981E0, -2.921E0, -2.912E0, -2.840E0, -2.797E0, -2.702E0, -2.699E0, -2.633E0, -2.481E0, -2.363E0, -2.322E0, -1.501E0, -1.460E0, -1.274E0, -1.212E0, -1.100E0, -1.046E0, -0.915E0, -0.714E0, -0.566E0, -0.545E0, -0.400E0, -0.309E0, -0.109E0, -0.103E0, 0.010E0, 0.119E0, 0.377E0, 0.790E0, 0.963E0, 1.006E0, 1.115E0, 1.572E0, 1.841E0, 2.047E0, 2.200E0 };
-const double thurber_functor::_y[37] = { 80.574E0, 84.248E0, 87.264E0, 87.195E0, 89.076E0, 89.608E0, 89.868E0, 90.101E0, 92.405E0, 95.854E0, 100.696E0, 101.060E0, 401.672E0, 390.724E0, 567.534E0, 635.316E0, 733.054E0, 759.087E0, 894.206E0, 990.785E0, 1090.109E0, 1080.914E0, 1122.643E0, 1178.351E0, 1260.531E0, 1273.514E0, 1288.339E0, 1327.543E0, 1353.863E0, 1414.509E0, 1425.208E0, 1421.384E0, 1442.962E0, 1464.350E0, 1468.705E0, 1447.894E0, 1457.628E0};
-
-// http://www.itl.nist.gov/div898/strd/nls/data/thurber.shtml
-void testNistThurber(void)
-{
-  const int n=7;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 1000 ,1000 ,400 ,40 ,0.7,0.3,0.0 ;
-  // do the computation
-  thurber_functor functor;
-  LevenbergMarquardt<thurber_functor> lm(functor);
-  lm.parameters.ftol = 1.E4*NumTraits<double>::epsilon();
-  lm.parameters.xtol = 1.E4*NumTraits<double>::epsilon();
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 39);
-  VERIFY_IS_EQUAL(lm.njev, 36);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 5.6427082397E+03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.2881396800E+03);
-  VERIFY_IS_APPROX(x[1], 1.4910792535E+03);
-  VERIFY_IS_APPROX(x[2], 5.8323836877E+02);
-  VERIFY_IS_APPROX(x[3], 7.5416644291E+01);
-  VERIFY_IS_APPROX(x[4], 9.6629502864E-01);
-  VERIFY_IS_APPROX(x[5], 3.9797285797E-01);
-  VERIFY_IS_APPROX(x[6], 4.9727297349E-02);
-
-  /*
-   * Second try
-   */
-  x<< 1300 ,1500 ,500  ,75   ,1    ,0.4  ,0.05  ;
-  // do the computation
-  lm.resetParameters();
-  lm.parameters.ftol = 1.E4*NumTraits<double>::epsilon();
-  lm.parameters.xtol = 1.E4*NumTraits<double>::epsilon();
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 29);
-  VERIFY_IS_EQUAL(lm.njev, 28);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 5.6427082397E+03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.2881396800E+03);
-  VERIFY_IS_APPROX(x[1], 1.4910792535E+03);
-  VERIFY_IS_APPROX(x[2], 5.8323836877E+02);
-  VERIFY_IS_APPROX(x[3], 7.5416644291E+01);
-  VERIFY_IS_APPROX(x[4], 9.6629502864E-01);
-  VERIFY_IS_APPROX(x[5], 3.9797285797E-01);
-  VERIFY_IS_APPROX(x[6], 4.9727297349E-02);
-}
-
-struct rat43_functor : Functor<double>
-{
-    rat43_functor(void) : Functor<double>(4,15) {}
-    static const double x[15];
-    static const double y[15];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==4);
-        assert(fvec.size()==15);
-        for(int i=0; i<15; i++)
-            fvec[i] = b[0] * pow(1.+exp(b[1]-b[2]*x[i]),-1./b[3]) - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==4);
-        assert(fjac.rows()==15);
-        assert(fjac.cols()==4);
-        for(int i=0; i<15; i++) {
-            double e = exp(b[1]-b[2]*x[i]);
-            double power = -1./b[3];
-            fjac(i,0) = pow(1.+e, power);
-            fjac(i,1) = power*b[0]*e*pow(1.+e, power-1.);
-            fjac(i,2) = -power*b[0]*e*x[i]*pow(1.+e, power-1.);
-            fjac(i,3) = b[0]*power*power*log(1.+e)*pow(1.+e, power);
-        }
-        return 0;
-    }
-};
-const double rat43_functor::x[15] = { 1., 2., 3., 4., 5., 6., 7., 8., 9., 10., 11., 12., 13., 14., 15. };
-const double rat43_functor::y[15] = { 16.08, 33.83, 65.80, 97.20, 191.55, 326.20, 386.87, 520.53, 590.03, 651.92, 724.93, 699.56, 689.96, 637.56, 717.41 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/ratkowsky3.shtml
-void testNistRat43(void)
-{
-  const int n=4;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 100., 10., 1., 1.;
-  // do the computation
-  rat43_functor functor;
-  LevenbergMarquardt<rat43_functor> lm(functor);
-  lm.parameters.ftol = 1.E6*NumTraits<double>::epsilon();
-  lm.parameters.xtol = 1.E6*NumTraits<double>::epsilon();
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 27);
-  VERIFY_IS_EQUAL(lm.njev, 20);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 8.7864049080E+03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 6.9964151270E+02);
-  VERIFY_IS_APPROX(x[1], 5.2771253025E+00);
-  VERIFY_IS_APPROX(x[2], 7.5962938329E-01);
-  VERIFY_IS_APPROX(x[3], 1.2792483859E+00);
-
-  /*
-   * Second try
-   */
-  x<< 700., 5., 0.75, 1.3;
-  // do the computation
-  lm.resetParameters();
-  lm.parameters.ftol = 1.E5*NumTraits<double>::epsilon();
-  lm.parameters.xtol = 1.E5*NumTraits<double>::epsilon();
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 9);
-  VERIFY_IS_EQUAL(lm.njev, 8);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 8.7864049080E+03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 6.9964151270E+02);
-  VERIFY_IS_APPROX(x[1], 5.2771253025E+00);
-  VERIFY_IS_APPROX(x[2], 7.5962938329E-01);
-  VERIFY_IS_APPROX(x[3], 1.2792483859E+00);
-}
-
-
-
-struct eckerle4_functor : Functor<double>
-{
-    eckerle4_functor(void) : Functor<double>(3,35) {}
-    static const double x[35];
-    static const double y[35];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==3);
-        assert(fvec.size()==35);
-        for(int i=0; i<35; i++)
-            fvec[i] = b[0]/b[1] * exp(-0.5*(x[i]-b[2])*(x[i]-b[2])/(b[1]*b[1])) - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==3);
-        assert(fjac.rows()==35);
-        assert(fjac.cols()==3);
-        for(int i=0; i<35; i++) {
-            double b12 = b[1]*b[1];
-            double e = exp(-0.5*(x[i]-b[2])*(x[i]-b[2])/b12);
-            fjac(i,0) = e / b[1];
-            fjac(i,1) = ((x[i]-b[2])*(x[i]-b[2])/b12-1.) * b[0]*e/b12;
-            fjac(i,2) = (x[i]-b[2])*e*b[0]/b[1]/b12;
-        }
-        return 0;
-    }
-};
-const double eckerle4_functor::x[35] = { 400.0, 405.0, 410.0, 415.0, 420.0, 425.0, 430.0, 435.0, 436.5, 438.0, 439.5, 441.0, 442.5, 444.0, 445.5, 447.0, 448.5, 450.0, 451.5, 453.0, 454.5, 456.0, 457.5, 459.0, 460.5, 462.0, 463.5, 465.0, 470.0, 475.0, 480.0, 485.0, 490.0, 495.0, 500.0};
-const double eckerle4_functor::y[35] = { 0.0001575, 0.0001699, 0.0002350, 0.0003102, 0.0004917, 0.0008710, 0.0017418, 0.0046400, 0.0065895, 0.0097302, 0.0149002, 0.0237310, 0.0401683, 0.0712559, 0.1264458, 0.2073413, 0.2902366, 0.3445623, 0.3698049, 0.3668534, 0.3106727, 0.2078154, 0.1164354, 0.0616764, 0.0337200, 0.0194023, 0.0117831, 0.0074357, 0.0022732, 0.0008800, 0.0004579, 0.0002345, 0.0001586, 0.0001143, 0.0000710 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/eckerle4.shtml
-void testNistEckerle4(void)
-{
-  const int n=3;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 1., 10., 500.;
-  // do the computation
-  eckerle4_functor functor;
-  LevenbergMarquardt<eckerle4_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 18);
-  VERIFY_IS_EQUAL(lm.njev, 15);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 1.4635887487E-03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.5543827178);
-  VERIFY_IS_APPROX(x[1], 4.0888321754);
-  VERIFY_IS_APPROX(x[2], 4.5154121844E+02);
-
-  /*
-   * Second try
-   */
-  x<< 1.5, 5., 450.;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev, 7);
-  VERIFY_IS_EQUAL(lm.njev, 6);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec.squaredNorm(), 1.4635887487E-03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.5543827178);
-  VERIFY_IS_APPROX(x[1], 4.0888321754);
-  VERIFY_IS_APPROX(x[2], 4.5154121844E+02);
-}
-
-void test_NonLinearOptimization()
-{
-    // Tests using the examples provided by (c)minpack
-    CALL_SUBTEST/*_1*/(testChkder());
-    CALL_SUBTEST/*_1*/(testLmder1());
-    CALL_SUBTEST/*_1*/(testLmder());
-    CALL_SUBTEST/*_2*/(testHybrj1());
-    CALL_SUBTEST/*_2*/(testHybrj());
-    CALL_SUBTEST/*_2*/(testHybrd1());
-    CALL_SUBTEST/*_2*/(testHybrd());
-    CALL_SUBTEST/*_3*/(testLmstr1());
-    CALL_SUBTEST/*_3*/(testLmstr());
-    CALL_SUBTEST/*_3*/(testLmdif1());
-    CALL_SUBTEST/*_3*/(testLmdif());
-
-    // NIST tests, level of difficulty = "Lower"
-    CALL_SUBTEST/*_4*/(testNistMisra1a());
-    CALL_SUBTEST/*_4*/(testNistChwirut2());
-
-    // NIST tests, level of difficulty = "Average"
-    CALL_SUBTEST/*_5*/(testNistHahn1());
-    CALL_SUBTEST/*_6*/(testNistMisra1d());
-//     CALL_SUBTEST/*_7*/(testNistMGH17());
-//     CALL_SUBTEST/*_8*/(testNistLanczos1());
-
-//     // NIST tests, level of difficulty = "Higher"
-    CALL_SUBTEST/*_9*/(testNistRat42());
-//     CALL_SUBTEST/*_10*/(testNistMGH10());
-    CALL_SUBTEST/*_11*/(testNistBoxBOD());
-//     CALL_SUBTEST/*_12*/(testNistMGH09());
-    CALL_SUBTEST/*_13*/(testNistBennett5());
-    CALL_SUBTEST/*_14*/(testNistThurber());
-    CALL_SUBTEST/*_15*/(testNistRat43());
-    CALL_SUBTEST/*_16*/(testNistEckerle4());
-}
-
-/*
- * Can be useful for debugging...
-  printf("info, nfev : %d, %d\n", info, lm.nfev);
-  printf("info, nfev, njev : %d, %d, %d\n", info, solver.nfev, solver.njev);
-  printf("info, nfev : %d, %d\n", info, solver.nfev);
-  printf("x[0] : %.32g\n", x[0]);
-  printf("x[1] : %.32g\n", x[1]);
-  printf("x[2] : %.32g\n", x[2]);
-  printf("x[3] : %.32g\n", x[3]);
-  printf("fvec.blueNorm() : %.32g\n", solver.fvec.blueNorm());
-  printf("fvec.blueNorm() : %.32g\n", lm.fvec.blueNorm());
-
-  printf("info, nfev, njev : %d, %d, %d\n", info, lm.nfev, lm.njev);
-  printf("fvec.squaredNorm() : %.13g\n", lm.fvec.squaredNorm());
-  std::cout << x << std::endl;
-  std::cout.precision(9);
-  std::cout << x[0] << std::endl;
-  std::cout << x[1] << std::endl;
-  std::cout << x[2] << std::endl;
-  std::cout << x[3] << std::endl;
-*/
-
diff --git a/eigenlib/unsupported/test/NumericalDiff.cpp b/eigenlib/unsupported/test/NumericalDiff.cpp
deleted file mode 100644
index 27d88805..00000000
--- a/eigenlib/unsupported/test/NumericalDiff.cpp
+++ /dev/null
@@ -1,114 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-
-#include <stdio.h>
-
-#include "main.h"
-#include <unsupported/Eigen/NumericalDiff>
-    
-// Generic functor
-template<typename _Scalar, int NX=Dynamic, int NY=Dynamic>
-struct Functor
-{
-  typedef _Scalar Scalar;
-  enum {
-    InputsAtCompileTime = NX,
-    ValuesAtCompileTime = NY
-  };
-  typedef Matrix<Scalar,InputsAtCompileTime,1> InputType;
-  typedef Matrix<Scalar,ValuesAtCompileTime,1> ValueType;
-  typedef Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType;
-  
-  int m_inputs, m_values;
-  
-  Functor() : m_inputs(InputsAtCompileTime), m_values(ValuesAtCompileTime) {}
-  Functor(int inputs, int values) : m_inputs(inputs), m_values(values) {}
-  
-  int inputs() const { return m_inputs; }
-  int values() const { return m_values; }
-
-};
-
-struct my_functor : Functor<double>
-{
-    my_functor(void): Functor<double>(3,15) {}
-    int operator()(const VectorXd &x, VectorXd &fvec) const
-    {
-        double tmp1, tmp2, tmp3;
-        double y[15] = {1.4e-1, 1.8e-1, 2.2e-1, 2.5e-1, 2.9e-1, 3.2e-1, 3.5e-1,
-            3.9e-1, 3.7e-1, 5.8e-1, 7.3e-1, 9.6e-1, 1.34, 2.1, 4.39};
-
-        for (int i = 0; i < values(); i++)
-        {
-            tmp1 = i+1;
-            tmp2 = 16 - i - 1;
-            tmp3 = (i>=8)? tmp2 : tmp1;
-            fvec[i] = y[i] - (x[0] + tmp1/(x[1]*tmp2 + x[2]*tmp3));
-        }
-        return 0;
-    }
-
-    int actual_df(const VectorXd &x, MatrixXd &fjac) const
-    {
-        double tmp1, tmp2, tmp3, tmp4;
-        for (int i = 0; i < values(); i++)
-        {
-            tmp1 = i+1;
-            tmp2 = 16 - i - 1;
-            tmp3 = (i>=8)? tmp2 : tmp1;
-            tmp4 = (x[1]*tmp2 + x[2]*tmp3); tmp4 = tmp4*tmp4;
-            fjac(i,0) = -1;
-            fjac(i,1) = tmp1*tmp2/tmp4;
-            fjac(i,2) = tmp1*tmp3/tmp4;
-        }
-        return 0;
-    }
-};
-
-void test_forward()
-{
-    VectorXd x(3);
-    MatrixXd jac(15,3);
-    MatrixXd actual_jac(15,3);
-    my_functor functor;
-
-    x << 0.082, 1.13, 2.35;
-
-    // real one 
-    functor.actual_df(x, actual_jac);
-//    std::cout << actual_jac << std::endl << std::endl;
-
-    // using NumericalDiff
-    NumericalDiff<my_functor> numDiff(functor);
-    numDiff.df(x, jac);
-//    std::cout << jac << std::endl;
-
-    VERIFY_IS_APPROX(jac, actual_jac);
-}
-
-void test_central()
-{
-    VectorXd x(3);
-    MatrixXd jac(15,3);
-    MatrixXd actual_jac(15,3);
-    my_functor functor;
-
-    x << 0.082, 1.13, 2.35;
-
-    // real one 
-    functor.actual_df(x, actual_jac);
-
-    // using NumericalDiff
-    NumericalDiff<my_functor,Central> numDiff(functor);
-    numDiff.df(x, jac);
-
-    VERIFY_IS_APPROX(jac, actual_jac);
-}
-
-void test_NumericalDiff()
-{
-    CALL_SUBTEST(test_forward());
-    CALL_SUBTEST(test_central());
-}
diff --git a/eigenlib/unsupported/test/alignedvector3.cpp b/eigenlib/unsupported/test/alignedvector3.cpp
deleted file mode 100644
index fc2bc213..00000000
--- a/eigenlib/unsupported/test/alignedvector3.cpp
+++ /dev/null
@@ -1,59 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "main.h"
-#include <unsupported/Eigen/AlignedVector3>
-
-template<typename Scalar>
-void alignedvector3()
-{
-  Scalar s1 = internal::random<Scalar>();
-  Scalar s2 = internal::random<Scalar>();
-  typedef Matrix<Scalar,3,1> RefType;
-  typedef Matrix<Scalar,3,3> Mat33;
-  typedef AlignedVector3<Scalar> FastType;
-  RefType  r1(RefType::Random()), r2(RefType::Random()), r3(RefType::Random()),
-           r4(RefType::Random()), r5(RefType::Random()), r6(RefType::Random());
-  FastType f1(r1), f2(r2), f3(r3), f4(r4), f5(r5), f6(r6);
-  Mat33 m1(Mat33::Random());
-  
-  VERIFY_IS_APPROX(f1,r1);
-  VERIFY_IS_APPROX(f4,r4);
-
-  VERIFY_IS_APPROX(f4+f1,r4+r1);
-  VERIFY_IS_APPROX(f4-f1,r4-r1);
-  VERIFY_IS_APPROX(f4+f1-f2,r4+r1-r2);
-  VERIFY_IS_APPROX(f4+=f3,r4+=r3);
-  VERIFY_IS_APPROX(f4-=f5,r4-=r5);
-  VERIFY_IS_APPROX(f4-=f5+f1,r4-=r5+r1);
-  VERIFY_IS_APPROX(f5+f1-s1*f2,r5+r1-s1*r2);
-  VERIFY_IS_APPROX(f5+f1/s2-s1*f2,r5+r1/s2-s1*r2);
-  
-  VERIFY_IS_APPROX(m1*f4,m1*r4);
-  VERIFY_IS_APPROX(f4.transpose()*m1,r4.transpose()*m1);
-  
-  VERIFY_IS_APPROX(f2.dot(f3),r2.dot(r3));
-  VERIFY_IS_APPROX(f2.cross(f3),r2.cross(r3));
-  VERIFY_IS_APPROX(f2.norm(),r2.norm());
-
-  VERIFY_IS_APPROX(f2.normalized(),r2.normalized());
-
-  VERIFY_IS_APPROX((f2+f1).normalized(),(r2+r1).normalized());
-  
-  f2.normalize();
-  r2.normalize();
-  VERIFY_IS_APPROX(f2,r2);
-}
-
-void test_alignedvector3()
-{
-  for(int i = 0; i < g_repeat; i++) {
-    CALL_SUBTEST( alignedvector3<float>() );
-  }
-}
diff --git a/eigenlib/unsupported/test/autodiff.cpp b/eigenlib/unsupported/test/autodiff.cpp
deleted file mode 100644
index 087e7c54..00000000
--- a/eigenlib/unsupported/test/autodiff.cpp
+++ /dev/null
@@ -1,173 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "main.h"
-#include <unsupported/Eigen/AutoDiff>
-
-template<typename Scalar>
-EIGEN_DONT_INLINE Scalar foo(const Scalar& x, const Scalar& y)
-{
-  using namespace std;
-//   return x+std::sin(y);
-  EIGEN_ASM_COMMENT("mybegin");
-  return static_cast<Scalar>(x*2 - pow(x,2) + 2*sqrt(y*y) - 4 * sin(x) + 2 * cos(y) - exp(-0.5*x*x));
-  //return x+2*y*x;//x*2 -std::pow(x,2);//(2*y/x);// - y*2;
-  EIGEN_ASM_COMMENT("myend");
-}
-
-template<typename Vector>
-EIGEN_DONT_INLINE typename Vector::Scalar foo(const Vector& p)
-{
-  typedef typename Vector::Scalar Scalar;
-  return (p-Vector(Scalar(-1),Scalar(1.))).norm() + (p.array() * p.array()).sum() + p.dot(p);
-}
-
-template<typename _Scalar, int NX=Dynamic, int NY=Dynamic>
-struct TestFunc1
-{
-  typedef _Scalar Scalar;
-  enum {
-    InputsAtCompileTime = NX,
-    ValuesAtCompileTime = NY
-  };
-  typedef Matrix<Scalar,InputsAtCompileTime,1> InputType;
-  typedef Matrix<Scalar,ValuesAtCompileTime,1> ValueType;
-  typedef Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType;
-
-  int m_inputs, m_values;
-
-  TestFunc1() : m_inputs(InputsAtCompileTime), m_values(ValuesAtCompileTime) {}
-  TestFunc1(int inputs, int values) : m_inputs(inputs), m_values(values) {}
-
-  int inputs() const { return m_inputs; }
-  int values() const { return m_values; }
-
-  template<typename T>
-  void operator() (const Matrix<T,InputsAtCompileTime,1>& x, Matrix<T,ValuesAtCompileTime,1>* _v) const
-  {
-    Matrix<T,ValuesAtCompileTime,1>& v = *_v;
-
-    v[0] = 2 * x[0] * x[0] + x[0] * x[1];
-    v[1] = 3 * x[1] * x[0] + 0.5 * x[1] * x[1];
-    if(inputs()>2)
-    {
-      v[0] += 0.5 * x[2];
-      v[1] += x[2];
-    }
-    if(values()>2)
-    {
-      v[2] = 3 * x[1] * x[0] * x[0];
-    }
-    if (inputs()>2 && values()>2)
-      v[2] *= x[2];
-  }
-
-  void operator() (const InputType& x, ValueType* v, JacobianType* _j) const
-  {
-    (*this)(x, v);
-
-    if(_j)
-    {
-      JacobianType& j = *_j;
-
-      j(0,0) = 4 * x[0] + x[1];
-      j(1,0) = 3 * x[1];
-
-      j(0,1) = x[0];
-      j(1,1) = 3 * x[0] + 2 * 0.5 * x[1];
-
-      if (inputs()>2)
-      {
-        j(0,2) = 0.5;
-        j(1,2) = 1;
-      }
-      if(values()>2)
-      {
-        j(2,0) = 3 * x[1] * 2 * x[0];
-        j(2,1) = 3 * x[0] * x[0];
-      }
-      if (inputs()>2 && values()>2)
-      {
-        j(2,0) *= x[2];
-        j(2,1) *= x[2];
-
-        j(2,2) = 3 * x[1] * x[0] * x[0];
-        j(2,2) = 3 * x[1] * x[0] * x[0];
-      }
-    }
-  }
-};
-
-template<typename Func> void forward_jacobian(const Func& f)
-{
-    typename Func::InputType x = Func::InputType::Random(f.inputs());
-    typename Func::ValueType y(f.values()), yref(f.values());
-    typename Func::JacobianType j(f.values(),f.inputs()), jref(f.values(),f.inputs());
-
-    jref.setZero();
-    yref.setZero();
-    f(x,&yref,&jref);
-//     std::cerr << y.transpose() << "\n\n";;
-//     std::cerr << j << "\n\n";;
-
-    j.setZero();
-    y.setZero();
-    AutoDiffJacobian<Func> autoj(f);
-    autoj(x, &y, &j);
-//     std::cerr << y.transpose() << "\n\n";;
-//     std::cerr << j << "\n\n";;
-
-    VERIFY_IS_APPROX(y, yref);
-    VERIFY_IS_APPROX(j, jref);
-}
-
-
-// TODO also check actual derivatives!
-void test_autodiff_scalar()
-{
-  Vector2f p = Vector2f::Random();
-  typedef AutoDiffScalar<Vector2f> AD;
-  AD ax(p.x(),Vector2f::UnitX());
-  AD ay(p.y(),Vector2f::UnitY());
-  AD res = foo<AD>(ax,ay);
-  VERIFY_IS_APPROX(res.value(), foo(p.x(),p.y()));
-}
-
-// TODO also check actual derivatives!
-void test_autodiff_vector()
-{
-  Vector2f p = Vector2f::Random();
-  typedef AutoDiffScalar<Vector2f> AD;
-  typedef Matrix<AD,2,1> VectorAD;
-  VectorAD ap = p.cast<AD>();
-  ap.x().derivatives() = Vector2f::UnitX();
-  ap.y().derivatives() = Vector2f::UnitY();
-  
-  AD res = foo<VectorAD>(ap);
-  VERIFY_IS_APPROX(res.value(), foo(p));
-}
-
-void test_autodiff_jacobian()
-{
-  CALL_SUBTEST(( forward_jacobian(TestFunc1<double,2,2>()) ));
-  CALL_SUBTEST(( forward_jacobian(TestFunc1<double,2,3>()) ));
-  CALL_SUBTEST(( forward_jacobian(TestFunc1<double,3,2>()) ));
-  CALL_SUBTEST(( forward_jacobian(TestFunc1<double,3,3>()) ));
-  CALL_SUBTEST(( forward_jacobian(TestFunc1<double>(3,3)) ));
-}
-
-void test_autodiff()
-{
-  for(int i = 0; i < g_repeat; i++) {
-    CALL_SUBTEST_1( test_autodiff_scalar() );
-    CALL_SUBTEST_2( test_autodiff_vector() );
-    CALL_SUBTEST_3( test_autodiff_jacobian() );
-  }
-}
-
diff --git a/eigenlib/unsupported/test/bdcsvd.cpp b/eigenlib/unsupported/test/bdcsvd.cpp
deleted file mode 100644
index 115a649b..00000000
--- a/eigenlib/unsupported/test/bdcsvd.cpp
+++ /dev/null
@@ -1,213 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2013 Gauthier Brun <brun.gauthier@gmail.com>
-// Copyright (C) 2013 Nicolas Carre <nicolas.carre@ensimag.fr>
-// Copyright (C) 2013 Jean Ceccato <jean.ceccato@ensimag.fr>
-// Copyright (C) 2013 Pierre Zoppitelli <pierre.zoppitelli@ensimag.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/
-
-#include "svd_common.h"
-#include <iostream>
-#include <Eigen/LU>
-
-// check if "svd" is the good image of "m"  
-template<typename MatrixType>
-void bdcsvd_check_full(const MatrixType& m, const BDCSVD<MatrixType>& svd)
-{
-  svd_check_full< MatrixType, BDCSVD< MatrixType > >(m, svd);
-}
-
-// Compare to a reference value
-template<typename MatrixType>
-void bdcsvd_compare_to_full(const MatrixType& m,
-			    unsigned int computationOptions,
-			    const BDCSVD<MatrixType>& referenceSvd)
-{
-  svd_compare_to_full< MatrixType, BDCSVD< MatrixType > >(m, computationOptions, referenceSvd);
-} // end bdcsvd_compare_to_full
-
-
-template<typename MatrixType>
-void bdcsvd_solve(const MatrixType& m, unsigned int computationOptions)
-{
-  svd_solve< MatrixType, BDCSVD< MatrixType > >(m, computationOptions);
-} //  end template bdcsvd_solve
-
-
-// test the computations options
-template<typename MatrixType>
-void bdcsvd_test_all_computation_options(const MatrixType& m)
-{
-  BDCSVD<MatrixType> fullSvd(m, ComputeFullU|ComputeFullV);
-  svd_test_computation_options_1< MatrixType, BDCSVD< MatrixType > >(m, fullSvd); 
-  svd_test_computation_options_2< MatrixType, BDCSVD< MatrixType > >(m, fullSvd); 
-} // end bdcsvd_test_all_computation_options
-
-
-// Call a test with all the computations options
-template<typename MatrixType>
-void bdcsvd(const MatrixType& a = MatrixType(), bool pickrandom = true)
-{
-  MatrixType m = pickrandom ? MatrixType::Random(a.rows(), a.cols()) : a;
-  bdcsvd_test_all_computation_options<MatrixType>(m);
-} // end template bdcsvd
-
-
-// verify assert
-template<typename MatrixType> 
-void bdcsvd_verify_assert(const MatrixType& m)
-{
-  svd_verify_assert< MatrixType, BDCSVD< MatrixType > >(m);
-}// end template bdcsvd_verify_assert
-
-
-// test weird values
-template<typename MatrixType>
-void bdcsvd_inf_nan()
-{
-  svd_inf_nan< MatrixType, BDCSVD< MatrixType > >();
-}// end template bdcsvd_inf_nan
-
-
-
-void bdcsvd_preallocate()
-{
-  svd_preallocate< BDCSVD< MatrixXf > >();
-} // end bdcsvd_preallocate
-
-
-// compare the Singular values returned with Jacobi and Bdc
-template<typename MatrixType> 
-void compare_bdc_jacobi(const MatrixType& a = MatrixType(), unsigned int computationOptions = 0)
-{
-  std::cout << "debut compare" << std::endl;
-  MatrixType m = MatrixType::Random(a.rows(), a.cols());
-  BDCSVD<MatrixType> bdc_svd(m);
-  JacobiSVD<MatrixType> jacobi_svd(m);
-  VERIFY_IS_APPROX(bdc_svd.singularValues(), jacobi_svd.singularValues());
-  if(computationOptions & ComputeFullU)
-    VERIFY_IS_APPROX(bdc_svd.matrixU(), jacobi_svd.matrixU());
-  if(computationOptions & ComputeThinU)
-    VERIFY_IS_APPROX(bdc_svd.matrixU(), jacobi_svd.matrixU());
-  if(computationOptions & ComputeFullV)
-    VERIFY_IS_APPROX(bdc_svd.matrixV(), jacobi_svd.matrixV());
-  if(computationOptions & ComputeThinV)
-    VERIFY_IS_APPROX(bdc_svd.matrixV(), jacobi_svd.matrixV());
-  std::cout << "fin compare" << std::endl;
-} // end template compare_bdc_jacobi
-
-
-// call the tests
-void test_bdcsvd()
-{
-  // test of Dynamic defined Matrix (42, 42) of float 
-  CALL_SUBTEST_11(( bdcsvd_verify_assert<Matrix<float,Dynamic,Dynamic> >
-		    (Matrix<float,Dynamic,Dynamic>(42,42)) ));
-  CALL_SUBTEST_11(( compare_bdc_jacobi<Matrix<float,Dynamic,Dynamic> >
-		    (Matrix<float,Dynamic,Dynamic>(42,42), 0) ));
-  CALL_SUBTEST_11(( bdcsvd<Matrix<float,Dynamic,Dynamic> >
-		    (Matrix<float,Dynamic,Dynamic>(42,42)) ));
-
-  // test of Dynamic defined Matrix (50, 50) of double 
-  CALL_SUBTEST_13(( bdcsvd_verify_assert<Matrix<double,Dynamic,Dynamic> >
-		    (Matrix<double,Dynamic,Dynamic>(50,50)) ));
-  CALL_SUBTEST_13(( compare_bdc_jacobi<Matrix<double,Dynamic,Dynamic> >
-		    (Matrix<double,Dynamic,Dynamic>(50,50), 0) ));
-  CALL_SUBTEST_13(( bdcsvd<Matrix<double,Dynamic,Dynamic> >
-		    (Matrix<double,Dynamic,Dynamic>(50, 50)) )); 
-
-  // test of Dynamic defined Matrix (22, 22) of complex double
-  CALL_SUBTEST_14(( bdcsvd_verify_assert<Matrix<std::complex<double>,Dynamic,Dynamic> >
-  		    (Matrix<std::complex<double>,Dynamic,Dynamic>(22,22)) ));
-  CALL_SUBTEST_14(( compare_bdc_jacobi<Matrix<std::complex<double>,Dynamic,Dynamic> >
-  		    (Matrix<std::complex<double>, Dynamic, Dynamic> (22,22), 0) ));
-  CALL_SUBTEST_14(( bdcsvd<Matrix<std::complex<double>,Dynamic,Dynamic> >
-  		    (Matrix<std::complex<double>,Dynamic,Dynamic>(22, 22)) )); 
-
-  // test of Dynamic defined Matrix (10, 10) of int
-  //CALL_SUBTEST_15(( bdcsvd_verify_assert<Matrix<int,Dynamic,Dynamic> >
-  //		    (Matrix<int,Dynamic,Dynamic>(10,10)) ));		    
-  //CALL_SUBTEST_15(( compare_bdc_jacobi<Matrix<int,Dynamic,Dynamic> >
-  //		    (Matrix<int,Dynamic,Dynamic>(10,10), 0) ));
-  //CALL_SUBTEST_15(( bdcsvd<Matrix<int,Dynamic,Dynamic> >
-  //		    (Matrix<int,Dynamic,Dynamic>(10, 10)) )); 
-  
-
-  // test of Dynamic defined Matrix (8, 6) of double 
- 
-  CALL_SUBTEST_16(( bdcsvd_verify_assert<Matrix<double,Dynamic,Dynamic> >
-		    (Matrix<double,Dynamic,Dynamic>(8,6)) ));
-  CALL_SUBTEST_16(( compare_bdc_jacobi<Matrix<double,Dynamic,Dynamic> >
-		    (Matrix<double,Dynamic,Dynamic>(8, 6), 0) )); 
-  CALL_SUBTEST_16(( bdcsvd<Matrix<double,Dynamic,Dynamic> >
-		    (Matrix<double,Dynamic,Dynamic>(8, 6)) ));
-
-
-  
-  // test of Dynamic defined Matrix (36, 12) of float
-  CALL_SUBTEST_17(( compare_bdc_jacobi<Matrix<float,Dynamic,Dynamic> >
-		    (Matrix<float,Dynamic,Dynamic>(36, 12), 0) )); 
-  CALL_SUBTEST_17(( bdcsvd<Matrix<float,Dynamic,Dynamic> >
-		    (Matrix<float,Dynamic,Dynamic>(36, 12)) )); 
-
-  // test of Dynamic defined Matrix (5, 8) of double 
-  CALL_SUBTEST_18(( compare_bdc_jacobi<Matrix<double,Dynamic,Dynamic> >
-		    (Matrix<double,Dynamic,Dynamic>(5, 8), 0) )); 
-  CALL_SUBTEST_18(( bdcsvd<Matrix<double,Dynamic,Dynamic> >
-		    (Matrix<double,Dynamic,Dynamic>(5, 8)) )); 
-
-
-  // non regression tests
-  CALL_SUBTEST_3(( bdcsvd_verify_assert(Matrix3f()) ));
-  CALL_SUBTEST_4(( bdcsvd_verify_assert(Matrix4d()) ));
-  CALL_SUBTEST_7(( bdcsvd_verify_assert(MatrixXf(10,12)) ));
-  CALL_SUBTEST_8(( bdcsvd_verify_assert(MatrixXcd(7,5)) ));
-
-  // SUBTESTS 1 and 2 on specifics matrix
-  for(int i = 0; i < g_repeat; i++) {
-    Matrix2cd m;
-    m << 0, 1,
-      0, 1;
-    CALL_SUBTEST_1(( bdcsvd(m, false) ));
-    m << 1, 0,
-      1, 0;
-    CALL_SUBTEST_1(( bdcsvd(m, false) ));
-
-    Matrix2d n;
-    n << 0, 0,
-      0, 0;
-    CALL_SUBTEST_2(( bdcsvd(n, false) ));
-    n << 0, 0,
-      0, 1;
-    CALL_SUBTEST_2(( bdcsvd(n, false) ));
-    
-    // Statics matrix don't work with BDSVD yet
-    // bdc algo on a random 3x3 float matrix
-    // CALL_SUBTEST_3(( bdcsvd<Matrix3f>() ));
-    // bdc algo on a random 4x4 double matrix
-    // CALL_SUBTEST_4(( bdcsvd<Matrix4d>() ));
-    // bdc algo on a random 3x5 float matrix
-    // CALL_SUBTEST_5(( bdcsvd<Matrix<float,3,5> >() ));
-
-    int r = internal::random<int>(1, 30),
-      c = internal::random<int>(1, 30);
-    CALL_SUBTEST_7(( bdcsvd<MatrixXf>(MatrixXf(r,c)) ));
-    CALL_SUBTEST_8(( bdcsvd<MatrixXcd>(MatrixXcd(r,c)) ));
-    (void) r;
-    (void) c;
-
-    // Test on inf/nan matrix
-    CALL_SUBTEST_7( bdcsvd_inf_nan<MatrixXf>() );
-  }
-
-  CALL_SUBTEST_7(( bdcsvd<MatrixXf>(MatrixXf(internal::random<int>(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/2), internal::random<int>(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/2))) ));
-  CALL_SUBTEST_8(( bdcsvd<MatrixXcd>(MatrixXcd(internal::random<int>(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/3), internal::random<int>(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/3))) ));
-
-  // Test problem size constructors
-  CALL_SUBTEST_7( BDCSVD<MatrixXf>(10,10) );
-
-} // end test_bdcsvd
diff --git a/eigenlib/unsupported/test/dgmres.cpp b/eigenlib/unsupported/test/dgmres.cpp
deleted file mode 100644
index 2b11807c..00000000
--- a/eigenlib/unsupported/test/dgmres.cpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2012 desire Nuentsa <desire.nuentsa_wakam@inria.fr
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "../../test/sparse_solver.h"
-#include <Eigen/src/IterativeSolvers/DGMRES.h>
-
-template<typename T> void test_dgmres_T()
-{
-  DGMRES<SparseMatrix<T>, DiagonalPreconditioner<T> > dgmres_colmajor_diag;
-  DGMRES<SparseMatrix<T>, IdentityPreconditioner    > dgmres_colmajor_I;
-  DGMRES<SparseMatrix<T>, IncompleteLUT<T> >           dgmres_colmajor_ilut;
-  //GMRES<SparseMatrix<T>, SSORPreconditioner<T> >     dgmres_colmajor_ssor;
-
-  CALL_SUBTEST( check_sparse_square_solving(dgmres_colmajor_diag)  );
-//   CALL_SUBTEST( check_sparse_square_solving(dgmres_colmajor_I)     );
-  CALL_SUBTEST( check_sparse_square_solving(dgmres_colmajor_ilut)     );
-  //CALL_SUBTEST( check_sparse_square_solving(dgmres_colmajor_ssor)     );
-}
-
-void test_dgmres()
-{
-  CALL_SUBTEST_1(test_dgmres_T<double>());
-  CALL_SUBTEST_2(test_dgmres_T<std::complex<double> >());
-}
diff --git a/eigenlib/unsupported/test/forward_adolc.cpp b/eigenlib/unsupported/test/forward_adolc.cpp
deleted file mode 100644
index d4baafe6..00000000
--- a/eigenlib/unsupported/test/forward_adolc.cpp
+++ /dev/null
@@ -1,143 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "main.h"
-#include <Eigen/Dense>
-
-#define NUMBER_DIRECTIONS 16
-#include <unsupported/Eigen/AdolcForward>
-
-int adtl::ADOLC_numDir;
-
-template<typename Vector>
-EIGEN_DONT_INLINE typename Vector::Scalar foo(const Vector& p)
-{
-  typedef typename Vector::Scalar Scalar;
-  return (p-Vector(Scalar(-1),Scalar(1.))).norm() + (p.array().sqrt().abs() * p.array().sin()).sum() + p.dot(p);
-}
-
-template<typename _Scalar, int NX=Dynamic, int NY=Dynamic>
-struct TestFunc1
-{
-  typedef _Scalar Scalar;
-  enum {
-    InputsAtCompileTime = NX,
-    ValuesAtCompileTime = NY
-  };
-  typedef Matrix<Scalar,InputsAtCompileTime,1> InputType;
-  typedef Matrix<Scalar,ValuesAtCompileTime,1> ValueType;
-  typedef Matrix<Scalar,ValuesAtCompileTime,InputsAtCompileTime> JacobianType;
-
-  int m_inputs, m_values;
-
-  TestFunc1() : m_inputs(InputsAtCompileTime), m_values(ValuesAtCompileTime) {}
-  TestFunc1(int inputs, int values) : m_inputs(inputs), m_values(values) {}
-
-  int inputs() const { return m_inputs; }
-  int values() const { return m_values; }
-
-  template<typename T>
-  void operator() (const Matrix<T,InputsAtCompileTime,1>& x, Matrix<T,ValuesAtCompileTime,1>* _v) const
-  {
-    Matrix<T,ValuesAtCompileTime,1>& v = *_v;
-
-    v[0] = 2 * x[0] * x[0] + x[0] * x[1];
-    v[1] = 3 * x[1] * x[0] + 0.5 * x[1] * x[1];
-    if(inputs()>2)
-    {
-      v[0] += 0.5 * x[2];
-      v[1] += x[2];
-    }
-    if(values()>2)
-    {
-      v[2] = 3 * x[1] * x[0] * x[0];
-    }
-    if (inputs()>2 && values()>2)
-      v[2] *= x[2];
-  }
-
-  void operator() (const InputType& x, ValueType* v, JacobianType* _j) const
-  {
-    (*this)(x, v);
-
-    if(_j)
-    {
-      JacobianType& j = *_j;
-
-      j(0,0) = 4 * x[0] + x[1];
-      j(1,0) = 3 * x[1];
-
-      j(0,1) = x[0];
-      j(1,1) = 3 * x[0] + 2 * 0.5 * x[1];
-
-      if (inputs()>2)
-      {
-        j(0,2) = 0.5;
-        j(1,2) = 1;
-      }
-      if(values()>2)
-      {
-        j(2,0) = 3 * x[1] * 2 * x[0];
-        j(2,1) = 3 * x[0] * x[0];
-      }
-      if (inputs()>2 && values()>2)
-      {
-        j(2,0) *= x[2];
-        j(2,1) *= x[2];
-
-        j(2,2) = 3 * x[1] * x[0] * x[0];
-        j(2,2) = 3 * x[1] * x[0] * x[0];
-      }
-    }
-  }
-};
-
-template<typename Func> void adolc_forward_jacobian(const Func& f)
-{
-    typename Func::InputType x = Func::InputType::Random(f.inputs());
-    typename Func::ValueType y(f.values()), yref(f.values());
-    typename Func::JacobianType j(f.values(),f.inputs()), jref(f.values(),f.inputs());
-
-    jref.setZero();
-    yref.setZero();
-    f(x,&yref,&jref);
-//     std::cerr << y.transpose() << "\n\n";;
-//     std::cerr << j << "\n\n";;
-
-    j.setZero();
-    y.setZero();
-    AdolcForwardJacobian<Func> autoj(f);
-    autoj(x, &y, &j);
-//     std::cerr << y.transpose() << "\n\n";;
-//     std::cerr << j << "\n\n";;
-
-    VERIFY_IS_APPROX(y, yref);
-    VERIFY_IS_APPROX(j, jref);
-}
-
-void test_forward_adolc()
-{
-  adtl::ADOLC_numDir = NUMBER_DIRECTIONS;
-
-  for(int i = 0; i < g_repeat; i++) {
-    CALL_SUBTEST(( adolc_forward_jacobian(TestFunc1<double,2,2>()) ));
-    CALL_SUBTEST(( adolc_forward_jacobian(TestFunc1<double,2,3>()) ));
-    CALL_SUBTEST(( adolc_forward_jacobian(TestFunc1<double,3,2>()) ));
-    CALL_SUBTEST(( adolc_forward_jacobian(TestFunc1<double,3,3>()) ));
-    CALL_SUBTEST(( adolc_forward_jacobian(TestFunc1<double>(3,3)) ));
-  }
-
-  {
-    // simple instanciation tests
-    Matrix<adtl::adouble,2,1> x;
-    foo(x);
-    Matrix<adtl::adouble,Dynamic,Dynamic> A(4,4);;
-    A.selfadjointView<Lower>().eigenvalues();
-  }
-}
diff --git a/eigenlib/unsupported/test/gmres.cpp b/eigenlib/unsupported/test/gmres.cpp
deleted file mode 100644
index f2969116..00000000
--- a/eigenlib/unsupported/test/gmres.cpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2012 Kolja Brix <brix@igpm.rwth-aaachen.de>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "../../test/sparse_solver.h"
-#include <Eigen/IterativeSolvers>
-
-template<typename T> void test_gmres_T()
-{
-  GMRES<SparseMatrix<T>, DiagonalPreconditioner<T> > gmres_colmajor_diag;
-  GMRES<SparseMatrix<T>, IdentityPreconditioner    > gmres_colmajor_I;
-  GMRES<SparseMatrix<T>, IncompleteLUT<T> >           gmres_colmajor_ilut;
-  //GMRES<SparseMatrix<T>, SSORPreconditioner<T> >     gmres_colmajor_ssor;
-
-  CALL_SUBTEST( check_sparse_square_solving(gmres_colmajor_diag)  );
-//   CALL_SUBTEST( check_sparse_square_solving(gmres_colmajor_I)     );
-  CALL_SUBTEST( check_sparse_square_solving(gmres_colmajor_ilut)     );
-  //CALL_SUBTEST( check_sparse_square_solving(gmres_colmajor_ssor)     );
-}
-
-void test_gmres()
-{
-  CALL_SUBTEST_1(test_gmres_T<double>());
-  CALL_SUBTEST_2(test_gmres_T<std::complex<double> >());
-}
diff --git a/eigenlib/unsupported/test/jacobisvd.cpp b/eigenlib/unsupported/test/jacobisvd.cpp
deleted file mode 100644
index b4e884ee..00000000
--- a/eigenlib/unsupported/test/jacobisvd.cpp
+++ /dev/null
@@ -1,198 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "svd_common.h"
-
-template<typename MatrixType, int QRPreconditioner>
-void jacobisvd_check_full(const MatrixType& m, const JacobiSVD<MatrixType, QRPreconditioner>& svd)
-{
-  svd_check_full<MatrixType, JacobiSVD<MatrixType, QRPreconditioner > >(m, svd);
-}
-
-template<typename MatrixType, int QRPreconditioner>
-void jacobisvd_compare_to_full(const MatrixType& m,
-                               unsigned int computationOptions,
-                               const JacobiSVD<MatrixType, QRPreconditioner>& referenceSvd)
-{
-  svd_compare_to_full<MatrixType, JacobiSVD<MatrixType, QRPreconditioner> >(m, computationOptions, referenceSvd);
-}
-
-
-template<typename MatrixType, int QRPreconditioner>
-void jacobisvd_solve(const MatrixType& m, unsigned int computationOptions)
-{
-  svd_solve< MatrixType, JacobiSVD< MatrixType, QRPreconditioner > >(m, computationOptions);
-}
-
-
-
-template<typename MatrixType, int QRPreconditioner>
-void jacobisvd_test_all_computation_options(const MatrixType& m)
-{
-  
-  if (QRPreconditioner == NoQRPreconditioner && m.rows() != m.cols())
-    return;
-
-  JacobiSVD< MatrixType, QRPreconditioner > fullSvd(m, ComputeFullU|ComputeFullV);
-  svd_test_computation_options_1< MatrixType, JacobiSVD< MatrixType, QRPreconditioner > >(m, fullSvd);
-
-  if(QRPreconditioner == FullPivHouseholderQRPreconditioner)
-    return;
-  svd_test_computation_options_2< MatrixType, JacobiSVD< MatrixType, QRPreconditioner > >(m, fullSvd);
-
-}
-
-template<typename MatrixType>
-void jacobisvd(const MatrixType& a = MatrixType(), bool pickrandom = true)
-{
-  MatrixType m = pickrandom ? MatrixType::Random(a.rows(), a.cols()) : a;
-
-  jacobisvd_test_all_computation_options<MatrixType, FullPivHouseholderQRPreconditioner>(m);
-  jacobisvd_test_all_computation_options<MatrixType, ColPivHouseholderQRPreconditioner>(m);
-  jacobisvd_test_all_computation_options<MatrixType, HouseholderQRPreconditioner>(m);
-  jacobisvd_test_all_computation_options<MatrixType, NoQRPreconditioner>(m);
-}
-
-
-template<typename MatrixType> 
-void jacobisvd_verify_assert(const MatrixType& m)
-{
-  
-  svd_verify_assert<MatrixType, JacobiSVD< MatrixType > >(m);
-
-  typedef typename MatrixType::Index Index;
-  Index rows = m.rows();
-  Index cols = m.cols();
-
-  enum {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime
-  };
-
-  MatrixType a = MatrixType::Zero(rows, cols);
-  a.setZero();
-
-  if (ColsAtCompileTime == Dynamic)
-  {
-    JacobiSVD<MatrixType, FullPivHouseholderQRPreconditioner> svd_fullqr;
-    VERIFY_RAISES_ASSERT(svd_fullqr.compute(a, ComputeFullU|ComputeThinV))
-    VERIFY_RAISES_ASSERT(svd_fullqr.compute(a, ComputeThinU|ComputeThinV))
-    VERIFY_RAISES_ASSERT(svd_fullqr.compute(a, ComputeThinU|ComputeFullV))
-  }
-}
-
-template<typename MatrixType>
-void jacobisvd_method()
-{
-  enum { Size = MatrixType::RowsAtCompileTime };
-  typedef typename MatrixType::RealScalar RealScalar;
-  typedef Matrix<RealScalar, Size, 1> RealVecType;
-  MatrixType m = MatrixType::Identity();
-  VERIFY_IS_APPROX(m.jacobiSvd().singularValues(), RealVecType::Ones());
-  VERIFY_RAISES_ASSERT(m.jacobiSvd().matrixU());
-  VERIFY_RAISES_ASSERT(m.jacobiSvd().matrixV());
-  VERIFY_IS_APPROX(m.jacobiSvd(ComputeFullU|ComputeFullV).solve(m), m);
-}
-
-
-
-template<typename MatrixType>
-void jacobisvd_inf_nan()
-{
-  svd_inf_nan<MatrixType, JacobiSVD< MatrixType > >();
-}
-
-
-// Regression test for bug 286: JacobiSVD loops indefinitely with some
-// matrices containing denormal numbers.
-void jacobisvd_bug286()
-{
-#if defined __INTEL_COMPILER
-// shut up warning #239: floating point underflow
-#pragma warning push
-#pragma warning disable 239
-#endif
-  Matrix2d M;
-  M << -7.90884e-313, -4.94e-324,
-                 0, 5.60844e-313;
-#if defined __INTEL_COMPILER
-#pragma warning pop
-#endif
-  JacobiSVD<Matrix2d> svd;
-  svd.compute(M); // just check we don't loop indefinitely
-}
-
-
-void jacobisvd_preallocate()
-{
-  svd_preallocate< JacobiSVD <MatrixXf> >();
-}
-
-void test_jacobisvd()
-{
-  CALL_SUBTEST_11(( jacobisvd<Matrix<double,Dynamic,Dynamic> >
-		    (Matrix<double,Dynamic,Dynamic>(16, 6)) ));
-
-  CALL_SUBTEST_3(( jacobisvd_verify_assert(Matrix3f()) ));
-  CALL_SUBTEST_4(( jacobisvd_verify_assert(Matrix4d()) ));
-  CALL_SUBTEST_7(( jacobisvd_verify_assert(MatrixXf(10,12)) ));
-  CALL_SUBTEST_8(( jacobisvd_verify_assert(MatrixXcd(7,5)) ));
-
-  for(int i = 0; i < g_repeat; i++) {
-    Matrix2cd m;
-    m << 0, 1,
-         0, 1;
-    CALL_SUBTEST_1(( jacobisvd(m, false) ));
-    m << 1, 0,
-         1, 0;
-    CALL_SUBTEST_1(( jacobisvd(m, false) ));
-
-    Matrix2d n;
-    n << 0, 0,
-         0, 0;
-    CALL_SUBTEST_2(( jacobisvd(n, false) ));
-    n << 0, 0,
-         0, 1;
-    CALL_SUBTEST_2(( jacobisvd(n, false) ));
-    
-    CALL_SUBTEST_3(( jacobisvd<Matrix3f>() ));
-    CALL_SUBTEST_4(( jacobisvd<Matrix4d>() ));
-    CALL_SUBTEST_5(( jacobisvd<Matrix<float,3,5> >() ));
-    CALL_SUBTEST_6(( jacobisvd<Matrix<double,Dynamic,2> >(Matrix<double,Dynamic,2>(10,2)) ));
-
-    int r = internal::random<int>(1, 30),
-        c = internal::random<int>(1, 30);
-    CALL_SUBTEST_7(( jacobisvd<MatrixXf>(MatrixXf(r,c)) ));
-    CALL_SUBTEST_8(( jacobisvd<MatrixXcd>(MatrixXcd(r,c)) ));
-    (void) r;
-    (void) c;
-
-    // Test on inf/nan matrix
-    CALL_SUBTEST_7( jacobisvd_inf_nan<MatrixXf>() );
-  }
-
-  CALL_SUBTEST_7(( jacobisvd<MatrixXf>(MatrixXf(internal::random<int>(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/2), internal::random<int>(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/2))) ));
-  CALL_SUBTEST_8(( jacobisvd<MatrixXcd>(MatrixXcd(internal::random<int>(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/3), internal::random<int>(EIGEN_TEST_MAX_SIZE/4, EIGEN_TEST_MAX_SIZE/3))) ));
-
-
-  // test matrixbase method
-  CALL_SUBTEST_1(( jacobisvd_method<Matrix2cd>() ));
-  CALL_SUBTEST_3(( jacobisvd_method<Matrix3f>() ));
-
-
-  // Test problem size constructors
-  CALL_SUBTEST_7( JacobiSVD<MatrixXf>(10,10) );
-
-  // Check that preallocation avoids subsequent mallocs
-  CALL_SUBTEST_9( jacobisvd_preallocate() );
-
-  // Regression check for bug 286
-  CALL_SUBTEST_2( jacobisvd_bug286() );
-}
diff --git a/eigenlib/unsupported/test/kronecker_product.cpp b/eigenlib/unsupported/test/kronecker_product.cpp
deleted file mode 100644
index 8ddc6ec2..00000000
--- a/eigenlib/unsupported/test/kronecker_product.cpp
+++ /dev/null
@@ -1,181 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Kolja Brix <brix@igpm.rwth-aachen.de>
-// Copyright (C) 2011 Andreas Platen <andiplaten@gmx.de>
-// Copyright (C) 2012 Chen-Pang He <jdh8@ms63.hinet.net>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-
-#include "sparse.h"
-#include <Eigen/SparseExtra>
-#include <Eigen/KroneckerProduct>
-
-
-template<typename MatrixType>
-void check_dimension(const MatrixType& ab, const int rows,  const int cols)
-{
-  VERIFY_IS_EQUAL(ab.rows(), rows);
-  VERIFY_IS_EQUAL(ab.cols(), cols);
-}
-
-
-template<typename MatrixType>
-void check_kronecker_product(const MatrixType& ab)
-{
-  VERIFY_IS_EQUAL(ab.rows(), 6);
-  VERIFY_IS_EQUAL(ab.cols(), 6);
-  VERIFY_IS_EQUAL(ab.nonZeros(),  36);
-  VERIFY_IS_APPROX(ab.coeff(0,0), -0.4017367630386106);
-  VERIFY_IS_APPROX(ab.coeff(0,1),  0.1056863433932735);
-  VERIFY_IS_APPROX(ab.coeff(0,2), -0.7255206194554212);
-  VERIFY_IS_APPROX(ab.coeff(0,3),  0.1908653336744706);
-  VERIFY_IS_APPROX(ab.coeff(0,4),  0.350864567234111);
-  VERIFY_IS_APPROX(ab.coeff(0,5), -0.0923032108308013);
-  VERIFY_IS_APPROX(ab.coeff(1,0),  0.415417514804677);
-  VERIFY_IS_APPROX(ab.coeff(1,1), -0.2369227701722048);
-  VERIFY_IS_APPROX(ab.coeff(1,2),  0.7502275131458511);
-  VERIFY_IS_APPROX(ab.coeff(1,3), -0.4278731019742696);
-  VERIFY_IS_APPROX(ab.coeff(1,4), -0.3628129162264507);
-  VERIFY_IS_APPROX(ab.coeff(1,5),  0.2069210808481275);
-  VERIFY_IS_APPROX(ab.coeff(2,0),  0.05465890160863986);
-  VERIFY_IS_APPROX(ab.coeff(2,1), -0.2634092511419858);
-  VERIFY_IS_APPROX(ab.coeff(2,2),  0.09871180285793758);
-  VERIFY_IS_APPROX(ab.coeff(2,3), -0.4757066334017702);
-  VERIFY_IS_APPROX(ab.coeff(2,4), -0.04773740823058334);
-  VERIFY_IS_APPROX(ab.coeff(2,5),  0.2300535609645254);
-  VERIFY_IS_APPROX(ab.coeff(3,0), -0.8172945853260133);
-  VERIFY_IS_APPROX(ab.coeff(3,1),  0.2150086428359221);
-  VERIFY_IS_APPROX(ab.coeff(3,2),  0.5825113847292743);
-  VERIFY_IS_APPROX(ab.coeff(3,3), -0.1532433770097174);
-  VERIFY_IS_APPROX(ab.coeff(3,4), -0.329383387282399);
-  VERIFY_IS_APPROX(ab.coeff(3,5),  0.08665207912033064);
-  VERIFY_IS_APPROX(ab.coeff(4,0),  0.8451267514863225);
-  VERIFY_IS_APPROX(ab.coeff(4,1), -0.481996458918977);
-  VERIFY_IS_APPROX(ab.coeff(4,2), -0.6023482390791535);
-  VERIFY_IS_APPROX(ab.coeff(4,3),  0.3435339347164565);
-  VERIFY_IS_APPROX(ab.coeff(4,4),  0.3406002157428891);
-  VERIFY_IS_APPROX(ab.coeff(4,5), -0.1942526344200915);
-  VERIFY_IS_APPROX(ab.coeff(5,0),  0.1111982482925399);
-  VERIFY_IS_APPROX(ab.coeff(5,1), -0.5358806424754169);
-  VERIFY_IS_APPROX(ab.coeff(5,2), -0.07925446559335647);
-  VERIFY_IS_APPROX(ab.coeff(5,3),  0.3819388757769038);
-  VERIFY_IS_APPROX(ab.coeff(5,4),  0.04481475387219876);
-  VERIFY_IS_APPROX(ab.coeff(5,5), -0.2159688616158057);
-}
-
-
-template<typename MatrixType>
-void check_sparse_kronecker_product(const MatrixType& ab)
-{
-  VERIFY_IS_EQUAL(ab.rows(), 12);
-  VERIFY_IS_EQUAL(ab.cols(), 10);
-  VERIFY_IS_EQUAL(ab.nonZeros(), 3*2);
-  VERIFY_IS_APPROX(ab.coeff(3,0), -0.04);
-  VERIFY_IS_APPROX(ab.coeff(5,1),  0.05);
-  VERIFY_IS_APPROX(ab.coeff(0,6), -0.08);
-  VERIFY_IS_APPROX(ab.coeff(2,7),  0.10);
-  VERIFY_IS_APPROX(ab.coeff(6,8),  0.12);
-  VERIFY_IS_APPROX(ab.coeff(8,9), -0.15);
-}
-
-
-void test_kronecker_product()
-{
-  // DM = dense matrix; SM = sparse matrix
-
-  Matrix<double, 2, 3> DM_a;
-  SparseMatrix<double> SM_a(2,3);
-  SM_a.insert(0,0) = DM_a.coeffRef(0,0) = -0.4461540300782201;
-  SM_a.insert(0,1) = DM_a.coeffRef(0,1) = -0.8057364375283049;
-  SM_a.insert(0,2) = DM_a.coeffRef(0,2) =  0.3896572459516341;
-  SM_a.insert(1,0) = DM_a.coeffRef(1,0) = -0.9076572187376921;
-  SM_a.insert(1,1) = DM_a.coeffRef(1,1) =  0.6469156566545853;
-  SM_a.insert(1,2) = DM_a.coeffRef(1,2) = -0.3658010398782789;
- 
-  MatrixXd             DM_b(3,2);
-  SparseMatrix<double> SM_b(3,2);
-  SM_b.insert(0,0) = DM_b.coeffRef(0,0) =  0.9004440976767099;
-  SM_b.insert(0,1) = DM_b.coeffRef(0,1) = -0.2368830858139832;
-  SM_b.insert(1,0) = DM_b.coeffRef(1,0) = -0.9311078389941825;
-  SM_b.insert(1,1) = DM_b.coeffRef(1,1) =  0.5310335762980047;
-  SM_b.insert(2,0) = DM_b.coeffRef(2,0) = -0.1225112806872035;
-  SM_b.insert(2,1) = DM_b.coeffRef(2,1) =  0.5903998022741264;
-
-  SparseMatrix<double,RowMajor> SM_row_a(SM_a), SM_row_b(SM_b);
-
-  // test kroneckerProduct(DM_block,DM,DM_fixedSize)
-  Matrix<double, 6, 6> DM_fix_ab = kroneckerProduct(DM_a.topLeftCorner<2,3>(),DM_b);
-
-  CALL_SUBTEST(check_kronecker_product(DM_fix_ab));
-
-  for(int i=0;i<DM_fix_ab.rows();++i)
-    for(int j=0;j<DM_fix_ab.cols();++j)
-       VERIFY_IS_APPROX(kroneckerProduct(DM_a,DM_b).coeff(i,j), DM_fix_ab(i,j));
-
-  // test kroneckerProduct(DM,DM,DM_block)
-  MatrixXd DM_block_ab(10,15);
-  DM_block_ab.block<6,6>(2,5) = kroneckerProduct(DM_a,DM_b);
-  CALL_SUBTEST(check_kronecker_product(DM_block_ab.block<6,6>(2,5)));
-
-  // test kroneckerProduct(DM,DM,DM)
-  MatrixXd DM_ab = kroneckerProduct(DM_a,DM_b);
-  CALL_SUBTEST(check_kronecker_product(DM_ab));
-
-  // test kroneckerProduct(SM,DM,SM)
-  SparseMatrix<double> SM_ab = kroneckerProduct(SM_a,DM_b);
-  CALL_SUBTEST(check_kronecker_product(SM_ab));
-  SparseMatrix<double,RowMajor> SM_ab2 = kroneckerProduct(SM_a,DM_b);
-  CALL_SUBTEST(check_kronecker_product(SM_ab2));
-
-  // test kroneckerProduct(DM,SM,SM)
-  SM_ab.setZero();
-  SM_ab.insert(0,0)=37.0;
-  SM_ab = kroneckerProduct(DM_a,SM_b);
-  CALL_SUBTEST(check_kronecker_product(SM_ab));
-  SM_ab2.setZero();
-  SM_ab2.insert(0,0)=37.0;
-  SM_ab2 = kroneckerProduct(DM_a,SM_b);
-  CALL_SUBTEST(check_kronecker_product(SM_ab2));
-
-  // test kroneckerProduct(SM,SM,SM)
-  SM_ab.resize(2,33);
-  SM_ab.insert(0,0)=37.0;
-  SM_ab = kroneckerProduct(SM_a,SM_b);
-  CALL_SUBTEST(check_kronecker_product(SM_ab));
-  SM_ab2.resize(5,11);
-  SM_ab2.insert(0,0)=37.0;
-  SM_ab2 = kroneckerProduct(SM_a,SM_b);
-  CALL_SUBTEST(check_kronecker_product(SM_ab2));
-
-  // test kroneckerProduct(SM,SM,SM) with sparse pattern
-  SM_a.resize(4,5);
-  SM_b.resize(3,2);
-  SM_a.resizeNonZeros(0);
-  SM_b.resizeNonZeros(0);
-  SM_a.insert(1,0) = -0.1;
-  SM_a.insert(0,3) = -0.2;
-  SM_a.insert(2,4) =  0.3;
-  SM_a.finalize();
-  
-  SM_b.insert(0,0) =  0.4;
-  SM_b.insert(2,1) = -0.5;
-  SM_b.finalize();
-  SM_ab.resize(1,1);
-  SM_ab.insert(0,0)=37.0;
-  SM_ab = kroneckerProduct(SM_a,SM_b);
-  CALL_SUBTEST(check_sparse_kronecker_product(SM_ab));
-
-  // test dimension of result of kroneckerProduct(DM,DM,DM)
-  MatrixXd DM_a2(2,1);
-  MatrixXd DM_b2(5,4);
-  MatrixXd DM_ab2 = kroneckerProduct(DM_a2,DM_b2);
-  CALL_SUBTEST(check_dimension(DM_ab2,2*5,1*4));
-  DM_a2.resize(10,9);
-  DM_b2.resize(4,8);
-  DM_ab2 = kroneckerProduct(DM_a2,DM_b2);
-  CALL_SUBTEST(check_dimension(DM_ab2,10*4,9*8));
-}
diff --git a/eigenlib/unsupported/test/levenberg_marquardt.cpp b/eigenlib/unsupported/test/levenberg_marquardt.cpp
deleted file mode 100644
index 04464727..00000000
--- a/eigenlib/unsupported/test/levenberg_marquardt.cpp
+++ /dev/null
@@ -1,1448 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Thomas Capricelli <orzel@freehackers.org>
-// Copyright (C) 2012 desire Nuentsa <desire.nuentsa_wakam@inria.fr
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-
-#include <stdio.h>
-
-#include "main.h"
-#include <unsupported/Eigen/LevenbergMarquardt>
-
-// This disables some useless Warnings on MSVC.
-// It is intended to be done for this test only.
-#include <Eigen/src/Core/util/DisableStupidWarnings.h>
-
-using std::sqrt;
-
-struct lmder_functor : DenseFunctor<double>
-{
-    lmder_functor(void): DenseFunctor<double>(3,15) {}
-    int operator()(const VectorXd &x, VectorXd &fvec) const
-    {
-        double tmp1, tmp2, tmp3;
-        static const double y[15] = {1.4e-1, 1.8e-1, 2.2e-1, 2.5e-1, 2.9e-1, 3.2e-1, 3.5e-1,
-            3.9e-1, 3.7e-1, 5.8e-1, 7.3e-1, 9.6e-1, 1.34, 2.1, 4.39};
-
-        for (int i = 0; i < values(); i++)
-        {
-            tmp1 = i+1;
-            tmp2 = 16 - i - 1;
-            tmp3 = (i>=8)? tmp2 : tmp1;
-            fvec[i] = y[i] - (x[0] + tmp1/(x[1]*tmp2 + x[2]*tmp3));
-        }
-        return 0;
-    }
-
-    int df(const VectorXd &x, MatrixXd &fjac) const
-    {
-        double tmp1, tmp2, tmp3, tmp4;
-        for (int i = 0; i < values(); i++)
-        {
-            tmp1 = i+1;
-            tmp2 = 16 - i - 1;
-            tmp3 = (i>=8)? tmp2 : tmp1;
-            tmp4 = (x[1]*tmp2 + x[2]*tmp3); tmp4 = tmp4*tmp4;
-            fjac(i,0) = -1;
-            fjac(i,1) = tmp1*tmp2/tmp4;
-            fjac(i,2) = tmp1*tmp3/tmp4;
-        }
-        return 0;
-    }
-};
-
-void testLmder1()
-{
-  int n=3, info;
-
-  VectorXd x;
-
-  /* the following starting values provide a rough fit. */
-  x.setConstant(n, 1.);
-
-  // do the computation
-  lmder_functor functor;
-  LevenbergMarquardt<lmder_functor> lm(functor);
-  info = lm.lmder1(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 6);
-  VERIFY_IS_EQUAL(lm.njev(), 5);
-
-  // check norm
-  VERIFY_IS_APPROX(lm.fvec().blueNorm(), 0.09063596);
-
-  // check x
-  VectorXd x_ref(n);
-  x_ref << 0.08241058, 1.133037, 2.343695;
-  VERIFY_IS_APPROX(x, x_ref);
-}
-
-void testLmder()
-{
-  const int m=15, n=3;
-  int info;
-  double fnorm, covfac;
-  VectorXd x;
-
-  /* the following starting values provide a rough fit. */
-  x.setConstant(n, 1.);
-
-  // do the computation
-  lmder_functor functor;
-  LevenbergMarquardt<lmder_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return values
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 6);
-  VERIFY_IS_EQUAL(lm.njev(), 5);
-
-  // check norm
-  fnorm = lm.fvec().blueNorm();
-  VERIFY_IS_APPROX(fnorm, 0.09063596);
-
-  // check x
-  VectorXd x_ref(n);
-  x_ref << 0.08241058, 1.133037, 2.343695;
-  VERIFY_IS_APPROX(x, x_ref);
-
-  // check covariance
-  covfac = fnorm*fnorm/(m-n);
-  internal::covar(lm.matrixR(), lm.permutation().indices()); // TODO : move this as a function of lm
-
-  MatrixXd cov_ref(n,n);
-  cov_ref <<
-      0.0001531202,   0.002869941,  -0.002656662,
-      0.002869941,    0.09480935,   -0.09098995,
-      -0.002656662,   -0.09098995,    0.08778727;
-
-//  std::cout << fjac*covfac << std::endl;
-
-  MatrixXd cov;
-  cov =  covfac*lm.matrixR().topLeftCorner<n,n>();
-  VERIFY_IS_APPROX( cov, cov_ref);
-  // TODO: why isn't this allowed ? :
-  // VERIFY_IS_APPROX( covfac*fjac.topLeftCorner<n,n>() , cov_ref);
-}
-
-struct lmdif_functor : DenseFunctor<double>
-{
-    lmdif_functor(void) : DenseFunctor<double>(3,15) {}
-    int operator()(const VectorXd &x, VectorXd &fvec) const
-    {
-        int i;
-        double tmp1,tmp2,tmp3;
-        static const double y[15]={1.4e-1,1.8e-1,2.2e-1,2.5e-1,2.9e-1,3.2e-1,3.5e-1,3.9e-1,
-            3.7e-1,5.8e-1,7.3e-1,9.6e-1,1.34e0,2.1e0,4.39e0};
-
-        assert(x.size()==3);
-        assert(fvec.size()==15);
-        for (i=0; i<15; i++)
-        {
-            tmp1 = i+1;
-            tmp2 = 15 - i;
-            tmp3 = tmp1;
-
-            if (i >= 8) tmp3 = tmp2;
-            fvec[i] = y[i] - (x[0] + tmp1/(x[1]*tmp2 + x[2]*tmp3));
-        }
-        return 0;
-    }
-};
-
-void testLmdif1()
-{
-  const int n=3;
-  int info;
-
-  VectorXd x(n), fvec(15);
-
-  /* the following starting values provide a rough fit. */
-  x.setConstant(n, 1.);
-
-  // do the computation
-  lmdif_functor functor;
-  DenseIndex nfev;
-  info = LevenbergMarquardt<lmdif_functor>::lmdif1(functor, x, &nfev);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-//   VERIFY_IS_EQUAL(nfev, 26);
-
-  // check norm
-  functor(x, fvec);
-  VERIFY_IS_APPROX(fvec.blueNorm(), 0.09063596);
-
-  // check x
-  VectorXd x_ref(n);
-  x_ref << 0.0824106, 1.1330366, 2.3436947;
-  VERIFY_IS_APPROX(x, x_ref);
-
-}
-
-void testLmdif()
-{
-  const int m=15, n=3;
-  int info;
-  double fnorm, covfac;
-  VectorXd x(n);
-
-  /* the following starting values provide a rough fit. */
-  x.setConstant(n, 1.);
-
-  // do the computation
-  lmdif_functor functor;
-  NumericalDiff<lmdif_functor> numDiff(functor);
-  LevenbergMarquardt<NumericalDiff<lmdif_functor> > lm(numDiff);
-  info = lm.minimize(x);
-
-  // check return values
-  VERIFY_IS_EQUAL(info, 1);
-//   VERIFY_IS_EQUAL(lm.nfev(), 26);
-
-  // check norm
-  fnorm = lm.fvec().blueNorm();
-  VERIFY_IS_APPROX(fnorm, 0.09063596);
-
-  // check x
-  VectorXd x_ref(n);
-  x_ref << 0.08241058, 1.133037, 2.343695;
-  VERIFY_IS_APPROX(x, x_ref);
-
-  // check covariance
-  covfac = fnorm*fnorm/(m-n);
-  internal::covar(lm.matrixR(), lm.permutation().indices()); // TODO : move this as a function of lm
-
-  MatrixXd cov_ref(n,n);
-  cov_ref <<
-      0.0001531202,   0.002869942,  -0.002656662,
-      0.002869942,    0.09480937,   -0.09098997,
-      -0.002656662,   -0.09098997,    0.08778729;
-
-//  std::cout << fjac*covfac << std::endl;
-
-  MatrixXd cov;
-  cov =  covfac*lm.matrixR().topLeftCorner<n,n>();
-  VERIFY_IS_APPROX( cov, cov_ref);
-  // TODO: why isn't this allowed ? :
-  // VERIFY_IS_APPROX( covfac*fjac.topLeftCorner<n,n>() , cov_ref);
-}
-
-struct chwirut2_functor : DenseFunctor<double>
-{
-    chwirut2_functor(void) : DenseFunctor<double>(3,54) {}
-    static const double m_x[54];
-    static const double m_y[54];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        int i;
-
-        assert(b.size()==3);
-        assert(fvec.size()==54);
-        for(i=0; i<54; i++) {
-            double x = m_x[i];
-            fvec[i] = exp(-b[0]*x)/(b[1]+b[2]*x) - m_y[i];
-        }
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==3);
-        assert(fjac.rows()==54);
-        assert(fjac.cols()==3);
-        for(int i=0; i<54; i++) {
-            double x = m_x[i];
-            double factor = 1./(b[1]+b[2]*x);
-            double e = exp(-b[0]*x);
-            fjac(i,0) = -x*e*factor;
-            fjac(i,1) = -e*factor*factor;
-            fjac(i,2) = -x*e*factor*factor;
-        }
-        return 0;
-    }
-};
-const double chwirut2_functor::m_x[54] = { 0.500E0, 1.000E0, 1.750E0, 3.750E0, 5.750E0, 0.875E0, 2.250E0, 3.250E0, 5.250E0, 0.750E0, 1.750E0, 2.750E0, 4.750E0, 0.625E0, 1.250E0, 2.250E0, 4.250E0, .500E0, 3.000E0, .750E0, 3.000E0, 1.500E0, 6.000E0, 3.000E0, 6.000E0, 1.500E0, 3.000E0, .500E0, 2.000E0, 4.000E0, .750E0, 2.000E0, 5.000E0, .750E0, 2.250E0, 3.750E0, 5.750E0, 3.000E0, .750E0, 2.500E0, 4.000E0, .750E0, 2.500E0, 4.000E0, .750E0, 2.500E0, 4.000E0, .500E0, 6.000E0, 3.000E0, .500E0, 2.750E0, .500E0, 1.750E0};
-const double chwirut2_functor::m_y[54] = { 92.9000E0 ,57.1000E0 ,31.0500E0 ,11.5875E0 ,8.0250E0 ,63.6000E0 ,21.4000E0 ,14.2500E0 ,8.4750E0 ,63.8000E0 ,26.8000E0 ,16.4625E0 ,7.1250E0 ,67.3000E0 ,41.0000E0 ,21.1500E0 ,8.1750E0 ,81.5000E0 ,13.1200E0 ,59.9000E0 ,14.6200E0 ,32.9000E0 ,5.4400E0 ,12.5600E0 ,5.4400E0 ,32.0000E0 ,13.9500E0 ,75.8000E0 ,20.0000E0 ,10.4200E0 ,59.5000E0 ,21.6700E0 ,8.5500E0 ,62.0000E0 ,20.2000E0 ,7.7600E0 ,3.7500E0 ,11.8100E0 ,54.7000E0 ,23.7000E0 ,11.5500E0 ,61.3000E0 ,17.7000E0 ,8.7400E0 ,59.2000E0 ,16.3000E0 ,8.6200E0 ,81.0000E0 ,4.8700E0 ,14.6200E0 ,81.7000E0 ,17.1700E0 ,81.3000E0 ,28.9000E0  };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/chwirut2.shtml
-void testNistChwirut2(void)
-{
-  const int n=3;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 0.1, 0.01, 0.02;
-  // do the computation
-  chwirut2_functor functor;
-  LevenbergMarquardt<chwirut2_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-//   VERIFY_IS_EQUAL(lm.nfev(), 10);
-  VERIFY_IS_EQUAL(lm.njev(), 8);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 5.1304802941E+02);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.6657666537E-01);
-  VERIFY_IS_APPROX(x[1], 5.1653291286E-03);
-  VERIFY_IS_APPROX(x[2], 1.2150007096E-02);
-
-  /*
-   * Second try
-   */
-  x<< 0.15, 0.008, 0.010;
-  // do the computation
-  lm.resetParameters();
-  lm.setFtol(1.E6*NumTraits<double>::epsilon());
-  lm.setXtol(1.E6*NumTraits<double>::epsilon());
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-//   VERIFY_IS_EQUAL(lm.nfev(), 7);
-  VERIFY_IS_EQUAL(lm.njev(), 6);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 5.1304802941E+02);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.6657666537E-01);
-  VERIFY_IS_APPROX(x[1], 5.1653291286E-03);
-  VERIFY_IS_APPROX(x[2], 1.2150007096E-02);
-}
-
-
-struct misra1a_functor : DenseFunctor<double>
-{
-    misra1a_functor(void) : DenseFunctor<double>(2,14) {}
-    static const double m_x[14];
-    static const double m_y[14];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==2);
-        assert(fvec.size()==14);
-        for(int i=0; i<14; i++) {
-            fvec[i] = b[0]*(1.-exp(-b[1]*m_x[i])) - m_y[i] ;
-        }
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==2);
-        assert(fjac.rows()==14);
-        assert(fjac.cols()==2);
-        for(int i=0; i<14; i++) {
-            fjac(i,0) = (1.-exp(-b[1]*m_x[i]));
-            fjac(i,1) = (b[0]*m_x[i]*exp(-b[1]*m_x[i]));
-        }
-        return 0;
-    }
-};
-const double misra1a_functor::m_x[14] = { 77.6E0, 114.9E0, 141.1E0, 190.8E0, 239.9E0, 289.0E0, 332.8E0, 378.4E0, 434.8E0, 477.3E0, 536.8E0, 593.1E0, 689.1E0, 760.0E0};
-const double misra1a_functor::m_y[14] = { 10.07E0, 14.73E0, 17.94E0, 23.93E0, 29.61E0, 35.18E0, 40.02E0, 44.82E0, 50.76E0, 55.05E0, 61.01E0, 66.40E0, 75.47E0, 81.78E0};
-
-// http://www.itl.nist.gov/div898/strd/nls/data/misra1a.shtml
-void testNistMisra1a(void)
-{
-  const int n=2;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 500., 0.0001;
-  // do the computation
-  misra1a_functor functor;
-  LevenbergMarquardt<misra1a_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 19);
-  VERIFY_IS_EQUAL(lm.njev(), 15);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 1.2455138894E-01);
-  // check x
-  VERIFY_IS_APPROX(x[0], 2.3894212918E+02);
-  VERIFY_IS_APPROX(x[1], 5.5015643181E-04);
-
-  /*
-   * Second try
-   */
-  x<< 250., 0.0005;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 5);
-  VERIFY_IS_EQUAL(lm.njev(), 4);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 1.2455138894E-01);
-  // check x
-  VERIFY_IS_APPROX(x[0], 2.3894212918E+02);
-  VERIFY_IS_APPROX(x[1], 5.5015643181E-04);
-}
-
-struct hahn1_functor : DenseFunctor<double>
-{
-    hahn1_functor(void) : DenseFunctor<double>(7,236) {}
-    static const double m_x[236];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        static const double m_y[236] = { .591E0 , 1.547E0 , 2.902E0 , 2.894E0 , 4.703E0 , 6.307E0 , 7.03E0  , 7.898E0 , 9.470E0 , 9.484E0 , 10.072E0 , 10.163E0 , 11.615E0 , 12.005E0 , 12.478E0 , 12.982E0 , 12.970E0 , 13.926E0 , 14.452E0 , 14.404E0 , 15.190E0 , 15.550E0 , 15.528E0 , 15.499E0 , 16.131E0 , 16.438E0 , 16.387E0 , 16.549E0 , 16.872E0 , 16.830E0 , 16.926E0 , 16.907E0 , 16.966E0 , 17.060E0 , 17.122E0 , 17.311E0 , 17.355E0 , 17.668E0 , 17.767E0 , 17.803E0 , 17.765E0 , 17.768E0 , 17.736E0 , 17.858E0 , 17.877E0 , 17.912E0 , 18.046E0 , 18.085E0 , 18.291E0 , 18.357E0 , 18.426E0 , 18.584E0 , 18.610E0 , 18.870E0 , 18.795E0 , 19.111E0 , .367E0 , .796E0 , 0.892E0 , 1.903E0 , 2.150E0 , 3.697E0 , 5.870E0 , 6.421E0 , 7.422E0 , 9.944E0 , 11.023E0 , 11.87E0  , 12.786E0 , 14.067E0 , 13.974E0 , 14.462E0 , 14.464E0 , 15.381E0 , 15.483E0 , 15.59E0  , 16.075E0 , 16.347E0 , 16.181E0 , 16.915E0 , 17.003E0 , 16.978E0 , 17.756E0 , 17.808E0 , 17.868E0 , 18.481E0 , 18.486E0 , 19.090E0 , 16.062E0 , 16.337E0 , 16.345E0 ,
-        16.388E0 , 17.159E0 , 17.116E0 , 17.164E0 , 17.123E0 , 17.979E0 , 17.974E0 , 18.007E0 , 17.993E0 , 18.523E0 , 18.669E0 , 18.617E0 , 19.371E0 , 19.330E0 , 0.080E0 , 0.248E0 , 1.089E0 , 1.418E0 , 2.278E0 , 3.624E0 , 4.574E0 , 5.556E0 , 7.267E0 , 7.695E0 , 9.136E0 , 9.959E0 , 9.957E0 , 11.600E0 , 13.138E0 , 13.564E0 , 13.871E0 , 13.994E0 , 14.947E0 , 15.473E0 , 15.379E0 , 15.455E0 , 15.908E0 , 16.114E0 , 17.071E0 , 17.135E0 , 17.282E0 , 17.368E0 , 17.483E0 , 17.764E0 , 18.185E0 , 18.271E0 , 18.236E0 , 18.237E0 , 18.523E0 , 18.627E0 , 18.665E0 , 19.086E0 , 0.214E0 , 0.943E0 , 1.429E0 , 2.241E0 , 2.951E0 , 3.782E0 , 4.757E0 , 5.602E0 , 7.169E0 , 8.920E0 , 10.055E0 , 12.035E0 , 12.861E0 , 13.436E0 , 14.167E0 , 14.755E0 , 15.168E0 , 15.651E0 , 15.746E0 , 16.216E0 , 16.445E0 , 16.965E0 , 17.121E0 , 17.206E0 , 17.250E0 , 17.339E0 , 17.793E0 , 18.123E0 , 18.49E0  , 18.566E0 , 18.645E0 , 18.706E0 , 18.924E0 , 19.1E0   , 0.375E0 , 0.471E0 , 1.504E0 , 2.204E0 , 2.813E0 , 4.765E0 , 9.835E0 , 10.040E0 , 11.946E0 , 
-12.596E0 , 
-13.303E0 , 13.922E0 , 14.440E0 , 14.951E0 , 15.627E0 , 15.639E0 , 15.814E0 , 16.315E0 , 16.334E0 , 16.430E0 , 16.423E0 , 17.024E0 , 17.009E0 , 17.165E0 , 17.134E0 , 17.349E0 , 17.576E0 , 17.848E0 , 18.090E0 , 18.276E0 , 18.404E0 , 18.519E0 , 19.133E0 , 19.074E0 , 19.239E0 , 19.280E0 , 19.101E0 , 19.398E0 , 19.252E0 , 19.89E0  , 20.007E0 , 19.929E0 , 19.268E0 , 19.324E0 , 20.049E0 , 20.107E0 , 20.062E0 , 20.065E0 , 19.286E0 , 19.972E0 , 20.088E0 , 20.743E0 , 20.83E0  , 20.935E0 , 21.035E0 , 20.93E0  , 21.074E0 , 21.085E0 , 20.935E0 };
-
-        //        int called=0; printf("call hahn1_functor with  iflag=%d, called=%d\n", iflag, called); if (iflag==1) called++;
-
-        assert(b.size()==7);
-        assert(fvec.size()==236);
-        for(int i=0; i<236; i++) {
-            double x=m_x[i], xx=x*x, xxx=xx*x;
-            fvec[i] = (b[0]+b[1]*x+b[2]*xx+b[3]*xxx) / (1.+b[4]*x+b[5]*xx+b[6]*xxx) - m_y[i];
-        }
-        return 0;
-    }
-
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==7);
-        assert(fjac.rows()==236);
-        assert(fjac.cols()==7);
-        for(int i=0; i<236; i++) {
-            double x=m_x[i], xx=x*x, xxx=xx*x;
-            double fact = 1./(1.+b[4]*x+b[5]*xx+b[6]*xxx);
-            fjac(i,0) = 1.*fact;
-            fjac(i,1) = x*fact;
-            fjac(i,2) = xx*fact;
-            fjac(i,3) = xxx*fact;
-            fact = - (b[0]+b[1]*x+b[2]*xx+b[3]*xxx) * fact * fact;
-            fjac(i,4) = x*fact;
-            fjac(i,5) = xx*fact;
-            fjac(i,6) = xxx*fact;
-        }
-        return 0;
-    }
-};
-const double hahn1_functor::m_x[236] = { 24.41E0 , 34.82E0 , 44.09E0 , 45.07E0 , 54.98E0 , 65.51E0 , 70.53E0 , 75.70E0 , 89.57E0 , 91.14E0 , 96.40E0 , 97.19E0 , 114.26E0 , 120.25E0 , 127.08E0 , 133.55E0 , 133.61E0 , 158.67E0 , 172.74E0 , 171.31E0 , 202.14E0 , 220.55E0 , 221.05E0 , 221.39E0 , 250.99E0 , 268.99E0 , 271.80E0 , 271.97E0 , 321.31E0 , 321.69E0 , 330.14E0 , 333.03E0 , 333.47E0 , 340.77E0 , 345.65E0 , 373.11E0 , 373.79E0 , 411.82E0 , 419.51E0 , 421.59E0 , 422.02E0 , 422.47E0 , 422.61E0 , 441.75E0 , 447.41E0 , 448.7E0  , 472.89E0 , 476.69E0 , 522.47E0 , 522.62E0 , 524.43E0 , 546.75E0 , 549.53E0 , 575.29E0 , 576.00E0 , 625.55E0 , 20.15E0 , 28.78E0 , 29.57E0 , 37.41E0 , 39.12E0 , 50.24E0 , 61.38E0 , 66.25E0 , 73.42E0 , 95.52E0 , 107.32E0 , 122.04E0 , 134.03E0 , 163.19E0 , 163.48E0 , 175.70E0 , 179.86E0 , 211.27E0 , 217.78E0 , 219.14E0 , 262.52E0 , 268.01E0 , 268.62E0 , 336.25E0 , 337.23E0 , 339.33E0 , 427.38E0 , 428.58E0 , 432.68E0 , 528.99E0 , 531.08E0 , 628.34E0 , 253.24E0 , 273.13E0 , 273.66E0 ,
-282.10E0 , 346.62E0 , 347.19E0 , 348.78E0 , 351.18E0 , 450.10E0 , 450.35E0 , 451.92E0 , 455.56E0 , 552.22E0 , 553.56E0 , 555.74E0 , 652.59E0 , 656.20E0 , 14.13E0 , 20.41E0 , 31.30E0 , 33.84E0 , 39.70E0 , 48.83E0 , 54.50E0 , 60.41E0 , 72.77E0 , 75.25E0 , 86.84E0 , 94.88E0 , 96.40E0 , 117.37E0 , 139.08E0 , 147.73E0 , 158.63E0 , 161.84E0 , 192.11E0 , 206.76E0 , 209.07E0 , 213.32E0 , 226.44E0 , 237.12E0 , 330.90E0 , 358.72E0 , 370.77E0 , 372.72E0 , 396.24E0 , 416.59E0 , 484.02E0 , 495.47E0 , 514.78E0 , 515.65E0 , 519.47E0 , 544.47E0 , 560.11E0 , 620.77E0 , 18.97E0 , 28.93E0 , 33.91E0 , 40.03E0 , 44.66E0 , 49.87E0 , 55.16E0 , 60.90E0 , 72.08E0 , 85.15E0 , 97.06E0 , 119.63E0 , 133.27E0 , 143.84E0 , 161.91E0 , 180.67E0 , 198.44E0 , 226.86E0 , 229.65E0 , 258.27E0 , 273.77E0 , 339.15E0 , 350.13E0 , 362.75E0 , 371.03E0 , 393.32E0 , 448.53E0 , 473.78E0 , 511.12E0 , 524.70E0 , 548.75E0 , 551.64E0 , 574.02E0 , 623.86E0 , 21.46E0 , 24.33E0 , 33.43E0 , 39.22E0 , 44.18E0 , 55.02E0 , 94.33E0 , 96.44E0 , 118.82E0 , 128.48E0 ,
-141.94E0 , 156.92E0 , 171.65E0 , 190.00E0 , 223.26E0 , 223.88E0 , 231.50E0 , 265.05E0 , 269.44E0 , 271.78E0 , 273.46E0 , 334.61E0 , 339.79E0 , 349.52E0 , 358.18E0 , 377.98E0 , 394.77E0 , 429.66E0 , 468.22E0 , 487.27E0 , 519.54E0 , 523.03E0 , 612.99E0 , 638.59E0 , 641.36E0 , 622.05E0 , 631.50E0 , 663.97E0 , 646.9E0  , 748.29E0 , 749.21E0 , 750.14E0 , 647.04E0 , 646.89E0 , 746.9E0  , 748.43E0 , 747.35E0 , 749.27E0 , 647.61E0 , 747.78E0 , 750.51E0 , 851.37E0 , 845.97E0 , 847.54E0 , 849.93E0 , 851.61E0 , 849.75E0 , 850.98E0 , 848.23E0};
-
-// http://www.itl.nist.gov/div898/strd/nls/data/hahn1.shtml
-void testNistHahn1(void)
-{
-  const int  n=7;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 10., -1., .05, -.00001, -.05, .001, -.000001;
-  // do the computation
-  hahn1_functor functor;
-  LevenbergMarquardt<hahn1_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 11);
-  VERIFY_IS_EQUAL(lm.njev(), 10);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 1.5324382854E+00);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.0776351733E+00);
-  VERIFY_IS_APPROX(x[1],-1.2269296921E-01);
-  VERIFY_IS_APPROX(x[2], 4.0863750610E-03);
-  VERIFY_IS_APPROX(x[3],-1.426264e-06); // shoulde be : -1.4262662514E-06
-  VERIFY_IS_APPROX(x[4],-5.7609940901E-03);
-  VERIFY_IS_APPROX(x[5], 2.4053735503E-04);
-  VERIFY_IS_APPROX(x[6],-1.2314450199E-07);
-
-  /*
-   * Second try
-   */
-  x<< .1, -.1, .005, -.000001, -.005, .0001, -.0000001;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-//   VERIFY_IS_EQUAL(lm.nfev(), 11);
-  VERIFY_IS_EQUAL(lm.njev(), 10);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 1.5324382854E+00);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.077640); // should be :  1.0776351733E+00
-  VERIFY_IS_APPROX(x[1], -0.1226933); // should be : -1.2269296921E-01
-  VERIFY_IS_APPROX(x[2], 0.004086383); // should be : 4.0863750610E-03
-  VERIFY_IS_APPROX(x[3], -1.426277e-06); // shoulde be : -1.4262662514E-06
-  VERIFY_IS_APPROX(x[4],-5.7609940901E-03);
-  VERIFY_IS_APPROX(x[5], 0.00024053772); // should be : 2.4053735503E-04
-  VERIFY_IS_APPROX(x[6], -1.231450e-07); // should be : -1.2314450199E-07
-
-}
-
-struct misra1d_functor : DenseFunctor<double>
-{
-    misra1d_functor(void) : DenseFunctor<double>(2,14) {}
-    static const double x[14];
-    static const double y[14];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==2);
-        assert(fvec.size()==14);
-        for(int i=0; i<14; i++) {
-            fvec[i] = b[0]*b[1]*x[i]/(1.+b[1]*x[i]) - y[i];
-        }
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==2);
-        assert(fjac.rows()==14);
-        assert(fjac.cols()==2);
-        for(int i=0; i<14; i++) {
-            double den = 1.+b[1]*x[i];
-            fjac(i,0) = b[1]*x[i] / den;
-            fjac(i,1) = b[0]*x[i]*(den-b[1]*x[i])/den/den;
-        }
-        return 0;
-    }
-};
-const double misra1d_functor::x[14] = { 77.6E0, 114.9E0, 141.1E0, 190.8E0, 239.9E0, 289.0E0, 332.8E0, 378.4E0, 434.8E0, 477.3E0, 536.8E0, 593.1E0, 689.1E0, 760.0E0};
-const double misra1d_functor::y[14] = { 10.07E0, 14.73E0, 17.94E0, 23.93E0, 29.61E0, 35.18E0, 40.02E0, 44.82E0, 50.76E0, 55.05E0, 61.01E0, 66.40E0, 75.47E0, 81.78E0};
-
-// http://www.itl.nist.gov/div898/strd/nls/data/misra1d.shtml
-void testNistMisra1d(void)
-{
-  const int n=2;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 500., 0.0001;
-  // do the computation
-  misra1d_functor functor;
-  LevenbergMarquardt<misra1d_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 9);
-  VERIFY_IS_EQUAL(lm.njev(), 7);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 5.6419295283E-02);
-  // check x
-  VERIFY_IS_APPROX(x[0], 4.3736970754E+02);
-  VERIFY_IS_APPROX(x[1], 3.0227324449E-04);
-
-  /*
-   * Second try
-   */
-  x<< 450., 0.0003;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 4);
-  VERIFY_IS_EQUAL(lm.njev(), 3);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 5.6419295283E-02);
-  // check x
-  VERIFY_IS_APPROX(x[0], 4.3736970754E+02);
-  VERIFY_IS_APPROX(x[1], 3.0227324449E-04);
-}
-
-
-struct lanczos1_functor : DenseFunctor<double>
-{
-    lanczos1_functor(void) : DenseFunctor<double>(6,24) {}
-    static const double x[24];
-    static const double y[24];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==6);
-        assert(fvec.size()==24);
-        for(int i=0; i<24; i++)
-            fvec[i] = b[0]*exp(-b[1]*x[i]) + b[2]*exp(-b[3]*x[i]) + b[4]*exp(-b[5]*x[i])  - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==6);
-        assert(fjac.rows()==24);
-        assert(fjac.cols()==6);
-        for(int i=0; i<24; i++) {
-            fjac(i,0) = exp(-b[1]*x[i]);
-            fjac(i,1) = -b[0]*x[i]*exp(-b[1]*x[i]);
-            fjac(i,2) = exp(-b[3]*x[i]);
-            fjac(i,3) = -b[2]*x[i]*exp(-b[3]*x[i]);
-            fjac(i,4) = exp(-b[5]*x[i]);
-            fjac(i,5) = -b[4]*x[i]*exp(-b[5]*x[i]);
-        }
-        return 0;
-    }
-};
-const double lanczos1_functor::x[24] = { 0.000000000000E+00, 5.000000000000E-02, 1.000000000000E-01, 1.500000000000E-01, 2.000000000000E-01, 2.500000000000E-01, 3.000000000000E-01, 3.500000000000E-01, 4.000000000000E-01, 4.500000000000E-01, 5.000000000000E-01, 5.500000000000E-01, 6.000000000000E-01, 6.500000000000E-01, 7.000000000000E-01, 7.500000000000E-01, 8.000000000000E-01, 8.500000000000E-01, 9.000000000000E-01, 9.500000000000E-01, 1.000000000000E+00, 1.050000000000E+00, 1.100000000000E+00, 1.150000000000E+00 };
-const double lanczos1_functor::y[24] = { 2.513400000000E+00 ,2.044333373291E+00 ,1.668404436564E+00 ,1.366418021208E+00 ,1.123232487372E+00 ,9.268897180037E-01 ,7.679338563728E-01 ,6.388775523106E-01 ,5.337835317402E-01 ,4.479363617347E-01 ,3.775847884350E-01 ,3.197393199326E-01 ,2.720130773746E-01 ,2.324965529032E-01 ,1.996589546065E-01 ,1.722704126914E-01 ,1.493405660168E-01 ,1.300700206922E-01 ,1.138119324644E-01 ,1.000415587559E-01 ,8.833209084540E-02 ,7.833544019350E-02 ,6.976693743449E-02 ,6.239312536719E-02 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/lanczos1.shtml
-void testNistLanczos1(void)
-{
-  const int n=6;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 1.2, 0.3, 5.6, 5.5, 6.5, 7.6;
-  // do the computation
-  lanczos1_functor functor;
-  LevenbergMarquardt<lanczos1_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 2);
-  VERIFY_IS_EQUAL(lm.nfev(), 79);
-  VERIFY_IS_EQUAL(lm.njev(), 72);
-  // check norm^2
-//   VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 1.430899764097e-25);  // should be 1.4307867721E-25, but nist results are on 128-bit floats
-  // check x
-  VERIFY_IS_APPROX(x[0], 9.5100000027E-02);
-  VERIFY_IS_APPROX(x[1], 1.0000000001E+00);
-  VERIFY_IS_APPROX(x[2], 8.6070000013E-01);
-  VERIFY_IS_APPROX(x[3], 3.0000000002E+00);
-  VERIFY_IS_APPROX(x[4], 1.5575999998E+00);
-  VERIFY_IS_APPROX(x[5], 5.0000000001E+00);
-
-  /*
-   * Second try
-   */
-  x<< 0.5, 0.7, 3.6, 4.2, 4., 6.3;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 2);
-  VERIFY_IS_EQUAL(lm.nfev(), 9);
-  VERIFY_IS_EQUAL(lm.njev(), 8);
-  // check norm^2
-//   VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 1.428595533845e-25);  // should be 1.4307867721E-25, but nist results are on 128-bit floats
-  // check x
-  VERIFY_IS_APPROX(x[0], 9.5100000027E-02);
-  VERIFY_IS_APPROX(x[1], 1.0000000001E+00);
-  VERIFY_IS_APPROX(x[2], 8.6070000013E-01);
-  VERIFY_IS_APPROX(x[3], 3.0000000002E+00);
-  VERIFY_IS_APPROX(x[4], 1.5575999998E+00);
-  VERIFY_IS_APPROX(x[5], 5.0000000001E+00);
-
-}
-
-struct rat42_functor : DenseFunctor<double>
-{
-    rat42_functor(void) : DenseFunctor<double>(3,9) {}
-    static const double x[9];
-    static const double y[9];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==3);
-        assert(fvec.size()==9);
-        for(int i=0; i<9; i++) {
-            fvec[i] = b[0] / (1.+exp(b[1]-b[2]*x[i])) - y[i];
-        }
-        return 0;
-    }
-
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==3);
-        assert(fjac.rows()==9);
-        assert(fjac.cols()==3);
-        for(int i=0; i<9; i++) {
-            double e = exp(b[1]-b[2]*x[i]);
-            fjac(i,0) = 1./(1.+e);
-            fjac(i,1) = -b[0]*e/(1.+e)/(1.+e);
-            fjac(i,2) = +b[0]*e*x[i]/(1.+e)/(1.+e);
-        }
-        return 0;
-    }
-};
-const double rat42_functor::x[9] = { 9.000E0, 14.000E0, 21.000E0, 28.000E0, 42.000E0, 57.000E0, 63.000E0, 70.000E0, 79.000E0 };
-const double rat42_functor::y[9] = { 8.930E0 ,10.800E0 ,18.590E0 ,22.330E0 ,39.350E0 ,56.110E0 ,61.730E0 ,64.620E0 ,67.080E0 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/ratkowsky2.shtml
-void testNistRat42(void)
-{
-  const int n=3;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 100., 1., 0.1;
-  // do the computation
-  rat42_functor functor;
-  LevenbergMarquardt<rat42_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 10);
-  VERIFY_IS_EQUAL(lm.njev(), 8);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 8.0565229338E+00);
-  // check x
-  VERIFY_IS_APPROX(x[0], 7.2462237576E+01);
-  VERIFY_IS_APPROX(x[1], 2.6180768402E+00);
-  VERIFY_IS_APPROX(x[2], 6.7359200066E-02);
-
-  /*
-   * Second try
-   */
-  x<< 75., 2.5, 0.07;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 6);
-  VERIFY_IS_EQUAL(lm.njev(), 5);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 8.0565229338E+00);
-  // check x
-  VERIFY_IS_APPROX(x[0], 7.2462237576E+01);
-  VERIFY_IS_APPROX(x[1], 2.6180768402E+00);
-  VERIFY_IS_APPROX(x[2], 6.7359200066E-02);
-}
-
-struct MGH10_functor : DenseFunctor<double>
-{
-    MGH10_functor(void) : DenseFunctor<double>(3,16) {}
-    static const double x[16];
-    static const double y[16];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==3);
-        assert(fvec.size()==16);
-        for(int i=0; i<16; i++)
-            fvec[i] =  b[0] * exp(b[1]/(x[i]+b[2])) - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==3);
-        assert(fjac.rows()==16);
-        assert(fjac.cols()==3);
-        for(int i=0; i<16; i++) {
-            double factor = 1./(x[i]+b[2]);
-            double e = exp(b[1]*factor);
-            fjac(i,0) = e;
-            fjac(i,1) = b[0]*factor*e;
-            fjac(i,2) = -b[1]*b[0]*factor*factor*e;
-        }
-        return 0;
-    }
-};
-const double MGH10_functor::x[16] = { 5.000000E+01, 5.500000E+01, 6.000000E+01, 6.500000E+01, 7.000000E+01, 7.500000E+01, 8.000000E+01, 8.500000E+01, 9.000000E+01, 9.500000E+01, 1.000000E+02, 1.050000E+02, 1.100000E+02, 1.150000E+02, 1.200000E+02, 1.250000E+02 };
-const double MGH10_functor::y[16] = { 3.478000E+04, 2.861000E+04, 2.365000E+04, 1.963000E+04, 1.637000E+04, 1.372000E+04, 1.154000E+04, 9.744000E+03, 8.261000E+03, 7.030000E+03, 6.005000E+03, 5.147000E+03, 4.427000E+03, 3.820000E+03, 3.307000E+03, 2.872000E+03 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/mgh10.shtml
-void testNistMGH10(void)
-{
-  const int n=3;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 2., 400000., 25000.;
-  // do the computation
-  MGH10_functor functor;
-  LevenbergMarquardt<MGH10_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1); 
-  VERIFY_IS_EQUAL(lm.nfev(), 284 ); 
-  VERIFY_IS_EQUAL(lm.njev(), 249 ); 
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 8.7945855171E+01);
-  // check x
-  VERIFY_IS_APPROX(x[0], 5.6096364710E-03);
-  VERIFY_IS_APPROX(x[1], 6.1813463463E+03);
-  VERIFY_IS_APPROX(x[2], 3.4522363462E+02);
-
-  /*
-   * Second try
-   */
-  x<< 0.02, 4000., 250.;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 126);
-  VERIFY_IS_EQUAL(lm.njev(), 116);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 8.7945855171E+01);
-  // check x
-  VERIFY_IS_APPROX(x[0], 5.6096364710E-03);
-  VERIFY_IS_APPROX(x[1], 6.1813463463E+03);
-  VERIFY_IS_APPROX(x[2], 3.4522363462E+02);
-}
-
-
-struct BoxBOD_functor : DenseFunctor<double>
-{
-    BoxBOD_functor(void) : DenseFunctor<double>(2,6) {}
-    static const double x[6];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        static const double y[6] = { 109., 149., 149., 191., 213., 224. };
-        assert(b.size()==2);
-        assert(fvec.size()==6);
-        for(int i=0; i<6; i++)
-            fvec[i] =  b[0]*(1.-exp(-b[1]*x[i])) - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==2);
-        assert(fjac.rows()==6);
-        assert(fjac.cols()==2);
-        for(int i=0; i<6; i++) {
-            double e = exp(-b[1]*x[i]);
-            fjac(i,0) = 1.-e;
-            fjac(i,1) = b[0]*x[i]*e;
-        }
-        return 0;
-    }
-};
-const double BoxBOD_functor::x[6] = { 1., 2., 3., 5., 7., 10. };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/boxbod.shtml
-void testNistBoxBOD(void)
-{
-  const int n=2;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 1., 1.;
-  // do the computation
-  BoxBOD_functor functor;
-  LevenbergMarquardt<BoxBOD_functor> lm(functor);
-  lm.setFtol(1.E6*NumTraits<double>::epsilon());
-  lm.setXtol(1.E6*NumTraits<double>::epsilon());
-  lm.setFactor(10);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 31);
-  VERIFY_IS_EQUAL(lm.njev(), 25);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 1.1680088766E+03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 2.1380940889E+02);
-  VERIFY_IS_APPROX(x[1], 5.4723748542E-01);
-
-  /*
-   * Second try
-   */
-  x<< 100., 0.75;
-  // do the computation
-  lm.resetParameters();
-  lm.setFtol(NumTraits<double>::epsilon());
-  lm.setXtol( NumTraits<double>::epsilon());
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1); 
-  VERIFY_IS_EQUAL(lm.nfev(), 15 ); 
-  VERIFY_IS_EQUAL(lm.njev(), 14 ); 
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 1.1680088766E+03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 2.1380940889E+02);
-  VERIFY_IS_APPROX(x[1], 5.4723748542E-01);
-}
-
-struct MGH17_functor : DenseFunctor<double>
-{
-    MGH17_functor(void) : DenseFunctor<double>(5,33) {}
-    static const double x[33];
-    static const double y[33];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==5);
-        assert(fvec.size()==33);
-        for(int i=0; i<33; i++)
-            fvec[i] =  b[0] + b[1]*exp(-b[3]*x[i]) +  b[2]*exp(-b[4]*x[i]) - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==5);
-        assert(fjac.rows()==33);
-        assert(fjac.cols()==5);
-        for(int i=0; i<33; i++) {
-            fjac(i,0) = 1.;
-            fjac(i,1) = exp(-b[3]*x[i]);
-            fjac(i,2) = exp(-b[4]*x[i]);
-            fjac(i,3) = -x[i]*b[1]*exp(-b[3]*x[i]);
-            fjac(i,4) = -x[i]*b[2]*exp(-b[4]*x[i]);
-        }
-        return 0;
-    }
-};
-const double MGH17_functor::x[33] = { 0.000000E+00, 1.000000E+01, 2.000000E+01, 3.000000E+01, 4.000000E+01, 5.000000E+01, 6.000000E+01, 7.000000E+01, 8.000000E+01, 9.000000E+01, 1.000000E+02, 1.100000E+02, 1.200000E+02, 1.300000E+02, 1.400000E+02, 1.500000E+02, 1.600000E+02, 1.700000E+02, 1.800000E+02, 1.900000E+02, 2.000000E+02, 2.100000E+02, 2.200000E+02, 2.300000E+02, 2.400000E+02, 2.500000E+02, 2.600000E+02, 2.700000E+02, 2.800000E+02, 2.900000E+02, 3.000000E+02, 3.100000E+02, 3.200000E+02 };
-const double MGH17_functor::y[33] = { 8.440000E-01, 9.080000E-01, 9.320000E-01, 9.360000E-01, 9.250000E-01, 9.080000E-01, 8.810000E-01, 8.500000E-01, 8.180000E-01, 7.840000E-01, 7.510000E-01, 7.180000E-01, 6.850000E-01, 6.580000E-01, 6.280000E-01, 6.030000E-01, 5.800000E-01, 5.580000E-01, 5.380000E-01, 5.220000E-01, 5.060000E-01, 4.900000E-01, 4.780000E-01, 4.670000E-01, 4.570000E-01, 4.480000E-01, 4.380000E-01, 4.310000E-01, 4.240000E-01, 4.200000E-01, 4.140000E-01, 4.110000E-01, 4.060000E-01 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/mgh17.shtml
-void testNistMGH17(void)
-{
-  const int n=5;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 50., 150., -100., 1., 2.;
-  // do the computation
-  MGH17_functor functor;
-  LevenbergMarquardt<MGH17_functor> lm(functor);
-  lm.setFtol(NumTraits<double>::epsilon());
-  lm.setXtol(NumTraits<double>::epsilon());
-  lm.setMaxfev(1000);
-  info = lm.minimize(x);
-
-  // check return value
-//   VERIFY_IS_EQUAL(info, 2);  //FIXME Use (lm.info() == Success)
-//   VERIFY_IS_EQUAL(lm.nfev(), 602 ); 
-  VERIFY_IS_EQUAL(lm.njev(), 545 ); 
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 5.4648946975E-05);
-  // check x
-  VERIFY_IS_APPROX(x[0], 3.7541005211E-01);
-  VERIFY_IS_APPROX(x[1], 1.9358469127E+00);
-  VERIFY_IS_APPROX(x[2], -1.4646871366E+00);
-  VERIFY_IS_APPROX(x[3], 1.2867534640E-02);
-  VERIFY_IS_APPROX(x[4], 2.2122699662E-02);
-
-  /*
-   * Second try
-   */
-  x<< 0.5  ,1.5  ,-1   ,0.01 ,0.02;
-  // do the computation
-  lm.resetParameters();
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 18);
-  VERIFY_IS_EQUAL(lm.njev(), 15);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 5.4648946975E-05);
-  // check x
-  VERIFY_IS_APPROX(x[0], 3.7541005211E-01);
-  VERIFY_IS_APPROX(x[1], 1.9358469127E+00);
-  VERIFY_IS_APPROX(x[2], -1.4646871366E+00);
-  VERIFY_IS_APPROX(x[3], 1.2867534640E-02);
-  VERIFY_IS_APPROX(x[4], 2.2122699662E-02);
-}
-
-struct MGH09_functor : DenseFunctor<double>
-{
-    MGH09_functor(void) : DenseFunctor<double>(4,11) {}
-    static const double _x[11];
-    static const double y[11];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==4);
-        assert(fvec.size()==11);
-        for(int i=0; i<11; i++) {
-            double x = _x[i], xx=x*x;
-            fvec[i] = b[0]*(xx+x*b[1])/(xx+x*b[2]+b[3]) - y[i];
-        }
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==4);
-        assert(fjac.rows()==11);
-        assert(fjac.cols()==4);
-        for(int i=0; i<11; i++) {
-            double x = _x[i], xx=x*x;
-            double factor = 1./(xx+x*b[2]+b[3]);
-            fjac(i,0) = (xx+x*b[1]) * factor;
-            fjac(i,1) = b[0]*x* factor;
-            fjac(i,2) = - b[0]*(xx+x*b[1]) * x * factor * factor;
-            fjac(i,3) = - b[0]*(xx+x*b[1]) * factor * factor;
-        }
-        return 0;
-    }
-};
-const double MGH09_functor::_x[11] = { 4., 2., 1., 5.E-1 , 2.5E-01, 1.670000E-01, 1.250000E-01,  1.E-01, 8.330000E-02, 7.140000E-02, 6.250000E-02 };
-const double MGH09_functor::y[11] = { 1.957000E-01, 1.947000E-01, 1.735000E-01, 1.600000E-01, 8.440000E-02, 6.270000E-02, 4.560000E-02, 3.420000E-02, 3.230000E-02, 2.350000E-02, 2.460000E-02 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/mgh09.shtml
-void testNistMGH09(void)
-{
-  const int n=4;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 25., 39, 41.5, 39.;
-  // do the computation
-  MGH09_functor functor;
-  LevenbergMarquardt<MGH09_functor> lm(functor);
-  lm.setMaxfev(1000);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1); 
-  VERIFY_IS_EQUAL(lm.nfev(), 490 ); 
-  VERIFY_IS_EQUAL(lm.njev(), 376 ); 
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 3.0750560385E-04);
-  // check x
-  VERIFY_IS_APPROX(x[0], 0.1928077089); // should be 1.9280693458E-01
-  VERIFY_IS_APPROX(x[1], 0.19126423573); // should be 1.9128232873E-01
-  VERIFY_IS_APPROX(x[2], 0.12305309914); // should be 1.2305650693E-01
-  VERIFY_IS_APPROX(x[3], 0.13605395375); // should be 1.3606233068E-01
-
-  /*
-   * Second try
-   */
-  x<< 0.25, 0.39, 0.415, 0.39;
-  // do the computation
-  lm.resetParameters();
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 18);
-  VERIFY_IS_EQUAL(lm.njev(), 16);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 3.0750560385E-04);
-  // check x
-  VERIFY_IS_APPROX(x[0], 0.19280781); // should be 1.9280693458E-01
-  VERIFY_IS_APPROX(x[1], 0.19126265); // should be 1.9128232873E-01
-  VERIFY_IS_APPROX(x[2], 0.12305280); // should be 1.2305650693E-01
-  VERIFY_IS_APPROX(x[3], 0.13605322); // should be 1.3606233068E-01
-}
-
-
-
-struct Bennett5_functor : DenseFunctor<double>
-{
-    Bennett5_functor(void) : DenseFunctor<double>(3,154) {}
-    static const double x[154];
-    static const double y[154];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==3);
-        assert(fvec.size()==154);
-        for(int i=0; i<154; i++)
-            fvec[i] = b[0]* pow(b[1]+x[i],-1./b[2]) - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==3);
-        assert(fjac.rows()==154);
-        assert(fjac.cols()==3);
-        for(int i=0; i<154; i++) {
-            double e = pow(b[1]+x[i],-1./b[2]);
-            fjac(i,0) = e;
-            fjac(i,1) = - b[0]*e/b[2]/(b[1]+x[i]);
-            fjac(i,2) = b[0]*e*log(b[1]+x[i])/b[2]/b[2];
-        }
-        return 0;
-    }
-};
-const double Bennett5_functor::x[154] = { 7.447168E0, 8.102586E0, 8.452547E0, 8.711278E0, 8.916774E0, 9.087155E0, 9.232590E0, 9.359535E0, 9.472166E0, 9.573384E0, 9.665293E0, 9.749461E0, 9.827092E0, 9.899128E0, 9.966321E0, 10.029280E0, 10.088510E0, 10.144430E0, 10.197380E0, 10.247670E0, 10.295560E0, 10.341250E0, 10.384950E0, 10.426820E0, 10.467000E0, 10.505640E0, 10.542830E0, 10.578690E0, 10.613310E0, 10.646780E0, 10.679150E0, 10.710520E0, 10.740920E0, 10.770440E0, 10.799100E0, 10.826970E0, 10.854080E0, 10.880470E0, 10.906190E0, 10.931260E0, 10.955720E0, 10.979590E0, 11.002910E0, 11.025700E0, 11.047980E0, 11.069770E0, 11.091100E0, 11.111980E0, 11.132440E0, 11.152480E0, 11.172130E0, 11.191410E0, 11.210310E0, 11.228870E0, 11.247090E0, 11.264980E0, 11.282560E0, 11.299840E0, 11.316820E0, 11.333520E0, 11.349940E0, 11.366100E0, 11.382000E0, 11.397660E0, 11.413070E0, 11.428240E0, 11.443200E0, 11.457930E0, 11.472440E0, 11.486750E0, 11.500860E0, 11.514770E0, 11.528490E0, 11.542020E0, 11.555380E0, 11.568550E0,
-11.581560E0, 11.594420E0, 11.607121E0, 11.619640E0, 11.632000E0, 11.644210E0, 11.656280E0, 11.668200E0, 11.679980E0, 11.691620E0, 11.703130E0, 11.714510E0, 11.725760E0, 11.736880E0, 11.747890E0, 11.758780E0, 11.769550E0, 11.780200E0, 11.790730E0, 11.801160E0, 11.811480E0, 11.821700E0, 11.831810E0, 11.841820E0, 11.851730E0, 11.861550E0, 11.871270E0, 11.880890E0, 11.890420E0, 11.899870E0, 11.909220E0, 11.918490E0, 11.927680E0, 11.936780E0, 11.945790E0, 11.954730E0, 11.963590E0, 11.972370E0, 11.981070E0, 11.989700E0, 11.998260E0, 12.006740E0, 12.015150E0, 12.023490E0, 12.031760E0, 12.039970E0, 12.048100E0, 12.056170E0, 12.064180E0, 12.072120E0, 12.080010E0, 12.087820E0, 12.095580E0, 12.103280E0, 12.110920E0, 12.118500E0, 12.126030E0, 12.133500E0, 12.140910E0, 12.148270E0, 12.155570E0, 12.162830E0, 12.170030E0, 12.177170E0, 12.184270E0, 12.191320E0, 12.198320E0, 12.205270E0, 12.212170E0, 12.219030E0, 12.225840E0, 12.232600E0, 12.239320E0, 12.245990E0, 12.252620E0, 12.259200E0, 12.265750E0, 12.272240E0 };
-const double Bennett5_functor::y[154] = { -34.834702E0 ,-34.393200E0 ,-34.152901E0 ,-33.979099E0 ,-33.845901E0 ,-33.732899E0 ,-33.640301E0 ,-33.559200E0 ,-33.486801E0 ,-33.423100E0 ,-33.365101E0 ,-33.313000E0 ,-33.260899E0 ,-33.217400E0 ,-33.176899E0 ,-33.139198E0 ,-33.101601E0 ,-33.066799E0 ,-33.035000E0 ,-33.003101E0 ,-32.971298E0 ,-32.942299E0 ,-32.916302E0 ,-32.890202E0 ,-32.864101E0 ,-32.841000E0 ,-32.817799E0 ,-32.797501E0 ,-32.774300E0 ,-32.757000E0 ,-32.733799E0 ,-32.716400E0 ,-32.699100E0 ,-32.678799E0 ,-32.661400E0 ,-32.644001E0 ,-32.626701E0 ,-32.612202E0 ,-32.597698E0 ,-32.583199E0 ,-32.568699E0 ,-32.554298E0 ,-32.539799E0 ,-32.525299E0 ,-32.510799E0 ,-32.499199E0 ,-32.487598E0 ,-32.473202E0 ,-32.461601E0 ,-32.435501E0 ,-32.435501E0 ,-32.426800E0 ,-32.412300E0 ,-32.400799E0 ,-32.392101E0 ,-32.380501E0 ,-32.366001E0 ,-32.357300E0 ,-32.348598E0 ,-32.339901E0 ,-32.328400E0 ,-32.319698E0 ,-32.311001E0 ,-32.299400E0 ,-32.290699E0 ,-32.282001E0 ,-32.273300E0 ,-32.264599E0 ,-32.256001E0 ,-32.247299E0
-,-32.238602E0 ,-32.229900E0 ,-32.224098E0 ,-32.215401E0 ,-32.203800E0 ,-32.198002E0 ,-32.189400E0 ,-32.183601E0 ,-32.174900E0 ,-32.169102E0 ,-32.163300E0 ,-32.154598E0 ,-32.145901E0 ,-32.140099E0 ,-32.131401E0 ,-32.125599E0 ,-32.119801E0 ,-32.111198E0 ,-32.105400E0 ,-32.096699E0 ,-32.090900E0 ,-32.088001E0 ,-32.079300E0 ,-32.073502E0 ,-32.067699E0 ,-32.061901E0 ,-32.056099E0 ,-32.050301E0 ,-32.044498E0 ,-32.038799E0 ,-32.033001E0 ,-32.027199E0 ,-32.024300E0 ,-32.018501E0 ,-32.012699E0 ,-32.004002E0 ,-32.001099E0 ,-31.995300E0 ,-31.989500E0 ,-31.983700E0 ,-31.977900E0 ,-31.972099E0 ,-31.969299E0 ,-31.963501E0 ,-31.957701E0 ,-31.951900E0 ,-31.946100E0 ,-31.940300E0 ,-31.937401E0 ,-31.931601E0 ,-31.925800E0 ,-31.922899E0 ,-31.917101E0 ,-31.911301E0 ,-31.908400E0 ,-31.902599E0 ,-31.896900E0 ,-31.893999E0 ,-31.888201E0 ,-31.885300E0 ,-31.882401E0 ,-31.876600E0 ,-31.873699E0 ,-31.867901E0 ,-31.862101E0 ,-31.859200E0 ,-31.856300E0 ,-31.850500E0 ,-31.844700E0 ,-31.841801E0 ,-31.838900E0 ,-31.833099E0 ,-31.830200E0 ,
--31.827299E0 ,-31.821600E0 ,-31.818701E0 ,-31.812901E0 ,-31.809999E0 ,-31.807100E0 ,-31.801300E0 ,-31.798401E0 ,-31.795500E0 ,-31.789700E0 ,-31.786800E0 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/bennett5.shtml
-void testNistBennett5(void)
-{
-  const int  n=3;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< -2000., 50., 0.8;
-  // do the computation
-  Bennett5_functor functor;
-  LevenbergMarquardt<Bennett5_functor> lm(functor);
-  lm.setMaxfev(1000);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 758);
-  VERIFY_IS_EQUAL(lm.njev(), 744);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 5.2404744073E-04);
-  // check x
-  VERIFY_IS_APPROX(x[0], -2.5235058043E+03);
-  VERIFY_IS_APPROX(x[1], 4.6736564644E+01);
-  VERIFY_IS_APPROX(x[2], 9.3218483193E-01);
-  /*
-   * Second try
-   */
-  x<< -1500., 45., 0.85;
-  // do the computation
-  lm.resetParameters();
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 203);
-  VERIFY_IS_EQUAL(lm.njev(), 192);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 5.2404744073E-04);
-  // check x
-  VERIFY_IS_APPROX(x[0], -2523.3007865); // should be -2.5235058043E+03
-  VERIFY_IS_APPROX(x[1], 46.735705771); // should be 4.6736564644E+01);
-  VERIFY_IS_APPROX(x[2], 0.93219881891); // should be 9.3218483193E-01);
-}
-
-struct thurber_functor : DenseFunctor<double>
-{
-    thurber_functor(void) : DenseFunctor<double>(7,37) {}
-    static const double _x[37];
-    static const double _y[37];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        //        int called=0; printf("call hahn1_functor with  iflag=%d, called=%d\n", iflag, called); if (iflag==1) called++;
-        assert(b.size()==7);
-        assert(fvec.size()==37);
-        for(int i=0; i<37; i++) {
-            double x=_x[i], xx=x*x, xxx=xx*x;
-            fvec[i] = (b[0]+b[1]*x+b[2]*xx+b[3]*xxx) / (1.+b[4]*x+b[5]*xx+b[6]*xxx) - _y[i];
-        }
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==7);
-        assert(fjac.rows()==37);
-        assert(fjac.cols()==7);
-        for(int i=0; i<37; i++) {
-            double x=_x[i], xx=x*x, xxx=xx*x;
-            double fact = 1./(1.+b[4]*x+b[5]*xx+b[6]*xxx);
-            fjac(i,0) = 1.*fact;
-            fjac(i,1) = x*fact;
-            fjac(i,2) = xx*fact;
-            fjac(i,3) = xxx*fact;
-            fact = - (b[0]+b[1]*x+b[2]*xx+b[3]*xxx) * fact * fact;
-            fjac(i,4) = x*fact;
-            fjac(i,5) = xx*fact;
-            fjac(i,6) = xxx*fact;
-        }
-        return 0;
-    }
-};
-const double thurber_functor::_x[37] = { -3.067E0, -2.981E0, -2.921E0, -2.912E0, -2.840E0, -2.797E0, -2.702E0, -2.699E0, -2.633E0, -2.481E0, -2.363E0, -2.322E0, -1.501E0, -1.460E0, -1.274E0, -1.212E0, -1.100E0, -1.046E0, -0.915E0, -0.714E0, -0.566E0, -0.545E0, -0.400E0, -0.309E0, -0.109E0, -0.103E0, 0.010E0, 0.119E0, 0.377E0, 0.790E0, 0.963E0, 1.006E0, 1.115E0, 1.572E0, 1.841E0, 2.047E0, 2.200E0 };
-const double thurber_functor::_y[37] = { 80.574E0, 84.248E0, 87.264E0, 87.195E0, 89.076E0, 89.608E0, 89.868E0, 90.101E0, 92.405E0, 95.854E0, 100.696E0, 101.060E0, 401.672E0, 390.724E0, 567.534E0, 635.316E0, 733.054E0, 759.087E0, 894.206E0, 990.785E0, 1090.109E0, 1080.914E0, 1122.643E0, 1178.351E0, 1260.531E0, 1273.514E0, 1288.339E0, 1327.543E0, 1353.863E0, 1414.509E0, 1425.208E0, 1421.384E0, 1442.962E0, 1464.350E0, 1468.705E0, 1447.894E0, 1457.628E0};
-
-// http://www.itl.nist.gov/div898/strd/nls/data/thurber.shtml
-void testNistThurber(void)
-{
-  const int n=7;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 1000 ,1000 ,400 ,40 ,0.7,0.3,0.0 ;
-  // do the computation
-  thurber_functor functor;
-  LevenbergMarquardt<thurber_functor> lm(functor);
-  lm.setFtol(1.E4*NumTraits<double>::epsilon());
-  lm.setXtol(1.E4*NumTraits<double>::epsilon());
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 39);
-  VERIFY_IS_EQUAL(lm.njev(), 36);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 5.6427082397E+03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.2881396800E+03);
-  VERIFY_IS_APPROX(x[1], 1.4910792535E+03);
-  VERIFY_IS_APPROX(x[2], 5.8323836877E+02);
-  VERIFY_IS_APPROX(x[3], 7.5416644291E+01);
-  VERIFY_IS_APPROX(x[4], 9.6629502864E-01);
-  VERIFY_IS_APPROX(x[5], 3.9797285797E-01);
-  VERIFY_IS_APPROX(x[6], 4.9727297349E-02);
-
-  /*
-   * Second try
-   */
-  x<< 1300 ,1500 ,500  ,75   ,1    ,0.4  ,0.05  ;
-  // do the computation
-  lm.resetParameters();
-  lm.setFtol(1.E4*NumTraits<double>::epsilon());
-  lm.setXtol(1.E4*NumTraits<double>::epsilon());
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 29);
-  VERIFY_IS_EQUAL(lm.njev(), 28);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 5.6427082397E+03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.2881396800E+03);
-  VERIFY_IS_APPROX(x[1], 1.4910792535E+03);
-  VERIFY_IS_APPROX(x[2], 5.8323836877E+02);
-  VERIFY_IS_APPROX(x[3], 7.5416644291E+01);
-  VERIFY_IS_APPROX(x[4], 9.6629502864E-01);
-  VERIFY_IS_APPROX(x[5], 3.9797285797E-01);
-  VERIFY_IS_APPROX(x[6], 4.9727297349E-02);
-}
-
-struct rat43_functor : DenseFunctor<double>
-{
-    rat43_functor(void) : DenseFunctor<double>(4,15) {}
-    static const double x[15];
-    static const double y[15];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==4);
-        assert(fvec.size()==15);
-        for(int i=0; i<15; i++)
-            fvec[i] = b[0] * pow(1.+exp(b[1]-b[2]*x[i]),-1./b[3]) - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==4);
-        assert(fjac.rows()==15);
-        assert(fjac.cols()==4);
-        for(int i=0; i<15; i++) {
-            double e = exp(b[1]-b[2]*x[i]);
-            double power = -1./b[3];
-            fjac(i,0) = pow(1.+e, power);
-            fjac(i,1) = power*b[0]*e*pow(1.+e, power-1.);
-            fjac(i,2) = -power*b[0]*e*x[i]*pow(1.+e, power-1.);
-            fjac(i,3) = b[0]*power*power*log(1.+e)*pow(1.+e, power);
-        }
-        return 0;
-    }
-};
-const double rat43_functor::x[15] = { 1., 2., 3., 4., 5., 6., 7., 8., 9., 10., 11., 12., 13., 14., 15. };
-const double rat43_functor::y[15] = { 16.08, 33.83, 65.80, 97.20, 191.55, 326.20, 386.87, 520.53, 590.03, 651.92, 724.93, 699.56, 689.96, 637.56, 717.41 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/ratkowsky3.shtml
-void testNistRat43(void)
-{
-  const int n=4;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 100., 10., 1., 1.;
-  // do the computation
-  rat43_functor functor;
-  LevenbergMarquardt<rat43_functor> lm(functor);
-  lm.setFtol(1.E6*NumTraits<double>::epsilon());
-  lm.setXtol(1.E6*NumTraits<double>::epsilon());
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 27);
-  VERIFY_IS_EQUAL(lm.njev(), 20);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 8.7864049080E+03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 6.9964151270E+02);
-  VERIFY_IS_APPROX(x[1], 5.2771253025E+00);
-  VERIFY_IS_APPROX(x[2], 7.5962938329E-01);
-  VERIFY_IS_APPROX(x[3], 1.2792483859E+00);
-
-  /*
-   * Second try
-   */
-  x<< 700., 5., 0.75, 1.3;
-  // do the computation
-  lm.resetParameters();
-  lm.setFtol(1.E5*NumTraits<double>::epsilon());
-  lm.setXtol(1.E5*NumTraits<double>::epsilon());
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 9);
-  VERIFY_IS_EQUAL(lm.njev(), 8);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 8.7864049080E+03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 6.9964151270E+02);
-  VERIFY_IS_APPROX(x[1], 5.2771253025E+00);
-  VERIFY_IS_APPROX(x[2], 7.5962938329E-01);
-  VERIFY_IS_APPROX(x[3], 1.2792483859E+00);
-}
-
-
-
-struct eckerle4_functor : DenseFunctor<double>
-{
-    eckerle4_functor(void) : DenseFunctor<double>(3,35) {}
-    static const double x[35];
-    static const double y[35];
-    int operator()(const VectorXd &b, VectorXd &fvec)
-    {
-        assert(b.size()==3);
-        assert(fvec.size()==35);
-        for(int i=0; i<35; i++)
-            fvec[i] = b[0]/b[1] * exp(-0.5*(x[i]-b[2])*(x[i]-b[2])/(b[1]*b[1])) - y[i];
-        return 0;
-    }
-    int df(const VectorXd &b, MatrixXd &fjac)
-    {
-        assert(b.size()==3);
-        assert(fjac.rows()==35);
-        assert(fjac.cols()==3);
-        for(int i=0; i<35; i++) {
-            double b12 = b[1]*b[1];
-            double e = exp(-0.5*(x[i]-b[2])*(x[i]-b[2])/b12);
-            fjac(i,0) = e / b[1];
-            fjac(i,1) = ((x[i]-b[2])*(x[i]-b[2])/b12-1.) * b[0]*e/b12;
-            fjac(i,2) = (x[i]-b[2])*e*b[0]/b[1]/b12;
-        }
-        return 0;
-    }
-};
-const double eckerle4_functor::x[35] = { 400.0, 405.0, 410.0, 415.0, 420.0, 425.0, 430.0, 435.0, 436.5, 438.0, 439.5, 441.0, 442.5, 444.0, 445.5, 447.0, 448.5, 450.0, 451.5, 453.0, 454.5, 456.0, 457.5, 459.0, 460.5, 462.0, 463.5, 465.0, 470.0, 475.0, 480.0, 485.0, 490.0, 495.0, 500.0};
-const double eckerle4_functor::y[35] = { 0.0001575, 0.0001699, 0.0002350, 0.0003102, 0.0004917, 0.0008710, 0.0017418, 0.0046400, 0.0065895, 0.0097302, 0.0149002, 0.0237310, 0.0401683, 0.0712559, 0.1264458, 0.2073413, 0.2902366, 0.3445623, 0.3698049, 0.3668534, 0.3106727, 0.2078154, 0.1164354, 0.0616764, 0.0337200, 0.0194023, 0.0117831, 0.0074357, 0.0022732, 0.0008800, 0.0004579, 0.0002345, 0.0001586, 0.0001143, 0.0000710 };
-
-// http://www.itl.nist.gov/div898/strd/nls/data/eckerle4.shtml
-void testNistEckerle4(void)
-{
-  const int n=3;
-  int info;
-
-  VectorXd x(n);
-
-  /*
-   * First try
-   */
-  x<< 1., 10., 500.;
-  // do the computation
-  eckerle4_functor functor;
-  LevenbergMarquardt<eckerle4_functor> lm(functor);
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 18);
-  VERIFY_IS_EQUAL(lm.njev(), 15);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 1.4635887487E-03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.5543827178);
-  VERIFY_IS_APPROX(x[1], 4.0888321754);
-  VERIFY_IS_APPROX(x[2], 4.5154121844E+02);
-
-  /*
-   * Second try
-   */
-  x<< 1.5, 5., 450.;
-  // do the computation
-  info = lm.minimize(x);
-
-  // check return value
-  VERIFY_IS_EQUAL(info, 1);
-  VERIFY_IS_EQUAL(lm.nfev(), 7);
-  VERIFY_IS_EQUAL(lm.njev(), 6);
-  // check norm^2
-  VERIFY_IS_APPROX(lm.fvec().squaredNorm(), 1.4635887487E-03);
-  // check x
-  VERIFY_IS_APPROX(x[0], 1.5543827178);
-  VERIFY_IS_APPROX(x[1], 4.0888321754);
-  VERIFY_IS_APPROX(x[2], 4.5154121844E+02);
-}
-
-void test_levenberg_marquardt()
-{
-    // Tests using the examples provided by (c)minpack
-    CALL_SUBTEST(testLmder1());
-    CALL_SUBTEST(testLmder());
-    CALL_SUBTEST(testLmdif1());
-//     CALL_SUBTEST(testLmstr1());
-//     CALL_SUBTEST(testLmstr());
-    CALL_SUBTEST(testLmdif());
-
-    // NIST tests, level of difficulty = "Lower"
-    CALL_SUBTEST(testNistMisra1a());
-    CALL_SUBTEST(testNistChwirut2());
-
-    // NIST tests, level of difficulty = "Average"
-    CALL_SUBTEST(testNistHahn1());
-    CALL_SUBTEST(testNistMisra1d());
-    CALL_SUBTEST(testNistMGH17());
-    CALL_SUBTEST(testNistLanczos1());
-
-//     // NIST tests, level of difficulty = "Higher"
-    CALL_SUBTEST(testNistRat42());
-    CALL_SUBTEST(testNistMGH10());
-    CALL_SUBTEST(testNistBoxBOD());
-//     CALL_SUBTEST(testNistMGH09());
-    CALL_SUBTEST(testNistBennett5());
-    CALL_SUBTEST(testNistThurber());
-    CALL_SUBTEST(testNistRat43());
-    CALL_SUBTEST(testNistEckerle4());
-}
diff --git a/eigenlib/unsupported/test/matrix_exponential.cpp b/eigenlib/unsupported/test/matrix_exponential.cpp
deleted file mode 100644
index 50dec083..00000000
--- a/eigenlib/unsupported/test/matrix_exponential.cpp
+++ /dev/null
@@ -1,141 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "matrix_functions.h"
-
-double binom(int n, int k)
-{
-  double res = 1;
-  for (int i=0; i<k; i++)
-    res = res * (n-k+i+1) / (i+1);
-  return res;
-}
-
-template <typename T>
-T expfn(T x, int)
-{
-  return std::exp(x);
-}
-
-template <typename T>
-void test2dRotation(double tol)
-{
-  Matrix<T,2,2> A, B, C;
-  T angle;
-
-  A << 0, 1, -1, 0;
-  for (int i=0; i<=20; i++)
-  {
-    angle = static_cast<T>(pow(10, i / 5. - 2));
-    B << std::cos(angle), std::sin(angle), -std::sin(angle), std::cos(angle);
-
-    C = (angle*A).matrixFunction(expfn);
-    std::cout << "test2dRotation: i = " << i << "   error funm = " << relerr(C, B);
-    VERIFY(C.isApprox(B, static_cast<T>(tol)));
-
-    C = (angle*A).exp();
-    std::cout << "   error expm = " << relerr(C, B) << "\n";
-    VERIFY(C.isApprox(B, static_cast<T>(tol)));
-  }
-}
-
-template <typename T>
-void test2dHyperbolicRotation(double tol)
-{
-  Matrix<std::complex<T>,2,2> A, B, C;
-  std::complex<T> imagUnit(0,1);
-  T angle, ch, sh;
-
-  for (int i=0; i<=20; i++)
-  {
-    angle = static_cast<T>((i-10) / 2.0);
-    ch = std::cosh(angle);
-    sh = std::sinh(angle);
-    A << 0, angle*imagUnit, -angle*imagUnit, 0;
-    B << ch, sh*imagUnit, -sh*imagUnit, ch;
-
-    C = A.matrixFunction(expfn);
-    std::cout << "test2dHyperbolicRotation: i = " << i << "   error funm = " << relerr(C, B);
-    VERIFY(C.isApprox(B, static_cast<T>(tol)));
-
-    C = A.exp();
-    std::cout << "   error expm = " << relerr(C, B) << "\n";
-    VERIFY(C.isApprox(B, static_cast<T>(tol)));
-  }
-}
-
-template <typename T>
-void testPascal(double tol)
-{
-  for (int size=1; size<20; size++)
-  {
-    Matrix<T,Dynamic,Dynamic> A(size,size), B(size,size), C(size,size);
-    A.setZero();
-    for (int i=0; i<size-1; i++)
-      A(i+1,i) = static_cast<T>(i+1);
-    B.setZero();
-    for (int i=0; i<size; i++)
-      for (int j=0; j<=i; j++)
-    B(i,j) = static_cast<T>(binom(i,j));
-
-    C = A.matrixFunction(expfn);
-    std::cout << "testPascal: size = " << size << "   error funm = " << relerr(C, B);
-    VERIFY(C.isApprox(B, static_cast<T>(tol)));
-
-    C = A.exp();
-    std::cout << "   error expm = " << relerr(C, B) << "\n";
-    VERIFY(C.isApprox(B, static_cast<T>(tol)));
-  }
-}
-
-template<typename MatrixType>
-void randomTest(const MatrixType& m, double tol)
-{
-  /* this test covers the following files:
-     Inverse.h
-  */
-  typename MatrixType::Index rows = m.rows();
-  typename MatrixType::Index cols = m.cols();
-  MatrixType m1(rows, cols), m2(rows, cols), identity = MatrixType::Identity(rows, cols);
-
-  typedef typename NumTraits<typename internal::traits<MatrixType>::Scalar>::Real RealScalar;
-
-  for(int i = 0; i < g_repeat; i++) {
-    m1 = MatrixType::Random(rows, cols);
-
-    m2 = m1.matrixFunction(expfn) * (-m1).matrixFunction(expfn);
-    std::cout << "randomTest: error funm = " << relerr(identity, m2);
-    VERIFY(identity.isApprox(m2, static_cast<RealScalar>(tol)));
-
-    m2 = m1.exp() * (-m1).exp();
-    std::cout << "   error expm = " << relerr(identity, m2) << "\n";
-    VERIFY(identity.isApprox(m2, static_cast<RealScalar>(tol)));
-  }
-}
-
-void test_matrix_exponential()
-{
-  CALL_SUBTEST_2(test2dRotation<double>(1e-13));
-  CALL_SUBTEST_1(test2dRotation<float>(2e-5));  // was 1e-5, relaxed for clang 2.8 / linux / x86-64
-  CALL_SUBTEST_8(test2dRotation<long double>(1e-13)); 
-  CALL_SUBTEST_2(test2dHyperbolicRotation<double>(1e-14));
-  CALL_SUBTEST_1(test2dHyperbolicRotation<float>(1e-5));
-  CALL_SUBTEST_8(test2dHyperbolicRotation<long double>(1e-14));
-  CALL_SUBTEST_6(testPascal<float>(1e-6));
-  CALL_SUBTEST_5(testPascal<double>(1e-15));
-  CALL_SUBTEST_2(randomTest(Matrix2d(), 1e-13));
-  CALL_SUBTEST_7(randomTest(Matrix<double,3,3,RowMajor>(), 1e-13));
-  CALL_SUBTEST_3(randomTest(Matrix4cd(), 1e-13));
-  CALL_SUBTEST_4(randomTest(MatrixXd(8,8), 1e-13));
-  CALL_SUBTEST_1(randomTest(Matrix2f(), 1e-4));
-  CALL_SUBTEST_5(randomTest(Matrix3cf(), 1e-4));
-  CALL_SUBTEST_1(randomTest(Matrix4f(), 1e-4));
-  CALL_SUBTEST_6(randomTest(MatrixXf(8,8), 1e-4));
-  CALL_SUBTEST_9(randomTest(Matrix<long double,Dynamic,Dynamic>(7,7), 1e-13));
-}
diff --git a/eigenlib/unsupported/test/matrix_function.cpp b/eigenlib/unsupported/test/matrix_function.cpp
deleted file mode 100644
index 3c76cfb6..00000000
--- a/eigenlib/unsupported/test/matrix_function.cpp
+++ /dev/null
@@ -1,193 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "main.h"
-#include <unsupported/Eigen/MatrixFunctions>
-
-// Variant of VERIFY_IS_APPROX which uses absolute error instead of
-// relative error.
-#define VERIFY_IS_APPROX_ABS(a, b) VERIFY(test_isApprox_abs(a, b))
-
-template<typename Type1, typename Type2>
-inline bool test_isApprox_abs(const Type1& a, const Type2& b)
-{
-  return ((a-b).array().abs() < test_precision<typename Type1::RealScalar>()).all();
-}
-
-
-// Returns a matrix with eigenvalues clustered around 0, 1 and 2.
-template<typename MatrixType>
-MatrixType randomMatrixWithRealEivals(const typename MatrixType::Index size)
-{
-  typedef typename MatrixType::Index Index;
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::RealScalar RealScalar;
-  MatrixType diag = MatrixType::Zero(size, size);
-  for (Index i = 0; i < size; ++i) {
-    diag(i, i) = Scalar(RealScalar(internal::random<int>(0,2)))
-      + internal::random<Scalar>() * Scalar(RealScalar(0.01));
-  }
-  MatrixType A = MatrixType::Random(size, size);
-  HouseholderQR<MatrixType> QRofA(A);
-  return QRofA.householderQ().inverse() * diag * QRofA.householderQ();
-}
-
-template <typename MatrixType, int IsComplex = NumTraits<typename internal::traits<MatrixType>::Scalar>::IsComplex>
-struct randomMatrixWithImagEivals
-{
-  // Returns a matrix with eigenvalues clustered around 0 and +/- i.
-  static MatrixType run(const typename MatrixType::Index size);
-};
-
-// Partial specialization for real matrices
-template<typename MatrixType>
-struct randomMatrixWithImagEivals<MatrixType, 0>
-{
-  static MatrixType run(const typename MatrixType::Index size)
-  {
-    typedef typename MatrixType::Index Index;
-    typedef typename MatrixType::Scalar Scalar;
-    MatrixType diag = MatrixType::Zero(size, size);
-    Index i = 0;
-    while (i < size) {
-      Index randomInt = internal::random<Index>(-1, 1);
-      if (randomInt == 0 || i == size-1) {
-        diag(i, i) = internal::random<Scalar>() * Scalar(0.01);
-        ++i;
-      } else {
-        Scalar alpha = Scalar(randomInt) + internal::random<Scalar>() * Scalar(0.01);
-        diag(i, i+1) = alpha;
-        diag(i+1, i) = -alpha;
-        i += 2;
-      }
-    }
-    MatrixType A = MatrixType::Random(size, size);
-    HouseholderQR<MatrixType> QRofA(A);
-    return QRofA.householderQ().inverse() * diag * QRofA.householderQ();
-  }
-};
-
-// Partial specialization for complex matrices
-template<typename MatrixType>
-struct randomMatrixWithImagEivals<MatrixType, 1>
-{
-  static MatrixType run(const typename MatrixType::Index size)
-  {
-    typedef typename MatrixType::Index Index;
-    typedef typename MatrixType::Scalar Scalar;
-    typedef typename MatrixType::RealScalar RealScalar;
-    const Scalar imagUnit(0, 1);
-    MatrixType diag = MatrixType::Zero(size, size);
-    for (Index i = 0; i < size; ++i) {
-      diag(i, i) = Scalar(RealScalar(internal::random<Index>(-1, 1))) * imagUnit
-        + internal::random<Scalar>() * Scalar(RealScalar(0.01));
-    }
-    MatrixType A = MatrixType::Random(size, size);
-    HouseholderQR<MatrixType> QRofA(A);
-    return QRofA.householderQ().inverse() * diag * QRofA.householderQ();
-  }
-};
-
-
-template<typename MatrixType>
-void testMatrixExponential(const MatrixType& A)
-{
-  typedef typename internal::traits<MatrixType>::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef std::complex<RealScalar> ComplexScalar;
-
-  VERIFY_IS_APPROX(A.exp(), A.matrixFunction(StdStemFunctions<ComplexScalar>::exp));
-}
-
-template<typename MatrixType>
-void testMatrixLogarithm(const MatrixType& A)
-{
-  typedef typename internal::traits<MatrixType>::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-
-  MatrixType scaledA;
-  RealScalar maxImagPartOfSpectrum = A.eigenvalues().imag().cwiseAbs().maxCoeff();
-  if (maxImagPartOfSpectrum >= 0.9 * M_PI)
-    scaledA = A * 0.9 * M_PI / maxImagPartOfSpectrum;
-  else
-    scaledA = A;
-
-  // identity X.exp().log() = X only holds if Im(lambda) < pi for all eigenvalues of X
-  MatrixType expA = scaledA.exp();
-  MatrixType logExpA = expA.log();
-  VERIFY_IS_APPROX(logExpA, scaledA);
-}
-
-template<typename MatrixType>
-void testHyperbolicFunctions(const MatrixType& A)
-{
-  // Need to use absolute error because of possible cancellation when
-  // adding/subtracting expA and expmA.
-  VERIFY_IS_APPROX_ABS(A.sinh(), (A.exp() - (-A).exp()) / 2);
-  VERIFY_IS_APPROX_ABS(A.cosh(), (A.exp() + (-A).exp()) / 2);
-}
-
-template<typename MatrixType>
-void testGonioFunctions(const MatrixType& A)
-{
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename NumTraits<Scalar>::Real RealScalar;
-  typedef std::complex<RealScalar> ComplexScalar;
-  typedef Matrix<ComplexScalar, MatrixType::RowsAtCompileTime, 
-                 MatrixType::ColsAtCompileTime, MatrixType::Options> ComplexMatrix;
-
-  ComplexScalar imagUnit(0,1);
-  ComplexScalar two(2,0);
-
-  ComplexMatrix Ac = A.template cast<ComplexScalar>();
-  
-  ComplexMatrix exp_iA = (imagUnit * Ac).exp();
-  ComplexMatrix exp_miA = (-imagUnit * Ac).exp();
-  
-  ComplexMatrix sinAc = A.sin().template cast<ComplexScalar>();
-  VERIFY_IS_APPROX_ABS(sinAc, (exp_iA - exp_miA) / (two*imagUnit));
-  
-  ComplexMatrix cosAc = A.cos().template cast<ComplexScalar>();
-  VERIFY_IS_APPROX_ABS(cosAc, (exp_iA + exp_miA) / 2);
-}
-
-template<typename MatrixType>
-void testMatrix(const MatrixType& A)
-{
-  testMatrixExponential(A);
-  testMatrixLogarithm(A);
-  testHyperbolicFunctions(A);
-  testGonioFunctions(A);
-}
-
-template<typename MatrixType>
-void testMatrixType(const MatrixType& m)
-{
-  // Matrices with clustered eigenvalue lead to different code paths
-  // in MatrixFunction.h and are thus useful for testing.
-  typedef typename MatrixType::Index Index;
-
-  const Index size = m.rows();
-  for (int i = 0; i < g_repeat; i++) {
-    testMatrix(MatrixType::Random(size, size).eval());
-    testMatrix(randomMatrixWithRealEivals<MatrixType>(size));
-    testMatrix(randomMatrixWithImagEivals<MatrixType>::run(size));
-  }
-}
-
-void test_matrix_function()
-{
-  CALL_SUBTEST_1(testMatrixType(Matrix<float,1,1>()));
-  CALL_SUBTEST_2(testMatrixType(Matrix3cf()));
-  CALL_SUBTEST_3(testMatrixType(MatrixXf(8,8)));
-  CALL_SUBTEST_4(testMatrixType(Matrix2d()));
-  CALL_SUBTEST_5(testMatrixType(Matrix<double,5,5,RowMajor>()));
-  CALL_SUBTEST_6(testMatrixType(Matrix4cd()));
-  CALL_SUBTEST_7(testMatrixType(MatrixXd(13,13)));
-}
diff --git a/eigenlib/unsupported/test/matrix_functions.h b/eigenlib/unsupported/test/matrix_functions.h
deleted file mode 100644
index 5817caef..00000000
--- a/eigenlib/unsupported/test/matrix_functions.h
+++ /dev/null
@@ -1,47 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2009-2011 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "main.h"
-#include <unsupported/Eigen/MatrixFunctions>
-
-template <typename MatrixType, int IsComplex = NumTraits<typename internal::traits<MatrixType>::Scalar>::IsComplex>
-struct generateTestMatrix;
-
-// for real matrices, make sure none of the eigenvalues are negative
-template <typename MatrixType>
-struct generateTestMatrix<MatrixType,0>
-{
-  static void run(MatrixType& result, typename MatrixType::Index size)
-  {
-    MatrixType mat = MatrixType::Random(size, size);
-    EigenSolver<MatrixType> es(mat);
-    typename EigenSolver<MatrixType>::EigenvalueType eivals = es.eigenvalues();
-    for (typename MatrixType::Index i = 0; i < size; ++i) {
-      if (eivals(i).imag() == 0 && eivals(i).real() < 0)
-	eivals(i) = -eivals(i);
-    }
-    result = (es.eigenvectors() * eivals.asDiagonal() * es.eigenvectors().inverse()).real();
-  }
-};
-
-// for complex matrices, any matrix is fine
-template <typename MatrixType>
-struct generateTestMatrix<MatrixType,1>
-{
-  static void run(MatrixType& result, typename MatrixType::Index size)
-  {
-    result = MatrixType::Random(size, size);
-  }
-};
-
-template <typename Derived, typename OtherDerived>
-double relerr(const MatrixBase<Derived>& A, const MatrixBase<OtherDerived>& B)
-{
-  return std::sqrt((A - B).cwiseAbs2().sum() / (std::min)(A.cwiseAbs2().sum(), B.cwiseAbs2().sum()));
-}
diff --git a/eigenlib/unsupported/test/matrix_power.cpp b/eigenlib/unsupported/test/matrix_power.cpp
deleted file mode 100644
index b9d513b4..00000000
--- a/eigenlib/unsupported/test/matrix_power.cpp
+++ /dev/null
@@ -1,133 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2012 Chen-Pang He <jdh8@ms63.hinet.net>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "matrix_functions.h"
-
-template <typename MatrixType, int IsComplex = NumTraits<typename MatrixType::Scalar>::IsComplex>
-struct generateTriangularMatrix;
-
-// for real matrices, make sure none of the eigenvalues are negative
-template <typename MatrixType>
-struct generateTriangularMatrix<MatrixType,0>
-{
-  static void run(MatrixType& result, typename MatrixType::Index size)
-  {
-    result.resize(size, size);
-    result.template triangularView<Upper>() = MatrixType::Random(size, size);
-    for (typename MatrixType::Index i = 0; i < size; ++i)
-      result.coeffRef(i,i) = std::abs(result.coeff(i,i));
-  }
-};
-
-// for complex matrices, any matrix is fine
-template <typename MatrixType>
-struct generateTriangularMatrix<MatrixType,1>
-{
-  static void run(MatrixType& result, typename MatrixType::Index size)
-  {
-    result.resize(size, size);
-    result.template triangularView<Upper>() = MatrixType::Random(size, size);
-  }
-};
-
-template<typename T>
-void test2dRotation(double tol)
-{
-  Matrix<T,2,2> A, B, C;
-  T angle, c, s;
-
-  A << 0, 1, -1, 0;
-  MatrixPower<Matrix<T,2,2> > Apow(A);
-
-  for (int i=0; i<=20; ++i) {
-    angle = pow(10, (i-10) / 5.);
-    c = std::cos(angle);
-    s = std::sin(angle);
-    B << c, s, -s, c;
-
-    C = Apow(std::ldexp(angle,1) / M_PI);
-    std::cout << "test2dRotation: i = " << i << "   error powerm = " << relerr(C,B) << '\n';
-    VERIFY(C.isApprox(B, static_cast<T>(tol)));
-  }
-}
-
-template<typename T>
-void test2dHyperbolicRotation(double tol)
-{
-  Matrix<std::complex<T>,2,2> A, B, C;
-  T angle, ch = std::cosh((T)1);
-  std::complex<T> ish(0, std::sinh((T)1));
-
-  A << ch, ish, -ish, ch;
-  MatrixPower<Matrix<std::complex<T>,2,2> > Apow(A);
-
-  for (int i=0; i<=20; ++i) {
-    angle = std::ldexp(static_cast<T>(i-10), -1);
-    ch = std::cosh(angle);
-    ish = std::complex<T>(0, std::sinh(angle));
-    B << ch, ish, -ish, ch;
-
-    C = Apow(angle);
-    std::cout << "test2dHyperbolicRotation: i = " << i << "   error powerm = " << relerr(C,B) << '\n';
-    VERIFY(C.isApprox(B, static_cast<T>(tol)));
-  }
-}
-
-template<typename MatrixType>
-void testExponentLaws(const MatrixType& m, double tol)
-{
-  typedef typename MatrixType::RealScalar RealScalar;
-  MatrixType m1, m2, m3, m4, m5;
-  RealScalar x, y;
-
-  for (int i=0; i < g_repeat; ++i) {
-    generateTestMatrix<MatrixType>::run(m1, m.rows());
-    MatrixPower<MatrixType> mpow(m1);
-
-    x = internal::random<RealScalar>();
-    y = internal::random<RealScalar>();
-    m2 = mpow(x);
-    m3 = mpow(y);
-
-    m4 = mpow(x+y);
-    m5.noalias() = m2 * m3;
-    VERIFY(m4.isApprox(m5, static_cast<RealScalar>(tol)));
-
-    m4 = mpow(x*y);
-    m5 = m2.pow(y);
-    VERIFY(m4.isApprox(m5, static_cast<RealScalar>(tol)));
-
-    m4 = (std::abs(x) * m1).pow(y);
-    m5 = std::pow(std::abs(x), y) * m3;
-    VERIFY(m4.isApprox(m5, static_cast<RealScalar>(tol)));
-  }
-}
-
-typedef Matrix<double,3,3,RowMajor>         Matrix3dRowMajor;
-typedef Matrix<long double,Dynamic,Dynamic> MatrixXe;
- 
-void test_matrix_power()
-{
-  CALL_SUBTEST_2(test2dRotation<double>(1e-13));
-  CALL_SUBTEST_1(test2dRotation<float>(2e-5));  // was 1e-5, relaxed for clang 2.8 / linux / x86-64
-  CALL_SUBTEST_9(test2dRotation<long double>(1e-13)); 
-  CALL_SUBTEST_2(test2dHyperbolicRotation<double>(1e-14));
-  CALL_SUBTEST_1(test2dHyperbolicRotation<float>(1e-5));
-  CALL_SUBTEST_9(test2dHyperbolicRotation<long double>(1e-14));
-
-  CALL_SUBTEST_2(testExponentLaws(Matrix2d(),         1e-13));
-  CALL_SUBTEST_7(testExponentLaws(Matrix3dRowMajor(), 1e-13));
-  CALL_SUBTEST_3(testExponentLaws(Matrix4cd(),        1e-13));
-  CALL_SUBTEST_4(testExponentLaws(MatrixXd(8,8),      2e-12));
-  CALL_SUBTEST_1(testExponentLaws(Matrix2f(),         1e-4));
-  CALL_SUBTEST_5(testExponentLaws(Matrix3cf(),        1e-4));
-  CALL_SUBTEST_8(testExponentLaws(Matrix4f(),         1e-4));
-  CALL_SUBTEST_6(testExponentLaws(MatrixXf(2,2),      1e-3)); // see bug 614
-  CALL_SUBTEST_9(testExponentLaws(MatrixXe(7,7),      1e-13));
-}
diff --git a/eigenlib/unsupported/test/matrix_square_root.cpp b/eigenlib/unsupported/test/matrix_square_root.cpp
deleted file mode 100644
index ea541e1e..00000000
--- a/eigenlib/unsupported/test/matrix_square_root.cpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Jitse Niesen <jitse@maths.leeds.ac.uk>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "matrix_functions.h"
-
-template<typename MatrixType>
-void testMatrixSqrt(const MatrixType& m)
-{
-  MatrixType A;
-  generateTestMatrix<MatrixType>::run(A, m.rows());
-  MatrixType sqrtA = A.sqrt();
-  VERIFY_IS_APPROX(sqrtA * sqrtA, A);
-}
-
-void test_matrix_square_root()
-{
-  for (int i = 0; i < g_repeat; i++) {
-    CALL_SUBTEST_1(testMatrixSqrt(Matrix3cf()));
-    CALL_SUBTEST_2(testMatrixSqrt(MatrixXcd(12,12)));
-    CALL_SUBTEST_3(testMatrixSqrt(Matrix4f()));
-    CALL_SUBTEST_4(testMatrixSqrt(Matrix<double,Dynamic,Dynamic,RowMajor>(9, 9)));
-    CALL_SUBTEST_5(testMatrixSqrt(Matrix<float,1,1>()));
-    CALL_SUBTEST_5(testMatrixSqrt(Matrix<std::complex<float>,1,1>()));
-  }
-}
diff --git a/eigenlib/unsupported/test/minres.cpp b/eigenlib/unsupported/test/minres.cpp
deleted file mode 100644
index 509ebe09..00000000
--- a/eigenlib/unsupported/test/minres.cpp
+++ /dev/null
@@ -1,49 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2011 Gael Guennebaud <g.gael@free.fr>
-// Copyright (C) 2012 Giacomo Po <gpo@ucla.edu>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-#include <cmath>
-
-#include "../../test/sparse_solver.h"
-#include <Eigen/IterativeSolvers>
-
-template<typename T> void test_minres_T()
-{
-  MINRES<SparseMatrix<T>, Lower|Upper, DiagonalPreconditioner<T> > minres_colmajor_diag;
-  MINRES<SparseMatrix<T>, Lower, IdentityPreconditioner    > minres_colmajor_lower_I;
-  MINRES<SparseMatrix<T>, Upper, IdentityPreconditioner    > minres_colmajor_upper_I;
-//  MINRES<SparseMatrix<T>, Lower, IncompleteLUT<T> >           minres_colmajor_ilut;
-  //minres<SparseMatrix<T>, SSORPreconditioner<T> >     minres_colmajor_ssor;
-
-
-//   CALL_SUBTEST( check_sparse_square_solving(minres_colmajor_diag)  );
- // CALL_SUBTEST( check_sparse_square_solving(minres_colmajor_ilut)     );
-  //CALL_SUBTEST( check_sparse_square_solving(minres_colmajor_ssor)     );
-
-  // Diagonal preconditioner
-  MINRES<SparseMatrix<T>, Lower, DiagonalPreconditioner<T> > minres_colmajor_lower_diag;
-  MINRES<SparseMatrix<T>, Upper, DiagonalPreconditioner<T> > minres_colmajor_upper_diag;
-  MINRES<SparseMatrix<T>, Upper|Lower, DiagonalPreconditioner<T> > minres_colmajor_uplo_diag;
-  
-  // call tests for SPD matrix
-  CALL_SUBTEST( check_sparse_spd_solving(minres_colmajor_lower_I) );
-  CALL_SUBTEST( check_sparse_spd_solving(minres_colmajor_upper_I) );
-    
-  CALL_SUBTEST( check_sparse_spd_solving(minres_colmajor_lower_diag)  );
-  CALL_SUBTEST( check_sparse_spd_solving(minres_colmajor_upper_diag)  );
-//   CALL_SUBTEST( check_sparse_spd_solving(minres_colmajor_uplo_diag)  );
-    
-  // TO DO: symmetric semi-definite matrix
-  // TO DO: symmetric indefinite matrix
-}
-
-void test_minres()
-{
-  CALL_SUBTEST_1(test_minres_T<double>());
-//  CALL_SUBTEST_2(test_minres_T<std::complex<double> >());
-}
diff --git a/eigenlib/unsupported/test/mpreal/mpreal.h b/eigenlib/unsupported/test/mpreal/mpreal.h
deleted file mode 100644
index f83e52d0..00000000
--- a/eigenlib/unsupported/test/mpreal/mpreal.h
+++ /dev/null
@@ -1,3074 +0,0 @@
-/*
-    MPFR C++: Multi-precision floating point number class for C++. 
-    Based on MPFR library:    http://mpfr.org
-
-    Project homepage:    http://www.holoborodko.com/pavel/mpfr
-    Contact e-mail:      pavel@holoborodko.com
-
-    Copyright (c) 2008-2014 Pavel Holoborodko
-
-    Contributors:
-    Dmitriy Gubanov, Konstantin Holoborodko, Brian Gladman, 
-    Helmut Jarausch, Fokko Beekhof, Ulrich Mutze, Heinz van Saanen, 
-    Pere Constans, Peter van Hoof, Gael Guennebaud, Tsai Chia Cheng, 
-    Alexei Zubanov, Jauhien Piatlicki, Victor Berger, John Westwood,
-    Petr Aleksandrov, Orion Poplawski, Charles Karney.
-
-    Licensing:
-    (A) MPFR C++ is under GNU General Public License ("GPL").
-    
-    (B) Non-free licenses may also be purchased from the author, for users who 
-        do not want their programs protected by the GPL.
-
-        The non-free licenses are for users that wish to use MPFR C++ in 
-        their products but are unwilling to release their software 
-        under the GPL (which would require them to release source code 
-        and allow free redistribution).
-
-        Such users can purchase an unlimited-use license from the author.
-        Contact us for more details.
-    
-    GNU General Public License ("GPL") copyright permissions statement:
-    **************************************************************************
-    This program is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-
-    This program is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-
-    You should have received a copy of the GNU General Public License
-    along with this program.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef __MPREAL_H__
-#define __MPREAL_H__
-
-#include <string>
-#include <iostream>
-#include <sstream>
-#include <stdexcept>
-#include <cfloat>
-#include <cmath>
-#include <cstring>
-#include <limits>
-
-// Options
-// FIXME HAVE_INT64_SUPPORT leads to clashes with long int and int64_t on some systems.
-//#define MPREAL_HAVE_INT64_SUPPORT               // Enable int64_t support if possible. Available only for MSVC 2010 & GCC.
-#define MPREAL_HAVE_MSVC_DEBUGVIEW              // Enable Debugger Visualizer for "Debug" builds in MSVC.
-#define MPREAL_HAVE_DYNAMIC_STD_NUMERIC_LIMITS  // Enable extended std::numeric_limits<mpfr::mpreal> specialization.
-                                                // Meaning that "digits", "round_style" and similar members are defined as functions, not constants.
-                                                // See std::numeric_limits<mpfr::mpreal> at the end of the file for more information.
-
-// Library version
-#define MPREAL_VERSION_MAJOR 3
-#define MPREAL_VERSION_MINOR 5
-#define MPREAL_VERSION_PATCHLEVEL 9
-#define MPREAL_VERSION_STRING "3.5.9"
-
-// Detect compiler using signatures from http://predef.sourceforge.net/
-#if defined(__GNUC__) && defined(__INTEL_COMPILER)
-    #define IsInf(x) isinf(x)                   // Intel ICC compiler on Linux 
-
-#elif defined(_MSC_VER)                         // Microsoft Visual C++ 
-    #define IsInf(x) (!_finite(x))                           
-
-#else
-    #define IsInf(x) std::isinf(x)              // GNU C/C++ (and/or other compilers), just hope for C99 conformance
-#endif
-
-// A Clang feature extension to determine compiler features.
-#ifndef __has_feature
-    #define __has_feature(x) 0
-#endif
-
-// Detect support for r-value references (move semantic). Borrowed from Eigen.
-#if (__has_feature(cxx_rvalue_references) || \
-       defined(__GXX_EXPERIMENTAL_CXX0X__) || __cplusplus >= 201103L || \
-      (defined(_MSC_VER) && _MSC_VER >= 1600))
-
-    #define MPREAL_HAVE_MOVE_SUPPORT
-
-    // Use fields in mpfr_t structure to check if it was initialized / set dummy initialization 
-    #define mpfr_is_initialized(x)      (0 != (x)->_mpfr_d)
-    #define mpfr_set_uninitialized(x)   ((x)->_mpfr_d = 0 )
-#endif
-
-// Detect support for explicit converters. 
-#if (__has_feature(cxx_explicit_conversions) || \
-       defined(__GXX_EXPERIMENTAL_CXX0X__) || __cplusplus >= 201103L || \
-      (defined(_MSC_VER) && _MSC_VER >= 1800))
-
-    #define MPREAL_HAVE_EXPLICIT_CONVERTERS
-#endif
-
-// Detect available 64-bit capabilities
-#if defined(MPREAL_HAVE_INT64_SUPPORT)
-    
-    #define MPFR_USE_INTMAX_T                   // Should be defined before mpfr.h
-
-    #if defined(_MSC_VER)                       // MSVC + Windows
-        #if (_MSC_VER >= 1600)                    
-            #include <stdint.h>                 // <stdint.h> is available only in msvc2010!
-
-        #else                                   // MPFR relies on intmax_t which is available only in msvc2010
-            #undef MPREAL_HAVE_INT64_SUPPORT    // Besides, MPFR & MPIR have to be compiled with msvc2010
-            #undef MPFR_USE_INTMAX_T            // Since we cannot detect this, disable x64 by default
-                                                // Someone should change this manually if needed.
-        #endif
-
-    #elif defined (__GNUC__) && defined(__linux__)
-        #if defined(__amd64__) || defined(__amd64) || defined(__x86_64__) || defined(__x86_64) || defined(__ia64) || defined(__itanium__) || defined(_M_IA64) || defined (__PPC64__)
-            #undef MPREAL_HAVE_INT64_SUPPORT    // Remove all shaman dances for x64 builds since
-            #undef MPFR_USE_INTMAX_T            // GCC already supports x64 as of "long int" is 64-bit integer, nothing left to do
-        #else
-            #include <stdint.h>                 // use int64_t, uint64_t otherwise
-        #endif
-
-    #else
-        #include <stdint.h>                     // rely on int64_t, uint64_t in all other cases, Mac OSX, etc.
-    #endif
-
-#endif 
-
-#if defined(MPREAL_HAVE_MSVC_DEBUGVIEW) && defined(_MSC_VER) && defined(_DEBUG)
-    #define MPREAL_MSVC_DEBUGVIEW_CODE     DebugView = toString();
-    #define MPREAL_MSVC_DEBUGVIEW_DATA     std::string DebugView;
-#else
-    #define MPREAL_MSVC_DEBUGVIEW_CODE 
-    #define MPREAL_MSVC_DEBUGVIEW_DATA 
-#endif
-
-#include <mpfr.h>
-
-#if (MPFR_VERSION < MPFR_VERSION_NUM(3,0,0))
-    #include <cstdlib>                          // Needed for random()
-#endif
-
-// Less important options
-#define MPREAL_DOUBLE_BITS_OVERFLOW -1          // Triggers overflow exception during conversion to double if mpreal 
-                                                // cannot fit in MPREAL_DOUBLE_BITS_OVERFLOW bits
-                                                // = -1 disables overflow checks (default)
-#if defined(__GNUC__)
-  #define MPREAL_PERMISSIVE_EXPR __extension__
-#else
-  #define MPREAL_PERMISSIVE_EXPR
-#endif
-
-namespace mpfr {
-
-class mpreal {
-private:
-    mpfr_t mp;
-    
-public:
-    
-    // Get default rounding mode & precision
-    inline static mp_rnd_t   get_default_rnd()    {    return (mp_rnd_t)(mpfr_get_default_rounding_mode());       }
-    inline static mp_prec_t  get_default_prec()   {    return mpfr_get_default_prec();                            }
-
-    // Constructors && type conversions
-    mpreal();
-    mpreal(const mpreal& u);
-    mpreal(const mpf_t u);    
-    mpreal(const mpz_t u,             mp_prec_t prec = mpreal::get_default_prec(), mp_rnd_t mode = mpreal::get_default_rnd());    
-    mpreal(const mpq_t u,             mp_prec_t prec = mpreal::get_default_prec(), mp_rnd_t mode = mpreal::get_default_rnd());    
-    mpreal(const double u,            mp_prec_t prec = mpreal::get_default_prec(), mp_rnd_t mode = mpreal::get_default_rnd());
-    mpreal(const long double u,       mp_prec_t prec = mpreal::get_default_prec(), mp_rnd_t mode = mpreal::get_default_rnd());
-    mpreal(const unsigned long int u, mp_prec_t prec = mpreal::get_default_prec(), mp_rnd_t mode = mpreal::get_default_rnd());
-    mpreal(const unsigned int u,      mp_prec_t prec = mpreal::get_default_prec(), mp_rnd_t mode = mpreal::get_default_rnd());
-    mpreal(const long int u,          mp_prec_t prec = mpreal::get_default_prec(), mp_rnd_t mode = mpreal::get_default_rnd());
-    mpreal(const int u,               mp_prec_t prec = mpreal::get_default_prec(), mp_rnd_t mode = mpreal::get_default_rnd());
-    
-    // Construct mpreal from mpfr_t structure.
-    // shared = true allows to avoid deep copy, so that mpreal and 'u' share the same data & pointers.    
-    mpreal(const mpfr_t  u, bool shared = false);   
-
-#if defined (MPREAL_HAVE_INT64_SUPPORT)
-    mpreal(const uint64_t u,          mp_prec_t prec = mpreal::get_default_prec(),  mp_rnd_t mode = mpreal::get_default_rnd());
-    mpreal(const int64_t u,           mp_prec_t prec = mpreal::get_default_prec(),  mp_rnd_t mode = mpreal::get_default_rnd());
-#endif
-
-    mpreal(const char* s,             mp_prec_t prec = mpreal::get_default_prec(), int base = 10, mp_rnd_t mode = mpreal::get_default_rnd());
-    mpreal(const std::string& s,      mp_prec_t prec = mpreal::get_default_prec(), int base = 10, mp_rnd_t mode = mpreal::get_default_rnd());
-
-    ~mpreal();                           
-
-#ifdef MPREAL_HAVE_MOVE_SUPPORT
-    mpreal& operator=(mpreal&& v);
-    mpreal(mpreal&& u);
-#endif
-
-    // Operations
-    // =
-    // +, -, *, /, ++, --, <<, >> 
-    // *=, +=, -=, /=,
-    // <, >, ==, <=, >=
-
-    // =
-    mpreal& operator=(const mpreal& v);
-    mpreal& operator=(const mpf_t v);
-    mpreal& operator=(const mpz_t v);
-    mpreal& operator=(const mpq_t v);
-    mpreal& operator=(const long double v);
-    mpreal& operator=(const double v);        
-    mpreal& operator=(const unsigned long int v);
-    mpreal& operator=(const unsigned int v);
-    mpreal& operator=(const long int v);
-    mpreal& operator=(const int v);
-    mpreal& operator=(const char* s);
-    mpreal& operator=(const std::string& s);
-
-    // +
-    mpreal& operator+=(const mpreal& v);
-    mpreal& operator+=(const mpf_t v);
-    mpreal& operator+=(const mpz_t v);
-    mpreal& operator+=(const mpq_t v);
-    mpreal& operator+=(const long double u);
-    mpreal& operator+=(const double u);
-    mpreal& operator+=(const unsigned long int u);
-    mpreal& operator+=(const unsigned int u);
-    mpreal& operator+=(const long int u);
-    mpreal& operator+=(const int u);
-
-#if defined (MPREAL_HAVE_INT64_SUPPORT)
-    mpreal& operator+=(const int64_t  u);
-    mpreal& operator+=(const uint64_t u);
-    mpreal& operator-=(const int64_t  u);
-    mpreal& operator-=(const uint64_t u);
-    mpreal& operator*=(const int64_t  u);
-    mpreal& operator*=(const uint64_t u);
-    mpreal& operator/=(const int64_t  u);
-    mpreal& operator/=(const uint64_t u);
-#endif 
-
-    const mpreal operator+() const;
-    mpreal& operator++ ();
-    const mpreal  operator++ (int); 
-
-    // -
-    mpreal& operator-=(const mpreal& v);
-    mpreal& operator-=(const mpz_t v);
-    mpreal& operator-=(const mpq_t v);
-    mpreal& operator-=(const long double u);
-    mpreal& operator-=(const double u);
-    mpreal& operator-=(const unsigned long int u);
-    mpreal& operator-=(const unsigned int u);
-    mpreal& operator-=(const long int u);
-    mpreal& operator-=(const int u);
-    const mpreal operator-() const;
-    friend const mpreal operator-(const unsigned long int b, const mpreal& a);
-    friend const mpreal operator-(const unsigned int b,      const mpreal& a);
-    friend const mpreal operator-(const long int b,          const mpreal& a);
-    friend const mpreal operator-(const int b,               const mpreal& a);
-    friend const mpreal operator-(const double b,            const mpreal& a);
-    mpreal& operator-- ();    
-    const mpreal  operator-- (int);
-
-    // *
-    mpreal& operator*=(const mpreal& v);
-    mpreal& operator*=(const mpz_t v);
-    mpreal& operator*=(const mpq_t v);
-    mpreal& operator*=(const long double v);
-    mpreal& operator*=(const double v);
-    mpreal& operator*=(const unsigned long int v);
-    mpreal& operator*=(const unsigned int v);
-    mpreal& operator*=(const long int v);
-    mpreal& operator*=(const int v);
-    
-    // /
-    mpreal& operator/=(const mpreal& v);
-    mpreal& operator/=(const mpz_t v);
-    mpreal& operator/=(const mpq_t v);
-    mpreal& operator/=(const long double v);
-    mpreal& operator/=(const double v);
-    mpreal& operator/=(const unsigned long int v);
-    mpreal& operator/=(const unsigned int v);
-    mpreal& operator/=(const long int v);
-    mpreal& operator/=(const int v);
-    friend const mpreal operator/(const unsigned long int b, const mpreal& a);
-    friend const mpreal operator/(const unsigned int b,      const mpreal& a);
-    friend const mpreal operator/(const long int b,          const mpreal& a);
-    friend const mpreal operator/(const int b,               const mpreal& a);
-    friend const mpreal operator/(const double b,            const mpreal& a);
-
-    //<<= Fast Multiplication by 2^u
-    mpreal& operator<<=(const unsigned long int u);
-    mpreal& operator<<=(const unsigned int u);
-    mpreal& operator<<=(const long int u);
-    mpreal& operator<<=(const int u);
-
-    //>>= Fast Division by 2^u
-    mpreal& operator>>=(const unsigned long int u);
-    mpreal& operator>>=(const unsigned int u);
-    mpreal& operator>>=(const long int u);
-    mpreal& operator>>=(const int u);
-
-    // Boolean Operators
-    friend bool operator >  (const mpreal& a, const mpreal& b);
-    friend bool operator >= (const mpreal& a, const mpreal& b);
-    friend bool operator <  (const mpreal& a, const mpreal& b);
-    friend bool operator <= (const mpreal& a, const mpreal& b);
-    friend bool operator == (const mpreal& a, const mpreal& b);
-    friend bool operator != (const mpreal& a, const mpreal& b);
-
-    // Optimized specializations for boolean operators
-    friend bool operator == (const mpreal& a, const unsigned long int b);
-    friend bool operator == (const mpreal& a, const unsigned int b);
-    friend bool operator == (const mpreal& a, const long int b);
-    friend bool operator == (const mpreal& a, const int b);
-    friend bool operator == (const mpreal& a, const long double b);
-    friend bool operator == (const mpreal& a, const double b);
-
-    // Type Conversion operators
-    bool            toBool      (mp_rnd_t mode = GMP_RNDZ)    const;
-    long            toLong      (mp_rnd_t mode = GMP_RNDZ)    const;
-    unsigned long   toULong     (mp_rnd_t mode = GMP_RNDZ)    const;
-    float           toFloat     (mp_rnd_t mode = GMP_RNDN)    const;
-    double          toDouble    (mp_rnd_t mode = GMP_RNDN)    const;
-    long double     toLDouble   (mp_rnd_t mode = GMP_RNDN)    const;
-
-#if defined (MPREAL_HAVE_EXPLICIT_CONVERTERS)
-    explicit operator bool               () const { return toBool();       }
-    explicit operator int                () const { return toLong();       }
-    explicit operator long               () const { return toLong();       }
-    explicit operator long long          () const { return toLong();       }
-    explicit operator unsigned           () const { return toULong();      }
-    explicit operator unsigned long      () const { return toULong();      }
-    explicit operator unsigned long long () const { return toULong();      }
-    explicit operator float              () const { return toFloat();      }
-    explicit operator double             () const { return toDouble();     }
-    explicit operator long double        () const { return toLDouble();    }
-#endif
-
-#if defined (MPREAL_HAVE_INT64_SUPPORT)
-    int64_t         toInt64     (mp_rnd_t mode = GMP_RNDZ)    const;
-    uint64_t        toUInt64    (mp_rnd_t mode = GMP_RNDZ)    const;
-
-    #if defined (MPREAL_HAVE_EXPLICIT_CONVERTERS)
-    explicit operator int64_t   () const { return toInt64();      }
-    explicit operator uint64_t  () const { return toUInt64();     }
-    #endif
-#endif
-
-    // Get raw pointers so that mpreal can be directly used in raw mpfr_* functions
-    ::mpfr_ptr    mpfr_ptr();
-    ::mpfr_srcptr mpfr_ptr()    const;
-    ::mpfr_srcptr mpfr_srcptr() const;
-
-    // Convert mpreal to string with n significant digits in base b
-    // n = -1 -> convert with the maximum available digits
-    std::string toString(int n = -1, int b = 10, mp_rnd_t mode = mpreal::get_default_rnd()) const;
-
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-    std::string toString(const std::string& format) const;
-#endif
-
-    std::ostream& output(std::ostream& os) const;
-
-    // Math Functions
-    friend const mpreal sqr (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal sqrt(const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal sqrt(const unsigned long int v, mp_rnd_t rnd_mode);
-    friend const mpreal cbrt(const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal root(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode);
-    friend const mpreal pow (const mpreal& a, const mpreal& b, mp_rnd_t rnd_mode);
-    friend const mpreal pow (const mpreal& a, const mpz_t b, mp_rnd_t rnd_mode);
-    friend const mpreal pow (const mpreal& a, const unsigned long int b, mp_rnd_t rnd_mode);
-    friend const mpreal pow (const mpreal& a, const long int b, mp_rnd_t rnd_mode);
-    friend const mpreal pow (const unsigned long int a, const mpreal& b, mp_rnd_t rnd_mode);
-    friend const mpreal pow (const unsigned long int a, const unsigned long int b, mp_rnd_t rnd_mode);
-    friend const mpreal fabs(const mpreal& v, mp_rnd_t rnd_mode);
-
-    friend const mpreal abs(const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal dim(const mpreal& a, const mpreal& b, mp_rnd_t rnd_mode);
-    friend inline const mpreal mul_2ui(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode);
-    friend inline const mpreal mul_2si(const mpreal& v, long int k, mp_rnd_t rnd_mode);
-    friend inline const mpreal div_2ui(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode);
-    friend inline const mpreal div_2si(const mpreal& v, long int k, mp_rnd_t rnd_mode);
-    friend int cmpabs(const mpreal& a,const mpreal& b);
-    
-    friend const mpreal log  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal log2 (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal log10(const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal exp  (const mpreal& v, mp_rnd_t rnd_mode); 
-    friend const mpreal exp2 (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal exp10(const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal log1p(const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal expm1(const mpreal& v, mp_rnd_t rnd_mode);
-
-    friend const mpreal cos(const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal sin(const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal tan(const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal sec(const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal csc(const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal cot(const mpreal& v, mp_rnd_t rnd_mode);
-    friend int sin_cos(mpreal& s, mpreal& c, const mpreal& v, mp_rnd_t rnd_mode);
-
-    friend const mpreal acos  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal asin  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal atan  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal atan2 (const mpreal& y, const mpreal& x, mp_rnd_t rnd_mode);
-    friend const mpreal acot  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal asec  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal acsc  (const mpreal& v, mp_rnd_t rnd_mode);
-
-    friend const mpreal cosh  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal sinh  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal tanh  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal sech  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal csch  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal coth  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal acosh (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal asinh (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal atanh (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal acoth (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal asech (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal acsch (const mpreal& v, mp_rnd_t rnd_mode);
-
-    friend const mpreal hypot (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode);
-
-    friend const mpreal fac_ui (unsigned long int v,  mp_prec_t prec, mp_rnd_t rnd_mode);
-    friend const mpreal eint   (const mpreal& v, mp_rnd_t rnd_mode);
-
-    friend const mpreal gamma    (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal lngamma  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal lgamma   (const mpreal& v, int *signp, mp_rnd_t rnd_mode);
-    friend const mpreal zeta     (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal erf      (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal erfc     (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal besselj0 (const mpreal& v, mp_rnd_t rnd_mode); 
-    friend const mpreal besselj1 (const mpreal& v, mp_rnd_t rnd_mode); 
-    friend const mpreal besseljn (long n, const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal bessely0 (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal bessely1 (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal besselyn (long n, const mpreal& v, mp_rnd_t rnd_mode); 
-    friend const mpreal fma      (const mpreal& v1, const mpreal& v2, const mpreal& v3, mp_rnd_t rnd_mode);
-    friend const mpreal fms      (const mpreal& v1, const mpreal& v2, const mpreal& v3, mp_rnd_t rnd_mode);
-    friend const mpreal agm      (const mpreal& v1, const mpreal& v2, mp_rnd_t rnd_mode);
-    friend const mpreal sum      (const mpreal tab[], unsigned long int n, mp_rnd_t rnd_mode);
-    friend int sgn(const mpreal& v); // returns -1 or +1
-
-// MPFR 2.4.0 Specifics
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-    friend int          sinh_cosh   (mpreal& s, mpreal& c, const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal li2         (const mpreal& v,                       mp_rnd_t rnd_mode);
-    friend const mpreal fmod        (const mpreal& x, const mpreal& y,      mp_rnd_t rnd_mode);
-    friend const mpreal rec_sqrt    (const mpreal& v,                       mp_rnd_t rnd_mode);
-
-    // MATLAB's semantic equivalents
-    friend const mpreal rem (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode); // Remainder after division
-    friend const mpreal mod (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode); // Modulus after division
-#endif
-
-// MPFR 3.0.0 Specifics
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0))
-    friend const mpreal digamma (const mpreal& v,        mp_rnd_t rnd_mode);
-    friend const mpreal ai      (const mpreal& v,        mp_rnd_t rnd_mode);
-    friend const mpreal urandom (gmp_randstate_t& state, mp_rnd_t rnd_mode);     // use gmp_randinit_default() to init state, gmp_randclear() to clear
-    friend const mpreal grandom (gmp_randstate_t& state, mp_rnd_t rnd_mode);     // use gmp_randinit_default() to init state, gmp_randclear() to clear
-    friend const mpreal grandom (unsigned int seed);
-#endif
-    
-    // Uniformly distributed random number generation in [0,1] using
-    // Mersenne-Twister algorithm by default.
-    // Use parameter to setup seed, e.g.: random((unsigned)time(NULL))
-    // Check urandom() for more precise control.
-    friend const mpreal random(unsigned int seed);
-
-    // Exponent and mantissa manipulation
-    friend const mpreal frexp(const mpreal& v, mp_exp_t* exp);    
-    friend const mpreal ldexp(const mpreal& v, mp_exp_t exp);
-
-    // Splits mpreal value into fractional and integer parts.
-    // Returns fractional part and stores integer part in n.
-    friend const mpreal modf(const mpreal& v, mpreal& n);    
-
-    // Constants
-    // don't forget to call mpfr_free_cache() for every thread where you are using const-functions
-    friend const mpreal const_log2      (mp_prec_t prec, mp_rnd_t rnd_mode);
-    friend const mpreal const_pi        (mp_prec_t prec, mp_rnd_t rnd_mode);
-    friend const mpreal const_euler     (mp_prec_t prec, mp_rnd_t rnd_mode);
-    friend const mpreal const_catalan   (mp_prec_t prec, mp_rnd_t rnd_mode);
-
-    // returns +inf iff sign>=0 otherwise -inf
-    friend const mpreal const_infinity(int sign, mp_prec_t prec);
-
-    // Output/ Input
-    friend std::ostream& operator<<(std::ostream& os, const mpreal& v);
-    friend std::istream& operator>>(std::istream& is, mpreal& v);
-
-    // Integer Related Functions
-    friend const mpreal rint (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal ceil (const mpreal& v);
-    friend const mpreal floor(const mpreal& v);
-    friend const mpreal round(const mpreal& v);
-    friend const mpreal trunc(const mpreal& v);
-    friend const mpreal rint_ceil   (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal rint_floor  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal rint_round  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal rint_trunc  (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal frac        (const mpreal& v, mp_rnd_t rnd_mode);
-    friend const mpreal remainder   (         const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode);
-    friend const mpreal remquo      (long* q, const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode);
-    
-    // Miscellaneous Functions
-    friend const mpreal nexttoward (const mpreal& x, const mpreal& y);
-    friend const mpreal nextabove  (const mpreal& x);
-    friend const mpreal nextbelow  (const mpreal& x);
-
-    // use gmp_randinit_default() to init state, gmp_randclear() to clear
-    friend const mpreal urandomb (gmp_randstate_t& state); 
-
-// MPFR < 2.4.2 Specifics
-#if (MPFR_VERSION <= MPFR_VERSION_NUM(2,4,2))
-    friend const mpreal random2 (mp_size_t size, mp_exp_t exp);
-#endif
-
-    // Instance Checkers
-    friend bool isnan    (const mpreal& v);
-    friend bool isinf    (const mpreal& v);
-    friend bool isfinite (const mpreal& v);
-
-    friend bool isnum    (const mpreal& v);
-    friend bool iszero   (const mpreal& v);
-    friend bool isint    (const mpreal& v);
-
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0))
-    friend bool isregular(const mpreal& v);
-#endif
-
-    // Set/Get instance properties
-    inline mp_prec_t    get_prec() const;
-    inline void         set_prec(mp_prec_t prec, mp_rnd_t rnd_mode = get_default_rnd());    // Change precision with rounding mode
-
-    // Aliases for get_prec(), set_prec() - needed for compatibility with std::complex<mpreal> interface
-    inline mpreal&      setPrecision(int Precision, mp_rnd_t RoundingMode = get_default_rnd());
-    inline int          getPrecision() const;
-    
-    // Set mpreal to +/- inf, NaN, +/-0
-    mpreal&        setInf  (int Sign = +1);    
-    mpreal&        setNan  ();
-    mpreal&        setZero (int Sign = +1);
-    mpreal&        setSign (int Sign, mp_rnd_t RoundingMode = get_default_rnd());
-
-    //Exponent
-    mp_exp_t get_exp();
-    int set_exp(mp_exp_t e);
-    int check_range  (int t, mp_rnd_t rnd_mode = get_default_rnd());
-    int subnormalize (int t,mp_rnd_t rnd_mode = get_default_rnd());
-
-    // Inexact conversion from float
-    inline bool fits_in_bits(double x, int n);
-
-    // Set/Get global properties
-    static void            set_default_prec(mp_prec_t prec);
-    static void            set_default_rnd(mp_rnd_t rnd_mode);
-
-    static mp_exp_t  get_emin (void);
-    static mp_exp_t  get_emax (void);
-    static mp_exp_t  get_emin_min (void);
-    static mp_exp_t  get_emin_max (void);
-    static mp_exp_t  get_emax_min (void);
-    static mp_exp_t  get_emax_max (void);
-    static int       set_emin (mp_exp_t exp);
-    static int       set_emax (mp_exp_t exp);
-
-    // Efficient swapping of two mpreal values - needed for std algorithms
-    friend void swap(mpreal& x, mpreal& y);
-    
-    friend const mpreal fmax(const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode);
-    friend const mpreal fmin(const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode);
-
-private:
-    // Human friendly Debug Preview in Visual Studio.
-    // Put one of these lines:
-    //
-    // mpfr::mpreal=<DebugView>                              ; Show value only
-    // mpfr::mpreal=<DebugView>, <mp[0]._mpfr_prec,u>bits    ; Show value & precision
-    // 
-    // at the beginning of
-    // [Visual Studio Installation Folder]\Common7\Packages\Debugger\autoexp.dat
-    MPREAL_MSVC_DEBUGVIEW_DATA
-
-    // "Smart" resources deallocation. Checks if instance initialized before deletion.
-    void clear(::mpfr_ptr);
-};
-
-//////////////////////////////////////////////////////////////////////////
-// Exceptions
-class conversion_overflow : public std::exception {
-public:
-    std::string why() { return "inexact conversion from floating point"; }
-};
-
-//////////////////////////////////////////////////////////////////////////
-// Constructors & converters
-// Default constructor: creates mp number and initializes it to 0.
-inline mpreal::mpreal() 
-{ 
-    mpfr_init2 (mpfr_ptr(), mpreal::get_default_prec()); 
-    mpfr_set_ui(mpfr_ptr(), 0, mpreal::get_default_rnd());
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mpreal::mpreal(const mpreal& u) 
-{
-    mpfr_init2(mpfr_ptr(),mpfr_get_prec(u.mpfr_srcptr()));
-    mpfr_set  (mpfr_ptr(),u.mpfr_srcptr(),mpreal::get_default_rnd());
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-#ifdef MPREAL_HAVE_MOVE_SUPPORT
-inline mpreal::mpreal(mpreal&& other)
-{
-    mpfr_set_uninitialized(mpfr_ptr());     // make sure "other" holds no pinter to actual data 
-    mpfr_swap(mpfr_ptr(), other.mpfr_ptr());
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mpreal& mpreal::operator=(mpreal&& other)
-{
-    mpfr_swap(mpfr_ptr(), other.mpfr_ptr());
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-#endif
-
-inline mpreal::mpreal(const mpfr_t  u, bool shared)
-{
-    if(shared)
-    {
-        std::memcpy(mpfr_ptr(), u, sizeof(mpfr_t));
-    }
-    else
-    {
-        mpfr_init2(mpfr_ptr(), mpfr_get_prec(u));
-        mpfr_set  (mpfr_ptr(), u, mpreal::get_default_rnd());
-    }
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mpreal::mpreal(const mpf_t u)
-{
-    mpfr_init2(mpfr_ptr(),(mp_prec_t) mpf_get_prec(u)); // (gmp: mp_bitcnt_t) unsigned long -> long (mpfr: mp_prec_t)
-    mpfr_set_f(mpfr_ptr(),u,mpreal::get_default_rnd());
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mpreal::mpreal(const mpz_t u, mp_prec_t prec, mp_rnd_t mode)
-{
-    mpfr_init2(mpfr_ptr(), prec);
-    mpfr_set_z(mpfr_ptr(), u, mode);
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mpreal::mpreal(const mpq_t u, mp_prec_t prec, mp_rnd_t mode)
-{
-    mpfr_init2(mpfr_ptr(), prec);
-    mpfr_set_q(mpfr_ptr(), u, mode);
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mpreal::mpreal(const double u, mp_prec_t prec, mp_rnd_t mode)
-{
-     mpfr_init2(mpfr_ptr(), prec);
-
-#if (MPREAL_DOUBLE_BITS_OVERFLOW > -1)
-  if(fits_in_bits(u, MPREAL_DOUBLE_BITS_OVERFLOW))
-  {
-    mpfr_set_d(mpfr_ptr(), u, mode);
-  }else
-    throw conversion_overflow();
-#else
-  mpfr_set_d(mpfr_ptr(), u, mode);
-#endif
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mpreal::mpreal(const long double u, mp_prec_t prec, mp_rnd_t mode)
-{ 
-    mpfr_init2 (mpfr_ptr(), prec);
-    mpfr_set_ld(mpfr_ptr(), u, mode);
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mpreal::mpreal(const unsigned long int u, mp_prec_t prec, mp_rnd_t mode)
-{ 
-    mpfr_init2 (mpfr_ptr(), prec);
-    mpfr_set_ui(mpfr_ptr(), u, mode);
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mpreal::mpreal(const unsigned int u, mp_prec_t prec, mp_rnd_t mode)
-{ 
-    mpfr_init2 (mpfr_ptr(), prec);
-    mpfr_set_ui(mpfr_ptr(), u, mode);
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mpreal::mpreal(const long int u, mp_prec_t prec, mp_rnd_t mode)
-{ 
-    mpfr_init2 (mpfr_ptr(), prec);
-    mpfr_set_si(mpfr_ptr(), u, mode);
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mpreal::mpreal(const int u, mp_prec_t prec, mp_rnd_t mode)
-{ 
-    mpfr_init2 (mpfr_ptr(), prec);
-    mpfr_set_si(mpfr_ptr(), u, mode);
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-#if defined (MPREAL_HAVE_INT64_SUPPORT)
-inline mpreal::mpreal(const uint64_t u, mp_prec_t prec, mp_rnd_t mode)
-{
-    mpfr_init2 (mpfr_ptr(), prec);
-    mpfr_set_uj(mpfr_ptr(), u, mode); 
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mpreal::mpreal(const int64_t u, mp_prec_t prec, mp_rnd_t mode)
-{
-    mpfr_init2 (mpfr_ptr(), prec);
-    mpfr_set_sj(mpfr_ptr(), u, mode); 
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-#endif
-
-inline mpreal::mpreal(const char* s, mp_prec_t prec, int base, mp_rnd_t mode)
-{
-    mpfr_init2  (mpfr_ptr(), prec);
-    mpfr_set_str(mpfr_ptr(), s, base, mode); 
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mpreal::mpreal(const std::string& s, mp_prec_t prec, int base, mp_rnd_t mode)
-{
-    mpfr_init2  (mpfr_ptr(), prec);
-    mpfr_set_str(mpfr_ptr(), s.c_str(), base, mode); 
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline void mpreal::clear(::mpfr_ptr x)
-{
-#ifdef MPREAL_HAVE_MOVE_SUPPORT
-    if(mpfr_is_initialized(x)) 
-#endif
-    mpfr_clear(x);
-}
-
-inline mpreal::~mpreal() 
-{ 
-    clear(mpfr_ptr());
-}                           
-
-// internal namespace needed for template magic
-namespace internal{
-
-    // Use SFINAE to restrict arithmetic operations instantiation only for numeric types
-    // This is needed for smooth integration with libraries based on expression templates, like Eigen.
-    // TODO: Do the same for boolean operators.
-    template <typename ArgumentType> struct result_type {};    
-    
-    template <> struct result_type<mpreal>              {typedef mpreal type;};    
-    template <> struct result_type<mpz_t>               {typedef mpreal type;};    
-    template <> struct result_type<mpq_t>               {typedef mpreal type;};    
-    template <> struct result_type<long double>         {typedef mpreal type;};    
-    template <> struct result_type<double>              {typedef mpreal type;};    
-    template <> struct result_type<unsigned long int>   {typedef mpreal type;};    
-    template <> struct result_type<unsigned int>        {typedef mpreal type;};    
-    template <> struct result_type<long int>            {typedef mpreal type;};    
-    template <> struct result_type<int>                 {typedef mpreal type;};    
-
-#if defined (MPREAL_HAVE_INT64_SUPPORT)
-    template <> struct result_type<int64_t  >           {typedef mpreal type;};    
-    template <> struct result_type<uint64_t >           {typedef mpreal type;};    
-#endif
-}
-
-// + Addition
-template <typename Rhs> 
-inline const typename internal::result_type<Rhs>::type 
-    operator+(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) += rhs;    }
-
-template <typename Lhs> 
-inline const typename internal::result_type<Lhs>::type 
-    operator+(const Lhs& lhs, const mpreal& rhs){ return mpreal(rhs) += lhs;    } 
-
-// - Subtraction
-template <typename Rhs> 
-inline const typename internal::result_type<Rhs>::type 
-    operator-(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) -= rhs;    }
-
-template <typename Lhs> 
-inline const typename internal::result_type<Lhs>::type 
-    operator-(const Lhs& lhs, const mpreal& rhs){ return mpreal(lhs) -= rhs;    }
-
-// * Multiplication
-template <typename Rhs> 
-inline const typename internal::result_type<Rhs>::type 
-    operator*(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) *= rhs;    }
-
-template <typename Lhs> 
-inline const typename internal::result_type<Lhs>::type 
-    operator*(const Lhs& lhs, const mpreal& rhs){ return mpreal(rhs) *= lhs;    } 
-
-// / Division
-template <typename Rhs> 
-inline const typename internal::result_type<Rhs>::type 
-    operator/(const mpreal& lhs, const Rhs& rhs){ return mpreal(lhs) /= rhs;    }
-
-template <typename Lhs> 
-inline const typename internal::result_type<Lhs>::type 
-    operator/(const Lhs& lhs, const mpreal& rhs){ return mpreal(lhs) /= rhs;    }
-
-//////////////////////////////////////////////////////////////////////////
-// sqrt
-const mpreal sqrt(const unsigned int v, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal sqrt(const long int v, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal sqrt(const int v, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal sqrt(const long double v, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal sqrt(const double v, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-
-// abs
-inline const mpreal abs(const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd());
-
-//////////////////////////////////////////////////////////////////////////
-// pow
-const mpreal pow(const mpreal& a, const unsigned int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const mpreal& a, const int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const mpreal& a, const long double b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const mpreal& a, const double b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-
-const mpreal pow(const unsigned int a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const long int a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const int a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const long double a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const double a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-
-const mpreal pow(const unsigned long int a, const unsigned int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const unsigned long int a, const long int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const unsigned long int a, const int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const unsigned long int a, const long double b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const unsigned long int a, const double b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-
-const mpreal pow(const unsigned int a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const unsigned int a, const unsigned int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const unsigned int a, const long int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const unsigned int a, const int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const unsigned int a, const long double b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const unsigned int a, const double b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-
-const mpreal pow(const long int a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const long int a, const unsigned int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const long int a, const long int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const long int a, const int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const long int a, const long double b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const long int a, const double b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-
-const mpreal pow(const int a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const int a, const unsigned int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const int a, const long int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const int a, const int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd()); 
-const mpreal pow(const int a, const long double b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const int a, const double b, mp_rnd_t rnd_mode = mpreal::get_default_rnd()); 
-
-const mpreal pow(const long double a, const long double b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());    
-const mpreal pow(const long double a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const long double a, const unsigned int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const long double a, const long int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const long double a, const int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-
-const mpreal pow(const double a, const double b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());    
-const mpreal pow(const double a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const double a, const unsigned int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const double a, const long int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-const mpreal pow(const double a, const int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-
-inline const mpreal mul_2ui(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-inline const mpreal mul_2si(const mpreal& v, long int k, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-inline const mpreal div_2ui(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-inline const mpreal div_2si(const mpreal& v, long int k, mp_rnd_t rnd_mode = mpreal::get_default_rnd());
-
-//////////////////////////////////////////////////////////////////////////
-// Estimate machine epsilon for the given precision
-// Returns smallest eps such that 1.0 + eps != 1.0
-inline mpreal machine_epsilon(mp_prec_t prec = mpreal::get_default_prec());
-
-// Returns smallest eps such that x + eps != x (relative machine epsilon)
-inline mpreal machine_epsilon(const mpreal& x);        
-
-// Gives max & min values for the required precision, 
-// minval is 'safe' meaning 1 / minval does not overflow
-// maxval is 'safe' meaning 1 / maxval does not underflow
-inline mpreal minval(mp_prec_t prec = mpreal::get_default_prec());
-inline mpreal maxval(mp_prec_t prec = mpreal::get_default_prec());
-
-// 'Dirty' equality check 1: |a-b| < min{|a|,|b|} * eps
-inline bool isEqualFuzzy(const mpreal& a, const mpreal& b, const mpreal& eps);
-
-// 'Dirty' equality check 2: |a-b| < min{|a|,|b|} * eps( min{|a|,|b|} )
-inline bool isEqualFuzzy(const mpreal& a, const mpreal& b);
-
-// 'Bitwise' equality check
-//  maxUlps - a and b can be apart by maxUlps binary numbers. 
-inline bool isEqualUlps(const mpreal& a, const mpreal& b, int maxUlps);
-
-//////////////////////////////////////////////////////////////////////////
-//     Convert precision in 'bits' to decimal digits and vice versa.
-//        bits   = ceil(digits*log[2](10))
-//        digits = floor(bits*log[10](2))
-
-inline mp_prec_t digits2bits(int d);
-inline int       bits2digits(mp_prec_t b);
-
-//////////////////////////////////////////////////////////////////////////
-// min, max
-const mpreal (max)(const mpreal& x, const mpreal& y);
-const mpreal (min)(const mpreal& x, const mpreal& y);
-
-//////////////////////////////////////////////////////////////////////////
-// Implementation
-//////////////////////////////////////////////////////////////////////////
-
-//////////////////////////////////////////////////////////////////////////
-// Operators - Assignment
-inline mpreal& mpreal::operator=(const mpreal& v)
-{
-    if (this != &v)
-    {
-    mp_prec_t tp = mpfr_get_prec(  mpfr_srcptr());
-    mp_prec_t vp = mpfr_get_prec(v.mpfr_srcptr());
-
-    if(tp != vp){
-      clear(mpfr_ptr());
-      mpfr_init2(mpfr_ptr(), vp);
-    }
-
-        mpfr_set(mpfr_ptr(), v.mpfr_srcptr(), mpreal::get_default_rnd());
-
-        MPREAL_MSVC_DEBUGVIEW_CODE;
-    }
-    return *this;
-}
-
-inline mpreal& mpreal::operator=(const mpf_t v)
-{
-    mpfr_set_f(mpfr_ptr(), v, mpreal::get_default_rnd());
-    
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator=(const mpz_t v)
-{
-    mpfr_set_z(mpfr_ptr(), v, mpreal::get_default_rnd());
-    
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator=(const mpq_t v)
-{
-    mpfr_set_q(mpfr_ptr(), v, mpreal::get_default_rnd());
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator=(const long double v)        
-{    
-    mpfr_set_ld(mpfr_ptr(), v, mpreal::get_default_rnd());
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator=(const double v)                
-{   
-#if (MPREAL_DOUBLE_BITS_OVERFLOW > -1)
-  if(fits_in_bits(v, MPREAL_DOUBLE_BITS_OVERFLOW))
-  {
-    mpfr_set_d(mpfr_ptr(),v,mpreal::get_default_rnd());
-  }else
-    throw conversion_overflow();
-#else
-  mpfr_set_d(mpfr_ptr(),v,mpreal::get_default_rnd());
-#endif
-
-  MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator=(const unsigned long int v)    
-{    
-    mpfr_set_ui(mpfr_ptr(), v, mpreal::get_default_rnd());    
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator=(const unsigned int v)        
-{    
-    mpfr_set_ui(mpfr_ptr(), v, mpreal::get_default_rnd());    
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator=(const long int v)            
-{    
-    mpfr_set_si(mpfr_ptr(), v, mpreal::get_default_rnd());    
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator=(const int v)
-{    
-    mpfr_set_si(mpfr_ptr(), v, mpreal::get_default_rnd());    
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator=(const char* s)
-{
-    // Use other converters for more precise control on base & precision & rounding:
-    //
-    //        mpreal(const char* s,        mp_prec_t prec, int base, mp_rnd_t mode)
-    //        mpreal(const std::string& s,mp_prec_t prec, int base, mp_rnd_t mode)
-    //
-    // Here we assume base = 10 and we use precision of target variable.
-
-    mpfr_t t;
-
-    mpfr_init2(t, mpfr_get_prec(mpfr_srcptr()));
-
-    if(0 == mpfr_set_str(t, s, 10, mpreal::get_default_rnd()))
-    {
-        mpfr_set(mpfr_ptr(), t, mpreal::get_default_rnd()); 
-        MPREAL_MSVC_DEBUGVIEW_CODE;
-    }
-
-    clear(t);
-    return *this;
-}
-
-inline mpreal& mpreal::operator=(const std::string& s)
-{
-    // Use other converters for more precise control on base & precision & rounding:
-    //
-    //        mpreal(const char* s,        mp_prec_t prec, int base, mp_rnd_t mode)
-    //        mpreal(const std::string& s,mp_prec_t prec, int base, mp_rnd_t mode)
-    //
-    // Here we assume base = 10 and we use precision of target variable.
-
-    mpfr_t t;
-
-    mpfr_init2(t, mpfr_get_prec(mpfr_srcptr()));
-
-    if(0 == mpfr_set_str(t, s.c_str(), 10, mpreal::get_default_rnd()))
-    {
-        mpfr_set(mpfr_ptr(), t, mpreal::get_default_rnd()); 
-        MPREAL_MSVC_DEBUGVIEW_CODE;
-    }
-
-    clear(t);
-    return *this;
-}
-
-
-//////////////////////////////////////////////////////////////////////////
-// + Addition
-inline mpreal& mpreal::operator+=(const mpreal& v)
-{
-    mpfr_add(mpfr_ptr(), mpfr_srcptr(), v.mpfr_srcptr(), mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator+=(const mpf_t u)
-{
-    *this += mpreal(u);
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator+=(const mpz_t u)
-{
-    mpfr_add_z(mpfr_ptr(),mpfr_srcptr(),u,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator+=(const mpq_t u)
-{
-    mpfr_add_q(mpfr_ptr(),mpfr_srcptr(),u,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator+= (const long double u)
-{
-    *this += mpreal(u);    
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;    
-}
-
-inline mpreal& mpreal::operator+= (const double u)
-{
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-    mpfr_add_d(mpfr_ptr(),mpfr_srcptr(),u,mpreal::get_default_rnd());
-#else
-    *this += mpreal(u);
-#endif
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator+=(const unsigned long int u)
-{
-    mpfr_add_ui(mpfr_ptr(),mpfr_srcptr(),u,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator+=(const unsigned int u)
-{
-    mpfr_add_ui(mpfr_ptr(),mpfr_srcptr(),u,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator+=(const long int u)
-{
-    mpfr_add_si(mpfr_ptr(),mpfr_srcptr(),u,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator+=(const int u)
-{
-    mpfr_add_si(mpfr_ptr(),mpfr_srcptr(),u,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-#if defined (MPREAL_HAVE_INT64_SUPPORT)
-inline mpreal& mpreal::operator+=(const int64_t  u){    *this += mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;    }
-inline mpreal& mpreal::operator+=(const uint64_t u){    *this += mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;    }
-inline mpreal& mpreal::operator-=(const int64_t  u){    *this -= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;    }
-inline mpreal& mpreal::operator-=(const uint64_t u){    *this -= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;    }
-inline mpreal& mpreal::operator*=(const int64_t  u){    *this *= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;    }
-inline mpreal& mpreal::operator*=(const uint64_t u){    *this *= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;    }
-inline mpreal& mpreal::operator/=(const int64_t  u){    *this /= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;    }
-inline mpreal& mpreal::operator/=(const uint64_t u){    *this /= mpreal(u); MPREAL_MSVC_DEBUGVIEW_CODE; return *this;    }
-#endif 
-
-inline const mpreal mpreal::operator+()const    {    return mpreal(*this); }
-
-inline const mpreal operator+(const mpreal& a, const mpreal& b)
-{
-  mpreal c(0, (std::max)(mpfr_get_prec(a.mpfr_ptr()), mpfr_get_prec(b.mpfr_ptr())));
-  mpfr_add(c.mpfr_ptr(), a.mpfr_srcptr(), b.mpfr_srcptr(), mpreal::get_default_rnd());
-  return c;
-}
-
-inline mpreal& mpreal::operator++() 
-{
-    return *this += 1;
-}
-
-inline const mpreal mpreal::operator++ (int)
-{
-    mpreal x(*this);
-    *this += 1;
-    return x;
-}
-
-inline mpreal& mpreal::operator--() 
-{
-    return *this -= 1;
-}
-
-inline const mpreal mpreal::operator-- (int)
-{
-    mpreal x(*this);
-    *this -= 1;
-    return x;
-}
-
-//////////////////////////////////////////////////////////////////////////
-// - Subtraction
-inline mpreal& mpreal::operator-=(const mpreal& v)
-{
-    mpfr_sub(mpfr_ptr(),mpfr_srcptr(),v.mpfr_srcptr(),mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator-=(const mpz_t v)
-{
-    mpfr_sub_z(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator-=(const mpq_t v)
-{
-    mpfr_sub_q(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator-=(const long double v)
-{
-    *this -= mpreal(v);    
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;    
-}
-
-inline mpreal& mpreal::operator-=(const double v)
-{
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-    mpfr_sub_d(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-#else
-    *this -= mpreal(v);    
-#endif
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator-=(const unsigned long int v)
-{
-    mpfr_sub_ui(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator-=(const unsigned int v)
-{
-    mpfr_sub_ui(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator-=(const long int v)
-{
-    mpfr_sub_si(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator-=(const int v)
-{
-    mpfr_sub_si(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline const mpreal mpreal::operator-()const
-{
-    mpreal u(*this);
-    mpfr_neg(u.mpfr_ptr(),u.mpfr_srcptr(),mpreal::get_default_rnd());
-    return u;
-}
-
-inline const mpreal operator-(const mpreal& a, const mpreal& b)
-{
-  mpreal c(0, (std::max)(mpfr_get_prec(a.mpfr_ptr()), mpfr_get_prec(b.mpfr_ptr())));
-  mpfr_sub(c.mpfr_ptr(), a.mpfr_srcptr(), b.mpfr_srcptr(), mpreal::get_default_rnd());
-  return c;
-}
-
-inline const mpreal operator-(const double  b, const mpreal& a)
-{
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-    mpreal x(0, mpfr_get_prec(a.mpfr_ptr()));
-    mpfr_d_sub(x.mpfr_ptr(), b, a.mpfr_srcptr(), mpreal::get_default_rnd());
-    return x;
-#else
-    mpreal x(b, mpfr_get_prec(a.mpfr_ptr()));
-    x -= a;
-    return x;
-#endif
-}
-
-inline const mpreal operator-(const unsigned long int b, const mpreal& a)
-{
-    mpreal x(0, mpfr_get_prec(a.mpfr_ptr()));
-    mpfr_ui_sub(x.mpfr_ptr(), b, a.mpfr_srcptr(), mpreal::get_default_rnd());
-    return x;
-}
-
-inline const mpreal operator-(const unsigned int b, const mpreal& a)
-{
-    mpreal x(0, mpfr_get_prec(a.mpfr_ptr()));
-    mpfr_ui_sub(x.mpfr_ptr(), b, a.mpfr_srcptr(), mpreal::get_default_rnd());
-    return x;
-}
-
-inline const mpreal operator-(const long int b, const mpreal& a)
-{
-    mpreal x(0, mpfr_get_prec(a.mpfr_ptr()));
-    mpfr_si_sub(x.mpfr_ptr(), b, a.mpfr_srcptr(), mpreal::get_default_rnd());
-    return x;
-}
-
-inline const mpreal operator-(const int b, const mpreal& a)
-{
-    mpreal x(0, mpfr_get_prec(a.mpfr_ptr()));
-    mpfr_si_sub(x.mpfr_ptr(), b, a.mpfr_srcptr(), mpreal::get_default_rnd());
-    return x;
-}
-
-//////////////////////////////////////////////////////////////////////////
-// * Multiplication
-inline mpreal& mpreal::operator*= (const mpreal& v)
-{
-    mpfr_mul(mpfr_ptr(),mpfr_srcptr(),v.mpfr_srcptr(),mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator*=(const mpz_t v)
-{
-    mpfr_mul_z(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator*=(const mpq_t v)
-{
-    mpfr_mul_q(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator*=(const long double v)
-{
-    *this *= mpreal(v);    
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;    
-}
-
-inline mpreal& mpreal::operator*=(const double v)
-{
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-    mpfr_mul_d(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-#else
-    *this *= mpreal(v);    
-#endif
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator*=(const unsigned long int v)
-{
-    mpfr_mul_ui(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator*=(const unsigned int v)
-{
-    mpfr_mul_ui(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator*=(const long int v)
-{
-    mpfr_mul_si(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator*=(const int v)
-{
-    mpfr_mul_si(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline const mpreal operator*(const mpreal& a, const mpreal& b)
-{
-  mpreal c(0, (std::max)(mpfr_get_prec(a.mpfr_ptr()), mpfr_get_prec(b.mpfr_ptr())));
-  mpfr_mul(c.mpfr_ptr(), a.mpfr_srcptr(), b.mpfr_srcptr(), mpreal::get_default_rnd());
-  return c;
-}
-
-//////////////////////////////////////////////////////////////////////////
-// / Division
-inline mpreal& mpreal::operator/=(const mpreal& v)
-{
-    mpfr_div(mpfr_ptr(),mpfr_srcptr(),v.mpfr_srcptr(),mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator/=(const mpz_t v)
-{
-    mpfr_div_z(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator/=(const mpq_t v)
-{
-    mpfr_div_q(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator/=(const long double v)
-{
-    *this /= mpreal(v);
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;    
-}
-
-inline mpreal& mpreal::operator/=(const double v)
-{
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-    mpfr_div_d(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-#else
-    *this /= mpreal(v);    
-#endif
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator/=(const unsigned long int v)
-{
-    mpfr_div_ui(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator/=(const unsigned int v)
-{
-    mpfr_div_ui(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator/=(const long int v)
-{
-    mpfr_div_si(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator/=(const int v)
-{
-    mpfr_div_si(mpfr_ptr(),mpfr_srcptr(),v,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline const mpreal operator/(const mpreal& a, const mpreal& b)
-{
-  mpreal c(0, (std::max)(mpfr_get_prec(a.mpfr_srcptr()), mpfr_get_prec(b.mpfr_srcptr())));
-  mpfr_div(c.mpfr_ptr(), a.mpfr_srcptr(), b.mpfr_srcptr(), mpreal::get_default_rnd());
-  return c;
-}
-
-inline const mpreal operator/(const unsigned long int b, const mpreal& a)
-{
-    mpreal x(0, mpfr_get_prec(a.mpfr_srcptr()));
-    mpfr_ui_div(x.mpfr_ptr(), b, a.mpfr_srcptr(), mpreal::get_default_rnd());
-    return x;
-}
-
-inline const mpreal operator/(const unsigned int b, const mpreal& a)
-{
-    mpreal x(0, mpfr_get_prec(a.mpfr_srcptr()));
-    mpfr_ui_div(x.mpfr_ptr(), b, a.mpfr_srcptr(), mpreal::get_default_rnd());
-    return x;
-}
-
-inline const mpreal operator/(const long int b, const mpreal& a)
-{
-    mpreal x(0, mpfr_get_prec(a.mpfr_srcptr()));
-    mpfr_si_div(x.mpfr_ptr(), b, a.mpfr_srcptr(), mpreal::get_default_rnd());
-    return x;
-}
-
-inline const mpreal operator/(const int b, const mpreal& a)
-{
-    mpreal x(0, mpfr_get_prec(a.mpfr_srcptr()));
-    mpfr_si_div(x.mpfr_ptr(), b, a.mpfr_srcptr(), mpreal::get_default_rnd());
-    return x;
-}
-
-inline const mpreal operator/(const double  b, const mpreal& a)
-{
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-    mpreal x(0, mpfr_get_prec(a.mpfr_srcptr()));
-    mpfr_d_div(x.mpfr_ptr(), b, a.mpfr_srcptr(), mpreal::get_default_rnd());
-    return x;
-#else
-    mpreal x(0, mpfr_get_prec(a.mpfr_ptr()));
-    x /= a;
-    return x;
-#endif
-}
-
-//////////////////////////////////////////////////////////////////////////
-// Shifts operators - Multiplication/Division by power of 2
-inline mpreal& mpreal::operator<<=(const unsigned long int u)
-{
-    mpfr_mul_2ui(mpfr_ptr(),mpfr_srcptr(),u,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator<<=(const unsigned int u)
-{
-    mpfr_mul_2ui(mpfr_ptr(),mpfr_srcptr(),static_cast<unsigned long int>(u),mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator<<=(const long int u)
-{
-    mpfr_mul_2si(mpfr_ptr(),mpfr_srcptr(),u,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator<<=(const int u)
-{
-    mpfr_mul_2si(mpfr_ptr(),mpfr_srcptr(),static_cast<long int>(u),mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator>>=(const unsigned long int u)
-{
-    mpfr_div_2ui(mpfr_ptr(),mpfr_srcptr(),u,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator>>=(const unsigned int u)
-{
-    mpfr_div_2ui(mpfr_ptr(),mpfr_srcptr(),static_cast<unsigned long int>(u),mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator>>=(const long int u)
-{
-    mpfr_div_2si(mpfr_ptr(),mpfr_srcptr(),u,mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::operator>>=(const int u)
-{
-    mpfr_div_2si(mpfr_ptr(),mpfr_srcptr(),static_cast<long int>(u),mpreal::get_default_rnd());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline const mpreal operator<<(const mpreal& v, const unsigned long int k)
-{
-    return mul_2ui(v,k);
-}
-
-inline const mpreal operator<<(const mpreal& v, const unsigned int k)
-{
-    return mul_2ui(v,static_cast<unsigned long int>(k));
-}
-
-inline const mpreal operator<<(const mpreal& v, const long int k)
-{
-    return mul_2si(v,k);
-}
-
-inline const mpreal operator<<(const mpreal& v, const int k)
-{
-    return mul_2si(v,static_cast<long int>(k));
-}
-
-inline const mpreal operator>>(const mpreal& v, const unsigned long int k)
-{
-    return div_2ui(v,k);
-}
-
-inline const mpreal operator>>(const mpreal& v, const long int k)
-{
-    return div_2si(v,k);
-}
-
-inline const mpreal operator>>(const mpreal& v, const unsigned int k)
-{
-    return div_2ui(v,static_cast<unsigned long int>(k));
-}
-
-inline const mpreal operator>>(const mpreal& v, const int k)
-{
-    return div_2si(v,static_cast<long int>(k));
-}
-
-// mul_2ui
-inline const mpreal mul_2ui(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode)
-{
-    mpreal x(v);
-    mpfr_mul_2ui(x.mpfr_ptr(),v.mpfr_srcptr(),k,rnd_mode);
-    return x;
-}
-
-// mul_2si
-inline const mpreal mul_2si(const mpreal& v, long int k, mp_rnd_t rnd_mode)
-{
-    mpreal x(v);
-    mpfr_mul_2si(x.mpfr_ptr(),v.mpfr_srcptr(),k,rnd_mode);
-    return x;
-}
-
-inline const mpreal div_2ui(const mpreal& v, unsigned long int k, mp_rnd_t rnd_mode)
-{
-    mpreal x(v);
-    mpfr_div_2ui(x.mpfr_ptr(),v.mpfr_srcptr(),k,rnd_mode);
-    return x;
-}
-
-inline const mpreal div_2si(const mpreal& v, long int k, mp_rnd_t rnd_mode)
-{
-    mpreal x(v);
-    mpfr_div_2si(x.mpfr_ptr(),v.mpfr_srcptr(),k,rnd_mode);
-    return x;
-}
-
-//////////////////////////////////////////////////////////////////////////
-//Boolean operators
-inline bool operator >  (const mpreal& a, const mpreal& b){    return (mpfr_greater_p       (a.mpfr_srcptr(),b.mpfr_srcptr()) !=0 );    }
-inline bool operator >= (const mpreal& a, const mpreal& b){    return (mpfr_greaterequal_p  (a.mpfr_srcptr(),b.mpfr_srcptr()) !=0 );    }
-inline bool operator <  (const mpreal& a, const mpreal& b){    return (mpfr_less_p          (a.mpfr_srcptr(),b.mpfr_srcptr()) !=0 );    }
-inline bool operator <= (const mpreal& a, const mpreal& b){    return (mpfr_lessequal_p     (a.mpfr_srcptr(),b.mpfr_srcptr()) !=0 );    }
-inline bool operator == (const mpreal& a, const mpreal& b){    return (mpfr_equal_p         (a.mpfr_srcptr(),b.mpfr_srcptr()) !=0 );    }
-inline bool operator != (const mpreal& a, const mpreal& b){    return (mpfr_lessgreater_p   (a.mpfr_srcptr(),b.mpfr_srcptr()) !=0 );    }
-
-inline bool operator == (const mpreal& a, const unsigned long int b ){    return (mpfr_cmp_ui(a.mpfr_srcptr(),b) == 0 );    }
-inline bool operator == (const mpreal& a, const unsigned int b      ){    return (mpfr_cmp_ui(a.mpfr_srcptr(),b) == 0 );    }
-inline bool operator == (const mpreal& a, const long int b          ){    return (mpfr_cmp_si(a.mpfr_srcptr(),b) == 0 );    }
-inline bool operator == (const mpreal& a, const int b               ){    return (mpfr_cmp_si(a.mpfr_srcptr(),b) == 0 );    }
-inline bool operator == (const mpreal& a, const long double b       ){    return (mpfr_cmp_ld(a.mpfr_srcptr(),b) == 0 );    }
-inline bool operator == (const mpreal& a, const double b            ){    return (mpfr_cmp_d (a.mpfr_srcptr(),b) == 0 );    }
-
-
-inline bool isnan    (const mpreal& op){    return (mpfr_nan_p    (op.mpfr_srcptr()) != 0 );    }
-inline bool isinf    (const mpreal& op){    return (mpfr_inf_p    (op.mpfr_srcptr()) != 0 );    }
-inline bool isfinite (const mpreal& op){    return (mpfr_number_p (op.mpfr_srcptr()) != 0 );    }
-inline bool iszero   (const mpreal& op){    return (mpfr_zero_p   (op.mpfr_srcptr()) != 0 );    }
-inline bool isint    (const mpreal& op){    return (mpfr_integer_p(op.mpfr_srcptr()) != 0 );    }
-
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0))
-inline bool isregular(const mpreal& op){    return (mpfr_regular_p(op.mpfr_srcptr()));}
-#endif 
-
-//////////////////////////////////////////////////////////////////////////
-// Type Converters
-inline bool             mpreal::toBool (mp_rnd_t /*mode*/) const   {    return  mpfr_zero_p (mpfr_srcptr()) == 0;     }
-inline long             mpreal::toLong   (mp_rnd_t mode)  const    {    return  mpfr_get_si (mpfr_srcptr(), mode);    }
-inline unsigned long    mpreal::toULong  (mp_rnd_t mode)  const    {    return  mpfr_get_ui (mpfr_srcptr(), mode);    }
-inline float            mpreal::toFloat  (mp_rnd_t mode)  const    {    return  mpfr_get_flt(mpfr_srcptr(), mode);    }
-inline double           mpreal::toDouble (mp_rnd_t mode)  const    {    return  mpfr_get_d  (mpfr_srcptr(), mode);    }
-inline long double      mpreal::toLDouble(mp_rnd_t mode)  const    {    return  mpfr_get_ld (mpfr_srcptr(), mode);    }
-
-#if defined (MPREAL_HAVE_INT64_SUPPORT)
-inline int64_t      mpreal::toInt64 (mp_rnd_t mode)    const{    return mpfr_get_sj(mpfr_srcptr(), mode);    }
-inline uint64_t     mpreal::toUInt64(mp_rnd_t mode)    const{    return mpfr_get_uj(mpfr_srcptr(), mode);    }
-#endif
-
-inline ::mpfr_ptr     mpreal::mpfr_ptr()             { return mp; }
-inline ::mpfr_srcptr  mpreal::mpfr_ptr()    const    { return mp; }
-inline ::mpfr_srcptr  mpreal::mpfr_srcptr() const    { return mp; }
-
-template <class T>
-inline std::string toString(T t, std::ios_base & (*f)(std::ios_base&))
-{
-    std::ostringstream oss;
-    oss << f << t;
-    return oss.str();
-}
-
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-
-inline std::string mpreal::toString(const std::string& format) const
-{
-    char *s = NULL;
-    std::string out;
-
-    if( !format.empty() )
-    {
-        if(!(mpfr_asprintf(&s, format.c_str(), mpfr_srcptr()) < 0))
-        {
-            out = std::string(s);
-
-            mpfr_free_str(s);
-        }
-    }
-
-    return out;
-}
-
-#endif
-
-inline std::string mpreal::toString(int n, int b, mp_rnd_t mode) const
-{
-    // TODO: Add extended format specification (f, e, rounding mode) as it done in output operator
-    (void)b;
-    (void)mode;
-
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-
-    std::ostringstream format;
-
-    int digits = (n >= 0) ? n : bits2digits(mpfr_get_prec(mpfr_srcptr()));
-    
-    format << "%." << digits << "RNg";
-
-    return toString(format.str());
-
-#else
-
-    char *s, *ns = NULL; 
-    size_t slen, nslen;
-    mp_exp_t exp;
-    std::string out;
-
-    if(mpfr_inf_p(mp))
-    { 
-        if(mpfr_sgn(mp)>0) return "+Inf";
-        else               return "-Inf";
-    }
-
-    if(mpfr_zero_p(mp)) return "0";
-    if(mpfr_nan_p(mp))  return "NaN";
-
-    s  = mpfr_get_str(NULL, &exp, b, 0, mp, mode);
-    ns = mpfr_get_str(NULL, &exp, b, (std::max)(0,n), mp, mode);
-
-    if(s!=NULL && ns!=NULL)
-    {
-        slen  = strlen(s);
-        nslen = strlen(ns);
-        if(nslen<=slen) 
-        {
-            mpfr_free_str(s);
-            s = ns;
-            slen = nslen;
-        }
-        else {
-            mpfr_free_str(ns);
-        }
-
-        // Make human eye-friendly formatting if possible
-        if (exp>0 && static_cast<size_t>(exp)<slen)
-        {
-            if(s[0]=='-')
-            {
-                // Remove zeros starting from right end
-                char* ptr = s+slen-1;
-                while (*ptr=='0' && ptr>s+exp) ptr--; 
-
-                if(ptr==s+exp) out = std::string(s,exp+1);
-                else           out = std::string(s,exp+1)+'.'+std::string(s+exp+1,ptr-(s+exp+1)+1);
-
-                //out = string(s,exp+1)+'.'+string(s+exp+1);
-            }
-            else
-            {
-                // Remove zeros starting from right end
-                char* ptr = s+slen-1;
-                while (*ptr=='0' && ptr>s+exp-1) ptr--; 
-
-                if(ptr==s+exp-1) out = std::string(s,exp);
-                else             out = std::string(s,exp)+'.'+std::string(s+exp,ptr-(s+exp)+1);
-
-                //out = string(s,exp)+'.'+string(s+exp);
-            }
-
-        }else{ // exp<0 || exp>slen
-            if(s[0]=='-')
-            {
-                // Remove zeros starting from right end
-                char* ptr = s+slen-1;
-                while (*ptr=='0' && ptr>s+1) ptr--; 
-
-                if(ptr==s+1) out = std::string(s,2);
-                else         out = std::string(s,2)+'.'+std::string(s+2,ptr-(s+2)+1);
-
-                //out = string(s,2)+'.'+string(s+2);
-            }
-            else
-            {
-                // Remove zeros starting from right end
-                char* ptr = s+slen-1;
-                while (*ptr=='0' && ptr>s) ptr--; 
-
-                if(ptr==s) out = std::string(s,1);
-                else       out = std::string(s,1)+'.'+std::string(s+1,ptr-(s+1)+1);
-
-                //out = string(s,1)+'.'+string(s+1);
-            }
-
-            // Make final string
-            if(--exp)
-            {
-                if(exp>0) out += "e+"+mpfr::toString<mp_exp_t>(exp,std::dec);
-                else       out += "e"+mpfr::toString<mp_exp_t>(exp,std::dec);
-            }
-        }
-
-        mpfr_free_str(s);
-        return out;
-    }else{
-        return "conversion error!";
-    }
-#endif
-}
-
-
-//////////////////////////////////////////////////////////////////////////
-// I/O
-inline std::ostream& mpreal::output(std::ostream& os) const 
-{
-    std::ostringstream format;
-    const std::ios::fmtflags flags = os.flags();
-
-    format << ((flags & std::ios::showpos) ? "%+" : "%");
-    if (os.precision() >= 0)
-        format << '.' << os.precision() << "R*"
-               << ((flags & std::ios::floatfield) == std::ios::fixed ? 'f' :
-                   (flags & std::ios::floatfield) == std::ios::scientific ? 'e' :
-                   'g');
-    else
-        format << "R*e";
-
-    char *s = NULL;
-    if(!(mpfr_asprintf(&s, format.str().c_str(),
-                        mpfr::mpreal::get_default_rnd(),
-                        mpfr_srcptr())
-        < 0))
-    {
-        os << std::string(s);
-        mpfr_free_str(s);
-    }
-    return os;
-}
-
-inline std::ostream& operator<<(std::ostream& os, const mpreal& v)
-{
-    return v.output(os);
-}
-
-inline std::istream& operator>>(std::istream &is, mpreal& v)
-{
-    // TODO: use cout::hexfloat and other flags to setup base
-    std::string tmp;
-    is >> tmp;
-    mpfr_set_str(v.mpfr_ptr(), tmp.c_str(), 10, mpreal::get_default_rnd());
-    return is;
-}
-
-//////////////////////////////////////////////////////////////////////////
-//     Bits - decimal digits relation
-//        bits   = ceil(digits*log[2](10))
-//        digits = floor(bits*log[10](2))
-
-inline mp_prec_t digits2bits(int d)
-{
-    const double LOG2_10 = 3.3219280948873624;
-
-    return mp_prec_t(std::ceil( d * LOG2_10 ));
-}
-
-inline int bits2digits(mp_prec_t b)
-{
-    const double LOG10_2 = 0.30102999566398119;
-
-    return int(std::floor( b * LOG10_2 ));
-}
-
-//////////////////////////////////////////////////////////////////////////
-// Set/Get number properties
-inline int sgn(const mpreal& op)
-{
-    int r = mpfr_signbit(op.mpfr_srcptr());
-    return (r > 0? -1 : 1);
-}
-
-inline mpreal& mpreal::setSign(int sign, mp_rnd_t RoundingMode)
-{
-    mpfr_setsign(mpfr_ptr(), mpfr_srcptr(), (sign < 0 ? 1 : 0), RoundingMode);
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline int mpreal::getPrecision() const
-{
-    return int(mpfr_get_prec(mpfr_srcptr()));
-}
-
-inline mpreal& mpreal::setPrecision(int Precision, mp_rnd_t RoundingMode)
-{
-    mpfr_prec_round(mpfr_ptr(), Precision, RoundingMode);
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal& mpreal::setInf(int sign) 
-{ 
-    mpfr_set_inf(mpfr_ptr(), sign);
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}    
-
-inline mpreal& mpreal::setNan() 
-{
-    mpfr_set_nan(mpfr_ptr());
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mpreal&    mpreal::setZero(int sign)
-{
-
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0))
-    mpfr_set_zero(mpfr_ptr(), sign);
-#else
-    mpfr_set_si(mpfr_ptr(), 0, (mpfr_get_default_rounding_mode)());
-    setSign(sign);
-#endif 
-
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return *this;
-}
-
-inline mp_prec_t mpreal::get_prec() const
-{
-    return mpfr_get_prec(mpfr_srcptr());
-}
-
-inline void mpreal::set_prec(mp_prec_t prec, mp_rnd_t rnd_mode)
-{
-    mpfr_prec_round(mpfr_ptr(),prec,rnd_mode);
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-}
-
-inline mp_exp_t mpreal::get_exp ()
-{
-    return mpfr_get_exp(mpfr_srcptr());
-}
-
-inline int mpreal::set_exp (mp_exp_t e)
-{
-    int x = mpfr_set_exp(mpfr_ptr(), e);
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return x;
-}
-
-inline const mpreal frexp(const mpreal& v, mp_exp_t* exp)
-{
-    mpreal x(v);
-    *exp = x.get_exp();
-    x.set_exp(0);
-    return x;
-}
-
-inline const mpreal ldexp(const mpreal& v, mp_exp_t exp)
-{
-    mpreal x(v);
-
-    // rounding is not important since we just increasing the exponent
-    mpfr_mul_2si(x.mpfr_ptr(), x.mpfr_srcptr(), exp, mpreal::get_default_rnd()); 
-    return x;
-}
-
-inline mpreal machine_epsilon(mp_prec_t prec)
-{
-    /* the smallest eps such that 1 + eps != 1 */
-    return machine_epsilon(mpreal(1, prec));
-}
-
-inline mpreal machine_epsilon(const mpreal& x)
-{    
-    /* the smallest eps such that x + eps != x */
-    if( x < 0)
-    {
-        return nextabove(-x) + x;
-    }else{
-        return nextabove( x) - x;
-    }
-}
-
-// minval is 'safe' meaning 1 / minval does not overflow
-inline mpreal minval(mp_prec_t prec)
-{
-    /* min = 1/2 * 2^emin = 2^(emin - 1) */
-    return mpreal(1, prec) << mpreal::get_emin()-1;
-}
-
-// maxval is 'safe' meaning 1 / maxval does not underflow
-inline mpreal maxval(mp_prec_t prec)
-{
-    /* max = (1 - eps) * 2^emax, eps is machine epsilon */
-    return (mpreal(1, prec) - machine_epsilon(prec)) << mpreal::get_emax(); 
-}
-
-inline bool isEqualUlps(const mpreal& a, const mpreal& b, int maxUlps)
-{
-    return abs(a - b) <= machine_epsilon((max)(abs(a), abs(b))) * maxUlps;
-}
-
-inline bool isEqualFuzzy(const mpreal& a, const mpreal& b, const mpreal& eps)
-{
-    return abs(a - b) <= eps;
-}
-
-inline bool isEqualFuzzy(const mpreal& a, const mpreal& b)
-{
-    return isEqualFuzzy(a, b, machine_epsilon((max)(1, (min)(abs(a), abs(b)))));
-}
-
-inline const mpreal modf(const mpreal& v, mpreal& n)
-{
-    mpreal f(v);
-
-    // rounding is not important since we are using the same number
-    mpfr_frac (f.mpfr_ptr(),f.mpfr_srcptr(),mpreal::get_default_rnd());    
-    mpfr_trunc(n.mpfr_ptr(),v.mpfr_srcptr());
-    return f;
-}
-
-inline int mpreal::check_range (int t, mp_rnd_t rnd_mode)
-{
-    return mpfr_check_range(mpfr_ptr(),t,rnd_mode);
-}
-
-inline int mpreal::subnormalize (int t,mp_rnd_t rnd_mode)
-{
-    int r = mpfr_subnormalize(mpfr_ptr(),t,rnd_mode);
-    MPREAL_MSVC_DEBUGVIEW_CODE;
-    return r;
-}
-
-inline mp_exp_t mpreal::get_emin (void)
-{
-    return mpfr_get_emin();
-}
-
-inline int mpreal::set_emin (mp_exp_t exp)
-{
-    return mpfr_set_emin(exp);
-}
-
-inline mp_exp_t mpreal::get_emax (void)
-{
-    return mpfr_get_emax();
-}
-
-inline int mpreal::set_emax (mp_exp_t exp)
-{
-    return mpfr_set_emax(exp);
-}
-
-inline mp_exp_t mpreal::get_emin_min (void)
-{
-    return mpfr_get_emin_min();
-}
-
-inline mp_exp_t mpreal::get_emin_max (void)
-{
-    return mpfr_get_emin_max();
-}
-
-inline mp_exp_t mpreal::get_emax_min (void)
-{
-    return mpfr_get_emax_min();
-}
-
-inline mp_exp_t mpreal::get_emax_max (void)
-{
-    return mpfr_get_emax_max();
-}
-
-//////////////////////////////////////////////////////////////////////////
-// Mathematical Functions
-//////////////////////////////////////////////////////////////////////////
-#define MPREAL_UNARY_MATH_FUNCTION_BODY(f)                    \
-        mpreal y(0, mpfr_get_prec(x.mpfr_srcptr()));          \
-        mpfr_##f(y.mpfr_ptr(), x.mpfr_srcptr(), r);           \
-        return y; 
-
-inline const mpreal sqr  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd())
-{   MPREAL_UNARY_MATH_FUNCTION_BODY(sqr );    }
-
-inline const mpreal sqrt (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd())
-{   MPREAL_UNARY_MATH_FUNCTION_BODY(sqrt);    }
-
-inline const mpreal sqrt(const unsigned long int x, mp_rnd_t r)
-{
-    mpreal y;
-    mpfr_sqrt_ui(y.mpfr_ptr(), x, r);
-    return y;
-}
-
-inline const mpreal sqrt(const unsigned int v, mp_rnd_t rnd_mode)
-{
-    return sqrt(static_cast<unsigned long int>(v),rnd_mode);
-}
-
-inline const mpreal sqrt(const long int v, mp_rnd_t rnd_mode)
-{
-    if (v>=0)   return sqrt(static_cast<unsigned long int>(v),rnd_mode);
-    else        return mpreal().setNan(); // NaN  
-}
-
-inline const mpreal sqrt(const int v, mp_rnd_t rnd_mode)
-{
-    if (v>=0)   return sqrt(static_cast<unsigned long int>(v),rnd_mode);
-    else        return mpreal().setNan(); // NaN
-}
-
-inline const mpreal root(const mpreal& x, unsigned long int k, mp_rnd_t r = mpreal::get_default_rnd())
-{
-    mpreal y(0, mpfr_get_prec(x.mpfr_srcptr())); 
-    mpfr_root(y.mpfr_ptr(), x.mpfr_srcptr(), k, r);  
-    return y; 
-}
-
-inline const mpreal dim(const mpreal& a, const mpreal& b, mp_rnd_t r = mpreal::get_default_rnd())
-{
-    mpreal y(0, mpfr_get_prec(a.mpfr_srcptr()));
-    mpfr_dim(y.mpfr_ptr(), a.mpfr_srcptr(), b.mpfr_srcptr(), r);
-    return y;
-}
-
-inline int cmpabs(const mpreal& a,const mpreal& b)
-{
-    return mpfr_cmpabs(a.mpfr_ptr(), b.mpfr_srcptr());
-}
-
-inline int sin_cos(mpreal& s, mpreal& c, const mpreal& v, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    return mpfr_sin_cos(s.mpfr_ptr(), c.mpfr_ptr(), v.mpfr_srcptr(), rnd_mode);
-}
-
-inline const mpreal sqrt  (const long double v, mp_rnd_t rnd_mode)    {   return sqrt(mpreal(v),rnd_mode);    }
-inline const mpreal sqrt  (const double v, mp_rnd_t rnd_mode)         {   return sqrt(mpreal(v),rnd_mode);    }
-
-inline const mpreal cbrt  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(cbrt );    }
-inline const mpreal fabs  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(abs  );    }
-inline const mpreal abs   (const mpreal& x, mp_rnd_t r)                             {   MPREAL_UNARY_MATH_FUNCTION_BODY(abs  );    }
-inline const mpreal log   (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(log  );    }
-inline const mpreal log2  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(log2 );    }
-inline const mpreal log10 (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(log10);    }
-inline const mpreal exp   (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(exp  );    }
-inline const mpreal exp2  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(exp2 );    }
-inline const mpreal exp10 (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(exp10);    }
-inline const mpreal cos   (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(cos  );    }
-inline const mpreal sin   (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(sin  );    }
-inline const mpreal tan   (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(tan  );    }
-inline const mpreal sec   (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(sec  );    }
-inline const mpreal csc   (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(csc  );    }
-inline const mpreal cot   (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(cot  );    }
-inline const mpreal acos  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(acos );    }
-inline const mpreal asin  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(asin );    }
-inline const mpreal atan  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(atan );    }
-
-inline const mpreal acot  (const mpreal& v, mp_rnd_t r = mpreal::get_default_rnd()) {   return atan (1/v, r);                      }
-inline const mpreal asec  (const mpreal& v, mp_rnd_t r = mpreal::get_default_rnd()) {   return acos (1/v, r);                      }
-inline const mpreal acsc  (const mpreal& v, mp_rnd_t r = mpreal::get_default_rnd()) {   return asin (1/v, r);                      }
-inline const mpreal acoth (const mpreal& v, mp_rnd_t r = mpreal::get_default_rnd()) {   return atanh(1/v, r);                      }
-inline const mpreal asech (const mpreal& v, mp_rnd_t r = mpreal::get_default_rnd()) {   return acosh(1/v, r);                      }
-inline const mpreal acsch (const mpreal& v, mp_rnd_t r = mpreal::get_default_rnd()) {   return asinh(1/v, r);                      }
-
-inline const mpreal cosh  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(cosh );    }
-inline const mpreal sinh  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(sinh );    }
-inline const mpreal tanh  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(tanh );    }
-inline const mpreal sech  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(sech );    }
-inline const mpreal csch  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(csch );    }
-inline const mpreal coth  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(coth );    }
-inline const mpreal acosh (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(acosh);    }
-inline const mpreal asinh (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(asinh);    }
-inline const mpreal atanh (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(atanh);    }
-
-inline const mpreal log1p   (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(log1p  );    }
-inline const mpreal expm1   (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(expm1  );    }
-inline const mpreal eint    (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(eint   );    }
-inline const mpreal gamma   (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(gamma  );    }
-inline const mpreal lngamma (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(lngamma);    }
-inline const mpreal zeta    (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(zeta   );    }
-inline const mpreal erf     (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(erf    );    }
-inline const mpreal erfc    (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(erfc   );    }
-inline const mpreal besselj0(const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(j0     );    }
-inline const mpreal besselj1(const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(j1     );    }
-inline const mpreal bessely0(const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(y0     );    }
-inline const mpreal bessely1(const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(y1     );    }
-
-inline const mpreal atan2 (const mpreal& y, const mpreal& x, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal a(0,(std::max)(y.getPrecision(), x.getPrecision()));
-    mpfr_atan2(a.mpfr_ptr(), y.mpfr_srcptr(), x.mpfr_srcptr(), rnd_mode);
-    return a;
-}
-
-inline const mpreal hypot (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal a(0,(std::max)(y.getPrecision(), x.getPrecision()));
-    mpfr_hypot(a.mpfr_ptr(), x.mpfr_srcptr(), y.mpfr_srcptr(), rnd_mode);
-    return a;
-}
-
-inline const mpreal remainder (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{    
-    mpreal a(0,(std::max)(y.getPrecision(), x.getPrecision()));
-    mpfr_remainder(a.mpfr_ptr(), x.mpfr_srcptr(), y.mpfr_srcptr(), rnd_mode);
-    return a;
-}
-
-inline const mpreal remquo (long* q, const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal a(0,(std::max)(y.getPrecision(), x.getPrecision()));
-    mpfr_remquo(a.mpfr_ptr(),q, x.mpfr_srcptr(), y.mpfr_srcptr(), rnd_mode);
-    return a;
-}
-
-inline const mpreal fac_ui (unsigned long int v, mp_prec_t prec     = mpreal::get_default_prec(),
-                                           mp_rnd_t  rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal x(0, prec);
-    mpfr_fac_ui(x.mpfr_ptr(),v,rnd_mode);
-    return x;
-}
-
-
-inline const mpreal lgamma (const mpreal& v, int *signp = 0, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal x(v);
-    int tsignp;
-
-    if(signp)   mpfr_lgamma(x.mpfr_ptr(),  signp,v.mpfr_srcptr(),rnd_mode);
-    else        mpfr_lgamma(x.mpfr_ptr(),&tsignp,v.mpfr_srcptr(),rnd_mode);
-
-    return x;
-}
-
-
-inline const mpreal besseljn (long n, const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd())
-{
-    mpreal  y(0, x.getPrecision());
-    mpfr_jn(y.mpfr_ptr(), n, x.mpfr_srcptr(), r);
-    return y;
-}
-
-inline const mpreal besselyn (long n, const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd())
-{
-    mpreal  y(0, x.getPrecision());
-    mpfr_yn(y.mpfr_ptr(), n, x.mpfr_srcptr(), r);
-    return y;
-}
-
-inline const mpreal fma (const mpreal& v1, const mpreal& v2, const mpreal& v3, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal a;
-    mp_prec_t p1, p2, p3;
-
-    p1 = v1.get_prec(); 
-    p2 = v2.get_prec(); 
-    p3 = v3.get_prec(); 
-
-    a.set_prec(p3>p2?(p3>p1?p3:p1):(p2>p1?p2:p1));
-
-    mpfr_fma(a.mp,v1.mp,v2.mp,v3.mp,rnd_mode);
-    return a;
-}
-
-inline const mpreal fms (const mpreal& v1, const mpreal& v2, const mpreal& v3, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal a;
-    mp_prec_t p1, p2, p3;
-
-    p1 = v1.get_prec(); 
-    p2 = v2.get_prec(); 
-    p3 = v3.get_prec(); 
-
-    a.set_prec(p3>p2?(p3>p1?p3:p1):(p2>p1?p2:p1));
-
-    mpfr_fms(a.mp,v1.mp,v2.mp,v3.mp,rnd_mode);
-    return a;
-}
-
-inline const mpreal agm (const mpreal& v1, const mpreal& v2, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal a;
-    mp_prec_t p1, p2;
-
-    p1 = v1.get_prec(); 
-    p2 = v2.get_prec(); 
-
-    a.set_prec(p1>p2?p1:p2);
-
-    mpfr_agm(a.mp, v1.mp, v2.mp, rnd_mode);
-
-    return a;
-}
-
-inline const mpreal sum (const mpreal tab[], unsigned long int n, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal x;
-    mpfr_ptr* t;
-    unsigned long int i;
-
-    t = new mpfr_ptr[n];
-    for (i=0;i<n;i++) t[i] = (mpfr_ptr)tab[i].mp;
-    mpfr_sum(x.mp,t,n,rnd_mode);
-    delete[] t;
-    return x;
-}
-
-//////////////////////////////////////////////////////////////////////////
-// MPFR 2.4.0 Specifics
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(2,4,0))
-
-inline int sinh_cosh(mpreal& s, mpreal& c, const mpreal& v, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    return mpfr_sinh_cosh(s.mp,c.mp,v.mp,rnd_mode);
-}
-
-inline const mpreal li2 (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) 
-{   
-    MPREAL_UNARY_MATH_FUNCTION_BODY(li2);    
-}
-
-inline const mpreal rem (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    /*  R = rem(X,Y) if Y != 0, returns X - n * Y where n = trunc(X/Y). */
-    return fmod(x, y, rnd_mode);
-}
-
-inline const mpreal mod (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    (void)rnd_mode;
-    
-    /*  
-
-    m = mod(x,y) if y != 0, returns x - n*y where n = floor(x/y)
-
-    The following are true by convention:
-    - mod(x,0) is x
-    - mod(x,x) is 0
-    - mod(x,y) for x != y and y != 0 has the same sign as y.    
-    
-    */
-
-    if(iszero(y)) return x;
-    if(x == y) return 0;
-
-    mpreal m = x - floor(x / y) * y;
-    
-    m.setSign(sgn(y)); // make sure result has the same sign as Y
-
-    return m;
-}
-
-inline const mpreal fmod (const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal a;
-    mp_prec_t yp, xp;
-
-    yp = y.get_prec(); 
-    xp = x.get_prec(); 
-
-    a.set_prec(yp>xp?yp:xp);
-
-    mpfr_fmod(a.mp, x.mp, y.mp, rnd_mode);
-
-    return a;
-}
-
-inline const mpreal rec_sqrt(const mpreal& v, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal x(v);
-    mpfr_rec_sqrt(x.mp,v.mp,rnd_mode);
-    return x;
-}
-#endif //  MPFR 2.4.0 Specifics
-
-//////////////////////////////////////////////////////////////////////////
-// MPFR 3.0.0 Specifics
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0))
-inline const mpreal digamma (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(digamma);     }
-inline const mpreal ai      (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(ai);          }
-#endif // MPFR 3.0.0 Specifics
-
-//////////////////////////////////////////////////////////////////////////
-// Constants
-inline const mpreal const_log2 (mp_prec_t p = mpreal::get_default_prec(), mp_rnd_t r = mpreal::get_default_rnd())
-{
-    mpreal x(0, p);
-    mpfr_const_log2(x.mpfr_ptr(), r);
-    return x;
-}
-
-inline const mpreal const_pi (mp_prec_t p = mpreal::get_default_prec(), mp_rnd_t r = mpreal::get_default_rnd())
-{
-    mpreal x(0, p);
-    mpfr_const_pi(x.mpfr_ptr(), r);
-    return x;
-}
-
-inline const mpreal const_euler (mp_prec_t p = mpreal::get_default_prec(), mp_rnd_t r = mpreal::get_default_rnd())
-{
-    mpreal x(0, p);
-    mpfr_const_euler(x.mpfr_ptr(), r);
-    return x;
-}
-
-inline const mpreal const_catalan (mp_prec_t p = mpreal::get_default_prec(), mp_rnd_t r = mpreal::get_default_rnd())
-{
-    mpreal x(0, p);
-    mpfr_const_catalan(x.mpfr_ptr(), r);
-    return x;
-}
-
-inline const mpreal const_infinity (int sign = 1, mp_prec_t p = mpreal::get_default_prec())
-{
-    mpreal x(0, p);
-    mpfr_set_inf(x.mpfr_ptr(), sign);
-    return x;
-}
-
-//////////////////////////////////////////////////////////////////////////
-// Integer Related Functions
-inline const mpreal ceil(const mpreal& v)
-{
-    mpreal x(v);
-    mpfr_ceil(x.mp,v.mp);
-    return x;
-}
-
-inline const mpreal floor(const mpreal& v)
-{
-    mpreal x(v);
-    mpfr_floor(x.mp,v.mp);
-    return x;
-}
-
-inline const mpreal round(const mpreal& v)
-{
-    mpreal x(v);
-    mpfr_round(x.mp,v.mp);
-    return x;
-}
-
-inline const mpreal trunc(const mpreal& v)
-{
-    mpreal x(v);
-    mpfr_trunc(x.mp,v.mp);
-    return x;
-}
-
-inline const mpreal rint       (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(rint      );     }
-inline const mpreal rint_ceil  (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(rint_ceil );     }
-inline const mpreal rint_floor (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(rint_floor);     }
-inline const mpreal rint_round (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(rint_round);     }
-inline const mpreal rint_trunc (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(rint_trunc);     }
-inline const mpreal frac       (const mpreal& x, mp_rnd_t r = mpreal::get_default_rnd()) {   MPREAL_UNARY_MATH_FUNCTION_BODY(frac      );     }
-
-//////////////////////////////////////////////////////////////////////////
-// Miscellaneous Functions
-inline void         swap (mpreal& a, mpreal& b)            {    mpfr_swap(a.mp,b.mp);   }
-inline const mpreal (max)(const mpreal& x, const mpreal& y){    return (x>y?x:y);       }
-inline const mpreal (min)(const mpreal& x, const mpreal& y){    return (x<y?x:y);       }
-
-inline const mpreal fmax(const mpreal& x, const mpreal& y, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal a;
-    mpfr_max(a.mp,x.mp,y.mp,rnd_mode);
-    return a;
-}
-
-inline const mpreal fmin(const mpreal& x, const mpreal& y,  mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal a;
-    mpfr_min(a.mp,x.mp,y.mp,rnd_mode);
-    return a;
-}
-
-inline const mpreal nexttoward (const mpreal& x, const mpreal& y)
-{
-    mpreal a(x);
-    mpfr_nexttoward(a.mp,y.mp);
-    return a;
-}
-
-inline const mpreal nextabove  (const mpreal& x)
-{
-    mpreal a(x);
-    mpfr_nextabove(a.mp);
-    return a;
-}
-
-inline const mpreal nextbelow  (const mpreal& x)
-{
-    mpreal a(x);
-    mpfr_nextbelow(a.mp);
-    return a;
-}
-
-inline const mpreal urandomb (gmp_randstate_t& state)
-{
-    mpreal x;
-    mpfr_urandomb(x.mp,state);
-    return x;
-}
-
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(3,1,0))
-// use gmp_randinit_default() to init state, gmp_randclear() to clear
-inline const mpreal urandom (gmp_randstate_t& state, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal x;
-    mpfr_urandom(x.mp,state,rnd_mode);
-    return x;
-}
-
-inline const mpreal grandom (gmp_randstate_t& state, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal x;
-    mpfr_grandom(x.mp, NULL, state, rnd_mode);
-    return x;
-}
-
-#endif 
-
-#if (MPFR_VERSION <= MPFR_VERSION_NUM(2,4,2))
-inline const mpreal random2 (mp_size_t size, mp_exp_t exp)
-{
-    mpreal x;
-    mpfr_random2(x.mp,size,exp);
-    return x;
-}
-#endif
-
-// Uniformly distributed random number generation
-// a = random(seed); <- initialization & first random number generation
-// a = random();     <- next random numbers generation
-// seed != 0
-inline const mpreal random(unsigned int seed = 0)
-{
-
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0))
-    static gmp_randstate_t state;
-    static bool isFirstTime = true;
-
-    if(isFirstTime)
-    {
-        gmp_randinit_default(state);
-        gmp_randseed_ui(state,0);
-        isFirstTime = false;
-    }
-
-    if(seed != 0)    gmp_randseed_ui(state,seed);
-
-    return mpfr::urandom(state);
-#else
-    if(seed != 0)    std::srand(seed);
-    return mpfr::mpreal(std::rand()/(double)RAND_MAX);
-#endif
-
-}
-
-#if (MPFR_VERSION >= MPFR_VERSION_NUM(3,0,0))
-inline const mpreal grandom(unsigned int seed = 0)
-{
-    static gmp_randstate_t state;
-    static bool isFirstTime = true;
-
-    if(isFirstTime)
-    {
-        gmp_randinit_default(state);
-        gmp_randseed_ui(state,0);
-        isFirstTime = false;
-    }
-
-    if(seed != 0) gmp_randseed_ui(state,seed);
-
-    return mpfr::grandom(state);
-}
-#endif
-
-//////////////////////////////////////////////////////////////////////////
-// Set/Get global properties
-inline void mpreal::set_default_prec(mp_prec_t prec)
-{ 
-    mpfr_set_default_prec(prec); 
-}
-
-inline void mpreal::set_default_rnd(mp_rnd_t rnd_mode)
-{ 
-    mpfr_set_default_rounding_mode(rnd_mode); 
-}
-
-inline bool mpreal::fits_in_bits(double x, int n)
-{   
-    int i;
-    double t;
-    return IsInf(x) || (std::modf ( std::ldexp ( std::frexp ( x, &i ), n ), &t ) == 0.0);
-}
-
-inline const mpreal pow(const mpreal& a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal x(a);
-    mpfr_pow(x.mp,x.mp,b.mp,rnd_mode);
-    return x;
-}
-
-inline const mpreal pow(const mpreal& a, const mpz_t b, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal x(a);
-    mpfr_pow_z(x.mp,x.mp,b,rnd_mode);
-    return x;
-}
-
-inline const mpreal pow(const mpreal& a, const unsigned long int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal x(a);
-    mpfr_pow_ui(x.mp,x.mp,b,rnd_mode);
-    return x;
-}
-
-inline const mpreal pow(const mpreal& a, const unsigned int b, mp_rnd_t rnd_mode)
-{
-    return pow(a,static_cast<unsigned long int>(b),rnd_mode);
-}
-
-inline const mpreal pow(const mpreal& a, const long int b, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal x(a);
-    mpfr_pow_si(x.mp,x.mp,b,rnd_mode);
-    return x;
-}
-
-inline const mpreal pow(const mpreal& a, const int b, mp_rnd_t rnd_mode)
-{
-    return pow(a,static_cast<long int>(b),rnd_mode);
-}
-
-inline const mpreal pow(const mpreal& a, const long double b, mp_rnd_t rnd_mode)
-{
-    return pow(a,mpreal(b),rnd_mode);
-}
-
-inline const mpreal pow(const mpreal& a, const double b, mp_rnd_t rnd_mode)
-{
-    return pow(a,mpreal(b),rnd_mode);
-}
-
-inline const mpreal pow(const unsigned long int a, const mpreal& b, mp_rnd_t rnd_mode = mpreal::get_default_rnd())
-{
-    mpreal x(a);
-    mpfr_ui_pow(x.mp,a,b.mp,rnd_mode);
-    return x;
-}
-
-inline const mpreal pow(const unsigned int a, const mpreal& b, mp_rnd_t rnd_mode)
-{
-    return pow(static_cast<unsigned long int>(a),b,rnd_mode);
-}
-
-inline const mpreal pow(const long int a, const mpreal& b, mp_rnd_t rnd_mode)
-{
-    if (a>=0)     return pow(static_cast<unsigned long int>(a),b,rnd_mode);
-    else          return pow(mpreal(a),b,rnd_mode);
-}
-
-inline const mpreal pow(const int a, const mpreal& b, mp_rnd_t rnd_mode)
-{
-    if (a>=0)     return pow(static_cast<unsigned long int>(a),b,rnd_mode);
-    else          return pow(mpreal(a),b,rnd_mode);
-}
-
-inline const mpreal pow(const long double a, const mpreal& b, mp_rnd_t rnd_mode)
-{
-    return pow(mpreal(a),b,rnd_mode);
-}
-
-inline const mpreal pow(const double a, const mpreal& b, mp_rnd_t rnd_mode)
-{
-    return pow(mpreal(a),b,rnd_mode);
-}
-
-// pow unsigned long int
-inline const mpreal pow(const unsigned long int a, const unsigned long int b, mp_rnd_t rnd_mode)
-{
-    mpreal x(a);
-    mpfr_ui_pow_ui(x.mp,a,b,rnd_mode);
-    return x;
-}
-
-inline const mpreal pow(const unsigned long int a, const unsigned int b, mp_rnd_t rnd_mode)
-{
-    return pow(a,static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-}
-
-inline const mpreal pow(const unsigned long int a, const long int b, mp_rnd_t rnd_mode)
-{
-    if(b>0)    return pow(a,static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-    else       return pow(a,mpreal(b),rnd_mode); //mpfr_ui_pow
-}
-
-inline const mpreal pow(const unsigned long int a, const int b, mp_rnd_t rnd_mode)
-{
-    if(b>0)    return pow(a,static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-    else       return pow(a,mpreal(b),rnd_mode); //mpfr_ui_pow
-}
-
-inline const mpreal pow(const unsigned long int a, const long double b, mp_rnd_t rnd_mode)
-{
-    return pow(a,mpreal(b),rnd_mode); //mpfr_ui_pow
-}
-
-inline const mpreal pow(const unsigned long int a, const double b, mp_rnd_t rnd_mode)
-{
-    return pow(a,mpreal(b),rnd_mode); //mpfr_ui_pow
-}
-
-// pow unsigned int
-inline const mpreal pow(const unsigned int a, const unsigned long int b, mp_rnd_t rnd_mode)
-{
-    return pow(static_cast<unsigned long int>(a),b,rnd_mode); //mpfr_ui_pow_ui
-}
-
-inline const mpreal pow(const unsigned int a, const unsigned int b, mp_rnd_t rnd_mode)
-{
-    return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-}
-
-inline const mpreal pow(const unsigned int a, const long int b, mp_rnd_t rnd_mode)
-{
-    if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-    else    return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-}
-
-inline const mpreal pow(const unsigned int a, const int b, mp_rnd_t rnd_mode)
-{
-    if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-    else    return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-}
-
-inline const mpreal pow(const unsigned int a, const long double b, mp_rnd_t rnd_mode)
-{
-    return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-}
-
-inline const mpreal pow(const unsigned int a, const double b, mp_rnd_t rnd_mode)
-{
-    return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-}
-
-// pow long int
-inline const mpreal pow(const long int a, const unsigned long int b, mp_rnd_t rnd_mode)
-{
-    if (a>0) return pow(static_cast<unsigned long int>(a),b,rnd_mode); //mpfr_ui_pow_ui
-    else     return pow(mpreal(a),b,rnd_mode); //mpfr_pow_ui
-}
-
-inline const mpreal pow(const long int a, const unsigned int b, mp_rnd_t rnd_mode)
-{
-    if (a>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode);  //mpfr_ui_pow_ui
-    else     return pow(mpreal(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_pow_ui
-}
-
-inline const mpreal pow(const long int a, const long int b, mp_rnd_t rnd_mode)
-{
-    if (a>0)
-    {
-        if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-        else    return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-    }else{
-        return pow(mpreal(a),b,rnd_mode); // mpfr_pow_si
-    }
-}
-
-inline const mpreal pow(const long int a, const int b, mp_rnd_t rnd_mode)
-{
-    if (a>0)
-    {
-        if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-        else    return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-    }else{
-        return pow(mpreal(a),static_cast<long int>(b),rnd_mode); // mpfr_pow_si
-    }
-}
-
-inline const mpreal pow(const long int a, const long double b, mp_rnd_t rnd_mode)
-{
-    if (a>=0)   return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-    else        return pow(mpreal(a),mpreal(b),rnd_mode); //mpfr_pow
-}
-
-inline const mpreal pow(const long int a, const double b, mp_rnd_t rnd_mode)
-{
-    if (a>=0)   return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-    else        return pow(mpreal(a),mpreal(b),rnd_mode); //mpfr_pow
-}
-
-// pow int
-inline const mpreal pow(const int a, const unsigned long int b, mp_rnd_t rnd_mode)
-{
-    if (a>0) return pow(static_cast<unsigned long int>(a),b,rnd_mode); //mpfr_ui_pow_ui
-    else     return pow(mpreal(a),b,rnd_mode); //mpfr_pow_ui
-}
-
-inline const mpreal pow(const int a, const unsigned int b, mp_rnd_t rnd_mode)
-{
-    if (a>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode);  //mpfr_ui_pow_ui
-    else     return pow(mpreal(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_pow_ui
-}
-
-inline const mpreal pow(const int a, const long int b, mp_rnd_t rnd_mode)
-{
-    if (a>0)
-    {
-        if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-        else    return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-    }else{
-        return pow(mpreal(a),b,rnd_mode); // mpfr_pow_si
-    }
-}
-
-inline const mpreal pow(const int a, const int b, mp_rnd_t rnd_mode)
-{
-    if (a>0)
-    {
-        if(b>0) return pow(static_cast<unsigned long int>(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_ui_pow_ui
-        else    return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-    }else{
-        return pow(mpreal(a),static_cast<long int>(b),rnd_mode); // mpfr_pow_si
-    }
-}
-
-inline const mpreal pow(const int a, const long double b, mp_rnd_t rnd_mode)
-{
-    if (a>=0)   return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-    else        return pow(mpreal(a),mpreal(b),rnd_mode); //mpfr_pow
-}
-
-inline const mpreal pow(const int a, const double b, mp_rnd_t rnd_mode)
-{
-    if (a>=0)   return pow(static_cast<unsigned long int>(a),mpreal(b),rnd_mode); //mpfr_ui_pow
-    else        return pow(mpreal(a),mpreal(b),rnd_mode); //mpfr_pow
-}
-
-// pow long double 
-inline const mpreal pow(const long double a, const long double b, mp_rnd_t rnd_mode)
-{
-    return pow(mpreal(a),mpreal(b),rnd_mode);
-}
-
-inline const mpreal pow(const long double a, const unsigned long int b, mp_rnd_t rnd_mode)
-{
-    return pow(mpreal(a),b,rnd_mode); //mpfr_pow_ui
-}
-
-inline const mpreal pow(const long double a, const unsigned int b, mp_rnd_t rnd_mode)
-{
-    return pow(mpreal(a),static_cast<unsigned long int>(b),rnd_mode); //mpfr_pow_ui
-}
-
-inline const mpreal pow(const long double a, const long int b, mp_rnd_t rnd_mode)
-{
-    return pow(mpreal(a),b,rnd_mode); // mpfr_pow_si
-}
-
-inline const mpreal pow(const long double a, const int b, mp_rnd_t rnd_mode)
-{
-    return pow(mpreal(a),static_cast<long int>(b),rnd_mode); // mpfr_pow_si
-}
-
-inline const mpreal pow(const double a, const double b, mp_rnd_t rnd_mode)
-{
-    return pow(mpreal(a),mpreal(b),rnd_mode);
-}
-
-inline const mpreal pow(const double a, const unsigned long int b, mp_rnd_t rnd_mode)
-{
-    return pow(mpreal(a),b,rnd_mode); // mpfr_pow_ui
-}
-
-inline const mpreal pow(const double a, const unsigned int b, mp_rnd_t rnd_mode)
-{
-    return pow(mpreal(a),static_cast<unsigned long int>(b),rnd_mode); // mpfr_pow_ui
-}
-
-inline const mpreal pow(const double a, const long int b, mp_rnd_t rnd_mode)
-{
-    return pow(mpreal(a),b,rnd_mode); // mpfr_pow_si
-}
-
-inline const mpreal pow(const double a, const int b, mp_rnd_t rnd_mode)
-{
-    return pow(mpreal(a),static_cast<long int>(b),rnd_mode); // mpfr_pow_si
-}
-} // End of mpfr namespace
-
-// Explicit specialization of std::swap for mpreal numbers
-// Thus standard algorithms will use efficient version of swap (due to Koenig lookup)
-// Non-throwing swap C++ idiom: http://en.wikibooks.org/wiki/More_C%2B%2B_Idioms/Non-throwing_swap
-namespace std
-{
-  // we are allowed to extend namespace std with specializations only
-    template <>
-    inline void swap(mpfr::mpreal& x, mpfr::mpreal& y) 
-    { 
-        return mpfr::swap(x, y); 
-    }
-
-    template<>
-    class numeric_limits<mpfr::mpreal>
-    {
-    public:
-        static const bool is_specialized    = true;
-        static const bool is_signed         = true;
-        static const bool is_integer        = false;
-        static const bool is_exact          = false;
-        static const int  radix             = 2;    
-
-        static const bool has_infinity      = true;
-        static const bool has_quiet_NaN     = true;
-        static const bool has_signaling_NaN = true;
-
-        static const bool is_iec559         = true;        // = IEEE 754
-        static const bool is_bounded        = true;
-        static const bool is_modulo         = false;
-        static const bool traps             = true;
-        static const bool tinyness_before   = true;
-
-        static const float_denorm_style has_denorm  = denorm_absent;
-
-        inline static mpfr::mpreal (min)    (mp_prec_t precision = mpfr::mpreal::get_default_prec()) {  return  mpfr::minval(precision);  }
-        inline static mpfr::mpreal (max)    (mp_prec_t precision = mpfr::mpreal::get_default_prec()) {  return  mpfr::maxval(precision);  }
-        inline static mpfr::mpreal lowest   (mp_prec_t precision = mpfr::mpreal::get_default_prec()) {  return -mpfr::maxval(precision);  }
-
-        // Returns smallest eps such that 1 + eps != 1 (classic machine epsilon)
-        inline static mpfr::mpreal epsilon(mp_prec_t precision = mpfr::mpreal::get_default_prec()) {  return  mpfr::machine_epsilon(precision); }
-    
-        // Returns smallest eps such that x + eps != x (relative machine epsilon)
-        inline static mpfr::mpreal epsilon(const mpfr::mpreal& x) {  return mpfr::machine_epsilon(x);  }
-
-        inline static mpfr::mpreal round_error(mp_prec_t precision = mpfr::mpreal::get_default_prec())
-        {
-            mp_rnd_t r = mpfr::mpreal::get_default_rnd();
-
-            if(r == GMP_RNDN)  return mpfr::mpreal(0.5, precision); 
-            else               return mpfr::mpreal(1.0, precision);    
-        }
-
-        inline static const mpfr::mpreal infinity()         { return mpfr::const_infinity();     }
-        inline static const mpfr::mpreal quiet_NaN()        { return mpfr::mpreal().setNan();    }
-        inline static const mpfr::mpreal signaling_NaN()    { return mpfr::mpreal().setNan();    }
-        inline static const mpfr::mpreal denorm_min()       { return (min)();                    }
-
-        // Please note, exponent range is not fixed in MPFR
-        static const int min_exponent = MPFR_EMIN_DEFAULT;
-        static const int max_exponent = MPFR_EMAX_DEFAULT;
-        MPREAL_PERMISSIVE_EXPR static const int min_exponent10 = (int) (MPFR_EMIN_DEFAULT * 0.3010299956639811); 
-        MPREAL_PERMISSIVE_EXPR static const int max_exponent10 = (int) (MPFR_EMAX_DEFAULT * 0.3010299956639811); 
-
-#ifdef MPREAL_HAVE_DYNAMIC_STD_NUMERIC_LIMITS
-
-        // Following members should be constant according to standard, but they can be variable in MPFR
-        // So we define them as functions here. 
-        //
-        // This is preferable way for std::numeric_limits<mpfr::mpreal> specialization.
-        // But it is incompatible with standard std::numeric_limits and might not work with other libraries, e.g. boost. 
-        // See below for compatible implementation. 
-        inline static float_round_style round_style()
-        {
-            mp_rnd_t r = mpfr::mpreal::get_default_rnd();
-
-            switch (r)
-            {
-            case GMP_RNDN: return round_to_nearest;
-            case GMP_RNDZ: return round_toward_zero; 
-            case GMP_RNDU: return round_toward_infinity; 
-            case GMP_RNDD: return round_toward_neg_infinity; 
-            default: return round_indeterminate;
-            }
-        }
-
-        inline static int digits()                        {    return int(mpfr::mpreal::get_default_prec());    }
-        inline static int digits(const mpfr::mpreal& x)   {    return x.getPrecision();                         }
-
-        inline static int digits10(mp_prec_t precision = mpfr::mpreal::get_default_prec())
-        {
-            return mpfr::bits2digits(precision);
-        }
-
-        inline static int digits10(const mpfr::mpreal& x)
-        {
-            return mpfr::bits2digits(x.getPrecision());
-        }
-
-        inline static int max_digits10(mp_prec_t precision = mpfr::mpreal::get_default_prec())
-        {
-            return digits10(precision);
-        }
-#else
-        // Digits and round_style are NOT constants when it comes to mpreal.
-        // If possible, please use functions digits() and round_style() defined above.
-        //
-        // These (default) values are preserved for compatibility with existing libraries, e.g. boost.
-        // Change them accordingly to your application. 
-        //
-        // For example, if you use 256 bits of precision uniformly in your program, then:
-        // digits       = 256
-        // digits10     = 77 
-        // max_digits10 = 78
-        // 
-        // Approximate formula for decimal digits is: digits10 = floor(log10(2) * digits). See bits2digits() for more details.
-
-        static const std::float_round_style round_style = round_to_nearest;
-        static const int digits       = 53;
-        static const int digits10     = 15;
-        static const int max_digits10 = 16;
-#endif
-    };
-
-}
-
-#endif /* __MPREAL_H__ */
diff --git a/eigenlib/unsupported/test/mpreal_support.cpp b/eigenlib/unsupported/test/mpreal_support.cpp
deleted file mode 100644
index bc00382b..00000000
--- a/eigenlib/unsupported/test/mpreal_support.cpp
+++ /dev/null
@@ -1,57 +0,0 @@
-#include "main.h"
-#include <Eigen/MPRealSupport>
-#include <Eigen/LU>
-#include <Eigen/Eigenvalues>
-#include <sstream>
-
-using namespace mpfr;
-using namespace Eigen;
-
-void test_mpreal_support()
-{
-  // set precision to 256 bits (double has only 53 bits)
-  mpreal::set_default_prec(256);
-  typedef Matrix<mpreal,Eigen::Dynamic,Eigen::Dynamic> MatrixXmp;
-
-  std::cerr << "epsilon =         " << NumTraits<mpreal>::epsilon() << "\n";
-  std::cerr << "dummy_precision = " << NumTraits<mpreal>::dummy_precision() << "\n";
-  std::cerr << "highest =         " << NumTraits<mpreal>::highest() << "\n";
-  std::cerr << "lowest =          " << NumTraits<mpreal>::lowest() << "\n";
-
-  for(int i = 0; i < g_repeat; i++) {
-    int s = Eigen::internal::random<int>(1,100);
-    MatrixXmp A = MatrixXmp::Random(s,s);
-    MatrixXmp B = MatrixXmp::Random(s,s);
-    MatrixXmp S = A.adjoint() * A;
-    MatrixXmp X;
-    
-    // Basic stuffs
-    VERIFY_IS_APPROX(A.real(), A);
-    VERIFY(Eigen::internal::isApprox(A.array().abs2().sum(), A.squaredNorm()));
-    VERIFY_IS_APPROX(A.array().exp(),         exp(A.array()));
-    VERIFY_IS_APPROX(A.array().abs2().sqrt(), A.array().abs());
-    VERIFY_IS_APPROX(A.array().sin(),         sin(A.array()));
-    VERIFY_IS_APPROX(A.array().cos(),         cos(A.array()));
-    
-
-    // Cholesky
-    X = S.selfadjointView<Lower>().llt().solve(B);
-    VERIFY_IS_APPROX((S.selfadjointView<Lower>()*X).eval(),B);
-
-    // partial LU
-    X = A.lu().solve(B);
-    VERIFY_IS_APPROX((A*X).eval(),B);
-
-    // symmetric eigenvalues
-    SelfAdjointEigenSolver<MatrixXmp> eig(S);
-    VERIFY_IS_EQUAL(eig.info(), Success);
-    VERIFY( (S.selfadjointView<Lower>() * eig.eigenvectors()).isApprox(eig.eigenvectors() * eig.eigenvalues().asDiagonal(), NumTraits<mpreal>::dummy_precision()*1e3) );
-  }
-  
-  {
-    MatrixXmp A(8,3); A.setRandom();
-    // test output (interesting things happen in this code)
-    std::stringstream stream;
-    stream << A;
-  }
-}
diff --git a/eigenlib/unsupported/test/openglsupport.cpp b/eigenlib/unsupported/test/openglsupport.cpp
deleted file mode 100644
index 706a816f..00000000
--- a/eigenlib/unsupported/test/openglsupport.cpp
+++ /dev/null
@@ -1,337 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Gael Guennebaud <gael.guennebaud@inria.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include <main.h>
-#include <iostream>
-#include <GL/glew.h>
-#include <Eigen/OpenGLSupport>
-#include <GL/glut.h>
-using namespace Eigen;
-
-
-
-
-#define VERIFY_MATRIX(CODE,REF) { \
-    glLoadIdentity(); \
-    CODE; \
-    Matrix<float,4,4,ColMajor> m; m.setZero(); \
-    glGet(GL_MODELVIEW_MATRIX, m); \
-    if(!(REF).cast<float>().isApprox(m)) { \
-      std::cerr << "Expected:\n" << ((REF).cast<float>()) << "\n" << "got\n" << m << "\n\n"; \
-    } \
-    VERIFY_IS_APPROX((REF).cast<float>(), m); \
-  }
-
-#define VERIFY_UNIFORM(SUFFIX,NAME,TYPE) { \
-    TYPE value; value.setRandom(); \
-    TYPE data; \
-    int loc = glGetUniformLocation(prg_id, #NAME); \
-    VERIFY((loc!=-1) && "uniform not found"); \
-    glUniform(loc,value); \
-    EIGEN_CAT(glGetUniform,SUFFIX)(prg_id,loc,data.data()); \
-    if(!value.isApprox(data)) { \
-      std::cerr << "Expected:\n" << value << "\n" << "got\n" << data << "\n\n"; \
-    } \
-    VERIFY_IS_APPROX(value, data); \
-  }
-  
-#define VERIFY_UNIFORMi(NAME,TYPE) { \
-    TYPE value = TYPE::Random().eval().cast<float>().cast<TYPE::Scalar>(); \
-    TYPE data; \
-    int loc = glGetUniformLocation(prg_id, #NAME); \
-    VERIFY((loc!=-1) && "uniform not found"); \
-    glUniform(loc,value); \
-    glGetUniformiv(prg_id,loc,(GLint*)data.data()); \
-    if(!value.isApprox(data)) { \
-      std::cerr << "Expected:\n" << value << "\n" << "got\n" << data << "\n\n"; \
-    } \
-    VERIFY_IS_APPROX(value, data); \
-  }
-  
-void printInfoLog(GLuint objectID)
-{
-    int infologLength, charsWritten;
-    GLchar *infoLog;
-    glGetProgramiv(objectID,GL_INFO_LOG_LENGTH, &infologLength);
-    if(infologLength > 0)
-    {
-        infoLog = new GLchar[infologLength];
-        glGetProgramInfoLog(objectID, infologLength, &charsWritten, infoLog);
-        if (charsWritten>0)
-          std::cerr << "Shader info : \n" << infoLog << std::endl;
-        delete[] infoLog;
-    }
-}
-
-GLint createShader(const char* vtx, const char* frg)
-{
-  GLint prg_id = glCreateProgram();
-  GLint vtx_id = glCreateShader(GL_VERTEX_SHADER);
-  GLint frg_id = glCreateShader(GL_FRAGMENT_SHADER);
-  GLint ok;
-  
-  glShaderSource(vtx_id, 1, &vtx, 0);
-  glCompileShader(vtx_id);
-  glGetShaderiv(vtx_id,GL_COMPILE_STATUS,&ok);
-  if(!ok)
-  {
-    std::cerr << "vtx compilation failed\n";
-  }
-  
-  glShaderSource(frg_id, 1, &frg, 0);
-  glCompileShader(frg_id);
-  glGetShaderiv(frg_id,GL_COMPILE_STATUS,&ok);
-  if(!ok)
-  {
-    std::cerr << "frg compilation failed\n";
-  }
-  
-  glAttachShader(prg_id, vtx_id);
-  glAttachShader(prg_id, frg_id);
-  glLinkProgram(prg_id);
-  glGetProgramiv(prg_id,GL_LINK_STATUS,&ok);
-  if(!ok)
-  {
-    std::cerr << "linking failed\n";
-  }
-  printInfoLog(prg_id);
-  
-  glUseProgram(prg_id);
-  return prg_id;
-}
-
-void test_openglsupport()
-{
-  int argc = 0;
-  glutInit(&argc, 0);
-  glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
-  glutInitWindowPosition (0,0);
-  glutInitWindowSize(10, 10);
-
-  if(glutCreateWindow("Eigen") <= 0)
-  {
-    std::cerr << "Error: Unable to create GLUT Window.\n";
-    exit(1);
-  }
-  
-  glewExperimental = GL_TRUE;
-  if(glewInit() != GLEW_OK)
-  {
-    std::cerr << "Warning: Failed to initialize GLEW\n";
-  }
-
-  Vector3f v3f;
-  Matrix3f rot;
-  glBegin(GL_POINTS);
-  
-  glVertex(v3f);
-  glVertex(2*v3f+v3f);
-  glVertex(rot*v3f);
-  
-  glEnd();
-  
-  // 4x4 matrices
-  Matrix4f mf44; mf44.setRandom();
-  VERIFY_MATRIX(glLoadMatrix(mf44), mf44);
-  VERIFY_MATRIX(glMultMatrix(mf44), mf44);
-  Matrix4d md44; md44.setRandom();
-  VERIFY_MATRIX(glLoadMatrix(md44), md44);
-  VERIFY_MATRIX(glMultMatrix(md44), md44);
-  
-  // Quaternion
-  Quaterniond qd(AngleAxisd(internal::random<double>(), Vector3d::Random()));
-  VERIFY_MATRIX(glRotate(qd), Projective3d(qd).matrix());
-  
-  Quaternionf qf(AngleAxisf(internal::random<double>(), Vector3f::Random()));
-  VERIFY_MATRIX(glRotate(qf), Projective3f(qf).matrix());
-  
-  // 3D Transform
-  Transform<float,3,AffineCompact> acf3; acf3.matrix().setRandom();
-  VERIFY_MATRIX(glLoadMatrix(acf3), Projective3f(acf3).matrix());
-  VERIFY_MATRIX(glMultMatrix(acf3), Projective3f(acf3).matrix());
-  
-  Transform<float,3,Affine> af3(acf3);
-  VERIFY_MATRIX(glLoadMatrix(af3), Projective3f(af3).matrix());
-  VERIFY_MATRIX(glMultMatrix(af3), Projective3f(af3).matrix());
-  
-  Transform<float,3,Projective> pf3; pf3.matrix().setRandom();
-  VERIFY_MATRIX(glLoadMatrix(pf3), Projective3f(pf3).matrix());
-  VERIFY_MATRIX(glMultMatrix(pf3), Projective3f(pf3).matrix());
-  
-  Transform<double,3,AffineCompact> acd3; acd3.matrix().setRandom();
-  VERIFY_MATRIX(glLoadMatrix(acd3), Projective3d(acd3).matrix());
-  VERIFY_MATRIX(glMultMatrix(acd3), Projective3d(acd3).matrix());
-  
-  Transform<double,3,Affine> ad3(acd3);
-  VERIFY_MATRIX(glLoadMatrix(ad3), Projective3d(ad3).matrix());
-  VERIFY_MATRIX(glMultMatrix(ad3), Projective3d(ad3).matrix());
-  
-  Transform<double,3,Projective> pd3; pd3.matrix().setRandom();
-  VERIFY_MATRIX(glLoadMatrix(pd3), Projective3d(pd3).matrix());
-  VERIFY_MATRIX(glMultMatrix(pd3), Projective3d(pd3).matrix());
-  
-  // translations (2D and 3D)
-  {
-    Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 0;
-    VERIFY_MATRIX(glTranslate(vf2), Projective3f(Translation3f(vf23)).matrix());
-    Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 0;
-    VERIFY_MATRIX(glTranslate(vd2), Projective3d(Translation3d(vd23)).matrix());
-    
-    Vector3f vf3; vf3.setRandom();
-    VERIFY_MATRIX(glTranslate(vf3), Projective3f(Translation3f(vf3)).matrix());
-    Vector3d vd3; vd3.setRandom();
-    VERIFY_MATRIX(glTranslate(vd3), Projective3d(Translation3d(vd3)).matrix());
-    
-    Translation<float,3> tf3; tf3.vector().setRandom();
-    VERIFY_MATRIX(glTranslate(tf3), Projective3f(tf3).matrix());
-    
-    Translation<double,3> td3;  td3.vector().setRandom();
-    VERIFY_MATRIX(glTranslate(td3), Projective3d(td3).matrix());
-  }
-  
-  // scaling (2D and 3D)
-  {
-    Vector2f vf2; vf2.setRandom(); Vector3f vf23; vf23 << vf2, 1;
-    VERIFY_MATRIX(glScale(vf2), Projective3f(Scaling(vf23)).matrix());
-    Vector2d vd2; vd2.setRandom(); Vector3d vd23; vd23 << vd2, 1;
-    VERIFY_MATRIX(glScale(vd2), Projective3d(Scaling(vd23)).matrix());
-    
-    Vector3f vf3; vf3.setRandom();
-    VERIFY_MATRIX(glScale(vf3), Projective3f(Scaling(vf3)).matrix());
-    Vector3d vd3; vd3.setRandom();
-    VERIFY_MATRIX(glScale(vd3), Projective3d(Scaling(vd3)).matrix());
-    
-    UniformScaling<float> usf(internal::random<float>());
-    VERIFY_MATRIX(glScale(usf), Projective3f(usf).matrix());
-    
-    UniformScaling<double> usd(internal::random<double>());
-    VERIFY_MATRIX(glScale(usd), Projective3d(usd).matrix());
-  }
-  
-  // uniform
-  {
-    const char* vtx = "void main(void) { gl_Position = gl_Vertex; }\n";
-    
-    if(GLEW_VERSION_2_0)
-    {
-      #ifdef GL_VERSION_2_0
-      const char* frg = ""
-        "uniform vec2 v2f;\n"
-        "uniform vec3 v3f;\n"
-        "uniform vec4 v4f;\n"
-        "uniform ivec2 v2i;\n"
-        "uniform ivec3 v3i;\n"
-        "uniform ivec4 v4i;\n"
-        "uniform mat2 m2f;\n"
-        "uniform mat3 m3f;\n"
-        "uniform mat4 m4f;\n"
-        "void main(void) { gl_FragColor = vec4(v2f[0]+v3f[0]+v4f[0])+vec4(v2i[0]+v3i[0]+v4i[0])+vec4(m2f[0][0]+m3f[0][0]+m4f[0][0]); }\n";
-        
-      GLint prg_id = createShader(vtx,frg);
-      
-      VERIFY_UNIFORM(fv,v2f, Vector2f);
-      VERIFY_UNIFORM(fv,v3f, Vector3f);
-      VERIFY_UNIFORM(fv,v4f, Vector4f);
-      VERIFY_UNIFORMi(v2i, Vector2i);
-      VERIFY_UNIFORMi(v3i, Vector3i);
-      VERIFY_UNIFORMi(v4i, Vector4i);
-      VERIFY_UNIFORM(fv,m2f, Matrix2f);
-      VERIFY_UNIFORM(fv,m3f, Matrix3f);
-      VERIFY_UNIFORM(fv,m4f, Matrix4f);
-      #endif
-    }
-    else
-      std::cerr << "Warning: opengl 2.0 was not tested\n";
-    
-    if(GLEW_VERSION_2_1)
-    {
-      #ifdef GL_VERSION_2_1
-      const char* frg = "#version 120\n"
-        "uniform mat2x3 m23f;\n"
-        "uniform mat3x2 m32f;\n"
-        "uniform mat2x4 m24f;\n"
-        "uniform mat4x2 m42f;\n"
-        "uniform mat3x4 m34f;\n"
-        "uniform mat4x3 m43f;\n"
-        "void main(void) { gl_FragColor = vec4(m23f[0][0]+m32f[0][0]+m24f[0][0]+m42f[0][0]+m34f[0][0]+m43f[0][0]); }\n";
-        
-      GLint prg_id = createShader(vtx,frg);
-      
-      typedef Matrix<float,2,3> Matrix23f;
-      typedef Matrix<float,3,2> Matrix32f;
-      typedef Matrix<float,2,4> Matrix24f;
-      typedef Matrix<float,4,2> Matrix42f;
-      typedef Matrix<float,3,4> Matrix34f;
-      typedef Matrix<float,4,3> Matrix43f;
-      
-      VERIFY_UNIFORM(fv,m23f, Matrix23f);
-      VERIFY_UNIFORM(fv,m32f, Matrix32f);
-      VERIFY_UNIFORM(fv,m24f, Matrix24f);
-      VERIFY_UNIFORM(fv,m42f, Matrix42f);
-      VERIFY_UNIFORM(fv,m34f, Matrix34f);
-      VERIFY_UNIFORM(fv,m43f, Matrix43f);
-      #endif
-    }
-    else
-      std::cerr << "Warning: opengl 2.1 was not tested\n";
-    
-    if(GLEW_VERSION_3_0)
-    {
-      #ifdef GL_VERSION_3_0
-      const char* frg = "#version 150\n"
-        "uniform uvec2 v2ui;\n"
-        "uniform uvec3 v3ui;\n"
-        "uniform uvec4 v4ui;\n"
-        "out vec4 data;\n"
-        "void main(void) { data = vec4(v2ui[0]+v3ui[0]+v4ui[0]); }\n";
-        
-      GLint prg_id = createShader(vtx,frg);
-      
-      typedef Matrix<unsigned int,2,1> Vector2ui;
-      typedef Matrix<unsigned int,3,1> Vector3ui;
-      typedef Matrix<unsigned int,4,1> Vector4ui;
-      
-      VERIFY_UNIFORMi(v2ui, Vector2ui);
-      VERIFY_UNIFORMi(v3ui, Vector3ui);
-      VERIFY_UNIFORMi(v4ui, Vector4ui);
-      #endif
-    }
-    else
-      std::cerr << "Warning: opengl 3.0 was not tested\n";
-    
-    #ifdef GLEW_ARB_gpu_shader_fp64
-    if(GLEW_ARB_gpu_shader_fp64)
-    {
-      #ifdef GL_ARB_gpu_shader_fp64
-      const char* frg = "#version 150\n"
-        "uniform dvec2 v2d;\n"
-        "uniform dvec3 v3d;\n"
-        "uniform dvec4 v4d;\n"
-        "out vec4 data;\n"
-        "void main(void) { data = vec4(v2d[0]+v3d[0]+v4d[0]); }\n";
-        
-      GLint prg_id = createShader(vtx,frg);
-      
-      typedef Vector2d Vector2d;
-      typedef Vector3d Vector3d;
-      typedef Vector4d Vector4d;
-      
-      VERIFY_UNIFORM(dv,v2d, Vector2d);
-      VERIFY_UNIFORM(dv,v3d, Vector3d);
-      VERIFY_UNIFORM(dv,v4d, Vector4d);
-      #endif
-    }
-    else
-      std::cerr << "Warning: GLEW_ARB_gpu_shader_fp64 was not tested\n";
-    #else
-      std::cerr << "Warning: GLEW_ARB_gpu_shader_fp64 was not tested\n";
-    #endif
-  }
-  
-}
diff --git a/eigenlib/unsupported/test/polynomialsolver.cpp b/eigenlib/unsupported/test/polynomialsolver.cpp
deleted file mode 100644
index de79f153..00000000
--- a/eigenlib/unsupported/test/polynomialsolver.cpp
+++ /dev/null
@@ -1,213 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Manuel Yguel <manuel.yguel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "main.h"
-#include <unsupported/Eigen/Polynomials>
-#include <iostream>
-#include <algorithm>
-
-using namespace std;
-
-namespace Eigen {
-namespace internal {
-template<int Size>
-struct increment_if_fixed_size
-{
-  enum {
-    ret = (Size == Dynamic) ? Dynamic : Size+1
-  };
-};
-}
-}
-
-
-template<int Deg, typename POLYNOMIAL, typename SOLVER>
-bool aux_evalSolver( const POLYNOMIAL& pols, SOLVER& psolve )
-{
-  typedef typename POLYNOMIAL::Index Index;
-  typedef typename POLYNOMIAL::Scalar Scalar;
-
-  typedef typename SOLVER::RootsType    RootsType;
-  typedef Matrix<Scalar,Deg,1>          EvalRootsType;
-
-  const Index deg = pols.size()-1;
-
-  psolve.compute( pols );
-  const RootsType& roots( psolve.roots() );
-  EvalRootsType evr( deg );
-  for( int i=0; i<roots.size(); ++i ){
-    evr[i] = std::abs( poly_eval( pols, roots[i] ) ); }
-
-  bool evalToZero = evr.isZero( test_precision<Scalar>() );
-  if( !evalToZero )
-  {
-    cerr << "WRONG root: " << endl;
-    cerr << "Polynomial: " << pols.transpose() << endl;
-    cerr << "Roots found: " << roots.transpose() << endl;
-    cerr << "Abs value of the polynomial at the roots: " << evr.transpose() << endl;
-    cerr << endl;
-  }
-
-  std::vector<Scalar> rootModuli( roots.size() );
-  Map< EvalRootsType > aux( &rootModuli[0], roots.size() );
-  aux = roots.array().abs();
-  std::sort( rootModuli.begin(), rootModuli.end() );
-  bool distinctModuli=true;
-  for( size_t i=1; i<rootModuli.size() && distinctModuli; ++i )
-  {
-    if( internal::isApprox( rootModuli[i], rootModuli[i-1] ) ){
-      distinctModuli = false; }
-  }
-  VERIFY( evalToZero || !distinctModuli );
-
-  return distinctModuli;
-}
-
-
-
-
-
-
-
-template<int Deg, typename POLYNOMIAL>
-void evalSolver( const POLYNOMIAL& pols )
-{
-  typedef typename POLYNOMIAL::Scalar Scalar;
-
-  typedef PolynomialSolver<Scalar, Deg >              PolynomialSolverType;
-
-  PolynomialSolverType psolve;
-  aux_evalSolver<Deg, POLYNOMIAL, PolynomialSolverType>( pols, psolve );
-}
-
-
-
-
-template< int Deg, typename POLYNOMIAL, typename ROOTS, typename REAL_ROOTS >
-void evalSolverSugarFunction( const POLYNOMIAL& pols, const ROOTS& roots, const REAL_ROOTS& real_roots )
-{
-  using std::sqrt;
-  typedef typename POLYNOMIAL::Scalar Scalar;
-
-  typedef PolynomialSolver<Scalar, Deg >              PolynomialSolverType;
-
-  PolynomialSolverType psolve;
-  if( aux_evalSolver<Deg, POLYNOMIAL, PolynomialSolverType>( pols, psolve ) )
-  {
-    //It is supposed that
-    // 1) the roots found are correct
-    // 2) the roots have distinct moduli
-
-    typedef typename REAL_ROOTS::Scalar                 Real;
-
-    //Test realRoots
-    std::vector< Real > calc_realRoots;
-    psolve.realRoots( calc_realRoots );
-    VERIFY( calc_realRoots.size() == (size_t)real_roots.size() );
-
-    const Scalar psPrec = sqrt( test_precision<Scalar>() );
-
-    for( size_t i=0; i<calc_realRoots.size(); ++i )
-    {
-      bool found = false;
-      for( size_t j=0; j<calc_realRoots.size()&& !found; ++j )
-      {
-        if( internal::isApprox( calc_realRoots[i], real_roots[j] ), psPrec ){
-          found = true; }
-      }
-      VERIFY( found );
-    }
-
-    //Test greatestRoot
-    VERIFY( internal::isApprox( roots.array().abs().maxCoeff(),
-          abs( psolve.greatestRoot() ), psPrec ) );
-
-    //Test smallestRoot
-    VERIFY( internal::isApprox( roots.array().abs().minCoeff(),
-          abs( psolve.smallestRoot() ), psPrec ) );
-
-    bool hasRealRoot;
-    //Test absGreatestRealRoot
-    Real r = psolve.absGreatestRealRoot( hasRealRoot );
-    VERIFY( hasRealRoot == (real_roots.size() > 0 ) );
-    if( hasRealRoot ){
-      VERIFY( internal::isApprox( real_roots.array().abs().maxCoeff(), abs(r), psPrec ) );  }
-
-    //Test absSmallestRealRoot
-    r = psolve.absSmallestRealRoot( hasRealRoot );
-    VERIFY( hasRealRoot == (real_roots.size() > 0 ) );
-    if( hasRealRoot ){
-      VERIFY( internal::isApprox( real_roots.array().abs().minCoeff(), abs( r ), psPrec ) ); }
-
-    //Test greatestRealRoot
-    r = psolve.greatestRealRoot( hasRealRoot );
-    VERIFY( hasRealRoot == (real_roots.size() > 0 ) );
-    if( hasRealRoot ){
-      VERIFY( internal::isApprox( real_roots.array().maxCoeff(), r, psPrec ) ); }
-
-    //Test smallestRealRoot
-    r = psolve.smallestRealRoot( hasRealRoot );
-    VERIFY( hasRealRoot == (real_roots.size() > 0 ) );
-    if( hasRealRoot ){
-    VERIFY( internal::isApprox( real_roots.array().minCoeff(), r, psPrec ) ); }
-  }
-}
-
-
-template<typename _Scalar, int _Deg>
-void polynomialsolver(int deg)
-{
-  typedef internal::increment_if_fixed_size<_Deg>            Dim;
-  typedef Matrix<_Scalar,Dim::ret,1>                  PolynomialType;
-  typedef Matrix<_Scalar,_Deg,1>                      EvalRootsType;
-
-  cout << "Standard cases" << endl;
-  PolynomialType pols = PolynomialType::Random(deg+1);
-  evalSolver<_Deg,PolynomialType>( pols );
-
-  cout << "Hard cases" << endl;
-  _Scalar multipleRoot = internal::random<_Scalar>();
-  EvalRootsType allRoots = EvalRootsType::Constant(deg,multipleRoot);
-  roots_to_monicPolynomial( allRoots, pols );
-  evalSolver<_Deg,PolynomialType>( pols );
-
-  cout << "Test sugar" << endl;
-  EvalRootsType realRoots = EvalRootsType::Random(deg);
-  roots_to_monicPolynomial( realRoots, pols );
-  evalSolverSugarFunction<_Deg>(
-      pols,
-      realRoots.template cast <
-                    std::complex<
-                         typename NumTraits<_Scalar>::Real
-                         >
-                    >(),
-      realRoots );
-}
-
-void test_polynomialsolver()
-{
-  for(int i = 0; i < g_repeat; i++)
-  {
-    CALL_SUBTEST_1( (polynomialsolver<float,1>(1)) );
-    CALL_SUBTEST_2( (polynomialsolver<double,2>(2)) );
-    CALL_SUBTEST_3( (polynomialsolver<double,3>(3)) );
-    CALL_SUBTEST_4( (polynomialsolver<float,4>(4)) );
-    CALL_SUBTEST_5( (polynomialsolver<double,5>(5)) );
-    CALL_SUBTEST_6( (polynomialsolver<float,6>(6)) );
-    CALL_SUBTEST_7( (polynomialsolver<float,7>(7)) );
-    CALL_SUBTEST_8( (polynomialsolver<double,8>(8)) );
-
-    CALL_SUBTEST_9( (polynomialsolver<float,Dynamic>(
-            internal::random<int>(9,13)
-            )) );
-    CALL_SUBTEST_10((polynomialsolver<double,Dynamic>(
-            internal::random<int>(9,13)
-            )) );
-  }
-}
diff --git a/eigenlib/unsupported/test/polynomialutils.cpp b/eigenlib/unsupported/test/polynomialutils.cpp
deleted file mode 100644
index 5fc96840..00000000
--- a/eigenlib/unsupported/test/polynomialutils.cpp
+++ /dev/null
@@ -1,113 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010 Manuel Yguel <manuel.yguel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "main.h"
-#include <unsupported/Eigen/Polynomials>
-#include <iostream>
-
-using namespace std;
-
-namespace Eigen {
-namespace internal {
-template<int Size>
-struct increment_if_fixed_size
-{
-  enum {
-    ret = (Size == Dynamic) ? Dynamic : Size+1
-  };
-};
-}
-}
-
-template<typename _Scalar, int _Deg>
-void realRoots_to_monicPolynomial_test(int deg)
-{
-  typedef internal::increment_if_fixed_size<_Deg>            Dim;
-  typedef Matrix<_Scalar,Dim::ret,1>                  PolynomialType;
-  typedef Matrix<_Scalar,_Deg,1>                      EvalRootsType;
-
-  PolynomialType pols(deg+1);
-  EvalRootsType roots = EvalRootsType::Random(deg);
-  roots_to_monicPolynomial( roots, pols );
-
-  EvalRootsType evr( deg );
-  for( int i=0; i<roots.size(); ++i ){
-    evr[i] = std::abs( poly_eval( pols, roots[i] ) ); }
-
-  bool evalToZero = evr.isZero( test_precision<_Scalar>() );
-  if( !evalToZero ){
-    cerr << evr.transpose() << endl; }
-  VERIFY( evalToZero );
-}
-
-template<typename _Scalar> void realRoots_to_monicPolynomial_scalar()
-{
-  CALL_SUBTEST_2( (realRoots_to_monicPolynomial_test<_Scalar,2>(2)) );
-  CALL_SUBTEST_3( (realRoots_to_monicPolynomial_test<_Scalar,3>(3)) );
-  CALL_SUBTEST_4( (realRoots_to_monicPolynomial_test<_Scalar,4>(4)) );
-  CALL_SUBTEST_5( (realRoots_to_monicPolynomial_test<_Scalar,5>(5)) );
-  CALL_SUBTEST_6( (realRoots_to_monicPolynomial_test<_Scalar,6>(6)) );
-  CALL_SUBTEST_7( (realRoots_to_monicPolynomial_test<_Scalar,7>(7)) );
-  CALL_SUBTEST_8( (realRoots_to_monicPolynomial_test<_Scalar,17>(17)) );
-
-  CALL_SUBTEST_9( (realRoots_to_monicPolynomial_test<_Scalar,Dynamic>(
-          internal::random<int>(18,26) )) );
-}
-
-
-
-
-template<typename _Scalar, int _Deg>
-void CauchyBounds(int deg)
-{
-  typedef internal::increment_if_fixed_size<_Deg>            Dim;
-  typedef Matrix<_Scalar,Dim::ret,1>                  PolynomialType;
-  typedef Matrix<_Scalar,_Deg,1>                      EvalRootsType;
-
-  PolynomialType pols(deg+1);
-  EvalRootsType roots = EvalRootsType::Random(deg);
-  roots_to_monicPolynomial( roots, pols );
-  _Scalar M = cauchy_max_bound( pols );
-  _Scalar m = cauchy_min_bound( pols );
-  _Scalar Max = roots.array().abs().maxCoeff();
-  _Scalar min = roots.array().abs().minCoeff();
-  bool eval = (M >= Max) && (m <= min);
-  if( !eval )
-  {
-    cerr << "Roots: " << roots << endl;
-    cerr << "Bounds: (" << m << ", " << M << ")" << endl;
-    cerr << "Min,Max: (" << min << ", " << Max << ")" << endl;
-  }
-  VERIFY( eval );
-}
-
-template<typename _Scalar> void CauchyBounds_scalar()
-{
-  CALL_SUBTEST_2( (CauchyBounds<_Scalar,2>(2)) );
-  CALL_SUBTEST_3( (CauchyBounds<_Scalar,3>(3)) );
-  CALL_SUBTEST_4( (CauchyBounds<_Scalar,4>(4)) );
-  CALL_SUBTEST_5( (CauchyBounds<_Scalar,5>(5)) );
-  CALL_SUBTEST_6( (CauchyBounds<_Scalar,6>(6)) );
-  CALL_SUBTEST_7( (CauchyBounds<_Scalar,7>(7)) );
-  CALL_SUBTEST_8( (CauchyBounds<_Scalar,17>(17)) );
-
-  CALL_SUBTEST_9( (CauchyBounds<_Scalar,Dynamic>(
-          internal::random<int>(18,26) )) );
-}
-
-void test_polynomialutils()
-{
-  for(int i = 0; i < g_repeat; i++)
-  {
-    realRoots_to_monicPolynomial_scalar<double>();
-    realRoots_to_monicPolynomial_scalar<float>();
-    CauchyBounds_scalar<double>();
-    CauchyBounds_scalar<float>();
-  }
-}
diff --git a/eigenlib/unsupported/test/sparse_extra.cpp b/eigenlib/unsupported/test/sparse_extra.cpp
deleted file mode 100644
index 1ee791b0..00000000
--- a/eigenlib/unsupported/test/sparse_extra.cpp
+++ /dev/null
@@ -1,148 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008-2010 Gael Guennebaud <g.gael@free.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-
-// import basic and product tests for deprectaed DynamicSparseMatrix
-#define EIGEN_NO_DEPRECATED_WARNING
-#include "sparse_basic.cpp"
-#include "sparse_product.cpp"
-#include <Eigen/SparseExtra>
-
-template<typename SetterType,typename DenseType, typename Scalar, int Options>
-bool test_random_setter(SparseMatrix<Scalar,Options>& sm, const DenseType& ref, const std::vector<Vector2i>& nonzeroCoords)
-{
-  {
-    sm.setZero();
-    SetterType w(sm);
-    std::vector<Vector2i> remaining = nonzeroCoords;
-    while(!remaining.empty())
-    {
-      int i = internal::random<int>(0,static_cast<int>(remaining.size())-1);
-      w(remaining[i].x(),remaining[i].y()) = ref.coeff(remaining[i].x(),remaining[i].y());
-      remaining[i] = remaining.back();
-      remaining.pop_back();
-    }
-  }
-  return sm.isApprox(ref);
-}
-
-template<typename SetterType,typename DenseType, typename T>
-bool test_random_setter(DynamicSparseMatrix<T>& sm, const DenseType& ref, const std::vector<Vector2i>& nonzeroCoords)
-{
-  sm.setZero();
-  std::vector<Vector2i> remaining = nonzeroCoords;
-  while(!remaining.empty())
-  {
-    int i = internal::random<int>(0,static_cast<int>(remaining.size())-1);
-    sm.coeffRef(remaining[i].x(),remaining[i].y()) = ref.coeff(remaining[i].x(),remaining[i].y());
-    remaining[i] = remaining.back();
-    remaining.pop_back();
-  }
-  return sm.isApprox(ref);
-}
-
-template<typename SparseMatrixType> void sparse_extra(const SparseMatrixType& ref)
-{
-  typedef typename SparseMatrixType::Index Index;
-  const Index rows = ref.rows();
-  const Index cols = ref.cols();
-  typedef typename SparseMatrixType::Scalar Scalar;
-  enum { Flags = SparseMatrixType::Flags };
-
-  double density = (std::max)(8./(rows*cols), 0.01);
-  typedef Matrix<Scalar,Dynamic,Dynamic> DenseMatrix;
-  typedef Matrix<Scalar,Dynamic,1> DenseVector;
-  Scalar eps = 1e-6;
-
-  SparseMatrixType m(rows, cols);
-  DenseMatrix refMat = DenseMatrix::Zero(rows, cols);
-  DenseVector vec1 = DenseVector::Random(rows);
-
-  std::vector<Vector2i> zeroCoords;
-  std::vector<Vector2i> nonzeroCoords;
-  initSparse<Scalar>(density, refMat, m, 0, &zeroCoords, &nonzeroCoords);
-
-  if (zeroCoords.size()==0 || nonzeroCoords.size()==0)
-    return;
-
-  // test coeff and coeffRef
-  for (int i=0; i<(int)zeroCoords.size(); ++i)
-  {
-    VERIFY_IS_MUCH_SMALLER_THAN( m.coeff(zeroCoords[i].x(),zeroCoords[i].y()), eps );
-    if(internal::is_same<SparseMatrixType,SparseMatrix<Scalar,Flags> >::value)
-      VERIFY_RAISES_ASSERT( m.coeffRef(zeroCoords[0].x(),zeroCoords[0].y()) = 5 );
-  }
-  VERIFY_IS_APPROX(m, refMat);
-
-  m.coeffRef(nonzeroCoords[0].x(), nonzeroCoords[0].y()) = Scalar(5);
-  refMat.coeffRef(nonzeroCoords[0].x(), nonzeroCoords[0].y()) = Scalar(5);
-
-  VERIFY_IS_APPROX(m, refMat);
-
-  // random setter
-//   {
-//     m.setZero();
-//     VERIFY_IS_NOT_APPROX(m, refMat);
-//     SparseSetter<SparseMatrixType, RandomAccessPattern> w(m);
-//     std::vector<Vector2i> remaining = nonzeroCoords;
-//     while(!remaining.empty())
-//     {
-//       int i = internal::random<int>(0,remaining.size()-1);
-//       w->coeffRef(remaining[i].x(),remaining[i].y()) = refMat.coeff(remaining[i].x(),remaining[i].y());
-//       remaining[i] = remaining.back();
-//       remaining.pop_back();
-//     }
-//   }
-//   VERIFY_IS_APPROX(m, refMat);
-
-    VERIFY(( test_random_setter<RandomSetter<SparseMatrixType, StdMapTraits> >(m,refMat,nonzeroCoords) ));
-    #ifdef EIGEN_UNORDERED_MAP_SUPPORT
-    VERIFY(( test_random_setter<RandomSetter<SparseMatrixType, StdUnorderedMapTraits> >(m,refMat,nonzeroCoords) ));
-    #endif
-    #ifdef _DENSE_HASH_MAP_H_
-    VERIFY(( test_random_setter<RandomSetter<SparseMatrixType, GoogleDenseHashMapTraits> >(m,refMat,nonzeroCoords) ));
-    #endif
-    #ifdef _SPARSE_HASH_MAP_H_
-    VERIFY(( test_random_setter<RandomSetter<SparseMatrixType, GoogleSparseHashMapTraits> >(m,refMat,nonzeroCoords) ));
-    #endif
-
-
-  // test RandomSetter
-  /*{
-    SparseMatrixType m1(rows,cols), m2(rows,cols);
-    DenseMatrix refM1 = DenseMatrix::Zero(rows, rows);
-    initSparse<Scalar>(density, refM1, m1);
-    {
-      Eigen::RandomSetter<SparseMatrixType > setter(m2);
-      for (int j=0; j<m1.outerSize(); ++j)
-        for (typename SparseMatrixType::InnerIterator i(m1,j); i; ++i)
-          setter(i.index(), j) = i.value();
-    }
-    VERIFY_IS_APPROX(m1, m2);
-  }*/
-
-
-}
-
-void test_sparse_extra()
-{
-  for(int i = 0; i < g_repeat; i++) {
-    int s = Eigen::internal::random<int>(1,50);
-    CALL_SUBTEST_1( sparse_extra(SparseMatrix<double>(8, 8)) );
-    CALL_SUBTEST_2( sparse_extra(SparseMatrix<std::complex<double> >(s, s)) );
-    CALL_SUBTEST_1( sparse_extra(SparseMatrix<double>(s, s)) );
-
-    CALL_SUBTEST_3( sparse_extra(DynamicSparseMatrix<double>(s, s)) );
-//    CALL_SUBTEST_3(( sparse_basic(DynamicSparseMatrix<double>(s, s)) ));
-//    CALL_SUBTEST_3(( sparse_basic(DynamicSparseMatrix<double,ColMajor,long int>(s, s)) ));
-
-    CALL_SUBTEST_3( (sparse_product<DynamicSparseMatrix<float, ColMajor> >()) );
-    CALL_SUBTEST_3( (sparse_product<DynamicSparseMatrix<float, RowMajor> >()) );
-  }
-}
diff --git a/eigenlib/unsupported/test/splines.cpp b/eigenlib/unsupported/test/splines.cpp
deleted file mode 100644
index a7eb3e0c..00000000
--- a/eigenlib/unsupported/test/splines.cpp
+++ /dev/null
@@ -1,244 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2010-2011 Hauke Heibel <heibel@gmail.com>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-#include "main.h"
-
-#include <unsupported/Eigen/Splines>
-
-namespace Eigen {
-  
-// lets do some explicit instantiations and thus
-// force the compilation of all spline functions...
-template class Spline<double, 2, Dynamic>;
-template class Spline<double, 3, Dynamic>;
-
-template class Spline<double, 2, 2>;
-template class Spline<double, 2, 3>;
-template class Spline<double, 2, 4>;
-template class Spline<double, 2, 5>;
-
-template class Spline<float, 2, Dynamic>;
-template class Spline<float, 3, Dynamic>;
-
-template class Spline<float, 3, 2>;
-template class Spline<float, 3, 3>;
-template class Spline<float, 3, 4>;
-template class Spline<float, 3, 5>;
-
-}
-
-Spline<double, 2, Dynamic> closed_spline2d()
-{
-  RowVectorXd knots(12);
-  knots << 0,
-    0,
-    0,
-    0,
-    0.867193179093898,
-    1.660330955342408,
-    2.605084834823134,
-    3.484154586374428,
-    4.252699478956276,
-    4.252699478956276,
-    4.252699478956276,
-    4.252699478956276;
-
-  MatrixXd ctrls(8,2);
-  ctrls << -0.370967741935484,   0.236842105263158,
-    -0.231401860693277,   0.442245185027632,
-    0.344361228532831,   0.773369994120753,
-    0.828990216203802,   0.106550882647595,
-    0.407270163678382,  -1.043452922172848,
-    -0.488467813584053,  -0.390098582530090,
-    -0.494657189446427,   0.054804824897884,
-    -0.370967741935484,   0.236842105263158;
-  ctrls.transposeInPlace();
-
-  return Spline<double, 2, Dynamic>(knots, ctrls);
-}
-
-/* create a reference spline */
-Spline<double, 3, Dynamic> spline3d()
-{
-  RowVectorXd knots(11);
-  knots << 0,
-    0,
-    0,
-    0.118997681558377,
-    0.162611735194631,
-    0.498364051982143,
-    0.655098003973841,
-    0.679702676853675,
-    1.000000000000000,
-    1.000000000000000,
-    1.000000000000000;
-
-  MatrixXd ctrls(8,3);
-  ctrls <<    0.959743958516081,   0.340385726666133,   0.585267750979777,
-    0.223811939491137,   0.751267059305653,   0.255095115459269,
-    0.505957051665142,   0.699076722656686,   0.890903252535799,
-    0.959291425205444,   0.547215529963803,   0.138624442828679,
-    0.149294005559057,   0.257508254123736,   0.840717255983663,
-    0.254282178971531,   0.814284826068816,   0.243524968724989,
-    0.929263623187228,   0.349983765984809,   0.196595250431208,
-    0.251083857976031,   0.616044676146639,   0.473288848902729;
-  ctrls.transposeInPlace();
-
-  return Spline<double, 3, Dynamic>(knots, ctrls);
-}
-
-/* compares evaluations against known results */
-void eval_spline3d()
-{
-  Spline3d spline = spline3d();
-
-  RowVectorXd u(10);
-  u << 0.351659507062997,
-    0.830828627896291,
-    0.585264091152724,
-    0.549723608291140,
-    0.917193663829810,
-    0.285839018820374,
-    0.757200229110721,
-    0.753729094278495,
-    0.380445846975357,
-    0.567821640725221;
-
-  MatrixXd pts(10,3);
-  pts << 0.707620811535916,   0.510258911240815,   0.417485437023409,
-    0.603422256426978,   0.529498282727551,   0.270351549348981,
-    0.228364197569334,   0.423745615677815,   0.637687289287490,
-    0.275556796335168,   0.350856706427970,   0.684295784598905,
-    0.514519311047655,   0.525077224890754,   0.351628308305896,
-    0.724152914315666,   0.574461155457304,   0.469860285484058,
-    0.529365063753288,   0.613328702656816,   0.237837040141739,
-    0.522469395136878,   0.619099658652895,   0.237139665242069,
-    0.677357023849552,   0.480655768435853,   0.422227610314397,
-    0.247046593173758,   0.380604672404750,   0.670065791405019;
-  pts.transposeInPlace();
-
-  for (int i=0; i<u.size(); ++i)
-  {
-    Vector3d pt = spline(u(i));
-    VERIFY( (pt - pts.col(i)).norm() < 1e-14 );
-  }
-}
-
-/* compares evaluations on corner cases */
-void eval_spline3d_onbrks()
-{
-  Spline3d spline = spline3d();
-
-  RowVectorXd u = spline.knots();
-
-  MatrixXd pts(11,3);
-  pts <<    0.959743958516081,   0.340385726666133,   0.585267750979777,
-    0.959743958516081,   0.340385726666133,   0.585267750979777,
-    0.959743958516081,   0.340385726666133,   0.585267750979777,
-    0.430282980289940,   0.713074680056118,   0.720373307943349,
-    0.558074875553060,   0.681617921034459,   0.804417124839942,
-    0.407076008291750,   0.349707710518163,   0.617275937419545,
-    0.240037008286602,   0.738739390398014,   0.324554153129411,
-    0.302434111480572,   0.781162443963899,   0.240177089094644,
-    0.251083857976031,   0.616044676146639,   0.473288848902729,
-    0.251083857976031,   0.616044676146639,   0.473288848902729,
-    0.251083857976031,   0.616044676146639,   0.473288848902729;
-  pts.transposeInPlace();
-
-  for (int i=0; i<u.size(); ++i)
-  {
-    Vector3d pt = spline(u(i));
-    VERIFY( (pt - pts.col(i)).norm() < 1e-14 );
-  }
-}
-
-void eval_closed_spline2d()
-{
-  Spline2d spline = closed_spline2d();
-
-  RowVectorXd u(12);
-  u << 0,
-    0.332457030395796,
-    0.356467130532952,
-    0.453562180176215,
-    0.648017921874804,
-    0.973770235555003,
-    1.882577647219307,
-    2.289408593930498,
-    3.511951429883045,
-    3.884149321369450,
-    4.236261590369414,
-    4.252699478956276;
-
-  MatrixXd pts(12,2);
-  pts << -0.370967741935484,   0.236842105263158,
-    -0.152576775123250,   0.448975001279334,
-    -0.133417538277668,   0.461615613865667,
-    -0.053199060826740,   0.507630360006299,
-    0.114249591147281,   0.570414135097409,
-    0.377810316891987,   0.560497102875315,
-    0.665052120135908,  -0.157557441109611,
-    0.516006487053228,  -0.559763292174825,
-    -0.379486035348887,  -0.331959640488223,
-    -0.462034726249078,  -0.039105670080824,
-    -0.378730600917982,   0.225127015099919,
-    -0.370967741935484,   0.236842105263158;
-  pts.transposeInPlace();
-
-  for (int i=0; i<u.size(); ++i)
-  {
-    Vector2d pt = spline(u(i));
-    VERIFY( (pt - pts.col(i)).norm() < 1e-14 );
-  }
-}
-
-void check_global_interpolation2d()
-{
-  typedef Spline2d::PointType PointType;
-  typedef Spline2d::KnotVectorType KnotVectorType;
-  typedef Spline2d::ControlPointVectorType ControlPointVectorType;
-
-  ControlPointVectorType points = ControlPointVectorType::Random(2,100);
-
-  KnotVectorType chord_lengths; // knot parameters
-  Eigen::ChordLengths(points, chord_lengths);
-
-  // interpolation without knot parameters
-  {
-    const Spline2d spline = SplineFitting<Spline2d>::Interpolate(points,3);  
-
-    for (Eigen::DenseIndex i=0; i<points.cols(); ++i)
-    {
-      PointType pt = spline( chord_lengths(i) );
-      PointType ref = points.col(i);
-      VERIFY( (pt - ref).matrix().norm() < 1e-14 );
-    }
-  }
-
-  // interpolation with given knot parameters
-  {
-    const Spline2d spline = SplineFitting<Spline2d>::Interpolate(points,3,chord_lengths);  
-
-    for (Eigen::DenseIndex i=0; i<points.cols(); ++i)
-    {
-      PointType pt = spline( chord_lengths(i) );
-      PointType ref = points.col(i);
-      VERIFY( (pt - ref).matrix().norm() < 1e-14 );
-    }
-  }
-}
-
-
-void test_splines()
-{
-  CALL_SUBTEST( eval_spline3d() );
-  CALL_SUBTEST( eval_spline3d_onbrks() );
-  CALL_SUBTEST( eval_closed_spline2d() );
-  CALL_SUBTEST( check_global_interpolation2d() );
-}
diff --git a/eigenlib/unsupported/test/svd_common.h b/eigenlib/unsupported/test/svd_common.h
deleted file mode 100644
index b40c23a2..00000000
--- a/eigenlib/unsupported/test/svd_common.h
+++ /dev/null
@@ -1,261 +0,0 @@
-// This file is part of Eigen, a lightweight C++ template library
-// for linear algebra.
-//
-// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
-// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-//
-// Copyright (C) 2013 Gauthier Brun <brun.gauthier@gmail.com>
-// Copyright (C) 2013 Nicolas Carre <nicolas.carre@ensimag.fr>
-// Copyright (C) 2013 Jean Ceccato <jean.ceccato@ensimag.fr>
-// Copyright (C) 2013 Pierre Zoppitelli <pierre.zoppitelli@ensimag.fr>
-//
-// This Source Code Form is subject to the terms of the Mozilla
-// Public License v. 2.0. If a copy of the MPL was not distributed
-// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
-
-// discard stack allocation as that too bypasses malloc
-#define EIGEN_STACK_ALLOCATION_LIMIT 0
-#define EIGEN_RUNTIME_NO_MALLOC
-
-#include "main.h"
-#include <unsupported/Eigen/SVD>
-#include <Eigen/LU>
-
-
-// check if "svd" is the good image of "m"  
-template<typename MatrixType, typename SVD>
-void svd_check_full(const MatrixType& m, const SVD& svd)
-{
-  typedef typename MatrixType::Index Index;
-  Index rows = m.rows();
-  Index cols = m.cols();
-  enum {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime
-  };
-
-  typedef typename MatrixType::Scalar Scalar;
-  typedef Matrix<Scalar, RowsAtCompileTime, RowsAtCompileTime> MatrixUType;
-  typedef Matrix<Scalar, ColsAtCompileTime, ColsAtCompileTime> MatrixVType;
-
-  
-  MatrixType sigma = MatrixType::Zero(rows, cols);
-  sigma.diagonal() = svd.singularValues().template cast<Scalar>();
-  MatrixUType u = svd.matrixU();
-  MatrixVType v = svd.matrixV();
-  VERIFY_IS_APPROX(m, u * sigma * v.adjoint());
-  VERIFY_IS_UNITARY(u);
-  VERIFY_IS_UNITARY(v);
-} // end svd_check_full
-
-
-
-// Compare to a reference value
-template<typename MatrixType, typename SVD>
-void svd_compare_to_full(const MatrixType& m,
-			 unsigned int computationOptions,
-			 const SVD& referenceSvd)
-{
-  typedef typename MatrixType::Index Index;
-  Index rows = m.rows();
-  Index cols = m.cols();
-  Index diagSize = (std::min)(rows, cols);
-
-  SVD svd(m, computationOptions);
-
-  VERIFY_IS_APPROX(svd.singularValues(), referenceSvd.singularValues());
-  if(computationOptions & ComputeFullU)
-    VERIFY_IS_APPROX(svd.matrixU(), referenceSvd.matrixU());
-  if(computationOptions & ComputeThinU)
-    VERIFY_IS_APPROX(svd.matrixU(), referenceSvd.matrixU().leftCols(diagSize));
-  if(computationOptions & ComputeFullV)
-    VERIFY_IS_APPROX(svd.matrixV(), referenceSvd.matrixV());
-  if(computationOptions & ComputeThinV)
-    VERIFY_IS_APPROX(svd.matrixV(), referenceSvd.matrixV().leftCols(diagSize));
-} // end svd_compare_to_full
-
-
-
-template<typename MatrixType, typename SVD>
-void svd_solve(const MatrixType& m, unsigned int computationOptions)
-{
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
-  Index rows = m.rows();
-  Index cols = m.cols();
-
-  enum {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime
-  };
-
-  typedef Matrix<Scalar, RowsAtCompileTime, Dynamic> RhsType;
-  typedef Matrix<Scalar, ColsAtCompileTime, Dynamic> SolutionType;
-
-  RhsType rhs = RhsType::Random(rows, internal::random<Index>(1, cols));
-  SVD svd(m, computationOptions);
-  SolutionType x = svd.solve(rhs);
-  // evaluate normal equation which works also for least-squares solutions
-  VERIFY_IS_APPROX(m.adjoint()*m*x,m.adjoint()*rhs);
-} // end svd_solve
-
-
-// test computations options
-// 2 functions because Jacobisvd can return before the second function
-template<typename MatrixType, typename SVD>
-void svd_test_computation_options_1(const MatrixType& m, const SVD& fullSvd)
-{
-  svd_check_full< MatrixType, SVD >(m, fullSvd);
-  svd_solve< MatrixType, SVD >(m, ComputeFullU | ComputeFullV);
-}
-
-
-template<typename MatrixType, typename SVD>
-void svd_test_computation_options_2(const MatrixType& m, const SVD& fullSvd)
-{
-  svd_compare_to_full< MatrixType, SVD >(m, ComputeFullU, fullSvd);
-  svd_compare_to_full< MatrixType, SVD >(m, ComputeFullV, fullSvd);
-  svd_compare_to_full< MatrixType, SVD >(m, 0, fullSvd);
-
-  if (MatrixType::ColsAtCompileTime == Dynamic) {
-    // thin U/V are only available with dynamic number of columns
- 
-    svd_compare_to_full< MatrixType, SVD >(m, ComputeFullU|ComputeThinV, fullSvd);
-    svd_compare_to_full< MatrixType, SVD >(m,              ComputeThinV, fullSvd);
-    svd_compare_to_full< MatrixType, SVD >(m, ComputeThinU|ComputeFullV, fullSvd);
-    svd_compare_to_full< MatrixType, SVD >(m, ComputeThinU             , fullSvd);
-    svd_compare_to_full< MatrixType, SVD >(m, ComputeThinU|ComputeThinV, fullSvd);
-    svd_solve<MatrixType, SVD>(m, ComputeFullU | ComputeThinV);
-    svd_solve<MatrixType, SVD>(m, ComputeThinU | ComputeFullV);
-    svd_solve<MatrixType, SVD>(m, ComputeThinU | ComputeThinV);
-    
-    typedef typename MatrixType::Index Index;
-    Index diagSize = (std::min)(m.rows(), m.cols());
-    SVD svd(m, ComputeThinU | ComputeThinV);
-    VERIFY_IS_APPROX(m, svd.matrixU().leftCols(diagSize) * svd.singularValues().asDiagonal() * svd.matrixV().leftCols(diagSize).adjoint());
-  }
-}
-
-template<typename MatrixType, typename SVD> 
-void svd_verify_assert(const MatrixType& m)
-{
-  typedef typename MatrixType::Scalar Scalar;
-  typedef typename MatrixType::Index Index;
-  Index rows = m.rows();
-  Index cols = m.cols();
-
-  enum {
-    RowsAtCompileTime = MatrixType::RowsAtCompileTime,
-    ColsAtCompileTime = MatrixType::ColsAtCompileTime
-  };
-
-  typedef Matrix<Scalar, RowsAtCompileTime, 1> RhsType;
-  RhsType rhs(rows);
-  SVD svd;
-  VERIFY_RAISES_ASSERT(svd.matrixU())
-  VERIFY_RAISES_ASSERT(svd.singularValues())
-  VERIFY_RAISES_ASSERT(svd.matrixV())
-  VERIFY_RAISES_ASSERT(svd.solve(rhs))
-  MatrixType a = MatrixType::Zero(rows, cols);
-  a.setZero();
-  svd.compute(a, 0);
-  VERIFY_RAISES_ASSERT(svd.matrixU())
-  VERIFY_RAISES_ASSERT(svd.matrixV())
-  svd.singularValues();
-  VERIFY_RAISES_ASSERT(svd.solve(rhs))
-    
-  if (ColsAtCompileTime == Dynamic)
-  {
-    svd.compute(a, ComputeThinU);
-    svd.matrixU();
-    VERIFY_RAISES_ASSERT(svd.matrixV())
-    VERIFY_RAISES_ASSERT(svd.solve(rhs))
-    svd.compute(a, ComputeThinV);
-    svd.matrixV();
-    VERIFY_RAISES_ASSERT(svd.matrixU())
-    VERIFY_RAISES_ASSERT(svd.solve(rhs))
-  }
-  else
-  {
-    VERIFY_RAISES_ASSERT(svd.compute(a, ComputeThinU))
-    VERIFY_RAISES_ASSERT(svd.compute(a, ComputeThinV))
-  }
-}
-
-// work around stupid msvc error when constructing at compile time an expression that involves
-// a division by zero, even if the numeric type has floating point
-template<typename Scalar>
-EIGEN_DONT_INLINE Scalar zero() { return Scalar(0); }
-
-// workaround aggressive optimization in ICC
-template<typename T> EIGEN_DONT_INLINE  T sub(T a, T b) { return a - b; }
-
-
-template<typename MatrixType, typename SVD>
-void svd_inf_nan()
-{
-  // all this function does is verify we don't iterate infinitely on nan/inf values
-
-  SVD svd;
-  typedef typename MatrixType::Scalar Scalar;
-  Scalar some_inf = Scalar(1) / zero<Scalar>();
-  VERIFY(sub(some_inf, some_inf) != sub(some_inf, some_inf));
-  svd.compute(MatrixType::Constant(10,10,some_inf), ComputeFullU | ComputeFullV);
-
-  Scalar some_nan = zero<Scalar> () / zero<Scalar> ();
-  VERIFY(some_nan != some_nan);
-  svd.compute(MatrixType::Constant(10,10,some_nan), ComputeFullU | ComputeFullV);
-
-  MatrixType m = MatrixType::Zero(10,10);
-  m(internal::random<int>(0,9), internal::random<int>(0,9)) = some_inf;
-  svd.compute(m, ComputeFullU | ComputeFullV);
-
-  m = MatrixType::Zero(10,10);
-  m(internal::random<int>(0,9), internal::random<int>(0,9)) = some_nan;
-  svd.compute(m, ComputeFullU | ComputeFullV);
-}
-
-
-template<typename SVD>
-void svd_preallocate()
-{
-  Vector3f v(3.f, 2.f, 1.f);
-  MatrixXf m = v.asDiagonal();
-
-  internal::set_is_malloc_allowed(false);
-  VERIFY_RAISES_ASSERT(VectorXf v(10);)
-    SVD svd;
-  internal::set_is_malloc_allowed(true);
-  svd.compute(m);
-  VERIFY_IS_APPROX(svd.singularValues(), v);
-
-  SVD svd2(3,3);
-  internal::set_is_malloc_allowed(false);
-  svd2.compute(m);
-  internal::set_is_malloc_allowed(true);
-  VERIFY_IS_APPROX(svd2.singularValues(), v);
-  VERIFY_RAISES_ASSERT(svd2.matrixU());
-  VERIFY_RAISES_ASSERT(svd2.matrixV());
-  svd2.compute(m, ComputeFullU | ComputeFullV);
-  VERIFY_IS_APPROX(svd2.matrixU(), Matrix3f::Identity());
-  VERIFY_IS_APPROX(svd2.matrixV(), Matrix3f::Identity());
-  internal::set_is_malloc_allowed(false);
-  svd2.compute(m);
-  internal::set_is_malloc_allowed(true);
-
-  SVD svd3(3,3,ComputeFullU|ComputeFullV);
-  internal::set_is_malloc_allowed(false);
-  svd2.compute(m);
-  internal::set_is_malloc_allowed(true);
-  VERIFY_IS_APPROX(svd2.singularValues(), v);
-  VERIFY_IS_APPROX(svd2.matrixU(), Matrix3f::Identity());
-  VERIFY_IS_APPROX(svd2.matrixV(), Matrix3f::Identity());
-  internal::set_is_malloc_allowed(false);
-  svd2.compute(m, ComputeFullU|ComputeFullV);
-  internal::set_is_malloc_allowed(true);
-}
-
-
-
-
-
diff --git a/vcg/complex/algorithms/align_pair.h b/vcg/complex/algorithms/align_pair.h
new file mode 100644
index 00000000..284e5ac0
--- /dev/null
+++ b/vcg/complex/algorithms/align_pair.h
@@ -0,0 +1,885 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+#ifndef VCG_ALIGN_PAIR_H
+#define VCG_ALIGN_PAIR_H
+
+#include <ctime>
+#include <stdio.h>
+#include <vcg/math/histogram.h>
+#include <vcg/math/matrix44.h>
+#include <vcg/math/random_generator.h>
+#include <vcg/math/gen_normal.h>
+
+#include <vcg/space/point_matching.h>
+#include <vcg/space/index/grid_static_ptr.h>
+
+#include <vcg/simplex/face/component_ep.h>
+
+#include <vcg/complex/complex.h>
+#include <vcg/complex/algorithms/clean.h>
+#include <vcg/complex/algorithms/closest.h>
+#include <vcg/complex/algorithms/update/normal.h>
+#include <vcg/complex/algorithms/update/bounding.h>
+#include <vcg/complex/algorithms/update/component_ep.h>
+#include <vcg/complex/algorithms/update/position.h>
+#include <vcg/complex/algorithms/update/flag.h>
+#include <vcg/complex/algorithms/update/normal.h>
+#include <vcg/complex/algorithms/update/bounding.h>
+#include <vcg/complex/algorithms/point_matching_scale.h>
+
+
+namespace vcg {
+/**
+Class for aligning pair of meshes using ICP (iterated closest point)
+*/
+
+class AlignPair {
+public:
+
+	AlignPair()
+	{
+		clear();
+		myrnd.initialize(time(NULL));
+	}
+
+	enum ErrorCode {
+		SUCCESS,
+		NO_COMMON_BBOX,
+		TOO_FEW_POINTS,
+		LSQ_DIVERGE,
+		TOO_MUCH_SHEAR,
+		TOO_MUCH_SCALE,
+		FORBIDDEN,
+		INVALID,
+		UNKNOWN_MODE };
+
+
+	/*********************** Utility classes ****************************/
+
+	class A2Vertex;
+
+	class A2Face;
+
+	class A2UsedTypes:
+			public vcg::UsedTypes < vcg::Use<A2Vertex>::AsVertexType,
+			vcg::Use<A2Face  >::AsFaceType >{};
+
+	class A2Vertex : public vcg::Vertex<A2UsedTypes,vcg::vertex::Coord3d,vcg::vertex::Normal3d,vcg::vertex::BitFlags> {};
+	class A2Face   : public vcg::Face< A2UsedTypes,vcg::face::VertexRef, vcg::face::Normal3d,vcg::face::Mark,vcg::face::BitFlags> {};
+
+	class A2Mesh   : public vcg::tri::TriMesh< std::vector<A2Vertex>, std::vector<A2Face> >
+	{
+	public:
+		//bool Import(const char *filename) { Matrix44d Tr; Tr.SetIdentity(); return Import(filename,Tr);}
+		//bool Import(const char *filename, Matrix44d &Tr);
+
+		inline bool initVert(const Matrix44d &Tr) {
+			Matrix44d Idn; Idn.SetIdentity();
+			if (Tr != Idn)
+				tri::UpdatePosition<A2Mesh>::Matrix(*this, Tr);
+			tri::UpdateNormal<A2Mesh>::NormalizePerVertex(*this);
+			tri::UpdateBounding<A2Mesh>::Box(*this);
+			return true;
+		}
+		inline bool init(const Matrix44d &Tr) {
+			Matrix44d Idn; Idn.SetIdentity();
+			tri::Clean<A2Mesh>::RemoveUnreferencedVertex(*this);
+			if (Tr != Idn)
+				tri::UpdatePosition<A2Mesh>::Matrix(*this, Tr);
+			tri::UpdateNormal<A2Mesh>::PerVertexNormalizedPerFaceNormalized(*this);
+			tri::UpdateFlags<A2Mesh>::FaceBorderFromNone(*this);
+			tri::UpdateBounding<A2Mesh>::Box(*this);
+
+			return true;
+		}
+	};
+
+	typedef A2Mesh::FaceContainer FaceContainer;
+	typedef A2Mesh::FaceType      FaceType;
+	typedef GridStaticPtr<FaceType, double > A2Grid;
+	typedef GridStaticPtr<A2Mesh::VertexType, double > A2GridVert;
+
+	class Stat
+	{
+	public:
+
+		class IterInfo
+		{
+		public:
+			IterInfo()
+			{
+				memset ( (void *) this, 0, sizeof(IterInfo));
+			}
+
+			double MinDistAbs;
+			int DistanceDiscarded;
+			int AngleDiscarded;
+			int BorderDiscarded;
+			int SampleTested;  // how many points have been tested 
+			int SampleUsed;    // how many points have been actually used to compute the transformation
+			double pcl50;
+			double pclhi;
+			double AVG;
+			double RMS;
+			double StdDev;
+			int Time;  // Ending time of this iteration
+
+		};
+
+		std::vector<IterInfo> I;
+
+		double lastPcl50() const
+		{
+			return I.back().pcl50;
+		}
+
+		int lastSampleUsed() const {
+			return I.back().SampleUsed;
+		}
+
+		int MovVertNum;
+		int FixVertNum;
+		int FixFaceNum;
+
+		int totTime() {
+			return I.back().Time-StartTime;
+		}
+
+		int iterTime(unsigned int i) const
+		{
+			const int clock_per_ms = std::max<int>(CLOCKS_PER_SEC / 1000,1);
+			assert(i<I.size());
+			if(i==0) return  (I[i].Time-StartTime )/clock_per_ms;
+			else return (I[i].Time - I[i-1].Time)/clock_per_ms ;
+		}
+		int StartTime;
+
+		inline void clear()
+		{
+			I.clear();
+			StartTime = 0;
+			MovVertNum = 0;
+			FixVertNum = 0;
+			FixFaceNum = 0;
+		}
+
+		inline void dump(FILE *fp)
+		{
+			if (I.size() == 0) {
+				fprintf(fp, "Empty AlignPair::Stat\n");
+				return;
+			}
+			fprintf(fp, "Final Err %8.5f In %i iterations Total Time %ims\n", lastPcl50(), (int)I.size(), totTime());
+			fprintf(fp, "Mindist   Med   Hi    Avg  RMS   StdDev   Time Tested Used  Dist Bord Angl \n");
+			for (unsigned int qi = 0; qi < I.size(); ++qi)
+				fprintf(
+							fp,
+							"%5.2f (%6.3f:%6.3f) (%6.3f %6.3f %6.3f) %4ims %5i %5i %4i+%4i+%4i\n",
+							I[qi].MinDistAbs,
+							I[qi].pcl50, I[qi].pclhi,
+							I[qi].AVG, I[qi].RMS, I[qi].StdDev,
+							iterTime(qi),
+							I[qi].SampleTested, I[qi].SampleUsed, I[qi].DistanceDiscarded, I[qi].BorderDiscarded, I[qi].AngleDiscarded);
+		}
+
+		//! Write a HTML table with the values
+		inline void htmlDump(FILE *fp)
+		{
+			fprintf(fp, "Final Err %8.5f In %i iterations Total Time %ims\n", lastPcl50(), (int)I.size(), totTime());
+			fprintf(fp, "<table border>\n");
+			fprintf(fp, "<tr> <th>Mindist</th><th>    50ile </th><th>  Hi </th><th>   Avg  </th><th> RMS </th><th>  StdDev  </th><th> Time </th><th> Tested </th><th> Used </th><th> Dist </th><th> Bord </th><th> Angl \n");
+			for (unsigned int qi = 0; qi < I.size(); ++qi)
+				fprintf(
+						fp, "<tr> <td> %8.5f </td><td align=\"right\"> %9.6f </td><td align=\"right\"> %8.5f </td><td align=\"right\"> %5.3f </td><td align=\"right\"> %8.5f </td><td align=\"right\"> %9.6f </td><td align=\"right\"> %4ims </td><td align=\"right\"> %5i </td><td align=\"right\"> %5i </td><td align=\"right\"> %4i </td><td align=\"right\"> %4i </td><td align=\"right\">%4i </td><td align=\"right\"></tr>\n",
+							I[qi].MinDistAbs,
+							I[qi].pcl50, I[qi].pclhi,
+							I[qi].AVG, I[qi].RMS, I[qi].StdDev,
+							iterTime(qi),
+							I[qi].SampleTested, I[qi].SampleUsed, I[qi].DistanceDiscarded, I[qi].BorderDiscarded, I[qi].AngleDiscarded);
+			fprintf(fp, "</table>\n");
+		}
+
+		// Restituisce true se nelle ultime <lastiter> iterazioni non e' diminuito
+		// l'errore
+		inline bool stable(int lastiter)
+		{
+			if (I.empty())
+				return false;
+			int parag = int(I.size()) - lastiter;
+
+			if (parag < 0)
+				parag = 0;
+			if (I.back().pcl50 < I[parag].pcl50)
+				return false; // se siamo diminuiti non e' stabile
+
+			return true;
+		}
+
+	};
+
+
+	class Param
+	{
+	public:
+		enum MatchModeEnum  {MMSimilarity, MMRigid};
+		enum SampleModeEnum {SMRandom, SMNormalEqualized};
+
+		Param()
+		{
+			SampleNum         = 2000;
+			MaxPointNum       = 100000;
+			MinPointNum       = 30;
+			MaxIterNum        = 75;
+			TrgDistAbs        = 0.005f;
+			MinDistAbs        = 10;
+			MaxAngleRad       = math::ToRad(45.0);
+			MaxShear          = 0.5;
+			MaxScale          = 0.5; // means that the scale must be between 1-MaxScale and 1+MaxScale
+			PassHiFilter      = 0.75;
+			ReduceFactorPerc  = 0.80;
+			MinMinDistPerc    = 0.01;
+			EndStepNum        = 5;
+			MatchMode         = MMRigid;
+			SampleMode        = SMNormalEqualized;
+			UGExpansionFactor = 10;
+		}
+
+		int SampleNum;        //! The intial number of samples that are chosen on the fix mesh.
+		int MaxPointNum;      //! Maximum number off point used to compute the transforamtion matrix (rarely used)
+		int MinPointNum;      //! Minimal number of point that we have to find to consider the resulting alignment valid
+		double MinDistAbs;    //! Minimal distance for ICP points. Only points that are closer than this threshold are chosen. 
+		                      //! This threshold is iteratively lowered by the ReduceFactor parameter 
+		
+		double MaxAngleRad;	  //! Max angle (in radiant) for ICP points. Only points whose normal differ less than this threshold are considered
+		
+		int MaxIterNum;       //! Maximum number of iteration to be done during aligning
+		double TrgDistAbs;    //! Target distance (half of the samples should be below this distance to consider the icp reach convergence)
+		int EndStepNum;       //! max number of ICP iterations
+		  
+		double PassHiFilter;     //! Percentile filtering threshold. Usually we discard the farthest quartile of the matched points
+		double ReduceFactorPerc; //! At each step we discard the points farther than a given threshold. The threshold is iterativeley reduced;
+		                         //! StartMinDist= min(StartMinDist, 5.0*H.Percentile(ap.ReduceFactorPerc))
+
+
+		double MinMinDistPerc;	//! Ratio between initial starting distance (MinDistAbs) and what can reach by the application of the ReduceFactor.
+
+		int UGExpansionFactor;  //! Size of the uniform grid as a ration of the fix mesh size
+
+		bool UseVertexOnly;     //! if true all the Alignment pipeline ignores faces and works over point clouds.
+
+		double MaxShear;
+		double MaxScale;
+		MatchModeEnum MatchMode;
+		SampleModeEnum SampleMode;
+		//void Dump(FILE *fp,double BoxDiag);
+
+	};
+
+  // Class to store the result of an alignment between two meshes
+  // the points are intended in the initial reference system of the two meshes.
+  //
+  // if the meshes have a basic transformation in input,
+  // this appears only during the A2Mesh::Import and then is forever forgotten.
+  // These points are therefore in the reference systems built during the Import
+  // the matrix Tr that which
+	// Tr*Pmov[i]== Pfix
+
+
+	class Result
+	{
+	public:
+		int MovName;
+		int FixName;
+
+		Matrix44d Tr;
+		std::vector<Point3d> Pfix;  // Corresponding Points on the Fix Mesh (red)
+		std::vector<Point3d> Nfix;  // Corresponding Normals  on the Fix Mesh (red)
+		std::vector<Point3d> Pmov;  // Chosen Points on the Mov Mesh (green) before the transformation
+		std::vector<Point3d> Nmov;  // Chosen Normals on the Mov Mesh (green)
+		Histogramf H;
+		Stat as;
+		Param ap;
+		ErrorCode status;
+		bool isValid()
+		{
+			return status==SUCCESS;
+		}
+		double err;
+		float area; // the overlapping area, a percentage as computed in Occupancy Grid.
+
+		bool operator <  (const Result & rr) const {return (err< rr.err);}
+		bool operator <= (const Result & rr) const {return (err<=rr.err);}
+		bool operator >  (const Result & rr) const {return (err> rr.err);}
+		bool operator >= (const Result & rr) const {return (err>=rr.err);}
+		bool operator == (const Result & rr) const {return (err==rr.err);}
+		bool operator != (const Result & rr) const {return (err!=rr.err);}
+
+		std::pair<double,double> computeAvgErr() const
+		{
+			double sum_before=0;
+			double sum_after=0;
+			for(unsigned int ii=0;ii<Pfix.size();++ii) {
+				sum_before+=Distance(Pfix[ii],   Pmov[ii]);
+				sum_after+=Distance(Pfix[ii], Tr*Pmov[ii]);
+			}
+			return std::make_pair(sum_before/double(Pfix.size()),sum_after/double(Pfix.size()) ) ;
+		}
+
+	};
+
+	/******************* End utility classes ************************/
+
+	static inline const char* errorMsg(ErrorCode code)
+	{
+		switch (code){
+		case SUCCESS:
+			return "Success";
+		case NO_COMMON_BBOX:
+			return "No Common BBox";
+		case TOO_FEW_POINTS:
+			return "Too few points";
+		case LSQ_DIVERGE:
+			return "LSQ not converge";
+		case TOO_MUCH_SHEAR:
+			return "Too much shear";
+		case TOO_MUCH_SCALE:
+			return "Too much scale";
+		case UNKNOWN_MODE:
+			return "Unknown mode ";
+		default:
+			assert(0);
+			return "Catastrophic Error";
+		}
+		return 0;
+	}
+
+	void clear()
+	{
+		status=SUCCESS;
+	}
+
+	/******* Data Members *********/
+
+	std::vector<A2Vertex> *mov;
+	A2Mesh *fix;
+
+	ErrorCode status;
+	AlignPair::Param ap;
+
+	math::SubtractiveRingRNG myrnd;
+
+	/**** End Data Members *********/
+
+	template < class MESH >
+	void convertMesh(MESH &M1, A2Mesh &M2)
+	{
+		tri::Append<A2Mesh,MESH>::MeshCopy(M2,M1);
+	}
+
+	template < class VERTEX >
+	void convertVertex(const std::vector<VERTEX> &vert1, std::vector<A2Vertex> &vert2, Box3d *Clip=0)
+	{
+		vert2.clear();
+		typename std::vector<VERTEX>::const_iterator vi;
+		A2Vertex tv;
+		Box3<typename VERTEX::ScalarType> bb;
+		if(Clip){
+			bb.Import(*Clip);
+			for(vi=vert1.begin();vi<vert1.end();++vi)
+				if(!(*vi).IsD() && bb.IsIn((*vi).cP())){
+					tv.P().Import((*vi).cP());
+					tv.N().Import((*vi).cN());
+					vert2.push_back(tv);
+				}
+		}
+		else {
+			for(vi=vert1.begin();vi<vert1.end();++vi) {
+				if(!(*vi).IsD()){
+					tv.P().Import((*vi).cP());
+					tv.N().Import((*vi).cN());
+					vert2.push_back(tv);
+				}
+			}
+		}
+	}
+
+	inline bool sampleMovVert(
+			std::vector<A2Vertex> &vert,
+			int sampleNum,
+			AlignPair::Param::SampleModeEnum sampleMode)
+	{
+		switch (sampleMode)
+		{
+		case AlignPair::Param::SMRandom:
+			return SampleMovVertRandom(vert, sampleNum);
+		case AlignPair::Param::SMNormalEqualized:
+			return SampleMovVertNormalEqualized(vert, sampleNum);
+		default:
+			assert(0);
+			return false;
+		}
+	}
+
+	inline bool SampleMovVertRandom(std::vector<A2Vertex> &vert, int sampleNum)
+	{
+		if (int(vert.size()) <= sampleNum)
+			return true;
+		for (int i = 0; i < sampleNum; ++i) {
+			int pos = myrnd.generate(vert.size());
+			assert(pos >= 0 && pos < int(vert.size()));
+			std::swap(vert[i], vert[pos]);
+		}
+		vert.resize(sampleNum);
+		return true;
+	}
+
+	bool SampleMovVertNormalEqualized(std::vector<A2Vertex> &vert, int sampleNum)
+	{
+		std::vector<Point3d> NV;
+		if (NV.size() == 0) {
+			GenNormal<double>::Fibonacci(30, NV);
+			printf("Generated %i normals\n", int(NV.size()));
+		}
+		// Bucket vector dove, per ogni normale metto gli indici
+		// dei vertici ad essa corrispondenti
+		std::vector<std::vector <int> > BKT(NV.size());
+		for (size_t i = 0; i < vert.size(); ++i) {
+			int ind = GenNormal<double>::BestMatchingNormal(vert[i].N(), NV);
+			BKT[ind].push_back(int(i));
+		}
+
+		// vettore di contatori per sapere quanti punti ho gia' preso per ogni bucket
+		std::vector <int> BKTpos(BKT.size(), 0);
+
+		if (sampleNum >= int(vert.size()))
+			sampleNum = vert.size() - 1;
+
+		for (int i = 0; i < sampleNum;) {
+			int ind = myrnd.generate(BKT.size()); // Scelgo un Bucket
+			int &CURpos = BKTpos[ind];
+			std::vector<int> &CUR = BKT[ind];
+
+			if (CURpos<int(CUR.size())) {
+				std::swap(CUR[CURpos], CUR[CURpos + myrnd.generate(BKT[ind].size() - CURpos)]);
+				std::swap(vert[i], vert[CUR[CURpos]]);
+				++BKTpos[ind];
+				++i;
+			}
+		}
+		vert.resize(sampleNum);
+
+		return true;
+	}
+
+	/*
+	This function is used to choose remove outliers after each ICP iteration.
+	All the points with a distance over the given Percentile are discarded.
+	It uses two parameters
+	MaxPointNum an (unused) hard limit on the number of points that are chosen
+	MinPointNum the minimum number of points that have to be chosen to be usable
+	*/
+	inline bool choosePoints(
+		std::vector<Point3d> &ps, // vertici corrispondenti su fix (rossi)
+		std::vector<Point3d> &ns, // normali corrispondenti su fix (rossi)
+		std::vector<Point3d> &pt, // vertici scelti su mov (verdi)
+		std::vector<Point3d> &opt,		// vertici scelti su mov (verdi)
+		//vector<Point3d> &Nt, 		// normali scelti su mov (verdi)
+		double passHi,
+		Histogramf &h)
+	{
+		const int N = ap.MaxPointNum;
+		double newmaxd = h.Percentile(float(passHi));
+		int sz = int(ps.size());
+		int fnd = 0;
+		int lastgood = sz - 1;
+		math::SubtractiveRingRNG myrnd;
+		while (fnd < N && fnd < lastgood) {
+			int index = fnd + myrnd.generate(lastgood - fnd);
+			double dd = Distance(ps[index], pt[index]);
+			if (dd <= newmaxd){
+				std::swap(ps[index], ps[fnd]);
+				std::swap(ns[index], ns[fnd]);
+				std::swap(pt[index], pt[fnd]);
+				std::swap(opt[index], opt[fnd]);
+				++fnd;
+			}
+			else {
+				std::swap(ps[index], ps[lastgood]);
+				std::swap(ns[index], ns[lastgood]);
+				std::swap(pt[index], pt[lastgood]);
+				std::swap(opt[index], opt[lastgood]);
+				lastgood--;
+			}
+		}
+		ps.resize(fnd);
+		ns.resize(fnd);
+		pt.resize(fnd);
+		opt.resize(fnd);
+
+		if ((int)ps.size() < ap.MinPointNum){
+			printf("Troppi pochi punti!\n");
+			ps.clear();
+			ns.clear();
+			pt.clear();
+			opt.clear();
+			return false;
+		}
+		return true;
+	}
+
+/*
+Minimal example of code for using the align.
+
+AlignPair::A2Mesh Mov,Fix;                   // The two meshes to be alligned. Mov will moved. 
+vector<AlignPair::A2Vertex> MovVert;         // Points chosen on Mov Mesh to compute the alignment
+Matrix44d In;	In.SetIdentity();            // Initial transformation to be applied to Mov mesh to bring it over the Fix mesh.
+
+AlignPair aa;                                // The main align class
+AlignPair::Param ap;
+UGrid< AlignPair::A2Mesh::face_container > UG;
+
+Fix.LoadPly("FixMesh.ply");                             // Standard ply loading
+Mov.LoadPly("MovMesh.ply");                        
+Fix.Init( Ident, false);                                // Basic init (computation of normals)
+Mov.Init( Ident, false);                                
+                                                   
+AlignPair::InitFix(&Fix, ap, UG);                       // Init UG for quick search
+                                                   
+aa.ConvertVertex(Mov.vert,MovVert);                     // Sample the Mov vertex in order to find good samples to be used. 
+aa.SampleMovVert(MovVert, ap.SampleNum, ap.SampleMode);
+
+aa.mov=&MovVert;                                        // basic init of the align class with the chosen vert and the fix mesh
+aa.fix=&Fix;                                        
+aa.ap = ap;                                         
+
+aa.Align(In,UG,res);                                    // Main ICP algorithm
+                                                        // the matrix containing the computed alignment is in res.Tr;
+
+res.as.Dump(stdout);
+*/
+
+	bool align(const Matrix44d &in, A2Grid &UG, A2GridVert &UGV, Result &res)
+	{
+		res.ap=ap;
+
+		bool ret=align(UG, UGV, in, res.Tr, res.Pfix, res.Nfix, res.Pmov, res.Nmov, res.H, res.as);
+
+		res.err=res.as.lastPcl50();
+		res.status=status;
+		return ret;
+	}
+
+	double abs2Perc(double val, Box3d bb) const
+	{
+		return val/bb.Diag();
+	}
+
+	double perc2Abs(double val, Box3d bb) const
+	{
+		return val*bb.Diag();
+	}
+
+/************************************************************************************
+Versione Vera della Align a basso livello.
+
+Si assume che la mesh fix sia gia' stata messa nella ug u con le debite trasformazioni.
+in
+
+************************************************************************************/
+
+	/**
+	The Main ICP alignment Function:
+	It assumes that:
+	we have two meshes:
+	- Fix the mesh that does not move and stays in the spatial indexing structure.
+	- Mov the mesh we 'move' e.g. the one for which we search the transforamtion.
+
+	requires normalize normals for vertices AND faces
+	*/
+	inline bool align(
+			A2Grid &u,
+			A2GridVert &uv,
+			const Matrix44d &in,			// starting transformation that matches mov points to fix mesh
+			Matrix44d &out,					// computed transformation
+			std::vector<Point3d> &pfix,		// (red) corresponding vertices on src
+			std::vector<Point3d> &nfix, 	// (red) corresponding normals on src
+			std::vector<Point3d> &opmov,	// chosen vertices on trg (verdi) before the input transormation (Original Point Target)
+			std::vector<Point3d> &onmov, 	// chosen normals on trg (verdi)
+			Histogramf &h,
+			Stat &as)
+	{
+		std::vector<char> beyondCntVec;  // flag vector to set the movverts that we should not use
+		                                 // every time that a vertex is at a distance beyound max dist, its counter is incremented;
+		                                 // movverts that has been discarded more than MaxCntDist times will not be considered anymore
+		const int maxBeyondCnt = 3;
+		std::vector< Point3d > movvert;
+		std::vector< Point3d > movnorm;
+		std::vector<Point3d> pmov;       // vertices chosen after the transformation
+		status = SUCCESS;
+		int tt0 = clock();
+
+		out = in;
+
+		int i;
+
+		double cosAngleThr = cos(ap.MaxAngleRad);
+		double startMinDist = ap.MinDistAbs;
+		int tt1 = clock();
+		int ttsearch = 0;
+		int ttleast = 0;
+		int nc = 0;
+		as.clear();
+		as.StartTime = clock();
+
+		beyondCntVec.resize(mov->size(), 0);
+
+		/**************** BEGIN ICP LOOP ****************/
+		do {
+			Stat::IterInfo ii;
+			Box3d movbox;
+			initMov(movvert, movnorm, movbox, out);
+			h.SetRange(0.0f, float(startMinDist), 512, 2.5f);
+			pfix.clear();
+			nfix.clear();
+			pmov.clear();
+			opmov.clear();
+			onmov.clear();
+			int tts0 = clock();
+			ii.MinDistAbs = startMinDist;
+			int LocSampleNum = std::min(ap.SampleNum, int(movvert.size()));
+			Box3d fixbox;
+			if (u.Empty())
+				fixbox = uv.bbox;
+			else
+				fixbox = u.bbox;
+			for (i = 0; i < LocSampleNum; ++i) {
+				if (beyondCntVec[i] < maxBeyondCnt) {
+					if (fixbox.IsIn(movvert[i])) {
+						double error = startMinDist;
+						Point3d closestPoint, closestNormal;
+						double maxd = startMinDist;
+						ii.SampleTested++;
+						if (u.Empty()) {  // using the point cloud grid 
+							A2Mesh::VertexPointer vp = tri::GetClosestVertex(*fix, uv, movvert[i], maxd, error);
+							if (error >= startMinDist) {
+								ii.DistanceDiscarded++; ++beyondCntVec[i]; continue;
+							}
+							if (movnorm[i].dot(vp->N()) < cosAngleThr) {
+								ii.AngleDiscarded++; continue;
+							}
+							closestPoint = vp->P();
+							closestNormal = vp->N();
+						}
+						else {			// using the standard faces and grid
+							A2Mesh::FacePointer f = vcg::tri::GetClosestFaceBase<vcg::AlignPair::A2Mesh, vcg::AlignPair::A2Grid >(*fix, u, movvert[i], maxd, error, closestPoint);
+							if (error >= startMinDist) {
+								ii.DistanceDiscarded++; ++beyondCntVec[i]; continue;
+							}
+							if (movnorm[i].dot(f->N()) < cosAngleThr) {
+								ii.AngleDiscarded++; continue;
+							}
+							Point3d ip;
+							InterpolationParameters<A2Face, double>(*f, f->N(), closestPoint, ip);
+							const double IP_EPS = 0.00001;
+							// If ip[i] == 0 it means that we are on the edge opposite to i
+							if ((fabs(ip[0]) <= IP_EPS && f->IsB(1)) || (fabs(ip[1]) <= IP_EPS && f->IsB(2)) || (fabs(ip[2]) <= IP_EPS && f->IsB(0))){
+								ii.BorderDiscarded++;  continue;
+							}
+							closestNormal = f->N();
+						}
+						// The sample was accepted. Store it.
+						pmov.push_back(movvert[i]);
+						opmov.push_back((*mov)[i].P());
+						onmov.push_back((*mov)[i].N());
+						nfix.push_back(closestNormal);
+						pfix.push_back(closestPoint);
+						h.Add(float(error));
+						ii.SampleUsed++;
+					}
+					else {
+						beyondCntVec[i] = maxBeyondCnt + 1;
+					}
+				}
+			} // End for each pmov
+			int tts1 = clock();
+			printf("Found %d pairs\n",(int)pfix.size());
+			if (!choosePoints(pfix, nfix, pmov, opmov, ap.PassHiFilter, h)) {
+				if (int(pfix.size()) < ap.MinPointNum){
+					status = TOO_FEW_POINTS;
+					ii.Time = clock();
+					as.I.push_back(ii);
+					return false;
+				}
+			}
+			Matrix44d newout;
+			switch (ap.MatchMode){
+			case AlignPair::Param::MMSimilarity:
+				vcg::PointMatchingScale::computeRotoTranslationScalingMatchMatrix(newout, pfix, pmov);
+				break;
+			case AlignPair::Param::MMRigid:
+				ComputeRigidMatchMatrix(pfix, pmov, newout);
+				break;
+			default:
+				status = UNKNOWN_MODE;
+				ii.Time = clock();
+				as.I.push_back(ii);
+				return false;
+			}
+
+			//double sum_before=0;
+			//double sum_after=0;
+			//for(unsigned int iii=0;iii<pfix.size();++iii){
+			//	sum_before+=Distance(pfix[iii], out*OPmov[iii]);
+			//	sum_after+=Distance(pfix[iii], newout*OPmov[iii]);
+			//}
+			//printf("Distance %f -> %f\n",sum_before/double(pfix.size()),sum_after/double(pfix.size()) ) ;
+
+			// the following tuns will use as a initial transformation, the one that has been just found.
+			// in the next loops the starting matrix will be this one.
+			out = newout * out;
+
+			assert(pfix.size() == pmov.size());
+			int tts2 = clock();
+			ttsearch += tts1 - tts0;
+			ttleast += tts2 - tts1;
+			ii.pcl50 = h.Percentile(.5);
+			ii.pclhi = h.Percentile(float(ap.PassHiFilter));
+			ii.AVG = h.Avg();
+			ii.RMS = h.RMS();
+			ii.StdDev = h.StandardDeviation();
+			ii.Time = clock();
+			as.I.push_back(ii);
+			nc++;
+			// The distance of the next points to be considered is lowered according to the <ReduceFactor> parameter.
+			// We use 5 times the <ReduceFactor> percentile of the found points.
+			if (ap.ReduceFactorPerc<1)
+				startMinDist = std::max(ap.MinDistAbs*ap.MinMinDistPerc, std::min(startMinDist, 5.0*h.Percentile(float(ap.ReduceFactorPerc))));
+			//as.dump(stderr);
+		} while (
+				nc <= ap.MaxIterNum &&
+				h.Percentile(.5) > ap.TrgDistAbs &&
+				(nc<ap.EndStepNum + 1 || !as.stable(ap.EndStepNum)) );
+
+		/**************** END ICP LOOP ****************/
+		int tt2 = clock();
+		out[3][0] = 0; out[3][1] = 0; out[3][2] = 0; out[3][3] = 1;
+		Matrix44d ResCopy = out;
+		Point3d scv, shv, rtv, trv;
+		Decompose(ResCopy, scv, shv, rtv, trv);
+		if ((ap.MatchMode == vcg::AlignPair::Param::MMRigid) && (math::Abs(1 - scv[0])>ap.MaxScale || math::Abs(1 - scv[1]) > ap.MaxScale || math::Abs(1 - scv[2]) > ap.MaxScale)) {
+			status = TOO_MUCH_SCALE;
+			return false;
+		}
+		if (shv[0] > ap.MaxShear || shv[1] > ap.MaxShear || shv[2] > ap.MaxShear) {
+			status = TOO_MUCH_SHEAR;
+			return false;
+		}
+		printf("Grid %i %i %i - fn %i\n", u.siz[0], u.siz[1], u.siz[2], fix->fn);
+		printf("Init %8.3f Loop %8.3f Search %8.3f least sqrt %8.3f\n",
+		float(tt1 - tt0) / CLOCKS_PER_SEC, float(tt2 - tt1) / CLOCKS_PER_SEC,
+		float(ttsearch) / CLOCKS_PER_SEC, float(ttleast) / CLOCKS_PER_SEC);
+
+		return true;
+	}
+
+	/*
+	 * Function called by Align at every cycle.
+	 * It fills the <MovVert> and <MovNorm> vectors with the coordinates and normals
+	 * taken from the the vertex vector "mov" of the mesh to move according to the
+	 * matrix <In>.
+	 * It computes also the new bounding box of the transformed vertices
+	*/
+	inline bool initMov(
+			std::vector< Point3d > &movvert,
+			std::vector< Point3d > &movnorm,
+			Box3d &movbox,
+			const Matrix44d &in	)
+	{
+		Point3d pp, nn;
+
+		movvert.clear();
+		movnorm.clear();
+		movbox.SetNull();
+
+		A2Mesh::VertexIterator vi;
+		for (vi = mov->begin(); vi != mov->end(); vi++) {
+			pp = in*(*vi).P();
+			nn = in*Point3d((*vi).P() + (*vi).N()) - pp;
+			nn.Normalize();
+			movvert.push_back(pp);
+			movnorm.push_back(nn);
+			movbox.Add(pp);
+		}
+		return true;
+	}
+
+	static inline bool InitFixVert(
+			A2Mesh *fm,
+			AlignPair::Param &pp,
+			A2GridVert &u,
+			int preferredGridSize=0)
+	{
+		Box3d bb2 = fm->bbox;
+		double minDist = pp.MinDistAbs*1.1;
+		//the bbox of the grid should be enflated of the mindist used in the ICP search
+		bb2.Offset(Point3d(minDist, minDist, minDist));
+
+		u.SetBBox(bb2);
+
+		//Inserisco la src nella griglia
+		if (preferredGridSize == 0)
+			preferredGridSize = int(fm->vert.size())*pp.UGExpansionFactor;
+		u.Set(fm->vert.begin(), fm->vert.end());//, PreferredGridSize);
+		printf("UG %i %i %i\n", u.siz[0], u.siz[1], u.siz[2]);
+		return true;
+	}
+
+	static inline bool initFix(
+			A2Mesh *fm,
+			AlignPair::Param &pp,
+			A2Grid &u,
+			int preferredGridSize=0)
+	{
+		tri::InitFaceIMark(*fm);
+
+		Box3d bb2 = fm->bbox;
+		//	double MinDist= fm->bbox.Diag()*pp.MinDistPerc;
+		double minDist = pp.MinDistAbs*1.1;
+		//gonfio della distanza utente il BBox della seconda mesh
+		bb2.Offset(Point3d(minDist, minDist, minDist));
+
+		u.SetBBox(bb2);
+
+		//Inserisco la src nella griglia
+		if (preferredGridSize == 0)
+			preferredGridSize = int(fm->face.size())*pp.UGExpansionFactor;
+		u.Set(fm->face.begin(), fm->face.end(), preferredGridSize);
+		printf("UG %i %i %i\n", u.siz[0], u.siz[1], u.siz[2]);
+		return true;
+	}
+
+}; // end class
+
+} // end namespace vcg
+
+#endif
diff --git a/vcg/complex/algorithms/attribute_seam.h b/vcg/complex/algorithms/attribute_seam.h
index 55f84af6..ff121d72 100644
--- a/vcg/complex/algorithms/attribute_seam.h
+++ b/vcg/complex/algorithms/attribute_seam.h
@@ -177,7 +177,6 @@ class AttributeSeam
             typedef typename src_trimesh_t::VertexIterator  src_vertex_i;
             typedef typename src_trimesh_t::FaceType        src_face_t;
             typedef typename src_trimesh_t::FaceIterator    src_face_i;
-            typedef typename src_trimesh_t::VertContainer   src_vertex_container_t;
 
             typedef vcg::tri::Allocator<src_trimesh_t>      src_mesh_allocator_t;
             typedef typename src_mesh_allocator_t :: template PointerUpdater<typename src_trimesh_t::VertexPointer> src_pointer_updater_t;
@@ -263,7 +262,6 @@ class AttributeSeam
             typedef typename src_trimesh_t::FaceType             src_face_t;
             typedef typename src_trimesh_t::ConstFaceIterator    src_face_ci;
 
-            typedef typename dst_trimesh_t::VertContainer        dst_vertex_container_t;
             typedef typename dst_trimesh_t::VertexType           dst_vertex_t;
             typedef typename dst_trimesh_t::VertexIterator       dst_vertex_i;
             typedef typename dst_trimesh_t::FaceType             dst_face_t;
diff --git a/vcg/complex/algorithms/clean.h b/vcg/complex/algorithms/clean.h
index c8f62c68..eb77faf8 100644
--- a/vcg/complex/algorithms/clean.h
+++ b/vcg/complex/algorithms/clean.h
@@ -24,76 +24,135 @@
 #ifndef __VCGLIB_CLEAN
 #define __VCGLIB_CLEAN
 
+#include <unordered_set>
+
 // VCG headers
 #include <vcg/complex/complex.h>
-#include <vcg/simplex/face/pos.h>
-#include <vcg/simplex/face/topology.h>
-#include <vcg/simplex/edge/topology.h>
 #include <vcg/complex/algorithms/closest.h>
 #include <vcg/space/index/grid_static_ptr.h>
 #include <vcg/space/index/spatial_hashing.h>
-#include <vcg/complex/algorithms/update/selection.h>
-#include <vcg/complex/algorithms/update/flag.h>
 #include <vcg/complex/algorithms/update/normal.h>
-#include <vcg/complex/algorithms/update/topology.h>
 #include <vcg/space/triangle3.h>
+#include <vcg/complex/append.h>
 
 namespace vcg {
 namespace tri{
 
+template <class ConnectedEdgeMeshType>
+class EdgeConnectedComponentIterator
+{
+public:
+	typedef ConnectedEdgeMeshType MeshType;
+	typedef typename MeshType::VertexType     VertexType;
+	typedef typename MeshType::VertexPointer  VertexPointer;
+	typedef typename MeshType::VertexIterator VertexIterator;
+	typedef typename MeshType::ScalarType     ScalarType;
+	typedef typename MeshType::EdgeType       EdgeType;
+	typedef typename MeshType::EdgePointer    EdgePointer;
+	typedef typename MeshType::EdgeIterator   EdgeIterator;
+	typedef typename MeshType::ConstEdgeIterator   ConstEdgeIterator;
+	typedef typename MeshType::EdgeContainer  EdgeContainer;
+
+public:
+	void operator ++()
+	{
+		EdgePointer ep = se.top();
+		se.pop();
+		for(int i = 0; i < 2; ++i)
+		{
+			edge::VEIterator<EdgeType> vei(ep->V(i));
+			while (!vei.End())
+			{
+				if (!tri::IsMarked(*mp, vei.E()))
+				{
+					tri::Mark(*mp, vei.E());
+					se.push(vei.E());
+				}
+				++vei;
+			}
+		}
+	}
+
+	void start(MeshType &m, EdgePointer e)
+	{
+		tri::RequirePerEdgeMark(m);
+		mp=&m;
+
+		while(!se.empty())
+			se.pop();
+
+		UnMarkAll(m);
+
+		tri::Mark(m, e);
+		se.push(e);
+	}
+
+	bool completed() {
+		return se.empty();
+	}
+
+	EdgePointer operator *()
+	{
+		return se.top();
+	}
+private:
+	std::stack<EdgePointer> se;
+	MeshType *mp;
+};
+
 template <class ConnectedMeshType>
 class ConnectedComponentIterator
 {
 public:
-  typedef ConnectedMeshType MeshType;
-  typedef typename MeshType::VertexType     VertexType;
-  typedef typename MeshType::VertexPointer  VertexPointer;
-  typedef typename MeshType::VertexIterator VertexIterator;
-  typedef typename MeshType::ScalarType     ScalarType;
-  typedef typename MeshType::FaceType       FaceType;
-  typedef typename MeshType::FacePointer    FacePointer;
-  typedef typename MeshType::FaceIterator   FaceIterator;
-  typedef typename MeshType::ConstFaceIterator   ConstFaceIterator;
-  typedef typename MeshType::FaceContainer  FaceContainer;
+	typedef ConnectedMeshType MeshType;
+	typedef typename MeshType::VertexType     VertexType;
+	typedef typename MeshType::VertexPointer  VertexPointer;
+	typedef typename MeshType::VertexIterator VertexIterator;
+	typedef typename MeshType::ScalarType     ScalarType;
+	typedef typename MeshType::FaceType       FaceType;
+	typedef typename MeshType::FacePointer    FacePointer;
+	typedef typename MeshType::FaceIterator   FaceIterator;
+	typedef typename MeshType::ConstFaceIterator   ConstFaceIterator;
+	typedef typename MeshType::FaceContainer  FaceContainer;
 
 public:
-  void operator ++()
-  {
-    FacePointer fpt=sf.top();
-    sf.pop();
-    for(int j=0;j<3;++j)
-      if( !face::IsBorder(*fpt,j) )
-      {
-        FacePointer l=fpt->FFp(j);
-        if( !tri::IsMarked(*mp,l) )
-        {
-          tri::Mark(*mp,l);
-          sf.push(l);
-        }
-      }
-  }
+	void operator ++()
+	{
+		FacePointer fpt=sf.top();
+		sf.pop();
+		for(int j=0; j<fpt->VN(); ++j)
+			if( !face::IsBorder(*fpt,j) )
+			{
+				FacePointer l=fpt->FFp(j);
+				if( !tri::IsMarked(*mp,l) )
+				{
+					tri::Mark(*mp,l);
+					sf.push(l);
+				}
+			}
+	}
 
-  void start(MeshType &m, FacePointer p)
-  {
-    tri::RequirePerFaceMark(m);
-    mp=&m;
-    while(!sf.empty()) sf.pop();
-    UnMarkAll(m);
-    tri::Mark(m,p);
-    sf.push(p);
-  }
+	void start(MeshType &m, FacePointer p)
+	{
+		tri::RequirePerFaceMark(m);
+		mp=&m;
+		while(!sf.empty()) sf.pop();
+		UnMarkAll(m);
+		tri::Mark(m,p);
+		sf.push(p);
+	}
 
-  bool completed() {
-    return sf.empty();
-  }
+	bool completed() {
+		return sf.empty();
+	}
 
-  FacePointer operator *()
-  {
-    return sf.top();
-  }
+	FacePointer operator *()
+	{
+		return sf.top();
+	}
 private:
-  std::stack<FacePointer> sf;
-  MeshType *mp;
+	std::stack<FacePointer> sf;
+	MeshType *mp;
 };
 
 
@@ -106,656 +165,770 @@ class Clean
 {
 
 public:
-  typedef CleanMeshType MeshType;
-  typedef typename MeshType::VertexType           VertexType;
-  typedef typename MeshType::VertexPointer        VertexPointer;
-  typedef typename MeshType::VertexIterator       VertexIterator;
-  typedef typename MeshType::ConstVertexIterator  ConstVertexIterator;
-  typedef typename MeshType::EdgeIterator         EdgeIterator;
-  typedef typename MeshType::EdgePointer          EdgePointer;
-  typedef typename MeshType::CoordType            CoordType;
-  typedef typename MeshType::ScalarType           ScalarType;
-  typedef typename MeshType::FaceType             FaceType;
-  typedef typename MeshType::FacePointer          FacePointer;
-  typedef typename MeshType::FaceIterator         FaceIterator;
-  typedef typename MeshType::ConstFaceIterator    ConstFaceIterator;
-  typedef typename MeshType::FaceContainer        FaceContainer;
-  typedef typename vcg::Box3<ScalarType>  Box3Type;
+	typedef CleanMeshType MeshType;
+	typedef typename MeshType::VertexType           VertexType;
+	typedef typename MeshType::VertexPointer        VertexPointer;
+	typedef typename MeshType::VertexIterator       VertexIterator;
+	typedef typename MeshType::ConstVertexIterator  ConstVertexIterator;
+	typedef typename MeshType::EdgeIterator         EdgeIterator;
+	typedef typename MeshType::EdgePointer          EdgePointer;
+	typedef typename MeshType::CoordType            CoordType;
+	typedef typename MeshType::ScalarType           ScalarType;
+	typedef typename MeshType::FaceType             FaceType;
+	typedef typename MeshType::FacePointer          FacePointer;
+	typedef typename MeshType::FaceIterator         FaceIterator;
+	typedef typename MeshType::ConstFaceIterator    ConstFaceIterator;
+	typedef typename MeshType::FaceContainer        FaceContainer;
+	typedef typename MeshType::TetraType            TetraType;
+	typedef typename MeshType::TetraPointer         TetraPointer;
+	typedef typename MeshType::TetraIterator        TetraIterator;
+	typedef typename MeshType::ConstTetraIterator   ConstTetraIterator;
 
-  typedef GridStaticPtr<FaceType, ScalarType > TriMeshGrid;
+	typedef typename vcg::Box3<ScalarType>  Box3Type;
 
-  /* classe di confronto per l'algoritmo di eliminazione vertici duplicati*/
-  class RemoveDuplicateVert_Compare{
-  public:
-    inline bool operator()(VertexPointer const &a, VertexPointer const &b)
-    {
-        return ((*a).cP() == (*b).cP()) ? (a<b): ((*a).cP() < (*b).cP());
-    }
-  };
+	typedef GridStaticPtr<FaceType, ScalarType > TriMeshGrid;
+
+	/* classe di confronto per l'algoritmo di eliminazione vertici duplicati*/
+	class RemoveDuplicateVert_Compare{
+	public:
+		inline bool operator()(VertexPointer const &a, VertexPointer const &b)
+		{
+			return ((*a).cP() == (*b).cP()) ? (a<b): ((*a).cP() < (*b).cP());
+		}
+	};
 
 
-  /** This function removes all duplicate vertices of the mesh by looking only at their spatial positions.
-    *  Note that it does not update any topology relation that could be affected by this like the VT or TT relation.
-    *  the reason this function is usually performed BEFORE building any topology information.
-    */
-  static int RemoveDuplicateVertex( MeshType & m, bool RemoveDegenerateFlag=true)    // V1.0
-  {
-    if(m.vert.size()==0 || m.vn==0) return 0;
+	/** This function removes all duplicate vertices of the mesh by looking only at their spatial positions.
+	*  Note that it does not update any topology relation that could be affected by this like the VT or TT relation.
+	*  the reason this function is usually performed BEFORE building any topology information.
+	*/
+	static int RemoveDuplicateVertex( MeshType & m, bool RemoveDegenerateFlag=true)    // V1.0
+	{
+		if(m.vert.size()==0 || m.vn==0) return 0;
 
-    std::map<VertexPointer, VertexPointer> mp;
-    size_t i,j;
-    VertexIterator vi;
-    int deleted=0;
-    int k=0;
-    size_t num_vert = m.vert.size();
-    std::vector<VertexPointer> perm(num_vert);
-    for(vi=m.vert.begin(); vi!=m.vert.end(); ++vi, ++k)
-      perm[k] = &(*vi);
+		std::map<VertexPointer, VertexPointer> mp;
+		size_t i,j;
+		VertexIterator vi;
+		int deleted=0;
+		int k=0;
+		size_t num_vert = m.vert.size();
+		std::vector<VertexPointer> perm(num_vert);
+		for(vi=m.vert.begin(); vi!=m.vert.end(); ++vi, ++k)
+			perm[k] = &(*vi);
 
-    RemoveDuplicateVert_Compare c_obj;
+		RemoveDuplicateVert_Compare c_obj;
 
-    std::sort(perm.begin(),perm.end(),c_obj);
+		std::sort(perm.begin(),perm.end(),c_obj);
 
-    j = 0;
-    i = j;
-    mp[perm[i]] = perm[j];
-    ++i;
-    for(;i!=num_vert;)
-    {
-      if( (! (*perm[i]).IsD()) &&
-          (! (*perm[j]).IsD()) &&
-          (*perm[i]).P() == (*perm[j]).cP() )
-      {
-        VertexPointer t = perm[i];
-        mp[perm[i]] = perm[j];
-        ++i;
-        Allocator<MeshType>::DeleteVertex(m,*t);
-        deleted++;
-      }
-      else
-      {
-        j = i;
-        ++i;
-      }
-    }
+		j = 0;
+		i = j;
+		mp[perm[i]] = perm[j];
+		++i;
+		for(;i!=num_vert;)
+		{
+			if( (! (*perm[i]).IsD()) &&
+			    (! (*perm[j]).IsD()) &&
+			    (*perm[i]).P() == (*perm[j]).cP() )
+			{
+				VertexPointer t = perm[i];
+				mp[perm[i]] = perm[j];
+				++i;
+				Allocator<MeshType>::DeleteVertex(m,*t);
+				deleted++;
+			}
+			else
+			{
+				j = i;
+				++i;
+			}
+		}
 
-    for(FaceIterator fi = m.face.begin(); fi!=m.face.end(); ++fi)
-      if( !(*fi).IsD() )
-        for(k = 0; k < (*fi).VN(); ++k)
-          if( mp.find( (typename MeshType::VertexPointer)(*fi).V(k) ) != mp.end() )
-          {
-            (*fi).V(k) = &*mp[ (*fi).V(k) ];
-          }
+		for(FaceIterator fi = m.face.begin(); fi!=m.face.end(); ++fi)
+			if( !(*fi).IsD() )
+				for(k = 0; k < (*fi).VN(); ++k)
+					if( mp.find( (typename MeshType::VertexPointer)(*fi).V(k) ) != mp.end() )
+					{
+						(*fi).V(k) = &*mp[ (*fi).V(k) ];
+					}
 
 
-    for(EdgeIterator ei = m.edge.begin(); ei!=m.edge.end(); ++ei)
-      if( !(*ei).IsD() )
-        for(k = 0; k < 2; ++k)
-          if( mp.find( (typename MeshType::VertexPointer)(*ei).V(k) ) != mp.end() )
-          {
-            (*ei).V(k) = &*mp[ (*ei).V(k) ];
-          }
-    if(RemoveDegenerateFlag) RemoveDegenerateFace(m);
-    if(RemoveDegenerateFlag && m.en>0) {
-      RemoveDegenerateEdge(m);
-      RemoveDuplicateEdge(m);
-    }
-    return deleted;
-  }
+		for(EdgeIterator ei = m.edge.begin(); ei!=m.edge.end(); ++ei)
+			if( !(*ei).IsD() )
+				for(k = 0; k < 2; ++k)
+					if( mp.find( (typename MeshType::VertexPointer)(*ei).V(k) ) != mp.end() )
+					{
+						(*ei).V(k) = &*mp[ (*ei).V(k) ];
+					}
 
-  class SortedPair
-  {
-  public:
-    SortedPair() {}
-    SortedPair(unsigned int v0, unsigned int v1, EdgePointer _fp)
-    {
-      v[0]=v0;v[1]=v1;
-      fp=_fp;
-      if(v[0]>v[1]) std::swap(v[0],v[1]);
-    }
-    bool operator < (const SortedPair &p) const
-    {
-      return (v[1]!=p.v[1])?(v[1]<p.v[1]):
-        (v[0]<p.v[0]);				}
+		for (TetraIterator ti = m.tetra.begin(); ti != m.tetra.end(); ++ti)
+			if (!(*ti).IsD())
+				for (k = 0; k < 4; ++k)
+					if (mp.find((typename MeshType::VertexPointer)(*ti).V(k)) != mp.end())
+						(*ti).V(k) = &*mp[ (*ti).V(k) ];
 
-      bool operator == (const SortedPair &s) const
-      {
-      if( (v[0]==s.v[0]) && (v[1]==s.v[1]) ) return true;
-      return false;
-    }
+		if(RemoveDegenerateFlag) RemoveDegenerateFace(m);
+		if(RemoveDegenerateFlag && m.en>0) {
+			RemoveDegenerateEdge(m);
+			RemoveDuplicateEdge(m);
+		}
+		return deleted;
+	}
 
-    unsigned int v[2];
-    EdgePointer fp;
-  };
-  class SortedTriple
-  {
-  public:
-    SortedTriple() {}
-    SortedTriple(unsigned int v0, unsigned int v1, unsigned int v2,FacePointer _fp)
-    {
-      v[0]=v0;v[1]=v1;v[2]=v2;
-      fp=_fp;
-      std::sort(v,v+3);
-    }
-    bool operator < (const SortedTriple &p) const
-    {
-      return (v[2]!=p.v[2])?(v[2]<p.v[2]):
-        (v[1]!=p.v[1])?(v[1]<p.v[1]):
-          (v[0]<p.v[0]);				}
+	class SortedPair
+	{
+	public:
+		SortedPair() {}
+		SortedPair(unsigned int v0, unsigned int v1, EdgePointer _fp)
+		{
+			v[0]=v0;v[1]=v1;
+			fp=_fp;
+			if(v[0]>v[1]) std::swap(v[0],v[1]);
+		}
+		bool operator < (const SortedPair &p) const
+		{
+			return (v[1]!=p.v[1])?(v[1]<p.v[1]):
+				(v[0]<p.v[0]);				}
 
-      bool operator == (const SortedTriple &s) const
-      {
-      if( (v[0]==s.v[0]) && (v[1]==s.v[1]) && (v[2]==s.v[2]) ) return true;
-      return false;
-    }
+			bool operator == (const SortedPair &s) const
+			{
+			if( (v[0]==s.v[0]) && (v[1]==s.v[1]) ) return true;
+			return false;
+		}
 
-    unsigned int v[3];
-    FacePointer fp;
-  };
+		unsigned int v[2];
+		EdgePointer fp;
+	};
+	class SortedTriple
+	{
+	public:
+		SortedTriple() {}
+		SortedTriple(unsigned int v0, unsigned int v1, unsigned int v2,FacePointer _fp)
+		{
+			v[0]=v0;v[1]=v1;v[2]=v2;
+			fp=_fp;
+			std::sort(v,v+3);
+		}
+		bool operator < (const SortedTriple &p) const
+		{
+			return (v[2]!=p.v[2])?(v[2]<p.v[2]):
+				(v[1]!=p.v[1])?(v[1]<p.v[1]):
+				    (v[0]<p.v[0]);				}
+
+			bool operator == (const SortedTriple &s) const
+			{
+			if( (v[0]==s.v[0]) && (v[1]==s.v[1]) && (v[2]==s.v[2]) ) return true;
+			return false;
+		}
+
+		unsigned int v[3];
+		FacePointer fp;
+	};
 
 
-  /** This function removes all duplicate faces of the mesh by looking only at their vertex reference.
-      So it should be called after unification of vertices.
-      Note that it does not update any topology relation that could be affected by this like the VT or TT relation.
-      the reason this function is usually performed BEFORE building any topology information.
-     */
-  static int RemoveDuplicateFace( MeshType & m)    // V1.0
-  {
-    std::vector<SortedTriple> fvec;
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-      if(!(*fi).IsD())
-      {
-        fvec.push_back(SortedTriple(    tri::Index(m,(*fi).V(0)),
-                                        tri::Index(m,(*fi).V(1)),
-                                        tri::Index(m,(*fi).V(2)),
-                                        &*fi));
-      }
-    std::sort(fvec.begin(),fvec.end());
-    int total=0;
-    for(int i=0;i<int(fvec.size())-1;++i)
-    {
-      if(fvec[i]==fvec[i+1])
-      {
-        total++;
-        tri::Allocator<MeshType>::DeleteFace(m, *(fvec[i].fp) );
-      }
-    }
-    return total;
-  }
+	/** This function removes all duplicate faces of the mesh by looking only at their vertex reference.
+	  So it should be called after unification of vertices.
+	  Note that it does not update any topology relation that could be affected by this like the VT or TT relation.
+	  the reason this function is usually performed BEFORE building any topology information.
+	 */
+	static int RemoveDuplicateFace( MeshType & m)    // V1.0
+	{
+		std::vector<SortedTriple> fvec;
+		for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
+			if(!(*fi).IsD())
+			{
+				fvec.push_back(SortedTriple(    tri::Index(m,(*fi).V(0)),
+				                                tri::Index(m,(*fi).V(1)),
+				                                tri::Index(m,(*fi).V(2)),
+				                                &*fi));
+			}
+		std::sort(fvec.begin(),fvec.end());
+		int total=0;
+		for(int i=0;i<int(fvec.size())-1;++i)
+		{
+			if(fvec[i]==fvec[i+1])
+			{
+				total++;
+				tri::Allocator<MeshType>::DeleteFace(m, *(fvec[i].fp) );
+			}
+		}
+		return total;
+	}
 
-  /** This function removes all duplicate faces of the mesh by looking only at their vertex reference.
-            So it should be called after unification of vertices.
-            Note that it does not update any topology relation that could be affected by this like the VT or TT relation.
-            the reason this function is usually performed BEFORE building any topology information.
-            */
-  static int RemoveDuplicateEdge( MeshType & m)    // V1.0
-  {
-    if (m.en==0) return 0;
-    std::vector<SortedPair> eVec;
-    for(EdgeIterator ei=m.edge.begin();ei!=m.edge.end();++ei)
-      if(!(*ei).IsD())
-      {
-        eVec.push_back(SortedPair(	tri::Index(m,(*ei).V(0)), tri::Index(m,(*ei).V(1)), &*ei));
-      }
-    std::sort(eVec.begin(),eVec.end());
-    int total=0;
-    for(int i=0;i<int(eVec.size())-1;++i)
-    {
-      if(eVec[i]==eVec[i+1])
-      {
-        total++;
-        tri::Allocator<MeshType>::DeleteEdge(m, *(eVec[i].fp) );
-      }
-    }
-    return total;
-  }
+	/** This function removes all duplicate faces of the mesh by looking only at their vertex reference.
+			So it should be called after unification of vertices.
+			Note that it does not update any topology relation that could be affected by this like the VT or TT relation.
+			the reason this function is usually performed BEFORE building any topology information.
+			*/
+	static int RemoveDuplicateEdge( MeshType & m)    // V1.0
+	{
+		if (m.en==0) return 0;
+		std::vector<SortedPair> eVec;
+		for(EdgeIterator ei=m.edge.begin();ei!=m.edge.end();++ei)
+			if(!(*ei).IsD())
+			{
+				eVec.push_back(SortedPair(	tri::Index(m,(*ei).V(0)), tri::Index(m,(*ei).V(1)), &*ei));
+			}
+		std::sort(eVec.begin(),eVec.end());
+		int total=0;
+		for(int i=0;i<int(eVec.size())-1;++i)
+		{
+			if(eVec[i]==eVec[i+1])
+			{
+				total++;
+				tri::Allocator<MeshType>::DeleteEdge(m, *(eVec[i].fp) );
+			}
+		}
+		return total;
+	}
 
-  static int CountUnreferencedVertex( MeshType& m)
-  {
-    return RemoveUnreferencedVertex(m,false);
-  }
+	static int CountUnreferencedVertex( MeshType& m)
+	{
+		return RemoveUnreferencedVertex(m,false);
+	}
 
 
-  /** This function removes that are not referenced by any face. The function updates the vn counter.
-            @param m The mesh
-            @return The number of removed vertices
-            */
-  static int RemoveUnreferencedVertex( MeshType& m, bool DeleteVertexFlag=true)   // V1.0
-  {
-    FaceIterator fi;
-    EdgeIterator ei;
-    VertexIterator vi;
-    int referredBit = VertexType::NewBitFlag();
+	/** This function removes vertices that are not referenced by any face or by any edge.
+			@param m The mesh
+			@param DeleteVertexFlag if false prevent the vertex deletion and just count it.
+			@return The number of removed vertices
+			*/
+	static int RemoveUnreferencedVertex( MeshType& m, bool DeleteVertexFlag=true)   // V1.0
+	{
+		tri::RequirePerVertexFlags(m);
 
-    int j;
-    int deleted = 0;
+		std::vector<bool> referredVec(m.vert.size(),false);
+		int deleted = 0;
 
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-      (*vi).ClearUserBit(referredBit);
+		for(auto fi = m.face.begin(); fi != m.face.end(); ++fi)
+			if( !(*fi).IsD() )
+				for(auto j=0; j < (*fi).VN(); ++j)
+					referredVec[tri::Index(m, (*fi).V(j))]=true;
 
-    for(fi=m.face.begin();fi!=m.face.end();++fi)
-      if( !(*fi).IsD() )
-        for(j=0;j<(*fi).VN();++j)
-          (*fi).V(j)->SetUserBit(referredBit);
+		for(auto ei=m.edge.begin();ei!=m.edge.end();++ei)
+			if( !(*ei).IsD() ){
+				referredVec[tri::Index(m, (*ei).V(0))]=true;
+				referredVec[tri::Index(m, (*ei).V(1))]=true;
+			}
 
-    for(ei=m.edge.begin();ei!=m.edge.end();++ei)
-      if( !(*ei).IsD() ){
-        (*ei).V(0)->SetUserBit(referredBit);
-        (*ei).V(1)->SetUserBit(referredBit);
-      }
-
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-      if( (!(*vi).IsD()) && (!(*vi).IsUserBit(referredBit)))
-      {
-        if(DeleteVertexFlag) Allocator<MeshType>::DeleteVertex(m,*vi);
-        ++deleted;
-      }
-    VertexType::DeleteBitFlag(referredBit);
-    return deleted;
-  }
-
-  /**
-      Degenerate vertices are vertices that have coords with invalid floating point values,
-      All the faces incident on deleted vertices are also deleted
-            */
-  static int RemoveDegenerateVertex(MeshType& m)
-  {
-    VertexIterator vi;
-    int count_vd = 0;
-
-    for(vi=m.vert.begin(); vi!=m.vert.end();++vi)
-      if(math::IsNAN( (*vi).P()[0]) ||
-         math::IsNAN( (*vi).P()[1]) ||
-         math::IsNAN( (*vi).P()[2]) )
-      {
-        count_vd++;
-        Allocator<MeshType>::DeleteVertex(m,*vi);
-      }
-
-    FaceIterator fi;
-    int count_fd = 0;
-
-    for(fi=m.face.begin(); fi!=m.face.end();++fi)
-      if(!(*fi).IsD())
-        if( (*fi).V(0)->IsD() ||
-            (*fi).V(1)->IsD() ||
-            (*fi).V(2)->IsD() )
-        {
-          count_fd++;
-          Allocator<MeshType>::DeleteFace(m,*fi);
-        }
-    return count_vd;
-  }
-
-  /**
-      Degenerate faces are faces that are Topologically degenerate,
-      i.e. have two or more vertex reference that link the same vertex
-      (and not only two vertexes with the same coordinates).
-      All Degenerate faces are zero area faces BUT not all zero area faces are degenerate.
-      We do not take care of topology because when we have degenerate faces the
-      topology calculation functions crash.
-      */
-  static int RemoveDegenerateFace(MeshType& m)
-  {
-    int count_fd = 0;
-
-    for(FaceIterator fi=m.face.begin(); fi!=m.face.end();++fi)
-      if(!(*fi).IsD())
-      {
-        if((*fi).V(0) == (*fi).V(1) ||
-           (*fi).V(0) == (*fi).V(2) ||
-           (*fi).V(1) == (*fi).V(2) )
-        {
-          count_fd++;
-          Allocator<MeshType>::DeleteFace(m,*fi);
-        }
-      }
-    return count_fd;
-  }
-
-  static int RemoveDegenerateEdge(MeshType& m)
-  {
-    int count_ed = 0;
-
-    for(EdgeIterator ei=m.edge.begin(); ei!=m.edge.end();++ei)
-      if(!(*ei).IsD())
-      {
-        if((*ei).V(0) == (*ei).V(1) )
-        {
-          count_ed++;
-          Allocator<MeshType>::DeleteEdge(m,*ei);
-        }
-      }
-    return count_ed;
-  }
-
-  static int RemoveNonManifoldVertex(MeshType& m)
-  {
-    CountNonManifoldVertexFF(m,true);
-    tri::UpdateSelection<MeshType>::FaceFromVertexLoose(m);
-    int count_removed = 0;
-    for(FaceIterator fi=m.face.begin(); fi!=m.face.end();++fi)
-      if(!(*fi).IsD() && (*fi).IsS())
-        Allocator<MeshType>::DeleteFace(m,*fi);
-    for(VertexIterator vi=m.vert.begin(); vi!=m.vert.end();++vi)
-      if(!(*vi).IsD() && (*vi).IsS()) {
-        ++count_removed;
-        Allocator<MeshType>::DeleteVertex(m,*vi);
-      }
-    return count_removed;
-  }
-
-  static int SplitSelectedVertexOnEdgeMesh(MeshType& m)
-  {
-    tri::RequireCompactness(m);
-    tri::UpdateFlags<MeshType>::VertexClearV(m);
-    int count_split = 0;
-    for(size_t i=0;i<m.edge.size();++i)
-    {
-      for(int j=0;j<2;++j)
-      {
-        VertexPointer vp = m.edge[i].V(j);
-        if(vp->IsS())
-        {
-          if(!vp->IsV())
-	    {
-            m.edge[i].V(j) = &*(tri::Allocator<MeshType>::AddVertex(m,vp->P()));
-	    ++count_split;
-	    }
-          else 
-	    {
-	      vp->SetV();
-	    }
-	  
-        }
-      }
-    }
-    return count_split;
-  }
+		for(auto ti=m.tetra.begin(); ti!=m.tetra.end();++ti)
+			if( !(*ti).IsD() ){
+				referredVec[tri::Index(m, (*ti).V(0))]=true;
+				referredVec[tri::Index(m, (*ti).V(1))]=true;
+				referredVec[tri::Index(m, (*ti).V(2))]=true;
+				referredVec[tri::Index(m, (*ti).V(3))]=true;
+			}
 
 
-  static void SelectNonManifoldVertexOnEdgeMesh(MeshType &m)
-  {
-    tri::RequireCompactness(m);
-    tri::UpdateSelection<MeshType>::VertexClear(m);
-    std::vector<int> cnt(m.vn,0);
+		if(!DeleteVertexFlag)
+			return std::count(referredVec.begin(),referredVec.end(),false);
 
-    for(size_t i=0;i<m.edge.size();++i)
-    {
-      cnt[tri::Index(m,m.edge[i].V(0))]++;
-      cnt[tri::Index(m,m.edge[i].V(1))]++;
-    }
-    for(size_t i=0;i<m.vert.size();++i)
-      if(cnt[i]>2) m.vert[i].SetS();
-  }
+		for(auto vi=m.vert.begin();vi!=m.vert.end();++vi)
+			if( (!(*vi).IsD()) && (!referredVec[tri::Index(m,*vi)]) )
+			{
+				Allocator<MeshType>::DeleteVertex(m,*vi);
+				++deleted;
+			}
+		return deleted;
+	}
 
-  static void SelectCreaseVertexOnEdgeMesh(MeshType &m, ScalarType AngleRadThr)
-  {
-    tri::RequireCompactness(m);
-    tri::RequireVEAdjacency(m);
-    tri::UpdateTopology<MeshType>::VertexEdge(m);
-    for(size_t i=0;i<m.vert.size();++i)
-    {
-      std::vector<VertexPointer> VVStarVec;
-      edge::VVStarVE(&(m.vert[i]),VVStarVec);
-      if(VVStarVec.size()==2)
-      {
-        CoordType v0 = m.vert[i].P() - VVStarVec[0]->P();
-        CoordType v1 = m.vert[i].P() - VVStarVec[1]->P();
-        float angle = M_PI-vcg::Angle(v0,v1);
-        if(angle > AngleRadThr) m.vert[i].SetS();
-      }
-    }
-  }
+	/**
+	  Degenerate vertices are vertices that have coords with invalid floating point values,
+	  All the faces incident on deleted vertices are also deleted
+			*/
+	static int RemoveDegenerateVertex(MeshType& m)
+	{
+		VertexIterator vi;
+		int count_vd = 0;
+
+		for(vi=m.vert.begin(); vi!=m.vert.end();++vi)
+			if(math::IsNAN( (*vi).P()[0]) ||
+			   math::IsNAN( (*vi).P()[1]) ||
+			   math::IsNAN( (*vi).P()[2]) )
+			{
+				count_vd++;
+				Allocator<MeshType>::DeleteVertex(m,*vi);
+			}
+
+		FaceIterator fi;
+		int count_fd = 0;
+
+		for(fi=m.face.begin(); fi!=m.face.end();++fi)
+			if(!(*fi).IsD())
+				if( (*fi).V(0)->IsD() ||
+				    (*fi).V(1)->IsD() ||
+				    (*fi).V(2)->IsD() )
+				{
+					count_fd++;
+					Allocator<MeshType>::DeleteFace(m,*fi);
+				}
+		return count_vd;
+	}
+
+	/**
+	  Degenerate faces are faces that are Topologically degenerate,
+	  i.e. have two or more vertex reference that link the same vertex
+	  (and not only two vertexes with the same coordinates).
+	  All Degenerate faces are zero area faces BUT not all zero area faces are degenerate.
+	  We do not take care of topology because when we have degenerate faces the
+	  topology calculation functions crash.
+	  */
+	static int RemoveDegenerateFace(MeshType& m)
+	{
+		int count_fd = 0;
+
+		for(FaceIterator fi=m.face.begin(); fi!=m.face.end();++fi)
+			if(!(*fi).IsD())
+			{
+				if((*fi).V(0) == (*fi).V(1) ||
+				   (*fi).V(0) == (*fi).V(2) ||
+				   (*fi).V(1) == (*fi).V(2) )
+				{
+					count_fd++;
+					Allocator<MeshType>::DeleteFace(m,*fi);
+				}
+			}
+		return count_fd;
+	}
+
+	static int RemoveDegenerateEdge(MeshType& m)
+	{
+		int count_ed = 0;
+
+		for(EdgeIterator ei=m.edge.begin(); ei!=m.edge.end();++ei)
+			if(!(*ei).IsD())
+			{
+				if((*ei).V(0) == (*ei).V(1) )
+				{
+					count_ed++;
+					Allocator<MeshType>::DeleteEdge(m,*ei);
+				}
+			}
+		return count_ed;
+	}
+
+	static int RemoveNonManifoldVertex(MeshType& m)
+	{
+		CountNonManifoldVertexFF(m,true);
+		tri::UpdateSelection<MeshType>::FaceFromVertexLoose(m);
+		int count_removed = 0;
+		for(FaceIterator fi=m.face.begin(); fi!=m.face.end();++fi)
+			if(!(*fi).IsD() && (*fi).IsS())
+				Allocator<MeshType>::DeleteFace(m,*fi);
+		for(VertexIterator vi=m.vert.begin(); vi!=m.vert.end();++vi)
+			if(!(*vi).IsD() && (*vi).IsS()) {
+				++count_removed;
+				Allocator<MeshType>::DeleteVertex(m,*vi);
+			}
+		return count_removed;
+	}
 
 
-  /// Removal of faces that were incident on a non manifold edge.
+	static int SplitSelectedVertexOnEdgeMesh(MeshType& m)
+	{
+		tri::RequireCompactness(m);
 
-  // Given a mesh with FF adjacency
-  // it search for non manifold vertices and duplicate them.
-  // Duplicated vertices are moved apart according to the move threshold param.
-  // that is a percentage of the average vector from the non manifold vertex to the barycenter of the incident faces.
-
-  static int SplitNonManifoldVertex(MeshType& m, ScalarType moveThreshold)
-  {
-    RequireFFAdjacency(m);
-    typedef std::pair<FacePointer,int> FaceInt; // a face and the index of the vertex that we have to change
-    //
-    std::vector<std::pair<VertexPointer, std::vector<FaceInt> > >ToSplitVec;
-
-    SelectionStack<MeshType> ss(m);
-    ss.push();
-    CountNonManifoldVertexFF(m,true);
-    UpdateFlags<MeshType>::VertexClearV(m);
-    for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)	if (!fi->IsD())
-    {
-      for(int i=0;i<3;i++)
-        if((*fi).V(i)->IsS() && !(*fi).V(i)->IsV())
-        {
-          (*fi).V(i)->SetV();
-          face::Pos<FaceType> startPos(&*fi,i);
-          face::Pos<FaceType> curPos = startPos;
-          std::set<FaceInt> faceSet;
-          do
-          {
-            faceSet.insert(std::make_pair(curPos.F(),curPos.VInd()));
-            curPos.NextE();
-          } while (curPos != startPos);
-
-          ToSplitVec.push_back(make_pair((*fi).V(i),std::vector<FaceInt>()));
-
-          typename std::set<FaceInt>::const_iterator iii;
-
-          for(iii=faceSet.begin();iii!=faceSet.end();++iii)
-            ToSplitVec.back().second.push_back(*iii);
-        }
-    }
-    ss.pop();
-    // Second step actually add new vertices and split them.
-    typename tri::Allocator<MeshType>::template PointerUpdater<VertexPointer> pu;
-    VertexIterator firstVp = tri::Allocator<MeshType>::AddVertices(m,ToSplitVec.size(),pu);
-    for(size_t i =0;i<ToSplitVec.size();++i)
-    {
-      //          qDebug("Splitting Vertex %i",ToSplitVec[i].first-&*m.vert.begin());
-      VertexPointer np=ToSplitVec[i].first;
-      pu.Update(np);
-      firstVp->ImportData(*np);
-      // loop on the face to be changed, and also compute the movement vector;
-      CoordType delta(0,0,0);
-      for(size_t j=0;j<ToSplitVec[i].second.size();++j)
-      {
-        FaceInt ff=ToSplitVec[i].second[j];
-        ff.first->V(ff.second)=&*firstVp;
-        delta+=Barycenter(*(ff.first))-np->cP();
-      }
-      delta /= ToSplitVec[i].second.size();
-      firstVp->P() = firstVp->P() + delta * moveThreshold;
-      firstVp++;
-    }
-
-    return ToSplitVec.size();
-  }
+		// count selected vertices references
+		std::unordered_map<size_t,size_t> refCount; // selected vertex index -> reference count
+		size_t countSplit = 0;
+		for (size_t i=0; i<m.edge.size(); ++i)
+		{
+			for (int j=0; j<2; ++j)
+			{
+				const VertexPointer vp = m.edge[i].V(j);
+				if (vp->IsS())
+				{
+					const size_t refs = ++refCount[Index(m, m.edge[i].V(j))];
+					if (refs > 1) {
+						countSplit++;
+					}
+				}
+			}
+		}
+		// actual split
+		if (countSplit > 0)
+		{
+			auto newVertIt = tri::Allocator<MeshType>::AddVertices(m, countSplit);
+			for (size_t i=0; i<m.edge.size(); ++i)
+			{
+				for (int j=0; j<2; ++j)
+				{
+					const VertexPointer vp = m.edge[i].V(j);
+					const size_t vIdx = Index(m, vp);
+					if (vp->IsS())
+					{
+						if (--refCount[vIdx] > 0)
+						{
+							newVertIt->ImportData(*vp);
+							m.edge[i].V(j) = &*(newVertIt++);
+						}
+					}
+				}
+			}
+		}
+		return int(countSplit);
+	}
 
 
-  // Auxiliary function for sorting the non manifold faces according to their area. Used in  RemoveNonManifoldFace
-  struct CompareAreaFP {
-    bool operator ()(FacePointer const& f1, FacePointer const& f2) const {
-      return DoubleArea(*f1) < DoubleArea(*f2);
-    }
-  };
+	static void SelectNonManifoldVertexOnEdgeMesh(MeshType &m)
+	{
+		tri::RequireCompactness(m);
+		tri::UpdateSelection<MeshType>::VertexClear(m);
+		std::vector<int> cnt(m.vn,0);
 
-  /// Removal of faces that were incident on a non manifold edge.
-  static int RemoveNonManifoldFace(MeshType& m)
-  {
-    FaceIterator fi;
-    int count_fd = 0;
-    std::vector<FacePointer> ToDelVec;
+		for(size_t i=0;i<m.edge.size();++i)
+		{
+			cnt[tri::Index(m,m.edge[i].V(0))]++;
+			cnt[tri::Index(m,m.edge[i].V(1))]++;
+		}
+		for(size_t i=0;i<m.vert.size();++i)
+			if(cnt[i]>2) m.vert[i].SetS();
+	}
 
-    for(fi=m.face.begin(); fi!=m.face.end();++fi)
-      if (!fi->IsD())
-      {
-        if ((!IsManifold(*fi,0))||
-            (!IsManifold(*fi,1))||
-            (!IsManifold(*fi,2)))
-          ToDelVec.push_back(&*fi);
-      }
-
-    std::sort(ToDelVec.begin(),ToDelVec.end(),CompareAreaFP());
-
-    for(size_t i=0;i<ToDelVec.size();++i)
-    {
-      if(!ToDelVec[i]->IsD())
-      {
-        FaceType &ff= *ToDelVec[i];
-        if ((!IsManifold(ff,0))||
-            (!IsManifold(ff,1))||
-            (!IsManifold(ff,2)))
-        {
-          for(int j=0;j<3;++j)
-            if(!face::IsBorder<FaceType>(ff,j))
-              vcg::face::FFDetach<FaceType>(ff,j);
-
-          Allocator<MeshType>::DeleteFace(m,ff);
-          count_fd++;
-        }
-      }
-    }
-    return count_fd;
-  }
-
-  /* Remove the faces that are out of a given range of area  */
-  static int RemoveFaceOutOfRangeArea(MeshType& m, ScalarType MinAreaThr=0, ScalarType MaxAreaThr=(std::numeric_limits<ScalarType>::max)(), bool OnlyOnSelected=false)
-  {
-    int count_fd = 0;
-    MinAreaThr*=2;
-    MaxAreaThr*=2;
-    for(FaceIterator fi=m.face.begin(); fi!=m.face.end();++fi){
-      if(!(*fi).IsD())
-        if(!OnlyOnSelected || (*fi).IsS())
-        {
-          const ScalarType doubleArea=DoubleArea<FaceType>(*fi);
-          if((doubleArea<=MinAreaThr) || (doubleArea>=MaxAreaThr) )
-          {
-            Allocator<MeshType>::DeleteFace(m,*fi);
-            count_fd++;
-          }
-        }
-    }
-    return count_fd;
-  }
-
-  static int RemoveZeroAreaFace(MeshType& m) { return RemoveFaceOutOfRangeArea(m,0);}
-
-  
-
-  /**
-             * Is the mesh only composed by quadrilaterals?
-             */
-  static bool IsBitQuadOnly(const MeshType &m)
-  {
-    typedef typename MeshType::FaceType F;
-    tri::RequirePerFaceFlags(m);
-    for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) if (!fi->IsD()) {
-      unsigned int tmp = fi->Flags()&(F::FAUX0|F::FAUX1|F::FAUX2);
-      if ( tmp != F::FAUX0 && tmp != F::FAUX1 && tmp != F::FAUX2) return false;
-    }
-    return true;
-  }
+	static void SelectCreaseVertexOnEdgeMesh(MeshType &m, ScalarType AngleRadThr)
+	{
+		tri::RequireCompactness(m);
+		tri::RequireVEAdjacency(m);
+		tri::UpdateTopology<MeshType>::VertexEdge(m);
+		tri::UpdateSelection<MeshType>::VertexClear(m);
+		for(size_t i=0;i<m.vert.size();++i)
+		{
+			std::vector<VertexPointer> VVStarVec;
+			edge::VVStarVE(&(m.vert[i]),VVStarVec);
+			if(VVStarVec.size()==2)
+			{
+				CoordType v0 = m.vert[i].P() - VVStarVec[0]->P();
+				CoordType v1 = m.vert[i].P() - VVStarVec[1]->P();
+				float angle = M_PI-vcg::Angle(v0,v1);
+				if(angle > AngleRadThr) m.vert[i].SetS();
+			}
+		}
+	}
 
 
-  static bool IsFaceFauxConsistent(MeshType &m)
-  {
-    RequirePerFaceFlags(m);
-    RequireFFAdjacency(m);
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
-    {
-      for(int z=0;z<(*fi).VN();++z)
-      {
-        FacePointer fp = fi->FFp(z);
-        int zp = fi->FFi(z);
-        if(fi->IsF(z) != fp->IsF(zp)) return false;
-      }
-    }
-    return true;
-  }
+	/// Removal of faces that were incident on a non manifold edge.
 
-  /**
+	// Given a mesh with FF adjacency
+	// it search for non manifold vertices and duplicate them.
+	// Duplicated vertices are moved apart according to the move threshold param.
+	// that is a percentage of the average vector from the non manifold vertex to the barycenter of the incident faces.
+
+	static int SplitNonManifoldVertex(MeshType& m, ScalarType moveThreshold)
+	{
+		RequireFFAdjacency(m);
+		typedef std::pair<FacePointer,int> FaceInt; // a face and the index of the vertex that we have to change
+		//
+		std::vector<std::pair<VertexPointer, std::vector<FaceInt> > >ToSplitVec;
+
+		SelectionStack<MeshType> ss(m);
+		ss.push();
+		CountNonManifoldVertexFF(m,true);
+		UpdateFlags<MeshType>::VertexClearV(m);
+		for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) if (!fi->IsD())
+		{
+			for (int i=0; i<fi->VN(); i++)
+				if ((*fi).V(i)->IsS() && !(*fi).V(i)->IsV())
+				{
+					(*fi).V(i)->SetV();
+					face::Pos<FaceType> startPos(&*fi,i);
+					face::Pos<FaceType> curPos = startPos;
+					std::set<FaceInt> faceSet;
+					do
+					{
+						faceSet.insert(std::make_pair(curPos.F(),curPos.VInd()));
+						curPos.FlipE();
+						curPos.NextF();
+					} while (curPos != startPos);
+
+					ToSplitVec.push_back(make_pair((*fi).V(i),std::vector<FaceInt>()));
+
+					typename std::set<FaceInt>::const_iterator iii;
+
+					for(iii=faceSet.begin();iii!=faceSet.end();++iii)
+						ToSplitVec.back().second.push_back(*iii);
+				}
+		}
+		ss.pop();
+		// Second step actually add new vertices and split them.
+		typename tri::Allocator<MeshType>::template PointerUpdater<VertexPointer> pu;
+		VertexIterator firstVp = tri::Allocator<MeshType>::AddVertices(m,ToSplitVec.size(),pu);
+		for(size_t i =0;i<ToSplitVec.size();++i)
+		{
+			//          qDebug("Splitting Vertex %i",ToSplitVec[i].first-&*m.vert.begin());
+			VertexPointer np=ToSplitVec[i].first;
+			pu.Update(np);
+			firstVp->ImportData(*np);
+			// loop on the face to be changed, and also compute the movement vector;
+			CoordType delta(0,0,0);
+			for(size_t j=0;j<ToSplitVec[i].second.size();++j)
+			{
+				FaceInt ff=ToSplitVec[i].second[j];
+				ff.first->V(ff.second)=&*firstVp;
+				delta+=Barycenter(*(ff.first))-np->cP();
+			}
+			delta /= ToSplitVec[i].second.size();
+			firstVp->P() = firstVp->P() + delta * moveThreshold;
+			firstVp++;
+		}
+
+		return int(ToSplitVec.size());
+	}
+
+	/// \brief This function expand current selection to cover the whole connected component.
+	static size_t SplitManifoldComponents(MeshType &m, const ScalarType moveThreshold = 0)
+	{
+		typedef typename MeshType::FacePointer FacePointer;
+		typedef typename MeshType::FaceIterator FaceIterator;
+		// it also assumes that the FF adjacency is well computed.
+		RequireFFAdjacency(m);
+
+		UpdateFlags<MeshType>::FaceClearV(m);
+		UpdateFlags<MeshType>::FaceClearS(m);
+
+		MeshType tmpMesh;
+
+		size_t selCnt=0;
+
+		for(FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+			if( !(*fi).IsD() && !(*fi).IsV() && !(*fi).IsS())
+			{
+				UpdateFlags<MeshType>::FaceClearS(m);
+
+				std::deque<FacePointer> visitStack;
+				visitStack.push_back(&*fi);
+
+				(*fi).SetS();
+				(*fi).SetV();
+
+				while(!visitStack.empty())
+				{
+					FacePointer fp = visitStack.front();
+					visitStack.pop_front();
+
+					for(int i=0;i<fp->VN();++i) {
+						FacePointer ff = fp->FFp(i);
+
+						if(face::IsManifold(*fp, i) && !ff->IsS() && !ff->IsV())
+						{
+							ff->SetS();
+							ff->SetV();
+							visitStack.push_back(ff);
+						}
+					}
+				}
+
+				Append<MeshType, MeshType>::Mesh(tmpMesh, m, true);
+				++selCnt;
+			}
+
+		vcg::tri::UpdateTopology<MeshType>::VertexFace(tmpMesh);
+		vcg::tri::UpdateFlags<MeshType>::VertexBorderFromNone(tmpMesh);
+		for (size_t i = 0; i < size_t(tmpMesh.VN()); ++i)
+		{
+			VertexType & v = tmpMesh.vert[i];
+
+			if (v.IsB())
+			{
+				std::vector<FacePointer> faceVec;
+				std::vector<int> idxVec;
+
+				vcg::face::VFStarVF(&v, faceVec, idxVec);
+
+				CoordType delta(0, 0, 0);
+				for (auto fp : faceVec)
+				{
+					delta += vcg::Barycenter(*fp) - v.cP();
+				}
+				delta /= faceVec.size();
+
+				v.P() += delta * moveThreshold;
+			}
+		}
+
+		UpdateSelection<MeshType>::Clear(tmpMesh);
+		Append<MeshType, MeshType>::MeshCopy(m, tmpMesh);
+		return selCnt;
+	}
+
+
+	// Auxiliary function for sorting the non manifold faces according to their area. Used in  RemoveNonManifoldFace
+	struct CompareAreaFP {
+		bool operator ()(FacePointer const& f1, FacePointer const& f2) const {
+			return DoubleArea(*f1) < DoubleArea(*f2);
+		}
+	};
+
+	/// Removal of faces that were incident on a non manifold edge.
+	static int RemoveNonManifoldFace(MeshType& m)
+	{
+		FaceIterator fi;
+		int count_fd = 0;
+		std::vector<FacePointer> ToDelVec;
+
+		for(fi=m.face.begin(); fi!=m.face.end();++fi)
+			if (!fi->IsD())
+			{
+				if ((!IsManifold(*fi,0))||
+				    (!IsManifold(*fi,1))||
+				    (!IsManifold(*fi,2)))
+					ToDelVec.push_back(&*fi);
+			}
+
+		std::sort(ToDelVec.begin(),ToDelVec.end(),CompareAreaFP());
+
+		for(size_t i=0;i<ToDelVec.size();++i)
+		{
+			if(!ToDelVec[i]->IsD())
+			{
+				FaceType &ff= *ToDelVec[i];
+				if ((!IsManifold(ff,0))||
+				    (!IsManifold(ff,1))||
+				    (!IsManifold(ff,2)))
+				{
+					for(int j=0;j<3;++j)
+						if(!face::IsBorder<FaceType>(ff,j))
+							vcg::face::FFDetach<FaceType>(ff,j);
+
+					Allocator<MeshType>::DeleteFace(m,ff);
+					count_fd++;
+				}
+			}
+		}
+		return count_fd;
+	}
+
+	/* Remove the faces that are out of a given range of area  */
+	static int RemoveFaceOutOfRangeArea(MeshType& m, ScalarType MinAreaThr=0, ScalarType MaxAreaThr=(std::numeric_limits<ScalarType>::max)(), bool OnlyOnSelected=false)
+	{
+		int count_fd = 0;
+		MinAreaThr*=2;
+		MaxAreaThr*=2;
+		for(FaceIterator fi=m.face.begin(); fi!=m.face.end();++fi){
+			if(!(*fi).IsD())
+				if(!OnlyOnSelected || (*fi).IsS())
+				{
+					const ScalarType doubleArea=DoubleArea<FaceType>(*fi);
+					if((doubleArea<=MinAreaThr) || (doubleArea>=MaxAreaThr) )
+					{
+						Allocator<MeshType>::DeleteFace(m,*fi);
+						count_fd++;
+					}
+				}
+		}
+		return count_fd;
+	}
+
+	static int RemoveZeroAreaFace(MeshType& m) { return RemoveFaceOutOfRangeArea(m,0);}
+
+
+
+	/**
+			 * Is the mesh only composed by quadrilaterals?
+			 */
+	static bool IsBitQuadOnly(const MeshType &m)
+	{
+		typedef typename MeshType::FaceType F;
+		tri::RequirePerFaceFlags(m);
+		for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) if (!fi->IsD()) {
+			unsigned int tmp = fi->Flags()&(F::FAUX0|F::FAUX1|F::FAUX2);
+			if ( tmp != F::FAUX0 && tmp != F::FAUX1 && tmp != F::FAUX2) return false;
+		}
+		return true;
+	}
+
+
+	static bool IsFaceFauxConsistent(MeshType &m)
+	{
+		RequirePerFaceFlags(m);
+		RequireFFAdjacency(m);
+		for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
+		{
+			for(int z=0;z<(*fi).VN();++z)
+			{
+				FacePointer fp = fi->FFp(z);
+				int zp = fi->FFi(z);
+				if(fi->IsF(z) != fp->IsF(zp)) return false;
+			}
+		}
+		return true;
+	}
+
+	/**
 * Is the mesh only composed by triangles? (non polygonal faces)
 */
-  static bool IsBitTriOnly(const MeshType &m)
-  {
-    tri::RequirePerFaceFlags(m);
-    for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) {
-      if ( !fi->IsD()  &&  fi->IsAnyF() ) return false;
-    }
-    return true;
-  }
+	static bool IsBitTriOnly(const MeshType &m)
+	{
+		tri::RequirePerFaceFlags(m);
+		for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) {
+			if ( !fi->IsD()  &&  fi->IsAnyF() ) return false;
+		}
+		return true;
+	}
 
-  static bool IsBitPolygonal(const MeshType &m){
-    return !IsBitTriOnly(m);
-  }
+	static bool IsBitPolygonal(const MeshType &m){
+		return !IsBitTriOnly(m);
+	}
 
-  /**
+	/**
    * Is the mesh only composed by quadrilaterals and triangles? (no pentas, etc)
    * It assumes that the bits are consistent. In that case there can be only a single faux edge.
    */
-  static bool IsBitTriQuadOnly(const MeshType &m)
-  {
-    tri::RequirePerFaceFlags(m);
-    typedef typename MeshType::FaceType F;
-    for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) if (!fi->IsD()) {
-      unsigned int tmp = fi->cFlags()&(F::FAUX0|F::FAUX1|F::FAUX2);
-      if ( tmp!=F::FAUX0 && tmp!=F::FAUX1 && tmp!=F::FAUX2 && tmp!=0 ) return false;
-    }
-    return true;
-  }
+	static bool IsBitTriQuadOnly(const MeshType &m)
+	{
+		tri::RequirePerFaceFlags(m);
+		typedef typename MeshType::FaceType F;
+		for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) if (!fi->IsD()) {
+			unsigned int tmp = fi->cFlags()&(F::FAUX0|F::FAUX1|F::FAUX2);
+			if ( tmp!=F::FAUX0 && tmp!=F::FAUX1 && tmp!=F::FAUX2 && tmp!=0 ) return false;
+		}
+		return true;
+	}
 
-  /**
+	/**
    * How many quadrilaterals?
    * It assumes that the bits are consistent. In that case we count the tris with a single faux edge and divide by two.
    */
-  static int CountBitQuads(const MeshType &m)
-  {
-    tri::RequirePerFaceFlags(m);
-    typedef typename MeshType::FaceType F;
-    int count=0;
-    for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) if (!fi->IsD()) {
-      unsigned int tmp = fi->cFlags()&(F::FAUX0|F::FAUX1|F::FAUX2);
-      if ( tmp==F::FAUX0 || tmp==F::FAUX1 || tmp==F::FAUX2) count++;
-    }
-    return count / 2;
-  }
+	static int CountBitQuads(const MeshType &m)
+	{
+		tri::RequirePerFaceFlags(m);
+		typedef typename MeshType::FaceType F;
+		int count=0;
+		for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) if (!fi->IsD()) {
+			unsigned int tmp = fi->cFlags()&(F::FAUX0|F::FAUX1|F::FAUX2);
+			if ( tmp==F::FAUX0 || tmp==F::FAUX1 || tmp==F::FAUX2) count++;
+		}
+		return count / 2;
+	}
 
-  /**
+	/**
    * How many triangles? (non polygonal faces)
    */
-  static int CountBitTris(const MeshType &m)
-  {
-    tri::RequirePerFaceFlags(m);
-    int count=0;
-    for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) if (!fi->IsD()) {
-      if (!(fi->IsAnyF())) count++;
-    }
-    return count;
-  }
+	static int CountBitTris(const MeshType &m)
+	{
+		tri::RequirePerFaceFlags(m);
+		int count=0;
+		for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) if (!fi->IsD()) {
+			if (!(fi->IsAnyF())) count++;
+		}
+		return count;
+	}
 
-  /**
+	/**
    * How many polygons of any kind? (including triangles)
    * it assumes that there are no faux vertexes (e.g vertices completely surrounded by faux edges)
    */
-  static int CountBitPolygons(const MeshType &m)
-  {
-    tri::RequirePerFaceFlags(m);
-    int count = 0;
-    for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) if (!fi->IsD())  {
-      if (fi->IsF(0)) count++;
-      if (fi->IsF(1)) count++;
-      if (fi->IsF(2)) count++;
-    }
-    return m.fn - count/2;
-  }
+	static int CountBitPolygons(const MeshType &m)
+	{
+		tri::RequirePerFaceFlags(m);
+		int count = 0;
+		for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) if (!fi->IsD())  {
+			if (fi->IsF(0)) count++;
+			if (fi->IsF(1)) count++;
+			if (fi->IsF(2)) count++;
+		}
+		return m.fn - count/2;
+	}
 
-  /**
+	/**
   * The number of polygonal faces is
   *  FN - EN_f (each faux edge hides exactly one triangular face or in other words a polygon of n edges has n-3 faux edges.)
   * In the general case where a The number of polygonal faces is
@@ -766,1067 +939,1145 @@ public:
   * as a intuitive proof think to a internal vertex that is collapsed onto a border of a polygon:
   * it deletes 2 faces, 1 faux edges and 1 vertex so to keep the balance you have to add back the removed vertex.
   */
-  static int CountBitLargePolygons(MeshType &m)
-  {
-    tri::RequirePerFaceFlags(m);
-    UpdateFlags<MeshType>::VertexSetV(m);
-    // First loop Clear all referenced vertices
-    for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
-      if (!fi->IsD())
-        for(int i=0;i<3;++i) fi->V(i)->ClearV();
+	static int CountBitLargePolygons(MeshType &m)
+	{
+		tri::RequirePerFaceFlags(m);
+		UpdateFlags<MeshType>::VertexSetV(m);
+		// First loop Clear all referenced vertices
+		for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+			if (!fi->IsD())
+				for(int i=0;i<3;++i) fi->V(i)->ClearV();
 
 
-    // Second Loop, count (twice) faux edges and mark all vertices touched by non faux edges
-    // (e.g vertexes on the boundary of a polygon)
-    int countE = 0;
-    for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
-      if (!fi->IsD())  {
-        for(int i=0;i<3;++i)
-        {
-          if (fi->IsF(i))
-            countE++;
-          else
-          {
-            fi->V0(i)->SetV();
-            fi->V1(i)->SetV();
-          }
-        }
-      }
-    // Third Loop, count the number of referenced vertexes that are completely surrounded by faux edges.
+		// Second Loop, count (twice) faux edges and mark all vertices touched by non faux edges
+		// (e.g vertexes on the boundary of a polygon)
+		int countE = 0;
+		for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+			if (!fi->IsD())  {
+				for(int i=0;i<3;++i)
+				{
+					if (fi->IsF(i))
+						countE++;
+					else
+					{
+						fi->V0(i)->SetV();
+						fi->V1(i)->SetV();
+					}
+				}
+			}
+		// Third Loop, count the number of referenced vertexes that are completely surrounded by faux edges.
 
-    int countV = 0;
-    for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
-      if (!vi->IsD() && !vi->IsV()) countV++;
+		int countV = 0;
+		for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+			if (!vi->IsD() && !vi->IsV()) countV++;
 
-    return m.fn - countE/2 + countV ;
-  }
+		return m.fn - countE/2 + countV ;
+	}
 
 
-  /**
+	/**
   * Checks that the mesh has consistent per-face faux edges
   * (the ones that merges triangles into larger polygons).
   * A border edge should never be faux, and faux edges should always be
   * reciprocated by another faux edges.
   * It requires FF adjacency.
   */
-  static bool HasConsistentPerFaceFauxFlag(const MeshType &m)
-  {
-    RequireFFAdjacency(m);
-    RequirePerFaceFlags(m);
+	static bool HasConsistentPerFaceFauxFlag(const MeshType &m)
+	{
+		RequireFFAdjacency(m);
+		RequirePerFaceFlags(m);
 
-    for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
-      if(!(*fi).IsD())
-        for (int k=0; k<3; k++)
-          if( ( fi->IsF(k) != fi->cFFp(k)->IsF(fi->cFFi(k)) ) ||
-              ( fi->IsF(k) && face::IsBorder(*fi,k)) )
-          {
-            return false;
-          }
-    return true;
-  }
+		for (ConstFaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+			if(!(*fi).IsD())
+				for (int k=0; k<3; k++)
+					if( ( fi->IsF(k) != fi->cFFp(k)->IsF(fi->cFFi(k)) ) ||
+					    ( fi->IsF(k) && face::IsBorder(*fi,k)) )
+					{
+						return false;
+					}
+		return true;
+	}
 
-  /**
+	/**
    * Count the number of non manifold edges in a polylinemesh, e.g. the edges where there are more than 2 incident faces.
    *
    */
-  static int CountNonManifoldEdgeEE( MeshType & m, bool SelectFlag=false)
-  {
-    MeshAssert<MeshType>::OnlyEdgeMesh(m);
-    RequireEEAdjacency(m);
-    tri::UpdateTopology<MeshType>::EdgeEdge(m);
+	static int CountNonManifoldEdgeEE( MeshType & m, bool SelectFlag=false)
+	{
+		MeshAssert<MeshType>::OnlyEdgeMesh(m);
+		RequireEEAdjacency(m);
+		tri::UpdateTopology<MeshType>::EdgeEdge(m);
 
-    if(SelectFlag) UpdateSelection<MeshType>::VertexClear(m);
+		if(SelectFlag) UpdateSelection<MeshType>::VertexClear(m);
 
-    int nonManifoldCnt=0;
-    SimpleTempData<typename MeshType::VertContainer, int > TD(m.vert,0);
+		int nonManifoldCnt=0;
+		SimpleTempData<typename MeshType::VertContainer, int > TD(m.vert,0);
 
-    // First Loop, just count how many faces are incident on a vertex and store it in the TemporaryData Counter.
-    EdgeIterator ei;
-    for (ei = m.edge.begin(); ei != m.edge.end(); ++ei)	if (!ei->IsD())
-    {
-      TD[(*ei).V(0)]++;
-      TD[(*ei).V(1)]++;
-    }
+		// First Loop, just count how many faces are incident on a vertex and store it in the TemporaryData Counter.
+		EdgeIterator ei;
+		for (ei = m.edge.begin(); ei != m.edge.end(); ++ei)	if (!ei->IsD())
+		{
+			TD[(*ei).V(0)]++;
+			TD[(*ei).V(1)]++;
+		}
 
-    tri::UpdateFlags<MeshType>::VertexClearV(m);
-    // Second Loop, Check that each vertex have been seen 1 or 2 times.
-    for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)	if (!vi->IsD())
-    {
-      if( TD[vi] >2 )
-      {
-        if(SelectFlag) (*vi).SetS();
-        nonManifoldCnt++;
-      }
-    }
-    return nonManifoldCnt;
-  }
+		tri::UpdateFlags<MeshType>::VertexClearV(m);
+		// Second Loop, Check that each vertex have been seen 1 or 2 times.
+		for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)	if (!vi->IsD())
+		{
+			if( TD[vi] >2 )
+			{
+				if(SelectFlag) (*vi).SetS();
+				nonManifoldCnt++;
+			}
+		}
+		return nonManifoldCnt;
+	}
 
-  /**
-       * Count the number of non manifold edges in a mesh, e.g. the edges where there are more than 2 incident faces.
-       *
-       * Note that this test is not enough to say that a mesh is two manifold,
-       * you have to count also the non manifold vertexes.
-       */
-  static int CountNonManifoldEdgeFF( MeshType & m, bool SelectFlag=false)
-  {
-    RequireFFAdjacency(m);
-    int nmfBit[3];
-    nmfBit[0]= FaceType::NewBitFlag();
-    nmfBit[1]= FaceType::NewBitFlag();
-    nmfBit[2]= FaceType::NewBitFlag();
+	/**
+	   * Count the number of non manifold edges in a mesh, e.g. the edges where there are more than 2 incident faces.
+	   *
+	   * Note that this test is not enough to say that a mesh is two manifold,
+	   * you have to count also the non manifold vertexes.
+	   */
+	static int CountNonManifoldEdgeFF( MeshType & m, bool SelectFlag=false)
+	{
+		RequireFFAdjacency(m);
+		int nmfBit[3];
+		nmfBit[0]= FaceType::NewBitFlag();
+		nmfBit[1]= FaceType::NewBitFlag();
+		nmfBit[2]= FaceType::NewBitFlag();
 
 
-    UpdateFlags<MeshType>::FaceClear(m,nmfBit[0]+nmfBit[1]+nmfBit[2]);
+		UpdateFlags<MeshType>::FaceClear(m,nmfBit[0]+nmfBit[1]+nmfBit[2]);
 
-    if(SelectFlag){
-      UpdateSelection<MeshType>::VertexClear(m);
-      UpdateSelection<MeshType>::FaceClear(m);
-    }
+		if(SelectFlag){
+			UpdateSelection<MeshType>::VertexClear(m);
+			UpdateSelection<MeshType>::FaceClear(m);
+		}
 
-    int edgeCnt = 0;
-    for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
-    {
-      if (!fi->IsD())
-      {
-        for(int i=0;i<3;++i)
-          if(!IsManifold(*fi,i))
-          {
-            if(!(*fi).IsUserBit(nmfBit[i]))
-            {
-              ++edgeCnt;
-              if(SelectFlag)
-              {
-                (*fi).V0(i)->SetS();
-                (*fi).V1(i)->SetS();
-              }
-              // follow the ring of faces incident on edge i;
-              face::Pos<FaceType> nmf(&*fi,i);
-              do
-              {
-                if(SelectFlag) nmf.F()->SetS();
-                nmf.F()->SetUserBit(nmfBit[nmf.E()]);
-                nmf.NextF();
-              }
-              while(nmf.f != &*fi);
-            }
-          }
-      }
-    }
-    return edgeCnt;
-  }
+		int edgeCnt = 0;
+		for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+		{
+			if (!fi->IsD())
+			{
+				for(int i=0;i<3;++i)
+					if(!IsManifold(*fi,i))
+					{
+						if(!(*fi).IsUserBit(nmfBit[i]))
+						{
+							++edgeCnt;
+							if(SelectFlag)
+							{
+								(*fi).V0(i)->SetS();
+								(*fi).V1(i)->SetS();
+							}
+							// follow the ring of faces incident on edge i;
+							face::Pos<FaceType> nmf(&*fi,i);
+							do
+							{
+								if(SelectFlag) nmf.F()->SetS();
+								nmf.F()->SetUserBit(nmfBit[nmf.E()]);
+								nmf.NextF();
+							}
+							while(nmf.f != &*fi);
+						}
+					}
+			}
+		}
+		return edgeCnt;
+	}
 
-  /** Count (and eventually select) non 2-Manifold vertexes of a mesh
-       * e.g. the vertices with a non 2-manif. neighbourhood but that do not belong to not 2-manif edges.
-       * typical situation two cones connected by one vertex.
-       */
-  static int CountNonManifoldVertexFF( MeshType & m, bool selectVert = true )
-  {
-    RequireFFAdjacency(m);
-    if(selectVert) UpdateSelection<MeshType>::VertexClear(m);
+	/** Count (and eventually select) non 2-Manifold vertexes of a mesh
+	   * e.g. the vertices with a non 2-manif. neighbourhood but that do not belong to not 2-manif edges.
+	   * typical situation two cones connected by one vertex.
+	   */
+	static int CountNonManifoldVertexFF( MeshType & m, bool selectVert = true, bool clearSelection = true)
+	{
+		RequireFFAdjacency(m);
+		if(selectVert && clearSelection) UpdateSelection<MeshType>::VertexClear(m);
 
-    int nonManifoldCnt=0;
-    SimpleTempData<typename MeshType::VertContainer, int > TD(m.vert,0);
+		int nonManifoldCnt=0;
+		SimpleTempData<typename MeshType::VertContainer, int > TD(m.vert,0);
 
-    // First Loop, just count how many faces are incident on a vertex and store it in the TemporaryData Counter.
-    FaceIterator fi;
-    for (fi = m.face.begin(); fi != m.face.end(); ++fi)	if (!fi->IsD())
-    {
-      TD[(*fi).V(0)]++;
-      TD[(*fi).V(1)]++;
-      TD[(*fi).V(2)]++;
-    }
+		// First Loop, just count how many faces are incident on a vertex and store it in the TemporaryData Counter.
+		FaceIterator fi;
+		for (fi = m.face.begin(); fi != m.face.end(); ++fi)	if (!fi->IsD())
+		{
+			for (int k=0; k<fi->VN(); k++)
+			{
+				TD[(*fi).V(k)]++;
+			}
+		}
 
-    tri::UpdateFlags<MeshType>::VertexClearV(m);
-    // Second Loop.
-    // mark out of the game the vertexes that are incident on non manifold edges.
-    for (fi = m.face.begin(); fi != m.face.end(); ++fi) if (!fi->IsD())
-    {
-      for(int i=0;i<3;++i)
-        if (!IsManifold(*fi,i))  {
-          (*fi).V0(i)->SetV();
-          (*fi).V1(i)->SetV();
-        }
-    }
-    // Third Loop, for safe vertexes, check that the number of faces that you can reach starting
-    // from it and using FF is the same of the previously counted.
-    for (fi = m.face.begin(); fi != m.face.end(); ++fi)	if (!fi->IsD())
-    {
-      for(int i=0;i<3;i++) if(!(*fi).V(i)->IsV()){
-        (*fi).V(i)->SetV();
-        face::Pos<FaceType> pos(&(*fi),i);
+		tri::UpdateFlags<MeshType>::VertexClearV(m);
+		// Second Loop.
+		// mark out of the game the vertexes that are incident on non manifold edges.
+		for (fi = m.face.begin(); fi != m.face.end(); ++fi) if (!fi->IsD())
+		{
+			for(int i=0; i<fi->VN(); ++i)
+				if (!IsManifold(*fi,i))
+				{
+					(*fi).V0(i)->SetV();
+					(*fi).V1(i)->SetV();
+				}
+		}
+		// Third Loop, for safe vertexes, check that the number of faces that you can reach starting
+		// from it and using FF is the same of the previously counted.
+		for (fi = m.face.begin(); fi != m.face.end(); ++fi)	if (!fi->IsD())
+		{
+			for(int i=0; i<fi->VN(); i++) if (!(*fi).V(i)->IsV())
+			{
+				(*fi).V(i)->SetV();
+				face::Pos<FaceType> pos(&(*fi),i);
 
-        int starSizeFF = pos.NumberOfIncidentFaces();
+				int starSizeFF = pos.NumberOfIncidentFaces();
 
-        if (starSizeFF != TD[(*fi).V(i)])
-        {
-          if(selectVert) (*fi).V(i)->SetS();
-          nonManifoldCnt++;
-        }
-      }
-    }
-    return nonManifoldCnt;
-  }
-  /// Very simple test of water tightness. No boundary and no non manifold edges. 
-  /// Assume that it is orientable. 
-  /// It could be debated if a closed non orientable surface is watertight or not. 
-  /// 
-  /// The rationale of not testing orientability here is that 
-  /// it requires FFAdj while this test do not require any adjacency.
-  /// 
-  static bool IsWaterTight(MeshType & m)
-  {
-    int edgeNum=0,edgeBorderNum=0,edgeNonManifNum=0;
-    CountEdgeNum(m, edgeNum, edgeBorderNum,edgeNonManifNum);
-    return  (edgeBorderNum==0) && (edgeNonManifNum==0);
-  }
+				if (starSizeFF != TD[(*fi).V(i)])
+				{
+					if (selectVert)
+						(*fi).V(i)->SetS();
+					nonManifoldCnt++;
+				}
+			}
+		}
+		return nonManifoldCnt;
+	}
+	/// Very simple test of water tightness. No boundary and no non manifold edges.
+	/// Assume that it is orientable.
+	/// It could be debated if a closed non orientable surface is watertight or not.
+	///
+	/// The rationale of not testing orientability here is that
+	/// it requires FFAdj while this test do not require any adjacency.
+	///
+	static bool IsWaterTight(MeshType & m)
+	{
+		int edgeNum=0,edgeBorderNum=0,edgeNonManifNum=0;
+		CountEdgeNum(m, edgeNum, edgeBorderNum,edgeNonManifNum);
+		return  (edgeBorderNum==0) && (edgeNonManifNum==0);
+	}
 
-  static void CountEdgeNum( MeshType & m, int &total_e, int &boundary_e, int &non_manif_e )
-  {
-    std::vector< typename tri::UpdateTopology<MeshType>::PEdge > edgeVec;
-    tri::UpdateTopology<MeshType>::FillEdgeVector(m,edgeVec,true);
-    sort(edgeVec.begin(), edgeVec.end());		// Lo ordino per vertici
-    total_e=0;
-    boundary_e=0;
-    non_manif_e=0;
+	static void CountEdgeNum( MeshType & m, int &total_e, int &boundary_e, int &non_manif_e )
+	{
+		std::vector< typename tri::UpdateTopology<MeshType>::PEdge > edgeVec;
+		tri::UpdateTopology<MeshType>::FillEdgeVector(m,edgeVec,true);
+		sort(edgeVec.begin(), edgeVec.end());		// Lo ordino per vertici
+		total_e=0;
+		boundary_e=0;
+		non_manif_e=0;
 
-    size_t f_on_cur_edge =1;
-    for(size_t i=0;i<edgeVec.size();++i)
-    {
-      if(( (i+1) == edgeVec.size()) ||  !(edgeVec[i] == edgeVec[i+1]))
-      {
-        ++total_e;
-        if(f_on_cur_edge==1)
-          ++boundary_e;
-        if(f_on_cur_edge>2)
-          ++non_manif_e;
-        f_on_cur_edge=1;
-      }
-      else
-      {
-        ++f_on_cur_edge;
-      }
-    } // end for
-  }
+		size_t f_on_cur_edge =1;
+		for(size_t i=0;i<edgeVec.size();++i)
+		{
+			if(( (i+1) == edgeVec.size()) ||  !(edgeVec[i] == edgeVec[i+1]))
+			{
+				++total_e;
+				if(f_on_cur_edge==1)
+					++boundary_e;
+				if(f_on_cur_edge>2)
+					++non_manif_e;
+				f_on_cur_edge=1;
+			}
+			else
+			{
+				++f_on_cur_edge;
+			}
+		} // end for
+	}
 
 
 
-  static int CountHoles( MeshType & m)
-  {
-    UpdateFlags<MeshType>::FaceClearV(m);
-    int loopNum=0;
-    for(FaceIterator fi=m.face.begin(); fi!=m.face.end();++fi) if(!fi->IsD())
-    {
-        for(int j=0;j<3;++j)
-        {
-          if(!fi->IsV() && face::IsBorder(*fi,j))
-          {
-            face::Pos<FaceType> startPos(&*fi,j);
-            face::Pos<FaceType> curPos=startPos;
-            do
-            {
-              curPos.NextB();
-              curPos.F()->SetV();
-            }
-            while(curPos!=startPos);          
-            ++loopNum;
-          }
-        }
-    }
-    return loopNum;
-  }
+	static int CountHoles( MeshType & m)
+	{
+		UpdateFlags<MeshType>::FaceClearV(m);
+		int loopNum=0;
+		for(FaceIterator fi=m.face.begin(); fi!=m.face.end();++fi) if(!fi->IsD())
+		{
+			for(int j=0;j<3;++j)
+			{
+				if(!fi->IsV() && face::IsBorder(*fi,j))
+				{
+					face::Pos<FaceType> startPos(&*fi,j);
+					face::Pos<FaceType> curPos=startPos;
+					do
+					{
+						curPos.NextB();
+						curPos.F()->SetV();
+					}
+					while(curPos!=startPos);
+					++loopNum;
+				}
+			}
+		}
+		return loopNum;
+	}
 
-  /*
+	/*
   Compute the set of connected components of a given mesh
   it fills a vector of pair < int , faceptr > with, for each connecteed component its size and a represnant
  */
-  static int CountConnectedComponents(MeshType &m)
-  {
-    std::vector< std::pair<int,FacePointer> > CCV;
-    return ConnectedComponents(m,CCV);
-  }
-
-  static int ConnectedComponents(MeshType &m, std::vector< std::pair<int,FacePointer> > &CCV)
-  {
-    tri::RequireFFAdjacency(m);
-    CCV.clear();
-    tri::UpdateFlags<MeshType>::FaceClearV(m);
-    std::stack<FacePointer> sf;
-    FacePointer fpt=&*(m.face.begin());
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-    {
-      if(!((*fi).IsD()) && !(*fi).IsV())
-      {
-        (*fi).SetV();
-        CCV.push_back(std::make_pair(0,&*fi));
-        sf.push(&*fi);
-        while (!sf.empty())
-        {
-          fpt=sf.top();
-          ++CCV.back().first;
-          sf.pop();
-          for(int j=0;j<3;++j)
-          {
-            if( !face::IsBorder(*fpt,j) )
-            {
-              FacePointer l = fpt->FFp(j);
-              if( !(*l).IsV() )
-              {
-                (*l).SetV();
-                sf.push(l);
-              }
-            }
-          }
-        }
-      }
-    }
-    return int(CCV.size());
-  }
-
-  static void ComputeValence( MeshType &m, typename MeshType::PerVertexIntHandle &h)
-  {
-    for(VertexIterator vi=m.vert.begin(); vi!= m.vert.end();++vi)
-      h[vi]=0;
-
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-    {
-      if(!((*fi).IsD()))
-        for(int j=0;j<fi->VN();j++)
-          ++h[tri::Index(m,fi->V(j))];
-    }
-  }
-
-  /**
-            GENUS.
-
-            A topologically invariant property of a surface defined as
-            the largest number of non-intersecting simple closed curves that can be
-            drawn on the surface without separating it.
-
-      Roughly speaking, it is the number of holes in a surface.
-            The genus g of a closed surface, also called the geometric genus, is related to the
-            Euler characteristic by the relation $chi$ by $chi==2-2g$.
-
-            The genus of a connected, orientable surface is an integer representing the maximum
-            number of cuttings along closed simple curves without rendering the resultant
-            manifold disconnected. It is equal to the number of handles on it.
-
-            For general polyhedra the <em>Euler Formula</em> is:
-
-                  V - E + F = 2 - 2G - B
-
-            where V is the number of vertices, F is the number of faces, E is the
-            number of edges, G is the genus and B is the number of <em>boundary polygons</em>.
-
-            The above formula is valid for a mesh with one single connected component.
-            By considering multiple connected components the formula becomes:
-
-                  V - E + F = 2C - 2Gs - B   ->   2Gs = - ( V-E+F +B -2C)
-
-            where C is the number of connected components and Gs is the sum of
-            the genus of all connected components.
-
-            Note that in the case of a mesh with boundaries the intuitive meaning of Genus is less intuitive that it could seem.
-            A closed sphere, a sphere with one hole (e.g. a disk) and a sphere with two holes (e.g. a tube) all of them have Genus == 0
-
-            */
-
-  static int MeshGenus(int nvert,int nedges,int nfaces, int numholes, int numcomponents)
-  {
-    return -((nvert + nfaces - nedges + numholes - 2 * numcomponents) / 2);
-  }
-
-  static int MeshGenus(MeshType &m)
-  {
-    int nvert=m.vn;
-    int nfaces=m.fn;
-    int boundary_e,total_e,nonmanif_e;
-    CountEdgeNum(m,total_e,boundary_e,nonmanif_e);
-    int numholes=CountHoles(m);
-    int numcomponents=CountConnectedComponents(m);
-    int G=MeshGenus(nvert,total_e,nfaces,numholes,numcomponents);
-    return G;
-  }
-
-  /**
-             * Check if the given mesh is regular, semi-regular or irregular.
-             *
-             * Each vertex of a \em regular mesh has valence 6 except for border vertices
-             * which have valence 4.
-             *
-             * A \em semi-regular mesh is derived from an irregular one applying
-             * 1-to-4 subdivision recursively. (not checked for now)
-             *
-             * All other meshes are \em irregular.
-             */
-  static void IsRegularMesh(MeshType &m, bool &Regular, bool &Semiregular)
-  {
-    RequireVFAdjacency(m);
-    Regular = true;
-
-    VertexIterator vi;
-
-    // for each vertex the number of edges are count
-    for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
-    {
-      if (!vi->IsD())
-      {
-        face::Pos<FaceType> he((*vi).VFp(), &*vi);
-        face::Pos<FaceType> ht = he;
-
-        int n=0;
-        bool border=false;
-        do
-        {
-          ++n;
-          ht.NextE();
-          if (ht.IsBorder())
-            border=true;
-        }
-        while (ht != he);
-
-        if (border)
-          n = n/2;
-
-        if ((n != 6)&&(!border && n != 4))
-        {
-          Regular = false;
-          break;
-        }
-      }
-    }
-
-    if (!Regular)
-      Semiregular = false;
-    else
-    {
-      // For now we do not account for semi-regularity
-      Semiregular = false;
-    }
-  }
-
-
-  static bool IsCoherentlyOrientedMesh(MeshType &m)
-  {
-    RequireFFAdjacency(m);
-    MeshAssert<MeshType>::FFAdjacencyIsInitialized(m);       
-    for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
-      if (!fi->IsD())
-        for(int i=0;i<3;++i)
-          if(!face::CheckOrientation(*fi,i))
-            return false;
-
-    return true;
-  }
-
-  static void OrientCoherentlyMesh(MeshType &m, bool &_IsOriented, bool &_IsOrientable)
-  {
-    RequireFFAdjacency(m);
-    MeshAssert<MeshType>::FFAdjacencyIsInitialized(m);   
-    bool IsOrientable = true;
-    bool IsOriented = true;
-
-    UpdateFlags<MeshType>::FaceClearV(m);
-    std::stack<FacePointer> faces;
-    for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
-    {
-      if (!fi->IsD() && !fi->IsV())
-      {
-        // each face put in the stack is selected (and oriented)
-        fi->SetV();
-        faces.push(&(*fi));
-        while (!faces.empty())
-        {
-          FacePointer fp = faces.top();
-          faces.pop();
-
-          // make consistently oriented the adjacent faces
-          for (int j = 0; j < 3; j++)
-          {
-            if (!face::IsBorder(*fp,j) && face::IsManifold<FaceType>(*fp, j))
-            {
-              FacePointer fpaux = fp->FFp(j);
-              int iaux = fp->FFi(j);
-              if (!CheckOrientation(*fpaux, iaux))
-              {
-                IsOriented = false;
-
-                if (!fpaux->IsV())
-                  face::SwapEdge<FaceType,true>(*fpaux, iaux);
-                else
-                {
-                  IsOrientable = false;
-                  break;
-                }
-              }
-              if (!fpaux->IsV())
-              {
-                fpaux->SetV();
-                faces.push(fpaux);
-              }
-            }
-          }
-        }
-      }
-      if (!IsOrientable)	break;
-    }
-    _IsOriented = IsOriented;
-    _IsOrientable = IsOrientable;
-  }
-
-
-  /// Flip the orientation of the whole mesh flipping all the faces (by swapping the first two vertices)
-  static void FlipMesh(MeshType &m, bool selected=false)
-  {
-    for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) if(!(*fi).IsD())
-      if(!selected || (*fi).IsS())
-      {
-        face::SwapEdge<FaceType,false>((*fi), 0);
-        if (HasPerWedgeTexCoord(m))
-          std::swap((*fi).WT(0),(*fi).WT(1));
-      }
-  }
-  /// Flip a mesh so that its normals are orented outside.
-  /// Just for safety it uses a voting scheme.
-  /// It assumes that
-  /// mesh has already has coherent normals.
-  /// mesh is watertight and signle component.
-  static bool FlipNormalOutside(MeshType &m)
-  {
-    if(m.vert.empty()) return false;
-
-    tri::UpdateNormal<MeshType>::PerVertexAngleWeighted(m);
-    tri::UpdateNormal<MeshType>::NormalizePerVertex(m);
-
-    std::vector< VertexPointer > minVertVec;
-    std::vector< VertexPointer > maxVertVec;
-
-    // The set of directions to be choosen
-    std::vector< CoordType > dirVec;
-    dirVec.push_back(CoordType(1,0,0));
-    dirVec.push_back(CoordType(0,1,0));
-    dirVec.push_back(CoordType(0,0,1));
-    dirVec.push_back(CoordType( 1, 1,1));
-    dirVec.push_back(CoordType(-1, 1,1));
-    dirVec.push_back(CoordType(-1,-1,1));
-    dirVec.push_back(CoordType( 1,-1,1));
-    for(size_t i=0;i<dirVec.size();++i)
-    {
-      Normalize(dirVec[i]);
-      minVertVec.push_back(&*m.vert.begin());
-      maxVertVec.push_back(&*m.vert.begin());
-    }
-    for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi) if(!(*vi).IsD())
-    {
-      for(size_t i=0;i<dirVec.size();++i)
-      {
-        if( (*vi).cP().dot(dirVec[i]) < minVertVec[i]->P().dot(dirVec[i])) minVertVec[i] = &*vi;
-        if( (*vi).cP().dot(dirVec[i]) > maxVertVec[i]->P().dot(dirVec[i])) maxVertVec[i] = &*vi;
-      }
-    }
-
-    int voteCount=0;
-    ScalarType angleThreshold = cos(math::ToRad(85.0));
-    for(size_t i=0;i<dirVec.size();++i)
-    {
-      //          qDebug("Min vert along (%f %f %f) is %f %f %f",dirVec[i][0],dirVec[i][1],dirVec[i][2],minVertVec[i]->P()[0],minVertVec[i]->P()[1],minVertVec[i]->P()[2]);
-      //          qDebug("Max vert along (%f %f %f) is %f %f %f",dirVec[i][0],dirVec[i][1],dirVec[i][2],maxVertVec[i]->P()[0],maxVertVec[i]->P()[1],maxVertVec[i]->P()[2]);
-      if(minVertVec[i]->N().dot(dirVec[i]) > angleThreshold ) voteCount++;
-      if(maxVertVec[i]->N().dot(dirVec[i]) < -angleThreshold ) voteCount++;
-    }
-    //        qDebug("votecount = %i",voteCount);
-    if(voteCount < int(dirVec.size())/2) return false;
-    FlipMesh(m);
-    return true;
-  }
-
-  // Search and remove small single triangle folds
-  // - a face has normal opposite to all other faces
-  // - choose the edge that brings to the face f1 containing the vertex opposite to that edge.
-  static int RemoveFaceFoldByFlip(MeshType &m, float normalThresholdDeg=175, bool repeat=true)
-  {
-    RequireFFAdjacency(m);
-    RequirePerVertexMark(m);
-    //Counters for logging and convergence
-    int count, total = 0;
-
-    do {
-      tri::UpdateTopology<MeshType>::FaceFace(m);
-      tri::UnMarkAll(m);
-      count = 0;
-
-      ScalarType NormalThrRad = math::ToRad(normalThresholdDeg);
-      ScalarType eps = 0.0001; // this epsilon value is in absolute value. It is a distance from edge in baricentric coords.
-      //detection stage
-      for(FaceIterator fi=m.face.begin();fi!= m.face.end();++fi ) if(!(*fi).IsV())
-      { Point3<ScalarType> NN = vcg::TriangleNormal((*fi)).Normalize();
-        if( vcg::AngleN(NN,TriangleNormal(*(*fi).FFp(0)).Normalize()) > NormalThrRad &&
-            vcg::AngleN(NN,TriangleNormal(*(*fi).FFp(1)).Normalize()) > NormalThrRad &&
-            vcg::AngleN(NN,TriangleNormal(*(*fi).FFp(2)).Normalize()) > NormalThrRad )
-        {
-          (*fi).SetS();
-          //(*fi).C()=Color4b(Color4b::Red);
-          // now search the best edge to flip
-          for(int i=0;i<3;i++)
-          {
-            Point3<ScalarType> &p=(*fi).P2(i);
-            Point3<ScalarType> L;
-            bool ret = vcg::InterpolationParameters((*(*fi).FFp(i)),TriangleNormal(*(*fi).FFp(i)),p,L);
-            if(ret && L[0]>eps && L[1]>eps && L[2]>eps)
-            {
-              (*fi).FFp(i)->SetS();
-              (*fi).FFp(i)->SetV();
-              //(*fi).FFp(i)->C()=Color4b(Color4b::Green);
-              if(face::CheckFlipEdge<FaceType>( *fi, i ))  {
-                face::FlipEdge<FaceType>( *fi, i );
-                ++count; ++total;
-              }
-            }
-          }
-        }
-      }
-
-      // tri::UpdateNormal<MeshType>::PerFace(m);
-    }
-    while( repeat && count );
-    return total;
-  }
-
-
-  static int RemoveTVertexByFlip(MeshType &m, float threshold=40, bool repeat=true)
-  {
-    RequireFFAdjacency(m);
-    RequirePerVertexMark(m);
-    //Counters for logging and convergence
-    int count, total = 0;
-
-    do {
-      tri::UpdateTopology<MeshType>::FaceFace(m);
-      tri::UnMarkAll(m);
-      count = 0;
-
-      //detection stage
-      for(unsigned int index = 0 ; index < m.face.size(); ++index )
-      {
-        FacePointer f = &(m.face[index]);    float sides[3]; CoordType dummy;
-        sides[0] = Distance(f->P(0), f->P(1));
-        sides[1] = Distance(f->P(1), f->P(2));
-        sides[2] = Distance(f->P(2), f->P(0));
-        // Find largest triangle side
-        int i = std::find(sides, sides+3, std::max( std::max(sides[0],sides[1]), sides[2])) - (sides);
-        if( tri::IsMarked(m,f->V2(i) )) continue;
-
-        if( PSDist(f->P2(i),f->P(i),f->P1(i),dummy)*threshold <= sides[i] )
-        {
-          tri::Mark(m,f->V2(i));
-          if(face::CheckFlipEdge<FaceType>( *f, i ))  {
-            // Check if EdgeFlipping improves quality
-            FacePointer g = f->FFp(i); int k = f->FFi(i);
-            Triangle3<ScalarType> t1(f->P(i), f->P1(i), f->P2(i)), t2(g->P(k), g->P1(k), g->P2(k)),
-                t3(f->P(i), g->P2(k), f->P2(i)), t4(g->P(k), f->P2(i), g->P2(k));
-
-            if ( std::min( QualityFace(t1), QualityFace(t2) ) < std::min( QualityFace(t3), QualityFace(t4) ))
-            {
-              face::FlipEdge<FaceType>( *f, i );
-              ++count; ++total;
-            }
-          }
-
-        }
-      }
-
-      // tri::UpdateNormal<MeshType>::PerFace(m);
-    }
-    while( repeat && count );
-    return total;
-  }
-
-  static int RemoveTVertexByCollapse(MeshType &m, float threshold=40, bool repeat=true)
-  {
-    RequirePerVertexMark(m);
-    //Counters for logging and convergence
-    int count, total = 0;
-
-    do {
-      tri::UnMarkAll(m);
-      count = 0;
-
-      //detection stage
-      for(unsigned int index = 0 ; index < m.face.size(); ++index )
-      {
-        FacePointer f = &(m.face[index]);
-        float sides[3];
-        CoordType dummy;
-
-        sides[0] = Distance(f->P(0), f->P(1));
-        sides[1] = Distance(f->P(1), f->P(2));
-        sides[2] = Distance(f->P(2), f->P(0));
-        int i = std::find(sides, sides+3, std::max( std::max(sides[0],sides[1]), sides[2])) - (sides);
-        if( tri::IsMarked(m,f->V2(i) )) continue;
-
-        if( PSDist(f->P2(i),f->P(i),f->P1(i),dummy)*threshold <= sides[i] )
-        {
-          tri::Mark(m,f->V2(i));
-
-          int j = Distance(dummy,f->P(i))<Distance(dummy,f->P1(i))?i:(i+1)%3;
-          f->P2(i) = f->P(j);  tri::Mark(m,f->V(j));
-          ++count; ++total;
-        }
-      }
-
-
-      tri::Clean<MeshType>::RemoveDuplicateVertex(m);
-      tri::Allocator<MeshType>::CompactFaceVector(m);
-      tri::Allocator<MeshType>::CompactVertexVector(m);
-    }
-    while( repeat && count );
-
-    return total;
-  }
-
-  static bool SelfIntersections(MeshType &m, std::vector<FaceType*> &ret)
-  {
-    RequirePerFaceMark(m);
-    ret.clear();
-    int referredBit = FaceType::NewBitFlag();
-    tri::UpdateFlags<MeshType>::FaceClear(m,referredBit);
-
-    TriMeshGrid gM;
-    gM.Set(m.face.begin(),m.face.end());
-
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
-    {
-      (*fi).SetUserBit(referredBit);
-      Box3< ScalarType> bbox;
-      (*fi).GetBBox(bbox);
-      std::vector<FaceType*> inBox;
-      vcg::tri::GetInBoxFace(m, gM, bbox,inBox);
-      bool Intersected=false;
-      typename std::vector<FaceType*>::iterator fib;
-      for(fib=inBox.begin();fib!=inBox.end();++fib)
-      {
-        if(!(*fib)->IsUserBit(referredBit) && (*fib != &*fi) )
-          if(Clean<MeshType>::TestFaceFaceIntersection(&*fi,*fib)){
-            ret.push_back(*fib);
-            if(!Intersected) {
-              ret.push_back(&*fi);
-              Intersected=true;
-            }
-          }
-      }
-      inBox.clear();
-    }
-
-    FaceType::DeleteBitFlag(referredBit);
-    return (ret.size()>0);
-  }
-
-  /**
-      This function simply test that the vn and fn counters be consistent with the size of the containers and the number of deleted simplexes.
-      */
-  static bool IsSizeConsistent(MeshType &m)
-  {
-    int DeletedVertNum=0;
-    for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
-      if((*vi).IsD()) DeletedVertNum++;
-
-    int DeletedEdgeNum=0;
-    for (EdgeIterator ei = m.edge.begin(); ei != m.edge.end(); ++ei)
-      if((*ei).IsD()) DeletedEdgeNum++;
-
-    int DeletedFaceNum=0;
-    for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
-      if((*fi).IsD()) DeletedFaceNum++;
-
-    if(size_t(m.vn+DeletedVertNum) != m.vert.size()) return false;
-    if(size_t(m.en+DeletedEdgeNum) != m.edge.size()) return false;
-    if(size_t(m.fn+DeletedFaceNum) != m.face.size()) return false;
-
-    return true;
-  }
-
-  /**
-      This function simply test that all the faces have a consistent face-face topology relation.
-      useful for checking that a topology modifying algorithm does not mess something.
-      */
-  static bool IsFFAdjacencyConsistent(MeshType &m)
-  {
-    RequireFFAdjacency(m);
-
-    for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
-      if(!(*fi).IsD())
-      {
-        for(int i=0;i<3;++i)
-          if(!FFCorrectness(*fi, i)) return false;
-      }
-    return true;
-  }
-
-  /**
-      This function simply test that a mesh has some reasonable tex coord.
-      */
-  static bool HasConsistentPerWedgeTexCoord(MeshType &m)
-  {
-    tri::RequirePerFaceWedgeTexCoord(m);
-
-    for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
-      if(!(*fi).IsD())
-      { FaceType &f=(*fi);
-        if( ! ( (f.WT(0).N() == f.WT(1).N()) && (f.WT(0).N() == (*fi).WT(2).N()) )  )
-          return false; // all the vertices must have the same index.
-
-        if((*fi).WT(0).N() <0) return false; // no undefined texture should be allowed
-      }
-    return true;
-  }
-
-  /**
+	static int CountConnectedComponents(MeshType &m)
+	{
+		std::vector< std::pair<int,FacePointer> > CCV;
+		return ConnectedComponents(m,CCV);
+	}
+
+	static int ConnectedComponents(MeshType &m, std::vector< std::pair<int,FacePointer> > &CCV)
+	{
+		tri::RequireFFAdjacency(m);
+		CCV.clear();
+		tri::UpdateFlags<MeshType>::FaceClearV(m);
+		std::stack<FacePointer> sf;
+		FacePointer fpt=&*(m.face.begin());
+		for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
+		{
+			if(!((*fi).IsD()) && !(*fi).IsV())
+			{
+				(*fi).SetV();
+				CCV.push_back(std::make_pair(0,&*fi));
+				sf.push(&*fi);
+				while (!sf.empty())
+				{
+					fpt=sf.top();
+					++CCV.back().first;
+					sf.pop();
+					for(int j=0; j<fpt->VN(); ++j)
+					{
+						if( !face::IsBorder(*fpt,j) )
+						{
+							FacePointer l = fpt->FFp(j);
+							if( !(*l).IsV() )
+							{
+								(*l).SetV();
+								sf.push(l);
+							}
+						}
+					}
+				}
+			}
+		}
+		return int(CCV.size());
+	}
+
+	static int edgeMeshConnectedComponents(MeshType & poly,  std::vector<std::pair<int, typename MeshType::EdgePointer> > &eCC)
+	{
+		typedef typename MeshType::EdgePointer EdgePointer;
+		tri::UpdateTopology<MeshType>::VertexEdge(poly);
+		tri::UpdateFlags<MeshType>::EdgeClear(poly);
+		eCC.clear();
+		std::stack<EdgePointer> stack;
+
+		for (auto ei = poly.edge.begin(); ei != poly.edge.end(); ++ei)
+			if (!ei->IsD() && !ei->IsV())
+			{
+				ei->SetV();
+
+				std::pair<int, EdgePointer> cc(1, &*ei);
+
+				stack.push(&*ei);
+				while (!stack.empty())
+				{
+					EdgePointer ep = stack.top();
+					stack.pop();
+
+					for (int i = 0; i < 2; ++i)
+					{
+						edge::VEIterator<typename MeshType::EdgeType> vei(ep->V(i));
+						while (!vei.End())
+						{
+							if (!vei.E()->IsV())
+							{
+								vei.E()->SetV();
+								stack.push(vei.E());
+								cc.first += 1;
+							}
+							++vei;
+						}
+					}
+				}
+				eCC.push_back(cc);
+			}
+		return int(eCC.size());
+	}
+
+	static void ComputeValence( MeshType &m, typename MeshType::PerVertexIntHandle &h)
+	{
+		for(VertexIterator vi=m.vert.begin(); vi!= m.vert.end();++vi)
+			h[vi]=0;
+
+		for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
+		{
+			if(!((*fi).IsD()))
+				for(int j=0;j<fi->VN();j++)
+					++h[tri::Index(m,fi->V(j))];
+		}
+	}
+
+	/**
+			GENUS.
+
+			A topologically invariant property of a surface defined as
+			the largest number of non-intersecting simple closed curves that can be
+			drawn on the surface without separating it.
+
+	  Roughly speaking, it is the number of holes in a surface.
+			The genus g of a closed surface, also called the geometric genus, is related to the
+			Euler characteristic by the relation $chi$ by $chi==2-2g$.
+
+			The genus of a connected, orientable surface is an integer representing the maximum
+			number of cuttings along closed simple curves without rendering the resultant
+			manifold disconnected. It is equal to the number of handles on it.
+
+			For general polyhedra the <em>Euler Formula</em> is:
+
+				  V - E + F = 2 - 2G - B
+
+			where V is the number of vertices, F is the number of faces, E is the
+			number of edges, G is the genus and B is the number of <em>boundary polygons</em>.
+
+			The above formula is valid for a mesh with one single connected component.
+			By considering multiple connected components the formula becomes:
+
+				  V - E + F = 2C - 2Gs - B   ->   2Gs = - ( V-E+F +B -2C)
+
+			where C is the number of connected components and Gs is the sum of
+			the genus of all connected components.
+
+			Note that in the case of a mesh with boundaries the intuitive meaning of Genus is less intuitive that it could seem.
+			A closed sphere, a sphere with one hole (e.g. a disk) and a sphere with two holes (e.g. a tube) all of them have Genus == 0
+
+			*/
+
+	static int MeshGenus(int nvert,int nedges,int nfaces, int numholes, int numcomponents)
+	{
+		return -((nvert + nfaces - nedges + numholes - 2 * numcomponents) / 2);
+	}
+
+	static int MeshGenus(MeshType &m)
+	{
+		int nvert=m.vn;
+		int nfaces=m.fn;
+		int boundary_e,total_e,nonmanif_e;
+		CountEdgeNum(m,total_e,boundary_e,nonmanif_e);
+		int numholes=CountHoles(m);
+		int numcomponents=CountConnectedComponents(m);
+		int G=MeshGenus(nvert,total_e,nfaces,numholes,numcomponents);
+		return G;
+	}
+
+	/**
+			 * Check if the given mesh is regular, semi-regular or irregular.
+			 *
+			 * Each vertex of a \em regular mesh has valence 6 except for border vertices
+			 * which have valence 4.
+			 *
+			 * A \em semi-regular mesh is derived from an irregular one applying
+			 * 1-to-4 subdivision recursively. (not checked for now)
+			 *
+			 * All other meshes are \em irregular.
+			 */
+	static void IsRegularMesh(MeshType &m, bool &Regular, bool &Semiregular)
+	{
+		RequireVFAdjacency(m);
+		Regular = true;
+
+		VertexIterator vi;
+
+		// for each vertex the number of edges are count
+		for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+		{
+			if (!vi->IsD())
+			{
+				face::Pos<FaceType> he((*vi).VFp(), &*vi);
+				face::Pos<FaceType> ht = he;
+
+				int n=0;
+				bool border=false;
+				do
+				{
+					++n;
+					ht.NextE();
+					if (ht.IsBorder())
+						border=true;
+				}
+				while (ht != he);
+
+				if (border)
+					n = n/2;
+
+				if ((n != 6)&&(!border && n != 4))
+				{
+					Regular = false;
+					break;
+				}
+			}
+		}
+
+		if (!Regular)
+			Semiregular = false;
+		else
+		{
+			// For now we do not account for semi-regularity
+			Semiregular = false;
+		}
+	}
+
+
+	static bool IsCoherentlyOrientedMesh(MeshType &m)
+	{
+		RequireFFAdjacency(m);
+		MeshAssert<MeshType>::FFAdjacencyIsInitialized(m);
+		for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+			if (!fi->IsD())
+				for(int i=0;i<3;++i)
+					if(!face::CheckOrientation(*fi,i))
+						return false;
+
+		return true;
+	}
+
+	static void OrientCoherentlyMesh(MeshType &m, bool &_IsOriented, bool &_IsOrientable)
+	{
+		RequireFFAdjacency(m);
+		MeshAssert<MeshType>::FFAdjacencyIsInitialized(m);
+		bool IsOrientable = true;
+		bool IsOriented = true;
+
+		UpdateFlags<MeshType>::FaceClearV(m);
+		std::stack<FacePointer> faces;
+		for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+		{
+			if (!fi->IsD() && !fi->IsV())
+			{
+				// each face put in the stack is selected (and oriented)
+				fi->SetV();
+				faces.push(&(*fi));
+				while (!faces.empty())
+				{
+					FacePointer fp = faces.top();
+					faces.pop();
+
+					// make consistently oriented the adjacent faces
+					for (int j = 0; j < 3; j++)
+					{
+						if (!face::IsBorder(*fp,j) && face::IsManifold<FaceType>(*fp, j))
+						{
+							FacePointer fpaux = fp->FFp(j);
+							int iaux = fp->FFi(j);
+							if (!CheckOrientation(*fpaux, iaux))
+							{
+								IsOriented = false;
+
+								if (!fpaux->IsV())
+									face::SwapEdge<FaceType,true>(*fpaux, iaux);
+								else
+								{
+									IsOrientable = false;
+									break;
+								}
+							}
+							if (!fpaux->IsV())
+							{
+								fpaux->SetV();
+								faces.push(fpaux);
+							}
+						}
+					}
+				}
+			}
+			if (!IsOrientable)	break;
+		}
+		_IsOriented = IsOriented;
+		_IsOrientable = IsOrientable;
+	}
+
+
+	/// Flip the orientation of the whole mesh flipping all the faces (by swapping the first two vertices)
+	static void FlipMesh(MeshType &m, bool selected=false)
+	{
+		for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi) if(!(*fi).IsD())
+			if(!selected || (*fi).IsS())
+			{
+				face::SwapEdge<FaceType,false>((*fi), 0);
+				if (HasPerWedgeTexCoord(m))
+					std::swap((*fi).WT(0),(*fi).WT(1));
+			}
+	}
+	/// Flip a mesh so that its normals are orented outside.
+	/// Just for safety it uses a voting scheme.
+	/// It assumes that
+	/// mesh has already has coherent normals.
+	/// mesh is watertight and signle component.
+	static bool FlipNormalOutside(MeshType &m)
+	{
+		if(m.vert.empty()) return false;
+
+		tri::UpdateNormal<MeshType>::PerVertexAngleWeighted(m);
+		tri::UpdateNormal<MeshType>::NormalizePerVertex(m);
+
+		std::vector< VertexPointer > minVertVec;
+		std::vector< VertexPointer > maxVertVec;
+
+		// The set of directions to be choosen
+		std::vector< CoordType > dirVec;
+		dirVec.push_back(CoordType(1,0,0));
+		dirVec.push_back(CoordType(0,1,0));
+		dirVec.push_back(CoordType(0,0,1));
+		dirVec.push_back(CoordType( 1, 1,1));
+		dirVec.push_back(CoordType(-1, 1,1));
+		dirVec.push_back(CoordType(-1,-1,1));
+		dirVec.push_back(CoordType( 1,-1,1));
+		for(size_t i=0;i<dirVec.size();++i)
+		{
+			Normalize(dirVec[i]);
+			minVertVec.push_back(&*m.vert.begin());
+			maxVertVec.push_back(&*m.vert.begin());
+		}
+		for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi) if(!(*vi).IsD())
+		{
+			for(size_t i=0;i<dirVec.size();++i)
+			{
+				if( (*vi).cP().dot(dirVec[i]) < minVertVec[i]->P().dot(dirVec[i])) minVertVec[i] = &*vi;
+				if( (*vi).cP().dot(dirVec[i]) > maxVertVec[i]->P().dot(dirVec[i])) maxVertVec[i] = &*vi;
+			}
+		}
+
+		int voteCount=0;
+		ScalarType angleThreshold = cos(math::ToRad(85.0));
+		for(size_t i=0;i<dirVec.size();++i)
+		{
+			//          qDebug("Min vert along (%f %f %f) is %f %f %f",dirVec[i][0],dirVec[i][1],dirVec[i][2],minVertVec[i]->P()[0],minVertVec[i]->P()[1],minVertVec[i]->P()[2]);
+			//          qDebug("Max vert along (%f %f %f) is %f %f %f",dirVec[i][0],dirVec[i][1],dirVec[i][2],maxVertVec[i]->P()[0],maxVertVec[i]->P()[1],maxVertVec[i]->P()[2]);
+			if(minVertVec[i]->N().dot(dirVec[i]) > angleThreshold ) voteCount++;
+			if(maxVertVec[i]->N().dot(dirVec[i]) < -angleThreshold ) voteCount++;
+		}
+		//        qDebug("votecount = %i",voteCount);
+		if(voteCount < int(dirVec.size())/2) return false;
+		FlipMesh(m);
+		return true;
+	}
+
+	// Search and remove small single triangle folds
+	// - a face has normal opposite to all other faces
+	// - choose the edge that brings to the face f1 containing the vertex opposite to that edge.
+	static int RemoveFaceFoldByFlip(MeshType &m, float normalThresholdDeg=175, bool repeat=true)
+	{
+		RequireFFAdjacency(m);
+		RequirePerVertexMark(m);
+		//Counters for logging and convergence
+		int count, total = 0;
+
+		do {
+			tri::UpdateTopology<MeshType>::FaceFace(m);
+			tri::UnMarkAll(m);
+			count = 0;
+
+			ScalarType NormalThrRad = math::ToRad(normalThresholdDeg);
+			ScalarType eps = ScalarType(0.0001); // this epsilon value is in absolute value. It is a distance from edge in baricentric coords.
+			//detection stage
+			for(FaceIterator fi=m.face.begin();fi!= m.face.end();++fi ) if(!(*fi).IsV())
+			{ Point3<ScalarType> NN = vcg::TriangleNormal((*fi)).Normalize();
+				if( vcg::AngleN(NN,TriangleNormal(*(*fi).FFp(0)).Normalize()) > NormalThrRad &&
+				    vcg::AngleN(NN,TriangleNormal(*(*fi).FFp(1)).Normalize()) > NormalThrRad &&
+				    vcg::AngleN(NN,TriangleNormal(*(*fi).FFp(2)).Normalize()) > NormalThrRad )
+				{
+					(*fi).SetS();
+					//(*fi).C()=Color4b(Color4b::Red);
+					// now search the best edge to flip
+					for(int i=0;i<3;i++)
+					{
+						Point3<ScalarType> &p=(*fi).P2(i);
+						Point3<ScalarType> L;
+						bool ret = vcg::InterpolationParameters((*(*fi).FFp(i)),TriangleNormal(*(*fi).FFp(i)),p,L);
+						if(ret && L[0]>eps && L[1]>eps && L[2]>eps)
+						{
+							(*fi).FFp(i)->SetS();
+							(*fi).FFp(i)->SetV();
+							//(*fi).FFp(i)->C()=Color4b(Color4b::Green);
+							if(face::CheckFlipEdge<FaceType>( *fi, i ))  {
+								face::FlipEdge<FaceType>( *fi, i );
+								++count; ++total;
+							}
+						}
+					}
+				}
+			}
+
+			// tri::UpdateNormal<MeshType>::PerFace(m);
+		}
+		while( repeat && count );
+		return total;
+	}
+
+
+	static int RemoveTVertexByFlip(MeshType &m, float threshold=40, bool repeat=true)
+	{
+		RequireFFAdjacency(m);
+		RequirePerVertexMark(m);
+		//Counters for logging and convergence
+		int count, total = 0;
+
+		do {
+			tri::UpdateTopology<MeshType>::FaceFace(m);
+			tri::UnMarkAll(m);
+			count = 0;
+
+			//detection stage
+			for(unsigned int index = 0 ; index < m.face.size(); ++index )
+			{
+				FacePointer f = &(m.face[index]);    float sides[3]; CoordType dummy;
+				sides[0] = Distance(f->P(0), f->P(1));
+				sides[1] = Distance(f->P(1), f->P(2));
+				sides[2] = Distance(f->P(2), f->P(0));
+				// Find largest triangle side
+				int i = std::find(sides, sides+3, std::max( std::max(sides[0],sides[1]), sides[2])) - (sides);
+				if( tri::IsMarked(m,f->V2(i) )) continue;
+
+				if( PSDist(f->P2(i),f->P(i),f->P1(i),dummy)*threshold <= sides[i] )
+				{
+					tri::Mark(m,f->V2(i));
+					if(face::CheckFlipEdge<FaceType>( *f, i ))  {
+						// Check if EdgeFlipping improves quality
+						FacePointer g = f->FFp(i); int k = f->FFi(i);
+						Triangle3<ScalarType> t1(f->P(i), f->P1(i), f->P2(i)), t2(g->P(k), g->P1(k), g->P2(k)),
+						        t3(f->P(i), g->P2(k), f->P2(i)), t4(g->P(k), f->P2(i), g->P2(k));
+
+						if ( std::min( QualityFace(t1), QualityFace(t2) ) < std::min( QualityFace(t3), QualityFace(t4) ))
+						{
+							face::FlipEdge<FaceType>( *f, i );
+							++count; ++total;
+						}
+					}
+
+				}
+			}
+
+			// tri::UpdateNormal<MeshType>::PerFace(m);
+		}
+		while( repeat && count );
+		return total;
+	}
+
+	static int RemoveTVertexByCollapse(MeshType &m, float threshold=40, bool repeat=true)
+	{
+		RequirePerVertexMark(m);
+		//Counters for logging and convergence
+		int count, total = 0;
+
+		do {
+			tri::UnMarkAll(m);
+			count = 0;
+
+			//detection stage
+			for(unsigned int index = 0 ; index < m.face.size(); ++index )
+			{
+				FacePointer f = &(m.face[index]);
+				float sides[3];
+				CoordType dummy;
+
+				sides[0] = Distance(f->P(0), f->P(1));
+				sides[1] = Distance(f->P(1), f->P(2));
+				sides[2] = Distance(f->P(2), f->P(0));
+				int i = std::find(sides, sides+3, std::max( std::max(sides[0],sides[1]), sides[2])) - (sides);
+				if( tri::IsMarked(m,f->V2(i) )) continue;
+
+				if( PSDist(f->P2(i),f->P(i),f->P1(i),dummy)*threshold <= sides[i] )
+				{
+					tri::Mark(m,f->V2(i));
+
+					int j = Distance(dummy,f->P(i))<Distance(dummy,f->P1(i))?i:(i+1)%3;
+					f->P2(i) = f->P(j);  tri::Mark(m,f->V(j));
+					++count; ++total;
+				}
+			}
+
+
+			tri::Clean<MeshType>::RemoveDuplicateVertex(m);
+			tri::Allocator<MeshType>::CompactFaceVector(m);
+			tri::Allocator<MeshType>::CompactVertexVector(m);
+		}
+		while( repeat && count );
+
+		return total;
+	}
+
+	static bool SelfIntersections(MeshType &m, std::vector<FaceType*> &ret)
+	{
+		RequirePerFaceMark(m);
+		ret.clear();
+		int referredBit = FaceType::NewBitFlag();
+		tri::UpdateFlags<MeshType>::FaceClear(m,referredBit);
+
+		TriMeshGrid gM;
+		gM.Set(m.face.begin(),m.face.end());
+
+		for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
+		{
+			(*fi).SetUserBit(referredBit);
+			Box3< ScalarType> bbox;
+			(*fi).GetBBox(bbox);
+			std::vector<FaceType*> inBox;
+			vcg::tri::GetInBoxFace(m, gM, bbox,inBox);
+			bool Intersected=false;
+			typename std::vector<FaceType*>::iterator fib;
+			for(fib=inBox.begin();fib!=inBox.end();++fib)
+			{
+				if(!(*fib)->IsUserBit(referredBit) && (*fib != &*fi) )
+					if(Clean<MeshType>::TestFaceFaceIntersection(&*fi,*fib)){
+						ret.push_back(*fib);
+						if(!Intersected) {
+							ret.push_back(&*fi);
+							Intersected=true;
+						}
+					}
+			}
+			inBox.clear();
+		}
+
+		FaceType::DeleteBitFlag(referredBit);
+		return (ret.size()>0);
+	}
+
+	/**
+	  This function simply test that the vn and fn counters be consistent with the size of the containers and the number of deleted simplexes.
+	  */
+	static bool IsSizeConsistent(MeshType &m)
+	{
+		int DeletedVertNum=0;
+		for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+			if((*vi).IsD()) DeletedVertNum++;
+
+		int DeletedEdgeNum=0;
+		for (EdgeIterator ei = m.edge.begin(); ei != m.edge.end(); ++ei)
+			if((*ei).IsD()) DeletedEdgeNum++;
+
+		int DeletedFaceNum=0;
+		for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+			if((*fi).IsD()) DeletedFaceNum++;
+
+		if(size_t(m.vn+DeletedVertNum) != m.vert.size()) return false;
+		if(size_t(m.en+DeletedEdgeNum) != m.edge.size()) return false;
+		if(size_t(m.fn+DeletedFaceNum) != m.face.size()) return false;
+
+		return true;
+	}
+
+	/**
+	  This function simply test that all the faces have a consistent face-face topology relation.
+	  useful for checking that a topology modifying algorithm does not mess something.
+	  */
+	static bool IsFFAdjacencyConsistent(MeshType &m)
+	{
+		RequireFFAdjacency(m);
+
+		for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+			if(!(*fi).IsD())
+			{
+				for(int i=0;i<3;++i)
+					if(!FFCorrectness(*fi, i)) return false;
+			}
+		return true;
+	}
+
+	/**
+	  This function simply test that a mesh has some reasonable tex coord.
+	  */
+	static bool HasConsistentPerWedgeTexCoord(MeshType &m)
+	{
+		tri::RequirePerFaceWedgeTexCoord(m);
+
+		for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+			if(!(*fi).IsD())
+			{ FaceType &f=(*fi);
+				if( ! ( (f.WT(0).N() == f.WT(1).N()) && (f.WT(0).N() == (*fi).WT(2).N()) )  )
+					return false; // all the vertices must have the same index.
+
+				if((*fi).WT(0).N() <0) return false; // no undefined texture should be allowed
+			}
+		return true;
+	}
+
+	/**
   Simple check that there are no face with all collapsed tex coords.
   */
-  static bool HasZeroTexCoordFace(MeshType &m)
-  {
-    tri::RequirePerFaceWedgeTexCoord(m);
+	static bool HasZeroTexCoordFace(MeshType &m)
+	{
+		tri::RequirePerFaceWedgeTexCoord(m);
 
-    for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
-      if(!(*fi).IsD())
-      {
-        if( (*fi).WT(0).P() == (*fi).WT(1).P() && (*fi).WT(0).P() == (*fi).WT(2).P() ) return false;
-      }
-    return true;
-  }
+		for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+			if(!(*fi).IsD())
+			{
+				if( (*fi).WT(0).P() == (*fi).WT(1).P() && (*fi).WT(0).P() == (*fi).WT(2).P() ) return false;
+			}
+		return true;
+	}
 
 
-  /**
-        This function test if two triangular faces of a mesh intersect.
-        It assumes that the faces (as storage) are different (e.g different address)
-        If the two faces are different but coincident (same set of vertexes) return true.
-        if the faces share an edge no test is done.
-        if the faces share only a vertex, the opposite edge is tested against the face
+	/**
+		This function test if two triangular faces of a mesh intersect.
+		It assumes that the faces (as storage) are different (e.g different address)
+		If the two faces are different but coincident (same set of vertexes) return true.
+		if the faces share an edge no test is done.
+		if the faces share only a vertex, the opposite edge is tested against the face
   */
-  static	bool TestFaceFaceIntersection(FaceType *f0,FaceType *f1)
-  {
-    int sv = face::CountSharedVertex(f0,f1);
-    if(sv==3) return true;
-    if(sv==0) return (vcg::IntersectionTriangleTriangle<FaceType>((*f0),(*f1)));
-    //  if the faces share only a vertex, the opposite edge (as a segment) is tested against the face
-    //  to avoid degenerate cases where the two triangles have the opposite edge on a common plane
-    //  we offset the segment to test toward the shared vertex
-    if(sv==1)
-    {
-      int i0,i1; ScalarType a,b;
-      face::FindSharedVertex(f0,f1,i0,i1);
-      CoordType shP = f0->V(i0)->P()*0.5;
-      if(vcg::IntersectionSegmentTriangle(Segment3<ScalarType>((*f0).V1(i0)->P()*0.5+shP,(*f0).V2(i0)->P()*0.5+shP), *f1, a, b) )
-      {
-        // a,b are the param coords of the intersection point of the segment.
-        if(a+b>=1 || a<=EPSIL || b<=EPSIL ) return false;
-        return true;
-      }
-      if(vcg::IntersectionSegmentTriangle(Segment3<ScalarType>((*f1).V1(i1)->P()*0.5+shP,(*f1).V2(i1)->P()*0.5+shP), *f0, a, b) )
-      {
-        // a,b are the param coords of the intersection point of the segment.
-        if(a+b>=1 || a<=EPSIL || b<=EPSIL ) return false;
-        return true;
-      }
+	static	bool TestFaceFaceIntersection(FaceType *f0,FaceType *f1)
+	{
+		int sv = face::CountSharedVertex(f0,f1);
+		if(sv==3) return true;
+		if(sv==0) return (vcg::IntersectionTriangleTriangle<FaceType>((*f0),(*f1)));
+		//  if the faces share only a vertex, the opposite edge (as a segment) is tested against the face
+		//  to avoid degenerate cases where the two triangles have the opposite edge on a common plane
+		//  we offset the segment to test toward the shared vertex
+		if(sv==1)
+		{
+			int i0,i1; ScalarType a,b;
+			face::FindSharedVertex(f0,f1,i0,i1);
+			CoordType shP = f0->V(i0)->P()*0.5;
+			if(vcg::IntersectionSegmentTriangle(Segment3<ScalarType>((*f0).V1(i0)->P()*0.5+shP,(*f0).V2(i0)->P()*0.5+shP), *f1, a, b) )
+			{
+				// a,b are the param coords of the intersection point of the segment.
+				if(a+b>=1 || a<=EPSIL || b<=EPSIL ) return false;
+				return true;
+			}
+			if(vcg::IntersectionSegmentTriangle(Segment3<ScalarType>((*f1).V1(i1)->P()*0.5+shP,(*f1).V2(i1)->P()*0.5+shP), *f0, a, b) )
+			{
+				// a,b are the param coords of the intersection point of the segment.
+				if(a+b>=1 || a<=EPSIL || b<=EPSIL ) return false;
+				return true;
+			}
 
-    }
-    return false;
-  }
+		}
+		return false;
+	}
 
 
 
-  /**
-      This function merge all the vertices that are closer than the given radius
+	/**
+	  This function merge all the vertices that are closer than the given radius
 */
-  static int MergeCloseVertex(MeshType &m, const ScalarType radius)
-  {
-    int mergedCnt=0;
-    mergedCnt = ClusterVertex(m,radius);
-    RemoveDuplicateVertex(m,true);
-    return mergedCnt;
-  }
+	static int MergeCloseVertex(MeshType &m, const ScalarType radius)
+	{
+		int mergedCnt=0;
+		mergedCnt = ClusterVertex(m,radius);
+		RemoveDuplicateVertex(m,true);
+		return mergedCnt;
+	}
 
-  static int ClusterVertex(MeshType &m, const ScalarType radius)
-  {
-    if(m.vn==0) return 0;
-    // some spatial indexing structure does not work well with deleted vertices...
-    tri::Allocator<MeshType>::CompactVertexVector(m);
-    typedef vcg::SpatialHashTable<VertexType, ScalarType> SampleSHT;
-    SampleSHT sht;
-    tri::EmptyTMark<MeshType> markerFunctor;
-    std::vector<VertexType*> closests;
-    int mergedCnt=0;
-    sht.Set(m.vert.begin(), m.vert.end());
-    UpdateFlags<MeshType>::VertexClearV(m);
-    for(VertexIterator viv = m.vert.begin(); viv!= m.vert.end(); ++viv)
-      if(!(*viv).IsD() && !(*viv).IsV())
-      {
-        (*viv).SetV();
-        Point3<ScalarType> p = viv->cP();
-        Box3<ScalarType> bb(p-Point3<ScalarType>(radius,radius,radius),p+Point3<ScalarType>(radius,radius,radius));
-        GridGetInBox(sht, markerFunctor, bb, closests);
-        // qDebug("Vertex %i has %i closest", &*viv - &*m.vert.begin(),closests.size());
-        for(size_t i=0; i<closests.size(); ++i)
-        {
-          ScalarType dist = Distance(p,closests[i]->cP());
-          if(dist < radius && !closests[i]->IsV())
-          {
-            //													printf("%f %f \n",dist,radius);
-            mergedCnt++;
-            closests[i]->SetV();
-            closests[i]->P()=p;
-          }
-        }
-      }
-    return mergedCnt;
-  }
+	static int ClusterVertex(MeshType &m, const ScalarType radius)
+	{
+		if(m.vn==0) return 0;
+		// some spatial indexing structure does not work well with deleted vertices...
+		tri::Allocator<MeshType>::CompactVertexVector(m);
+		typedef vcg::SpatialHashTable<VertexType, ScalarType> SampleSHT;
+		SampleSHT sht;
+		tri::EmptyTMark<MeshType> markerFunctor;
+		std::vector<VertexType*> closests;
+		int mergedCnt=0;
+		sht.Set(m.vert.begin(), m.vert.end());
+		UpdateFlags<MeshType>::VertexClearV(m);
+		for(VertexIterator viv = m.vert.begin(); viv!= m.vert.end(); ++viv)
+			if(!(*viv).IsD() && !(*viv).IsV())
+			{
+				(*viv).SetV();
+				Point3<ScalarType> p = viv->cP();
+				Box3<ScalarType> bb(p-Point3<ScalarType>(radius,radius,radius),p+Point3<ScalarType>(radius,radius,radius));
+				GridGetInBox(sht, markerFunctor, bb, closests);
+				// qDebug("Vertex %i has %i closest", &*viv - &*m.vert.begin(),closests.size());
+				for(size_t i=0; i<closests.size(); ++i)
+				{
+					ScalarType dist = Distance(p,closests[i]->cP());
+					if(dist < radius && !closests[i]->IsV())
+					{
+						//													printf("%f %f \n",dist,radius);
+						mergedCnt++;
+						closests[i]->SetV();
+						closests[i]->P()=p;
+					}
+				}
+			}
+		return mergedCnt;
+	}
 
 
-  static std::pair<int,int>  RemoveSmallConnectedComponentsSize(MeshType &m, int maxCCSize)
-  {
-    std::vector< std::pair<int, typename MeshType::FacePointer> > CCV;
-    int TotalCC=ConnectedComponents(m, CCV);
-    int DeletedCC=0;
+	static std::pair<int,int>  RemoveSmallConnectedComponentsSize(MeshType &m, int maxCCSize)
+	{
+		std::vector< std::pair<int, typename MeshType::FacePointer> > CCV;
+		int TotalCC=ConnectedComponents(m, CCV);
+		int DeletedCC=0;
 
-    ConnectedComponentIterator<MeshType> ci;
-    for(unsigned int i=0;i<CCV.size();++i)
-    {
-      std::vector<typename MeshType::FacePointer> FPV;
-      if(CCV[i].first<maxCCSize)
-      {
-        DeletedCC++;
-        for(ci.start(m,CCV[i].second);!ci.completed();++ci)
-          FPV.push_back(*ci);
+		ConnectedComponentIterator<MeshType> ci;
+		for(unsigned int i=0;i<CCV.size();++i)
+		{
+			std::vector<typename MeshType::FacePointer> FPV;
+			if(CCV[i].first<maxCCSize)
+			{
+				DeletedCC++;
+				for(ci.start(m,CCV[i].second);!ci.completed();++ci)
+					FPV.push_back(*ci);
 
-        typename std::vector<typename MeshType::FacePointer>::iterator fpvi;
-        for(fpvi=FPV.begin(); fpvi!=FPV.end(); ++fpvi)
-          Allocator<MeshType>::DeleteFace(m,(**fpvi));
-      }
-    }
-    return std::make_pair(TotalCC,DeletedCC);
-  }
+				typename std::vector<typename MeshType::FacePointer>::iterator fpvi;
+				for(fpvi=FPV.begin(); fpvi!=FPV.end(); ++fpvi)
+					Allocator<MeshType>::DeleteFace(m,(**fpvi));
+			}
+		}
+		return std::make_pair(TotalCC,DeletedCC);
+	}
 
 
-  /// Remove the connected components smaller than a given diameter
-  // it returns a pair with the number of connected components and the number of deleted ones.
-  static std::pair<int,int> RemoveSmallConnectedComponentsDiameter(MeshType &m, ScalarType maxDiameter)
-  {
-    std::vector< std::pair<int, typename MeshType::FacePointer> > CCV;
-    int TotalCC=ConnectedComponents(m, CCV);
-    int DeletedCC=0;
-    tri::ConnectedComponentIterator<MeshType> ci;
-    for(unsigned int i=0;i<CCV.size();++i)
-    {
-      Box3<ScalarType> bb;
-      std::vector<typename MeshType::FacePointer> FPV;
-      for(ci.start(m,CCV[i].second);!ci.completed();++ci)
-      {
-        FPV.push_back(*ci);
-        bb.Add((*ci)->P(0));
-        bb.Add((*ci)->P(1));
-        bb.Add((*ci)->P(2));
-      }
-      if(bb.Diag()<maxDiameter)
-      {
-        DeletedCC++;
-        typename std::vector<typename MeshType::FacePointer>::iterator fpvi;
-        for(fpvi=FPV.begin(); fpvi!=FPV.end(); ++fpvi)
-          tri::Allocator<MeshType>::DeleteFace(m,(**fpvi));
-      }
-    }
-    return std::make_pair(TotalCC,DeletedCC);
-  }
+	/// Remove the connected components smaller than a given diameter
+	// it returns a pair with the number of connected components and the number of deleted ones.
+	static std::pair<int,int> RemoveSmallConnectedComponentsDiameter(MeshType &m, ScalarType maxDiameter)
+	{
+		std::vector< std::pair<int, typename MeshType::FacePointer> > CCV;
+		int TotalCC=ConnectedComponents(m, CCV);
+		int DeletedCC=0;
+		tri::ConnectedComponentIterator<MeshType> ci;
+		for(unsigned int i=0;i<CCV.size();++i)
+		{
+			Box3<ScalarType> bb;
+			std::vector<typename MeshType::FacePointer> FPV;
+			for(ci.start(m,CCV[i].second);!ci.completed();++ci)
+			{
+				FPV.push_back(*ci);
+				bb.Add((*ci)->P(0));
+				bb.Add((*ci)->P(1));
+				bb.Add((*ci)->P(2));
+			}
+			if(bb.Diag()<maxDiameter)
+			{
+				DeletedCC++;
+				typename std::vector<typename MeshType::FacePointer>::iterator fpvi;
+				for(fpvi=FPV.begin(); fpvi!=FPV.end(); ++fpvi)
+					tri::Allocator<MeshType>::DeleteFace(m,(**fpvi));
+			}
+		}
+		return std::make_pair(TotalCC,DeletedCC);
+	}
 
-  /// Remove the connected components greater than a given diameter
-  // it returns a pair with the number of connected components and the number of deleted ones.
-  static std::pair<int,int> RemoveHugeConnectedComponentsDiameter(MeshType &m, ScalarType minDiameter)
-  {
-    std::vector< std::pair<int, typename MeshType::FacePointer> > CCV;
-    int TotalCC=ConnectedComponents(m, CCV);
-    int DeletedCC=0;
-    tri::ConnectedComponentIterator<MeshType> ci;
-    for(unsigned int i=0;i<CCV.size();++i)
-    {
-      Box3f bb;
-      std::vector<typename MeshType::FacePointer> FPV;
-      for(ci.start(m,CCV[i].second);!ci.completed();++ci)
-      {
-        FPV.push_back(*ci);
-        bb.Add((*ci)->P(0));
-        bb.Add((*ci)->P(1));
-        bb.Add((*ci)->P(2));
-      }
-      if(bb.Diag()>minDiameter)
-      {
-        DeletedCC++;
-        typename std::vector<typename MeshType::FacePointer>::iterator fpvi;
-        for(fpvi=FPV.begin(); fpvi!=FPV.end(); ++fpvi)
-          tri::Allocator<MeshType>::DeleteFace(m,(**fpvi));
-      }
-    }
-    return std::make_pair(TotalCC,DeletedCC);
-  }
+	/// Remove the connected components greater than a given diameter
+	// it returns a pair with the number of connected components and the number of deleted ones.
+	static std::pair<int,int> RemoveHugeConnectedComponentsDiameter(MeshType &m, ScalarType minDiameter)
+	{
+		std::vector< std::pair<int, typename MeshType::FacePointer> > CCV;
+		int TotalCC=ConnectedComponents(m, CCV);
+		int DeletedCC=0;
+		tri::ConnectedComponentIterator<MeshType> ci;
+		for(unsigned int i=0;i<CCV.size();++i)
+		{
+			Box3f bb;
+			std::vector<typename MeshType::FacePointer> FPV;
+			for(ci.start(m,CCV[i].second);!ci.completed();++ci)
+			{
+				FPV.push_back(*ci);
+				bb.Add((*ci)->P(0));
+				bb.Add((*ci)->P(1));
+				bb.Add((*ci)->P(2));
+			}
+			if(bb.Diag()>minDiameter)
+			{
+				DeletedCC++;
+				typename std::vector<typename MeshType::FacePointer>::iterator fpvi;
+				for(fpvi=FPV.begin(); fpvi!=FPV.end(); ++fpvi)
+					tri::Allocator<MeshType>::DeleteFace(m,(**fpvi));
+			}
+		}
+		return std::make_pair(TotalCC,DeletedCC);
+	}
 
 
 
-  /**
+	/**
   Select the folded faces using an angle threshold on the face normal.
   The face is selected if the dot product between the face normal and the normal of the plane fitted
   using the vertices of the one ring faces is below the cosThreshold.
   The cosThreshold requires a negative cosine value (a positive value is clamp to zero).
   */
-  static void SelectFoldedFaceFromOneRingFaces(MeshType &m, ScalarType cosThreshold)
-  {
-    tri::RequireVFAdjacency(m);
-    tri::RequirePerFaceNormal(m);
-    tri::RequirePerVertexNormal(m);
-    vcg::tri::UpdateSelection<MeshType>::FaceClear(m);
-    vcg::tri::UpdateNormal<MeshType>::PerFaceNormalized(m);
-    vcg::tri::UpdateNormal<MeshType>::PerVertexNormalized(m);
-    vcg::tri::UpdateTopology<MeshType>::VertexFace(m);
-    if (cosThreshold > 0)
-      cosThreshold = 0;
+	static void SelectFoldedFaceFromOneRingFaces(MeshType &m, ScalarType cosThreshold)
+	{
+		typedef std::unordered_set<VertexPointer> VertexSet;
+		tri::RequireVFAdjacency(m);
+		tri::RequirePerFaceNormal(m);
+		tri::RequirePerVertexNormal(m);
+		vcg::tri::UpdateSelection<MeshType>::FaceClear(m);
+		vcg::tri::UpdateNormal<MeshType>::PerFaceNormalized(m);
+		vcg::tri::UpdateNormal<MeshType>::PerVertexNormalized(m);
+		vcg::tri::UpdateTopology<MeshType>::VertexFace(m);
+		if (cosThreshold > 0)
+			cosThreshold = 0;
 
 #pragma omp parallel for schedule(dynamic, 10)
-    for (int i = 0; i < m.face.size(); i++)
-    {
-      std::vector<typename MeshType::VertexPointer> nearVertex;
-      std::vector<typename MeshType::CoordType> point;
-      typename MeshType::FacePointer f = &m.face[i];
-      for (int j = 0; j < 3; j++)
-      {
-        std::vector<typename MeshType::VertexPointer> temp;
-        vcg::face::VVStarVF<typename MeshType::FaceType>(f->V(j), temp);
-              typename std::vector<typename MeshType::VertexPointer>::iterator iter = temp.begin();
-        for (; iter != temp.end(); iter++)
-        {
-          if ((*iter) != f->V1(j) && (*iter) != f->V2(j))
-          {
-            nearVertex.push_back((*iter));
-            point.push_back((*iter)->P());
-          }
-        }
-        nearVertex.push_back(f->V(j));
-        point.push_back(f->P(j));
-      }
+		for (int i = 0; i < m.face.size(); i++)
+		{
+			VertexSet nearVertex;
+			std::vector<CoordType> pointVec;
+			FacePointer f = &m.face[i];
+			for (int j = 0; j < 3; j++)
+			{
+				std::vector<VertexPointer> temp;
+				vcg::face::VVStarVF<FaceType>(f->V(j), temp);
+				typename std::vector<VertexPointer>::iterator iter = temp.begin();
+				for (; iter != temp.end(); iter++)
+				{
+					if ((*iter) != f->V1(j) && (*iter) != f->V2(j))
+					{
+						if (nearVertex.insert((*iter)).second)
+							pointVec.push_back((*iter)->P());
+					}
+				}
+				nearVertex.insert(f->V(j));
+				pointVec.push_back(f->P(j));
+			}
 
-      if (point.size() > 3)
-      {
-        vcg::Plane3<typename MeshType::ScalarType> plane;
-        vcg::FitPlaneToPointSet(point, plane);
-        float avgDot = 0;
-        for (int j = 0; j < nearVertex.size(); j++)
-          avgDot += plane.Direction().dot(nearVertex[j]->N());
-        avgDot /= nearVertex.size();
-        typename MeshType::VertexType::NormalType normal;
-        if (avgDot < 0)
-          normal = -plane.Direction();
-        else
-          normal = plane.Direction();
-        if (normal.dot(f->N()) < cosThreshold)
-          f->SetS();
-      }
-    }
-  }
+			if (pointVec.size() > 3)
+			{
+				vcg::Plane3<ScalarType> plane;
+				vcg::FitPlaneToPointSet(pointVec, plane);
+				float avgDot = 0;
+				for (auto  nvp :  nearVertex)
+					avgDot += plane.Direction().dot(nvp->N());
+				avgDot /= nearVertex.size();
+				typename MeshType::VertexType::NormalType normal;
+				if (avgDot < 0)
+					normal = -plane.Direction();
+				else
+					normal = plane.Direction();
+				if (normal.dot(f->N()) < cosThreshold)
+					f->SetS();
+			}
+		}
+	}
+	/**
+  Select the faces on the first mesh that intersect the second mesh.
+  It uses a grid for querying so a face::mark should be added.
+  */
+	static int SelectIntersectingFaces(MeshType &m1, MeshType &m2)
+	{
+		RequirePerFaceMark(m2);
+		RequireCompactness(m1);
+		RequireCompactness(m2);
+
+		tri::UpdateSelection<MeshType>::FaceClear(m1);
+
+		TriMeshGrid gM;
+		gM.Set(m2.face.begin(),m2.face.end());
+		int selCnt=0;
+		for(auto fi=m1.face.begin();fi!=m1.face.end();++fi)
+		{
+			Box3< ScalarType> bbox;
+			(*fi).GetBBox(bbox);
+			std::vector<FaceType*> inBox;
+			vcg::tri::GetInBoxFace(m2, gM, bbox,inBox);
+			for(auto fib=inBox.begin(); fib!=inBox.end(); ++fib)
+			{
+				if(Clean<MeshType>::TestFaceFaceIntersection(&*fi,*fib)){
+					fi->SetS();
+					++selCnt;
+				}
+			}
+			inBox.clear();
+		}
+		return selCnt;
+	}
 
 }; // end class
 /*@}*/
diff --git a/vcg/complex/algorithms/clustering.h b/vcg/complex/algorithms/clustering.h
index f43e73b2..8e2420f6 100644
--- a/vcg/complex/algorithms/clustering.h
+++ b/vcg/complex/algorithms/clustering.h
@@ -27,12 +27,10 @@
 #include<vcg/complex/complex.h>
 #include <vcg/complex/algorithms/clean.h>
 #include<vcg/space/triangle3.h>
-#include<vcg/complex/algorithms/update/topology.h>
 #include<vcg/space/index/grid_util.h>
 
 #include <iostream>
 #include <math.h>
-#include <limits>
 #include <unordered_set>
 #include <unordered_map>
 
diff --git a/vcg/complex/algorithms/convex_hull.h b/vcg/complex/algorithms/convex_hull.h
index e31df329..6c1dff53 100644
--- a/vcg/complex/algorithms/convex_hull.h
+++ b/vcg/complex/algorithms/convex_hull.h
@@ -25,8 +25,7 @@
 
 #include <queue>
 #include <unordered_map>
-#include <algorithm>
-#include <vcg/complex/allocate.h>
+#include <vcg/complex/complex.h>
 #include <vcg/complex/algorithms/clean.h>
 
 namespace vcg
@@ -167,8 +166,9 @@ public:
     "The quickhull algorithm for convex hulls" by C. Bradford Barber et al.
     ACM Transactions on Mathematical Software, Volume 22 Issue 4, Dec. 1996
   */
-  static bool ComputeConvexHull(InputMesh& mesh, CHMesh& convexHull)
+  static bool ComputeConvexHull(InputMesh& mesh, CHMesh& convexHull, ScalarType distTolerance = 0)
   {
+	assert(distTolerance >= 0);
     vcg::tri::RequireFFAdjacency(convexHull);
     vcg::tri::RequirePerFaceNormal(convexHull);
     vcg::tri::Allocator<InputMesh>::CompactVertexVector(mesh);
@@ -188,7 +188,7 @@ public:
       for (size_t j = 0; j < convexHull.face.size(); j++)
       {
         ScalarType dist = (mesh.vert[i].P() - convexHull.face[j].P(0)).dot(convexHull.face[j].N());
-        if (dist > 0)
+        if (dist > distTolerance)
         {
           listVertexPerFace[j].push_back(&mesh.vert[i]);
           if (dist > furthestVexterPerFace[j].second)
@@ -224,7 +224,7 @@ public:
             {
               int indexF = vcg::tri::Index(convexHull, nextF);
               ScalarType dist = (vertex->P() - nextF->P(0)).dot(nextF->N());
-              if (dist < 0)
+              if (dist < distTolerance)
               {
                 borderFace.push_back(indexF);
                 fp->SetB(ii);
@@ -295,7 +295,7 @@ public:
                 if (!(*vertexToTest[ii]).IsV())
                 {
                   float dist = ((*vertexToTest[ii]).P() - (*fi).P(0)).dot((*fi).N());
-                  if (dist > 0)
+                  if (dist > distTolerance)
                   {
                     tempVect.push_back(vertexToTest[ii]);
                     if (dist > newInfo.second)
@@ -345,7 +345,7 @@ public:
   * The algorithm used (Katz, Tal and Basri 2007) determines visibility without
   * reconstructing a surface or estimating normals.
   * A point is considered visible if its transformed point lies on the convex hull
-  * of a trasformed points cloud from the original mesh points.
+  * of a transformed points cloud from the original mesh points.
   *
   * @param m         The point cloud
   * @param visible   The mesh that will contain the visible hull
@@ -399,7 +399,7 @@ public:
      {
        visible.vert[i].P() = m.vert[ind].P();
        m.vert[ind].SetS();
-       m.vert[ind].C() = Color4b::LightBlue;
+       //m.vert[ind].C() = Color4b::LightBlue;
        selCnt++;
      }
    }
@@ -417,6 +417,8 @@ public:
 
    tri::Allocator<CHMesh>::CompactEveryVector(visible);
    tri::Clean<CHMesh>::FlipMesh(visible);
+   tri::UpdateNormal<CHMesh>::PerFaceNormalized(visible);
+   tri::UpdateNormal<CHMesh>::PerVertexNormalized(visible);
 
  }
 };
diff --git a/vcg/complex/algorithms/crease_cut.h b/vcg/complex/algorithms/crease_cut.h
index eccb68d1..ea7f2a59 100644
--- a/vcg/complex/algorithms/crease_cut.h
+++ b/vcg/complex/algorithms/crease_cut.h
@@ -2,7 +2,7 @@
 * VCGLib                                                            o o     *
 * Visual and Computer Graphics Library                            o     o   *
 *                                                                _   O  _   *
-* Copyright(C) 2004-2016                                           \/)\/    *
+* Copyright(C) 2004-2017                                           \/)\/    *
 * Visual Computing Lab                                            /\/|      *
 * ISTI - Italian National Research Council                           |      *
 *                                                                    \      *
@@ -25,6 +25,7 @@
 #define __VCG_CREASE_CUT
 #include<vcg/simplex/face/jumping_pos.h>
 #include<vcg/complex/algorithms/update/normal.h>
+#include<vcg/complex/algorithms/update/flag.h>
 namespace vcg {
 namespace tri {
 
@@ -34,8 +35,8 @@ namespace tri {
 template<class MESH_TYPE>
 void CreaseCut(MESH_TYPE &m, float angleRad)
 {
-  tri::UpdateFlags<MESH_TYPE>::FaceFauxSignedCrease(m, -angleRad, angleRad);
-  CutMeshAlongNonFauxEdges(m);
+  tri::UpdateFlags<MESH_TYPE>::FaceEdgeSelSignedCrease(m, -angleRad, angleRad);
+  CutMeshAlongSelectedFaceEdges(m);
 }
 
 /**
@@ -47,13 +48,13 @@ void CreaseCut(MESH_TYPE &m, float angleRad)
  * 
  */
 template<class MESH_TYPE>
-void CutMeshAlongNonFauxEdges(MESH_TYPE &m)
+void CutMeshAlongSelectedFaceEdges(MESH_TYPE &m)
 {
-  typedef typename MESH_TYPE::FaceIterator		FaceIterator;
-  typedef typename MESH_TYPE::FaceType				FaceType;
-  
+  typedef typename MESH_TYPE::FaceIterator FaceIterator;
+  typedef typename MESH_TYPE::FaceType     FaceType;
+  typedef typename face::Pos<FaceType> PosType;
   tri::Allocator<MESH_TYPE>::CompactVertexVector(m);
-  tri::Allocator<MESH_TYPE>::CompactFaceVector(m);    
+  tri::Allocator<MESH_TYPE>::CompactFaceVector(m);
   tri::RequireFFAdjacency(m);
   
   tri::UpdateFlags<MESH_TYPE>::VertexClearV(m);
@@ -67,42 +68,51 @@ void CutMeshAlongNonFauxEdges(MESH_TYPE &m)
       {
         (*fi).V(j)->SetV();
         
-        face::JumpingPos<FaceType> iPos(&*fi,j,(*fi).V(j));
-        size_t vertInd = Index(m, iPos.V()); 
-        bool isBorderVertex = iPos.FindBorder();   // for border vertex we start from the border.
-        face::JumpingPos<FaceType> startPos=iPos;
-        if(!isBorderVertex)                        // for internal vertex we search the first crease and start from it
+        PosType startPos(&*fi,j,(*fi).V(j));
+        PosType curPos=startPos;
+        bool borderVertexFlag=false;  // on border vertex swe startfrom border edges (so we are sure that we cross the crease once)
+        do 
         {
-          do {
-              bool creaseFlag = !iPos.IsFaux();
-              iPos.NextFE();
-              if(creaseFlag) break;
-          } while (startPos!=iPos);
-          startPos=iPos;                       // the found crease become the new starting pos.
-        }
+          curPos.FlipF();curPos.FlipE();
+          if(curPos.IsBorder()) {
+            borderVertexFlag=true;
+            break;
+          }
+        } while(curPos!=startPos);
         
+        assert(borderVertexFlag == curPos.IsBorder());
+        startPos=curPos;
+        if(!borderVertexFlag) // on internal vertex we start on creases.
+        {
+          do  {
+            curPos.FlipF();curPos.FlipE();
+            if(curPos.IsEdgeS()) 
+              break;           
+          } while(curPos!=startPos);
+          startPos=curPos;
+        }        
         int locCreaseCounter=0;
-        int curVertexCounter =vertInd;
+        int curVertexCounter= Index(m, curPos.V());        
         
-        do { // The real Loop          
-          size_t faceInd = Index(m,iPos.F());
-          indVec[faceInd*3+ iPos.VInd()] = curVertexCounter;
-          
-          if(!iPos.IsFaux()) 
+        // The real Loop; we assume that if there is border we are starting from a border pos;
+        // the idea is that just before jumping on the next face, if we cross a crease, we increase the vertex counter.
+        do {          
+          size_t faceInd = Index(m,curPos.F());
+          indVec[faceInd*3+ curPos.VInd()] = curVertexCounter;
+          curPos.FlipE();
+          if(curPos.IsEdgeS()) 
           { //qDebug("  Crease FOUND");
             ++locCreaseCounter;
             curVertexCounter=newVertexCounter;
             newVertexCounter++;
           }
-          iPos.NextFE();
-        } while (startPos!=iPos);
-        if(locCreaseCounter>0 && (!isBorderVertex) ) newVertexCounter--;
-        //printf("For vertex %i found %i creases\n",vertInd,locCreaseCounter);
+          curPos.FlipF();
+        } while (startPos!=curPos && !curPos.IsBorder());
       }
   } // end foreach face/vert 
 
-  // Now the indVec vector contains for each the new index of each vertex (duplicated as necessary)
-  // We do a second loop to copy split vertexes into new positions
+  // Now the indVec vector contains for each face wedge the new index of each vertex (duplicated as necessary)
+  // We do a second loop to copy split vertices into new positions
   tri::Allocator<MESH_TYPE>::AddVertices(m,newVertexCounter-m.vn);
   
   tri::UpdateFlags<MESH_TYPE>::VertexClearV(m);
@@ -110,11 +120,10 @@ void CutMeshAlongNonFauxEdges(MESH_TYPE &m)
     for(int j=0;j<3;++j) 
     {
       size_t faceInd = Index(m, *fi);
-      size_t vertInd = Index(m, (*fi).V(j));
       int curVertexInd = indVec[faceInd*3+ j];
       assert(curVertexInd != -1);
       assert(curVertexInd < m.vn);
-      if(curVertexInd < startVn) assert(size_t(curVertexInd) == vertInd);
+      if(curVertexInd < startVn) { assert(size_t(curVertexInd) == Index(m, (*fi).V(j))); }
       if(curVertexInd >= startVn)
       {
         m.vert[curVertexInd].ImportData(*((*fi).V(j)));
diff --git a/vcg/complex/algorithms/create/advancing_front.h b/vcg/complex/algorithms/create/advancing_front.h
index 5bc92ede..565762e9 100644
--- a/vcg/complex/algorithms/create/advancing_front.h
+++ b/vcg/complex/algorithms/create/advancing_front.h
@@ -26,8 +26,6 @@
 
 #include <iostream>
 #include <list>
-#include <vcg/complex/algorithms/update/topology.h>
-#include <vcg/complex/algorithms/update/flag.h>
 
 namespace vcg {
   namespace tri {
@@ -101,7 +99,7 @@ template <class MESH> class AdvancingFront {
   void BuildMesh(CallBackPos call = NULL, int interval = 512)
   {
     float finalfacesext = mesh.vert.size() * 2.0f;
-    if(call) call(0, "Advancing front");
+	if (call) (*call)(0, "Advancing front");
     while(1) {
 
       for(int i = 0; i < interval; i++) {
@@ -366,7 +364,8 @@ public:
 protected:
   void AddFace(int v0, int v1, int v2) {
     FaceIterator fi = vcg::tri::Allocator<MESH>::AddFace(mesh,v0,v1,v2);
-    fi->N() = TriangleNormal(*fi).Normalize();
+    if (FaceType::HasNormal())
+      fi->N() = TriangleNormal(*fi).Normalize();
     if(tri::HasVFAdjacency(mesh))
     {
       for(int j=0;j<3;++j)
diff --git a/vcg/complex/algorithms/create/ball_pivoting.h b/vcg/complex/algorithms/create/ball_pivoting.h
index be8c3552..be1c6413 100644
--- a/vcg/complex/algorithms/create/ball_pivoting.h
+++ b/vcg/complex/algorithms/create/ball_pivoting.h
@@ -120,7 +120,7 @@ template <class MESH> class BallPivoting: public AdvancingFront<MESH> {
         targets.push_back(vp);
       }
 
-      int n = targets.size();
+      int n = int(targets.size());
       if(n<3) continue;
 
       bool success = true;
@@ -205,10 +205,10 @@ template <class MESH> class BallPivoting: public AdvancingFront<MESH> {
       Mark(vv1);
       Mark(vv2);
 
-      v0 = tri::Index(this->mesh,vv0);
-      v1 = tri::Index(this->mesh,vv1);
-      v2 = tri::Index(this->mesh,vv2);
-      return true;
+	  v0 = int(tri::Index(this->mesh, vv0));
+	  v1 = int(tri::Index(this->mesh, vv1));
+	  v2 = int(tri::Index(this->mesh, vv2));
+	  return true;
     }
     return false;
   }
@@ -252,7 +252,7 @@ template <class MESH> class BallPivoting: public AdvancingFront<MESH> {
     if(nn==0) return -1;
 
     VertexType *candidate = NULL;
-    ScalarType min_angle = M_PI;
+	ScalarType min_angle = ScalarType(M_PI);
     //
     // Loop over all the nearest vertexes and choose the best one according the ball pivoting strategy.
     //
@@ -312,7 +312,7 @@ template <class MESH> class BallPivoting: public AdvancingFront<MESH> {
       assert((candidate->P() - v1).Norm() > min_edge);
     }
 
-    int candidateIndex = tri::Index(this->mesh,candidate);
+    int candidateIndex = int(tri::Index(this->mesh,candidate));
     assert(candidateIndex != edge.v0 && candidateIndex != edge.v1);
 
     Point3x newnormal = ((candidate->P() - v0)^(v1 - v0)).Normalize();
diff --git a/vcg/complex/algorithms/create/mc_lookup_table.h b/vcg/complex/algorithms/create/mc_lookup_table.h
index dc93e10c..5fb97428 100644
--- a/vcg/complex/algorithms/create/mc_lookup_table.h
+++ b/vcg/complex/algorithms/create/mc_lookup_table.h
@@ -61,9 +61,9 @@ namespace vcg
 			*   0          1        0          1
 			*/
 			//-----------------------------------------------------------------------------
-            static char Cases(unsigned char cubetype, unsigned char u)
+			static signed char Cases(unsigned char cubetype, unsigned char u)
 			{
-				static const char cases[256][2] = {
+				static const signed char cases[256][2] = {
 					/*   0:                          */  {  0, -1 },
 					/*   1: 0,                       */  {  1,  0 },
 					/*   2:    1,                    */  {  1,  1 },
@@ -424,9 +424,9 @@ namespace vcg
 			* A minus sign means to invert the result of the test.
 			*/
 			//-----------------------------------------------------------------------------
-            static char Test3(unsigned char config)
+			static signed char Test3(unsigned char config)
 			{
-				static const char test3[24] = {
+				static const signed char test3[24] = {
 					/*   5: 0,    2,                 */    5,
 					/*  33: 0,             5,        */    1,
 					/* 129: 0,                   7,  */    4,
@@ -559,9 +559,9 @@ namespace vcg
 			* A minus sign means to invert the result of the test.
 			*/
 			//-----------------------------------------------------------------------------
-            static char Test4(unsigned char config)
+			static signed char Test4(unsigned char config)
 			{
-				static const char test4[8] = {
+				static const signed char test4[8] = {
 					/*  65: 0,                6,     */   7,
 					/* 130:    1,                7,  */   7,
 					/*  20:       2,    4,           */   7,
@@ -717,9 +717,9 @@ namespace vcg
 			* A minus sign means to invert the result of the test.
 			*/
 			//-----------------------------------------------------------------------------
-            static char Test6(unsigned char config, int u)
+			static signed char Test6(unsigned char config, int u)
 			{
-				static const char test6[48][3] = {
+				static const signed char test6[48][3] = {
 					/*  67: 0, 1,             6,     */  {  2,  7,  10  },
 					/* 131: 0, 1,                7,  */  {  4,  7,  11  },
 					/*  21: 0,    2,    4,           */  {  5,  7,   1  },
@@ -1000,9 +1000,9 @@ namespace vcg
 			* A minus sign means to invert the result of the test.
 			*/
 			//-----------------------------------------------------------------------------
-            static char Test7(unsigned char config, int u)
+			static signed char Test7(unsigned char config, int u)
 			{
-				static const char test7[16][5] = {
+				static const signed char test7[16][5] = {
 					/*  37: 0,    2,       5,        */  {  1,  2,  5,  7,   1 },
 					/* 133: 0,    2,             7,  */  {  3,  4,  5,  7,   3 },
 					/* 161: 0,             5,    7,  */  {  4,  1,  6,  7,   4 },
@@ -1875,9 +1875,9 @@ namespace vcg
 			*/
 			//-----------------------------------------------------------------------------
 			/* 13: sub configs */
-            static char Subconfig13(unsigned char config)
+			static signed char Subconfig13(unsigned char config)
 			{
-				static const char subconfig13[64] = {
+				static const signed char subconfig13[64] = {
 					/*  0: 0,0,0,0,0,0 */   0,
 					/*  1: 1,0,0,0,0,0 */   1,
 					/*  2: 0,1,0,0,0,0 */   2,
@@ -2014,15 +2014,16 @@ namespace vcg
 					/* 5 */ { 9,  5,  4, 11,  7,  6,  0, 10,  1, 10,  0,  8, 10,  8,  2,  3,  2,  8 },
 					/* 6 */ { 1,  2, 10,  3,  0,  8,  4,  9,  7, 11,  7,  9,  5, 11,  9, 11,  5,  6 }
 					},
-						/*  90:    1,    3, 4,    6,     */  {
-						/* 1 */ { 2,  3, 11,  8,  4,  7,  0,  5,  9,  5,  0,  6,  1,  6,  0,  6,  1, 10 },
-						/* 2 */ { 9,  0,  1,  8,  4,  7, 10,  2,  5,  3,  5,  2,  5,  3,  6, 11,  6,  3 },
-						/* 3 */ { 6,  5, 10,  9,  0,  1,  2,  7, 11,  7,  2,  4,  3,  4,  2,  4,  3,  8 },
-						/* 4 */ { 6,  5, 10,  2,  3, 11,  8,  0,  7,  1,  7,  0,  7,  1,  4,  9,  4,  1 },
-						/* 5 */ { 6,  5, 10,  8,  4,  7,  1, 11,  2, 11,  1,  9, 11,  9,  3,  0,  3,  9 },
-						/* 6 */ { 2,  3, 11,  0,  1,  9,  5, 10,  4,  8,  4, 10,  6,  8, 10,  8,  6,  7 }
-						} };
-					return &tiling13_2[config][u][0];
+				    /*  90:    1,    3, 4,    6,     */  {
+				    /* 1 */ { 2,  3, 11,  8,  4,  7,  0,  5,  9,  5,  0,  6,  1,  6,  0,  6,  1, 10 },
+				    /* 2 */ { 9,  0,  1,  8,  4,  7, 10,  2,  5,  3,  5,  2,  5,  3,  6, 11,  6,  3 },
+				    /* 3 */ { 6,  5, 10,  9,  0,  1,  2,  7, 11,  7,  2,  4,  3,  4,  2,  4,  3,  8 },
+				    /* 4 */ { 6,  5, 10,  2,  3, 11,  8,  0,  7,  1,  7,  0,  7,  1,  4,  9,  4,  1 },
+				    /* 5 */ { 6,  5, 10,  8,  4,  7,  1, 11,  2, 11,  1,  9, 11,  9,  3,  0,  3,  9 },
+				    /* 6 */ { 2,  3, 11,  0,  1,  9,  5, 10,  4,  8,  4, 10,  6,  8, 10,  8,  6,  7 }
+				    }
+				};
+				return &tiling13_2[config][u][0];
 			}; // end of Tiling13_2
 
 
@@ -2049,15 +2050,16 @@ namespace vcg
 					/* 5 */ { 10,  5,  6,  7,  4,  8,  2, 11,  1,  9,  1, 11,  3,  9, 11,  9,  3,  0 },
 					/* 6 */ { 11,  3,  2,  9,  1,  0,  4, 10,  5, 10,  4,  8, 10,  8,  6,  7,  6,  8 }
 					},
-						/*  90:    1,    3, 4,    6,     */  {
-						/* 1 */ {  6,  7, 11,  8,  0,  3,  4,  1,  9,  1,  4,  2,  5,  2,  4,  2,  5, 10 },
-						/* 2 */ {  8,  0,  3,  4,  5,  9, 10,  6,  1,  7,  1,  6,  1,  7,  2, 11,  2,  7 },
-						/* 3 */ {  2,  1, 10,  4,  5,  9,  6,  3, 11,  3,  6,  0,  7,  0,  6,  0,  7,  8 },
-						/* 4 */ {  6,  7, 11,  2,  1, 10,  8,  4,  3,  5,  3,  4,  3,  5,  0,  9,  0,  5 },
-						/* 5 */ {  6,  7, 11,  4,  5,  9,  3,  8,  2, 10,  2,  8,  0, 10,  8, 10,  0,  1 },
-						/* 6 */ {  8,  0,  3, 10,  2,  1,  5, 11,  6, 11,  5,  9, 11,  9,  7,  4,  7,  9 }
-						} };
-					return &tiling13_2_[config][u][0];
+				    /*  90:    1,    3, 4,    6,     */  {
+				    /* 1 */ {  6,  7, 11,  8,  0,  3,  4,  1,  9,  1,  4,  2,  5,  2,  4,  2,  5, 10 },
+				    /* 2 */ {  8,  0,  3,  4,  5,  9, 10,  6,  1,  7,  1,  6,  1,  7,  2, 11,  2,  7 },
+				    /* 3 */ {  2,  1, 10,  4,  5,  9,  6,  3, 11,  3,  6,  0,  7,  0,  6,  0,  7,  8 },
+				    /* 4 */ {  6,  7, 11,  2,  1, 10,  8,  4,  3,  5,  3,  4,  3,  5,  0,  9,  0,  5 },
+				    /* 5 */ {  6,  7, 11,  4,  5,  9,  3,  8,  2, 10,  2,  8,  0, 10,  8, 10,  0,  1 },
+				    /* 6 */ {  8,  0,  3, 10,  2,  1,  5, 11,  6, 11,  5,  9, 11,  9,  7,  4,  7,  9 }
+				    }
+				};
+				return &tiling13_2_[config][u][0];
 			}; // end of Tiling13_2_
 
 
@@ -2091,21 +2093,22 @@ namespace vcg
 					/* 4,5 */ {  9,  5,  4,  7,  6, 12,  8,  7, 12,  0,  8, 12,  1,  0, 12, 10,  1, 12,  2, 10, 12,  3,  2, 12, 11,  3, 12,  6, 11, 12 },
 					/* 4,6 */ {  1,  2, 10,  3,  0, 12, 11,  3, 12,  6, 11, 12,  5,  6, 12,  9,  5, 12,  4,  9, 12,  7,  4, 12,  8,  7, 12,  0,  8, 12 }
 					},
-						/*  90:    1,    3, 4,    6,     */  {
-						/* 1,2 */ {  8,  4,  7, 12,  3, 11, 12, 11,  6, 12,  6,  5, 12,  5,  9, 12,  9,  0, 12,  0,  1, 12,  1, 10, 12, 10,  2, 12,  2,  3 },
-						/* 1,4 */ {  2,  3, 11, 10,  6, 12,  1, 10, 12,  0,  1, 12,  8,  0, 12,  7,  8, 12,  4,  7, 12,  9,  4, 12,  5,  9, 12,  6,  5, 12 },
-						/* 1,5 */ {  8,  4,  7, 12,  6,  5, 12,  5,  9, 12,  9,  0, 12,  0,  3, 12,  3, 11, 12, 11,  2, 12,  2,  1, 12,  1, 10, 12, 10,  6 },
-						/* 1,6 */ {  2,  3, 11, 12,  0,  1, 12,  1, 10, 12, 10,  6, 12,  6,  7, 12,  7,  8, 12,  8,  4, 12,  4,  5, 12,  5,  9, 12,  9,  0 },
-						/* 2,3 */ {  0,  1,  9,  8,  4, 12,  3,  8, 12,  2,  3, 12, 10,  2, 12,  5, 10, 12,  6,  5, 12, 11,  6, 12,  7, 11, 12,  4,  7, 12 },
-						/* 2,5 */ {  8,  4,  7,  6,  5, 12, 11,  6, 12,  3, 11, 12,  0,  3, 12,  9,  0, 12,  1,  9, 12,  2,  1, 12, 10,  2, 12,  5, 10, 12 },
-						/* 2,6 */ {  9,  0,  1,  2,  3, 12, 10,  2, 12,  5, 10, 12,  4,  5, 12,  8,  4, 12,  7,  8, 12,  6,  7, 12, 11,  6, 12,  3, 11, 12 },
-						/* 3,4 */ {  6,  5, 10, 12,  1,  9, 12,  9,  4, 12,  4,  7, 12,  7, 11, 12, 11,  2, 12,  2,  3, 12,  3,  8, 12,  8,  0, 12,  0,  1 },
-						/* 3,5 */ {  6,  5, 10, 12,  4,  7, 12,  7, 11, 12, 11,  2, 12,  2,  1, 12,  1,  9, 12,  9,  0, 12,  0,  3, 12,  3,  8, 12,  8,  4 },
-						/* 3,6 */ {  9,  0,  1, 12,  2,  3, 12,  3,  8, 12,  8,  4, 12,  4,  5, 12,  5, 10, 12, 10,  6, 12,  6,  7, 12,  7, 11, 12, 11,  2 },
-						/* 4,5 */ {  6,  5, 10,  4,  7, 12,  9,  4, 12,  1,  9, 12,  2,  1, 12, 11,  2, 12,  3, 11, 12,  0,  3, 12,  8,  0, 12,  7,  8, 12 },
-						/* 4,6 */ {  2,  3, 11,  0,  1, 12,  8,  0, 12,  7,  8, 12,  6,  7, 12, 10,  6, 12,  5, 10, 12,  4,  5, 12,  9,  4, 12,  1,  9, 12 }
-						} };
-					return &tiling13_3[config][u][0];
+				    /*  90:    1,    3, 4,    6,     */  {
+				    /* 1,2 */ {  8,  4,  7, 12,  3, 11, 12, 11,  6, 12,  6,  5, 12,  5,  9, 12,  9,  0, 12,  0,  1, 12,  1, 10, 12, 10,  2, 12,  2,  3 },
+				    /* 1,4 */ {  2,  3, 11, 10,  6, 12,  1, 10, 12,  0,  1, 12,  8,  0, 12,  7,  8, 12,  4,  7, 12,  9,  4, 12,  5,  9, 12,  6,  5, 12 },
+				    /* 1,5 */ {  8,  4,  7, 12,  6,  5, 12,  5,  9, 12,  9,  0, 12,  0,  3, 12,  3, 11, 12, 11,  2, 12,  2,  1, 12,  1, 10, 12, 10,  6 },
+				    /* 1,6 */ {  2,  3, 11, 12,  0,  1, 12,  1, 10, 12, 10,  6, 12,  6,  7, 12,  7,  8, 12,  8,  4, 12,  4,  5, 12,  5,  9, 12,  9,  0 },
+				    /* 2,3 */ {  0,  1,  9,  8,  4, 12,  3,  8, 12,  2,  3, 12, 10,  2, 12,  5, 10, 12,  6,  5, 12, 11,  6, 12,  7, 11, 12,  4,  7, 12 },
+				    /* 2,5 */ {  8,  4,  7,  6,  5, 12, 11,  6, 12,  3, 11, 12,  0,  3, 12,  9,  0, 12,  1,  9, 12,  2,  1, 12, 10,  2, 12,  5, 10, 12 },
+				    /* 2,6 */ {  9,  0,  1,  2,  3, 12, 10,  2, 12,  5, 10, 12,  4,  5, 12,  8,  4, 12,  7,  8, 12,  6,  7, 12, 11,  6, 12,  3, 11, 12 },
+				    /* 3,4 */ {  6,  5, 10, 12,  1,  9, 12,  9,  4, 12,  4,  7, 12,  7, 11, 12, 11,  2, 12,  2,  3, 12,  3,  8, 12,  8,  0, 12,  0,  1 },
+				    /* 3,5 */ {  6,  5, 10, 12,  4,  7, 12,  7, 11, 12, 11,  2, 12,  2,  1, 12,  1,  9, 12,  9,  0, 12,  0,  3, 12,  3,  8, 12,  8,  4 },
+				    /* 3,6 */ {  9,  0,  1, 12,  2,  3, 12,  3,  8, 12,  8,  4, 12,  4,  5, 12,  5, 10, 12, 10,  6, 12,  6,  7, 12,  7, 11, 12, 11,  2 },
+				    /* 4,5 */ {  6,  5, 10,  4,  7, 12,  9,  4, 12,  1,  9, 12,  2,  1, 12, 11,  2, 12,  3, 11, 12,  0,  3, 12,  8,  0, 12,  7,  8, 12 },
+				    /* 4,6 */ {  2,  3, 11,  0,  1, 12,  8,  0, 12,  7,  8, 12,  6,  7, 12, 10,  6, 12,  5, 10, 12,  4,  5, 12,  9,  4, 12,  1,  9, 12 }
+				    }
+				};
+				return &tiling13_3[config][u][0];
 			}; // end of Tiling13_3
 
 
@@ -2138,21 +2141,22 @@ namespace vcg
 					/* 4,5 */ { 10,  5,  6,  7,  4, 12, 11,  7, 12,  2, 11, 12,  1,  2, 12,  9,  1, 12,  0,  9, 12,  3,  0, 12,  8,  3, 12,  4,  8, 12 },
 					/* 4,6 */ {  9,  1,  0,  3,  2, 12,  8,  3, 12,  4,  8, 12,  5,  4, 12, 10,  5, 12,  6, 10, 12,  7,  6, 12, 11,  7, 12,  2, 11, 12 }
 					},
-						/*  90:    1,    3, 4,    6,     */  {
-						/* 1,2 */ {  0,  3,  8,  9,  4, 12,  1,  9, 12,  2,  1, 12, 11,  2, 12,  7, 11, 12,  6,  7, 12, 10,  6, 12,  5, 10, 12,  4,  5, 12 },
-						/* 1,4 */ { 11,  6,  7, 12,  3,  8, 12,  8,  4, 12,  4,  5, 12,  5, 10, 12, 10,  2, 12,  2,  1, 12,  1,  9, 12,  9,  0, 12,  0,  3 },
-						/* 1,5 */ {  6,  7, 11, 12,  4,  5, 12,  5, 10, 12, 10,  2, 12,  2,  3, 12,  3,  8, 12,  8,  0, 12,  0,  1, 12,  1,  9, 12,  9,  4 },
-						/* 1,6 */ {  8,  0,  3, 12,  2,  1, 12,  1,  9, 12,  9,  4, 12,  4,  7, 12,  7, 11, 12, 11,  6, 12,  6,  5, 12,  5, 10, 12, 10,  2 },
-						/* 2,3 */ {  4,  5,  9,  8,  0, 12,  7,  8, 12,  6,  7, 12, 10,  6, 12,  1, 10, 12,  2,  1, 12, 11,  2, 12,  3, 11, 12,  0,  3, 12 },
-						/* 2,5 */ {  4,  5,  9,  6,  7, 12, 10,  6, 12,  1, 10, 12,  0,  1, 12,  8,  0, 12,  3,  8, 12,  2,  3, 12, 11,  2, 12,  7, 11, 12 },
-						/* 2,6 */ {  8,  0,  3,  2,  1, 12, 11,  2, 12,  7, 11, 12,  4,  7, 12,  9,  4, 12,  5,  9, 12,  6,  5, 12, 10,  6, 12,  1, 10, 12 },
-						/* 3,4 */ {  2,  1, 10, 12,  5,  9, 12,  9,  0, 12,  0,  3, 12,  3, 11, 12, 11,  6, 12,  6,  7, 12,  7,  8, 12,  8,  4, 12,  4,  5 },
-						/* 3,5 */ {  4,  5,  9, 12,  6,  7, 12,  7,  8, 12,  8,  0, 12,  0,  1, 12,  1, 10, 12, 10,  2, 12,  2,  3, 12,  3, 11, 12, 11,  6 },
-						/* 3,6 */ {  2,  1, 10, 12,  0,  3, 12,  3, 11, 12, 11,  6, 12,  6,  5, 12,  5,  9, 12,  9,  4, 12,  4,  7, 12,  7,  8, 12,  8,  0 },
-						/* 4,5 */ {  6,  7, 11,  4,  5, 12,  8,  4, 12,  3,  8, 12,  2,  3, 12, 10,  2, 12,  1, 10, 12,  0,  1, 12,  9,  0, 12,  5,  9, 12 },
-						/* 4,6 */ { 10,  2,  1,  0,  3, 12,  9,  0, 12,  5,  9, 12,  6,  5, 12, 11,  6, 12,  7, 11, 12,  4,  7, 12,  8,  4, 12,  3,  8, 12 }
-						} };
-					return &tiling13_3_[config][u][0];
+				    /*  90:    1,    3, 4,    6,     */  {
+				    /* 1,2 */ {  0,  3,  8,  9,  4, 12,  1,  9, 12,  2,  1, 12, 11,  2, 12,  7, 11, 12,  6,  7, 12, 10,  6, 12,  5, 10, 12,  4,  5, 12 },
+				    /* 1,4 */ { 11,  6,  7, 12,  3,  8, 12,  8,  4, 12,  4,  5, 12,  5, 10, 12, 10,  2, 12,  2,  1, 12,  1,  9, 12,  9,  0, 12,  0,  3 },
+				    /* 1,5 */ {  6,  7, 11, 12,  4,  5, 12,  5, 10, 12, 10,  2, 12,  2,  3, 12,  3,  8, 12,  8,  0, 12,  0,  1, 12,  1,  9, 12,  9,  4 },
+				    /* 1,6 */ {  8,  0,  3, 12,  2,  1, 12,  1,  9, 12,  9,  4, 12,  4,  7, 12,  7, 11, 12, 11,  6, 12,  6,  5, 12,  5, 10, 12, 10,  2 },
+				    /* 2,3 */ {  4,  5,  9,  8,  0, 12,  7,  8, 12,  6,  7, 12, 10,  6, 12,  1, 10, 12,  2,  1, 12, 11,  2, 12,  3, 11, 12,  0,  3, 12 },
+				    /* 2,5 */ {  4,  5,  9,  6,  7, 12, 10,  6, 12,  1, 10, 12,  0,  1, 12,  8,  0, 12,  3,  8, 12,  2,  3, 12, 11,  2, 12,  7, 11, 12 },
+				    /* 2,6 */ {  8,  0,  3,  2,  1, 12, 11,  2, 12,  7, 11, 12,  4,  7, 12,  9,  4, 12,  5,  9, 12,  6,  5, 12, 10,  6, 12,  1, 10, 12 },
+				    /* 3,4 */ {  2,  1, 10, 12,  5,  9, 12,  9,  0, 12,  0,  3, 12,  3, 11, 12, 11,  6, 12,  6,  7, 12,  7,  8, 12,  8,  4, 12,  4,  5 },
+				    /* 3,5 */ {  4,  5,  9, 12,  6,  7, 12,  7,  8, 12,  8,  0, 12,  0,  1, 12,  1, 10, 12, 10,  2, 12,  2,  3, 12,  3, 11, 12, 11,  6 },
+				    /* 3,6 */ {  2,  1, 10, 12,  0,  3, 12,  3, 11, 12, 11,  6, 12,  6,  5, 12,  5,  9, 12,  9,  4, 12,  4,  7, 12,  7,  8, 12,  8,  0 },
+				    /* 4,5 */ {  6,  7, 11,  4,  5, 12,  8,  4, 12,  3,  8, 12,  2,  3, 12, 10,  2, 12,  1, 10, 12,  0,  1, 12,  9,  0, 12,  5,  9, 12 },
+				    /* 4,6 */ { 10,  2,  1,  0,  3, 12,  9,  0, 12,  5,  9, 12,  6,  5, 12, 11,  6, 12,  7, 11, 12,  4,  7, 12,  8,  4, 12,  3,  8, 12 }
+				    }
+				};
+				return &tiling13_3_[config][u][0];
 			}; // end of Tiling13_3_
 
 
@@ -2177,13 +2181,14 @@ namespace vcg
 					/* 2,3,5 */  {  9,  1, 12,  4,  9, 12,  5,  4, 12, 10,  5, 12,  6, 10, 12,  7,  6, 12, 11,  7, 12,  2, 11, 12,  3,  2, 12,  8,  3, 12,  0,  8, 12,  1,  0, 12 },
 					/* 3,4,6 */  { 12,  0,  8, 12,  8,  7, 12,  7,  4, 12,  4,  9, 12,  9,  5, 12,  5,  6, 12,  6, 10, 12, 10,  1, 12,  1,  2, 12,  2, 11, 12, 11,  3, 12,  3,  0 }
 					},
-						/*  90:    1,    3, 4,    6,     */  {
-						/* 1,2,6 */  { 12,  3, 11, 12, 11,  6, 12,  6,  7, 12,  7,  8, 12,  8,  4, 12,  4,  5, 12,  5,  9, 12,  9,  0, 12,  0,  1, 12,  1, 10, 12, 10,  2, 12,  2,  3 },
-						/* 1,4,5 */  {  8,  0, 12,  7,  8, 12,  4,  7, 12,  9,  4, 12,  5,  9, 12,  6,  5, 12, 10,  6, 12,  1, 10, 12,  2,  1, 12, 11,  2, 12,  3, 11, 12,  0,  3, 12 },
-						/* 2,3,5 */  { 10,  2, 12,  5, 10, 12,  6,  5, 12, 11,  6, 12,  7, 11, 12,  4,  7, 12,  8,  4, 12,  3,  8, 12,  0,  3, 12,  9,  0, 12,  1,  9, 12,  2,  1, 12 },
-						/* 3,4,6 */  { 12,  1,  9, 12,  9,  4, 12,  4,  5, 12,  5, 10, 12, 10,  6, 12,  6,  7, 12,  7, 11, 12, 11,  2, 12,  2,  3, 12,  3,  8, 12,  8,  0, 12,  0,  1 }
-						} };
-					return &tiling13_4[config][u][0];
+				    /*  90:    1,    3, 4,    6,     */  {
+				    /* 1,2,6 */  { 12,  3, 11, 12, 11,  6, 12,  6,  7, 12,  7,  8, 12,  8,  4, 12,  4,  5, 12,  5,  9, 12,  9,  0, 12,  0,  1, 12,  1, 10, 12, 10,  2, 12,  2,  3 },
+				    /* 1,4,5 */  {  8,  0, 12,  7,  8, 12,  4,  7, 12,  9,  4, 12,  5,  9, 12,  6,  5, 12, 10,  6, 12,  1, 10, 12,  2,  1, 12, 11,  2, 12,  3, 11, 12,  0,  3, 12 },
+				    /* 2,3,5 */  { 10,  2, 12,  5, 10, 12,  6,  5, 12, 11,  6, 12,  7, 11, 12,  4,  7, 12,  8,  4, 12,  3,  8, 12,  0,  3, 12,  9,  0, 12,  1,  9, 12,  2,  1, 12 },
+				    /* 3,4,6 */  { 12,  1,  9, 12,  9,  4, 12,  4,  5, 12,  5, 10, 12, 10,  6, 12,  6,  7, 12,  7, 11, 12, 11,  2, 12,  2,  3, 12,  3,  8, 12,  8,  0, 12,  0,  1 }
+				    }
+				};
+				return &tiling13_4[config][u][0];
 			}; // end of Tiling13_4
 
 
@@ -2209,13 +2214,14 @@ namespace vcg
 					/* 2,3,6 */  {  3,  0,  8,  5,  6, 10,  1,  2,  9,  4,  9,  2, 11,  4,  2,  4, 11, 7 },
 					/* 3,4,5 */  {  5,  4,  9,  3,  2, 11,  8,  1,  0,  1,  8,  7,  1,  7, 10,  6, 10, 7 }
 					},
-						/*  90:    1,    3, 4,    6,     */  {
-						/* 1,2,5 */  {  4,  7,  8,  2,  1, 10, 11,  0,  3,  0, 11,  6,  0,  6,  9,  5,  9, 6 },
-						/* 1,4,6 */  {  2,  3, 11,  4,  5,  9,  0,  1,  8,  7,  8,  1, 10,  7,  1,  7, 10, 6 },
-						/* 2,3,6 */  {  0,  1,  9,  6,  7, 11,  2,  3, 10,  5, 10,  3,  8,  5,  3,  5,  8, 4 },
-						/* 3,4,5 */  {  6,  5, 10,  0,  3,  8,  9,  2,  1,  2,  9,  4,  2,  4, 11,  7, 11, 4 }
-						} };
-					return &tiling13_5_1[config][u][0];
+				    /*  90:    1,    3, 4,    6,     */  {
+				    /* 1,2,5 */  {  4,  7,  8,  2,  1, 10, 11,  0,  3,  0, 11,  6,  0,  6,  9,  5,  9, 6 },
+				    /* 1,4,6 */  {  2,  3, 11,  4,  5,  9,  0,  1,  8,  7,  8,  1, 10,  7,  1,  7, 10, 6 },
+				    /* 2,3,6 */  {  0,  1,  9,  6,  7, 11,  2,  3, 10,  5, 10,  3,  8,  5,  3,  5,  8, 4 },
+				    /* 3,4,5 */  {  6,  5, 10,  0,  3,  8,  9,  2,  1,  2,  9,  4,  2,  4, 11,  7, 11, 4 }
+				    }
+				};
+				return &tiling13_5_1[config][u][0];
 			}; // end of Tiling13_5_1
 
 			//_____________________________________________________________________________
@@ -2239,13 +2245,14 @@ namespace vcg
 					/* 2,3,6 */  { 5,  6, 10,  9,  1,  0,  4,  9,  0,  8,  4,  0,  4,  8,  7, 11,  7,  8,  3, 11,  8, 11,  3,  2,  0,  2,  3,  2,  0, 1 },
 					/* 3,4,5 */  { 3,  2, 11,  5,  6, 10,  5, 10,  1,  5,  1,  9,  0,  9,  1,  9,  0,  8,  9,  8,  4,  4,  8,  7,  4,  7,  5,  6,  5, 7 }
 					},
-						/*  90:    1,    3, 4,    6,     */  {
-						/* 1,2,5 */  { 2,  1, 10,  4,  5,  9,  4,  9,  0,  4,  0,  8,  3,  8,  0,  8,  3, 11,  8, 11,  7,  6,  7, 11,  7,  6,  4,  5,  4, 6 },
-						/* 1,4,6 */  { 4,  5,  9,  8,  0,  3,  7,  8,  3, 11,  7,  3,  7, 11,  6, 10,  6, 11,  2, 10, 11, 10,  2,  1,  3,  1,  2,  1,  3, 0 },
-						/* 2,3,6 */  { 6,  7, 11, 10,  2,  1,  5, 10,  1,  9,  5,  1,  5,  9,  4,  8,  4,  9,  0,  8,  9,  8,  0,  3,  1,  3,  0,  3,  1, 2 },
-						/* 3,4,5 */  { 0,  3,  8,  6,  7, 11,  6, 11,  2,  6,  2, 10,  1, 10,  2, 10,  1,  9, 10,  9,  5,  5,  9,  4,  5,  4,  6,  7,  6, 4 }
-						} };
-					return &tiling13_5_2[config][u][0];
+				    /*  90:    1,    3, 4,    6,     */  {
+				    /* 1,2,5 */  { 2,  1, 10,  4,  5,  9,  4,  9,  0,  4,  0,  8,  3,  8,  0,  8,  3, 11,  8, 11,  7,  6,  7, 11,  7,  6,  4,  5,  4, 6 },
+				    /* 1,4,6 */  { 4,  5,  9,  8,  0,  3,  7,  8,  3, 11,  7,  3,  7, 11,  6, 10,  6, 11,  2, 10, 11, 10,  2,  1,  3,  1,  2,  1,  3, 0 },
+				    /* 2,3,6 */  { 6,  7, 11, 10,  2,  1,  5, 10,  1,  9,  5,  1,  5,  9,  4,  8,  4,  9,  0,  8,  9,  8,  0,  3,  1,  3,  0,  3,  1, 2 },
+				    /* 3,4,5 */  { 0,  3,  8,  6,  7, 11,  6, 11,  2,  6,  2, 10,  1, 10,  2, 10,  1,  9, 10,  9,  5,  5,  9,  4,  5,  4,  6,  7,  6, 4 }
+				    }
+				};
+				return &tiling13_5_2[config][u][0];
 			}; // end of Tiling13_5_2
 			//_____________________________________________________________________________
 
@@ -2294,9 +2301,9 @@ namespace vcg
 			* the cube is not.
 			*/
 			//-----------------------------------------------------------------------------
-            static char CasesClassic(unsigned char u, unsigned char w)
+			static signed char CasesClassic(unsigned char u, unsigned char w)
 			{
-				static const char casesClassic[256][16] = {
+				static const signed char casesClassic[256][16] = {
 					/*   0:                          */  { -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1 },
 					/*   1: 0,                       */  {  0,  8,  3, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1 },
 					/*   2:    1,                    */  {  0,  1,  9, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1 },
diff --git a/vcg/complex/algorithms/create/platonic.h b/vcg/complex/algorithms/create/platonic.h
index f696c964..8b4d906e 100644
--- a/vcg/complex/algorithms/create/platonic.h
+++ b/vcg/complex/algorithms/create/platonic.h
@@ -26,9 +26,7 @@
 
 #include<vcg/math/base.h>
 #include<vcg/complex/algorithms/refine.h>
-#include<vcg/complex/algorithms/update/flag.h>
 #include<vcg/complex/algorithms/update/position.h>
-#include<vcg/complex/algorithms/update/topology.h>
 #include<vcg/complex/algorithms/update/bounding.h>
 #include<vcg/complex/algorithms/clean.h>
 #include<vcg/complex/algorithms/polygon_support.h>
@@ -44,7 +42,7 @@ namespace tri {
         that represent surfaces of platonic solids,
                 and other simple shapes.
 
-                 The 1st parameter is the mesh that will
+                 The 1st parameter is usually the mesh that will
                 be filled with the solid.
         */
 template <class TetraMeshType>
@@ -75,7 +73,7 @@ void Tetrahedron(TetraMeshType &in)
 
 
 /// builds a Dodecahedron,
-/// (each pentagon is composed of 5 triangles)
+/// (each pentagonal face is composed by 5 triangles)
 template <class DodMeshType>
 void Dodecahedron(DodMeshType & in)
 {
@@ -524,6 +522,42 @@ void Cone( MeshType& in,
         }
 }
 
+template <class MeshType>
+void OrientedCone(MeshType & m,
+                  const typename MeshType::CoordType origin,
+                  const typename MeshType::CoordType end,
+                  const typename MeshType::ScalarType r1,
+                  const typename MeshType::ScalarType r2,
+                  const int SubDiv = 36  )
+{
+  typedef typename MeshType::ScalarType ScalarType;
+  typedef typename MeshType::CoordType CoordType;
+  typedef Matrix44<typename MeshType::ScalarType> Matrix44x;
+  Cone(m,r1,r2,Distance(origin,end),SubDiv);
+
+  tri::UpdatePosition<MeshType>::Translate(m,CoordType(0,Distance(origin,end)/2,0));
+
+  CoordType norm = end-origin;
+  ScalarType angleRad = Angle(CoordType(0,1,0),norm);
+  const ScalarType Delta= 0.000000001;
+  Matrix44x rotM;
+  if (fabs(angleRad)<Delta)
+      rotM.SetIdentity();
+  else
+  if (fabs(angleRad-M_PI)<Delta)
+  {
+      CoordType axis = CoordType(0,0,1)^norm;
+      rotM.SetRotateRad(angleRad,axis);
+  }
+  else
+  {
+    CoordType axis = CoordType(0,1,0)^norm;
+    rotM.SetRotateRad(angleRad,axis);
+  }
+  tri::UpdatePosition<MeshType>::Matrix(m,rotM);
+  tri::UpdatePosition<MeshType>::Translate(m,origin);
+}
+
 
 template <class MeshType >
 void Box(MeshType &in, const typename MeshType::BoxType & bb )
@@ -699,8 +733,6 @@ template <class MeshType, class InCoordType, class InFaceIndexType >
 void BuildMeshFromCoordVectorIndexVector(MeshType & in, const std::vector<InCoordType> & v, const std::vector<InFaceIndexType> & f)
 {
   typedef typename MeshType::CoordType CoordType;
-  typedef typename MeshType::VertexPointer  VertexPointer;
-  typedef typename MeshType::VertexIterator VertexIterator;
 
   in.Clear();
   Allocator<MeshType>::AddVertices(in,v.size());
@@ -711,25 +743,16 @@ void BuildMeshFromCoordVectorIndexVector(MeshType & in, const std::vector<InCoor
     const InCoordType &vv = v[i];
     in.vert[i].P() = CoordType( vv[0],vv[1],vv[2]);
   }
-
-  std::vector<VertexPointer> index(in.vn);
-  VertexIterator j;
-  int k;
-  for(k=0,j=in.vert.begin();j!=in.vert.end();++j,++k)
-    index[k] = &*j;
-
+ 
   for(size_t i=0;i<f.size();++i)
   {
     const InFaceIndexType &ff= f[i];
-    assert( ff[0]>=0 );
-    assert( ff[1]>=0 );
-    assert( ff[2]>=0 );
-    assert( ff[0]<in.vn );
-    assert( ff[1]<in.vn );
-    assert( ff[2]<in.vn );
+    assert( ff[0]>=0 && ff[0]<in.vn);
+    assert( ff[1]>=0 && ff[1]<in.vn);
+    assert( ff[2]>=0 && ff[2]<in.vn);
     in.face[i].V(0) = &in.vert[ ff[0] ];
-    in.face[i].V(1) = &in.vert[ ff[0] ];
-    in.face[i].V(2) = &in.vert[ ff[0] ];
+    in.face[i].V(1) = &in.vert[ ff[1] ];
+    in.face[i].V(2) = &in.vert[ ff[2] ];
   }
 
   tri::UpdateBounding<MeshType>::Box(in);
@@ -745,11 +768,11 @@ void BuildMeshFromCoordVector( MeshType & in, const V & v)
 
 
 template <class TriMeshType,class EdgeMeshType >
-void BuildFromNonFaux(TriMeshType &in, EdgeMeshType &out)
+void BuildFromFaceEdgeSel(TriMeshType &in, EdgeMeshType &out)
 {
   tri::RequireCompactness(in);
   std::vector<typename tri::UpdateTopology<TriMeshType>::PEdge> edgevec;
-  tri::UpdateTopology<TriMeshType>::FillUniqueEdgeVector(in, edgevec, false);
+  tri::UpdateTopology<TriMeshType>::FillSelectedFaceEdgeVector(in, edgevec);
   out.Clear();
   for(size_t i=0;i<in.vert.size();++i)
     tri::Allocator<EdgeMeshType>::AddVertex(out, in.vert[i].P());
@@ -1013,9 +1036,21 @@ void OrientedEllipticPrism(MeshType & m, const typename MeshType::CoordType orig
   tri::UpdatePosition<MeshType>::Scale(m,CoordType(radius,height,radius));
   CoordType norm = end-origin;
   ScalarType angleRad = Angle(CoordType(0,1,0),norm);
-  CoordType axis = CoordType(0,1,0)^norm;
+  const ScalarType Delta= 0.000000001;
   Matrix44x rotM;
-  rotM.SetRotateRad(angleRad,axis);
+  if (fabs(angleRad)<Delta)
+      rotM.SetIdentity();
+  else
+  if (fabs(angleRad-M_PI)<Delta)
+  {
+      CoordType axis = CoordType(0,0,1)^norm;
+      rotM.SetRotateRad(angleRad,axis);
+  }
+  else
+  {
+    CoordType axis = CoordType(0,1,0)^norm;
+    rotM.SetRotateRad(angleRad,axis);
+  }
   tri::UpdatePosition<MeshType>::Matrix(m,rotM);
   tri::UpdatePosition<MeshType>::Translate(m,origin);
 
@@ -1094,7 +1129,7 @@ class _SphMesh    : public tri::TriMesh< vector<_SphVertex>, vector<_SphFace>
 
 
 template <class MeshType>
-void BuildPrismFaceShell(MeshType &mIn, MeshType &mOut, float height=0, float inset=0, bool smoothFlag=true  )
+void BuildPrismFaceShell(MeshType &mIn, MeshType &mOut, float height=0, float inset=0, bool smoothFlag=false  )
 {
   typedef typename MeshType::VertexPointer VertexPointer;
   typedef typename MeshType::FacePointer FacePointer;
@@ -1103,6 +1138,8 @@ void BuildPrismFaceShell(MeshType &mIn, MeshType &mOut, float height=0, float in
   if(inset==0) inset = mIn.bbox.Diag()/200.0f;
   tri::UpdateTopology<MeshType>::FaceFace(mIn);
   tri::UpdateFlags<MeshType>::FaceClearV(mIn);
+  tri::UpdateNormal<MeshType>::PerVertexNormalizedPerFace(mIn);
+  
   for(size_t i=0;i<mIn.face.size();++i) if(!mIn.face[i].IsV())
   {
     MeshType faceM;
@@ -1113,7 +1150,7 @@ void BuildPrismFaceShell(MeshType &mIn, MeshType &mOut, float height=0, float in
 
     CoordType nf(0,0,0);
     for(size_t j=0;j<faceVec.size();++j)
-      nf+=faceVec[j]->N().Normalize() * DoubleArea(*faceVec[j]);
+      nf+=vcg::NormalizedTriangleNormal(*faceVec[j]) * DoubleArea(*faceVec[j]);
     nf.Normalize();
     nf = nf*height/2.0f;
 
@@ -1123,14 +1160,14 @@ void BuildPrismFaceShell(MeshType &mIn, MeshType &mOut, float height=0, float in
     bary/=float(faceVec.size());
 
     // Add vertices (alternated top and bottom)
-    tri::Allocator<MeshType>::AddVertex(faceM, bary-nf);
     tri::Allocator<MeshType>::AddVertex(faceM, bary+nf);
+    tri::Allocator<MeshType>::AddVertex(faceM, bary-nf);
     for(size_t j=0;j<vn;++j){
       CoordType delta = (vertVec[j]->P() - bary);
       delta.Normalize();
       delta = delta*inset;
-      tri::Allocator<MeshType>::AddVertex(faceM, vertVec[j]->P()-delta-nf);
       tri::Allocator<MeshType>::AddVertex(faceM, vertVec[j]->P()-delta+nf);
+      tri::Allocator<MeshType>::AddVertex(faceM, vertVec[j]->P()-delta-nf);
     }
 
     // Build top and bottom faces
@@ -1152,7 +1189,6 @@ void BuildPrismFaceShell(MeshType &mIn, MeshType &mOut, float height=0, float in
 
     if(smoothFlag)
     {
-      faceM.face.EnableFFAdjacency();
       tri::UpdateTopology<MeshType>::FaceFace(faceM);
       tri::UpdateFlags<MeshType>::FaceBorderFromFF(faceM);
       tri::Refine(faceM, MidPoint<MeshType>(&faceM),0,true);
diff --git a/vcg/complex/algorithms/create/plymc/plymc.h b/vcg/complex/algorithms/create/plymc/plymc.h
index 2f3315d3..ae268ef5 100644
--- a/vcg/complex/algorithms/create/plymc/plymc.h
+++ b/vcg/complex/algorithms/create/plymc/plymc.h
@@ -59,7 +59,7 @@ namespace tri {
 
 // Simple prototype for later use...
 template<class MeshType>
-void MCSimplify( MeshType &m, float perc, bool preserveBB=true, vcg::CallBackPos *cb=0);
+int MCSimplify( MeshType &m, float perc, bool preserveBB=true, vcg::CallBackPos *cb=0);
 
 
 /** Surface Reconstruction
@@ -550,63 +550,66 @@ template < class MeshType, class VertexPair>
 
 
 template<   class MeshType>
-void MCSimplify( MeshType &m, float absoluteError, bool preserveBB, vcg::CallBackPos *cb)
+int MCSimplify( MeshType &m, float absoluteError, bool preserveBB, vcg::CallBackPos *cb)
 {
 
-  typedef PlyMCTriEdgeCollapse<MeshType,BasicVertexPair<typename MeshType::VertexType> > MyColl;
-  typedef typename MeshType::FaceIterator FaceIterator;
-  typedef typename MeshType::CoordType CoordType;
+	typedef PlyMCTriEdgeCollapse<MeshType,BasicVertexPair<typename MeshType::VertexType> > MyColl;
+	typedef typename MeshType::FaceIterator FaceIterator;
+	typedef typename MeshType::CoordType CoordType;
 
 
-    tri::UpdateBounding<MeshType>::Box(m);
-    tri::UpdateTopology<MeshType>::VertexFace(m);
-    TriEdgeCollapseMCParameter pp;
-    pp.bb.Import(m.bbox);
-    pp.preserveBBox=preserveBB;
-    vcg::LocalOptimization<MeshType> DeciSession(m,&pp);
-    if(absoluteError==0)
-    {
+	tri::UpdateBounding<MeshType>::Box(m);
+	tri::UpdateTopology<MeshType>::VertexFace(m);
+	TriEdgeCollapseMCParameter pp;
+	pp.bb.Import(m.bbox);
+	pp.preserveBBox=preserveBB;
+	vcg::LocalOptimization<MeshType> DeciSession(m,&pp);
+	if(absoluteError==0)
+	{
       // guess the mc side.
       // In a MC mesh the vertices are on the egdes of the cells. and the edges are (mostly) on face of the cells.
       // If you have  2 vert over the same face xy they share z
 
-      std::vector<float> ZSet;
-      for(FaceIterator fi = m.face.begin();fi!=m.face.end();++fi)
-        if(!(*fi).IsD())
-        {
-         CoordType v0=(*fi).V(0)->P();
-         CoordType v1=(*fi).V(1)->P();
-         CoordType v2=(*fi).V(2)->P();
-         if(v0[2]==v1[2] && v0[1]!=v1[1] && v0[0]!=v1[0]) ZSet.push_back(v0[2]);
-         if(v0[2]==v2[2] && v0[1]!=v1[1] && v2[0]!=v2[0]) ZSet.push_back(v0[2]);
-         if(v1[2]==v2[2] && v1[1]!=v1[1] && v2[0]!=v2[0]) ZSet.push_back(v0[2]);
-         if(ZSet.size()>100) break;
-       }
-      std::sort(ZSet.begin(),ZSet.end());
-      std::vector<float>::iterator lastV = std::unique(ZSet.begin(),ZSet.end());
-      ZSet.resize(lastV-ZSet.begin());
-      float Delta=0;
-      for(size_t i = 0; i< ZSet.size()-1;++i)
-      {
-        Delta = std::max(ZSet[i+1]-ZSet[i],Delta);
-//        qDebug("%f",Delta);
-      }
-      absoluteError= Delta/4.0f;
-    }
-//    qDebug("Simplifying at absoluteError=%f",absoluteError);
+		std::vector<float> ZSet;
+		for(FaceIterator fi = m.face.begin();fi!=m.face.end();++fi)
+		if(!(*fi).IsD())
+		{
+			CoordType v0=(*fi).V(0)->P();
+			CoordType v1=(*fi).V(1)->P();
+			CoordType v2=(*fi).V(2)->P();
+			if(v0[2]==v1[2] && v0[1]!=v1[1] && v0[0]!=v1[0]) ZSet.push_back(v0[2]);
+			if(v0[2]==v2[2] && v0[1]!=v2[1] && v0[0]!=v2[0]) ZSet.push_back(v0[2]);
+			if(v1[2]==v2[2] && v1[1]!=v2[1] && v1[0]!=v2[0]) ZSet.push_back(v1[2]);
+			if(ZSet.size()>100) break;
+		}
+		if (ZSet.size() == 0) return -1;	//no straight edges found. exit with error
+		std::sort(ZSet.begin(),ZSet.end());
+		std::vector<float>::iterator lastV = std::unique(ZSet.begin(),ZSet.end());
+		ZSet.resize(lastV-ZSet.begin());
+		float Delta=0;
+		for(size_t i = 0; i< ZSet.size()-1;++i)
+		{
+			Delta = std::max(ZSet[i+1]-ZSet[i],Delta);
+			//qDebug("%f",Delta);
+		}
+		absoluteError= Delta/4.0f;
+	}
+	//qDebug("Simplifying at absoluteError=%f",absoluteError);
 
-    float TargetError = absoluteError;
-    char buf[1024];
-    DeciSession.template Init< MyColl > ();
+	float TargetError = absoluteError;
+	char buf[1024];
+	DeciSession.template Init< MyColl > ();
 
-    pp.areaThr=TargetError*TargetError;
-    DeciSession.SetTimeBudget(1.0f);
-    if(TargetError < std::numeric_limits<float>::max() ) DeciSession.SetTargetMetric(TargetError);
-    while(DeciSession.DoOptimization() && DeciSession.currMetric < TargetError)
-      {
-        sprintf(buf,"Simplyfing %7i err %9g \r",m.fn,DeciSession.currMetric);
-        if (cb) cb(int(100.0f*DeciSession.currMetric/TargetError),buf);
-      }
+	pp.areaThr=TargetError*TargetError;
+	DeciSession.SetTimeBudget(1.0f);
+	if(TargetError < std::numeric_limits<float>::max() ) DeciSession.SetTargetMetric(TargetError);
+	while(DeciSession.DoOptimization() && DeciSession.currMetric < TargetError)
+	{
+		sprintf(buf,"Simplyfing %7i err %9g \r",m.fn,DeciSession.currMetric);
+		if (cb) cb(int(100.0f*DeciSession.currMetric/TargetError),buf);
+	}
+
+	return 1; //success
 }
 
 
diff --git a/vcg/complex/algorithms/create/plymc/simplemeshprovider.h b/vcg/complex/algorithms/create/plymc/simplemeshprovider.h
index 1ce3be53..87d20baf 100644
--- a/vcg/complex/algorithms/create/plymc/simplemeshprovider.h
+++ b/vcg/complex/algorithms/create/plymc/simplemeshprovider.h
@@ -1,6 +1,6 @@
 #ifndef SIMPLEMESHPROVIDER_H
 #define SIMPLEMESHPROVIDER_H
-#include "../../meshlab/alnParser.h"
+#include <wrap/io_trimesh/alnParser.h>
 #include <list>
 #include <vector>
 #include <vcg/space/box3.h>
@@ -151,7 +151,7 @@ public:
     ALNParser::ParseALN(rmaps, alnName);
     
     for(size_t i=0; i<rmaps.size(); i++)
-      AddSingleMesh(rmaps[i].filename.c_str(), rmaps[i].trasformation, rmaps[i].quality);
+      AddSingleMesh(rmaps[i].filename.c_str(), rmaps[i].transformation, rmaps[i].quality);
     
     return true;
   }
diff --git a/vcg/complex/algorithms/create/resampler.h b/vcg/complex/algorithms/create/resampler.h
index b2e3fa9f..edf9eae5 100644
--- a/vcg/complex/algorithms/create/resampler.h
+++ b/vcg/complex/algorithms/create/resampler.h
@@ -24,13 +24,12 @@
 #define __VCG_MESH_RESAMPLER
 
 #include <vcg/complex/algorithms/update/normal.h>
-#include <vcg/complex/algorithms/update/flag.h>
 #include <vcg/complex/algorithms/update/bounding.h>
 #include <vcg/complex/algorithms/update/component_ep.h>
 #include <vcg/complex/algorithms/create/marching_cubes.h>
-#include <vcg/space/index/grid_static_ptr.h>
-#include <vcg/complex/algorithms/closest.h>
-#include <vcg/space/box3.h>
+//#include <vcg/space/index/grid_static_ptr.h>
+//#include <vcg/complex/algorithms/closest.h>
+#include <vcg/space/index/kdtree/kdtree_face.h>
 
 namespace vcg {
 namespace tri {
@@ -65,13 +64,15 @@ class Resampler : public BasicGrid<typename NewMeshType::ScalarType>
   {
   private:
     typedef int VertexIndex;
-    typedef typename vcg::GridStaticPtr<OldFaceType, OldScalarType> GridType;
+    //typedef typename vcg::GridStaticPtr<OldFaceType, OldScalarType> GridType;
+    typedef vcg::KdTreeFace<OldMeshType> GridType;
 
   protected:
 
     int SliceSize;
     int	CurrentSlice;
-    typedef tri::FaceTmark<OldMeshType> MarkerFace;
+    //typedef tri::FaceTmark<OldMeshType> MarkerFace;
+    typedef vcg::tri::EmptyTMark<OldMeshType> MarkerFace;
     MarkerFace markerFunctor;
 
     VertexIndex *_x_cs; // indici dell'intersezioni della superficie lungo gli Xedge della fetta corrente
@@ -161,6 +162,7 @@ class Resampler : public BasicGrid<typename NewMeshType::ScalarType>
       OldCoordType closestPt;
       DISTFUNCTOR PDistFunct;
       OldFaceType *f = _g.GetClosest(PDistFunct,markerFunctor,testPt,max_dist,dist,closestPt);
+                 
       if (f==NULL) return field_value(false,0);
       if(AbsDistFlag) return field_value(true,dist);
       assert(!f->IsD());
@@ -232,6 +234,7 @@ class Resampler : public BasicGrid<typename NewMeshType::ScalarType>
     /// the distance of the bb
     void ComputeSliceValues(int slice,field_value *slice_values)
     {
+#pragma omp parallel for schedule(dynamic, 10)
       for (int i=0; i<=this->siz.X(); i++)
       {
         for (int k=0; k<=this->siz.Z(); k++)
diff --git a/vcg/complex/algorithms/create/tetramesh_support.h b/vcg/complex/algorithms/create/tetramesh_support.h
new file mode 100644
index 00000000..0da81fa1
--- /dev/null
+++ b/vcg/complex/algorithms/create/tetramesh_support.h
@@ -0,0 +1,89 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *   
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+#ifndef TETRAMESH_SUPPORT_H
+#define TETRAMESH_SUPPORT_H
+
+#include <vcg/simplex/tetrahedron/topology.h>
+namespace vcg {
+namespace tri {
+
+template <class TetraMesh, class TriMesh>
+inline void CreateTriMeshFromTTBorder(TetraMesh & tetramesh, TriMesh & trimesh)
+{
+        typedef typename TetraMesh::VertexPointer VertexPointer;
+        typedef typename TriMesh::FacePointer     FacePointer;
+
+        RequireTTAdjacency(tetramesh);
+        tri::UpdateTopology<TetraMesh>::TetraTetra(tetramesh);
+
+        trimesh.Clear();
+
+        std::vector<VertexPointer> verts;
+
+        typedef typename TetraMesh::TetraType TetraType;
+
+        ForEachTetra(tetramesh, [&] (TetraType & t) {
+                for (int i = 0; i < 4; ++i)
+                        if (vcg::tetrahedron::IsTTBorder(t, i))
+                        {
+                                verts.push_back(t.V(Tetra::VofF(i, 0)));
+                                verts.push_back(t.V(Tetra::VofF(i, 1)));
+                                verts.push_back(t.V(Tetra::VofF(i, 2)));
+                        }
+        });
+
+        typedef typename TriMesh::VertexIterator VertexIterator;
+        typedef typename TriMesh::FaceIterator     FaceIterator;
+
+        VertexIterator vi = tri::Allocator<TriMesh>::AddVertices(trimesh, verts.size());
+        FaceIterator   fi = tri::Allocator<TriMesh>::AddFaces(trimesh, verts.size() / 3);
+
+        for (int i = 0; i < verts.size(); i += 3)
+        {
+                fi->Alloc(3);
+
+                vi->P() = verts[i + 0]->P();
+                fi->V(0) = &*vi;
+                ++vi;
+
+                vi->P() = verts[i + 1]->P();
+                fi->V(1) = &*vi;
+                ++vi;
+
+                vi->P() = verts[i + 2]->P();
+                fi->V(2) = &*vi;
+                ++vi;
+
+                ++fi;
+        }
+
+        //do it while you build the mesh
+        vcg::tri::Clean<TriMesh>::RemoveDuplicateVertex(trimesh);
+        vcg::tri::Allocator<TriMesh>::CompactEveryVector(trimesh);
+}
+
+} // end namespace tri
+} // end namespace vcg
+
+
+#endif // EXTRUDE_H
diff --git a/vcg/complex/algorithms/create/zonohedron.h b/vcg/complex/algorithms/create/zonohedron.h
index b4d79df6..fcc4be54 100644
--- a/vcg/complex/algorithms/create/zonohedron.h
+++ b/vcg/complex/algorithms/create/zonohedron.h
@@ -261,11 +261,9 @@ template<class Scalar>
 template<class MeshType>
 void Zonohedron<Scalar>::createMesh(MeshType &m){
     typedef MeshType Mesh;
-    typedef typename Mesh::VertexPointer  MeshVertexPointer;
     typedef typename Mesh::VertexIterator MeshVertexIterator;
     typedef typename Mesh::FaceIterator   MeshFaceIterator;
-    typedef typename Mesh::FaceType   MeshFace;
-
+    
     createInternalMesh();
 
     m.Clear();
diff --git a/vcg/complex/algorithms/curve_on_manifold.h b/vcg/complex/algorithms/curve_on_manifold.h
index 5b9d8584..2c8e4abe 100644
--- a/vcg/complex/algorithms/curve_on_manifold.h
+++ b/vcg/complex/algorithms/curve_on_manifold.h
@@ -32,11 +32,11 @@
 #include<vcg/complex/algorithms/clean.h>
 #include<vcg/complex/algorithms/refine.h>
 #include<vcg/complex/algorithms/create/platonic.h>
+#include<vcg/complex/algorithms/point_sampling.h>
 #include <vcg/space/index/grid_static_ptr.h>
 #include <vcg/space/index/kdtree/kdtree.h>
 #include <vcg/math/histogram.h>
 #include<vcg/space/distance3.h>
-#include<eigenlib/Eigen/Core>
 #include <vcg/complex/algorithms/attribute_seam.h>
 #include <wrap/io_trimesh/export_ply.h>
 
@@ -54,7 +54,7 @@ class CoM
 {
 public:
   typedef typename MeshType::ScalarType     ScalarType;
-  typedef typename MeshType::CoordType     CoordType;
+  typedef typename MeshType::CoordType      CoordType;
   typedef typename MeshType::VertexType     VertexType;
   typedef typename MeshType::VertexPointer  VertexPointer;
   typedef typename MeshType::VertexIterator VertexIterator;
@@ -63,11 +63,12 @@ public:
   typedef typename MeshType::FaceType       FaceType;
   typedef typename MeshType::FacePointer    FacePointer;
   typedef typename MeshType::FaceIterator   FaceIterator;
-  typedef Box3  <ScalarType>               Box3Type;
+  typedef Box3<ScalarType>                  Box3Type;
+  typedef Segment3<ScalarType>              Segment3Type;  
   typedef typename vcg::GridStaticPtr<FaceType, ScalarType> MeshGrid;  
   typedef typename vcg::GridStaticPtr<EdgeType, ScalarType> EdgeGrid;
   typedef typename face::Pos<FaceType> PosType;
-  
+  typedef typename tri::UpdateTopology<MeshType>::PEdge PEdge;
   class Param 
   {
   public:
@@ -75,10 +76,11 @@ public:
     ScalarType surfDistThr; // Distance between surface and curve; used in simplify and refine
     ScalarType polyDistThr; // Distance between the 
     ScalarType minRefEdgeLen;  // Minimal admitted Edge Lenght (used in refine: never make edge shorther than this value) 
-    ScalarType maxSimpEdgeLen; // Minimal admitted Edge Lenght (used in simplify: never make edges longer than this value) 
+    ScalarType maxSimpEdgeLen; // Maximal admitted Edge Lenght (used in simplify: never make edges longer than this value) 
     ScalarType maxSmoothDelta; // The maximum movement that is admitted during smoothing.
     ScalarType maxSnapThr;     // The maximum distance allowed when snapping a vertex of the polyline onto a mesh vertex
     ScalarType gridBailout;    // The maximum distance bailout used in grid sampling
+    ScalarType barycentricSnapThr;    // The maximum distance bailout used in grid sampling
     
     Param(MeshType &m) { Default(m);}
     
@@ -87,10 +89,11 @@ public:
       surfDistThr   = m.bbox.Diag()/1000.0;
       polyDistThr   = m.bbox.Diag()/5000.0;
       minRefEdgeLen    = m.bbox.Diag()/16000.0;
-      maxSimpEdgeLen    = m.bbox.Diag()/1000.0;
+      maxSimpEdgeLen    = m.bbox.Diag()/100.0;
       maxSmoothDelta =   m.bbox.Diag()/100.0;
-      maxSnapThr =       m.bbox.Diag()/10000.0;
+      maxSnapThr =       m.bbox.Diag()/1000.0;
       gridBailout =      m.bbox.Diag()/20.0;
+      barycentricSnapThr = 0.05;
     }
     void Dump() const
     {
@@ -112,355 +115,138 @@ public:
   Param par; 
   CoM(MeshType &_m) :base(_m),par(_m){}
  
-  
-  //******** CUT TREE GENERATION 
-
-    
-  // Given two points return true if on the base mesh there exist an edge with that two coords
-  // if return true the pos indicate the found edge. 
-  bool ExistEdge(KdTree<ScalarType> &kdtree, CoordType &p0, CoordType &p1, PosType &fpos)
+  FaceType *GetClosestFace(const CoordType &p)
   {
-    ScalarType locEps = SquaredDistance(p0,p1)/100000.0;
-    
-    VertexType *v0=0,*v1=0;
-    unsigned int veInd;
-    ScalarType sqdist;
-    kdtree.doQueryClosest(p0,veInd,sqdist);
-    if(sqdist<locEps) 
-      v0 = &base.vert[veInd];
-    kdtree.doQueryClosest(p1,veInd,sqdist);
-    if(sqdist<locEps) 
-      v1 = &base.vert[veInd];
-    if(v0 && v1)
+    ScalarType closestDist;
+    CoordType closestP;
+    return vcg::tri::GetClosestFaceBase(base,uniformGrid,p, this->par.gridBailout, closestDist, closestP);
+  }
+  
+  FaceType *GetClosestFaceIP(const CoordType &p, CoordType &ip)
     {
-      face::VFIterator<FaceType> vfi(v0);
-      while(!vfi.End())
-      { 
-        if(vfi.V1()==v1)
-        {
-          fpos = PosType(vfi.F(),vfi.I(), v0);
-          return true;
-        }
-        if(vfi.V2()==v1)
-        {
-          fpos = PosType(vfi.F(),(vfi.I()+1)%3, v1);
-          return true;
-        }
-        ++vfi;
-      }      
+      ScalarType closestDist;
+      CoordType closestP,closestN;
+      return vcg::tri::GetClosestFaceBase(base,uniformGrid,p, this->par.gridBailout, closestDist, closestP,closestN,ip);
     }
+
+  FaceType *GetClosestFaceIP(const CoordType &p, CoordType &ip, CoordType &in)
+    {
+      ScalarType closestDist;
+      CoordType closestP;
+      return vcg::tri::GetClosestFaceBase(base,uniformGrid,p, this->par.gridBailout, closestDist, closestP,in,ip);
+    }
+
+  FaceType *GetClosestFacePoint(const CoordType &p, CoordType &closestP)
+  {
+    ScalarType closestDist;
+    return vcg::tri::GetClosestFaceBase(base,uniformGrid,p, this->par.gridBailout, closestDist, closestP);
+  }
+  
+  bool IsSnappedEdge(CoordType &ip, int &ei)
+  {
+    for(int i=0;i<3;++i)
+      if(ip[i]>0.0 && ip[(i+1)%3]>0.0 && ip[(i+2)%3]==0.0 ) {
+        ei=i;
+        return true; 
+      }
+    ei=-1;
     return false;
   }
-  
-  bool OptimizeTree(MeshType &t)
-  {
-    tri::Allocator<MeshType>::CompactEveryVector(t);
-    tri::UpdateTopology<MeshType>::VertexEdge(t);
-    tri::UpdateTopology<MeshType>::VertexFace(base);
-    VertexConstDataWrapper<MeshType > vdw(base);
-    KdTree<ScalarType> kdtree(vdw);
-    
-    // First simple loop that search for 2->1 moves. 
-    for(VertexIterator vi=t.vert.begin();vi!=t.vert.end();++vi)
-    {
-      std::vector<VertexType *> starVec;
-      edge::VVStarVE(&*vi,starVec);
-      if(starVec.size()==2)
-      {
-        PosType pos;
-        if(ExistEdge(kdtree,starVec[0]->P(),starVec[1]->P(),pos))
-          edge::VEEdgeCollapse(t,&*vi);
-      }
-    }
-    return (t.en < t.edge.size());
-  }
-  
-  int findNonVisitedEdgesDuringRetract(VertexType * vp, EdgeType * &ep)
-  {
-    std::vector<EdgeType *> starVec;
-    edge::VEStarVE(&*vp,starVec);
-    int cnt =0;
-    for(size_t i=0;i<starVec.size();++i) {
-      if(!starVec[i]->IsV()) {
-        cnt++;
-        ep = starVec[i];
-      }
-    }  
-    return cnt;
-  }
-  
-  void Retract(MeshType &t)
-  {
-    tri::Clean<MeshType>::RemoveDuplicateVertex(t);
-    printf("Retracting a tree of %i edges and %i vertices\n",t.en,t.vn);
-    tri::UpdateTopology<MeshType>::VertexEdge(t);
-  
-    std::stack<VertexType *> vertStack;
-  
-    // Put on the stack all the vertex with just a single incident edge. 
-    for(VertexIterator vi=t.vert.begin();vi!=t.vert.end();++vi)
-    {
-      std::vector<EdgeType *> starVec;
-      edge::VEStarVE(&*vi,starVec);
-      if(starVec.size()==1)
-        vertStack.push(&*vi);
-    }
-  
-    tri::UpdateFlags<MeshType>::EdgeClearV(t);
-    tri::UpdateFlags<MeshType>::VertexClearV(t);
-    
-    int unvisitedEdgeNum = t.en;
-    while((!vertStack.empty()) && (unvisitedEdgeNum > 2) )
-    {
-      VertexType *vp = vertStack.top();
-      vertStack.pop();
-      vp->C()=Color4b::Blue;
-      EdgeType *ep=0;
-      int eCnt =  findNonVisitedEdgesDuringRetract(vp,ep);
-      if(eCnt==1) // We have only one non visited edge over vp
-      {
-        assert(!ep->IsV());
-        ep->SetV();
-        --unvisitedEdgeNum;
-        VertexType *otherVertP;
-        if(ep->V(0)==vp) otherVertP = ep->V(1);
-        else otherVertP = ep->V(0);
-        vertStack.push(otherVertP);
-      }
-    }
-    assert(unvisitedEdgeNum >0);
-    
-    for(size_t i =0; i<t.edge.size();++i)
-      if(t.edge[i].IsV()) tri::Allocator<MeshType>::DeleteEdge(t,t.edge[i]);
-    assert(t.en >0);
-    tri::Clean<MeshType>::RemoveUnreferencedVertex(t);
-    tri::Allocator<MeshType>::CompactEveryVector(t);
-  }
-  
-  void CleanSpuriousDanglingEdges(MeshType &poly)
-  {    
-    EdgeGrid edgeGrid;
-    edgeGrid.Set(poly.edge.begin(), poly.edge.end());    
-    std::vector< std::pair<VertexType *, VertexType *> > mergeVec;
-    UpdateFlags<MeshType>::FaceClearV(base);
-    UpdateTopology<MeshType>::FaceFace(base);
-    for(int i=0;i<base.fn;++i)
-    {
-      FaceType *fp=&base.face[i];
-      if(!fp->IsV())
-      {
-        for(int j=0;j<3;++j)
-          if(face::IsBorder(*fp,j))
-          {
-            face::Pos<FaceType> startPos(fp,int(j));
-            assert(startPos.IsBorder());
-            face::Pos<FaceType> curPos=startPos;
-            face::Pos<FaceType> prevPos=startPos;
-            int edgeCnt=0;
-            do
-            {
-              prevPos=curPos;
-              curPos.F()->SetV();
-              curPos.NextB();
-              edgeCnt++;
-              if(Distance(curPos.V()->P(),prevPos.VFlip()->P())<0.000000001f)
-              {
-                Point3f endp = curPos.VFlip()->P();
-                float minDist=par.gridBailout;
-                Point3f closestP;
-                EdgeType *cep = vcg::tri::GetClosestEdgeBase(poly,edgeGrid,endp,par.gridBailout,minDist,closestP);        
-                if(minDist > par.polyDistThr){
-                  mergeVec.push_back(std::make_pair(curPos.V(),prevPos.VFlip()));
-                  printf("Vertex %i and %i should be merged\n",tri::Index(base,curPos.V()),tri::Index(base,prevPos.VFlip()));
-                }
-              }
-              
-            } while(curPos!=startPos);
-            printf("walked along a border of %i edges\n",edgeCnt);
-            break;
-          }
-      }
-    }
-    printf("Found %i vertex pairs to be merged\n",mergeVec.size());
-    for(int k=0;k<mergeVec.size();++k)
-    {
-      VertexType *vdel=mergeVec[k].first;
-      VertexType *vmerge=mergeVec[k].second;
-      for(int i=0;i<base.fn;++i)
-      {
-        FaceType *fp=&base.face[i];
-        for(int j=0;j<3;++j)
-          if(fp->V(j)==vdel) fp->V(j)=vmerge;        
-      }
-      Allocator<MeshType>::DeleteVertex(base,*vdel);
-    }
-    Allocator<MeshType>::CompactEveryVector(base);
-    
-   
-      for(int i=0;i<base.fn;++i)
-      {
-        FaceType *fp=&base.face[i];
-        for(int j=0;j<3;++j)
-          if(fp->V0(j)==fp->V1(j)) 
-        {
-            Allocator<MeshType>::DeleteFace(base,*fp);
-            printf("Deleted face %i\n",tri::Index(base,fp));
-        }
-        
-      }
-      Allocator<MeshType>::CompactEveryVector(base);
-  }  
-  
-  
-  // \brief This function build a cut tree. 
-  //
-  // First we make a bread first FF face visit. 
-  // Each time that we encounter a visited face we cut add to the tree the edge 
-  // that brings to the already visited face.
-  // this structure build a dense graph and we retract this graph retracting each 
-  // leaf until we remains with just the loops that cuts the object. 
-  
-  void BuildVisitTree(MeshType &dualMesh)
-  {
-    tri::UpdateTopology<MeshType>::FaceFace(base);
-    tri::UpdateFlags<MeshType>::FaceClearV(base);
-    
-    std::vector<face::Pos<FaceType> > visitStack; // the stack contain the pos on the 'starting' face. 
-    
-    
-    MeshType treeMesh; // this mesh will contain the set of the non traversed edge 
-    
-    base.face[0].SetV();
-    for(int i=0;i<3;++i)
-      visitStack.push_back(PosType(&(base.face[0]),i,base.face[0].V(i)));
-  
-    int cnt=1;
-    
-    while(!visitStack.empty())
-    {
-      std::swap(visitStack.back(),visitStack[rand()%visitStack.size()]);
-      PosType c = visitStack.back();
-      visitStack.pop_back();
-      assert(c.F()->IsV());
-      c.F()->C() = Color4b::ColorRamp(0,base.fn,cnt);
-      c.FlipF();
-      if(!c.F()->IsV())
-      {
-        tri::Allocator<MeshType>::AddEdge(treeMesh,Barycenter(*(c.FFlip())),Barycenter(*(c.F())));
-        ++cnt;
-        c.F()->SetV();
-        c.FlipE();c.FlipV();
-        visitStack.push_back(c);
-        c.FlipE();c.FlipV();
-        visitStack.push_back(c);
-      }
-      else
-      {
-        tri::Allocator<MeshType>::AddEdge(dualMesh,c.V()->P(),c.VFlip()->P());
-      }
-    }
-    assert(cnt==base.fn);
-    
-    Retract(dualMesh);
-} 
-  
-  /*
-   * Given a mesh <m> and a polyline <e> whose edges are a subset of edges of m
-   * This function marks the edges of m as non-faux when they coincide with the polyline ones. 
-   * 
-   * Use this function toghether with the CutMeshAlongCrease function to actually cut the mesh. 
-   */
-  
-  void MarkFauxEdgeWithPolyLine(MeshType &m, MeshType &e)
-  {
-    tri::UpdateFlags<MeshType>::FaceSetF(m);
-    tri::UpdateTopology<MeshType>::VertexEdge(e);
-    VertexConstDataWrapper<MeshType > vdw(e);
-    KdTree<ScalarType> edgeTree(vdw);
-    
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-    {
-      for(int i=0;i<3;++i)
-      {
-        ScalarType locEps = SquaredDistance(fi->P0(i), fi->P1(i))/100000.0;
-        unsigned int veInd;
-        ScalarType sqdist;
-        edgeTree.doQueryClosest(fi->P(i),veInd,sqdist);
-        if(sqdist<locEps)
-        {
-          std::vector<VertexPointer> starVecVp;
-          edge::VVStarVE(&(e.vert[veInd]),starVecVp);      
-          for(size_t j=0;j<starVecVp.size();++j)
-          {
-            if(SquaredDistance(starVecVp[j]->P(),fi->P1(i))< locEps)
-              fi->ClearF(i);
-          }
-        }        
-      }
-    }
-    
-  }
-  
-  
-  
-  
-  void SnapPolyline(MeshType &t)
-  {
-    printf("Selected vert num %i\n",tri::UpdateSelection<MeshType>::VertexCount(t));
-    
-    tri::UpdateFlags<MeshType>::VertexClearS(base);
-    tri::UpdateFlags<MeshType>::VertexClearS(t);
-    tri::Allocator<MeshType>::CompactEveryVector(t);
-    VertexConstDataWrapper<MeshType > vdw(base);
-    KdTree<ScalarType> kdtree(vdw);
 
-    for(VertexIterator vi=t.vert.begin();vi!=t.vert.end();++vi)
-    {
-      unsigned int veInd;
-      ScalarType sqdist;
-      kdtree.doQueryClosest(vi->P(),veInd,sqdist);
-      VertexPointer vp = &base.vert[veInd];
-      if(!vp->IsS())
-      {
-        ScalarType dist = sqrt(sqdist);
-        std::vector<VertexPointer> starVecVp;        
-        face::VVStarVF<FaceType>(vp,starVecVp);
-        ScalarType minEdgeLen = std::numeric_limits<ScalarType>::max();
-        for(int i=0;i<starVecVp.size();++i)
-          minEdgeLen = std::min(Distance(vp->P(),starVecVp[i]->P()),minEdgeLen);
-        if(dist < minEdgeLen/3.0)
-        {
-          vi->P() = vp->P();
-          vi->SetS();
-          vp->SetS();
-        }
+  // Given a baricentric coordinate finds that we assume that snaps onto an edge, it finds the vertex on which it is snapping 
+  bool IsSnappedVertex(CoordType &ip, int &vi)
+  {
+    for(int i=0;i<3;++i)
+      if(ip[i]==1.0 && ip[(i+1)%3]==0.0 && ip[(i+2)%3]==0.0 ) {
+        vi=i;
+        return true; 
       }
-    }
-    printf("Selected vert num %i\n",tri::UpdateSelection<MeshType>::VertexCount(t));    
+    vi=-1;
+    return false;
+  }
+
+  // Given a baricentric coordinate finds that we assume that snaps onto an edge, it finds the vertex on which it is snapping 
+  VertexPointer FindVertexSnap(FacePointer fp, CoordType &ip)
+  {
+    for(int i=0;i<3;++i)
+      if(ip[i]==1.0 && ip[(i+1)%3]==0.0 && ip[(i+2)%3]==0.0 ) return fp->V(i);
+    return 0;
   }
   
   
   
-  
-  float MinDistOnEdge(Point3f samplePnt, EdgeGrid &edgeGrid, MeshType &poly, Point3f &closestPoint)
+  /**
+   * @brief TagFaceEdgeSelWithPolyLine selects edges of basemesh when they coincide with the polyline ones  *
+   * @param poly
+   * @return true if all the edges of the polyline are snapped onto the mesh. 
+   * 
+   * Use this function together with the CutMeshAlongCrease function to actually cut the mesh with a snapped polyline.
+   * 
+   */
+    
+bool TagFaceEdgeSelWithPolyLine(MeshType &poly,bool markFlag=true)
+{
+	if (markFlag)
+		tri::UpdateFlags<MeshType>::FaceClearFaceEdgeS(base);
+
+	tri::UpdateTopology<MeshType>::VertexFace(base);
+	tri::UpdateTopology<MeshType>::FaceFace(base);
+
+	for(EdgeIterator ei=poly.edge.begin(); ei!=poly.edge.end();++ei)
+	{
+		CoordType ip0,ip1;
+		FaceType *f0 = GetClosestFaceIP(ei->cP(0),ip0);
+		FaceType *f1 = GetClosestFaceIP(ei->cP(1),ip1);
+
+		if(BarycentricSnap(ip0) && BarycentricSnap(ip1))
+		{
+			VertexPointer v0 = FindVertexSnap(f0,ip0);
+			VertexPointer v1 = FindVertexSnap(f1,ip1);
+
+			if(v0==0 || v1==0)
+				return false;
+			if(v0==v1)
+				return false;
+
+			FacePointer ff0,ff1;
+			int e0,e1;
+			bool ret=face::FindSharedFaces<FaceType>(v0,v1,ff0,ff1,e0,e1);
+			if(ret)
+			{
+				assert(ret);
+				assert(ff0->V(e0)==v0 || ff0->V(e0)==v1);
+				ff0->SetFaceEdgeS(e0);
+				ff1->SetFaceEdgeS(e1);
+			} else {
+				return false;
+			}
+		}
+		else {
+			return false;
+		}
+	}
+	return true;
+}
+
+  ScalarType MinDistOnEdge(CoordType samplePnt, EdgeGrid &edgeGrid, MeshType &poly, CoordType &closestPoint)
   {
-      float polyDist;
+      ScalarType polyDist;
       EdgeType *cep = vcg::tri::GetClosestEdgeBase(poly,edgeGrid,samplePnt,par.gridBailout,polyDist,closestPoint);        
       return polyDist;    
   }
   
   // Given an edge of a mesh, supposedly intersecting the polyline, 
   // we search on it the closest point to the polyline
-  static float MinDistOnEdge(VertexType *v0,VertexType *v1, EdgeGrid &edgeGrid, MeshType &poly, Point3f &closestPoint)
+  static ScalarType MinDistOnEdge(VertexType *v0,VertexType *v1, EdgeGrid &edgeGrid, MeshType &poly, CoordType &closestPoint)
   {
-    float minPolyDist = std::numeric_limits<ScalarType>::max();
-    const float sampleNum = 50;
-    const float maxDist = poly.bbox.Diag()/10.0;
-    for(float k = 0;k<sampleNum+1;++k)
+    ScalarType minPolyDist = std::numeric_limits<ScalarType>::max();
+    const ScalarType sampleNum = 50;
+    const ScalarType maxDist = poly.bbox.Diag()/10.0;
+    for(ScalarType k = 0;k<sampleNum+1;++k)
     {
-      float polyDist;
-      Point3f closestPPoly;
-      Point3f samplePnt = (v0->P()*k +v1->P()*(sampleNum-k))/sampleNum;          
+      ScalarType polyDist;
+      CoordType closestPPoly;
+      CoordType samplePnt = (v0->P()*k +v1->P()*(sampleNum-k))/sampleNum;          
       
       EdgeType *cep = vcg::tri::GetClosestEdgeBase(poly,edgeGrid,samplePnt,maxDist,polyDist,closestPPoly);        
       
@@ -502,420 +288,82 @@ public:
   
   
   
-  static Point3f QLerp(VertexType *v0, VertexType *v1)
+  static CoordType QLerp(VertexType *v0, VertexType *v1)
   {
     
-    float qSum = fabs(v0->Q())+fabs(v1->Q());      
-    float w0 = (qSum - fabs(v0->Q()))/qSum;
-    float w1 = (qSum - fabs(v1->Q()))/qSum;      
+    ScalarType qSum = fabs(v0->Q())+fabs(v1->Q());      
+    ScalarType w0 = (qSum - fabs(v0->Q()))/qSum;
+    ScalarType w1 = (qSum - fabs(v1->Q()))/qSum;      
     return v0->P()*w0 + v1->P()*w1;      
   }
   
-  class QualitySign
+  
+  /**
+   * @brief SnapPolyline snaps the vertexes of a polyline onto the base mesh
+   * @param poly
+   * @param newVertVec the vector of the indexes of the snapped vertices
+   * 
+   * Polyline vertices can be snapped either on vertexes or on edges. 
+   * Usually the only points that we should allow to not be snapped are the endpoints and non manifold points.
+   * Vertexes are colored according to their snapping state 
+   */  
+    
+  void SnapPolyline(MeshType &poly)
   {
-  public:
-      EdgeGrid &edgeGrid;
-      MeshType &poly;
-      CoM &com;
-      QualitySign(EdgeGrid &_e,MeshType &_poly, CoM &_com):edgeGrid(_e),poly(_poly),com(_com) {};
-      bool operator()(face::Pos<FaceType> ep) const
-      {
-        VertexType *v0 = ep.V();
-        VertexType *v1 = ep.VFlip();
-        if(v0->Q() * v1->Q() < 0)
-        { 
-          Point3f pp = QLerp(v0,v1);
-          Point3f closestP;
-          if(com.MinDistOnEdge(pp,edgeGrid,poly,closestP)<com.par.polyDistThr) return true;
-          float minDist = com.MinDistOnEdge(v0,v1,edgeGrid,poly,closestP);
-          if(minDist < com.par.polyDistThr) return true;
-        }
-        return false;
-      }
-  };
-  
-  struct QualitySignSplit : public std::unary_function<face::Pos<FaceType> ,  Point3f>
-  {
-    EdgeGrid &edgeGrid;
-    MeshType &poly;
-    CoM &com;
-    vector<int> &newVertVec; 
-    
-    QualitySignSplit(EdgeGrid &_e,MeshType &_p, CoM &_com, vector<int> &_vec):edgeGrid(_e),poly(_p),com(_com),newVertVec(_vec) {};
-      void operator()(VertexType &nv, face::Pos<FaceType> ep)
-      {
-        VertexType *v0 = ep.V();
-        VertexType *v1 = ep.VFlip();
-        Point3f pp = QLerp(v0,v1);
-        Point3f closestP;
-        com.MinDistOnEdge(pp,edgeGrid,poly,closestP);
-        
-//        float minDist = MinDistOnEdge(v0,v1,edgeGrid,poly,closestP);
-        nv.P()=closestP;        
-        nv.Q()=0;
-        newVertVec.push_back(tri::Index(com.base,&nv));
-//        nv.P() = CoS::QLerp(v0,v1);        
-      }
-      Color4b WedgeInterp(Color4b &c0, Color4b &c1)
-      {
-          Color4b cc;
-          cc.lerp(c0,c1,0.5f);
-          return Color4b::Red;
-      }
-      TexCoord2f WedgeInterp(TexCoord2f &t0, TexCoord2f &t1)
-      {
-          TexCoord2f tmp;
-          assert(t0.n()== t1.n());
-          tmp.n()=t0.n();
-          tmp.t()=(t0.t()+t1.t())/2.0;
-          return tmp;
-      }
-  };
-  
-  class EdgePointPred
-  {
-  public:
-      CoM &com;
-      KdTree<ScalarType> &kdtree;
-      
-      EdgePointPred(CoM &_com, KdTree<ScalarType> &_kdtree):com(_com),kdtree(_kdtree) {};
-      bool operator()(face::Pos<FaceType> ep) const
-      {
-        CoordType p0 = ep.V()->P();
-        CoordType p1 = ep.VFlip()->P();
-        float stepNum=100.0;
-        float locEps = Distance(p0,p1)/stepNum;
-        for(float j=0;j<stepNum;++j)
-        {
-          CoordType qp = (p0*j+p1*(stepNum-j))/stepNum;
-          unsigned int veInd;
-          ScalarType sqdist;
-          kdtree.doQueryClosest(qp,veInd,sqdist);
-          if(sqrt(sqdist)<locEps) return true;
-        }
-        return false;
-      }
-  };
-  
-  struct EdgePointSplit : public std::unary_function<face::Pos<FaceType> ,  Point3f>
-  {
-    CoM &com;
-    KdTree<ScalarType> &kdtree;
-    MeshType &poly;
-    
-    EdgePointSplit(CoM &_com, KdTree<ScalarType> &_kdtree, MeshType &_poly):com(_com),kdtree(_kdtree),poly(_poly) {};
-      void operator()(VertexType &nv, face::Pos<FaceType> ep)
-      {
-        CoordType p0 = ep.V()->P();
-        CoordType p1 = ep.VFlip()->P();
-        float stepNum=100.0;
-        float locEps = Distance(p0,p1)/stepNum;
-        for(float j=0;j<stepNum;++j)
-        {
-          CoordType qp = (p0*j+p1*(stepNum-j))/stepNum;
-          unsigned int veInd;
-          ScalarType sqdist;
-          kdtree.doQueryClosest(qp,veInd,sqdist);
-          if(sqrt(sqdist)<locEps) 
-            nv.P() = poly.vert[veInd].P();           
-        }
-        return;
-      }
-      Color4b WedgeInterp(Color4b &c0, Color4b &c1)
-      {
-          Color4b cc;
-          cc.lerp(c0,c1,0.5f);
-          return Color4b::Red;
-      }
-      TexCoord2f WedgeInterp(TexCoord2f &t0, TexCoord2f &t1)
-      {
-          TexCoord2f tmp;
-          assert(t0.n()== t1.n());
-          tmp.n()=t0.n();
-          tmp.t()=(t0.t()+t1.t())/2.0;
-          return tmp;
-      }
-  };
-  
-  
-  
-  
-  void DumpPlaneMesh(MeshType &poly, std::vector<Plane3f> &planeVec, int i =0)
-  {
-    MeshType full;
-    for(int i=0;i<planeVec.size();++i)
-    {
-      float radius=edge::Length(poly.edge[i])/2.0;
-      MeshType t;
-      OrientedDisk(t,16,edge::Center(poly.edge[i]),planeVec[i].Direction(),radius);
-      tri::Append<MeshType,MeshType>::Mesh(full,t);
-    }
-    char buf[100];
-    sprintf(buf,"planes%03i.ply",i);
-    tri::io::ExporterPLY<MeshType>::Save(full,buf);  
-  }
-
-  Plane3f ComputeEdgePlane(VertexType *v0, VertexType *v1)
-  {
-    Plane3f pl;
-    Point3f mid = (v0->P()+v1->P())/2.0;
-    Point3f delta = (v1->P()-v0->P()).Normalize();
-    Point3f n0 =  (v0->N() ^ delta).Normalize();
-    Point3f n1 =  (v1->N() ^ delta).Normalize();
-    Point3f n = (n0+n1)/2.0;
-    pl.Init(mid,n);
-    return pl;
-  }
-
-
-  void ComputePlaneField(MeshType &poly, EdgeGrid &edgeGrid, int ind)
-  {
-    // First Compute per-edge planes
-    std::vector<Plane3f> planeVec(poly.en);
-    for(int i=0;i<poly.en;++i)
-    {
-      planeVec[i] = ComputeEdgePlane(poly.edge[i].V(0), poly.edge[i].V(1));
-    }
-    
-    DumpPlaneMesh(poly,planeVec,ind);
-    edgeGrid.Set(poly.edge.begin(), poly.edge.end());    
-    
-    for(VertexIterator vi=base.vert.begin();vi!=base.vert.end();++vi)
-    {
-      Point3<ScalarType> p = vi->P();
-      
-      float minDist=par.gridBailout;
-      Point3f closestP;
-      EdgeType *cep = vcg::tri::GetClosestEdgeBase(poly,edgeGrid,p,par.gridBailout,minDist,closestP);        
-      if(cep)
-      {
-        int ind = tri::Index(poly,cep);        
-        vi->Q() = SignedDistancePlanePoint(planeVec[ind],p);
-        Point3f proj = planeVec[ind].Projection(p);
-        
-//        if(Distance(proj,closestP)>edge::Length(*cep))
-//        {
-//          vi->Q() =1;
-//          vi->SetS();
-//        }
-      }
-      else {
-        vi->Q() =1;
-      }
-    } 
-  }
-
-  
-  void CutAlongPolyLineUsingField(MeshType &poly,EdgeGrid &edgeGrid,std::vector<int> &newVertVec)
-{
-  QualitySign qsPred(edgeGrid,poly,*this);
-  QualitySignSplit qsSplit(edgeGrid,poly,*this,newVertVec);
-  tri::UpdateTopology<MeshType>::FaceFace(base);
-  tri::RefineE(base,qsSplit,qsPred);    
-  tri::UpdateTopology<MeshType>::FaceFace(base);
-    
-  
-  for(int i=0;i<base.fn;++i)
-  {
-    FaceType *fp = &base.face[i];
-    if(!fp->IsD())
-    {
-    for(int j=0;j<3;++j)
-    {
-      if(Distance(fp->P0(j),fp->P1(j)) < par.polyDistThr)
-      {
-        if(face::FFLinkCondition(*fp,j))
-        {
-//            if(fp->V0(j)->Q()==0) fp->V1(j)->Q()=0;
-//            face::FFEdgeCollapse(base,*fp,j);        
-            break;
-        }
-      }
-    }
-    }
-  }
-  tri::Allocator<MeshType>::CompactEveryVector(base);
-  
-  for(int i=0;i<base.fn;++i)
-  {
-    FaceType *fp = &base.face[i];
-    if( (fp->V(0)->Q()==0) &&
-        (fp->V(1)->Q()==0) &&
-        (fp->V(2)->Q()==0) )
-    {
-      ScalarType maxDist = 0;
-      int maxInd = -1;
-      for(int j=0;j<3;++j)
-      {
-        Point3f closestPt;
-        ScalarType d = MinDistOnEdge(fp->P(j),edgeGrid,poly,closestPt);
-        if(d>maxDist)
-        { 
-          maxDist= d;
-          maxInd=j;
-        }
-      }        
-//      assert(maxInd!=-1);
-//      if(maxInd>=0 && maxDist > par.surfDistThr)
-//        fp->V(maxInd)->Q() = maxDist;
-    }
-  }  
-  
-    for(int i=0;i<base.fn;++i)
-    {
-      FaceType *fp = &base.face[i];
-      if( (fp->V(0)->Q()>=0) &&
-          (fp->V(1)->Q()>=0) &&
-          (fp->V(2)->Q()>=0) )
-        fp->C() = Color4b::Blue;
-      if( (fp->V(0)->Q()<=0) &&
-          (fp->V(1)->Q()<=0) &&
-          (fp->V(2)->Q()<=0) )
-        fp->C() = Color4b::Red;
-      if( (fp->V(0)->Q()==0) &&
-          (fp->V(1)->Q()==0) &&
-          (fp->V(2)->Q()==0) )
-        fp->C() = Color4b::Green;
-      
-      if( (fp->V(0)->Q()>0) &&
-          (fp->V(1)->Q()>0) &&
-          (fp->V(2)->Q()>0) )
-        fp->C() = Color4b::White;
-      if( (fp->V(0)->Q()<0) &&
-          (fp->V(1)->Q()<0) &&
-          (fp->V(2)->Q()<0) )
-        fp->C() = Color4b::White;
-  }
-    tri::AttributeSeam::SplitVertex(base, ExtractVertex, CompareVertex);
-    
- }
-  
-  void WalkAlongPolyLine(MeshType &poly, std::vector<VertexType *> &ptVec)
-  {
-    // Search a starting vertex
-    VertexType *startVert;
-    for(int i=0;i<base.vn;++i)
-    {
-      if(Distance(base.vert[i].P(),ptVec[0]->P()) < par.polyDistThr)
-      {
-        startVert = &base.vert[i];
-        break;
-      }
-    }
-    tri::UpdateTopology<MeshType>::VertexFace(base);
-    tri::UpdateTopology<MeshType>::FaceFace(base);
-    
-    
-    
-  }
-  
-    
-    
-    
-//  }
-// } 
-  
-/**
- *
- * 
- */
-
-  void CutWithPolyLine(MeshType &poly)
-  {    
-    std::vector<int> newVertVec;
-    SnapPolyline(poly, &newVertVec);
-    tri::io::ExporterPLY<MeshType>::Save(poly,"poly_snapped.ply",tri::io::Mask::IOM_EDGEINDEX+tri::io::Mask::IOM_VERTCOLOR+tri::io::Mask::IOM_VERTQUALITY);    
-    
-    DecomposeNonManifoldPolyline(poly);
-    tri::io::ExporterPLY<MeshType>::Save(poly,"poly_manif.ply",tri::io::Mask::IOM_EDGEINDEX+tri::io::Mask::IOM_VERTCOLOR+tri::io::Mask::IOM_VERTQUALITY);    
-    std::vector< std::vector< int> > ccVec;
-    BuildConnectedComponentVectors(poly,ccVec);
-    printf("PolyLine of %i edges decomposed into %i manifold components\n",poly.en,ccVec.size());
-    Reorient(poly,ccVec);
-    char buf[1024];
-    for(int i=0;i<ccVec.size();++i)
-//      for(int i=0;i<10;++i)
-      {
-        MeshType subPoly;
-        ExtractSubMesh(poly,ccVec[i],subPoly);
-        std::vector< VertexType *> ptVec;
-        FindTerminalPoints(subPoly,ptVec);
-        printf("Component %i (%i edges) has %i terminal points\n",i,subPoly.en, ptVec.size());fflush(stdout);
-        SplitMeshWithPoints(base,ptVec,newVertVec);
-//        sprintf(buf,"CuttingPoly%02i.ply",i);
-//        tri::io::ExporterPLY<MeshType>::Save(subPoly, buf,tri::io::Mask::IOM_EDGEINDEX+tri::io::Mask::IOM_VERTCOLOR+tri::io::Mask::IOM_VERTQUALITY);        
-        EdgeGrid edgeGrid;
-        ComputePlaneField(subPoly, edgeGrid,i);
-        sprintf(buf,"PlaneField%02i.ply",i);
-        tri::io::ExporterPLY<MeshType>::Save(base,buf,tri::io::Mask::IOM_VERTCOLOR + tri::io::Mask::IOM_VERTQUALITY );
-        CutAlongPolyLineUsingField(subPoly,edgeGrid,newVertVec);
-        sprintf(buf,"PlaneCut%02i.ply",i);
-        tri::io::ExporterPLY<MeshType>::Save(base,buf,tri::io::Mask::IOM_FACECOLOR + tri::io::Mask::IOM_VERTQUALITY );  
-      }
-    
-//    printf("Added %i vertices\n",newVertVec.size());
-//    for(int i=0;i<newVertVec.size();++i)
-//        base.vert[newVertVec[i]].C()=Color4b::Red;
-    tri::io::ExporterPLY<MeshType>::Save(base,"base_cut.ply",tri::io::Mask::IOM_VERTCOLOR + tri::io::Mask::IOM_VERTQUALITY );  
-    CleanSpuriousDanglingEdges(poly);
-    tri::io::ExporterPLY<MeshType>::Save(base,"base_cut_clean.ply",tri::io::Mask::IOM_VERTCOLOR + tri::io::Mask::IOM_VERTQUALITY );  
-    
-  }
-
-  
-  
-  
-  void SnapPolyline(MeshType &poly, std::vector<int> *newVertVec)
-  {
-    const float maxDist = base.bbox.Diag()/100.0;
-    const ScalarType interpEps = 0.0001;
+    tri::Allocator<MeshType>::CompactEveryVector(poly);     
+    tri::UpdateTopology<MeshType>::VertexEdge(poly);
     int vertSnapCnt=0;
     int edgeSnapCnt=0;
+    int borderCnt=0,midCnt=0,nonmanifCnt=0;
     for(VertexIterator vi=poly.vert.begin(); vi!=poly.vert.end();++vi)
     {
-      float closestDist;
-      Point3f closestP,closestN,ip;
-      FaceType *f = vcg::tri::GetClosestFaceBase(base,uniformGrid,vi->P(),maxDist, closestDist, closestP, closestN,ip);
-      assert(f);
-      VertexType *closestVp=0;
-      int indIp = -1;
-      ScalarType minDist = std::numeric_limits<ScalarType>::max();
-      ScalarType minIp = minDist;
-      for(int i=0;i<3;++i)
+      CoordType ip;
+      FaceType *f = GetClosestFaceIP(vi->cP(),ip);
+      if(BarycentricSnap(ip))
       {
-        if(Distance(vi->P(),f->P(i))<minDist)
-        {
-          minDist = Distance(vi->P(),f->P(i));
-          closestVp = f->V(i);
-        }
-        if(minIp > ip[i]) 
-        {
-          indIp = i;
-          minIp=ip[i];
-        }          
+        if(ip[0]>0 && ip[1]>0) { vi->P() = f->P(0)*ip[0]+f->P(1)*ip[1]; edgeSnapCnt++; assert(ip[2]==0); vi->C()=Color4b::White;}
+        if(ip[0]>0 && ip[2]>0) { vi->P() = f->P(0)*ip[0]+f->P(2)*ip[2]; edgeSnapCnt++; assert(ip[1]==0); vi->C()=Color4b::White;}
+        if(ip[1]>0 && ip[2]>0) { vi->P() = f->P(1)*ip[1]+f->P(2)*ip[2]; edgeSnapCnt++; assert(ip[0]==0); vi->C()=Color4b::White;}
+        
+        if(ip[0]==1.0) { vi->P() = f->P(0); vertSnapCnt++; assert(ip[1]==0 && ip[2]==0); vi->C()=Color4b::Black;  }
+        if(ip[1]==1.0) { vi->P() = f->P(1); vertSnapCnt++; assert(ip[0]==0 && ip[2]==0); vi->C()=Color4b::Black;}
+        if(ip[2]==1.0) { vi->P() = f->P(2); vertSnapCnt++; assert(ip[0]==0 && ip[1]==0); vi->C()=Color4b::Black;}
       }
-      assert(closestVp && (indIp!=-1));
-      
-      
-      if(minDist < par.maxSnapThr) {  // First Case: Snap to vertex;
-        vi->P() = closestVp->P();
-        vertSnapCnt++;
-        if(newVertVec)
-        newVertVec->push_back(tri::Index(base,closestVp));
-      } else {
-        if(minIp < interpEps) {       // Second Case: Snap to edge;
-          ScalarType T1 = ip[(indIp+1)%3];
-          ScalarType T2 = ip[(indIp+2)%3];
-          vi->P() = (f->V1(indIp)->P() * T1 + f->V2(indIp)->P() * T2)/(T1+T2);
-          edgeSnapCnt++;
-        }
+      else
+      {
+        int deg = edge::VEDegree<EdgeType>(&*vi);
+        if (deg > 2) { nonmanifCnt++; vi->C()=Color4b::Magenta; }
+        if (deg < 2) { borderCnt++;   vi->C()=Color4b::Green;} 
+        if (deg== 2) { midCnt++;      vi->C()=Color4b::Blue;} 
       }
     }
-    printf("Snapped %i onto vert and %i onto edges\n",vertSnapCnt, edgeSnapCnt);
+    printf("SnapPolyline %i vertices:  snapped %i onto vert and %i onto edges %i nonmanif, %i border, %i mid\n",
+           poly.vn, vertSnapCnt, edgeSnapCnt, nonmanifCnt,borderCnt,midCnt); fflush(stdout);
+    int dupCnt=tri::Clean<MeshType>::RemoveDuplicateVertex(poly);
+    tri::Allocator<MeshType>::CompactEveryVector(poly);     
+    if(dupCnt) printf("SnapPolyline: Removed %i Duplicated vertices\n",dupCnt);
   }
- 
-
   
+   void SelectBoundaryVertex(MeshType &poly)
+   {
+     tri::UpdateSelection<MeshType>::VertexClear(poly);
+     tri::UpdateTopology<MeshType>::VertexEdge(poly);
+     ForEachVertex(poly, [&](VertexType &v){
+       if(edge::VEDegree<EdgeType>(&v)==1) v.SetS();
+     });
+   }
+  
+   void SelectUniformlyDistributed(MeshType &poly, int k)
+   {
+     tri::TrivialPointerSampler<MeshType> tps;
+     ScalarType samplingRadius = tri::Stat<MeshType>::ComputeEdgeLengthSum(poly)/ScalarType(k);
+     tri::SurfaceSampling<MeshType, typename tri::TrivialPointerSampler<MeshType> >::EdgeMeshUniform(poly,tps,samplingRadius);     
+     for(int i=0;i<tps.sampleVec.size();++i)
+       tps.sampleVec[i]->SetS();
+   }
+   
+   
+    
   /*
    * Make an edge mesh 1-manifold by splitting all the
    * vertexes that have more than two incident edges
@@ -975,279 +423,194 @@ public:
     assert(firstVi == poly.vert.end());
   }
   
-  /*
-   * Given a manifold edgemesh it returns the boundary/terminal endpoints.
+
+  
+   
+  /**
+   * @brief SplitMeshWithPolyline
+   * @param poly
+   * 
+   * First it splits the base mesh with all the non snapped points doing a standard 1 to 3 split;
+   * 
    */
-  static void FindTerminalPoints(MeshType &poly, std::vector<VertexType *> &vec)
-  {
-    tri::UpdateTopology<MeshType>::VertexEdge(poly);
+  void SplitMeshWithPolyline(MeshType &poly)
+  {        
+    std::vector< std::pair<int,VertexPointer> > toSplitVec;  // the index of the face to be split and the poly vertex to be used
+    
     for(VertexIterator vi=poly.vert.begin(); vi!=poly.vert.end();++vi)
     {
-      if(edge::VEDegree<EdgeType>(&*vi)==1)
-         vec.push_back(&*vi);
-    }
-  }
-  
-  // This function will decompose the input edge mesh into a set of 
-  // connected components.
-  // the vector will contain, for each connected component, a vector with all the edge indexes. 
-  void BuildConnectedComponentVectors(MeshType &poly, std::vector< std::vector< int> > &ccVec)
-  {
-    UpdateTopology<MeshType>::VertexEdge(poly);
-    for(size_t i=0;i<poly.vn;++i)
-    {
-      assert(edge::VEDegree<EdgeType>(&(poly.vert[i])) <=2);
+      CoordType ip;
+      FaceType *f = GetClosestFaceIP(vi->cP(),ip);
+      if(!BarycentricSnap(ip))
+        toSplitVec.push_back(std::make_pair(tri::Index(base,f),&*vi));
     }
     
-    tri::UpdateTopology<MeshType>::EdgeEdge(poly);
-    tri::UpdateFlags<MeshType>::EdgeClearV(poly);
+    printf("SplitMeshWithPolyline found %lu non snapped points\n",toSplitVec.size());fflush(stdout);
 
-    int visitedEdgeNum=0 ;
-    int ccCnt=0;
-    EdgeIterator eIt = poly.edge.begin();  
+    FaceIterator newFi = tri::Allocator<MeshType>::AddFaces(base,toSplitVec.size()*2);
+    VertexIterator newVi = tri::Allocator<MeshType>::AddVertices(base,toSplitVec.size());    
+    tri::UpdateColor<MeshType>::PerVertexConstant(base,Color4b::White);
     
-    while(visitedEdgeNum < poly.en)
+    for(size_t i =0; i<toSplitVec.size();++i)
     {
-      ccVec.resize(ccVec.size()+1);
-      while(eIt->IsV()) ++eIt;
-//      printf("Starting component from edge %i\n",tri::Index(poly,&*eIt));
-      assert(eIt != poly.edge.end());
-      edge::Pos<EdgeType> startPos(&*eIt,0);
-      edge::Pos<EdgeType> curPos(&*eIt,0);
-      do
-      {
-//        printf("(%i %i %i)-",tri::Index(poly,curPos.VFlip()), tri::Index(poly,curPos.E()) ,tri::Index(poly,curPos.V()));
-        curPos.NextE();
-      } 
-      while(curPos!=startPos && !curPos.IsBorder()) ;
-      
-      curPos.FlipV();
-      assert(!curPos.IsBorder());
-      do
-      {
-//         printf("<%i %i %i>-",tri::Index(poly,curPos.VFlip()), tri::Index(poly,curPos.E()) ,tri::Index(poly,curPos.V()));
-        curPos.E()->SetV();
-        visitedEdgeNum++;
-        ccVec[ccCnt].push_back(tri::Index(poly,curPos.E()));        
-        curPos.NextE();      
-      } while(!curPos.E()->IsV());
-      printf("Completed component %i of %i edges\n",ccCnt, ccVec[ccCnt].size());
-      ccCnt++;      
-    }    
-  }
-  
-  // This function will decompose the input edge mesh into a set of 
-  // connected components.
-  // the vector will contain, for each connected component, a vector with all the edge indexes. 
-  void BuildConnectedComponentVectorsOld(MeshType &poly, std::vector< std::vector< int> > &ccVec)
-  {
-    tri::UpdateTopology<MeshType>::EdgeEdge(poly);
-    tri::UpdateTopology<MeshType>::VertexEdge(poly);
-    tri::UpdateFlags<MeshType>::EdgeClearV(poly);
-    
-    int visitedEdgeNum=0 ;
-    int ccCnt=0;
-    
-    EdgeIterator eIt = poly.edge.begin();  
-    while(visitedEdgeNum < poly.en)
-    {
-      ccVec.resize(ccVec.size()+1);
-      while((eIt != poly.edge.end()) && eIt->IsV()) ++eIt;
-      EdgeType *startE = &*eIt;
-      
-      EdgeType *curEp = &*eIt;
-      int     curEi = 0;
-      printf("Starting Visit of connected Component %i from edge %i\n",ccCnt,tri::Index(poly,*eIt));
-      while( (curEp->EEp(curEi) != startE) &&
-             (curEp->EEp(curEi) != curEp) )
-      {
-        EdgeType *nextEp = curEp->EEp(curEi);
-        int nextEi =  (curEp->EEi(curEi)+1)%2;
-        curEp = nextEp;
-        curEi = nextEi;
-      }   
-  
-      curEp->SetV();
-      curEi = (curEi +1)%2; // Flip the visit direction!
-      visitedEdgeNum++;
-      ccVec[ccCnt].push_back(tri::Index(poly,curEp));        
-      while(! curEp->EEp(curEi)->IsV())
-      {
-        EdgeType *nextEp = curEp->EEp(curEi);
-        int nextEi =  (curEp->EEi(curEi)+1)%2;
-        curEp->SetV();
-        curEp = nextEp;
-        curEi = nextEi;
-        curEp->V(curEi)->C() = Color4b::Scatter(30,ccCnt%30);
-        if(!curEp->IsV()) {
-          ccVec[ccCnt].push_back(tri::Index(poly,curEp));      
-          visitedEdgeNum++;      
-        }          
-      }
-      printf("Completed visit of component of size %i\n",ccVec[ccCnt].size());
-      ccCnt++;    
+        newVi->P() = toSplitVec[i].second->P(); 
+        newVi->C()=Color4b::Green;      
+        face::TriSplit(&base.face[toSplitVec[i].first],&*(newFi++),&*(newFi++),&*(newVi++));
     }
-    printf("en %i - VisitedEdgeNum = %i\n",poly.en, visitedEdgeNum);
+    Init(); //  need to reset everthing
+    SnapPolyline(poly);
     
-  }
-  
-  void ExtractSubMesh(MeshType &poly, std::vector<int> &ind, MeshType &subPoly)
-  {
-    subPoly.Clear();
-    std::vector<int> remap(poly.vert.size(),-1);
-    for(size_t i=0;i<ind.size();++i)
+    // Second loop to perform the face-face Edge split **********************
+
+    std::map<std::pair<CoordType,CoordType>, VertexPointer> edgeToPolyVertMap;
+    for(VertexIterator vi=poly.vert.begin(); vi!=poly.vert.end();++vi)
     {
-      int v0 = tri::Index(poly,poly.edge[ind[i]].V(0));
-      int v1 = tri::Index(poly,poly.edge[ind[i]].V(1));
-      if(remap[v0]==-1) 
+      CoordType ip;
+      FaceType *f = GetClosestFaceIP(vi->cP(),ip);
+      if(!BarycentricSnap(ip)) { assert(0); }            
+      for(int i=0;i<3;++i)
       {
-        remap[v0]=subPoly.vn;
-        tri::Allocator<MeshType>::AddVertex(subPoly,poly.vert[v0].P(),poly.vert[v0].N());      
+       if(ip[i]>0 && ip[(i+1)%3]>0 && ip[(i+2)%3]==0 )
+       {
+        CoordType p0=f->P0(i);
+        CoordType p1=f->P1(i);
+        if (p0>p1) std::swap(p0,p1);  
+        if(edgeToPolyVertMap[make_pair(p0,p1)]) printf("Found an already used Edge %lu - %lu %lu!!!\n", tri::Index(base,f->V0(i)),tri::Index(base,f->V1(i)),tri::Index(poly,&*vi));
+        edgeToPolyVertMap[make_pair(p0,p1)]=&*vi;
+       }         
       }
-      if(remap[v1]==-1) 
-      {
-        remap[v1]=subPoly.vn;
-        tri::Allocator<MeshType>::AddVertex(subPoly,poly.vert[v1].P(),poly.vert[v1].N());      
-      }
-      tri::Allocator<MeshType>::AddEdge(subPoly, &subPoly.vert[remap[v0]], &subPoly.vert[remap[v1]]);   
-    }  
-  }
-  
-  // It takes a vector of vector of connected components and cohorently reorient each one of them.
-  // it usese the EE adjacency and requires that the input edgemesh is 1manifold. 
-  
-  void Reorient(MeshType &poly, std::vector< std::vector< int> > &ccVec)
-  {
-    UpdateTopology<MeshType>::VertexEdge(poly);
-    for(size_t i=0;i<poly.vn;++i)
-    {
-      assert(edge::VEDegree<EdgeType>(&(poly.vert[i])) <=2);
     }
-        UpdateTopology<MeshType>::EdgeEdge(poly);
+    printf("SplitMeshWithPolyline: Created a map of %lu edges to be split\n",edgeToPolyVertMap.size());
+    EdgePointPred ePred(edgeToPolyVertMap);
+    EdgePointSplit eSplit(edgeToPolyVertMap);
+    tri::UpdateTopology<MeshType>::FaceFace(base);
+    tri::RefineE(base,eSplit,ePred);     
+    Init(); //  need to reset everthing    
+ }
     
-    for(size_t i=0;i<ccVec.size();++i)
-    {
-      std::vector<bool> toFlipVec(ccVec[i].size(),false);
-      
-      for(int j=0;j<ccVec[i].size();++j)
-      {
-        EdgeType *cur  = & poly.edge[ccVec[i][j]];
-        EdgeType *prev;
-        if(j==0) 
-        {
-          if(cur->EEp(0) == cur) 
-            prev = cur; // boundary
-          else 
-            prev = & poly.edge[ccVec[i].back()]; // cc is a loop
-        }
-        else prev = & poly.edge[ccVec[i][j-1]];
         
-        if(cur->EEp(0) != prev)
-        {
-          toFlipVec[j] = true;
-          assert(cur->EEp(1) == prev || j==0);
-        }      
-      }
-      for(int j=0;j<ccVec[i].size();++j)
-        if(toFlipVec[j]) 
-          std::swap(poly.edge[ccVec[i][j]].V(0), poly.edge[ccVec[i][j]].V(1));    
-    }
-  }
-  
-  
-  /*
-   * Given a mesh and vector of vertex pointers it splits the mesh with the given points.
-   * To avoid degeneracies it snaps the splitting points that came nearest than a given
-   * threshold to the edge or the vertex of the closest triangle. When an input vertex
-   * is snapped the passed vertex position is modiried accordingly
-   * (this is the reason for having a vector of vertex pointers instead just a vector of points)
-   *
-   */
-  void SplitMeshWithPoints(MeshType &m, std::vector<VertexType *> &vec, std::vector<int> &newVertVec)
-  {
-    int faceToAdd=0;
-    int vertToAdd=0;
-    
-    // For each splitting point we save the index of the face to be splitten and the "kind" of split to do:
-    // 3 -> means classical 1 to 3 face split
-    // 2 -> means edge split.
-    // 0 -> means no need of a split (e.g. the point is coincident with a vertex)
-    
-    std::vector< std::pair<int,int> > toSplitVec(vec.size(), std::make_pair(0,0));
-    MeshGrid uniformGrid;
-    uniformGrid.Set(m.face.begin(), m.face.end());
-   
-    for(size_t i =0; i<vec.size();++i)
-    {
-      Point3f newP = vec[i]->P();
-      float closestDist;
-      Point3f closestP;
-      FaceType *f = vcg::tri::GetClosestFaceBase(m,uniformGrid,newP,par.gridBailout, closestDist, closestP);
-      assert(f);
-      VertexType *closestVp=0;
-      ScalarType minDist = std::numeric_limits<ScalarType>::max();
-      for(int i=0;i<3;++i) {
-        if(Distance(newP,f->P(i))<minDist)
-        {
-          minDist = Distance(newP,f->P(i));
-          closestVp = f->V(i);
-        }
-      }
-      assert(closestVp);
-      if(minDist < par.maxSnapThr)  {
-           vec[i]->P() = closestVp->P();
-      }
-        else
-      {
-        toSplitVec[i].first = tri::Index(m,f);
-        toSplitVec[i].second = 3;
-        faceToAdd += 2;
-        vertToAdd += 1;
-      }
-    }
-//    printf("Splitting with %i points: adding %i faces and %i vertices\n",vec.size(), faceToAdd,vertToAdd);
-    FaceIterator newFi = tri::Allocator<MeshType>::AddFaces(m,faceToAdd);
-    VertexIterator newVi = tri::Allocator<MeshType>::AddVertices(m,vertToAdd);
-    
-    tri::UpdateColor<MeshType>::PerFaceConstant(m,Color4b::White);
-    
-    for(size_t i =0; i<vec.size();++i)
-    {
-      if(toSplitVec[i].second==3)
-      {        
-        FaceType *fp0 = &m.face[toSplitVec[i].first];
-        FaceType *fp1 = &*newFi; newFi++;
-        FaceType *fp2 = &*newFi; newFi++;
-        VertexType *vp = &*(newVi++);
-        newVertVec.push_back(tri::Index(base,vp));
-        vp->P() = vec[i]->P();
-        VertexType *vp0 = fp0->V(0);
-        VertexType *vp1 = fp0->V(1);
-        VertexType *vp2 = fp0->V(2);
-        
-        fp0->V(0) = vp0; fp0->V(1) = vp1; fp0->V(2) = vp;
-        fp1->V(0) = vp1; fp1->V(1) = vp2; fp1->V(2) = vp;
-        fp2->V(0) = vp2; fp2->V(1) = vp0; fp2->V(2) = vp;
-        
-        fp0->C() = Color4b::Green;
-        fp1->C() = Color4b::Green;
-        fp2->C() = Color4b::Green;
-      }
-    }
-  }
-  
   
   void Init()
   {
     // Construction of the uniform grid
-    uniformGrid.Set(base.face.begin(), base.face.end());
     UpdateNormal<MeshType>::PerFaceNormalized(base);
     UpdateTopology<MeshType>::FaceFace(base);    
     uniformGrid.Set(base.face.begin(), base.face.end());    
   }
   
   
-  void Simplify( MeshType &poly)
+  void SimplifyMidEdge(MeshType &poly)
+  {
+   int startVn;
+   int midEdgeCollapseCnt=0;
+   tri::Allocator<MeshType>::CompactEveryVector(poly); 
+   do
+   {
+    startVn = poly.vn;
+    for(int ei =0; ei<poly.en; ++ei)
+    {
+      VertexType *v0=poly.edge[ei].V(0);
+      VertexType *v1=poly.edge[ei].V(1);
+      CoordType ip0,ip1;    
+      FaceType *f0=GetClosestFaceIP(v0->P(),ip0);
+      FaceType *f1=GetClosestFaceIP(v1->P(),ip1);
+      
+      bool snap0=BarycentricSnap(ip0);
+      bool snap1=BarycentricSnap(ip1);
+      int e0i,e1i;
+      bool e0 = IsSnappedEdge(ip0,e0i);
+      bool e1 = IsSnappedEdge(ip1,e1i);
+      if(e0 && e1)
+        if( (          f0 == f1           &&          e0i == e1i) || 
+            (          f0 == f1->FFp(e1i) &&          e0i == f1->FFi(e1i)) || 
+            (f0->FFp(e0i) == f1           && f0->FFi(e0i) == e1i) || 
+            (f0->FFp(e0i) == f1->FFp(e1i) && f0->FFi(e0i) == f1->FFi(e1i)) ) 
+        {
+          CoordType newp = (v0->P()+v1->P())/2.0;
+          v0->P()=newp;
+          v1->P()=newp;
+          midEdgeCollapseCnt++;
+        }
+    }
+    tri::Clean<MeshType>::RemoveDuplicateVertex(poly);
+    tri::Allocator<MeshType>::CompactEveryVector(poly);     
+//    printf("SimplifyMidEdge %5i -> %5i %i mid %i ve \n",startVn,poly.vn,midEdgeCollapseCnt);
+   } while(startVn>poly.vn);
+  } 
+  
+  /**
+   * @brief SimplifyMidFace remove all the vertices that in the mid of a face 
+   * and between two of the points snapped onto the edges of the same face
+   * @param poly
+   * 
+   * It assumes that the mesh has been snapped and refined by the BaseMesh
+   * 
+   */
+  void SimplifyMidFace(MeshType &poly)
+  {
+   int startVn= poly.vn;;
+   int midFaceCollapseCnt=0;
+   int vertexEdgeCollapseCnt=0;
+   int curVn;
+   do
+   {
+    tri::Allocator<MeshType>::CompactEveryVector(poly); 
+    curVn = poly.vn;
+    UpdateTopology<MeshType>::VertexEdge(poly);
+    for(int i =0; i<poly.vn;++i)
+    {
+      std::vector<VertexPointer> starVecVp;
+      edge::VVStarVE(&(poly.vert[i]),starVecVp);      
+      if( (starVecVp.size()==2) )
+      {
+        CoordType ipP, ipN, ipI; 
+        FacePointer fpP = GetClosestFaceIP(starVecVp[0]->P(),ipP);
+        FacePointer fpN = GetClosestFaceIP(starVecVp[1]->P(),ipN);
+        FacePointer fpI = GetClosestFaceIP(poly.vert[i].P(), ipI);
+        
+        bool snapP = (BarycentricSnap(ipP));
+        bool snapN = (BarycentricSnap(ipN));
+        bool snapI = (BarycentricSnap(ipI));
+        VertexPointer vertexSnapP = 0;
+        VertexPointer vertexSnapN = 0;
+        VertexPointer vertexSnapI = 0;
+        for(int j=0;j<3;++j)
+        {
+          if(ipP[j]==1.0) vertexSnapP=fpP->V(j);
+          if(ipN[j]==1.0) vertexSnapN=fpN->V(j);
+          if(ipI[j]==1.0) vertexSnapI=fpI->V(j);
+        }
+        
+        bool collapseFlag=false;
+        
+        if((!snapI && snapP && snapN) ||              // First case a vertex that is not snapped between two snapped vertexes 
+           (!snapI && !snapP && fpI==fpP) || // Or a two vertex not snapped but on the same face
+           (!snapI && !snapN && fpI==fpN) )
+        {
+          collapseFlag=true;
+          midFaceCollapseCnt++;
+        } 
+        
+        else  // case 2) a vertex snap and edge snap we have to check that the edge do not share the same vertex of the vertex snap
+          if(snapI && snapP && snapN && vertexSnapI==0 && (vertexSnapP!=0 || vertexSnapN!=0) )
+          {
+            for(int j=0;j<3;++j) {
+              if(ipI[j]!=0 && (fpI->V(j)==vertexSnapP || fpI->V(j)==vertexSnapN)) {
+                collapseFlag=true;                                          
+                vertexEdgeCollapseCnt++;
+              }
+            }
+          }            
+        
+        if(collapseFlag)  
+          edge::VEEdgeCollapse(poly,&(poly.vert[i]));
+      }
+    }  
+   } while(curVn>poly.vn);
+   printf("SimplifyMidFace %5i -> %5i %i mid %i ve \n",startVn,poly.vn,midFaceCollapseCnt,vertexEdgeCollapseCnt);
+  } 
+  
+  void Simplify(MeshType &poly)
   {
     int startEn = poly.en;
     Distribution<ScalarType> hist;
@@ -1260,27 +623,26 @@ public:
     {
       std::vector<VertexPointer> starVecVp;
       edge::VVStarVE(&(poly.vert[i]),starVecVp);      
-      if( (starVecVp.size()==2) && (!poly.vert[i].IsS()))
-      {      
-        float newSegLen = Distance(starVecVp[0]->P(), starVecVp[1]->P());
-        Segment3f seg(starVecVp[0]->P(),starVecVp[1]->P());
-        float segDist;
-        Point3f closestPSeg;
+      if ((starVecVp.size()==2) && (!poly.vert[i].IsS()))
+      {
+        ScalarType newSegLen = Distance(starVecVp[0]->P(), starVecVp[1]->P());
+        Segment3Type seg(starVecVp[0]->P(),starVecVp[1]->P());
+        ScalarType segDist;
+        CoordType closestPSeg;
         SegmentPointDistance(seg,poly.vert[i].cP(),closestPSeg,segDist);
-        Point3f fp,fn;
-        float maxSurfDist = MaxSegDist(starVecVp[0], starVecVp[1],fp,fn);
+        CoordType fp,fn;
+        ScalarType maxSurfDist = MaxSegDist(starVecVp[0], starVecVp[1],fp,fn);
         
-        if(maxSurfDist < par.surfDistThr && (newSegLen < par.maxSimpEdgeLen) )
+        if((maxSurfDist < par.surfDistThr) && (newSegLen < par.maxSimpEdgeLen) )
         {
-          edge::VEEdgeCollapse(poly,&(poly.vert[i]));
-          
+          edge::VEEdgeCollapse(poly,&(poly.vert[i]));          
         }
       }
     }
     tri::UpdateTopology<MeshType>::TestVertexEdge(poly);
     tri::Allocator<MeshType>::CompactEveryVector(poly);
     tri::UpdateTopology<MeshType>::TestVertexEdge(poly);
-    printf("Simplify %5i -> %5i (total len %5.2f)\n",startEn,poly.en,hist.Sum());
+//    printf("Simplify %5i -> %5i (total len %5.2f)\n",startEn,poly.en,hist.Sum());
   }
   
   void EvaluateHausdorffDistance(MeshType &poly, Distribution<ScalarType> &dist)
@@ -1290,8 +652,8 @@ public:
     tri::UpdateQuality<MeshType>::VertexConstant(poly,0);
     for(int i =0; i<poly.edge.size();++i)
     {      
-      Point3f farthestP, farthestN;      
-      float maxDist = MaxSegDist(poly.edge[i].V(0),poly.edge[i].V(1), farthestP, farthestN, &dist);      
+      CoordType farthestP, farthestN;      
+      ScalarType maxDist = MaxSegDist(poly.edge[i].V(0),poly.edge[i].V(1), farthestP, farthestN, &dist);      
       poly.edge[i].V(0)->Q()+= maxDist;
       poly.edge[i].V(1)->Q()+= maxDist;
     }
@@ -1303,19 +665,304 @@ public:
     tri::UpdateColor<MeshType>::PerVertexQualityRamp(poly,0,dist.Max());    
   }
   
+
   
+  /**
+   * @brief BarycentricSnap
+   * @param ip the baricentric coords to be snapped
+   * @return true if they have been snapped.
+   * 
+   * This is the VERY important function that is used everywhere. 
+   * Given a barycentric coord of a point inside a triangle it decides if it should be "snapped" either onto an edge or on a vertex. 
+   * It relies on the  barycentricSnapThr parameter
+   * 
+   */
+  bool BarycentricSnap(CoordType &ip)
+  {
+    for(int i=0;i<3;++i)
+    {
+      if(ip[i] <= par.barycentricSnapThr) ip[i]=0;
+      if(ip[i] >= 1.0-par.barycentricSnapThr) ip[i]=1;
+    }
+    ScalarType sum = ip[0]+ip[1]+ip[2];
+    
+    for(int i=0;i<3;++i) 
+      if(ip[i]!=1) ip[i]/=sum;
+    
+    if(ip[0]==0 || ip[1]==0 || ip[2]==0) return true;
+    return false;
+  }
+  
+  
+  /**
+   * @brief TestSplitSegWithMesh  Given a poly segment decide if it should be split along elements of base mesh. 
+   * @param v0
+   * @param v1
+   * @param splitPt
+   * @return true if it should be split
+   * 
+   * We make a few samples onto the edge and if some of them snaps onto a an edge we use it.
+   * In case there are more than one candidate we choose the sample closeset to its snapping point.
+   * We explicitly avoid snapping twice on the same edge by checking the starting and ending edges.
+   * 
+   * Two cases:
+   * - poly edge pass near a vertex of the mesh
+   * - poly edge cross one or more edges
+   * 
+   * Note that we have to check the case where 
+   */
+  bool TestSplitSegWithMesh(VertexType *v0, VertexType *v1, CoordType &splitPt)
+  {
+    Segment3Type segPoly(v0->P(),v1->P());
+    const ScalarType sampleNum = 40;    
+    CoordType ip0,ip1;
+    
+    FaceType *f0=GetClosestFaceIP(v0->P(),ip0);
+    FaceType *f1=GetClosestFaceIP(v1->P(),ip1);
+    if(f0==f1) return false;
+    
+    bool snap0=false,snap1=false; // true if the segment start/end on a edge/vert
+    
+    Segment3Type seg0; // The two segments to be avoided 
+    Segment3Type seg1; // from which the current poly segment can start
+    VertexPointer vertexSnap0 = 0;
+    VertexPointer vertexSnap1 = 0;
+    if(BarycentricSnap(ip0)) { 
+      snap0=true; 
+      for(int i=0;i<3;++i) {
+        if(ip0[i]==1.0) vertexSnap0=f0->V(i);
+        if(ip0[i]==0.0) seg0=Segment3Type(f0->P1(i),f0->P2(i)); 
+      }        
+    } 
+    if(BarycentricSnap(ip1)) { 
+      snap1=true; 
+      for(int i=0;i<3;++i){
+        if(ip1[i]==1.0) vertexSnap1=f1->V(i);
+        if(ip1[i]==0.0) seg1=Segment3Type(f1->P1(i),f1->P2(i)); 
+      }        
+    } 
+    
+    CoordType bestSplitPt(0,0,0);
+    ScalarType bestDist = std::numeric_limits<ScalarType>::max();
+    for(ScalarType k = 1;k<sampleNum;++k)
+    {
+      CoordType samplePnt = segPoly.Lerp(k/sampleNum);    
+      CoordType ip;
+      FaceType *f=GetClosestFaceIP(samplePnt,ip);
+//      BarycentricEdgeSnap(ip);
+      if(BarycentricSnap(ip))
+      {
+        VertexPointer vertexSnapI = 0;        
+        for(int i=0;i<3;++i)
+          if(ip[i]==1.0) vertexSnapI=f->V(i);
+        CoordType closestPt = f->P(0)*ip[0]+f->P(1)*ip[1]+f->P(2)*ip[2];
+        if(Distance(samplePnt,closestPt) < bestDist )  
+        {
+          ScalarType dist0=std::numeric_limits<ScalarType>::max();
+          ScalarType dist1=std::numeric_limits<ScalarType>::max();
+          CoordType closestSegPt;
+          if(snap0) SegmentPointDistance(seg0,closestPt,closestSegPt,dist0);
+          if(snap1) SegmentPointDistance(seg1,closestPt,closestSegPt,dist1);
+          if( (!vertexSnapI && (dist0 > par.surfDistThr/1000 && dist1>par.surfDistThr/1000) ) ||
+              ( vertexSnapI!=vertexSnap0 && vertexSnapI!=vertexSnap1)  )
+          {
+            bestDist = Distance(samplePnt,closestPt);
+            bestSplitPt = closestPt;            
+          }
+        }      
+      }
+    }
+    if(bestDist < par.surfDistThr*100)
+    {
+      splitPt = bestSplitPt;
+      return true;
+    }
+    
+    return false;
+  }
+  /**
+   * @brief SnappedOnSameFace Return true if the two points are snapped to a common face;
+   * @param f0
+   * @param i0
+   * @param f1
+   * @param i0
+   * @return 
+   * 
+   * Require FFAdj. se assume that both SNAPPED. Three cases:
+   * - Edge Edge - true iff the two edges belongs to a common face. 
+   * - Vert Edge - true iff there is one of the two snapped edge faces has the vert as non-edge face;  
+   * - Vert Vert 
+   * 
+   */
+  bool SnappedOnSameFace(FacePointer f0, CoordType i0, FacePointer f1, CoordType i1)
+  {
+   if(f0==f1) return true;
+   int e0,e1;
+   int v0,v1;
+   bool e0Snap = IsSnappedEdge(i0,e0);
+   bool e1Snap = IsSnappedEdge(i1,e1);
+   bool v0Snap = IsSnappedVertex(i0,v0);
+   bool v1Snap = IsSnappedVertex(i1,v1);
+   FacePointer f0p=0; int e0p=-1;  // When Edge snap the other face and the index of the snapped edge on the other face
+   FacePointer f1p=0; int e1p=-1;
+   assert((e0Snap != v0Snap) && (e1Snap != v1Snap));
+   // For EdgeSnap compute the 'other' face stuff 
+   if(e0Snap){
+     f0p = f0->FFp(e0); e0p=f0->FFi(e0); assert(f0p->FFp(e0p)==f0);
+   }
+   if(e1Snap){
+     f1p = f1->FFp(e1); e1p=f1->FFi(e1); assert(f1p->FFp(e1p)==f1);
+   }
+   
+   if(e0Snap && e1Snap) {
+    if(f0==f1p || f0p==f1p || f0p==f1 || f0==f1) return true;
+   }
+   
+   if(e0Snap && v1Snap)  {
+     assert(v1>=0 && v1<3 && v0==-1 && e1==-1);
+     if(f0->V2(e0)  ==f1->V(v1)) return true;
+     if(f0p->V2(e0p)==f1->V(v1)) return true;
+   }
+     
+   if(e1Snap && v0Snap)  {
+     assert(v0>=0 && v0<3 && v1==-1 && e0==-1);
+     if(f1->V2(e1)  ==f0->V(v0)) return true;
+     if(f1p->V2(e1p)==f0->V(v0)) return true;
+   }
+     
+   if(v1Snap && v0Snap)  {
+     PosType startPos(f0,f0->V(v0));
+     PosType curPos=startPos;
+     do
+     {
+       assert(curPos.V()==f0->V(v0));
+       if(curPos.VFlip()==f1->V(v1)) return true;
+       curPos.FlipE();
+       curPos.FlipF();       
+     }
+     while(curPos!=startPos);   
+   }   
+   return false;    
+  }
+  
+  /**
+   * @brief TestSplitSegWithMesh  Given a poly segment decide if it should be split along elements of base mesh. 
+   * @param v0
+   * @param v1
+   * @param splitPt
+   * @return true if it should be split
+   * 
+   * We make a few samples onto the edge and if some of them snaps onto a an edge we use it.
+   * In case there are more than one candidate we choose the sample closeset to its snapping point.
+   * We explicitly avoid snapping twice on the same edge by checking the starting and ending edges.
+   * 
+   * Two cases:
+   * - poly edge pass near a vertex of the mesh
+   * - poly edge cross one or more edges
+   * 
+   * Note that we have to check the case where 
+   */
+  bool TestSplitSegWithMeshAdapt(VertexType *v0, VertexType *v1, CoordType &splitPt)
+  {
+    splitPt=(v0->P()+v1->P())/2.0;
+      
+    CoordType ip0,ip1,ipm;    
+    FaceType *f0=GetClosestFaceIP(v0->P(),ip0);
+    FaceType *f1=GetClosestFaceIP(v1->P(),ip1);
+    FaceType *fm=GetClosestFaceIP(splitPt,ipm);
+    
+    if(f0==f1) return false;
+    
+    bool snap0=BarycentricSnap(ip0);
+    bool snap1=BarycentricSnap(ip1);
+    bool snapm=BarycentricSnap(ipm);
+    
+    splitPt = fm->P(0)*ipm[0]+fm->P(1)*ipm[1]+fm->P(2)*ipm[2];
+    
+    if(!snap0 && !snap1) {
+      assert(f0!=f1);
+      return true;
+    }
+    if(snap0 && snap1) 
+    {
+      if(SnappedOnSameFace(f0,ip0,f1,ip1)) 
+        return false;            
+    }
+    
+    if(snap0) {
+      int e0,v0;
+      if (IsSnappedEdge(ip0,e0)) {
+        if(f0->FFp(e0) == f1) return false;
+      }
+      if(IsSnappedVertex(ip0,v0)) {
+        for(int i=0;i<3;++i) 
+          if(f1->V(i)==f0->V(v0)) return false;
+      }
+    }
+    if(snap1) {
+      int e1,v1;
+      if (IsSnappedEdge(ip1,e1)) {
+        if(f1->FFp(e1) == f0) return false;
+      }
+      if(IsSnappedVertex(ip1,v1)) {
+        for(int i=0;i<3;++i) 
+          if(f0->V(i)==f1->V(v1)) return false;
+      }
+    }
+    
+    return true;
+  }
+  
+  
+  bool TestSplitSegWithMeshAdaptOld(VertexType *v0, VertexType *v1, CoordType &splitPt)
+  {
+    Segment3Type segPoly(v0->P(),v1->P());
+    const ScalarType sampleNum = 40;    
+    CoordType ip0,ip1;    
+    FaceType *f0=GetClosestFaceIP(v0->P(),ip0);
+    FaceType *f1=GetClosestFaceIP(v1->P(),ip1);
+    if(f0==f1) return false;
+    
+    bool snap0=BarycentricSnap(ip0);
+    bool snap1=BarycentricSnap(ip1);
+    
+    if(!snap0 && !snap1) {
+      assert(f0!=f1);
+      splitPt=(v0->P()+v1->P())/2.0;
+      return true;
+    }
+    if(snap0 && snap1) 
+    {
+      if(SnappedOnSameFace(f0,ip0,f1,ip1)) 
+        return false;      
+    }
+    
+    if(snap0) {
+      int e0,v0;
+      if (IsSnappedEdge(ip0,e0)) {
+        if(f0->FFp(e0) == f1) return false;
+      }
+      if(IsSnappedVertex(ip0,v0)) {
+        for(int i=0;i<3;++i) 
+          if(f1->V(i)==f0->V(v0)) return false;
+      }
+    }
+    splitPt=(v0->P()+v1->P())/2.0;
+    return true;
+  }
   
   // Given a segment find the maximum distance from it to the original surface. 
-  float MaxSegDist(VertexType *v0, VertexType *v1, Point3f &farthestPointOnSurf, Point3f &farthestN, Distribution<ScalarType> *dist=0)
+  // It is used to evaluate the Haustdorff distance of a Segment from the mesh.
+  ScalarType MaxSegDist(VertexType *v0, VertexType *v1, CoordType &farthestPointOnSurf, CoordType &farthestN, Distribution<ScalarType> *dist=0)
   {
-    float maxSurfDist = 0;
-    const float sampleNum = 10;
-    const float maxDist = base.bbox.Diag()/10.0;
-    for(float k = 1;k<sampleNum;++k)
+    ScalarType maxSurfDist = 0;
+    const ScalarType sampleNum = 10;
+    const ScalarType maxDist = base.bbox.Diag()/10.0;
+    for(ScalarType k = 1;k<sampleNum;++k)
     {
-      float surfDist;
-      Point3f closestPSurf;
-      Point3f samplePnt = (v0->P()*k +v1->P()*(sampleNum-k))/sampleNum;          
+      ScalarType surfDist;
+      CoordType closestPSurf;
+      CoordType samplePnt = (v0->P()*k +v1->P()*(sampleNum-k))/sampleNum;          
       FaceType *f = vcg::tri::GetClosestFaceBase(base,uniformGrid,samplePnt,maxDist, surfDist, closestPSurf);        
       if(dist)
         dist->Add(surfDist);
@@ -1330,7 +977,19 @@ public:
     return maxSurfDist;
   }
   
-  void Refine(MeshType &poly, bool uniformFlag = false)
+  
+  /**
+   * @brief RefineCurve
+   * @param poly the curve to be refined
+   * @param uniformFlag
+   * 
+   * Make one pass of refinement for all the edges of the curve that are distant from the basemesh
+   * uses two parameters:
+   * - par.minRefEdgeLen 
+   * - par.surfDistThr
+   */
+    
+  void RefineCurveByDistance(MeshType &poly)
   {
     tri::Allocator<MeshType>::CompactEveryVector(poly);    
     int startEdgeSize = poly.en;
@@ -1339,79 +998,58 @@ public:
       EdgeType &ei = poly.edge[i];
       if(edge::Length(ei)>par.minRefEdgeLen)  
       {      
-        Point3f farthestP, farthestN;
-        float maxDist = MaxSegDist(ei.V(0),ei.V(1),farthestP, farthestN);
+        CoordType farthestP, farthestN;
+        ScalarType maxDist = MaxSegDist(ei.V(0),ei.V(1),farthestP, farthestN);
         if(maxDist > par.surfDistThr)  
         {
           edge::VEEdgeSplit(poly, &ei, farthestP, farthestN); 
         }
-        else if(uniformFlag)
-        {
-         edge::VEEdgeSplit(poly,&ei,(ei.P(0)+ei.P(1))/2.0,(ei.V(0)->N()+ei.V(1)->N())/2.0); 
-        }
       }
     }
 //    tri::Allocator<MeshType>::CompactEveryVector(poly);
-    printf("Refine %i -> %i\n",startEdgeSize,poly.en);fflush(stdout);
+//    printf("Refine %i -> %i\n",startEdgeSize,poly.en);fflush(stdout);
   }
   
-  // Take a poly and find the position of edge -edge crossing.
-  void RefineBaseMesh(MeshType &poly)
+  /**
+   * @brief RefineCurveByBaseMesh
+   * @param poly
+   */
+  
+  void RefineCurveByBaseMesh(MeshType &poly)
   {
-    std::vector<CoordType> newPtVec;
-    for(int i=0;i<poly.edge.size();++i)
-    {
+    tri::Allocator<MeshType>::CompactEveryVector(poly);    
+    std::vector<int> edgeToRefineVec;
+    for(int i=0; i<poly.en;++i) 
+      edgeToRefineVec.push_back(i);
+    int startEn=poly.en;  
+    int iterCnt=0;
+    while (!edgeToRefineVec.empty() && iterCnt<100) {
+      iterCnt++;
+      std::vector<int> edgeToRefineVecNext;
+      for(int i=0; i<edgeToRefineVec.size();++i)
       {
-        Point3f p0 = poly.edge[i].P(0);
-        Point3f p1 = poly.edge[i].P(1);
-        float stepNum = 10;
-        FaceType *lastFace=0; 
-        Point3f lastqp;
-        Segment3f seg(p0, p1);        
-        for(float j=1;j<stepNum;++j) 
+        EdgeType &e = poly.edge[edgeToRefineVec[i]];
+        CoordType splitPt;
+        if(TestSplitSegWithMeshAdapt(e.V(0),e.V(1),splitPt))  
         {
-          Point3f qp = (p0*j + p1*(stepNum-j))/stepNum;
-          const float maxDist = base.bbox.Diag()/20.0;
-          float surfDist;
-          Point3f closestPSurf, normSur, ip;
-          FaceType *fp = vcg::tri::GetClosestFaceBase(base,uniformGrid,qp,maxDist, surfDist, closestPSurf, normSur, ip);                  
-          if((fp != lastFace) && (lastFace!=0)  && (fp!=0)  )
-          {
-            for(int ei =0 ; ei<3;++ei)
-            {
-              if(fp->FFp(ei) == lastFace)
-              {
-                Point3f ps0,ps1;
-                float segDist;
-                bool par;
-                Segment3f faceSeg(fp->P0(ei),fp->P1(ei));
-                float angDeg = fabs(math::ToDeg(Angle(faceSeg.Direction(),seg.Direction())));
-                
-                SegmentSegmentDistance(seg,faceSeg,segDist,par,ps0,ps1);
-                if(!par && (angDeg > 5 && angDeg<175)) newPtVec.push_back(ps1);             
-              }
-            }
-          }
-          lastFace=fp;        
-          lastqp = qp;
-        }
-      }      
-    }  
-    MeshType meshPt; tri::BuildMeshFromCoordVector(meshPt,newPtVec);
-    tri::io::ExporterPLY<MeshType>::Save(meshPt,"newPoints.ply");  
-
-    VertexConstDataWrapper<MeshType > vdw(meshPt);
-    KdTree<ScalarType> kdtree(vdw);
-    
-    EdgePointPred epPred(*this,kdtree);
-    EdgePointSplit epSplit(*this,kdtree,meshPt);
-    tri::UpdateTopology<MeshType>::FaceFace(base);
-    tri::RefineE(base,epSplit,epPred);    
-    tri::UpdateTopology<MeshType>::FaceFace(base);
-    tri::io::ExporterPLY<MeshType>::Save(base,"newbase.ply");  
+          edge::VEEdgeSplit(poly, &e, splitPt); 
+          edgeToRefineVecNext.push_back(edgeToRefineVec[i]);
+          edgeToRefineVecNext.push_back(poly.en-1);
+        } 
+      }
+      tri::Allocator<MeshType>::CompactEveryVector(poly);
+      swap(edgeToRefineVecNext,edgeToRefineVec);
+       printf("RefineCurveByBaseMesh %i en -> %i en\n",startEn,poly.en); fflush(stdout);    
+    }
+//    
+    SimplifyMidFace(poly);
+    SimplifyMidEdge(poly);
+    SnapPolyline(poly);    
+    printf("RefineCurveByBaseMesh %i en -> %i en\n",startEn,poly.en); fflush(stdout);    
   }
   
   
+  
   /**
    * @brief SmoothProject
    * @param poly
@@ -1430,54 +1068,56 @@ public:
   {
     tri::RequireCompactness(poly);
     tri::UpdateTopology<MeshType>::VertexEdge(poly);
-    printf("SmoothProject: Selected vert num %i\n",tri::UpdateSelection<MeshType>::VertexCount(poly));
+//    printf("SmoothProject: Selected vert num %i\n",tri::UpdateSelection<MeshType>::VertexCount(poly));
     assert(poly.en>0 && base.fn>0);
     for(int k=0;k<iterNum;++k)
     {
-      std::vector<Point3f> posVec(poly.vn,Point3f(0,0,0));
+      if(k==iterNum-1) projectWeight=1; 
+      
+      std::vector<CoordType> posVec(poly.vn,CoordType(0,0,0));
       std::vector<int>     cntVec(poly.vn,0);
   
       for(int i =0; i<poly.en;++i)
       {
         for(int j=0;j<2;++j)
         {
-          int vertInd = tri::Index(poly,poly.edge[i].V(j));
+          int vertInd = tri::Index(poly,poly.edge[i].V0(j));
           posVec[vertInd] += poly.edge[i].V1(j)->P();
           cntVec[vertInd] += 1;
         }
       }
       
-      const float maxDist = base.bbox.Diag()/10.0;
+      const ScalarType maxDist = base.bbox.Diag()/10.0; 
       for(int i=0; i<poly.vn; ++i)
         if(!poly.vert[i].IsS())
         {
-          Point3f smoothPos = (poly.vert[i].P() + posVec[i])/float(cntVec[i]+1);
+          CoordType smoothPos = (poly.vert[i].P() + posVec[i])/ScalarType(cntVec[i]+1);
           
-          Point3f newP = poly.vert[i].P()*(1.0-smoothWeight) + smoothPos *smoothWeight;
+          CoordType newP = poly.vert[i].P()*(1.0-smoothWeight) + smoothPos *smoothWeight;
           
-          Point3f delta =  newP - poly.vert[i].P();
-          if(delta.Norm() > par.maxSmoothDelta) 
-          {
-            newP =  poly.vert[i].P() + ( delta / delta.Norm()) * maxDist*0.5;
-          }
+//          CoordType delta =  newP - poly.vert[i].P();
+//          if(delta.Norm() > par.maxSmoothDelta) 
+//          {
+//            newP =  poly.vert[i].P() + ( delta / delta.Norm()) * maxDist*0.5;
+//          }
           
-          float minDist;
-          Point3f closestP;
+          ScalarType minDist;
+          CoordType closestP;
           FaceType *f = vcg::tri::GetClosestFaceBase(base,uniformGrid,newP,maxDist, minDist, closestP);
           assert(f);
           poly.vert[i].P() = newP*(1.0-projectWeight) +closestP*projectWeight;
           poly.vert[i].N() = f->N();
         }
       
-//      Refine(poly);      
+      //      Refine(poly);      
       tri::UpdateTopology<MeshType>::TestVertexEdge(poly);
-    Refine(poly);      
+      RefineCurveByDistance(poly);      
       tri::UpdateTopology<MeshType>::TestVertexEdge(poly);
-    Simplify(poly);
+      Simplify(poly);
       tri::UpdateTopology<MeshType>::TestVertexEdge(poly);
       int dupVertNum = Clean<MeshType>::RemoveDuplicateVertex(poly);
       if(dupVertNum) {
-        printf("****REMOVED %i Duplicated\n",dupVertNum);
+//        printf("****REMOVED %i Duplicated\n",dupVertNum);
         tri::Allocator<MeshType>::CompactEveryVector(poly);
         tri::UpdateTopology<MeshType>::VertexEdge(poly);
       }
@@ -1485,7 +1125,56 @@ public:
   }  
    
   
+class EdgePointPred
+{
+public:
+  std::map<std::pair<CoordType,CoordType>, VertexPointer> &edgeToPolyVertMap;
+    
+    EdgePointPred(std::map<std::pair<CoordType,CoordType>, VertexPointer> &_edgeToPolyVertMap):edgeToPolyVertMap(_edgeToPolyVertMap){};
+    bool operator()(face::Pos<FaceType> ep) const
+    {
+      CoordType p0 = ep.V()->P();
+      CoordType p1 = ep.VFlip()->P();
+      if (p0>p1) std::swap(p0,p1);        
+      VertexPointer vp=edgeToPolyVertMap[make_pair(p0,p1)];
+      return vp!=0;
+    }
 };
+
+struct EdgePointSplit : public std::unary_function<face::Pos<FaceType> ,  CoordType>
+{
+public:
+  std::map<std::pair<CoordType,CoordType>, VertexPointer> &edgeToPolyVertMap;
+  
+  EdgePointSplit(std::map<std::pair<CoordType,CoordType>, VertexPointer> &_edgeToPolyVertMap):edgeToPolyVertMap(_edgeToPolyVertMap){};
+    void operator()(VertexType &nv, face::Pos<FaceType> ep)
+    {
+      CoordType p0 = ep.V()->P();
+      CoordType p1 = ep.VFlip()->P();
+      if (p0>p1) std::swap(p0,p1);        
+      VertexPointer vp=edgeToPolyVertMap[make_pair(p0,p1)];
+      assert(vp);
+      nv.P()=vp->P();
+      return;
+    }
+    Color4b WedgeInterp(Color4b &c0, Color4b &c1)
+    {
+        Color4b cc;
+        cc.lerp(c0,c1,0.5f);
+        return Color4b::Red;
+    }
+    TexCoord2f WedgeInterp(TexCoord2f &t0, TexCoord2f &t1)
+    {
+        TexCoord2f tmp;
+        assert(t0.n()== t1.n());
+        tmp.n()=t0.n();
+        tmp.t()=(t0.t()+t1.t())/2.0;
+        return tmp;
+    }
+};
+
+};
+
 } // end namespace tri
 } // end namespace vcg
 
diff --git a/vcg/complex/algorithms/cut_tree.h b/vcg/complex/algorithms/cut_tree.h
new file mode 100644
index 00000000..325e70a7
--- /dev/null
+++ b/vcg/complex/algorithms/cut_tree.h
@@ -0,0 +1,393 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *   
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+#ifndef CUT_TREE_H
+#define CUT_TREE_H
+
+#include<vcg/complex/complex.h>
+#include <vcg/space/index/kdtree/kdtree.h>
+#include<vcg/complex/algorithms/update/quality.h>
+#include<vcg/complex/algorithms/update/color.h>
+
+namespace vcg {
+namespace tri {
+
+template <class MeshType>
+class CutTree
+{
+public:
+  typedef typename MeshType::ScalarType     ScalarType;
+  typedef typename MeshType::CoordType     CoordType;
+  typedef typename MeshType::VertexType     VertexType;
+  typedef typename MeshType::VertexPointer  VertexPointer;
+  typedef typename MeshType::VertexIterator VertexIterator;
+  typedef typename MeshType::EdgeIterator   EdgeIterator;
+  typedef typename MeshType::EdgeType       EdgeType;
+  typedef typename MeshType::FaceType       FaceType;
+  typedef typename MeshType::FacePointer    FacePointer;
+  typedef typename MeshType::FaceIterator   FaceIterator;
+  typedef Box3<ScalarType>               Box3Type;
+  typedef typename face::Pos<FaceType> PosType;
+  typedef typename tri::UpdateTopology<MeshType>::PEdge PEdge;
+  
+  MeshType &base; 
+  
+  CutTree(MeshType &_m) :base(_m){}
+  
+  
+// Perform a simple optimization of the three applying simple shortcuts:
+// if the endpoints of two consecutive edges are connected by an edge existing on base mesh just use that edges
+  
+void OptimizeTree(KdTree<ScalarType> &kdtree, MeshType &t)
+{
+  tri::Allocator<MeshType>::CompactEveryVector(t);  
+  int lastEn=t.en;
+  do
+  {
+    lastEn=t.en;
+    tri::UpdateTopology<MeshType>::VertexEdge(t);
+    
+    // First simple loop that search for 2->1 moves. 
+    for(VertexIterator vi=t.vert.begin();vi!=t.vert.end();++vi)
+    {
+      std::vector<VertexType *> starVec;
+      edge::VVStarVE(&*vi,starVec);
+      if(starVec.size()==2)  // middle vertex has to be 1-manifold
+      {
+        PosType pos;
+        if(ExistEdge(kdtree,starVec[0]->P(),starVec[1]->P(),pos))
+          edge::VEEdgeCollapse(t,&*vi);
+      }
+    }
+    tri::Allocator<MeshType>::CompactEveryVector(t);    
+  }
+  while(t.en<lastEn);
+}
+
+// Given two points return true if on the base mesh there exist an edge with that two coords
+// if return true the pos indicate the found edge. 
+bool ExistEdge(KdTree<ScalarType> &kdtree, CoordType &p0, CoordType &p1, PosType &fpos)
+{
+  ScalarType locEps = SquaredDistance(p0,p1)/100000.0;
+  
+  VertexType *v0=0,*v1=0;
+  unsigned int veInd;
+  ScalarType sqdist;
+  kdtree.doQueryClosest(p0,veInd,sqdist);
+  if(sqdist<locEps) 
+    v0 = &base.vert[veInd];
+  kdtree.doQueryClosest(p1,veInd,sqdist);
+  if(sqdist<locEps) 
+    v1 = &base.vert[veInd];
+  if(v0 && v1)
+  {
+    fpos =PosType(v0->VFp(),v0);
+    assert(fpos.V()==v0);
+    PosType startPos=fpos;
+    do
+    {
+      fpos.FlipE(); fpos.FlipF();
+      if(fpos.VFlip()== v1) return true;
+    } while(startPos!=fpos);    
+  }
+  return false;
+}
+
+
+int findNonVisitedEdgesDuringRetract(VertexType * vp, EdgeType * &ep)
+{
+  std::vector<EdgeType *> starVec;
+  edge::VEStarVE(&*vp,starVec);
+  int cnt =0;
+  for(size_t i=0;i<starVec.size();++i) {
+    if(!starVec[i]->IsV()) {
+      cnt++;
+      ep = starVec[i];
+    }
+  }  
+  return cnt;
+}
+
+bool IsBoundaryVertexOnBase(KdTree<ScalarType> &kdtree, const CoordType &p)
+{
+  VertexType *v0=0;
+  unsigned int veInd;
+  ScalarType sqdist;
+  kdtree.doQueryClosest(p,veInd,sqdist);
+  if(sqdist>0) { assert(0); } 
+  v0 = &base.vert[veInd];
+  return v0->IsB();
+}
+
+/**
+ * @brief Retract
+ * @param t the edgemesh containing the visit tree. 
+ *  
+ */
+void Retract(KdTree<ScalarType> &kdtree, MeshType &t)
+{
+  printf("Retracting a tree of %i edges and %i vertices\n",t.en,t.vn);
+  tri::UpdateTopology<MeshType>::VertexEdge(t);
+  tri::Allocator<MeshType>::CompactEveryVector(t);
+  std::stack<VertexType *> vertStack;
+
+  // Put on the stack all the vertex with just a single incident edge. 
+  ForEachVertex(t, [&](VertexType &v){
+    if(edge::VEDegree<EdgeType>(&v) ==1)  
+      vertStack.push(&v);
+  });
+  
+  tri::UpdateFlags<MeshType>::EdgeClearV(t);
+  tri::UpdateFlags<MeshType>::VertexClearV(t);
+  
+  int unvisitedEdgeNum = t.en;
+  while((!vertStack.empty()) && (unvisitedEdgeNum > 2) )
+  {
+    VertexType *vp = vertStack.top();
+    vertStack.pop();
+    vp->C()=Color4b::Blue;
+    EdgeType *ep=0;
+    int eCnt =  findNonVisitedEdgesDuringRetract(vp,ep);
+    if(eCnt==1) // We have only one non visited edge over vp
+    {
+      assert(!ep->IsV());
+      ep->SetV();
+      --unvisitedEdgeNum;
+      VertexType *otherVertP;
+      if(ep->V(0)==vp) otherVertP = ep->V(1);
+      else otherVertP = ep->V(0);
+      vertStack.push(otherVertP);
+    }
+  }
+  assert(unvisitedEdgeNum >0);
+  for(size_t i =0; i<t.edge.size();++i){
+    PosType fpos;
+    if( ExistEdge(kdtree, t.edge[i].P(0), t.edge[i].P(1), fpos)){
+      if(fpos.IsBorder()) {
+        t.edge[i].SetV();
+      }
+    }
+    else assert(0);
+  }
+  
+  // All the boundary edges are in the initial tree so the clean boundary loops chains remains as irreducible loops
+  // We delete them (leaving dangling edges with a vertex on the boundary)
+  for(size_t i =0; i<t.edge.size();++i){    
+    if (t.edge[i].IsV()) 
+      tri::Allocator<MeshType>::DeleteEdge(t,t.edge[i]) ;
+  }
+  assert(t.en >0);
+  tri::Clean<MeshType>::RemoveUnreferencedVertex(t);
+  tri::Allocator<MeshType>::CompactEveryVector(t);
+}
+
+/** \brief Main function
+ * 
+ * It builds a cut tree that open the mesh into a topological disk
+ * 
+ * 
+ */
+void Build(MeshType &dualMesh, int startingFaceInd=0)
+{
+  tri::UpdateTopology<MeshType>::FaceFace(base);
+  tri::UpdateTopology<MeshType>::VertexFace(base); 
+  
+  BuildVisitTree(dualMesh,startingFaceInd);
+//  BuildDijkstraVisitTree(dualMesh,startingFaceInd);
+
+  VertexConstDataWrapper<MeshType > vdw(base);
+  KdTree<ScalarType> kdtree(vdw);  
+  Retract(kdtree,dualMesh);  
+  OptimizeTree(kdtree, dualMesh);
+  tri::UpdateBounding<MeshType>::Box(dualMesh);      
+}
+
+/* Auxiliary class for keeping the heap of vertices to visit and their estimated distance */
+  struct FaceDist{
+    FaceDist(FacePointer _f):f(_f),dist(_f->Q()){}
+    FacePointer f;
+    ScalarType dist; 
+    bool operator < (const FaceDist &o) const
+    {
+      if( dist != o.dist)
+        return dist > o.dist;
+      return f<o.f;
+    }
+  };
+
+
+void BuildDijkstraVisitTree(MeshType &dualMesh, int startingFaceInd=0, ScalarType maxDistanceThr=std::numeric_limits<ScalarType>::max())
+{
+  tri::RequireFFAdjacency(base);
+  tri::RequirePerFaceMark(base);
+  tri::RequirePerFaceQuality(base);
+  typename MeshType::template PerFaceAttributeHandle<FacePointer> parentHandle
+      = tri::Allocator<MeshType>::template GetPerFaceAttribute<FacePointer>(base, "parent");
+
+  std::vector<FacePointer> seedVec;
+  seedVec.push_back(&base.face[startingFaceInd]);
+   
+  std::vector<FaceDist> Heap;
+  tri::UnMarkAll(base);
+  tri::UpdateQuality<MeshType>::FaceConstant(base,0);
+  ForEachVertex(base, [&](VertexType &v){
+    tri::Allocator<MeshType>::AddVertex(dualMesh,v.cP());
+  });
+  
+  // Initialize the face heap; 
+  // All faces in the heap are already marked; Q() store the distance from the source faces; 
+  for(size_t i=0;i<seedVec.size();++i)
+  {
+    seedVec[i]->Q()=0;
+    Heap.push_back(FaceDist(seedVec[i]));
+  }
+  // Main Loop
+  int boundary=0;
+  std::make_heap(Heap.begin(),Heap.end());
+  
+  int vCnt=0;
+  int eCnt=0;
+  int fCnt=0;
+  
+  // The main idea is that in the heap we maintain all the faces to be visited. 
+  int nonDiskCnt=0;
+  while(!Heap.empty() && nonDiskCnt<10)
+  {
+    int eulerChi= vCnt-eCnt+fCnt;
+    if(eulerChi==1) nonDiskCnt=0;
+    else ++nonDiskCnt;
+//    printf("HeapSize %i: %i - %i + %i = %i\n",Heap.size(), vCnt,eCnt,fCnt,eulerChi);
+    pop_heap(Heap.begin(),Heap.end());
+    FacePointer currFp = (Heap.back()).f;
+    if(tri::IsMarked(base,currFp))
+    {
+//      printf("Found an already visited face %f %f \n",Heap.back().dist, Heap.back().f->Q());
+      //assert(Heap.back().dist != currFp->Q());
+            
+      Heap.pop_back(); 
+      continue;
+    }
+    Heap.pop_back();
+    ++fCnt;
+    eCnt+=3;
+    tri::Mark(base,currFp);
+    
+//    printf("pop face %i \n", tri::Index(base,currFp));
+    for(int i=0;i<3;++i)
+    {
+      if(!currFp->V(i)->IsV()) {++vCnt; currFp->V(i)->SetV();}
+      
+      FacePointer nextFp = currFp->FFp(i);
+      if( tri::IsMarked(base,nextFp) )
+      {
+        eCnt-=1;
+        printf("is marked\n");
+        if(nextFp != parentHandle[currFp] )
+        {
+          if(currFp>nextFp){
+            tri::Allocator<MeshType>::AddEdge(dualMesh,tri::Index(base,currFp->V0(i)), tri::Index(base,currFp->V1(i)));
+          }
+        }
+      }
+      else // add it to the heap;
+      {
+//        printf("is NOT marked\n");
+        parentHandle[nextFp] = currFp;
+        ScalarType nextDist = currFp->Q() + Distance(Barycenter(*currFp),Barycenter(*nextFp));
+        int adjMarkedNum=0; 
+        for(int k=0;k<3;++k) if(tri::IsMarked(base,nextFp->FFp(k))) ++adjMarkedNum;
+        if(nextDist < maxDistanceThr || adjMarkedNum>1)        
+        {
+          nextFp->Q() = nextDist;
+          Heap.push_back(FaceDist(nextFp));
+          push_heap(Heap.begin(),Heap.end());
+        }
+        else {
+//          printf("boundary %i\n",++boundary);
+          tri::Allocator<MeshType>::AddEdge(dualMesh,tri::Index(base,currFp->V0(i)), tri::Index(base,currFp->V1(i)));
+        }
+      }
+    }
+  } // End while
+  printf("fulltree %i vn %i en \n",dualMesh.vn, dualMesh.en);
+  int dupVert=tri::Clean<MeshType>::RemoveDuplicateVertex(dualMesh,false);   printf("Removed %i dup vert\n",dupVert);
+  int dupEdge=tri::Clean<MeshType>::RemoveDuplicateEdge(dualMesh);   printf("Removed %i dup edges %i\n",dupEdge,dualMesh.EN());
+  tri::Clean<MeshType>::RemoveUnreferencedVertex(dualMesh);   
+  
+  tri::io::ExporterPLY<MeshType>::Save(dualMesh,"fulltree.ply",tri::io::Mask::IOM_EDGEINDEX);   
+  tri::UpdateColor<MeshType>::PerFaceQualityRamp(base);
+  tri::io::ExporterPLY<MeshType>::Save(base,"colored_Bydistance.ply",tri::io::Mask::IOM_FACECOLOR);    
+}
+
+// \brief This function build a cut tree. 
+//
+// First we make a bread first FF face visit. 
+// Each time that we encounter a visited face we add to the tree the edge 
+// that brings to the already visited face.
+// this structure build a dense graph and we retract this graph retracting each 
+// leaf until we remains with just the loops that cuts the object. 
+
+void BuildVisitTree(MeshType &dualMesh, int startingFaceInd=0)
+{
+  tri::UpdateFlags<MeshType>::FaceClearV(base);
+  tri::UpdateFlags<MeshType>::VertexBorderFromFaceAdj(base);
+  std::vector<face::Pos<FaceType> > visitStack; // the stack contain the pos on the 'starting' face. 
+  
+  base.face[startingFaceInd].SetV();
+  for(int i=0;i<3;++i)
+    visitStack.push_back(PosType(&(base.face[startingFaceInd]),i,base.face[startingFaceInd].V(i)));
+
+  int cnt=1;
+  
+  while(!visitStack.empty())
+  {
+    std::swap(visitStack.back(),visitStack[rand()%visitStack.size()]);
+    PosType c = visitStack.back();
+    visitStack.pop_back();
+    assert(c.F()->IsV());
+    c.F()->C() = Color4b::ColorRamp(0,base.fn,cnt);
+    c.FlipF();
+    if(!c.F()->IsV())
+    {
+      ++cnt;
+      c.F()->SetV();
+      c.FlipE();c.FlipV();
+      visitStack.push_back(c);
+      c.FlipE();c.FlipV();
+      visitStack.push_back(c);
+    }
+    else
+    {
+      tri::Allocator<MeshType>::AddEdge(dualMesh,c.V()->P(),c.VFlip()->P());
+    }
+  }
+  assert(cnt==base.fn);
+ 
+  tri::Clean<MeshType>::RemoveDuplicateVertex(dualMesh);    
+  tri::io::ExporterPLY<MeshType>::Save(dualMesh,"fulltree.ply",tri::io::Mask::IOM_EDGEINDEX);    
+} 
+
+};
+} // end namespace tri
+} // end namespace vcg
+
+#endif // CUT_TREE_H
diff --git a/vcg/complex/algorithms/dual_meshing.h b/vcg/complex/algorithms/dual_meshing.h
new file mode 100644
index 00000000..14c17f0e
--- /dev/null
+++ b/vcg/complex/algorithms/dual_meshing.h
@@ -0,0 +1,164 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *   
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+#ifndef __VCGLIB_DUAL_MESH
+#define __VCGLIB_DUAL_MESH
+
+#include <vcg/complex/complex.h>
+#include <vcg/complex/algorithms/update/topology.h>
+#include <vcg/simplex/face/pos.h>
+#include <vcg/complex/algorithms/clean.h>
+#include <vcg/complex/algorithms/polygonal_algorithms.h>
+
+namespace vcg {
+namespace tri {
+
+template <class PolyMeshType>
+class DualMeshing
+{
+
+    typedef typename PolyMeshType::VertexType VertexType;
+    typedef typename PolyMeshType::FaceType   FaceType;
+    typedef typename PolyMeshType::CoordType  CoordType;
+    typedef typename PolyMeshType::ScalarType ScalarType;
+
+    static void ComposeFace(VertexType &startV,
+                            FaceType &startF,
+                            std::map<std::pair<int,int>, int> &EdgeMap,
+                            const std::vector<int> &FaceMap,
+                            const PolyMeshType &primal,
+                            std::vector<int> &vertSeq)
+    {
+        (void)EdgeMap;
+
+        vcg::face::Pos<FaceType> startP(&startF,&startV);
+
+        //get the star of pos
+        std::vector<vcg::face::Pos<FaceType> > posVec;
+        vcg::face::VFOrderedStarFF(startP,posVec);
+
+        for (size_t i=0;i<posVec.size();i++)
+        {
+            FaceType *f=posVec[i].F();
+            int indexF=vcg::tri::Index(primal,f);
+            int indexV=FaceMap[indexF];
+            vertSeq.push_back(indexV);
+        }
+
+    }
+
+
+    static void CreateFaceVert(PolyMeshType &primal,
+                               PolyMeshType &dual,
+                               std::vector<int> &VertMap,
+                               std::vector<int> &VertFace,
+                               bool snapBorder)
+    {
+        VertMap.clear();
+        VertMap.resize(primal.face.size(),-1);
+        VertFace.clear();
+        VertFace.resize(primal.vert.size(),-1);
+        for (size_t i=0;i<primal.face.size();i++)
+        {
+            CoordType pos(0,0,0);
+            int num=0;
+            if (snapBorder)//search for border edge
+            {
+                for (int j=0;j<primal.face[i].VN();j++)
+                {
+                   if (!primal.face[i].V(j)->IsB())continue;
+                    pos+=primal.face[i].P(j);
+                    num++;
+                }
+                if (num>0)
+                    pos/=num;
+            }
+
+            if (num==0)
+            {
+                for (int j=0;j<primal.face[i].VN();j++)
+                {
+                    pos+=primal.face[i].V(j)->P();
+                }
+                pos/=(ScalarType)primal.face[i].VN();
+            }
+            vcg::tri::Allocator<PolyMeshType>::AddVertex(dual,pos);
+            VertMap[i]=dual.vert.size()-1;
+            dual.vert.back().Q()=i;
+        }
+
+        //then initialize VF first face
+        for (size_t i=0;i<primal.face.size();i++)
+            for (int j=0;j<primal.face[i].VN();j++)
+            {
+                int indexV=vcg::tri::Index(primal,primal.face[i].V(j));
+                if (VertFace[indexV]!=-1)continue;
+                VertFace[indexV]=i;
+            }
+    }
+
+public:
+
+    static void MakeDual(PolyMeshType &primal,
+                         PolyMeshType &dual,
+                         bool snapBorder=true)
+    {
+        dual.Clear();
+
+        vcg::tri::RequirePolygonalMesh(primal);
+        vcg::tri::RequirePolygonalMesh(dual);
+        vcg::tri::RequireFFAdjacency(primal);
+        vcg::tri::RequirePerFaceQuality(dual);
+
+        vcg::tri::UpdateTopology<PolyMeshType>::FaceFace(primal);
+        vcg::tri::UpdateFlags<PolyMeshType>::VertexBorderFromFaceAdj(primal);
+
+        std::map<std::pair<int,int>, int> VertEdgeMap;
+
+        std::cout<<"Creating Dual Vertices"<<std::endl;
+        std::vector<int> VertFaceMap,VertFace;
+        CreateFaceVert(primal,dual,VertFaceMap,VertFace,snapBorder);
+
+        std::cout<<"Creating Dual Faces"<<std::endl;
+        for (size_t i=0;i<primal.vert.size();i++)
+        {
+            if (primal.vert[i].IsB())continue;
+
+            FaceType *firstF=&primal.face[VertFace[i]];
+            std::vector<int> VertSeq;
+            ComposeFace(primal.vert[i],*firstF,VertEdgeMap,VertFaceMap,primal,VertSeq);
+            vcg::tri::Allocator<PolyMeshType>::AddFaces(dual,1);
+            dual.face.back().Alloc(VertSeq.size());
+            for (size_t j=0;j<VertSeq.size();j++)
+                dual.face.back().V(j)=&dual.vert[VertSeq[j]];
+            dual.face.back().Q()=i;
+        }
+        vcg::tri::Clean<PolyMeshType>::RemoveUnreferencedVertex(dual);
+        //finally remove valence 1 vertices on the border
+        vcg::PolygonalAlgorithm<PolyMeshType>::RemoveValence2Vertices(dual);
+    }
+
+};
+
+}
+}
+#endif // __VCGLIB_DUAL_MESH
diff --git a/vcg/complex/algorithms/edge_collapse.h b/vcg/complex/algorithms/edge_collapse.h
index 371852f6..57da15b9 100644
--- a/vcg/complex/algorithms/edge_collapse.h
+++ b/vcg/complex/algorithms/edge_collapse.h
@@ -20,8 +20,8 @@
 * for more details.                                                         *
 *                                                                           *
 ****************************************************************************/
-#ifndef __VCG_TETRA_TRI_COLLAPSE
-#define __VCG_TETRA_TRI_COLLAPSE
+#ifndef _VCG_EDGE_COLLAPSE_
+#define _VCG_EDGE_COLLAPSE_
 
 
 #include<vcg/simplex/face/pos.h>
@@ -53,80 +53,59 @@ private:
 template <class TRI_MESH_TYPE, class VertexPair>
 class EdgeCollapser
 {
-    public:
-  /// The tetrahedral mesh type
-  typedef	 TRI_MESH_TYPE TriMeshType;
-  /// The face type
+public:
+  typedef	TRI_MESH_TYPE TriMeshType;
   typedef	typename TriMeshType::FaceType FaceType;
-    /// The vertex type
-    typedef	typename FaceType::VertexType VertexType;
+  typedef	typename FaceType::VertexType VertexType;
   typedef	typename FaceType::VertexPointer VertexPointer;
-  /// The vertex iterator type
-  typedef	typename TriMeshType::VertexIterator VertexIterator;
-  /// The tetra iterator type
-  typedef	typename TriMeshType::FaceIterator FaceIterator;
-  /// The coordinate type
-    typedef	typename FaceType::VertexType::CoordType CoordType;
-  /// The scalar type
+  typedef	typename FaceType::VertexType::CoordType CoordType;
   typedef	typename TriMeshType::VertexType::ScalarType ScalarType;
-  ///the container of tetrahedron type
-  typedef typename TriMeshType::FaceContainer FaceContainer;
-  ///the container of vertex type
-  typedef typename TriMeshType::VertContainer VertContainer;
-  ///half edge type
-  //typedef typename TriMeshType::FaceType::EdgeType EdgeType;
-    /// vector of pos
-//	typedef typename std::vector<EdgeType> EdgeVec;
-    ///of VFIterator
-    typedef typename vcg::face::VFIterator<FaceType>  VFI;
-    /// vector of VFIterator
-    typedef typename std::vector<vcg::face::VFIterator<FaceType> > VFIVec;
+  typedef typename vcg::face::VFIterator<FaceType>  VFIterator;
+  typedef typename std::vector<vcg::face::VFIterator<FaceType> > VFIVec;
+
 private:
   struct EdgeSet
   {
-     VFIVec av0,av1,av01;
-     VFIVec & AV0() { return av0;}
-     VFIVec & AV1() { return av1;}
-     VFIVec & AV01(){ return av01;}
+     VFIVec av0, av1, av01;
+     VFIVec & AV0() { return av0;}  // Faces incident only on v0
+//     VFIVec & AV1() { return av1;}  // Faces incident only on v1
+     VFIVec & AV01(){ return av01;} // Faces incident only on both v0 and v1
   };
 
   static void FindSets(VertexPair &p, EdgeSet &es)
+  {
+    VertexType * v0 = p.V(0);
+    VertexType * v1 = p.V(1);
+    
+    es.AV0().clear(); 
+//    es.AV1().clear(); 
+    es.AV01().clear();
+    
+    for(VFIterator x = VFIterator(v0); !x.End(); ++x)
     {
-        VertexType * v0 = p.V(0);
-        VertexType * v1 = p.V(1);
-
-    es.AV0().clear();  // Facce incidenti in v0
-    es.AV1().clear();  // Facce incidenti in v1
-    es.AV01().clear(); // Facce incidenti in v0 e v1
-
-        VFI x;
-
-        for( x.f = v0->VFp(), x.z = v0->VFi(); x.f!=0; ++x)
-        {
-            int zv1 = -1;
-
-            for(int j=0;j<3;++j)
-                if( x.f->V(j)==&*v1 )	{
-                    zv1 = j;
-                    break;
-                }
-      if(zv1==-1) 	es.AV0().push_back( x ); // la faccia x.f non ha il vertice v1 => e' incidente solo in v0
-      else    			es.AV01().push_back( x );
+      bool foundV1=false;      
+      for(int j=0;j<3;++j)
+        if( x.f->V(j)==v1 )	{
+          foundV1 = true;
+          break;
         }
-
-        for( x.f = v1->VFp(), x.z = v1->VFi(); x.f!=0; ++x )
-        {
-            int zv0 = -1;
-
-            for(int j=0;j<3;++j)
-                if( x.f->V(j)==&*v0 )	{
-                    zv0 = j;
-                    break;
-                }
-      if(zv0==-1)	es.AV1().push_back( x ); // la faccia x.f non ha il vertice v1 => e' incidente solo in v0
-        }
-}
-/*
+      if(!foundV1)  es.AV0().push_back( x ); // v1 not found -> so the face is incident only on v0
+      else         es.AV01().push_back( x );
+    }
+    
+//    for( VFIterator x = VFIterator(v1); !x.End(); ++x)
+//    {
+//      bool foundV0=false;      
+//      for(int j=0;j<3;++j)
+//        if( x.f->V(j)==v0 )	{
+//          foundV0=true;
+//          break;
+//        }
+//      if(!foundV0)	es.AV1().push_back( x ); // v0 not found -> so the face is incident only on v0
+//    }
+  }
+  
+  /*
     Link Conditions test, as described in
 
     Topology Preserving Edge Contraction
@@ -153,7 +132,6 @@ private:
 public:
   static bool LinkConditions(VertexPair &pos)
   {
-    typedef typename vcg::face::VFIterator<FaceType> VFIterator;
     // at the end of the loop each vertex must be counted twice
     // except for boundary vertex.
     std::map<VertexPointer,int> VertCnt;
@@ -228,43 +206,86 @@ public:
     return true;
   }
 
-  // Main function; the one that actually make the collapse
-  // remember that v[0] will be deleted and v[1] will survive (eventually with a new position)
-  // hint to do a 'collapse onto a vertex simply pass p as the position of the surviving vertex
-  static int Do(TriMeshType &m, VertexPair & c, const Point3<ScalarType> &p)
-    {
+  // Main Collapsing Function: the one that actually performs the collapse of the edge denoted by the VertexPair c
+  // Remember that v[0] will be deleted and v[1] will survive with the position indicated by p
+  // To do a collapse onto a vertex simply pass p as the position of the surviving vertex
+  static int Do(TriMeshType &m, VertexPair & c, const Point3<ScalarType> &p, const bool preserveFaceEdgeS = false)
+  {
     EdgeSet es;
     FindSets(c,es);
-        typename VFIVec::iterator i;
-    int n_face_del =0 ;
+    
+    int n_face_del=0 ;    
 
-    for(i=es.AV01().begin();i!=es.AV01().end();++i)
-        {
-            FaceType  & f = *((*i).f);
-            assert(f.V((*i).z) == c.V(0));
-            vcg::face::VFDetach(f,((*i).z+1)%3);
-            vcg::face::VFDetach(f,((*i).z+2)%3);
-            Allocator<TriMeshType>::DeleteFace(m,f);
+	static int VtoE[3][3] = { -1,  0,  2,
+	                           0, -1,  1,
+	                           2,  1, -1 };
+
+//	bool toSel = false;
+
+	VertexType* top[2];
+	std::map <VertexPointer, bool> toSel;
+
+	std::vector<VertexPointer> v2s; v2s.reserve(2);
+
+    for(auto i=es.AV01().begin();i!=es.AV01().end();++i)
+    {
+      FaceType  & f = *((*i).f);
+      assert(f.V((*i).z) == c.V(0));
+
+	    if (preserveFaceEdgeS && f.IsFaceEdgeS(VtoE[((*i).z+1)%3][((*i).z+2)%3]))
+		{
+//			std::cout << "2 " <<std::endl;
+			if (f.V(((*i).z+1)%3) == c.V(1))
+				v2s.push_back(f.V(((*i).z+2)%3));
+			else
+				v2s.push_back(f.V(((*i).z+1)%3));
+		}
+
+      vcg::face::VFDetach(f,((*i).z+1)%3);
+      vcg::face::VFDetach(f,((*i).z+2)%3);
+      Allocator<TriMeshType>::DeleteFace(m,f);
       n_face_del++;
     }
+    
+    // Very LOW LEVEL update of VF Adjacency;  
+    // for all the faces incident in v[0]
+    // - v[0] will be deleted so we substitute v[0] with v[1]
+    // - we prepend that face to the list of the faces incident on v[1]
+    for(auto i=es.AV0().begin();i!=es.AV0().end();++i)
+    {
+		      FaceType  & f = *((*i).f);
 
-        //set Vertex Face topology
-    for(i=es.AV0().begin();i!=es.AV0().end();++i)
-        {
-            (*i).f->V((*i).z) = c.V(1);									 // In tutte le facce incidenti in v0, si sostituisce v0 con v1
-            (*i).f->VFp((*i).z) = (*i).f->V((*i).z)->VFp(); // e appendo la lista di facce incidenti in v1 a questa faccia
-            (*i).f->VFi((*i).z) = (*i).f->V((*i).z)->VFi();
-            (*i).f->V((*i).z)->VFp() = (*i).f;
-            (*i).f->V((*i).z)->VFi() = (*i).z;
-        }
+		if (preserveFaceEdgeS)
+		{
+			for (size_t j = 0; j < v2s.size(); ++j)
+			{
+				if ((*i).f->V(((*i).z+1)%3) == v2s[j])
+				{
+					(*i).f->SetFaceEdgeS(VtoE[((*i).z)%3][((*i).z+1)%3]);
+					break;
+				}
+				if ((*i).f->V(((*i).z+2)%3) == v2s[j])
+				{
+					(*i).f->SetFaceEdgeS(VtoE[((*i).z)%3][((*i).z+2)%3]);
+					break;
+				}
+			}
+		}
+      (*i).f->V((*i).z) = c.V(1);	// For each face in v0 we substitute v0 with v1
+      (*i).f->VFp((*i).z) = c.V(1)->VFp(); 
+      (*i).f->VFi((*i).z) = c.V(1)->VFi();
+      c.V(1)->VFp() = (*i).f;
+      c.V(1)->VFi() = (*i).z;
 
-        Allocator<TriMeshType>::DeleteVertex(m,*(c.V(0)));
-        c.V(1)->P()=p;
-        return n_face_del;
     }
-
+    
+    Allocator<TriMeshType>::DeleteVertex(m,*(c.V(0)));
+    c.V(1)->P()=p;
+    return n_face_del;
+  }
+  
 };
 
-}
-}
+} // end namespace tri
+} // end namespace vcg
 #endif
diff --git a/vcg/complex/algorithms/geodesic.h b/vcg/complex/algorithms/geodesic.h
index e64b99ed..db45cd2d 100644
--- a/vcg/complex/algorithms/geodesic.h
+++ b/vcg/complex/algorithms/geodesic.h
@@ -176,13 +176,14 @@ public:
 
 
   struct DIJKDist{
-    DIJKDist(VertexPointer _v):v(_v){}
+	DIJKDist(VertexPointer _v):v(_v), q(_v->Q()){}
     VertexPointer v;
+	ScalarType q;
 
     bool operator < (const DIJKDist &o) const
     {
-      if( v->Q() != o.v->Q())
-        return v->Q() > o.v->Q();
+		if( q != o.q)
+		return q > o.q;
       return v<o.v;
     }
    };
@@ -514,7 +515,7 @@ It is just a simple wrapper of the basic Compute()
   static inline std::string parentsAttributeName(void) { return "parent"; }
 
   template <class DistanceFunctor>
-  static void PerFaceDijsktraCompute(MeshType &m, const std::vector<FacePointer> &seedVec,
+  static void PerFaceDijkstraCompute(MeshType &m, const std::vector<FacePointer> &seedVec,
                                      DistanceFunctor &distFunc,
                                      ScalarType maxDistanceThr  = std::numeric_limits<ScalarType>::max(),
                                      std::vector<FacePointer> *InInterval=NULL,
@@ -579,7 +580,7 @@ It is just a simple wrapper of the basic Compute()
 
 
   template <class DistanceFunctor>
-  static void PerVertexDijsktraCompute(MeshType &m, const std::vector<VertexPointer> &seedVec,
+  static void PerVertexDijkstraCompute(MeshType &m, const std::vector<VertexPointer> &seedVec,
                                        DistanceFunctor &distFunc,
                                      ScalarType maxDistanceThr  = std::numeric_limits<ScalarType>::max(),
                                      std::vector<VertexPointer> *InInterval=NULL,
@@ -600,6 +601,7 @@ It is just a simple wrapper of the basic Compute()
 
     std::vector<DIJKDist> Heap;
     tri::UnMarkAll(m);
+	tri::UnMarkAll(m);
 
     for(size_t i=0;i<seedVec.size();++i)
     {
diff --git a/vcg/complex/algorithms/harmonic.h b/vcg/complex/algorithms/harmonic.h
index d004d7bf..ec9a67cd 100644
--- a/vcg/complex/algorithms/harmonic.h
+++ b/vcg/complex/algorithms/harmonic.h
@@ -24,7 +24,7 @@
 #define __VCGLIB_HARMONIC_FIELD
 
 #include <vcg/complex/complex.h>
-#include <eigenlib/Eigen/Sparse>
+#include <Eigen/Sparse>
 
 namespace vcg {
 namespace tri {
@@ -218,16 +218,18 @@ public:
         // get the adjacent face
         const FaceType * fp = f.cFFp(edge);
 
-        //       v0
-        //      /|\
-        //     / | \
-        //    /  |  \
-        //   /   |   \
-        // va\   |   /vb
-        //    \  |  /
-        //     \ | /
-        //      \|/
-        //       v1
+        /*
+         *       v0
+         *      /|\
+         *     / | \
+         *    /  |  \
+         *   /   |   \
+         * va\   |   /vb
+         *    \  |  /
+         *     \ | /
+         *      \|/
+         *       v1
+         */
 
         ScalarT cotA = 0;
         ScalarT cotB = 0;
@@ -255,16 +257,17 @@ public:
     template <typename ScalarT>
     static ScalarT ComputeAngle(const VertexType * a, const VertexType * b, const VertexType * c)
     {
-        //       a
-        //      /
-        //     /
-        //    /
-        //   /  ___ compute the angle in b
-        // b \
-        //    \
-        //     \
-        //      \
-        //       c
+        /*       a
+         *      /
+         *     /
+         *    /
+         *   /  ___ compute the angle in b
+         * b \
+         *    \
+         *     \
+         *      \
+         *       c
+         */
         assert(a != NULL && b != NULL && c != NULL);
         Point3<ScalarT> A,B,C;
         A.Import(a->P());
diff --git a/vcg/complex/algorithms/hole.h b/vcg/complex/algorithms/hole.h
index c906ccb6..ecb2256b 100644
--- a/vcg/complex/algorithms/hole.h
+++ b/vcg/complex/algorithms/hole.h
@@ -100,6 +100,8 @@ public:
     ComputeQuality();
     ComputeAngle();
   }
+  // enforce virtual dtor for this class and all subclasses
+  virtual ~TrivialEar() = default;
 
   /// Compute the angle of the two edges of the ear.
   // it tries to make the computation in a precision safe way.
@@ -283,7 +285,7 @@ public:
 template<class MESH> class MinimumWeightEar : public TrivialEar<MESH>
 {
 public:
-  static float &DiedralWeight() { static float _dw=0.1; return _dw;}
+  static float &DiedralWeight() { static float _dw=0.1f; return _dw;}
   typedef TrivialEar<MESH> TE;
   typename MESH::ScalarType dihedralRad;
   typename MESH::ScalarType aspectRatio;
@@ -378,7 +380,7 @@ public:
         {
           int e0,e1;
           bool ret=face::FindSharedEdge(f,*it,e0,e1);
-          assert(ret);
+          assert(ret); (void)ret;
           if(!face::IsBorder(**it,e1))
             return false;
         }
diff --git a/vcg/complex/algorithms/implicit_smooth.h b/vcg/complex/algorithms/implicit_smooth.h
index 2e1e24f4..1d0e3f47 100644
--- a/vcg/complex/algorithms/implicit_smooth.h
+++ b/vcg/complex/algorithms/implicit_smooth.h
@@ -23,7 +23,7 @@
 #ifndef __VCG_IMPLICIT_SMOOTHER
 #define __VCG_IMPLICIT_SMOOTHER
 
-#include <eigenlib/Eigen/Sparse>
+#include <Eigen/Sparse>
 #include <vcg/complex/algorithms/mesh_to_matrix.h>
 #include <vcg/complex/algorithms/update/quality.h>
 #include <vcg/complex/algorithms/smooth.h>
diff --git a/vcg/complex/algorithms/inertia.h b/vcg/complex/algorithms/inertia.h
index c365b5ac..d3449fc3 100644
--- a/vcg/complex/algorithms/inertia.h
+++ b/vcg/complex/algorithms/inertia.h
@@ -24,8 +24,8 @@
 #define _VCG_INERTIA_
 
 
-#include <eigenlib/Eigen/Core>
-#include <eigenlib/Eigen/Eigenvalues>
+#include <Eigen/Core>
+#include <Eigen/Eigenvalues>
 #include <vcg/complex/algorithms/update/normal.h>
 
 namespace vcg
diff --git a/vcg/complex/algorithms/intersection.h b/vcg/complex/algorithms/intersection.h
index dfc0733f..b0c8cab9 100644
--- a/vcg/complex/algorithms/intersection.h
+++ b/vcg/complex/algorithms/intersection.h
@@ -27,7 +27,6 @@
 #include<vcg/complex/complex.h>
 #include<vcg/complex/algorithms/closest.h>
 #include<vcg/complex/algorithms/update/quality.h>
-#include<vcg/complex/algorithms/update/selection.h>
 
 
 #ifndef __VCGLIB_INTERSECTION_TRI_MESH
@@ -139,8 +138,8 @@ bool IntersectionPlaneMeshOld(TriMeshType & m,
 */
 template < typename  TriMeshType, typename EdgeMeshType, class ScalarType >
 bool IntersectionPlaneMesh(TriMeshType & m,
-									Plane3<ScalarType>  pl,
-									EdgeMeshType & em)
+                           Plane3<ScalarType>  pl,
+                           EdgeMeshType & em)
 {
   std::vector<Point3<ScalarType> > ptVec;
   std::vector<Point3<ScalarType> > nmVec;
@@ -148,9 +147,8 @@ bool IntersectionPlaneMesh(TriMeshType & m,
   typename TriMeshType::template PerVertexAttributeHandle < ScalarType > qH =
       tri::Allocator<TriMeshType> :: template AddPerVertexAttribute < ScalarType >(m,"TemporaryPlaneDistance");
 
-  typename TriMeshType::VertexIterator vi;
-  for(vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
-    qH[vi] =SignedDistancePlanePoint(pl,(*vi).cP());
+  for(auto vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
+    qH[vi] = SignedDistancePlanePoint(pl,(*vi).cP());
 
   for(size_t i=0;i<m.face.size();i++)
     if(!m.face[i].IsD())
@@ -175,11 +173,11 @@ bool IntersectionPlaneMesh(TriMeshType & m,
          Point3<ScalarType> nn =(n0*fabs(q1) + n1*fabs(q0))/fabs(q0-q1);
          nmVec.push_back(nn);
        }
-	   if (qH[m.face[i].V(j)] == 0)
-	   {
-		   ptVec.push_back(m.face[i].V(j)->cP());
-		   nmVec.push_back(m.face[i].V(j)->cN());
-	   }
+       if (qH[m.face[i].V(j)] == 0)
+       {
+         ptVec.push_back(m.face[i].V(j)->cP());
+         nmVec.push_back(m.face[i].V(j)->cN());
+       }
       }
       if(ptVec.size()>=2)
       {
@@ -283,7 +281,7 @@ bool IntersectionRayMesh(
 	/* Baricentric coord 1*/ ScalarType &bar1,
 	/* Baricentric coord 2*/ ScalarType &bar2,
 	/* Baricentric coord 3*/ ScalarType &bar3,
-	/* FacePointer */ typename TriMeshType::FacePointer fp
+	/* FacePointer */ typename TriMeshType::FacePointer & fp
 	)
 {
 	//typedef typename TriMeshType::FaceContainer FaceContainer;
diff --git a/vcg/complex/algorithms/isotropic_remeshing.h b/vcg/complex/algorithms/isotropic_remeshing.h
new file mode 100644
index 00000000..ae18c5fe
--- /dev/null
+++ b/vcg/complex/algorithms/isotropic_remeshing.h
@@ -0,0 +1,1359 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2017                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+#ifndef _VCG_ISOTROPICREMESHING_H
+#define _VCG_ISOTROPICREMESHING_H
+
+#include <vcg/complex/algorithms/update/quality.h>
+#include <vcg/complex/algorithms/update/curvature.h>
+#include <vcg/complex/algorithms/update/normal.h>
+#include <vcg/complex/algorithms/refine.h>
+#include <vcg/complex/algorithms/stat.h>
+#include <vcg/complex/algorithms/smooth.h>
+#include <vcg/complex/algorithms/local_optimization/tri_edge_collapse.h>
+#include <vcg/space/index/spatial_hashing.h>
+#include <vcg/complex/append.h>
+#include <vcg/complex/allocate.h>
+#include <wrap/io_trimesh/export.h>
+
+namespace vcg {
+namespace tri {
+template<class TRI_MESH_TYPE>
+class IsotropicRemeshing
+{
+public:
+	typedef TRI_MESH_TYPE MeshType;
+	typedef typename MeshType::FaceType FaceType;
+	typedef typename MeshType::FacePointer FacePointer;
+	typedef typename FaceType::VertexType VertexType;
+	typedef typename FaceType::VertexPointer VertexPointer;
+	typedef	typename VertexType::ScalarType ScalarType;
+	typedef	typename VertexType::CoordType CoordType;
+	typedef typename face::Pos<FaceType> PosType;
+	typedef BasicVertexPair<VertexType> VertexPair;
+	typedef EdgeCollapser<MeshType, VertexPair> Collapser;
+	typedef GridStaticPtr<FaceType, ScalarType> StaticGrid;
+
+
+	typedef struct Params {
+		typedef struct Stat {
+			int splitNum;
+			int collapseNum;
+			int flipNum;
+
+			void Reset() {
+				splitNum=0;
+				collapseNum=0;
+				flipNum=0;
+			}
+		} Stat;
+
+
+		ScalarType minLength; // minimal admitted length: no edge should be shorter than this value (used when collapsing)
+		ScalarType maxLength; // maximal admitted length: no edge should be longer than this value  (used when refining)
+		ScalarType lengthThr;
+
+		ScalarType minimalAdmittedArea;
+		ScalarType maxSurfDist;
+
+		ScalarType aspectRatioThr  = 0.05;                    //min aspect ratio: during relax bad triangles will be relaxed
+		ScalarType foldAngleCosThr = cos(math::ToRad(140.));   //min angle to be considered folding: during relax folded triangles will be relaxed
+
+		ScalarType creaseAngleRadThr = math::ToRad(10.0);
+		ScalarType creaseAngleCosThr = cos(math::ToRad(10.0)); //min angle to be considered crease: two faces with normals diverging more than thr share a crease edge
+
+		bool splitFlag    = true;
+		bool swapFlag     = true;
+		bool collapseFlag = true;
+		bool smoothFlag=true;
+		bool projectFlag=true;
+		bool selectedOnly = false;
+		bool cleanFlag = true;
+
+		bool userSelectedCreases = false;
+		bool surfDistCheck = true;
+
+		bool adapt=false;
+		int iter=1;
+		Stat stat;
+
+		void SetTargetLen(const ScalarType len)
+		{
+			minLength=len*4./5.;
+			maxLength=len*4./3.;
+			lengthThr=len*4./3.;
+			minimalAdmittedArea = (minLength * minLength)/1000.0;
+		}
+		
+		void SetFeatureAngleDeg(const ScalarType angle)
+		{
+			creaseAngleRadThr =  math::ToRad(angle);
+			creaseAngleCosThr = cos(creaseAngleRadThr);
+		}
+
+		StaticGrid grid;
+		MeshType* m;
+		MeshType* mProject;
+
+	} Params;
+
+private:
+	static void debug_crease (MeshType & toRemesh, std::string  prepend, int i)
+	{
+		ForEachVertex(toRemesh, [] (VertexType & v) {
+			v.C() = Color4b::Gray;
+			v.Q() = 0;
+		});
+
+		ForEachFacePos(toRemesh, [&](PosType &p){
+			if (p.F()->IsFaceEdgeS(p.E()))
+			{
+				p.V()->Q() += 1;
+				p.VFlip()->Q() += 1;
+			}
+		});
+
+		ForEachVertex(toRemesh, [] (VertexType & v) {
+			if (v.Q() >= 4)
+				v.C() = Color4b::Green;
+			else if (v.Q() >= 2)
+				v.C() = Color4b::Red;
+		});
+		prepend += "_creases" + std::to_string(i) + ".ply";
+		vcg::tri::io::Exporter<MeshType>::Save(toRemesh, prepend.c_str(), vcg::tri::io::Mask::IOM_ALL);
+	}
+
+
+	static void removeColinearFaces(MeshType & m, Params & params)
+	{
+		vcg::tri::UpdateTopology<MeshType>::FaceFace(m);
+
+		int count = 0;
+        int iter = 0;
+		do
+		{
+			vcg::tri::UpdateTopology<MeshType>::FaceFace(m);
+			vcg::tri::UnMarkAll(m);
+
+			count = 0;
+			for (size_t i = 0; i < size_t(m.FN()); ++i)
+			{
+				FaceType & f = m.face[i];
+
+				ScalarType quality = vcg::QualityRadii(f.cP(0), f.cP(1), f.cP(2));
+
+                if (quality <= 0.001)
+				{
+					//find longest edge
+					double edges[3];
+					edges[0] = vcg::Distance(f.cP(0), f.cP(1));
+					edges[1] = vcg::Distance(f.cP(1), f.cP(2));
+					edges[2] = vcg::Distance(f.cP(2), f.cP(0));
+
+                    ScalarType smallestEdge = std::min(edges[0], std::min(edges[1], edges[2]));
+                    int longestIdx = std::find(edges, edges+3, std::max(std::max(edges[0], edges[1]), edges[2])) - (edges);
+
+					if (vcg::tri::IsMarked(m, f.V2(longestIdx)))
+						continue;
+
+
+					auto f1 = f.cFFp(longestIdx);
+					vcg::tri::Mark(m,f.V2(longestIdx));
+					if (!vcg::face::IsBorder(f, longestIdx) && vcg::face::IsManifold(f, longestIdx) && vcg::face::checkFlipEdgeNotManifold<FaceType>(f, longestIdx))  {
+
+						// Check if EdgeFlipping improves quality
+						FacePointer g = f.FFp(longestIdx); int k = f.FFi(longestIdx);
+						vcg::Triangle3<ScalarType> t1(f.P(longestIdx), f.P1(longestIdx), f.P2(longestIdx)), t2(g->P(k), g->P1(k), g->P2(k)),
+						        t3(f.P(longestIdx), g->P2(k), f.P2(longestIdx)), t4(g->P(k), f.P2(longestIdx), g->P2(k));
+
+						if ( std::min( QualityFace(t1), QualityFace(t2) ) <= std::min( QualityFace(t3), QualityFace(t4) ))
+						{
+							ScalarType dist;
+							CoordType closest;
+                            auto fp0 = vcg::tri::GetClosestFaceBase(*params.mProject, params.grid, vcg::Barycenter(t3), smallestEdge/4., dist, closest);
+							if (fp0 == NULL)
+								continue;
+
+                            auto fp1 = vcg::tri::GetClosestFaceBase(*params.mProject, params.grid, vcg::Barycenter(t4), smallestEdge/4., dist, closest);
+							if (fp1 == NULL)
+								continue;
+
+							vcg::face::FlipEdgeNotManifold<FaceType>(f, longestIdx);
+							++count;
+						}
+					}
+				}
+			}
+                } while (count && ++iter < 50);
+	}
+
+	static void cleanMesh(MeshType & m, Params & params)
+	{
+		vcg::tri::Clean<MeshType>::RemoveDuplicateFace(m);
+		vcg::tri::Clean<MeshType>::RemoveUnreferencedVertex(m);
+		vcg::tri::Allocator<MeshType>::CompactEveryVector(m);
+
+		vcg::tri::UpdateTopology<MeshType>::FaceFace(m);
+		removeColinearFaces(m, params);
+		vcg::tri::UpdateTopology<MeshType>::FaceFace(m);
+	}
+
+public:
+
+	static void Do(MeshType &toRemesh, Params & params, vcg::CallBackPos * cb=0)
+	{
+		MeshType toProjectCopy;
+		tri::UpdateBounding<MeshType>::Box(toRemesh);
+		tri::UpdateNormal<MeshType>::PerVertexNormalizedPerFaceNormalized(toRemesh);
+
+		tri::Append<MeshType,MeshType>::MeshCopy(toProjectCopy, toRemesh);
+
+		Do(toRemesh,toProjectCopy,params,cb);
+	}
+	static void Do(MeshType &toRemesh, MeshType &toProject, Params & params, vcg::CallBackPos * cb=0)
+	{
+		assert(&toRemesh != &toProject);
+		params.stat.Reset();
+
+
+		tri::UpdateBounding<MeshType>::Box(toRemesh);
+
+		{
+			tri::UpdateBounding<MeshType>::Box(toProject);
+			tri::UpdateNormal<MeshType>::PerFaceNormalized(toProject);
+			params.m = &toRemesh;
+			params.mProject = &toProject;
+			params.grid.Set(toProject.face.begin(), toProject.face.end());
+		}
+
+		if (params.cleanFlag)
+			cleanMesh(toRemesh, params);
+
+		tri::UpdateTopology<MeshType>::FaceFace(toRemesh);
+		tri::UpdateFlags<MeshType>::VertexBorderFromFaceAdj(toRemesh);
+		tri::UpdateTopology<MeshType>::VertexFace(toRemesh);
+
+		//		computeQuality(toRemesh);
+		//		tri::UpdateQuality<MeshType>::VertexSaturate(toRemesh);
+
+		tagCreaseEdges(toRemesh, params);
+
+		for(int i=0; i < params.iter; ++i)
+		{
+			//			params.stat.Reset();
+			if(cb) cb(100*i/params.iter, "Remeshing");
+
+			if(params.splitFlag)
+				SplitLongEdges(toRemesh, params);
+#ifdef DEBUG_CREASE
+			debug_crease(toRemesh, std::string("after_ref"), i);
+#endif
+
+			if(params.collapseFlag)
+			{
+				CollapseShortEdges(toRemesh, params);
+				CollapseCrosses(toRemesh, params);
+			}
+
+			if(params.swapFlag)
+				ImproveValence(toRemesh, params);
+
+			if(params.smoothFlag)
+				ImproveByLaplacian(toRemesh, params);
+
+			if(params.projectFlag)
+				ProjectToSurface(toRemesh, params);
+		}
+	}
+
+private:
+	/*
+		TODO: Add better crease support: detect all creases at starting time, saving it on facedgesel flags
+			  All operations must then preserve the faceedgesel flag accordingly:
+				Refinement -> Check that refiner propagates faceedgesel [should be doing it]
+				Collapse   -> Implement 1D edge collapse and better check on corners and creases
+				Swap       -> Totally avoid swapping crease edges [ok]
+				Smooth     -> Apply 1D smoothing to crease vertices + check on
+								(http://www.cs.ubc.ca/labs/imager/tr/2009/eltopo/sisc2009.pdf)
+	*/
+	IsotropicRemeshing() {}
+	// this returns the value of cos(a) where a is the angle between n0 and n1. (scalar prod is cos(a))
+	static inline ScalarType fastAngle(Point3<ScalarType> n0, Point3<ScalarType> n1)
+	{
+		return math::Clamp(n0*n1,(ScalarType)-1.0,(ScalarType)1.0);
+	}
+	// compare the value of the scalar prod with the cos of the crease threshold
+	static inline bool testCreaseEdge(PosType &p, ScalarType creaseCosineThr)
+	{
+		ScalarType angle = fastAngle(NormalizedTriangleNormal(*(p.F())), NormalizedTriangleNormal(*(p.FFlip())));
+		return angle <= creaseCosineThr && angle >= -0.98;
+		//        return (angle <= creaseCosineThr && angle >= -creaseCosineThr);
+	}
+	// this stores in minQ the value of the 10th percentile of the VertQuality distribution and in
+	// maxQ the value of the 90th percentile.
+	static inline void computeVQualityDistrMinMax(MeshType &m, ScalarType &minQ, ScalarType &maxQ)
+	{
+		Distribution<ScalarType> distr;
+		tri::Stat<MeshType>::ComputePerVertexQualityDistribution(m,distr);
+
+		maxQ = distr.Percentile(0.9f);
+		minQ = distr.Percentile(0.1f);
+	}
+
+	//Computes PerVertexQuality as a function of the 'deviation' of the normals taken from
+	//the faces incident to each vertex
+	static void computeQuality(MeshType &m)
+	{
+		tri::RequirePerVertexQuality(m);
+		tri::UpdateFlags<MeshType>::VertexClearV(m);
+
+		for(auto vi=m.vert.begin(); vi!=m.vert.end(); ++vi)
+			if(!(*vi).IsD())
+			{
+				vector<FaceType*> ff;
+				face::VFExtendedStarVF(&*vi, 0, ff);
+
+				ScalarType tot = 0.f;
+				auto it = ff.begin();
+				Point3<ScalarType> fNormal = NormalizedTriangleNormal(**it);
+				++it;
+				while(it != ff.end())
+				{
+					tot+= 1-math::Abs(fastAngle(fNormal, NormalizedTriangleNormal(**it)));
+					++it;
+				}
+				vi->Q() = tot / (ScalarType)(std::max(1, ((int)ff.size()-1)));
+				vi->SetV();
+			}
+	}
+
+	/*
+	 Computes the ideal valence for the vertex in pos p:
+	 4 for border vertices
+	 6 for internal vertices
+	*/
+	static inline int idealValence(PosType &p)
+	{
+		if(p.IsBorder()) return 4;
+		return 6;
+	}
+	static inline int idealValence(VertexType &v)
+	{
+		if(v.IsB()) return 4;
+		return 6;
+	}
+	static inline int idealValenceSlow(PosType &p)
+	{
+		std::vector<PosType> posVec;
+		VFOrderedStarFF(p,posVec);
+		float angleSumRad =0;
+		for(PosType &ip : posVec)
+		{
+			angleSumRad += ip.AngleRad();
+		}
+
+		return (int)(std::ceil(angleSumRad / (M_PI/3.0f)));
+	}
+
+	static bool testHausdorff (MeshType & m, StaticGrid & grid, const std::vector<CoordType> & verts, const ScalarType maxD)
+	{
+		for (CoordType v : verts)
+		{
+			CoordType closest;
+			ScalarType dist = 0;
+			FaceType* fp = GetClosestFaceBase(m, grid, v, maxD, dist, closest);
+
+			if (fp == NULL)
+			{
+				return false;
+			}
+		}
+		return true;
+	}
+
+	static int tagCreaseEdges(MeshType &m, Params & params)
+	{
+		int count = 0;
+		std::vector<char> creaseVerts(m.VN(), 0);
+
+		vcg::tri::UpdateFlags<MeshType>::VertexClearV(m);
+		std::queue<PosType> creaseQueue;
+		ForEachFacePos(m, [&](PosType &p){
+
+			if (p.IsBorder())
+				p.F()->SetFaceEdgeS(p.E());
+
+			//			if((p.FFlip() > p.F()))
+			{
+				FaceType *ff    = p.F();
+				FaceType *ffAdj = p.FFlip();
+
+				double quality    = vcg::QualityRadii(ff->cP(0), ff->cP(1), ff->cP(2));
+				double qualityAdj = vcg::QualityRadii(ffAdj->cP(0), ffAdj->cP(1), ffAdj->cP(2));
+
+				bool qualityCheck = quality > 0.00000001 && qualityAdj > 0.00000001;
+//				bool areaCheck    = vcg::DoubleArea(*ff) > 0.000001 && vcg::DoubleArea(*ffAdj) > 0.000001;
+
+				if (!params.userSelectedCreases && (testCreaseEdge(p, params.creaseAngleCosThr) /*&& areaCheck*//* && qualityCheck*/) || p.IsBorder())
+				{
+					PosType pp = p;
+					do {
+						pp.F()->SetFaceEdgeS(pp.E());
+						pp.NextF();
+					} while (pp != p);
+
+					creaseQueue.push(p);
+				}
+			}
+		});
+
+		//		//now all creases are checked...
+		//		//prune false positive (too small) (count + scale?)
+
+		//		while (!creaseQueue.empty())
+		//		{
+		//			PosType & p = creaseQueue.front();
+		//			creaseQueue.pop();
+
+		//			std::stack<PosType> chainQueue;
+		//			std::vector<size_t> chainVerts;
+
+		//			if (!p.V()->IsV())
+		//			{
+		//				chainQueue.push(p);
+		//			}
+
+		//			p.FlipV();
+		//			p.NextEdgeS();
+
+		//			if (!p.V()->IsV())
+		//			{
+		//				chainQueue.push(p);
+		//			}
+
+		//			while (!chainQueue.empty())
+		//			{
+		//				PosType p = chainQueue.top();
+		//				chainQueue.pop();
+
+		//				p.V()->SetV();
+		//				chainVerts.push_back(vcg::tri::Index(m, p.V()));
+
+		//				PosType pp = p;
+
+		//				//circle around vert in search for new crease edges
+		//				do {
+		//					pp.NextF(); //jump adj face
+		//					pp.FlipE(); // this edge is already ok => jump to next
+		//					if (pp.IsEdgeS())
+		//					{
+		//						PosType nextPos = pp;
+		//						nextPos.FlipV(); // go to next vert in the chain
+		//						if (!nextPos.V()->IsV()) // if already visited...ignore
+		//						{
+		//							chainQueue.push(nextPos);
+		//						}
+		//					}
+		//				}
+		//				while (pp != p);
+
+		//			}
+
+		//			if (chainVerts.size() > 5)
+		//			{
+		//				for (auto vp : chainVerts)
+		//				{
+		//					creaseVerts[vp] = 1;
+		//				}
+		//			}
+		//		}
+		//		//store crease on V()
+
+		//		//this aspect ratio check doesn't work on cadish meshes (long thin triangles spanning whole mesh)
+		//		ForEachFace(m, [&] (FaceType & f) {
+		//			if (vcg::QualityRadii(f.cP(0), f.cP(1), f.cP(2)) < params.aspectRatioThr)
+		//			{
+		//				if (creaseVerts[vcg::tri::Index(m, f.V(0))] == 0)
+		//					f.V(0)->SetS();
+		//				if (creaseVerts[vcg::tri::Index(m, f.V(1))] == 0)
+		//					f.V(1)->SetS();
+		//				if (creaseVerts[vcg::tri::Index(m, f.V(2))] == 0)
+		//					f.V(2)->SetS();
+		//			}
+		//		});
+
+		//		ForEachFace(m, [&] (FaceType & f) {
+		//			for (int i = 0; i < 3; ++i)
+		//			{
+		//				if (f.FFp(i) > &f)
+		//				{
+		//					ScalarType angle = fastAngle(NormalizedTriangleNormal(f), NormalizedTriangleNormal(*(f.FFp(i))));
+		//					if (angle <= params.foldAngleCosThr)
+		//					{
+		//						//						if (creaseVerts[vcg::tri::Index(m, f.V0(i))] == 0)
+		//						f.V0(i)->SetS();
+		//						//						if (creaseVerts[vcg::tri::Index(m, f.V1(i))] == 0)
+		//						f.V1(i)->SetS();
+		//						//						if (creaseVerts[vcg::tri::Index(m, f.V2(i))] == 0)
+		//						f.V2(i)->SetS();
+		//						//						if (creaseVerts[vcg::tri::Index(m, f.FFp(i)->V2(f.FFi(i)))] == 0)
+		//						f.FFp(i)->V2(f.FFi(i))->SetS();
+		//					}
+		//				}
+		//			}
+		//		});
+
+		return count;
+	}
+
+
+	/*
+		Edge Swap Step:
+		This method optimizes the valence of each vertex.
+		oldDist is the sum of the absolute distance of each vertex from its ideal valence
+		newDist is the sum of the absolute distance of each vertex from its ideal valence after
+		the edge swap.
+		If the swap decreases the total absolute distance, then it's applied, preserving the triangle
+		quality.                        +1
+			   v1                     v1
+			  /  \                   /|\
+			 /    \                 / | \
+			/      \               /  |  \
+		   /     _*p\           -1/   |   \ -1
+		  v2--------v0 ========> v2   |   v0
+		   \        /             \   |   /
+			\      /               \  |  /
+			 \    /                 \ | /
+			  \  /                   \|/ +1
+			   v3                     v3
+			Before Swap             After Swap
+	*/
+	static bool testSwap(PosType p, ScalarType creaseAngleCosThr)
+	{
+		//if border or feature, do not swap
+		if (/*p.IsBorder() || */p.IsEdgeS()) return false;
+
+		int oldDist = 0, newDist = 0, idealV, actualV;
+
+		PosType tp=p;
+
+		VertexType *v0=tp.V();
+
+		std::vector<VertexType*> incident;
+
+		vcg::face::VVStarVF<FaceType>(tp.V(), incident);
+		idealV  = idealValence(tp); actualV = incident.size();
+		oldDist += abs(idealV - actualV); newDist += abs(idealV - (actualV - 1));
+
+		tp.NextF();tp.FlipE();tp.FlipV();
+		VertexType *v1=tp.V();
+		vcg::face::VVStarVF<FaceType>(tp.V(), incident);
+		idealV  = idealValence(tp); actualV = incident.size();
+		oldDist += abs(idealV - actualV); newDist += abs(idealV - (actualV + 1));
+
+		tp.FlipE();tp.FlipV();tp.FlipE();
+		VertexType *v2=tp.V();
+		vcg::face::VVStarVF<FaceType>(tp.V(), incident);
+		idealV  = idealValence(tp); actualV = incident.size();
+		oldDist += abs(idealV - actualV); newDist += abs(idealV - (actualV - 1));
+
+		tp.NextF();tp.FlipE();tp.FlipV();
+		VertexType *v3=tp.V();
+		vcg::face::VVStarVF<FaceType>(tp.V(), incident);
+		idealV  = idealValence(tp); actualV = incident.size();
+		oldDist += abs(idealV - actualV); newDist += abs(idealV - (actualV + 1));
+
+		ScalarType qOld = std::min(Quality(v0->P(),v2->P(),v3->P()),Quality(v0->P(),v1->P(),v2->P()));
+		ScalarType qNew = std::min(Quality(v0->P(),v1->P(),v3->P()),Quality(v2->P(),v3->P(),v1->P()));
+
+		return (newDist < oldDist && qNew >= qOld * 0.50f) ||
+		        (newDist == oldDist && qNew > qOld * 1.f) || qNew > 1.5f * qOld;
+	}
+
+	static bool checkManifoldness(FaceType & f, int z)
+	{
+		PosType pos(&f, (z+2)%3, f.V2(z));
+		PosType start = pos;
+
+		do {
+			pos.FlipE();
+			if (!face::IsManifold(*pos.F(), pos.E()))
+				break;
+			pos.FlipF();
+		} while (pos!=start);
+
+		return pos == start;
+	}
+
+	// Edge swap step: edges are flipped in order to optimize valence and triangle quality across the mesh
+	static void ImproveValence(MeshType &m, Params &params)
+	{
+		static ScalarType foldCheckRad = math::ToRad(5.);
+		tri::UpdateTopology<MeshType>::FaceFace(m);
+		tri::UpdateTopology<MeshType>::VertexFace(m);
+		ForEachFace(m, [&] (FaceType & f) {
+//			if (face::IsManifold(f, 0) && face::IsManifold(f, 1) && face::IsManifold(f, 2))
+				for (int i = 0; i < 3; ++i)
+				{
+					if (&f > f.cFFp(i))
+					{
+						PosType pi(&f, i);
+						CoordType swapEdgeMidPoint = (f.cP2(i) + f.cFFp(i)->cP2(f.cFFi(i))) / 2.;
+						std::vector<CoordType> toCheck(1, swapEdgeMidPoint);
+
+
+						if(((!params.selectedOnly) || (f.IsS() && f.cFFp(i)->IsS())) &&
+						   !face::IsBorder(f, i) &&
+						   face::IsManifold(f, i) && /*checkManifoldness(f, i) &&*/
+						   face::checkFlipEdgeNotManifold(f, i) &&
+						   testSwap(pi, params.creaseAngleCosThr) &&
+						   (!params.surfDistCheck || testHausdorff(*params.mProject, params.grid, toCheck, params.maxSurfDist)) &&
+						   face::CheckFlipEdgeNormal(f, i, vcg::math::ToRad(5.)))
+						{
+							//When doing the swap we need to preserve and update the crease info accordingly
+							FaceType* g = f.cFFp(i);
+							int w = f.FFi(i);
+
+							bool creaseF = g->IsFaceEdgeS((w + 1) % 3);
+							bool creaseG = f.IsFaceEdgeS((i + 1) % 3);
+
+							face::FlipEdgeNotManifold(f, i);
+
+							f.ClearFaceEdgeS((i + 1) % 3);
+							g->ClearFaceEdgeS((w + 1) % 3);
+
+							if (creaseF)
+								f.SetFaceEdgeS(i);
+							if (creaseG)
+								g->SetFaceEdgeS(w);
+
+							++params.stat.flipNum;
+							break;
+						}
+					}
+				}
+		});
+	}
+
+	// The predicate that defines which edges should be split
+	class EdgeSplitAdaptPred
+	{
+	public:
+		int count = 0;
+		ScalarType length, lengthThr, minQ, maxQ;
+		bool operator()(PosType &ep)
+		{
+			ScalarType mult = math::ClampedLerp((ScalarType)0.5,(ScalarType)1.5, (((math::Abs(ep.V()->Q())+math::Abs(ep.VFlip()->Q()))/(ScalarType)2.0)/(maxQ-minQ)));
+			ScalarType dist = Distance(ep.V()->P(), ep.VFlip()->P());
+			if(dist > std::max(mult*length,lengthThr*2))
+			{
+				++count;
+				return true;
+			}
+			else
+				return false;
+		}
+	};
+
+	class EdgeSplitLenPred
+	{
+	public:
+		int count = 0;
+		ScalarType squaredlengthThr;
+		bool operator()(PosType &ep)
+		{
+			if(SquaredDistance(ep.V()->P(), ep.VFlip()->P()) > squaredlengthThr)
+			{
+				++count;
+				return true;
+			}
+			else
+				return false;
+		}
+	};
+
+	//Split pass: This pass uses the tri::RefineE from the vcglib to implement
+	//the refinement step, using EdgeSplitPred as a predicate to decide whether to split or not
+	static void SplitLongEdges(MeshType &m, Params &params)
+	{
+		tri::UpdateTopology<MeshType>::FaceFace(m);
+		tri::MidPoint<MeshType> midFunctor(&m);
+
+		ScalarType minQ,maxQ;
+		if(params.adapt){
+			computeVQualityDistrMinMax(m, minQ, maxQ);
+			EdgeSplitAdaptPred ep;
+			ep.minQ      = minQ;
+			ep.maxQ      = maxQ;
+			ep.length    = params.maxLength;
+			ep.lengthThr = params.lengthThr;
+			tri::RefineE(m,midFunctor,ep);
+			params.stat.splitNum+=ep.count;
+		}
+		else {
+			EdgeSplitLenPred ep;
+			ep.squaredlengthThr = params.maxLength*params.maxLength;
+			tri::RefineMidpoint(m, ep, params.selectedOnly);
+			params.stat.splitNum+=ep.count;
+		}
+	}
+
+	static int VtoE(const int v0, const int v1)
+	{
+		static /*constexpr*/ int Vmat[3][3] = { -1,  0,  2,
+		                                        0, -1,  1,
+		                                        2,  1, -1};
+		return Vmat[v0][v1];
+	}
+
+
+	static bool checkCanMoveOnCollapse(PosType p, std::vector<FaceType*> & faces, std::vector<int> & vIdxes, Params &params)
+	{
+		bool allIncidentFaceSelected = true;
+
+		PosType pi = p;
+
+		CoordType dEdgeVector = (p.V()->cP() - p.VFlip()->cP()).Normalize();
+
+		int incidentFeatures = 0;
+
+		for (size_t i = 0; i < faces.size(); ++i)
+//			if (faces[i] != p.F() && faces[i] != p.FFlip())
+		    {
+			    if (faces[i]->IsFaceEdgeS(VtoE(vIdxes[i], (vIdxes[i]+1)%3)))
+				{
+					incidentFeatures++;
+					CoordType movingEdgeVector0 = (faces[i]->cP1(vIdxes[i]) - faces[i]->cP(vIdxes[i])).Normalize();
+					if (std::fabs(movingEdgeVector0 * dEdgeVector) < .9f || !p.IsEdgeS())
+						return false;
+				}
+				if (faces[i]->IsFaceEdgeS(VtoE(vIdxes[i], (vIdxes[i]+2)%3)))
+				{
+					incidentFeatures++;
+					CoordType movingEdgeVector1 = (faces[i]->cP2(vIdxes[i]) - faces[i]->cP(vIdxes[i])).Normalize();
+					if (std::fabs(movingEdgeVector1 * dEdgeVector) < .9f || !p.IsEdgeS())
+						return false;
+				}
+				allIncidentFaceSelected &= faces[i]->IsS();
+		    }
+
+		if (incidentFeatures > 4)
+			return false;
+
+		return params.selectedOnly ? allIncidentFaceSelected : true;
+	}
+
+	static bool checkFacesAfterCollapse (std::vector<FaceType*> & faces, PosType p, const Point3<ScalarType> &mp, Params &params, bool relaxed)
+	{
+		for (FaceType* f : faces)
+		{
+			if(!(*f).IsD() && f != p.F()) //i'm not a deleted face
+			{
+				PosType pi(f, p.V()); //same vertex
+
+				VertexType *v0 = pi.V();
+				VertexType *v1 = pi.F()->V1(pi.VInd());
+				VertexType *v2 = pi.F()->V2(pi.VInd());
+
+				if( v1 == p.VFlip() || v2 == p.VFlip()) //i'm the other deleted face
+					continue;
+
+				//check on new face quality
+				{
+					ScalarType newQ = Quality(mp,      v1->P(), v2->P());
+					ScalarType oldQ = Quality(v0->P(), v1->P(), v2->P());
+
+					if( newQ <= 0.5*oldQ  )
+						return false;
+				}
+
+				// we prevent collapse that makes edges too long (except for cross)
+				if(!relaxed)
+					if((Distance(mp, v1->P()) > params.maxLength || Distance(mp, v2->P()) > params.maxLength))
+						return false;
+
+				Point3<ScalarType> oldN = NormalizedTriangleNormal(*(pi.F()));
+				Point3<ScalarType> newN = Normal(mp, v1->P(), v2->P()).Normalize();
+
+				float div = fastAngle(oldN, newN);
+				if(div < .0f ) return false;
+
+				//				//				check on new face distance from original mesh
+				if (params.surfDistCheck)
+				{
+					std::vector<CoordType> points(4);
+					points[0] = (v1->cP() + v2->cP() + mp) / 3.;
+					points[1] = (v1->cP() + mp) / 2.;
+					points[2] = (v2->cP() + mp) / 2.;
+					points[3] = mp;
+					if (!testHausdorff(*(params.mProject), params.grid, points, params.maxSurfDist))
+						return false;
+				}
+			}
+		}
+		return true;
+	}
+
+
+	//TODO: Refactor code and implement the correct set up of crease info when collapsing towards a crease edge
+	static bool checkCollapseFacesAroundVert1(PosType &p, Point3<ScalarType> &mp, Params &params, bool relaxed)
+	{
+		PosType p0 = p, p1 = p;
+
+		p1.FlipV();
+
+		vector<int> vi0, vi1;
+		vector<FaceType*> ff0, ff1;
+
+		face::VFStarVF<FaceType>(p0.V(), ff0, vi0);
+		face::VFStarVF<FaceType>(p1.V(), ff1, vi1);
+
+		//check crease-moveability
+		bool moveable0 = checkCanMoveOnCollapse(p0, ff0, vi0, params) && !p0.V()->IsS();
+		bool moveable1 = checkCanMoveOnCollapse(p1, ff1, vi1, params) && !p1.V()->IsS();
+
+		//if both moveable => go to midpoint
+		// else collapse on movable one
+		if (!moveable0 && !moveable1)
+			return false;
+
+		//casting int(true) is always 1 and int(false) = =0
+		assert(int(true) == 1);
+		assert(int(false) == 0);
+		mp = (p0.V()->cP() * int(moveable1) + p1.V()->cP() * int(moveable0)) / (int(moveable0) + int(moveable1));
+
+		if (!moveable0)
+			p = p0;
+		else
+			p = p1;
+
+		if (checkFacesAfterCollapse(ff0, p0, mp, params, relaxed))
+			return checkFacesAfterCollapse(ff1, p1, mp, params, relaxed);
+
+		return false;
+	}
+
+	static bool testCollapse1(PosType &p, Point3<ScalarType> &mp, ScalarType minQ, ScalarType maxQ, Params &params, bool relaxed = false)
+	{
+		ScalarType mult = (params.adapt) ? math::ClampedLerp((ScalarType)0.5,(ScalarType)1.5, (((math::Abs(p.V()->Q())+math::Abs(p.VFlip()->Q()))/(ScalarType)2.0)/(maxQ-minQ))) : (ScalarType)1;
+		ScalarType dist = Distance(p.V()->P(), p.VFlip()->P());
+		ScalarType thr = mult*params.minLength;
+		ScalarType area = DoubleArea(*(p.F()))/2.f;
+		if(relaxed || (dist < thr || area < params.minLength*params.minLength/100.f))//if to collapse
+		{
+			return checkCollapseFacesAroundVert1(p, mp, params, relaxed);
+		}
+		return false;
+	}
+
+	//This function is especially useful to enforce feature preservation during collapses
+	//of boundary edges in planar or near planar section of the mesh
+	static bool chooseBoundaryCollapse(PosType &p, VertexPair &pair)
+	{
+		Point3<ScalarType> collapseNV, collapsedNV0, collapsedNV1;
+		collapseNV = (p.V()->P() - p.VFlip()->P()).normalized();
+
+		vector<VertexType*> vv;
+		face::VVStarVF<FaceType>(p.V(), vv);
+
+		for(VertexType *v: vv)
+			if(!(*v).IsD() && (*v).IsB() && v != p.VFlip()) //ignore non border
+				collapsedNV0 = ((*v).P() - p.VFlip()->P()).normalized(); //edge vector after collapse
+
+		face::VVStarVF<FaceType>(p.VFlip(), vv);
+
+		for(VertexType *v: vv)
+			if(!(*v).IsD() && (*v).IsB() && v != p.V()) //ignore non border
+				collapsedNV1 = ((*v).P() - p.V()->P()).normalized(); //edge vector after collapse
+
+		float cosine = cos(math::ToRad(1.5f));
+		float angle0 = fabs(fastAngle(collapseNV, collapsedNV0));
+		float angle1 = fabs(fastAngle(collapseNV, collapsedNV1));
+		//if on both sides we deviate too much after collapse => don't collapse
+		if(angle0 <= cosine && angle1 <= cosine)
+			return false;
+		//choose the best collapse (the more parallel one to the previous edge..)
+		pair = (angle0 >= angle1) ? VertexPair(p.V(), p.VFlip()) : VertexPair(p.VFlip(), p.V());
+		return true;
+	}
+
+	//The actual collapse step: foreach edge it is collapse iff TestCollapse returns true AND
+	// the linkConditions are preserved
+	static void CollapseShortEdges(MeshType &m, Params &params)
+	{
+		ScalarType minQ, maxQ;
+		int candidates = 0;
+
+		if(params.adapt)
+			computeVQualityDistrMinMax(m, minQ, maxQ);
+
+		tri::UpdateTopology<MeshType>::VertexFace(m);
+		tri::UpdateFlags<MeshType>::FaceBorderFromVF(m);
+		tri::UpdateFlags<MeshType>::VertexBorderFromFaceBorder(m);
+
+		SelectionStack<MeshType> ss(m);
+		ss.push();
+
+		{
+			tri::UpdateTopology<MeshType>::FaceFace(m);
+			Clean<MeshType>::CountNonManifoldVertexFF(m,true);
+
+			//FROM NOW ON VSelection is NotManifold
+
+			for(auto fi=m.face.begin(); fi!=m.face.end(); ++fi)
+				if(!(*fi).IsD() && (params.selectedOnly == false || fi->IsS()))
+				{
+					for(auto i=0; i<3; ++i)
+					{
+						PosType pi(&*fi, i);
+						++candidates;
+						VertexPair  bp = VertexPair(pi.V(), pi.VFlip());
+						Point3<ScalarType> mp = (pi.V()->P()+pi.VFlip()->P())/2.f;
+
+						if(testCollapse1(pi, mp, minQ, maxQ, params) && Collapser::LinkConditions(bp))
+						{
+							//collapsing on pi.V()
+							bp = VertexPair(pi.VFlip(), pi.V());
+
+							Collapser::Do(m, bp, mp, true);
+							++params.stat.collapseNum;
+							break;
+						}
+
+					}
+				}
+		}
+
+		ss.pop();
+	}
+
+
+	//Here I just need to check the faces of the cross, since the other faces are not
+	//affected by the collapse of the internal faces of the cross.
+	static bool testCrossCollapse(PosType &p, std::vector<FaceType*> ff, std::vector<int> vi, Point3<ScalarType> &mp, Params &params)
+	{
+		if(!checkFacesAfterCollapse(ff, p, mp, params, true))
+			return false;
+		return true;
+	}
+
+	/*
+	 *Choose the best way to collapse a cross based on the (external) cross vertices valence
+	 *and resulting face quality
+	 *                                      +0                   -1
+	 *             v1                    v1                    v1
+	 *            /| \                   /|\                  / \
+	 *           / |  \                 / | \                /   \
+	 *          /  |   \               /  |  \              /     \
+	 *         / *p|    \           -1/   |   \ -1       +0/       \+0
+	 *       v0-------- v2 ========> v0   |   v2    OR    v0-------v2
+	 *        \    |    /             \   |   /            \       /
+	 *         \   |   /               \  |  /              \     /
+	 *          \  |  /                 \ | /                \   /
+	 *           \ | /                   \|/ +0               \ / -1
+	 *             v3                     v3                   v3
+	 */
+	static bool chooseBestCrossCollapse(PosType &p, VertexPair& bp, vector<FaceType*> &ff)
+	{
+		vector<VertexType*> vv0, vv1, vv2, vv3;
+		VertexType *v0, *v1, *v2, *v3;
+
+		v0 = p.F()->V1(p.VInd());
+		v1 = p.F()->V2(p.VInd());
+
+
+		bool crease[4] = {false, false, false, false};
+
+		crease[0] = p.F()->IsFaceEdgeS(VtoE(p.VInd(), (p.VInd()+1)%3));
+		crease[1] = p.F()->IsFaceEdgeS(VtoE(p.VInd(), (p.VInd()+2)%3));
+
+		for(FaceType *f: ff)
+			if(!(*f).IsD() && f != p.F())
+			{
+				PosType pi(f, p.V());
+				VertexType *fv1 = pi.F()->V1(pi.VInd());
+				VertexType *fv2 = pi.F()->V2(pi.VInd());
+
+				if(fv1 == v0 || fv2 == v0)
+				{
+					if (fv1 == 0)
+					{
+						v3 = fv2;
+						crease[3] = f->IsFaceEdgeS(VtoE(pi.VInd(), (pi.VInd()+2)%3));
+					}
+					else
+					{
+						v3 = fv1;
+						crease[3] = f->IsFaceEdgeS(VtoE(pi.VInd(), (pi.VInd()+1)%3));
+					}
+					//					v3 = (fv1 == v0) ? fv2 : fv1;
+				}
+
+				if(fv1 == v1 || fv2 == v1)
+				{
+					if (fv1 == v1)
+					{
+						v2 = fv2;
+						crease[2] = f->IsFaceEdgeS(VtoE(pi.VInd(), (pi.VInd()+2)%3));
+					}
+					else
+					{
+						v2 = fv1;
+						crease[2] = f->IsFaceEdgeS(VtoE(pi.VInd(), (pi.VInd()+1)%3));
+					}
+					//					v2 = (fv1 == v1) ? fv2 : fv1;
+				}
+			}
+
+		face::VVStarVF<FaceType>(v0, vv0);
+		face::VVStarVF<FaceType>(v1, vv1);
+		face::VVStarVF<FaceType>(v2, vv2);
+		face::VVStarVF<FaceType>(v3, vv3);
+
+		int nv0 = vv0.size(), nv1 = vv1.size();
+		int nv2 = vv2.size(), nv3 = vv3.size();
+
+		int delta1 = (idealValence(*v0) - nv0) + (idealValence(*v2) - nv2);
+		int delta2 = (idealValence(*v1) - nv1) + (idealValence(*v3) - nv3);
+
+		ScalarType Q1 = std::min(Quality(v0->P(), v1->P(), v3->P()), Quality(v1->P(), v2->P(), v3->P()));
+		ScalarType Q2 = std::min(Quality(v0->P(), v1->P(), v2->P()), Quality(v2->P(), v3->P(), v0->P()));
+
+		if (crease[0] || crease[1] || crease[2] || crease[3])
+			return false;
+		//		if (crease[0] && crease[1] && crease[2] && crease[3])
+		//		{
+		//			return false;
+		//		}
+
+		//		if (crease[0] || crease[2])
+		//		{
+		//			bp = VertexPair(p.V(), v0);
+		//			return true;
+		//		}
+
+		//		if (crease[1] || crease[3])
+		//		{
+		//			bp = VertexPair(p.V(), v1);
+		//			return true;
+		//		}
+
+		//no crease
+		if(delta1 < delta2 && Q1 >= 0.6f*Q2)
+		{
+			bp = VertexPair(p.V(), v1);
+			return true;
+		}
+		else
+		{
+			bp = VertexPair(p.V(), v0);
+			return true;
+		}
+	}
+	//Cross Collapse pass: This pass cleans the mesh from cross vertices, keeping in mind the link conditions
+	//and feature preservations tests.
+	static void CollapseCrosses(MeshType &m , Params &params)
+	{
+		tri::UpdateTopology<MeshType>::VertexFace(m);
+		tri::UpdateFlags<MeshType>::VertexBorderFromNone(m);
+		int count = 0;
+
+		SelectionStack<MeshType> ss(m);
+		ss.push();
+
+
+		{
+			tri::UpdateTopology<MeshType>::FaceFace(m);
+			Clean<MeshType>::CountNonManifoldVertexFF(m,true);
+
+			//From now on Selection on vertices is not manifoldness
+
+			for(auto fi=m.face.begin(); fi!=m.face.end(); ++fi)
+				if(!(*fi).IsD() && (!params.selectedOnly || fi->IsS()))
+				{
+					for(auto i=0; i<3; ++i)
+					{
+						PosType pi(&*fi, i);
+						if(!pi.V()->IsB())
+						{
+							vector<FaceType*> ff;
+							vector<int> vi;
+							face::VFStarVF<FaceType>(pi.V(), ff, vi);
+
+							//if cross need to check what creases you have and decide where to collapse accordingly
+							//if tricuspidis need whenever you have at least one crease => can't collapse anywhere
+							if(ff.size() == 4 || ff.size() == 3)
+							{
+								//							VertexPair bp;
+								VertexPair  bp = VertexPair(pi.V(), pi.VFlip());
+								Point3<ScalarType> mp = (pi.V()->P()+pi.VFlip()->P())/2.f;
+
+								if(testCollapse1(pi, mp, 0, 0, params, true) && Collapser::LinkConditions(bp))
+								{
+									bp = VertexPair(pi.VFlip(), pi.V());
+									Collapser::Do(m, bp, mp, true);
+									++params.stat.collapseNum;
+									++count;
+									break;
+								}
+							}
+						}
+					}
+				}
+		}
+
+		ss.pop();
+		Allocator<MeshType>::CompactEveryVector(m);
+	}
+
+	// This function sets the selection bit on vertices that lie on creases
+	static int selectVertexFromCrease(MeshType &m, ScalarType creaseThr)
+	{
+		int count = 0;
+		Clean<MeshType>::CountNonManifoldVertexFF(m, true, false);
+
+		ForEachFacePos(m, [&](PosType &p){
+			if(p.IsBorder() || p.IsEdgeS()/*testCreaseEdge(p, creaseThr)*/)
+			{
+				p.V()->SetS();
+				p.VFlip()->SetS();
+				++count;
+			}
+		});
+		return count;
+	}
+
+	static int selectVertexFromFold(MeshType &m, Params & params)
+	{
+		std::vector<char> creaseVerts(m.VN(), 0);
+		ForEachFacePos(m, [&] (PosType & p) {
+			if (p.IsEdgeS())
+			{
+				creaseVerts[vcg::tri::Index(m, p.V())] = 1;
+				creaseVerts[vcg::tri::Index(m, p.VFlip())] = 1;
+			}
+		});
+
+
+		//this aspect ratio check doesn't work on cadish meshes (long thin triangles spanning whole mesh)
+		ForEachFace(m, [&] (FaceType & f) {
+			if (vcg::Quality(f.cP(0), f.cP(1), f.cP(2)) < params.aspectRatioThr || vcg::DoubleArea(f) < 0.00001)
+			{
+				if (creaseVerts[vcg::tri::Index(m, f.V(0))] == 0)
+					f.V(0)->SetS();
+				if (creaseVerts[vcg::tri::Index(m, f.V(1))] == 0)
+					f.V(1)->SetS();
+				if (creaseVerts[vcg::tri::Index(m, f.V(2))] == 0)
+					f.V(2)->SetS();
+			}
+		});
+
+
+		ForEachFace(m, [&] (FaceType & f) {
+			for (int i = 0; i < 3; ++i)
+			{
+				if (f.FFp(i) > &f)
+				{
+					ScalarType angle = fastAngle(NormalizedTriangleNormal(f), NormalizedTriangleNormal(*(f.FFp(i))));
+					if (angle <= params.foldAngleCosThr)
+					{
+						if (creaseVerts[vcg::tri::Index(m, f.V0(i))] == 0)
+							f.V0(i)->SetS();
+						if (creaseVerts[vcg::tri::Index(m, f.V1(i))] == 0)
+							f.V1(i)->SetS();
+						if (creaseVerts[vcg::tri::Index(m, f.V2(i))] == 0)
+							f.V2(i)->SetS();
+						if (creaseVerts[vcg::tri::Index(m, f.FFp(i)->V2(f.FFi(i)))] == 0)
+							f.FFp(i)->V2(f.FFi(i))->SetS();
+					}
+				}
+			}
+		});
+
+		return 0;
+	}
+
+
+
+
+	static void FoldRelax(MeshType &m, Params params, const int step, const bool strict = true)
+	{
+		typename vcg::tri::Smooth<MeshType>::LaplacianInfo lpz(CoordType(0, 0, 0), 0);
+		SimpleTempData<typename MeshType::VertContainer, typename vcg::tri::Smooth<MeshType>::LaplacianInfo> TD(m.vert, lpz);
+		const ScalarType maxDist = (strict) ? params.maxSurfDist / 1000. : params.maxSurfDist;
+		for (int i = 0; i < step; ++i)
+		{
+			TD.Init(lpz);
+			vcg::tri::Smooth<MeshType>::AccumulateLaplacianInfo(m, TD, false);
+
+			for (auto fi = m.face.begin(); fi != m.face.end(); ++fi)
+			{
+				std::vector<CoordType> newPos(4);
+				bool moving = false;
+
+				for (int j = 0; j < 3; ++j)
+				{
+					newPos[j] = fi->cP(j);
+					if (!fi->V(j)->IsD() && TD[fi->V(j)].cnt > 0)
+					{
+						if (fi->V(j)->IsS())
+						{
+							newPos[j] = (fi->V(j)->P() + TD[fi->V(j)].sum) / (TD[fi->V(j)].cnt + 1);
+							moving = true;
+						}
+					}
+				}
+
+				if (moving)
+				{
+//					const CoordType oldN = vcg::NormalizedTriangleNormal(*fi);
+//					const CoordType newN = vcg::Normal(newPos[0], newPos[1], newPos[2]).Normalize();
+
+					newPos[3] = (newPos[0] + newPos[1] + newPos[2]) / 3.;
+					if (/*(strict || oldN * newN > 0.99) &&*/ (!params.surfDistCheck || testHausdorff(*params.mProject, params.grid, newPos, maxDist)))
+					{
+						for (int j = 0; j < 3; ++j)
+							fi->V(j)->P() = newPos[j];
+					}
+				}
+			}
+		}
+	}
+
+	static void VertexCoordPlanarLaplacian(MeshType &m, Params & params, int step, ScalarType delta = 0.2)
+	{
+		typename vcg::tri::Smooth<MeshType>::LaplacianInfo lpz(CoordType(0, 0, 0), 0);
+		SimpleTempData<typename MeshType::VertContainer, typename vcg::tri::Smooth<MeshType>::LaplacianInfo> TD(m.vert, lpz);
+		for (int i = 0; i < step; ++i)
+		{
+			TD.Init(lpz);
+			vcg::tri::Smooth<MeshType>::AccumulateLaplacianInfo(m, TD, false);
+			// First normalize the AccumulateLaplacianInfo
+			for (auto vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+				if (!(*vi).IsD() && TD[*vi].cnt > 0)
+				{
+					if ((*vi).IsS())
+						TD[*vi].sum = ((*vi).P() + TD[*vi].sum) / (TD[*vi].cnt + 1);
+				}
+
+			for (auto fi = m.face.begin(); fi != m.face.end(); ++fi)
+			{
+				if (!(*fi).IsD())
+				{
+					for (int j = 0; j < 3; ++j)
+					{
+						if (Angle(Normal(TD[(*fi).V0(j)].sum, (*fi).P1(j), (*fi).P2(j)),
+						          Normal((*fi).P0(j), (*fi).P1(j), (*fi).P2(j))) > M_PI/2.)
+							TD[(*fi).V0(j)].sum = (*fi).P0(j);
+					}
+				}
+			}
+			for (auto fi = m.face.begin(); fi != m.face.end(); ++fi)
+			{
+				if (!(*fi).IsD())
+				{
+					for (int j = 0; j < 3; ++j)
+					{
+						if (Angle(Normal(TD[(*fi).V0(j)].sum, TD[(*fi).V1(j)].sum, (*fi).P2(j)),
+						          Normal((*fi).P0(j), (*fi).P1(j), (*fi).P2(j))) > M_PI/2.)
+						{
+							TD[(*fi).V0(j)].sum = (*fi).P0(j);
+							TD[(*fi).V1(j)].sum = (*fi).P1(j);
+						}
+					}
+				}
+			}
+
+			for (auto vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+				if (!(*vi).IsD() && TD[*vi].cnt > 0)
+				{
+					std::vector<CoordType> newPos(1, TD[*vi].sum);
+					if ((*vi).IsS() && testHausdorff(*params.mProject, params.grid, newPos, params.maxSurfDist))
+						(*vi).P() = (*vi).P() * (1-delta) + TD[*vi].sum * (delta);
+				}
+		} // end step
+	}
+
+	//	static int
+	/**
+	  * Simple Laplacian Smoothing step
+	  * Border and crease vertices are kept fixed.
+	  * If there are selected faces and the param.onlySelected is true we compute
+	  * the set of internal vertices to the selection and we combine it in and with
+	  * the vertexes not on border or creases
+	*/
+	static void ImproveByLaplacian(MeshType &m, Params params)
+	{
+		SelectionStack<MeshType> ss(m);
+
+		if(params.selectedOnly) {
+			ss.push();
+			tri::UpdateSelection<MeshType>::VertexFromFaceStrict(m);
+			ss.push();
+		}
+		tri::UpdateTopology<MeshType>::FaceFace(m);
+		tri::UpdateFlags<MeshType>::VertexBorderFromFaceAdj(m);
+		tri::UpdateSelection<MeshType>::VertexFromBorderFlag(m);
+		selectVertexFromCrease(m, params.creaseAngleCosThr);
+		tri::UpdateSelection<MeshType>::VertexInvert(m);
+		if(params.selectedOnly) {
+			ss.popAnd();
+		}
+
+		VertexCoordPlanarLaplacian(m, params, 1);
+
+		tri::UpdateSelection<MeshType>::VertexClear(m);
+
+		selectVertexFromFold(m, params);
+		FoldRelax(m, params, 2);
+
+		tri::UpdateSelection<MeshType>::VertexClear(m);
+
+		if(params.selectedOnly) {
+			ss.pop();
+		}
+	}
+	/*
+		Reprojection step, this method reprojects each vertex on the original surface
+		sampling the nearest Point3 onto it using a uniform grid StaticGrid t
+	*/
+	//TODO: improve crease reprojection:
+	//		crease verts should reproject only on creases.
+	static void ProjectToSurface(MeshType &m, Params & params)
+	{
+		for(auto vi=m.vert.begin();vi!=m.vert.end();++vi)
+			if(!(*vi).IsD())
+			{
+				Point3<ScalarType> newP, normP, barP;
+				ScalarType maxDist = params.maxSurfDist * 1.5f, minDist = 0.f;
+				FaceType* fp = GetClosestFaceBase(*params.mProject, params.grid, vi->cP(), maxDist, minDist, newP, normP, barP);
+
+				if (fp != NULL)
+				{
+					vi->P() = newP;
+				}
+			}
+	}
+};
+} // end namespace tri
+} // end namespace vcg
+#endif
diff --git a/vcg/complex/algorithms/local_optimization.h b/vcg/complex/algorithms/local_optimization.h
index b86edc35..fb91456e 100644
--- a/vcg/complex/algorithms/local_optimization.h
+++ b/vcg/complex/algorithms/local_optimization.h
@@ -38,7 +38,7 @@ enum ModifierType{	TetraEdgeCollapseOp, TriEdgeSwapOp, TriVertexSplitOp,
 				QuadDiagCollapseOp, QuadEdgeCollapseOp};
 /** \addtogroup tetramesh */
 /*@{*/
-/// This abstract class define which functions  a local modification to be used in the LocalOptimization.
+/// This abstract class define which functions a local modification class must have to be used in the LocalOptimization framework.
 template <class MeshType>
 class LocalModification
 {
@@ -46,7 +46,6 @@ class LocalModification
         typedef typename LocalOptimization<MeshType>::HeapType HeapType;
         typedef typename MeshType::ScalarType ScalarType;
 
-
   inline LocalModification(){}
   virtual ~LocalModification(){}
   
@@ -95,19 +94,12 @@ template<class MeshType>
 class LocalOptimization
 {
 public:
-  LocalOptimization(MeshType &mm, BaseParameterClass *_pp): m(mm){ ClearTermination();e=0.0;HeapSimplexRatio=5; pp=_pp;}
+  LocalOptimization(MeshType &mm, BaseParameterClass *_pp): m(mm){ ClearTermination();HeapSimplexRatio=5; pp=_pp;}
 
 	struct  HeapElem;
-	// scalar type
 	typedef typename MeshType::ScalarType ScalarType;
-	// type of the heap
 	typedef typename std::vector<HeapElem> HeapType;	
-	// modification type	
   typedef  LocalModification <MeshType>  LocModType;
-	// modification Pointer type	
-  typedef  LocalModification <MeshType> * LocModPtrType;
-	
-
 
 	/// termination conditions	
 	 enum LOTermination {	
@@ -118,9 +110,9 @@ public:
 			LOTime			= 0x10  // test how much time is passed since the start
 		} ;
 
-	int tf;
+	int tf; // Termination Flag
 	
-  int nPerfmormedOps,
+  int nPerformedOps,
 		nTargetOps,
 		nTargetSimplices,
 		nTargetVertices;
@@ -159,8 +151,6 @@ public:
 	/// the mesh to optimize
 	MeshType & m;
 
-
-
 	///the heap of operations
 	HeapType h;
 
@@ -175,15 +165,14 @@ public:
 	  ~HeapElem(){}
 
     ///pointer to instance of local modifier
-    LocModPtrType locModPtr;
+    LocModType *locModPtr;
     float pri;
-
    
-    inline HeapElem( LocModPtrType _locModPtr)
+    inline HeapElem( LocModType *_locModPtr)
     {
-		  locModPtr = _locModPtr;
+      locModPtr = _locModPtr;
       pri=float(locModPtr->Priority());
-    };
+    }
 
     /// STL heap has the largest element as the first one.
     /// usually we mean priority as an error so we should invert the comparison
@@ -206,35 +195,37 @@ public:
     typename HeapType::iterator i;
     for(i = h.begin(); i != h.end(); i++)
       delete (*i).locModPtr;
-  };
+  }
 	
-	double e;
-
   /// main cycle of optimization
   bool DoOptimization()
   {
+    assert ( ( ( tf & LOnSimplices	)==0) ||  ( nTargetSimplices!= -1));
+    assert ( ( ( tf & LOnVertices	)==0) ||  ( nTargetVertices	!= -1));
+    assert ( ( ( tf & LOnOps		)==0) ||  ( nTargetOps		!= -1));
+    assert ( ( ( tf & LOMetric		)==0) ||  ( targetMetric	!= -1));
+    assert ( ( ( tf & LOTime		)==0) ||  ( timeBudget		!= -1));
+    
     start=clock();
-		nPerfmormedOps =0;
+		nPerformedOps =0;
 		while( !GoalReached() && !h.empty())
 			{
         if(h.size()> m.SimplexNumber()*HeapSimplexRatio )  ClearHeap();
 				std::pop_heap(h.begin(),h.end());
-        LocModPtrType  locMod   = h.back().locModPtr;
+        LocModType  *locMod   = h.back().locModPtr;
 				currMetric=h.back().pri;
         h.pop_back();
         				
         if( locMod->IsUpToDate() )
 				{	
           //printf("popped out: %s\n",locMod->Info(m));
-         	// check if it is feasible
           if (locMod->IsFeasible(this->pp))
 					{
-						nPerfmormedOps++;
+						nPerformedOps++;
             locMod->Execute(m,this->pp);
             locMod->UpdateHeap(h,this->pp);
 						}
 				}
-        //else printf("popped out unfeasible\n");
 				delete locMod;
 			}
 		return !(h.empty());
@@ -243,31 +234,30 @@ public:
 // It removes from the heap all the operations that are no more 'uptodate' 
 // (e.g. collapses that have some recently modified vertices)
 // This function  is called from time to time by the doOptimization (e.g. when the heap is larger than fn*3)
-void ClearHeap()
-{
-	typename HeapType::iterator hi;
-	//int sz=h.size();
-	for(hi=h.begin();hi!=h.end();)
-	{
-    if(!(*hi).locModPtr->IsUpToDate())
-		{
-			delete (*hi).locModPtr;
-			*hi=h.back();
-			if(&*hi==&h.back()) 
-			{
-				hi=h.end();
-				h.pop_back();
-				break;
-			}
-		    h.pop_back();
-			continue;
-		}
-		++hi;
-	}
-	//qDebug("\nReduced heap from %7i to %7i (fn %7i) ",sz,h.size(),m.fn);
-	make_heap(h.begin(),h.end());
-}
-
+  void ClearHeap()
+  {
+//    int sz=h.size(); int t0=clock();
+    for(auto hi=h.begin();hi!=h.end();)
+    {
+      if(!(*hi).locModPtr->IsUpToDate())
+      {
+        delete (*hi).locModPtr;
+        *hi=h.back();
+        if(&*hi==&h.back()) 
+        {
+          hi=h.end();
+          h.pop_back();
+          break;
+        }
+        h.pop_back();
+        continue;
+      }
+      ++hi;
+    }
+//    printf("\nReduced heap from %7i to %7i (fn %7i) in %7.2f \n",sz,h.size(),m.fn,float(clock()-t0)/CLOCKS_PER_SEC);
+    make_heap(h.begin(),h.end());
+  }
+  
 	///initialize for all vertex the temporary mark must call only at the start of decimation
 	///by default it takes the first element in the heap and calls Init (static funcion) of that type
 	///of local modification. 
@@ -293,16 +283,10 @@ void ClearHeap()
 	/// say if the process is to end or not: the process ends when any of the termination conditions is verified
 	/// override this function to implemetn other tests
 	bool GoalReached(){
-		assert ( ( ( tf & LOnSimplices	)==0) ||  ( nTargetSimplices!= -1));
-		assert ( ( ( tf & LOnVertices	)==0) ||  ( nTargetVertices	!= -1));
-		assert ( ( ( tf & LOnOps		)==0) ||  ( nTargetOps		!= -1));
-		assert ( ( ( tf & LOMetric		)==0) ||  ( targetMetric	!= -1));
-		assert ( ( ( tf & LOTime		)==0) ||  ( timeBudget		!= -1));
-
-		if ( IsTerminationFlag(LOnSimplices) &&	( m.SimplexNumber()<= nTargetSimplices)) return true;
-		if ( IsTerminationFlag(LOnVertices)  &&  ( m.VertexNumber() <= nTargetVertices)) return true;
-		if ( IsTerminationFlag(LOnOps)		   && (nPerfmormedOps	== nTargetOps)) return true;
-		if ( IsTerminationFlag(LOMetric)		 &&  ( currMetric		> targetMetric)) return true;
+    if ( IsTerminationFlag(LOnSimplices) &&	( m.SimplexNumber()<= nTargetSimplices)) return true;
+    if ( IsTerminationFlag(LOnVertices)  &&  ( m.VertexNumber() <= nTargetVertices)) return true;
+    if ( IsTerminationFlag(LOnOps)		   && (nPerformedOps	== nTargetOps)) return true;
+    if ( IsTerminationFlag(LOMetric)		 &&  ( currMetric		> targetMetric)) return true;
     if ( IsTerminationFlag(LOTime) )
     {
       clock_t cur = clock();
@@ -314,23 +298,6 @@ void ClearHeap()
 		return false;
 	}
 
-
-
-///erase from the heap the operations that are out of date
-  void ClearHeapOld()
-  {
-		typename HeapType::iterator hi;
-		for(hi=h.begin();hi!=h.end();++hi)
-			if(!(*hi).locModPtr->IsUpToDate())
-			{
-				*hi=h.back();
-				h.pop_back();
-				if(hi==h.end()) break;
-			}
-			//printf("\nReduced heap from %i to %i",sz,h.size());
-			make_heap(h.begin(),h.end());
-  }
-
 };//end class decimation
 
 }//end namespace
diff --git a/vcg/complex/algorithms/local_optimization/tri_edge_collapse_quadric.h b/vcg/complex/algorithms/local_optimization/tri_edge_collapse_quadric.h
index eb6b86b1..8c1f0925 100644
--- a/vcg/complex/algorithms/local_optimization/tri_edge_collapse_quadric.h
+++ b/vcg/complex/algorithms/local_optimization/tri_edge_collapse_quadric.h
@@ -25,9 +25,6 @@
 #define __VCG_TRIMESHCOLLAPSE_QUADRIC__
 
 #include<vcg/math/quadric.h>
-#include<vcg/simplex/face/pos.h>
-#include<vcg/complex/algorithms/update/flag.h>
-#include<vcg/complex/algorithms/update/topology.h>
 #include<vcg/complex/algorithms/update/bounding.h>
 #include<vcg/complex/algorithms/local_optimization/tri_edge_collapse.h>
 #include<vcg/complex/algorithms/local_optimization.h>
@@ -38,8 +35,6 @@ namespace vcg{
 namespace tri{
 
 
-
-
 /**
   This class describe Quadric based collapse operation.
 
@@ -87,48 +82,32 @@ namespace tri{
 class TriEdgeCollapseQuadricParameter : public BaseParameterClass
 {
 public:
-  double    BoundaryWeight;
-  double    CosineThr;
-  bool      FastPreserveBoundary;
-  bool      NormalCheck;
-  double    NormalThrRad;
-  bool      OptimalPlacement;
-  bool      PreserveTopology;
-  bool      PreserveBoundary;
-  double    QuadricEpsilon;
-  bool      QualityCheck;
-  bool      QualityQuadric; // During the initialization manage all the edges as border edges adding a set of additional quadrics that are useful mostly for keeping face aspect ratio good.
-  double    QualityThr;     // Collapsed that generate faces with quality LOWER than this value are penalized. So 
-  bool      QualityWeight;
-  double    QualityWeightFactor;
-  double    ScaleFactor;
-  bool      ScaleIndependent;
-  bool      UseArea;
-  bool      UseVertexWeight;
+  double    BoundaryQuadricWeight = 0.5;
+  bool      FastPreserveBoundary  = false;
+  bool      AreaCheck           = false;
+  bool      HardQualityCheck = false;
+  double    HardQualityThr = 0.1;
+  bool      HardNormalCheck =  false;
+  bool      NormalCheck           = false;
+  double    NormalThrRad          = M_PI/2.0;
+  double    CosineThr             = 0 ; // ~ cos(pi/2) 
+  bool      OptimalPlacement =true;
+  bool      SVDPlacement = false;
+  bool      PreserveTopology =false;
+  bool      PreserveBoundary = false;
+  double    QuadricEpsilon = 1e-15;
+  bool      QualityCheck =true;
+  double    QualityThr =.3;     // Collapsed that generate faces with quality LOWER than this value are penalized. So higher the value -> better the quality of the accepted triangles
+  bool      QualityQuadric =false; // During the initialization manage all the edges as border edges adding a set of additional quadrics that are useful mostly for keeping face aspect ratio good.
+  double    QualityQuadricWeight = 0.001f; // During the initialization manage all the edges as border edges adding a set of additional quadrics that are useful mostly for keeping face aspect ratio good.
+  bool      QualityWeight=false;
+  double    QualityWeightFactor=100.0;
+  double    ScaleFactor=1.0;
+  bool      ScaleIndependent=true;
+  bool      UseArea =true;
+  bool      UseVertexWeight=false;  
 
-  void SetDefaultParams()
-  {
-    BoundaryWeight=.5;
-    CosineThr=cos(M_PI/2);
-    FastPreserveBoundary=false;
-    NormalCheck=false;
-    NormalThrRad=M_PI/2;
-    OptimalPlacement=true;
-    PreserveBoundary = false;
-    PreserveTopology = false;
-    QuadricEpsilon =1e-15;
-    QualityCheck=true;
-    QualityQuadric=false;
-    QualityThr=.3;        // higher the value -> better the quality of the accepted triangles
-    QualityWeight=false;
-    QualityWeightFactor=100.0;
-    ScaleFactor=1.0;
-    ScaleIndependent=true;
-    UseArea=true;
-    UseVertexWeight=false;
-  }
-
-  TriEdgeCollapseQuadricParameter() {this->SetDefaultParams();}
+  TriEdgeCollapseQuadricParameter() {}
 };
 
 
@@ -150,8 +129,9 @@ public:
   typedef TriEdgeCollapseQuadricParameter QParameter;
   typedef HelperType QH;
   
+  CoordType optimalPos;  // Local storage of the once computed optimal position of the collapse.
   
-  // puntatori ai vertici che sono stati messi non-w per preservare il boundary
+  // Pointer to the vector that store the Write flags. Used to preserve them if you ask to preserve for the boundaries.
   static std::vector<typename TriMeshType::VertexPointer>  & WV(){
     static std::vector<typename TriMeshType::VertexPointer> _WV; return _WV;
   }
@@ -166,141 +146,146 @@ public:
   }
   
 
-    inline bool IsFeasible(BaseParameterClass *_pp){
-      QParameter *pp=(QParameter *)_pp;
-      if(!pp->PreserveTopology) return true;
-
-      bool res = ( EdgeCollapser<TriMeshType, VertexPair>::LinkConditions(this->pos) );
-      if(!res) ++( TEC::FailStat::LinkConditionEdge() );
-      return res;
-    }
-
-    CoordType ComputePosition(BaseParameterClass *_pp)
-    {
-      QParameter *pp=(QParameter *)_pp;
-      CoordType newPos = (this->pos.V(0)->P()+this->pos.V(1)->P())/2.0;
-      if(pp->OptimalPlacement)
-      {
-        if((QH::Qd(this->pos.V(0)).Apply(newPos) + QH::Qd(this->pos.V(1)).Apply(newPos)) > 200.0*pp->QuadricEpsilon)
-          newPos = ComputeMinimal();
-      }      
-      else newPos=this->pos.V(1)->P();      
-      return newPos;
-    }
-
-    void Execute(TriMeshType &m, BaseParameterClass *_pp)
-  {
-    QH::Qd(this->pos.V(1))+=QH::Qd(this->pos.V(0));
-    EdgeCollapser<TriMeshType,VertexPair>::Do(m, this->pos, ComputePosition(_pp)); // v0 is deleted and v1 take the new position
+  inline bool IsFeasible(BaseParameterClass *_pp){
+    QParameter *pp=(QParameter *)_pp;
+    if(!pp->PreserveTopology) return true;
+    
+    bool res = ( EdgeCollapser<TriMeshType, VertexPair>::LinkConditions(this->pos) );
+    if(!res) ++( TEC::FailStat::LinkConditionEdge() );
+    return res;
   }
-
-
-
-    // Final Clean up after the end of the simplification process
-    static void Finalize(TriMeshType &m, HeapType& /*h_ret*/, BaseParameterClass *_pp)
-    {
-      QParameter *pp=(QParameter *)_pp;
-
-      // If we had the boundary preservation we should clean up the writable flags
-      if(pp->FastPreserveBoundary)
-      {
-        typename 	TriMeshType::VertexIterator  vi;
-          for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-          if(!(*vi).IsD()) (*vi).SetW();
-      }
-      if(pp->PreserveBoundary)
-      {
-        typename 	std::vector<typename TriMeshType::VertexPointer>::iterator wvi;
-        for(wvi=WV().begin();wvi!=WV().end();++wvi)
-          if(!(*wvi)->IsD()) (*wvi)->SetW();
-      }
-    }
-
-  static void Init(TriMeshType &m, HeapType &h_ret, BaseParameterClass *_pp)
+  
+  void ComputePosition(BaseParameterClass *_pp)
   {
     QParameter *pp=(QParameter *)_pp;
-
-  typename 	TriMeshType::VertexIterator  vi;
-  typename 	TriMeshType::FaceIterator  pf;
-
-  pp->CosineThr=cos(pp->NormalThrRad);
-
-  vcg::tri::UpdateTopology<TriMeshType>::VertexFace(m);
-  vcg::tri::UpdateFlags<TriMeshType>::FaceBorderFromVF(m);
-
-  if(pp->FastPreserveBoundary)
+    CoordType newPos = (this->pos.V(0)->P()+this->pos.V(1)->P())/2.0;
+    if(pp->OptimalPlacement==false)
+      newPos=this->pos.V(1)->P();      
+    else 
     {
-      for(pf=m.face.begin();pf!=m.face.end();++pf)
-      if( !(*pf).IsD() && (*pf).IsW() )
-        for(int j=0;j<3;++j)
-          if((*pf).IsB(j))
-          {
-            (*pf).V(j)->ClearW();
-            (*pf).V1(j)->ClearW();
-          }
-      }
-
-  if(pp->PreserveBoundary)
+      if((QH::Qd(this->pos.V(0)).Apply(newPos) + QH::Qd(this->pos.V(1)).Apply(newPos)) > 2.0*pp->QuadricEpsilon)              
+      {
+        QuadricType q=QH::Qd(this->pos.V(0));
+        q+=QH::Qd(this->pos.V(1));
+        
+        Point3<QuadricType::ScalarType> x;
+        if(pp->SVDPlacement)
+          q.MinimumClosestToPoint(x,Point3d::Construct(newPos));
+        else 
+          q.Minimum(x);
+        newPos = CoordType::Construct(x);  
+      }      
+    }
+    this->optimalPos = newPos;
+  }
+  
+  void Execute(TriMeshType &m, BaseParameterClass * /*_pp*/)
+  {
+    CoordType newPos = this->optimalPos;
+    QH::Qd(this->pos.V(1))+=QH::Qd(this->pos.V(0)); // v0 is deleted and v1 take the new position
+    EdgeCollapser<TriMeshType,VertexPair>::Do(m, this->pos, newPos); 
+  }
+  
+  // Final Clean up after the end of the simplification process
+  static void Finalize(TriMeshType &m, HeapType& /*h_ret*/, BaseParameterClass *_pp)
+  {
+    QParameter *pp=(QParameter *)_pp;
+    
+    // If we had the boundary preservation we should clean up the writable flags
+    if(pp->FastPreserveBoundary)
     {
-      WV().clear();
-      for(pf=m.face.begin();pf!=m.face.end();++pf)
-      if( !(*pf).IsD() && (*pf).IsW() )
-        for(int j=0;j<3;++j)
-          if((*pf).IsB(j))
-          {
-            if((*pf).V(j)->IsW())  {(*pf).V(j)->ClearW(); WV().push_back((*pf).V(j));}
-            if((*pf).V1(j)->IsW()) {(*pf).V1(j)->ClearW();WV().push_back((*pf).V1(j));}
-          }
-      }
-
-    InitQuadric(m,pp);
-
-  // Initialize the heap with all the possible collapses
-    if(IsSymmetric(pp))
-    { // if the collapse is symmetric (e.g. u->v == v->u)
+      typename 	TriMeshType::VertexIterator  vi;
       for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-        if(!(*vi).IsD() && (*vi).IsRW())
+        if(!(*vi).IsD()) (*vi).SetW();
+    }
+    if(pp->PreserveBoundary)
+    {
+      typename 	std::vector<typename TriMeshType::VertexPointer>::iterator wvi;
+      for(wvi=WV().begin();wvi!=WV().end();++wvi)
+        if(!(*wvi)->IsD()) (*wvi)->SetW();
+    }
+  }
+  
+  static void Init(TriMeshType &m, HeapType &h_ret, BaseParameterClass *_pp)
+  {
+    QParameter *pp=(QParameter *)_pp;    
+    pp->CosineThr=cos(pp->NormalThrRad);
+    h_ret.clear();
+    vcg::tri::UpdateTopology<TriMeshType>::VertexFace(m);
+    vcg::tri::UpdateFlags<TriMeshType>::FaceBorderFromVF(m);
+    
+    if(pp->FastPreserveBoundary)
+    {
+      for(auto pf=m.face.begin();pf!=m.face.end();++pf)
+        if( !(*pf).IsD() && (*pf).IsW() )
+          for(int j=0;j<3;++j)
+            if((*pf).IsB(j))
             {
-                vcg::face::VFIterator<FaceType> x;
-                for( x.F() = (*vi).VFp(), x.I() = (*vi).VFi(); x.F()!=0; ++ x){
-                  x.V1()->ClearV();
-                  x.V2()->ClearV();
-                }
-                for( x.F() = (*vi).VFp(), x.I() = (*vi).VFi(); x.F()!=0; ++x )
-                {
-                  assert(x.F()->V(x.I())==&(*vi));
-                  if((x.V0()<x.V1()) && x.V1()->IsRW() && !x.V1()->IsV()){
-                        x.V1()->SetV();
-                        h_ret.push_back(HeapElem(new MYTYPE(VertexPair(x.V0(),x.V1()),TriEdgeCollapse< TriMeshType,VertexPair,MYTYPE>::GlobalMark(),_pp )));
-                        }
-                  if((x.V0()<x.V2()) && x.V2()->IsRW()&& !x.V2()->IsV()){
-                        x.V2()->SetV();
-                        h_ret.push_back(HeapElem(new MYTYPE(VertexPair(x.V0(),x.V2()),TriEdgeCollapse< TriMeshType,VertexPair,MYTYPE>::GlobalMark(),_pp )));
-                      }
-                }
+              (*pf).V(j)->ClearW();
+              (*pf).V1(j)->ClearW();
             }
     }
-        else
+    
+    if(pp->PreserveBoundary)
+    {
+      WV().clear();
+      for(auto pf=m.face.begin();pf!=m.face.end();++pf)
+        if( !(*pf).IsD() && (*pf).IsW() )
+          for(int j=0;j<3;++j)
+            if((*pf).IsB(j))
+            {
+              if((*pf).V(j)->IsW())  {(*pf).V(j)->ClearW(); WV().push_back((*pf).V(j));}
+              if((*pf).V1(j)->IsW()) {(*pf).V1(j)->ClearW();WV().push_back((*pf).V1(j));}
+            }
+    }
+    
+    InitQuadric(m,pp);
+    
+    // Initialize the heap with all the possible collapses
+    if(IsSymmetric(pp))
+    { // if the collapse is symmetric (e.g. u->v == v->u)
+      for(auto vi=m.vert.begin();vi!=m.vert.end();++vi)
+        if(!(*vi).IsD() && (*vi).IsRW())
+        {
+          vcg::face::VFIterator<FaceType> x;
+          for( x.F() = (*vi).VFp(), x.I() = (*vi).VFi(); x.F()!=0; ++ x){
+            x.V1()->ClearV();
+            x.V2()->ClearV();
+          }
+          for( x.F() = (*vi).VFp(), x.I() = (*vi).VFi(); x.F()!=0; ++x )
+          {
+            if((x.V0()<x.V1()) && x.V1()->IsRW() && !x.V1()->IsV()){
+              x.V1()->SetV();
+              h_ret.push_back(HeapElem(new MYTYPE(VertexPair(x.V0(),x.V1()),TriEdgeCollapse< TriMeshType,VertexPair,MYTYPE>::GlobalMark(),_pp )));
+            }
+            if((x.V0()<x.V2()) && x.V2()->IsRW()&& !x.V2()->IsV()){
+              x.V2()->SetV();
+              h_ret.push_back(HeapElem(new MYTYPE(VertexPair(x.V0(),x.V2()),TriEdgeCollapse< TriMeshType,VertexPair,MYTYPE>::GlobalMark(),_pp )));
+            }
+          }
+        }
+    }
+    else
     { // if the collapse is A-symmetric (e.g. u->v != v->u)
-            for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-                if(!(*vi).IsD() && (*vi).IsRW())
-                    {
-                        vcg::face::VFIterator<FaceType> x;
-                        UnMarkAll(m);
-                        for( x.F() = (*vi).VFp(), x.I() = (*vi).VFi(); x.F()!=0; ++ x)
-                        {
-                            assert(x.F()->V(x.I())==&(*vi));
-                            if(x.V()->IsRW() && x.V1()->IsRW() && !IsMarked(m,x.F()->V1(x.I()))){
-                    h_ret.push_back( HeapElem( new MYTYPE( VertexPair (x.V(),x.V1()),TriEdgeCollapse< TriMeshType,VertexPair,MYTYPE>::GlobalMark(),_pp)));
-                                        }
-                            if(x.V()->IsRW() && x.V2()->IsRW() && !IsMarked(m,x.F()->V2(x.I()))){
-                    h_ret.push_back( HeapElem( new MYTYPE( VertexPair (x.V(),x.V2()),TriEdgeCollapse< TriMeshType,VertexPair,MYTYPE>::GlobalMark(),_pp)));
-                                    }
-                        }
-                    }
-      }
-}
-  static float HeapSimplexRatio(BaseParameterClass *_pp) {return IsSymmetric(_pp)?5.0f:9.0f;}
+      for(auto vi=m.vert.begin();vi!=m.vert.end();++vi)
+        if(!(*vi).IsD() && (*vi).IsRW())
+        {
+          vcg::face::VFIterator<FaceType> x;
+          UnMarkAll(m);
+          for( x.F() = (*vi).VFp(), x.I() = (*vi).VFi(); x.F()!=0; ++ x)
+          {
+            if(x.V()->IsRW() && x.V1()->IsRW() && !IsMarked(m,x.F()->V1(x.I()))){
+              h_ret.push_back( HeapElem( new MYTYPE( VertexPair (x.V(),x.V1()),TriEdgeCollapse< TriMeshType,VertexPair,MYTYPE>::GlobalMark(),_pp)));
+            }
+            if(x.V()->IsRW() && x.V2()->IsRW() && !IsMarked(m,x.F()->V2(x.I()))){
+              h_ret.push_back( HeapElem( new MYTYPE( VertexPair (x.V(),x.V2()),TriEdgeCollapse< TriMeshType,VertexPair,MYTYPE>::GlobalMark(),_pp)));
+            }
+          }
+        }
+    }
+  }
+//  static float HeapSimplexRatio(BaseParameterClass *_pp) {return IsSymmetric(_pp)?5.0f:9.0f;}
+  static float HeapSimplexRatio(BaseParameterClass *_pp) {return IsSymmetric(_pp)?4.0f:8.0f;}
   static bool IsSymmetric(BaseParameterClass *_pp) {return ((QParameter *)_pp)->OptimalPlacement;}
   static bool IsVertexStable(BaseParameterClass *_pp) {return !((QParameter *)_pp)->OptimalPlacement;}
 
@@ -315,60 +300,83 @@ public:
   ScalarType ComputePriority(BaseParameterClass *_pp)
   {
     QParameter *pp=(QParameter *)_pp;
-    std::vector<CoordType> onVec; // vector with incident faces original normals 
+    
     VertexType * v[2];
     v[0] = this->pos.V(0);
     v[1] = this->pos.V(1);
     
-    if(pp->NormalCheck){ // Compute maximal normal variation
-      // store the old normals for non-collapsed face in v0
+    std::vector<CoordType> origNormalVec; // vector with incident faces original normals 
+    if(pp->NormalCheck){ // Collect Original Normals
       for(VFIterator x(v[0]); !x.End(); ++x )	 // for all faces in v0
-        if( x.V1()!=v[1] && x.V2()!=v[1] ) // skip faces with v1
-          onVec.push_back(TriangleNormal(*x.F()).Normalize());
-      // store the old normals for non-collapsed face in v1
+        if( x.V1()!=v[1] && x.V2()!=v[1] )     // skip faces with v1
+          origNormalVec.push_back(NormalizedTriangleNormal(*x.F()));
       for(VFIterator x(v[1]); !x.End(); ++x )	 // for all faces in v1
-        if( x.V1()!=v[0] && x.V2()!=v[0] ) // skip faces with v0
-          onVec.push_back(TriangleNormal(*x.F()).Normalize());
+        if( x.V1()!=v[0] && x.V2()!=v[0] )     // skip faces with v0
+          origNormalVec.push_back(NormalizedTriangleNormal(*x.F()));
     }
     
+    ScalarType origArea=0;
+    if(pp->AreaCheck){ // Collect Original Area
+      for(VFIterator x(v[0]); !x.End(); ++x )	 // for all faces in v0
+        origArea += DoubleArea(*x.F());
+      for(VFIterator x(v[1]); !x.End(); ++x )	 // for all faces in v1
+        if( x.V1()!=v[0] && x.V2()!=v[0] )     // skip faces with v0
+          origArea += DoubleArea(*x.F());
+    }
+    
+    ScalarType origQual= std::numeric_limits<double>::max(); 
+    if(pp->HardQualityCheck){ // Collect original quality
+      for(VFIterator x(v[0]); !x.End(); ++x )	 // for all faces in v0
+          origQual=std::min(origQual, QualityFace(*x.F()));
+      for(VFIterator x(v[1]); !x.End(); ++x )	 // for all faces in v1
+        if( x.V1()!=v[0] && x.V2()!=v[0] )     // skip faces with v0
+          origQual=std::min(origQual, QualityFace(*x.F()));
+    }
+ 
+    
     //// Move the two vertexes into new position (storing the old ones)
     CoordType OldPos0=v[0]->P();
     CoordType OldPos1=v[1]->P();
-    CoordType newPos = ComputePosition(_pp);      
-    v[0]->P() = v[1]->P() = newPos;
+    ComputePosition(_pp);      
+    // Now Simulate the collapse 
+    v[0]->P() = v[1]->P() =  this->optimalPos;    
+     
+    //// Rescan faces and compute the worst quality and normals that happens after collapse
+    ScalarType MinCos  = std::numeric_limits<double>::max();  // Cosine of the angle variation: -1 ~ very bad to 1~perfect
+    if(pp->NormalCheck){    
+      int i=0;
+      for(VFIterator x(v[0]); !x.End(); ++x )  // for all faces in v0
+        if( x.V1()!=v[1] && x.V2()!=v[1] )     // skipping faces with v1
+        {
+          CoordType nn=NormalizedTriangleNormal(*x.F());
+          MinCos=std::min(MinCos,nn.dot(origNormalVec[i++]));
+        }
+      for(VFIterator x(v[1]); !x.End(); ++x )	 // for all faces in v1
+        if( x.V1()!=v[0] && x.V2()!=v[0] ) // skip faces with v0
+        {
+          CoordType nn=NormalizedTriangleNormal(*x.F());
+          MinCos=std::min(MinCos,nn.dot(origNormalVec[i++]));
+        }
+    }      
     
-    //// Rescan faces and compute quality and difference between normals
-    int i=0;
-    double MinCos  = std::numeric_limits<double>::max(); // minimo coseno di variazione di una normale della faccia
-    // (e.g. max angle) Mincos varia da 1 (normali coincidenti) a
-    // -1 (normali opposte);
-    double MinQual = std::numeric_limits<double>::max();
-    for(VFIterator x(v[0]); !x.End(); ++x )  // for all faces in v0
-      if( x.V1()!=v[1] && x.V2()!=v[1] )     // skiping faces with v1
-      {
-        if(pp->NormalCheck){
-          CoordType nn=NormalizedTriangleNormal(*x.F());
-          double ndiff=nn.dot(onVec[i++]);
-          MinCos=std::min(MinCos,ndiff);
-        }
-        if(pp->QualityCheck){ 
-          double qt= QualityFace(*x.F());
-          MinQual=std::min(MinQual,qt);
-        }
-      }
-    for(VFIterator x(v[1]); !x.End(); ++x )	 // for all faces in v1
-      if( x.V1()!=v[0] && x.V2()!=v[0] ) // skip faces with v0
-      {
-        if(pp->NormalCheck){
-          CoordType nn=NormalizedTriangleNormal(*x.F());
-          double ndiff=nn.dot(onVec[i++]);
-          MinCos=std::min(MinCos,ndiff);
-        }
-        if(pp->QualityCheck){
-          double qt= QualityFace(*x.F());
-          MinQual=std::min(MinQual,qt);
-        }
-      }
+    ScalarType newQual = std::numeric_limits<ScalarType>::max();  // 
+    if(pp->QualityCheck){ 
+      for(VFIterator x(v[0]); !x.End(); ++x )  // for all faces in v0
+        if( x.V1()!=v[1] && x.V2()!=v[1] )   
+          newQual=std::min(newQual,QualityFace(*x.F()));
+      for(VFIterator x(v[1]); !x.End(); ++x )	 // for all faces in v1
+        if( x.V1()!=v[0] && x.V2()!=v[0] ) // skip faces with v0
+          newQual=std::min(newQual,QualityFace(*x.F()));
+    }
+            
+    ScalarType newArea=0;
+    if(pp->AreaCheck){ // Collect Area
+      for(VFIterator x(v[0]); !x.End(); ++x )	 // for all faces in v0
+          newArea += DoubleArea(*x.F());
+      for(VFIterator x(v[1]); !x.End(); ++x )	 // for all faces in v1
+        if( x.V1()!=v[0] && x.V2()!=v[0] )     // skip faces with v0
+          newArea += DoubleArea(*x.F());
+    }         
     
     QuadricType qq=QH::Qd(v[0]);
     qq+=QH::Qd(v[1]);
@@ -377,28 +385,40 @@ public:
     
     assert(!math::IsNAN(QuadErr));
     // All collapses involving triangles with quality larger than <QualityThr> have no penalty;
-    if(MinQual>pp->QualityThr) MinQual=pp->QualityThr;
+    if(newQual>pp->QualityThr) newQual=pp->QualityThr;
     
     if(pp->NormalCheck){     
       // All collapses where the normal vary less than <NormalThr> (e.g. more than CosineThr)
-      // have no penalty
+      // have no particular penalty
       if(MinCos>pp->CosineThr) MinCos=pp->CosineThr;
-      MinCos=fabs((MinCos+1)/2.0); // Now it is in the range 0..1 with 0 very dangerous!
+      MinCos=fabs((MinCos+1.0)/2.0); // Now it is in the range 0..1 with 0 very bad!
+      assert(MinCos >=0 && MinCos<1.1 );
     }
 
+    
     QuadErr= std::max(QuadErr,pp->QuadricEpsilon);
     if(QuadErr <= pp->QuadricEpsilon) 
     {
-      QuadErr = - 1/Distance(OldPos0,OldPos1);  
+      QuadErr *= Distance(OldPos0,OldPos1);  
     }
 
     if( pp->UseVertexWeight ) QuadErr *= (QH::W(v[1])+QH::W(v[0]))/2;
     
     ScalarType error;
     if(!pp->QualityCheck && !pp->NormalCheck) error = (ScalarType)(QuadErr);
-    if( pp->QualityCheck && !pp->NormalCheck) error = (ScalarType)(QuadErr / MinQual);
+    if( pp->QualityCheck && !pp->NormalCheck) error = (ScalarType)(QuadErr / newQual);
     if(!pp->QualityCheck &&  pp->NormalCheck) error = (ScalarType)(QuadErr / MinCos);
-    if( pp->QualityCheck &&  pp->NormalCheck) error = (ScalarType)(QuadErr / (MinQual*MinCos));
+    if( pp->QualityCheck &&  pp->NormalCheck) error = (ScalarType)(QuadErr / (newQual*MinCos));
+
+    if(pp->AreaCheck && ((fabs(origArea-newArea)/(origArea+newArea))>0.01) )
+        error = std::numeric_limits<ScalarType>::max();
+    
+    if(pp->HardQualityCheck && 
+       (newQual < pp->HardQualityThr && newQual < origQual*0.9) )
+      error = std::numeric_limits<ScalarType>::max();
+    
+    if(pp->HardNormalCheck)
+      if(CheckForFlip())  error = std::numeric_limits<ScalarType>::max();
     
     // Restore old position of v0 and v1
     v[0]->P()=OldPos0;
@@ -408,17 +428,95 @@ public:
     return this->_priority;
   }
   
-//
-//static double MaxError() {return 1e100;}
-//
+  
+  bool CheckForFlippedFaceOverVertex(VertexType *vp, ScalarType angleThrRad =  math::ToRad(150.))
+  {
+    std::map<VertexType *, CoordType>  edgeNormMap; 
+    ScalarType maxAngle=0;
+    
+    for(VFIterator x(vp); !x.End(); ++x )	 // for all faces in v1
+    {
+      if(QualityFace(*x.F()) <0.01 ) return true; 
+        for(int i=0;i<2;++i)
+        { 
+          VertexType *vv= i==0?x.V1():x.V2();
+          assert(vv!=vp);
+          auto ni = edgeNormMap.find(vv);
+          if(ni==edgeNormMap.end()) edgeNormMap[vv] = NormalizedTriangleNormal(*x.F());
+          else maxAngle = std::max(maxAngle,AngleN(NormalizedTriangleNormal(*x.F()),ni->second));
+        }
+    }
+    
+    return (maxAngle > angleThrRad);          
+  }  
+  
+  // This function return true if, after an edge collapse, 
+  // among the surviving faces, there are two adjacent faces forming a 
+  // diedral angle larger than the given threshold
+  // It assumes that the two vertexes of the collapsing edge 
+  // have been already moved to the new position but the topolgy has not yet been changed (e.g. there are two zero-area faces)
+  
+  bool CheckForFlip(ScalarType angleThrRad =  math::ToRad(150.))
+  {
+    std::map<VertexType *, CoordType>  edgeNormMap; 
+    VertexType * v[2];
+    v[0] = this->pos.V(0);
+    v[1] = this->pos.V(1);
+    ScalarType maxAngle=0;
+    assert (v[0]->P()==v[1]->P());
+    
+    for(VFIterator x(v[0]); !x.End(); ++x )	 // for all faces in v0
+      if( x.V1()!=v[1] && x.V2()!=v[1] )     // skip faces with v1
+      {
+        if(QualityFace(*x.F()) <0.01 ) return true;         
+        for(int i=0;i<2;++i)
+        { 
+          VertexType *vv= (i==0)?x.V1():x.V2();
+          assert(vv!=v[0]);
+          auto ni = edgeNormMap.find(vv);
+          if(ni==edgeNormMap.end()) edgeNormMap[vv] = NormalizedTriangleNormal(*x.F());
+          else maxAngle = std::max(maxAngle,AngleN(NormalizedTriangleNormal(*x.F()),ni->second));
+        }
+      }
+    for(VFIterator x(v[1]); !x.End(); ++x )	 // for all faces in v1
+      if( x.V1()!=v[0] && x.V2()!=v[0] )     // skip faces with v0
+      {
+        if(QualityFace(*x.F()) <0.01 ) return true;         
+        for(int i=0;i<2;++i)
+        { 
+          VertexType *vv= i==0?x.V1():x.V2();
+          assert(vv!=v[1]);
+          auto ni = edgeNormMap.find(vv);
+          if(ni==edgeNormMap.end()) edgeNormMap[vv] = NormalizedTriangleNormal(*x.F());
+          else maxAngle = std::max(maxAngle,AngleN(NormalizedTriangleNormal(*x.F()),ni->second));
+        }
+    }
+    return (maxAngle > angleThrRad);      
+  }
+  
+
+  
+  
   inline void AddCollapseToHeap(HeapType & h_ret, VertexType *v0, VertexType *v1, BaseParameterClass *_pp)
   {
     QParameter *pp=(QParameter *)_pp;    
+    ScalarType maxAdmitErr = std::numeric_limits<ScalarType>::max();
     h_ret.push_back(HeapElem(new MYTYPE(VertexPair(v0,v1), this->GlobalMark(),_pp)));
-    std::push_heap(h_ret.begin(),h_ret.end());
+    if(h_ret.back().pri > maxAdmitErr) {
+      delete h_ret.back().locModPtr;
+      h_ret.pop_back(); 
+    }
+    else
+      std::push_heap(h_ret.begin(),h_ret.end());
+    
     if(!IsSymmetric(pp)){
       h_ret.push_back(HeapElem(new MYTYPE(VertexPair(v1,v0), this->GlobalMark(),_pp)));
-      std::push_heap(h_ret.begin(),h_ret.end());
+      if(h_ret.back().pri > maxAdmitErr) {
+        delete h_ret.back().locModPtr;
+        h_ret.pop_back(); 
+      }
+      else      
+        std::push_heap(h_ret.begin(),h_ret.end());
     }
   }
   
@@ -434,6 +532,8 @@ public:
     for(VFIterator vfi(v[1]); !vfi.End(); ++vfi ) {
       vfi.V1()->ClearV();
       vfi.V2()->ClearV();
+      vfi.V1()->IMark() = this->GlobalMark();
+      vfi.V2()->IMark() = this->GlobalMark();      
     }
 
     // Second Loop
@@ -457,8 +557,7 @@ public:
   {
     QParameter *pp=(QParameter *)_pp;
     QH::Init();
-    //	m.ClearFlags();
-    for(VertexIterator pv=m.vert.begin();pv!=m.vert.end();++pv)		// Azzero le quadriche
+    for(VertexIterator pv=m.vert.begin();pv!=m.vert.end();++pv)
       if( ! (*pv).IsD() && (*pv).IsW())
         QH::Qd(*pv).SetZero();    
     
@@ -487,9 +586,9 @@ public:
               QuadricType bq;
               // Border quadric record the squared distance from the plane orthogonal to the face and passing 
               // through the edge. 
-              borderPlane.SetDirection(facePlane.Direction() ^ ( (*fi).V1(j)->cP() - (*fi).V(j)->cP() ).normalized());
-              if(  (*fi).IsB(j) ) borderPlane.SetDirection(borderPlane.Direction()* (ScalarType)(pp->BoundaryWeight ));        // amplify border planes
-              else                borderPlane.SetDirection(borderPlane.Direction()* (ScalarType)(pp->BoundaryWeight/100.0));   // and consider much less quadric for quality
+              borderPlane.SetDirection(facePlane.Direction() ^ (( (*fi).V1(j)->cP() - (*fi).V(j)->cP() ).normalized()));
+              if(  (*fi).IsB(j) ) borderPlane.SetDirection(borderPlane.Direction()* (ScalarType)(pp->BoundaryQuadricWeight ));        // amplify border planes
+              else                borderPlane.SetDirection(borderPlane.Direction()* (ScalarType)(pp->QualityQuadricWeight ));   // and consider much less quadric for quality
               borderPlane.SetOffset(borderPlane.Direction().dot((*fi).V(j)->cP()));
               bq.ByPlane(borderPlane);
               
@@ -507,7 +606,7 @@ public:
 
     if(pp->QualityWeight) // we map quality range into a squared 01 and than this into the 1..QualityWeightFactor range
     {
-      float minQ, maxQ;
+      ScalarType minQ, maxQ;
       tri::Stat<TriMeshType>::ComputePerVertexQualityMinMax(m,minQ,maxQ);      
       for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
         if( ! (*vi).IsD() && (*vi).IsW())
@@ -518,36 +617,24 @@ public:
     }
   }
   
-
-
-//
-//
-//
-//
-//
-//
-//static void InitMesh(MESH_TYPE &m){
-//	pp->CosineThr=cos(pp->NormalThr);
-//  InitQuadric(m);
-//	//m.Topology();
-//	//OldInitQuadric(m,UseArea);
-//	}
-//
- CoordType ComputeMinimal()
+  CoordType ComputeMinimal()
+  {
+  }
+  
+CoordType ComputeMinimalOld()
 {
-   typename TriMeshType::VertexType * v[2];
-   v[0] = this->pos.V(0);
-   v[1] = this->pos.V(1);
-   QuadricType q=QH::Qd(v[0]);
-   q+=QH::Qd(v[1]);
+   VertexType* &v0 = this->pos.V(0);
+   VertexType* &v1 = this->pos.V(1);
+   QuadricType q=QH::Qd(v0);
+   q+=QH::Qd(v1);
    
    Point3<QuadricType::ScalarType> x;
    
    bool rt=q.Minimum(x);
    if(!rt) { // if the computation of the minimum fails we choose between the two edge points and the middle one.
-     Point3<QuadricType::ScalarType> x0=Point3d::Construct(v[0]->P());
-     Point3<QuadricType::ScalarType> x1=Point3d::Construct(v[1]->P());
-     x.Import((v[0]->P()+v[1]->P())/2);
+     Point3<QuadricType::ScalarType> x0=Point3d::Construct(v0->P());
+     Point3<QuadricType::ScalarType> x1=Point3d::Construct(v1->P());
+     x.Import((v1->P()+v1->P())/2);
      double qvx=q.Apply(x);
      double qv0=q.Apply(x0);
      double qv1=q.Apply(x1);
@@ -557,10 +644,8 @@ public:
    
    return CoordType::Construct(x);
  }
-//
-//
-
 };
-        } // namespace tri
-    } // namespace vcg
+
+} // namespace tri
+} // namespace vcg
 #endif
diff --git a/vcg/complex/algorithms/local_optimization/tri_edge_collapse_quadric_tex.h b/vcg/complex/algorithms/local_optimization/tri_edge_collapse_quadric_tex.h
index 7104a0a0..70719665 100644
--- a/vcg/complex/algorithms/local_optimization/tri_edge_collapse_quadric_tex.h
+++ b/vcg/complex/algorithms/local_optimization/tri_edge_collapse_quadric_tex.h
@@ -155,7 +155,8 @@ class QuadricTexHelper
            return qv[i].second;
        }
 
-       assert(0);
+       assert(0);       
+       return qv[0].second; 
     }
       static math::Quadric<double> &Qd3(VertexType *v) {return TD3()[*v];}
     static math::Quadric<double> &Qd3(VertexType &v) {return TD3()[v];}
diff --git a/vcg/complex/algorithms/mesh_assert.h b/vcg/complex/algorithms/mesh_assert.h
index 09632022..5f8a174a 100644
--- a/vcg/complex/algorithms/mesh_assert.h
+++ b/vcg/complex/algorithms/mesh_assert.h
@@ -23,8 +23,6 @@
 #ifndef __VCGLIB_MESH_ASSERT
 #define __VCGLIB_MESH_ASSERT
 
-#include <vcg/complex/complex.h>
-
 namespace vcg {
 namespace tri {
 /**
@@ -35,7 +33,11 @@ namespace tri {
  * the subsequent algorithm can run without issues.
  * Typical cases are the fact that there are no unreferenced vertices (NoUnreferencedVertex)
  * or a given adjacency is correctly initialized (and not only statically present as a type component).
- *
+ * 
+ * Naming Notes: 
+ * - First two letters of the function name code the required adjacency involved 
+ * - The exception text completes the sentence "This exception is thronw when/because...
+ * 
  */
 template <class MeshType>
 class MeshAssert
@@ -48,6 +50,7 @@ public:
   typedef typename MeshType::CoordType  CoordType;
   typedef typename MeshType::ScalarType ScalarType;
 
+  /// \brief Throw vcg::MissingPreconditionException if FF adjacency is not initialized
   static void FFAdjacencyIsInitialized(MeshType &m)
   {
     for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
@@ -61,18 +64,53 @@ public:
     }
   }
 
+  /// \brief Throw vcg::MissingPreconditionException if VF adjacency is not initialized
   static void VFAdjacencyIsInitialized(MeshType &m)
   {
     for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi) if(!vi->IsD())
       {
-        if(vi->VFp().IsNull())
+        if(vi->VFp() == nullptr)
           throw vcg::MissingPreconditionException("VF adjacency is not initialized");
       }
   }
 
+  /// \brief Throw vcg::MissingPreconditionException if EE adjacency is not initialized
+  static void EEAdjacencyIsInitialized(MeshType &m)
+  {
+    for(auto ei=m.edge.begin();ei!=m.edge.end();++ei) if(!ei->IsD())
+        {
+          if(ei->EEp(0)==0)
+            throw vcg::MissingPreconditionException("EE adjacency is not initialized");
+        }
+  }
+  
+  /// \brief Throw vcg::MissingPreconditionException if According to EE adjacency, the edge mesh is not 1-manifold (e.g there are more than 2 edges on a vertex)
+  static void EEOneManifold(MeshType &m)
+  {
+    EEAdjacencyIsInitialized(m);
+    for(auto ei=m.edge.begin();ei!=m.edge.end();++ei) if(!ei->IsD())
+    {
+     if(! edge::IsEdgeManifold(*ei,0) )
+       throw vcg::MissingPreconditionException("According to EE adjacency, the edge mesh is not 1-manifold (e.g there are more than 2 edges on a vertex)");
+    }
+  }
+
+  /// \brief Throw vcg::MissingPreconditionException if Vertex Normals are not unit lenght
+  static void VertexNormalNormalized(MeshType &m)
+  {
+    for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi) if(!vi->IsD())
+      {
+        if(fabs(vi->cN().Norm()-1.0)>0.000001)
+          throw vcg::MissingPreconditionException("Vertex Normal are not normalized");
+      }
+  }
+
+  
+  
+  /// \brief Throw vcg::MissingPreconditionException if There are unreferenced vertices
   static void NoUnreferencedVertex(MeshType &m)
   {
-    tri::UpdateFlags<MeshType>::VertexClearV(m);
+    UpdateFlags<MeshType>::VertexClearV(m);
     for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!fi->IsD())
     {
       for(int i=0;i<fi->VN();++i) fi->V(i)->SetV();
@@ -86,6 +124,7 @@ public:
       }
   }
 
+  /// \brief Throw vcg::MissingPreconditionException if There are faces with more than three vertices
   static void OnlyTriFace(MeshType &m)
   {
     for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!fi->IsD())
@@ -95,6 +134,7 @@ public:
     }
   }
 
+  /// \brief Throw vcg::MissingPreconditionException if There are non quadrilateral faces
   static void OnlyQuadFace(MeshType &m)
   {
     for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!fi->IsD())
@@ -104,12 +144,24 @@ public:
     }
   }
 
+  /// \brief Throw vcg::MissingPreconditionException if The mesh is not composed only by edges (no faces needed or allowed)
   static void OnlyEdgeMesh(MeshType &m)
   {
       if(m.FN()>0)
-        throw vcg::MissingPreconditionException("Expecting a mesh composed only by edges (no faces needed or allowed)");
+        throw vcg::MissingPreconditionException("The mesh is not composed only by edges (no faces needed or allowed)");
   }
   
+  /// \brief Throw vcg::MissingPreconditionException if According to FF adjacency, the mesh is not two manifold (e.g. there are more than two faces on an edge)
+  static void FFTwoManifoldEdge(MeshType & m)
+  {
+    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!fi->IsD())
+    {
+      for(int i=0;i<fi->VN();++i){
+        if(!face::IsManifold(*fi,i))
+          throw vcg::MissingPreconditionException("According to FF adjacency, the mesh is not two manifold (e.g. there are more than two faces on an edge)");
+      }
+    }    
+}
   
 };
 
diff --git a/vcg/complex/algorithms/mesh_to_matrix.h b/vcg/complex/algorithms/mesh_to_matrix.h
index 986cc9f6..dc22ffb9 100644
--- a/vcg/complex/algorithms/mesh_to_matrix.h
+++ b/vcg/complex/algorithms/mesh_to_matrix.h
@@ -28,8 +28,6 @@
 #include <vcg/complex/algorithms/update/quality.h>
 #include <vcg/complex/algorithms/harmonic.h>
 
-using namespace std;
-
 namespace vcg {
 namespace tri {
 template < typename MeshType >
@@ -202,6 +200,22 @@ public:
             }
     }
 
+	static void GetUVData(const MeshType &mesh,
+	                      MatrixXm & uv)
+	{
+		tri::RequireVertexCompactness(mesh);
+		tri::RequirePerVertexTexCoord(mesh);
+
+		uv = MatrixXm(mesh.VN(), 2);
+
+		// per vertices uv
+		for (int i = 0; i < mesh.VN(); i++)
+		{
+			uv(i,0) = mesh.vert[i].cT().U();
+			uv(i,1) = mesh.vert[i].cT().V();
+		}
+	}
+
     // get edge to face and edge to vertex adjacency
     static void GetTriEdgeAdjacency(const MeshType &mesh,
                                     Eigen::MatrixXi& EV,
@@ -221,21 +235,21 @@ public:
     }
 
     template< class VecType >
-    static void PerVertexArea(MeshType &m, VecType &h)
+    static void PerVertexArea(const MeshType &m, VecType &h)
     {
         tri::RequireCompactness(m);
         h.resize(m.vn);
-        for(int i=0;i<m.vn;++i) h[i]=0;
-        for(FaceIterator fi=m.face.begin(); fi!=m.face.end();++fi)
+        fill(h.begin(),h.end(),0);
+        for (int i = 0; i < m.FN(); ++i)
         {
-            ScalarType a = DoubleArea(*fi)/6.0;
-            for(int j=0;j<fi->VN();++j)
-                h[tri::Index(m,fi->V(j))] += a;
+            ScalarType a = DoubleArea(m.face[i])/6.0;
+            for(int j=0;j<m.face[i].VN();++j)
+                h[tri::Index(m,m.face[i].cV(j))] += a;
         }
     }
 
     template< class VecType >
-    static void PerFaceArea(MeshType &m, VecType &h)
+    static void PerFaceArea(const MeshType &m, VecType &h)
     {
         tri::RequireCompactness(m);
         h.resize(m.fn);
diff --git a/vcg/complex/algorithms/nring.h b/vcg/complex/algorithms/nring.h
index cddc5599..6d1318f5 100644
--- a/vcg/complex/algorithms/nring.h
+++ b/vcg/complex/algorithms/nring.h
@@ -24,7 +24,6 @@
 #define RINGWALKER_H
 
 #include <vcg/simplex/face/jumping_pos.h>
-#include <vcg/complex/algorithms/update/flag.h>
 
 namespace vcg
 {
diff --git a/vcg/complex/algorithms/outline_support.h b/vcg/complex/algorithms/outline_support.h
index 5b8edc83..6c54ff1d 100644
--- a/vcg/complex/algorithms/outline_support.h
+++ b/vcg/complex/algorithms/outline_support.h
@@ -52,7 +52,7 @@ public:
    */
   static ScalarType Outline2Area(const std::vector< Point2<ScalarType> > &outline2)
   {
-      float   area=0;
+      ScalarType   area=0;
       for (size_t i=0,j=outline2.size()-1; i<outline2.size(); i++) {
           area+=(outline2[j][0]+outline2[i][0])*(outline2[j][1]-outline2[i][1]);
           j=i;
@@ -67,12 +67,12 @@ public:
    */
   static ScalarType Outline2Perimeter(const std::vector< Point2<ScalarType>  > &outline2)
   {
-      float dd=0; int sz = outline2.size();
+      ScalarType dd=0; int sz = outline2.size();
 
       //sums all the distances between point i and point i+1 (modulus sz)
       for(int j=0; j<sz; ++j)
       {
-          dd += Distance (Point2f(outline2[j][0],outline2[j][1]),Point2f(outline2[(j+1)%sz][0],outline2[(j+1)%sz][1]));
+          dd += Distance (Point2<ScalarType>(outline2[j][0],outline2[j][1]),Point2<ScalarType>(outline2[(j+1)%sz][0],outline2[(j+1)%sz][1]));
       }
       return dd;
   }
@@ -114,16 +114,16 @@ public:
   }
 
 
-  static void BuildRandomOutlineVec(int outlineNum, std::vector< std::vector< Point2f > > &outline2Vec, int seed=0)
+  static void BuildRandomOutlineVec(int outlineNum, std::vector< std::vector< Point2<ScalarType> > > &outline2Vec, int seed=0)
   {
     vcg::math::MarsenneTwisterRNG rnd;
     if(seed==0) seed=time(0);
     rnd.initialize(seed);
     for(int i=0;i<outlineNum;++i)
     {
-      std::vector<Point2f> poly;
+      std::vector<Point2<ScalarType>> poly;
       for(int j=0;j<10;j++)
-        poly.push_back(Point2f(0.5+0.5*rnd.generate01(),2.0f*M_PI*rnd.generate01()));
+        poly.push_back(Point2<ScalarType>(0.5+0.5*rnd.generate01(),2.0f*M_PI*rnd.generate01()));
 
       std::sort(poly.begin(),poly.end());
 
@@ -141,7 +141,7 @@ public:
         poly[j].Polar2Cartesian();
       }
 
-      Point2f randTras(rnd.generateRange(-5,5),rnd.generateRange(-5,5));
+      Point2<ScalarType> randTras(rnd.generateRange(-5,5),rnd.generateRange(-5,5));
       for(size_t j=0;j<poly.size();j++)
         poly[j]+=randTras;
 
@@ -149,13 +149,13 @@ public:
     }
   }
 
-  static int LargestOutline2(const std::vector< std::vector< Point2f > > &outline2Vec)
+  static int LargestOutline2(const std::vector< std::vector< Point2<ScalarType> > > &outline2Vec)
   {
-    float maxArea =0;
+    ScalarType maxArea =0;
     int maxInd=-1;
     for(size_t i=0;i<outline2Vec.size();++i)
     {
-      float curArea = fabs(Outline2Area(outline2Vec[i]));
+      ScalarType curArea = fabs(Outline2Area(outline2Vec[i]));
       if(curArea > maxArea)
       {
         maxArea=curArea;
@@ -167,7 +167,7 @@ public:
   }
 
   template<class PointType>
-  static bool ConvertOutline3VecToOutline2Vec(std::vector< std::vector< PointType> > &outline3Vec, std::vector< std::vector< Point2f> > &outline2Vec )
+  static bool ConvertOutline3VecToOutline2Vec(std::vector< std::vector< PointType> > &outline3Vec, std::vector< std::vector< Point2<ScalarType> > > &outline2Vec )
   {
     outline2Vec.resize(outline3Vec.size());
     for(size_t i=0;i<outline3Vec.size();++i)
@@ -186,10 +186,10 @@ public:
   }
 
   template<class MeshType>
-  static int ConvertMeshBoundaryToOutline3Vec(MeshType &m, std::vector< std::vector<Point3f> > &outline3Vec)
+  static int ConvertMeshBoundaryToOutline3Vec(MeshType &m, std::vector< std::vector<Point3<ScalarType> > > &outline3Vec)
   {
     typedef typename MeshType::FaceType FaceType;
-    std::vector<Point3f> outline;
+    std::vector<Point3<ScalarType> > outline;
 
     tri::Allocator<MeshType>::CompactVertexVector(m);
     tri::Allocator<MeshType>::CompactFaceVector(m);
@@ -199,7 +199,7 @@ public:
     int totalVn=0;
     for(size_t i=0;i<m.face.size();i++)
     {
-      for (int j=0;j<3;j++)
+      for (int j=0;j<m.face[i].VN();j++)
         if (!m.face[i].IsV() && face::IsBorder(m.face[i],j))
         {
           FaceType* startB=&(m.face[i]);
@@ -210,7 +210,7 @@ public:
           {
             assert(p.IsManifold());
             p.F()->SetV();
-            outline.push_back(p.V()->P());
+            outline.push_back(Point3<ScalarType>(p.V()->P()));
             p.NextB();
             totalVn++;
           }
@@ -229,7 +229,7 @@ public:
     typedef typename MeshType::EdgeIterator EdgeIterator;
     typedef typename MeshType::VertexPointer VertexPointer;
     em.Clear();
-    std::vector< std::vector<Point3f> > outlines;
+    std::vector< std::vector<Point3<ScalarType>> > outlines;
     int nv = ConvertMeshBoundaryToOutlines(m,outlines);
     if (nv<2) return;
     VertexIterator vi=vcg::tri::Allocator<MeshType>::AddVertices(em,nv);
@@ -253,7 +253,7 @@ public:
   }
 
   template<class MeshType>
-  static bool ConvertOutline3VecToEdgeMesh(std::vector< std::vector< Point3f> > &outlineVec, MeshType &m)
+  static bool ConvertOutline3VecToEdgeMesh(std::vector< std::vector< Point3<ScalarType>> > &outlineVec, MeshType &m)
   {
     typedef typename MeshType::VertexPointer VertexPointer;
     typedef typename MeshType::EdgePointer EdgePointer;
@@ -266,7 +266,7 @@ public:
       {
         Indexes[i].push_back(m.vert.size());
         VertexPointer vp=&*tri::Allocator<MeshType>::AddVertices(m,1);
-        Point3f pp=Point3f(outlineVec[i][j][0],outlineVec[i][j][1],outlineVec[i][j][2]);
+        Point3<ScalarType> pp=Point3<ScalarType>(outlineVec[i][j][0],outlineVec[i][j][1],outlineVec[i][j][2]);
         vp->P()= pp;
       }
     }
@@ -283,9 +283,9 @@ public:
   }
 
   template<class MeshType>
-  static bool ConvertOutline3VecToEdgeMesh(std::vector< Point3f> &outline, MeshType &m)
+  static bool ConvertOutline3VecToEdgeMesh(std::vector< Point3<ScalarType>> &outline, MeshType &m)
   {
-    std::vector< std::vector< Point3f> > outlineVec;
+    std::vector< std::vector< Point3<ScalarType>> > outlineVec;
     outlineVec.push_back(outline);
     return Convert3DOutlinesToEdgeMesh(outlineVec,m);
   }
diff --git a/vcg/complex/algorithms/parametrization/distortion.h b/vcg/complex/algorithms/parametrization/distortion.h
index c24e7b8c..903d8553 100644
--- a/vcg/complex/algorithms/parametrization/distortion.h
+++ b/vcg/complex/algorithms/parametrization/distortion.h
@@ -25,12 +25,38 @@
 #define VCG_PARAM_DISTORTION
 #include <vcg/complex/algorithms/parametrization/uv_utils.h>
 #include <vcg/complex/algorithms/parametrization/tangent_field_operators.h>
+#include <Eigen/Dense>
 
 namespace vcg {
-namespace tri{
-template <class MeshType, bool PerWedgeFlag>
+namespace tri {
 
 
+template <class MeshType, bool PerWedge>
+struct UVHelper {};
+
+template <class MeshType>
+struct UVHelper<MeshType, true>
+{
+	typedef typename MeshType::FaceType                FaceType;
+    typedef typename FaceType::TexCoordType::PointType TexCoordType;
+	static TexCoordType Coord(const FaceType *f, int i)
+	{
+		return f->cWT(i).P();
+	}
+};
+
+template <class MeshType>
+struct UVHelper<MeshType, false>
+{
+	typedef typename MeshType::FaceType                  FaceType;
+	typedef typename MeshType::VertexType                VertexType;
+	typedef typename VertexType::TexCoordType::PointType TexCoordType;
+	static TexCoordType Coord(const FaceType *f, int i)
+	{
+		return f->cV(i)->T().P();
+	}
+};
+
 /*
  *  Energy types:
  *
@@ -44,12 +70,19 @@ template <class MeshType, bool PerWedgeFlag>
  *    LInfStretch : as above, but WORST case
  *                  (returns the worst stretch on any position and direction)
  *                  Described in [1]
+ *    ARAPEnergy : 0 for isometric mappings
+ *                 Described in [2]
  *
  * [1] Sander, P. V., Snyder, J., Gortler, S. J., & Hoppe, H.
  *     "Texture mapping progressive meshes."
  *      In Proc. ACM SIGGRAPH (pp. 409-416). 2001
+ *
+ * [2] Liu, L., Zhang, L., Xu, Y., Gotsman, C., & Gortler, S. J. (2008, July).
+ *     A local/global approach to mesh parameterization.
+ *     Computer Graphics Forum (Vol. 27, No. 5, pp. 1495-1504). Blackwell Publishing Ltd.
  */
 
+template <class MeshType, bool PerWedgeFlag>
 class Distortion
 {
 public:
@@ -58,8 +91,14 @@ public:
     typedef typename MeshType::CoordType CoordType;
     typedef typename MeshType::ScalarType ScalarType;
     typedef typename MeshType::FaceType::CurVecType CurVecType;
-    typedef typename MeshType::FaceType::TexCoordType::ScalarType TexScalarType;
-    typedef Point2<TexScalarType> TexCoordType;
+    typedef UVHelper<MeshType, PerWedgeFlag>          UV;
+    typedef typename UV::TexCoordType                 TexCoordType;
+	typedef typename TexCoordType::ScalarType         TexScalarType;
+
+	static TexCoordType UVCoord(const FaceType *f, int i)
+	{
+		return UV::Coord(f, i);
+	}
 
     static ScalarType Area3D(const FaceType *f)
     {
@@ -68,16 +107,9 @@ public:
 
     static ScalarType AreaUV(const FaceType *f)
     {
-        TexCoordType uv0,uv1,uv2;
-        if(PerWedgeFlag) {
-            uv0=f->cWT(0).P();
-            uv1=f->cWT(1).P();
-            uv2=f->cWT(2).P();
-        } else {
-            uv0=f->cV(0)->T().P();
-            uv1=f->cV(1)->T().P();
-            uv2=f->cV(2)->T().P();
-        }
+		TexCoordType uv0 = UVCoord(f, 0);
+		TexCoordType uv1 = UVCoord(f, 1);
+		TexCoordType uv2 = UVCoord(f, 2);
         ScalarType AreaUV=((uv1-uv0)^(uv2-uv0))/2.0;
         return AreaUV;
     }
@@ -92,14 +124,8 @@ public:
     static ScalarType EdgeLenghtUV(const FaceType *f,int e)
     {
         assert((e>=0)&&(e<3));
-        Point2<TexScalarType> uv0,uv1;
-        if(PerWedgeFlag) {
-            uv0=f->cWT(e+0).P();
-            uv1=f->cWT((e+1)%3).P();
-        } else {
-            uv0=f->cV0(e)->T().P();
-            uv1=f->cV1(e)->T().P();
-        }
+		TexCoordType uv0 = UVCoord(f, e+0);
+		TexCoordType uv1 = UVCoord(f, (e+1)%3);
         ScalarType UVlength=Distance(uv0,uv1);
         return UVlength;
     }
@@ -110,7 +136,6 @@ public:
         CoordType p0=f->P((e+2)%3);
         CoordType p1=f->P(e);
         CoordType p2=f->P((e+1)%3);
-        typedef typename CoordType::ScalarType ScalarType;
         CoordType dir0=p2-p1;
         CoordType dir1=p0-p1;
         dir0.Normalize();
@@ -121,16 +146,9 @@ public:
 
     static ScalarType AngleCosUV(const FaceType *f,int e)
     {
-        Point2<ScalarType> uv0,uv1,uv2;
-        if(PerWedgeFlag) {
-            uv0=f->cWT((e+2)%3).P();
-            uv1=f->cWT((e+0)%3).P();
-            uv2=f->cWT((e+1)%3).P();
-        } else {
-            uv0=f->V2(e)->T().P();
-            uv1=f->V0(e)->T().P();
-            uv2=f->V1(e)->T().P();
-        }
+		TexCoordType uv0 = UVCoord(f, (e+2)%3);
+		TexCoordType uv1 = UVCoord(f,  e);
+		TexCoordType uv2 = UVCoord(f, (e+1)%3);
         vcg::Point2<ScalarType> dir0=uv2-uv1;
         vcg::Point2<ScalarType> dir1=uv0-uv1;
         dir0.Normalize();
@@ -145,7 +163,6 @@ public:
         CoordType p0=f->cP((e+2)%3);
         CoordType p1=f->cP(e);
         CoordType p2=f->cP((e+1)%3);
-        typedef typename CoordType::ScalarType ScalarType;
         CoordType dir0=p2-p1;
         CoordType dir1=p0-p1;
         return Angle(dir0,dir1);
@@ -153,16 +170,9 @@ public:
 
     static ScalarType AngleRadUV(const FaceType *f,int e)
     {
-        Point2<TexScalarType> uv0,uv1,uv2;
-        if(PerWedgeFlag) {
-            uv0=f->cWT((e+2)%3).P();
-            uv1=f->cWT((e+0)%3).P();
-            uv2=f->cWT((e+1)%3).P();
-        } else {
-            uv0=f->cV2(e)->T().P();
-            uv1=f->cV0(e)->T().P();
-            uv2=f->cV1(e)->T().P();
-        }
+		TexCoordType uv0 = UVCoord(f, (e+2)%3);
+		TexCoordType uv1 = UVCoord(f,  e);
+		TexCoordType uv2 = UVCoord(f, (e+1)%3);
         vcg::Point2<TexScalarType> dir0=uv2-uv1;
         vcg::Point2<TexScalarType> dir1=uv0-uv1;
         dir0.Normalize();
@@ -175,7 +185,7 @@ public:
 
 
 public:
-    enum DistType{AreaDist,EdgeDist,AngleDist,CrossDist,L2Stretch,LInfStretch};
+    enum DistType{AreaDist,EdgeDist,AngleDist,CrossDist,L2Stretch,LInfStretch,ARAPDist};
 
     ///return the absolute difference between angle in 3D space and texture space
     ///Actually the difference in cos space
@@ -259,9 +269,9 @@ public:
     static ScalarType L2StretchEnergySquared(const FaceType *f,
                                              ScalarType AreaScaleVal)
     {
-        TexCoordType p0 = (PerWedgeFlag)? f->cWT(0).P() :  f->cV(0)->T().P() ;
-        TexCoordType p1 = (PerWedgeFlag)? f->cWT(1).P() :  f->cV(1)->T().P() ;
-        TexCoordType p2 = (PerWedgeFlag)? f->cWT(2).P() :  f->cV(2)->T().P() ;
+		TexCoordType p0 = UVCoord(f, 0);
+		TexCoordType p1 = UVCoord(f, 1);
+		TexCoordType p2 = UVCoord(f, 2);
 
         CoordType q0 = f->cP(0);
         CoordType q1 = f->cP(1);
@@ -284,9 +294,9 @@ public:
 
     static ScalarType LInfStretchEnergy(const FaceType *f,  ScalarType AreaScaleVal)
     {
-        TexCoordType p0 = (PerWedgeFlag)? f->cWT(0).P() :  f->cV(0)->T().P() ;
-        TexCoordType p1 = (PerWedgeFlag)? f->cWT(1).P() :  f->cV(1)->T().P() ;
-        TexCoordType p2 = (PerWedgeFlag)? f->cWT(2).P() :  f->cV(2)->T().P() ;
+		TexCoordType p0 = UVCoord(f, 0);
+		TexCoordType p1 = UVCoord(f, 1);
+		TexCoordType p2 = UVCoord(f, 2);
 
         CoordType q0 = f->cP(0);
         CoordType q1 = f->cP(1);
@@ -309,9 +319,73 @@ public:
         return G;
     }
 
+	static ScalarType ARAPEnergy(const FaceType *f)
+	{
+		if (f == NULL)
+		{
+			return std::numeric_limits<ScalarType>::infinity();
+		}
+
+		const Eigen::Matrix2d F = mappingTransform2D(*f);
+		const Eigen::Vector2d singular = svd2x2(F);
+		const double a = singular(0) - 1;
+		const double b = singular(1) - 1;
+		return ScalarType(0.5 * (a*a + b*b));
+	}
+
+	static Eigen::Matrix2d mappingTransform2D(const FaceType & triangle)
+	{
+		typedef  Eigen::Matrix<double, 3, 2> Matrix32;
+		typedef  Eigen::Matrix2d             Matrix22;
+
+
+		Matrix22 param3d, param2d;
+		// 3D
+		{
+			Matrix32 edges3D, P3D;
+			Eigen::Vector3d e0, e1;
+			(triangle.cP(1) - triangle.cP(0)).ToEigenVector(e0); // 0->1
+			(triangle.cP(2) - triangle.cP(0)).ToEigenVector(e1); // 0->2
+			edges3D.col(0) = e0;
+			edges3D.col(1) = e1;
+
+			// Projection/frame change matrix
+			P3D.col(0) = edges3D.col(0).normalized(); // 0->1 normalized                                 e0 basis
+			P3D.col(1) = (edges3D.col(1) - edges3D.col(1).dot(P3D.col(0)) * P3D.col(0)).normalized(); // e1 basis orthogonal to e0
+
+			param3d = (P3D.transpose() * edges3D);
+		}
+
+		// 2D
+		{
+			Matrix22 edges2D, P2D;
+			TexCoordType uv0 = UVCoord(&triangle, 0);
+			TexCoordType uv1 = UVCoord(&triangle, 1);
+			TexCoordType uv2 = UVCoord(&triangle, 2);
+
+			const TexCoordType e0 = (uv1 - uv0); // 0->1
+			const TexCoordType e1 = (uv2 - uv0); // 0->2
+			param2d << e0.X(), e1.X(),
+			           e0.Y(), e1.Y();
+		}
+
+		return param2d * param3d.inverse(); // transf mapping
+	}
+
+	// svd 2x2 matrix (singular values only)
+	static Eigen::Vector2d svd2x2(const Eigen::Matrix2d & M)
+	{
+		const double a=M(0,0), b=M(0,1), c=M(1,0), d=M(1,1);
+		const double tmp1 = a*a + b*b;
+		const double tmp2 = c*c + d*d;
+		const double s1 = tmp1 + tmp2;
+		const double s2 = std::sqrt(std::pow((tmp1 -tmp2), 2.0) + 4 * std::pow(a*c + b*d, 2.0));
+		return Eigen::Vector2d(std::sqrt((s1+s2)/2.0), std::sqrt((s1-s2)/2.0));
+	}
+
 
     ///return the number of folded faces
-    static bool Folded(const FaceType *f)
+    static bool IsFolded(const FaceType *f)
     {
         ScalarType areaUV=AreaUV(f);
         /*if (areaUV<0)
@@ -319,32 +393,30 @@ public:
         return (areaUV<0);
     }
 
-    static int Folded(const MeshType &m)
+    static int FoldedNum(const MeshType &m)
     {
         int folded=0;
-        for (size_t i=0;i<m.face.size();i++)
-        {
-            if (m.face[i].IsD())continue;
-            if(Folded(&m.face[i]))folded++;
-        }
+
+        ForEachFace(m, std::function<void (const FaceType&)>([&folded](const FaceType &f){
+          if(IsFolded(&f)) folded++;
+        }));
+        
         return folded;
     }
 
     static bool GloballyUnFolded(const MeshType &m)
     {
-        int num=Folded(m);
+        int num=FoldedNum(m);
         return (num>(m.fn)/2);
     }
 
     static ScalarType MeshAngleDistortion(const MeshType &m)
     {
         ScalarType UDdist=0;
-        for (int i=0;i<m.face.size();i++)
-        {
-            if (m.face[i].IsD())continue;
-            const FaceType *f=&(m.face[i]);
-            UDdist+=AngleDistortion(f)*Area3D(f);
-        }
+        ForEachFace(m, std::function<void (const FaceType&)>([&UDdist](const FaceType &f){
+          UDdist += AngleDistortion(f)*Area3D(f);
+        }));
+        
         return UDdist;
     }
 
@@ -410,10 +482,10 @@ public:
         ScalarType edge_scale,area_scale;
         MeshScalingFactor(m,area_scale,edge_scale);
 
-        float tot = 0;
-        float totA = 0;
+        ScalarType tot = 0;
+        ScalarType totA = 0;
 
-        for (int i=0;i<m.face.size();i++)
+        for (size_t i=0;i<m.face.size();i++)
         {
             if (m.face[i].IsD())continue;
             ScalarType q;
@@ -439,6 +511,9 @@ public:
             case LInfStretch:
                 q = LInfStretchEnergy( &m.face[i],area_scale );
                 break;
+            case ARAPDist:
+                q = ARAPEnergy(&m.face[i]);
+                break;
             }
 
             m.face[i].Q() = q; // note: for L2Stretch, we are puttning E^2 on Q
diff --git a/vcg/complex/algorithms/parametrization/poisson_solver.h b/vcg/complex/algorithms/parametrization/poisson_solver.h
index 7497010f..c0f45945 100644
--- a/vcg/complex/algorithms/parametrization/poisson_solver.h
+++ b/vcg/complex/algorithms/parametrization/poisson_solver.h
@@ -24,10 +24,9 @@
 #ifndef VCG_POISSON_SOLVER
 #define VCG_POISSON_SOLVER
 
-#include <eigenlib/Eigen/Sparse>
+#include <Eigen/Sparse>
 
 #include <vcg/complex/algorithms/clean.h>
-#include <vcg/complex/algorithms/update/bounding.h>
 #include <vcg/complex/algorithms/parametrization/distortion.h>
 #include <vcg/complex/algorithms/parametrization/uv_utils.h>
 
@@ -36,26 +35,19 @@ namespace tri{
 template <class MeshType>
 class PoissonSolver
 {
-
     typedef typename MeshType::ScalarType ScalarType;
     typedef typename MeshType::FaceType FaceType;
     typedef typename MeshType::VertexType VertexType;
     typedef typename MeshType::CoordType CoordType;
-    typedef typename MeshType:: template PerFaceAttributeHandle<CoordType> PerFaceCoordHandle;
 
-    ///the mesh itself
     MeshType &mesh;
 
     ///solver data
-
     std::map<VertexType*,int> VertexToInd;
     std::map<int, VertexType*> IndToVertex;
 
     ///vertices to fix
     std::vector<VertexType *> to_fix;
-
-    ///unknown vector
-
     Eigen::SparseMatrix<double> A; // A
     Eigen::VectorXd b,x;// x and b
 
@@ -70,8 +62,6 @@ class PoissonSolver
     bool use_direction_field,fix_selected,correct_fixed;
     ///size of the scalar field
     ScalarType fieldScale;
-//    ///handle per direction field
-//    PerFaceCoordHandle Fh0,Fh1;
 
     int VertexIndex(VertexType* v)
     {
@@ -95,54 +85,22 @@ class PoissonSolver
     ///set the value of A of the system Ax=b
     void SetValA(int Xindex,int Yindex,ScalarType val)
     {
-        //int size=(int)S.nrows();
         assert(0 <= Xindex && Xindex < int(total_size));
         assert(0 <= Yindex && Yindex < int(total_size));
-        //S.A().addEntryReal(Xindex,Yindex,val);
-        //if (Xindex>=Yindex)
         A.coeffRef(Xindex,Yindex) +=val;
-
     }
 
-
-    void FindFarthestVert(VertexType* &v0,VertexType* &v1)
+    void FindFarthestVert(VertexType* &v0, VertexType* &v1)
     {
-        UpdateBounding<MeshType>::Box(mesh);
-
-        tri::UpdateTopology<MeshType>::FaceFace(mesh);
-        tri::UpdateFlags<MeshType>::FaceBorderFromFF(mesh);
-        tri::UpdateFlags<MeshType>::VertexBorderFromFaceBorder(mesh);
-
-        ScalarType dmax=0;
-        v0=NULL;
-        v1=NULL;
-        for (unsigned int i=0;i<mesh.vert.size();i++)
-            for (unsigned int j=(i+1);j<mesh.vert.size();j++)
-            {
-                VertexType *vt0=&mesh.vert[i];
-                VertexType *vt1=&mesh.vert[j];
-                if (vt0->IsD())continue;
-                if (vt1->IsD())continue;
-                if (!vt0->IsB())continue;
-                if (!vt1->IsB())continue;
-                ScalarType d_test=(vt0->P()-vt1->P()).Norm();
-//                ScalarType Dx=fabs(vt0->P().X()-vt1->P().X());
-//                ScalarType Dy=fabs(vt0->P().Y()-vt1->P().Y());
-//                ScalarType Dz=fabs(vt0->P().Z()-vt1->P().Z());
-
-                //ScalarType d_test=std::max(Dx,std::max(Dy,Dz));
-                //ScalarType d_test=std::max(fabs(Dx-Dy),std::max(fabs(Dx-Dz),fabs(Dy-Dz)));
-                if (d_test>dmax)
-                {
-                    dmax=d_test;
-                    v0=vt0;
-                    v1=vt1;
-                }
-            }
-        assert(v0!=NULL);
-        assert(v1!=NULL);
+      v0=v1=NULL;
+      const int bestAxis = mesh.bbox.MaxDim();
+      for(VertexType &vv : mesh.vert) {
+        if(vv.P()[bestAxis] <= mesh.bbox.min[bestAxis]) v0 = &vv;
+        if(vv.P()[bestAxis] >= mesh.bbox.max[bestAxis]) v1 = &vv;
+      }
+      assert( (v0!=v1) && v0 && v1);
     }
-
+    
     ///set the value of b of the system Ax=b
     void SetValB(int Xindex,
                  ScalarType val)
@@ -308,18 +266,9 @@ class PoissonSolver
         neg_t[1] = fNorm ^ (p[0] - p[2]);
         neg_t[2] = fNorm ^ (p[1] - p[0]);
 
-        CoordType K1,K2;
-        /*MyMesh::PerFaceCoordHandle<ScalarType> Fh = tri::Allocator<MyMesh>::AddPerVertexAttribute<float>  (m,std::string("Irradiance"));
-        bool CrossDir0 = tri::HasPerVertexAttribute(mesh,"CrossDir0");
-                bool CrossDir1 = tri::HasPerVertexAttribute(mesh,"CrossDir1");
-                assert(CrossDir0);
-                assert(CrossDir1);*/
-
-        //K1=f->Q3();
-        K1=f->PD1();
+        CoordType K1 = CoordType::Construct(f->PD1());
+        CoordType K2 = CoordType::Construct(f->PD2());
         K1.Normalize();
-        //K2=fNorm^K1;
-        K2=f->PD2();
         K2.Normalize();
 
         scaled_Kreal = K1*(vector_field_scale);///2);
@@ -447,6 +396,7 @@ class PoissonSolver
     {
         //--- Allocates the data for Ax=b
         A=Eigen::SparseMatrix<double>(total_size, total_size); // A
+        A.reserve(Eigen::VectorXi::Constant(total_size,32));  // This prealloaction trick greatly speed up the acc
         b = Eigen::VectorXd::Zero(total_size);  // x and b
     }
 
@@ -541,7 +491,7 @@ class PoissonSolver
 public:
 
     ///return true if is possible to
-    bool IsFeaseable()
+    bool IsFeasible()
     {
         tri::UpdateTopology<MeshType>::FaceFace(mesh);
         int NNmanifoldE=tri::Clean<MeshType>::CountNonManifoldEdgeFF(mesh);
@@ -575,13 +525,12 @@ public:
         for (size_t i=0;i<mesh.vert.size();i++)
         {
             VertexType* v=&mesh.vert[i];
-            if (v->IsD())continue;
-            if(v->IsB())to_fix.push_back(v);
+            if (v->IsD()) continue;
+            if(v->IsB()) to_fix.push_back(v);
         }
         std::sort(to_fix.begin(),to_fix.end());
-        typename std::vector<VertexType*>::iterator new_end=std::unique(to_fix.begin(),to_fix.end());
-        int dist=distance(to_fix.begin(),new_end);
-        to_fix.resize(dist);
+        auto new_end=std::unique(to_fix.begin(),to_fix.end());
+        to_fix.resize(distance(to_fix.begin(),new_end));
     }
 
     ///set selected vertices as fixed
@@ -642,16 +591,6 @@ public:
               ScalarType _fieldScale=1.0)
     {
         use_direction_field=_use_direction_field;
-        //query if an attribute is present or not
-//        if (use_direction_field)
-//        {
-//            bool CrossDir0 = tri::HasPerFaceAttribute(mesh,"CrossDir0");
-//            bool CrossDir1 = tri::HasPerFaceAttribute(mesh,"CrossDir1");
-//            assert(CrossDir0);
-//            assert(CrossDir1);
-//            Fh0= tri::Allocator<MeshType> :: template GetPerFaceAttribute<CoordType>(mesh,std::string("CrossDir0"));
-//            Fh1= tri::Allocator<MeshType> :: template GetPerFaceAttribute<CoordType>(mesh,std::string("CrossDir1"));
-//        }
         correct_fixed=_correct_fixed;
         fieldScale=_fieldScale;
         to_fix.clear();
@@ -674,10 +613,6 @@ public:
         ///set vertex indexes
         InitIndex();
 
-        /*///find vertex to fix
-        std::vector<VertexType *> to_fix;
-        FindFixedVertices(to_fix);
-        n_fixed_vars=to_fix.size();*/
         if (use_direction_field)
         {
             assert(to_fix.size()>0);
@@ -691,14 +626,6 @@ public:
         ///initialize the matrix ALLOCATING SPACE
         InitMatrix();
 
-//        if (use_direction_field)
-//        {
-//            bool CrossDir0 = tri::HasPerFaceAttribute(mesh,"CrossDir0");
-//            bool CrossDir1 = tri::HasPerFaceAttribute(mesh,"CrossDir1");
-//            assert(CrossDir0);
-//            assert(CrossDir1);
-//        }
-
         ///build the laplacian system
         BuildLaplacianMatrix(fieldScale);
 
@@ -745,12 +672,12 @@ public:
 
     PoissonSolver(MeshType &_mesh):mesh(_mesh)
     {
-        assert(mesh.vert.size()>3);
-        assert(mesh.face.size()>1);
+        assert(mesh.vert.size()>=3);
+        assert(mesh.face.size()>=1);
     }
 
 
 }; // end class
-} //End Namespace Tri
+} // End Namespace tri
 } // End Namespace vcg
 #endif
diff --git a/vcg/complex/algorithms/parametrization/tangent_field_operators.h b/vcg/complex/algorithms/parametrization/tangent_field_operators.h
index 3da1a33a..85b5a029 100644
--- a/vcg/complex/algorithms/parametrization/tangent_field_operators.h
+++ b/vcg/complex/algorithms/parametrization/tangent_field_operators.h
@@ -22,8 +22,7 @@
 ****************************************************************************/
 #include <vcg/math/histogram.h>
 #include <vcg/complex/algorithms/update/curvature.h>
-#include <vcg/complex/algorithms/update/flag.h>
-#include <algorithm>
+#include <wrap/io_trimesh/export.h>
 
 #ifndef VCG_TANGENT_FIELD_OPERATORS
 #define VCG_TANGENT_FIELD_OPERATORS
@@ -90,7 +89,7 @@ vcg::Point3<ScalarType> InterpolateNRosy3D(const std::vector<vcg::Point3<ScalarT
                                            const vcg::Point3<ScalarType> &TargetN)
 {
     typedef typename vcg::Point3<ScalarType> CoordType;
-    ///create a reference frame along TargetN
+    //create a reference frame along TargetN
     CoordType TargetZ=TargetN;
     TargetZ.Normalize();
     CoordType U=CoordType(1,0,0);
@@ -126,6 +125,13 @@ vcg::Point3<ScalarType> InterpolateNRosy3D(const std::vector<vcg::Point3<ScalarT
 
         ///trassform to the reference frame
         rotV=RotFrame*rotV;
+//        if (isnan(rotV.X())||isnan(rotV.Y()))
+//        {
+//            std::cout << "V[i] " << V[i].X() << " " << V[i].Y() << std::endl << std::flush;
+//            std::cout << "Norm[i] " << Norm[i].X() << " " << Norm[i].Y() << " " << Norm[i].Z()<< std::endl;
+//            std::cout << "TargetN " << TargetN.X() << " " << TargetN.Y() << " " << TargetN.Z()<< std::endl<< std::flush;
+//        }
+
         assert(!isnan(rotV.X()));
         assert(!isnan(rotV.Y()));
 
@@ -155,6 +161,8 @@ class CrossField
 
 private:
 
+
+
     static void SubDivideDir(const CoordType &Edge0,
                              const CoordType &Edge1,
                              std::vector<CoordType> &SubDEdges,
@@ -201,7 +209,7 @@ private:
 
         //push the first one
         SubDEdges.push_back(Edge0);
-        for (size_t i=1;i<Nsub;i++)
+        for (int i=1;i<Nsub;i++)
         {
             //find angle interval
             ScalarType B=StepAngle*(ScalarType)i;
@@ -221,9 +229,9 @@ private:
     }
 
     static void FindSubDir(vcg::Triangle3<ScalarType> T3,
-                             size_t Nvert,
-                             std::vector<CoordType> &SubDEdges,
-                             int Nsub)
+                           size_t Nvert,
+                           std::vector<CoordType> &SubDEdges,
+                           int Nsub)
     {
         CoordType P0=T3.P0(Nvert);
         CoordType P1=T3.P1(Nvert);
@@ -236,9 +244,9 @@ private:
     }
 
     static void SubdivideTris(vcg::Triangle3<ScalarType> T3,
-                             size_t Nvert,
-                             std::vector<vcg::Triangle3<ScalarType> > &SubTris,
-                             int Nsub)
+                              size_t Nvert,
+                              std::vector<vcg::Triangle3<ScalarType> > &SubTris,
+                              int Nsub)
     {
         std::vector<CoordType> SplittedPos;
         FindSubDir(T3,Nvert,SplittedPos,Nsub);
@@ -246,8 +254,8 @@ private:
         //then create the triangles
         for (size_t j=0;j<SplittedPos.size()-1;j++)
         {
-           TriangleType T(P0,SplittedPos[j+1],SplittedPos[j]);
-           SubTris.push_back(T);
+            TriangleType T(P0,SplittedPos[j+1],SplittedPos[j]);
+            SubTris.push_back(T);
         }
     }
 
@@ -330,20 +338,20 @@ private:
                 alpha=1-(ScalarType)(sub_int+MiddlePos)/(ScalarType)SubDivisionSize;
             }
             else
-            if (sub_int>MiddlePos)
-            {
-                IndexF0=interval;
-                IndexF1=(interval+1) % OriginalFace.size();
-                alpha=1-(sub_int-MiddlePos)/(ScalarType)SubDivisionSize;
-            }
-            else //sub_int==MiddlePos
-            {
-                IndexF0=interval;
-                IndexF1=(interval+1) % OriginalFace.size();
-                alpha=1;
-            }
-            assert((IndexF0>=0)&&(IndexF0<OriginalFace.size()));
-            assert((IndexF1>=0)&&(IndexF1<OriginalFace.size()));
+                if (sub_int>MiddlePos)
+                {
+                    IndexF0=interval;
+                    IndexF1=(interval+1) % OriginalFace.size();
+                    alpha=1-(sub_int-MiddlePos)/(ScalarType)SubDivisionSize;
+                }
+                else //sub_int==MiddlePos
+                {
+                    IndexF0=interval;
+                    IndexF1=(interval+1) % OriginalFace.size();
+                    alpha=1;
+                }
+            assert((IndexF0>=0)&&(IndexF0<(int)OriginalFace.size()));
+            assert((IndexF1>=0)&&(IndexF1<(int)OriginalFace.size()));
 
             FaceType* F0=OriginalFace[IndexF0];
             FaceType* F1=OriginalFace[IndexF1];
@@ -396,82 +404,82 @@ private:
                                const TriangleType &t0,
                                const TriangleType &t1,
                                CoordType &Interpolated,
-                               size_t &Face)
+                               int &Face)
     {
-       //find smallest edge
-       ScalarType smallestE=std::numeric_limits<ScalarType>::max();
-       for (int j=0;j<3;j++)
-       {
-          ScalarType L0=(t0.P0(j)-t0.P1(j)).Norm();
-          ScalarType L1=(t1.P0(j)-t1.P1(j)).Norm();
-          if (L0<smallestE) smallestE=L0;
-          if (L1<smallestE) smallestE=L1;
-       }
+        //find smallest edge
+        ScalarType smallestE=std::numeric_limits<ScalarType>::max();
+        for (int j=0;j<3;j++)
+        {
+            ScalarType L0=(t0.P0(j)-t0.P1(j)).Norm();
+            ScalarType L1=(t1.P0(j)-t1.P1(j)).Norm();
+            if (L0<smallestE) smallestE=L0;
+            if (L1<smallestE) smallestE=L1;
+        }
 
-       //safety check
-       assert(t0.P(0)==t1.P(0));
+        //safety check
+        assert(t0.P(0)==t1.P(0));
 
-       CoordType Origin=t0.P(0);
-       TriangleType T0Rot(CoordType(0,0,0),t0.P(1)-Origin,t0.P(2)-Origin);
-       TriangleType T1Rot(CoordType(0,0,0),t1.P(1)-Origin,t1.P(2)-Origin);
+        CoordType Origin=t0.P(0);
+        TriangleType T0Rot(CoordType(0,0,0),t0.P(1)-Origin,t0.P(2)-Origin);
+        TriangleType T1Rot(CoordType(0,0,0),t1.P(1)-Origin,t1.P(2)-Origin);
 
-       //then rotate normal of T0 to match with normal of T1
-       CoordType N0=vcg::Normal(T0Rot.cP(0),T0Rot.cP(1),T0Rot.P(2));
-       CoordType N1=vcg::Normal(T1Rot.cP(0),T1Rot.cP(1),T1Rot.cP(2));
-       N0.Normalize();
-       N1.Normalize();
-       vcg::Matrix33<ScalarType> rotation=vcg::RotationMatrix(N0,N1);
+        //then rotate normal of T0 to match with normal of T1
+        CoordType N0=vcg::Normal(T0Rot.cP(0),T0Rot.cP(1),T0Rot.P(2));
+        CoordType N1=vcg::Normal(T1Rot.cP(0),T1Rot.cP(1),T1Rot.cP(2));
+        N0.Normalize();
+        N1.Normalize();
+        vcg::Matrix33<ScalarType> rotation=vcg::RotationMatrix(N0,N1);
 
-       //transform the first triangle
-       T0Rot.P(1)=rotation*T0Rot.P(1);
-       T0Rot.P(2)=rotation*T0Rot.P(2);
+        //transform the first triangle
+        T0Rot.P(1)=rotation*T0Rot.P(1);
+        T0Rot.P(2)=rotation*T0Rot.P(2);
 
-       //also rotate the directions
-       CoordType Dir0Rot=rotation*Dir0;
-       CoordType Dir1Rot=Dir1;
-       CoordType Sep0Rot=rotation*Sep0;
-       CoordType Sep1Rot=Sep1;
+        //also rotate the directions
+        CoordType Dir0Rot=rotation*Dir0;
+        CoordType Dir1Rot=Dir1;
+        CoordType Sep0Rot=rotation*Sep0;
+        CoordType Sep1Rot=Sep1;
 
-       //find the interpolation angles
-       ScalarType Angle0=vcg::Angle(Dir0Rot,Sep0Rot);
-       ScalarType Angle1=vcg::Angle(Dir1Rot,Sep1Rot);
-       assert(Angle0>=0);
-       assert(Angle1>=0);
-       assert(Angle0<=(M_PI/2));
-       assert(Angle1<=(M_PI/2));
-       ScalarType alpha=0.5;//Angle0/(Angle0+Angle1);
+        //find the interpolation angles
+        ScalarType Angle0=vcg::Angle(Dir0Rot,Sep0Rot);
+        ScalarType Angle1=vcg::Angle(Dir1Rot,Sep1Rot);
+        assert(Angle0>=0);
+        assert(Angle1>=0);
+        assert(Angle0<=(M_PI/2));
+        assert(Angle1<=(M_PI/2));
+        ScalarType alpha=0.5;//Angle0/(Angle0+Angle1);
 
-       //then interpolate the direction
-       //CoordType Interp=Dir0Rot*(1-alpha)+Dir1Rot*alpha;
-       Interpolated=Sep0Rot*(1-alpha)+Sep1Rot*alpha;
-       Interpolated.Normalize();
-       Interpolated*=smallestE;
+        //then interpolate the direction
+        //CoordType Interp=Dir0Rot*(1-alpha)+Dir1Rot*alpha;
+        Interpolated=Sep0Rot*(1-alpha)+Sep1Rot*alpha;
+        Interpolated.Normalize();
+        Interpolated*=smallestE;
 
-       //then find the triangle which falls into
-       CoordType bary0,bary1;
-       bool Inside0=vcg::InterpolationParameters(T0Rot,Interpolated,bary0);
-       bool Inside1=vcg::InterpolationParameters(T1Rot,Interpolated,bary1);
-       assert(Inside0 || Inside1);
-//       if (!(Inside0 || Inside1))
-//       {
-//           std::cout << "Not Inside " << Interpolated.X() << "," << Interpolated.Y() << "," << Interpolated.Z() << std::endl;
-//           std::cout << "bary0 " << bary0.X() << "," << bary0.Y() << "," << bary0.Z() << std::endl;
-//           std::cout << "bary1 " << bary1.X() << "," << bary1.Y() << "," << bary1.Z() << std::endl;
-//           std::cout << "Diff0 " << fabs(bary0.Norm() - 1) << std::endl;
-//           std::cout << "Diff1 " << fabs(bary1.Norm() - 1) << std::endl;
-//       }
+        //then find the triangle which falls into
+        CoordType bary0,bary1;
+        bool Inside0=vcg::InterpolationParameters(T0Rot,Interpolated,bary0);
+        bool Inside1=vcg::InterpolationParameters(T1Rot,Interpolated,bary1);
+        assert(Inside0 || Inside1);
+        //       if (!(Inside0 || Inside1))
+        //       {
+        //           std::cout << "Not Inside " << Interpolated.X() << "," << Interpolated.Y() << "," << Interpolated.Z() << std::endl;
+        //           std::cout << "bary0 " << bary0.X() << "," << bary0.Y() << "," << bary0.Z() << std::endl;
+        //           std::cout << "bary1 " << bary1.X() << "," << bary1.Y() << "," << bary1.Z() << std::endl;
+        //           std::cout << "Diff0 " << fabs(bary0.Norm() - 1) << std::endl;
+        //           std::cout << "Diff1 " << fabs(bary1.Norm() - 1) << std::endl;
+        //       }
 
-       if (Inside0)
-       {
-           Interpolated=t0.P(0)*bary0.X()+t0.P(1)*bary0.Y()+t0.P(2)*bary0.Z();
-           Interpolated-=Origin;
-           Face=0;
-       }
-       else
-           Face=1;
+        if (Inside0)
+        {
+            Interpolated=t0.P(0)*bary0.X()+t0.P(1)*bary0.Y()+t0.P(2)*bary0.Z();
+            Interpolated-=Origin;
+            Face=0;
+        }
+        else
+            Face=1;
 
-       //otherwise is already in the tangent space of t0
-       Interpolated.Normalize();
+        //otherwise is already in the tangent space of t0
+        Interpolated.Normalize();
     }
 
     static void ReduceOneDirectionField(std::vector<CoordType> &directions,
@@ -513,7 +521,7 @@ private:
         directions.clear();
         faces.clear();
 
-        for (size_t i=0;i<SwapV.size();i++)
+        for (int i=0;i<(int)SwapV.size();i++)
         {
             if (i==IndexDel)continue;
             directions.push_back(SwapV[i]);
@@ -523,12 +531,125 @@ private:
 
 public:
 
+    static void InitBorderField(MeshType & mesh)
+    {
+        typedef typename MeshType::FaceType FaceType;
+//        typedef typename MeshType::VertexType VertexType;
+        typedef typename MeshType::CoordType CoordType;
+//        typedef typename MeshType::ScalarType ScalarType;
+
+        vcg::tri::UpdateTopology<MeshType>::FaceFace(mesh);
+        for (size_t i=0;i<mesh.face.size();i++)
+            for (int j=0;j<mesh.face[i].VN();j++)
+            {
+                FaceType *f0=&mesh.face[i];
+                FaceType *f1=f0->FFp(j);
+                assert(f1!=NULL);
+                if (f0!=f1)continue;
+
+                CoordType dir=f0->P0(j)-f0->P1(j);
+                dir.Normalize();
+                f0->PD1()=dir;
+                f0->PD2()=f0->N()^dir;
+            }
+    }
+
+    static void SmoothIterative(MeshType &mesh,int NDir=4,
+                                int NSteps=3,
+                                bool FixSelected=false,
+                                bool UseOnlyUnSelected=false)
+    {
+
+        typedef typename MeshType::FaceType FaceType;
+        //typedef typename MeshType::VertexType VertexType;
+        typedef typename MeshType::CoordType CoordType;
+        typedef typename MeshType::ScalarType ScalarType;
+
+        vcg::tri::UpdateTopology<MeshType>::FaceFace(mesh);
+
+        for (size_t s=0;s<NSteps;s++)
+        {
+            std::vector<CoordType> NewPD1(mesh.face.size(),CoordType(0,0,0));
+            for (size_t i=0;i<mesh.face.size();i++)
+            {
+                if ((FixSelected)&&(mesh.face[i].IsS()))continue;
+                std::vector<CoordType> TangVect;
+                std::vector<CoordType> Norms;
+                FaceType *f0=&mesh.face[i];
+                for (int j=0;j<f0->VN();j++)
+                {
+                    FaceType *f1=f0->FFp(j);
+                    if (FixSelected && UseOnlyUnSelected && f1->IsS())continue;
+                    assert(f1!=NULL);
+                    if (f0==f1)continue;
+                    TangVect.push_back(f1->PD1());
+                    Norms.push_back(f1->N());
+                }
+                assert(Norms.size()>0);
+                std::vector<ScalarType> Weights;
+                Weights.resize(Norms.size(),1/(ScalarType)Norms.size());
+                NewPD1[i]=InterpolateCrossField(TangVect,Weights,Norms,f0->N(),NDir);
+            }
+            for (size_t i=0;i<mesh.face.size();i++)
+            {
+                if ((FixSelected)&&(mesh.face[i].IsS()))continue;
+                assert(NewPD1[i]!=CoordType(0,0,0));
+                mesh.face[i].PD1()=NewPD1[i];
+                mesh.face[i].PD2()=mesh.face[i].N()^mesh.face[i].PD1();
+            }
+        }
+    }
+
+    static void PropagateFromSelF(MeshType &mesh)
+    {
+        vcg::tri::UpdateTopology<MeshType>::FaceFace(mesh);
+
+        //typedef typename std::pair<FaceType*,FaceType*> FacePair;
+        std::vector<int> queue;
+        std::vector<int> Sel0;
+        //initialize the queue
+        for (int i=0; i<(int)mesh.face.size(); i++)
+        {
+            FaceType *f=&(mesh.face[i]);
+            if (f->IsD())continue;
+            if (!f->IsS())continue;
+            queue.push_back(i);
+        }
+        Sel0=queue;
+        assert(queue.size()>0);
+        do
+        {
+            std::vector<int> new_queue;
+            for (int i=0; i<queue.size(); i++)
+            {
+                FaceType *f0=&(mesh.face[queue[i]]);
+                assert(!f0->IsD());
+                for (int i=0;i<f0->VN();i++)
+                {
+                    FaceType *f1=f0->FFp(i);
+                    if (f1==f0)continue;
+                    if (f1->IsS())continue;
+                    f1->PD1()=Rotate(*f0,*f1,f0->PD1());
+                    f1->PD2()=f1->PD1()^f1->N();
+                    f1->SetS();
+                    new_queue.push_back(vcg::tri::Index(mesh,f1));
+                }
+            }
+            queue=new_queue;
+        }while (queue.size()>0);
+
+        //restore selected flag
+        vcg::tri::UpdateFlags<MeshType>::FaceClearS(mesh);
+        for (int i=0; i<(int)Sel0.size(); i++)
+           mesh.face[Sel0[i]].SetS();
+    }
+
     static size_t FindSeparatrices(const typename vcg::face::Pos<FaceType> &vPos,
-                                std::vector<CoordType> &directions,
-                                std::vector<FaceType*> &faces,
-                                std::vector<TriangleType> &WrongTris,
-                                int expVal=-1,
-                                int numSub=3)
+                                   std::vector<CoordType> &directions,
+                                   std::vector<FaceType*> &faces,
+                                   std::vector<TriangleType> &WrongTris,
+                                   int expVal=-1,
+                                   int numSub=3)
     {
 
         directions.clear();
@@ -621,7 +742,7 @@ public:
 
 
             CoordType InterpDir;
-            size_t tri_Index=-1;
+            int tri_Index=-1;
             if ((versef0D1 * versef1D1) < ScalarType(0))
             {
                 InterpolateDir(Dir1F0,Dir1F1,Bary0,Bary1,t0,t1,InterpDir,tri_Index);
@@ -629,7 +750,7 @@ public:
             else
             {
                 if ((versef0D2 * versef1D2 )< ScalarType(0))
-                InterpolateDir(Dir2F0,Dir2F1,Bary0,Bary1,t0,t1,InterpDir,tri_Index);
+                    InterpolateDir(Dir2F0,Dir2F1,Bary0,Bary1,t0,t1,InterpDir,tri_Index);
             }
             //no separatrix found continue
             if (tri_Index==-1)continue;
@@ -638,7 +759,7 @@ public:
             assert((tri_Index==0)||(tri_Index==1));
             int OrigFIndex=((i+tri_Index)%SubFaces.size())/numSub;
             assert(OrigFIndex>=0);
-            assert(OrigFIndex<OriginalFaces.size());
+            assert(OrigFIndex<(int)OriginalFaces.size());
 
             FaceType* currF=OriginalFaces[OrigFIndex];
             //add the data
@@ -646,7 +767,7 @@ public:
             faces.push_back(currF);
         }
         if (expVal==-1)return directions.size();
-        if (directions.size()<=expVal)return directions.size();
+        if ((int)directions.size()<=expVal)return directions.size();
 
         size_t sampledDir=directions.size();
         int to_erase=directions.size()-expVal;
@@ -702,7 +823,7 @@ public:
         CoordType dirS=CrossVector(f0,dir0);
         CoordType dirR=vcg::tri::CrossField<MeshType>::Rotate(f0,f1,dirS);
         ///then get the closest upf to K*PI/2 rotations
-        CoordType dir1=f1.cPD1();
+        //CoordType dir1=f1.cPD1();
         //int ret=I_K_PI(dir1,dirR,f1.cN());
         CoordType dir[4];
         CrossVector(f1,dir);
@@ -717,6 +838,7 @@ public:
                 ret=i;
             }
         }
+
         assert(ret!=-1);
 
         return ret;
@@ -743,9 +865,6 @@ public:
     ///by the cross field (where Z=0)
     static vcg::Matrix33<ScalarType> TransformationMatrix(const FaceType &f)
     {
-        typedef typename FaceType::CoordType CoordType;
-        typedef typename FaceType::ScalarType ScalarType;
-
         ///transform to 3d
         CoordType axis0=f.cPD1();
         CoordType axis1=f.cPD2();//axis0^f.cN();
@@ -847,22 +966,22 @@ public:
                                    const ScalarType &alpha2,
                                    int RefEdge=1)
     {
-          CoordType axis0=f.cP1(RefEdge)-f.cP0(RefEdge);
-          axis0.Normalize();
-          CoordType axis2=f.cN();
-          axis2.Normalize();
-          CoordType axis1=axis2^axis0;
-          axis1.Normalize();
+        CoordType axis0=f.cP1(RefEdge)-f.cP0(RefEdge);
+        axis0.Normalize();
+        CoordType axis2=f.cN();
+        axis2.Normalize();
+        CoordType axis1=axis2^axis0;
+        axis1.Normalize();
 
-          vcg::Matrix33<ScalarType> Trans=vcg::TransformationMatrix(axis0,axis1,axis2);
-          vcg::Matrix33<ScalarType> InvTrans=Inverse(Trans);
+        vcg::Matrix33<ScalarType> Trans=vcg::TransformationMatrix(axis0,axis1,axis2);
+        vcg::Matrix33<ScalarType> InvTrans=Inverse(Trans);
 
-          CoordType PD1=CoordType(cos(alpha1),sin(alpha1),0);
-          CoordType PD2=CoordType(cos(alpha2),sin(alpha2),0);
+        CoordType PD1=CoordType(cos(alpha1),sin(alpha1),0);
+        CoordType PD2=CoordType(cos(alpha2),sin(alpha2),0);
 
-          //then transform and store in the face
-          f.PD1()=(InvTrans*PD1);
-          f.PD2()=(InvTrans*PD2);
+        //then transform and store in the face
+        f.PD1()=(InvTrans*PD1);
+        f.PD2()=(InvTrans*PD2);
     }
 
     ///return the 4 directiona of the cross field in 3D
@@ -941,8 +1060,8 @@ public:
         const CoordType &t1=f.V(1)->PD1();
         const CoordType &t2=f.V(2)->PD1();
         const CoordType &N0=f.V(0)->N();
-        const CoordType &N1=f.V(0)->N();
-        const CoordType &N2=f.V(0)->N();
+        const CoordType &N1=f.V(1)->N();
+        const CoordType &N2=f.V(2)->N();
         const CoordType &NF=f.N();
         const CoordType bary=CoordType(0.33333,0.33333,0.33333);
         CoordType tF0,tF1;
@@ -953,22 +1072,24 @@ public:
         SetCrossVector(f,tF0,tF1);
 
         //then set the magnitudo
-        ScalarType mag1,mag2;
+        ScalarType mag1=0;
+        ScalarType mag2=0;
+
         for (int i=0;i<3;i++)
         {
-           vcg::Matrix33<ScalarType> rotN=vcg::RotationMatrix(f.V(i)->N(),f.N());
-           CoordType rotatedDir=rotN*f.V(i)->PD1();
+            vcg::Matrix33<ScalarType> rotN=vcg::RotationMatrix(f.V(i)->N(),f.N());
+            CoordType rotatedDir=rotN*f.V(i)->PD1();
 
-           if (fabs(rotatedDir*tF0)>fabs(rotatedDir*tF1))
-           {
-               mag1+=fabs(f.V(i)->K1());
-               mag2+=fabs(f.V(i)->K2());
-           }
-           else
-           {
-               mag1+=fabs(f.V(i)->K2());
-               mag2+=fabs(f.V(i)->K1());
-           }
+            if (fabs(rotatedDir*tF0)>fabs(rotatedDir*tF1))
+            {
+                mag1+=(f.V(i)->K1());
+                mag2+=(f.V(i)->K2());
+            }
+            else
+            {
+                mag1+=(f.V(i)->K2());
+                mag2+=(f.V(i)->K1());
+            }
         }
 
         f.K1()=mag1/(ScalarType)3;
@@ -986,7 +1107,7 @@ public:
         }
     }
 
-    ///set the face cross vector from vertex one
+    ///set the vert cross vector from the faces
     static void SetVertCrossVectorFromFace(VertexType &v)
     {
         std::vector<FaceType *> faceVec;
@@ -1097,10 +1218,11 @@ public:
     static  CoordType InterpolateCrossField(const std::vector<CoordType> &TangVect,
                                             const std::vector<ScalarType> &Weight,
                                             const std::vector<CoordType> &Norms,
-                                            const CoordType &BaseNorm)
+                                            const CoordType &BaseNorm,
+                                            int NDir=4)
     {
 
-        CoordType sum=InterpolateNRosy3D(TangVect,Norms,Weight,4,BaseNorm);
+        CoordType sum=InterpolateNRosy3D(TangVect,Norms,Weight,NDir,BaseNorm);
         return sum;
     }
 
@@ -1138,7 +1260,7 @@ public:
     ///return the difference of two cross field, values between [0,1]
     static typename FaceType::ScalarType DifferenceLineField(const typename FaceType::CoordType &t0,
                                                              const typename FaceType::CoordType &t1,
-                                                             const typename FaceType::CoordType &n)
+                                                             const typename FaceType::CoordType &/*n*/)
     {
         CoordType trans0=t0;
         CoordType trans1=t1;
@@ -1156,23 +1278,23 @@ public:
         CoordType t03D=CoordType(t0.X(),t0.Y(),0);
         CoordType t13D=CoordType(t1.X(),t1.Y(),0);
         CoordType Norm=CoordType(0,0,1);
-//        CoordType n=CoordType(0,0,1);
-//        CoordType trans1=K_PI(t13D,t03D,n);
-//        ScalarType diff=vcg::AngleN(trans0,trans1)/(M_PI_4);
+        //        CoordType n=CoordType(0,0,1);
+        //        CoordType trans1=K_PI(t13D,t03D,n);
+        //        ScalarType diff=vcg::AngleN(trans0,trans1)/(M_PI_4);
         //ScalarType diff = 1-fabs(trans0*trans1);
         return DifferenceCrossField(t03D,t13D,Norm);
     }
 
     ///return the difference of two cross field, values between [0,1]
     static typename FaceType::ScalarType DifferenceLineField(const typename vcg::Point2<ScalarType> &t0,
-                                                              const typename vcg::Point2<ScalarType> &t1)
+                                                             const typename vcg::Point2<ScalarType> &t1)
     {
         CoordType t03D=CoordType(t0.X(),t0.Y(),0);
         CoordType t13D=CoordType(t1.X(),t1.Y(),0);
         CoordType Norm=CoordType(0,0,1);
-//        CoordType n=CoordType(0,0,1);
-//        CoordType trans1=K_PI(t13D,t03D,n);
-//        ScalarType diff=vcg::AngleN(trans0,trans1)/(M_PI_4);
+        //        CoordType n=CoordType(0,0,1);
+        //        CoordType trans1=K_PI(t13D,t03D,n);
+        //        ScalarType diff=vcg::AngleN(trans0,trans1)/(M_PI_4);
         //ScalarType diff = 1-fabs(trans0*trans1);
         return DifferenceLineField(t03D,t13D,Norm);
     }
@@ -1273,7 +1395,13 @@ public:
         for (size_t i=0;i<mesh.vert.size();i++)
         {
             if (mesh.vert[i].IsD())continue;
-            //if (mesh.vert[i].IsB())continue;
+
+            if (mesh.vert[i].IsB())
+            {
+                Handle_Singular[i]=false;
+                Handle_SingularIndex[i]=0;
+                continue;
+            }
 
             int missmatch;
             if (IsSingularByCross(mesh.vert[i],missmatch))
@@ -1289,6 +1417,13 @@ public:
         }
     }
 
+    static bool IsSingular(MeshType &mesh,const VertexType &v)
+    {
+        assert(vcg::tri::HasPerVertexAttribute(mesh,std::string("Singular")));
+        typename MeshType::template PerVertexAttributeHandle<bool> Handle_Singular;
+        Handle_Singular = vcg::tri::Allocator<MeshType>::template GetPerVertexAttribute<bool>(mesh,std::string("Singular"));
+        return (Handle_Singular[v]);
+    }
 
     static void GradientToCross(const FaceType &f,
                                 const vcg::Point2<ScalarType> &UV0,
@@ -1316,8 +1451,8 @@ public:
         dirU=PosT0*Bary0.X()+PosT1*Bary0.Y()+PosT2*Bary0.Z();
         dirV=PosT0*Bary1.X()+PosT1*Bary1.Y()+PosT2*Bary1.Z();
 
-//        dirU-=Origin3D;
-//        dirV-=Origin3D;
+        //        dirU-=Origin3D;
+        //        dirV-=Origin3D;
         dirU.Normalize();
         dirV.Normalize();
         //orient coherently
@@ -1325,36 +1460,36 @@ public:
         CoordType NTarget=vcg::Normal(f.cP(0),f.cP(1),f.cP(2));
         if ((Ntest*NTarget)<0)dirV=-dirV;
 
-//        //then make them orthogonal
-//        CoordType dirAvg=dirU^dirV;
+        //        //then make them orthogonal
+        //        CoordType dirAvg=dirU^dirV;
         CoordType dirVTarget=NTarget^dirU;
         CoordType dirUTarget=NTarget^dirV;
 
-         dirUTarget.Normalize();
-         dirVTarget.Normalize();
-         if ((dirUTarget*dirU)<0)dirUTarget=-dirUTarget;
-         if ((dirVTarget*dirV)<0)dirVTarget=-dirVTarget;
+        dirUTarget.Normalize();
+        dirVTarget.Normalize();
+        if ((dirUTarget*dirU)<0)dirUTarget=-dirUTarget;
+        if ((dirVTarget*dirV)<0)dirVTarget=-dirVTarget;
 
-         dirU=(dirU+dirUTarget)/2;
-         dirV=(dirV+dirVTarget)/2;
+        dirU=(dirU+dirUTarget)/2;
+        dirV=(dirV+dirVTarget)/2;
 
-         dirU.Normalize();
-         dirV.Normalize();
+        dirU.Normalize();
+        dirV.Normalize();
 
-//        ///compute non normalized normal
-//        CoordType n  =  f.cN();
+        //        ///compute non normalized normal
+        //        CoordType n  =  f.cN();
 
-//        CoordType p0 =f.cP(1) - f.cP(0);
-//        CoordType p1 =f.cP(2) - f.cP(1);
-//        CoordType p2 =f.cP(0) - f.cP(2);
+        //        CoordType p0 =f.cP(1) - f.cP(0);
+        //        CoordType p1 =f.cP(2) - f.cP(1);
+        //        CoordType p2 =f.cP(0) - f.cP(2);
 
-//        CoordType t[3];
-//        t[0] =  -(p0 ^ n);
-//        t[1] =  -(p1 ^ n);
-//        t[2] =  -(p2 ^ n);
+        //        CoordType t[3];
+        //        t[0] =  -(p0 ^ n);
+        //        t[1] =  -(p1 ^ n);
+        //        t[2] =  -(p2 ^ n);
 
-//        dirU = t[1]*UV0.X() + t[2]*UV1.X() + t[0]*UV2.X();
-//        dirV = t[1]*UV0.Y() + t[2]*UV1.Y() + t[0]*UV2.Y();
+        //        dirU = t[1]*UV0.X() + t[2]*UV1.X() + t[0]*UV2.X();
+        //        dirV = t[1]*UV0.Y() + t[2]*UV1.Y() + t[0]*UV2.Y();
     }
 
     static void MakeDirectionFaceCoherent(FaceType *f0,
@@ -1504,16 +1639,41 @@ public:
     {
         for (size_t i=0;i<mesh.face.size();i++)
         {
-            vcg::Point2<ScalarType> UV0=mesh.face[i].WT(0).P();
-            vcg::Point2<ScalarType> UV1=mesh.face[i].WT(1).P();
-            vcg::Point2<ScalarType> UV2=mesh.face[i].WT(2).P();
-            GradientToCross(mesh.face[i],UV0,UV1,UV2,
-                            CoordType::Construct(mesh.face[i].PD1()),
-                            CoordType::Construct(mesh.face[i].PD2()) );
+            vcg::Point2<ScalarType> UV0 = vcg::Point2<ScalarType>::Construct(mesh.face[i].WT(0).P());
+            vcg::Point2<ScalarType> UV1 = vcg::Point2<ScalarType>::Construct(mesh.face[i].WT(1).P());
+            vcg::Point2<ScalarType> UV2 = vcg::Point2<ScalarType>::Construct(mesh.face[i].WT(2).P());
+            CoordType uDir = CoordType::Construct(mesh.face[i].PD1());
+            CoordType vDir = CoordType::Construct(mesh.face[i].PD2());
+            GradientToCross(mesh.face[i],UV0,UV1,UV2, uDir, vDir);
         }
         OrientDirectionFaceCoherently(mesh);
     }
 
+    static size_t expectedValence(MeshType &mesh,
+                                  const VertexType &v) {
+
+        // query if an attribute is present or not
+        assert(vcg::tri::HasPerVertexAttribute(mesh,std::string("Singular")));
+        assert(vcg::tri::HasPerVertexAttribute(mesh,std::string("SingularIndex")));
+        typename MeshType::template PerVertexAttributeHandle<bool> Handle_Singular;
+        Handle_Singular = vcg::tri::Allocator<MeshType>::template GetPerVertexAttribute<bool>(mesh,std::string("Singular"));
+        typename MeshType::template PerVertexAttributeHandle<int> Handle_SingularIndex;
+        Handle_SingularIndex = vcg::tri::Allocator<MeshType>::template GetPerVertexAttribute<int>(mesh,std::string("SingularIndex"));
+        if (!Handle_Singular[v])
+            return 4;
+        switch (Handle_SingularIndex[v]) {
+        case 1:
+            return 5;
+        case 2:
+            return 6;
+        case 3:
+            return 3;
+        case 4:
+            return 2;
+        default:
+            return 4;
+        }
+    }
 };///end class
 } //End Namespace Tri
 } // End Namespace vcg
diff --git a/vcg/complex/algorithms/parametrization/uv_utils.h b/vcg/complex/algorithms/parametrization/uv_utils.h
index 53a46f8d..cf43f9bd 100644
--- a/vcg/complex/algorithms/parametrization/uv_utils.h
+++ b/vcg/complex/algorithms/parametrization/uv_utils.h
@@ -24,6 +24,10 @@
 #ifndef VCG_UV_UTILS
 #define VCG_UV_UTILS
 
+#include <vcg/space/point2.h>
+#include <vcg/space/box2.h>
+#include <vcg/space/triangle2.h>
+#include <vcg/space/triangle3.h>
 
 namespace vcg {
 namespace tri{
@@ -39,6 +43,44 @@ class UV_Utils
     typedef typename vcg::Point2<ScalarType> UVCoordType;
 
 public:
+
+    ///calculate the area in UV space
+    static ScalarType PerVertUVArea(MeshType &m)
+    {
+        FaceIterator fi;
+        ScalarType Area=0;
+        for (fi=m.face.begin();fi!=m.face.end();fi++)
+        {
+            if ((*fi).IsD()) continue;
+            UVCoordType E0= (*fi).V(1)->T().P()-(*fi).V(0)->T().P();
+            UVCoordType E1= (*fi).V(2)->T().P()-(*fi).V(0)->T().P();
+            ScalarType doubleA=fabs(E0^E1);
+            Area+=doubleA/2;
+        }
+        return Area;
+    }
+
+    ///scale vert UV to match 3D area
+    static void ScaleVertUVToMatchArea(MeshType &m)
+    {
+        FaceIterator fi;
+        ScalarType Area3D=0;
+        for (fi=m.face.begin();fi!=m.face.end();fi++)
+        {
+            if ((*fi).IsD()) continue;
+            Area3D+=vcg::DoubleArea((*fi))/2;
+        }
+        ScalarType Area2D=PerVertUVArea(m);
+        ScalarType ScaleFact=sqrt( Area3D / Area2D );
+
+        VertexIterator vi;
+        for (vi=m.vert.begin();vi!=m.vert.end();vi++)
+        {
+            if ((*vi).IsD()) continue;
+            (*vi).T().P()*=ScaleFact;
+        }
+    }
+
     ///calculate the BBox in UV space
     static vcg::Box2<ScalarType> PerWedgeUVBox(MeshType &m)
     {
@@ -112,6 +154,26 @@ public:
         }
     }
 
+    static void GloballyRotate(MeshType &m,ScalarType Angle)
+    {
+        vcg::Box2<ScalarType> BB=PerWedgeUVBox(m);
+        UVCoordType Origin=BB.Center();
+        typename MeshType::FaceIterator fi;
+        for (fi=m.face.begin();fi!=m.face.end();fi++)
+        {
+            if ((*fi).IsD()) continue;
+            for (int i=0;i<3;i++)
+            {
+                (*fi).WT(i).P()-=Origin;
+                ScalarType X1=(*fi).WT(i).P().X()*cos(Angle)-(*fi).WT(i).P().Y()*sin(Angle);
+                ScalarType Y1=(*fi).WT(i).P().X()*cos(Angle)+(*fi).WT(i).P().Y()*sin(Angle);
+                (*fi).WT(i).P().X()=X1;
+                (*fi).WT(i).P().Y()=Y1;
+                (*fi).WT(i).P()+=Origin;
+            }
+        }
+    }
+
     static void LaplacianUVVert(MeshType &m,bool fix_borders=false,int steps=3)
     {
         FaceIterator fi;
diff --git a/vcg/complex/algorithms/parametrization/voronoi_atlas.h b/vcg/complex/algorithms/parametrization/voronoi_atlas.h
index 1edbaaab..345c5399 100644
--- a/vcg/complex/algorithms/parametrization/voronoi_atlas.h
+++ b/vcg/complex/algorithms/parametrization/voronoi_atlas.h
@@ -129,12 +129,12 @@ public:
    bool overlap;
    Stat vas;
    int maxIterNum;
+   CallBackPos *cb=vcg::CErrCallBackPos;
  };
 
  // Main parametrization function:
  // it takes a startMesh, copy it and
 
-
   static void Build( MeshType &startMesh, MeshType &paraMesh, VoronoiAtlasParam &pp)
   {
     pp.vas.clear();
@@ -159,7 +159,7 @@ public:
     tri::PoissonSampling(m,PoissonSamples,pp.sampleNum,diskRadius);
     int st1=clock();
     pp.vas.samplingTime+= st1-st0;
-//    qDebug("Sampling created a new mesh of %lu points\n",PoissonSamples.size());
+    pp.cb(50,StrFormat("Sampling created a new mesh of %lu points\n",PoissonSamples.size()));
     EuclideanDistance<VoroMesh> edFunc;
     std::vector<VertexType *> seedVec;
     tri::VoronoiProcessing<VoroMesh>::SeedToVertexConversion(m,PoissonSamples,seedVec);
@@ -174,7 +174,7 @@ public:
     {
       VoroMesh *rm = new VoroMesh();
       int selCnt = tri::VoronoiProcessing<VoroMesh>::FaceSelectAssociateRegion(m,seedVec[i]);
-      //qDebug("Region %i of %i faces",i,selCnt);
+       pp.cb(50,StrFormat("Region %i of %i faces",i,selCnt));
       if(selCnt==0) continue;
       assert(selCnt>0);
       if(pp.overlap){
@@ -184,7 +184,8 @@ public:
       tri::Append<VoroMesh,VoroMesh>::Mesh(*rm, m, true);
       int tp0=clock();
       tri::PoissonSolver<VoroMesh> PS(*rm);
-      if(PS.IsFeaseable())
+      tri::UpdateBounding<VoroMesh>::Box(*rm);
+      if(PS.IsFeasible())
       {
         PS.Init();
         PS.FixDefaultVertices();
@@ -196,7 +197,7 @@ public:
         CollectUVBorder(rm,uvBorder);
         meshRegionVec.push_back(rm);
         uvBorders.push_back(uvBorder);
-        int foldedCnt = tri::Distortion<VoroMesh,false>::Folded(*rm);
+        int foldedCnt = tri::Distortion<VoroMesh,false>::FoldedNum(*rm);
         if( foldedCnt > rm->fn/10)
         {
           badRegionVec.push_back(rm);
diff --git a/vcg/complex/algorithms/point_matching_scale.h b/vcg/complex/algorithms/point_matching_scale.h
new file mode 100644
index 00000000..2acfb2a1
--- /dev/null
+++ b/vcg/complex/algorithms/point_matching_scale.h
@@ -0,0 +1,138 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+#ifndef VCG_POINT_MATCHING_SCALE
+#define VCG_POINT_MATCHING_SCALE
+
+#include <vcg/math/matrix44.h>
+#include <vcg/space/point3.h>
+#include <vcg/space/box3.h>
+#include <wrap/newuoa/include/newuoa.h>
+
+namespace vcg {
+
+template <class Scalar>
+struct RotoTranslation
+{
+	RotoTranslation(){}
+	Scalar _v[6];
+	void toMatrix(vcg::Matrix44<Scalar> & m)
+	{
+		vcg::Matrix44<Scalar> rot,tra;
+		rot.FromEulerAngles(_v[0],_v[1],_v[2]);
+		tra.SetTranslate(vcg::Point3<Scalar>(_v[3],_v[4],_v[5]));
+		m = tra * rot;
+	}
+};
+
+class PointMatchingScale {
+private:
+	static std::vector<vcg::Point3d> *fix;
+	static std::vector<vcg::Point3d> *mov;
+	static vcg::Box3d b;
+
+public:
+	/**
+	 * Compute a scaling transformation that bring PMov point as close as possible to Pfix
+	 */
+	static void computeScalingMatchMatrix(
+			vcg::Matrix44d &res,
+			std::vector<vcg::Point3d> &Pfix,
+			std::vector<vcg::Point3d> &Pmov)
+	{
+		fix = &Pfix;
+		mov = &Pmov;
+		b.SetNull();
+		for(std::vector<vcg::Point3d>::iterator i = Pmov.begin(); i != Pmov.end(); ++i)
+			b.Add(*i);
+
+		double scale = 1.0;
+		min_newuoa(1,&scale,errorScale);
+
+		res.SetTranslate( b.Center()*(1.0-scale));
+		res[0][0] = res[1][1] = res[2][2] = scale;
+	}
+
+	/**
+	 * Compute a rototranslation + scaling transformation that bring PMov point as close as possible to Pfix
+	 */
+	static void computeRotoTranslationScalingMatchMatrix(
+			vcg::Matrix44d &res,
+			std::vector<vcg::Point3d> &Pfix,
+			std::vector<vcg::Point3d> &Pmov)
+	{
+		fix = &Pfix;
+		mov = &Pmov;
+		b.SetNull();
+		for(std::vector<vcg::Point3d>::iterator i = Pmov.begin(); i != Pmov.end(); ++i)
+			b.Add(*i);
+
+		double x[7]={1.0,0.0,0.0,0.0,0.0,0.0,0.0};
+		min_newuoa(7,&x[0],errorRotoTranslationScale);
+
+		// rtm = rototranslation
+		RotoTranslation<double> rt;
+		vcg::Matrix44d rtm;
+		memcpy(&rt._v[0],&x[1],6*sizeof(double));
+		rt.toMatrix(rtm);
+
+		// res= scaling w.r.t. barycenter
+		res.SetTranslate( b.Center()*(1.0-x[0]));
+		res[0][0] = res[1][1] = res[2][2] = x[0];
+		res = rtm*res;
+	}
+
+	static double errorScale(int n, double *x)
+	{
+		assert(n==1); (void)n;
+		double dist = 0;
+		std::vector<vcg::Point3d>::iterator i = mov->begin();
+		std::vector<vcg::Point3d>::iterator ifix = fix->begin();
+		for(; i !=  mov->end(); ++i,++ifix)
+			dist += vcg::SquaredDistance(((*i)-b.Center())*(*x)+b.Center() , *ifix);
+
+		return dist;
+	}
+
+	static double errorRotoTranslationScale(int n, double *x) {
+		assert(n==7); (void)n;
+		double dist = 0;
+		std::vector<vcg::Point3d>::iterator i = mov->begin();
+		std::vector<vcg::Point3d>::iterator ifix = fix->begin();
+
+		RotoTranslation<double> rt;
+		vcg::Matrix44d m;
+		memcpy(&rt._v[0],&x[1],6*sizeof(double));
+		rt.toMatrix(m);
+
+		for(; i !=  mov->end(); ++i,++ifix) {
+			dist += vcg::SquaredDistance(	 m*(((*i)-b.Center())*(x[0])+b.Center()),*ifix);
+		}
+		return dist;
+	}
+
+};
+
+}
+
+#endif
diff --git a/vcg/complex/algorithms/point_outlier.h b/vcg/complex/algorithms/point_outlier.h
index 24ef6a61..879fadb4 100644
--- a/vcg/complex/algorithms/point_outlier.h
+++ b/vcg/complex/algorithms/point_outlier.h
@@ -25,7 +25,6 @@
 
 #include <vcg/space/index/kdtree/kdtree.h>
 
-
 namespace vcg
 {
 
@@ -57,8 +56,8 @@ class OutlierRemoval
       typename MeshType::template PerVertexAttributeHandle<ScalarType> sigma =        tri::Allocator<MeshType>:: template GetPerVertexAttribute<ScalarType>(mesh, std::string("sigma"));
       typename MeshType::template PerVertexAttributeHandle<ScalarType> plof =         tri::Allocator<MeshType>:: template GetPerVertexAttribute<ScalarType>(mesh, std::string("plof"));
 
-#pragma omp parallel for schedule(dynamic, 10)
-      for (size_t i = 0; i < mesh.vert.size(); i++)
+#pragma omp parallel for schedule(dynamic, 10) //MSVC supports only OMP 2 -> no unsigned int allowed in parallel for...
+      for (int i = 0; i < (int)mesh.vert.size(); i++)
       {
         PriorityQueue queue;
         kdTree.doQueryK(mesh.vert[i].cP(), kNearest, queue);
@@ -71,7 +70,7 @@ class OutlierRemoval
 
       float mean = 0;
 #pragma omp parallel for reduction(+: mean) schedule(dynamic, 10)
-      for (size_t i = 0; i < mesh.vert.size(); i++)
+      for (int i = 0; i < (int)mesh.vert.size(); i++)
       {
         PriorityQueue queue;
         kdTree.doQueryK(mesh.vert[i].cP(), kNearest, queue);
@@ -87,14 +86,14 @@ class OutlierRemoval
       mean = sqrt(mean);
 
 #pragma omp parallel for schedule(dynamic, 10)
-      for (size_t i = 0; i < mesh.vert.size(); i++)
+      for (int i = 0; i < (int)mesh.vert.size(); i++)
       {
         ScalarType value = plof[i] / (mean * sqrt(2.0f));
         double dem = 1.0 + 0.278393 * value;
         dem += 0.230389 * value * value;
         dem += 0.000972 * value * value * value;
         dem += 0.078108 * value * value * value * value;
-        ScalarType op = max(0.0, 1.0 - 1.0 / dem);
+        ScalarType op = std::max(0.0, 1.0 - 1.0 / dem);
         outlierScore[i] = op;
       }
 
diff --git a/vcg/complex/algorithms/point_sampling.h b/vcg/complex/algorithms/point_sampling.h
index f7275dfc..10047237 100644
--- a/vcg/complex/algorithms/point_sampling.h
+++ b/vcg/complex/algorithms/point_sampling.h
@@ -42,12 +42,11 @@ sampling strategies (montecarlo, stratified etc).
 #include <vcg/complex/algorithms/hole.h>
 #include <vcg/complex/algorithms/stat.h>
 #include <vcg/complex/algorithms/create/platonic.h>
-#include <vcg/complex/algorithms/update/topology.h>
 #include <vcg/complex/algorithms/update/normal.h>
 #include <vcg/complex/algorithms/update/bounding.h>
-#include <vcg/complex/algorithms/update/flag.h>
 #include <vcg/space/segment2.h>
 #include <vcg/space/index/grid_static_ptr.h>
+
 namespace vcg
 {
 namespace tri
@@ -63,8 +62,7 @@ namespace tri
  For example if you just want to get a vector with positions over the surface You have just to write
 
      vector<Point3f> myVec;
-     TrivialSampler<MyMesh> ts(myVec);
-     SurfaceSampling<MyMesh, TrivialSampler<MyMesh> >::Montecarlo(M, ts, SampleNum);
+     SurfaceSampling<MyMesh, TrivialSampler<MyMesh> >::Montecarlo(M, TrivialSampler<MyMesh>(myVec), SampleNum);
 
 **/
 
@@ -137,8 +135,10 @@ template <class MeshType>
 class TrivialPointerSampler
 {
 public:
+  typedef typename MeshType::ScalarType  ScalarType;
   typedef typename MeshType::CoordType  CoordType;
   typedef typename MeshType::VertexType VertexType;
+  typedef typename MeshType::EdgeType EdgeType;
   typedef typename MeshType::FaceType   FaceType;
 
   TrivialPointerSampler() {}
@@ -156,6 +156,15 @@ public:
   {
     sampleVec.push_back(&p);
   }
+
+  void AddEdge(const EdgeType& e, ScalarType u ) // u==0 -> v(0) u==1 -> v(1);
+  {
+    if( u < 0.5 )
+      sampleVec.push_back(e.cV(0));
+    else 
+      sampleVec.push_back(e.cV(1));
+  }
+  
   // This sampler should be used only for getting vertex pointers. Meaningless in other case.
   void AddFace(const FaceType &, const CoordType &)   { assert(0); }
   void AddTextureSample(const FaceType &, const CoordType &, const Point2i &, float ) { assert(0); }
@@ -197,7 +206,7 @@ public:
     if(tri::HasPerVertexQuality(m) )
        m.vert.back().Q() = f.cV(0)->Q()*p[0] + f.cV(1)->Q()*p[1] + f.cV(2)->Q()*p[2];
   }
-}; // end class BaseSampler
+}; // end class MeshSampler
 
 
 
@@ -746,14 +755,27 @@ static void VertexUniform(MeshType & m, VertexSampler &ps, int sampleNum)
 }
 
 
+///
+/// \brief The EdgeSamplingStrategy enum determines the sampling strategy for edge meshes.
+/// Given a sampling radius 'r', and the total length of the edge mesh 'L',
+/// the number of generated samples is: op(L/r) (+ 1 if the mesh is not a loop)
+/// where op is (floor | round | ceil)
+///
+enum EdgeSamplingStrategy
+{
+	Floor = 0,
+	Round,
+	Ceil,
+};
+
 /// Perform an uniform sampling over an EdgeMesh.
 ///
 /// It assumes that the mesh is 1-manifold.
 /// each connected component is sampled in a independent way.
-/// For each component of lenght <L> we place on it floor(L/radius)+1 samples.
+/// For each component of length <L> we place on it floor(L/radius)+1 samples.
 /// (if conservative argument is false we place ceil(L/radius)+1 samples)
 ///
-static void EdgeMeshUniform(MeshType &m, VertexSampler &ps, float radius, bool conservative = true)
+static void EdgeMeshUniform(MeshType &m, VertexSampler &ps, float radius, EdgeSamplingStrategy strategy = Floor)
 {
 	tri::RequireEEAdjacency(m);
 	tri::RequireCompactness(m);
@@ -761,14 +783,14 @@ static void EdgeMeshUniform(MeshType &m, VertexSampler &ps, float radius, bool c
 	tri::RequirePerVertexFlags(m);
 	tri::UpdateTopology<MeshType>::EdgeEdge(m);
 	tri::UpdateFlags<MeshType>::EdgeClearV(m);
+	tri::MeshAssert<MeshType>::EEOneManifold(m);
 
 	for (EdgeIterator ei = m.edge.begin(); ei != m.edge.end(); ++ei)
 	{
 		if (!ei->IsV())
 		{
 			edge::Pos<EdgeType> ep(&*ei,0);
-			edge::Pos<EdgeType> startep     = ep;
-			VertexPointer       startVertex = 0;
+			edge::Pos<EdgeType> startep = ep;
 			do // first loop to search a boundary component.
 			{
 				ep.NextE();
@@ -778,10 +800,33 @@ static void EdgeMeshUniform(MeshType &m, VertexSampler &ps, float radius, bool c
 			if (!ep.IsBorder())
 			{
 				// it's a loop
-				startVertex = ep.V();
+				assert(ep == startep);
+
+				// to keep the uniform resampling order-independent:
+				// 1) start from the 'lowest' point...
+				edge::Pos<EdgeType> altEp = ep;
+				altEp.NextE();
+				while (altEp != startep) {
+					if (altEp.V()->cP() < ep.V()->cP())
+					{
+						ep = altEp;
+					}
+					altEp.NextE();
+				}
+
+				// 2) ... with consistent direction
+				const auto dir0 = ep.VFlip()->cP() - ep.V()->cP();
+				ep.FlipE();
+				const auto dir1 = ep.VFlip()->cP() - ep.V()->cP();
+				if (dir0 < dir1)
+				{
+					ep.FlipE();
+				}
 			}
 			else
 			{
+				// not a loop
+
 				// to keep the uniform resampling order-independent
 				// start from the border with 'lowest' point
 				edge::Pos<EdgeType> altEp = ep;
@@ -797,18 +842,38 @@ static void EdgeMeshUniform(MeshType &m, VertexSampler &ps, float radius, bool c
 
 			ScalarType totalLen = 0;
 			ep.FlipV();
-			// second loop to compute length of the chain.
+			// second loop to compute the length of the chain.
 			do
 			{
 				ep.E()->SetV();
 				totalLen += Distance(ep.V()->cP(), ep.VFlip()->cP());
 				ep.NextE();
-			} while (!ep.IsBorder() && ep.V() != startVertex);
-			ep.E()->SetV();
-			totalLen += Distance(ep.V()->cP(), ep.VFlip()->cP());
+			} while (!ep.E()->IsV() && !ep.IsBorder());
+			if (ep.IsBorder())
+			{
+				ep.E()->SetV();
+				totalLen += Distance(ep.V()->cP(), ep.VFlip()->cP());
+			}
 
-			// Third loop actually perform the sampling.
-			int sampleNum = conservative ? floor(totalLen / radius) : ceil(totalLen / radius);
+			VertexPointer startVertex = ep.V();
+
+			// Third loop actually performs the sampling.
+			int sampleNum = -1;
+			{
+				double div = double(totalLen) / radius;
+				switch (strategy) {
+				case Round:
+					sampleNum = int(round(div));
+					break;
+				case Ceil:
+					sampleNum = int(ceil(div));
+					break;
+				default: // Floor
+					sampleNum = int(floor(div));
+					break;
+				};
+			}
+			assert(sampleNum >= 0);
 
 			ScalarType sampleDist = totalLen / sampleNum;
 //			printf("Found a chain of %f with %i samples every %f (%f)\n", totalLen, sampleNum, sampleDist, radius);
@@ -816,11 +881,11 @@ static void EdgeMeshUniform(MeshType &m, VertexSampler &ps, float radius, bool c
 			ScalarType curLen = 0;
 			int sampleCnt     = 1;
 			ps.AddEdge(*(ep.E()), ep.VInd() == 0 ? 0.0 : 1.0);
-			do
-			{
+
+			do {
 				ep.NextE();
 				assert(ep.E()->IsV());
-				ScalarType edgeLen = Distance(ep.V()->cP(), ep.VFlip()->cP());
+				ScalarType edgeLen = Distance(ep.VFlip()->cP(), ep.V()->cP());
 				ScalarType d0      = curLen;
 				ScalarType d1      = d0 + edgeLen;
 
@@ -835,7 +900,9 @@ static void EdgeMeshUniform(MeshType &m, VertexSampler &ps, float radius, bool c
 			} while(!ep.IsBorder() && ep.V() != startVertex);
 
 			if(ep.V() != startVertex)
+			{
 				ps.AddEdge(*(ep.E()), ep.VInd() == 0 ? 0.0 : 1.0);
+			}
 		}
 	}
 }
@@ -845,30 +912,14 @@ static void EdgeMeshUniform(MeshType &m, VertexSampler &ps, float radius, bool c
 ///
 /// It assumes that the border flag have been set over the mesh both for vertex and for faces.
 /// All the vertices on the border where the edges of the boundary of the surface forms an angle smaller than the given threshold are sampled.
-///
-static void VertexBorderCorner(MeshType & m, VertexSampler &ps, float angleRad)
+/// It assumes that the Per-Vertex border Flag has been set.
+static void VertexBorderCorner(MeshType & m, VertexSampler &ps, ScalarType angleRad)
 {
-  typename MeshType::template PerVertexAttributeHandle<float> angleSumH = tri::Allocator<MeshType>:: template GetPerVertexAttribute<float> (m);
-
-  for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
-    angleSumH[vi]=0;
-
-  for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-  {
-    for(int i=0;i<3;++i)
+    vcg::tri::UpdateSelection<MeshType>::VertexCornerBorder(m,angleRad);
+    for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
     {
-      angleSumH[fi->V(i)] += vcg::Angle(fi->P2(i) - fi->P0(i),fi->P1(i) - fi->P0(i));
+      if(vi->IsS()) ps.AddVert(*vi);
     }
-  }
-
-  for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
-  {
-    if((angleSumH[vi]<angleRad && vi->IsB())||
-       (angleSumH[vi]>(360-angleRad) && vi->IsB()))
-        ps.AddVert(*vi);
-  }
-
-  tri::Allocator<MeshType>:: template DeletePerVertexAttribute<float> (m,angleSumH);
 }
 
 /// \brief Sample all the border vertices
@@ -2260,7 +2311,7 @@ void PoissonPruning(MeshType &m, // the mesh that has to be pruned
   tri::UpdateBounding<MeshType>::Box(m);
   BaseSampler pdSampler;
   tri::SurfaceSampling<MeshType,BaseSampler>::PoissonDiskPruning(pdSampler, m, radius,pp);
-  std::swap(pdSampler.sampleVec,poissonSamples);
+  poissonSamples = pdSampler.sampleVec;
 }
 
 
diff --git a/vcg/complex/algorithms/pointcloud_normal.h b/vcg/complex/algorithms/pointcloud_normal.h
index e63ae46e..87a748e2 100644
--- a/vcg/complex/algorithms/pointcloud_normal.h
+++ b/vcg/complex/algorithms/pointcloud_normal.h
@@ -62,7 +62,7 @@ public:
 //    tree.setMaxNofNeighbors(nn);
     const ScalarType maxDistSquared = maxDist*maxDist;
     int cnt=0;
-    int step=m.vn/100;
+	int step = max(m.vn, int(m.vn / 100));
     typename KdTree<ScalarType>::PriorityQueue nq;
     for (VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
     {
diff --git a/vcg/complex/algorithms/polygon_polychord_collapse.h b/vcg/complex/algorithms/polygon_polychord_collapse.h
index 2e3d82e5..329d4c79 100644
--- a/vcg/complex/algorithms/polygon_polychord_collapse.h
+++ b/vcg/complex/algorithms/polygon_polychord_collapse.h
@@ -23,16 +23,8 @@
 #ifndef POLYGON_POLYCHORD_COLLAPSE_H
 #define POLYGON_POLYCHORD_COLLAPSE_H
 
-#include <vector>
 #include <list>
-#if __cplusplus >= 201103L
-  #include <unordered_map>
-#else
-  #include <map>
-#endif
-#include <set>
-#include <algorithm>
-#include <iterator>
+#include <unordered_map>
 #include <vcg/complex/complex.h>
 #include <vcg/simplex/face/jumping_pos.h>
 
diff --git a/vcg/complex/algorithms/polygon_support.h b/vcg/complex/algorithms/polygon_support.h
index 83ba85ec..c6df0d8e 100644
--- a/vcg/complex/algorithms/polygon_support.h
+++ b/vcg/complex/algorithms/polygon_support.h
@@ -166,14 +166,23 @@ namespace tri {
     {
         vs.clear();
         fs.clear();
+        if(tfp->IsV()) return;
+        
+        // all faux edges return an empty vertex vector!
+        if(  tfp->IsF(0)  &&   tfp->IsF(1)  &&   tfp->IsF(2)) return;
+        // all NON faux edges just return triangle!
+        if((!tfp->IsF(0)) && (!tfp->IsF(1)) && (!tfp->IsF(2))) 
+        {
+          vs.push_back(tfp->V(0)); vs.push_back(tfp->V(1)); vs.push_back(tfp->V(2));
+          fs.push_back(tfp);
+          return;
+        }
+        
         // find a non faux edge
         int se = -1;
         for(int i=0; i<3; i++) if (!( tfp->IsF(i))) { se = i; break;}
-
-        // all faux edges return an empty vertex vector!
-        if(se==-1) return;
-        if(tfp->IsV()) return;
-
+        assert(se !=-1);
+      
         // initialize a pos on the first non faux edge
         face::Pos<typename TriMeshType::FaceType> start(tfp,se,tfp->V(se));
         face::Pos<typename TriMeshType::FaceType> p(start);
diff --git a/vcg/complex/algorithms/polygonal_algorithms.h b/vcg/complex/algorithms/polygonal_algorithms.h
new file mode 100644
index 00000000..bda99570
--- /dev/null
+++ b/vcg/complex/algorithms/polygonal_algorithms.h
@@ -0,0 +1,1540 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+#ifndef __VCGLIB_POLY_MESH_ALGORITHM
+#define __VCGLIB_POLY_MESH_ALGORITHM
+
+#include <vcg/complex/algorithms/update/normal.h>
+#include <vcg/complex/complex.h>
+#include <vcg/space/polygon3.h>
+#include <vcg/complex/algorithms/update/color.h>
+#include <vcg/complex/algorithms/closest.h>
+#include <vcg/complex/algorithms/point_sampling.h>
+#include <vcg/complex/algorithms/update/quality.h>
+#include <wrap/io_trimesh/export_obj.h>
+
+//define a temporary triangle mesh type
+class TempFace;
+class TempVertex;
+
+struct TempUsedTypes: public vcg::UsedTypes<vcg::Use<TempVertex>::AsVertexType,
+        vcg::Use<TempFace>::AsFaceType>{};
+
+class TempVertex:public vcg::Vertex<TempUsedTypes,
+        vcg::vertex::Coord3d,
+        vcg::vertex::Normal3d,
+        vcg::vertex::BitFlags>
+{};
+
+class TempFace:public vcg::Face<TempUsedTypes,
+        vcg::face::VertexRef,
+        vcg::face::BitFlags,
+        vcg::face::FFAdj,
+        vcg::face::Mark,
+        vcg::face::Normal3d>
+{};
+
+
+class TempMesh: public vcg::tri::TriMesh< std::vector<TempVertex>,std::vector<TempFace > >
+{};
+
+namespace vcg{
+
+/*!
+\ingroup PolyMeshType
+
+\headerfile color.h vcg/complex/algorithms/polygonal_algorithms.h
+
+\brief processing and optimization of generic polygonal meshes.
+
+This class is used to performs varisous kind of geometric optimization on generic polygonal mesh such as flattengin or imptove the shape of polygons.
+*/
+
+template <class PolyMeshType>
+class PolygonalAlgorithm
+{
+    typedef typename PolyMeshType::FaceType      FaceType;
+    typedef typename PolyMeshType::VertexType    VertexType;
+    typedef typename PolyMeshType::VertexPointer VertexPointer;
+    typedef typename PolyMeshType::CoordType     CoordType;
+    typedef typename PolyMeshType::ScalarType    ScalarType;
+    typedef typename vcg::face::Pos<FaceType>    PosType;
+
+    static void SetFacePos(PolyMeshType &poly_m,
+                           int IndexF,std::vector<CoordType> &Pos)
+    {
+        poly_m.face[IndexF].Dealloc();
+        poly_m.face[IndexF].Alloc(Pos.size());
+        //std::cout<<Pos.size()<<std::endl;
+        int sizeV=poly_m.vert.size();
+        for (size_t i=0;i<Pos.size();i++)
+            vcg::tri::Allocator<PolyMeshType>::AddVertex(poly_m,Pos[i]);
+
+        for (size_t i=0;i<Pos.size();i++)
+            poly_m.face[IndexF].V(i)=&poly_m.vert[sizeV+i];
+    }
+
+public:
+
+    static void SubdivideStep(PolyMeshType &poly_m)
+    {
+        //get the barycenters
+        std::vector<CoordType> Bary;
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            CoordType bary(0,0,0);
+            for (size_t j=0;j<poly_m.face[i].VN();j++)
+                bary+=poly_m.face[i].P(j);
+
+            bary/=poly_m.face[i].VN();
+            Bary.push_back(bary);
+        }
+
+        //get center of edge
+        std::map<std::pair<CoordType,CoordType>, CoordType> EdgeVert;
+        for (size_t i=0;i<poly_m.face.size();i++)
+            for (size_t j=0;j<poly_m.face[i].VN();j++)
+            {
+                CoordType Pos0=poly_m.face[i].P0(j);
+                CoordType Pos1=poly_m.face[i].P1(j);
+                CoordType Avg=(Pos0+Pos1)/2;
+                std::pair<CoordType,CoordType> Key(std::min(Pos0,Pos1),std::max(Pos0,Pos1));
+                EdgeVert[Key]=Avg;
+            }
+
+        int sizeF=poly_m.face.size();
+        for (size_t i=0;i<sizeF;i++)
+        {
+            //retrieve the sequence of pos
+            std::vector<CoordType> Pos;
+            for (size_t j=0;j<poly_m.face[i].VN();j++)
+            {
+                CoordType Pos0=poly_m.face[i].P0(j);
+                CoordType Pos1=poly_m.face[i].P1(j);
+                std::pair<CoordType,CoordType> Key0(std::min(Pos0,Pos1),std::max(Pos0,Pos1));
+                Pos0=EdgeVert[Key0];
+                Pos.push_back(Pos0);
+                Pos.push_back(Pos1);
+            }
+            //get also the barycenter
+            CoordType BaryP=Bary[i];
+
+            //then retrieve the face
+            std::vector<CoordType> PosQ;
+            PosQ.push_back(Pos[0]);
+            PosQ.push_back(Pos[1]);
+            PosQ.push_back(Pos[2]);
+            PosQ.push_back(BaryP);
+            SetFacePos(poly_m,i,PosQ);
+
+            int sizeV=Pos.size();
+            //int start=0;
+            for (size_t j=2;j<sizeV;j+=2)
+            {
+                vcg::tri::Allocator<PolyMeshType>::AddFaces(poly_m,1);
+                std::vector<CoordType> PosQ;
+                PosQ.push_back(Pos[(j)%Pos.size()]);
+                PosQ.push_back(Pos[(j+1)%Pos.size()]);
+                PosQ.push_back(Pos[(j+2)%Pos.size()]);
+                PosQ.push_back(BaryP);
+                //start+=2;
+                SetFacePos(poly_m,poly_m.face.size()-1,PosQ);
+                //break;
+            }
+        }
+        vcg::tri::Clean<PolyMeshType>::RemoveDuplicateVertex(poly_m);
+        vcg::tri::Allocator<PolyMeshType>::CompactEveryVector(poly_m);
+    }
+
+    static bool CollapseEdges(PolyMeshType &poly_m,
+                              const std::vector<PosType> &CollapsePos,
+                              const std::vector<CoordType> &InterpPos)
+    {
+
+        //this set how to remap the vertices after deletion
+        std::map<VertexType*,VertexType*> VertexRemap;
+
+        vcg::tri::UpdateFlags<PolyMeshType>::VertexClearS(poly_m);
+
+        bool collapsed=false;
+        //go over all faces and check the ones needed to be deleted
+        for (size_t i=0;i<CollapsePos.size();i++)
+        {
+            FaceType *currF=CollapsePos[i].F();
+            int IndexE=CollapsePos[i].E();
+            size_t NumV=currF->VN();
+            VertexType *v0=currF->V(IndexE);
+            VertexType *v1=currF->V((IndexE+1)%NumV);
+
+            //safety check
+            assert(v0!=v1);
+
+            if (v0->IsS())continue;
+            if (v1->IsS())continue;
+
+            //put on the same position
+            v0->P()=InterpPos[i];
+            v1->P()=InterpPos[i];
+
+            //select the the two vertices
+            v0->SetS();
+            v1->SetS();
+
+            //set the remap
+            VertexRemap[v1]=v0;
+
+            collapsed=true;
+        }
+
+        //then remap vertices
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            int NumV=poly_m.face[i].VN();
+            for (int j=0;j<NumV;j++)
+            {
+                //get the two vertices of the edge
+                VertexType *v0=poly_m.face[i].V(j);
+                //see if it must substituted or not
+                if (VertexRemap.count(v0)==0)continue;
+                //in that case remap to the new one
+                VertexType *newV=VertexRemap[v0];
+                //assign new vertex
+                poly_m.face[i].V(j)=newV;
+            }
+        }
+
+        //then re-elaborate the face
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            //get vertices of the face
+            int NumV=poly_m.face[i].VN();
+            std::vector<VertexType*> FaceV;
+            for (int j=0;j<NumV;j++)
+            {
+                VertexType *v0=poly_m.face[i].V(j);
+                VertexType *v1=poly_m.face[i].V((j+1)%NumV);
+                if(v0==v1)continue;
+                FaceV.push_back(v0);
+            }
+
+            //then deallocate face
+            if ((int)FaceV.size()==NumV)continue;
+
+            //otherwise deallocate and set new vertices
+            poly_m.face[i].Dealloc();
+            poly_m.face[i].Alloc(FaceV.size());
+            for (size_t j=0;j<FaceV.size();j++)
+                poly_m.face[i].V(j)=FaceV[j];
+        }
+
+        //remove unreferenced vertices
+        vcg::tri::Clean<PolyMeshType>::RemoveUnreferencedVertex(poly_m);
+
+        //and compact them
+        vcg::tri::Allocator<PolyMeshType>::CompactEveryVector(poly_m);
+
+        return collapsed;
+    }
+private:
+
+
+    static bool CollapseBorderSmallEdgesStep(PolyMeshType &poly_m,
+                                             const ScalarType edge_limit)
+    {
+        //update topology
+        vcg::tri::UpdateTopology<PolyMeshType>::FaceFace(poly_m);
+
+        //update border vertices
+        vcg::tri::UpdateFlags<PolyMeshType>::VertexBorderFromFaceAdj(poly_m);
+
+
+        vcg::tri::UpdateSelection<PolyMeshType>::VertexCornerBorder(poly_m,math::ToRad(150.0));
+
+        std::vector<PosType> CollapsePos;
+        std::vector<CoordType> InterpPos;
+
+        //go over all faces and check the ones needed to be deleted
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            int NumV=poly_m.face[i].VN();
+            for (int j=0;j<NumV;j++)
+            {
+                VertexType *v0=poly_m.face[i].V(j);
+                VertexType *v1=poly_m.face[i].V((j+1)%NumV);
+                assert(v0!=v1);
+
+                bool IsBV0=v0->IsB();
+                bool IsBV1=v1->IsB();
+
+                bool IsS0=v0->IsS();
+                bool IsS1=v1->IsS();
+
+                if ((IsS0)&&(IsS1))continue;
+
+                //in these cases is not possible to collapse
+                if ((!IsBV0)&&(!IsBV1))continue;
+                bool IsBorderE=(poly_m.face[i].FFp(j)==&poly_m.face[i]);
+                if ((!IsBorderE)&&(IsBV0)&&(IsBV1))continue;
+
+                assert((IsBV0)||(IsBV1));
+                CoordType pos0=v0->P();
+                CoordType pos1=v1->P();
+                ScalarType currL=(pos0-pos1).Norm();
+                if (currL>edge_limit)continue;
+
+                //then collapse the point
+                CoordType CurrInterpPos;
+                if ((IsBV0)&&(!IsBV1))CurrInterpPos=pos0;
+                if ((!IsBV0)&&(IsBV1))CurrInterpPos=pos1;
+                if ((IsBV0)&&(IsBV1))
+                {
+                    if ((!IsS0)&&(!IsS1))
+                        CurrInterpPos=(pos0+pos1)/2.0;
+                    else
+                    {
+                        if ((!IsS0)&&(IsS1))
+                            CurrInterpPos=pos1;
+                        else
+                        {
+                            assert((IsS0)&&(!IsS1));
+                            CurrInterpPos=pos0;
+                        }
+                    }
+                }
+                CollapsePos.push_back(PosType(&poly_m.face[i],j));
+                InterpPos.push_back(CurrInterpPos);
+            }
+        }
+
+        return CollapseEdges(poly_m,CollapsePos,InterpPos);
+    }
+
+    static void LaplacianPos(PolyMeshType &poly_m,std::vector<CoordType> &AvVert)
+    {
+        //cumulate step
+        AvVert.clear();
+        AvVert.resize(poly_m.vert.size(),CoordType(0,0,0));
+        std::vector<ScalarType> AvSum(poly_m.vert.size(),0);
+        for (size_t i=0;i<poly_m.face.size();i++)
+            for (size_t j=0;j<(size_t)poly_m.face[i].VN();j++)
+            {
+                //get current vertex
+                VertexType *currV=poly_m.face[i].V(j);
+                //and its position
+                CoordType currP=currV->P();
+                //cumulate over other positions
+                ScalarType W=vcg::PolyArea(poly_m.face[i]);
+                //assert(W!=0);
+                for (size_t k=0;k<(size_t)poly_m.face[i].VN();k++)
+                {
+                    if (k==j) continue;
+                    int IndexV=vcg::tri::Index(poly_m,poly_m.face[i].V(k));
+                    AvVert[IndexV]+=currP*W;
+                    AvSum[IndexV]+=W;
+                }
+            }
+
+        //average step
+        for (size_t i=0;i<poly_m.vert.size();i++)
+        {
+            if (AvSum[i]==0)continue;
+            AvVert[i]/=AvSum[i];
+        }
+    }
+
+
+
+    static void UpdateNormal(FaceType &F)
+    {
+        F.N()=vcg::PolygonNormal(F);
+    }
+
+    static void UpdateNormalByFitting(FaceType &F)
+    {
+        UpdateNormal(F);
+        vcg::Plane3<ScalarType> PlF;
+        PlF=PolyFittingPlane(F);
+        if ((PlF.Direction()*F.N())<0)
+            F.N()=-PlF.Direction();
+        else
+            F.N()=PlF.Direction();
+    }
+
+public:
+
+    static void SelectIrregularInternal(PolyMeshType &poly_m)
+    {
+        vcg::tri::UpdateQuality<PolyMeshType>::VertexValence(poly_m);
+        vcg::tri::UpdateSelection<PolyMeshType>::VertexClear(poly_m);
+        for (size_t i=0;i<poly_m.vert.size();i++)
+        {
+            if (poly_m.vert[i].IsB())continue;
+            if (poly_m.vert[i].Q()==4)continue;
+            poly_m.vert[i].SetS();
+        }
+    }
+
+    static void SelectIrregularBorder(PolyMeshType &poly_m)
+    {
+        vcg::tri::UpdateQuality<PolyMeshType>::VertexValence(poly_m);
+        for (size_t i=0;i<poly_m.vert.size();i++)
+        {
+            if (!poly_m.vert[i].IsB())continue;
+            if (poly_m.vert[i].Q()==2)continue;
+            poly_m.vert[i].SetS();
+        }
+    }
+
+    static CoordType GetFaceGetBary(FaceType &F)
+    {
+        CoordType bary=PolyBarycenter(F);
+        return bary;
+    }
+
+    /*! \brief update the face normal by averaging among vertex's
+     * normals computed between adjacent edges
+    */
+    static void UpdateFaceNormals(PolyMeshType &poly_m)
+    {
+        for (size_t i=0;i<poly_m.face.size();i++)
+            UpdateNormal(poly_m.face[i]);
+    }
+
+    /*! \brief update the face normal by fitting a plane
+    */
+    static void UpdateFaceNormalByFitting(PolyMeshType &poly_m)
+    {
+        for (size_t i=0;i<poly_m.face.size();i++)
+            UpdateNormalByFitting(poly_m.face[i]);
+    }
+
+
+    enum PolyQualityType{QAngle,QPlanar,QTemplate};
+
+    /*! \brief update the quality of the faces by considering different possibilities
+     * QAngle   = consider the angle deviation from ideal one (ex 90° quad, 60° triangle...)
+     * QPlanar  = consider the difference wrt interpolating plane
+     * QTemplate= consider the difference wrt template polygon as in "Statics Aware Grid Shells"
+    */
+    static void UpdateQuality(PolyMeshType &poly_m,
+                              const PolyQualityType &QType)
+    {
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            if (poly_m.face[i].IsD())continue;
+            switch (QType)
+            {
+            case QAngle:
+                ScalarType AvgDev,WorstDev;
+                vcg::PolyAngleDeviation(poly_m.face[i],AvgDev,WorstDev);
+                poly_m.face[i].Q()=WorstDev;
+                break;
+            case QPlanar:
+                poly_m.face[i].Q()=vcg::PolyFlatness(poly_m.face[i]);
+                break;
+            default:
+                poly_m.face[i].Q()=vcg::PolyAspectRatio(poly_m.face[i],true);
+                break;
+            }
+        }
+    }
+
+    /*! \brief given a face this function returns the template positions as in "Statics Aware Grid Shells"
+    */
+    static void GetRotatedTemplatePos(FaceType &f,
+                                      std::vector<CoordType> &TemplatePos)
+    {
+        vcg::GetPolyTemplatePos(f,TemplatePos,true);
+
+        CoordType NormT=Normal(TemplatePos);
+
+        //get the normal of vertices
+        //CoordType AVN(0,0,0);
+        //CoordType AVN0(0,0,0);
+        CoordType Origin(0,0,0);
+        //        for (int j=0;j<f.VN();j++)
+        //            AVN0=AVN0+f.V(j)->N();
+
+        CoordType AVN=vcg::PolygonNormal(f);
+        //AVN0.Normalize();
+        //        std::cout<<"AVN "<<AVN.X()<<","<<AVN.Y()<<","<<AVN.Z()<<std::endl;
+        //        std::cout<<"AVN0 "<<AVN0.X()<<","<<AVN0.Y()<<","<<AVN0.Z()<<std::endl;
+        //        std::cout<<"NormT "<<NormT.X()<<","<<NormT.Y()<<","<<NormT.Z()<<std::endl;
+
+        for (size_t j=0;j<TemplatePos.size();j++)
+            Origin+=TemplatePos[j];
+
+        Origin/=(ScalarType)TemplatePos.size();
+        AVN.Normalize();
+
+        //find rotation matrix
+        vcg::Matrix33<ScalarType> Rot=vcg::RotationMatrix(NormT,AVN);
+
+        //apply transformation
+        for (size_t j=0;j<TemplatePos.size();j++)
+        {
+            TemplatePos[j]=TemplatePos[j]-Origin;
+            TemplatePos[j]=Rot*TemplatePos[j];
+            TemplatePos[j]=TemplatePos[j]+Origin;
+        }
+    }
+
+    /*! \brief This function performs the polygon regularization as in "Statics Aware Grid Shells"
+    */
+    static void SmoothPCA(PolyMeshType &poly_m,
+                          int relax_step=10,
+                          ScalarType Damp=0.5,
+                          bool FixS=false,
+                          bool isotropic=true,
+                          ScalarType smoothTerm=0.1,
+                          bool fixB=true,
+                          bool WeightByQuality=false,
+                          const std::vector<bool> *IgnoreF=NULL)
+    {
+        (void)isotropic;
+        typedef typename PolyMeshType::FaceType PolygonType;
+        //        // select irregular ones
+        //        if (fixIrr)
+        //            poly_m.NumIrregular(true);
+        // compute the average edge
+        ScalarType MeshArea=0;
+        for (size_t i=0;i<poly_m.face.size();i++)
+            MeshArea+=vcg::PolyArea(poly_m.face[i]);
+
+        ScalarType AvgArea=MeshArea/(ScalarType)poly_m.face.size();
+
+        if (WeightByQuality)
+            UpdateQuality(poly_m,QTemplate);
+
+        if (IgnoreF!=NULL){assert((*IgnoreF).size()==poly_m.face.size());}
+        for (size_t s=0;s<(size_t)relax_step;s++)
+        {
+            //initialize the accumulation vector
+            std::vector<CoordType> avgPos(poly_m.vert.size(),CoordType(0,0,0));
+            std::vector<ScalarType> weightSum(poly_m.vert.size(),0);
+            //then compute the templated positions
+
+            for (size_t i=0;i<poly_m.face.size();i++)
+            {
+                if ((IgnoreF!=NULL)&&((*IgnoreF)[i]))continue;
+                std::vector<typename PolygonType::CoordType> TemplatePos;
+                GetRotatedTemplatePos(poly_m.face[i],TemplatePos);
+                //then cumulate the position per vertex
+                ScalarType val=vcg::PolyArea(poly_m.face[i]);
+                if (val<(AvgArea*0.00001))
+                    val=(AvgArea*0.00001);
+
+                ScalarType W=1.0/val;
+                if (WeightByQuality)
+                    W=poly_m.face[i].Q()+0.00001;
+
+                for (size_t j=0;j<TemplatePos.size();j++)
+                {
+                    int IndexV=vcg::tri::Index(poly_m,poly_m.face[i].V(j));
+                    CoordType Pos=TemplatePos[j];
+                    //sum up contributes
+                    avgPos[IndexV]+=Pos*W;
+                    weightSum[IndexV]+=W;
+
+                }
+
+            }
+
+            //get the laplacian contribute
+            std::vector<CoordType> AvVert;
+            LaplacianPos(poly_m,AvVert);
+            //then update the position
+            for (size_t i=0;i<poly_m.vert.size();i++)
+            {
+                ScalarType alpha=smoothTerm;//PolyNormDeviation(poly_m.face[i]);
+                //               if (alpha<0)alpha=0;
+                //               if (alpha>1)alpha=1;
+                //               if (isnan(alpha))alpha=1;
+
+                CoordType newP=poly_m.vert[i].P();
+                //safety checks
+                if (weightSum[i]>0)
+                    newP=avgPos[i]/weightSum[i];
+                if (isnan(newP.X())||isnan(newP.Y())||isnan(newP.Z()))
+                     newP=poly_m.vert[i].P();
+                if ((newP-poly_m.vert[i].P()).Norm()>poly_m.bbox.Diag())
+                    newP=poly_m.vert[i].P();
+                //std::cout<<"W "<<weightSum[i]<<std::endl;
+                newP=newP*(1-alpha)+AvVert[i]*alpha;
+                //newP=AvVert[i];
+                if ((fixB)&&(poly_m.vert[i].IsB()))continue;
+                if ((FixS)&&(poly_m.vert[i].IsS()))continue;
+                poly_m.vert[i].P()=poly_m.vert[i].P()*Damp+
+                        newP*(1-Damp);
+            }
+        }
+    }
+
+    template <class TriMeshType>
+    static void ReprojectBorder(PolyMeshType &poly_m,
+                                TriMeshType &tri_mesh,
+                                bool FixS=true)
+    {
+        //then reproject on border
+        for (size_t i=0;i<poly_m.vert.size();i++)
+        {
+            if (!poly_m.vert[i].IsB())continue;
+            if (FixS && poly_m.vert[i].IsS())continue;
+
+            CoordType testPos=poly_m.vert[i].P();
+            ScalarType minD=std::numeric_limits<ScalarType>::max();
+            CoordType closPos;
+            for (size_t j=0;j<tri_mesh.face.size();j++)
+                for (size_t k=0;k<3;k++)
+                {
+                    //check if border edge
+                    if (tri_mesh.face[j].FFp(k)!=(&tri_mesh.face[j]))continue;
+
+                    CoordType P0,P1;
+                    P0.Import(tri_mesh.face[j].cP0(k));
+                    P1.Import(tri_mesh.face[j].cP1(k));
+                    vcg::Segment3<ScalarType> Seg(P0,P1);
+                    ScalarType testD;
+                    CoordType closTest;
+                    vcg::SegmentPointDistance(Seg,testPos,closTest,testD);
+                    if (testD>minD)continue;
+                    minD=testD;
+                    closPos=closTest;
+                }
+            poly_m.vert[i].P()=closPos;
+        }
+    }
+
+    /*! \brief This function smooth the borders of the polygonal mesh and reproject back to the triangolar one
+     * except the vertices that are considered as corner wrt the angleDeg threshold
+    */
+    template <class TriMeshType>
+    static void LaplacianReprojectBorder(PolyMeshType &poly_m,
+                                         TriMeshType &tri_mesh,
+                                         int nstep=100,
+                                         ScalarType Damp=0.5,
+                                         ScalarType angleDeg=100)
+    {
+        //first select corners
+        vcg::tri::UpdateFlags<PolyMeshType>::VertexClearS(poly_m);
+
+        //update topology
+        vcg::tri::UpdateTopology<PolyMeshType>::FaceFace(poly_m);
+
+        //update border vertices
+        vcg::tri::UpdateFlags<PolyMeshType>::VertexBorderFromFaceAdj(poly_m);
+
+        //select corner vertices on the border
+        ScalarType angleRad=angleDeg * M_PI / 180;
+        vcg::tri::UpdateSelection<PolyMeshType>::VertexCornerBorder(poly_m,angleRad);
+
+        for (int s=0;s<nstep;s++)
+        {
+            std::vector<CoordType> AvVert;
+            LaplacianPos(poly_m,AvVert);
+
+            for (size_t i=0;i<poly_m.vert.size();i++)
+            {
+                if (!poly_m.vert[i].IsB())continue;
+                if (poly_m.vert[i].IsS())continue;
+                poly_m.vert[i].P()=poly_m.vert[i].P()*Damp+
+                        AvVert[i]*(1-Damp);
+            }
+
+            //            //then reproject on border
+            //            for (size_t i=0;i<poly_m.vert.size();i++)
+            //            {
+            //                if (!poly_m.vert[i].IsB())continue;
+            //                if (poly_m.vert[i].IsS())continue;
+
+            //                CoordType testPos=poly_m.vert[i].P();
+            //                ScalarType minD=std::numeric_limits<ScalarType>::max();
+            //                CoordType closPos;
+            //                for (size_t j=0;j<tri_mesh.face.size();j++)
+            //                    for (size_t k=0;k<3;k++)
+            //                    {
+            //                        if (tri_mesh.face[j].FFp(k)!=(&tri_mesh.face[j]))continue;
+
+            //                        CoordType P0,P1;
+            //                        P0.Import(tri_mesh.face[j].cP0(k));
+            //                        P1.Import(tri_mesh.face[j].cP1(k));
+            //                        vcg::Segment3<ScalarType> Seg(P0,P1);
+            //                        ScalarType testD;
+            //                        CoordType closTest;
+            //                        vcg::SegmentPointDistance(Seg,testPos,closTest,testD);
+            //                        if (testD>minD)continue;
+            //                        minD=testD;
+            //                        closPos=closTest;
+            //                    }
+            //                poly_m.vert[i].P()=closPos;
+            //            }
+            ReprojectBorder(poly_m,tri_mesh);
+        }
+    }
+
+    /*! \brief This function smooth the borders of the polygonal mesh and reproject back to its border
+    */
+    static void LaplacianReprojectBorder(PolyMeshType &poly_m,
+                                         int nstep=100,
+                                         ScalarType Damp=0.5,
+                                         ScalarType Angle=100)
+    {
+        //transform into triangular
+        TempMesh GuideSurf;
+        vcg::tri::PolygonSupport<TempMesh,PolyMeshType>::ImportFromPolyMesh(GuideSurf,poly_m);
+        vcg::tri::UpdateBounding<TempMesh>::Box(GuideSurf);
+        vcg::tri::UpdateNormal<TempMesh>::PerVertexNormalizedPerFace(GuideSurf);
+        vcg::tri::UpdateTopology<TempMesh>::FaceFace(GuideSurf);
+        vcg::tri::UpdateFlags<TempMesh>::FaceBorderFromFF(GuideSurf);
+
+        LaplacianReprojectBorder<TempMesh>(poly_m,GuideSurf,nstep,Damp,Angle);
+    }
+
+    /*! \brief This function performs the reprojection of the polygonal mesh onto a triangular one passed as input parameter
+    */
+    template <class TriMeshType>
+    static void LaplacianReproject(PolyMeshType &poly_m,
+                                   TriMeshType &tri_mesh,
+                                   int nstep=100,
+                                   ScalarType DampS=0.5,
+                                   ScalarType DampR=0.5,
+                                   bool OnlyOnSelected=false)
+    {
+        typedef typename TriMeshType::FaceType TriFaceType;
+        typedef typename TriMeshType::ScalarType TriScalarType;
+        typedef typename TriMeshType::CoordType TriCoordType;
+        typedef vcg::GridStaticPtr<TriFaceType, TriScalarType> TriMeshGrid;
+        TriMeshGrid grid;
+        tri::MeshAssert<TriMeshType>::VertexNormalNormalized(tri_mesh);
+        //initialize the grid
+        grid.Set(tri_mesh.face.begin(),tri_mesh.face.end());
+
+        TriScalarType MaxD=tri_mesh.bbox.Diag();
+
+        for (int s=0;s<nstep;s++)
+        {
+            std::vector<CoordType> AvVert;
+            LaplacianPos(poly_m,AvVert);
+
+            for (size_t i=0;i<poly_m.vert.size();i++)
+            {
+                if (poly_m.vert[i].IsB()) continue;
+                if (OnlyOnSelected && !poly_m.vert[i].IsS()) continue;
+                
+                poly_m.vert[i].P()=poly_m.vert[i].P()*DampS+
+                        AvVert[i]*(1-DampS);
+            }
+
+
+            for (size_t i=0;i<poly_m.vert.size();i++)
+            {
+                if(OnlyOnSelected && !poly_m.vert[i].IsS()) continue;
+                TriCoordType testPos;
+                testPos.Import(poly_m.vert[i].P());
+                TriCoordType closestPt;
+                TriScalarType minDist;
+                TriFaceType *f=NULL;
+                TriCoordType norm,ip;
+                f=vcg::tri::GetClosestFaceBase(tri_mesh,grid,testPos,MaxD,minDist,closestPt,norm,ip);
+                CoordType closestImp;
+                closestImp.Import(closestPt);
+                poly_m.vert[i].P()=poly_m.vert[i].P()*DampR+
+                        closestImp*(1-DampR);
+                CoordType normalImp;
+                normalImp.Import(norm);
+                poly_m.vert[i].N()=normalImp;
+            }
+        }
+
+    }
+
+    static void LaplacianReproject(PolyMeshType &poly_m,
+                                   int nstep=100,
+                                   ScalarType Damp=0.5,
+                                   bool OnlyOnSelected=false)
+    {
+        //transform into triangular
+        TempMesh GuideSurf;
+        //vcg::tri::PolygonSupport<TempMesh,PolyMeshType>:(GuideSurf,poly_m);
+        TriangulateToTriMesh<TempMesh>(poly_m,GuideSurf);
+        vcg::tri::UpdateBounding<TempMesh>::Box(GuideSurf);
+        vcg::tri::UpdateNormal<TempMesh>::PerVertexNormalizedPerFace(GuideSurf);
+        vcg::tri::UpdateTopology<TempMesh>::FaceFace(GuideSurf);
+        vcg::tri::UpdateFlags<TempMesh>::FaceBorderFromFF(GuideSurf);
+        LaplacianReproject<TempMesh>(poly_m,GuideSurf,nstep,Damp,0.5,OnlyOnSelected);
+    }
+
+    static void Laplacian(PolyMeshType &poly_m,
+                          bool FixS=false,
+                          int nstep=10,
+                          ScalarType Damp=0.5)
+    {
+        for (int s=0;s<nstep;s++)
+        {
+            std::vector<CoordType> AvVert;
+            LaplacianPos(poly_m,AvVert);
+
+            for (size_t i=0;i<poly_m.vert.size();i++)
+            {
+                if ((FixS) && (poly_m.vert[i].IsS()))continue;
+                poly_m.vert[i].P()=poly_m.vert[i].P()*Damp+
+                        AvVert[i]*(1-Damp);
+            }
+        }
+
+    }
+
+    /*! \brief This function performs the polygon regularization as in "Statics Aware Grid Shells"
+     * followed by a reprojection step on the triangle mesh passed as parameter
+    */
+    template <class TriMeshType>
+    static void SmoothReprojectPCA(PolyMeshType &poly_m,
+                                   TriMeshType &tri_mesh,
+                                   int relaxStep=100,
+                                   bool fixS=false,
+                                   ScalarType Damp=0.5,
+                                   ScalarType SharpDeg=0,
+                                   bool WeightByQuality=false,
+                                   bool FixB=true)
+    {
+        //vcg::tri::UpdateFlags<PolyMeshType>::VertexClearS(poly_m);
+
+        vcg::tri::UpdateTopology<PolyMeshType>::FaceFace(poly_m);
+
+        //UpdateBorderVertexFromPFFAdj(poly_m);
+        vcg::tri::UpdateFlags<PolyMeshType>::VertexBorderFromFaceAdj(poly_m);
+
+        std::vector<std::vector<vcg::Line3<ScalarType> > > SharpEdge(poly_m.vert.size());
+        //first select sharp features
+        if (SharpDeg>0)
+        {
+            for (int i=0;i<(int)poly_m.face.size();i++)
+                for (int j=0;j<(int)poly_m.face[i].VN();j++)
+                {
+                    //check only one side
+                    if ((&poly_m.face[i])>=poly_m.face[i].FFp(j))continue;
+
+                    CoordType N0=poly_m.face[i].N();
+                    CoordType N1=poly_m.face[i].FFp(j)->N();
+
+                    ScalarType Angle=vcg::Angle(N0,N1);
+                    if (fabs(Angle)>(SharpDeg* (M_PI / 180.0)))
+                    {
+                        CoordType Pos0=poly_m.face[i].V0(j)->P();
+                        CoordType Pos1=poly_m.face[i].V1(j)->P();
+                        CoordType Ori=Pos0;
+                        CoordType Dir=Pos1-Pos0;
+                        Dir.Normalize();
+                        vcg::Line3<ScalarType> L(Ori,Dir);
+                        int Index0=vcg::tri::Index(poly_m,poly_m.face[i].V0(j));
+                        int Index1=vcg::tri::Index(poly_m,poly_m.face[i].V1(j));
+                        SharpEdge[Index0].push_back(L);
+                        SharpEdge[Index1].push_back(L);
+                    }
+                }
+            for (size_t i=0;i<poly_m.vert.size();i++)
+            {
+                if (SharpEdge[i].size()==0)continue;
+                if (SharpEdge[i].size()>2)poly_m.vert[i].SetS();
+            }
+        }
+        //        if (fixIrr)
+        //        {
+        //            vcg::tri::UpdateQuality<PolyMeshType>::VertexValence(poly_m);
+        //            for (size_t i=0;i<poly_m.vert.size();i++)
+        //            {
+        //                if (poly_m.vert[i].IsB())continue;
+        //                if (poly_m.vert[i].Q()==4)continue;
+        //                poly_m.vert[i].SetS();
+        //            }
+        //        }
+
+
+        typedef typename TriMeshType::FaceType FaceType;
+        typedef vcg::GridStaticPtr<FaceType, typename TriMeshType::ScalarType> TriMeshGrid;
+        TriMeshGrid grid;
+
+        //initialize the grid
+        grid.Set(tri_mesh.face.begin(),tri_mesh.face.end());
+
+        ScalarType MaxD=tri_mesh.bbox.Diag();
+
+        //        //update quality as area
+        //        for (size_t i=0;i<poly_m.face.size();i++)
+        //          poly_m.face[i].Q()=vcg::PolyArea(poly_m.face[i]);
+
+        //        for (size_t i=0;i<poly_m.vert.size();i++)
+        //        {
+        //            typename TriMeshType::CoordType testPos;
+        //            testPos.Import(poly_m.vert[i].P());
+        //            typename TriMeshType::CoordType closestPt;
+        //            typename TriMeshType::ScalarType minDist;
+        //            typename TriMeshType::FaceType *f=NULL;
+        //            typename TriMeshType::CoordType norm,ip;
+        //            f=vcg::tri::GetClosestFaceBase(tri_mesh,grid,testPos,MaxD,minDist,closestPt,norm,ip);
+        //            //poly_m.vert[i].N().Import(norm);
+        //        }
+
+        for(int k=0;k<relaxStep;k++)
+        {
+            //smooth PCA step
+            SmoothPCA(poly_m,1,Damp,fixS,true,0.1,FixB,WeightByQuality);
+            //reprojection step
+            //laplacian smooth step
+            //Laplacian(poly_m,Damp,1);
+
+            for (size_t i=0;i<poly_m.vert.size();i++)
+            {
+                typename TriMeshType::CoordType testPos;
+                testPos.Import(poly_m.vert[i].P());
+                typename TriMeshType::CoordType closestPt;
+                typename TriMeshType::ScalarType minDist;
+                if ((FixB)&&(poly_m.vert[i].IsB()))
+                {continue;}
+                else
+                    if (SharpEdge[i].size()==0)//reproject onto original mesh
+                    {
+                        FaceType *f=NULL;
+                        typename TriMeshType::CoordType norm,ip;
+                        f=vcg::tri::GetClosestFaceBase(tri_mesh,grid,testPos,MaxD,minDist,closestPt,norm,ip);
+                        poly_m.vert[i].P().Import(testPos*Damp+closestPt*(1-Damp));
+                        //poly_m.vert[i].N().Import(norm);
+                    }
+                    else //reproject onto segments
+                    {
+                        CoordType av_closest(0,0,0);
+                        size_t sum=0;
+                        for (size_t j=0;j<SharpEdge[i].size();j++)
+                        {
+                            CoordType currPos;
+                            currPos.Import(testPos);
+                            CoordType closest;
+                            ScalarType dist;
+                            vcg::LinePointDistance(SharpEdge[i][j],currPos,closest,dist);
+                            av_closest+=closest;
+                            sum++;
+                        }
+                        assert(sum>0);
+                        poly_m.vert[i].P()=av_closest/sum;
+                    }
+            }
+            if (!FixB)
+                ReprojectBorder(poly_m,tri_mesh,true);
+            UpdateFaceNormals(poly_m);
+            vcg::tri::UpdateNormal<PolyMeshType>::PerVertexFromCurrentFaceNormal(poly_m);
+        }
+
+    }
+
+
+    template <class TriMeshType>
+    static void TriangulateToTriMesh(PolyMeshType &poly_m,TriMeshType &triangle_mesh, bool alsoTriangles = true)
+    {
+        triangle_mesh.Clear();
+
+        PolyMeshType PolySwap;
+        vcg::tri::Append<PolyMeshType,PolyMeshType>::Mesh(PolySwap,poly_m);
+        Triangulate(PolySwap, alsoTriangles);
+
+        //then copy onto the triangle mesh
+        vcg::tri::Append<TriMeshType,PolyMeshType>::Mesh(triangle_mesh,PolySwap);
+    }
+
+    /*! \brief This function performs the polygon regularization as in "Statics Aware Grid Shells"
+     * followed by a reprojection step on the original mesh
+    */
+    static void SmoothReprojectPCA(PolyMeshType &poly_m,
+                                   int relaxStep=100,
+                                   bool fixS=false,
+                                   ScalarType Damp=0.5,
+                                   ScalarType SharpDeg=0,
+                                   bool WeightByQuality=false,
+                                   bool FixB=true)
+    {
+        //transform into triangular
+        TempMesh GuideSurf;
+
+        //vcg::tri::PolygonSupport<TempMesh,PolyMeshType>:(GuideSurf,poly_m);
+        TriangulateToTriMesh<TempMesh>(poly_m,GuideSurf);
+        vcg::tri::UpdateBounding<TempMesh>::Box(GuideSurf);
+        vcg::tri::UpdateNormal<TempMesh>::PerVertexNormalizedPerFace(GuideSurf);
+        vcg::tri::UpdateTopology<TempMesh>::FaceFace(GuideSurf);
+        vcg::tri::UpdateFlags<TempMesh>::FaceBorderFromFF(GuideSurf);
+
+        //optimize it
+        vcg::PolygonalAlgorithm<PolyMeshType>::SmoothReprojectPCA<TempMesh>(poly_m,GuideSurf,relaxStep,fixS,Damp,SharpDeg,WeightByQuality,FixB);
+    }
+
+    static void Reproject(PolyMeshType &poly_m,
+                          PolyMeshType &target)
+    {
+        vcg::tri::UpdateTopology<PolyMeshType>::FaceFace(poly_m);
+        vcg::tri::UpdateFlags<PolyMeshType>::VertexBorderFromFaceAdj(poly_m);
+
+        //transform into triangular
+        TempMesh GuideSurf;
+        //vcg::tri::PolygonSupport<TempMesh,PolyMeshType>:(GuideSurf,poly_m);
+        TriangulateToTriMesh<TempMesh>(target,GuideSurf);
+        vcg::tri::UpdateBounding<TempMesh>::Box(GuideSurf);
+        vcg::tri::UpdateNormal<TempMesh>::PerVertexNormalizedPerFace(GuideSurf);
+        vcg::tri::UpdateTopology<TempMesh>::FaceFace(GuideSurf);
+        vcg::tri::UpdateFlags<TempMesh>::FaceBorderFromFF(GuideSurf);
+
+        //initialize the grid
+        typedef typename TempMesh::FaceType FaceType;
+        typedef vcg::GridStaticPtr<FaceType, typename TempMesh::ScalarType> TriMeshGrid;
+        TriMeshGrid grid;
+        grid.Set(GuideSurf.face.begin(),GuideSurf.face.end());
+
+        ScalarType MaxD=GuideSurf.bbox.Diag();
+
+        for (size_t i=0;i<poly_m.vert.size();i++)
+        {
+            //reproject on border later
+            if (poly_m.vert[i].IsB())continue;
+            typename TempMesh::CoordType testPos;
+            testPos.Import(poly_m.vert[i].P());
+            typename TempMesh::CoordType closestPt;
+            typename TempMesh::ScalarType minDist;
+            typename TempMesh::FaceType *f=NULL;
+            typename TempMesh::CoordType norm,ip;
+            f=vcg::tri::GetClosestFaceBase(GuideSurf,grid,testPos,MaxD,minDist,closestPt,norm,ip);
+            poly_m.vert[i].P()=closestPt;
+        }
+        //then reprojec the border
+        ReprojectBorder(poly_m,GuideSurf);
+    }
+
+    template <class TriMesh>
+    static void ReprojectonTriMesh(PolyMeshType &poly_m,
+                                   TriMesh &target)
+    {
+        vcg::tri::UpdateTopology<PolyMeshType>::FaceFace(poly_m);
+        vcg::tri::UpdateFlags<PolyMeshType>::VertexBorderFromFaceAdj(poly_m);
+
+
+        //initialize the grid
+        typedef typename TriMesh::FaceType FaceType;
+        typedef vcg::GridStaticPtr<FaceType, typename TriMesh::ScalarType> TriMeshGrid;
+        TriMeshGrid grid;
+        grid.Set(target.face.begin(),target.face.end());
+
+        ScalarType MaxD=target.bbox.Diag();
+
+        for (size_t i=0;i<poly_m.vert.size();i++)
+        {
+            //reproject on border later
+            if (poly_m.vert[i].IsB())continue;
+            typename TriMesh::CoordType testPos;
+            testPos.Import(poly_m.vert[i].P());
+            typename TriMesh::CoordType closestPt;
+            typename TriMesh::ScalarType minDist;
+            typename TriMesh::FaceType *f=NULL;
+            typename TriMesh::CoordType norm,ip;
+            f=vcg::tri::GetClosestFaceBase(target,grid,testPos,MaxD,minDist,closestPt,norm,ip);
+            poly_m.vert[i].P()=closestPt;
+        }
+        //then reprojec the border
+        ReprojectBorder(poly_m,target);
+    }
+
+    /*! \brief This function return average edge size
+    */
+    static ScalarType AverageEdge(const PolyMeshType &poly_m)
+    {
+        ScalarType AvL=0;
+        size_t numE=0;
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            int NumV=poly_m.face[i].VN();
+            for (int j=0;j<NumV;j++)
+            {
+                CoordType pos0=poly_m.face[i].cV(j)->P();
+                CoordType pos1=poly_m.face[i].cV((j+1)%NumV)->P();
+                AvL+=(pos0-pos1).Norm();
+                numE++;
+            }
+        }
+        AvL/=numE;
+        return AvL;
+    }
+    
+
+    /*! \brief This function remove valence 2 faces from the mesh
+    */
+    static void RemoveValence2Faces(PolyMeshType &poly_m)
+    {
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            if (poly_m.face[i].VN()>=3)continue;
+            vcg::tri::Allocator<PolyMeshType>::DeleteFace(poly_m,poly_m.face[i]);
+        }
+
+        //then remove unreferenced vertices
+        vcg::tri::Clean<PolyMeshType>::RemoveUnreferencedVertex(poly_m);
+        vcg::tri::Allocator<PolyMeshType>::CompactEveryVector(poly_m);
+
+    }
+    
+    /*! \brief This function remove valence 2 vertices on the border by considering the degree threshold
+     * bacause there could be eventually some corner that should be preserved
+    */
+    static void RemoveValence2Vertices(PolyMeshType &poly_m,
+                                       ScalarType corner_degree=25)
+    {
+        //update topology
+        vcg::tri::UpdateTopology<PolyMeshType>::FaceFace(poly_m);
+
+        //update border vertices
+        //UpdateBorderVertexFromPFFAdj(poly_m);
+        vcg::tri::UpdateFlags<PolyMeshType>::VertexBorderFromFaceAdj(poly_m);
+
+        vcg::tri::UpdateFlags<PolyMeshType>::VertexClearS(poly_m);
+
+        //select corners
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            if (poly_m.face[i].IsD())continue;
+
+            //get vertices of the face
+            int NumV=poly_m.face[i].VN();
+
+            for (int j=0;j<NumV;j++)
+            {
+                VertexType *v0=poly_m.face[i].V((j+NumV-1)%NumV);
+                VertexType *v1=poly_m.face[i].V(j);
+                VertexType *v2=poly_m.face[i].V((j+1)%NumV);
+                //must be 3 borders
+                bool IsB=((v0->IsB())&&(v1->IsB())&&(v2->IsB()));
+                CoordType dir0=(v0->P()-v1->P());
+                CoordType dir1=(v2->P()-v1->P());
+                dir0.Normalize();
+                dir1.Normalize();
+                ScalarType testDot=(dir0*dir1);
+                if ((IsB)&&(testDot>(-cos(corner_degree* (M_PI / 180.0)))))
+                    v1->SetS();
+            }
+        }
+
+        typename PolyMeshType::template PerVertexAttributeHandle<size_t> valenceVertH =
+                vcg::tri::Allocator<PolyMeshType>:: template GetPerVertexAttribute<size_t> (poly_m);
+
+        //initialize to zero
+        for (size_t i=0;i<poly_m.vert.size();i++)
+            valenceVertH[i]=0;
+
+        //then sum up the valence
+        for (size_t i=0;i<poly_m.face.size();i++)
+            for (int j=0;j<poly_m.face[i].VN();j++)
+                valenceVertH[poly_m.face[i].V(j)]++;
+
+        //then re-elaborate the faces
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            if (poly_m.face[i].IsD())continue;
+
+            //get vertices of the face
+            int NumV=poly_m.face[i].VN();
+
+            std::vector<VertexType*> FaceV;
+            for (int j=0;j<NumV;j++)
+            {
+                VertexType *v=poly_m.face[i].V(j);
+                assert(!v->IsD());
+                //if ((!v->IsS()) && (v->IsB()) && (valenceVertH[v]==1)) continue;
+                if ((!v->IsS()) && (v->IsB()) && (valenceVertH[v]==1)) continue;
+                if ((!v->IsB()) && (valenceVertH[v]<3)) continue;
+                //if (!v->IsS()) continue;
+                FaceV.push_back(v);
+            }
+
+            //then deallocate face
+            if ((int)FaceV.size()==NumV)continue;
+
+            //otherwise deallocate and set new vertices
+            poly_m.face[i].Dealloc();
+            poly_m.face[i].Alloc(FaceV.size());
+            for (size_t j=0;j<FaceV.size();j++)
+                poly_m.face[i].V(j)=FaceV[j];
+        }
+
+        //then remove unreferenced vertices
+        vcg::tri::Clean<PolyMeshType>::RemoveUnreferencedVertex(poly_m);
+        vcg::tri::Allocator<PolyMeshType>::CompactEveryVector(poly_m);
+
+        vcg::tri::Allocator<PolyMeshType>::DeletePerVertexAttribute(poly_m,valenceVertH);
+    }
+
+    /*! \brief This function collapse small edges which are on the boundary of the mesh
+     * this is sometimes useful to remove small edges coming out from a quadrangulation which is not
+     * aligned to boundaries
+    */
+    static bool CollapseBorderSmallEdges(PolyMeshType &poly_m,
+                                         const ScalarType perc_average=0.3)
+    {
+        //compute the average edge
+        ScalarType AvEdge=AverageEdge(poly_m);
+        ScalarType minLimit=AvEdge*perc_average;
+        bool collapsed=false;
+        while(CollapseBorderSmallEdgesStep(poly_m,minLimit)){collapsed=true;};
+
+        RemoveValence2Faces(poly_m);
+
+        //RemoveValence2BorderVertices(poly_m);
+        RemoveValence2Vertices(poly_m);
+        return collapsed;
+    }
+
+    /*! \brief This function use a local global approach to flatten polygonal faces
+     * the approach is similar to "Shape-Up: Shaping Discrete Geometry with Projections"
+    */
+    static ScalarType FlattenFaces(PolyMeshType &poly_m, size_t steps=100,bool OnlySFaces=false)
+    {
+        ScalarType MaxDispl=0;
+        for (size_t s=0;s<steps;s++)
+        {
+            std::vector<std::vector<CoordType> > VertPos(poly_m.vert.size());
+
+            for (size_t i=0;i<poly_m.face.size();i++)
+            {
+                if (poly_m.face[i].IsD())continue;
+
+                if (OnlySFaces && (!poly_m.face[i].IsS()))continue;
+                //get vertices of the face
+                int NumV=poly_m.face[i].VN();
+                if (NumV<=3)continue;
+
+                //save vertice's positions
+                std::vector<CoordType> FacePos;
+                for (int j=0;j<NumV;j++)
+                {
+                    VertexType *v=poly_m.face[i].V(j);
+                    assert(!v->IsD());
+                    FacePos.push_back(v->P());
+                }
+
+                //then fit the plane
+                vcg::Plane3<ScalarType> FitPl;
+                vcg::FitPlaneToPointSet(FacePos,FitPl);
+
+                //project each point onto fitting plane
+                for (int j=0;j<NumV;j++)
+                {
+                    VertexType *v=poly_m.face[i].V(j);
+                    int IndexV=vcg::tri::Index(poly_m,v);
+                    CoordType ProjP=FitPl.Projection(v->P());
+                    VertPos[IndexV].push_back(ProjP);
+                }
+            }
+
+            for (size_t i=0;i<poly_m.vert.size();i++)
+            {
+                CoordType AvgPos(0,0,0);
+
+                for (size_t j=0;j<VertPos[i].size();j++)
+                    AvgPos+=VertPos[i][j];
+
+                if (VertPos[i].size()==0)continue;
+
+                AvgPos/=(ScalarType)VertPos[i].size();
+
+                MaxDispl=std::max(MaxDispl,(poly_m.vert[i].P()-AvgPos).Norm());
+                poly_m.vert[i].P()=AvgPos;
+            }
+        }
+        return MaxDispl;
+    }
+
+    static ScalarType Area(PolyMeshType &poly_m)
+    {
+        ScalarType MeshArea=0;
+        for (size_t i=0;i<poly_m.face.size();i++)
+            MeshArea+=vcg::PolyArea(poly_m.face[i]);
+        return MeshArea;
+    }
+
+    static void InitQualityVertVoronoiArea(PolyMeshType &poly_m)
+    {
+        for (size_t i=0;i<poly_m.vert.size();i++)
+            poly_m.vert[i].Q()=0;
+
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            //            ScalarType AreaF=vcg::PolyArea(poly_m.face[i]);
+            size_t sizeV=poly_m.face[i].VN()-1;
+            CoordType baryF=vcg::PolyBarycenter(poly_m.face[i]);
+            for (int j=0;j<poly_m.face[i].VN();j++)
+            {
+                CoordType P0=poly_m.face[i].P((j+sizeV-1)%sizeV);
+                CoordType P1=poly_m.face[i].P(j);
+                CoordType P2=poly_m.face[i].P1(j);
+                vcg::Triangle3<ScalarType> T0(P1,(P0+P1)/2,baryF);
+                vcg::Triangle3<ScalarType> T1(P1,(P1+P2)/2,baryF);
+
+                poly_m.face[i].V(j)->Q()+=vcg::DoubleArea(T0)/2;
+                poly_m.face[i].V(j)->Q()+=vcg::DoubleArea(T1)/2;
+            }
+        }
+    }
+
+    static ScalarType InitQualityFaceTorsion(PolyMeshType &poly_m)
+    {
+        UpdateFaceNormalByFitting(poly_m);
+        vcg::tri::UpdateNormal<PolyMeshType>::PerVertexFromCurrentFaceNormal(poly_m);
+        ScalarType MaxA=0;
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            poly_m.face[i].Q()=PolygonTorsion(poly_m.face[i]);
+            MaxA=std::max(MaxA,poly_m.face[i].Q());
+        }
+        return MaxA;
+    }
+
+    static ScalarType InitQualityFaceBending(PolyMeshType &poly_m)
+    {
+        UpdateFaceNormalByFitting(poly_m);
+        vcg::tri::UpdateNormal<PolyMeshType>::PerVertexFromCurrentFaceNormal(poly_m);
+        ScalarType MaxA=0;
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            poly_m.face[i].Q()=PolygonBending(poly_m.face[i]);
+            MaxA=std::max(MaxA,poly_m.face[i].Q());
+        }
+        return MaxA;
+    }
+
+
+    static void InitQualityVertEdgeLenght(PolyMeshType &poly_m)
+    {
+        for (size_t i=0;i<poly_m.vert.size();i++)
+            poly_m.vert[i].Q()=0;
+
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            for (int j=0;j<poly_m.face[i].VN();j++)
+            {
+                FaceType *f=&poly_m.face[i];
+                FaceType *f1=f->FFp(j);
+                if (f>f1)continue;
+                ScalarType L=(poly_m.face[i].P0(j)-poly_m.face[i].P1(j)).Norm();
+                poly_m.face[i].V0(j)->Q()+=L;
+                poly_m.face[i].V1(j)->Q()+=L;
+            }
+        }
+    }
+
+    static void InterpolateQualityVertFormFaces(PolyMeshType &poly_m)
+    {
+        std::vector<ScalarType> SumW(poly_m.vert.size(),0);
+
+        for (size_t i=0;i<poly_m.vert.size();i++)
+            poly_m.vert[i].Q()=0;
+
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            ScalarType AreaF=vcg::PolyArea(poly_m.face[i]);
+            for (size_t j=0;j<poly_m.face[i].VN();j++)
+            {
+                poly_m.face[i].V(j)->Q()+=AreaF*(ScalarType)poly_m.face[i].Q();
+                size_t IndexV=vcg::tri::Index(poly_m,poly_m.face[i].V(j));
+                SumW[IndexV]+=AreaF;
+            }
+        }
+        for (size_t i=0;i<poly_m.vert.size();i++)
+        {
+            if (SumW[i]>0)
+                poly_m.vert[i].Q()/=SumW[i];
+            else
+                poly_m.vert[i].Q()=0;
+        }
+    }
+
+
+    static void ClosestPoint(const PolyMeshType &poly_m,const CoordType &pos,
+                             int &CloseF,CoordType &ClosePos)
+    {
+        ScalarType minD=std::numeric_limits<ScalarType>::max();
+        CloseF=-1;
+        for (size_t i=0;i<poly_m.face.size();i++)
+        {
+            CoordType closeTest;
+            ScalarType currD=vcg::PolygonPointDistance(poly_m.face[i],pos,closeTest);
+            if (currD>minD)continue;
+            minD=currD;
+            CloseF=i;
+            ClosePos=closeTest;
+        }
+    }
+
+    /*! \brief Triangulate a polygonal face with a triangle fan.
+     * \returns pointer to the newly added vertex.
+     */
+    static VertexPointer Triangulate(PolyMeshType & poly_m, size_t IndexF)
+    {
+
+        const CoordType bary = vcg::PolyBarycenter(poly_m.face[IndexF]);
+        size_t sizeV = poly_m.face[IndexF].VN();
+
+        //add the new vertex
+        VertexPointer newV = &(*vcg::tri::Allocator<PolyMeshType>::AddVertex(poly_m,bary));
+
+        //then reupdate the faces
+        for (size_t j=0;j<(sizeV-1);j++)
+        {
+            VertexType * v0=poly_m.face[IndexF].V0(j);
+            VertexType * v1=poly_m.face[IndexF].V1(j);
+            VertexType * v2=newV;
+
+            vcg::tri::Allocator<PolyMeshType>::AddFaces(poly_m,1);
+
+            poly_m.face.back().Alloc(3);
+            poly_m.face.back().V(0)=v0;
+            poly_m.face.back().V(1)=v1;
+            poly_m.face.back().V(2)=v2;
+            poly_m.face.back().Q()=poly_m.face[IndexF].Q();
+        }
+
+        VertexType * v0=poly_m.face[IndexF].V0((sizeV-1));
+        VertexType * v1=poly_m.face[IndexF].V1((sizeV-1));
+        poly_m.face[IndexF].Dealloc();
+        poly_m.face[IndexF].Alloc(3);
+        poly_m.face[IndexF].V(0)=v0;
+        poly_m.face[IndexF].V(1)=v1;
+        poly_m.face[IndexF].V(2)=newV;
+        return newV;
+    }
+
+    static void ReorderFaceVert(FaceType &f,const size_t &StartI)
+    {
+        if (StartI==0)return;
+        size_t sizeN=f.VN();
+        assert(StartI>=0);
+        assert(StartI<sizeN);
+        std::vector<VertexType*> NewV;
+        for (size_t i=0;i<sizeN;i++)
+        {
+            int IndexV=(i+StartI)%sizeN;
+            NewV.push_back(f.V(IndexV));
+        }
+        //then reset all vertices
+        for (size_t i=0;i<sizeN;i++)
+            f.V(i)=NewV[i];
+    }
+
+    static void MergeAlongEdge(PolyMeshType &poly_m,
+                               FaceType &f,
+                               const size_t &EdgeI)
+    {
+        //cannot be a border
+        assert(f.FFp(EdgeI)!=&f);
+        FaceType *f1=f.FFp(EdgeI);
+        int EdgeI1=f.FFi(EdgeI);
+
+        //sort first face
+        int FirstV0=(EdgeI+1) % f.VN();
+        ReorderFaceVert(f,FirstV0);
+        int FirstV1=(EdgeI1+1)%f1->VN();
+        ReorderFaceVert(*f1,FirstV1);
+
+        std::vector<VertexType*> NewV;
+        for (size_t i=0;i<(f.VN()-1);i++)
+            NewV.push_back(f.V(i));
+
+        for (size_t i=0;i<(f1->VN()-1);i++)
+            NewV.push_back(f1->V(i));
+
+        f.Dealloc();
+        f.Alloc(NewV.size());
+        for (size_t i=0;i<NewV.size();i++)
+            f.V(i)=NewV[i];
+
+        vcg::tri::Allocator<PolyMeshType>::DeleteFace(poly_m,*f1);
+    }
+
+    static void MergeAlongEdges(PolyMeshType &poly_m,
+                                const std::vector<FaceType*> &PolyF,
+                                const std::vector<size_t> &EdgeI)
+    {
+        //create a table with all edges that have to be merged
+        std::set<std::pair<CoordType,CoordType> > NeedMerge;
+        for (size_t i=0;i<PolyF.size();i++)
+        {
+            CoordType P0=PolyF[i]->P0(EdgeI[i]);
+            CoordType P1=PolyF[i]->P1(EdgeI[i]);
+            std::pair<CoordType,CoordType> key(std::min(P0,P1),std::max(P0,P1));
+            NeedMerge.insert(key);
+        }
+
+        //then cycle and collapse
+        do{
+            for (size_t i=0;i<poly_m.face.size();i++)
+            {
+                if (poly_m.face[i].IsD())continue;
+                for (size_t j=0;j<poly_m.face[i].VN();j++)
+                {
+                    CoordType P0=poly_m.face[i].P0(j);
+                    CoordType P1=poly_m.face[i].P1(j);
+                    std::pair<CoordType,CoordType> key(std::min(P0,P1),std::max(P0,P1));
+                    if (NeedMerge.count(key)==0)continue;
+
+                    //do the merge
+                    MergeAlongEdge(poly_m,poly_m.face[i],j);
+                    //remove it
+                    NeedMerge.erase(key);
+                    break;
+                }
+            }
+            vcg::tri::Allocator<PolyMeshType>::CompactEveryVector(poly_m);
+        }while (!NeedMerge.empty());
+    }
+
+    static void Triangulate(PolyMeshType &poly_m,
+                            bool alsoTriangles = true,
+                            bool OnlyS=false)
+    {
+        size_t size0 = poly_m.face.size();
+        if (alsoTriangles)
+        {
+            for (size_t i=0; i<size0; i++)
+            {
+                if ((OnlyS)&&(!poly_m.face[i].IsS()))continue;
+                Triangulate(poly_m, i);
+            }
+        }
+        else
+        {
+            for (size_t i=0; i<size0; i++)
+            {
+                if ((OnlyS)&&(!poly_m.face[i].IsS()))continue;
+                if (poly_m.face[i].VN() > 3)
+                {
+                    Triangulate(poly_m, i);
+                }
+            }
+        }
+    }
+
+};
+
+}//end namespace vcg
+
+#endif
diff --git a/vcg/complex/algorithms/quadrangulator.h b/vcg/complex/algorithms/quadrangulator.h
index b3f7d057..3cc08097 100644
--- a/vcg/complex/algorithms/quadrangulator.h
+++ b/vcg/complex/algorithms/quadrangulator.h
@@ -135,7 +135,7 @@ private:
     {
         ScalarType minTolerance=precisionQ;
         //first add all eddge
-        for (int i=0;i<to_split.face.size();i++)
+        for (size_t i=0;i<to_split.face.size();i++)
         {
             TriFaceType *f=&to_split.face[i];
             for (int j =0;j<3;j++)
@@ -158,7 +158,7 @@ private:
         }
     }
 
-    void RoundSplits(TriMesh &to_split,int dir)
+    void RoundSplits(TriMesh &to_split)//,int dir)
     {
         ScalarType minTolerance=precisionQ;
         //first add all eddge
@@ -191,14 +191,13 @@ private:
         }
     }
 
-    void InitSplitMap(TriMesh &to_split,
-                      int dir)
+    void InitSplitMap(TriMesh &to_split,int dir)
     {
-       assert((dir==0)||(dir==1));
+       //assert((dir==0)||(dir==1));
        InterpMap.clear();
        //printf("direction %d\n",dir );
        //first add all eddge
-       for (int i=0;i<to_split.face.size();i++)
+       for (size_t i=0;i<to_split.face.size();i++)
        {
            TriFaceType *f=&to_split.face[i];
            for (int j =0;j<3;j++)
@@ -311,7 +310,7 @@ private:
            }
        }
 
-       RoundSplits(to_split,dir);
+       RoundSplits(to_split);//,dir);
     }
 
     // Basic subdivision class
@@ -353,6 +352,8 @@ private:
         vcg::TexCoord2<ScalarType> WedgeInterp(vcg::TexCoord2<ScalarType> &t0,
                                                vcg::TexCoord2<ScalarType> &t1)
         {
+            (void)t0;
+            (void)t1;
             return (vcg::TexCoord2<ScalarType>(0,0));
         }
 
@@ -440,7 +441,7 @@ private:
         for (int dir=0;dir<2;dir++)
         {
             ScalarType val0=uv.V(dir);
-            int integer0=floor(val0+0.5);
+            //int integer0=floor(val0+0.5);
             //if ((fabs(val0-(ScalarType)integer0))<UVtolerance)onIntegerL++;
             if (val0==(ScalarType)floor(val0))onIntegerL++;
         }
@@ -510,7 +511,7 @@ private:
         poly.push_back(currPos.V());
 
         //retrieve UV
-        int indexV0=currPos.E();
+        //int indexV0=currPos.E();
 
         short int Align=AlignmentEdge(currPos.F(),currPos.E());
 
@@ -606,7 +607,7 @@ private:
 
     void ConvertWTtoVT(TriMesh &Tmesh)
     {
-        int vn = Tmesh.vn;
+        //int vn = Tmesh.vn;
         vcg::tri::AttributeSeam::SplitVertex(Tmesh, ExtractVertex, CompareVertex);
         vcg::tri::UpdateTopology<TriMesh>::FaceFace(Tmesh);
        // vcg::tri::UpdateFlags<TriMesh>::FaceBorderFromFF(Tmesh);
@@ -671,7 +672,8 @@ public:
 
     void Quadrangulate(TriMesh &Tmesh,
                        PolyMesh &Pmesh,
-                       std::vector< std::vector< short int> > &UV)
+                       std::vector< std::vector< short int> > &UV,
+                       bool preserve_border_corner=true)
     {
         UV.clear();
         Pmesh.Clear();
@@ -711,9 +713,12 @@ public:
 
         InitIntegerEdgesVert(Tmesh);
 
-        for (int i=0;i<Tmesh.face.size();i++)
+        for (size_t i=0;i<Tmesh.face.size();i++)
             Tmesh.face[i].C()=vcg::Color4b(255,255,255,255);
 
+        if (preserve_border_corner)
+            vcg::tri::UpdateSelection<TriMesh>::VertexCornerBorder(Tmesh,math::ToRad(150.0),true);
+
         std::vector<std::vector<TriVertexType *> > polygons;
         FindPolygons(Tmesh,polygons,UV);
 
diff --git a/vcg/complex/algorithms/refine.h b/vcg/complex/algorithms/refine.h
index 7582de16..65212987 100644
--- a/vcg/complex/algorithms/refine.h
+++ b/vcg/complex/algorithms/refine.h
@@ -28,10 +28,6 @@
 #include <map>
 #include <vcg/space/sphere3.h>
 #include <vcg/space/plane3.h>
-#include <vcg/simplex/face/pos.h>
-#include <vcg/simplex/face/topology.h>
-#include <vcg/complex/algorithms/update/topology.h>
-#include <vcg/complex/algorithms/update/flag.h>
 #include <vcg/complex/algorithms/clean.h>
 #include <vcg/space/texcoord2.h>
 #include <vcg/space/triangle3.h>
@@ -320,8 +316,8 @@ class RefinedFaceData
     {
         public:
         RefinedFaceData(){
-            ep[0]=0;ep[1]=0;ep[2]=0;
-            vp[0]=0;vp[1]=0;vp[2]=0;
+            ep[0] = ep[1] = ep[2] = false;
+            vp[0] = vp[1] = vp[2] = NULL;
         }
         bool ep[3];
         VertexPointer vp[3];
@@ -447,11 +443,11 @@ bool RefineE(MESH_TYPE &m, MIDPOINT &mid, EDGEPRED &ep,bool RefineSelected=false
     TexCoordType wtt[6];  // per ogni faccia sono al piu' tre i nuovi valori
     // di texture per wedge (uno per ogni edge)
 
-    int fca=0,fcn =0;
+    int fca=0;
     for(fi=m.face.begin();fi!=oldendf;++fi) if(!(*fi).IsD())
     {
-      if(cb && (++step%PercStep)==0)(*cb)(step/PercStep,"Refining...");
-      fcn++;
+      if(cb && (++step%PercStep)==0)
+          (*cb)(step/PercStep,"Refining...");
       vv[0]=(*fi).V(0);
       vv[1]=(*fi).V(1);
       vv[2]=(*fi).V(2);
@@ -459,7 +455,7 @@ bool RefineE(MESH_TYPE &m, MIDPOINT &mid, EDGEPRED &ep,bool RefineSelected=false
       vv[4] = RD[fi].vp[1];
       vv[5] = RD[fi].vp[2];
 
-      int ind=((&*vv[3])?1:0)+((&*vv[4])?2:0)+((&*vv[5])?4:0);
+      int ind = ((vv[3] != NULL) ? 1 : 0) + ((vv[4] != NULL) ? 2 : 0) + ((vv[5] != NULL) ? 4 : 0);
 
       nf[0]=&*fi;
       int i;
@@ -472,29 +468,41 @@ bool RefineE(MESH_TYPE &m, MIDPOINT &mid, EDGEPRED &ep,bool RefineSelected=false
       }
 
 
-      if(tri::HasPerWedgeTexCoord(m))
-        for(i=0;i<3;++i)	{
-          wtt[i]=(*fi).WT(i);
-          wtt[3+i]=mid.WedgeInterp((*fi).WT(i),(*fi).WT((i+1)%3));
-        }
+	if(tri::HasPerWedgeTexCoord(m))
+		for(i=0;i<3;++i)
+		{
+			wtt[i]=(*fi).WT(i);
+			wtt[3+i]=mid.WedgeInterp((*fi).WT(i),(*fi).WT((i+1)%3));
+		}
 
-      int orgflag=	(*fi).Flags();
-      for(i=0;i<SplitTab[ind].TriNum;++i)
-        for(j=0;j<3;++j){
-          (*nf[i]).V(j)=&*vv[SplitTab[ind].TV[i][j]];
+	int orgflag = (*fi).Flags();
+	for (i=0; i<SplitTab[ind].TriNum; ++i)
+		for(j=0;j<3;++j)
+		{
+			(*nf[i]).V(j)=&*vv[SplitTab[ind].TV[i][j]];
 
-          if(tri::HasPerWedgeTexCoord(m)) //analogo ai vertici...
-            (*nf[i]).WT(j)=wtt[SplitTab[ind].TV[i][j]];
+			if(tri::HasPerWedgeTexCoord(m)) //analogo ai vertici...
+				(*nf[i]).WT(j) = wtt[SplitTab[ind].TV[i][j]];
 
-          assert((*nf[i]).V(j)!=0);
-          if(SplitTab[ind].TE[i][j]!=3){
-            if(orgflag & (MESH_TYPE::FaceType::BORDER0<<(SplitTab[ind].TE[i][j])))
-              (*nf[i]).SetB(j);
-            else
-              (*nf[i]).ClearB(j);
-          }
-          else (*nf[i]).ClearB(j);
-        }
+			assert((*nf[i]).V(j)!=0);
+			if(SplitTab[ind].TE[i][j]!=3)
+			{
+				if(orgflag & (MESH_TYPE::FaceType::BORDER0<<(SplitTab[ind].TE[i][j])))
+					(*nf[i]).SetB(j);
+				else
+					(*nf[i]).ClearB(j);
+
+				if(orgflag & (MESH_TYPE::FaceType::FACEEDGESEL0<<(SplitTab[ind].TE[i][j])))
+					(*nf[i]).SetFaceEdgeS(j);
+				else
+					(*nf[i]).ClearFaceEdgeS(j);
+			}
+			else
+			{
+				(*nf[i]).ClearB(j);
+				(*nf[i]).ClearFaceEdgeS(j);
+			}
+		}
 
       if(SplitTab[ind].TriNum==3 &&
          SquaredDistance(vv[SplitTab[ind].swap[0][0]]->P(),vv[SplitTab[ind].swap[0][1]]->P()) <
@@ -511,6 +519,11 @@ bool RefineE(MESH_TYPE &m, MIDPOINT &mid, EDGEPRED &ep,bool RefineSelected=false
         if((*nf[2]).IsB(0)) (*nf[1]).SetB(1); else (*nf[1]).ClearB(1);
         (*nf[1]).ClearB(0);
         (*nf[2]).ClearB(0);
+
+        if((*nf[1]).IsFaceEdgeS(0)) (*nf[2]).SetFaceEdgeS(1); else (*nf[2]).ClearFaceEdgeS(1);
+        if((*nf[2]).IsFaceEdgeS(0)) (*nf[1]).SetFaceEdgeS(1); else (*nf[1]).ClearFaceEdgeS(1);
+        (*nf[1]).ClearFaceEdgeS(0);
+        (*nf[2]).ClearFaceEdgeS(0);
       }
     }
 
@@ -900,48 +913,48 @@ public:
   {
     vB->P() = Center(f);
 
-    //i tre vertici della faccia da dividere
+    //three vertices of the face to be split
     VertexType *V0,*V1,*V2;
     V0 = f->V(0);
     V1 = f->V(1);
     V2 = f->V(2);
 
-    //risistemo la faccia di partenza
+    //reupdate initial face
     (*f).V(2) = &(*vB);
-    //Faccia nuova #1
+    //new face #1
     (*f1).V(0) = &(*vB);
     (*f1).V(1) = V1;
     (*f1).V(2) = V2;
-    //Faccia nuova #2
+    //new face #2
     (*f2).V(0) = V0;
     (*f2).V(1) = &(*vB);
     (*f2).V(2) = V2;
 
     if(f->HasFFAdjacency())
     {
-      //adiacenza delle facce adiacenti a quelle aggiunte
+      //update adjacency
       f->FFp(1)->FFp(f->FFi(1)) = f1;
       f->FFp(2)->FFp(f->FFi(2)) = f2;
 
-      //adiacenza ff
+      // ff adjacency
       FaceType *  FF0,*FF1,*FF2;
       FF0 = f->FFp(0);
       FF1 = f->FFp(1);
       FF2 = f->FFp(2);
 
-      //Indici di adiacenza ff
+      //ff adjacency indexes
       char FFi0,FFi1,FFi2;
       FFi0 = f->FFi(0);
       FFi1 = f->FFi(1);
       FFi2 = f->FFi(2);
 
-      //adiacenza della faccia di partenza
+      //initial face
       (*f).FFp(1) = &(*f1);
       (*f).FFi(1) = 0;
       (*f).FFp(2) = &(*f2);
       (*f).FFi(2) = 0;
 
-      //adiacenza della faccia #1
+      //face #1
       (*f1).FFp(0) = f;
       (*f1).FFi(0) = 1;
 
@@ -951,7 +964,7 @@ public:
       (*f1).FFp(2) = &(*f2);
       (*f1).FFi(2) = 1;
 
-      //adiacenza della faccia #2
+      //face #2
       (*f2).FFp(0) = f;
       (*f2).FFi(0) = 2;
 
@@ -961,6 +974,23 @@ public:
       (*f2).FFp(2) = FF2;
       (*f2).FFi(2) = FFi2;
     }
+    //update faceEdge Sel if needed
+    if (f->HasFlags())
+    {
+        bool IsFaceEdgeS[3];
+        //collect and clear
+        for (size_t i=0;i<3;i++)
+        {
+            IsFaceEdgeS[i]=(*f).IsFaceEdgeS(i);
+            (*f).ClearFaceEdgeS(i);
+            (*f1).ClearFaceEdgeS(i);
+            (*f2).ClearFaceEdgeS(i);
+        }
+        //set back
+        if (IsFaceEdgeS[0])(*f).SetFaceEdgeS(0);
+        if (IsFaceEdgeS[1])(*f1).SetFaceEdgeS(1);
+        if (IsFaceEdgeS[2])(*f2).SetFaceEdgeS(2);
+    }
   }
 }; // end class TriSplit
 
@@ -1019,6 +1049,234 @@ void TrivialMidPointRefine(MeshType & m)
   Allocator<MeshType>::CompactEveryVector(m);
 }
 
+
+template<class MESH_TYPE, class EDGEPRED>
+bool RefineMidpoint(MESH_TYPE &m, EDGEPRED &ep, bool RefineSelected=false, CallBackPos *cb = 0)
+{
+	// common typenames
+	typedef typename MESH_TYPE::VertexIterator VertexIterator;
+	typedef typename MESH_TYPE::FaceIterator FaceIterator;
+	typedef typename MESH_TYPE::VertexPointer VertexPointer;
+	typedef typename MESH_TYPE::FacePointer FacePointer;
+	typedef typename MESH_TYPE::FaceType FaceType;
+	typedef typename MESH_TYPE::FaceType::TexCoordType TexCoordType;
+
+	assert(tri::HasFFAdjacency(m));
+	tri::UpdateFlags<MESH_TYPE>::FaceBorderFromFF(m);
+	typedef face::Pos<FaceType>  PosType;
+
+	int j,NewVertNum=0,NewFaceNum=0;
+
+	typedef RefinedFaceData<VertexPointer> RFD;
+	typedef typename MESH_TYPE :: template PerFaceAttributeHandle<RFD> HandleType;
+	HandleType RD  = tri::Allocator<MESH_TYPE>:: template AddPerFaceAttribute<RFD> (m,std::string("RefineData"));
+
+	MidPoint<MESH_TYPE> mid(&m);
+	// Callback stuff
+	int step=0;
+	int PercStep=std::max(1,m.fn/33);
+
+	// First Loop: We analyze the mesh to compute the number of the new faces and new vertices
+	FaceIterator fi;
+  for(fi=m.face.begin(),j=0;fi!=m.face.end();++fi) if(!(*fi).IsD())
+    {
+	    if(cb && (++step%PercStep)==0) (*cb)(step/PercStep,"Refining...");
+		// skip unselected faces if necessary
+		if(RefineSelected && !(*fi).IsS()) continue;
+
+		for(j=0;j<3;j++)
+		    {
+			    if(RD[fi].ep[j]) continue;
+
+				PosType edgeCur(&*fi,j);
+				if(RefineSelected && ! edgeCur.FFlip()->IsS()) continue;
+				if(!ep(edgeCur)) continue;
+
+				RD[edgeCur.F()].ep[edgeCur.E()]=true;
+				++NewFaceNum;
+				++NewVertNum;
+				PosType start = edgeCur;
+				if (!edgeCur.IsBorder())
+				{
+					do
+					{
+						edgeCur.NextF();
+						edgeCur.F()->SetV();
+						RD[edgeCur.F()].ep[edgeCur.E()] = true;
+						++NewFaceNum;
+					} while (edgeCur != start);
+					--NewFaceNum; //start is counted twice (could remove the first increment above)
+				}
+		    }
+
+  } // end face loop
+
+    if(NewVertNum ==0 )
+	    {
+		    tri::Allocator<MESH_TYPE> :: template DeletePerFaceAttribute<RefinedFaceData<VertexPointer> >  (m,RD);
+			return false;
+	    }
+	VertexIterator lastv = tri::Allocator<MESH_TYPE>::AddVertices(m,NewVertNum);
+
+	// Secondo loop: We initialize a edge->vertex map
+
+	for(fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
+  {
+		if(cb && (++step%PercStep)==0)(*cb)(step/PercStep,"Refining...");
+	 for(j=0;j<3;j++)
+	     {
+		        // skip unselected faces if necessary
+		        if(RefineSelected && !(*fi).IsS()) continue;
+				for(j=0;j<3;j++)
+				{
+					PosType edgeCur(&*fi,j);
+					if(RefineSelected && ! edgeCur.FFlip()->IsS()) continue;
+
+					if( RD[edgeCur.F()].ep[edgeCur.E()] &&  RD[edgeCur.F()].vp[edgeCur.E()] ==0 )
+					{
+						RD[edgeCur.F()].vp[edgeCur.E()] = &*lastv;
+						mid(*lastv,edgeCur);
+						PosType start = edgeCur;
+						if (!edgeCur.IsBorder())
+						{
+							do
+							{
+								edgeCur.NextF();
+								assert(RD[edgeCur.F()].ep[edgeCur.E()]);
+								RD[edgeCur.F()].vp[edgeCur.E()] = &*lastv;
+							} while (edgeCur != start);
+						}
+						++lastv;
+					}
+				}
+	     }
+  }
+
+	assert(lastv==m.vert.end()); // critical assert: we MUST have used all the vertex that we forecasted we need
+
+	FaceIterator lastf = tri::Allocator<MESH_TYPE>::AddFaces(m,NewFaceNum);
+	FaceIterator oldendf = lastf;
+
+/*
+ *               v0
+ *
+ *
+ *               f0
+ *
+ *       mp01     f3     mp02
+ *
+ *
+ *       f1               f2
+ *
+ *v1            mp12                v2
+ *
+*/
+
+	VertexPointer vv[6];	// The six vertices that arise in the single triangle splitting
+	//     0..2 Original triangle vertices
+	//     3..5 mp01, mp12, mp20 midpoints of the three edges
+	FacePointer nf[4];   // The (up to) four faces that are created.
+
+	TexCoordType wtt[6];  // per ogni faccia sono al piu' tre i nuovi valori
+	// di texture per wedge (uno per ogni edge)
+
+	int fca=0;
+	for(fi=m.face.begin();fi!=oldendf;++fi) if(!(*fi).IsD())
+	{
+		if(cb && (++step%PercStep)==0)
+		  (*cb)(step/PercStep,"Refining...");
+	  vv[0]=(*fi).V(0);
+	  vv[1]=(*fi).V(1);
+	  vv[2]=(*fi).V(2);
+	  vv[3] = RD[fi].vp[0];
+	  vv[4] = RD[fi].vp[1];
+	  vv[5] = RD[fi].vp[2];
+
+	  int ind = ((vv[3] != NULL) ? 1 : 0) + ((vv[4] != NULL) ? 2 : 0) + ((vv[5] != NULL) ? 4 : 0);
+
+	  nf[0]=&*fi;
+	  int i;
+	  for(i=1;i<SplitTab[ind].TriNum;++i){
+		nf[i]=&*lastf; ++lastf; fca++;
+		if(RefineSelected || (*fi).IsS()) (*nf[i]).SetS();
+		nf[i]->ImportData(*fi);
+
+	  }
+
+
+	if(tri::HasPerWedgeTexCoord(m))
+		for(i=0;i<3;++i)
+		{
+			wtt[i]=(*fi).WT(i);
+			wtt[3+i]=mid.WedgeInterp((*fi).WT(i),(*fi).WT((i+1)%3));
+		}
+
+	int orgflag = (*fi).Flags();
+	for (i=0; i<SplitTab[ind].TriNum; ++i)
+		for(j=0;j<3;++j)
+		{
+			(*nf[i]).V(j)=&*vv[SplitTab[ind].TV[i][j]];
+
+			if(tri::HasPerWedgeTexCoord(m)) //analogo ai vertici...
+				(*nf[i]).WT(j) = wtt[SplitTab[ind].TV[i][j]];
+
+			assert((*nf[i]).V(j)!=0);
+			if(SplitTab[ind].TE[i][j]!=3)
+			{
+				if(orgflag & (MESH_TYPE::FaceType::BORDER0<<(SplitTab[ind].TE[i][j])))
+					(*nf[i]).SetB(j);
+				else
+					(*nf[i]).ClearB(j);
+
+				if(orgflag & (MESH_TYPE::FaceType::FACEEDGESEL0<<(SplitTab[ind].TE[i][j])))
+					(*nf[i]).SetFaceEdgeS(j);
+				else
+					(*nf[i]).ClearFaceEdgeS(j);
+			}
+			else
+			{
+				(*nf[i]).ClearB(j);
+				(*nf[i]).ClearFaceEdgeS(j);
+			}
+		}
+
+	  if(SplitTab[ind].TriNum==3 &&
+	     SquaredDistance(vv[SplitTab[ind].swap[0][0]]->P(),vv[SplitTab[ind].swap[0][1]]->P()) <
+	     SquaredDistance(vv[SplitTab[ind].swap[1][0]]->P(),vv[SplitTab[ind].swap[1][1]]->P()) )
+	  { // swap the last two triangles
+		(*nf[2]).V(1)=(*nf[1]).V(0);
+		(*nf[1]).V(1)=(*nf[2]).V(0);
+		if(tri::HasPerWedgeTexCoord(m)){ //swap also textures coordinates
+			(*nf[2]).WT(1)=(*nf[1]).WT(0);
+			(*nf[1]).WT(1)=(*nf[2]).WT(0);
+		}
+
+		if((*nf[1]).IsB(0)) (*nf[2]).SetB(1); else (*nf[2]).ClearB(1);
+		if((*nf[2]).IsB(0)) (*nf[1]).SetB(1); else (*nf[1]).ClearB(1);
+		(*nf[1]).ClearB(0);
+		(*nf[2]).ClearB(0);
+
+		if((*nf[1]).IsFaceEdgeS(0)) (*nf[2]).SetFaceEdgeS(1); else (*nf[2]).ClearFaceEdgeS(1);
+		if((*nf[2]).IsFaceEdgeS(0)) (*nf[1]).SetFaceEdgeS(1); else (*nf[1]).ClearFaceEdgeS(1);
+		(*nf[1]).ClearFaceEdgeS(0);
+		(*nf[2]).ClearFaceEdgeS(0);
+	  }
+	}
+
+	assert(lastf==m.face.end());	 // critical assert: we MUST have used all the faces that we forecasted we need and that we previously allocated.
+	assert(!m.vert.empty());
+	for(fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD()){
+		assert((*fi).V(0)>=&*m.vert.begin() && (*fi).V(0)<=&m.vert.back() );
+	  assert((*fi).V(1)>=&*m.vert.begin() && (*fi).V(1)<=&m.vert.back() );
+	  assert((*fi).V(2)>=&*m.vert.begin() && (*fi).V(2)<=&m.vert.back() );
+	}
+	tri::UpdateTopology<MESH_TYPE>::FaceFace(m);
+
+	tri::Allocator<MESH_TYPE> :: template DeletePerFaceAttribute<RefinedFaceData<VertexPointer> >  (m,RD);
+
+	return true;
+}
+
 } // namespace tri
 } // namespace vcg
 
diff --git a/vcg/complex/algorithms/refine_loop.h b/vcg/complex/algorithms/refine_loop.h
index 33f13d53..eab257b4 100644
--- a/vcg/complex/algorithms/refine_loop.h
+++ b/vcg/complex/algorithms/refine_loop.h
@@ -34,9 +34,6 @@
 #include <vcg/space/point3.h>
 #include <vcg/complex/complex.h>
 #include <vcg/complex/algorithms/refine.h>
-#include <vcg/space/color4.h>
-#include <vcg/container/simple_temporary_data.h>
-#include <vcg/complex/algorithms/update/flag.h>
 #include <vcg/complex/algorithms/update/color.h>
 
 
@@ -103,7 +100,7 @@ struct RegularLoopWeight {
                 .69908
         };
 
-        return (k<=12)?(1.0-bkPolar[k-3])/k:LoopWeight<SCALAR_TYPE>().beta(k);
+        return (k<=12 && k>=3)?(1.0-bkPolar[k-3])/k:LoopWeight<SCALAR_TYPE>().beta(k);
     }
 
     inline SCALAR_TYPE incidentRegular(int k) {
@@ -123,7 +120,7 @@ struct RegularLoopWeight {
                 .44579
         };
 
-        return (k<=12)?bkPolar[k-3]:LoopWeight<SCALAR_TYPE>().incidentIrregular(k);
+        return (k<=12 && k>=3)?bkPolar[k-3]:LoopWeight<SCALAR_TYPE>().incidentIrregular(k);
     }
     inline SCALAR_TYPE opposite(int k) {
         static SCALAR_TYPE bkPolar[] = {
@@ -139,7 +136,7 @@ struct RegularLoopWeight {
                 .19828
         };
 
-        return (k<=12)?bkPolar[k-3]:LoopWeight<SCALAR_TYPE>().opposite(k);
+        return (k<=12 && k >= 3)?bkPolar[k-3]:LoopWeight<SCALAR_TYPE>().opposite(k);
     }
 };
 
@@ -159,7 +156,7 @@ struct ContinuityLoopWeight {
                 .70014
         };
 
-        return (k<=12)?(1.0-bkPolar[k-3])/k:LoopWeight<SCALAR_TYPE>().beta(k);
+        return (k<=12 && k>= 3)?(1.0-bkPolar[k-3])/k:LoopWeight<SCALAR_TYPE>().beta(k);
     }
 
     inline SCALAR_TYPE incidentRegular(int k) {
@@ -179,7 +176,7 @@ struct ContinuityLoopWeight {
                 .2452
         };
 
-        return (k<=12)?bkPolar[k-3]:LoopWeight<SCALAR_TYPE>().incidentIrregular(k);
+        return (k<=12 && k>=3)?bkPolar[k-3]:LoopWeight<SCALAR_TYPE>().incidentIrregular(k);
     }
     inline SCALAR_TYPE opposite(int k) {
         static SCALAR_TYPE bkPolar[] = {
@@ -195,7 +192,7 @@ struct ContinuityLoopWeight {
                 .29934
         };
 
-        return (k<=12)?bkPolar[k-3]:LoopWeight<SCALAR_TYPE>().opposite(k);
+        return (k<=12 && k >= 3)?bkPolar[k-3]:LoopWeight<SCALAR_TYPE>().opposite(k);
     }
 };
 
diff --git a/vcg/complex/algorithms/smooth.h b/vcg/complex/algorithms/smooth.h
index b87a371d..d2e4dbdf 100644
--- a/vcg/complex/algorithms/smooth.h
+++ b/vcg/complex/algorithms/smooth.h
@@ -21,7 +21,6 @@
 *                                                                           *
 ****************************************************************************/
 
-
 #ifndef __VCGLIB__SMOOTH
 #define __VCGLIB__SMOOTH
 
@@ -31,7 +30,6 @@
 #include <vcg/complex/algorithms/closest.h>
 #include <vcg/space/index/kdtree/kdtree.h>
 
-
 namespace vcg
 {
 namespace tri
@@ -45,269 +43,352 @@ template <class SmoothMeshType>
 class Smooth
 {
 
-public:
-            typedef SmoothMeshType MeshType;
-            typedef typename MeshType::VertexType     VertexType;
-            typedef typename MeshType::VertexType::CoordType     CoordType;
-            typedef typename MeshType::VertexPointer  VertexPointer;
-            typedef typename MeshType::VertexIterator VertexIterator;
-            typedef	typename MeshType::ScalarType			ScalarType;
-            typedef typename MeshType::FaceType       FaceType;
-            typedef typename MeshType::FacePointer    FacePointer;
-            typedef typename MeshType::FaceIterator   FaceIterator;
-            typedef typename MeshType::FaceContainer  FaceContainer;
-      typedef typename vcg::Box3<ScalarType>  Box3Type;
-        typedef typename vcg::face::VFIterator<FaceType> VFLocalIterator;
+  public:
+    typedef SmoothMeshType MeshType;
+    typedef typename MeshType::VertexType VertexType;
+    typedef typename MeshType::VertexType::CoordType CoordType;
+    typedef typename MeshType::VertexPointer VertexPointer;
+    typedef typename MeshType::VertexIterator VertexIterator;
+    typedef typename MeshType::ScalarType ScalarType;
+    typedef typename MeshType::FaceType FaceType;
+    typedef typename MeshType::FacePointer FacePointer;
+    typedef typename MeshType::FaceIterator FaceIterator;
+    typedef typename MeshType::FaceContainer FaceContainer;
+    typedef typename MeshType::TetraType TetraType;
+    typedef typename vcg::Box3<ScalarType> Box3Type;
+    typedef typename vcg::face::VFIterator<FaceType> VFLocalIterator;
 
-class ScaleLaplacianInfo
-{
-public:
-    CoordType PntSum;
-    ScalarType LenSum;
-};
-
-// This is precisely what curvature flow does.
-// Curvature flow smoothes the surface by moving along the surface
-// normal n with a speed equal to the mean curvature
-void VertexCoordLaplacianCurvatureFlow(MeshType &/*m*/, int /*step*/, ScalarType /*delta*/)
-{
-
-}
-
-// Another Laplacian smoothing variant,
-// here we sum the baricenter of the faces incidents on each vertex weighting them with the angle
-
-static void VertexCoordLaplacianAngleWeighted(MeshType &m, int step, ScalarType delta)
-{
-    ScaleLaplacianInfo lpz;
-    lpz.PntSum=CoordType(0,0,0);
-    lpz.LenSum=0;
-    SimpleTempData<typename MeshType::VertContainer, ScaleLaplacianInfo > TD(m.vert,lpz);
-    FaceIterator fi;
-    for(int i=0;i<step;++i)
+    class ScaleLaplacianInfo
     {
-        VertexIterator vi;
-        for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-             TD[*vi]=lpz;
-        ScalarType a[3];
-        for(fi=m.face.begin();fi!=m.face.end();++fi)if(!(*fi).IsD())
-        {
-            CoordType  mp=((*fi).V(0)->P() + (*fi).V(1)->P() + (*fi).V(2)->P())/3.0;
-            CoordType  e0=((*fi).V(0)->P() - (*fi).V(1)->P()).Normalize();
-            CoordType  e1=((*fi).V(1)->P() - (*fi).V(2)->P()).Normalize();
-            CoordType  e2=((*fi).V(2)->P() - (*fi).V(0)->P()).Normalize();
-
-            a[0]=AngleN(-e0,e2);
-            a[1]=AngleN(-e1,e0);
-            a[2]=AngleN(-e2,e1);
-            //assert(fabs(M_PI -a[0] -a[1] -a[2])<0.0000001);
-
-            for(int j=0;j<3;++j){
-                        CoordType dir= (mp-(*fi).V(j)->P()).Normalize();
-                        TD[(*fi).V(j)].PntSum+=dir*a[j];
-                        TD[(*fi).V(j)].LenSum+=a[j]; // well, it should be named angleSum
-            }
-        }
-        for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-                if(!(*vi).IsD() && TD[*vi].LenSum>0 )
-                 (*vi).P() = (*vi).P() +  (TD[*vi].PntSum/TD[*vi].LenSum ) * delta;
+      public:
+        CoordType PntSum;
+        ScalarType LenSum;
+    };
 
+    // This is precisely what curvature flow does.
+    // Curvature flow smoothes the surface by moving along the surface
+    // normal n with a speed equal to the mean curvature
+    void VertexCoordLaplacianCurvatureFlow(MeshType & /*m*/, int /*step*/, ScalarType /*delta*/)
+    {
     }
-};
 
-// Scale dependent laplacian smoothing [Fujiwara 95]
-// as described in
-// Implicit Fairing of Irregular Meshes using Diffusion and Curvature Flow
-// Mathieu Desbrun, Mark Meyer, Peter Schroeder, Alan H. Barr
-// SIGGRAPH 99
-// REQUIREMENTS: Border Flags.
-//
-// Note the delta parameter is in a absolute unit
-// to get stability it should be a small percentage of the shortest edge.
+    // Another Laplacian smoothing variant,
+    // here we sum the baricenter of the faces incidents on each vertex weighting them with the angle
 
-static void VertexCoordScaleDependentLaplacian_Fujiwara(MeshType &m, int step, ScalarType delta)
-{
-    SimpleTempData<typename MeshType::VertContainer, ScaleLaplacianInfo > TD(m.vert);
-    ScaleLaplacianInfo lpz;
-    lpz.PntSum=CoordType(0,0,0);
-    lpz.LenSum=0;
-    FaceIterator fi;
-    for(int i=0;i<step;++i)
+    static void VertexCoordLaplacianAngleWeighted(MeshType &m, int step, ScalarType delta)
     {
+        ScaleLaplacianInfo lpz;
+        lpz.PntSum = CoordType(0, 0, 0);
+        lpz.LenSum = 0;
+        SimpleTempData<typename MeshType::VertContainer, ScaleLaplacianInfo> TD(m.vert, lpz);
+        FaceIterator fi;
+        for (int i = 0; i < step; ++i)
+        {
             VertexIterator vi;
-            for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-                 TD[*vi]=lpz;
-
-            for(fi=m.face.begin();fi!=m.face.end();++fi)if(!(*fi).IsD())
-                for(int j=0;j<3;++j)
-                    if(!(*fi).IsB(j)) {
-                        CoordType edge= (*fi).V1(j)->P() -(*fi).V(j)->P();
-                        ScalarType len=Norm(edge);
-                        edge/=len;
-                        TD[(*fi).V(j)].PntSum+=edge;
-                        TD[(*fi).V1(j)].PntSum-=edge;
-                        TD[(*fi).V(j)].LenSum+=len;
-                        TD[(*fi).V1(j)].LenSum+=len;
-                    }
-
-            for(fi=m.face.begin();fi!=m.face.end();++fi)if(!(*fi).IsD())
-                for(int j=0;j<3;++j)
-                    // se l'edge j e' di bordo si riazzera tutto e si riparte
-                    if((*fi).IsB(j)) {
-                            TD[(*fi).V(j)].PntSum=CoordType(0,0,0);
-                            TD[(*fi).V1(j)].PntSum=CoordType(0,0,0);
-                            TD[(*fi).V(j)].LenSum=0;
-                            TD[(*fi).V1(j)].LenSum=0;
-                    }
-
-
-            for(fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
-                    for(int j=0;j<3;++j)
-                        if((*fi).IsB(j))
-                        {
-                            CoordType edge= (*fi).V1(j)->P() -(*fi).V(j)->P();
-                            ScalarType len=Norm(edge);
-                            edge/=len;
-                            TD[(*fi).V(j)].PntSum+=edge;
-                            TD[(*fi).V1(j)].PntSum-=edge;
-                            TD[(*fi).V(j)].LenSum+=len;
-                            TD[(*fi).V1(j)].LenSum+=len;
-                        }
-  // The fundamental part:
-    // We move the new point of a quantity
-    //
-    //  L(M) = 1/Sum(edgelen) * Sum(Normalized edges)
-    //
-
-            for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-                if(!(*vi).IsD() && TD[*vi].LenSum>0 )
-                 (*vi).P() = (*vi).P() + (TD[*vi].PntSum/TD[*vi].LenSum)*delta;
-    }
-};
-
-
-class LaplacianInfo
-{
-public:
-    LaplacianInfo(const CoordType &_p, const int _n):sum(_p),cnt(_n) {}
-    LaplacianInfo() {}
-    CoordType sum;
-    ScalarType cnt;
-};
-
-// Classical Laplacian Smoothing. Each vertex can be moved onto the average of the adjacent vertices.
-// Can smooth only the selected vertices and weight the smoothing according to the quality
-// In the latter case 0 means that the vertex is not moved and 1 means that the vertex is moved onto the computed position.
-//
-// From the Taubin definition "A signal proc approach to fair surface design"
-// We define the discrete Laplacian of a discrete surface signal by weighted averages over the neighborhoods
-//          \delta xi  = \Sum wij (xj - xi) ;
-// where xj are the adjacent vertices of xi and wij is usually 1/n_adj
-//
-// This function simply accumulate over a TempData all the positions of the ajacent vertices
-//
-static void AccumulateLaplacianInfo(MeshType &m, SimpleTempData<typename MeshType::VertContainer,LaplacianInfo > &TD, bool cotangentFlag=false)
-{
-  float weight =1.0f;
-            FaceIterator fi;
-            for(fi=m.face.begin();fi!=m.face.end();++fi)
-            {
-                if(!(*fi).IsD())
-                    for(int j=0;j<3;++j)
-                        if(!(*fi).IsB(j))
-                        {
-                          if(cotangentFlag) {
-                            float angle = Angle(fi->P1(j)-fi->P2(j),fi->P0(j)-fi->P2(j));
-                            weight = tan((M_PI*0.5) - angle);
-                          }
-
-                            TD[(*fi).V0(j)].sum+=(*fi).P1(j)*weight;
-                            TD[(*fi).V1(j)].sum+=(*fi).P0(j)*weight;
-                            TD[(*fi).V0(j)].cnt+=weight;
-                            TD[(*fi).V1(j)].cnt+=weight;
-                        }
-            }
-            // si azzaera i dati per i vertici di bordo
-            for(fi=m.face.begin();fi!=m.face.end();++fi)
-            {
-                if(!(*fi).IsD())
-                    for(int j=0;j<3;++j)
-                        if((*fi).IsB(j))
-                        {
-                            TD[(*fi).V0(j)].sum=(*fi).P0(j);
-                            TD[(*fi).V1(j)].sum=(*fi).P1(j);
-                            TD[(*fi).V0(j)].cnt=1;
-                            TD[(*fi).V1(j)].cnt=1;
-                        }
-            }
-
-            // se l'edge j e' di bordo si deve mediare solo con gli adiacenti
-            for(fi=m.face.begin();fi!=m.face.end();++fi)
-            {
-                if(!(*fi).IsD())
-                    for(int j=0;j<3;++j)
-                        if((*fi).IsB(j))
-                        {
-                            TD[(*fi).V(j)].sum+=(*fi).V1(j)->P();
-                            TD[(*fi).V1(j)].sum+=(*fi).V(j)->P();
-                            ++TD[(*fi).V(j)].cnt;
-                            ++TD[(*fi).V1(j)].cnt;
-                        }
-            }
-}
-
-static void VertexCoordLaplacian(MeshType &m, int step, bool SmoothSelected=false, bool cotangentWeight=false, vcg::CallBackPos * cb=0)
-{
-  VertexIterator vi;
-    LaplacianInfo lpz(CoordType(0,0,0),0);
-    SimpleTempData<typename MeshType::VertContainer,LaplacianInfo > TD(m.vert,lpz);
-    for(int i=0;i<step;++i)
-        {
-            if(cb)cb(100*i/step, "Classic Laplacian Smoothing");
-            TD.Init(lpz);
-            AccumulateLaplacianInfo(m,TD,cotangentWeight);
-            for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-                if(!(*vi).IsD() && TD[*vi].cnt>0 )
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                TD[*vi] = lpz;
+            ScalarType a[3];
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
                 {
-                            if(!SmoothSelected || (*vi).IsS())
-                                    (*vi).P() = ( (*vi).P() + TD[*vi].sum)/(TD[*vi].cnt+1);
+                    CoordType mp = ((*fi).V(0)->P() + (*fi).V(1)->P() + (*fi).V(2)->P()) / 3.0;
+                    CoordType e0 = ((*fi).V(0)->P() - (*fi).V(1)->P()).Normalize();
+                    CoordType e1 = ((*fi).V(1)->P() - (*fi).V(2)->P()).Normalize();
+                    CoordType e2 = ((*fi).V(2)->P() - (*fi).V(0)->P()).Normalize();
+
+                    a[0] = AngleN(-e0, e2);
+                    a[1] = AngleN(-e1, e0);
+                    a[2] = AngleN(-e2, e1);
+                    //assert(fabs(M_PI -a[0] -a[1] -a[2])<0.0000001);
+
+                    for (int j = 0; j < 3; ++j)
+                    {
+                        CoordType dir = (mp - (*fi).V(j)->P()).Normalize();
+                        TD[(*fi).V(j)].PntSum += dir * a[j];
+                        TD[(*fi).V(j)].LenSum += a[j]; // well, it should be named angleSum
+                    }
+                }
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD() && TD[*vi].LenSum > 0)
+                    (*vi).P() = (*vi).P() + (TD[*vi].PntSum / TD[*vi].LenSum) * delta;
+        }
+    };
+
+    // Scale dependent laplacian smoothing [Fujiwara 95]
+    // as described in
+    // Implicit Fairing of Irregular Meshes using Diffusion and Curvature Flow
+    // Mathieu Desbrun, Mark Meyer, Peter Schroeder, Alan H. Barr
+    // SIGGRAPH 99
+    // REQUIREMENTS: Border Flags.
+    //
+    // Note the delta parameter is in a absolute unit
+    // to get stability it should be a small percentage of the shortest edge.
+
+    static void VertexCoordScaleDependentLaplacian_Fujiwara(MeshType &m, int step, ScalarType delta, bool SmoothSelected = false)
+    {
+        SimpleTempData<typename MeshType::VertContainer, ScaleLaplacianInfo> TD(m.vert);
+        ScaleLaplacianInfo lpz;
+        lpz.PntSum = CoordType(0, 0, 0);
+        lpz.LenSum = 0;
+        FaceIterator fi;
+        for (int i = 0; i < step; ++i)
+        {
+            VertexIterator vi;
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                TD[*vi] = lpz;
+
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < 3; ++j)
+                        if (!(*fi).IsB(j))
+                        {
+                            CoordType edge = (*fi).V1(j)->P() - (*fi).V(j)->P();
+                            ScalarType len = Norm(edge);
+                            edge /= len;
+                            TD[(*fi).V(j)].PntSum += edge;
+                            TD[(*fi).V1(j)].PntSum -= edge;
+                            TD[(*fi).V(j)].LenSum += len;
+                            TD[(*fi).V1(j)].LenSum += len;
+                        }
+
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < 3; ++j)
+                        // se l'edge j e' di bordo si riazzera tutto e si riparte
+                        if ((*fi).IsB(j))
+                        {
+                            TD[(*fi).V(j)].PntSum = CoordType(0, 0, 0);
+                            TD[(*fi).V1(j)].PntSum = CoordType(0, 0, 0);
+                            TD[(*fi).V(j)].LenSum = 0;
+                            TD[(*fi).V1(j)].LenSum = 0;
+                        }
+
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < 3; ++j)
+                        if ((*fi).IsB(j))
+                        {
+                            CoordType edge = (*fi).V1(j)->P() - (*fi).V(j)->P();
+                            ScalarType len = Norm(edge);
+                            edge /= len;
+                            TD[(*fi).V(j)].PntSum += edge;
+                            TD[(*fi).V1(j)].PntSum -= edge;
+                            TD[(*fi).V(j)].LenSum += len;
+                            TD[(*fi).V1(j)].LenSum += len;
+                        }
+            // The fundamental part:
+            // We move the new point of a quantity
+            //
+            //  L(M) = 1/Sum(edgelen) * Sum(Normalized edges)
+            //
+
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD() && TD[*vi].LenSum > 0)
+                {
+                    if (!SmoothSelected || (*vi).IsS())
+                        (*vi).P() = (*vi).P() + (TD[*vi].PntSum / TD[*vi].LenSum) * delta;
                 }
         }
-}
+    };
 
-// Same of above but moves only the vertices that do not change FaceOrientation more that the given threshold
-static void VertexCoordPlanarLaplacian(MeshType &m, int step, float AngleThrRad = math::ToRad(1.0), bool SmoothSelected=false, vcg::CallBackPos * cb=0)
-{
-  VertexIterator vi;
-    FaceIterator fi;
-    LaplacianInfo lpz(CoordType(0,0,0),0);
-    SimpleTempData<typename MeshType::VertContainer,LaplacianInfo > TD(m.vert,lpz);
-    for(int i=0;i<step;++i)
-        {
-        if(cb)cb(100*i/step, "Planar Laplacian Smoothing");
-        TD.Init(lpz);
-        AccumulateLaplacianInfo(m,TD);
-        for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-            if(!(*vi).IsD() && TD[*vi].cnt>0 )
+    class LaplacianInfo
+    {
+      public:
+        LaplacianInfo(const CoordType &_p, const int _n) : sum(_p), cnt(_n) {}
+        LaplacianInfo() {}
+        CoordType sum;
+        ScalarType cnt;
+    };
+
+    // Classical Laplacian Smoothing. Each vertex can be moved onto the average of the adjacent vertices.
+    // Can smooth only the selected vertices and weight the smoothing according to the quality
+    // In the latter case 0 means that the vertex is not moved and 1 means that the vertex is moved onto the computed position.
+    //
+    // From the Taubin definition "A signal proc approach to fair surface design"
+    // We define the discrete Laplacian of a discrete surface signal by weighted averages over the neighborhoods
+    //          \delta xi  = \Sum wij (xj - xi) ;
+    // where xj are the adjacent vertices of xi and wij is usually 1/n_adj
+    //
+    // This function simply accumulate over a TempData all the positions of the ajacent vertices
+    //
+    static void AccumulateLaplacianInfo(MeshType &m, SimpleTempData<typename MeshType::VertContainer, LaplacianInfo> &TD, bool cotangentFlag = false)
+    {
+        float weight = 1.0f;
+
+        //if we are applying to a tetrahedral mesh:
+        ForEachTetra(m, [&](TetraType &t) {
+            for (int i = 0; i < 6; ++i)
             {
-                if(!SmoothSelected || (*vi).IsS())
-                    TD[*vi].sum = ( (*vi).P() + TD[*vi].sum)/(TD[*vi].cnt+1);
-            }
+                VertexPointer v0, v1, vo0, vo1;
+                v0 = t.V(Tetra::VofE(i, 0));
+                v1 = t.V(Tetra::VofE(i, 1));
 
-        for(fi=m.face.begin();fi!=m.face.end();++fi){
-                if(!(*fi).IsD()){
-                    for (int j = 0; j < 3; ++j) {
-                        if(Angle( Normal(TD[(*fi).V0(j)].sum, (*fi).P1(j), (*fi).P2(j) ),
-                                            Normal(   (*fi).P0(j)     , (*fi).P1(j), (*fi).P2(j) ) ) > AngleThrRad )
+                if (cotangentFlag)
+                {
+                    vo0 = t.V(Tetra::VofE(5 - i, 0));
+                    vo1 = t.V(Tetra::VofE(5 - i, 1));
+
+                    ScalarType angle = Tetra::DihedralAngle(t, 5 - i);
+                    ScalarType length = vcg::Distance(vo0->P(), vo1->P());
+
+                    weight = (length / 6.) * (tan(M_PI / 2. - angle));
+                }
+
+                TD[v0].sum += v1->cP() * weight;
+                TD[v1].sum += v0->cP() * weight;
+                TD[v0].cnt += weight;
+                TD[v1].cnt += weight;
+            }
+        });
+
+        ForEachTetra(m, [&](TetraType &t) {
+            for (int i = 0; i < 4; ++i)
+                if (t.IsB(i))
+                {
+                    VertexPointer v0, v1, v2;
+                    v0 = t.V(Tetra::VofF(i, 0));
+                    v1 = t.V(Tetra::VofF(i, 1));
+                    v2 = t.V(Tetra::VofF(i, 2));
+
+                    TD[v0].sum = v0->P();
+                    TD[v1].sum = v1->P();
+                    TD[v2].sum = v2->P();
+
+                    TD[v0].cnt = 1;
+                    TD[v1].cnt = 1;
+                    TD[v2].cnt = 1;
+                }
+        });
+
+//        ForEachTetra(m, [&](TetraType &t) {
+//            for (int i = 0; i < 4; ++i)
+//                if (t.IsB(i))
+//                {
+//                    VertexPointer v0, v1, v2;
+//                    v0 = t.V(Tetra::VofF(i, 0));
+//                    v1 = t.V(Tetra::VofF(i, 1));
+//                    v2 = t.V(Tetra::VofF(i, 2));
+
+//                    TD[v0].sum += v1->P();
+//                    TD[v0].sum += v2->P();
+//                    TD[v0].cnt += 2;
+
+//                    TD[v1].sum += v0->P();
+//                    TD[v1].sum += v2->P();
+//                    TD[v1].cnt += 2;
+
+//                    TD[v2].sum += v0->P();
+//                    TD[v2].sum += v1->P();
+//                    TD[v2].cnt += 2;
+//                }
+//        });
+
+        FaceIterator fi;
+        for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+        {
+            if (!(*fi).IsD())
+                for (int j = 0; j < 3; ++j)
+                    if (!(*fi).IsB(j))
+                    {
+                        if (cotangentFlag)
+                        {
+                            float angle = Angle(fi->P1(j) - fi->P2(j), fi->P0(j) - fi->P2(j));
+                            weight = tan((M_PI * 0.5) - angle);
+                        }
+
+                        TD[(*fi).V0(j)].sum += (*fi).P1(j) * weight;
+                        TD[(*fi).V1(j)].sum += (*fi).P0(j) * weight;
+                        TD[(*fi).V0(j)].cnt += weight;
+                        TD[(*fi).V1(j)].cnt += weight;
+                    }
+        }
+        // si azzaera i dati per i vertici di bordo
+        for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+        {
+            if (!(*fi).IsD())
+                for (int j = 0; j < 3; ++j)
+                    if ((*fi).IsB(j))
+                    {
+                        TD[(*fi).V0(j)].sum = (*fi).P0(j);
+                        TD[(*fi).V1(j)].sum = (*fi).P1(j);
+                        TD[(*fi).V0(j)].cnt = 1;
+                        TD[(*fi).V1(j)].cnt = 1;
+                    }
+        }
+
+        // se l'edge j e' di bordo si deve mediare solo con gli adiacenti
+        for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+        {
+            if (!(*fi).IsD())
+                for (int j = 0; j < 3; ++j)
+                    if ((*fi).IsB(j))
+                    {
+                        TD[(*fi).V(j)].sum += (*fi).V1(j)->P();
+                        TD[(*fi).V1(j)].sum += (*fi).V(j)->P();
+                        ++TD[(*fi).V(j)].cnt;
+                        ++TD[(*fi).V1(j)].cnt;
+                    }
+        }
+    }
+
+    static void VertexCoordLaplacian(MeshType &m, int step, bool SmoothSelected = false, bool cotangentWeight = false, vcg::CallBackPos *cb = 0)
+    {
+        LaplacianInfo lpz(CoordType(0, 0, 0), 0);
+        SimpleTempData<typename MeshType::VertContainer, LaplacianInfo> TD(m.vert, lpz);
+        for (int i = 0; i < step; ++i)
+        {
+            if (cb)
+                cb(100 * i / step, "Classic Laplacian Smoothing");
+            TD.Init(lpz);
+            AccumulateLaplacianInfo(m, TD, cotangentWeight);
+            for (auto vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD() && TD[*vi].cnt > 0)
+                {
+                    if (!SmoothSelected || (*vi).IsS())
+                        (*vi).P() = ((*vi).P() + TD[*vi].sum) / (TD[*vi].cnt + 1);
+                }
+        }
+    }
+
+    // Same of above but moves only the vertices that do not change FaceOrientation more that the given threshold
+    static void VertexCoordPlanarLaplacian(MeshType &m, int step, float AngleThrRad = math::ToRad(1.0), bool SmoothSelected = false, vcg::CallBackPos *cb = 0)
+    {
+        LaplacianInfo lpz(CoordType(0, 0, 0), 0);
+        SimpleTempData<typename MeshType::VertContainer, LaplacianInfo> TD(m.vert, lpz);
+        for (int i = 0; i < step; ++i)
+        {
+            if (cb)
+                cb(100 * i / step, "Planar Laplacian Smoothing");
+            TD.Init(lpz);
+            AccumulateLaplacianInfo(m, TD);
+            // First normalize the AccumulateLaplacianInfo
+            for (auto vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD() && TD[*vi].cnt > 0)
+                {
+                    if (!SmoothSelected || (*vi).IsS())
+                        TD[*vi].sum = ((*vi).P() + TD[*vi].sum) / (TD[*vi].cnt + 1);
+                }
+
+            for (auto fi = m.face.begin(); fi != m.face.end(); ++fi)
+            {
+                if (!(*fi).IsD())
+                {
+                    for (int j = 0; j < 3; ++j)
+                    {
+                        if (Angle(Normal(TD[(*fi).V0(j)].sum, (*fi).P1(j), (*fi).P2(j)),
+                                  Normal((*fi).P0(j), (*fi).P1(j), (*fi).P2(j))) > AngleThrRad)
                             TD[(*fi).V0(j)].sum = (*fi).P0(j);
                     }
                 }
             }
-            for(fi=m.face.begin();fi!=m.face.end();++fi){
-                if(!(*fi).IsD()){
-                    for (int j = 0; j < 3; ++j) {
-                        if(Angle( Normal(TD[(*fi).V0(j)].sum, TD[(*fi).V1(j)].sum, (*fi).P2(j) ),
-                                            Normal(   (*fi).P0(j)     ,    (*fi).P1(j),      (*fi).P2(j) ) ) > AngleThrRad )
+            for (auto fi = m.face.begin(); fi != m.face.end(); ++fi)
+            {
+                if (!(*fi).IsD())
+                {
+                    for (int j = 0; j < 3; ++j)
+                    {
+                        if (Angle(Normal(TD[(*fi).V0(j)].sum, TD[(*fi).V1(j)].sum, (*fi).P2(j)),
+                                  Normal((*fi).P0(j), (*fi).P1(j), (*fi).P2(j))) > AngleThrRad)
                         {
                             TD[(*fi).V0(j)].sum = (*fi).P0(j);
                             TD[(*fi).V1(j)].sum = (*fi).P1(j);
@@ -316,41 +397,37 @@ static void VertexCoordPlanarLaplacian(MeshType &m, int step, float AngleThrRad
                 }
             }
 
-            for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-                if(!(*vi).IsD() && TD[*vi].cnt>0 )
-                        (*vi).P()= TD[*vi].sum;
+            for (auto vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD() && TD[*vi].cnt > 0)
+                    if (!SmoothSelected || (*vi).IsS())
+                        (*vi).P() = TD[*vi].sum;
+        } // end step
+    }
 
+    static void VertexCoordLaplacianBlend(MeshType &m, int step, float alpha, bool SmoothSelected = false)
+    {
+        VertexIterator vi;
+        LaplacianInfo lpz(CoordType(0, 0, 0), 0);
+        assert(alpha <= 1.0);
+        SimpleTempData<typename MeshType::VertContainer, LaplacianInfo> TD(m.vert);
 
-
-        }// end step
-
-
-}
-
-static void VertexCoordLaplacianBlend(MeshType &m, int step, float alpha, bool SmoothSelected=false)
-{
-    VertexIterator vi;
-    LaplacianInfo lpz(CoordType(0,0,0),0);
-    assert (alpha<= 1.0);
-    SimpleTempData<typename MeshType::VertContainer,LaplacianInfo > TD(m.vert);
-
-    for(int i=0;i<step;++i)
+        for (int i = 0; i < step; ++i)
         {
-        TD.Init(lpz);
-        AccumulateLaplacianInfo(m,TD);
-        for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-            if(!(*vi).IsD() && TD[*vi].cnt>0 )
-            {
-                if(!SmoothSelected || (*vi).IsS())
+            TD.Init(lpz);
+            AccumulateLaplacianInfo(m, TD);
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD() && TD[*vi].cnt > 0)
                 {
-                    CoordType Delta = TD[*vi].sum/TD[*vi].cnt - (*vi).P();
-                    (*vi).P() = (*vi).P() + Delta*alpha;
+                    if (!SmoothSelected || (*vi).IsS())
+                    {
+                        CoordType Delta = TD[*vi].sum / TD[*vi].cnt - (*vi).P();
+                        (*vi).P() = (*vi).P() + Delta * alpha;
+                    }
                 }
-            }
         }
-}
+    }
 
-/* a couple of notes about the lambda mu values
+    /* a couple of notes about the lambda mu values
 We assume that 0 < lambda , and mu  is a negative scale factor such that mu < - lambda.
 Holds mu+lambda < 0 (e.g in absolute value mu is greater)
 
@@ -367,761 +444,807 @@ So if
 * lambda == 0.5, kpb==0.01 -> mu = 1/(0.01 - 2) = -0.502
 */
 
-
-static void VertexCoordTaubin(MeshType &m, int step, float lambda, float mu, bool SmoothSelected=false, vcg::CallBackPos * cb=0)
-{
-    LaplacianInfo lpz(CoordType(0,0,0),0);
-    SimpleTempData<typename MeshType::VertContainer,LaplacianInfo > TD(m.vert,lpz);
-    VertexIterator vi;
-    for(int i=0;i<step;++i)
+    static void VertexCoordTaubin(MeshType &m, int step, float lambda, float mu, bool SmoothSelected = false, vcg::CallBackPos *cb = 0)
+    {
+        LaplacianInfo lpz(CoordType(0, 0, 0), 0);
+        SimpleTempData<typename MeshType::VertContainer, LaplacianInfo> TD(m.vert, lpz);
+        VertexIterator vi;
+        for (int i = 0; i < step; ++i)
         {
-          if(cb) cb(100*i/step, "Taubin Smoothing");
+            if (cb)
+                cb(100 * i / step, "Taubin Smoothing");
             TD.Init(lpz);
-            AccumulateLaplacianInfo(m,TD);
-            for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-                if(!(*vi).IsD() && TD[*vi].cnt>0 )
+            AccumulateLaplacianInfo(m, TD);
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD() && TD[*vi].cnt > 0)
                 {
-                    if(!SmoothSelected || (*vi).IsS())
+                    if (!SmoothSelected || (*vi).IsS())
                     {
-                        CoordType Delta = TD[*vi].sum/TD[*vi].cnt - (*vi).P();
-                        (*vi).P() = (*vi).P() + Delta*lambda ;
+                        CoordType Delta = TD[*vi].sum / TD[*vi].cnt - (*vi).P();
+                        (*vi).P() = (*vi).P() + Delta * lambda;
                     }
                 }
             TD.Init(lpz);
-            AccumulateLaplacianInfo(m,TD);
-            for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-                    if(!(*vi).IsD() && TD[*vi].cnt>0 )
+            AccumulateLaplacianInfo(m, TD);
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD() && TD[*vi].cnt > 0)
+                {
+                    if (!SmoothSelected || (*vi).IsS())
                     {
-                        if(!SmoothSelected || (*vi).IsS())
-                        {
-                            CoordType Delta = TD[*vi].sum/TD[*vi].cnt - (*vi).P();
-                            (*vi).P() = (*vi).P() + Delta*mu ;
-                        }
+                        CoordType Delta = TD[*vi].sum / TD[*vi].cnt - (*vi).P();
+                        (*vi).P() = (*vi).P() + Delta * mu;
                     }
-            } // end for step
-}
+                }
+        } // end for step
+    }
 
+    static void VertexQualityTaubin(MeshType &m, int step, float lambda, float mu, bool SmoothSelected = false, vcg::CallBackPos *cb = 0)
+    {
+        SimpleTempData<typename MeshType::VertContainer, ScalarType> OldQ(m.vert, 0);
 
-static void VertexCoordLaplacianQuality(MeshType &m, int step, bool SmoothSelected=false)
-{
-  LaplacianInfo lpz;
-    lpz.sum=CoordType(0,0,0);
-    lpz.cnt=1;
-    SimpleTempData<typename MeshType::VertContainer,LaplacianInfo > TD(m.vert,lpz);
-    for(int i=0;i<step;++i)
+        VertexIterator vi;
+        for (int i = 0; i < step; ++i)
         {
-            for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
-                    if(!(*vi).IsD() && TD[*vi].cnt>0 )
-                        if(!SmoothSelected || (*vi).IsS())
-                        {
-                            float q=(*vi).Q();
-                            (*vi).P()=(*vi).P()*q + (TD[*vi].sum/TD[*vi].cnt)*(1.0-q);
-                        }
-        } // end for
-};
+            for (size_t i = 0; i < m.vert.size(); i++)
+                OldQ[i] = m.vert[i].Q();
 
-/*
+            if (cb)
+                cb(100 * i / step, "Taubin Smoothing");
+
+            VertexQualityLaplacian(m, 1, SmoothSelected);
+
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+            {
+                if (!SmoothSelected || (*vi).IsS())
+                {
+                    ScalarType Delta = (*vi).Q() - OldQ[(*vi)];
+                    (*vi).Q() = OldQ[(*vi)] + Delta * lambda;
+                }
+            }
+
+            for (size_t i = 0; i < m.vert.size(); i++)
+                OldQ[i] = m.vert[i].Q();
+            VertexQualityLaplacian(m, 1, SmoothSelected);
+
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+            {
+                if (!SmoothSelected || (*vi).IsS())
+                {
+                    ScalarType Delta = m.vert[i].Q() - OldQ[(*vi)];
+                    (*vi).Q() = OldQ[(*vi)] + Delta * mu;
+                }
+            }
+        } // end for step
+    }
+
+    static void VertexCoordLaplacianQuality(MeshType &m, int step, bool SmoothSelected = false)
+    {
+        LaplacianInfo lpz;
+        lpz.sum = CoordType(0, 0, 0);
+        lpz.cnt = 1;
+        SimpleTempData<typename MeshType::VertContainer, LaplacianInfo> TD(m.vert, lpz);
+        for (int i = 0; i < step; ++i)
+        {
+            for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD() && TD[*vi].cnt > 0)
+                    if (!SmoothSelected || (*vi).IsS())
+                    {
+                        float q = (*vi).Q();
+                        (*vi).P() = (*vi).P() * q + (TD[*vi].sum / TD[*vi].cnt) * (1.0 - q);
+                    }
+        } // end for
+    };
+
+    /*
   Improved Laplacian Smoothing of Noisy Surface Meshes
   J. Vollmer, R. Mencl, and H. M�ller
   EUROGRAPHICS Volume 18 (1999), Number 3
 */
 
-class HCSmoothInfo
-{
-public:
-    CoordType dif;
-    CoordType sum;
-    int cnt;
-};
+    class HCSmoothInfo
+    {
+      public:
+        CoordType dif;
+        CoordType sum;
+        int cnt;
+    };
 
-static void VertexCoordLaplacianHC(MeshType &m, int step, bool SmoothSelected=false )
-{
-    ScalarType beta=0.5;
-  HCSmoothInfo lpz;
-    lpz.sum=CoordType(0,0,0);
-    lpz.dif=CoordType(0,0,0);
-    lpz.cnt=0;
-        for(int i=0;i<step;++i)
+    static void VertexCoordLaplacianHC(MeshType &m, int step, bool SmoothSelected = false)
+    {
+        ScalarType beta = 0.5;
+        HCSmoothInfo lpz;
+        lpz.sum = CoordType(0, 0, 0);
+        lpz.dif = CoordType(0, 0, 0);
+        lpz.cnt = 0;
+        for (int i = 0; i < step; ++i)
         {
-            SimpleTempData<typename MeshType::VertContainer,HCSmoothInfo > TD(m.vert,lpz);
+            SimpleTempData<typename MeshType::VertContainer, HCSmoothInfo> TD(m.vert, lpz);
             // First Loop compute the laplacian
             FaceIterator fi;
-            for(fi=m.face.begin();fi!=m.face.end();++fi)if(!(*fi).IsD())
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
                 {
-                    for(int j=0;j<3;++j)
+                    for (int j = 0; j < 3; ++j)
                     {
-                        TD[(*fi).V(j)].sum+=(*fi).V1(j)->P();
-                        TD[(*fi).V1(j)].sum+=(*fi).V(j)->P();
+                        TD[(*fi).V(j)].sum += (*fi).V1(j)->P();
+                        TD[(*fi).V1(j)].sum += (*fi).V(j)->P();
                         ++TD[(*fi).V(j)].cnt;
                         ++TD[(*fi).V1(j)].cnt;
                         // se l'edge j e' di bordo si deve sommare due volte
-                        if((*fi).IsB(j))
+                        if ((*fi).IsB(j))
                         {
-                            TD[(*fi).V(j)].sum+=(*fi).V1(j)->P();
-                            TD[(*fi).V1(j)].sum+=(*fi).V(j)->P();
+                            TD[(*fi).V(j)].sum += (*fi).V1(j)->P();
+                            TD[(*fi).V1(j)].sum += (*fi).V(j)->P();
                             ++TD[(*fi).V(j)].cnt;
                             ++TD[(*fi).V1(j)].cnt;
                         }
                     }
                 }
             VertexIterator vi;
-            for(vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
-                 TD[*vi].sum/=(float)TD[*vi].cnt;
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD())
+                    TD[*vi].sum /= (float)TD[*vi].cnt;
 
             // Second Loop compute average difference
-            for(fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
                 {
-                    for(int j=0;j<3;++j)
+                    for (int j = 0; j < 3; ++j)
                     {
-                        TD[(*fi).V(j)].dif +=TD[(*fi).V1(j)].sum-(*fi).V1(j)->P();
-                        TD[(*fi).V1(j)].dif+=TD[(*fi).V(j)].sum-(*fi).V(j)->P();
+                        TD[(*fi).V(j)].dif += TD[(*fi).V1(j)].sum - (*fi).V1(j)->P();
+                        TD[(*fi).V1(j)].dif += TD[(*fi).V(j)].sum - (*fi).V(j)->P();
                         // se l'edge j e' di bordo si deve sommare due volte
-                        if((*fi).IsB(j))
+                        if ((*fi).IsB(j))
                         {
-                            TD[(*fi).V(j)].dif +=TD[(*fi).V1(j)].sum-(*fi).V1(j)->P();
-                            TD[(*fi).V1(j)].dif+=TD[(*fi).V(j)].sum-(*fi).V(j)->P();
+                            TD[(*fi).V(j)].dif += TD[(*fi).V1(j)].sum - (*fi).V1(j)->P();
+                            TD[(*fi).V1(j)].dif += TD[(*fi).V(j)].sum - (*fi).V(j)->P();
                         }
                     }
                 }
 
-            for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-                {
-                 TD[*vi].dif/=(float)TD[*vi].cnt;
-                 if(!SmoothSelected || (*vi).IsS())
-                        (*vi).P()= TD[*vi].sum - (TD[*vi].sum - (*vi).P())*beta  + (TD[*vi].dif)*(1.f-beta);
-                }
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+            {
+				if (TD[*vi].cnt > 0){
+					TD[*vi].dif /= (float)TD[*vi].cnt;
+					if (!SmoothSelected || (*vi).IsS())
+						(*vi).P() = TD[*vi].sum - (TD[*vi].sum - (*vi).P()) * beta + (TD[*vi].dif) * (1.f - beta);
+				}
+            }
         } // end for step
-};
+    };
 
-// Laplacian smooth of the quality.
+    // Laplacian smooth of the quality.
 
-
-class ColorSmoothInfo
-{
-public:
-    unsigned int r;
-    unsigned int g;
-    unsigned int b;
-    unsigned int a;
-    int cnt;
-};
-
-static void VertexColorLaplacian(MeshType &m, int step, bool SmoothSelected=false, vcg::CallBackPos * cb=0)
-{
-    ColorSmoothInfo csi;
-    csi.r=0; csi.g=0; csi.b=0; csi.cnt=0;
-    SimpleTempData<typename MeshType::VertContainer, ColorSmoothInfo> TD(m.vert,csi);
-
-    for(int i=0;i<step;++i)
+    class ColorSmoothInfo
     {
-        if(cb) cb(100*i/step, "Vertex Color Laplacian Smoothing");
-        VertexIterator vi;
-        for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-            TD[*vi]=csi;
+      public:
+        unsigned int r;
+        unsigned int g;
+        unsigned int b;
+        unsigned int a;
+        int cnt;
+    };
 
-        FaceIterator fi;
-        for(fi=m.face.begin();fi!=m.face.end();++fi)
-            if(!(*fi).IsD())
-                for(int j=0;j<3;++j)
-                    if(!(*fi).IsB(j))
-                    {
-                        TD[(*fi).V(j)].r+=(*fi).V1(j)->C()[0];
-                        TD[(*fi).V(j)].g+=(*fi).V1(j)->C()[1];
-                        TD[(*fi).V(j)].b+=(*fi).V1(j)->C()[2];
-                        TD[(*fi).V(j)].a+=(*fi).V1(j)->C()[3];
-
-                        TD[(*fi).V1(j)].r+=(*fi).V(j)->C()[0];
-                        TD[(*fi).V1(j)].g+=(*fi).V(j)->C()[1];
-                        TD[(*fi).V1(j)].b+=(*fi).V(j)->C()[2];
-                        TD[(*fi).V1(j)].a+=(*fi).V(j)->C()[3];
-
-                        ++TD[(*fi).V(j)].cnt;
-                        ++TD[(*fi).V1(j)].cnt;
-                    }
-
-        // si azzaera i dati per i vertici di bordo
-        for(fi=m.face.begin();fi!=m.face.end();++fi)
-            if(!(*fi).IsD())
-                for(int j=0;j<3;++j)
-                    if((*fi).IsB(j))
-                    {
-                        TD[(*fi).V(j)]=csi;
-                        TD[(*fi).V1(j)]=csi;
-                    }
-
-        // se l'edge j e' di bordo si deve mediare solo con gli adiacenti
-        for(fi=m.face.begin();fi!=m.face.end();++fi)
-            if(!(*fi).IsD())
-                for(int j=0;j<3;++j)
-                    if((*fi).IsB(j))
-                    {
-                        TD[(*fi).V(j)].r+=(*fi).V1(j)->C()[0];
-                        TD[(*fi).V(j)].g+=(*fi).V1(j)->C()[1];
-                        TD[(*fi).V(j)].b+=(*fi).V1(j)->C()[2];
-                        TD[(*fi).V(j)].a+=(*fi).V1(j)->C()[3];
-
-                        TD[(*fi).V1(j)].r+=(*fi).V(j)->C()[0];
-                        TD[(*fi).V1(j)].g+=(*fi).V(j)->C()[1];
-                        TD[(*fi).V1(j)].b+=(*fi).V(j)->C()[2];
-                        TD[(*fi).V1(j)].a+=(*fi).V(j)->C()[3];
-
-                        ++TD[(*fi).V(j)].cnt;
-                        ++TD[(*fi).V1(j)].cnt;
-                    }
-
-        for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-            if(!(*vi).IsD() && TD[*vi].cnt>0 )
-                if(!SmoothSelected || (*vi).IsS())
-                {
-                    (*vi).C()[0] = (unsigned int) ceil((double) (TD[*vi].r / TD[*vi].cnt));
-                    (*vi).C()[1] = (unsigned int) ceil((double) (TD[*vi].g / TD[*vi].cnt));
-                    (*vi).C()[2] = (unsigned int) ceil((double) (TD[*vi].b / TD[*vi].cnt));
-                    (*vi).C()[3] = (unsigned int) ceil((double) (TD[*vi].a / TD[*vi].cnt));
-                }
-    } // end for step
-};
-
-static void FaceColorLaplacian(MeshType &m, int step, bool SmoothSelected=false, vcg::CallBackPos * cb=0)
-{
-    ColorSmoothInfo csi;
-    csi.r=0; csi.g=0; csi.b=0; csi.cnt=0;
-    SimpleTempData<typename MeshType::FaceContainer, ColorSmoothInfo> TD(m.face,csi);
-
-    for(int i=0;i<step;++i)
+    static void VertexColorLaplacian(MeshType &m, int step, bool SmoothSelected = false, vcg::CallBackPos *cb = 0)
     {
-        if(cb) cb(100*i/step, "Face Color Laplacian Smoothing");
-        FaceIterator fi;
-        for(fi=m.face.begin();fi!=m.face.end();++fi)
-            TD[*fi]=csi;
+        ColorSmoothInfo csi;
+        csi.r = 0;
+        csi.g = 0;
+        csi.b = 0;
+        csi.cnt = 0;
+        SimpleTempData<typename MeshType::VertContainer, ColorSmoothInfo> TD(m.vert, csi);
 
-        for(fi=m.face.begin();fi!=m.face.end();++fi)
+        for (int i = 0; i < step; ++i)
         {
-            if(!(*fi).IsD())
-                for(int j=0;j<3;++j)
-                    if(!(*fi).IsB(j))
+            if (cb)
+                cb(100 * i / step, "Vertex Color Laplacian Smoothing");
+            VertexIterator vi;
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                TD[*vi] = csi;
+
+            FaceIterator fi;
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < 3; ++j)
+                        if (!(*fi).IsB(j))
+                        {
+                            TD[(*fi).V(j)].r += (*fi).V1(j)->C()[0];
+                            TD[(*fi).V(j)].g += (*fi).V1(j)->C()[1];
+                            TD[(*fi).V(j)].b += (*fi).V1(j)->C()[2];
+                            TD[(*fi).V(j)].a += (*fi).V1(j)->C()[3];
+
+                            TD[(*fi).V1(j)].r += (*fi).V(j)->C()[0];
+                            TD[(*fi).V1(j)].g += (*fi).V(j)->C()[1];
+                            TD[(*fi).V1(j)].b += (*fi).V(j)->C()[2];
+                            TD[(*fi).V1(j)].a += (*fi).V(j)->C()[3];
+
+                            ++TD[(*fi).V(j)].cnt;
+                            ++TD[(*fi).V1(j)].cnt;
+                        }
+
+            // si azzaera i dati per i vertici di bordo
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < 3; ++j)
+                        if ((*fi).IsB(j))
+                        {
+                            TD[(*fi).V(j)] = csi;
+                            TD[(*fi).V1(j)] = csi;
+                        }
+
+            // se l'edge j e' di bordo si deve mediare solo con gli adiacenti
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < 3; ++j)
+                        if ((*fi).IsB(j))
+                        {
+                            TD[(*fi).V(j)].r += (*fi).V1(j)->C()[0];
+                            TD[(*fi).V(j)].g += (*fi).V1(j)->C()[1];
+                            TD[(*fi).V(j)].b += (*fi).V1(j)->C()[2];
+                            TD[(*fi).V(j)].a += (*fi).V1(j)->C()[3];
+
+                            TD[(*fi).V1(j)].r += (*fi).V(j)->C()[0];
+                            TD[(*fi).V1(j)].g += (*fi).V(j)->C()[1];
+                            TD[(*fi).V1(j)].b += (*fi).V(j)->C()[2];
+                            TD[(*fi).V1(j)].a += (*fi).V(j)->C()[3];
+
+                            ++TD[(*fi).V(j)].cnt;
+                            ++TD[(*fi).V1(j)].cnt;
+                        }
+
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD() && TD[*vi].cnt > 0)
+                    if (!SmoothSelected || (*vi).IsS())
                     {
-                        TD[*fi].r+=(*fi).FFp(j)->C()[0];
-                        TD[*fi].g+=(*fi).FFp(j)->C()[1];
-                        TD[*fi].b+=(*fi).FFp(j)->C()[2];
-                        TD[*fi].a+=(*fi).FFp(j)->C()[3];
-                        ++TD[*fi].cnt;
+                        (*vi).C()[0] = (unsigned int)ceil((double)(TD[*vi].r / TD[*vi].cnt));
+                        (*vi).C()[1] = (unsigned int)ceil((double)(TD[*vi].g / TD[*vi].cnt));
+                        (*vi).C()[2] = (unsigned int)ceil((double)(TD[*vi].b / TD[*vi].cnt));
+                        (*vi).C()[3] = (unsigned int)ceil((double)(TD[*vi].a / TD[*vi].cnt));
                     }
+        } // end for step
+    };
+
+    static void FaceColorLaplacian(MeshType &m, int step, bool SmoothSelected = false, vcg::CallBackPos *cb = 0)
+    {
+        ColorSmoothInfo csi;
+        csi.r = 0;
+        csi.g = 0;
+        csi.b = 0;
+        csi.cnt = 0;
+        SimpleTempData<typename MeshType::FaceContainer, ColorSmoothInfo> TD(m.face, csi);
+
+        for (int i = 0; i < step; ++i)
+        {
+            if (cb)
+                cb(100 * i / step, "Face Color Laplacian Smoothing");
+            FaceIterator fi;
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                TD[*fi] = csi;
+
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+            {
+                if (!(*fi).IsD())
+                    for (int j = 0; j < 3; ++j)
+                        if (!(*fi).IsB(j))
+                        {
+                            TD[*fi].r += (*fi).FFp(j)->C()[0];
+                            TD[*fi].g += (*fi).FFp(j)->C()[1];
+                            TD[*fi].b += (*fi).FFp(j)->C()[2];
+                            TD[*fi].a += (*fi).FFp(j)->C()[3];
+                            ++TD[*fi].cnt;
+                        }
+            }
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD() && TD[*fi].cnt > 0)
+                    if (!SmoothSelected || (*fi).IsS())
+                    {
+                        (*fi).C()[0] = (unsigned int)ceil((float)(TD[*fi].r / TD[*fi].cnt));
+                        (*fi).C()[1] = (unsigned int)ceil((float)(TD[*fi].g / TD[*fi].cnt));
+                        (*fi).C()[2] = (unsigned int)ceil((float)(TD[*fi].b / TD[*fi].cnt));
+                        (*fi).C()[3] = (unsigned int)ceil((float)(TD[*fi].a / TD[*fi].cnt));
+                    }
+        } // end for step
+    };
+
+    // Laplacian smooth of the quality.
+
+    class QualitySmoothInfo
+    {
+      public:
+        ScalarType sum;
+        int cnt;
+    };
+
+    static void PointCloudQualityAverage(MeshType &m, int neighbourSize = 8, int iter = 1)
+    {
+        tri::RequireCompactness(m);
+        VertexConstDataWrapper<MeshType> ww(m);
+        KdTree<ScalarType> kt(ww);
+        typename KdTree<ScalarType>::PriorityQueue pq;
+        for (int k = 0; k < iter; ++k)
+        {
+            std::vector<ScalarType> newQVec(m.vn);
+            for (int i = 0; i < m.vn; ++i)
+            {
+                kt.doQueryK(m.vert[i].P(), neighbourSize, pq);
+                float qAvg = 0;
+                for (int j = 0; j < pq.getNofElements(); ++j)
+                    qAvg += m.vert[pq.getIndex(j)].Q();
+                newQVec[i] = qAvg / float(pq.getNofElements());
+            }
+
+            for (int i = 0; i < m.vn; ++i)
+                m.vert[i].Q() = newQVec[i];
         }
-        for(fi=m.face.begin();fi!=m.face.end();++fi)
-            if(!(*fi).IsD() && TD[*fi].cnt>0 )
-                if(!SmoothSelected || (*fi).IsS())
-                {
-                    (*fi).C()[0] = (unsigned int) ceil((float) (TD[*fi].r / TD[*fi].cnt));
-                    (*fi).C()[1] = (unsigned int) ceil((float) (TD[*fi].g / TD[*fi].cnt));
-                    (*fi).C()[2] = (unsigned int) ceil((float) (TD[*fi].b / TD[*fi].cnt));
-                    (*fi).C()[3] = (unsigned int) ceil((float) (TD[*fi].a / TD[*fi].cnt));
-                }
-    } // end for step
-};
-
-// Laplacian smooth of the quality.
-
-class QualitySmoothInfo
-{
-public:
-    ScalarType sum;
-    int cnt;
-};
-
-static void PointCloudQualityAverage(MeshType &m, int neighbourSize=8, int iter=1)
-{
-  tri::RequireCompactness(m);
-  VertexConstDataWrapper<MeshType> ww(m);
-  KdTree<ScalarType> kt(ww);
-  typename KdTree<ScalarType>::PriorityQueue pq;
-  for(int k=0;k<iter;++k)
-  {
-    std::vector<ScalarType> newQVec(m.vn);
-    for(int i=0;i<m.vn;++i)
-    {
-      kt.doQueryK(m.vert[i].P(),neighbourSize,pq);
-      float qAvg=0;
-      for(int j=0;j<pq.getNofElements();++j)
-        qAvg+= m.vert[pq.getIndex(j)].Q();   
-      newQVec[i]=qAvg/float(pq.getNofElements());
     }
-    
-    for(int i=0;i<m.vn;++i) 
-      m.vert[i].Q() = newQVec[i];
-  }    
-}
 
-static void PointCloudQualityMedian(MeshType &m, int medianSize=8)
-{
-  tri::RequireCompactness(m);
-  VertexConstDataWrapper<MeshType> ww(m);
-  KdTree<ScalarType> kt(ww);
-  typename KdTree<ScalarType>::PriorityQueue pq;
-  std::vector<ScalarType> newQVec(m.vn);
-  for(int i=0;i<m.vn;++i)
-  {
-    kt.doQueryK(m.vert[i].P(),medianSize,pq);
-    std::vector<ScalarType> qVec(pq.getNofElements());
-    for(int j=0;j<pq.getNofElements();++j)
-      qVec[j]=m.vert[pq.getIndex(j)].Q();
-    std::sort(qVec.begin(),qVec.end());
-    newQVec[i]=qVec[qVec.size()/2];
-  }
-  
-  for(int i=0;i<m.vn;++i) 
-    m.vert[i].Q() = newQVec[i];
-      
-}
-
-static void VertexQualityLaplacian(MeshType &m, int step=1, bool SmoothSelected=false)
-{
-  QualitySmoothInfo lpz;
-    lpz.sum=0;
-    lpz.cnt=0;
-    SimpleTempData<typename MeshType::VertContainer,QualitySmoothInfo> TD(m.vert,lpz);
-    //TD.Start(lpz);
-    for(int i=0;i<step;++i)
+    static void PointCloudQualityMedian(MeshType &m, int medianSize = 8)
     {
-        VertexIterator vi;
-        for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-             TD[*vi]=lpz;
+        tri::RequireCompactness(m);
+        VertexConstDataWrapper<MeshType> ww(m);
+        KdTree<ScalarType> kt(ww);
+        typename KdTree<ScalarType>::PriorityQueue pq;
+        std::vector<ScalarType> newQVec(m.vn);
+        for (int i = 0; i < m.vn; ++i)
+        {
+            kt.doQueryK(m.vert[i].P(), medianSize, pq);
+            std::vector<ScalarType> qVec(pq.getNofElements());
+            for (int j = 0; j < pq.getNofElements(); ++j)
+                qVec[j] = m.vert[pq.getIndex(j)].Q();
+            std::sort(qVec.begin(), qVec.end());
+            newQVec[i] = qVec[qVec.size() / 2];
+        }
 
-        FaceIterator fi;
-        for(fi=m.face.begin();fi!=m.face.end();++fi)
-            if(!(*fi).IsD())
-                for(int j=0;j<3;++j)
-                    if(!(*fi).IsB(j))
+        for (int i = 0; i < m.vn; ++i)
+            m.vert[i].Q() = newQVec[i];
+    }
+
+    static void VertexQualityLaplacian(MeshType &m, int step = 1, bool SmoothSelected = false)
+    {
+        QualitySmoothInfo lpz;
+        lpz.sum = 0;
+        lpz.cnt = 0;
+        SimpleTempData<typename MeshType::VertContainer, QualitySmoothInfo> TD(m.vert, lpz);
+        //TD.Start(lpz);
+        for (int i = 0; i < step; ++i)
+        {
+            VertexIterator vi;
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                TD[*vi] = lpz;
+
+            FaceIterator fi;
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < (*fi).VN(); ++j)
+                        if (!(*fi).IsB(j))
                         {
-                            TD[(*fi).V(j)].sum+=(*fi).V1(j)->Q();
-                            TD[(*fi).V1(j)].sum+=(*fi).V(j)->Q();
+                            TD[(*fi).V(j)].sum += (*fi).V1(j)->Q();
+                            TD[(*fi).V1(j)].sum += (*fi).V(j)->Q();
                             ++TD[(*fi).V(j)].cnt;
                             ++TD[(*fi).V1(j)].cnt;
-                    }
-
-            // si azzaera i dati per i vertici di bordo
-            for(fi=m.face.begin();fi!=m.face.end();++fi)
-                if(!(*fi).IsD())
-                    for(int j=0;j<3;++j)
-                        if((*fi).IsB(j))
-                            {
-                                TD[(*fi).V(j)]=lpz;
-                                TD[(*fi).V1(j)]=lpz;
-                            }
-
-            // se l'edge j e' di bordo si deve mediare solo con gli adiacenti
-            for(fi=m.face.begin();fi!=m.face.end();++fi)
-                if(!(*fi).IsD())
-                    for(int j=0;j<3;++j)
-                        if((*fi).IsB(j))
-                            {
-                                TD[(*fi).V(j)].sum+=(*fi).V1(j)->Q();
-                                TD[(*fi).V1(j)].sum+=(*fi).V(j)->Q();
-                                ++TD[(*fi).V(j)].cnt;
-                                ++TD[(*fi).V1(j)].cnt;
                         }
 
-    //VertexIterator vi;
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-        if(!(*vi).IsD() && TD[*vi].cnt>0 )
-            if(!SmoothSelected || (*vi).IsS())
-                    (*vi).Q()=TD[*vi].sum/TD[*vi].cnt;
-    }
-
-    //TD.Stop();
-};
-
-static void VertexNormalLaplacian(MeshType &m, int step,bool SmoothSelected=false)
-{
-    LaplacianInfo lpz;
-      lpz.sum=CoordType(0,0,0);
-      lpz.cnt=0;
-    SimpleTempData<typename MeshType::VertContainer,LaplacianInfo > TD(m.vert,lpz);
-    for(int i=0;i<step;++i)
-    {
-        VertexIterator vi;
-        for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-             TD[*vi]=lpz;
-
-        FaceIterator fi;
-        for(fi=m.face.begin();fi!=m.face.end();++fi)
-            if(!(*fi).IsD())
-                for(int j=0;j<3;++j)
-                    if(!(*fi).IsB(j))
+            // si azzaera i dati per i vertici di bordo
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < (*fi).VN(); ++j)
+                        if ((*fi).IsB(j))
                         {
-                            TD[(*fi).V(j)].sum+=(*fi).V1(j)->N();
-                            TD[(*fi).V1(j)].sum+=(*fi).V(j)->N();
+                            TD[(*fi).V(j)] = lpz;
+                            TD[(*fi).V1(j)] = lpz;
+                        }
+
+            // se l'edge j e' di bordo si deve mediare solo con gli adiacenti
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < (*fi).VN(); ++j)
+                        if ((*fi).IsB(j))
+                        {
+                            TD[(*fi).V(j)].sum += (*fi).V1(j)->Q();
+                            TD[(*fi).V1(j)].sum += (*fi).V(j)->Q();
                             ++TD[(*fi).V(j)].cnt;
                             ++TD[(*fi).V1(j)].cnt;
-                    }
-
-            // si azzaera i dati per i vertici di bordo
-            for(fi=m.face.begin();fi!=m.face.end();++fi)
-                if(!(*fi).IsD())
-                    for(int j=0;j<3;++j)
-                        if((*fi).IsB(j))
-                            {
-                                TD[(*fi).V(j)]=lpz;
-                                TD[(*fi).V1(j)]=lpz;
-                            }
-
-            // se l'edge j e' di bordo si deve mediare solo con gli adiacenti
-            for(fi=m.face.begin();fi!=m.face.end();++fi)
-                if(!(*fi).IsD())
-                    for(int j=0;j<3;++j)
-                        if((*fi).IsB(j))
-                            {
-                                TD[(*fi).V(j)].sum+=(*fi).V1(j)->N();
-                                TD[(*fi).V1(j)].sum+=(*fi).V(j)->N();
-                                ++TD[(*fi).V(j)].cnt;
-                                ++TD[(*fi).V1(j)].cnt;
                         }
 
-    //VertexIterator vi;
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-        if(!(*vi).IsD() && TD[*vi].cnt>0 )
-            if(!SmoothSelected || (*vi).IsS())
-                    (*vi).N()=TD[*vi].sum/TD[*vi].cnt;
-    }
+            //VertexIterator vi;
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD() && TD[*vi].cnt > 0)
+                    if (!SmoothSelected || (*vi).IsS())
+                        (*vi).Q() = TD[*vi].sum / TD[*vi].cnt;
+        }
 
-};
+        //TD.Stop();
+    };
 
-// Smooth solo lungo la direzione di vista
+    static void VertexNormalLaplacian(MeshType &m, int step, bool SmoothSelected = false)
+    {
+        LaplacianInfo lpz;
+        lpz.sum = CoordType(0, 0, 0);
+        lpz.cnt = 0;
+        SimpleTempData<typename MeshType::VertContainer, LaplacianInfo> TD(m.vert, lpz);
+        for (int i = 0; i < step; ++i)
+        {
+            VertexIterator vi;
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                TD[*vi] = lpz;
+
+            FaceIterator fi;
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < 3; ++j)
+                        if (!(*fi).IsB(j))
+                        {
+                            TD[(*fi).V(j)].sum += (*fi).V1(j)->N();
+                            TD[(*fi).V1(j)].sum += (*fi).V(j)->N();
+                            ++TD[(*fi).V(j)].cnt;
+                            ++TD[(*fi).V1(j)].cnt;
+                        }
+
+            // si azzaera i dati per i vertici di bordo
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < 3; ++j)
+                        if ((*fi).IsB(j))
+                        {
+                            TD[(*fi).V(j)] = lpz;
+                            TD[(*fi).V1(j)] = lpz;
+                        }
+
+            // se l'edge j e' di bordo si deve mediare solo con gli adiacenti
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < 3; ++j)
+                        if ((*fi).IsB(j))
+                        {
+                            TD[(*fi).V(j)].sum += (*fi).V1(j)->N();
+                            TD[(*fi).V1(j)].sum += (*fi).V(j)->N();
+                            ++TD[(*fi).V(j)].cnt;
+                            ++TD[(*fi).V1(j)].cnt;
+                        }
+
+            //VertexIterator vi;
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD() && TD[*vi].cnt > 0)
+                    if (!SmoothSelected || (*vi).IsS())
+                        (*vi).N() = TD[*vi].sum / TD[*vi].cnt;
+        }
+    };
+
+    // Smooth solo lungo la direzione di vista
     // alpha e' compreso fra 0(no smoot) e 1 (tutto smoot)
-  // Nota che se smootare il bordo puo far fare bandierine.
-static void VertexCoordViewDepth(MeshType &m,
-                 const CoordType & viewpoint,
-                 const ScalarType alpha,
-                 int step, bool SmoothBorder=false )
-{
-    LaplacianInfo lpz;
-    lpz.sum=CoordType(0,0,0);
-    lpz.cnt=0;
-    SimpleTempData<typename MeshType::VertContainer,LaplacianInfo > TD(m.vert,lpz);
-    for(int i=0;i<step;++i)
+    // Nota che se smootare il bordo puo far fare bandierine.
+    static void VertexCoordViewDepth(MeshType &m,
+                                     const CoordType &viewpoint,
+                                     const ScalarType alpha,
+									 int step, bool SmoothSelected, bool SmoothBorder = false)
     {
-        VertexIterator vi;
-        for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-             TD[*vi]=lpz;
+        LaplacianInfo lpz;
+        lpz.sum = CoordType(0, 0, 0);
+        lpz.cnt = 0;
+        SimpleTempData<typename MeshType::VertContainer, LaplacianInfo> TD(m.vert, lpz);
+        for (int i = 0; i < step; ++i)
+        {
+            VertexIterator vi;
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                TD[*vi] = lpz;
 
-        FaceIterator fi;
-        for(fi=m.face.begin();fi!=m.face.end();++fi)
-            if(!(*fi).IsD())
-                for(int j=0;j<3;++j)
-                    if(!(*fi).IsB(j))
+            FaceIterator fi;
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < 3; ++j)
+                        if (!(*fi).IsB(j))
                         {
-                            TD[(*fi).V(j)].sum+=(*fi).V1(j)->cP();
-                            TD[(*fi).V1(j)].sum+=(*fi).V(j)->cP();
+                            TD[(*fi).V(j)].sum += (*fi).V1(j)->cP();
+                            TD[(*fi).V1(j)].sum += (*fi).V(j)->cP();
                             ++TD[(*fi).V(j)].cnt;
                             ++TD[(*fi).V1(j)].cnt;
-                    }
-
-            // si azzaera i dati per i vertici di bordo
-            for(fi=m.face.begin();fi!=m.face.end();++fi)
-                if(!(*fi).IsD())
-                    for(int j=0;j<3;++j)
-                        if((*fi).IsB(j))
-                            {
-                                TD[(*fi).V(j)]=lpz;
-                                TD[(*fi).V1(j)]=lpz;
-                            }
-
-            // se l'edge j e' di bordo si deve mediare solo con gli adiacenti
-     if(SmoothBorder)
-            for(fi=m.face.begin();fi!=m.face.end();++fi)
-                if(!(*fi).IsD())
-                    for(int j=0;j<3;++j)
-                        if((*fi).IsB(j))
-                            {
-                                TD[(*fi).V(j)].sum+=(*fi).V1(j)->cP();
-                                TD[(*fi).V1(j)].sum+=(*fi).V(j)->cP();
-                                ++TD[(*fi).V(j)].cnt;
-                                ++TD[(*fi).V1(j)].cnt;
                         }
 
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-        if(!(*vi).IsD() && TD[*vi].cnt>0 )
-            {
-                CoordType np = TD[*vi].sum/TD[*vi].cnt;
-                CoordType d = (*vi).cP() - viewpoint; d.Normalize();
-                ScalarType s = d .dot ( np - (*vi).cP() );
-                (*vi).P() += d * (s*alpha);
-            }
-    }
-}
+            // si azzaera i dati per i vertici di bordo
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                    for (int j = 0; j < 3; ++j)
+                        if ((*fi).IsB(j))
+                        {
+                            TD[(*fi).V(j)] = lpz;
+                            TD[(*fi).V1(j)] = lpz;
+                        }
 
+            // se l'edge j e' di bordo si deve mediare solo con gli adiacenti
+            if (SmoothBorder)
+                for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                    if (!(*fi).IsD())
+                        for (int j = 0; j < 3; ++j)
+                            if ((*fi).IsB(j))
+                            {
+                                TD[(*fi).V(j)].sum += (*fi).V1(j)->cP();
+                                TD[(*fi).V1(j)].sum += (*fi).V(j)->cP();
+                                ++TD[(*fi).V(j)].cnt;
+                                ++TD[(*fi).V1(j)].cnt;
+                            }
 
-
-/****************************************************************************************************************/
-/****************************************************************************************************************/
-// Paso Double Smoothing
-//  The proposed
-// approach is a two step method where  in the first step the face normals
-// are adjusted and then, in a second phase, the vertex positions are updated.
-// Ref:
-// A. Belyaev and Y. Ohtake, A Comparison of Mesh Smoothing Methods, Proc. Israel-Korea Bi-Nat"l Conf. Geometric Modeling and Computer Graphics, pp. 83-87, 2003.
-
-/****************************************************************************************************************/
-/****************************************************************************************************************/
-// Classi di info
-
-class PDVertInfo
-{
-public:
-    CoordType np;
-};
-
-
-class PDFaceInfo
-{
-public:
-  PDFaceInfo(){}
-  PDFaceInfo(const CoordType &_m):m(_m){}
-  CoordType m;
-};
-/***************************************************************************/
-// Paso Doble Step 1 compute the smoothed normals
-/***************************************************************************/
-// Requirements:
-// VF Topology
-// Normalized Face Normals
-//
-// This is the Normal Smoothing approach of Shen and Berner
-// Fuzzy Vector Median-Based Surface Smoothing TVCG 2004
-
-
-void FaceNormalFuzzyVectorSB(MeshType &m,
-                  SimpleTempData<typename MeshType::FaceContainer,PDFaceInfo > &TD,
-                  ScalarType sigma)
-{
-    int i;
-
-    FaceIterator fi;
-
-    for(fi=m.face.begin();fi!=m.face.end();++fi)
-    {
-        CoordType bc=(*fi).Barycenter();
-    // 1) Clear all the visited flag of faces that are vertex-adjacent to fi
-        for(i=0;i<3;++i)
-        {
-        vcg::face::VFIterator<FaceType> ep(&*fi,i);
-          while (!ep.End())
-            {
-                ep.f->ClearV();
-                ++ep;
-            }
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if (!(*vi).IsD() && TD[*vi].cnt > 0)
+					if (!SmoothSelected || (*vi).IsS())
+					{
+						CoordType np = TD[*vi].sum / TD[*vi].cnt;
+						CoordType d = (*vi).cP() - viewpoint;
+						d.Normalize();
+						ScalarType s = d.dot(np - (*vi).cP());
+						(*vi).P() += d * (s * alpha);
+					}
         }
+    }
 
-    // 1) Effectively average the normals weighting them with
-    (*fi).SetV();
-        CoordType mm=CoordType(0,0,0);
-        for(i=0;i<3;++i)
+    /****************************************************************************************************************/
+    /****************************************************************************************************************/
+    // Paso Double Smoothing
+    //  The proposed
+    // approach is a two step method where  in the first step the face normals
+    // are adjusted and then, in a second phase, the vertex positions are updated.
+    // Ref:
+    // A. Belyaev and Y. Ohtake, A Comparison of Mesh Smoothing Methods, Proc. Israel-Korea Bi-Nat"l Conf. Geometric Modeling and Computer Graphics, pp. 83-87, 2003.
+
+    /****************************************************************************************************************/
+    /****************************************************************************************************************/
+    // Classi di info
+
+    class PDVertInfo
+    {
+      public:
+        CoordType np;
+    };
+
+    class PDFaceInfo
+    {
+      public:
+        PDFaceInfo() {}
+        PDFaceInfo(const CoordType &_m) : m(_m) {}
+        CoordType m;
+    };
+    /***************************************************************************/
+    // Paso Doble Step 1 compute the smoothed normals
+    /***************************************************************************/
+    // Requirements:
+    // VF Topology
+    // Normalized Face Normals
+    //
+    // This is the Normal Smoothing approach of Shen and Berner
+    // Fuzzy Vector Median-Based Surface Smoothing TVCG 2004
+
+    void FaceNormalFuzzyVectorSB(MeshType &m,
+                                 SimpleTempData<typename MeshType::FaceContainer, PDFaceInfo> &TD,
+                                 ScalarType sigma)
+    {
+        int i;
+
+        FaceIterator fi;
+
+        for (fi = m.face.begin(); fi != m.face.end(); ++fi)
         {
-          vcg::face::VFIterator<FaceType> ep(&*fi,i);
-          while (!ep.End())
+            CoordType bc = (*fi).Barycenter();
+            // 1) Clear all the visited flag of faces that are vertex-adjacent to fi
+            for (i = 0; i < 3; ++i)
             {
-                if(! (*ep.f).IsV() )
+                vcg::face::VFIterator<FaceType> ep(&*fi, i);
+                while (!ep.End())
                 {
-                    if(sigma>0)
-                    {
-                        ScalarType dd=SquaredDistance(ep.f->Barycenter(),bc);
-                        ScalarType ang=AngleN(ep.f->N(),(*fi).N());
-                        mm+=ep.f->N()*exp((-sigma)*ang*ang/dd);
-                    }
-                    else mm+=ep.f->N();
-                    (*ep.f).SetV();
+                    ep.f->ClearV();
+                    ++ep;
                 }
-                ++ep;
             }
+
+            // 1) Effectively average the normals weighting them with
+            (*fi).SetV();
+            CoordType mm = CoordType(0, 0, 0);
+            for (i = 0; i < 3; ++i)
+            {
+                vcg::face::VFIterator<FaceType> ep(&*fi, i);
+                while (!ep.End())
+                {
+                    if (!(*ep.f).IsV())
+                    {
+                        if (sigma > 0)
+                        {
+                            ScalarType dd = SquaredDistance(ep.f->Barycenter(), bc);
+                            ScalarType ang = AngleN(ep.f->N(), (*fi).N());
+                            mm += ep.f->N() * exp((-sigma) * ang * ang / dd);
+                        }
+                        else
+                            mm += ep.f->N();
+                        (*ep.f).SetV();
+                    }
+                    ++ep;
+                }
+            }
+            mm.Normalize();
+            TD[*fi].m = mm;
         }
-        mm.Normalize();
-        TD[*fi].m=mm;
-    }
-}
-
-// Replace the normal of the face with the average of normals of the vertex adijacent faces.
-// Normals are weighted with face area.
-// It assumes that:
-// VF adjacency is present.
-
-static void FaceNormalLaplacianVF(MeshType &m)
-{
-  tri::RequireVFAdjacency(m);
-  PDFaceInfo lpzf(CoordType(0,0,0));
-  SimpleTempData<typename MeshType::FaceContainer, PDFaceInfo> TDF(m.face,lpzf);
-
-  tri::UpdateNormal<MeshType>::NormalizePerFaceByArea(m);
-
-  for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
-  {
-    // 1) Clear all the visited flag of faces that are vertex-adjacent to fi
-    for(int i=0;i<3;++i)
-    {
-      VFLocalIterator ep(&*fi,i);
-      for (;!ep.End();++ep)
-        ep.f->ClearV();
     }
 
-    // 2) Effectively average the normals
-    CoordType normalSum=(*fi).N();
+    // Replace the normal of the face with the average of normals of the vertex adijacent faces.
+    // Normals are weighted with face area.
+    // It assumes that:
+    // VF adjacency is present.
 
-    for(int i=0;i<3;++i)
+    static void FaceNormalLaplacianVF(MeshType &m)
     {
-      VFLocalIterator ep(&*fi,i);
-      for (;!ep.End();++ep)
-      {
-        if(! (*ep.f).IsV() )
+        tri::RequireVFAdjacency(m);
+        PDFaceInfo lpzf(CoordType(0, 0, 0));
+        SimpleTempData<typename MeshType::FaceContainer, PDFaceInfo> TDF(m.face, lpzf);
+
+        tri::UpdateNormal<MeshType>::NormalizePerFaceByArea(m);
+
+        for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+            if (!(*fi).IsD())
+            {
+                // 1) Clear all the visited flag of faces that are vertex-adjacent to fi
+                for (int i = 0; i < 3; ++i)
+                {
+                    VFLocalIterator ep(&*fi, i);
+                    for (; !ep.End(); ++ep)
+                        ep.f->ClearV();
+                }
+
+                // 2) Effectively average the normals
+                CoordType normalSum = (*fi).N();
+
+                for (int i = 0; i < 3; ++i)
+                {
+                    VFLocalIterator ep(&*fi, i);
+                    for (; !ep.End(); ++ep)
+                    {
+                        if (!(*ep.f).IsV())
+                        {
+                            normalSum += ep.f->N();
+                            (*ep.f).SetV();
+                        }
+                    }
+                }
+                normalSum.Normalize();
+                TDF[*fi].m = normalSum;
+            }
+        for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+            (*fi).N() = TDF[*fi].m;
+
+        tri::UpdateNormal<MeshType>::NormalizePerFace(m);
+    }
+
+    // Replace the normal of the face with the average of normals of the face adijacent faces.
+    // Normals are weighted with face area.
+    // It assumes that:
+    // Normals are normalized:
+    // FF adjacency is present.
+
+    static void FaceNormalLaplacianFF(MeshType &m, int step = 1, bool SmoothSelected = false)
+    {
+        PDFaceInfo lpzf(CoordType(0, 0, 0));
+        SimpleTempData<typename MeshType::FaceContainer, PDFaceInfo> TDF(m.face, lpzf);
+        tri::RequireFFAdjacency(m);
+
+        FaceIterator fi;
+        tri::UpdateNormal<MeshType>::NormalizePerFaceByArea(m);
+        for (int iStep = 0; iStep < step; ++iStep)
         {
-          normalSum += ep.f->N();
-          (*ep.f).SetV();
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!(*fi).IsD())
+                {
+                    CoordType normalSum = (*fi).N();
+
+                    for (int i = 0; i < 3; ++i)
+                        normalSum += (*fi).FFp(i)->N();
+
+                    TDF[*fi].m = normalSum;
+                }
+            for (fi = m.face.begin(); fi != m.face.end(); ++fi)
+                if (!SmoothSelected || (*fi).IsS())
+                    (*fi).N() = TDF[*fi].m;
+
+            tri::UpdateNormal<MeshType>::NormalizePerFace(m);
         }
-      }
-    }
-    normalSum.Normalize();
-    TDF[*fi].m=normalSum;
-  }
-  for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-    (*fi).N()=TDF[*fi].m;
-
-  tri::UpdateNormal<MeshType>::NormalizePerFace(m);
-}
-
-// Replace the normal of the face with the average of normals of the face adijacent faces.
-// Normals are weighted with face area.
-// It assumes that:
-// Normals are normalized:
-// FF adjacency is present.
-
-
-static void FaceNormalLaplacianFF(MeshType &m, int step=1, bool SmoothSelected=false )
-{
-  PDFaceInfo lpzf(CoordType(0,0,0));
-  SimpleTempData<typename MeshType::FaceContainer, PDFaceInfo> TDF(m.face,lpzf);
-  tri::RequireFFAdjacency(m);
-
-  FaceIterator fi;
-  tri::UpdateNormal<MeshType>::NormalizePerFaceByArea(m);
-  for(int iStep=0;iStep<step;++iStep)
-  {
-    for(fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
-    {
-      CoordType normalSum=(*fi).N();
-
-      for(int i=0;i<3;++i)
-        normalSum+=(*fi).FFp(i)->N();
-
-      TDF[*fi].m=normalSum;
-    }
-    for(fi=m.face.begin();fi!=m.face.end();++fi)
-      if(!SmoothSelected || (*fi).IsS())
-        (*fi).N()=TDF[*fi].m;
-
-    tri::UpdateNormal<MeshType>::NormalizePerFace(m);
-  }
-}
-
-
-/***************************************************************************/
-// Paso Doble Step 1 compute the smoothed normals
-/***************************************************************************/
-// Requirements:
-// VF Topology
-// Normalized Face Normals
-//
-// This is the Normal Smoothing approach based on a angle thresholded weighting
-// sigma is in the 0 .. 1 range, it represent the cosine of a threshold angle.
-// sigma == 0 All the normals are averaged
-// sigma == 1 Nothing is averaged.
-// Only within the specified range are averaged toghether. The averagin is weighted with the
-
-
-static void FaceNormalAngleThreshold(MeshType &m,
-                                     SimpleTempData<typename MeshType::FaceContainer,PDFaceInfo> &TD,
-                                     ScalarType sigma)
-{
-  for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-  {
-    // 1) Clear all the visited flag of faces that are vertex-adjacent to fi
-    for(int i=0;i<3;++i)
-    {
-      VFLocalIterator ep(&*fi,i);
-      for (;!ep.End();++ep)
-        ep.f->ClearV();
     }
 
-    // 1) Effectively average the normals weighting them with the squared difference of the angle similarity
-    // sigma is the cosine of a threshold angle. sigma \in 0..1
+    /***************************************************************************/
+    // Paso Doble Step 1 compute the smoothed normals
+    /***************************************************************************/
+    // Requirements:
+    // VF Topology
+    // Normalized Face Normals
+    //
+    // This is the Normal Smoothing approach based on a angle thresholded weighting
+    // sigma is in the 0 .. 1 range, it represent the cosine of a threshold angle.
     // sigma == 0 All the normals are averaged
     // sigma == 1 Nothing is averaged.
-    // The averaging is weighted with the difference between normals. more similar the normal more important they are.
+    // Only within the specified range are averaged toghether. The averagin is weighted with the
 
-    CoordType normalSum=CoordType(0,0,0);
-    for(int i=0;i<3;++i)
+    static void FaceNormalAngleThreshold(MeshType &m,
+                                         SimpleTempData<typename MeshType::FaceContainer, PDFaceInfo> &TD,
+                                         ScalarType sigma)
     {
-      VFLocalIterator ep(&*fi,i);
-      for (;!ep.End();++ep)
-      {
-        if(! (*ep.f).IsV() )
+        for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
         {
-          ScalarType cosang=ep.f->N().dot((*fi).N());
-          // Note that if two faces form an angle larger than 90 deg, their contribution should be very very small.
-          // Without this clamping
-          cosang = math::Clamp(cosang,ScalarType(0.0001),ScalarType(1.f));
-          if(cosang >= sigma)
-          {
-            ScalarType w = cosang-sigma;
-            normalSum += ep.f->N()*(w*w);   // similar normals have a cosang very close to 1 so cosang - sigma is maximized
-          }
-          (*ep.f).SetV();
+            // 1) Clear all the visited flag of faces that are vertex-adjacent to fi
+            for (int i = 0; i < 3; ++i)
+            {
+                VFLocalIterator ep(&*fi, i);
+                for (; !ep.End(); ++ep)
+                    ep.f->ClearV();
+            }
+
+            // 1) Effectively average the normals weighting them with the squared difference of the angle similarity
+            // sigma is the cosine of a threshold angle. sigma \in 0..1
+            // sigma == 0 All the normals are averaged
+            // sigma == 1 Nothing is averaged.
+            // The averaging is weighted with the difference between normals. more similar the normal more important they are.
+
+            CoordType normalSum = CoordType(0, 0, 0);
+            for (int i = 0; i < 3; ++i)
+            {
+                VFLocalIterator ep(&*fi, i);
+                for (; !ep.End(); ++ep)
+                {
+                    if (!(*ep.f).IsV())
+                    {
+                        ScalarType cosang = ep.f->N().dot((*fi).N());
+                        // Note that if two faces form an angle larger than 90 deg, their contribution should be very very small.
+                        // Without this clamping
+                        cosang = math::Clamp(cosang, ScalarType(0.0001), ScalarType(1.f));
+                        if (cosang >= sigma)
+                        {
+                            ScalarType w = cosang - sigma;
+                            normalSum += ep.f->N() * (w * w); // similar normals have a cosang very close to 1 so cosang - sigma is maximized
+                        }
+                        (*ep.f).SetV();
+                    }
+                }
+            }
+            normalSum.Normalize();
+            TD[*fi].m = normalSum;
         }
-      }
+
+        for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+            (*fi).N() = TD[*fi].m;
     }
-    normalSum.Normalize();
-    TD[*fi].m=normalSum;
-  }
 
-  for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-    (*fi).N()=TD[*fi].m;
-}
+    /****************************************************************************************************************/
+    // Restituisce il gradiente dell'area del triangolo nel punto p.
+    // Nota che dovrebbe essere sempre un vettore che giace nel piano del triangolo e perpendicolare al lato opposto al vertice p.
+    // Ottimizzato con Maple e poi pesantemente a mano.
 
-/****************************************************************************************************************/
-// Restituisce il gradiente dell'area del triangolo nel punto p.
-// Nota che dovrebbe essere sempre un vettore che giace nel piano del triangolo e perpendicolare al lato opposto al vertice p.
-// Ottimizzato con Maple e poi pesantemente a mano.
+    static CoordType TriAreaGradient(CoordType &p, CoordType &p0, CoordType &p1)
+    {
+        CoordType dd = p1 - p0;
+        CoordType d0 = p - p0;
+        CoordType d1 = p - p1;
+        CoordType grad;
 
-static CoordType TriAreaGradient(CoordType &p,CoordType &p0,CoordType &p1)
-{
-    CoordType dd = p1-p0;
-    CoordType d0 = p-p0;
-    CoordType d1 = p-p1;
-    CoordType grad;
+        ScalarType t16 = d0[1] * d1[2] - d0[2] * d1[1];
+        ScalarType t5 = -d0[2] * d1[0] + d0[0] * d1[2];
+        ScalarType t4 = -d0[0] * d1[1] + d0[1] * d1[0];
 
-    ScalarType t16 =  d0[1]* d1[2] - d0[2]* d1[1];
-    ScalarType t5  = -d0[2]* d1[0] + d0[0]* d1[2];
-    ScalarType t4  = -d0[0]* d1[1] + d0[1]* d1[0];
+        ScalarType delta = sqrtf(t4 * t4 + t5 * t5 + t16 * t16);
 
-    ScalarType delta= sqrtf(t4*t4 + t5*t5 +t16*t16);
+        grad[0] = (t5 * (-dd[2]) + t4 * (dd[1])) / delta;
+        grad[1] = (t16 * (-dd[2]) + t4 * (-dd[0])) / delta;
+        grad[2] = (t16 * (dd[1]) + t5 * (dd[0])) / delta;
 
-    grad[0]= (t5  * (-dd[2]) + t4 * ( dd[1]))/delta;
-    grad[1]= (t16 * (-dd[2]) + t4 * (-dd[0]))/delta;
-    grad[2]= (t16 * ( dd[1]) + t5 * ( dd[0]))/delta;
+        return grad;
+    }
 
-    return grad;
-}
+    template <class ScalarType>
+    static CoordType CrossProdGradient(CoordType &p, CoordType &p0, CoordType &p1, CoordType &m)
+    {
+        CoordType grad;
+        CoordType p00 = p0 - p;
+        CoordType p01 = p1 - p;
+        grad[0] = (-p00[2] + p01[2]) * m[1] + (-p01[1] + p00[1]) * m[2];
+        grad[1] = (-p01[2] + p00[2]) * m[0] + (-p00[0] + p01[0]) * m[2];
+        grad[2] = (-p00[1] + p01[1]) * m[0] + (-p01[0] + p00[0]) * m[1];
 
-template <class ScalarType>
-static CoordType CrossProdGradient(CoordType &p, CoordType &p0, CoordType &p1, CoordType &m)
-{
-    CoordType grad;
-    CoordType p00=p0-p;
-    CoordType p01=p1-p;
-    grad[0] = (-p00[2] + p01[2])*m[1] + (-p01[1] + p00[1])*m[2];
-    grad[1] = (-p01[2] + p00[2])*m[0] + (-p00[0] + p01[0])*m[2];
-    grad[2] = (-p00[1] + p01[1])*m[0] + (-p01[0] + p00[0])*m[1];
+        return grad;
+    }
 
-    return grad;
-}
-
-/*
+    /*
 Deve Calcolare il gradiente di
 E(p) = A(p,p0,p1) (n - m)^2 =
 A(...) (2-2nm)   =
@@ -1132,244 +1255,239 @@ A(...) (2-2nm)   =
 2A  -  2 (p0-p)^(p1-p) * m
 */
 
-static CoordType FaceErrorGrad(CoordType &p,CoordType &p0,CoordType &p1, CoordType &m)
-{
-    return     TriAreaGradient(p,p0,p1) *2.0f
-        - CrossProdGradient(p,p0,p1,m) *2.0f ;
-}
-/***************************************************************************/
-// Paso Doble Step 2 Fitta la mesh a un dato insieme di normali
-/***************************************************************************/
-
-
-static void FitMesh(MeshType &m,
-             SimpleTempData<typename MeshType::VertContainer, PDVertInfo> &TDV,
-             SimpleTempData<typename MeshType::FaceContainer, PDFaceInfo> &TDF,
-             float lambda)
-{
-    vcg::face::VFIterator<FaceType> ep;
-    VertexIterator vi;
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi)
+    static CoordType FaceErrorGrad(CoordType &p, CoordType &p0, CoordType &p1, CoordType &m)
     {
-        CoordType ErrGrad=CoordType(0,0,0);
+        return TriAreaGradient(p, p0, p1) * 2.0f - CrossProdGradient(p, p0, p1, m) * 2.0f;
+    }
+    /***************************************************************************/
+    // Paso Doble Step 2 Fitta la mesh a un dato insieme di normali
+    /***************************************************************************/
 
-        ep.f=(*vi).VFp();
-        ep.z=(*vi).VFi();
-        while (!ep.End())
+    static void FitMesh(MeshType &m,
+                        SimpleTempData<typename MeshType::VertContainer, PDVertInfo> &TDV,
+                        SimpleTempData<typename MeshType::FaceContainer, PDFaceInfo> &TDF,
+                        float lambda)
+    {
+        vcg::face::VFIterator<FaceType> ep;
+        VertexIterator vi;
+        for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
         {
-            ErrGrad+=FaceErrorGrad(ep.f->V(ep.z)->P(),ep.f->V1(ep.z)->P(),ep.f->V2(ep.z)->P(),TDF[ep.f].m);
-            ++ep;
+            CoordType ErrGrad = CoordType(0, 0, 0);
+
+            ep.f = (*vi).VFp();
+            ep.z = (*vi).VFi();
+            while (!ep.End())
+            {
+                ErrGrad += FaceErrorGrad(ep.f->V(ep.z)->P(), ep.f->V1(ep.z)->P(), ep.f->V2(ep.z)->P(), TDF[ep.f].m);
+                ++ep;
+            }
+            TDV[*vi].np = (*vi).P() - ErrGrad * (ScalarType)lambda;
         }
-        TDV[*vi].np=(*vi).P()-ErrGrad*(ScalarType)lambda;
+
+        for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+            (*vi).P() = TDV[*vi].np;
     }
+    /****************************************************************************************************************/
 
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-        (*vi).P()=TDV[*vi].np;
-
-}
-/****************************************************************************************************************/
-
-
-
-static void FastFitMesh(MeshType &m,
-             SimpleTempData<typename MeshType::VertContainer, PDVertInfo> &TDV,
-       //SimpleTempData<typename MeshType::FaceContainer, PDFaceInfo> &TDF,
-             bool OnlySelected=false)
-{
-    //vcg::face::Pos<FaceType> ep;
-    vcg::face::VFIterator<FaceType> ep;
-    VertexIterator vi;
-
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi)
+    static void FastFitMesh(MeshType &m,
+                            SimpleTempData<typename MeshType::VertContainer, PDVertInfo> &TDV,
+                            //SimpleTempData<typename MeshType::FaceContainer, PDFaceInfo> &TDF,
+                            bool OnlySelected = false)
     {
-   CoordType Sum(0,0,0);
-   ScalarType cnt=0;
-   VFLocalIterator ep(&*vi);
-     for (;!ep.End();++ep)
+        //vcg::face::Pos<FaceType> ep;
+        vcg::face::VFIterator<FaceType> ep;
+        VertexIterator vi;
+
+        for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
         {
-      CoordType bc=Barycenter<FaceType>(*ep.F());
-      Sum += ep.F()->N()*(ep.F()->N().dot(bc - (*vi).P()));
-      ++cnt;
+            CoordType Sum(0, 0, 0);
+            ScalarType cnt = 0;
+            VFLocalIterator ep(&*vi);
+            for (; !ep.End(); ++ep)
+            {
+                CoordType bc = Barycenter<FaceType>(*ep.F());
+                Sum += ep.F()->N() * (ep.F()->N().dot(bc - (*vi).P()));
+                ++cnt;
+            }
+            TDV[*vi].np = (*vi).P() + Sum * (1.0 / cnt);
         }
-        TDV[*vi].np=(*vi).P()+ Sum*(1.0/cnt);
-    }
 
-    if(OnlySelected)
-    {
-        for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-                if((*vi).IsS()) (*vi).P()=TDV[*vi].np;
-    }
-    else
-    {
-        for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-        (*vi).P()=TDV[*vi].np;
-    }
-}
-
-
-
-// The sigma parameter affect the normal smoothing step
-
-static void VertexCoordPasoDoble(MeshType &m, int NormalSmoothStep, typename MeshType::ScalarType Sigma=0, int FitStep=50, bool SmoothSelected =false)
-{
-  tri::RequireCompactness(m);
-  tri::RequireVFAdjacency(m);
-  PDVertInfo lpzv;
-  lpzv.np=CoordType(0,0,0);
-  PDFaceInfo lpzf(CoordType(0,0,0));
-
-  assert(HasPerVertexVFAdjacency(m) && HasPerFaceVFAdjacency(m));
-  SimpleTempData< typename MeshType::VertContainer, PDVertInfo> TDV(m.vert,lpzv);
-  SimpleTempData< typename MeshType::FaceContainer, PDFaceInfo> TDF(m.face,lpzf);
-
-  for(int j=0;j<NormalSmoothStep;++j)
-    FaceNormalAngleThreshold(m,TDF,Sigma);
-
-  for(int j=0;j<FitStep;++j)
-    FastFitMesh(m,TDV,SmoothSelected);
-}
-
-
-static void VertexNormalPointCloud(MeshType &m, int neighborNum, int iterNum, KdTree<ScalarType> *tp=0)
-{
-  SimpleTempData<typename MeshType::VertContainer,CoordType > TD(m.vert,CoordType(0,0,0));
-  VertexConstDataWrapper<MeshType> ww(m);
-  KdTree<ScalarType> *tree=0;
-  if(tp==0) tree = new KdTree<ScalarType>(ww);
-  else tree=tp;
-  typename KdTree<ScalarType>::PriorityQueue nq;
-
-//  tree->setMaxNofNeighbors(neighborNum);
-  for(int ii=0;ii<iterNum;++ii)
-  {
-    for (VertexIterator vi = m.vert.begin();vi!=m.vert.end();++vi)
-    {
-      tree->doQueryK(vi->cP(),neighborNum,nq);
-      int neighbours = nq.getNofElements();
-      for (int i = 0; i < neighbours; i++)
-      {
-        int neightId = nq.getIndex(i);
-        if(m.vert[neightId].cN()*vi->cN()>0)
-          TD[vi]+= m.vert[neightId].cN();
+        if (OnlySelected)
+        {
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                if ((*vi).IsS())
+                    (*vi).P() = TDV[*vi].np;
+        }
         else
-          TD[vi]-= m.vert[neightId].cN();
-      }
-    }
-    for (VertexIterator vi = m.vert.begin();vi!=m.vert.end();++vi)
-    {
-      vi->N()=TD[vi];
-      TD[vi]=CoordType(0,0,0);
-    }
-    tri::UpdateNormal<MeshType>::NormalizePerVertex(m);
-  }
-
-  if(tp==0) delete tree;
-}
-
-//! Laplacian smoothing with a reprojection on a target surface.
-// grid must be a spatial index that contains all triangular faces of the target mesh gridmesh
-template<class GRID, class MeshTypeTri>
-static void VertexCoordLaplacianReproject(MeshType& m, GRID& grid, MeshTypeTri& gridmesh)
-{
-    for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
-    {
-        if(! (*vi).IsD())
-            VertexCoordLaplacianReproject(m,grid,gridmesh,&*vi);
-    }
-}
-
-
-template<class GRID, class MeshTypeTri>
-static void VertexCoordLaplacianReproject(MeshType& m, GRID& grid, MeshTypeTri& gridmesh, typename MeshType::VertexType* vp)
-{
-    assert(MeshType::HEdgeType::HasHVAdjacency());
-
-    // compute barycenter
-    typedef std::vector<VertexPointer> VertexSet;
-    VertexSet verts;
-    verts = HalfEdgeTopology<MeshType>::getVertices(vp);
-
-    typename MeshType::CoordType ct(0,0,0);
-    for(typename VertexSet::iterator it = verts.begin(); it != verts.end(); ++it)
-    {
-        ct += (*it)->P();
-    }
-    ct /= verts.size();
-
-    // move vertex
-    vp->P() = ct;
-
-
-    vector<FacePointer> faces2 = HalfEdgeTopology<MeshType>::get_incident_faces(vp);
-
-    // estimate normal
-    typename MeshType::CoordType avgn(0,0,0);
-
-    for(unsigned int i = 0;i< faces2.size();i++)
-        if(faces2[i])
         {
-            vector<VertexPointer> vertices = HalfEdgeTopology<MeshType>::getVertices(faces2[i]);
-
-            assert(vertices.size() == 4);
-
-            avgn += vcg::Normal<typename MeshType::CoordType>(vertices[0]->cP(), vertices[1]->cP(), vertices[2]->cP());
-            avgn += vcg::Normal<typename MeshType::CoordType>(vertices[2]->cP(), vertices[3]->cP(), vertices[0]->cP());
-
+            for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+                (*vi).P() = TDV[*vi].np;
         }
-    avgn.Normalize();
-
-    // reproject
-    ScalarType diag = m.bbox.Diag();
-    typename MeshType::CoordType raydir = avgn;
-    Ray3<typename MeshType::ScalarType> ray;
-
-    ray.SetOrigin(vp->P());
-    ScalarType t;
-    typename MeshTypeTri::FaceType* f = 0;
-    typename MeshTypeTri::FaceType* fr = 0;
-
-    vector<typename MeshTypeTri::CoordType> closests;
-    vector<typename MeshTypeTri::ScalarType> minDists;
-    vector<typename MeshTypeTri::FaceType*> faces;
-    ray.SetDirection(-raydir);
-    f = vcg::tri::DoRay<MeshTypeTri,GRID>(gridmesh, grid, ray, diag/4.0, t);
-
-    if (f)
-    {
-      closests.push_back(ray.Origin() + ray.Direction()*t);
-      minDists.push_back(fabs(t));
-      faces.push_back(f);
-    }
-    ray.SetDirection(raydir);
-    fr = vcg::tri::DoRay<MeshTypeTri,GRID>(gridmesh, grid, ray, diag/4.0, t);
-    if (fr)
-    {
-      closests.push_back(ray.Origin() + ray.Direction()*t);
-      minDists.push_back(fabs(t));
-      faces.push_back(fr);
     }
 
-    if (fr) if (fr->N()*raydir<0) fr=0; // discard: inverse normal;
-    typename MeshType::CoordType newPos;
-    if (minDists.size() == 0)
+    // The sigma parameter affect the normal smoothing step
+
+    static void VertexCoordPasoDoble(MeshType &m, int NormalSmoothStep, typename MeshType::ScalarType Sigma = 0, int FitStep = 50, bool SmoothSelected = false)
     {
-        newPos = vp->P();
-        f = 0;
-    }
-    else
-    {
-        int minI = std::min_element(minDists.begin(),minDists.end()) - minDists.begin();
-        newPos = closests[minI];
-        f = faces[minI];
+        tri::RequireCompactness(m);
+        tri::RequireVFAdjacency(m);
+        PDVertInfo lpzv;
+        lpzv.np = CoordType(0, 0, 0);
+        PDFaceInfo lpzf(CoordType(0, 0, 0));
+
+        assert(HasPerVertexVFAdjacency(m) && HasPerFaceVFAdjacency(m));
+        SimpleTempData<typename MeshType::VertContainer, PDVertInfo> TDV(m.vert, lpzv);
+        SimpleTempData<typename MeshType::FaceContainer, PDFaceInfo> TDF(m.face, lpzf);
+
+        for (int j = 0; j < NormalSmoothStep; ++j)
+            FaceNormalAngleThreshold(m, TDF, Sigma);
+
+        for (int j = 0; j < FitStep; ++j)
+            FastFitMesh(m, TDV, SmoothSelected);
     }
 
-    if (f)
-        vp->P() = newPos;
-}
+    static void VertexNormalPointCloud(MeshType &m, int neighborNum, int iterNum, KdTree<ScalarType> *tp = 0)
+    {
+        SimpleTempData<typename MeshType::VertContainer, CoordType> TD(m.vert, CoordType(0, 0, 0));
+        VertexConstDataWrapper<MeshType> ww(m);
+        KdTree<ScalarType> *tree = 0;
+        if (tp == 0)
+            tree = new KdTree<ScalarType>(ww);
+        else
+            tree = tp;
+        typename KdTree<ScalarType>::PriorityQueue nq;
+
+        //  tree->setMaxNofNeighbors(neighborNum);
+        for (int ii = 0; ii < iterNum; ++ii)
+        {
+            for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+            {
+                tree->doQueryK(vi->cP(), neighborNum, nq);
+                int neighbours = nq.getNofElements();
+                for (int i = 0; i < neighbours; i++)
+                {
+                    int neightId = nq.getIndex(i);
+                    if (m.vert[neightId].cN() * vi->cN() > 0)
+                        TD[vi] += m.vert[neightId].cN();
+                    else
+                        TD[vi] -= m.vert[neightId].cN();
+                }
+            }
+            for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+            {
+                vi->N() = TD[vi];
+                TD[vi] = CoordType(0, 0, 0);
+            }
+            tri::UpdateNormal<MeshType>::NormalizePerVertex(m);
+        }
+
+        if (tp == 0)
+            delete tree;
+    }
+
+    //! Laplacian smoothing with a reprojection on a target surface.
+    // grid must be a spatial index that contains all triangular faces of the target mesh gridmesh
+    template <class GRID, class MeshTypeTri>
+    static void VertexCoordLaplacianReproject(MeshType &m, GRID &grid, MeshTypeTri &gridmesh)
+    {
+        for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+        {
+            if (!(*vi).IsD())
+                VertexCoordLaplacianReproject(m, grid, gridmesh, &*vi);
+        }
+    }
+
+    template <class GRID, class MeshTypeTri>
+    static void VertexCoordLaplacianReproject(MeshType &m, GRID &grid, MeshTypeTri &gridmesh, typename MeshType::VertexType *vp)
+    {
+        assert(MeshType::HEdgeType::HasHVAdjacency());
+
+        // compute barycenter
+        typedef std::vector<VertexPointer> VertexSet;
+        VertexSet verts;
+        verts = HalfEdgeTopology<MeshType>::getVertices(vp);
+
+        typename MeshType::CoordType ct(0, 0, 0);
+        for (typename VertexSet::iterator it = verts.begin(); it != verts.end(); ++it)
+        {
+            ct += (*it)->P();
+        }
+        ct /= verts.size();
+
+        // move vertex
+        vp->P() = ct;
+
+        vector<FacePointer> faces2 = HalfEdgeTopology<MeshType>::get_incident_faces(vp);
+
+        // estimate normal
+        typename MeshType::CoordType avgn(0, 0, 0);
+
+        for (unsigned int i = 0; i < faces2.size(); i++)
+            if (faces2[i])
+            {
+                vector<VertexPointer> vertices = HalfEdgeTopology<MeshType>::getVertices(faces2[i]);
+
+                assert(vertices.size() == 4);
+
+                avgn += vcg::Normal<typename MeshType::CoordType>(vertices[0]->cP(), vertices[1]->cP(), vertices[2]->cP());
+                avgn += vcg::Normal<typename MeshType::CoordType>(vertices[2]->cP(), vertices[3]->cP(), vertices[0]->cP());
+            }
+        avgn.Normalize();
+
+        // reproject
+        ScalarType diag = m.bbox.Diag();
+        typename MeshType::CoordType raydir = avgn;
+        Ray3<typename MeshType::ScalarType> ray;
+
+        ray.SetOrigin(vp->P());
+        ScalarType t;
+        typename MeshTypeTri::FaceType *f = 0;
+        typename MeshTypeTri::FaceType *fr = 0;
+
+        vector<typename MeshTypeTri::CoordType> closests;
+        vector<typename MeshTypeTri::ScalarType> minDists;
+        vector<typename MeshTypeTri::FaceType *> faces;
+        ray.SetDirection(-raydir);
+        f = vcg::tri::DoRay<MeshTypeTri, GRID>(gridmesh, grid, ray, diag / 4.0, t);
+
+        if (f)
+        {
+            closests.push_back(ray.Origin() + ray.Direction() * t);
+            minDists.push_back(fabs(t));
+            faces.push_back(f);
+        }
+        ray.SetDirection(raydir);
+        fr = vcg::tri::DoRay<MeshTypeTri, GRID>(gridmesh, grid, ray, diag / 4.0, t);
+        if (fr)
+        {
+            closests.push_back(ray.Origin() + ray.Direction() * t);
+            minDists.push_back(fabs(t));
+            faces.push_back(fr);
+        }
+
+        if (fr)
+            if (fr->N() * raydir < 0)
+                fr = 0; // discard: inverse normal;
+        typename MeshType::CoordType newPos;
+        if (minDists.size() == 0)
+        {
+            newPos = vp->P();
+            f = 0;
+        }
+        else
+        {
+            int minI = std::min_element(minDists.begin(), minDists.end()) - minDists.begin();
+            newPos = closests[minI];
+            f = faces[minI];
+        }
+
+        if (f)
+            vp->P() = newPos;
+    }
 
 }; //end Smooth class
 
-}		// End namespace tri
-}		// End namespace vcg
+} // End namespace tri
+} // End namespace vcg
 
 #endif //  VCG_SMOOTH
diff --git a/vcg/complex/algorithms/stat.h b/vcg/complex/algorithms/stat.h
index 7131fc5e..3ba9db9b 100644
--- a/vcg/complex/algorithms/stat.h
+++ b/vcg/complex/algorithms/stat.h
@@ -28,12 +28,10 @@
 // VCG headers
 
 #include <vcg/math/histogram.h>
-#include <vcg/simplex/face/pos.h>
-#include <vcg/simplex/face/topology.h>
 #include <vcg/complex/algorithms/closest.h>
 #include <vcg/space/index/grid_static_ptr.h>
-#include <vcg/complex/algorithms/update/topology.h>
 #include <vcg/complex/algorithms/inertia.h>
+#include <vcg/space/polygon3.h>
 
 
 namespace vcg {
@@ -43,46 +41,56 @@ class Stat
 {
 public:
   typedef StatMeshType MeshType;
+  typedef typename MeshType::ScalarType			ScalarType;
   typedef typename MeshType::VertexType     VertexType;
   typedef typename MeshType::VertexPointer  VertexPointer;
   typedef typename MeshType::VertexIterator VertexIterator;
-  typedef typename MeshType::ScalarType			ScalarType;
+  typedef typename MeshType::ConstVertexIterator ConstVertexIterator;
+  typedef typename MeshType::EdgeType       EdgeType;
+  typedef typename MeshType::EdgeIterator   EdgeIterator;
   typedef typename MeshType::FaceType       FaceType;
   typedef typename MeshType::FacePointer    FacePointer;
   typedef typename MeshType::FaceIterator   FaceIterator;
-  typedef typename MeshType::EdgeIterator   EdgeIterator;
   typedef typename MeshType::FaceContainer  FaceContainer;
+  typedef typename MeshType::TetraType      TetraType;
+  typedef typename MeshType::TetraPointer   TetraPointer;
+  typedef typename MeshType::TetraIterator  TetraIterator;
+  typedef typename MeshType::TetraContainer TetraContainer;
   typedef typename vcg::Box3<ScalarType>  Box3Type;
 
-  static void ComputePerVertexQualityMinMax( MeshType & m, float &minV, float &maxV)
+  static void ComputePerVertexQualityMinMax(MeshType & m, ScalarType &minV, ScalarType &maxV)
   {
-    std::pair<float,float> pp=ComputePerVertexQualityMinMax(m);
-    minV=pp.first; maxV=pp.second;
+    std::pair<ScalarType, ScalarType> pp = ComputePerVertexQualityMinMax(m);
+    
+    minV=pp.first;
+    maxV=pp.second;
   }
-  static std::pair<float,float> ComputePerVertexQualityMinMax( MeshType & m)
+  static std::pair<ScalarType, ScalarType> ComputePerVertexQualityMinMax(MeshType & m)
   {
 //    assert(0);
     tri::RequirePerVertexQuality(m);
-    typename MeshType::template PerMeshAttributeHandle  < std::pair<float,float> > mmqH;
-    mmqH = tri::Allocator<MeshType>::template GetPerMeshAttribute <std::pair<float,float> >(m,"minmaxQ");
+    typename MeshType::template PerMeshAttributeHandle  < std::pair<ScalarType, ScalarType> > mmqH;
+    mmqH = tri::Allocator<MeshType>::template GetPerMeshAttribute <std::pair<ScalarType, ScalarType> >(m,"minmaxQ");
 
-    std::pair<float,float> minmax = std::make_pair(std::numeric_limits<float>::max(),-std::numeric_limits<float>::max());
+    std::pair<ScalarType, ScalarType> minmax = std::make_pair(std::numeric_limits<ScalarType>::max(), -std::numeric_limits<ScalarType>::max());
 
     for(VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
       if(!(*vi).IsD())
       {
-        if( (*vi).Q() < minmax.first) minmax.first=(*vi).Q();
-        if( (*vi).Q() > minmax.second) minmax.second=(*vi).Q();
+        if( (*vi).Q() < minmax.first)  minmax.first  = (*vi).Q();
+        if( (*vi).Q() > minmax.second) minmax.second = (*vi).Q();
       }
 
     mmqH() = minmax;
     return minmax;
   }
 
-  static void ComputePerFaceQualityMinMax( MeshType & m, float &minV, float &maxV)
+
+  static void ComputePerFaceQualityMinMax(MeshType & m, ScalarType &minV, ScalarType &maxV)
   {
-    std::pair<float,float> pp=ComputePerFaceQualityMinMax(m);
-    minV=pp.first; maxV=pp.second;
+    std::pair<ScalarType, ScalarType> pp = ComputePerFaceQualityMinMax(m);
+    minV=pp.first; 
+    maxV=pp.second;
   }
 
   static std::pair<ScalarType,ScalarType> ComputePerFaceQualityMinMax( MeshType & m)
@@ -94,12 +102,77 @@ public:
     for(fi = m.face.begin(); fi != m.face.end(); ++fi)
       if(!(*fi).IsD())
       {
-        if( (*fi).Q() < minmax.first)  minmax.first =(*fi).Q();
-        if( (*fi).Q() > minmax.second) minmax.second=(*fi).Q();
+        if( (*fi).Q() < minmax.first)  minmax.first  = (*fi).Q();
+        if( (*fi).Q() > minmax.second) minmax.second = (*fi).Q();
       }
     return minmax;
   }
 
+  static void ComputePerTetraQualityMinMax(MeshType & m, ScalarType & minQ, ScalarType & maxQ)
+  {
+    std::pair<ScalarType, ScalarType> minmax = ComputerPerTetraQualityMinMax(m);
+
+    minQ = minmax.first;
+    maxQ = minmax.second;
+  }
+
+  static std::pair<ScalarType, ScalarType> ComputePerTetraQualityMinMax(MeshType & m)
+  {
+    tri::RequirePerTetraQuality(m);
+	std::pair<ScalarType, ScalarType> minmax = std::make_pair(std::numeric_limits<ScalarType>::max(), std::numeric_limits<ScalarType>::min());
+
+    ForEachTetra(m, [&minmax] (TetraType & t) {
+      if (t.Q() < minmax.first)  minmax.first  = t.Q();
+      if (t.Q() > minmax.second) minmax.second = t.Q();
+    });
+
+    return minmax;
+  }
+
+  static ScalarType ComputePerTetraQualityAvg(MeshType & m)
+  {
+    tri::RequirePerTetraQuality(m);
+    ScalarType avgQ = 0;
+
+    ForEachTetra(m, [&avgQ] (TetraType & t) {
+      avgQ += t.Q();
+    });
+
+    return avgQ /= (ScalarType) m.TN();
+  }
+
+  static ScalarType ComputePerFaceQualityAvg(MeshType & m)
+  {
+    tri::RequirePerFaceQuality(m);
+    ScalarType AvgQ = 0;
+
+    FaceIterator fi;
+    size_t num=0;
+    for(fi = m.face.begin(); fi != m.face.end(); ++fi)
+    {
+      if((*fi).IsD())continue;
+        AvgQ+= (*fi).Q();
+        num++;
+    }
+    return (AvgQ/(ScalarType)num);
+  }
+
+  static ScalarType ComputePerVertQualityAvg(const MeshType & m)
+  {
+    tri::RequirePerVertexQuality(m);
+    ScalarType AvgQ = 0;
+
+    ConstVertexIterator vi;
+    size_t num=0;
+    for(vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+    {
+      if((*vi).IsD())continue;
+        AvgQ+= (*vi).cQ();
+        num++;
+    }
+    return (AvgQ/(ScalarType)num);
+  }
+
   static std::pair<ScalarType,ScalarType> ComputePerEdgeQualityMinMax( MeshType & m)
   {
     tri::RequirePerEdgeQuality(m);
@@ -131,7 +204,7 @@ public:
 	  for (vi = m.vert.begin(); vi != m.vert.end(); ++vi)
 	  if (!(*vi).IsD())
 	  {
-		  ScalarType weight = useQualityAsWeight ? (*vi).Q() : 1.0;
+		  ScalarType weight = useQualityAsWeight ? (*vi).Q() : 1.0f;
 		  accumulator[0] += (double)((*vi).P()[0] * weight);
 		  accumulator[1] += (double)((*vi).P()[1] * weight);
 		  accumulator[2] += (double)((*vi).P()[2] * weight);
@@ -164,6 +237,17 @@ public:
     return barycenter/areaSum;
   }
 
+  static ScalarType ComputeTetraMeshVolume(MeshType & m)
+  {
+    ScalarType V = 0;
+
+    ForEachTetra(m, [&V] (TetraType & t) {
+      V += Tetra::ComputeVolume(t);
+    });
+
+    return V;
+  }
+
   static ScalarType ComputeMeshVolume(MeshType & m)
   {
     Inertia<MeshType> I(m);
@@ -181,7 +265,36 @@ public:
     return area/ScalarType(2.0);
   }
 
-  static void ComputePerVertexQualityDistribution( MeshType & m, Distribution<float> &h, bool selectionOnly = false)    // V1.0
+  static ScalarType ComputePolyMeshArea(MeshType & m)
+  {
+    ScalarType area=0;
+
+    for(FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+      if(!(*fi).IsD())
+        area += PolyArea(*fi);
+
+    return area;
+  }
+
+	static ScalarType ComputeBorderLength(MeshType & m, bool computeFFTopology = true)
+	{
+		RequireFFAdjacency(m);
+		ScalarType sum = 0;
+		if (computeFFTopology)
+		{
+			tri::UpdateTopology<MeshType>::FaceFace(m);
+		}
+		ForEachFace(m, [&](FaceType &f) {
+			for (int k=0; k<f.VN(); k++)
+				if (face::IsBorder(f, k))
+				{
+					sum += Distance(f.cP0(k), f.cP1(k));
+				}
+		});
+		return sum;
+	}
+
+  static void ComputePerVertexQualityDistribution(MeshType & m, Distribution<ScalarType> & h, bool selectionOnly = false)    // V1.0
   {
     tri::RequirePerVertexQuality(m);
     for(VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
@@ -204,10 +317,39 @@ public:
       }
   }
 
-  static void ComputePerFaceQualityHistogram( MeshType & m, Histogramf &h, bool selectionOnly=false,int HistSize=10000 )
+  static void ComputePerTetraQualityDistribution(MeshType & m, Distribution<ScalarType> & h, bool selectionOnly = false)
+  {
+    tri::RequirePerTetraQuality(m);
+    ForEachTetra(m, [&] (TetraType & t) {
+      if (!selectionOnly || t.IsS())
+      {
+        assert(!math::IsNAN(t.Q()) && "You should never try to compute Histogram with Invalid Floating points numbers (NaN)");
+        h.Add(t.Q());
+      }
+    });
+  }
+
+  static void ComputePerTetraQualityHistogram(MeshType & m, Histogram<ScalarType> & h, bool selectionOnly = false, int HistSize = 10000)
+  {
+    tri::RequirePerTetraQuality(m);
+	std::pair<ScalarType, ScalarType> minmax = tri::Stat<MeshType>::ComputePerTetraQualityMinMax(m);
+    
+    h.Clear();
+    h.SetRange(minmax.first, minmax.second, HistSize);
+
+    ForEachTetra(m, [&] (TetraType & t) {
+      if (!selectionOnly || t.IsS())
+      {
+        assert(!math::IsNAN(t.Q()) && "You should never try to compute Histogram with Invalid Floating points numbers (NaN)");
+        h.Add(t.Q());
+      }
+    });
+  }
+
+  static void ComputePerFaceQualityHistogram( MeshType & m, Histogram<ScalarType> &h, bool selectionOnly=false,int HistSize=10000 )
   {
     tri::RequirePerFaceQuality(m);
-    std::pair<float,float> minmax = tri::Stat<MeshType>::ComputePerFaceQualityMinMax(m);
+    std::pair<ScalarType, ScalarType> minmax = tri::Stat<MeshType>::ComputePerFaceQualityMinMax(m);
     h.Clear();
     h.SetRange( minmax.first,minmax.second, HistSize );
     for(FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
@@ -217,10 +359,10 @@ public:
       }
   }
 
-  static void ComputePerVertexQualityHistogram( MeshType & m, Histogramf &h, bool selectionOnly = false, int HistSize=10000 )    // V1.0
+  static void ComputePerVertexQualityHistogram( MeshType & m, Histogram<ScalarType> &h, bool selectionOnly = false, int HistSize=10000 )    // V1.0
   {
     tri::RequirePerVertexQuality(m);
-    std::pair<float,float> minmax = ComputePerVertexQualityMinMax(m);
+    std::pair<ScalarType, ScalarType> minmax = ComputePerVertexQualityMinMax(m);
 
     h.Clear();
     h.SetRange( minmax.first,minmax.second, HistSize);
@@ -238,15 +380,15 @@ public:
 
     if(h.MaxCount() > HistSize/5)
     {
-      std::vector<float> QV;
+      std::vector<ScalarType> QV;
       QV.reserve(m.vn);
       for(VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
         if(!(*vi).IsD()) QV.push_back((*vi).Q());
 
       std::nth_element(QV.begin(),QV.begin()+m.vn/100,QV.end());
-      float newmin=*(QV.begin()+m.vn/100);
+      ScalarType newmin=*(QV.begin()+m.vn/100);
       std::nth_element(QV.begin(),QV.begin()+m.vn-m.vn/100,QV.end());
-      float newmax=*(QV.begin()+m.vn-m.vn/100);
+      ScalarType newmax=*(QV.begin()+m.vn-m.vn/100);
 
       h.Clear();
       h.SetRange(newmin, newmax, HistSize*50);
@@ -256,7 +398,7 @@ public:
     }
   }
 
-  static void ComputeEdgeLengthHistogram( MeshType & m, Histogramf &h)
+  static void ComputeEdgeLengthHistogram(MeshType & m, Histogram<ScalarType> & h)
   {
     assert(m.edge.size()>0);
     h.Clear();
@@ -265,19 +407,27 @@ public:
     {
       if(!(*ei).IsD())
       {
-        h.Add(Distance<float>((*ei).V(0)->P(),(*ei).V(1)->P()));
+        h.Add(Distance<ScalarType>((*ei).V(0)->P(),(*ei).V(1)->P()));
       }
     }
   }
 
   static ScalarType ComputeEdgeLengthAverage(MeshType & m)
   {
-    Histogramf h;
+    Histogram<ScalarType> h;
     ComputeEdgeLengthHistogram(m,h);
     return h.Avg();
   }
 
-  static void ComputeFaceEdgeLengthDistribution( MeshType & m, Distribution<float> &h, bool includeFauxEdge=false)
+  static ScalarType ComputeEdgeLengthSum(MeshType & m)
+  {
+    ScalarType sum=0;
+    ForEachEdge(m, [&](EdgeType &e){
+      sum+=Distance(e.cP(0),e.cP(1));
+    });    
+    return sum;
+  }
+  static void ComputeFaceEdgeLengthDistribution( MeshType & m, Distribution<ScalarType> & h, bool includeFauxEdge=false)
   {
     std::vector< typename tri::UpdateTopology<MeshType>::PEdge > edgeVec;
     tri::UpdateTopology<MeshType>::FillUniqueEdgeVector(m,edgeVec,includeFauxEdge);
@@ -287,15 +437,16 @@ public:
       h.Add(Distance(edgeVec[i].v[0]->P(),edgeVec[i].v[1]->P()));
   }
 
-  static ScalarType ComputeFaceEdgeLengthAverage(MeshType & m)
+  static ScalarType ComputeFaceEdgeLengthAverage(MeshType & m, bool selected=false)
   {
     double sum=0;
     for(FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
       if(!(*fi).IsD())
-      {
-        for(int i=0;i<3;++i)
-          sum+=double(Distance(fi->P0(i),fi->P1(i)));
-      }
+        if(!selected || fi->IsS())
+        {
+          for(int i=0;i<3;++i)
+            sum+=double(Distance(fi->P0(i),fi->P1(i)));
+        }
     return sum/(m.fn*3.0);
   }
 
diff --git a/vcg/complex/algorithms/symmetry.h b/vcg/complex/algorithms/symmetry.h
index f5f4d890..69d83302 100644
--- a/vcg/complex/algorithms/symmetry.h
+++ b/vcg/complex/algorithms/symmetry.h
@@ -44,35 +44,16 @@ class ExtrinsicPlaneSymmetry
     typedef typename TriMeshType::CoordType CoordType;
     typedef typename TriMeshType::ScalarType ScalarType;
 
-//    struct SphereUsedTypes : public vcg::UsedTypes<	vcg::Use<SphereVertex>::AsVertexType,
-//                                                    vcg::Use<SphereFace>::AsFaceType>{};
-
-//    class SphereVertex  : public vcg::Vertex< SphereUsedTypes,
-//                                             vcg::vertex::Coord<CoordType,ScalarType>,
-//                                             vcg::vertex::Normal<CoordType,ScalarType>,
-//                                            vcg::vertex::BitFlags>{};
-
-//    class SphereFace    : public vcg::Face< SphereUsedTypes, vcg::face::VertexRef,
-//                                            vcg::vertex::Normal<vcg::Point3<ScalarType>,ScalarType>,
-//                                            vcg::face::Mark,
-//                                            vcg::face::BitFlags,vcg::face::FFAdj> {};
-
-//    class SphereMesh : public vcg::tri::TriMesh< std::vector<SphereVertex>, std::vector<SphereFace> > {};
-
-
 
     TriMeshType &tri_mesh;
 
     CoordType AlignZeroTr;
 
     std::vector<std::vector< ScalarType > > Weight;
-    //std::vector<std::vector<std::pair<VertexType*,VertexType*> > > VotingVertx;
     std::vector<std::vector<std::pair<CoordType,CoordType>  > > VotingPos;
 
     std::vector<ScalarType> Votes;
 
-
-
     TriMeshType *sphere;
 
     typename vcg::GridStaticPtr<FaceType,ScalarType> GridSph;
@@ -226,7 +207,7 @@ public:
         //create the sphere
         vcg::tri::Sphere<TriMeshType>(*sphere,SubDirections);
         vcg::tri::UpdateBounding<TriMeshType>::Box(*sphere);
-		sphere->face.EnableMark();
+        //sphere->face.EnableMark();
 
         ///initialize grid
         GridSph.Set(sphere->face.begin(),sphere->face.end());
@@ -244,7 +225,7 @@ public:
         VotingPos.resize(radiusSph*sphere->fn);
 
         ///then count votes
-        for (size_t i=0;i<tri_mesh.vert.size();i++)
+        for (size_t i=0;i<tri_mesh.vert.size()-1;i++)
             for (size_t j=i+1;j<tri_mesh.vert.size();j++)
             {
                 VertexType *v0=&tri_mesh.vert[i];
@@ -252,7 +233,6 @@ public:
                 if ((OnlyBorder)&&(!((v0->IsB())&&(v1->IsB()))))continue;
                 Elect(v0->P(),v1->P());
             }
-
         SortedPlanes.resize(Votes.size());
         for (size_t i=0;i<Votes.size();i++)
             SortedPlanes[i]=std::pair<ScalarType,int>(Votes[i],i);
diff --git a/vcg/complex/algorithms/tetra/tetfuse_collapse.h b/vcg/complex/algorithms/tetra/tetfuse_collapse.h
new file mode 100644
index 00000000..c8df69c5
--- /dev/null
+++ b/vcg/complex/algorithms/tetra/tetfuse_collapse.h
@@ -0,0 +1,20 @@
+#ifndef VCG_TETFUSECOLLAPSE_H
+#define VCG_TETFUSECOLLAPSE_H
+
+namespace vcg {
+namespace tetra {
+
+template < class TetraMesh >
+class TetFuser {
+    typedef typename TetraMesh::VertexType VertexType;
+    typedef typename TetraMesh::TetraType   TetraType;
+    typedef typename TetraMesh::CoordType   CoordType;
+    typedef typename TetraMesh::ScalarType ScalarType;
+
+    
+};
+
+}
+}
+
+#endif
\ No newline at end of file
diff --git a/vcg/complex/algorithms/tetra_implicit_smooth.h b/vcg/complex/algorithms/tetra_implicit_smooth.h
new file mode 100644
index 00000000..49b40a10
--- /dev/null
+++ b/vcg/complex/algorithms/tetra_implicit_smooth.h
@@ -0,0 +1,495 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+#ifndef __VCG_IMPLICIT_TETRA_SMOOTHER
+#define __VCG_IMPLICIT_TETRA_SMOOTHER
+
+#include <Eigen/Sparse>
+#include <vcg/complex/algorithms/mesh_to_matrix.h>
+#include <vcg/complex/algorithms/update/quality.h>
+#include <vcg/complex/algorithms/smooth.h>
+
+#define PENALTY 10000
+
+namespace vcg
+{
+
+template <class MeshType>
+class ImplicitTetraSmoother
+{
+    typedef typename MeshType::FaceType FaceType;
+    typedef typename MeshType::VertexType VertexType;
+    typedef typename MeshType::TetraType TetraType;
+    typedef typename MeshType::CoordType CoordType;
+    typedef typename MeshType::ScalarType ScalarType;
+    typedef typename Eigen::Matrix<ScalarType, Eigen::Dynamic, Eigen::Dynamic> MatrixXm;
+
+  public:
+    struct FaceConstraint
+    {
+        int numF;
+        std::vector<ScalarType> BarycentricW;
+        CoordType TargetPos;
+
+        FaceConstraint()
+        {
+            numF = -1;
+        }
+
+        FaceConstraint(int _numF,
+                       const std::vector<ScalarType> &_BarycentricW,
+                       const CoordType &_TargetPos)
+        {
+            numF = _numF;
+            BarycentricW = std::vector<ScalarType>(_BarycentricW.begin(), _BarycentricW.end());
+            TargetPos = _TargetPos;
+        }
+    };
+
+    struct Parameter
+    {
+        //the amount of smoothness, useful only if we set the mass matrix
+        ScalarType lambda;
+        //the use of mass matrix to keep the mesh close to its original position
+        //(weighted per area distributed on vertices)
+        bool useMassMatrix;
+        //this bool is used to fix the border vertices of the mesh or not
+        bool fixBorder;
+        //this bool is used to set if cotangent weight is used, this flag to false means uniform laplacian
+        bool useCotWeight;
+        //use this weight for the laplacian when the cotangent one is not used
+        ScalarType lapWeight;
+        //the set of fixed vertices
+        std::vector<int> FixedV;
+        //the set of faces for barycentric constraints
+        std::vector<FaceConstraint> ConstrainedF;
+        //the degree of laplacian
+        int degree;
+        //this is to say if we smooth the positions or the quality
+        bool SmoothQ;
+
+        Parameter()
+        {
+            degree = 2;
+            lambda = 0.05;
+            useMassMatrix = true;
+            fixBorder = true;
+            useCotWeight = false;
+            lapWeight = 1;
+            SmoothQ = false;
+        }
+    };
+
+  private:
+    static void InitSparse(const std::vector<std::pair<int, int>> &Index,
+                           const std::vector<ScalarType> &Values,
+                           const int m,
+                           const int n,
+                           Eigen::SparseMatrix<ScalarType> &X)
+    {
+        assert(Index.size() == Values.size());
+
+        std::vector<Eigen::Triplet<ScalarType>> IJV;
+        IJV.reserve(Index.size());
+
+        for (size_t i = 0; i < Index.size(); i++)
+        {
+            int row = Index[i].first;
+            int col = Index[i].second;
+            ScalarType val = Values[i];
+
+            assert(row < m);
+            assert(col < n);
+
+            IJV.push_back(Eigen::Triplet<ScalarType>(row, col, val));
+        }
+        X.resize(m, n);
+        X.setFromTriplets(IJV.begin(), IJV.end());
+    }
+
+    static void CollectHardConstraints(MeshType &mesh, const Parameter &SParam,
+                                       std::vector<std::pair<int, int>> &IndexC,
+                                       std::vector<ScalarType> &WeightC,
+                                       bool SmoothQ = false)
+    {
+        std::vector<int> To_Fix;
+
+        //collect fixed vert
+        if (SParam.fixBorder)
+        {
+            //add penalization constra
+            for (size_t i = 0; i < mesh.vert.size(); i++)
+            {
+                if (!mesh.vert[i].IsB())
+                    continue;
+                To_Fix.push_back(i);
+            }
+        }
+        //add additional fixed vertices constraint
+        To_Fix.insert(To_Fix.end(), SParam.FixedV.begin(), SParam.FixedV.end());
+
+        //sort and make them unique
+        std::sort(To_Fix.begin(), To_Fix.end());
+        typename std::vector<int>::iterator it = std::unique(To_Fix.begin(), To_Fix.end());
+        To_Fix.resize(std::distance(To_Fix.begin(), it));
+
+        for (size_t i = 0; i < To_Fix.size(); i++)
+        {
+            if (!SmoothQ)
+            {
+                for (int j = 0; j < 3; j++)
+                {
+                    int IndexV = (To_Fix[i] * 3) + j;
+                    IndexC.push_back(std::pair<int, int>(IndexV, IndexV));
+                    WeightC.push_back((ScalarType)PENALTY);
+                }
+            }
+            else
+            {
+                int IndexV = To_Fix[i];
+                IndexC.push_back(std::pair<int, int>(IndexV, IndexV));
+                WeightC.push_back((ScalarType)PENALTY);
+            }
+        }
+    }
+
+    static void CollectBarycentricConstraints(MeshType &mesh,
+                                              const Parameter &SParam,
+                                              std::vector<std::pair<int, int>> &IndexC,
+                                              std::vector<ScalarType> &WeightC,
+                                              std::vector<int> &IndexRhs,
+                                              std::vector<ScalarType> &ValueRhs)
+    {
+        ScalarType penalty;
+        int baseIndex = mesh.vert.size();
+        for (size_t i = 0; i < SParam.ConstrainedF.size(); i++)
+        {
+            //get the index of the current constraint
+            int IndexConstraint = baseIndex + i;
+
+            //add one hard constraint
+            int FaceN = SParam.ConstrainedF[i].numF;
+            assert(FaceN >= 0);
+            assert(FaceN < (int)mesh.face.size());
+            assert(mesh.face[FaceN].VN() == (int)SParam.ConstrainedF[i].BarycentricW.size());
+            penalty = ScalarType(1) - SParam.lapWeight;
+            assert(penalty > ScalarType(0) && penalty < ScalarType(1));
+
+            //then add all the weights to impose the constraint
+            for (int j = 0; j < mesh.face[FaceN].VN(); j++)
+            {
+                //get the current weight
+                ScalarType currW = SParam.ConstrainedF[i].BarycentricW[j];
+
+                //get the index of the current vertex
+                int FaceVert = vcg::tri::Index(mesh, mesh.face[FaceN].V(j));
+
+                //then add the constraints componentwise
+                for (int k = 0; k < 3; k++)
+                {
+                    //multiply times 3 per component
+                    int IndexV = (FaceVert * 3) + k;
+
+                    //get the index of the current constraint
+                    int ComponentConstraint = (IndexConstraint * 3) + k;
+                    IndexC.push_back(std::pair<int, int>(ComponentConstraint, IndexV));
+
+                    WeightC.push_back(currW * penalty);
+
+                    IndexC.push_back(std::pair<int, int>(IndexV, ComponentConstraint));
+                    WeightC.push_back(currW * penalty);
+
+                    //this to avoid the 1 on diagonal last entry of mass matrix
+                    IndexC.push_back(std::pair<int, int>(ComponentConstraint, ComponentConstraint));
+                    WeightC.push_back(-1);
+                }
+            }
+
+            for (int j = 0; j < 3; j++)
+            {
+                //get the index of the current constraint
+                int ComponentConstraint = (IndexConstraint * 3) + j;
+
+                //get per component value
+                ScalarType ComponentV = SParam.ConstrainedF[i].TargetPos.V(j);
+
+                //add the diagonal value
+                IndexRhs.push_back(ComponentConstraint);
+                ValueRhs.push_back(ComponentV * penalty);
+            }
+        }
+    }
+
+    static void MassMatrixEntry(MeshType &m,
+                                std::vector<std::pair<int, int>> &index,
+                                std::vector<ScalarType> &entry,
+                                bool vertexCoord = true)
+    {
+        tri::RequireCompactness(m);
+
+        typename MeshType::template PerVertexAttributeHandle<ScalarType> h =
+            tri::Allocator<MeshType>::template GetPerVertexAttribute<ScalarType>(m, "volume");
+        for (int i = 0; i < m.vn; ++i)
+            h[i] = 0;
+
+        ForEachTetra(m, [&](TetraType &t) {
+            ScalarType v = Tetra::ComputeVolume(t);
+            for (int i = 0; i < 4; ++i)
+                h[tri::Index(m, t.V(i))] += v;
+        });
+
+        ScalarType maxV = 0;
+        for (int i = 0; i < m.vn; ++i)
+            maxV = max(maxV, h[i]);
+
+        for (int i = 0; i < m.vn; ++i)
+        {
+            int currI = i;
+            index.push_back(std::pair<int, int>(currI, currI));
+            entry.push_back(h[i] / maxV);
+        }
+
+        tri::Allocator<MeshType>::template DeletePerVertexAttribute<ScalarType>(m, h);
+    }
+
+    static ScalarType ComputeCotangentWeight(TetraType &t, const int i)
+    {
+        //i is the edge in the tetra
+        tetra::Pos<TetraType> pp(&t, Tetra::FofE(i, 0), i, Tetra::VofE(i, 0));
+        tetra::Pos<TetraType> pt(&t, Tetra::FofE(i, 0), i, Tetra::VofE(i, 0));
+
+        ScalarType weight = 0;
+
+        do
+        {
+            CoordType po0 = t.V(Tetra::VofE(5 - pt.E(), 0))->cP();
+            CoordType po1 = t.V(Tetra::VofE(5 - pt.E(), 1))->cP();
+
+            ScalarType length = vcg::Distance(po0, po1);
+            ScalarType cot = std::tan((M_PI / 2.) - Tetra::DihedralAngle(*pt.T(), 5 - pt.E()));
+
+            weight = (length / 6.) * cot;
+            pt.FlipT();
+            pt.FlipF();
+        } while (pp != pt);
+
+        return weight;
+    }
+
+    static void GetLaplacianEntry(MeshType &mesh,
+                                  TetraType &t,
+                                  std::vector<std::pair<int, int>> &index,
+                                  std::vector<ScalarType> &entry,
+                                  bool cotangent,
+                                  ScalarType weight = 1,
+                                  bool vertexCoord = true)
+    {
+        // if (cotangent)
+        //     vcg::tri::MeshAssert<MeshType>::OnlyT(mesh);
+        //iterate on edges
+        for (int i = 0; i < 6; ++i)
+        {
+            weight = 1;//ComputeCotangentWeight(t, i);
+
+            int indexV0 = Index(mesh, t.V(Tetra::VofE(i, 0)));
+            int indexV1 = Index(mesh, t.V(Tetra::VofE(i, 1)));
+
+            for (int j = 0; j < 3; j++)
+            {
+                //multiply by 3 and add the component
+                int currI0 = (indexV0 * 3) + j;
+                int currI1 = (indexV1 * 3) + j;
+
+                index.push_back(std::pair<int, int>(currI0, currI0));
+                entry.push_back(weight);
+                index.push_back(std::pair<int, int>(currI0, currI1));
+                entry.push_back(-weight);
+
+                index.push_back(std::pair<int, int>(currI1, currI1));
+                entry.push_back(weight);
+                index.push_back(std::pair<int, int>(currI1, currI0));
+                entry.push_back(-weight);
+            }
+        }
+    }
+
+    static void GetLaplacianMatrix(MeshType &mesh,
+                                   std::vector<std::pair<int, int>> &index,
+                                   std::vector<ScalarType> &entry,
+                                   bool cotangent,
+                                   ScalarType weight = 1,
+                                   bool vertexCoord = true)
+    {
+        //store the index and the scalar for the sparse matrix
+        ForEachTetra(mesh, [&](TetraType &t) {
+            GetLaplacianEntry(mesh, t, index, entry, cotangent, weight);
+        });
+    }
+
+  public:
+    static void Compute(MeshType &mesh, Parameter &SParam)
+    {
+        //calculate the size of the system
+        int matr_size = mesh.vert.size() + SParam.ConstrainedF.size();
+
+        //the laplacian and the mass matrix
+        Eigen::SparseMatrix<ScalarType> L, M, B;
+
+        //initialize the mass matrix
+        std::vector<std::pair<int, int>> IndexM;
+        std::vector<ScalarType> ValuesM;
+
+        //add the entries for mass matrix
+        if (SParam.useMassMatrix)
+            MassMatrixEntry(mesh, IndexM, ValuesM, !SParam.SmoothQ);
+
+        //then add entries for lagrange mult due to barycentric constraints
+        for (size_t i = 0; i < SParam.ConstrainedF.size(); i++)
+        {
+            int baseIndex = (mesh.vert.size() + i) * 3;
+
+            if (SParam.SmoothQ)
+                baseIndex = (mesh.vert.size() + i);
+
+            if (SParam.SmoothQ)
+            {
+                IndexM.push_back(std::pair<int, int>(baseIndex, baseIndex));
+                ValuesM.push_back(1);
+            }
+            else
+            {
+                for (int j = 0; j < 3; j++)
+                {
+                    IndexM.push_back(std::pair<int, int>(baseIndex + j, baseIndex + j));
+                    ValuesM.push_back(1);
+                }
+            }
+        }
+        //add the hard constraints
+        CollectHardConstraints(mesh, SParam, IndexM, ValuesM, SParam.SmoothQ);
+
+        //initialize sparse mass matrix
+        if (!SParam.SmoothQ)
+            InitSparse(IndexM, ValuesM, matr_size * 3, matr_size * 3, M);
+        else
+            InitSparse(IndexM, ValuesM, matr_size, matr_size, M);
+
+        //initialize the barycentric matrix
+        std::vector<std::pair<int, int>> IndexB;
+        std::vector<ScalarType> ValuesB;
+
+        std::vector<int> IndexRhs;
+        std::vector<ScalarType> ValuesRhs;
+
+        //then also collect hard constraints
+        if (!SParam.SmoothQ)
+        {
+            CollectBarycentricConstraints(mesh, SParam, IndexB, ValuesB, IndexRhs, ValuesRhs);
+            //initialize sparse constraint matrix
+            InitSparse(IndexB, ValuesB, matr_size * 3, matr_size * 3, B);
+        }
+        else
+            InitSparse(IndexB, ValuesB, matr_size, matr_size, B);
+
+        //get the entries for laplacian matrix
+        std::vector<std::pair<int, int>> IndexL;
+        std::vector<ScalarType> ValuesL;
+        GetLaplacianMatrix(mesh, IndexL, ValuesL, SParam.useCotWeight, SParam.lapWeight, !SParam.SmoothQ);
+
+        //initialize sparse laplacian matrix
+        if (!SParam.SmoothQ)
+            InitSparse(IndexL, ValuesL, matr_size * 3, matr_size * 3, L);
+        else
+            InitSparse(IndexL, ValuesL, matr_size, matr_size, L);
+
+        for (int i = 0; i < (SParam.degree - 1); i++)
+            L = L * L;
+
+        //then solve the system
+        Eigen::SparseMatrix<ScalarType> S = (M + B + SParam.lambda * L);
+
+        //SimplicialLDLT
+        Eigen::SimplicialCholesky<Eigen::SparseMatrix<ScalarType>> solver(S);
+        assert(solver.info() == Eigen::Success);
+
+        MatrixXm V;
+        if (!SParam.SmoothQ)
+            V = MatrixXm(matr_size * 3, 1);
+        else
+            V = MatrixXm(matr_size, 1);
+
+        //set the first part of the matrix with vertex values
+        if (!SParam.SmoothQ)
+        {
+            for (size_t i = 0; i < mesh.vert.size(); i++)
+            {
+                int index = i * 3;
+                V(index, 0) = mesh.vert[i].P().X();
+                V(index + 1, 0) = mesh.vert[i].P().Y();
+                V(index + 2, 0) = mesh.vert[i].P().Z();
+            }
+        }
+        else
+        {
+            for (size_t i = 0; i < mesh.vert.size(); i++)
+            {
+                int index = i;
+                V(index, 0) = mesh.vert[i].Q();
+            }
+        }
+
+        //then set the second part by considering RHS gien by barycentric constraint
+        for (size_t i = 0; i < IndexRhs.size(); i++)
+        {
+            int index = IndexRhs[i];
+            ScalarType val = ValuesRhs[i];
+            V(index, 0) = val;
+        }
+
+        //solve the system
+        V = solver.solve(M * V).eval();
+
+        //then copy back values
+        if (!SParam.SmoothQ)
+        {
+            for (size_t i = 0; i < mesh.vert.size(); i++)
+            {
+                int index = i * 3;
+                mesh.vert[i].P().X() = V(index, 0);
+                mesh.vert[i].P().Y() = V(index + 1, 0);
+                mesh.vert[i].P().Z() = V(index + 2, 0);
+            }
+        }
+        else
+        {
+            for (size_t i = 0; i < mesh.vert.size(); i++)
+            {
+                int index = i;
+                mesh.vert[i].Q() = V(index, 0);
+            }
+        }
+    }
+};
+
+} //end namespace vcg
+
+#endif
diff --git a/vcg/complex/algorithms/update/color.h b/vcg/complex/algorithms/update/color.h
index 95ddc5aa..b1c7f3a3 100644
--- a/vcg/complex/algorithms/update/color.h
+++ b/vcg/complex/algorithms/update/color.h
@@ -24,7 +24,6 @@
 #ifndef __VCG_TRI_UPDATE_COLOR
 #define __VCG_TRI_UPDATE_COLOR
 
-#include <limits>
 #include <math.h>
 #include <time.h>
 #include <vcg/space/color4.h>
@@ -53,237 +52,312 @@ template <class MeshType>
 class UpdateColor
 {
 public:
-  typedef typename MeshType::VertexType     VertexType;
-  typedef typename MeshType::VertexPointer  VertexPointer;
-  typedef typename MeshType::VertexIterator VertexIterator;
-  typedef typename MeshType::FaceType       FaceType;
-  typedef typename MeshType::FacePointer    FacePointer;
-  typedef typename MeshType::FaceIterator   FaceIterator;
-  typedef typename MeshType::EdgeIterator   EdgeIterator;
+	typedef typename MeshType::VertexType     VertexType;
+	typedef typename MeshType::VertexPointer  VertexPointer;
+	typedef typename MeshType::VertexIterator VertexIterator;
+	typedef typename MeshType::FaceType       FaceType;
+	typedef typename MeshType::FacePointer    FacePointer;
+	typedef typename MeshType::FaceIterator   FaceIterator;
+	typedef typename MeshType::EdgeIterator   EdgeIterator;
+	typedef typename MeshType::TetraType      TetraType;
+	typedef typename MeshType::TetraPointer   TetraPointer;
+	typedef typename MeshType::TetraIterator  TetraIterator;
 
-  typedef typename MeshType::ScalarType     ScalarType;
-  typedef typename MeshType::CoordType      CoordType;
 
-  class ColorAvgInfo
-  {
-  public:
-    unsigned int r;
-    unsigned int g;
-    unsigned int b;
-    unsigned int a;
-    int cnt;
-  };
+	typedef typename MeshType::ScalarType     ScalarType;
+	typedef typename MeshType::CoordType      CoordType;
 
-  /*! \brief This function colores all (or the selected) the vertices of a mesh.
-    */
-  static int PerVertexConstant(MeshType &m, Color4b vs=Color4b::White,bool selected=false)
-  {
-    RequirePerVertexColor(m);
+	class ColorAvgInfo
+	{
+	public:
+		unsigned int r;
+		unsigned int g;
+		unsigned int b;
+		unsigned int a;
+		int cnt;
+	};
 
-    int cnt=0;
-    for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
-      if(!(*vi).IsD()){
-        if(!selected || (*vi).IsS())
-        {
-          (*vi).C() = vs;
-          ++cnt;
-        }
-      }
-    return cnt;
-  }
+	/*! \brief This function colors all (or the selected) the vertices of a mesh.
+	*/
+	static int PerVertexConstant(MeshType &m, Color4b vs=Color4b::White,bool selected=false)
+	{
+		RequirePerVertexColor(m);
 
-  /*! \brief This function colores all (or the selected) faces of a mesh.
+		int cnt=0;
+		for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
+			if(!(*vi).IsD()){
+				if(!selected || (*vi).IsS())
+				{
+					(*vi).C() = vs;
+					++cnt;
+				}
+			}
+		return cnt;
+	}
+
+	/*! \brief This function colors all (or the selected) faces of a mesh.
   */
-  static int PerFaceConstant(MeshType &m, Color4b vs=Color4b::White,bool selected=false)
-  {
-    RequirePerFaceColor(m);
-    int cnt=0;
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-      if(!(*fi).IsD()){
-        if(!selected || (*fi).IsS())
-        {
-          (*fi).C() = vs;
-          ++cnt;
-        }
-      }
-    return cnt;
-  }
+	static int PerFaceConstant(MeshType &m, Color4b vs=Color4b::White,bool selected=false)
+	{
+		RequirePerFaceColor(m);
+		int cnt=0;
+		for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
+			if(!(*fi).IsD()){
+				if(!selected || (*fi).IsS())
+				{
+					(*fi).C() = vs;
+					++cnt;
+				}
+			}
+		return cnt;
+	}
 
-  /** \brief Transfer face color onto vertex color
+	/*! \brief This function colors all (or the selected) tetras of a mesh.
+  */
+	static int PerTetraConstant(MeshType & m, Color4b vs = Color4b::White, bool selected = false)
+	{
+		RequirePerTetraColor(m);
+		int cnt = 0;
+		ForEachTetra(m, [&] (TetraType & t) {
+			if (!selected || t.IsS())
+			{
+				t.C() = vs;
+				++cnt;
+			}
+		});
+		return cnt;
+	}
+
+	/** \brief Transfer tetra color onto vertex color
+
+  Plain average of the color of the tetras incident on a given vertex.
+  No adjacency required.
+  */
+	static void PerVertexFromTetra(MeshType & m)
+	{
+		RequirePerTetraColor(m);
+		RequirePerVertexColor(m);
+
+		ColorAvgInfo csi;
+		csi.r = csi.g = csi.b = csi.cnt = 0;
+		SimpleTempData<typename MeshType::VertContainer, ColorAvgInfo> TD(m.vert, csi);
+
+		ForEachTetra(m, [&] (TetraType & t) {
+			for (int i = 0; i < 4; ++i)
+			{
+				TD[t.V(i)].r += t.C()[0];
+				TD[t.V(i)].g += t.C()[1];
+				TD[t.V(i)].b += t.C()[2];
+				TD[t.V(i)].a += t.C()[3];
+				TD[t.V(i)].cnt += 1;
+			}
+		});
+
+		ForEachVertex(m, [&] (VertexType & v) {
+			v.C()[0] = TD[v].r / TD[v].cnt;
+			v.C()[1] = TD[v].g / TD[v].cnt;
+			v.C()[2] = TD[v].b / TD[v].cnt;
+			v.C()[3] = TD[v].a / TD[v].cnt;
+		});
+	}
+
+	/** \brief Transfer face color onto vertex color
 
   Plain average of the color of the faces incident on a given vertex.
   No adjacency required.
   */
-  static void PerVertexFromFace( MeshType &m)
-  {
-    RequirePerFaceColor(m);
-    RequirePerVertexColor(m);
+	static void PerVertexFromFace( MeshType &m)
+	{
+		RequirePerFaceColor(m);
+		RequirePerVertexColor(m);
 
-    ColorAvgInfo csi;
-    csi.r=0; csi.g=0; csi.b=0; csi.cnt=0;
-    SimpleTempData<typename MeshType::VertContainer, ColorAvgInfo> TD(m.vert,csi);
+		ColorAvgInfo csi;
+		csi.r=0; csi.g=0; csi.b=0; csi.cnt=0;
+		SimpleTempData<typename MeshType::VertContainer, ColorAvgInfo> TD(m.vert,csi);
 
-    FaceIterator fi;
-    for(fi=m.face.begin();fi!=m.face.end();++fi)
-      if(!(*fi).IsD())
-        for(int j=0;j<3;++j)
-        {
-          TD[(*fi).V(j)].r+=(*fi).C()[0];
-          TD[(*fi).V(j)].g+=(*fi).C()[1];
-          TD[(*fi).V(j)].b+=(*fi).C()[2];
-          TD[(*fi).V(j)].a+=(*fi).C()[3];
-          ++TD[(*fi).V(j)].cnt;
-        }
+		FaceIterator fi;
+		for(fi=m.face.begin();fi!=m.face.end();++fi)
+			if(!(*fi).IsD())
+				for(int j=0;j<3;++j)
+				{
+					TD[(*fi).V(j)].r+=(*fi).C()[0];
+					TD[(*fi).V(j)].g+=(*fi).C()[1];
+					TD[(*fi).V(j)].b+=(*fi).C()[2];
+					TD[(*fi).V(j)].a+=(*fi).C()[3];
+					++TD[(*fi).V(j)].cnt;
+				}
 
-    VertexIterator vi;
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-      if(!(*vi).IsD() && TD[*vi].cnt>0 )
-      {
-        (*vi).C()[0] = TD[*vi].r / TD[*vi].cnt;
-        (*vi).C()[1] = TD[*vi].g / TD[*vi].cnt;
-        (*vi).C()[2] = TD[*vi].b / TD[*vi].cnt;
-        (*vi).C()[3] = TD[*vi].a / TD[*vi].cnt;
-      }
-  }
+		VertexIterator vi;
+		for(vi=m.vert.begin();vi!=m.vert.end();++vi)
+			if(!(*vi).IsD() && TD[*vi].cnt>0 )
+			{
+				(*vi).C()[0] = TD[*vi].r / TD[*vi].cnt;
+				(*vi).C()[1] = TD[*vi].g / TD[*vi].cnt;
+				(*vi).C()[2] = TD[*vi].b / TD[*vi].cnt;
+				(*vi).C()[3] = TD[*vi].a / TD[*vi].cnt;
+			}
+	}
 
-  /*! \brief Transfer vertex color onto face color
+	/*! \brief Transfer vertex color onto face color
   Plain average of the color of the vertexes on a given face.
   */
-  static void PerFaceFromVertex( MeshType &m)
-  {
-    RequirePerFaceColor(m);
-    RequirePerVertexColor(m);
+	static void PerFaceFromVertex( MeshType &m)
+	{
+		RequirePerFaceColor(m);
+		RequirePerVertexColor(m);
 
-    FaceIterator fi;
-    for(fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
-    {
-      Color4f avg = (Color4f::Construct((*fi).V(0)->C()) +
-                     Color4f::Construct((*fi).V(1)->C()) +
-                     Color4f::Construct((*fi).V(2)->C()) )/ 3.0;
-      (*fi).C().Import(avg);
-    }
-  }
+		FaceIterator fi;
+		for(fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
+		{
+			Color4f avg = (Color4f::Construct((*fi).V(0)->C()) +
+			               Color4f::Construct((*fi).V(1)->C()) +
+			               Color4f::Construct((*fi).V(2)->C()) )/ 3.0;
+			(*fi).C().Import(avg);
+		}
+	}
 
-  /*! \brief This function colores all the faces of a mesh with a hue color shade dependent on the quality.
+	/*! \brief This function colores all the faces of a mesh with a hue color shade dependent on the quality.
 
   If no range of quality is passed it is automatically computed.
   */
-  static void PerVertexQualityRamp(MeshType &m, float minq=0, float maxq=0)
-  {
-    RequirePerVertexQuality(m);
-    RequirePerVertexColor(m);
+	static void PerVertexQualityRamp(MeshType &m, ScalarType minq = 0., ScalarType maxq = 0.)
+	{
+		RequirePerVertexQuality(m);
+		RequirePerVertexColor(m);
 
-    if(minq==maxq)
-    {
-      std::pair<float,float> minmax = Stat<MeshType>::ComputePerVertexQualityMinMax(m);
-      minq=minmax.first;
-      maxq=minmax.second;
-    }
-    for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
-          if(!(*vi).IsD())
-              (*vi).C().SetColorRamp(minq,maxq,(*vi).Q());
-  }
+		if(minq == maxq)
+		{
+			std::pair<ScalarType, ScalarType> minmax = Stat<MeshType>::ComputePerVertexQualityMinMax(m);
+			minq=minmax.first;
+			maxq=minmax.second;
+		}
+		for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
+			if(!(*vi).IsD())
+				(*vi).C().SetColorRamp(minq,maxq,(*vi).Q());
+	}
 
-  
-  /*! \brief This function colores all the faces of a mesh with a hue color shade dependent on the quality.
+
+	/*! \brief This function colores all the faces of a mesh with a hue color shade dependent on the quality.
 
   If no range of quality is passed it is automatically computed.
   */
-  static void PerVertexQualityRampParula(MeshType &m, float minq=0, float maxq=0)
-  {
-    RequirePerVertexQuality(m);
-    RequirePerVertexColor(m);
+	static void PerVertexQualityRampParula(MeshType &m, ScalarType minq = 0., ScalarType maxq = 0.)
+	{
+		RequirePerVertexQuality(m);
+		RequirePerVertexColor(m);
 
-    if(minq==maxq)
-    {
-      std::pair<float,float> minmax = Stat<MeshType>::ComputePerVertexQualityMinMax(m);
-      minq=minmax.first;
-      maxq=minmax.second;
-    }
-    for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
-          if(!(*vi).IsD())
-              (*vi).C().SetColorRampParula(minq,maxq,(*vi).Q());
-  }
-  
-  /*! \brief This function colores all the faces of a mesh with a hue color shade dependent on the quality.
+		if(minq == maxq)
+		{
+			std::pair<ScalarType, ScalarType> minmax = Stat<MeshType>::ComputePerVertexQualityMinMax(m);
+			minq=minmax.first;
+			maxq=minmax.second;
+		}
+		for(VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+			if(!(*vi).IsD())
+				(*vi).C().SetColorRampParula(minq, maxq, (*vi).Q());
+	}
+
+	/*! \brief This function colores all the faces of a mesh with a hue color shade dependent on the quality.
 
   If no range of quality is passed it is automatically computed.
   */
-  static void PerFaceQualityRamp(MeshType &m, float minq=0, float maxq=0, bool selected=false)
-  {
-    RequirePerFaceColor(m);
-    RequirePerFaceQuality(m);
+	static void PerTetraQualityRamp(MeshType &m, ScalarType minq = 0., ScalarType maxq = 0., bool selected = false)
+	{
+		RequirePerTetraColor(m);
+		RequirePerTetraQuality(m);
 
-    if(minq==maxq)
-    {
-      std::pair<float,float> minmax = Stat<MeshType>::ComputePerFaceQualityMinMax(m);
-      minq=minmax.first;
-      maxq=minmax.second;
-    }
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
-      if(!selected || (*fi).IsS())
-        (*fi).C().SetColorRamp(minq,maxq,(*fi).Q());
-  }
+		if(minq == maxq)
+		{
+			std::pair<ScalarType, ScalarType> minmax = Stat<MeshType>::ComputePerTetraQualityMinMax(m);
+			minq=minmax.first;
+			maxq=minmax.second;
+		}
 
-  /*! \brief This function colores all the edges of a mesh with a hue color shade dependent on the quality.
+		ForEachTetra(m, [&] (TetraType & t){
+			if (!selected || t.IsS())
+				t.C().SetColorRamp(minq, maxq, t.Q());
+		});
+	}
+	/*! \brief This function colores all the faces of a mesh with a hue color shade dependent on the quality.
 
   If no range of quality is passed it is automatically computed.
   */
-  static void PerEdgeQualityRamp(MeshType &m, float minq=0, float maxq=0, bool selected=false)
-  {
-    RequirePerEdgeColor(m);
-    RequirePerEdgeQuality(m);
+	static void PerFaceQualityRamp(MeshType &m, ScalarType minq = 0, ScalarType maxq = 0, bool selected = false)
+	{
+		RequirePerFaceColor(m);
+		RequirePerFaceQuality(m);
 
-    if(minq==maxq)
-    {
-      std::pair<float,float> minmax = Stat<MeshType>::ComputePerEdgeQualityMinMax(m);
-      minq=minmax.first;
-      maxq=minmax.second;
-    }
-    for(EdgeIterator ei=m.edge.begin();ei!=m.edge.end();++ei) if(!(*ei).IsD())
-      if(!selected || (*ei).IsS())
-        (*ei).C().SetColorRamp(minq,maxq,(*ei).Q());
-  }
+		if(minq == maxq)
+		{
+			std::pair<ScalarType, ScalarType> minmax = Stat<MeshType>::ComputePerFaceQualityMinMax(m);
+			minq=minmax.first;
+			maxq=minmax.second;
+		}
+		for(FaceIterator fi = m.face.begin();fi != m.face.end(); ++fi)
+			if(!(*fi).IsD())
+				if(!selected || (*fi).IsS())
+					(*fi).C().SetColorRamp(minq, maxq, (*fi).Q());
+	}
 
-  /*! \brief This function colores all the vertices of a mesh with a gray shade dependent on the quality.
+	/*! \brief This function colores all the edges of a mesh with a hue color shade dependent on the quality.
 
   If no range of quality is passed it is automatically computed.
   */
-  static void PerVertexQualityGray(MeshType &m,  float minq,  float maxq)
-  {
-    RequirePerVertexColor(m);
-    RequirePerVertexQuality(m);
-    if(minq==maxq)
-    {
-      std::pair<float,float> minmax = Stat<MeshType>::ComputePerVertexQualityMinMax(m);
-      minq=minmax.first;
-      maxq=minmax.second;
-    }
-    for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
-          if(!(*vi).IsD())
-              (*vi).C().SetGrayShade( ((*vi).Q()-minq)/(maxq-minq));
-  }
+	static void PerEdgeQualityRamp(MeshType &m, ScalarType minq = 0, ScalarType maxq = 0, bool selected = false)
+	{
+		RequirePerEdgeColor(m);
+		RequirePerEdgeQuality(m);
 
-  /*! \brief This function colores all the faces of a mesh with a gray shade dependent on the quality.
+		if(minq == maxq)
+		{
+			std::pair<ScalarType, ScalarType> minmax = Stat<MeshType>::ComputePerEdgeQualityMinMax(m);
+			minq=minmax.first;
+			maxq=minmax.second;
+		}
+		for(EdgeIterator ei=m.edge.begin();ei!=m.edge.end();++ei) if(!(*ei).IsD())
+			if(!selected || (*ei).IsS())
+				(*ei).C().SetColorRamp(minq,maxq,(*ei).Q());
+	}
+
+	/*! \brief This function colores all the vertices of a mesh with a gray shade dependent on the quality.
 
   If no range of quality is passed it is automatically computed.
   */
-  static void PerFaceQualityGray(MeshType &m, float minq=0, float maxq=0)
-  {
-    RequirePerFaceColor(m);
-    RequirePerFaceQuality(m);
+	static void PerVertexQualityGray(MeshType &m,  ScalarType minq = 0, ScalarType maxq = 0)
+	{
+		RequirePerVertexColor(m);
+		RequirePerVertexQuality(m);
+		if(minq==maxq)
+		{
+			std::pair<ScalarType, ScalarType> minmax = Stat<MeshType>::ComputePerVertexQualityMinMax(m);
+			minq=minmax.first;
+			maxq=minmax.second;
+		}
+		for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
+			if(!(*vi).IsD())
+				(*vi).C().SetGrayShade( ((*vi).Q()-minq)/(maxq-minq));
+	}
 
-    if(minq==maxq)
-    {
-      std::pair<float,float> minmax = Stat<MeshType>::ComputePerFaceQualityMinMax(m);
-      minq=minmax.first;
-      maxq=minmax.second;
-    }
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
-          (*fi).C().SetGrayShade( ((*fi).Q()-minq)/(maxq-minq));
-  }
+	/*! \brief This function colores all the faces of a mesh with a gray shade dependent on the quality.
 
-  /** \brief Color the vertexes of the mesh that are on the border
+  If no range of quality is passed it is automatically computed.
+  */
+	static void PerFaceQualityGray(MeshType &m, ScalarType minq = 0, ScalarType maxq = 0)
+	{
+		RequirePerFaceColor(m);
+		RequirePerFaceQuality(m);
+
+		if(minq==maxq)
+		{
+			std::pair<ScalarType, ScalarType> minmax = Stat<MeshType>::ComputePerFaceQualityMinMax(m);
+			minq=minmax.first;
+			maxq=minmax.second;
+		}
+		for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
+			(*fi).C().SetGrayShade( ((*fi).Q()-minq)/(maxq-minq));
+	}
+
+	/** \brief Color the vertexes of the mesh that are on the border
 
 It uses the information in the Vertex flags, and not necessarily any topology.
 So it just require that you have correctly computed the flags; one way could be the following one:
@@ -294,252 +368,252 @@ vcg::tri::UpdateFlags<Mesh>::VertexBorderFromFaceBorder (m.cm);
 vcg::tri::UpdateColor<Mesh>::PerVertexBorderFlag(m.cm);
 \endcode
 */
-  static void PerVertexBorderFlag( MeshType &m, Color4b BorderColor=Color4b::Blue, Color4b InternalColor=Color4b::White, Color4b MixColor=Color4b::Cyan)
-  {
-    RequirePerVertexColor(m);
+	static void PerVertexBorderFlag( MeshType &m, Color4b BorderColor=Color4b::Blue, Color4b InternalColor=Color4b::White, Color4b MixColor=Color4b::Cyan)
+	{
+		RequirePerVertexColor(m);
 
-    Color4b BaseColor = Color4b::Green;
+		Color4b BaseColor = Color4b::Green;
 
-    PerVertexConstant(m,BaseColor);
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
-      for(int j=0;j<3;++j)
-      {
-        if((*fi).IsB(j)){
-          if( (*fi).V(j)->C() == BaseColor)     (*fi).V(j)->C() = BorderColor;
-          if( (*fi).V(j)->C() == InternalColor) (*fi).V(j)->C() = MixColor;
-          if( (*fi).V1(j)->C() == BaseColor)     (*fi).V1(j)->C() = BorderColor;
-          if( (*fi).V1(j)->C() == InternalColor) (*fi).V1(j)->C() = MixColor;
-        } else
-        {
-          if( (*fi).V(j)->C() == BaseColor)     (*fi).V(j)->C() = InternalColor;
-          if( (*fi).V(j)->C() == BorderColor) (*fi).V(j)->C() = MixColor;
-          if( (*fi).V1(j)->C() == BaseColor)     (*fi).V1(j)->C() = InternalColor;
-          if( (*fi).V1(j)->C() == BorderColor) (*fi).V1(j)->C() = MixColor;
-        }
-      }
+		PerVertexConstant(m,BaseColor);
+		for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
+			for(int j=0;j<3;++j)
+			{
+				if((*fi).IsB(j)){
+					if( (*fi).V(j)->C() == BaseColor)     (*fi).V(j)->C() = BorderColor;
+					if( (*fi).V(j)->C() == InternalColor) (*fi).V(j)->C() = MixColor;
+					if( (*fi).V1(j)->C() == BaseColor)     (*fi).V1(j)->C() = BorderColor;
+					if( (*fi).V1(j)->C() == InternalColor) (*fi).V1(j)->C() = MixColor;
+				} else
+				{
+					if( (*fi).V(j)->C() == BaseColor)     (*fi).V(j)->C() = InternalColor;
+					if( (*fi).V(j)->C() == BorderColor) (*fi).V(j)->C() = MixColor;
+					if( (*fi).V1(j)->C() == BaseColor)     (*fi).V1(j)->C() = InternalColor;
+					if( (*fi).V1(j)->C() == BorderColor) (*fi).V1(j)->C() = MixColor;
+				}
+			}
 
-  }
+	}
 
-  /*! \brief This function colores the faces of connected components of a mesh randomly.
+	/*! \brief This function colores the faces of connected components of a mesh randomly.
 
 It require FaceFace Adjacency becouse it relies on the output of the ConnecteComponents();
 */
-  static void PerFaceRandomConnectedComponent( MeshType &m)
-  {
-    RequirePerFaceColor(m);
-    RequireFFAdjacency(m);
+	static void PerFaceRandomConnectedComponent( MeshType &m)
+	{
+		RequirePerFaceColor(m);
+		RequireFFAdjacency(m);
 
-    std::vector< std::pair<int, typename MeshType::FacePointer> > CCV;
-    int ScatterSize= std::min (100,tri::Clean<MeshType>::ConnectedComponents(m, CCV)); // number of random color to be used. Never use too many.
+		std::vector< std::pair<int, typename MeshType::FacePointer> > CCV;
+		int ScatterSize= std::min (100,tri::Clean<MeshType>::ConnectedComponents(m, CCV)); // number of random color to be used. Never use too many.
 
-    ConnectedComponentIterator<MeshType> ci;
-    for(unsigned int i=0;i<CCV.size();++i)
-    {
-      Color4b BaseColor = Color4b::Scatter(ScatterSize, i%ScatterSize,.4f,.7f);
-      std::vector<typename MeshType::FacePointer> FPV;
-      for(ci.start(m,CCV[i].second);!ci.completed();++ci)
-        (*ci)->C()=BaseColor;
-    }
-  }
+		ConnectedComponentIterator<MeshType> ci;
+		for(unsigned int i=0;i<CCV.size();++i)
+		{
+			Color4b BaseColor = Color4b::Scatter(ScatterSize, i%ScatterSize,.4f,.7f);
+			std::vector<typename MeshType::FacePointer> FPV;
+			for(ci.start(m,CCV[i].second);!ci.completed();++ci)
+				(*ci)->C()=BaseColor;
+		}
+	}
 
-  /*! \brief This function colores the face of a mesh randomly.
+	/*! \brief This function colores the face of a mesh randomly.
 
 Note: The faux bit is used to color polygonal faces uniformly
 */
-  static void PerFaceRandom(MeshType &m)
-  {
-    RequirePerFaceColor(m);
-    FaceIterator fi;
-    Color4b BaseColor = Color4b::Black;
-    PerFaceConstant(m,BaseColor);
-    int id_num=0;
-    for(fi=m.face.begin();fi!=m.face.end();++fi)
-      if(!(*fi).IsD())
-      {
-        id_num++;
-        if((*fi).C() == BaseColor) (*fi).C() = Color4b::Scatter(50, id_num%50,.4f,.7f);
-        for(int j=0;j<3;++j)
-          if((*fi).IsF(j))
-          {
-            assert(!IsBorder((*fi),j));
-            (*fi).FFp(j)->C()= (*fi).C();
-          }
-      }
-  }
+	static void PerFaceRandom(MeshType &m)
+	{
+		RequirePerFaceColor(m);
+		FaceIterator fi;
+		Color4b BaseColor = Color4b::Black;
+		PerFaceConstant(m,BaseColor);
+		int id_num=0;
+		for(fi=m.face.begin();fi!=m.face.end();++fi)
+			if(!(*fi).IsD())
+			{
+				id_num++;
+				if((*fi).C() == BaseColor) (*fi).C() = Color4b::Scatter(50, id_num%50,.4f,.7f);
+				for(int j=0;j<3;++j)
+					if((*fi).IsF(j))
+					{
+						assert(!IsBorder((*fi),j));
+						(*fi).FFp(j)->C()= (*fi).C();
+					}
+			}
+	}
 
-/*! \brief Perlin Noise.
+	/*! \brief Perlin Noise.
 
 Simple Perlin noise. To make things weirder each color band can have its own offset and frequency.
 Period is expressed in absolute terms.
 So as period it is meaningful could be to use something in the range of 1/10 of the bbox diag.
 */
-static void PerVertexPerlinNoise(MeshType& m, CoordType period, CoordType offset = CoordType(0, 0, 0), bool onSelected = false)
-{
-	RequirePerVertexColor(m);
+	static void PerVertexPerlinNoise(MeshType& m, CoordType period, CoordType offset = CoordType(0, 0, 0), bool onSelected = false)
+	{
+		RequirePerVertexColor(m);
 
-	CoordType p[3];
-	
-	for(VertexIterator vi = m.vert.begin(); vi!=m.vert.end(); ++vi)
-		if(!(*vi).IsD())
-			if ((!onSelected) || ((*vi).IsS()))
-			{
-				// perlin noise is defined in 022
-				p[0] = (vi->P()/period[0])+offset;
-				p[1] = (vi->P()/period[1])+offset;
-				p[2] = (vi->P()/period[2])+offset;
-				(*vi).C() = Color4b(	int(127+128.0*math::Perlin::Noise(p[0][0],p[0][1],p[0][2])),
-										int(127+128.0*math::Perlin::Noise(p[1][0],p[1][1],p[1][2])),
-										int(127+128.0*math::Perlin::Noise(p[2][0],p[2][1],p[2][2])),
-										255 );
-			}
+		CoordType p[3];
 
-}
+		for(VertexIterator vi = m.vert.begin(); vi!=m.vert.end(); ++vi)
+			if(!(*vi).IsD())
+				if ((!onSelected) || ((*vi).IsS()))
+				{
+					// perlin noise is defined in 022
+					p[0] = (vi->P()/period[0])+offset;
+					p[1] = (vi->P()/period[1])+offset;
+					p[2] = (vi->P()/period[2])+offset;
+					(*vi).C() = Color4b(	int(127+128.0*math::Perlin::Noise(p[0][0],p[0][1],p[0][2])),
+					        int(127+128.0*math::Perlin::Noise(p[1][0],p[1][1],p[1][2])),
+					        int(127+128.0*math::Perlin::Noise(p[2][0],p[2][1],p[2][2])),
+					        255 );
+				}
+
+	}
 
 
-/*! \brief Perlin Color mixing.
+	/*! \brief Perlin Color mixing.
 
 Simple Perlin color mixing. Color 1 and 2 are mixed according the perlin noise function, with period and offset.
 */
-static void PerVertexPerlinColoring(MeshType& m, ScalarType period, CoordType offset = CoordType(0, 0, 0), Color4b color1 = Color4b::Black, Color4b color2 = Color4b::White, bool onSelected = false)
-{
-	RequirePerVertexColor(m);
-
-	CoordType p;
-
-	for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
-	if (!(*vi).IsD())
-	if ((!onSelected) || ((*vi).IsS()))
+	static void PerVertexPerlinColoring(MeshType& m, ScalarType period, CoordType offset = CoordType(0, 0, 0), Color4b color1 = Color4b::Black, Color4b color2 = Color4b::White, bool onSelected = false)
 	{
-		// perlin noise is defined in 022
-		p = (vi->P() / period) + offset;
-		double factor = (math::Perlin::Noise(p[0], p[1], p[2]) + 1.0) / 2.0; 
+		RequirePerVertexColor(m);
 
-		int rr = (color1[0] * factor) + (color2[0] * (1.0 - factor));
-		int gg = (color1[1] * factor) + (color2[1] * (1.0 - factor));
-		int bb = (color1[2] * factor) + (color2[2] * (1.0 - factor));
-		int aa = (color1[3] * factor) + (color2[3] * (1.0 - factor));
+		CoordType p;
 
-		(*vi).C() = Color4b(rr, gg, bb, aa);
+		for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+			if (!(*vi).IsD())
+				if ((!onSelected) || ((*vi).IsS()))
+				{
+					// perlin noise is defined in 022
+					p = (vi->P() / period) + offset;
+					double factor = (math::Perlin::Noise(p[0], p[1], p[2]) + 1.0) / 2.0;
+
+					int rr = (color1[0] * factor) + (color2[0] * (1.0 - factor));
+					int gg = (color1[1] * factor) + (color2[1] * (1.0 - factor));
+					int bb = (color1[2] * factor) + (color2[2] * (1.0 - factor));
+					int aa = (color1[3] * factor) + (color2[3] * (1.0 - factor));
+
+					(*vi).C() = Color4b(rr, gg, bb, aa);
+				}
 	}
-}
 
-/*! \brief Simple Noise adding function.
+	/*! \brief Simple Noise adding function.
 It simply add signed noise to the color of the mesh. The noise has uniform distribution and the amplitude is +/-2^(noisebits-1).
 */
-static void PerVertexAddNoise(MeshType& m, int noiseBits, bool onSelected=false)
-{
-	RequirePerVertexColor(m);
+	static void PerVertexAddNoise(MeshType& m, int noiseBits, bool onSelected=false)
+	{
+		RequirePerVertexColor(m);
 
-	if(noiseBits>8) noiseBits = 8;
-	if(noiseBits<1) return;
+		if(noiseBits>8) noiseBits = 8;
+		if(noiseBits<1) return;
 
-	math::SubtractiveRingRNG randomGen = math::SubtractiveRingRNG(time(NULL));
-	for(VertexIterator vi = m.vert.begin(); vi!=m.vert.end(); ++vi)
-		if(!(*vi).IsD())
-			if ((!onSelected) || ((*vi).IsS()))
+		math::SubtractiveRingRNG randomGen = math::SubtractiveRingRNG(time(NULL));
+		for(VertexIterator vi = m.vert.begin(); vi!=m.vert.end(); ++vi)
+			if(!(*vi).IsD())
+				if ((!onSelected) || ((*vi).IsS()))
+				{
+					(*vi).C()[0] = math::Clamp<int>((*vi).C()[0] + randomGen.generate(int(2*pow(2.0f,noiseBits))) - int(pow(2.0f,noiseBits)),0,255);
+					(*vi).C()[1] = math::Clamp<int>((*vi).C()[1] + randomGen.generate(int(2*pow(2.0f,noiseBits))) - int(pow(2.0f,noiseBits)),0,255);
+					(*vi).C()[2] = math::Clamp<int>((*vi).C()[2] + randomGen.generate(int(2*pow(2.0f,noiseBits))) - int(pow(2.0f,noiseBits)),0,255);
+				}
+
+	}
+
+
+	/*! \brief Reduces vertex color the mesh to two colors according to a threshold.
+  */
+	static int PerVertexThresholding(MeshType &m, float threshold, const Color4b c1 = Color4<unsigned char>::Black, const Color4b c2 = Color4<unsigned char>::White, const bool ProcessSelected=false)
+	{
+		RequirePerVertexColor(m);
+
+		int counter=0;
+		VertexIterator vi;
+		for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
+		{
+			if(!(*vi).IsD()) //if it has not been deleted...
 			{
-				(*vi).C()[0] = math::Clamp<int>((*vi).C()[0] + randomGen.generate(int(2*pow(2.0f,noiseBits))) - int(pow(2.0f,noiseBits)),0,255);
-				(*vi).C()[1] = math::Clamp<int>((*vi).C()[1] + randomGen.generate(int(2*pow(2.0f,noiseBits))) - int(pow(2.0f,noiseBits)),0,255);
-				(*vi).C()[2] = math::Clamp<int>((*vi).C()[2] + randomGen.generate(int(2*pow(2.0f,noiseBits))) - int(pow(2.0f,noiseBits)),0,255);
+				if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
+				{
+					float value = ComputeLightness((*vi).C());
+
+					if(value<=threshold) (*vi).C() = c1;
+					else (*vi).C() = c2;
+					++counter;
+				}
 			}
-	
-}
+		}
+		return counter;
+	}
 
+	// Computes the lightness value for a specified color. lightness = 0.5*(Max(R,G,B)+Min(R,G,B))
+	static float ComputeLightness(Color4b c)
+	{
+		float min_rgb = (float)math::Min(c[0],c[1],c[2]);
+		float max_rgb = (float)math::Max(c[0],c[1],c[2]);
+		return (max_rgb + min_rgb)/2;
+	}
 
-/*! \brief Reduces vertex color the mesh to two colors according to a threshold.
+	/*! \brief Apply the brightness filter, with the given amount, to the mesh.
   */
-static int PerVertexThresholding(MeshType &m, float threshold, Color4b c1 = Color4<unsigned char>::Black, Color4b c2 = Color4<unsigned char>::White, const bool ProcessSelected=false)
-{
-  RequirePerVertexColor(m);
+	static int PerVertexBrightness(MeshType &m, float amount, const bool ProcessSelected=false)
+	{
+		RequirePerVertexColor(m);
 
-  int counter=0;
-  VertexIterator vi;
-  for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
-  {
-    if(!(*vi).IsD()) //if it has not been deleted...
-    {
-      if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
-      {
-        float value = ComputeLightness((*vi).C());
+		int counter=0;
+		VertexIterator vi;
+		for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
+		{
+			if(!(*vi).IsD()) //if it has not been deleted...
+			{
+				if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
+				{
+					(*vi).C() = Color4b(
+					                math::Clamp(int((*vi).C()[0]+amount),0,255),
+					        math::Clamp(int((*vi).C()[1]+amount),0,255),
+					        math::Clamp(int((*vi).C()[2]+amount),0,255),
+					        255);
+					++counter;
+				}
+			}
+		}
+		return counter;
+	}
 
-        if(value<=threshold) (*vi).C() = c1;
-        else (*vi).C() = c2;
-        ++counter;
-      }
-    }
-  }
-  return counter;
-}
-
-// Computes the lightness value for a specified color. lightness = 0.5*(Max(R,G,B)+Min(R,G,B))
-static float ComputeLightness(Color4b c)
-{
-  float min_rgb = (float)math::Min(c[0],c[1],c[2]);
-  float max_rgb = (float)math::Max(c[0],c[1],c[2]);
-  return (max_rgb + min_rgb)/2;
-}
-
-/*! \brief Apply the brightness filter, with the given amount, to the mesh.
+	/*! \brief Apply Contrast filter to the mesh with the given contrast factor.
   */
-static int PerVertexBrightness(MeshType &m, float amount, const bool ProcessSelected=false)
-{
-  RequirePerVertexColor(m);
+	static int PerVertexContrast(MeshType &m, float factor, const bool ProcessSelected=false)
+	{
+		RequirePerVertexColor(m);
 
-  int counter=0;
-    VertexIterator vi;
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
-    {
-        if(!(*vi).IsD()) //if it has not been deleted...
-        {
-            if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
-      {
-        (*vi).C() = Color4b(
-                            math::Clamp(int((*vi).C()[0]+amount),0,255),
-                            math::Clamp(int((*vi).C()[1]+amount),0,255),
-                            math::Clamp(int((*vi).C()[2]+amount),0,255),
-                            255);
-        ++counter;
-      }
-    }
-  }
-    return counter;
-}
+		int counter=0;
+		VertexIterator vi;
+		for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
+		{
+			if(!(*vi).IsD()) //if it has not been deleted...
+			{
+				if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
+				{
+					(*vi).C() = ColorMul((*vi).C(),factor);
+					++counter;
+				}
+			}
+		}
+		return counter;
+	}
 
-/*! \brief Apply Contrast filter to the mesh with the given contrast factor.
-  */
-static int PerVertexContrast(MeshType &m, float factor, const bool ProcessSelected=false)
-{
-      RequirePerVertexColor(m);
+	//Performs contrast operations on color, i.e expands or compress the histogram around
+	//the midpoint value.  NewValue = (OldValue - 128) ◊ factor + 128
+	static Color4b ColorMul(Color4b c, float factor)
+	{
+		return Color4b( ValueMul(c[0], factor), ValueMul(c[1], factor), ValueMul(c[2], factor), 1);
+	}
 
-  int counter=0;
-  VertexIterator vi;
-  for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
-  {
-    if(!(*vi).IsD()) //if it has not been deleted...
-    {
-      if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
-      {
-        (*vi).C() = ColorMul((*vi).C(),factor);
-        ++counter;
-      }
-    }
-  }
-  return counter;
-}
+	static int ValueMul(int value, float factor)
+	{
+		return math::Clamp<int>((int)((value - 128)*factor + 128), 0, 255);
+	}
 
-//Performs contrast operations on color, i.e expands or compress the histogram around
-//the midpoint value.  NewValue = (OldValue - 128) ◊ factor + 128
-static Color4b ColorMul(Color4b c, float factor)
-{
-  return Color4b( ValueMul(c[0], factor), ValueMul(c[1], factor), ValueMul(c[2], factor), 1);
-}
-
-static int ValueMul(int value, float factor)
-{
-  return math::Clamp<int>((int)((value - 128)*factor + 128), 0, 255);
-}
-
-/*! \brief Apply  Brightness and Contrast  filter to the mesh, with the given contrast factor and brightness amount.
+	/*! \brief Apply  Brightness and Contrast  filter to the mesh, with the given contrast factor and brightness amount.
 
 Performs contrast and brightness operations on color, i.e NewValue = (OldValue - 128) * contrast + 128 + amount
 The result is clamped just one time after all computations; this get a more accurate result.
@@ -547,109 +621,109 @@ The result is clamped just one time after all computations; this get a more accu
 The formula used here is the one of GIMP.
 
   */
-static int PerVertexBrightnessContrast(MeshType &m, float brightness, float contrast, const bool ProcessSelected=false)
-{
-      RequirePerVertexColor(m);
+	static int PerVertexBrightnessContrast(MeshType &m, float brightness, float contrast, const bool ProcessSelected=false)
+	{
+		RequirePerVertexColor(m);
 
-  int counter=0;
-  VertexIterator vi;
-  for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
-  {
-    if(!(*vi).IsD()) //if it has not been deleted...
-    {
-      if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
-      {
-        (*vi).C() = ColorBrightnessContrast((*vi).C(),brightness,contrast);
-        ++counter;
-      }
-    }
-  }
-  return counter;
-}
+		int counter=0;
+		VertexIterator vi;
+		for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
+		{
+			if(!(*vi).IsD()) //if it has not been deleted...
+			{
+				if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
+				{
+					(*vi).C() = ColorBrightnessContrast((*vi).C(),brightness,contrast);
+					++counter;
+				}
+			}
+		}
+		return counter;
+	}
 
-static Color4b ColorBrightnessContrast(Color4b c, float brightness, float contrast)
-{
-  return Color4b( ValueBrightnessContrast(c[0], brightness, contrast),
-                                    ValueBrightnessContrast(c[1], brightness, contrast),
-                                    ValueBrightnessContrast(c[2], brightness, contrast), 1 );
-}
+	static Color4b ColorBrightnessContrast(Color4b c, float brightness, float contrast)
+	{
+		return Color4b( ValueBrightnessContrast(c[0], brightness, contrast),
+		        ValueBrightnessContrast(c[1], brightness, contrast),
+		        ValueBrightnessContrast(c[2], brightness, contrast), 1 );
+	}
 
-static int ValueBrightnessContrast(unsigned char ivalue, float brightness, float contrast)
-{
-    float value = float(ivalue)/255.0f;
-  if (brightness < 0.0)  value = value * ( 1.0 + brightness);
-                    else value = value + ((1.0 - value) * brightness);
-    value = (value - 0.5) * (tan ((contrast + 1) * M_PI/4) ) + 0.5;
-    return math::Clamp<int>(255.0*value, 0, 255);
-}
+	static int ValueBrightnessContrast(unsigned char ivalue, float brightness, float contrast)
+	{
+		float value = float(ivalue)/255.0f;
+		if (brightness < 0.0)  value = value * ( 1.0 + brightness);
+		else value = value + ((1.0 - value) * brightness);
+		value = (value - 0.5) * (tan ((contrast + 1) * M_PI/4) ) + 0.5;
+		return math::Clamp<int>(255.0*value, 0, 255);
+	}
 
-/*! \brief Invert the colors of the mesh.
+	/*! \brief Invert the colors of the mesh.
 
   \return the number of changed vertexes (the selected ones)
   */
-static int PerVertexInvert(MeshType &m, const bool ProcessSelected=false)
-{
-      RequirePerVertexColor(m);
+	static int PerVertexInvert(MeshType &m, const bool ProcessSelected=false)
+	{
+		RequirePerVertexColor(m);
 
-  int counter=0;
-  for(VertexIterator vi=m.vert.begin(); vi!=m.vert.end(); ++vi) //scan all the vertex...
-  {
-    if(!(*vi).IsD()) //if it has not been deleted...
-    {
-      if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
-      {
-        Color4b &c=(*vi).C();
-        c=Color4b( 255-c[0],255-c[1],255-c[2], 1);
-        ++counter;
-      }
-    }
-  }
-  return counter;
-}
+		int counter=0;
+		for(VertexIterator vi=m.vert.begin(); vi!=m.vert.end(); ++vi) //scan all the vertex...
+		{
+			if(!(*vi).IsD()) //if it has not been deleted...
+			{
+				if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
+				{
+					Color4b &c=(*vi).C();
+					c=Color4b( 255-c[0],255-c[1],255-c[2], 1);
+					++counter;
+				}
+			}
+		}
+		return counter;
+	}
 
-/*! \brief Apply the gamma correction filter, with the given gamma exponet, to the mesh.
+	/*! \brief Apply the gamma correction filter, with the given gamma exponet, to the mesh.
   \return the number of changed vertexes (the selected ones)
   */
-static int PerVertexGamma(MeshType &m, float gamma, const bool ProcessSelected=false)
-{
-      RequirePerVertexColor(m);
+	static int PerVertexGamma(MeshType &m, float gamma, const bool ProcessSelected=false)
+	{
+		RequirePerVertexColor(m);
 
-  int counter=0;
+		int counter=0;
 
-  VertexIterator vi;
-  for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
-  {
-    if(!(*vi).IsD()) //if it has not been deleted...
-    {
-      if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
-      {
-        (*vi).C() = ColorPow((*vi).C(), 1/gamma);
-        ++counter;
-      }
-    }
-  }
-  return counter;
-}
+		VertexIterator vi;
+		for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
+		{
+			if(!(*vi).IsD()) //if it has not been deleted...
+			{
+				if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
+				{
+					(*vi).C() = ColorPow((*vi).C(), 1/gamma);
+					++counter;
+				}
+			}
+		}
+		return counter;
+	}
 
-//computes the standard gamma transformation on a given color, according to NewVal = OldVal^(1/gamma)
-static Color4b ColorPow(Color4b c, float exponent)
-{
-  return vcg::Color4b(
-                      math::Clamp((int)( ValuePow(float(c[0])/255, exponent)*255), 0, 255),
-                      math::Clamp((int)( ValuePow(float(c[1])/255, exponent)*255), 0, 255),
-                      math::Clamp((int)( ValuePow(float(c[2])/255, exponent)*255), 0, 255),
-                      255);
-}
+	//computes the standard gamma transformation on a given color, according to NewVal = OldVal^(1/gamma)
+	static Color4b ColorPow(Color4b c, float exponent)
+	{
+		return vcg::Color4b(
+		            math::Clamp((int)( ValuePow(float(c[0])/255, exponent)*255), 0, 255),
+		        math::Clamp((int)( ValuePow(float(c[1])/255, exponent)*255), 0, 255),
+		        math::Clamp((int)( ValuePow(float(c[2])/255, exponent)*255), 0, 255),
+		        255);
+	}
 
-static float ValuePow(float value, float exponent)
-{
-  return powf(value, exponent);
-}
+	static float ValuePow(float value, float exponent)
+	{
+		return powf(value, exponent);
+	}
 
-//useful bit masks for RGB channels, used for Levels filter.
-enum rgbChMask {ALL_CHANNELS = 7, RED_CHANNEL = 4, GREEN_CHANNEL = 2, BLUE_CHANNEL = 1, NO_CHANNELS = 0 };
+	//useful bit masks for RGB channels, used for Levels filter.
+	enum rgbChMask {ALL_CHANNELS = 7, RED_CHANNEL = 4, GREEN_CHANNEL = 2, BLUE_CHANNEL = 1, NO_CHANNELS = 0 };
 
-/*! \brief Adjusts color levels of the mesh
+	/*! \brief Adjusts color levels of the mesh
 
   \return the number of changed vertexes (the selected ones)
 
@@ -657,94 +731,94 @@ Adjusts color levels of the mesh. Filter can be applied to all RGB channels or t
 in_min, gamma and in_max are respectively the black point, the gray point and the white point.
 out_min and out_max are the output level for black and white respectively.
 */
-static int PerVertexLevels(MeshType &m, float gamma, float in_min, float in_max, float out_min, float out_max, unsigned char rgbMask, const bool ProcessSelected=false)
-{
-      RequirePerVertexColor(m);
+	static int PerVertexLevels(MeshType &m, float gamma, float in_min, float in_max, float out_min, float out_max, unsigned char rgbMask, const bool ProcessSelected=false)
+	{
+		RequirePerVertexColor(m);
 
-  int counter=0;
-  VertexIterator vi;
-  for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
-  {
-    if(!(*vi).IsD()) //if it has not been deleted...
-    {
-      if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
-      {
-        (*vi).C() = ColorLevels((*vi).C(), gamma, in_min, in_max, out_min, out_max, rgbMask);
-        ++counter;
-      }
-    }
-  }
-  return counter;
-}
+		int counter=0;
+		VertexIterator vi;
+		for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
+		{
+			if(!(*vi).IsD()) //if it has not been deleted...
+			{
+				if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
+				{
+					(*vi).C() = ColorLevels((*vi).C(), gamma, in_min, in_max, out_min, out_max, rgbMask);
+					++counter;
+				}
+			}
+		}
+		return counter;
+	}
 
-//Performs levels transformation on each channel set to 1 in the rgbMask.
-static Color4b ColorLevels(Color4b c, float gamma, float in_min, float in_max, float out_min, float out_max, unsigned char rgbMask)
-{
-  unsigned char r = c[0], g = c[1], b = c[2];
-  if(rgbMask & RED_CHANNEL) r = ValueLevels(c[0], gamma, in_min, in_max, out_min, out_max);
-  if(rgbMask & GREEN_CHANNEL) g = ValueLevels(c[1], gamma, in_min, in_max, out_min, out_max);
-  if(rgbMask & BLUE_CHANNEL) b = ValueLevels(c[2], gamma, in_min, in_max, out_min, out_max);
-  return Color4b(r, g, b, 255);
-}
+	//Performs levels transformation on each channel set to 1 in the rgbMask.
+	static Color4b ColorLevels(Color4b c, float gamma, float in_min, float in_max, float out_min, float out_max, unsigned char rgbMask)
+	{
+		unsigned char r = c[0], g = c[1], b = c[2];
+		if(rgbMask & RED_CHANNEL) r = ValueLevels(c[0], gamma, in_min, in_max, out_min, out_max);
+		if(rgbMask & GREEN_CHANNEL) g = ValueLevels(c[1], gamma, in_min, in_max, out_min, out_max);
+		if(rgbMask & BLUE_CHANNEL) b = ValueLevels(c[2], gamma, in_min, in_max, out_min, out_max);
+		return Color4b(r, g, b, 255);
+	}
 
-//Transform on levels
-static int ValueLevels(int value, float gamma, float in_min, float in_max, float out_min, float out_max)
-{
-  float fvalue = value/255.0f;
-  // normalize
-  fvalue = math::Clamp<float>(fvalue - in_min, 0.0f, 1.0f) / math::Clamp<float>(in_max - in_min, 1.0f/255.0f, 1.0f);
-  // transform gamma
-  fvalue = powf(fvalue,1/gamma);
-  // rescale range
-  fvalue = fvalue * (out_max - out_min) + out_min;
-  //back in interval [0,255] and clamp
-  return math::Clamp<int>((int)(fvalue * 255), 0, 255);
-}
+	//Transform on levels
+	static int ValueLevels(int value, float gamma, float in_min, float in_max, float out_min, float out_max)
+	{
+		float fvalue = value/255.0f;
+		// normalize
+		fvalue = math::Clamp<float>(fvalue - in_min, 0.0f, 1.0f) / math::Clamp<float>(in_max - in_min, 1.0f/255.0f, 1.0f);
+		// transform gamma
+		fvalue = powf(fvalue,1/gamma);
+		// rescale range
+		fvalue = fvalue * (out_max - out_min) + out_min;
+		//back in interval [0,255] and clamp
+		return math::Clamp<int>((int)(fvalue * 255), 0, 255);
+	}
 
-/*! \brief  Colorize the mesh toward a given color.
+	/*! \brief  Colorize the mesh toward a given color.
   \return the number of changed vertexes (the selected ones)
 
 Colors the mesh. Color is blended to the mesh with the given intensity (0..1 ranged).
   */
-static int PerVertexColourisation(MeshType &m, Color4b c, float intensity, const bool ProcessSelected=false)
-{
-      RequirePerVertexColor(m);
+	static int PerVertexColourisation(MeshType &m, Color4b c, float intensity, const bool ProcessSelected=false)
+	{
+		RequirePerVertexColor(m);
 
-  int counter=0;
-  VertexIterator vi;
-  for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-  {
-    if(!(*vi).IsD()) //if it has not been deleted...
-    {
-      if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
-      {
-        (*vi).C() = ColorApplyDiff((*vi).C(), c, intensity);
-        ++counter;
-      }
-    }
-  }
-  return counter;
-}
+		int counter=0;
+		VertexIterator vi;
+		for(vi=m.vert.begin();vi!=m.vert.end();++vi)
+		{
+			if(!(*vi).IsD()) //if it has not been deleted...
+			{
+				if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
+				{
+					(*vi).C() = ColorApplyDiff((*vi).C(), c, intensity);
+					++counter;
+				}
+			}
+		}
+		return counter;
+	}
 
-// Perform colourisation operation.
-// For each channel C:
-// newC = origC + intensity * (newC - origC)
-static Color4b ColorApplyDiff(Color4b old_color, Color4b new_color, float intensity)
-{
-  return Color4b( ValueApplyDiff(old_color[0], new_color[0], intensity),
-                  ValueApplyDiff(old_color[1], new_color[1], intensity),
-                  ValueApplyDiff(old_color[2], new_color[2], intensity), 255);
-}
+	// Perform colourisation operation.
+	// For each channel C:
+	// newC = origC + intensity * (newC - origC)
+	static Color4b ColorApplyDiff(Color4b old_color, Color4b new_color, float intensity)
+	{
+		return Color4b( ValueApplyDiff(old_color[0], new_color[0], intensity),
+		        ValueApplyDiff(old_color[1], new_color[1], intensity),
+		        ValueApplyDiff(old_color[2], new_color[2], intensity), 255);
+	}
 
-static int ValueApplyDiff(int old_value, int new_value, float intensity)
-{
-  return  math::Clamp<int>((int)(old_value + intensity * (new_value - old_value)), 0, 255);
-}
+	static int ValueApplyDiff(int old_value, int new_value, float intensity)
+	{
+		return  math::Clamp<int>((int)(old_value + intensity * (new_value - old_value)), 0, 255);
+	}
 
-//An useful ENUM to hold all desaturation methods.
-enum DesaturationMethods {M_LIGHTNESS = 0, M_LUMINOSITY = 1, M_AVERAGE = 2};
+	//An useful ENUM to hold all desaturation methods.
+	enum DesaturationMethods {M_LIGHTNESS = 0, M_LUMINOSITY = 1, M_AVERAGE = 2};
 
-/*! \brief  Desaturates the mesh according the a chosen desaturation method
+	/*! \brief  Desaturates the mesh according the a chosen desaturation method
 
 \return the number of changed vertexes (the selected ones)
 
@@ -753,176 +827,177 @@ There are three possibilities
 - \c M_LUMINOSITY where luminosity = 0.21*R+0.71*G+0.7*B
 - \c M_AVERAGE Plain Average
   */
-static int PerVertexDesaturation(MeshType &m, int method, const bool ProcessSelected=false)
-{
-      RequirePerVertexColor(m);
+	static int PerVertexDesaturation(MeshType &m, int method, const bool ProcessSelected=false)
+	{
+		RequirePerVertexColor(m);
 
-  int counter=0;
-  VertexIterator vi;
-  for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
-  {
-    if(!(*vi).IsD()) //if it has not been deleted...
-    {
-      if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
-      {
-        (*vi).C() = ColorDesaturate((*vi).C(), method);
-        ++counter;
-      }
-    }
-  }
-  return counter;
-}
+		int counter=0;
+		VertexIterator vi;
+		for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
+		{
+			if(!(*vi).IsD()) //if it has not been deleted...
+			{
+				if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
+				{
+					(*vi).C() = ColorDesaturate((*vi).C(), method);
+					++counter;
+				}
+			}
+		}
+		return counter;
+	}
 
-//Desature the color. Ausiliary functions to calculate lightness/luminosity/average.
-static Color4b ColorDesaturate(Color4b c, int method)
-{
-  switch(method){
-    case M_LIGHTNESS:{
-      int val = (int)ComputeLightness(c);
-      return Color4b( val, val, val, 255);
-    }
-    case M_AVERAGE:{
-      int val = (int)ComputeAvgLightness(c);
-      return Color4b( val, val, val, 255);
-    }
-    case M_LUMINOSITY:{
-      int val = (int)ComputeLuminosity(c);
-      return Color4b( val, val, val, 255);
-    }
-    default: assert(0);
-  }
-}
+	//Desature the color. Ausiliary functions to calculate lightness/luminosity/average.
+	static Color4b ColorDesaturate(Color4b c, int method)
+	{
+		switch(method){
+			case M_LIGHTNESS:{
+				int val = (int)ComputeLightness(c);
+				return Color4b( val, val, val, 255);
+			}
+			case M_AVERAGE:{
+				int val = (int)ComputeAvgLightness(c);
+				return Color4b( val, val, val, 255);
+			}
+			case M_LUMINOSITY:{
+				int val = (int)ComputeLuminosity(c);
+				return Color4b( val, val, val, 255);
+			}
+			default: assert(0);
+		}
+		return Color4b(255, 255, 255, 255);
+	}
 
-//ausiliary function to compute average lightness. value = (R+G+B)/3
-static float ComputeAvgLightness(Color4b c)
-{
-    return float(c[0]+c[1]+c[2])/3.0f;
-}
+	//ausiliary function to compute average lightness. value = (R+G+B)/3
+	static float ComputeAvgLightness(Color4b c)
+	{
+		return float(c[0]+c[1]+c[2])/3.0f;
+	}
 
-//ausiliary function to compute luminosity. value = 0.21*R+0.71*G+0.7*B
-static float ComputeLuminosity(Color4b c)
-{
-    return float(0.2126f*c[0]+0.7152f*c[1]+0.0722f*c[2]);
-}
+	//ausiliary function to compute luminosity. value = 0.21*R+0.71*G+0.7*B
+	static float ComputeLuminosity(Color4b c)
+	{
+		return float(0.2126f*c[0]+0.7152f*c[1]+0.0722f*c[2]);
+	}
 
-/*! \brief Histogram Color Equalization.
+	/*! \brief Histogram Color Equalization.
   \return the number of changed vertexes (the selected ones)
 
 Equalize the histogram of colors. It can equalize any combination of rgb channels or it can work on lightness.
   */
-static int PerVertexEqualize(MeshType &m, unsigned int rgbMask, const bool ProcessSelected=false)
-{
-      RequirePerVertexColor(m);
+	static int PerVertexEqualize(MeshType &m, unsigned int rgbMask, const bool ProcessSelected=false)
+	{
+		RequirePerVertexColor(m);
 
-  //declares , resets and set up 4 histograms, for Red, Green, Blue and Lightness
-  Histogramf Hl, Hr, Hg, Hb;
-  Hl.Clear(); Hr.Clear(); Hg.Clear(); Hb.Clear();
-  Hl.SetRange(0, 255, 255); Hr.SetRange(0, 255, 255); Hg.SetRange(0, 255, 255); Hb.SetRange(0, 255, 255);
+		//declares , resets and set up 4 histograms, for Red, Green, Blue and Lightness
+		Histogramf Hl, Hr, Hg, Hb;
+		Hl.Clear(); Hr.Clear(); Hg.Clear(); Hb.Clear();
+		Hl.SetRange(0, 255, 255); Hr.SetRange(0, 255, 255); Hg.SetRange(0, 255, 255); Hb.SetRange(0, 255, 255);
 
-  int counter=0;
-  VertexIterator vi;
+		int counter=0;
+		VertexIterator vi;
 
-  //Scan the mesh to build the histograms
-  for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
-  {
-    if(!(*vi).IsD()) //if it has not been deleted...
-    {
-      if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, put it in the histograms
-      {
-        float v = ComputeLightness((*vi).C())+0.5; //compute and round lightness value
-        Hl.Add(v); Hr.Add((float)(*vi).C()[0]); Hg.Add((float)(*vi).C()[1]); Hb.Add((float)(*vi).C()[2]);
-      }
-    }
-  }
+		//Scan the mesh to build the histograms
+		for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
+		{
+			if(!(*vi).IsD()) //if it has not been deleted...
+			{
+				if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, put it in the histograms
+				{
+					float v = ComputeLightness((*vi).C())+0.5; //compute and round lightness value
+					Hl.Add(v); Hr.Add((float)(*vi).C()[0]); Hg.Add((float)(*vi).C()[1]); Hb.Add((float)(*vi).C()[2]);
+				}
+			}
+		}
 
-  //for each histogram, compute the cumulative distribution function, and build a lookup table
-    int cdf_l[256], cdf_r[256], cdf_g[256], cdf_b[256];
-    cdf_l[0] = Hl.BinCount(0); cdf_r[0] = Hr.BinCount(0); cdf_g[0] = Hg.BinCount(0); cdf_b[0] = Hb.BinCount(0);
-    for(int i=1; i<256; i++){
-    cdf_l[i] = Hl.BinCount(float(i)) + cdf_l[i-1];
-    cdf_r[i] = Hr.BinCount(float(i)) + cdf_r[i-1];
-    cdf_g[i] = Hg.BinCount(float(i)) + cdf_g[i-1];
-    cdf_b[i] = Hb.BinCount(float(i)) + cdf_b[i-1];
-  }
+		//for each histogram, compute the cumulative distribution function, and build a lookup table
+		int cdf_l[256], cdf_r[256], cdf_g[256], cdf_b[256];
+		cdf_l[0] = Hl.BinCount(0); cdf_r[0] = Hr.BinCount(0); cdf_g[0] = Hg.BinCount(0); cdf_b[0] = Hb.BinCount(0);
+		for(int i=1; i<256; i++){
+			cdf_l[i] = Hl.BinCount(float(i)) + cdf_l[i-1];
+			cdf_r[i] = Hr.BinCount(float(i)) + cdf_r[i-1];
+			cdf_g[i] = Hg.BinCount(float(i)) + cdf_g[i-1];
+			cdf_b[i] = Hb.BinCount(float(i)) + cdf_b[i-1];
+		}
 
-  //this loop aaplies the transformation to colors
-  for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
-  {
-    if(!(*vi).IsD()) //if it has not been deleted...
-    {
-      if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
-      {
-        (*vi).C()=ColorEqualize((*vi).C(), cdf_l, cdf_r, cdf_g, cdf_b, rgbMask);
-        ++counter;
-      }
-    }
-  }
-  return counter;
-}
+		//this loop aaplies the transformation to colors
+		for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
+		{
+			if(!(*vi).IsD()) //if it has not been deleted...
+			{
+				if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
+				{
+					(*vi).C()=ColorEqualize((*vi).C(), cdf_l, cdf_r, cdf_g, cdf_b, rgbMask);
+					++counter;
+				}
+			}
+		}
+		return counter;
+	}
 
-//Applies equalization to the components of the color according to rgbmask
-static Color4b ColorEqualize(Color4b c, int cdf_l[256], int cdf_r[256], int cdf_g[256], int cdf_b[256], unsigned int rgbMask)
-{
-  unsigned char r = c[0], g = c[1], b = c[2];
-  if(rgbMask == NO_CHANNELS) //in this case, equalization is done on lightness
-  {
-    int v = ValueEqualize(cdf_l[(int)(ComputeLightness(c)+0.5f)], cdf_l[0], cdf_l[255]);
-    return Color4b(v, v, v, 255); //return the equalized gray color
-  }
-  if(rgbMask & RED_CHANNEL) r = ValueEqualize(cdf_r[c[0]], cdf_r[0], cdf_r[255]); //Equalizes red
-  if(rgbMask & GREEN_CHANNEL) g = ValueEqualize(cdf_g[c[1]], cdf_g[0], cdf_g[255]); //Equalizes green
-  if(rgbMask & BLUE_CHANNEL) b = ValueEqualize(cdf_b[c[2]], cdf_b[0], cdf_b[255]); //Equalizes blue
-  return Color4b(r, g, b, 255); //return the equalized color
-}
+	//Applies equalization to the components of the color according to rgbmask
+	static Color4b ColorEqualize(Color4b c, int cdf_l[256], int cdf_r[256], int cdf_g[256], int cdf_b[256], unsigned int rgbMask)
+	{
+		unsigned char r = c[0], g = c[1], b = c[2];
+		if(rgbMask == NO_CHANNELS) //in this case, equalization is done on lightness
+		{
+			int v = ValueEqualize(cdf_l[(int)(ComputeLightness(c)+0.5f)], cdf_l[0], cdf_l[255]);
+			return Color4b(v, v, v, 255); //return the equalized gray color
+		}
+		if(rgbMask & RED_CHANNEL) r = ValueEqualize(cdf_r[c[0]], cdf_r[0], cdf_r[255]); //Equalizes red
+		if(rgbMask & GREEN_CHANNEL) g = ValueEqualize(cdf_g[c[1]], cdf_g[0], cdf_g[255]); //Equalizes green
+		if(rgbMask & BLUE_CHANNEL) b = ValueEqualize(cdf_b[c[2]], cdf_b[0], cdf_b[255]); //Equalizes blue
+		return Color4b(r, g, b, 255); //return the equalized color
+	}
 
-//Compute the equalized value
-static int ValueEqualize(int cdfValue, int cdfMin, int cdfMax)
-{
-  return int(float((cdfValue - cdfMin)/float(cdfMax - cdfMin)) * 255.0f);
-}
+	//Compute the equalized value
+	static int ValueEqualize(int cdfValue, int cdfMin, int cdfMax)
+	{
+		return int(float((cdfValue - cdfMin)/float(cdfMax - cdfMin)) * 255.0f);
+	}
 
-/*! \brief Simple white balancing filter.
+	/*! \brief Simple white balancing filter.
   \return the number of changed vertexes (the selected ones)
 
   It applies a simple white balancing filter. It may works on a provided user color that is supposed to be white.
   */
-static int PerVertexWhiteBalance(MeshType &m, Color4b userColor, const bool ProcessSelected=false)
-{
-      RequirePerVertexColor(m);
+	static int PerVertexWhiteBalance(MeshType &m, Color4b userColor, const bool ProcessSelected=false)
+	{
+		RequirePerVertexColor(m);
 
-  Color4b unbalancedWhite= userColor;
-  int counter=0;
-  VertexIterator vi;
+		Color4b unbalancedWhite= userColor;
+		int counter=0;
+		VertexIterator vi;
 
-  //in this loop the transformation is applied to the mesh
-  for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
-  {
-    if(!(*vi).IsD()) //if it has not been deleted...
-    {
-      if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
-      {
-        (*vi).C()=ColorWhiteBalance((*vi).C(),unbalancedWhite);
-        ++counter;
-      }
-    }
-  }
-  return counter;
-}
+		//in this loop the transformation is applied to the mesh
+		for(vi=m.vert.begin();vi!=m.vert.end();++vi) //scan all the vertex...
+		{
+			if(!(*vi).IsD()) //if it has not been deleted...
+			{
+				if(!ProcessSelected || (*vi).IsS()) //if this vertex has been selected, do transormation
+				{
+					(*vi).C()=ColorWhiteBalance((*vi).C(),unbalancedWhite);
+					++counter;
+				}
+			}
+		}
+		return counter;
+	}
 
-//Balnce the white of the color, applying a correction factor based on the unbalancedWhite color.
-static Color4b ColorWhiteBalance(Color4b c, Color4b unbalancedWhite)
-{
-  //sanity check to avoid division by zero...
-  if(unbalancedWhite[0]==0) unbalancedWhite[0]=1;
-  if(unbalancedWhite[1]==0) unbalancedWhite[1]=1;
-  if(unbalancedWhite[2]==0) unbalancedWhite[2]=1;
+	//Balnce the white of the color, applying a correction factor based on the unbalancedWhite color.
+	static Color4b ColorWhiteBalance(Color4b c, Color4b unbalancedWhite)
+	{
+		//sanity check to avoid division by zero...
+		if(unbalancedWhite[0]==0) unbalancedWhite[0]=1;
+		if(unbalancedWhite[1]==0) unbalancedWhite[1]=1;
+		if(unbalancedWhite[2]==0) unbalancedWhite[2]=1;
 
-  return Color4b(
-                 math::Clamp<int>((int)(c[0]*(255.0f/unbalancedWhite[0])), 0, 255),
-                 math::Clamp<int>((int)(c[1]*(255.0f/unbalancedWhite[1])), 0, 255),
-                 math::Clamp<int>((int)(c[2]*(255.0f/unbalancedWhite[2])), 0, 255),
-                 255);
-}
+		return Color4b(
+		            math::Clamp<int>((int)(c[0]*(255.0f/unbalancedWhite[0])), 0, 255),
+		        math::Clamp<int>((int)(c[1]*(255.0f/unbalancedWhite[1])), 0, 255),
+		        math::Clamp<int>((int)(c[2]*(255.0f/unbalancedWhite[2])), 0, 255),
+		        255);
+	}
 
 };
 
diff --git a/vcg/complex/algorithms/update/curvature.h b/vcg/complex/algorithms/update/curvature.h
index 441121b3..5b9a5364 100644
--- a/vcg/complex/algorithms/update/curvature.h
+++ b/vcg/complex/algorithms/update/curvature.h
@@ -25,14 +25,12 @@
 #define VCGLIB_UPDATE_CURVATURE_
 
 #include <vcg/space/index/grid_static_ptr.h>
-#include <vcg/simplex/face/topology.h>
-#include <vcg/simplex/face/pos.h>
 #include <vcg/simplex/face/jumping_pos.h>
 #include <vcg/complex/algorithms/update/normal.h>
 #include <vcg/complex/algorithms/point_sampling.h>
 #include <vcg/complex/algorithms/intersection.h>
 #include <vcg/complex/algorithms/inertia.h>
-#include <eigenlib/Eigen/Core>
+#include <Eigen/Core>
 
 namespace vcg {
 namespace tri {
@@ -402,6 +400,7 @@ For further details, please, refer to: \n
 static void MeanAndGaussian(MeshType & m)
 {
   tri::RequireFFAdjacency(m);
+  tri::RequirePerVertexCurvature(m);
 
   float area0, area1, area2, angle0, angle1, angle2;
   FaceIterator fi;
@@ -542,6 +541,7 @@ static void MeanAndGaussian(MeshType & m)
         while (!vfi.End()) {
             if (!vfi.F()->IsD()) {
                 FacePointer f = vfi.F();
+                CoordType nf = TriangleNormal(*f);
                 int i = vfi.I();
                 VertexPointer v0 = f->V0(i), v1 = f->V1(i), v2 = f->V2(i);
 
@@ -566,8 +566,8 @@ static void MeanAndGaussian(MeshType & m)
                 v->Kg() -= ang0;
 
                 // mean curvature update
-                ang1 = math::Abs(Angle(f->N(), v1->N()));
-                ang2 = math::Abs(Angle(f->N(), v2->N()));
+                ang1 = math::Abs(Angle(nf, v1->N()));
+                ang2 = math::Abs(Angle(nf, v2->N()));
                 v->Kh() += ( (math::Sqrt(s01) / 2.0) * ang1 +
                              (math::Sqrt(s02) / 2.0) * ang2 );
             }
@@ -614,7 +614,6 @@ static void MeanAndGaussian(MeshType & m)
     static void PrincipalDirectionsNormalCycle(MeshType & m){
       tri::RequireVFAdjacency(m);
       tri::RequireFFAdjacency(m);
-      tri::RequirePerFaceNormal(m);
 
         typename MeshType::VertexIterator vi;
 
@@ -631,8 +630,8 @@ static void MeanAndGaussian(MeshType & m)
                     Point3<ScalarType> normalized_edge = p.F()->V(p.F()->Next(p.VInd()))->cP() - (*vi).P();
                     ScalarType edge_length = normalized_edge.Norm();
                     normalized_edge/=edge_length;
-                    Point3<ScalarType> n1 = p.F()->cN();n1.Normalize();
-                    Point3<ScalarType> n2 = p.FFlip()->cN();n2.Normalize();
+                    Point3<ScalarType> n1 = NormalizedTriangleNormal(*(p.F()));
+                    Point3<ScalarType> n2 = NormalizedTriangleNormal(*(p.FFlip()));
                     ScalarType n1n2 = (n1 ^ n2).dot(normalized_edge);
                     n1n2 = std::max(std::min( ScalarType(1.0),n1n2),ScalarType(-1.0));
                     ScalarType beta = math::Asin(n1n2);
diff --git a/vcg/complex/algorithms/update/curvature_fitting.h b/vcg/complex/algorithms/update/curvature_fitting.h
index b2b8c633..27e96182 100644
--- a/vcg/complex/algorithms/update/curvature_fitting.h
+++ b/vcg/complex/algorithms/update/curvature_fitting.h
@@ -38,11 +38,11 @@
 #include <vcg/complex/algorithms/inertia.h>
 #include <vcg/complex/algorithms/nring.h>
 
-#include <eigenlib/Eigen/Core>
-#include <eigenlib/Eigen/QR>
-#include <eigenlib/Eigen/LU>
-#include <eigenlib/Eigen/SVD>
-#include <eigenlib/Eigen/Eigenvalues>
+#include <Eigen/Core>
+#include <Eigen/QR>
+#include <Eigen/LU>
+#include <Eigen/SVD>
+#include <Eigen/Eigenvalues>
 
 
 namespace vcg {
diff --git a/vcg/complex/algorithms/update/fitmaps.h b/vcg/complex/algorithms/update/fitmaps.h
index bd2c94f0..d1598640 100644
--- a/vcg/complex/algorithms/update/fitmaps.h
+++ b/vcg/complex/algorithms/update/fitmaps.h
@@ -27,17 +27,16 @@
 #include <vcg/math/histogram.h>
 
 #include <vcg/simplex/face/jumping_pos.h>
-#include <vcg/complex/algorithms/update/flag.h>
 #include <vcg/complex/algorithms/update/normal.h>
 #include <vcg/complex/algorithms/update/curvature.h>
 #include <vcg/complex/algorithms/update/topology.h>
 #include <vcg/complex/algorithms/update/bounding.h>
 #include "vcg/complex/algorithms/update/curvature_fitting.h"
 
-#include <eigenlib/Eigen/Core>
-#include <eigenlib/Eigen/QR>
-#include <eigenlib/Eigen/LU>
-#include <eigenlib/Eigen/SVD>
+#include <Eigen/Core>
+#include <Eigen/QR>
+#include <Eigen/LU>
+#include <Eigen/SVD>
 
 #include <vcg/complex/algorithms/nring.h>
 
@@ -188,8 +187,10 @@ public:
 
                 b[c] = n;
             }
-
-            A.svd().solve(b, &sol);
+            
+            Eigen::JacobiSVD<Eigen::MatrixXd> svd(A);
+            sol=svd.solve(b);
+//            A.svd().solve(b, &sol);
 
             vector<double> r(16);
 
@@ -436,7 +437,10 @@ public:
                     bm[c] = onedimensional[c];
                 }
 
-                Am.svd().solve(bm, &sol);
+                
+                // Am.svd().solve(bm, &sol);
+                Eigen::JacobiSVD<Eigen::MatrixXd> svd(Am);
+                sol=svd.solve(bm);
 
                 it->Q() = pow((double)sol[0],0.25);
 
diff --git a/vcg/complex/algorithms/update/flag.h b/vcg/complex/algorithms/update/flag.h
index 4640577b..2a7957c2 100644
--- a/vcg/complex/algorithms/update/flag.h
+++ b/vcg/complex/algorithms/update/flag.h
@@ -23,8 +23,6 @@
 #ifndef __VCG_TRI_UPDATE_FLAGS
 #define __VCG_TRI_UPDATE_FLAGS
 
-#include <vcg/simplex/face/pos.h>
-
 namespace vcg {
 namespace tri {
 /// \ingroup trimesh
@@ -42,406 +40,485 @@ class UpdateFlags
 {
 
 public:
-  typedef UpdateMeshType MeshType;
-  typedef typename MeshType::ScalarType     ScalarType;
-  typedef typename MeshType::VertexType     VertexType;
-  typedef typename MeshType::VertexPointer  VertexPointer;
-  typedef typename MeshType::VertexIterator VertexIterator;
-  typedef typename MeshType::EdgeType       EdgeType;
-  typedef typename MeshType::EdgePointer    EdgePointer;
-  typedef typename MeshType::EdgeIterator   EdgeIterator;
-  typedef typename MeshType::FaceType       FaceType;
-  typedef typename MeshType::FacePointer    FacePointer;
-  typedef typename MeshType::FaceIterator   FaceIterator;
+    typedef UpdateMeshType MeshType;
+    typedef typename MeshType::ScalarType     ScalarType;
+    typedef typename MeshType::VertexType     VertexType;
+    typedef typename MeshType::VertexPointer  VertexPointer;
+    typedef typename MeshType::VertexIterator VertexIterator;
+    typedef typename MeshType::EdgeType       EdgeType;
+    typedef typename MeshType::EdgePointer    EdgePointer;
+    typedef typename MeshType::EdgeIterator   EdgeIterator;
+    typedef typename MeshType::FaceType       FaceType;
+    typedef typename MeshType::FacePointer    FacePointer;
+    typedef typename MeshType::FaceIterator   FaceIterator;
+    typedef typename MeshType::TetraType      TetraType;
+    typedef typename MeshType::TetraPointer   TetraPointer;
+    typedef typename MeshType::TetraIterator  TetraIterator;
 
-  /// \brief Reset all the mesh flags (vertexes edge faces) setting everithing to zero (the default value for flags)
+    /// \brief Reset all the mesh flags (vertexes edge faces) setting everithing to zero (the default value for flags)
 
-  static void Clear(MeshType &m)
-  {
-    if(HasPerVertexFlags(m) )
-      for(VertexIterator vi=m.vert.begin(); vi!=m.vert.end(); ++vi)
-        (*vi).Flags() = 0;
-    if(HasPerEdgeFlags(m) )
-      for(EdgeIterator ei=m.edge.begin(); ei!=m.edge.end(); ++ei)
-        (*ei).Flags() = 0;
-    if(HasPerFaceFlags(m) )
-      for(FaceIterator fi=m.face.begin(); fi!=m.face.end(); ++fi)
-        (*fi).Flags() = 0;
-  }
+    static void Clear(MeshType &m)
+    {
+        if(HasPerVertexFlags(m) )
+            for(VertexIterator vi=m.vert.begin(); vi!=m.vert.end(); ++vi)
+                (*vi).Flags() = 0;
+        if(HasPerEdgeFlags(m) )
+            for(EdgeIterator ei=m.edge.begin(); ei!=m.edge.end(); ++ei)
+                (*ei).Flags() = 0;
+        if(HasPerFaceFlags(m) )
+            for(FaceIterator fi=m.face.begin(); fi!=m.face.end(); ++fi)
+                (*fi).Flags() = 0;
+        if(HasPerTetraFlags(m) )
+            for(TetraIterator ti=m.tetra.begin(); ti!=m.tetra.end(); ++ti)
+                (*ti).Flags() = 0;
+    }
 
-  static void VertexClear(MeshType &m, unsigned int FlagMask = 0xffffffff)
-  {
-    RequirePerVertexFlags(m);
-    int andMask = ~FlagMask;
-    for(VertexIterator vi=m.vert.begin(); vi!=m.vert.end(); ++vi)
-      if(!(*vi).IsD()) (*vi).Flags() &= andMask ;
-  }
 
-  static void EdgeClear(MeshType &m, unsigned int FlagMask = 0xffffffff)
-  {
-    RequirePerEdgeFlags(m);
-    int andMask = ~FlagMask;
-    for(EdgeIterator ei=m.edge.begin(); ei!=m.edge.end(); ++ei)
-      if(!(*ei).IsD()) (*ei).Flags() &= andMask ;
-  }
+    static void VertexClear(MeshType &m, unsigned int FlagMask = 0xffffffff)
+    {
+        RequirePerVertexFlags(m);
+        int andMask = ~FlagMask;
+        for(VertexIterator vi=m.vert.begin(); vi!=m.vert.end(); ++vi)
+            if(!(*vi).IsD()) (*vi).Flags() &= andMask ;
+    }
 
-  static void FaceClear(MeshType &m, unsigned int FlagMask = 0xffffffff)
-  {
-    RequirePerFaceFlags(m);
-    int andMask = ~FlagMask;
-    for(FaceIterator fi=m.face.begin(); fi!=m.face.end(); ++fi)
-      if(!(*fi).IsD()) (*fi).Flags() &= andMask ;
-  }
+    static void EdgeClear(MeshType &m, unsigned int FlagMask = 0xffffffff)
+    {
+        RequirePerEdgeFlags(m);
+        int andMask = ~FlagMask;
+        for(EdgeIterator ei=m.edge.begin(); ei!=m.edge.end(); ++ei)
+            if(!(*ei).IsD()) (*ei).Flags() &= andMask ;
+    }
 
-  static void VertexSet(MeshType &m, unsigned int FlagMask)
-  {
-    RequirePerVertexFlags(m);
-    for(VertexIterator vi=m.vert.begin(); vi!=m.vert.end(); ++vi)
-      if(!(*vi).IsD()) (*vi).Flags() |= FlagMask ;
-  }
+    static void FaceClear(MeshType &m, unsigned int FlagMask = 0xffffffff)
+    {
+        RequirePerFaceFlags(m);
+        int andMask = ~FlagMask;
+        for(FaceIterator fi=m.face.begin(); fi!=m.face.end(); ++fi)
+            if(!(*fi).IsD()) (*fi).Flags() &= andMask ;
+    }
 
-  static void EdgeSet(MeshType &m, unsigned int FlagMask)
-  {
-    RequirePerEdgeFlags(m);
-    for(EdgeIterator ei=m.edge.begin(); ei!=m.edge.end(); ++ei)
-      if(!(*ei).IsD()) (*ei).Flags() |= FlagMask ;
-  }
+    static void TetraClear(MeshType &m, unsigned int FlagMask = 0xffffffff)
+    {
+        RequirePerTetraFlags(m);
+        int andMask = ~FlagMask;
+        for(TetraIterator ti=m.tetra.begin(); ti!=m.tetra.end(); ++ti)
+            if(!(*ti).IsD()) (*ti).Flags() &= andMask ;
+    }
 
-  static void FaceSet(MeshType &m, unsigned int FlagMask)
-  {
-    RequirePerFaceFlags(m);
-    for(FaceIterator fi=m.face.begin(); fi!=m.face.end(); ++fi)
-      if(!(*fi).IsD()) (*fi).Flags() |= FlagMask ;
-  }
+    static void VertexSet(MeshType &m, unsigned int FlagMask)
+    {
+        RequirePerVertexFlags(m);
+        for(VertexIterator vi=m.vert.begin(); vi!=m.vert.end(); ++vi)
+            if(!(*vi).IsD()) (*vi).Flags() |= FlagMask ;
+    }
+
+    static void EdgeSet(MeshType &m, unsigned int FlagMask)
+    {
+        RequirePerEdgeFlags(m);
+        for(EdgeIterator ei=m.edge.begin(); ei!=m.edge.end(); ++ei)
+            if(!(*ei).IsD()) (*ei).Flags() |= FlagMask ;
+    }
+
+    static void FaceSet(MeshType &m, unsigned int FlagMask)
+    {
+        RequirePerFaceFlags(m);
+        for(FaceIterator fi=m.face.begin(); fi!=m.face.end(); ++fi)
+            if(!(*fi).IsD()) (*fi).Flags() |= FlagMask ;
+    }
+
+    static void TetraSet(MeshType &m, unsigned int FlagMask)
+    {
+        RequirePerTetraFlags(m);
+        for(TetraIterator ti=m.tetra.begin(); ti!=m.tetra.end(); ++ti)
+            if(!(*ti).IsD()) (*ti).Flags() |= FlagMask ;
+    }
 
 
 
-  static void VertexClearV(MeshType &m) { VertexClear(m,VertexType::VISITED);}
-  static void VertexClearS(MeshType &m) { VertexClear(m,VertexType::SELECTED);}
-  static void VertexClearB(MeshType &m) { VertexClear(m,VertexType::BORDER);}
-  static void EdgeClearV(MeshType &m) { EdgeClear(m,EdgeType::VISITED);}
-  static void FaceClearV(MeshType &m) { FaceClear(m,FaceType::VISITED);}
-  static void FaceClearB(MeshType &m) { FaceClear(m,FaceType::BORDER012);}
-  static void FaceClearS(MeshType &m) {FaceClear(m,FaceType::SELECTED);}
-  static void FaceClearF(MeshType &m) { FaceClear(m,FaceType::FAUX012);}
-  static void FaceClearCreases(MeshType &m) { FaceClear(m,FaceType::CREASE0);
-                                              FaceClear(m,FaceType::CREASE1);
-                                              FaceClear(m,FaceType::CREASE2);
-                                            }
+    static void VertexClearV(MeshType &m) { VertexClear(m,VertexType::VISITED);}
+    static void VertexClearS(MeshType &m) { VertexClear(m,VertexType::SELECTED);}
+    static void VertexClearB(MeshType &m) { VertexClear(m,VertexType::BORDER);}
+    static void EdgeClearV(MeshType &m) { EdgeClear(m,EdgeType::VISITED);}
+    static void FaceClearV(MeshType &m) { FaceClear(m,FaceType::VISITED);}
+    static void FaceClearB(MeshType &m) { FaceClear(m,FaceType::BORDER012);}
+    static void FaceClearS(MeshType &m) {FaceClear(m,FaceType::SELECTED);}
+    static void FaceClearF(MeshType &m) { FaceClear(m,FaceType::FAUX012);}
+    static void FaceClearFaceEdgeS(MeshType &m) { FaceClear(m,FaceType::FACEEDGESEL012 ); }
 
-  static void EdgeSetV(MeshType &m) { EdgeSet(m,EdgeType::VISITED);}
-  static void VertexSetV(MeshType &m) { VertexSet(m,VertexType::VISITED);}
-  static void VertexSetS(MeshType &m) { VertexSet(m,VertexType::SELECTED);}
-  static void VertexSetB(MeshType &m) { VertexSet(m,VertexType::BORDER);}
-  static void FaceSetV(MeshType &m) { FaceSet(m,FaceType::VISITED);}
-  static void FaceSetB(MeshType &m) { FaceSet(m,FaceType::BORDER);}
-  static void FaceSetF(MeshType &m) { FaceSet(m,FaceType::FAUX012);}
-
-  /// \brief Compute the border flags for the faces using the Face-Face Topology.
-
-  /**
+    static void EdgeSetV(MeshType &m) { EdgeSet(m,EdgeType::VISITED);}
+    static void VertexSetV(MeshType &m) { VertexSet(m,VertexType::VISITED);}
+    static void VertexSetS(MeshType &m) { VertexSet(m,VertexType::SELECTED);}
+    static void VertexSetB(MeshType &m) { VertexSet(m,VertexType::BORDER);}
+    static void FaceSetV(MeshType &m) { FaceSet(m,FaceType::VISITED);}
+    static void FaceSetB(MeshType &m) { FaceSet(m,FaceType::BORDER);}
+    static void FaceSetF(MeshType &m) { FaceSet(m,FaceType::FAUX012);}
+    static void TetraClearV(MeshType &m) { TetraClear(m, TetraType::VISITED); }
+    static void TetraClearS(MeshType &m) { TetraClear(m, TetraType::SELECTED); }
+    static void TetraClearB(MeshType &m) { TetraClear(m, TetraType::BORDER0123); }
+    static void TetraSetV(MeshType &m) { TetraSet(m, TetraType::VISITED); }
+    static void TetraSetS(MeshType &m) { TetraSet(m, TetraType::SELECTED); }
+    static void TetraSetB(MeshType &m) { TetraSet(m, TetraType::BORDER0123); }
+    /// \brief Compute the border flags for the faces using the Face-Face Topology.
+    /**
  \warning Obviously it assumes that the topology has been correctly computed (see: UpdateTopology::FaceFace )
 */
-  static void FaceBorderFromFF(MeshType &m)
-  {
-    RequirePerFaceFlags(m);
-    RequireFFAdjacency(m);
-
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)if(!(*fi).IsD())
-      for(int j=0;j<fi->VN();++j)
-      {
-        if(face::IsBorder(*fi,j)) (*fi).SetB(j);
-        else (*fi).ClearB(j);
-      }
-  }
-
-
-  static void FaceBorderFromVF(MeshType &m)
-  {
-    RequirePerFaceFlags(m);
-    RequireVFAdjacency(m);
-
-    FaceClearB(m);
-    int visitedBit=VertexType::NewBitFlag();
-
-    // Calcolo dei bordi
-    // per ogni vertice vi si cercano i vertici adiacenti che sono toccati da una faccia sola
-    // (o meglio da un numero dispari di facce)
-
-    const int BORDERFLAG[3]={FaceType::BORDER0, FaceType::BORDER1, FaceType::BORDER2};
-
-    for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
-      if(!(*vi).IsD())
-      {
-        for(face::VFIterator<FaceType> vfi(&*vi) ; !vfi.End(); ++vfi )
-        {
-          vfi.f->V1(vfi.z)->ClearUserBit(visitedBit);
-          vfi.f->V2(vfi.z)->ClearUserBit(visitedBit);
-        }
-        for(face::VFIterator<FaceType> vfi(&*vi) ; !vfi.End(); ++vfi )
-        {
-          if(vfi.f->V1(vfi.z)->IsUserBit(visitedBit))  vfi.f->V1(vfi.z)->ClearUserBit(visitedBit);
-          else vfi.f->V1(vfi.z)->SetUserBit(visitedBit);
-          if(vfi.f->V2(vfi.z)->IsUserBit(visitedBit))  vfi.f->V2(vfi.z)->ClearUserBit(visitedBit);
-          else vfi.f->V2(vfi.z)->SetUserBit(visitedBit);
-        }
-        for(face::VFIterator<FaceType> vfi(&*vi) ; !vfi.End(); ++vfi )
-        {
-          if(vfi.f->V(vfi.z)< vfi.f->V1(vfi.z)  &&  vfi.f->V1(vfi.z)->IsUserBit(visitedBit))
-            vfi.f->Flags() |= BORDERFLAG[vfi.z];
-          if(vfi.f->V(vfi.z)< vfi.f->V2(vfi.z)  &&  vfi.f->V2(vfi.z)->IsUserBit(visitedBit))
-            vfi.f->Flags() |= BORDERFLAG[(vfi.z+2)%3];
-        }
-      }
-    VertexType::DeleteBitFlag(visitedBit);
-  }
-
-
-  class EdgeSorter
-  {
-  public:
-
-    VertexPointer v[2];		// Puntatore ai due vertici (Ordinati)
-    FacePointer    f;				// Puntatore alla faccia generatrice
-    int      z;				// Indice dell'edge nella faccia
-
-    EdgeSorter() {} // Nothing to do
-
-
-    void Set( const FacePointer pf, const int nz )
+    static void FaceBorderFromFF(MeshType &m)
     {
-      assert(pf!=0);
-      assert(nz>=0);
-      assert(nz<3);
+        RequirePerFaceFlags(m);
+        RequireFFAdjacency(m);
 
-      v[0] = pf->V(nz);
-      v[1] = pf->V((nz+1)%3);
-      assert(v[0] != v[1]);
-
-      if( v[0] > v[1] ) std::swap(v[0],v[1]);
-      f    = pf;
-      z    = nz;
+        for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)if(!(*fi).IsD())
+            for(int j=0;j<fi->VN();++j)
+            {
+                if(face::IsBorder(*fi,j)) (*fi).SetB(j);
+                else (*fi).ClearB(j);
+            }
     }
 
-    inline bool operator <  ( const EdgeSorter & pe ) const {
-      if( v[0]<pe.v[0] ) return true;
-      else if( v[0]>pe.v[0] ) return false;
-      else return v[1] < pe.v[1];
-    }
-
-    inline bool operator == ( const EdgeSorter & pe ) const
+    /// \brief Compute the border flags for the tetras using the Tetra-Tetra Topology.
+    /**
+ \warning Obviously it assumes that the topology has been correctly computed (see: UpdateTopology::FaceFace )
+*/
+    static void TetraBorderFromTT(MeshType &m)
     {
-      return v[0]==pe.v[0] && v[1]==pe.v[1];
+        RequirePerTetraFlags(m);
+        RequireTTAdjacency(m);
+
+        for(TetraIterator ti=m.tetra.begin(); ti!=m.tetra.end(); ++ti)
+            if(!(*ti).IsD())
+                for(int j = 0; j < 4; ++j)
+                {
+                    if (IsTTBorder(*ti,j)) (*ti).SetB(j);
+                    else (*ti).ClearB(j);
+                }
     }
-    inline bool operator != ( const EdgeSorter & pe ) const
+
+    static void VertexBorderFromTT(MeshType &m)
     {
-      return v[0]!=pe.v[0] || v[1]!=pe.v[1];
+        RequirePerVertexFlags(m);
+        RequireTTAdjacency(m);
+
+        VertexClearB(m);
+
+        for(TetraIterator ti=m.tetra.begin(); ti!=m.tetra.end(); ++ti)
+            if(!(*ti).IsD())
+                for(int j = 0; j < 4; ++j)
+                {
+                    if (IsTTBorder(*ti,j))
+                    {
+                        for (int i = 0; i < 3; ++i)
+                            ti->V(Tetra::VofF(j, i))->SetB();
+                    }
+                }
     }
 
-  };
+
+    static void FaceBorderFromVF(MeshType &m)
+    {
+        RequirePerFaceFlags(m);
+        RequireVFAdjacency(m);
+
+        FaceClearB(m);
+        int visitedBit=VertexType::NewBitFlag();
+
+        // Calcolo dei bordi
+        // per ogni vertice vi si cercano i vertici adiacenti che sono toccati da una faccia sola
+        // (o meglio da un numero dispari di facce)
+
+        const int BORDERFLAG[3]={FaceType::BORDER0, FaceType::BORDER1, FaceType::BORDER2};
+
+        for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
+            if(!(*vi).IsD())
+            {
+                for(face::VFIterator<FaceType> vfi(&*vi) ; !vfi.End(); ++vfi )
+                {
+                    vfi.f->V1(vfi.z)->ClearUserBit(visitedBit);
+                    vfi.f->V2(vfi.z)->ClearUserBit(visitedBit);
+                }
+                for(face::VFIterator<FaceType> vfi(&*vi) ; !vfi.End(); ++vfi )
+                {
+                    if(vfi.f->V1(vfi.z)->IsUserBit(visitedBit))  vfi.f->V1(vfi.z)->ClearUserBit(visitedBit);
+                    else vfi.f->V1(vfi.z)->SetUserBit(visitedBit);
+                    if(vfi.f->V2(vfi.z)->IsUserBit(visitedBit))  vfi.f->V2(vfi.z)->ClearUserBit(visitedBit);
+                    else vfi.f->V2(vfi.z)->SetUserBit(visitedBit);
+                }
+                for(face::VFIterator<FaceType> vfi(&*vi) ; !vfi.End(); ++vfi )
+                {
+                    if(vfi.f->V(vfi.z)< vfi.f->V1(vfi.z)  &&  vfi.f->V1(vfi.z)->IsUserBit(visitedBit))
+                        vfi.f->Flags() |= BORDERFLAG[vfi.z];
+                    if(vfi.f->V(vfi.z)< vfi.f->V2(vfi.z)  &&  vfi.f->V2(vfi.z)->IsUserBit(visitedBit))
+                        vfi.f->Flags() |= BORDERFLAG[(vfi.z+2)%3];
+                }
+            }
+        VertexType::DeleteBitFlag(visitedBit);
+    }
 
 
-  // versione minimale che non calcola i complex flag.
-  static void VertexBorderFromNone(MeshType &m)
-  {
-    RequirePerVertexFlags(m);
+    class EdgeSorter
+    {
+    public:
 
-    std::vector<EdgeSorter> e;
-    typename UpdateMeshType::FaceIterator pf;
-    typename std::vector<EdgeSorter>::iterator p;
+        VertexPointer v[2];		// Puntatore ai due vertici (Ordinati)
+        FacePointer    f;				// Puntatore alla faccia generatrice
+        int      z;				// Indice dell'edge nella faccia
 
-    if( m.fn == 0 )
-      return;
+        EdgeSorter() {} // Nothing to do
 
-    e.resize(m.fn*3);								// Alloco il vettore ausiliario
-    p = e.begin();
-    for(pf=m.face.begin();pf!=m.face.end();++pf)			// Lo riempio con i dati delle facce
-      if( ! (*pf).IsD() )
-        for(int j=0;j<3;++j)
+
+        void Set( const FacePointer pf, const int nz )
         {
-          (*p).Set(&(*pf),j);
-          (*pf).ClearB(j);
-          ++p;
-        }
-    assert(p==e.end());
-    sort(e.begin(), e.end());							// Lo ordino per vertici
+            assert(pf!=0);
+            assert(nz>=0);
+            assert(nz<3);
 
-    typename std::vector<EdgeSorter>::iterator pe,ps;
-    for(ps = e.begin(), pe = e.begin(); pe < e.end(); ++pe)	// Scansione vettore ausiliario
+            v[0] = pf->V(nz);
+            v[1] = pf->V((nz+1)%3);
+            assert(v[0] != v[1]);
+
+            if( v[0] > v[1] ) std::swap(v[0],v[1]);
+            f    = pf;
+            z    = nz;
+        }
+
+        inline bool operator <  ( const EdgeSorter & pe ) const {
+            if( v[0]<pe.v[0] ) return true;
+            else if( v[0]>pe.v[0] ) return false;
+            else return v[1] < pe.v[1];
+        }
+
+        inline bool operator == ( const EdgeSorter & pe ) const
+        {
+            return v[0]==pe.v[0] && v[1]==pe.v[1];
+        }
+        inline bool operator != ( const EdgeSorter & pe ) const
+        {
+            return v[0]!=pe.v[0] || v[1]!=pe.v[1];
+        }
+
+    };
+
+
+    // versione minimale che non calcola i complex flag.
+    static void VertexBorderFromNone(MeshType &m)
     {
-      if( pe==e.end() ||  *pe != *ps )					// Trovo blocco di edge uguali
-      {
-        if(pe-ps==1) 	{
-          ps->v[0]->SetB();
-          ps->v[1]->SetB();
-        }/* else
+        RequirePerVertexFlags(m);
+
+        std::vector<EdgeSorter> e;
+        typename UpdateMeshType::FaceIterator pf;
+        typename std::vector<EdgeSorter>::iterator p;
+
+        if( m.fn == 0 )
+            return;
+
+        e.resize(m.fn*3);								// Alloco il vettore ausiliario
+        p = e.begin();
+        for(pf=m.face.begin();pf!=m.face.end();++pf)			// Lo riempio con i dati delle facce
+            if( ! (*pf).IsD() )
+                for(int j=0;j<3;++j)
+                {
+                    (*p).Set(&(*pf),j);
+                    (*pf).ClearB(j);
+                    ++p;
+                }
+        assert(p==e.end());
+        sort(e.begin(), e.end());							// Lo ordino per vertici
+
+        typename std::vector<EdgeSorter>::iterator pe,ps;
+        for(ps = e.begin(), pe = e.begin(); pe < e.end(); ++pe)	// Scansione vettore ausiliario
+        {
+            if( pe==e.end() ||  *pe != *ps )					// Trovo blocco di edge uguali
+            {
+                if(pe-ps==1) 	{
+                    ps->v[0]->SetB();
+                    ps->v[1]->SetB();
+                }/* else
           if(pe-ps!=2)  {  // not twomanyfold!
             for(;ps!=pe;++ps) {
               ps->v[0]->SetB(); // Si settano border anche i complex.
               ps->v[1]->SetB();
             }
           }*/
-        ps = pe;
-      }
-    }
-  }
-
-  /// Computes per-face border flags without requiring any kind of topology
-  /// It has a O(fn log fn) complexity.
-  static void FaceBorderFromNone(MeshType &m)
-  {
-    RequirePerFaceFlags(m);
-
-    std::vector<EdgeSorter> e;
-    typename UpdateMeshType::FaceIterator pf;
-    typename std::vector<EdgeSorter>::iterator p;
-
-    for(VertexIterator v=m.vert.begin();v!=m.vert.end();++v)
-      (*v).ClearB();
-
-    if( m.fn == 0 )
-      return;
-
-    FaceIterator fi;
-    int n_edges = 0;
-    for(fi = m.face.begin(); fi != m.face.end(); ++fi) if(! (*fi).IsD()) n_edges+=(*fi).VN();
-    e.resize(n_edges);
-
-    p = e.begin();
-    for(pf=m.face.begin();pf!=m.face.end();++pf)			// Lo riempio con i dati delle facce
-      if( ! (*pf).IsD() )
-        for(int j=0;j<(*pf).VN();++j)
-        {
-          (*p).Set(&(*pf),j);
-          (*pf).ClearB(j);
-          ++p;
+                ps = pe;
+            }
         }
-    assert(p==e.end());
-    sort(e.begin(), e.end());							// Lo ordino per vertici
+    }
 
-    typename std::vector<EdgeSorter>::iterator pe,ps;
-    ps = e.begin();pe=e.begin();
-    do
+    /// Computes per-face border flags without requiring any kind of topology
+    /// It has a O(fn log fn) complexity.
+    static void FaceBorderFromNone(MeshType &m)
     {
-      if( pe==e.end() ||  *pe != *ps )					// Trovo blocco di edge uguali
-      {
-        if(pe-ps==1) 	{
-          ps->f->SetB(ps->z);
-        } /*else
+        RequirePerFaceFlags(m);
+
+        std::vector<EdgeSorter> e;
+        typename UpdateMeshType::FaceIterator pf;
+        typename std::vector<EdgeSorter>::iterator p;
+
+        for(VertexIterator v=m.vert.begin();v!=m.vert.end();++v)
+            (*v).ClearB();
+
+        if( m.fn == 0 )
+            return;
+
+        FaceIterator fi;
+        int n_edges = 0;
+        for(fi = m.face.begin(); fi != m.face.end(); ++fi) if(! (*fi).IsD()) n_edges+=(*fi).VN();
+        e.resize(n_edges);
+
+        p = e.begin();
+        for(pf=m.face.begin();pf!=m.face.end();++pf)			// Lo riempio con i dati delle facce
+            if( ! (*pf).IsD() )
+                for(int j=0;j<(*pf).VN();++j)
+                {
+                    (*p).Set(&(*pf),j);
+                    (*pf).ClearB(j);
+                    ++p;
+                }
+        assert(p==e.end());
+        sort(e.begin(), e.end());							// Lo ordino per vertici
+
+        typename std::vector<EdgeSorter>::iterator pe,ps;
+        ps = e.begin();pe=e.begin();
+        do
+        {
+            if( pe==e.end() ||  *pe != *ps )					// Trovo blocco di edge uguali
+            {
+                if(pe-ps==1) 	{
+                    ps->f->SetB(ps->z);
+                } /*else
           if(pe-ps!=2)  {  // Caso complex!!
             for(;ps!=pe;++ps)
               ps->f->SetB(ps->z); // Si settano border anche i complex.
           }*/
-        ps = pe;
-      }
-      if(pe==e.end()) break;
-      ++pe;
-    } while(true);
-    //	TRACE("found %i border (%i complex) on %i edges\n",nborder,ncomplex,ne);
-  }
-
-  /// Compute the PerVertex Border flag deriving it from the face-face adjacency
-  static void VertexBorderFromFaceAdj(MeshType &m)
-{
-    RequirePerFaceFlags(m);
-    RequirePerVertexFlags(m);
-    RequireFFAdjacency(m);
-    // MeshAssert<MeshType>::FFAdjacencyIsInitialized(m);
-
-    VertexClearB(m);
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-      if(!(*fi).IsD())
-      {
-
-        for(int z=0;z<(*fi).VN();++z)
-          if( face::IsBorder(*fi,z))
-          {
-            (*fi).V0(z)->SetB();
-            (*fi).V1(z)->SetB();
-          }
-      }
-  }
-
-  /// Compute the PerVertex Border flag deriving it from the border flag of faces
-  static void VertexBorderFromFaceBorder(MeshType &m)
-  {
-    RequirePerFaceFlags(m);
-    RequirePerVertexFlags(m);
-    VertexClearB(m);
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-      if(!(*fi).IsD())
-      {
-        for(int z=0;z<(*fi).VN();++z)
-          if( (*fi).IsB(z) )
-          {
-            (*fi).V(z)->SetB();
-            (*fi).V((*fi).Next(z))->SetB();
-          }
-      }
-  }
-
-
-  /// \brief Marks feature edges according to two signed dihedral angles.
-  /// Actually it marks as fauxedges all the non feature edges,
-  /// e.g. the edges where the signed dihedral angle between the normal of two incident faces , 
-  /// is between the two given thresholds.
-  /// In this way all the edges that are almost planar are marked as Faux Edges (e.g. edges to be ignored)
-  /// Note that it uses the signed dihedral angle convention (negative for concave edges and positive for convex ones);
-  ///
-  /// Optionally it can also mark as feature edges also the boundary edges.
-  ///
-  static void FaceFauxSignedCrease(MeshType &m, float AngleRadNeg, float AngleRadPos, bool MarkBorderFlag = false )
-  {
-    RequirePerFaceFlags(m);
-    RequireFFAdjacency(m);
-    //initially Nothing is faux (e.g all crease)
-    FaceClearF(m);
-    // Then mark faux only if the signed angle is the range.
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
-    {
-      for(int z=0;z<(*fi).VN();++z)
-      {
-        if(!face::IsBorder(*fi,z) )
-        {
-          ScalarType angle = DihedralAngleRad(*fi,z);
-          if(angle>AngleRadNeg && angle<AngleRadPos)
-            (*fi).SetF(z);
-        }
-        else
-        {
-          if(MarkBorderFlag) (*fi).SetF(z);
-        }
-      }
+                ps = pe;
+            }
+            if(pe==e.end()) break;
+            ++pe;
+        } while(true);
+        //	TRACE("found %i border (%i complex) on %i edges\n",nborder,ncomplex,ne);
     }
-  }
 
-  /// \brief Marks feature edges according to border flag.
-  /// Actually it marks as fauxedges all the non border edges,
-  ///
-  static void FaceFauxBorder(MeshType &m)
-  {
-    RequirePerFaceFlags(m);
-    RequireFFAdjacency(m);
-    //initially Nothing is faux (e.g all crease)
-    FaceClearF(m);
-    // Then mark faux only if the signed angle is the range.
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
+    /// Compute the PerVertex Border flag deriving it from the face-face adjacency
+    static void VertexBorderFromFaceAdj(MeshType &m)
     {
-      for(int z=0;z<(*fi).VN();++z)
-      {
-        if(!face::IsBorder(*fi,z) ) (*fi).SetF(z);
-      }
-    }
-  }
+        RequirePerFaceFlags(m);
+        RequirePerVertexFlags(m);
+        RequireFFAdjacency(m);
+        // MeshAssert<MeshType>::FFAdjacencyIsInitialized(m);
+
+        VertexClearB(m);
+        for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
+            if(!(*fi).IsD())
+            {
+
+                for(int z=0;z<(*fi).VN();++z)
+                    if( face::IsBorder(*fi,z))
+                    {
+                        (*fi).V0(z)->SetB();
+                        (*fi).V1(z)->SetB();
+                    }
+            }
+    }
+
+    /// Compute the PerVertex Border flag deriving it from the border flag of faces
+    static void VertexBorderFromFaceBorder(MeshType &m)
+    {
+        RequirePerFaceFlags(m);
+        RequirePerVertexFlags(m);
+        VertexClearB(m);
+        for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
+            if(!(*fi).IsD())
+            {
+                for(int z=0;z<(*fi).VN();++z)
+                    if( (*fi).IsB(z) )
+                    {
+                        (*fi).V(z)->SetB();
+                        (*fi).V((*fi).Next(z))->SetB();
+                    }
+            }
+    }
+
+    /// Compute the PerVertex Border flag deriving it from the Edge-Edge adjacency (made for edgemeshes)
+    static void VertexBorderFromEdgeAdj(MeshType &m)
+    {
+        RequirePerVertexFlags(m);
+        RequireEEAdjacency(m);
+
+        VertexClearB(m);
+        for (EdgeIterator ei=m.edge.begin();ei!=m.edge.end();++ei)
+            if (!ei->IsD())
+            {
+                for (int z=0; z<2; ++z)
+                    if (edge::IsEdgeBorder(*ei, z))
+                    {
+                        ei->V(z)->SetB();
+                    }
+            }
+    }
+
+    /// \brief Marks feature edges according to two signed dihedral angles.
+    /// Actually it uses the face_edge selection bit on faces,
+    /// we select the edges where the signed dihedral angle between the normal of two incident faces ,
+    /// is outside the two given thresholds.
+    /// In this way all the edges that are almost planar are marked as non selected (e.g. edges to be ignored)
+    /// Note that it uses the signed dihedral angle convention (negative for concave edges and positive for convex ones);
+    ///
+    /// Optionally it can also mark as feature edges also the boundary edges.
+    ///
+    static void FaceEdgeSelSignedCrease(MeshType &m, float AngleRadNeg, float AngleRadPos, bool MarkBorderFlag = false )
+    {
+        RequirePerFaceFlags(m);
+        RequireFFAdjacency(m);
+        //initially Nothing is faux (e.g all crease)
+        FaceClearFaceEdgeS(m);
+        // Then mark faux only if the signed angle is the range.
+        for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
+        {
+            for(int z=0;z<(*fi).VN();++z)
+            {
+                if(!face::IsBorder(*fi,z) )
+                {
+                    ScalarType angle = DihedralAngleRad(*fi,z);
+                    if(angle<AngleRadNeg || angle>AngleRadPos)
+                        (*fi).SetFaceEdgeS(z);
+                }
+                else
+                {
+                    if(MarkBorderFlag) (*fi).SetFaceEdgeS(z);
+                }
+            }
+        }
+    }
+
+    /// \brief Selects feature edges according to Face adjacency.
+    ///
+    static void FaceEdgeSelBorder(MeshType &m)
+    {
+        RequirePerFaceFlags(m);
+        RequireFFAdjacency(m);
+        //initially Nothing is selected
+        FaceClearFaceEdgeS(m);
+        for (FaceIterator fi=m.face.begin(); fi!=m.face.end();++fi)
+            if (!fi->IsD())
+            {
+                for (int z=0; z<(*fi).VN(); ++z)
+                {
+                    if (face::IsBorder(*fi,z))
+                        fi->SetFaceEdgeS(z);
+                }
+            }
+    }
+
+    /// \brief Marks feature edges according to a given angle
+    /// Actually it uses the face_edge selection bit on faces,
+    /// we select the edges where the dihedral angle between the normal of two incident faces is larger than ,
+    /// the given thresholds.
+    /// In this way all the near planar edges are marked remains not selected (e.g. edges to be ignored)
+    static void FaceEdgeSelCrease(MeshType &m,float AngleRad)
+    {
+        FaceEdgeSelSignedCrease(m,-AngleRad,AngleRad);
+    }
 
-  /// \brief Marks feature edges according to a given angle
-  /// Actually it marks as fauxedges all the non feature edges,
-  /// e.g. the edge such that the angle between the normal of two faces sharing it is less than the given threshold.
-  /// In this way all the near planar edges are marked as Faux Edges (e.g. edges to be ignored)
-  static void FaceFauxCrease(MeshType &m,float AngleRad)
-  {
-    FaceFauxSignedCrease(m,-AngleRad,AngleRad);
-  }
 
 }; // end class
 
diff --git a/vcg/complex/algorithms/update/halfedge_indexed.h b/vcg/complex/algorithms/update/halfedge_indexed.h
index bd5bf5f2..054215ef 100644
--- a/vcg/complex/algorithms/update/halfedge_indexed.h
+++ b/vcg/complex/algorithms/update/halfedge_indexed.h
@@ -513,9 +513,8 @@ namespace vcg
 
 
                 if( HEdgeType::HasHFAdjacency() && FaceType::HasFHAdjacency()){
-                    FaceIterator fi0  = vcg::tri::Allocator<MeshType>::AddFaces(m,1);
+                    vcg::tri::Allocator<MeshType>::AddFaces(m,1);
                     m.face.back().ImportData(*e0->HFp());
-
                     SetRelationsLoopFace(&(*ei0),e1->HFp());		// one loop to the old face
                     SetRelationsLoopFace(&(*ei1),&m.face.back());	// the other  to the new face
                 }
diff --git a/vcg/complex/algorithms/update/normal.h b/vcg/complex/algorithms/update/normal.h
index e44ba111..cedd0434 100644
--- a/vcg/complex/algorithms/update/normal.h
+++ b/vcg/complex/algorithms/update/normal.h
@@ -24,10 +24,7 @@
 #ifndef __VCG_TRI_UPDATE_NORMALS
 #define __VCG_TRI_UPDATE_NORMALS
 
-#include <vcg/complex/algorithms/update/flag.h>
 #include <vcg/complex/algorithms/polygon_support.h>
-#include <vcg/math/matrix44.h>
-#include <vcg/complex/exception.h>
 
 namespace vcg {
 namespace tri {
@@ -92,7 +89,7 @@ static void PerVertex(ComputeMeshType &m)
  for(FaceIterator f=m.face.begin();f!=m.face.end();++f)
    if( !(*f).IsD() && (*f).IsR() )
    {
-    typename FaceType::NormalType t = vcg::TriangleNormal(*f);
+    typename VertexType::NormalType t = vcg::TriangleNormal(*f);
 
     for(int j=0; j<(*f).VN(); ++j)
      if( !(*f).V(j)->IsD() && (*f).V(j)->IsRW() )
@@ -102,11 +99,12 @@ static void PerVertex(ComputeMeshType &m)
 
 static void PerFacePolygonal(ComputeMeshType &m)
 {
-for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-{
-  if( !(*fi).IsD() )
-    fi->N() = PolygonNormal(*fi).Normalize();
-}
+  RequirePerFaceNormal(m);  
+  for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
+  {
+    if( !(*fi).IsD() )
+      fi->N() = PolygonNormal(*fi).Normalize();
+  }
 }
 
 ///  \brief Calculates the vertex normal as an angle weighted average. It does not need or exploit current face normals.
@@ -118,7 +116,7 @@ G. Thurmer, C. A. Wuthrich
 "Computing vertex normals from polygonal facets"
 Journal of Graphics Tools, 1998
  */
- static void PerVertexAngleWeighted(ComputeMeshType &m)
+static void PerVertexAngleWeighted(ComputeMeshType &m)
 {
   PerVertexClear(m);
   FaceIterator f;
@@ -170,7 +168,7 @@ static void PerFace(ComputeMeshType &m)
   RequirePerFaceNormal(m);
   for(FaceIterator f=m.face.begin();f!=m.face.end();++f)
     if( !(*f).IsD() )
-              f->N() = TriangleNormal(*f).Normalize();
+              f->N() = TriangleNormal(*f);
 }
 
 
diff --git a/vcg/complex/algorithms/update/quality.h b/vcg/complex/algorithms/update/quality.h
index ba7a6afc..728c6e5f 100644
--- a/vcg/complex/algorithms/update/quality.h
+++ b/vcg/complex/algorithms/update/quality.h
@@ -22,9 +22,6 @@
 ****************************************************************************/
 #ifndef __VCG_TRI_UPDATE_QUALITY
 #define __VCG_TRI_UPDATE_QUALITY
-#include <vcg/simplex/face/pos.h>
-#include <vcg/simplex/face/topology.h>
-#include <vcg/complex/algorithms/update/flag.h>
 #include <vcg/complex/algorithms/stat.h>
 
 namespace vcg {
@@ -49,27 +46,54 @@ class UpdateQuality
 public:
   typedef UpdateMeshType MeshType;
   typedef typename MeshType::ScalarType     ScalarType;
+  typedef typename MeshType::CoordType      CoordType;
   typedef typename MeshType::VertexType     VertexType;
   typedef typename MeshType::VertexPointer  VertexPointer;
   typedef typename MeshType::VertexIterator VertexIterator;
   typedef typename MeshType::FaceType       FaceType;
   typedef typename MeshType::FacePointer    FacePointer;
   typedef typename MeshType::FaceIterator   FaceIterator;
+  typedef typename MeshType::VertexType::QualityType VertexQualityType;
+  typedef typename MeshType::FaceType::QualityType FaceQualityType;
+  typedef typename MeshType::TetraType              TetraType;
+  typedef typename MeshType::TetraPointer           TetraPointer;
+  typedef typename MeshType::TetraIterator          TetraIterator;
+  typedef typename MeshType::TetraType::QualityType TetraQualityType;
+
+
 
 /** Assign to each vertex of the mesh a constant quality value. Useful for initialization.
 */
-static void VertexConstant(MeshType &m, ScalarType q)
+static void VertexConstant(MeshType &m, VertexQualityType q)
 {
   tri::RequirePerVertexQuality(m);
   for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
     (*vi).Q()=q;
 }
 
+/** Assign to each vertex of the mesh the valence of faces.
+*/
+static void VertexValence(UpdateMeshType &m)
+{
+  tri::RequirePerVertexQuality(m);
+  VertexConstant(m,0);
+  for (size_t i=0;i<m.face.size();i++)
+  {
+    if (m.face[i].IsD())continue;
+    
+    for (int j=0;j<m.face[i].VN();j++)
+    {
+      VertexType *v=m.face[i].V(j);
+      v->Q()+=1;
+    }
+  }
+}
+
 /** Clamp each vertex of the mesh with a range of values.
 */
 static void VertexClamp(MeshType &m,
-                        typename MeshType::VertexType::QualityType qmin,
-                        typename MeshType::VertexType::QualityType qmax)
+                        VertexQualityType qmin,
+                        VertexQualityType qmax)
 {
   tri::RequirePerVertexQuality(m);
   for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
@@ -78,7 +102,7 @@ static void VertexClamp(MeshType &m,
 
 /** Normalize the vertex quality so that it fits in the specified range.
 */
-static void VertexNormalize(MeshType &m, float qmin=0.0, float qmax=1.0)
+static void VertexNormalize(MeshType &m, VertexQualityType qmin=0.0, VertexQualityType qmax=1.0)
 {
   tri::RequirePerVertexQuality(m);
   ScalarType deltaRange = qmax-qmin;
@@ -90,18 +114,18 @@ static void VertexNormalize(MeshType &m, float qmin=0.0, float qmax=1.0)
 
 /** Normalize the face quality so that it fits in the specified range.
 */
-static void FaceNormalize(MeshType &m, float qmin=0.0, float qmax=1.0)
+static void FaceNormalize(MeshType &m, FaceQualityType qmin=0.0, FaceQualityType qmax=1.0)
 {
   tri::RequirePerFaceQuality(m);
-  ScalarType deltaRange = qmax-qmin;
-  std::pair<ScalarType,ScalarType> minmax = tri::Stat<MeshType>::ComputePerFaceQualityMinMax(m);
+  FaceQualityType deltaRange = qmax-qmin;
+  std::pair<FaceQualityType,FaceQualityType> minmax = tri::Stat<MeshType>::ComputePerFaceQualityMinMax(m);
   for(FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
     (*fi).Q() = qmin+deltaRange*((*fi).Q() - minmax.first)/(minmax.second - minmax.first);
 }
 
 /** Assign to each face of the mesh a constant quality value. Useful for initialization.
 */
-static void FaceConstant(MeshType &m, float q)
+static void FaceConstant(MeshType &m, FaceQualityType q)
 {
   tri::RequirePerFaceQuality(m);
   for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
@@ -114,7 +138,30 @@ static void FaceArea(MeshType &m)
 {
   tri::RequirePerFaceQuality(m);
   for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-    (*fi).Q()=vcg::DoubleArea(*fi)/ScalarType(2.0);
+    (*fi).Q()=FaceQualityType(vcg::DoubleArea(*fi)/ScalarType(2.0));
+}
+
+static void TetraConstant(MeshType & m, const TetraQualityType q)
+{
+  tri::RequirePerTetraQuality(m);
+  ForEachTetra(m, [&q] (TetraType & t) {
+      t.Q() = q;
+  });
+}
+static void TetraFromVolume(MeshType & m)
+{
+  tri::RequirePerTetraQuality(m);
+  ForEachTetra(m, [] (TetraType & t) {
+     t.Q() = TetraQualityType(vcg::Tetra::ComputeVolume(t));
+  });
+}
+
+static void TetraFromAspectRatio(MeshType & m)
+{
+  tri::RequirePerTetraQuality(m);
+  ForEachTetra(m, [] (TetraType & t) {
+      t.Q() = TetraQualityType(vcg::Tetra::AspectRatio(t));
+  });
 }
 
 static void VertexFromFace( MeshType &m, bool areaWeighted=true)
@@ -127,7 +174,7 @@ static void VertexFromFace( MeshType &m, bool areaWeighted=true)
   for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
     if(!(*fi).IsD())
     {
-      ScalarType weight=1.0;
+      VertexQualityType weight=1.0;
       if(areaWeighted) weight = vcg::DoubleArea(*fi);
       for(int j=0;j<3;++j)
       {
@@ -143,19 +190,46 @@ static void VertexFromFace( MeshType &m, bool areaWeighted=true)
     }
 }
 
+static void VertexFromTetra(MeshType & m, bool volumeWeighted = true)
+{
+    tri::RequirePerTetraQuality(m);
+    tri::RequirePerVertexQuality(m);
+
+    SimpleTempData<typename MeshType::VertContainer, ScalarType> TQ(m.vert, 0);
+    SimpleTempData<typename MeshType::VertContainer, ScalarType> TCnt(m.vert, 0);
+
+    ForEachTetra(m, [&] (TetraType & t) {
+      TetraQualityType w = 1.;
+      if (volumeWeighted)
+        w = vcg::Tetra::ComputeVolume(t);
+      
+      for (int i = 0; i < 4; ++i)
+      {
+        TQ[t.V(i)]   += t.Q() * w;
+        TCnt[t.V(i)] += w;
+      }
+    });
+
+    ForEachVertex(m, [&] (VertexType & v) {
+      v.Q() = TQ[v] / TCnt[v];
+    });
+}
+
 template <class HandleScalar>
 static void VertexFromAttributeHandle(MeshType &m, typename MeshType::template PerVertexAttributeHandle<HandleScalar> &h)
 {
+  tri::RequirePerVertexQuality(m);
   for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
     if(!(*vi).IsD())
-      (*vi).Q()=ScalarType(h[vi]);
+      (*vi).Q()=VertexQualityType(h[vi]);
 }
 
 template <class HandleScalar>
 static void FaceFromAttributeHandle(MeshType &m, typename MeshType::template PerFaceAttributeHandle<HandleScalar> &h)
 {
+  tri::RequirePerFaceQuality(m);
   for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
-    (*fi).Q() =h[fi];
+    (*fi).Q() =FaceQualityType(h[fi]);
 }
 
 static void FaceFromVertex( MeshType &m)
@@ -165,14 +239,15 @@ static void FaceFromVertex( MeshType &m)
   for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
   {
      (*fi).Q() =0;
-     for (size_t i=0;i<(*fi).VN();i++)
+     for (int i=0;i<(*fi).VN();i++)
         (*fi).Q() += (*fi).V(i)->Q();
-     (*fi).Q()/=(ScalarType)(*fi).VN();
+     (*fi).Q()/=(FaceQualityType)(*fi).VN();
   }
 }
 
 static void VertexFromPlane(MeshType &m, const Plane3<ScalarType> &pl)
 {
+  tri::RequirePerVertexQuality(m);
   for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
     (*vi).Q() =SignedDistancePlanePoint(pl,(*vi).cP());
 }
@@ -208,6 +283,67 @@ static void VertexFromMeanCurvatureDir(MeshType &m)
     for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
         (*vi).Q() = ((*vi).K1()+(*vi).K2())/2.0f;
 }
+static void VertexFromMinCurvatureDir(MeshType &m)
+{
+  tri::RequirePerVertexQuality(m);
+  tri::RequirePerVertexCurvatureDir(m);
+    for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
+        (*vi).Q() = (*vi).K1();
+}
+static void VertexFromMaxCurvatureDir(MeshType &m)
+{
+  tri::RequirePerVertexQuality(m);
+  tri::RequirePerVertexCurvatureDir(m);
+    for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
+        (*vi).Q() = (*vi).K2();
+}
+
+/**
+ * @brief VertexFromShapeIndexCurvatureDir
+ * Compute from the current Curvature Direction the Shape Index S as defined by [Koenderink 1992]
+ * and store it in the per-vertex Quality.
+ * S = 2/pi atan(k1+k2/k1-k2)
+ * 
+ * J. Koenderink and A. van Doorn. 
+ * Surface shape and curvature scales. 
+ * Image and vision computing, 10(8):557–565, 1992.
+ */
+
+static void VertexFromShapeIndexCurvatureDir(MeshType &m)
+{
+  tri::RequirePerVertexQuality(m);
+  tri::RequirePerVertexCurvatureDir(m);
+    for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
+    { 
+      ScalarType k1=(*vi).K1(); 
+      ScalarType k2=(*vi).K2();
+      if(k1<k2) std::swap(k1,k2); 
+      (*vi).Q() = (2.0/M_PI)*atan2(k1+k2,k1-k2);
+    }
+}
+/**
+ * @brief VertexFromCurvednessCurvatureDir
+ * Compute from the current Curvature Direction the Curvedness as defined by [Koenderink 1992]
+ * and store it in the per-vertex Quality.
+ * C =  Sqrt((k1*k1+k2*k2)/2.0)
+ * 
+ * J. Koenderink and A. van Doorn. 
+ * Surface shape and curvature scales. 
+ * Image and vision computing, 10(8):557–565, 1992.
+ */
+static void VertexFromCurvednessCurvatureDir(MeshType &m)
+{
+  tri::RequirePerVertexQuality(m);
+  tri::RequirePerVertexCurvatureDir(m);
+    for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
+    {
+      const ScalarType k1=(*vi).K1(); 
+      const ScalarType k2=(*vi).K2();
+
+      (*vi).Q() = math::Sqrt((k1*k1+k2*k2)/2.0);
+    }
+}
+
 
 /*
  *  Absolute Curvature
@@ -227,14 +363,16 @@ static void VertexFromMeanCurvatureDir(MeshType &m)
 
 static void VertexFromAbsoluteCurvature(MeshType &m)
 {
-    VertexIterator vi;
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
-    {
-        if((*vi).Kg() >= 0)
-                    (*vi).Q() = math::Abs( 2*(*vi).Kh() );
-        else
-              (*vi).Q() = 2*math::Sqrt(math::Abs( (*vi).Kh()*(*vi).Kh() - (*vi).Kg()));
-    }
+  tri::RequirePerVertexQuality(m);
+  tri::RequirePerVertexCurvature(m);
+  VertexIterator vi;
+  for(vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
+  {
+    if((*vi).Kg() >= 0)
+      (*vi).Q() = math::Abs( 2*(*vi).Kh() );
+    else
+      (*vi).Q() = 2*math::Sqrt(math::Abs( (*vi).Kh()*(*vi).Kh() - (*vi).Kg()));
+  }
 }
 
 /*
@@ -246,6 +384,8 @@ static void VertexFromAbsoluteCurvature(MeshType &m)
  */
 static void VertexFromRMSCurvature(MeshType &m)
 {
+  tri::RequirePerVertexQuality(m);
+  tri::RequirePerVertexCurvature(m);
     VertexIterator vi;
     for(vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
         (*vi).Q() = math::Sqrt(math::Abs( 4*(*vi).Kh()*(*vi).Kh() - 2*(*vi).Kg()));
@@ -257,11 +397,10 @@ static void VertexFromRMSCurvature(MeshType &m)
 
   Note: requires FF adjacency.
   */
-static void FaceSaturate(MeshType &m, ScalarType gradientThr=1.0)
+static void FaceSaturate(MeshType &m, FaceQualityType gradientThr=1.0)
 {
-  typedef typename MeshType::CoordType CoordType;
-  typedef typename MeshType::ScalarType ScalarType;
-
+  tri::RequirePerFaceQuality(m);
+  tri::RequireFFAdjacency(m);
   UpdateFlags<MeshType>::FaceClearV(m);
   std::stack<FacePointer> st;
 
@@ -285,9 +424,9 @@ static void FaceSaturate(MeshType &m, ScalarType gradientThr=1.0)
      for(ffi=star.begin();ffi!=star.end();++ffi )
      {
        assert(fc!=(*ffi));
-       ScalarType &qi = (*ffi)->Q();
+       FaceQualityType &qi = (*ffi)->Q();
        CoordType bary1=((*ffi)->P(0)+(*ffi)->P(1)+(*ffi)->P(2))/3;
-       ScalarType distGeom = Distance(bary0,bary1) / gradientThr;
+       FaceQualityType distGeom = Distance(bary0,bary1) / gradientThr;
        // Main test if the quality varies more than the geometric displacement we have to lower something.
        if( distGeom < fabs(qi - fc->Q()))
        {
@@ -306,7 +445,7 @@ static void FaceSaturate(MeshType &m, ScalarType gradientThr=1.0)
            // second case: you have to lower qi, the vertex under examination.
            assert( distGeom < fabs(qi - fc->Q()));
            assert(fc->Q() < qi);
-           float newQi = fc->Q() + distGeom -(ScalarType)0.00001;
+           FaceQualityType newQi = fc->Q() + distGeom -(FaceQualityType)0.00001;
            assert(newQi <= qi);
            assert(fc->Q() < newQi);
            assert( distGeom > fabs(newQi - fc->Q()) );
@@ -325,14 +464,18 @@ static void FaceSaturate(MeshType &m, ScalarType gradientThr=1.0)
     }
   }
 
-/*
-  Saturate the vertex quality so that for each vertex the gradient of the quality is lower than the given threshold value (in absolute value)
-  The saturation is done in a conservative way (quality is always decreased and never increased)
+/** \brief Saturate Vertex Quality
+  * Saturate the vertex quality so that for each vertex the gradient of the quality field 
+  * is lower than the given threshold value (in absolute value)
+  * The saturation is done in a conservative way (quality is always decreased and never increased)
 
-  Note: requires VF adjacency.
+  * Note: requires VF adjacency.
   */
 static void VertexSaturate(MeshType &m, ScalarType gradientThr=1.0)
 {
+  tri::RequirePerVertexQuality(m);
+  tri::RequireVFAdjacency(m);
+  
   UpdateFlags<MeshType>::VertexClearV(m);
   std::stack<VertexPointer> st;
 
@@ -346,11 +489,10 @@ static void VertexSaturate(MeshType &m, ScalarType gradientThr=1.0)
      st.pop();
      vc->SetV();
      std::vector<VertexPointer> star;
-     typename std::vector<VertexPointer>::iterator vvi;
      face::VVStarVF<FaceType>(vc,star);
-     for(vvi=star.begin();vvi!=star.end();++vvi )
+     for(auto vvi=star.begin();vvi!=star.end();++vvi )
      {
-       ScalarType &qi = (*vvi)->Q();
+       ScalarType qi = (*vvi)->Q();
        ScalarType distGeom = Distance((*vvi)->cP(),vc->cP()) / gradientThr;
        // Main test if the quality varies more than the geometric displacement we have to lower something.
        if( distGeom < fabs(qi - vc->Q()))
@@ -360,7 +502,8 @@ static void VertexSaturate(MeshType &m, ScalarType gradientThr=1.0)
          if(vc->Q() > qi)  // first case: the center of the star has to be lowered (and re-inserted in the queue).
          {
            //printf("Reinserting center %i \n",vc - &*m.vert.begin());
-           vc->Q() = qi+distGeom-(ScalarType)0.00001;
+           VertexQualityType delta=std::min(ScalarType(0.00001),ScalarType(distGeom/2.0));
+           vc->Q() = VertexQualityType(qi+distGeom-delta);
            assert( distGeom > fabs(qi - vc->Q()));
            st.push(vc);
            break;
@@ -370,7 +513,8 @@ static void VertexSaturate(MeshType &m, ScalarType gradientThr=1.0)
            // second case: you have to lower qi, the vertex under examination.
            assert( distGeom < fabs(qi - vc->Q()));
            assert(vc->Q() < qi);
-           float newQi = vc->Q() + distGeom -(ScalarType)0.00001;
+           VertexQualityType delta=std::min(VertexQualityType(0.00001),VertexQualityType(distGeom/2.0));
+           VertexQualityType newQi = vc->Q() + distGeom -delta;
            assert(newQi <= qi);
            assert(vc->Q() < newQi);
            assert( distGeom > fabs(newQi - vc->Q()) );
diff --git a/vcg/complex/algorithms/update/selection.h b/vcg/complex/algorithms/update/selection.h
index ef97bcaa..ae9d4d04 100644
--- a/vcg/complex/algorithms/update/selection.h
+++ b/vcg/complex/algorithms/update/selection.h
@@ -23,9 +23,6 @@
 #ifndef __VCG_TRI_UPDATE_SELECTION
 #define __VCG_TRI_UPDATE_SELECTION
 
-#include <queue>
-#include <vcg/complex/algorithms/update/flag.h>
-
 namespace vcg {
 namespace tri {
 /// \ingroup trimesh
@@ -40,6 +37,8 @@ class SelectionStack
   typedef typename ComputeMeshType::template PerVertexAttributeHandle< bool > vsHandle;
   typedef typename ComputeMeshType::template PerEdgeAttributeHandle< bool >   esHandle;
   typedef typename ComputeMeshType::template PerFaceAttributeHandle< bool >   fsHandle;
+  typedef typename ComputeMeshType::template PerTetraAttributeHandle< bool >  tsHandle;
+
 
 public:
   SelectionStack(ComputeMeshType &m)
@@ -50,8 +49,9 @@ public:
   bool push()
   {
     vsHandle vsH = Allocator<ComputeMeshType>::template AddPerVertexAttribute< bool >(*_m);
-    esHandle esH = Allocator<ComputeMeshType>::template AddPerEdgeAttribute< bool >(*_m);
+    esHandle esH = Allocator<ComputeMeshType>::template AddPerEdgeAttribute< bool >  (*_m);
     fsHandle fsH = Allocator<ComputeMeshType>::template AddPerFaceAttribute< bool >  (*_m);
+    tsHandle tsH = Allocator<ComputeMeshType>::template AddPerTetraAttribute< bool > (*_m);
     typename ComputeMeshType::VertexIterator vi;
     for(vi = _m->vert.begin(); vi != _m->vert.end(); ++vi)
       if( !(*vi).IsD() ) vsH[*vi] = (*vi).IsS() ;
@@ -64,63 +64,93 @@ public:
     for(fi = _m->face.begin(); fi != _m->face.end(); ++fi)
       if( !(*fi).IsD() ) fsH[*fi] = (*fi).IsS() ;
 
+    typename ComputeMeshType::TetraIterator ti;
+    for(ti = _m->tetra.begin(); ti != _m->tetra.end(); ++ti)
+      if( !(*ti).IsD() ) tsH[*ti] = (*ti).IsS() ;
+
     vsV.push_back(vsH);
     esV.push_back(esH);
     fsV.push_back(fsH);
+    tsV.push_back(tsH);
     return true;
   }
 
   bool popOr()
   {
-    return pop(true);
+    return pop(true,false);
   }
 
-  bool pop(bool mergeFlag=false)
+  bool popAnd()
+  {
+    return pop(false,true);
+  }
+  
+  /// It restore a saved selection. 
+  /// The process can be done or in a straightforward manner (e.g. selection values are substituted)
+  /// or preserving selected or unselected elements (e.g. the restoring is combined in OR/AND) 
+  /// 
+  bool pop(bool orFlag=false, bool andFlag=false)
   {
     if(vsV.empty()) return false;
+    if(orFlag && andFlag) return false;
+    
     vsHandle vsH = vsV.back();
     esHandle esH = esV.back();
     fsHandle fsH = fsV.back();
+    tsHandle tsH = tsV.back();
+
     if(! (Allocator<ComputeMeshType>::template IsValidHandle(*_m, vsH))) return false;
 
-    typename ComputeMeshType::VertexIterator vi;
-    for(vi = _m->vert.begin(); vi != _m->vert.end(); ++vi)
+    for(auto vi = _m->vert.begin(); vi != _m->vert.end(); ++vi)
       if( !(*vi).IsD() )
       {
-        if(vsH[*vi]) 
-          (*vi).SetS();
-        else
-          if(!mergeFlag)
-            (*vi).ClearS();
+        if(vsH[*vi]) { 
+           if(!andFlag) (*vi).SetS();
+        } else {
+          if(!orFlag)   (*vi).ClearS();
+        }
       }
 
-    typename ComputeMeshType::EdgeIterator ei;
-    for(ei = _m->edge.begin(); ei != _m->edge.end(); ++ei)
+    for(auto ei = _m->edge.begin(); ei != _m->edge.end(); ++ei)
       if( !(*ei).IsD() )
       {
-        if(esH[*ei]) 
-          (*ei).SetS();
-        else
-          if(!mergeFlag)
-            (*ei).ClearS();
+        if(esH[*ei]) { 
+           if(!andFlag) (*ei).SetS();
+        } else {
+          if(!orFlag)   (*ei).ClearS();
+        }
       }
-    typename ComputeMeshType::FaceIterator fi;
-    for(fi = _m->face.begin(); fi != _m->face.end(); ++fi)
+    
+    
+    for(auto fi = _m->face.begin(); fi != _m->face.end(); ++fi)
       if( !(*fi).IsD() )
       {  
-        if(fsH[*fi]) 
-          (*fi).SetS();
-        else
-          if(!mergeFlag)
-            (*fi).ClearS();
+        if(fsH[*fi]) { 
+           if(!andFlag) (*fi).SetS();
+        } else {
+          if(!orFlag)   (*fi).ClearS();
+        }
+     }
+
+     for (auto ti = _m->tetra.begin(); ti != _m->tetra.end(); ++ti)
+      if (!(*ti).IsD())
+      {
+        if (tsH[*ti]) {
+          if (!andFlag) (*ti).SetS();
+        } else {
+          if (!orFlag)  (*ti).ClearS();
+        }
       }
 
     Allocator<ComputeMeshType>::template DeletePerVertexAttribute<bool>(*_m,vsH);
     Allocator<ComputeMeshType>::template DeletePerEdgeAttribute<bool>(*_m,esH);
     Allocator<ComputeMeshType>::template DeletePerFaceAttribute<bool>(*_m,fsH);
+    Allocator<ComputeMeshType>::template DeletePerTetraAttribute<bool>(*_m,tsH);
+
     vsV.pop_back();
     esV.pop_back();
     fsV.pop_back();
+    tsV.pop_back();
     return true;
   }
 
@@ -129,6 +159,8 @@ private:
   std::vector<vsHandle> vsV;
   std::vector<esHandle> esV;
   std::vector<fsHandle> fsV;
+  std::vector<tsHandle> tsV;
+
 };
 
 /// \ingroup trimesh
@@ -154,6 +186,10 @@ typedef typename MeshType::EdgeIterator   EdgeIterator;
 typedef typename MeshType::FaceType       FaceType;
 typedef typename MeshType::FacePointer    FacePointer;
 typedef typename MeshType::FaceIterator   FaceIterator;
+typedef typename MeshType::TetraType      TetraType;
+typedef typename MeshType::TetraPointer   TetraPointer;
+typedef typename MeshType::TetraIterator  TetraIterator;
+
 typedef typename vcg::Box3<ScalarType>  Box3Type;
 
 /// \brief This function select all the vertices.
@@ -179,6 +215,16 @@ static size_t FaceAll(MeshType &m)
   return m.fn;
 }
 
+/// \brief This function select all the tetras.
+static size_t TetraAll (MeshType & m)
+{
+  ForEachTetra(m, [] (TetraType & t) {
+    t.SetS();
+  });
+
+  return m.tn;
+}
+
 /// \brief This function clear the selection flag for all the vertices.
 static size_t VertexClear(MeshType &m)
 {
@@ -203,12 +249,23 @@ static size_t FaceClear(MeshType &m)
   return 0;
 }
 
+/// \brief This function clears the selection flag for all the tetras.
+static size_t TetraClear (MeshType & m)
+{
+  ForEachTetra(m, [] (TetraType & t) {
+    t.ClearS();
+  });
+
+  return 0;
+}
+
 /// \brief This function clears the selection flag for all the elements of a mesh (vertices, edges, and faces).
 static void Clear(MeshType &m)
 {
   VertexClear(m);
   EdgeClear(m);
   FaceClear(m);
+  TetraClear(m);
 }
 
 /// \brief This function returns the number of selected faces.
@@ -238,6 +295,17 @@ static size_t VertexCount(MeshType &m)
   return selCnt;
 }
 
+/// \brief This function returns the number of selected tetras.
+static size_t TetraCount (MeshType & m)
+{
+  size_t selCnt = 0;
+  ForEachTetra(m, [&selCnt] (TetraType & t) {
+    if (t.IsS()) 
+      ++selCnt;
+  });
+
+  return selCnt;
+}
 /// \brief This function inverts the selection flag for all the faces.
 static size_t FaceInvert(MeshType &m)
 {
@@ -286,6 +354,24 @@ static size_t VertexInvert(MeshType &m)
   return selCnt;
 }
 
+/// \brief This function inverts the selection flag for all the tetras.
+static size_t TetraInvert (MeshType & m)
+{
+  size_t selCnt = 0;
+  ForEachTetra(m, [&selCnt] (TetraType & t) {
+    if (t.IsS())
+      t.ClearS();
+    else
+    {
+      t.SetS();
+      ++selCnt;
+    }
+  });
+
+  return selCnt;
+}
+
+
 /// \brief Select all the vertices that are touched by at least a single selected faces
 static size_t VertexFromFaceLoose(MeshType &m, bool preserveSelection=false)
 {
@@ -376,6 +462,22 @@ static size_t FaceFromVertexLoose(MeshType &m, bool preserveSelection=false)
     }
   return selCnt;
 }
+/// \brief This function dilate the face selection by simply first selecting all the vertices touched by the faces and then all the faces touched by these vertices 
+/// Note: it destroys the vertex selection. 
+static size_t FaceDilate(MeshType &m)
+{
+  tri::UpdateSelection<MeshType>::VertexFromFaceLoose(m);
+  return tri::UpdateSelection<MeshType>::FaceFromVertexLoose(m);  
+}
+
+/// \brief This function erode the face selection by simply first selecting only the vertices completely surrounded by face and then the only faces with all the selected vertices 
+/// Note: it destroys the vertex selection. 
+static size_t FaceErode(MeshType &m)
+{
+  tri::UpdateSelection<MeshType>::VertexFromFaceStrict(m);
+  return tri::UpdateSelection<MeshType>::FaceFromVertexStrict(m);  
+}
+
 
 /// \brief This function select the vertices with the border flag set
 static size_t VertexFromBorderFlag(MeshType &m, bool preserveSelection=false)
@@ -509,7 +611,7 @@ static size_t VertexFromQualityRange(MeshType &m,float minq, float maxq, bool pr
 }
 
 /// \brief Select the vertices contained in the specified Box
-static int VertexInBox( MeshType & m, const Box3Type &bb, bool preserveSelection=false)
+static size_t VertexInBox( MeshType & m, const Box3Type &bb, bool preserveSelection=false)
 {
   if(!preserveSelection) VertexClear(m);
   int selCnt=0;
@@ -523,10 +625,38 @@ static int VertexInBox( MeshType & m, const Box3Type &bb, bool preserveSelection
   return selCnt;
 }
 
+/// \brief Select the border vertices that form a corner along the border
+/// with an angle that is below a certain threshold (e.g. with 90 will select all the acute angles)
+/// It assumes that the Per-Vertex border Flag has been set.
+static size_t VertexCornerBorder(MeshType &m, ScalarType angleRad, bool preserveSelection=false)
+{
+  if(!preserveSelection) VertexClear(m);
+  SimpleTempData<typename MeshType::VertContainer, ScalarType > angleSumH(m.vert,0);
+  int selCnt=0;
+  for(auto vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
+    angleSumH[vi]=0;
+  
+  for(auto fi=m.face.begin();fi!=m.face.end();++fi) if(!(*fi).IsD())
+  {
+    for(int i=0;i<(*fi).VN();++i)
+      angleSumH[fi->V(i)] += face::WedgeAngleRad(*fi,i);
+  }
+  
+  for(auto vi=m.vert.begin();vi!=m.vert.end();++vi) if(!(*vi).IsD())
+  {
+    if(angleSumH[vi]<angleRad && vi->IsB())
+    {
+      (*vi).SetS();
+      ++selCnt;
+    }
+  }
+  return selCnt;
+}
+
 
 void VertexNonManifoldEdges(MeshType &m, bool preserveSelection=false)
 {
-  assert(HasFFTopology(m));
+  tri::RequireFFAdjacency(m);
 
   if(!preserveSelection) VertexClear(m);
   for (FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)	if (!fi->IsD())
diff --git a/vcg/complex/algorithms/update/texture.h b/vcg/complex/algorithms/update/texture.h
index c454ddd1..d67bb999 100644
--- a/vcg/complex/algorithms/update/texture.h
+++ b/vcg/complex/algorithms/update/texture.h
@@ -48,6 +48,7 @@ typedef typename MeshType::VertexIterator VertexIterator;
 typedef typename MeshType::FaceType       FaceType;
 typedef typename MeshType::FacePointer    FacePointer;
 typedef typename MeshType::FaceIterator   FaceIterator;
+typedef typename vcg::Point2<ScalarType> UVCoordType;
 
 static void WedgeTexFromPlane(ComputeMeshType &m, const Point3<ScalarType> &uVec, const Point3<ScalarType> &vVec, bool aspectRatio, ScalarType sideGutter=0.0)
 {
@@ -70,7 +71,7 @@ static void WedgeTexFromPlane(ComputeMeshType &m, const Point3<ScalarType> &uVec
 
 	if (sideGutter>0.0)
 	{
-		ScalarType deltaGutter = std::min(wideU, wideV) * min(sideGutter, (ScalarType)0.5);
+		ScalarType deltaGutter = std::min(wideU, wideV) * std::min(sideGutter, (ScalarType)0.5);
 
 		bb.max[0] += deltaGutter;
 		bb.min[0] -= deltaGutter;
@@ -97,21 +98,16 @@ static void WedgeTexFromPlane(ComputeMeshType &m, const Point3<ScalarType> &uVec
 	}
 }
 
-static void WedgeTexFromCamera(ComputeMeshType &m, Plane3<ScalarType> &pl)
-{
-	
-}
-
 static void WedgeTexFromVertexTex(ComputeMeshType &m)
 {
   for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
           if(!(*fi).IsD())
               {
-               for(int i=0;i<3;++i)
+               for(int i=0;i<fi->VN();++i)
                {
                  (*fi).WT(i).U() = (*fi).V(i)->T().U();
                  (*fi).WT(i).V() = (*fi).V(i)->T().V();
-				 (*fi).WT(i).N() = 0;
+                 (*fi).WT(i).N() = 0;
                }
               }
 }
@@ -143,6 +139,40 @@ static void WedgeTexRemoveNull(ComputeMeshType &m, const std::string &texturenam
 		}											
 			
 }
+/** \brief Merge supposedly wrong texcoords 
+ * It can happens that for rounding errors texcoords on different wedges but on the same vertex have different tex coords.
+ * This function merges them according a threshold. It requires initialized VF adjacency. 
+ * the default for merging is if two textures dist less than one 16th of texel on a 4k texture...
+*/
+
+static int WedgeTexMergeClose(ComputeMeshType &m, ScalarType mergeThr = ScalarType(1.0/65536.0) )
+{
+  tri::RequireVFAdjacency(m);
+  int mergedCnt=0;
+  ForEachVertex(m, [&](VertexType &v){
+    face::VFIterator<FaceType> vfi(&v);
+    std::vector<UVCoordType> clusterVec;
+    clusterVec.push_back(vfi.F()->WT(vfi.I()).P());
+    ++vfi;
+    while(!vfi.End())
+    {
+      UVCoordType cur= vfi.F()->WT(vfi.I()).P();
+      bool merged=false;
+      for(auto p:clusterVec) {
+        if(p!=cur && Distance(p,cur) < mergeThr){ 
+          vfi.F()->WT(vfi.I()).P()=p;
+          ++mergedCnt;
+          merged=true;
+        }
+      }
+      if(!merged) 
+        clusterVec.push_back(cur);
+      
+      ++vfi;      
+    }
+  });
+  return mergedCnt;
+}
 
 }; // end class
 
diff --git a/vcg/complex/algorithms/update/topology.h b/vcg/complex/algorithms/update/topology.h
index c796f768..3dcab7d6 100644
--- a/vcg/complex/algorithms/update/topology.h
+++ b/vcg/complex/algorithms/update/topology.h
@@ -23,11 +23,6 @@
 
 #ifndef __VCG_TRI_UPDATE_TOPOLOGY
 #define __VCG_TRI_UPDATE_TOPOLOGY
-#include <algorithm>
-#include <vector>
-#include <vcg/simplex/face/pos.h>
-#include <vcg/simplex/face/topology.h>
-#include <vcg/simplex/edge/topology.h>
 
 namespace vcg {
 namespace tri {
@@ -53,15 +48,97 @@ typedef typename MeshType::EdgeIterator   EdgeIterator;
 typedef typename MeshType::FaceType       FaceType;
 typedef typename MeshType::FacePointer    FacePointer;
 typedef typename MeshType::FaceIterator   FaceIterator;
+typedef typename MeshType::TetraType      TetraType;
+typedef typename MeshType::TetraPointer   TetraPointer;
+typedef typename MeshType::TetraIterator  TetraIterator;
 
 
 /// \headerfile topology.h vcg/complex/algorithms/update/topology.h
 
+/// \brief Auxiliary data structure for computing tetra tetra adjacency information.
+/**
+ * It identifies a face, storing three vertex pointers and a tetra pointer where it belongs.
+ */
+
+class PFace
+{
+public:
+  VertexPointer v[3];  //three ordered vertex pointers, identify a face
+  TetraPointer  t;     //the pointer to the tetra where this face belongs
+  int           z;     //index in [0..3] of the face in the tetra
+  bool   isBorder;
+
+  PFace () {}
+  PFace (TetraPointer tp, const int nz) { this->Set(tp, nz); }
+
+  void Set (TetraPointer tp /*the tetra pointer*/, const int nz /*the face index*/) 
+  {
+    assert (tp != 0);
+    assert (nz >= 0 && nz < 4);
+    
+    v[0] = tp->cV(Tetra::VofF(nz, 0));
+    v[1] = tp->cV(Tetra::VofF(nz, 1));
+    v[2] = tp->cV(Tetra::VofF(nz, 2));
+    
+    assert(v[0] != v[1] && v[1] != v[2]); //no degenerate faces
+
+    if (v[0] > v[1])
+      std::swap(v[0], v[1]);
+    if (v[1] > v[2])
+      std::swap(v[1], v[2]);
+    if (v[0] > v[1])
+      std::swap(v[0], v[1]);
+
+    t = tp;
+    z = nz;
+    
+
+  }
+
+  inline bool operator < (const PFace & pf) const 
+  {
+    if (v[0] < pf.v[0]) 
+      return true;
+    else
+    { 
+      if (v[0] > pf.v[0]) return false;
+
+      if (v[1] < pf.v[1])
+        return true;
+      else
+      {
+        if (v[1] > pf.v[1]) return false;
+
+        return (v[2] < pf.v[2]);
+      }
+    }
+  }
+
+  inline bool operator == (const PFace & pf) const
+  {
+    return v[0] == pf.v[0] && v[1] == pf.v[1] && v[2] == pf.v[2];
+  }
+};
+
+static void FillFaceVector (MeshType & m, std::vector<PFace> & fvec)
+{
+  ForEachTetra(m, [&fvec] (TetraType & t) {
+    for (int i = 0; i < 4; ++i)
+      fvec.push_back(PFace(&t, i));
+  });
+}
+
+static void FillUniqueFaceVector (MeshType & m, std::vector<PFace> & fvec)
+{
+  FillFaceVector(m, fvec);
+  std::sort(fvec.begin(), fvec.end());
+  typename std::vector<PFace>::iterator newEnd = std::unique(fvec.begin(), fvec.end());
+}
+
 /// \brief Auxiliairy data structure for computing face face adjacency information.
 /**
 It identifies and edge storing two vertex pointer and a face pointer where it belong.
 */
-
 class PEdge
 {
 public:
@@ -134,7 +211,7 @@ static void FillUniqueEdgeVector(MeshType &m, std::vector<PEdge> &edgeVec, bool
             edgeVec[ i ].isBorder = true;
         for (size_t i=1; i<edgeVec.size(); i++) {
             if (edgeVec[i]==edgeVec[i-1])
-                edgeVec[i-1].isBorder = edgeVec[i-1].isBorder = false;
+                edgeVec[i].isBorder = edgeVec[i-1].isBorder = false;
         }
     }
 
@@ -143,6 +220,20 @@ static void FillUniqueEdgeVector(MeshType &m, std::vector<PEdge> &edgeVec, bool
     edgeVec.resize(newEnd-edgeVec.begin()); // redundant! remove?
 }
 
+static void FillSelectedFaceEdgeVector(MeshType &m, std::vector<PEdge> &edgeVec)
+{
+  edgeVec.reserve(m.fn*3);
+  ForEachFace(m, [&](FaceType &f){
+    for(int j=0;j<f.VN();++j)
+      if(f.IsFaceEdgeS(j))
+        edgeVec.push_back(PEdge(&f,j));
+        });
+
+  sort(edgeVec.begin(), edgeVec.end()); // oredering by vertex
+  edgeVec.erase(std::unique(edgeVec.begin(), edgeVec.end()),edgeVec.end()); 
+}
+
+
 
 /*! \brief Initialize the edge vector all the edges that can be inferred from current face vector, setting up all the current adjacency relations
  *
@@ -224,6 +315,60 @@ static void AllocateEdge(MeshType &m)
 
 }
 
+/// \brief Clear the tetra-tetra topological relation, setting each involved pointer to null.
+/// useful when you passed a mesh with tt adjacency to an algorithm that does not use it and chould have messed it
+static void ClearTetraTetra (MeshType & m)
+{
+  RequireTTAdjacency(m);
+  ForEachTetra(m, [] (TetraType & t) {
+      for (int i = 0; i < 4; ++i)
+      {
+        t.TTp(i) = NULL;
+        t.TTi(i) = -1;
+      }
+  });
+}
+
+/// \brief Updates the Tetra-Tetra topological relation by allowing to retrieve for each tetra what other tetras share their faces.
+static void TetraTetra (MeshType & m)
+{
+  RequireTTAdjacency(m);
+  if (m.tn == 0) return;
+
+  std::vector<PFace> fvec;
+  FillFaceVector(m, fvec);
+  std::sort(fvec.begin(), fvec.end());
+
+  int nf = 0;
+  typename std::vector<PFace>::iterator pback, pfront;
+  pback  = fvec.begin();
+  pfront = fvec.begin();
+
+  do 
+  {
+    if (pfront == fvec.end() || !(*pfront == *pback))
+    {
+      typename std::vector<PFace>::iterator q, q_next;
+      for (q = pback; q < pfront - 1; ++q)
+      {
+        assert((*q).z >= 0);
+        q_next = q;
+        ++q_next;
+        assert((*q_next).z >= 0 && (*q_next).z < 4);
+        
+        (*q).t->TTp(q->z) = (*q_next).t;
+        (*q).t->TTi(q->z) = (*q_next).z;
+      }
+      
+      (*q).t->TTp(q->z) = pback->t;
+      (*q).t->TTi(q->z) = pback->z;
+      pback = pfront;
+      ++nf;
+    }
+    if (pfront == fvec.end()) break;
+    ++pfront;
+  } while (true);
+}
 /// \brief Clear the Face-Face topological relation setting each involved pointer to null.
 /// useful when you passed a mesh with ff adjacency to an algorithm that does not use it and could have messed it.
 static void ClearFaceFace(MeshType &m)
@@ -285,6 +430,30 @@ static void FaceFace(MeshType &m)
   } while(true);
 }
 
+
+/// \brief Update the vertex-tetra topological relation.
+static void VertexTetra(MeshType & m)
+{
+  RequireVTAdjacency(m);
+
+  
+  ForEachVertex(m, [] (VertexType & v) {
+      v.VTp() = NULL;
+      v.VTi() = 0;
+  });
+
+  ForEachTetra(m, [] (TetraType & t) {
+    //this works like this: the first iteration defines the end of the chain
+    //then it backwards chains everything
+      for (int i = 0; i < 4; ++i)
+      {
+        t.VTp(i) = t.V(i)->VTp();
+        t.VTi(i) = t.V(i)->VTi();
+        t.V(i)->VTp() = &t;
+        t.V(i)->VTi() = i;
+      }
+  });
+}
 /// \brief Update the Vertex-Face topological relation.
 /**
 The function allows to retrieve for each vertex the list of faces sharing this vertex.
@@ -434,13 +603,10 @@ static void TestVertexEdge(MeshType &m)
       if (!vi->IsD())
       {
         int cnt =0;
-        int ind = tri::Index(m,*vi);
-        int incidentNum = numVertex[ind];
         for(edge::VEIterator<EdgeType> vei(&*vi);!vei.End();++vei)
           cnt++;
-        EdgeType *vep = vi->VEp();
-        assert((incidentNum==0) == (vi->VEp()==0) );
-        assert(cnt==incidentNum);        
+        assert((numVertex[tri::Index(m,*vi)] == 0) == (vi->VEp()==0) );
+        assert(cnt==numVertex[tri::Index(m,*vi)]);        
       }
   }  
 }
diff --git a/vcg/complex/algorithms/voronoi_processing.h b/vcg/complex/algorithms/voronoi_processing.h
index 7b9a6068..e3cf60ca 100644
--- a/vcg/complex/algorithms/voronoi_processing.h
+++ b/vcg/complex/algorithms/voronoi_processing.h
@@ -45,59 +45,45 @@ struct VoronoiProcessingParameter
     RegionArea=3
   };
 
-  VoronoiProcessingParameter()
-  {
-    colorStrategy = DistanceFromSeed;
-    areaThresholdPerc=0;
-    deleteUnreachedRegionFlag=false;
-    constrainSelectedSeed=false;
-    preserveFixedSeed=false;
-    collapseShortEdge=false;
-    collapseShortEdgePerc = 0.01f;
-    triangulateRegion=false;
-    unbiasedSeedFlag = true;
-    geodesicRelaxFlag = true;
-    relaxOnlyConstrainedFlag=false;
-    refinementRatio = 5.0f;
-    seedPerturbationProbability=0;
-    seedPerturbationAmount = 0.001f;
+  VoronoiProcessingParameter()  {}
+  
+  int colorStrategy=DistanceFromSeed;
 
-  }
-  int colorStrategy;
+  float areaThresholdPerc=0;
+  bool deleteUnreachedRegionFlag=false;
 
-  float areaThresholdPerc;
-  bool deleteUnreachedRegionFlag;
-
-  bool unbiasedSeedFlag;
-  bool constrainSelectedSeed;   /// If true the selected vertexes define a constraining domain:
+  bool unbiasedSeedFlag= true;
+  bool constrainSelectedSeed=false;   /// If true the selected vertexes define a constraining domain:
                                 /// During relaxation all selected seeds are constrained to move
                                 /// only on other selected vertices.
                                 /// In this way you can constrain some seed to move only on certain
                                 /// domains, for example moving only along some linear features
                                 /// like border of creases.
 
-  bool relaxOnlyConstrainedFlag;
+  bool relaxOnlyConstrainedFlag=false;
 
-  bool preserveFixedSeed;       /// If true the 'fixed' seeds are not moved during relaxation.
+  bool preserveFixedSeed=false;       /// If true the 'fixed' seeds are not moved during relaxation.
                                 /// \see MarkVertexVectorAsFixed function to see how to fix a set of seeds.
 
-  float refinementRatio;        /// It defines how much the input mesh has to be refined in order to have a supporting
+  float refinementRatio = 5.0f; /// It defines how much the input mesh has to be refined in order to have a supporting
                                 /// triangulation that is dense enough to well approximate the voronoi diagram.
                                 /// reasonable values are in the range 4..10. It is used by PreprocessForVoronoi and this value
                                 /// says how many triangles you should expect in a voronoi region of a given radius.
-  float seedPerturbationProbability;      /// if true at each iteration step each seed has the given probability to be perturbed a little.
-  float seedPerturbationAmount;      /// As a bbox diag fraction (e.g. in the 0..1 range).
+  float seedPerturbationProbability=0;      /// if true at each iteration step each seed has the given probability to be perturbed a little.
+  float seedPerturbationAmount = 0.001f;      /// As a bbox diag fraction (e.g. in the 0..1 range).
 
   // Convertion to Voronoi Diagram Parameters
 
-  bool triangulateRegion;       /// If true when building the voronoi diagram mesh each region is a
+  bool triangulateRegion=false; /// If true when building the voronoi diagram mesh each region is a
                                 /// triangulated polygon. Otherwise it each voronoi region is a star
                                 /// triangulation with the original seed in the center.
 
-  bool collapseShortEdge;
-  float collapseShortEdgePerc;
+  bool collapseShortEdge=false;
+  float collapseShortEdgePerc = 0.01f;
 
-  bool geodesicRelaxFlag;
+  bool geodesicRelaxFlag= true;
+  
+  CallBackPos *lcb=DummyCallBackPos;
 };
 
 template <class MeshType, class DistanceFunctor = EuclideanDistance<MeshType> >
@@ -113,14 +99,14 @@ class VoronoiProcessing
   typedef typename MeshType::FaceType					FaceType;
   typedef typename MeshType::FaceContainer		FaceContainer;
   typedef typename tri::Geodesic<MeshType>::VertDist VertDist;
-
-  static math::MarsenneTwisterRNG &RandomGenerator()
-  {
-      static math::MarsenneTwisterRNG rnd;
-      return rnd;
-  }
+  typedef typename face::Pos<FaceType>        PosType;
 
 public:
+	static math::MarsenneTwisterRNG &RandomGenerator()
+    {
+        static math::MarsenneTwisterRNG rnd;
+        return rnd;
+    }
 
   typedef typename MeshType::template PerVertexAttributeHandle<VertexPointer> PerVertexPointerHandle;
   typedef typename MeshType::template PerVertexAttributeHandle<bool> PerVertexBoolHandle;
@@ -1134,7 +1120,7 @@ static bool GeodesicRelax(MeshType &m, std::vector<VertexType *> &seedVec, std::
     tri::UpdateColor<MeshType>::PerVertexQualityRamp(m);
 
   // Search the local maxima for each region and use them as new seeds
-  std::pair<float,VertexPointer> zz(0.0f,static_cast<VertexPointer>(NULL));
+  std::pair<float,VertexPointer> zz(0.0f,nullptr);
   std::vector< std::pair<float,VertexPointer> > seedMaximaVec(m.vert.size(),zz);
   for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
   {
@@ -1209,8 +1195,7 @@ static void MarkVertexVectorAsFixed(MeshType &m, std::vector<VertexType *> &vert
 static int RestrictedVoronoiRelaxing(MeshType &m, std::vector<CoordType> &seedPosVec,
                                      std::vector<bool> &fixedVec,
                                      int relaxStep,
-                                     VoronoiProcessingParameter &vpp,
-                                     vcg::CallBackPos *cb=0)
+                                     VoronoiProcessingParameter &vpp)
 {
   PerVertexFloatHandle area = tri::Allocator<MeshType>:: template GetPerVertexAttribute<float> (m,"area");
 
@@ -1224,12 +1209,12 @@ static int RestrictedVoronoiRelaxing(MeshType &m, std::vector<CoordType> &seedPo
       area[fi->V(i)]+=a3;
   }
 
-  assert(m.vn > (int)seedPosVec.size()*20);
+//  assert(m.vn > (int)seedPosVec.size()*20);
   int i;
   ScalarType perturb = m.bbox.Diag()*vpp.seedPerturbationAmount;
   for(i=0;i<relaxStep;++i)
   {
-    if(cb) cb(i*100/relaxStep,"RestrictedVoronoiRelaxing ");    
+    vpp.lcb(i*100/relaxStep,StrFormat("RestrictedVoronoiRelaxing %i on %i",i,relaxStep));    
     // Kdtree for the seeds must be rebuilt at each step;
     VectorConstDataWrapper<std::vector<CoordType> > vdw(seedPosVec);
     KdTree<ScalarType> seedTree(vdw);
@@ -1260,7 +1245,7 @@ static int RestrictedVoronoiRelaxing(MeshType &m, std::vector<CoordType> &seedPo
         if(sumVec[i].first != 0)
         {
           newseedVec.push_back(sumVec[i].second /ScalarType(sumVec[i].first));
-          if(vpp.seedPerturbationProbability > RandomGenerator().generate01())
+          if(vpp.seedPerturbationProbability > 0  && (vpp.seedPerturbationProbability > RandomGenerator().generate01()))
             newseedVec.back()+=math::GeneratePointInUnitBallUniform<ScalarType,math::MarsenneTwisterRNG>( RandomGenerator())*perturb;
           newfixedVec.push_back(false);
         }
@@ -1672,6 +1657,7 @@ static void PreprocessForVoronoi(MeshType &m, ScalarType radius,
 
   for(int i=0;i<maxSubDiv;++i)
   {
+    vpp.lcb(0,StrFormat("Subdividing %i vn %i",i,m.vn));
     bool ret = tri::Refine<MeshType, MidPointType >(m,mid,min(edgeLen*2.0f,radius/vpp.refinementRatio));
     if(!ret) break;
   }
@@ -1804,6 +1790,145 @@ static void RelaxRefineTriangulationLaplacian(MeshType &m, MeshType &delaMesh, i
   }
   for(int i=origVertNum;i<delaMesh.vn;++i) delaMesh.vert[i].C()=Color4b::LightBlue;
 }
+
+static void ConvertDelaunayTriangulationExtendedToMesh(MeshType &m,
+                                                       MeshType &outMesh,
+                                                       std::vector<VertexType *> &seedVec)
+{
+  RequirePerVertexAttribute(m ,"sources");
+  RequireCompactness(m);
+  RequireVFAdjacency(m);
+
+  auto sources = Allocator<MeshType>::template GetPerVertexAttribute<VertexPointer> (m,"sources");
+
+  outMesh.Clear();
+  UpdateTopology<MeshType>::FaceFace(m);
+  UpdateFlags<MeshType>::FaceBorderFromFF(m);
+
+  std::map<VertexPointer, int> seedMap;  // It says if a given vertex of m is a seed (and its index in seedVec)
+  BuildSeedMap(m, seedVec, seedMap);
+
+  std::vector<FacePointer> innerCornerVec,   // Faces adjacent to three different regions
+          borderCornerVec;  // Faces that are on the border and adjacent to at least two regions.
+  GetFaceCornerVec(m, sources, innerCornerVec, borderCornerVec);
+
+  // First add all the needed vertices: seeds and corners
+
+  for(size_t i=0;i<seedVec.size();++i)
+  {
+    Allocator<MeshType>::AddVertex(outMesh, seedVec[i]->P(), vcg::Color4b::White);
+  }
+
+  // Now just add one face for each inner corner
+  for(size_t i=0; i<innerCornerVec.size(); ++i)
+  {
+    VertexPointer s0 = sources[innerCornerVec[i]->V(0)];
+    VertexPointer s1 = sources[innerCornerVec[i]->V(1)];
+    VertexPointer s2 = sources[innerCornerVec[i]->V(2)];
+    assert ( (s0!=s1) && (s0!=s2) && (s1!=s2) );
+    VertexPointer v0 = & outMesh.vert[seedMap[s0]];
+    VertexPointer v1 = & outMesh.vert[seedMap[s1]];
+    VertexPointer v2 = & outMesh.vert[seedMap[s2]];
+    Allocator<MeshType>::AddFace(outMesh, v0, v1, v2);
+  }
+
+  // Now loop around the borders and find the missing delaunay triangles
+  // select border seed vertices only and pick one
+  UpdateFlags<MeshType>::VertexBorderFromFaceAdj(m);
+  UpdateFlags<MeshType>::VertexClearS(m);
+  UpdateFlags<MeshType>::VertexClearV(m);
+
+  std::vector<VertexPointer> borderSeeds;
+  for (auto & s : seedVec)
+  {
+    if (s->IsB())
+    {
+      s->SetS();
+      borderSeeds.emplace_back(s);
+    }
+  }
+
+  for (VertexPointer startBorderVertex : borderSeeds)
+  {
+    if (startBorderVertex->IsV())
+    {
+      continue;
+    }
+
+    // unvisited border seed found
+
+    // put the pos on the border
+    PosType pos(startBorderVertex->VFp(), startBorderVertex->VFi());
+    do {
+      pos.NextE();
+    } while (!pos.IsBorder() || (pos.VInd() != pos.E()));
+
+    // check all border edges between each consecutive border seeds pair
+    do {
+      std::vector<VertexPointer> edgeVoroVertices(1, sources[pos.V()]);
+      //	among all sources found
+      do {
+        pos.NextB();
+        VertexPointer source = sources[pos.V()];
+        if (edgeVoroVertices.empty() || edgeVoroVertices.back() != source)
+        {
+          edgeVoroVertices.push_back(source);
+        }
+      } while (!pos.V()->IsS());
+
+      pos.V()->SetV();
+
+//				assert(edgeVoroVertices.size() >= 2);
+
+
+      if (edgeVoroVertices.size() >= 3)
+      {
+        std::vector<VertexPointer> v;
+        for (size_t i=0; i<edgeVoroVertices.size(); i++)
+        {
+          v.push_back(&outMesh.vert[seedMap[edgeVoroVertices[i]]]);
+        }
+        // also handles N>3 vertices holes
+        for (size_t i=0; i<edgeVoroVertices.size()-2; i++)
+        {
+          Allocator<MeshType>::AddFace(outMesh, v[0],v[i+1],v[i+2]);
+        }
+//					if (edgeVoroVertices.size() > 3)
+//					{
+//						std::cout << "Weird case: " << edgeVoroVertices.size() << " voroseeds on one border" << std::endl;
+//					}
+      }
+//				// add face if 3 different voronoi regions are crossed by the edge
+//				if (edgeVoroVertices.size() == 3)
+//				{
+//					VertexPointer v0 = & outMesh.vert[seedMap[edgeVoroVertices[0]]];
+//					VertexPointer v1 = & outMesh.vert[seedMap[edgeVoroVertices[1]]];
+//					VertexPointer v2 = & outMesh.vert[seedMap[edgeVoroVertices[2]]];
+//					Allocator<MeshType>::AddFace(outMesh, v0,v1,v2);
+//				}
+//				else
+//				{
+//					std::cout << "Weird case!! " << edgeVoroVertices.size() << " voroseeds on one border" << std::endl;
+//					if (edgeVoroVertices.size() == 4)
+//					{
+//						VertexPointer v0 = & outMesh.vert[seedMap[edgeVoroVertices[0]]];
+//						VertexPointer v1 = & outMesh.vert[seedMap[edgeVoroVertices[1]]];
+//						VertexPointer v2 = & outMesh.vert[seedMap[edgeVoroVertices[2]]];
+//						VertexPointer v3 = & outMesh.vert[seedMap[edgeVoroVertices[3]]];
+//						Allocator<MeshType>::AddFace(outMesh, v0,v1,v2);
+//						Allocator<MeshType>::AddFace(outMesh, v0,v2,v3);
+//					}
+//				}
+
+    } while ((pos.V() != startBorderVertex));
+  }
+
+
+  Clean<MeshType>::RemoveUnreferencedVertex(outMesh);
+  Allocator<MeshType>::CompactVertexVector(outMesh);
+}
+
+
 }; // end class VoronoiProcessing
 
 } // end namespace tri
diff --git a/vcg/complex/algorithms/voronoi_remesher.h b/vcg/complex/algorithms/voronoi_remesher.h
new file mode 100644
index 00000000..9d275f82
--- /dev/null
+++ b/vcg/complex/algorithms/voronoi_remesher.h
@@ -0,0 +1,670 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2017                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+#ifndef _VCGLIB_VORONOI_REMESHER_H
+#define _VCGLIB_VORONOI_REMESHER_H
+
+#include <vcg/complex/complex.h>
+#include <vcg/complex/algorithms/update/topology.h>
+#include <vcg/complex/algorithms/refine.h>
+#include <vcg/complex/algorithms/clean.h>
+#include <vcg/complex/algorithms/voronoi_processing.h>
+#include <vcg/complex/algorithms/point_sampling.h>
+#include <vcg/complex/algorithms/crease_cut.h>
+//#include <vcg/complex/algorithms/curve_on_manifold.h>
+
+#include <memory>
+#include <string>
+#include <vector>
+#include <map>
+#include <unordered_map>
+#include <unordered_set>
+#include <cmath>
+#include <array>
+#include <utility>
+
+
+//#define DEBUG_VORO 1
+
+#ifdef DEBUG_VORO
+#include <wrap/io_trimesh/export.h>
+#include <QString>
+#include <QElapsedTimer>
+#endif
+
+namespace vcg {
+namespace tri {
+
+class VoroEdgeMeshAux
+{
+	class EmEdgeType;
+	class EmVertexType;
+	class EUsedTypes : public vcg::UsedTypes<vcg::Use<EmVertexType>::AsVertexType,
+	                                         vcg::Use<EmEdgeType>::AsEdgeType> {};
+	class EmVertexType : public vcg::Vertex<EUsedTypes
+       ,vcg::vertex::Normal3d
+	                          , vcg::vertex::Coord3d
+	                          , vcg::vertex::BitFlags
+	                          , vcg::vertex::VEAdj> {};
+	class EmEdgeType   : public vcg::Edge<EUsedTypes
+	        , vcg::edge::VertexRef
+	        , vcg::edge::BitFlags
+	        , vcg::edge::EEAdj
+	        , vcg::edge::VEAdj> {};
+public:
+	class EdgeMeshType : public vcg::tri::TriMesh<std::vector<EmVertexType>, std::vector<EmEdgeType> >
+	{
+	public:
+		~EdgeMeshType()
+		{
+			this->Clear();
+			this->ClearAttributes();
+		}
+	};
+};
+
+template <class MeshType>
+class Remesher
+{
+public:
+	typedef Remesher                  ThisType;
+
+	typedef MeshType                      Mesh;
+	typedef typename Mesh::ScalarType     ScalarType;
+	typedef typename Mesh::CoordType      CoordType;
+	typedef typename Mesh::FaceType       FaceType;
+	typedef typename Mesh::FacePointer    FacePointer;
+	typedef typename Mesh::VertexType     VertexType;
+	typedef typename Mesh::VertexPointer  VertexPointer;
+	typedef typename Mesh::FaceIterator   FaceIterator;
+	typedef typename Mesh::VertexIterator VertexIterator;
+
+	typedef std::shared_ptr<Mesh>         MeshPtr;
+
+protected:
+	typedef face::Pos<FaceType>                    PosType;
+
+	typedef typename VoroEdgeMeshAux::EdgeMeshType EdgeMeshType;
+
+	/// \brief splitCC split the provided mesh into connected components.
+	/// \param mesh the inputMesh.
+	/// \return the vector of connected components (meshes) for the input model
+	/// (if the input mesh is a single connected component returns an empty vector).
+	///
+	inline static std::vector<MeshPtr> splitCC(MeshType & mesh)
+	{
+		std::vector<MeshPtr> ret;
+
+		// find the connected components
+		std::vector<std::pair<int, typename MeshType::FacePointer> > CCV;
+		Clean<MeshType>::ConnectedComponents(mesh, CCV);
+
+		if (CCV.size() == 1)
+			return ret;
+		for(size_t i=0; i<CCV.size(); ++i)
+		{
+			UpdateSelection<MeshType>::Clear(mesh);
+			CCV[i].second->SetS();
+			UpdateSelection<MeshType>::FaceConnectedFF(mesh);
+			ret.push_back(std::make_shared<MeshType>());
+			Append<MeshType, MeshType>::MeshCopy(*(ret.back()), mesh, true);
+		}
+
+		return ret;
+	}
+
+public:
+	static const int VoroRelaxationStep = 10;
+
+	///
+	/// \brief Remesh the main function that remeshes a mesh preserving creases.
+	/// \param original the mesh
+	/// \param samplingRadius is the sampling radius for remeshing
+	/// \param borderCreaseAngleDeg is the angle treshold for preserving corner points on the mesh boundary
+	/// \param internalCreaseAngleDeg is the angle treshold for preserving creases on the mesh surface (if this value is < 0 it is set to borderCreaseAngleDeg)
+	/// \return the remeshed mesh
+	///
+	static inline MeshPtr Remesh(Mesh & original, const ScalarType samplingRadius, const ScalarType borderCreaseAngleDeg = 0.0, const ScalarType internalCreaseAngleDeg = -1.0)
+	{
+		RequireFFAdjacency(original);
+		RequireVFAdjacency(original);
+
+		UpdateTopology<Mesh>::FaceFace(original);
+		UpdateFlags<Mesh>::FaceBorderFromFF(original);
+		UpdateFlags<Mesh>::VertexBorderFromFaceAdj(original);
+
+		if (Clean<Mesh>::CountNonManifoldEdgeFF(original) > 0)
+		{
+			std::cout << "Input mesh has non manifold edges" << std::endl;
+			return nullptr;
+		}
+
+		const ScalarType borderAngleDeg = std::max(ScalarType(0), borderCreaseAngleDeg);
+		const ScalarType creaseAngleDeg = internalCreaseAngleDeg < 0 ? borderAngleDeg : internalCreaseAngleDeg;
+
+		// split on creases
+		if (creaseAngleDeg > 0)
+		{
+			CreaseCut<Mesh>(original, vcg::math::ToRad(creaseAngleDeg));
+			Allocator<Mesh>::CompactEveryVector(original);
+			UpdateTopology<Mesh>::FaceFace(original);
+			UpdateFlags<Mesh>::FaceBorderFromFF(original);
+			UpdateFlags<Mesh>::VertexBorderFromFaceAdj(original);
+		}
+
+		// Mark the non manifold border vertices as visited on the input mesh
+		// TODO maybe optimize this
+		{
+			// extract border mesh
+			EdgeMeshType em;
+			ThisType::ExtractMeshBorders(original, em);
+
+			// get the border edge mesh and leave the non manifold vertices only
+			tri::Allocator<EdgeMeshType>::CompactEveryVector(em);
+			vcg::tri::Clean<EdgeMeshType>::SelectNonManifoldVertexOnEdgeMesh(em);
+			for (EdgeMeshType::VertexType & v : em.vert)
+			{
+				if (!v.IsS())
+				{
+					tri::Allocator<EdgeMeshType>::DeleteVertex(em, v);
+				}
+			}
+			tri::Allocator<EdgeMeshType>::CompactVertexVector(em);
+
+
+			// clear visited vertices
+			tri::UpdateFlags<Mesh>::VertexClearV(original);
+			if (em.vn != 0)
+			{
+				// iterate over the mesh and mark as visited all the matching vertices with the non manifold border
+				tri::UpdateBounding<EdgeMeshType>::Box(em);
+				EdgeMeshType::BoxType bbox = em.bbox;
+				bbox.Offset(bbox.Diag()/1000.0);
+				typedef SpatialHashTable<EdgeMeshType::VertexType, EdgeMeshType::ScalarType> HashVertexGrid;
+				HashVertexGrid HG;
+				HG.Set(em.vert.begin(), em.vert.end(), bbox);
+
+				typedef EdgeMeshType::CoordType Coord;
+				EdgeMeshType::ScalarType dist_upper_bound = bbox.Diag()/1000.0;
+				for (VertexType & v : original.vert)
+				{
+					EdgeMeshType::ScalarType dist;
+					EdgeMeshType::VertexType * nonManifoldVertex = GetClosestVertex<EdgeMeshType,HashVertexGrid>(em, HG, Coord::Construct(v.cP()), dist_upper_bound, dist);
+					if (nonManifoldVertex != NULL && dist == 0)
+					{
+						v.SetV();
+					}
+				}
+			}
+
+		}
+#ifdef DEBUG_VORO
+		io::Exporter<Mesh>::Save(original, "creaseSplit.ply", io::Mask::IOM_VERTCOLOR);
+#endif
+
+		// One CC
+		std::vector<MeshPtr> ccs = splitCC(original);
+		if (ccs.empty())
+		{
+			return RemeshOneCC(original, samplingRadius, borderAngleDeg);
+		}
+
+		// Multiple CCs
+//		std::cout << "Remeshing " << ccs.size() << " components" << std::endl;
+		for (size_t i=0; i<ccs.size(); i++)
+		{
+//			std::cout << "Remeshing component " << (i+1) << "/" << ccs.size() << std::endl;
+			ccs[i] = RemeshOneCC(*ccs[i], samplingRadius, borderAngleDeg, i);
+		}
+
+		MeshPtr ret = std::make_shared<Mesh>();
+		for (MeshPtr & mesh : ccs)
+		{
+			Append<Mesh,Mesh>::Mesh(*ret, *mesh);
+		}
+		Clean<Mesh>::RemoveDuplicateVertex(*ret, true);
+		return ret;
+	}
+
+protected:
+  static bool debugCallBack(const int pos, const char * str) { printf("Processing: %s \n",str); fflush(stdout); return true;}
+
+	///
+	/// \brief RemeshOneCC the function that remeshes a single connected component mesh preserving its boundary (consistently for eventually adjacent meshes).
+	/// \param original the mesh
+	/// \param samplingRadius is the sampling radius for remeshing
+	/// \param borderCreaseAngleDeg is the angle treshold for preserving corner points on the mesh boundary
+	/// \return the remeshed mesh
+	///
+	static inline MeshPtr RemeshOneCC(Mesh & original, const ScalarType samplingRadius, const ScalarType borderCreaseAngleDeg = 0.0, int idx = 0)
+	{
+//		double timeBorders = 0;
+//		double timePoisson = 0;
+//		double timeRelax = 0;
+//		double timeSeed = 0;
+//		double timeSources = 0;
+//		double timeDelaunay = 0;
+//		QElapsedTimer timer;
+//		timer.start();
+
+		(void)idx;
+    
+		RequireCompactness(original);
+		RequirePerFaceFlags(original);
+
+		UpdateTopology<Mesh>::FaceFace(original);
+		UpdateFlags<Mesh>::FaceBorderFromFF(original);
+		UpdateFlags<Mesh>::VertexBorderFromFaceAdj(original);
+
+#ifdef DEBUG_VORO
+		io::ExporterPLY<MeshType>::Save(original, QString("cc_%1.ply").arg(idx).toStdString().c_str(), io::Mask::IOM_VERTCOLOR);
+#endif
+
+		// Resample border
+		Mesh poissonEdgeMesh;
+		{
+			typedef typename EdgeMeshType::CoordType Coord;
+
+			EdgeMeshType em;
+			ThisType::ExtractMeshBorders(original, em);
+			Allocator<EdgeMeshType>::CompactVertexVector(em);
+			Allocator<EdgeMeshType>::CompactEdgeVector(em);
+			// split on non manifold vertices of edgemesh
+			vcg::tri::Clean<EdgeMeshType>::SelectNonManifoldVertexOnEdgeMesh(em);
+			{
+				// select also the visited vertices (coming from the non manifold vertices of the whole crease-cut mesh)
+				for (auto & v : em.vert)
+				{
+					if (v.IsV()) { v.SetS(); }
+				}
+			}
+			const int manifoldSplits = vcg::tri::Clean<EdgeMeshType>::SplitSelectedVertexOnEdgeMesh(em);
+			(void)manifoldSplits;
+
+#ifdef DEBUG_VORO
+			std::cout << manifoldSplits << " non-manifold splits" << std::endl;
+			io::ExporterOBJ<EdgeMeshType>::Save(em, QString("edgeMesh_%1.obj").arg(idx).toStdString().c_str(), io::Mask::IOM_EDGEINDEX);
+#endif
+
+			// eventually split on 'creases'
+			if (borderCreaseAngleDeg > 0.0)
+			{
+				// split creases
+				UpdateFlags<EdgeMeshType>::VertexClearS(em);
+				UpdateFlags<EdgeMeshType>::VertexClearV(em);
+				Clean<EdgeMeshType>::SelectCreaseVertexOnEdgeMesh(em, vcg::math::ToRad(borderCreaseAngleDeg));
+				const int splits = Clean<EdgeMeshType>::SplitSelectedVertexOnEdgeMesh(em);
+				(void)splits;
+
+#ifdef DEBUG_VORO
+				std::cout << splits << " splits" << std::endl;
+				io::ExporterOBJ<EdgeMeshType>::Save(em, QString("edgeMesh_split_%1.obj").arg(idx).toStdString().c_str(), io::Mask::IOM_EDGEINDEX);
+#endif
+			}
+
+			// Samples vector
+			std::vector<Coord> borderSamples;
+			TrivialSampler<EdgeMeshType> ps(borderSamples);
+
+			// uniform edge sampling
+			UpdateTopology<EdgeMeshType>::EdgeEdge(em);
+			SurfaceSampling<EdgeMeshType>::EdgeMeshUniform(em, ps, samplingRadius, SurfaceSampling<EdgeMeshType>::Round);
+			BuildMeshFromCoordVector(poissonEdgeMesh, borderSamples);
+			UpdateBounding<Mesh>::Box(poissonEdgeMesh);
+
+			// remove duplicate vertices
+			Clean<Mesh>::RemoveDuplicateVertex(poissonEdgeMesh, false);
+			Allocator<Mesh>::CompactVertexVector(poissonEdgeMesh);
+
+			// select all vertices (to mark them fixed)
+			UpdateFlags<Mesh>::VertexSetS(poissonEdgeMesh);
+
+#ifdef DEBUG_VORO
+			io::ExporterPLY<MeshType>::Save(poissonEdgeMesh, QString("borderMesh_%1.ply").arg(idx).toStdString().c_str(), io::Mask::IOM_VERTCOLOR);
+#endif
+		}
+
+//		timeBorders = timer.restart() / 1000.0;
+
+		typedef VoronoiProcessing<Mesh>            Voronoi;
+		typedef TrivialSampler<Mesh>               BaseSampler;
+		typedef SurfaceSampling<Mesh, BaseSampler> SurfaceSampler;
+		typedef SurfaceSampling<Mesh, FixSampler>  SurfaceFixSampler;
+
+		// copy original mesh
+		Mesh baseMesh;
+		Append<Mesh, Mesh>::MeshCopy(baseMesh, original, false, true);
+
+		// refine to obtain a base mesh
+		VoronoiProcessingParameter vpp;
+		vpp.refinementRatio = 5.0f;
+    vpp.lcb = debugCallBack;
+    
+		Voronoi::PreprocessForVoronoi(baseMesh, samplingRadius, vpp);
+
+		// Poisson sampling preserving border
+		std::vector<CoordType> seedPointVec;
+		std::vector<bool>      seedFixedVec;
+		FixSampler fix_sampler(seedPointVec, seedFixedVec);
+
+		// montecarlo sampler
+		std::vector<CoordType> sampleVec;
+		BaseSampler mps(sampleVec);
+
+		// NOTE in order to make the results consistent the random sampling generator is initialized with the same value
+		SurfaceSampler::SamplingRandomGenerator().initialize(5489u);
+
+		// Montecarlo oversampling
+		Mesh montecarloMesh;
+//		const int poissonCount = SurfaceSampler::ComputePoissonSampleNum(original, samplingRadius)/* * 0.7*/;
+		int poissonCount = 0;
+		{
+			const ScalarType meshArea = Stat<Mesh>::ComputeMeshArea(original);
+			const ScalarType meshBoundary = Stat<Mesh>::ComputeBorderLength(original);
+			const double factor = math::Sqrt(3)/2;
+			const ScalarType areaPerSample = samplingRadius*samplingRadius * factor;
+			poissonCount = meshArea / areaPerSample - meshBoundary * samplingRadius * factor * 0.5; // totalArea / (r^2 * sqrt(3)/2) - (totalBoundary * r * sqrt(3)/4)
+		}
+
+//		std::cout << "poisson Count: " << poissonCount << std::endl;
+		if (poissonCount <= 0)
+		{
+			// no need for internal sampling
+			for (auto vi = poissonEdgeMesh.vert.begin(); vi != poissonEdgeMesh.vert.end(); vi++)
+			{
+				fix_sampler.AddVert(*vi);
+			}
+		}
+		else
+		{
+			// Montecarlo poisson sampling
+			SurfaceSampler::MontecarloPoisson(original, mps, poissonCount * 50);
+			BuildMeshFromCoordVector(montecarloMesh,sampleVec);
+
+#ifdef DEBUG_VORO
+			io::ExporterPLY<MeshType>::Save(montecarloMesh, QString("montecarloMesh_%1.ply").arg(idx).toStdString().c_str());
+#endif
+
+			// Poisson disk pruning initialized with edges
+			typename SurfaceFixSampler::PoissonDiskParam pp;
+			pp.preGenMesh = &poissonEdgeMesh;
+			pp.preGenFlag = true;
+			pp.bestSampleChoiceFlag = true;
+			pp.bestSamplePoolSize = 10;
+			pp.randomSeed = 7;
+			SurfaceFixSampler::PoissonDiskPruning(fix_sampler, montecarloMesh, samplingRadius, pp);
+
+		}
+
+#ifdef DEBUG_VORO
+			Mesh poissonMesh;
+			BuildMeshFromCoordVector(poissonMesh,seedPointVec);
+			io::ExporterPLY<MeshType>::Save(poissonMesh, QString("poissonMesh_%1.ply").arg(idx).toStdString().c_str());
+#endif
+
+//		timePoisson = timer.restart() / 1000.0;
+
+//		std::cout << "poisson samples " << seedPointVec.size() << std::endl;
+
+		// not enough points
+		if (seedPointVec.size() < 3)
+		{
+			return std::make_shared<Mesh>();
+		}
+
+		// TODO: rimettere a posto
+		// restricted relaxation with fixed points
+		Voronoi::RandomGenerator().initialize(5489u);
+		vpp.seedPerturbationProbability = 0.2f;
+		vpp.seedPerturbationAmount      = 0.005f;
+		Voronoi::RestrictedVoronoiRelaxing(baseMesh, seedPointVec, seedFixedVec, VoroRelaxationStep, vpp);
+		vpp.seedPerturbationProbability = 0.0f;
+		Voronoi::RestrictedVoronoiRelaxing(baseMesh, seedPointVec, seedFixedVec, VoroRelaxationStep/2, vpp);
+//		Voronoi::RestrictedVoronoiRelaxing(baseMesh, seedPointVec, seedFixedVec, VoroRelaxationStep, vpp);
+
+
+#ifdef DEBUG_VORO
+		BuildMeshFromCoordVector(poissonMesh,seedPointVec);
+		io::ExporterPLY<MeshType>::Save(poissonMesh, QString("relaxedMesh_%1.ply").arg(idx).toStdString().c_str());
+#endif
+
+//		timeRelax = timer.restart() / 1000.0;
+
+		// FAIL?
+		MeshPtr finalMeshPtr = std::make_shared<Mesh>();
+		std::vector<VertexType *> seedVertexVec;
+//				Voronoi::SeedToVertexConversion(baseMesh, seedPointVec, seedVertexVec, false);
+		ThisType::SeedToFixedBorderVertexConversion(baseMesh, samplingRadius, seedPointVec, seedFixedVec, seedVertexVec);
+		EuclideanDistance<Mesh> dd;
+//		timeSeed = timer.restart() / 1000.0;
+
+//		std::cout << "BEGIN compute vertex sources (basemesh vn:" << baseMesh.VN() << " fn:" << baseMesh.FN() << ")" << std::endl;
+		Voronoi::ComputePerVertexSources(baseMesh, seedVertexVec, dd);
+//		std::cout << "END   compute vertex sources" << std::endl;
+//		timeSources = timer.restart() / 1000.0;
+		// traditional
+//		Voronoi::ConvertDelaunayTriangulationToMesh(baseMesh, *finalMeshPtr, seedVertexVec, false);
+		// border-preserving
+		Voronoi::ConvertDelaunayTriangulationExtendedToMesh(baseMesh, *finalMeshPtr, seedVertexVec);
+
+#ifdef DEBUG_VORO
+		io::ExporterPLY<MeshType>::Save(*finalMeshPtr, QString("voroMesh_%1.ply").arg(idx).toStdString().c_str());
+		io::ExporterPLY<MeshType>::Save(baseMesh, QString("baseMesh_%1.ply").arg(idx).toStdString().c_str(), io::Mask::IOM_VERTCOLOR);
+#endif
+
+//		timeDelaunay = timer.elapsed() / 1000.0;
+
+//		std::cout << "border:   " << timeBorders  << std::endl
+//		          << "poisson:  " << timePoisson  << std::endl
+//		          << "relax:    " << timeRelax    << std::endl
+//		          << "seed:     " << timeSeed     << std::endl
+//		          << "sources:  " << timeSources  << std::endl
+//		          << "delaunay: " << timeDelaunay << std::endl;
+
+		return finalMeshPtr;
+	}
+
+	static inline void ExtractMeshBorders(Mesh & mesh, EdgeMeshType & sides)
+	{
+		RequireFFAdjacency(mesh);
+
+		// clean the edge mesh containing the borders
+		sides.Clear();
+
+		// gather into separate vertices lists
+		std::vector<std::vector<VertexType *> > edges;
+
+		for (auto fi = mesh.face.begin(); fi != mesh.face.end(); fi++)
+		{
+			for (int e=0; e<fi->VN(); e++)
+			{
+				if (vcg::face::IsBorder(*fi, e))
+				{
+					std::vector<VertexType *> tmp;
+					tmp.push_back(fi->V(e));
+					tmp.push_back(fi->V((e+1)%fi->VN()));
+					edges.push_back(tmp);
+				}
+			}
+		}
+
+		// convert to edge mesh
+		for (auto & e : edges)
+		{
+			assert(e.size() >= 2);
+
+			std::vector<typename EdgeMeshType::VertexType *> newVtx;
+
+			// insert new vertices and store their pointer
+			auto vi = Allocator<EdgeMeshType>::AddVertices(sides, e.size());
+			for (const auto & v : e)
+			{
+				vi->ImportData(*v);
+				newVtx.push_back(&(*vi++));
+			}
+
+			auto ei = Allocator<EdgeMeshType>::AddEdges(sides, e.size() - 1);
+			for (int i=0; i<static_cast<int>(e.size() - 1); i++)
+			{
+				ei->V(0) = newVtx[i];
+				ei->V(1) = newVtx[i+1];
+				ei++;
+			}
+		}
+
+		Clean<EdgeMeshType>::RemoveDuplicateVertex(sides);
+	}
+
+	static void SeedToFixedBorderVertexConversion(MeshType & m,
+	                                              const ScalarType samplingRadius,
+	                                              const std::vector<CoordType> & seedPVec,
+	                                              const std::vector<bool> & seedFixed,
+	                                              std::vector<VertexType *> & seedVVec)
+	{
+		typedef typename vcg::SpatialHashTable<VertexType, ScalarType> HashVertexGrid;
+		seedVVec.clear();
+
+		UpdateTopology<MeshType>::FaceFace(m);
+		UpdateFlags<MeshType>::VertexBorderFromFaceAdj(m);
+
+		typename MeshType::BoxType bbox = m.bbox;
+		bbox.Offset(bbox.Diag()/100.0);
+
+		// internal vertices grid
+		HashVertexGrid HG;
+		HG.Set(m.vert.begin(),m.vert.end(), bbox);
+
+		// boundary vertices grid
+		MeshType borderMesh;
+		HashVertexGrid borderHG;
+		{
+			// get border vertices and build another mesh
+			std::vector<CoordType> borderPts;
+			for (auto vit=m.vert.begin(); vit!=m.vert.end(); vit++)
+			{
+				if (!vit->IsD() && vit->IsB())
+					borderPts.push_back(vit->cP());
+			}
+			if (!borderPts.empty())
+			{
+				BuildMeshFromCoordVector(borderMesh,borderPts);
+				borderMesh.bbox = m.bbox;
+				borderHG.Set(borderMesh.vert.begin(), borderMesh.vert.end(), bbox);
+			}
+		}
+
+		const ScalarType dist_upper_bound=samplingRadius*4;
+		VertexType * vp = NULL;
+
+		for( size_t i = 0; i < seedPVec.size(); i++)
+		{
+			const CoordType & p = seedPVec[i];
+			const bool fixed    = seedFixed[i];
+			if (!fixed)
+			{
+				ScalarType dist;
+				vp = GetClosestVertex<MeshType,HashVertexGrid>(m, HG, p, dist_upper_bound, dist);
+				if (vp)
+				{
+					seedVVec.push_back(vp);
+				}
+			}
+			else
+			{
+				vp = NULL;
+
+				ScalarType dist;
+				VertexType * borderVp = GetClosestVertex<MeshType,HashVertexGrid>(borderMesh, borderHG, p, dist_upper_bound, dist);
+
+				if (borderVp)
+				{
+					std::vector<ScalarType>   dist;
+					std::vector<VertexType *> vps;
+					std::vector<CoordType>    pts;
+
+					//			vp = GetClosestVertex<MeshType,HashVertexGrid>(m, HG, borderVp->cP(), dist_upper_bound, dist);
+					unsigned int n = GetKClosestVertex<MeshType,HashVertexGrid>(m, HG, 16, borderVp->cP(), dist_upper_bound, vps, dist, pts);
+					if (n>0)
+					{
+						ScalarType d = dist[0];
+						seedVVec.push_back(vps[0]);
+						assert(dist.size() == size_t(n));
+						for (size_t j=1; j<dist.size(); j++)
+						{
+							if (dist[j] <= d)
+							{
+								seedVVec.push_back(vps[j]);
+								d = dist[j];
+							}
+							else
+							{
+								break;
+							}
+						}
+					}
+				}
+			}
+		}
+	}
+  
+	
+
+	///
+	/// \brief The FixSampler class is used with poisson disk pruning to preserve selected vertices and
+	/// keep an auxiliary vector indicating wether the sample is fixed or not
+	///
+	class FixSampler
+	{
+	public:
+		typedef typename MeshType::CoordType  CoordType;
+		typedef typename MeshType::VertexType VertexType;
+
+		FixSampler(std::vector<CoordType> & samples, std::vector<bool> & fixed)
+		    : sampleVec(samples)
+		    , fixedVec (fixed)
+		{
+			reset();
+		}
+
+		void reset()
+		{
+			sampleVec.clear();
+			fixedVec .clear();
+		}
+
+		void AddVert(const VertexType &p)
+		{
+			sampleVec.push_back(p.cP());
+			fixedVec .push_back(p.IsS());
+		}
+
+	private:
+		std::vector<CoordType> & sampleVec;
+		std::vector<bool>      & fixedVec;
+	};
+
+};
+} // end namespace tri
+} // end namespace vcg
+
+#endif // _VCGLIB_VORONOI_REMESHER_H
diff --git a/vcg/complex/algorithms/voronoi_volume_sampling.h b/vcg/complex/algorithms/voronoi_volume_sampling.h
index 53a31a9c..2d45eeab 100644
--- a/vcg/complex/algorithms/voronoi_volume_sampling.h
+++ b/vcg/complex/algorithms/voronoi_volume_sampling.h
@@ -622,7 +622,7 @@ void RefineMontecarloVolumeSamplingNearSurface(MeshType &surfaceSamplingMesh, Sc
  * 
  *
  */
- void BuildVolumeSampling(int montecarloSampleNum, ScalarType &poissonRadius, int randSeed)
+ void BuildVolumeSampling(int montecarloSampleNum, ScalarType poissonRadius, int randSeed)
  {
    if(montecarloSampleNum >0) 
      this->BuildMontecarloVolumeSampling(montecarloSampleNum);
@@ -646,6 +646,6 @@ void RefineMontecarloVolumeSamplingNearSurface(MeshType &surfaceSamplingMesh, Sc
 }; // end class
 
 
-} // end namespace vcg
+} // end namespace tri
 } // end namespace vcg
 #endif // VORONOI_VOLUME_SAMPLING_H
diff --git a/vcg/complex/all_types.h b/vcg/complex/all_types.h
index 11d8319e..eb84e56c 100755
--- a/vcg/complex/all_types.h
+++ b/vcg/complex/all_types.h
@@ -30,6 +30,7 @@ struct AllTypes{
 		struct AEdgeType {};
 		struct AFaceType {};
 		struct AHEdgeType {};
+		struct ATetraType {};
 };
 
 
diff --git a/vcg/complex/allocate.h b/vcg/complex/allocate.h
index 00df47b9..9a75492b 100644
--- a/vcg/complex/allocate.h
+++ b/vcg/complex/allocate.h
@@ -34,22 +34,28 @@ namespace tri {
 */
 
 template<class MeshType>
-size_t Index(MeshType &m, const typename MeshType::VertexType &v) {return &v-&*m.vert.begin();}
+size_t Index(const MeshType &m, const typename MeshType::VertexType &v) {return &v-&*m.vert.begin();}
 template<class MeshType>
-size_t Index(MeshType &m, const typename MeshType::FaceType &f) {return &f-&*m.face.begin();}
+size_t Index(const MeshType &m, const typename MeshType::FaceType &f) {return &f-&*m.face.begin();}
 template<class MeshType>
-size_t Index(MeshType &m, const typename MeshType::EdgeType &e) {return &e-&*m.edge.begin();}
+size_t Index(const MeshType &m, const typename MeshType::EdgeType &e) {return &e-&*m.edge.begin();}
 template<class MeshType>
-size_t Index(MeshType &m, const typename MeshType::HEdgeType &h) {return &h-&*m.hedge.begin();}
+size_t Index(const MeshType &m, const typename MeshType::HEdgeType &h) {return &h-&*m.hedge.begin();}
+template <class MeshType>
+size_t Index(const MeshType &m, const typename MeshType::TetraType &t) { return &t - &*m.tetra.begin(); }
+
 
 template<class MeshType>
-size_t Index(MeshType &m, const typename MeshType::VertexType *vp) {return vp-&*m.vert.begin();}
+size_t Index(const MeshType &m, const typename MeshType::VertexType *vp) {return vp-&*m.vert.begin();}
 template<class MeshType>
-size_t Index(MeshType &m, const typename MeshType::FaceType * fp) {return fp-&*m.face.begin();}
+size_t Index(const MeshType &m, const typename MeshType::FaceType * fp) {return fp-&*m.face.begin();}
 template<class MeshType>
-size_t Index(MeshType &m, const typename MeshType::EdgeType*  e) {return e-&*m.edge.begin();}
+size_t Index(const MeshType &m, const typename MeshType::EdgeType*  e) {return e-&*m.edge.begin();}
 template<class MeshType>
-size_t Index(MeshType &m, const typename MeshType::HEdgeType*  h) {return h-&*m.hedge.begin();}
+size_t Index(const MeshType &m, const typename MeshType::HEdgeType*  h) {return h-&*m.hedge.begin();}
+template <class MeshType>
+size_t Index(const MeshType &m, const typename MeshType::TetraType *t) { return t - &*m.tetra.begin(); }
+
 
 template<class MeshType>
 bool IsValidPointer( MeshType & m, const typename MeshType::VertexType *vp) { return ( m.vert.size() > 0 && (vp >= &*m.vert.begin()) && (vp <= &m.vert.back()) ); }
@@ -59,6 +65,8 @@ template<class MeshType>
 bool IsValidPointer(MeshType & m, const typename MeshType::FaceType   *fp) { return ( m.face.size() > 0 && (fp >= &*m.face.begin()) && (fp <= &m.face.back())); }
 template<class MeshType>
 bool IsValidPointer(MeshType & m, const typename MeshType::HEdgeType  *hp) { return ( m.hedge.size() > 0 && (hp >= &*m.hedge.begin()) && (hp <= &m.hedge.back())); }
+template <class MeshType>
+bool IsValidPointer(MeshType &m, const typename MeshType::TetraType *tp) { return (m.tetra.size() > 0 && (tp >= &*m.tetra.begin()) && (tp <= &m.tetra.back())); }
 
 template <class MeshType, class ATTR_CONT>
 void ReorderAttribute(ATTR_CONT &c, std::vector<size_t> & newVertIndex, MeshType & /* m */){
@@ -106,8 +114,12 @@ public:
   typedef typename MeshType::HEdgeIterator HEdgeIterator;
   typedef typename MeshType::HEdgeContainer HEdgeContainer;
 
-  typedef typename MeshType::CoordType     CoordType;
+  typedef typename MeshType::TetraType TetraType;
+  typedef typename MeshType::TetraPointer TetraPointer;
+  typedef typename MeshType::TetraIterator TetraIterator;
+  typedef typename MeshType::TetraContainer TetraContainer;
 
+  typedef typename MeshType::CoordType     CoordType;
 
   typedef typename MeshType::PointerToAttribute PointerToAttribute;
   typedef typename std::set<PointerToAttribute>::iterator AttrIterator;
@@ -174,9 +186,12 @@ public:
   static VertexIterator AddVertices(MeshType &m, size_t n, PointerUpdater<VertexPointer> &pu)
   {
     VertexIterator last;
-    if(n == 0) return m.vert.end();
+    if(n == 0) 
+      return m.vert.end();
     pu.Clear();
-    if(m.vert.empty()) pu.oldBase=0;  // if the vector is empty we cannot find the last valid element
+    
+    if(m.vert.empty())
+      pu.oldBase=0;  // if the vector is empty we cannot find the last valid element
     else {
       pu.oldBase=&*m.vert.begin();
       pu.oldEnd=&m.vert.back()+1;
@@ -201,9 +216,12 @@ public:
       for (EdgeIterator ei=m.edge.begin(); ei!=m.edge.end(); ++ei)
         if(!(*ei).IsD())
         {
-          if(HasEVAdjacency (m)) { pu.Update((*ei).V(0)); pu.Update((*ei).V(1));}
+          // if(HasEVAdjacency (m)) 
+          pu.Update((*ei).V(0));
+          pu.Update((*ei).V(1));
           //							if(HasEVAdjacency(m))   pu.Update((*ei).EVp());
         }
+
       HEdgeIterator hi;
       for (hi=m.hedge.begin(); hi!=m.hedge.end(); ++hi)
         if(!(*hi).IsD())
@@ -214,6 +232,12 @@ public:
           }
         }
 
+      for (TetraIterator ti = m.tetra.begin(); ti != m.tetra.end(); ++ti)
+        if (!(*ti).IsD())
+          for (int i = 0; i < 4; ++i)
+            if ((*ti).cV(i) != 0)
+              pu.Update((*ti).V(i));
+
       // e poiche' lo spazio e' cambiato si ricalcola anche last da zero
     }
     size_t siz=(size_t)(m.vert.size()-n);
@@ -287,7 +311,6 @@ public:
             */
   static EdgeIterator AddEdges(MeshType &m, size_t n, PointerUpdater<EdgePointer> &pu)
   {
-    EdgeIterator last;
     if(n == 0) return m.edge.end();
     pu.Clear();
     if(m.edge.empty()) pu.oldBase=0;  // if the vector is empty we cannot find the last valid element
@@ -298,6 +321,9 @@ public:
 
     m.edge.resize(m.edge.size()+n);
     m.en+=int(n);
+    size_t siz=(size_t)(m.edge.size()-n);
+    EdgeIterator firstNewEdge = m.edge.begin();
+    advance(firstNewEdge,siz);
 
     typename std::set<typename MeshType::PointerToAttribute>::iterator ai;
     for(ai = m.edge_attr.begin(); ai != m.edge_attr.end(); ++ai)
@@ -314,22 +340,25 @@ public:
               if ((*fi).cFEp(i)!=0) pu.Update((*fi).FEp(i));
         }
 
-      if(HasVEAdjacency(m))
+      if(HasVEAdjacency(m)){
         for (VertexIterator vi=m.vert.begin(); vi!=m.vert.end(); ++vi)
           if(!(*vi).IsD())
             if ((*vi).cVEp()!=0) pu.Update((*vi).VEp());
-
+        for(EdgeIterator ei=m.edge.begin();ei!=firstNewEdge;++ei)
+          if(!(*ei).IsD())
+          {            
+            if ((*ei).cVEp(0)!=0) pu.Update((*ei).VEp(0));
+            if ((*ei).cVEp(1)!=0) pu.Update((*ei).VEp(1));
+          }        
+      }
+      
       if(HasHEAdjacency(m))
         for (HEdgeIterator hi=m.hedge.begin(); hi!=m.hedge.end(); ++hi)
           if(!(*hi).IsD())
             if ((*hi).cHEp()!=0) pu.Update((*hi).HEp());
     }
-    size_t siz=(size_t)(m.edge.size()-n);
-
-    last = m.edge.begin();
-    advance(last,siz);
-
-    return last;// deve restituire l'iteratore alla prima faccia aggiunta;
+    
+    return firstNewEdge;// deve restituire l'iteratore alla prima faccia aggiunta;
   }
 
   /** Function to add a single edge to the mesh. and initializing it with two VertexPointer
@@ -341,6 +370,17 @@ public:
     ei->V(1)=v1;
     return ei;
   }
+  
+  /** Function to add a single edge to the mesh. and initializing it with two indexes to the vertexes
+            */
+  static EdgeIterator AddEdge(MeshType &m, size_t v0, size_t v1)
+  {
+    assert(v0!=v1);
+    assert(v0>=0 && v0<m.vert.size());
+    assert(v1>=0 && v1<m.vert.size());
+    return AddEdge(m,&(m.vert[v0]),&(m.vert[v1]));
+  }
+  
 
   /** Function to add a face to the mesh and initializing it with the three given coords
             */
@@ -496,9 +536,9 @@ public:
   static FaceIterator AddFace(MeshType &m, size_t v0, size_t v1, size_t v2)
   {
     assert((v0!=v1) && (v1!=v2) && (v0!=v2));
-    assert(v0>=0 && v0<=m.vert.size());
-    assert(v1>=0 && v1<=m.vert.size());
-    assert(v2>=0 && v2<=m.vert.size());
+    assert(v0>=0 && v0<m.vert.size());
+    assert(v1>=0 && v1<m.vert.size());
+    assert(v2>=0 && v2<m.vert.size());
     return AddFace(m,&(m.vert[v0]),&(m.vert[v1]),&(m.vert[v2]));
   }
   /** Function to add a face to the mesh and initializing it with the three given coords
@@ -646,6 +686,196 @@ public:
     return firstNewFace;
   }
 
+ //::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
+  //:::::::::::::::::TETRAS ADDER FUNCTIONS:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::
+
+  /** \brief Function to add n tetras to the mesh.
+            This is the only full featured function that is able to manage correctly
+            all the official internal pointers of the mesh (like the VT and TT adjacency relations)
+            \warning Calling this function can cause the invalidation of any not-managed TetraPointer
+            just because we resize the face vector.
+            If you have such pointers you need to update them by mean of the PointerUpdater object.
+            \sa PointerUpdater
+            \param m the mesh to be modified
+            \param n the number of elements to be added
+            \param pu  a PointerUpdater initialized so that it can be used to update pointers to tetras that could have become invalid after this adding.
+            \retval the iterator to the first element added.
+            */
+  static TetraIterator AddTetras(MeshType &m, size_t n, PointerUpdater<TetraPointer> &pu)
+  {
+    //nothing to do
+    if (n == 0)
+      return m.tetra.end();
+
+    //prepare the pointerupdater info
+    pu.Clear();
+    if (m.tetra.empty())
+      pu.oldBase = 0;
+    else
+    {
+      pu.oldBase = &*m.tetra.begin();
+      pu.oldEnd  = &m.tetra.back() + 1;
+    }
+
+    //resize the tetra list and update tetra count
+    m.tetra.resize(m.tetra.size() + n);
+    m.tn += n;
+
+    //get the old size and advance to the first new tetrahedron position
+    size_t oldSize = (size_t)(m.tetra.size() - n);
+
+    TetraIterator firstNewTetra = m.tetra.begin();
+    advance(firstNewTetra, oldSize);
+
+    //for each attribute make adapt the list size
+    typename std::set<typename MeshType::PointerToAttribute>::iterator ai;
+    for (ai = m.tetra_attr.begin(); ai != m.tetra_attr.end(); ++ai)
+      ((typename MeshType::PointerToAttribute)(*ai)).Resize(m.tetra.size());
+
+    //do the update
+    pu.newBase = &*m.tetra.begin();
+    pu.newEnd  = &m.tetra.back() + 1;
+    if (pu.NeedUpdate())
+    {
+      if (HasVTAdjacency(m))
+      {
+        for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+          if (!vi->IsD())
+            pu.Update(vi->VTp());
+
+        for (TetraIterator ti = m.tetra.begin(); ti != m.tetra.end(); ++ti)
+          if (!ti->IsD())
+          {
+            pu.Update(ti->VTp(0));
+            pu.Update(ti->VTp(1));
+            pu.Update(ti->VTp(2));
+            pu.Update(ti->VTp(3));
+          } 
+      }
+
+      //do edge and face adjacency
+      if (HasTTAdjacency(m))
+        for (TetraIterator ti = m.tetra.begin(); ti != m.tetra.end(); ++ti)
+          if (!ti->IsD())
+          {
+            pu.Update(ti->TTp(0));
+            pu.Update(ti->TTp(1));
+            pu.Update(ti->TTp(2));
+            pu.Update(ti->TTp(3));
+          }
+    }
+
+    return firstNewTetra;
+  }
+
+//TODO: ADD 4 FACES then add tetra
+  /** Function to add a face to the mesh and initializing it with the three given VertexPointers
+            */
+  static TetraIterator AddTetra(MeshType &m, VertexPointer v0, VertexPointer v1, VertexPointer v2, VertexPointer v3)
+  {
+    assert(m.vert.size() > 0);
+    assert((v0 != v1) && (v0 != v2) && (v0 != v3) && (v1 != v2) && (v1 != v3) && (v2 != v3));
+    assert(v0 >= &m.vert.front() && v0 <= &m.vert.back());
+    assert(v1 >= &m.vert.front() && v1 <= &m.vert.back());
+    assert(v2 >= &m.vert.front() && v2 <= &m.vert.back());
+    assert(v3 >= &m.vert.front() && v3 <= &m.vert.back());
+
+//    AddFace(m, v0, v1, v2);
+//    AddFace(m, v0, v3, v1);
+//    AddFace(m, v0, v2, v3);
+//    AddFace(m, v1, v3, v2);
+
+    PointerUpdater<TetraPointer> pu;
+    TetraIterator ti = AddTetras(m, 1, pu);
+    ti->V(0) = v0;
+    ti->V(1) = v1;
+    ti->V(2) = v2;
+    ti->V(3) = v3;
+    return ti;
+  }
+
+  /** Function to add a face to the mesh and initializing it with three indexes
+            */
+  static TetraIterator AddTetra(MeshType &m, const size_t v0, const size_t v1, const size_t v2, const size_t v3)
+  {
+    assert(m.vert.size() > 0);
+    assert((v0 != v1) && (v0 != v2) && (v0 != v3) && (v1 != v2) && (v1 != v3) && (v2 != v3));
+    assert(v0 >= 0 && v0 < m.vert.size());
+    assert(v1 >= 0 && v1 < m.vert.size());
+    assert(v2 >= 0 && v2 < m.vert.size());
+    assert(v3 >= 0 && v3 < m.vert.size());
+
+    return AddTetra(m, &(m.vert[v0]), &(m.vert[v1]), &(m.vert[v2]), &(m.vert[v3]));
+  }
+  /** Function to add a face to the mesh and initializing it with the three given coords
+            */
+  static TetraIterator AddTetra(MeshType &m, const CoordType & p0, const CoordType & p1, const CoordType & p2, const CoordType & p3)
+  {
+    VertexIterator vi = AddVertices(m, 4);
+
+    VertexPointer v0 = &*vi++;
+    VertexPointer v1 = &*vi++;
+    VertexPointer v2 = &*vi++;
+    VertexPointer v3 = &*vi++;
+
+    v0->P() = p0;
+    v1->P() = p1;
+    v2->P() = p2;
+    v3->P() = p3;
+
+    return AddTetra(m, v0, v1, v2, v3);
+  }
+
+// //requires no duplicate vertices on faces you use
+//   static TetraIterator AddTetra(MeshType &m, const FaceType & f0, const FaceType & f1, const FaceType & f2, const FaceType & f3)
+//   {
+//     assert(m.face.size() > 0);
+//     assert((f0 != f1) && (f0 != f2) && (f0 != f3) && (f1 != f2) && (f1 != f3) && (f2 != f3));
+//     assert(f1 >= 0 && f1 < m.face.size());
+//     assert(f2 >= 0 && f2 < m.face.size());
+//     assert(f3 >= 0 && f3 < m.face.size());
+//     assert(f0 >= 0 && f0 < m.face.size());
+//     //TODO: decide if you want to address this like this
+//     //ERROR: can't use position...so..could force to have no dup verts..and use pointers or avoid this kind of thing
+//     assert(f0.V(0) == f1.V(0) && f0.V(0) == f2.V(0) &&   //v0
+//             f0.V(1) == f1.V(2) && f0.V(1) == f3.V(0) &&  //v1
+//             f0.V(2) == f2.V(1) && f0.V(2) == f3.V(2) &&  //v2
+//             f1.V(1) == f2.V(2) && f1.V(1) == f3.V(1) )   //v3
+
+//     //add a tetra...and set vertices correctly
+//     PointerUpdater<TetraPointer> pu;
+//     TetraIterator ti = AddTetras(m, 1, pu);
+//     ti->V(0) = f0.V(0);
+//     ti->V(1) = f0.V(1);
+//     ti->V(2) = f0.V(2);
+//     ti->V(3) = f1.V(1);
+
+//     return ti;
+//   }
+
+  /** \brief Function to add n faces to the mesh.
+            First wrapper, with no parameters
+            */
+  static TetraIterator AddTetras(MeshType &m, size_t n)
+  {
+    PointerUpdater<TetraPointer> pu;
+    return AddTetras(m, n, pu);
+  }
+
+  /** \brief Function to add n faces to the mesh.
+            Second Wrapper, with a vector of face pointer to be updated.
+            */
+  static TetraIterator AddTetras(MeshType &m, size_t n, std::vector<TetraPointer *> &local_vec)
+  {
+    PointerUpdater<TetraPointer> pu;
+    TetraIterator t_ret = AddTetras(m, n, pu);
+
+    typename std::vector<TetraPointer *>::iterator ti;
+    for (ti = local_vec.begin(); ti != local_vec.end(); ++ti)
+      pu.Update(**ti);
+    return t_ret;
+  }
+
   /* +++++++++++++++ Deleting  ++++++++++++++++ */
 
   /** Function to delete a face from the mesh.
@@ -693,6 +923,17 @@ public:
     --m.hn;
   }
 
+  /** Function to delete a tetra from the mesh.
+            NOTE: THIS FUNCTION ALSO UPDATE tn
+           */
+  static void DeleteTetra(MeshType &m, TetraType &t)
+  {
+    assert(&t >= &m.tetra.front() && &t <= &m.tetra.back());
+    assert(!t.IsD());
+    t.SetD();
+    --m.tn;
+  }
+
   /*
             Function to rearrange the vertex vector according to a given index permutation
             the permutation is vector such that after calling this function
@@ -729,6 +970,15 @@ public:
           }
           else m.vert [ pu.remap[i] ].VEClear();
         }
+        if (HasVTAdjacency(m))
+        {
+          if (m.vert[i].IsVTInitialized())
+          {
+            m.vert[ pu.remap[i] ].VTp() = m.vert[i].cVTp();
+            m.vert[ pu.remap[i] ].VTi() = m.vert[i].cVTi();
+          }
+          else m.vert[ pu.remap[i] ].VTClear();
+        }
       }
     }
 
@@ -758,8 +1008,17 @@ public:
           assert(pu.oldBase <= (*fi).V(i) && oldIndex < pu.remap.size());
           (*fi).V(i) = pu.newBase+pu.remap[oldIndex];
         }
-    // Loop on the edges to update the pointers EV relation
-    if(HasEVAdjacency(m))
+    // Loop on the tetras to update the pointers TV relation (vertex refs)
+    for(TetraIterator ti = m.tetra.begin(); ti != m.tetra.end(); ++ti)
+      if(!(*ti).IsD())
+        for(int i = 0; i < 4; ++i)
+        {
+          size_t oldIndex = (*ti).V(i) - pu.oldBase;
+          assert(pu.oldBase <= (*ti).V(i) && oldIndex < pu.remap.size());
+          (*ti).V(i) = pu.newBase+pu.remap[oldIndex];
+        }
+    // Loop on the edges to update the pointers EV relation (vertex refs)
+    // if(HasEVAdjacency(m))
       for(EdgeIterator ei=m.edge.begin();ei!=m.edge.end();++ei)
         if(!(*ei).IsD())
         {
@@ -768,14 +1027,14 @@ public:
         }
   }
 
-  static void CompactEveryVector( MeshType &m)
+  static void CompactEveryVector(MeshType &m)
   {
     CompactVertexVector(m);
     CompactEdgeVector(m);
     CompactFaceVector(m);
+    CompactTetraVector(m);
   }
 
-
   /*!
         \brief Compact vector of vertices removing deleted elements.
         Deleted elements are put to the end of the vector and the vector is resized. Order between elements is preserved but not their position (hence the PointerUpdater)
@@ -805,7 +1064,6 @@ public:
     assert((int)pos==m.vn);
 
     PermutateVertexVector(m, pu);
-
   }
 
   /*! \brief Wrapper without the PointerUpdater. */
@@ -863,13 +1121,22 @@ public:
             m.edge[ pu.remap[i] ].VEi(1) = m.edge[i].cVEi(1);
           }
         if(HasEEAdjacency(m))
-          if (m.edge[i].cEEp(0)!=0)
+//          if (m.edge[i].cEEp(0)!=0)
           {
             m.edge[ pu.remap[i] ].EEp(0) = m.edge[i].cEEp(0);
             m.edge[ pu.remap[i] ].EEi(0) = m.edge[i].cEEi(0);
             m.edge[ pu.remap[i] ].EEp(1) = m.edge[i].cEEp(1);
             m.edge[ pu.remap[i] ].EEi(1) = m.edge[i].cEEi(1);
           }
+        if(HasEFAdjacency(m))
+//          if (m.edge[i].cEEp(0)!=0)
+          {
+            m.edge[ pu.remap[i] ].EFp() = m.edge[i].cEFp();
+            m.edge[ pu.remap[i] ].EFi() = m.edge[i].cEFi();
+            m.edge[ pu.remap[i] ].EFp() = m.edge[i].cEFp();
+            m.edge[ pu.remap[i] ].EFi() = m.edge[i].cEFi();
+          }
+
       }
     }
 
@@ -903,6 +1170,8 @@ public:
           pu.Update((*ei).VEp(i));
         if(HasEEAdjacency(m))
           pu.Update((*ei).EEp(i));
+//        if(HasEFAdjacency(m))
+//          pu.Update((*ei).EFp());
       }
   }
 
@@ -1031,6 +1300,125 @@ public:
     CompactFaceVector(m,pu);
   }
 
+/*!
+    \brief Compact tetra vector by removing deleted elements.
+
+    Deleted elements are put to the end of the vector and the vector is resized.
+    Order between elements is preserved, but not their position (hence the PointerUpdater)
+    Immediately after calling this function the \c IsD() test during the scanning a vector, is no more necessary.
+    \warning It should not be called when some TemporaryData is active (but works correctly if attributes are present)
+    */
+  static void CompactTetraVector(MeshType & m, PointerUpdater<TetraPointer> & pu)
+  {
+    //nothing to do
+    if (size_t(m.tn) == m.tetra.size())
+      return;
+
+    //init the remap 
+    pu.remap.resize(m.tetra.size(), std::numeric_limits<size_t>::max());
+    
+    //cycle over all the tetras, pos is the last not D() position, I is the index
+    //when pos != i and !tetra[i].IsD() => we need to compact and update adj
+    size_t pos = 0;
+    for (size_t i = 0; i < m.tetra.size(); ++i)
+    {
+      if (!m.tetra[i].IsD())
+      {
+        if (pos != i)
+        {
+          //import data 
+          m.tetra[pos].ImportData(m.tetra[i]);
+          //import vertex refs
+          for (int j = 0; j < 4; ++j)
+            m.tetra[pos].V(j) = m.tetra[i].V(j);
+          //import VT adj
+          if (HasVTAdjacency(m))
+            for (int j = 0; j < 4; ++j)
+            {
+              if (m.tetra[i].IsVTInitialized(j))
+              {
+                m.tetra[pos].VTp(j) = m.tetra[i].VTp(j);
+                m.tetra[pos].VTi(j) = m.tetra[i].VTi(j);
+              }
+              else
+                m.tetra[pos].VTClear(j);
+            }
+          //import TT adj
+          if (HasTTAdjacency(m))
+            for (int j = 0; j < 4; ++j)
+            {
+              m.tetra[pos].TTp(j) = m.tetra[i].cTTp(j);
+              m.tetra[pos].TTi(j) = m.tetra[i].cTTi(j);
+            }
+        }
+        //update remapping and advance pos
+        pu.remap[i] = pos;
+        ++pos;
+      }
+    }
+
+    assert(size_t(m.tn) == pos);
+    //reorder the optional attributes in m.tetra_attr 
+    ReorderAttribute(m.tetra_attr, pu.remap, m);
+    // resize the optional atttributes in m.tetra_attr to reflect the changes
+    ResizeAttribute(m.tetra_attr, m.tn, m);
+
+    // Loop on the tetras to correct VT and TT relations
+    pu.oldBase = &m.tetra[0];
+    pu.oldEnd = &m.tetra.back() + 1;
+
+    m.tetra.resize(m.tn);
+    pu.newBase = (m.tetra.empty()) ? 0 : &m.tetra[0];
+    pu.newEnd  = (m.tetra.empty()) ? 0 : &m.tetra.back() + 1;
+
+    TetraPointer tbase = &m.tetra[0];
+
+    //Loop on the vertices to correct VT relation (since we moved things around)
+    if (HasVTAdjacency(m))
+    {
+      for (VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
+        if (!(*vi).IsD())
+        {
+          if ((*vi).IsVTInitialized() && (*vi).VTp() != 0)
+          {
+            size_t oldIndex = (*vi).cVTp() - tbase;
+            assert(tbase <= (*vi).cVTp() && oldIndex < pu.remap.size());
+            (*vi).VTp() = tbase + pu.remap[oldIndex];
+          }
+        }
+    }
+
+    // Loop on the tetras to correct the VT and TT relations
+    for (TetraIterator ti = m.tetra.begin(); ti != m.tetra.end(); ++ti)
+      if (!(*ti).IsD())
+      {
+        //VT
+        if (HasVTAdjacency(m))
+          for (int i = 0; i < 4; ++i)
+            if ((*ti).IsVTInitialized(i) && (*ti).VTp(i) != 0)
+            {
+              size_t oldIndex = (*ti).VTp(i) - tbase;
+              assert(tbase <= (*ti).VTp(i) && oldIndex < pu.remap.size());
+              (*ti).VTp(i) = tbase + pu.remap[oldIndex];
+            }
+        //TT
+        if (HasTTAdjacency(m))
+          for (int i = 0; i < 4; ++i)
+            if ((*ti).cTTp(i) != 0)
+            {
+              size_t oldIndex = (*ti).TTp(i) - tbase;
+              assert(tbase <= (*ti).TTp(i) && oldIndex < pu.remap.size());
+              (*ti).TTp(i) = tbase + pu.remap[oldIndex];
+            }
+      }
+  }
+
+  /*! \brief Wrapper without the PointerUpdater. */
+  static void CompactTetraVector(MeshType &m)
+  {
+    PointerUpdater<TetraPointer> pu;
+    CompactTetraVector(m, pu);
+  }
 
 
 public:
@@ -1065,6 +1453,7 @@ public:
     h._sizeof = sizeof(ATTR_TYPE);
     h._padding = 0;
     h._handle =   new SimpleTempData<VertContainer,ATTR_TYPE>(m.vert);
+    h._type = typeid(ATTR_TYPE);
     m.attrn++;
     h.n_attr = m.attrn;
     std::pair < AttrIterator , bool> res =  m.vert_attr.insert(h);
@@ -1141,12 +1530,12 @@ public:
   template <class ATTR_TYPE>
   static
   void
-  ClearPerVertexAttribute( MeshType & m,typename MeshType::template PerVertexAttributeHandle<ATTR_TYPE> & h){
+  ClearPerVertexAttribute( MeshType & m,typename MeshType::template PerVertexAttributeHandle<ATTR_TYPE> & h, const  ATTR_TYPE & initVal = ATTR_TYPE()){
     typename std::set<PointerToAttribute > ::iterator i;
     for( i = m.vert_attr.begin(); i !=  m.vert_attr.end(); ++i)
       if( (*i)._handle == h._handle ){
         for(typename MeshType::VertexIterator vi = m.vert.begin(); vi != m.vert.end(); ++vi)
-          h[vi] = ATTR_TYPE();
+          h[vi] = initVal;
         return;}
     assert(0);
   }
@@ -1206,6 +1595,7 @@ public:
     h._padding = 0;
     //		h._typename = typeid(ATTR_TYPE).name();
     h._handle =  new SimpleTempData<EdgeContainer,ATTR_TYPE>(m.edge);
+    h._type = typeid(ATTR_TYPE);
     m.attrn++;
     h.n_attr = m.attrn;
     std::pair < AttrIterator , bool> res =  m.edge_attr.insert(h);
@@ -1285,7 +1675,7 @@ public:
     typename std::set<PointerToAttribute > ::iterator i;
     for( i = m.edge_attr.begin(); i !=  m.edge_attr.end(); ++i)
       if( (*i)._handle == h._handle ){
-        delete ((SimpleTempData<FaceContainer,ATTR_TYPE>*)(*i)._handle);
+        delete ((SimpleTempData<EdgeContainer,ATTR_TYPE>*)(*i)._handle);
         m.edge_attr.erase(i);
         return;}
   }
@@ -1329,6 +1719,7 @@ public:
     h._sizeof = sizeof(ATTR_TYPE);
     h._padding = 0;
     h._handle =   new SimpleTempData<FaceContainer,ATTR_TYPE>(m.face);
+    h._type = typeid(ATTR_TYPE);
     m.attrn++;
     h.n_attr = m.attrn;
     std::pair < AttrIterator , bool> res =  m.face_attr.insert(h);
@@ -1423,6 +1814,136 @@ public:
     return true;
   }
 
+  /// Per Tetra Attributes
+  template <class ATTR_TYPE>
+  static bool IsValidHandle(MeshType & m, const typename MeshType::template PerTetraAttributeHandle<ATTR_TYPE> & a)
+  {
+    if (a._handle == NULL)
+      return false;
+    for (AttrIterator i = m.tetra_attr.begin(); i != m.tetra_attr.end(); ++i)
+      if ((*i).n_attr == a.n_attr)
+        return true;
+    return false;
+  }
+
+  template <class ATTR_TYPE>
+  static typename MeshType::template PerTetraAttributeHandle<ATTR_TYPE> AddPerTetraAttribute(MeshType & m, std::string name)
+  {
+    PAIte i;
+    PointerToAttribute h;
+    h._name = name;
+    if (!name.empty())
+    {
+      i = m.tetra_attr.find(h);
+      assert(i == m.tetra_attr.end());
+    }
+
+    h._sizeof = sizeof(ATTR_TYPE);
+    h._padding = 0;
+    h._handle = new SimpleTempData<TetraContainer, ATTR_TYPE>(m.tetra);
+    h._type = typeid(ATTR_TYPE);
+    m.attrn++;
+    h.n_attr = m.attrn;
+    std::pair<AttrIterator, bool> res = m.tetra_attr.insert(h);
+    return typename MeshType::template PerTetraAttributeHandle<ATTR_TYPE>(res.first->_handle, res.first->n_attr);
+  }
+
+  template <class ATTR_TYPE>
+  static typename MeshType::template PerTetraAttributeHandle<ATTR_TYPE> AddPerTetraAttribute(MeshType &m)
+  {
+    return AddPerTetraAttribute<ATTR_TYPE>(m, std::string(""));
+  }
+
+  /*! \brief gives a handle to a per-tetra attribute with a given name and ATTR_TYPE
+      \returns a valid handle. If the name is not empty and an attribute with that name and type exists returns a handle to it.
+        Otherwise return a hanlde to a newly created.
+      */
+  template <class ATTR_TYPE>
+  static typename MeshType::template PerTetraAttributeHandle<ATTR_TYPE> GetPerTetraAttribute(MeshType &m, std::string name = std::string(""))
+  {
+    typename MeshType::template PerTetraAttributeHandle<ATTR_TYPE> h;
+    if (!name.empty())
+    {
+      h = FindPerTetraAttribute<ATTR_TYPE>(m, name);
+      if (IsValidHandle(m, h))
+        return h;
+    }
+    return AddPerTetraAttribute<ATTR_TYPE>(m, name);
+  }
+
+  template <class ATTR_TYPE>
+  static typename MeshType::template PerTetraAttributeHandle<ATTR_TYPE> FindPerTetraAttribute(MeshType &m, const std::string &name)
+  {
+    assert(!name.empty());
+    PointerToAttribute h1;
+    h1._name = name;
+    typename std::set<PointerToAttribute>::iterator i;
+
+    i = m.tetra_attr.find(h1);
+    if (i != m.tetra_attr.end())
+      if ((*i)._sizeof == sizeof(ATTR_TYPE))
+      {
+        if ((*i)._padding != 0)
+        {
+          PointerToAttribute attr = (*i); // copy the PointerToAttribute
+          m.tetra_attr.erase(i);           // remove it from the set
+          FixPaddedPerTetraAttribute<ATTR_TYPE>(m, attr);
+          std::pair<AttrIterator, bool> new_i = m.tetra_attr.insert(attr); // insert the modified PointerToAttribute
+          assert(new_i.second);
+          i = new_i.first;
+        }
+        return typename MeshType::template PerTetraAttributeHandle<ATTR_TYPE>((*i)._handle, (*i).n_attr);
+      }
+    return typename MeshType::template PerTetraAttributeHandle<ATTR_TYPE>(NULL, 0);
+  }
+
+  template <class ATTR_TYPE>
+  static void GetAllPerTetraAttribute(MeshType &m, std::vector<std::string> &all)
+  {
+    all.clear();
+    typename std::set<PointerToAttribute>::const_iterator i;
+    for (i = m.tetra_attr.begin(); i != m.tetra_attr.end(); ++i)
+      if (!(*i)._name.empty())
+      {
+        typename MeshType::template PerTetraAttributeHandle<ATTR_TYPE> hh;
+        hh = Allocator<MeshType>::template FindPerTetraAttribute<ATTR_TYPE>(m, (*i)._name);
+        if (IsValidHandle<ATTR_TYPE>(m, hh))
+          all.push_back((*i)._name);
+      }
+  }
+
+  /*! \brief If  the per-face attribute exists, delete it.
+    */
+  template <class ATTR_TYPE>
+  static void DeletePerTetraAttribute(MeshType &m, typename MeshType::template PerTetraAttributeHandle<ATTR_TYPE> &h)
+  {
+    typename std::set<PointerToAttribute>::iterator i;
+    for (i = m.tetra_attr.begin(); i != m.tetra_attr.end(); ++i)
+      if ((*i)._handle == h._handle)
+      {
+        delete ((SimpleTempData<TetraContainer, ATTR_TYPE> *)(*i)._handle);
+        m.tetra_attr.erase(i);
+        return;
+      }
+  }
+
+  // Generic DeleteAttribute.
+  // It must not crash if you try to delete a non existing attribute,
+  // because you do not have a way of asking for a handle of an attribute for which you do not know the type.
+  static bool DeletePerTetraAttribute(MeshType &m, std::string name)
+  {
+    AttrIterator i;
+    PointerToAttribute h1;
+    h1._name = name;
+    i = m.tetra_attr.find(h1);
+    if (i == m.tetra_attr.end())
+      return false;
+    delete ((SimpleTempDataBase *)(*i)._handle);
+    m.tetra_attr.erase(i);
+    return true;
+  }
+
+
   /// Per Mesh Attributes
   template <class ATTR_TYPE>
   static
@@ -1447,6 +1968,7 @@ public:
     h._sizeof = sizeof(ATTR_TYPE);
     h._padding = 0;
     h._handle =  new Attribute<ATTR_TYPE>();
+    h._type = typeid(ATTR_TYPE);
     m.attrn++;
     h.n_attr = m.attrn;
     std::pair < AttrIterator , bool> res =  m.mesh_attr.insert(h);
@@ -1613,7 +2135,36 @@ public:
     pa._padding = 0;
   }
 
+    template <class ATTR_TYPE>
+  static void FixPaddedPerTetraAttribute(MeshType &m, PointerToAttribute &pa)
+  {
 
+    // create the container of the right type
+    SimpleTempData<TetraContainer, ATTR_TYPE> *_handle = new SimpleTempData<TetraContainer, ATTR_TYPE>(m.tetra);
+
+    // copy the padded container in the new one
+    _handle->Resize(m.tetra.size());
+    for (size_t i = 0; i < m.tetra.size(); ++i)
+    {
+      ATTR_TYPE *dest = &(*_handle)[i];
+      char *ptr = (char *)(((SimpleTempDataBase *)pa._handle)->DataBegin());
+      memcpy((void *)dest,
+             (void *)&(ptr[i * pa._sizeof]), sizeof(ATTR_TYPE));
+    }
+
+    // remove the padded container
+    delete ((SimpleTempDataBase *)pa._handle);
+
+    // update the pointer to data
+    pa._sizeof = sizeof(ATTR_TYPE);
+
+    // update the pointer to data
+    pa._handle = _handle;
+
+    // zero the padding
+    pa._padding = 0;
+  }
+  
   template <class ATTR_TYPE>
   static void FixPaddedPerMeshAttribute ( MeshType & /* m */,PointerToAttribute & pa){
 
diff --git a/vcg/complex/append.h b/vcg/complex/append.h
index 6f1cf1cd..047214f9 100644
--- a/vcg/complex/append.h
+++ b/vcg/complex/append.h
@@ -46,19 +46,24 @@ public:
  typedef typename MeshLeft::EdgeType				EdgeLeft;
  typedef typename MeshLeft::FaceType				FaceLeft;
  typedef typename MeshLeft::HEdgeType				HEdgeLeft;
+ typedef typename MeshLeft::TetraType       TetraLeft;
  typedef typename MeshLeft::VertexPointer		VertexPointerLeft;
  typedef typename MeshLeft::VertexIterator	VertexIteratorLeft;
  typedef typename MeshLeft::EdgeIterator		EdgeIteratorLeft;
  typedef typename MeshLeft::HEdgeIterator		HEdgeIteratorLeft;
  typedef typename MeshLeft::FaceIterator		FaceIteratorLeft;
+ typedef typename MeshLeft::TetraIterator   TetraIteratorLeft;
 
 
- typedef typename ConstMeshRight::ScalarType			ScalarRight;
- typedef typename ConstMeshRight::CoordType			CoordRight;
- typedef typename ConstMeshRight::VertexType			VertexRight;
- typedef typename ConstMeshRight::EdgeType				EdgeRight;
- typedef typename ConstMeshRight::HEdgeType			HEdgeRight;
- typedef typename ConstMeshRight::FaceType				FaceRight;
+ typedef typename ConstMeshRight::ScalarType     ScalarRight;
+ typedef typename ConstMeshRight::CoordType      CoordRight;
+ typedef typename ConstMeshRight::VertexType     VertexRight;
+ typedef typename ConstMeshRight::EdgeType       EdgeRight;
+ typedef typename ConstMeshRight::HEdgeType      HEdgeRight;
+ typedef typename ConstMeshRight::FaceType       FaceRight;
+ typedef typename ConstMeshRight::TetraType      TetraRight;
+ typedef typename ConstMeshRight::TetraPointer   TetraPointerRight;
+ typedef typename ConstMeshRight::TetraIterator  TetraIteratorRight;
  typedef typename ConstMeshRight::VertexPointer  VertexPointerRight;
  typedef typename ConstMeshRight::VertexIterator VertexIteratorRight;
  typedef typename ConstMeshRight::EdgeIterator   EdgeIteratorRight;
@@ -68,7 +73,7 @@ public:
 
  struct Remap{
    static size_t InvalidIndex() { return std::numeric_limits<size_t>::max(); }
-        std::vector<size_t> vert,face,edge, hedge;
+        std::vector<size_t> vert, face, edge, hedge, tetra;
  };
 
  static void ImportVertexAdj(MeshLeft &ml, ConstMeshRight &mr, VertexLeft &vl,   VertexRight &vr, Remap &remap ){
@@ -91,6 +96,13 @@ public:
      vl.VHp() = &ml.hedge[remap.hedge[Index(mr,vr.cVHp())]];
      vl.VHi() = vr.VHi();
    }
+
+   // Vertex to Tetra Adj
+   if(HasVTAdjacency(ml) && HasVTAdjacency(mr) && vr.cVTp() != 0){
+     size_t i = Index(mr, vr.cVTp());
+     vl.VTp() = (i > ml.edge.size()) ? 0 : &ml.tetra[remap.tetra[i]];
+     vl.VTi() = vr.VTi();
+   }
  }
 
  static void ImportEdgeAdj(MeshLeft &ml, ConstMeshRight &mr, EdgeLeft &el, const EdgeRight &er, Remap &remap)
@@ -135,12 +147,37 @@ public:
      for( int vi = 0; vi < fl.VN(); ++vi ){
        size_t idx = remap.face[Index(mr,fr.cFFp(vi))];
        if(idx!=Remap::InvalidIndex()){
+		 assert(idx >= 0 && idx < ml.face.size());
          fl.FFp(vi) = &ml.face[idx];
          fl.FFi(vi) = fr.cFFi(vi);
        }
      }
    }
 
+	// Vertex to Face Adj
+	if(HasPerFaceVFAdjacency(ml) && HasPerFaceVFAdjacency(mr))
+	{
+		assert(fl.VN() == fr.VN());
+		for (int vi = 0; vi < fl.VN(); ++vi)
+		{
+			const auto * fp     = fr.cVFp(vi);
+			const auto   vfindex = fr.cVFi(vi);
+			size_t fidx = (fp == nullptr) ? Remap::InvalidIndex() : remap.face[Index(mr,fp)];
+
+			if (fidx == Remap::InvalidIndex()) // end of VF chain (or not initialized)
+			{
+				fl.VFClear(vi);
+				assert(fl.cVFi(vi) == -1);
+			}
+			else
+			{
+				assert(fidx >= 0 && fidx < ml.face.size());
+				fl.VFp(vi) = &ml.face[fidx];
+				fl.VFi(vi) = vfindex;
+			}
+		}
+	}
+
    // Face to HEedge  Adj
    if(HasFHAdjacency(ml) && HasFHAdjacency(mr))
      fl.FHp() = &ml.hedge[remap.hedge[Index(mr,fr.cFHp())]];
@@ -177,6 +214,20 @@ public:
      hl.HPp() = &ml.hedge[remap.hedge[Index(mr,hr.cHPp())]];
  }
 
+  static void ImportTetraAdj(MeshLeft &ml, ConstMeshRight &mr, TetraLeft &tl, const TetraRight &tr, Remap &remap )
+ {
+   // Tetra to Tetra  Adj
+   if(HasTTAdjacency(ml) && HasTTAdjacency(mr)){
+     for( int vi = 0; vi < 4; ++vi ){
+       size_t idx = remap.tetra[Index(mr,tr.cTTp(vi))];
+       if(idx != Remap::InvalidIndex()){
+         tl.TTp(vi) = &ml.tetra[idx];
+         tl.TTi(vi) = tr.cTTi(vi);
+       }
+     }
+   }
+}
+
 // Append Right Mesh to the Left Mesh
 // Append::Mesh(ml, mr) is equivalent to ml += mr.
 // Note MeshRigth could be costant...
@@ -275,9 +326,19 @@ static void Mesh(MeshLeft& ml, ConstMeshRight& mr, const bool selected = false,
       (*hp).ImportData(*(hi));
       remap.hedge[ind]=Index(ml,*hp);
     }
+  
+  remap.tetra.resize(mr.tetra.size(), Remap::InvalidIndex());
+  for (TetraIteratorRight ti = mr.tetra.begin(); ti != mr.tetra.end(); ++ti)
+    if (!(*ti).IsD() && (!selected || (*ti).IsS())) {
+      size_t idx = Index(mr, *ti);
+      assert (remap.tetra[idx] == Remap::InvalidIndex());
+      TetraIteratorLeft tp = Allocator<MeshLeft>::AddTetras(ml, 1);
+      (*tp).ImportData(*ti);
+      remap.tetra[idx] = Index(ml, *tp);
+    }
 
   // phase 2.
-  // copy data from ml to its corresponding elements in ml and adjacencies
+  // copy data from mr to its corresponding elements in ml and adjacencies
 
   // vertex
   for(VertexIteratorRight vi=mr.vert.begin();vi!=mr.vert.end();++vi)
@@ -311,10 +372,10 @@ static void Mesh(MeshLeft& ml, ConstMeshRight& mr, const bool selected = false,
         for(int i = 0; i < fl.VN(); ++i)
           fl.V(i) = &ml.vert[remap.vert[Index(mr,fi->cV(i))]];
       }
+	  fl.ImportData(*fi);
       if(WTFlag)
         for(int i = 0; i < fl.VN(); ++i)
           fl.WT(i).n() += short(textureOffset);
-      fl.ImportData(*fi);
       if(adjFlag)  ImportFaceAdj(ml,mr,ml.face[remap.face[Index(mr,*fi)]],*fi,remap);
 
     }
@@ -324,6 +385,21 @@ static void Mesh(MeshLeft& ml, ConstMeshRight& mr, const bool selected = false,
     if(!(*hi).IsD() && (!selected || (*hi).IsS())){
       ml.hedge[remap.hedge[Index(mr,*hi)]].ImportData(*hi);
       ImportHEdgeAdj(ml,mr,ml.hedge[remap.hedge[Index(mr,*hi)]],*hi,remap,selected);
+    }
+  
+  //tetra
+  for(TetraIteratorRight ti = mr.tetra.begin(); ti != mr.tetra.end(); ++ti)
+    if(!(*ti).IsD() && (!selected || (*ti).IsS()))
+    {
+      TetraLeft &tl = ml.tetra[remap.tetra[Index(mr,*ti)]];
+      
+      if(HasFVAdjacency(ml) && HasFVAdjacency(mr)){
+        for(int i = 0; i < 4; ++i)
+          tl.V(i) = &ml.vert[remap.vert[Index(mr,ti->cV(i))]];
+      }
+	    tl.ImportData(*ti);
+      if(adjFlag)  ImportTetraAdj(ml, mr, ml.tetra[remap.tetra[Index(mr,*ti)]], *ti, remap);
+
     }
 
         // phase 3.
@@ -339,48 +415,56 @@ static void Mesh(MeshLeft& ml, ConstMeshRight& mr, const bool selected = false,
         // If the left mesh has attributes that are not in the right mesh, their values for the elements
         // of the right mesh will be uninitialized
 
-        unsigned int id_r;
-        typename std::set< PointerToAttribute  >::iterator al, ar;
+		unsigned int id_r;
+		typename std::set< PointerToAttribute >::iterator al, ar;
 
-        // per vertex attributes
-        for(al = ml.vert_attr.begin(); al != ml.vert_attr.end(); ++al)
-            if(!(*al)._name.empty()){
-                ar =    mr.vert_attr.find(*al);
-                if(ar!= mr.vert_attr.end()){
-                    id_r = 0;
-                    for(VertexIteratorRight vi=mr.vert.begin();vi!=mr.vert.end();++vi,++id_r)
-                        if( !(*vi).IsD() && (!selected || (*vi).IsS()))
-                            memcpy((*al)._handle->At(remap.vert[Index(mr,*vi)]),(*ar)._handle->At(id_r),
-                                (*al)._handle->SizeOf());
-                }
-            }
+		// per vertex attributes
+		for(al = ml.vert_attr.begin(); al != ml.vert_attr.end(); ++al)
+			if(!(*al)._name.empty()){
+				ar =    mr.vert_attr.find(*al);
+				if(ar!= mr.vert_attr.end()){
+					id_r = 0;
+					for(VertexIteratorRight vi=mr.vert.begin();vi!=mr.vert.end();++vi,++id_r)
+						if( !(*vi).IsD() && (!selected || (*vi).IsS()))
+							(*al)._handle->CopyValue(remap.vert[Index(mr,*vi)], id_r, (*ar)._handle);
+				}
+			}
 
-        // per edge attributes
-        for(al = ml.edge_attr.begin(); al != ml.edge_attr.end(); ++al)
-            if(!(*al)._name.empty()){
-                ar =    mr.edge_attr.find(*al);
-                if(ar!= mr.edge_attr.end()){
-                    id_r = 0;
-                    for(EdgeIteratorRight ei=mr.edge.begin();ei!=mr.edge.end();++ei,++id_r)
-                        if( !(*ei).IsD() && (!selected || (*ei).IsS()))
-                            memcpy((*al)._handle->At(remap.edge[Index(mr,*ei)]),(*ar)._handle->At(id_r),
-                                (*al)._handle->SizeOf());
-                }
-            }
+		// per edge attributes
+		for(al = ml.edge_attr.begin(); al != ml.edge_attr.end(); ++al)
+			if(!(*al)._name.empty()){
+				ar =    mr.edge_attr.find(*al);
+				if(ar!= mr.edge_attr.end()){
+					id_r = 0;
+					for(EdgeIteratorRight ei=mr.edge.begin();ei!=mr.edge.end();++ei,++id_r)
+						if( !(*ei).IsD() && (!selected || (*ei).IsS()))
+							(*al)._handle->CopyValue(remap.edge[Index(mr,*ei)], id_r, (*ar)._handle);
+				}
+			}
 
-        // per face attributes
-        for(al = ml.face_attr.begin(); al != ml.face_attr.end(); ++al)
-            if(!(*al)._name.empty()){
-                ar =    mr.face_attr.find(*al);
-                if(ar!= mr.face_attr.end()){
-                    id_r = 0;
-                    for(FaceIteratorRight fi=mr.face.begin();fi!=mr.face.end();++fi,++id_r)
-                        if( !(*fi).IsD() && (!selected || (*fi).IsS()))
-                            memcpy((*al)._handle->At(remap.face[Index(mr,*fi)]),(*ar)._handle->At(id_r),
-                                (*al)._handle->SizeOf());
-                }
-            }
+		// per face attributes
+		for(al = ml.face_attr.begin(); al != ml.face_attr.end(); ++al)
+			if(!(*al)._name.empty()){
+				ar =    mr.face_attr.find(*al);
+				if(ar!= mr.face_attr.end()){
+					id_r = 0;
+					for(FaceIteratorRight fi=mr.face.begin();fi!=mr.face.end();++fi,++id_r)
+						if( !(*fi).IsD() && (!selected || (*fi).IsS()))
+							(*al)._handle->CopyValue(remap.face[Index(mr,*fi)], id_r, (*ar)._handle);
+				}
+			}
 
+		// per tetra attributes
+		for(al = ml.tetra_attr.begin(); al != ml.tetra_attr.end(); ++al)
+			if(!(*al)._name.empty()){
+				ar =    mr.tetra_attr.find(*al);
+				if(ar!= mr.tetra_attr.end()){
+					id_r = 0;
+					for(TetraIteratorRight ti = mr.tetra.begin(); ti != mr.tetra.end(); ++ti, ++id_r)
+						if( !(*ti).IsD() && (!selected || (*ti).IsS()))
+							(*al)._handle->CopyValue(remap.tetra[Index(mr, *ti)], id_r, (*ar)._handle);
+				}
+			}
                 // per mesh attributes
                 // if both ml and mr have an attribute with the same name, no action is done
                 // if mr has an attribute that is NOT present in ml, the attribute is added to ml
diff --git a/vcg/complex/base.h b/vcg/complex/base.h
index 4a56a427..828bdcae 100644
--- a/vcg/complex/base.h
+++ b/vcg/complex/base.h
@@ -31,16 +31,18 @@ namespace vcg {
 class PointerToAttribute
 {
 public:
-    SimpleTempDataBase * _handle;		// pointer to the SimpleTempData that stores the attribute
-    std::string _name;					// name of the attribute
-    int _sizeof;						// size of the attribute type (used only with VMI loading)
-    int _padding;						// padding 	(used only with VMI loading)
+	SimpleTempDataBase * _handle;       // pointer to the SimpleTempData that stores the attribute
+	std::string _name;					// name of the attribute
+	int _sizeof;						// size of the attribute type (used only with VMI loading)
+	int _padding;						// padding 	(used only with VMI loading)
 
-    int n_attr;							// unique ID of the attribute
+	int n_attr;							// unique ID of the attribute
+	std::type_index _type;
+	void Resize(size_t sz){((SimpleTempDataBase *)_handle)->Resize(sz);}
+	void Reorder(std::vector<size_t> & newVertIndex){((SimpleTempDataBase *)_handle)->Reorder(newVertIndex);}
+	bool operator<(const  PointerToAttribute    b) const {	return(_name.empty()&&b._name.empty())?(_handle < b._handle):( _name < b._name);}
 
-    void Resize(size_t sz){((SimpleTempDataBase *)_handle)->Resize(sz);}
-    void Reorder(std::vector<size_t> & newVertIndex){((SimpleTempDataBase *)_handle)->Reorder(newVertIndex);}
-    bool operator<(const  PointerToAttribute    b) const {	return(_name.empty()&&b._name.empty())?(_handle < b._handle):( _name < b._name);}
+	PointerToAttribute(): _type(typeid(void)) { };
 };
 
 
@@ -49,92 +51,114 @@ namespace tri {
 /*@{*/
 
 
- /* MeshTypeHolder is a class which is used to define the types in the mesh
+/* MeshTypeHolder is a class which is used to define the types in the mesh
 */
 
-        template <class TYPESPOOL>
-        struct BaseMeshTypeHolder{
+template <class TYPESPOOL>
+struct BaseMeshTypeHolder{
 
-                typedef bool ScalarType;
-                typedef std::vector< typename TYPESPOOL::VertexType  >	CONTV;
-                typedef std::vector< typename TYPESPOOL::EdgeType  >		CONTE;
-                typedef std::vector< typename TYPESPOOL::FaceType >		CONTF;
-                typedef std::vector< typename TYPESPOOL::HEdgeType  >		CONTH;
-
-                typedef CONTV									VertContainer;
-                typedef _Vertex 								VertexType;
-                typedef typename TYPESPOOL::VertexPointer		VertexPointer;
-                typedef const typename TYPESPOOL::VertexPointer ConstVertexPointer;
-                typedef bool									CoordType;
-                typedef typename CONTV::iterator				VertexIterator;
-                typedef typename CONTV::const_iterator	ConstVertexIterator;
-
-                typedef CONTE										EdgeContainer;
-                typedef typename CONTE::value_type					EdgeType;
-                typedef typename  TYPESPOOL::EdgePointer	EdgePointer;
-                typedef typename CONTE::iterator				EdgeIterator;
-                typedef typename CONTE::const_iterator	ConstEdgeIterator;
-
-                typedef CONTF														FaceContainer;
-                typedef typename CONTF::value_type					FaceType;
-                typedef typename CONTF::const_iterator				ConstFaceIterator;
-                typedef typename CONTF::iterator					FaceIterator;
-                typedef typename TYPESPOOL::FacePointer	FacePointer;
-                typedef const typename TYPESPOOL::FacePointer		ConstFacePointer;
-
-                typedef CONTH														HEdgeContainer;
-                typedef typename CONTH::value_type			HEdgeType;
-                typedef typename TYPESPOOL::HEdgePointer					HEdgePointer;
-                typedef typename CONTH::iterator				HEdgeIterator;
-                typedef typename CONTH::const_iterator	ConstHEdgeIterator;
+	typedef bool ScalarType;
+	typedef std::vector< typename TYPESPOOL::VertexType > CONTV;
+	typedef std::vector< typename TYPESPOOL::EdgeType >   CONTE;
+	typedef std::vector< typename TYPESPOOL::FaceType >   CONTF;
+	typedef std::vector< typename TYPESPOOL::HEdgeType >  CONTH;
+	typedef std::vector<typename TYPESPOOL::TetraType>    CONTT;
 
 
-        };
+	typedef CONTV									VertContainer;
+	typedef typename CONTV::value_type 								VertexType;
+	typedef typename TYPESPOOL::VertexPointer		VertexPointer;
+	typedef const typename TYPESPOOL::VertexPointer ConstVertexPointer;
+	typedef bool									CoordType;
+	typedef typename CONTV::iterator				VertexIterator;
+	typedef typename CONTV::const_iterator	ConstVertexIterator;
+
+	typedef CONTE										EdgeContainer;
+	typedef typename CONTE::value_type					EdgeType;
+	typedef typename  TYPESPOOL::EdgePointer	EdgePointer;
+	typedef const typename  TYPESPOOL::EdgePointer	ConstEdgePointer;
+	typedef typename CONTE::iterator				EdgeIterator;
+	typedef typename CONTE::const_iterator	ConstEdgeIterator;
+
+	typedef CONTF														FaceContainer;
+	typedef typename CONTF::value_type					FaceType;
+	typedef typename CONTF::const_iterator				ConstFaceIterator;
+	typedef typename CONTF::iterator					FaceIterator;
+	typedef typename TYPESPOOL::FacePointer	FacePointer;
+	typedef const typename TYPESPOOL::FacePointer		ConstFacePointer;
+
+	typedef CONTH														HEdgeContainer;
+	typedef typename CONTH::value_type			HEdgeType;
+	typedef typename TYPESPOOL::HEdgePointer					HEdgePointer;
+	typedef typename CONTH::iterator				HEdgeIterator;
+	typedef typename CONTH::const_iterator	ConstHEdgeIterator;
+
+	typedef CONTT TetraContainer;
+	typedef typename CONTT::value_type TetraType;
+	typedef typename TYPESPOOL::TetraPointer TetraPointer;
+	typedef const typename TYPESPOOL::TetraPointer ConstTetraPointer;
+	typedef typename CONTT::iterator TetraIterator;
+	typedef typename CONTT::const_iterator ConstTetraIterator;
 
 
-
-        template <class T, typename CONT, class TRAIT >
-                        struct MeshTypeHolder: public T {};
-
-        template <class T, typename CONT>
-                        struct MeshTypeHolder<T, CONT, AllTypes::AVertexType>: public T {
-                                typedef CONT VertContainer;
-                                typedef typename VertContainer::value_type VertexType;
-                                typedef VertexType * VertexPointer;
-                                typedef const VertexType * ConstVertexPointer;
-                                typedef typename VertexType::ScalarType ScalarType;
-                                typedef typename VertexType::CoordType CoordType;
-                                typedef typename VertContainer::iterator VertexIterator;
-                                typedef typename VertContainer::const_iterator ConstVertexIterator;
-        };
-
-
-    template <typename T, class CONT>
-                    struct MeshTypeHolder< T, CONT, AllTypes::AEdgeType>: public T{
-                                typedef CONT EdgeContainer;
-                                typedef typename EdgeContainer::value_type EdgeType;
-                                typedef typename EdgeContainer::value_type *  EdgePointer;
-                                typedef typename EdgeContainer::iterator EdgeIterator;
-                                typedef typename EdgeContainer::const_iterator ConstEdgeIterator;
 };
 
-    template <typename T, class CONT>
-                    struct MeshTypeHolder< T, CONT,  AllTypes::AFaceType>:public T {
-                                typedef CONT FaceContainer;
-                                typedef typename FaceContainer::value_type FaceType;
-                                typedef typename FaceContainer::const_iterator ConstFaceIterator;
-                                typedef typename FaceContainer::iterator FaceIterator;
-                                typedef FaceType * FacePointer;
-                                typedef const FaceType * ConstFacePointer;
-                };
 
-    template <typename T, class CONT>
-                    struct MeshTypeHolder< T, CONT, AllTypes::AHEdgeType>: public T{
-                                typedef CONT HEdgeContainer;
-                                typedef typename HEdgeContainer::value_type			HEdgeType;
-                                typedef typename HEdgeContainer::value_type *		HEdgePointer;
-                                typedef typename HEdgeContainer::iterator				HEdgeIterator;
-                                typedef typename HEdgeContainer::const_iterator ConstHEdgeIterator;
+
+template <class T, typename CONT, class TRAIT >
+struct MeshTypeHolder: public T {};
+
+template <class T, typename CONT>
+struct MeshTypeHolder<T, CONT, AllTypes::AVertexType>: public T {
+	typedef CONT VertContainer;
+	typedef typename VertContainer::value_type VertexType;
+	typedef VertexType * VertexPointer;
+	typedef const VertexType * ConstVertexPointer;
+	typedef typename VertexType::ScalarType ScalarType;
+	typedef typename VertexType::CoordType CoordType;
+	typedef typename VertContainer::iterator VertexIterator;
+	typedef typename VertContainer::const_iterator ConstVertexIterator;
+};
+
+
+template <typename T, class CONT>
+struct MeshTypeHolder< T, CONT, AllTypes::AEdgeType>: public T{
+	typedef CONT EdgeContainer;
+	typedef typename EdgeContainer::value_type EdgeType;
+	typedef EdgeType *  EdgePointer;
+	typedef const EdgeType * ConstEdgePointer;
+	typedef typename EdgeContainer::iterator EdgeIterator;
+	typedef typename EdgeContainer::const_iterator ConstEdgeIterator;
+};
+
+template <typename T, class CONT>
+struct MeshTypeHolder< T, CONT,  AllTypes::AFaceType>:public T {
+	typedef CONT FaceContainer;
+	typedef typename FaceContainer::value_type FaceType;
+	typedef typename FaceContainer::const_iterator ConstFaceIterator;
+	typedef typename FaceContainer::iterator FaceIterator;
+	typedef FaceType * FacePointer;
+	typedef const FaceType * ConstFacePointer;
+};
+
+template <typename T, class CONT>
+struct MeshTypeHolder< T, CONT, AllTypes::AHEdgeType>: public T{
+	typedef CONT HEdgeContainer;
+	typedef typename HEdgeContainer::value_type			HEdgeType;
+	typedef typename HEdgeContainer::value_type *		HEdgePointer;
+	typedef typename HEdgeContainer::iterator				HEdgeIterator;
+	typedef typename HEdgeContainer::const_iterator ConstHEdgeIterator;
+};
+
+template <typename T, class CONT>
+struct MeshTypeHolder<T, CONT, AllTypes::ATetraType> : public T
+{
+	typedef CONT TetraContainer;
+	typedef typename TetraContainer::value_type TetraType;
+	typedef TetraType *TetraPointer;
+	typedef const TetraType *ConstTetraPointer;
+	typedef typename TetraContainer::iterator TetraIterator;
+	typedef typename TetraContainer::const_iterator ConstTetraIterator;
 };
 
 template <typename T, typename CONT> struct Der: public MeshTypeHolder<T,CONT, typename CONT::value_type::IAm>{};
@@ -144,329 +168,409 @@ struct DummyContainer{struct value_type{ typedef int IAm;}; };
 As explained in \ref basic_concepts, this class is templated over a list of container of simplexes (like vertex, face, edges)
  */
 
-template < class Container0 = DummyContainer, class Container1 = DummyContainer, class Container2 = DummyContainer, class Container3 = DummyContainer >
+template < class Container0 = DummyContainer, class Container1 = DummyContainer, class Container2 = DummyContainer, class Container3 = DummyContainer, class Container4 = DummyContainer >
 class TriMesh
-    : public  MArity4<   BaseMeshTypeHolder<typename Container0::value_type::TypesPool>, Container0, Der ,Container1, Der, Container2, Der, Container3, Der>{
-    public:
-
-        typedef typename TriMesh::ScalarType		ScalarType;
-        typedef typename TriMesh::VertContainer VertContainer;
-        typedef typename TriMesh::EdgeContainer EdgeContainer;
-        typedef typename TriMesh::FaceContainer FaceContainer;
-
-        // types for vertex
-        typedef typename TriMesh::VertexType						VertexType;
-        typedef typename TriMesh::VertexPointer					VertexPointer;
-        typedef typename TriMesh::ConstVertexPointer		ConstVertexPointer;
-        typedef typename TriMesh::CoordType							CoordType;
-        typedef typename TriMesh::VertexIterator				VertexIterator;
-        typedef typename TriMesh::ConstVertexIterator		ConstVertexIterator;
-
-        // types for edge
-        typedef typename TriMesh::EdgeType							EdgeType;
-        typedef typename TriMesh::EdgePointer						EdgePointer;
-        typedef typename TriMesh::EdgeIterator					EdgeIterator;
-        typedef typename TriMesh::ConstEdgeIterator			ConstEdgeIterator;
-
-        //types for face
-        typedef typename TriMesh::FaceType							FaceType;
-        typedef typename TriMesh::ConstFaceIterator			ConstFaceIterator;
-        typedef typename TriMesh::FaceIterator					FaceIterator;
-        typedef typename TriMesh::FacePointer						FacePointer;
-        typedef typename TriMesh::ConstFacePointer			ConstFacePointer;
-
-        // types for hedge
-        typedef typename TriMesh::HEdgeType							HEdgeType;
-        typedef typename TriMesh::HEdgePointer					HEdgePointer;
-        typedef typename TriMesh::HEdgeIterator					HEdgeIterator;
-        typedef typename TriMesh::HEdgeContainer				HEdgeContainer;
-        typedef typename TriMesh::ConstHEdgeIterator		ConstHEdgeIterator;
-
-        typedef vcg::PointerToAttribute PointerToAttribute;
-
-    typedef TriMesh<Container0, Container1,Container2,Container3> MeshType;
-
-    typedef Box3<ScalarType> BoxType;
-
-    /// Container of vertices, usually a vector.
-    VertContainer vert;
-    /// Current number of vertices; this member is for internal use only. You should always use the VN() member
-    int vn;
-    /// Current number of vertices
-    inline int VN() const { return vn; }
-
-    /// Container of edges, usually a vector.
-    EdgeContainer edge;
-    /// Current number of edges; this member is for internal use only. You should always use the EN() member
-    int en;
-    /// Current number of edges
-    inline int EN() const { return en; }
-
-    /// Container of faces, usually a vector.
-    FaceContainer face;
-    /// Current number of faces; this member is for internal use only. You should always use the FN() member
-    int fn;
-    /// Current number of faces
-    inline int FN() const { return fn; }
-
-    /// Container of half edges, usually a vector.
-    HEdgeContainer hedge;
-    /// Current number of halfedges; this member is for internal use only. You should always use the HN() member
-    int hn;
-    /// Current number of halfedges;
-    inline int HN() const { return hn; }
-
-    /// Bounding box of the mesh
-    Box3<typename TriMesh::VertexType::CoordType::ScalarType> bbox;
-
-  /// Nomi di textures
-    //
-  std::vector<std::string> textures;
-    //
-  std::vector<std::string> normalmaps;
-
-    int attrn;	// total numer of attribute created
-
-
-    std::set< PointerToAttribute > vert_attr;
-    std::set< PointerToAttribute > edge_attr;
-    std::set< PointerToAttribute > face_attr;
-    std::set< PointerToAttribute > mesh_attr;
-
-
-
-    template <class ATTR_TYPE, class CONT>
-    class AttributeHandle{
-    public:
-        AttributeHandle(){_handle=(SimpleTempData<CONT,ATTR_TYPE> *)NULL;}
-        AttributeHandle( void *ah,const int & n):_handle ( (SimpleTempData<CONT,ATTR_TYPE> *)ah ),n_attr(n){}
-                AttributeHandle operator = ( const PointerToAttribute & pva){
-            _handle = (SimpleTempData<CONT,ATTR_TYPE> *)pva._handle;
-            n_attr = pva.n_attr;
-            return (*this);
-        }
-
-        //pointer to the SimpleTempData that stores the attribute
-        SimpleTempData<CONT,ATTR_TYPE> * _handle;
-
-        // its attribute number
-        int n_attr;
-
-        // access function
-        template <class RefType>
-        ATTR_TYPE & operator [](const RefType  & i){return (*_handle)[i];}
-        void resize(size_t /*size*/) { };
-    };
-
-    template <class ATTR_TYPE>
-    class PerVertexAttributeHandle: public AttributeHandle<ATTR_TYPE,VertContainer>{
-    public:
-        PerVertexAttributeHandle():AttributeHandle<ATTR_TYPE,VertContainer>(){}
-                PerVertexAttributeHandle( void *ah,const int & n):AttributeHandle<ATTR_TYPE,VertContainer>(ah,n){}
-    };
-
-
-    template <class ATTR_TYPE>
-    class PerFaceAttributeHandle: public AttributeHandle<ATTR_TYPE,FaceContainer>{
-    public:
-        PerFaceAttributeHandle():AttributeHandle<ATTR_TYPE,FaceContainer>(){}
-                PerFaceAttributeHandle( void *ah,const int & n):AttributeHandle<ATTR_TYPE,FaceContainer>(ah,n){}
-    };
-
-    template <class ATTR_TYPE>
-    class PerEdgeAttributeHandle:  public AttributeHandle<ATTR_TYPE,EdgeContainer>{
-    public:
-        PerEdgeAttributeHandle():AttributeHandle<ATTR_TYPE,EdgeContainer>(){}
-                PerEdgeAttributeHandle( void *ah,const int & n):AttributeHandle<ATTR_TYPE,EdgeContainer>(ah,n){}
-    };
-
-    template <class ATTR_TYPE>
-    class PerMeshAttributeHandle{
-    public:
-        PerMeshAttributeHandle(){_handle=NULL;}
-        PerMeshAttributeHandle(void *ah,const int & n):_handle ( (Attribute<ATTR_TYPE> *)ah ),n_attr(n){}
-        PerMeshAttributeHandle operator = ( const PerMeshAttributeHandle & pva){
-            _handle = (Attribute<ATTR_TYPE> *)pva._handle;
-            n_attr = pva.n_attr;
-            return (*this);
-        }
-
-        Attribute<ATTR_TYPE> * _handle;
-        int n_attr;
-        ATTR_TYPE & operator ()(){ return *((Attribute<ATTR_TYPE> *)_handle)->attribute;}
-    };
-
-    // Some common Handle typedefs to simplify use
-    typedef typename MeshType::template PerVertexAttributeHandle<ScalarType> PerVertexScalarHandle;
-    typedef typename MeshType::template PerVertexAttributeHandle<int>        PerVertexIntHandle;
-    typedef typename MeshType::template PerVertexAttributeHandle<bool>       PerVertexBoolHandle;
-    typedef typename MeshType::template PerVertexAttributeHandle<CoordType>  PerVertexCoordHandle;
-
-    typedef typename MeshType::template PerFaceAttributeHandle<ScalarType> PerFaceScalarHandle;
-    typedef typename MeshType::template PerFaceAttributeHandle<int>        PerFaceIntHandle;
-    typedef typename MeshType::template PerFaceAttributeHandle<bool>       PerFaceBoolHandle;
-    typedef typename MeshType::template PerFaceAttributeHandle<CoordType>  PerFaceCoordHandle;
-
-
-    // the camera member (that should keep the intrinsics) is no more needed since 2006, when intrisncs moved into the Shot structure
-    //Camera<ScalarType> camera; // intrinsic
-    Shot<ScalarType> shot;		// intrinsic && extrinsic
-
-private:
-    /// The per-mesh color. Not very useful and meaningful...
-    Color4b c;
+        : public  MArity5<   BaseMeshTypeHolder<typename Container0::value_type::TypesPool>, Container0, Der ,Container1, Der, Container2, Der, Container3, Der, Container4, Der >{
 public:
 
-    inline const Color4b &C() const	{ return c; }
-    inline       Color4b &C()       { return c;  }
-    inline       Color4b cC() const { return c;  }
+	typedef typename TriMesh::ScalarType		ScalarType;
+	typedef typename TriMesh::VertContainer VertContainer;
+	typedef typename TriMesh::EdgeContainer EdgeContainer;
+	typedef typename TriMesh::FaceContainer FaceContainer;
+	typedef typename TriMesh::TetraContainer TetraContainer;
 
-    /// Default constructor
-    TriMesh()
-    {
-      Clear();
-    }
+	// types for vertex
+	typedef typename TriMesh::VertexType						VertexType;
+	typedef typename TriMesh::VertexPointer					VertexPointer;
+	typedef typename TriMesh::ConstVertexPointer		ConstVertexPointer;
+	typedef typename TriMesh::CoordType							CoordType;
+	typedef typename TriMesh::VertexIterator				VertexIterator;
+	typedef typename TriMesh::ConstVertexIterator		ConstVertexIterator;
 
-    /// destructor
-    ~TriMesh()
-    {
-      Clear();
-    }
+	// types for edge
+	typedef typename TriMesh::EdgeType							EdgeType;
+	typedef typename TriMesh::EdgePointer						EdgePointer;
+	typedef typename TriMesh::ConstEdgePointer					ConstEdgePointer;
+	typedef typename TriMesh::EdgeIterator					EdgeIterator;
+	typedef typename TriMesh::ConstEdgeIterator			ConstEdgeIterator;
 
-     int Mem(const int & nv, const int & nf) const  {
-        typename std::set< PointerToAttribute>::const_iterator i;
-        int size = 0;
-        size += sizeof(TriMesh)+sizeof(VertexType)*nv+sizeof(FaceType)*nf;
+	//types for face
+	typedef typename TriMesh::FaceType							FaceType;
+	typedef typename TriMesh::ConstFaceIterator			ConstFaceIterator;
+	typedef typename TriMesh::FaceIterator					FaceIterator;
+	typedef typename TriMesh::FacePointer						FacePointer;
+	typedef typename TriMesh::ConstFacePointer			ConstFacePointer;
 
-        for( i = vert_attr.begin(); i != vert_attr.end(); ++i)
-            size += ((SimpleTempDataBase*)(*i)._handle)->SizeOf()*nv;
-        for( i = edge_attr.begin(); i != edge_attr.end(); ++i)
-            size += ((SimpleTempDataBase*)(*i)._handle)->SizeOf()*en;
-        for( i = face_attr.begin(); i != face_attr.end(); ++i)
-            size +=  ((SimpleTempDataBase*)(*i)._handle)->SizeOf()*nf;
-        for( i = mesh_attr.begin(); i != mesh_attr.end(); ++i)
-            size +=  ((SimpleTempDataBase*)(*i)._handle)->SizeOf();
+	// types for hedge
+	typedef typename TriMesh::HEdgeType							HEdgeType;
+	typedef typename TriMesh::HEdgePointer					HEdgePointer;
+	typedef typename TriMesh::HEdgeIterator					HEdgeIterator;
+	typedef typename TriMesh::HEdgeContainer				HEdgeContainer;
+	typedef typename TriMesh::ConstHEdgeIterator		ConstHEdgeIterator;
 
-        return size;
-    }
-    int MemUsed() const  {return Mem(vert.size(),face.size());}
-    inline int MemNeeded() const {return Mem(vn,fn);}
+	// types for tetra
+	typedef typename TriMesh::TetraType						TetraType;
+	typedef typename TriMesh::TetraPointer					TetraPointer;
+	typedef typename TriMesh::TetraIterator					TetraIterator;
+	typedef typename TriMesh::ConstTetraIterator		    ConstTetraIterator;
+
+	typedef vcg::PointerToAttribute PointerToAttribute;
+
+	typedef TriMesh<Container0, Container1, Container2, Container3, Container4> MeshType;
+
+	typedef Box3<ScalarType> BoxType;
+
+	/// Container of vertices, usually a vector.
+	VertContainer vert;
+	/// Current number of vertices; this member is for internal use only. You should always use the VN() member
+	int vn;
+	/// Current number of vertices
+	inline int VN() const { return vn; }
+
+	/// Container of edges, usually a vector.
+	EdgeContainer edge;
+	/// Current number of edges; this member is for internal use only. You should always use the EN() member
+	int en;
+	/// Current number of edges
+	inline int EN() const { return en; }
+
+	/// Container of faces, usually a vector.
+	FaceContainer face;
+	/// Current number of faces; this member is for internal use only. You should always use the FN() member
+	int fn;
+	/// Current number of faces
+	inline int FN() const { return fn; }
+
+	/// Container of half edges, usually a vector.
+	HEdgeContainer hedge;
+	/// Current number of halfedges; this member is for internal use only. You should always use the HN() member
+	int hn;
+	/// Current number of halfedges;
+	inline int HN() const { return hn; }
+
+	/// Container of tetras, usually a vector.
+	TetraContainer tetra;
+	/// Current number of tetras; this member is for internal use only. You should always use the TN() member
+	int tn;
+	/// Current number of tetras;
+	inline int TN() const { return tn; }
+
+	/// Bounding box of the mesh
+	Box3<typename TriMesh::VertexType::CoordType::ScalarType> bbox;
+
+	/// Nomi di textures
+	//
+	std::vector<std::string> textures;
+	//
+	std::vector<std::string> normalmaps;
+
+	int attrn;	// total numer of attribute created
 
 
-
-  /// Function to destroy the mesh
-  void Clear()
-  {
-    for(FaceIterator fi = face.begin(); fi != face.end(); ++fi)
-      (*fi).Dealloc();
-    vert.clear();
-    face.clear();
-    edge.clear();
-//    textures.clear();
-//    normalmaps.clear();
-    vn = 0;
-    en = 0;
-    fn = 0;
-    hn = 0;
-    imark = 0;
-    C()=Color4b::Gray;
-  }
+	std::set< PointerToAttribute > vert_attr;
+	std::set< PointerToAttribute > edge_attr;
+	std::set< PointerToAttribute > face_attr;
+	std::set< PointerToAttribute > mesh_attr;
+	std::set< PointerToAttribute > tetra_attr;
 
 
-  void ClearAttributes()
-  {
-	  // Clear attributes
-	  typename std::set< PointerToAttribute>::iterator i;
-	  for (i = vert_attr.begin(); i != vert_attr.end(); ++i)
-		  delete ((SimpleTempDataBase*)(*i)._handle);
-	  vert_attr.clear();
+	template <class ATTR_TYPE, class CONT>
+	class AttributeHandle{
+	public:
+		AttributeHandle(){_handle=(SimpleTempData<CONT,ATTR_TYPE> *)NULL;}
+		AttributeHandle( void *ah,const int & n):_handle ( (SimpleTempData<CONT,ATTR_TYPE> *)ah ),n_attr(n){}
+		AttributeHandle operator = ( const PointerToAttribute & pva){
+			_handle = (SimpleTempData<CONT,ATTR_TYPE> *)pva._handle;
+			n_attr = pva.n_attr;
+			return (*this);
+		}
 
-	  for (i = edge_attr.begin(); i != edge_attr.end(); ++i)
-		  delete ((SimpleTempDataBase*)(*i)._handle);
-	  edge_attr.clear();
+		//pointer to the SimpleTempData that stores the attribute
+		SimpleTempData<CONT,ATTR_TYPE> * _handle;
 
-	  for (i = face_attr.begin(); i != face_attr.end(); ++i)
-		  delete ((SimpleTempDataBase*)(*i)._handle);
-	  face_attr.clear();
+		// its attribute number
+		int n_attr;
 
-	  for (i = mesh_attr.begin(); i != mesh_attr.end(); ++i)
-		  delete ((SimpleTempDataBase*)(*i)._handle);
-	  mesh_attr.clear();
-    attrn = 0;
-  }
+		// access function
+		template <class RefType>
+		ATTR_TYPE & operator [](const RefType  & i){return (*_handle)[i];}
+		void resize(size_t /*size*/) { };
+	};
 
-  bool IsEmpty() const
-  {
-    return vert.empty() && edge.empty() && face.empty();
-  }
+	template <class ATTR_TYPE>
+	class PerVertexAttributeHandle: public AttributeHandle<ATTR_TYPE,VertContainer>{
+	public:
+		PerVertexAttributeHandle():AttributeHandle<ATTR_TYPE,VertContainer>(){}
+		PerVertexAttributeHandle( void *ah,const int & n):AttributeHandle<ATTR_TYPE,VertContainer>(ah,n){}
+	};
 
-  int & SimplexNumber(){ return fn;}
-  int & VertexNumber(){ return vn;}
 
-  /// The incremental mark
-  int imark;
+	template <class ATTR_TYPE>
+	class PerFaceAttributeHandle: public AttributeHandle<ATTR_TYPE,FaceContainer>{
+	public:
+		PerFaceAttributeHandle():AttributeHandle<ATTR_TYPE,FaceContainer>(){}
+		PerFaceAttributeHandle( void *ah,const int & n):AttributeHandle<ATTR_TYPE,FaceContainer>(ah,n){}
+	};
+
+	template <class ATTR_TYPE>
+	class PerEdgeAttributeHandle:  public AttributeHandle<ATTR_TYPE,EdgeContainer>{
+	public:
+		PerEdgeAttributeHandle():AttributeHandle<ATTR_TYPE,EdgeContainer>(){}
+		PerEdgeAttributeHandle( void *ah,const int & n):AttributeHandle<ATTR_TYPE,EdgeContainer>(ah,n){}
+	};
+
+	template <class ATTR_TYPE>
+	class PerTetraAttributeHandle : public AttributeHandle<ATTR_TYPE, TetraContainer>
+	{
+	public:
+		PerTetraAttributeHandle() : AttributeHandle<ATTR_TYPE, TetraContainer>() {}
+		PerTetraAttributeHandle(void *ah, const int &n) : AttributeHandle<ATTR_TYPE, TetraContainer>(ah, n) {}
+	};
+
+	template <class ATTR_TYPE>
+	class PerMeshAttributeHandle{
+	public:
+		PerMeshAttributeHandle(){_handle=NULL;}
+		PerMeshAttributeHandle(void *ah,const int & n):_handle ( (Attribute<ATTR_TYPE> *)ah ),n_attr(n){}
+		//PerMeshAttributeHandle operator = ( const PerMeshAttributeHandle & pva){
+		//	_handle = (Attribute<ATTR_TYPE> *)pva._handle;
+		//	n_attr = pva.n_attr;
+		//	return (*this);
+		//}
+
+		Attribute<ATTR_TYPE> * _handle;
+		int n_attr;
+		ATTR_TYPE & operator ()(){ return *((Attribute<ATTR_TYPE> *)_handle)->attribute;}
+	};
+
+	// Some common Handle typedefs to simplify use
+	typedef typename MeshType::template PerVertexAttributeHandle<ScalarType> PerVertexScalarHandle;
+	typedef typename MeshType::template PerVertexAttributeHandle<int>        PerVertexIntHandle;
+	typedef typename MeshType::template PerVertexAttributeHandle<bool>       PerVertexBoolHandle;
+	typedef typename MeshType::template PerVertexAttributeHandle<CoordType>  PerVertexCoordHandle;
+
+	typedef typename MeshType::template PerFaceAttributeHandle<ScalarType> PerFaceScalarHandle;
+	typedef typename MeshType::template PerFaceAttributeHandle<int>        PerFaceIntHandle;
+	typedef typename MeshType::template PerFaceAttributeHandle<bool>       PerFaceBoolHandle;
+	typedef typename MeshType::template PerFaceAttributeHandle<CoordType>  PerFaceCoordHandle;
+
+	typedef typename MeshType::template PerTetraAttributeHandle<ScalarType> PerTetraScalarHandle;
+	typedef typename MeshType::template PerTetraAttributeHandle<int> PerTetraIntHandle;
+	typedef typename MeshType::template PerTetraAttributeHandle<bool> PerTetraBoolHandle;
+	typedef typename MeshType::template PerTetraAttributeHandle<CoordType> PerTetraCoordHandle;
+
+
+	// the camera member (that should keep the intrinsics) is no more needed since 2006, when intrisncs moved into the Shot structure
+	//Camera<ScalarType> camera; // intrinsic
+	Shot<ScalarType> shot;		// intrinsic && extrinsic
 
 private:
-    // TriMesh cannot be copied. Use Append (see vcg/complex/append.h)
-  TriMesh operator =(const TriMesh &  /*m*/){assert(0);return TriMesh();}
-  TriMesh(const TriMesh & ){}
+	/// The per-mesh color. Not very useful and meaningful...
+	Color4b c;
+public:
+
+	inline const Color4b &C() const	{ return c; }
+	inline       Color4b &C()       { return c;  }
+	inline       Color4b cC() const { return c;  }
+
+	/// Default constructor
+	TriMesh()
+	{
+		Clear();
+	}
+
+	/// destructor
+	~TriMesh()
+	{
+//		ClearAttributes();
+		Clear();
+	}
+
+	int Mem(const int & nv, const int & nf, const int & nt) const  {
+		typename std::set< PointerToAttribute>::const_iterator i;
+		int size = 0;
+		size += sizeof(TriMesh)+sizeof(VertexType)*nv+sizeof(FaceType)*nf;
+
+		for( i = vert_attr.begin(); i != vert_attr.end(); ++i)
+			size += ((SimpleTempDataBase*)(*i)._handle)->SizeOf()*nv;
+		for( i = edge_attr.begin(); i != edge_attr.end(); ++i)
+			size += ((SimpleTempDataBase*)(*i)._handle)->SizeOf()*en;
+		for( i = face_attr.begin(); i != face_attr.end(); ++i)
+			size +=  ((SimpleTempDataBase*)(*i)._handle)->SizeOf()*nf;
+		for (i = tetra_attr.begin(); i != tetra_attr.end(); ++i)
+			size += ((SimpleTempDataBase *)(*i)._handle)->SizeOf() * nt;
+		for( i = mesh_attr.begin(); i != mesh_attr.end(); ++i)
+			size +=  ((SimpleTempDataBase*)(*i)._handle)->SizeOf();
+
+		return size;
+	}
+	int MemUsed() const  {return Mem(vert.size(),face.size(), tetra.size());}
+	inline int MemNeeded() const {return Mem(vn,fn);}
+
+
+
+	/// Function to destroy the mesh
+	void Clear()
+	{
+		for(FaceIterator fi = face.begin(); fi != face.end(); ++fi)
+			(*fi).Dealloc();
+		vert.clear();
+		face.clear();
+		edge.clear();
+		tetra.clear();
+		//    textures.clear();
+		//    normalmaps.clear();
+		vn = 0;
+		en = 0;
+		fn = 0;
+		hn = 0;
+		tn = 0;
+		imark = 0;
+		C()=Color4b::Gray;
+	}
+
+
+	void ClearAttributes()
+	{
+		// Clear attributes
+		typename std::set< PointerToAttribute>::iterator i;
+		for (i = vert_attr.begin(); i != vert_attr.end(); ++i)
+			delete ((SimpleTempDataBase*)(*i)._handle);
+		vert_attr.clear();
+
+		for (i = edge_attr.begin(); i != edge_attr.end(); ++i)
+			delete ((SimpleTempDataBase*)(*i)._handle);
+		edge_attr.clear();
+
+		for (i = face_attr.begin(); i != face_attr.end(); ++i)
+			delete ((SimpleTempDataBase*)(*i)._handle);
+		face_attr.clear();
+
+		for (i = tetra_attr.begin(); i != tetra_attr.end(); ++i)
+			delete ((SimpleTempDataBase *)(*i)._handle);
+		tetra_attr.clear();
+
+		for (i = mesh_attr.begin(); i != mesh_attr.end(); ++i)
+			delete ((SimpleTempDataBase*)(*i)._handle);
+		mesh_attr.clear();
+		attrn = 0;
+	}
+
+	bool IsEmpty() const
+	{
+		return vert.empty() && edge.empty() && face.empty() && tetra.empty();
+	}
+
+	int & SimplexNumber(){ return fn;}
+	int & VertexNumber(){ return vn;}
+
+	/// The incremental mark
+	int imark;
+
+private:
+	// TriMesh cannot be copied. Use Append (see vcg/complex/append.h)
+	TriMesh operator =(const TriMesh &  /*m*/){assert(0);return TriMesh();}
+	TriMesh(const TriMesh & ){}
 
 };	// end class Mesh
 
 /// Initialize the imark-system of the faces
 template <class MeshType> inline  void InitFaceIMark(MeshType & m)
 {
-    typename MeshType::FaceIterator f;
+	typename MeshType::FaceIterator f;
 
-    for(f=m.face.begin();f!=m.face.end();++f)
-        if( !(*f).IsD() && (*f).IsR() && (*f).IsW() )
-            (*f).InitIMark();
+	for(f=m.face.begin();f!=m.face.end();++f)
+		if( !(*f).IsD() && (*f).IsR() && (*f).IsW() )
+			(*f).InitIMark();
 }
 
 /// Initialize the imark-system of the vertices
 template <class MeshType> inline  void InitVertexIMark(MeshType & m)
 {
-    typename MeshType::VertexIterator vi;
+	typename MeshType::VertexIterator vi;
 
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-        if( !(*vi).IsD() && (*vi).IsRW() )
-            (*vi).InitIMark();
+	for(vi=m.vert.begin();vi!=m.vert.end();++vi)
+		if( !(*vi).IsD() && (*vi).IsRW() )
+			(*vi).InitIMark();
 }
+/// Initialize the imark-system of the edges
+template <class MeshType> inline  void InitEdgeIMark(MeshType & m)
+{
+	typename MeshType::EdgeIterator ei;
+
+	for (ei = m.edge.begin(); ei != m.edge.end(); ++ei)
+		if( !(*ei).IsD() && (*ei).IsRW() )
+			(*ei).InitIMark();
+}
+
+///initialize the imark-sysyem of the tetras
+template <class MeshType>
+inline void InitTetraIMark(MeshType &m)
+{
+	typename MeshType::TetraIterator ti;
+
+	for (ti = m.tetra.begin(); ti != m.tetra.end(); ++ti)
+		if (!(*ti).IsD() && (*ti).IsRW())
+			(*ti).InitIMark();
+}
+
 /** \brief Access function to the incremental mark.
   You should not use this member directly. In most of the case just use IsMarked() and Mark()
 */
 template <class MeshType> inline int & IMark(MeshType & m){return m.imark;}
 
 /** \brief Check if the vertex incremental mark matches the one of the mesh.
-    @param m the mesh containing the element
-    @param v Vertex pointer */
-template <class MeshType> inline bool IsMarked(MeshType & m, typename MeshType::ConstVertexPointer  v )  { return v->cIMark() == m.imark; }
+	@param m the mesh containing the element
+	@param v Vertex pointer */
+template <class MeshType> inline bool IsMarked(const MeshType & m, typename MeshType::ConstVertexPointer  v )  { return v->cIMark() == m.imark; }
+
+/** \brief Check if the edge incremental mark matches the one of the mesh.
+	@param m the mesh containing the element
+	@param e edge pointer */
+template <class MeshType> inline bool IsMarked(const MeshType & m, typename MeshType::ConstEdgePointer e )  { return e->cIMark() == m.imark; }
 
 /** \brief Check if the face incremental mark matches the one of the mesh.
-    @param m the mesh containing the element
-    @param f Face pointer */
-template <class MeshType> inline bool IsMarked( MeshType & m,typename MeshType::ConstFacePointer f )  { return f->cIMark() == m.imark; }
+	@param m the mesh containing the element
+	@param f Face pointer */
+template <class MeshType> inline bool IsMarked(const MeshType & m,typename MeshType::ConstFacePointer f )  { return f->cIMark() == m.imark; }
+
+/** \brief Check if the tetra incremental mark matches the one of the mesh.
+	@param m the mesh containing the element
+	@param t tetra pointer */
+template <class MeshType>
+inline bool IsMarked(MeshType &m, typename MeshType::ConstTetraPointer t) { return t->cIMark() == m.imark; }
 
 /** \brief Set the vertex incremental mark of the vertex to the one of the mesh.
-    @param m the mesh containing the element
-    @param v Vertex pointer */
+	@param m the mesh containing the element
+	@param v Vertex pointer */
 template <class MeshType> inline void Mark(MeshType & m, typename MeshType::VertexPointer v )  { v->IMark() = m.imark; }
 
+/** \brief Set the edge incremental mark of the edge to the one of the mesh.
+	@param m the mesh containing the element
+	@param e edge pointer */
+template <class MeshType> inline void Mark(MeshType & m, typename MeshType::EdgePointer e )  { e->IMark() = m.imark; }
+
 /** \brief Set the face incremental mark of the vertex to the one of the mesh.
-    @param m the mesh containing the element
-    @param f Vertex pointer */
+	@param m the mesh containing the element
+	@param f Vertex pointer */
 template <class MeshType> inline void Mark(MeshType & m, typename MeshType::FacePointer f )  { f->IMark() = m.imark; }
 
+/** \brief Set the tetra incremental mark to the one of the mesh.
+	@param m the mesh containing the element
+	@param t tetra pointer */
+template <class MeshType>
+inline void Mark(MeshType &m, typename MeshType::TetraPointer t) { t->IMark() = m.imark; }
+
 
 /** \brief Unmark, in constant time, all the elements (face and vertices) of a mesh.
-    @param m the mesh containing the element
+	@param m the mesh containing the element
 
-    In practice this function just increment the internal counter that stores the value for which an element is considered marked;
-    therefore all the mesh elements become immediately un-mmarked.
-    */
+	In practice this function just increment the internal counter that stores the value for which an element is considered marked;
+	therefore all the mesh elements become immediately un-mmarked.
+	*/
 template <class MeshType> inline void UnMarkAll(MeshType & m)
 {
-  ++m.imark;
+	++m.imark;
 }
 
 
@@ -477,13 +581,17 @@ template <class MeshType> inline void UnMarkAll(MeshType & m)
 
 template < class VertexType> bool VertexVectorHasVFAdjacency     (const std::vector<VertexType> &) {  return VertexType::HasVFAdjacency(); }
 template < class VertexType> bool VertexVectorHasVEAdjacency     (const std::vector<VertexType> &) {  return VertexType::HasVEAdjacency(); }
+template < class VertexType> bool VertexVectorHasVTAdjacency     (const std::vector<VertexType> &) { return VertexType::HasVTAdjacency(); }
 template < class EdgeType  > bool   EdgeVectorHasVEAdjacency     (const std::vector<EdgeType  > &) {  return EdgeType::HasVEAdjacency(); }
-template < class EdgeType  > bool   EdgeVectorHasEEAdjacency     (const std::vector<EdgeType> &) {  return EdgeType::HasEEAdjacency(); }
+template < class EdgeType  > bool   EdgeVectorHasEEAdjacency     (const std::vector<EdgeType> &)   {  return EdgeType::HasEEAdjacency(); }
+template < class EdgeType  > bool   EdgeVectorHasEFAdjacency     (const std::vector<EdgeType> &)   {  return EdgeType::HasEFAdjacency(); }
 template < class FaceType  > bool   FaceVectorHasVFAdjacency     (const std::vector<FaceType  > &) {  return FaceType::HasVFAdjacency(); }
 
 template < class TriMeshType> bool HasPerVertexVFAdjacency     (const TriMeshType &m) { return tri::VertexVectorHasVFAdjacency(m.vert); }
 template < class TriMeshType> bool HasPerVertexVEAdjacency     (const TriMeshType &m) { return tri::VertexVectorHasVEAdjacency(m.vert); }
+template < class TriMeshType> bool HasPerVertexVTAdjacency     (const TriMeshType &m) { return tri::VertexVectorHasVTAdjacency(m.vert); }
 template < class TriMeshType> bool   HasPerEdgeVEAdjacency     (const TriMeshType &m) { return tri::EdgeVectorHasVEAdjacency  (m.edge); }
+template < class TriMeshType> bool   HasPerEdgeEFAdjacency     (const TriMeshType &m) { return tri::EdgeVectorHasEFAdjacency  (m.edge); }
 template < class TriMeshType> bool   HasPerFaceVFAdjacency     (const TriMeshType &m) { return tri::FaceVectorHasVFAdjacency  (m.face); }
 
 
@@ -547,14 +655,30 @@ template < class TriMeshType> bool HasPerFaceColor       (const TriMeshType &m)
 template < class TriMeshType> bool HasPerFaceMark        (const TriMeshType &m) { return tri::FaceVectorHasPerFaceMark        (m.face); }
 template < class TriMeshType> bool HasPerFaceQuality     (const TriMeshType &m) { return tri::FaceVectorHasPerFaceQuality     (m.face); }
 template < class TriMeshType> bool HasPerFaceCurvatureDir(const TriMeshType &m) { return tri::FaceVectorHasPerFaceCurvatureDir(m.face); }
+
+
+template < class TetraType> bool TetraVectorHasPerTetraFlags  (const std::vector<TetraType> &) { return TetraType::HasFlags  (); }
+template < class TetraType> bool TetraVectorHasPerTetraColor  (const std::vector<TetraType> &) { return TetraType::HasColor  (); }
+template < class TetraType> bool TetraVectorHasPerTetraMark   (const std::vector<TetraType> &) { return TetraType::HasMark   (); }
+template < class TetraType> bool TetraVectorHasPerTetraQuality(const std::vector<TetraType> &) { return TetraType::HasQuality(); }
+template < class TetraType> bool TetraVectorHasVTAdjacency   (const std::vector<TetraType> &) { return TetraType::HasVTAdjacency(); }
+template < class TetraType> bool TetraVectorHasTTAdjacency   (const std::vector<TetraType> &) { return TetraType::HasTTAdjacency(); }
+
+template < class TriMeshType> bool HasPerTetraFlags       (const TriMeshType &m) { return tri::TetraVectorHasPerTetraFlags       (m.tetra); }
+template < class TriMeshType> bool HasPerTetraColor       (const TriMeshType &m) { return tri::TetraVectorHasPerTetraColor       (m.tetra); }
+template < class TriMeshType> bool HasPerTetraMark        (const TriMeshType &m) { return tri::TetraVectorHasPerTetraMark        (m.tetra); }
+template < class TriMeshType> bool HasPerTetraQuality     (const TriMeshType &m) { return tri::TetraVectorHasPerTetraQuality     (m.tetra); }
+
 template < class TriMeshType> bool HasFFAdjacency   (const TriMeshType &m) { return tri::FaceVectorHasFFAdjacency   (m.face); }
 template < class TriMeshType> bool HasEEAdjacency   (const TriMeshType &m) { return tri::EdgeVectorHasEEAdjacency   (m.edge); }
 template < class TriMeshType> bool HasFEAdjacency   (const TriMeshType &m) { return tri::FaceVectorHasFEAdjacency   (m.face); }
+template < class TriMeshType> bool HasEFAdjacency   (const TriMeshType &m) { return tri::FaceVectorHasFEAdjacency(m.face) && tri::EdgeVectorHasEFAdjacency(m.edge); }
 template < class TriMeshType> bool HasFVAdjacency   (const TriMeshType &m) { return tri::FaceVectorHasFVAdjacency   (m.face); }
-
 template < class TriMeshType> bool HasVFAdjacency   (const TriMeshType &m) { return tri::FaceVectorHasVFAdjacency   (m.face) && tri::VertexVectorHasVFAdjacency(m.vert);  }
 template < class TriMeshType> bool HasVEAdjacency   (const TriMeshType &m) { return tri::EdgeVectorHasVEAdjacency   (m.edge) && tri::VertexVectorHasVEAdjacency(m.vert);  }
-
+template < class TriMeshType> bool HasTVAdjacency   (const TriMeshType &m) { return tri::TetraVectorHasVTAdjacency(m.tetra); }
+template < class TriMeshType> bool HasVTAdjacency   (const TriMeshType &m) { return tri::VertexVectorHasVTAdjacency(m.vert) && tri::TetraVectorHasVTAdjacency(m.tetra); }
+template < class TriMeshType> bool HasTTAdjacency   (const TriMeshType &m) { return tri::TetraVectorHasTTAdjacency(m.tetra); }
 
 
 //template < class  CType0, class CType1, class CType2 , class CType3>
@@ -613,77 +737,112 @@ bool HasHOppAdjacency (const TriMesh < CType0, CType1, CType2, CType3> & /*m*/)
 
 template <class MeshType>
 bool HasPerVertexAttribute(const MeshType &m,   std::string   name){
-        typename std::set< typename MeshType::PointerToAttribute>::const_iterator ai;
-        typename MeshType::PointerToAttribute h;
-        h._name = name;
-        ai = m.vert_attr.find(h);
-        return (ai!= m.vert_attr.end() ) ;
+	typename std::set< typename MeshType::PointerToAttribute>::const_iterator ai;
+	typename MeshType::PointerToAttribute h;
+	h._name = name;
+	ai = m.vert_attr.find(h);
+	return (ai!= m.vert_attr.end() ) ;
 }
 template <class MeshType>
 bool HasPerFaceAttribute(const MeshType &m,   std::string   name){
-        typename std::set< typename MeshType::PointerToAttribute>::const_iterator ai;
-        typename MeshType::PointerToAttribute h;
-        h._name = name;
-        ai = m.face_attr.find(h);
-        return (ai!= m.face_attr.end() ) ;
+	typename std::set< typename MeshType::PointerToAttribute>::const_iterator ai;
+	typename MeshType::PointerToAttribute h;
+	h._name = name;
+	ai = m.face_attr.find(h);
+	return (ai!= m.face_attr.end() ) ;
+}
+
+template <class MeshType>
+bool HasPerTetraAttribute(const MeshType &m, std::string name)
+{
+	typename std::set<typename MeshType::PointerToAttribute>::const_iterator ai;
+	typename MeshType::PointerToAttribute h;
+	h._name = name;
+	ai = m.tetra_attr.find(h);
+	return (ai != m.tetra_attr.end());
 }
 
 template <class MeshType>
 bool HasPerMeshAttribute(const MeshType &m,   std::string   name){
-        typename std::set< typename MeshType::PointerToAttribute>::const_iterator ai;
-        typename MeshType::PointerToAttribute h;
-        h._name = name;
-        ai = m.mesh_attr.find(h);
-        return (ai!= m.mesh_attr.end() ) ;
+	typename std::set< typename MeshType::PointerToAttribute>::const_iterator ai;
+	typename MeshType::PointerToAttribute h;
+	h._name = name;
+	ai = m.mesh_attr.find(h);
+	return (ai!= m.mesh_attr.end() ) ;
 }
 
-template <class MeshType> void RequireCompactness    (MeshType &m) {
-  if(m.vert.size()!=size_t(m.vn)) throw vcg::MissingCompactnessException("Vertex Vector Contains deleted elements");
-  if(m.edge.size()!=size_t(m.en)) throw vcg::MissingCompactnessException("Edge Vector Contains deleted elements");
-  if(m.face.size()!=size_t(m.fn)) throw vcg::MissingCompactnessException("Face Vector Contains deleted elements");
+template <class MeshType> void RequireVertexCompactness (const MeshType &m) {
+	if(m.vert.size()!=size_t(m.vn)) throw vcg::MissingCompactnessException("Vertex Vector Contains deleted elements");
+}
+template <class MeshType> void RequireFaceCompactness   (const MeshType &m) {
+	if(m.face.size()!=size_t(m.fn)) throw vcg::MissingCompactnessException("Face Vector Contains deleted elements");
+}
+template <class MeshType> void RequireEdgeCompactness   (const MeshType &m) {
+	if(m.edge.size()!=size_t(m.en)) throw vcg::MissingCompactnessException("Edge Vector Contains deleted elements");
+}
+template <class MeshType> void RequireTetraCompactness(const MeshType &m) {
+	if (m.tetra.size() != size_t(m.tn)) throw vcg::MissingCompactnessException("Tetra Vector Contains deleted elements");
 }
 
-template <class MeshType> void RequireTriangularMesh (MeshType &m ) { if( tri::HasPolyInfo( m ) ) throw vcg::MissingTriangularRequirementException("");}
-template <class MeshType> void RequirePolygonalMesh (MeshType &m )  { if(!tri::HasPolyInfo( m ) ) throw vcg::MissingPolygonalRequirementException("");}
+template <class MeshType>
+void RequireCompactness(const MeshType &m)
+{
+	RequireVertexCompactness<MeshType>(m);
+	RequireFaceCompactness<MeshType>(m);
+	RequireEdgeCompactness<MeshType>(m);
+	RequireTetraCompactness<MeshType>(m);
+}
 
-template <class MeshType> void RequireVFAdjacency    (MeshType &m) { if(!tri::HasVFAdjacency   (m)) throw vcg::MissingComponentException("VFAdjacency"); }
-template <class MeshType> void RequireVEAdjacency    (MeshType &m) { if(!tri::HasVEAdjacency   (m)) throw vcg::MissingComponentException("VEAdjacency"); }
-template <class MeshType> void RequireFFAdjacency    (MeshType &m) { if(!tri::HasFFAdjacency   (m)) throw vcg::MissingComponentException("FFAdjacency"); }
-template <class MeshType> void RequireEEAdjacency    (MeshType &m) { if(!tri::HasEEAdjacency   (m)) throw vcg::MissingComponentException("EEAdjacency"); }
-template <class MeshType> void RequireFEAdjacency    (MeshType &m) { if(!tri::HasFEAdjacency   (m)) throw vcg::MissingComponentException("FEAdjacency"); }
-template <class MeshType> void RequireFHAdjacency    (MeshType &m) { if(!tri::HasFHAdjacency   (m)) throw vcg::MissingComponentException("FHAdjacency"); }
+//todo require tetramesh
+template <class MeshType> void RequireTriangularMesh (const MeshType &m ) { if( tri::HasPolyInfo( m ) ) throw vcg::MissingTriangularRequirementException("");}
+template <class MeshType> void RequirePolygonalMesh (const MeshType &m )  { if(!tri::HasPolyInfo( m ) ) throw vcg::MissingPolygonalRequirementException("");}
 
-template <class MeshType> void RequirePerVertexQuality     (MeshType &m) { if(!tri::HasPerVertexQuality     (m)) throw vcg::MissingComponentException("PerVertexQuality     "); }
-template <class MeshType> void RequirePerVertexNormal      (MeshType &m) { if(!tri::HasPerVertexNormal      (m)) throw vcg::MissingComponentException("PerVertexNormal      "); }
-template <class MeshType> void RequirePerVertexColor       (MeshType &m) { if(!tri::HasPerVertexColor       (m)) throw vcg::MissingComponentException("PerVertexColor       "); }
-template <class MeshType> void RequirePerVertexMark        (MeshType &m) { if(!tri::HasPerVertexMark        (m)) throw vcg::MissingComponentException("PerVertexMark        "); }
-template <class MeshType> void RequirePerVertexFlags       (MeshType &m) { if(!tri::HasPerVertexFlags       (m)) throw vcg::MissingComponentException("PerVertexFlags       "); }
-template <class MeshType> void RequirePerVertexRadius      (MeshType &m) { if(!tri::HasPerVertexRadius      (m)) throw vcg::MissingComponentException("PerVertexRadius      "); }
-template <class MeshType> void RequirePerVertexCurvature   (MeshType &m) { if(!tri::HasPerVertexCurvature   (m)) throw vcg::MissingComponentException("PerVertexCurvature   "); }
-template <class MeshType> void RequirePerVertexCurvatureDir(MeshType &m) { if(!tri::HasPerVertexCurvatureDir(m)) throw vcg::MissingComponentException("PerVertexCurvatureDir"); }
-template <class MeshType> void RequirePerVertexTexCoord    (MeshType &m) { if(!tri::HasPerVertexTexCoord    (m)) throw vcg::MissingComponentException("PerVertexTexCoord    "); }
+template <class MeshType> void RequireVFAdjacency    (const MeshType &m) { if(!tri::HasVFAdjacency   (m)) throw vcg::MissingComponentException("VFAdjacency"); }
+template <class MeshType> void RequireVEAdjacency    (const MeshType &m) { if(!tri::HasVEAdjacency   (m)) throw vcg::MissingComponentException("VEAdjacency"); }
+template <class MeshType> void RequireFFAdjacency    (const MeshType &m) { if(!tri::HasFFAdjacency   (m)) throw vcg::MissingComponentException("FFAdjacency"); }
+template <class MeshType> void RequireEEAdjacency    (const MeshType &m) { if(!tri::HasEEAdjacency   (m)) throw vcg::MissingComponentException("EEAdjacency"); }
+template <class MeshType> void RequireFEAdjacency    (const MeshType &m) { if(!tri::HasFEAdjacency   (m)) throw vcg::MissingComponentException("FEAdjacency"); }
+template <class MeshType> void RequireFHAdjacency    (const MeshType &m) { if(!tri::HasFHAdjacency   (m)) throw vcg::MissingComponentException("FHAdjacency"); }
+template <class MeshType> void RequireVTAdjacency    (const MeshType &m) { if(!tri::HasVTAdjacency   (m)) throw vcg::MissingComponentException("VTAdjacency"); }
+template <class MeshType> void RequireTTAdjacency    (const MeshType &m) { if(!tri::HasTTAdjacency   (m)) throw vcg::MissingComponentException("TTAdjacency"); }
 
-template <class MeshType> void RequirePerEdgeQuality (MeshType &m) { if(!tri::HasPerEdgeQuality (m)) throw vcg::MissingComponentException("PerEdgeQuality "); }
-template <class MeshType> void RequirePerEdgeNormal  (MeshType &m) { if(!tri::HasPerEdgeNormal  (m)) throw vcg::MissingComponentException("PerEdgeNormal  "); }
-template <class MeshType> void RequirePerEdgeColor   (MeshType &m) { if(!tri::HasPerEdgeColor   (m)) throw vcg::MissingComponentException("PerEdgeColor   "); }
-template <class MeshType> void RequirePerEdgeMark    (MeshType &m) { if(!tri::HasPerEdgeMark    (m)) throw vcg::MissingComponentException("PerEdgeMark    "); }
-template <class MeshType> void RequirePerEdgeFlags   (MeshType &m) { if(!tri::HasPerEdgeFlags   (m)) throw vcg::MissingComponentException("PerEdgeFlags   "); }
+template <class MeshType> void RequirePerVertexQuality     (const MeshType &m) { if(!tri::HasPerVertexQuality     (m)) throw vcg::MissingComponentException("PerVertexQuality     "); }
+template <class MeshType> void RequirePerVertexNormal      (const MeshType &m) { if(!tri::HasPerVertexNormal      (m)) throw vcg::MissingComponentException("PerVertexNormal      "); }
+template <class MeshType> void RequirePerVertexColor       (const MeshType &m) { if(!tri::HasPerVertexColor       (m)) throw vcg::MissingComponentException("PerVertexColor       "); }
+template <class MeshType> void RequirePerVertexMark        (const MeshType &m) { if(!tri::HasPerVertexMark        (m)) throw vcg::MissingComponentException("PerVertexMark        "); }
+template <class MeshType> void RequirePerVertexFlags       (const MeshType &m) { if(!tri::HasPerVertexFlags       (m)) throw vcg::MissingComponentException("PerVertexFlags       "); }
+template <class MeshType> void RequirePerVertexRadius      (const MeshType &m) { if(!tri::HasPerVertexRadius      (m)) throw vcg::MissingComponentException("PerVertexRadius      "); }
+template <class MeshType> void RequirePerVertexCurvature   (const MeshType &m) { if(!tri::HasPerVertexCurvature   (m)) throw vcg::MissingComponentException("PerVertexCurvature   "); }
+template <class MeshType> void RequirePerVertexCurvatureDir(const MeshType &m) { if(!tri::HasPerVertexCurvatureDir(m)) throw vcg::MissingComponentException("PerVertexCurvatureDir"); }
+template <class MeshType> void RequirePerVertexTexCoord    (const MeshType &m) { if(!tri::HasPerVertexTexCoord    (m)) throw vcg::MissingComponentException("PerVertexTexCoord    "); }
 
-template <class MeshType> void RequirePerFaceFlags       (MeshType &m) { if(!tri::HasPerFaceFlags       (m)) throw vcg::MissingComponentException("PerFaceFlags       "); }
-template <class MeshType> void RequirePerFaceNormal      (MeshType &m) { if(!tri::HasPerFaceNormal      (m)) throw vcg::MissingComponentException("PerFaceNormal      "); }
-template <class MeshType> void RequirePerFaceColor       (MeshType &m) { if(!tri::HasPerFaceColor       (m)) throw vcg::MissingComponentException("PerFaceColor       "); }
-template <class MeshType> void RequirePerFaceMark        (MeshType &m) { if(!tri::HasPerFaceMark        (m)) throw vcg::MissingComponentException("PerFaceMark        "); }
-template <class MeshType> void RequirePerFaceQuality     (MeshType &m) { if(!tri::HasPerFaceQuality     (m)) throw vcg::MissingComponentException("PerFaceQuality     "); }
-template <class MeshType> void RequirePerFaceCurvatureDir(MeshType &m) { if(!tri::HasPerFaceCurvatureDir(m)) throw vcg::MissingComponentException("PerFaceCurvatureDir"); }
+template <class MeshType> void RequirePerEdgeQuality (const MeshType &m) { if(!tri::HasPerEdgeQuality (m)) throw vcg::MissingComponentException("PerEdgeQuality "); }
+template <class MeshType> void RequirePerEdgeNormal  (const MeshType &m) { if(!tri::HasPerEdgeNormal  (m)) throw vcg::MissingComponentException("PerEdgeNormal  "); }
+template <class MeshType> void RequirePerEdgeColor   (const MeshType &m) { if(!tri::HasPerEdgeColor   (m)) throw vcg::MissingComponentException("PerEdgeColor   "); }
+template <class MeshType> void RequirePerEdgeMark    (const MeshType &m) { if(!tri::HasPerEdgeMark    (m)) throw vcg::MissingComponentException("PerEdgeMark    "); }
+template <class MeshType> void RequirePerEdgeFlags   (const MeshType &m) { if(!tri::HasPerEdgeFlags   (m)) throw vcg::MissingComponentException("PerEdgeFlags   "); }
 
-template <class MeshType> void RequirePerFaceWedgeColor   (MeshType &m) { if(!tri::HasPerWedgeColor   (m)) throw vcg::MissingComponentException("PerFaceWedgeColor   "); }
-template <class MeshType> void RequirePerFaceWedgeNormal  (MeshType &m) { if(!tri::HasPerWedgeNormal  (m)) throw vcg::MissingComponentException("PerFaceWedgeNormal  "); }
-template <class MeshType> void RequirePerFaceWedgeTexCoord(MeshType &m) { if(!tri::HasPerWedgeTexCoord(m)) throw vcg::MissingComponentException("PerFaceWedgeTexCoord"); }
+template <class MeshType> void RequirePerFaceFlags       (const MeshType &m) { if(!tri::HasPerFaceFlags       (m)) throw vcg::MissingComponentException("PerFaceFlags       "); }
+template <class MeshType> void RequirePerFaceNormal      (const MeshType &m) { if(!tri::HasPerFaceNormal      (m)) throw vcg::MissingComponentException("PerFaceNormal      "); }
+template <class MeshType> void RequirePerFaceColor       (const MeshType &m) { if(!tri::HasPerFaceColor       (m)) throw vcg::MissingComponentException("PerFaceColor       "); }
+template <class MeshType> void RequirePerFaceMark        (const MeshType &m) { if(!tri::HasPerFaceMark        (m)) throw vcg::MissingComponentException("PerFaceMark        "); }
+template <class MeshType> void RequirePerFaceQuality     (const MeshType &m) { if(!tri::HasPerFaceQuality     (m)) throw vcg::MissingComponentException("PerFaceQuality     "); }
+template <class MeshType> void RequirePerFaceCurvatureDir(const MeshType &m) { if(!tri::HasPerFaceCurvatureDir(m)) throw vcg::MissingComponentException("PerFaceCurvatureDir"); }
 
-template <class MeshType> void RequirePerVertexAttribute(MeshType &m, const char *name) { if(!HasPerVertexAttribute(m,name)) throw vcg::MissingComponentException("PerVertex attribute"); }
-template <class MeshType> void RequirePerEdgeAttribute(MeshType &m, const char *name)   { if(!HasPerEdgeAttribute(m,name))   throw vcg::MissingComponentException("PerEdge attribute"); }
-template <class MeshType> void RequirePerFaceAttribute(MeshType &m, const char *name)   { if(!HasPerFaceAttribute(m,name))   throw vcg::MissingComponentException("PerFace attribute"); }
-template <class MeshType> void RequirePerMeshAttribute(MeshType &m, const char *name)   { if(!HasPerMeshAttribute(m,name))   throw vcg::MissingComponentException("PerMesh attribute"); }
+template <class MeshType> void RequirePerFaceWedgeColor   (const MeshType &m) { if(!tri::HasPerWedgeColor   (m)) throw vcg::MissingComponentException("PerFaceWedgeColor   "); }
+template <class MeshType> void RequirePerFaceWedgeNormal  (const MeshType &m) { if(!tri::HasPerWedgeNormal  (m)) throw vcg::MissingComponentException("PerFaceWedgeNormal  "); }
+template <class MeshType> void RequirePerFaceWedgeTexCoord(const MeshType &m) { if(!tri::HasPerWedgeTexCoord(m)) throw vcg::MissingComponentException("PerFaceWedgeTexCoord"); }
+
+template <class MeshType> void RequirePerTetraFlags       (const MeshType &m) { if(!tri::HasPerTetraFlags       (m)) throw vcg::MissingComponentException("PerTetraFlags       "); }
+template <class MeshType> void RequirePerTetraColor       (const MeshType &m) { if(!tri::HasPerTetraColor       (m)) throw vcg::MissingComponentException("PerTetraColor       "); }
+template <class MeshType> void RequirePerTetraMark        (const MeshType &m) { if(!tri::HasPerTetraMark        (m)) throw vcg::MissingComponentException("PerTetraMark        "); }
+template <class MeshType> void RequirePerTetraQuality     (const MeshType &m) { if(!tri::HasPerTetraQuality     (m)) throw vcg::MissingComponentException("PerTetraQuality     "); }
+
+template <class MeshType> void RequirePerVertexAttribute(const MeshType &m, const char *name) { if(!HasPerVertexAttribute(m,name)) throw vcg::MissingComponentException("PerVertex attribute"); }
+template <class MeshType> void RequirePerEdgeAttribute(const MeshType &m, const char *name)   { if(!HasPerEdgeAttribute(m,name))   throw vcg::MissingComponentException("PerEdge attribute"); }
+template <class MeshType> void RequirePerFaceAttribute(const MeshType &m, const char *name)   { if(!HasPerFaceAttribute(m,name))   throw vcg::MissingComponentException("PerFace attribute"); }
+template <class MeshType> void RequirePerTetraAttribute(const MeshType &m, const char *name)  { if(!HasPerTetraAttribute(m,name))  throw vcg::MissingComponentException("PerTetra attribute"); }
+template <class MeshType> void RequirePerMeshAttribute(const MeshType &m, const char *name)   { if(!HasPerMeshAttribute(m,name))   throw vcg::MissingComponentException("PerMesh attribute"); }
 
 /*@}*/
 /*@}*/
diff --git a/vcg/complex/complex.h b/vcg/complex/complex.h
index c5d81f0e..fa494bd9 100644
--- a/vcg/complex/complex.h
+++ b/vcg/complex/complex.h
@@ -25,25 +25,39 @@
 #define __VCG_MESH_H
 #define __VCG_MESH
 
-#include <assert.h>
+#include <cassert>
+#include <cstring>
 #include <string>
+#include <ctime>
 #include <vector>
 #include <set>
 #include <stack>
-#include <algorithm>
+#include <queue>
 #include <map>
+#include <algorithm>
 #include <iostream>
 #include <stdexcept>
 #include <limits>
-#include <set>
+#include <iterator>
+#include <typeindex>
 #include <wrap/callback.h>
 #include <vcg/complex/exception.h>
 #include <vcg/container/simple_temporary_data.h>
 #include <vcg/complex/used_types.h>
 #include <vcg/complex/base.h>
 #include <vcg/complex/allocate.h>
+#include <vcg/simplex/face/pos.h>
+#include <vcg/simplex/face/topology.h>
+#include <vcg/simplex/edge/pos.h>
+#include <vcg/simplex/edge/topology.h>
+#include <vcg/simplex/tetrahedron/pos.h>
+#include <vcg/simplex/tetrahedron/topology.h>
+#include <vcg/complex/foreach.h>
 #include <vcg/complex/algorithms/update/flag.h>
 #include <vcg/complex/algorithms/update/selection.h>
+#include <vcg/complex/algorithms/update/topology.h>
+#include <vcg/complex/algorithms/update/normal.h>
+#include <vcg/complex/algorithms/update/bounding.h>
 #include <vcg/complex/algorithms/mesh_assert.h>
 #include <vcg/complex/append.h>
 
diff --git a/vcg/complex/exception.h b/vcg/complex/exception.h
index f98446eb..b42c4c37 100644
--- a/vcg/complex/exception.h
+++ b/vcg/complex/exception.h
@@ -83,6 +83,21 @@ public:
     }
 };
 
+class MissingTetrahedralRequirementException : public std::runtime_error
+{
+public:
+  MissingTetrahedralRequirementException(const std::string &err):std::runtime_error(err)
+  {
+    std::cout << "Mesh has to be composed by tetrahedras -" << err << "- \n";
+  }
+
+    virtual const char *what() const throw ()
+    {
+      static char buf[128]="Mesh has to be composed by tetrahedras";
+      return buf;
+    }
+};
+
 class MissingPreconditionException : public std::runtime_error
 {
 public:
diff --git a/vcg/complex/foreach.h b/vcg/complex/foreach.h
new file mode 100644
index 00000000..156d3489
--- /dev/null
+++ b/vcg/complex/foreach.h
@@ -0,0 +1,211 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2017                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+#ifndef VCG__FOREACH_H
+#define VCG__FOREACH_H
+
+#ifndef __VCG_MESH
+#error "This file should not be included alone. It is automatically included by complex.h"
+#endif
+
+namespace vcg {
+namespace tri {
+/** \addtogroup trimesh
+@{
+*/
+
+template <class MeshType>
+inline void ForEachFacePos(MeshType &m, std::function<void (typename face::Pos<typename MeshType::FaceType>  &)> action)
+{
+  typedef typename face::Pos<typename MeshType::FaceType> PosType;
+  
+    for(auto fi=m.face.begin();fi!=m.face.end();++fi)
+        if(!(*fi).IsD())
+        {
+            for(int i=0;i<3;++i)
+            {
+                PosType pi(&*fi,i);
+                action(pi);
+            }
+        }
+}
+
+/**
+ * ForEachFace Helper
+ * to traverse all the faces of a mesh you can simply write something like:
+ * 
+ *      ForEachFace(m, [&](const FaceType &f){
+ *         MakeSomethingWithFace(f);
+ *      });
+ *  
+ */
+
+template <class MeshType>
+inline void ForEachFace(const MeshType &m, std::function<void (const typename MeshType::FaceType &)> action)
+{
+  if(m.fn == (int) m.face.size())
+  {
+    for(auto fi=m.face.begin();fi!=m.face.end();++fi) {
+      action(*fi);
+    }       
+  }
+  else
+  {
+    for(auto fi=m.face.begin();fi!=m.face.end();++fi)
+      if(!(*fi).IsD())
+      {
+        action(*fi);
+      }    
+  }
+}
+
+template <class MeshType>
+inline void ForEachFace(MeshType &m, std::function<void (typename MeshType::FaceType &)> action)
+{
+  if(m.fn == (int) m.face.size())
+  {
+    for(auto fi=m.face.begin();fi!=m.face.end();++fi) {
+      action(*fi);
+    }       
+  }
+  else
+  {
+    for(auto fi=m.face.begin();fi!=m.face.end();++fi)
+      if(!(*fi).IsD())
+      {
+        action(*fi);
+      }    
+  }
+}
+
+/**
+ * ForEachVertex Helper
+ * to traverse all the vertexes of a mesh you can simply write something like:
+ * 
+ *      ForEachVertex(m, [&](const VertexType &v){
+ *         MakeSomethingWithVertex(v);
+ *      });
+ *  
+ */
+
+template <class MeshType>
+inline void ForEachVertex(MeshType &m, std::function<void (typename MeshType::VertexType &)> action)
+{
+  if(m.vn == (int) m.vert.size())
+  {
+    for(auto vi=m.vert.begin();vi!=m.vert.end();++vi) {
+      action(*vi);
+    }       
+  }
+  else
+  {
+    for(auto vi=m.vert.begin();vi!=m.vert.end();++vi)
+      if(!(*vi).IsD())
+      {
+        action(*vi);
+      }    
+  }
+}
+
+/**
+ * ForEachEdge Helper
+ * to traverse all the vertexes of a mesh you can simply write something like:
+ * 
+ *      ForEachEdge(m, [&](const EdgeType &e){
+ *         MakeSomethingWithEdge(e);
+ *      });
+ *  
+ */
+
+template <class MeshType>
+inline void ForEachEdge(MeshType &m, std::function<void (typename MeshType::EdgeType &)> action)
+{
+  if(m.en == (int) m.edge.size())
+  {
+    for(auto ei=m.edge.begin();ei!=m.edge.end();++ei) {
+      action(*ei);
+    }       
+  }
+  else
+  {
+    for(auto ei=m.edge.begin();ei!=m.edge.end();++ei)
+      if(!(*ei).IsD())
+      {
+        action(*ei);
+      }    
+  }
+}
+
+/**
+ * ForEachTetra Helper
+ * to traverse all the tetras of a mesh you can simply write something like:
+ * 
+ *      ForEachTetra(m, [&](const TetraType &t){
+ *         MakeSomethingWithTetra(t);
+ *      });
+ *  
+ */
+
+template <class MeshType>
+inline void ForEachTetra(const MeshType &m, std::function<void (const typename MeshType::TetraType &)> action)
+{
+  if(m.tn == (int) m.tetra.size())
+  {
+    for(auto ti = m.tetra.begin(); ti != m.tetra.end(); ++ti) {
+      action(*ti);
+    }       
+  }
+  else
+  {
+    for(auto ti = m.tetra.begin(); ti != m.tetra.end(); ++ti)
+      if(!(*ti).IsD())
+      {
+        action(*ti);
+      }    
+  }
+}
+
+template <class MeshType>
+inline void ForEachTetra(MeshType &m, std::function<void (typename MeshType::TetraType &)> action)
+{
+  if(m.tn == (int) m.tetra.size())
+  {
+    for(auto ti = m.tetra.begin(); ti != m.tetra.end(); ++ti) {
+      action(*ti);
+    }       
+  }
+  else
+  {
+    for(auto ti = m.tetra.begin(); ti != m.tetra.end(); ++ti)
+      if(!(*ti).IsD())
+      {
+        action(*ti);
+      }    
+  }
+}
+
+/** @} */ // end doxygen group trimesh
+} // end namespace tri
+} // end namespace vcg
+
+#endif // VCG__FOREACH_H
diff --git a/vcg/complex/used_types.h b/vcg/complex/used_types.h
index 4741974a..04daf9bb 100755
--- a/vcg/complex/used_types.h
+++ b/vcg/complex/used_types.h
@@ -30,6 +30,7 @@
 #include <vcg/space/texcoord2.h>
 #include <vcg/space/triangle3.h>
 #include <vcg/space/polygon3.h>
+#include <vcg/space/tetra3.h>
 
 #include <vcg/container/derivation_chain.h>
 #include <vcg/complex/all_types.h>
@@ -42,6 +43,8 @@
 #include <vcg/simplex/face/base.h>
 #include <vcg/simplex/edge/component.h>
 #include <vcg/simplex/edge/base.h>
+#include <vcg/simplex/tetrahedron/component.h>
+#include <vcg/simplex/tetrahedron/base.h>
 #include <vcg/connectors/hedge_component.h>
 #include <vcg/connectors/hedge.h>
 
@@ -52,13 +55,14 @@ namespace vcg{
 struct _Vertex;
 struct _Edge  ;
 struct _Face  ;
+struct _Tetra ;
 struct _HEdge ;
 
 struct DummyTypes{
         typedef _Vertex VertexType; 		// simplex types
         typedef _Edge EdgeType;
         typedef _Face FaceType;
-        typedef char TetraType;
+        typedef _Tetra TetraType;
         typedef _HEdge HEdgeType; 		// connector types
 
         typedef vcg::Point3<bool> CoordType;
@@ -88,10 +92,11 @@ template <template <typename> class A = DefaultDeriver, template <typename> clas
                     template <typename> class C = DefaultDeriver, template <typename> class D = DefaultDeriver,
                     template <typename> class E = DefaultDeriver, template <typename> class F = DefaultDeriver,
                     template <typename> class G = DefaultDeriver, template <typename> class H = DefaultDeriver >
-                    class UsedTypes: public Arity12<DummyTypes,
-                                Use<  Vertex	<UsedTypes< A, B, C, D , E, F, G, H > > > :: template AsVertexType,
+                    class UsedTypes: public Arity13<DummyTypes,
+                                Use<  Vertex            <UsedTypes< A, B, C, D , E, F, G, H > > > :: template AsVertexType,
                                 Use<  Edge		<UsedTypes< A, B, C, D , E, F, G, H > > > :: template AsEdgeType,
                                 Use<  Face		<UsedTypes< A, B, C, D , E, F, G, H > > > :: template AsFaceType,
+                                Use<  TetraSimp		<UsedTypes< A, B, C, D , E, F, G, H > > > :: template AsTetraType,
                                 Use<  HEdge	  <UsedTypes< A, B, C, D , E, F, G, H > > > :: template AsHEdgeType,
                             A, B, C, D, E, F, G, H
                     >  {
@@ -105,12 +110,14 @@ struct _UsedTypes: public UsedTypes<
     Use<_Vertex>::AsVertexType,
     Use<_Edge  >::AsEdgeType,
     Use<_Face  >::AsFaceType,
+    Use<_Tetra >::AsTetraType,
     Use<_HEdge >::AsHEdgeType
 >{};
 
 struct _Vertex: public  Vertex<_UsedTypes>{};
 struct _Edge  : public  Edge<_UsedTypes>{};
 struct _Face  : public  Face<_UsedTypes>{};
+struct _Tetra : public  TetraSimp<_UsedTypes>{};
 struct _HEdge : public  HEdge<_UsedTypes>{};
 
 };
diff --git a/vcg/container/derivation_chain.h b/vcg/container/derivation_chain.h
index bddb3d3d..a73ed2c4 100644
--- a/vcg/container/derivation_chain.h
+++ b/vcg/container/derivation_chain.h
@@ -121,7 +121,18 @@ template <
           template <typename> class G, template <typename> class H,
           template <typename> class I, template <typename> class J,
           template <typename> class K, template <typename> class L>
-					class Arity12: public L<Arity11<Base, A, B, C, D, E, F, G, H, I, J, K> > {};
+                                        class Arity12: public L<Arity11<Base, A, B, C, D, E, F, G, H, I, J, K> > {};
+
+                                        template <
+                                                class Base,
+                                                template <typename> class A, template <typename> class B,
+                                                template <typename> class C, template <typename> class D,
+                                                template <typename> class E, template <typename> class F,
+                                                template <typename> class G, template <typename> class H,
+                                                template <typename> class I, template <typename> class J,
+                                                template <typename> class K, template <typename> class L,
+                                                template <typename> class M >
+                                        class Arity13: public L<Arity12<Base, A, B, C, D, E, F, G, H, I, J, K, L> > {};
 
 
 // chain with 2 template arguments on the derivers
@@ -162,6 +173,20 @@ template <
 					template <typename,typename> class D>
 					class MArity4: public D<MArity3<Base, TA,A,TB, B, TC,C>,TD > {};
 
+template <
+					class Base,
+					class TA,
+					template <typename,typename> class A,
+					class TB,
+					template <typename,typename> class B,
+					class TC,
+					template <typename,typename> class C,
+					class TD,
+                                        template <typename,typename> class D,
+					class TE,
+					template <typename,typename> class E>
+					class MArity5: public E<MArity4<Base, TA,A,TB, B, TC,C, TD, D>, TE> {};
+
 
 
 class DumClass {};
diff --git a/vcg/container/simple_temporary_data.h b/vcg/container/simple_temporary_data.h
index 011726d5..979e4357 100644
--- a/vcg/container/simple_temporary_data.h
+++ b/vcg/container/simple_temporary_data.h
@@ -24,58 +24,82 @@
 #ifndef __VCGLIB_SIMPLE__
 #define __VCGLIB_SIMPLE__
 
-#include <string.h>
+namespace vcg
+{
 
-namespace vcg {
-
-class SimpleTempDataBase{
+class SimpleTempDataBase
+{
 public:
-  virtual ~SimpleTempDataBase() {}
-  SimpleTempDataBase() {}
+    virtual ~SimpleTempDataBase() {}
+    SimpleTempDataBase() {}
     virtual void Resize(size_t sz) = 0;
-    virtual void Reorder(std::vector<size_t> & newVertIndex)=0;
-    virtual size_t SizeOf() const  = 0;
-    virtual void * DataBegin() = 0;
-    virtual void * At(size_t i ) = 0;
+    virtual void Reorder(std::vector<size_t> &newVertIndex) = 0;
+    virtual size_t SizeOf() const = 0;
+    virtual void *DataBegin() = 0;
+
+    virtual void       *At(size_t i) = 0;
+    virtual const void *At(size_t i) const = 0;
+    virtual void CopyValue(const size_t to, const size_t from, const SimpleTempDataBase *other) = 0;
 };
 
 template <class TYPE>
-class VectorNBW: public std::vector<TYPE> {};
+class VectorNBW : public std::vector<TYPE>
+{
+};
 
 template <>
-class VectorNBW<bool>{
+class VectorNBW<bool>
+{
 public:
-    VectorNBW():data(0),datasize(0),datareserve(0){}
-    bool * data ;
+    VectorNBW() : data(0), datasize(0), datareserve(0) {}
 
-    void reserve (const int & sz)	{
-        if(sz<=datareserve) return;
-        bool * newdataLoc = new bool[ sz ];
-        if(datasize!=0) memcpy(newdataLoc,data,sizeof(datasize));
-        std::swap(data,newdataLoc);
-        if(newdataLoc != 0) delete[] newdataLoc;
+    ~VectorNBW()
+    {
+        if (data)
+            delete[] data;
+    }
+
+    bool *data;
+
+    void reserve(const int &sz)
+    {
+        if (sz <= datareserve)
+            return;
+        bool *newdataLoc = new bool[sz];
+        if (datasize != 0)
+            memcpy(newdataLoc, data, sizeof(datasize));
+        std::swap(data, newdataLoc);
+        if (newdataLoc != 0)
+            delete[] newdataLoc;
         datareserve = sz;
     }
 
-    void resize  (const int & sz)	{
+    void resize(const int &sz)
+    {
         int oldDatasize = datasize;
-        if(sz <= oldDatasize) return;
-        if(sz > datareserve)
+        if (sz <= oldDatasize)
+            return;
+        if (sz > datareserve)
             reserve(sz);
         datasize = sz;
-        memset(&data[oldDatasize],0,datasize-oldDatasize);
-        }
-    void push_back(const bool & v)	{ resize(datasize+1); data[datasize] = v;}
+        memset(&data[oldDatasize], 0, datasize - oldDatasize);
+    }
+    void push_back(const bool &v)
+    {
+        resize(datasize + 1);
+        data[datasize] = v;
+    }
 
-    void clear(){ datasize = 0;}
+    void clear() { datasize = 0; }
 
-    unsigned int  size() const { return datasize;}
+    unsigned int size() const { return datasize; }
 
-    bool empty() const {return datasize==0;}
+    bool empty() const { return datasize == 0; }
 
-    bool * begin() const {return data;}
+    bool *begin() const { return data; }
 
-    bool  & operator [](const int & i){return data[i];}
+    bool &operator[](const int &i) { return data[i]; }
+    const bool &operator[](const int &i) const { return data[i]; }
 
 private:
     int datasize;
@@ -83,74 +107,112 @@ private:
 };
 
 template <class STL_CONT, class ATTR_TYPE>
-class SimpleTempData:public SimpleTempDataBase{
+class SimpleTempData : public SimpleTempDataBase
+{
 
-    public:
-    typedef SimpleTempData<STL_CONT,ATTR_TYPE> SimpTempDataType;
+public:
+    typedef SimpleTempData<STL_CONT, ATTR_TYPE> SimpTempDataType;
     typedef ATTR_TYPE AttrType;
 
-    STL_CONT& c;
+    STL_CONT &c;
     VectorNBW<ATTR_TYPE> data;
     int padding;
 
-    SimpleTempData(STL_CONT  &_c):c(_c),padding(0){data.reserve(c.capacity());data.resize(c.size());};
-    SimpleTempData(STL_CONT  &_c, const ATTR_TYPE &val):c(_c){
-        data.reserve(c.capacity());data.resize(c.size());
+    SimpleTempData(STL_CONT &_c) : c(_c), padding(0)
+    {
+        data.reserve(c.capacity());
+        data.resize(c.size());
+    };
+    SimpleTempData(STL_CONT &_c, const ATTR_TYPE &val) : c(_c)
+    {
+        data.reserve(c.capacity());
+        data.resize(c.size());
         Init(val);
     };
 
-    ~SimpleTempData(){data.clear();}
+    ~SimpleTempData()
+    {
+        data.clear();
+    }
 
     void Init(const ATTR_TYPE &val)
     {
-        std::fill(data.begin(),data.end(),val);
+        std::fill(data.begin(), data.end(), val);
     }
     // access to data
-    ATTR_TYPE & operator[](const typename STL_CONT::value_type & v){return data[&v-&*c.begin()];}
-    ATTR_TYPE & operator[](const typename STL_CONT::value_type * v){return data[v-&*c.begin()];}
-    ATTR_TYPE & operator[](const typename STL_CONT::iterator & cont){return data[&(*cont)-&*c.begin()];}
-    ATTR_TYPE & operator[](size_t i){return data[i];}
+    ATTR_TYPE &operator[](const typename STL_CONT::value_type &v)  { return data[&v - &*c.begin()]; }
+    ATTR_TYPE &operator[](const typename STL_CONT::value_type *v)  { return data[v - &*c.begin()]; }
+    ATTR_TYPE &operator[](const typename STL_CONT::iterator &cont) { return data[&(*cont) - &*c.begin()]; }
+    ATTR_TYPE &operator[](size_t i) { return data[i]; }
 
-    void * At(size_t i ) {return &(*this)[i];};
+    const ATTR_TYPE &operator[](const typename STL_CONT::value_type &v)  const { return data[&v - &*c.begin()]; }
+    const ATTR_TYPE &operator[](const typename STL_CONT::value_type *v)  const { return data[v - &*c.begin()]; }
+    const ATTR_TYPE &operator[](const typename STL_CONT::iterator &cont) const { return data[&(*cont) - &*c.begin()]; }
+    const ATTR_TYPE &operator[](size_t i) const { return data[i]; }
+
+    void       *At(size_t i) { return &(*this)[i]; }
+    const void *At(size_t i) const { return &(*this)[i]; }
+
+    void CopyValue(const size_t to, const size_t from, const SimpleTempDataBase *other)
+    {
+        assert(other != nullptr);
+        data[to] = *(static_cast<const ATTR_TYPE *>(other->At(from)));
+    }
 
     // update temporary data size
-    bool UpdateSize(){
-            if(data.size() != c.size())
-                {
-                    data.resize(c.size());
-                    return false;
-                }
-            return true;
+    bool UpdateSize()
+    {
+        if (data.size() != c.size())
+        {
+            data.resize(c.size());
+            return false;
         }
+        return true;
+    }
 
-    void Resize(size_t sz){
+    void Resize(size_t sz)
+    {
         data.resize(sz);
     }
 
-    void Reorder(std::vector<size_t> & newVertIndex){
-        for(unsigned int i = 0 ; i < data.size(); ++i){
-            if( newVertIndex[i] != (std::numeric_limits<size_t>::max)())
+    void Reorder(std::vector<size_t> &newVertIndex)
+    {
+        for (unsigned int i = 0; i < data.size(); ++i)
+        {
+            if (newVertIndex[i] != (std::numeric_limits<size_t>::max)())
                 data[newVertIndex[i]] = data[i];
         }
     }
 
-    size_t SizeOf() const {return sizeof(ATTR_TYPE);}
-    void * DataBegin() {return data.empty()?NULL:&(*data.begin());}
+    size_t SizeOf() const { return sizeof(ATTR_TYPE); }
+    void *DataBegin() { return data.empty() ? NULL : &(*data.begin()); }
 };
 
 template <class ATTR_TYPE>
-class Attribute: public SimpleTempDataBase   {
+class Attribute : public SimpleTempDataBase
+{
 public:
     typedef ATTR_TYPE AttrType;
-    AttrType * attribute;
-    Attribute(){attribute = new ATTR_TYPE();}
-    ~Attribute(){delete attribute;}
-    size_t SizeOf()const {return sizeof(ATTR_TYPE);}
-    void * DataBegin(){return attribute;}
+    AttrType *attribute;
+    Attribute() { attribute = new ATTR_TYPE(); }
+    ~Attribute() { delete attribute; }
+    size_t SizeOf() const { return sizeof(ATTR_TYPE); }
+    void *DataBegin() { return attribute; }
 
-    void Resize(size_t  ) {assert(0);}
-    void Reorder(std::vector<size_t> &  ){assert(0);}
-    void * At(size_t ) {assert(0);return (void*)0;}
+    void Resize(size_t) { assert(0); }
+    void Reorder(std::vector<size_t> &) { assert(0); }
+
+    void *At(size_t)
+    {
+        assert(0);
+        return (void *)0;
+    }
+    const void *At(size_t) const
+    {
+        assert(0);
+        return (void *)0;
+    }
+    void CopyValue(const size_t, const size_t, const SimpleTempDataBase *) { assert(0); }
 };
 
 } // end namespace vcg
diff --git a/vcg/math/base.h b/vcg/math/base.h
index 107621da..a2ca912a 100644
--- a/vcg/math/base.h
+++ b/vcg/math/base.h
@@ -173,14 +173,26 @@ namespace math {
 #endif
 
 template <class SCALAR>
-inline SCALAR  Clamp( const SCALAR & val, const SCALAR& minval, const SCALAR& maxval)
+inline SCALAR  Clamp(const SCALAR & val, const SCALAR& minval, const SCALAR& maxval)
 {
 	if(val < minval) return minval;
 	if(val > maxval) return maxval;
 	return val;
 }
 
+template <class SCALAR>
+inline SCALAR Lerp(const SCALAR a, const SCALAR b, const SCALAR lambda)
+{
+    return a * lambda + (1-lambda) * b;
+}
 
+template <class SCALAR>
+inline SCALAR ClampedLerp(const SCALAR a, const SCALAR b, const SCALAR lambda)
+{
+  const SCALAR clampedLambda = math::Clamp(lambda, (SCALAR)0, (SCALAR)1);
+  return a * clampedLambda + ((SCALAR)1-clampedLambda) * b;
+}
+                   
 
 inline float   ToDeg(const float &a){return a*180.0f/float(M_PI);}
 inline float   ToRad(const float &a){return float(M_PI)*a/180.0f;}
diff --git a/vcg/math/camera.h b/vcg/math/camera.h
index e4502197..a185f585 100644
--- a/vcg/math/camera.h
+++ b/vcg/math/camera.h
@@ -229,7 +229,7 @@ public:
     vcg::Matrix44<S> GetMatrix(S nearVal, S farVal);
 
     /// returns the frustum
-    inline void GetFrustum(S & sx, S & dx, S & bt, S & tp, S & nr);
+    inline void GetFrustum(S & sx, S & dx, S & bt, S & tp, S & nr) const;
 
     //--- Space transformation methods
 
@@ -549,7 +549,7 @@ void Camera<S>::SetIsometric(S sx, S dx, S bt, S tp, S Focal, vcg::Point2<int> V
 
 /// returns the frustum
 template<class S>
-void Camera<S>:: GetFrustum( S & sx, S & dx, S & bt, S & tp, S & nr)
+void Camera<S>:: GetFrustum( S & sx, S & dx, S & bt, S & tp, S & nr) const
 {
     dx = CenterPx.X()* PixelSizeMm.X();			//scaled center
     sx = -( (S)ViewportPx.X() - CenterPx.X() ) * PixelSizeMm.X();
diff --git a/vcg/math/gen_normal.h b/vcg/math/gen_normal.h
index 78d40b6d..3e9968c4 100644
--- a/vcg/math/gen_normal.h
+++ b/vcg/math/gen_normal.h
@@ -29,8 +29,6 @@ $Log: gen_normal.h,v $
 #ifndef __VCG_GEN_NORMAL
 #define __VCG_GEN_NORMAL
 
-#include <algorithm>
-
 namespace vcg {
 
 template <class ScalarType>
@@ -94,7 +92,7 @@ static void UniformCone(int vn, std::vector<Point3<ScalarType > > &NN, ScalarTyp
 
   printf("----------AngleRad %f Angledeg %f ratio %f vn %i vn2 %i \n",AngleRad,math::ToDeg(AngleRad),Ratio,vn,int(vn/Ratio));
   Fibonacci(vn/Ratio,NNT);
-  printf("asked %i got %i (expecting %i instead of %i)\n", int(vn/Ratio), NNT.size(), int(NNT.size()*Ratio), vn);
+  printf("asked %i got %i (expecting %i instead of %i)\n", int(vn/Ratio), int(NNT.size()), int(NNT.size()*Ratio), vn);
   typename std::vector<Point3<ScalarType> >::iterator vi;
 
   ScalarType cosAngle = cos(AngleRad);
diff --git a/vcg/math/histogram.h b/vcg/math/histogram.h
index 2edfb578..4a3ddc26 100644
--- a/vcg/math/histogram.h
+++ b/vcg/math/histogram.h
@@ -23,11 +23,10 @@
 #ifndef __VCG_HISTOGRAM
 #define __VCG_HISTOGRAM
 
-#include <vector>
-#include <algorithm>
 #include <assert.h>
 #include <string>
 #include <limits>
+#include <vector>
 #include <vcg/math/base.h>
 #include <stdio.h>
 
diff --git a/vcg/math/matrix33.h b/vcg/math/matrix33.h
index 3e2f8b4d..5c82526d 100644
--- a/vcg/math/matrix33.h
+++ b/vcg/math/matrix33.h
@@ -110,12 +110,12 @@ public:
 
 
 
-    /// Operatore di indicizzazione
+    /// Indexing operator
     inline S * operator [] ( const int i )
     {
         return a+i*3;
     }
-    /// Operatore const di indicizzazione
+    /// Const indexing operator
     inline const S * operator [] ( const int i ) const
     {
         return a+i*3;
@@ -368,9 +368,8 @@ void ExternalProduct(const Point3<S> &a, const Point3<S> &b)
 ScalarType Norm()
 {
     ScalarType SQsum=0;
-    for(int i=0;i<3;++i)
-        for(int j=0;j<3;++j)
-             SQsum += a[i]*a[i];
+    for(int i=0;i<9;++i)
+        SQsum += a[i]*a[i];
     return (math::Sqrt(SQsum));
 }
 
@@ -519,11 +518,38 @@ Matrix33<S> RotationMatrix(vcg::Point3<S> v0,vcg::Point3<S> v1,bool normalized=t
             return rotM;
         }
 
-        ///find the axis of rotation
+        //find the axis of rotation
         CoordType axis;
-        axis=v0^v1;
-        axis.Normalize();
 
+        //if dot = -1 rotating to opposite vertex
+        //the problem is underdefined, so choose axis such that division is more stable
+        //alternative solution at http://cs.brown.edu/research/pubs/pdfs/1999/Moller-1999-EBA.pdf
+        if (dot < (S)-1 + epsilon)
+        {
+            S max = std::numeric_limits<S>::min();
+            int maxInd = 0;
+            for (int i = 0; i < 3; ++i)
+            {
+                if (v0[i] > max)
+                {
+                    max    = v0[i];
+                    maxInd = i;
+                }
+            }
+
+            axis[maxInd] = - (v0[(maxInd+2) % 3] / v0[maxInd]);
+            axis[(maxInd+1) % 3] = 0;
+            axis[(maxInd+2) % 3] = 1;
+
+            dot = (S)-1;
+        } 
+        else 
+        {
+            axis=v0^v1;
+        }
+
+        axis.Normalize();
+    
         ///construct rotation matrix
         S u=axis.X();
         S v=axis.Y();
diff --git a/vcg/math/matrix44.h b/vcg/math/matrix44.h
index a138e57d..7ca46188 100644
--- a/vcg/math/matrix44.h
+++ b/vcg/math/matrix44.h
@@ -30,8 +30,8 @@
 #include <vcg/space/point4.h>
 #include <vector>
 #include <iostream>
-#include <eigenlib/Eigen/Core>
-#include <eigenlib/Eigen/LU>
+#include <Eigen/Core>
+#include <Eigen/LU>
 
 namespace vcg {
 
@@ -85,7 +85,7 @@ public:
     */
     Matrix44() {}
     ~Matrix44() {}
-    Matrix44(const Matrix44 &m);
+    //Matrix44(const Matrix44 &m);
     Matrix44(const T v[]);
 
     T &ElementAt(const int row, const int col);
@@ -192,7 +192,8 @@ public:
     template <class Q>
     static inline Matrix44 Construct( const Matrix44<Q> & b )
     {
-        Matrix44<T> tmp; tmp.FromMatrix(b);
+		Matrix44<T> tmp;
+		tmp.FromMatrix(b);
         return tmp;
     }
 
@@ -243,9 +244,9 @@ typedef Matrix44<double> Matrix44d;
 
 
 
-template <class T> Matrix44<T>::Matrix44(const Matrix44<T> &m) {
-    memcpy((T *)_a, (const T *)m._a, 16 * sizeof(T));
-}
+//template <class T> Matrix44<T>::Matrix44(const Matrix44<T> &m) {
+//    memcpy((T *)_a, (const T *)m._a, 16 * sizeof(T));
+//}
 
 template <class T> Matrix44<T>::Matrix44(const T v[]) {
     memcpy((T *)_a, v, 16 * sizeof(T));
diff --git a/vcg/math/perlin_noise.h b/vcg/math/perlin_noise.h
index 917fd394..3ec20ae0 100644
--- a/vcg/math/perlin_noise.h
+++ b/vcg/math/perlin_noise.h
@@ -24,6 +24,8 @@
 #ifndef __VCGLIB_PERLIN_NOISE
 #define __VCGLIB_PERLIN_NOISE
 
+#include <cmath>
+
 namespace vcg
 {
  namespace math {
diff --git a/vcg/math/polar_decomposition.h b/vcg/math/polar_decomposition.h
index deabf861..7d4f03e1 100644
--- a/vcg/math/polar_decomposition.h
+++ b/vcg/math/polar_decomposition.h
@@ -26,8 +26,8 @@
 
 #include <vcg/math/matrix33.h>
 #include <vcg/math/matrix44.h>
-#include <eigenlib/Eigen/Dense>
-#include <eigenlib/Eigen/SVD>
+#include <Eigen/Dense>
+#include <Eigen/SVD>
 
 namespace vcg{
 
diff --git a/vcg/math/quadric.h b/vcg/math/quadric.h
index 85220562..0f4865b5 100644
--- a/vcg/math/quadric.h
+++ b/vcg/math/quadric.h
@@ -26,7 +26,7 @@
 #include <vcg/space/point3.h>
 #include <vcg/space/plane3.h>
 #include <vcg/math/matrix33.h>
-#include <eigenlib/Eigen/Core>
+#include <Eigen/Core>
 
 namespace vcg {
 namespace math {
@@ -87,6 +87,25 @@ public:
     c = -K*K + (ScalarType)(r.Origin()*r.Origin());
   }
 
+  /*
+   * Initializes the quadric as the squared distance from a given point.
+   *
+   */
+  template< class CoordType >
+  void ByPoint( const CoordType & p ) // Init dato un raggio
+  {
+    a[0] = 1; // a11
+    a[1] = 0; // a12 (=a21)
+    a[2] = 0; // a13 (=a31)
+    a[3] = 1; // a22
+    a[4] = 0; // a23 (=a32)
+    a[5] = 1; // a33
+    b[0] = (ScalarType)-2.0*((ScalarType)p.X());
+    b[1] = (ScalarType)-2.0*((ScalarType)p.Y());
+    b[2] = (ScalarType)-2.0*((ScalarType)p.Z());
+    c = pow(p.X(),2) + pow(p.Y(),2)+ pow(p.Z(),2);
+  }
+
   void SetZero()
   {
     a[0] = 0;
@@ -197,135 +216,32 @@ public:
   }
   
   
+  template <class ReturnScalarType>
+  bool MinimumClosestToPoint(Point3<ReturnScalarType> &x, const Point3<ReturnScalarType> &pt)
+  {
+    const double qeps = 1e-3;
+    Eigen::Matrix3d A;
+    Eigen::Vector3d be;
+    A << a[0], a[1], a[2],
+         a[1], a[3], a[4],
+         a[2], a[4], a[5];
+    be << -b[0]/2, -b[1]/2, -b[2]/2;
   
-  
-  
-// spostare..risolve un sistema 3x3
-template<class FLTYPE>
-bool Gauss33( FLTYPE x[], FLTYPE C[3][3+1] )
-{
-    const FLTYPE keps = (FLTYPE)1e-3;
-    int i,j,k;
-
-    FLTYPE eps;					// Determina valore cond.
-		eps = math::Abs(C[0][0]);
-    for(i=1;i<3;++i)
-    {
-		FLTYPE t = math::Abs(C[i][i]);
-		if( eps<t ) eps = t;
-    }
-    eps *= keps;
-
-    for (i = 0; i < 3 - 1; ++i)    		// Ciclo di riduzione
-    {
-        int ma = i;				// Ricerca massimo pivot
-        FLTYPE vma = math::Abs( C[i][i] );
-        for (k = i + 1; k < 3; k++)
-        {
-            FLTYPE t = math::Abs( C[k][i] );
-            if (t > vma)
-            {
-                vma = t;
-                ma  = k;
-            }
-        }
-        if (vma<eps)
-            return false;        			// Matrice singolare
-        if(i!=ma)				// Swap del massimo pivot
-            for(k=0;k<=3;k++)
-            {
-                FLTYPE t = C[i][k];
-                C[i][k] = C[ma][k];
-                C[ma][k] = t;
-            }
-        for (k = i + 1; k < 3; k++)        	//  Riduzione
-        {
-            FLTYPE s;
-            s = C[k][i] / C[i][i];
-            for (j = i+1; j <= 3; j++)
-                C[k][j] -= C[i][j] * s;
-            C[k][i] = 0.0;
-        }
-    }
-
-        // Controllo finale singolarita'
-    if( math::Abs(C[3-1][3- 1])<eps)
-        return false;
-
-    for (i=3-1; i>=0; i--)			// Sostituzione
-    {
-        FLTYPE t;
-        for (t = 0.0, j = i + 1; j < 3; j++)
-            t += C[i][j] * x[j];
-        x[i] = (C[i][3] - t) / C[i][i];
-    }
+    Eigen::JacobiSVD<Eigen::MatrixXd> svd(A, Eigen::ComputeThinU | Eigen::ComputeThinV);
+    Eigen::Vector3d s = svd.singularValues();
+    for(int i=1;i<3;++i) 
+      if(s[i]/s[0] > qeps) s[i]=1/s[i];
+      else s[i]=0;
+    s[0]=1/s[0];
+    
+    Eigen::Vector3d xp;  
+    pt.ToEigenVector(xp);
+    Eigen::Vector3d xe = xp + (svd.matrixV()*s.asDiagonal()*(svd.matrixU().transpose())) *(be - A*xp);
 
+    x.FromEigenVector(xe);
     return true;
-}
-
-
-
-template <class ReturnScalarType>
-bool MinimumOld(Point3<ReturnScalarType> &x)
-{
-		ReturnScalarType C[3][4];
-		C[0][0]=a[0]; C[0][1]=a[1]; C[0][2]=a[2];
-		C[1][0]=a[1]; C[1][1]=a[3]; C[1][2]=a[4];
-		C[2][0]=a[2]; C[2][1]=a[4]; C[2][2]=a[5];
-
-		C[0][3]=-b[0]/2;
-		C[1][3]=-b[1]/2;
-		C[2][3]=-b[2]/2;
-		return Gauss33(&(x[0]),C);
-}
-
-// determina il punto di errore minimo vincolato nel segmento (a,b)
-bool Minimum(Point3<ScalarType> &x,Point3<ScalarType> &pa,Point3<ScalarType> &pb){
-ScalarType	t1,t2, t4, t5, t8, t9,
-	t11,t12,t14,t15,t17,t18,t25,t26,t30,t34,t35,
-	t41,t42,t44,t45,t50,t52,t54,
-	t56,t21,t23,t37,t64,lambda;
-
-	  t1 = a[4]*pb.z();
-	  t2 = t1*pa.y();
-      t4 = a[1]*pb.y();
-      t5 = t4*pa.x();
-      t8 = a[1]*pa.y();
-      t9 = t8*pa.x();
-      t11 = a[4]*pa.z();
-      t12 = t11*pa.y();
-      t14 = pa.z()*pa.z();
-      t15 = a[5]*t14;
-      t17 = a[2]*pa.z();
-      t18 = t17*pa.x();
-      t21 = 2.0*t11*pb.y();
-      t23 = a[5]*pb.z()*pa.z();
-      t25 = a[2]*pb.z();
-      t26 = t25*pa.x();
-      t30 = a[0]*pb.x()*pa.x();
-      t34 = 2.0*a[3]*pb.y()*pa.y();
-      t35 = t17*pb.x();
-      t37 = t8*pb.x();
-      t41 = pa.x()*pa.x();
-      t42 = a[0]*t41;
-      t44 = pa.y()*pa.y();
-      t45 = a[3]*t44;
-      t50 = 2.0*t30+t34+2.0*t35+2.0*t37-(-b[2]/2)*pa.z()-(-b[0]/2)*pa.x()-2.0*t42-2.0*t45+(-b[1]/2)*pb.y()
-+(-b[0]/2)*pb.x()-(-b[1]/2)*pa.y();
-      t52 = pb.y()*pb.y();
-      t54 = pb.z()*pb.z();
-      t56 = pb.x()*pb.x();
-      t64 = t5+t37-t9+t30-t18+t35+t26-t25*pb.x()+t2-t1*pb.y()+t23;
-      lambda = (2.0*t2+2.0*t5+(-b[2]/2)*pb.z()-4.0*t9-4.0*t12-2.0*t15-4.0*t18+t21+2.0*t23+
-2.0*t26+t50)/(-t45-a[3]*t52-a[5]*t54-a[0]*t56-t15-t42+t34-2.0*t12+t21-2.0*t4*pb.x()+
-2.0*t64)/2.0;
-
-	  if(lambda<0)  lambda=0;  else	  if(lambda>1)   lambda = 1;
-
-		 x = pa*(1.0-lambda)+pb*lambda;
-		 return true;
-	}
-
+  }
+  
 };
 
 typedef Quadric<short>  Quadrics;
diff --git a/vcg/math/quaternion.h b/vcg/math/quaternion.h
index 436a3288..61f1b85d 100644
--- a/vcg/math/quaternion.h
+++ b/vcg/math/quaternion.h
@@ -20,88 +20,6 @@
 * for more details.                                                         *
 *                                                                           *
 ****************************************************************************/
-/****************************************************************************
-  History
-
-$Log: not supported by cvs2svn $
-Revision 1.18  2007/07/03 16:07:09  corsini
-add DCM to Euler Angles method (to implement)
-
-Revision 1.17  2007/02/06 12:24:07  tarini
-added a missing "Quaternion<S>::" in "FromEulerAngles"
-
-Revision 1.16  2007/02/05 13:55:21  corsini
-add euler angle to quaternion conversion
-
-Revision 1.15  2006/06/22 08:00:26  ganovelli
-toMatrix with matrix33 added
-
-Revision 1.14  2005/04/17 21:57:03  ganovelli
-tolto il const a interpolate
-
-Revision 1.13  2005/04/15 09:19:50  ponchio
-Typo: Point3 -> Point4
-
-Revision 1.12  2005/04/14 17:22:34  ponchio
-*** empty log message ***
-
-Revision 1.11  2005/04/14 11:35:09  ponchio
-*** empty log message ***
-
-Revision 1.10  2004/12/15 18:45:50  tommyfranken
-*** empty log message ***
-
-Revision 1.9  2004/10/22 14:35:42  ponchio
-m.element(x, y) -> m[x][y]
-
-Revision 1.8  2004/10/07 13:54:03  ganovelli
-added SetIdentity
-
-Revision 1.7  2004/04/07 10:48:37  cignoni
-updated access to matrix44 elements through V() instead simple []
-
-Revision 1.6  2004/03/25 14:57:49  ponchio
-Microerror. ($LOG$ -> $Log: not supported by cvs2svn $
-Microerror. ($LOG$ -> Revision 1.18  2007/07/03 16:07:09  corsini
-Microerror. ($LOG$ -> add DCM to Euler Angles method (to implement)
-Microerror. ($LOG$ ->
-Microerror. ($LOG$ -> Revision 1.17  2007/02/06 12:24:07  tarini
-Microerror. ($LOG$ -> added a missing "Quaternion<S>::" in "FromEulerAngles"
-Microerror. ($LOG$ ->
-Microerror. ($LOG$ -> Revision 1.16  2007/02/05 13:55:21  corsini
-Microerror. ($LOG$ -> add euler angle to quaternion conversion
-Microerror. ($LOG$ ->
-Microerror. ($LOG$ -> Revision 1.15  2006/06/22 08:00:26  ganovelli
-Microerror. ($LOG$ -> toMatrix with matrix33 added
-Microerror. ($LOG$ ->
-Microerror. ($LOG$ -> Revision 1.14  2005/04/17 21:57:03  ganovelli
-Microerror. ($LOG$ -> tolto il const a interpolate
-Microerror. ($LOG$ ->
-Microerror. ($LOG$ -> Revision 1.13  2005/04/15 09:19:50  ponchio
-Microerror. ($LOG$ -> Typo: Point3 -> Point4
-Microerror. ($LOG$ ->
-Microerror. ($LOG$ -> Revision 1.12  2005/04/14 17:22:34  ponchio
-Microerror. ($LOG$ -> *** empty log message ***
-Microerror. ($LOG$ ->
-Microerror. ($LOG$ -> Revision 1.11  2005/04/14 11:35:09  ponchio
-Microerror. ($LOG$ -> *** empty log message ***
-Microerror. ($LOG$ ->
-Microerror. ($LOG$ -> Revision 1.10  2004/12/15 18:45:50  tommyfranken
-Microerror. ($LOG$ -> *** empty log message ***
-Microerror. ($LOG$ ->
-Microerror. ($LOG$ -> Revision 1.9  2004/10/22 14:35:42  ponchio
-Microerror. ($LOG$ -> m.element(x, y) -> m[x][y]
-Microerror. ($LOG$ ->
-Microerror. ($LOG$ -> Revision 1.8  2004/10/07 13:54:03  ganovelli
-Microerror. ($LOG$ -> added SetIdentity
-Microerror. ($LOG$ ->
-Microerror. ($LOG$ -> Revision 1.7  2004/04/07 10:48:37  cignoni
-Microerror. ($LOG$ -> updated access to matrix44 elements through V() instead simple []
-Microerror. ($LOG$ ->
-
-
-****************************************************************************/
-
 
 #ifndef QUATERNION_H
 #define QUATERNION_H
@@ -133,7 +51,6 @@ public:
   void Invert();
 	Quaternion<S> Inverse() const;
   
-	
 	void SetIdentity();
 
   void FromAxis(const S phi, const Point3<S> &a);
@@ -269,32 +186,34 @@ template <class S> Point3<S> Quaternion<S>::Rotate(const Point3<S> p) const {
 
 
 template<class S, class M> void QuaternionToMatrix(const Quaternion<S> &q, M &m) {
-  float x2 = q.V(1) + q.V(1);
-  float y2 = q.V(2) + q.V(2);
-  float z2 = q.V(3) + q.V(3);
+  typedef typename M::ScalarType MScalarType;
+  
+  MScalarType x2 = q.V(1) + q.V(1);
+  MScalarType y2 = q.V(2) + q.V(2);
+  MScalarType z2 = q.V(3) + q.V(3);
   {
-    float xx2 = q.V(1) * x2;
-    float yy2 = q.V(2) * y2;
-    float zz2 = q.V(3) * z2;
+    MScalarType xx2 = q.V(1) * x2;
+    MScalarType yy2 = q.V(2) * y2;
+    MScalarType zz2 = q.V(3) * z2;
     m[0][0] = 1.0f - yy2 - zz2;
     m[1][1] = 1.0f - xx2 - zz2;
     m[2][2] = 1.0f - xx2 - yy2;
   }
   {
-    float yz2 = q.V(2) * z2;
-    float wx2 = q.V(0) * x2;
+    MScalarType yz2 = q.V(2) * z2;
+    MScalarType wx2 = q.V(0) * x2;
     m[1][2] = yz2 - wx2;
     m[2][1] = yz2 + wx2;
   }
   {
-    float xy2 = q.V(1) * y2;
-    float wz2 = q.V(0) * z2;
+    MScalarType xy2 = q.V(1) * y2;
+    MScalarType wz2 = q.V(0) * z2;
     m[0][1] = xy2 - wz2;
     m[1][0] = xy2 + wz2;
   }
   {
-    float xz2 = q.V(1) * z2;
-    float wy2 = q.V(0) * y2;
+    MScalarType xz2 = q.V(1) * z2;
+    MScalarType wy2 = q.V(0) * y2;
     m[2][0] = xz2 - wy2;
     m[0][2] = xz2 + wy2;
   }
diff --git a/vcg/simplex/edge/component.h b/vcg/simplex/edge/component.h
index f614c6d2..a78ca4c6 100644
--- a/vcg/simplex/edge/component.h
+++ b/vcg/simplex/edge/component.h
@@ -27,10 +27,10 @@
 #define __VCG_EDGE_PLUS_COMPONENT
 
 namespace vcg {
-  namespace edge {
+namespace edge {
 
-  /** \addtogroup EdgeComponentGroup
-    @{
+/** \addtogroup EdgeComponentGroup
+	@{
   */
 
 /*
@@ -38,120 +38,122 @@ Some naming Rules
 All the Components that can be added to a vertex should be defined in the namespace edge:
 
 */
-  /*------------------------- EMPTY CORE COMPONENTS -----------------------------------------*/
+/*------------------------- EMPTY CORE COMPONENTS -----------------------------------------*/
 
 template <class T> class EmptyCore: public T
-  {
+{
 public:
-    inline       typename T::VertexType *       &  V( const int j )       { (void)j; assert(0);  static typename T::VertexType *vp=0;         return vp;    }
-    inline       typename T::VertexType * const &  V( const int j ) const { (void)j; assert(0);  static typename T::VertexType *vp=0;         return vp;    }
-    inline       typename T::VertexType *         cV( const int j ) const { (void)j; assert(0);  static typename T::VertexType *vp=0;         return vp;    }
-    inline       typename T::CoordType &           P( const int j )       { (void)j; assert(0);  static typename T::CoordType coord(0, 0, 0); return coord; }
-    inline const typename T::CoordType &           P( const int j ) const { (void)j; assert(0);  static typename T::CoordType coord(0, 0, 0); return coord; }
-    inline const typename T::CoordType &          cP( const int j ) const { (void)j; assert(0);  static typename T::CoordType coord(0, 0, 0); return coord; }
-    static bool HasEVAdjacency()   { return false; }
-    static bool HasVertexRef()     { return false; }
+	inline       typename T::VertexType *       &  V( const int j )       { (void)j; assert(0);  static typename T::VertexType *vp=0;         return vp;    }
+	inline       typename T::VertexType * const &  V( const int j ) const { (void)j; assert(0);  static typename T::VertexType *vp=0;         return vp;    }
+	inline       typename T::VertexType *         cV( const int j ) const { (void)j; assert(0);  static typename T::VertexType *vp=0;         return vp;    }
+	inline       typename T::CoordType &           P( const int j )       { (void)j; assert(0);  static typename T::CoordType coord(0, 0, 0); return coord; }
+	inline const typename T::CoordType &           P( const int j ) const { (void)j; assert(0);  static typename T::CoordType coord(0, 0, 0); return coord; }
+	inline const typename T::CoordType &          cP( const int j ) const { (void)j; assert(0);  static typename T::CoordType coord(0, 0, 0); return coord; }
+	static bool HasEVAdjacency()   { return false; }
+	static bool HasVertexRef()     { return false; }
 
-    typedef vcg::Color4b ColorType;
-    ColorType &C() { static ColorType dumcolor(vcg::Color4b::White); assert(0); return dumcolor; }
-    ColorType cC() const { static ColorType dumcolor(vcg::Color4b::White);  assert(0); return dumcolor; }
-    static bool HasColor()   { return false; }
+	typedef vcg::Color4b ColorType;
+	ColorType &C() { static ColorType dumcolor(vcg::Color4b::White); assert(0); return dumcolor; }
+	ColorType cC() const { static ColorType dumcolor(vcg::Color4b::White);  assert(0); return dumcolor; }
+	static bool HasColor()   { return false; }
 
-    typedef float QualityType;
-    QualityType &Q() { static QualityType dummyQuality(0);  assert(0); return dummyQuality; }
-    QualityType cQ() const { static QualityType dummyQuality(0);  assert(0); return dummyQuality; }
-    static bool HasQuality()   { return false; }
+	typedef float QualityType;
+	QualityType &Q() { static QualityType dummyQuality(0);  assert(0); return dummyQuality; }
+	QualityType cQ() const { static QualityType dummyQuality(0);  assert(0); return dummyQuality; }
+	static bool HasQuality()   { return false; }
 
-    typedef int  MarkType;
-    inline void InitIMark()    {  }
-    inline int cIMark() const { assert(0); static int tmp=-1; return tmp;}
-    inline int &IMark()       { assert(0); static int tmp=-1; return tmp;}
-    static bool HasMark()   { return false; }
+	typedef int  MarkType;
+	inline void InitIMark()    {  }
+	inline int cIMark() const { assert(0); static int tmp=-1; return tmp;}
+	inline int &IMark()       { assert(0); static int tmp=-1; return tmp;}
+	static bool HasMark()   { return false; }
+	inline bool IsMarkEnabled( )         const { return T::EdgeType::HasMark(); }
 
-    typedef int FlagType;
-    int &Flags() { static int dummyflags(0);  assert(0); return dummyflags; }
-    int Flags() const { return 0; }
-    static bool HasFlags()   { return false; }
 
-    typename T::EdgePointer &VEp(const int &  ) { static typename T::EdgePointer ep=0;  assert(0); return ep; }
-    typename T::EdgePointer cVEp(const int & ) const { static typename T::EdgePointer ep=0;  assert(0); return ep; }
-    int &VEi(const int &){static int z=0; assert(0); return z;}
-    int cVEi(const int &) const {static int z=0; assert(0); return z;}
-    static bool HasVEAdjacency()   {   return false; }
+	typedef int FlagType;
+	int &Flags() { static int dummyflags(0);  assert(0); return dummyflags; }
+	int Flags() const { return 0; }
+	static bool HasFlags()   { return false; }
 
-    typename T::EdgePointer &EEp(const int &  ) { static typename T::EdgePointer ep=0;  assert(0); return ep; }
-    typename T::EdgePointer cEEp(const int & ) const { static typename T::EdgePointer ep=0;  assert(0); return ep; }
-    int &EEi(const int &){static int z=0; assert(0); return z;}
-    int cEEi(const int &) const {static int z=0; assert(0); return z;}
-    static bool HasEEAdjacency()   {   return false; }
+	typename T::EdgePointer &VEp(const int &  ) { static typename T::EdgePointer ep=0;  assert(0); return ep; }
+	typename T::EdgePointer cVEp(const int & ) const { static typename T::EdgePointer ep=0;  assert(0); return ep; }
+	int &VEi(const int &){static int z=0; assert(0); return z;}
+	int cVEi(const int &) const {static int z=0; assert(0); return z;}
+	static bool HasVEAdjacency()   {   return false; }
 
-    typename T::HEdgePointer &EHp(  ) { static typename T::HEdgePointer hp=0;  assert(0); return hp; }
-    typename T::HEdgePointer cEHp(  ) const { static typename T::HEdgePointer hp=0;  assert(0); return hp; }
-    static bool HasEHAdjacency()   {   return false; }
+	typename T::EdgePointer &EEp(const int &  ) { static typename T::EdgePointer ep=0;  assert(0); return ep; }
+	typename T::EdgePointer cEEp(const int & ) const { static typename T::EdgePointer ep=0;  assert(0); return ep; }
+	int &EEi(const int &){static int z=0; assert(0); return z;}
+	int cEEi(const int &) const {static int z=0; assert(0); return z;}
+	static bool HasEEAdjacency()   {   return false; }
 
-    typename T::FacePointer &EFp() { static typename T::FacePointer fp=0;  assert(0); return fp; }
-    typename T::FacePointer cEFp() const  { static typename T::FacePointer fp=0;  assert(0); return fp; }
-    int &EFi()   {static int z=0; return z;}
-    int &cEFi() const {static int z=0; return z;}
-    static bool HasEFAdjacency()   {   return false; }
+	typename T::HEdgePointer &EHp(  ) { static typename T::HEdgePointer hp=0;  assert(0); return hp; }
+	typename T::HEdgePointer cEHp(  ) const { static typename T::HEdgePointer hp=0;  assert(0); return hp; }
+	static bool HasEHAdjacency()   {   return false; }
 
-    template <class LeftF>
-    void ImportData(const LeftF & leftF) {T::ImportData(leftF);}
-    static void Name(std::vector<std::string> & name){T::Name(name);}
-  };
+	typename T::FacePointer &EFp() { static typename T::FacePointer fp=0;  assert(0); return fp; }
+	typename T::FacePointer cEFp() const  { static typename T::FacePointer fp=0;  assert(0); return fp; }
+	int &EFi()   {static int z=0; return z;}
+	int &cEFi() const {static int z=0; return z;}
+	static bool HasEFAdjacency()   {   return false; }
 
-  /*-------------------------- VertexRef ----------------------------------------*/
-  /*! \brief The references to the two vertexes of a edge
+	template <class LeftF>
+	void ImportData(const LeftF & leftF) {T::ImportData(leftF);}
+	static void Name(std::vector<std::string> & name){T::Name(name);}
+};
+
+/*-------------------------- VertexRef ----------------------------------------*/
+/*! \brief The references to the two vertexes of a edge
    *
    * Stored as pointers to the VertexType
    */
 
 template <class T> class VertexRef: public T {
 public:
-    VertexRef(){
-        v[0]=0;
-        v[1]=0;
-    }
+	VertexRef(){
+		v[0]=0;
+		v[1]=0;
+	}
 
-    typedef typename T::VertexType::CoordType CoordType;
-    typedef typename T::VertexType::ScalarType ScalarType;
+	typedef typename T::VertexType::CoordType CoordType;
+	typedef typename T::VertexType::ScalarType ScalarType;
 
-    inline typename T::VertexType *       & V( const int j ) 	     { assert(j>=0 && j<2); return v[j]; }
-    inline typename T::VertexType * const & V( const int j ) const { assert(j>=0 && j<2); return v[j]; }
-    inline typename T::VertexType *  cV( const int j ) const { assert(j>=0 && j<2);	return v[j]; }
+	inline typename T::VertexType *       & V( const int j ) 	     { assert(j>=0 && j<2); return v[j]; }
+	inline typename T::VertexType * const & V( const int j ) const { assert(j>=0 && j<2); return v[j]; }
+	inline typename T::VertexType *  cV( const int j ) const { assert(j>=0 && j<2);	return v[j]; }
 
-    // Shortcut per accedere ai punti delle facce
-    inline       CoordType & P( const int j ) 	    {	assert(j>=0 && j<2);		return v[j]->P();	}
-    inline const CoordType &cP( const int j ) const	{	assert(j>=0 && j<2);		return v[j]->P(); }
+	// Shortcut per accedere ai punti delle facce
+	inline       CoordType & P( const int j ) 	    {	assert(j>=0 && j<2);		return v[j]->P();	}
+	inline const CoordType &cP( const int j ) const	{	assert(j>=0 && j<2);		return v[j]->P(); }
 
-    /** Return the pointer to the ((j+1)%3)-th vertex of the face.
-        @param j Index of the face vertex.
-     */
-    inline       typename T::VertexType *       &  V0( const int j )       { return V(j);}
-    inline       typename T::VertexType *       &  V1( const int j )       { return V((j+1)%2);}
-    inline const typename T::VertexType * const &  V0( const int j ) const { return V(j);}
-    inline const typename T::VertexType * const &  V1( const int j ) const { return V((j+1)%2);}
-    inline const typename T::VertexType * const & cV0( const int j ) const { return cV(j);}
-    inline const typename T::VertexType * const & cV1( const int j ) const { return cV((j+1)%2);}
+	/** Return the pointer to the ((j+1)%3)-th vertex of the face.
+		@param j Index of the face vertex.
+	 */
+	inline       typename T::VertexType *       &  V0( const int j )       { return V(j);}
+	inline       typename T::VertexType *       &  V1( const int j )       { return V((j+1)%2);}
+	inline const typename T::VertexType * const &  V0( const int j ) const { return V(j);}
+	inline const typename T::VertexType * const &  V1( const int j ) const { return V((j+1)%2);}
+	inline const typename T::VertexType * const & cV0( const int j ) const { return cV(j);}
+	inline const typename T::VertexType * const & cV1( const int j ) const { return cV((j+1)%2);}
 
-    /// Shortcut per accedere ai punti delle facce
-    inline       CoordType &  P0( const int j )       { return V(j)->P();}
-    inline       CoordType &  P1( const int j )       { return V((j+1)%2)->P();}
-    inline const CoordType &  P0( const int j ) const { return V(j)->P();}
-    inline const CoordType &  P1( const int j ) const { return V((j+1)%2)->P();}
-    inline const CoordType & cP0( const int j ) const { return cV(j)->P();}
-    inline const CoordType & cP1( const int j ) const { return cV((j+1)%2)->P();}
+	/// Shortcut per accedere ai punti delle facce
+	inline       CoordType &  P0( const int j )       { return V(j)->P();}
+	inline       CoordType &  P1( const int j )       { return V((j+1)%2)->P();}
+	inline const CoordType &  P0( const int j ) const { return V(j)->P();}
+	inline const CoordType &  P1( const int j ) const { return V((j+1)%2)->P();}
+	inline const CoordType & cP0( const int j ) const { return cV(j)->P();}
+	inline const CoordType & cP1( const int j ) const { return cV((j+1)%2)->P();}
 
-    template <class LeftF>
-    void ImportData(const LeftF & leftF){ T::ImportData(leftF);}
+	template <class LeftF>
+	void ImportData(const LeftF & leftF){ T::ImportData(leftF);}
 
-  static bool HasEVAdjacency()   {   return true; }
-  static bool HasVertexRef()   { return true; }
-    static void Name(std::vector<std::string> & name){name.push_back(std::string("VertexRef"));T::Name(name);}
+	static bool HasEVAdjacency()   {   return true; }
+	static bool HasVertexRef()   { return true; }
+	static void Name(std::vector<std::string> & name){name.push_back(std::string("VertexRef"));T::Name(name);}
 
 
-  private:
-  typename T::VertexType *v[2];
+private:
+	typename T::VertexType *v[2];
 };
 
 template <class T> class EVAdj : public VertexRef<T>{};
@@ -165,68 +167,74 @@ template <class T> class EVAdj : public VertexRef<T>{};
  */
 template <class T> class Mark: public T {
 public:
-    Mark():_imark(0){}
-    static bool HasMark()      { return true; }
-    static bool HasMarkOcc()   { return true; }
-    inline void InitIMark()    { _imark = 0; }
-    inline int & IMark()       { return _imark;}
-    inline const int & IMark() const {return _imark;}
-    template < class LeftV>
-    void ImportData(const LeftV  & left ) { IMark() = left.IMark(); T::ImportData( left); }
-    static void Name(std::vector<std::string> & name){name.push_back(std::string("Mark"));T::Name(name);}
+	Mark():_imark(0){}
+	static bool HasMark()      { return true; }
+	static bool HasMarkOcc()   { return true; }
+	inline void InitIMark()    { _imark = 0; }
+	inline int & IMark()       { return _imark;}
+	inline int cIMark() const  { return _imark;}
 
-  private:
-    int _imark;
+	template < class RightValueType>
+	void ImportData(const RightValueType & rightE )
+	{
+		if(rightE.IsMarkEnabled())
+			IMark() = rightE.cIMark();
+		T::ImportData(rightE);
+	}
+	static void Name(std::vector<std::string> & name){name.push_back(std::string("Mark"));T::Name(name);}
+
+private:
+	int _imark;
 };
 
 /*------------------------- FLAGS -----------------------------------------*/
-  /*! \brief \em Component: Per edge \b Flags
+/*! \brief \em Component: Per edge \b Flags
    *
    * This component stores a 32 bit array of bit flags. These bit flags are used for keeping track of selection, deletion, visiting etc. \sa \ref flags for more details on common uses of flags.
    */
 template <class T> class BitFlags:  public T {
 public:
-    BitFlags(){_flags=0;}
-  typedef int FlagType;
-  int &Flags() {return _flags; }
-  int Flags() const {return _flags; }
-    template < class LeftV>
-    void ImportData(const LeftV  & left ) { Flags() = left.Flags(); T::ImportData( left); }
-  static bool HasFlags()   { return true; }
-    static void Name(std::vector<std::string> & name){name.push_back(std::string("BitFlags"));T::Name(name);}
+	BitFlags(){_flags=0;}
+	typedef int FlagType;
+	int &Flags() {return _flags; }
+	int Flags() const {return _flags; }
+	template < class LeftV>
+	void ImportData(const LeftV  & left ) { Flags() = left.Flags(); T::ImportData( left); }
+	static bool HasFlags()   { return true; }
+	static void Name(std::vector<std::string> & name){name.push_back(std::string("BitFlags"));T::Name(name);}
 
 private:
-  int  _flags;
+	int  _flags;
 };
 
 /*-------------------------- Color  ----------------------------------*/
-  /*! \brief \em Component: Per edge \b Color
+/*! \brief \em Component: Per edge \b Color
    *
    * Usually most of the library expects a color stored as 4 unsigned chars (so the component you use is a \c vertex::Color4b)
    * but you can also use float for the color components.
    */
 template <class A, class T> class Color: public T {
 public:
-  Color():_color(vcg::Color4b::White) {}
-  typedef A ColorType;
-  ColorType &C() { return _color; }
-  const ColorType &C() const { return _color; }
-  const ColorType &cC() const { return _color; }
-    template < class LeftV>
-    void ImportData(const LeftV  & left ) { C() = left.cC(); T::ImportData( left); }
-  static bool HasColor()   { return true; }
-    static void Name(std::vector<std::string> & name){name.push_back(std::string("Color"));T::Name(name);}
+	Color():_color(vcg::Color4b::White) {}
+	typedef A ColorType;
+	ColorType &C() { return _color; }
+	const ColorType &C() const { return _color; }
+	const ColorType &cC() const { return _color; }
+	template < class LeftV>
+	void ImportData(const LeftV  & left ) { C() = left.cC(); T::ImportData( left); }
+	static bool HasColor()   { return true; }
+	static void Name(std::vector<std::string> & name){name.push_back(std::string("Color"));T::Name(name);}
 
 private:
-  ColorType _color;
+	ColorType _color;
 };
 
 template <class TT> class Color4b: public edge::Color<vcg::Color4b, TT> {
-    public: static void Name(std::vector<std::string> & name){name.push_back(std::string("Color4b"));TT::Name(name);}
+public: static void Name(std::vector<std::string> & name){name.push_back(std::string("Color4b"));TT::Name(name);}
 };
 
 /*-------------------------- Quality  ----------------------------------*/
-  /*! \brief \em Component: Per edge \b quality
+/*! \brief \em Component: Per edge \b quality
    *
    * The Quality Component is a generic place for storing a float. The term 'quality' is a bit misleading and it is due to its original storic meaning. You should intend it as a general purpose container.
    * \sa vcg::tri::UpdateColor for methods transforming quality into colors
@@ -234,16 +242,16 @@ template <class TT> class Color4b: public edge::Color<vcg::Color4b, TT> {
    */
 template <class A, class TT> class Quality: public TT {
 public:
-  typedef A QualityType;
-  QualityType &Q() { return _quality; }
-  const QualityType & cQ() const {return _quality; }
-    template < class LeftV>
-    void ImportData(const LeftV  & left ) { Q() = left.cQ(); TT::ImportData( left); }
-  static bool HasQuality()   { return true; }
-    static void Name(std::vector<std::string> & name){name.push_back(std::string("Quality"));TT::Name(name);}
+	typedef A QualityType;
+	QualityType &Q() { return _quality; }
+	const QualityType & cQ() const {return _quality; }
+	template < class LeftV>
+	void ImportData(const LeftV  & left ) { Q() = left.cQ(); TT::ImportData( left); }
+	static bool HasQuality()   { return true; }
+	static void Name(std::vector<std::string> & name){name.push_back(std::string("Quality"));TT::Name(name);}
 
 private:
-  QualityType _quality;
+	QualityType _quality;
 };
 
 template <class TT> class Qualitys: public Quality<short, TT> {
@@ -257,34 +265,34 @@ public: static void Name(std::vector<std::string> & name){name.push_back(std::st
 };
 
 /*----------------------------- VEADJ ------------------------------*/
-  /*! \brief \em Component: Per vertex \b Vertex-Edge adjacency relation companion component
+/*! \brief \em Component: Per vertex \b Vertex-Edge adjacency relation companion component
   This component implement one element of the list of edges incident on a vertex.
   You must use this component only toghether with the corresponding \ref vcg::vertex::VEAdj component in the vertex type
 
   \sa vcg::tri::UpdateTopology for functions that compute this relation
   \sa iterators
   */
-  template <class T> class VEAdj: public T {
-  public:
-    VEAdj(){_ep[0]=0;_ep[1]=0;_zp[0]=-1;_zp[1]=-1;}
-    typename T::EdgePointer &VEp(const int & i) {return _ep[i]; }
-    typename T::EdgePointer cVEp(const int & i) const {return _ep[i]; }
-    int &VEi(const int & i){ return _zp[i];}
-    int cVEi(const int &i )const {return _zp[i];}
+template <class T> class VEAdj: public T {
+public:
+	VEAdj(){_ep[0]=0;_ep[1]=0;_zp[0]=-1;_zp[1]=-1;}
+	typename T::EdgePointer &VEp(const int & i) {return _ep[i]; }
+	typename T::EdgePointer cVEp(const int & i) const {return _ep[i]; }
+	int &VEi(const int & i){ return _zp[i];}
+	int cVEi(const int &i )const {return _zp[i];}
 
-    template < class LeftV>
-    void ImportData(const LeftV  & left ) {  T::ImportData( left); }
-    static bool HasVEAdjacency()   {   return true; }
-    static bool HasVEAdjacencyOcc()   {   return true; }
-    static void Name(std::vector<std::string> & name){name.push_back(std::string("VEAdj"));T::Name(name);}
+	template < class LeftV>
+	void ImportData(const LeftV  & left ) {  T::ImportData( left); }
+	static bool HasVEAdjacency()   {   return true; }
+	static bool HasVEAdjacencyOcc()   {   return true; }
+	static void Name(std::vector<std::string> & name){name.push_back(std::string("VEAdj"));T::Name(name);}
 
-  private:
-    typename T::EdgePointer _ep[2] ;
-    int _zp[2] ;
-  };
+private:
+	typename T::EdgePointer _ep[2] ;
+	int _zp[2] ;
+};
 
 /*----------------------------- EEADJ ------------------------------*/
-  /*! \brief \em Component: \b Edge-Edge adjacency relation
+/*! \brief \em Component: \b Edge-Edge adjacency relation
   This component implement store the pointer (and index) of the adjacent edges.
   If the vertex is 1-manifold (as in a classical polyline)
   it holds that:
@@ -299,42 +307,42 @@ public: static void Name(std::vector<std::string> & name){name.push_back(std::st
 
 template <class T> class EEAdj: public T {
 public:
-  EEAdj(){_ep[0]=0;_ep[1]=0;_zp[0]=-1;_zp[1]=-1;}
-  typename T::EdgePointer &EEp(const int & i) {return _ep[i]; }
-  typename T::EdgePointer cEEp(const int & i) const {return _ep[i]; }
-  int &EEi(const int & i){ return _zp[i];}
-  int cEEi(const int &i )const {return _zp[i];}
+	EEAdj(){_ep[0]=0;_ep[1]=0;_zp[0]=-1;_zp[1]=-1;}
+	typename T::EdgePointer &EEp(const int & i) {return _ep[i]; }
+	typename T::EdgePointer cEEp(const int & i) const {return _ep[i]; }
+	int &EEi(const int & i){ return _zp[i];}
+	int cEEi(const int &i )const {return _zp[i];}
 
-    template < class LeftV>
-    void ImportData(const LeftV  & left ) {  T::ImportData( left); }
-  static bool HasEEAdjacency()   {   return true; }
-  static bool HasEEAdjacencyOcc()   {   return true; }
-    static void Name(std::vector<std::string> & name){name.push_back(std::string("EEAdj"));T::Name(name);}
+	template < class LeftV>
+	void ImportData(const LeftV  & left ) {  T::ImportData( left); }
+	static bool HasEEAdjacency()   {   return true; }
+	static bool HasEEAdjacencyOcc()   {   return true; }
+	static void Name(std::vector<std::string> & name){name.push_back(std::string("EEAdj"));T::Name(name);}
 
 private:
-  typename T::EdgePointer _ep[2] ;
-  int _zp[2] ;
+	typename T::EdgePointer _ep[2] ;
+	int _zp[2] ;
 };
 
 /*----------------------------- EHADJ ------------------------------*/
 template <class T> class EHAdj: public T {
 public:
-  EHAdj(){_hp=0;}
-  typename T::HEdgePointer &EHp( ) {return _hp ; }
-    const typename T::HEdgePointer cEHp( ) const {return _hp ; }
+	EHAdj(){_hp=0;}
+	typename T::HEdgePointer &EHp( ) {return _hp ; }
+	const typename T::HEdgePointer cEHp( ) const {return _hp ; }
 
-    template < class LeftV>
-    void ImportData(const LeftV  & left ) { T::ImportData( left); }
-  static bool HasEHAdjacency()   {   return true; }
-  static bool HasEHAdjacencyOcc()   {   return true; }
-    static void Name(std::vector<std::string> & name){name.push_back(std::string("EHAdj"));T::Name(name);}
+	template < class LeftV>
+	void ImportData(const LeftV  & left ) { T::ImportData( left); }
+	static bool HasEHAdjacency()   {   return true; }
+	static bool HasEHAdjacencyOcc()   {   return true; }
+	static void Name(std::vector<std::string> & name){name.push_back(std::string("EHAdj"));T::Name(name);}
 
 private:
-  typename T::HEdgePointer _hp ;
+	typename T::HEdgePointer _hp ;
 };
 
 /*----------------------------- EFADJ ------------------------------*/
-  /*! \brief \em Component: \b Edge-Face adjacency relation
+/*! \brief \em Component: \b Edge-Face adjacency relation
   This component implement store the pointer to a face sharing this edge.
 
   \sa vcg::tri::UpdateTopology for functions that compute this relation
@@ -343,23 +351,23 @@ private:
 
 template <class T> class EFAdj: public T {
 public:
-  EFAdj(){_fp=0;}
-  typename T::FacePointer &EFp()       {return _fp; }
-  typename T::FacePointer cEFp() const {return _fp; }
-  int &EFi()        {return _zp; }
-  int cEFi() const  {return _zp; }
-  template < class LeftV>
-  void ImportData(const LeftV  & left ) {  T::ImportData( left); }
-  static bool HasEFAdjacency()      {   return true; }
-  static bool HasEFAdjacencyOcc()   {   return true; }
-  static void Name(std::vector<std::string> & name){name.push_back(std::string("EFAdj"));T::Name(name);}
+	EFAdj(){_fp=0;}
+	typename T::FacePointer &EFp()       {return _fp; }
+	typename T::FacePointer cEFp() const {return _fp; }
+	int &EFi()        {return _zp; }
+	int cEFi() const  {return _zp; }
+	template < class LeftV>
+	void ImportData(const LeftV  & left ) {  T::ImportData( left); }
+	static bool HasEFAdjacency()      {   return true; }
+	static bool HasEFAdjacencyOcc()   {   return true; }
+	static void Name(std::vector<std::string> & name){name.push_back(std::string("EFAdj"));T::Name(name);}
 
 private:
-  typename T::FacePointer _fp ;
-  int _zp ;
+	typename T::FacePointer _fp ;
+	int _zp ;
 };
 
-  /** @} */   // End Doxygen EdgeComponentGroup
-  } // end namespace edge
+/** @} */   // End Doxygen EdgeComponentGroup
+} // end namespace edge
 }// end namespace vcg
 #endif
diff --git a/vcg/simplex/edge/pos.h b/vcg/simplex/edge/pos.h
index 58a5d936..2b278f53 100644
--- a/vcg/simplex/edge/pos.h
+++ b/vcg/simplex/edge/pos.h
@@ -20,18 +20,6 @@
 * for more details.                                                         *
 *                                                                           *
 ****************************************************************************/
-/****************************************************************************
-  History
-
-$Log: not supported by cvs2svn $
-Revision 1.2  2004/05/10 14:40:47  ganovelli
-name of adhacency function updated
-
-Revision 1.1  2004/05/10 14:01:56  ganovelli
-created
-
-****************************************************************************/
-
 
 #ifndef __VCG_EDGE_POS
 #define __VCG_EDGE_POS
diff --git a/vcg/simplex/edge/topology.h b/vcg/simplex/edge/topology.h
index c3e4c8b8..20688d78 100644
--- a/vcg/simplex/edge/topology.h
+++ b/vcg/simplex/edge/topology.h
@@ -24,24 +24,19 @@
 #ifndef _VCG_EDGE_TOPOLOGY
 #define _VCG_EDGE_TOPOLOGY
 
-#include <vector>
-#include <algorithm>
-#include <vcg/simplex/edge/pos.h>
-
 namespace vcg {
 namespace edge {
 /** \addtogroup edge */
-/*@{*/template <class EdgeType>
-inline bool IsEdgeManifoldFF( EdgeType const & e, const int j )
-{
-  assert(e.cFFp(j) != 0); // never try to use this on uncomputed topology
+/*@{*/
 
-  if(EdgeType::HasFFAdjacency())
-    return ( e.cFFp(j) == &e || &e == e.cFFp(j)->cFFp(e.cFFi(j)) );
-  else
-    return true;
+
+template <class EdgeType>
+inline bool IsEdgeManifold( EdgeType const & e, const int j )
+{
+  return ( e.cEEp(j) == &e || &e == e.cEEp(j)->cEEp(e.cEEi(j)) );
 }
 
+
 /** Return a boolean that indicate if the j-th edge of the face is a border.
   @param j Index of the edge
   @return true if j is an edge of border, false otherwise
@@ -208,8 +203,10 @@ void VEEdgeSplit(MeshType &poly, typename MeshType::EdgeType *e, typename MeshTy
   edge::VEDetach(*e,1);
   e->V(1) = &v;
   edge::VEAppend(e,1);
-//  tri::Allocator<MeshType>:: template PointerUpdater<typename MeshType::EdgePointer> pu;
-  typename MeshType::EdgeIterator ei = tri::Allocator<MeshType>::AddEdges(poly, 1);
+  typename tri::Allocator<MeshType>::template PointerUpdater<typename MeshType::EdgePointer> pu;
+  typename MeshType::EdgeIterator ei = tri::Allocator<MeshType>::AddEdges(poly, 1, pu);
+  pu.Update(e);
+  ei->ImportData(*e);
   ei->V(0)=&v;
   ei->V(1)=v1;
   edge::VEAppend(&*ei,0);
diff --git a/vcg/simplex/face/base.h b/vcg/simplex/face/base.h
index 5ffd8201..e96e541d 100644
--- a/vcg/simplex/face/base.h
+++ b/vcg/simplex/face/base.h
@@ -99,7 +99,7 @@ public:
         DELETED     = 0x00000001,		// Face is deleted from the mesh
         NOTREAD     = 0x00000002,		// Face of the mesh is not readable
         NOTWRITE    = 0x00000004,		// Face of the mesh is not writable
-    VISITED     = 0x00000010,		// Face has been visited. Usualy this is a per-algorithm used bit.
+        VISITED     = 0x00000010,		// Face has been visited. Usualy this is a per-algorithm used bit.
         SELECTED    = 0x00000020,		// Face is selected. Algorithms should try to work only on selected face (if explicitly requested)
         // Border _flags, it is assumed that BORDERi = BORDER0<<i
         BORDER0     = 0x00000040,
@@ -110,10 +110,11 @@ public:
         NORMX				= 0x00000200,
         NORMY				= 0x00000400,
         NORMZ				= 0x00000800,
-        // Crease _flags,  it is assumed that CREASEi = CREASE0<<i
-        CREASE0    = 0x00008000,
-        CREASE1    = 0x00010000,
-        CREASE2    = 0x00020000,
+        // Face-Edge Selection Flags
+        FACEEDGESEL0    = 0x00008000,
+        FACEEDGESEL1    = 0x00010000,
+        FACEEDGESEL2    = 0x00020000,
+        FACEEDGESEL012     = FACEEDGESEL0 | FACEEDGESEL1 | FACEEDGESEL2 ,
         // Faux edges. (semantics: when a mesh is polygonal, edges which are inside a polygonal face are "faux"
         FAUX0       = 0x00040000,
         FAUX1       = 0x00080000,
@@ -175,12 +176,12 @@ public:
     /// This funcion execute the inverse operation of SetS()
     void ClearB(int i)	{this->Flags() &= (~(BORDER0<<i));}
 
-    /// This function checks if the face is selected
-    bool IsCrease(int i) const {return (this->cFlags() & (CREASE0<<i)) != 0;}
-    /// This function select the face
-    void SetCrease(int i){this->Flags() |=(CREASE0<<i);}
-    /// This funcion execute the inverse operation of SetS()
-    void ClearCrease(int i)	{this->Flags() &= (~(CREASE0<<i));}
+    /// This function checks if the i-th face-edge is selected
+    bool IsFaceEdgeS(int i) const {return (this->cFlags() & (FACEEDGESEL0<<i)) != 0;}
+    /// This function select the i-th face-edge
+    void SetFaceEdgeS(int i){this->Flags() |=(FACEEDGESEL0<<i);}
+    /// This function de-select the i-th face-edge
+    void ClearFaceEdgeS(int i)	{this->Flags() &= (~(FACEEDGESEL0<<i));}
 
     /// This function checks if a given side of the face is a feature/internal edge
     /// it is used by some importer to mark internal
diff --git a/vcg/simplex/face/component.h b/vcg/simplex/face/component.h
index d8523bb8..ebdc3739 100644
--- a/vcg/simplex/face/component.h
+++ b/vcg/simplex/face/component.h
@@ -388,7 +388,7 @@ public: static void Name(std::vector<std::string> & name){name.push_back(std::st
 template <class T> class WedgeColor4f: public WedgeColor<vcg::Color4f, T> {
 public: static void Name(std::vector<std::string> & name){name.push_back(std::string("WedgeColor4f"));T::Name(name);}
 };
-template <class T> class Color4b: public Color<vcg::Color4b, T> { public:
+template <class T> class Color4b: public Color<vcg::Color4b, T> {
 public: static void Name(std::vector<std::string> & name){name.push_back(std::string("Color4b"));T::Name(name);}
 };
 
@@ -613,9 +613,9 @@ face of the ring of faces incident on a edge.
 template <class T> class FFAdj: public T {
 public:
   FFAdj(){
-    _ffp[0]=0;
-    _ffp[1]=0;
-    _ffp[2]=0;
+    _ffp[0]=nullptr; // null == not initialized
+    _ffp[1]=nullptr;
+    _ffp[2]=nullptr;
   }
   typename T::FacePointer &FFp(const int j)        { assert(j>=0 && j<3);  return _ffp[j]; }
   typename T::FacePointer cFFp(const int j) const  { assert(j>=0 && j<3);  return _ffp[j]; }
diff --git a/vcg/simplex/face/component_ocf.h b/vcg/simplex/face/component_ocf.h
index 1389547f..bf4c3fb1 100644
--- a/vcg/simplex/face/component_ocf.h
+++ b/vcg/simplex/face/component_ocf.h
@@ -96,7 +96,7 @@ public:
     }
   }
 
-  typename VALUE_TYPE::ColorType wc[3];
+  typename VALUE_TYPE::WedgeColorType wc[3];
 };
 
 class WedgeNormalTypePack {
@@ -111,7 +111,7 @@ public:
     }
   }
 
-  typename VALUE_TYPE::NormalType wn[3];
+  typename VALUE_TYPE::WedgeNormalType wn[3];
 };
 
 
@@ -516,10 +516,10 @@ public:
   CurVecType cPD1() const { assert((*this).Base().CurvatureDirEnabled); return (*this).Base().CDV[(*this).Index()].max_dir; }
   CurVecType cPD2() const { assert((*this).Base().CurvatureDirEnabled); return (*this).Base().CDV[(*this).Index()].min_dir; }
 
-  CurScalarType &K1()       { assert((*this).Base().NormalEnabled); return (*this).Base().CDV[(*this).Index()].k1; }
-  CurScalarType &K2()       { assert((*this).Base().NormalEnabled); return (*this).Base().CDV[(*this).Index()].k2; }
-  CurScalarType cK1() const { assert((*this).Base().NormalEnabled); return (*this).Base().CDV[(*this).Index()].k1; }
-  CurScalarType cK2() const { assert((*this).Base().NormalEnabled); return (*this).Base().CDV[(*this).Index()].k2; }
+  CurScalarType &K1()       { assert((*this).Base().CurvatureDirEnabled); return (*this).Base().CDV[(*this).Index()].k1; }
+  CurScalarType &K2()       { assert((*this).Base().CurvatureDirEnabled); return (*this).Base().CDV[(*this).Index()].k2; }
+  CurScalarType cK1() const { assert((*this).Base().CurvatureDirEnabled); return (*this).Base().CDV[(*this).Index()].k1; }
+  CurScalarType cK2() const { assert((*this).Base().CurvatureDirEnabled); return (*this).Base().CDV[(*this).Index()].k2; }
 
   template <class RightFaceType>
   void ImportData(const RightFaceType & rightF){
diff --git a/vcg/simplex/face/component_polygon.h b/vcg/simplex/face/component_polygon.h
index e63bd653..dde27016 100644
--- a/vcg/simplex/face/component_polygon.h
+++ b/vcg/simplex/face/component_polygon.h
@@ -108,6 +108,7 @@ public:
     T::Dealloc();
   }
 
+  static bool HasVertexRef() { return true; }
   static bool HasFVAdjacency()   { return true; }
   static void Name(std::vector<std::string> & name){name.push_back(std::string("PFVAdj"));T::Name(name);}
 
diff --git a/vcg/simplex/face/pos.h b/vcg/simplex/face/pos.h
index 9f0d9946..bfc0103f 100644
--- a/vcg/simplex/face/pos.h
+++ b/vcg/simplex/face/pos.h
@@ -29,8 +29,6 @@
 #ifndef __VCG_FACE_POS
 #define __VCG_FACE_POS
 
-#include <assert.h>
-
 namespace vcg {
 namespace face {
 
@@ -131,12 +129,12 @@ public:
     }
 
     /// Assignment operator
-    inline PosType & operator = ( const PosType & h ){
-        f=h.f;
-        z=h.z;
-        v=h.v;
-        return *this;
-    }
+    //inline PosType & operator = ( const PosType & h ){
+    //    f=h.f;
+    //    z=h.z;
+    //    v=h.v;
+    //    return *this;
+    //}
 
     /// Set to null the half-edge
     void SetNull(){
@@ -200,10 +198,9 @@ public:
         assert(f->V(f->Prev(z))!=v && (f->V(f->Next(z))==v || f->V((z))==v));
         FaceType *nf=f->FFp(z);
         int nz=f->FFi(z);
-        assert(nf->V(nf->Prev(nz))!=v && (nf->V(nf->Next(nz))==v || nf->V((nz))==v));
+        assert(nf->V(nf->Prev(nz))!=v && (nf->V(nf->Next(nz))==v || nf->V(nz)==v));
         f=nf;
         z=nz;
-        assert(f->V(f->Prev(z))!=v && (f->V(f->Next(z))==v || f->V(z)==v));
     }
 
     /// Changes vertex maintaining the same face and the same edge
@@ -291,40 +288,12 @@ public:
         //assert(f->FFp(z)==f); // f is border along j
     }
 
-    /// Finds the next Crease half-edge border
-    /// TODO change crease flag with something more generic (per edge)
-    void NextCrease( )
-    {
-        assert(f->V(f->Prev(z))!=v && (f->V(f->Next(z))==v || f->V(z)==v));
-        assert(IsCrease()); // f is border along j
-        // Si deve cambiare faccia intorno allo stesso vertice v
-        //finche' non si trova una faccia di bordo.
-        do
-        {
-            FlipE();
-            if (!IsCrease()) FlipF();
-        }
-        while(!IsCrease());
-
-        // L'edge j e' di bordo e deve contenere v
-        assert(IsCrease() &&( f->V(z)==v || f->V(f->Next(z))==v ));
-
-        FlipV();
-        assert(f->V(f->Prev(z))!=v && (f->V(f->Next(z))==v || f->V(z)==v));
-    }
-
     /// Checks if the half-edge is of border
     bool IsBorder()const
     {
         return face::IsBorder(*f,z);
     }
 
-    /// Checks if the half-edge is of crease
-    bool IsCrease() const
-    {
-        return f->IsCrease(z);
-    }
-
     bool IsFaux() const
     {
         return (f->IsF(z));
@@ -334,7 +303,36 @@ public:
     {
         return face::IsManifold(*f,z);
     }
+    
+    void NextEdgeS( )
+    {
+        assert(f->V(f->Prev(z))!=v && (f->V(f->Next(z))==v || f->V(z)==v));
+        assert(IsEdgeS());
+        do
+        {
+            FlipE();
+            if (!IsEdgeS()) FlipF();
+        }
+        while(!IsEdgeS());
 
+        assert(IsEdgeS() &&( f->V(z)==v || f->V(f->Next(z))==v ));
+
+        FlipV();
+        assert(f->V(f->Prev(z))!=v && (f->V(f->Next(z))==v || f->V(z)==v));
+    }
+
+    bool IsFaceS() const { return f->IsS();}
+    bool IsEdgeS() const { return f->IsFaceEdgeS(z);}
+    bool IsVertS() const { return v->IsS();}
+    
+    /*!
+     * Returns the angle (in radiant) between the two edges incident on V.
+     */
+    ScalarType AngleRad() const
+    {
+        return Angle(f->V(f->Prev(z))->cP()-v->cP(), f->V(f->Next(z))->cP()-v->cP());
+    }
+    
     /*!
      * Returns the number of vertices incident on the vertex pos is currently pointing to.
      */
@@ -499,7 +497,10 @@ public:
         f = t->VFp(z);
         z = t->VFi(z);
     }
-
+	void operator++(int)
+	{
+		++(*this);
+	}
 };
 
 /*@}*/
diff --git a/vcg/simplex/face/topology.h b/vcg/simplex/face/topology.h
index 47c1446b..d17ca0f6 100644
--- a/vcg/simplex/face/topology.h
+++ b/vcg/simplex/face/topology.h
@@ -25,7 +25,6 @@
 #define _VCG_FACE_TOPOLOGY
 
 #include <vcg/simplex/face/pos.h>
-#include <set>
 
 namespace vcg {
 namespace face {
@@ -112,6 +111,16 @@ inline typename FaceType::ScalarType DihedralAngleRad(FaceType & f,  const int i
   else return -angleRad;
 }
 
+/// Return the internal angle (in radians) of the i-th wedge of the triangle.
+template <class FaceType>
+inline typename FaceType::ScalarType WedgeAngleRad(FaceType & f,  const int i )
+{
+  auto &P0=f.P(i);
+  auto &P1=f.P(f.Next(i));
+  auto &P2=f.P(f.Prev(i));
+  return vcg::Angle(P2 - P0,P1 - P0);  
+}
+
 /// Count border edges of the face
 template <class FaceType>
 inline int BorderCount(FaceType const & f)
@@ -237,50 +246,50 @@ void FFDetachManifold(FaceType & f, const int e)
 template <class FaceType>
 void FFDetach(FaceType & f, const int e)
 {
-    assert(FFCorrectness<FaceType>(f,e));
-    assert(!IsBorder<FaceType>(f,e));  // Never try to detach a border edge!
-    int complexity=ComplexSize(f,e);
-    (void) complexity;
-    assert(complexity>0);
+	assert(FFCorrectness<FaceType>(f,e));
+	assert(!IsBorder<FaceType>(f,e));  // Never try to detach a border edge!
+	int complexity=ComplexSize(f,e);
+	(void) complexity;
+	assert(complexity>0);
+	vcg::face::Pos<FaceType> FirstFace(&f,e);  // Build the half edge
+	vcg::face::Pos<FaceType> LastFace(&f,e);  // Build the half edge
+	FirstFace.NextF();
+	LastFace.NextF();
+	int cnt=0;
 
-    Pos< FaceType > FirstFace(&f,e);  // Build the half edge
-    Pos< FaceType > LastFace(&f,e);  // Build the half edge
-    FirstFace.NextF();
-    LastFace.NextF();
-    int cnt=0;
+//	 then in case of non manifold face continue to advance LastFace
+//	 until I find it become the one that
+//	 preceed the face I want to erase
 
-    // then in case of non manifold face continue to advance LastFace
-    // until I find it become the one that
-    // preceed the face I want to erase
+	while ( LastFace.f->FFp(LastFace.z) != &f)
+	{
+		assert(ComplexSize(*LastFace.f,LastFace.z)==complexity);
+		assert(!LastFace.IsManifold());   // We enter in this loop only if we are on a non manifold edge
+		assert(!LastFace.IsBorder());
+		LastFace.NextF();
+		cnt++;
+		assert(cnt<100);
+	}
 
-    while ( LastFace.f->FFp(LastFace.z) != &f)
-    {
-        assert(ComplexSize(*LastFace.f,LastFace.z)==complexity);
-        assert(!LastFace.IsManifold());   // We enter in this loop only if we are on a non manifold edge
-        assert(!LastFace.IsBorder());
-        LastFace.NextF();
-        cnt++;
-        assert(cnt<100);
-    }
+	assert(LastFace.f->FFp(LastFace.z)==&f);
+	assert(f.FFp(e)== FirstFace.f);
 
-    assert(LastFace.f->FFp(LastFace.z)==&f);
-    assert(f.FFp(e)== FirstFace.f);
+	// Now we link the last one to the first one, skipping the face to be detached;
+	LastFace.f->FFp(LastFace.z) = FirstFace.f;
+	LastFace.f->FFi(LastFace.z) = FirstFace.z;
+	assert(ComplexSize(*LastFace.f,LastFace.z)==complexity-1);
 
-    // Now we link the last one to the first one, skipping the face to be detached;
-    LastFace.f->FFp(LastFace.z) = FirstFace.f;
-    LastFace.f->FFi(LastFace.z) = FirstFace.z;
-    assert(ComplexSize(*LastFace.f,LastFace.z)==complexity-1);
+	// At the end selfconnect the chosen edge to make a border.
+	f.FFp(e) = &f;
+	f.FFi(e) = e;
+	assert(ComplexSize(f,e)==1);
 
-    // At the end selfconnect the chosen edge to make a border.
-    f.FFp(e) = &f;
-    f.FFi(e) = e;
-    assert(ComplexSize(f,e)==1);
-
-    assert(FFCorrectness<FaceType>(*LastFace.f,LastFace.z));
-    assert(FFCorrectness<FaceType>(f,e));
+	assert(FFCorrectness<FaceType>(*LastFace.f,LastFace.z));
+	assert(FFCorrectness<FaceType>(f,e));
 }
 
 
+// TODO: deprecate the signature of the functions below and use references
 /** This function attach the face (via the edge z1) to another face (via the edge z2). It's possible to use it also in non-two manifold situation.
         The function cannot be applicated if the adjacencies among faces aren't define.
         @param z1 Index of the edge
@@ -288,27 +297,36 @@ void FFDetach(FaceType & f, const int e)
         @param z2 The edge of the face f2
 */
 template <class FaceType>
-void FFAttach(FaceType * &f, int z1, FaceType *&f2, int z2)
+void FFAttach(FaceType * f, int z1, FaceType * f2, int z2)
 {
-    //typedef FEdgePosB< FACE_TYPE > ETYPE;
-    Pos< FaceType > EPB(f2,z2);
-    Pos< FaceType > TEPB;
-    TEPB = EPB;
-    EPB.NextF();
-    while( EPB.f != f2)  //Alla fine del ciclo TEPB contiene la faccia che precede f2
-    {
-        TEPB = EPB;
-        EPB.NextF();
-    }
-    //Salvo i dati di f1 prima di sovrascrivere
+	//typedef FEdgePosB< FACE_TYPE > ETYPE;
+	vcg::face::Pos< FaceType > EPB(f2,z2);
+	vcg::face::Pos< FaceType > TEPB;
+	TEPB = EPB;
+	EPB.NextF();
+	while( EPB.f != f2)  //Alla fine del ciclo TEPB contiene la faccia che precede f2
+	{
+		TEPB = EPB;
+		EPB.NextF();
+	}
+	//Salvo i dati di f1 prima di sovrascrivere
   FaceType *f1prec = f->FFp(z1);
-  int z1prec = f->FFi(z1);
+  int z1prec       = f->FFi(z1);
+
     //Aggiorno f1
+  assert(f1prec == f);
+  assert(TEPB.f->FFp(TEPB.z) == f2);
+
     f->FFp(z1) = TEPB.f->FFp(TEPB.z);
-    f->FFi(z1) = TEPB.f->FFi(TEPB.z);
-    //Aggiorno la faccia che precede f2
-    TEPB.f->FFp(TEPB.z) = f1prec;
-    TEPB.f->FFi(TEPB.z) = z1prec;
+	f->FFi(z1) = TEPB.f->FFi(TEPB.z);
+
+	//Aggiorno la faccia che precede f2
+	TEPB.f->FFp(TEPB.z) = f1prec;
+	TEPB.f->FFi(TEPB.z) = z1prec;
+
+	assert(FFCorrectness<FaceType>(*f,z1));
+	assert(FFCorrectness<FaceType>(*TEPB.f, TEPB.z));
+
 }
 
 /** This function attach the face (via the edge z1) to another face (via the edge z2).
@@ -319,7 +337,7 @@ void FFAttach(FaceType * &f, int z1, FaceType *&f2, int z2)
         @param z2 The edge of the face f2
 */
 template <class FaceType>
-void FFAttachManifold(FaceType * &f1, int z1, FaceType *&f2, int z2)
+void FFAttachManifold(FaceType * f1, int z1, FaceType * f2, int z2)
 {
   assert(IsBorder<FaceType>(*f1,z1) || f1->FFp(z1)==0);
   assert(IsBorder<FaceType>(*f2,z2) || f2->FFp(z2)==0);
@@ -333,7 +351,7 @@ void FFAttachManifold(FaceType * &f1, int z1, FaceType *&f2, int z2)
 
 // This one should be called only on uniitialized faces.
 template <class FaceType>
-void FFSetBorder(FaceType * &f1, int z1)
+void FFSetBorder(FaceType * f1, int z1)
 {
   assert(f1->FFp(z1)==0 || IsBorder(*f1,z1));
 
@@ -618,15 +636,54 @@ bool CheckFlipEdge(FaceType &f, int z)
   PosType startPos=pos;
     do
     {
-        pos.NextE();
-    if (g_v2 == pos.VFlip())
-            return false;
+	    pos.NextE();
+		if (g_v2 == pos.VFlip())
+			return false;
     }
   while (pos != startPos);
 
     return true;
 }
 
+template <class FaceType>
+bool checkFlipEdgeNotManifold (FaceType &f, const int z)
+{
+	typedef typename FaceType::VertexType VertexType;
+	typedef typename vcg::face::Pos< FaceType > PosType;
+	if (z<0 || z>2)  return false;
+
+	// boundary edges cannot be flipped
+	if (vcg::face::IsBorder(f, z)) return false;
+
+	FaceType *g = f.FFp(z);
+	int       w = f.FFi(z);
+
+	// check if the vertices of the edge are the same
+	// e.g. the mesh has to be well oriented
+	if (g->V(w)!=f.V1(z) || g->V1(w)!=f.V(z) )
+		return false;
+
+	// check if the flipped edge is already present in the mesh
+	// f_v2 and g_v2 are the vertices of the new edge
+	VertexType *f_v2 = f.V2(z);
+	VertexType *g_v2 = g->V2(w);
+
+	PosType pos(&f, (z+2)%3, f_v2);
+	PosType startPos=pos;
+	do
+	{
+		pos.FlipE();
+		pos.NextF();
+//		if (g_v2 == pos.F()->V((pos.E()+1) % 3))
+		if (g_v2 == pos.VFlip())
+			return false;
+	}
+	while (pos != startPos);
+
+	return true;
+
+}
+
 /*!
 * Flip the z-th edge of the face f.
 * Check for topological correctness first using <CODE>CheckFlipEdge()</CODE>.
@@ -654,10 +711,10 @@ bool CheckFlipEdge(FaceType &f, int z)
 template <class FaceType>
 void FlipEdge(FaceType &f, const int z)
 {
-    assert(z>=0);
-    assert(z<3);
-    assert( !IsBorder(f,z) );
-    assert( face::IsManifold<FaceType>(f, z));
+	assert(z>=0);
+	assert(z<3);
+	assert( !IsBorder(f,z) );
+	assert( face::IsManifold<FaceType>(f, z));
 
     FaceType *g = f.FFp(z); // The other face 
     int	      w = f.FFi(z); // and other side
@@ -671,38 +728,125 @@ void FlipEdge(FaceType &f, const int z)
     f.V1(z) = g->V2(w);
     g->V1(w) = f.V2(z);
 
-    f.FFp(z)				= g->FFp((w+1)%3);
-    f.FFi(z)				= g->FFi((w+1)%3);
-    g->FFp(w)				= f.FFp((z+1)%3);
-    g->FFi(w)				= f.FFi((z+1)%3);
-    f.FFp((z+1)%3)				= g;
-    f.FFi((z+1)%3)	= (w+1)%3;
-    g->FFp((w+1)%3)			= &f;
-    g->FFi((w+1)%3) = (z+1)%3;
+	//topology update
 
-    if(f.FFp(z)==g)
-    {
-        f.FFp(z) = &f;
-        f.FFi(z) = z;
-    }
-    else
-    {
-        f.FFp(z)->FFp( f.FFi(z) ) = &f;
-        f.FFp(z)->FFi( f.FFi(z) ) = z;
-    }
-    if(g->FFp(w)==&f)
-    {
-        g->FFp(w)=g;
-        g->FFi(w)=w;
-    }
-    else
-    {
-        g->FFp(w)->FFp( g->FFi(w) ) = g;
-        g->FFp(w)->FFi( g->FFi(w) ) = w;
-    }
+
+	f.FFp(z)       = g->FFp((w+1)%3);
+	f.FFi(z)       = g->FFi((w+1)%3);
+	g->FFp(w)      = f.FFp((z+1)%3);
+	g->FFi(w)      = f.FFi((z+1)%3);
+
+	f.FFp((z+1)%3)  = g;
+	f.FFi((z+1)%3)  = (w+1)%3;
+	g->FFp((w+1)%3) = &f;
+	g->FFi((w+1)%3) = (z+1)%3;
+
+	if(f.FFp(z)==g)
+	{
+		f.FFp(z) = &f;
+		f.FFi(z) = z;
+	}
+	else
+	{
+		f.FFp(z)->FFp( f.FFi(z) ) = &f;
+		f.FFp(z)->FFi( f.FFi(z) ) = z;
+	}
+	if(g->FFp(w)==&f)
+	{
+		g->FFp(w)=g;
+		g->FFi(w)=w;
+	}
+	else
+	{
+		g->FFp(w)->FFp( g->FFi(w) ) = g;
+		g->FFp(w)->FFi( g->FFi(w) ) = w;
+	}
     
 }
 
+/*!
+* Flip the z-th edge of the face f.
+* Check for topological correctness first using <CODE>CheckFlipEdge()</CODE>.
+*	\param f	pointer to the face
+*	\param z	the edge index
+*
+* Note: For <em>edge flip</em> we intend the swap of the diagonal of the quadrilater
+*       formed by the face \a f and the face adjacent to the specified edge.
+*
+*        0__________ 2        0__________2
+*   -> 1|\          |         |          /|1
+*       |  \     g  |         |  g     /  |
+*       |    \      |         |w     /    |
+*       |  f  z\w   |         |    /  f  z|
+*       |        \  |         |  /        |
+*       |__________\|1 <-    1|/__________|
+*      2            0          2           0
+*
+* Note that, after an operation FlipEdge(f,z)
+* to topologically revert it should be sufficient to do FlipEdge(f,z+1)
+* (even if the mesh is actually different: f and g will be swapped)
+*
+*/
+template <class FaceType>
+void FlipEdgeNotManifold(FaceType &f, const int z)
+{
+	assert(z>=0);
+	assert(z<3);
+	assert( !IsBorder(f,z) );
+	assert( face::IsManifold<FaceType>(f, z));
+
+	FaceType *g = f.FFp(z); // The other face
+	int	      w = f.FFi(z); // and other side
+
+	assert( g->V0(w) == f.V1(z) );
+	assert( g->V1(w) == f.V0(z) );
+	assert( g->V2(w) != f.V0(z) );
+	assert( g->V2(w) != f.V1(z) );
+	assert( g->V2(w) != f.V2(z) );
+
+	int fi1       = f.FFi(f.Next(z));
+	FaceType* fp1 = f.FFp(f.Next(z));
+
+	int gi1       = g->FFi(g->Next(w));
+	FaceType* gp1 = g->FFp(g->Next(w));
+
+
+	FFDetach(f, z);
+	if (!IsBorder(f, (z+1)%3))
+		FFDetach(f, (z+1)%3);
+	if (!IsBorder(*g, (w+1)%3))
+		FFDetach(*g, (w+1)%3);
+
+	f.V1(z) = g->V2(w);
+	g->V1(w) = f.V2(z);
+
+	//topology update
+	FaceType* ftmp = &f;
+
+	if (gp1 != g)
+		FFAttach(ftmp, z, gp1, gi1);
+	if (fp1 != &f)
+		FFAttach(g, w, fp1, fi1);
+
+	FFAttachManifold(ftmp, (z+1)%3, g, (w+1)%3);
+}
+
+template <class FaceType>
+void TriSplit(FaceType *fToSplit, FaceType *newf0, FaceType *newf1, typename FaceType::VertexType *newVert)
+{
+  typedef typename FaceType::VertexType VertexType;
+  
+  VertexType *vp0 = fToSplit->V(0);
+  VertexType *vp1 = fToSplit->V(1);
+  VertexType *vp2 = fToSplit->V(2);
+  
+  fToSplit->V(0) = vp0; fToSplit->V(1) = vp1; fToSplit->V(2) = newVert;
+  newf0->V(0) = vp1; newf0->V(1) = vp2; newf0->V(2) = newVert;
+  newf1->V(0) = vp2; newf1->V(1) = vp0; newf1->V(2) = newVert;    
+}
+
+
+
 template <class FaceType>
 void VFDetach(FaceType & f)
 {
@@ -745,7 +889,7 @@ void VFDetach(FaceType & f, int z)
 
 /// Append a face in VF list of vertex f->V(z)
 template <class FaceType>
-void VFAppend(FaceType* & f, int z)
+void VFAppend(FaceType * f, int z)
 {
     typename FaceType::VertexType *v = f->V(z);
     if (v->VFp()!=0)
@@ -771,19 +915,21 @@ void VFAppend(FaceType* & f, int z)
 template <class FaceType>
 void VVStarVF( typename FaceType::VertexType* vp, std::vector<typename FaceType::VertexType *> &starVec)
 {
-    typedef typename FaceType::VertexType* VertexPointer;
-    starVec.clear();
-    face::VFIterator<FaceType> vfi(vp);
-    while(!vfi.End())
-            {
-                starVec.push_back(vfi.F()->V1(vfi.I()));
-                starVec.push_back(vfi.F()->V2(vfi.I()));
-                ++vfi;
-            }
+	typedef typename FaceType::VertexType* VertexPointer;
+	starVec.clear();
+    starVec.reserve(16);
+	face::VFIterator<FaceType> vfi(vp);
+	while(!vfi.End())
+	{
+		const int vn = vfi.F()->VN();
+		starVec.push_back(vfi.F()->V1(vfi.I()));
+		starVec.push_back(vfi.F()->V((vfi.I()+vn-1)%vn));
+		++vfi;
+	}
 
-    std::sort(starVec.begin(),starVec.end());
-    typename std::vector<VertexPointer>::iterator new_end = std::unique(starVec.begin(),starVec.end());
-    starVec.resize(new_end-starVec.begin());
+	std::sort(starVec.begin(),starVec.end());
+	typename std::vector<VertexPointer>::iterator new_end = std::unique(starVec.begin(),starVec.end());
+	starVec.resize(new_end-starVec.begin());
 }
 
 /*!
@@ -836,6 +982,8 @@ void VFStarVF( typename FaceType::VertexType* vp,
 {
     faceVec.clear();
     indexes.clear();
+	faceVec.reserve(16);
+	indexes.reserve(16);
     face::VFIterator<FaceType> vfi(vp);
     while(!vfi.End())
     {
@@ -960,16 +1108,38 @@ void VFExtendedStarVF(typename FaceType::VertexType* vp,
  *
 */
 template <class FaceType>
-void VVOrderedStarFF(Pos<FaceType> &startPos,
+void VVOrderedStarFF(const Pos<FaceType> &startPos,
                      std::vector<typename FaceType::VertexType *> &vertexVec)
 {
   vertexVec.clear();
+  vertexVec.reserve(16);
   std::vector<Pos<FaceType> > posVec;
   VFOrderedStarFF(startPos,posVec);
   for(size_t i=0;i<posVec.size();++i)
     vertexVec.push_back(posVec[i].VFlip());
 }
 
+/*!
+ * \brief Compute the ordered set of vertices adjacent to a given vertex using FF adiacency
+ *
+ * \param startPos a Pos<FaceType> indicating the vertex whose star has to be computed.
+ * \param vertexVec a std::vector of VertexPtr filled vertices around the given vertex.
+ * \param ccw if true returns the vertexVec in countercounterclockwise order; if false in clockwise order.
+ *
+*/
+template <class FaceType>
+void VVOrderedStarFF(const Pos<FaceType> &startPos,
+                     std::vector<typename FaceType::VertexType *> &vertexVec,
+                     const bool ccw)
+{
+  vertexVec.clear();
+  vertexVec.reserve(16);
+  std::vector<Pos<FaceType> > posVec;
+  VFOrderedStarFF(startPos,posVec,ccw);
+  for(size_t i=0;i<posVec.size();++i)
+    vertexVec.push_back(posVec[i].VFlip());
+}
+
 /*!
  * \brief Compute the ordered set of faces adjacent to a given vertex using FF adiacency
  *
@@ -982,6 +1152,7 @@ void VFOrderedStarFF(const Pos<FaceType> &startPos,
                      std::vector<Pos<FaceType> > &posVec)
 {
   posVec.clear();
+  posVec.reserve(16);
   bool foundBorder=false;
   size_t firstBorderInd;
   Pos<FaceType> curPos=startPos;
@@ -1008,6 +1179,27 @@ void VFOrderedStarFF(const Pos<FaceType> &startPos,
   }
 }
 
+/*!
+ * \brief Compute the ordered set of faces adjacent to a given vertex using FF adiacency
+ *
+ * \param startPos a Pos<FaceType> indicating the vertex whose star has to be computed.
+ * \param posVec a std::vector of Pos filled with Pos arranged around the passed vertex.
+ * \param ccw if true returns the posVec in countercounterclockwise order; if false in clockwise order.
+ *
+*/
+template <class FaceType>
+void VFOrderedStarFF(const Pos<FaceType> &startPos,
+                     std::vector<Pos<FaceType> > &posVec,
+                     const bool ccw)
+{
+	VFOrderedStarFF(startPos, posVec);
+	const auto & pos = posVec[0];
+	if (ccw != (pos.VFlip() == pos.F()->V(pos.F()->Prev(pos.VInd()))))
+	{
+		std::reverse(posVec.begin(), posVec.end());
+	}
+}
+
 /*!
  * \brief Compute the ordered set of faces adjacent to a given vertex using FF adiacency
  *
@@ -1026,6 +1218,8 @@ void VFOrderedStarFF(const Pos<FaceType> &startPos,
   VFOrderedStarFF(startPos,posVec);
   faceVec.clear();
   edgeVec.clear();
+  faceVec.reserve(16);
+  edgeVec.reserve(16);
   for(size_t i=0;i<posVec.size();++i)
   {
     faceVec.push_back(posVec[i].F());
diff --git a/vcg/simplex/tetrahedron/base.h b/vcg/simplex/tetrahedron/base.h
index 2bf43ce2..b5e9bc71 100644
--- a/vcg/simplex/tetrahedron/base.h
+++ b/vcg/simplex/tetrahedron/base.h
@@ -30,161 +30,107 @@ added
 
 
 ****************************************************************************/
+// #ifndef __VCG_TETRA_MESH
+// #error "This file should not be included alone. It is automatically included by complex.h"
+// #endif
 #ifndef __VCG_TETRA_PLUS
 #define __VCG_TETRA_PLUS
 
-#include <vcg/space/point3.h>
-#include <vcg/space/texcoord2.h>
-#include <vcg/space/color4.h>
-#include <vcg/simplex/tetrahedron/component.h>
+//#include <vcg/space/point3.h>
+//#include <vcg/space/texcoord2.h>
+//#include <vcg/space/color4.h>
+//#include <vcg/simplex/tetrahedron/component.h>
 
 namespace vcg {
 
 /*------------------------------------------------------------------*/ 
-/* 
-The base class of all the recusive definition chain. It is just a container of the typenames of the various simplexes.
-These typenames must be known form all the derived classes.
-*/
 
-template <class BVT, class BET, class BFT, class BTT>
-class TetraTypeHolder{
+// /* The base class form which we start to add our components.
+// it has the empty definition for all the standard members (coords, color flags)
+// Note:
+// in order to avoid both virtual classes and ambiguous definitions all 
+// the subsequent overrides must be done in a sequence of derivation.
+
+// In other words we cannot derive and add in a single derivation step 
+// (with multiple ancestor), both the real (non-empty) normal and color but 
+// we have to build the type a step a time (deriving from a single ancestor at a time). 
+
+
+
+
+template <class UserTypes>
+                class TetraTypeHolder: public UserTypes {
   public:
-  typedef BVT VertexType;
-  typedef typename VertexType::CoordType CoordType;
-  typedef typename VertexType::ScalarType ScalarType;
-  typedef BET EdgeType;
-  typedef BFT FaceType;
-  typedef BTT TetraType;
-  typedef BVT *VertPointer;
-  typedef BET *EdgePointer;
-  typedef BFT *FacePointer;
-  typedef BTT *TetraPointer;
-  static void Name(std::vector<std::string> & name){}
+
+    template <class RightT>
+    void ImportData(const RightT & ){}
+    static void Name(std::vector<std::string> & /* name */){}
 
 
  // prot
- 
+    inline int VN()  const { return 4;}
 };
 
 /* The base class form which we start to add our components.
 it has the empty definition for all the standard members (coords, color flags)
 Note:
-in order to avoid both virtual classes and ambiguous definitions all 
+in order to avoid both virtual classes and ambiguous definitions all
 the subsequent overrides must be done in a sequence of derivation.
 
-In other words we cannot derive and add in a single derivation step 
-(with multiple ancestor), both the real (non-empty) normal and color but 
-we have to build the type a step a time (deriving from a single ancestor at a time). 
+In other words we cannot derive and add in a single derivation step
+(with multiple ancestor), both the real (non-empty) normal and color but
+we have to build the type a step a time (deriving from a single ancestor at a time).
 
 
-*/ 
-template <class BVT, class BET=DumET, class BFT=DumFT, class BTT=DumTT>
-class TetraBase: public  tetra::EmptyVertexRef<
-                         tetra::EmptyAdj<
-                         TetraTypeHolder <BVT, BET, BFT, BTT> > > {
-};
-
-
-
-// Metaprogramming Core
-
-template <class BVT, class BET, class BFT,class BTT,
-          template <typename> class A> 
-          class TetraArity1: public A<TetraBase<BVT,BET,BFT,BTT> > {};
-
-template <class BVT, class BET, typename BFT, class BTT,
-          template <typename> class A, template <typename> class B> 
-          class TetraArity2: public B<TetraArity1<BVT,BET,BFT,BTT, A> > {};
-
-template <class BVT, class BET, typename BFT,class BTT,
-          template <typename> class A, template <typename> class B, 
-          template <typename> class C > 
-          class TetraArity3: public C<TetraArity2<BVT,BET,BFT,BTT, A, B> > {};
-
-template <class BVT, class BET, typename BFT,class BTT,
-          template <typename> class A, template <typename> class B, 
-          template <typename> class C, template <typename> class D> 
-          class TetraArity4: public D<TetraArity3<BVT,BET,BFT,BTT, A, B, C> > {};
-
-template <class BVT, class BET, typename BFT,class BTT,
-          template <typename> class A, template <typename> class B, 
-          template <typename> class C, template <typename> class D,
-          template <typename> class E > 
-          class TetraArity5: public E<TetraArity4<BVT,BET,BFT,BTT, A, B, C, D> > {};
-
-template <class BVT, class BET, typename BFT,class BTT,
-          template <typename> class A, template <typename> class B, 
-          template <typename> class C, template <typename> class D,
-          template <typename> class E, template <typename> class F > 
-          class TetraArity6: public F<TetraArity5<BVT,BET,BFT,BTT, A, B, C, D, E> > {};
-
-template <class BVT, class BET, typename BFT,class BTT,
-          template <typename> class A, template <typename> class B, 
-          template <typename> class C, template <typename> class D,
-          template <typename> class E, template <typename> class F, 
-          template <typename> class G  > 
-          class TetraArity7: public G<TetraArity6<BVT,BET,BFT,BTT, A, B, C, D, E, F> > {};
-
-template <class BVT, class BET, typename BFT,class BTT,
-          template <typename> class A, template <typename> class B, 
-          template <typename> class C, template <typename> class D,
-          template <typename> class E, template <typename> class F, 
-          template <typename> class G, template <typename> class H  > 
-          class TetraArity8: public H<TetraArity7<BVT,BET,BFT,BTT, A, B, C, D, E, F, G> > {};
-
-/* The Real Big Face class;
-
-The class __FaceArityMax__ is the one that is the Last to be derived,
-and therefore is the only one to know the real members 
-(after the many overrides) so all the functions with common behaviour 
-using the members defined in the various Empty/nonEmpty component classes 
-MUST be defined here. 
-
-I.e. IsD() that uses the overridden Flags() member must be defined here.
-
 */
+template <class UserTypes>
+class TetraSimpBase: public
+            tetrahedron::EmptyCore< TetraTypeHolder <UserTypes> > {
+};
 
-template <class BVT, class BET, typename BFT,class BTT,
-          template <typename> class A, template <typename> class B, 
-          template <typename> class C, template <typename> class D, 
+template <class UserTypes,
+          template <typename> class A, template <typename> class B,
+          template <typename> class C, template <typename> class D,
           template <typename> class E, template <typename> class F,
           template <typename> class G, template <typename> class H,
-          template <typename> class I  > 
-          class TetraArityMax: public I<TetraArity8<BVT,BET,BFT,BTT, A, B, C, D, E, F, G, H> > {
+          template <typename> class I, template <typename> class J,
+          template <typename> class K, template <typename> class L>
+class TetraArityMax: public Arity12<TetraSimpBase<UserTypes>, A, B, C, D, E, F, G, H, I, J, K, L> {
 
 // ----- Flags stuff -----
 public:
   
    	enum { 
 		
-		DELETED     = 0x00000001,		// Face is deleted from the mesh
-		NOTREAD     = 0x00000002,		// Face of the mesh is not readable
-		NOTWRITE    = 0x00000004,		// Face of the mesh is not writable
-    VISITED     = 0x00000010,		// Face has been visited. Usualy this is a per-algorithm used bit. 
-		SELECTED    = 0x00000020,		// Face is selected. Algorithms should try to work only on selected face (if explicitly requested)
+		DELETED     = 0x00000001,		// Tet is deleted from the mesh
+		NOTREAD     = 0x00000002,		// Tet of the mesh is not readable
+		NOTWRITE    = 0x00000004,		// Tet of the mesh is not writable
+        VISITED     = 0x00000010,		// Tet has been visited. Usualy this is a per-algorithm used bit.
+		SELECTED    = 0x00000020,		// Tet is selected. Algorithms should try to work only on selected face (if explicitly requested)
 		// Border _flags, it is assumed that BORDERi = BORDER0<<i 
 		BORDER0     = 0x00000040,
 		BORDER1     = 0x00000080,
 		BORDER2     = 0x00000100,
 		BORDER3     = 0x00000200,
+		BORDER0123  = BORDER0 | BORDER1 | BORDER2 | BORDER3,
 		// Crease _flags,  it is assumed that FEATUREi = FEATURE0<<i 
 		// First user bit
 		USER0       = 0x00004000
 			};
 
  
- 	///  checks if the Face is deleted
-	bool IsD() const {return (this->Flags() & DELETED) != 0;}
-	///  checks if the Face is readable
-	bool IsR() const {return (this->Flags() & NOTREAD) == 0;}
-	///  checks if the Face is modifiable
-	bool IsW() const {return (this->Flags() & NOTWRITE)== 0;}
-	/// This funcion checks whether the Face is both readable and modifiable
-	bool IsRW() const {return (this->Flags() & (NOTREAD | NOTWRITE)) == 0;}
-	///  checks if the Face is Modified
-	bool IsS() const {return (this->Flags() & SELECTED) != 0;}
-	///  checks if the Face is Modified
-	bool IsV() const {return (this->Flags() & VISITED) != 0;}
+ 	///  checks if the Tet is deleted
+        bool IsD() const {return (this->cFlags() & DELETED) != 0;}
+	///  checks if the Tet is readable
+        bool IsR() const {return (this->cFlags() & NOTREAD) == 0;}
+	///  checks if the Tet is modifiable
+        bool IsW() const {return (this->cFlags() & NOTWRITE)== 0;}
+	/// This funcion checks whether the Tet is both readable and modifiable
+        bool IsRW() const {return (this->cFlags() & (NOTREAD | NOTWRITE)) == 0;}
+	///  checks if the Tet is Modified
+        bool IsS() const {return (this->cFlags() & SELECTED) != 0;}
+	///  checks if the Tet is Modified
+        bool IsV() const {return (this->cFlags() & VISITED) != 0;}
 	
 	/** Set the flag value
 		@param flagp Valore da inserire nel flag
@@ -196,29 +142,30 @@ public:
 	*/
 	void ClearFlags() {this->Flags()=0;}
 
-	///  deletes the Face from the mesh
+	///  deletes the Tet from the mesh
 	void SetD() {this->Flags() |=DELETED;}
-	///  un-delete a Face
+	///  un-delete a Tet
 	void ClearD() {this->Flags() &=(~DELETED);}
-	///  marks the Face as readable
+	///  marks the Tet as readable
 	void SetR() {this->Flags() &=(~NOTREAD);}
-	///  marks the Face as not readable
+	///  marks the Tet as not readable
 	void ClearR() {this->Flags() |=NOTREAD;}
-	///  marks the Face as writable
+	///  marks the Tet as writable
 	void SetW() {this->Flags() &=(~NOTWRITE);}
-	///  marks the Face as notwritable
+	///  marks the Tet as notwritable
 	void ClearW() {this->Flags() |=NOTWRITE;}
-	///  select the Face
+	///  select the Tet
 	void SetS()		{this->Flags() |=SELECTED;}
-	/// Un-select a Face
+	/// Un-select a Tet
   void ClearS()	{this->Flags() &= ~SELECTED;}
-	///  select the Face
+	///  select the Tet
 	void SetV()		{this->Flags() |=VISITED;}
-	/// Un-select a Face
+	/// Un-select a Tet
   void ClearV()	{this->Flags() &= ~VISITED;}
 	
-	/// This function checks if the face is selected
-	bool IsB(int i) const {return (this->Flags() & (BORDER0<<i)) != 0;}
+	/// This function checks if the face is border
+	bool IsB(int i) const {return (this->cFlags() & (BORDER0<<i)) != 0;}
+	bool IsAnyB() const {return (this->cFlags() & (BORDER0123)) != 0;}
 	/// This function select the face
   void SetB(int i)		{this->Flags() |=(BORDER0<<i);}
 	/// This funcion execute the inverse operation of SetS()
@@ -263,16 +210,17 @@ public:
  template<class BoxType>
   void GetBBox( BoxType & bb ) const
   {
-	  bb.Set(this->P(0));
-	  bb.Add(this->P(1));
-	  bb.Add(this->P(2));
+	  bb.Set(this->cP(0));
+	  bb.Add(this->cP(1));
+	  bb.Add(this->cP(2));
+	  bb.Add(this->cP(3));
   }
 
 
 };
 
-template < typename T=int>
-class TetraDefaultDeriver : public T {};
+// template < typename T=int>
+// class TetraDefaultDeriver : public T {};
           
 /*
 
@@ -302,22 +250,15 @@ TTAdj                                           //topology: face face adj
 
 */
 
-template <class BVT, class BET, class BFT, class BTT,
-          template <typename> class A = TetraDefaultDeriver, template <typename> class B = TetraDefaultDeriver,
-          template <typename> class C = TetraDefaultDeriver, template <typename> class D = TetraDefaultDeriver,
-          template <typename> class E = TetraDefaultDeriver, template <typename> class F = TetraDefaultDeriver,
-          template <typename> class G = TetraDefaultDeriver, template <typename> class H = TetraDefaultDeriver,
-          template <typename> class I = TetraDefaultDeriver > 
-              class TetraSimp3: public TetraArityMax<BVT,BET,BFT,BTT, A, B, C, D, E, F, G, H, I>  {};
-class DumTT;
-template <class BVT, class BET, class BFT, 
-          template <typename> class A = TetraDefaultDeriver, template <typename> class B = TetraDefaultDeriver,
-          template <typename> class C = TetraDefaultDeriver, template <typename> class D = TetraDefaultDeriver,
-          template <typename> class E = TetraDefaultDeriver, template <typename> class F = TetraDefaultDeriver,
-          template <typename> class G = TetraDefaultDeriver, template <typename> class H = TetraDefaultDeriver,
-          template <typename> class I = TetraDefaultDeriver > 
-              class TetraSimp2: public TetraArityMax<BVT,BET,BFT,DumTT, A, B, C, D, E, F, G, H, I>  {};
-
+template <class UserTypes,
+          template <typename> class A = DefaultDeriver, template <typename> class B = DefaultDeriver,
+          template <typename> class C = DefaultDeriver, template <typename> class D = DefaultDeriver,
+          template <typename> class E = DefaultDeriver, template <typename> class F = DefaultDeriver,
+          template <typename> class G = DefaultDeriver, template <typename> class H = DefaultDeriver,
+          template <typename> class I = DefaultDeriver, template <typename> class J = DefaultDeriver,
+          template <typename> class K = DefaultDeriver, template <typename> class L = DefaultDeriver>
+class TetraSimp : public TetraArityMax<UserTypes, A, B, C, D, E, F, G, H, I, J, K, L>  {
+			 public: typedef AllTypes::ATetraType IAm; typedef UserTypes TypesPool;};
 
 }// end namespace
 #endif
diff --git a/vcg/simplex/tetrahedron/component.h b/vcg/simplex/tetrahedron/component.h
index 50b821c5..d2d8c878 100644
--- a/vcg/simplex/tetrahedron/component.h
+++ b/vcg/simplex/tetrahedron/component.h
@@ -8,7 +8,7 @@
 *                                                                    \      *
 * All rights reserved.                                                      *
 *                                                                           *
-* This program is free software; you can redistribute it and/or modify      *   
+* This program is free software; you can redistribute it and/or modify      *
 * it under the terms of the GNU General Public License as published by      *
 * the Free Software Foundation; either version 2 of the License, or         *
 * (at your option) any later version.                                       *
@@ -31,235 +31,480 @@ added
 
 ****************************************************************************/
 #ifndef __VCG_TETRAHEDRON_PLUS_COMPONENT
-#define __VCG_TETRAHEDRON_PLUS_COMPONENT 
+#define __VCG_TETRAHEDRON_PLUS_COMPONENT
 
 #include <vector>
 #include <vcg/space/tetra3.h>
 
 namespace vcg {
-  namespace tetra {
+namespace tetrahedron {
 /*
 Some naming Rules
-All the Components that can be added to a vertex should be defined in the namespace vert:
-
+All the Components that can be added to a tetra should be defined in the namespace tetra:
 */
-
-/*-------------------------- VERTEX ----------------------------------------*/ 
-template <class T> class EmptyVertexRef: public T {
+template <class T> class EmptyCore : public T {
 public:
- // typedef typename T::VertexType VertexType;
- // typedef typename T::CoordType CoordType;
-  inline typename T::VertexType *       & V( const int j ) 	    {	assert(0);		static typename T::VertexType *vp=0; return vp; }
-  inline typename T::VertexType * const & V( const int j ) const {	assert(0);		static typename T::VertexType *vp=0; return vp; }
-	inline typename T::VertexType * const  cV( const int j ) const {	assert(0);		static typename T::VertexType *vp=0; return vp;	}
-	inline       typename T::CoordType & P( const int j ) 	    {	assert(0);		static typename T::CoordType coord(0, 0, 0); return coord;	}
-	inline const typename T::CoordType & P( const int j ) const {	assert(0);		static typename T::CoordType coord(0, 0, 0); return coord;	}
-	inline const typename T::CoordType &cP( const int j ) const	{	assert(0);		static typename T::CoordType coord(0, 0, 0); return coord;	}
-  static bool HasVertexRef()   { return false; }
-	static void Name(std::vector<std::string> & name){T::Name(name);}
+    //Empty vertexref
+    inline typename T::VertexType *       & V( const int  )      {	assert(0);		static typename T::VertexType *vp=0; return vp; }
+    inline typename T::VertexType * const & V( const int ) const {	assert(0);		static typename T::VertexType *vp=0; return vp; }
+    inline const typename T::VertexType *  cV( const int )       {	assert(0);		static typename T::VertexType *vp=0; return vp;	}
+    inline       typename T::CoordType & P( const int )          {	assert(0);		static typename T::CoordType coord(0, 0, 0); return coord;	}
+    inline const typename T::CoordType & P( const int )    const {	assert(0);		static typename T::CoordType coord(0, 0, 0); return coord;	}
+    inline const typename T::CoordType &cP( const int )    const {	assert(0);		static typename T::CoordType coord(0, 0, 0); return coord;	}
 
+    static bool HasVertexRef()   { return false; }
+    static bool HasTVAdjacency() { return false; }
+
+    // //Empty normals
+    // typedef typename T::VertexType::NormalType NormalType;
+    // NormalType &N(const int & ){ static NormalType dummynormal(0, 0, 0); assert(0); return dummynormal; }
+    // const NormalType cN(const int & ) const { static NormalType dummynormal(0, 0, 0); assert(0); return dummynormal; }
+
+    // static bool HasFaceNormal()      { return false; }
+    // static bool HasFaceNormalOcc()   { return false; }
+
+    //Empty color
+    typedef vcg::Color4b ColorType;
+    ColorType &C()       { static ColorType dummycolor(vcg::Color4b::White); assert(0); return dummycolor; }
+    ColorType cC() const { static ColorType dummycolor(vcg::Color4b::White); assert(0); return dummycolor; }
+
+    static bool HasColor() { return false; }
+    static bool IsColorEnabled() { return T::TetraType::HasColor(); }
+
+    //Empty Quality
+    typedef float QualityType;
+    typedef vcg::Point3f Quality3Type;
+    QualityType &Q()       { static QualityType dummyquality(0); assert(0); return dummyquality; }
+    QualityType cQ() const { static QualityType dummyquality(0); assert(0); return dummyquality; }
+    Quality3Type &Q3()       { static Quality3Type dummyQuality3(0,0,0);  assert(0); return dummyQuality3; }
+    Quality3Type cQ3() const { static Quality3Type dummyQuality3(0,0,0);  assert(0); return dummyQuality3; }
+
+    static bool HasQuality() { return false; }
+    static bool HasQuality3() { return false; }
+    inline bool IsQualityEnabled() const { return T::TetraType::HasQuality(); }
+    inline bool IsQuality3Enabled() const { return T::TetraType::HasQuality3(); }
+
+    //Empty flags
+    int &Flags() { static int dummyflags(0); assert(0); return dummyflags; }
+    int cFlags() const { return 0; }
+
+    static bool HasFlags()      { return false; }
+    static bool HasFlagsOcc()   { return false; }
+
+    //Empty IMark
+    typedef int MarkType;
+
+    inline void InitIMark()   {  }
+    inline int & IMark()      { assert(0); static int tmp=-1; return tmp;}
+    inline int cIMark() const {return 0;}
+
+    inline bool IsMarkEnabled() const { return T::TetraType::HasMark(); }
+    
+    static bool HasMark()     { return false; }
+    static bool HasMarkOcc()  { return false; }
+
+    //Empty Adjacency
+    typedef int VTAdjType;
+    typename T::TetraPointer & VTp     ( const int )       { static typename T::TetraPointer tp=0; assert(0); return tp; }
+    typename T::TetraPointer const cVTp( const int ) const { static typename T::TetraPointer const tp=0; assert(0); return tp; }
+
+    typename T::TetraPointer & TTp     ( const int )       { static typename T::TetraPointer tp=0; assert(0); return tp; }
+    typename T::TetraPointer const cTTp( const int ) const { static typename T::TetraPointer const tp=0; assert(0); return tp; }
+
+    char & VTi( const int )       { static char z=0; assert(0); return z; }
+    char  cVTi( const int ) const { static char z=0; assert(0); return z; }
+    char & TTi( const int )       { static char z=0; assert(0); return z; }
+    char  cTTi( const int ) const { static char z=0; assert(0); return z; }
+
+    bool IsVTInitialized(const int j) const {return  static_cast<const typename T::TetraType *>(this)->cVTi(j)!=-1;}
+    void VTClear(int j) {
+        if(IsVTInitialized(j)) {
+            static_cast<typename T::TetraPointer>(this)->VTp(j)=0;
+            static_cast<typename T::TetraPointer>(this)->VTi(j)=-1;
+        }
+    }
+
+    static bool HasVTAdjacency()    { return false; }
+    static bool HasTTAdjacency()    { return false; }
+    static bool HasTTAdjacencyOcc() { return false; }
+    static bool HasVTAdjacencyOcc() { return false; }
+
+    template <class RightValuteType>
+    void ImportData(const RightValuteType & ) {}
+
+    static void Name(std::vector<std::string> & name) { T::Name(name); }
 };
+/*-------------------------- VERTEX ----------------------------------------*/
+// template <class T> class EmptyVertexRef: public T {
+// public:
+//  // typedef typename T::VertexType VertexType;
+//  // typedef typename T::CoordType CoordType;
+//   inline typename T::VertexType *       & V( const int j ) 	    {	assert(0);		static typename T::VertexType *vp=0; return vp; }
+//   inline typename T::VertexType * const & V( const int j ) const {	assert(0);		static typename T::VertexType *vp=0; return vp; }
+// 	inline typename T::VertexType * const  cV( const int j ) const {	assert(0);		static typename T::VertexType *vp=0; return vp;	}
+// 	inline       typename T::CoordType & P( const int j ) 	    {	assert(0);		static typename T::CoordType coord(0, 0, 0); return coord;	}
+// 	inline const typename T::CoordType & P( const int j ) const {	assert(0);		static typename T::CoordType coord(0, 0, 0); return coord;	}
+// 	inline const typename T::CoordType &cP( const int j ) const	{	assert(0);		static typename T::CoordType coord(0, 0, 0); return coord;	}
+
+// 	static bool HasVertexRef()   { return false; }
+// };
+
 template <class T> class VertexRef: public T {
 public:
-	VertexRef(){
-		v[0]=0;
-		v[1]=0;
-		v[2]=0;
-	}
+    VertexRef(){
+        v[0]=0;
+        v[1]=0;
+        v[2]=0;
+        v[3]=0;
 
-  inline typename T::VertexType *       & V( const int j ) 	     { assert(j>=0 && j<4); return v[j]; }
-  inline typename T::VertexType * const & V( const int j ) const { assert(j>=0 && j<4); return v[j]; }
-	inline typename T::VertexType * const  cV( const int j ) const { assert(j>=0 && j<4);	return v[j]; }
+        /******* vertex and faces indices scheme*********
+ *
+ * 						/2\`
+ * 					 /   \  `
+ * 					/     \    `
+ * 				 /       \  _ 3`
+ *				/     _   \    '
+ * 			 / _         \  '
+ *      /0___________1\'
+ *
+ */
+        findices[0][0] = 0; findices[0][1] = 1; findices[0][2] = 2;
+        findices[1][0] = 0; findices[1][1] = 3; findices[1][2] = 1;
+        findices[2][0] = 0; findices[2][1] = 2; findices[2][2] = 3;
+        findices[3][0] = 1; findices[3][1] = 3; findices[3][2] = 2;
+    }
 
-	// Shortcut per accedere ai punti delle facce
-	inline       typename T::CoordType & P( const int j ) 	    {	assert(j>=0 && j<4);		return v[j]->P();	}
-	inline const typename T::CoordType & P( const int j ) const	{	assert(j>=0 && j<4);		return v[j]->cP(); }
-	inline const typename T::CoordType &cP( const int j ) const	{	assert(j>=0 && j<4);		return v[j]->cP(); }
+    typedef typename T::VertexType::CoordType CoordType;
+    typedef typename T::VertexType::ScalarType ScalarType;
 
-	/** Return the pointer to the ((j+1)%3)-th vertex of the face.
-		@param j Index of the face vertex.
-	 */
-	inline       typename T::VertexType *       &  V0( const int j )       { return V(j);}
-	inline       typename T::VertexType *       &  V1( const int j )       { return V((j+1)%4);}
-	inline       typename T::VertexType *       &  V2( const int j )       { return V((j+2)%4);}
-	inline const typename T::VertexType * const &  V0( const int j ) const { return V(j);}
-	inline const typename T::VertexType * const &  V1( const int j ) const { return V((j+1)%4);}
-	inline const typename T::VertexType * const &  V2( const int j ) const { return V((j+2)%4);}
-	inline const typename T::VertexType * const & cV0( const int j ) const { return cV(j);}
-	inline const typename T::VertexType * const & cV1( const int j ) const { return cV((j+1)%4);}
-	inline const typename T::VertexType * const & cV2( const int j ) const { return cV((j+2)%4);}
+    inline       typename T::VertexType *       & V( const int j )  { assert(j>=0 && j<4); return v[j]; }
+    inline const typename T::VertexType *        cV( const int j )  { assert(j>=0 && j<4); return v[j]; }
 
-	/// Shortcut to get vertex values
-	inline       typename T::CoordType &  P0( const int j )       { return V(j)->P();}
-	inline       typename T::CoordType &  P1( const int j )       { return V((j+1)%4)->P();}
-	inline       typename T::CoordType &  P2( const int j )       { return V((j+2)%4)->P();}
-	inline const typename T::CoordType &  P0( const int j ) const { return V(j)->P();}
-	inline const typename T::CoordType &  P1( const int j ) const { return V((j+1)%4)->P();}
-	inline const typename T::CoordType &  P2( const int j ) const { return V((j+2)%4)->P();}
-	inline const typename T::CoordType & cP0( const int j ) const { return cV(j)->P();}
-	inline const typename T::CoordType & cP1( const int j ) const { return cV((j+1)%4)->P();}
-	inline const typename T::CoordType & cP2( const int j ) const { return cV((j+2)%4)->P();}
+    inline  size_t cFtoVi (const int f, const int j) const { assert(f >= 0 && f < 4); assert(j >= 0 && j < 3); return findices[f][j]; }
 
-  static bool HasVertexRef()   { return true; }
-	static void Name(std::vector<std::string> & name){name.push_back(std::string("VertexRef"));T::Name(name);}
+    // Shortcut for tetra points
+    inline       CoordType & P( const int j )       { assert(j>=0 && j<4); return v[j]->P();	}
+    inline const CoordType &cP( const int j ) const { assert(j>=0 && j<4); return v[j]->P(); }
 
+    /** Return the pointer to the ((j+1)%4)-th vertex of the tetra.
+                @param j Index of the face vertex.
+         */
+    inline       typename T::VertexType *       &  V0( const int j )       { return V(j);}
+    inline       typename T::VertexType *       &  V1( const int j )       { return V((j+1)%4);}
+    inline       typename T::VertexType *       &  V2( const int j )       { return V((j+2)%4);}
+    inline       typename T::VertexType *       &  V3( const int j )       { return V((j+3)%4);}
+    inline const typename T::VertexType * const &  V0( const int j ) const { return V(j);}
+    inline const typename T::VertexType * const &  V1( const int j ) const { return V((j+1)%4);}
+    inline const typename T::VertexType * const &  V2( const int j ) const { return V((j+2)%4);}
+    inline const typename T::VertexType * const &  V3( const int j ) const { return V((j+3)%4);}
+    inline const typename T::VertexType * const & cV0( const int j ) const { return cV(j);}
+    inline const typename T::VertexType * const & cV1( const int j ) const { return cV((j+1)%4);}
+    inline const typename T::VertexType * const & cV2( const int j ) const { return cV((j+2)%4);}
+    inline const typename T::VertexType * const & cV3( const int j ) const { return cV((j+3)%4);}
 
-  private:
-  typename T::VertexType *v[4];
+    /// Shortcut to get vertex values
+    inline       CoordType &P0 (const int j)       { return V(j)->P(); }
+    inline       CoordType &P2 (const int j)       { return V((j + 2) % 4)->P(); }
+    inline       CoordType &P3 (const int j)       { return V((j + 3) % 4)->P(); }
+    inline       CoordType &P1 (const int j)       { return V((j + 1) % 4)->P(); }
+    inline const CoordType &P0 (const int j) const { return V(j)->P(); }
+    inline const CoordType &P1 (const int j) const { return V((j + 1) % 4)->P(); }
+    inline const CoordType &P2 (const int j) const { return V((j + 2) % 4)->P(); }
+    inline const CoordType &P3 (const int j) const { return V((j + 3) % 4)->P(); }
+    inline const CoordType &cP0(const int j) const { return cV(j)->P(); }
+    inline const CoordType &cP1(const int j) const { return cV((j + 1) % 4)->P(); }
+    inline const CoordType &cP2(const int j) const { return cV((j + 2) % 4)->P(); }
+    inline const CoordType &cP3(const int j) const { return cV((j + 3) % 4)->P(); }
+
+    static bool HasVertexRef()   { return true; }
+    static bool HasTVAdjacency() { return true; }
+
+    static void Name(std::vector<std::string> & name){name.push_back(std::string("VertexRef"));T::Name(name);}
+
+    template <class RightValueType>
+    void ImportData(const RightValueType & rTetra) { T::ImportData(rTetra); }
+
+private:
+    typename T::VertexType *v[4];
+    size_t findices[4][3];
 };
 
 
 /*------------------------- FACE NORMAL -----------------------------------------*/
-template <class A, class T> class EmptyFaceNormal: public T {
-public:
-	typedef ::vcg::Point3<A> NormalType;
-	/// Return the vector of Flags(), senza effettuare controlli sui bit
-	NormalType N(const int & ){ static int dummynormal(0); return dummynormal; }
-  const NormalType cN(const int & ) const { return 0; }
-  static bool HasFaceNormal()   { return false; }
-  static bool HasFaceNormalOcc()   { return false; }
-	static void Name(std::vector<std::string> & name){T::Name(name);}
+// template <class A, class T> class EmptyFaceNormal: public T {
+// public:
+// 	typedef ::vcg::Point3<A> NormalType;
+// 	/// Return the vector of Flags(), senza effettuare controlli sui bit
+// 	NormalType N(const int & ){ static int dummynormal(0); return dummynormal; }
+//   const NormalType cN(const int & ) const { return 0; }
+//   static bool HasFaceNormal()   { return false; }
+//   static bool HasFaceNormalOcc()   { return false; }
+// 	static void Name(std::vector<std::string> & name){T::Name(name);}
 
-};
+// };
 
-template <class A, class T> class FaceNormal:  public T {
-public:
-	typedef ::vcg::Point3<A> NormalType;
+// template <class A, class T> class FaceNormal:  public T {
+// public:
+// 	typedef A NormalType;
 
-	NormalType N(const int & i){  assert((i>=0)&&(i < 4)); return _facenormals[i]; }
-  const NormalType cN(const int & i) const { assert((i>=0)&&(i < 4)); return _facenormals[i]; }
-  static bool HasFaceNormals()   { return true; }
-  static bool HasFaceNormalOcc()   { return false; }
-  static void Name(std::vector<std::string> & name){name.push_back(std::string("FaceNormal"));T::Name(name);}
-	
-private:
-  NormalType  _facenormals[4];    
-};
+// 	inline NormalType N(const int & i){  assert((i>=0)&&(i < 4)); return _facenormals[i]; }
+//   inline NormalType cN(const int & i) const { assert((i>=0)&&(i < 4)); return _facenormals[i]; }
+//   static bool HasFaceNormals()   { return true; }
+//   static bool HasFaceNormalOcc()   { return false; }
 
-template <class T> class FaceNormal3f: public FaceNormal<float,T>{
-public:static void Name(std::vector<std::string> & name){name.push_back(std::string("FaceNormal3f"));T::Name(name);} };
+//   template <class RightValueType>
+//   void ImportData(const RightValueType & rightT)
+//   {
+//     if(rightT.IsNormalEnabled()) N().Import(rightT.cN());
+//     T::ImportData(rightT);
+//   }
 
-template <class T> class FaceNormal3d: public FaceNormal<double,T>{
-public:static void Name(std::vector<std::string> & name){name.push_back(std::string("FaceNormal3d"));T::Name(name);} };
+//   static void Name(std::vector<std::string> & name){name.push_back(std::string("FaceNormal"));T::Name(name);}
 
-/*------------------------- FLAGS -----------------------------------------*/ 
-template <class T> class EmptyBitFlags: public T {
-public:
-	/// Return the vector of Flags(), senza effettuare controlli sui bit
-  int &Flags() { static int dummyflags(0); return dummyflags; }
-  const int Flags() const { return 0; }
-  static bool HasFlags()   { return false; }
-  static bool HasFlagsOcc()   { return false; }
-	static void Name(std::vector<std::string> & name){T::Name(name);}
+// private:
+//   NormalType  _facenormals[4];
+// };
 
-};
+//template <class T> class FaceNormal3f: public FaceNormal<vcg::Point3f, T>{
+//public:static void Name(std::vector<std::string> & name){name.push_back(std::string("FaceNormal3f"));T::Name(name);} };
+
+//template <class T> class FaceNormal3d: public FaceNormal<vcg::Point3d, T>{
+//public:static void Name(std::vector<std::string> & name){name.push_back(std::string("FaceNormal3d"));T::Name(name);} };
+
+/*------------------------- FLAGS -----------------------------------------*/
+// template <class T> class EmptyBitFlags: public T {
+// public:
+// 	/// Return the vector of Flags(), senza effettuare controlli sui bit
+//   int &Flags() { static int dummyflags(0); return dummyflags; }
+//   const int Flags() const { return 0; }
+//   static bool HasFlags()   { return false; }
+//   static bool HasFlagsOcc()   { return false; }
+// 	static void Name(std::vector<std::string> & name){T::Name(name);}
+
+// };
 
 template <class T> class BitFlags:  public T {
 public:
-  BitFlags(){_flags=0;}
-   int &Flags() {return _flags; }
-   const int Flags() const {return _flags; }
-  static bool HasFlags()   { return true; }
-  static void Name(std::vector<std::string> & name){name.push_back(std::string("BitFlags"));T::Name(name);}
+    typedef int FlagType;
+    BitFlags(){_flags=0;}
+    
+		inline int &Flags() {return _flags; }
+    inline int cFlags() const {return _flags; }
+
+    template <class RightValueType>
+    void ImportData(const RightValueType & rightT){
+        if(RightValueType::HasFlags())
+            Flags() = rightT.cFlags();
+        T::ImportData(rightT);
+    }
+
+    static bool HasFlags()   { return true; }
+    static void Name(std::vector<std::string> & name){name.push_back(std::string("BitFlags"));T::Name(name);}
 
 
 private:
-  int  _flags;    
+    int  _flags;
 };
-/*-------------------------- INCREMENTAL MARK  ----------------------------------------*/ 
 
-template <class T> class EmptyMark: public T {
+/*-------------------------- QUALITY  ----------------------------------------*/
+template <class A, class T> class Quality: public T {
 public:
-	typedef int MarkType;
-  static bool HasMark()   { return false; }
-  static bool HasMarkOcc()   { return false; }
-  inline void InitIMark()    {  }
-  inline int & IMark()       { assert(0); static int tmp=-1; return tmp;}
-  inline const int IMark() const {return 0;}
-  static void Name(std::vector<std::string> & name){T::Name(name);}
+    typedef A QualityType;
+    Quality():_quality(0) {}
+    QualityType &Q()       { return _quality; }
+    QualityType cQ() const { return _quality; }
 
+    template <class RightValueType>
+    void ImportData(const RightValueType & rightT){
+        if(rightT.IsQualityEnabled())
+            Q() = rightT.cQ();
+        T::ImportData(rightT);
+    }
+
+    static bool HasQuality()   { return true; }
+    static void Name(std::vector<std::string> & name){name.push_back(std::string("Quality"));T::Name(name);}
+private:
+    QualityType _quality;
 };
+
+template <class T> class Qualityf: public Quality<float, T> {
+public:  static void Name(std::vector<std::string> & name){name.push_back(std::string("Qualityf"));T::Name(name);}
+};
+template <class T> class Qualityd: public Quality<double, T> {
+public:  static void Name(std::vector<std::string> & name){name.push_back(std::string("Qualityd"));T::Name(name);}
+};
+
+/*-------------------------- Quality3  ----------------------------------*/
+template <class A, class T> class Quality3: public T {
+public:
+    typedef vcg::Point3<A> Quality3Type;
+    Quality3Type &Q3()       { return _quality; }
+    Quality3Type cQ3() const { return _quality; }
+    template <class RightValueType>
+    void ImportData(const RightValueType & rightT){
+        if(rightT.IsQuality3Enabled()) Q3() = rightT.cQ3();
+        T::ImportData(rightT);
+    }
+
+    static bool HasQuality3()   { return true; }
+    static void Name(std::vector<std::string> & name){name.push_back(std::string("Quality3"));T::Name(name);}
+private:
+    Quality3Type _quality;
+};
+
+template <class T> class Quality3f: public Quality3<float, T> {
+public:  static void Name(std::vector<std::string> & name){name.push_back(std::string("Quality3f"));T::Name(name);}
+};
+template <class T> class Quality3d: public Quality3<double, T> {
+public:  static void Name(std::vector<std::string> & name){name.push_back(std::string("Quality3d"));T::Name(name);}
+};
+
+/*-------------------------- COLOR  ----------------------------------------*/
+template <class A, class T>
+class Color: public T {
+public:
+    typedef A ColorType;
+    Color():_color(vcg::Color4b::White) {}
+    ColorType &C()       { return _color; }
+    ColorType cC() const { return _color; }
+    template <class RightValueType>
+    void ImportData(const RightValueType & rightT){
+        if(rightT.IsColorEnabled()) C() = rightT.cC();
+        T::ImportData(rightT);
+    }
+
+    static bool HasColor()   { return true; }
+    static void Name(std::vector<std::string> & name){name.push_back(std::string("Color"));T::Name(name);}
+
+private:
+    ColorType _color;
+};
+
+template <class T> class Color4b : public Color<vcg::Color4b, T> {
+public: static void Name(std::vector<std::string> & name){name.push_back(std::string("Color4b"));T::Name(name); }
+};
+/*-------------------------- INCREMENTAL MARK  ----------------------------------------*/
+
+// template <class T> class EmptyMark: public T {
+// public:
+// 	typedef int MarkType;
+//   static bool HasMark()   { return false; }
+//   static bool HasMarkOcc()   { return false; }
+//   inline void InitIMark()    {  }
+//   inline int & IMark()       { assert(0); static int tmp=-1; return tmp;}
+//   inline const int IMark() const {return 0;}
+//   static void Name(std::vector<std::string> & name){T::Name(name);}
+
+// };
+
 template <class T> class Mark: public T {
 public:
-  static bool HasMark()      { return true; }
-  static bool HasMarkOcc()   { return true; }
-  inline void InitIMark()    { _imark = 0; }
-  inline int & IMark()       { return _imark;}
-  inline const int & IMark() const {return _imark;}
-  static void Name(std::vector<std::string> & name){name.push_back(std::string("Mark"));T::Name(name);}
-    
- private:
-	int _imark;
+    static bool HasMark()      { return true; }
+    static bool HasMarkOcc()   { return false; }
+    inline void InitIMark()    { _imark = 0; }
+    inline int & IMark()       { return _imark;}
+    inline int  cIMark() const {return _imark;}
+
+    template <class RightValueType>
+    void ImportData(const RightValueType & rightT){
+        if(rightT.IsMarkEnabled()) IMark() = rightT.cIMark();
+        T::ImportData(rightT);
+    }
+
+    static void Name(std::vector<std::string> & name){name.push_back(std::string("Mark"));T::Name(name);}
+
+private:
+    int _imark;
 };
 
 
-/*----------------------------- VTADJ ------------------------------*/ 
+/*----------------------------- VTADJ ------------------------------*/
 
-template <class T> class EmptyAdj: public T {
-public:
-	typedef int VFAdjType;
-	typename T::TetraPointer & VTp( const int ) { static typename T::TetraPointer tp=0; return tp; }
-	typename T::TetraPointer const cVTp( const int ) const { static typename T::TetraPointer const tp=0; return tp; }
-	typename T::TetraPointer & TTp( const int ) { static typename T::TetraPointer tp=0; return tp; }
-	typename T::TetraPointer const cTTp( const int ) const { static typename T::TetraPointer const tp=0; return tp; }
-	char & VTi( const int j ) { static char z=0; return z; }
-	char & TTi( const int j ) { static char z=0; return z; }
-	static bool HasVTAdjacency() { return false; }
-	static bool HasTTAdjacency() { return false; }
-	static bool HasTTAdjacencyOcc() { return false; }
-	static bool HasVTAdjacencyOcc() { return false; }
-	static void Name( std::vector< std::string > & name ){ T::Name(name); }
-};
+// template <class T> class EmptyAdj: public T {
+// public:
+// 	typedef int VFAdjType;
+// 	typename T::TetraPointer & VTp( const int ) { static typename T::TetraPointer tp=0; return tp; }
+// 	typename T::TetraPointer const cVTp( const int ) const { static typename T::TetraPointer const tp=0; return tp; }
+// 	typename T::TetraPointer & TTp( const int ) { static typename T::TetraPointer tp=0; return tp; }
+// 	typename T::TetraPointer const cTTp( const int ) const { static typename T::TetraPointer const tp=0; return tp; }
+// 	char & VTi( const int j ) { static char z=0; return z; }
+// 	char & TTi( const int j ) { static char z=0; return z; }
+// 	static bool HasVTAdjacency() { return false; }
+// 	static bool HasTTAdjacency() { return false; }
+// 	static bool HasTTAdjacencyOcc() { return false; }
+// 	static bool HasVTAdjacencyOcc() { return false; }
+// 	static void Name( std::vector< std::string > & name ){ T::Name(name); }
+// };
 
 template <class T> class VTAdj: public T {
 public:
-	VTAdj() { _vtp[0]=0; _vtp[1]=0; _vtp[2]=0; _vtp[3]=0; }
-	typename T::TetraPointer & VTp( const int j ) { assert( j >= 0 && j < 4 ); return _vtp[j]; }
-	typename T::TetraPointer const VTp( const int j ) const { assert( j >= 0 && j < 4 ); return _vtp[j]; }
-	typename T::TetraPointer const cVTp( const int j ) const { assert( j >= 0 && j < 4 ); return _vtp[j]; }
-	char & VTi( const int j ) { return _vti[j]; }
-	const char & cVTi( const int j ) const { return _vti[j]; }
-	static bool HasVTAdjacency() { return true; }
-	static bool HasVTAdjacencyOcc() { return false; }
-	static void Name( std::vector< std::string > & name ) { name.push_back( std::string("VTAdj") ); T::Name(name); }
+    VTAdj() {
+        _vtp[0]=0;
+        _vtp[1]=0;
+        _vtp[2]=0;
+        _vtp[3]=0;
+        _vti[0]=-1;
+        _vti[1]=-1;
+        _vti[2]=-1;
+        _vti[3]=-1;
+    }
 
+    typename T::TetraPointer & VTp( const int j ) { assert( j >= 0 && j < 4 ); return _vtp[j]; }
+    typename T::TetraPointer const VTp( const int j ) const { assert( j >= 0 && j < 4 ); return _vtp[j]; }
+    typename T::TetraPointer const cVTp( const int j ) const { assert( j >= 0 && j < 4 ); return _vtp[j]; }
+
+    char & VTi( const int j ) { return _vti[j]; }
+    const char & cVTi( const int j ) const { return _vti[j]; }
+
+    static bool HasVTAdjacency() { return true; }
+    static bool HasVTAdjacencyOcc() { return false; }
+
+    static void Name( std::vector< std::string > & name ) { name.push_back( std::string("VTAdj") ); T::Name(name); }
+
+    template <class RightValueType>
+    void ImportData(const RightValueType & rightT){T::ImportData(rightT);}
 private:
-	typename T::TetraPointer _vtp[4];
-	char _vti[4];
+    typename T::TetraPointer _vtp[4];
+    char _vti[4];
 };
 
-/*----------------------------- TTADJ ------------------------------*/ 
+/*----------------------------- TTADJ ------------------------------*/
 
 template <class T> class TTAdj: public T {
 public:
-	TTAdj(){
-		_ttp[0]=0;
-		_ttp[1]=0;
-		_ttp[2]=0;
-		_ttp[3]=0;
-	}
-  typename T::TetraPointer       &TTp(const int j)        { assert(j>=0 && j<4);  return _ttp[j]; }
-  typename T::TetraPointer const  TTp(const int j) const  { assert(j>=0 && j<4);  return _ttp[j]; }
-  typename T::TetraPointer const cTTp(const int j) const  { assert(j>=0 && j<4);  return _ttp[j]; }
-  char        &TTi(const int j)       { return _tti[j]; }
-  const char &cTTi(const int j) const { return _tti[j]; }
+    TTAdj(){
+        _ttp[0]=0;
+        _ttp[1]=0;
+        _ttp[2]=0;
+        _ttp[3]=0;
+    }
+    typename T::TetraPointer       &TTp(const int j)        { assert(j>=0 && j<4);  return _ttp[j]; }
+    typename T::TetraPointer const  TTp(const int j) const  { assert(j>=0 && j<4);  return _ttp[j]; }
+    typename T::TetraPointer const cTTp(const int j) const  { assert(j>=0 && j<4);  return _ttp[j]; }
+    char        &TTi(const int j)       { return _tti[j]; }
+    const char &cTTi(const int j) const { return _tti[j]; }
 
-  typename T::TetraPointer        &TTp1( const int j )       { return TTp((j+1)%4);}
-	typename T::TetraPointer        &TTp2( const int j )       { return TTp((j+2)%4);}
-	typename T::TetraPointer  const  TTp1( const int j ) const { return TTp((j+1)%4);}
-	typename T::TetraPointer  const  TTp2( const int j ) const { return TTp((j+2)%4);}
+    typename T::TetraPointer        &TTp1( const int j )       { return TTp((j+1)%4);}
+    typename T::TetraPointer        &TTp2( const int j )       { return TTp((j+2)%4);}
+    typename T::TetraPointer        &TTp3( const int j )       { return TTp((j+3)%4);}
+    typename T::TetraPointer  const  TTp1( const int j ) const { return TTp((j+1)%4);}
+    typename T::TetraPointer  const  TTp2( const int j ) const { return TTp((j+2)%4);}
+    typename T::TetraPointer  const  TTp3( const int j ) const { return TTp((j+3)%4);}
 
-	bool IsBorderF(const int & i)  const { assert( (i>=0) && (i < 4)); { return TTp(i) == this;}}
+    bool IsBorderF(const int & i)  const { assert( (i>=0) && (i < 4)); { return TTp(i) == this;}}
 
-  static bool HasTTAdjacency()      {   return true; }
-  static bool HasTTAdjacencyOcc()   {   return false; }
-  static void Name(std::vector<std::string> & name){name.push_back(std::string("TTAdj"));T::Name(name);}
+    static bool HasTTAdjacency()      {   return true; }
+    static bool HasTTAdjacencyOcc()   {   return false; }
+    static void Name(std::vector<std::string> & name){name.push_back(std::string("TTAdj"));T::Name(name);}
+
+    template <class RightValueType>
+    void ImportData(const RightValueType & rightT){T::ImportData(rightT);}
 
 private:
-  typename T::TetraPointer _ttp[4] ;    
-  char _tti[4] ;    
+    typename T::TetraPointer _ttp[4] ;
+    char _tti[4] ;
 };
 
-  } // end namespace vert
+} // end namespace vert
 }// end namespace vcg
 #endif
diff --git a/vcg/simplex/tetrahedron/pos.h b/vcg/simplex/tetrahedron/pos.h
index 57b7f447..c9ed4629 100644
--- a/vcg/simplex/tetrahedron/pos.h
+++ b/vcg/simplex/tetrahedron/pos.h
@@ -31,334 +31,378 @@
 #define __VCG_TETRA_POS
 
 namespace vcg {
-  namespace tetra {
+namespace tetra {
 
- /** \addtogroup tetra */
+/** \addtogroup tetra */
 /*@{*/
 
-
-  /**  Class VTIterator.
+/**  Class VTIterator.
  This is a vertex - tetrahedron iterator
-		@param MTTYPE (Template Parameter) Specifies the type of the tetrahedron.
+                @param MTTYPE (Template Parameter) Specifies the type of the tetrahedron.
  */
 template < class MTTYPE> 
 class VTIterator
 {
 public:
-	/// The tetrahedron type 
-	typedef  MTTYPE TetraType;
+    /// The tetrahedron type
+    typedef  MTTYPE TetraType;
+    typedef typename TetraType::VertexType VertexType;
 private:
-	/// Pointer to a tetrahedron
-	TetraType *_vt;
-	/// Index of one vertex
-	int _vi;
-	/// Default Constructor
+    /// Pointer to a tetrahedron
+    TetraType *_vt;
+    /// Index of one vertex
+    int _vi;
+    /// Default Constructor
 public:
-  VTIterator() : _vt(0), _vi(-1){}
-	/// Constructor which associates the EdgePos elementet with a face and its edge
-	VTIterator(TetraType  * const tp, int const zp)
-	{	
-		_vt=tp;
-		_vi=zp;
-  }
+    VTIterator() : _vt(0), _vi(-1){}
+    /// Constructor
+    VTIterator(TetraType  * const tp, int const zp)
+    {
+        _vt=tp->V(zp)->VTp();
+        _vi=tp->V(zp)->VTi();
+    }
+    VTIterator(VertexType * const vp)
+    {
+        _vt = vp->VTp();
+        _vi = vp->VTi();
+    }
 
-	~VTIterator(){};
+    ~VTIterator(){};
 
-  /// Return the tetrahedron stored in the half edge
-inline TetraType* & Vt()
-{
-	return _vt;
-} 
+    /// Return the tetrahedron stored in the half edge
+    inline TetraType* & Vt()
+    {
+        return _vt;
+    }
 
-  	/// Return the index of vertex as seen from the tetrahedron
-inline int & Vi()
-{
-	return _vi;
-}
+    /// Return the index of vertex as seen from the tetrahedron
+    inline int & Vi()
+    {
+        return _vi;
+    }
 
-/// Return the index of vertex as seen from the tetrahedron
-inline const int & Vi() const
-{
-		return _vi;
-}
+    /// Return the index of vertex as seen from the tetrahedron
+    inline const int & Vi() const
+    {
+        return _vi;
+    }
 
-inline bool End(){return (Vt()==NULL);}
+    inline bool End(){return (Vt()==NULL);}
 
-	/// move on the next tetrahedron that share the vertex
-void operator++() 
-{
-		int vi=Vi();
-		TetraType * tw = Vt();
-		Vt() = tw->TVp(vi);
-		Vi() = tw->TVi(vi);
+    /// move on the next tetrahedron that share the vertex
+    void operator++()
+    {
+        int vi=Vi();
+        TetraType * tw = Vt();
+        Vt() = tw->VTp(vi);
+        Vi() = tw->VTi(vi);
 
-		assert((Vt()==NULL)||((tw->V(vi))==(Vt()->V(Vi()))));
-}
+        assert((Vt()==NULL)||((tw->V(vi))==(Vt()->V(Vi()))));
+    }
 
 };
 
+template <class TetraType>
+void VTStarVT( typename TetraType::VertexType* vp,
+               std::vector<TetraType *> &tetraVec,
+               std::vector<int> &indexes)
+{
+    tetraVec.clear();
+    indexes.clear();
+    tetraVec.reserve(16);
+    indexes.reserve(16);
+    tetra::VTIterator<TetraType> vti(vp);
+    while(!vti.End())
+    {
+        tetraVec.push_back(vti.Vt());
+        indexes.push_back(vti.Vi());
+        ++vti;
+    }
+}
+template <class TetraType>
+void VVStarVT( typename TetraType::VertexPointer vp, std::vector<typename TetraType::VertexPointer> & starVec)
+{
+    typedef typename TetraType::VertexPointer VertexPointer;
+
+    starVec.clear();
+    starVec.reserve(16);
+	VTIterator<TetraType> vti(vp);
+
+    while (!vti.End())
+    {
+        starVec.push_back(vti.Vt()->V1(vti.Vi()));
+        starVec.push_back(vti.Vt()->V2(vti.Vi()));
+        starVec.push_back(vti.Vt()->V3(vti.Vi()));
+        ++vti;
+    }
+
+    std::sort(starVec.begin(), starVec.end());
+    typename std::vector<VertexPointer>::iterator new_end = std::unique(starVec.begin(),starVec.end());
+    starVec.resize(new_end - starVec.begin());
+}
+
 
 /**  Templated over the class tetrahedron, it stores a \em position over a tetrahedron in a mesh.
-	It contain a pointer to the current tetrahedron, 
-	the index of one face,edge and a edge's incident vertex.
+        It contain a pointer to the current tetrahedron,
+        the index of one face,edge and a edge's incident vertex.
  */
 template < class MTTYPE> 
 class Pos
 {
 public:
 
-  /// The tetrahedron type
-	typedef MTTYPE TetraType;
-	/// The vertex type
-	typedef	typename TetraType::VertexType VertexType;
-  /// The coordinate type
-	typedef	typename TetraType::VertexType::CoordType CoordType;
-  ///The HEdgePos type
-	typedef Pos<TetraType> BasePosType;
+    /// The tetrahedron type
+    typedef MTTYPE TetraType;
+    /// The vertex type
+    typedef	typename TetraType::VertexType VertexType;
+    /// The coordinate type
+    typedef	typename TetraType::VertexType::CoordType CoordType;
+    ///The HEdgePos type
+    typedef Pos<TetraType> BasePosType;
 
 private:
-	/// Pointer to the tetrahedron of the half-edge
-	TetraType *_t;
-	/// Index of the face
-	char _f;
-	/// Index of the edge
-	char _e;
-	/// Pointer to the vertex
-	char _v;
+    /// Pointer to the tetrahedron of the half-edge
+    TetraType *_t;
+    /// Index of the face
+    char _f;
+    /// Index of the edge
+    char _e;
+    /// Pointer to the vertex
+    char _v;
 
 public:
-	/// Default constructor
-	Pos(){SetNull();};
-	/// Constructor which associates the half-edge elementet with a face, its edge and its vertex
-	Pos(TetraType * const tp, char const fap,char const ep,
-		char const vp){_t=tp;_f=fap;_e=ep;_v=vp;}
+    /// Default constructor
+    Pos(){SetNull();};
+    /// Constructor which associates the half-edge elementet with a face, its edge and its vertex
+    Pos(TetraType * const tp, char const fap,char const ep,
+        char const vp){_t=tp;_f=fap;_e=ep;_v=vp;}
 
-	~Pos(){};
-  
-  	/// Return the tetrahedron stored in the half edge
-	inline TetraType* & T()
-  {
-		return _t;
-	} 
+    ~Pos(){};
 
-  	/// Return the tetrahedron stored in the half edge
-	inline  TetraType* const & T() const
-	{
-		return _t;
-	}
-
-  	/// Return the index of face as seen from the tetrahedron
-	inline char & F()
-	{
-		return _f;
-	}
-
-  	/// Return the index of face as seen from the tetrahedron
-	inline const char & F() const
-	{
-		return _f;
-	}
-
-	/// Return the index of face as seen from the tetrahedron
-	inline char & E()
-	{
-		return _e;
-	}
-
-  	/// Return the index of face as seen from the tetrahedron
-	inline const char & E() const
-	{
-		return _e;
-	}
-
-/// Return the index of vertex as seen from the tetrahedron
-	inline char & V()
-	{
-		return _v;
-	}
-
-  	/// Return the index of vertex as seen from the tetrahedron
-	inline const char & V() const
-	{
-		return _v;
-	}
-
-	/// Operator to compare two half-edge
-	inline bool operator == ( BasePosType const & p ) const {
-			return (T()==p.T() && F()==p.F() && E==p.E() && V==p.V());
-	} 
-
-	/// Operator to compare two half-edge
-	inline bool operator != ( BasePosType const & p ) const {
-			return (!((*this)==p));
-	} 
-   
-	/// Set to null the half-edge
-	void SetNull(){
-		T()=0;
-		F()=-1;
-		E()=-1;
-		V()=-1;
-	}
-
-	/// Check if the half-edge is null
-	bool IsNull() const {
-		return ((T()==0) || (F()<0) || (E()<0) || (V()<0));
-	}
-
-
-	/// Changes edge maintaining the same face and the same vertex
-	void FlipE()
-	{
-		
-		//take the absolute index of the tree edges of the faces
-    char e0=vcg::Tetra::EofF(_f ,0);
-		char e1=vcg::Tetra::EofF(_f ,1);
-		char e2=vcg::Tetra::EofF(_f ,2);
-		//eliminate the same as himself
-		if (e0==E())
-			{
-			 e0=e1;
-			 e1=e2;
-			}
-		else
-		if (e1==E())
-			{
-			 e1=e2;
-			}
-
-		//now choose the one that preserve the same vertex
-     if ((vcg::Tetra::VofE(e1,0)==V())||(vcg::Tetra::VofE(e1,1)==V()))
-			E()=e1;
-		else
-			E()=e0;
-	}
-
-
-	/// Changes vertex maintaining the same face and the same edge
-	void FlipV()
-	{
-		// in the same edge choose the one that change
-		char v0=vcg::Tetra::VofE(E(),0);
-		char v1=vcg::Tetra::VofE(E(),1);
-		if (v0!=V())
-			V()=v0;
-		else
-			V()=v1;
-	}
-
-	/// Changes face maintaining the same vertex and the same edge
-	void FlipF()
-	{
-    char f0=vcg::Tetra::FofE(E(),0);
-		char f1=vcg::Tetra::FofE(E(),1);
-		if (f0!=F())
-			F()=f0;
-		else
-			F()=f1;
-	}
-
-	/// Changes tetrahedron maintaining the same face edge and vertex'... to finish
-	void FlipT()
-	{
-		
-		//save the two vertices of the old edge
-		VertexType *v0=T()->V(vcg::Tetra::VofE(E(),0));
-		VertexType *v1=T()->V(vcg::Tetra::VofE(E(),1));
-
-    //get the current vertex
-    VertexType *vcurr=T()->V(V());
-
-		//get new tetrahedron according to faceto face topology
-		TetraType *nt=T()->TTp(F());
-		char nfa=T()->TTi(F());
-		if (nfa!=-1)
-		{
-			//find the right edge
-      char ne0=vcg::Tetra::EofF(nfa,0);
-			char ne1=vcg::Tetra::EofF(nfa,1);
-			char ne2=vcg::Tetra::EofF(nfa,2);
-      
-      //the vertices of new edges
-      VertexType *vn0=nt->V(vcg::Tetra::VofE(ne0,0));
-      VertexType *vn1=nt->V(vcg::Tetra::VofE(ne0,1));
-			//verify that the two vertices of tetrahedron are identical
-			if (((vn0==v0)&&(vn1==v1))||((vn1==v0)&&(vn0==v1)))
-			  E()=ne0;
-			else
-      {
-        vn0=nt->V(vcg::Tetra::VofE(ne1,0));
-        vn1=nt->V(vcg::Tetra::VofE(ne1,1));
-			  if (((vn0==v0)&&(vn1==v1))||((vn1==v0)&&(vn0==v1)))
-			    E()=ne1;
-        else
-        {
-#ifdef _DEBUG
-          vn0=nt->V(vcg::Tetra::VofE(ne2,0));
-          vn1=nt->V(vcg::Tetra::VofE(ne2,1));
-          assert(((vn0==v0)&&(vn1==v1))||((vn1==v0)&&(vn0==v1)));
-#endif
-          E()=ne2;
-        }
-      }
-
-      //find the right vertex
-      vn0=nt->V(vcg::Tetra::VofE(E(),0));
-#ifdef _DEBUG
-      vn1=nt->V(vcg::Tetra::VofE(E(),1));
-      assert((vn0==vcurr)||(vn1==vcurr));
-#endif
-      if (vn0==vcurr)
-        V()=vcg::Tetra::VofE(E(),0);
-      else
-        V()=vcg::Tetra::VofE(E(),1);
-
-      T()=nt;
-      assert(T()->V(V())==vcurr);
-			F()=nfa;
+    /// Return the tetrahedron stored in the half edge
+    inline TetraType* & T()
+    {
+        return _t;
     }
-  }
 
-	///returns the next half edge on the same edge
-	void NextT( )
-	{
-		#ifdef _DEBUG
-		VertexType *vold=T()->V(V());
-		#endif
-		FlipT();
-		FlipF();
-		#ifdef _DEBUG
-		VertexType *vnew=T()->V(V());
-		assert(vold==vnew);
-		#endif	
-	}
+    /// Return the tetrahedron stored in the half edge
+    inline  TetraType* const & T() const
+    {
+        return _t;
+    }
 
-	void Assert()
-	#ifdef _DEBUG
-	{	
-		HETYPE ht=*this;
-		ht.FlipT();
-		ht.FlipT();
-		assert(ht==*this);
+    /// Return the index of face as seen from the tetrahedron
+    inline char & F()
+    {
+        return _f;
+    }
 
-		ht=*this;
-		ht.FlipF();
-		ht.FlipF();
-		assert(ht==*this);
+    /// Return the index of face as seen from the tetrahedron
+    inline const char & F() const
+    {
+        return _f;
+    }
 
-		ht=*this;
-		ht.FlipE();
-		ht.FlipE();
-		assert(ht==*this);
+    /// Return the index of face as seen from the tetrahedron
+    inline char & E()
+    {
+        return _e;
+    }
 
-		ht=*this;
-		ht.FlipV();
-		ht.FlipV();
-		assert(ht==*this);
-	}
-	#else
-	{}
-	#endif
+    /// Return the index of edge as seen from the tetrahedron
+    inline const char & E() const
+    {
+        return _e;
+    }
+
+    /// Return the index of vertex as seen from the tetrahedron
+    inline char & V()
+    {
+        return _v;
+    }
+
+    /// Return the index of vertex as seen from the tetrahedron
+    inline const char & V() const
+    {
+        return _v;
+    }
+
+    /// Operator to compare two half-edge
+    inline bool operator == ( BasePosType const & p ) const {
+        return (T()==p.T() && F()==p.F() && E()==p.E() && V()==p.V());
+    }
+
+    /// Operator to compare two half-edge
+    inline bool operator != ( BasePosType const & p ) const {
+        return (!((*this)==p));
+    }
+
+    /// Set to null the half-edge
+    void SetNull(){
+        T()=0;
+        F()=-1;
+        E()=-1;
+        V()=-1;
+    }
+
+    /// Check if the half-edge is null
+    bool IsNull() const {
+        return ((T()==0) || (F()<0) || (E()<0) || (V()<0));
+    }
+
+
+    /// Changes edge maintaining the same face and the same vertex
+    void FlipE()
+    {
+
+        //take the absolute index of the tree edges of the faces
+        char e0=vcg::Tetra::EofF(_f ,0);
+        char e1=vcg::Tetra::EofF(_f ,1);
+        char e2=vcg::Tetra::EofF(_f ,2);
+        //eliminate the same as himself
+        if (e0==E())
+        {
+            e0=e1;
+            e1=e2;
+        }
+        else
+            if (e1==E())
+            {
+                e1=e2;
+            }
+
+        //now choose the one that preserve the same vertex
+        if ((vcg::Tetra::VofE(e1,0)==V())||(vcg::Tetra::VofE(e1,1)==V()))
+            E()=e1;
+        else
+            E()=e0;
+    }
+
+
+    /// Changes vertex maintaining the same face and the same edge
+    void FlipV()
+    {
+        // in the same edge choose the one that change
+        char v0=vcg::Tetra::VofE(E(),0);
+        char v1=vcg::Tetra::VofE(E(),1);
+        if (v0!=V())
+            V()=v0;
+        else
+            V()=v1;
+    }
+
+    /// Changes face maintaining the same vertex and the same edge
+    void FlipF()
+    {
+        char f0=vcg::Tetra::FofE(E(),0);
+        char f1=vcg::Tetra::FofE(E(),1);
+        if (f0!=F())
+            F()=f0;
+        else
+            F()=f1;
+    }
+
+    /// Changes tetrahedron maintaining the same face edge and vertex'... to finish
+    void FlipT()
+    {
+
+        //save the two vertices of the old edge
+        VertexType *v0=T()->V(vcg::Tetra::VofE(E(),0));
+        VertexType *v1=T()->V(vcg::Tetra::VofE(E(),1));
+
+        //get the current vertex
+        VertexType *vcurr=T()->V(V());
+
+        //get new tetrahedron according to tetra to tetra topology
+        TetraType *nt=T()->TTp(F());
+        char nfa=T()->TTi(F());
+        if (nfa!=-1)
+        {
+            //find the right edge
+            char ne0=vcg::Tetra::EofF(nfa,0);
+            char ne1=vcg::Tetra::EofF(nfa,1);
+            char ne2=vcg::Tetra::EofF(nfa,2);
+
+            //the vertices of new edges
+            VertexType *vn0=nt->V(vcg::Tetra::VofE(ne0,0));
+            VertexType *vn1=nt->V(vcg::Tetra::VofE(ne0,1));
+            //verify that the two vertices of tetrahedron are identical
+            if (((vn0==v0)&&(vn1==v1))||((vn1==v0)&&(vn0==v1)))
+                E()=ne0;
+            else
+            {
+                vn0=nt->V(vcg::Tetra::VofE(ne1,0));
+                vn1=nt->V(vcg::Tetra::VofE(ne1,1));
+                if (((vn0==v0)&&(vn1==v1))||((vn1==v0)&&(vn0==v1)))
+                    E()=ne1;
+                else
+                {
+#ifdef _DEBUG
+                    vn0=nt->V(vcg::Tetra::VofE(ne2,0));
+                    vn1=nt->V(vcg::Tetra::VofE(ne2,1));
+                    assert(((vn0==v0)&&(vn1==v1))||((vn1==v0)&&(vn0==v1)));
+#endif
+                    E()=ne2;
+                }
+            }
+
+            //find the right vertex
+            vn0=nt->V(vcg::Tetra::VofE(E(),0));
+#ifdef _DEBUG
+            vn1=nt->V(vcg::Tetra::VofE(E(),1));
+            assert((vn0==vcurr)||(vn1==vcurr));
+#endif
+            if (vn0==vcurr)
+                V()=vcg::Tetra::VofE(E(),0);
+            else
+                V()=vcg::Tetra::VofE(E(),1);
+
+            T()=nt;
+            assert(T()->V(V())==vcurr);
+            F()=nfa;
+        }
+    }
+
+    ///returns the next half edge on the same edge
+    void NextT( )
+    {
+#ifdef _DEBUG
+        VertexType *vold=T()->V(V());
+#endif
+        FlipT();
+        FlipF();
+#ifdef _DEBUG
+        VertexType *vnew=T()->V(V());
+        assert(vold==vnew);
+#endif
+    }
+
+    void Assert()
+#ifdef _DEBUG
+    {
+        HETYPE ht=*this;
+        ht.FlipT();
+        ht.FlipT();
+        assert(ht==*this);
+
+        ht=*this;
+        ht.FlipF();
+        ht.FlipF();
+        assert(ht==*this);
+
+        ht=*this;
+        ht.FlipE();
+        ht.FlipE();
+        assert(ht==*this);
+
+        ht=*this;
+        ht.FlipV();
+        ht.FlipV();
+        assert(ht==*this);
+    }
+#else
+    {}
+#endif
 };
 
 ///this pos structure jump on  next tetrahedron if find an external face
@@ -366,38 +410,38 @@ template < class MTTYPE>
 class PosJump:public Pos<MTTYPE>
 {
 private:
-	MTTYPE *_t_initial;
-	short int _back;
+    MTTYPE *_t_initial;
+    short int _back;
 public :
-	typedef  MTTYPE  TetraType;
-  PosJump(const TetraType*  tp,const int  fap,const int  ep,
-		int  vp){this->T()=tp;this->F()=fap;this->E()=ep;this->V()=vp;_t_initial=tp;_back=0;}
+    typedef  MTTYPE  TetraType;
+    PosJump(const TetraType*  tp,const int  fap,const int  ep,
+            int  vp){this->T()=tp;this->F()=fap;this->E()=ep;this->V()=vp;_t_initial=tp;_back=0;}
 
-	void NextT()
-  {
+    void NextT()
+    {
 #ifdef _DEBUG
-		int cont=0;
+        int cont=0;
 #endif
-		MTTYPE *tpred=this->T();
-		Pos<MTTYPE>::NextT();
-		//external face
-		if (tpred==this->T())
-		{
-			while (this->T()!=_t_initial)
-			{
-				Pos<MTTYPE>::NextT();
-				#ifdef _DEBUG
-				 cont++;
-				 assert (cont<500);
-				#endif
-			}
-			_back++;
-			if (_back==1)
-			{
-			  Pos<MTTYPE>::NextT();
-			}	
+        MTTYPE *tpred=this->T();
+        Pos<MTTYPE>::NextT();
+        //external face
+        if (tpred==this->T())
+        {
+            while (this->T()!=_t_initial)
+            {
+                Pos<MTTYPE>::NextT();
+#ifdef _DEBUG
+                cont++;
+                assert (cont<500);
+#endif
+            }
+            _back++;
+            if (_back==1)
+            {
+                Pos<MTTYPE>::NextT();
+            }
+        }
     }
-	}
 };
 
 ///this pos structure jump on  next tetrahedron in rotational sense if find an external face
@@ -405,67 +449,67 @@ template < class MTTYPE>
 class PosLoop:public Pos<MTTYPE>
 {
 private:
-	MTTYPE *_t_initial;
-	bool _jump;
-  bool _loop;
+    MTTYPE *_t_initial;
+    bool _jump;
+    bool _loop;
 public :
-	typedef  MTTYPE  TetraType;
-PosLoop(TetraType*  tp,const int  fap,const int  ep,
-		int vp){this->T()=tp;this->F()=fap;this->E()=ep;this->V()=vp;_t_initial=tp;_jump=false;_loop=false;}
+    typedef  MTTYPE  TetraType;
+    PosLoop(TetraType*  tp,const int  fap,const int  ep,
+            int vp){this->T()=tp;this->F()=fap;this->E()=ep;this->V()=vp;_t_initial=tp;_jump=false;_loop=false;}
 
-  bool LoopEnd()
-  {
-    return (_loop);
-  }
-  
-  bool Jump()
-  {
-    return(_jump);
-  }
-  
-  void Reset()
-  {
-    _loop=false;
-    _jump=false;
-  }
+    bool LoopEnd()
+    {
+        return (_loop);
+    }
 
-	void NextT()
-  {	
+    bool Jump()
+    {
+        return(_jump);
+    }
+
+    void Reset()
+    {
+        _loop=false;
+        _jump=false;
+    }
+
+    void NextT()
+    {
 #ifdef _DEBUG
-    TetraType *t_old=this->T();
+        TetraType *t_old=this->T();
 #endif
-		TetraType *tpred=this->T();
-		Pos<TetraType>::NextT();
-    _loop=false;
-    _jump=false;
+        TetraType *tpred=this->T();
+        Pos<TetraType>::NextT();
+        _loop=false;
+        _jump=false;
 
-		//external face
-		if (tpred==this->T())
-		{
-      tpred=this->T();
-      //jump next one
-      Pos<TetraType>::NextT();
-      //find the next external face
-			while (tpred!=this->T())
-			{
-        tpred=this->T();
-				Pos<TetraType>::NextT();
-			}
-			////reset right rotation sense
-			//  Pos<TetraType>::NextT();
-        _jump=true;
-    }	
-    if (this->T()==_t_initial)
-      _loop=true;
+        //external face
+        if (tpred==this->T())
+        {
+            tpred=this->T();
+            //jump next one
+            Pos<TetraType>::NextT();
+            //find the next external face
+            while (tpred!=this->T())
+            {
+                tpred=this->T();
+                Pos<TetraType>::NextT();
+            }
+            ////reset right rotation sense
+            //  Pos<TetraType>::NextT();
+            _jump=true;
+        }
+        if (this->T()==_t_initial)
+            _loop=true;
 #ifdef _DEBUG
-    if (_loop==false)
-      assert(t_old!=this->T());
+        if (_loop==false)
+            assert(t_old!=this->T());
 #endif
-  }
+    }
 
 };
 //@}
-  }//end namespace tetra
+}//end namespace tetra
 }//end namespace vcg
 
 #endif
diff --git a/vcg/simplex/tetrahedron/tetrahedron.h b/vcg/simplex/tetrahedron/tetrahedron.h
index e0f3c94a..c232d035 100644
--- a/vcg/simplex/tetrahedron/tetrahedron.h
+++ b/vcg/simplex/tetrahedron/tetrahedron.h
@@ -23,6 +23,6 @@
 #ifndef __VCGLIB_TETRAHEDRON
 #define __VCGLIB_TETRAHEDRON
 #define TETRA_TYPE Tetrahedron
-#include <vcg/simplex/tetrahedron/base.h> 
+// #include <vcg/simplex/tetrahedron/base.h> 
 
 #endif
diff --git a/vcg/simplex/tetrahedron/topology.h b/vcg/simplex/tetrahedron/topology.h
new file mode 100644
index 00000000..5203af47
--- /dev/null
+++ b/vcg/simplex/tetrahedron/topology.h
@@ -0,0 +1,48 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+#ifndef _VCG_TETRA_TOPOLOGY
+#define _VCG_TETRA_TOPOLOGY
+
+namespace vcg {
+namespace tetrahedron {
+/** \addtogroup tetrahedron */
+/*@{*/
+
+/** Return a boolean that indicate if the j-th face of the tetra is a border.
+    @param j Index of the face
+    @return true if j is an face of border, false otherwise
+*/
+template <class TetraType>
+inline bool IsTTBorder(TetraType const & t,  const int j )
+{
+  if(TetraType::HasTTAdjacency())
+      return t.cTTp(j)==&t;
+  assert(0);
+  return true;
+}
+
+}
+}
+
+#endif
diff --git a/vcg/simplex/vertex/component.h b/vcg/simplex/vertex/component.h
index e0d1dce3..1a95aca9 100644
--- a/vcg/simplex/vertex/component.h
+++ b/vcg/simplex/vertex/component.h
@@ -96,10 +96,18 @@ public:
   static bool HasTexCoord()   { return false; }
   inline bool IsTexCoordEnabled() const { return TT::VertexType::HasTexCoord();}
 
-  typename TT::TetraPointer &VTp()       { static typename TT::TetraPointer tp = 0;  assert(0); return tp; }
+  typename TT::TetraPointer &VTp()        { static typename TT::TetraPointer tp = 0;  assert(0); return tp; }
   typename TT::TetraPointer cVTp() const  { static typename TT::TetraPointer tp = 0;  assert(0); return tp; }
-  int &VTi() { static int z = 0; return z; }
+  int &VTi()       { static int z = 0; assert(0); return z; }
+  int cVTi() const { static int z = 0; assert(0); return z; }
   static bool HasVTAdjacency() { return false; }
+  bool IsVTInitialized() const {return static_cast<const typename TT::VertexType *>(this)->cVTi()!=-1;}
+  void VTClear() {
+    if(IsVTInitialized()) {
+      static_cast<typename TT::VertexPointer>(this)->VTp()=0;
+      static_cast<typename TT::VertexPointer>(this)->VTi()=-1;
+    }
+  }
 
   typename TT::FacePointer &VFp()       { static typename TT::FacePointer fp=0;  assert(0); return fp; }
   typename TT::FacePointer cVFp() const { static typename TT::FacePointer fp=0;  assert(0); return fp; }
@@ -292,7 +300,7 @@ public:
         TexCoordType &T()       { return _t; }
         TexCoordType cT() const { return _t; }
     template < class RightValueType>
-    void ImportData(const RightValueType  & rVert ) { if(rVert.IsTexCoordEnabled())  T() = rVert.cT(); TT::ImportData( rVert); }
+    void ImportData(const RightValueType  & rVert ) { if(rVert.IsTexCoordEnabled()) T().Import(rVert.cT()); TT::ImportData(rVert); }
   static bool HasTexCoord()   { return true; }
     static void Name(std::vector<std::string> & name){name.push_back(std::string("TexCoord"));TT::Name(name);}
 
@@ -589,6 +597,7 @@ public:
     typename T::TetraPointer &VTp()       { return _tp; }
     typename T::TetraPointer cVTp() const { return _tp; }
     int &VTi() {return _zp; }
+    int cVTi() const { return _zp; }
     static bool HasVTAdjacency() { return true; }
     static void Name( std::vector< std::string > & name ) { name.push_back( std::string("VTAdj") ); T::Name(name); }
 
diff --git a/vcg/space/box2.h b/vcg/space/box2.h
index 7176eff9..651c903c 100644
--- a/vcg/space/box2.h
+++ b/vcg/space/box2.h
@@ -24,8 +24,6 @@
 #ifndef __VCGLIB_BOX2
 #define __VCGLIB_BOX2
 
-#include <assert.h>
-#include <algorithm>
 #include <vcg/math/base.h>
 #include <vcg/space/point2.h>
 
@@ -274,6 +272,22 @@ public:
     max = c + PointType(radius, radius);
     min = c - PointType(radius, radius);
   }
+
+	inline unsigned char MaxDim() const {
+		int i=1;
+		PointType diag = max-min;
+		if (diag[0] > diag[1])
+			i=0;
+		return i;
+	}
+
+	inline unsigned char MinDim() const {
+		int i=1;
+		PointType diag =  max-min;
+		if (diag[0] < diag[1])
+			i=0;
+		return i;
+	}
 	
 }; // end class definition
 
diff --git a/vcg/space/box3.h b/vcg/space/box3.h
index f9e3fccd..4fd6de3a 100644
--- a/vcg/space/box3.h
+++ b/vcg/space/box3.h
@@ -50,9 +50,9 @@ public:
     /// max coordinate point
     Point3<BoxScalarType> max;
         /// The bounding box constructor
-    inline  Box3() { min.X()= 1;max.X()= -1;min.Y()= 1;max.Y()= -1;min.Z()= 1;max.Z()= -1;}
+    inline  Box3() { this->SetNull(); }
         /// Copy constructor
-    inline  Box3( const Box3 & b ) { min=b.min; max=b.max; }
+    //inline  Box3( const Box3 & b ) { min=b.min; max=b.max; }
         /// Min Max constructor
     inline  Box3( const Point3<BoxScalarType> & mi, const Point3<BoxScalarType> & ma ) { min = mi; max = ma; }
     /// Point Radius Constructor
@@ -151,7 +151,7 @@ void Add( const Point3<BoxScalarType> & p, const BoxScalarType radius )
       max.Z() = std::max(max.Z(),p.Z()+radius);
     }
 }
-  /** Modify the current bbox to contain also the box b trasformed according to the matrix m
+  /** Modify the current bbox to contain also the box b transformed according to the matrix m
   */
     void Add( const Matrix44<BoxScalarType> &m, const Box3<BoxScalarType> & b )
     {
@@ -323,6 +323,7 @@ void Add( const Point3<BoxScalarType> & p, const BoxScalarType radius )
 
 template <class T> Box3<T> Point3<T>::GetBBox(Box3<T> &bb) const {
  bb.Set( *this );
+ return bb;
 }
 
 
diff --git a/vcg/space/color4.h b/vcg/space/color4.h
index e98cdc5f..f9d2b9d0 100644
--- a/vcg/space/color4.h
+++ b/vcg/space/color4.h
@@ -184,8 +184,8 @@ public:
       h = modff(h,&dummy);
       if(h==1.0) h = 0.0;
 
-      int i   = int( floor(h*6.0) );
-      float f = float(h*6.0f - floor(h*6.0f));
+      int i   = int( floor(h*6.0f) );
+      float f = float(h*6.0f- floor(h*6.0f));
 
       float p = v*(1.0f-s);
       float q = v*(1.0f-s*f);
@@ -242,7 +242,8 @@ inline static Color4 Scatter(int range, int value,float Sat=.3f,float Val=.9f)
                 value -= (m+1)>>1;
                 m >>= 1;
             }
-    else m = (m+1)>>1;
+			else m = (m+1)>>1;
+
     if (r>range-b) r = range-b;
 
     //TRACE("Scatter range 0..%i, in %i out %i\n",n,a,b);
diff --git a/vcg/space/colorspace.h b/vcg/space/colorspace.h
index 956fe506..7e774e2a 100644
--- a/vcg/space/colorspace.h
+++ b/vcg/space/colorspace.h
@@ -1900,9 +1900,9 @@ public:
     // CIE xyY --> CIE XYZ
     static void xyYtoXYZ(double x, double y, double _Y, double &X, double &Y, double &Z)
     {
-        X = x * (Y / y);
+        X = x * (_Y / y);
         Y = _Y;
-        Z = (1.0 - x - y) * (Y / y);
+        Z = (1.0 - x - y) * (_Y / y);
     }
 
     static Color4<T> XYZtoxyY(const Color4<T> & color)
@@ -1916,11 +1916,11 @@ public:
     }
 
     // CIE XYZ --> CIE xyY
-    static void XYZtoxyY(double X, double _Y, double Z, double &x, double &y, double &Y)
+    static void XYZtoxyY(double X, double Y, double Z, double &x, double &y, double &_Y)
     {
         x = X / (X + Y + Z);
         y = Y / (X + Y + Z);
-        Y = _Y;
+        _Y = Y;
     }
 
     // XYZ (Illuminant src) --> XYZ (Illuminant dest) - [ILLUMINANT CHANGE]
diff --git a/vcg/space/deprecated_point2.h b/vcg/space/deprecated_point2.h
index 6ab5c84e..8085d6ed 100644
--- a/vcg/space/deprecated_point2.h
+++ b/vcg/space/deprecated_point2.h
@@ -2,7 +2,7 @@
 * VCGLib                                                            o o     *
 * Visual and Computer Graphics Library                            o     o   *
 *                                                                _   O  _   *
-* Copyright(C) 2004-2016                                           \/)\/    *
+* Copyright(C) 2004-2019                                           \/)\/    *
 * Visual Computing Lab                                            /\/|      *
 * ISTI - Italian National Research Council                           |      *
 *                                                                    \      *
@@ -65,25 +65,26 @@ namespace vcg {
 
 /** \addtogroup space */
 /*@{*/
-    /**
-        The templated class for representing a point in 2D space.
-        The class is templated over the ScalarType class that is used to represent coordinates.
-				All the usual operator overloading (* + - ...) is present.
-     */
-template <class P2ScalarType> class Point2
+/**
+   The templated class for representing a point in 2D space.
+   The class is templated over the ScalarType class that is used to represent coordinates.
+   All the usual operator overloading (* + - ...) is present.
+ */
+template <class P2ScalarType>
+class Point2
 {
 protected:
-  /// The only data member. Hidden to user.
+/// The only data member. Hidden to user.
 	P2ScalarType _v[2];
 public:
-	  /// the scalar type
+	/// the scalar type
 	typedef P2ScalarType ScalarType;
 	enum {Dimension = 2};
 
 //@{
 
-  /** @name Access to Coords.
-   access to coords is done by overloading of [] or explicit naming of coords (X,Y,)
+	/** @name Access to Coords.
+	 access to coords is done by overloading of [] or explicit naming of coords (X,Y,)
 	 ("p[0]" or "p.X()" are equivalent) **/
 	inline const ScalarType &X() const {return _v[0];}
 	inline const ScalarType &Y() const {return _v[1];}
@@ -118,86 +119,90 @@ public:
 		return _v[i];
 	}
 //@}
-	  /// empty constructor (does nothing)
+	/// empty constructor (does nothing)
 	inline Point2 () { }
-	  /// x,y constructor
+	/// x,y constructor
 	inline Point2 ( const ScalarType nx, const ScalarType ny )
 	{
-			_v[0] = nx; _v[1] = ny;
+		_v[0] = nx; _v[1] = ny;
 	}
-	  /// copy constructor
-	inline Point2 ( Point2 const & p)
+	/// copy constructor
+	inline Point2 ( const Point2 & p)
 	{
-			_v[0]= p._v[0];    _v[1]= p._v[1];
+		_v[0]= p._v[0];    _v[1]= p._v[1];
 	}
-	  /// copy
-	inline Point2 & operator =( Point2 const & p)
+	/// copy
+	inline Point2 & operator =( const Point2 & p)
 	{
-			_v[0]= p._v[0]; _v[1]= p._v[1];
-			return *this;
+		_v[0]= p._v[0]; _v[1]= p._v[1];
+		return *this;
 	}
-	  /// sets the point to (0,0)
+	/// sets the point to (0,0)
 	inline void SetZero()
 	{ _v[0] = 0;_v[1] = 0;}
-	  /// dot product
-	inline ScalarType operator * ( Point2 const & p ) const
+	/// dot product
+	inline ScalarType operator * ( const Point2 & p ) const
 	{
-			return ( _v[0]*p._v[0] + _v[1]*p._v[1] );
+		return ( _v[0]*p._v[0] + _v[1]*p._v[1] );
 	}
 	inline ScalarType dot( const Point2 & p ) const { return (*this) * p; }
-  /// cross product
-	inline ScalarType operator ^ ( Point2 const & p ) const
+	/// cross product
+	inline ScalarType operator ^ ( const Point2 & p ) const
 	{
-			return _v[0]*p._v[1] - _v[1]*p._v[0];
+		return _v[0]*p._v[1] - _v[1]*p._v[0];
 	}
 //@{
 	 /** @name Linearity for 2d points (operators +, -, *, /, *= ...) **/
-	inline Point2 operator + ( Point2 const & p) const
+	inline Point2 operator + ( const Point2 & p) const
 	{
-			return Point2<ScalarType>( _v[0]+p._v[0], _v[1]+p._v[1] );
+		return Point2<ScalarType>( _v[0]+p._v[0], _v[1]+p._v[1] );
 	}
-	inline Point2 operator - ( Point2 const & p) const
+	inline Point2 operator - ( const Point2 & p) const
 	{
-			return Point2<ScalarType>( _v[0]-p._v[0], _v[1]-p._v[1] );
+		return Point2<ScalarType>( _v[0]-p._v[0], _v[1]-p._v[1] );
 	}
 	inline Point2 operator * ( const ScalarType s ) const
 	{
-			return Point2<ScalarType>( _v[0] * s, _v[1] * s );
+		return Point2<ScalarType>( _v[0] * s, _v[1] * s );
 	}
 	inline Point2 operator / ( const ScalarType s ) const
 	{
-			return Point2<ScalarType>( _v[0] / s, _v[1] / s );
+		return Point2<ScalarType>( _v[0] / s, _v[1] / s );
 	}
-	inline Point2 & operator += ( Point2 const & p)
+	inline Point2 & operator += ( const Point2 & p)
 	{
-			_v[0] += p._v[0];    _v[1] += p._v[1];
-			return *this;
+		_v[0] += p._v[0];
+		_v[1] += p._v[1];
+		return *this;
 	}
-	inline Point2 & operator -= ( Point2 const & p)
+	inline Point2 & operator -= ( const Point2 & p)
 	{
-			_v[0] -= p._v[0];    _v[1] -= p._v[1];
-			return *this;
+		_v[0] -= p._v[0];
+		_v[1] -= p._v[1];
+		return *this;
 	}
 	inline Point2 & operator *= ( const ScalarType s )
 	{
-			_v[0] *= s;    _v[1] *= s;
-			return *this;
+		_v[0] *= s;
+		_v[1] *= s;
+		return *this;
 	}
 	inline Point2 & operator /= ( const ScalarType s )
 	{
-			_v[0] /= s;    _v[1] /= s;
-			return *this;
+		_v[0] /= s;
+		_v[1] /= s;
+		return *this;
 	}
  //@}
-	  /// returns the norm (Euclidian)
+	/// returns the norm (Euclidian)
 	inline ScalarType Norm( void ) const
 	{
 		return math::Sqrt( _v[0]*_v[0] + _v[1]*_v[1] );
 	}
-	  /// returns the squared norm (Euclidian)
+	/// returns the squared norm (Euclidian)
 	inline ScalarType SquaredNorm( void ) const
 	{
-			return ( _v[0]*_v[0] + _v[1]*_v[1] );
+		return ( _v[0]*_v[0] + _v[1]*_v[1] );
 	}
 	inline Point2 & Scale( const ScalarType sx, const ScalarType sy )
 	{
@@ -205,62 +210,65 @@ public:
 		_v[1] *= sy;
 		return * this;
 	}
-	  /// normalizes, and returns itself as result
+	/// normalizes, and returns itself as result
 	inline Point2 & Normalize( void )
 	{
-			ScalarType n = math::Sqrt(_v[0]*_v[0] + _v[1]*_v[1]);
-			if(n>0.0) {	_v[0] /= n;	_v[1] /= n; }
-			return *this;
+		ScalarType n = math::Sqrt(_v[0]*_v[0] + _v[1]*_v[1]);
+		if(n>0.0) {
+			_v[0] /= n; _v[1] /= n;
+		}
+		return *this;
 	}
-	  /// points equality
-	inline bool operator == ( Point2 const & p ) const
+	/// points equality
+	inline bool operator == ( const Point2 & p ) const
 	{
-			return (_v[0]==p._v[0] && _v[1]==p._v[1]);
+		return (_v[0]==p._v[0] && _v[1]==p._v[1]);
 	}
-	  /// disparity between points
-	inline bool operator != ( Point2 const & p ) const
+	/// disparity between points
+	inline bool operator != ( const Point2 & p ) const
 	{
-			return ( (_v[0]!=p._v[0]) || (_v[1]!=p._v[1]) );
+		return ( (_v[0]!=p._v[0]) || (_v[1]!=p._v[1]) );
 	}
-	  /// lexical ordering
-	inline bool operator <  ( Point2 const & p ) const
+	/// lexical ordering
+	inline bool operator <  ( const Point2 & p ) const
 	{
-			return	(_v[1]!=p._v[1])?(_v[1]<p._v[1]):
-							(_v[0]<p._v[0]);
+		return (_v[1]!=p._v[1])?(_v[1]<p._v[1]):
+		       (_v[0]<p._v[0]);
 	}
-	  /// lexical ordering
-	inline bool operator >  ( Point2 const & p ) const
+	/// lexical ordering
+	inline bool operator >  ( const Point2 & p ) const
 	{
-			return	(_v[1]!=p._v[1])?(_v[1]>p._v[1]):
-							(_v[0]>p._v[0]);
+		return (_v[1]!=p._v[1])?(_v[1]>p._v[1]):
+		       (_v[0]>p._v[0]);
 	}
-	  /// lexical ordering
-	inline bool operator <= ( Point2 const & p ) const
+	/// lexical ordering
+	inline bool operator <= ( const Point2 & p ) const
 	{
-			return	(_v[1]!=p._v[1])?(_v[1]< p._v[1]):
-							(_v[0]<=p._v[0]);
+		return (_v[1]!=p._v[1])?(_v[1]< p._v[1]):
+		       (_v[0]<=p._v[0]);
 	}
-	  /// lexical ordering
-	inline bool operator >= ( Point2 const & p ) const
+	/// lexical ordering
+	inline bool operator >= ( const Point2 & p ) const
 	{
-			return	(_v[1]!=p._v[1])?(_v[1]> p._v[1]):
-							(_v[0]>=p._v[0]);
+		return (_v[1]!=p._v[1])?(_v[1]> p._v[1]):
+		       (_v[0]>=p._v[0]);
 	}
-	  /// returns the distance to another point p
-	inline ScalarType Distance( Point2 const & p ) const
+	/// returns the distance to another point p
+	inline ScalarType Distance( const Point2 & p ) const
 	{
-			return Norm(*this-p);
+		return Norm(*this-p);
 	}
-	  /// returns the suqared distance to another point p
-	inline ScalarType SquaredDistance( Point2 const & p ) const
+	/// returns the suqared distance to another point p
+	inline ScalarType SquaredDistance( const Point2 & p ) const
 	{
-      return (*this-p).SquaredNorm();
+		return (*this-p).SquaredNorm();
 	}
-	  /// returns the angle with X axis (radiants, in [-PI, +PI] )
-	inline ScalarType Angle() const {
+	/// returns the angle with X axis (radiants, in [-PI, +PI] )
+	inline ScalarType Angle() const
+	{
 		return math::Atan2(_v[1],_v[0]);
 	}
-		/// transform the point in cartesian coords into polar coords
+	/// transform the point in cartesian coords into polar coords
 	inline Point2 & Cartesian2Polar()
 	{
 		ScalarType t = Angle();
@@ -268,7 +276,7 @@ public:
 		_v[1] = t;
 		return *this;
 	}
-		/// transform the point in polar coords into cartesian coords
+	/// transform the point in polar coords into cartesian coords
 	inline Point2 & Polar2Cartesian()
 	{
 		ScalarType l = _v[0];
@@ -276,7 +284,7 @@ public:
 		_v[1] = (ScalarType)(l*math::Sin(_v[1]));
 		return *this;
 	}
-		/// rotates the point of an angle (radiants, counterclockwise)
+	/// rotates the point of an angle (radiants, counterclockwise)
 	inline Point2 & Rotate( const ScalarType rad )
 	{
 		ScalarType t = _v[0];
@@ -284,32 +292,72 @@ public:
 		ScalarType c = math::Cos(rad);
 
 		_v[0] = _v[0]*c - _v[1]*s;
-		_v[1] =   t *s + _v[1]*c;
+		_v[1] =     t*s + _v[1]*c;
 
 		return *this;
 	}
 
-	/// Questa funzione estende il vettore ad un qualsiasi numero di dimensioni
-	/// paddando gli elementi estesi con zeri
+	/// This function extends the vector to any arbitrary domension
+	/// virtually padding missing elements with zeros
 	inline ScalarType Ext( const int i ) const
 	{
-		if(i>=0 && i<2) return _v[i];
-		else            return 0;
+		if(i>=0 && i<2)
+			return _v[i];
+		else
+			return 0;
 	}
-		/// imports from 2D points of different types
+	/// imports from 2D points of different types
 	template <class T>
 	inline void Import( const Point2<T> & b )
 	{
-		_v[0] = b.X(); _v[1] = b.Y();
+		_v[0] = ScalarType(b.X());
+		_v[1] = ScalarType(b.Y());
 	}
-		/// constructs a 2D points from an existing one of different type
+	template <class EigenVector>
+	inline void FromEigenVector(const EigenVector & b)
+	{
+		_v[0] = ScalarType(b[0]);
+		_v[1] = ScalarType(b[1]);
+	}
+	template <class EigenVector>
+	inline void ToEigenVector(EigenVector & b) const
+	{
+		b[0]=_v[0];
+		b[1]=_v[1];
+	}
+	template <class EigenVector>
+	inline EigenVector ToEigenVector(void) const
+	{
+		assert(EigenVector::RowsAtCompileTime == 2);
+		EigenVector b;
+		b << _v[0], _v[1];
+		return b;
+	}
+	/// constructs a 2D points from an existing one of different type
 	template <class T>
 	static Point2 Construct( const Point2<T> & b )
 	{
-    return Point2(b.X(),b.Y());
+		return Point2(ScalarType(b.X()), ScalarType(b.Y()));
+	}
+	static Point2 Construct( const Point2<ScalarType> & b )
+	{
+		return b;
+	}
+	template <class T>
+	static Point2 Construct( const T & x, const T & y)
+	{
+		return Point2(ScalarType(x), ScalarType(y));
 	}
 
+	static inline Point2 Zero(void)
+	{
+		return Point2(0,0);
+	}
 
+	static inline Point2 One(void)
+	{
+		return Point2(1,1);
+	}
 }; // end class definition
 
 
@@ -321,42 +369,42 @@ inline T Angle( Point2<T> const & p0, Point2<T> const & p1 )
 
 template <class T>
 inline Point2<T> operator - ( Point2<T> const & p ){
-    return Point2<T>( -p[0], -p[1] );
+	return Point2<T>( -p[0], -p[1] );
 }
 
 template <class T>
 inline Point2<T> operator * ( const T s, Point2<T> const & p ){
-    return Point2<T>( p[0] * s, p[1] * s  );
+	return Point2<T>( p[0] * s, p[1] * s );
 }
 
 template <class T>
 inline T Norm( Point2<T> const & p ){
-		return p.Norm();
+	return p.Norm();
 }
 
 template <class T>
 inline T SquaredNorm( Point2<T> const & p ){
-    return p.SquaredNorm();
+	return p.SquaredNorm();
 }
 
 template <class T>
 inline Point2<T> & Normalize( Point2<T> & p ){
-    return p.Normalize();
+	return p.Normalize();
 }
 
 template <class T>
 inline T Distance( Point2<T> const & p1,Point2<T> const & p2 ){
-    return Norm(p1-p2);
+	return Norm(p1-p2);
 }
 
 template <class T>
 inline T SquaredDistance( Point2<T> const & p1,Point2<T> const & p2 ){
-    return SquaredNorm(p1-p2);
+	return SquaredNorm(p1-p2);
 }
 
-template <class SCALARTYPE>
-inline Point2<SCALARTYPE> Abs(const Point2<SCALARTYPE> & p) {
-  return (Point2<SCALARTYPE>(math::Abs(p[0]), math::Abs(p[1])));
+template <class T>
+inline Point2<T> Abs(const Point2<T> & p) {
+	return (Point2<T>(math::Abs(p[0]), math::Abs(p[1])));
 }
 
 typedef Point2<short>  Point2s;
diff --git a/vcg/space/deprecated_point3.h b/vcg/space/deprecated_point3.h
index bf52253d..1468e9bb 100644
--- a/vcg/space/deprecated_point3.h
+++ b/vcg/space/deprecated_point3.h
@@ -186,6 +186,16 @@ public:
         b[1]=_v[1] ;
         b[2]=_v[2] ;
     }
+    template <class EigenVector>
+    inline EigenVector ToEigenVector(void) const
+    {
+        assert(EigenVector::RowsAtCompileTime == 3 || EigenVector::RowsAtCompileTime == 4);
+        EigenVector b = EigenVector::Zero();
+        b[0]=_v[0];
+        b[1]=_v[1];
+        b[2]=_v[2];
+        return b;
+    }
   template <class Q>
   static inline Point3 Construct( const Point3<Q> & b )
   {
@@ -208,6 +218,11 @@ public:
     return Point3(0,0,0);
   }
 
+  static inline Point3 One(void)
+  {
+    return Point3(1,1,1);
+  }
+
 //@}
 
 //@{
diff --git a/vcg/space/deprecated_point4.h b/vcg/space/deprecated_point4.h
index ec573a87..a27d9263 100644
--- a/vcg/space/deprecated_point4.h
+++ b/vcg/space/deprecated_point4.h
@@ -128,6 +128,16 @@ public:
     return Point4(T(b[0]),T(b[1]),T(b[2]),T(b[3]));
   }
 
+  static inline Point4 Zero(void)
+  {
+    return Point4(0,0,0,0);
+  }
+
+  static inline Point4 One(void)
+  {
+    return Point4(1,1,1,1);
+  }
+
 //@}
 
 //@{
diff --git a/vcg/space/distance3.h b/vcg/space/distance3.h
index 2f00a542..8844fb8d 100644
--- a/vcg/space/distance3.h
+++ b/vcg/space/distance3.h
@@ -274,7 +274,7 @@ void SegmentPointSquaredDistance( const Segment3<ScalarType> &s,
 		ScalarType  t = ((p-s.P0())*e)/eSquaredNorm;
 		if(t<0)      t = 0;
 		else if(t>1) t = 1;
-		closest = s.P0()+e*t;
+		closest = s.P0() * (1.0 - t) + s.P1() * t;
 		sqr_dist = SquaredDistance(p,closest);
 		assert(!math::IsNAN(sqr_dist));
 	}
@@ -380,7 +380,7 @@ void SegmentSegmentDistance(const vcg::Segment3<ScalarType> &s0,
 	dist=(closest0-closest1).Norm();
 }
 
- /* @brief Computes the distance between a triangle and a point.
+/** @brief Computes the distance between a triangle and a point.
  *
  * @param t         reference to the triangle
  * @param q         point location
@@ -447,7 +447,7 @@ void TrianglePointDistance(const vcg::Triangle3<ScalarType> &t,
 }
 
 
-/*
+/**
 * return the distance between a triangle and a segment
 * @param[in] t				The input triangle
 * @param[in] s				The input segment
@@ -472,11 +472,11 @@ void TriangleSegmentDistance(const vcg::Triangle3<ScalarType> &t,
 	///project endpoints and see if they fall into the triangle
 	vcg::Plane3<ScalarType> pl3;
 	pl3.Init(t.P(0),t.P(1),t.P(2));
-	CoordType pj0=pl3.Projection(s.P(0));
-	CoordType pj1=pl3.Projection(s.P(1));
+    CoordType pj0=pl3.Projection(s.P0());
+    CoordType pj1=pl3.Projection(s.P1());
 	///take distances
-	ScalarType dpj0=(pj0-s.P(0)).Norm();
-	ScalarType dpj1=(pj1-s.P(1)).Norm();
+    ScalarType dpj0=(pj0-s.P0()).Norm();
+    ScalarType dpj1=(pj1-s.P1()).Norm();
 
 	///test if they fall inside the triangle
 	CoordType bary0,bary1;
diff --git a/vcg/space/fitting3.h b/vcg/space/fitting3.h
index e9e238aa..69b8fe19 100644
--- a/vcg/space/fitting3.h
+++ b/vcg/space/fitting3.h
@@ -29,8 +29,8 @@
 #include <vcg/math/matrix44.h>
 #include <vcg/math/matrix33.h>
 
-#include <eigenlib/Eigen/Core>
-#include <eigenlib/Eigen/Eigenvalues>
+#include <Eigen/Core>
+#include <Eigen/Eigenvalues>
 
 namespace vcg {
 
diff --git a/vcg/space/index/aabb_binary_tree/closest.h b/vcg/space/index/aabb_binary_tree/closest.h
index a4f368cb..688cd065 100644
--- a/vcg/space/index/aabb_binary_tree/closest.h
+++ b/vcg/space/index/aabb_binary_tree/closest.h
@@ -59,7 +59,6 @@ public:
 
 	template <class OBJPOINTDISTANCEFUNCT>
 	static inline ObjPtr Closest(TreeType & tree, OBJPOINTDISTANCEFUNCT & getPointDistance, const CoordType & p, const ScalarType & maxDist, ScalarType & minDist, CoordType & q) {
-		typedef OBJPOINTDISTANCEFUNCT ObjPointDistanceFunct;
 		typedef std::vector<NodeType *> NodePtrVector;
 		typedef typename NodePtrVector::const_iterator NodePtrVector_ci;
 
diff --git a/vcg/space/index/aabb_binary_tree/kclosest.h b/vcg/space/index/aabb_binary_tree/kclosest.h
index 1d1e3dcc..ef98e6ae 100644
--- a/vcg/space/index/aabb_binary_tree/kclosest.h
+++ b/vcg/space/index/aabb_binary_tree/kclosest.h
@@ -76,8 +76,6 @@ protected:
 public:
 	template <class OBJPOINTDISTANCEFUNCT, class OBJPTRCONTAINERTYPE, class DISTCONTAINERTYPE, class POINTCONTAINERTYPE>
 	static inline unsigned int KClosest(TreeType & tree, OBJPOINTDISTANCEFUNCT & getPointDistance, const unsigned int k, const CoordType & p, const ScalarType & maxDist, OBJPTRCONTAINERTYPE & objects, DISTCONTAINERTYPE & distances, POINTCONTAINERTYPE & points) {
-		typedef std::vector<NodeType *> NodePtrVector;
-		typedef typename NodePtrVector::const_iterator NodePtrVector_ci;
 
 		if (k == 0) {
 			return (0);
diff --git a/vcg/space/index/aabb_binary_tree/ray.h b/vcg/space/index/aabb_binary_tree/ray.h
index 9dc30361..df58240b 100644
--- a/vcg/space/index/aabb_binary_tree/ray.h
+++ b/vcg/space/index/aabb_binary_tree/ray.h
@@ -60,8 +60,6 @@ public:
 
 	template <class OBJRAYISECTFUNCT>
 	static inline ObjPtr Ray(TreeType & tree, OBJRAYISECTFUNCT & rayIntersection, const Ray3<ScalarType> & ray, const ScalarType & maxDist, ScalarType & t) {
-		typedef std::vector<NodeType *> NodePtrVector;
-		typedef typename NodePtrVector::const_iterator NodePtrVector_ci;
 
 		NodeType * pRoot = tree.pRoot;
 
diff --git a/vcg/space/index/grid_closest.h b/vcg/space/index/grid_closest.h
index 5971ada6..0ef5f860 100644
--- a/vcg/space/index/grid_closest.h
+++ b/vcg/space/index/grid_closest.h
@@ -232,23 +232,30 @@ namespace vcg{
       {
         int ix,iy,iz;
         for (ix=ibbox.min[0]; ix<=ibbox.max[0]; ix++)
+        {
           for (iy=ibbox.min[1]; iy<=ibbox.max[1]; iy++)
+          {
             for (iz=ibbox.min[2]; iz<=ibbox.max[2]; iz++)
             {
               _Si.Grid( ix, iy, iz, first, last );
               for(l=first;l!=last;++l)
+              {
                 if (!(**l).IsD())
                 {
                   typename SPATIALINDEXING::ObjPtr elem=&(**l);
                   vcg::Box3<typename SPATIALINDEXING::ScalarType> box_elem;
                   elem->GetBBox(box_elem);
-                  if(( ! _marker.IsMarked(elem))&&(box_elem.Collide(_bbox))){
+                  if(( ! _marker.IsMarked(elem))&&(box_elem.Collide(_bbox)))
+                  {
                     _objectPtrs.push_back(elem);
                     _marker.Mark(elem);
                   }
                 }
+              }
             }
-            return (static_cast<unsigned int>(_objectPtrs.size()));
+          }
+        }
+        return (static_cast<unsigned int>(_objectPtrs.size()));
       }
     }
 
diff --git a/vcg/space/index/grid_static_obj.h b/vcg/space/index/grid_static_obj.h
index b8bd8678..a0922bee 100644
--- a/vcg/space/index/grid_static_obj.h
+++ b/vcg/space/index/grid_static_obj.h
@@ -19,33 +19,11 @@
 * GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
 * for more details.                                                         *
 *                                                                           *
-****************************************************************************/
-/****************************************************************************
-  History
-
-$Log: not supported by cvs2svn $
-Revision 1.4  2006/09/27 08:49:32  spinelli
-bug fix, add return type to Init
-
-Revision 1.3  2006/08/23 15:20:14  marfr960
-corrected minor bugs
-
-Revision 1.2  2005/12/02 00:29:00  cignoni
-updated the templates of BasicGrid
-
-Revision 1.1  2005/07/28 08:41:00  cignoni
-First working version
-
-Revision 1.13  2005/04/14 17:23:08  ponchio
-*** empty log message ***
-
 ****************************************************************************/
 
 #ifndef __VCGLIB_UGRID_OBJ
 #define __VCGLIB_UGRID_OBJ
 
-#include <vector>
-#include <algorithm>
 #include <stdio.h>
 
 #include <vcg/space/box3.h>
diff --git a/vcg/space/index/grid_static_ptr.h b/vcg/space/index/grid_static_ptr.h
index 197f6814..90340c4b 100644
--- a/vcg/space/index/grid_static_ptr.h
+++ b/vcg/space/index/grid_static_ptr.h
@@ -24,8 +24,6 @@
 #ifndef __VCGLIB_UGRID
 #define __VCGLIB_UGRID
 
-#include <vector>
-#include <algorithm>
 #include <stdio.h>
 
 #include <vcg/space/box3.h>
diff --git a/vcg/space/index/kdtree/kdtree_face.h b/vcg/space/index/kdtree/kdtree_face.h
index 3fc373ee..3936789e 100644
--- a/vcg/space/index/kdtree/kdtree_face.h
+++ b/vcg/space/index/kdtree/kdtree_face.h
@@ -57,18 +57,23 @@ namespace vcg {
 
   public:
 
-    KdTreeFace(MeshType& mesh, unsigned int maxObjPerCell = 64, unsigned int maxDepth = 64) : epsilon(std::numeric_limits<Scalar>::epsilon())
+    KdTreeFace():epsilon(std::numeric_limits<Scalar>::epsilon())
+    {
+      targetCellSize = 64;
+      targetMaxDepth = 64;
+    };
+
+    KdTreeFace(unsigned int maxObjPerCell, unsigned int maxDepth) : epsilon(std::numeric_limits<Scalar>::epsilon())
     {
       targetCellSize = maxObjPerCell;
       targetMaxDepth = maxDepth;
-      mNodes.resize(1);
-      Node& node = mNodes.back();
-      node.leaf = 0;
-      node.aabb = mesh.bbox;
-      node.aabb.Offset(VectorType(epsilon, epsilon, epsilon));
-      for (int i = 0; i < mesh.face.size(); i++)
-        node.list.push_back(&mesh.face[i]);
-      numLevel = createTree(0, 1);
+    };
+
+    KdTreeFace(MeshType& mesh, unsigned int maxObjPerCell = 64, unsigned int maxDepth = 64, bool onlySelection = false) : epsilon(std::numeric_limits<Scalar>::epsilon())
+    {
+      targetCellSize = maxObjPerCell;
+      targetMaxDepth = maxDepth;
+      Set(mesh.face.begin(), mesh.face.end(), mesh.face.size(), onlySelection);
     };
 
     ~KdTreeFace()
@@ -76,10 +81,53 @@ namespace vcg {
 
     };
 
-
-    template <class ObjectMarker> FacePointer doQueryClosest(const VectorType& queryPoint, VectorType& narestPoint, Scalar& dist, ObjectMarker& marker, Scalar maxDist = std::numeric_limits<Scalar>::max())
+    template <class ObjIter>
+    void Set(const ObjIter & _oBegin, const ObjIter & _oEnd, int size = 0,  bool onlySelection = false)
     {
-      if (maxDist < std::numeric_limits<Scalar>::max() && !mNodes[0].aabb.IsIn(queryPoint) && vcg::PointFilledBoxDistance(queryPoint, mNodes[0].aabb) >= maxDist)
+      mNodes.resize(1);
+      Node& node = mNodes.back();
+      node.leaf = 0;
+      node.aabb.Offset(VectorType(epsilon, epsilon, epsilon));
+      Box3<Scalar> box;
+      if (onlySelection)
+      {
+        for (ObjIter i = _oBegin; i != _oEnd; ++i)
+        {
+          if ((*i).IsS())
+          {
+            node.list.push_back(&(*i));
+            box.Add((*i).P(0));
+            box.Add((*i).P(1));
+            box.Add((*i).P(2));
+          }
+        }
+      }
+      else
+      {
+        for (ObjIter i = _oBegin; i != _oEnd; ++i)
+        {
+          node.list.push_back(&(*i));
+          box.Add((*i).P(0));
+          box.Add((*i).P(1));
+          box.Add((*i).P(2));
+        }
+      }
+      node.aabb = box;
+      numLevel = CreateTree(0, 1);
+    };
+
+    void Clear()
+    {
+      for (int i = 0; i < mNodes.size(); i++)
+        mNodes[i].list.clear();
+      mNodes.clear();
+    };
+
+    //template <class ObjectMarker> FacePointer GetClosest(const VectorType& queryPoint, VectorType& narestPoint, Scalar& dist, ObjectMarker& marker, Scalar maxDist = std::numeric_limits<Scalar>::max())
+    template <class ObjPointDistFunction, class ObjectMarker>
+    FacePointer GetClosest(ObjPointDistFunction& pDistFunc, ObjectMarker& marker, const VectorType& queryPoint, Scalar maxDist, Scalar& dist, VectorType& narestPoint)
+    {
+      if (mNodes.size() == 0|| (maxDist < std::numeric_limits<Scalar>::max() && !mNodes[0].aabb.IsIn(queryPoint) && vcg::PointFilledBoxDistance(queryPoint, mNodes[0].aabb) >= maxDist))
       {
         dist = maxDist;
         return NULL;
@@ -109,7 +157,7 @@ namespace vcg {
                 marker.Mark(node.list[i]);
                 Scalar tempDist = minDist;
                 VectorType tempP;
-                if (vcg::face::PointDistanceBase(*node.list[i], queryPoint, tempDist, tempP))
+                if (pDistFunc(*node.list[i], queryPoint, tempDist, tempP))
                 {
                   if (tempDist < minDist)
                   {
@@ -176,7 +224,7 @@ namespace vcg {
     };
 
 
-    int createTree(unsigned int nodeId, unsigned int level)
+    int CreateTree(unsigned int nodeId, unsigned int level)
     {
       Node& node = mNodes[nodeId];
       VectorType diag = node.aabb.max - node.aabb.min;
@@ -264,7 +312,7 @@ namespace vcg {
         else
         {
           leftChild.leaf = 0;
-          leftLevel = createTree(firstChildId, level + 1);
+          leftLevel = CreateTree(firstChildId, level + 1);
         }
       }
 
@@ -278,7 +326,7 @@ namespace vcg {
         else
         {
           rightChild.leaf = 0;
-          rightLevel = createTree(firstChildId + 1, level + 1);
+          rightLevel = CreateTree(firstChildId + 1, level + 1);
         }
       }
       if (leftLevel > rightLevel)
diff --git a/vcg/space/index/octree.h b/vcg/space/index/octree.h
index bcd538ac..25df7310 100644
--- a/vcg/space/index/octree.h
+++ b/vcg/space/index/octree.h
@@ -500,7 +500,6 @@ OBJECT_RETRIEVER:
 
                 //otherwise, retrieve the leaves and fill the container with the objects contained
                 std::vector< NodePointer > leaves;
-                unsigned int object_count;
                 int					 leaves_count;
 
                 TemplatedOctree::ContainedLeaves(query_bounding_box, leaves, TemplatedOctree::Root(), TemplatedOctree::boundingBox);
diff --git a/vcg/space/index/octree_template.h b/vcg/space/index/octree_template.h
index 8b33a366..7a2f1d71 100644
--- a/vcg/space/index/octree_template.h
+++ b/vcg/space/index/octree_template.h
@@ -81,7 +81,9 @@ protected:
 			parent = NULL;
 			level  = -1;
 		}
-
+    
+    virtual ~Node() {}
+    
 		// Constructor: create a new Node
 		Node(NodePointer parent, int level)
 		{
@@ -106,7 +108,7 @@ protected:
 	*/
 	struct InnerNode : public Node
 	{
-		InnerNode() : Node() {};
+		InnerNode() : Node() {}
 		InnerNode(NodePointer parent, int level) : Node(parent, level)
 		{
 			memset(&sons[0], 0, 8*sizeof(Node*));
@@ -131,7 +133,7 @@ protected:
 	*/
 	struct Leaf : public Node
 	{
-		Leaf() : Node() {};
+		Leaf() : Node() {}
 		Leaf(NodePointer parent, int level) : Node(parent, level) {}
 
 		inline NodePointer &Son(int /*sonIndex*/)
diff --git a/vcg/space/index/perfect_spatial_hashing.h b/vcg/space/index/perfect_spatial_hashing.h
index 23ae2cc4..bbcbdef9 100644
--- a/vcg/space/index/perfect_spatial_hashing.h
+++ b/vcg/space/index/perfect_spatial_hashing.h
@@ -1009,7 +1009,7 @@ namespace vcg
                 * \return
                 */
              inline bool operator[](const typename UniformGrid::CellCoordinate &at)	{ return m_Mask[at.X()][at.Y()][at.Z()]; }
-             inline bool& GetFlag(const int i, const int j, const int k)const				{ return m_Mask[i][j][k]; }
+			 inline const bool& GetFlag(const int i, const int j, const int k)const				{ return m_Mask[i][j][k]; }
              inline void  SetFlat(const int i, const int j, const int k)						{ m_Mask[i][j][k] = true; }
 
 
@@ -1570,11 +1570,11 @@ namespace vcg
         HashTable		m_HashTable;		/*!< The hash table that will substitute the uniform grid.				*/
         BinaryImage	m_Bitmap;
 
-        const static float  m_BOUNDING_BOX_EXPANSION_FACTOR() { return SCALAR_TYPE(0.035); }
-        const static float  m_SIGMA() {return SCALAR_TYPE(1.0f/(2.0f*SCALAR_TYPE(m_DIMENSION)));}
-        const static int    m_MAX_TRIALS_IN_COMPACT_CONSTRUCTION () { return 5; }
-        const static int    m_MAX_NUM_OF_RANDOM_GENERATED_OFFSET() {return 32;}
-        const static int    m_DIMENSION() {return 3;}
+        static float  m_BOUNDING_BOX_EXPANSION_FACTOR() { return SCALAR_TYPE(0.035); }
+        static float  m_SIGMA() {return SCALAR_TYPE(1.0f/(2.0f*SCALAR_TYPE(m_DIMENSION)));}
+        static int    m_MAX_TRIALS_IN_COMPACT_CONSTRUCTION () { return 5; }
+        static int    m_MAX_NUM_OF_RANDOM_GENERATED_OFFSET() {return 32;}
+        static int    m_DIMENSION() {return 3;}
     }; //end of class PerfectSpatialHashing
 
     /*! @} */
diff --git a/vcg/space/index/space_iterators.h b/vcg/space/index/space_iterators.h
index 9febc6ec..65b4cd9e 100644
--- a/vcg/space/index/space_iterators.h
+++ b/vcg/space/index/space_iterators.h
@@ -401,7 +401,9 @@ namespace vcg{
 		{
 			int	ix,iy,iz;
 			for( iz = to_explore.min.Z();iz <=	to_explore.max.Z(); ++iz)
+			{
 				for(iy =to_explore.min.Y(); iy	<=to_explore.max.Y(); ++iy)
+				{
 					for(ix =to_explore.min.X(); ix	<= to_explore.max.X();++ix)
 					{
 						// this test is to avoid to re-process already analyzed cells.
@@ -427,12 +429,13 @@ namespace vcg{
 								}
 							}
 						}
-
 					}
+				}
+			}
 
-				////sort the elements in Elems and take a iterator to the last one
-				std::sort(Elems.begin(),Elems.end());
-				CurrentElem=Elems.rbegin();
+			////sort the elements in Elems and take a iterator to the last one
+			std::sort(Elems.begin(),Elems.end());
+			CurrentElem=Elems.rbegin();
 
 			return((Elems.size()==0)||(Dist()>radius));
 		}
diff --git a/vcg/space/index/spatial_hashing.h b/vcg/space/index/spatial_hashing.h
index 5dc30655..449017c0 100644
--- a/vcg/space/index/spatial_hashing.h
+++ b/vcg/space/index/spatial_hashing.h
@@ -64,7 +64,7 @@ namespace vcg{
 
     /** Spatial Hash Table
     Spatial Hashing as described in
-    "Optimized Spatial Hashing for Coll	ision Detection of Deformable Objects",
+    "Optimized Spatial Hashing for Collision Detection of Deformable Objects",
     Matthias Teschner and Bruno Heidelberger and Matthias Muller and Danat Pomeranets and Markus Gross
     */
     template < typename ObjType,class FLT=double>
@@ -206,7 +206,7 @@ protected:
                     inSphVec.push_back(hi);
                 }
               }
-          return inSphVec.size();
+          return int(inSphVec.size());
         }
 
         size_t RemoveInSphere(const Point3<ScalarType> &p, const ScalarType radius)
diff --git a/vcg/space/intersection2.h b/vcg/space/intersection2.h
index 13dc2474..115992a6 100644
--- a/vcg/space/intersection2.h
+++ b/vcg/space/intersection2.h
@@ -293,8 +293,7 @@ namespace vcg {
 			BB.Add(polygon[i].P1());
 		}
 		if (!BB.IsIn(p))return false;
-		ScalarType size=BB.Diag();
-		///take 4 directions
+        //take 4 directions
 		int inside_test=0;
 		for (int dir=0;dir<4;dir++)
 		{
diff --git a/vcg/space/outline2_packer.h b/vcg/space/outline2_packer.h
index 5aa41692..ff01bb0b 100644
--- a/vcg/space/outline2_packer.h
+++ b/vcg/space/outline2_packer.h
@@ -26,8 +26,6 @@
 #include <limits>
 #include <stdio.h>
 #include <assert.h>
-#include <algorithm>
-#include <vector>
 #include <vcg/space/box2.h>
 #include <vcg/space/rect_packer.h>
 #include <vcg/space/point2.h>
@@ -47,29 +45,29 @@ class PolyPacker
 
 public:
 
-  static Box2f getPolyBB(const std::vector<Point2x> &poly)
+  static Box2x getPolyBB(const std::vector<Point2x> &poly)
   {
-    Box2f bb;
+    Box2x bb;
     for(size_t i=0;i<poly.size();++i)
       bb.Add(poly[i]);
 
     return bb;
   }
 
-  static Box2f getPolyOOBB(const std::vector<Point2x> &poly, float &rot)
+  static Box2x getPolyOOBB(const std::vector<Point2x> &poly, float &rot)
   {
     const int stepNum=32;
     float bestAngle;
     float bestArea = std::numeric_limits<float>::max();
-    Box2f bestBB;
+    Box2x bestBB;
 
     for(int i=0;i<stepNum;++i)
     {
       float angle = float(i)*(M_PI/2.0)/float(stepNum);
-      Box2f bb;
+      Box2x bb;
       for(size_t j=0;j<poly.size();++j)
       {
-        Point2f pp=poly[j];
+        Point2x pp=poly[j];
         pp.Rotate(angle);
         bb.Add(pp);
       }
@@ -88,7 +86,7 @@ public:
 static  bool PackAsEqualSquares(const std::vector< std::vector<Point2x> > &polyVec,
                   const Point2i containerSizeX,
                   std::vector<Similarity2x> &trVec,
-                  Point2x &coveredContainer)
+                  Point2x &/*coveredContainer*/)
 {
   int minSide = std::min(containerSizeX[0],containerSizeX[1]);
   const vcg::Point2i containerSize(minSide,minSide);
@@ -98,7 +96,7 @@ static  bool PackAsEqualSquares(const std::vector< std::vector<Point2x> > &polyV
 
   trVec.clear();
   trVec.resize(polyVec.size());
-  Box2f bbMax;
+  Box2x bbMax;
   std::vector<Box2x> bbVec;
   for(size_t i=0;i<polyVec.size();++i)
   {
@@ -139,7 +137,7 @@ static bool PackAsAxisAlignedRect(const std::vector< std::vector<Point2x> > &pol
     assert(polyVec[i].size()>0);
     bbVec.push_back(getPolyBB(polyVec[i]));
   }
-  return RectPacker<float>::Pack(bbVec,containerSizeX,trVec,coveredContainer);
+  return RectPacker<SCALAR_TYPE>::Pack(bbVec,containerSizeX,trVec,coveredContainer);
 }
 
 static bool PackAsObjectOrientedRect(const std::vector< std::vector<Point2x> > &polyVec,
@@ -150,7 +148,7 @@ static bool PackAsObjectOrientedRect(const std::vector< std::vector<Point2x> > &
   trVec.clear();
   trVec.resize(polyVec.size());
   std::vector<Box2x> bbVec;
-  std::vector<float> rotVec;
+  std::vector<SCALAR_TYPE> rotVec;
   for(size_t i=0;i<polyVec.size();++i)
   {
     float rot;
@@ -158,7 +156,7 @@ static bool PackAsObjectOrientedRect(const std::vector< std::vector<Point2x> > &
     rotVec.push_back(rot);
   }
 
-  bool ret= RectPacker<float>::Pack(bbVec,containerSizeX,trVec,coveredContainer);
+  bool ret= RectPacker<SCALAR_TYPE>::Pack(bbVec,containerSizeX,trVec,coveredContainer);
 
   for(size_t i=0;i<polyVec.size();++i)
   {
diff --git a/vcg/space/point_matching.h b/vcg/space/point_matching.h
index e9ac0ff8..8d99fb8f 100644
--- a/vcg/space/point_matching.h
+++ b/vcg/space/point_matching.h
@@ -27,8 +27,8 @@
 #include <vcg/math/quaternion.h>
 #include <vcg/math/matrix44.h>
 
-#include <eigenlib/Eigen/Dense>
-#include <eigenlib/Eigen/Eigenvalues>
+#include <Eigen/Dense>
+#include <Eigen/Eigenvalues>
 #include  <iostream>
 
 namespace vcg
@@ -50,26 +50,26 @@ void ComputeCrossCovarianceMatrix(const std::vector<Point3<S> > &spVec, Point3<S
                                   const std::vector<Point3<S> > &tpVec, Point3<S> &tpBarycenter,
                                   Eigen::Matrix3d &m)
 {
-    assert(spVec.size()==tpVec.size());
-    m.setZero();
-    spBarycenter.SetZero();
-    tpBarycenter.SetZero();
-    Eigen::Vector3d spe;
-    Eigen::Vector3d tpe;
-    typename std::vector <Point3<S> >::const_iterator si,ti;
-    for(si=spVec.begin(),ti=tpVec.begin();si!=spVec.end();++si,++ti){
-        spBarycenter+=*si;
-        tpBarycenter+=*ti;
-         si->ToEigenVector(spe);
-         ti->ToEigenVector(tpe);
-        m+=spe*tpe.transpose();
-    }
-    spBarycenter/=spVec.size();
-    tpBarycenter/=tpVec.size();
-    spBarycenter.ToEigenVector(spe);
-    tpBarycenter.ToEigenVector(tpe);
-    m/=spVec.size();
-    m-=spe*tpe.transpose();
+	assert(spVec.size() == tpVec.size());
+	m.setZero();
+	spBarycenter.SetZero();
+	tpBarycenter.SetZero();
+	Eigen::Vector3d spe;
+	Eigen::Vector3d tpe;
+	typename std::vector <Point3<S> >::const_iterator si, ti;
+	for (si = spVec.begin(), ti = tpVec.begin(); si != spVec.end(); ++si, ++ti){
+		spBarycenter += *si;
+		tpBarycenter += *ti;
+		si->ToEigenVector(spe);
+		ti->ToEigenVector(tpe);
+		m += spe*tpe.transpose();
+	}
+	spBarycenter /= double(spVec.size());
+	tpBarycenter /= double(tpVec.size());
+	spBarycenter.ToEigenVector(spe);
+	tpBarycenter.ToEigenVector(tpe);
+	m /= double(spVec.size());
+	m -= spe*tpe.transpose();
 }
 
 /*! \brief Compute the roto-translation that applied to PMov bring them onto Pfix
@@ -161,6 +161,58 @@ void ComputeRigidMatchMatrix(std::vector<Point3<S> > &Pfix,
     res=Trn*Rot;
 }
 
+/*! \brief Computes the best fitting rigid transformations to align two sets of corresponding points
+ *
+ * Ref:
+ * Olga Sorkine-Hornung and Michael Rabinovich
+ * Least-Squares Rigid Motion Using SVD
+ */
+template <class S>
+Matrix44<S> ComputeLeastSquaresRigidMotion(std::vector<Point3<S> > &pFix,
+                                           std::vector<Point3<S> > &pMov)
+{
+	if (pFix.size() != pMov.size() || pFix.size() < 3)
+		return Matrix44<S>::Identity();
+
+	Eigen::Matrix3Xd p(3, pMov.size()); // moving
+	Eigen::MatrixX3d q(pFix.size(), 3); // fixed
+
+	for (size_t i=0; i<pMov.size(); i++)
+	{
+		Eigen::Vector3d v;
+		pMov[i].ToEigenVector(v);
+		p.col(i) = v;
+	}
+	Eigen::Vector3d avgP = p.rowwise().mean();
+	p.colwise() -= avgP;
+
+	for (size_t i=0; i<pFix.size(); i++)
+	{
+		Eigen::Vector3d v;
+		pFix[i].ToEigenVector(v);
+		q.row(i) = v;
+	}
+	Eigen::Vector3d avgQ = q.colwise().mean();
+	q.rowwise() -= avgQ.transpose();
+
+	Eigen::Matrix3d cov = p * q;
+	Eigen::JacobiSVD<Eigen::Matrix3d> svd;
+	svd.compute(cov, Eigen::ComputeFullU | Eigen::ComputeFullV);
+
+	Eigen::Matrix3d d = Eigen::Matrix3d::Identity();
+	d(2,2) = (svd.matrixV() * svd.matrixU().transpose()).determinant() > 0 ? 1 : -1;
+
+	Eigen::Matrix3d R = (svd.matrixV() * d * svd.matrixU().transpose());
+	Eigen::Vector3d t = avgQ - R * avgP;
+
+	Eigen::Matrix4d res = Eigen::Matrix4d::Identity();
+	res.block<3,3>(0,0) = R;
+	res.block<3,1>(0,3) = t;
+	Matrix44<S> ret;
+	ret.FromEigenMatrix(res);
+	return ret;
+}
+
 
 /*
 Compute a similarity matching (rigid + uniform scaling)
diff --git a/vcg/space/polygon3.h b/vcg/space/polygon3.h
index 591d733b..069830c4 100644
--- a/vcg/space/polygon3.h
+++ b/vcg/space/polygon3.h
@@ -28,6 +28,7 @@
 #include <vcg/space/fitting3.h>
 #include <vcg/space/point_matching.h>
 #include <vcg/math/matrix33.h>
+#include <vcg/space/distance3.h>
 
 namespace vcg {
 
@@ -79,7 +80,7 @@ typename CoordType::ScalarType Area(const std::vector<CoordType> &Pos)
 {
     typedef typename CoordType::ScalarType ScalarType;
     CoordType bary=CoordType(0,0,0);
-    for (int i=0;i<Pos.size();i++)
+    for (size_t i=0;i<Pos.size();i++)
         bary+=Pos[i];
 
     bary/=Pos.size();
@@ -125,9 +126,12 @@ typename PolygonType::ScalarType PolyArea(const PolygonType &F)
     typedef typename PolygonType::CoordType CoordType;
     typedef typename PolygonType::ScalarType ScalarType;
 
+	if (F.VN() == 3)
+		return vcg::DoubleArea(F) / 2;
+
     CoordType bary=PolyBarycenter(F);
     ScalarType Area=0;
-    for (size_t i=0;i<F.VN();i++)
+    for (size_t i=0;i<(size_t)F.VN();i++)
     {
         CoordType p0=F.cP0(i);
         CoordType p1=F.cP1(i);
@@ -425,13 +429,13 @@ void GetPolyTemplatePos(const PolygonType &F,
         dirX.Normalize();
         dirY.Normalize();
         dirZ.Normalize();
-//        CoordType dirXN=dirX;dirXN.Normalize();
-//        CoordType dirYN=dirY;dirYN.Normalize();
-//        CoordType dirZN=dirZ;dirZN.Normalize();
+        //        CoordType dirXN=dirX;dirXN.Normalize();
+        //        CoordType dirYN=dirY;dirYN.Normalize();
+        //        CoordType dirZN=dirZ;dirZN.Normalize();
 
-//        dirX=dirX*0.8+dirXN*0.2;
-//        dirY=dirY*0.8+dirYN*0.2;
-//        dirZ=dirZ*0.8+dirZN*0.2;
+        //        dirX=dirX*0.8+dirXN*0.2;
+        //        dirY=dirY*0.8+dirYN*0.2;
+        //        dirZ=dirZ*0.8+dirZN*0.2;
     }
 
     ///set the Rotation matrix
@@ -456,10 +460,10 @@ void GetPolyTemplatePos(const PolygonType &F,
     ScalarType AreaTemplate=Area(TemplatePos);
     ScalarType AreaUniform=Area(UniformPos);
 
-//    if (TargetArea>0)
-//    {
-//        AreaUniform*=(AreaUniform/TargetArea);
-//    }
+    //    if (TargetArea>0)
+    //    {
+    //        AreaUniform*=(AreaUniform/TargetArea);
+    //    }
 
     ScalarType Scale=sqrt(AreaTemplate/AreaUniform);
 
@@ -530,5 +534,149 @@ typename PolygonType::ScalarType PolyAspectRatio(const PolygonType &F,
     return(diff);
 }
 
+
+template<class PolygonType>
+typename PolygonType::ScalarType PolygonPointDistance(const PolygonType &F,
+                                                      const vcg::Point3<typename PolygonType::ScalarType> &pos,
+                                                      vcg::Point3<typename PolygonType::ScalarType> &ClosestP,
+                                                      typename PolygonType::ScalarType minD = std::numeric_limits<typename PolygonType::ScalarType>::max())
+{
+    typedef typename PolygonType::ScalarType ScalarType;
+    typedef typename PolygonType::CoordType CoordType;
+
+    CoordType bary=vcg::PolyBarycenter(F);
+    for (size_t j=0;j<F.VN();j++)
+    {
+        vcg::Triangle3<ScalarType> T(F.cP0(j),F.cP1(j),bary);
+        ScalarType dist;
+        CoordType closest;
+        vcg::TrianglePointDistance(T,pos,dist,closest);
+        if (dist>minD)continue;
+        minD=dist;
+        ClosestP=closest;
+    }
+    return minD;
+}
+
+template<class PolygonType>
+vcg::Box3<typename PolygonType::ScalarType> PolygonBox(const PolygonType &F)
+{
+    typedef typename PolygonType::ScalarType ScalarType;
+    vcg::Box3<ScalarType> bb;
+    for (size_t j=0;j<F.VN();j++)
+        bb.Add(F.V(j)->P());
+    return bb;
+}
+
+template<class PolygonType>
+typename PolygonType::ScalarType PolygonTorsion(const PolygonType &F,int side)
+{
+    typedef typename PolygonType::CoordType CoordType;
+    typedef typename PolygonType::ScalarType ScalarType;
+
+    assert(side>=0);
+    assert(side<2);
+    assert(F.VN()==4);
+
+    //get firts two edges directions
+    CoordType Dir0,Dir1;
+    if (side==0)
+    {
+        Dir0=F.cP(1)-F.cP(0);
+        Dir1=F.cP(2)-F.cP(3);
+    }
+    else
+    {
+        Dir0=F.cP(2)-F.cP(1);
+        Dir1=F.cP(3)-F.cP(0);
+    }
+
+    Dir0.Normalize();
+    Dir1.Normalize();
+
+    //then make them lying on face's Normal
+    CoordType DirPlane0=Dir0*0.5+Dir1*0.5;
+    CoordType DirPlane1=F.cN();
+    CoordType NormPlane=DirPlane0^DirPlane1;
+    NormPlane.Normalize();
+    CoordType subV0=NormPlane*(NormPlane*Dir0);
+    CoordType subV1=NormPlane*(NormPlane*Dir1);
+    Dir0-=subV0;
+    Dir1-=subV1;
+    Dir0.Normalize();
+    Dir1.Normalize();
+    ScalarType AngleVal=vcg::Angle(Dir0,Dir1);
+    return AngleVal;
+}
+
+template<class PolygonType>
+typename PolygonType::ScalarType PolygonBending(const PolygonType &F,int side)
+{
+    typedef typename PolygonType::CoordType CoordType;
+    typedef typename PolygonType::ScalarType ScalarType;
+
+    assert(side>=0);
+    assert(side<2);
+    assert(F.VN()==4);
+
+    //get firts two edges directions
+    CoordType Norm0,Norm1;
+    CoordType Avg0,Avg1;
+    if (side==0)
+    {
+        Norm0=F.V(0)->N()*0.5+F.V(1)->N()*0.5;
+        Avg0=F.cP(0)*0.5+F.cP(1)*0.5;
+        Norm1=F.V(2)->N()*0.5+F.V(3)->N()*0.5;
+        Avg1=F.cP(2)*0.5+F.cP(3)*0.5;
+    }
+    else
+    {
+        Norm0=F.V(2)->N()*0.5+F.V(1)->N()*0.5;
+        Avg0=F.cP(2)*0.5+F.cP(1)*0.5;
+        Norm1=F.V(3)->N()*0.5+F.V(0)->N()*0.5;
+        Avg1=F.cP(3)*0.5+F.cP(0)*0.5;
+    }
+
+    Norm0.Normalize();
+    Norm1.Normalize();
+
+    //then make them lying on face's Normal
+    CoordType DirPlane0=Avg0-Avg1;
+    DirPlane0.Normalize();
+    CoordType DirPlane1=F.cN();
+    CoordType NormPlane=DirPlane0^DirPlane1;
+    NormPlane.Normalize();
+    CoordType subV0=NormPlane*(NormPlane*Norm0);
+    CoordType subV1=NormPlane*(NormPlane*Norm1);
+    Norm0-=subV0;
+    Norm1-=subV1;
+    Norm0.Normalize();
+    Norm1.Normalize();
+    ScalarType AngleVal=vcg::Angle(Norm0,Norm1);
+    return AngleVal;
+}
+
+template<class PolygonType>
+typename PolygonType::ScalarType PolygonBending(const PolygonType &F)
+{
+    typedef typename PolygonType::ScalarType ScalarType;
+    ScalarType Bend0=PolygonBending(F,0);
+    ScalarType Bend1=PolygonBending(F,1);
+    assert(Bend0>=0);
+    assert(Bend1>=0);
+    return (std::max(Bend0,Bend1));
+}
+
+template<class PolygonType>
+typename PolygonType::ScalarType PolygonTorsion(const PolygonType &F)
+{
+    typedef typename PolygonType::ScalarType ScalarType;
+    ScalarType Torsion0=PolygonTorsion(F,0);
+    ScalarType Torsion1=PolygonTorsion(F,1);
+    assert(Torsion0>=0);
+    assert(Torsion1>=0);
+    return (std::max(Torsion0,Torsion1));
+}
+
 }
 #endif // POLYGON_H
diff --git a/vcg/space/rasterized_outline2_packer.h b/vcg/space/rasterized_outline2_packer.h
index e6eac310..ace38df7 100644
--- a/vcg/space/rasterized_outline2_packer.h
+++ b/vcg/space/rasterized_outline2_packer.h
@@ -41,7 +41,7 @@ private:
     //points: the points which make the polygon
     std::vector<Point2f> points;
 
-    //top: a vector containing the number of cells (for the i-th column starting from left) from the
+    //deltaY: a vector containing the number of cells (for the i-th column starting from left) from the
     //FIRST NON-EMTPY cell at the bottom to the LAST NON-EMPTY CELL at the top (there is one top vector for each rasterization)
     std::vector< std::vector<int> > deltaY;
 
@@ -49,7 +49,7 @@ private:
     //until the first NON-EMPTY cell is found (there is one bottom vector for each rasterization)
     std::vector< std::vector<int> > bottom;
 
-    //right: a vector containing the number of cells (for the i-th row starting from bottom) from the
+    //deltaX: a vector containing the number of cells (for the i-th row starting from bottom) from the
     //FIRST NON-EMTPY cell at the left to the LAST NON-EMPTY CELL at the right (there is one right vector for each rasterization)
     std::vector< std::vector<int> > deltaX;
 
@@ -75,8 +75,8 @@ public:
     std::vector<int>& getDeltaX(int i) { return deltaX[i]; }
     std::vector<int>& getLeft(int i) { return left[i]; }
     int& getDiscreteArea(int i) { return discreteAreas[i]; }
-    void addPoint(Point2f& newpoint) { points.push_back(newpoint); }
-    void setPoints(std::vector<Point2f>& newpoints) { points = newpoints; }
+    void addPoint(const Point2f& newpoint) { points.push_back(newpoint); }
+    void setPoints(const std::vector<Point2f>& newpoints) { points = newpoints; }
 
     //resets the state of the poly and resizes all the states vectors
     void resetState(int totalRasterizationsNum) {
@@ -170,22 +170,21 @@ public:
         }
         discreteAreas[rast_i] = discreteArea;
     }
-
-
 };
 
 template <class ScalarType>
 class ComparisonFunctor
 {
+    typedef std::vector<vcg::Point2<ScalarType>> Outline2Type;
 
 public:
-    std::vector<RasterizedOutline2> & v;
-    inline ComparisonFunctor( std::vector<RasterizedOutline2> & nv ) : v(nv) { }
+    const std::vector<Outline2Type> & v;
+    inline ComparisonFunctor(const std::vector<Outline2Type> & nv ) : v(nv) { }
 
     inline bool operator() ( int a, int b )
     {
-        float area1 = tri::OutlineUtil<ScalarType>::Outline2Area(v[a].getPoints());
-        float area2 = tri::OutlineUtil<ScalarType>::Outline2Area(v[b].getPoints());
+        float area1 = tri::OutlineUtil<ScalarType>::Outline2Area(v[a]);
+        float area2 = tri::OutlineUtil<ScalarType>::Outline2Area(v[b]);
 
         return area1 > area2;
     }
@@ -197,39 +196,65 @@ class RasterizedOutline2Packer
     typedef typename vcg::Box2<SCALAR_TYPE> Box2x;
     typedef typename vcg::Point2<SCALAR_TYPE> Point2x;
     typedef typename vcg::Similarity2<SCALAR_TYPE> Similarity2x;
+
+    static constexpr int INVALID_POSITION = -1;
+
 public:
+
   class Parameters
   {
   public:
-      //size of one cell of the grid (square cells at the moment)
-      int cellSize;
 
-      //the number of rasterizations to create for each polygon; It must be a multiple of 4.
-      int rotationNum;
-
-      //THE PACKING ALGO TO USE:
-      //0 - BOTTOM PACKING: it just uses bottom horizon and computes cost using the num of empty cells between the bottom side of the poly and the bottom horizon
-      //1 - BOTTOM PACKING WITH PENALTY: it uses both bottom and left horizons, and it makes so that polys are placed the closest possible to the left horizon
-      //2 - CORNER PACKING: 1) tries to drop poly from right to left and computes cost relative to the left horizon
-      //                    2) tries to drop poly from top to bottom and computes cost relative to the bottom horizon
-      //                    3) chooses the X,Y which minimize the cost
-      //                    NOTE: IN THIS ALGO THE COST HAVE TO INCLUDE THE PENALTY, OTHERWISE THE TWO STRATEGIES (dropping from right and from top)
-      //                          WILL COMPETE CAUSING A LOW PACKING EFFICIENCY
-      enum costFuncEnum {
+      // The cost function used by the greedy algorithm when evaluating the next best move
+      // MinWastedSpace  Chooses the placement that minimizes the wasted space. The wasted
+      //                 space is defined as the area difference between the horizon after
+      //                 and and before placing the polygon, MINUS the polygon area.
+      // LowestHorizon   Chooses the placement that minimizes the maximum horizon increase
+      // MixedCost       Left for compatibility reasons. This should behave similarly to
+      //                 MinWastedSpace, while also penalizing placements using one horizon
+      //                 that result in too much wasted space relative to the other horizon.
+      enum CostFuncEnum {
           MinWastedSpace,
           LowestHorizon,
           MixedCost
       };
-      costFuncEnum costFunction;
+
+      CostFuncEnum costFunction;
+
+      // if true, the packing algorithm evaluates polygon 'drops' from both
+      // principal directions
       bool doubleHorizon;
 
+      // if true, the packing algorithm keeps track of a secondary horizon used
+      // to place polygons in between previously placed ones
+      bool innerHorizon;
+
+      // if true, the packing algorithms tries a small number of random
+      // permutations of the polygon sequence. This can result in a higher
+      // packing efficiency, but increases the running time of the algorithm
+      // proportionally to the number of permutations tested
+      bool permutations;
+
+      //the number of rasterizations to create for each polygon; It must be a multiple of 4.
+      int rotationNum;
+
+      //the width (in pixels) of the gutter added around the outline
+      int gutterWidth;
+
+      // if false, then do not combine the costs when doubeHorizon is used. This
+      // can help to keep the packing area in a rectangular region
+      bool minmax;
+
       ///default constructor
       Parameters()
       {
           costFunction = LowestHorizon;
           doubleHorizon=true;
+          innerHorizon=false;
+          permutations=false;
           rotationNum = 16;
-          cellSize = 8;
+          gutterWidth = 0;
+          minmax = false;
       }
   };
 
@@ -239,12 +264,21 @@ public:
   {
 
   private:
+
+      using CostFuncEnum = typename Parameters::CostFuncEnum;
       //the bottomHorizon stores the length of the i-th row in the current solution
       std::vector<int> mLeftHorizon;
 
       //the bottomHorizon stores the height of the i-th column in the current solution
       std::vector<int> mBottomHorizon;
 
+      // inner horizons base and extent (number of free cells)
+      std::vector<int> mInnerBottomHorizon;
+      std::vector<int> mInnerBottomExtent;
+
+      std::vector<int> mInnerLeftHorizon;
+      std::vector<int> mInnerLeftExtent;
+
       //the size of the packing grid
       vcg::Point2i mSize;
 
@@ -256,6 +290,13 @@ public:
       {
           mBottomHorizon.resize(size.X(), 0);
           mLeftHorizon.resize(size.Y(), 0);
+
+          mInnerBottomHorizon.resize(size.X(), 0);
+          mInnerBottomExtent.resize(size.X(), 0);
+
+          mInnerLeftHorizon.resize(size.Y(), 0);
+          mInnerLeftExtent.resize(size.Y(), 0);
+
           params = par;
           mSize = Point2i(size.X(), size.Y());
       }
@@ -267,9 +308,9 @@ public:
       //returns the score relative to the left horizon of that poly in that particular position, taking into account the choosen algo
       int getCostX(RasterizedOutline2& poly, Point2i pos, int rast_i) {
           switch (params.costFunction) {
-          case 0: return emptyCellBetweenPolyAndLeftHorizon(poly, pos, rast_i);
-          case 1: return maxXofPoly(poly, pos, rast_i);
-          case 2: return costXWithPenaltyOnY(poly, pos, rast_i);
+          case CostFuncEnum::MinWastedSpace: return emptyCellBetweenPolyAndLeftHorizon(poly, pos, rast_i);
+          case CostFuncEnum::LowestHorizon: return maxXofPoly(poly, pos, rast_i);
+          case CostFuncEnum::MixedCost: return costXWithPenaltyOnY(poly, pos, rast_i);
           }
           return 0;
       }
@@ -277,9 +318,9 @@ public:
       //returns the score relative to the bottom horizon of that poly in that particular position, taking into account the choosen algo
       int getCostY(RasterizedOutline2& poly, Point2i pos, int rast_i) {
           switch (params.costFunction) {
-          case 0: return emptyCellBetweenPolyAndBottomHorizon(poly, pos, rast_i);
-          case 1: return maxYofPoly(poly, pos, rast_i);
-          case 2: return costYWithPenaltyOnX(poly, pos, rast_i);
+          case CostFuncEnum::MinWastedSpace: return emptyCellBetweenPolyAndBottomHorizon(poly, pos, rast_i);
+          case CostFuncEnum::LowestHorizon: return maxYofPoly(poly, pos, rast_i);
+          case CostFuncEnum::MixedCost: return costYWithPenaltyOnX(poly, pos, rast_i);
           }
           return 0;
       }
@@ -288,44 +329,83 @@ public:
       //this returns the Y at which the wasted space is minimum
       //i.e. the Y at which the polygon touches the horizon
       int dropY(RasterizedOutline2& poly, int col, int rast_i) {
-          int tmp = INT_MAX;
-          int adjacentIndex = 0;
           std::vector<int>& bottom = poly.getBottom(rast_i);
-
-          //look for for index of the column at which the poly touches the bottom horizon first
+          int y_max = -INT_MAX;
           for (size_t i = 0; i < bottom.size(); ++i) {
-              int diff = bottom[i] - mBottomHorizon[col + i];
-              if (diff < tmp) {
-                  adjacentIndex = i;
-                  tmp = diff;
+              int y = mBottomHorizon[col + i] - bottom[i];
+              if (y > y_max) {
+                  if (y + poly.gridHeight(rast_i) >= mSize.Y())
+                      return INVALID_POSITION;
+                  y_max = y;
               }
           }
-          //return the lowest Y of the dropped poly
-          return mBottomHorizon[col + adjacentIndex] - bottom[adjacentIndex];
+          return y_max;
+      }
+
+      int dropYInner(RasterizedOutline2& poly, int col, int rast_i) {
+          std::vector<int>& bottom = poly.getBottom(rast_i);
+          std::vector<int>& deltaY = poly.getDeltaY(rast_i);
+          int y_max = -INT_MAX;
+          for (size_t i = 0; i < bottom.size(); ++i) {
+              int y = mInnerBottomHorizon[col + i] - bottom[i];
+              if (y > y_max) {
+                  if (y + poly.gridHeight(rast_i) >= mSize.Y()) {
+                      return INVALID_POSITION;
+                  }
+                  y_max = y;
+              }
+          }
+          // check if the placement is feasible
+          for (size_t i = 0; i < bottom.size(); ++i) {
+              if (y_max + bottom[i] < mBottomHorizon[col + i]
+                      && y_max + bottom[i] + deltaY[i] > mInnerBottomHorizon[col + i] + mInnerBottomExtent[col + i]) {
+                  return INVALID_POSITION;
+              }
+          }
+          return y_max;
       }
 
       //given a poly and the row at which it is placed,
       //this returns the X at which the wasted space is minimum
       //i.e. the X at which the polygon touches the left horizon
       int dropX(RasterizedOutline2& poly, int row, int rast_i) {
-          int tmp = INT_MAX;
-          int adjacentIndex = 0;
           std::vector<int>& left = poly.getLeft(rast_i);
-
-          //look for for index of the column at which the poly touches the left horizon first
+          int x_max = -INT_MAX;
           for (size_t i = 0; i < left.size(); ++i) {
-              int diff = left[i] - mLeftHorizon[row + i];
-              if (diff < tmp) {
-                  adjacentIndex = i;
-                  tmp = diff;
+              int x = mLeftHorizon[row + i] - left[i];
+              if (x > x_max) {
+                  if (x + poly.gridWidth(rast_i) >= mSize.X())
+                      return INVALID_POSITION;
+                  x_max = x;
               }
           }
-          //and return the lowest X of the dropped poly
-          return mLeftHorizon[row + adjacentIndex] - left[adjacentIndex];
+          return x_max;
+      }
+
+      int dropXInner(RasterizedOutline2& poly, int row, int rast_i) {
+          std::vector<int> left = poly.getLeft(rast_i);
+          std::vector<int> deltaX = poly.getDeltaX(rast_i);
+          int x_max = -INT_MAX;
+          for (size_t i = 0; i < left.size(); ++i) {
+              int x = mInnerLeftHorizon[row + i] - left[i];
+              if (x > x_max) {
+                  if (x + poly.gridWidth(rast_i) >= mSize.X())
+                      return INVALID_POSITION;
+                  x_max = x;
+              }
+          }
+          // sanity check
+          for (size_t i = 0; i < left.size(); ++i) {
+              if (x_max + left[i] < mLeftHorizon[row + i]
+                      && x_max + left[i] + deltaX[i] > mInnerLeftHorizon[row + i] + mInnerLeftExtent[row + i])
+                  return INVALID_POSITION;
+          }
+          return x_max;
       }
 
       int costYWithPenaltyOnX(RasterizedOutline2& poly, Point2i pos, int rast_i) {
           std::vector<int>& left = poly.getLeft(rast_i);
+          std::vector<int>& deltaX = poly.getDeltaX(rast_i);
 
           //get the standard cost on X axis
           int score = emptyCellBetweenPolyAndBottomHorizon(poly, pos, rast_i);
@@ -342,32 +422,35 @@ public:
               if (pos.X() + left[i] < mLeftHorizon[pos.Y() + i])
                   //number of cells between us and the RIGHT end the packing field
                   score -= mSize.X() - pos.X() - left[i];
+                  //score -= (pos.X() + left[i] + deltaX[i]);
               else         //the number of cells between the bottom side of the poly at the (posY+i)-th row and the value of the horizon in that row
                   score += pos.X() + left[i] - mLeftHorizon[pos.Y() + i];
           }
           return score;
       }
 
-      //returns the number of empty cells between poly's bottom side and the bottom horizon
+      /* Returns the number of empty cells between the poly's bottom side and the
+       * bottom horizon. If the poly is below the bottom horizon, it returns the
+       * distance between the poly's bottom and the grid bottom inverted in sign,
+       * therefore leaving more space to possibly fit other polygons. */
       int emptyCellBetweenPolyAndBottomHorizon(RasterizedOutline2& poly, Point2i pos, int rast_i)
       {
           std::vector<int>& bottom = poly.getBottom(rast_i);
           int score = 0;
-          int min = INT_MAX;
-
-          //count the number of empty cells between poly's bottom side and the bottom horizon
           for (size_t i = 0; i < bottom.size(); ++i) {
-              int diff = bottom[i] - mBottomHorizon[pos.X() + i];
-              score += diff;
-              if (diff < min) min = diff;
+              if (pos.Y() + bottom[i] < mBottomHorizon[pos.X() + i])
+                  score -=  pos.Y() + bottom[i];
+              else
+                  //count the number of empty cells between poly's bottom side and the bottom horizon
+                  score +=  pos.Y() + bottom[i] - mBottomHorizon[pos.X() + i];
           }
-          score += (-min*bottom.size());
-
           return score;
       }
 
+
       int costXWithPenaltyOnY(RasterizedOutline2& poly, Point2i pos, int rast_i) {
           std::vector<int>& bottom = poly.getBottom(rast_i);
+          std::vector<int>& deltaY = poly.getDeltaY(rast_i);
 
           //get the standard cost on X axis
           int score = emptyCellBetweenPolyAndLeftHorizon(poly, pos, rast_i);
@@ -384,6 +467,7 @@ public:
               if (pos.Y() + bottom[i] < mBottomHorizon[pos.X() + i])
                   //number of cells between us and the TOP side the packing field
                   score -= (mSize.Y() - pos.Y() - bottom[i]);
+                  //score -= (pos.Y() + bottom[i] + deltaY[i]);
               else         //the number of cells between the left side of the poly at the (posX+i)-th column and the value of the horizon in that column
                   score += pos.X() + bottom[i] - mBottomHorizon[pos.X() + i];
           }
@@ -392,30 +476,59 @@ public:
 
       int maxYofPoly(RasterizedOutline2& poly, Point2i pos, int rast_i)
       {
-          return pos.Y() + poly.gridHeight(rast_i);
+          //return pos.Y() + poly.gridHeight(rast_i);
+
+          int maxY = -INT_MAX;
+          std::vector<int>& bottom = poly.getBottom(rast_i);
+          std::vector<int>& deltaY = poly.getDeltaY(rast_i);
+          for (unsigned i = 0; i < bottom.size(); ++i) {
+              int yi = 0;
+              if (pos.Y() + bottom[i] + deltaY[i] < mBottomHorizon[pos.X() + i]) {
+                  yi = -(pos.Y() + bottom[i]);
+              } else {
+                  yi = pos.Y() + bottom[i] + deltaY[i];
+              }
+              if (yi > maxY)
+                  maxY = yi;
+          }
+          return maxY;
+
       }
 
       int maxXofPoly(RasterizedOutline2& poly, Point2i pos, int rast_i)
       {
-          return pos.X() + poly.gridWidth(rast_i);
+          //return pos.X() + poly.gridWidth(rast_i);
+
+          int maxX = -INT_MAX;
+          std::vector<int>& left = poly.getLeft(rast_i);
+          std::vector<int>& deltaX = poly.getDeltaX(rast_i);
+          for (unsigned i = 0; i < left.size(); ++i) {
+              int xi = 0;
+              if (pos.X() + left[i] + deltaX[i] < mLeftHorizon[pos.Y() + i]) {
+                  xi = -(pos.X() + left[i]);
+              } else {
+                  xi = pos.X() + left[i] + deltaX[i];
+              }
+              if (xi > maxX)
+                  maxX = xi;
+          }
+          return maxX;
       }
 
-      //returns the number of empty cells between poly's left side and the left horizon
+      /* Returns the number of empty cells between the poly's left side and the
+       * left horizon. If the poly is below the left horizon, it returns the
+       * distance between the poly's and grid left side inverted in sign. */
       int emptyCellBetweenPolyAndLeftHorizon(RasterizedOutline2& poly, Point2i pos, int rast_i)
       {
           std::vector<int>& left = poly.getLeft(rast_i);
-
           int score = 0;
-          int min = INT_MAX;
-
           //count the number of empty cells between poly's left side and the left horizon
           for (size_t i = 0; i < left.size(); ++i) {
-              int diff = left[i] - mLeftHorizon[pos.Y() + i];
-              score += diff;
-              if (diff < min) min = diff;
+              if (pos.X() + left[i] < mLeftHorizon[pos.Y() + i])
+                  score -= pos.X() + left[i];
+              else
+                  score += pos.X() + left[i] - mLeftHorizon[pos.Y() + i];
           }
-          score += (-min*left.size());
-
           return score;
       }
 
@@ -429,21 +542,82 @@ public:
 
           //update bottom horizon
           for (int i = 0; i < poly.gridWidth(rast_i); i++) {
-              //tmpHor = the highest Y reached by the poly, RELATIVE TO the packing field coords system
               int tmpHor = pos.Y() + bottom[i] + deltaY[i];
-              //only update the horizon if it's higher than this value
-              if (tmpHor > mBottomHorizon[pos.X() + i]) mBottomHorizon[pos.X() + i] = tmpHor;
+              if (tmpHor > mBottomHorizon[pos.X() + i]) {
+                  // check if we create a bigger gap than the one currently tracked
+                  // as the inner horizon. If we do, the current bottom horizon
+                  // becomes the new inner horizon
+                  int gapExtent = pos.Y() + bottom[i] - mBottomHorizon[pos.X() + i];
+                  if (gapExtent < 0) {
+                      // This can happen if the poly was placed using the left horizon
+                      // and ends up filling both the inner and outer space at the same time
+                      // just update the inner horizon extent...
+                      if (mInnerBottomHorizon[pos.X() + i] < pos.Y() + bottom[i]
+                              && mInnerBottomHorizon[pos.X() + i] + mInnerBottomExtent[pos.X() + i] > pos.Y() + bottom[i])
+                          mInnerBottomExtent[pos.X() + i] = pos.Y() + bottom[i] - mInnerBottomHorizon[pos.X() + i];
+                  }
+                  else if (gapExtent > mInnerBottomExtent[pos.X() + i]) {
+                      mInnerBottomHorizon[pos.X() + i] = mBottomHorizon[pos.X() + i];
+                      mInnerBottomExtent[pos.X() + i] = gapExtent;
+                  }
+                  // then update the bottom horizon
+                  mBottomHorizon[pos.X() + i] = tmpHor;
+              } else {
+                  // if the poly fills the space between the currently tracked
+                  // inner bottom horizon and its extent, update the gap.
+                  // Note that this update is local, since we only track the inner horizon and
+                  // its extent. If bigger gaps exist, we lose track of them.
+                  int bottomExtent = pos.Y() + bottom[i] - mInnerBottomHorizon[pos.X() + i];
+                  int topExtent = mInnerBottomHorizon[pos.X() + i] + mInnerBottomExtent[pos.X() + i] - tmpHor;
+                  if (bottomExtent >= 0 && topExtent >= 0) {
+                      if (bottomExtent > topExtent) {
+                          mInnerBottomExtent[pos.X() + i] = bottomExtent;
+                      } else {
+                          mInnerBottomHorizon[pos.X() + i] = tmpHor;
+                          mInnerBottomExtent[pos.X() + i] = topExtent;
+                      }
+                  } else {
+                      // this is a tricky situation where the poly partially intersects the inner horizon
+                      // TODO: properly update the extents, for now I just clear the inner horizon
+                      mInnerBottomHorizon[pos.X() + i] = 0;
+                      mInnerBottomExtent[pos.X() + i] = 0;
+                  }
+              }
+
           }
 
-          if (params.costFunction != Parameters::MixedCost
-                  && !params.doubleHorizon) return;
-
-          //update leftHorizon
+          //update left horizon
           for (int i = 0; i < poly.gridHeight(rast_i); i++) {
-              //tmpHor = the highest X reached by the poly, RELATIVE TO the packing field coords system
               int tmpHor = pos.X() + left[i] + deltaX[i];
-              //only update the horizon if it's higher than this value
-              if (tmpHor > mLeftHorizon[pos.Y() + i]) mLeftHorizon[pos.Y() + i] = tmpHor;
+              if (tmpHor > mLeftHorizon[pos.Y() + i]) {
+                  int gapExtent = pos.X() + left[i] - mLeftHorizon[pos.Y() + i];
+                  if (gapExtent < 0) {
+                      if (mInnerLeftHorizon[pos.Y() + i] < pos.X() + left[i]
+                              && mInnerLeftHorizon[pos.Y() + i] + mInnerLeftExtent[pos.Y() + i] > pos.X() + left[i])
+                          mInnerLeftExtent[pos.Y() + i] = pos.X() + left[i] - mInnerLeftHorizon[pos.Y() + i];
+                  }
+                  else if (gapExtent > mInnerLeftExtent[pos.Y() + i]) {
+                      mInnerLeftHorizon[pos.Y() + i] = mLeftHorizon[pos.Y() + i];
+                      mInnerLeftExtent[pos.Y() + i] = gapExtent;
+                  }
+                  mLeftHorizon[pos.Y() + i] = tmpHor;
+              } else {
+                  int leftExtent = pos.X() + left[i] - mInnerLeftHorizon[pos.Y() + i];
+                  int rightExtent = mInnerLeftHorizon[pos.Y() + i] + mInnerLeftExtent[pos.Y() + i] - tmpHor;
+                  if (leftExtent >= 0 && rightExtent >= 0) {
+                      if (leftExtent > rightExtent) {
+                          mInnerLeftExtent[pos.Y() + i] = leftExtent;
+                      } else {
+                          mInnerLeftHorizon[pos.Y() + i] = tmpHor;
+                          mInnerLeftExtent[pos.Y() + i] = rightExtent;
+                      }
+                  } else {
+                      // this is a tricky situation where the poly partially intersects the inner horizon
+                      // TODO: properly update the extents, for now I just clear the inner horizon
+                      mInnerLeftHorizon[pos.Y() + i] = 0;
+                      mInnerLeftExtent[pos.Y() + i] = 0;
+                  }
+              }
           }
       }
   };
@@ -454,27 +628,26 @@ public:
                      std::vector<Similarity2x> &trVec,
                      const Parameters &packingPar)
     {
-      std::vector<Point2i> containerSizes(1,containerSize);
-      std::vector<int> polyToContainer;
-      return Pack(polyPointsVec,containerSizes,trVec,polyToContainer,packingPar);
+        std::vector<Point2i> containerSizes(1, containerSize);
+        std::vector<int> polyToContainer;
+        return Pack(polyPointsVec, containerSizes, trVec, polyToContainer, packingPar);
     }
 
-    static bool Pack(std::vector< std::vector< Point2x>  > &polyPointsVec,
+    static bool Pack(std::vector<std::vector<Point2x>> &polyPointsVec,
                      const std::vector<Point2i> &containerSizes,
                      std::vector<Similarity2x> &trVec,
                      std::vector<int> &polyToContainer,
                      const Parameters &packingPar)
     {
-
-      int containerNum=containerSizes.size();
+        int containerNum = containerSizes.size();
 
         float gridArea = 0;
         //if containerSize isn't multiple of cell size, crop the grid (leaving containerSize as it is)
         for (int i = 0; i < containerNum; i++) {
-            Point2i gridSize(containerSizes[i].X() / packingPar.cellSize,
-                             containerSizes[i].Y() / packingPar.cellSize);
+            Point2i gridSize(containerSizes[i].X(),
+                             containerSizes[i].Y());
 
-            gridArea += (gridSize.X()*packingPar.cellSize * gridSize.Y()*packingPar.cellSize);
+            gridArea += (gridSize.X() * gridSize.Y());
         }
 
         float totalArea = 0;
@@ -485,44 +658,198 @@ public:
         }
 
         //we first set it to the "optimal" scale
-        float optimalScale = sqrt(gridArea/ totalArea);
-        float currScale = optimalScale;
-        float latestFailScale = 0;
+        float optimalScale = sqrt(gridArea / totalArea);
 
-        bool ret = false;
-        //we look for the first scale factor which makes the packing algo succeed
-        //we will use this value in the bisection method afterwards
-        ret = PolyPacking(polyPointsVec, containerSizes, trVec, polyToContainer, packingPar, currScale);
-        while (!ret) {
-            latestFailScale = currScale;
-            currScale *= 0.60;
-            ret = PolyPacking(polyPointsVec, containerSizes, trVec, polyToContainer, packingPar, currScale);
-        }
-        //if it managed to pack with the optimal scale (VERY unlikely), just leave
-        if (currScale == optimalScale) return true;
 
-        //BISECTION METHOD
-        float latestSuccessScale = currScale;
-        float tmpScale = (latestSuccessScale + latestFailScale) / 2;
-        while ( (latestFailScale / latestSuccessScale) - 1 > 0.001
-                || ((latestFailScale / latestSuccessScale) - 1 < 0.001 && !ret) ) {
 
-            tmpScale = (latestSuccessScale + latestFailScale) / 2;
-            ret = PolyPacking(polyPointsVec, containerSizes, trVec, polyToContainer, packingPar, tmpScale);
-            if (ret) latestSuccessScale = tmpScale;
-            else latestFailScale = tmpScale;
+        //create the vector of polys, starting for the poly points we received as parameter
+        std::vector<RasterizedOutline2> polyVec(polyPointsVec.size());
+        for(size_t i=0;i<polyVec.size();i++) {
+            polyVec[i].setPoints(polyPointsVec[i]);
         }
 
-        float finalArea = 0;
-        //compute occupied area
-        for (size_t j = 0; j < polyPointsVec.size(); j++) {
-            std::vector<Point2f> oldPoints = polyPointsVec[j];
-            for (size_t k = 0; k < oldPoints.size(); k++) {
-                oldPoints[k].Scale(latestSuccessScale, latestSuccessScale);
+        std::vector<std::vector<int>> trials = InitializePermutationVectors(polyPointsVec, packingPar);
+
+        double bestEfficiency = 0;
+        for (std::size_t i = 0; i < trials.size(); ++i) {
+
+            float currScale = optimalScale;
+            float latestFailScale = 0;
+
+            std::vector<Similarity2x> trVecIter;
+            std::vector<int> polyToContainerIter;
+
+            bool ret = false;
+            //we look for the first scale factor which makes the packing algo succeed
+            //we will use this value in the bisection method afterwards
+            ret = PolyPacking(polyPointsVec, containerSizes, trVecIter, polyToContainerIter, packingPar, currScale, polyVec, trials[i]);
+            while (!ret) {
+                //printf("Initial packing failed %d\n", k++);
+                latestFailScale = currScale;
+                currScale *= 0.60;
+                ret = PolyPacking(polyPointsVec, containerSizes, trVecIter, polyToContainerIter, packingPar, currScale, polyVec, trials[i]);
             }
-            finalArea +=  tri::OutlineUtil<SCALAR_TYPE>::Outline2Area(oldPoints);
+
+            //if it managed to pack with the optimal scale (VERY unlikely), skip bisection
+            float latestSuccessScale = currScale;
+            //int cnt = 1;
+            assert(currScale <= optimalScale);
+            if (currScale < optimalScale) {
+                //BISECTION METHOD
+                float tmpScale = (latestSuccessScale + latestFailScale) / 2;
+                while ( (latestFailScale / latestSuccessScale) - 1 > 0.001
+                        || ((latestFailScale / latestSuccessScale) - 1 < 0.001 && !ret) ) {
+
+                    tmpScale = (latestSuccessScale + latestFailScale) / 2;
+                    ret = PolyPacking(polyPointsVec, containerSizes, trVecIter, polyToContainerIter, packingPar, tmpScale, polyVec, trials[i]);
+                    if (ret) latestSuccessScale = tmpScale;
+                    else latestFailScale = tmpScale;
+                    //cnt++;
+                }
+            }
+
+            float finalArea = 0;
+            //compute occupied area
+            for (size_t j = 0; j < polyPointsVec.size(); j++) {
+                std::vector<Point2f> oldPoints = polyPointsVec[j];
+                for (size_t k = 0; k < oldPoints.size(); k++) {
+                    oldPoints[k].Scale(latestSuccessScale, latestSuccessScale);
+                }
+                finalArea +=  tri::OutlineUtil<SCALAR_TYPE>::Outline2Area(oldPoints);
+            }
+
+            //printf("PACKING EFFICIENCY: %f with scale %f after %d attempts\n", finalArea/gridArea, latestSuccessScale, cnt);
+
+            double efficiency = finalArea / gridArea;
+            if (efficiency > bestEfficiency) {
+                trVec = trVecIter;
+                polyToContainer = polyToContainerIter;
+                bestEfficiency = efficiency;
+            }
+
         }
-//        printf("PACKING EFFICIENCY: %f with scale %f\n", finalArea/gridArea, latestSuccessScale);
+
+        return true;
+    }
+
+    static std::vector<std::vector<int>>
+    InitializePermutationVectors(const std::vector<std::vector<Point2x>>& polyPointsVec,
+                                 const Parameters& packingPar)
+    {
+        std::vector<std::vector<int>> trials;
+
+        // Build a permutation that holds the indexes of the polys ordered by their area
+        std::vector<int> perm(polyPointsVec.size());
+        for(size_t i = 0; i < polyPointsVec.size(); i++)
+            perm[i] = i;
+        sort(perm.begin(), perm.end(), ComparisonFunctor<float>(polyPointsVec));
+
+        trials.push_back(perm);
+
+        // if packing with random permutations, compute a small number of randomized
+        // sequences. Each random sequence is generated from the initial permutation
+        // by shuffling only the larger polygons
+        if (packingPar.permutations) {
+            int minObjNum = std::min(5, int(perm.size()));
+            float largestArea = tri::OutlineUtil<SCALAR_TYPE>::Outline2Area(polyPointsVec[perm[0]]);
+            float thresholdArea = largestArea * 0.5;
+            std::size_t i;
+            for (i = 0; i < polyPointsVec.size(); ++i)
+                if (tri::OutlineUtil<SCALAR_TYPE>::Outline2Area(polyPointsVec[perm[i]]) < thresholdArea)
+                    break;
+            int numPermutedObjects = std::max(minObjNum, int(i));
+            int permutationCount = numPermutedObjects * 5;
+            //printf("PACKING: trying %d random permutations of the largest %d elements\n", permutationCount, numPermutedObjects);
+            for (int k = 0; k < permutationCount; ++k) {
+                std::random_shuffle(perm.begin(), perm.begin() + numPermutedObjects);
+                trials.push_back(perm);
+            }
+        }
+
+        return trials;
+    }
+
+    static bool PackAtFixedScale(std::vector<std::vector<Point2x>> &polyPointsVec,
+                     const std::vector<Point2i> &containerSizes,
+                     std::vector<Similarity2x> &trVec,
+                     std::vector<int> &polyToContainer,
+                     const Parameters &packingPar,
+                     float scale)
+    {
+        //create the vector of polys, starting for the poly points we received as parameter
+        std::vector<RasterizedOutline2> polyVec(polyPointsVec.size());
+        for(size_t i=0;i<polyVec.size();i++) {
+            polyVec[i].setPoints(polyPointsVec[i]);
+        }
+
+        std::vector<std::vector<int>> trials = InitializePermutationVectors(polyPointsVec, packingPar);
+
+        for (std::size_t i = 0; i < trials.size(); ++i) {
+            std::vector<Similarity2x> trVecIter;
+            std::vector<int> polyToContainerIter;
+            if (PolyPacking(polyPointsVec, containerSizes, trVecIter, polyToContainerIter, packingPar, scale, polyVec, trials[i], false)) {
+                trVec = trVecIter;
+                polyToContainer = polyToContainerIter;
+                return true;
+            }
+        }
+
+        return false;
+    }
+
+    /*
+     * Pack charts using a best effort policy. The idea is that this function
+     * packs what it can in the given space without scaling the outlines.
+     *
+     * Returns the number of charts actually packed.
+     *
+     * Function parameters:
+     *   outline2Vec (IN) vector of outlines to pack
+     *   containerSizes (IN) vector of container (grid) sizes
+     *   trVec (OUT) vector of transformations that must be applied to the objects
+     *   polyToContainer (OUT) vector of outline-to-container mappings. If polyToContainer[i] == -1
+     *     then outline i did not fit in the packing grids, and the transformation trVec[i] is meaningless
+     * */
+    static int
+    PackBestEffort(std::vector<std::vector<Point2x>> &outline2Vec,
+                   const std::vector<Point2i> &containerSizes,
+                   std::vector<Similarity2x> &trVec,
+                   std::vector<int> &polyToContainer,
+                   const Parameters &packingPar)
+    {
+        return PackBestEffortAtScale(outline2Vec, containerSizes, trVec, polyToContainer, packingPar, 1.0f);
+    }
+
+    /* Same as PackBestEffort() but allows to specify the outlines scaling factor */
+    static int
+    PackBestEffortAtScale(std::vector<std::vector<Point2x>> &outline2Vec,
+                          const std::vector<Point2i> &containerSizes,
+                          std::vector<Similarity2x> &trVec,
+                          std::vector<int> &polyToContainer,
+                          const Parameters &packingPar, float scaleFactor)
+    {
+        std::vector<RasterizedOutline2> polyVec(outline2Vec.size());
+        for(size_t i=0;i<polyVec.size();i++) {
+            polyVec[i].setPoints(outline2Vec[i]);
+        }
+
+        polyToContainer.resize(outline2Vec.size(), -1);
+
+        std::vector<std::vector<int>> trials = InitializePermutationVectors(outline2Vec, packingPar);
+        int bestNumPlaced = 0;
+        for (std::size_t i = 0; i < trials.size(); ++i) {
+            std::vector<Similarity2x> trVecIter;
+            std::vector<int> polyToContainerIter;
+            PolyPacking(outline2Vec, containerSizes, trVecIter, polyToContainerIter, packingPar, scaleFactor, polyVec, trials[i], true);
+            int numPlaced = outline2Vec.size() - std::count(polyToContainerIter.begin(), polyToContainerIter.end(), -1);
+            if (numPlaced > bestNumPlaced) {
+                trVec = trVecIter;
+                polyToContainer = polyToContainerIter;
+                bestNumPlaced = numPlaced;
+            }
+        }
+
+        return bestNumPlaced;
     }
 
     //tries to pack polygons using the given gridSize and scaleFactor
@@ -532,7 +859,10 @@ public:
                             std::vector<Similarity2x> &trVec,
                             std::vector<int> &polyToContainer,
                             const Parameters &packingPar,
-                            float scaleFactor)
+                            float scaleFactor,
+                            std::vector<RasterizedOutline2>& polyVec,
+                            const std::vector<int>& perm,
+                            bool bestEffort = false)
     {
         int containerNum = containerSizes.size();
 
@@ -544,33 +874,19 @@ public:
         std::vector<Point2i> gridSizes;
         std::vector<packingfield> packingFields;
         for (int i=0; i < containerNum; i++) {
-            //if containerSize isn't multiple of cell size, crop the grid (leaving containerSize as it is)
-            gridSizes.push_back(Point2i(containerSizes[i].X() / packingPar.cellSize,
-                                        containerSizes[i].Y() / packingPar.cellSize));
+            gridSizes.push_back(Point2i(containerSizes[i].X(),
+                                        containerSizes[i].Y()));
 
             packingfield one(gridSizes[i], packingPar);
             packingFields.push_back(one);
         }
 
-        //create the vector of polys, starting for the poly points we received as parameter
-        std::vector<RasterizedOutline2> polyVec(outline2Vec.size());
-        for(size_t i=0;i<polyVec.size();i++) {
-            polyVec[i].setPoints(outline2Vec[i]);
-        }
-
-        // Build a permutation that holds the indexes of the polys ordered by their area
-        std::vector<int> perm(polyVec.size());
-        for(size_t i=0;i<polyVec.size();i++) perm[i] = i;
-        sort(perm.begin(),perm.end(),ComparisonFunctor<float>(polyVec));
-
-//        printf("BEGIN OF PACKING\n");
-
         // **** First Step: Rasterize all the polygons ****
         for (size_t i = 0; i < polyVec.size(); i++) {
             polyVec[i].resetState(packingPar.rotationNum);
             for (int rast_i = 0; rast_i < packingPar.rotationNum/4; rast_i++) {
                 //create the rasterization (i.e. fills bottom/top/grids/internalWastedCells arrays)
-                RASTERIZER_TYPE::rasterize(polyVec[i],scaleFactor, rast_i,packingPar.rotationNum,packingPar.cellSize);
+                RASTERIZER_TYPE::rasterize(polyVec[i], scaleFactor, rast_i, packingPar.rotationNum, packingPar.gutterWidth);
             }
         }
 
@@ -584,6 +900,8 @@ public:
             int bestPolyY = -1;
             int bestContainer = -1; //the container where the poly fits best
 
+            bool placedUsingSecondaryHorizon = false;
+
             //try all the rasterizations and choose the best fitting one
             for (int rast_i = 0; rast_i < packingPar.rotationNum; rast_i++) {
 
@@ -594,48 +912,81 @@ public:
 
                     //look for the best position, dropping from top
                     for (int col = 0; col < maxCol; col++) {
-                        //get the Y at which the poly touches the horizontal horizon
-                        int currPolyY = packingFields[grid_i].dropY(polyVec[i],col, rast_i);
-
-                        if (currPolyY + polyVec[i].gridHeight(rast_i) > gridSizes[grid_i].Y()) {
-                            //skip this column, as the poly would go outside the grid if placed here
-                            continue;
+                        int currPolyY;
+                        if (!placedUsingSecondaryHorizon) {
+                            currPolyY = packingFields[grid_i].dropY(polyVec[i],col, rast_i);
+                            if (currPolyY != INVALID_POSITION) {
+                                assert(currPolyY + polyVec[i].gridHeight(rast_i) < gridSizes[grid_i].Y() && "drop");
+                                int currCost = packingFields[grid_i].getCostY(polyVec[i], Point2i(col, currPolyY), rast_i);
+                                if (packingPar.doubleHorizon && (packingPar.minmax == true))
+                                    currCost += packingFields[grid_i].getCostX(polyVec[i], Point2i(col, currPolyY), rast_i);
+                                if (currCost < bestCost) {
+                                    bestContainer = grid_i;
+                                    bestCost = currCost;
+                                    bestRastIndex = rast_i;
+                                    bestPolyX = col;
+                                    bestPolyY = currPolyY;
+                                    placedUsingSecondaryHorizon = false;
+                                }
+                            }
                         }
-
-                        int currCost = packingFields[grid_i].getCostX(polyVec[i], Point2i(col, currPolyY), rast_i) +
-                                packingFields[grid_i].getCostY(polyVec[i], Point2i(col, currPolyY), rast_i);
-
-                        //if this rasterization is better than what we found so far
-                        if (currCost < bestCost) {
-                            bestContainer = grid_i;
-                            bestCost = currCost;
-                            bestRastIndex = rast_i;
-                            bestPolyX = col;
-                            bestPolyY = currPolyY;
+                        if (packingPar.innerHorizon) {
+                            currPolyY = packingFields[grid_i].dropYInner(polyVec[i],col, rast_i);
+                            if (currPolyY != INVALID_POSITION) {
+                                assert(currPolyY + polyVec[i].gridHeight(rast_i) < gridSizes[grid_i].Y() && "drop_inner");
+                                int currCost = packingFields[grid_i].getCostY(polyVec[i], Point2i(col, currPolyY), rast_i);
+                                if (packingPar.doubleHorizon && (packingPar.minmax == true))
+                                    currCost += packingFields[grid_i].getCostX(polyVec[i], Point2i(col, currPolyY), rast_i);
+                                if (!placedUsingSecondaryHorizon || currCost < bestCost) {
+                                    bestContainer = grid_i;
+                                    bestCost = currCost;
+                                    bestRastIndex = rast_i;
+                                    bestPolyX = col;
+                                    bestPolyY = currPolyY;
+                                    placedUsingSecondaryHorizon = true;
+                                }
+                            }
                         }
                     }
 
-                    if (!packingPar.doubleHorizon) continue;
+                    if (!packingPar.doubleHorizon)
+                        continue;
 
                     for (int row = 0; row < maxRow; row++) {
-                        //get the Y at which the poly touches the horizontal horizon
-                        int currPolyX = packingFields[grid_i].dropX(polyVec[i],row, rast_i);
-
-                        if (currPolyX + polyVec[i].gridWidth(rast_i) > gridSizes[grid_i].X()) {
-                            //skip this column, as the poly would go outside the grid if placed here
-                            continue;
+                        int currPolyX;
+                        if (!placedUsingSecondaryHorizon) {
+                            currPolyX = packingFields[grid_i].dropX(polyVec[i],row, rast_i);
+                            if (currPolyX != INVALID_POSITION) {
+                                assert(currPolyX + polyVec[i].gridWidth(rast_i) < gridSizes[grid_i].X() && "drop");
+                                int currCost = packingFields[grid_i].getCostX(polyVec[i], Point2i(currPolyX, row), rast_i);
+                                if (packingPar.doubleHorizon && (packingPar.minmax == true))
+                                    currCost += packingFields[grid_i].getCostY(polyVec[i], Point2i(currPolyX, row), rast_i);
+                                if (currCost < bestCost) {
+                                    bestContainer = grid_i;
+                                    bestCost = currCost;
+                                    bestRastIndex = rast_i;
+                                    bestPolyX = currPolyX;
+                                    bestPolyY = row;
+                                    placedUsingSecondaryHorizon = false;
+                                }
+                            }
                         }
-
-                        int currCost = packingFields[grid_i].getCostY(polyVec[i], Point2i(currPolyX, row), rast_i) +
-                                packingFields[grid_i].getCostX(polyVec[i], Point2i(currPolyX, row), rast_i);
-
-                        //if this rasterization fits better than those we tried so far
-                        if (currCost < bestCost) {
-                            bestContainer = grid_i;
-                            bestCost = currCost;
-                            bestRastIndex = rast_i;
-                            bestPolyX = currPolyX;
-                            bestPolyY = row;
+                        if (packingPar.innerHorizon) {
+                            currPolyX = packingFields[grid_i].dropXInner(polyVec[i],row, rast_i);
+                            if (currPolyX != INVALID_POSITION) {
+                                assert(currPolyX + polyVec[i].gridWidth(rast_i) < gridSizes[grid_i].X() && "drop_inner");
+                                int currCost = packingFields[grid_i].getCostX(polyVec[i], Point2i(currPolyX, row), rast_i);
+                                if (packingPar.doubleHorizon && (packingPar.minmax == true))
+                                    currCost += packingFields[grid_i].getCostY(polyVec[i], Point2i(currPolyX, row), rast_i);
+                                if (!placedUsingSecondaryHorizon || currCost < bestCost) {
+                                    bestContainer = grid_i;
+                                    bestCost = currCost;
+                                    bestRastIndex = rast_i;
+                                    bestPolyX = currPolyX;
+                                    bestPolyY = row;
+                                    placedUsingSecondaryHorizon = true;
+                                }
+                            }
                         }
                     }
                 }
@@ -644,63 +995,60 @@ public:
             //if we couldn't find a valid position for the poly return false, as we couldn't pack with the current scaleFactor
             if (bestRastIndex == -1) {
 //                printf("Items didn't fit using %f as scaleFactor\n", scaleFactor);
-                return false;
+                if (bestEffort) {
+                    polyToContainer[i] = -1;
+                    trVec[i] = {};
+                } else {
+                    return false;
+                }
+            } else {
+                //we found the best position for a given poly,
+                //let's place it, so that the horizons are updated accordingly
+                packingFields[bestContainer].placePoly(polyVec[i], Point2i(bestPolyX, bestPolyY), bestRastIndex);
+
+                //create the rotated bb which we will use to set the similarity translation prop
+                float angleRad = float(bestRastIndex)*(M_PI*2.0)/float(packingPar.rotationNum);
+                Box2f bb;
+                std::vector<Point2f> points = polyVec[i].getPoints();
+                for(size_t i=0;i<points.size();++i) {
+                    Point2f pp=points[i];
+                    pp.Rotate(angleRad);
+                    bb.Add(pp);
+                }
+
+                //associate the poly to the container where it fitted best
+                polyToContainer[i] = bestContainer;
+
+                //now we have bestPolyX/bestRastIndex
+                //we have to update the similarities vector accordingly!
+                float polyXInImgCoords = bestPolyX;
+                float scaledBBWidth = bb.DimX()*scaleFactor;
+                float polyWidthInImgCoords = polyVec[i].gridWidth(bestRastIndex);
+                float offsetX = (polyWidthInImgCoords - ceil(scaledBBWidth))/2.0;
+                float scaledBBMinX = bb.min.X()*scaleFactor;
+
+                //note: bestPolyY is 0 if the poly is at the bottom of the grid
+                float imgHeight = containerSizes[bestContainer].Y();
+                float polyYInImgCoords = bestPolyY;
+                float polyHeightInImgCoords = polyVec[i].gridHeight(bestRastIndex);
+                float topPolyYInImgCoords = polyYInImgCoords + polyHeightInImgCoords;
+                float scaledBBHeight = bb.DimY()*scaleFactor;
+                float offsetY = (polyHeightInImgCoords - ceil(scaledBBHeight))/2.0;
+                float scaledBBMinY = bb.min.Y()*scaleFactor;
+                trVec[i].tra = Point2f(polyXInImgCoords - scaledBBMinX + offsetX,
+                                       imgHeight - topPolyYInImgCoords - scaledBBMinY + offsetY);
+                trVec[i].rotRad = angleRad;
+                trVec[i].sca = scaleFactor;
             }
-
-            //we found the best position for a given poly,
-            //let's place it, so that the horizons are updated accordingly
-            packingFields[bestContainer].placePoly(polyVec[i], Point2i(bestPolyX, bestPolyY), bestRastIndex);
-
-            //create the rotated bb which we will use to set the similarity translation prop
-            float angleRad = float(bestRastIndex)*(M_PI*2.0)/float(packingPar.rotationNum);
-            Box2f bb;
-            std::vector<Point2f> points = polyVec[i].getPoints();
-            for(size_t i=0;i<points.size();++i) {
-                Point2f pp=points[i];
-                pp.Rotate(angleRad);
-                bb.Add(pp);
-            }
-
-            //associate the poly to the container where it fitted best
-            polyToContainer[i] = bestContainer;
-
-            //now we have bestPolyX/bestRastIndex
-            //we have to update the similarities vector accordingly!
-            float polyXInImgCoords = bestPolyX*packingPar.cellSize;
-            float scaledBBWidth = bb.DimX()*scaleFactor;
-            float polyWidthInImgCoords = polyVec[i].gridWidth(bestRastIndex)*packingPar.cellSize;
-            float offsetX = (polyWidthInImgCoords - ceil(scaledBBWidth))/2.0;
-            float scaledBBMinX = bb.min.X()*scaleFactor;
-
-            //note: bestPolyY is 0 if the poly is at the bottom of the grid
-            float imgHeight = containerSizes[bestContainer].Y();
-            float polyYInImgCoords = bestPolyY*packingPar.cellSize;
-            float polyHeightInImgCoords = polyVec[i].gridHeight(bestRastIndex)*packingPar.cellSize;
-            float topPolyYInImgCoords = polyYInImgCoords + polyHeightInImgCoords;
-            float scaledBBHeight = bb.DimY()*scaleFactor;
-            float offsetY = (polyHeightInImgCoords - ceil(scaledBBHeight))/2.0;
-            float scaledBBMinY = bb.min.Y()*scaleFactor;
-            trVec[i].tra = Point2f(polyXInImgCoords - scaledBBMinX + offsetX,
-                                   imgHeight - topPolyYInImgCoords - scaledBBMinY + offsetY);
-            trVec[i].rotRad = angleRad;
-            trVec[i].sca = scaleFactor;
         }
 
-        //sort polyToContainer and trVec so that we have them ordered for dumping
-//        printf("SUCCESSFULLY PACKED with scaleFactor %f\n", scaleFactor);
         return true;
     }
 
-    static void printVector(std::vector<int>& vec) {
-        for (size_t i = 0; i < vec.size(); i++) {
-            printf("%d", vec[i]);
-        }
-        printf("\n");
-    }
 }; // end class
 
 
 
 } // end namespace vcg
 
-#endif // NEW_POLYPACKER_H
+#endif // __RASTERIZED_OUTLINE2_PACKER_H__
diff --git a/vcg/space/rect_packer.h b/vcg/space/rect_packer.h
index d56bc144..0ae90c00 100644
--- a/vcg/space/rect_packer.h
+++ b/vcg/space/rect_packer.h
@@ -28,6 +28,7 @@
 #include <algorithm>
 #include <vector>
 #include <ctime>
+#include <vcg/space/box2.h>
 #include <vcg/space/point2.h>
 #include <vcg/math/similarity2.h>
 
diff --git a/vcg/space/tetra3.h b/vcg/space/tetra3.h
index 0c023cab..cd702b31 100644
--- a/vcg/space/tetra3.h
+++ b/vcg/space/tetra3.h
@@ -117,7 +117,7 @@ Revision 1.1  2004/04/08 01:13:31  pietroni
 Initial commit
 
 
-****************************************************************************/
+***************************************************************************/
 #ifndef __VCG_TETRA3
 #define __VCG_TETRA3
 
@@ -127,7 +127,8 @@ Initial commit
 
 #include <algorithm>
 
-namespace vcg {
+namespace vcg
+{
 /** \addtogroup space */
 /*@{*/
 /** 
@@ -137,251 +138,354 @@ namespace vcg {
  */
 class Tetra
 {
-public:
+  public:
+	//Tatrahedron Functions to retrieve information about relation between faces of tetrahedron(faces,adges,vertices).
 
- 
-//Tatrahedron Functions to retrieve information about relation between faces of tetrahedron(faces,adges,vertices).
+	static int VofE(const int &indexE, const int &indexV)
+	{
+		assert((indexE < 6) && (indexV < 2));
+		static int edgevert[6][2] = {{0, 1},
+									 {0, 2},
+									 {0, 3},
+									 {1, 2},
+									 {1, 3},
+									 {2, 3}};
+		return (edgevert[indexE][indexV]);
+	}
 
-  static int VofE(const int &indexE,const int &indexV)
-  {	assert ((indexE<6)&&(indexV<2));
-   static int edgevert[6][2] ={{0,1},
-					{0,2},
-					{0,3},
-					{1,2},
-					{1,3},
-					{2,3}};
-   return (edgevert[indexE][indexV]);
-  }
-
-	static int VofF(const int &indexF,const int &indexV)
-	{	assert ((indexF<4)&&(indexV<3));
-    static int facevert[4][3]={{0,1,2},
-					{0,3,1},
-					{0,2,3},
-					{1,3,2}};
+	static int VofF(const int &indexF, const int &indexV)
+	{
+		assert((indexF < 4) && (indexV < 3));
+		static int facevert[4][3] = {{0, 1, 2},
+									 {0, 3, 1},
+									 {0, 2, 3},
+									 {1, 3, 2}};
 		return (facevert[indexF][indexV]);
 	}
 
-  static int EofV(const int &indexV,const int &indexE) 
-	{	
-    assert ((indexE<3)&&(indexV<4));
-		static int vertedge[4][3]={{0,1,2},
-											{0,3,4},
-											{5,1,3},
-											{4,5,2}};
+	static int EofV(const int &indexV, const int &indexE)
+	{
+		assert((indexE < 3) && (indexV < 4));
+		static int vertedge[4][3] = {{0, 1, 2},
+									 {0, 3, 4},
+									 {5, 1, 3},
+									 {4, 5, 2}};
 		return vertedge[indexV][indexE];
 	}
 
- static int EofF(const int &indexF,const int &indexE) 
-	{	assert ((indexF<4)&&(indexE<3));
-    static int faceedge[4][3]={{0,3,1},
-					{2,4,0},
-					{1,5,2},
-					{4,5,3}
-					};
-		return faceedge [indexF][indexE];
+	static int EofF(const int &indexF, const int &indexE)
+	{
+		assert((indexF < 4) && (indexE < 3));
+		static int faceedge[4][3] = {{0, 3, 1},
+									 {2, 4, 0},
+									 {1, 5, 2},
+									 {4, 5, 3}};
+		return faceedge[indexF][indexE];
 	}
 
-	static int FofV(const int &indexV,const int &indexF)
-	{	
-    assert ((indexV<4)&&(indexF<3));
-    static int vertface[4][3]={{0,1,2},
-					{0,3,1},
-					{0,2,3},
-					{1,3,2}};
+	static int FofV(const int &indexV, const int &indexF)
+	{
+		assert((indexV < 4) && (indexF < 3));
+		static int vertface[4][3] = {{0, 1, 2},
+									 {0, 3, 1},
+									 {0, 2, 3},
+									 {1, 3, 2}};
 		return vertface[indexV][indexF];
 	}
-  
-  static int FofE(const int &indexE,const int &indexSide) 
-	{	assert ((indexE<6)&&(indexSide<2));
-    static int edgeface[6][2]={{0,1},
-					{0,2},
-					{1,2},
-					{0,3},
-					{1,3},
-					{2,3}};
-		return edgeface [indexE][indexSide];
+
+	static int FofE(const int &indexE, const int &indexSide)
+	{
+		assert((indexE < 6) && (indexSide < 2));
+		static int edgeface[6][2] = {{0, 1},
+									 {0, 2},
+									 {1, 2},
+									 {0, 3},
+									 {1, 3},
+									 {2, 3}};
+		return edgeface[indexE][indexSide];
 	}
 
-static int VofEE(const int &indexE0,const int &indexE1)
-{
-  assert ((indexE0<6)&&(indexE0>=0));
-  assert ((indexE1<6)&&(indexE1>=0));
-  static int edgesvert[6][6]={{-1,0,0,1,1,-1},
-  {0,-1,0,2,-1,2},
-  {0,0,-1,-1,3,3},
-  {1,2,-1,-1,1,2},
-  {1,-1,3,1,-1,3},
-  {-1,2,3,2,3,-1}};
-return (edgesvert[indexE0][indexE1]);
-}
+	static int VofEE(const int &indexE0, const int &indexE1)
+	{
+		assert((indexE0 < 6) && (indexE0 >= 0));
+		assert((indexE1 < 6) && (indexE1 >= 0));
+		static int edgesvert[6][6] = {{-1, 0, 0, 1, 1, -1},
+									  {0, -1, 0, 2, -1, 2},
+									  {0, 0, -1, -1, 3, 3},
+									  {1, 2, -1, -1, 1, 2},
+									  {1, -1, 3, 1, -1, 3},
+									  {-1, 2, 3, 2, 3, -1}};
+		return (edgesvert[indexE0][indexE1]);
+	}
 
-static int VofFFF(const int &indexF0,const int &indexF1,const int &indexF2)
-{
-  assert ((indexF0<4)&&(indexF0>=0));
-  assert ((indexF1<4)&&(indexF1>=0));
-  assert ((indexF2<4)&&(indexF2>=0));
-  static int facesvert[4][4][4]={
-		{//0
-			{-1,-1,-1,-1},{-1,-1,0,1},{-1,0,-1,2},{-1,1,2,-1}
-		},
-		{//1
-			{-1,-1,0,1},{-1,-1,-1,-1},{0,-1,-1,3},{1,-1,3,-1}
-		},
-		{//2
-			{-1,0,-1,2},{0,-1,-1,3},{-1,-1,-1,-1},{2,3,-1,-1}
-		},
-		{//3
-			{-1,1,2,-1},{1,-1,3,-1},{2,3,-1,-1},{-1,-1,-1,-1}
-		}
+	static int VofFFF(const int &indexF0, const int &indexF1, const int &indexF2)
+	{
+		assert((indexF0 < 4) && (indexF0 >= 0));
+		assert((indexF1 < 4) && (indexF1 >= 0));
+		assert((indexF2 < 4) && (indexF2 >= 0));
+		static int facesvert[4][4][4] = {
+			{//0
+			 {-1, -1, -1, -1},
+			 {-1, -1, 0, 1},
+			 {-1, 0, -1, 2},
+			 {-1, 1, 2, -1}},
+			{//1
+			 {-1, -1, 0, 1},
+			 {-1, -1, -1, -1},
+			 {0, -1, -1, 3},
+			 {1, -1, 3, -1}},
+			{//2
+			 {-1, 0, -1, 2},
+			 {0, -1, -1, 3},
+			 {-1, -1, -1, -1},
+			 {2, 3, -1, -1}},
+			{//3
+			 {-1, 1, 2, -1},
+			 {1, -1, 3, -1},
+			 {2, 3, -1, -1},
+			 {-1, -1, -1, -1}}};
+		return facesvert[indexF0][indexF1][indexF2];
+	}
+
+	static int EofFF(const int &indexF0, const int &indexF1)
+	{
+		assert((indexF0 < 4) && (indexF0 >= 0));
+		assert((indexF1 < 4) && (indexF1 >= 0));
+		static int facesedge[4][4] = {{-1, 0, 1, 3},
+									  {0, -1, 2, 4},
+									  {1, 2, -1, 5},
+									  {3, 4, 5, -1}};
+		return (facesedge[indexF0][indexF1]);
+	}
+
+	static int EofVV(const int &indexV0, const int &indexV1)
+	{
+		assert((indexV0 < 4) && (indexV0 >= 0));
+		assert((indexV1 < 4) && (indexV1 >= 0));
+		static int verticesedge[4][4] = {{-1, 0, 1, 2},
+										 {0, -1, 3, 4},
+										 {1, 3, -1, 5},
+										 {2, 4, 5, -1}};
+
+		return verticesedge[indexV0][indexV1];
+	}
+
+	static int FofVVV(const int &indexV0, const int &indexV1, const int &indexV2)
+	{
+
+		assert((indexV0 < 4) && (indexV0 >= 0));
+		assert((indexV1 < 4) && (indexV1 >= 0));
+		assert((indexV2 < 4) && (indexV2 >= 0));
+
+		static int verticesface[4][4][4] = {
+			{//0
+			 {-1, -1, -1, -1},
+			 {-1, -1, 0, 1},
+			 {-1, 0, -1, 2},
+			 {-1, 1, 2, -1}},
+			{//1
+			 {-1, -1, 0, 1},
+			 {-1, -1, -1, -1},
+			 {0, -1, -1, 3},
+			 {1, -1, 3, -1}},
+			{//2
+			 {-1, 0, -1, 2},
+			 {0, -1, -1, 3},
+			 {-1, -1, -1, -1},
+			 {2, 3, -1, -1}},
+			{//3
+			 {-1, 1, 2, -1},
+			 {1, -1, 3, -1},
+			 {2, 3, -1, -1},
+			 {-1, -1, -1, -1}}};
+		return verticesface[indexV0][indexV1][indexV2];
+	}
+
+	static int FofEE(const int &indexE0, const int &indexE1)
+	{
+		assert((indexE0 < 6) && (indexE0 >= 0));
+		assert((indexE1 < 6) && (indexE1 >= 0));
+		static int edgesface[6][6] = {{-1, 0, 1, 0, 1, -1},
+									  {0, -1, 2, 0, -1, 2},
+									  {1, 2, -1, -1, 1, 2},
+									  {0, 0, -1, -1, 3, 3},
+									  {1, -1, 1, 3, -1, 3},
+									  {-1, 2, 2, 3, 3, -1}};
+
+		return edgesface[indexE0][indexE1];
+	}
+
+	static int FoppositeV (const int & indexV)
+	{
+		assert(indexV < 4 && indexV >= 0);
+		static int oppFaces[4] = { 3, 2, 1, 0 };
+	
+		return oppFaces[indexV];
+	}
+
+	static int VoppositeF (const int & indexF)
+	{
+		assert(indexF < 4 && indexF >= 0);
+		static int oppVerts[4] = { 3, 2, 1, 0 };
+
+		return oppVerts[indexF];
+	}
+
+	 static int EoppositeE (const int & indexE)
+	 {
+		 assert(indexE < 6 && indexE >= 0);
+		 return 5 - indexE;
+	 }
+        /** @brief Computes the tetrahedron barycenter
+         */
+	template <class TetraType>
+	static Point3<typename TetraType::ScalarType> Barycenter(const TetraType &t)
+	{
+		return ((t.cP(0) + t.cP(1) + t.cP(2) + t.cP(3)) / (typename TetraType::ScalarType)4.0);
+	}
+
+	// compute and return the volume of a tetrahedron
+	template <class TetraType>
+	static typename TetraType::ScalarType ComputeVolume(const TetraType &t)
+	{
+		return (typename TetraType::ScalarType)(((t.cP(2) - t.cP(0)) ^ (t.cP(1) - t.cP(0))) * (t.cP(3) - t.cP(0)) / 6.0);
+	}
+
+	/// Returns the normal to the face face of the tetrahedron t
+	template <class TetraType>
+	static Point3<typename TetraType::ScalarType> Normal(const TetraType &t, const int &face)
+	{
+		return (((t.cP(Tetra::VofF(face, 1)) - t.cP(Tetra::VofF(face, 0))) ^ (t.cP(Tetra::VofF(face, 2)) - t.cP(Tetra::VofF(face, 0)))).Normalize());
+	}
+
+	template <class TetraType>
+	static typename TetraType::ScalarType DihedralAngle(const TetraType &t, const size_t eidx)
+	{
+		typedef typename TetraType::CoordType CoordType;
+		//get two faces incident on eidx
+		int f0 = Tetra::FofE(eidx, 0);
+		int f1 = Tetra::FofE(eidx, 1);
+
+		CoordType p0 = t.cP(Tetra::VofF(f0, 0));
+		CoordType p1 = t.cP(Tetra::VofF(f0, 1));
+		CoordType p2 = t.cP(Tetra::VofF(f0, 2));
+
+		CoordType n0 = ((p2 - p0) ^ (p1 - p0)).normalized();
+
+		p0 = t.cP(Tetra::VofF(f1, 0));
+		p1 = t.cP(Tetra::VofF(f1, 1));
+		p2 = t.cP(Tetra::VofF(f1, 2));
+
+		CoordType n1 = ((p2 - p0) ^ (p1 - p0)).normalized();
+
+		return M_PI - double(acos(n0 * n1));
 	};
-  return facesvert[indexF0][indexF1][indexF2];
-}
 
-static int EofFF(const int &indexF0,const int &indexF1)
-{
-  assert ((indexF0<4)&&(indexF0>=0));
-  assert ((indexF1<4)&&(indexF1>=0));
-  static	int facesedge[4][4]={{-1,  0,  1,  3},
-						  { 0, -1,  2,  4},
-						  { 1,  2, -1,  5},
-						  { 3,  4,  5, -1}};
-  return (facesedge[indexF0][indexF1]);
-}
+	template <class TetraType>
+	static typename TetraType::ScalarType SolidAngle(const TetraType &t, const size_t vidx)
+	{
+		typedef typename TetraType::ScalarType ScalarType;
+		ScalarType a0 = DihedralAngle(t, Tetra::EofV(vidx, 0));
+		ScalarType a1 = DihedralAngle(t, Tetra::EofV(vidx, 1));
+		ScalarType a2 = DihedralAngle(t, Tetra::EofV(vidx, 2));
 
-static int EofVV(const int &indexV0,const int &indexV1) 
-{
-      assert ((indexV0<4)&&(indexV0>=0));
-      assert ((indexV1<4)&&(indexV1>=0));
-      static	int verticesedge[4][4]={{-1,  0,  1,  2},
-						  { 0, -1,  3,  4},
-						  { 1,  3, -1,  5},
-						  { 2,  4,  5, -1}};
-			
-			return verticesedge[indexV0][indexV1];
-}
-
-static int FofVVV(const int &indexV0,const int &indexV1,const int &indexV2)
-{
-
-assert ((indexV0<4)&&(indexV0>=0));
-assert ((indexV1<4)&&(indexV1>=0));
-assert ((indexV2<4)&&(indexV2>=0));
-
-static int verticesface[4][4][4]={
-		{//0
-			{-1,-1,-1,-1},{-1,-1,0,1},{-1,0,-1,2},{-1,1,2,-1}
-		},
-		{//1
-			{-1,-1,0,1},{-1,-1,-1,-1},{0,-1,-1,3},{1,-1,3,-1}
-		},
-		{//2
-			{-1,0,-1,2},{0,-1,-1,3},{-1,-1,-1,-1},{2,3,-1,-1}
-		},
-		{//3
-			{-1,1,2,-1},{1,-1,3,-1},{2,3,-1,-1},{-1,-1,-1,-1}
-		}
+		return (a0 + a1 + a2) - M_PI;
 	};
-return verticesface[indexV0][indexV1][indexV2];
-}
 
-static int FofEE(const int &indexE0,const int &indexE1)
-{
-  assert ((indexE0<6)&&(indexE0>=0));
-  assert ((indexE1<6)&&(indexE1>=0));
-  static	int edgesface[6][6]={{-1,0,1,0,1,-1},
-    {0,-1,2,0,-1,2},
-    {1,2,-1,-1,1,2},
-    {0,0,-1,-1,3,3},
-    {1,-1,1,3,-1,3},
-    {-1,2,2,3,3,-1}};
-						  
-			return edgesface[indexE0][indexE1];
-}
+	template <class TetraType>
+	static typename TetraType::ScalarType AspectRatio(const TetraType &t)
+	{
+		typedef typename TetraType::ScalarType ScalarType;
+		ScalarType a0 = SolidAngle(t, 0);
+		ScalarType a1 = SolidAngle(t, 1);
+		ScalarType a2 = SolidAngle(t, 2);
+		ScalarType a3 = SolidAngle(t, 3);
+
+		return std::min(a0, std::min(a1, std::min(a2, a3)));
+	}
 };
 
 /** 
 		Templated class for storing a generic tetrahedron in a 3D space.
     Note the relation with the Face class of TetraMesh complex, both classes provide the P(i) access functions to their points and therefore they share the algorithms on it (e.g. area, normal etc...)
  */
- template <class ScalarType> 
- class Tetra3:public Tetra
+template <class ScalarType>
+class Tetra3 : public Tetra
 {
-public:
-  typedef  Point3< ScalarType > CoordType;
-  //typedef typename ScalarType ScalarType;
+  public:
+	typedef Point3<ScalarType> CoordType;
+	//typedef typename ScalarType ScalarType;
 
-/*********************************************
+	/*********************************************
   
 **/
 
-private:
+  private:
 	/// Vector of the 4 points that defines the tetrahedron
 	CoordType _v[4];
 
-public:
+  public:
+	/// Shortcut per accedere ai punti delle facce
+	inline CoordType &P(const int j) { return _v[j]; }
+	inline CoordType const &cP(const int j) const { return _v[j]; }
 
-/// Shortcut per accedere ai punti delle facce
-	inline CoordType & P( const int j ) { return _v[j];}
-	inline CoordType const & cP( const int j )const { return _v[j];}
+	inline CoordType &P0(const int j) { return _v[j]; }
+	inline CoordType &P1(const int j) { return _v[(j + 1) % 4]; }
+	inline CoordType &P2(const int j) { return _v[(j + 2) % 4]; }
+	inline CoordType &P3(const int j) { return _v[(j + 3) % 4]; }
 
-	inline CoordType & P0( const int j ) { return _v[j];}
-	inline CoordType & P1( const int j ) { return _v[(j+1)%4];}
-	inline CoordType & P2( const int j ) { return _v[(j+2)%4];}
-  inline CoordType & P3( const int j ) { return _v[(j+3)%4];}
+	inline const CoordType &P0(const int j) const { return _v[j]; }
+	inline const CoordType &P1(const int j) const { return _v[(j + 1) % 4]; }
+	inline const CoordType &P2(const int j) const { return _v[(j + 2) % 4]; }
+	inline const CoordType &P3(const int j) const { return _v[(j + 3) % 4]; }
 
-	inline const CoordType &  P0( const int j ) const { return _v[j];}
-	inline const CoordType &  P1( const int j ) const { return _v[(j+1)%4];}
-	inline const CoordType &  P2( const int j ) const { return _v[(j+2)%4];}
-  inline const CoordType &  P3( const int j ) const { return _v[(j+3)%4];}
+	inline const CoordType &cP0(const int j) const { return _v[j]; }
+	inline const CoordType &cP1(const int j) const { return _v[(j + 1) % 4]; }
+	inline const CoordType &cP2(const int j) const { return _v[(j + 2) % 4]; }
+	inline const CoordType &cP3(const int j) const { return _v[(j + 3) % 4]; }
 
-	inline const CoordType & cP0( const int j ) const { return _v[j];}
-	inline const CoordType & cP1( const int j ) const { return _v[(j+1)%4];}
-	inline const CoordType & cP2( const int j ) const { return _v[(j+2)%4];}
-  inline const CoordType & cP3( const int j ) const { return _v[(j+3)%4];}
-
-/// compute and return the barycenter of a tetrahedron
- CoordType ComputeBarycenter()
-	{	
-			return((_v[0] + _v[1] + _v[2]+ _v[3])/4);
+	/// compute and return the barycenter of a tetrahedron
+	CoordType ComputeBarycenter()
+	{
+		return ((_v[0] + _v[1] + _v[2] + _v[3]) / 4);
 	}
 
-/// compute and return the solid angle on a vertex
-double SolidAngle(int vind)
-	{	
-		double da0=DiedralAngle(EofV(vind,0));
-		double da1=DiedralAngle(EofV(vind,1));
-		double da2=DiedralAngle(EofV(vind,2));
+	/// compute and return the solid angle on a vertex
+	double SolidAngle(int vind)
+	{
+		double da0 = DiedralAngle(EofV(vind, 0));
+		double da1 = DiedralAngle(EofV(vind, 1));
+		double da2 = DiedralAngle(EofV(vind, 2));
 
-			return((da0 + da1 + da2)- M_PI);
+		return ((da0 + da1 + da2) - M_PI);
 	}
 
-/// compute and return the diadedral angle on an edge
+	/// compute and return the diadedral angle on an edge
 	double DiedralAngle(int edgeind)
-  {
-		int f1=FofE(edgeind,0);
-		int f2=FofE(edgeind,1);
-		CoordType p0=_v[FofV(f1,0)];
-		CoordType p1=_v[FofV(f1,1)];
-		CoordType p2=_v[FofV(f1,2)];
-		CoordType norm1=((p1-p0)^(p2-p0));
-		p0=_v[FofV(f2,0)];
-		p1=_v[FofV(f2,1)];
-		p2=_v[FofV(f2,2)];
-		CoordType norm2=((p1-p0)^(p2-p0));
+	{
+		int f1 = FofE(edgeind, 0);
+		int f2 = FofE(edgeind, 1);
+		CoordType p0 = _v[FofV(f1, 0)];
+		CoordType p1 = _v[FofV(f1, 1)];
+		CoordType p2 = _v[FofV(f1, 2)];
+		CoordType norm1 = ((p1 - p0) ^ (p2 - p0));
+		p0 = _v[FofV(f2, 0)];
+		p1 = _v[FofV(f2, 1)];
+		p2 = _v[FofV(f2, 2)];
+		CoordType norm2 = ((p1 - p0) ^ (p2 - p0));
 		norm1.Normalize();
 		norm2.Normalize();
-	 return (M_PI-acos(double(norm1*norm2)));
+		return (M_PI - acos(double(norm1 * norm2)));
 	}
 
-/// compute and return the aspect ratio of the tetrahedron 
-ScalarType ComputeAspectRatio()
-	{	
-		double a0=SolidAngle(0);
-		double a1=SolidAngle(1);
-		double a2=SolidAngle(2);
-		double a3=SolidAngle(3);
-        return (ScalarType)std::min(a0,std::min(a1,std::min(a2,a3)));
+	/// compute and return the aspect ratio of the tetrahedron
+	ScalarType ComputeAspectRatio()
+	{
+		double a0 = SolidAngle(0);
+		double a1 = SolidAngle(1);
+		double a2 = SolidAngle(2);
+		double a3 = SolidAngle(3);
+		return (ScalarType)std::min(a0, std::min(a1, std::min(a2, a3)));
 	}
 
 	///return true of p is inside tetrahedron's volume
@@ -389,7 +493,7 @@ ScalarType ComputeAspectRatio()
 	{
 		//bb control
 		vcg::Box3<typename CoordType::ScalarType> bb;
-		for (int i=0;i<4;i++)
+		for (int i = 0; i < 4; i++)
 			bb.Add(_v[i]);
 
 		if (!bb.IsIn(p))
@@ -401,115 +505,93 @@ ScalarType ComputeAspectRatio()
 		vcg::Matrix44<ScalarType> M3;
 		vcg::Matrix44<ScalarType> M4;
 
-		CoordType p1=_v[0];
-		CoordType p2=_v[1];
-		CoordType p3=_v[2];
-		CoordType p4=_v[3];
+		CoordType p1 = _v[0];
+		CoordType p2 = _v[1];
+		CoordType p3 = _v[2];
+		CoordType p4 = _v[3];
 
-		M0[0][0]=p1.V(0);
-		M0[0][1]=p1.V(1);
-		M0[0][2]=p1.V(2);
-		M0[1][0]=p2.V(0);
-		M0[1][1]=p2.V(1);
-		M0[1][2]=p2.V(2);
-		M0[2][0]=p3.V(0);
-		M0[2][1]=p3.V(1);
-		M0[2][2]=p3.V(2);
-		M0[3][0]=p4.V(0);
-		M0[3][1]=p4.V(1);
-		M0[3][2]=p4.V(2);
-		M0[0][3]=1;
-		M0[1][3]=1;
-		M0[2][3]=1;
-		M0[3][3]=1;
+		M0[0][0] = p1.V(0);
+		M0[0][1] = p1.V(1);
+		M0[0][2] = p1.V(2);
+		M0[1][0] = p2.V(0);
+		M0[1][1] = p2.V(1);
+		M0[1][2] = p2.V(2);
+		M0[2][0] = p3.V(0);
+		M0[2][1] = p3.V(1);
+		M0[2][2] = p3.V(2);
+		M0[3][0] = p4.V(0);
+		M0[3][1] = p4.V(1);
+		M0[3][2] = p4.V(2);
+		M0[0][3] = 1;
+		M0[1][3] = 1;
+		M0[2][3] = 1;
+		M0[3][3] = 1;
 
-		M1=M0;
-		M1[0][0]=p.V(0);
-		M1[0][1]=p.V(1);
-		M1[0][2]=p.V(2);
+		M1 = M0;
+		M1[0][0] = p.V(0);
+		M1[0][1] = p.V(1);
+		M1[0][2] = p.V(2);
 
-		M2=M0;
-		M2[1][0]=p.V(0);
-		M2[1][1]=p.V(1);
-		M2[1][2]=p.V(2);
+		M2 = M0;
+		M2[1][0] = p.V(0);
+		M2[1][1] = p.V(1);
+		M2[1][2] = p.V(2);
 
-		M3=M0;
-		M3[2][0]=p.V(0);
-		M3[2][1]=p.V(1);
-		M3[2][2]=p.V(2);
+		M3 = M0;
+		M3[2][0] = p.V(0);
+		M3[2][1] = p.V(1);
+		M3[2][2] = p.V(2);
 
-		M4=M0;
-		M4[3][0]=p.V(0);
-		M4[3][1]=p.V(1);
-		M4[3][2]=p.V(2);
+		M4 = M0;
+		M4[3][0] = p.V(0);
+		M4[3][1] = p.V(1);
+		M4[3][2] = p.V(2);
 
-		ScalarType d0=M0.Determinant();
-		ScalarType d1=M1.Determinant();
-		ScalarType d2=M2.Determinant();
-		ScalarType d3=M3.Determinant();
-		ScalarType d4=M4.Determinant();
+		ScalarType d0 = M0.Determinant();
+		ScalarType d1 = M1.Determinant();
+		ScalarType d2 = M2.Determinant();
+		ScalarType d3 = M3.Determinant();
+		ScalarType d4 = M4.Determinant();
 
 		// all determinant must have same sign
-		return (((d0>0)&&(d1>0)&&(d2>0)&&(d3>0)&&(d4>0))||((d0<0)&&(d1<0)&&(d2<0)&&(d3<0)&&(d4<0)));
+		return (((d0 > 0) && (d1 > 0) && (d2 > 0) && (d3 > 0) && (d4 > 0)) || ((d0 < 0) && (d1 < 0) && (d2 < 0) && (d3 < 0) && (d4 < 0)));
 	}
 
-	void InterpolationParameters(const CoordType & bq, ScalarType &a, ScalarType &b, ScalarType &c ,ScalarType &d)
+	void InterpolationParameters(const CoordType &bq, ScalarType &a, ScalarType &b, ScalarType &c, ScalarType &d)
 	{
 		const ScalarType EPSILON = ScalarType(0.000001);
 		Matrix33<ScalarType> M;
-		
-		CoordType v0=P(0)-P(2);
-		CoordType v1=P(1)-P(2);
-		CoordType v2=P(3)-P(2);
-		CoordType v3=bq-P(2);
 
-		M[0][0]=v0.X();
-		M[1][0]=v0.Y();
-		M[2][0]=v0.Z();
+		CoordType v0 = P(0) - P(2);
+		CoordType v1 = P(1) - P(2);
+		CoordType v2 = P(3) - P(2);
+		CoordType v3 = bq - P(2);
 
-		M[0][1]=v1.X();
-		M[1][1]=v1.Y();
-		M[2][1]=v1.Z();
+		M[0][0] = v0.X();
+		M[1][0] = v0.Y();
+		M[2][0] = v0.Z();
 
-		M[0][2]=v2.X();
-		M[1][2]=v2.Y();
-		M[2][2]=v2.Z();
+		M[0][1] = v1.X();
+		M[1][1] = v1.Y();
+		M[2][1] = v1.Z();
 
-		Matrix33<ScalarType> inv_M =vcg::Inverse<ScalarType>(M);
+		M[0][2] = v2.X();
+		M[1][2] = v2.Y();
+		M[2][2] = v2.Z();
 
-		CoordType Barycentric=inv_M*v3;
+		Matrix33<ScalarType> inv_M = vcg::Inverse<ScalarType>(M);
 
-		a=Barycentric.V(0);
-		b=Barycentric.V(1);
-		d=Barycentric.V(2);
-		c=1-(a+b+d);
+		CoordType Barycentric = inv_M * v3;
 
+		a = Barycentric.V(0);
+		b = Barycentric.V(1);
+		d = Barycentric.V(2);
+		c = 1 - (a + b + d);
 	}
 
 }; //end Class
 
-// compute the barycenter
-template<class ScalarType>
-Point3<ScalarType> Barycenter(const Tetra3<ScalarType> &t) 
-{
-	return ((t.cP(0)+t.cP(1)+t.cP(2)+t.cP(3))/(ScalarType) 4.0);
-}
-
-// compute and return the volume of a tetrahedron
- template<class TetraType>
-typename TetraType::ScalarType ComputeVolume( const TetraType &  t){
-	return (typename TetraType::ScalarType)((( t.cP(2)-t.cP(0))^(t.cP(1)-t.cP(0) ))*(t.cP(3)-t.cP(0))/6.0);
-}
-		
-/// Returns the normal to the face face of the tetrahedron t
-template<class TetraType>
-Point3<typename TetraType::ScalarType> Normal( const TetraType &t,const int &face)
-{
-  return(((t.cP(Tetra::VofF(face,1))-t.cP(Tetra::VofF(face,0)))^(t.cP(Tetra::VofF(face,2))-t.cP(Tetra::VofF(face,0)))).Normalize());
-}
 /*@}*/
-}	 // end namespace
-
+} // namespace vcg
 
 #endif
-
diff --git a/vcg/space/texcoord2.h b/vcg/space/texcoord2.h
index 08934c10..df0cfbc5 100644
--- a/vcg/space/texcoord2.h
+++ b/vcg/space/texcoord2.h
@@ -2,7 +2,7 @@
 * VCGLib                                                            o o     *
 * Visual and Computer Graphics Library                            o     o   *
 *                                                                _   O  _   *
-* Copyright(C) 2004-2016                                           \/)\/    *
+* Copyright(C) 2004-2019                                           \/)\/    *
 * Visual Computing Lab                                            /\/|      *
 * ISTI - Italian National Research Council                           |      *
 *                                                                    \      *
@@ -36,56 +36,64 @@ namespace vcg {
   This class is templated over two parameters:
   - the type of the texture coord and
   - the number of texcoord to be stored. This is useful when you have multiple
- coordinate set for the same entity (e.g. when you have two completely different
- parametrizations over the same surface);
+    coordinate set for the same entity (e.g. when you have two completely different
+    parametrizations over the same surface);
 
-This class is intended to be used when multiple textures id are shared over the same surface.
-so for each coord the id of the texture is stored. If no texture id is needed see the vcg::TexCoord2Simple class.
+  This class is intended to be used when multiple textures id are shared over the same surface.
+  so for each coord the id of the texture is stored. If no texture id is needed see the vcg::TexCoord2Simple class.
 */
 
 template<class T = float, int NMAX = 1>
 class TexCoord2
 {
 public:
-  typedef Point2<T>  PointType;
-  typedef T ScalarType;
+	typedef Point2<T> PointType;
+	typedef T         ScalarType;
 
-
-private:
-    PointType _t[NMAX];
-    short     _n[NMAX];
+protected:
+	PointType _t[NMAX];
+	short     _n[NMAX];
 public:
 
-  TexCoord2(T u, T v) { if(NMAX>0) _n[0]=0; _t[0][0]=u; _t[0][1]=v; }
-  TexCoord2() {  }
+	TexCoord2(T u, T v){ _n[0]=0; _t[0][0]=u; _t[0][1]=v; }
+	TexCoord2() { }
 
-  inline const PointType &P() const { return _t[0]; }
-  inline PointType &P() { return _t[0]; }
+	inline const PointType &P() const { return _t[0]; }
+	inline PointType &P() { return _t[0]; }
 
-  inline const PointType &P(const int i) const { assert(i>0 && i<NMAX); return _t[i]; }
-  inline PointType &P(const int i) { assert(i>0 && i<NMAX); return _t[i]; }
+	inline const PointType &P(const int i) const { assert(i>=0 && i<NMAX); return _t[i]; }
+	inline PointType &P(const int i) { assert(i>=0 && i<NMAX); return _t[i]; }
 
-  /// Return a  reference to the u texture coordinate of the vertex
-  inline T       & U() { return _t[0][0]; }
-  /// Return a  reference to the v texture coordinate of the vertex
-    inline T       & V() { return _t[0][1]; }
-    /// Return a const reference to the u texture coordinate of the vertex
-    inline const T & U() const { return _t[0][0]; }
-    /// Return a const reference to the v texture coordinate of the vertex
-    inline const T & V() const { return _t[0][1]; }
-    inline T & U( int i) { assert(i>0 && i<NMAX);  return _t[i][0]; }
-    inline T & V( int i) { assert(i>0 && i<NMAX);  return _t[i][1]; }
-    inline const T & U( int i) const { assert(i>0 && i<NMAX); return _t[i][0]; }
-    inline const T & V( int i) const { assert(i>0 && i<NMAX); return _t[i][1]; }
+	/// Return a  reference to the u texture coordinate of the vertex
+	inline       T & U() { return _t[0][0]; }
+	/// Return a  reference to the v texture coordinate of the vertex
+	inline       T & V() { return _t[0][1]; }
+	/// Return a const reference to the u texture coordinate of the vertex
+	inline const T & U() const { return _t[0][0]; }
+	/// Return a const reference to the v texture coordinate of the vertex
+	inline const T & V() const { return _t[0][1]; }
+	inline       T & U( int i) { assert(i>=0 && i<NMAX);  return _t[i][0]; }
+	inline       T & V( int i) { assert(i>=0 && i<NMAX);  return _t[i][1]; }
+	inline const T & U( int i) const { assert(i>=0 && i<NMAX); return _t[i][0]; }
+	inline const T & V( int i) const { assert(i>=0 && i<NMAX); return _t[i][1]; }
 
-    /// Return a reference to the texture id of the vertex
-    inline short & N()       { return _n[0]; }
-    /// Return a const reference to the texture id of the vertex
-    inline short   N() const { return _n[0]; }
+	/// Return a reference to the texture id of the vertex
+	inline short & N()       { return _n[0]; }
+	/// Return a const reference to the texture id of the vertex
+	inline short   N() const { return _n[0]; }
 
-    inline short     & N(int i)       { assert(i>0 && i<NMAX); return _n[i]; }
-    inline short       N(int i) const { assert(i>0 && i<NMAX); return _n[i]; }
+	inline short & N(int i)       { assert(i>=0 && i<NMAX); return _n[i]; }
+	inline short   N(int i) const { assert(i>=0 && i<NMAX); return _n[i]; }
 
+	template <class S>
+	inline void Import( const TexCoord2<S> & tc )
+	{
+		for (int i=0; i<NMAX; i++)
+		{
+			_t[i].Import(tc.P(i));
+			_n[i] = tc.N(i);
+		}
+	}
 
   /* <OLD_METHODS> (lowercase ones). DEPRECATED. TO BE REMOVED SOON.*/
     /**/inline T & u() { return _t[0][0]; }
@@ -110,28 +118,28 @@ public:
     /**/inline Point2<T> t() const { return _t[0]; }
   /* </OLD_METHODS> */
 
-    inline bool operator == ( const TexCoord2  & p ) const
-        {
-         for(int i=0;i<NMAX;++i)
-             if(p._t[i] != _t[i] || p._n[i] != _n[i]) return false;
-         return true;
-        }
+	inline bool operator == ( const TexCoord2  & p ) const
+	{
+		for(int i=0;i<NMAX;++i)
+			if(p._t[i] != _t[i] || p._n[i] != _n[i]) return false;
+		return true;
+	}
 
-  inline bool operator != ( const TexCoord2 & p ) const
-        {
-         for(int i=0;i<NMAX;++i)
-             if(p._t[i] != _t[i] || p._n[i] != _n[i]) return true;
-         return false;
-        }
+	inline bool operator != ( const TexCoord2 & p ) const
+	{
+		for(int i=0;i<NMAX;++i)
+			if(p._t[i] != _t[i] || p._n[i] != _n[i]) return true;
+		return false;
+	}
 
-    inline bool operator < ( const TexCoord2  & p ) const
-        {
-         for(int i=0;i<NMAX;++i)
-             if(p._t[i] != _t[i]) return p._t[i] < _t[i];
-         return false;
-        }
+	inline bool operator < ( const TexCoord2  & p ) const
+	{
+		for(int i=0;i<NMAX;++i)
+			if(p._t[i] != _t[i]) return p._t[i] < _t[i];
+		return false;
+	}
 
-    enum { n_coords=NMAX };
+	enum { n_coords=NMAX };
 };
 
 /**
@@ -209,10 +217,10 @@ public:
     enum { n_coords=1};
 
 };
+
 typedef TexCoord2<float>  TexCoord2f;
 typedef TexCoord2<double> TexCoord2d;
 
-
 /*@}*/
 
 }
diff --git a/wrap/callback.h b/wrap/callback.h
index c496591c..4ad7db2a 100644
--- a/wrap/callback.h
+++ b/wrap/callback.h
@@ -19,40 +19,65 @@
 * GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
 * for more details.                                                         *
 *                                                                           *
-****************************************************************************/
-/****************************************************************************
-  History
-
-$Log: not supported by cvs2svn $
-Revision 1.3  2004/05/12 10:18:55  ganovelli
-new line added at the end of file
-
-Revision 1.2  2004/05/10 14:26:33  ganovelli
-argument name removed to avoid "unreference variable"warning
-
-Revision 1.1  2004/03/03 15:00:51  cignoni
-Initial commit
-
 ****************************************************************************/
 
 #ifndef __VCGLIB_CALLBACK
 #define __VCGLIB_CALLBACK
 
+#include <stdarg.h>  // For va_start, etc.
+#include <memory>    // For std::unique_ptr
+#include <iostream>
+#include <string.h>
+
 namespace vcg {
-// Generic Callback function:
-// Used to make algorithms interumpable
-// Return value: true continue, false break
-// The second callback is to know where we are (useful for progress bar)
-typedef bool CallBack( const char * str );
+/*! \brief This function allow lenghty algorithms to report progress and status.
+ *  
+ * This function is usually called from inside a long processing algorithm 
+ * with a reasonable frequency (e.g. not more that 10 times per sec) 
+ * reporting the what the algorithm is doing and at what point of the processing (as a int percentage) 
+ * we currently are. 
+ * 
+ * Users of the library usually rewrote this function to handle this reporting in the correct way 
+ * (e.g. in a log window and in a progress bar).
+ * 
+ * The algorithms in the library should also check the return value 
+ * to see if the user asked for an interruption, but they can ignore this request
+ * (hint: most of algs in the lib ignore any request).
+ */
+
 typedef bool CallBackPos(const int pos, const char * str );
 
-inline bool DummyCallBack( const char * ) {return true;}
 inline bool DummyCallBackPos(const int ,  const char * ) {return true;}
+inline bool COutCallBackPos(const int ,  const char *str ) {
+  std::cout << str; return true;
+}
+inline bool CErrCallBackPos(const int ,  const char *str ) {
+  std::cerr << str; return true;
+}
 
-/// interruptible function 
-typedef void TaskFunc(int t,void * contest); 
-	
-}	// End namespace
+/*! \brief Helper function that formats a string a la printf and returns a simple char*
+ * 
+ * Quite useful for formatting the above callback... 
+ */
 
+inline char* StrFormat(const std::string fmt_str, ...) {
+    int final_n, n = ((int)fmt_str.size()) * 2; /* Reserve two times as much as the length of the fmt_str */
+    std::unique_ptr<char[]> formatted;
+    va_list ap;
+    while(1) {
+        formatted.reset(new char[n]); /* Wrap the plain char array into the unique_ptr */
+        strcpy(&formatted[0], fmt_str.c_str());
+        va_start(ap, fmt_str);
+        final_n = vsnprintf(&formatted[0], n, fmt_str.c_str(), ap);
+        va_end(ap);
+        if (final_n < 0 || final_n >= n)
+            n += abs(final_n - n + 1);
+        else
+            break;
+    }
+    return formatted.get();
+}
+
+}// End namespace
 
 #endif
diff --git a/wrap/dae/colladaformat.h b/wrap/dae/colladaformat.h
index 72f137d3..29b6dfe7 100644
--- a/wrap/dae/colladaformat.h
+++ b/wrap/dae/colladaformat.h
@@ -760,7 +760,7 @@ namespace Tags
 	class BindVertexInputTag : public XMLTag
 	{
 	public:
-		BindVertexInputTag(const QString& semantic,const QString& input_semantic,const QString& input_set)
+		BindVertexInputTag(const QString& semantic,const QString& input_semantic,const QString& /*input_set*/)
 			:XMLTag("bind_vertex_input")
 		{
 			_attributes.push_back(TagAttribute("semantic",semantic));
diff --git a/wrap/dae/util_dae.h b/wrap/dae/util_dae.h
index 33cdb6e3..431dd143 100644
--- a/wrap/dae/util_dae.h
+++ b/wrap/dae/util_dae.h
@@ -24,7 +24,6 @@
 #define __VCGLIB_UTILDAE
 
 
-#include <vcg/complex/append.h>
 #include <wrap/io_trimesh/additionalinfo.h>
 #include <vcg/complex/algorithms/update/normal.h>
 #include <vcg/complex/algorithms/update/position.h>
@@ -97,7 +96,7 @@ namespace io {
 				"The importer assumes that the OpenMeshType uses a 3D point for the vertex position",
 				"There isn't any scene in Collada file",
 				"The input file is not compatible with COLLADA 1.41 standard format",
-				"Collada file is trying to referece an attribute that is not in the file",
+				"Collada file is trying to reference an attribute that is not in the file",
 				"This version of Collada Importer support only triangular and polygonal mesh file"
 			};
 
@@ -109,7 +108,7 @@ namespace io {
 		// For example 
 	  // <instance_geometry url="#shape0-lib">
 		// means that you have to search in the <library_geometries> for a node <geometry> with id = "shape0-lib"
-		// you have to call this function to get ther right refernece name
+		// you have to call this function to get the right reference name
 
 		inline static void referenceToANodeAttribute(const QDomNode n,const QString& attr,QString& url_st)
 		{
@@ -183,7 +182,7 @@ namespace io {
 			res = nd.simplified().split(" ",QString::SkipEmptyParts);
             if(res.empty())
                 {
-                    qDebug("Warning valueStringList returned and emtpy list. nothing inside element with tag '%s'", qPrintable(tag));
+                    qDebug("Warning valueStringList returned and empty list. nothing inside element with tag '%s'", qPrintable(tag));
                     return;
                 }
 			if (res.last() == "")
@@ -349,7 +348,7 @@ namespace io {
 		
 		
 		/* Very important procedure 
-			it has the task to finde the name of the image node corresponding to a given material id, 
+			it has the task to find the name of the image node corresponding to a given material id,
 			it assuemes that the material name that is passed have already been bound with the current bindings  
 		*/
 		
diff --git a/wrap/gl/gl_field.h b/wrap/gl/gl_field.h
index 121d9ae4..a1011584 100644
--- a/wrap/gl/gl_field.h
+++ b/wrap/gl/gl_field.h
@@ -18,59 +18,133 @@ class GLField
 public:
 
 	static void GLDrawField(CoordType dir[4],
-							CoordType center,
-                            ScalarType &size,
-                            bool onlyPD1=false,
-                            bool oneside=false)
-	{
-        ScalarType size1=size;
-        ScalarType size2=size;
-        if (oneside)size2=0;
+                            const CoordType &center,
+                            const ScalarType &size,
+                            const ScalarType &Width0,
+                            const ScalarType &Width1,
+                            const vcg::Color4b &Color0,
+                            const vcg::Color4b &Color1,
+                            bool oneside,
+                            bool onlyPD1)
+    {
+        CoordType dirN[4];
+        for (size_t i=0;i<4;i++)
+        {
+            dirN[i]=dir[i];
+            dirN[i].Normalize();
+        }
 
-        glLineWidth(2);
-        //vcg::glColor(vcg::Color4b(0,0,255,255));
-        vcg::glColor(vcg::Color4b(0,0,0,255));
+        ScalarType size1=size;
+        if (oneside)size1=0;
+
+        glLineWidth(Width0);
+        vcg::glColor(Color0);
         glBegin(GL_LINES);
-            glVertex(center+dir[0]*size1);
-            glVertex(center-dir[0]*size2);
+            glVertex(center+dirN[0]*size);
+            glVertex(center+dirN[2]*size1);
         glEnd();
 
         if (onlyPD1)return;
-        glLineWidth(2);
-        //vcg::glColor(vcg::Color4b(0,255,0,255));
-        vcg::glColor(vcg::Color4b(0,0,0,255));
+
+        glLineWidth(Width1);
+        vcg::glColor(Color1);
         glBegin(GL_LINES);
-            glVertex(center+dir[1]*size1);
-            glVertex(center-dir[1]*size2);
+            glVertex(center+dirN[1]*size);
+            glVertex(center+dirN[3]*size1);
         glEnd();
 
 	}
 
-    ///draw the cross field of a given face in a given position
-    static void GLDrawSingleFaceField(const FaceType &f,
-                                CoordType pos,
-                                ScalarType &size,
-                                bool onlyPD1=false,
-                                bool oneside=false)
-    {
-        CoordType center=pos;
-        CoordType normal=f.cN();
-        CoordType dir[4];
-        vcg::tri::CrossField<MeshType>::CrossVector(f,dir);
-        GLDrawField(dir,center,size,onlyPD1,oneside);
-    }
+//    ///draw the cross field of a given face in a given position
+//    static void GLDrawSingleFaceField(const FaceType &f,
+//                                     CoordType pos,
+//                                     ScalarType &size,
+//                                     bool onlyPD1,
+//                                     bool oneside)
+//    {
+//        CoordType center=pos;
+//        CoordType normal=f.cN();
+//        CoordType dir[4];
+//        vcg::tri::CrossField<MeshType>::CrossVector(f,dir);
+//        GLDrawField(dir,center,size,onlyPD1,oneside);
+//    }
 
 	///draw the cross field of a given face
     static void GLDrawSingleFaceField(const FaceType &f,
-                                ScalarType &size,
-                                bool onlyPD1=false,
-                                bool oneside=false)
+                                      const ScalarType &size,
+                                      const bool oneside,
+                                      const bool onlyPD1,
+                                      const ScalarType maxN,
+                                      const ScalarType minN,
+                                      const bool UseK)
 	{
+        assert(maxN>=minN);
         CoordType center=(f.cP(0)+f.cP(1)+f.cP(2))/3;
-		CoordType normal=f.cN();
+        //CoordType normal=f.cN();
 		CoordType dir[4];
 		vcg::tri::CrossField<MeshType>::CrossVector(f,dir);
-        GLDrawField(dir,center,size,onlyPD1,oneside);
+
+        if (maxN<=0)
+            GLDrawField(dir,center,size,2,2,vcg::Color4b(0,0,0,255),vcg::Color4b(0,0,0,255),oneside,onlyPD1);
+        else
+        {
+            ScalarType Norm0=dir[0].Norm();
+            ScalarType Norm1=dir[1].Norm();
+            if (UseK)
+            {
+                Norm0=f.cK1();
+                Norm1=f.cK2();
+            }
+            ScalarType MaxW=6;
+            ScalarType MinW=0.5;
+            ScalarType IntervW=MaxW-MinW;
+            if (Norm0>maxN)Norm0=maxN;
+            if (Norm1>maxN)Norm1=maxN;
+            if (Norm0<minN)Norm0=minN;
+            if (Norm1<minN)Norm1=minN;
+
+            vcg::Color4b Col0,Col1;
+            ScalarType W0,W1;
+            if (!UseK)
+            {
+               Col0=vcg::Color4b::ColorRamp(minN,maxN,Norm0);
+               Col1=vcg::Color4b::ColorRamp(minN,maxN,Norm1);
+               W0=(Norm0/(maxN-minN))*IntervW+MinW;
+               W1=(Norm1/(maxN-minN))*IntervW+MinW;
+            }
+            else
+            {
+               ScalarType MaxAbs=std::max(fabs(minN),fabs(maxN));
+               Col0=vcg::Color4b::ColorRamp(-MaxAbs,MaxAbs,Norm0);
+               Col1=vcg::Color4b::ColorRamp(-MaxAbs,MaxAbs,Norm1);
+//               if (Norm0<0)
+//               {
+//                   assert(minN<0);
+//                   //PUT green on ZERO
+//                   Col0=vcg::Color4b::ColorRamp(minN,fabs(minN),Norm0);
+
+//               }else
+//               {
+//                   //PUT green on ZERO
+//                   Col0=vcg::Color4b::ColorRamp(-maxN,maxN,Norm0);
+//               }
+
+//               if (Norm1<0)
+//               {
+//                   assert(minN<0);
+//                   //PUT green on ZERO
+//                   Col1=vcg::Color4b::ColorRamp(minN,fabs(minN),Norm1);
+//               }else
+//               {
+//                   //PUT green on ZERO
+//                   Col1=vcg::Color4b::ColorRamp(-maxN,maxN,Norm1);
+//               }
+               W0=(fabs(Norm0)/std::max(fabs(maxN),fabs(minN)))*IntervW+MinW;
+               W1=(fabs(Norm1)/std::max(fabs(maxN),fabs(minN)))*IntervW+MinW;
+
+            }
+            GLDrawField(dir,center,size,W0,W1,Col0,Col1,oneside,onlyPD1);
+        }
 	}
 	
 //    static void GLDrawFaceSeams(const FaceType &f,
@@ -97,14 +171,17 @@ public:
         CoordType normal=v.cN();
         CoordType dir[4];
         vcg::tri::CrossField<MeshType>::CrossVector(v,dir);
-        GLDrawField(dir,center,size);
+        GLDrawField(dir,center,size,2,2,vcg::Color4b(0,0,0,255),vcg::Color4b(0,0,0,255),false,false);
     }
 
 
     static void GLDrawFaceField(const MeshType &mesh,
-                                bool onlyPD1=false,
-                                bool oneside=false,
-                                ScalarType scale=0.002)
+                                bool onlyPD1,
+                                bool oneside,
+                                ScalarType GlobalScale=0.002,
+                                const ScalarType maxN=0,
+                                const ScalarType minN=0,
+                                bool UseK=false)
 	{
 
 		glPushAttrib(GL_ALL_ATTRIB_BITS);
@@ -112,11 +189,11 @@ public:
 		glEnable(GL_COLOR_MATERIAL);
         glDisable(GL_LIGHTING);
         glDisable(GL_BLEND);
-        ScalarType size=mesh.bbox.Diag()*scale;
+        ScalarType size=mesh.bbox.Diag()*GlobalScale;
         for (unsigned int i=0;i<mesh.face.size();i++)
 		{
             if (mesh.face[i].IsD())continue;
-            GLDrawSingleFaceField(mesh.face[i],size,onlyPD1,oneside);
+            GLDrawSingleFaceField(mesh.face[i],size,oneside,onlyPD1,maxN,minN,UseK);
 		}
 		glPopAttrib();
 	}
diff --git a/wrap/gl/gl_mesh_attributes_info.h b/wrap/gl/gl_mesh_attributes_info.h
index 60d96fb1..e0fec278 100644
--- a/wrap/gl/gl_mesh_attributes_info.h
+++ b/wrap/gl/gl_mesh_attributes_info.h
@@ -217,6 +217,20 @@ namespace vcg
                 return res;
             }
 
+            size_t serialize(std::string& str) const 
+            {
+              for (unsigned int ii = 0; ii < ATT_NAMES_DERIVED_CLASS::enumArity(); ++ii)
+                str.append(((_atts[ii]) ? "1" : "0"));
+              return ATT_NAMES_DERIVED_CLASS::enumArity();
+            }
+
+            void deserialize(const std::string& str)
+            {
+              std::bitset<ATT_NAMES_DERIVED_CLASS::ATT_ARITY> bset(str);
+              for (unsigned int ii = 0; ii < ATT_NAMES_DERIVED_CLASS::enumArity(); ++ii)
+                _atts[ATT_NAMES_DERIVED_CLASS::enumArity() - ii - 1] = bset[ii];
+            }
+
             //template<typename MESHTYPE>
             //static void computeARequestedAttributesSetCompatibleWithMesh(const MESHTYPE& mesh,const PRIMITIVE_MODALITY_MASK,RenderingAtts<ATT_NAMES_DERIVED_CLASS>& rqatt)
             //{
@@ -330,6 +344,8 @@ namespace vcg
         class InternalRendAtts : public RenderingAtts<INT_ATT_NAMES>
         {
         public:
+          typedef INT_ATT_NAMES AttName;
+
             InternalRendAtts()
                 :RenderingAtts<INT_ATT_NAMES>()
             {
diff --git a/wrap/gl/gl_mesh_attributes_multi_viewer_bo_manager.h b/wrap/gl/gl_mesh_attributes_multi_viewer_bo_manager.h
index 3ead992c..30feb0ef 100644
--- a/wrap/gl/gl_mesh_attributes_multi_viewer_bo_manager.h
+++ b/wrap/gl/gl_mesh_attributes_multi_viewer_bo_manager.h
@@ -41,313 +41,363 @@
 
 namespace vcg
 {
-    struct RenderingModalityGLOptions
-    {
-        bool _perbbox_enabled;
+	struct RenderingModalityGLOptions
+	{
+		bool _perbbox_enabled;
 
-        bool _perbbox_fixed_color_enabled;
-        bool _perpoint_fixed_color_enabled;
-        bool _perwire_fixed_color_enabled;
-        bool _persolid_fixed_color_enabled;
+		bool _perbbox_fixed_color_enabled;
+		bool _perpoint_fixed_color_enabled;
+		bool _perwire_fixed_color_enabled;
+		bool _persolid_fixed_color_enabled;
 
-        Color4b _perbbox_fixed_color;
-        Color4b _perpoint_fixed_color;
-        Color4b _perwire_fixed_color;
-        Color4b _persolid_fixed_color;
+		Color4b _perbbox_fixed_color;
+		Color4b _perpoint_fixed_color;
+		Color4b _perwire_fixed_color;
+		Color4b _persolid_fixed_color;
 
-        bool _perbbox_mesh_color_enabled;
-        bool _perpoint_mesh_color_enabled;
-        bool _perwire_mesh_color_enabled;
-        bool _persolid_mesh_color_enabled;
-        
-        bool _perpoint_noshading;
-        bool _perwire_noshading;
-        bool _persolid_noshading;
+		bool _perbbox_mesh_color_enabled;
+		bool _perpoint_mesh_color_enabled;
+		bool _perwire_mesh_color_enabled;
+		bool _persolid_mesh_color_enabled;
 
-        bool _perpoint_dot_enabled;
+		bool _perpoint_noshading;
+		bool _perwire_noshading;
+		bool _persolid_noshading;
 
-        float _perpoint_pointsize;
-        bool _perpoint_pointsmooth_enabled;
-        bool _perpoint_pointattenuation_enabled;
+		bool _perpoint_dot_enabled;
 
-        float _perwire_wirewidth;
+		float _perpoint_pointsize;
+		bool _perpoint_pointsmooth_enabled;
+		bool _perpoint_pointattenuation_enabled;
 
-        RenderingModalityGLOptions()
-        {
-            _perbbox_enabled = false;
+		float _perwire_wirewidth;
 
-            _perbbox_fixed_color_enabled = true;
-            _perpoint_fixed_color_enabled = false;
-            _perwire_fixed_color_enabled = true;
+		RenderingModalityGLOptions()
+		{
+			_perbbox_enabled = false;
+
+			_perbbox_fixed_color_enabled = true;
+			_perpoint_fixed_color_enabled = false;
+			_perwire_fixed_color_enabled = true;
 			_persolid_fixed_color_enabled = true;
 
-            _perbbox_fixed_color = vcg::Color4b(Color4b::White);
-            _perpoint_fixed_color = vcg::Color4b(Color4b::White);
-            _perwire_fixed_color = Color4b(Color4b::DarkGray);
-            _persolid_fixed_color = vcg::Color4b(Color4b::White);
+			_perbbox_fixed_color = vcg::Color4b(Color4b::White);
+			_perpoint_fixed_color = vcg::Color4b(Color4b::White);
+			_perwire_fixed_color = Color4b(Color4b::DarkGray);
+			_persolid_fixed_color = vcg::Color4b(Color4b::White);
 
-            _perbbox_mesh_color_enabled = false;
-            _perpoint_mesh_color_enabled = false;
-            _perwire_mesh_color_enabled = false;
+			_perbbox_mesh_color_enabled = false;
+			_perpoint_mesh_color_enabled = false;
+			_perwire_mesh_color_enabled = false;
 			_persolid_mesh_color_enabled = false;
 
-            _perpoint_dot_enabled = false;
+			_perpoint_dot_enabled = false;
 
-            _perpoint_noshading = false;
-            _perwire_noshading = true;
-            _persolid_noshading = false;
+			_perpoint_noshading = false;
+			_perwire_noshading = true;
+			_persolid_noshading = false;
 
-            _perpoint_pointsize = 1.0f;
-            _perpoint_pointsmooth_enabled = false;
-            _perpoint_pointattenuation_enabled = true;
-            _perwire_wirewidth = 1.0f;
-        }
+			_perpoint_pointsize = 3.0f;
+			_perpoint_pointsmooth_enabled = false;
+			_perpoint_pointattenuation_enabled = true;
+			_perwire_wirewidth = 1.0f;
+		}
 
-        RenderingModalityGLOptions(const RenderingModalityGLOptions& opts)
-        {
-            copyData(opts);
-        }
+		RenderingModalityGLOptions(const RenderingModalityGLOptions& opts)
+		{
+			copyData(opts);
+		}
 
-        virtual ~RenderingModalityGLOptions()
-        {
-        }
+		virtual ~RenderingModalityGLOptions()
+		{
+		}
 
-        RenderingModalityGLOptions& operator=(const RenderingModalityGLOptions& opts)
-        {
-            copyData(opts);
-            return (*this);
-        }
+		RenderingModalityGLOptions& operator=(const RenderingModalityGLOptions& opts)
+		{
+			copyData(opts);
+			return (*this);
+		}
+
+	private:
+		void copyData(const RenderingModalityGLOptions& opts)
+		{
+			_perbbox_enabled = opts._perbbox_enabled;
+
+			_perpoint_dot_enabled = opts._perpoint_dot_enabled;
+			_perpoint_pointsize = opts._perpoint_pointsize;
+			_perpoint_pointsmooth_enabled = opts._perpoint_pointsmooth_enabled;
+			_perpoint_pointattenuation_enabled = opts._perpoint_pointattenuation_enabled;
+
+			_perbbox_fixed_color_enabled = opts._perbbox_fixed_color_enabled;
+			_perpoint_fixed_color_enabled = opts._perpoint_fixed_color_enabled;
+			_perwire_fixed_color_enabled = opts._perwire_fixed_color_enabled;
+			_persolid_fixed_color_enabled = opts._persolid_fixed_color_enabled;
+
+			_perbbox_mesh_color_enabled = opts._perbbox_mesh_color_enabled;
+			_perpoint_mesh_color_enabled = opts._perpoint_mesh_color_enabled;
+			_perwire_mesh_color_enabled = opts._perwire_mesh_color_enabled;
+			_persolid_mesh_color_enabled = opts._persolid_mesh_color_enabled;
+
+			_perbbox_fixed_color = opts._perbbox_fixed_color;
+			_perpoint_fixed_color = opts._perpoint_fixed_color;
+			_perwire_fixed_color = opts._perwire_fixed_color;
+			_persolid_fixed_color = opts._persolid_fixed_color;
+
+			_perpoint_noshading = opts._perpoint_noshading;
+			_perwire_noshading = opts._perwire_noshading;
+			_persolid_noshading = opts._persolid_noshading;
+
+			_perwire_wirewidth = opts._perwire_wirewidth;
+		}
+	};
+
+	template<typename GL_OPTIONS_DERIVED_TYPE = RenderingModalityGLOptions>
+	class PerViewData : public GLMeshAttributesInfo
+	{
+	public:
+
+		typedef GL_OPTIONS_DERIVED_TYPE GLOptionsType;
+
+		PerViewData()
+			:_pmmask(), _intatts(PR_ARITY), _glopts(NULL)
+		{
+			reset();
+		}
 
 
-    private:
-        void copyData(const RenderingModalityGLOptions& opts)
-        {
-            _perbbox_enabled = opts._perbbox_enabled;
+		PerViewData(const PerViewData<GL_OPTIONS_DERIVED_TYPE>& dt)
+			:_pmmask(dt._pmmask), _intatts(dt._intatts), _glopts(NULL)
+		{
+			if (dt._glopts != NULL)
+				_glopts = new GL_OPTIONS_DERIVED_TYPE(*(dt._glopts));
+		}
 
-            _perpoint_dot_enabled = opts._perpoint_dot_enabled; 
-            _perpoint_pointsize = opts._perpoint_pointsize;
-            _perpoint_pointsmooth_enabled = opts._perpoint_pointsmooth_enabled;
-            _perpoint_pointattenuation_enabled = opts._perpoint_pointattenuation_enabled;
+		~PerViewData()
+		{
+			_intatts.clear();
+			delete _glopts;
+		}
 
-            _perbbox_fixed_color_enabled = opts._perbbox_fixed_color_enabled;
-            _perpoint_fixed_color_enabled = opts._perpoint_fixed_color_enabled;
-            _perwire_fixed_color_enabled = opts._perwire_fixed_color_enabled;
-            _persolid_fixed_color_enabled = opts._persolid_fixed_color_enabled;
+		PerViewData& operator=(const PerViewData<GL_OPTIONS_DERIVED_TYPE>& dt)
+		{
+			_pmmask = dt._pmmask;
+			_intatts = dt._intatts;
+			if (dt._glopts != NULL)
+				_glopts = new GL_OPTIONS_DERIVED_TYPE(*(dt._glopts));
+			return (*this);
+		}
 
-            _perbbox_mesh_color_enabled = opts._perbbox_mesh_color_enabled;
-            _perpoint_mesh_color_enabled = opts._perpoint_mesh_color_enabled;
-            _perwire_mesh_color_enabled = opts._perwire_mesh_color_enabled;
-            _persolid_mesh_color_enabled = opts._persolid_mesh_color_enabled;
-            
-            _perbbox_fixed_color = opts._perbbox_fixed_color;
-            _perpoint_fixed_color = opts._perpoint_fixed_color;
-            _perwire_fixed_color = opts._perwire_fixed_color;
-            _persolid_fixed_color = opts._persolid_fixed_color;
+		bool set(PRIMITIVE_MODALITY pm, const RendAtts& atts)
+		{
+			size_t pmind(pm);
+			if (pm >= _intatts.size())
+				return false;
+			//_pmmask.set(pm);
+			_intatts[pmind] = InternalRendAtts(atts, pm);
+			_pmmask.set(size_t(pm), _intatts[pmind][INT_ATT_NAMES::ATT_VERTPOSITION]);
+			return true;
+		}
 
-            _perpoint_noshading = opts._perpoint_noshading;
-            _perwire_noshading = opts._perwire_noshading;
-            _persolid_noshading = opts._persolid_noshading;
+		bool set(PRIMITIVE_MODALITY pm, ATT_NAMES att, bool onoff)
+		{
+			size_t pmind(pm);
+			if (pm >= _intatts.size())
+				return false;
+			_intatts[pmind][att] = onoff;
+			_pmmask.set(size_t(pm), _intatts[pmind][INT_ATT_NAMES::ATT_VERTPOSITION]);
+			if (_pmmask.test(size_t(pm)))
+				_intatts[pmind].setIndexingIfNeeded(pm);
+			return true;
+		}
 
-            _perwire_wirewidth = opts._perwire_wirewidth;
-        }
-    };
+		bool set(PRIMITIVE_MODALITY pm, bool onoff)
+		{
+			return set(pm, INT_ATT_NAMES::ATT_VERTPOSITION, onoff);
+		}
 
-    template<typename GL_OPTIONS_DERIVED_TYPE = RenderingModalityGLOptions>
-    class PerViewData : public GLMeshAttributesInfo
-    {
-    public:
-        PerViewData()
-            :_pmmask(),_intatts(PR_ARITY),_glopts(NULL)
-        {
-            reset();
-        }
+		void set(const GL_OPTIONS_DERIVED_TYPE& opts)
+		{
+			delete _glopts;
+			_glopts = new GL_OPTIONS_DERIVED_TYPE(opts);
+		}
+
+		bool isPrimitiveActive(PRIMITIVE_MODALITY pm) const
+		{
+			if (pm == PR_ARITY)
+				return false;
+			return (_pmmask.test(pm) && _intatts[size_t(pm)][INT_ATT_NAMES::ATT_VERTPOSITION]);
+		}
+
+		PRIMITIVE_MODALITY_MASK getPrimitiveModalityMask() const
+		{
+			return _pmmask;
+		}
+
+		bool get(PRIMITIVE_MODALITY pm, RendAtts& atts) const
+		{
+			size_t pmind(pm);
+			if (pm >= _intatts.size())
+				return false;
+			atts = _intatts[pmind];
+			return true;
+		}
+
+		bool get(GL_OPTIONS_DERIVED_TYPE& opts) const
+		{
+			if (_glopts == NULL)
+				return false;
+			opts = (*_glopts);
+			return true;
+		}
+
+		void reset(bool deleteglopts = true)
+		{
+			_pmmask.reset();
+			for (typename PerRendModData::iterator it = _intatts.begin(); it != _intatts.end(); ++it)
+				it->reset();
+			if (deleteglopts)
+			{
+				delete _glopts;
+				_glopts = 0;
+			}
+		}
 
 
-        PerViewData(const PerViewData<GL_OPTIONS_DERIVED_TYPE>& dt)
-            :_pmmask(dt._pmmask),_intatts(dt._intatts),_glopts(NULL)
-        {
-            if (dt._glopts != NULL)
-                _glopts = new GL_OPTIONS_DERIVED_TYPE(*(dt._glopts));
-        }
+		void serialize(std::string& str) const
+		{
+			str.append(_pmmask.to_string());
+			for (typename PerRendModData::const_iterator it = _intatts.begin(); it != _intatts.end(); ++it)
+			{
+				std::string s;
+				it->serialize(s);
+				str.append(s);
+			}
+			std::string s;
+			_glopts->serialize(s);
+			str.append(s);
+		}
 
-        ~PerViewData()
-        {
-            _intatts.clear();
-            delete _glopts;
-        }
+		bool deserialize(const std::string& str)
+		{
+			std::string::size_type pos = 0;
+			std::string token[6];
+			token[0] = str.substr(pos, _pmmask.size());
+			if (token[0].length() < _pmmask.size())
+				return false;
+			int i = 1;
+			pos = _pmmask.size();
+			for (typename PerRendModData::iterator it = _intatts.begin(); it != _intatts.end(); ++it, i++)
+			{
+				token[i] = str.substr(pos, InternalRendAtts::AttName::enumArity());
+				if (token[i].length() < InternalRendAtts::AttName::enumArity())
+					return false;
+				pos = pos + InternalRendAtts::AttName::enumArity();
+			}
+			if (_glopts != NULL)
+			{
+				std::string tmp;
+				size_t size = _glopts->serialize(tmp);
+				token[i] = str.substr(pos, size);
+				if (token[i].length() < size)
+					return false;
+			}
+			_pmmask = PRIMITIVE_MODALITY_MASK(token[0]);
+			i = 1;
+			for (typename PerRendModData::iterator it = _intatts.begin(); it != _intatts.end(); ++it, i++)
+				it->deserialize(token[i]);
+			if (_glopts != NULL)
+				_glopts->deserialize(token[i]);
+			return true;
+		}
 
-        PerViewData& operator=(const PerViewData<GL_OPTIONS_DERIVED_TYPE>& dt)
-        {
-            _pmmask = dt._pmmask;
-            _intatts = dt._intatts;
-            if (dt._glopts != NULL)
-                _glopts = new GL_OPTIONS_DERIVED_TYPE(*(dt._glopts));
-            return (*this);
-        }
+	protected:
+		template<typename MESH_TYPE, typename UNIQUE_VIEW_ID_TYPE, typename XX_GL_OPTIONS_DERIVED_TYPE> friend class NotThreadSafeGLMeshAttributesMultiViewerBOManager;
 
-        bool set(PRIMITIVE_MODALITY pm,const RendAtts& atts)
-        {
-            size_t pmind(pm);
-            if (pm >= _intatts.size())
-                return false;
-            //_pmmask.set(pm);
-            _intatts[pmind] = InternalRendAtts(atts,pm);
-            _pmmask.set(size_t(pm),_intatts[pmind][INT_ATT_NAMES::ATT_VERTPOSITION]);
-            return true;
-        }
+		typedef std::vector<InternalRendAtts> PerRendModData;
 
-        bool set(PRIMITIVE_MODALITY pm,ATT_NAMES att,bool onoff)
-        {
-            size_t pmind(pm);
-            if (pm >= _intatts.size())
-                return false;
-            _intatts[pmind][att] = onoff;
-            _pmmask.set(size_t(pm),_intatts[pmind][INT_ATT_NAMES::ATT_VERTPOSITION]);
-            if (_pmmask.test(size_t(pm)))
-                _intatts[pmind].setIndexingIfNeeded(pm);
-            return true;
-        }
+		PRIMITIVE_MODALITY_MASK _pmmask;
+		PerRendModData _intatts;
 
-        bool set(PRIMITIVE_MODALITY pm,bool onoff)
-        {
-            return set(pm,INT_ATT_NAMES::ATT_VERTPOSITION,onoff);
-        }
+		GL_OPTIONS_DERIVED_TYPE* _glopts;
+	};
 
-        void set(const GL_OPTIONS_DERIVED_TYPE& opts)
-        {
-            delete _glopts;
-            _glopts = new GL_OPTIONS_DERIVED_TYPE(opts); 
-        }
+	/****************************************************WARNING!!!!!!!!!!!!!!!!!*********************************************************************************************/
+	//You must inherit from NotThreadSafeGLMeshAttributesMultiViewerBOManager, providing thread safe mechanisms, in order to use the bo facilities exposed by the class.
+	//In wrap/qt/qt_thread_safe_memory_rendering.h you will find a ready to use class based on QtConcurrency module.
+	/*************************************************************************************************************************************************************************/
+	template<typename MESH_TYPE, typename UNIQUE_VIEW_ID_TYPE = unsigned int, typename GL_OPTIONS_DERIVED_TYPE = RenderingModalityGLOptions>
+	class NotThreadSafeGLMeshAttributesMultiViewerBOManager : public GLMeshAttributesInfo
+	{
+	public:
+		typedef PerViewData<GL_OPTIONS_DERIVED_TYPE> PVData;
 
-        bool isPrimitiveActive(PRIMITIVE_MODALITY pm) const
-        {
-            if (pm == PR_ARITY)
-                return false;
-            return (_pmmask.test(pm) && _intatts[size_t(pm)][INT_ATT_NAMES::ATT_VERTPOSITION]);
-        }
+	protected:
+		/****************************************************WARNING!!!!!!!!!!!!!!!!!*********************************************************************************************/
+		//You must inherit from NotThreadSafeGLMeshAttributesMultiViewerBOManager, providing thread safe mechanisms, in order to use the bo facilities exposed by the class.
+		//In wrap/qt/qt_thread_safe_memory_rendering.h you will find a ready to use class based on QtConcurrency module.
+		/*************************************************************************************************************************************************************************/
 
-        PRIMITIVE_MODALITY_MASK getPrimitiveModalityMask() const
-        {
-            return _pmmask;
-        }
+		NotThreadSafeGLMeshAttributesMultiViewerBOManager(/*const*/ MESH_TYPE& mesh, MemoryInfo& meminfo, size_t perbatchprimitives)
+			:_mesh(mesh), _gpumeminfo(meminfo), _bo(INT_ATT_NAMES::enumArity(), NULL), _currallocatedboatt(), _borendering(false), _perbatchprim(perbatchprimitives), _chunkmap(),  _edge(), _meshverticeswhenedgeindiceswerecomputed(0), _meshtriangleswhenedgeindiceswerecomputed(0), _tr(), _debugmode(false), _loginfo(), _meaningfulattsperprimitive(PR_ARITY, InternalRendAtts())
+		{
+			_tr.SetIdentity();
+			_bo[INT_ATT_NAMES::ATT_VERTPOSITION] = new GLBufferObject(3, GL_FLOAT, GL_VERTEX_ARRAY, GL_ARRAY_BUFFER);
+			_bo[INT_ATT_NAMES::ATT_VERTNORMAL] = new GLBufferObject(3, GL_FLOAT, GL_NORMAL_ARRAY, GL_ARRAY_BUFFER);
+			_bo[INT_ATT_NAMES::ATT_FACENORMAL] = new GLBufferObject(3, GL_FLOAT, GL_NORMAL_ARRAY, GL_ARRAY_BUFFER);
+			_bo[INT_ATT_NAMES::ATT_VERTCOLOR] = new GLBufferObject(4, GL_UNSIGNED_BYTE, GL_COLOR_ARRAY, GL_ARRAY_BUFFER);
+			_bo[INT_ATT_NAMES::ATT_FACECOLOR] = new GLBufferObject(4, GL_UNSIGNED_BYTE, GL_COLOR_ARRAY, GL_ARRAY_BUFFER);
+			/*MESHCOLOR has not a buffer object associated with it. It's just a call to glColor3f. it's anyway added to the _bo arrays for sake of coherence*/
+			//_bo[INT_ATT_NAMES::ATT_FIXEDCOLOR] = NULL;
+			_bo[INT_ATT_NAMES::ATT_VERTTEXTURE] = new GLBufferObject(2, GL_FLOAT, GL_TEXTURE_COORD_ARRAY, GL_ARRAY_BUFFER);
+			_bo[INT_ATT_NAMES::ATT_WEDGETEXTURE] = new GLBufferObject(2, GL_FLOAT, GL_TEXTURE_COORD_ARRAY, GL_ARRAY_BUFFER);
+			_bo[INT_ATT_NAMES::ATT_VERTINDICES] = new GLBufferObject(3, GL_UNSIGNED_INT, GL_ELEMENT_ARRAY_BUFFER);
+			_bo[INT_ATT_NAMES::ATT_EDGEINDICES] = new GLBufferObject(2, GL_UNSIGNED_INT, GL_ELEMENT_ARRAY_BUFFER);
 
-        bool get(PRIMITIVE_MODALITY pm,RendAtts& atts) const
-        {
-            size_t pmind(pm);
-            if (pm >= _intatts.size())
-                return false;
-            atts = _intatts[pmind];
-            return true;
-        } 
-
-        bool get(GL_OPTIONS_DERIVED_TYPE& opts) const
-        {
-            if (_glopts == NULL)
-                return false;
-            opts = (*_glopts);
-            return true;
-        }
-
-        void reset(bool deleteglopts = true)
-        {
-            _pmmask.reset();
-            for(typename PerRendModData::iterator it = _intatts.begin();it != _intatts.end();++it)
-                it->reset();
-            if (deleteglopts)
-            {
-                delete _glopts;
-                _glopts = 0;
-            }
-        }
-
-    protected:
-        template<typename MESH_TYPE,typename UNIQUE_VIEW_ID_TYPE, typename XX_GL_OPTIONS_DERIVED_TYPE> friend class NotThreadSafeGLMeshAttributesMultiViewerBOManager;
-
-        typedef std::vector<InternalRendAtts> PerRendModData;
-
-        PRIMITIVE_MODALITY_MASK _pmmask;
-        PerRendModData _intatts;
-
-        GL_OPTIONS_DERIVED_TYPE* _glopts;
-    };
-
-    /****************************************************WARNING!!!!!!!!!!!!!!!!!*********************************************************************************************/ 
-    //You must inherit from NotThreadSafeGLMeshAttributesMultiViewerBOManager, providing thread safe mechanisms, in order to use the bo facilities exposed by the class.
-    //In wrap/qt/qt_thread_safe_memory_rendering.h you will find a ready to use class based on QtConcurrency module.
-    /*************************************************************************************************************************************************************************/
-    template<typename MESH_TYPE,typename UNIQUE_VIEW_ID_TYPE = unsigned int,typename GL_OPTIONS_DERIVED_TYPE = RenderingModalityGLOptions>
-    class NotThreadSafeGLMeshAttributesMultiViewerBOManager : public GLMeshAttributesInfo
-    {
-    public:
-        typedef PerViewData<GL_OPTIONS_DERIVED_TYPE> PVData;
-
-    protected:
-        /****************************************************WARNING!!!!!!!!!!!!!!!!!*********************************************************************************************/ 
-        //You must inherit from NotThreadSafeGLMeshAttributesMultiViewerBOManager, providing thread safe mechanisms, in order to use the bo facilities exposed by the class.
-        //In wrap/qt/qt_thread_safe_memory_rendering.h you will find a ready to use class based on QtConcurrency module.
-        /*************************************************************************************************************************************************************************/
-
-        NotThreadSafeGLMeshAttributesMultiViewerBOManager(/*const*/ MESH_TYPE& mesh,MemoryInfo& meminfo, size_t perbatchprimitives)
-            :_mesh(mesh),_gpumeminfo(meminfo),_bo(INT_ATT_NAMES::enumArity(),NULL),_currallocatedboatt(),_perbatchprim(perbatchprimitives),_chunkmap(),_borendering(false),_edge(),_meshverticeswhenedgeindiceswerecomputed(0),_meshtriangleswhenedgeindiceswerecomputed(0),_tr(),_debugmode(false),_loginfo(),_meaningfulattsperprimitive(PR_ARITY,InternalRendAtts())
-        {
-            _tr.SetIdentity();
-            _bo[INT_ATT_NAMES::ATT_VERTPOSITION] = new GLBufferObject(3,GL_FLOAT,GL_VERTEX_ARRAY,GL_ARRAY_BUFFER);
-            _bo[INT_ATT_NAMES::ATT_VERTNORMAL] = new GLBufferObject(3,GL_FLOAT,GL_NORMAL_ARRAY,GL_ARRAY_BUFFER);
-            _bo[INT_ATT_NAMES::ATT_FACENORMAL] = new GLBufferObject(3,GL_FLOAT,GL_NORMAL_ARRAY,GL_ARRAY_BUFFER);
-            _bo[INT_ATT_NAMES::ATT_VERTCOLOR] = new GLBufferObject(4,GL_UNSIGNED_BYTE,GL_COLOR_ARRAY,GL_ARRAY_BUFFER);
-            _bo[INT_ATT_NAMES::ATT_FACECOLOR] = new GLBufferObject(4,GL_UNSIGNED_BYTE,GL_COLOR_ARRAY,GL_ARRAY_BUFFER);
-            /*MESHCOLOR has not a buffer object associated with it. It's just a call to glColor3f. it's anyway added to the _bo arrays for sake of coherence*/
-            //_bo[INT_ATT_NAMES::ATT_FIXEDCOLOR] = NULL;
-            _bo[INT_ATT_NAMES::ATT_VERTTEXTURE] = new GLBufferObject(2,GL_FLOAT,GL_TEXTURE_COORD_ARRAY,GL_ARRAY_BUFFER);
-            _bo[INT_ATT_NAMES::ATT_WEDGETEXTURE] = new GLBufferObject(2,GL_FLOAT,GL_TEXTURE_COORD_ARRAY,GL_ARRAY_BUFFER);
-            _bo[INT_ATT_NAMES::ATT_VERTINDICES] = new GLBufferObject(3,GL_UNSIGNED_INT,GL_ELEMENT_ARRAY_BUFFER);
-            _bo[INT_ATT_NAMES::ATT_EDGEINDICES] = new GLBufferObject(2,GL_UNSIGNED_INT,GL_ELEMENT_ARRAY_BUFFER);
-
-            initMeaningfulAttsMask();
-        }
+			initMeaningfulAttsMask();
+		}
 
 
-        ~NotThreadSafeGLMeshAttributesMultiViewerBOManager()
-        {
-            _edge.clear();
-            for(size_t ii = 0;ii < _bo.size();++ii)
-                delete _bo[ii];
-            _bo.clear();
-        }
+		~NotThreadSafeGLMeshAttributesMultiViewerBOManager()
+		{
+			_edge.clear();
+			for (size_t ii = 0; ii < _bo.size(); ++ii)
+				delete _bo[ii];
+			_bo.clear();
+		}
 
-        /*MeshAttributesUpdate will force the buffer allocation only of the bo rendered at least by one viewer. */
-        /*If a filter add to a mesh, for instance, a per vertex color attribute that was not previously rendered, the meshAttributesUpdate() will ignore the attribute until a viewer require explicitly to render the per-vertex-color, too*/
-        /*In order to do it, please, call the setPerViewRendAtts() setting up for at least one the existing viewer (or adding a new viewer) in the RendAtts reqatts parameter the reqatts[ATT_VERTCOLOR] to true value. */  
-        void meshAttributesUpdated(bool hasmeshconnectivitychanged,const RendAtts& changedrendatts)
-        {
-            InternalRendAtts tobeupdated(changedrendatts);
-            tobeupdated[INT_ATT_NAMES::ATT_VERTINDICES] = hasmeshconnectivitychanged; 
-            tobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES] = hasmeshconnectivitychanged;
-            for(unsigned int ii = 0;ii < INT_ATT_NAMES::enumArity();++ii)
-            {
-                INT_ATT_NAMES boname(ii);
-                if (_bo[boname] != NULL)
-                    _bo[boname]->_isvalid = (_bo[boname]->_isvalid) && !(tobeupdated[boname]);    
-            }
-        }
+		/*MeshAttributesUpdate will force the buffer allocation only of the bo rendered at least by one viewer. */
+		/*If a filter add to a mesh, for instance, a per vertex color attribute that was not previously rendered, the meshAttributesUpdate() will ignore the attribute until a viewer require explicitly to render the per-vertex-color, too*/
+		/*In order to do it, please, call the setPerViewRendAtts() setting up for at least one the existing viewer (or adding a new viewer) in the RendAtts reqatts parameter the reqatts[ATT_VERTCOLOR] to true value. */
+		void meshAttributesUpdated(bool hasmeshconnectivitychanged, const RendAtts& changedrendatts)
+		{
+			InternalRendAtts tobeupdated(changedrendatts);
+			tobeupdated[INT_ATT_NAMES::ATT_VERTINDICES] = hasmeshconnectivitychanged;
+			tobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES] = hasmeshconnectivitychanged;
+			for (unsigned int ii = 0; ii < INT_ATT_NAMES::enumArity(); ++ii)
+			{
+				INT_ATT_NAMES boname(ii);
+				if (_bo[boname] != NULL)
+					_bo[boname]->_isvalid = (_bo[boname]->_isvalid) && !(tobeupdated[boname]);
+			}
+		}
 
-        bool getPerViewInfo(UNIQUE_VIEW_ID_TYPE viewid,PVData& data) const
-        {
-            typename ViewsMap::const_iterator it = _perviewreqatts.find(viewid);
-            if (it == _perviewreqatts.end())
-                return false;
-            data = it->second;
-            return true;
-        }
+		bool getPerViewInfo(UNIQUE_VIEW_ID_TYPE viewid, PVData& data) const
+		{
+			typename ViewsMap::const_iterator it = _perviewreqatts.find(viewid);
+			if (it == _perviewreqatts.end())
+				return false;
+			data = it->second;
+			return true;
+		}
 
-        void setPerViewInfo(UNIQUE_VIEW_ID_TYPE viewid,const PVData& data)
-        {
-            ///cleanup stage...if an attribute impossible for a primitive modality is still here (it should not be...) we change the required atts into the view
-            PVData copydt(data);
-            for(PRIMITIVE_MODALITY pm = PRIMITIVE_MODALITY(0); pm < PR_ARITY;pm = next(pm))
-                copydt._intatts[pm] = InternalRendAtts::intersectionSet(copydt._intatts[size_t(pm)],_meaningfulattsperprimitive[size_t(pm)]);
-            _perviewreqatts[viewid] = copydt;
-        }
+		void setPerViewInfo(UNIQUE_VIEW_ID_TYPE viewid, const PVData& data)
+		{
+			///cleanup stage...if an attribute impossible for a primitive modality is still here (it should not be...) we change the required atts into the view
+			PVData copydt(data);
+			for (PRIMITIVE_MODALITY pm = PRIMITIVE_MODALITY(0); pm < PR_ARITY; pm = next(pm))
+				copydt._intatts[pm] = InternalRendAtts::intersectionSet(copydt._intatts[size_t(pm)], _meaningfulattsperprimitive[size_t(pm)]);
+			_perviewreqatts[viewid] = copydt;
+		}
 
 		void setPerAllViewsInfo(const PVData& data)
 		{
@@ -359,44 +409,44 @@ namespace vcg
 				it->second = copydt;
 		}
 
-        bool removeView(UNIQUE_VIEW_ID_TYPE viewid)
-        {
-            typename ViewsMap::iterator it = _perviewreqatts.find(viewid);
-            if (it == _perviewreqatts.end())
-                return false;
-            _perviewreqatts.erase(viewid);
-            return true;
-        }
+		bool removeView(UNIQUE_VIEW_ID_TYPE viewid)
+		{
+			typename ViewsMap::iterator it = _perviewreqatts.find(viewid);
+			if (it == _perviewreqatts.end())
+				return false;
+			_perviewreqatts.erase(viewid);
+			return true;
+		}
 
-        void removeAllViews()
-        {
-            _perviewreqatts.clear();
-        }
+		void removeAllViews()
+		{
+			_perviewreqatts.clear();
+		}
 
-        void draw(UNIQUE_VIEW_ID_TYPE viewid,const std::vector<GLuint>& textid = std::vector<GLuint>()) const
-        {       
-            typename ViewsMap::const_iterator it = _perviewreqatts.find(viewid);
-            if (it == _perviewreqatts.end())
-                return;
+		void draw(UNIQUE_VIEW_ID_TYPE viewid, const std::vector<GLuint>& textid = std::vector<GLuint>()) const
+		{
+			typename ViewsMap::const_iterator it = _perviewreqatts.find(viewid);
+			if (it == _perviewreqatts.end())
+				return;
 
-            const PVData& dt = it->second;
-            //const InternalRendAtts& atts = it->second._intatts;
+			const PVData& dt = it->second;
+			//const InternalRendAtts& atts = it->second._intatts;
 			drawFun(dt, textid);
-        }
+		}
 
-		
-		void drawAllocatedAttributesSubset(UNIQUE_VIEW_ID_TYPE viewid,const PVData& dt, const std::vector<GLuint>& textid = std::vector<GLuint>()) const
+
+		void drawAllocatedAttributesSubset(UNIQUE_VIEW_ID_TYPE viewid, const PVData& dt, const std::vector<GLuint>& textid = std::vector<GLuint>()) const
 		{
 			typename ViewsMap::const_iterator it = _perviewreqatts.find(viewid);
 			if (it == _perviewreqatts.end())
 				return;
 
 			PVData tmp = dt;
-			
+
 			if (!(_currallocatedboatt[INT_ATT_NAMES::ATT_VERTPOSITION]))
 			{
 				for (PRIMITIVE_MODALITY pm = PRIMITIVE_MODALITY(0); pm < PR_ARITY; pm = next(pm))
-				{		
+				{
 					tmp._pmmask[size_t(pm)] = 0;
 					tmp._intatts[size_t(pm)] = InternalRendAtts();
 				}
@@ -405,857 +455,857 @@ namespace vcg
 			{
 				for (PRIMITIVE_MODALITY pm = PRIMITIVE_MODALITY(0); pm < PR_ARITY; pm = next(pm))
 				{
-					tmp._intatts[size_t(pm)] = InternalRendAtts::intersectionSet(tmp._intatts[size_t(pm)],_meaningfulattsperprimitive[size_t(pm)]);
-					tmp._intatts[size_t(pm)] = InternalRendAtts::intersectionSet(tmp._intatts[size_t(pm)],_currallocatedboatt);
+					tmp._intatts[size_t(pm)] = InternalRendAtts::intersectionSet(tmp._intatts[size_t(pm)], _meaningfulattsperprimitive[size_t(pm)]);
+					tmp._intatts[size_t(pm)] = InternalRendAtts::intersectionSet(tmp._intatts[size_t(pm)], _currallocatedboatt);
 				}
 			}
 			drawFun(dt, textid);
 		}
 
-        bool isBORenderingAvailable() const
-        {
-            return _borendering;
-        }
+		bool isBORenderingAvailable() const
+		{
+			return _borendering;
+		}
 
-        bool manageBuffers()
-        {
-            InternalRendAtts tobeallocated;
-            InternalRendAtts tobedeallocated;
-            InternalRendAtts tobeupdated;
-            bool correctlyallocated = false;
-            bool arebuffersok = checkBuffersAllocationStatus(tobeallocated,tobedeallocated,tobeupdated);
-            if (!arebuffersok)
-                correctlyallocated = manageAndFeedBuffersIfNeeded(tobeallocated,tobedeallocated,tobeupdated);
-            if (_debugmode)
-                debug(tobeallocated,tobedeallocated,tobeupdated);
-            return (arebuffersok || correctlyallocated);
-        }
- 
+		bool manageBuffers()
+		{
+			InternalRendAtts tobeallocated;
+			InternalRendAtts tobedeallocated;
+			InternalRendAtts tobeupdated;
+			bool correctlyallocated = false;
+			bool arebuffersok = checkBuffersAllocationStatus(tobeallocated, tobedeallocated, tobeupdated);
+			if (!arebuffersok)
+				correctlyallocated = manageAndFeedBuffersIfNeeded(tobeallocated, tobedeallocated, tobeupdated);
+			if (_debugmode)
+				debug(tobeallocated, tobedeallocated, tobeupdated);
+			return (arebuffersok || correctlyallocated);
+		}
 
-        void setGLOptions(UNIQUE_VIEW_ID_TYPE viewid,const GL_OPTIONS_DERIVED_TYPE& opts)
-        {
-            typename ViewsMap::iterator it = _perviewreqatts.find(viewid);
-            if (it == _perviewreqatts.end())
-                return;
-            it->second.set(opts);
-        }
 
-        void setTrMatrix(const vcg::Matrix44<typename MESH_TYPE::ScalarType>& tr)
-        {
-            _tr = tr;
-        }
+		void setGLOptions(UNIQUE_VIEW_ID_TYPE viewid, const GL_OPTIONS_DERIVED_TYPE& opts)
+		{
+			typename ViewsMap::iterator it = _perviewreqatts.find(viewid);
+			if (it == _perviewreqatts.end())
+				return;
+			it->second.set(opts);
+		}
 
-        void setDebugMode(bool isdebug)
-        {
-            _debugmode = isdebug;
-        }
+		void setTrMatrix(const vcg::Matrix44<typename MESH_TYPE::ScalarType>& tr)
+		{
+			_tr = tr;
+		}
 
-        void getLog(DebugInfo& info)
-        {
-            info.reset();
-            info._tobedeallocated = _loginfo._tobedeallocated;
-            info._tobeallocated = _loginfo._tobeallocated;
-            info._tobeupdated = _loginfo._tobeupdated;
+		void setDebugMode(bool isdebug)
+		{
+			_debugmode = isdebug;
+		}
 
-            info._currentlyallocated = _loginfo._currentlyallocated;
-            info._perviewdata = _loginfo._perviewdata;
-            _loginfo.reset();
-        }
+		void getLog(DebugInfo& info)
+		{
+			info.reset();
+			info._tobedeallocated = _loginfo._tobedeallocated;
+			info._tobeallocated = _loginfo._tobeallocated;
+			info._tobeupdated = _loginfo._tobeupdated;
 
-    private:
-        void initMeaningfulAttsMask()
-        {
-            _meaningfulattsperprimitive[PR_POINTS][INT_ATT_NAMES::ATT_VERTPOSITION] = true; 
-            _meaningfulattsperprimitive[PR_POINTS][INT_ATT_NAMES::ATT_VERTNORMAL] = true; 
-            _meaningfulattsperprimitive[PR_POINTS][INT_ATT_NAMES::ATT_VERTCOLOR] = true; 
-            //_meaningfulattsperprimitive[PR_POINTS][INT_ATT_NAMES::ATT_FIXEDCOLOR] = true; 
-            _meaningfulattsperprimitive[PR_POINTS][INT_ATT_NAMES::ATT_VERTTEXTURE] = true;
+			info._currentlyallocated = _loginfo._currentlyallocated;
+			info._perviewdata = _loginfo._perviewdata;
+			_loginfo.reset();
+		}
 
-            _meaningfulattsperprimitive[PR_WIREFRAME_EDGES][INT_ATT_NAMES::ATT_VERTPOSITION] = true; 
-            _meaningfulattsperprimitive[PR_WIREFRAME_EDGES][INT_ATT_NAMES::ATT_VERTNORMAL] = true; 
-            _meaningfulattsperprimitive[PR_WIREFRAME_EDGES][INT_ATT_NAMES::ATT_VERTCOLOR] = true; 
-            //_meaningfulattsperprimitive[PR_WIREFRAME_EDGES][INT_ATT_NAMES::ATT_FIXEDCOLOR] = true; 
-            _meaningfulattsperprimitive[PR_WIREFRAME_EDGES][INT_ATT_NAMES::ATT_EDGEINDICES] = true;
+	private:
+		void initMeaningfulAttsMask()
+		{
+			_meaningfulattsperprimitive[PR_POINTS][INT_ATT_NAMES::ATT_VERTPOSITION] = true;
+			_meaningfulattsperprimitive[PR_POINTS][INT_ATT_NAMES::ATT_VERTNORMAL] = true;
+			_meaningfulattsperprimitive[PR_POINTS][INT_ATT_NAMES::ATT_VERTCOLOR] = true;
+			//_meaningfulattsperprimitive[PR_POINTS][INT_ATT_NAMES::ATT_FIXEDCOLOR] = true; 
+			_meaningfulattsperprimitive[PR_POINTS][INT_ATT_NAMES::ATT_VERTTEXTURE] = true;
 
-            _meaningfulattsperprimitive[PR_WIREFRAME_TRIANGLES][INT_ATT_NAMES::ATT_VERTPOSITION] = true; 
-            _meaningfulattsperprimitive[PR_WIREFRAME_TRIANGLES][INT_ATT_NAMES::ATT_VERTNORMAL] = true; 
-            _meaningfulattsperprimitive[PR_WIREFRAME_TRIANGLES][INT_ATT_NAMES::ATT_VERTCOLOR] = true; 
-            //_meaningfulattsperprimitive[PR_WIREFRAME_TRIANGLES][INT_ATT_NAMES::ATT_FIXEDCOLOR] = true;
-            _meaningfulattsperprimitive[PR_WIREFRAME_TRIANGLES][INT_ATT_NAMES::ATT_VERTINDICES] = true;
+			_meaningfulattsperprimitive[PR_WIREFRAME_EDGES][INT_ATT_NAMES::ATT_VERTPOSITION] = true;
+			_meaningfulattsperprimitive[PR_WIREFRAME_EDGES][INT_ATT_NAMES::ATT_VERTNORMAL] = true;
+			_meaningfulattsperprimitive[PR_WIREFRAME_EDGES][INT_ATT_NAMES::ATT_VERTCOLOR] = true;
+			//_meaningfulattsperprimitive[PR_WIREFRAME_EDGES][INT_ATT_NAMES::ATT_FIXEDCOLOR] = true; 
+			_meaningfulattsperprimitive[PR_WIREFRAME_EDGES][INT_ATT_NAMES::ATT_EDGEINDICES] = true;
 
-            _meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_VERTPOSITION] = true; 
-            _meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_VERTNORMAL] = true; 
-            _meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_FACENORMAL] = true; 
-            _meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_VERTCOLOR] = true; 
-            _meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_FACECOLOR] = true; 
-            //_meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_FIXEDCOLOR] = true; 
-            _meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_VERTTEXTURE] = true;
-            _meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_WEDGETEXTURE] = true;
-            _meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_VERTINDICES] = true;
-        }
+			_meaningfulattsperprimitive[PR_WIREFRAME_TRIANGLES][INT_ATT_NAMES::ATT_VERTPOSITION] = true;
+			_meaningfulattsperprimitive[PR_WIREFRAME_TRIANGLES][INT_ATT_NAMES::ATT_VERTNORMAL] = true;
+			_meaningfulattsperprimitive[PR_WIREFRAME_TRIANGLES][INT_ATT_NAMES::ATT_VERTCOLOR] = true;
+			//_meaningfulattsperprimitive[PR_WIREFRAME_TRIANGLES][INT_ATT_NAMES::ATT_FIXEDCOLOR] = true;
+			_meaningfulattsperprimitive[PR_WIREFRAME_TRIANGLES][INT_ATT_NAMES::ATT_VERTINDICES] = true;
 
-        bool hasMeshAttribute(INT_ATT_NAMES attname) const
-        {
-            switch(attname)
-            {
-            case(INT_ATT_NAMES::ATT_VERTPOSITION):
-                    return true;
-            case(INT_ATT_NAMES::ATT_VERTNORMAL):
-                    return vcg::tri::HasPerVertexNormal(_mesh);
-            case(INT_ATT_NAMES::ATT_FACENORMAL):
-                return vcg::tri::HasPerFaceNormal(_mesh);
-            case(INT_ATT_NAMES::ATT_VERTCOLOR):
-                return vcg::tri::HasPerVertexColor(_mesh);
-            case(INT_ATT_NAMES::ATT_FACECOLOR):
-                return vcg::tri::HasPerFaceColor(_mesh);
-            /*case(INT_ATT_NAMES::ATT_FIXEDCOLOR):
-                return true;*/
-            case(INT_ATT_NAMES::ATT_VERTTEXTURE):
-                return vcg::tri::HasPerVertexTexCoord(_mesh);
-            case(INT_ATT_NAMES::ATT_WEDGETEXTURE):
-                return vcg::tri::HasPerWedgeTexCoord(_mesh);
-            case(INT_ATT_NAMES::ATT_VERTINDICES):
-                return (_mesh.VN() != 0) && (_mesh.FN() != 0);
-            case(INT_ATT_NAMES::ATT_EDGEINDICES):
-                return vcg::tri::HasPerVertexFlags(_mesh) || ((_mesh.VN() != 0) && (_mesh.FN() == 0) && (_mesh.EN() == 0));
-            default:
-                return false;
-            }
-            return false;
-        }
+			_meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_VERTPOSITION] = true;
+			_meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_VERTNORMAL] = true;
+			_meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_FACENORMAL] = true;
+			_meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_VERTCOLOR] = true;
+			_meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_FACECOLOR] = true;
+			//_meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_FIXEDCOLOR] = true; 
+			_meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_VERTTEXTURE] = true;
+			_meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_WEDGETEXTURE] = true;
+			_meaningfulattsperprimitive[PR_SOLID][INT_ATT_NAMES::ATT_VERTINDICES] = true;
+		}
 
-        bool checkBuffersAllocationStatus(InternalRendAtts& tobeallocated,InternalRendAtts& tobedeallocated,InternalRendAtts& tobeupdated) const
-        {
-            bool somethingtodo = false;
-            tobedeallocated.reset();
-            tobedeallocated.reset();
-            tobeupdated.reset();
-            
-            //bool thereisreplicatedview = isThereAReplicatedPipelineView();
-            InternalRendAtts meaningfulrequiredbyatleastoneview;
-            InternalRendAtts probabilyuseless;
-         
-            for(typename ViewsMap::const_iterator it = _perviewreqatts.begin();it != _perviewreqatts.end();++it)
-            {
-                for(PRIMITIVE_MODALITY pm = PRIMITIVE_MODALITY(0); pm < PR_ARITY;pm = next(pm))
-                {
-                    //If a primitive_modality is not rendered (== no att_VERTPOSITION) all the referred attributes by this view can be eventually deallocated IF they are not used
-                    //by some other rendered primitive
-                    //the vertindices is, as usual, a different case
-                    if (it->second._intatts[size_t(pm)][INT_ATT_NAMES::ATT_VERTPOSITION])
-                        meaningfulrequiredbyatleastoneview = InternalRendAtts::unionSet(meaningfulrequiredbyatleastoneview,it->second._intatts[size_t(pm)]);
-                    else
-                        probabilyuseless = InternalRendAtts::unionSet(probabilyuseless,it->second._intatts[size_t(pm)]);
-                }
-            }
-            bool thereisreplicatedview = InternalRendAtts::replicatedPipelineNeeded(meaningfulrequiredbyatleastoneview);
-            meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_VERTINDICES] &= !thereisreplicatedview;
-            
-            InternalRendAtts reallyuseless = InternalRendAtts::complementSet(probabilyuseless,meaningfulrequiredbyatleastoneview);
-            
-            bool switchreplicatedindexed = (!InternalRendAtts::replicatedPipelineNeeded(_currallocatedboatt) && thereisreplicatedview) || (InternalRendAtts::replicatedPipelineNeeded(_currallocatedboatt) && !thereisreplicatedview); 
+		bool hasMeshAttribute(INT_ATT_NAMES attname) const
+		{
+			switch (attname)
+			{
+			case(INT_ATT_NAMES::ATT_VERTPOSITION):
+				return true;
+			case(INT_ATT_NAMES::ATT_VERTNORMAL):
+				return vcg::tri::HasPerVertexNormal(_mesh);
+			case(INT_ATT_NAMES::ATT_FACENORMAL):
+				return vcg::tri::HasPerFaceNormal(_mesh);
+			case(INT_ATT_NAMES::ATT_VERTCOLOR):
+				return vcg::tri::HasPerVertexColor(_mesh);
+			case(INT_ATT_NAMES::ATT_FACECOLOR):
+				return vcg::tri::HasPerFaceColor(_mesh);
+				/*case(INT_ATT_NAMES::ATT_FIXEDCOLOR):
+					return true;*/
+			case(INT_ATT_NAMES::ATT_VERTTEXTURE):
+				return vcg::tri::HasPerVertexTexCoord(_mesh);
+			case(INT_ATT_NAMES::ATT_WEDGETEXTURE):
+				return vcg::tri::HasPerWedgeTexCoord(_mesh);
+			case(INT_ATT_NAMES::ATT_VERTINDICES):
+				return (_mesh.VN() != 0) && (_mesh.FN() != 0);
+			case(INT_ATT_NAMES::ATT_EDGEINDICES):
+				return vcg::tri::HasPerVertexFlags(_mesh) || ((_mesh.VN() != 0) && (_mesh.FN() == 0) && (_mesh.EN() == 0));
+			default:
+				return false;
+			}
+			return false;
+		}
 
-            /*in some way the vertices number changed. If i use the indexed pipeline i have to deallocate/allocate/update the vertex indices*/
-            bool numvertchanged = boExpectedSize(INT_ATT_NAMES::ATT_VERTPOSITION,thereisreplicatedview) != _bo[INT_ATT_NAMES::ATT_VERTPOSITION]->_size;
-            bool vertindforcedupdate = numvertchanged && meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_VERTINDICES];
+		bool checkBuffersAllocationStatus(InternalRendAtts& tobeallocated, InternalRendAtts& tobedeallocated, InternalRendAtts& tobeupdated) const
+		{
+			bool somethingtodo = false;
+			tobedeallocated.reset();
+			tobedeallocated.reset();
+			tobeupdated.reset();
 
-            InternalRendAtts probablytoallocate = InternalRendAtts::complementSet(meaningfulrequiredbyatleastoneview,_currallocatedboatt);
-            InternalRendAtts probablytodeallocate = InternalRendAtts::complementSet(_currallocatedboatt,meaningfulrequiredbyatleastoneview);
-            for(unsigned int ii = 0;ii < INT_ATT_NAMES::enumArity();++ii)
-            {
-                INT_ATT_NAMES boname(ii);
-                if (_bo[boname] != NULL) 
-                {
-                    bool hasmeshattribute = hasMeshAttribute(boname);
-                    bool isvalid = (_bo[boname]->_isvalid);               
-                    bool notempty = (_bo[boname]->_size > 0);
-                    if (boname != INT_ATT_NAMES::ATT_EDGEINDICES)
-                    {
-                        size_t sz = boExpectedSize(boname,thereisreplicatedview);
+			//bool thereisreplicatedview = isThereAReplicatedPipelineView();
+			InternalRendAtts meaningfulrequiredbyatleastoneview;
+			InternalRendAtts probabilyuseless;
 
-                        tobedeallocated[boname] =   (notempty && !hasmeshattribute) || 
-                                                    (notempty && probablytodeallocate[boname]) ||
-                                                    (notempty && reallyuseless[boname]) ||
-                                                    (notempty && (_bo[boname]->_size != sz) && meaningfulrequiredbyatleastoneview[boname]) ||
-                                                    (notempty && (boname == INT_ATT_NAMES::ATT_VERTINDICES) && (vertindforcedupdate));
-                        tobeallocated[boname] = (hasmeshattribute && (sz > 0) && (sz != _bo[boname]->_size) && meaningfulrequiredbyatleastoneview[boname]) || 
-                                                (hasmeshattribute && (sz > 0) && probablytoallocate[boname]) ||
-                                                (hasmeshattribute && (boname == INT_ATT_NAMES::ATT_VERTINDICES) && (vertindforcedupdate));
-                        tobeupdated[boname] = tobeallocated[boname] || (hasmeshattribute && (sz > 0) && !(isvalid) && meaningfulrequiredbyatleastoneview[boname]);
-                    }
-                    else 
-                    {
-                        bool meshchanged = ((_mesh.FN() != _meshtriangleswhenedgeindiceswerecomputed) || (_mesh.VN() != _meshverticeswhenedgeindiceswerecomputed));
-                        tobedeallocated[INT_ATT_NAMES::ATT_EDGEINDICES] =   (notempty && !hasmeshattribute) || 
-                                                                            (notempty && !meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_EDGEINDICES]) || 
-                                                                            (notempty && !(isvalid) && meshchanged);
-                        tobeallocated[INT_ATT_NAMES::ATT_EDGEINDICES] = (hasmeshattribute && meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_EDGEINDICES] && !(isvalid) && (meshchanged)) ||
-                                                                        (hasmeshattribute && meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_EDGEINDICES] && !(isvalid) && !(_currallocatedboatt[INT_ATT_NAMES::ATT_EDGEINDICES]));
-                        tobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES] = tobeallocated[INT_ATT_NAMES::ATT_EDGEINDICES] || 
-                                                                      (hasmeshattribute && !(isvalid) && meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_EDGEINDICES]) ||
-                                                                      (hasmeshattribute && switchreplicatedindexed && meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_EDGEINDICES]);
-                    } 
-                }
-                somethingtodo = somethingtodo || tobeallocated[boname] || tobedeallocated[boname] || tobeupdated[boname];
-            }
-            return !(somethingtodo);
-        }
+			for (typename ViewsMap::const_iterator it = _perviewreqatts.begin(); it != _perviewreqatts.end(); ++it)
+			{
+				for (PRIMITIVE_MODALITY pm = PRIMITIVE_MODALITY(0); pm < PR_ARITY; pm = next(pm))
+				{
+					//If a primitive_modality is not rendered (== no att_VERTPOSITION) all the referred attributes by this view can be eventually deallocated IF they are not used
+					//by some other rendered primitive
+					//the vertindices is, as usual, a different case
+					if (it->second._intatts[size_t(pm)][INT_ATT_NAMES::ATT_VERTPOSITION])
+						meaningfulrequiredbyatleastoneview = InternalRendAtts::unionSet(meaningfulrequiredbyatleastoneview, it->second._intatts[size_t(pm)]);
+					else
+						probabilyuseless = InternalRendAtts::unionSet(probabilyuseless, it->second._intatts[size_t(pm)]);
+				}
+			}
+			bool thereisreplicatedview = InternalRendAtts::replicatedPipelineNeeded(meaningfulrequiredbyatleastoneview);
+			meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_VERTINDICES] &= !thereisreplicatedview;
 
-        bool manageAndFeedBuffersIfNeeded(const InternalRendAtts& tobeallocated,const InternalRendAtts& tobedeallocated,const InternalRendAtts& tobeupdated)
-        {
-            if (tobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES])
-                updateEdgeVertIndVector();
+			InternalRendAtts reallyuseless = InternalRendAtts::complementSet(probabilyuseless, meaningfulrequiredbyatleastoneview);
 
-            bool immediatemode = !(buffersMemoryManagementFunction(tobeallocated,tobedeallocated,tobeupdated));
-            bool replicated = isThereAReplicatedPipelineView();
+			bool switchreplicatedindexed = (!InternalRendAtts::replicatedPipelineNeeded(_currallocatedboatt) && thereisreplicatedview) || (InternalRendAtts::replicatedPipelineNeeded(_currallocatedboatt) && !thereisreplicatedview);
 
-            if (immediatemode)
-                return false;
+			/*in some way the vertices number changed. If i use the indexed pipeline i have to deallocate/allocate/update the vertex indices*/
+			bool numvertchanged = boExpectedSize(INT_ATT_NAMES::ATT_VERTPOSITION, thereisreplicatedview) != _bo[INT_ATT_NAMES::ATT_VERTPOSITION]->_size;
+			bool vertindforcedupdate = numvertchanged && meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_VERTINDICES];
 
-            bool somethingtoupdate = false;
-            for(unsigned int hh = 0;hh < INT_ATT_NAMES::enumArity();++hh)
-                somethingtoupdate = somethingtoupdate || tobeupdated[hh];
+			InternalRendAtts probablytoallocate = InternalRendAtts::complementSet(meaningfulrequiredbyatleastoneview, _currallocatedboatt);
+			InternalRendAtts probablytodeallocate = InternalRendAtts::complementSet(_currallocatedboatt, meaningfulrequiredbyatleastoneview);
+			for (unsigned int ii = 0; ii < INT_ATT_NAMES::enumArity(); ++ii)
+			{
+				INT_ATT_NAMES boname(ii);
+				if (_bo[boname] != NULL)
+				{
+					bool hasmeshattribute = hasMeshAttribute(boname);
+					bool isvalid = (_bo[boname]->_isvalid);
+					bool notempty = (_bo[boname]->_size > 0);
+					if (boname != INT_ATT_NAMES::ATT_EDGEINDICES)
+					{
+						size_t sz = boExpectedSize(boname, thereisreplicatedview);
 
-            if (somethingtoupdate)
-            {
-                if (replicated)
-                {
-                    InternalRendAtts attributestobeupdated(tobeupdated);
-                    //WARNING!In case we have to update the wedgetexture bo maybe (not always!) we must update also the other buffer already in memory
-                    //cause the wedgetexture pipeline force a change in the order of the triangles in GPU.
-                    //they are now ordered by the texture seam and not more by the triangle index!
-                    if (tobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE])
-                        attributestobeupdated = _currallocatedboatt;
-                    updateBuffersReplicatedPipeline(attributestobeupdated);
-                }
-                else
-                    updateBuffersIndexedPipeline(tobeupdated);
-                glFinish();
-            }
-            return true;
-        }
+						tobedeallocated[boname] = (notempty && !hasmeshattribute) ||
+							(notempty && probablytodeallocate[boname]) ||
+							(notempty && reallyuseless[boname]) ||
+							(notempty && (_bo[boname]->_size != sz) && meaningfulrequiredbyatleastoneview[boname]) ||
+							(notempty && (boname == INT_ATT_NAMES::ATT_VERTINDICES) && (vertindforcedupdate));
+						tobeallocated[boname] = (hasmeshattribute && (sz > 0) && (sz != _bo[boname]->_size) && meaningfulrequiredbyatleastoneview[boname]) ||
+							(hasmeshattribute && (sz > 0) && probablytoallocate[boname]) ||
+							(hasmeshattribute && (boname == INT_ATT_NAMES::ATT_VERTINDICES) && (vertindforcedupdate));
+						tobeupdated[boname] = tobeallocated[boname] || (hasmeshattribute && (sz > 0) && !(isvalid) && meaningfulrequiredbyatleastoneview[boname]);
+					}
+					else
+					{
+						bool meshchanged = ((size_t(_mesh.FN()) != _meshtriangleswhenedgeindiceswerecomputed) || (size_t(_mesh.VN()) != _meshverticeswhenedgeindiceswerecomputed));
+						tobedeallocated[INT_ATT_NAMES::ATT_EDGEINDICES] = (notempty && !hasmeshattribute) ||
+							(notempty && !meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_EDGEINDICES]) ||
+							(notempty && !(isvalid) && meshchanged);
+						tobeallocated[INT_ATT_NAMES::ATT_EDGEINDICES] = (hasmeshattribute && meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_EDGEINDICES] && !(isvalid) && (meshchanged)) ||
+							(hasmeshattribute && meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_EDGEINDICES] && !(isvalid) && !(_currallocatedboatt[INT_ATT_NAMES::ATT_EDGEINDICES]));
+						tobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES] = tobeallocated[INT_ATT_NAMES::ATT_EDGEINDICES] ||
+							(hasmeshattribute && !(isvalid) && meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_EDGEINDICES]) ||
+							(hasmeshattribute && switchreplicatedindexed && meaningfulrequiredbyatleastoneview[INT_ATT_NAMES::ATT_EDGEINDICES]);
+					}
+				}
+				somethingtodo = somethingtodo || tobeallocated[boname] || tobedeallocated[boname] || tobeupdated[boname];
+			}
+			return !(somethingtodo);
+		}
 
-        void updateEdgeVertIndVector()
-        {
-            _edge.clear();
-            fillUniqueEdgeVector(_mesh,_edge);
-            _meshverticeswhenedgeindiceswerecomputed = _mesh.VN();
-            _meshtriangleswhenedgeindiceswerecomputed = _mesh.FN();
-        }
+		bool manageAndFeedBuffersIfNeeded(const InternalRendAtts& tobeallocated, const InternalRendAtts& tobedeallocated, const InternalRendAtts& tobeupdated)
+		{
+			if (tobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES])
+				updateEdgeVertIndVector();
 
-        bool buffersMemoryManagementFunction(const InternalRendAtts& tobeallocated,const InternalRendAtts& tobedeallocated,const InternalRendAtts& tobeupdated)
-        {
-            //GLenum err = glGetError();
-            bool replicated = isThereAReplicatedPipelineView();
-            std::ptrdiff_t newallocatedmem = bufferObjectsMemoryRequired(tobeallocated);
-            std::ptrdiff_t deallocatedmem = bufferObjectsMemoryRequired(tobedeallocated);
-            ptrdiff_t zero = 0;
-            std::ptrdiff_t changedsize = std::max(zero,newallocatedmem - deallocatedmem);
-            //std::ptrdiff_t bomemoryrequiredbymesh = bufferObjectsMemoryRequired(_currallocatedboatt) - deallocatedmem + newallocatedmem;
-            unsigned int ii = 0;
-            for(typename std::vector<GLBufferObject*>::iterator it = _bo.begin();it != _bo.end();++it)
-            {
-                INT_ATT_NAMES boname(ii);
-                //size_t sz = boExpectedSize(boname,replicated);
-                //size_t dim = boExpectedDimension(boname,replicated);
+			bool immediatemode = !(buffersMemoryManagementFunction(tobeallocated, tobedeallocated, tobeupdated));
+			bool replicated = isThereAReplicatedPipelineView();
 
-                if (tobedeallocated[boname])
-                    bufferDeAllocationRequested(boname); 
-                ++ii;
-            }
+			if (immediatemode)
+				return false;
 
-            if (!_gpumeminfo.isAdditionalMemoryAvailable(changedsize))
-            {
-                std::cout << "no additional memory available!!! memory required: " << changedsize << std::endl;
-                ii = 0;
-                for(typename std::vector<GLBufferObject*>::iterator it = _bo.begin();it != _bo.end();++it)
-                {
-                    INT_ATT_NAMES boname(ii);
-                    size_t sz(boExpectedSize(boname,replicated));
-                    //there are already valid mesh attributes properly allocated in memory but there is not enough gpu memory for the remaining mesh.
-                    //we have to deallocate the previously allocated mesh attributes
-                    if ((*it != NULL) && ((sz == (*it)->_size)))
-                        bufferDeAllocationRequested(boname); 
-                    ++ii;
-                }
-                _borendering = false;
-                return false;
-            }
-            else
-            {
-                bool failedallocation = false;
-                unsigned int ii = 0;
-                typename std::vector<GLBufferObject*>::iterator it = _bo.begin();
-                while((it != _bo.end()) && (!failedallocation))
-                {
-                    INT_ATT_NAMES boname(ii);
-                    GLBufferObject* cbo = _bo[ii];
-                    if (tobeallocated[boname])
-                    {
-                        cbo->_size = boExpectedSize(boname,replicated);
-                        std::ptrdiff_t dim = boExpectedDimension(boname,replicated);
-                        glGenBuffers(1, &cbo->_bohandle);
-                        glBindBuffer(cbo->_target, cbo->_bohandle);
-                        //we call glGetError BEFORE the glBufferData function in order to clean the error flag
-                        GLenum err = glGetError();
-                        //assert(err == GL_NO_ERROR);
-                        glBufferData(cbo->_target, dim, NULL, GL_STATIC_DRAW);
-                        err = glGetError();
-                        //even if there according the MemoryInfo subclass there is enough space we were not able to allocate an attribute buffer object. We have to deallocate all the bos related to this mesh
-                        failedallocation = (err == GL_OUT_OF_MEMORY) || (!_gpumeminfo.isAdditionalMemoryAvailable(dim));
-                        if (!failedallocation)
-                        {
-                            //setBufferPointerEnableClientState(boname);
-                            setBufferPointer(boname);
-                            _gpumeminfo.acquiredMemory(dim);
-                        }
-                        cbo->_isvalid = !failedallocation;
-                        _borendering = !failedallocation;
-                        glBindBuffer(cbo->_target, 0);
-                        _currallocatedboatt[boname] = !failedallocation;
-                    }
-                    else
-                    {
-                        //the arity of the attribute contained in the bo didn't change so i can use the old space without reallocating it
-                        if (cbo != NULL)
-                            cbo->_isvalid = cbo->_isvalid || tobeupdated[boname];
-                    }
-                    ++it;
-                    ++ii;
-                }
-                if (failedallocation)
-                   buffersDeAllocationRequested(_currallocatedboatt);
-                _borendering = !failedallocation;
-            }
-            return _borendering;
-        }
+			bool somethingtoupdate = false;
+			for (unsigned int hh = 0; hh < INT_ATT_NAMES::enumArity(); ++hh)
+				somethingtoupdate = somethingtoupdate || tobeupdated[hh];
 
-        bool updateBuffersIndexedPipeline(const InternalRendAtts& attributestobeupdated)
-        {
-            _chunkmap.clear();
-            size_t vn = _mesh.VN();
-            size_t tn = _mesh.FN();
+			if (somethingtoupdate)
+			{
+				if (replicated)
+				{
+					InternalRendAtts attributestobeupdated(tobeupdated);
+					//WARNING!In case we have to update the wedgetexture bo maybe (not always!) we must update also the other buffer already in memory
+					//cause the wedgetexture pipeline force a change in the order of the triangles in GPU.
+					//they are now ordered by the texture seam and not more by the triangle index!
+					if (tobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE])
+						attributestobeupdated = _currallocatedboatt;
+					updateBuffersReplicatedPipeline(attributestobeupdated);
+				}
+				else
+					updateBuffersIndexedPipeline(tobeupdated);
+				glFinish();
+			}
+			return true;
+		}
 
-            size_t facechunk = std::min(size_t(tn),_perbatchprim);
-            size_t vertexchunk = std::min(size_t(vn),_perbatchprim);
+		void updateEdgeVertIndVector()
+		{
+			_edge.clear();
+			fillUniqueEdgeVector(_mesh, _edge);
+			_meshverticeswhenedgeindiceswerecomputed = _mesh.VN();
+			_meshtriangleswhenedgeindiceswerecomputed = _mesh.FN();
+		}
 
-            std::vector<vcg::Point3f> pv; //position vector
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION])
-                pv.resize(vertexchunk);
+		bool buffersMemoryManagementFunction(const InternalRendAtts& tobeallocated, const InternalRendAtts& tobedeallocated, const InternalRendAtts& tobeupdated)
+		{
+			//GLenum err = glGetError();
+			bool replicated = isThereAReplicatedPipelineView();
+			std::ptrdiff_t newallocatedmem = bufferObjectsMemoryRequired(tobeallocated);
+			std::ptrdiff_t deallocatedmem = bufferObjectsMemoryRequired(tobedeallocated);
+			ptrdiff_t zero = 0;
+			std::ptrdiff_t changedsize = std::max(zero, newallocatedmem - deallocatedmem);
+			//std::ptrdiff_t bomemoryrequiredbymesh = bufferObjectsMemoryRequired(_currallocatedboatt) - deallocatedmem + newallocatedmem;
+			unsigned int ii = 0;
+			for (typename std::vector<GLBufferObject*>::iterator it = _bo.begin(); it != _bo.end(); ++it)
+			{
+				INT_ATT_NAMES boname(ii);
+				//size_t sz = boExpectedSize(boname,replicated);
+				//size_t dim = boExpectedDimension(boname,replicated);
 
-            std::vector<vcg::Point3f> nv; //per vertex normal vector
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL])
-                nv.resize(vertexchunk);
+				if (tobedeallocated[boname])
+					bufferDeAllocationRequested(boname);
+				++ii;
+			}
 
-            std::vector<vcg::Color4b> cv; // Per vertex color vector
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR])
-                cv.resize(vertexchunk);
+			if (!_gpumeminfo.isAdditionalMemoryAvailable(changedsize))
+			{
+				std::cout << "no additional memory available!!! memory required: " << changedsize << std::endl;
+				ii = 0;
+				for (typename std::vector<GLBufferObject*>::iterator it = _bo.begin(); it != _bo.end(); ++it)
+				{
+					INT_ATT_NAMES boname(ii);
+					size_t sz(boExpectedSize(boname, replicated));
+					//there are already valid mesh attributes properly allocated in memory but there is not enough gpu memory for the remaining mesh.
+					//we have to deallocate the previously allocated mesh attributes
+					if ((*it != NULL) && ((sz == (*it)->_size)))
+						bufferDeAllocationRequested(boname);
+					++ii;
+				}
+				_borendering = false;
+				return false;
+			}
+			else
+			{
+				bool failedallocation = false;
+				unsigned int ii = 0;
+				typename std::vector<GLBufferObject*>::iterator it = _bo.begin();
+				while ((it != _bo.end()) && (!failedallocation))
+				{
+					INT_ATT_NAMES boname(ii);
+					GLBufferObject* cbo = _bo[ii];
+					if (tobeallocated[boname])
+					{
+						cbo->_size = boExpectedSize(boname, replicated);
+						std::ptrdiff_t dim = boExpectedDimension(boname, replicated);
+						glGenBuffers(1, &cbo->_bohandle);
+						glBindBuffer(cbo->_target, cbo->_bohandle);
+						//we call glGetError BEFORE the glBufferData function in order to clean the error flag
+						GLenum err = glGetError();
+						//assert(err == GL_NO_ERROR);
+						glBufferData(cbo->_target, dim, NULL, GL_STATIC_DRAW);
+						err = glGetError();
+						//even if there according the MemoryInfo subclass there is enough space we were not able to allocate an attribute buffer object. We have to deallocate all the bos related to this mesh
+						failedallocation = (err == GL_OUT_OF_MEMORY) || (!_gpumeminfo.isAdditionalMemoryAvailable(dim));
+						if (!failedallocation)
+						{
+							//setBufferPointerEnableClientState(boname);
+							setBufferPointer(boname);
+							_gpumeminfo.acquiredMemory(dim);
+						}
+						cbo->_isvalid = !failedallocation;
+						_borendering = !failedallocation;
+						glBindBuffer(cbo->_target, 0);
+						_currallocatedboatt[boname] = !failedallocation;
+					}
+					else
+					{
+						//the arity of the attribute contained in the bo didn't change so i can use the old space without reallocating it
+						if (cbo != NULL)
+							cbo->_isvalid = cbo->_isvalid || tobeupdated[boname];
+					}
+					++it;
+					++ii;
+				}
+				if (failedallocation)
+					buffersDeAllocationRequested(_currallocatedboatt);
+				_borendering = !failedallocation;
+			}
+			return _borendering;
+		}
 
-            std::vector<float> tv; // per vertex texture coord vector
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
-                tv.resize(vertexchunk * 2);
+		bool updateBuffersIndexedPipeline(const InternalRendAtts& attributestobeupdated)
+		{
+			_chunkmap.clear();
+			size_t vn = _mesh.VN();
+			size_t tn = _mesh.FN();
 
-            size_t chunkingpu = 0;
+			size_t facechunk = std::min(size_t(tn), _perbatchprim);
+			size_t vertexchunk = std::min(size_t(vn), _perbatchprim);
 
-            for(size_t i=0;i<vn;++i)
-            {
-                size_t chunkindex = i % vertexchunk;
-                if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION])
-                    pv[chunkindex].Import(_mesh.vert[i].cP());
+			std::vector<vcg::Point3f> pv; //position vector
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION])
+				pv.resize(vertexchunk);
 
-                if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL])
-                {
-                    nv[chunkindex].Import(_mesh.vert[i].cN());
-                    nv[chunkindex].Normalize();
-                }
+			std::vector<vcg::Point3f> nv; //per vertex normal vector
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL])
+				nv.resize(vertexchunk);
 
-                if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR])
-                {
-                    cv[chunkindex] = _mesh.vert[i].cC();
-                }
-                if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
-                {
-                    tv[chunkindex*2+0] = _mesh.vert[i].cT().U();
-                    tv[chunkindex*2+1] = _mesh.vert[i].cT().V();
-                }
+			std::vector<vcg::Color4b> cv; // Per vertex color vector
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR])
+				cv.resize(vertexchunk);
 
-                if((i == vn - 1) || (chunkindex == vertexchunk - 1))
-                {
-                    size_t chunksize = vertexchunk;
-                    if (i == vn - 1)
-                        chunksize = chunkindex + 1;
+			std::vector<float> tv; // per vertex texture coord vector
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
+				tv.resize(vertexchunk * 2);
 
-                    if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION])
-                    {
-                        GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTPOSITION];
-                        glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
-                        glBufferSubData(GL_ARRAY_BUFFER,chunkingpu * vertexchunk * buffobj->_components * buffobj->getSizeOfGLType(),buffobj->_components * buffobj->getSizeOfGLType() * chunksize,&pv[0]);
-                        //std::vector<vcg::Point3f> tmppv; //position vector
-                        //if (attributestobeupdated[GLMeshAttributesInfo::ATT_VERTPOSITION])
-                        //    tmppv.resize(vertexchunk);
-                        //glGetBufferSubData(GL_ARRAY_BUFFER,0,buffobj->_components * buffobj->getSizeOfGLType() * chunksize,&tmppv[0]);
-                        glBindBuffer(GL_ARRAY_BUFFER, 0);
+			size_t chunkingpu = 0;
 
-                    }
-                    if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL])
-                    {
-                        GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTNORMAL];
-                        glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
-                        glBufferSubData(GL_ARRAY_BUFFER,chunkingpu * vertexchunk * buffobj->_components * buffobj->getSizeOfGLType(),buffobj->_components * buffobj->getSizeOfGLType() * chunksize,&nv[0]);
-                        glBindBuffer(GL_ARRAY_BUFFER, 0);
-                    }
-                    if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR])
-                    {
-                        GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTCOLOR];
-                        glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
-                        glBufferSubData(GL_ARRAY_BUFFER,chunkingpu * vertexchunk * buffobj->_components * buffobj->getSizeOfGLType(),buffobj->_components * buffobj->getSizeOfGLType() * chunksize,&cv[0]);
-                        glBindBuffer(GL_ARRAY_BUFFER, 0);
-                    }
-                    if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
-                    {
-                        GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTTEXTURE];
-                        glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
-                        glBufferSubData(GL_ARRAY_BUFFER,chunkingpu * vertexchunk * buffobj->_components * buffobj->getSizeOfGLType(),buffobj->_components * buffobj->getSizeOfGLType() * chunksize,&tv[0]);
-                        glBindBuffer(GL_ARRAY_BUFFER, 0);
-                    }
-                    glFinish();
-                    ++chunkingpu;
-                }
-            }
+			for (size_t i = 0; i < vn; ++i)
+			{
+				size_t chunkindex = i % vertexchunk;
+				if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION])
+					pv[chunkindex].Import(_mesh.vert[i].cP());
 
-            pv.clear();
-            nv.clear();
-            cv.clear();
-            tv.clear();
+				if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL])
+				{
+					nv[chunkindex].Import(_mesh.vert[i].cN());
+					nv[chunkindex].Normalize();
+				}
 
-            chunkingpu = 0;
-            std::vector<GLuint> ti(facechunk * 3);
-            for(size_t i=0;i<tn;++i)
-            {
-                size_t chunkindex = i % facechunk;
+				if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR])
+				{
+					cv[chunkindex] = _mesh.vert[i].cC();
+				}
+				if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
+				{
+					tv[chunkindex * 2 + 0] = _mesh.vert[i].cT().U();
+					tv[chunkindex * 2 + 1] = _mesh.vert[i].cT().V();
+				}
 
-                ti[chunkindex * 3 + 0] = GLuint(vcg::tri::Index(_mesh,_mesh.face[i].V(0)));
-                ti[chunkindex * 3 + 1] = GLuint(vcg::tri::Index(_mesh,_mesh.face[i].V(1)));
-                ti[chunkindex * 3 + 2] = GLuint(vcg::tri::Index(_mesh,_mesh.face[i].V(2)));
+				if ((i == vn - 1) || (chunkindex == vertexchunk - 1))
+				{
+					size_t chunksize = vertexchunk;
+					if (i == vn - 1)
+						chunksize = chunkindex + 1;
 
-                if((i == tn - 1) || (chunkindex == facechunk - 1))
-                {
-                    size_t chunksize = facechunk;
-                    if (i == tn - 1)
-                        chunksize = chunkindex + 1;
+					if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION])
+					{
+						GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTPOSITION];
+						glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
+						glBufferSubData(GL_ARRAY_BUFFER, chunkingpu * vertexchunk * buffobj->_components * buffobj->getSizeOfGLType(), buffobj->_components * buffobj->getSizeOfGLType() * chunksize, &pv[0]);
+						//std::vector<vcg::Point3f> tmppv; //position vector
+						//if (attributestobeupdated[GLMeshAttributesInfo::ATT_VERTPOSITION])
+						//    tmppv.resize(vertexchunk);
+						//glGetBufferSubData(GL_ARRAY_BUFFER,0,buffobj->_components * buffobj->getSizeOfGLType() * chunksize,&tmppv[0]);
+						glBindBuffer(GL_ARRAY_BUFFER, 0);
 
-                    if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTINDICES])
-                    {
-                        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _bo[INT_ATT_NAMES::ATT_VERTINDICES]->_bohandle);
-                        glBufferSubData(GL_ELEMENT_ARRAY_BUFFER,chunkingpu * facechunk *  _bo[INT_ATT_NAMES::ATT_VERTINDICES]->_components *  _bo[INT_ATT_NAMES::ATT_VERTINDICES]->getSizeOfGLType(),_bo[INT_ATT_NAMES::ATT_VERTINDICES]->_components *  _bo[INT_ATT_NAMES::ATT_VERTINDICES]->getSizeOfGLType() * chunksize,&ti[0]);
-                        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-                    }
-                    ++chunkingpu;
-                }
-            }
-            if ((attributestobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES]) && (_edge.size() > 0))
-            {
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _bo[INT_ATT_NAMES::ATT_EDGEINDICES]->_bohandle);
-                glBufferSubData(GL_ELEMENT_ARRAY_BUFFER,0,_bo[INT_ATT_NAMES::ATT_EDGEINDICES]->_components *  _edge.size() * _bo[INT_ATT_NAMES::ATT_EDGEINDICES]->getSizeOfGLType(),&_edge[0]);
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-            }
-            return true;
-        }
+					}
+					if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL])
+					{
+						GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTNORMAL];
+						glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
+						glBufferSubData(GL_ARRAY_BUFFER, chunkingpu * vertexchunk * buffobj->_components * buffobj->getSizeOfGLType(), buffobj->_components * buffobj->getSizeOfGLType() * chunksize, &nv[0]);
+						glBindBuffer(GL_ARRAY_BUFFER, 0);
+					}
+					if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR])
+					{
+						GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTCOLOR];
+						glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
+						glBufferSubData(GL_ARRAY_BUFFER, chunkingpu * vertexchunk * buffobj->_components * buffobj->getSizeOfGLType(), buffobj->_components * buffobj->getSizeOfGLType() * chunksize, &cv[0]);
+						glBindBuffer(GL_ARRAY_BUFFER, 0);
+					}
+					if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
+					{
+						GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTTEXTURE];
+						glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
+						glBufferSubData(GL_ARRAY_BUFFER, chunkingpu * vertexchunk * buffobj->_components * buffobj->getSizeOfGLType(), buffobj->_components * buffobj->getSizeOfGLType() * chunksize, &tv[0]);
+						glBindBuffer(GL_ARRAY_BUFFER, 0);
+					}
+					glFinish();
+					++chunkingpu;
+				}
+			}
 
-        bool isThereAReplicatedPipelineView() const
-        {
-            bool replicated = false;
-            for(typename ViewsMap::const_iterator it = _perviewreqatts.begin();it != _perviewreqatts.end();++it)
-            {
-                //There is a replicated pipeline only if the att[ATT_VERTPOSITION] is true, otherwise is a spurious replicated view
-                for(size_t pm = 0; pm < size_t(PR_ARITY);++pm) 
-                    replicated = replicated || (InternalRendAtts::replicatedPipelineNeeded(it->second._intatts[pm]) && (it->second._pmmask.test(pm)));
-            }
-            return replicated;
-        }
+			pv.clear();
+			nv.clear();
+			cv.clear();
+			tv.clear();
 
-        bool isThereAnEdgesView() const
-        {
-            bool isthereaquadview = false;
-            for(typename ViewsMap::const_iterator it = _perviewreqatts.begin();it != _perviewreqatts.end();++it)
-                isthereaquadview = (it->second._intatts[size_t(PR_WIREFRAME_EDGES)][INT_ATT_NAMES::ATT_VERTPOSITION]) || isthereaquadview;
+			chunkingpu = 0;
+			std::vector<GLuint> ti(facechunk * 3);
+			for (size_t i = 0; i < tn; ++i)
+			{
+				size_t chunkindex = i % facechunk;
+
+				ti[chunkindex * 3 + 0] = GLuint(vcg::tri::Index(_mesh, _mesh.face[i].V(0)));
+				ti[chunkindex * 3 + 1] = GLuint(vcg::tri::Index(_mesh, _mesh.face[i].V(1)));
+				ti[chunkindex * 3 + 2] = GLuint(vcg::tri::Index(_mesh, _mesh.face[i].V(2)));
+
+				if ((i == tn - 1) || (chunkindex == facechunk - 1))
+				{
+					size_t chunksize = facechunk;
+					if (i == tn - 1)
+						chunksize = chunkindex + 1;
+
+					if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTINDICES])
+					{
+						glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _bo[INT_ATT_NAMES::ATT_VERTINDICES]->_bohandle);
+						glBufferSubData(GL_ELEMENT_ARRAY_BUFFER, chunkingpu * facechunk *  _bo[INT_ATT_NAMES::ATT_VERTINDICES]->_components *  _bo[INT_ATT_NAMES::ATT_VERTINDICES]->getSizeOfGLType(), _bo[INT_ATT_NAMES::ATT_VERTINDICES]->_components *  _bo[INT_ATT_NAMES::ATT_VERTINDICES]->getSizeOfGLType() * chunksize, &ti[0]);
+						glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+					}
+					++chunkingpu;
+				}
+			}
+			if ((attributestobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES]) && (_edge.size() > 0))
+			{
+				glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _bo[INT_ATT_NAMES::ATT_EDGEINDICES]->_bohandle);
+				glBufferSubData(GL_ELEMENT_ARRAY_BUFFER, 0, _bo[INT_ATT_NAMES::ATT_EDGEINDICES]->_components *  _edge.size() * _bo[INT_ATT_NAMES::ATT_EDGEINDICES]->getSizeOfGLType(), &_edge[0]);
+				glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+			}
+			return true;
+		}
+
+		bool isThereAReplicatedPipelineView() const
+		{
+			bool replicated = false;
+			for (typename ViewsMap::const_iterator it = _perviewreqatts.begin(); it != _perviewreqatts.end(); ++it)
+			{
+				//There is a replicated pipeline only if the att[ATT_VERTPOSITION] is true, otherwise is a spurious replicated view
+				for (size_t pm = 0; pm < size_t(PR_ARITY); ++pm)
+					replicated = replicated || (InternalRendAtts::replicatedPipelineNeeded(it->second._intatts[pm]) && (it->second._pmmask.test(pm)));
+			}
+			return replicated;
+		}
+
+		bool isThereAnEdgesView() const
+		{
+			bool isthereaquadview = false;
+			for (typename ViewsMap::const_iterator it = _perviewreqatts.begin(); it != _perviewreqatts.end(); ++it)
+				isthereaquadview = (it->second._intatts[size_t(PR_WIREFRAME_EDGES)][INT_ATT_NAMES::ATT_VERTPOSITION]) || isthereaquadview;
 			return isthereaquadview;
-        }
+		}
 
 
-        bool updateBuffersReplicatedPipeline(const InternalRendAtts& attributestobeupdated)
-        {
-            size_t tn = _mesh.fn;
+		bool updateBuffersReplicatedPipeline(const InternalRendAtts& attributestobeupdated)
+		{
+			size_t tn = _mesh.fn;
 
-            size_t facechunk = std::min(size_t(tn),_perbatchprim);
+			size_t facechunk = std::min(size_t(tn), _perbatchprim);
 
-            std::vector<vcg::Point3f> rpv; //position vector
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION])
-                rpv.resize(facechunk * 3);
+			std::vector<vcg::Point3f> rpv; //position vector
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION])
+				rpv.resize(facechunk * 3);
 
-            std::vector<vcg::Point3f> rnv; //per vertex normal vector
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL])
-                rnv.resize(facechunk * 3);
+			std::vector<vcg::Point3f> rnv; //per vertex normal vector
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL])
+				rnv.resize(facechunk * 3);
 
-            std::vector<vcg::Point3f> rfnv; //per face normal vector
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_FACENORMAL])
-                rfnv.resize(facechunk * 3);
+			std::vector<vcg::Point3f> rfnv; //per face normal vector
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_FACENORMAL])
+				rfnv.resize(facechunk * 3);
 
-            std::vector<vcg::Color4b> rcv; // Per vertex color vector
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR])
-                rcv.resize(facechunk * 3);
+			std::vector<vcg::Color4b> rcv; // Per vertex color vector
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR])
+				rcv.resize(facechunk * 3);
 
-            std::vector<vcg::Color4b> rfcv; // Per vertex color vector
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_FACECOLOR])
-                rfcv.resize(facechunk * 3);
+			std::vector<vcg::Color4b> rfcv; // Per vertex color vector
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_FACECOLOR])
+				rfcv.resize(facechunk * 3);
 
-            std::vector<float> rtv; // per vertex texture coord vector
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
-                rtv.resize(facechunk * 3 * 2);
+			std::vector<float> rtv; // per vertex texture coord vector
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
+				rtv.resize(facechunk * 3 * 2);
 
-            std::vector<float> rwtv; // per wedge texture coord vector
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE])
-                rwtv.resize(facechunk * 3 * 2);
+			std::vector<float> rwtv; // per wedge texture coord vector
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE])
+				rwtv.resize(facechunk * 3 * 2);
 
-            size_t chunkingpu = 0;
+			size_t chunkingpu = 0;
 
-            //it's a map containing for each texture seams n a vector of all the triangle index ranges having n has texture seam
-            //Suppose that in a mesh we have
-            //TXS_0{t0,t1,t2,t3}, TXS_4{t4,t5},TXS_0{t6},TXS_-1{t7,t8,t9},TXS_4{t10,t11}
-            //so chunkMap will contain
-            // -1 -> [<t7,t9>]
-            //  0 -> [<t0,t3>,<t6,t6>]
-            //  4 -> [<t4,t5>,<t10,t11>]
-            //
-            //if the map has no-texture coords at all in order to unify the code we fill the ChunkMap with texture seam -1 and a single triangle range going from face_0 to face_n-1
+			//it's a map containing for each texture seams n a vector of all the triangle index ranges having n has texture seam
+			//Suppose that in a mesh we have
+			//TXS_0{t0,t1,t2,t3}, TXS_4{t4,t5},TXS_0{t6},TXS_-1{t7,t8,t9},TXS_4{t10,t11}
+			//so chunkMap will contain
+			// -1 -> [<t7,t9>]
+			//  0 -> [<t0,t3>,<t6,t6>]
+			//  4 -> [<t4,t5>,<t10,t11>]
+			//
+			//if the map has no-texture coords at all in order to unify the code we fill the ChunkMap with texture seam -1 and a single triangle range going from face_0 to face_n-1
 
 
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE] || attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
-            {
-                _chunkmap.clear();
-                if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE])
-                    fillchunkMap();
-                else
-                    if(attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
-                        _chunkmap[0].push_back(std::make_pair(0,tn-1));
-            }
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE] || attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
+			{
+				_chunkmap.clear();
+				if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE])
+					fillchunkMap();
+				else
+					if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
+						_chunkmap[0].push_back(std::make_pair(0, tn - 1));
+			}
 
-            //default case: no texture is required to be rendered but a non texture attribute has to be updated
-            //we have to init the _chunkmap with just one entry (-1...that means no texture) referring all the triangles in the mesh
-            if ((!_currallocatedboatt[INT_ATT_NAMES::ATT_VERTTEXTURE] && !_currallocatedboatt[INT_ATT_NAMES::ATT_WEDGETEXTURE]) &&
-                (attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION] ||
-                attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL] || attributestobeupdated[INT_ATT_NAMES::ATT_FACENORMAL] ||
-                attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR] || attributestobeupdated[INT_ATT_NAMES::ATT_FACECOLOR]))
-            {
-                _chunkmap.clear();
-                _chunkmap[-1].push_back(std::make_pair(0,tn-1));
-            }
+			//default case: no texture is required to be rendered but a non texture attribute has to be updated
+			//we have to init the _chunkmap with just one entry (-1...that means no texture) referring all the triangles in the mesh
+			if ((!_currallocatedboatt[INT_ATT_NAMES::ATT_VERTTEXTURE] && !_currallocatedboatt[INT_ATT_NAMES::ATT_WEDGETEXTURE]) &&
+				(attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION] ||
+					attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL] || attributestobeupdated[INT_ATT_NAMES::ATT_FACENORMAL] ||
+					attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR] || attributestobeupdated[INT_ATT_NAMES::ATT_FACECOLOR]))
+			{
+				_chunkmap.clear();
+				_chunkmap[-1].push_back(std::make_pair(0, tn - 1));
+			}
 
-            int t = 0;
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE] || attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
-            {
-                _texindnumtriangles.clear();
-                _texindnumtriangles.resize(_chunkmap.size());
-            }
-            
-            std::vector<GLuint> vpatlas;
-            if (attributestobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES])
-                vpatlas.resize(_mesh.VN(),UINT_MAX);
+			int t = 0;
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE] || attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
+			{
+				_texindnumtriangles.clear();
+				_texindnumtriangles.resize(_chunkmap.size());
+			}
 
-            int faceind = 0;
-            size_t chunkindex = faceind;
+			std::vector<GLuint> vpatlas;
+			if (attributestobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES])
+				vpatlas.resize(_mesh.VN(), UINT_MAX);
+
+			int faceind = 0;
+			size_t chunkindex = faceind;
 			GLuint triangles = 0;
 
 
-            for(ChunkMap::const_iterator mit = _chunkmap.begin();mit != _chunkmap.end();++mit)
-            {
-                for (ChunkVector::const_iterator cit = mit->second.begin();cit != mit->second.end();++cit)
-                {
-                    for(size_t indf = cit->first;indf<=cit->second;++indf)
-                    {
-                        chunkindex = faceind % facechunk;
-                        if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION])
-                        {
-                            rpv[chunkindex*3+0].Import(_mesh.face[indf].V(0)->P());
-                            rpv[chunkindex*3+1].Import(_mesh.face[indf].V(1)->P());
-                            rpv[chunkindex*3+2].Import(_mesh.face[indf].V(2)->P());
-                        }
-                        if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL])
-                        {
-                            rnv[chunkindex*3+0].Import(_mesh.face[indf].V(0)->N().Normalize());
-                            rnv[chunkindex*3+1].Import(_mesh.face[indf].V(1)->N().Normalize());
-                            rnv[chunkindex*3+2].Import(_mesh.face[indf].V(2)->N().Normalize());
-                        }
+			for (ChunkMap::const_iterator mit = _chunkmap.begin(); mit != _chunkmap.end(); ++mit)
+			{
+				for (ChunkVector::const_iterator cit = mit->second.begin(); cit != mit->second.end(); ++cit)
+				{
+					for (size_t indf = cit->first; indf <= cit->second; ++indf)
+					{
+						chunkindex = faceind % facechunk;
+						if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION])
+						{
+							rpv[chunkindex * 3 + 0].Import(_mesh.face[indf].V(0)->P());
+							rpv[chunkindex * 3 + 1].Import(_mesh.face[indf].V(1)->P());
+							rpv[chunkindex * 3 + 2].Import(_mesh.face[indf].V(2)->P());
+						}
+						if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL])
+						{
+							rnv[chunkindex * 3 + 0].Import(_mesh.face[indf].V(0)->N().Normalize());
+							rnv[chunkindex * 3 + 1].Import(_mesh.face[indf].V(1)->N().Normalize());
+							rnv[chunkindex * 3 + 2].Import(_mesh.face[indf].V(2)->N().Normalize());
+						}
 
-                        if (attributestobeupdated[INT_ATT_NAMES::ATT_FACENORMAL])
-                        {
-                            rfnv[chunkindex*3+0].Import(_mesh.face[indf].N().Normalize());
-                            rfnv[chunkindex*3+1].Import(_mesh.face[indf].N().Normalize());
-                            rfnv[chunkindex*3+2].Import(_mesh.face[indf].N().Normalize());
-                        }
+						if (attributestobeupdated[INT_ATT_NAMES::ATT_FACENORMAL])
+						{
+							rfnv[chunkindex * 3 + 0].Import(_mesh.face[indf].N().Normalize());
+							rfnv[chunkindex * 3 + 1].Import(_mesh.face[indf].N().Normalize());
+							rfnv[chunkindex * 3 + 2].Import(_mesh.face[indf].N().Normalize());
+						}
 
-                        if ((attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR]))
-                        {
-                            rcv[chunkindex*3+0] = _mesh.face[indf].V(0)->C();
-                            rcv[chunkindex*3+1] = _mesh.face[indf].V(1)->C();
-                            rcv[chunkindex*3+2] = _mesh.face[indf].V(2)->C();
-                        }
+						if ((attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR]))
+						{
+							rcv[chunkindex * 3 + 0] = _mesh.face[indf].V(0)->C();
+							rcv[chunkindex * 3 + 1] = _mesh.face[indf].V(1)->C();
+							rcv[chunkindex * 3 + 2] = _mesh.face[indf].V(2)->C();
+						}
 
-                        if ((attributestobeupdated[INT_ATT_NAMES::ATT_FACECOLOR]))
-                        {
-                            rfcv[chunkindex*3+0] = _mesh.face[indf].C();
-                            rfcv[chunkindex*3+1] = _mesh.face[indf].C();
-                            rfcv[chunkindex*3+2] = _mesh.face[indf].C();
-                        }
+						if ((attributestobeupdated[INT_ATT_NAMES::ATT_FACECOLOR]))
+						{
+							rfcv[chunkindex * 3 + 0] = _mesh.face[indf].C();
+							rfcv[chunkindex * 3 + 1] = _mesh.face[indf].C();
+							rfcv[chunkindex * 3 + 2] = _mesh.face[indf].C();
+						}
 
-                        if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
-                        {
-                            rtv[chunkindex*6+0]=float(_mesh.face[indf].V(0)->T().U());
-                            rtv[chunkindex*6+1]=float(_mesh.face[indf].V(0)->T().V());
-                            rtv[chunkindex*6+2]=float(_mesh.face[indf].V(1)->T().U());
-                            rtv[chunkindex*6+3]=float(_mesh.face[indf].V(1)->T().V());
-                            rtv[chunkindex*6+4]=float(_mesh.face[indf].V(2)->T().U());
-                            rtv[chunkindex*6+5]=float(_mesh.face[indf].V(2)->T().V());
-                        }
+						if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
+						{
+							rtv[chunkindex * 6 + 0] = float(_mesh.face[indf].V(0)->T().U());
+							rtv[chunkindex * 6 + 1] = float(_mesh.face[indf].V(0)->T().V());
+							rtv[chunkindex * 6 + 2] = float(_mesh.face[indf].V(1)->T().U());
+							rtv[chunkindex * 6 + 3] = float(_mesh.face[indf].V(1)->T().V());
+							rtv[chunkindex * 6 + 4] = float(_mesh.face[indf].V(2)->T().U());
+							rtv[chunkindex * 6 + 5] = float(_mesh.face[indf].V(2)->T().V());
+						}
 
-                        if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE])
-                        {
-                            rwtv[chunkindex*6+0]=float(_mesh.face[indf].WT(0).U());
-                            rwtv[chunkindex*6+1]=float(_mesh.face[indf].WT(0).V());
-                            rwtv[chunkindex*6+2]=float(_mesh.face[indf].WT(1).U());
-                            rwtv[chunkindex*6+3]=float(_mesh.face[indf].WT(1).V());
-                            rwtv[chunkindex*6+4]=float(_mesh.face[indf].WT(2).U());
-                            rwtv[chunkindex*6+5]=float(_mesh.face[indf].WT(2).V());
-                        }
+						if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE])
+						{
+							rwtv[chunkindex * 6 + 0] = float(_mesh.face[indf].WT(0).U());
+							rwtv[chunkindex * 6 + 1] = float(_mesh.face[indf].WT(0).V());
+							rwtv[chunkindex * 6 + 2] = float(_mesh.face[indf].WT(1).U());
+							rwtv[chunkindex * 6 + 3] = float(_mesh.face[indf].WT(1).V());
+							rwtv[chunkindex * 6 + 4] = float(_mesh.face[indf].WT(2).U());
+							rwtv[chunkindex * 6 + 5] = float(_mesh.face[indf].WT(2).V());
+						}
 
-                        if (attributestobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES])
-                        {
-                            for (int ii = 0;ii < 3;++ii)
-                            {
-                                size_t v = vcg::tri::Index(_mesh,_mesh.face[indf].V(ii));
-                                if (vpatlas[v] == UINT_MAX)
-                                    vpatlas[v] = faceind*3+ii;
-                            }
-                        }
+						if (attributestobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES])
+						{
+							for (int ii = 0; ii < 3; ++ii)
+							{
+								size_t v = vcg::tri::Index(_mesh, _mesh.face[indf].V(ii));
+								if (vpatlas[v] == UINT_MAX)
+									vpatlas[v] = faceind * 3 + ii;
+							}
+						}
 
 
-                        if((faceind == tn - 1) || (chunkindex == facechunk - 1))
-                        {
-                            size_t chunksize = facechunk;
-                            if (faceind == tn - 1)
-                                chunksize = chunkindex + 1;
+						if ((faceind == int(tn - 1)) || (chunkindex == size_t(facechunk - 1) ))
+						{
+							size_t chunksize = facechunk;
+							if (faceind == int(tn - 1))
+								chunksize = chunkindex + 1;
 
-                            if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION])
-                            {
-                                GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTPOSITION];
-                                glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
-                                glBufferSubData(GL_ARRAY_BUFFER,chunkingpu * facechunk * 3 * buffobj->_components * buffobj->getSizeOfGLType(),3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize,&rpv[0]);
-                                glBindBuffer(GL_ARRAY_BUFFER, 0);
-                            }
+							if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTPOSITION])
+							{
+								GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTPOSITION];
+								glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
+								glBufferSubData(GL_ARRAY_BUFFER, chunkingpu * facechunk * 3 * buffobj->_components * buffobj->getSizeOfGLType(), 3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize, &rpv[0]);
+								glBindBuffer(GL_ARRAY_BUFFER, 0);
+							}
 
-                            if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL])
-                            {
-                                GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTNORMAL];
-                                glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
-                                glBufferSubData(GL_ARRAY_BUFFER,chunkingpu * facechunk * 3 * buffobj->_components * buffobj->getSizeOfGLType(),3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize,&rnv[0]);
-                                glBindBuffer(GL_ARRAY_BUFFER, 0);
-                            }
+							if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTNORMAL])
+							{
+								GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTNORMAL];
+								glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
+								glBufferSubData(GL_ARRAY_BUFFER, chunkingpu * facechunk * 3 * buffobj->_components * buffobj->getSizeOfGLType(), 3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize, &rnv[0]);
+								glBindBuffer(GL_ARRAY_BUFFER, 0);
+							}
 
-                            if (attributestobeupdated[INT_ATT_NAMES::ATT_FACENORMAL])
-                            {
-                                GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_FACENORMAL];
-                                glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
-                                glBufferSubData(GL_ARRAY_BUFFER,chunkingpu * facechunk * 3 * buffobj->_components * buffobj->getSizeOfGLType(),3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize,&rfnv[0]);
-                                glBindBuffer(GL_ARRAY_BUFFER, 0);
-                            }
+							if (attributestobeupdated[INT_ATT_NAMES::ATT_FACENORMAL])
+							{
+								GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_FACENORMAL];
+								glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
+								glBufferSubData(GL_ARRAY_BUFFER, chunkingpu * facechunk * 3 * buffobj->_components * buffobj->getSizeOfGLType(), 3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize, &rfnv[0]);
+								glBindBuffer(GL_ARRAY_BUFFER, 0);
+							}
 
-                            if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR])
-                            {
-                                GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTCOLOR];
-                                glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
-                                glBufferSubData(GL_ARRAY_BUFFER,chunkingpu * facechunk * 3 *buffobj->_components * buffobj->getSizeOfGLType(),3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize,&rcv[0]);
-                                glBindBuffer(GL_ARRAY_BUFFER, 0);
-                            }
+							if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTCOLOR])
+							{
+								GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTCOLOR];
+								glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
+								glBufferSubData(GL_ARRAY_BUFFER, chunkingpu * facechunk * 3 * buffobj->_components * buffobj->getSizeOfGLType(), 3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize, &rcv[0]);
+								glBindBuffer(GL_ARRAY_BUFFER, 0);
+							}
 
-                            if (attributestobeupdated[INT_ATT_NAMES::ATT_FACECOLOR])
-                            {
-                                GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_FACECOLOR];
-                                glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
-                                glBufferSubData(GL_ARRAY_BUFFER,chunkingpu * facechunk * 3 *buffobj->_components * buffobj->getSizeOfGLType(),3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize,&rfcv[0]);
-                                glBindBuffer(GL_ARRAY_BUFFER, 0);
-                            }
+							if (attributestobeupdated[INT_ATT_NAMES::ATT_FACECOLOR])
+							{
+								GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_FACECOLOR];
+								glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
+								glBufferSubData(GL_ARRAY_BUFFER, chunkingpu * facechunk * 3 * buffobj->_components * buffobj->getSizeOfGLType(), 3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize, &rfcv[0]);
+								glBindBuffer(GL_ARRAY_BUFFER, 0);
+							}
 
-                            if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
-                            {
-                                GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTTEXTURE];
-                                glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
-                                glBufferSubData(GL_ARRAY_BUFFER,chunkingpu * facechunk * 3 *buffobj->_components * buffobj->getSizeOfGLType(),3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize,&rtv[0]);
-                                glBindBuffer(GL_ARRAY_BUFFER, 0);
-                            }
+							if (attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
+							{
+								GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_VERTTEXTURE];
+								glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
+								glBufferSubData(GL_ARRAY_BUFFER, chunkingpu * facechunk * 3 * buffobj->_components * buffobj->getSizeOfGLType(), 3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize, &rtv[0]);
+								glBindBuffer(GL_ARRAY_BUFFER, 0);
+							}
 
-                            if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE])
-                            {
-                                GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_WEDGETEXTURE];
-                                glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
-                                glBufferSubData(GL_ARRAY_BUFFER,chunkingpu * facechunk * 3 *buffobj->_components * buffobj->getSizeOfGLType(),3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize,&rwtv[0]);
-                                glBindBuffer(GL_ARRAY_BUFFER, 0);
-                            }
+							if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE])
+							{
+								GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_WEDGETEXTURE];
+								glBindBuffer(GL_ARRAY_BUFFER, buffobj->_bohandle);
+								glBufferSubData(GL_ARRAY_BUFFER, chunkingpu * facechunk * 3 * buffobj->_components * buffobj->getSizeOfGLType(), 3 * buffobj->_components * buffobj->getSizeOfGLType() * chunksize, &rwtv[0]);
+								glBindBuffer(GL_ARRAY_BUFFER, 0);
+							}
 
-                            ++chunkingpu;
-                        }
-                        ++faceind;
-                    }
-                    triangles += cit->second - cit->first + 1;
-                }
+							++chunkingpu;
+						}
+						++faceind;
+					}
+					triangles += cit->second - cit->first + 1;
+				}
 
-                if ((attributestobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES]) && (_edge.size() > 0)) 
-                {
-                    for(typename std::vector<EdgeVertInd>::iterator it = _edge.begin();it != _edge.end();++it)
-                    {
-                        it->_v[0] = vpatlas[it->_v[0]];
-                        it->_v[1] = vpatlas[it->_v[1]];
-                    }
+				if ((attributestobeupdated[INT_ATT_NAMES::ATT_EDGEINDICES]) && (_edge.size() > 0))
+				{
+					for (typename std::vector<EdgeVertInd>::iterator it = _edge.begin(); it != _edge.end(); ++it)
+					{
+						it->_v[0] = vpatlas[it->_v[0]];
+						it->_v[1] = vpatlas[it->_v[1]];
+					}
 
-                    GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_EDGEINDICES];
-                    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, buffobj->_bohandle);
-                    glBufferSubData(GL_ELEMENT_ARRAY_BUFFER,0,buffobj->_components * buffobj->getSizeOfGLType() * _edge.size(),&_edge[0]);
-                    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-                }
+					GLBufferObject* buffobj = _bo[INT_ATT_NAMES::ATT_EDGEINDICES];
+					glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, buffobj->_bohandle);
+					glBufferSubData(GL_ELEMENT_ARRAY_BUFFER, 0, buffobj->_components * buffobj->getSizeOfGLType() * _edge.size(), &_edge[0]);
+					glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+				}
 
-                if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE] || attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
-                    _texindnumtriangles[t] = std::make_pair(mit->first,triangles);
-                ++t;
-            }
+				if (attributestobeupdated[INT_ATT_NAMES::ATT_WEDGETEXTURE] || attributestobeupdated[INT_ATT_NAMES::ATT_VERTTEXTURE])
+					_texindnumtriangles[t] = std::make_pair(mit->first, triangles);
+				++t;
+			}
 
-            //return (k != tn)
-            //    throw MeshLabException("Mesh has not been properly partitioned");
-            return true;
-        }
+			//return (k != tn)
+			//    throw MeshLabException("Mesh has not been properly partitioned");
+			return true;
+		}
 
-        void buffersDeAllocationRequested(const InternalRendAtts& rq)
-        {
-            for(unsigned int ii = 0;ii < INT_ATT_NAMES::enumArity();++ii)
-            {
-                INT_ATT_NAMES boname(ii);
-                if ((_bo[ii] != NULL) && (rq[boname]))
-                    bufferDeAllocationRequested(boname);
-            }
-        }
+		void buffersDeAllocationRequested(const InternalRendAtts& rq)
+		{
+			for (unsigned int ii = 0; ii < INT_ATT_NAMES::enumArity(); ++ii)
+			{
+				INT_ATT_NAMES boname(ii);
+				if ((_bo[ii] != NULL) && (rq[boname]))
+					bufferDeAllocationRequested(boname);
+			}
+		}
 
-        void bufferDeAllocationRequested(INT_ATT_NAMES att)
-        {
-            unsigned int ind(att);
-            if ((ind < 0) || (ind >= (unsigned int) _bo.size()))
-                return;
-            GLBufferObject* bobj = _bo[ind];
-            if (bobj == NULL)
-                return;
+		void bufferDeAllocationRequested(INT_ATT_NAMES att)
+		{
+			unsigned int ind(att);
+			if ((ind < 0) || (ind >= (unsigned int)_bo.size()))
+				return;
+			GLBufferObject* bobj = _bo[ind];
+			if (bobj == NULL)
+				return;
 
-            if ((att != INT_ATT_NAMES::ATT_VERTINDICES) && (att != INT_ATT_NAMES::ATT_EDGEINDICES) /*&& (att != INT_ATT_NAMES::ATT_FIXEDCOLOR)*/)
-            {
-                glDisableClientState(bobj->_clientstatetag);
-            }
+			if ((att != INT_ATT_NAMES::ATT_VERTINDICES) && (att != INT_ATT_NAMES::ATT_EDGEINDICES) /*&& (att != INT_ATT_NAMES::ATT_FIXEDCOLOR)*/)
+			{
+				glDisableClientState(bobj->_clientstatetag);
+			}
 			//glBufferData(bobj->_target, sizeof(vcg::Point3f)*_primitivebatch, 0, GL_DYNAMIC_DRAW);
-            glDeleteBuffers(1,&(bobj->_bohandle));
-            glFlush();
-            glFinish();
+			glDeleteBuffers(1, &(bobj->_bohandle));
+			glFlush();
+			glFinish();
 
-            if (bobj->_size > 0)
-                //we don't use dim cause dim is the value that is going to be allocated, instead use (*it)->_size * (*it)->getSizeOfGLType() is the value already in the buffer
-                _gpumeminfo.releasedMemory(bobj->_size * bobj->getSizeOfGLType());
-            bobj->_isvalid = false;
-            bobj->_size = 0;
-            _currallocatedboatt[att] = false; 
-        }
+			if (bobj->_size > 0)
+				//we don't use dim cause dim is the value that is going to be allocated, instead use (*it)->_size * (*it)->getSizeOfGLType() is the value already in the buffer
+				_gpumeminfo.releasedMemory(bobj->_size * bobj->getSizeOfGLType());
+			bobj->_isvalid = false;
+			bobj->_size = 0;
+			_currallocatedboatt[att] = false;
+		}
 
-        std::ptrdiff_t bufferObjectsMemoryRequired(const InternalRendAtts& rqatt) const
-        {
-            bool replicated = InternalRendAtts::replicatedPipelineNeeded(rqatt);
-            std::ptrdiff_t result(0);
+		std::ptrdiff_t bufferObjectsMemoryRequired(const InternalRendAtts& rqatt) const
+		{
+			bool replicated = InternalRendAtts::replicatedPipelineNeeded(rqatt);
+			std::ptrdiff_t result(0);
 
-            for(unsigned int ii = 0;ii < INT_ATT_NAMES::enumArity();++ii)
-            {
-                INT_ATT_NAMES nm(ii);
-                if (rqatt[nm])
-                    result += (std::ptrdiff_t) boExpectedDimension(nm,replicated);
-            }
-            return result;
-        }
+			for (unsigned int ii = 0; ii < INT_ATT_NAMES::enumArity(); ++ii)
+			{
+				INT_ATT_NAMES nm(ii);
+				if (rqatt[nm])
+					result += (std::ptrdiff_t) boExpectedDimension(nm, replicated);
+			}
+			return result;
+		}
 
-        //expected number of cells should have the required bo
-        //generateindex is true when i have a triangle based mesh
-        //				is false when i have a point based mesh
-        size_t boExpectedSize(INT_ATT_NAMES name,bool replicatedpipeline) const
-        {
-            try
-            {
-                
-                GLBufferObject& cbo = *_bo.at((unsigned int) name);
-                size_t vertnum(_mesh.VN());
-                size_t facenum(_mesh.FN());
+		//expected number of cells should have the required bo
+		//generateindex is true when i have a triangle based mesh
+		//				is false when i have a point based mesh
+		size_t boExpectedSize(INT_ATT_NAMES name, bool replicatedpipeline) const
+		{
+			try
+			{
 
-                switch((unsigned int) name)
-                {
-                case(INT_ATT_NAMES::ATT_VERTPOSITION):
-                case(INT_ATT_NAMES::ATT_VERTNORMAL):
-                case(INT_ATT_NAMES::ATT_VERTCOLOR):
-                case(INT_ATT_NAMES::ATT_VERTTEXTURE):
-                    {
-                        if (replicatedpipeline)
-                            return facenum * 3 * cbo._components;
-                        else
-                            return vertnum * cbo._components;
-                    }
+				GLBufferObject& cbo = *_bo.at((unsigned int)name);
+				size_t vertnum(_mesh.VN());
+				size_t facenum(_mesh.FN());
 
-                case(INT_ATT_NAMES::ATT_FACENORMAL):
-                case(INT_ATT_NAMES::ATT_FACECOLOR):
-                case(INT_ATT_NAMES::ATT_WEDGETEXTURE):
-                    {
-                        if (replicatedpipeline)
-                            return facenum * 3 * cbo._components;
-                        else
-                            return 0;
-                    }
-                case(INT_ATT_NAMES::ATT_VERTINDICES):
-                    {
-                        if (replicatedpipeline)
-                            return 0;
-                        else
-                            return facenum * cbo._components;
-                    }
-                case(INT_ATT_NAMES::ATT_EDGEINDICES):
-                    {
-                        return _edge.size() * cbo._components;
-                    }
+				switch ((unsigned int)name)
+				{
+				case(INT_ATT_NAMES::ATT_VERTPOSITION):
+				case(INT_ATT_NAMES::ATT_VERTNORMAL):
+				case(INT_ATT_NAMES::ATT_VERTCOLOR):
+				case(INT_ATT_NAMES::ATT_VERTTEXTURE):
+				{
+					if (replicatedpipeline)
+						return facenum * 3 * cbo._components;
+					else
+						return vertnum * cbo._components;
+				}
 
-                default : break;
-                }
-            }
-            catch(std::out_of_range& /*exc*/)
-            {
-                return 0;
-            }
-            return 0;
-        }
+				case(INT_ATT_NAMES::ATT_FACENORMAL):
+				case(INT_ATT_NAMES::ATT_FACECOLOR):
+				case(INT_ATT_NAMES::ATT_WEDGETEXTURE):
+				{
+					if (replicatedpipeline)
+						return facenum * 3 * cbo._components;
+					else
+						return 0;
+				}
+				case(INT_ATT_NAMES::ATT_VERTINDICES):
+				{
+					if (replicatedpipeline)
+						return 0;
+					else
+						return facenum * cbo._components;
+				}
+				case(INT_ATT_NAMES::ATT_EDGEINDICES):
+				{
+					return _edge.size() * cbo._components;
+				}
 
-        size_t boExpectedDimension(INT_ATT_NAMES name,bool replicatedpipeline) const
-        {
-            try
-            {
-                size_t sz = boExpectedSize(name,replicatedpipeline);
-                unsigned int ind = (unsigned int) name;
-                GLBufferObject* cbo = _bo.at(ind);
-                if (cbo == NULL)
-                    return 0;
-                else
-                    return sz * cbo->getSizeOfGLType();
-            }
-            catch(std::out_of_range& /*exc*/)
-            {
-                return 0;
-            }
-            return 0;
-        }
+				default: break;
+				}
+			}
+			catch (std::out_of_range& /*exc*/)
+			{
+				return 0;
+			}
+			return 0;
+		}
+
+		size_t boExpectedDimension(INT_ATT_NAMES name, bool replicatedpipeline) const
+		{
+			try
+			{
+				size_t sz = boExpectedSize(name, replicatedpipeline);
+				unsigned int ind = (unsigned int)name;
+				GLBufferObject* cbo = _bo.at(ind);
+				if (cbo == NULL)
+					return 0;
+				else
+					return sz * cbo->getSizeOfGLType();
+			}
+			catch (std::out_of_range& /*exc*/)
+			{
+				return 0;
+			}
+			return 0;
+		}
 
 		void drawFun(const PVData& dt, const std::vector<GLuint>& textid = std::vector<GLuint>()) const
 		{
@@ -1313,7 +1363,7 @@ namespace vcg
 					glDisable(GL_POLYGON_OFFSET_FILL);
 			}
 			if (dt.isPrimitiveActive(PR_POINTS))
-				drawPoints(dt._intatts[size_t(PR_POINTS)], dt._glopts,textid);
+				drawPoints(dt._intatts[size_t(PR_POINTS)], dt._glopts, textid);
 
 			glPopMatrix();
 			glPopAttrib();
@@ -1321,293 +1371,293 @@ namespace vcg
 			glFinish();
 		}
 
-        void drawFilledTriangles(const InternalRendAtts& req,const GL_OPTIONS_DERIVED_TYPE* glopts,const std::vector<GLuint>& textureindex = std::vector<GLuint>()) const
-        {
-            if (_mesh.VN() == 0)
-                return;
+		void drawFilledTriangles(const InternalRendAtts& req, const GL_OPTIONS_DERIVED_TYPE* glopts, const std::vector<GLuint>& textureindex = std::vector<GLuint>()) const
+		{
+			if (_mesh.VN() == 0)
+				return;
 
-            glPushAttrib(GL_ALL_ATTRIB_BITS);
-  
-            bool isgloptsvalid = (glopts != NULL);
-            
-            if (isgloptsvalid && glopts->_persolid_noshading)
-                glDisable(GL_LIGHTING);
-            else
-                if ((!isgloptsvalid) ||  (req[INT_ATT_NAMES::ATT_VERTNORMAL]) || (req[INT_ATT_NAMES::ATT_FACENORMAL]))
-                {
-                    glEnable(GL_LIGHTING);
-                }
+			glPushAttrib(GL_ALL_ATTRIB_BITS);
 
-            glEnable(GL_COLOR_MATERIAL);
-            if ((isgloptsvalid) && (glopts->_persolid_fixed_color_enabled))
-                glColor(glopts->_persolid_fixed_color);
-            else
-            {
-                if ((isgloptsvalid) && (glopts->_persolid_mesh_color_enabled))
-                    glColor(_mesh.C());
-                else
-                {
-                    if ((req[INT_ATT_NAMES::ATT_VERTCOLOR]) || (req[INT_ATT_NAMES::ATT_FACECOLOR]))
-                        glColorMaterial(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE);
-                    else
-                        glColor(vcg::Color4b(vcg::Color4b::LightGray));
-                }
-            }
+			bool isgloptsvalid = (glopts != NULL);
 
-            if (isBORenderingAvailable())
-                drawTrianglesBO(req,textureindex);
-            else
-                drawTrianglesIM(req,textureindex);
+			if (isgloptsvalid && glopts->_persolid_noshading)
+				glDisable(GL_LIGHTING);
+			else
+				if ((!isgloptsvalid) || (req[INT_ATT_NAMES::ATT_VERTNORMAL]) || (req[INT_ATT_NAMES::ATT_FACENORMAL]))
+				{
+					glEnable(GL_LIGHTING);
+				}
 
-            glPopAttrib();
-        }
+			glEnable(GL_COLOR_MATERIAL);
+			if ((isgloptsvalid) && (glopts->_persolid_fixed_color_enabled))
+				glColor(glopts->_persolid_fixed_color);
+			else
+			{
+				if ((isgloptsvalid) && (glopts->_persolid_mesh_color_enabled))
+					glColor(_mesh.C());
+				else
+				{
+					if ((req[INT_ATT_NAMES::ATT_VERTCOLOR]) || (req[INT_ATT_NAMES::ATT_FACECOLOR]))
+						glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
+					else
+						glColor(vcg::Color4b(vcg::Color4b::LightGray));
+				}
+			}
+
+			if (isBORenderingAvailable())
+				drawTrianglesBO(req, textureindex);
+			else
+				drawTrianglesIM(req, textureindex);
+
+			glPopAttrib();
+		}
 
 
-        void drawWiredTriangles(const InternalRendAtts& req,const GL_OPTIONS_DERIVED_TYPE* glopts,const std::vector<GLuint>& textureindex = std::vector<GLuint>()) const
-        {
-            if (_mesh.VN() == 0)
-                return;
-            glPushAttrib(GL_ALL_ATTRIB_BITS);
-            
-           
-            bool isgloptsvalid = (glopts != NULL);
-
-            if (isgloptsvalid && glopts->_perwire_noshading)
-                glDisable(GL_LIGHTING);
-            else 
-                if ((!isgloptsvalid) || (req[INT_ATT_NAMES::ATT_VERTNORMAL]))
-                {
-                    glEnable(GL_LIGHTING);
-                }
-                
-            glEnable(GL_COLOR_MATERIAL);
-            if ((isgloptsvalid) && (glopts->_perwire_fixed_color_enabled))
-                glColor(glopts->_perwire_fixed_color);
-            else
-            {
-                if ((isgloptsvalid) && (glopts->_perwire_mesh_color_enabled))
-                    glColor(_mesh.C());
-                else
-                {
-                    if (req[INT_ATT_NAMES::ATT_VERTCOLOR])
-                        glColorMaterial(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE);
-                    else
-                        glColor(vcg::Color4b(vcg::Color4b::DarkGray));
-                }
-            }
-            float linewidth = 1.0f;
-            if (isgloptsvalid)
-                linewidth = glopts->_perwire_wirewidth;
-            glLineWidth(linewidth);
-            glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
-
-            if (isBORenderingAvailable())
-                drawTrianglesBO(req,textureindex);
-            else
-                drawTrianglesIM(req,textureindex);
-
-            glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
-            glPopAttrib();
-        }
-
-        void drawTrianglesBO(const InternalRendAtts& req,const std::vector<GLuint>& textureindex = std::vector<GLuint>()) const
-        {
-            updateClientState(req);
-
-            bool replicated = InternalRendAtts::replicatedPipelineNeeded(_currallocatedboatt);
-
-            if (replicated)
-            {
-                //qDebug("Replicated drawing");
-                int firsttriangleoffset = 0;
-                if(!req[INT_ATT_NAMES::ATT_VERTTEXTURE] && !req[INT_ATT_NAMES::ATT_WEDGETEXTURE])
-                {
-                    glDisable(GL_TEXTURE_2D);
-                    glDrawArrays(GL_TRIANGLES,0,_mesh.fn * 3);
-                }
-                else
-                {
-                    glEnable(GL_TEXTURE_2D);
-                    for(std::vector< std::pair<short,GLuint> >::const_iterator it = _texindnumtriangles.begin();it != _texindnumtriangles.end();++it)
-                    {
-                        if ((it->first != -1) && (it->first < textureindex.size()))
-                            glBindTexture(GL_TEXTURE_2D,textureindex[it->first]);
-                        else
-                            glBindTexture(GL_TEXTURE_2D,0);
-                        glDrawArrays(GL_TRIANGLES,firsttriangleoffset,it->second * 3 - firsttriangleoffset);
-                        firsttriangleoffset = it->second * 3;
-                    }
-                    glBindTexture(GL_TEXTURE_2D,0);
-                    glDisable(GL_TEXTURE_2D);
-                }
-
-            }
-            else
-            {
-                if(req[INT_ATT_NAMES::ATT_VERTTEXTURE])
-                {
-                    if (textureindex.size() > 0)
-                    {
-                        glEnable(GL_TEXTURE_2D);
-                        glBindTexture(GL_TEXTURE_2D,textureindex[0]);
-                    }
-                }
-                else
-                    glDisable(GL_TEXTURE_2D);
-
-                if  (_bo[INT_ATT_NAMES::ATT_VERTINDICES]->_isvalid)
-                {
-                    //qDebug("Indexed drawing");
-                    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER,_bo[INT_ATT_NAMES::ATT_VERTINDICES]->_bohandle);
-                    glDrawElements( GL_TRIANGLES, _mesh.FN() * _bo[INT_ATT_NAMES::ATT_VERTINDICES]->_components,GL_UNSIGNED_INT ,NULL);
-                    glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);   
-
-                }
-
-                glBindTexture(GL_TEXTURE_2D,0);
-                glDisable(GL_TEXTURE_2D);
-            }
-            InternalRendAtts tmp;
-            updateClientState(tmp);
-            glBindBuffer(GL_ELEMENT_ARRAY_BUFFER,0);
-            glBindBuffer(GL_ARRAY_BUFFER,0);
-        }
-
-        void drawTrianglesIM(const InternalRendAtts& req,const std::vector<GLuint>& textureindex = std::vector<GLuint>()) const
-        {
-            if(_mesh.fn==0)
-                return;
-
-            bool vn = req[INT_ATT_NAMES::ATT_VERTNORMAL] && vcg::tri::HasPerVertexNormal(_mesh);
-            bool fn = req[INT_ATT_NAMES::ATT_FACENORMAL] && vcg::tri::HasPerFaceNormal(_mesh);
-            bool vc = req[INT_ATT_NAMES::ATT_VERTCOLOR] && vcg::tri::HasPerVertexColor(_mesh);
-            bool fc = req[INT_ATT_NAMES::ATT_FACECOLOR] && vcg::tri::HasPerFaceColor(_mesh);
-            bool vt = req[INT_ATT_NAMES::ATT_VERTTEXTURE] && vcg::tri::HasPerVertexTexCoord(_mesh);
-            bool wt = req[INT_ATT_NAMES::ATT_WEDGETEXTURE] && vcg::tri::HasPerWedgeTexCoord(_mesh);
+		void drawWiredTriangles(const InternalRendAtts& req, const GL_OPTIONS_DERIVED_TYPE* glopts, const std::vector<GLuint>& textureindex = std::vector<GLuint>()) const
+		{
+			if (_mesh.VN() == 0)
+				return;
+			glPushAttrib(GL_ALL_ATTRIB_BITS);
 
 
-            //typename MESHTYPE::FaceContainer::iterator fp;
-            typename MESH_TYPE::FaceIterator fi = _mesh.face.begin();
+			bool isgloptsvalid = (glopts != NULL);
 
-            short curtexname=-1;
-            if(wt)
-            {
-                curtexname=(*fi).WT(0).n();
-                if ((curtexname >= 0) && (curtexname < (int)textureindex.size()))
-                {
-                    glEnable(GL_TEXTURE_2D);
-                    glBindTexture(GL_TEXTURE_2D,textureindex[curtexname]);
-                }
-                else
-                {
-                    glDisable(GL_TEXTURE_2D);
-                }
-            }
+			if (isgloptsvalid && glopts->_perwire_noshading)
+				glDisable(GL_LIGHTING);
+			else
+				if ((!isgloptsvalid) || (req[INT_ATT_NAMES::ATT_VERTNORMAL]))
+				{
+					glEnable(GL_LIGHTING);
+				}
 
-            if(vt && !textureindex.empty()) // in the case of per vertex tex coord we assume that we have a SINGLE texture.
-            {
-                curtexname = 0;
-                glEnable(GL_TEXTURE_2D);
-                glBindTexture(GL_TEXTURE_2D,textureindex[curtexname]);
-            }
+			glEnable(GL_COLOR_MATERIAL);
+			if ((isgloptsvalid) && (glopts->_perwire_fixed_color_enabled))
+				glColor(glopts->_perwire_fixed_color);
+			else
+			{
+				if ((isgloptsvalid) && (glopts->_perwire_mesh_color_enabled))
+					glColor(_mesh.C());
+				else
+				{
+					if (req[INT_ATT_NAMES::ATT_VERTCOLOR])
+						glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
+					else
+						glColor(vcg::Color4b(vcg::Color4b::DarkGray));
+				}
+			}
+			float linewidth = 1.0f;
+			if (isgloptsvalid)
+				linewidth = glopts->_perwire_wirewidth;
+			glLineWidth(linewidth);
+			glPolygonMode(GL_FRONT_AND_BACK, GL_LINE);
 
-            glBegin(GL_TRIANGLES);
+			if (isBORenderingAvailable())
+				drawTrianglesBO(req, textureindex);
+			else
+				drawTrianglesIM(req, textureindex);
 
-            while(fi!=_mesh.face.end())
-            {
-                typename MESH_TYPE::FaceType & f = *fi;
-                if(!f.IsD())
-                {
-                    if(wt)
-                        if(f.WT(0).n() != curtexname)
-                        {
-                            curtexname=(*fi).WT(0).n();
-                            glEnd();
+			glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
+			glPopAttrib();
+		}
 
-                            if (curtexname >= 0)
-                            {
-                                glEnable(GL_TEXTURE_2D);
-                                if(!textureindex.empty())
-                                    glBindTexture(GL_TEXTURE_2D,textureindex[curtexname]);
-                            }
-                            else
-                            {
-                                glDisable(GL_TEXTURE_2D);
-                            }
+		void drawTrianglesBO(const InternalRendAtts& req, const std::vector<GLuint>& textureindex = std::vector<GLuint>()) const
+		{
+			updateClientState(req);
 
-                            glBegin(GL_TRIANGLES);
-                        }
+			bool replicated = InternalRendAtts::replicatedPipelineNeeded(_currallocatedboatt);
 
-                        if(fn)
-                            glNormal(f.cN());
-                        if(vn)
-                            glNormal(f.V(0)->cN());
+			if (replicated)
+			{
+				//qDebug("Replicated drawing");
+				int firsttriangleoffset = 0;
+				if (!req[INT_ATT_NAMES::ATT_VERTTEXTURE] && !req[INT_ATT_NAMES::ATT_WEDGETEXTURE])
+				{
+					glDisable(GL_TEXTURE_2D);
+					glDrawArrays(GL_TRIANGLES, 0, _mesh.fn * 3);
+				}
+				else
+				{
+					glEnable(GL_TEXTURE_2D);
+					for (std::vector< std::pair<short, GLuint> >::const_iterator it = _texindnumtriangles.begin(); it != _texindnumtriangles.end(); ++it)
+					{
+						if ((int(it->first) != -1) && (size_t(it->first) < textureindex.size()))
+							glBindTexture(GL_TEXTURE_2D, textureindex[it->first]);
+						else
+							glBindTexture(GL_TEXTURE_2D, 0);
+						glDrawArrays(GL_TRIANGLES, firsttriangleoffset, it->second * 3 - firsttriangleoffset);
+						firsttriangleoffset = it->second * 3;
+					}
+					glBindTexture(GL_TEXTURE_2D, 0);
+					glDisable(GL_TEXTURE_2D);
+				}
 
-                        if(fc)
-                            glColor(f.C());
-                        if(vc)
-                            glColor(f.V(0)->C());
-                        if(vt)
-                            glTexCoord(f.V(0)->T().P());
-                        if(wt)
-                            glTexCoord(f.WT(0).t(0));
-                        glVertex(f.V(0)->P());
+			}
+			else
+			{
+				if (req[INT_ATT_NAMES::ATT_VERTTEXTURE])
+				{
+					if (textureindex.size() > 0)
+					{
+						glEnable(GL_TEXTURE_2D);
+						glBindTexture(GL_TEXTURE_2D, textureindex[0]);
+					}
+				}
+				else
+					glDisable(GL_TEXTURE_2D);
 
-                        if(vn)
-                            glNormal(f.V(1)->cN());
-                        if(vc)
-                            glColor(f.V(1)->C());
-                        if(vt)
-                            glTexCoord(f.V(1)->T().P());
-                        if(wt)
-                            glTexCoord(f.WT(1).t(0));
-                        glVertex(f.V(1)->P());
+				if (_bo[INT_ATT_NAMES::ATT_VERTINDICES]->_isvalid)
+				{
+					//qDebug("Indexed drawing");
+					glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _bo[INT_ATT_NAMES::ATT_VERTINDICES]->_bohandle);
+					glDrawElements(GL_TRIANGLES, GLsizei(_mesh.FN() * _bo[INT_ATT_NAMES::ATT_VERTINDICES]->_components), GL_UNSIGNED_INT, NULL);
+					glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
 
-                        if(vn)
-                            glNormal(f.V(2)->cN());
-                        if(vc)
-                            glColor(f.V(2)->C());
-                        if(vt)
-                            glTexCoord(f.V(2)->T().P());
-                        if(wt)
-                            glTexCoord(f.WT(2).t(0));
-                        glVertex(f.V(2)->P());
-                }
-                ++fi;
-            }
+				}
 
-            glEnd();
-        }
+				glBindTexture(GL_TEXTURE_2D, 0);
+				glDisable(GL_TEXTURE_2D);
+			}
+			InternalRendAtts tmp;
+			updateClientState(tmp);
+			glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+			glBindBuffer(GL_ARRAY_BUFFER, 0);
+		}
 
-        void drawPoints(const InternalRendAtts& req,GL_OPTIONS_DERIVED_TYPE* glopts, const std::vector<GLuint>& textureindex = std::vector<GLuint>()) const
-        {
-            if (_mesh.VN() == 0)
-                return;
-            glPushAttrib(GL_ALL_ATTRIB_BITS);
-            
+		void drawTrianglesIM(const InternalRendAtts& req, const std::vector<GLuint>& textureindex = std::vector<GLuint>()) const
+		{
+			if (_mesh.fn == 0)
+				return;
 
-            bool isgloptsvalid = (glopts != NULL);        
+			bool vn = req[INT_ATT_NAMES::ATT_VERTNORMAL] && vcg::tri::HasPerVertexNormal(_mesh);
+			bool fn = req[INT_ATT_NAMES::ATT_FACENORMAL] && vcg::tri::HasPerFaceNormal(_mesh);
+			bool vc = req[INT_ATT_NAMES::ATT_VERTCOLOR] && vcg::tri::HasPerVertexColor(_mesh);
+			bool fc = req[INT_ATT_NAMES::ATT_FACECOLOR] && vcg::tri::HasPerFaceColor(_mesh);
+			bool vt = req[INT_ATT_NAMES::ATT_VERTTEXTURE] && vcg::tri::HasPerVertexTexCoord(_mesh);
+			bool wt = req[INT_ATT_NAMES::ATT_WEDGETEXTURE] && vcg::tri::HasPerWedgeTexCoord(_mesh);
 
-            
-            if ((isgloptsvalid && glopts->_perpoint_noshading) || (isgloptsvalid && glopts->_perpoint_dot_enabled))
-                glDisable(GL_LIGHTING);
-            else 
-                if ((!isgloptsvalid) ||  req[INT_ATT_NAMES::ATT_VERTNORMAL])
-                {
-                    glEnable(GL_LIGHTING);
-                }
 
-            glEnable(GL_COLOR_MATERIAL);
-            if ((isgloptsvalid) && ((glopts->_perpoint_fixed_color_enabled) || (glopts->_perpoint_mesh_color_enabled))){
-                if (glopts->_perpoint_fixed_color_enabled)
-                    glColor(glopts->_perpoint_fixed_color);
-                else
-                    glColor(_mesh.C());
-            }
+			//typename MESHTYPE::FaceContainer::iterator fp;
+			typename MESH_TYPE::FaceIterator fi = _mesh.face.begin();
+
+			short curtexname = -1;
+			if (wt)
+			{
+				curtexname = (*fi).WT(0).n();
+				if ((curtexname >= 0) && (curtexname < (int)textureindex.size()))
+				{
+					glEnable(GL_TEXTURE_2D);
+					glBindTexture(GL_TEXTURE_2D, textureindex[curtexname]);
+				}
+				else
+				{
+					glDisable(GL_TEXTURE_2D);
+				}
+			}
+
+			if (vt && !textureindex.empty()) // in the case of per vertex tex coord we assume that we have a SINGLE texture.
+			{
+				curtexname = 0;
+				glEnable(GL_TEXTURE_2D);
+				glBindTexture(GL_TEXTURE_2D, textureindex[curtexname]);
+			}
+
+			glBegin(GL_TRIANGLES);
+
+			while (fi != _mesh.face.end())
+			{
+				typename MESH_TYPE::FaceType & f = *fi;
+				if (!f.IsD())
+				{
+					if (wt)
+						if (f.WT(0).n() != curtexname)
+						{
+							curtexname = (*fi).WT(0).n();
+							glEnd();
+
+							if (curtexname >= 0)
+							{
+								glEnable(GL_TEXTURE_2D);
+								if (!textureindex.empty())
+									glBindTexture(GL_TEXTURE_2D, textureindex[curtexname]);
+							}
+							else
+							{
+								glDisable(GL_TEXTURE_2D);
+							}
+
+							glBegin(GL_TRIANGLES);
+						}
+
+					if (fn)
+						glNormal(f.cN());
+					if (vn)
+						glNormal(f.V(0)->cN());
+
+					if (fc)
+						glColor(f.C());
+					if (vc)
+						glColor(f.V(0)->C());
+					if (vt)
+						glTexCoord(f.V(0)->T().P());
+					if (wt)
+						glTexCoord(f.WT(0).t(0));
+					glVertex(f.V(0)->P());
+
+					if (vn)
+						glNormal(f.V(1)->cN());
+					if (vc)
+						glColor(f.V(1)->C());
+					if (vt)
+						glTexCoord(f.V(1)->T().P());
+					if (wt)
+						glTexCoord(f.WT(1).t(0));
+					glVertex(f.V(1)->P());
+
+					if (vn)
+						glNormal(f.V(2)->cN());
+					if (vc)
+						glColor(f.V(2)->C());
+					if (vt)
+						glTexCoord(f.V(2)->T().P());
+					if (wt)
+						glTexCoord(f.WT(2).t(0));
+					glVertex(f.V(2)->P());
+				}
+				++fi;
+			}
+
+			glEnd();
+		}
+
+		void drawPoints(const InternalRendAtts& req, GL_OPTIONS_DERIVED_TYPE* glopts, const std::vector<GLuint>& textureindex = std::vector<GLuint>()) const
+		{
+			if (_mesh.VN() == 0)
+				return;
+			glPushAttrib(GL_ALL_ATTRIB_BITS);
+
+
+			bool isgloptsvalid = (glopts != NULL);
+
+
+			if ((isgloptsvalid && glopts->_perpoint_noshading) || (isgloptsvalid && glopts->_perpoint_dot_enabled))
+				glDisable(GL_LIGHTING);
+			else
+				if ((!isgloptsvalid) || req[INT_ATT_NAMES::ATT_VERTNORMAL])
+				{
+					glEnable(GL_LIGHTING);
+				}
+
+			glEnable(GL_COLOR_MATERIAL);
+			if ((isgloptsvalid) && ((glopts->_perpoint_fixed_color_enabled) || (glopts->_perpoint_mesh_color_enabled))) {
+				if (glopts->_perpoint_fixed_color_enabled)
+					glColor(glopts->_perpoint_fixed_color);
+				else
+					glColor(_mesh.C());
+			}
+
+			if (req[INT_ATT_NAMES::ATT_VERTCOLOR])
+				glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
 
-            if (req[INT_ATT_NAMES::ATT_VERTCOLOR])       
-                glColorMaterial(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE);
-         
 
 			if (req[INT_ATT_NAMES::ATT_VERTTEXTURE])
 			{
@@ -1619,36 +1669,36 @@ namespace vcg
 			}
 			else
 				glDisable(GL_TEXTURE_2D);
-            //glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _bo[GLMeshAttributesInfo::ATT_VERTINDEX]->_bohandle);
-           
-            if (glopts != NULL)
-            {
+			//glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _bo[GLMeshAttributesInfo::ATT_VERTINDEX]->_bohandle);
+
+			if (glopts != NULL)
+			{
 				if (!glopts->_perpoint_dot_enabled)
 					glPointSize(glopts->_perpoint_pointsize);
-                if ((glopts->_perpoint_pointsmooth_enabled) || (glopts->_perpoint_dot_enabled))
-                    glEnable(GL_POINT_SMOOTH);
-                else 
-                    glDisable(GL_POINT_SMOOTH);
-                if(glopts->_perpoint_pointattenuation_enabled)
-                {
-                    vcg::Matrix44<typename MESH_TYPE::ScalarType> mat;
-                    glGetv(GL_MODELVIEW_MATRIX,mat);
-                    vcg::Point3<typename MESH_TYPE::ScalarType> c =_mesh.bbox.Center();
-                    float camDist = (float)Norm(mat*c);
-                    float quadratic[] = { 0.0f, 0.0f, 1.0f/(camDist*camDist) , 0.0f };
-                    glPointParameterfv( GL_POINT_DISTANCE_ATTENUATION, quadratic );
-                    glPointParameterf( GL_POINT_SIZE_MAX, 16.0f );
-                    glPointParameterf( GL_POINT_SIZE_MIN, 1.0f );
-                }
-                else
-                {
-                    float quadratic[] = { 1.0f, 0.0f, 0.0f};
-                    glPointParameterfv( GL_POINT_DISTANCE_ATTENUATION, quadratic );
-                    float pointsize = 1.0f;
-                    if (isgloptsvalid)
-                        pointsize = glopts->_perpoint_pointsize;
-                    glPointSize(pointsize);
-                }
+				if ((glopts->_perpoint_pointsmooth_enabled) || (glopts->_perpoint_dot_enabled))
+					glEnable(GL_POINT_SMOOTH);
+				else
+					glDisable(GL_POINT_SMOOTH);
+				if (glopts->_perpoint_pointattenuation_enabled)
+				{
+					vcg::Matrix44<typename MESH_TYPE::ScalarType> mat;
+					glGetv(GL_MODELVIEW_MATRIX, mat);
+					vcg::Point3<typename MESH_TYPE::ScalarType> c = _mesh.bbox.Center();
+					float camDist = (float)Norm(mat*c);
+					float quadratic[] = { 0.0f, 0.0f, 1.0f / (camDist*camDist) , 0.0f };
+					glPointParameterfv(GL_POINT_DISTANCE_ATTENUATION, quadratic);
+					glPointParameterf(GL_POINT_SIZE_MAX, 16.0f);
+					glPointParameterf(GL_POINT_SIZE_MIN, 1.0f);
+				}
+				else
+				{
+					float quadratic[] = { 1.0f, 0.0f, 0.0f };
+					glPointParameterfv(GL_POINT_DISTANCE_ATTENUATION, quadratic);
+					float pointsize = 1.0f;
+					if (isgloptsvalid)
+						pointsize = glopts->_perpoint_pointsize;
+					glPointSize(pointsize);
+				}
 				if (glopts->_perpoint_dot_enabled)
 				{
 					glEnable(GL_BLEND);
@@ -1657,11 +1707,11 @@ namespace vcg
 					glDepthFunc(GL_LEQUAL);
 					glPointSize(glopts->_perpoint_pointsize + 0.5);
 				}
-            }
-            if (isBORenderingAvailable())
-                drawPointsBO(req);
-            else
-                drawPointsIM(req);
+			}
+			if (isBORenderingAvailable())
+				drawPointsBO(req);
+			else
+				drawPointsIM(req);
 
 			if ((glopts != NULL) && (glopts->_perpoint_dot_enabled))
 			{
@@ -1674,66 +1724,66 @@ namespace vcg
 				else
 					drawPointsIM(req);
 			}
-            glPopAttrib();
-        }
+			glPopAttrib();
+		}
 
-        void drawPointsBO(const InternalRendAtts& req) const
-        {
-            size_t pointsnum = _mesh.VN();
-            if (InternalRendAtts::replicatedPipelineNeeded(_currallocatedboatt))
-                pointsnum = _mesh.FN() * 3;
-            updateClientState(req);
-            glDrawArrays(GL_POINTS,0,GLsizei(pointsnum));
-            /*disable all client state buffers*/
-            InternalRendAtts tmp;
-            updateClientState(tmp);
-        }
+		void drawPointsBO(const InternalRendAtts& req) const
+		{
+			size_t pointsnum = _mesh.VN();
+			if (InternalRendAtts::replicatedPipelineNeeded(_currallocatedboatt))
+				pointsnum = _mesh.FN() * 3;
+			updateClientState(req);
+			glDrawArrays(GL_POINTS, 0, GLsizei(pointsnum));
+			/*disable all client state buffers*/
+			InternalRendAtts tmp;
+			updateClientState(tmp);
+		}
 
-        void drawPointsIM(const InternalRendAtts& req) const
-        {
-            bool vn = req[INT_ATT_NAMES::ATT_VERTNORMAL] && vcg::tri::HasPerVertexNormal(_mesh);
-            bool vc = req[INT_ATT_NAMES::ATT_VERTCOLOR] && vcg::tri::HasPerVertexColor(_mesh);
-            bool vt = req[INT_ATT_NAMES::ATT_VERTTEXTURE] && vcg::tri::HasPerVertexTexCoord(_mesh);
-            
+		void drawPointsIM(const InternalRendAtts& req) const
+		{
+			bool vn = req[INT_ATT_NAMES::ATT_VERTNORMAL] && vcg::tri::HasPerVertexNormal(_mesh);
+			bool vc = req[INT_ATT_NAMES::ATT_VERTCOLOR] && vcg::tri::HasPerVertexColor(_mesh);
+			bool vt = req[INT_ATT_NAMES::ATT_VERTTEXTURE] && vcg::tri::HasPerVertexTexCoord(_mesh);
 
-            glBegin(GL_POINTS);
-            for(typename MESH_TYPE::VertexIterator vi=_mesh.vert.begin();vi!=_mesh.vert.end();++vi)
-            {
-                if(!(*vi).IsD())
-                {
-                    if(vn) glNormal((*vi).cN());
-                    if(vc) glColor((*vi).C());
-                    if(vt) glTexCoord((*vi).T().P());
-                    glVertex((*vi).P());
-                }
-            }
-            glEnd();
-        }
 
-        void drawEdges(const InternalRendAtts& req,GL_OPTIONS_DERIVED_TYPE* glopts) const
-        {
-            if (_mesh.VN() == 0)
-                return;
-            glPushAttrib(GL_ALL_ATTRIB_BITS);
-           
-            bool isgloptsvalid = (glopts != NULL);
+			glBegin(GL_POINTS);
+			for (typename MESH_TYPE::VertexIterator vi = _mesh.vert.begin(); vi != _mesh.vert.end(); ++vi)
+			{
+				if (!(*vi).IsD())
+				{
+					if (vn) glNormal((*vi).cN());
+					if (vc) glColor((*vi).C());
+					if (vt) glTexCoord((*vi).T().P());
+					glVertex((*vi).P());
+				}
+			}
+			glEnd();
+		}
 
-            glEnable(GL_COLOR_MATERIAL);
-            glColorMaterial(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE);
+		void drawEdges(const InternalRendAtts& req, GL_OPTIONS_DERIVED_TYPE* glopts) const
+		{
+			if (_mesh.VN() == 0)
+				return;
+			glPushAttrib(GL_ALL_ATTRIB_BITS);
 
-            if (isgloptsvalid && glopts->_perwire_noshading)
-                glDisable(GL_LIGHTING);
-            else 
-                if ((!isgloptsvalid) || (req[INT_ATT_NAMES::ATT_VERTNORMAL]))
-                {
-                    glEnable(GL_LIGHTING);
-                }
+			bool isgloptsvalid = (glopts != NULL);
 
-            bool colordefinedenabled = (isgloptsvalid) && ((glopts->_perwire_fixed_color_enabled) || (glopts->_perwire_mesh_color_enabled));
+			glEnable(GL_COLOR_MATERIAL);
+			glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
 
-            if (!(isgloptsvalid) || colordefinedenabled)
-            {
-                vcg::Color4b tmpcol = vcg::Color4b(vcg::Color4b::DarkGray);
+			if (isgloptsvalid && glopts->_perwire_noshading)
+				glDisable(GL_LIGHTING);
+			else
+				if ((!isgloptsvalid) || (req[INT_ATT_NAMES::ATT_VERTNORMAL]))
+				{
+					glEnable(GL_LIGHTING);
+				}
+
+			bool colordefinedenabled = (isgloptsvalid) && ((glopts->_perwire_fixed_color_enabled) || (glopts->_perwire_mesh_color_enabled));
+
+			if (!(isgloptsvalid) || colordefinedenabled)
+			{
+				vcg::Color4b tmpcol = vcg::Color4b(vcg::Color4b::DarkGray);
 				if (colordefinedenabled)
 				{
 					if (glopts->_perwire_fixed_color_enabled)
@@ -1741,590 +1791,587 @@ namespace vcg
 					else
 						tmpcol = _mesh.cC();
 				}
-                glColor(tmpcol);
-            }
-
-            glDisable(GL_TEXTURE_2D);
-            //glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _bo[GLMeshAttributesInfo::ATT_VERTINDEX]->_bohandle);
-
-            float linewidth = 1.0f;
-            if (isgloptsvalid)
-                linewidth = glopts->_perwire_wirewidth;
-            glLineWidth(linewidth);
-
-            if (isBORenderingAvailable())
-                drawEdgesBO(req);
-            else
-                drawEdgesIM(req);
-            //glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-
-            /*disable all client state buffers*/
-            glPopAttrib();
-        }
-        
-        void drawEdgesBO(const InternalRendAtts& req) const
-        {
-            if  (_bo[INT_ATT_NAMES::ATT_EDGEINDICES]->_isvalid)
-            {
-                //qDebug("Indexed drawing");
-                updateClientState(req);
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER,_bo[INT_ATT_NAMES::ATT_EDGEINDICES]->_bohandle);
-                glDrawElements( GL_LINES, _edge.size() * _bo[INT_ATT_NAMES::ATT_EDGEINDICES]->_components,GL_UNSIGNED_INT ,NULL);
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-                InternalRendAtts tmp;
-                updateClientState(tmp);
-            }
-        }
-
-        void drawEdgesIM(const InternalRendAtts& req) const
-        {
-            typename MESH_TYPE::FaceIterator fi = _mesh.face.begin();
-
-            bool vn = req[INT_ATT_NAMES::ATT_VERTNORMAL] && vcg::tri::HasPerVertexNormal(_mesh);
-            bool vc = req[INT_ATT_NAMES::ATT_VERTCOLOR] && vcg::tri::HasPerVertexColor(_mesh);
-
-            glBegin(GL_LINES);
-
-            while(fi!=_mesh.face.end())
-            {
-                typename MESH_TYPE::FaceType & f = *fi;
-
-                if(!f.IsD())
-                {
-                    if (!f.IsF(0)) 
-                    {
-                        if(vn)	glNormal(f.V(0)->cN());
-                        if(vc)	glColor(f.V(0)->C());
-                        glVertex(f.V(0)->P());
-
-                        if(vn)	glNormal(f.V(1)->cN());
-               
-                        if(vc)	glColor(f.V(1)->C());
-                        glVertex(f.V(1)->P());
-                    }
-
-                    if (!f.IsF(1)) 
-                    {
-                        if(vn)	glNormal(f.V(1)->cN());
-                        if(vc)	glColor(f.V(1)->C());
-                        glVertex(f.V(1)->P());
-
-                        if(vn)	glNormal(f.V(2)->cN());
-                        if(vc)	glColor(f.V(2)->C());
-                        glVertex(f.V(2)->P());
-                    }
-
-                    if (!f.IsF(2)) 
-                    {
-                        if(vn)	glNormal(f.V(2)->cN());
-                        if(vc)	glColor(f.V(2)->C());
-                        glVertex(f.V(2)->P());
-
-                        if(vn)	glNormal(f.V(0)->cN());
-                        if(vc)	glColor(f.V(0)->C());
-                        glVertex(f.V(0)->P());
-                    }
-
-                }
-                ++fi;
-            }
-
-            glEnd();
-        }
-
-        void drawBBox(GL_OPTIONS_DERIVED_TYPE* glopts) const
-        {
-            glPushAttrib(GL_ALL_ATTRIB_BITS);
-            bool isgloptsvalid = (glopts != NULL);
-
-            glDisable(GL_LIGHTING);
-            glEnable(GL_COLOR_MATERIAL);
-            glColorMaterial(GL_FRONT_AND_BACK,GL_AMBIENT_AND_DIFFUSE);
-
-            if ((isgloptsvalid) && (glopts->_perbbox_fixed_color_enabled))
-                glColor(glopts->_perbbox_fixed_color);
-            else
-            {
-                if ((isgloptsvalid) && (glopts->_perbbox_mesh_color_enabled))
-                    glColor(_mesh.C());
-                else
-                    glColor(vcg::Color4b(vcg::Color4b::White));
-            }
-            if (isBORenderingAvailable())
-                drawBBoxBO();
-            else
-                drawBBoxIM();
-            glPopAttrib();
-        }
-
-        void drawBBoxBO() const
-        {
-            vcg::Box3<typename MESH_TYPE::ScalarType>& b = _mesh.bbox;
-
-            GLuint bbhandle;
-            glGenBuffers(1,&bbhandle);
-            std::vector<vcg::Point3f> bbox(12 * 2);
-
-            //0
-            bbox[0] = vcg::Point3f((float)b.min[0],(float)b.min[1],(float)b.min[2]);
-            bbox[1] = vcg::Point3f((float)b.max[0],(float)b.min[1],(float)b.min[2]);
-
-            //1
-            bbox[2] = vcg::Point3f((float)b.max[0],(float)b.min[1],(float)b.min[2]);
-            bbox[3] = vcg::Point3f((float)b.max[0],(float)b.max[1],(float)b.min[2]);
-
-            //2
-            bbox[4] = vcg::Point3f((float)b.max[0],(float)b.max[1],(float)b.min[2]);
-            bbox[5] = vcg::Point3f((float)b.min[0],(float)b.max[1],(float)b.min[2]);
-
-            //3
-            bbox[6] = vcg::Point3f((float)b.min[0],(float)b.max[1],(float)b.min[2]);
-            bbox[7] = vcg::Point3f((float)b.min[0],(float)b.min[1],(float)b.min[2]);
-
-            //4
-            bbox[8] = vcg::Point3f((float)b.min[0],(float)b.min[1],(float)b.min[2]);
-            bbox[9] = vcg::Point3f((float)b.min[0],(float)b.min[1],(float)b.max[2]);
-
-            //5
-            bbox[10] = vcg::Point3f((float)b.min[0],(float)b.min[1],(float)b.max[2]);
-            bbox[11] = vcg::Point3f((float)b.max[0],(float)b.min[1],(float)b.max[2]);
-
-            //6
-            bbox[12] = vcg::Point3f((float)b.max[0],(float)b.min[1],(float)b.max[2]);
-            bbox[13] = vcg::Point3f((float)b.max[0],(float)b.min[1],(float)b.min[2]);
-
-            //7
-            bbox[14] = vcg::Point3f((float)b.max[0],(float)b.min[1],(float)b.max[2]);
-            bbox[15] = vcg::Point3f((float)b.max[0],(float)b.max[1],(float)b.max[2]);
-
-            //8
-            bbox[16] = vcg::Point3f((float)b.max[0],(float)b.max[1],(float)b.max[2]);
-            bbox[17] = vcg::Point3f((float)b.max[0],(float)b.max[1],(float)b.min[2]);
-
-            //9
-            bbox[18] = vcg::Point3f((float)b.max[0],(float)b.max[1],(float)b.max[2]);
-            bbox[19] = vcg::Point3f((float)b.min[0],(float)b.max[1],(float)b.max[2]);
-
-            //10
-            bbox[20] = vcg::Point3f((float)b.min[0],(float)b.max[1],(float)b.max[2]);
-            bbox[21] = vcg::Point3f((float)b.min[0],(float)b.min[1],(float)b.max[2]);
-
-            //11
-            bbox[22] = vcg::Point3f((float)b.min[0],(float)b.max[1],(float)b.max[2]);
-            bbox[23] = vcg::Point3f((float)b.min[0],(float)b.max[1],(float)b.min[2]);
-
-            glBindBuffer(GL_ARRAY_BUFFER,bbhandle);
-            glBufferData(GL_ARRAY_BUFFER, 12 * 2 * sizeof(vcg::Point3f), &(bbox[0]), GL_STATIC_DRAW);
-            glVertexPointer(3,GL_FLOAT,0,0);
-            glBindBuffer(GL_ARRAY_BUFFER,0);
-            glEnableClientState(GL_VERTEX_ARRAY);
-            glDrawArrays(GL_LINES,0,24);
-            glDisableClientState(GL_VERTEX_ARRAY);
-            glDeleteBuffers(1,&bbhandle);
-        }
-
-        void drawBBoxIM() const
-        {
-            vcg::Box3<typename MESH_TYPE::ScalarType>& b = _mesh.bbox;
-
-            glBegin(GL_LINE_STRIP);
-            glVertex3f((float)b.min[0],(float)b.min[1],(float)b.min[2]);
-            glVertex3f((float)b.max[0],(float)b.min[1],(float)b.min[2]);
-            glVertex3f((float)b.max[0],(float)b.max[1],(float)b.min[2]);
-            glVertex3f((float)b.min[0],(float)b.max[1],(float)b.min[2]);
-            glVertex3f((float)b.min[0],(float)b.min[1],(float)b.min[2]);
-            glEnd();
-            glBegin(GL_LINE_STRIP);
-            glVertex3f((float)b.min[0],(float)b.min[1],(float)b.max[2]);
-            glVertex3f((float)b.max[0],(float)b.min[1],(float)b.max[2]);
-            glVertex3f((float)b.max[0],(float)b.max[1],(float)b.max[2]);
-            glVertex3f((float)b.min[0],(float)b.max[1],(float)b.max[2]);
-            glVertex3f((float)b.min[0],(float)b.min[1],(float)b.max[2]);
-            glEnd();
-            glBegin(GL_LINES);
-            glVertex3f((float)b.min[0],(float)b.min[1],(float)b.min[2]);
-            glVertex3f((float)b.min[0],(float)b.min[1],(float)b.max[2]);
-
-            glVertex3f((float)b.max[0],(float)b.min[1],(float)b.min[2]);
-            glVertex3f((float)b.max[0],(float)b.min[1],(float)b.max[2]);
-
-            glVertex3f((float)b.max[0],(float)b.max[1],(float)b.min[2]);
-            glVertex3f((float)b.max[0],(float)b.max[1],(float)b.max[2]);
-
-            glVertex3f((float)b.min[0],(float)b.max[1],(float)b.min[2]);
-            glVertex3f((float)b.min[0],(float)b.max[1],(float)b.max[2]);
-            glEnd();
-        }
-
-        void updateClientState(const InternalRendAtts& req) const 
-        {
-            int ii = 0;
-            for(typename std::vector<GLBufferObject*>::const_iterator it = _bo.begin();it != _bo.end();++it)
-            {
-                INT_ATT_NAMES boname(ii);
-                if ((boname != INT_ATT_NAMES::ATT_VERTINDICES) && (boname != INT_ATT_NAMES::ATT_EDGEINDICES) /*&& (boname != INT_ATT_NAMES::ATT_FIXEDCOLOR)*/)
-                {
-                    if (req[boname] && _currallocatedboatt[boname] && (*it != NULL))
-                    {
-                        glBindBuffer((*it)->_target, (*it)->_bohandle);
-                        setBufferPointer(boname);
-                        glEnableClientState((*it)->_clientstatetag);
-                        glBindBuffer((*it)->_target, 0);
-                    }
-                    else
-                    {
-                        glBindBuffer((*it)->_target, (*it)->_bohandle);
-                        disableClientState(boname,req);
-                        glBindBuffer((*it)->_target, 0);
-                    }
-                }
-                ++ii;
-            }
-        }
-
-        void setBufferPointer( INT_ATT_NAMES boname) const
-        {
-            unsigned int ii = boname;
-            if (ii >= INT_ATT_NAMES::enumArity())
-                return;
-            GLBufferObject* cbo = _bo[ii];
-            if (cbo == NULL)
-                return;
-
-            switch(ii)
-            {
-            case(INT_ATT_NAMES::ATT_VERTPOSITION):
-                {
-                    glVertexPointer(GLint(cbo->_components), cbo->_gltype, GLsizei(0), 0);
-                    break;
-                }
-            case(INT_ATT_NAMES::ATT_VERTNORMAL):
-            case(INT_ATT_NAMES::ATT_FACENORMAL):
-                {
-                    glNormalPointer(cbo->_gltype, GLsizei(0), 0);
-                    break;
-                }
-            case(INT_ATT_NAMES::ATT_VERTCOLOR):
-            case(INT_ATT_NAMES::ATT_FACECOLOR):
-                {
-                    glColorPointer(GLint(cbo->_components), cbo->_gltype, GLsizei(0), 0);
-                    break;
-                }
-            case(INT_ATT_NAMES::ATT_VERTTEXTURE):
-            case(INT_ATT_NAMES::ATT_WEDGETEXTURE):
-                {
-                    glTexCoordPointer(GLint(cbo->_components), cbo->_gltype,GLsizei(0), 0);
-                    break;
-                }
-            default : break;
-            }
-        }
-
-        void disableClientState( INT_ATT_NAMES boname,const RendAtts& req) const
-        {
-
-            if (boname >= INT_ATT_NAMES::enumArity())
-                return;
-
-            switch(boname)
-            {
-            case(INT_ATT_NAMES::ATT_VERTPOSITION):
-                {
-                    glDisableClientState(GL_VERTEX_ARRAY);
-                    break;
-                }
-            case(INT_ATT_NAMES::ATT_VERTNORMAL):
-            case(INT_ATT_NAMES::ATT_FACENORMAL):
-                {
-                    if (!req[INT_ATT_NAMES::ATT_VERTNORMAL] && !req[INT_ATT_NAMES::ATT_FACENORMAL])
-                        glDisableClientState(GL_NORMAL_ARRAY);
-                    break;
-                }
-            case(INT_ATT_NAMES::ATT_VERTCOLOR):
-            case(INT_ATT_NAMES::ATT_FACECOLOR):
-                {
-                    if (!req[INT_ATT_NAMES::ATT_VERTCOLOR] && !req[INT_ATT_NAMES::ATT_FACECOLOR])
-                        glDisableClientState(GL_COLOR_ARRAY);
-                    break;
-                }
-            case(INT_ATT_NAMES::ATT_VERTTEXTURE):
-            case(INT_ATT_NAMES::ATT_WEDGETEXTURE):
-                {
-                    if (!req[INT_ATT_NAMES::ATT_VERTTEXTURE] && !req[INT_ATT_NAMES::ATT_WEDGETEXTURE])
-                        glDisableClientState(GL_TEXTURE_COORD_ARRAY);
-                    break;
-                }
-            default:
-                {
-                    break;
-                }
-
-            }
-        }
-
-        void fillchunkMap()
-        {
-            if (!vcg::tri::HasPerWedgeTexCoord(_mesh))
-                return;
-            _chunkmap.clear();
-            typename MESH_TYPE::FaceIterator infrange = _mesh.face.begin();
-            short texind = std::numeric_limits<short>::max();
-            int hh = 0;
-            for(typename MESH_TYPE::FaceIterator fit = _mesh.face.begin();fit != _mesh.face.end();++fit)
-            {
-                if (fit->WT(0).N() != texind)
-                {
-                    if ((texind != std::numeric_limits<short>::max()) || (fit == _mesh.face.end() - 1))
-                    {
-                        GLuint lowind = std::distance(_mesh.face.begin(),infrange);
-                        GLuint topind = std::distance(_mesh.face.begin(),fit) - 1;
-                        _chunkmap[texind].push_back(std::make_pair(lowind,topind));
-                        infrange = fit;
-                    }
-                    texind = fit->WT(0).N();
-                }
-                ++hh;
-            }
-            _chunkmap[texind].push_back(std::make_pair(std::distance(_mesh.face.begin(),infrange),std::distance(_mesh.face.begin(),_mesh.face.end() - 1)));
-        }
-
-        void debug(const InternalRendAtts& tobeallocated,const InternalRendAtts& tobedeallocated,const InternalRendAtts& tobeupdated)
-        {
-            _loginfo.reset();
-            _loginfo._tobedeallocated = std::string("to_be_deallocated: ");
-            _loginfo._tobeallocated = std::string("to_be_allocated: ");
-            _loginfo._tobeupdated = std::string("to_be_updated: ");
-
-            std::string truestring("true");
-            std::string falsestring("false");
-            for(unsigned int ii = 0;ii < INT_ATT_NAMES::enumArity();++ii)
-            {
-                std::string deallocres(falsestring);
-                if (tobedeallocated[ii])
-                    deallocres = truestring;
-                _loginfo._tobedeallocated +=  deallocres + " ";
-
-                std::string allocres(falsestring);
-                if (tobeallocated[ii])
-                    allocres = truestring;
-                _loginfo._tobeallocated +=  allocres + " ";
-
-                std::string upres(falsestring);
-                if (tobeupdated[ii])
-                    upres = truestring;
-                _loginfo._tobeupdated +=  upres + " ";
-            }
-
-            _loginfo._tobedeallocated = std::string("[") + _loginfo._tobedeallocated + std::string("]");
-            _loginfo._tobeallocated = std::string("[") + _loginfo._tobeallocated + std::string("]");
-            _loginfo._tobeupdated = std::string("[") + _loginfo._tobeupdated + std::string("]");
-
-         
-            int hh = 0;
-            
-            for(typename ViewsMap::const_iterator it = _perviewreqatts.begin();it != _perviewreqatts.end();++it)
-            {
-                std::stringstream tmpstream;
-                tmpstream << "view_" << hh << ":\n";
-                for(size_t pm = 0; pm < size_t(PR_ARITY); ++pm)
-                {
-                    tmpstream << DebugInfo::primitiveName(pm) << " ";
-
-                    for(unsigned int ii = 0;ii < INT_ATT_NAMES::enumArity();++ii)
-                    {
-                        std::string res = falsestring;
-                        if (it->second._intatts[pm][ii])
-                            res = truestring;
-                        tmpstream << "att[" << ii << "]=" << res << " ";
-                    }
-                    tmpstream << std::endl;
-                }
-                _loginfo._perviewdata.push_back(tmpstream.str());
-                ++hh;
-            }
-            
-            std::stringstream tmpstream;
-            tmpstream << "currently_allocated: " ;
-            for(unsigned int ii = 0;ii < INT_ATT_NAMES::enumArity();++ii)
-            {
-                std::string res = falsestring; 
-                if (_currallocatedboatt[ii])
-                    res = truestring;
-                tmpstream << "att[" << ii << "]=" << res << " ";
-            }
-            _loginfo._currentlyallocated = tmpstream.str();
-        }
-
-        class EdgeVertInd
-        {
-        public:
-
-            GLuint  _v[2];  // the two Vertex indices are ordered!
-         
-            EdgeVertInd() {}
-            EdgeVertInd(const MESH_TYPE& m,typename MESH_TYPE::FacePointer  pf, const int nz) { this->set(m,pf,nz); }
-            EdgeVertInd(const MESH_TYPE& m,typename MESH_TYPE::EdgePointer  pe, const int nz) { this->set(m,pe,nz); }
-
-            void set(const MESH_TYPE& m,typename MESH_TYPE::FacePointer  pf, const int nz )
-            {
-                assert(pf!=0);
-                assert(nz>=0);
-                assert(nz<pf->VN());
-
-                _v[0] = GLuint(vcg::tri::Index(m,pf->V(nz)));;
-                _v[1] = GLuint(vcg::tri::Index(m,pf->V(pf->Next(nz))));
-                assert(_v[0] != _v[1]); // The face pointed by 'f' is Degenerate (two coincident vertexes)
-
-                if( _v[0] > _v[1] ) 
-                    std::swap(_v[0],_v[1]);   
-            }
-
-            void set(const MESH_TYPE& m,typename MESH_TYPE::EdgePointer pe,const int nz)
-            {
-                assert(pe!=0);
-                assert(nz>=0);
-                assert(nz<2);
-
-                _v[0] = size_t(vcg::tri::Index(m,pe->V(nz)));;
-                _v[1] = size_t(vcg::tri::Index(m,pe->V((nz + 1)%2)));
-                assert(_v[0] != _v[1]); // The face pointed by 'f' is Degenerate (two coincident vertexes)
-
-                if( _v[0] > _v[1] )
-                    std::swap(_v[0],_v[1]);   
-            }
-
-            inline bool operator<(const EdgeVertInd& pe) const
-            {
-                if(_v[0]<pe._v[0] ) 
-                    return true;
-                else if(_v[0]>pe._v[0] ) 
-                    return false;
-                else 
-                    return _v[1] < pe._v[1];
-            }
-
-            inline bool operator==( const EdgeVertInd & pe ) const
-            {
-                return _v[0]==pe._v[0] && _v[1]==pe._v[1];
-            }
-        };
-
-        static void fillEdgeVector(MESH_TYPE &m, std::vector<EdgeVertInd> &edgeVec, bool includeFauxEdge=true)
-        {
-            if (m.FN() > 0)
-            {
-                edgeVec.reserve(m.FN()*3);
-                for(typename MESH_TYPE::FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-                    if( ! (*fi).IsD() )
-                        for(int j=0;j<(*fi).VN();++j)
-                            if(includeFauxEdge || !(*fi).IsF(j))
-                                edgeVec.push_back(EdgeVertInd(m,&*fi,j));
-            }
-            else
-                if ((m.VN() > 0) && (m.EN() > 0) )
-                {
-                    edgeVec.reserve(m.EN()*2);
-                    for(typename MESH_TYPE::EdgeIterator ei=m.edge.begin();ei!=m.edge.end();++ei)
-                        if( ! (*ei).IsD() )
-                            for(int j=0;j<2;++j)
-                                    edgeVec.push_back(EdgeVertInd(m,&*ei,j));
-                }
-
-        }
-
-        static void fillUniqueEdgeVector(MESH_TYPE &m, std::vector<EdgeVertInd> &edgeVec)
-        {
-            fillEdgeVector(m,edgeVec,false);
-            std::sort(edgeVec.begin(), edgeVec.end());		
-
-            typename std::vector<EdgeVertInd>::iterator newEnd = std::unique(edgeVec.begin(), edgeVec.end());
-
-            edgeVec.resize(newEnd-edgeVec.begin());
-        }
-
-        struct GLBufferObject
-        {
-            GLBufferObject(size_t components,GLenum gltype,GLenum clientstatetag,GLenum target)
-                :_size(0),_components(components),_isvalid(false),_gltype(gltype),_clientstatetag(clientstatetag),_target(target),_bohandle(0)
-            {
-            }
-
-            GLBufferObject(size_t components,GLenum gltype,GLenum target)
-                :_size(0),_components(components),_isvalid(false),_gltype(gltype),_clientstatetag(),_target(target),_bohandle(0)
-            {
-            }
-
-            size_t getSizeOfGLType() const
-            {
-                switch(_gltype)
-                {
-                case(GL_FLOAT):
-                    return sizeof(GLfloat);
-                case(GL_INT):
-                    return sizeof(GLint);
-                case(GL_UNSIGNED_INT):
-                    return sizeof(GLuint);
-                case(GL_UNSIGNED_BYTE):
-                    return sizeof(GLubyte);
-                }
-                return 0;
-            }
-
-            size_t _size;
-            const size_t _components;
-            bool _isvalid;
-            const GLenum _gltype;
-            const GLenum _target;
-
-            /*WARNING!!!!!!!!!!!!!!!!! In openGL INDEX BO doesn't require to be enabled/disabled so has NOT a valid tag associated.
-            In this case the client state tag remains not initialized and it's not meaningful */
-            const GLenum _clientstatetag;
-            /**********************************************************************************/
-
-            GLuint _bohandle;
-        };
-
-        //ideally this should be const. I'm not yet sure if VCGLib will allow me to declare it as constant
-        MESH_TYPE& _mesh;
-
-        MemoryInfo& _gpumeminfo;
-
-        /*The buffer objects used for the rendering operation. They are shared among all the views*/
-        std::vector<GLBufferObject*> _bo;
-
-        typedef std::map< UNIQUE_VIEW_ID_TYPE,PVData > ViewsMap;
-
-        ///*_perviewreqatts contains a map of the requested atts by each single view. it's maintained for the actual rendering step*/
-        ViewsMap _perviewreqatts;
-
-        /*_currboatt contains the union of all the requested attributes by each single view on the scene. At the end it represents the BOs allocated in the GPU memory*/
-        /* WARNING!!!! The currently allocated BOs are the union of all the BOs requested to be visualized in the _perviewreqatts plus, possibly, the edgeindex bo (depending by the kind of per view render primitive modality that is requested) and the vertexindex bo (depending of the solid rendering modality, per-face/per-vertex)*/
-        /*             The EdgeIndex bo is allocated only if one of the requested rendering modality is PR_WIREFRAME_EDGES or PR_WIREFRAME_EDGES. If we have PR_SOLID the glPolygonMode function is used for rendering the triangle wireframe view*/ 
-        InternalRendAtts _currallocatedboatt;
-
-        bool _borendering;
-        size_t _perbatchprim;
-
-        /*Additional structures used for per wedge texturing modality*/ 
-        typedef std::vector< std::pair< GLuint,GLuint > > ChunkVector;
-        typedef std::map< short, ChunkVector > ChunkMap;
-
-        std::vector< std::pair<short,GLuint> > _texindnumtriangles;
-        ChunkMap  _chunkmap;
-        
-        //Horrible waste of memory space...but computing the list of edges is too much expensive...we must minimize it!
-        std::vector<EdgeVertInd> _edge;
-        size_t _meshverticeswhenedgeindiceswerecomputed;
-        size_t _meshtriangleswhenedgeindiceswerecomputed;
-
-        //vcg::GLOptions _glopts;
-        vcg::Matrix44<typename MESH_TYPE::ScalarType> _tr;
-
-        bool _debugmode;
-        DebugInfo _loginfo;
-
-        std::vector<InternalRendAtts> _meaningfulattsperprimitive;
-    };
+				glColor(tmpcol);
+			}
+
+			glDisable(GL_TEXTURE_2D);
+			//glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _bo[GLMeshAttributesInfo::ATT_VERTINDEX]->_bohandle);
+
+			float linewidth = 1.0f;
+			if (isgloptsvalid)
+				linewidth = glopts->_perwire_wirewidth;
+			glLineWidth(linewidth);
+
+			if (isBORenderingAvailable())
+				drawEdgesBO(req);
+			else
+				drawEdgesIM(req);
+			//glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+
+			/*disable all client state buffers*/
+			glPopAttrib();
+		}
+
+		void drawEdgesBO(const InternalRendAtts& req) const
+		{
+			if (_bo[INT_ATT_NAMES::ATT_EDGEINDICES]->_isvalid)
+			{
+				//qDebug("Indexed drawing");
+				updateClientState(req);
+				glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, _bo[INT_ATT_NAMES::ATT_EDGEINDICES]->_bohandle);
+				glDrawElements(GL_LINES, GLsizei(_edge.size() * _bo[INT_ATT_NAMES::ATT_EDGEINDICES]->_components), GL_UNSIGNED_INT, NULL);
+				glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
+				InternalRendAtts tmp;
+				updateClientState(tmp);
+			}
+		}
+
+		void drawEdgesIM(const InternalRendAtts& req) const
+		{
+			typename MESH_TYPE::FaceIterator fi = _mesh.face.begin();
+
+			bool vn = req[INT_ATT_NAMES::ATT_VERTNORMAL] && vcg::tri::HasPerVertexNormal(_mesh);
+			bool vc = req[INT_ATT_NAMES::ATT_VERTCOLOR] && vcg::tri::HasPerVertexColor(_mesh);
+
+			glBegin(GL_LINES);
+
+			while (fi != _mesh.face.end())
+			{
+				typename MESH_TYPE::FaceType & f = *fi;
+
+				if (!f.IsD())
+				{
+					if (!f.IsF(0))
+					{
+						if (vn)	glNormal(f.V(0)->cN());
+						if (vc)	glColor(f.V(0)->C());
+						glVertex(f.V(0)->P());
+
+						if (vn)	glNormal(f.V(1)->cN());
+
+						if (vc)	glColor(f.V(1)->C());
+						glVertex(f.V(1)->P());
+					}
+
+					if (!f.IsF(1))
+					{
+						if (vn)	glNormal(f.V(1)->cN());
+						if (vc)	glColor(f.V(1)->C());
+						glVertex(f.V(1)->P());
+
+						if (vn)	glNormal(f.V(2)->cN());
+						if (vc)	glColor(f.V(2)->C());
+						glVertex(f.V(2)->P());
+					}
+
+					if (!f.IsF(2))
+					{
+						if (vn)	glNormal(f.V(2)->cN());
+						if (vc)	glColor(f.V(2)->C());
+						glVertex(f.V(2)->P());
+
+						if (vn)	glNormal(f.V(0)->cN());
+						if (vc)	glColor(f.V(0)->C());
+						glVertex(f.V(0)->P());
+					}
+
+				}
+				++fi;
+			}
+
+			glEnd();
+		}
+
+		void drawBBox(GL_OPTIONS_DERIVED_TYPE* glopts) const
+		{
+			glPushAttrib(GL_ALL_ATTRIB_BITS);
+			bool isgloptsvalid = (glopts != NULL);
+
+			glDisable(GL_LIGHTING);
+			glEnable(GL_COLOR_MATERIAL);
+			glColorMaterial(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE);
+
+			if ((isgloptsvalid) && (glopts->_perbbox_fixed_color_enabled))
+				glColor(glopts->_perbbox_fixed_color);
+			else
+			{
+				if ((isgloptsvalid) && (glopts->_perbbox_mesh_color_enabled))
+					glColor(_mesh.C());
+				else
+					glColor(vcg::Color4b(vcg::Color4b::White));
+			}
+			if (isBORenderingAvailable())
+				drawBBoxBO();
+			else
+				drawBBoxIM();
+			glPopAttrib();
+		}
+
+		void drawBBoxBO() const
+		{
+			vcg::Box3<typename MESH_TYPE::ScalarType>& b = _mesh.bbox;
+
+			GLuint bbhandle;
+			glGenBuffers(1, &bbhandle);
+			std::vector<vcg::Point3f> bbox(12 * 2);
+
+			//0
+			bbox[0] = vcg::Point3f((float)b.min[0], (float)b.min[1], (float)b.min[2]);
+			bbox[1] = vcg::Point3f((float)b.max[0], (float)b.min[1], (float)b.min[2]);
+
+			//1
+			bbox[2] = vcg::Point3f((float)b.max[0], (float)b.min[1], (float)b.min[2]);
+			bbox[3] = vcg::Point3f((float)b.max[0], (float)b.max[1], (float)b.min[2]);
+
+			//2
+			bbox[4] = vcg::Point3f((float)b.max[0], (float)b.max[1], (float)b.min[2]);
+			bbox[5] = vcg::Point3f((float)b.min[0], (float)b.max[1], (float)b.min[2]);
+
+			//3
+			bbox[6] = vcg::Point3f((float)b.min[0], (float)b.max[1], (float)b.min[2]);
+			bbox[7] = vcg::Point3f((float)b.min[0], (float)b.min[1], (float)b.min[2]);
+
+			//4
+			bbox[8] = vcg::Point3f((float)b.min[0], (float)b.min[1], (float)b.min[2]);
+			bbox[9] = vcg::Point3f((float)b.min[0], (float)b.min[1], (float)b.max[2]);
+
+			//5
+			bbox[10] = vcg::Point3f((float)b.min[0], (float)b.min[1], (float)b.max[2]);
+			bbox[11] = vcg::Point3f((float)b.max[0], (float)b.min[1], (float)b.max[2]);
+
+			//6
+			bbox[12] = vcg::Point3f((float)b.max[0], (float)b.min[1], (float)b.max[2]);
+			bbox[13] = vcg::Point3f((float)b.max[0], (float)b.min[1], (float)b.min[2]);
+
+			//7
+			bbox[14] = vcg::Point3f((float)b.max[0], (float)b.min[1], (float)b.max[2]);
+			bbox[15] = vcg::Point3f((float)b.max[0], (float)b.max[1], (float)b.max[2]);
+
+			//8
+			bbox[16] = vcg::Point3f((float)b.max[0], (float)b.max[1], (float)b.max[2]);
+			bbox[17] = vcg::Point3f((float)b.max[0], (float)b.max[1], (float)b.min[2]);
+
+			//9
+			bbox[18] = vcg::Point3f((float)b.max[0], (float)b.max[1], (float)b.max[2]);
+			bbox[19] = vcg::Point3f((float)b.min[0], (float)b.max[1], (float)b.max[2]);
+
+			//10
+			bbox[20] = vcg::Point3f((float)b.min[0], (float)b.max[1], (float)b.max[2]);
+			bbox[21] = vcg::Point3f((float)b.min[0], (float)b.min[1], (float)b.max[2]);
+
+			//11
+			bbox[22] = vcg::Point3f((float)b.min[0], (float)b.max[1], (float)b.max[2]);
+			bbox[23] = vcg::Point3f((float)b.min[0], (float)b.max[1], (float)b.min[2]);
+
+			glBindBuffer(GL_ARRAY_BUFFER, bbhandle);
+			glBufferData(GL_ARRAY_BUFFER, 12 * 2 * sizeof(vcg::Point3f), &(bbox[0]), GL_STATIC_DRAW);
+			glVertexPointer(3, GL_FLOAT, 0, 0);
+			glBindBuffer(GL_ARRAY_BUFFER, 0);
+			glEnableClientState(GL_VERTEX_ARRAY);
+			glDrawArrays(GL_LINES, 0, 24);
+			glDisableClientState(GL_VERTEX_ARRAY);
+			glDeleteBuffers(1, &bbhandle);
+		}
+
+		void drawBBoxIM() const
+		{
+			vcg::Box3<typename MESH_TYPE::ScalarType>& b = _mesh.bbox;
+
+			glBegin(GL_LINE_STRIP);
+			glVertex3f((float)b.min[0], (float)b.min[1], (float)b.min[2]);
+			glVertex3f((float)b.max[0], (float)b.min[1], (float)b.min[2]);
+			glVertex3f((float)b.max[0], (float)b.max[1], (float)b.min[2]);
+			glVertex3f((float)b.min[0], (float)b.max[1], (float)b.min[2]);
+			glVertex3f((float)b.min[0], (float)b.min[1], (float)b.min[2]);
+			glEnd();
+			glBegin(GL_LINE_STRIP);
+			glVertex3f((float)b.min[0], (float)b.min[1], (float)b.max[2]);
+			glVertex3f((float)b.max[0], (float)b.min[1], (float)b.max[2]);
+			glVertex3f((float)b.max[0], (float)b.max[1], (float)b.max[2]);
+			glVertex3f((float)b.min[0], (float)b.max[1], (float)b.max[2]);
+			glVertex3f((float)b.min[0], (float)b.min[1], (float)b.max[2]);
+			glEnd();
+			glBegin(GL_LINES);
+			glVertex3f((float)b.min[0], (float)b.min[1], (float)b.min[2]);
+			glVertex3f((float)b.min[0], (float)b.min[1], (float)b.max[2]);
+
+			glVertex3f((float)b.max[0], (float)b.min[1], (float)b.min[2]);
+			glVertex3f((float)b.max[0], (float)b.min[1], (float)b.max[2]);
+
+			glVertex3f((float)b.max[0], (float)b.max[1], (float)b.min[2]);
+			glVertex3f((float)b.max[0], (float)b.max[1], (float)b.max[2]);
+
+			glVertex3f((float)b.min[0], (float)b.max[1], (float)b.min[2]);
+			glVertex3f((float)b.min[0], (float)b.max[1], (float)b.max[2]);
+			glEnd();
+		}
+
+		void updateClientState(const InternalRendAtts& req) const
+		{
+			int ii = 0;
+			for (typename std::vector<GLBufferObject*>::const_iterator it = _bo.begin(); it != _bo.end(); ++it)
+			{
+				INT_ATT_NAMES boname(ii);
+				if ((boname != INT_ATT_NAMES::ATT_VERTINDICES) && (boname != INT_ATT_NAMES::ATT_EDGEINDICES) /*&& (boname != INT_ATT_NAMES::ATT_FIXEDCOLOR)*/)
+				{
+					if (req[boname] && _currallocatedboatt[boname] && (*it != NULL))
+					{
+						glBindBuffer((*it)->_target, (*it)->_bohandle);
+						setBufferPointer(boname);
+						glEnableClientState((*it)->_clientstatetag);
+						glBindBuffer((*it)->_target, 0);
+					}
+					else
+					{
+						glBindBuffer((*it)->_target, (*it)->_bohandle);
+						disableClientState(boname, req);
+						glBindBuffer((*it)->_target, 0);
+					}
+				}
+				++ii;
+			}
+		}
+
+		void setBufferPointer(INT_ATT_NAMES boname) const
+		{
+			unsigned int ii = boname;
+			if (ii >= INT_ATT_NAMES::enumArity())
+				return;
+			GLBufferObject* cbo = _bo[ii];
+			if (cbo == NULL)
+				return;
+
+			switch (ii)
+			{
+			case(INT_ATT_NAMES::ATT_VERTPOSITION):
+			{
+				glVertexPointer(GLint(cbo->_components), cbo->_gltype, GLsizei(0), 0);
+				break;
+			}
+			case(INT_ATT_NAMES::ATT_VERTNORMAL):
+			case(INT_ATT_NAMES::ATT_FACENORMAL):
+			{
+				glNormalPointer(cbo->_gltype, GLsizei(0), 0);
+				break;
+			}
+			case(INT_ATT_NAMES::ATT_VERTCOLOR):
+			case(INT_ATT_NAMES::ATT_FACECOLOR):
+			{
+				glColorPointer(GLint(cbo->_components), cbo->_gltype, GLsizei(0), 0);
+				break;
+			}
+			case(INT_ATT_NAMES::ATT_VERTTEXTURE):
+			case(INT_ATT_NAMES::ATT_WEDGETEXTURE):
+			{
+				glTexCoordPointer(GLint(cbo->_components), cbo->_gltype, GLsizei(0), 0);
+				break;
+			}
+			default: break;
+			}
+		}
+
+		void disableClientState(INT_ATT_NAMES boname, const RendAtts& req) const
+		{
+
+			if (boname >= INT_ATT_NAMES::enumArity())
+				return;
+
+			switch (boname)
+			{
+			case(INT_ATT_NAMES::ATT_VERTPOSITION):
+			{
+				glDisableClientState(GL_VERTEX_ARRAY);
+				break;
+			}
+			case(INT_ATT_NAMES::ATT_VERTNORMAL):
+			case(INT_ATT_NAMES::ATT_FACENORMAL):
+			{
+				if (!req[INT_ATT_NAMES::ATT_VERTNORMAL] && !req[INT_ATT_NAMES::ATT_FACENORMAL])
+					glDisableClientState(GL_NORMAL_ARRAY);
+				break;
+			}
+			case(INT_ATT_NAMES::ATT_VERTCOLOR):
+			case(INT_ATT_NAMES::ATT_FACECOLOR):
+			{
+				if (!req[INT_ATT_NAMES::ATT_VERTCOLOR] && !req[INT_ATT_NAMES::ATT_FACECOLOR])
+					glDisableClientState(GL_COLOR_ARRAY);
+				break;
+			}
+			case(INT_ATT_NAMES::ATT_VERTTEXTURE):
+			case(INT_ATT_NAMES::ATT_WEDGETEXTURE):
+			{
+				if (!req[INT_ATT_NAMES::ATT_VERTTEXTURE] && !req[INT_ATT_NAMES::ATT_WEDGETEXTURE])
+					glDisableClientState(GL_TEXTURE_COORD_ARRAY);
+				break;
+			}
+			default:
+			{
+				break;
+			}
+
+			}
+		}
+
+		void fillchunkMap()
+		{
+			_chunkmap.clear();
+			if (!vcg::tri::HasPerWedgeTexCoord(_mesh) || _mesh.face.size() == 0)
+				return;
+			typename MESH_TYPE::FaceIterator infrange = _mesh.face.begin();
+			short texind = _mesh.face[0].WT(0).N();
+			for (typename MESH_TYPE::FaceIterator fit = _mesh.face.begin(); fit != _mesh.face.end(); ++fit)
+			{
+				bool last = (fit == (_mesh.face.end() - 1));
+				if (fit->WT(0).N() != texind || last)
+				{
+					int lowind = std::distance(_mesh.face.begin(), infrange);
+					int topind = std::distance(_mesh.face.begin(), fit) - 1;
+					if (last)
+						topind++;
+					_chunkmap[texind].push_back(std::make_pair((GLuint)lowind, (GLuint)topind));
+					infrange = fit;
+					texind = fit->WT(0).N();
+				}
+			}
+		}
+
+		void debug(const InternalRendAtts& tobeallocated, const InternalRendAtts& tobedeallocated, const InternalRendAtts& tobeupdated)
+		{
+			_loginfo.reset();
+			_loginfo._tobedeallocated = std::string("to_be_deallocated: ");
+			_loginfo._tobeallocated = std::string("to_be_allocated: ");
+			_loginfo._tobeupdated = std::string("to_be_updated: ");
+
+			std::string truestring("true");
+			std::string falsestring("false");
+			for (unsigned int ii = 0; ii < INT_ATT_NAMES::enumArity(); ++ii)
+			{
+				std::string deallocres(falsestring);
+				if (tobedeallocated[ii])
+					deallocres = truestring;
+				_loginfo._tobedeallocated += deallocres + " ";
+
+				std::string allocres(falsestring);
+				if (tobeallocated[ii])
+					allocres = truestring;
+				_loginfo._tobeallocated += allocres + " ";
+
+				std::string upres(falsestring);
+				if (tobeupdated[ii])
+					upres = truestring;
+				_loginfo._tobeupdated += upres + " ";
+			}
+
+			_loginfo._tobedeallocated = std::string("[") + _loginfo._tobedeallocated + std::string("]");
+			_loginfo._tobeallocated = std::string("[") + _loginfo._tobeallocated + std::string("]");
+			_loginfo._tobeupdated = std::string("[") + _loginfo._tobeupdated + std::string("]");
+
+
+			int hh = 0;
+
+			for (typename ViewsMap::const_iterator it = _perviewreqatts.begin(); it != _perviewreqatts.end(); ++it)
+			{
+				std::stringstream tmpstream;
+				tmpstream << "view_" << hh << ":\n";
+				for (size_t pm = 0; pm < size_t(PR_ARITY); ++pm)
+				{
+					tmpstream << DebugInfo::primitiveName(pm) << " ";
+
+					for (unsigned int ii = 0; ii < INT_ATT_NAMES::enumArity(); ++ii)
+					{
+						std::string res = falsestring;
+						if (it->second._intatts[pm][ii])
+							res = truestring;
+						tmpstream << "att[" << ii << "]=" << res << " ";
+					}
+					tmpstream << std::endl;
+				}
+				_loginfo._perviewdata.push_back(tmpstream.str());
+				++hh;
+			}
+
+			std::stringstream tmpstream;
+			tmpstream << "currently_allocated: ";
+			for (unsigned int ii = 0; ii < INT_ATT_NAMES::enumArity(); ++ii)
+			{
+				std::string res = falsestring;
+				if (_currallocatedboatt[ii])
+					res = truestring;
+				tmpstream << "att[" << ii << "]=" << res << " ";
+			}
+			_loginfo._currentlyallocated = tmpstream.str();
+		}
+
+		class EdgeVertInd
+		{
+		public:
+
+			GLuint  _v[2];  // the two Vertex indices are ordered!
+
+			EdgeVertInd() {}
+			EdgeVertInd(const MESH_TYPE& m, typename MESH_TYPE::FacePointer  pf, const int nz) { this->set(m, pf, nz); }
+			EdgeVertInd(const MESH_TYPE& m, typename MESH_TYPE::EdgePointer  pe, const int nz) { this->set(m, pe, nz); }
+
+			void set(const MESH_TYPE& m, typename MESH_TYPE::FacePointer  pf, const int nz)
+			{
+				assert(pf != 0);
+				assert(nz >= 0);
+				assert(nz < pf->VN());
+
+				_v[0] = GLuint(vcg::tri::Index(m, pf->V(nz)));;
+				_v[1] = GLuint(vcg::tri::Index(m, pf->V(pf->Next(nz))));
+				assert(_v[0] != _v[1]); // The face pointed by 'f' is Degenerate (two coincident vertexes)
+
+				if (_v[0] > _v[1])
+					std::swap(_v[0], _v[1]);
+			}
+
+			void set(const MESH_TYPE& m, typename MESH_TYPE::EdgePointer pe, const int nz)
+			{
+				assert(pe != 0);
+				assert(nz >= 0);
+				assert(nz < 2);
+
+				_v[0] = GLuint(vcg::tri::Index(m, pe->V(nz)));;
+				_v[1] = GLuint(vcg::tri::Index(m, pe->V((nz + 1) % 2)));
+				assert(_v[0] != _v[1]); // The face pointed by 'f' is Degenerate (two coincident vertexes)
+
+				if (_v[0] > _v[1])
+					std::swap(_v[0], _v[1]);
+			}
+
+			inline bool operator<(const EdgeVertInd& pe) const
+			{
+				if (_v[0] < pe._v[0])
+					return true;
+				else if (_v[0] > pe._v[0])
+					return false;
+				else
+					return _v[1] < pe._v[1];
+			}
+
+			inline bool operator==(const EdgeVertInd & pe) const
+			{
+				return _v[0] == pe._v[0] && _v[1] == pe._v[1];
+			}
+		};
+
+		static void fillEdgeVector(MESH_TYPE &m, std::vector<EdgeVertInd> &edgeVec, bool includeFauxEdge = true)
+		{
+			if (m.FN() > 0)
+			{
+				edgeVec.reserve(m.FN() * 3);
+				for (typename MESH_TYPE::FaceIterator fi = m.face.begin(); fi != m.face.end(); ++fi)
+					if (!(*fi).IsD())
+						for (int j = 0; j < (*fi).VN(); ++j)
+							if (includeFauxEdge || !(*fi).IsF(j))
+								edgeVec.push_back(EdgeVertInd(m, &*fi, j));
+			}
+			else
+				if ((m.VN() > 0) && (m.EN() > 0))
+				{
+					edgeVec.reserve(m.EN() * 2);
+					for (typename MESH_TYPE::EdgeIterator ei = m.edge.begin(); ei != m.edge.end(); ++ei)
+						if (!(*ei).IsD())
+							for (int j = 0; j < 2; ++j)
+								edgeVec.push_back(EdgeVertInd(m, &*ei, j));
+				}
+
+		}
+
+		static void fillUniqueEdgeVector(MESH_TYPE &m, std::vector<EdgeVertInd> &edgeVec)
+		{
+			fillEdgeVector(m, edgeVec, false);
+			std::sort(edgeVec.begin(), edgeVec.end());
+
+			typename std::vector<EdgeVertInd>::iterator newEnd = std::unique(edgeVec.begin(), edgeVec.end());
+
+			edgeVec.resize(newEnd - edgeVec.begin());
+		}
+
+		struct GLBufferObject
+		{
+			GLBufferObject(size_t components, GLenum gltype, GLenum clientstatetag, GLenum target)
+				:_size(0), _components(components), _isvalid(false), _gltype(gltype), _target(target), _clientstatetag(clientstatetag), _bohandle(0)
+			{
+			}
+
+			GLBufferObject(size_t components, GLenum gltype, GLenum target)
+				:_size(0), _components(components), _isvalid(false), _gltype(gltype), _target(target), _clientstatetag(), _bohandle(0)
+			{
+			}
+
+			size_t getSizeOfGLType() const
+			{
+				switch (_gltype)
+				{
+				case(GL_FLOAT):
+					return sizeof(GLfloat);
+				case(GL_INT):
+					return sizeof(GLint);
+				case(GL_UNSIGNED_INT):
+					return sizeof(GLuint);
+				case(GL_UNSIGNED_BYTE):
+					return sizeof(GLubyte);
+				}
+				return 0;
+			}
+
+			size_t _size;
+			const size_t _components;
+			bool _isvalid;
+			const GLenum _gltype;
+			const GLenum _target;
+
+			/*WARNING!!!!!!!!!!!!!!!!! In openGL INDEX BO doesn't require to be enabled/disabled so has NOT a valid tag associated.
+			In this case the client state tag remains not initialized and it's not meaningful */
+			const GLenum _clientstatetag;
+			/**********************************************************************************/
+
+			GLuint _bohandle;
+		};
+
+		//ideally this should be const. I'm not yet sure if VCGLib will allow me to declare it as constant
+		MESH_TYPE& _mesh;
+
+		MemoryInfo& _gpumeminfo;
+
+		/*The buffer objects used for the rendering operation. They are shared among all the views*/
+		std::vector<GLBufferObject*> _bo;
+
+		typedef std::map< UNIQUE_VIEW_ID_TYPE, PVData > ViewsMap;
+
+		///*_perviewreqatts contains a map of the requested atts by each single view. it's maintained for the actual rendering step*/
+		ViewsMap _perviewreqatts;
+
+		/*_currboatt contains the union of all the requested attributes by each single view on the scene. At the end it represents the BOs allocated in the GPU memory*/
+		/* WARNING!!!! The currently allocated BOs are the union of all the BOs requested to be visualized in the _perviewreqatts plus, possibly, the edgeindex bo (depending by the kind of per view render primitive modality that is requested) and the vertexindex bo (depending of the solid rendering modality, per-face/per-vertex)*/
+		/*             The EdgeIndex bo is allocated only if one of the requested rendering modality is PR_WIREFRAME_EDGES or PR_WIREFRAME_EDGES. If we have PR_SOLID the glPolygonMode function is used for rendering the triangle wireframe view*/
+		InternalRendAtts _currallocatedboatt;
+
+		bool _borendering;
+		size_t _perbatchprim;
+
+		/*Additional structures used for per wedge texturing modality*/
+		typedef std::vector< std::pair< GLuint, GLuint > > ChunkVector;
+		typedef std::map< short, ChunkVector > ChunkMap;
+
+		std::vector< std::pair<short, GLuint> > _texindnumtriangles;
+		ChunkMap  _chunkmap;
+
+		//Horrible waste of memory space...but computing the list of edges is too much expensive...we must minimize it!
+		std::vector<EdgeVertInd> _edge;
+		size_t _meshverticeswhenedgeindiceswerecomputed;
+		size_t _meshtriangleswhenedgeindiceswerecomputed;
+
+		//vcg::GLOptions _glopts;
+		vcg::Matrix44<typename MESH_TYPE::ScalarType> _tr;
+
+		bool _debugmode;
+		DebugInfo _loginfo;
+
+		std::vector<InternalRendAtts> _meaningfulattsperprimitive;
+	};
 }
 
 #endif
diff --git a/wrap/gl/pick.h b/wrap/gl/pick.h
index d4ea2e8d..bb4ea942 100644
--- a/wrap/gl/pick.h
+++ b/wrap/gl/pick.h
@@ -28,6 +28,7 @@
 #include <algorithm>
 #include "gl_type_name.h"
 
+
 namespace vcg{
 
 template <class MESH_TYPE>
@@ -41,9 +42,8 @@ class GLPickTri
   typedef typename MESH_TYPE::VertexPointer  VertexPointer;
   typedef typename MESH_TYPE::VertexType  VertexType;
 
-private:
-
- static CoordType Proj(const Eigen::Matrix<ScalarType,4,4> &M, const ScalarType * viewport, const CoordType &p)
+public:
+ static CoordType glProject(const Eigen::Matrix<ScalarType,4,4> &M, const ScalarType * viewport, const CoordType &p)
   {
     const ScalarType vx=viewport[0];
     const ScalarType vy=viewport[1];
@@ -67,7 +67,7 @@ private:
     pVec.resize(m.vert.size());
     for(size_t i=0;i<m.vert.size();++i) if(!m.vert[i].IsD())
     {
-      pVec[i] = Proj(M, viewportF,CoordType::Construct(m.vert[i].P()));
+      pVec[i] = GLPickTri<MESH_TYPE>::glProject(M, viewportF,CoordType::Construct(m.vert[i].P()));
     }
   }
 
@@ -109,7 +109,7 @@ public:
     for(size_t i=0;i<m.face.size();++i) if(!m.face[i].IsD())
     {
       CoordType bary = vcg::Barycenter(m.face[i]);
-      CoordType bz = Proj(M, viewportF,bary);
+      CoordType bz = glProject(M, viewportF,bary);
 
       if(bz[2]<bzmin && reg.IsIn(bz))
       {
@@ -132,7 +132,7 @@ public:
 
     for(size_t i=0;i<m.vert.size();++i) if(!m.vert[i].IsD())
     {
-      CoordType bz = Proj(M, viewportF,m.vert[i].P());
+      CoordType bz = glProject(M, viewportF,m.vert[i].P());
       if(bz[2]<bzmin && reg.IsIn(bz))
       {
         bzmin=bz[2];
@@ -170,38 +170,40 @@ public:
      return result.size();
    }
 
-  static int PickFace(int x, int y, MESH_TYPE &m, std::vector<FacePointer> &result, int width=4, int height=4)
+  static int PickFace(int x, int y, MESH_TYPE &m, std::vector<FacePointer> &result, int width = 4, int height = 4)
   {
-    static Eigen::Matrix<ScalarType,4,4> lastM;
-    static MESH_TYPE *lastm=0;
+    static Eigen::Matrix<ScalarType, 4, 4> lastM;
+    static MESH_TYPE *lastm = 0;
     static std::vector<CoordType> pVec;
 
     ScalarType viewportF[4];
-    Eigen::Matrix<ScalarType,4,4> M;
-    glGetMatrixAndViewport(M,viewportF);
+    Eigen::Matrix<ScalarType, 4, 4> M;
+    glGetMatrixAndViewport(M, viewportF);
     result.clear();
     Box3<ScalarType> reg;
-    reg.Add(CoordType(x-width/ScalarType(2.0),y-height/ScalarType(2.0),ScalarType(-1.0)));
-    reg.Add(CoordType(x+width/ScalarType(2.0),y+height/ScalarType(2.0),ScalarType(1.0)));
+    reg.Add(CoordType(x - width / ScalarType(2.0), y - height / ScalarType(2.0), ScalarType(-1.0)));
+    reg.Add(CoordType(x + width / ScalarType(2.0), y + height / ScalarType(2.0), ScalarType(1.0)));
 
-    if((M!=lastM) || (&m != lastm) || (pVec.size() != m.VN()))
+    
+    if ((M != lastM) || (&m != lastm) || (pVec.size() != m.VN()))
     {
-      FillProjectedVector(m,pVec,M,viewportF);
+      FillProjectedVector(m, pVec, M, viewportF);
       lastM = M;
       lastm = &m;
     }
 
-	for (size_t i = 0; i < m.face.size(); ++i)
-	{
-		if (!m.face[i].IsD())
-		{
-			const CoordType &p0 = pVec[tri::Index(m, m.face[i].V(0))];
-			const CoordType &p1 = pVec[tri::Index(m, m.face[i].V(1))];
-			const CoordType &p2 = pVec[tri::Index(m, m.face[i].V(2))];
-			if ((p0[2] > -1.0f) && (p1[2] > -1.0f) && (p2[2] > -1.0f) && IntersectionTriangleBox(reg, p0, p1, p2))
-				result.push_back(&m.face[i]);
-		}
-	}
+    for (size_t i = 0; i < m.face.size(); ++i)
+    {
+      if (!m.face[i].IsD())
+      {
+        const CoordType &p0 = pVec[tri::Index(m, m.face[i].V(0))];
+        const CoordType &p1 = pVec[tri::Index(m, m.face[i].V(1))];
+        const CoordType &p2 = pVec[tri::Index(m, m.face[i].V(2))];
+
+        if (!(abs(p0[2]) > 1 || abs(p1[2]) > 1 || abs(p2[2]) > 1) && IntersectionTriangleBox(reg, p0, p1, p2))
+          result.push_back(&m.face[i]);
+      }
+    }
     return result.size();
   }
 
@@ -224,10 +226,10 @@ public:
     //err = glGetError();
     std::vector<FacePointer> result;
     PickFace(x,y,m,result,width,height);
-    ScalarType LocalEpsilon(0.001);
+	ScalarType LocalEpsilon(ScalarType(0.001));
     for(size_t i =0;i<result.size();++i)
     {
-      CoordType p = Proj(M,vp,CoordType::Construct(Barycenter(*(result[i])))) ;
+      CoordType p = glProject(M,vp,CoordType::Construct(Barycenter(*(result[i])))) ;
       if(p[0] >=0 && p[0]<screenW && p[1] >=0 && p[1]<screenH)
       {
         ScalarType bufZ(buffer[int(p[0])+int(p[1])*screenW]);
@@ -242,7 +244,7 @@ public:
   }
 
 
-
+#ifdef _I_REALLY_NEED_OLD_GL_PICK_
  // Same of above but it also assumes that you want only visible faces.
  // Visibility is computed according to the current depth buffer.
     static int OldPickFaceVisible(int x, int y, MESH_TYPE &m, std::vector<FacePointer> &resultZ, int width=4, int height=4, bool sorted=true)
@@ -287,7 +289,6 @@ public:
         return resultZ.size();
     }
 
-
     static int OldPickFace(int x, int y, MESH_TYPE &m, std::vector<FacePointer> &result, int width=4, int height=4,bool sorted=true)
       {
           result.clear();
@@ -419,9 +420,10 @@ public:
         delete [] selectBuf;
         return result.size();
     }
+#endif // _I_REALLY_NEED_OLD_GL_PICK_
 
 };
 
-}
+} // end namespace vcg
 
 #endif
diff --git a/wrap/gl/tetramesh.h b/wrap/gl/tetramesh.h
index e0cc5331..7045a3ad 100644
--- a/wrap/gl/tetramesh.h
+++ b/wrap/gl/tetramesh.h
@@ -19,443 +19,430 @@
 * GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
 * for more details.                                                         *
 *                                                                           *
-****************************************************************************/
-
-#ifndef __GLWRAPTETRA__
-#define __GLWRAPTETRA__
-#include <GL/glew.h>
-#include <GL/GL.h>
-#include <vcg/space/color4.h>
-#include <vcg/space/tetra3.h>
-#include <wrap/gui/view.h>
-#include <wrap/gl/space.h>
-#include <wrap/gl/math.h>
-
-namespace vcg {
-
-namespace tetra {
-
-class GLW {
-public:
-  enum DrawMode  {DMNone, DMSmallTetra,DMFlat,DMWire, DMHidden,DMTransparent,DMFlatWire} ;
-	enum NormalMode{NMFlat,NMSmooth, NMUser, NMPerMesh};
-	enum ColorMode {CMNone, CMPerMesh,CMUser,CMPerTetraF,CMPerVertexF,CMPerVertex};
-	enum Hint {HShrinkFactor};
-};
-
-template <typename CONT_TETRA>
-class GlTetramesh:public GLW{
-
-
-public:
-  
-	typedef typename CONT_TETRA::value_type TetraType; 
-  typedef typename TetraType::VertexType VertexType;
-  typedef typename VertexType::ScalarType ScalarType;
-  typedef typename VertexType::CoordType Point3x;
-
-  //subclass for clipping planes
-		class ClipPlane
-		{
-			private:
-			Point3x D;
-			Point3x D0;
-			GLdouble eqn[4];
-			vcg::Matrix44<float> TR;
-
-			Point3x pp0;
-			Point3x pp1;
-			Point3x pp2;
-			Point3x	pp3;
-
-			public:
-
-			bool active;
-
-			Point3x P;
-
-			ClipPlane (){active=false;}
-
-			~ClipPlane (){}
-
-			ClipPlane(Point3x p0, Point3x p1,Point3x p2)
-			{
-				Point3x N=((p1-p0)^(p2-p0)).Normalize();
-				N.Normalize();
-				D=N;
-				D0=D;
-				P=(p0+p1+p2)/3.f;
-
-				Point3x v0=N;
-				Point3x v1=(P-p0);
-				v1.Normalize();
-				Point3x v2=(v0^v1);
-				v2.Normalize();
-
-				v0=v0*2;
-				v1=v1*2;
-				v2=v2*2;
-
-				pp0=-v1-v2;
-				pp1=-v1+v2;
-				pp2=v1+v2;
-				pp3=v1-v2;
-
-			}
-			//set normal of the clipping plane
-			void SetD(Point3x d)
-			{
-				D=d;
-			}
-			//set the point of the clipping plane
-			void SetP(Point3x p)
-			{
-				P=p;
-			}
-
-			void GlClip()
-			{
-				if (active){
-					GLdouble d=-(D.V(0)*P.V(0)+D.V(1)*P.V(1)+D.V(2)*P.V(2));
-					eqn[0]=-D.V(0);
-					eqn[1]=-D.V(1);
-					eqn[2]=-D.V(2);
-					eqn[3]=-d;
-					glClipPlane(GL_CLIP_PLANE0, eqn); 
-					glEnable(GL_CLIP_PLANE0);
-				}
-			}
-
-			void GlDraw()
-			{
-				glPushMatrix();
-				glPushAttrib(0xffffffff);
-				glDisable(GL_CLIP_PLANE0);
-				
-				glEnable(GL_LIGHTING);
-				glEnable(GL_NORMALIZE);
-
-				glTranslate(P);
-				glMultMatrix(TR);
-				glLineWidth(0.5);
-				glColor3d(0.7,0,0.7);
-				glBegin(GL_LINE_LOOP);
-					glVertex(pp0);
-					glVertex(pp1);
-					glVertex(pp2);
-					glVertex(pp3);
-				glEnd();
-
-				glPopAttrib();
-				glPopMatrix();
-				
-			}
-
-			void Transform(vcg::Matrix44<float> Tr)
-			{
-				//thath's for casting in case of trackball using
-				//float to double and vice-versa
-				Point3f p=Point3f((float)D0.V(0),(float)D0.V(1),(float)D0.V(2));
-				TR=Tr;
-				p=TR*p;
-				D=Point3x((ScalarType) p.V(0),(ScalarType) p.V(1),(ScalarType) p.V(2));
-			}
-
-			void Translate(float L)
-			{
-				Point3x D1=D*L;
-				P+=D1;
-			}
-
-			
-		};
-
-	GlTetramesh(CONT_TETRA * _t):tetra(_t){}
-	GlTetramesh( )  {}
-
-	CONT_TETRA	* tetra;	
-	ClipPlane section;
-
-	private:
-	ScalarType shrink_factor;
-	
-
-	public:
-		
-		void SetHint(Hint h, double value){
-			switch(h){
-				case HShrinkFactor: shrink_factor = value; break;
-				}
-			}
-
-		void AddClipSection(Point3x p0,Point3x p1,Point3x p2)
-		{
-			section=ClipPlane(p0,p1,p2);
-			section.active=true;
-		}
-
-		void ClearClipSection()
-		{
-			section.active=false;
-		}
-
-  typedef Color4b (*color_func_vertex)(VertexType&v);
-	color_func_vertex  color_vertex;
-
-	typedef Color4b (*color_func_tetra)(TetraType&v);
-	color_func_tetra  color_tetra;
-	
-
-	template <DrawMode dm,NormalMode nm,ColorMode cm >
-
-    void	Draw(){
-	switch (dm){
-	    case DMNone: break;
-        case DMSmallTetra:_DrawSmallTetra<cm>();break;
-        case DMFlat:_DrawSurface<dm,nm,cm>();break;	
-        case DMWire:_DrawSurface<dm,nm,cm>();break;
-		case DMHidden:_DrawSurface<dm,nm,cm>();break;
-		case DMFlatWire:_DrawFlatWire<nm,cm>(); break;
-        case DMTransparent:break;
-				}
-			}
-
-private:
-template <ColorMode cm >
- void _DrawSmallTetra(){
-		Point3x p[4],br;
-		typename CONT_TETRA::iterator it;
-		glPushAttrib(0xffffffff);
-		glEnable(GL_COLOR_MATERIAL);
-		glEnable(GL_LIGHT0);
-		glEnable(GL_LIGHTING);
-		glEnable(GL_NORMALIZE);
-		glPolygonMode(GL_FRONT,GL_FILL);
-		if (section.active)
-		{
-			section.GlClip();
-			section.GlDraw();	
-		}
-		/*glBegin(GL_TRIANGLES);*/
-		for( it = tetra->begin(); it != tetra->end(); ++it)
-			if((!it->IsD())&&(!(it->IsS()))) //draw as normal
-			{
-					_DrawSmallTetra<cm>(*it);
-			}
-			else 
-			if((!it->IsD())&&((it->IsS())))//draw in selection mode
-			{
-					_DrawSelectedTetra(*it);
-			}
-		//glEnd();
-		glPopAttrib();
-		}
-
-template <NormalMode nm,ColorMode cm >
-void 	_DrawFlatWire(){
-		glPushAttrib(0xffff);
-		glEnable(GL_COLOR_MATERIAL);
-		glEnable(GL_DEPTH);
-		glDepthRange(0.001,1.0);
-		Draw<DMFlat,nm,cm>();
-		glDisable(GL_LIGHTING);
-		glColor3f(0.0,0.0,0.0);
-		glDepthRange(0.0,0.999);
-		Draw<DMHidden,nm,cm>();
-		glPopAttrib();
-}
-
-
-template <DrawMode dm,NormalMode nm,ColorMode cm >
-void _DrawSurface(){
-		typename CONT_TETRA::iterator it;
-
-		glPushAttrib(0xffff);
-		glEnable(GL_COLOR_MATERIAL);
-		if((dm == DMWire)||(dm ==DMHidden))
-		{
-			glDisable(GL_LIGHTING);
-			glDisable(GL_NORMALIZE);
-			glPolygonMode(GL_FRONT_AND_BACK,GL_LINE);
-		}
-		else
-		{
-			glEnable(GL_LIGHTING);
-			glEnable(GL_NORMALIZE);
-			glPolygonMode(GL_FRONT,GL_FILL);
-		}
-		//glBegin(GL_TRIANGLES);
-		for( it = tetra->begin(); it != tetra->end(); ++it)
-			_DrawTetra<dm,nm,cm>((*it));
-	  //glEnd();
-	  glPopAttrib();
-}
-
-
-void _DrawSelectedTetra(TetraType &t)
-{
-	glPushMatrix();
-	glPushAttrib(0xffff);
-	glDisable(GL_CLIP_PLANE0);
-	glDisable(GL_BLEND);
-	glDisable(GL_LIGHTING);
-	glDisable(GL_NORMALIZE);
-	glPolygonMode(GL_FRONT_AND_BACK,GL_LINE);
-
-	glColor3d(1,0,0);
-
-	glBegin(GL_TRIANGLES);
-	for (int face=0;face<4;face++)
-	{
-		glVertex(t.V(Tetra::VofF(face,0))->P());
-		glVertex(t.V(Tetra::VofF(face,1))->P());
-		glVertex(t.V(Tetra::VofF(face,2))->P());
-	}
-	glEnd();
-
-	//end drawing
-	glPopAttrib();
-	glPopMatrix();
-}
-
-template <DrawMode dm,NormalMode nm,ColorMode cm >
-void _DrawTetra(TetraType &t)
-{
-  if((!t.IsD())&&(!t.IsS()))
-  {
-       if ((dm!=DMWire)&&(dm!=DMHidden))
-          _ChooseColorTetra<cm>(t);
-       for(int i = 0; i < 4; ++i){
-         if (dm == DMWire)
-           _DrawFace<cm>(t,i);
-         else
-         {
-           if (t.IsBorderF(i))
-           {
-              if(nm==NMSmooth)
-			     _DrawFaceSmooth<cm>(t,i);
-              else
-			  if(nm==NMFlat)
-			     _DrawFace<cm>(t,i);
-           }
-         }
-       }
-      }
-  else 
-	if((!t.IsD())&&(t.IsS()))
-		_DrawSelectedTetra(t);			
-}
-
-template <ColorMode cm >
-void _ChooseColorTetra(TetraType &t)
-{
-  if (cm==CMNone)
-  {
-	  if (t.IsS())
-		glColor3d(1,0,0);
-	  else
-		glColor3d(0.8f,0.8f,0.8f);
-  }
-  else
-  if(cm == CMPerTetraF)
-      {
-				 Color4b c;
-				 c = color_tetra(t);
-				 GLint ic[4]; ic[0] = c[0];ic[1] = c[1];ic[2] = c[2];ic[3] = c[3];
-				 glMaterialiv(GL_FRONT,GL_DIFFUSE ,ic);
-	  }
-}
-
-template <ColorMode cm >
-void _ChooseColorVertex(VertexType &v)
-{
-  if (cm!=CMNone)
-  {
-  if(cm == CMPerVertexF)
-      {
-				 Color4b c;
-				 c = color_vertex(v);
-				 GLint ic[4]; ic[0] = c[0];ic[1] = c[1];ic[2] = c[2];ic[3] = c[3];
-				 glMaterialiv(GL_FRONT,GL_DIFFUSE ,ic);
-	 }
-  else
-  if(cm == CMPerVertex)
-						glColor3f(v.C()[0],v.C()[1],v.C()[2]);
-  }
-}
-
-template <ColorMode cm >
-void _DrawFaceSmooth(TetraType &t,int face)
-{
-
-  VertexType *v0=t.V(Tetra::VofF(face,0));
-  VertexType *v1=t.V(Tetra::VofF(face,1));
-  VertexType *v2=t.V(Tetra::VofF(face,2));
-
-  glBegin(GL_TRIANGLES);
-	_ChooseColorVertex<cm>(*v0);
-	glNormal(v0->N());
-	glVertex(v0->P());
-	_ChooseColorVertex<cm>(*v1);
-	glNormal(v1->N());
-	glVertex(v1->P());
-	_ChooseColorVertex<cm>(*v2);
-	glNormal(v2->N());
-	glVertex(v2->P());
-  glEnd();
-}
-
-template <ColorMode cm >
-void _DrawFace(TetraType &t,int face)
-{
-glBegin(GL_TRIANGLES);
-  glNormal(t.N(face));
-  VertexType *v0=t.V(Tetra::VofF(face,0));
-  VertexType *v1=t.V(Tetra::VofF(face,1));
-  VertexType *v2=t.V(Tetra::VofF(face,2));
-  _ChooseColorVertex<cm>(*v0);
-  glVertex(v0->P());
-  _ChooseColorVertex<cm>(*v1);
-  glVertex(v1->P());
-  _ChooseColorVertex<cm>(*v2);
-  glVertex(v2->P());
-  glEnd();
-}
-
-template <ColorMode cm >
-void _DrawSmallTetra(TetraType &t)
-{
-  Tetra3<ScalarType> T=Tetra3<ScalarType>();
-  T.P0(0)=t.V(0)->cP();
-  T.P1(0)=t.V(1)->cP();
-  T.P2(0)=t.V(2)->cP();
-  T.P3(0)=t.V(3)->cP();
-  Point3x p[4], br;
-  br=T.ComputeBarycenter();
-  for(int i = 0; i < 4; ++i)
-					p[i] = t.V(i)->P()* shrink_factor + br *(1- shrink_factor);
-  _ChooseColorTetra<cm>(t);
-
-  glBegin(GL_TRIANGLES);
-  for(int i = 0; i < 4; ++i)
-    {
-		glNormal(t.N(i));
-        VertexType *v0=t.V(Tetra::VofF(i,0));
-        VertexType *v1=t.V(Tetra::VofF(i,1));
-        VertexType *v2=t.V(Tetra::VofF(i,2));
-        _ChooseColorVertex<cm>(*v0);
-        glVertex(p[Tetra::VofF(i,0)]);
-        _ChooseColorVertex<cm>(*v1);
-		glVertex(p[Tetra::VofF(i,1)]);
-        _ChooseColorVertex<cm>(*v2);
-		glVertex(p[Tetra::VofF(i,2)]);
-	}
-	glEnd();
-}
-
-
-};
-
-} // end namespace tetra	
-} // end nemaspace tri
-#endif
+****************************************************************************/
+
+#ifndef __GLWRAPTETRA__
+#define __GLWRAPTETRA__
+#include <GL/glew.h>
+#include <GL/GL.h>
+#include <vcg/space/color4.h>
+#include <vcg/space/tetra3.h>
+#include <wrap/gui/view.h>
+#include <wrap/gl/space.h>
+#include <wrap/gl/math.h>
+
+namespace vcg {
+
+namespace tetra {
+
+class GLW {
+public:
+    enum DrawMode  {DMNone, DMSmallTetra,DMFlat,DMWire, DMHidden,DMTransparent,DMFlatWire} ;
+    enum NormalMode{NMFlat,NMSmooth, NMUser, NMPerMesh};
+    enum ColorMode {CMNone, CMPerMesh,CMUser,CMPerTetra,CMPerVertexF,CMPerVertex};
+    enum Hint {HShrinkFactor};
+};
+
+template <typename MeshType>
+class GlTetramesh:public GLW{
+
+
+public:
+
+    typedef typename MeshType::TetraType    TetraType;
+    typedef typename TetraType::VertexType  VertexType;
+    typedef typename VertexType::ScalarType ScalarType;
+    typedef typename VertexType::CoordType  CoordType;
+
+    //subclass for clipping planes
+    class ClipPlane
+    {
+    private:
+
+        CoordType D, D0;
+        ScalarType dist;
+
+        GLdouble eqn[4];
+
+
+    public:
+        bool active;
+
+        ClipPlane (){active=false;}
+
+        ~ClipPlane (){}
+
+        ClipPlane(CoordType & p0, CoordType & p1, CoordType & p2)
+        {
+            CoordType N = ((p1-p0)^(p2-p0)).Normalize();
+
+            D  = N;
+            D0 = D;
+
+            dist = vcg::Norm((p0 + p1 + p2) / 3.f);
+        }
+
+        //set normal of the clipping plane
+        void SetD(CoordType d)
+        {
+            D  = d;
+            D0 = d;
+        }
+        //set the point of the clipping plane
+        void SetDist(ScalarType d)
+        {
+            dist = d;
+        }
+        bool IsClipped(CoordType p)
+        {
+            return D.V(0) * p.X() + D.V(1) * p.Y() + D.V(2) * p.Z() - dist > 0;
+        }
+
+        void GlClip()
+        {
+            if (active){
+                GLdouble d=-(D.V(0)*P.V(0)+D.V(1)*P.V(1)+D.V(2)*P.V(2));
+                eqn[0]=-D.V(0);
+                eqn[1]=-D.V(1);
+                eqn[2]=-D.V(2);
+                eqn[3]=-d;
+                glClipPlane(GL_CLIP_PLANE0, eqn);
+                glEnable(GL_CLIP_PLANE0);
+            }
+        }
+
+        void GlDraw()
+        {
+            const ScalarType w = 50;
+            glColor4f(1., 1., 0., 0.3);
+            glEnable(GL_BLEND);
+            glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
+            glDisable(GL_LIGHTING);
+
+            glBegin(GL_LINES);
+            glVertex3f(0, 0, 0);
+            glVertex3f(dist, 0, 0);
+            glEnd();
+            glBegin(GL_TRIANGLES);
+            glVertex3f(dist, -w,  w);
+            glVertex3f(dist,  w,  w);
+            glVertex3f(dist, -w, -w);
+            glVertex3f(dist,  w,  w);
+            glVertex3f(dist,  w, -w);
+            glVertex3f(dist, -w, -w);
+            glEnd();
+
+            glDisable(GL_BLEND);
+            glEnable(GL_LIGHTING);
+        }
+
+        void Transform(vcg::Matrix44<float> & tr)
+        {
+            D = (tr * D0).Normalize();
+        }
+
+        void offsetDist(ScalarType off)
+        {
+            dist = (off < -dist) ? 0.001f : dist + off;
+        }
+
+        bool IsActive()
+        {
+            return active;
+        }
+
+        bool switchActive()
+        {
+            return active ^= true;
+        }
+    };
+
+    GlTetramesh(MeshType * m) : _m(m){}
+    GlTetramesh( )  {}
+
+    MeshType * _m;
+    ClipPlane section;
+
+private:
+    ScalarType shrink_factor = 0.98f;
+
+
+public:
+
+    void SetHint(Hint h, double value){
+        switch(h){
+        case HShrinkFactor: shrink_factor = value; break;
+        }
+    }
+
+    void AddClipSection(CoordType p0, CoordType p1, CoordType p2)
+    {
+        section=ClipPlane(p0,p1,p2);
+        section.active=true;
+    }
+
+    void ClearClipSection()
+    {
+        section.active=false;
+    }
+
+    template <DrawMode dm,NormalMode nm,ColorMode cm >
+    void Draw(){
+        switch (dm){
+        case DMNone: break;
+        case DMSmallTetra: _DrawSmallTetra<cm>();break;
+        case DMFlat:       _DrawSurface<dm,nm,cm>();break;
+        case DMWire:       _DrawSurface<dm,nm,cm>();break;
+        case DMHidden:     _DrawSurface<dm,nm,cm>();break;
+        case DMFlatWire:   _DrawFlatWire<nm,cm>(); break;
+        case DMTransparent: break;
+        }
+    }
+
+private:
+    template <ColorMode cm >
+    void _DrawSmallTetra(){
+
+        glEnable(GL_LIGHT0);
+        glEnable(GL_LIGHTING);
+        ForEachTetra(*_m, [&] (TetraType & t) {
+            if (!t.IsD())
+            {
+                if (!t.IsS()) //draw as normal
+                    _DrawSmallTetra<cm>(t);
+                else          //draw in selected mode
+                    _DrawSelectedTetra(t);
+            }
+        });
+    }
+
+    template <NormalMode nm,ColorMode cm >
+    void _DrawFlatWire(){
+        glPushAttrib(0xffff);
+        glEnable(GL_COLOR_MATERIAL);
+        glEnable(GL_DEPTH);
+        glDepthRange(0.001,1.0);
+        Draw<DMFlat,nm,cm>();
+        glDisable(GL_LIGHTING);
+        glColor3f(0.0,0.0,0.0);
+        glDepthRange(0.0,0.999);
+        Draw<DMHidden,nm,cm>();
+        glPopAttrib();
+    }
+
+
+    template <DrawMode dm,NormalMode nm,ColorMode cm >
+    void _DrawSurface(){
+
+
+        glPushAttrib(0xffff);
+        glEnable(GL_COLOR_MATERIAL);
+        if((dm == DMWire)||(dm ==DMHidden))
+        {
+            glDisable(GL_LIGHTING);
+            glDisable(GL_NORMALIZE);
+            glPolygonMode(GL_FRONT_AND_BACK,GL_LINE);
+        }
+        else
+        {
+            glEnable(GL_LIGHT0);
+            glEnable(GL_LIGHTING);
+            glEnable(GL_NORMALIZE);
+            glPolygonMode(GL_FRONT,GL_FILL);
+        }
+
+        ForEachTetra(*_m, [&] (TetraType & t) {
+            _DrawTetra<dm,nm,cm>(t);
+        });
+
+        glPopAttrib();
+    }
+
+
+    void _DrawSelectedTetra(TetraType &t)
+    {
+        glPushMatrix();
+        glPushAttrib(0xffff);
+        glDisable(GL_CLIP_PLANE0);
+        glDisable(GL_BLEND);
+        glDisable(GL_LIGHTING);
+        glDisable(GL_NORMALIZE);
+        glPolygonMode(GL_FRONT_AND_BACK,GL_LINE);
+
+        glColor3d(1,0,0);
+
+        glBegin(GL_TRIANGLES);
+        for (int face=0;face<4;face++)
+        {
+            glVertex(t.V(Tetra::VofF(face,0))->P());
+            glVertex(t.V(Tetra::VofF(face,1))->P());
+            glVertex(t.V(Tetra::VofF(face,2))->P());
+        }
+        glEnd();
+
+        //end drawing
+        glPopAttrib();
+        glPopMatrix();
+    }
+
+    template <DrawMode dm,NormalMode nm,ColorMode cm >
+    void _DrawTetra(TetraType &t)
+    {
+        if((!t.IsD())&&(!t.IsS()))
+        {
+            if ((dm!=DMWire)&&(dm!=DMHidden))
+                _ChooseColorTetra<cm>(t);
+            for(int i = 0; i < 4; ++i){
+                if (dm == DMWire)
+                    _DrawFace<cm>(t,i);
+                else
+                {
+                    if (t.IsBorderF(i))
+                    {
+                        if(nm==NMSmooth)
+                            _DrawFaceSmooth<cm>(t,i);
+                        else
+                            if(nm==NMFlat)
+                                _DrawFace<cm>(t,i);
+                    }
+                }
+            }
+        }
+        else
+            if((!t.IsD())&&(t.IsS()))
+                _DrawSelectedTetra(t);
+    }
+
+    template <ColorMode cm >
+    void _ChooseColorTetra(TetraType &t)
+    {
+        if (cm==CMNone)
+        {
+            if (t.IsS())
+                glColor3d(1,0,0);
+            else
+                glColor3d(0.8f,0.8f,0.8f);
+        }
+        if (cm == CMPerTetra)
+            vcg::glColor(t.C());
+        //        else
+        //            if(cm == CMPerTetraF)
+        //            {
+        //                Color4b c;
+        //                c = color_tetra(t);
+        //                GLint ic[4]; ic[0] = c[0];ic[1] = c[1];ic[2] = c[2];ic[3] = c[3];
+        //                glMaterialiv(GL_FRONT,GL_DIFFUSE ,ic);
+        //            }
+    }
+
+    template <ColorMode cm >
+    void _ChooseColorVertex(VertexType &v)
+    {
+        if (cm!=CMNone)
+        {
+            //            if(cm == CMPerVertexF)
+            //            {
+            //                Color4b c;
+            //                c = color_vertex(v);
+            //                GLint ic[4]; ic[0] = c[0];ic[1] = c[1];ic[2] = c[2];ic[3] = c[3];
+            //                glMaterialiv(GL_FRONT,GL_DIFFUSE ,ic);
+            //            }
+            //            else
+            if(cm == CMPerVertex)
+                vcg::glColor(v.C());
+        }
+    }
+
+    template <ColorMode cm >
+    void _DrawFaceSmooth(TetraType &t,int face)
+    {
+
+        VertexType *v0=t.V(Tetra::VofF(face,0));
+        VertexType *v1=t.V(Tetra::VofF(face,1));
+        VertexType *v2=t.V(Tetra::VofF(face,2));
+
+        glBegin(GL_TRIANGLES);
+        _ChooseColorVertex<cm>(*v0);
+        glNormal(v0->N());
+        glVertex(v0->P());
+        _ChooseColorVertex<cm>(*v1);
+        glNormal(v1->N());
+        glVertex(v1->P());
+        _ChooseColorVertex<cm>(*v2);
+        glNormal(v2->N());
+        glVertex(v2->P());
+        glEnd();
+    }
+
+    template < ColorMode cm >
+    void _DrawFace(TetraType &t,int face)
+    {
+        glBegin(GL_TRIANGLES);
+        VertexType *v0=t.V(Tetra::VofF(face,0));
+        VertexType *v1=t.V(Tetra::VofF(face,1));
+        VertexType *v2=t.V(Tetra::VofF(face,2));
+        glNormal(vcg::Normal(v0->P(), v1->P(), v2->P()).normalized());
+        _ChooseColorVertex<cm>(*v0);
+        glVertex(v0->P());
+        _ChooseColorVertex<cm>(*v1);
+        glVertex(v1->P());
+        _ChooseColorVertex<cm>(*v2);
+        glVertex(v2->P());
+        glEnd();
+    }
+
+    template < ColorMode cm >
+    void _DrawSmallTetra(TetraType &t)
+    {
+        CoordType p[4], br;
+        br = Tetra::Barycenter(t);
+
+        if (section.active)
+        {
+            if (section.IsClipped(br))
+                return;
+            bool border = false;
+            bool clipBorder = false;
+            for (int i = 0; i < 4; ++i)
+            {
+                border = border || t.IsB(i);
+
+                CoordType br1 = Tetra::Barycenter(*t.TTp(i));
+                clipBorder = clipBorder || section.IsClipped(br1);
+            }
+
+            if (!border && !clipBorder)
+                return;
+        }
+
+        for(int i = 0; i < 4; ++i)
+            //            p[i] = t.V(i)->P();
+            p[i] = t.V(i)->P() * shrink_factor + br * (1 - shrink_factor);
+
+
+        _ChooseColorTetra<cm>(t);
+
+        glBegin(GL_TRIANGLES);
+        for(int i = 0; i < 4; ++i)
+        {
+            VertexType *v0=t.V(Tetra::VofF(i,0));
+            VertexType *v1=t.V(Tetra::VofF(i,1));
+            VertexType *v2=t.V(Tetra::VofF(i,2));
+
+
+            glNormal(vcg::Normal(v0->P(), v1->P(), v2->P()).normalized());
+
+            _ChooseColorVertex<cm>(*v0);
+            glVertex(p[Tetra::VofF(i,0)]);
+            _ChooseColorVertex<cm>(*v1);
+            glVertex(p[Tetra::VofF(i,1)]);
+            _ChooseColorVertex<cm>(*v2);
+            glVertex(p[Tetra::VofF(i,2)]);
+        }
+        glEnd();
+    }
+};
+
+} // end namespace tetra
+} // end nemaspace tri
+#endif
diff --git a/wrap/gui/rubberband.cpp b/wrap/gui/rubberband.cpp
index f08d0002..57d81632 100644
--- a/wrap/gui/rubberband.cpp
+++ b/wrap/gui/rubberband.cpp
@@ -139,7 +139,7 @@ void Rubberband::Render(QGLWidget* gla)
   assert(!glGetError());
 }
 
-void Rubberband::RenderLine(QGLWidget* gla, Point3f AA, Point3f BB)
+void Rubberband::RenderLine(QGLWidget* /*gla*/, Point3f AA, Point3f BB)
 {
 	// Drawing of the line from AA to BB
 	glPushAttrib(GL_DEPTH_BUFFER_BIT | GL_ENABLE_BIT | GL_LINE_BIT | GL_POINT_BIT | GL_CURRENT_BIT | GL_LIGHTING_BIT | GL_COLOR_BUFFER_BIT);
diff --git a/wrap/gui/trackball.cpp b/wrap/gui/trackball.cpp
index 1dd6ec2c..aba34cff 100644
--- a/wrap/gui/trackball.cpp
+++ b/wrap/gui/trackball.cpp
@@ -21,7 +21,12 @@
 *                                                                           *
 ****************************************************************************/
 
+#ifdef QT_OPENGL_LIB
+#include <QtOpenGL/qgl.h> 
+#else
 #include <GL/glew.h>
+#endif
+
 #include "trackball.h"
 #include<set>
 
diff --git a/wrap/gui/trackball.h b/wrap/gui/trackball.h
index fc70a36a..9d3a87f2 100644
--- a/wrap/gui/trackball.h
+++ b/wrap/gui/trackball.h
@@ -202,7 +202,7 @@ public:
 	
 	private:
 	// Trackball must not be copied. Use Append (see vcg/complex/trimesh/append.h)
-	Trackball operator =(const Trackball &  /*m*/){ assert(0); return *this; }
+	Trackball operator =(const Trackball &  /*m*/) = delete;
 	public:
   /*!
     @brief Reset the trackball.
diff --git a/wrap/gui/trackmode.cpp b/wrap/gui/trackmode.cpp
index f8157f62..7365c764 100644
--- a/wrap/gui/trackmode.cpp
+++ b/wrap/gui/trackmode.cpp
@@ -21,7 +21,12 @@
 *                                                                           *
 ****************************************************************************/
 
+#ifdef QT_OPENGL_LIB
+#include <QtOpenGL/qgl.h> 
+#else
 #include <GL/glew.h>
+#endif
+
 #include <vcg/space/distance3.h>
 #include <wrap/gui/trackmode.h>
 #include <wrap/gui/trackball.h>
diff --git a/wrap/gui/view.h b/wrap/gui/view.h
index d60ca087..b3b67264 100644
--- a/wrap/gui/view.h
+++ b/wrap/gui/view.h
@@ -165,8 +165,7 @@ template <class T> void View<T>::SetView(const float *_proj,
     viewport[i] = _viewport[i];
   }
   matrix = proj*model;
-  inverse = matrix;
-  Invert(inverse);
+  inverse = vcg::Inverse(matrix);;
 }
 
 template <class T> Point3<T> View<T>::ViewPoint() const {
diff --git a/wrap/igl/arap_parametrization.h b/wrap/igl/arap_parametrization.h
new file mode 100644
index 00000000..0a472c85
--- /dev/null
+++ b/wrap/igl/arap_parametrization.h
@@ -0,0 +1,215 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2017                                                \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+/* Optimizes given UV-mapping with
+ * [ARAP parametrization]
+ * (minimizes area and angle distortions).
+ *
+ * Needs:
+ * (-) per-vertex texture coords
+ * (-) per-vertex flags to fix boundaries
+ *     Fixed vertices are the flagged ones.
+ *     By default: BORDER or SELECTED verts are fixed.
+ *     (use fixedMask parameter to customize)
+ *
+ * Example of usage:
+ *    MeshType m;
+ *    ...
+ *    vcg::tri::UpdateBounding<MeshType>::Box(m);
+ *    vcg::tri::UpdateFlags<MeshType>::Clear(m);
+ *    vcg::tri::UpdateFlags<MeshType>::VertexBorderFromNone(m);
+ *    vcg::tri::OptimizeUV_ARAP(m);
+ *
+ */
+
+#ifndef __VCG_IGL_ARAP_PARAMETRIZATION
+#define __VCG_IGL_ARAP_PARAMETRIZATION
+
+#include <cmath>
+
+#include <igl/arap.h>
+#include <vcg/complex/algorithms/mesh_to_matrix.h>
+#include <vcg/complex/algorithms/clean.h>
+#include <vcg/complex/algorithms/update/flag.h>
+#include <wrap/igl/lscm_parametrization.h>
+
+namespace vcg {
+namespace tri {
+
+template<class MeshType>
+void OptimizeUV_ARAP(
+        MeshType& m,
+        unsigned int iterations = 100,
+        unsigned int fixedMask = MeshType::VertexType::BORDER | MeshType::VertexType::SELECTED,
+        bool generateInitialGuess = true)
+{
+
+	// check requirements
+	vcg::tri::RequirePerVertexTexCoord(m);
+	vcg::tri::RequirePerVertexFlags   (m);
+	vcg::tri::RequireCompactness      (m);
+
+	if (m.vert.size() <= 1 || m.face.size() == 0)
+	{
+		return;
+	}
+
+	// build fixed points data
+	size_t nFixed = 0;
+	if (fixedMask != 0)
+	{
+		for (size_t i=0; i<m.vert.size(); i++)
+		{
+			if (m.vert[i].Flags() & fixedMask) nFixed++;
+		}
+	}
+
+	// all fixed, nothing to do? get out to avoid crashes
+	if (nFixed == m.vert.size())
+	{
+		return;
+	}
+
+	if (generateInitialGuess)
+	{
+		// if not enough vertices are fixed, initialize manually fixed points
+		// else initialize with the provided fixed values
+		InitializeArapWithLSCM(m, (nFixed < 2) ? 0 : fixedMask);
+	}
+
+	Eigen::MatrixXd V;
+	Eigen::MatrixXi F;
+	Eigen::VectorXi b;
+	Eigen::MatrixXd bc;
+	Eigen::MatrixXd V_uv;
+	vcg::tri::MeshToMatrix<MeshType>::GetTriMeshData(m, F, V);
+	vcg::tri::MeshToMatrix<MeshType>::GetUVData(m, V_uv);
+
+	b.resize(nFixed);
+	bc.resize(nFixed,2);
+	for (size_t i=0,k=0; i<m.vert.size(); i++)
+	{
+		if (m.vert[i].Flags() & fixedMask)
+		{
+			b(k) = i;
+			bc(k,0) = m.vert[i].T().P()[0];
+			bc(k,1) = m.vert[i].T().P()[1];
+			k++;
+		}
+	}
+
+	// Add dynamic regularization to avoid to specify boundary conditions
+	::igl::ARAPData arap_data;
+	arap_data.with_dynamics = true;
+	arap_data.max_iter = iterations;
+
+	// compute ARAP parametrization
+	::igl::arap_precomputation(V, F, 2, b, arap_data);
+	::igl::arap_solve(bc, arap_data, V_uv);
+
+	// copy results back to mesh
+	for (size_t i=0; i<m.vert.size(); i++)
+	{
+		m.vert[i].T().P()[0] = V_uv(i,0);
+		m.vert[i].T().P()[1] = V_uv(i,1);
+	}
+}
+
+template <class MeshType>
+void InitializeArapWithLSCM(MeshType & m, unsigned int fixedMask = 0)
+{
+	typedef typename MeshType::ScalarType                          ScalarType;
+	typedef typename MeshType::VertexType::TexCoordType::PointType TexPointType;
+	typedef typename TexPointType::ScalarType                      TexScalarType;
+
+	if (fixedMask == 0)
+	{
+		// automatically select 2 vertices to fix
+		vcg::tri::UpdateFlags<MeshType>::Clear(m);
+
+		int fixed0, fixed1 = -1;
+		auto p = m.bbox.Center();
+		ScalarType maxDist = -1;
+		for (size_t i=0; i<m.vert.size(); i++)
+		{
+			// farthest point from the center
+			const ScalarType dist =(m.vert[i].cP() - p).Norm();
+			if (dist > maxDist)
+			{
+				fixed0 = i;
+				maxDist = dist;
+			}
+		}
+		maxDist = -1;
+		p = m.vert[fixed0].cP();
+		for (size_t i=0; i<m.vert.size(); i++)
+		{
+			// farthest point from the previous
+			const ScalarType dist =(m.vert[i].cP() - p).Norm();
+			if (dist > maxDist)
+			{
+				fixed1 = i;
+				maxDist = dist;
+			}
+		}
+
+		assert(fixed0 >= 0);
+		assert(fixed1 >= 0);
+		assert(fixed0 != fixed1);
+
+		//then select them
+		m.vert[fixed0].SetS();
+		m.vert[fixed1].SetS();
+		m.vert[fixed0].T().P() = TexPointType(0,0);
+		m.vert[fixed1].T().P() = TexPointType(1,1);
+
+		fixedMask = MeshType::VertexType::SELECTED;
+	}
+
+	vcg::tri::OptimizeUV_LSCM(m, fixedMask);
+
+	// Rescale the parametrization to match the 3D area
+	ScalarType meshArea2D = 0;
+	ScalarType meshArea3D = 0;
+
+	for (size_t i=0; i<m.face.size(); i++)
+	{
+		vcg::Triangle2<TexScalarType> t2(m.face[i].V(0)->T().P(),
+		                                 m.face[i].V(1)->T().P(),
+		                                 m.face[i].V(2)->T().P());
+		meshArea2D += ScalarType(fabs(((t2.P(1) - t2.P(0)) ^ (t2.P(2) - t2.P(0)))/2));
+		meshArea3D += vcg::DoubleArea(m.face[i])/2;
+	}
+
+	ScalarType scaleFact = std::sqrt(meshArea3D / meshArea2D);
+
+	for (size_t i=0; i<m.vert.size(); i++)
+	{
+		TexPointType & UVCoord = m.vert[i].T().P();
+		UVCoord *= scaleFact;
+	}
+}
+
+}} // namespaces
+
+#endif // __VCG_IGL_ARAP_PARAMETRIZATION
diff --git a/wrap/igl/lscm_parametrization.h b/wrap/igl/lscm_parametrization.h
index 5276fc2e..0a6efd33 100644
--- a/wrap/igl/lscm_parametrization.h
+++ b/wrap/igl/lscm_parametrization.h
@@ -69,7 +69,7 @@ void OptimizeUV_LSCM( MeshType& m ,
     vcg::tri::MeshToMatrix< MeshType >::GetTriMeshData( m, F, V );
 
     // build fixed points data
-    int nFixed = 0;
+    size_t nFixed = 0;
     for (int i=0; i<(int)m.vert.size(); i++) {
         if (m.vert[i].Flags()&fixedMask) nFixed++;
     }
diff --git a/wrap/igl/miq_parametrization.h b/wrap/igl/miq_parametrization.h
index 51a531a5..2f52070d 100644
--- a/wrap/igl/miq_parametrization.h
+++ b/wrap/igl/miq_parametrization.h
@@ -31,7 +31,7 @@
 #include <igl/cut_mesh_from_singularities.h>
 #include <igl/find_cross_field_singularities.h>
 #include <igl/compute_frame_field_bisectors.h>
-#include <igl/comiso/miq.h>
+#include <igl/copyleft/comiso/miq.h>
 #include <vcg/complex/algorithms/parametrization/uv_utils.h>
 #include <vcg/complex/algorithms/mesh_to_matrix.h>
 
@@ -74,6 +74,8 @@ public:
         bool crease_as_feature;
         //true if roound selected vert
         bool round_selected;
+        //the anisotropy in MIQ sense (see paper)
+        double miqAnisotropy;
 
         MIQParameters()
         {
@@ -89,6 +91,7 @@ public:
             Ndir=4;
             crease_thr=0.2;
             hexaLine=false;
+            miqAnisotropy=1;
         }
     };
 
@@ -103,7 +106,8 @@ public:
             for (int j=0;j<3;j++)
             {
                 //if (!trimesh.face[i].IsB(j))continue;
-                if (!trimesh.face[i].IsCrease(j))continue;
+                //if (!trimesh.face[i].IsCrease(j))continue;
+                if (!trimesh.face[i].IsFaceEdgeS(j))continue;
 
                 feature_lines.push_back(std::vector<int>());
                 feature_lines.back().push_back(i);
@@ -163,9 +167,9 @@ private:
             }
         }
 
-        igl::miq(V,F,X1,X2,UV,FUV,MiqP.gradient,MiqP.stiffness,MiqP.directRound,
+        igl::copyleft::comiso::miq(V,F,X1,X2,UV,FUV,MiqP.gradient,MiqP.stiffness,MiqP.directRound,
                  MiqP.stiffness_iter,MiqP.local_iter,MiqP.doRound,MiqP.round_singularities,
-                 extra_round,hard_features);
+                 extra_round,hard_features,MiqP.miqAnisotropy);
 
         // then copy UV
         for (size_t i=0;i<trimesh.face.size();i++)
@@ -287,7 +291,7 @@ private:
 //                 MMatch,isSingularity,singularityIndex,Seams,
 //                 UV,FUV,MiqP.gradient,MiqP.stiffness,MiqP.directRound,
 //                 MiqP.stiffness_iter,MiqP.local_iter,MiqP.doRound,MiqP.round_singularities,extra_round,hard_features);
-        igl::miq(V,F,X1_combed,X2_combed,
+        igl::copyleft::comiso::miq(V,F,X1_combed,X2_combed,
                  UV,FUV,MiqP.gradient,MiqP.stiffness,MiqP.directRound,
                  MiqP.stiffness_iter,MiqP.local_iter,MiqP.doRound,MiqP.round_singularities,extra_round,hard_features);
 
@@ -313,7 +317,8 @@ public:
             for (int j=0;j<mesh.face[i].VN();j++)
             {
                 FaceType *f0=&mesh.face[i];
-                f0->ClearCrease(j);
+                //f0->ClearCrease(j);
+                f0->ClearFaceEdgeS(j);
             }
 
 
@@ -323,12 +328,14 @@ public:
                 FaceType *f0=&mesh.face[i];
                 FaceType *f1=f0->FFp(j);
 
-                if (f0==f1){f0->SetCrease(j);continue;}
+                //if (f0==f1){f0->SetCrease(j);continue;}
+                if (f0==f1){f0->SetFaceEdgeS(j);continue;}
 
                 CoordType N0=f0->N();
                 CoordType N1=f1->N();
                 if ((N0*N1)>thr)continue;
-                f0->SetCrease(j);
+                //f0->SetCrease(j);
+                f0->SetFaceEdgeS(j);
 
             }
     }
@@ -336,8 +343,8 @@ public:
     static void MIQParametrize(MeshType &trimesh,
                                MIQParameters &MiqP)
     {
-        if (MiqP.crease_as_feature)
-            SetCreases(trimesh,MiqP.crease_thr);
+//        if (MiqP.crease_as_feature)
+//            SetCreases(trimesh,MiqP.crease_thr);
 
         if (MiqP.Ndir==4)
             CrossFieldParam(trimesh,MiqP);
diff --git a/wrap/igl/sample/trimesh_field_smoothing/trimesh_field_smoothing.cpp b/wrap/igl/sample/trimesh_field_smoothing/trimesh_field_smoothing.cpp
new file mode 100644
index 00000000..a6534809
--- /dev/null
+++ b/wrap/igl/sample/trimesh_field_smoothing/trimesh_field_smoothing.cpp
@@ -0,0 +1,64 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2009                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+#include<vcg/complex/complex.h>
+#include<vcg/complex/algorithms/create/platonic.h>
+
+#include<wrap/io_trimesh/import_ply.h>
+#include<wrap/io_trimesh/export_ply.h>
+#include<vcg/complex/algorithms/create/platonic.h>
+#include<vcg/complex/algorithms/smooth_field.h>
+
+using namespace vcg;
+using namespace std;
+
+class MyEdge;
+class MyFace;
+class MyVertex;
+struct MyUsedTypes : public UsedTypes<	Use<MyVertex>   ::AsVertexType,
+                                        Use<MyEdge>     ::AsEdgeType,
+                                        Use<MyFace>     ::AsFaceType>{};
+
+class MyVertex  : public Vertex<MyUsedTypes, vertex::Coord3f, vertex::Normal3f, vertex::VFAdj, vertex::Qualityf, vertex::Color4b, vertex::BitFlags, vertex::CurvatureDirf  >{};
+class MyFace    : public Face< MyUsedTypes, face::VertexRef, face::Normal3f, face::BitFlags, face::FFAdj, face::VFAdj, face::CurvatureDirf, face::Qualityf, face::Color4b> {};
+class MyEdge    : public Edge< MyUsedTypes>{};
+class MyMesh    : public tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> , vector<MyEdge>  > {};
+
+
+int main( int argc, char **argv )
+{
+  MyMesh m;
+  tri::Hexahedron(m);
+  tri::UpdateTopology<MyMesh>::FaceFace(m);
+  tri::UpdateFlags<MyMesh>::FaceBorderFromFF(m);
+  for(int i=0;i<3;++i)
+    tri::Refine<MyMesh, tri::MidPoint<MyMesh> >(m,tri::MidPoint<MyMesh>(&m));
+
+  tri::UpdateNormal<MyMesh>::PerVertexNormalized(m);
+  tri::Smooth<MyMesh>::VertexCoordLaplacian(m,3);
+  tri::FieldSmoother<MyMesh>::InitByCurvature(m);
+  tri::FieldSmoother<MyMesh>::SmoothParam par;
+
+  tri::FieldSmoother<MyMesh>::SmoothDirections(m,par);
+  tri::io::ExporterPLY<MyMesh>::Save(m,"Full.ply",tri::io::Mask::IOM_VERTCOLOR|tri::io::Mask::IOM_WEDGTEXCOORD );
+  return 0;
+}
diff --git a/wrap/igl/sample/trimesh_field_smoothing/trimesh_field_smoothing.pro b/wrap/igl/sample/trimesh_field_smoothing/trimesh_field_smoothing.pro
new file mode 100644
index 00000000..aaa2a38e
--- /dev/null
+++ b/wrap/igl/sample/trimesh_field_smoothing/trimesh_field_smoothing.pro
@@ -0,0 +1,10 @@
+DEPENDPATH += . ../../..
+INCLUDEPATH += . ../../.. ../../../eigenlib
+CONFIG += console c++11
+TEMPLATE = app
+# Mac specific Config required to avoid to make application bundles
+CONFIG -= app_bundle
+
+QMAKE_CXXFLAGS += -std=c++11
+TARGET = trimesh_field_smoothing
+SOURCES += trimesh_field_smoothing.cpp ../../../wrap/ply/plylib.cpp
diff --git a/wrap/igl/smooth_field.h b/wrap/igl/smooth_field.h
index e1208cfb..8c17e4a1 100644
--- a/wrap/igl/smooth_field.h
+++ b/wrap/igl/smooth_field.h
@@ -25,7 +25,7 @@
 #define SMOOTHER_FIELD_H
 
 //eigen stuff
-#include <eigenlib/Eigen/Sparse>
+#include <Eigen/Sparse>
 
 //vcg stuff
 #include <vcg/complex/algorithms/update/color.h>
@@ -34,10 +34,14 @@
 #include <vcg/complex/algorithms/mesh_to_matrix.h>
 
 //igl related stuff
+
 #include <igl/n_polyvector.h>
 #include <igl/principal_curvature.h>
 #include <igl/igl_inline.h>
-#include <igl/comiso/nrosy.h>
+
+#ifdef COMISO_FIELD
+#include <igl/copyleft/comiso/nrosy.h>
+#endif
 
 namespace vcg {
 namespace tri {
@@ -228,7 +232,7 @@ class FieldSmoother
                           ScalarType alpha_soft,
                           int Ndir)
     {
-
+#ifdef COMISO_FIELD
         assert((Ndir==2)||(Ndir==4));
         Eigen::MatrixXi F;
         Eigen::MatrixXd V;
@@ -238,7 +242,7 @@ class FieldSmoother
         Eigen::MatrixXd output_field;
         Eigen::VectorXd output_sing;
 
-        igl::nrosy(V,F,HardI,HardD,SoftI,SoftW,SoftD,Ndir,alpha_soft,output_field,output_sing);
+        igl::copyleft::comiso::nrosy(V,F,HardI,HardD,SoftI,SoftW,SoftD,Ndir,alpha_soft,output_field,output_sing);
 
         //finally update the principal directions
         for (size_t i=0;i<mesh.face.size();i++)
@@ -258,6 +262,9 @@ class FieldSmoother
             mesh.face[i].PD1()=dir1*Norm1;
             mesh.face[i].PD2()=dir2*Norm2;
         }
+#else
+        assert(0);
+#endif
     }
 
     static void SmoothNPoly(MeshType &mesh,
@@ -341,11 +348,8 @@ public:
             Ndir=4;
             curvRing=2;
             alpha_curv=0.0;
-
             align_borders=false;
-
             SmoothM=SMMiq;
-
             sharp_thr=0.0;
             curv_thr=0.4;
         }
@@ -372,7 +376,7 @@ public:
             AddBorderConstraints(mesh);
 
         //aff final constraints
-        for (int i=0;i<SParam.AddConstr.size();i++)
+        for (size_t i=0;i<SParam.AddConstr.size();i++)
         {
             int indexF=SParam.AddConstr[i].first;
             CoordType dir=SParam.AddConstr[i].second;
@@ -391,7 +395,7 @@ public:
 
 
     static void InitByCurvature(MeshType & mesh,
-                                int Nring,
+                                unsigned Nring,
                                 bool UpdateFaces=true)
     {
 
@@ -402,7 +406,8 @@ public:
 
         Eigen::MatrixXd PD1,PD2,PV1,PV2;
         MeshToMatrix<MeshType>::GetTriMeshData(mesh,F,V);
-        igl::principal_curvature(V,F,PD1,PD2,PV1,PV2,Nring);
+
+        igl::principal_curvature(V,F,PD1,PD2,PV1,PV2,Nring,true);
 
         //then copy curvature per vertex
         for (size_t i=0;i<mesh.vert.size();i++)
@@ -487,13 +492,21 @@ public:
     {
         //for the moment only cross and line field
 
-        //initialize direction by curvature if needed
+//        //initialize direction by curvature if needed
         if ((SParam.alpha_curv>0)||
              (SParam.sharp_thr>0)||
              (SParam.curv_thr>0))
+        {
             InitByCurvature(mesh,SParam.curvRing);
+            SelectConstraints(mesh,SParam);
+        }
+        else
+        {
+            SelectConstraints(mesh,SParam);
+            vcg::tri::CrossField<MeshType>::PropagateFromSelF(mesh);
+        }
+
 
-        SelectConstraints(mesh,SParam);
         //then do the actual smooth
         SmoothDirections(mesh,SParam.Ndir,SParam.SmoothM,true,SParam.alpha_curv);
     }
diff --git a/wrap/io_edgemesh/export_svg.h b/wrap/io_edgemesh/export_svg.h
index ec9520cf..b83bde30 100644
--- a/wrap/io_edgemesh/export_svg.h
+++ b/wrap/io_edgemesh/export_svg.h
@@ -120,7 +120,11 @@ public:
 	{
 		std::vector<EdgeMeshType*> MeshVec;
 		MeshVec.push_back(&m);
-		return Save(MeshVec,filename,pro);
+    SVGProperties pro2=pro;
+    pro2.numCol=1;
+    pro2.numRow=1;
+    
+		return Save(MeshVec,filename,pro2);
 	}	
 	
 	
@@ -189,7 +193,7 @@ static void WriteXmlBody(FILE* fpo, EdgeMeshType &mp, SVGProperties &pro, int me
 		
 		// First Step align projDir to Z
 		Matrix33f rotM = RotationMatrix(pro.projDir,Point3f(0,0,1),false);
-		Point3f rotatedUp = rotM * pro.projUp;
+//		Point3f rotatedUp = rotM * pro.projUp;
 		Point3f rotCenter = rotM * pro.projCenter;
 		float scale = pro.scale;
 		if(scale==0) scale = 2.0/mp.bbox.Diag();
diff --git a/wrap/io_tetramesh/export_ply.h b/wrap/io_tetramesh/export_ply.h
index a0a138f7..c4f13a09 100644
--- a/wrap/io_tetramesh/export_ply.h
+++ b/wrap/io_tetramesh/export_ply.h
@@ -35,8 +35,10 @@ $Log: not supported by cvs2svn $
 #ifndef __VCGLIB_TETRAEXPORT_PLY
 #define __VCGLIB_TETRAEXPORT_PLY
 
-#include<wrap/ply/io_mask.h>
+#include<wrap/io_tetramesh/io_mask.h>
 #include<wrap/io_tetramesh/io_ply.h>
+#include<wrap/io_trimesh/precision.h>
+
 
 #include <stdio.h>
 
@@ -48,525 +50,432 @@ namespace io {
 template <class SaveMeshType>
 class ExporterPLY
 {
-  // Si occupa di convertire da un tipo all'altro.
-// usata nella saveply per matchare i tipi tra stotype e memtype.
-// Ad es se in memoria c'e' un int e voglio salvare un float
-// src sara in effetti un puntatore a int il cui valore deve 
-// essere convertito al tipo di ritorno desiderato (stotype)
+    // Si occupa di convertire da un tipo all'altro.
+    // usata nella saveply per matchare i tipi tra stotype e memtype.
+    // Ad es se in memoria c'e' un int e voglio salvare un float
+    // src sara in effetti un puntatore a int il cui valore deve
+    // essere convertito al tipo di ritorno desiderato (stotype)
 
-template <class StoType> 
-static void PlyConv(int mem_type, void *src, StoType &dest)
-{
-		switch (mem_type){
-				case ply::T_FLOAT	:		dest = (StoType) (*  ((float  *) src)); break;
-				case ply::T_DOUBLE:		dest = (StoType) (*  ((double *) src)); break;
-				case ply::T_INT		:		dest = (StoType) (*  ((int    *) src)); break;
-				case ply::T_SHORT	:		dest = (StoType) (*  ((short  *) src)); break;
-				case ply::T_CHAR	:		dest = (StoType) (*  ((char   *) src)); break;
-				case ply::T_UCHAR	:		dest = (StoType) (*  ((unsigned char *)src)); break;
-			 	default : assert(0);
-		}
-}
+    template <class StoType>
+    static void PlyConv(int mem_type, void *src, StoType &dest)
+    {
+        switch (mem_type){
+        case ply::T_FLOAT	:		dest = (StoType) (*  ((float  *) src)); break;
+        case ply::T_DOUBLE  :		dest = (StoType) (*  ((double *) src)); break;
+        case ply::T_INT		:		dest = (StoType) (*  ((int    *) src)); break;
+        case ply::T_SHORT	:		dest = (StoType) (*  ((short  *) src)); break;
+        case ply::T_CHAR	:		dest = (StoType) (*  ((char   *) src)); break;
+        case ply::T_UCHAR	:		dest = (StoType) (*  ((unsigned char *)src)); break;
+        default : assert(0);
+        }
+    }
 
 public:
-typedef ::vcg::ply::PropDescriptor PropDescriptor ;
-typedef typename SaveMeshType::VertexPointer VertexPointer;
-typedef typename SaveMeshType::ScalarType ScalarType;
-typedef typename SaveMeshType::VertexType VertexType;
-typedef typename SaveMeshType::TetraType TetraType;
-typedef typename SaveMeshType::TetraPointer TetraPointer;
-typedef typename SaveMeshType::VertexIterator VertexIterator;
-typedef typename SaveMeshType::TetraIterator TetraIterator;
+    typedef ::vcg::ply::PropDescriptor PropDescriptor ;
+    typedef typename SaveMeshType::VertexPointer VertexPointer;
+    typedef typename SaveMeshType::ScalarType ScalarType;
+    typedef typename SaveMeshType::VertexType VertexType;
+    typedef typename SaveMeshType::TetraType TetraType;
+    typedef typename SaveMeshType::TetraPointer TetraPointer;
+    typedef typename SaveMeshType::VertexIterator VertexIterator;
+    typedef typename SaveMeshType::TetraIterator TetraIterator;
 
-static bool Save(SaveMeshType &m, const char * filename, bool binary=true)
-{
-  PlyInfo pi;
-  return Save(m,filename,binary,pi);
-}
+    static bool Save(SaveMeshType &m, const char * filename, bool binary=true)
+    {
+        PlyInfo pi;
+        return Save(m,filename,binary,pi);
+    }
 
-static bool Save(SaveMeshType &m,  const char * filename, int savemask )
-{
-	PlyInfo pi;
-  pi.mask=savemask;
-  return Save(m,filename,true,pi);
-}
+    static bool Save(SaveMeshType &m,  const char * filename, int savemask, bool binary=true )
+    {
+        PlyInfo pi;
+        pi.mask=savemask;
+        return Save(m,filename,binary,pi);
+    }
 
-static bool Save(SaveMeshType &m,  const char * filename, bool binary, PlyInfo &pi )	// V1.0
-{
-	FILE * fpout;
-	int i;
-  
-	const char * hbin = "binary_little_endian";
-	const char * hasc = "ascii";
-	const char * h;
+    static bool Save(SaveMeshType &m,  const char * filename, bool binary, PlyInfo & pi )	// V1.0
+    {
+        FILE * fpout;
+        int i;
 
-	bool multit = false;
+        const char * hbin = "binary_little_endian";
+        const char * hasc = "ascii";
+        const char * h;
 
-	if(binary) h=hbin;
-	else       h=hasc;
+        bool multit = false;
 
-	fpout = fopen(filename,"wb");
-  if(fpout==NULL)		{
-    pi.status=::vcg::ply::E_CANTOPEN;
-    return false;
-  }
-	fprintf(fpout,
-		"ply\n"
-		"format %s 1.0\n"
-		"comment VCGLIB generated\n"
-		,h
-	);
-
-	//if( pi.mask & ply::PLYMask::PM_WEDGTEXCOORD )
-	//{
-	//	//const char * TFILE = "TextureFile";
-
-	//	//for(i=0;i<textures.size();++i)
-	//	//	fprintf(fpout,"comment %s %s\n", TFILE, (const char *)(textures[i]) );
-
-	//	//if(textures.size()>1 && (HasPerWedgeTexture() || HasPerVertexTexture())) multit = true;
-	//}
-
-	//if( (pi.mask & PLYMask::PM_CAMERA) && camera.IsValid() )
-	/*{
-		fprintf(fpout,
-			"element camera 1\n"
-			"property float view_px\n"
-			"property float view_py\n"
-			"property float view_pz\n"
-			"property float x_axisx\n"
-			"property float x_axisy\n"
-			"property float x_axisz\n"
-			"property float y_axisx\n"
-			"property float y_axisy\n"
-			"property float y_axisz\n"
-			"property float z_axisx\n"
-			"property float z_axisy\n"
-			"property float z_axisz\n"
-			"property float focal\n"
-			"property float scalex\n"
-			"property float scaley\n"
-			"property float centerx\n"
-			"property float centery\n"
-			"property int viewportx\n"
-			"property int viewporty\n"
-			"property float k1\n"
-			"property float k2\n"
-			"property float k3\n"
-			"property float k4\n"
-		);
-	}*/
-
-	fprintf(fpout,
-		"element vertex %d\n"
-		"property float x\n"
-		"property float y\n"
-		"property float z\n"
-		,m.vn
-	);
+        const int DGT   = vcg::tri::io::Precision<ScalarType>::digits();
+        const int DGTVQ = vcg::tri::io::Precision<typename VertexType::QualityType>::digits();
+        const int DGTVR = vcg::tri::io::Precision<typename VertexType::RadiusType>::digits();
+        const int DGTTQ = vcg::tri::io::Precision<typename TetraType::QualityType>::digits();
 
 
-	if( pi.mask & ply::PLYMask::PM_VERTFLAGS )
-	{
-		fprintf(fpout,
-			"property int flags\n"
-		);
-	}
-	
-	if( HasPerVertexColor(m)  && (pi.mask & ply::PLYMask::PM_VERTCOLOR) )
-	{
-		fprintf(fpout,
-			"property uchar red\n"
-			"property uchar green\n"
-			"property uchar blue\n"
-			"property uchar alpha\n"
-		);
-	}
+        if(binary) h=hbin;
+        else       h=hasc;
 
-	if( m.HasPerVertexQuality() && (pi.mask & ply::PLYMask::PM_VERTQUALITY) )
-	{
-		fprintf(fpout,
-			"property float quality\n"
-		);
-	}
+        fpout = fopen(filename,"wb");
+        if(fpout==NULL) {
+            pi.status=::vcg::ply::E_CANTOPEN;
+            return ::vcg::ply::E_CANTOPEN;
+        }
 
-	for(i=0;i<pi.vdn;i++)
-			fprintf(fpout,"property %s %s\n",pi.VertexData[i].stotypename(),pi.VertexData[i].propname);
-	
-	fprintf(fpout,
-		"element tetra %d\n"
-		"property list uchar int vertex_indices\n"
-		,m.tn
-	);
+        fprintf(fpout,
+                "ply\n"
+                "format %s 1.0\n"
+                "comment VCGLIB generated\n"
+                ,h
+                );
 
-	if( pi.mask & ply::PLYMask::PM_TETRAFLAGS )
-	{
-		fprintf(fpout,
-			"property int flags\n"
-		);
-	}
+        //if( pi.mask & ply::PLYMask::PM_WEDGTEXCOORD )
+        //{
+        //	//const char * TFILE = "TextureFile";
 
-	if(  VertexType::HasTexture() /*|| VertexType::HasPerWedgeTexture()*/  )
-	{
-		fprintf(fpout,
-			"property list uchar float texcoord\n"
-		);
+        //	//for(i=0;i<textures.size();++i)
+        //	//	fprintf(fpout,"comment %s %s\n", TFILE, (const char *)(textures[i]) );
 
-		if(multit)
-			fprintf(fpout,
-				"property int texnumber\n"
-			);
-	}
+        //	//if(textures.size()>1 && (HasPerWedgeTexture() || HasPerVertexTexture())) multit = true;
+        //}
 
-	if( TetraType::HasTetraColor() && (pi.mask & ply::PLYMask::PM_TETRACOLOR) )
-	{
-		fprintf(fpout,
-			"property uchar red\n"
-			"property uchar green\n"
-			"property uchar blue\n"
-			"property uchar alpha\n"
-		);
-	}
-	
-	//if ( m.HasPerWedgeColor() && (pi.mask & ply::PLYMask::PM_WEDGCOLOR)  )
-	//{
-	//	fprintf(fpout,
-	//		"property list uchar float color\n"
-	//	);
-	//}
+        //if( (pi.mask & PLYMask::PM_CAMERA) && camera.IsValid() )
+        /*{
+                fprintf(fpout,
+                        "element camera 1\n"
+                        "property float view_px\n"
+                        "property float view_py\n"
+                        "property float view_pz\n"
+                        "property float x_axisx\n"
+                        "property float x_axisy\n"
+                        "property float x_axisz\n"
+                        "property float y_axisx\n"
+                        "property float y_axisy\n"
+                        "property float y_axisz\n"
+                        "property float z_axisx\n"
+                        "property float z_axisy\n"
+                        "property float z_axisz\n"
+                        "property float focal\n"
+                        "property float scalex\n"
+                        "property float scaley\n"
+                        "property float centerx\n"
+                        "property float centery\n"
+                        "property int viewportx\n"
+                        "property int viewporty\n"
+                        "property float k1\n"
+                        "property float k2\n"
+                        "property float k3\n"
+                        "property float k4\n"
+                );
+        }*/
 
-	if( m.HasPerTetraQuality() && (pi.mask & ply::PLYMask::PM_TETRAQUALITY) )
-	{
-		fprintf(fpout,
-			"property float quality\n"
-		);
-	}
-
-	for(i=0;i<pi.fdn;i++)
-			fprintf(fpout,"property %s %s\n",pi.TetraData[i].stotypename(),pi.TetraData[i].propname);
-
-	fprintf(fpout, "end_header\n"	);
-
-		// Salvataggio camera
-	//if( (pi.mask & ply::PLYMask::PM_CAMERA) && camera.IsValid() )
-	//{
-		//if(binary)
-		//{
-		//	float t[17];
-
-		//	t[ 0] = camera.view_p[0];
-		//	t[ 1] = camera.view_p[1];
-		//	t[ 2] = camera.view_p[2];
-		//	t[ 3] = camera.x_axis[0];
-		//	t[ 4] = camera.x_axis[1];
-		//	t[ 5] = camera.x_axis[2];
-		//	t[ 6] = camera.y_axis[0];
-		//	t[ 7] = camera.y_axis[1];
-		//	t[ 8] = camera.y_axis[2];
-		//	t[ 9] = camera.z_axis[0];
-		//	t[10] = camera.z_axis[1];
-		//	t[11] = camera.z_axis[2];
-		//	t[12] = camera.f;
-		//	t[13] = camera.s[0];
-		//	t[14] = camera.s[1];
-		//	t[15] = camera.c[0];
-		//	t[16] = camera.c[1];
-		//	fwrite(t,sizeof(float),17,fpout);
-
-		//	fwrite( camera.viewport,sizeof(int),2,fpout );
-
-		//	t[ 0] = camera.k[0];
-		//	t[ 1] = camera.k[1];
-		//	t[ 2] = camera.k[2];
-		//	t[ 3] = camera.k[3];
-		//	fwrite(t,sizeof(float),4,fpout);
-		//}
-		//else
-		//{
-		//	fprintf(fpout,"%g %g %g %g %g %g %g %g %g %g %g %g %g %g %g %g %g %d %d %g %g %g %g\n"
-		//		,camera.view_p[0]
-		//		,camera.view_p[1]
-		//		,camera.view_p[2]
-		//		,camera.x_axis[0]
-		//		,camera.x_axis[1]
-		//		,camera.x_axis[2]
-		//		,camera.y_axis[0]
-		//		,camera.y_axis[1]
-		//		,camera.y_axis[2]
-		//		,camera.z_axis[0]
-		//		,camera.z_axis[1]
-		//		,camera.z_axis[2]
-		//		,camera.f
-		//		,camera.s[0]
-		//		,camera.s[1]
-		//		,camera.c[0]
-		//		,camera.c[1]
-		//		,camera.viewport[0]
-		//		,camera.viewport[1]
-		//		,camera.k[0]
-		//		,camera.k[1]
-		//		,camera.k[2]
-		//		,camera.k[3]
-		//	);
-		//}		
-	//}
+        // VERT
+        const char* vttp = vcg::tri::io::Precision<ScalarType>::typeName();
+        fprintf(fpout,"element vertex %d\n",m.vn);
+        fprintf(fpout,"property %s x\n",vttp);
+        fprintf(fpout,"property %s y\n",vttp);
+        fprintf(fpout,"property %s z\n",vttp);
 
 
-	int j;
-	std::vector<int> FlagV; 
-	VertexPointer  vp;
-	VertexIterator vi;
-	for(j=0,vi=m.vert.begin();vi!=m.vert.end();++vi)
-	{
-		vp=&(*vi);
-		FlagV.push_back(vp->Flags()); // Salva in ogni caso flag del vertice
-		if( ! vp->IsD() )
-		{
-			if(binary)
-			{
-				float t;
+        if( HasPerVertexFlags(m) &&( pi.mask & Mask::IOM_VERTFLAGS) )
+        {
+            fprintf(fpout,
+                "property int flags\n"
+                );
+        }
 
-				t = float(vp->P()[0]); fwrite(&t,sizeof(float),1,fpout);
-				t = float(vp->P()[1]); fwrite(&t,sizeof(float),1,fpout);
-				t = float(vp->P()[2]); fwrite(&t,sizeof(float),1,fpout);
-				
-				if( pi.mask & ply::PLYMask::PM_VERTFLAGS )
-					fwrite(&(vp->Flags()),sizeof(int),1,fpout);
+        if( HasPerVertexColor(m)  && (pi.mask & Mask::IOM_VERTCOLOR) )
+        {
+            fprintf(fpout,
+                    "property uchar red\n"
+                    "property uchar green\n"
+                    "property uchar blue\n"
+                    "property uchar alpha\n"
+                    );
+        }
 
-				if( HasPerVertexColor(m) && (pi.mask & ply::PLYMask::PM_VERTCOLOR) )
-					fwrite(&( vp->C() ),sizeof(char),4,fpout);
+        if( HasPerVertexQuality(m) && (pi.mask & Mask::IOM_VERTQUALITY) )
+        {
+            const char* vqtp = vcg::tri::io::Precision<typename VertexType::ScalarType>::typeName();
+            fprintf(fpout,"property %s quality\n",vqtp);
+        }
 
-				if( m.HasPerVertexQuality() && (pi.mask & ply::PLYMask::PM_VERTQUALITY) )
-					fwrite(&( vp->Q() ),sizeof(float),1,fpout);
+        for(i=0;i<pi.vdn;i++)
+            fprintf(fpout,"property %s %s\n",pi.VertexData[i].stotypename(),pi.VertexData[i].propname);
+
+// TETRA
+        fprintf(fpout,
+                "element tetra %d\n"
+                "property list uchar int vertex_indices\n"
+                ,m.tn
+                );
+
+        if( pi.mask & Mask::IOM_TETRAFLAGS)
+        {
+            fprintf(fpout,
+                    "property int flags\n"
+                    );
+        }
+
+        if( (pi.mask & Mask::IOM_TETRACOLOR) )
+        {
+            fprintf(fpout,
+                    "property uchar red\n"
+                    "property uchar green\n"
+                    "property uchar blue\n"
+                    "property uchar alpha\n"
+                    );
+        }
+
+        if( (pi.mask & Mask::IOM_TETRAQUALITY) )
+        {
+                const char* vqtp = vcg::tri::io::Precision<typename TetraType::ScalarType>::typeName();
+                fprintf(fpout,"property %s quality\n",vqtp);
+        }
+
+        for(i=0;i<pi.fdn;i++)
+            fprintf(fpout,"property %s %s\n",pi.TetraData[i].stotypename(),pi.TetraData[i].propname);
+
+        fprintf(fpout, "end_header\n"	);
+
+        // Salvataggio camera
+        //if( (pi.mask & ply::PLYMask::PM_CAMERA) && camera.IsValid() )
+        //{
+        //if(binary)
+        //{
+        //	float t[17];
+
+        //	t[ 0] = camera.view_p[0];
+        //	t[ 1] = camera.view_p[1];
+        //	t[ 2] = camera.view_p[2];
+        //	t[ 3] = camera.x_axis[0];
+        //	t[ 4] = camera.x_axis[1];
+        //	t[ 5] = camera.x_axis[2];
+        //	t[ 6] = camera.y_axis[0];
+        //	t[ 7] = camera.y_axis[1];
+        //	t[ 8] = camera.y_axis[2];
+        //	t[ 9] = camera.z_axis[0];
+        //	t[10] = camera.z_axis[1];
+        //	t[11] = camera.z_axis[2];
+        //	t[12] = camera.f;
+        //	t[13] = camera.s[0];
+        //	t[14] = camera.s[1];
+        //	t[15] = camera.c[0];
+        //	t[16] = camera.c[1];
+        //	fwrite(t,sizeof(float),17,fpout);
+
+        //	fwrite( camera.viewport,sizeof(int),2,fpout );
+
+        //	t[ 0] = camera.k[0];
+        //	t[ 1] = camera.k[1];
+        //	t[ 2] = camera.k[2];
+        //	t[ 3] = camera.k[3];
+        //	fwrite(t,sizeof(float),4,fpout);
+        //}
+        //else
+        //{
+        //	fprintf(fpout,"%g %g %g %g %g %g %g %g %g %g %g %g %g %g %g %g %g %d %d %g %g %g %g\n"
+        //		,camera.view_p[0]
+        //		,camera.view_p[1]
+        //		,camera.view_p[2]
+        //		,camera.x_axis[0]
+        //		,camera.x_axis[1]
+        //		,camera.x_axis[2]
+        //		,camera.y_axis[0]
+        //		,camera.y_axis[1]
+        //		,camera.y_axis[2]
+        //		,camera.z_axis[0]
+        //		,camera.z_axis[1]
+        //		,camera.z_axis[2]
+        //		,camera.f
+        //		,camera.s[0]
+        //		,camera.s[1]
+        //		,camera.c[0]
+        //		,camera.c[1]
+        //		,camera.viewport[0]
+        //		,camera.viewport[1]
+        //		,camera.k[0]
+        //		,camera.k[1]
+        //		,camera.k[2]
+        //		,camera.k[3]
+        //	);
+        //}
+        //}
 
 
-				for(i=0;i<pi.vdn;i++)
-				{
-					double td; float tf;int ti;short ts; char tc; unsigned char tuc;
-					switch (pi.VertexData[i].stotype1)
-					{
-          case ply::T_FLOAT	 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, tf );	fwrite(&tf, sizeof(float),1,fpout); break;
-					case ply::T_DOUBLE :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, td );	fwrite(&td, sizeof(double),1,fpout); break;
-					case ply::T_INT		 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, ti );	fwrite(&ti, sizeof(int),1,fpout); break;
-					case ply::T_SHORT	 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, ts );	fwrite(&ts, sizeof(short),1,fpout); break;
-					case ply::T_CHAR	 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, tc );	fwrite(&tc, sizeof(char),1,fpout); break;
-					case ply::T_UCHAR	 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, tuc);	fwrite(&tuc,sizeof(unsigned char),1,fpout); break;
-					default : assert(0);
-					}
-				}
-			}
-			else 	// ***** ASCII *****
-			{
-				fprintf(fpout,"%g %g %g " ,vp->P()[0],vp->P()[1],vp->P()[2]);
+        SimpleTempData<typename SaveMeshType::VertContainer,int> indices(m.vert);
 
-				if( pi.mask & ply::PLYMask::PM_VERTFLAGS )
-					fprintf(fpout,"%d ",vp->Flags());
+        int j;
+        std::vector<int> FlagV;
+        VertexPointer  vp;
+        VertexIterator vi;
+        for(j=0,vi=m.vert.begin();vi!=m.vert.end();++vi)
+        {
+            vp=&(*vi);
+            indices[vi] = j;
+            FlagV.push_back(vp->Flags()); // Salva in ogni caso flag del vertice
+            if( ! vp->IsD() )
+            {
+                if(binary)
+                {
+                    float t;
 
-				if( HasPerVertexColor(m) && (pi.mask & ply::PLYMask::PM_VERTCOLOR) )
-					fprintf(fpout,"%d %d %d %d ",vp->C()[0],vp->C()[1],vp->C()[2],vp->C()[3] );
+                    t = float(vp->P()[0]); fwrite(&t,sizeof(float),1,fpout);
+                    t = float(vp->P()[1]); fwrite(&t,sizeof(float),1,fpout);
+                    t = float(vp->P()[2]); fwrite(&t,sizeof(float),1,fpout);
 
-				if( m.HasPerVertexQuality() && (pi.mask & ply::PLYMask::PM_VERTQUALITY) )
-					fprintf(fpout,"%g ",vp->Q());
+                    if( pi.mask & Mask::IOM_VERTFLAGS )
+                        fwrite(&(vp->Flags()),sizeof(int),1,fpout);
 
-				for(i=0;i<pi.vdn;i++)
-				{
-					float tf; double td;
-					int ti;
-					switch (pi.VertexData[i].memtype1)
-					{
-					case ply::T_FLOAT	 :		tf=*( (float  *)        (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%g ",tf); break;
-					case ply::T_DOUBLE :    td=*( (double *)        (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%g ",tf); break;
-					case ply::T_INT		 :		ti=*( (int    *)        (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%i ",ti); break;
-					case ply::T_SHORT	 :		ti=*( (short  *)        (((char *)vp)+pi.VertexData[i].offset1)); fprintf(fpout,"%i ",ti); break;
-					case ply::T_CHAR	 :		ti=*( (char   *)        (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%i ",ti); break;
-					case ply::T_UCHAR	 :		ti=*( (unsigned char *) (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%i ",ti); break;
-					default : assert(0);
-					}
-				}
+                    if( HasPerVertexColor(m) && (pi.mask & Mask::IOM_VERTCOLOR) )
+                        fwrite(&( vp->C() ),sizeof(char),4,fpout);
 
-				fprintf(fpout,"\n");
-			}
-
-			vp->Flags()=j; // Trucco! Nascondi nei flags l'indice del vertice non deletato!
-			j++;
-		}
-	}
-	assert(j==m.vn);
-
-	char c = 4;
-	unsigned char b9 = 9;
-	unsigned char b6 = 6;
-	TetraPointer fp;
-	int vv[4];
-	TetraIterator fi;
-	int fcnt=0;
-	for(j=0,fi=m.tetra.begin();fi!=m.tetra.end();++fi)
-		{
-			fp=&(*fi);
-			if( ! fp->IsD() )
-			{ fcnt++;
-				if(binary)
-				{
-					vv[0]=fp->cV(0)->Flags();
-					vv[1]=fp->cV(1)->Flags();
-					vv[2]=fp->cV(2)->Flags();
-					vv[3]=fp->cV(2)->Flags();
-					fwrite(&c,1,1,fpout);
-					fwrite(vv,sizeof(int),4,fpout);
-
-					if( pi.mask & ply::PLYMask::PM_TETRAFLAGS )
-						fwrite(&(fp->Flags()),sizeof(int),1,fpout);
-
-					if( m.HasPerVertexTexture() && (pi.mask & ply::PLYMask::PM_VERTTEXCOORD) )
-					{
-						fwrite(&b6,sizeof(char),1,fpout);
-						float t[6];
-						for(int k=0;k<4;++k)
-						{
-							t[k*2+0] = fp->V(k)->T().u();
-							t[k*2+1] = fp->V(k)->T().v();
-						}
-						fwrite(t,sizeof(float),6,fpout);
-					}
-					//else if( m.HasPerWedgeTexture() && (pi.mask & ply::PLYMask::PM_WEDGTEXCOORD)  )
-					//{
-					//	fwrite(&b6,sizeof(char),1,fpout);
-					//	float t[6];
-					//	for(int k=0;k<3;++k)
-					//	{
-					//		t[k*2+0] = fp->WT(k).u();
-					//		t[k*2+1] = fp->WT(k).v();
-					//	}
-					//	fwrite(t,sizeof(float),6,fpout);
-					//}
-
-	/*				if(multit)
-					{
-						int t = fp->WT(0).n();
-						fwrite(&t,sizeof(int),1,fpout);
-					}
-          
-					if( m.HasPerTetraColor() && (pi.mask & ply::PLYMask::PM_TETRACOLOR) )
-					   fwrite(&( fp->C() ),sizeof(char),4,fpout);*/
+                    if( HasPerVertexQuality(m) && (pi.mask & Mask::IOM_VERTQUALITY) )
+                        fwrite(&( vp->Q() ),DGTVQ,1,fpout);
 
 
-					//if( m.HasPerWedgeColor() && (pi.mask & ply::PLYMask::PM_WEDGCOLOR)  )
-					//{
-					//	fwrite(&b9,sizeof(char),1,fpout);
-					//	float t[3];
-					//	for(int z=0;z<3;++z)
-					//	{
-					//		t[0] = float(fp->WC(z)[0])/255;
-					//		t[1] = float(fp->WC(z)[1])/255;
-					//		t[2] = float(fp->WC(z)[2])/255;
-					//		fwrite( t,sizeof(float),3,fpout);
-					//	}
-					//}
+                    for(i=0;i<pi.vdn;i++)
+                    {
+                        double td; float tf;int ti;short ts; char tc; unsigned char tuc;
+                        switch (pi.VertexData[i].stotype1)
+                        {
+                        case ply::T_FLOAT	 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, tf );	fwrite(&tf, sizeof(float),1,fpout); break;
+                        case ply::T_DOUBLE       :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, td );	fwrite(&td, sizeof(double),1,fpout); break;
+                        case ply::T_INT		 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, ti );	fwrite(&ti, sizeof(int),1,fpout); break;
+                        case ply::T_SHORT	 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, ts );	fwrite(&ts, sizeof(short),1,fpout); break;
+                        case ply::T_CHAR	 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, tc );	fwrite(&tc, sizeof(char),1,fpout); break;
+                        case ply::T_UCHAR	 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, tuc);	fwrite(&tuc,sizeof(unsigned char),1,fpout); break;
+                        default : assert(0);
+                        }
+                    }
+                }
+                else 	// ***** ASCII *****
+                {
+                    fprintf(fpout,"%g %g %g " ,vp->P()[0],vp->P()[1],vp->P()[2]);
 
-				if( TetraType::HasTetraQuality() && (pi.mask & ply::PLYMask::PM_TETRAQUALITY) )
-						fwrite( &(fp->Q()),sizeof(float),1,fpout);
+                    if( pi.mask & Mask::IOM_VERTFLAGS )
+                        fprintf(fpout,"%d ",vp->Flags());
+
+                    if( HasPerVertexColor(m) && (pi.mask & Mask::IOM_VERTCOLOR) )
+                        fprintf(fpout,"%d %d %d %d ",vp->C()[0], vp->C()[1], vp->C()[2], vp->C()[3] );
+
+                    if( HasPerVertexQuality(m) && (pi.mask & Mask::IOM_VERTQUALITY) )
+                        fprintf(fpout,"%g ",vp->Q());
+
+                    for(i=0;i<pi.vdn;i++)
+                    {
+                        float tf; double td;
+                        int ti;
+                        switch (pi.VertexData[i].memtype1)
+                        {
+                        case ply::T_FLOAT	 :		tf=*( (float  *)        (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%g ",tf); break;
+                        case ply::T_DOUBLE :    td=*( (double *)        (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%g ",tf); break;
+                        case ply::T_INT		 :		ti=*( (int    *)        (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%i ",ti); break;
+                        case ply::T_SHORT	 :		ti=*( (short  *)        (((char *)vp)+pi.VertexData[i].offset1)); fprintf(fpout,"%i ",ti); break;
+                        case ply::T_CHAR	 :		ti=*( (char   *)        (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%i ",ti); break;
+                        case ply::T_UCHAR	 :		ti=*( (unsigned char *) (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%i ",ti); break;
+                        default : assert(0);
+                        }
+                    }
+
+                    fprintf(fpout,"\n");
+                }
+
+                vp->Flags()=j; // Trucco! Nascondi nei flags l'indice del vertice non deletato!
+                j++;
+            }
+        }
+        assert(j==m.vn);
+
+        char c = 4;
+        unsigned char b9 = 9;
+        unsigned char b6 = 6;
+        TetraPointer fp;
+        int vv[4];
+        TetraIterator fi;
+        int fcnt=0;
+        for(j=0,fi=m.tetra.begin();fi!=m.tetra.end();++fi)
+        {
+            fp=&(*fi);
+            if( ! fp->IsD() )
+            { fcnt++;
+                if(binary)
+                {
+                    vv[0]=indices[fp->cV(0)];
+                    vv[1]=indices[fp->cV(1)];
+                    vv[2]=indices[fp->cV(2)];
+                    vv[3]=indices[fp->cV(3)];
 
 
-					for(i=0;i<pi.fdn;i++)
-						{
-						double td; float tf;int ti;short ts; char tc; unsigned char tuc;
-						switch (pi.TetraData[i].stotype1){
-								case ply::T_FLOAT	 :		PlyConv(pi.TetraData[i].memtype1,  ((char *)fp)+pi.TetraData[i].offset1, tf );	fwrite(&tf, sizeof(float),1,fpout); break;
-								case ply::T_DOUBLE :		PlyConv(pi.TetraData[i].memtype1,  ((char *)fp)+pi.TetraData[i].offset1, td );	fwrite(&td, sizeof(double),1,fpout); break;
-								case ply::T_INT		 :		PlyConv(pi.TetraData[i].memtype1,  ((char *)fp)+pi.TetraData[i].offset1, ti );	fwrite(&ti, sizeof(int),1,fpout); break;
-								case ply::T_SHORT	 :		PlyConv(pi.TetraData[i].memtype1,  ((char *)fp)+pi.TetraData[i].offset1, ts );	fwrite(&ts, sizeof(short),1,fpout); break;
-								case ply::T_CHAR	 :		PlyConv(pi.TetraData[i].memtype1,  ((char *)fp)+pi.TetraData[i].offset1, tc );	fwrite(&tc, sizeof(char),1,fpout); break;
-								case ply::T_UCHAR	 :		PlyConv(pi.TetraData[i].memtype1,  ((char *)fp)+pi.TetraData[i].offset1, tuc);	fwrite(&tuc,sizeof(unsigned char),1,fpout); break;
-								default : assert(0);
-						}
-					}
-				}
-				else	// ***** ASCII *****
-				{
-					fprintf(fpout,"3 %d %d %d ",
-						fp->cV(0)->Flags(),	fp->cV(1)->Flags(), fp->cV(2)->Flags() );
+                    fwrite(&c,1,1,fpout);
+                    fwrite(vv,sizeof(int),4,fpout);
 
-					if( pi.mask & ply::PLYMask::PM_TETRAFLAGS )
-						fprintf(fpout,"%d ",fp->Flags());
+                    if( pi.mask & Mask::IOM_TETRAFLAGS )
+                        fwrite(&(fp->Flags()),sizeof(int),1,fpout);
 
-					if( m.HasPerVertexTexture() && (pi.mask & ply::PLYMask::PM_VERTTEXCOORD) )
-					{
-						fprintf(fpout,"6 ");
-						for(int k=0;k<4;++k)
-							fprintf(fpout,"%g %g "
-								,fp->V(k)->T().u()
-								,fp->V(k)->T().v()
-							);
-					}
-					//else if( m.HasPerWedgeTexture() && (pi.mask & ply::PLYMask::PM_WEDGTEXCOORD)  )
-					//{
-					//	fprintf(fpout,"6 ");
-					//	for(int k=0;k<3;++k)
-					//		fprintf(fpout,"%g %g "
-					//			,fp->WT(k).u()
-					//			,fp->WT(k).v()
-					//		);
-					//}
+                    if( (pi.mask & Mask::IOM_TETRACOLOR) )
+                        fwrite(&( fp->C() ), sizeof(char),4,fpout);
 
-	/*				if(multit)
-					{
-						fprintf(fpout,"%d ",fp->WT(0).n());
-					}*/
+                    if( (pi.mask & Mask::IOM_TETRAQUALITY) )
+                        fwrite( &(fp->Q()), DGTTQ,1,fpout);
 
-				if( TetraType::HasTetraColor() && (pi.mask & ply::PLYMask::PM_TETRACOLOR)  )
-					{
-						float t[3];
-						t[0] = float(fp->C()[0])/255;
-						t[1] = float(fp->C()[1])/255;
-						t[2] = float(fp->C()[2])/255;
-						fprintf(fpout,"9 ");
-						fprintf(fpout,"%g %g %g ",t[0],t[1],t[2]);
-						fprintf(fpout,"%g %g %g ",t[0],t[1],t[2]);
-						fprintf(fpout,"%g %g %g ",t[0],t[1],t[2]);
-					}
-					//else if( m.HasPerWedgeColor() && (pi.mask & ply::PLYMask::PM_WEDGCOLOR)  )
-					//{
-					//	fprintf(fpout,"9 ");
-					//	for(int z=0;z<3;++z)
-					//		fprintf(fpout,"%g %g %g "
-					//			,double(fp->WC(z)[0])/255
-					//			,double(fp->WC(z)[1])/255
-					//			,double(fp->WC(z)[2])/255
-					//		);
-					//}
 
-					if( m.HasPerTetraQuality() && (pi.mask & ply::PLYMask::PM_TETRAQUALITY) )
-						fprintf(fpout,"%g ",fp->Q());
+                    for(i=0;i<pi.fdn;i++)
+                    {
+                        double td; float tf;int ti;short ts; char tc; unsigned char tuc;
+                        switch (pi.TetraData[i].stotype1){
+                        case ply::T_FLOAT	 :		PlyConv(pi.TetraData[i].memtype1,  ((char *)fp)+pi.TetraData[i].offset1, tf );	fwrite(&tf, sizeof(float),1,fpout); break;
+                        case ply::T_DOUBLE :		PlyConv(pi.TetraData[i].memtype1,  ((char *)fp)+pi.TetraData[i].offset1, td );	fwrite(&td, sizeof(double),1,fpout); break;
+                        case ply::T_INT		 :		PlyConv(pi.TetraData[i].memtype1,  ((char *)fp)+pi.TetraData[i].offset1, ti );	fwrite(&ti, sizeof(int),1,fpout); break;
+                        case ply::T_SHORT	 :		PlyConv(pi.TetraData[i].memtype1,  ((char *)fp)+pi.TetraData[i].offset1, ts );	fwrite(&ts, sizeof(short),1,fpout); break;
+                        case ply::T_CHAR	 :		PlyConv(pi.TetraData[i].memtype1,  ((char *)fp)+pi.TetraData[i].offset1, tc );	fwrite(&tc, sizeof(char),1,fpout); break;
+                        case ply::T_UCHAR	 :		PlyConv(pi.TetraData[i].memtype1,  ((char *)fp)+pi.TetraData[i].offset1, tuc);	fwrite(&tuc,sizeof(unsigned char),1,fpout); break;
+                        default : assert(0);
+                        }
+                    }
+                }
+                else	// ***** ASCII *****
+                {
+                    fprintf(fpout,"%d " , 4);
+                    fprintf(fpout,"%d %d %d %d ",
+                            indices[fp->cV(0)],	indices[fp->cV(1)], indices[fp->cV(2)], indices[fp->cV(3)]);
 
-					for(i=0;i<pi.fdn;i++)
-					{
-						float tf; double td;
-						int ti;
-						switch (pi.TetraData[i].memtype1)
-						{
-						case  ply::T_FLOAT	:		tf=*( (float  *)        (((char *)fp)+pi.TetraData[i].offset1));	fprintf(fpout,"%g ",tf); break;
-						case  ply::T_DOUBLE :		td=*( (double *)        (((char *)fp)+pi.TetraData[i].offset1));	fprintf(fpout,"%g ",tf); break;
-						case  ply::T_INT		:		ti=*( (int    *)        (((char *)fp)+pi.TetraData[i].offset1));	fprintf(fpout,"%i ",ti); break;
-						case  ply::T_SHORT	:		ti=*( (short  *)        (((char *)fp)+pi.TetraData[i].offset1));	fprintf(fpout,"%i ",ti); break;
-						case  ply::T_CHAR		:		ti=*( (char   *)        (((char *)fp)+pi.TetraData[i].offset1));	fprintf(fpout,"%i ",ti); break;
-						case  ply::T_UCHAR	:		ti=*( (unsigned char *) (((char *)fp)+pi.TetraData[i].offset1));	fprintf(fpout,"%i ",ti); break;
-						default : assert(0);
-						}
-					}
+                    if( pi.mask & Mask::IOM_TETRAFLAGS )
+                        fprintf(fpout,"%d ",fp->Flags());
 
-					fprintf(fpout,"\n");
-				}			  
-			}
-		}
-	assert(fcnt==m.tn);
-	fclose(fpout); 
-	
-	// Recupera i flag originali
-	for(j=0,vi=m.vert.begin();vi!=m.vert.end();++vi)
-		(*vi).Flags()=FlagV[j++];
-	
-	return 0;
-}
+                    if( TetraType::HasColor() && (pi.mask & Mask::IOM_TETRACOLOR)  )
+                        fprintf(fpout,"%d %d %d %d ",vp->C()[0],vp->C()[1],vp->C()[2],vp->C()[3] );
+
+
+                    if((pi.mask & Mask::IOM_TETRAQUALITY) )
+                        fprintf(fpout,"%g ",fp->Q());
+
+                    for(i=0;i<pi.fdn;i++)
+                    {
+                        float tf; double td;
+                        int ti;
+                        switch (pi.TetraData[i].memtype1)
+                        {
+                        case  ply::T_FLOAT	:		tf=*( (float  *)        (((char *)fp)+pi.TetraData[i].offset1));	fprintf(fpout,"%g ",tf); break;
+                        case  ply::T_DOUBLE :		td=*( (double *)        (((char *)fp)+pi.TetraData[i].offset1));	fprintf(fpout,"%g ",tf); break;
+                        case  ply::T_INT		:		ti=*( (int    *)        (((char *)fp)+pi.TetraData[i].offset1));	fprintf(fpout,"%i ",ti); break;
+                        case  ply::T_SHORT	:		ti=*( (short  *)        (((char *)fp)+pi.TetraData[i].offset1));	fprintf(fpout,"%i ",ti); break;
+                        case  ply::T_CHAR		:		ti=*( (char   *)        (((char *)fp)+pi.TetraData[i].offset1));	fprintf(fpout,"%i ",ti); break;
+                        case  ply::T_UCHAR	:		ti=*( (unsigned char *) (((char *)fp)+pi.TetraData[i].offset1));	fprintf(fpout,"%i ",ti); break;
+                        default : assert(0);
+                        }
+                    }
+
+                    fprintf(fpout,"\n");
+                }
+            }
+        }
+        assert(fcnt==m.tn);
+        fclose(fpout);
+
+        // Recupera i flag originali
+        for(j=0,vi=m.vert.begin();vi!=m.vert.end();++vi)
+            (*vi).Flags()=FlagV[j++];
+
+        return 0;
+    }
 
 
 
@@ -575,7 +484,7 @@ static bool Save(SaveMeshType &m,  const char * filename, bool binary, PlyInfo &
 
 
 
-} // end namespace tri
+} // end namespace tetra
 } // end namespace io
 } // end namespace vcg
 
diff --git a/wrap/io_tetramesh/export_tet.h b/wrap/io_tetramesh/export_tet.h
new file mode 100644
index 00000000..145cddc8
--- /dev/null
+++ b/wrap/io_tetramesh/export_tet.h
@@ -0,0 +1,117 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *   
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+/**
+@name Load and Save in Tetgen File format
+*/
+//@{
+
+#ifndef __VCGLIB_TETRAEXPORT_TET
+#define __VCGLIB_TETRAEXPORT_TET
+
+#include<wrap/io_trimesh/precision.h>
+
+#include <stdio.h>
+
+namespace vcg {
+namespace tetra {
+namespace io {
+
+
+template <class SaveMeshType>
+class ExporterTET
+{
+public:
+    typedef ::vcg::ply::PropDescriptor PropDescriptor ;
+    typedef typename SaveMeshType::VertexPointer VertexPointer;
+    typedef typename SaveMeshType::ScalarType ScalarType;
+    typedef typename SaveMeshType::VertexType VertexType;
+    typedef typename SaveMeshType::TetraType TetraType;
+    typedef typename SaveMeshType::TetraPointer TetraPointer;
+    typedef typename SaveMeshType::VertexIterator VertexIterator;
+    typedef typename SaveMeshType::TetraIterator TetraIterator;
+
+    static bool Save(SaveMeshType &m,  const char * filename)	// V1.0
+    {
+        FILE *  eleFile;
+        FILE * nodeFile;
+
+        const int DGT   = vcg::tri::io::Precision<ScalarType>::digits();
+
+        std::string eleName(filename);
+        std::string nodeName(filename);
+
+        eleName.append(".ele");
+        nodeName.append(".node");
+
+        eleFile = fopen(eleName.c_str() , "wb");
+        if (eleFile == NULL)
+            return 1;
+        
+        nodeFile = fopen(nodeName.c_str() , "wb");
+        if (nodeFile == NULL)
+            return 1;
+        
+        fprintf(eleFile,
+                "#VCG lib .ele generated file\n"
+                "#This file contains the tetra definition in accord to Tetgen file format\n");
+        
+        fprintf(nodeFile,
+                "#VCG lib .node generated file\n"
+                "#This file contains the vertex definition in accord to Tetgen file format\n");
+       
+
+        fprintf(nodeFile, "%d 3 0 0\n", m.VN());
+        int vi = 0;
+        SimpleTempData<typename SaveMeshType::VertContainer, int> indices(m.vert);
+
+        ForEachVertex(m, [&] (VertexType & v) {
+            indices[&v] = vi;
+            fprintf(nodeFile, "%d %g %g %g\n", vi++, double(v.P().X()), double(v.P().Y()), double(v.P().Z()));
+        });
+
+        fprintf(eleFile, "%d 4 0\n", m.TN());
+        int ti = 0;
+        ForEachTetra(m, [&] (SaveMeshType::TetraType & t) {
+            fprintf(eleFile, "%d %d %d %d %d\n", ti++, indices[t.V(0)], indices[t.V(1)], indices[t.V(2)], indices[t.V(3)]);
+        });
+
+
+        fclose(eleFile);
+        fclose(nodeFile);
+
+        return 0;
+    }
+
+
+
+
+}; // end class
+
+
+
+} // end namespace tetra
+} // end namespace io
+} // end namespace vcg
+
+#endif
diff --git a/wrap/io_tetramesh/export_vtk.h b/wrap/io_tetramesh/export_vtk.h
new file mode 100644
index 00000000..e0ba05b1
--- /dev/null
+++ b/wrap/io_tetramesh/export_vtk.h
@@ -0,0 +1,146 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *   
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+/**
+@name Load and Save in Tetgen File format
+*/
+//@{
+
+#ifndef __VCGLIB_TETRAEXPORT_VTK
+#define __VCGLIB_TETRAEXPORT_VTK
+
+#include <wrap/io_trimesh/precision.h>
+
+#include <stdio.h>
+
+namespace vcg
+{
+namespace tetra
+{
+namespace io
+{
+
+template <class SaveMeshType>
+class ExporterVTK
+{
+public:
+    typedef ::vcg::ply::PropDescriptor PropDescriptor;
+    typedef typename SaveMeshType::VertexPointer VertexPointer;
+    typedef typename SaveMeshType::ScalarType ScalarType;
+    typedef typename SaveMeshType::VertexType VertexType;
+    typedef typename SaveMeshType::TetraType TetraType;
+    typedef typename SaveMeshType::TetraPointer TetraPointer;
+    typedef typename SaveMeshType::VertexIterator VertexIterator;
+    typedef typename SaveMeshType::TetraIterator TetraIterator;
+
+    enum
+    {
+        VTK_VERTEX = 1,
+        VTK_POLY_VERTEX,
+        VTK_LINE,
+        VTK_POLY_LINE,
+        VTK_TRIANGLE,
+        VTK_TRIANGLE_STRIP,
+        VTK_POLYGON,
+        VTK_PIXEL,
+        VTK_QUAD,
+        VTK_TETRA,
+        VTK_VOXEL,
+        VTK_HEXAHEDRON,
+        VTK_WEDGE,
+        VTK_PYRAMID
+    };
+
+    static bool Save(SaveMeshType &m, const char *filename) // V1.0
+    {
+        FILE *vtkFile;
+
+        const int DGT    = vcg::tri::io::Precision<ScalarType>::digits();
+        const char* vttp = vcg::tri::io::Precision<ScalarType>::typeName();
+
+        std::string vtkName(filename);
+
+        vtkFile = fopen(vtkName.c_str(), "wb");
+        if (vtkFile == NULL)
+            return 1;
+
+        fprintf(vtkFile, "# vtk DataFile Version 2.0\n");
+        fprintf(vtkFile, "VCG_mesh\n");
+        fprintf(vtkFile, "ASCII\n");
+        fprintf(vtkFile, "DATASET UNSTRUCTURED_GRID\n");
+        fprintf(vtkFile, "POINTS %d %s\n", m.VN(), vttp);
+
+        int vi = 0;
+        SimpleTempData<typename SaveMeshType::VertContainer, int> indices(m.vert);
+
+        int maxQ = 0;
+        ForEachVertex(m, [&](VertexType &v) {
+            indices[&v] = vi++;
+            fprintf(vtkFile, "%g %g %g\n", v.P().X(), v.P().Y(), v.P().Z());
+        });
+        
+        fprintf(vtkFile, "CELLS %d %d\n", m.TN(), m.TN()*5);
+
+        int ti = 0;
+        ForEachTetra(m, [&](SaveMeshType::TetraType &t) {
+            ++ti;
+            fprintf(vtkFile, "%d %d %d %d %d\n", 4, indices[t.V(0)], indices[t.V(1)], indices[t.V(2)], indices[t.V(3)]);
+        });
+
+        fprintf(vtkFile, "CELL_TYPES %d\n", m.TN());
+        ForEachTetra(m, [&](SaveMeshType::TetraType &t) {
+            fprintf(vtkFile, "%d\n", VTK_TETRA);
+        });
+
+        if( HasPerVertexQuality(m))
+        {
+            fprintf(vtkFile, "POINT_DATA %d\n", m.VN());
+            fprintf(vtkFile, "SCALARS vquality %s 1\n", vttp);
+            fprintf(vtkFile, "LOOKUP_TABLE default\n");
+            ForEachVertex(m, [&](VertexType &v) {
+                fprintf(vtkFile, "%g\n", v.Q());
+            });
+        }
+
+        if( HasPerTetraQuality(m))
+        {
+            fprintf(vtkFile, "CELL_DATA %d\n", m.TN());
+            fprintf(vtkFile, "SCALARS tquality %s 1\n", vttp);
+            fprintf(vtkFile, "LOOKUP_TABLE default\n");
+            ForEachTetra(m, [&](TetraType &t) {
+                fprintf(vtkFile, "%g\n", t.Q());
+            });
+        }
+
+        fclose(vtkFile);
+
+        return 0;
+    }
+
+}; // end class
+
+} // namespace io
+} // namespace tetra
+} // end namespace vcg
+
+#endif
diff --git a/wrap/io_tetramesh/import.h b/wrap/io_tetramesh/import.h
new file mode 100644
index 00000000..b2aaa7de
--- /dev/null
+++ b/wrap/io_tetramesh/import.h
@@ -0,0 +1,152 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+/****************************************************************************
+****************************************************************************/
+
+#ifndef __VCGLIB_TETRA_IMPORT
+#define __VCGLIB_TETRA_IMPORT
+
+#include <wrap/io_tetramesh/import_ply.h>
+#include <wrap/io_tetramesh/import_msh.h>
+
+#include <locale>
+
+namespace vcg {
+namespace tetra {
+namespace io {
+
+/**
+This class encapsulate a filter for automatically importing meshes by guessing
+the right filter according to the extension
+*/
+
+template <class OpenMeshType>
+class Importer
+{
+private:
+  enum KnownTypes { KT_UNKNOWN, KT_PLY, KT_MSH };
+
+static int &LastType()
+{
+  static int lastType= KT_UNKNOWN;
+return lastType;
+}
+
+public:
+enum ImporterError {
+  E_NOERROR =0 // No error =0 is the standard for ALL the imported files.
+};
+// simple aux function that returns true if a given file has a given extesnion
+static bool FileExtension(std::string filename, std::string extension)
+{
+  std::transform(filename.begin(),   filename.end(),  filename.begin(), ::tolower);
+  std::transform(extension.begin(), extension.end(), extension.begin(), ::tolower);
+
+  std::string end=filename.substr(filename.length() - extension.length(), extension.length());
+  
+  return end == extension;
+}
+// Open Mesh, returns 0 on success.
+static int Open(OpenMeshType &m, const char *filename, CallBackPos *cb=0)
+{
+  int dummymask = 0;
+  return Open(m, filename, dummymask, cb);
+}
+
+/// Open Mesh and fills the load mask (the load mask must be initialized first); returns 0 on success.
+static int Open(OpenMeshType &m, const char *filename, int &loadmask, CallBackPos *cb=0)
+{
+	int err;
+	if(FileExtension(filename,"ply"))
+	{
+                err = tetra::io::ImporterPLY<OpenMeshType>::Open(m, filename, loadmask, cb);
+		LastType()=KT_PLY;
+	}
+	else if(FileExtension(filename,"msh"))
+	{
+                err = tetra::io::ImporterMSH<OpenMeshType>::Open(m, filename, cb);
+		LastType()=KT_MSH;
+	}
+    else
+    {
+		err=1;
+		LastType()=KT_UNKNOWN;
+	}
+
+	return err;
+}
+
+static bool ErrorCritical(int error)
+{
+  switch(LastType())
+  {
+    case KT_PLY : return (error > 0); break;
+    case KT_MSH : return (error > 0); break;
+  }
+
+  return true;
+}
+
+static const char *ErrorMsg(int error)
+{
+  switch(LastType())
+  {
+    // case KT_PLY : return ImporterPLY<OpenMeshType>::ErrorMsg(error); break;
+    // case KT_STL : return ImporterSTL<OpenMeshType>::ErrorMsg(error); break;
+    // case KT_OFF : return ImporterOFF<OpenMeshType>::ErrorMsg(error); break;
+    // case KT_OBJ : return ImporterOBJ<OpenMeshType>::ErrorMsg(error); break;
+    // case KT_VMI : return ImporterVMI<OpenMeshType>::ErrorMsg(error); break;
+  }
+  return "Unknown type";
+}
+
+static bool LoadMask(const char * filename, int &mask)
+{
+	bool err;
+
+	if(FileExtension(filename, "ply"))
+	{
+                err = tetra::io::ImporterPLY<OpenMeshType>::LoadMask(filename, mask);
+		LastType() = KT_PLY;
+	}
+	else if(FileExtension(filename, "msh"))
+	{
+		mask = Mask::IOM_VERTCOORD | Mask::IOM_TETRAINDEX;
+		err = true;
+		LastType() = KT_MSH;
+	}
+	else
+	{
+		err = false;
+		LastType()=KT_UNKNOWN;
+	}
+
+	return err;
+}
+}; // end class
+} // end Namespace tetra
+} // end Namespace io
+} // end Namespace vcg
+
+#endif
diff --git a/wrap/io_tetramesh/import_msh.h b/wrap/io_tetramesh/import_msh.h
new file mode 100644
index 00000000..deaf58ab
--- /dev/null
+++ b/wrap/io_tetramesh/import_msh.h
@@ -0,0 +1,515 @@
+#ifndef __VCGLIB_IMPORTTETMSH_H
+#define __VCGLIB_IMPORTTETMSH_H
+
+#include <iostream>
+
+namespace vcg {
+namespace tetra {
+namespace io {
+
+template <class MeshType>
+class MshInfo
+{
+    typedef std::map<std::string, double *> FieldMap;
+
+    FieldMap nodeFields;
+    FieldMap elemFields;
+
+
+    template <typename Scalar, int Dimensions>
+    struct AttribTraits
+    {
+        typedef std::vector<Scalar> Type;
+        enum { Dimension = Dimensions };
+    };
+
+    template <typename Scalar>
+    struct AttribTraits<Scalar, 1>
+    {
+            typedef Scalar Type;
+            enum { Dimension = 1 };
+    };
+
+    template <typename AttrHandle, typename Scalar, int Dimension>
+    struct AttribHelper
+    {
+        static void assign(AttrHandle & handle, int index, const double * data)
+        {
+            for (int i=0; i<Dimension; ++i)
+            {
+                handle[index][i] = Scalar(data[Dimension * index + i]);
+            }
+        }
+    };
+
+    template <typename AttrHandle, typename Scalar>
+    struct AttribHelper<AttrHandle, Scalar, 1>
+    {
+        static void assign(AttrHandle & handle, int index, const double * data)
+        {
+            handle[index] = Scalar(data[index]);
+        }
+    };
+
+    template <bool PerNode, typename Scalar>
+    static void fillMeshAttributes(const std::string & attrib_name, int attrib_dim, MeshType & mesh, const double * data)
+    {
+        if (PerNode)
+        {
+            switch(attrib_dim)
+            {
+            case 1 : fillMeshWithAttributePerNode<Scalar, 1>(attrib_name, mesh, data); break;
+            case 2 : fillMeshWithAttributePerNode<Scalar, 2>(attrib_name, mesh, data); break;
+            case 3 : fillMeshWithAttributePerNode<Scalar, 3>(attrib_name, mesh, data); break;
+            case 4 : fillMeshWithAttributePerNode<Scalar, 4>(attrib_name, mesh, data); break;
+            case 5 : fillMeshWithAttributePerNode<Scalar, 5>(attrib_name, mesh, data); break;
+            case 6 : fillMeshWithAttributePerNode<Scalar, 6>(attrib_name, mesh, data); break;
+            case 7 : fillMeshWithAttributePerNode<Scalar, 7>(attrib_name, mesh, data); break;
+            case 8 : fillMeshWithAttributePerNode<Scalar, 8>(attrib_name, mesh, data); break;
+            case 9 : fillMeshWithAttributePerNode<Scalar, 9>(attrib_name, mesh, data); break;
+            default : throw std::string("Dimension of custom attribute vector unsupported");
+            }
+        }
+        else
+        {
+            switch(attrib_dim)
+            {
+            case 1 : fillMeshWithAttributePerElement<Scalar, 1>(attrib_name, mesh, data); break;
+            case 2 : fillMeshWithAttributePerElement<Scalar, 2>(attrib_name, mesh, data); break;
+            case 3 : fillMeshWithAttributePerElement<Scalar, 3>(attrib_name, mesh, data); break;
+            case 4 : fillMeshWithAttributePerElement<Scalar, 4>(attrib_name, mesh, data); break;
+            case 5 : fillMeshWithAttributePerElement<Scalar, 5>(attrib_name, mesh, data); break;
+            case 6 : fillMeshWithAttributePerElement<Scalar, 6>(attrib_name, mesh, data); break;
+            case 7 : fillMeshWithAttributePerElement<Scalar, 7>(attrib_name, mesh, data); break;
+            case 8 : fillMeshWithAttributePerElement<Scalar, 8>(attrib_name, mesh, data); break;
+            case 9 : fillMeshWithAttributePerElement<Scalar, 9>(attrib_name, mesh, data); break;
+            default : throw std::string("Dimension of custom attribute vector unsupported");
+            }
+        }
+    }
+
+    template <typename Scalar, int Dimension/* = 1*/>
+    static void fillMeshWithAttributePerNode(const std::string & attrib_name, MeshType & mesh, const double * data)
+    {
+        typedef typename AttribTraits<Scalar, Dimension>::Type AttrType;
+        typedef typename MeshType::template PerVertexAttributeHandle<AttrType> AttrHandle;
+
+        AttrHandle handle = vcg::tri::Allocator<MeshType>::template GetPerVertexAttribute<AttrType>(mesh, attrib_name);
+        size_t num_nodes = size_t(mesh.VN());
+
+        for (int i=0; i<int(num_nodes); ++i)
+            AttribHelper<AttrHandle, Scalar, Dimension>::assign(handle, i, data);
+    }
+
+    template <typename Scalar, int Dimension/* = 1*/>
+    static void fillMeshWithAttributePerElement(const std::string & attrib_name, MeshType & mesh, const double * data)
+    {
+        typedef typename AttribTraits<Scalar, Dimension>::Type AttrType;
+        typedef typename MeshType::template PerFaceAttributeHandle<AttrType> AttrHandle;
+
+        AttrHandle handle = vcg::tri::Allocator<MeshType>::template GetPerFaceAttribute<AttrType>(mesh, attrib_name);
+        size_t num_elements = size_t(mesh.TN());
+
+        for (int i=0; i<int(num_elements); ++i)
+            AttribHelper<AttrHandle, Scalar, Dimension>::assign(handle, i, data);
+    }
+};
+
+template <class MeshType>
+class ImporterMSH
+{
+    typedef typename MeshType::ScalarType ScalarType;
+    typedef typename MeshType::CoordType CoordType;
+    typedef typename MeshType::VertexType VertexType;
+    typedef typename MeshType::TetraType TetraType;
+    typedef typename MeshType::VertexIterator VertexIterator;
+    typedef typename MeshType::TetraIterator TetraIterator;
+
+    enum ErrorCodes
+    {
+        INVALID_FORMAT = 1,
+        INVALID_VERSION,
+        NOT_IMPLEMENTED,
+        IO_ERROR
+    };
+
+    static inline void parseWhiteSpace(std::ifstream &fin)
+    {
+        //we don't want to consume non whitespace bytes, just peek it..
+        char next = fin.peek();
+
+        while (next == '\n' || next == ' ' || next == '\t' || next == '\r')
+        {
+            fin.get();
+            next = fin.peek();
+        }
+    }
+
+    static int parseNodes(MeshType &m, std::ifstream &fin, bool binary)
+    {
+        int numOfNodes;
+        fin >> numOfNodes;
+        if (numOfNodes < 0)
+            return INVALID_FORMAT;
+
+        VertexIterator vi = vcg::tri::Allocator<MeshType>::AddVertices(m, numOfNodes);
+
+        if (binary)
+        {
+            size_t lineBytes = (4 + 3 * 8); //int index + 3 * double coords
+            size_t bytes = numOfNodes * lineBytes;
+            char *data = new char[bytes];
+            parseWhiteSpace(fin);
+            fin.read(data, bytes);
+
+            for (int i = 0; i < numOfNodes; ++i)
+            {
+                int index = *reinterpret_cast<int *>(&data[i * lineBytes]) - 1;
+                if (index < 0)
+                    return INVALID_FORMAT;
+
+                m.vert[index].P().X() = *reinterpret_cast<double *>(&data[i * lineBytes + 4]);
+                m.vert[index].P().Y() = *reinterpret_cast<double *>(&data[i * lineBytes + 4 + 8]);
+                m.vert[index].P().Z() = *reinterpret_cast<double *>(&data[i * lineBytes + 4 + 2 * 8]);
+            }
+            delete[] data;
+        }
+        else
+        {
+            for (int i = 0; i < numOfNodes; ++i)
+            {
+                int index;
+                fin >> index;
+                --index;
+
+                if (index < 0)
+                    return INVALID_FORMAT;
+
+                fin >> m.vert[index].P().X();
+                fin >> m.vert[index].P().Y();
+                fin >> m.vert[index].P().Z();
+            }
+        }
+        return 0;
+    }
+
+    static int parseElements(MeshType &m, std::ifstream &fin, bool binary)
+    {
+        int numOfElements;
+        fin >> numOfElements;
+        if (numOfElements < 0)
+            return INVALID_FORMAT;
+
+        TetraIterator ti = vcg::tri::Allocator<MeshType>::AddTetras(m, numOfElements);
+
+        if (binary)
+        {
+            parseWhiteSpace(fin);
+            size_t parsedElems = 0;
+
+            while (parsedElems < numOfElements)
+            {
+                //MSH in binary format has a elem-header 3*4 bytes: {elems_type, numElems, tagsPerElem}
+                //followed by the list of elems under this header and eventually a new header and list.
+                int type, elements, tags;
+                fin.read((char *)&type,     sizeof(int));
+                fin.read((char *)&elements, sizeof(int));
+                fin.read((char *)&tags,     sizeof(int));
+
+                //check for tetra type
+                if (type != 4)
+                    return NOT_IMPLEMENTED;
+
+                //read tags and throw them
+                for (size_t j = 0; j < tags; ++j)
+                {
+                    int tag;
+                    fin.read((char *)&tag, sizeof(int));
+                }
+
+                //foreach element
+                for (int i = 0; i < elements; ++i)
+                {
+                    int index;
+                    fin.read((char *)&index, sizeof(int));
+                    --index;
+
+                    //check index validity
+                    if (index < 0)
+                        return INVALID_FORMAT;
+
+                    //read element nodes
+                    TetraType * t = &m.tetra[index];
+                    for (int i = 0; i < 4; ++i)
+                    {
+                        int nodeIndex;
+                        fin.read((char *)&nodeIndex, sizeof(int));
+                        --nodeIndex;
+
+                        if (nodeIndex < 0 || nodeIndex >= m.VN())
+                            return INVALID_FORMAT;
+
+                        t->V(i) = &m.vert[nodeIndex];
+                    }
+                    ++parsedElems;
+                }
+            }
+        }
+        else
+        {
+            for (int i = 0; i < numOfElements; ++i)
+            {
+                int index, type, tags;
+                fin >> index >> type >> tags;
+                --index;
+
+                //check for tetra type
+                if (type != 4)
+                    return NOT_IMPLEMENTED;
+                //check index validity
+                if (index < 0)
+                    return INVALID_FORMAT;
+                //read tags and throw them
+                for (size_t j = 0; j < tags; ++j)
+                {
+                    int tag;
+                    fin >> tag;
+                }
+
+                TetraType *t = &m.tetra[index];
+                for (int i = 0; i < 4; ++i)
+                {
+                    int nodeIndex;
+                    fin >> nodeIndex;
+                    --nodeIndex;
+
+                    if (nodeIndex < 0 || nodeIndex > m.VN())
+                        return INVALID_FORMAT;
+
+                    t->V(i) = &m.vert[nodeIndex];
+                }
+            }
+        }
+
+        return 0;
+    }
+
+    static int parseDataField(MeshType &m, std::ifstream &fin, bool binary)
+    {
+        int numString, numReal, numInteger;
+
+        fin >> numString;
+
+        std::string *strTags = new std::string[numString];
+        for (int i = 0; i < numString; ++i)
+        {
+            parseWhiteSpace(fin);
+            fin >> strTags[i];
+        }
+
+        fin >> numReal;
+
+        double *doubleTags = new double[numReal];
+        for (int i = 0; i < numReal; ++i)
+            fin >> doubleTags[i];
+
+        fin >> numInteger;
+
+        if (numString <= 0 || numInteger < 3)
+            return INVALID_FORMAT;
+
+        int *integerTags = new int[numInteger];
+
+        for (int i = 0; i < numInteger; ++i)
+            fin >> integerTags[i];
+
+        std::string fieldName = strTags[0];
+        int fieldComponents = integerTags[1];
+        int fieldSize = integerTags[2];
+
+        double *fieldVec = new double[fieldComponents * fieldSize];
+
+        delete[] strTags;
+        delete[] doubleTags;
+        delete[] integerTags;
+
+        if (binary)
+        {
+            size_t totalBytes = (4 + 8 * fieldComponents) * fieldSize;
+            char *data = new char[totalBytes];
+            parseWhiteSpace(fin);
+            fin.read(data, totalBytes);
+
+            for (int i = 0; i < fieldSize; ++i)
+            {
+                int index = *reinterpret_cast<int *>(&data[i * (4 + fieldComponents * 8)]);
+                --index;
+
+                if (index < 0)
+                    return INVALID_FORMAT;
+
+                //values
+                int baseIndex = i * (4 + fieldComponents * 8) + 4;
+
+                for (int j = 0; j < fieldComponents; ++j)
+                    fieldVec[index * fieldComponents + j] = *reinterpret_cast<float *>(&data[baseIndex + j * 8]);
+            }
+        }
+        else
+        {
+            for (int i = 0; i < fieldSize; ++i)
+            {
+                int index;
+                fin >> index;
+                --index;
+
+                if (index < 0)
+                    return INVALID_FORMAT;
+
+                for (int j = 0; j < fieldComponents; ++j)
+                    fin >> fieldVec[index * fieldComponents + j];
+            }
+        }
+    }
+
+    static int parseNodeData(MeshType &m, MshInfo<MeshType> & info, std::ifstream &fin, bool binary)
+    {
+        return parseDataField(m, fin, binary);
+    }
+
+    static int parseElementData(MeshType &m, MshInfo<MeshType> & info, std::ifstream &fin, bool binary)
+    {
+        return parseDataField(m, fin, binary);
+    }
+
+    static int parseUnsupportedTag(std::ifstream &fin, std::string &tag)
+    {
+        std::cerr << "found unsupported tag" << std::endl;
+        std::string tagName = tag.substr(1, tag.size() - 1);
+
+        std::string tagEnd = tag.substr(0, 1) + "End" + tagName;
+
+        std::string buf;
+        while (buf != tagEnd && !fin.eof())
+            fin >> buf;
+        return 0;
+    }
+
+    static int parseMshMesh(MeshType &m, std::string &filename, MshInfo<MeshType> & info)
+    {
+        std::ifstream fin(filename.c_str(), std::ios::in | std::ios::binary);
+
+        if (!fin.is_open())
+            return IO_ERROR;
+
+        std::string lookAhead;
+
+        fin >> lookAhead;
+        if (lookAhead != "$MeshFormat")
+            return INVALID_FORMAT;
+
+        double version;
+        int type, dataSize;
+
+        fin >> version >> type >> dataSize;
+
+        if (version != 2.2)
+            return INVALID_VERSION;
+
+        bool binary = (type == 1);
+
+        if (dataSize != 8)
+            return INVALID_FORMAT;
+
+        // Read endiannes info in binary header...it's a 1 used to detect endiannes.
+        if (binary)
+        {
+            int one;
+            parseWhiteSpace(fin);
+            fin.read(reinterpret_cast<char *>(&one), sizeof(int));
+            if (one != 1)
+            {
+                std::cerr << "Warning: binary msh file " << filename
+                          << " is saved with different endianness than this machine."
+                          << std::endl;
+                throw NOT_IMPLEMENTED;
+            }
+        }
+
+        lookAhead.clear();
+        fin >> lookAhead;
+        if (lookAhead != "$EndMeshFormat")
+            return INVALID_FORMAT;
+
+        while (!fin.eof())
+        {
+            lookAhead.clear();
+            fin >> lookAhead;
+
+            if (lookAhead == "$Nodes")
+            {
+                int res = parseNodes(m, fin, binary);
+                if (res != 0)
+                    return res;
+
+                fin >> lookAhead;
+                if (lookAhead != "$EndNodes")
+                    return INVALID_FORMAT;
+            }
+            else if (lookAhead == "$Elements")
+            {
+                int res = parseElements(m, fin, binary);
+
+                if (res != 0)
+                    return res;
+
+                fin >> lookAhead;
+                if (lookAhead != "$EndElements")
+                    return INVALID_FORMAT;
+            }
+            else if (lookAhead == "$NodeData")
+            {
+                parseNodeData(m, info, fin, binary);
+                fin >> lookAhead;
+                if (lookAhead != "$EndNodeData")
+                    return INVALID_FORMAT;
+            }
+            else if (lookAhead == "$ElementData")
+            {
+                parseElementData(m, info, fin, binary);
+                fin >> lookAhead;
+                if (lookAhead != "$EndElementData")
+                    return INVALID_FORMAT;
+
+            }
+            else if (fin.eof())
+            {
+                break;
+            }
+            else
+            {
+                parseUnsupportedTag(fin, lookAhead);
+            }
+        }
+        fin.close();
+        return 0;
+    }
+
+public:
+    static int Open(MeshType &m, const char *filename, CallBackPos *cb = 0)
+    {
+        MshInfo<MeshType> info;
+        return Open(m, filename, info, cb);
+    }
+
+    static int Open(MeshType &m, const char *filename, MshInfo<MeshType> & info, CallBackPos *cb = 0)
+    {
+        std::string name(filename);
+        return parseMshMesh(m, name, info);
+    }
+};
+} // namespace io
+} // namespace tetra
+} // namespace vcg
+
+#endif
diff --git a/wrap/io_tetramesh/import_ply.h b/wrap/io_tetramesh/import_ply.h
index 1ea4e6d8..e77b4741 100644
--- a/wrap/io_tetramesh/import_ply.h
+++ b/wrap/io_tetramesh/import_ply.h
@@ -28,16 +28,13 @@ Revision 1.1  2004/06/03 13:16:32  ganovelli
 created
 
 ****************************************************************************/
-#ifndef __VCGLIB_TETRAIMPORTERPLY
-#define __VCGLIB_TETRAIMPORTERPLY
+#ifndef __VCGLIB_TETRAIMPORTER_PLY
+#define __VCGLIB_TETRAIMPORTER_PLY
 
 #include<wrap/callback.h>
 #include<wrap/ply/plylib.h>
-#include<wrap/ply/io_mask.h>
+#include<wrap/io_tetramesh/io_mask.h>
 #include<wrap/io_tetramesh/io_ply.h>
-#include<vcg/complex/tetramesh/allocate.h>
-
-
 
 namespace vcg {
 namespace tetra {
@@ -46,11 +43,11 @@ namespace io {
 template <class TYPE>
 int PlyType ()  { return 0;}
 
-template <> int PlyType <float >()  { return ply::T_FLOAT; }
-template <> int PlyType <double>()  { return ply::T_DOUBLE; }
-template <> int PlyType <int   >()  { return ply::T_INT; } 
-template <> int PlyType <short >()  { return ply::T_SHORT; }
-template <> int PlyType <unsigned char >()  { return ply::T_UCHAR; }
+template <> inline int PlyType <float >()  { return ply::T_FLOAT; }
+template <> inline int PlyType <double>()  { return ply::T_DOUBLE; }
+template <> inline int PlyType <int   >()  { return ply::T_INT; } 
+template <> inline int PlyType <short >()  { return ply::T_SHORT; }
+template <> inline int PlyType <unsigned char >()  { return ply::T_UCHAR; }
 
 /** 
 This class encapsulate a filter for opening ply meshes.
@@ -61,693 +58,563 @@ class ImporterPLY
 {
 public:
 
-typedef ::vcg::ply::PropDescriptor PropDescriptor ;
-typedef typename OpenMeshType::VertexPointer VertexPointer;
-typedef typename OpenMeshType::ScalarType ScalarType;
-typedef typename OpenMeshType::VertexType VertexType;
-typedef typename OpenMeshType::TetraType TetraType;
-typedef typename OpenMeshType::VertexIterator VertexIterator;
-typedef typename OpenMeshType::TetraIterator TetraIterator;
+    typedef ::vcg::ply::PropDescriptor PropDescriptor ;
+    typedef typename OpenMeshType::VertexPointer VertexPointer;
+    typedef typename OpenMeshType::ScalarType ScalarType;
+    typedef typename OpenMeshType::VertexType VertexType;
+    typedef typename OpenMeshType::TetraType TetraType;
+    typedef typename OpenMeshType::VertexIterator VertexIterator;
+    typedef typename OpenMeshType::TetraIterator TetraIterator;
 
-//template <class T> int PlyType () {	assert(0);  return 0;}
+    //template <class T> int PlyType () {	assert(0);  return 0;}
 
 #define MAX_USER_DATA 256
-// Struttura ausiliaria per la lettura del file ply
-struct LoadPly_TetraAux
-{
-	unsigned char size;
-	int v[512];
-	int flags;
-	float q;
-	float texcoord[32];
-	unsigned char ntexcoord;
-	int texcoordind;
-	float colors[32];
-	unsigned char ncolors;
-	
-	unsigned char r;
-	unsigned char g;
-	unsigned char b;
-
-	unsigned char data[MAX_USER_DATA];  
-};
-
-//struct LoadPly_TristripAux
-//{
-//	int size;
-//	int *v;
-//	unsigned char data[MAX_USER_DATA];  
-//};
-
-// Struttura ausiliaria per la lettura del file ply
-template<class S>
-struct LoadPly_VertAux
-{
-	S p[3];
-	int flags;
-	float q;
-	unsigned char r;
-	unsigned char g;
-	unsigned char b;
-	unsigned char data[MAX_USER_DATA];  
-};
-
-// Struttura ausiliaria caricamento camera
-//struct LoadPly_Camera
-//{
-//	float view_px;
-//	float view_py;
-//	float view_pz;
-//	float x_axisx;
-//	float x_axisy;
-//	float x_axisz;
-//	float y_axisx;
-//	float y_axisy;
-//	float y_axisz;
-//	float z_axisx;
-//	float z_axisy;
-//	float z_axisz;
-//	float focal;
-//	float scalex;
-//	float scaley;
-//	float centerx;
-//	float centery;
-//	int   viewportx;
-//	int   viewporty;
-//	float k1;
-//	float k2;
-//	float k3;
-//	float k4;
-//};
-
-static const  PropDescriptor &VertDesc(int i)  
-{
-	const static PropDescriptor pv[9]={
-		{"vertex", "x",         ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p[0]),0,0,0,0,0},
-		{"vertex", "y",         ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p[1]),0,0,0,0,0},
-		{"vertex", "z",         ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p[2]),0,0,0,0,0},
-		{"vertex", "flags",     ply::T_INT,   ply::T_INT,           offsetof(LoadPly_VertAux<ScalarType>,flags),0,0,0,0,0},
-		{"vertex", "quality",   ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,q),0,0,0,0,0},
-		{"vertex", "red"  ,     ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,r),0,0,0,0,0},
-		{"vertex", "green",     ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,g),0,0,0,0,0},
-		{"vertex", "blue" ,     ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,b),0,0,0,0,0},
-		{"vertex", "confidence",ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,q),0,0,0,0,0},
-	};
-	return pv[i];
-}
-
-
-static const  PropDescriptor &TetraDesc(int i)  
-{		
-	const static 	PropDescriptor qf[10]=
-	{
-		{"tetra", "vertex_indices", ply::T_INT,   ply::T_INT,   offsetof(LoadPly_TetraAux,v),		     1,0,ply::T_UCHAR,ply::T_UCHAR,offsetof(LoadPly_TetraAux,size) },
-		{"tetra", "flags",          ply::T_INT,   ply::T_INT,   offsetof(LoadPly_TetraAux,flags),     0,0,0,0,0},
-		{"tetra", "quality",        ply::T_FLOAT, ply::T_FLOAT, offsetof(LoadPly_TetraAux,q),         0,0,0,0,0},
-		{"tetra", "texcoord",       ply::T_FLOAT, ply::T_FLOAT, offsetof(LoadPly_TetraAux,texcoord),    1,0,ply::T_UCHAR,ply::T_UCHAR,offsetof(LoadPly_TetraAux,ntexcoord) },
-		{"tetra", "color",          ply::T_FLOAT, ply::T_FLOAT, offsetof(LoadPly_TetraAux,colors),    1,0,ply::T_UCHAR,ply::T_UCHAR,offsetof(LoadPly_TetraAux,ncolors) },
-		{"tetra", "texnumber",      ply::T_INT,   ply::T_INT,   offsetof(LoadPly_TetraAux,texcoordind), 0,0,0,0,0},
-		{"tetra", "red"  ,          ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_TetraAux,r),         0,0,0,0,0},
-		{"tetra", "green",          ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_TetraAux,g),         0,0,0,0,0},
-		{"tetra", "blue" ,          ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_TetraAux,b),         0,0,0,0,0},
-		{"tetra", "vertex_index",   ply::T_INT,   ply::T_INT,   offsetof(LoadPly_TetraAux,v),		     1,0,ply::T_UCHAR,ply::T_CHAR,offsetof(LoadPly_TetraAux,size) },
-	};
-	return qf[i];
-}
-//static const  PropDescriptor &TristripDesc(int i)  
-//{		
-//	const static 	PropDescriptor qf[1]=
-//	{
-//		{"tristrips","vertex_indices", ply::T_INT,  ply::T_INT,  offsetof(LoadPly_TristripAux,v),		  1,1,ply::T_INT,ply::T_INT,offsetof(LoadPly_TristripAux,size) },				
-//	};
-//	return qf[i];
-//}
-
-
-//static const  PropDescriptor &CameraDesc(int i)  
-//{		
-//	const static PropDescriptor cad[23] =
-//	{
-//		{"camera","view_px",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,view_px),0,0,0,0,0},
-//		{"camera","view_py",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,view_py),0,0,0,0,0},
-//		{"camera","view_pz",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,view_pz),0,0,0,0,0},
-//		{"camera","x_axisx",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,x_axisx),0,0,0,0,0},
-//		{"camera","x_axisy",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,x_axisy),0,0,0,0,0},
-//		{"camera","x_axisz",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,x_axisz),0,0,0,0,0},
-//		{"camera","y_axisx",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,y_axisx),0,0,0,0,0},
-//		{"camera","y_axisy",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,y_axisy),0,0,0,0,0},
-//		{"camera","y_axisz",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,y_axisz),0,0,0,0,0},
-//		{"camera","z_axisx",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,z_axisx),0,0,0,0,0},
-//		{"camera","z_axisy",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,z_axisy),0,0,0,0,0},
-//		{"camera","z_axisz",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,z_axisz),0,0,0,0,0},
-//		{"camera","focal"  ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,focal  ),0,0,0,0,0},
-//		{"camera","scalex" ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,scalex ),0,0,0,0,0},
-//		{"camera","scaley" ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,scaley ),0,0,0,0,0},
-//		{"camera","centerx",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,centerx),0,0,0,0,0},
-//		{"camera","centery",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,centery),0,0,0,0,0},
-//		{"camera","viewportx",ply::T_INT,ply::T_INT  ,offsetof(LoadPly_Camera,viewportx),0,0,0,0,0},
-//		{"camera","viewporty",ply::T_INT,ply::T_INT  ,offsetof(LoadPly_Camera,viewporty),0,0,0,0,0},
-//		{"camera","k1"     ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,k1 ),0,0,0,0,0},
-//		{"camera","k2"     ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,k2 ),0,0,0,0,0},
-//		{"camera","k3"     ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,k3 ),0,0,0,0,0},
-//		{"camera","k4"     ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,k4 ),0,0,0,0,0}
-//	};
-//	return cad[i];
-//}
-
-
-/// Standard call for reading a mesh
-static int Open( OpenMeshType &m, const char * filename, CallBackPos *cb=0)
-{
-	PlyInfo pi;
-  pi.cb=cb; 
-  return Open(m, filename, pi);
-}
-
-/// Read a mesh and store in loadmask the loaded field
-static int Open( OpenMeshType &m, const char * filename, int & loadmask, CallBackPos *cb =0)
-{
-  PlyInfo pi;
-  pi.mask=loadmask;
-	return Open(m, filename,pi);
-  loadmask=pi.mask;
-}
-
-
-/// read a mesh with all the possible option specified in the PlyInfo obj.
-static int Open( OpenMeshType &m, const char * filename, PlyInfo &pi )
-{
-  assert(filename!=0);
-	vector<VertexPointer> index;
-	LoadPly_TetraAux fa;
-//	LoadPly_TristripAux tsa;
-	LoadPly_VertAux<ScalarType> va;
-  
-	pi.mask = 0;
-
-	va.flags = 42;
-
-  pi.status = ::vcg::ply::E_NOERROR;
-
-	// The main descriptor of the ply file 
-	vcg::ply::PlyFile pf;
-  
-  // Open the file and parse the header
-  if( pf.Open(filename,vcg::ply::PlyFile::MODE_READ)==-1 )
-	{
-		pi.status = pf.GetError();
-		return -1;
-	}
-  pi.header = pf.GetHeader();
-
-	// Descrittori della camera
-	{  // Check that all the camera properties are present.
-	/*	bool found = true;
-		for(int i=0;i<23;++i)
-		{
-			if( pf.AddToRead(CameraDesc(i))==-1 ) {
-				found = false;
-				break;
-			}
-		}
-		if(found) pi.mask |= ply::PLYMask::PM_CAMERA;*/
-	}
-
-  // Descrittori dati standard (vertex coord e faces)
-  if( pf.AddToRead(VertDesc(0))==-1 ) { pi.status = PlyInfo::E_NO_VERTEX; return -1; }
-	if( pf.AddToRead(VertDesc(1))==-1 ) { pi.status = PlyInfo::E_NO_VERTEX; return -1; }
-	if( pf.AddToRead(VertDesc(2))==-1 ) { pi.status = PlyInfo::E_NO_VERTEX; return -1; }
-	if( pf.AddToRead(TetraDesc(0))==-1 ){ pi.status = PlyInfo::E_NO_VERTEX; return -1; }
-		
-		
-// Se fallisce si prova anche la sintassi di rapidform con index al posto di indices
-//		if( pf.AddToRead(TetraDesc(9))==-1 ) 
-//			if(pf.AddToRead(TristripDesc(0))==-1) // Se fallisce tutto si prova a vedere se ci sono tristrip alla levoy.
-//					{ pi.status = PlyInfo::E_NO_FACE;   return -1; }
-
-		// Descrittori facoltativi dei flags
-	if( pf.AddToRead(VertDesc(3))!=-1 )
-		pi.mask |= ply::PLYMask::PM_VERTFLAGS;
-
-  if( VertexType::HasQuality() )
-	{
-		if( pf.AddToRead(VertDesc(4))!=-1 ||
-		    pf.AddToRead(VertDesc(8))!=-1 )
-			pi.mask |= ply::PLYMask::PM_VERTQUALITY;
-	}
-
-	if( VertexType::HasColor() )
-	{
-		if( pf.AddToRead(VertDesc(5))!=-1 )
-		{
-			pf.AddToRead(VertDesc(6));
-			pf.AddToRead(VertDesc(7));
-			pi.mask |= ply::PLYMask::PM_VERTCOLOR;
-		}
-	}
-
-			// se ci sono i flag per vertice ci devono essere anche i flag per faccia
-	if( pf.AddToRead(TetraDesc(1))!=-1 )
-		pi.mask |= ply::PLYMask::PM_TETRAFLAGS;
-
-  if( TetraType::HasTetraQuality())
-	{
-		if( pf.AddToRead(TetraDesc(2))!=-1 )
-			pi.mask |= ply::PLYMask::PM_TETRAQUALITY;
-	}
-
-	if( TetraType::HasTetraColor() )
-	{
-		if( pf.AddToRead(TetraDesc(6))!=-1 )
-		{
-			pf.AddToRead(TetraDesc(7));
-			pf.AddToRead(TetraDesc(8));
-			pi.mask |= ply::PLYMask::PM_TETRACOLOR;
-		}
-	}
-
-
- // if( FaceType::HasWedgeColor() || FaceType::HasFaceColor() || VertexType::HasColor())
-	//{
-	//	if( pf.AddToRead(TetraDesc(4))!=-1 )
-	//	{
-	//		pi.mask |= ply::PLYMask::PM_WEDGCOLOR;
-	//	}
-	//}
-
-	// Descrittori definiti dall'utente, 
-	vector<PropDescriptor> VPV(pi.vdn); // property descriptor relative al tipo LoadPly_VertexAux
-  vector<PropDescriptor> FPV(pi.fdn); // property descriptor relative al tipo LoadPly_FaceAux
-	if(pi.vdn>0){
-	// Compute the total size needed to load additional per vertex data.
-		size_t totsz=0;
-		for(int i=0;i<pi.vdn;i++){
-			VPV[i] = pi.VertexData[i];
-			VPV[i].offset1=offsetof(LoadPly_VertAux<ScalarType>,data)+totsz;
-			totsz+=pi.VertexData[i].memtypesize();
-			if( pf.AddToRead(VPV[i])==-1 ) { pi.status = pf.GetError(); return -1; }
-		}
-		if(totsz > MAX_USER_DATA) 
-		{ 
-			pi.status = vcg::ply::E_BADTYPE; 
-			return -1; 
-		}
-	}
-	if(pi.fdn>0){
-		size_t totsz=0;
-		for(int i=0;i<pi.fdn;i++){
-			FPV[i] = pi.TetraData[i];
-			FPV[i].offset1=offsetof(LoadPly_TetraAux,data)+totsz;
-			totsz+=pi.TetraData[i].memtypesize();
-			if( pf.AddToRead(FPV[i])==-1 ) { pi.status = pf.GetError(); return -1; }
-		}
-		if(totsz > MAX_USER_DATA) 
-		{ 
-      pi.status = vcg::ply::E_BADTYPE; 
-			return -1; 
-		}
-	}
-
-  /**************************************************************/
-  /* Main Reading Loop */
-  /**************************************************************/
-  m.Clear();
-  for(int i=0;i<int(pf.elements.size());i++)
-	{
-		int n = pf.ElemNumber(i);
-
-		if( !strcmp( pf.ElemName(i),"camera" ) )
-		{
-			pf.SetCurElement(i);
-
-//			LoadPly_Camera ca;
-
-			for(int j=0;j<n;++j)
-			{
-	/*			if( pf.Read( (void *)&(ca) )==-1 )
-				{
-					pi.status = PlyInfo::E_SHORTFILE;
-					return -1;
-				}	*/
-				//camera.valid     = true;
-				//camera.view_p[0] = ca.view_px;
-				//camera.view_p[1] = ca.view_py;
-				//camera.view_p[2] = ca.view_pz;
-				//camera.x_axis[0] = ca.x_axisx;
-				//camera.x_axis[1] = ca.x_axisy;
-				//camera.x_axis[2] = ca.x_axisz;
-				//camera.y_axis[0] = ca.y_axisx;
-				//camera.y_axis[1] = ca.y_axisy;
-				//camera.y_axis[2] = ca.y_axisz;
-				//camera.z_axis[0] = ca.z_axisx;
-				//camera.z_axis[1] = ca.z_axisy;
-				//camera.z_axis[2] = ca.z_axisz;
-				//camera.f         = ca.focal;
-				//camera.s[0]      = ca.scalex;
-				//camera.s[1]      = ca.scaley;
-				//camera.c[0]      = ca.centerx;
-				//camera.c[1]      = ca.centery;
-				//camera.viewport[0] = ca.viewportx;
-				//camera.viewport[1] = ca.viewporty;
-				//camera.k[0]      = ca.k1;
-				//camera.k[1]      = ca.k2;
-				//camera.k[2]      = ca.k3;
-				//camera.k[3]      = ca.k4;
-			}
-		}
-		else if( !strcmp( pf.ElemName(i),"vertex" ) )
-		{
-			int j;
-
-			pf.SetCurElement(i);
-      VertexIterator vi=Allocator<OpenMeshType>::AddVertices(m,n);
-			
-      for(j=0;j<n;++j)
-			{
-				if(pi.cb && (j%1000)==0) pi.cb(j*50/n,"Vertex Loading");
-			  if( pf.Read( (void *)&(va) )==-1 )
-				{
-					pi.status = PlyInfo::E_SHORTFILE;
-					return -1;
-				}
-				
-				(*vi).P()[0] = va.p[0];
-				(*vi).P()[1] = va.p[1];
-				(*vi).P()[2] = va.p[2];
-
-				if( pi.mask & ply::PLYMask::PM_VERTFLAGS )
-					(*vi).Flags() = va.flags;
-
-				if( pi.mask & ply::PLYMask::PM_VERTQUALITY )
-					(*vi).Q() = va.q;
-
-				if( pi.mask & ply::PLYMask::PM_VERTCOLOR )
-				{
-					(*vi).C()[0] = va.r;
-					(*vi).C()[1] = va.g;
-					(*vi).C()[2] = va.b;
-					(*vi).C()[3] = 255;
-				}
-
-				
-				for(int k=0;k<pi.vdn;k++)	
-					memcpy((char *)(&*vi) + pi.VertexData[k].offset1,
-									(char *)(&va) + VPV[k].offset1, 
-									VPV[k].memtypesize());
-			++vi;
-      }
-
-			index.resize(n);
-			for(j=0,vi=m.vert.begin();j<n;++j,++vi)
-				index[j] = &*vi;
-		}
-		else if( !strcmp( pf.ElemName(i),"tetra") )/************************************************************/
-		{
-			int j;
-			int k;
-      TetraIterator fi=Allocator<OpenMeshType>::AddTetra(m,n);
-			pf.SetCurElement(i);
-
-			for(j=0;j<n;++j)
-			{
-				
-
-				if(pi.cb && (j%1000)==0) pi.cb(50+j*50/n,"Tetra Loading");
-				if( pf.Read(&fa)==-1 )
-				{
-					pi.status = PlyInfo::E_SHORTFILE;
-					return -1;
-				}
-				if(fa.size!=4)
-				{
-					pi.status = PlyInfo::E_NO_3VERTINFACE;
-					return -1;
-				}
-
-				for(k=0;k<4;++k)
-				{
-					if( fa.v[k]<0 || fa.v[k]>=m.vn )
-					{
-						pi.status = PlyInfo::E_BAD_VERT_INDEX;
-						return -1;
-					}
-					(*fi).V(k) = index[ fa.v[k] ];
-				}
-
-				if( pi.mask & ply::PLYMask::PM_TETRAFLAGS )
-				{
-					(*fi).Flags() = fa.flags;
-				}
-
-				if( pi.mask & ply::PLYMask::PM_TETRAQUALITY )
-				{
-					(*fi).Q() = fa.q;
-				}
-
-				if( pi.mask & ply::PLYMask::PM_TETRACOLOR )
-				{
-					(*fi).C()[0] = fa.r;
-					(*fi).C()[1] = fa.g;
-					(*fi).C()[2] = fa.b;
-					(*fi).C()[3] = 255;
-				}
-
-					if(TetraType::HasTetraColor()){
-						{
-							(*fi).C()[0] = (unsigned char)((fa.colors[0*3+0]*255+fa.colors[1*3+0]*255+fa.colors[2*3+0]*255)/3.0f);
-							(*fi).C()[1] = (unsigned char)((fa.colors[0*3+1]*255+fa.colors[1*3+1]*255+fa.colors[2*3+1]*255)/3.0f);
-							(*fi).C()[2] = (unsigned char)((fa.colors[0*3+2]*255+fa.colors[1*3+2]*255+fa.colors[2*3+2]*255)/3.0f);
-						}
-					}
-				}
-
-				for(k=0;k<pi.fdn;k++)	
-					memcpy((char *)(&(*fi)) + pi.TetraData[k].offset1,
-								 (char *)(&fa) + FPV[k].offset1, 
-									FPV[k].memtypesize());
-      ++fi;
-      }
-//		}
-//else if( !strcmp( pf.ElemName(i),"tristrips") )//////////////////// LETTURA TRISTRIP DI STANFORD
-//		{
-//			int j;
-//			pf.SetCurElement(i);
-//			int numvert_tmp = m.vert.size();
-//			for(j=0;j<n;++j)
-//			{
-//				int k;
-//				if(pi.cb && (j%1000)==0) pi.cb(50+j*50/n,"Tristrip Face Loading");
-//				if( pf.Read(&tsa)==-1 )
-//				{
-//					pi.status = PlyInfo::E_SHORTFILE;
-//					return -1;
-//				}
-//				int remainder=0;
-//				//int startface=m.face.size();
-//				for(k=0;k<tsa.size-2;++k)
-//				{
-//					if(pi.cb && (k%1000)==0) pi.cb(50+k*50/tsa.size,"Tristrip Face Loading");				
-//          if(tsa.v[k]<0 || tsa.v[k]>=numvert_tmp )	{
-//						pi.status = PlyInfo::E_BAD_VERT_INDEX;
-//						return -1;
-//					}
-//				  if(tsa.v[k+2]==-1)
-//					{
-//						k+=2;
-//						if(k%2) remainder=0;
-//							 else remainder=1;
-//						continue;
-//					}
-//					tf.V(0) = index[ tsa.v[k+0] ];
-//					tf.V(1) = index[ tsa.v[k+1] ];
-//					tf.V(2) = index[ tsa.v[k+2] ];
-//					if((k+remainder)%2) swap (tf.V(0), tf.V(1) );
-//					m.face.push_back( tf );
-//				}
-//			}
-//		}
-		else
-		{
-				// Skippaggio elementi non gestiti
-			int n = pf.ElemNumber(i);
-			pf.SetCurElement(i);
-
-			for(int j=0;j<n;j++)
-			{
-				if( pf.Read(0)==-1)
-				{
-					pi.status = PlyInfo::E_SHORTFILE;
-					return -1;
-				}
-			}
-		}
-	}
-
- // // Parsing texture names
-	//textures.clear();
-	//normalmaps.clear();
-
-	//for(int co=0;co<int(pf.comments.size());++co)
-	//{
-	//	const char * TFILE = "TextureFile";
-	//	const char * NFILE = "TextureNormalFile";
-	//	const char * c = pf.comments[co];
-	//	char buf[256];
-	//	int i,j,n;
-
-	//	if( !strncmp(c,TFILE,strlen(TFILE)) )
-	//	{
-	//		strcpy(buf,c+strlen(TFILE)+1);
-	//		n = strlen(buf);
-	//		for(i=j=0;i<n;i++)
-	//			if( buf[i]!=' ' && buf[i]!='\t' && buf[i]>32 && buf[i]<125 )	buf[j++] = buf[i];
-	//		
-	//		buf[j] = 0;
-	//		char buf2[255];
-	//		__interpret_texture_name( buf,filename,buf2 );
-	//		textures.push_back( xstring(buf2) );
-	//	}
-	//	if( !strncmp(c,NFILE,strlen(NFILE)) )
-	//	{
-	//		strcpy(buf,c+strlen(NFILE)+1);
-	//		n = strlen(buf);
-	//		for(i=j=0;i<n;i++)
-	//			if( buf[i]!=' ' && buf[i]!='\t' && buf[i]>32 && buf[i]<125 )	buf[j++] = buf[i];
-	//		
-	//		buf[j] = 0;
-	//		char buf2[255];
-	//		__interpret_texture_name( buf,filename,buf2 );
-	//		normalmaps.push_back( xstring(buf2) );
-	//	}
-	//}
-
-  // vn and fn should be correct but if someone wrongly saved some deleted elements they can be wrong.
-	m.vn = 0;
-	VertexIterator vi;
-	for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-		if( ! (*vi).IsD() )
-			++m.vn;
-
-	m.tn = 0;
-	TetraIterator fi;
-	for(fi=m.tetra.begin();fi!=m.tetra.end();++fi)
-		if( ! (*fi).IsD() )
-			++m.tn;
-
-	return 0;
-}
-
-
-	// Caricamento camera da un ply
-int LoadCamera(const char * filename)
-{
-	vcg::ply::PlyFile pf;
-	if( pf.Open(filename,vcg::ply::PlyFile::MODE_READ)==-1 )
-	{
-		pi.status = pf.GetError();
-		return -1;
-	}
-
-
-	bool found = true;
-	int i;
-	for(i=0;i<23;++i)
-	{
-		if( pf.AddToRead(CameraDesc(i))==-1 )
-		{
-			found = false;
-			break;
-		}
-	}
-
-	if(!found)
-		return -1;
-
-	for(i=0;i<int(pf.elements.size());i++)
-	{
-		int n = pf.ElemNumber(i);
-
-		if( !strcmp( pf.ElemName(i),"camera" ) )
-		{
-			pf.SetCurElement(i);
-
-			//LoadPly_Camera ca;
-
-			for(int j=0;j<n;++j)
-			{
-				if( pf.Read( (void *)&(ca) )==-1 )
-				{
-					pi.status = PlyInfo::E_SHORTFILE;
-					return -1;
-				}	
-				camera.valid     = true;
-				camera.view_p[0] = ca.view_px;
-				camera.view_p[1] = ca.view_py;
-				camera.view_p[2] = ca.view_pz;
-				camera.x_axis[0] = ca.x_axisx;
-				camera.x_axis[1] = ca.x_axisy;
-				camera.x_axis[2] = ca.x_axisz;
-				camera.y_axis[0] = ca.y_axisx;
-				camera.y_axis[1] = ca.y_axisy;
-				camera.y_axis[2] = ca.y_axisz;
-				camera.z_axis[0] = ca.z_axisx;
-				camera.z_axis[1] = ca.z_axisy;
-				camera.z_axis[2] = ca.z_axisz;
-				camera.f         = ca.focal;
-				camera.s[0]      = ca.scalex;
-				camera.s[1]      = ca.scaley;
-				camera.c[0]      = ca.centerx;
-				camera.c[1]      = ca.centery;
-				camera.viewport[0] = ca.viewportx;
-				camera.viewport[1] = ca.viewporty;
-				camera.k[0]      = ca.k1;
-				camera.k[1]      = ca.k2;
-				camera.k[2]      = ca.k3;
-				camera.k[3]      = ca.k4;
-			}
-			break;
-		}
-	}
-
-	return 0;
-}
-
-
-bool LoadMask(const char * filename, int &mask)
-{
-	mask=0;
-	vcg::ply::PlyFile pf;
-	if( pf.Open(filename,vcg::ply::PlyFile::MODE_READ)==-1 )
-	{
-		pi.status = pf.GetError();
-		return false;
-	}
-
-	if( pf.AddToRead(VertDesc(0))!=-1 && 
-	    pf.AddToRead(VertDesc(1))!=-1 && 
-	    pf.AddToRead(VertDesc(2))!=-1 )   mask |= ply::PLYMask::PM_VERTCOORD;
-
-	if( pf.AddToRead(VertDesc(3))!=-1 )		mask |= ply::PLYMask::PM_VERTFLAGS;
-	if( pf.AddToRead(VertDesc(4))!=-1 )		mask |= ply::PLYMask::PM_VERTQUALITY;
-	if( pf.AddToRead(VertDesc(8))!=-1 )		mask |= ply::PLYMask::PM_VERTQUALITY;
-	if( ( pf.AddToRead(VertDesc(5))!=-1 ) && 
-		  ( pf.AddToRead(VertDesc(6))!=-1 ) &&
-			( pf.AddToRead(VertDesc(7))!=-1 )  )  mask |= ply::PLYMask::PM_VERTCOLOR;
-	
-	if( pf.AddToRead(TetraDesc(0))!=-1 ) mask |= ply::PLYMask::PM_TETRAINDEX;
-	if( pf.AddToRead(TetraDesc(1))!=-1 ) mask |= ply::PLYMask::PM_TETRAFLAGS;
-
-	if( pf.AddToRead(TetraDesc(2))!=-1 ) mask |= ply::PLYMask::PM_TETRAQUALITY;
-	//if( pf.AddToRead(TetraDesc(3))!=-1 ) mask |= ply::PLYMask::PM_WEDGTEXCOORD;
-	//if( pf.AddToRead(TetraDesc(5))!=-1 ) mask |= ply::PLYMask::PM_WEDGTEXMULTI;
-	if( pf.AddToRead(TetraDesc(4))!=-1 ) mask |= ply::PLYMask::PM_WEDGCOLOR;
-	if( ( pf.AddToRead(TetraDesc(6))!=-1 ) && 
-		  ( pf.AddToRead(TetraDesc(7))!=-1 ) &&
-			( pf.AddToRead(TetraDesc(8))!=-1 )  )  mask |= ply::PLYMask::PM_TETRACOLOR;
-
-
- return true;
-}
+    // Struttura ausiliaria per la lettura del file ply
+    struct LoadPly_TetraAux
+    {
+        unsigned char size;
+        int v[512];
+        int flags;
+        float q;
+        float texcoord[32];
+        unsigned char ntexcoord;
+        int texcoordind;
+        float colors[32];
+        unsigned char ncolors;
+
+        unsigned char r;
+        unsigned char g;
+        unsigned char b;
+        unsigned char a;
+
+        unsigned char data[MAX_USER_DATA];
+    };
+
+    //struct LoadPly_TristripAux
+    //{
+    //	int size;
+    //	int *v;
+    //	unsigned char data[MAX_USER_DATA];
+    //};
+
+    // Struttura ausiliaria per la lettura del file ply
+    template<class S>
+    struct LoadPly_VertAux
+    {
+        S p[3];
+        int flags;
+        float q;
+        unsigned char r;
+        unsigned char g;
+        unsigned char b;
+        unsigned char a;
+        unsigned char data[MAX_USER_DATA];
+    };
+
+    // Struttura ausiliaria caricamento camera
+    //struct LoadPly_Camera
+    //{
+    //	float view_px;
+    //	float view_py;
+    //	float view_pz;
+    //	float x_axisx;
+    //	float x_axisy;
+    //	float x_axisz;
+    //	float y_axisx;
+    //	float y_axisy;
+    //	float y_axisz;
+    //	float z_axisx;
+    //	float z_axisy;
+    //	float z_axisz;
+    //	float focal;
+    //	float scalex;
+    //	float scaley;
+    //	float centerx;
+    //	float centery;
+    //	int   viewportx;
+    //	int   viewporty;
+    //	float k1;
+    //	float k2;
+    //	float k3;
+    //	float k4;
+    //};
+
+    static const  PropDescriptor &VertDesc(int i)
+    {
+        const static PropDescriptor pv[13]={
+            /*00*/ {"vertex", "x",         ply::T_FLOAT, PlyType<ScalarType>(),          offsetof(LoadPly_VertAux<ScalarType>,p),0,0,0,0,0},
+            /*01*/ {"vertex", "y",         ply::T_FLOAT, PlyType<ScalarType>(),          offsetof(LoadPly_VertAux<ScalarType>,p) +     sizeof(ScalarType),0,0,0,0,0},
+            /*02*/ {"vertex", "z",         ply::T_FLOAT, PlyType<ScalarType>(),          offsetof(LoadPly_VertAux<ScalarType>,p) + 2 * sizeof(ScalarType),0,0,0,0,0},
+            /*03*/ {"vertex", "flags",     ply::T_INT,   ply::T_INT,            offsetof(LoadPly_VertAux<ScalarType>,flags),0,0,0,0,0},
+            /*04*/ {"vertex", "quality",   ply::T_FLOAT, ply::T_FLOAT,          offsetof(LoadPly_VertAux<ScalarType>,q),0,0,0,0,0},
+            /*05*/ {"vertex", "red"  ,     ply::T_UCHAR, ply::T_UCHAR,          offsetof(LoadPly_VertAux<ScalarType>,r),0,0,0,0,0},
+            /*06*/ {"vertex", "green",     ply::T_UCHAR, ply::T_UCHAR,          offsetof(LoadPly_VertAux<ScalarType>,g),0,0,0,0,0},
+            /*07*/ {"vertex", "blue" ,     ply::T_UCHAR, ply::T_UCHAR,          offsetof(LoadPly_VertAux<ScalarType>,b),0,0,0,0,0},
+            /*08*/ {"vertex", "alpha" ,    ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,a),0,0,0,0,0},
+            // DOUBLE
+            /*09*/ {"vertex", "x",         ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p),0,0,0,0,0  ,0},
+            /*10*/ {"vertex", "y",         ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p) + sizeof(ScalarType)  ,0,0,0,0,0  ,0},
+            /*11*/ {"vertex", "z",         ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p) + 2*sizeof(ScalarType),0,0,0,0,0  ,0},
+            /*12*/ {"vertex", "quality",   ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,q),0,0,0,0,0  ,0}
+        };
+        return pv[i];
+    }
+
+
+    static const  PropDescriptor &TetraDesc(int i)
+    {
+        const static 	PropDescriptor qf[10]=
+        {
+            {"tetra", "vertex_indices", ply::T_INT,   ply::T_INT,   offsetof(LoadPly_TetraAux,v),		     1,0,ply::T_UCHAR,ply::T_UCHAR,offsetof(LoadPly_TetraAux,size) },
+            {"tetra", "flags",          ply::T_INT,   ply::T_INT,   offsetof(LoadPly_TetraAux,flags),     0,0,0,0,0},
+            {"tetra", "quality",        ply::T_FLOAT, ply::T_FLOAT, offsetof(LoadPly_TetraAux,q),         0,0,0,0,0},
+            {"tetra", "texcoord",       ply::T_FLOAT, ply::T_FLOAT, offsetof(LoadPly_TetraAux,texcoord),    1,0,ply::T_UCHAR,ply::T_UCHAR,offsetof(LoadPly_TetraAux,ntexcoord) },
+            {"tetra", "color",          ply::T_FLOAT, ply::T_FLOAT, offsetof(LoadPly_TetraAux,colors),     1,0,ply::T_UCHAR,ply::T_UCHAR,offsetof(LoadPly_TetraAux,ncolors) },
+            {"tetra", "texnumber",      ply::T_INT,   ply::T_INT,   offsetof(LoadPly_TetraAux,texcoordind), 0,0,0,0,0},
+            {"tetra", "red"  ,          ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_TetraAux,r),         0,0,0,0,0},
+            {"tetra", "green",          ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_TetraAux,g),         0,0,0,0,0},
+            {"tetra", "blue" ,          ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_TetraAux,b),         0,0,0,0,0},
+            {"tetra", "alpha" ,         ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_TetraAux,a),         0,0,0,0,0},
+
+        };
+        return qf[i];
+    }
+
+
+
+    /// Standard call for reading a mesh
+    static int Open( OpenMeshType &m, const char * filename, CallBackPos *cb=0)
+    {
+        PlyInfo pi;
+        pi.cb=cb;
+        return Open(m, filename, pi);
+    }
+
+    /// Read a mesh and store in loadmask the loaded field
+    static int Open( OpenMeshType &m, const char * filename, int & loadmask, CallBackPos *cb =0)
+    {
+        PlyInfo pi;
+        pi.mask=loadmask;
+        return Open(m, filename,pi);
+        loadmask=pi.mask;
+    }
+
+
+    /// read a mesh with all the possible option specified in the PlyInfo obj.
+    static int Open( OpenMeshType &m, const char * filename, PlyInfo & pi )
+    {
+        assert(filename!=0);
+        vector<VertexPointer> index;
+
+        LoadPly_TetraAux fa;
+        LoadPly_VertAux<ScalarType> va;
+
+        pi.mask = 0;
+
+        va.flags = 42;
+
+        pi.status = ::vcg::ply::E_NOERROR;
+
+        // The main descriptor of the ply file
+        vcg::ply::PlyFile pf;
+
+        // Open the file and parse the header
+        std::cerr << "Parsing the header.." << std::endl;
+        if( pf.Open(filename,vcg::ply::PlyFile::MODE_READ)== -1 )
+        {
+            pi.status = pf.GetError();
+            return -1;
+        }
+        std::cerr << "Parsed the header.." << std::endl;
+        pi.header = pf.GetHeader();
+
+        // Descrittori dati standard (vertex coord e faces)
+        if( pf.AddToRead(VertDesc(0))  == -1 && pf.AddToRead(VertDesc(9))  == -1 ) { pi.status = PlyInfo::E_NO_VERTEX; return pi.status; }
+        if( pf.AddToRead(VertDesc(1))  == -1 && pf.AddToRead(VertDesc(10)) == -1 ) { pi.status = PlyInfo::E_NO_VERTEX; return pi.status; }
+        if( pf.AddToRead(VertDesc(2))  == -1 && pf.AddToRead(VertDesc(11)) == -1 ) { pi.status = PlyInfo::E_NO_VERTEX; return pi.status; }
+        if( pf.AddToRead(TetraDesc(0)) == -1 ) { pi.status = PlyInfo::E_NO_VERTEX; return pi.status; }
+
+        // Descrittori facoltativi dei flags
+        if( pf.AddToRead(VertDesc(3)) != -1 )
+            pi.mask |= vcg::tetra::io::Mask::IOM_VERTFLAGS;
+        if( VertexType::HasQuality() )
+        {
+            if( pf.AddToRead(VertDesc(4)) != -1 ||
+                pf.AddToRead(VertDesc(9)) != -1 )
+                pi.mask |= vcg::tetra::io::Mask::IOM_VERTQUALITY;
+        }
+        if( VertexType::HasColor() )
+        {
+            if( pf.AddToRead(VertDesc(5))!=-1 )
+            {
+                pf.AddToRead(VertDesc(6));
+                pf.AddToRead(VertDesc(7));
+                pf.AddToRead(VertDesc(8));
+
+                pi.mask |= vcg::tetra::io::Mask::IOM_VERTCOLOR;
+            }
+        }
+        // se ci sono i flag per vertice ci devono essere anche i flag per faccia
+        if( pf.AddToRead(TetraDesc(1))!=-1 )
+            pi.mask |= vcg::tetra::io::Mask::IOM_TETRAFLAGS;
+        if( TetraType::HasQuality())
+        {
+            if( pf.AddToRead(TetraDesc(2))!=-1 )
+                pi.mask |= vcg::tetra::io::Mask::IOM_TETRAQUALITY;
+        }
+        if( TetraType::HasColor() )
+        {
+            if( pf.AddToRead(TetraDesc(6))!=-1 )
+            {
+                pf.AddToRead(TetraDesc(7));
+                pf.AddToRead(TetraDesc(8));
+                pf.AddToRead(TetraDesc(9));
+                pi.mask |= vcg::tetra::io::Mask::IOM_TETRACOLOR;
+            }
+        }
+        // Descrittori definiti dall'utente,
+        vector<PropDescriptor> VPV(pi.vdn); // property descriptor relative al tipo LoadPly_VertexAux
+        vector<PropDescriptor> FPV(pi.fdn); // property descriptor relative al tipo LoadPly_FaceAux
+
+        if(pi.vdn>0){
+            // Compute the total size needed to load additional per vertex data.
+            size_t totsz=0;
+            for(int i=0;i<pi.vdn;i++){
+                VPV[i] = pi.VertexData[i];
+                VPV[i].offset1=offsetof(LoadPly_VertAux<ScalarType>,data)+totsz;
+                totsz+=pi.VertexData[i].memtypesize();
+                if( pf.AddToRead(VPV[i])==-1 ) { pi.status = pf.GetError(); return -1; }
+            }
+            if(totsz > MAX_USER_DATA)
+            {
+                pi.status = vcg::ply::E_BADTYPE;
+                return -1;
+            }
+        }
+        if(pi.fdn>0){
+            size_t totsz=0;
+            for(int i=0;i<pi.fdn;i++){
+                FPV[i] = pi.TetraData[i];
+                FPV[i].offset1=offsetof(LoadPly_TetraAux,data)+totsz;
+                totsz+=pi.TetraData[i].memtypesize();
+                if( pf.AddToRead(FPV[i])==-1 ) { pi.status = pf.GetError(); return -1; }
+            }
+            if(totsz > MAX_USER_DATA)
+            {
+                pi.status = vcg::ply::E_BADTYPE;
+                return -1;
+            }
+        }
+        /**************************************************************/
+        /* Main Reading Loop */
+        /**************************************************************/
+        m.Clear();
+        for(int i=0;i<int(pf.elements.size());i++)
+        {
+            int n = pf.ElemNumber(i);
+
+            if( !strcmp( pf.ElemName(i),"vertex" ) )
+            {
+                int j;
+
+                pf.SetCurElement(i);
+                VertexIterator vi=Allocator<OpenMeshType>::AddVertices(m,n);
+
+                for(j=0;j<n;++j)
+                {
+                    if(pi.cb && (j%1000)==0) pi.cb(j*50/n,"Vertex Loading");
+                    if( pf.Read( (void *)&(va) )==-1 )
+                    {
+                        pi.status = PlyInfo::E_SHORTFILE;
+                        return -1;
+                    }
+
+                    (*vi).P()[0] = va.p[0];
+                    (*vi).P()[1] = va.p[1];
+                    (*vi).P()[2] = va.p[2];
+
+                    if( pi.mask & vcg::tetra::io::Mask::IOM_VERTFLAGS )
+                        (*vi).Flags() = va.flags;
+
+                    if( pi.mask & vcg::tetra::io::Mask::IOM_VERTQUALITY )
+                        (*vi).Q() = va.q;
+                    if( pi.mask & vcg::tetra::io::Mask::IOM_VERTCOLOR )
+                    {
+
+                        (*vi).C()[0] = va.r;
+                        (*vi).C()[1] = va.g;
+                        (*vi).C()[2] = va.b;
+                        (*vi).C()[3] = va.a;
+                    }
+
+
+                    for(int k=0;k<pi.vdn;k++)
+                        memcpy((char *)(&*vi) + pi.VertexData[k].offset1,
+                               (char *)(&va) + VPV[k].offset1,
+                               VPV[k].memtypesize());
+                    ++vi;
+                }
+
+                index.resize(n);
+                for(j=0,vi=m.vert.begin();j<n;++j,++vi)
+                    index[j] = &*vi;
+            }
+            else if( !strcmp( pf.ElemName(i),"tetra") )/************************************************************/
+            {
+                int j;
+                int k;
+                TetraIterator ti = Allocator<OpenMeshType>::AddTetras(m, n);
+                pf.SetCurElement(i);
+
+                for(j=0;j<n;++j)
+                {
+
+
+                    if(pi.cb && (j%1000)==0) pi.cb(50+j*50/n,"Tetra Loading");
+                    if( pf.Read(&fa)==-1 )
+                    {
+                        pi.status = PlyInfo::E_SHORTFILE;
+                        return -1;
+                    }
+                    if(fa.size!=4)
+                    {
+                        pi.status = PlyInfo::E_NO_3VERTINFACE;
+                        return -1;
+                    }
+
+                    for(k=0;k<4;++k)
+                    {
+                        if( fa.v[k]<0 || fa.v[k]>=m.vn )
+                        {
+                            pi.status = PlyInfo::E_BAD_VERT_INDEX;
+                            return -1;
+                        }
+                        (*ti).V(k) = index[ fa.v[k] ];
+                    }
+
+                    if( pi.mask & vcg::tetra::io::Mask::IOM_TETRAFLAGS )
+                    {
+                        (*ti).Flags() = fa.flags;
+                    }
+
+                    if( pi.mask & vcg::tetra::io::Mask::IOM_TETRAQUALITY )
+                    {
+                        (*ti).Q() = fa.q;
+                    }
+
+                    if( pi.mask & vcg::tetra::io::Mask::IOM_TETRACOLOR )
+                    {
+                        (*ti).C()[0] = fa.r;
+                        (*ti).C()[1] = fa.g;
+                        (*ti).C()[2] = fa.b;
+                        (*ti).C()[3] = fa.a;
+                    }
+                    ++ti;
+                }
+
+                for(k=0;k<pi.fdn;k++)
+                    memcpy((char *)(&(*ti)) + pi.TetraData[k].offset1,
+                           (char *)(&fa) + FPV[k].offset1,
+                           FPV[k].memtypesize());
+            }
+            else
+            {
+                // Skippaggio elementi non gestiti
+                int n = pf.ElemNumber(i);
+                pf.SetCurElement(i);
+
+                for(int j=0;j<n;j++)
+                {
+                    if( pf.Read(0)==-1)
+                    {
+                        pi.status = PlyInfo::E_SHORTFILE;
+                        return -1;
+                    }
+                }
+            }
+        }
+
+        // // Parsing texture names
+        //textures.clear();
+        //normalmaps.clear();
+
+        //for(int co=0;co<int(pf.comments.size());++co)
+        //{
+        //	const char * TFILE = "TextureFile";
+        //	const char * NFILE = "TextureNormalFile";
+        //	const char * c = pf.comments[co];
+        //	char buf[256];
+        //	int i,j,n;
+
+        //	if( !strncmp(c,TFILE,strlen(TFILE)) )
+        //	{
+        //		strcpy(buf,c+strlen(TFILE)+1);
+        //		n = strlen(buf);
+        //		for(i=j=0;i<n;i++)
+        //			if( buf[i]!=' ' && buf[i]!='\t' && buf[i]>32 && buf[i]<125 )	buf[j++] = buf[i];
+        //
+        //		buf[j] = 0;
+        //		char buf2[255];
+        //		__interpret_texture_name( buf,filename,buf2 );
+        //		textures.push_back( xstring(buf2) );
+        //	}
+        //	if( !strncmp(c,NFILE,strlen(NFILE)) )
+        //	{
+        //		strcpy(buf,c+strlen(NFILE)+1);
+        //		n = strlen(buf);
+        //		for(i=j=0;i<n;i++)
+        //			if( buf[i]!=' ' && buf[i]!='\t' && buf[i]>32 && buf[i]<125 )	buf[j++] = buf[i];
+        //
+        //		buf[j] = 0;
+        //		char buf2[255];
+        //		__interpret_texture_name( buf,filename,buf2 );
+        //		normalmaps.push_back( xstring(buf2) );
+        //	}
+        //}
+
+        // vn and fn should be correct but if someone wrongly saved some deleted elements they can be wrong.
+        m.vn = 0;
+        VertexIterator vi;
+        for(vi=m.vert.begin();vi!=m.vert.end();++vi)
+            if( ! (*vi).IsD() )
+                ++m.vn;
+
+        m.tn = 0;
+        TetraIterator fi;
+        for(fi=m.tetra.begin();fi!=m.tetra.end();++fi)
+            if( ! (*fi).IsD() )
+                ++m.tn;
+
+        return 0;
+    }
+
+
+//    // Caricamento camera da un ply
+//    int LoadCamera(const char * filename)
+//    {
+//        vcg::ply::PlyFile pf;
+//        if( pf.Open(filename,vcg::ply::PlyFile::MODE_READ)==-1 )
+//        {
+//            pi.status = pf.GetError();
+//            return -1;
+//        }
+
+
+//        bool found = true;
+//        int i;
+//        for(i=0;i<23;++i)
+//        {
+//            if( pf.AddToRead(CameraDesc(i))==-1 )
+//            {
+//                found = false;
+//                break;
+//            }
+//        }
+
+//        if(!found)
+//            return -1;
+
+//        for(i=0;i<int(pf.elements.size());i++)
+//        {
+//            int n = pf.ElemNumber(i);
+
+//            if( !strcmp( pf.ElemName(i),"camera" ) )
+//            {
+//                pf.SetCurElement(i);
+
+//                //LoadPly_Camera ca;
+
+//                for(int j=0;j<n;++j)
+//                {
+//                    if( pf.Read( (void *)&(ca) )==-1 )
+//                    {
+//                        pi.status = PlyInfo::E_SHORTFILE;
+//                        return -1;
+//                    }
+//                    camera.valid     = true;
+//                    camera.view_p[0] = ca.view_px;
+//                    camera.view_p[1] = ca.view_py;
+//                    camera.view_p[2] = ca.view_pz;
+//                    camera.x_axis[0] = ca.x_axisx;
+//                    camera.x_axis[1] = ca.x_axisy;
+//                    camera.x_axis[2] = ca.x_axisz;
+//                    camera.y_axis[0] = ca.y_axisx;
+//                    camera.y_axis[1] = ca.y_axisy;
+//                    camera.y_axis[2] = ca.y_axisz;
+//                    camera.z_axis[0] = ca.z_axisx;
+//                    camera.z_axis[1] = ca.z_axisy;
+//                    camera.z_axis[2] = ca.z_axisz;
+//                    camera.f         = ca.focal;
+//                    camera.s[0]      = ca.scalex;
+//                    camera.s[1]      = ca.scaley;
+//                    camera.c[0]      = ca.centerx;
+//                    camera.c[1]      = ca.centery;
+//                    camera.viewport[0] = ca.viewportx;
+//                    camera.viewport[1] = ca.viewporty;
+//                    camera.k[0]      = ca.k1;
+//                    camera.k[1]      = ca.k2;
+//                    camera.k[2]      = ca.k3;
+//                    camera.k[3]      = ca.k4;
+//                }
+//                break;
+//            }
+//        }
+
+//        return 0;
+//    }
+
+
+    static bool LoadMask(const char * filename, int &mask)
+    {
+        PlyInfo pi;
+        return LoadMask(filename, mask, pi);
+    }
+
+    static bool LoadMask(const char * filename, int &mask, PlyInfo &pi)
+    {
+        mask=0;
+        vcg::ply::PlyFile pf;
+        if( pf.Open(filename,vcg::ply::PlyFile::MODE_READ)==-1 )
+        {
+            pi.status = pf.GetError();
+            return false;
+        }
+
+        if( pf.AddToRead(VertDesc(0))!=-1 &&
+            pf.AddToRead(VertDesc(1))!=-1 &&
+            pf.AddToRead(VertDesc(2))!=-1 )
+            mask |= vcg::tetra::io::Mask::IOM_VERTCOORD;
+
+        if( pf.AddToRead(VertDesc(3))!=-1 )
+            mask |= vcg::tetra::io::Mask::IOM_VERTFLAGS;
+
+        if( pf.AddToRead(VertDesc(4))!=-1 )
+            mask |= vcg::tetra::io::Mask::IOM_VERTQUALITY;
+
+        if( ( pf.AddToRead(VertDesc(5))!=-1 ) &&
+            ( pf.AddToRead(VertDesc(6))!=-1 ) &&
+            ( pf.AddToRead(VertDesc(7))!=-1 ) &&
+            ( pf.AddToRead(VertDesc(8))!=-1 ))
+            mask |= vcg::tetra::io::Mask::IOM_VERTCOLOR;
+
+        if( pf.AddToRead(TetraDesc(0))!=-1 )
+            mask |= vcg::tetra::io::Mask::IOM_TETRAINDEX;
+
+        if( pf.AddToRead(TetraDesc(1))!=-1 )
+            mask |= vcg::tetra::io::Mask::IOM_TETRAFLAGS;
+
+        if( pf.AddToRead(TetraDesc(2))!=-1 )
+            mask |= vcg::tetra::io::Mask::IOM_TETRAQUALITY;
+
+        if( ( pf.AddToRead(TetraDesc(6))!=-1 ) &&
+            ( pf.AddToRead(TetraDesc(7))!=-1 ) &&
+            ( pf.AddToRead(TetraDesc(8))!=-1 ) &&
+            ( pf.AddToRead(TetraDesc(9))!=-1 ))
+            mask |= vcg::tetra::io::Mask::IOM_TETRACOLOR;
+
+
+        return true;
+    }
 
 
 }; // end class
diff --git a/wrap/io_tetramesh/io_mask.h b/wrap/io_tetramesh/io_mask.h
new file mode 100644
index 00000000..848a873e
--- /dev/null
+++ b/wrap/io_tetramesh/io_mask.h
@@ -0,0 +1,80 @@
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2016                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *   
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+#ifndef __VCGLIB_IOTETRAMESH_IO_MASK
+#define __VCGLIB_IOTETRAMESH_IO_MASK
+
+namespace vcg {
+namespace tetra {
+namespace io {
+
+/**
+@name Input/output data mask
+*/
+//@{
+  
+class Mask
+{
+public:
+
+  /*
+  Bitmask for specifying what data has to be loaded or saved or it is present in a given plyfile;
+*/
+
+enum {
+	IOM_NONE         = 0x00000,
+
+    IOM_VERTCOORD    = 0x00001,
+	IOM_VERTFLAGS    = 0x00002,
+	IOM_VERTCOLOR    = 0x00004,
+	IOM_VERTQUALITY  = 0x00008,
+	IOM_VERTRADIUS   = 0x10000,
+
+	IOM_EDGEINDEX    = 0x80000,
+
+	IOM_TETRAINDEX   = 0x00010,
+	IOM_TETRAFLAGS   = 0x00020,
+	IOM_TETRACOLOR   = 0x00040,
+	IOM_TETRAQUALITY = 0x00080,
+
+	IOM_CAMERA       = 0x08000,
+
+	IOM_FLAGS        = IOM_VERTFLAGS + IOM_TETRAFLAGS,
+
+	IOM_ALL          = 0xFFFFF
+};
+
+template <class MeshType>
+static void ClampMask(MeshType &m, int &mask)
+{
+  if( (mask & IOM_TETRACOLOR)    && !HasPerTetraColor(m) )   mask = mask & (~IOM_TETRACOLOR);
+  if( (mask & IOM_VERTCOLOR)    && !HasPerVertexColor(m) )   mask = mask & (~IOM_VERTCOLOR);
+}
+
+}; // end class
+//@}
+
+} // end namespace tetra
+} // end namespace io
+} // end namespace vcg
+#endif
diff --git a/wrap/io_tetramesh/io_ply.h b/wrap/io_tetramesh/io_ply.h
index 2bb9e6c5..c2e9d472 100644
--- a/wrap/io_tetramesh/io_ply.h
+++ b/wrap/io_tetramesh/io_ply.h
@@ -37,8 +37,8 @@ Revision 1.1  2004/03/03 15:00:51  cignoni
 Initial commit
 
 ****************************************************************************/
-#ifndef __VCGLIB_IOTRIMESH_IO_PLY
-#define __VCGLIB_IOTRIMESH_IO_PLY
+#ifndef __VCGLIB_IOTETRAMESH_IO_PLY
+#define __VCGLIB_IOTETRAMESH_IO_PLY
 
 
 /**
diff --git a/wrap/io_trimesh/alnParser.h b/wrap/io_trimesh/alnParser.h
new file mode 100644
index 00000000..1e7fd4a4
--- /dev/null
+++ b/wrap/io_trimesh/alnParser.h
@@ -0,0 +1,156 @@
+/****************************************************************************
+* MeshLab                                                           o o     *
+* An extendible mesh processor                                    o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2005, 2009                                          \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
+
+#ifndef __OM_ALNPARSER_
+#define __OM_ALNPARSER_
+
+#include <vector>
+#include <string>
+#include <vcg/math/matrix44.h>
+
+struct RangeMap
+{
+	RangeMap()
+	{
+		quality = 1.0f;
+	}
+	
+	std::string filename;
+	Matrix44m   transformation;
+	float       quality;
+};
+
+class ALNParser
+{
+public:
+    enum ALNParserCodes {NoError, CantOpen, UnexpectedEOF, ExpectingComment};
+
+    static const char* ErrorMsg(int message_code)
+    {
+        static const char* error_msg[4] = {"No errors", "Can't open file", "Premature End of file", "I was expecting a comment"};
+
+        if(message_code>3 || message_code<0)
+            return "Unknown error";
+        else
+            return error_msg[message_code];
+    };
+
+    static int BuildALN(std::vector<RangeMap> &rangemaps, std::vector< std::string > &files)
+    {
+        rangemaps.clear();
+        rangemaps.resize( files.size() );
+        std::vector< RangeMap >::iterator		 rm  = rangemaps.begin();
+        std::vector< std::string >::iterator it  = files.begin();
+        std::vector< std::string >::iterator end = files.end();
+        for ( ; it!=end; it++, rm++)
+        {
+            (*rm).filename = (*it);
+            (*rm).quality  = 1.0f;
+            (*rm).transformation.SetIdentity();
+        }
+        files.clear();
+        return NoError;
+    };
+
+    static int ParseALN(std::vector<RangeMap> &rangemaps, const char *ALNname)
+    {
+        rangemaps.clear();
+
+        FILE *stream=fopen(ALNname, "rt");
+        if(stream==NULL)
+            return CantOpen;
+
+        int mesh_number;
+        fscanf(stream, "%i\n", &mesh_number);
+
+        char buffer[1024];
+        for (int m=0; m<mesh_number; m++)
+        {
+            RangeMap rm;
+
+            fgets(buffer, 1024, stream);
+            *strchr(buffer, '\n')=0;
+            if(strchr(buffer,'\r')) 	*strchr(buffer,'\r')=0;
+            rm.filename = buffer;
+
+            fgets(buffer, 1024, stream);
+            if(buffer[0]!='#')
+                return ExpectingComment;
+
+            *strchr(buffer,'\n')=0;
+            if(strchr(buffer,'\r')) 	*strchr(buffer,'\r')=0;
+
+
+            char *occurrence = strchr(buffer, 'W');
+            if(occurrence!=NULL && occurrence[1]==':')
+                rm.quality = (float) atof(occurrence+2);
+            assert(rm.quality>0);
+
+            fscanf(stream,"%f %f %f %f \n",&(rm.transformation[0][0]),&(rm.transformation[0][1]),&(rm.transformation[0][2]),&(rm.transformation[0][3]));
+            fscanf(stream,"%f %f %f %f \n",&(rm.transformation[1][0]),&(rm.transformation[1][1]),&(rm.transformation[1][2]),&(rm.transformation[1][3]));
+            fscanf(stream,"%f %f %f %f \n",&(rm.transformation[2][0]),&(rm.transformation[2][1]),&(rm.transformation[2][2]),&(rm.transformation[2][3]));
+            fscanf(stream,"%f %f %f %f \n",&(rm.transformation[3][0]),&(rm.transformation[3][1]),&(rm.transformation[3][2]),&(rm.transformation[3][3]));
+
+            rangemaps.push_back(rm);
+        }
+    fclose(stream);
+        return NoError;
+    } // end of ParseALN
+
+static bool SaveALN(const char *alnfile, std::vector<std::string> &names)
+{
+    std::vector<vcg::Matrix44f> Tr(names.size());
+    for(int i=0; i < static_cast<int>(Tr.size()); ++i) Tr[i].SetIdentity();
+    return SaveALN(alnfile,names, Tr);
+}
+template <class matrixfloat>
+static bool SaveALN(const char *alnfile, std::vector<std::string> &names, std::vector<vcg::Matrix44<matrixfloat> > &Tr)
+{
+ // printf("Saving aln file %s\n",alnfile);
+  FILE *fp=fopen(alnfile,"w");
+  if(!fp)
+  {
+    printf("unable to open file %s\n",alnfile);
+    return false;
+  }
+
+  fprintf(fp,"%i\n",(int)names.size());
+  for(int i=0;i < static_cast<int>(names.size());++i)
+  {
+    fprintf(fp,"%s\n",names[i].c_str());
+
+    fprintf(fp,"#\n");
+    fprintf(fp,"%lf %lf %lf %lf \n",(Tr[i][0][0]),(Tr[i][0][1]),(Tr[i][0][2]),(Tr[i][0][3]));
+    fprintf(fp,"%lf %lf %lf %lf \n",(Tr[i][1][0]),(Tr[i][1][1]),(Tr[i][1][2]),(Tr[i][1][3]));
+    fprintf(fp,"%lf %lf %lf %lf \n",(Tr[i][2][0]),(Tr[i][2][1]),(Tr[i][2][2]),(Tr[i][2][3]));
+    fprintf(fp,"%lf %lf %lf %lf \n",(Tr[i][3][0]),(Tr[i][3][1]),(Tr[i][3][2]),(Tr[i][3][3]));
+  }
+  fprintf(fp,"0\n");
+
+  fclose(fp);
+  return true;
+}
+
+};
+
+#endif //__OM_ALNPARSER_
diff --git a/wrap/io_trimesh/export_3ds.h b/wrap/io_trimesh/export_3ds.h
index 387222f5..69e4bd15 100644
--- a/wrap/io_trimesh/export_3ds.h
+++ b/wrap/io_trimesh/export_3ds.h
@@ -234,7 +234,7 @@ namespace io {
 							if(AddDuplexVertexCoord(ListOfDuplexVert,Key(i,t)))
 							{
 								VectorOfVertexType.push_back((*(*fi).V(k)));
-								ListOfDuplexVert[Key(i,t)] = VectorOfVertexType.size()-1;
+								ListOfDuplexVert[Key(i,t)] = int(VectorOfVertexType.size()-1);
 								count++;
 							}
 						}
@@ -362,7 +362,7 @@ namespace io {
 
 				if((mask & vcg::tri::io::Mask::IOM_FACECOLOR) | (mask & vcg::tri::io::Mask::IOM_WEDGTEXCOORD))
 				{
-					int material_index = vcg::tri::io::Materials<SaveMeshType>::CreateNewMaterial(m, materials, 0, fi);
+					int material_index = vcg::tri::io::Materials<SaveMeshType>::CreateNewMaterial(m, materials, fi);
 					if(material_index == (int)materials.size())
 					{
 						Lib3dsMaterial *material = lib3ds_material_new();//creates a new material
diff --git a/wrap/io_trimesh/export_dxf.h b/wrap/io_trimesh/export_dxf.h
index 56e7323b..7f4e8557 100644
--- a/wrap/io_trimesh/export_dxf.h
+++ b/wrap/io_trimesh/export_dxf.h
@@ -86,22 +86,26 @@ public:
     fprintf(o,"ENDSEC\n");
     fprintf(o,"0\n");
     fprintf(o,"EOF\n");
-    fclose(o);
-    return 0;
+
+	int result = 0;
+	if (ferror(o)) result = 2;
+	fclose(o);
+	return result;
   }
   /// Standard call for knowing the meaning of an error code
   static const char *ErrorMsg(int error)
   {
-    static std::vector<std::string> dxf_error_msg;
-    if(dxf_error_msg.empty())
-    {
-      dxf_error_msg.resize(2 );
-      dxf_error_msg[0]="No errors";
-      dxf_error_msg[1]="Can't open file";
-    }
+	  static std::vector<std::string> dxf_error_msg;
+	  if (dxf_error_msg.empty())
+	  {
+		  dxf_error_msg.resize(3);
+		  dxf_error_msg[0] = "No errors";
+		  dxf_error_msg[1] = "Can't open file";
+		  dxf_error_msg[2] = "Output Stream Error";
+	  }
 
-    if(error>1 || error<0) return "Unknown error";
-    else return dxf_error_msg[error].c_str();
+	  if (error>2 || error<0) return "Unknown error";
+	  else return dxf_error_msg[error].c_str();
   }
 
 
diff --git a/wrap/io_trimesh/export_field.h b/wrap/io_trimesh/export_field.h
index 80f02a45..ea89f70b 100644
--- a/wrap/io_trimesh/export_field.h
+++ b/wrap/io_trimesh/export_field.h
@@ -94,15 +94,14 @@ public:
                         const char *path)
     {
         FILE *f = fopen(path,"wt");
-        fprintf(f,"%d\n",mesh.vn);
+        fprintf(f,"%d\n",mesh.fn);
         fprintf(f,"4\n");
-        for (unsigned int i=0;i<mesh.vert.size();i++)
+        for (unsigned int i=0;i<mesh.face.size();i++)
         {
-            float dirX=(float)mesh.vert[i].PD1().X();
-            float dirY=(float)mesh.vert[i].PD1().Y();
-            float dirZ=(float)mesh.vert[i].PD1().Z();
+            float dirX=(float)mesh.face[i].PD1().X();
+            float dirY=(float)mesh.face[i].PD1().Y();
+            float dirZ=(float)mesh.face[i].PD1().Z();
             fprintf(f,"%f %f %f \n",dirX,dirY,dirZ);
-
         }
         fclose(f);
     }
@@ -124,6 +123,27 @@ public:
         fclose(f);
     }
 
+    static void SaveCSVField(MeshType &mesh,
+                             const std::string &field_1,
+                             const std::string &field_2)
+    {
+        FILE *f1=NULL;
+        FILE *f2=NULL;
+        f1=fopen(field_1.c_str(),"wt");
+        f2=fopen(field_2.c_str(),"wt");
+        for (size_t i=0;i<mesh.face.size();i++)
+        {
+            typename MeshType::CoordType PD1=mesh.face[i].PD1();
+            typename MeshType::CoordType PD2=mesh.face[i].PD2();
+            fprintf(f1,"%e,%e,%e\n",PD1.X(),PD1.Y(),PD1.Z());
+            fprintf(f2,"%e,%e,%e\n",PD2.X(),PD2.Y(),PD2.Z());
+        }
+
+        //then color by quality
+        fclose(f1);
+        fclose(f2);
+    }
+
 }; // end class
 
 
diff --git a/wrap/io_trimesh/export_gts.h b/wrap/io_trimesh/export_gts.h
index 83bf9cfe..4af571cb 100644
--- a/wrap/io_trimesh/export_gts.h
+++ b/wrap/io_trimesh/export_gts.h
@@ -173,22 +173,27 @@ namespace vcg {
 					for(j=0,vi=m.vert.begin();vi!=m.vert.end();++vi)
 						(*vi).Flags()=FlagV[j++];
 
-					return 0;
+
+					int result = 0;
+					if (stream.status() != QTextStream::Ok) result = 3;
+					stream.flush();
+					return result;
 				}
 
         static const char *ErrorMsg(int error)
         {
-          static std::vector<std::string> off_error_msg;
-          if(off_error_msg.empty())
-          {
-            off_error_msg.resize(2 );
-            off_error_msg[0]="No errors";
-	          off_error_msg[1]="Can't open file";
-						off_error_msg[2]="Internal error";
-					}
+			static std::vector<std::string> off_error_msg;
+			if (off_error_msg.empty())
+			{
+				off_error_msg.resize(4);
+				off_error_msg[0] = "No errors";
+				off_error_msg[1] = "Can't open file";
+				off_error_msg[2] = "Internal error";
+				off_error_msg[3] = "Otput Stream Error";
+			}
 
-          if(error>2 || error<0) return "Unknown error";
-          else return off_error_msg[error].c_str();
+			if (error>3 || error<0) return "Unknown error";
+			else return off_error_msg[error].c_str();
         }
         /*
 	        returns mask of capability one define with what are the saveable information of the format.
diff --git a/wrap/io_trimesh/export_obj.h b/wrap/io_trimesh/export_obj.h
index effb733f..c34d4b80 100644
--- a/wrap/io_trimesh/export_obj.h
+++ b/wrap/io_trimesh/export_obj.h
@@ -28,7 +28,7 @@
 
 #include <wrap/callback.h>
 #include <wrap/io_trimesh/io_mask.h>
-#include "io_material.h"
+#include <wrap/io_trimesh/io_material.h>
 #include <iostream>
 #include <fstream>
 #include <map>
@@ -54,14 +54,16 @@ public:
         */
   enum SaveError
   {
-    E_NOERROR,					// 0
-    E_CANTOPENFILE,				// 1
-    E_CANTCLOSEFILE,			// 2
-    E_UNESPECTEDEOF,			// 3
-    E_ABORTED,					// 4
-    E_NOTDEFINITION,			// 5
-    E_NOTVEXTEXVALID,			// 6
-    E_NOTFACESVALID				// 7
+    E_NOERROR,            // 0
+    E_CANTOPENFILE,       // 1
+    E_CANTCLOSEFILE,      // 2
+    E_UNESPECTEDEOF,      // 3
+    E_ABORTED,            // 4
+    E_NOTDEFINITION,      // 5
+    E_NO_VERTICES,        // 6
+    E_NOTFACESVALID,      // 7
+    E_NO_VALID_MATERIAL,  // 8
+	E_STREAMERROR         // 9
   };
 
   /*
@@ -71,17 +73,19 @@ public:
   {
     static const char* obj_error_msg[] =
     {
-      "No errors",							// 0
-      "Can't open file",						// 1
-      "can't close file",						// 2
-      "Premature End of file",				// 3
-      "File saving aborted",					// 4
-      "Function not defined",					// 5
-      "Vertices not valid",					// 6
-      "Faces not valid"						// 7
+      "No errors",  // 0
+      "Can't open file",  // 1
+      "can't close file",  // 2
+      "Premature End of file",  // 3
+      "File saving aborted",  // 4
+      "Function not defined",  // 5
+      "Vertices not valid",  // 6
+      "Faces not valid",  // 7
+      "The mesh has not a attribute containing the vector of materials",  // 8
+	  "Output Stream Error" //9
     };
 
-    if(error>7 || error<0) return "Unknown error";
+    if(error>9 || error<0) return "Unknown error";
     else return obj_error_msg[error];
   };
 
@@ -107,13 +111,20 @@ public:
 
     return capability;
   }
-
-  /*
-            function which saves in OBJ file format
-        */
+  
   static int Save(SaveMeshType &m, const char * filename, int mask, CallBackPos *cb=0)
   {
-    // texture coord and normal: cannot be saved BOTH per vertex and per wedge
+    return Save(m,filename,mask,false,cb);
+  }
+  
+  /** 
+   * main function to export a mesh in OBJ file format
+   * 
+   * if you enable the useMaterialAttribute flag, the exporter will assume that the mesh has a consistent per mesh attribute and a per face attribute containing the index of the material
+   */
+  static int Save(SaveMeshType &m, const char * filename, int mask, bool useMaterialAttribute ,CallBackPos *cb=0)
+  {
+    // texture coord and color: in obj we cannot save BOTH per vertex and per wedge information. We default on wedge
     if (mask & vcg::tri::io::Mask::IOM_WEDGTEXCOORD &&
         mask & vcg::tri::io::Mask::IOM_VERTTEXCOORD ) {
       mask &= ~vcg::tri::io::Mask::IOM_VERTTEXCOORD;
@@ -122,38 +133,40 @@ public:
         mask & vcg::tri::io::Mask::IOM_VERTCOLOR ) {
       mask &= ~vcg::tri::io::Mask::IOM_VERTCOLOR;
     }
-    if(m.vn == 0)	return E_NOTVEXTEXVALID;
-    // Commented out this control. You should be allowed to save a point cloud.
-    // if(m.fn == 0)	return E_NOTFACESVALID;
+    if(m.vn == 0)	return E_NO_VERTICES;
+    
+    typename SaveMeshType::template PerMeshAttributeHandle<std::vector<Material> > materialVecHandle =
+        vcg::tri::Allocator<SaveMeshType>::template FindPerMeshAttribute<std::vector<Material> >(m, "materialVector");
+    typename SaveMeshType::template PerFaceAttributeHandle<int> materialIndexHandle =
+            vcg::tri::Allocator<SaveMeshType>::template FindPerFaceAttribute<int>(m, "materialIndex");
+    
+    if(useMaterialAttribute && (!Allocator<SaveMeshType>::IsValidHandle(m,materialVecHandle)) && 
+       (!Allocator<SaveMeshType>::IsValidHandle(m,materialIndexHandle)) ) 
+        return E_NO_VALID_MATERIAL;
 
-    int current = 0;
-    int totalPrimitives = m.vn+m.fn;
-
-    std::vector<Material> materialVec;
-
-    std::string fn(filename);
-    int LastSlash=fn.size()-1;
-    while(LastSlash>=0 && fn[LastSlash]!='/')
-      --LastSlash;
-
-    FILE *fp;
-    fp = fopen(filename,"w");
+    FILE *fp = fopen(filename,"w");
     if(fp == NULL) return E_CANTOPENFILE;
-
+    std::string shortFilename(filename);
+    int LastSlash=shortFilename.size()-1;
+    while(LastSlash>=0 && shortFilename[LastSlash]!='/')
+      --LastSlash;
+    shortFilename = shortFilename.substr(LastSlash+1);
+    
     fprintf(fp,"####\n#\n# OBJ File Generated by Meshlab\n#\n####\n");
-    fprintf(fp,"# Object %s\n#\n# Vertices: %d\n# Faces: %d\n#\n####\n",fn.substr(LastSlash+1).c_str(),m.vn,m.fn);
-
+    fprintf(fp,"# Object %s\n#\n# Vertices: %d\n# Faces: %d\n#\n####\n",shortFilename.c_str(),m.vn,m.fn);
+    
     //library materialVec
     if( (mask & vcg::tri::io::Mask::IOM_FACECOLOR)  || (mask & Mask::IOM_WEDGTEXCOORD) || (mask & Mask::IOM_VERTTEXCOORD) )
-      fprintf(fp,"mtllib ./%s.mtl\n\n",fn.substr(LastSlash+1).c_str());
+      fprintf(fp,"mtllib ./%s.mtl\n\n",shortFilename.c_str());
 
-    //vertexs + normal
-    VertexIterator vi;
     std::map<CoordType,int> NormalVertex;
     std::vector<int> VertexId(m.vert.size());
     int numvert = 0;
     int curNormalIndex = 1;
-    for(vi=m.vert.begin(); vi!=m.vert.end(); ++vi) if( !(*vi).IsD() )
+    int current = 0;
+    const int totalPrimitives = m.vn+m.fn;    
+    /*********************************** VERTICES *********************************/
+    for(auto vi=m.vert.begin(); vi!=m.vert.end(); ++vi) if( !(*vi).IsD() )
     {
       VertexId[vi-m.vert.begin()]=numvert;
       //saves normal per vertex
@@ -168,17 +181,14 @@ public:
       if (mask & Mask::IOM_VERTNORMAL ) {
         fprintf(fp,"vn %f %f %f\n",(*vi).N()[0],(*vi).N()[1],(*vi).N()[2]);
       }
+      
       if (mask & Mask::IOM_VERTTEXCOORD ) {
         fprintf(fp,"vt %f %f\n",(*vi).T().P()[0],(*vi).T().P()[1]);
       }
-      //if (mask & Mask::IOM_VERTCOLOR ) {
-      //  fprintf(fp,"vc %f %f %f\n",(*vi).T().P()[0],(*vi).T().P()[1]);
-      //}
-
-      //saves vertex
 
       fprintf(fp,"v %f %f %f",(*vi).P()[0],(*vi).P()[1],(*vi).P()[2]);
-      if(mask & Mask::IOM_VERTCOLOR)
+      
+      if(mask & Mask::IOM_VERTCOLOR) // the socially accepted extension to the obj format. 
         fprintf(fp," %f %f %f",double((*vi).C()[0])/255.,double((*vi).C()[1])/255.,double((*vi).C()[2])/255.);
       fprintf(fp,"\n");
 
@@ -193,33 +203,26 @@ public:
       numvert++;
     }
     assert(numvert == m.vn);
-
     fprintf(fp,"# %d vertices, %d vertices normals\n\n",m.vn,int(NormalVertex.size()));
 
+    /********************* FACES ************************/      
     //faces + texture coords
     std::map<TexCoordType,int> CoordIndexTexture;
-    unsigned int material_num = 0;
-    int mem_index = 0; //var temporany
     int curTexCoordIndex = 1;
+    int curMatIndex = -1;
+    std::vector<Material> materialVec; //used if we do not have material attributes 
+    
     for(FaceIterator fi=m.face.begin(); fi!=m.face.end(); ++fi) if( !(*fi).IsD() )
     {
       if((mask & Mask::IOM_FACECOLOR) || (mask & Mask::IOM_WEDGTEXCOORD) || (mask & Mask::IOM_VERTTEXCOORD))
       {
-        int index = Materials<SaveMeshType>::CreateNewMaterial(m,materialVec,material_num,fi);
-
-        if(index == (int)materialVec.size())//inserts a new element material
-        {
-          material_num++;
-          fprintf(fp,"\nusemtl material_%d\n",materialVec[index-1].index);
-          mem_index = index-1;
-        }
-        else
-        {
-          if(index != mem_index)//inserts old name elemente material
-          {
-            fprintf(fp,"\nusemtl material_%d\n",materialVec[index].index);
-            mem_index=index;
-          }
+        int index=-1;
+        if(useMaterialAttribute) index = materialIndexHandle[fi];
+        else                     index = Materials<SaveMeshType>::CreateNewMaterial(m,materialVec,fi);
+                  
+        if(index != curMatIndex) {
+          fprintf(fp,"\nusemtl material_%d\n", index);
+          curMatIndex = index;
         }
       }
 
@@ -234,7 +237,6 @@ public:
             }
         }
 
-
       fprintf(fp,"f ");
       for(int k=0;k<(*fi).VN();k++)
       {
@@ -265,7 +267,7 @@ public:
         { fclose(fp); return E_ABORTED;}
       }
 
-    }//for faces
+    } // end for faces
 
     for(EdgeIterator ei=m.edge.begin(); ei!=m.edge.end(); ++ei) if( !(*ei).IsD() )
     {
@@ -277,15 +279,21 @@ public:
     fprintf(fp,"# %d faces, %d coords texture\n\n",m.fn,int(CoordIndexTexture.size()));
 
     fprintf(fp,"# End of File\n");
-    fclose(fp);
 
     int errCode = E_NOERROR;
     if((mask & Mask::IOM_WEDGTEXCOORD) || (mask & Mask::IOM_FACECOLOR) || (mask & Mask::IOM_VERTTEXCOORD) )
-      errCode = WriteMaterials(materialVec, filename,cb);//write material
+    {
+      if(useMaterialAttribute) errCode = WriteMaterials(materialVecHandle(), filename,cb);
+      else                     errCode = WriteMaterials(materialVec, filename,cb);
+    }
 
-    if(errCode!= E_NOERROR)
-      return errCode;
-    return E_NOERROR;
+	int result = E_NOERROR;
+	if (errCode != E_NOERROR)
+		result = errCode;
+	else if (ferror(fp))
+		result = E_STREAMERROR;
+	fclose(fp);
+	return result;
   }
 
    /*
@@ -382,7 +390,7 @@ public:
         else
         { /* fclose(fp); return E_ABORTED; */ }
 
-        fprintf(fp,"newmtl material_%d\n",materialVec[i].index);
+        fprintf(fp,"newmtl material_%d\n",i);
         fprintf(fp,"Ka %f %f %f\n",materialVec[i].Ka[0],materialVec[i].Ka[1],materialVec[i].Ka[2]);
         fprintf(fp,"Kd %f %f %f\n",materialVec[i].Kd[0],materialVec[i].Kd[1],materialVec[i].Kd[2]);
         fprintf(fp,"Ks %f %f %f\n",materialVec[i].Ks[0],materialVec[i].Ks[1],materialVec[i].Ks[2]);
diff --git a/wrap/io_trimesh/export_off.h b/wrap/io_trimesh/export_off.h
index 1da346dc..3a9fec97 100644
--- a/wrap/io_trimesh/export_off.h
+++ b/wrap/io_trimesh/export_off.h
@@ -77,17 +77,9 @@ public:
     fprintf(fpout,"%d %d 0\n", m.vn, polynumber); // note that as edge number we simply write zero
 
     //vertices
-    int j;
-    std::vector<int> FlagV;
-    VertexPointer  vp;
-    VertexIterator vi;
     const int DGT = vcg::tri::io::Precision<ScalarType>::digits();
-
-    for(j=0,vi=m.vert.begin();vi!=m.vert.end();++vi)
+    for(auto vp=m.vert.begin();vp!=m.vert.end();++vp)
     {
-      vp=&(*vi);
-      if (vcg::tri::HasPerVertexFlags(m))
-        FlagV.push_back(vp->Flags()); // Save vertex flags
       if( ! vp->IsD() )
       {	// ***** ASCII *****
 
@@ -102,15 +94,9 @@ public:
           fprintf(fpout,"%g %g ",vp->T().u(),vp->T().v());
 
         fprintf(fpout,"\n");
-
-
-        vp->Flags()=j; // Trucco! Nascondi nei flags l'indice del vertice non deletato!
-        j++;
       }
     }
 
-    assert(j==m.vn);
-
 
     if (mask &io::Mask::IOM_BITPOLYGONAL) {
       tri::RequireFFAdjacency(m);
@@ -131,36 +117,35 @@ public:
       {
         if( ! fi->IsD() )
         {
+          fprintf(fpout,"%i ",fi->VN());
+          for(int i=0;i<fi->VN();++i)
+              fprintf(fpout,"%lu ",tri::Index(m,fi->V(i)));
           if( tri::HasPerFaceColor(m)  && (mask & io::Mask::IOM_FACECOLOR) )
-            fprintf(fpout,"3 %d %d %d %i %i %i\n", fi->cV(0)->Flags(),	fi->cV(1)->Flags(), fi->cV(2)->Flags(), fi->C()[0],fi->C()[1],fi->C()[2] );
-            else
-          fprintf(fpout,"3 %d %d %d\n", fi->cV(0)->Flags(),	fi->cV(1)->Flags(), fi->cV(2)->Flags() );
+            fprintf(fpout,"%i %i %i", fi->C()[0],fi->C()[1],fi->C()[2] );
+          fprintf(fpout,"\n");
         }
       }
     }
 
-
-    fclose(fpout);
-    // Recupera i flag originali
-    j=0;
-    for(vi=m.vert.begin();vi!=m.vert.end();++vi)
-      (*vi).Flags()=FlagV[j++];
-
-    return 0;
+	int result = 0;
+	if (ferror(fpout)) result = 2;
+	fclose(fpout);
+	return result;
   }
 
   static const char *ErrorMsg(int error)
   {
-    static std::vector<std::string> off_error_msg;
-    if(off_error_msg.empty())
-    {
-      off_error_msg.resize(2 );
-      off_error_msg[0]="No errors";
-      off_error_msg[1]="Can't open file";
-    }
+	  static std::vector<std::string> off_error_msg;
+	  if (off_error_msg.empty())
+	  {
+		  off_error_msg.resize(3);
+		  off_error_msg[0] = "No errors";
+		  off_error_msg[1] = "Can't open file";
+		  off_error_msg[2] = "Output Stream error";
+	  }
 
-    if(error>1 || error<0) return "Unknown error";
-    else return off_error_msg[error].c_str();
+	  if (error>2 || error<0) return "Unknown error";
+	  else return off_error_msg[error].c_str();
   }
   /*
             returns mask of capability one define with what are the saveable information of the format.
diff --git a/wrap/io_trimesh/export_ply.h b/wrap/io_trimesh/export_ply.h
index 73ed0622..c1f45e01 100644
--- a/wrap/io_trimesh/export_ply.h
+++ b/wrap/io_trimesh/export_ply.h
@@ -96,7 +96,6 @@ namespace vcg {
                 static int Save(SaveMeshType &m,  const char * filename, bool binary, PlyInfo &pi, CallBackPos *cb=0)	// V1.0
                 {
                     FILE * fpout;
-                    int i;
                     const char * hbin = "binary_little_endian";
                     const char * hasc = "ascii";
                     const char * h;
@@ -106,7 +105,7 @@ namespace vcg {
                     const int DGTVQ = vcg::tri::io::Precision<typename VertexType::QualityType>::digits();
                     const int DGTVR = vcg::tri::io::Precision<typename VertexType::RadiusType>::digits();
                     const int DGTFQ = vcg::tri::io::Precision<typename FaceType::QualityType>::digits();
-                    bool multit = false;
+                    bool saveTexIndexFlag = false;
 
                     if(binary) h=hbin;
                     else       h=hasc;
@@ -127,10 +126,10 @@ namespace vcg {
                     {
                         const char * TFILE = "TextureFile";
 
-                        for(i=0; i < static_cast<int>(m.textures.size()); ++i)
+                        for(size_t i=0; i < m.textures.size(); ++i)
                             fprintf(fpout,"comment %s %s\n", TFILE, (const char *)(m.textures[i].c_str()) );
 
-                        if(m.textures.size()>1 && (HasPerWedgeTexCoord(m) || HasPerVertexTexCoord(m))) multit = true;
+                        if(m.textures.size()>1 && (HasPerWedgeTexCoord(m) || HasPerVertexTexCoord(m))) saveTexIndexFlag = true;
                     }
 
                     if((pi.mask & Mask::IOM_CAMERA))
@@ -211,8 +210,8 @@ namespace vcg {
                             "property float texture_v\n"
                             );
                     }
-                    for(i=0;i<pi.vdn;i++)
-                        fprintf(fpout,"property %s %s\n",pi.VertexData[i].stotypename(),pi.VertexData[i].propname);
+                    for(size_t i=0;i<pi.VertDescriptorVec.size();i++)
+                        fprintf(fpout,"property %s %s\n",pi.VertDescriptorVec[i].stotypename(),pi.VertDescriptorVec[i].propname);
 
                     fprintf(fpout,
                         "element face %d\n"
@@ -226,14 +225,22 @@ namespace vcg {
                             "property int flags\n"
                             );
                     }
-
-                    if( (HasPerWedgeTexCoord(m) || HasPerVertexTexCoord(m) ) && pi.mask & Mask::IOM_WEDGTEXCOORD ) // Note that you can save VT as WT if you really want it...
+                   
+                    if( (HasPerWedgeTexCoord(m)  && pi.mask & Mask::IOM_WEDGTEXCOORD ) ||
+                        (HasPerVertexTexCoord(m) && (!HasPerWedgeTexCoord(m)) && pi.mask & Mask::IOM_WEDGTEXCOORD ) )  // Note that you can save VT as WT if you really really want it...
                     {
                         fprintf(fpout,
                             "property list uchar float texcoord\n"
                             );
-
-                        if(multit)
+                    }
+                    // The texture index information has to be saved for each face (if necessary) both for PerVert and PerWedg 
+                    if( saveTexIndexFlag &&
+                        ( ( HasPerWedgeTexCoord(m)  && (pi.mask & Mask::IOM_WEDGTEXCOORD) ) ||
+                          ( HasPerVertexTexCoord(m) && (pi.mask & Mask::IOM_VERTTEXCOORD) ) ||
+                          ( HasPerVertexTexCoord(m) && (!HasPerWedgeTexCoord(m)) && (pi.mask & Mask::IOM_WEDGTEXCOORD) ) 
+                         )
+                       )
+                    {
                             fprintf(fpout,
                             "property int texnumber\n"
                             );
@@ -256,14 +263,22 @@ namespace vcg {
                             );
                     }
 
+					if (HasPerFaceNormal(m) && (pi.mask & Mask::IOM_FACENORMAL))
+					{
+						const char* fntp = vcg::tri::io::Precision<typename SaveMeshType::ScalarType>::typeName();
+						fprintf(fpout, "property %s nx\n", fntp);
+						fprintf(fpout, "property %s ny\n", fntp);
+						fprintf(fpout, "property %s nz\n", fntp);
+					}
+
                     if( HasPerFaceQuality(m) && (pi.mask & Mask::IOM_FACEQUALITY) )
                     {
-                        const char* fqtp = vcg::tri::io::Precision<typename SaveMeshType::FaceType::ScalarType>::typeName();
+                        const char* fqtp = vcg::tri::io::Precision<typename SaveMeshType::FaceType::QualityType>::typeName();
                         fprintf(fpout,"property %s quality\n",fqtp);
                     }
 
-                    for(i=0;i<pi.fdn;i++)
-                        fprintf(fpout,"property %s %s\n",pi.FaceData[i].stotypename(),pi.FaceData[i].propname);
+                    for(size_t i=0;i<pi.FaceDescriptorVec.size();i++)
+                        fprintf(fpout,"property %s %s\n",pi.FaceDescriptorVec[i].stotypename(),pi.FaceDescriptorVec[i].propname);
                     // Saving of edges is enabled if requested
                     if( m.en>0 && (pi.mask & Mask::IOM_EDGEINDEX) )
                         fprintf(fpout,
@@ -344,7 +359,59 @@ namespace vcg {
                     VertexPointer  vp;
                     VertexIterator vi;
                     SimpleTempData<typename SaveMeshType::VertContainer,int> indices(m.vert);
-
+                   
+                    std::vector<typename SaveMeshType:: template PerVertexAttributeHandle<float > > thfv(pi.VertDescriptorVec.size());
+                    std::vector<typename SaveMeshType:: template PerVertexAttributeHandle<double> > thdv(pi.VertDescriptorVec.size());
+                    std::vector<typename SaveMeshType:: template PerVertexAttributeHandle<int   > > thiv(pi.VertDescriptorVec.size());
+                    std::vector<typename SaveMeshType:: template PerVertexAttributeHandle<short > > thsv(pi.VertDescriptorVec.size());
+                    std::vector<typename SaveMeshType:: template PerVertexAttributeHandle<char  > > thcv(pi.VertDescriptorVec.size());
+                    std::vector<typename SaveMeshType:: template PerVertexAttributeHandle<unsigned char> >  thuv(pi.VertDescriptorVec.size());
+                    
+                    for(size_t i=0;i<pi.VertDescriptorVec.size();i++)
+                    {
+                      if(!pi.VertAttrNameVec.empty() && !pi.VertAttrNameVec[i].empty())
+                      { // trying to use named attribute to retrieve the value to store
+                        assert(vcg::tri::HasPerVertexAttribute(m,pi.VertAttrNameVec[i]));
+                        switch (pi.VertDescriptorVec[i].stotype1)
+                        {
+                        case ply::T_FLOAT  : thfv[i] = vcg::tri::Allocator<SaveMeshType>::template FindPerVertexAttribute<float>(m,pi.VertAttrNameVec[i]); break;
+                        case ply::T_DOUBLE : thdv[i] = vcg::tri::Allocator<SaveMeshType>::template FindPerVertexAttribute<double>(m,pi.VertAttrNameVec[i]); break; 
+                        case ply::T_INT    : thiv[i] = vcg::tri::Allocator<SaveMeshType>::template FindPerVertexAttribute<int   >(m,pi.VertAttrNameVec[i]); break;
+                        case ply::T_SHORT  : thsv[i] = vcg::tri::Allocator<SaveMeshType>::template FindPerVertexAttribute<short >(m,pi.VertAttrNameVec[i]); break;
+                        case ply::T_CHAR   : thcv[i] = vcg::tri::Allocator<SaveMeshType>::template FindPerVertexAttribute<char>(m,pi.VertAttrNameVec[i]); break;
+                        case ply::T_UCHAR  : thuv[i] = vcg::tri::Allocator<SaveMeshType>::template FindPerVertexAttribute<unsigned char>(m,pi.VertAttrNameVec[i]); break;
+                        default : assert(0);
+                        }
+                      }                      
+                    }                    
+                    std::vector<typename SaveMeshType:: template PerFaceAttributeHandle<float > > thff(pi.FaceDescriptorVec.size());
+                    std::vector<typename SaveMeshType:: template PerFaceAttributeHandle<double> > thdf(pi.FaceDescriptorVec.size());
+                    std::vector<typename SaveMeshType:: template PerFaceAttributeHandle<int   > > thif(pi.FaceDescriptorVec.size());
+                    std::vector<typename SaveMeshType:: template PerFaceAttributeHandle<short > > thsf(pi.FaceDescriptorVec.size());
+                    std::vector<typename SaveMeshType:: template PerFaceAttributeHandle<char  > > thcf(pi.FaceDescriptorVec.size());
+                    std::vector<typename SaveMeshType:: template PerFaceAttributeHandle<unsigned char> >  thuf(pi.FaceDescriptorVec.size());
+                    
+                    for(size_t i=0;i<pi.FaceDescriptorVec.size();i++)
+                    {
+                      if(!pi.FaceAttrNameVec.empty() && !pi.FaceAttrNameVec[i].empty())
+                      { // trying to use named attribute to retrieve the value to store
+                        assert(vcg::tri::HasPerFaceAttribute(m,pi.FaceAttrNameVec[i]));
+                        switch (pi.FaceDescriptorVec[i].stotype1)
+                        {
+                        case ply::T_FLOAT  : thff[i] = vcg::tri::Allocator<SaveMeshType>::template FindPerFaceAttribute<float>(m,pi.FaceAttrNameVec[i]); break;
+                        case ply::T_DOUBLE : thdf[i] = vcg::tri::Allocator<SaveMeshType>::template FindPerFaceAttribute<double>(m,pi.FaceAttrNameVec[i]); break; 
+                        case ply::T_INT    : thif[i] = vcg::tri::Allocator<SaveMeshType>::template FindPerFaceAttribute<int   >(m,pi.FaceAttrNameVec[i]); break;
+                        case ply::T_SHORT  : thsf[i] = vcg::tri::Allocator<SaveMeshType>::template FindPerFaceAttribute<short >(m,pi.FaceAttrNameVec[i]); break;
+                        case ply::T_CHAR   : thcf[i] = vcg::tri::Allocator<SaveMeshType>::template FindPerFaceAttribute<char>(m,pi.FaceAttrNameVec[i]); break;
+                        case ply::T_UCHAR  : thuf[i] = vcg::tri::Allocator<SaveMeshType>::template FindPerFaceAttribute<unsigned char>(m,pi.FaceAttrNameVec[i]); break;
+                        default : assert(0);
+                        }
+                      }                      
+                    }
+                    
+                    
+                    
+                    
                     for(j=0,vi=m.vert.begin();vi!=m.vert.end();++vi){
                         vp=&(*vi);
                         indices[vi] = j;
@@ -381,22 +448,39 @@ namespace vcg {
 
                                 if( HasPerVertexTexCoord(m) && (pi.mask & Mask::IOM_VERTTEXCOORD) )
                                 {
-                                    t = float(vp->T().u()); fwrite(&t,sizeof(float),1,fpout);
-                                    t = float(vp->T().v()); fwrite(&t,sizeof(float),1,fpout);
+                                    t = ScalarType(vp->T().u()); fwrite(&t,sizeof(ScalarType),1,fpout);
+                                    t = ScalarType(vp->T().v()); fwrite(&t,sizeof(ScalarType),1,fpout);
                                 }
 
-                                for(i=0;i<pi.vdn;i++)
+                                for(size_t i=0;i<pi.VertDescriptorVec.size();i++)
                                 {
-                                    double td(0); float tf(0);int ti;short ts; char tc; unsigned char tuc;
-                                    switch (pi.VertexData[i].stotype1)
+                                    double td(0); float tf(0);int ti;short ts; char tc; unsigned char tu;
+                                    if(!pi.VertAttrNameVec.empty() && !pi.VertAttrNameVec[i].empty())
+                                    { // trying to use named attribute to retrieve the value to store
+                                      assert(vcg::tri::HasPerVertexAttribute(m,pi.VertAttrNameVec[i]));
+                                      switch (pi.VertDescriptorVec[i].stotype1)
+                                      {
+                                      case ply::T_FLOAT  : tf=thfv[i][vp]; fwrite(&tf, sizeof(float),1,fpout); break;
+                                      case ply::T_DOUBLE : td=thdv[i][vp]; fwrite(&td, sizeof(double),1,fpout); break;
+                                      case ply::T_INT    : ti=thiv[i][vp]; fwrite(&ti, sizeof(int),1,fpout); break;
+                                      case ply::T_SHORT  : ts=thsv[i][vp]; fwrite(&ts, sizeof(short),1,fpout); break;
+                                      case ply::T_CHAR   : tc=thcv[i][vp]; fwrite(&tc, sizeof(char),1,fpout); break;
+                                      case ply::T_UCHAR  : tu=thuv[i][vp]; fwrite(&tu,sizeof(unsigned char),1,fpout); break;
+                                      default : assert(0);
+                                      }
+                                    }
+                                    else
                                     {
-                                    case ply::T_FLOAT	 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, tf );	fwrite(&tf, sizeof(float),1,fpout); break;
-                                    case ply::T_DOUBLE :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, td );	fwrite(&td, sizeof(double),1,fpout); break;
-                                    case ply::T_INT		 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, ti );	fwrite(&ti, sizeof(int),1,fpout); break;
-                                    case ply::T_SHORT	 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, ts );	fwrite(&ts, sizeof(short),1,fpout); break;
-                                    case ply::T_CHAR	 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, tc );	fwrite(&tc, sizeof(char),1,fpout); break;
-                                    case ply::T_UCHAR	 :		PlyConv(pi.VertexData[i].memtype1,  ((char *)vp)+pi.VertexData[i].offset1, tuc);	fwrite(&tuc,sizeof(unsigned char),1,fpout); break;
-                                    default : assert(0);
+                                      switch (pi.VertDescriptorVec[i].stotype1)
+                                      {
+                                      case ply::T_FLOAT	 :		PlyConv(pi.VertDescriptorVec[i].memtype1,  ((char *)vp)+pi.VertDescriptorVec[i].offset1, tf );	fwrite(&tf, sizeof(float),1,fpout); break;
+                                      case ply::T_DOUBLE :		PlyConv(pi.VertDescriptorVec[i].memtype1,  ((char *)vp)+pi.VertDescriptorVec[i].offset1, td );	fwrite(&td, sizeof(double),1,fpout); break;
+                                      case ply::T_INT		 :		PlyConv(pi.VertDescriptorVec[i].memtype1,  ((char *)vp)+pi.VertDescriptorVec[i].offset1, ti );	fwrite(&ti, sizeof(int),1,fpout); break;
+                                      case ply::T_SHORT	 :		PlyConv(pi.VertDescriptorVec[i].memtype1,  ((char *)vp)+pi.VertDescriptorVec[i].offset1, ts );	fwrite(&ts, sizeof(short),1,fpout); break;
+                                      case ply::T_CHAR	 :		PlyConv(pi.VertDescriptorVec[i].memtype1,  ((char *)vp)+pi.VertDescriptorVec[i].offset1, tc );	fwrite(&tc, sizeof(char),1,fpout); break;
+                                      case ply::T_UCHAR	 :		PlyConv(pi.VertDescriptorVec[i].memtype1,  ((char *)vp)+pi.VertDescriptorVec[i].offset1, tu );	fwrite(&tu,sizeof(unsigned char),1,fpout); break;
+                                      default : assert(0);
+                                      }
                                     }
                                 }
                             }
@@ -405,7 +489,7 @@ namespace vcg {
                                 fprintf(fpout,"%.*g %.*g %.*g " ,DGT,vp->P()[0],DGT,vp->P()[1],DGT,vp->P()[2]);
 
                                 if( HasPerVertexNormal(m) && (pi.mask & Mask::IOM_VERTNORMAL) )
-                                    fprintf(fpout,"%.*g %.*g %.*g " ,DGT,double(vp->N()[0]),DGT,double(vp->N()[1]),DGT,double(vp->N()[2]));
+									fprintf(fpout,"%.*g %.*g %.*g " ,DGT,ScalarType(vp->N()[0]),DGT,ScalarType(vp->N()[1]),DGT,ScalarType(vp->N()[2]));
 
                                 if( HasPerVertexFlags(m) && (pi.mask & Mask::IOM_VERTFLAGS))
                                     fprintf(fpout,"%d ",vp->Flags());
@@ -422,19 +506,35 @@ namespace vcg {
                                 if( HasPerVertexTexCoord(m) && (pi.mask & Mask::IOM_VERTTEXCOORD) )
                                     fprintf(fpout,"%f %f",vp->T().u(),vp->T().v());
 
-                                for(i=0;i<pi.vdn;i++)
+                                for(size_t i=0;i<pi.VertDescriptorVec.size();i++)
                                 {
-                                    float tf(0); double td(0);
-                                    int ti;
-                                    switch (pi.VertexData[i].memtype1)
+                                    float tf(0); double td(0); int ti;
+                                    if(!pi.VertAttrNameVec.empty() && !pi.VertAttrNameVec[i].empty())
+                                    { // trying to use named attribute to retrieve the value to store
+                                      assert(vcg::tri::HasPerVertexAttribute(m,pi.VertAttrNameVec[i]));
+                                      switch (pi.VertDescriptorVec[i].stotype1)
+                                      {
+                                      case ply::T_FLOAT  : tf=thfv[i][vp]; fprintf(fpout,"%f ",tf); break;
+                                      case ply::T_DOUBLE : td=thdv[i][vp]; fprintf(fpout,"%lf ",td); break;
+                                      case ply::T_INT    : ti=thiv[i][vp]; fprintf(fpout,"%i ",ti); break;
+                                      case ply::T_SHORT  : ti=thsv[i][vp]; fprintf(fpout,"%i ",ti); break;
+                                      case ply::T_CHAR   : ti=thcv[i][vp]; fprintf(fpout,"%i ",ti); break;
+                                      case ply::T_UCHAR  : ti=thuv[i][vp]; fprintf(fpout,"%i ",ti); break;
+                                      default : assert(0);
+                                      }
+                                    }
+                                    else
                                     {
-                                    case ply::T_FLOAT	 :		tf=*( (float  *)        (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%f ",tf); break;
-                                    case ply::T_DOUBLE :    td=*( (double *)        (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%f ",tf); break;
-                                    case ply::T_INT		 :		ti=*( (int    *)        (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%i ",ti); break;
-                                    case ply::T_SHORT	 :		ti=*( (short  *)        (((char *)vp)+pi.VertexData[i].offset1)); fprintf(fpout,"%i ",ti); break;
-                                    case ply::T_CHAR	 :		ti=*( (char   *)        (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%i ",ti); break;
-                                    case ply::T_UCHAR	 :		ti=*( (unsigned char *) (((char *)vp)+pi.VertexData[i].offset1));	fprintf(fpout,"%i ",ti); break;
-                                    default : assert(0);
+                                      switch (pi.VertDescriptorVec[i].memtype1)
+                                      {
+                                      case ply::T_FLOAT	 :		tf=*( (float  *)        (((char *)vp)+pi.VertDescriptorVec[i].offset1)); fprintf(fpout,"%f ",tf); break;
+                                      case ply::T_DOUBLE :    td=*( (double *)        (((char *)vp)+pi.VertDescriptorVec[i].offset1)); fprintf(fpout,"%f ",tf); break;
+                                      case ply::T_INT		 :		ti=*( (int    *)        (((char *)vp)+pi.VertDescriptorVec[i].offset1)); fprintf(fpout,"%i ",ti); break;
+                                      case ply::T_SHORT	 :		ti=*( (short  *)        (((char *)vp)+pi.VertDescriptorVec[i].offset1)); fprintf(fpout,"%i ",ti); break;
+                                      case ply::T_CHAR	 :		ti=*( (char   *)        (((char *)vp)+pi.VertDescriptorVec[i].offset1)); fprintf(fpout,"%i ",ti); break;
+                                      case ply::T_UCHAR	 :		ti=*( (unsigned char *) (((char *)vp)+pi.VertDescriptorVec[i].offset1)); fprintf(fpout,"%i ",ti); break;
+                                      default : assert(0);
+                                      }
                                     }
                                 }
 
@@ -447,9 +547,9 @@ namespace vcg {
                     // this assert triggers when the vn != number of vertexes in vert that are not deleted.
                     assert(j==m.vn);
 
-                    char c = 3;
-                    unsigned char b9 = 9;
-                    unsigned char b6 = 6;
+                    unsigned char b3char = 3;
+                    unsigned char b9char = 9;
+                    unsigned char b6char = 6;
                     FacePointer fp;
                     int vv[3];
                     FaceIterator fi;
@@ -468,15 +568,15 @@ namespace vcg {
                             vv[0]=indices[fp->cV(0)];
                             vv[1]=indices[fp->cV(1)];
                             vv[2]=indices[fp->cV(2)];
-                            fwrite(&c,1,1,fpout);
+                            fwrite(&b3char,sizeof(char),1,fpout);
                             fwrite(vv,sizeof(int),3,fpout);
 
                             if(HasPerFaceFlags(m)&&( pi.mask & Mask::IOM_FACEFLAGS) )
                                 fwrite(&(fp->Flags()),sizeof(int),1,fpout);
 
-                            if( HasPerVertexTexCoord(m) && (pi.mask & Mask::IOM_VERTTEXCOORD) )
+                            if( HasPerVertexTexCoord(m) && (!HasPerWedgeTexCoord(m)) && (pi.mask & Mask::IOM_WEDGTEXCOORD) )  // Note that you can save VT as WT if you really want it...
                             {
-                                fwrite(&b6,sizeof(char),1,fpout);
+                                fwrite(&b6char,sizeof(char),1,fpout);
                                 float t[6];
                                 for(int k=0;k<3;++k)
                                 {
@@ -487,7 +587,7 @@ namespace vcg {
                             }
                             else if( HasPerWedgeTexCoord(m) && (pi.mask & Mask::IOM_WEDGTEXCOORD)  )
                             {
-                                fwrite(&b6,sizeof(char),1,fpout);
+                                fwrite(&b6char,sizeof(char),1,fpout);
                                 float t[6];
                                 for(int k=0;k<3;++k)
                                 {
@@ -497,7 +597,7 @@ namespace vcg {
                                 fwrite(t,sizeof(float),6,fpout);
                             }
 
-                            if(multit)
+                            if(saveTexIndexFlag)
                             {
                                 int t = fp->WT(0).n();
                                 fwrite(&t,sizeof(int),1,fpout);
@@ -509,7 +609,7 @@ namespace vcg {
 
                             if( HasPerWedgeColor(m) && (pi.mask & Mask::IOM_WEDGCOLOR)  )
                             {
-                                fwrite(&b9,sizeof(char),1,fpout);
+                                fwrite(&b9char,sizeof(char),1,fpout);
                                 float t[3];
                                 for(int z=0;z<3;++z)
                                 {
@@ -520,21 +620,46 @@ namespace vcg {
                                 }
                             }
 
+							if( HasPerFaceNormal(m) && (pi.mask & Mask::IOM_FACENORMAL) )
+							{
+								ScalarType t;
+								t = ScalarType(fp->N()[0]); fwrite(&t,sizeof(ScalarType),1,fpout);
+								t = ScalarType(fp->N()[1]); fwrite(&t,sizeof(ScalarType),1,fpout);
+								t = ScalarType(fp->N()[2]); fwrite(&t,sizeof(ScalarType),1,fpout);
+							}
+
                             if( HasPerFaceQuality(m) && (pi.mask & Mask::IOM_FACEQUALITY) )
                                 fwrite( &(fp->Q()),sizeof(typename FaceType::ScalarType),1,fpout);
 
 
-                            for(i=0;i<pi.fdn;i++)
+                            for(size_t i=0;i<pi.FaceDescriptorVec.size();i++)
                             {
-                                double td(0); float tf(0);int ti;short ts; char tc; unsigned char tuc;
-                                switch (pi.FaceData[i].stotype1){
-                                case ply::T_FLOAT	 :		PlyConv(pi.FaceData[i].memtype1,  ((char *)fp)+pi.FaceData[i].offset1, tf );	fwrite(&tf, sizeof(float),1,fpout); break;
-                                case ply::T_DOUBLE :		PlyConv(pi.FaceData[i].memtype1,  ((char *)fp)+pi.FaceData[i].offset1, td );	fwrite(&td, sizeof(double),1,fpout); break;
-                                case ply::T_INT		 :		PlyConv(pi.FaceData[i].memtype1,  ((char *)fp)+pi.FaceData[i].offset1, ti );	fwrite(&ti, sizeof(int),1,fpout); break;
-                                case ply::T_SHORT	 :		PlyConv(pi.FaceData[i].memtype1,  ((char *)fp)+pi.FaceData[i].offset1, ts );	fwrite(&ts, sizeof(short),1,fpout); break;
-                                case ply::T_CHAR	 :		PlyConv(pi.FaceData[i].memtype1,  ((char *)fp)+pi.FaceData[i].offset1, tc );	fwrite(&tc, sizeof(char),1,fpout); break;
-                                case ply::T_UCHAR	 :		PlyConv(pi.FaceData[i].memtype1,  ((char *)fp)+pi.FaceData[i].offset1, tuc);	fwrite(&tuc,sizeof(unsigned char),1,fpout); break;
-                                default : assert(0);
+                                double td(0); float tf(0);int ti;short ts; char tc; unsigned char tu;
+                                if(!pi.FaceAttrNameVec.empty() && !pi.FaceAttrNameVec[i].empty())
+                                { // trying to use named attribute to retrieve the value to store
+                                  assert(vcg::tri::HasPerFaceAttribute(m,pi.FaceAttrNameVec[i]));
+                                  switch (pi.FaceDescriptorVec[i].stotype1)
+                                  {
+                                  case ply::T_FLOAT  : tf=thff[i][fp]; fwrite(&tf, sizeof(float),1,fpout); break;
+                                  case ply::T_DOUBLE : td=thdf[i][fp]; fwrite(&td, sizeof(double),1,fpout); break;
+                                  case ply::T_INT    : ti=thif[i][fp]; fwrite(&ti, sizeof(int),1,fpout); break;
+                                  case ply::T_SHORT  : ts=thsf[i][fp]; fwrite(&ts, sizeof(short),1,fpout); break;
+                                  case ply::T_CHAR   : tc=thcf[i][fp]; fwrite(&tc, sizeof(char),1,fpout); break;
+                                  case ply::T_UCHAR  : tu=thuf[i][fp]; fwrite(&tu,sizeof(unsigned char),1,fpout); break;
+                                  default : assert(0);
+                                  }
+                                }
+                                else
+                                {
+                                  switch (pi.FaceDescriptorVec[i].stotype1){
+                                  case ply::T_FLOAT	 :		PlyConv(pi.FaceDescriptorVec[i].memtype1,  ((char *)fp)+pi.FaceDescriptorVec[i].offset1, tf );	fwrite(&tf, sizeof(float),1,fpout); break;
+                                  case ply::T_DOUBLE :		PlyConv(pi.FaceDescriptorVec[i].memtype1,  ((char *)fp)+pi.FaceDescriptorVec[i].offset1, td );	fwrite(&td, sizeof(double),1,fpout); break;
+                                  case ply::T_INT		 :		PlyConv(pi.FaceDescriptorVec[i].memtype1,  ((char *)fp)+pi.FaceDescriptorVec[i].offset1, ti );	fwrite(&ti, sizeof(int),1,fpout); break;
+                                  case ply::T_SHORT	 :		PlyConv(pi.FaceDescriptorVec[i].memtype1,  ((char *)fp)+pi.FaceDescriptorVec[i].offset1, ts );	fwrite(&ts, sizeof(short),1,fpout); break;
+                                  case ply::T_CHAR	 :		PlyConv(pi.FaceDescriptorVec[i].memtype1,  ((char *)fp)+pi.FaceDescriptorVec[i].offset1, tc );	fwrite(&tc, sizeof(char),1,fpout); break;
+                                  case ply::T_UCHAR	 :		PlyConv(pi.FaceDescriptorVec[i].memtype1,  ((char *)fp)+pi.FaceDescriptorVec[i].offset1, tu );	fwrite(&tu, sizeof(unsigned char),1,fpout); break;
+                                  default : assert(0);
+                                  }
                                 }
                             }
                         }
@@ -566,7 +691,7 @@ namespace vcg {
                                     );
                             }
 
-                            if(multit)
+                            if(saveTexIndexFlag)
                             {
                                 fprintf(fpout,"%d ",fp->WT(0).n());
                             }
@@ -586,23 +711,42 @@ namespace vcg {
                                     );
                             }
 
+							if (HasPerFaceNormal(m) && (pi.mask & Mask::IOM_FACENORMAL))
+								fprintf(fpout,"%.*g %.*g %.*g " ,DGT, ScalarType(fp->N()[0]),DGT,ScalarType(fp->N()[1]),DGT,ScalarType(fp->N()[2]));
+
                             if( HasPerFaceQuality(m) && (pi.mask & Mask::IOM_FACEQUALITY) )
                                 fprintf(fpout,"%.*g ",DGTFQ,fp->Q());
 
-                            for(i=0;i<pi.fdn;i++)
+                            for(size_t i=0;i<pi.FaceDescriptorVec.size();i++)
                             {
-                                float tf(0); double td(0);
-                                int ti;
-                                switch (pi.FaceData[i].memtype1)
+                              float tf(0); double td(0); int ti;
+                              if(!pi.FaceAttrNameVec.empty() && !pi.FaceAttrNameVec[i].empty())
+                              { // trying to use named attribute to retrieve the value to store
+                                assert(vcg::tri::HasPerFaceAttribute(m,pi.FaceAttrNameVec[i]));
+                                switch (pi.FaceDescriptorVec[i].stotype1)
                                 {
-                                case  ply::T_FLOAT	:		tf=*( (float  *)        (((char *)fp)+pi.FaceData[i].offset1));	fprintf(fpout,"%g ",tf); break;
-                                case  ply::T_DOUBLE :		td=*( (double *)        (((char *)fp)+pi.FaceData[i].offset1));	fprintf(fpout,"%g ",tf); break;
-                                case  ply::T_INT		:		ti=*( (int    *)        (((char *)fp)+pi.FaceData[i].offset1));	fprintf(fpout,"%i ",ti); break;
-                                case  ply::T_SHORT	:		ti=*( (short  *)        (((char *)fp)+pi.FaceData[i].offset1));	fprintf(fpout,"%i ",ti); break;
-                                case  ply::T_CHAR		:		ti=*( (char   *)        (((char *)fp)+pi.FaceData[i].offset1));	fprintf(fpout,"%i ",ti); break;
-                                case  ply::T_UCHAR	:		ti=*( (unsigned char *) (((char *)fp)+pi.FaceData[i].offset1));	fprintf(fpout,"%i ",ti); break;
+                                case ply::T_FLOAT  : tf=thff[i][fp]; fprintf(fpout,"%f ",tf); break;
+                                case ply::T_DOUBLE : td=thdf[i][fp]; fprintf(fpout,"%g ",td); break;
+                                case ply::T_INT    : ti=thif[i][fp]; fprintf(fpout,"%i ",ti); break;
+                                case ply::T_SHORT  : ti=thsf[i][fp]; fprintf(fpout,"%i ",ti); break;
+                                case ply::T_CHAR   : ti=thcf[i][fp]; fprintf(fpout,"%i ",ti); break;
+                                case ply::T_UCHAR  : ti=thuf[i][fp]; fprintf(fpout,"%i ",ti); break;
                                 default : assert(0);
                                 }
+                              }
+                              else
+                              {
+                                switch (pi.FaceDescriptorVec[i].memtype1)
+                                {
+                                case  ply::T_FLOAT	:		tf=*( (float  *)        (((char *)fp)+pi.FaceDescriptorVec[i].offset1));	fprintf(fpout,"%g ",tf); break;
+                                case  ply::T_DOUBLE :		td=*( (double *)        (((char *)fp)+pi.FaceDescriptorVec[i].offset1));	fprintf(fpout,"%g ",tf); break;
+                                case  ply::T_INT		:		ti=*( (int    *)        (((char *)fp)+pi.FaceDescriptorVec[i].offset1));	fprintf(fpout,"%i ",ti); break;
+                                case  ply::T_SHORT	:		ti=*( (short  *)        (((char *)fp)+pi.FaceDescriptorVec[i].offset1));	fprintf(fpout,"%i ",ti); break;
+                                case  ply::T_CHAR		:		ti=*( (char   *)        (((char *)fp)+pi.FaceDescriptorVec[i].offset1));	fprintf(fpout,"%i ",ti); break;
+                                case  ply::T_UCHAR	:		ti=*( (unsigned char *) (((char *)fp)+pi.FaceDescriptorVec[i].offset1));	fprintf(fpout,"%i ",ti); break;
+                                default : assert(0);
+                                }
+                              }
                             }
 
                             fprintf(fpout,"\n");
@@ -631,8 +775,10 @@ namespace vcg {
                         }
                         assert(ecnt==m.en);
                     }
+					int result = 0;
+					if (ferror(fpout)) result = ply::E_STREAMERROR;
                     fclose(fpout);
-                    return 0;
+                    return result;
                 }
 
                 static const char *ErrorMsg(int error)
@@ -641,19 +787,21 @@ namespace vcg {
                     if(ply_error_msg.empty())
                     {
                         ply_error_msg.resize(PlyInfo::E_MAXPLYINFOERRORS );
-                        ply_error_msg[ply::E_NOERROR				]="No errors";
-                        ply_error_msg[ply::E_CANTOPEN				]="Can't open file";
-                        ply_error_msg[ply::E_NOTHEADER ]="Header not found";
-                        ply_error_msg[ply::E_UNESPECTEDEOF	]="Eof in header";
-                        ply_error_msg[ply::E_NOFORMAT				]="Format not found";
+                        ply_error_msg[ply::E_NOERROR            ]="No errors";
+                        ply_error_msg[ply::E_CANTOPEN           ]="Can't open file";
+                        ply_error_msg[ply::E_NOTHEADER          ]="Header not found";
+                        ply_error_msg[ply::E_UNESPECTEDEOF	    ]="Eof in header";
+                        ply_error_msg[ply::E_NOFORMAT           ]="Format not found";
                         ply_error_msg[ply::E_SYNTAX				]="Syntax error on header";
-                        ply_error_msg[ply::E_PROPOUTOFELEMENT]="Property without element";
+                        ply_error_msg[ply::E_PROPOUTOFELEMENT   ]="Property without element";
                         ply_error_msg[ply::E_BADTYPENAME		]="Bad type name";
                         ply_error_msg[ply::E_ELEMNOTFOUND		]="Element not found";
                         ply_error_msg[ply::E_PROPNOTFOUND		]="Property not found";
-                        ply_error_msg[ply::E_BADTYPE				]="Bad type on addtoread";
-                        ply_error_msg[ply::E_INCOMPATIBLETYPE]="Incompatible type";
-                        ply_error_msg[ply::E_BADCAST				]="Bad cast";
+                        ply_error_msg[ply::E_BADTYPE            ]="Bad type on addtoread";
+                        ply_error_msg[ply::E_INCOMPATIBLETYPE   ]="Incompatible type";
+                        ply_error_msg[ply::E_BADCAST            ]="Bad cast";
+
+						ply_error_msg[ply::E_STREAMERROR        ] = "Output Stream Error";
 
                         ply_error_msg[PlyInfo::E_NO_VERTEX      ]="No vertex field found";
                         ply_error_msg[PlyInfo::E_NO_FACE        ]="No face field found";
diff --git a/wrap/io_trimesh/export_stl.h b/wrap/io_trimesh/export_stl.h
index ff32d064..50859273 100644
--- a/wrap/io_trimesh/export_stl.h
+++ b/wrap/io_trimesh/export_stl.h
@@ -150,21 +150,24 @@ static int Save(SaveMeshType &m, const char * filename , bool binary =true, int
         }
         fprintf(fp,"endsolid vcg\n");
     }
+	int result = 0;
+	if (ferror(fp)) result = 2;
     fclose(fp);
-    return 0;
+	return result;
 }
 static const char *ErrorMsg(int error)
 {
-  static std::vector<std::string> stl_error_msg;
-  if(stl_error_msg.empty())
-  {
-    stl_error_msg.resize(2 );
-    stl_error_msg[0]="No errors";
-      stl_error_msg[1]="Can't open file";
-    }
+	static std::vector<std::string> stl_error_msg;
+	if (stl_error_msg.empty())
+	{
+		stl_error_msg.resize(3);
+		stl_error_msg[0] = "No errors";
+		stl_error_msg[1] = "Can't open file";
+		stl_error_msg[2] = "Output Stream error";
+	}
 
-  if(error>1 || error<0) return "Unknown error";
-  else return stl_error_msg[error].c_str();
+	if (error>2 || error<0) return "Unknown error";
+	else return stl_error_msg[error].c_str();
 };
 
 /*
diff --git a/wrap/io_trimesh/export_vrml.h b/wrap/io_trimesh/export_vrml.h
index 613c2956..4348ef86 100644
--- a/wrap/io_trimesh/export_vrml.h
+++ b/wrap/io_trimesh/export_vrml.h
@@ -65,7 +65,7 @@ namespace vcg {
 				typedef typename SaveMeshType::FaceIterator FaceIterator;
 				
 				///Standard call for saving a mesh
-				static int Save(SaveMeshType &m, const char * filename, const int &mask, CallBackPos */*cb=0*/)
+				static int Save(SaveMeshType &m, const char * filename, const int &mask, CallBackPos * /*cb=0*/)
 				{					
 					FILE *fp;
 					fp = fopen(filename,"wb");
@@ -281,8 +281,10 @@ namespace vcg {
 						"  ]\n"
 						"}\n"
 						);
+					int result = 0;
+					if (ferror(fp)) result = 2;
 					fclose(fp);
-					return 0;
+					return result;
 	}
 	///Returns mask of capability one define with what are the saveable information of the format.
 	static int GetExportMaskCapability()
@@ -305,11 +307,12 @@ namespace vcg {
 		static std::vector<std::string> wrl_error_msg;
 		if(wrl_error_msg.empty())
 		{
-			wrl_error_msg.resize(2 );
-			wrl_error_msg[0]="No errors";
-			wrl_error_msg[1]="Can't open file";
+			wrl_error_msg.resize(3);
+			wrl_error_msg[0] = "No errors";
+			wrl_error_msg[1] = "Can't open file";
+			wrl_error_msg[1] = "Output Stream error";
 		}
-		if(error>1 || error<0) return "Unknown error";
+		if(error>2 || error<0) return "Unknown error";
 		else return wrl_error_msg[error].c_str();
 		}
 
diff --git a/wrap/io_trimesh/import_asc.h b/wrap/io_trimesh/import_asc.h
index c6e9c810..e72bec86 100644
--- a/wrap/io_trimesh/import_asc.h
+++ b/wrap/io_trimesh/import_asc.h
@@ -84,66 +84,66 @@ static const char *ErrorMsg(int error)
 */
 static int Open( MESH_TYPE &m, const char * filename, CallBackPos *cb=0, bool triangulate=false, int lineskip=0)
 {
-    FILE *fp;
-    fp = fopen(filename, "r");
-    if(fp == NULL)
-    {
-			qDebug("Failed opening of %s",filename);
-      return E_CANTOPEN;
-    }
-		long currentPos = ftell(fp);
-		fseek(fp,0L,SEEK_END);
-		long fileLen = ftell(fp);
-		fseek(fp,currentPos,SEEK_SET);
+	FILE *fp;
+	fp = fopen(filename, "r");
+	if(fp == NULL)
+	{
+		qDebug("Failed opening of %s",filename);
+		return E_CANTOPEN;
+	}
+	long currentPos = ftell(fp);
+	fseek(fp,0L,SEEK_END);
+	long fileLen = ftell(fp);
+	fseek(fp,currentPos,SEEK_SET);
 
-    m.Clear();
-  
-    Point3f pp;
-		float q;
-    size_t cnt=0;
-		int ret;
-		char buf[1024];
+	m.Clear();
 
-		// skip the first <lineskip> lines
-		for(int i=0;i<lineskip;++i)
-				fgets(buf,1024,fp);
+	Point3f pp;
+	float q;
+	size_t cnt=0;
+	int ret;
+	char buf[1024];
 
-    /* Read a single triplet of coords from an ASCII file of coords*/
-    while(!feof(fp))
-    {
-      if(cb && (++cnt)%1000) cb( (ftell(fp)*100)/fileLen, "ASC Mesh Loading");	
-			if(feof(fp)) break;
-            bool fgetOut=fgets(buf,1024,fp);
-            if( fgetOut == 0 ) continue;
-			ret=sscanf(buf, "%f, %f, %f, %f\n", &pp.X(), &pp.Y(), &pp.Z(),&q);
-			if(ret==1) // lets try also non comma separated values
-				ret=sscanf(buf, "%f %f %f %f\n", &pp.X(), &pp.Y(), &pp.Z(),&q);
+	// skip the first <lineskip> lines
+	for(int i=0;i<lineskip;++i)
+		fgets(buf,1024,fp);
+
+	/* Read a single triplet of coords from an ASCII file of coords*/
+	while(!feof(fp))
+	{
+		if(cb && (++cnt)%1000) cb( (ftell(fp)*100)/fileLen, "ASC Mesh Loading");
+		if(feof(fp)) break;
+		bool fgetOut=fgets(buf,1024,fp);
+		if( fgetOut == 0 ) continue;
+		ret=sscanf(buf, "%f, %f, %f, %f\n", &pp.X(), &pp.Y(), &pp.Z(),&q);
+		if(ret==1) // lets try also non comma separated values
+			ret=sscanf(buf, "%f %f %f %f\n", &pp.X(), &pp.Y(), &pp.Z(),&q);
 			
-			if(ret>=3)
-				{
-					VertexIterator vi=Allocator<MESH_TYPE>::AddVertices(m,1);
-					(*vi).P().Import(pp); 
-					if(ret==4) 	(*vi).Q()=q; 
-				}			
-    }
-		
-    fclose(fp);
-		if(m.vn==0) return E_NO_POINTS;
-		if(!triangulate) return E_NOERROR;
-		// now try to triangulate.
-		// search for the first jump
-		float baseY = m.vert[0].P().Y();
-		int i;
-		for(i=1;i<m.vert.size();++i)
-				{
-				 if(m.vert[i].P().Y()!= baseY)  break;
-				}
-		cnt=m.vert.size();
-		qDebug("Grid is %i x %i = %i (%i) ",i,cnt/i,i* (cnt/i),cnt);
-		tri::FaceGrid(m,i,int(cnt/i));
-		tri::Clean<MESH_TYPE>::FlipMesh(m);
-    return E_NOERROR;
-  }
+		if(ret>=3)
+		{
+			VertexIterator vi=Allocator<MESH_TYPE>::AddVertices(m,1);
+			(*vi).P().Import(pp);
+			if(ret==4) 	(*vi).Q()=q;
+		}
+	}
+
+	fclose(fp);
+	if(m.vn==0) return E_NO_POINTS;
+	if(!triangulate) return E_NOERROR;
+	// now try to triangulate.
+	// search for the first jump
+	float baseY = m.vert[0].P().Y();
+	unsigned int i;
+	for(i=1;i<m.vert.size();++i)
+	{
+		if(m.vert[i].P().Y()!= baseY)  break;
+	}
+	cnt=m.vert.size();
+	qDebug("Grid is %i x %i = %i (%zu) ",i,cnt/i,i* (cnt/i),cnt);
+	tri::FaceGrid(m,i,int(cnt/i));
+	tri::Clean<MESH_TYPE>::FlipMesh(m);
+	return E_NOERROR;
+}
 
 }; // end class
 } // end Namespace tri
diff --git a/wrap/io_trimesh/import_ctm.h b/wrap/io_trimesh/import_ctm.h
index 540299a8..dfdde634 100644
--- a/wrap/io_trimesh/import_ctm.h
+++ b/wrap/io_trimesh/import_ctm.h
@@ -87,7 +87,7 @@ static const char* ErrorMsg(int error)
 };
 
 
-static int Open( OpenMeshType &m, const char * filename, int &loadmask, CallBackPos */*cb*/=0)
+static int Open( OpenMeshType &m, const char * filename, int &loadmask, CallBackPos * /*cb*/=0)
 {
     CTMcontext context;
 
diff --git a/wrap/io_trimesh/import_dae.h b/wrap/io_trimesh/import_dae.h
index 95881de2..00a8549d 100644
--- a/wrap/io_trimesh/import_dae.h
+++ b/wrap/io_trimesh/import_dae.h
@@ -637,7 +637,7 @@ namespace io {
                     QDomElement instGeomNode= geomNodeList.at(ch).toElement();
                     if(instGeomNode.parentNode()==node) // process only direct child
                     {
-                        QDEBUG("** instance_geometry with url %s (intial mesh size %i %i T = %i)",qPrintable(instGeomNode.attribute("url")),m.vn,m.fn,m.textures.size());
+                        QDEBUG("** instance_geometry with url %s (initial mesh size %i %i T = %i)",qPrintable(instGeomNode.attribute("url")),m.vn,m.fn,m.textures.size());
                         //assert(m.textures.size()>0 == HasPerWedgeTexCoord(m));
                         QString geomNode_url;
                         referenceToANodeAttribute(instGeomNode,"url",geomNode_url);
@@ -711,7 +711,7 @@ namespace io {
         }
 
 
-// Retrieve the transformation matrix that is defined in the childs of a node.
+// Retrieve the transformation matrix that is defined in the children of a node.
 // used during the recursive descent.
 static Matrix44f getTransfMatrixFromNode(const QDomElement parentNode)
 {
diff --git a/wrap/io_trimesh/import_fbx.h b/wrap/io_trimesh/import_fbx.h
index bd8e9b96..88ad7217 100644
--- a/wrap/io_trimesh/import_fbx.h
+++ b/wrap/io_trimesh/import_fbx.h
@@ -1,686 +1,262 @@
-#ifndef	IMPORT_FBX
-#define IMPORT_FBX
+/****************************************************************************
+* VCGLib                                                            o o     *
+* Visual and Computer Graphics Library                            o     o   *
+*                                                                _   O  _   *
+* Copyright(C) 2004-2018                                           \/)\/    *
+* Visual Computing Lab                                            /\/|      *
+* ISTI - Italian National Research Council                           |      *
+*                                                                    \      *
+* All rights reserved.                                                      *
+*                                                                           *
+* This program is free software; you can redistribute it and/or modify      *
+* it under the terms of the GNU General Public License as published by      *
+* the Free Software Foundation; either version 2 of the License, or         *
+* (at your option) any later version.                                       *
+*                                                                           *
+* This program is distributed in the hope that it will be useful,           *
+* but WITHOUT ANY WARRANTY; without even the implied warranty of            *
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the             *
+* GNU General Public License (http://www.gnu.org/licenses/gpl.txt)          *
+* for more details.                                                         *
+*                                                                           *
+****************************************************************************/
 
-#include<vcg/complex/allocate.h>
-#include <wrap/callback.h>
-#include <wrap/io_trimesh/io_mask.h>
-#include <wrap/io_trimesh/io_material.h>
-#include <vcg/space/color4.h>
-#include <fbxsdk.h>
-#include <vcg/complex/algorithms/update/bounding.h>
-#include <fstream>
-#include <string>
-#include <vector>
-#include <cmath>
-#include <map>
-
-
-/******************************
-ImporterFBX is the class devoted to import the info contained in a FBX file inside a mesh defined following the vcg standards.
-In order to compile the following class you need to:
-	- download the VCGlib from our SVN server and put the code in ../../vcglib
-	- download from Autodesk website the FBXSDK-2012.1 and put the lib and include folders in ../fbx-2012.1
+/**
+@name Open FBX format
 */
+//@{
+
+#ifndef VCGLIB_IMPORT_FBX
+#define VCGLIB_IMPORT_FBX
+#include <wrap/openfbx/src/ofbx.h>
+
+#include <fstream>
+#include <vcg/complex/complex.h>
+#include <vcg/complex/algorithms/clean.h>
+#include <wrap/io_trimesh/io_mask.h>
+
+/**
+\brief ImporterFBX is the class devoted to import the info contained in a FBX file inside a mesh defined following the vcg standards.
+
+To use it you need to add the following two files to your project:
+
+wrap/openfbx/src/ofbx.cpp  
+wrap/openfbx/src/miniz.c  
+
+
+*/
+namespace vcg {
+namespace tri {
+namespace io {
 
 template <class OpenMeshType>
 class ImporterFBX
 {
 public:
-
-	class Info
-	{
-	public:
-
-		Info()
-		{
-			mask	= 0;
-			cb		= 0;
-			numVertices = 0;
-			numFaces = 0;
-			numMeshPatches = 0;
-		}
-
-		/// It returns a bit mask describing the field preesnt in the ply file
-		int mask;  
-
-		/// a Simple callback that can be used for long obj parsing. 
-		// it returns the current position, and formats a string with a description of what th efunction is doing (loading vertexes, faces...)
-		vcg::CallBackPos *cb;
-
-		/// number of vertices
-		int numVertices;
-		/// number of faces (the number of triangles could be 
-		/// larger in presence of polygonal faces
-		int numFaces;
-		/// number meshes inside the fbx file
-		int numMeshPatches;
-
-	}; // end class
-	
-	typedef typename OpenMeshType::VertexPointer VertexPointer;
-	typedef typename OpenMeshType::ScalarType ScalarType;
-	typedef typename OpenMeshType::VertexType VertexType;
-	typedef typename OpenMeshType::FaceType FaceType;
-	typedef typename OpenMeshType::VertexIterator VertexIterator;
-	typedef typename OpenMeshType::FaceIterator FaceIterator;
-	typedef typename OpenMeshType::CoordType CoordType;
-	typedef typename OpenMeshType::VertexType::ColorType ColorType;
-	typedef typename OpenMeshType::VertexType::ColorType::ScalarType CSType;
-private:
-	class VCGMaterialBridge
-	{
-	private:
-		//colorAttributeName is something like: diffuse color,ambient color etc.
-		void insertMaterialInfoAndTextureName(KFbxSurfaceMaterial& mat,const char* colorAttributeName,OpenMeshType& m)
-		{
-			MaterialInfo matinfo;	
-			matinfo.setSurfaceMaterial(&mat);
-			//bool hastextcoords = (vcg::tri::HasPerWedgeTexCoord(m) || vcg::tri::HasPerVertexTexCoord(m));
-			//bool hascolors =  (vcg::tri::HasPerWedgeColor(m) || vcg::tri::HasPerVertexColor(m) || vcg::tri::HasPerFaceColor(m));
-			KFbxFileTexture* tex = matinfo.getTextureFileObject(colorAttributeName); 
-			if(tex)
-			{
-				const char* texfile = tex->GetFileName();
-				std::vector<std::string>::iterator it = std::find(m.textures.begin(),m.textures.end(),texfile);
-				if (it == m.textures.end())
-				{
-					m.textures.push_back(texfile);
-					matinfo.setTextureIndex(m.textures.size() - 1);
-				}
-				else
-				{
-					int dist = int(std::distance(m.textures.begin(),it));
-					matinfo.setTextureIndex(dist);
-				}
-			}	
-			else
-			{
-				if (mat.GetClassId().Is(KFbxSurfaceLambert::ClassId))
-				{
-					KFbxPropertyDouble3 diffProp = ((KFbxSurfaceLambert* ) (&mat))->Diffuse;
-					fbxDouble3 diffCol	= diffProp.Get();
-					vcg::Color4b tmpc = vcg::Color4b(diffCol[0] * 255,diffCol[1] * 255,diffCol[2] * 255,255);
-					matinfo.setColor(tmpc);
-				}
-			}
-			material[colorAttributeName] = matinfo;
-		}
-	public:
-		//given a texture or color attribute return
-
-		VCGMaterialBridge(OpenMeshType& m,KFbxSurfaceMaterial& mat)
-			:material()
-		{
-			insertMaterialInfoAndTextureName(mat,KFbxSurfaceMaterial::sDiffuse,m);
-		}
-
-		class MaterialInfo
-		{
-		private:
-			int textindex;
-			ColorType color;
-			bool hascolor;
-			KFbxSurfaceMaterial* surfMat;
-		public:
-			MaterialInfo():hascolor(false),textindex(-1),surfMat(NULL){}
-			void setColor(const ColorType& col) {color = col;hascolor= true;}
-			void setTextureIndex(const int i) {textindex = i;}
-			bool hasColor() const {return hascolor;}
-			bool hasTexture() const {return (textindex != -1);}
-			int getTextureIndex() const {return textindex;}
-			KFbxSurfaceMaterial* getSurfaceMaterial() const {return surfMat;}
-			void setSurfaceMaterial(KFbxSurfaceMaterial* mat) {surfMat = mat;}
-			KFbxFileTexture* getTextureFileObject (const char* attributeName) 
-			{
-				if (surfMat)
-				{	
-					KFbxProperty prop = surfMat->FindProperty(attributeName);
-					if(prop.IsValid())	
-					{
-						int texnum = prop.GetSrcObjectCount(KFbxTexture::ClassId);
-						//the texnum value should be or 0 or 1 (i.e. for a diffuse texture i should have at most one texture file) but in order to avoid extremely strange file... 
-						if (texnum > 0)
-							return KFbxCast <KFbxFileTexture> (prop.GetSrcObject(KFbxTexture::ClassId,0));
-						else
-							return NULL;
-					}
-				}
-				return NULL;
-			}
-
-			ColorType getColor() const {return color;}
-		};
-
-		MaterialInfo* getMaterial(const char* attr)
-		{
-                        typename std::map<const char*,MaterialInfo>::iterator it = material.find(attr);
-			if (it != material.end())
-				return &(it->second);
-			return NULL;
-		}
-
-	private:
-		std::map<const char*,MaterialInfo> material;
-	};
-	
-	static int ImportNode(OpenMeshType& m,KFbxNode* node,KFbxPose* pose,KFbxXMatrix* globPosMat,Info &oi)
-	{
-		int result = E_NOERROR;
-		if (node)
-		{
-			KFbxXMatrix mat = getGlobalMatrix(node, KTime(), pose, globPosMat);
-
-
-			KFbxNodeAttribute* attr = node->GetNodeAttribute();
-			if (attr != NULL)
-			{
-				KFbxNodeAttribute::EAttributeType att = attr->GetAttributeType();
-				if (attr->GetAttributeType() == KFbxNodeAttribute::eMESH)
-				{
-					KFbxXMatrix geoOff = GetGeometry(node);
-					KFbxXMatrix final = mat * geoOff;
-
-					result = ImportMesh(m,node,final,oi);
-				}
-
-			}
-			for(int ii = 0;ii < node->GetChildCount();++ii)
-				ImportNode(m,node->GetChild(ii),pose,&mat,oi);					
-		}
-		return result;
-	}
-
-	static int ImportScene(OpenMeshType& m,KFbxScene* scene,Info &oi)
-	{
-		scene->ConnectTextures();
-		KFbxPose* pose = NULL;
-		int ii = scene->GetPoseCount(); 
-		if (ii > 0)
-			pose = scene->GetPose(ii-1);
-		//KFbxAnimEvaluator* eval = scene->GetEvaluator();
-		KFbxNode* node = scene->GetRootNode();
-		int result = E_NOERROR;
-		KFbxXMatrix globPosMat;
-		for (int ii = 0; ii < scene->GetRootNode()->GetChildCount(); ++ii)
-			result = ImportNode(m,scene->GetRootNode()->GetChild(ii),pose,&globPosMat,oi);
-		return result;
-	}
-
-	static int ImportMesh(OpenMeshType& m,KFbxNode* node,const KFbxXMatrix& mat,Info& oi)
-	{
-		KFbxMesh* newMesh = node->GetMesh();
-		if (!newMesh->IsTriangleMesh())
-		{
-			KFbxGeometryConverter* conv = new KFbxGeometryConverter(newMesh->GetFbxSdkManager());
-			newMesh = conv->TriangulateMesh(newMesh);
-		}
-		//KFbxMatrix mat2(mat);
-		vcg::Matrix44<ScalarType> mat2;
-		for(int ll = 0;ll < 4;++ll)
-			for(int vv = 0;vv < 4;++vv)
-				mat2[ll][vv] = mat[vv][ll];
-
-		
-		vcg::Matrix33<ScalarType> matnorm;
-		for(int ll = 0;ll < 3;++ll)
-			for(int vv = 0;vv < 3;++vv)
-				matnorm[ll][vv] = mat[vv][ll];
-
-		int matnum = node->GetSrcObjectCount(KFbxSurfaceMaterial::ClassId);
-		KFbxLayerElementArrayTemplate< int >* matarr = NULL;
-		bool found = newMesh->GetMaterialIndices(&matarr);
-		//displacement of material inside m.textures and number of textures inside the material
-		std::vector<VCGMaterialBridge> matAtlas; 
-		for (int matind = 0; matind < matnum; ++matind)
-		{
-			KFbxSurfaceMaterial *mater =  KFbxCast <KFbxSurfaceMaterial>(node->GetSrcObject(KFbxSurfaceMaterial::ClassId, matind));
-			matAtlas.push_back(VCGMaterialBridge(m,*mater));
-		}
-		size_t vertDispl = m.vert.size();
-		int currmeshvert = newMesh->GetControlPointsCount();
-		vcg::tri::Allocator<OpenMeshType>::AddVertices(m,currmeshvert);
-		int currmeshface = newMesh->GetPolygonCount();
-		size_t faceDispl = m.face.size();
-		vcg::tri::Allocator<OpenMeshType>::AddFaces(m,currmeshface);
-		KFbxVector4* posVert = newMesh->GetControlPoints();
-		KFbxLayerElementArrayTemplate<KFbxVector2>* UVArr = NULL;   
-		int uvparcount = newMesh->GetElementUVCount();
-
-		KFbxLayer* lnorm = newMesh->GetLayer(0,KFbxLayerElement::eNORMAL);
-		KFbxLayerElementNormal* normalLayer = NULL;
-		if (lnorm)
-			normalLayer =  lnorm->GetNormals();
-		KFbxLayerElement::EMappingMode normalMapMode = KFbxLayerElement::eNONE;
-		if (normalLayer)
-			normalMapMode = normalLayer->GetMappingMode();
-		KFbxLayer* lcol = newMesh->GetLayer(0,KFbxLayerElement::eVERTEX_COLOR);
-		KFbxLayerElementVertexColor* colorLayer = NULL;
-		if (lcol)
-			colorLayer =  lcol->GetVertexColors();
-		KFbxLayerElement::EMappingMode colorMapMode = KFbxLayerElement::eNONE;
-		if (colorLayer)
-			colorMapMode = colorLayer->GetMappingMode();
-
-		newMesh->GetTextureUV(&UVArr, KFbxLayerElement::eDIFFUSE_TEXTURES); 
-
-		int numFacPlusVert = oi.numFaces + oi.numVertices;
-		float det = mat2.Determinant();
-		bool invert = (det< 0.0);
-		for(int ii = 0;ii < currmeshvert;++ii)
-		{
-
-			ScalarType a = ScalarType(posVert[ii][0]);
-			ScalarType b = ScalarType(posVert[ii][1]);
-			ScalarType c = ScalarType(posVert[ii][2]);
-			vcg::Point4<ScalarType> fbxpos(a,b,c,ScalarType(1.0));
-			fbxpos = mat2 * fbxpos;
-			CoordType t(fbxpos[0],fbxpos[1],fbxpos[2]); 
-			m.vert[ii + vertDispl].P() = t;
-			/*if (vcg::tri::HasPerVertexColor(m) && )*/
-			if (vcg::tri::HasPerVertexNormal(m) && (normalLayer) && (normalMapMode ==  KFbxLayerElement::eBY_CONTROL_POINT))
-			{
-				KFbxVector4 n;
-				int normInd = -1;
-				switch(normalLayer->GetReferenceMode())
-				{
-				case (KFbxLayerElement::eDIRECT):
-					{
-						normInd = ii;
-						break;
-					}
-				case (KFbxLayerElement::eINDEX_TO_DIRECT):
-					{
-						normInd = normalLayer->GetIndexArray()[ii];
-						break;
-					}
-				}
-				n = normalLayer->GetDirectArray()[normInd]; 
-				CoordType nn(n[0],n[1],n[2]);
-				nn = (matnorm * nn);
-
-				nn.Normalize();
-				//if (invert)
-				//	nn = -nn;
-				m.vert[ii + vertDispl].N() = nn;
-			}
-			if (vcg::tri::HasPerVertexColor(m) && (colorLayer) && (colorMapMode ==  KFbxLayerElement::eBY_CONTROL_POINT))
-			{
-				KFbxColor c;
-				int colorInd = -1;
-				switch(colorLayer->GetReferenceMode())
-				{
-				case (KFbxLayerElement::eDIRECT):
-					{
-						colorInd = ii;
-						break;
-					}
-				case (KFbxLayerElement::eINDEX_TO_DIRECT):
-					{
-						colorInd = colorLayer->GetIndexArray()[ii];
-						break;
-					}
-				}
-				c = colorLayer->GetDirectArray()[colorInd];
-				vcg::Color4b vcgcol(c[0] * 255,c[1] * 255,c[2] * 255,c[3] * 255);
-				m.vert[ii + vertDispl].C() = vcgcol;
-			}
-		}
-
-		int* index = newMesh->GetPolygonVertices();
-		bool allsame = false;
-		int matarrsize = -1;
-		if (matarr)
-			matarrsize = matarr->GetCount();
-		if (matarrsize == 1)
-			allsame = true;
-
-		for(int ii = 0;ii < currmeshface;++ii)
-		{
-			int diffusematind = -1;
-			int matptr = -1;
-                        typename VCGMaterialBridge::MaterialInfo* mymat = NULL;
-			if (matAtlas.size() > 0)
-			{
-				if ((!allsame) && (matarrsize == currmeshface))
-					matptr = (*matarr)[ii];
-				else
-				{
-					if (allsame) 
-					{
-						matptr = (*matarr)[0]; 	
-					}
-				}
-				if ((matptr >= 0) && (matptr < matAtlas.size()))
-				{
-					mymat = matAtlas[matptr].getMaterial(KFbxSurfaceMaterial::sDiffuse);
-					if (mymat && mymat->hasTexture())
-						diffusematind = mymat->getTextureIndex();
-				}
-				else
-					if (matptr == node->GetMaterialCount())
-					{
-						mymat = matAtlas[matptr-1].getMaterial(KFbxSurfaceMaterial::sDiffuse);
-						if (mymat && mymat->hasTexture())
-							diffusematind = mymat->getTextureIndex();
-					}
-			}
-			for (int jj = 0;jj < 3;++jj)
-			{
-				VertexIterator mov = m.vert.begin();
-				std::advance(mov,index[ii * 3 + jj] + vertDispl);
-				int invind = (3 - jj) % 3;
-				if (!invert)
-					m.face[ii + faceDispl].V(jj) = &(*mov);
-				else
-					m.face[ii + faceDispl].V(invind) = &(*mov);
-				if (vcg::tri::HasPerWedgeTexCoord(m) && (uvparcount > 0) && mymat && mymat->hasTexture())
-				{
-					int texind = -1;
-					KFbxLayerElement::EReferenceMode mapmode = newMesh->GetElementUV(0)->GetReferenceMode();
-                                        if (mapmode == KFbxLayerElement::eINDEX_TO_DIRECT)
-						texind  = newMesh->GetTextureUVIndex(ii,jj);
-					else 
-                                                if (mapmode == KFbxLayerElement::eDIRECT)
-							texind = ii * 3 + jj;
-					if (UVArr)
-					{
-						
-						KFbxVector2 texcoord =  UVArr->GetAt(texind); 
-						if (!invert)
-						{
-							m.face[ii + faceDispl].WT(jj).U() = ScalarType(texcoord[0]);
-							m.face[ii + faceDispl].WT(jj).V() = ScalarType(texcoord[1]);
-							m.face[ii + faceDispl].WT(jj).N() = diffusematind;
-						}
-						else
-						{
-							m.face[ii + faceDispl].WT(invind).U() = ScalarType(texcoord[0]);
-							m.face[ii + faceDispl].WT(invind).V() = ScalarType(texcoord[1]);
-							m.face[ii + faceDispl].WT(invind).N() = diffusematind;
-						}
-					}
-				}
-
-				else 
-					if (vcg::tri::HasPerVertexColor(m) && mymat && mymat->hasColor())
-					{
-						if (!invert)
-							m.face[ii + faceDispl].V(jj)->C() = mymat->getColor();
-						else
-							m.face[ii + faceDispl].V(invind)->C() = mymat->getColor();
-					}
-			}
-			if (oi.cb)
-			{
-				char numstr[33];
-				sprintf(numstr,"%d",oi.numMeshPatches);
-				std::string st("Loading Vertices and Faces from ");
-				st = st + numstr + " submeshes";
-				oi.cb( (100*(m.vert.size() +m.face.size()))/ numFacPlusVert, st.c_str());
-			}
-		}
-		
-		//std::string tx = m.textures[firstTexInd];
-		return E_NOERROR;
-	}	
-
-	static void LoadMaskNode(KFbxNode* node, Info &oi)
-	{
-		if (node)
-		{
-			KFbxNodeAttribute* attr = node->GetNodeAttribute();
-			if (attr != NULL)
-			{
-				KFbxNodeAttribute::EAttributeType att = attr->GetAttributeType();
-				if (attr->GetAttributeType() == KFbxNodeAttribute::eMESH)
-				{
-					int matnum = node->GetSrcObjectCount(KFbxSurfaceMaterial::ClassId);
-					KFbxMesh* newMesh = node->GetMesh();
-					int uvparcount = newMesh->GetElementUVCount();
-					if (uvparcount > 0)
-						oi.mask |= vcg::tri::io::Mask::IOM_WEDGTEXCOORD;
-
-					KFbxLayer* lcolo = newMesh->GetLayer(0,KFbxLayerElement::eVERTEX_COLOR);
-					if (matnum || lcolo)
-						oi.mask |= vcg::tri::io::Mask::IOM_VERTCOLOR;
-					KFbxLayer* lnorm = newMesh->GetLayer(0,KFbxLayerElement::eNORMAL);
-					KFbxLayerElementNormal* nnom = lnorm->GetNormals();
-					if (lnorm)	
-						oi.mask |= vcg::tri::io::Mask::IOM_VERTNORMAL;
-					oi.numVertices = oi.numVertices + newMesh->GetControlPointsCount();
-					if (!newMesh->IsTriangleMesh())
-					{
-						KFbxGeometryConverter* conv = new KFbxGeometryConverter(newMesh->GetFbxSdkManager());
-						newMesh = conv->TriangulateMesh(newMesh);
-					}
-					oi.numFaces = oi.numFaces + newMesh->GetPolygonCount();
-					oi.numMeshPatches += 1;
-				}
-			}
-			for(int ii = 0;ii < node->GetChildCount();++ii)
-				LoadMaskNode(node->GetChild(ii),oi);					
-		}
-	}
-
-	static KFbxXMatrix getGlobalMatrix(KFbxNode* pNode, const KTime& pTime, KFbxPose* pPose, KFbxXMatrix* pParentGlobalPosition = NULL)
-	{
-		KFbxXMatrix lGlobalPosition;
-		bool        lPositionFound = false;
-
-		if (pPose)
-		{
-			int lNodeIndex = pPose->Find(pNode);
-
-			if (lNodeIndex > -1)
-			{
-				if (pPose->IsBindPose() || !pPose->IsLocalMatrix(lNodeIndex))
-				{
-					lGlobalPosition = GetPoseMatrix(pPose, lNodeIndex);
-				}
-				else
-				{
-					KFbxXMatrix lParentGlobalPosition;
-
-					if (pParentGlobalPosition)
-					{
-						lParentGlobalPosition = *pParentGlobalPosition;
-					}
-					else
-					{
-						if (pNode->GetParent())
-						{
-							lParentGlobalPosition = getGlobalMatrix(pNode->GetParent(), pTime, pPose);
-						}
-					}
-
-					KFbxXMatrix lLocalPosition = GetPoseMatrix(pPose, lNodeIndex);
-					lGlobalPosition = lParentGlobalPosition * lLocalPosition;
-				}
-
-				lPositionFound = true;
-			}
-		}
-
-		if (!lPositionFound)
-		{
-			lGlobalPosition = pNode->EvaluateGlobalTransform(pTime);
-		}
-
-		return lGlobalPosition;
-	}
-
-	static KFbxXMatrix GetPoseMatrix(KFbxPose* pPose, int pNodeIndex)
-	{
-		KFbxXMatrix lPoseMatrix;
-		KFbxMatrix lMatrix = pPose->GetMatrix(pNodeIndex);
-
-		memcpy((double*)lPoseMatrix, (double*)lMatrix, sizeof(lMatrix.mData));
-
-		return lPoseMatrix;
-	}
-
-	static KFbxXMatrix GetGeometry(KFbxNode* pNode)
-	{
-		const KFbxVector4 lT = pNode->GetGeometricTranslation(KFbxNode::eSOURCE_SET);
-		const KFbxVector4 lR = pNode->GetGeometricRotation(KFbxNode::eSOURCE_SET);
-		const KFbxVector4 lS = pNode->GetGeometricScaling(KFbxNode::eSOURCE_SET);
-
-		return KFbxXMatrix(lT, lR, lS);
-	}
-
+  
+  typedef typename OpenMeshType::VertexPointer VertexPointer;
+  typedef typename OpenMeshType::ScalarType ScalarType;
+  typedef typename OpenMeshType::VertexType VertexType;
+  typedef typename OpenMeshType::FaceType FaceType;
+  typedef typename OpenMeshType::VertexIterator VertexIterator;
+  typedef typename OpenMeshType::FaceIterator FaceIterator;
+  typedef typename OpenMeshType::CoordType CoordType;
+  typedef typename OpenMeshType::VertexType::ColorType ColorType;
+  typedef typename OpenMeshType::VertexType::ColorType::ScalarType CSType;
+  typedef typename vcg::Matrix44<ScalarType> Matrix44Type;
+  
 public:
-	/*****
-		Enum containing possible error codes you can get opening an FBX file.
-	*/
-	enum FBXError 
-	{
-		// Successfull opening
-		E_NOERROR = 0,													
+  /*****
+        Enum containing possible error codes you can get opening an FBX file.
+    */
+  enum FBXError 
+  {
+    // Successfull opening
+    E_NOERROR = 0,													
+    
+    // Critical Opening Errors (only even numbers)
+  };
+  
+  /****
+        Function devoted to check if a given error is critical or the elaboration can go on.
+    */
+  static bool ErrorCritical(int err)
+  { 
+    if(err == E_NOERROR) 
+      return false;
+    return true;
+  }
+  
+  /****
+        The function return the sting info associated with an error code.
+    */
+  static const char* ErrorMsg(int error)
+  {
+    static const char* fbx_error_msg[] =
+    {
+      "No errors",
+    };
+    
+    if(error>1 || error<0) 
+      return "Unknown error";
+    else 
+      return fbx_error_msg[error];
+  }
+  
+  /****
+        The open function import info contained in a FBX file into a mesh defined using the VCG standards.
+        Parameters:
+            - m is the mesh in which you want to load the file info
+            - filename is the filename path of a valid FBX file. It could be a relative path or an absolute one.
+            - oi is a small structure devoted to contain some feedbacks about the loaded file (like vertex number or face number). Typically you can ignore it. 
+            
+        Semantics:
+            If the file has been correctly loaded (i.e. Open function returned a E_NOERROR code, you will find in the mesh m at least:
+                - a vertex position for each vertex
+                - the triangles componing the mesh surface
+                
+            Depending on which type mesh you passed to the function you could also have:
+                - a vertex normal for each vertex
+                - a vertex color (ONLY IF THE FBX FILE HAS ALL THE MATERIALS WITHOUT TEXTURES AT ALL)
+                - a single material for each triangle. We are using the one containing a diffuse texture and/or a diffuse color. 
+                - a UV parameterization for each vertex componing a triangle
+                
+            Please note that if the file is composed by a set of meshes we compact all these meshes in a single one.
+    */
+  
+  static int Open( OpenMeshType &m, const char * filename, CallBackPos *cb = nullptr)
+  {
+    
+    FILE* fp = fopen(filename, "rb");
+    if (!fp) return false;
+    
+    fseek(fp, 0, SEEK_END);
+    long file_size = ftell(fp);
+    fseek(fp, 0, SEEK_SET);
+    ofbx::u8* content = new ofbx::u8[file_size];
+    fread(content, 1, size_t(file_size), fp);
+    fclose(fp);
+    
+    ofbx::IScene* scene =ofbx::load(content, int(file_size));   
+    
+    m.Clear();
+    int mesh_count = scene->getMeshCount();
+    printf("mesh count %i\n",mesh_count);
+    int totVert=0;
+    for (int i = 0; i < mesh_count; ++i)
+      totVert += scene->getMesh(i)->getGeometry()->getVertexCount();
+    
+    int baseVertexCount;
+    printf("Scene has %i meshes\n",mesh_count);
+    for (int i = 0; i < mesh_count; ++i)
+    {
+      baseVertexCount=m.vert.size();
+      int baseTextureIndexCount = m.textures.size();
 
-		// Critical Opening Errors (only even numbers)
-		E_CANTCREATEFBXMANAGER	= 1,	
-		E_CANTCREATEFBXSCENE	= 2,
-		E_CANTCREATEFBXIMPORTER	= 3,		
-		E_CANTFINDFILE			= 4,	
-		E_CANTFINDFBXFILE		= 5,
-		E_CANTIMPORTFBXFILE		= 6	
-	};
+      const ofbx::Mesh& mesh = *scene->getMesh(i);
+      const ofbx::Geometry& geom = *mesh.getGeometry();
+      const int *materials = geom.getMaterials();
 
-	/****
-		Function devoted to check if a given error is critical or the elaboration can go on.
-	*/
-	static bool ErrorCritical(int err)
-	{ 
-		if(err == E_NOERROR) 
-			return false;
-		return true;
-	}
+      // Load textured materials. The mesh object has pointers to the materials,
+      // the geometry object instead has a vector of FN material indices
+      for (int mat_i = 0; mat_i < mesh.getMaterialCount(); ++mat_i) {
+        const ofbx::Material *mat = mesh.getMaterial(mat_i);
+        assert(mat);
+        const ofbx::Texture  *tex = mat->getTexture(ofbx::Texture::DIFFUSE);
+        char buf[1024];
+        if (tex) {
+          tex->getRelativeFileName().toString(buf); buf[1023] = 0;
+          if (std::string(buf) == "")  {
+            tex->getFileName().toString(buf); buf[1023] = 0;
+          }
+          printf("Texture %s\n", buf);
+          m.textures.push_back(buf);
+        }
+      }
 
-	/****
-		The function return the sting info associated with an error code.
-	*/
-	static const char* ErrorMsg(int error)
-	{
-		static const char* fbx_error_msg[] =
-		{
-			"No errors",
-
-			"Failed to create a KFbxSdkManager",
-			"Failed to create a KFbxScene",
-			"Failed to create a KFbxImporter",
-			"Failed to locate requested file",
-			"Failed to import requested file",
-		};
-
-		if(error>6 || error<0) 
-			return "Unknown error";
-		else 
-			return fbx_error_msg[error];
-	};
-
-	/****
-		The open function import info contained in a FBX file into a mesh defined using the VCG standards.
-		Parameters:
-			- m is the mesh in which you want to load the file info
-			- filename is the filename path of a valid FBX file. It could be a relative path or an absolute one.
-			- oi is a small structure devoted to contain some feedbacks about the loaded file (like vertex number or face number). Typically you can ignore it. 
-
-		Semantics:
-			If the file has been correctly loaded (i.e. Open function returned a E_NOERROR code, you will find in the mesh m at least:
-				- a vertex position for each vertex
-				- the triangles componing the mesh surface
-
-			Depending on which type mesh you passed to the function you could also have:
-				- a vertex normal for each vertex
-				- a vertex color (ONLY IF THE FBX FILE HAS ALL THE MATERIALS WITHOUT TEXTURES AT ALL)
-				- a single material for each triangle. We are using the one containing a diffuse texture and/or a diffuse color. 
-				- a UV parameterization for each vertex componing a triangle
-
-			Please note that if the file is composed by a set of meshes we compact all these meshes in a single one.
-	*/
-
-	static int Open( OpenMeshType &m, const char * filename, Info &oi)
-	{
-		int result = E_NOERROR;
-		m.Clear();
-		vcg::CallBackPos *cb = oi.cb;
-
-		KFbxSdkManager* FBXmanager = KFbxSdkManager::Create();
-		if (FBXmanager==NULL)
-			return E_CANTCREATEFBXMANAGER;
-		KFbxScene* FBXscene = KFbxScene::Create(FBXmanager,"");
-		if (FBXscene==NULL)
-			return E_CANTCREATEFBXSCENE;
-		KFbxImporter* importer = KFbxImporter::Create(FBXmanager,"");
-		if (importer==NULL)
-			return E_CANTCREATEFBXIMPORTER;
-
-		bool initfile = importer->Initialize(filename);
-		if (!initfile)
-		{
-			printf("Fbx error: %s",importer->GetLastErrorString());		
-			return E_CANTFINDFBXFILE;
-		}
-		bool importfile = importer->Import(FBXscene);
-		if (!importfile)
-		{
-			printf("Fbx error: %s",importer->GetLastErrorString());		
-			return E_CANTIMPORTFBXFILE;
-		}
-		result = ImportScene(m,FBXscene,oi);
-
-		// if LoadMask has not been called yet, we call it here
-		
-		if (FBXmanager)
-			FBXmanager->Destroy();
-	  return result;
-	} 
-
-	/****
-	The LoadMask function gives you a preview of which attributes you will find inside the fbx file. 
-	It's useful only if you are planning to use a mesh with dynamic attributes.
-
-	Parameters:
-		- filename is the filename path of a valid FBX file. It could be a relative path or an absolute one.
-		- oi is a small structure devoted to contain some feedbacks about the loaded file (like vertex number or face number). 
-		In oi.mask you will find the mask containing the attributes contained in the file. You can query the presence of a specific attribute using the operators on bits.
-		( for example if I want to check if the file contains the vertex normal layer I have to call the LoadMask function and after check if (oi.mask & vcg::tri::io::Mask::IOM_VERTNORMAL) is true).
-	*/
-
-	static int LoadMask(const char * filename, Info &oi)
-	{
-		KFbxSdkManager* FBXmanager = KFbxSdkManager::Create();
-		if (FBXmanager==NULL)
-			return E_CANTCREATEFBXMANAGER;
-		KFbxScene* FBXscene = KFbxScene::Create(FBXmanager,"");
-		if (FBXscene==NULL)
-			return E_CANTCREATEFBXSCENE;
-		KFbxImporter* importer = KFbxImporter::Create(FBXmanager,"");
-		if (importer==NULL)
-			return E_CANTCREATEFBXIMPORTER;
-
-		bool initfile = importer->Initialize(filename);
-		if (!initfile)
-		{
-			printf("Fbx error: %s",importer->GetLastErrorString());		
-			return E_CANTFINDFBXFILE;
-		}
-		bool importfile = importer->Import(FBXscene);
-		if (!importfile)
-		{
-			printf("Fbx error: %s",importer->GetLastErrorString());		
-			return E_CANTIMPORTFBXFILE;
-		}
-		LoadMaskNode(FBXscene->GetRootNode(),oi);
-
-		// if LoadMask has not been called yet, we call it here
-
-		if (FBXmanager)
-			FBXmanager->Destroy();
-		return E_NOERROR;
-	}
-	
+      Matrix44d globTransfd(mesh.getGlobalTransform().m);
+      /*
+      Matrix44f globTransf;
+      globTransf.SetIdentity();
+      globTransf.Import(globTransfd);
+      Transpose(globTransf);
+      */
+      Transpose(globTransfd);
+      int vertex_count = geom.getVertexCount();
+      const ofbx::Vec3* vertices = geom.getVertices();
+      const ofbx::Vec2* texcoords = geom.getUVs();
+      printf("  Mesh %i has %i vertices\n",i,vertex_count);
+      
+      for (int j = 0; j < vertex_count; ++j)
+      {
+        ofbx::Vec3 vt = vertices[j];
+        Point3d vd = globTransfd*Point3d(vt.x, vt.y, vt.z);
+        CoordType v(vd.X(), vd.Y(), vd.Z());
+        tri::Allocator<OpenMeshType>::AddVertex(m,v);
+        if(cb && (m.vert.size()%1000) == 0 ) cb(m.vert.size() * 100 / totVert, "Vertex Loading");
+      }
+      
+//      bool has_normals = geom.getNormals() != nullptr;
+      bool has_uvs = texcoords != nullptr;           
+      
+      const ofbx::Skin* skin = geom.getSkin();
+      if(!skin)
+      {
+        printf("Geom has no skin\n");
+        for (int j = 0; j < vertex_count/3; ++j)
+        {
+          int curTriBase = baseVertexCount + j*3;
+          tri::Allocator<OpenMeshType>::AddFace(m,curTriBase,curTriBase+1,curTriBase+2);   
+          if(has_uvs) 
+          {
+            for(int k=0;k<3;++k)
+            {
+              m.face.back().WT(k).u() = texcoords[j*3+k].x;
+              m.face.back().WT(k).v() = texcoords[j*3+k].y;
+              if (materials != nullptr)
+                m.face.back().WT(k).n() = baseTextureIndexCount + materials[j];
+            }
+          }
+        }
+      }
+      else
+      {
+        int cluster_count = skin->getClusterCount();
+        
+        printf("Mesh %i has %i clusters\n",i,cluster_count);       
+        for (int k = 0; k < cluster_count; ++k)
+        {        
+//          const ofbx::Cluster *cluster=skin->getCluster(k);
+        }
+      }
+    }
+    
+    tri::Clean<OpenMeshType>::RemoveDuplicateVertex(m);
+    tri::Allocator<OpenMeshType>::CompactEveryVector(m);
+    return E_NOERROR;
+    
+  } 
+  
+  /****
+    The LoadMask function gives you a preview of which attributes you will find inside the fbx file. 
+    It's useful only if you are planning to use a mesh with dynamic attributes.
+    
+    Parameters:
+        - filename is the filename path of a valid FBX file. It could be a relative path or an absolute one.
+        - oi is a small structure devoted to contain some feedbacks about the loaded file (like vertex number or face number). 
+        In oi.mask you will find the mask containing the attributes contained in the file. You can query the presence of a specific attribute using the operators on bits.
+        ( for example if I want to check if the file contains the vertex normal layer I have to call the LoadMask function and after check if (oi.mask & vcg::tri::io::Mask::IOM_VERTNORMAL) is true).
+    */
+  
+  static int LoadMask(const char * /*filename*/)
+  {
+    return tri::io::Mask::IOM_WEDGTEXCOORD;
+  }
+  
 }; // end class
+} // end namespace tri
+} // end namespace io
+} // end namespace vcg
 
 
 #endif 
diff --git a/wrap/io_trimesh/import_field.h b/wrap/io_trimesh/import_field.h
index 46d333a7..e80c0c14 100644
--- a/wrap/io_trimesh/import_field.h
+++ b/wrap/io_trimesh/import_field.h
@@ -82,7 +82,7 @@ public:
     }
 
     static bool LoadNDF(MeshType &mesh,
-                       const char *path)
+                        const char *path)
     {
         FILE *f = fopen(path,"rt");
         if (!f)
@@ -99,8 +99,8 @@ public:
             printf("%s\n",skipstr);
         }while(strcmp(skipstr,"[Pjumps]")!=0);
 
-//        fscanf(f,"%s\"",skipstr);
-//        printf("%s\n",skipstr);
+        //        fscanf(f,"%s\"",skipstr);
+        //        printf("%s\n",skipstr);
         fseek(f, 7, SEEK_CUR);
         char final[1];
         do{
@@ -109,40 +109,40 @@ public:
             printf("%d\n",period);
             fscanf(f,"%c",&final);
             fseek(f, -1, SEEK_CUR);
-            printf("%s\n",&final[0]);
+            //printf("%s\n",&final[0]);
         }while(strcmp(final,"\"")!=0);
 
-//        printf("%s\n",skipstr);
+        //        printf("%s\n",skipstr);
         fflush(stdout);
-//        for (int i=0;i<mesh.fn;i++)
-//        {
-//            int i0=-1;
-//            int i1=-1;
-//            int i2=-1;
-//            double u0,v0,u1,v1,u2,v2;
-//            int readed1=fscanf(f,"%d %d %d %lf %lf %lf %lf %lf %lf",&i0,&i1,&i2,&u0,&v0,&u1,&v1,&u2,&v2);
-//            assert(readed1==9);
-//            vcg::Point2<ScalarType> UV[3];
-//            UV[0]= vcg::Point2<ScalarType>(u0,v0);
-//            UV[1]= vcg::Point2<ScalarType>(u1,v1);
-//            UV[2]= vcg::Point2<ScalarType>(u2,v2);
-//            CoordType dir1;
-//            CoordType dir2;
-//            vcg::tri::CrossField<MeshType>::GradientToCross(mesh.face[i],UV[0],UV[1],UV[2],dir1,dir2);
-//            dir1.Normalize();
-//            dir2.Normalize();
-//            mesh.face[i].PD1()=dir1;
-//            mesh.face[i].PD2()=dir2;
-//        }
-//        fclose(f);
-//        return true;
+                for (int i=0;i<mesh.fn;i++)
+                {
+                    int i0=-1;
+                    int i1=-1;
+                    int i2=-1;
+                    double u0,v0,u1,v1,u2,v2;
+                    int readed1=fscanf(f,"%d %d %d %lf %lf %lf %lf %lf %lf",&i0,&i1,&i2,&u0,&v0,&u1,&v1,&u2,&v2);
+                    assert(readed1==9);
+                    vcg::Point2<ScalarType> UV[3];
+                    UV[0]= vcg::Point2<ScalarType>(u0,v0);
+                    UV[1]= vcg::Point2<ScalarType>(u1,v1);
+                    UV[2]= vcg::Point2<ScalarType>(u2,v2);
+                    CoordType dir1;
+                    CoordType dir2;
+                    vcg::tri::CrossField<MeshType>::GradientToCross(mesh.face[i],UV[0],UV[1],UV[2],dir1,dir2);
+                    dir1.Normalize();
+                    dir2.Normalize();
+                    mesh.face[i].PD1()=dir1;
+                    mesh.face[i].PD2()=dir2;
+                }
+                fclose(f);
+                return true;
     }
 
     ///load a field on the mesh, it could be a vfield file (per vertex)
     ///or an ffield file (per face)
     static bool LoadFFIELD(MeshType &mesh,
-        const char *path,
-        bool per_vertex=false)
+                           const char *path,
+                           bool per_vertex=false)
     {
 
         FILE *f = fopen(path,"rt");
@@ -188,13 +188,13 @@ public:
                 vcg::Point3<float> u,v;
                 float a,b;
                 if (fscanf(f,
-                    "%f %f %f %f %f %f %f %f",
-                    &a,&b,
-                    &(v.X()),&(v.Y()),&(v.Z()),
-                    &(u.X()),&(u.Y()),&(u.Z())
-                    )!=8) {
-                        //if (errorMsg) sprintf(errorMsg,"Format error reading vertex n. %d",i);
-                        return false;
+                           "%f %f %f %f %f %f %f %f",
+                           &a,&b,
+                           &(v.X()),&(v.Y()),&(v.Z()),
+                           &(u.X()),&(u.Y()),&(u.Z())
+                           )!=8) {
+                    //if (errorMsg) sprintf(errorMsg,"Format error reading vertex n. %d",i);
+                    return false;
                 }
 
                 u.Normalize();
@@ -202,13 +202,13 @@ public:
 
                 if (per_vertex)
                 {
-                  mesh.vert[i].PD1().Import(u);
-                  mesh.vert[i].PD2().Import(v);
+                    mesh.vert[i].PD1().Import(u);
+                    mesh.vert[i].PD2().Import(v);
                 }
                 else
                 {
-                  mesh.face[i].PD1().Import(u);
-                  mesh.face[i].PD2().Import(v);
+                    mesh.face[i].PD1().Import(u);
+                    mesh.face[i].PD2().Import(v);
                 }
             }
         }
@@ -219,25 +219,30 @@ public:
     ///Load a 4 rosy format file as used by
     ///Interactive Visualization of Rotational Symmetry Fields on Surfaces
     ///Jonathan Palacios and Eugene Zhang
-    static void Load4ROSY(MeshType &mesh,
-                        const char *path)
+    static bool Load4ROSY(MeshType &mesh,
+                          const char *path)
     {
-         FILE *f = fopen(path,"rt");
+        FILE *f = fopen(path,"rt");
+        if (!f)
+        {
+            return false;
+        }
         int num,symm;
         fscanf(f,"%d",&num);
-        assert(num==mesh.vn);
+        assert(num==mesh.fn);
         fscanf(f,"%d\n",&symm);
         assert(symm==4);
-        for (unsigned int i=0;i<num;i++)
+        for (int i=0;i<num;i++)
         {
             float dirX,dirY,dirZ;
             fscanf(f,"%f %f %f \n",&dirX,&dirY,&dirZ);
-            mesh.vert[i].PD1()=CoordType(dirX,dirY,dirZ);
-            mesh.vert[i].PD2()=mesh.vert[i].PD1()^mesh.vert[i].N();
-            mesh.vert[i].PD1().Normalize();
-            mesh.vert[i].PD2().Normalize();
+            mesh.face[i].PD1()=CoordType(dirX,dirY,dirZ);
+            mesh.face[i].PD2()=mesh.face[i].PD1()^mesh.face[i].N();
+            mesh.face[i].PD1().Normalize();
+            mesh.face[i].PD2().Normalize();
         }
         fclose(f);
+        return true;
     }
 
 
@@ -317,7 +322,7 @@ public:
 
     //Load a 4 rosy format file as pair of angles
     static bool Load2AngleFace(MeshType &mesh,
-                              const char *path)
+                               const char *path)
     {
         FILE *f = fopen(path,"rt");
         if (f==NULL)return false;
@@ -335,6 +340,39 @@ public:
         return true;
     }
 
+    static bool LoadCSVField(MeshType &mesh,
+                             const std::string &field_1,
+                             const std::string &field_2,
+                             bool Normalize=true)
+    {
+        FILE *f1=NULL;
+        FILE *f2=NULL;
+        f1=fopen(field_1.c_str(),"rt");
+        if(f1==NULL)return false;
+        f2=fopen(field_2.c_str(),"rt");
+        if(f2==NULL)return false;
+        for (size_t i=0;i<mesh.face.size();i++)
+        {
+            float Xdir,Ydir,Zdir;
+            fscanf(f1,"%f,%f,%f\n",&Xdir,&Ydir,&Zdir);
+            mesh.face[i].PD1()=CoordType(Xdir,Ydir,Zdir);
+            //std::cout<<Xdir<<" "<<Ydir<<std::endl;
+            fscanf(f2,"%f,%f,%f\n",&Xdir,&Ydir,&Zdir);
+            mesh.face[i].PD2()=CoordType(Xdir,Ydir,Zdir);
+            //set the quality as force Value
+            if (Normalize)
+            {
+                mesh.face[i].PD1().Normalize();
+                mesh.face[i].PD2().Normalize();
+            }
+        }
+
+        //then color by quality
+        fclose(f1);
+        fclose(f2);
+        return true;
+    }
+
 }; // end class
 
 
diff --git a/wrap/io_trimesh/import_nvm.h b/wrap/io_trimesh/import_nvm.h
index bebe7c36..06f70ac5 100644
--- a/wrap/io_trimesh/import_nvm.h
+++ b/wrap/io_trimesh/import_nvm.h
@@ -67,10 +67,12 @@ typedef typename OpenMeshType::EdgeIterator EdgeIterator;
 static void readline(FILE *fp, char *line, int max=1000){
     int i=0;
     char c;
-    fscanf(fp, "%c", &c);
+    unsigned int rc = 0;
+    rc = fscanf(fp, "%c", &c);
     while( (c!=10) && (c!=13) && (i<max-1) ){
-        line[i++] = c;
-        fscanf(fp, "%c", &c);
+        if (rc == 1)
+            line[i++] = c;
+        rc = fscanf(fp, "%c", &c);
     }
     line[i] = '\0'; //end of string
 }
@@ -85,15 +87,6 @@ static bool ReadHeader(FILE *fp,unsigned int &num_cams){
     return true;
 }
 
-static bool ReadHeader(const char * filename,unsigned int &/*num_cams*/, unsigned int &/*num_points*/){
-    FILE *fp = fopen(filename, "r");
-    if(!fp) return false;
-    ReadHeader(fp);
-    fclose(fp);
-    return true;
-}
-
-
 static int Open( OpenMeshType &m, std::vector<Shot<ScalarType> >  & shots,
                  std::vector<std::string > & image_filenames,
                  const char * filename, CallBackPos *cb=0)
@@ -154,7 +147,7 @@ static int Open( OpenMeshType &m, std::vector<Shot<ScalarType> >  & shots,
     shots[i].Intrinsics.FocalMm    = f/100.0f;
     shots[i].Intrinsics.k[0] = 0.0;//k1; To be uncommented when distortion is taken into account reliably
     shots[i].Intrinsics.k[1] = 0.0;//k2;
-    shots[i].Intrinsics.PixelSizeMm = vcg::Point2<ScalarType>(0.01,0.01);
+    shots[i].Intrinsics.PixelSizeMm = vcg::Point2<ScalarType>(ScalarType(0.01), ScalarType(0.01));
     QImageReader sizeImg(QString::fromStdString(image_filenames[i]));
     QSize size=sizeImg.size();
     shots[i].Intrinsics.ViewportPx = vcg::Point2i(size.width(),size.height());
@@ -172,14 +165,18 @@ static int Open( OpenMeshType &m, std::vector<Shot<ScalarType> >  & shots,
   for(uint i = 0; i < num_points;++i,++vi){
     float x,y,z;
     unsigned int r,g,b,i_cam, key_sift,n_corr;
-    fscanf(fp,"%f %f %f ",&x,&y,&z);
+    uint readValues = fscanf(fp,"%f %f %f ",&x,&y,&z);
+    if (readValues < 3) qDebug() << "Point " << i << ": only " << readValues << " coordinates read!";
     (*vi).P() = vcg::Point3<typename OpenMeshType::ScalarType>(x,y,z);
-    fscanf(fp,"%d %d %d ",&r,&g,&b);
+    readValues = fscanf(fp,"%d %d %d ",&r,&g,&b);
+    if (readValues < 3) qDebug() << "Point " << i << ": only " << readValues << " color values read!";
     (*vi).C() = vcg::Color4b(r,g,b,255);
 
-    fscanf(fp,"%d ",&n_corr);
+    readValues = fscanf(fp,"%d ",&n_corr);
+    if (readValues < 1) qDebug() << "Point " << i << ": no n correspondences read!";
     for(uint j = 0; j < n_corr; ++j){
-      fscanf(fp,"%d %d %f %f ",&i_cam,&key_sift,&x,&y);
+      readValues = fscanf(fp,"%d %d %f %f ",&i_cam,&key_sift,&x,&y);
+      if (readValues != 3) qDebug() << "Point " << i << "; Corresp: " << j << ": only " << readValues << " values read!";
       Correspondence corr(i_cam,key_sift,x,y);
       ch[i].push_back(corr);
     }
diff --git a/wrap/io_trimesh/import_obj.h b/wrap/io_trimesh/import_obj.h
index cdedc588..9f9fa909 100644
--- a/wrap/io_trimesh/import_obj.h
+++ b/wrap/io_trimesh/import_obj.h
@@ -41,1031 +41,1056 @@
 
 
 namespace vcg {
-    namespace tri {
-        namespace io {
+namespace tri {
+namespace io {
 
-            /**
-            This class encapsulate a filter for importing obj (Alias Wavefront) meshes.
-            Warning: this code assume little endian (PC) architecture!!!
-            */
-            template <class OpenMeshType>
-            class ImporterOBJ
+/**
+This class encapsulate a filter for importing obj (Alias Wavefront) meshes.
+Warning: this code assume little endian (PC) architecture!!!
+*/
+
+template <class OpenMeshType>
+class ImporterOBJ
+{
+public:
+  static int &MRGBLineCount(){static int _MRGBLineCount=0; return _MRGBLineCount;}
+  
+  typedef typename OpenMeshType::VertexPointer VertexPointer;
+  typedef typename OpenMeshType::ScalarType ScalarType;
+  typedef typename OpenMeshType::VertexType VertexType;
+  typedef typename OpenMeshType::EdgeType   EdgeType;
+  typedef typename OpenMeshType::FaceType FaceType;
+  typedef typename OpenMeshType::VertexIterator VertexIterator;
+  typedef typename OpenMeshType::FaceIterator FaceIterator;
+  typedef typename OpenMeshType::CoordType CoordType;
+  
+  class Info
+  {
+  public:
+    
+    Info() {}
+    
+    /// It returns a bit mask describing the field present in the obj file
+    int mask=0;
+    
+    /// a Simple callback that can be used for long obj parsing.
+    CallBackPos *cb=nullptr;
+    
+    int numVertices;
+    int numEdges;
+    int numFaces; // Note that numFaces can be different from the  final number of triangles
+    int numTexCoords=0;
+    int numNormals;
+    
+  }; // end class
+  
+  
+  struct ObjIndexedFace
+  {
+    void set(const int & num){v.resize(num);n.resize(num); t.resize(num);}
+    std::vector<int> v;
+    std::vector<int> n;
+    std::vector<int> t;
+    int tInd;
+    bool edge[3];// useless if the face is a polygon, no need to have variable length array
+    Color4b c;
+    int mInd;
+  };
+  
+  struct ObjEdge
+  {
+    int v0;
+    int v1;
+  };
+  
+  struct ObjTexCoord
+  {
+    float u;
+    float v;
+  };
+  
+  enum OBJError {
+    // Successfull opening
+    E_NOERROR                           = 0*2+0,  //  A*2+B  (A position of correspondig string in the array, B=1 if not critical)
+    
+    // Non Critical Errors (only odd numbers)
+    E_NON_CRITICAL_ERROR                = 0*2+1,
+    E_MATERIAL_FILE_NOT_FOUND           = 1*2+1,
+    E_MATERIAL_NOT_FOUND                = 2*2+1,
+    E_TEXTURE_NOT_FOUND                 = 3*2+1,
+    E_VERTICES_WITH_SAME_IDX_IN_FACE    = 4*2+1,
+    E_LESS_THAN_3_VERT_IN_FACE          = 5*2+1,
+    
+    // Critical Opening Errors (only even numbers)
+    E_CANTOPEN                          = 6*2+0,
+    E_UNEXPECTED_EOF                    = 7*2+0,
+    E_ABORTED                           = 8*2+0,
+    E_NO_VERTEX                         = 9*2+0,
+    E_NO_FACE                           =10*2+0,
+    E_BAD_VERTEX_STATEMENT              =11*2+0,
+    E_BAD_VERT_TEX_STATEMENT            =12*2+0,
+    E_BAD_VERT_NORMAL_STATEMENT         =13*2+0,
+    E_BAD_VERT_INDEX                    =14*2+0,
+    E_BAD_VERT_TEX_INDEX                =15*2+0,
+    E_BAD_VERT_NORMAL_INDEX             =16*2+0,
+    E_LESS_THAN_4_VERT_IN_QUAD          =17*2+0
+  };
+  
+  // to check if a given error is critical or not.
+  static bool ErrorCritical(int err)
+  {
+    if (err==0) return false;
+    if (err&1) return false;
+    return true;
+  }
+  
+  static const char* ErrorMsg(int error)
+  {
+    const int MAXST = 18;
+    static const char* obj_error_msg[MAXST] =
+    {
+      /*  0 */ "No errors",
+      
+      /*  1 */ "Material library file wrong or not found, a default white material is used",
+      /*  2 */ "Some materials definitions were not found, a default white material is used where no material was available",
+      /*  3 */ "Texture file not found",
+      /*  4 */ "Identical vertex indices found in the same faces -- faces ignored",
+      /*  5 */ "Faces with fewer than 3 vertices  -- faces ignored",
+      
+      /*  6 */ "Can't open file",
+      /*  7 */ "Premature End of File. File truncated?",
+      /*  8 */ "Loading aborted by user",
+      /*  9 */ "No vertex found",
+      /* 10 */ "No face found",
+      /* 11 */ "Vertex statement with fewer than 3 coords",
+      /* 12 */ "Texture coords statement with fewer than 2 coords",
+      /* 13 */ "Vertex normal statement with fewer than 3 coords",
+      /* 14 */ "Bad vertex index in face",
+      /* 15 */ "Bad texture coords index in face",
+      /* 16 */ "Bad vertex normal index in face",
+      /* 17 */ "Quad faces with number of corners different from 4"
+    };
+    
+    error >>= 1;
+    
+    if( (error>=MAXST) || (error<0) ) return "Unknown error";
+    else return obj_error_msg[error];
+  }
+  
+  // Helper functions that checks the range of indexes
+  // putting them in the correct range if less than zero (as in the obj style)
+  
+  static bool GoodObjIndex(int &index, const int maxVal)
+  {
+    if (index > maxVal)	return false;
+    if (index < 0)
+    {
+      index += maxVal+1;
+      if (index<0 || index > maxVal)	return false;
+    }
+    return true;
+  }
+  
+  static int Open(OpenMeshType &mesh, const char *filename, int &loadmask, CallBackPos *cb=0)
+  {
+    Info oi;
+    oi.mask=0;
+    oi.cb=cb;
+    int ret=Open(mesh,filename,oi);
+    loadmask=oi.mask;
+    return ret;
+  }
+  
+  /*!
+  * Opens an object file (in ascii format) and populates the mesh passed as first
+  * accordingly to read data
+  * \param m The mesh model to be populated with data stored into the file
+  * \param filename The name of the file to be opened
+  * \param oi A structure containing infos about the object to be opened
+  */
+  static int Open( OpenMeshType &m, const char * filename, Info &oi)
+  {
+    int result = E_NOERROR;
+    
+    m.Clear();
+    CallBackPos *cb = oi.cb;
+    
+    // if LoadMask has not been called yet, we call it here
+    if (oi.mask == 0)
+      LoadMask(filename, oi);
+    
+    const int inputMask = oi.mask;
+    Mask::ClampMask<OpenMeshType>(m,oi.mask);
+    
+    if (oi.numVertices == 0)
+      return E_NO_VERTEX;
+          
+    std::ifstream stream(filename);
+    if (stream.fail())
+    {
+      stream.close();
+      return E_CANTOPEN;
+    }
+    
+    typename OpenMeshType::template PerMeshAttributeHandle<std::vector<Material> > materialsHandle =
+        vcg::tri::Allocator<OpenMeshType>:: template GetPerMeshAttribute<std::vector<Material> >(m, std::string("materialVector"));
+    typename OpenMeshType::template PerFaceAttributeHandle<int> mIndHandle =
+        vcg::tri::Allocator<OpenMeshType>:: template GetPerFaceAttribute<int>(m, std::string("materialIndex"));
+    std::vector<Material>&	materials = materialsHandle();  // materials vector
+    std::vector<ObjTexCoord>	texCoords;  // texture coordinates
+    std::vector<CoordType>  normals;		// vertex normals
+    std::vector<ObjIndexedFace> indexedFaces;
+    std::vector< std::string > tokens;
+    std::string line;
+    std::string	header;
+    
+    short currentMaterialIdx = 0;			// index of current material into materials vector
+    Color4b currentColor=Color4b::LightGray;	// we declare this outside code block since other
+    // triangles of this face will share the same color
+    
+    Material defaultMaterial;					// default material: white
+    defaultMaterial.index=currentMaterialIdx;
+    materials.push_back(defaultMaterial);
+    
+    int numVertices  = 0;  // stores the number of vertices been read till now
+    int numEdges     = 0;  // stores the number of edges read till now
+    int numTriangles = 0;  // stores the number of faces been read till now
+    int numTexCoords = 0;  // stores the number of texture coordinates been read till now
+    int numVNormals	 = 0;  // stores the number of vertex normals been read till now
+    
+    int numVerticesPlusFaces = oi.numVertices + oi.numFaces;
+    int extraTriangles=0;
+    // vertices and faces allocation
+    VertexIterator vi = vcg::tri::Allocator<OpenMeshType>::AddVertices(m,oi.numVertices);
+    //FaceIterator   fi = Allocator<OpenMeshType>::AddFaces(m,oi.numFaces);
+    // edges found
+    std::vector<ObjEdge> ev;
+    std::vector<Color4b> vertexColorVector;
+    ObjIndexedFace	ff;
+    const char *loadingStr = "Loading";
+    while (!stream.eof())
+    {
+      tokens.clear();
+      TokenizeNextLine(stream, tokens, line, &vertexColorVector);
+      
+      unsigned int numTokens = static_cast<unsigned int>(tokens.size());
+      if (numTokens > 0)
+      {
+        header.clear();
+        header = tokens[0];
+        
+        // callback invocation, abort loading process if the call returns false
+        if ((cb !=NULL) && (((numTriangles + numVertices)%100)==0) && !(*cb)((100*(numTriangles + numVertices))/numVerticesPlusFaces, loadingStr))
+        {
+          stream.close();
+          return E_ABORTED;
+        }
+        if (header.compare("v")==0)	// vertex
+        {
+          loadingStr="Vertex Loading";
+          if (numTokens < 4)
+          {
+            stream.close();
+            return E_BAD_VERTEX_STATEMENT;
+          }
+          (*vi).P()[0] = (ScalarType) atof(tokens[1].c_str());
+          (*vi).P()[1] = (ScalarType) atof(tokens[2].c_str());
+          (*vi).P()[2] = (ScalarType) atof(tokens[3].c_str());
+          ++numVertices;
+          
+          // assigning vertex color
+          // ----------------------
+          if (((oi.mask & vcg::tri::io::Mask::IOM_VERTCOLOR) != 0) && (HasPerVertexColor(m)))
+          {
+            if(numTokens>=7)
             {
-            public:
-                static int &MRGBLineCount(){static int _MRGBLineCount=0; return _MRGBLineCount;}
-
-                typedef typename OpenMeshType::VertexPointer VertexPointer;
-                typedef typename OpenMeshType::ScalarType ScalarType;
-                typedef typename OpenMeshType::VertexType VertexType;
-                typedef typename OpenMeshType::EdgeType   EdgeType;
-                typedef typename OpenMeshType::FaceType FaceType;
-                typedef typename OpenMeshType::VertexIterator VertexIterator;
-                typedef typename OpenMeshType::FaceIterator FaceIterator;
-                typedef typename OpenMeshType::CoordType CoordType;
-
-                class Info
+              ScalarType rf(atof(tokens[4].c_str())), gf(atof(tokens[5].c_str())), bf(atof(tokens[6].c_str()));
+              ScalarType scaling = (rf<=1 && gf<=1 && bf<=1) ? 255. : 1;
+              
+              unsigned char r			= (unsigned char) ((ScalarType) atof(tokens[4].c_str()) * scaling);
+              unsigned char g			= (unsigned char) ((ScalarType) atof(tokens[5].c_str()) * scaling);
+              unsigned char b			= (unsigned char) ((ScalarType) atof(tokens[6].c_str()) * scaling);
+              unsigned char alpha = (unsigned char) ((numTokens>=8 ? (ScalarType) atof(tokens[7].c_str()) : 1)  * scaling);
+              (*vi).C() = Color4b(r, g, b, alpha);
+            }
+            else
+            {
+              (*vi).C() = currentColor;
+            }
+          }
+          
+          ++vi;  // move to next vertex iterator
+        }
+        else if (header.compare("vt")==0)	// vertex texture coords
+        {
+          loadingStr="Vertex Texture Loading";
+          
+          if (numTokens < 3)
+          {
+            stream.close();
+            return E_BAD_VERT_TEX_STATEMENT;
+          }
+          ObjTexCoord t;
+          t.u = static_cast<float>(atof(tokens[1].c_str()));
+          t.v = static_cast<float>(atof(tokens[2].c_str()));
+          texCoords.push_back(t);
+          
+          numTexCoords++;
+        }
+        else if (header.compare("vn")==0)  // vertex normal
+        {
+          loadingStr="Vertex Normal Loading";
+          
+          if (numTokens != 4)
+          {
+            stream.close();
+            return E_BAD_VERT_NORMAL_STATEMENT;
+          }
+          CoordType n;
+          n[0] = (ScalarType) atof(tokens[1].c_str());
+          n[1] = (ScalarType) atof(tokens[2].c_str());
+          n[2] = (ScalarType) atof(tokens[3].c_str());
+          normals.push_back(n);
+          
+          numVNormals++;
+        }
+        else if ( header.compare("l")==0 )
+        {
+          loadingStr = "Edge Loading";
+          
+          if (numTokens < 3)
+          {
+            result = E_LESS_THAN_3_VERT_IN_FACE; // TODO add proper/handling error code
+            continue;
+          }
+          
+          ObjEdge e = { (atoi(tokens[1].c_str()) - 1),
+                        (atoi(tokens[2].c_str()) - 1) };
+          ev.push_back(e);
+          
+          numEdges++;
+        }
+        else if( (header.compare("f")==0) || (header.compare("q")==0) )  // face
+        {
+          loadingStr="Face Loading";
+          
+          int vertexesPerFace = static_cast<int>(tokens.size()-1);
+          
+          bool QuadFlag = false; // QOBJ format by Silva et al for simply storing quadrangular meshes.
+          if(header.compare("q")==0) {
+            QuadFlag=true;
+            if (vertexesPerFace != 4) {
+              stream.close();
+              return E_LESS_THAN_4_VERT_IN_QUAD;
+            }
+          }
+          
+          
+          if (vertexesPerFace < 3) {
+            // face with fewer than 3 vertices found: ignore this face
+            extraTriangles--;
+            result = E_LESS_THAN_3_VERT_IN_FACE;
+            continue;
+          }
+          
+          
+          if( (vertexesPerFace>3) && OpenMeshType::FaceType::HasPolyInfo() )
+          {
+            //_BEGIN___ if you are filling a vcg mesh with GENERIC POLYGON 
+            ff.set(vertexesPerFace);
+            for(int i=0;i<vertexesPerFace;++i) { // remember index starts from 1 instead of 0
+              SplitToken(tokens[i+1], ff.v[i], ff.n[i], ff.t[i], inputMask);
+              if(QuadFlag) ff.v[i]++; // NOTE THAT THE STUPID QOBJ FORMAT IS ZERO INDEXED!!!!
+            }
+            if ( oi.mask & vcg::tri::io::Mask::IOM_WEDGTEXCOORD )
+            {
+              // verifying validity of texture coords indices
+              for(int i=0;i<vertexesPerFace;i++)
+                if(!GoodObjIndex(ff.t[i],oi.numTexCoords))
                 {
-                public:
-
-                    Info()
-                    {
-                        mask	= 0;
-                        cb		= 0;
-                        numTexCoords=0;
-                    }
-
-                    /// It returns a bit mask describing the field preesnt in the ply file
-                    int mask;
-
-                    /// a Simple callback that can be used for long obj parsing.
-                    // it returns the current position, and formats a string with a description of what th efunction is doing (loading vertexes, faces...)
-                    CallBackPos *cb;
-
-                    /// number of vertices
-                    int numVertices;
-                    /// number of edges
-                    int numEdges;
-                    /// number of faces (the number of triangles could be
-                    /// larger in presence of polygonal faces
-                    int numFaces;
-                    /// number of texture coords indexes
-                    int numTexCoords;
-                    /// number of normals
-                    int numNormals;
-
-                }; // end class
-
-
-                //struct OBJFacet
-                //{
-                //  CoordType n;
-                //	CoordType t;
-                //  CoordType v[3];
-                //
-                //	short attr;  // material index
-                //};
-                struct ObjIndexedFace
-                {
-                    void set(const int & num){v.resize(num);n.resize(num); t.resize(num);}
-                    std::vector<int> v;
-                    std::vector<int> n;
-                    std::vector<int> t;
-                    int tInd;
-                    bool  edge[3];// useless if the face is a polygon, no need to have variable length array
-                    Color4b c;
-                };
-
-                struct ObjEdge
-                {
-                    int v0;
-                    int v1;
-                };
-
-                struct ObjTexCoord
-                {
-                    float u;
-                    float v;
-                };
-
-                enum OBJError {
-                    // Successfull opening
-                    E_NOERROR                           = 0*2+0,  //  A*2+B  (A position of correspondig string in the array, B=1 if not critical)
-
-                    // Non Critical Errors (only odd numbers)
-                    E_NON_CRITICAL_ERROR                = 0*2+1,
-                    E_MATERIAL_FILE_NOT_FOUND           = 1*2+1,
-                    E_MATERIAL_NOT_FOUND                = 2*2+1,
-                    E_TEXTURE_NOT_FOUND                 = 3*2+1,
-                    E_VERTICES_WITH_SAME_IDX_IN_FACE    = 4*2+1,
-                    E_LESS_THAN_3_VERT_IN_FACE          = 5*2+1,
-
-                    // Critical Opening Errors (only even numbers)
-                    E_CANTOPEN                          = 6*2+0,
-                    E_UNEXPECTED_EOF                     = 7*2+0,
-                    E_ABORTED                           = 8*2+0,
-                    E_NO_VERTEX                         = 9*2+0,
-                    E_NO_FACE                           =10*2+0,
-                    E_BAD_VERTEX_STATEMENT              =11*2+0,
-                    E_BAD_VERT_TEX_STATEMENT            =12*2+0,
-                    E_BAD_VERT_NORMAL_STATEMENT         =13*2+0,
-                    E_BAD_VERT_INDEX                    =14*2+0,
-                    E_BAD_VERT_TEX_INDEX                =15*2+0,
-                    E_BAD_VERT_NORMAL_INDEX             =16*2+0,
-                    E_LESS_THAN_4_VERT_IN_QUAD          =17*2+0
-                };
-
-                // to check if a given error is critical or not.
-                static bool ErrorCritical(int err)
-                {
-                    if (err==0) return false;
-                    if (err&1) return false;
-                    return true;
+                  stream.close();
+                  return E_BAD_VERT_TEX_INDEX;
                 }
-
-                static const char* ErrorMsg(int error)
+              ff.tInd=materials[currentMaterialIdx].index;
+            }
+            
+            // verifying validity of vertex indices
+            std::vector<int> tmp = ff.v;
+            std::sort(tmp.begin(),tmp.end());
+            std::unique(tmp.begin(),tmp.end());
+            if(tmp.size() != ff.v.size()) {
+              result = E_VERTICES_WITH_SAME_IDX_IN_FACE;
+              extraTriangles--;
+              continue;
+            }
+            
+            for(int i=0;i<vertexesPerFace;i++)
+              if(!GoodObjIndex(ff.v[i],numVertices))
+              {
+                stream.close();
+                return E_BAD_VERT_INDEX;
+              }
+            
+            if(( oi.mask & vcg::tri::io::Mask::IOM_WEDGNORMAL ) ||
+               ( oi.mask & vcg::tri::io::Mask::IOM_VERTNORMAL  ) )
+            {
+              // verifying validity of vertex normal indices
+              for(int i=0;i<vertexesPerFace;i++)
+                if(!GoodObjIndex(ff.n[i],numVNormals))
                 {
-                    const int MAXST = 18;
-                    static const char* obj_error_msg[MAXST] =
-                    {
-                        /*  0 */ "No errors",
-
-                        /*  1 */ "Material library file wrong or not found, a default white material is used",
-                        /*  2 */ "Some materials definitions were not found, a default white material is used where no material was available",
-                        /*  3 */ "Texture file not found",
-                        /*  4 */ "Identical vertex indices found in the same faces -- faces ignored",
-                        /*  5 */ "Faces with fewer than 3 vertices  -- faces ignored",
-
-                        /*  6 */ "Can't open file",
-                        /*  7 */ "Premature End of File. File truncated?",
-                        /*  8 */ "Loading aborted by user",
-                        /*  9 */ "No vertex found",
-                        /* 10 */ "No face found",
-                        /* 11 */ "Vertex statement with fewer than 3 coords",
-                        /* 12 */ "Texture coords statement with fewer than 2 coords",
-                        /* 13 */ "Vertex normal statement with fewer than 3 coords",
-                        /* 14 */ "Bad vertex index in face",
-                        /* 15 */ "Bad texture coords index in face",
-                        /* 16 */ "Bad vertex normal index in face",
-                        /* 17 */ "Quad faces with number of corners different from 4"
-                    };
-
-                    error >>= 1;
-
-                    if( (error>=MAXST) || (error<0) ) return "Unknown error";
-                    else return obj_error_msg[error];
+                  stream.close();
+                  return E_BAD_VERT_NORMAL_INDEX;
                 }
-
-                // Helper functions that checks the range of indexes
-                // putting them in the correct range if less than zero (as in the obj style)
-
-                static bool GoodObjIndex(int &index, const int maxVal)
-                {
-                    if (index > maxVal)	return false;
-                    if (index < 0)
-                    {
-                        index += maxVal+1;
-                        if (index<0 || index > maxVal)	return false;
-                    }
-                    return true;
-                }
-
-                static int Open(OpenMeshType &mesh, const char *filename, int &loadmask, CallBackPos *cb=0)
-                {
-                    Info oi;
-                    oi.mask=0;
-                    oi.cb=cb;
-                    int ret=Open(mesh,filename,oi);
-                    loadmask=oi.mask;
-                    return ret;
-                }
-
-                /*!
-                * Opens an object file (in ascii format) and populates the mesh passed as first
-                * accordingly to read data
-                * \param m The mesh model to be populated with data stored into the file
-                * \param filename The name of the file to be opened
-                * \param oi A structure containing infos about the object to be opened
-                */
-                static int Open( OpenMeshType &m, const char * filename, Info &oi)
-                {
-                    int result = E_NOERROR;
-
-                    m.Clear();
-                    CallBackPos *cb = oi.cb;
-
-                    // if LoadMask has not been called yet, we call it here
-                    if (oi.mask == 0)
-                        LoadMask(filename, oi);
-
-                    const int inputMask = oi.mask;
-                    Mask::ClampMask<OpenMeshType>(m,oi.mask);
-
-                    if (oi.numVertices == 0)
-                        return E_NO_VERTEX;
-
-                    // Commented out this test. You should be allowed to load point clouds.
-                    //if (oi.numFaces == 0)
-                    //	return E_NO_FACE;
-
-
-                    std::ifstream stream(filename);
-                    if (stream.fail())
-                    {
-                        stream.close();
-                        return E_CANTOPEN;
-                    }
-                    std::vector<Material>	materials;  // materials vector
-                    std::vector<ObjTexCoord>	texCoords;  // texture coordinates
-                    std::vector<CoordType>  normals;		// vertex normals
-                    std::vector<ObjIndexedFace> indexedFaces;
-                    std::vector< std::string > tokens;
-                    std::string	header;
-
-                    short currentMaterialIdx = 0;			// index of current material into materials vector
-                    Color4b currentColor=Color4b::LightGray;	// we declare this outside code block since other
-                    // triangles of this face will share the same color
-
-                    Material defaultMaterial;					// default material: white
-                    materials.push_back(defaultMaterial);
-
-                    int numVertices  = 0;  // stores the number of vertices been read till now
-                    int numEdges     = 0;  // stores the number of edges read till now
-                    int numTriangles = 0;  // stores the number of faces been read till now
-                    int numTexCoords = 0;  // stores the number of texture coordinates been read till now
-                    int numVNormals	 = 0;  // stores the number of vertex normals been read till now
-
-                    int numVerticesPlusFaces = oi.numVertices + oi.numFaces;
-                    int extraTriangles=0;
-                    // vertices and faces allocation
-                    VertexIterator vi = vcg::tri::Allocator<OpenMeshType>::AddVertices(m,oi.numVertices);
-                    //FaceIterator   fi = Allocator<OpenMeshType>::AddFaces(m,oi.numFaces);
-                    // edges found
-                    std::vector<ObjEdge> ev;
-                    std::vector<Color4b> vertexColorVector;
-                    ObjIndexedFace	ff;
-                    const char *loadingStr = "Loading";
-                    while (!stream.eof())
-                    {
-                        tokens.clear();
-                        TokenizeNextLine(stream, tokens,&vertexColorVector);
-
-                        unsigned int numTokens = static_cast<unsigned int>(tokens.size());
-                        if (numTokens > 0)
-                        {
-                            header.clear();
-                            header = tokens[0];
-
-                            // callback invocation, abort loading process if the call returns false
-                            if ((cb !=NULL) && (((numTriangles + numVertices)%100)==0) && !(*cb)((100*(numTriangles + numVertices))/numVerticesPlusFaces, loadingStr))
-                            {
-                                stream.close();
-                                return E_ABORTED;
-                            }
-                            if (header.compare("v")==0)	// vertex
-                            {
-                                loadingStr="Vertex Loading";
-                                if (numTokens < 4)
-                                {
-                                    stream.close();
-                                    return E_BAD_VERTEX_STATEMENT;
-                                }
-                                (*vi).P()[0] = (ScalarType) atof(tokens[1].c_str());
-                                (*vi).P()[1] = (ScalarType) atof(tokens[2].c_str());
-                                (*vi).P()[2] = (ScalarType) atof(tokens[3].c_str());
-                                ++numVertices;
-
-                                // assigning vertex color
-                                // ----------------------
-                                if (((oi.mask & vcg::tri::io::Mask::IOM_VERTCOLOR) != 0) && (HasPerVertexColor(m)))
-                                {
-                                    if(numTokens>=7)
-                                    {
-                                        ScalarType rf(atof(tokens[4].c_str())), gf(atof(tokens[5].c_str())), bf(atof(tokens[6].c_str()));
-                                        ScalarType scaling = (rf<=1 && gf<=1 && bf<=1) ? 255. : 1;
-
-                                        unsigned char r			= (unsigned char) ((ScalarType) atof(tokens[4].c_str()) * scaling);
-                                        unsigned char g			= (unsigned char) ((ScalarType) atof(tokens[5].c_str()) * scaling);
-                                        unsigned char b			= (unsigned char) ((ScalarType) atof(tokens[6].c_str()) * scaling);
-                                        unsigned char alpha = (unsigned char) ((numTokens>=8 ? (ScalarType) atof(tokens[7].c_str()) : 1)  * scaling);
-                                        (*vi).C() = Color4b(r, g, b, alpha);
-                                    }
-                                    else
-                                    {
-                                        (*vi).C() = currentColor;
-                                    }
-                                }
-
-                                ++vi;  // move to next vertex iterator
-                            }
-                            else if (header.compare("vt")==0)	// vertex texture coords
-                            {
-                                loadingStr="Vertex Texture Loading";
-
-                                if (numTokens < 3)
-                                {
-                                    stream.close();
-                                    return E_BAD_VERT_TEX_STATEMENT;
-                                }
-                                ObjTexCoord t;
-                                t.u = static_cast<float>(atof(tokens[1].c_str()));
-                                t.v = static_cast<float>(atof(tokens[2].c_str()));
-                                texCoords.push_back(t);
-
-                                numTexCoords++;
-                            }
-                            else if (header.compare("vn")==0)  // vertex normal
-                            {
-                                loadingStr="Vertex Normal Loading";
-
-                                if (numTokens != 4)
-                                {
-                                    stream.close();
-                                    return E_BAD_VERT_NORMAL_STATEMENT;
-                                }
-                                CoordType n;
-                                n[0] = (ScalarType) atof(tokens[1].c_str());
-                                n[1] = (ScalarType) atof(tokens[2].c_str());
-                                n[2] = (ScalarType) atof(tokens[3].c_str());
-                                normals.push_back(n);
-
-                                numVNormals++;
-                            }
-                            else if ( header.compare("l")==0 )
-                            {
-                                loadingStr = "Edge Loading";
-
-                                if (numTokens < 3)
-                                {
-                                    result = E_LESS_THAN_3_VERT_IN_FACE; // TODO add proper/handling error code
-                                    continue;
-                                }
-
-                                ObjEdge e = { (atoi(tokens[1].c_str()) - 1),
-                                              (atoi(tokens[2].c_str()) - 1) };
-                                ev.push_back(e);
-
-                                numEdges++;
-                            }
-                            else if( (header.compare("f")==0) || (header.compare("q")==0) )  // face
-                            {
-                                loadingStr="Face Loading";
-
-                                int vertexesPerFace = static_cast<int>(tokens.size()-1);
-
-                                bool QuadFlag = false; // QOBJ format by Silva et al for simply storing quadrangular meshes.
-                                if(header.compare("q")==0) {
-                                    QuadFlag=true;
-                                    if (vertexesPerFace != 4) {
-                                        stream.close();
-                                        return E_LESS_THAN_4_VERT_IN_QUAD;
-                                    }
-                                }
-
-
-                                if (vertexesPerFace < 3) {
-                                    // face with fewer than 3 vertices found: ignore this face
-                                    extraTriangles--;
-                                    result = E_LESS_THAN_3_VERT_IN_FACE;
-                                    continue;
-                                }
-
-
-                                if( (vertexesPerFace>3) && OpenMeshType::FaceType::HasPolyInfo() )
-                                {
-                                    //_BEGIN___ if  you are loading a GENERIC POLYGON mesh
-                                    ff.set(vertexesPerFace);
-                                    for(int i=0;i<vertexesPerFace;++i) { // remember index starts from 1 instead of 0
-                                        SplitToken(tokens[i+1], ff.v[i], ff.n[i], ff.t[i], inputMask);
-                                        if(QuadFlag) ff.v[i]++; // NOTE THAT THE STUPID QOBJ FORMAT IS ZERO INDEXED!!!!
-                                    }
-                                    if ( oi.mask & vcg::tri::io::Mask::IOM_WEDGTEXCOORD )
-                                    {
-                                        // verifying validity of texture coords indices
-                                        for(int i=0;i<vertexesPerFace;i++)
-                                            if(!GoodObjIndex(ff.t[i],oi.numTexCoords))
-                                            {
-                                                stream.close();
-                                                return E_BAD_VERT_TEX_INDEX;
-                                            }
-                                        ff.tInd=materials[currentMaterialIdx].index;
-                                    }
-
-                                    // verifying validity of vertex indices
-                                    std::vector<int> tmp = ff.v;
-                                    std::sort(tmp.begin(),tmp.end());
-                                    std::unique(tmp.begin(),tmp.end());
-                                    if(tmp.size() != ff.v.size()) {
-                                        result = E_VERTICES_WITH_SAME_IDX_IN_FACE;
-                                        extraTriangles--;
-                                        continue;
-                                    }
-
-                                    for(int i=0;i<vertexesPerFace;i++)
-                                        if(!GoodObjIndex(ff.v[i],numVertices))
-                                        {
-                                            stream.close();
-                                            return E_BAD_VERT_INDEX;
-                                        }
-
-                                    if(( oi.mask & vcg::tri::io::Mask::IOM_WEDGNORMAL ) ||
-                                       ( oi.mask & vcg::tri::io::Mask::IOM_VERTNORMAL  ) )
-                                    {
-                                        // verifying validity of vertex normal indices
-                                        for(int i=0;i<vertexesPerFace;i++)
-                                            if(!GoodObjIndex(ff.n[i],numVNormals))
-                                            {
-                                                stream.close();
-                                                return E_BAD_VERT_NORMAL_INDEX;
-                                            }
-                                    }
-
-
-                                    if( oi.mask & vcg::tri::io::Mask::IOM_FACECOLOR) // assigning face color
-                                        ff.c = currentColor;
-
-                                    ++numTriangles;
-                                    indexedFaces.push_back(ff);
-
-                                    //_END  ___ if  you are loading a GENERIC POLYGON mesh
-                                }
-                                else
-                                {
-                                    //_BEGIN___ if  you are loading a  TRIMESH mesh
-                                    std::vector<std::vector<vcg::Point3f> > polygonVect(1); // it is a vector of polygon loops
-                                    polygonVect[0].resize(vertexesPerFace);
-                                    std::vector<int> indexVVect(vertexesPerFace);
-                                    std::vector<int> indexNVect(vertexesPerFace);
-                                    std::vector<int> indexTVect(vertexesPerFace);
-                                    std::vector<int> indexTriangulatedVect;
-
-                                    for(int pi=0;pi<vertexesPerFace;++pi)
-                                    {
-                                        SplitToken(tokens[pi+1], indexVVect[pi],indexNVect[pi],indexTVect[pi], inputMask);
-                                        if(QuadFlag) indexVVect[pi]++; // NOTE THAT THE STUPID QOBJ FORMAT IS ZERO INDEXED!!!!
-                                        GoodObjIndex(indexVVect[pi],numVertices);
-                                        GoodObjIndex(indexTVect[pi],oi.numTexCoords);
-                                        polygonVect[0][pi].Import(m.vert[indexVVect[pi]].cP());
-                                    }
-                                    if(vertexesPerFace>3)
-                                       oi.mask |= Mask::IOM_BITPOLYGONAL;
-
-                                    if(vertexesPerFace<5)
-                                        FanTessellator(polygonVect, indexTriangulatedVect);
-                                    else
-                                    {
+            }
+            
+            
+            if( oi.mask & vcg::tri::io::Mask::IOM_FACECOLOR) // assigning face color
+              ff.c = currentColor;
+            
+            ++numTriangles;
+            indexedFaces.push_back(ff);
+            
+            //_END  ___ if you are filling a vcg mesh with GENERIC POLYGON 
+          }
+          else
+          {
+            //_BEGIN___ if you are filling a vcg mesh with TRIANGLES 
+            std::vector<std::vector<vcg::Point3f> > polygonVect(1); // it is a vector of polygon loops
+            polygonVect[0].resize(vertexesPerFace);
+            std::vector<int> indexVVect(vertexesPerFace);
+            std::vector<int> indexNVect(vertexesPerFace);
+            std::vector<int> indexTVect(vertexesPerFace);
+            std::vector<int> indexTriangulatedVect;
+            
+            for(int pi=0;pi<vertexesPerFace;++pi)
+            {
+              SplitToken(tokens[pi+1], indexVVect[pi],indexNVect[pi],indexTVect[pi], inputMask);
+              if(QuadFlag) indexVVect[pi]++; // NOTE THAT THE STUPID QOBJ FORMAT IS ZERO INDEXED!!!!
+              GoodObjIndex(indexVVect[pi],numVertices);
+              GoodObjIndex(indexTVect[pi],oi.numTexCoords);
+              polygonVect[0][pi].Import(m.vert[indexVVect[pi]].cP());
+            }
+            if(vertexesPerFace>3)
+              oi.mask |= Mask::IOM_BITPOLYGONAL;
+            
+            if(vertexesPerFace<5)
+              FanTessellator(polygonVect, indexTriangulatedVect);
+            else
+            {
 #ifdef __gl_h_
-                                        //qDebug("OK: using opengl tessellation for a polygon of %i verteces",vertexesPerFace);
-                                        vcg::glu_tesselator::tesselate<vcg::Point3f>(polygonVect, indexTriangulatedVect);
-                                        if(indexTriangulatedVect.size()==0)
-                                          FanTessellator(polygonVect, indexTriangulatedVect);
+              //qDebug("OK: using opengl tessellation for a polygon of %i verteces",vertexesPerFace);
+              vcg::glu_tesselator::tesselate<vcg::Point3f>(polygonVect, indexTriangulatedVect);
+              if(indexTriangulatedVect.size()==0)
+                FanTessellator(polygonVect, indexTriangulatedVect);
 #else
-                                        //qDebug("Warning: using fan tessellation for a polygon of %i verteces",vertexesPerFace);
-                                        FanTessellator(polygonVect, indexTriangulatedVect);
+              //qDebug("Warning: using fan tessellation for a polygon of %i verteces",vertexesPerFace);
+              FanTessellator(polygonVect, indexTriangulatedVect);
 #endif
-                                    }
-                                    extraTriangles+=((indexTriangulatedVect.size()/3) -1);
+            }
+            extraTriangles+=((indexTriangulatedVect.size()/3) -1);
 #ifdef QT_VERSION
-                                    if( int(indexTriangulatedVect.size()/3) != vertexesPerFace-2)
-                                    {
-                                        qDebug("Warning there is a degenerate poligon of %i verteces that was triangulated into %i triangles",vertexesPerFace,int(indexTriangulatedVect.size()/3));
-                                        for(size_t qq=0;qq<polygonVect[0].size();++qq)
-                                            qDebug("      (%f %f %f)",polygonVect[0][qq][0],polygonVect[0][qq][1],polygonVect[0][qq][2]);
-                                        for(size_t qq=0;qq<tokens.size();++qq) qDebug("<%s>",tokens[qq].c_str());
-                                    }
+            if( int(indexTriangulatedVect.size()/3) != vertexesPerFace-2)
+            {
+              qDebug("Warning there is a degenerate poligon of %i verteces that was triangulated into %i triangles",vertexesPerFace,int(indexTriangulatedVect.size()/3));
+              for(size_t qq=0;qq<polygonVect[0].size();++qq)
+                qDebug("      (%f %f %f)",polygonVect[0][qq][0],polygonVect[0][qq][1],polygonVect[0][qq][2]);
+              for(size_t qq=0;qq<tokens.size();++qq) qDebug("<%s>",tokens[qq].c_str());
+            }
 #endif
-                                    //qDebug("Triangulated a face of %i vertexes into %i triangles",polygonVect[0].size(),indexTriangulatedVect.size());
-
-                                    for(size_t pi=0;pi<indexTriangulatedVect.size();pi+=3)
-                                    {
-                                        ff.set(3);
-                                        int locInd[3];
-                                        for(int iii=0;iii<3;++iii)
-                                        {
-                                            locInd[iii]=indexTriangulatedVect[pi+iii];
-                                            ff.v[iii]=indexVVect[ locInd[iii] ];
-                                            ff.n[iii]=indexNVect[ locInd[iii] ];
-                                            ff.t[iii]=indexTVect[ locInd[iii] ];
-                                        }
-
-                                        // Setting internal edges: only edges formed by consecutive edges are external.
-                                        for(int iii=0;iii<3;++iii)
-                                        {
-                                            if( (locInd[iii]+1)%vertexesPerFace == locInd[(iii+1)%3]) ff.edge[iii]=false;
-                                            else ff.edge[iii]=true;
-                                        }
-
-                                        if ( oi.mask & vcg::tri::io::Mask::IOM_WEDGTEXCOORD )
-                                        { // verifying validity of texture coords indices
-                                            bool invalid = false;
-                                            for(int i=0;i<3;i++)
-                                                if(!GoodObjIndex(ff.t[i],oi.numTexCoords))
-                                                {
-                                                    //return E_BAD_VERT_TEX_INDEX;
-                                                    invalid = true;
-                                                    break;
-                                                }
-                                                if (invalid) continue;
-                                                ff.tInd=materials[currentMaterialIdx].index;
-                                        }
-
-                                        // verifying validity of vertex indices
-                                        if ((ff.v[0] == ff.v[1]) || (ff.v[0] == ff.v[2]) || (ff.v[1] == ff.v[2])) {
-                                            result = E_VERTICES_WITH_SAME_IDX_IN_FACE;
-                                            extraTriangles--;
-                                            continue;
-                                        }
-
-                                        {
-                                            bool invalid = false;
-                                            for(int i=0;i<3;i++)
-                                                if(!GoodObjIndex(ff.v[i],numVertices))
-                                                {
-                                                    //return E_BAD_VERT_INDEX;
-                                                    invalid = true;
-                                                    break;
-                                                }
-                                            if (invalid) continue;
-                                        }
-
-                                        // assigning face normal
-                                        if ( ( oi.mask & vcg::tri::io::Mask::IOM_WEDGNORMAL  ) ||
-                                             ( oi.mask & vcg::tri::io::Mask::IOM_VERTNORMAL  ) )
-                                        {   // verifying validity of vertex normal indices
-                                            bool invalid = false;
-                                            for(int i=0;i<3;i++)
-                                                if(!GoodObjIndex(ff.n[i],numVNormals))
-                                                {
-                                                    //return E_BAD_VERT_NORMAL_INDEX;
-                                                    invalid = true;
-                                                    break;
-                                                }
-                                                if (invalid) continue;
-                                        }
-
-                                        // assigning face color
-                                        if( oi.mask & vcg::tri::io::Mask::IOM_FACECOLOR) ff.c = currentColor;
-
-                                        ++numTriangles;
-                                        indexedFaces.push_back(ff);
-                                    }
-
-                                }
-                            }
-                            else if ((header.compare("mtllib")==0) && (tokens.size() > 1))	// material library
-                            {
-                                // obtain the name of the file containing materials library
-                                std::string materialFileName = tokens[1];
-                                if (!LoadMaterials( materialFileName.c_str(), materials, m.textures))
-                                    result = E_MATERIAL_FILE_NOT_FOUND;
-                            }
-                            else if ((header.compare("usemtl")==0) && (tokens.size() > 1))	// material usage
-                            {
-                                std::string materialName = tokens[1];
-                                bool found = false;
-                                unsigned i = 0;
-                                while (!found && (i < materials.size()))
-                                {
-                                    std::string currentMaterialName = materials[i].materialName;
-                                    if (currentMaterialName == materialName)
-                                    {
-                                        currentMaterialIdx = i;
-                                        Material &material = materials[currentMaterialIdx];
-                                        Point3f diffuseColor = material.Kd;
-                                        unsigned char r			= (unsigned char) (diffuseColor[0] * 255.0);
-                                        unsigned char g			= (unsigned char) (diffuseColor[1] * 255.0);
-                                        unsigned char b			= (unsigned char) (diffuseColor[2] * 255.0);
-                                        unsigned char alpha = (unsigned char) (material.Tr  * 255.0);
-                                        currentColor= Color4b(r, g, b, alpha);
-                                        found = true;
-                                    }
-                                    ++i;
-                                }
-
-                                if (!found)
-                                {
-                                    currentMaterialIdx = 0;
-                                    result = E_MATERIAL_NOT_FOUND;
-                                }
-                            }
-                            // we simply ignore other situations
-                        } // end for each line...
-                    } // end while stream not eof
-                    assert((numTriangles +numVertices) == numVerticesPlusFaces+extraTriangles);
-                    vcg::tri::Allocator<OpenMeshType>::AddFaces(m,numTriangles);
-
-                    // Add found edges
-                    if (numEdges > 0)
-                    {
-                        vcg::tri::Allocator<OpenMeshType>::AddEdges(m,numEdges);
-
-                        assert(m.edge.size() == size_t(m.en));
-
-                        for(int i=0; i<numEdges; ++i)
-                        {
-                            ObjEdge &  e    = ev[i];
-                            assert(e.v0 >= 0 && size_t(e.v0) < m.vert.size() &&
-                                   e.v1 >= 0 && size_t(e.v1) < m.vert.size());
-                            // TODO add proper handling of bad indices
-                            m.edge[i].V(0) = &(m.vert[e.v0]);
-                            m.edge[i].V(1) = &(m.vert[e.v1]);
-                        }
-                    }
-                    //-------------------------------------------------------------------------------
-
-                    // Now the final passes:
-                    // First Pass to convert indexes into pointers for face to vert/norm/tex references
-                    for(int i=0; i<numTriangles; ++i)
-                    {
-                        assert(m.face.size() == size_t(m.fn));
-                        m.face[i].Alloc(indexedFaces[i].v.size()); // it does not do anything if it is a trimesh
-
-                        for(unsigned int j=0;j<indexedFaces[i].v.size();++j)
-                        {   
-                           int vertInd = indexedFaces[i].v[j];
-                           assert(vertInd >=0 && vertInd < m.vn);
-                            m.face[i].V(j) = &(m.vert[indexedFaces[i].v[j]]);
-
-                            if (((oi.mask & vcg::tri::io::Mask::IOM_WEDGTEXCOORD) != 0) && (HasPerWedgeTexCoord(m)))
-                            {
-                                ObjTexCoord t = texCoords[indexedFaces[i].t[j]];
-                                m.face[i].WT(j).u() = t.u;
-                                m.face[i].WT(j).v() = t.v;
-                                m.face[i].WT(j).n() = indexedFaces[i].tInd;
-                            }
-                            if ( oi.mask & vcg::tri::io::Mask::IOM_VERTTEXCOORD ) {
-                                ObjTexCoord t = texCoords[indexedFaces[i].t[j]];
-                                m.face[i].V(j)->T().u() = t.u;
-                                m.face[i].V(j)->T().v() = t.v;
-                                m.face[i].V(j)->T().n() = indexedFaces[i].tInd;
-                            }
-                            if ( oi.mask & vcg::tri::io::Mask::IOM_WEDGNORMAL )
-                            {
-                                m.face[i].WN(j).Import(normals[indexedFaces[i].n[j]]);
-                            }
-
-                            if ( oi.mask & vcg::tri::io::Mask::IOM_VERTNORMAL )
-                            {
-                                m.face[i].V(j)->N().Import(normals[indexedFaces[i].n[j]]);
-                            }
-
-                            // set faux edge flags according to internals faces
-                            if (indexedFaces[i].edge[j]) 
-								m.face[i].SetF(j);
-                            else 
-                                m.face[i].ClearF(j);
-                        }
-
-                        if (HasPerFaceNormal(m))
-                        {
-                            if (((oi.mask & vcg::tri::io::Mask::IOM_FACECOLOR) != 0) && (HasPerFaceColor(m)))
-                            {
-                                m.face[i].C() = indexedFaces[i].c;
-                            }
-
-                            if (((oi.mask & vcg::tri::io::Mask::IOM_WEDGNORMAL) != 0) && (HasPerWedgeNormal(m)))
-                            {
-                                // face normal is computed as an average of wedge normals
-                                m.face[i].N().Import(m.face[i].WN(0)+m.face[i].WN(1)+m.face[i].WN(2));
-                            }
-                            else
-                            {
-                                m.face[i].N().Import(TriangleNormal(m.face[i]).Normalize());
-                            }
-                        }
-                    }
-                    // final pass to manage the ZBrush PerVertex Color that are managed into comments
-                    if(vertexColorVector.size()>0)
-                    {
-                        //	  if(vertexColorVector.size()!=m.vn){
-                        //		qDebug("Warning Read %i vertices and %i vertex colors",m.vn,vertexColorVector.size());
-                        //		qDebug("line count %i x 64 = %i",MRGBLineCount(), MRGBLineCount()*64);
-                        //	  }
-                        for(int i=0;i<m.vn;++i)
-                        {
-                            m.vert[i].C()=vertexColorVector[i];
-                        }
-                    }
-                    stream.close();
-                    return result;
-                } // end of Open
-
-
-                /*!
-                * Read the next valid line and parses it into "tokens" (e.g. groups like 234/234/234), allowing
-                * the tokens to be read one at a time. It read multiple lines  concatenating them if they end with '\'
-                *  \param stream  The object providing the input stream
-                *  \param tokens  The "tokens" in the next line
-                */
-                inline static void TokenizeNextLine(std::ifstream &stream, std::vector< std::string > &tokens, std::vector<Color4b> *colVec)
-                {
-                    if(stream.eof()) return;
-                    std::string line;
-                    do
-                    {
-                        std::getline(stream, line);
-                        // We have to manage backspace terminated lines, 
-                        // joining them together before parsing them
-                        if(!line.empty() && line.back()==13) line.pop_back();
-                        while(!line.empty() && line.back()=='\\') {
-                          std::string tmpLine;
-                          std::getline(stream, tmpLine);
-                          if(tmpLine.back()==13) line.pop_back();
-                          line.pop_back(); 
-                          line.append(tmpLine);
-                        }
-                        const size_t len = line.length();
-                        if((len > 0) && colVec && line[0] == '#')
-                        {
-                            // The following MRGB block contains ZBrush Vertex Color (Polypaint)
-                            // and masking output as 4 hexadecimal values per vertex. The vertex color format is MMRRGGBB with up to 64 entries per MRGB line.
-                            if((len >= 5) && line[1] == 'M' && line[2] == 'R' && line[3] == 'G' && line[4] == 'B')
-                            { // Parsing the polycolor of ZBrush
-                                MRGBLineCount()++;
-                                char buf[3]="00";
-                                Color4b cc(Color4b::Black);
-                                for(size_t i=6;(i+7)<len;i+=8)
-                                {
-                                    for(size_t j=1;j<4;j++)
-                                    {
-                                        buf[0]=line[i+j*2+0];
-                                        buf[1]=line[i+j*2+1];
-                                        buf[2]=0;
-                                        char *p;
-                                        int val=strtoul(buf,&p,16);
-                                        cc[j-1]= val;
-                                    }
-                                    colVec->push_back(cc);
-                                }
-                            }
-                        }
-                    }
-                    while (( line.length()==0 || line[0] == '#') && !stream.eof());  // skip comments and empty lines
-
-                    if ( (line.length() == 0)||(line[0] == '#') )  // can be true only on last line of file
-                        return;
-
-                    size_t from		= 0;
-                    size_t to			= 0;
-                    size_t length = line.size();
-
-                    tokens.clear();
-                    do
-                    {
-                        while (from!=length && (line[from]==' ' || line[from]=='\t' || line[from]=='\r') )
-                            from++;
-                        if(from!=length)
-                        {
-                            to = from+1;
-                            while (to!=length && line[to]!=' ' && line[to] != '\t' && line[to]!='\r')
-                                to++;
-                            tokens.push_back(line.substr(from, to-from).c_str());
-                            from = to;
-                        }
-                    }
-                    while (from<length);
-                } // end TokenizeNextLine
-
-                // This function takes a token and, according to the mask, it returns the indexes of the involved vertex, normal and texcoord indexes.
-                // Example. if the obj file has vertex texcoord (e.g. lines 'vt 0.444 0.5555')
-                // when parsing  a line like
-                // f 46/303 619/325 624/326 623/327
-                // if in the mask you have specified to read wedge tex coord
-                // for the first token it will return inside vId and tId the corresponding indexes 46 and 303 )                
-                inline static void SplitToken(const std::string & token, int & vId, int & nId, int & tId, int mask)
-                {
-                    static const char delimiter = '/';
-
-                    vId = nId = tId = 0;
-                    if (token.empty()) return;
-
-                    size_t firstSep  = token.find_first_of(delimiter);
-                    size_t secondSep = (firstSep == std::string::npos) ? (std::string::npos) : (token.find_first_of(delimiter, firstSep + 1));
-
-                    const bool hasPosition = true;
-                    const bool hasTexcoord = (firstSep  != std::string::npos) && ((firstSep + 1) < secondSep);
-                    const bool hasNormal   = (secondSep != std::string::npos) || (mask & Mask::IOM_WEDGNORMAL) || (mask & Mask::IOM_VERTNORMAL);
-
-                    if (hasPosition) vId = atoi(token.substr(0, firstSep).c_str()) - 1;
-                    if (hasTexcoord) tId = atoi(token.substr(firstSep + 1, secondSep - firstSep - 1).c_str()) - 1;
-                    if (hasNormal)
-                      nId = atoi(token.substr(secondSep + 1).c_str()) - 1;
-                }
-
-
-                /*!
-                * Retrieves infos about kind of data stored into the file and fills a mask appropriately
-                * \param filename The name of the file to open
-                * \param mask     A mask which will be filled according to type of data found in the object
-                * \param oi       A structure which will be filled with infos about the object to be opened
-                */
-
-                static bool LoadMask(const char * filename, Info &oi)
-                {
-
-                    std::ifstream stream(filename);
-                    if (stream.fail())
-                    {
-                        stream.close();
-                        return false;
-                    }
-                    // obtain length of file:
-                    stream.seekg (0, std::ios::end);
-                    int length = stream.tellg();
-                    stream.seekg (0, std::ios::beg);
-
-                    if (length == 0) return false;
-
-                    bool bHasPerFaceColor		= false;
-                    bool bHasNormals 				= false;
-                    bool bHasPerVertexColor = false;
-
-                    oi.numVertices=0;
-                    oi.numEdges=0;
-                    oi.numFaces=0;
-                    oi.numTexCoords=0;
-                    oi.numNormals=0;
-                    int lineCount=0;
-                    int totRead=0;
-                    std::string line;
-                    while (!stream.eof())
-                    {
-                        lineCount++;
-                        std::getline(stream, line);
-                        totRead+=line.size();
-                        if(oi.cb && (lineCount%1000)==0)
-                            (*oi.cb)( (int)(100.0*(float(totRead))/float(length)), "Loading mask...");
-                        if(line.size()>2)
-                        {
-                            if(line[0]=='v')
-                            {
-                                if(line[1]==' ')
-                                {
-                                    oi.numVertices++;
-                                    if(line.size()>=7)
-                                        bHasPerVertexColor = true;
-                                }
-                                if(line[1]=='t') oi.numTexCoords++;
-                                if(line[1]=='n') {
-                                    oi.numNormals ++;
-                                    bHasNormals = true;
-                                }
-                            }
-                            else {
-                                if((line[0]=='f') || (line[0]=='q')) oi.numFaces++;
-                                else
-                                    if (line[0]=='l') oi.numEdges++;
-                                else
-                                    if(line[0]=='u' && line[1]=='s') bHasPerFaceColor = true; // there is a usematerial so add per face color
-                            }
-                        }
-                    }
-                    oi.mask = 0;
-                    if (oi.numTexCoords)
-                    {
-                        if (oi.numTexCoords==oi.numVertices)
-                            oi.mask |= vcg::tri::io::Mask::IOM_VERTTEXCOORD;
-
-                        oi.mask |= vcg::tri::io::Mask::IOM_WEDGTEXCOORD;
-                        // Usually if you have tex coords you also have materials
-                        oi.mask |= vcg::tri::io::Mask::IOM_FACECOLOR;
-                    }
-                    if(bHasPerFaceColor)		oi.mask |= vcg::tri::io::Mask::IOM_FACECOLOR;
-                    if(bHasPerVertexColor)	oi.mask |= vcg::tri::io::Mask::IOM_VERTCOLOR;
-                    if (bHasNormals) {
-                        if (oi.numNormals == oi.numVertices)
-                            oi.mask |= vcg::tri::io::Mask::IOM_VERTNORMAL;
-                        else
-                            oi.mask |= vcg::tri::io::Mask::IOM_WEDGNORMAL;
-                    }
-                    if (oi.numEdges)
-                        oi.mask |= vcg::tri::io::Mask::IOM_EDGEINDEX;
-
-                    stream.close();
-
-                    return true;
-                }
-
-                static bool LoadMask(const char * filename, int &mask)
-                {
-                    Info oi;
-                    bool ret=LoadMask(filename, oi);
-                    mask= oi.mask;
-                    return ret;
-                }
-
-                static bool LoadMaterials(const char * filename, std::vector<Material> &materials, std::vector<std::string> &textures)
-                {
-                    // assumes we are in the right directory
-
-                    std::ifstream stream(filename);
-                    if (stream.fail())
-                        return false;
-
-                    std::vector< std::string > tokens;
-                    std::string	header;
-
-                    materials.clear();
-                    Material currentMaterial;
-                    currentMaterial.index = (unsigned int)(-1);
-
-                    bool first = true;
-                    while (!stream.eof())
-                    {
-                        tokens.clear();
-                        TokenizeNextLine(stream, tokens,0);
-
-                        if (tokens.size() > 0)
-                        {
-                            header.clear();
-                            header = tokens[0];
-
-                            if (header.compare("newmtl")==0)
-                            {
-                                if (!first)
-                                {
-                                    materials.push_back(currentMaterial);
-                                    currentMaterial = Material();
-                                    currentMaterial.index = (unsigned int)(-1);
-                                }
-                                else
-                                    first = false;
-                                //strcpy(currentMaterial.name, tokens[1].c_str());
-                                if(tokens.size() < 2)
-                                    return false;
-                                currentMaterial.materialName=tokens[1];
-                            }
-                            else if (header.compare("Ka")==0)
-                            {
-                                if (tokens.size() < 4)
-                                    return false;
-                                float r = (float) atof(tokens[1].c_str());
-                                float g = (float) atof(tokens[2].c_str());
-                                float b = (float) atof(tokens[3].c_str());
-
-                                currentMaterial.Ka = Point3f(r, g, b);
-                            }
-                            else if (header.compare("Kd")==0)
-                            {
-                                if (tokens.size() < 4)
-                                    return false;
-                                float r = (float) atof(tokens[1].c_str());
-                                float g = (float) atof(tokens[2].c_str());
-                                float b = (float) atof(tokens[3].c_str());
-
-                                currentMaterial.Kd = Point3f(r, g, b);
-                            }
-                            else if (header.compare("Ks")==0)
-                            {
-                                if (tokens.size() < 4)
-                                    return false;
-                                float r = (float) atof(tokens[1].c_str());
-                                float g = (float) atof(tokens[2].c_str());
-                                float b = (float) atof(tokens[3].c_str());
-
-                                currentMaterial.Ks = Point3f(r, g, b);
-                            }
-                            else if (	(header.compare("d")==0) ||
-                                (header.compare("Tr")==0)	)	// alpha
-                            {
-                                if (tokens.size() < 2)
-                                    return false;
-                                currentMaterial.Tr = (float) atof(tokens[1].c_str());
-                            }
-                            else if (header.compare("Ns")==0)  // shininess
-                            {
-                                if (tokens.size() < 2)
-                                    return false;
-                                currentMaterial.Ns = float(atoi(tokens[1].c_str()));
-                            }
-                            else if (header.compare("illum")==0)	// specular illumination on/off
-                            {
-                                if (tokens.size() < 2)
-                                    return false;
-                                int illumination = atoi(tokens[1].c_str());
-                                //currentMaterial.bSpecular = (illumination == 2);
-                                currentMaterial.illum = illumination;
-                            }
-                            else if( (header.compare("map_Kd")==0)	|| (header.compare("map_Ka")==0) ) // texture name
-                            {
-                                if (tokens.size() < 2)
-                                    return false;
-                                std::string textureName = tokens[1];
-                                //strcpy(currentMaterial.textureFileName, textureName.c_str());
-                                currentMaterial.map_Kd=textureName;
-
-                                // adding texture name into textures vector (if not already present)
-                                // avoid adding the same name twice
-                                bool found = false;
-                                unsigned int size = static_cast<unsigned int>(textures.size());
-                                unsigned j = 0;
-                                while (!found && (j < size))
-                                {
-                                    if (textureName.compare(textures[j])==0)
-                                    {
-                                        currentMaterial.index = (int)j;
-                                        found = true;
-                                    }
-                                    ++j;
-                                }
-                                if (!found)
-                                {
-                                    textures.push_back(textureName);
-                                    currentMaterial.index = (int)size;
-                                }
-                            }
-                            // we simply ignore other situations
-                        }
-                    }
-                    materials.push_back(currentMaterial);  // add last read material
-
-                    stream.close();
-
-                    return true;
-                }
-
-            }; // end class
-        } // end Namespace tri
-    } // end Namespace io
+            //qDebug("Triangulated a face of %i vertexes into %i triangles",polygonVect[0].size(),indexTriangulatedVect.size());
+            
+            for(size_t pi=0;pi<indexTriangulatedVect.size();pi+=3)
+            {
+              ff.set(3);
+              int locInd[3];
+              for(int iii=0;iii<3;++iii)
+              {
+                locInd[iii]=indexTriangulatedVect[pi+iii];
+                ff.v[iii]=indexVVect[ locInd[iii] ];
+                ff.n[iii]=indexNVect[ locInd[iii] ];
+                ff.t[iii]=indexTVect[ locInd[iii] ];
+              }
+              
+              // Setting internal edges: only edges formed by consecutive edges are external.
+              for(int iii=0;iii<3;++iii)
+              {
+                if( (locInd[iii]+1)%vertexesPerFace == locInd[(iii+1)%3]) ff.edge[iii]=false;
+                else ff.edge[iii]=true;
+              }
+              
+              if ( oi.mask & vcg::tri::io::Mask::IOM_WEDGTEXCOORD )
+              { // verifying validity of texture coords indices
+                bool invalid = false;
+                for(int i=0;i<3;i++)
+                  if(!GoodObjIndex(ff.t[i],oi.numTexCoords))
+                  {
+                    //return E_BAD_VERT_TEX_INDEX;
+                    invalid = true;
+                    break;
+                  }
+                if (invalid) continue;
+                ff.tInd=materials[currentMaterialIdx].index;
+              }
+              
+              // verifying validity of vertex indices
+              if ((ff.v[0] == ff.v[1]) || (ff.v[0] == ff.v[2]) || (ff.v[1] == ff.v[2])) {
+                result = E_VERTICES_WITH_SAME_IDX_IN_FACE;
+                extraTriangles--;
+                continue;
+              }
+              
+              {
+                bool invalid = false;
+                for(int i=0;i<3;i++)
+                  if(!GoodObjIndex(ff.v[i],numVertices))
+                  {
+                    //return E_BAD_VERT_INDEX;
+                    invalid = true;
+                    break;
+                  }
+                if (invalid) continue;
+              }
+              
+              // assigning face normal
+              if ( ( oi.mask & vcg::tri::io::Mask::IOM_WEDGNORMAL  ) ||
+                   ( oi.mask & vcg::tri::io::Mask::IOM_VERTNORMAL  ) )
+              {   // verifying validity of vertex normal indices
+                bool invalid = false;
+                for(int i=0;i<3;i++)
+                  if(!GoodObjIndex(ff.n[i],numVNormals))
+                  {
+                    //return E_BAD_VERT_NORMAL_INDEX;
+                    invalid = true;
+                    break;
+                  }
+                if (invalid) continue;
+              }
+              
+              // assigning face color
+              if( oi.mask & vcg::tri::io::Mask::IOM_FACECOLOR) ff.c = currentColor;
+              
+              ff.mInd = currentMaterialIdx;
+              
+              ++numTriangles;
+              indexedFaces.push_back(ff);
+            }
+            
+          }  //_END  ___ if you are filling a vcg mesh with TRIANGLES
+        }
+        else if ((header.compare("mtllib")==0) && (tokens.size() > 1))	// material library
+        {
+          // obtain the name of the file containing materials library
+          std::string materialFileName;
+          if (tokens.size() == 2)
+            materialFileName = tokens[1]; //play it safe
+          else
+            materialFileName = line.substr(7); //get everything after "mtllib "
+          
+          if (!LoadMaterials( materialFileName.c_str(), materials, m.textures))
+            result = E_MATERIAL_FILE_NOT_FOUND;
+        }
+        else if ((header.compare("usemtl")==0) && (tokens.size() > 1))	// material usage
+        {
+          // emergency check. If there are no materials, the material library failed to load or was not specified
+          // but there are tools that save the material library with the same name of the file, but do not add the 
+          // "mtllib" definition in the header. So, we can try to see if this is the case
+          if ((materials.size() == 1)&&(materials[0].materialName == "")){
+            std::string materialFileName(filename);
+            materialFileName.replace(materialFileName.end()-4, materialFileName.end(), ".mtl");
+            LoadMaterials(materialFileName.c_str(), materials, m.textures);
+          }
+          
+          std::string materialName;
+          if (tokens.size() == 2)
+            materialName = tokens[1]; //play it safe
+          else
+            materialName = line.substr(7); //get everything after "usemtl "
+          
+          bool found = false;
+          unsigned i = 0;
+          while (!found && (i < materials.size()))
+          {
+            std::string currentMaterialName = materials[i].materialName;
+            if (currentMaterialName == materialName)
+            {
+              currentMaterialIdx = i;
+              Material &material = materials[currentMaterialIdx];
+              Point3f diffuseColor = material.Kd;
+              unsigned char r			= (unsigned char) (diffuseColor[0] * 255.0);
+              unsigned char g			= (unsigned char) (diffuseColor[1] * 255.0);
+              unsigned char b			= (unsigned char) (diffuseColor[2] * 255.0);
+              unsigned char alpha = (unsigned char) (material.Tr  * 255.0);
+              currentColor= Color4b(r, g, b, alpha);
+              found = true;
+            }
+            ++i;
+          }
+          
+          if (!found)
+          {
+            currentMaterialIdx = 0;
+            result = E_MATERIAL_NOT_FOUND;
+          }
+        }
+        // we simply ignore other situations
+      } // end for each line...
+    } // end while stream not eof
+    assert((numTriangles +numVertices) == numVerticesPlusFaces+extraTriangles);
+    vcg::tri::Allocator<OpenMeshType>::AddFaces(m,numTriangles);
+    
+    // Add found edges
+    if (numEdges > 0)
+    {
+      vcg::tri::Allocator<OpenMeshType>::AddEdges(m,numEdges);
+      
+      assert(m.edge.size() == size_t(m.en));
+      
+      for(int i=0; i<numEdges; ++i)
+      {
+        ObjEdge &  e    = ev[i];
+        assert(e.v0 >= 0 && size_t(e.v0) < m.vert.size() &&
+               e.v1 >= 0 && size_t(e.v1) < m.vert.size());
+        // TODO add proper handling of bad indices
+        m.edge[i].V(0) = &(m.vert[e.v0]);
+        m.edge[i].V(1) = &(m.vert[e.v1]);
+      }
+    }
+    //-------------------------------------------------------------------------------
+    
+    // Now the final passes:
+    // First Pass to convert indexes into pointers for face to vert/norm/tex references
+    for(int i=0; i<numTriangles; ++i)
+    {
+      assert(m.face.size() == size_t(m.fn));
+      m.face[i].Alloc(indexedFaces[i].v.size()); // it does not do anything if it is a trimesh
+      
+      for(unsigned int j=0;j<indexedFaces[i].v.size();++j)
+      {   
+        int vertInd = indexedFaces[i].v[j];
+        assert(vertInd >=0 && vertInd < m.vn); (void)vertInd;
+        m.face[i].V(j) = &(m.vert[indexedFaces[i].v[j]]);
+        
+        if (((oi.mask & vcg::tri::io::Mask::IOM_WEDGTEXCOORD) != 0) && (HasPerWedgeTexCoord(m)))
+        {
+          ObjTexCoord t = texCoords[indexedFaces[i].t[j]];
+          m.face[i].WT(j).u() = t.u;
+          m.face[i].WT(j).v() = t.v;
+          m.face[i].WT(j).n() = indexedFaces[i].tInd;
+        }
+        if ( oi.mask & vcg::tri::io::Mask::IOM_VERTTEXCOORD ) {
+          ObjTexCoord t = texCoords[indexedFaces[i].t[j]];
+          m.face[i].V(j)->T().u() = t.u;
+          m.face[i].V(j)->T().v() = t.v;
+          m.face[i].V(j)->T().n() = indexedFaces[i].tInd;
+        }
+        if ( oi.mask & vcg::tri::io::Mask::IOM_WEDGNORMAL )
+        {
+          m.face[i].WN(j).Import(normals[indexedFaces[i].n[j]]);
+        }
+        
+        if ( oi.mask & vcg::tri::io::Mask::IOM_VERTNORMAL )
+        {
+          m.face[i].V(j)->N().Import(normals[indexedFaces[i].n[j]]);
+        }
+        
+        // set faux edge flags according to internals faces
+        if (indexedFaces[i].edge[j]) 
+          m.face[i].SetF(j);
+        else 
+          m.face[i].ClearF(j);
+      }
+      
+      if (HasPerFaceNormal(m))
+      {
+        if (((oi.mask & vcg::tri::io::Mask::IOM_FACECOLOR) != 0) && (HasPerFaceColor(m)))
+        {
+          m.face[i].C() = indexedFaces[i].c;
+          mIndHandle[i] = indexedFaces[i].mInd;
+        }
+        
+        if (((oi.mask & vcg::tri::io::Mask::IOM_WEDGNORMAL) != 0) && (HasPerWedgeNormal(m)))
+        {
+          // face normal is computed as an average of wedge normals
+          m.face[i].N().Import(m.face[i].WN(0)+m.face[i].WN(1)+m.face[i].WN(2));
+        }
+        else
+        {
+          m.face[i].N().Import(TriangleNormal(m.face[i]).Normalize());
+        }
+      }
+    }
+    // final pass to manage the ZBrush PerVertex Color that are managed into comments
+    if(vertexColorVector.size()>0)
+    {
+      //	  if(vertexColorVector.size()!=m.vn){
+      //		qDebug("Warning Read %i vertices and %i vertex colors",m.vn,vertexColorVector.size());
+      //		qDebug("line count %i x 64 = %i",MRGBLineCount(), MRGBLineCount()*64);
+      //	  }
+      for(int i=0;i<m.vn;++i)
+      {
+        m.vert[i].C()=vertexColorVector[i];
+      }
+    }
+    stream.close();
+    return result;
+  } // end of Open
+  
+  
+  /*!
+  * Read the next valid line and parses it into "tokens" (e.g. groups like 234/234/234), allowing
+  * the tokens to be read one at a time. It read multiple lines  concatenating them if they end with '\'
+  *  \param stream  The object providing the input stream
+  *  \param tokens  The "tokens" in the next line
+  */
+  inline static void TokenizeNextLine(std::ifstream &stream, std::vector< std::string > &tokens, std::string &line, std::vector<Color4b> *colVec)
+  {
+    if(stream.eof()) return;
+    
+    do
+    {
+      std::getline(stream, line);
+      // We have to manage backspace terminated lines, 
+      // joining them together before parsing them
+      if(!line.empty() && line.back()==13) line.pop_back();
+      while(!line.empty() && line.back()=='\\') {
+        std::string tmpLine;
+        std::getline(stream, tmpLine);
+        if(tmpLine.back()==13) line.pop_back();
+        line.pop_back(); 
+        line.append(tmpLine);
+      }
+      const size_t len = line.length();
+      if((len > 0) && colVec && line[0] == '#')
+      {
+        // The following MRGB block contains ZBrush Vertex Color (Polypaint)
+        // and masking output as 4 hexadecimal values per vertex. The vertex color format is MMRRGGBB with up to 64 entries per MRGB line.
+        if((len >= 5) && line[1] == 'M' && line[2] == 'R' && line[3] == 'G' && line[4] == 'B')
+        { // Parsing the polycolor of ZBrush
+          MRGBLineCount()++;
+          char buf[3]="00";
+          Color4b cc(Color4b::Black);
+          for(size_t i=6;(i+7)<len;i+=8)
+          {
+            for(size_t j=1;j<4;j++)
+            {
+              buf[0]=line[i+j*2+0];
+              buf[1]=line[i+j*2+1];
+              buf[2]=0;
+              char *p;
+              int val=strtoul(buf,&p,16);
+              cc[j-1]= val;
+            }
+            colVec->push_back(cc);
+          }
+        }
+      }
+    }
+    while (( line.length()==0 || line[0] == '#') && !stream.eof());  // skip comments and empty lines
+    
+    if ( (line.length() == 0)||(line[0] == '#') )  // can be true only on last line of file
+      return;
+    
+    size_t from		= 0;
+    size_t to			= 0;
+    size_t length = line.size();
+    
+    tokens.clear();
+    do
+    {
+      while (from!=length && (line[from]==' ' || line[from]=='\t' || line[from]=='\r') )
+        from++;
+      if(from!=length)
+      {
+        to = from+1;
+        while (to!=length && line[to]!=' ' && line[to] != '\t' && line[to]!='\r')
+          to++;
+        tokens.push_back(line.substr(from, to-from).c_str());
+        from = to;
+      }
+    }
+    while (from<length);
+  } // end TokenizeNextLine
+  
+  // This function takes a token and, according to the mask, it returns the indexes of the involved vertex, normal and texcoord indexes.
+  // Example. if the obj file has vertex texcoord (e.g. lines 'vt 0.444 0.5555')
+  // when parsing  a line like
+  // f 46/303 619/325 624/326 623/327
+  // if in the mask you have specified to read wedge tex coord
+  // for the first token it will return inside vId and tId the corresponding indexes 46 and 303 )                
+  inline static void SplitToken(const std::string & token, int & vId, int & nId, int & tId, int mask)
+  {
+    static const char delimiter = '/';
+    
+    vId = nId = tId = 0;
+    if (token.empty()) return;
+    
+    size_t firstSep  = token.find_first_of(delimiter);
+    size_t secondSep = (firstSep == std::string::npos) ? (std::string::npos) : (token.find_first_of(delimiter, firstSep + 1));
+    
+    const bool hasPosition = true;
+    const bool hasTexcoord = (firstSep  != std::string::npos) && ((firstSep + 1) < secondSep);
+    const bool hasNormal   = (secondSep != std::string::npos) || (mask & Mask::IOM_WEDGNORMAL) || (mask & Mask::IOM_VERTNORMAL);
+    
+    if (hasPosition) vId = atoi(token.substr(0, firstSep).c_str()) - 1;
+    if (hasTexcoord) tId = atoi(token.substr(firstSep + 1, secondSep - firstSep - 1).c_str()) - 1;
+    if (hasNormal)
+      nId = atoi(token.substr(secondSep + 1).c_str()) - 1;
+  }
+  /** returns a Point3f done from (tokens[pos],tokens[pos+1],tokens[pos+2])
+    
+    */
+  static Point3f Point3fFrom3Tokens(std::vector< std::string > &tokens, int pos)
+  {
+    float r = (float) atof(tokens[pos+0].c_str());
+    float g = (float) atof(tokens[pos+1].c_str());
+    float b = (float) atof(tokens[pos+2].c_str());
+    return Point3f(r, g, b);
+  }
+  
+  /*!
+  * Retrieves infos about kind of data stored into the file and fills a mask appropriately
+  * \param filename The name of the file to open
+  * \param mask     A mask which will be filled according to type of data found in the object
+  * \param oi       A structure which will be filled with infos about the object to be opened
+  */
+  
+  static bool LoadMask(const char * filename, Info &oi)
+  {
+    
+    std::ifstream stream(filename);
+    if (stream.fail())
+    {
+      stream.close();
+      return false;
+    }
+    // obtain length of file:
+    stream.seekg (0, std::ios::end);
+    int length = stream.tellg();
+    stream.seekg (0, std::ios::beg);
+    
+    if (length == 0) return false;
+    
+    bool bHasPerFaceColor = false;
+    bool bHasNormals     = false;
+    bool bHasPerVertexColor = false;
+    
+    oi.numVertices=0;
+    oi.numEdges=0;
+    oi.numFaces=0;
+    oi.numTexCoords=0;
+    oi.numNormals=0;
+    int lineCount=0;
+    int totRead=0;
+    bool firstV = true;
+    std::string line;
+    while (!stream.eof())
+    {
+      lineCount++;
+      std::getline(stream, line);
+      totRead+=line.size();
+      if(oi.cb && (lineCount%1000)==0)
+        (*oi.cb)( (int)(100.0*(float(totRead))/float(length)), "Loading mask...");
+      if(line.size()>2)
+      {
+        if(line[0]=='v')
+        {
+          if ((line[1] == ' ') || (line[1] == '\t'))
+          {
+            oi.numVertices++;
+            if (firstV)
+            {
+              int sepN = 0;
+              for (size_t lit = 0; lit < line.size(); lit++){
+                if ((line[lit] == ' ') || (line[lit] == '\t'))
+                  sepN++;
+              }
+              if (sepN >= 6)
+                bHasPerVertexColor = true;
+              firstV = false;
+            }
+          }
+          if(line[1]=='t') oi.numTexCoords++;
+          if(line[1]=='n') {
+            oi.numNormals ++;
+            bHasNormals = true;
+          }
+        }
+        else {
+          if((line[0]=='f') || (line[0]=='q')) oi.numFaces++;
+          else
+            if (line[0]=='l') oi.numEdges++;
+            else
+              if(line[0]=='u' && line[1]=='s') bHasPerFaceColor = true; // there is a usematerial so add per face color
+        }
+      }
+    }
+    oi.mask = 0;
+    if (oi.numTexCoords)
+    {
+      if (oi.numTexCoords==oi.numVertices)
+        oi.mask |= vcg::tri::io::Mask::IOM_VERTTEXCOORD;
+      
+      oi.mask |= vcg::tri::io::Mask::IOM_WEDGTEXCOORD;
+      // Usually if you have tex coords you also have materials
+      oi.mask |= vcg::tri::io::Mask::IOM_FACECOLOR;
+    }
+    if(bHasPerFaceColor)  oi.mask |= vcg::tri::io::Mask::IOM_FACECOLOR;
+    if(bHasPerVertexColor)  oi.mask |= vcg::tri::io::Mask::IOM_VERTCOLOR;
+    if (bHasNormals) {
+      if (oi.numNormals == oi.numVertices)
+        oi.mask |= vcg::tri::io::Mask::IOM_VERTNORMAL;
+      else
+        oi.mask |= vcg::tri::io::Mask::IOM_WEDGNORMAL;
+    }
+    if (oi.numEdges)
+      oi.mask |= vcg::tri::io::Mask::IOM_EDGEINDEX;
+    
+    stream.close();
+    
+    return true;
+  }
+  
+  static bool LoadMask(const char * filename, int &mask)
+  {
+    Info oi;
+    bool ret=LoadMask(filename, oi);
+    mask= oi.mask;
+    return ret;
+  }
+  
+  static bool LoadMaterials(const char * filename, std::vector<Material> &materials, std::vector<std::string> &textures)
+  {
+    // assumes we are in the right directory
+    
+    std::ifstream stream(filename);
+    if (stream.fail())
+      return false;
+    
+    std::vector< std::string > tokens;
+    std::string line;
+    std::string	header;
+    
+    materials.clear();
+    Material currentMaterial;
+    
+    // Fill in some default values for the material
+    currentMaterial.index = (unsigned int)(-1);
+    currentMaterial.Ka = Point3f(0.2, 0.2, 0.2);
+    currentMaterial.Kd = Point3f(1, 1, 1);
+    currentMaterial.Ks = Point3f(1, 1, 1);
+    currentMaterial.Tr = 1;
+    currentMaterial.Ns = 0;
+    currentMaterial.illum = 2;
+    
+    bool first = true;
+    while (!stream.eof())
+    {
+      tokens.clear();
+      TokenizeNextLine(stream, tokens, line, 0);
+      
+      if (tokens.size() > 0)
+      {
+        header.clear();
+        header = tokens[0];
+        
+        if (header.compare("newmtl")==0)
+        {
+          if (!first)
+          {
+            materials.push_back(currentMaterial);
+            currentMaterial = Material();
+            currentMaterial.index = (unsigned int)(-1);
+          }
+          else
+            first = false;
+          //strcpy(currentMaterial.name, tokens[1].c_str());
+          if(tokens.size() < 2)
+            return false;
+          else if (tokens.size() == 2)
+            currentMaterial.materialName = tokens[1]; //play it safe
+          else
+            currentMaterial.materialName = line.substr(7); //space in the name, get everything after "newmtl "
+        }
+        else if (header.compare("Ka")==0)
+        {
+          if (tokens.size() < 4)  return false;
+          currentMaterial.Ka = Point3fFrom3Tokens(tokens,1);
+        }
+        else if (header.compare("Kd")==0)
+        {
+          if (tokens.size() < 4) return false;
+          currentMaterial.Kd = Point3fFrom3Tokens(tokens,1);
+        }
+        else if (header.compare("Ks")==0)
+        {
+          if (tokens.size() < 4) return false;
+          currentMaterial.Ks = Point3fFrom3Tokens(tokens,1);
+        }
+        else if (	(header.compare("d")==0) ||
+                    (header.compare("Tr")==0)	)	// alpha
+        {
+          if (tokens.size() < 2) return false;
+          currentMaterial.Tr = (float) atof(tokens[1].c_str());
+        }
+        else if (header.compare("Ns")==0)  // shininess
+        {
+          if (tokens.size() < 2) return false;
+          currentMaterial.Ns = float(atoi(tokens[1].c_str()));
+        }
+        else if (header.compare("illum")==0)	// specular illumination on/off
+        {
+          if (tokens.size() < 2)   return false;
+          currentMaterial.illum = atoi(tokens[1].c_str());;
+        }
+        else if(header.compare("map_Kd")==0) // texture name
+        {
+          std::string textureName; 
+          if (tokens.size() < 2)
+            return false;
+          else if (tokens.size() == 2)
+            textureName = tokens[1]; //play it safe
+          else
+            textureName = line.substr(7); //get everything after "map_Kd "
+          
+          currentMaterial.map_Kd=textureName;
+          
+          // adding texture name into textures vector (if not already present)
+          // avoid adding the same name twice
+          auto it = std::find(textures.begin(), textures.end(), textureName);
+          if(it==textures.end()) {            
+            currentMaterial.index = textures.size();            
+            textures.push_back(textureName);
+          } else {
+            currentMaterial.index = std::distance(textures.begin(),it);
+          }         
+        }
+        // we simply ignore other situations
+      }
+    }
+    materials.push_back(currentMaterial);  // add last read material
+    
+    stream.close();
+    // Sometimes some materials have texture and no texture
+    // in this case for sake of uniformity we just use the first texture.
+    if(!textures.empty())
+    {
+      for(size_t i=0;i<materials.size();++i)
+      {
+        if(materials[i].map_Kd.empty())
+        {
+          materials[i].map_Kd=textures[0];
+          materials[i].index=0;
+        }      
+      }
+    }
+    
+    
+    return true;
+  }
+  
+}; // end class
+} // end Namespace tri
+} // end Namespace io
 } // end Namespace vcg
 
 #endif  // ndef __VCGLIB_IMPORT_OBJ
diff --git a/wrap/io_trimesh/import_out.h b/wrap/io_trimesh/import_out.h
index 01331bc5..0564dbcc 100644
--- a/wrap/io_trimesh/import_out.h
+++ b/wrap/io_trimesh/import_out.h
@@ -31,26 +31,21 @@
 #include <wrap/callback.h>
 #include <wrap/io_trimesh/io_mask.h>
 #include <QImageReader>
-
-extern "C"
-{
-#include <jhead.h>
-int ReadJpegSections (FILE * infile, ReadMode_t ReadMode);
-void ResetJpgfile(void);
-}
+#include <QFileInfo>
+#include <exif.h> //external easyexif lib
 
 namespace vcg {
 namespace tri {
 namespace io {
 
-  struct Correspondence{
-                Correspondence(unsigned int id_img_,unsigned int key_,float x_,float y_):id_img(id_img_),key(key_),x(x_),y(y_){}
-    unsigned int id_img,key;
-    float x;
-    float y;
-  };
+struct Correspondence{
+	Correspondence(unsigned int id_img_,unsigned int key_,float x_,float y_):id_img(id_img_),key(key_),x(x_),y(y_){}
+	unsigned int id_img,key;
+	float x;
+	float y;
+};
 
-        typedef std::vector<Correspondence> CorrVec;
+typedef std::vector<Correspondence> CorrVec;
 
 /**
 This class encapsulate a filter for opening bundler file
@@ -59,158 +54,174 @@ template <class OpenMeshType>
 class ImporterOUT
 {
 public:
-
-typedef typename OpenMeshType::VertexPointer VertexPointer;
-typedef typename OpenMeshType::ScalarType ScalarType;
-  typedef typename OpenMeshType::CoordType CoordType;
-typedef typename OpenMeshType::VertexType VertexType;
-typedef typename OpenMeshType::FaceType FaceType;
-typedef typename OpenMeshType::VertexIterator VertexIterator;
-typedef typename OpenMeshType::FaceIterator FaceIterator;
-typedef typename OpenMeshType::EdgeIterator EdgeIterator;
-
-static void readline(FILE *fp, char *line, int max=100){
-    fgets ( line, max, fp);
-}
-
-static bool ReadHeader(FILE *fp,unsigned int &num_cams, unsigned int &num_points){
-    char line[100];
-    readline(fp, line);
-    if( line[0]=='\0' ) return false;
-    line[18]='\0';
-    if(0!=strcmp("# Bundle file v0.3", line))  return false;
-    readline(fp, line);
-    if(line[0]=='\0') return false;
-    sscanf(line, "%d %d", &num_cams, &num_points);
-    return true;
-}
-
-static bool ReadHeader(const char * filename,unsigned int &/*num_cams*/, unsigned int &/*num_points*/){
-    FILE *fp = fopen(filename, "r");
-    if(!fp) return false;
-    ReadHeader(fp);
-    fclose(fp);
-    return true;
-}
-
-
-static int Open( OpenMeshType &m, std::vector<Shot<ScalarType> >  & shots,
-                 std::vector<std::string > & image_filenames,
-                 const char * filename,const char * filename_images, CallBackPos *cb=0)
-{
-  unsigned int   num_cams,num_points;
-  typedef typename vcg::Matrix44<ScalarType> Matrix44x;
-  typedef typename vcg::Matrix33<ScalarType> Matrix33x;
-  FILE *fp = fopen(filename,"r");
-  if(!fp) return false;
-  ReadHeader(fp, num_cams,  num_points);
-  char line[100];
-  if(cb) cb(0,"Reading images");
-  ReadImagesFilenames(filename_images, image_filenames);
-  const QString path_im = QFileInfo(filename_images).absolutePath()+QString("/");
-
-  if(cb) cb(50,"Reading cameras");
-  shots.resize(num_cams);
-  for(uint i = 0; i < num_cams;++i)
-  {
-    float f, k1, k2;
-    float R[16]={0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,1};
-    vcg::Point3f t;
-
-    readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &f, &k1, &k2);
-
-    readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[0]), &(R[1]), &(R[2]));  R[3] = 0;
-    readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[4]), &(R[5]), &(R[6]));  R[7] = 0;
-    readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(R[8]), &(R[9]), &(R[10])); R[11] = 0;
-
-    readline(fp, line); if(line[0]=='\0') return false; sscanf(line, "%f %f %f", &(t[0]), &(t[1]), &(t[2]));
-
-    Matrix44x mat = Matrix44x::Construct(Matrix44f(R));
-
-    Matrix33x Rt = Matrix33x( Matrix44x(mat), 3);
-    Rt.Transpose();
-
-    CoordType pos = Rt * CoordType(t[0], t[1], t[2]);
-
-    shots[i].Extrinsics.SetTra(CoordType(-pos[0],-pos[1],-pos[2]));
-    shots[i].Extrinsics.SetRot(mat);
-
-    shots[i].Intrinsics.FocalMm    = f;
-    shots[i].Intrinsics.k[0] = 0.0;//k1; To be uncommented when distortion is taken into account reliably
-    shots[i].Intrinsics.k[1] = 0.0;//k2;
-    shots[i].Intrinsics.PixelSizeMm = vcg::Point2<ScalarType>(1,1);
-    QSize size;
-    QImageReader sizeImg(QString::fromStdString(image_filenames[i]));
-    if(sizeImg.size()==QSize(-1,-1))
-    {
-        QImageReader sizeImg(QString::fromStdString(qPrintable(path_im)+image_filenames[i]));
-        size=sizeImg.size();
-    }
-    else
-        size=sizeImg.size();
-    shots[i].Intrinsics.ViewportPx = vcg::Point2i(size.width(),size.height());
-    shots[i].Intrinsics.CenterPx[0] = (int)((double)shots[i].Intrinsics.ViewportPx[0]/2.0f);
-    shots[i].Intrinsics.CenterPx[1] = (int)((double)shots[i].Intrinsics.ViewportPx[1]/2.0f);
-    //AddIntrinsics(shots[i], std::string(filename_images_path).append(image_filenames[i]).c_str());
-  }
-
-  // load all correspondences
-  typename OpenMeshType::template PerVertexAttributeHandle<CorrVec> ch = vcg::tri::Allocator<OpenMeshType>::template GetPerVertexAttribute<CorrVec>(m,"correspondences");
-
-  typename OpenMeshType::VertexIterator vi = vcg::tri::Allocator<OpenMeshType>::AddVertices(m,num_points);
-  for(uint i = 0; i < num_points;++i,++vi){
-    double x,y,z;
-    unsigned int r,g,b,i_cam, key_sift,n_corr;
-    fscanf(fp,"%lf %lf %lf ",&x,&y,&z);
-    (*vi).P() = vcg::Point3<typename OpenMeshType::ScalarType>(x,y,z);
-    fscanf(fp,"%d %d %d ",&r,&g,&b);
-    (*vi).C() = vcg::Color4b(r,g,b,255);
-
-    fscanf(fp,"%d ",&n_corr);
-    for(uint j = 0; j < n_corr; ++j){
-      fscanf(fp,"%d %d %lf %lf ",&i_cam,&key_sift,&x,&y);
-      Correspondence corr(i_cam,key_sift,x,y);
-      ch[i].push_back(corr);
-    }
-  }
-  vcg::tri::UpdateBounding<OpenMeshType>::Box(m);
-  fclose(fp);
-
-  return (shots.size() == 0);
-}
-
-
-static bool ReadImagesFilenames(const char *  filename,std::vector<std::string> &image_filenames)
-{
-    FILE * fp = fopen(filename,"r");
-    if (!fp) return false;
-    else
-    {
-        char line[1000], name[1000];
-        while(!feof(fp)){
-            readline(fp, line, 1000);
-            if(line[0] == '\0') continue; //ignore empty lines (in theory, might happen only at end of file)
-            sscanf(line, "%s", name);
-            std::string n(name);
-            image_filenames.push_back(n);
-        }
-    }
-    fclose(fp);
-        return true;
-}
-
-static bool  AddIntrinsics(vcg::Shotf &shot, const char * image_file)
-{
-    ::ResetJpgfile();
-    FILE * pFile = fopen(image_file, "rb");
-    int ret = ::ReadJpegSections (pFile, READ_METADATA);
-    fclose(pFile);
-    if(ret==0) return false;
-    shot.Intrinsics.ViewportPx = vcg::Point2i(ImageInfo.Width, ImageInfo.Height);
-    shot.Intrinsics.CenterPx   = vcg::Point2f(float(ImageInfo.Width/2.0), float(ImageInfo.Height/2.0));
-
-    return true;
-}
+	
+	typedef typename OpenMeshType::VertexPointer VertexPointer;
+	typedef typename OpenMeshType::ScalarType ScalarType;
+	typedef typename OpenMeshType::CoordType CoordType;
+	typedef typename OpenMeshType::VertexType VertexType;
+	typedef typename OpenMeshType::FaceType FaceType;
+	typedef typename OpenMeshType::VertexIterator VertexIterator;
+	typedef typename OpenMeshType::FaceIterator FaceIterator;
+	typedef typename OpenMeshType::EdgeIterator EdgeIterator;
+	
+	static void readline(FILE *fp, char *line, int max=100){
+		fgets ( line, max, fp);
+	}
+	
+	static bool ReadHeader(FILE *fp,unsigned int &num_cams, unsigned int &num_points){
+		char line[100];
+		readline(fp, line);
+		if( line[0]=='\0' ) return false;
+		line[18]='\0';
+		if(0!=strcmp("# Bundle file v0.3", line))  return false;
+		readline(fp, line);
+		if(line[0]=='\0') return false;
+		if (sscanf(line, "%d %d", &num_cams, &num_points) != 2) return false;
+		return true;
+	}
+	
+	static int Open(
+			OpenMeshType &m, 
+			std::vector<Shot<ScalarType> >  & shots,
+			std::vector<std::string > & image_filenames,
+			const char * filename,
+			const char * filename_images, 
+			CallBackPos *cb=0)
+	{
+		unsigned int   num_cams,num_points;
+		typedef typename vcg::Matrix44<ScalarType> Matrix44x;
+		typedef typename vcg::Matrix33<ScalarType> Matrix33x;
+		FILE *fp = fopen(filename,"r");
+		if(!fp) return false;
+		ReadHeader(fp, num_cams,  num_points);
+		char line[100];
+		if(cb) cb(0,"Reading images");
+		ReadImagesFilenames(filename_images, image_filenames);
+		const QString path_im = QFileInfo(filename_images).absolutePath()+QString("/");
+		
+		if(cb) cb(50,"Reading cameras");
+		shots.resize(num_cams);
+		for(uint i = 0; i < num_cams;++i)
+		{
+			float f, k1, k2;
+			float R[16]={0,0,0,0, 0,0,0,0, 0,0,0,0, 0,0,0,1};
+			vcg::Point3f t;
+			
+			readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &f, &k1, &k2) != 3) return false;
+			
+			readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &(R[0]), &(R[1]), &(R[2])) != 3) return false;  R[3] = 0;
+			readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &(R[4]), &(R[5]), &(R[6])) != 3) return false;  R[7] = 0;
+			readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &(R[8]), &(R[9]), &(R[10])) != 3) return false; R[11] = 0;
+			readline(fp, line); if(line[0]=='\0') return false; if (sscanf(line, "%f %f %f", &(t[0]), &(t[1]), &(t[2])) != 3) return false;
+			
+			Matrix44x mat = Matrix44x::Construct(Matrix44f(R));
+			
+			Matrix33x Rt = Matrix33x( Matrix44x(mat), 3);
+			Rt.Transpose();
+			
+			CoordType pos = Rt * CoordType(t[0], t[1], t[2]);
+			
+			shots[i].Extrinsics.SetTra(CoordType(-pos[0],-pos[1],-pos[2]));
+			shots[i].Extrinsics.SetRot(mat);
+			
+			shots[i].Intrinsics.FocalMm    = f;
+			shots[i].Intrinsics.k[0] = 0.0;//k1; To be uncommented when distortion is taken into account reliably
+			shots[i].Intrinsics.k[1] = 0.0;//k2;
+			shots[i].Intrinsics.PixelSizeMm = vcg::Point2<ScalarType>(1,1);
+			QSize size;
+			QImageReader sizeImg(QString::fromStdString(image_filenames[i]));
+			if(sizeImg.size()==QSize(-1,-1))
+			{
+				QImageReader sizeImg(QString::fromStdString(qPrintable(path_im)+image_filenames[i]));
+				size=sizeImg.size();
+			}
+			else
+				size=sizeImg.size();
+			shots[i].Intrinsics.ViewportPx = vcg::Point2i(size.width(),size.height());
+			shots[i].Intrinsics.CenterPx[0] = (int)((double)shots[i].Intrinsics.ViewportPx[0]/2.0f);
+			shots[i].Intrinsics.CenterPx[1] = (int)((double)shots[i].Intrinsics.ViewportPx[1]/2.0f);
+			//AddIntrinsics(shots[i], std::string(filename_images_path).append(image_filenames[i]).c_str());
+		}
+		
+		// load all correspondences
+		typename OpenMeshType::template PerVertexAttributeHandle<CorrVec> ch = vcg::tri::Allocator<OpenMeshType>::template GetPerVertexAttribute<CorrVec>(m,"correspondences");
+		
+		typename OpenMeshType::VertexIterator vi = vcg::tri::Allocator<OpenMeshType>::AddVertices(m,num_points);
+		for(uint i = 0; i < num_points;++i,++vi){
+			double x,y,z;
+			unsigned int r,g,b,i_cam, key_sift,n_corr;
+			if (fscanf(fp,"%lf %lf %lf ",&x,&y,&z) != 3) return false;
+			(*vi).P() = vcg::Point3<typename OpenMeshType::ScalarType>(x,y,z);
+			if (fscanf(fp,"%d %d %d ",&r,&g,&b) != 3) return false;
+			(*vi).C() = vcg::Color4b(r,g,b,255);
+			
+			if (fscanf(fp,"%d ",&n_corr) != 1) return false;
+			for(uint j = 0; j < n_corr; ++j){
+				if (fscanf(fp,"%d %d %lf %lf ",&i_cam,&key_sift,&x,&y) != 4) return false;
+				Correspondence corr(i_cam,key_sift,x,y);
+				ch[i].push_back(corr);
+			}
+		}
+		vcg::tri::UpdateBounding<OpenMeshType>::Box(m);
+		fclose(fp);
+		
+		return (shots.size() == 0);
+	}
+	
+	
+	static bool ReadImagesFilenames(const char *  filename,std::vector<std::string> &image_filenames)
+	{
+		FILE * fp = fopen(filename,"r");
+		if (!fp) return false;
+		else
+		{
+			char line[1000], name[1000];
+			while(!feof(fp)){
+				readline(fp, line, 1000);
+				if(line[0] == '\0') continue; //ignore empty lines (in theory, might happen only at end of file)
+				if (sscanf(line, "%s", name) != 1) return false;
+				std::string n(name);
+				image_filenames.push_back(n);
+			}
+		}
+		fclose(fp);
+		return true;
+	}
+	
+	static bool  AddIntrinsics(vcg::Shotf &shot, const char * image_file)
+	{
+		// Read the JPEG file into a buffer
+		FILE *fp = fopen(qUtf8Printable(image_file), "rb");
+		if (!fp) {
+			std::cerr << "Exif Parsing: Unable to open file:\n\"%1\"\n\nError details: file %1 is not readable.";
+			return false;
+		}
+		fseek(fp, 0, SEEK_END);
+		unsigned long fsize = ftell(fp);
+		rewind(fp);
+		unsigned char *buf = new unsigned char[fsize];
+		if (fread(buf, 1, fsize, fp) != fsize) {
+			std::cerr << "Exif Parsing: Unable to read the content of the opened file:\n\"%1\"\n\nError details: file %1 is not readable.";
+			delete[] buf;
+			fclose(fp);
+			return false;
+		}
+		fclose(fp);
+		
+		// Parse EXIF
+		easyexif::EXIFInfo ImageInfo;
+		int ret = ImageInfo.parseFrom(buf, fsize);
+		delete[] buf;
+		if (ret == 0) {
+			std::cerr << "Warning unable to parse exif for file  %s" << qPrintable(image_file);
+			return false;
+		}
+		
+		shot.Intrinsics.ViewportPx = vcg::Point2i(ImageInfo.ImageWidth, ImageInfo.ImageHeight);
+		shot.Intrinsics.CenterPx   = vcg::Point2f(float(ImageInfo.ImageWidth/2.0), float(ImageInfo.ImageHeight/2.0));
+		
+		return true;
+	}
 }; // end class
 
 
diff --git a/wrap/io_trimesh/import_ply.h b/wrap/io_trimesh/import_ply.h
index 5104b07d..f8d955c4 100644
--- a/wrap/io_trimesh/import_ply.h
+++ b/wrap/io_trimesh/import_ply.h
@@ -56,1109 +56,1164 @@ class ImporterPLY
 {
 public:
 
-typedef ::vcg::ply::PropDescriptor PropDescriptor ;
-typedef typename OpenMeshType::VertexPointer VertexPointer;
-typedef typename OpenMeshType::ScalarType ScalarType;
-typedef typename OpenMeshType::VertexType VertexType;
-typedef typename OpenMeshType::FaceType FaceType;
-typedef typename OpenMeshType::VertexIterator VertexIterator;
-typedef typename OpenMeshType::FaceIterator FaceIterator;
-typedef typename OpenMeshType::EdgeIterator EdgeIterator;
+	typedef ::vcg::ply::PropDescriptor PropDescriptor ;
+	typedef typename OpenMeshType::VertexPointer VertexPointer;
+	typedef typename OpenMeshType::ScalarType ScalarType;
+	typedef typename OpenMeshType::VertexType VertexType;
+	typedef typename VertexType::QualityType VertQualityType;
+	typedef typename OpenMeshType::FaceType FaceType;
+	typedef typename FaceType::QualityType FaceQualityType;
+
+	typedef typename OpenMeshType::VertexIterator VertexIterator;
+	typedef typename OpenMeshType::FaceIterator FaceIterator;
+	typedef typename OpenMeshType::EdgeIterator EdgeIterator;
 
 #define MAX_USER_DATA 256
-// Auxiliary structure for reading ply files
-struct LoadPly_FaceAux
-{
-    unsigned char size;
-    int v[512];
-    int flags;
-    float q;
-    float texcoord[32];
-    unsigned char ntexcoord;
-    int texcoordind;
-    float colors[32];
-    unsigned char ncolors;
+	// Auxiliary structure for reading ply files
+	template<class S>
+	struct LoadPly_FaceAux
+	{
+		unsigned char size;
+		int v[512];
+		int flags;
+		S n[3];
+		S q;
+		float texcoord[32];
+		unsigned char ntexcoord;
+		int texcoordind;
+		float colors[32];
+		unsigned char ncolors;
 
-    unsigned char r;
-    unsigned char g;
-    unsigned char b;
-    unsigned char a;
+		unsigned char r;
+		unsigned char g;
+		unsigned char b;
+		unsigned char a;
 
-    unsigned char data[MAX_USER_DATA];
-};
+		unsigned char data[MAX_USER_DATA];
+	};
 
-struct LoadPly_TristripAux
-{
-    int size;
-    int *v;
-    unsigned char data[MAX_USER_DATA];
-};
+	struct LoadPly_TristripAux
+	{
+		int size;
+		int *v;
+		unsigned char data[MAX_USER_DATA];
+	};
 
-struct LoadPly_EdgeAux
-{
-    int v1,v2;
-    unsigned char data[MAX_USER_DATA];
-};
+	struct LoadPly_EdgeAux
+	{
+		int v1,v2;
+		unsigned char data[MAX_USER_DATA];
+	};
 
-// Yet another auxiliary data structure for loading some strange ply files
-// the original stanford range data...
-struct LoadPly_RangeGridAux {
-    unsigned char num_pts;
-    int pts[5];
-};
+	// Yet another auxiliary data structure for loading some strange ply files
+	// the original stanford range data...
+	struct LoadPly_RangeGridAux {
+		unsigned char num_pts;
+		int pts[5];
+	};
 
 
-// Auxiliary structure to load vertex data
-template<class S>
-struct LoadPly_VertAux
-{
-    S p[3];
-    S n[3];
-    int flags;
-    float q; // the confidence
-    float intensity;
-    unsigned char r;
-    unsigned char g;
-    unsigned char b;
-    unsigned char a;
-    unsigned char data[MAX_USER_DATA];
-    float radius;
-    float u,v,w;
-};
+	// Auxiliary structure to load vertex data
+	template<class S>
+	struct LoadPly_VertAux
+	{
+		S p[3];
+		S n[3];
+		int flags;
+		S q; // the confidence
+		float intensity;
+		unsigned char r;
+		unsigned char g;
+		unsigned char b;
+		unsigned char a;
+		unsigned char data[MAX_USER_DATA];
+		float radius;
+		float u,v,w;
+	};
 
-// Auxiliary structure to load the camera
-struct LoadPly_Camera
-{
-    float view_px;
-    float view_py;
-    float view_pz;
-    float x_axisx;
-    float x_axisy;
-    float x_axisz;
-    float y_axisx;
-    float y_axisy;
-    float y_axisz;
-    float z_axisx;
-    float z_axisy;
-    float z_axisz;
-    float focal;
-    float scalex;
-    float scaley;
-    float centerx;
-    float centery;
-    int   viewportx;
-    int   viewporty;
-    float k1;
-    float k2;
-    float k3;
-    float k4;
-};
+	// Auxiliary structure to load the camera
+	struct LoadPly_Camera
+	{
+		float view_px;
+		float view_py;
+		float view_pz;
+		float x_axisx;
+		float x_axisy;
+		float x_axisz;
+		float y_axisx;
+		float y_axisy;
+		float y_axisz;
+		float z_axisx;
+		float z_axisy;
+		float z_axisz;
+		float focal;
+		float scalex;
+		float scaley;
+		float centerx;
+		float centery;
+		int   viewportx;
+		int   viewporty;
+		float k1;
+		float k2;
+		float k3;
+		float k4;
+	};
 
 #define _VERTDESC_LAST_  32
-static const  PropDescriptor &VertDesc(int i)
-{
-    static const PropDescriptor pv[_VERTDESC_LAST_]={
-/*00*/ {"vertex", "x",             ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p),0,0,0,0,0  ,0},
-/*01*/ {"vertex", "y",             ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p) + sizeof(ScalarType),0,0,0,0,0  ,0},
-/*02*/ {"vertex", "z",             ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p) + 2*sizeof(ScalarType),0,0,0,0,0  ,0},
-/*03*/ {"vertex", "flags",         ply::T_INT,   ply::T_INT,           offsetof(LoadPly_VertAux<ScalarType>,flags),0,0,0,0,0  ,0},
-/*04*/ {"vertex", "quality",       ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,q),0,0,0,0,0  ,0},
-/*05*/ {"vertex", "red",           ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,r),0,0,0,0,0  ,0},
-/*06*/ {"vertex", "green",         ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,g),0,0,0,0,0  ,0},
-/*07*/ { "vertex", "blue",         ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,b),0,0,0,0,0  ,0},
-/*08*/ { "vertex", "alpha",        ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,a),0,0,0,0,0  ,0},
-/*09*/ {"vertex", "diffuse_red",   ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,r),0,0,0,0,0  ,0},
-/*10*/ {"vertex", "diffuse_green", ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,g),0,0,0,0,0  ,0},
-/*11*/ {"vertex", "diffuse_blue",  ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,b),0,0,0,0,0  ,0},
-/*12*/ {"vertex", "diffuse_alpha", ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,a),0,0,0,0,0  ,0},
-/*13*/ {"vertex", "confidence",    ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,q),0,0,0,0,0  ,0},
-/*14*/ {"vertex", "nx",            ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,n)                       ,0,0,0,0,0  ,0},
-/*15*/ {"vertex", "ny",            ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,n) + 1*sizeof(ScalarType),0,0,0,0,0  ,0},
-/*16*/ {"vertex", "nz",            ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,n) + 2*sizeof(ScalarType),0,0,0,0,0  ,0},
-/*17*/ {"vertex", "radius",        ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,radius),0,0,0,0,0  ,0},
-/*18*/ {"vertex", "texture_u",     ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,u),0,0,0,0,0  ,0},
-/*19*/ {"vertex", "texture_v",     ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,v),0,0,0,0,0  ,0},
-/*20*/ {"vertex", "texture_w",     ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,w),0,0,0,0,0  ,0},
-/*21*/ {"vertex", "intensity",     ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,intensity),0,0,0,0,0  ,0},
-/*22*/ {"vertex", "s",             ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,u),0,0,0,0,0  ,0},
-/*23*/ {"vertex", "t",             ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,v),0,0,0,0,0  ,0},
-// DOUBLE
-/*24*/ {"vertex", "x",             ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p),0,0,0,0,0  ,0},
-/*25*/ {"vertex", "y",             ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p) + sizeof(ScalarType)  ,0,0,0,0,0  ,0},
-/*26*/ {"vertex", "z",             ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p) + 2*sizeof(ScalarType),0,0,0,0,0  ,0},
-/*27*/ {"vertex", "nx",            ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,n)                       ,0,0,0,0,0  ,0},
-/*28*/ {"vertex", "ny",            ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,n) + 1*sizeof(ScalarType),0,0,0,0,0  ,0},
-/*29*/ {"vertex", "nz",            ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,n) + 2*sizeof(ScalarType),0,0,0,0,0  ,0},
-/*30*/ {"vertex", "radius",        ply::T_DOUBLE, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,radius),0,0,0,0,0  ,0},
-/*31*/ {"vertex", "quality",       ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,q),0,0,0,0,0  ,0}
-    };
-    return pv[i];
-}
-
-#define _FACEDESC_FIRST_  10 // the first descriptor with possible vertex indices
-#define _FACEDESC_LAST_  22
-static const  PropDescriptor &FaceDesc(int i)
-{
-    static const 	PropDescriptor qf[_FACEDESC_LAST_]=
-    {
-/*      	                           on file       on memory                                                on file       on memory */
-/*  0 */	{"face", "vertex_indices", ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux,v),           1,0,ply::T_UCHAR, ply::T_UCHAR,offsetof(LoadPly_FaceAux,size)   ,0},
-/*  1 */	{"face", "flags",          ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux,flags),       0,0,0,0,0  ,0},
-/*  2 */	{"face", "quality",        ply::T_FLOAT, ply::T_FLOAT, offsetof(LoadPly_FaceAux,q),           0,0,0,0,0  ,0},
-/*  3 */	{"face", "texcoord",       ply::T_FLOAT, ply::T_FLOAT, offsetof(LoadPly_FaceAux,texcoord),    1,0,ply::T_UCHAR, ply::T_UCHAR,offsetof(LoadPly_FaceAux,ntexcoord) ,0},
-/*  4 */	{"face", "color",          ply::T_FLOAT, ply::T_FLOAT, offsetof(LoadPly_FaceAux,colors),      1,0,ply::T_UCHAR, ply::T_UCHAR,offsetof(LoadPly_FaceAux,ncolors)   ,0},
-/*  5 */	{"face", "texnumber",      ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux,texcoordind), 0,0,0,0,0  ,0},
-/*  6 */	{"face", "red"  ,          ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_FaceAux,r),           0,0,0,0,0  ,0},
-/*  7 */	{"face", "green",          ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_FaceAux,g),           0,0,0,0,0  ,0},
-/*  8 */  {"face", "blue",           ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_FaceAux,b),           0,0,0,0,0  ,0},
-/*  9 */  {"face", "alpha",          ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_FaceAux,a),           0,0,0,0,0  ,0},
-/* 10 */	{"face", "vertex_index",   ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux,v),           1,0,ply::T_UCHAR, ply::T_CHAR,offsetof(LoadPly_FaceAux,size)   ,0},
-/* 11 */	{"face", "vertex_index",   ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux,v),           1,0,ply::T_CHAR,  ply::T_CHAR,offsetof(LoadPly_FaceAux,size)   ,0},
-/* 12 */	{"face", "vertex_index",   ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux,v),           1,0,ply::T_INT,   ply::T_CHAR,offsetof(LoadPly_FaceAux,size)   ,0},
-
-/* 13 */	{"face", "vertex_indices", ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux,v),           1,0,ply::T_CHAR,  ply::T_CHAR,offsetof(LoadPly_FaceAux,size)   ,0},
-/* 14 */	{"face", "vertex_indices", ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux,v),           1,0,ply::T_INT,   ply::T_CHAR,offsetof(LoadPly_FaceAux,size)   ,0},
-/* 15 */	{"face", "vertex_indices", ply::T_UINT,  ply::T_INT,   offsetof(LoadPly_FaceAux,v),           1,0,ply::T_UCHAR, ply::T_CHAR,offsetof(LoadPly_FaceAux,size)   ,0},
-/* 16 */	{"face", "vertex_indices", ply::T_UINT,  ply::T_INT,   offsetof(LoadPly_FaceAux,v),           1,0,ply::T_CHAR,  ply::T_CHAR,offsetof(LoadPly_FaceAux,size)   ,0},
-/* 17 */	{"face", "vertex_indices", ply::T_UINT,  ply::T_INT,   offsetof(LoadPly_FaceAux,v),           1,0,ply::T_INT,   ply::T_CHAR,offsetof(LoadPly_FaceAux,size)   ,0},
-/* 18 */	{"face", "vertex_indices", ply::T_SHORT, ply::T_INT,   offsetof(LoadPly_FaceAux,v),           1,0,ply::T_CHAR,  ply::T_CHAR,offsetof(LoadPly_FaceAux,size)   ,0},
-/* 19 */	{"face", "vertex_indices", ply::T_SHORT, ply::T_INT,   offsetof(LoadPly_FaceAux,v),           1,0,ply::T_UCHAR, ply::T_CHAR,offsetof(LoadPly_FaceAux,size)   ,0},
-/* 20 */	{"face", "vertex_indices", ply::T_SHORT, ply::T_INT,   offsetof(LoadPly_FaceAux,v),           1,0,ply::T_INT,   ply::T_CHAR,offsetof(LoadPly_FaceAux,size)   ,0},
-/* 21 */	{"face", "vertex_indices", ply::T_CHAR,  ply::T_INT,   offsetof(LoadPly_FaceAux,v),           1,0,ply::T_UCHAR, ply::T_CHAR,offsetof(LoadPly_FaceAux,size)   ,0}
-    };
-    return qf[i];
-}
-static const PropDescriptor &TristripDesc(int i)
-{
-    static const PropDescriptor qf[1]=
-    {
-        {"tristrips","vertex_indices", ply::T_INT,  ply::T_INT,  offsetof(LoadPly_TristripAux,v),		  1,1,ply::T_INT,ply::T_INT,offsetof(LoadPly_TristripAux,size) ,0},
-    };
-    return qf[i];
-}
-
-static const PropDescriptor &EdgeDesc(int i)
-{
-    static const PropDescriptor qf[2]=
-    {
-        {"edge","vertex1", ply::T_INT,  ply::T_INT,  offsetof(LoadPly_EdgeAux,v1),		  0,0,0,0,0  ,0},
-        {"edge","vertex2", ply::T_INT,  ply::T_INT,  offsetof(LoadPly_EdgeAux,v2),		  0,0,0,0,0  ,0},
-    };
-    return qf[i];
-}
-
-// Descriptor for the Stanford Data Repository Range Maps.
-// In practice a grid with some invalid elements. Coords are saved only for good elements
-static const  PropDescriptor &RangeDesc(int i)
-{
-    static const PropDescriptor range_props[1] = {
-        {"range_grid","vertex_indices", ply::T_INT, ply::T_INT, offsetof(LoadPly_RangeGridAux,pts), 1, 0, ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_RangeGridAux,num_pts),0},
-    };
-    return range_props[i];
-}
-
-
-static const  PropDescriptor &CameraDesc(int i)
-{
-    static const PropDescriptor cad[23] =
-    {
-        {"camera","view_px",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,view_px),0,0,0,0,0  ,0},
-        {"camera","view_py",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,view_py),0,0,0,0,0  ,0},
-        {"camera","view_pz",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,view_pz),0,0,0,0,0  ,0},
-        {"camera","x_axisx",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,x_axisx),0,0,0,0,0  ,0},
-        {"camera","x_axisy",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,x_axisy),0,0,0,0,0  ,0},
-        {"camera","x_axisz",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,x_axisz),0,0,0,0,0  ,0},
-        {"camera","y_axisx",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,y_axisx),0,0,0,0,0  ,0},
-        {"camera","y_axisy",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,y_axisy),0,0,0,0,0  ,0},
-        {"camera","y_axisz",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,y_axisz),0,0,0,0,0  ,0},
-        {"camera","z_axisx",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,z_axisx),0,0,0,0,0  ,0},
-        {"camera","z_axisy",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,z_axisy),0,0,0,0,0  ,0},
-        {"camera","z_axisz",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,z_axisz),0,0,0,0,0  ,0},
-        {"camera","focal"  ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,focal  ),0,0,0,0,0  ,0},
-        {"camera","scalex" ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,scalex ),0,0,0,0,0  ,0},
-        {"camera","scaley" ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,scaley ),0,0,0,0,0  ,0},
-        {"camera","centerx",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,centerx),0,0,0,0,0  ,0},
-        {"camera","centery",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,centery),0,0,0,0,0  ,0},
-        {"camera","viewportx",ply::T_INT,ply::T_INT  ,offsetof(LoadPly_Camera,viewportx),0,0,0,0,0  ,0},
-        {"camera","viewporty",ply::T_INT,ply::T_INT  ,offsetof(LoadPly_Camera,viewporty),0,0,0,0,0  ,0},
-        {"camera","k1"     ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,k1 ),0,0,0,0,0  ,0},
-        {"camera","k2"     ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,k2 ),0,0,0,0,0  ,0},
-        {"camera","k3"     ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,k3 ),0,0,0,0,0  ,0},
-        {"camera","k4"     ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,k4 ),0,0,0,0,0  ,0}
-    };
-    return cad[i];
-}
-/// Standard call for knowing the meaning of an error code
-static const char *ErrorMsg(int error)
-{
-    static std::vector<std::string> ply_error_msg;
-    if(ply_error_msg.empty())
-    {
-        ply_error_msg.resize(PlyInfo::E_MAXPLYINFOERRORS );
-        ply_error_msg[ply::E_NOERROR				]="No errors";
-        ply_error_msg[ply::E_CANTOPEN				]="Can't open file";
-        ply_error_msg[ply::E_NOTHEADER ]="Header not found";
-        ply_error_msg[ply::E_UNESPECTEDEOF	]="Eof in header";
-        ply_error_msg[ply::E_NOFORMAT				]="Format not found";
-        ply_error_msg[ply::E_SYNTAX				]="Syntax error on header";
-        ply_error_msg[ply::E_PROPOUTOFELEMENT]="Property without element";
-        ply_error_msg[ply::E_BADTYPENAME		]="Bad type name";
-        ply_error_msg[ply::E_ELEMNOTFOUND		]="Element not found";
-        ply_error_msg[ply::E_PROPNOTFOUND		]="Property not found";
-        ply_error_msg[ply::E_BADTYPE				]="Bad type on addtoread";
-        ply_error_msg[ply::E_INCOMPATIBLETYPE]="Incompatible type";
-        ply_error_msg[ply::E_BADCAST				]="Bad cast";
-
-        ply_error_msg[PlyInfo::E_NO_VERTEX      ]="No vertex field found";
-        ply_error_msg[PlyInfo::E_NO_FACE        ]="No face field found";
-        ply_error_msg[PlyInfo::E_SHORTFILE      ]="Unespected eof";
-        ply_error_msg[PlyInfo::E_NO_3VERTINFACE ]="Face with more than 3 vertices";
-        ply_error_msg[PlyInfo::E_BAD_VERT_INDEX ]="Bad vertex index in face";
-        ply_error_msg[PlyInfo::E_BAD_VERT_INDEX_EDGE ]="Bad vertex index in edge";
-        ply_error_msg[PlyInfo::E_NO_6TCOORD     ]="Face with no 6 texture coordinates";
-        ply_error_msg[PlyInfo::E_DIFFER_COLORS  ]="Number of color differ from vertices";
-    }
-
-    if(error>PlyInfo::E_MAXPLYINFOERRORS || error<0) return "Unknown error";
-    else return ply_error_msg[error].c_str();
-};
-
-// to check if a given error is critical or not.
-static bool ErrorCritical(int err)
-{ 
-	if ((err == ply::E_NOERROR) || (err == PlyInfo::E_NO_FACE)) return false;
-	return true;
-}
-
-
-/// Standard call for reading a mesh, returns 0 on success.
-static int Open( OpenMeshType &m, const char * filename, CallBackPos *cb=0)
-{
-    PlyInfo pi;
-    pi.cb=cb;
-    return Open(m, filename, pi);
-}
-
-/// Read a mesh and store in loadmask the loaded field
-/// Note that loadmask is not read! just modified. You cannot specify what fields
-/// have to be read. ALL the data for which your mesh HasSomething and are present
-/// in the file are read in.
-static int Open( OpenMeshType &m, const char * filename, int & loadmask, CallBackPos *cb =0)
-{
-    PlyInfo pi;
-    pi.cb=cb;
-    int r = Open(m, filename,pi);
-    loadmask=pi.mask;
-    return r;
-}
-
-
-/// read a mesh with all the possible option specified in the PlyInfo obj, returns 0 on success.
-static int Open( OpenMeshType &m, const char * filename, PlyInfo &pi )
-{
-    assert(filename!=0);
-    std::vector<VertexPointer> index;
-    LoadPly_FaceAux fa;
-    LoadPly_EdgeAux ea;
-    LoadPly_TristripAux tsa;
-    LoadPly_VertAux<ScalarType> va;
-
-    LoadPly_RangeGridAux rga;
-    std::vector<int> RangeGridAuxVec;
-    int RangeGridCols=0;
-    int RangeGridRows=0;
-
-
-    pi.mask = 0;
-    bool hasIntensity = false; // the intensity is a strange way to code single channel color used sometimes in rangemap. it is a kind of color. so it do not need another entry in the IOM mask.
-    bool multit = false; // true if texture has a per face int spec the texture index
-
-    va.flags = 42;
-
-    pi.status = ::vcg::ply::E_NOERROR;
-
-    /*
-    // TO BE REMOVED: tv not used AND "spurious" vertex declaration causes error if ocf
-
-    // init defaults
-    VertexType tv;
-    //tv.ClearFlags();
-
-    if (vcg::tri::HasPerVertexQuality(m)) tv.Q() = (typename OpenMeshType::VertexType::QualityType)1.0;
-    if (vcg::tri::HasPerVertexColor  (m)) tv.C() = Color4b(Color4b::White);
-    */
-
-    // Descrittori delle strutture
-
-    //bool isvflags = false;	// Il file contiene i flags
-
-
-    // The main descriptor of the ply file
-    vcg::ply::PlyFile pf;
-
-    // Open the file and parse the header
-    if( pf.Open(filename,vcg::ply::PlyFile::MODE_READ)==-1 )
-    {
-        pi.status = pf.GetError();
-        return pi.status;
-    }
-    pi.header = pf.GetHeader();
-
-    // Descrittori della camera
-    {  // Check that all the camera properties are present.
-        bool found = true;
-        for(int i=0;i<23;++i)
-        {
-            if( pf.AddToRead(CameraDesc(i))==-1 ) {
-                found = false;
-                break;
-            }
-        }
-        if(found) pi.mask |= Mask::IOM_CAMERA;
-    }
-
-    // Standard data desciptors (vertex coord and faces)
-    if( pf.AddToRead(VertDesc(0))==-1 && pf.AddToRead(VertDesc(24)) ) { pi.status = PlyInfo::E_NO_VERTEX; return pi.status; }
-    if( pf.AddToRead(VertDesc(1))==-1 && pf.AddToRead(VertDesc(25)) ) { pi.status = PlyInfo::E_NO_VERTEX; return pi.status; }
-    if( pf.AddToRead(VertDesc(2))==-1 && pf.AddToRead(VertDesc(26)) ) { pi.status = PlyInfo::E_NO_VERTEX; return pi.status; }
-    if( pf.AddToRead(FaceDesc(0))==-1 ) // Se fallisce si prova anche la sintassi di rapidform con index al posto di indices
-    {
-        int ii;
-        for (ii=_FACEDESC_FIRST_;ii< _FACEDESC_LAST_;++ii)
-            if( pf.AddToRead(FaceDesc(ii))!=-1 ) break;
-
-        if (ii==_FACEDESC_LAST_)
-        if(pf.AddToRead(TristripDesc(0))==-1) // Se fallisce tutto si prova a vedere se ci sono tristrip alla levoy.
-        if(pf.AddToRead(RangeDesc(0))==-1) // Se fallisce tutto si prova a vedere se ci sono rangemap alla levoy.
-        {
-            pi.status = PlyInfo::E_NO_FACE;
-            //return pi.status;  no face is not a critical error. let's continue.
-        }
-
-    }
-    // Optional flag descriptors
-    if(pf.AddToRead(EdgeDesc(0) )!= -1 && pf.AddToRead(EdgeDesc(1)) != -1 )
-        pi.mask |= Mask::IOM_EDGEINDEX;
-
-    if(vcg::tri::HasPerVertexFlags(m) && pf.AddToRead(VertDesc(3))!=-1 )
-        pi.mask |= Mask::IOM_VERTFLAGS;
-
-    if( vcg::tri::HasPerVertexNormal(m) )
-    {
-        if(		pf.AddToRead(VertDesc(14))!=-1  && pf.AddToRead(VertDesc(15))!=-1  && pf.AddToRead(VertDesc(16))!=-1 )
-            pi.mask |= Mask::IOM_VERTNORMAL;
-        else // try also for Normals stored with doubles
-            if(		pf.AddToRead(VertDesc(27))!=-1  && pf.AddToRead(VertDesc(28))!=-1  && pf.AddToRead(VertDesc(29))!=-1 )
-                pi.mask |= Mask::IOM_VERTNORMAL;
-
-     }
-
-    if( vcg::tri::HasPerVertexQuality(m) )
-    {
-        if( pf.AddToRead(VertDesc(4))!=-1 ||
-                pf.AddToRead(VertDesc(13))!=-1 )
-            pi.mask |= Mask::IOM_VERTQUALITY;
-        else
-            if (pf.AddToRead(VertDesc(31))!=-1)
-                pi.mask |= Mask::IOM_VERTQUALITY;
-    }
-
-    if(vcg::tri::HasPerVertexColor(m) )
-    {
-        if( pf.AddToRead(VertDesc(5))!=-1 )
-        {
-            pf.AddToRead(VertDesc(6));
-            pf.AddToRead(VertDesc(7));
-            pf.AddToRead(VertDesc(8));
-            pi.mask |= Mask::IOM_VERTCOLOR;
-        }
-        if( pf.AddToRead(VertDesc(9))!=-1 )
-        {
-            pf.AddToRead(VertDesc(10));
-            pf.AddToRead(VertDesc(11));
-            pf.AddToRead(VertDesc(12));
-            pi.mask |= Mask::IOM_VERTCOLOR;
-        }
-        if( pf.AddToRead(VertDesc(21))!=-1 )
-        {
-            hasIntensity = true;
-            pi.mask |= Mask::IOM_VERTCOLOR;
-        }
-
-    }
-    if( tri::HasPerVertexTexCoord(m) )
-    {
-        if(( pf.AddToRead(VertDesc(22))!=-1 )&&  (pf.AddToRead(VertDesc(23))!=-1))
-        {
-            pi.mask |= Mask::IOM_VERTTEXCOORD;
-        }
-        if(( pf.AddToRead(VertDesc(18))!=-1 )&&  (pf.AddToRead(VertDesc(19))!=-1))
-        {
-            pi.mask |= Mask::IOM_VERTTEXCOORD;
-        }
-    }
-    if(tri::HasPerVertexRadius(m))
-    {
-        if( pf.AddToRead(VertDesc(17))!=-1 )
-            pi.mask |= Mask::IOM_VERTRADIUS;
-        else if( pf.AddToRead(VertDesc(30))!=-1 )
-            pi.mask |= Mask::IOM_VERTRADIUS;
-    }
-    // se ci sono i flag per vertice ci devono essere anche i flag per faccia
-    if( pf.AddToRead(FaceDesc(1))!=-1 )
-        pi.mask |= Mask::IOM_FACEFLAGS;
-
-    if( vcg::tri::HasPerFaceQuality(m) )
-    {
-        if( pf.AddToRead(FaceDesc(2))!=-1 )
-            pi.mask |= Mask::IOM_FACEQUALITY;
-    }
-
-    if( vcg::tri::HasPerFaceColor(m)  )
-    {
-        if( pf.AddToRead(FaceDesc(6))!=-1 )
-        {
-            pf.AddToRead(FaceDesc(7));
-            pf.AddToRead(FaceDesc(8));
-            pf.AddToRead(FaceDesc(9));
-            pi.mask |= Mask::IOM_FACECOLOR;
-        }
-    }
-
-
-    if( vcg::tri::HasPerWedgeTexCoord(m) )
-    {
-        if( pf.AddToRead(FaceDesc(3))!=-1 )
-        {
-            if(pf.AddToRead(FaceDesc(5))==0) {
-                multit=true; // try to read also the multi texture indicies
-                pi.mask |= Mask::IOM_WEDGTEXMULTI;
-            }
-            pi.mask |= Mask::IOM_WEDGTEXCOORD;
-        }
-    }
-
-    if( vcg::tri::HasPerFaceColor(m) || vcg::tri::HasPerVertexColor(m) || vcg::tri::HasPerWedgeColor(m) )
-    {
-        if( pf.AddToRead(FaceDesc(4))!=-1 )
-        {
-            pi.mask |= Mask::IOM_WEDGCOLOR;
-        }
-    }
-
-    // User defined descriptors
-    std::vector<PropDescriptor> VPV(pi.vdn); // property descriptor relative al tipo LoadPly_VertexAux
-    std::vector<PropDescriptor> FPV(pi.fdn); // property descriptor relative al tipo LoadPly_FaceAux
-    if(pi.vdn>0){
-        // Compute the total size needed to load additional per vertex data.
-        size_t totsz=0;
-        for(int i=0;i<pi.vdn;i++){
-            VPV[i] = pi.VertexData[i];
-            VPV[i].offset1=offsetof(LoadPly_VertAux<ScalarType>,data)+totsz;
-            totsz+=pi.VertexData[i].memtypesize();
-            if( pf.AddToRead(VPV[i])==-1 ) { pi.status = pf.GetError(); return pi.status; }
-        }
-        if(totsz > MAX_USER_DATA)
-        {
-            pi.status = vcg::ply::E_BADTYPE;
-            return pi.status;
-        }
-    }
-    if(pi.fdn>0){
-        size_t totsz=0;
-        for(int i=0;i<pi.fdn;i++){
-            FPV[i] = pi.FaceData[i];
-            FPV[i].offset1=offsetof(LoadPly_FaceAux,data)+totsz;
-            totsz+=pi.FaceData[i].memtypesize();
-            if( pf.AddToRead(FPV[i])==-1 ) { pi.status = pf.GetError(); return pi.status; }
-        }
-        if(totsz > MAX_USER_DATA)
-        {
-            pi.status = vcg::ply::E_BADTYPE;
-            return pi.status;
-        }
-    }
-
-    /**************************************************************/
-    /* Main Reading Loop */
-    /**************************************************************/
-    m.Clear();
-    for(int i=0;i<int(pf.elements.size());i++)
-    {
-        int n = pf.ElemNumber(i);
-
-        if( !strcmp( pf.ElemName(i),"camera" ) )
-        {
-            pf.SetCurElement(i);
-
-            LoadPly_Camera ca;
-
-            for(int j=0;j<n;++j)
-            {
-                if( pf.Read( (void *)&(ca) )==-1 )
-                {
-                    pi.status = PlyInfo::E_SHORTFILE;
-                    return pi.status;
-                }
-                //camera.valid     = true;
-
-                // extrinsic
-                m.shot.Extrinsics.SetIdentity();
-                // view point
-                m.shot.Extrinsics.SetTra(Point3<ScalarType>( ca.view_px,ca.view_py,ca.view_pz));
-
-                // axis (i.e. rotation).
-                Matrix44<ScalarType> rm;
-                rm.SetIdentity();
-                rm[0][0] = ca.x_axisx;
-                rm[0][1] = ca.x_axisy;
-                rm[0][2] = ca.x_axisz;
-
-                rm[1][0] = ca.y_axisx;
-                rm[1][1] = ca.y_axisy;
-                rm[1][2] = ca.y_axisz;
-
-                rm[2][0] = ca.z_axisx;
-                rm[2][1] = ca.z_axisy;
-                rm[2][2] = ca.z_axisz;
-
-                m.shot.Extrinsics.SetRot(rm);
-
-                //intrinsic
-                m.shot.Intrinsics.FocalMm        = ca.focal;
-                m.shot.Intrinsics.PixelSizeMm[0] = ca.scalex;
-                m.shot.Intrinsics.PixelSizeMm[1] = ca.scaley;
-                m.shot.Intrinsics.CenterPx[0]    = ca.centerx;
-                m.shot.Intrinsics.CenterPx[1]    = ca.centery;
-                m.shot.Intrinsics.ViewportPx[0]  = ca.viewportx;
-                m.shot.Intrinsics.ViewportPx[1]  = ca.viewporty;
-                m.shot.Intrinsics.k[0]           = ca.k1;
-                m.shot.Intrinsics.k[1]           = ca.k2;
-                m.shot.Intrinsics.k[2]           = ca.k3;
-                m.shot.Intrinsics.k[3]           = ca.k4;
-
-            }
-        }
-        else if( !strcmp( pf.ElemName(i),"vertex" ) )
-        {
-            int j;
-
-            pf.SetCurElement(i);
-            VertexIterator vi=Allocator<OpenMeshType>::AddVertices(m,n);
-
-            for(j=0;j<n;++j)
-            {
-                if(pi.cb && (j%1000)==0) pi.cb(j*50/n,"Vertex Loading");
-                va.a = 255;
-                if( pf.Read( (void *)&(va) )==-1 )
-                {
-                    pi.status = PlyInfo::E_SHORTFILE;
-                    return pi.status;
-                }
-
-                (*vi).P()[0] = va.p[0];
-                (*vi).P()[1] = va.p[1];
-                (*vi).P()[2] = va.p[2];
-
-                if( HasPerVertexFlags(m) &&  (pi.mask & Mask::IOM_VERTFLAGS) )
-                    (*vi).Flags() = va.flags;
-
-                if( pi.mask & Mask::IOM_VERTQUALITY )
-                    (*vi).Q() = (typename OpenMeshType::VertexType::QualityType)va.q;
-
-                if( pi.mask & Mask::IOM_VERTNORMAL )
-                {
-                    (*vi).N()[0]=va.n[0];
-                    (*vi).N()[1]=va.n[1];
-                    (*vi).N()[2]=va.n[2];
-                }
-
-                if( pi.mask & Mask::IOM_VERTTEXCOORD )
-                {
-                    (*vi).T().P().X() = va.u;
-                    (*vi).T().P().Y() = va.v;
-                }
-
-                if( pi.mask & Mask::IOM_VERTCOLOR )
-                {
-                    if(hasIntensity)
-                        (*vi).C().SetGrayShade(va.intensity);
-                    else
-                    {
-                        (*vi).C()[0] = va.r;
-                        (*vi).C()[1] = va.g;
-                        (*vi).C()[2] = va.b;
-                        (*vi).C()[3] = va.a;
-                    }
-                }
-                if( pi.mask & Mask::IOM_VERTRADIUS )
-                    (*vi).R() = va.radius;
-
-
-                for(int k=0;k<pi.vdn;k++)
-                    memcpy((char *)(&*vi) + pi.VertexData[k].offset1,
-                           (char *)(&va) + VPV[k].offset1,
-                           VPV[k].memtypesize());
-                ++vi;
-            }
-
-            index.resize(n);
-            for(j=0,vi=m.vert.begin();j<n;++j,++vi)
-                index[j] = &*vi;
-        }
-        else if( !strcmp( pf.ElemName(i),"edge") && (n>0) )/******************** EDGE READING *******************************/
-        {
-            assert( pi.mask & Mask::IOM_EDGEINDEX );
-            EdgeIterator ei=Allocator<OpenMeshType>::AddEdges(m,n);
-            pf.SetCurElement(i);
-            for(int j=0;j<n;++j)
-            {
-                if(pi.cb && (j%1000)==0) pi.cb(50+j*50/n,"Edge Loading");
-                if( pf.Read(&ea)==-1 )
-                {
-                    pi.status = PlyInfo::E_SHORTFILE;
-                    return pi.status;
-                }
-                if( ea.v1<0 || ea.v2<0 || ea.v1>=m.vn || ea.v2>=m.vn)
-                {
-                    pi.status = PlyInfo::E_BAD_VERT_INDEX_EDGE;
-                    return pi.status;
-                }
-                (*ei).V(0) = index[ ea.v1 ];
-                (*ei).V(1) = index[ ea.v2 ];
-                ++ei;
-            }
-        }
-        else if( !strcmp( pf.ElemName(i),"face") && (n>0) )/******************** FACE READING ****************************************/
-        {
-            int j;
-
-            FaceIterator fi=Allocator<OpenMeshType>::AddFaces(m,n);
-            pf.SetCurElement(i);
-
-            for(j=0;j<n;++j)
-            {
-                int k;
-
-                if(pi.cb && (j%1000)==0) pi.cb(50+j*50/n,"Face Loading");
-                fa.a = 255;
-                if( pf.Read(&fa)==-1 )
-                {
-                    pi.status = PlyInfo::E_SHORTFILE;
-                    return pi.status;
-                }
-                if(fa.size!=3)
-                { // Non triangular face are manageable ONLY if there are no Per Wedge attributes
-                    if( ( pi.mask & Mask::IOM_WEDGCOLOR ) || ( pi.mask & Mask::IOM_WEDGTEXCOORD ) )
-                    {
-                        pi.status = PlyInfo::E_NO_3VERTINFACE;
-                        return pi.status;
-                    }
-                }
-
-                if(HasPolyInfo(m)) (*fi).Alloc(3);
-
-                if(HasPerFaceFlags(m) &&( pi.mask & Mask::IOM_FACEFLAGS) )
-                {
-                    (*fi).Flags() = fa.flags;
-                }
-
-                if( pi.mask & Mask::IOM_FACEQUALITY )
-                {
-                    (*fi).Q() = (typename OpenMeshType::FaceType::QualityType) fa.q;
-                }
-
-                if( pi.mask & Mask::IOM_FACECOLOR )
-                {
-                    (*fi).C()[0] = fa.r;
-                    (*fi).C()[1] = fa.g;
-                    (*fi).C()[2] = fa.b;
-                    (*fi).C()[3] = fa.a;
-                }
-
-                if( pi.mask & Mask::IOM_WEDGTEXCOORD )
-                {
-                    for(int k=0;k<3;++k)
-                    {
-                        (*fi).WT(k).u() = fa.texcoord[k*2+0];
-                        (*fi).WT(k).v() = fa.texcoord[k*2+1];
-                        if(multit) (*fi).WT(k).n() = fa.texcoordind;
-                        else (*fi).WT(k).n()=0; // safely intialize texture index
-                    }
-                }
-
-                if( pi.mask & Mask::IOM_WEDGCOLOR )
-                {
-                    if(FaceType::HasWedgeColor()){
-                        for(int k=0;k<3;++k)
-                        {
-                            (*fi).WC(k)[0] = (unsigned char)(fa.colors[k*3+0]*255);
-                            (*fi).WC(k)[1] = (unsigned char)(fa.colors[k*3+1]*255);
-                            (*fi).WC(k)[2] = (unsigned char)(fa.colors[k*3+2]*255);
-                        }
-                    }
-                    //if(FaceType::HasFaceColor()){
-                    //if(pi.mask & Mask::IOM_FACECOLOR){
-                    if(HasPerFaceColor(m))	{
-                        (*fi).C()[0] = (unsigned char)((fa.colors[0*3+0]*255+fa.colors[1*3+0]*255+fa.colors[2*3+0]*255)/3.0f);
-                        (*fi).C()[1] = (unsigned char)((fa.colors[0*3+1]*255+fa.colors[1*3+1]*255+fa.colors[2*3+1]*255)/3.0f);
-                        (*fi).C()[2] = (unsigned char)((fa.colors[0*3+2]*255+fa.colors[1*3+2]*255+fa.colors[2*3+2]*255)/3.0f);
-                    }
-                }
-                /// Now the temporary struct 'fa' is ready to be copied into the real face '*fi'
-                /// This loop
-                for(k=0;k<3;++k)
-                {
-                    if( fa.v[k]<0 || fa.v[k]>=m.vn )
-                    {
-                        pi.status = PlyInfo::E_BAD_VERT_INDEX;
-                        return pi.status;
-                    }
-                    (*fi).V(k) = index[ fa.v[k] ];
-                }
-
-                // tag faux vertices of first face
-                if (fa.size>3) fi->SetF(2);
-
-                for(k=0;k<pi.fdn;k++)
-                    memcpy((char *)(&(*fi)) + pi.FaceData[k].offset1,
-                           (char *)(&fa) + FPV[k].offset1,
-                           FPV[k].memtypesize());
-
-
-                ++fi;
-
-                // Non Triangular Faces Loop
-                // It performs a simple fan triangulation.
-                if(fa.size>3)
-                {
-                    int curpos=int(fi-m.face.begin());
-                    Allocator<OpenMeshType>::AddFaces(m,fa.size-3);
-                    fi=m.face.begin()+curpos;
-                    pi.mask |= Mask::IOM_BITPOLYGONAL;
-                }
-                for(int qq=0;qq<fa.size-3;++qq)
-                {
-                    (*fi).V(0) = index[ fa.v[0] ];
-                    for(k=1;k<3;++k)
-                    {
-                        if( fa.v[2+qq]<0 || fa.v[2+qq]>=m.vn )
-                        {
-                            pi.status = PlyInfo::E_BAD_VERT_INDEX;
-                            return pi.status;
-                        }
-                        (*fi).V(k) = index[ fa.v[1+qq+k] ];
-
-                    }
-                    if( pi.mask & Mask::IOM_FACEQUALITY )
-                       (*fi).Q() = (typename OpenMeshType::FaceType::QualityType)
-                        fa.q;
-                      if( pi.mask & Mask::IOM_FACECOLOR )
-                        (*fi).C() =  Color4b(fa.r,fa.g,fa.b,255);
-                    // tag faux vertices of extra faces
-                    fi->SetF(0);
-                    if(qq<(fa.size-4)) fi->SetF(2);
-
-                    for(k=0;k<pi.fdn;k++)
-                        memcpy((char *)(&(*fi)) + pi.FaceData[k].offset1,
-                               (char *)(&fa) + FPV[k].offset1, FPV[k].memtypesize());
-                    ++fi;
-                }
-
-            }
-        }else if( !strcmp( pf.ElemName(i),"tristrips") )//////////////////// LETTURA TRISTRIP DI STANFORD
-        {
-            int j;
-            pf.SetCurElement(i);
-            int numvert_tmp = (int)m.vert.size();
-            for(j=0;j<n;++j)
-            {
-                int k;
-                if(pi.cb && (j%1000)==0) pi.cb(50+j*50/n,"Tristrip Face Loading");
-                if( pf.Read(&tsa)==-1 )
-                {
-                    pi.status = PlyInfo::E_SHORTFILE;
-                    return pi.status;
-                }
-                int remainder=0;
-                for(k=0;k<tsa.size-2;++k)
-                {
-                    if(pi.cb && (k%1000)==0) pi.cb(50+k*50/tsa.size,"Tristrip Face Loading");
-                    if(tsa.v[k]<0 || tsa.v[k]>=numvert_tmp )	{
-                        pi.status = PlyInfo::E_BAD_VERT_INDEX;
-                        return pi.status;
-                    }
-                    if(tsa.v[k+2]==-1)
-                    {
-                        k+=2;
-                        if(k%2) remainder=0;
-                        else remainder=1;
-                        continue;
-                    }
-                    Allocator<OpenMeshType>::AddFaces(m,1);
-                    FaceType &tf =m.face.back();
-                    tf.V(0) = index[ tsa.v[k+0] ];
-                    tf.V(1) = index[ tsa.v[k+1] ];
-                    tf.V(2) = index[ tsa.v[k+2] ];
-                    if((k+remainder)%2) std::swap (tf.V(0), tf.V(1) );
-                }
-            }
-        }
-        else if( !strcmp( pf.ElemName(i),"range_grid") )//////////////////// LETTURA RANGEMAP DI STANFORD
-        {
-            //qDebug("Starting Reading of Range Grid");
-            if(RangeGridCols==0) // not initialized.
-            {
-                for(int co=0;co<int(pf.comments.size());++co)
-                {
-                    std::string num_cols = "num_cols";
-                    std::string num_rows = "num_rows";
-                    std::string &c = pf.comments[co];
-                    std::string bufstr,bufclean;
-                    if( num_cols == c.substr(0,num_cols.length()) )
-                    {
-                        bufstr = c.substr(num_cols.length()+1);
-                        RangeGridCols = atoi(bufstr.c_str());
-                    }
-                    if( num_rows == c.substr(0,num_cols.length()) )
-                    {
-                        bufstr = c.substr(num_rows.length()+1);
-                        RangeGridRows = atoi(bufstr.c_str());
-                    }
-                }
-                //qDebug("Rows %i Cols %i",RangeGridRows,RangeGridCols);
-            }
-            int totPnt = RangeGridCols*RangeGridRows;
-            // standard reading;
-            pf.SetCurElement(i);
-            for(int j=0;j<totPnt;++j)
-            {
-                if(pi.cb && (j%1000)==0) pi.cb(50+j*50/totPnt,"RangeMap Face Loading");
-                if( pf.Read(&rga)==-1 )
-                {
-                    //qDebug("Error after loading %i elements",j);
-                    pi.status = PlyInfo::E_SHORTFILE;
-                    return pi.status;
-                }
-                else
-                {
-                    if(rga.num_pts == 0)
-                        RangeGridAuxVec.push_back(-1);
-                    else
-                        RangeGridAuxVec.push_back(rga.pts[0]);
-                }
-            }
-            //qDebug("Completed the reading of %i indexes",RangeGridAuxVec.size());
-            tri::SparseFaceGrid(m, RangeGridAuxVec, RangeGridCols,RangeGridRows);
-        }
-        else
-        {
-            // Skippaggio elementi non gestiti
-            int n = pf.ElemNumber(i);
-            pf.SetCurElement(i);
-
-            for(int j=0;j<n;j++)
-            {
-                if( pf.Read(0)==-1)
-                {
-                    pi.status = PlyInfo::E_SHORTFILE;
-                    return pi.status;
-                }
-            }
-        }
-    }
-
-    // Parsing texture names
-    m.textures.clear();
-    m.normalmaps.clear();
-
-    for(int co=0;co<int(pf.comments.size());++co)
-    {
-        std::string TFILE = "TextureFile";
-        std::string NFILE = "TextureNormalFile";
-        std::string &c = pf.comments[co];
-        //		char buf[256];
-        std::string bufstr,bufclean;
-        int i,n;
-
-        if( TFILE == c.substr(0,TFILE.length()) )
-        {
-            bufstr = c.substr(TFILE.length()+1);
-            n = static_cast<int>(bufstr.length());
-            for(i=0;i<n;i++)
-                if( bufstr[i]!=' ' && bufstr[i]!='\t' && bufstr[i]>32 && bufstr[i]<125 )	bufclean.push_back(bufstr[i]);
-
-            char buf2[255];
-            ply::interpret_texture_name( bufclean.c_str(),filename,buf2 );
-            m.textures.push_back( std::string(buf2) );
-        }
-        /*if( !strncmp(c,NFILE,strlen(NFILE)) )
-        {
-            strcpy(buf,c+strlen(NFILE)+1);
-            n = strlen(buf);
-            for(i=j=0;i<n;i++)
-                if( buf[i]!=' ' && buf[i]!='\t' && buf[i]>32 && buf[i]<125 )	buf[j++] = buf[i];
-
-            buf[j] = 0;
-            char buf2[255];
-            __interpret_texture_name( buf,filename,buf2 );
-            m.normalmaps.push_back( string(buf2) );
-        }*/
-    }
-
-    // vn and fn should be correct but if someone wrongly saved some deleted elements they can be wrong.
-    m.vn = 0;
-    for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
-        if( ! (*vi).IsD() )
-            ++m.vn;
-
-    m.fn = 0;
-    for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
-        if( ! (*fi).IsD() )
-            ++m.fn;
-
-    tri::UpdateBounding<OpenMeshType>::Box(m);
-    return 0;
-}
-
-
-// Caricamento camera da un ply
-int LoadCamera(const char * filename)
-{
-    vcg::ply::PlyFile pf;
-    if( pf.Open(filename,vcg::ply::PlyFile::MODE_READ)==-1 )
-    {
-        this->pi.status = pf.GetError();
-        return this->pi.status;
-    }
-
-
-    bool found = true;
-    int i;
-    for(i=0;i<23;++i)
-    {
-        if( pf.AddToRead(CameraDesc(i))==-1 )
-        {
-            found = false;
-            break;
-        }
-    }
-
-    if(!found)
-        return this->pi.status;
-
-    for(i=0;i<int(pf.elements.size());i++)
-    {
-        int n = pf.ElemNumber(i);
-
-        if( !strcmp( pf.ElemName(i),"camera" ) )
-        {
-            pf.SetCurElement(i);
-
-            LoadPly_Camera ca;
-
-            for(int j=0;j<n;++j)
-            {
-                if( pf.Read( (void *)&(ca) )==-1 )
-                {
-                    this->pi.status = PlyInfo::E_SHORTFILE;
-                    return this->pi.status;
-                }
-                this->camera.valid     = true;
-                this->camera.view_p[0] = ca.view_px;
-                this->camera.view_p[1] = ca.view_py;
-                this->camera.view_p[2] = ca.view_pz;
-                this->camera.x_axis[0] = ca.x_axisx;
-                this->camera.x_axis[1] = ca.x_axisy;
-                this->camera.x_axis[2] = ca.x_axisz;
-                this->camera.y_axis[0] = ca.y_axisx;
-                this->camera.y_axis[1] = ca.y_axisy;
-                this->camera.y_axis[2] = ca.y_axisz;
-                this->camera.z_axis[0] = ca.z_axisx;
-                this->camera.z_axis[1] = ca.z_axisy;
-                this->camera.z_axis[2] = ca.z_axisz;
-                this->camera.f         = ca.focal;
-                this->camera.s[0]      = ca.scalex;
-                this->camera.s[1]      = ca.scaley;
-                this->camera.c[0]      = ca.centerx;
-                this->camera.c[1]      = ca.centery;
-                this->camera.viewport[0] = ca.viewportx;
-                this->camera.viewport[1] = ca.viewporty;
-                this->camera.k[0]      = ca.k1;
-                this->camera.k[1]      = ca.k2;
-                this->camera.k[2]      = ca.k3;
-                this->camera.k[3]      = ca.k4;
-            }
-            break;
-        }
-    }
-
-    return 0;
-}
-
-
-static bool LoadMask(const char * filename, int &mask)
-{
-    PlyInfo pi;
-    return LoadMask(filename, mask,pi);
-}
-static bool LoadMask(const char * filename, int &mask, PlyInfo &pi)
-{
-    mask=0;
-    vcg::ply::PlyFile pf;
-    if( pf.Open(filename,vcg::ply::PlyFile::MODE_READ)==-1 )
-    {
-        pi.status = pf.GetError();
-        return false;
-    }
-
-    if( pf.AddToRead(VertDesc( 0))!=-1 &&
-        pf.AddToRead(VertDesc( 1))!=-1 &&
-        pf.AddToRead(VertDesc( 2))!=-1 )   mask |= Mask::IOM_VERTCOORD;
-    if( pf.AddToRead(VertDesc(24))!=-1 &&
-        pf.AddToRead(VertDesc(25))!=-1 &&
-        pf.AddToRead(VertDesc(26))!=-1 )   mask |= Mask::IOM_VERTCOORD;
-
-    if( pf.AddToRead(VertDesc(14))!=-1 &&
-        pf.AddToRead(VertDesc(15))!=-1 &&
-        pf.AddToRead(VertDesc(16))!=-1 )   mask |= Mask::IOM_VERTNORMAL;
-    if( pf.AddToRead(VertDesc(27))!=-1 &&
-        pf.AddToRead(VertDesc(28))!=-1 &&
-        pf.AddToRead(VertDesc(29))!=-1 )   mask |= Mask::IOM_VERTNORMAL;
-
-    if( pf.AddToRead(VertDesc( 3))!=-1 )   mask |= Mask::IOM_VERTFLAGS;
-    if( pf.AddToRead(VertDesc( 4))!=-1 )   mask |= Mask::IOM_VERTQUALITY;
-    if( pf.AddToRead(VertDesc(13))!=-1 )   mask |= Mask::IOM_VERTQUALITY;
-    if( pf.AddToRead(VertDesc(17))!=-1 )   mask |= Mask::IOM_VERTRADIUS;
-    if( pf.AddToRead(VertDesc(30))!=-1 )   mask |= Mask::IOM_VERTRADIUS;
-    if( pf.AddToRead(VertDesc(31))!=-1 )   mask |= Mask::IOM_VERTQUALITY;
-    if( pf.AddToRead(VertDesc( 5))!=-1 &&
-        pf.AddToRead(VertDesc( 6))!=-1 &&
-        pf.AddToRead(VertDesc( 7))!=-1  )  mask |= Mask::IOM_VERTCOLOR;
-    if( pf.AddToRead(VertDesc( 9))!=-1 &&
-        pf.AddToRead(VertDesc(10))!=-1 &&
-        pf.AddToRead(VertDesc(11))!=-1  )  mask |= Mask::IOM_VERTCOLOR;
-    if( pf.AddToRead(VertDesc(21))!=-1  )  mask |= Mask::IOM_VERTCOLOR;
-
-    if( pf.AddToRead(VertDesc(22))!=-1  &&
-        pf.AddToRead(VertDesc(23))!=-1)    mask |= Mask::IOM_VERTTEXCOORD;
-
-    if( pf.AddToRead(VertDesc(18))!=-1  &&
-        pf.AddToRead(VertDesc(19))!=-1)    mask |= Mask::IOM_VERTTEXCOORD;
-
-    if( pf.AddToRead(FaceDesc(0))!=-1 )    mask |= Mask::IOM_FACEINDEX;
-    if( pf.AddToRead(FaceDesc(1))!=-1 )    mask |= Mask::IOM_FACEFLAGS;
-
-    if( pf.AddToRead(FaceDesc(2))!=-1 )    mask |= Mask::IOM_FACEQUALITY;
-    if( pf.AddToRead(FaceDesc(3))!=-1 )    mask |= Mask::IOM_WEDGTEXCOORD;
-    if( pf.AddToRead(FaceDesc(5))!=-1 )    mask |= Mask::IOM_WEDGTEXMULTI;
-    if( pf.AddToRead(FaceDesc(4))!=-1 )    mask |= Mask::IOM_WEDGCOLOR;
-    if( pf.AddToRead(FaceDesc(6))!=-1 &&
-        pf.AddToRead(FaceDesc(7))!=-1 &&
-        pf.AddToRead(FaceDesc(8))!=-1 )    mask |= Mask::IOM_FACECOLOR;
-
-    return true;
-}
+	static const  PropDescriptor &VertDesc(int i)
+	{
+		static const PropDescriptor pv[_VERTDESC_LAST_]={
+		    /****  { elename, propname,        storedtype1,     memtype1,         memoffset,                             */
+		    /*00*/ {"vertex", "x",             ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p),0,0,0,0,0  ,0},
+		    /*01*/ {"vertex", "y",             ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p) + sizeof(ScalarType),0,0,0,0,0  ,0},
+		    /*02*/ {"vertex", "z",             ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p) + 2*sizeof(ScalarType),0,0,0,0,0  ,0},
+		    /*03*/ {"vertex", "flags",         ply::T_INT,   ply::T_INT,           offsetof(LoadPly_VertAux<ScalarType>,flags),0,0,0,0,0  ,0},
+		    /*04*/ {"vertex", "quality",       ply::T_FLOAT, PlyType<ScalarType>(),         offsetof(LoadPly_VertAux<ScalarType>,q),0,0,0,0,0  ,0},
+		    /*05*/ {"vertex", "red",           ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,r),0,0,0,0,0  ,0},
+		    /*06*/ {"vertex", "green",         ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,g),0,0,0,0,0  ,0},
+		    /*07*/ { "vertex", "blue",         ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,b),0,0,0,0,0  ,0},
+		    /*08*/ { "vertex", "alpha",        ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,a),0,0,0,0,0  ,0},
+		    /*09*/ {"vertex", "diffuse_red",   ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,r),0,0,0,0,0  ,0},
+		    /*10*/ {"vertex", "diffuse_green", ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,g),0,0,0,0,0  ,0},
+		    /*11*/ {"vertex", "diffuse_blue",  ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,b),0,0,0,0,0  ,0},
+		    /*12*/ {"vertex", "diffuse_alpha", ply::T_UCHAR, ply::T_UCHAR,         offsetof(LoadPly_VertAux<ScalarType>,a),0,0,0,0,0  ,0},
+		    /*13*/ {"vertex", "confidence",    ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,q),0,0,0,0,0  ,0},
+		    /*14*/ {"vertex", "nx",            ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,n)                       ,0,0,0,0,0  ,0},
+		    /*15*/ {"vertex", "ny",            ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,n) + 1*sizeof(ScalarType),0,0,0,0,0  ,0},
+		    /*16*/ {"vertex", "nz",            ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,n) + 2*sizeof(ScalarType),0,0,0,0,0  ,0},
+		    /*17*/ {"vertex", "radius",        ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,radius),0,0,0,0,0  ,0},
+		    /*18*/ {"vertex", "texture_u",     ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,u),0,0,0,0,0  ,0},
+		    /*19*/ {"vertex", "texture_v",     ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,v),0,0,0,0,0  ,0},
+		    /*20*/ {"vertex", "texture_w",     ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,w),0,0,0,0,0  ,0},
+		    /*21*/ {"vertex", "intensity",     ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,intensity),0,0,0,0,0  ,0},
+		    /*22*/ {"vertex", "s",             ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,u),0,0,0,0,0  ,0},
+		    /*23*/ {"vertex", "t",             ply::T_FLOAT, ply::T_FLOAT,         offsetof(LoadPly_VertAux<ScalarType>,v),0,0,0,0,0  ,0},
+		    // DOUBLE
+		    /*24*/ {"vertex", "x",             ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p),0,0,0,0,0  ,0},
+		    /*25*/ {"vertex", "y",             ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p) + sizeof(ScalarType)  ,0,0,0,0,0  ,0},
+		    /*26*/ {"vertex", "z",             ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,p) + 2*sizeof(ScalarType),0,0,0,0,0  ,0},
+		    /*27*/ {"vertex", "nx",            ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,n)                       ,0,0,0,0,0  ,0},
+		    /*28*/ {"vertex", "ny",            ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,n) + 1*sizeof(ScalarType),0,0,0,0,0  ,0},
+		    /*29*/ {"vertex", "nz",            ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,n) + 2*sizeof(ScalarType),0,0,0,0,0  ,0},
+		    /*30*/ {"vertex", "radius",        ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,radius),0,0,0,0,0  ,0},
+		    /*31*/ {"vertex", "quality",       ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_VertAux<ScalarType>,q),0,0,0,0,0  ,0}
+		};
+		return pv[i];
+	}
+
+#define _FACEDESC_FIRST_  13 // the first descriptor with possible vertex indices
+#define _FACEDESC_LAST_  29
+	static const  PropDescriptor &FaceDesc(int i)
+	{
+		static const 	PropDescriptor qf[_FACEDESC_LAST_]=
+		{
+		    /*      	                           on file       on memory                                                on file       on memory */
+		    /*  0 */	{"face", "vertex_indices", ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,v),           1,0,ply::T_UCHAR, ply::T_UCHAR,offsetof(LoadPly_FaceAux<ScalarType>,size)   ,0},
+		    /*  1 */	{"face", "flags",          ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,flags),       0,0,0,0,0  ,0},
+		    /*  2 */	{"face", "quality",        ply::T_FLOAT, PlyType<ScalarType>(), offsetof(LoadPly_FaceAux<ScalarType>,q),           0,0,0,0,0  ,0},
+		    /*  3 */	{"face", "texcoord",       ply::T_FLOAT, ply::T_FLOAT, offsetof(LoadPly_FaceAux<ScalarType>,texcoord),    1,0,ply::T_UCHAR, ply::T_UCHAR,offsetof(LoadPly_FaceAux<ScalarType>,ntexcoord) ,0},
+		    /*  4 */	{"face", "color",          ply::T_FLOAT, ply::T_FLOAT, offsetof(LoadPly_FaceAux<ScalarType>,colors),      1,0,ply::T_UCHAR, ply::T_UCHAR,offsetof(LoadPly_FaceAux<ScalarType>,ncolors)   ,0},
+		    /*  5 */	{"face", "texnumber",      ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,texcoordind), 0,0,0,0,0  ,0},
+		    /*  6 */	{"face", "red"  ,          ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_FaceAux<ScalarType>,r),           0,0,0,0,0  ,0},
+		    /*  7 */	{"face", "green",          ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_FaceAux<ScalarType>,g),           0,0,0,0,0  ,0},
+		    /*  8 */	{"face", "blue",           ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_FaceAux<ScalarType>,b),           0,0,0,0,0  ,0},
+		    /*  9 */	{"face", "alpha",          ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_FaceAux<ScalarType>,a),           0,0,0,0,0  ,0},
+		    /* 10 */	{"face", "nx",             ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_FaceAux<ScalarType>,n)                       ,0,0,0,0,0  ,0},
+		    /* 11 */	{"face", "ny",             ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_FaceAux<ScalarType>,n) + 1*sizeof(ScalarType),0,0,0,0,0  ,0},
+		    /* 12 */	{"face", "nz",             ply::T_FLOAT, PlyType<ScalarType>(),offsetof(LoadPly_FaceAux<ScalarType>,n) + 2*sizeof(ScalarType),0,0,0,0,0  ,0},
+		    /* 13 */	{"face", "vertex_index",   ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,v),           1,0,ply::T_UCHAR, ply::T_CHAR,offsetof(LoadPly_FaceAux<ScalarType>,size)   ,0},
+		    /* 14 */	{"face", "vertex_index",   ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,v),           1,0,ply::T_CHAR,  ply::T_CHAR,offsetof(LoadPly_FaceAux<ScalarType>,size)   ,0},
+		    /* 15 */	{"face", "vertex_index",   ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,v),           1,0,ply::T_INT,   ply::T_CHAR,offsetof(LoadPly_FaceAux<ScalarType>,size)   ,0},
+
+		    /* 16 */	{"face", "vertex_indices", ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,v),           1,0,ply::T_CHAR,  ply::T_CHAR,offsetof(LoadPly_FaceAux<ScalarType>,size)   ,0},
+		    /* 17 */	{"face", "vertex_indices", ply::T_INT,   ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,v),           1,0,ply::T_INT,   ply::T_CHAR,offsetof(LoadPly_FaceAux<ScalarType>,size)   ,0},
+		    /* 18 */	{"face", "vertex_indices", ply::T_UINT,  ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,v),           1,0,ply::T_UCHAR, ply::T_CHAR,offsetof(LoadPly_FaceAux<ScalarType>,size)   ,0},
+		    /* 19 */	{"face", "vertex_indices", ply::T_UINT,  ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,v),           1,0,ply::T_CHAR,  ply::T_CHAR,offsetof(LoadPly_FaceAux<ScalarType>,size)   ,0},
+		    /* 20 */	{"face", "vertex_indices", ply::T_UINT,  ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,v),           1,0,ply::T_INT,   ply::T_CHAR,offsetof(LoadPly_FaceAux<ScalarType>,size)   ,0},
+		    /* 21 */	{"face", "vertex_indices", ply::T_UINT,  ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,v),           1,0,ply::T_USHORT,ply::T_CHAR,offsetof(LoadPly_FaceAux<ScalarType>,size)   ,0},
+		    /* 22 */	{"face", "vertex_indices", ply::T_SHORT, ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,v),           1,0,ply::T_CHAR,  ply::T_CHAR,offsetof(LoadPly_FaceAux<ScalarType>,size)   ,0},
+		    /* 23 */	{"face", "vertex_indices", ply::T_SHORT, ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,v),           1,0,ply::T_UCHAR, ply::T_CHAR,offsetof(LoadPly_FaceAux<ScalarType>,size)   ,0},
+		    /* 24 */	{"face", "vertex_indices", ply::T_SHORT, ply::T_INT,   offsetof(LoadPly_FaceAux<ScalarType>,v),           1,0,ply::T_INT,   ply::T_CHAR,offsetof(LoadPly_FaceAux<ScalarType>,size)   ,0},
+		    // DOUBLE
+		    /* 25 */	{"face", "quality",    ply::T_DOUBLE, PlyType<ScalarType>(),   offsetof(LoadPly_FaceAux<ScalarType>,q),               0,0,0,0,0  ,0},
+		    /* 26 */	{"face", "nx",             ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_FaceAux<ScalarType>,n)                       ,0,0,0,0,0  ,0},
+		    /* 27 */	{"face", "ny",             ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_FaceAux<ScalarType>,n) + 1*sizeof(ScalarType),0,0,0,0,0  ,0},
+		    /* 28 */	{"face", "nz",             ply::T_DOUBLE, PlyType<ScalarType>(),offsetof(LoadPly_FaceAux<ScalarType>,n) + 2*sizeof(ScalarType),0,0,0,0,0  ,0}
+
+		};
+		return qf[i];
+	}
+	static const PropDescriptor &TristripDesc(int i)
+	{
+		static const PropDescriptor qf[1]=
+		{
+		    {"tristrips","vertex_indices", ply::T_INT,  ply::T_INT,  offsetof(LoadPly_TristripAux,v),		  1,1,ply::T_INT,ply::T_INT,offsetof(LoadPly_TristripAux,size) ,0},
+		};
+		return qf[i];
+	}
+
+	static const PropDescriptor &EdgeDesc(int i)
+	{
+		static const PropDescriptor qf[2]=
+		{
+		    {"edge","vertex1", ply::T_INT,  ply::T_INT,  offsetof(LoadPly_EdgeAux,v1),		  0,0,0,0,0  ,0},
+		    {"edge","vertex2", ply::T_INT,  ply::T_INT,  offsetof(LoadPly_EdgeAux,v2),		  0,0,0,0,0  ,0},
+		};
+		return qf[i];
+	}
+
+	// Descriptor for the Stanford Data Repository Range Maps.
+	// In practice a grid with some invalid elements. Coords are saved only for good elements
+	static const  PropDescriptor &RangeDesc(int i)
+	{
+		static const PropDescriptor range_props[1] = {
+		    {"range_grid","vertex_indices", ply::T_INT, ply::T_INT, offsetof(LoadPly_RangeGridAux,pts), 1, 0, ply::T_UCHAR, ply::T_UCHAR, offsetof(LoadPly_RangeGridAux,num_pts),0},
+		};
+		return range_props[i];
+	}
+
+
+	static const  PropDescriptor &CameraDesc(int i)
+	{
+		static const PropDescriptor cad[23] =
+		{
+		    {"camera","view_px",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,view_px),0,0,0,0,0  ,0},
+		    {"camera","view_py",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,view_py),0,0,0,0,0  ,0},
+		    {"camera","view_pz",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,view_pz),0,0,0,0,0  ,0},
+		    {"camera","x_axisx",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,x_axisx),0,0,0,0,0  ,0},
+		    {"camera","x_axisy",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,x_axisy),0,0,0,0,0  ,0},
+		    {"camera","x_axisz",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,x_axisz),0,0,0,0,0  ,0},
+		    {"camera","y_axisx",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,y_axisx),0,0,0,0,0  ,0},
+		    {"camera","y_axisy",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,y_axisy),0,0,0,0,0  ,0},
+		    {"camera","y_axisz",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,y_axisz),0,0,0,0,0  ,0},
+		    {"camera","z_axisx",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,z_axisx),0,0,0,0,0  ,0},
+		    {"camera","z_axisy",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,z_axisy),0,0,0,0,0  ,0},
+		    {"camera","z_axisz",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,z_axisz),0,0,0,0,0  ,0},
+		    {"camera","focal"  ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,focal  ),0,0,0,0,0  ,0},
+		    {"camera","scalex" ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,scalex ),0,0,0,0,0  ,0},
+		    {"camera","scaley" ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,scaley ),0,0,0,0,0  ,0},
+		    {"camera","centerx",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,centerx),0,0,0,0,0  ,0},
+		    {"camera","centery",ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,centery),0,0,0,0,0  ,0},
+		    {"camera","viewportx",ply::T_INT,ply::T_INT  ,offsetof(LoadPly_Camera,viewportx),0,0,0,0,0  ,0},
+		    {"camera","viewporty",ply::T_INT,ply::T_INT  ,offsetof(LoadPly_Camera,viewporty),0,0,0,0,0  ,0},
+		    {"camera","k1"     ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,k1 ),0,0,0,0,0  ,0},
+		    {"camera","k2"     ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,k2 ),0,0,0,0,0  ,0},
+		    {"camera","k3"     ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,k3 ),0,0,0,0,0  ,0},
+		    {"camera","k4"     ,ply::T_FLOAT,ply::T_FLOAT,offsetof(LoadPly_Camera,k4 ),0,0,0,0,0  ,0}
+		};
+		return cad[i];
+	}
+	/// Standard call for knowing the meaning of an error code
+	static const char *ErrorMsg(int error)
+	{
+		static std::vector<std::string> ply_error_msg;
+		if(ply_error_msg.empty())
+		{
+			ply_error_msg.resize(PlyInfo::E_MAXPLYINFOERRORS );
+			ply_error_msg[ply::E_NOERROR				]="No errors";
+			ply_error_msg[ply::E_CANTOPEN				]="Can't open file";
+			ply_error_msg[ply::E_NOTHEADER ]="Header not found";
+			ply_error_msg[ply::E_UNESPECTEDEOF	]="Eof in header";
+			ply_error_msg[ply::E_NOFORMAT				]="Format not found";
+			ply_error_msg[ply::E_SYNTAX				]="Syntax error on header";
+			ply_error_msg[ply::E_PROPOUTOFELEMENT]="Property without element";
+			ply_error_msg[ply::E_BADTYPENAME		]="Bad type name";
+			ply_error_msg[ply::E_ELEMNOTFOUND		]="Element not found";
+			ply_error_msg[ply::E_PROPNOTFOUND		]="Property not found";
+			ply_error_msg[ply::E_BADTYPE				]="Bad type on addtoread";
+			ply_error_msg[ply::E_INCOMPATIBLETYPE]="Incompatible type";
+			ply_error_msg[ply::E_BADCAST				]="Bad cast";
+
+			ply_error_msg[PlyInfo::E_NO_VERTEX      ]="No vertex field found";
+			ply_error_msg[PlyInfo::E_NO_FACE        ]="No face field found";
+			ply_error_msg[PlyInfo::E_SHORTFILE      ]="Unespected eof";
+			ply_error_msg[PlyInfo::E_NO_3VERTINFACE ]="Face with more than 3 vertices";
+			ply_error_msg[PlyInfo::E_BAD_VERT_INDEX ]="Bad vertex index in face";
+			ply_error_msg[PlyInfo::E_BAD_VERT_INDEX_EDGE ]="Bad vertex index in edge";
+			ply_error_msg[PlyInfo::E_NO_6TCOORD     ]="Face with no 6 texture coordinates";
+			ply_error_msg[PlyInfo::E_DIFFER_COLORS  ]="Number of color differ from vertices";
+		}
+
+		if(error>PlyInfo::E_MAXPLYINFOERRORS || error<0) return "Unknown error";
+		else return ply_error_msg[error].c_str();
+	};
+
+	// to check if a given error is critical or not.
+	static bool ErrorCritical(int err)
+	{
+		if ((err == ply::E_NOERROR) || (err == PlyInfo::E_NO_FACE)) return false;
+		return true;
+	}
+
+
+	/// Standard call for reading a mesh, returns 0 on success.
+	static int Open( OpenMeshType &m, const char * filename, CallBackPos *cb=0)
+	{
+		PlyInfo pi;
+		pi.cb=cb;
+		return Open(m, filename, pi);
+	}
+
+	/// Read a mesh and store in loadmask the loaded field
+	/// Note that loadmask is not read! just modified. You cannot specify what fields
+	/// have to be read. ALL the data for which your mesh HasSomething and are present
+	/// in the file are read in.
+	static int Open( OpenMeshType &m, const char * filename, int & loadmask, CallBackPos *cb =0)
+	{
+		PlyInfo pi;
+		pi.cb=cb;
+		int r = Open(m, filename,pi);
+		loadmask=pi.mask;
+		return r;
+	}
+
+
+	/// read a mesh with all the possible option specified in the PlyInfo obj, returns 0 on success.
+	static int Open( OpenMeshType &m, const char * filename, PlyInfo &pi )
+	{
+		assert(filename!=0);
+		std::vector<VertexPointer> index;
+		LoadPly_FaceAux<ScalarType> fa;
+		LoadPly_EdgeAux ea;
+		LoadPly_TristripAux tsa;
+		LoadPly_VertAux<ScalarType> va;
+
+		LoadPly_RangeGridAux rga;
+		std::vector<int> RangeGridAuxVec;
+		int RangeGridCols=0;
+		int RangeGridRows=0;
+
+
+		pi.mask = 0;
+		bool hasIntensity = false; // the intensity is a strange way to code single channel color used sometimes in rangemap. it is a kind of color. so it do not need another entry in the IOM mask.
+		bool multit = false; // true if texture has a per face int spec the texture index
+
+		va.flags = 42;
+
+		pi.status = ::vcg::ply::E_NOERROR;
+
+		/*
+	// TO BE REMOVED: tv not used AND "spurious" vertex declaration causes error if ocf
+
+	// init defaults
+	VertexType tv;
+	//tv.ClearFlags();
+
+	if (vcg::tri::HasPerVertexQuality(m)) tv.Q() = (typename OpenMeshType::VertexType::QualityType)1.0;
+	if (vcg::tri::HasPerVertexColor  (m)) tv.C() = Color4b(Color4b::White);
+	*/
+
+		// Descrittori delle strutture
+
+		//bool isvflags = false;	// Il file contiene i flags
+
+
+		// The main descriptor of the ply file
+		vcg::ply::PlyFile pf;
+
+		// Open the file and parse the header
+		if( pf.Open(filename,vcg::ply::PlyFile::MODE_READ)==-1 )
+		{
+			pi.status = pf.GetError();
+			return pi.status;
+		}
+		pi.header = pf.GetHeader();
+
+		// Descrittori della camera
+		{  // Check that all the camera properties are present.
+			bool found = true;
+			for(int i=0;i<23;++i)
+			{
+				if( pf.AddToRead(CameraDesc(i))==-1 ) {
+					found = false;
+					break;
+				}
+			}
+			if(found) pi.mask |= Mask::IOM_CAMERA;
+		}
+
+		// Standard data desciptors (vertex coord and faces)
+		if( pf.AddToRead(VertDesc(0))==-1 && pf.AddToRead(VertDesc(24)) ) { pi.status = PlyInfo::E_NO_VERTEX; return pi.status; }
+		if( pf.AddToRead(VertDesc(1))==-1 && pf.AddToRead(VertDesc(25)) ) { pi.status = PlyInfo::E_NO_VERTEX; return pi.status; }
+		if( pf.AddToRead(VertDesc(2))==-1 && pf.AddToRead(VertDesc(26)) ) { pi.status = PlyInfo::E_NO_VERTEX; return pi.status; }
+		if( pf.AddToRead(FaceDesc(0))==-1 ) // Se fallisce si prova anche la sintassi di rapidform con index al posto di indices
+		{
+			int ii;
+			for (ii=_FACEDESC_FIRST_;ii< _FACEDESC_LAST_;++ii)
+				if( pf.AddToRead(FaceDesc(ii))!=-1 ) break;
+
+			if (ii==_FACEDESC_LAST_)
+				if(pf.AddToRead(TristripDesc(0))==-1) // Se fallisce tutto si prova a vedere se ci sono tristrip alla levoy.
+					if(pf.AddToRead(RangeDesc(0))==-1) // Se fallisce tutto si prova a vedere se ci sono rangemap alla levoy.
+					{
+						pi.status = PlyInfo::E_NO_FACE;
+						//return pi.status;  no face is not a critical error. let's continue.
+					}
+
+		}
+		// Optional flag descriptors
+		if(pf.AddToRead(EdgeDesc(0) )!= -1 && pf.AddToRead(EdgeDesc(1)) != -1 )
+			pi.mask |= Mask::IOM_EDGEINDEX;
+
+		if(vcg::tri::HasPerVertexFlags(m) && pf.AddToRead(VertDesc(3))!=-1 )
+			pi.mask |= Mask::IOM_VERTFLAGS;
+
+		if( vcg::tri::HasPerVertexNormal(m) )
+		{
+			if(		pf.AddToRead(VertDesc(14))!=-1  && pf.AddToRead(VertDesc(15))!=-1  && pf.AddToRead(VertDesc(16))!=-1 )
+				pi.mask |= Mask::IOM_VERTNORMAL;
+			else // try also for Normals stored with doubles
+				if(		pf.AddToRead(VertDesc(27))!=-1  && pf.AddToRead(VertDesc(28))!=-1  && pf.AddToRead(VertDesc(29))!=-1 )
+					pi.mask |= Mask::IOM_VERTNORMAL;
+
+		}
+
+		if( vcg::tri::HasPerVertexQuality(m) )
+		{
+			if( pf.AddToRead(VertDesc(4))!=-1 ||
+			    pf.AddToRead(VertDesc(13))!=-1 )
+				pi.mask |= Mask::IOM_VERTQUALITY;
+			else
+				if (pf.AddToRead(VertDesc(31))!=-1)
+					pi.mask |= Mask::IOM_VERTQUALITY;
+		}
+
+		if(vcg::tri::HasPerVertexColor(m) )
+		{
+			if( pf.AddToRead(VertDesc(5))!=-1 )
+			{
+				pf.AddToRead(VertDesc(6));
+				pf.AddToRead(VertDesc(7));
+				pf.AddToRead(VertDesc(8));
+				pi.mask |= Mask::IOM_VERTCOLOR;
+			}
+			if( pf.AddToRead(VertDesc(9))!=-1 )
+			{
+				pf.AddToRead(VertDesc(10));
+				pf.AddToRead(VertDesc(11));
+				pf.AddToRead(VertDesc(12));
+				pi.mask |= Mask::IOM_VERTCOLOR;
+			}
+			if( pf.AddToRead(VertDesc(21))!=-1 )
+			{
+				hasIntensity = true;
+				pi.mask |= Mask::IOM_VERTCOLOR;
+			}
+
+		}
+		if( tri::HasPerVertexTexCoord(m) )
+		{
+			if(( pf.AddToRead(VertDesc(22))!=-1 )&&  (pf.AddToRead(VertDesc(23))!=-1))
+			{
+				pi.mask |= Mask::IOM_VERTTEXCOORD;
+			}
+			if(( pf.AddToRead(VertDesc(18))!=-1 )&&  (pf.AddToRead(VertDesc(19))!=-1))
+			{
+				pi.mask |= Mask::IOM_VERTTEXCOORD;
+			}
+		}
+		if(tri::HasPerVertexRadius(m))
+		{
+			if( pf.AddToRead(VertDesc(17))!=-1 )
+				pi.mask |= Mask::IOM_VERTRADIUS;
+			else if( pf.AddToRead(VertDesc(30))!=-1 )
+				pi.mask |= Mask::IOM_VERTRADIUS;
+		}
+		// se ci sono i flag per vertice ci devono essere anche i flag per faccia
+		if( pf.AddToRead(FaceDesc(1))!=-1 )
+			pi.mask |= Mask::IOM_FACEFLAGS;
+
+		if (vcg::tri::HasPerFaceNormal(m))
+		{
+			if (pf.AddToRead(FaceDesc(10)) != -1 && pf.AddToRead(FaceDesc(11)) != -1 && pf.AddToRead(FaceDesc(12)) != -1)
+				pi.mask |= Mask::IOM_FACENORMAL;
+			else if (pf.AddToRead(FaceDesc(26)) != -1 && pf.AddToRead(FaceDesc(27)) != -1 && pf.AddToRead(FaceDesc(28)) != -1)
+				pi.mask |= Mask::IOM_FACENORMAL;
+		}
+
+		if( vcg::tri::HasPerFaceQuality(m) )
+		{
+			if( pf.AddToRead(FaceDesc(2))!=-1 )
+				pi.mask |= Mask::IOM_FACEQUALITY;
+			else if (pf.AddToRead(FaceDesc(25)) != -1)
+				pi.mask |= Mask::IOM_FACEQUALITY;
+		}
+
+		if( vcg::tri::HasPerFaceColor(m)  )
+		{
+			if( pf.AddToRead(FaceDesc(6))!=-1 )
+			{
+				pf.AddToRead(FaceDesc(7));
+				pf.AddToRead(FaceDesc(8));
+				pf.AddToRead(FaceDesc(9));
+				pi.mask |= Mask::IOM_FACECOLOR;
+			}
+		}
+
+
+		if( vcg::tri::HasPerWedgeTexCoord(m) )
+		{
+			if( pf.AddToRead(FaceDesc(3))!=-1 )
+			{
+				if(pf.AddToRead(FaceDesc(5))==0) {
+					multit=true; // try to read also the multi texture indicies
+					pi.mask |= Mask::IOM_WEDGTEXMULTI;
+				}
+				pi.mask |= Mask::IOM_WEDGTEXCOORD;
+			}
+		}
+
+		if( vcg::tri::HasPerFaceColor(m) || vcg::tri::HasPerVertexColor(m) || vcg::tri::HasPerWedgeColor(m) )
+		{
+			if( pf.AddToRead(FaceDesc(4))!=-1 )
+			{
+				pi.mask |= Mask::IOM_WEDGCOLOR;
+			}
+		}
+
+		// User defined descriptors
+		std::vector<PropDescriptor> VPV(pi.VertDescriptorVec.size()); // property descriptor relative al tipo LoadPly_VertexAux
+		std::vector<PropDescriptor> FPV(pi.FaceDescriptorVec.size()); // property descriptor relative al tipo LoadPly_FaceAux
+		if(pi.VertDescriptorVec.size()>0){
+			// Compute the total size needed to load additional per vertex data.
+			size_t totsz=0;
+			for(size_t i=0;i<pi.VertDescriptorVec.size();i++){
+				VPV[i] = pi.VertDescriptorVec[i];
+				VPV[i].offset1=offsetof(LoadPly_VertAux<ScalarType>,data)+totsz;
+				totsz+=pi.VertDescriptorVec[i].memtypesize();
+				if( pf.AddToRead(VPV[i])==-1 ) { pi.status = pf.GetError(); return pi.status; }
+			}
+			if(totsz > MAX_USER_DATA)
+			{
+				pi.status = vcg::ply::E_BADTYPE;
+				return pi.status;
+			}
+		}
+		if(pi.FaceDescriptorVec.size()>0){
+			size_t totsz=0;
+			for(size_t i=0;i<pi.FaceDescriptorVec.size();i++){
+				FPV[i] = pi.FaceDescriptorVec[i];
+				FPV[i].offset1=offsetof(LoadPly_FaceAux<ScalarType>,data)+totsz;
+				totsz+=pi.FaceDescriptorVec[i].memtypesize();
+				if( pf.AddToRead(FPV[i])==-1 ) { pi.status = pf.GetError(); return pi.status; }
+			}
+			if(totsz > MAX_USER_DATA)
+			{
+				pi.status = vcg::ply::E_BADTYPE;
+				return pi.status;
+			}
+		}
+
+		/**************************************************************/
+		/* Main Reading Loop */
+		/**************************************************************/
+		m.Clear();
+		for(size_t i=0;i<pf.elements.size();i++)
+		{
+			int n = pf.ElemNumber(i);
+
+			if( !strcmp( pf.ElemName(i),"camera" ) )
+			{
+				pf.SetCurElement(i);
+
+				LoadPly_Camera ca;
+
+				for(int j=0;j<n;++j)
+				{
+					if( pf.Read( (void *)&(ca) )==-1 )
+					{
+						pi.status = PlyInfo::E_SHORTFILE;
+						return pi.status;
+					}
+					//camera.valid     = true;
+
+					// extrinsic
+					m.shot.Extrinsics.SetIdentity();
+					// view point
+					m.shot.Extrinsics.SetTra(Point3<ScalarType>( ca.view_px,ca.view_py,ca.view_pz));
+
+					// axis (i.e. rotation).
+					Matrix44<ScalarType> rm;
+					rm.SetIdentity();
+					rm[0][0] = ca.x_axisx;
+					rm[0][1] = ca.x_axisy;
+					rm[0][2] = ca.x_axisz;
+
+					rm[1][0] = ca.y_axisx;
+					rm[1][1] = ca.y_axisy;
+					rm[1][2] = ca.y_axisz;
+
+					rm[2][0] = ca.z_axisx;
+					rm[2][1] = ca.z_axisy;
+					rm[2][2] = ca.z_axisz;
+
+					m.shot.Extrinsics.SetRot(rm);
+
+					//intrinsic
+					m.shot.Intrinsics.FocalMm        = ca.focal;
+					m.shot.Intrinsics.PixelSizeMm[0] = ca.scalex;
+					m.shot.Intrinsics.PixelSizeMm[1] = ca.scaley;
+					m.shot.Intrinsics.CenterPx[0]    = ca.centerx;
+					m.shot.Intrinsics.CenterPx[1]    = ca.centery;
+					m.shot.Intrinsics.ViewportPx[0]  = ca.viewportx;
+					m.shot.Intrinsics.ViewportPx[1]  = ca.viewporty;
+					m.shot.Intrinsics.k[0]           = ca.k1;
+					m.shot.Intrinsics.k[1]           = ca.k2;
+					m.shot.Intrinsics.k[2]           = ca.k3;
+					m.shot.Intrinsics.k[3]           = ca.k4;
+
+				}
+			}
+			else if( !strcmp( pf.ElemName(i),"vertex" ) )
+			{
+				int j;
+
+				pf.SetCurElement(i);
+				VertexIterator vi=Allocator<OpenMeshType>::AddVertices(m,n);
+
+				for(j=0;j<n;++j)
+				{
+					if(pi.cb && (j%1000)==0) pi.cb(j*50/n,"Vertex Loading");
+					va.a = 255;
+					if( pf.Read( (void *)&(va) )==-1 )
+					{
+						pi.status = PlyInfo::E_SHORTFILE;
+						return pi.status;
+					}
+
+					(*vi).P()[0] = va.p[0];
+					(*vi).P()[1] = va.p[1];
+					(*vi).P()[2] = va.p[2];
+
+					if( HasPerVertexFlags(m) &&  (pi.mask & Mask::IOM_VERTFLAGS) )
+						(*vi).Flags() = va.flags;
+
+					if( pi.mask & Mask::IOM_VERTQUALITY )
+						(*vi).Q() = (VertQualityType)va.q;
+
+					if( pi.mask & Mask::IOM_VERTNORMAL )
+					{
+						(*vi).N()[0]=va.n[0];
+						(*vi).N()[1]=va.n[1];
+						(*vi).N()[2]=va.n[2];
+					}
+
+					if( pi.mask & Mask::IOM_VERTTEXCOORD )
+					{
+						(*vi).T().P().X() = va.u;
+						(*vi).T().P().Y() = va.v;
+					}
+
+					if( pi.mask & Mask::IOM_VERTCOLOR )
+					{
+						if(hasIntensity)
+							(*vi).C().SetGrayShade(va.intensity);
+						else
+						{
+							(*vi).C()[0] = va.r;
+							(*vi).C()[1] = va.g;
+							(*vi).C()[2] = va.b;
+							(*vi).C()[3] = va.a;
+						}
+					}
+					if( pi.mask & Mask::IOM_VERTRADIUS )
+						(*vi).R() = va.radius;
+
+
+					for(size_t k=0;k<pi.VertDescriptorVec.size();k++)
+						memcpy((char *)(&*vi) + pi.VertDescriptorVec[k].offset1,
+						       (char *)(&va) + VPV[k].offset1,
+						       VPV[k].memtypesize());
+					++vi;
+				}
+
+				index.resize(n);
+				for(j=0,vi=m.vert.begin();j<n;++j,++vi)
+					index[j] = &*vi;
+			}
+			else if( !strcmp( pf.ElemName(i),"edge") && (n>0) )/******************** EDGE READING *******************************/
+			{
+				assert( pi.mask & Mask::IOM_EDGEINDEX );
+				EdgeIterator ei=Allocator<OpenMeshType>::AddEdges(m,n);
+				pf.SetCurElement(i);
+				for(int j=0;j<n;++j)
+				{
+					if(pi.cb && (j%1000)==0) pi.cb(50+j*50/n,"Edge Loading");
+					if( pf.Read(&ea)==-1 )
+					{
+						pi.status = PlyInfo::E_SHORTFILE;
+						return pi.status;
+					}
+					if( ea.v1<0 || ea.v2<0 || ea.v1>=m.vn || ea.v2>=m.vn)
+					{
+						pi.status = PlyInfo::E_BAD_VERT_INDEX_EDGE;
+						return pi.status;
+					}
+					(*ei).V(0) = index[ ea.v1 ];
+					(*ei).V(1) = index[ ea.v2 ];
+					++ei;
+				}
+			}
+			else if( !strcmp( pf.ElemName(i),"face") && (n>0) )/******************** FACE READING ****************************************/
+			{
+				int j;
+
+				FaceIterator fi=Allocator<OpenMeshType>::AddFaces(m,n);
+				pf.SetCurElement(i);
+
+				for(j=0;j<n;++j)
+				{
+					int k;
+
+					if(pi.cb && (j%1000)==0) pi.cb(50+j*50/n,"Face Loading");
+					fa.a = 255;
+					if( pf.Read(&fa)==-1 )
+					{
+						pi.status = PlyInfo::E_SHORTFILE;
+						return pi.status;
+					}
+					if(fa.size!=3)
+					{ // Non triangular face are manageable ONLY if there are no Per Wedge attributes
+						if( ( pi.mask & Mask::IOM_WEDGCOLOR ) || ( pi.mask & Mask::IOM_WEDGTEXCOORD ) )
+						{
+							pi.status = PlyInfo::E_NO_3VERTINFACE;
+							return pi.status;
+						}
+					}
+
+					if(HasPolyInfo(m)) (*fi).Alloc(fa.size);
+
+					if(HasPerFaceFlags(m) &&( pi.mask & Mask::IOM_FACEFLAGS) )
+					{
+						(*fi).Flags() = fa.flags;
+					}
+
+					if (pi.mask & Mask::IOM_FACENORMAL)
+					{
+						(*fi).N()[0] = fa.n[0];
+						(*fi).N()[1] = fa.n[1];
+						(*fi).N()[2] = fa.n[2];
+					}
+
+					if( pi.mask & Mask::IOM_FACEQUALITY )
+					{
+						(*fi).Q() = (typename OpenMeshType::FaceType::QualityType) fa.q;
+					}
+
+					if( pi.mask & Mask::IOM_FACECOLOR )
+					{
+						(*fi).C()[0] = fa.r;
+						(*fi).C()[1] = fa.g;
+						(*fi).C()[2] = fa.b;
+						(*fi).C()[3] = fa.a;
+					}
+
+					if( pi.mask & Mask::IOM_WEDGTEXCOORD )
+					{
+						for(int k=0;k<3;++k)
+						{
+							(*fi).WT(k).u() = fa.texcoord[k*2+0];
+							(*fi).WT(k).v() = fa.texcoord[k*2+1];
+							if(multit) (*fi).WT(k).n() = fa.texcoordind;
+							else (*fi).WT(k).n()=0; // safely intialize texture index
+						}
+					}
+
+					if( pi.mask & Mask::IOM_WEDGCOLOR )
+					{
+						if(FaceType::HasWedgeColor()){
+							for(int k=0;k<3;++k)
+							{
+								(*fi).WC(k)[0] = (unsigned char)(fa.colors[k*3+0]*255);
+								(*fi).WC(k)[1] = (unsigned char)(fa.colors[k*3+1]*255);
+								(*fi).WC(k)[2] = (unsigned char)(fa.colors[k*3+2]*255);
+							}
+						}
+						//if(FaceType::HasFaceColor()){
+						//if(pi.mask & Mask::IOM_FACECOLOR){
+						if(HasPerFaceColor(m))	{
+							(*fi).C()[0] = (unsigned char)((fa.colors[0*3+0]*255+fa.colors[1*3+0]*255+fa.colors[2*3+0]*255)/3.0f);
+							(*fi).C()[1] = (unsigned char)((fa.colors[0*3+1]*255+fa.colors[1*3+1]*255+fa.colors[2*3+1]*255)/3.0f);
+							(*fi).C()[2] = (unsigned char)((fa.colors[0*3+2]*255+fa.colors[1*3+2]*255+fa.colors[2*3+2]*255)/3.0f);
+						}
+					}
+
+					if (HasPolyInfo(m))
+					{
+						for(k=0; k<fa.size; ++k)
+						{
+							if( fa.v[k]<0 || fa.v[k]>=m.vn )
+							{
+								pi.status = PlyInfo::E_BAD_VERT_INDEX;
+								return pi.status;
+							}
+							(*fi).V(k) = index[ fa.v[k] ];
+						}
+						fi++;
+						continue;
+					}
+
+					/// Now the temporary struct 'fa' is ready to be copied into the real face '*fi'
+					/// This loop
+					for(k=0;k<3;++k)
+					{
+						if( fa.v[k]<0 || fa.v[k]>=m.vn )
+						{
+							pi.status = PlyInfo::E_BAD_VERT_INDEX;
+							return pi.status;
+						}
+						(*fi).V(k) = index[ fa.v[k] ];
+					}
+
+					// tag faux vertices of first face
+					if (fa.size>3) fi->SetF(2);
+
+					for(size_t k=0;k<pi.FaceDescriptorVec.size();k++)
+						memcpy((char *)(&(*fi)) + pi.FaceDescriptorVec[k].offset1,
+						       (char *)(&fa) + FPV[k].offset1,
+						       FPV[k].memtypesize());
+
+
+					++fi;
+
+					// Non Triangular Faces Loop
+					// It performs a simple fan triangulation.
+					if(fa.size>3)
+					{
+						int curpos=int(fi-m.face.begin());
+						Allocator<OpenMeshType>::AddFaces(m,fa.size-3);
+						fi=m.face.begin()+curpos;
+						pi.mask |= Mask::IOM_BITPOLYGONAL;
+					}
+					for(int qq=0;qq<fa.size-3;++qq)
+					{
+						if(HasPolyInfo(m)) (*fi).Alloc(3);
+
+						(*fi).V(0) = index[ fa.v[0] ];
+						for(k=1;k<3;++k)
+						{
+							if( fa.v[2+qq]<0 || fa.v[2+qq]>=m.vn )
+							{
+								pi.status = PlyInfo::E_BAD_VERT_INDEX;
+								return pi.status;
+							}
+							(*fi).V(k) = index[ fa.v[1+qq+k] ];
+
+						}
+						if( pi.mask & Mask::IOM_FACEQUALITY )
+							(*fi).Q() = (typename OpenMeshType::FaceType::QualityType)
+						                fa.q;
+						if( pi.mask & Mask::IOM_FACECOLOR )
+							(*fi).C() =  Color4b(fa.r,fa.g,fa.b,255);
+						// tag faux vertices of extra faces
+						fi->SetF(0);
+						if(qq<(fa.size-4)) fi->SetF(2);
+
+						for(size_t k=0;k<pi.FaceDescriptorVec.size();k++)
+							memcpy((char *)(&(*fi)) + pi.FaceDescriptorVec[k].offset1,
+							       (char *)(&fa) + FPV[k].offset1, FPV[k].memtypesize());
+						++fi;
+					}
+
+				}
+			}else if( !strcmp( pf.ElemName(i),"tristrips") )//////////////////// LETTURA TRISTRIP DI STANFORD
+			{
+				int j;
+				pf.SetCurElement(i);
+				int numvert_tmp = (int)m.vert.size();
+				for(j=0;j<n;++j)
+				{
+					int k;
+					if(pi.cb && (j%1000)==0) pi.cb(50+j*50/n,"Tristrip Face Loading");
+					if( pf.Read(&tsa)==-1 )
+					{
+						pi.status = PlyInfo::E_SHORTFILE;
+						return pi.status;
+					}
+					int remainder=0;
+					for(k=0;k<tsa.size-2;++k)
+					{
+						if(pi.cb && (k%1000)==0) pi.cb(50+k*50/tsa.size,"Tristrip Face Loading");
+						if(tsa.v[k]<0 || tsa.v[k]>=numvert_tmp )	{
+							pi.status = PlyInfo::E_BAD_VERT_INDEX;
+							return pi.status;
+						}
+						if(tsa.v[k+2]==-1)
+						{
+							k+=2;
+							if(k%2) remainder=0;
+							else remainder=1;
+							continue;
+						}
+						Allocator<OpenMeshType>::AddFaces(m,1);
+						FaceType &tf =m.face.back();
+						tf.V(0) = index[ tsa.v[k+0] ];
+						tf.V(1) = index[ tsa.v[k+1] ];
+						tf.V(2) = index[ tsa.v[k+2] ];
+						if((k+remainder)%2) std::swap (tf.V(0), tf.V(1) );
+					}
+				}
+			}
+			else if( !strcmp( pf.ElemName(i),"range_grid") )//////////////////// LETTURA RANGEMAP DI STANFORD
+			{
+				//qDebug("Starting Reading of Range Grid");
+				if(RangeGridCols==0) // not initialized.
+				{
+					for(size_t co=0;co< pf.comments.size();++co)
+					{
+						std::string num_cols = "num_cols";
+						std::string num_rows = "num_rows";
+						std::string &c = pf.comments[co];
+						std::string bufstr,bufclean;
+						if( num_cols == c.substr(0,num_cols.length()) )
+						{
+							bufstr = c.substr(num_cols.length()+1);
+							RangeGridCols = atoi(bufstr.c_str());
+						}
+						if( num_rows == c.substr(0,num_rows.length()) )
+						{
+							bufstr = c.substr(num_rows.length()+1);
+							RangeGridRows = atoi(bufstr.c_str());
+						}
+					}
+					//qDebug("Rows %i Cols %i",RangeGridRows,RangeGridCols);
+				}
+				int totPnt = RangeGridCols*RangeGridRows;
+				// standard reading;
+				pf.SetCurElement(i);
+				for(int j=0;j<totPnt;++j)
+				{
+					if(pi.cb && (j%1000)==0) pi.cb(50+j*50/totPnt,"RangeMap Face Loading");
+					if( pf.Read(&rga)==-1 )
+					{
+						//qDebug("Error after loading %i elements",j);
+						pi.status = PlyInfo::E_SHORTFILE;
+						return pi.status;
+					}
+					else
+					{
+						if(rga.num_pts == 0)
+							RangeGridAuxVec.push_back(-1);
+						else
+							RangeGridAuxVec.push_back(rga.pts[0]);
+					}
+				}
+				//qDebug("Completed the reading of %i indexes",RangeGridAuxVec.size());
+				tri::SparseFaceGrid(m, RangeGridAuxVec, RangeGridCols,RangeGridRows);
+			}
+			else
+			{
+				// Skippaggio elementi non gestiti
+				int n = pf.ElemNumber(i);
+				pf.SetCurElement(i);
+
+				for(int j=0;j<n;j++)
+				{
+					if( pf.Read(0)==-1)
+					{
+						pi.status = PlyInfo::E_SHORTFILE;
+						return pi.status;
+					}
+				}
+			}
+		}
+
+		// Parsing texture names
+		m.textures.clear();
+		m.normalmaps.clear();
+
+		for(size_t co=0;co<pf.comments.size();++co)
+		{
+			std::string TFILE = "TextureFile";
+			std::string NFILE = "TextureNormalFile";
+			std::string &c = pf.comments[co];
+			//		char buf[256];
+			std::string bufstr,bufclean;
+			int n;
+
+			if( TFILE == c.substr(0,TFILE.length()) )
+			{
+				bufstr = c.substr(TFILE.length()+1);
+				n = static_cast<int>(bufstr.length());
+				for(int i=0;i<n;i++)
+					if( bufstr[i]!=' ' && bufstr[i]!='\t' && bufstr[i]>32 && bufstr[i]<125 )	bufclean.push_back(bufstr[i]);
+
+				char buf2[255];
+				ply::interpret_texture_name( bufclean.c_str(),filename,buf2 );
+				m.textures.push_back( std::string(buf2) );
+			}
+			/*if( !strncmp(c,NFILE,strlen(NFILE)) )
+		{
+			strcpy(buf,c+strlen(NFILE)+1);
+			n = strlen(buf);
+			for(i=j=0;i<n;i++)
+				if( buf[i]!=' ' && buf[i]!='\t' && buf[i]>32 && buf[i]<125 )	buf[j++] = buf[i];
+
+			buf[j] = 0;
+			char buf2[255];
+			__interpret_texture_name( buf,filename,buf2 );
+			m.normalmaps.push_back( string(buf2) );
+		}*/
+		}
+
+		// vn and fn should be correct but if someone wrongly saved some deleted elements they can be wrong.
+		m.vn = 0;
+		for(VertexIterator vi=m.vert.begin();vi!=m.vert.end();++vi)
+			if( ! (*vi).IsD() )
+				++m.vn;
+
+		m.fn = 0;
+		for(FaceIterator fi=m.face.begin();fi!=m.face.end();++fi)
+			if( ! (*fi).IsD() )
+				++m.fn;
+
+		tri::UpdateBounding<OpenMeshType>::Box(m);
+		return 0;
+	}
+
+
+	// Caricamento camera da un ply
+	int LoadCamera(const char * filename)
+	{
+		vcg::ply::PlyFile pf;
+		if( pf.Open(filename,vcg::ply::PlyFile::MODE_READ)==-1 )
+		{
+			this->pi.status = pf.GetError();
+			return this->pi.status;
+		}
+
+
+		bool found = true;
+		for(int i=0;i<23;++i)
+		{
+			if( pf.AddToRead(CameraDesc(i))==-1 )
+			{
+				found = false;
+				break;
+			}
+		}
+
+		if(!found)
+			return this->pi.status;
+
+		for(size_t i=0;i<pf.elements.size();i++)
+		{
+			int n = pf.ElemNumber(i);
+
+			if( !strcmp( pf.ElemName(i),"camera" ) )
+			{
+				pf.SetCurElement(i);
+
+				LoadPly_Camera ca;
+
+				for(int j=0;j<n;++j)
+				{
+					if( pf.Read( (void *)&(ca) )==-1 )
+					{
+						this->pi.status = PlyInfo::E_SHORTFILE;
+						return this->pi.status;
+					}
+					this->camera.valid     = true;
+					this->camera.view_p[0] = ca.view_px;
+					this->camera.view_p[1] = ca.view_py;
+					this->camera.view_p[2] = ca.view_pz;
+					this->camera.x_axis[0] = ca.x_axisx;
+					this->camera.x_axis[1] = ca.x_axisy;
+					this->camera.x_axis[2] = ca.x_axisz;
+					this->camera.y_axis[0] = ca.y_axisx;
+					this->camera.y_axis[1] = ca.y_axisy;
+					this->camera.y_axis[2] = ca.y_axisz;
+					this->camera.z_axis[0] = ca.z_axisx;
+					this->camera.z_axis[1] = ca.z_axisy;
+					this->camera.z_axis[2] = ca.z_axisz;
+					this->camera.f         = ca.focal;
+					this->camera.s[0]      = ca.scalex;
+					this->camera.s[1]      = ca.scaley;
+					this->camera.c[0]      = ca.centerx;
+					this->camera.c[1]      = ca.centery;
+					this->camera.viewport[0] = ca.viewportx;
+					this->camera.viewport[1] = ca.viewporty;
+					this->camera.k[0]      = ca.k1;
+					this->camera.k[1]      = ca.k2;
+					this->camera.k[2]      = ca.k3;
+					this->camera.k[3]      = ca.k4;
+				}
+				break;
+			}
+		}
+
+		return 0;
+	}
+
+
+	static bool LoadMask(const char * filename, int &mask)
+	{
+		PlyInfo pi;
+		return LoadMask(filename, mask,pi);
+	}
+	static bool LoadMask(const char * filename, int &mask, PlyInfo &pi)
+	{
+		mask=0;
+		vcg::ply::PlyFile pf;
+		if( pf.Open(filename,vcg::ply::PlyFile::MODE_READ)==-1 )
+		{
+			pi.status = pf.GetError();
+			return false;
+		}
+
+		if( pf.AddToRead(VertDesc( 0))!=-1 &&
+		    pf.AddToRead(VertDesc( 1))!=-1 &&
+		    pf.AddToRead(VertDesc( 2))!=-1 )   mask |= Mask::IOM_VERTCOORD;
+		if( pf.AddToRead(VertDesc(24))!=-1 &&
+		    pf.AddToRead(VertDesc(25))!=-1 &&
+		    pf.AddToRead(VertDesc(26))!=-1 )   mask |= Mask::IOM_VERTCOORD;
+
+		if( pf.AddToRead(VertDesc(14))!=-1 &&
+		    pf.AddToRead(VertDesc(15))!=-1 &&
+		    pf.AddToRead(VertDesc(16))!=-1 )   mask |= Mask::IOM_VERTNORMAL;
+		if( pf.AddToRead(VertDesc(27))!=-1 &&
+		    pf.AddToRead(VertDesc(28))!=-1 &&
+		    pf.AddToRead(VertDesc(29))!=-1 )   mask |= Mask::IOM_VERTNORMAL;
+
+		if( pf.AddToRead(VertDesc( 3))!=-1 )   mask |= Mask::IOM_VERTFLAGS;
+		if( pf.AddToRead(VertDesc( 4))!=-1 )   mask |= Mask::IOM_VERTQUALITY;
+		if( pf.AddToRead(VertDesc(13))!=-1 )   mask |= Mask::IOM_VERTQUALITY;
+		if( pf.AddToRead(VertDesc(17))!=-1 )   mask |= Mask::IOM_VERTRADIUS;
+		if( pf.AddToRead(VertDesc(30))!=-1 )   mask |= Mask::IOM_VERTRADIUS;
+		if( pf.AddToRead(VertDesc(31))!=-1 )   mask |= Mask::IOM_VERTQUALITY;
+		if( pf.AddToRead(VertDesc( 5))!=-1 &&
+		    pf.AddToRead(VertDesc( 6))!=-1 &&
+		    pf.AddToRead(VertDesc( 7))!=-1  )  mask |= Mask::IOM_VERTCOLOR;
+		if( pf.AddToRead(VertDesc( 9))!=-1 &&
+		    pf.AddToRead(VertDesc(10))!=-1 &&
+		    pf.AddToRead(VertDesc(11))!=-1  )  mask |= Mask::IOM_VERTCOLOR;
+		if( pf.AddToRead(VertDesc(21))!=-1  )  mask |= Mask::IOM_VERTCOLOR;
+
+		if( pf.AddToRead(VertDesc(22))!=-1  &&
+		    pf.AddToRead(VertDesc(23))!=-1)    mask |= Mask::IOM_VERTTEXCOORD;
+
+		if( pf.AddToRead(VertDesc(18))!=-1  &&
+		    pf.AddToRead(VertDesc(19))!=-1)    mask |= Mask::IOM_VERTTEXCOORD;
+
+		if( pf.AddToRead(FaceDesc(0))!=-1 )    mask |= Mask::IOM_FACEINDEX;
+		if( pf.AddToRead(FaceDesc(1))!=-1 )    mask |= Mask::IOM_FACEFLAGS;
+		if( pf.AddToRead(FaceDesc(10))!=-1 &&
+		    pf.AddToRead(FaceDesc(11))!=-1 &&
+		    pf.AddToRead(FaceDesc(12))!=-1 )   mask |= Mask::IOM_FACENORMAL;
+		if( pf.AddToRead(FaceDesc(26))!=-1 &&
+		    pf.AddToRead(FaceDesc(27))!=-1 &&
+		    pf.AddToRead(FaceDesc(28))!=-1 )   mask |= Mask::IOM_FACENORMAL;
+		if( pf.AddToRead(FaceDesc(2))!=-1 )    mask |= Mask::IOM_FACEQUALITY;
+		if( pf.AddToRead(FaceDesc(25))!=-1 )    mask |= Mask::IOM_FACEQUALITY;
+		if( pf.AddToRead(FaceDesc(3))!=-1 )    mask |= Mask::IOM_WEDGTEXCOORD;
+		if( pf.AddToRead(FaceDesc(5))!=-1 )    mask |= Mask::IOM_WEDGTEXMULTI;
+		if( pf.AddToRead(FaceDesc(4))!=-1 )    mask |= Mask::IOM_WEDGCOLOR;
+		if( pf.AddToRead(FaceDesc(6))!=-1 &&
+		    pf.AddToRead(FaceDesc(7))!=-1 &&
+		    pf.AddToRead(FaceDesc(8))!=-1 )    mask |= Mask::IOM_FACECOLOR;
+
+		return true;
+	}
 
 
 }; // end class
diff --git a/wrap/io_trimesh/import_ptx.h b/wrap/io_trimesh/import_ptx.h
index 540486af..f049d398 100644
--- a/wrap/io_trimesh/import_ptx.h
+++ b/wrap/io_trimesh/import_ptx.h
@@ -64,7 +64,6 @@ public:
       savecolor		= true;
       pointcull		= true;
       pointsonly	= false;
-      switchside	= false;
       flipfaces		= false;
     }
 
@@ -180,21 +179,20 @@ public:
 
     bool hascolor;
     bool savecolor   =  importparams.savecolor &&  VertexType::HasColor();
-    bool switchside  =  importparams.switchside;
 
     int total = 50;
     if (importparams.pointsonly) total = 100;
-    char linebuf[256];
+    char linebuf[1024];
 
     fscanf(fp,"%i\n",&colnum);
     fscanf(fp,"%i\n",&rownum);
 
     if ( ( colnum <=0 ) || ( rownum <=0 ) ) return false;
-    // initial 4 lines [still don't know what is this :) :)]
-    if ( !fscanf(fp,"%lf %lf %lf\n", &xx, &yy, &zz) ) return false;
-    if ( !fscanf(fp,"%lf %lf %lf\n", &xx, &yy, &zz) ) return false;
-    if ( !fscanf(fp,"%lf %lf %lf\n", &xx, &yy, &zz) ) return false;
-    if ( !fscanf(fp,"%lf %lf %lf\n", &xx, &yy, &zz) ) return false;
+    // initial 4 lines
+	if (!fscanf(fp, "%lf %lf %lf\n", &xx, &yy, &zz)) return false; // scanner registered position 
+	if (!fscanf(fp, "%lf %lf %lf\n", &xx, &yy, &zz)) return false; // scanner registered axis 'X' 
+	if (!fscanf(fp, "%lf %lf %lf\n", &xx, &yy, &zz)) return false; // scanner registered axis 'Y'
+	if (!fscanf(fp, "%lf %lf %lf\n", &xx, &yy, &zz)) return false; // scanner registered axis 'Z'
     // now the transformation matrix
     if ( !fscanf(fp,"%lf %lf %lf %lf\n", &(currtrasf.ElementAt(0,0)), &(currtrasf.ElementAt(0,1)), &(currtrasf.ElementAt(0,2)), &(currtrasf.ElementAt(0,3))) )return false;
     if ( !fscanf(fp,"%lf %lf %lf %lf\n", &(currtrasf.ElementAt(1,0)), &(currtrasf.ElementAt(1,1)), &(currtrasf.ElementAt(1,2)), &(currtrasf.ElementAt(1,3))) )return false;
@@ -215,7 +213,7 @@ public:
     for(ii=0; ii<(int)strlen(linebuf); ii++) if(linebuf[ii] == ' ') numtokens++;
     if(numtokens == 4)  hascolor = false;
     else if(numtokens == 7)  hascolor = true;
-    else  return false;
+    else return false;
 
     // PTX transformation matrix is transposed
     currtrasf.transposeInPlace();
@@ -263,8 +261,6 @@ public:
     }
     vi++;
 
-    if(switchside) std::swap(rownum,colnum);
-
     // now for each line until end of mesh (row*col)-1
     for(ii=0; ii<((rownum*colnum)-1); ii++)
     {
@@ -281,7 +277,6 @@ public:
       (*vi).P()[1]=yy;
       (*vi).P()[2]=zz;
 
-
       if(tri::HasPerVertexQuality(m)) (*vi).Q()=rf;
 
       if(hascolor && savecolor)
@@ -316,6 +311,7 @@ public:
           v0i = (rit  ) + ((cit  ) * rownum);
           v1i = (rit+1) + ((cit  ) * rownum);
           v2i = (rit  ) + ((cit+1) * rownum);
+		  if (importparams.flipfaces) std::swap(v0i, v1i);
 
           // upper tri
           (*fi).V(2) = &(m.vert[v0i]);
@@ -327,6 +323,7 @@ public:
           v0i = (rit+1) + ((cit  ) * rownum);
           v1i = (rit+1) + ((cit+1) * rownum);
           v2i = (rit  ) + ((cit+1) * rownum);
+		  if (importparams.flipfaces) std::swap(v0i, v1i);
 
           // lower tri
           (*fi).V(2) = &(m.vert[v0i]);
@@ -337,6 +334,7 @@ public:
         }
     }
     printf("Loaded %i vert\n",m.vn);
+
     // remove unsampled points
     if(importparams.pointcull)
     {
@@ -400,15 +398,19 @@ public:
           // Compute an average Normal skipping null normals and normals that are too steep.
           // Compute also the sum of non null edge lenght to compute the radius
           CoordType N(0,0,0);
-          if((vLTn*v0pn)>limitCos)  { N+=vLTn; r += Distance(m.vert[vL].P(),v0p)+Distance(m.vert[vT].P(),v0p); rc++; }
-          if((vTRn*v0pn)>limitCos)  { N+=vTRn; r += Distance(m.vert[vT].P(),v0p)+Distance(m.vert[vR].P(),v0p); rc++; }
-          if((vRBn*v0pn)>limitCos)  { N+=vRBn; r += Distance(m.vert[vR].P(),v0p)+Distance(m.vert[vB].P(),v0p); rc++; }
-          if((vBLn*v0pn)>limitCos)  { N+=vBLn; r += Distance(m.vert[vB].P(),v0p)+Distance(m.vert[vL].P(),v0p); rc++; }
+		  if (abs(vLTn*v0pn)>limitCos)  { N += vLTn; r += Distance(m.vert[vL].P(), v0p) + Distance(m.vert[vT].P(), v0p); rc++; }
+		  if (abs(vTRn*v0pn)>limitCos)  { N += vTRn; r += Distance(m.vert[vT].P(), v0p) + Distance(m.vert[vR].P(), v0p); rc++; }
+		  if (abs(vRBn*v0pn)>limitCos)  { N += vRBn; r += Distance(m.vert[vR].P(), v0p) + Distance(m.vert[vB].P(), v0p); rc++; }
+		  if (abs(vBLn*v0pn)>limitCos)  { N += vBLn; r += Distance(m.vert[vB].P(), v0p) + Distance(m.vert[vL].P(), v0p); rc++; }
 
-          m.vert[v0].N()=-N;
+		  if (importparams.flipfaces)
+			m.vert[v0].N() = N;
+		  else
+			m.vert[v0].N() = -N;
 
           if(tri::HasPerVertexRadius(m)) m.vert[v0].R() = r/(rc*2.0f);
-          // Isolated points has null normal. Delete them please.
+
+          // Isolated points have null normal. Delete them please.
           if(m.vert[v0].N() == CoordType(0,0,0)) Allocator<OpenMeshType>::DeleteVertex(m,m.vert[v0]);
         }
       }
@@ -416,8 +418,6 @@ public:
     else
       // eliminate high angle triangles
     {
-      if(importparams.flipfaces)
-        tri::Clean<OpenMeshType>::FlipMesh(m);
       if(importparams.anglecull)
       {
         if(cb) cb(85,"PTX Mesh Loading - remove steep faces");
diff --git a/wrap/io_trimesh/import_stl.h b/wrap/io_trimesh/import_stl.h
index 3c932eed..90510e9d 100644
--- a/wrap/io_trimesh/import_stl.h
+++ b/wrap/io_trimesh/import_stl.h
@@ -24,6 +24,7 @@
 #ifndef __VCGLIB_IMPORT_STL
 #define __VCGLIB_IMPORT_STL
 #include <stdio.h>
+#include<algorithm>
 #include <wrap/io_trimesh/io_mask.h>
 
 namespace vcg {
@@ -60,10 +61,11 @@ public:
 };
 
 enum STLError {
-    E_NOERROR,				// 0
-        // Errori di open
-    E_CANTOPEN,				// 1
-    E_UNESPECTEDEOF       		        // 2
+    E_NOERROR,       // 0
+    E_CANTOPEN,      // 1
+    E_UNESPECTEDEOF, // 2
+    E_MALFORMED,     // 3 
+  E_LAST
 };
 
 static const char *ErrorMsg(int error)
@@ -72,20 +74,23 @@ static const char *ErrorMsg(int error)
   {
     "No errors",
     "Can't open file",
-    "Premature End of file",
+    "Premature end of file",
+    "Malformed file",
     };
 
-  if(error>2 || error<0) return "Unknown error";
+  if(error>=E_LAST || error<0) return "Unknown error";
   else return stl_error_msg[error];
-};
+}
 
 static bool LoadMask(const char * filename, int &mask)
 {
-  bool magicMode;
+  bool magicMode,colored;
   mask = Mask::IOM_VERTCOORD | Mask::IOM_FACEINDEX;
-  if(IsSTLColored(filename,magicMode))
-    mask |= Mask::IOM_FACECOLOR;
-  return true;
+  if(!IsSTLColored(filename, colored, magicMode))
+    return false;
+   
+  if(colored) mask |= Mask::IOM_FACECOLOR;
+    return true;
 }
 
 /* Try to guess if a stl has color
@@ -94,11 +99,19 @@ static bool LoadMask(const char * filename, int &mask)
  * - It has to be binary
  * - The per face attribute should be not zero
  *
+ * return false in case of malformed files
  */
-static bool IsSTLColored(const char * filename, bool &magicsMode)
+static bool IsSTLColored(const char * filename, bool &coloredFlag, bool &magicsMode)
 {
-  if(IsSTLBinary(filename)==false)
+  coloredFlag=false;
+  magicsMode=false;
+  bool binaryFlag;
+  if(IsSTLBinary(filename,binaryFlag)==false)
     return false;
+  
+  if(binaryFlag==false)
+     return true; 
+   
    FILE *fp = fopen(filename, "rb");
    char buf[STL_LABEL_SIZE+1];
    fread(buf,sizeof(char),STL_LABEL_SIZE,fp);
@@ -123,39 +136,54 @@ static bool IsSTLColored(const char * filename, bool &magicsMode)
      if(attr!=0)
      {
       if(Color4b::FromUnsignedR5G5B5(attr) != Color4b(Color4b::White))
-    return true;
+        coloredFlag=true;
      }
    }
 
-   return false;
+   return true;
 }
 
-static bool IsSTLBinary(const char * filename)
+/* Try to guess if a stl is in binary format
+ *
+ * return false in case of malformed files
+ */
+static bool IsSTLBinary(const char * filename, bool &binaryFlag)
 {
-  bool binary=false;
+  binaryFlag=false;
   FILE *fp = fopen(filename, "r");
   /* Find size of file */
   fseek(fp, 0, SEEK_END);
-  int file_size = ftell(fp);
-  int facenum;
+  long file_size = ftell(fp);
+  unsigned int facenum;
   /* Check for binary or ASCII file */
   fseek(fp, STL_LABEL_SIZE, SEEK_SET);
-  fread(&facenum, sizeof(int), 1, fp);
+  fread(&facenum, sizeof(unsigned int), 1, fp);
+  
   int expected_file_size=STL_LABEL_SIZE + 4 + (sizeof(short)+sizeof(STLFacet) )*facenum ;
-  if(file_size ==  expected_file_size) binary = true;
-  unsigned char tmpbuf[128];
-  fread(tmpbuf,sizeof(tmpbuf),1,fp);
-  for(unsigned int i = 0; i < sizeof(tmpbuf); i++)
+  if(file_size ==  expected_file_size) 
+  {
+    binaryFlag = true;
+    return true;
+  }
+  
+  // second check, sometimes the size is a bit wrong, 
+  // lets'make a test to check that we find only ascii stuff before assuming it is ascii
+  unsigned char tmpbuf[1000];
+  int byte_to_read = std::min(int(sizeof(tmpbuf)), int(file_size - 80));
+  fread(tmpbuf, byte_to_read,1,fp);
+  fclose(fp);
+  for(int i = 0; i < byte_to_read; i++)
     {
       if(tmpbuf[i] > 127)
           {
-            binary=true;
+            binaryFlag=true; 
+            if(abs(file_size-expected_file_size) > file_size/20 )
+              return false; // 
             break;
           }
     }
   // Now we know if the stl file is ascii or binary.
-  fclose(fp);
-  return binary;
+  return true;
 }
 
 static int Open( OpenMeshType &m, const char * filename, int &loadMask, CallBackPos *cb=0)
@@ -165,8 +193,11 @@ static int Open( OpenMeshType &m, const char * filename, int &loadMask, CallBack
       return E_CANTOPEN;
   fclose(fp);
   loadMask |= Mask::IOM_VERTCOORD | Mask::IOM_FACEINDEX;
-
-  if(IsSTLBinary(filename)) return OpenBinary(m,filename,loadMask,cb);
+  bool binaryFlag;
+  if(!IsSTLBinary(filename,binaryFlag))
+    return E_MALFORMED;
+  
+  if(binaryFlag) return OpenBinary(m,filename,loadMask,cb);
   else return OpenAscii(m,filename,cb);
 }
 
@@ -179,8 +210,10 @@ static int OpenBinary( OpenMeshType &m, const char * filename, int &loadMask, Ca
     return E_CANTOPEN;
   }
 
-  bool magicsMode;
-  if(!IsSTLColored(filename,magicsMode))
+  bool magicsMode,coloredFlag;
+  if(!IsSTLColored(filename,coloredFlag, magicsMode))
+    return E_MALFORMED;
+  if(!coloredFlag) 
     loadMask = loadMask & (~Mask::IOM_FACECOLOR);
 
   int facenum;
diff --git a/wrap/io_trimesh/io_material.h b/wrap/io_trimesh/io_material.h
index 9ee74214..993be356 100644
--- a/wrap/io_trimesh/io_material.h
+++ b/wrap/io_trimesh/io_material.h
@@ -23,30 +23,30 @@
 
 /****************************************************************************
   History
-
+  
  $Log: not supported by cvs2svn $
  Revision 1.5  2008/02/27 00:34:43  cignoni
  corrected various bugs in the export of texture coords
-
+ 
  Revision 1.4  2007/06/20 10:28:04  tarini
  "newline at end of file" and  "endif" warnings fixed
-
+ 
  Revision 1.3  2006/11/09 07:51:44  cignoni
  bug due to wrong access to eventually unexistent FaceColor
-
+ 
  Revision 1.2  2006/10/09 19:58:08  cignoni
  Added casts to remove warnings
-
+ 
  Revision 1.1  2006/03/07 13:19:29  cignoni
  First Release with OBJ import support
-
+ 
  Revision 1.1  2006/02/16 19:28:36  fmazzant
  transfer of Export_3ds.h, Export_obj.h, Io_3ds_obj_material.h from Meshlab to vcg
-
+ 
  Revision 1.1  2006/02/06 11:04:40  fmazzant
  added file material.h. it include struct Material, CreateNewMaterial(...) and MaterialsCompare(...)
-
-
+ 
+ 
  ****************************************************************************/
 
 #ifndef __VCGLIB_MATERIAL
@@ -59,96 +59,84 @@
 namespace vcg {
 namespace tri {
 namespace io {
-	
-	/*
-		structures material
-	*/
-	struct Material
-	{
-		unsigned int index;//index of material
-		std::string materialName;
 
-		Point3f Ka;//ambient
-		Point3f Kd;//diffuse
-		Point3f Ks;//specular
-		
-		float d;//alpha
-		float Tr;//alpha
-		
-		int illum;//specular illumination
-		float Ns;
+/*
+    structures material
+  */
+struct Material
+{
+  unsigned int index=-1;//index of material
+  std::string materialName;
+  
+  Point3f Ka=Point3f(0.2f, 0.2f, 0.2f);//ambient
+  Point3f Kd=Point3f(1.0f, 1.0f, 1.0f);//diffuse
+  Point3f Ks=Point3f(1.0f, 1.0f, 1.0f);//specular
+  
+  float d;//alpha
+  float Tr=1.0f;//alpha
+  
+  int illum=2;//specular illumination
+  float Ns=0.f;
+  
+  std::string map_Kd; //filename texture
+};
 
-		std::string map_Kd; //filename texture
-	};
 
-	
-	template <class SaveMeshType>
-	class Materials
-	{
-	public:	
-		typedef typename SaveMeshType::FaceIterator FaceIterator;
-		typedef typename SaveMeshType::VertexIterator VertexIterator;
-		typedef typename SaveMeshType::VertexType VertexType;
-	
-		/*
-			creates a new meterial
-		*/
-		inline static int CreateNewMaterial(SaveMeshType &m, std::vector<Material> &materials, unsigned int index, FaceIterator &fi)
-		{			
-			Point3f diffuse(1,1,1);
-      float Transp = 1;
-      if(HasPerFaceColor(m)){
-        diffuse = Point3f((float)((*fi).C()[0])/255.0f,(float)((*fi).C()[1])/255.0f,(float)((*fi).C()[2])/255.0f);//diffuse
-			  Transp = (float)((*fi).C()[3])/255.0f;//alpha
-      }
-			
-			int illum = 2; //default not use Ks!
-			float ns = 0.0; //default
-
-			Material mtl;
-
-			mtl.index = index;//index of materials
-			mtl.Ka = Point3f(0.2f,0.2f,0.2f);//ambient
-			mtl.Kd = diffuse;//diffuse
-			mtl.Ks = Point3f(1.0f,1.0f,1.0f);//specular
-			mtl.Tr = Transp;//alpha
-			mtl.Ns = ns;
-			mtl.illum = illum;//illumination
-			
-			if(m.textures.size() && (*fi).WT(0).n() >=0 ) 
-				mtl.map_Kd = m.textures[(*fi).WT(0).n()];
-			else
-				mtl.map_Kd = "";
-			
-			int i = -1;
-			if((i = MaterialsCompare(materials,mtl)) == -1)
-			{
-				materials.push_back(mtl);
-				return materials.size();
-			}
-			return i;
-		}
-
-		/*
-			returns the index of the material if it exists inside the list of the materials, 
-			otherwise it returns -1.
-		*/
-		inline static int MaterialsCompare(std::vector<Material> &materials, Material mtl)
-		{
-			for(unsigned int i=0;i<materials.size();i++)
-			{
-				if(materials[i].Kd     != mtl.Kd    ) continue;
-				if(materials[i].Ka     != mtl.Ka    ) continue;
-				if(materials[i].Ks     != mtl.Ks    ) continue;
-				if(materials[i].Tr     != mtl.Tr    ) continue;
-				if(materials[i].illum  != mtl.illum ) continue;
-				if(materials[i].Ns     != mtl.Ns    ) continue;
-				if(materials[i].map_Kd != mtl.map_Kd) continue;
-				return i;
-			}
-			return -1;
-		}
-	};
+template <class SaveMeshType>
+class Materials
+{
+public:	
+  typedef typename SaveMeshType::FaceIterator FaceIterator;
+  typedef typename SaveMeshType::VertexIterator VertexIterator;
+  typedef typename SaveMeshType::VertexType VertexType;
+  
+  /*
+      creates a new meterial
+    */
+  inline static int CreateNewMaterial(SaveMeshType &m, std::vector<Material> &materials, FaceIterator &fi)
+  {			
+    Material mtl;
+            
+    if(HasPerFaceColor(m)){
+      mtl.Kd = Point3f((float)((*fi).C()[0])/255.0f,(float)((*fi).C()[1])/255.0f,(float)((*fi).C()[2])/255.0f);//diffuse
+      mtl.Tr = (float)((*fi).C()[3])/255.0f;//alpha
+    }
+    
+    if(m.textures.size() && (*fi).WT(0).n() >=0 ) 
+      mtl.map_Kd = m.textures[(*fi).WT(0).n()];
+    else
+      mtl.map_Kd = "";
+    
+    int matInd = MaterialsCompare(materials,mtl);
+    if(matInd == -1)
+    {
+      mtl.index = int(materials.size());
+      materials.push_back(mtl);
+      return mtl.index;
+    }
+    return matInd;
+  }
+  
+  /*
+      returns the index of the material if it exists inside the list of the materials, 
+      otherwise it returns -1.
+    */
+  inline static int MaterialsCompare(std::vector<Material> &materials, Material mtl)
+  {
+    for(unsigned int i=0;i<materials.size();i++)
+    {
+      if(materials[i].Kd     != mtl.Kd    ) continue;
+      if(materials[i].Ka     != mtl.Ka    ) continue;
+      if(materials[i].Ks     != mtl.Ks    ) continue;
+      if(materials[i].Tr     != mtl.Tr    ) continue;
+      if(materials[i].illum  != mtl.illum ) continue;
+      if(materials[i].Ns     != mtl.Ns    ) continue;
+      if(materials[i].map_Kd != mtl.map_Kd) continue;
+      return i;
+    }
+    return -1;
+  }
+};
 }
 }
 }
diff --git a/wrap/io_trimesh/io_ply.h b/wrap/io_trimesh/io_ply.h
index 33db9d4c..d0cfc042 100644
--- a/wrap/io_trimesh/io_ply.h
+++ b/wrap/io_trimesh/io_ply.h
@@ -52,6 +52,8 @@ namespace vcg {
 namespace tri {
 namespace io {
 
+
+
   
 /** Additional data needed or useful for parsing a ply mesh.
 This class can be passed to the ImporterPLY::Open() function for 
@@ -63,14 +65,66 @@ class PlyInfo
 {
 public:
   typedef ::vcg::ply::PropDescriptor PropDescriptor ;
-
+    
+  void AddPerElemFloatAttribute(int elemType, const char *attrName, const char * propName=0)
+  {
+    static const char *elemStr[2]={"vertex","face"};
+    static std::vector<PropDescriptor> *elemDescVec[2]={&(this->VertDescriptorVec), &(this->FaceDescriptorVec)};
+    static std::vector<std::string   > *elemNameVec[2]={&(this->VertAttrNameVec),   &(this->FaceAttrNameVec)};
+        
+    if(propName==0) propName=attrName;
+    elemDescVec[elemType]->push_back(PropDescriptor());
+    elemNameVec[elemType]->push_back(attrName);
+    elemDescVec[elemType]->back().elemname=elemStr[elemType];
+    elemDescVec[elemType]->back().propname=strdup(propName);
+    elemDescVec[elemType]->back().stotype1 = vcg::ply::T_FLOAT;
+    elemDescVec[elemType]->back().memtype1 = vcg::ply::T_FLOAT;
+  }
+  
+  void AddPerVertexFloatAttribute(const char *attrName, const char *propName=0) { 
+    AddPerElemFloatAttribute(0,attrName,propName);     
+  }
+  void AddPerFaceFloatAttribute(const char *attrName, const char *propName=0) { 
+    AddPerElemFloatAttribute(1,attrName,propName);     
+  }
+  
+  
+  /* Note that saving a per vertex point3 attribute is a mess. 
+   * Actually require to allocate 3 float attribute and save them. And they are never deallocated... */
+  template<class MeshType>
+  void AddPerVertexPoint3fAttribute(MeshType &m, const char *attrName, const char *propName="")
+  {
+    if(propName==0) propName=attrName;
+    
+    const char *attrxyz[3] = {
+      strdup((std::string(attrName)+std::string("_x")).c_str()),
+      strdup((std::string(attrName)+std::string("_y")).c_str()),
+      strdup((std::string(attrName)+std::string("_z")).c_str()),
+    };
+    typename MeshType::template PerVertexAttributeHandle <vcg::Point3f> 
+        ht = vcg::tri::Allocator<MeshType>:: template GetPerVertexAttribute <vcg::Point3f> (m,attrName);
+    
+    typename MeshType::template PerVertexAttributeHandle <float> htt[3];
+  
+    for(int i=0;i<3;++i)
+    { 
+      htt[i] = vcg::tri::Allocator<MeshType>:: template GetPerVertexAttribute<float> (m,std::string(attrxyz[i]));
+//      ForEachVertex (m, [&](typename MeshType::VertexType &v) {
+//        htt[i][v] = ht[v][i];
+//      });    
+      for(auto vi=m.vert.begin();vi!=m.vert.end();++vi)
+        if(!vi->IsD()) 
+           htt[i][vi] = ht[vi][i];
+      AddPerVertexFloatAttribute(attrxyz[i]);      
+    }
+  }
+  
+  
   PlyInfo()
   {
     status=0;
     mask=0;
-    cb=0;
-    vdn=fdn=0;
-    VertexData=FaceData=0;
+    cb=0;    
   }
   /// Store the error codes enconutered when parsing a ply
   int status;
@@ -81,15 +135,16 @@ public:
   // it returns the current position, and formats a string with a description of what th efunction is doing (loading vertexes, faces...)
   CallBackPos *cb;
 
-  /// the number of per-vertex descriptor (usually 0)
-  int vdn;
   /// The additional vertex descriptor that a user can specify to load additional per-vertex non-standard data stored in a ply
-  PropDescriptor *VertexData;
-  /// the number of per-face descriptor (usually 0)
-  int fdn;
+  std::vector<PropDescriptor> VertDescriptorVec;
+  /// AttributeName is an array, externally allocated, containing the names of the attributes to be saved (loaded). 
+  /// We assume that AttributeName[], if not empty, is exactly of the same size of VertexdData[]
+  /// If AttributeName[i] is not empty we use it to retrieve/store the info instead of the offsetted space in the current vertex
+  std::vector<std::string> VertAttrNameVec; 
   
   /// The additional vertex descriptor that a user can specify to load additional per-face non-standard data stored in a ply
-  PropDescriptor *FaceData;
+  std::vector<PropDescriptor> FaceDescriptorVec;
+  std::vector<std::string> FaceAttrNameVec; 
 
   /// a string containing the current ply header. Useful for showing it to the user.
   std::string header;
@@ -97,15 +152,15 @@ public:
 enum Error
 {
 		// Funzioni superiori
-  E_NO_VERTEX       = ply::E_MAXPLYERRORS+1,			// 14
-	E_NO_FACE         = ply::E_MAXPLYERRORS+2,				// 15
-	E_SHORTFILE       = ply::E_MAXPLYERRORS+3,			// 16
-	E_NO_3VERTINFACE  = ply::E_MAXPLYERRORS+4,		// 17
-	E_BAD_VERT_INDEX  = ply::E_MAXPLYERRORS+5,		// 18
-	E_NO_6TCOORD      = ply::E_MAXPLYERRORS+6,			// 19
-	E_DIFFER_COLORS   = ply::E_MAXPLYERRORS+7,	
-	E_BAD_VERT_INDEX_EDGE  = ply::E_MAXPLYERRORS+8,		// 18
-  E_MAXPLYINFOERRORS= ply::E_MAXPLYERRORS+9// 20
+	E_NO_VERTEX       = ply::E_MAXPLYERRORS+1,       // 15
+	E_NO_FACE         = ply::E_MAXPLYERRORS+2,       // 16
+	E_SHORTFILE       = ply::E_MAXPLYERRORS+3,       // 17
+	E_NO_3VERTINFACE  = ply::E_MAXPLYERRORS+4,       // 18
+	E_BAD_VERT_INDEX  = ply::E_MAXPLYERRORS+5,       // 19
+	E_NO_6TCOORD      = ply::E_MAXPLYERRORS+6,		 // 20
+	E_DIFFER_COLORS   = ply::E_MAXPLYERRORS+7,	     // 21
+	E_BAD_VERT_INDEX_EDGE  = ply::E_MAXPLYERRORS+8,  // 22
+	E_MAXPLYINFOERRORS= ply::E_MAXPLYERRORS+9        // 23
 };
 
 }; // end class
diff --git a/wrap/nanoply/include/nanoply.hpp b/wrap/nanoply/include/nanoply.hpp
index 071f5365..2205bf2a 100644
--- a/wrap/nanoply/include/nanoply.hpp
+++ b/wrap/nanoply/include/nanoply.hpp
@@ -24,6 +24,7 @@
 #include <stdexcept>
 #include <cstdio>
 #include <cmath>
+#include <cstring>
 #include <limits>
 #include <fstream>
 #include <sstream>
@@ -229,8 +230,8 @@ namespace nanoply
       { PlyEntity::NNP_CRGBA, NameVector({ "rgba", "diffuse_rgba" }) },
       { PlyEntity::NNP_DENSITY, NameVector({ "radius", "density" }) },
       { PlyEntity::NNP_SCALE, NameVector({ "scale", "value" }) },
-      { PlyEntity::NNP_TEXTUREU, NameVector({ "texture_u", "u", "s" }) },
-      { PlyEntity::NNP_TEXTUREV, NameVector({ "texture_v", "v", "t" }) },
+      { PlyEntity::NNP_TEXTUREU, NameVector({ "texture_u", "u", "s", "tx" }) },
+      { PlyEntity::NNP_TEXTUREV, NameVector({ "texture_v", "v", "t", "ty" }) },
       { PlyEntity::NNP_TEXTURE2D, NameVector({ "texture_uv", "uv" }) },
       { PlyEntity::NNP_TEXTUREW, NameVector({ "texture_w", "w" }) },
       { PlyEntity::NNP_TEXTURE3D, NameVector({ "texture_uvw", "uvw" }) },
@@ -246,7 +247,7 @@ namespace nanoply
       { PlyEntity::NNP_K2DIR, NameVector({ "k2dir" }) },
       { PlyEntity::NNP_EDGE_V1, NameVector({ "vertex1", "v1" }) },
       { PlyEntity::NNP_EDGE_V2, NameVector({ "vertex2", "v2" }) },
-      { PlyEntity::NNP_FACE_VERTEX_LIST, NameVector({ "vertex_index", "vertex_indices" }) },
+      { PlyEntity::NNP_FACE_VERTEX_LIST, NameVector({ "vertex_indices", "vertex_index" }) },
       { PlyEntity::NNP_FACE_WEDGE_COLOR, NameVector({ "color" }) },
       { PlyEntity::NNP_FACE_WEDGE_NORMAL, NameVector({ "normal" }) },
       { PlyEntity::NNP_FACE_WEDGE_TEX, NameVector({ "texcoord" }) }
@@ -255,7 +256,7 @@ namespace nanoply
 
   /* Names used for the PlyElement */
   static ElementMap mapElem({
-      { PlyElemEntity::NNP_UNKNOWN_ELEM, NameVector({ "unknonw" }) },
+      { PlyElemEntity::NNP_UNKNOWN_ELEM, NameVector({ "unknown" }) },
       { PlyElemEntity::NNP_VERTEX_ELEM, NameVector({ "vertex" }) },
       { PlyElemEntity::NNP_EDGE_ELEM, NameVector({ "edge" }) },
       { PlyElemEntity::NNP_FACE_ELEM, NameVector({ "face" }) },
@@ -463,7 +464,7 @@ namespace nanoply
     if (fileStream.fail())
       return false;
     bufferOffset = 0;
-    //fileStream.setf(std::ios::fixed, std::ios::floatfield);
+    fileStream.setf(std::ios::fixed, std::ios::floatfield);
     //fileStream.precision(7);
     return true;
   }
@@ -476,7 +477,7 @@ namespace nanoply
     std::getline(fileStream, line);
     std::transform(line.begin(), line.end(), line.begin(), ::tolower);
     last = false;
-    if (line == "end_header")
+    if (line.find("end_header") != std::string::npos)
       last = true;
     return true;
   }
@@ -583,13 +584,17 @@ namespace nanoply
     PlyEntity elem;		/**< Property entity. */
     bool validToWrite;  /**< Property validity (necessary to write the header). */
 
+
+    inline PlyProperty() {}
+
+
     /**
     * Constructor that sets the type and the entity of a standard PLY property.
     *
     * @param _t	Property type.
     * @param _e	Property entity.
     */
-    inline PlyProperty(PlyType _t, PlyEntity _e) :type(_t), elem(_e), name(PlyPropertyName(_e)[0]), validToWrite(false){}
+    inline PlyProperty(PlyType _t, PlyEntity _e) : name(PlyPropertyName(_e)[0]), type(_t), elem(_e), validToWrite(false){}
 
     /**
     * Constructor that sets the type, the entity and the name of a standard PLY property.
@@ -598,7 +603,7 @@ namespace nanoply
     * @param _e		Property entity.
     * @param _n		Property name.
     */
-    inline PlyProperty(PlyType _t, PlyEntity _e, std::string _n) :type(_t), elem(_e), name(_n), validToWrite(false){}
+    inline PlyProperty(PlyType _t, PlyEntity _e, std::string _n) : name(_n), type(_t), elem(_e), validToWrite(false){}
 
     /**
     * Constructor that sets the type and the name of a custom PLY property.
@@ -606,7 +611,7 @@ namespace nanoply
     * @param _t		Property type.
     * @param _n		Property name.
     */
-    inline PlyProperty(PlyType _t, std::string _n) :type(_t), elem(PlyEntity::NNP_UNKNOWN_ENTITY), name(_n), validToWrite(false){}
+    inline PlyProperty(PlyType _t, std::string _n) :name(_n), type(_t), elem(PlyEntity::NNP_UNKNOWN_ENTITY), validToWrite(false){}
 
     /**
     * Get the description string of the property entity.
@@ -942,6 +947,7 @@ namespace nanoply
       delete[] temp;
       break;
     }
+    default: assert(0);
     }
     return true;
   }
@@ -1031,7 +1037,7 @@ namespace nanoply
       v.push_back(name);
 
     }
-    for (int i = 0; i < v.size(); i++)
+    for (size_t i = 0; i < v.size(); i++)
     {
       std::stringstream s;
       s << "property " << type << " " << v[i] << "\n";
@@ -1060,7 +1066,7 @@ namespace nanoply
     /**
     * Default Constructor
     */
-    inline PlyElement() :validToWrite(false){};
+    inline PlyElement() : cnt(0), validToWrite(false){}
 
     /**
     * Constructor that sets the name, the properties and the number of instances of the element.
@@ -1069,7 +1075,7 @@ namespace nanoply
     * @param prop		Vector of properties.
     * @param nElem		Number of instances.
     */
-    inline PlyElement(std::string& _name, std::vector<PlyProperty> &prop, size_t nElem) :name(_name), cnt(nElem), propVec(prop), plyElem(PlyElemEntity::NNP_UNKNOWN_ELEM), validToWrite(false){};
+    inline PlyElement(const std::string& _name, std::vector<PlyProperty> &prop, size_t nElem) :name(_name), plyElem(PlyElemEntity::NNP_UNKNOWN_ELEM), cnt(nElem), propVec(prop), validToWrite(false){}
 
     /**
     * Constructor that sets the entity, the properties and the number of instances of the element.
@@ -1078,7 +1084,7 @@ namespace nanoply
     * @param prop		Vector of properties.
     * @param nElem		Number of instances.
     */
-    inline PlyElement(PlyElemEntity ent, std::vector<PlyProperty> &prop, size_t nElem) :name(PlyElementName(ent)[0]), cnt(nElem), propVec(prop), plyElem(ent), validToWrite(false){};
+    inline PlyElement(PlyElemEntity ent, std::vector<PlyProperty> &prop, size_t nElem) :name(PlyElementName(ent)[0]), plyElem(ent), cnt(nElem), propVec(prop), validToWrite(false){}
 
     /**
     * Parse the input line and add the properties to the element.
@@ -1139,7 +1145,7 @@ namespace nanoply
     token = strtok(tempStr, " \t");
     if (strstr(token, "element") == NULL)
       return false;
-    token = strtok(0, " \t\n");
+    token = strtok(0, " \t\r\n");
     name = std::string(token);
     plyElem = PlyElemEntity::NNP_UNKNOWN_ELEM;
     ElementMapIterator iter = mapElem.begin();
@@ -1162,7 +1168,7 @@ namespace nanoply
       }
       iter++;
     }
-    token = strtok(0, " \t\n");
+    token = strtok(0, " \t\r\n");
     cnt = atoi(token);
     for (size_t i = 0; i < propStr.size(); i++)
       if (!AddProperty(propStr[i]))
@@ -1250,7 +1256,7 @@ namespace nanoply
     temp << "element " << name << " " << cnt << "\n";
     if (file.WriteHeaderLine(temp.str()))
     {
-      for (int i = 0; i < propVec.size(); i++)
+      for (size_t i = 0; i < propVec.size(); i++)
         ok = propVec[i].WriteHeader(file);
     }
     else
@@ -1261,8 +1267,8 @@ namespace nanoply
 
   inline bool PlyElement::SkipAsciiElementsInFile(PlyFile &file)
   {
-    for (int i = 0; i < this->cnt; ++i)
-      for (int j = 0; j < this->propVec.size(); ++j)
+    for (size_t i = 0; i < this->cnt; ++i)
+      for (size_t j = 0; j < this->propVec.size(); ++j)
         this->propVec[j].SkipAsciiPropertyInFile(file);
     return true;
   }
@@ -1270,8 +1276,8 @@ namespace nanoply
 
   inline bool PlyElement::SkipBinaryElementsInFile(PlyFile &file)
   {
-    for (int i = 0; i < this->cnt; ++i)
-      for (int j = 0; j < this->propVec.size(); ++j)
+    for (size_t i = 0; i < this->cnt; ++i)
+      for (size_t j = 0; j < this->propVec.size(); ++j)
         this->propVec[j].SkipBinaryPropertyInFile(file);
     return true;
   }
@@ -1352,7 +1358,7 @@ namespace nanoply
 
   inline bool PlyElement::Contains(PlyEntity entity)
   {
-    for (int i = 0; i < propVec.size(); i++)
+    for (size_t i = 0; i < propVec.size(); i++)
     {
       if (propVec[i].elem == entity)
         return true;
@@ -1423,7 +1429,7 @@ namespace nanoply
     * @param name	Name of the element.
     * @return		The number of instances
     */
-    inline size_t GetElementCount(std::string& name);
+    inline size_t GetElementCount(const std::string& name);
 
     /**
     * Return the number of instances of the element with the input element type
@@ -1460,7 +1466,7 @@ namespace nanoply
     * @param name	Name of the element.
     * @return		The reference to the element
     */
-    inline PlyElement* GetElement(std::string& name);
+    inline PlyElement* GetElement(const std::string & name);
 
     /**
     * Return a reference to the element with a specific element type
@@ -1512,7 +1518,7 @@ namespace nanoply
   {
     this->filename = filename;
     this->errInfo = NNP_OK;
-    std::ifstream input(filename, std::ios::binary);
+    std::ifstream input(filename);
     if (!input.good())
     {
       this->errInfo = NNP_UNABLE_TO_OPEN;
@@ -1610,9 +1616,9 @@ namespace nanoply
     else
       ok = file.WriteHeaderLine(std::string("format ascii 1.0\n"));
     ok = file.WriteHeaderLine(std::string("comment nanoply generated\n"));
-    for (int i = 0; i < this->textureFile.size(); i++)
+    for (size_t i = 0; i < this->textureFile.size(); i++)
       ok = file.WriteHeaderLine(std::string("comment TextureFile ") + this->textureFile[i] + "\n");
-    for (int i = 0; i < this->elemVec.size(); i++)
+    for (size_t i = 0; i < this->elemVec.size(); i++)
       ok = this->elemVec[i].WriteHeader(file);
     ok = file.WriteHeaderLine(std::string("end_header\n"));
     return ok;
@@ -1625,7 +1631,7 @@ namespace nanoply
   }
 
 
-  inline size_t Info::GetElementCount(std::string& name)
+  inline size_t Info::GetElementCount(const std::string & name)
   {
     PlyElement* pe = GetElement(name);
     if (pe != NULL)
@@ -1639,7 +1645,7 @@ namespace nanoply
     PlyElement* pe = GetElement(e);
     if (pe != NULL)
       return pe->cnt;
-    return -1;
+    return 0;
   }
 
 
@@ -1661,9 +1667,9 @@ namespace nanoply
   }
 
 
-  inline PlyElement* Info::GetElement(std::string& name)
+  inline PlyElement* Info::GetElement(const std::string& name)
   {
-    for (int i = 0; i < elemVec.size(); i++)
+    for (size_t i = 0; i < elemVec.size(); i++)
     {
       if (elemVec[i].name == name)
         return &elemVec[i];
@@ -1674,7 +1680,7 @@ namespace nanoply
 
   inline PlyElement* Info::GetElement(PlyElemEntity e)
   {
-    for (int i = 0; i < elemVec.size(); i++)
+    for (size_t i = 0; i < elemVec.size(); i++)
     {
       if (elemVec[i].plyElem == e)
         return &elemVec[i];
@@ -1724,7 +1730,7 @@ namespace nanoply
     * @param _e	Ply entity managed by the descriptor.
     * @param _b	Pointer to the memory location that contains the data of the property.
     */
-    inline DescriptorInterface(PlyEntity _e, void *_b) :curPos(0), elem(_e), base(_b), name(PlyPropertyName(_e)[0]){};
+    inline DescriptorInterface(PlyEntity _e, void *_b) :curPos(0), base(_b), elem(_e), name(PlyPropertyName(_e)[0]){}
 
     /**
     * Constructor of the descriptor.
@@ -1732,7 +1738,12 @@ namespace nanoply
     * @param _s		Name of the PlyProperty.
     * @param _b	Pointer to the memory location that contains the data of the property.
     */
-    inline DescriptorInterface(std::string& _s, void *_b) :curPos(0), elem(PlyEntity::NNP_UNKNOWN_ENTITY), name(_s), base(_b){};
+    inline DescriptorInterface(const std::string& _s, void *_b) :curPos(0), base(_b), elem(PlyEntity::NNP_UNKNOWN_ENTITY), name(_s){}
+
+	/**
+    * Virtual destructor
+    */
+    virtual ~DescriptorInterface() {}
 
     /**
     * Restart the descriptor.
@@ -1798,14 +1809,14 @@ namespace nanoply
     *
     * @param _e		Ply Element entity managed by the descriptor.
     */
-    inline ElementDescriptor(PlyElemEntity _e) : elem(_e), name(PlyElementName(_e)[0]){};
+    inline ElementDescriptor(PlyElemEntity _e) : name(PlyElementName(_e)[0]), elem(_e){}
 
     /**
     * Constructor of the Ply element descriptor.
     *
     * @param _s		Name of the Ply element managed by the descriptor.
     */
-    inline ElementDescriptor(std::string &_s) : elem(PlyElemEntity::NNP_UNKNOWN_ELEM), name(_s){};
+    inline ElementDescriptor(const std::string &_s) : name(_s), elem(PlyElemEntity::NNP_UNKNOWN_ELEM){}
 
     /**
     * Read all the properties of the element from the binary file.
@@ -1862,10 +1873,10 @@ namespace nanoply
 
   inline void ElementDescriptor::ExtractDescriptor(PropertyDescriptor& descr, PlyElement &elem)
   {
-    for (int j = 0; j < elem.propVec.size(); j++)
+    for (size_t j = 0; j < elem.propVec.size(); j++)
     {
       PlyProperty& prop = elem.propVec[j];
-      int i = 0;
+      size_t i = 0;
       for (; i < dataDescriptor.size(); i++)
       {
         if (dataDescriptor[i]->elem == prop.elem)
@@ -1888,6 +1899,12 @@ namespace nanoply
             }
           }
         }
+        else if ((dataDescriptor[i]->elem == PlyEntity::NNP_CRGB && prop.elem == PlyEntity::NNP_CRGBA) ||
+          (dataDescriptor[i]->elem == PlyEntity::NNP_CRGBA && prop.elem == PlyEntity::NNP_CRGB))
+        {
+          descr.push_back(dataDescriptor[i]);
+          break;
+        }
       }
       if (i == dataDescriptor.size())
         descr.push_back(NULL);
@@ -1899,9 +1916,9 @@ namespace nanoply
   {
     PropertyDescriptor descr;
     ExtractDescriptor(descr, elem);
-    for (int i = 0; i < elem.cnt; i++)
+    for (size_t i = 0; i < elem.cnt; i++)
     {
-      for (int j = 0; j < elem.propVec.size(); j++)
+      for (size_t j = 0; j < elem.propVec.size(); j++)
       {
         PlyProperty& prop = elem.propVec[j];
         if (descr[j] != NULL)
@@ -1918,9 +1935,9 @@ namespace nanoply
   {
     PropertyDescriptor descr;
     ExtractDescriptor(descr, elem);
-    for (int i = 0; i < elem.cnt; i++)
+    for (size_t i = 0; i < elem.cnt; i++)
     {
-      for (int j = 0; j < elem.propVec.size(); j++)
+      for (size_t j = 0; j < elem.propVec.size(); j++)
       {
         PlyProperty& prop = elem.propVec[j];
         if (descr[j] != NULL)
@@ -1936,9 +1953,9 @@ namespace nanoply
   {
     PropertyDescriptor descr;
     ExtractDescriptor(descr, elem);
-    for (int i = 0; i < elem.cnt; i++)
+    for (size_t i = 0; i < elem.cnt; i++)
     {
-      for (int j = 0; j < elem.propVec.size(); j++)
+      for (size_t j = 0; j < elem.propVec.size(); j++)
       {
         if (descr[j] != NULL)
           (*descr[j]).WriteElemBinary(file, elem.propVec[j], fixEndian);
@@ -1951,10 +1968,10 @@ namespace nanoply
   {
     PropertyDescriptor descr;
     ExtractDescriptor(descr, elem);
-    for (int i = 0; i < elem.cnt; i++)
+    for (size_t i = 0; i < elem.cnt; i++)
     {
       bool first = true;
-      for (int j = 0; j < elem.propVec.size(); j++)
+      for (size_t j = 0; j < elem.propVec.size(); j++)
       {
         if (descr[j] != NULL)
         {
@@ -1981,7 +1998,7 @@ namespace nanoply
     elem.validToWrite = true;
     PropertyDescriptor descr;
     ExtractDescriptor(descr, elem);
-    for (int j = 0; j < elem.propVec.size(); j++)
+    for (size_t j = 0; j < elem.propVec.size(); j++)
     {
       if (descr[j] != NULL)
         elem.propVec[j].validToWrite = true;
@@ -1990,18 +2007,336 @@ namespace nanoply
 
 
 
+  template<class ContainerType, int VectorSize, typename ScalarType>
+  class DescriptorHelper
+  {
+
+  public:
+
+    template<typename C>
+    static void ReadBinary(DescriptorInterface& descr, PlyFile &file, PlyProperty &prop, bool fixEndian)
+    {
+      char * buffer = nullptr;
+      int size;
+      int count = prop.CountValue();
+      int typeSize = prop.TypeSize();
+      if (prop.type >= NNP_LIST_UINT8_UINT32)
+      {
+        file.ReadBinaryData(buffer, sizeof(char));
+        const int cntList = int(*(reinterpret_cast<unsigned char *>(buffer)));
+        size = typeSize * cntList;
+        count = cntList;
+      }
+      else
+        size = typeSize * count;
+      file.ReadBinaryData(buffer, size);
+
+      if (typeSize > 1 && fixEndian)
+        adjustEndianess(reinterpret_cast<unsigned char *>(buffer), typeSize, count);
+
+      unsigned char* baseProp = (unsigned char*)descr.base + descr.curPos * sizeof(ContainerType);
+      C* temp = (C*)buffer;
+      if ((prop.elem == NNP_CRGB || prop.elem == NNP_CRGBA))
+      {
+        float norm = 1.0f;
+        if (std::is_same<ScalarType, float>::value && std::is_same<C, unsigned char>::value)
+          norm = 1.0f / 255.0f;
+        else if (std::is_same<ScalarType, unsigned char>::value && std::is_same<C, float>::value)
+          norm = 255.0f;
+        for (int i = 0; i < std::min(VectorSize, count); i++)
+          *((ScalarType *)(baseProp + i * sizeof(ScalarType))) = ScalarType(temp[i] * norm);
+      }
+      else
+      {
+        for (int i = 0; i < std::min(VectorSize, count); i++)
+          *((ScalarType *)(baseProp + i * sizeof(ScalarType))) = ScalarType(temp[i]);
+      }
+      ++(descr.curPos);
+    }
+
+    template<typename C>
+    static void ReadAscii(DescriptorInterface& descr, PlyFile &file, PlyProperty &prop)
+    {
+      int count = prop.CountValue();
+      if (prop.type >= NNP_LIST_UINT8_UINT32)
+        file.ReadAsciiData(count);
+
+      C* temp = new C[count];
+      for (int i = 0; i < count; i++)
+        file.ReadAsciiData(temp[i]);
+
+      unsigned char* baseProp = (unsigned char*)descr.base + descr.curPos * sizeof(ContainerType);
+      if ((prop.elem == NNP_CRGB || prop.elem == NNP_CRGBA))
+      {
+        float norm = 1.0f;
+        if (std::is_same<ScalarType, float>::value && prop.type == NNP_UINT8)
+          norm = 1.0f / 255.0f;
+        else if (std::is_same<ScalarType, unsigned char>::value && prop.type == NNP_FLOAT32)
+          norm = 255.0f;
+        for (int i = 0; i < std::min(VectorSize, count); i++)
+          *((ScalarType *)(baseProp + i * sizeof(ScalarType))) = ScalarType(temp[i] * norm);
+      }
+      else
+      {
+        for (int i = 0; i < std::min(VectorSize, count); i++)
+          *((ScalarType *)(baseProp + i * sizeof(ScalarType))) = ScalarType(temp[i]);
+      }
+      delete[] temp;
+      ++(descr.curPos);
+    }
+
+    template<typename C>
+    static void WriteBinary(DescriptorInterface& descr, PlyFile &file, PlyProperty &prop, bool fixEndian)
+    {
+      (void)fixEndian;
+      int count = prop.CountValue();
+      C data[VectorSize];
+      if (prop.type >= NNP_LIST_UINT8_UINT32)
+      {
+        if (prop.IsSigned())
+        {
+          char listSize = (char)VectorSize;
+          file.WriteBinaryData(&listSize, 1);
+          count = VectorSize;
+        }
+        else
+        {
+          unsigned char listSize = (unsigned char)VectorSize;
+          file.WriteBinaryData(&listSize, 1);
+          count = VectorSize;
+        }
+      }
+
+      C temp = 0;
+      unsigned char* baseProp = (unsigned char*)descr.base + descr.curPos * sizeof(ContainerType);
+      if ((prop.elem == NNP_CRGB || prop.elem == NNP_CRGBA))
+      {
+        float norm = 1.0f;
+        if (std::is_same<ScalarType, float>::value && std::is_same<C, unsigned char>::value)
+          norm = 255.0f;
+        else if (std::is_same<ScalarType, unsigned char>::value && std::is_same<C, float>::value)
+          norm = 1.0f / 255.0f;
+        for (int i = 0; i < std::min(VectorSize, count); i++)
+          data[i] = (C)((*(ScalarType*)(baseProp + i * sizeof(ScalarType))) * norm);
+      }
+      else
+      {
+        for (int i = 0; i < std::min(VectorSize, count); i++)
+          data[i] = (C)((*(ScalarType*)(baseProp + i * sizeof(ScalarType))));
+      }
+
+      if (sizeof(C) > 1 && fixEndian)
+        adjustEndianess((unsigned char*)data, sizeof(C), std::min(VectorSize, count));
+
+      file.WriteBinaryData(data, sizeof(C)*std::min(VectorSize, count));
+      for (int i = 0; i < (count - VectorSize); i++)
+        file.WriteBinaryData(&temp, sizeof(C));
+      ++(descr.curPos);
+    }
+
+    template<typename C>
+    static void WriteAscii(DescriptorInterface& descr, PlyFile &file, PlyProperty &prop)
+    {
+      int count = prop.CountValue();
+      if (prop.type >= NNP_LIST_UINT8_UINT32)
+      {
+        if (prop.IsSigned())
+        {
+          int listSize = (int)VectorSize;
+          file.WriteAsciiData(listSize);
+          count = VectorSize;
+        }
+        else
+        {
+          unsigned int listSize = (unsigned int)VectorSize;
+          file.WriteAsciiData(listSize);
+          count = VectorSize;
+        }
+        file.WriteAsciiData(std::string(" "));
+      }
+
+      C data[VectorSize];
+      unsigned char* baseProp = (unsigned char*)descr.base + descr.curPos * sizeof(ContainerType);
+      if ((prop.elem == NNP_CRGB || prop.elem == NNP_CRGBA))
+      {
+        float norm = 1.0;
+        if (std::is_same<ScalarType, float>::value && prop.type == NNP_UINT8)
+          norm = 255.0f;
+        else if (std::is_same<ScalarType, unsigned char>::value && prop.type == NNP_FLOAT32)
+          norm = 1.0f / 255.0f;
+        for (int i = 0; i < std::min(VectorSize, count); i++)
+          data[i] = (C)((*(ScalarType*)(baseProp + i * sizeof(ScalarType))) * norm);
+      }
+      else
+      {
+        for (int i = 0; i < std::min(VectorSize, count); i++)
+          data[i] = (C)((*(ScalarType*)(baseProp + i * sizeof(ScalarType))));
+      }
+
+
+      for (int i = 0; i < (count - VectorSize); i++)
+        data[i] = 0;
+
+      for (int i = 0; i < count; i++)
+      {
+        file.WriteAsciiData(data[i]);
+        if (i < count - 1)
+          file.WriteAsciiData(std::string(" "));
+      }
+      ++(descr.curPos);
+    }
+  };
+
+
+
+
+  template<class ContainerType, typename ScalarType>
+  class DescriptorHelper<ContainerType, 0, ScalarType>
+  {
+
+  public:
+
+    template<typename C>
+    static void ReadBinary(DescriptorInterface& descr, PlyFile &file, PlyProperty &prop, bool fixEndian)
+    {
+      char * buffer = nullptr;
+      int size;
+      int count = prop.CountValue();
+      int typeSize = prop.TypeSize();
+      if (prop.type >= NNP_LIST_UINT8_UINT32)
+      {
+        file.ReadBinaryData(buffer, sizeof(char));
+        const int cntList = int(*(reinterpret_cast<unsigned char *>(buffer)));
+        size = typeSize * cntList;
+        count = cntList;
+      }
+      else
+        size = typeSize * count;
+      file.ReadBinaryData(buffer, size);
+
+      if (typeSize > 1 && fixEndian)
+        adjustEndianess(reinterpret_cast<unsigned char *>(buffer), typeSize, count);
+
+      C* temp = (C*)buffer;
+
+      ContainerType* container = (ContainerType*)((unsigned char*)descr.base + descr.curPos * sizeof(ContainerType));
+      (*container).resize(count);
+      for (int i = 0; i < count; i++)
+        (*container)[i] = (ScalarType)(temp[i]);
+      ++(descr.curPos);
+    }
+
+    template<typename C>
+    static void ReadAscii(DescriptorInterface& descr, PlyFile &file, PlyProperty &prop)
+    {
+      int count = prop.CountValue();
+      if (prop.type >= NNP_LIST_UINT8_UINT32)
+        file.ReadAsciiData(count);
+
+      C* temp = new C[count];
+      for (int i = 0; i < count; i++)
+        file.ReadAsciiData(temp[i]);
+
+      ContainerType* container = (ContainerType*)((unsigned char*)descr.base + descr.curPos * sizeof(ContainerType));
+      (*container).resize(count);
+      for (int i = 0; i < count; i++)
+        (*container)[i] = (ScalarType)(temp[i]);
+      delete[] temp;
+      ++(descr.curPos);
+    }
+
+    template<typename C>
+    static void WriteBinary(DescriptorInterface& descr, PlyFile &file, PlyProperty &prop, bool fixEndian)
+    {
+      size_t count = prop.CountValue();
+      ContainerType* list = (ContainerType*)((unsigned char*)descr.base + descr.curPos * sizeof(ContainerType));
+      if (prop.type >= NNP_LIST_UINT8_UINT32)
+      {
+        if (prop.IsSigned())
+        {
+          char listSize = (char)list->size();
+          file.WriteBinaryData(&listSize, 1);
+          count = list->size();
+        }
+        else
+        {
+          unsigned char listSize = (unsigned char)list->size();
+          file.WriteBinaryData(&listSize, 1);
+          count = list->size();
+        }
+      }
+
+      std::vector<C> data(count);
+
+      for (size_t i = 0; i < std::min(count, list->size()); i++)
+        data[i] = (C)((*list)[i]);
+
+      if (sizeof(C) > 1 && fixEndian)
+        adjustEndianess((unsigned char*)data.data(), sizeof(C), std::min(count, list->size()));
+
+      file.WriteBinaryData(data.data(), sizeof(C)*std::min(count, list->size()));
+      C temp = 0;
+      for (size_t i = 0; i < (count - list->size()); i++)
+        file.WriteBinaryData(&temp, sizeof(C));
+      ++(descr.curPos);
+    }
+
+    template<typename C>
+    static void WriteAscii(DescriptorInterface& descr, PlyFile &file, PlyProperty &prop)
+    {
+      size_t count = prop.CountValue();
+      ContainerType* list = (ContainerType*)((unsigned char*)descr.base + descr.curPos * sizeof(ContainerType));
+      if (prop.type >= NNP_LIST_UINT8_UINT32)
+      {
+        if (prop.IsSigned())
+        {
+          int listSize = (int)list->size();
+          file.WriteAsciiData(listSize);
+          count = list->size();
+        }
+        else
+        {
+          unsigned int listSize = (unsigned int)list->size();
+          file.WriteAsciiData(listSize);
+          count = list->size();
+        }
+        file.WriteAsciiData(std::string(" "));
+      }
+
+      std::vector<C> data(count);
+      for (size_t i = 0; i < std::min(count, list->size()); i++)
+        data[i] = (C)((*list)[i]);
+
+      for (size_t i = 0; i < (count - list->size()); i++)
+        data[i] = 0;
+
+      for (size_t i = 0; i < count; i++)
+      {
+        file.WriteAsciiData(data[i]);
+        if (i < count - 1)
+          file.WriteAsciiData(std::string(" "));
+      }
+      ++(descr.curPos);
+    }
+  };
+
+
+
+  
   /** Memory descriptor of a vector of properties.
   *	The class defines how a vector of PlyProperty is saved in memory.
   *
-  *  @tparam CointainerType	Type of the container of the property
+  *  @tparam ContainerType	Type of the container of the property
   *  @tparam VectorSize		Number of values stored in the property.
   *  @tparam ScalarType		Type of the values stored in the property.
   */
-  template<class CointainerType, int VectorSize, typename ScalarType>
+  template<class ContainerType, int VectorSize, typename ScalarType>
   class DataDescriptor : public DescriptorInterface
   {
   public:
 
+    DescriptorHelper<ContainerType, VectorSize, ScalarType> helper;
+
     inline DataDescriptor();
 
     /**
@@ -2018,7 +2353,7 @@ namespace nanoply
     * @param _s	Name of the PlyProperty.
     * @param _b	Pointer to the memory location that contains the data of the property.
     */
-    inline DataDescriptor(std::string& _s, void *_b) :DescriptorInterface(_s, _b){};
+    inline DataDescriptor(const std::string& _s, void *_b) :DescriptorInterface(_s, _b){};
 
     inline void Restart();
 
@@ -2029,358 +2364,200 @@ namespace nanoply
     inline bool WriteElemBinary(PlyFile &file, PlyProperty &prop, bool fixEndian);
 
     inline bool WriteElemAscii(PlyFile &file, PlyProperty &prop);
-
-  private:
-
-    template<typename C>
-    inline void ReadBinary(PlyFile &file, PlyProperty &prop, bool fixEndian);
-
-    template<typename C>
-    inline void ReadAscii(PlyFile &file, PlyProperty &prop);
-
-    template<typename C>
-    inline void WriteBinary(PlyFile &file, PlyProperty &prop, bool fixEndian);
-
-    template<typename C>
-    inline void WriteAscii(PlyFile &file, PlyProperty &prop);
-
   };
+  
 
-
-  template<class CointainerType, int VectorSize, typename ScalarType>
-  inline void DataDescriptor<CointainerType, VectorSize, ScalarType>::Restart()
+  template<class ContainerType, int VectorSize, typename ScalarType>
+  void DataDescriptor<ContainerType, VectorSize, ScalarType>::Restart()
   {
     this->curPos = 0;
   }
 
-  template<class ContainerType, int VectorSize, typename ScalarType>
-  template<typename C>
-  inline void DataDescriptor<ContainerType, VectorSize, ScalarType>::ReadBinary(PlyFile &file, PlyProperty &prop, bool fixEndian)
-  {
-    char * buffer = nullptr;
-    int size;
-    int count = prop.CountValue();
-    int typeSize = prop.TypeSize();
-    if (prop.type >= NNP_LIST_UINT8_UINT32)
-    {
-       file.ReadBinaryData(buffer, sizeof(char));
-       const int cntList = int(*(reinterpret_cast<unsigned char *>(buffer)));
-       size = typeSize * cntList;
-       count = cntList;
-    }
-    else
-      size = typeSize * count;
-    file.ReadBinaryData(buffer, size);
 
-    if (typeSize > 1 && fixEndian)
-      adjustEndianess(reinterpret_cast<unsigned char *>(buffer), typeSize, count);
-
-		unsigned char* baseProp = (unsigned char*)base + this->curPos*sizeof(ContainerType);
-    C* temp = (C*)buffer;
-    if ((prop.elem == NNP_CRGB || prop.elem == NNP_CRGBA))
-    {
-			float norm = 1.0f;
-      if (std::is_same<ScalarType, float>::value && std::is_same<C, unsigned char>::value)
-        norm = 1.0f / 255.0f;
-      else if (std::is_same<ScalarType, unsigned char>::value && std::is_same<C, float>::value)
-        norm = 255.0f;
-			for (int i = 0; i < std::min(VectorSize, count); i++)
-				*((ScalarType *)(baseProp + i*sizeof(ScalarType))) = ScalarType(temp[i] * norm);
-    }
-		else
+	template<class ContainerType, int VectorSize, typename ScalarType>
+	bool DataDescriptor<ContainerType, VectorSize, ScalarType>::ReadElemBinary(PlyFile &file, PlyProperty &prop, bool fixEndian)
+	{
+		if (prop.elem != elem && ((prop.elem != PlyEntity::NNP_CRGB && prop.elem != PlyEntity::NNP_CRGBA) || (prop.elem != PlyEntity::NNP_CRGBA && prop.elem != PlyEntity::NNP_CRGB)))
+			return false;
+		switch (prop.type)
 		{
-			for (int i = 0; i < std::min(VectorSize, count); i++)
-				*((ScalarType *)(baseProp + i*sizeof(ScalarType))) = ScalarType(temp[i]);
+		case NNP_LIST_INT8_INT8:
+		case NNP_LIST_UINT8_INT8:
+		case NNP_INT8:
+			helper.template ReadBinary<char>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_INT8_UINT8:
+		case NNP_LIST_UINT8_UINT8:
+		case NNP_UINT8:
+			helper.template ReadBinary<unsigned char>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_INT8_INT16:
+		case NNP_LIST_UINT8_INT16:
+		case NNP_INT16:
+			helper.template ReadBinary<short>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_INT8_UINT16:
+		case NNP_LIST_UINT8_UINT16:
+		case NNP_UINT16:
+			helper.template ReadBinary<unsigned short>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_INT8_FLOAT32:
+		case NNP_LIST_UINT8_FLOAT32:
+		case NNP_FLOAT32:
+			helper.template ReadBinary<float>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_UINT8_INT32:
+		case NNP_LIST_INT8_INT32:
+		case NNP_INT32:
+			helper.template ReadBinary<int>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_UINT8_UINT32:
+		case NNP_LIST_INT8_UINT32:
+		case NNP_UINT32:
+			helper.template ReadBinary<unsigned int>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_INT8_FLOAT64:
+		case NNP_LIST_UINT8_FLOAT64:
+		case NNP_FLOAT64:
+			helper.template ReadBinary<double>(*this, file, prop, fixEndian); break;
+		case NNP_UNKNOWN_TYPE:
+			break;
 		}
-    ++(this->curPos);
-  }
+		return true;
+	}
 
 
-  template<class ContainerType, int VectorSize, typename ScalarType>
-  inline bool DataDescriptor<ContainerType, VectorSize, ScalarType>::ReadElemBinary(PlyFile &file, PlyProperty &prop, bool fixEndian)
-  {
-    if (prop.elem != elem)
-      return false;
-    switch (prop.type)
-    {
-    case NNP_LIST_INT8_INT8:
-    case NNP_LIST_UINT8_INT8:
-    case NNP_INT8:				this->ReadBinary<char>(file, prop, fixEndian); break;
-    case NNP_LIST_INT8_UINT8:
-    case NNP_LIST_UINT8_UINT8:
-    case NNP_UINT8:				this->ReadBinary<unsigned char>(file, prop, fixEndian); break;
-    case NNP_LIST_INT8_INT16:
-    case NNP_LIST_UINT8_INT16:
-    case NNP_INT16:				this->ReadBinary<short>(file, prop, fixEndian); break;
-    case NNP_LIST_INT8_UINT16:
-    case NNP_LIST_UINT8_UINT16:
-    case NNP_UINT16:			this->ReadBinary<unsigned short>(file, prop, fixEndian); break;
-    case NNP_LIST_INT8_FLOAT32:
-    case NNP_LIST_UINT8_FLOAT32:
-    case NNP_FLOAT32:			this->ReadBinary<float>(file, prop, fixEndian); break;
-    case NNP_LIST_UINT8_INT32:
-    case NNP_LIST_INT8_INT32:
-    case NNP_INT32:				this->ReadBinary<int>(file, prop, fixEndian); break;
-    case NNP_LIST_UINT8_UINT32:
-    case NNP_LIST_INT8_UINT32:
-    case NNP_UINT32:			this->ReadBinary<unsigned int>(file, prop, fixEndian); break;
-    case NNP_LIST_INT8_FLOAT64:
-    case NNP_LIST_UINT8_FLOAT64:
-    case NNP_FLOAT64:			this->ReadBinary<double>(file, prop, fixEndian); break;
-    }
-    return true;
-  }
-
-
-
-  template<class ContainerType, int VectorSize, typename ScalarType>
-  template<typename C>
-  inline void DataDescriptor<ContainerType, VectorSize, ScalarType>::ReadAscii(PlyFile &file, PlyProperty &prop)
-  {
-    int count = prop.CountValue();
-    if (prop.type >= NNP_LIST_UINT8_UINT32)
-      file.ReadAsciiData(count);
-
-    C* temp = new C[count];
-    for (int i = 0; i < count; i++)
-      file.ReadAsciiData(temp[i]);
-
-    unsigned char* baseProp = (unsigned char*)base + this->curPos*sizeof(ContainerType);
-    if ((prop.elem == NNP_CRGB || prop.elem == NNP_CRGBA))
-    {
-			float norm = 1.0f;
-      if (std::is_same<ScalarType, float>::value && prop.type == NNP_UINT8)
-        norm = 1.0f / 255.0f;
-      else if (std::is_same<ScalarType, unsigned char>::value && prop.type == NNP_FLOAT32)
-        norm = 255.0f;
-			for (int i = 0; i < std::min(VectorSize, count); i++)
-				*((ScalarType *)(baseProp + i*sizeof(ScalarType))) = ScalarType(temp[i] * norm);
-    }
-		else
+	template<class ContainerType, int VectorSize, typename ScalarType>
+	bool DataDescriptor<ContainerType, VectorSize, ScalarType>::ReadElemAscii(PlyFile &file, PlyProperty &prop)
+	{
+		if (prop.elem != elem)
+			return false;
+		switch (prop.type)
 		{
-			for (int i = 0; i < std::min(VectorSize, count); i++)
-				*((ScalarType *)(baseProp + i*sizeof(ScalarType))) = ScalarType(temp[i]);
+		case NNP_LIST_UINT8_INT8:
+		case NNP_LIST_INT8_INT8:
+		case NNP_INT8:
+			helper.template ReadAscii<int>(*this, file, prop); break;
+		case NNP_LIST_UINT8_UINT8:
+		case NNP_LIST_INT8_UINT8:
+		case NNP_UINT8:
+			helper.template ReadAscii<unsigned int>(*this, file, prop); break;
+		case NNP_LIST_UINT8_INT16:
+		case NNP_LIST_INT8_INT16:
+		case NNP_INT16:
+			helper.template ReadAscii<short>(*this, file, prop); break;
+		case NNP_LIST_UINT8_UINT16:
+		case NNP_LIST_INT8_UINT16:
+		case NNP_UINT16:
+			helper.template ReadAscii<unsigned short>(*this, file, prop); break;
+		case NNP_LIST_UINT8_FLOAT32:
+		case NNP_LIST_INT8_FLOAT32:
+		case NNP_FLOAT32:
+			helper.template ReadAscii<float>(*this, file, prop); break;
+		case NNP_LIST_UINT8_INT32:
+		case NNP_LIST_INT8_INT32:
+		case NNP_INT32:
+			helper.template ReadAscii<int>(*this, file, prop); break;
+		case NNP_LIST_UINT8_UINT32:
+		case NNP_LIST_INT8_UINT32:
+		case NNP_UINT32:
+			helper.template ReadAscii<unsigned int>(*this, file, prop); break;
+		case NNP_LIST_UINT8_FLOAT64:
+		case NNP_LIST_INT8_FLOAT64:
+		case NNP_FLOAT64:
+			helper.template ReadAscii<double>(*this, file, prop); break;
+		case NNP_UNKNOWN_TYPE:
+			break;
 		}
-    delete[] temp;
-    ++(this->curPos);
-  }
+		return true;
+	}
 
 
-
-  template<class ContainerType, int VectorSize, typename ScalarType>
-  inline bool DataDescriptor<ContainerType, VectorSize, ScalarType>::ReadElemAscii(PlyFile &file, PlyProperty &prop)
-  {
-    if (prop.elem != elem)
-      return false;
-    switch (prop.type)
-    {
-    case NNP_LIST_UINT8_INT8:
-    case NNP_LIST_INT8_INT8:
-    case NNP_INT8:				this->ReadAscii<int>(file, prop); break;
-    case NNP_LIST_UINT8_UINT8:
-    case NNP_LIST_INT8_UINT8:
-    case NNP_UINT8:				this->ReadAscii<unsigned int>(file, prop); break;
-    case NNP_LIST_UINT8_INT16:
-    case NNP_LIST_INT8_INT16:
-    case NNP_INT16:				this->ReadAscii<short>(file, prop); break;
-    case NNP_LIST_UINT8_UINT16:
-    case NNP_LIST_INT8_UINT16:
-    case NNP_UINT16:			this->ReadAscii<unsigned short>(file, prop); break;
-    case NNP_LIST_UINT8_FLOAT32:
-    case NNP_LIST_INT8_FLOAT32:
-    case NNP_FLOAT32:			this->ReadAscii<float>(file, prop); break;
-    case NNP_LIST_UINT8_INT32:
-    case NNP_LIST_INT8_INT32:
-    case NNP_INT32:				this->ReadAscii<int>(file, prop); break;
-    case NNP_LIST_UINT8_UINT32:
-    case NNP_LIST_INT8_UINT32:
-    case NNP_UINT32:			this->ReadAscii<unsigned int>(file, prop); break;
-    case NNP_LIST_UINT8_FLOAT64:
-    case NNP_LIST_INT8_FLOAT64:
-    case NNP_FLOAT64:			this->ReadAscii<double>(file, prop); break;
-    }
-    return true;
-  }
-
-
-
-  template<class ContainerType, int VectorSize, typename ScalarType>
-  template<typename C>
-  inline void DataDescriptor<ContainerType, VectorSize, ScalarType>::WriteBinary(PlyFile &file, PlyProperty &prop, bool fixEndian)
-  {
-    (void)fixEndian;
-    int count = prop.CountValue();
-    C data[VectorSize];
-    if (prop.type >= NNP_LIST_UINT8_UINT32)
-    {
-      if (prop.IsSigned())
-      {
-        char listSize = (char)VectorSize;
-        file.WriteBinaryData(&listSize, 1);
-        count = VectorSize;
-      }
-      else
-      {
-        unsigned char listSize = (unsigned char)VectorSize;
-        file.WriteBinaryData(&listSize, 1);
-        count = VectorSize;
-      }
-    }
-
-    C temp = 0;
-		unsigned char* baseProp = (unsigned char*)base + this->curPos*sizeof(ContainerType);
-    if ((prop.elem == NNP_CRGB || prop.elem == NNP_CRGBA))
-    {
-			float norm = 1.0f;
-      if (std::is_same<ScalarType, float>::value && std::is_same<C, unsigned char>::value)
-        norm = 255.0f;
-      else if (std::is_same<ScalarType, unsigned char>::value && std::is_same<C, float>::value)
-        norm = 1.0f / 255.0f;
-			for (int i = 0; i < std::min(VectorSize, count); i++)
-				data[i] = (C)((*(ScalarType*)(baseProp + i*sizeof(ScalarType))) * norm);
-    }
-		else
+	template<class ContainerType, int VectorSize, typename ScalarType>
+	bool DataDescriptor<ContainerType, VectorSize, ScalarType>::WriteElemBinary(PlyFile &file, PlyProperty &prop, bool fixEndian)
+	{
+		if (prop.elem != elem)
+			return false;
+		switch (prop.type)
 		{
-			for (int i = 0; i < std::min(VectorSize, count); i++)
-				data[i] = (C)((*(ScalarType*)(baseProp + i*sizeof(ScalarType))));
+		case NNP_LIST_INT8_INT8:
+		case NNP_LIST_UINT8_INT8:
+		case NNP_INT8:
+			helper.template WriteBinary<char>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_INT8_UINT8:
+		case NNP_LIST_UINT8_UINT8:
+		case NNP_UINT8:
+			helper.template WriteBinary<unsigned char>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_INT8_INT16:
+		case NNP_LIST_UINT8_INT16:
+		case NNP_INT16:
+			helper.template WriteBinary<short>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_INT8_UINT16:
+		case NNP_LIST_UINT8_UINT16:
+		case NNP_UINT16:
+			helper.template WriteBinary<unsigned short>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_INT8_FLOAT32:
+		case NNP_LIST_UINT8_FLOAT32:
+		case NNP_FLOAT32:
+			helper.template WriteBinary<float>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_UINT8_INT32:
+		case NNP_LIST_INT8_INT32:
+		case NNP_INT32:
+			helper.template WriteBinary<int>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_UINT8_UINT32:
+		case NNP_LIST_INT8_UINT32:
+		case NNP_UINT32:
+			helper.template WriteBinary<unsigned int>(*this, file, prop, fixEndian); break;
+		case NNP_LIST_INT8_FLOAT64:
+		case NNP_LIST_UINT8_FLOAT64:
+		case NNP_FLOAT64:
+			helper.template WriteBinary<double>(*this, file, prop, fixEndian); break;
+		case NNP_UNKNOWN_TYPE:
+			break;
 		}
-
-    if (sizeof(C) > 1 && fixEndian)
-      adjustEndianess((unsigned char*)data, sizeof(C), std::min(VectorSize, count));
-
-    file.WriteBinaryData(data, sizeof(C)*std::min(VectorSize, count));
-    for (int i = 0; i < (count - VectorSize); i++)
-      file.WriteBinaryData(&temp, sizeof(C));
-    ++(this->curPos);
-  }
+		return true;
+	}
 
 
-  template<class ContainerType, int VectorSize, typename ScalarType>
-  inline bool DataDescriptor<ContainerType, VectorSize, ScalarType>::WriteElemBinary(PlyFile &file, PlyProperty &prop, bool fixEndian)
-  {
-    if (prop.elem != elem)
-      return false;
-    switch (prop.type)
-    {
-    case NNP_LIST_INT8_INT8:
-    case NNP_LIST_UINT8_INT8:
-    case NNP_INT8:				this->WriteBinary<char>(file, prop, fixEndian); break;
-    case NNP_LIST_INT8_UINT8:
-    case NNP_LIST_UINT8_UINT8:
-    case NNP_UINT8:				this->WriteBinary<unsigned char>(file, prop, fixEndian); break;
-    case NNP_LIST_INT8_INT16:
-    case NNP_LIST_UINT8_INT16:
-    case NNP_INT16:				this->WriteBinary<short>(file, prop, fixEndian); break;
-    case NNP_LIST_INT8_UINT16:
-    case NNP_LIST_UINT8_UINT16:
-    case NNP_UINT16:			this->WriteBinary<unsigned short>(file, prop, fixEndian); break;
-    case NNP_LIST_INT8_FLOAT32:
-    case NNP_LIST_UINT8_FLOAT32:
-    case NNP_FLOAT32:			this->WriteBinary<float>(file, prop, fixEndian); break;
-    case NNP_LIST_UINT8_INT32:
-    case NNP_LIST_INT8_INT32:
-    case NNP_INT32:				this->WriteBinary<int>(file, prop, fixEndian); break;
-    case NNP_LIST_UINT8_UINT32:
-    case NNP_LIST_INT8_UINT32:
-    case NNP_UINT32:			this->WriteBinary<unsigned int>(file, prop, fixEndian); break;
-    case NNP_LIST_INT8_FLOAT64:
-    case NNP_LIST_UINT8_FLOAT64:
-    case NNP_FLOAT64:			this->WriteBinary<double>(file, prop, fixEndian); break;
-    }
-    return true;
-  }
-
-
-  template<class ContainerType, int VectorSize, typename ScalarType>
-  template<typename C>
-  inline void DataDescriptor<ContainerType, VectorSize, ScalarType>::WriteAscii(PlyFile &file, PlyProperty &prop)
-  {
-    int count = prop.CountValue();
-    if (prop.type >= NNP_LIST_UINT8_UINT32)
-    {
-      if (prop.IsSigned())
-      {
-        int listSize = (int)VectorSize;
-        file.WriteAsciiData(listSize);
-        count = VectorSize;
-      }
-      else
-      {
-        unsigned int listSize = (unsigned int)VectorSize;
-        file.WriteAsciiData(listSize);
-        count = VectorSize;
-      }
-      file.WriteAsciiData(std::string(" "));
-    }
-
-    C data[VectorSize];
-		unsigned char* baseProp = (unsigned char*)base + this->curPos*sizeof(ContainerType);
-    if ((prop.elem == NNP_CRGB || prop.elem == NNP_CRGBA))
-    {
-			float norm = 1.0;
-      if (std::is_same<ScalarType, float>::value && prop.type == NNP_UINT8)
-        norm = 255.0f;
-      else if (std::is_same<ScalarType, unsigned char>::value && prop.type == NNP_FLOAT32)
-        norm = 1.0f / 255.0f;
-			for (int i = 0; i < std::min(VectorSize, count); i++)
-				data[i] = (C)((*(ScalarType*)(baseProp + i*sizeof(ScalarType))) * norm);
-    }
-		else
+	template<class ContainerType, int VectorSize, typename ScalarType>
+	bool DataDescriptor<ContainerType, VectorSize, ScalarType>::WriteElemAscii(PlyFile &file, PlyProperty& prop)
+	{
+		if (prop.elem != elem)
+			return false;
+		if (prop.elem == PlyEntity::NNP_UNKNOWN_ENTITY && prop.name != name)
+			return false;
+		switch (prop.type)
 		{
-			for (int i = 0; i < std::min(VectorSize, count); i++)
-				data[i] = (C)((*(ScalarType*)(baseProp + i*sizeof(ScalarType))));
+		case NNP_LIST_UINT8_INT8:
+		case NNP_LIST_INT8_INT8:
+		case NNP_INT8:
+			helper.template WriteAscii<int>(*this, file, prop); break;
+		case NNP_LIST_UINT8_UINT8:
+		case NNP_LIST_INT8_UINT8:
+		case NNP_UINT8:
+			helper.template WriteAscii<unsigned int>(*this, file, prop); break;
+		case NNP_LIST_UINT8_INT16:
+		case NNP_LIST_INT8_INT16:
+		case NNP_INT16:
+			helper.template WriteAscii<short>(*this, file, prop); break;
+		case NNP_LIST_UINT8_UINT16:
+		case NNP_LIST_INT8_UINT16:
+		case NNP_UINT16:
+			helper.template WriteAscii<unsigned short>(*this, file, prop); break;
+		case NNP_LIST_UINT8_FLOAT32:
+		case NNP_LIST_INT8_FLOAT32:
+		case NNP_FLOAT32:
+			helper.template WriteAscii<float>(*this, file, prop); break;
+		case NNP_LIST_UINT8_INT32:
+		case NNP_LIST_INT8_INT32:
+		case NNP_INT32:
+			helper.template WriteAscii<int>(*this, file, prop); break;
+		case NNP_LIST_UINT8_UINT32:
+		case NNP_LIST_INT8_UINT32:
+		case NNP_UINT32:
+			helper.template WriteAscii<unsigned int>(*this, file, prop); break;
+		case NNP_LIST_UINT8_FLOAT64:
+		case NNP_LIST_INT8_FLOAT64:
+		case NNP_FLOAT64:
+			helper.template WriteAscii<double>(*this, file, prop); break;
+		case NNP_UNKNOWN_TYPE:
+			break;
 		}
-		   
-   
-    for (int i = 0; i < (count - VectorSize); i++)
-      data[i] = 0;
-
-    for (int i = 0; i < count; i++)
-    {
-      file.WriteAsciiData(data[i]);
-      if (i < count - 1)
-        file.WriteAsciiData(std::string(" "));
-    }
-    ++(this->curPos);
-  }
-
-
-  template<class ContainerType, int VectorSize, typename ScalarType>
-  inline bool DataDescriptor<ContainerType, VectorSize, ScalarType>::WriteElemAscii(PlyFile &file, PlyProperty& prop)
-  {
-    if (prop.elem != elem)
-      return false;
-    if (prop.elem == PlyEntity::NNP_UNKNOWN_ENTITY && prop.name != name)
-      return false;
-    switch (prop.type)
-    {
-    case NNP_LIST_UINT8_INT8:
-    case NNP_LIST_INT8_INT8:
-    case NNP_INT8:				this->WriteAscii<int>(file, prop); break;
-    case NNP_LIST_UINT8_UINT8:
-    case NNP_LIST_INT8_UINT8:
-    case NNP_UINT8:				this->WriteAscii<unsigned int>(file, prop); break;
-    case NNP_LIST_UINT8_INT16:
-    case NNP_LIST_INT8_INT16:
-    case NNP_INT16:				this->WriteAscii<short>(file, prop); break;
-    case NNP_LIST_UINT8_UINT16:
-    case NNP_LIST_INT8_UINT16:
-    case NNP_UINT16:			this->WriteAscii<unsigned short>(file, prop); break;
-    case NNP_LIST_UINT8_FLOAT32:
-    case NNP_LIST_INT8_FLOAT32:
-    case NNP_FLOAT32:			this->WriteAscii<float>(file, prop); break;
-    case NNP_LIST_UINT8_INT32:
-    case NNP_LIST_INT8_INT32:
-    case NNP_INT32:				this->WriteAscii<int>(file, prop); break;
-    case NNP_LIST_UINT8_UINT32:
-    case NNP_LIST_INT8_UINT32:
-    case NNP_UINT32:			this->WriteAscii<unsigned int>(file, prop); break;
-    case NNP_LIST_UINT8_FLOAT64:
-    case NNP_LIST_INT8_FLOAT64:
-    case NNP_FLOAT64:			this->WriteAscii<double>(file, prop); break;
-    }
-    return true;
-  }
+		return true;
+	}
 
 
 
@@ -2441,10 +2618,10 @@ namespace nanoply
 
     if (info.binary)
     {
-      for (int i = 0; i < info.elemVec.size(); ++i)
+      for (size_t i = 0; i < info.elemVec.size(); ++i)
       {
         PlyElement& pe = info.elemVec[i];
-        int j = 0;
+        size_t j = 0;
         for (; j < meshElements.size(); j++)
           if (ElemProcessing<0>(*meshElements[j], pe, file, fixEndian))
             break;
@@ -2456,10 +2633,10 @@ namespace nanoply
     }
     else
     {
-      for (int i = 0; i < info.elemVec.size(); ++i)
+      for (size_t i = 0; i < info.elemVec.size(); ++i)
       {
         PlyElement& pe = info.elemVec[i];
-        int j = 0;
+        size_t j = 0;
         for (; j < meshElements.size(); j++)
           if (ElemProcessing<1>(*meshElements[j], pe, file, false))
             break;
@@ -2489,10 +2666,10 @@ namespace nanoply
       info.errInfo = NNP_UNABLE_TO_OPEN;
       return false;
     }
-    for (int i = 0; i < info.elemVec.size(); ++i)
+    for (size_t i = 0; i < info.elemVec.size(); ++i)
     {
       PlyElement& pe = info.elemVec[i];
-      for (int j = 0; j < meshElements.size(); j++)
+      for (size_t j = 0; j < meshElements.size(); j++)
         if (ElemProcessing<4>(*meshElements[j], pe, file, false))
           break;
     }
@@ -2511,12 +2688,12 @@ namespace nanoply
 
     if (info.binary)
     {
-      for (int i = 0; i < info.elemVec.size(); ++i)
+      for (size_t i = 0; i < info.elemVec.size(); ++i)
       {
         PlyElement& pe = info.elemVec[i];
         if (pe.validToWrite)
         {
-          for (int j = 0; j < meshElements.size(); j++)
+          for (size_t j = 0; j < meshElements.size(); j++)
             if (ElemProcessing<2>(*meshElements[j], pe, file, false))
               break;
         }
@@ -2524,12 +2701,12 @@ namespace nanoply
     }
     else
     {
-      for (int i = 0; i < info.elemVec.size(); ++i)
+      for (size_t i = 0; i < info.elemVec.size(); ++i)
       {
         PlyElement& pe = info.elemVec[i];
         if (pe.validToWrite)
         {
-          for (int j = 0; j < meshElements.size(); j++)
+          for (size_t j = 0; j < meshElements.size(); j++)
             if (ElemProcessing<3>(*meshElements[j], pe, file, false))
               break;
         }
@@ -2556,6 +2733,7 @@ namespace nanoply
   template < typename TupleType, size_t N, size_t ActionType>
   inline bool TupleForEach(TupleType &tuple, PlyElement &elem, PlyFile& file, bool fixEndian, SizeT<N> t, SizeT<ActionType> a)
   {
+	  (void)t;
     typename std::tuple_element<N - 1, TupleType>::type &elemDescr = std::get<N - 1>(tuple);
     if ((elemDescr.elem != PlyElemEntity::NNP_UNKNOWN_ELEM && elemDescr.elem == elem.plyElem) ||
       (elemDescr.elem == PlyElemEntity::NNP_UNKNOWN_ELEM && elemDescr.name == elem.name))
diff --git a/wrap/nanoply/include/nanoplyWrapper.hpp b/wrap/nanoply/include/nanoplyWrapper.hpp
index 6fd77eab..ebef9398 100644
--- a/wrap/nanoply/include/nanoplyWrapper.hpp
+++ b/wrap/nanoply/include/nanoplyWrapper.hpp
@@ -16,9 +16,12 @@
 #define NANOPLY_WRAPPER_VCG_H
 
 #include <wrap/nanoply/include/nanoply.hpp>
+#include <vcg/complex/complex.h>
 #include <vcg/space/point.h>
 #include <map>
 
+#include  <typeinfo>
+
 namespace nanoply
 {
 
@@ -28,40 +31,51 @@ namespace nanoply
 				
 	private:
 
-    typedef typename MeshType::PointerToAttribute PointerToAttribute;
-    typedef typename MeshType::ScalarType ScalarType;
+    typedef typename MeshType::PointerToAttribute                         PointerToAttribute;
+    typedef typename MeshType::ScalarType                                 ScalarType;
 
-    typedef typename MeshType::VertexType VertexType;
-    typedef typename MeshType::VertexType::ScalarType VertexCoordScalar;
-    typedef typename MeshType::VertexType::NormalType::ScalarType VertexNormScalar;
-    typedef typename MeshType::VertexType::ColorType::ScalarType VertexColorScalar;
-    typedef typename MeshType::VertexType::QualityType VertexQuality;
-    typedef typename MeshType::VertexType::RadiusType VertexRadius;
-    typedef typename MeshType::VertexType::FlagType VertexFlag;
-    typedef typename MeshType::VertexType::TexCoordType::ScalarType VertexTexScalar;
-    typedef typename MeshType::VertexType::CurvatureType::ScalarType VertexCurScalar;
-    typedef typename MeshType::VertexType::CurScalarType VertexDirCurScalar;
-    typedef typename MeshType::VertexType::CurVecType::ScalarType VertexDirCurVecScalar;
+    typedef typename MeshType::VertexType                                 VertexType;
+    typedef typename MeshType::VertexType::ScalarType                     VertexCoordScalar;
+    typedef typename MeshType::VertexType::NormalType                     VertexNormalType;
+    typedef typename MeshType::VertexType::NormalType::ScalarType         VertexNormScalar;
+    typedef typename MeshType::VertexType::ColorType                      VertexColorType;
+    typedef typename MeshType::VertexType::ColorType::ScalarType          VertexColorScalar;
+    typedef typename MeshType::VertexType::QualityType                    VertexQuality;
+    typedef typename MeshType::VertexType::RadiusType                     VertexRadius;
+    typedef typename MeshType::VertexType::FlagType                       VertexFlag;
+    typedef typename MeshType::VertexType::TexCoordType                   VertexTexCoordType;
+    typedef typename MeshType::VertexType::TexCoordType::ScalarType       VertexTexScalar;
+    typedef typename MeshType::VertexType::CurvatureType                  VertexCurType;
+    typedef typename MeshType::VertexType::CurvatureType::ScalarType      VertexCurScalar;
+    typedef typename MeshType::VertexType::CurvatureDirType               VertexCurDirType;
+    typedef typename MeshType::VertexType::CurScalarType                  VertexDirCurScalar;
+    typedef typename MeshType::VertexType::CurVecType::ScalarType         VertexDirCurVecScalar;
 
-    typedef typename MeshType::EdgeType EdgeType;
-    typedef typename MeshType::EdgeType::ColorType::ScalarType EdgeColorScalar;
-    typedef typename MeshType::EdgeType::QualityType EdgeQuality;
-    typedef typename MeshType::EdgeType::FlagType EdgeFlag;
+    typedef typename MeshType::EdgeType                                   EdgeType;
+    typedef typename MeshType::EdgeType::ColorType::ScalarType            EdgeColorScalar;
+    typedef typename MeshType::EdgeType::QualityType                      EdgeQuality;
+    typedef typename MeshType::EdgeType::FlagType                         EdgeFlag;
 
-    typedef typename MeshType::FaceType FaceType;
-    typedef typename MeshType::FaceType::NormalType::ScalarType FaceNormScalar;
-    typedef typename MeshType::FaceType::ColorType::ScalarType FaceColorScalar;
-    typedef typename MeshType::FaceType::QualityType FaceQuality;
-    typedef typename MeshType::FaceType::FlagType FaceFlag;
-    typedef typename MeshType::FaceType::TexCoordType::ScalarType FaceTexScalar;
-    typedef typename MeshType::FaceType::CurScalarType FaceDirCurScalar;
-    typedef typename MeshType::FaceType::CurVecType::ScalarType FaceDirCurVecScalar;
-    typedef typename MeshType::FaceType::WedgeColorType::ScalarType WedgeColorScalar;
-    typedef typename MeshType::FaceType::WedgeNormalType::ScalarType WedgeNormalScalar;
+    typedef typename MeshType::FaceType                                   FaceType;
+    typedef typename MeshType::FaceType::NormalType                       FaceNormalType;
+    typedef typename MeshType::FaceType::NormalType::ScalarType           FaceNormScalar;
+    typedef typename MeshType::FaceType::ColorType                        FaceColorType;
+    typedef typename MeshType::FaceType::ColorType::ScalarType            FaceColorScalar;
+    typedef typename MeshType::FaceType::QualityType                      FaceQuality;
+    typedef typename MeshType::FaceType::FlagType                         FaceFlag;
+    typedef typename vcg::face::vector_ocf<FaceType>::WedgeTexTypePack    FaceTexCoordType;
+    typedef typename MeshType::FaceType::TexCoordType::ScalarType         FaceTexScalar;
+    typedef typename MeshType::FaceType::CurvatureDirType                 FaceCurDirType;
+    typedef typename MeshType::FaceType::CurScalarType                    FaceDirCurScalar;
+    typedef typename MeshType::FaceType::CurVecType::ScalarType           FaceDirCurVecScalar;
+    typedef typename vcg::face::vector_ocf<FaceType>::WedgeColorTypePack  WedgeColorType;
+    typedef typename MeshType::FaceType::WedgeColorType::ScalarType       WedgeColorScalar;
+    typedef typename vcg::face::vector_ocf<FaceType>::WedgeNormalTypePack WedgeNormalType;
+    typedef typename MeshType::FaceType::WedgeNormalType::ScalarType      WedgeNormalScalar;
 
-       
+    typedef typename MeshType::FaceIterator                               FaceIterator;
 
-		template<class T> static PlyType getEntity() { return NNP_UNKNOWN_TYPE };
+		template<class T> static PlyType getEntity() { return NNP_UNKNOWN_TYPE; };
 		template<> static PlyType getEntity<unsigned char>(){ return NNP_UINT8; };
 		template<> static PlyType getEntity<char>(){ return NNP_INT8; };
 		template<> static PlyType getEntity<unsigned short>(){ return NNP_UINT16; };
@@ -101,7 +115,7 @@ namespace nanoply
 
 
 		template<class Container, class Type, int n>
-		inline static void PushDescriport(std::vector<PlyProperty>& prop, ElementDescriptor& elem, std::string& name, void* ptr)
+		inline static void PushDescriport(std::vector<PlyProperty>& prop, ElementDescriptor& elem, const std::string& name, void* ptr)
 		{
 			prop.push_back(PlyProperty(getEntity<Type>(), name));
 			DescriptorInterface* di = new DataDescriptor<Container, n, Type>(name, ptr);
@@ -110,7 +124,7 @@ namespace nanoply
 
 
 		template<class Container, class Type, int n>
-		inline static void PushDescriportList(std::vector<PlyProperty>& prop, ElementDescriptor& elem, std::string& name, void* ptr)
+		inline static void PushDescriportList(std::vector<PlyProperty>& prop, ElementDescriptor& elem, const std::string& name, void* ptr)
 		{
 			prop.push_back(PlyProperty(getEntityList<Type>(), name));
 			DescriptorInterface* di = new DataDescriptor<Container, n, Type>(name, ptr);
@@ -120,38 +134,40 @@ namespace nanoply
 	public:
 
 
-		typedef enum {
-			IO_NONE = 0x00000000,
+    typedef enum {
+      IO_NONE = 0x00000000,
 
-			IO_VERTCOORD = 0x00000001,
-			IO_VERTFLAGS = 0x00000002,
-			IO_VERTCOLOR = 0x00000004,
-			IO_VERTQUALITY = 0x00000008,
-			IO_VERTNORMAL = 0x00000010,
-			IO_VERTTEXCOORD = 0x00000020,
-			IO_VERTRADIUS = 0x00000040,
-			IO_VERTCURV = 0x00000080,
-			IO_VERTCURVDIR = 0x00000100,
-			IO_VERTATTRIB = 0x00000200,
+      IO_VERTCOORD = 0x00000001,
+      IO_VERTFLAGS = 0x00000002,
+      IO_VERTCOLOR = 0x00000004,
+      IO_VERTQUALITY = 0x00000008,
+      IO_VERTNORMAL = 0x00000010,
+      IO_VERTTEXCOORD = 0x00000020,
+      IO_VERTRADIUS = 0x00000040,
+      IO_VERTCURV = 0x00000080,
+      IO_VERTCURVDIR = 0x00000100,
+      IO_VERTATTRIB = 0x00000200,
 
-			IO_FACEINDEX = 0x00000400,
-			IO_FACEFLAGS = 0x00000800,
-			IO_FACECOLOR = 0x00001000,
-			IO_FACEQUALITY = 0x00002000,
-			IO_FACENORMAL = 0x00004000,
-			IO_FACECURVDIR = 0x00008000,
-			IO_FACEATTRIB = 0x00010000,
+      IO_FACEINDEX = 0x00000400,
+      IO_FACEFLAGS = 0x00000800,
+      IO_FACECOLOR = 0x00001000,
+      IO_FACEQUALITY = 0x00002000,
+      IO_FACENORMAL = 0x00004000,
+      IO_FACECURVDIR = 0x00008000,
+      IO_FACEATTRIB = 0x00010000,
 
-			IO_EDGEINDEX = 0x00020000,
-			IO_EDGEQUALITY = 0x00040000,
-			IO_EDGECOLOR = 0x00080000,
-			IO_EDGEFLAGS = 0x00100000,
-			IO_EDGEATTRIB = 0x00200000,
+      IO_EDGEINDEX = 0x00020000,
+      IO_EDGEQUALITY = 0x00040000,
+      IO_EDGECOLOR = 0x00080000,
+      IO_EDGEFLAGS = 0x00100000,
+      IO_EDGEATTRIB = 0x00200000,
 
-			IO_WEDGCOLOR = 0x00400000,
-			IO_WEDGTEXCOORD = 0x00800000,
-			IO_WEDGTEXMULTI = 0x01000000, // when textrue index is explicit
-			IO_WEDGNORMAL = 0x02000000,
+      IO_WEDGCOLOR = 0x00400000,
+      IO_WEDGTEXCOORD = 0x00800000,
+      IO_WEDGTEXMULTI = 0x01000000, // when texture index is explicit
+      IO_WEDGNORMAL = 0x02000000,
+
+      IO_ALL_ATTRIB = 0x03FFFFFF,
 
 			IO_BITPOLYGONAL = 0x04000000, // loads explicit polygonal mesh
 
@@ -186,50 +202,47 @@ namespace nanoply
 			std::map<std::string, int> meshAttribCnt;
 
 
-			CustomAttributeDescriptor::~CustomAttributeDescriptor()
+			~CustomAttributeDescriptor()
 			{
-				for (int i = 0; i < vertexAttrib.size(); i++)
+				for (size_t i = 0; i < vertexAttrib.size(); i++)
 					delete vertexAttrib[i];
-				for (int i = 0; i < edgeAttrib.size(); i++)
+				for (size_t i = 0; i < edgeAttrib.size(); i++)
 					delete edgeAttrib[i];
-				for (int i = 0; i < faceAttrib.size(); i++)
+				for (size_t i = 0; i < faceAttrib.size(); i++)
 					delete faceAttrib[i];
 				CustomAttributeDescriptor::MapMeshAttribIter iter = meshAttrib.begin();
 				for (; iter != meshAttrib.end(); iter++)
-					for (int i = 0; i < (*iter).second.size(); i++)
+					for (size_t i = 0; i < (*iter).second.size(); i++)
 						delete (*iter).second[i];
 			}
 
 
 			template<class Container, class Type, int n>
-			void AddVertexAttribDescriptor(std::string& name, PlyType type, void* ptr)
+			void AddVertexAttribDescriptor(const std::string& name, PlyType type, void* ptr)
 			{
-				vertexAttrib.push_back(new DataDescriptor<Container, n, Type>(name, ptr));
-				vertexAttribProp.push_back(PlyProperty(type, name));
+        AddAttribDescriptor<Container, Type, n>(name, type, ptr, vertexAttrib, vertexAttribProp);
+			}
+
+      template<class Container, class Type, int n>
+			void AddEdgeAttribDescriptor(const std::string& name, PlyType type, void* ptr)
+			{
+        AddAttribDescriptor<Container, Type, n>(name, type, ptr, edgeAttrib, edgeAttribProp);
 			}
 
 			template<class Container, class Type, int n>
-			void AddEdgeAttribDescriptor(std::string& name, PlyType type, void* ptr)
+			void AddFaceAttribDescriptor(const std::string& name, PlyType type, void* ptr)
 			{
-				edgeAttrib.push_back(new DataDescriptor<Container, n, Type>(name, ptr));
-				edgeAttribProp.push_back(PlyProperty(type, name));
+        AddAttribDescriptor<Container, Type, n>(name, type, ptr, faceAttrib, faceAttribProp);
 			}
 
 			template<class Container, class Type, int n>
-			void AddFaceAttribDescriptor(std::string& name, PlyType type, void* ptr)
-			{
-				faceAttrib.push_back(new DataDescriptor<Container, n, Type>(name, ptr));
-				faceAttribProp.push_back(PlyProperty(type, name));
-			}
-
-			template<class Container, class Type, int n>
-			void AddMeshAttribDescriptor(std::string& nameAttrib, std::string& nameProp, PlyType type, void* ptr)
+			void AddMeshAttribDescriptor(const std::string& nameAttrib, const std::string& nameProp, PlyType type, void* ptr)
 			{
 				meshAttrib[nameAttrib].push_back(new DataDescriptor<Container, n, Type>(nameProp, ptr));
 				meshAttribProp[nameAttrib].push_back(PlyProperty(type, nameProp));
 			}
 
-			void AddMeshAttrib(std::string& name, int cnt)
+			void AddMeshAttrib(const std::string& name, int cnt)
 			{
 				meshAttribCnt[name] = cnt;
 			}
@@ -239,25 +252,684 @@ namespace nanoply
 				nanoply::Info info(filename);
 				if (info.errInfo == nanoply::NNP_OK)
 				{
-					for (int i = 0; i < info.elemVec.size(); i++)
+					for (size_t i = 0; i < info.elemVec.size(); i++)
 					{
 						if (info.elemVec[i].plyElem == NNP_UNKNOWN_ELEM && info.elemVec[i].name != "camera")
 							meshAttribCnt[info.elemVec[i].name] = info.elemVec[i].cnt;
 					}
 				}
 			}
+      
+      bool CreateVertexAttribDescriptor(const PointerToAttribute* ptr)
+      {
+        return CreateAttribDescriptor(ptr, vertexAttrib, vertexAttribProp);
+      }
+
+      bool CreateEdgeAttribDescriptor(const PointerToAttribute* ptr)
+      {
+        return CreateAttribDescriptor(ptr, edgeAttrib, edgeAttribProp);
+      }
+
+      bool CreateFaceAttribDescriptor(const PointerToAttribute* ptr)
+      {
+        return CreateAttribDescriptor(ptr, faceAttrib, faceAttribProp);
+      }
+
+      bool AddVertexAttrib(MeshType& m, std::set<PointerToAttribute>& ptrAttrib, PlyElement* elem)
+      {
+        return AddCustomAttrib<0>(m, ptrAttrib, elem, vertexAttrib);
+      }
+
+      bool AddEdgeAttrib(MeshType& m, std::set<PointerToAttribute>& ptrAttrib, PlyElement* elem)
+      {
+        return AddCustomAttrib<1>(m, ptrAttrib, elem, edgeAttrib);
+      }
+
+      bool AddFaceAttrib(MeshType& m, std::set<PointerToAttribute>& ptrAttrib, PlyElement* elem)
+      {
+        return AddCustomAttrib<2>(m, ptrAttrib, elem, faceAttrib);
+      }
+
+     
+
+     private:
+
+			const std::vector<std::string> pointSuffix = { "x", "y", "z", "w" };
+			const std::vector<std::string> colorSuffix = { "r", "g", "b", "a" };
+      const std::map<std::string, int> pointSuffixMap = { { "x", 0 },{ "y", 1 },{ "z", 2 },{ "w", 3 } };
+      const std::map<std::string, int> colorSuffixMap = { {"r", 0},{ "g", 1 },{ "b", 2 },{ "a", 3 } };
+      const std::string separator = std::string("@_.#$>");
+
+			template<class Container, class Type, int n>
+			void AddAttribDescriptor(const std::string& name, PlyType type, void* ptr, ElementDescriptor::PropertyDescriptor& attrib, std::vector<PlyProperty>& attribProp)
+			{
+				attrib.push_back(new DataDescriptor<Container, n, Type>(name, ptr));
+				attribProp.push_back(PlyProperty(type, name));
+			}
+			
+      template<class Container>
+      void AddScalarAttribDescriptor(const PointerToAttribute* ptr, ElementDescriptor::PropertyDescriptor& attrib, std::vector<PlyProperty>& attribProp)
+      {
+        AddAttribDescriptor<Container, Container, 1>(ptr->_name, getEntity<Container>(), ptr->_handle->DataBegin(), attrib, attribProp);
+      }
+
+			template<class Container>
+			void AddPointAttribDescriptor(const PointerToAttribute* ptr, ElementDescriptor::PropertyDescriptor& attrib, std::vector<PlyProperty>& attribProp)
+			{
+				int size = int(Container::Dimension);
+				std::string name(ptr->_name);
+				Container* tmpPtr = (Container*)ptr->_handle->DataBegin();
+				for (int i = 0 ; i < size; i++)
+					AddAttribDescriptor<Container, typename Container::ScalarType, 1>((name + "." + pointSuffix[i]), getEntity<typename Container::ScalarType>(), &(*tmpPtr)[i], attrib, attribProp);
+			}
+
+			template<class Container>
+			void AddColorAttribDescriptor(const PointerToAttribute* ptr, ElementDescriptor::PropertyDescriptor& attrib, std::vector<PlyProperty>& attribProp)
+			{
+				int size = int(Container::Dimension);
+				std::string name(ptr->_name);
+				Container* tmpPtr = (Container*)ptr->_handle->DataBegin();
+				for (int i = 0; i < size; i++)
+					AddAttribDescriptor<Container, typename Container::ScalarType, 1>((name + "." + colorSuffix[i]), getEntity<typename Container::ScalarType>(), &(*tmpPtr)[i], attrib, attribProp);
+			}
+
+      template<class Container, class Type>
+      void AddListAttribDescriptor(const PointerToAttribute* ptr, ElementDescriptor::PropertyDescriptor& attrib, std::vector<PlyProperty>& attribProp)
+      {
+        AddAttribDescriptor<Container, Type, 0>(ptr->_name, getEntityList<Type>(), ptr->_handle->DataBegin(), attrib, attribProp);
+      }
+
+      bool CreateAttribDescriptor(const PointerToAttribute* ptr, ElementDescriptor::PropertyDescriptor& attrib, std::vector<PlyProperty>& attribProp)
+			{
+        if (ptr->_type == std::type_index(typeid(unsigned char)))
+          AddScalarAttribDescriptor<unsigned char >(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(char)))
+          AddScalarAttribDescriptor<char>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(unsigned short)))
+          AddScalarAttribDescriptor<unsigned short>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(short)))
+          AddScalarAttribDescriptor<short>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(unsigned int)))
+          AddScalarAttribDescriptor<unsigned int>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(int)))
+          AddScalarAttribDescriptor<int>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(float)))
+          AddScalarAttribDescriptor<float>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(double)))
+          AddScalarAttribDescriptor<double>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Point2s)))
+					AddPointAttribDescriptor<vcg::Point2s>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Point2i)))
+					AddPointAttribDescriptor<vcg::Point2i>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Point2f)))
+					AddPointAttribDescriptor<vcg::Point2f>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Point2d)))
+					AddPointAttribDescriptor<vcg::Point2d>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Point3s)))
+					AddPointAttribDescriptor<vcg::Point3s>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Point3i)))
+					AddPointAttribDescriptor<vcg::Point3i>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Point3f)))
+					AddPointAttribDescriptor<vcg::Point3f>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Point3d)))
+					AddPointAttribDescriptor<vcg::Point3d>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Point4s)))
+					AddPointAttribDescriptor<vcg::Point4s>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Point4i)))
+					AddPointAttribDescriptor<vcg::Point4i>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Point4f)))
+					AddPointAttribDescriptor<vcg::Point4f>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Point4d)))
+					AddPointAttribDescriptor<vcg::Point4d>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Color4b)))
+					AddColorAttribDescriptor<vcg::Color4b>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Color4f)))
+					AddColorAttribDescriptor<vcg::Color4f>(ptr, attrib, attribProp);
+				else if (ptr->_type == std::type_index(typeid(vcg::Color4d)))
+					AddColorAttribDescriptor<vcg::Color4d>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(vcg::Color4d)))
+          AddColorAttribDescriptor<vcg::Color4d>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(std::vector<unsigned char>)))
+          AddListAttribDescriptor<std::vector<unsigned char>, unsigned char>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(std::vector<char>)))
+          AddListAttribDescriptor<std::vector<char>,char>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(std::vector<unsigned short>)))
+          AddListAttribDescriptor<std::vector<unsigned short>, unsigned short>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(std::vector<short>)))
+          AddListAttribDescriptor<std::vector<short>, short>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(std::vector<unsigned int>)))
+          AddListAttribDescriptor<std::vector<unsigned int>, unsigned int>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(std::vector<int>)))
+          AddListAttribDescriptor<std::vector<int>, int>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(std::vector<float>)))
+          AddListAttribDescriptor<std::vector<float>, float>(ptr, attrib, attribProp);
+        else if (ptr->_type == std::type_index(typeid(std::vector<double>)))
+          AddListAttribDescriptor<std::vector<double>, double>(ptr, attrib, attribProp);
+				else
+					return false;
+				return true;
+			}
+
+      
+      template <size_t ActionType, class Container>
+      void AddScalarAttrib(MeshType& m, const std::string& name, PlyType& type)
+      {
+        if (ActionType == 0) //vertex
+        {
+          auto h = vcg::tri::Allocator<MeshType>::template GetPerVertexAttribute<Container>(m, name);
+          AddVertexAttribDescriptor<Container, Container, 1>(name, type, h._handle->DataBegin());
+        }
+        else if (ActionType == 1) //Edge
+        {
+          auto h = vcg::tri::Allocator<MeshType>::template GetPerEdgeAttribute<Container>(m, name);
+          AddEdgeAttribDescriptor<Container, Container, 1>(name, type, h._handle->DataBegin());
+        }
+        else if (ActionType == 2) //Face
+        {
+          auto h = vcg::tri::Allocator<MeshType>::template GetPerFaceAttribute<Container>(m, name);
+          AddFaceAttribDescriptor<Container, Container, 1>(name, type, h._handle->DataBegin());
+        }
+      }
+
+      template <size_t ActionType, class Container>
+      void AddPointAttrib(MeshType& m, const std::string& name, std::vector<PlyProperty>& prop)
+      {
+        if (ActionType == 0) //vertex
+        {
+          auto h = vcg::tri::Allocator<MeshType>::template GetPerVertexAttribute<Container>(m, name);
+          for (size_t i = 0; i < prop.size(); i++)
+            AddVertexAttribDescriptor<Container, typename Container::ScalarType, 1>(prop[i].name, prop[i].type, &h[0][i]);
+        }
+        else if (ActionType == 1) //Edge
+        {
+          auto h = vcg::tri::Allocator<MeshType>::template GetPerEdgeAttribute<Container>(m, name);
+          for (size_t i = 0; i < prop.size(); i++)
+            AddEdgeAttribDescriptor<Container, typename Container::ScalarType, 1>(prop[i].name, prop[i].type, &h[0][i]);
+        }
+        else if (ActionType == 2) //Face
+        {
+          auto h = vcg::tri::Allocator<MeshType>::template GetPerFaceAttribute<Container>(m, name);
+          for (size_t i = 0; i < prop.size(); i++)
+            AddFaceAttribDescriptor<Container, typename Container::ScalarType, 1>(prop[i].name, prop[i].type, &h[0][i]);
+        }
+      }
+
+
+      template <size_t ActionType, class Container, class Type>
+      void AddListAttrib(MeshType& m, const std::string& name, PlyType& type)
+      {
+        if (ActionType == 0) //vertex
+        {
+          auto h = vcg::tri::Allocator<MeshType>::template GetPerVertexAttribute<Container>(m, name);
+          AddVertexAttribDescriptor<Container, Type, 0>(name, type, h._handle->DataBegin());
+        }
+        else if (ActionType == 1) //Edge
+        {
+          auto h = vcg::tri::Allocator<MeshType>::template GetPerEdgeAttribute<Container>(m, name);
+          AddEdgeAttribDescriptor<Container, Type, 0>(name, type, h._handle->DataBegin());
+        }
+        else if (ActionType == 2) //Face
+        {
+          auto h = vcg::tri::Allocator<MeshType>::template GetPerFaceAttribute<Container>(m, name);
+          AddFaceAttribDescriptor<Container, Type, 0>(name, type, h._handle->DataBegin());
+        }
+      }
+
+
+      template <size_t ActionType>
+      bool AddCustomAttrib(MeshType& m, std::set<PointerToAttribute>& ptrAttrib, PlyElement* elem, ElementDescriptor::PropertyDescriptor& attrib)
+      {
+        //Custom attribute with already a data descriptor
+        std::set<std::string> validCustomAttrib;
+        for (size_t i = 0; i < attrib.size(); i++)
+        {
+          if (attrib[i]->base == NULL)
+          {
+            typename std::set<PointerToAttribute>::iterator ai;
+            for (ai = ptrAttrib.begin(); ai != ptrAttrib.end(); ++ai)
+            {
+              if (attrib[i]->name == (*ai)._name)
+              {
+                attrib[i]->base = ai->_handle->DataBegin();
+                validCustomAttrib.insert(attrib[i]->name);
+                break;
+              }
+            }
+          }
+          else
+            validCustomAttrib.insert(attrib[i]->name);
+        }
+        //Get custom properties without a data descriptor 
+        std::map<std::string, std::pair<std::vector<PlyProperty>, int>> customAttribName;
+        std::vector<std::string> attribName((*elem).propVec.size());
+        for (size_t i = 0; i < (*elem).propVec.size(); i++)
+        {
+          if ((*elem).propVec[i].elem == NNP_UNKNOWN_ENTITY)
+          {
+            if (validCustomAttrib.find((*elem).propVec[i].name) == validCustomAttrib.end())
+            {
+              std::size_t found = (*elem).propVec[i].name.find_first_of(separator);
+              if (found != std::string::npos)
+              {
+                attribName[i] = (*elem).propVec[i].name.substr(0, found);
+                std::string suffix = (*elem).propVec[i].name.substr(found+1);
+                std::map<std::string, int>::const_iterator it1, it2;
+                it1 = pointSuffixMap.find(suffix);
+                it2 = colorSuffixMap.find(suffix);
+                if (it1 != pointSuffixMap.cend())
+                  customAttribName[attribName[i]].second |= (1 << (*it1).second);
+                else if (it2 != colorSuffixMap.cend())
+                  customAttribName[attribName[i]].second |= (1 << ((*it2).second + 4));
+              }
+              else
+                attribName[i] = (*elem).propVec[i].name;
+              customAttribName[attribName[i]].first.push_back((*elem).propVec[i]);
+              
+            }
+          }
+        }
+        //Create the attribute and the data descriptor
+        std::map<std::string, std::pair<std::vector<PlyProperty>, int>>::iterator mapIter;
+        for (mapIter = customAttribName.begin(); mapIter != customAttribName.end(); mapIter++)
+        {
+          unsigned int bitType = 0;
+          std::vector<PlyProperty> tempProp((*mapIter).second.first.size());
+          int checkMask = (1 << (*mapIter).second.first.size()) - 1;
+          for (size_t i = 0; i < (*mapIter).second.first.size(); i++)
+          {
+            PlyProperty& p = (*mapIter).second.first[i];
+            bitType |= p.type;
+            std::size_t found = p.name.find_first_of(separator);
+            if (found != std::string::npos)
+            {
+              std::string suffix = p.name.substr(found + 1);
+              if ((*mapIter).second.second == checkMask)
+                tempProp[(*pointSuffixMap.find(suffix)).second] = p;
+              else if ((*mapIter).second.second == (checkMask << 4))
+                tempProp[(*colorSuffixMap.find(suffix)).second] = p;
+              else
+                tempProp[i] = p;
+            }
+            else
+              tempProp[i] = p;
+          }
+          unsigned int r = (bitType & (~tempProp[0].type));
+          if (tempProp.size() > 1  && ((bitType & (~tempProp[0].type)) == 0))
+          {
+            if (tempProp.size() == 2)
+            {
+              switch (tempProp[0].type)
+              {
+              case NNP_FLOAT32: AddPointAttrib<ActionType, vcg::Point2f>(m, (*mapIter).first, tempProp); break;
+              case NNP_FLOAT64: AddPointAttrib<ActionType, vcg::Point2d>(m, (*mapIter).first, tempProp); break;
+              case NNP_INT8: AddPointAttrib<ActionType, vcg::Point2<char>>(m, (*mapIter).first, tempProp); break;
+              case NNP_INT16: AddPointAttrib<ActionType, vcg::Point2s>(m, (*mapIter).first, tempProp); break;
+              case NNP_INT32: AddPointAttrib<ActionType, vcg::Point2i>(m, (*mapIter).first, tempProp); break;
+              case NNP_UINT8: AddPointAttrib<ActionType, vcg::Point2<unsigned char>>(m, (*mapIter).first, tempProp); break;
+              case NNP_UINT16: AddPointAttrib<ActionType, vcg::Point2<unsigned short>>(m, (*mapIter).first, tempProp); break;
+              case NNP_UINT32: AddPointAttrib<ActionType, vcg::Point2<unsigned int>>(m, (*mapIter).first, tempProp); break;
+			  default: assert(0);
+              }
+            }
+            else if (tempProp.size() == 3)
+            {
+              switch (tempProp[0].type)
+              {
+              case NNP_FLOAT32: AddPointAttrib<ActionType, vcg::Point3f>(m, (*mapIter).first, tempProp); break;
+              case NNP_FLOAT64: AddPointAttrib<ActionType, vcg::Point3d>(m, (*mapIter).first, tempProp); break;
+              case NNP_INT8: AddPointAttrib<ActionType, vcg::Point3<char>>(m, (*mapIter).first, tempProp); break;
+              case NNP_INT16: AddPointAttrib<ActionType, vcg::Point3s>(m, (*mapIter).first, tempProp); break;
+              case NNP_INT32: AddPointAttrib<ActionType, vcg::Point3i>(m, (*mapIter).first, tempProp); break;
+              case NNP_UINT8: AddPointAttrib<ActionType, vcg::Point3<unsigned char>>(m, (*mapIter).first, tempProp); break;
+              case NNP_UINT16: AddPointAttrib<ActionType, vcg::Point3<unsigned short>>(m, (*mapIter).first, tempProp); break;
+              case NNP_UINT32: AddPointAttrib<ActionType, vcg::Point3<unsigned int>>(m, (*mapIter).first, tempProp); break;
+			  default: assert(0);
+              }
+            }
+            else if (tempProp.size() == 4 && (*mapIter).second.second != (checkMask << 4))
+            {
+              switch (tempProp[0].type)
+              {
+              case NNP_FLOAT32: AddPointAttrib<ActionType, vcg::Point4d>(m, (*mapIter).first, tempProp); break;
+              case NNP_FLOAT64: AddPointAttrib<ActionType, vcg::Point4d>(m, (*mapIter).first, tempProp); break;
+              case NNP_INT8: AddPointAttrib<ActionType, vcg::Point4<char>>(m, (*mapIter).first, tempProp); break;
+              case NNP_INT16: AddPointAttrib<ActionType, vcg::Point4s>(m, (*mapIter).first, tempProp); break;
+              case NNP_INT32: AddPointAttrib<ActionType, vcg::Point4i>(m, (*mapIter).first, tempProp); break;
+              case NNP_UINT8: AddPointAttrib<ActionType, vcg::Point4<unsigned char>>(m, (*mapIter).first, tempProp); break;
+              case NNP_UINT16: AddPointAttrib<ActionType, vcg::Point4<unsigned short>>(m, (*mapIter).first, tempProp); break;
+              case NNP_UINT32: AddPointAttrib<ActionType, vcg::Point4<unsigned int>>(m, (*mapIter).first, tempProp); break;
+			  default: assert(0);
+              }
+            }
+            else if (tempProp.size() == 4)
+            {
+              switch (tempProp[0].type)
+              {
+              case NNP_INT8:
+              case NNP_INT16:
+              case NNP_INT32: 
+              case NNP_UINT16:
+              case NNP_UINT32:
+              case NNP_FLOAT32: AddPointAttrib<ActionType, vcg::Color4f>(m, (*mapIter).first, tempProp); break;
+              case NNP_FLOAT64: AddPointAttrib<ActionType, vcg::Color4d>(m, (*mapIter).first, tempProp); break;
+              case NNP_UINT8: AddPointAttrib<ActionType, vcg::Color4b>(m, (*mapIter).first, tempProp); break;
+			  default: assert(0);
+              }
+            }
+          }
+          else
+          {
+            for (size_t i = 0; i < tempProp.size(); i++)
+            {
+              switch (tempProp[i].type)
+              {
+              case NNP_FLOAT32: AddScalarAttrib<ActionType, float>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_FLOAT64: AddScalarAttrib<ActionType, double>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_INT8: AddScalarAttrib<ActionType, char>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_INT16: AddScalarAttrib<ActionType, short>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_INT32: AddScalarAttrib<ActionType, int>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_UINT8: AddScalarAttrib<ActionType, unsigned char>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_UINT16: AddScalarAttrib<ActionType, unsigned short>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_UINT32: AddScalarAttrib<ActionType, unsigned int>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_LIST_UINT8_UINT32:
+              case NNP_LIST_INT8_UINT32: AddListAttrib<ActionType, std::vector<unsigned int>, unsigned int>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_LIST_UINT8_INT32:
+              case NNP_LIST_INT8_INT32: AddListAttrib<ActionType, std::vector<int>, int>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_LIST_UINT8_FLOAT32:
+              case NNP_LIST_INT8_FLOAT32: AddListAttrib<ActionType, std::vector<float>, float>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_LIST_UINT8_FLOAT64:
+              case NNP_LIST_INT8_FLOAT64: AddListAttrib<ActionType, std::vector<double>, double>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_LIST_UINT8_UINT8:
+              case NNP_LIST_INT8_UINT8: AddListAttrib<ActionType, std::vector<unsigned char>, unsigned char>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_LIST_UINT8_INT8:
+              case NNP_LIST_INT8_INT8: AddListAttrib<ActionType, std::vector<char>, char>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_LIST_UINT8_UINT16:
+              case NNP_LIST_INT8_UINT16: AddListAttrib<ActionType, std::vector<unsigned short>, unsigned short>(m, tempProp[i].name, tempProp[i].type); break;
+              case NNP_LIST_UINT8_INT16:
+              case NNP_LIST_INT8_INT16: AddListAttrib<ActionType, std::vector<short>, short>(m, tempProp[i].name, tempProp[i].type); break;
+			  default: assert(0);
+              }
+            }
+          }
+        }
+        return true;
+      }
+      
+      
 
 		};
 		
 
+    template <class T>
+    struct OcfManager 
+    {
+      typedef typename T::VertexType VType;
+      typedef typename T::FaceType FType;
+      typedef typename T::EdgeType EType;
+      
+
+      template <bool f = std::is_same<typename T::VertContainer, vcg::vertex::vector_ocf<VType>>::value>
+      static unsigned int EnableVertexOcf(typename T::VertContainer& cont, unsigned int mask) {
+        return 0;
+      }
+
+      template <>
+      static unsigned int EnableVertexOcf<true>(typename T::VertContainer& cont, unsigned int mask )
+      { 
+        unsigned int enabledMask = 0;
+        if ((mask & BitMask::IO_VERTNORMAL) && VType::HasNormalOcf() && !cont.IsNormalEnabled())
+        {
+          cont.EnableNormal();
+          enabledMask |= BitMask::IO_VERTNORMAL;
+        }
+        if ((mask & BitMask::IO_VERTCOLOR) && VType::HasColorOcf() && !cont.IsColorEnabled())
+        {
+          cont.EnableColor();
+          enabledMask |= BitMask::IO_VERTCOLOR;
+        }
+        if ((mask & BitMask::IO_VERTQUALITY) && VType::HasQualityOcf() && !cont.IsQualityEnabled())
+        {
+          cont.EnableQuality();
+          enabledMask |= BitMask::IO_VERTQUALITY;
+        }
+        if ((mask & BitMask::IO_VERTCURV) && VType::HasCurvatureOcf() && !cont.IsCurvatureEnabled())
+        {
+          cont.EnableCurvature();
+          enabledMask |= BitMask::IO_VERTCURV;
+        }
+        if ((mask & BitMask::IO_VERTCURVDIR) && VType::HasCurvatureDirOcf() && !cont.IsCurvatureDirEnabled())
+        {
+          cont.EnableCurvatureDir();
+          enabledMask |= BitMask::IO_VERTCURVDIR;
+        }
+        if ((mask & BitMask::IO_VERTRADIUS) && VType::HasRadiusOcf() && !cont.IsRadiusEnabled())
+        {
+          cont.EnableRadius();
+          enabledMask |= BitMask::IO_VERTRADIUS;
+        }
+        if ((mask & BitMask::IO_VERTTEXCOORD) && VType::HasTexCoordOcf() && !cont.IsTexCoordEnabled())
+        {
+          cont.EnableTexCoord();
+          enabledMask |= BitMask::IO_VERTTEXCOORD;
+        }
+        return enabledMask; 
+      };
+
+
+      template <bool f = std::is_same<typename T::FaceContainer, vcg::face::vector_ocf<FType>>::value>
+      static unsigned int EnableFaceOcf(typename T::FaceContainer& cont, unsigned int mask) {
+        return 0;
+      }
+
+      template <>
+      static unsigned int EnableFaceOcf<true>(typename T::FaceContainer& cont, unsigned int mask)
+      {
+        unsigned int enabledMask = 0;
+        if ((mask & BitMask::IO_FACENORMAL) && FType::HasNormalOcf() && !cont.IsNormalEnabled())
+        {
+          cont.EnableNormal();
+          enabledMask |= BitMask::IO_FACENORMAL;
+        }
+        if ((mask & BitMask::IO_FACECOLOR) && FType::HasColorOcf() && !cont.IsColorEnabled())
+        {
+          cont.EnableColor();
+          enabledMask |= BitMask::IO_FACECOLOR;
+        }
+        if ((mask & BitMask::IO_FACEQUALITY) && FType::HasQualityOcf() && !cont.IsQualityEnabled())
+        {
+          cont.EnableQuality();
+          enabledMask |= BitMask::IO_FACEQUALITY;
+        }
+        if ((mask & BitMask::IO_FACECURVDIR) && FType::HasCurvatureDirOcf() && !cont.IsCurvatureDirEnabled())
+        {
+          cont.EnableCurvatureDir();
+          enabledMask |= BitMask::IO_FACECURVDIR;
+        }
+        if ((mask & BitMask::IO_WEDGCOLOR) && FType::HasWedgeColorOcf() && !cont.IsWedgeColorEnabled())
+        {
+          cont.EnableWedgeColor();
+          enabledMask |= BitMask::IO_WEDGCOLOR;
+        }
+        if ((mask & BitMask::IO_WEDGNORMAL) && FType::HasWedgeNormalOcf() && !cont.IsWedgeNormalEnabled())
+        {
+          cont.EnableWedgeNormal();
+          enabledMask |= BitMask::IO_WEDGNORMAL;
+        }
+        if ((mask & BitMask::IO_WEDGTEXCOORD) && FType::HasWedgeTexCoordOcf() && !cont.IsWedgeTexCoordEnabled())
+        {
+          cont.EnableWedgeTexCoord();
+          enabledMask |= BitMask::IO_WEDGTEXCOORD;
+        }
+        if ((mask & BitMask::IO_WEDGTEXMULTI) && FType::HasWedgeTexCoordOcf())
+        {
+          if (!cont.IsWedgeTexCoordEnabled())
+            cont.EnableWedgeTexCoord();
+          enabledMask |= BitMask::IO_WEDGTEXMULTI;
+        }
+        return enabledMask;
+      };
+
+
+
+      template <bool f = std::is_same<typename T::VertContainer, vcg::vertex::vector_ocf<VType>>::value>
+      static unsigned int VertexOcfMask(typename T::VertContainer& cont) {
+        return 0;
+      }
+
+      template <>
+      static unsigned int VertexOcfMask<true>(typename T::VertContainer& cont)
+      {
+        unsigned int enabledMask = 0;
+        if (VType::HasNormalOcf() && cont.IsNormalEnabled())
+          enabledMask |= BitMask::IO_VERTNORMAL;
+        if (VType::HasColorOcf() && cont.IsColorEnabled())
+          enabledMask |= BitMask::IO_VERTCOLOR;
+        if (VType::HasQualityOcf() && cont.IsQualityEnabled())
+          enabledMask |= BitMask::IO_VERTQUALITY;
+        if (VType::HasCurvatureOcf() && cont.IsCurvatureEnabled())
+          enabledMask |= BitMask::IO_VERTCURV;
+        if (VType::HasCurvatureDirOcf() && cont.IsCurvatureDirEnabled())
+          enabledMask |= BitMask::IO_VERTCURVDIR;
+        if (VType::HasRadiusOcf() && cont.IsRadiusEnabled())
+          enabledMask |= BitMask::IO_VERTRADIUS;
+        if (VType::HasTexCoordOcf() && cont.IsTexCoordEnabled())
+          enabledMask |= BitMask::IO_VERTTEXCOORD;
+        return enabledMask;
+      };
+
+
+      template <bool f = std::is_same<typename T::FaceContainer, vcg::face::vector_ocf<FType>>::value>
+      static unsigned int FaceOcfMask(typename T::FaceContainer& cont) {
+        return 0;
+      }
+
+      template <>
+      static unsigned int FaceOcfMask<true>(typename T::FaceContainer& cont)
+      {
+        unsigned int enabledMask = 0;
+        if (FType::HasNormalOcf() && cont.IsNormalEnabled())
+          enabledMask |= BitMask::IO_FACENORMAL;
+        if (FType::HasColorOcf() && cont.IsColorEnabled())
+          enabledMask |= BitMask::IO_FACECOLOR;
+        if (FType::HasQualityOcf() && cont.IsQualityEnabled())
+          enabledMask |= BitMask::IO_FACEQUALITY;
+        if (FType::HasCurvatureDirOcf() && cont.IsCurvatureDirEnabled())
+          enabledMask |= BitMask::IO_FACECURVDIR;
+        if (FType::HasWedgeColorOcf() && cont.IsWedgeColorEnabled())
+          enabledMask |= BitMask::IO_WEDGCOLOR;
+        if (FType::HasWedgeNormalOcf() && cont.IsWedgeNormalEnabled())
+          enabledMask |= BitMask::IO_WEDGNORMAL;
+        if (FType::HasWedgeTexCoordOcf() && cont.IsWedgeTexCoordEnabled())
+        {
+          enabledMask |= BitMask::IO_WEDGTEXCOORD;
+          enabledMask |= BitMask::IO_WEDGTEXMULTI;
+        }
+        return enabledMask;
+      };
+            
+    };
+
+    
+   
+    static unsigned int GetFileBitMask(nanoply::Info& info)
+    {
+      unsigned int mask = 0;
+      for (size_t j = 0; j < info.elemVec.size(); j++)
+      {
+        PlyElement& elem = info.elemVec[j];
+        if (elem.plyElem == PlyElemEntity::NNP_VERTEX_ELEM)
+        {
+          for (size_t i = 0; i < elem.propVec.size(); i++)
+          {
+            switch (elem.propVec[i].elem)
+            {
+            case NNP_PXYZ: mask |= BitMask::IO_VERTCOORD; break;
+            case NNP_NXYZ: mask |= BitMask::IO_VERTNORMAL; break;
+            case NNP_CRGB:
+            case NNP_CRGBA: mask |= BitMask::IO_VERTCOLOR; break;
+            case NNP_BITFLAG: mask |= BitMask::IO_VERTFLAGS; break;
+            case NNP_QUALITY: mask |= BitMask::IO_VERTQUALITY; break;
+            case NNP_DENSITY:  mask |= BitMask::IO_VERTRADIUS; break;
+            case NNP_TEXTURE2D:
+            case NNP_TEXTURE3D: mask |= BitMask::IO_VERTTEXCOORD; break;
+            case NNP_KH:
+            case NNP_KG: mask |= BitMask::IO_VERTCURV; break;
+            case NNP_K1:
+            case NNP_K2:
+            case NNP_K1DIR:
+            case NNP_K2DIR: mask |= BitMask::IO_VERTCURVDIR; break;
+            case NNP_UNKNOWN_ENTITY: mask |= BitMask::IO_VERTATTRIB; break;
+			default: assert(0);
+            }
+          }
+        }
+        else if (elem.plyElem == PlyElemEntity::NNP_EDGE_ELEM)
+        {
+          for (size_t i = 0; i < elem.propVec.size(); i++)
+          {
+            switch (elem.propVec[i].elem)
+            {
+            case NNP_EDGE_V1:
+            case NNP_EDGE_V2: mask |= BitMask::IO_EDGEINDEX; break;
+            case NNP_CRGB:
+            case NNP_CRGBA: mask |= BitMask::IO_EDGECOLOR; break;
+            case NNP_BITFLAG: mask |= BitMask::IO_EDGEFLAGS; break;
+            case NNP_QUALITY: mask |= BitMask::IO_EDGEQUALITY; break;
+            case NNP_UNKNOWN_ENTITY: mask |= BitMask::IO_EDGEATTRIB; break;
+			default: assert(0);
+            }
+          }
+        }
+        else if (elem.plyElem == PlyElemEntity::NNP_FACE_ELEM)
+        {
+          for (size_t i = 0; i < elem.propVec.size(); i++)
+          {
+            switch (elem.propVec[i].elem)
+            {
+            case NNP_FACE_VERTEX_LIST: mask |= BitMask::IO_FACEINDEX; break;
+            case NNP_NXYZ: mask |= BitMask::IO_FACENORMAL; break;
+            case NNP_CRGB:
+            case NNP_CRGBA: mask |= BitMask::IO_FACECOLOR; break;
+            case NNP_BITFLAG: mask |= BitMask::IO_FACEFLAGS; break;
+            case NNP_QUALITY: mask |= BitMask::IO_FACEQUALITY; break;
+            case NNP_K1:
+            case NNP_K2:
+            case NNP_K1DIR:
+            case NNP_K2DIR: mask |= BitMask::IO_FACECURVDIR; break;
+            case NNP_FACE_WEDGE_COLOR: mask |= BitMask::IO_WEDGCOLOR; break;
+            case NNP_FACE_WEDGE_NORMAL: mask |= BitMask::IO_WEDGNORMAL; break;
+            case NNP_FACE_WEDGE_TEX: mask |= BitMask::IO_WEDGTEXCOORD; break;
+            case NNP_TEXTUREINDEX: mask |= BitMask::IO_WEDGTEXMULTI; break;
+            case NNP_UNKNOWN_ENTITY: mask |= BitMask::IO_FACEATTRIB; break;
+			default: assert(0);
+            }
+          }
+        }
+        else if (elem.plyElem == PlyElemEntity::NNP_UNKNOWN_ELEM)
+        {
+          if (elem.name == "camera")
+            mask |= BitMask::IO_CAMERA;
+          else
+            mask |= BitMask::IO_MESHATTRIB;
+        }
+      }
+      return mask;
+    };
+
+
 
 		static int LoadModel(const char* filename, MeshType& mesh, unsigned int bitMask, CustomAttributeDescriptor& custom)
 		{
 			nanoply::Info info(filename);
 			if (info.errInfo != nanoply::NNP_OK)
 				return info.errInfo;
-
-			//Camera
+      
+      unsigned int headerMask = GetFileBitMask(info);
+      bitMask &= headerMask;
+      unsigned int ocfVertexMask = OcfManager<MeshType>::EnableVertexOcf(mesh.vert, bitMask);
+      unsigned int ocfFaceMask = OcfManager<MeshType>::EnableFaceOcf(mesh.face, bitMask);
+      
+      //Camera
 			ElementDescriptor cameraDescr(std::string("camera"));
 			vcg::Point3<ScalarType> tra;
 			vcg::Matrix44<ScalarType> rot;
@@ -299,46 +971,82 @@ namespace nanoply
 				vcg::tri::Allocator<MeshType>::AddVertices(mesh, count);
 				if ((bitMask & BitMask::IO_VERTCOORD) && VertexType::HasCoord())
 					vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 3, VertexCoordScalar>(NNP_PXYZ, (*mesh.vert.begin()).P().V()));
-				if ((bitMask & BitMask::IO_VERTNORMAL) && vcg::tri::HasPerVertexNormal(mesh))
-					vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 3, VertexNormScalar>(NNP_NXYZ, (*mesh.vert.begin()).N().V()));
-				if ((bitMask & BitMask::IO_VERTCOLOR) && vcg::tri::HasPerVertexColor(mesh))
-					vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 4, VertexColorScalar>(NNP_CRGBA, (*mesh.vert.begin()).C().V()));
-				if ((bitMask & BitMask::IO_VERTQUALITY) && vcg::tri::HasPerVertexQuality(mesh))
-					vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 1, VertexQuality>(NNP_QUALITY, &(*mesh.vert.begin()).Q()));
+        if ((bitMask & BitMask::IO_VERTNORMAL) && vcg::tri::HasPerVertexNormal(mesh))
+        {
+          if (ocfVertexMask & BitMask::IO_VERTNORMAL)
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexNormalType, 3, VertexNormScalar>(NNP_NXYZ, (*mesh.vert.begin()).N().V()));
+          else
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 3, VertexNormScalar>(NNP_NXYZ, (*mesh.vert.begin()).N().V()));
+        }
+        if ((bitMask & BitMask::IO_VERTCOLOR) && vcg::tri::HasPerVertexColor(mesh))
+        {
+          if (ocfVertexMask & BitMask::IO_VERTCOLOR)
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexColorType, 4, VertexColorScalar>(NNP_CRGBA, (*mesh.vert.begin()).C().V()));
+          else
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 4, VertexColorScalar>(NNP_CRGBA, (*mesh.vert.begin()).C().V()));
+        }
+        if ((bitMask & BitMask::IO_VERTQUALITY) && vcg::tri::HasPerVertexQuality(mesh))
+        {
+          if (ocfVertexMask & BitMask::IO_VERTQUALITY)
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexQuality, 1, VertexQuality>(NNP_QUALITY, &(*mesh.vert.begin()).Q()));
+          else
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 1, VertexQuality>(NNP_QUALITY, &(*mesh.vert.begin()).Q()));
+        }
 				if ((bitMask & BitMask::IO_VERTFLAGS) && vcg::tri::HasPerVertexFlags(mesh))
 					vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 1, VertexFlag>(NNP_BITFLAG, &(*mesh.vert.begin()).Flags()));
-				if ((bitMask & BitMask::IO_VERTRADIUS) && vcg::tri::HasPerVertexRadius(mesh))
-					vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 1, VertexRadius>(NNP_DENSITY, &(*mesh.vert.begin()).R()));
-				if ((bitMask & BitMask::IO_VERTTEXCOORD) && vcg::tri::HasPerVertexTexCoord(mesh))
-					vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 2, VertexTexScalar>(NNP_TEXTURE2D, (*mesh.vert.begin()).T().P().V()));
-				if ((bitMask & BitMask::IO_VERTCURV) && vcg::tri::HasPerVertexCurvature(mesh))
+        if ((bitMask & BitMask::IO_VERTRADIUS) && vcg::tri::HasPerVertexRadius(mesh))
+        {
+          if (ocfVertexMask & BitMask::IO_VERTRADIUS)
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexRadius, 1, VertexRadius>(NNP_DENSITY, &(*mesh.vert.begin()).R()));
+          else
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 1, VertexRadius>(NNP_DENSITY, &(*mesh.vert.begin()).R()));
+        }
+        if ((bitMask & BitMask::IO_VERTTEXCOORD) && vcg::tri::HasPerVertexTexCoord(mesh))
+        {
+          if (ocfVertexMask & BitMask::IO_VERTTEXCOORD)
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexTexCoordType, 2, VertexTexScalar>(NNP_TEXTURE2D, (*mesh.vert.begin()).T().P().V()));
+          else
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 2, VertexTexScalar>(NNP_TEXTURE2D, (*mesh.vert.begin()).T().P().V()));
+        }
+        if ((bitMask & BitMask::IO_VERTCURV) && vcg::tri::HasPerVertexCurvature(mesh))
 				{
-					vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 1, VertexCurScalar>(NNP_KG, &(*mesh.vert.begin()).Kg()));
-          vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 1, VertexCurScalar>(NNP_KH, &(*mesh.vert.begin()).Kh()));
+          if (ocfVertexMask & BitMask::IO_VERTCURV)
+          {
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexCurType, 1, VertexCurScalar>(NNP_KG, &(*mesh.vert.begin()).Kg()));
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexCurType, 1, VertexCurScalar>(NNP_KH, &(*mesh.vert.begin()).Kh()));
+          }
+          else
+          {
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 1, VertexCurScalar>(NNP_KG, &(*mesh.vert.begin()).Kg()));
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 1, VertexCurScalar>(NNP_KH, &(*mesh.vert.begin()).Kh()));
+          }
 				}
 				if ((bitMask & BitMask::IO_VERTCURVDIR) && vcg::tri::HasPerVertexCurvatureDir(mesh))
 				{
-					vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 1, VertexDirCurScalar>(NNP_K1, &(*mesh.vert.begin()).K1()));
-          vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 1, VertexDirCurScalar>(NNP_K2, &(*mesh.vert.begin()).K2()));
-          vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 3, VertexDirCurVecScalar>(NNP_K1DIR, (*mesh.vert.begin()).PD1().V()));
-          vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 3, VertexDirCurVecScalar>(NNP_K2DIR, (*mesh.vert.begin()).PD2().V()));
-				}
-				if ((bitMask & BitMask::IO_VERTATTRIB) && custom.vertexAttrib.size() > 0)
-				{
-					for (int i = 0; i < custom.vertexAttrib.size(); i++)
-					{
-            std::set<PointerToAttribute>::iterator ai;
-						for (ai = mesh.vert_attr.begin(); ai != mesh.vert_attr.end(); ++ai)
-						{
-							if ((*custom.vertexAttrib[i]).name == (*ai)._name)
-							{
-								custom.vertexAttrib[i]->base = ai->_handle->DataBegin();
-								break;
-							}
-						}
-						vertexDescr.dataDescriptor.push_back(custom.vertexAttrib[i]);
-					}
-				}
+          if (ocfVertexMask & BitMask::IO_VERTCURVDIR)
+          {
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexCurDirType, 1, VertexDirCurScalar>(NNP_K1, &(*mesh.vert.begin()).K1()));
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexCurDirType, 1, VertexDirCurScalar>(NNP_K2, &(*mesh.vert.begin()).K2()));
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexCurDirType, 3, VertexDirCurVecScalar>(NNP_K1DIR, (*mesh.vert.begin()).PD1().V()));
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexCurDirType, 3, VertexDirCurVecScalar>(NNP_K2DIR, (*mesh.vert.begin()).PD2().V()));
+          }
+          else
+          {
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 1, VertexDirCurScalar>(NNP_K1, &(*mesh.vert.begin()).K1()));
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 1, VertexDirCurScalar>(NNP_K2, &(*mesh.vert.begin()).K2()));
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 3, VertexDirCurVecScalar>(NNP_K1DIR, (*mesh.vert.begin()).PD1().V()));
+            vertexDescr.dataDescriptor.push_back(new DataDescriptor<VertexType, 3, VertexDirCurVecScalar>(NNP_K2DIR, (*mesh.vert.begin()).PD2().V()));
+          }
+        }
+        if (bitMask & BitMask::IO_VERTATTRIB)
+        {
+          custom.AddVertexAttrib(mesh, mesh.vert_attr, info.GetVertexElement());
+          for (size_t i = 0; i < custom.vertexAttrib.size(); i++)
+          {
+            if ((*custom.vertexAttrib[i]).base != NULL)
+              vertexDescr.dataDescriptor.push_back(custom.vertexAttrib[i]);
+          }
+        }
 			}
 
 			//Edge
@@ -362,22 +1070,15 @@ namespace nanoply
 					edgeDescr.dataDescriptor.push_back(new DataDescriptor<EdgeType, 4, EdgeColorScalar>(NNP_CRGBA, (*mesh.edge.begin()).C().V()));
 				if ((bitMask & BitMask::IO_EDGEFLAGS) && vcg::tri::HasPerEdgeFlags(mesh))
 					edgeDescr.dataDescriptor.push_back(new DataDescriptor<EdgeType, 1, EdgeFlag>(NNP_BITFLAG, &(*mesh.edge.begin()).Flags()));
-				if ((bitMask & BitMask::IO_EDGEATTRIB) && custom.edgeAttrib.size() > 0)
-				{
-          for (int i = 0; i < custom.edgeAttrib.size(); i++)
+        if (bitMask & BitMask::IO_EDGEATTRIB)
+        {
+          custom.AddEdgeAttrib(mesh, mesh.edge_attr, info.GetEdgeElement());
+          for (size_t i = 0; i < custom.edgeAttrib.size(); i++)
           {
-            std::set<PointerToAttribute>::iterator ai;
-            for (ai = mesh.edge_attr.begin(); ai != mesh.edge_attr.end(); ++ai)
-            {
-              if ((*custom.edgeAttrib[i]).name == (*ai)._name)
-              {
-                custom.edgeAttrib[i]->base = ai->_handle->DataBegin();
-                break;
-              }
-            }
-            edgeDescr.dataDescriptor.push_back(custom.edgeAttrib[i]);
+            if ((*custom.edgeAttrib[i]).base != NULL)
+              edgeDescr.dataDescriptor.push_back(custom.edgeAttrib[i]);
           }
-				}
+        }
 			}
 
 			//Face
@@ -385,7 +1086,7 @@ namespace nanoply
 			FaceType::Name(nameList);
 			ElementDescriptor faceDescr(NNP_FACE_ELEM);
 			count = info.GetFaceCount();
-			std::vector<vcg::Point3i> faceIndex;
+      std::vector<std::vector<unsigned int>> faceIndex;
 			std::vector<vcg::ndim::Point<6, FaceTexScalar>> wedgeTexCoord;
 			if (nameList.size() > 0 && count > 0)
 			{
@@ -393,52 +1094,83 @@ namespace nanoply
 				if ((bitMask & BitMask::IO_FACEINDEX) && FaceType::HasVertexRef())
 				{
 					faceIndex.resize(count);
-					faceDescr.dataDescriptor.push_back(new DataDescriptor<vcg::Point3i, 3, int>(NNP_FACE_VERTEX_LIST, (*faceIndex.begin()).V()));
+          faceDescr.dataDescriptor.push_back(new DataDescriptor<std::vector<unsigned int>,0, unsigned int>(NNP_FACE_VERTEX_LIST, &faceIndex[0]));
 				}
 				if ((bitMask & BitMask::IO_FACEFLAGS) && vcg::tri::HasPerFaceFlags(mesh))
 					faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 1, FaceFlag>(NNP_BITFLAG, &(*mesh.face.begin()).Flags()));
-				if ((bitMask & BitMask::IO_FACECOLOR) && vcg::tri::HasPerFaceColor(mesh))
-					faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 4, FaceColorScalar>(NNP_CRGBA, (*mesh.face.begin()).C().V()));
-				if ((bitMask & BitMask::IO_FACEQUALITY) && vcg::tri::HasPerFaceQuality(mesh))
-					faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 1, FaceQuality>(NNP_QUALITY, &(*mesh.face.begin()).Q()));
-				if ((bitMask & BitMask::IO_FACENORMAL) && vcg::tri::HasPerFaceNormal(mesh))
-					faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 3, FaceNormScalar>(NNP_NXYZ, (*mesh.face.begin()).N().V()));
-				if ((bitMask & BitMask::IO_VERTCURVDIR) && vcg::tri::HasPerFaceCurvatureDir(mesh))
+        if ((bitMask & BitMask::IO_FACECOLOR) && vcg::tri::HasPerFaceColor(mesh))
+        {
+          if (ocfFaceMask & BitMask::IO_FACECOLOR)
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceColorType, 4, FaceColorScalar>(NNP_CRGBA, (*mesh.face.begin()).C().V()));
+          else
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 4, FaceColorScalar>(NNP_CRGBA, (*mesh.face.begin()).C().V()));
+        }
+        if ((bitMask & BitMask::IO_FACEQUALITY) && vcg::tri::HasPerFaceQuality(mesh))
+        {
+          if (ocfFaceMask & BitMask::IO_FACEQUALITY)
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceQuality, 1, FaceQuality>(NNP_QUALITY, &(*mesh.face.begin()).Q()));
+          else
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 1, FaceQuality>(NNP_QUALITY, &(*mesh.face.begin()).Q()));
+        }
+        if ((bitMask & BitMask::IO_FACENORMAL) && vcg::tri::HasPerFaceNormal(mesh))
+        {
+          if (ocfFaceMask & BitMask::IO_FACENORMAL)
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceNormalType, 3, FaceNormScalar>(NNP_NXYZ, (*mesh.face.begin()).N().V()));
+          else
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 3, FaceNormScalar>(NNP_NXYZ, (*mesh.face.begin()).N().V()));
+        }
+        if ((bitMask & BitMask::IO_FACECURVDIR) && vcg::tri::HasPerFaceCurvatureDir(mesh))
 				{
-					faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 1, FaceDirCurScalar>(NNP_K1, &(*mesh.face.begin()).K1()));
-          faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 1, FaceDirCurScalar>(NNP_K2, &(*mesh.face.begin()).K2()));
-					faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 3, FaceDirCurVecScalar>(NNP_K1DIR, (*mesh.face.begin()).PD1().V()));
-          faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 3, FaceDirCurVecScalar>(NNP_K2DIR, (*mesh.face.begin()).PD2().V()));
+          if (ocfFaceMask & BitMask::IO_FACECURVDIR)
+          {
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceCurDirType, 1, FaceDirCurScalar>(NNP_K1, &(*mesh.face.begin()).K1()));
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceCurDirType, 1, FaceDirCurScalar>(NNP_K2, &(*mesh.face.begin()).K2()));
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceCurDirType, 3, FaceDirCurVecScalar>(NNP_K1DIR, (*mesh.face.begin()).PD1().V()));
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceCurDirType, 3, FaceDirCurVecScalar>(NNP_K2DIR, (*mesh.face.begin()).PD2().V()));
+          }
+          else
+          {
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 1, FaceDirCurScalar>(NNP_K1, &(*mesh.face.begin()).K1()));
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 1, FaceDirCurScalar>(NNP_K2, &(*mesh.face.begin()).K2()));
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 3, FaceDirCurVecScalar>(NNP_K1DIR, (*mesh.face.begin()).PD1().V()));
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 3, FaceDirCurVecScalar>(NNP_K2DIR, (*mesh.face.begin()).PD2().V()));
+          }
 				}
 				if (((bitMask & BitMask::IO_WEDGTEXCOORD) || (bitMask & BitMask::IO_WEDGTEXMULTI)) && vcg::tri::HasPerWedgeTexCoord(mesh))
 				{
 					wedgeTexCoord.resize(count);
           faceDescr.dataDescriptor.push_back(new DataDescriptor<vcg::ndim::Point<6, FaceTexScalar>, 6, FaceTexScalar>(NNP_FACE_WEDGE_TEX, (*wedgeTexCoord.begin()).V()));
 				}
-				if ((bitMask & BitMask::IO_WEDGTEXMULTI) && vcg::tri::HasPerWedgeTexCoord(mesh))
-					faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 1, short>(NNP_TEXTUREINDEX, &(*mesh.face.begin()).WT(0).N()));
-				if ((bitMask & BitMask::IO_WEDGCOLOR) && vcg::tri::HasPerWedgeColor(mesh))
-					faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 12, WedgeColorScalar>(NNP_FACE_WEDGE_COLOR, (*mesh.face.begin()).WC(0).V()));
-				if ((bitMask & BitMask::IO_WEDGNORMAL) && vcg::tri::HasPerWedgeNormal(mesh))
-					faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 9, WedgeNormalScalar>(NNP_FACE_WEDGE_NORMAL, (*mesh.face.begin()).WN(0).V()));
-				if ((bitMask & BitMask::IO_FACEATTRIB) && custom.faceAttrib.size() > 0)
-				{
-					for (int i = 0; i < custom.faceAttrib.size(); i++)
-					{
-            std::set<PointerToAttribute>::iterator ai;
-						for (ai = mesh.face_attr.begin(); ai != mesh.face_attr.end(); ++ai)
-						{
-							if ((*custom.faceAttrib[i]).name == (*ai)._name)
-							{
-								custom.faceAttrib[i]->base = ai->_handle->DataBegin();
-								break;
-							}
-						}
-						faceDescr.dataDescriptor.push_back(custom.faceAttrib[i]);
-							
-					}
-				}
-
+        if ((bitMask & BitMask::IO_WEDGTEXMULTI) && vcg::tri::HasPerWedgeTexCoord(mesh))
+        {
+          if (ocfFaceMask & BitMask::IO_WEDGTEXMULTI)
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceTexCoordType, 1, short>(NNP_TEXTUREINDEX, &(*mesh.face.begin()).WT(0).N()));
+          else
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 1, short>(NNP_TEXTUREINDEX, &(*mesh.face.begin()).WT(0).N()));
+        }
+        if ((bitMask & BitMask::IO_WEDGCOLOR) && vcg::tri::HasPerWedgeColor(mesh))
+        {
+          if (ocfFaceMask & BitMask::IO_WEDGCOLOR)
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<WedgeColorType, 12, WedgeColorScalar>(NNP_FACE_WEDGE_COLOR, (*mesh.face.begin()).WC(0).V()));
+          else
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 12, WedgeColorScalar>(NNP_FACE_WEDGE_COLOR, (*mesh.face.begin()).WC(0).V()));
+        }
+        if ((bitMask & BitMask::IO_WEDGNORMAL) && vcg::tri::HasPerWedgeNormal(mesh))
+        {
+          if (ocfFaceMask & BitMask::IO_WEDGNORMAL)
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<WedgeNormalType, 9, WedgeNormalScalar>(NNP_FACE_WEDGE_NORMAL, (*mesh.face.begin()).WN(0).V()));
+          else
+            faceDescr.dataDescriptor.push_back(new DataDescriptor<FaceType, 9, WedgeNormalScalar>(NNP_FACE_WEDGE_NORMAL, (*mesh.face.begin()).WN(0).V()));
+        }
+        if (bitMask & BitMask::IO_FACEATTRIB)
+        {
+          custom.AddFaceAttrib(mesh, mesh.face_attr, info.GetFaceElement());
+          for (size_t i = 0; i < custom.faceAttrib.size(); i++)
+          {
+            if ((*custom.faceAttrib[i]).base != NULL)
+              faceDescr.dataDescriptor.push_back(custom.faceAttrib[i]);
+          }
+        }
 			}
 
 			std::vector<ElementDescriptor*> meshDescr;
@@ -450,7 +1182,7 @@ namespace nanoply
 			//Mesh attribute
 			if ((bitMask & BitMask::IO_MESHATTRIB))
 			{
-				CustomAttributeDescriptor::MapMeshAttribIter iter = custom.meshAttrib.begin();
+				typename CustomAttributeDescriptor::MapMeshAttribIter iter = custom.meshAttrib.begin();
 				for (; iter != custom.meshAttrib.end(); iter++)
 				{
 					std::string name((*iter).first);
@@ -468,32 +1200,85 @@ namespace nanoply
 
 			mesh.shot.SetViewPoint(tra);
 			mesh.shot.Extrinsics.SetRot(rot);
-      for (int i = 0; i < faceIndex.size(); i++)
-				for (int j = 0; j < 3; j++)
-					mesh.face[i].V(j) = &mesh.vert[faceIndex[i][j]];
-      for (int i = 0; i < wedgeTexCoord.size(); i++)
+      bool triangleMesh = true;
+      for (size_t i = 0; i < faceIndex.size(); i++)
+        if (faceIndex[i].size() > 3)
+          triangleMesh = false;
+
+      if (!triangleMesh && !vcg::tri::HasPolyInfo(mesh))
       {
-        for (int j = 0; j < 3; j++)
+        bool hasFaceFlags = (bitMask & BitMask::IO_FACEFLAGS) && vcg::tri::HasPerFaceFlags(mesh);
+        bool hasFaceColor = (bitMask & BitMask::IO_FACECOLOR) && vcg::tri::HasPerFaceColor(mesh);
+        bool hasFaceQuality = (bitMask & BitMask::IO_FACEQUALITY) && vcg::tri::HasPerFaceQuality(mesh);
+        bool hasFaceNormal = (bitMask & BitMask::IO_FACENORMAL) && vcg::tri::HasPerFaceNormal(mesh);
+        for (size_t i = 0; i < faceIndex.size(); i++)
         {
-          mesh.face[i].WT(j).U() = wedgeTexCoord[i][j * 2];
-          mesh.face[i].WT(j).V() = wedgeTexCoord[i][j * 2 + 1];
+          if (faceIndex[i].size() >= 3)
+          {
+            for (int j = 0; j < 3; j++)
+              mesh.face[i].V(j) = &mesh.vert[faceIndex[i][j]];
+            if (hasFaceFlags)
+              mesh.face[i].SetF(2);
+            FaceIterator fi = vcg::tri::Allocator<MeshType>::AddFaces(mesh, faceIndex[i].size() - 3);
+            for (size_t j = 3; j < faceIndex[i].size(); j++)
+            {
+              (*fi).V(0) = &mesh.vert[faceIndex[i][0]];
+              (*fi).V(1) = &mesh.vert[faceIndex[i][j - 1]];
+              (*fi).V(2) = &mesh.vert[faceIndex[i][j]];
+              if (hasFaceFlags)
+              {
+                (*fi).SetFlags(mesh.face[i].Flags());
+                (*fi).SetF(0);
+                if (j == faceIndex[i].size() - 1)
+                  (*fi).ClearF(2);
+              }
+              if (hasFaceColor)
+                (*fi).C() = mesh.face[i].C();
+              if (hasFaceQuality)
+                (*fi).Q() = mesh.face[i].Q();
+              if (hasFaceNormal)
+                (*fi).N() = mesh.face[i].N();
+              fi++;
+            }
+          }
+          else
+            mesh.face[i].V(0) = mesh.face[i].V(1) = mesh.face[i].V(2) = &mesh.vert[0];
         }
       }
-			for (int i = 0; i < edgeIndex.size(); i++)
+      else
+      {
+        for (size_t i = 0; i < faceIndex.size(); i++)
+        {
+          mesh.face[i].Alloc(faceIndex[i].size());
+          for (size_t j = 0; j < faceIndex[i].size(); j++)
+            mesh.face[i].V(j) = &mesh.vert[faceIndex[i][j]];
+        }
+        for (size_t i = 0; i < wedgeTexCoord.size(); i++)
+        {
+          for (int j = 0; j < 3; j++)
+          {
+            mesh.face[i].WT(j).U() = wedgeTexCoord[i][j * 2];
+            mesh.face[i].WT(j).V() = wedgeTexCoord[i][j * 2 + 1];
+            mesh.face[i].WT(j).N() = mesh.face[i].WT(0).N();
+          }
+        }
+      }
+      
+      for (size_t i = 0; i < edgeIndex.size(); i++)
 			{
 				mesh.edge[i].V(0) = &mesh.vert[edgeIndex[i].X()];
 				mesh.edge[i].V(1) = &mesh.vert[edgeIndex[i].Y()];
 			}
 
-			for (int i = 0; i < cameraDescr.dataDescriptor.size(); i++)
+			for (size_t i = 0; i < cameraDescr.dataDescriptor.size(); i++)
 				delete cameraDescr.dataDescriptor[i];
-			for (int i = 0; i < vertexDescr.dataDescriptor.size(); i++)
+			for (size_t i = 0; i < vertexDescr.dataDescriptor.size(); i++)
 				if (vertexDescr.dataDescriptor[i]->elem != NNP_UNKNOWN_ENTITY)
 					delete vertexDescr.dataDescriptor[i];
-			for (int i = 0; i < edgeDescr.dataDescriptor.size(); i++)
+			for (size_t i = 0; i < edgeDescr.dataDescriptor.size(); i++)
 				if (edgeDescr.dataDescriptor[i]->elem != NNP_UNKNOWN_ENTITY)
 					delete edgeDescr.dataDescriptor[i];
-			for (int i = 0; i < faceDescr.dataDescriptor.size(); i++)
+			for (size_t i = 0; i < faceDescr.dataDescriptor.size(); i++)
 				if (faceDescr.dataDescriptor[i]->elem != NNP_UNKNOWN_ENTITY)
 					delete faceDescr.dataDescriptor[i];
 			mesh.textures = info.textureFile;
@@ -510,6 +1295,9 @@ namespace nanoply
 
 		static bool SaveModel(const char* filename, MeshType& mesh, unsigned int bitMask, CustomAttributeDescriptor& custom, bool binary)
 		{
+      unsigned int ocfVertexMask = OcfManager<MeshType>::VertexOcfMask(mesh.vert);
+      unsigned int ocfFaceMask = OcfManager<MeshType>::FaceOcfMask(mesh.face);
+      
 			//Camera
 			std::vector<PlyProperty> cameraProp;
 			ElementDescriptor cameraDescr(std::string("camera"));
@@ -526,62 +1314,121 @@ namespace nanoply
 				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("y_axisx"), &rot[1][0]);
 				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("y_axisy"), &rot[1][1]);
 				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("y_axisz"), &rot[1][2]);
-				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("z_axisx"), &rot[2][0]);
-				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("z_axisy"), &rot[2][1]);
-				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("z_axisz"), &rot[2][2]);
-				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("focal"), &mesh.shot.Intrinsics.FocalMm);
-				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("scalex"), &mesh.shot.Intrinsics.PixelSizeMm[0]);
-				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("scaley"), &mesh.shot.Intrinsics.PixelSizeMm[1]);
-				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("centerx"), &mesh.shot.Intrinsics.CenterPx[0]);
-				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("centery"), &mesh.shot.Intrinsics.CenterPx[1]);
-				PushDescriport<int, int, 1>(cameraProp, cameraDescr, std::string("viewportx"), &mesh.shot.Intrinsics.ViewportPx[0]);
-				PushDescriport<int, int, 1>(cameraProp, cameraDescr, std::string("viewporty"), &mesh.shot.Intrinsics.ViewportPx[1]);
-				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("k1"), &mesh.shot.Intrinsics.k[0]);
-				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("k2"), &mesh.shot.Intrinsics.k[1]);
-				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("k3"), &mesh.shot.Intrinsics.k[2]);
-				PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("k4"), &mesh.shot.Intrinsics.k[3]);
-			}
+        PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("z_axisx"), &rot[2][0]);
+        PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("z_axisy"), &rot[2][1]);
+        PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("z_axisz"), &rot[2][2]);
+        PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("focal"), &mesh.shot.Intrinsics.FocalMm);
+        PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("scalex"), &mesh.shot.Intrinsics.PixelSizeMm[0]);
+        PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("scaley"), &mesh.shot.Intrinsics.PixelSizeMm[1]);
+        PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("centerx"), &mesh.shot.Intrinsics.CenterPx[0]);
+        PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("centery"), &mesh.shot.Intrinsics.CenterPx[1]);
+        PushDescriport<int, int, 1>(cameraProp, cameraDescr, std::string("viewportx"), &mesh.shot.Intrinsics.ViewportPx[0]);
+        PushDescriport<int, int, 1>(cameraProp, cameraDescr, std::string("viewporty"), &mesh.shot.Intrinsics.ViewportPx[1]);
+        PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("k1"), &mesh.shot.Intrinsics.k[0]);
+        PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("k2"), &mesh.shot.Intrinsics.k[1]);
+        PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("k3"), &mesh.shot.Intrinsics.k[2]);
+        PushDescriport<ScalarType, ScalarType, 1>(cameraProp, cameraDescr, std::string("k4"), &mesh.shot.Intrinsics.k[3]);
+      }
 
-			//Vertex
-			std::vector<std::string> nameList;
-			VertexType::Name(nameList);
-			std::vector<PlyProperty> vertexProp;
-			ElementDescriptor vertexDescr(NNP_VERTEX_ELEM);
-			if (nameList.size() > 0 && mesh.vert.size() > 0)
-			{
-				if ((bitMask & BitMask::IO_VERTCOORD) && VertexType::HasCoord())
-					PushDescriport<VertexType, VertexCoordScalar, 3>(vertexProp, vertexDescr, NNP_PXYZ, (*mesh.vert.begin()).P().V());
-				if ((bitMask & BitMask::IO_VERTNORMAL) && vcg::tri::HasPerVertexNormal(mesh))
-					PushDescriport<VertexType, VertexNormScalar, 3>(vertexProp, vertexDescr, NNP_NXYZ, (*mesh.vert.begin()).N().V());
-				if ((bitMask & BitMask::IO_VERTCOLOR) && vcg::tri::HasPerVertexColor(mesh))
-					PushDescriport<VertexType, VertexColorScalar, 4>(vertexProp, vertexDescr, NNP_CRGBA, (*mesh.vert.begin()).C().V());
-				if ((bitMask & BitMask::IO_VERTQUALITY) && vcg::tri::HasPerVertexQuality(mesh))
-					PushDescriport<VertexType, VertexQuality, 1>(vertexProp, vertexDescr, NNP_QUALITY, &(*mesh.vert.begin()).Q());
-				if ((bitMask & BitMask::IO_VERTFLAGS) && vcg::tri::HasPerVertexFlags(mesh))
-					PushDescriport<VertexType, VertexFlag, 1>(vertexProp, vertexDescr, NNP_BITFLAG, &(*mesh.vert.begin()).Flags());
-				if ((bitMask & BitMask::IO_VERTRADIUS) && vcg::tri::HasPerVertexRadius(mesh))
-					PushDescriport<VertexType, VertexRadius, 1>(vertexProp, vertexDescr, NNP_DENSITY, &(*mesh.vert.begin()).R());
-				if ((bitMask & BitMask::IO_VERTTEXCOORD) && vcg::tri::HasPerVertexTexCoord(mesh))
-					PushDescriport<VertexType, VertexTexScalar, 2>(vertexProp, vertexDescr, NNP_TEXTURE2D, (*mesh.vert.begin()).T().P().V());
-				if ((bitMask & BitMask::IO_VERTCURV) && vcg::tri::HasPerVertexCurvature(mesh))
-				{
-					PushDescriport<VertexType, VertexCurScalar, 1>(vertexProp, vertexDescr, NNP_KG, &(*mesh.vert.begin()).Kg());
-          PushDescriport<VertexType, VertexCurScalar, 1>(vertexProp, vertexDescr, NNP_KH, &(*mesh.vert.begin()).Kh());
-				}
-				if ((bitMask & BitMask::IO_VERTCURVDIR) && vcg::tri::HasPerVertexCurvatureDir(mesh))
-				{
-					PushDescriport<VertexType, VertexDirCurScalar, 1>(vertexProp, vertexDescr, NNP_K1, &(*mesh.vert.begin()).K1());
-          PushDescriport<VertexType, VertexDirCurScalar, 1>(vertexProp, vertexDescr, NNP_K2, &(*mesh.vert.begin()).K2());
-					PushDescriportList<VertexType, VertexDirCurVecScalar, 3>(vertexProp, vertexDescr, NNP_K1DIR, (*mesh.vert.begin()).PD1().V());
-          PushDescriportList<VertexType, VertexDirCurVecScalar, 3>(vertexProp, vertexDescr, NNP_K2DIR, (*mesh.vert.begin()).PD2().V());
-				}
-				if ((bitMask & BitMask::IO_VERTATTRIB) && custom.vertexAttrib.size() > 0)
-				{
-					for (int i = 0; i < custom.vertexAttrib.size(); i++)
-					{
-						vertexProp.push_back(custom.vertexAttribProp[i]);
-						vertexDescr.dataDescriptor.push_back(custom.vertexAttrib[i]);
-					}
+      //Vertex
+      std::vector<std::string> nameList;
+      VertexType::Name(nameList);
+      std::vector<PlyProperty> vertexProp;
+      ElementDescriptor vertexDescr(NNP_VERTEX_ELEM);
+      if (nameList.size() > 0 && mesh.vert.size() > 0)
+      {
+        if ((bitMask & BitMask::IO_VERTCOORD) && VertexType::HasCoord())
+          PushDescriport<VertexType, VertexCoordScalar, 3>(vertexProp, vertexDescr, NNP_PXYZ, (*mesh.vert.begin()).P().V());
+        if ((bitMask & BitMask::IO_VERTNORMAL) && vcg::tri::HasPerVertexNormal(mesh))
+        {
+          if (ocfVertexMask & BitMask::IO_VERTNORMAL)
+            PushDescriport<VertexNormalType, VertexNormScalar, 3>(vertexProp, vertexDescr, NNP_NXYZ, (*mesh.vert.begin()).N().V());
+          else
+            PushDescriport<VertexType, VertexNormScalar, 3>(vertexProp, vertexDescr, NNP_NXYZ, (*mesh.vert.begin()).N().V());
+        }
+        if ((bitMask & BitMask::IO_VERTCOLOR) && vcg::tri::HasPerVertexColor(mesh))
+        {
+          if (ocfVertexMask & BitMask::IO_VERTCOLOR)
+            PushDescriport<VertexColorType, VertexColorScalar, 4>(vertexProp, vertexDescr, NNP_CRGBA, (*mesh.vert.begin()).C().V());
+          else
+            PushDescriport<VertexType, VertexColorScalar, 4>(vertexProp, vertexDescr, NNP_CRGBA, (*mesh.vert.begin()).C().V());
+        }
+        if ((bitMask & BitMask::IO_VERTQUALITY) && vcg::tri::HasPerVertexQuality(mesh))
+        {
+          if (ocfVertexMask & BitMask::IO_VERTQUALITY)
+            PushDescriport<VertexQuality, VertexQuality, 1>(vertexProp, vertexDescr, NNP_QUALITY, &(*mesh.vert.begin()).Q());
+          else
+            PushDescriport<VertexType, VertexQuality, 1>(vertexProp, vertexDescr, NNP_QUALITY, &(*mesh.vert.begin()).Q());
+        }
+        if ((bitMask & BitMask::IO_VERTFLAGS) && vcg::tri::HasPerVertexFlags(mesh))
+          PushDescriport<VertexType, VertexFlag, 1>(vertexProp, vertexDescr, NNP_BITFLAG, &(*mesh.vert.begin()).Flags());
+        if ((bitMask & BitMask::IO_VERTRADIUS) && vcg::tri::HasPerVertexRadius(mesh))
+        {
+          if (ocfVertexMask & BitMask::IO_VERTRADIUS)
+            PushDescriport<VertexRadius, VertexRadius, 1>(vertexProp, vertexDescr, NNP_DENSITY, &(*mesh.vert.begin()).R());
+          else
+            PushDescriport<VertexType, VertexRadius, 1>(vertexProp, vertexDescr, NNP_DENSITY, &(*mesh.vert.begin()).R());
+        }
+        if ((bitMask & BitMask::IO_VERTTEXCOORD) && vcg::tri::HasPerVertexTexCoord(mesh))
+        {
+          if (ocfVertexMask & BitMask::IO_VERTTEXCOORD)
+            PushDescriport<VertexTexCoordType, VertexTexScalar, 2>(vertexProp, vertexDescr, NNP_TEXTURE2D, (*mesh.vert.begin()).T().P().V());
+          else
+            PushDescriport<VertexType, VertexTexScalar, 2>(vertexProp, vertexDescr, NNP_TEXTURE2D, (*mesh.vert.begin()).T().P().V());
+        }
+        if ((bitMask & BitMask::IO_VERTCURV) && vcg::tri::HasPerVertexCurvature(mesh))
+        {
+          if (ocfVertexMask & BitMask::IO_VERTTEXCOORD)
+          {
+            PushDescriport<VertexCurType, VertexCurScalar, 1>(vertexProp, vertexDescr, NNP_KG, &(*mesh.vert.begin()).Kg());
+            PushDescriport<VertexCurType, VertexCurScalar, 1>(vertexProp, vertexDescr, NNP_KH, &(*mesh.vert.begin()).Kh());
+          }
+          else
+          {
+            PushDescriport<VertexType, VertexCurScalar, 1>(vertexProp, vertexDescr, NNP_KG, &(*mesh.vert.begin()).Kg());
+            PushDescriport<VertexType, VertexCurScalar, 1>(vertexProp, vertexDescr, NNP_KH, &(*mesh.vert.begin()).Kh());
+          }
+        }
+        if ((bitMask & BitMask::IO_VERTCURVDIR) && vcg::tri::HasPerVertexCurvatureDir(mesh))
+        {
+          if (ocfVertexMask & BitMask::IO_VERTCURVDIR)
+          {
+            PushDescriport<VertexCurDirType, VertexDirCurScalar, 1>(vertexProp, vertexDescr, NNP_K1, &(*mesh.vert.begin()).K1());
+            PushDescriport<VertexCurDirType, VertexDirCurScalar, 1>(vertexProp, vertexDescr, NNP_K2, &(*mesh.vert.begin()).K2());
+            PushDescriportList<VertexCurDirType, VertexDirCurVecScalar, 3>(vertexProp, vertexDescr, NNP_K1DIR, (*mesh.vert.begin()).PD1().V());
+            PushDescriportList<VertexCurDirType, VertexDirCurVecScalar, 3>(vertexProp, vertexDescr, NNP_K2DIR, (*mesh.vert.begin()).PD2().V());
+          }
+          else
+          {
+            PushDescriport<VertexType, VertexDirCurScalar, 1>(vertexProp, vertexDescr, NNP_K1, &(*mesh.vert.begin()).K1());
+            PushDescriport<VertexType, VertexDirCurScalar, 1>(vertexProp, vertexDescr, NNP_K2, &(*mesh.vert.begin()).K2());
+            PushDescriportList<VertexType, VertexDirCurVecScalar, 3>(vertexProp, vertexDescr, NNP_K1DIR, (*mesh.vert.begin()).PD1().V());
+            PushDescriportList<VertexType, VertexDirCurVecScalar, 3>(vertexProp, vertexDescr, NNP_K2DIR, (*mesh.vert.begin()).PD2().V());
+          }
+        }
+        if ((bitMask & BitMask::IO_VERTATTRIB))
+        {
+          typename std::set<PointerToAttribute>::iterator ai;
+          int userSize = custom.vertexAttrib.size();
+          for (ai = mesh.vert_attr.begin(); ai != mesh.vert_attr.end(); ++ai)
+          {
+            bool userDescr = false;
+            for (int i = 0; i < userSize; i++)
+            {
+              if ((*custom.vertexAttrib[i]).name == (*ai)._name)
+              {
+                userDescr = true;
+                break;               
+              }
+            }
+            if (!userDescr)
+              custom.CreateVertexAttribDescriptor(&(*ai));
+          }
+          for (size_t i = 0; i < custom.vertexAttrib.size(); i++)
+          {
+            vertexProp.push_back(custom.vertexAttribProp[i]);
+            vertexDescr.dataDescriptor.push_back(custom.vertexAttrib[i]);
+          }
 				}
 			}
 
@@ -589,15 +1436,15 @@ namespace nanoply
 			nameList.clear();
 			EdgeType::Name(nameList);
 			std::vector<PlyProperty> edgeProp;
-			ElementDescriptor edgeDescr(NNP_VERTEX_ELEM);
+			ElementDescriptor edgeDescr(NNP_EDGE_ELEM);
 			std::vector<vcg::Point2i> edgeIndex;
-			for (int i = 0; i < mesh.edge.size(); i++)
+			for (size_t i = 0; i < mesh.edge.size(); i++)
 				edgeIndex.push_back(vcg::Point2i(vcg::tri::Index(mesh, mesh.edge[i].V(0)), vcg::tri::Index(mesh, mesh.edge[i].V(1))));
 			if (nameList.size() > 0 && mesh.edge.size() > 0)
 			{
 				if ((bitMask & BitMask::IO_EDGEINDEX) && EdgeType::HasVertexRef())
 				{
-					PushDescriport<vcg::Point2i, int, 1>(edgeProp, edgeDescr, NNP_EDGE_V1, &(*edgeIndex.begin()).V()[0]);
+        	PushDescriport<vcg::Point2i, int, 1>(edgeProp, edgeDescr, NNP_EDGE_V1, &(*edgeIndex.begin()).V()[0]);
 					PushDescriport<vcg::Point2i, int, 1>(edgeProp, edgeDescr, NNP_EDGE_V2, &(*edgeIndex.begin()).V()[1]);
 				}
 				if ((bitMask & BitMask::IO_EDGEQUALITY) && vcg::tri::HasPerEdgeQuality(mesh))
@@ -606,14 +1453,31 @@ namespace nanoply
 					PushDescriport<EdgeType, EdgeColorScalar, 4>(edgeProp, edgeDescr, NNP_CRGBA, (*mesh.edge.begin()).C().V());
 				if ((bitMask & BitMask::IO_EDGEFLAGS) && vcg::tri::HasPerEdgeFlags(mesh))
 					PushDescriport<EdgeType, EdgeFlag, 1>(edgeProp, edgeDescr, NNP_BITFLAG, &(*mesh.edge.begin()).Flags());
-				if ((bitMask & BitMask::IO_EDGEATTRIB) && custom.edgeAttrib.size() > 0)
-				{
-					for (int i = 0; i < custom.edgeAttrib.size(); i++)
-					{
-						edgeProp.push_back(custom.edgeAttribProp[i]);
-						edgeDescr.dataDescriptor.push_back(custom.edgeAttrib[i]);
-					}
-				}
+				
+        if ((bitMask & BitMask::IO_EDGEATTRIB))
+        {
+          typename std::set<PointerToAttribute>::iterator ai;
+          int userSize = custom.edgeAttrib.size();
+          for (ai = mesh.edge_attr.begin(); ai != mesh.edge_attr.end(); ++ai)
+          {
+            bool userDescr = false;
+            for (int i = 0; i < userSize; i++)
+            {
+              if ((*custom.edgeAttrib[i]).name == (*ai)._name)
+              {
+                userDescr = true;
+                break;
+              }
+            }
+            if (!userDescr)
+              custom.CreateEdgeAttribDescriptor(&(*ai));
+          }
+          for (size_t i = 0; i < custom.edgeAttrib.size(); i++)
+          {
+            edgeProp.push_back(custom.edgeAttribProp[i]);
+            edgeDescr.dataDescriptor.push_back(custom.edgeAttrib[i]);
+          }
+        }
 			}
 			
 			//Face
@@ -621,14 +1485,17 @@ namespace nanoply
 			FaceType::Name(nameList);
 			std::vector<PlyProperty> faceProp;
 			ElementDescriptor faceDescr(NNP_FACE_ELEM);
-			std::vector<vcg::Point3i> faceIndex;
+			std::vector<std::vector<unsigned int>> faceIndex;
 			std::vector<vcg::ndim::Point<6, FaceTexScalar>> wedgeTexCoord;
-			for (int i = 0; i < mesh.face.size(); i++)
-				faceIndex.push_back(vcg::Point3i(vcg::tri::Index(mesh, mesh.face[i].V(0)), vcg::tri::Index(mesh, mesh.face[i].V(1)), vcg::tri::Index(mesh, mesh.face[i].V(2))));
-			
+      for (size_t i = 0; i < mesh.face.size(); i++)
+      {
+        faceIndex.push_back(std::vector<unsigned int>());
+        for (int j = 0; j < mesh.face[i].VN(); j++)
+          faceIndex.back().push_back(vcg::tri::Index(mesh, mesh.face[i].V(j)));
+      }
 			if (((bitMask & BitMask::IO_WEDGTEXCOORD) || (bitMask & BitMask::IO_WEDGTEXMULTI)) && vcg::tri::HasPerWedgeTexCoord(mesh))
 			{
-				for (int i = 0; i < mesh.face.size(); i++)
+				for (size_t i = 0; i < mesh.face.size(); i++)
 				{
           wedgeTexCoord.push_back(vcg::ndim::Point<6, FaceTexScalar>());
 					for (int j = 0; j < 3; j++)
@@ -641,39 +1508,94 @@ namespace nanoply
 			if (nameList.size() > 0 && mesh.face.size() > 0)
 			{
 				if ((bitMask & BitMask::IO_FACEINDEX) && FaceType::HasVertexRef())
-					PushDescriportList<vcg::Point3i, int, 3>(faceProp, faceDescr, NNP_FACE_VERTEX_LIST, (*faceIndex.begin()).V());
+          PushDescriportList<std::vector<unsigned int>, unsigned int, 0>(faceProp, faceDescr, NNP_FACE_VERTEX_LIST, &faceIndex[0]);
 				if ((bitMask & BitMask::IO_FACEFLAGS) && vcg::tri::HasPerFaceFlags(mesh))
 					PushDescriport<FaceType, FaceFlag, 1>(faceProp, faceDescr, NNP_BITFLAG, &(*mesh.face.begin()).Flags());
-				if ((bitMask & BitMask::IO_FACECOLOR) && vcg::tri::HasPerFaceColor(mesh))
-					PushDescriport<FaceType, FaceColorScalar, 4>(faceProp, faceDescr, NNP_CRGBA, (*mesh.face.begin()).C().V());
-				if ((bitMask & BitMask::IO_FACEQUALITY) && vcg::tri::HasPerFaceQuality(mesh))
-					PushDescriport<FaceType, FaceQuality, 1>(faceProp, faceDescr, NNP_QUALITY, &(*mesh.face.begin()).Q());
-				if ((bitMask & BitMask::IO_FACENORMAL) && vcg::tri::HasPerFaceNormal(mesh))
-					PushDescriport<FaceType, FaceNormScalar, 3>(faceProp, faceDescr, NNP_NXYZ, (*mesh.face.begin()).N().V());
+        if ((bitMask & BitMask::IO_FACECOLOR) && vcg::tri::HasPerFaceColor(mesh))
+        {
+          if (ocfFaceMask & BitMask::IO_FACECOLOR)
+            PushDescriport<FaceColorType, FaceColorScalar, 4>(faceProp, faceDescr, NNP_CRGBA, (*mesh.face.begin()).C().V());
+          else
+            PushDescriport<FaceType, FaceColorScalar, 4>(faceProp, faceDescr, NNP_CRGBA, (*mesh.face.begin()).C().V());
+        }
+        if ((bitMask & BitMask::IO_FACEQUALITY) && vcg::tri::HasPerFaceQuality(mesh))
+        {
+          if (ocfFaceMask & BitMask::IO_FACEQUALITY)
+            PushDescriport<FaceQuality, FaceQuality, 1>(faceProp, faceDescr, NNP_QUALITY, &(*mesh.face.begin()).Q());
+          else
+            PushDescriport<FaceType, FaceQuality, 1>(faceProp, faceDescr, NNP_QUALITY, &(*mesh.face.begin()).Q());
+        }
+        if ((bitMask & BitMask::IO_FACENORMAL) && vcg::tri::HasPerFaceNormal(mesh))
+        {
+          if (ocfFaceMask & BitMask::IO_FACENORMAL)
+            PushDescriport<FaceNormalType, FaceNormScalar, 3>(faceProp, faceDescr, NNP_NXYZ, (*mesh.face.begin()).N().V());
+          else
+            PushDescriport<FaceType, FaceNormScalar, 3>(faceProp, faceDescr, NNP_NXYZ, (*mesh.face.begin()).N().V());
+        }
 				if ((bitMask & BitMask::IO_VERTCURVDIR) && vcg::tri::HasPerFaceCurvatureDir(mesh))
 				{
-					PushDescriport<FaceType, FaceDirCurScalar, 1>(faceProp, faceDescr, NNP_K1, &(*mesh.face.begin()).K1());
-          PushDescriport<FaceType, FaceDirCurScalar, 1>(faceProp, faceDescr, NNP_K2, &(*mesh.face.begin()).K2());
-					PushDescriportList<FaceType, FaceDirCurVecScalar, 3>(faceProp, faceDescr, NNP_K1DIR, (*mesh.face.begin()).PD1().V());
-          PushDescriportList<FaceType, FaceDirCurVecScalar, 3>(faceProp, faceDescr, NNP_K2DIR, (*mesh.face.begin()).PD2().V());
+          if (ocfFaceMask & BitMask::IO_VERTCURVDIR)
+          {
+            PushDescriport<FaceCurDirType, FaceDirCurScalar, 1>(faceProp, faceDescr, NNP_K1, &(*mesh.face.begin()).K1());
+            PushDescriport<FaceCurDirType, FaceDirCurScalar, 1>(faceProp, faceDescr, NNP_K2, &(*mesh.face.begin()).K2());
+            PushDescriportList<FaceCurDirType, FaceDirCurVecScalar, 3>(faceProp, faceDescr, NNP_K1DIR, (*mesh.face.begin()).PD1().V());
+            PushDescriportList<FaceCurDirType, FaceDirCurVecScalar, 3>(faceProp, faceDescr, NNP_K2DIR, (*mesh.face.begin()).PD2().V());
+          }
+          else
+          {
+            PushDescriport<FaceType, FaceDirCurScalar, 1>(faceProp, faceDescr, NNP_K1, &(*mesh.face.begin()).K1());
+            PushDescriport<FaceType, FaceDirCurScalar, 1>(faceProp, faceDescr, NNP_K2, &(*mesh.face.begin()).K2());
+            PushDescriportList<FaceType, FaceDirCurVecScalar, 3>(faceProp, faceDescr, NNP_K1DIR, (*mesh.face.begin()).PD1().V());
+            PushDescriportList<FaceType, FaceDirCurVecScalar, 3>(faceProp, faceDescr, NNP_K2DIR, (*mesh.face.begin()).PD2().V());
+          }
 				}
 				if (((bitMask & BitMask::IO_WEDGTEXCOORD) || (bitMask & BitMask::IO_WEDGTEXMULTI)) && vcg::tri::HasPerWedgeTexCoord(mesh))
           PushDescriportList<vcg::ndim::Point<6, FaceTexScalar>, FaceTexScalar, 6>(faceProp, faceDescr, NNP_FACE_WEDGE_TEX, (*wedgeTexCoord.begin()).V());
-				if ((bitMask & BitMask::IO_WEDGTEXMULTI) && vcg::tri::HasPerWedgeTexCoord(mesh))
-					PushDescriport<FaceType, short, 1>(faceProp, faceDescr, NNP_TEXTUREINDEX, &(*mesh.face.begin()).WT(0).N());
-				if ((bitMask & BitMask::IO_WEDGCOLOR) && vcg::tri::HasPerWedgeColor(mesh))
-					PushDescriportList<FaceType, WedgeColorScalar, 12>(faceProp, faceDescr, NNP_FACE_WEDGE_COLOR, (*mesh.face.begin()).WC(0).V());
-				if ((bitMask & BitMask::IO_WEDGNORMAL) && vcg::tri::HasPerWedgeNormal(mesh))
-					PushDescriportList<FaceType, WedgeNormalScalar, 9>(faceProp, faceDescr, NNP_FACE_WEDGE_NORMAL, (*mesh.face.begin()).WN(0).V());
-				if ((bitMask & BitMask::IO_FACEATTRIB) && custom.faceAttrib.size() > 0)
-				{
-					for (int i = 0; i < custom.faceAttrib.size(); i++)
-					{
-						faceProp.push_back(custom.faceAttribProp[i]);
-						faceDescr.dataDescriptor.push_back(custom.faceAttrib[i]);
-					}
-				}
-				
+        if ((bitMask & BitMask::IO_WEDGTEXMULTI) && vcg::tri::HasPerWedgeTexCoord(mesh))
+        {
+          if (ocfFaceMask & BitMask::IO_VERTCURVDIR)
+            PushDescriport<FaceTexCoordType, short, 1>(faceProp, faceDescr, NNP_TEXTUREINDEX, &(*mesh.face.begin()).WT(0).N());
+          else
+            PushDescriport<FaceType, short, 1>(faceProp, faceDescr, NNP_TEXTUREINDEX, &(*mesh.face.begin()).WT(0).N());
+        }
+        if ((bitMask & BitMask::IO_WEDGCOLOR) && vcg::tri::HasPerWedgeColor(mesh))
+        {
+          if (ocfFaceMask & BitMask::IO_WEDGCOLOR)
+            PushDescriportList<WedgeColorType, WedgeColorScalar, 12>(faceProp, faceDescr, NNP_FACE_WEDGE_COLOR, (*mesh.face.begin()).WC(0).V());
+          else
+            PushDescriportList<FaceType, WedgeColorScalar, 12>(faceProp, faceDescr, NNP_FACE_WEDGE_COLOR, (*mesh.face.begin()).WC(0).V());
+        }
+        if ((bitMask & BitMask::IO_WEDGNORMAL) && vcg::tri::HasPerWedgeNormal(mesh))
+        {
+          if (ocfFaceMask & BitMask::IO_WEDGNORMAL)
+            PushDescriportList<WedgeNormalType, WedgeNormalScalar, 9>(faceProp, faceDescr, NNP_FACE_WEDGE_NORMAL, (*mesh.face.begin()).WN(0).V());
+          else
+            PushDescriportList<FaceType, WedgeNormalScalar, 9>(faceProp, faceDescr, NNP_FACE_WEDGE_NORMAL, (*mesh.face.begin()).WN(0).V());
+        }
+        if ((bitMask & BitMask::IO_FACEATTRIB))
+        {
+          typename std::set<PointerToAttribute>::iterator ai;
+          int userSize = custom.faceAttrib.size();
+          for (ai = mesh.face_attr.begin(); ai != mesh.face_attr.end(); ++ai)
+          {
+            bool userDescr = false;
+            for (int i = 0; i < userSize; i++)
+            {
+              if ((*custom.faceAttrib[i]).name == (*ai)._name)
+              {
+                userDescr = true;
+                break;
+              }
+            }
+            if (!userDescr)
+              custom.CreateFaceAttribDescriptor(&(*ai));
+          }
+          for (int i = 0; i < custom.faceAttrib.size(); i++)
+          {
+            faceProp.push_back(custom.faceAttribProp[i]);
+            faceDescr.dataDescriptor.push_back(custom.faceAttrib[i]);
+          }
+        }
 			}
 			
 			Info infoSave;
@@ -697,8 +1619,8 @@ namespace nanoply
 			//Mesh attribute
 			if ((bitMask & BitMask::IO_MESHATTRIB))
 			{
-				CustomAttributeDescriptor::MapMeshAttribIter iter = custom.meshAttrib.begin();
-				CustomAttributeDescriptor::MapMeshAttribPropIter iterProp = custom.meshAttribProp.begin();
+				typename CustomAttributeDescriptor::MapMeshAttribIter iter = custom.meshAttrib.begin();
+				typename CustomAttributeDescriptor::MapMeshAttribPropIter iterProp = custom.meshAttribProp.begin();
 				for (; iter != custom.meshAttrib.end(); iter++, iterProp++)
 				{
 					std::string name((*iter).first);
@@ -711,15 +1633,15 @@ namespace nanoply
 			
 			bool flag = nanoply::SaveModel(infoSave.filename, meshDescr, infoSave);
 
-			for (int i = 0; i < cameraDescr.dataDescriptor.size(); i++)
+			for (size_t i = 0; i < cameraDescr.dataDescriptor.size(); i++)
 				delete cameraDescr.dataDescriptor[i];
-			for (int i = 0; i < vertexDescr.dataDescriptor.size(); i++)
+			for (size_t i = 0; i < vertexDescr.dataDescriptor.size(); i++)
 				if (vertexDescr.dataDescriptor[i]->elem != NNP_UNKNOWN_ENTITY)
 					delete vertexDescr.dataDescriptor[i];
-			for (int i = 0; i < edgeDescr.dataDescriptor.size(); i++)
+			for (size_t i = 0; i < edgeDescr.dataDescriptor.size(); i++)
 				if (edgeDescr.dataDescriptor[i]->elem != NNP_UNKNOWN_ENTITY)
 					delete edgeDescr.dataDescriptor[i];
-			for (int i = 0; i < faceDescr.dataDescriptor.size(); i++)
+			for (size_t i = 0; i < faceDescr.dataDescriptor.size(); i++)
 				if (faceDescr.dataDescriptor[i]->elem != NNP_UNKNOWN_ENTITY)
 					delete faceDescr.dataDescriptor[i];
 			
@@ -738,4 +1660,4 @@ namespace nanoply
 
 }
 
-#endif
\ No newline at end of file
+#endif
diff --git a/wrap/nanoply/nanoply_demo/main.cpp b/wrap/nanoply/nanoply_demo/main.cpp
index d35883cb..8f903b4c 100644
--- a/wrap/nanoply/nanoply_demo/main.cpp
+++ b/wrap/nanoply/nanoply_demo/main.cpp
@@ -91,7 +91,7 @@ public:
     float norm[] = { 0.57735, 0.57735, 0.57735, -0.57735, 0.57735, -0.57735, -0.57735, -0.57735, 0.57735, 0.57735, -0.57735, -0.57735 };
     unsigned char color[] = { 68, 68, 68, 255, 177, 68, 177, 255, 177, 177, 68, 255, 68, 177, 177 };
     float density[] = { 3.5, 2.0, 4.0, 3.0 };
-    float materialId[] = { 1, 0, -1, 1 };
+    int materialId[] = { 1, 0, -1, 1 };
     float materialValue[] = { 0.2, 0.3, 0.2, 0.5, 0.5, 0.6, 20.0, 0.1, 0.1, 0.1, 0.7, 0.5, 0.4, 1.0 };
     coordVec.push_back(Point3f(pos, 3)); coordVec.push_back(Point3f(&pos[3], 3)); coordVec.push_back(Point3f(&pos[6], 3)); coordVec.push_back(Point3f(&pos[9], 3));
     normalVec.push_back(Point3f(norm, 3)); normalVec.push_back(Point3f(&norm[3], 3)); normalVec.push_back(Point3f(&norm[6], 3)); normalVec.push_back(Point3f(&norm[9], 3));
@@ -138,7 +138,7 @@ bool Load(const char* filename, MyMesh& mesh)
   mesh.infoVec.resize(vertCnt);
   int faceCnt = info.GetFaceCount();
   mesh.faceIndex.resize(faceCnt);
-  int materialCnt = info.GetElementCount(std::string("material"));
+  size_t materialCnt = info.GetElementCount(std::string("material"));
   mesh.material.resize(2);
 
   //Create the vertex properties descriptor (what ply property and where to save its data)
diff --git a/wrap/nanoply/nanoply_demo/nanoply_demo.pro b/wrap/nanoply/nanoply_demo/nanoply_demo.pro
index ad24e8b7..9755da9e 100644
--- a/wrap/nanoply/nanoply_demo/nanoply_demo.pro
+++ b/wrap/nanoply/nanoply_demo/nanoply_demo.pro
@@ -1,6 +1,6 @@
 DEPENDPATH += ../include
 INCLUDEPATH += ../include
-CONFIG += console stl c++11
+CONFIG += stl cmdline c++11
 CONFIG -= qt
 TEMPLATE = app
 SOURCES += main.cpp
diff --git a/wrap/nanoply/nanoply_vcg/main.cpp b/wrap/nanoply/nanoply_vcg/main.cpp
index 62a95b41..37005bac 100644
--- a/wrap/nanoply/nanoply_vcg/main.cpp
+++ b/wrap/nanoply/nanoply_vcg/main.cpp
@@ -45,7 +45,7 @@ public:
   {
     vertexMaterial = vcg::tri::Allocator<MyMesh>::AddPerVertexAttribute<int>(*this, std::string("materialId"));
     faceBarycenter = vcg::tri::Allocator<MyMesh>::AddPerFaceAttribute<MyVertex::CoordType>(*this, std::string("barycenter"));
-    material = vcg::tri::Allocator<MyMesh>::AddPerMeshAttribute<std::vector<Material>>(*this, std::string("material"));
+    material = vcg::tri::Allocator<MyMesh>::AddPerMeshAttribute<std::vector<Material> >(*this, std::string("material"));
   }
 
   void FillMesh()
@@ -55,7 +55,7 @@ public:
     vcg::tri::UpdateNormal<MyMesh>::PerVertexNormalized(*this);
 
     int tempC = 255 / vert.size();
-    for (int i = 0; i < vert.size(); i++)
+    for (size_t i = 0; i < vert.size(); i++)
     {
       if (i < 2)
         vertexMaterial[i] = -1;
@@ -67,7 +67,7 @@ public:
       vert[i].C() = vcg::Color4b(tempC*i, tempC*i, tempC*i, 255);
     }
 
-    for (int i = 0; i < face.size(); i++)
+    for (size_t i = 0; i < face.size(); i++)
      faceBarycenter[i] = vcg::Barycenter(face[i]);
 
     material().resize(2);
@@ -149,5 +149,5 @@ int main()
   MyMesh mesh2, mesh3;
   Load("example_ascii.ply", mesh2);
   Load("example_binary.ply", mesh3);
-  return true;
+  return 0;
 }
diff --git a/wrap/nanoply/nanoply_vcg/nanoply_vcg.pro b/wrap/nanoply/nanoply_vcg/nanoply_vcg.pro
index 69f90098..c103ff7e 100644
--- a/wrap/nanoply/nanoply_vcg/nanoply_vcg.pro
+++ b/wrap/nanoply/nanoply_vcg/nanoply_vcg.pro
@@ -1,8 +1,9 @@
-INCLUDEPATH += ../../../
+INCLUDEPATH += ../../../ ../../../eigenlib
 CONFIG += console stl c++11
-CONFIG -= qt
+CONFIG += qt
 TEMPLATE = app
 SOURCES += main.cpp
+QT	    += core
 
 # Mac specific Config required to avoid to make application bundles
 CONFIG -= app_bundle
diff --git a/wrap/newuoa/include/newuoa.h b/wrap/newuoa/include/newuoa.h
new file mode 100644
index 00000000..b1fb075e
--- /dev/null
+++ b/wrap/newuoa/include/newuoa.h
@@ -0,0 +1,1728 @@
+/*
+  This is NEWUOA for unconstrained minimization. The codes were written
+  by Powell in Fortran and then translated to C with f2c. I further
+  modified the code to make it independent of libf2c and f2c.h. Please
+  refer to "The NEWUOA software for unconstrained optimization without
+  derivatives", which is available at www.damtp.cam.ac.uk, for more
+  information.
+ */
+/*
+  The original fortran codes are distributed without restrictions. The
+  C++ codes are distributed under MIT license.
+ */
+/* The MIT License
+
+   Copyright (c) 2004, by M.J.D. Powell <mjdp@cam.ac.uk>
+                 2008, by Attractive Chaos <attractivechaos@aol.co.uk>
+
+   Permission is hereby granted, free of charge, to any person obtaining
+   a copy of this software and associated documentation files (the
+   "Software"), to deal in the Software without restriction, including
+   without limitation the rights to use, copy, modify, merge, publish,
+   distribute, sublicense, and/or sell copies of the Software, and to
+   permit persons to whom the Software is furnished to do so, subject to
+   the following conditions:
+
+   The above copyright notice and this permission notice shall be
+   included in all copies or substantial portions of the Software.
+
+   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+   EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+   MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+   NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS
+   BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN
+   ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+   CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+   SOFTWARE.
+*/
+
+#ifndef AC_NEWUOA_HH_
+#define AC_NEWUOA_HH_
+#include <math.h>
+#include <stdlib.h>
+#include <stdio.h>
+
+//PARAMETER DECREASE WAS 0.1
+#define DELTA_DECREASE 0.5
+#define RHO_DECREASE 0.5
+
+
+/*most probably:
+    TYPE is float or double
+    Func is defined as double func(int n, double *x);
+    or better as 
+       class Func {
+         double operator()(int n, double *x);
+       };
+    where n is the number of parameters and x the vector parameter
+    r_start stands unknown...
+*/
+
+template<class TYPE, class Func>
+TYPE min_newuoa(int n, TYPE *x, Func &func, TYPE r_start=1e7, TYPE tol=1e-8, int max_iter=5000);
+
+template<class TYPE, class Func>
+static int biglag_(int n, int npt, TYPE *xopt, TYPE *xpt, TYPE *bmat, TYPE *zmat, int *idz,
+                   int *ndim, int *knew, TYPE *delta, TYPE *d__, TYPE *alpha, TYPE *hcol, TYPE *gc,
+                   TYPE *gd, TYPE *s, TYPE *w, Func & /*func*/)
+{
+    /* N is the number of variables. NPT is the number of interpolation
+     * equations. XOPT is the best interpolation point so far. XPT
+     * contains the coordinates of the current interpolation
+     * points. BMAT provides the last N columns of H.  ZMAT and IDZ give
+     * a factorization of the first NPT by NPT submatrix of H. NDIM is
+     * the first dimension of BMAT and has the value NPT+N.  KNEW is the
+     * index of the interpolation point that is going to be moved. DEBLLTA
+     * is the current trust region bound. D will be set to the step from
+     * XOPT to the new point. ABLLPHA will be set to the KNEW-th diagonal
+     * element of the H matrix. HCOBLL, GC, GD, S and W will be used for
+     * working space. */
+    /* The step D is calculated in a way that attempts to maximize the
+     * modulus of BLLFUNC(XOPT+D), subject to the bound ||D|| .BLLE. DEBLLTA,
+     * where BLLFUNC is the KNEW-th BLLagrange function. */
+
+    int xpt_dim1, xpt_offset, bmat_dim1, bmat_offset, zmat_dim1, zmat_offset,
+        i__1, i__2, i__, j, k, iu, nptm, iterc, isave;
+    TYPE sp, ss, cf1, cf2, cf3, cf4, cf5, dhd, cth, tau, sth, sum, temp, step,
+        angle, scale, denom, delsq, tempa, tempb, twopi, taubeg, tauold, taumax,
+        d__1, dd, gg;
+
+    /* Parameter adjustments */
+    tempa = tempb = 0.0;
+    zmat_dim1 = npt;
+    zmat_offset = 1 + zmat_dim1;
+    zmat -= zmat_offset;
+    xpt_dim1 = npt;
+    xpt_offset = 1 + xpt_dim1;
+    xpt -= xpt_offset;
+    --xopt;
+    bmat_dim1 = *ndim;
+    bmat_offset = 1 + bmat_dim1;
+    bmat -= bmat_offset;
+    --d__; --hcol; --gc; --gd; --s; --w;
+    /* Function Body */
+    twopi = 2.0 * M_PI;
+    delsq = *delta * *delta;
+    nptm = npt - n - 1;
+    /* Set the first NPT components of HCOBLL to the leading elements of
+     * the KNEW-th column of H. */
+    iterc = 0;
+    i__1 = npt;
+    for (k = 1; k <= i__1; ++k) hcol[k] = 0;
+    i__1 = nptm;
+    for (j = 1; j <= i__1; ++j) {
+        temp = zmat[*knew + j * zmat_dim1];
+        if (j < *idz) temp = -temp;
+        i__2 = npt;
+        for (k = 1; k <= i__2; ++k)
+            hcol[k] += temp * zmat[k + j * zmat_dim1];
+    }
+    *alpha = hcol[*knew];
+    /* Set the unscaled initial direction D. Form the gradient of BLLFUNC
+     * atXOPT, and multiply D by the second derivative matrix of
+     * BLLFUNC. */
+    dd = 0;
+    i__2 = n;
+    for (i__ = 1; i__ <= i__2; ++i__) {
+        d__[i__] = xpt[*knew + i__ * xpt_dim1] - xopt[i__];
+        gc[i__] = bmat[*knew + i__ * bmat_dim1];
+        gd[i__] = 0;
+        /* Computing 2nd power */
+        d__1 = d__[i__];
+        dd += d__1 * d__1;
+    }
+    i__2 = npt;
+    for (k = 1; k <= i__2; ++k) {
+        temp = 0;
+        sum = 0;
+        i__1 = n;
+        for (j = 1; j <= i__1; ++j) {
+            temp += xpt[k + j * xpt_dim1] * xopt[j];
+            sum += xpt[k + j * xpt_dim1] * d__[j];
+        }
+        temp = hcol[k] * temp;
+        sum = hcol[k] * sum;
+        i__1 = n;
+        for (i__ = 1; i__ <= i__1; ++i__) {
+            gc[i__] += temp * xpt[k + i__ * xpt_dim1];
+            gd[i__] += sum * xpt[k + i__ * xpt_dim1];
+        }
+    }
+    /* Scale D and GD, with a sign change if required. Set S to another
+     * vector in the initial two dimensional subspace. */
+    gg = sp = dhd = 0;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        /* Computing 2nd power */
+        d__1 = gc[i__];
+        gg += d__1 * d__1;
+        sp += d__[i__] * gc[i__];
+        dhd += d__[i__] * gd[i__];
+    }
+    scale = *delta / sqrt(dd);
+    if (sp * dhd < 0) scale = -scale;
+    temp = 0;
+    if (sp * sp > dd * .99 * gg) temp = 1.0;
+    tau = scale * (fabs(sp) + 0.5 * scale * fabs(dhd));
+    if (gg * delsq < tau * .01 * tau) temp = 1.0;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        d__[i__] = scale * d__[i__];
+        gd[i__] = scale * gd[i__];
+        s[i__] = gc[i__] + temp * gd[i__];
+    }
+    /* Begin the iteration by overwriting S with a vector that has the
+     * required length and direction, except that termination occurs if
+     * the given D and S are nearly parallel. */
+    for (iterc = 0; iterc != n; ++iterc) {
+        dd = sp = ss = 0;
+        i__1 = n;
+        for (i__ = 1; i__ <= i__1; ++i__) {
+            /* Computing 2nd power */
+            d__1 = d__[i__];
+            dd += d__1 * d__1;
+            sp += d__[i__] * s[i__];
+            /* Computing 2nd power */
+            d__1 = s[i__];
+            ss += d__1 * d__1;
+        }
+        temp = dd * ss - sp * sp;
+        if (temp <= dd * 1e-8 * ss) return 0;
+        denom = sqrt(temp);
+        i__1 = n;
+        for (i__ = 1; i__ <= i__1; ++i__) {
+            s[i__] = (dd * s[i__] - sp * d__[i__]) / denom;
+            w[i__] = 0;
+        }
+        /* Calculate the coefficients of the objective function on the
+         * circle, beginning with the multiplication of S by the second
+         * derivative matrix. */
+        i__1 = npt;
+        for (k = 1; k <= i__1; ++k) {
+            sum = 0;
+            i__2 = n;
+            for (j = 1; j <= i__2; ++j)
+                sum += xpt[k + j * xpt_dim1] * s[j];
+            sum = hcol[k] * sum;
+            i__2 = n;
+            for (i__ = 1; i__ <= i__2; ++i__)
+                w[i__] += sum * xpt[k + i__ * xpt_dim1];
+        }
+        cf1 = cf2 = cf3 = cf4 = cf5 = 0;
+        i__2 = n;
+        for (i__ = 1; i__ <= i__2; ++i__) {
+            cf1 += s[i__] * w[i__];
+            cf2 += d__[i__] * gc[i__];
+            cf3 += s[i__] * gc[i__];
+            cf4 += d__[i__] * gd[i__];
+            cf5 += s[i__] * gd[i__];
+        }
+        cf1 = 0.5 * cf1;
+        cf4 = 0.5 * cf4 - cf1;
+        /* Seek the value of the angle that maximizes the modulus of TAU. */
+        taubeg = cf1 + cf2 + cf4;
+        taumax = tauold = taubeg;
+        isave = 0;
+        iu = 49;
+        temp = twopi / (TYPE) (iu + 1);
+        i__2 = iu;
+        for (i__ = 1; i__ <= i__2; ++i__) {
+            angle = (TYPE) i__ *temp;
+            cth = cos(angle);
+            sth = sin(angle);
+            tau = cf1 + (cf2 + cf4 * cth) * cth + (cf3 + cf5 * cth) * sth;
+            if (fabs(tau) > fabs(taumax)) {
+                taumax = tau;
+                isave = i__;
+                tempa = tauold;
+            } else if (i__ == isave + 1) tempb = tau;
+            tauold = tau;
+        }
+        if (isave == 0) tempa = tau;
+        if (isave == iu) tempb = taubeg;
+        step = 0;
+        if (tempa != tempb) {
+            tempa -= taumax;
+            tempb -= taumax;
+            step = 0.5 * (tempa - tempb) / (tempa + tempb);
+        }
+        angle = temp * ((TYPE) isave + step);
+        /* Calculate the new D and GD. Then test for convergence. */
+        cth = cos(angle);
+        sth = sin(angle);
+        tau = cf1 + (cf2 + cf4 * cth) * cth + (cf3 + cf5 * cth) * sth;
+        i__2 = n;
+        for (i__ = 1; i__ <= i__2; ++i__) {
+            d__[i__] = cth * d__[i__] + sth * s[i__];
+            gd[i__] = cth * gd[i__] + sth * w[i__];
+            s[i__] = gc[i__] + gd[i__];
+        }
+        if (fabs(tau) <= fabs(taubeg) * 1.1) return 0;
+    }
+    return 0;
+}
+
+template<class TYPE>
+static int bigden_(int n, int npt, TYPE *xopt, TYPE *xpt, TYPE *bmat, TYPE *zmat, int *idz,
+                   int *ndim, int *kopt, int *knew, TYPE *d__, TYPE *w, TYPE *vlag, TYPE *beta,
+                   TYPE *s, TYPE *wvec, TYPE *prod)
+{
+    /* N is the number of variables.
+     * NPT is the number of interpolation equations.
+     * XOPT is the best interpolation point so far.
+     * XPT contains the coordinates of the current interpolation points.
+     * BMAT provides the last N columns of H.
+     * ZMAT and IDZ give a factorization of the first NPT by NPT
+       submatrix of H.
+     * NDIM is the first dimension of BMAT and has the value NPT+N.
+     * KOPT is the index of the optimal interpolation point.
+     * KNEW is the index of the interpolation point that is going to be
+       moved.
+     * D will be set to the step from XOPT to the new point, and on
+       entry it should be the D that was calculated by the last call of
+       BIGBDLAG. The length of the initial D provides a trust region bound
+       on the final D.
+     * W will be set to Wcheck for the final choice of D.
+     * VBDLAG will be set to Theta*Wcheck+e_b for the final choice of D.
+     * BETA will be set to the value that will occur in the updating
+       formula when the KNEW-th interpolation point is moved to its new
+       position.
+     * S, WVEC, PROD and the private arrays DEN, DENEX and PAR will be
+       used for working space.
+     * D is calculated in a way that should provide a denominator with a
+       large modulus in the updating formula when the KNEW-th
+       interpolation point is shifted to the new position XOPT+D. */
+
+    int xpt_dim1, xpt_offset, bmat_dim1, bmat_offset, zmat_dim1, zmat_offset,
+        wvec_dim1, wvec_offset, prod_dim1, prod_offset, i__1, i__2, i__, j, k,
+        isave, iterc, jc, ip, iu, nw, ksav, nptm;
+    TYPE dd, d__1, ds, ss, den[9], par[9], tau, sum, diff, temp, step,
+        alpha, angle, denex[9], tempa, tempb, tempc, ssden, dtest, xoptd,
+        twopi, xopts, denold, denmax, densav, dstemp, sumold, sstemp, xoptsq;
+
+    /* Parameter adjustments */
+    zmat_dim1 = npt;
+    zmat_offset = 1 + zmat_dim1;
+    zmat -= zmat_offset;
+    xpt_dim1 = npt;
+    xpt_offset = 1 + xpt_dim1;
+    xpt -= xpt_offset;
+    --xopt;
+    prod_dim1 = *ndim;
+    prod_offset = 1 + prod_dim1;
+    prod -= prod_offset;
+    wvec_dim1 = *ndim;
+    wvec_offset = 1 + wvec_dim1;
+    wvec -= wvec_offset;
+    bmat_dim1 = *ndim;
+    bmat_offset = 1 + bmat_dim1;
+    bmat -= bmat_offset;
+    --d__; --w; --vlag; --s;
+    /* Function Body */
+    twopi = atan(1.0) * 8.;
+    nptm = npt - n - 1;
+    /* Store the first NPT elements of the KNEW-th column of H in W(N+1)
+     * to W(N+NPT). */
+    i__1 = npt;
+    for (k = 1; k <= i__1; ++k) w[n + k] = 0;
+    i__1 = nptm;
+    for (j = 1; j <= i__1; ++j) {
+        temp = zmat[*knew + j * zmat_dim1];
+        if (j < *idz) temp = -temp;
+        i__2 = npt;
+        for (k = 1; k <= i__2; ++k)
+            w[n + k] += temp * zmat[k + j * zmat_dim1];
+    }
+    alpha = w[n + *knew];
+    /* The initial search direction D is taken from the last call of
+     * BIGBDLAG, and the initial S is set below, usually to the direction
+     * from X_OPT to X_KNEW, but a different direction to an
+     * interpolation point may be chosen, in order to prevent S from
+     * being nearly parallel to D. */
+    dd = ds = ss = xoptsq = 0;
+    i__2 = n;
+    for (i__ = 1; i__ <= i__2; ++i__) {
+        /* Computing 2nd power */
+        d__1 = d__[i__];
+        dd += d__1 * d__1;
+        s[i__] = xpt[*knew + i__ * xpt_dim1] - xopt[i__];
+        ds += d__[i__] * s[i__];
+        /* Computing 2nd power */
+        d__1 = s[i__];
+        ss += d__1 * d__1;
+        /* Computing 2nd power */
+        d__1 = xopt[i__];
+        xoptsq += d__1 * d__1;
+    }
+    if (ds * ds > dd * .99 * ss) {
+        ksav = *knew;
+        dtest = ds * ds / ss;
+        i__2 = npt;
+        for (k = 1; k <= i__2; ++k) {
+            if (k != *kopt) {
+                dstemp = 0;
+                sstemp = 0;
+                i__1 = n;
+                for (i__ = 1; i__ <= i__1; ++i__) {
+                    diff = xpt[k + i__ * xpt_dim1] - xopt[i__];
+                    dstemp += d__[i__] * diff;
+                    sstemp += diff * diff;
+                }
+                if (dstemp * dstemp / sstemp < dtest) {
+                    ksav = k;
+                    dtest = dstemp * dstemp / sstemp;
+                    ds = dstemp;
+                    ss = sstemp;
+                }
+            }
+        }
+        i__2 = n;
+        for (i__ = 1; i__ <= i__2; ++i__)
+            s[i__] = xpt[ksav + i__ * xpt_dim1] - xopt[i__];
+    }
+    ssden = dd * ss - ds * ds;
+    iterc = 0;
+    densav = 0;
+    /* Begin the iteration by overwriting S with a vector that has the
+     * required length and direction. */
+BDL70:
+    ++iterc;
+    temp = 1.0 / sqrt(ssden);
+    xoptd = xopts = 0;
+    i__2 = n;
+    for (i__ = 1; i__ <= i__2; ++i__) {
+        s[i__] = temp * (dd * s[i__] - ds * d__[i__]);
+        xoptd += xopt[i__] * d__[i__];
+        xopts += xopt[i__] * s[i__];
+    }
+    /* Set the coefficients of the first 2.0 terms of BETA. */
+    tempa = 0.5 * xoptd * xoptd;
+    tempb = 0.5 * xopts * xopts;
+    den[0] = dd * (xoptsq + 0.5 * dd) + tempa + tempb;
+    den[1] = 2.0 * xoptd * dd;
+    den[2] = 2.0 * xopts * dd;
+    den[3] = tempa - tempb;
+    den[4] = xoptd * xopts;
+    for (i__ = 6; i__ <= 9; ++i__) den[i__ - 1] = 0;
+    /* Put the coefficients of Wcheck in WVEC. */
+    i__2 = npt;
+    for (k = 1; k <= i__2; ++k) {
+        tempa = tempb = tempc = 0;
+        i__1 = n;
+        for (i__ = 1; i__ <= i__1; ++i__) {
+            tempa += xpt[k + i__ * xpt_dim1] * d__[i__];
+            tempb += xpt[k + i__ * xpt_dim1] * s[i__];
+            tempc += xpt[k + i__ * xpt_dim1] * xopt[i__];
+        }
+        wvec[k + wvec_dim1] = 0.25 * (tempa * tempa + tempb * tempb);
+        wvec[k + (wvec_dim1 << 1)] = tempa * tempc;
+        wvec[k + wvec_dim1 * 3] = tempb * tempc;
+        wvec[k + (wvec_dim1 << 2)] = 0.25 * (tempa * tempa - tempb * tempb);
+        wvec[k + wvec_dim1 * 5] = 0.5 * tempa * tempb;
+    }
+    i__2 = n;
+    for (i__ = 1; i__ <= i__2; ++i__) {
+        ip = i__ + npt;
+        wvec[ip + wvec_dim1] = 0;
+        wvec[ip + (wvec_dim1 << 1)] = d__[i__];
+        wvec[ip + wvec_dim1 * 3] = s[i__];
+        wvec[ip + (wvec_dim1 << 2)] = 0;
+        wvec[ip + wvec_dim1 * 5] = 0;
+    }
+    /* Put the coefficents of THETA*Wcheck in PROD. */
+    for (jc = 1; jc <= 5; ++jc) {
+        nw = npt;
+        if (jc == 2 || jc == 3) nw = *ndim;
+        i__2 = npt;
+        for (k = 1; k <= i__2; ++k) prod[k + jc * prod_dim1] = 0;
+        i__2 = nptm;
+        for (j = 1; j <= i__2; ++j) {
+            sum = 0;
+            i__1 = npt;
+            for (k = 1; k <= i__1; ++k) sum += zmat[k + j * zmat_dim1] * wvec[k + jc * wvec_dim1];
+            if (j < *idz) sum = -sum;
+            i__1 = npt;
+            for (k = 1; k <= i__1; ++k)
+                prod[k + jc * prod_dim1] += sum * zmat[k + j * zmat_dim1];
+        }
+        if (nw == *ndim) {
+            i__1 = npt;
+            for (k = 1; k <= i__1; ++k) {
+                sum = 0;
+                i__2 = n;
+                for (j = 1; j <= i__2; ++j)
+                    sum += bmat[k + j * bmat_dim1] * wvec[npt + j + jc * wvec_dim1];
+                prod[k + jc * prod_dim1] += sum;
+            }
+        }
+        i__1 = n;
+        for (j = 1; j <= i__1; ++j) {
+            sum = 0;
+            i__2 = nw;
+            for (i__ = 1; i__ <= i__2; ++i__)
+                sum += bmat[i__ + j * bmat_dim1] * wvec[i__ + jc * wvec_dim1];
+            prod[npt + j + jc * prod_dim1] = sum;
+        }
+    }
+    /* Include in DEN the part of BETA that depends on THETA. */
+    i__1 = *ndim;
+    for (k = 1; k <= i__1; ++k) {
+        sum = 0;
+        for (i__ = 1; i__ <= 5; ++i__) {
+            par[i__ - 1] = 0.5 * prod[k + i__ * prod_dim1] * wvec[k + i__ * wvec_dim1];
+            sum += par[i__ - 1];
+        }
+        den[0] = den[0] - par[0] - sum;
+        tempa = prod[k + prod_dim1] * wvec[k + (wvec_dim1 << 1)] + prod[k + (
+                     prod_dim1 << 1)] * wvec[k + wvec_dim1];
+        tempb = prod[k + (prod_dim1 << 1)] * wvec[k + (wvec_dim1 << 2)] +
+            prod[k + (prod_dim1 << 2)] * wvec[k + (wvec_dim1 << 1)];
+        tempc = prod[k + prod_dim1 * 3] * wvec[k + wvec_dim1 * 5] + prod[k +
+                   prod_dim1 * 5] * wvec[k + wvec_dim1 * 3];
+        den[1] = den[1] - tempa - 0.5 * (tempb + tempc);
+        den[5] -= 0.5 * (tempb - tempc);
+        tempa = prod[k + prod_dim1] * wvec[k + wvec_dim1 * 3] + prod[k +
+                       prod_dim1 * 3] * wvec[k + wvec_dim1];
+        tempb = prod[k + (prod_dim1 << 1)] * wvec[k + wvec_dim1 * 5] + prod[k
+                  + prod_dim1 * 5] * wvec[k + (wvec_dim1 << 1)];
+        tempc = prod[k + prod_dim1 * 3] * wvec[k + (wvec_dim1 << 2)] + prod[k
+                  + (prod_dim1 << 2)] * wvec[k + wvec_dim1 * 3];
+        den[2] = den[2] - tempa - 0.5 * (tempb - tempc);
+        den[6] -= 0.5 * (tempb + tempc);
+        tempa = prod[k + prod_dim1] * wvec[k + (wvec_dim1 << 2)] + prod[k + (
+                     prod_dim1 << 2)] * wvec[k + wvec_dim1];
+        den[3] = den[3] - tempa - par[1] + par[2];
+        tempa = prod[k + prod_dim1] * wvec[k + wvec_dim1 * 5] + prod[k +
+                       prod_dim1 * 5] * wvec[k + wvec_dim1];
+        tempb = prod[k + (prod_dim1 << 1)] * wvec[k + wvec_dim1 * 3] + prod[k
+                  + prod_dim1 * 3] * wvec[k + (wvec_dim1 << 1)];
+        den[4] = den[4] - tempa - 0.5 * tempb;
+        den[7] = den[7] - par[3] + par[4];
+        tempa = prod[k + (prod_dim1 << 2)] * wvec[k + wvec_dim1 * 5] + prod[k
+                  + prod_dim1 * 5] * wvec[k + (wvec_dim1 << 2)];
+        den[8] -= 0.5 * tempa;
+    }
+    /* Extend DEN so that it holds all the coefficients of DENOM. */
+    sum = 0;
+    for (i__ = 1; i__ <= 5; ++i__) {
+        /* Computing 2nd power */
+        d__1 = prod[*knew + i__ * prod_dim1];
+        par[i__ - 1] = 0.5 * (d__1 * d__1);
+        sum += par[i__ - 1];
+    }
+    denex[0] = alpha * den[0] + par[0] + sum;
+    tempa = 2.0 * prod[*knew + prod_dim1] * prod[*knew + (prod_dim1 << 1)];
+    tempb = prod[*knew + (prod_dim1 << 1)] * prod[*knew + (prod_dim1 << 2)];
+    tempc = prod[*knew + prod_dim1 * 3] * prod[*knew + prod_dim1 * 5];
+    denex[1] = alpha * den[1] + tempa + tempb + tempc;
+    denex[5] = alpha * den[5] + tempb - tempc;
+    tempa = 2.0 * prod[*knew + prod_dim1] * prod[*knew + prod_dim1 * 3];
+    tempb = prod[*knew + (prod_dim1 << 1)] * prod[*knew + prod_dim1 * 5];
+    tempc = prod[*knew + prod_dim1 * 3] * prod[*knew + (prod_dim1 << 2)];
+    denex[2] = alpha * den[2] + tempa + tempb - tempc;
+    denex[6] = alpha * den[6] + tempb + tempc;
+    tempa = 2.0 * prod[*knew + prod_dim1] * prod[*knew + (prod_dim1 << 2)];
+    denex[3] = alpha * den[3] + tempa + par[1] - par[2];
+    tempa = 2.0 * prod[*knew + prod_dim1] * prod[*knew + prod_dim1 * 5];
+    denex[4] = alpha * den[4] + tempa + prod[*knew + (prod_dim1 << 1)] * prod[
+                             *knew + prod_dim1 * 3];
+    denex[7] = alpha * den[7] + par[3] - par[4];
+    denex[8] = alpha * den[8] + prod[*knew + (prod_dim1 << 2)] * prod[*knew +
+                                 prod_dim1 * 5];
+    /* Seek the value of the angle that maximizes the modulus of DENOM. */
+    sum = denex[0] + denex[1] + denex[3] + denex[5] + denex[7];
+    denold = denmax = sum;
+    isave = 0;
+    iu = 49;
+    temp = twopi / (TYPE) (iu + 1);
+    par[0] = 1.0;
+    i__1 = iu;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        angle = (TYPE) i__ *temp;
+        par[1] = cos(angle);
+        par[2] = sin(angle);
+        for (j = 4; j <= 8; j += 2) {
+            par[j - 1] = par[1] * par[j - 3] - par[2] * par[j - 2];
+            par[j] = par[1] * par[j - 2] + par[2] * par[j - 3];
+        }
+        sumold = sum;
+        sum = 0;
+        for (j = 1; j <= 9; ++j)
+            sum += denex[j - 1] * par[j - 1];
+        if (fabs(sum) > fabs(denmax)) {
+            denmax = sum;
+            isave = i__;
+            tempa = sumold;
+        } else if (i__ == isave + 1) {
+            tempb = sum;
+        }
+    }
+    if (isave == 0) tempa = sum;
+    if (isave == iu) tempb = denold;
+    step = 0;
+    if (tempa != tempb) {
+        tempa -= denmax;
+        tempb -= denmax;
+        step = 0.5 * (tempa - tempb) / (tempa + tempb);
+    }
+    angle = temp * ((TYPE) isave + step);
+    /* Calculate the new parameters of the denominator, the new VBDLAG
+     * vector and the new D. Then test for convergence. */
+    par[1] = cos(angle);
+    par[2] = sin(angle);
+    for (j = 4; j <= 8; j += 2) {
+        par[j - 1] = par[1] * par[j - 3] - par[2] * par[j - 2];
+        par[j] = par[1] * par[j - 2] + par[2] * par[j - 3];
+    }
+    *beta = 0;
+    denmax = 0;
+    for (j = 1; j <= 9; ++j) {
+        *beta += den[j - 1] * par[j - 1];
+        denmax += denex[j - 1] * par[j - 1];
+    }
+    i__1 = *ndim;
+    for (k = 1; k <= i__1; ++k) {
+        vlag[k] = 0;
+        for (j = 1; j <= 5; ++j)
+            vlag[k] += prod[k + j * prod_dim1] * par[j - 1];
+    }
+    tau = vlag[*knew];
+    dd = tempa = tempb = 0;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        d__[i__] = par[1] * d__[i__] + par[2] * s[i__];
+        w[i__] = xopt[i__] + d__[i__];
+        /* Computing 2nd power */
+        d__1 = d__[i__];
+        dd += d__1 * d__1;
+        tempa += d__[i__] * w[i__];
+        tempb += w[i__] * w[i__];
+    }
+    if (iterc >= n) goto BDL340;
+		if (iterc > 1) densav = std::max(densav, denold);
+    if (fabs(denmax) <= fabs(densav) * 1.1) goto BDL340;
+    densav = denmax;
+    /* Set S to 0.5 the gradient of the denominator with respect to
+     * D. Then branch for the next iteration. */
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        temp = tempa * xopt[i__] + tempb * d__[i__] - vlag[npt + i__];
+        s[i__] = tau * bmat[*knew + i__ * bmat_dim1] + alpha * temp;
+    }
+    i__1 = npt;
+    for (k = 1; k <= i__1; ++k) {
+        sum = 0;
+        i__2 = n;
+        for (j = 1; j <= i__2; ++j)
+            sum += xpt[k + j * xpt_dim1] * w[j];
+        temp = (tau * w[n + k] - alpha * vlag[k]) * sum;
+        i__2 = n;
+        for (i__ = 1; i__ <= i__2; ++i__)
+            s[i__] += temp * xpt[k + i__ * xpt_dim1];
+    }
+    ss = 0;
+    ds = 0;
+    i__2 = n;
+    for (i__ = 1; i__ <= i__2; ++i__) {
+        /* Computing 2nd power */
+        d__1 = s[i__];
+        ss += d__1 * d__1;
+        ds += d__[i__] * s[i__];
+    }
+    ssden = dd * ss - ds * ds;
+    if (ssden >= dd * 1e-8 * ss) goto BDL70;
+    /* Set the vector W before the RETURN from the subroutine. */
+BDL340:
+    i__2 = *ndim;
+    for (k = 1; k <= i__2; ++k) {
+        w[k] = 0;
+        for (j = 1; j <= 5; ++j) w[k] += wvec[k + j * wvec_dim1] * par[j - 1];
+    }
+    vlag[*kopt] += 1.0;
+    return 0;
+}
+
+template<class TYPE>
+int trsapp_(int n, int npt, TYPE * xopt, TYPE * xpt, TYPE * gq, TYPE * hq, TYPE * pq,
+            TYPE * delta, TYPE * step, TYPE * d__, TYPE * g, TYPE * hd, TYPE * hs, TYPE * crvmin)
+{
+    /* The arguments NPT, XOPT, XPT, GQ, HQ and PQ have their usual
+     * meanings, in order to define the current quadratic model Q.
+     * DETRLTA is the trust region radius, and has to be positive. STEP
+     * will be set to the calculated trial step. The arrays D, G, HD and
+     * HS will be used for working space. CRVMIN will be set to the
+     * least curvature of H aint the conjugate directions that occur,
+     * except that it is set to 0 if STEP goes all the way to the trust
+     * region boundary. The calculation of STEP begins with the
+     * truncated conjugate gradient method. If the boundary of the trust
+     * region is reached, then further changes to STEP may be made, each
+     * one being in the 2D space spanned by the current STEP and the
+     * corresponding gradient of Q. Thus STEP should provide a
+     * substantial reduction to Q within the trust region. */
+
+    int xpt_dim1, xpt_offset, i__1, i__2, i__, j, k, ih, iu, iterc,
+        isave, itersw, itermax;
+    TYPE d__1, d__2, dd, cf, dg, gg, ds, sg, ss, dhd, dhs,
+        cth, sgk, shs, sth, qadd, qbeg, qred, qmin, temp,
+        qsav, qnew, ggbeg, alpha, angle, reduc, ggsav, delsq,
+        tempa, tempb, bstep, ratio, twopi, angtest;
+
+    /* Parameter adjustments */
+    tempa = tempb = shs = sg = bstep = ggbeg = gg = qred = dd = 0.0;
+    xpt_dim1 = npt;
+    xpt_offset = 1 + xpt_dim1;
+    xpt -= xpt_offset;
+    --xopt; --gq; --hq; --pq; --step; --d__; --g; --hd; --hs;
+    /* Function Body */
+    twopi = 2.0 * M_PI;
+    delsq = *delta * *delta;
+    iterc = 0;
+    itermax = n;
+    itersw = itermax;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) d__[i__] = xopt[i__];
+    goto TRL170;
+    /* Prepare for the first line search. */
+TRL20:
+    qred = dd = 0;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        step[i__] = 0;
+        hs[i__] = 0;
+        g[i__] = gq[i__] + hd[i__];
+        d__[i__] = -g[i__];
+        /* Computing 2nd power */
+        d__1 = d__[i__];
+        dd += d__1 * d__1;
+    }
+    *crvmin = 0;
+    if (dd == 0) goto TRL160;
+    ds = ss = 0;
+    gg = dd;
+    ggbeg = gg;
+    /* Calculate the step to the trust region boundary and the product
+     * HD. */
+TRL40:
+    ++iterc;
+    temp = delsq - ss;
+    bstep = temp / (ds + sqrt(ds * ds + dd * temp));
+    goto TRL170;
+TRL50:
+    dhd = 0;
+    i__1 = n;
+    for (j = 1; j <= i__1; ++j) dhd += d__[j] * hd[j];
+    /* Update CRVMIN and set the step-length ATRLPHA. */
+    alpha = bstep;
+    if (dhd > 0) {
+        temp = dhd / dd;
+        if (iterc == 1) *crvmin = temp;
+        *crvmin = std::min(*crvmin, temp);
+        /* Computing MIN */
+        d__1 = alpha, d__2 = gg / dhd;
+        alpha = std::min(d__1, d__2);
+    }
+    qadd = alpha * (gg - 0.5 * alpha * dhd);
+    qred += qadd;
+    /* Update STEP and HS. */
+    ggsav = gg;
+    gg = 0;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        step[i__] += alpha * d__[i__];
+        hs[i__] += alpha * hd[i__];
+        /* Computing 2nd power */
+        d__1 = g[i__] + hs[i__];
+        gg += d__1 * d__1;
+    }
+    /* Begin another conjugate direction iteration if required. */
+    if (alpha < bstep) {
+        if (qadd <= qred * .01 || gg <= ggbeg * 1e-4 || iterc == itermax) goto TRL160;
+        temp = gg / ggsav;
+        dd = ds = ss = 0;
+        i__1 = n;
+        for (i__ = 1; i__ <= i__1; ++i__) {
+            d__[i__] = temp * d__[i__] - g[i__] - hs[i__];
+            /* Computing 2nd power */
+            d__1 = d__[i__];
+            dd += d__1 * d__1;
+            ds += d__[i__] * step[i__];
+            /* Computing 2nd power */
+            d__1 = step[i__];
+            ss += d__1 * d__1;
+        }
+        if (ds <= 0) goto TRL160;
+        if (ss < delsq) goto TRL40;
+    }
+    *crvmin = 0;
+    itersw = iterc;
+    /* Test whether an alternative iteration is required. */
+TRL90:
+    if (gg <= ggbeg * 1e-4) goto TRL160;
+    sg = 0;
+    shs = 0;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        sg += step[i__] * g[i__];
+        shs += step[i__] * hs[i__];
+    }
+    sgk = sg + shs;
+    angtest = sgk / sqrt(gg * delsq);
+    if (angtest <= -.99) goto TRL160;
+    /* Begin the alternative iteration by calculating D and HD and some
+     * scalar products. */
+    ++iterc;
+    temp = sqrt(delsq * gg - sgk * sgk);
+    tempa = delsq / temp;
+    tempb = sgk / temp;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__)
+        d__[i__] = tempa * (g[i__] + hs[i__]) - tempb * step[i__];
+    goto TRL170;
+TRL120:
+    dg = dhd = dhs = 0;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        dg += d__[i__] * g[i__];
+        dhd += hd[i__] * d__[i__];
+        dhs += hd[i__] * step[i__];
+    }
+    /* Seek the value of the angle that minimizes Q. */
+    cf = 0.5 * (shs - dhd);
+    qbeg = sg + cf;
+    qsav = qmin = qbeg;
+    isave = 0;
+    iu = 49;
+    temp = twopi / (TYPE) (iu + 1);
+    i__1 = iu;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        angle = (TYPE) i__ *temp;
+        cth = cos(angle);
+        sth = sin(angle);
+        qnew = (sg + cf * cth) * cth + (dg + dhs * cth) * sth;
+        if (qnew < qmin) {
+            qmin = qnew;
+            isave = i__;
+            tempa = qsav;
+        } else if (i__ == isave + 1) tempb = qnew;
+        qsav = qnew;
+    }
+    if ((TYPE) isave == 0) tempa = qnew;
+    if (isave == iu) tempb = qbeg;
+    angle = 0;
+    if (tempa != tempb) {
+        tempa -= qmin;
+        tempb -= qmin;
+        angle = 0.5 * (tempa - tempb) / (tempa + tempb);
+    }
+    angle = temp * ((TYPE) isave + angle);
+    /* Calculate the new STEP and HS. Then test for convergence. */
+    cth = cos(angle);
+    sth = sin(angle);
+    reduc = qbeg - (sg + cf * cth) * cth - (dg + dhs * cth) * sth;
+    gg = 0;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        step[i__] = cth * step[i__] + sth * d__[i__];
+        hs[i__] = cth * hs[i__] + sth * hd[i__];
+        /* Computing 2nd power */
+        d__1 = g[i__] + hs[i__];
+        gg += d__1 * d__1;
+    }
+    qred += reduc;
+    ratio = reduc / qred;
+    if (iterc < itermax && ratio > .01) goto TRL90;
+TRL160:
+    return 0;
+    /* The following instructions act as a subroutine for setting the
+     * vector HD to the vector D multiplied by the second derivative
+     * matrix of Q.  They are called from three different places, which
+     * are distinguished by the value of ITERC. */
+TRL170:
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) hd[i__] = 0;
+    i__1 = npt;
+    for (k = 1; k <= i__1; ++k) {
+        temp = 0;
+        i__2 = n;
+        for (j = 1; j <= i__2; ++j)
+            temp += xpt[k + j * xpt_dim1] * d__[j];
+        temp *= pq[k];
+        i__2 = n;
+        for (i__ = 1; i__ <= i__2; ++i__)
+            hd[i__] += temp * xpt[k + i__ * xpt_dim1];
+    }
+    ih = 0;
+    i__2 = n;
+    for (j = 1; j <= i__2; ++j) {
+        i__1 = j;
+        for (i__ = 1; i__ <= i__1; ++i__) {
+            ++ih;
+            if (i__ < j) hd[j] += hq[ih] * d__[i__];
+            hd[i__] += hq[ih] * d__[j];
+        }
+    }
+    if (iterc == 0) goto TRL20;
+    if (iterc <= itersw) goto TRL50;
+    goto TRL120;
+}
+
+template<class TYPE>
+static int update_(int n, int npt, TYPE *bmat, TYPE *zmat, int *idz, int *ndim, TYPE *vlag,
+                   TYPE *beta, int *knew, TYPE *w)
+{
+    /* The arrays BMAT and ZMAT with IDZ are updated, in order to shift
+     * the interpolation point that has index KNEW. On entry, VLAG
+     * contains the components of the vector Theta*Wcheck+e_b of the
+     * updating formula (6.11), and BETA holds the value of the
+     * parameter that has this name. The vector W is used for working
+     * space. */
+
+    int bmat_dim1, bmat_offset, zmat_dim1, zmat_offset, i__1, i__2, i__,
+        j, ja, jb, jl, jp, nptm, iflag;
+    TYPE d__1, d__2, tau, temp, scala, scalb, alpha, denom, tempa, tempb, tausq;
+
+    /* Parameter adjustments */
+    tempb = 0.0;
+    zmat_dim1 = npt;
+    zmat_offset = 1 + zmat_dim1;
+    zmat -= zmat_offset;
+    bmat_dim1 = *ndim;
+    bmat_offset = 1 + bmat_dim1;
+    bmat -= bmat_offset;
+    --vlag;
+    --w;
+    /* Function Body */
+    nptm = npt - n - 1;
+    /* Apply the rotations that put zeros in the KNEW-th row of ZMAT. */
+    jl = 1;
+    i__1 = nptm;
+    for (j = 2; j <= i__1; ++j) {
+        if (j == *idz) {
+            jl = *idz;
+        } else if (zmat[*knew + j * zmat_dim1] != 0) {
+            /* Computing 2nd power */
+            d__1 = zmat[*knew + jl * zmat_dim1];
+            /* Computing 2nd power */
+            d__2 = zmat[*knew + j * zmat_dim1];
+            temp = sqrt(d__1 * d__1 + d__2 * d__2);
+            tempa = zmat[*knew + jl * zmat_dim1] / temp;
+            tempb = zmat[*knew + j * zmat_dim1] / temp;
+            i__2 = npt;
+            for (i__ = 1; i__ <= i__2; ++i__) {
+                temp = tempa * zmat[i__ + jl * zmat_dim1] + tempb * zmat[i__
+                               + j * zmat_dim1];
+                zmat[i__ + j * zmat_dim1] = tempa * zmat[i__ + j * zmat_dim1]
+                    - tempb * zmat[i__ + jl * zmat_dim1];
+                zmat[i__ + jl * zmat_dim1] = temp;
+            }
+            zmat[*knew + j * zmat_dim1] = 0;
+        }
+    }
+    /* Put the first NPT components of the KNEW-th column of HLAG into
+     * W, and calculate the parameters of the updating formula. */
+    tempa = zmat[*knew + zmat_dim1];
+    if (*idz >= 2) tempa = -tempa;
+    if (jl > 1) tempb = zmat[*knew + jl * zmat_dim1];
+    i__1 = npt;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        w[i__] = tempa * zmat[i__ + zmat_dim1];
+        if (jl > 1) w[i__] += tempb * zmat[i__ + jl * zmat_dim1];
+    }
+    alpha = w[*knew];
+    tau = vlag[*knew];
+    tausq = tau * tau;
+    denom = alpha * *beta + tausq;
+    vlag[*knew] -= 1.0;
+    /* Complete the updating of ZMAT when there is only 1.0 nonzero
+     * element in the KNEW-th row of the new matrix ZMAT, but, if IFLAG
+     * is set to 1.0, then the first column of ZMAT will be exchanged
+     * with another 1.0 later. */
+    iflag = 0;
+    if (jl == 1) {
+        temp = sqrt((fabs(denom)));
+        tempb = tempa / temp;
+        tempa = tau / temp;
+        i__1 = npt;
+        for (i__ = 1; i__ <= i__1; ++i__)
+            zmat[i__ + zmat_dim1] = tempa * zmat[i__ + zmat_dim1] - tempb *
+                vlag[i__];
+        if (*idz == 1 && temp < 0) *idz = 2;
+        if (*idz >= 2 && temp >= 0) iflag = 1;
+    } else {
+        /* Complete the updating of ZMAT in the alternative case. */
+        ja = 1;
+        if (*beta >= 0) {
+            ja = jl;
+        }
+        jb = jl + 1 - ja;
+        temp = zmat[*knew + jb * zmat_dim1] / denom;
+        tempa = temp * *beta;
+        tempb = temp * tau;
+        temp = zmat[*knew + ja * zmat_dim1];
+        scala = 1.0 / sqrt(fabs(*beta) * temp * temp + tausq);
+        scalb = scala * sqrt((fabs(denom)));
+        i__1 = npt;
+        for (i__ = 1; i__ <= i__1; ++i__) {
+            zmat[i__ + ja * zmat_dim1] = scala * (tau * zmat[i__ + ja *
+                         zmat_dim1] - temp * vlag[i__]);
+            zmat[i__ + jb * zmat_dim1] = scalb * (zmat[i__ + jb * zmat_dim1]
+                      - tempa * w[i__] - tempb * vlag[i__]);
+        }
+        if (denom <= 0) {
+            if (*beta < 0) ++(*idz);
+            if (*beta >= 0) iflag = 1;
+        }
+    }
+    /* IDZ is reduced in the following case, and usually the first
+     * column of ZMAT is exchanged with a later 1.0. */
+    if (iflag == 1) {
+        --(*idz);
+        i__1 = npt;
+        for (i__ = 1; i__ <= i__1; ++i__) {
+            temp = zmat[i__ + zmat_dim1];
+            zmat[i__ + zmat_dim1] = zmat[i__ + *idz * zmat_dim1];
+            zmat[i__ + *idz * zmat_dim1] = temp;
+        }
+    }
+    /* Finally, update the matrix BMAT. */
+    i__1 = n;
+    for (j = 1; j <= i__1; ++j) {
+        jp = npt + j;
+        w[jp] = bmat[*knew + j * bmat_dim1];
+        tempa = (alpha * vlag[jp] - tau * w[jp]) / denom;
+        tempb = (-(*beta) * w[jp] - tau * vlag[jp]) / denom;
+        i__2 = jp;
+        for (i__ = 1; i__ <= i__2; ++i__) {
+            bmat[i__ + j * bmat_dim1] = bmat[i__ + j * bmat_dim1] + tempa *
+                vlag[i__] + tempb * w[i__];
+            if (i__ > npt) {
+                bmat[jp + (i__ - npt) * bmat_dim1] = bmat[i__ + j *
+                                 bmat_dim1];
+            }
+        }
+    }
+    return 0;
+}
+
+template<class TYPE, class Func>
+static TYPE newuob_(int n, int npt, TYPE *x,
+                    TYPE rhobeg, TYPE rhoend, int *ret_nf, int maxfun,
+                    TYPE *xbase, TYPE *xopt, TYPE *xnew,
+                    TYPE *xpt, TYPE *fval, TYPE *gq, TYPE *hq,
+                    TYPE *pq, TYPE *bmat, TYPE *zmat, int *ndim,
+                    TYPE *d__, TYPE *vlag, TYPE *w, Func &func)
+{
+    /* XBASE will hold a shift of origin that should reduce the
+       contributions from rounding errors to values of the model and
+       Lagrange functions.
+     * XOPT will be set to the displacement from XBASE of the vector of
+       variables that provides the least calculated F so far.
+     * XNEW will be set to the displacement from XBASE of the vector of
+       variables for the current calculation of F.
+     * XPT will contain the interpolation point coordinates relative to
+       XBASE.
+     * FVAL will hold the values of F at the interpolation points.
+     * GQ will hold the gradient of the quadratic model at XBASE.
+     * HQ will hold the explicit second derivatives of the quadratic
+       model.
+     * PQ will contain the parameters of the implicit second derivatives
+       of the quadratic model.
+     * BMAT will hold the last N columns of H.
+     * ZMAT will hold the factorization of the leading NPT by NPT
+       submatrix of H, this factorization being ZMAT times Diag(DZ)
+       times ZMAT^T, where the elements of DZ are plus or minus 1.0, as
+       specified by IDZ.
+     * NDIM is the first dimension of BMAT and has the value NPT+N.
+     * D is reserved for trial steps from XOPT.
+     * VLAG will contain the values of the Lagrange functions at a new
+       point X.  They are part of a product that requires VLAG to be of
+       length NDIM.
+     * The array W will be used for working space. Its length must be at
+       least 10*NDIM = 10*(NPT+N). Set some constants. */
+
+    int xpt_dim1, xpt_offset, bmat_dim1, bmat_offset, zmat_dim1, zmat_offset,
+        i__1, i__2, i__3, i__, j, k, ih, nf, nh, ip, jp, np, nfm, idz, ipt, jpt,
+        nfmm, knew, kopt, nptm, ksave, nfsav, itemp, ktemp, itest, nftest;
+    TYPE d__1, d__2, d__3, f, dx, dsq, rho, sum, fbeg, diff, beta, gisq,
+        temp, suma, sumb, fopt, bsum, gqsq, xipt, xjpt, sumz, diffa, diffb,
+        diffc, hdiag, alpha, delta, recip, reciq, fsave, dnorm, ratio, dstep,
+        vquad, tempq, rhosq, detrat, crvmin, distsq, xoptsq;
+
+    /* Parameter adjustments */
+    diffc = ratio = dnorm = nfsav = diffa = diffb = xoptsq = f = 0.0;
+    rho = fbeg = fopt = xjpt = xipt = 0.0;
+    itest = ipt = jpt = 0;
+    alpha = dstep = 0.0;
+    zmat_dim1 = npt;
+    zmat_offset = 1 + zmat_dim1;
+    zmat -= zmat_offset;
+    xpt_dim1 = npt;
+    xpt_offset = 1 + xpt_dim1;
+    xpt -= xpt_offset;
+    --x; --xbase; --xopt; --xnew; --fval; --gq; --hq; --pq;
+    bmat_dim1 = *ndim;
+    bmat_offset = 1 + bmat_dim1;
+    bmat -= bmat_offset;
+    --d__;
+    --vlag;
+    --w;
+    /* Function Body */
+    np = n + 1;
+    nh = n * np / 2;
+    nptm = npt - np;
+    nftest = (maxfun > 1)? maxfun : 1;
+    /* Set the initial elements of XPT, BMAT, HQ, PQ and ZMAT to 0. */
+    i__1 = n;
+    for (j = 1; j <= i__1; ++j) {
+        xbase[j] = x[j];
+        i__2 = npt;
+        for (k = 1; k <= i__2; ++k)
+            xpt[k + j * xpt_dim1] = 0;
+        i__2 = *ndim;
+        for (i__ = 1; i__ <= i__2; ++i__)
+            bmat[i__ + j * bmat_dim1] = 0;
+    }
+    i__2 = nh;
+    for (ih = 1; ih <= i__2; ++ih) hq[ih] = 0;
+    i__2 = npt;
+    for (k = 1; k <= i__2; ++k) {
+        pq[k] = 0;
+        i__1 = nptm;
+        for (j = 1; j <= i__1; ++j)
+            zmat[k + j * zmat_dim1] = 0;
+    }
+    /* Begin the initialization procedure. NF becomes 1.0 more than the
+     * number of function values so far. The coordinates of the
+     * displacement of the next initial interpolation point from XBASE
+     * are set in XPT(NF,.). */
+    rhosq = rhobeg * rhobeg;
+    recip = 1.0 / rhosq;
+    reciq = sqrt(.5) / rhosq;
+    nf = 0;
+L50:
+    nfm = nf;
+    nfmm = nf - n;
+    ++nf;
+    if (nfm <= n << 1) {
+        if (nfm >= 1 && nfm <= n) {
+            xpt[nf + nfm * xpt_dim1] = rhobeg;
+        } else if (nfm > n) {
+            xpt[nf + nfmm * xpt_dim1] = -(rhobeg);
+        }
+    } else {
+        itemp = (nfmm - 1) / n;
+        jpt = nfm - itemp * n - n;
+        ipt = jpt + itemp;
+        if (ipt > n) {
+            itemp = jpt;
+            jpt = ipt - n;
+            ipt = itemp;
+        }
+        xipt = rhobeg;
+        if (fval[ipt + np] < fval[ipt + 1]) xipt = -xipt;
+        xjpt = rhobeg;
+        if (fval[jpt + np] < fval[jpt + 1]) xjpt = -xjpt;
+        xpt[nf + ipt * xpt_dim1] = xipt;
+        xpt[nf + jpt * xpt_dim1] = xjpt;
+    }
+    /* Calculate the next value of F, label 70 being reached immediately
+     * after this calculation. The least function value so far and its
+     * index are required. */
+    i__1 = n;
+    for (j = 1; j <= i__1; ++j)
+        x[j] = xpt[nf + j * xpt_dim1] + xbase[j];
+    goto L310;
+L70:
+    fval[nf] = f;
+    if (nf == 1) {
+        fbeg = fopt = f;
+        kopt = 1;
+    } else if (f < fopt) {
+        fopt = f;
+        kopt = nf;
+    }
+    /* Set the non0 initial elements of BMAT and the quadratic model
+     * in the cases when NF is at most 2*N+1. */
+    if (nfm <= n << 1) {
+        if (nfm >= 1 && nfm <= n) {
+            gq[nfm] = (f - fbeg) / rhobeg;
+            if (npt < nf + n) {
+                bmat[nfm * bmat_dim1 + 1] = -1.0 / rhobeg;
+                bmat[nf + nfm * bmat_dim1] = 1.0 / rhobeg;
+                bmat[npt + nfm + nfm * bmat_dim1] = -.5 * rhosq;
+            }
+        } else if (nfm > n) {
+            bmat[nf - n + nfmm * bmat_dim1] = .5 / rhobeg;
+            bmat[nf + nfmm * bmat_dim1] = -.5 / rhobeg;
+            zmat[nfmm * zmat_dim1 + 1] = -reciq - reciq;
+            zmat[nf - n + nfmm * zmat_dim1] = reciq;
+            zmat[nf + nfmm * zmat_dim1] = reciq;
+            ih = nfmm * (nfmm + 1) / 2;
+            temp = (fbeg - f) / rhobeg;
+            hq[ih] = (gq[nfmm] - temp) / rhobeg;
+            gq[nfmm] = .5 * (gq[nfmm] + temp);
+        }
+        /* Set the off-diagonal second derivatives of the Lagrange
+         * functions and the initial quadratic model. */
+    } else {
+        ih = ipt * (ipt - 1) / 2 + jpt;
+        if (xipt < 0) ipt += n;
+        if (xjpt < 0) jpt += n;
+        zmat[nfmm * zmat_dim1 + 1] = recip;
+        zmat[nf + nfmm * zmat_dim1] = recip;
+        zmat[ipt + 1 + nfmm * zmat_dim1] = -recip;
+        zmat[jpt + 1 + nfmm * zmat_dim1] = -recip;
+        hq[ih] = (fbeg - fval[ipt + 1] - fval[jpt + 1] + f) / (xipt * xjpt);
+    }
+    if (nf < npt) goto L50;
+    /* Begin the iterative procedure, because the initial model is
+     * complete. */
+    rho = rhobeg;
+    delta = rho;
+    idz = 1;
+    diffa = diffb = itest = xoptsq = 0;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        xopt[i__] = xpt[kopt + i__ * xpt_dim1];
+        /* Computing 2nd power */
+        d__1 = xopt[i__];
+        xoptsq += d__1 * d__1;
+    }
+L90:
+    nfsav = nf;
+    /* Generate the next trust region step and test its length. Set KNEW
+     * to -1 if the purpose of the next F will be to improve the
+     * model. */
+L100:
+    knew = 0;
+    trsapp_(n, npt, &xopt[1], &xpt[xpt_offset], &gq[1], &hq[1], &pq[1], &
+       delta, &d__[1], &w[1], &w[np], &w[np + n], &w[np + (n << 1)], &
+        crvmin);
+    dsq = 0;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        /* Computing 2nd power */
+        d__1 = d__[i__];
+        dsq += d__1 * d__1;
+    }
+    /* Computing MIN */
+    d__1 = delta, d__2 = sqrt(dsq);
+    dnorm = std::min(d__1, d__2);
+    if (dnorm < .5 * rho) {
+        knew = -1;
+        delta = DELTA_DECREASE * delta;
+        ratio = -1.;
+        if (delta <= rho * 1.5) delta = rho;
+        if (nf <= nfsav + 2) goto L460;
+        temp = crvmin * .125 * rho * rho;
+        /* Computing MAX */
+        d__1 = std::max(diffa, diffb);
+        if (temp <= std::max(d__1, diffc)) goto L460;
+        goto L490;
+    }
+    /* Shift XBASE if XOPT may be too far from XBASE. First make the
+     * changes to BMAT that do not depend on ZMAT. */
+L120:
+    if (dsq <= xoptsq * .001) {
+        tempq = xoptsq * .25;
+        i__1 = npt;
+        for (k = 1; k <= i__1; ++k) {
+            sum = 0;
+            i__2 = n;
+            for (i__ = 1; i__ <= i__2; ++i__)
+                sum += xpt[k + i__ * xpt_dim1] * xopt[i__];
+            temp = pq[k] * sum;
+            sum -= .5 * xoptsq;
+            w[npt + k] = sum;
+            i__2 = n;
+            for (i__ = 1; i__ <= i__2; ++i__) {
+                gq[i__] += temp * xpt[k + i__ * xpt_dim1];
+                xpt[k + i__ * xpt_dim1] -= .5 * xopt[i__];
+                vlag[i__] = bmat[k + i__ * bmat_dim1];
+                w[i__] = sum * xpt[k + i__ * xpt_dim1] + tempq * xopt[i__];
+                ip = npt + i__;
+                i__3 = i__;
+                for (j = 1; j <= i__3; ++j)
+                    bmat[ip + j * bmat_dim1] = bmat[ip + j * bmat_dim1] +
+                        vlag[i__] * w[j] + w[i__] * vlag[j];
+            }
+        }
+        /* Then the revisions of BMAT that depend on ZMAT are
+         * calculated. */
+        i__3 = nptm;
+        for (k = 1; k <= i__3; ++k) {
+            sumz = 0;
+            i__2 = npt;
+            for (i__ = 1; i__ <= i__2; ++i__) {
+                sumz += zmat[i__ + k * zmat_dim1];
+                w[i__] = w[npt + i__] * zmat[i__ + k * zmat_dim1];
+            }
+            i__2 = n;
+            for (j = 1; j <= i__2; ++j) {
+                sum = tempq * sumz * xopt[j];
+                i__1 = npt;
+                for (i__ = 1; i__ <= i__1; ++i__)
+                    sum += w[i__] * xpt[i__ + j * xpt_dim1];
+                vlag[j] = sum;
+                if (k < idz) sum = -sum;
+                i__1 = npt;
+                for (i__ = 1; i__ <= i__1; ++i__)
+                    bmat[i__ + j * bmat_dim1] += sum * zmat[i__ + k * zmat_dim1];
+            }
+            i__1 = n;
+            for (i__ = 1; i__ <= i__1; ++i__) {
+                ip = i__ + npt;
+                temp = vlag[i__];
+                if (k < idz) temp = -temp;
+                i__2 = i__;
+                for (j = 1; j <= i__2; ++j)
+                    bmat[ip + j * bmat_dim1] += temp * vlag[j];
+            }
+        }
+        /* The following instructions complete the shift of XBASE,
+         * including the changes to the parameters of the quadratic
+         * model. */
+        ih = 0;
+        i__2 = n;
+        for (j = 1; j <= i__2; ++j) {
+            w[j] = 0;
+            i__1 = npt;
+            for (k = 1; k <= i__1; ++k) {
+                w[j] += pq[k] * xpt[k + j * xpt_dim1];
+                xpt[k + j * xpt_dim1] -= .5 * xopt[j];
+            }
+            i__1 = j;
+            for (i__ = 1; i__ <= i__1; ++i__) {
+                ++ih;
+                if (i__ < j) gq[j] += hq[ih] * xopt[i__];
+                gq[i__] += hq[ih] * xopt[j];
+                hq[ih] = hq[ih] + w[i__] * xopt[j] + xopt[i__] * w[j];
+                bmat[npt + i__ + j * bmat_dim1] = bmat[npt + j + i__ *
+                                 bmat_dim1];
+            }
+        }
+        i__1 = n;
+        for (j = 1; j <= i__1; ++j) {
+            xbase[j] += xopt[j];
+            xopt[j] = 0;
+        }
+        xoptsq = 0;
+    }
+    /* Pick the model step if KNEW is positive. A different choice of D
+     * may be made later, if the choice of D by BIGLAG causes
+     * substantial cancellation in DENOM. */
+    if (knew > 0) {
+        biglag_(n, npt, &xopt[1], &xpt[xpt_offset], &bmat[bmat_offset], &zmat[zmat_offset], &idz,
+                ndim, &knew, &dstep, &d__[1], &alpha, &vlag[1], &vlag[npt + 1], &w[1], &w[np], &w[np + n], func);
+    }
+    /* Calculate VLAG and BETA for the current choice of D. The first
+     * NPT components of W_check will be held in W. */
+    i__1 = npt;
+    for (k = 1; k <= i__1; ++k) {
+        suma = 0;
+        sumb = 0;
+        sum = 0;
+        i__2 = n;
+        for (j = 1; j <= i__2; ++j) {
+            suma += xpt[k + j * xpt_dim1] * d__[j];
+            sumb += xpt[k + j * xpt_dim1] * xopt[j];
+            sum += bmat[k + j * bmat_dim1] * d__[j];
+        }
+        w[k] = suma * (.5 * suma + sumb);
+        vlag[k] = sum;
+    }
+    beta = 0;
+    i__1 = nptm;
+    for (k = 1; k <= i__1; ++k) {
+        sum = 0;
+        i__2 = npt;
+        for (i__ = 1; i__ <= i__2; ++i__)
+            sum += zmat[i__ + k * zmat_dim1] * w[i__];
+        if (k < idz) {
+            beta += sum * sum;
+            sum = -sum;
+        } else beta -= sum * sum;
+        i__2 = npt;
+        for (i__ = 1; i__ <= i__2; ++i__)
+            vlag[i__] += sum * zmat[i__ + k * zmat_dim1];
+    }
+    bsum = 0;
+    dx = 0;
+    i__2 = n;
+    for (j = 1; j <= i__2; ++j) {
+        sum = 0;
+        i__1 = npt;
+        for (i__ = 1; i__ <= i__1; ++i__)
+            sum += w[i__] * bmat[i__ + j * bmat_dim1];
+        bsum += sum * d__[j];
+        jp = npt + j;
+        i__1 = n;
+        for (k = 1; k <= i__1; ++k)
+            sum += bmat[jp + k * bmat_dim1] * d__[k];
+        vlag[jp] = sum;
+        bsum += sum * d__[j];
+        dx += d__[j] * xopt[j];
+    }
+    beta = dx * dx + dsq * (xoptsq + dx + dx + .5 * dsq) + beta - bsum;
+    vlag[kopt] += 1.0;
+    /* If KNEW is positive and if the cancellation in DENOM is
+     * unacceptable, then BIGDEN calculates an alternative model step,
+     * XNEW being used for working space. */
+    if (knew > 0) {
+        /* Computing 2nd power */
+        d__1 = vlag[knew];
+        temp = 1.0 + alpha * beta / (d__1 * d__1);
+        if (fabs(temp) <= .8) {
+            bigden_(n, npt, &xopt[1], &xpt[xpt_offset], &bmat[bmat_offset], &
+                zmat[zmat_offset], &idz, ndim, &kopt, &knew, &d__[1], &w[
+                                             1], &vlag[1], &beta, &xnew[1], &w[*ndim + 1], &w[*ndim *
+                                    6 + 1]);
+        }
+    }
+    /* Calculate the next value of the objective function. */
+L290:
+    i__2 = n;
+    for (i__ = 1; i__ <= i__2; ++i__) {
+        xnew[i__] = xopt[i__] + d__[i__];
+        x[i__] = xbase[i__] + xnew[i__];
+    }
+    ++nf;
+L310:
+    if (nf > nftest) {
+        --nf;
+        //fprintf(stderr, "++ Return from NEWUOA because CALFUN has been called MAXFUN times.\n");
+        goto L530;
+    }
+    f = func(n, &x[1]);
+    if (nf <= npt) goto L70;
+    if (knew == -1) goto L530;
+    /* Use the quadratic model to predict the change in F due to the
+     * step D, and set DIFF to the error of this prediction. */
+    vquad = ih = 0;
+    i__2 = n;
+    for (j = 1; j <= i__2; ++j) {
+        vquad += d__[j] * gq[j];
+        i__1 = j;
+        for (i__ = 1; i__ <= i__1; ++i__) {
+            ++ih;
+            temp = d__[i__] * xnew[j] + d__[j] * xopt[i__];
+            if (i__ == j) temp = .5 * temp;
+            vquad += temp * hq[ih];
+        }
+    }
+    i__1 = npt;
+    for (k = 1; k <= i__1; ++k) vquad += pq[k] * w[k];
+    diff = f - fopt - vquad;
+    diffc = diffb;
+    diffb = diffa;
+    diffa = fabs(diff);
+    if (dnorm > rho) nfsav = nf;
+    /* Update FOPT and XOPT if the new F is the least value of the
+     * objective function so far. The branch when KNEW is positive
+     * occurs if D is not a trust region step. */
+    fsave = fopt;
+    if (f < fopt) {
+        fopt = f;
+        xoptsq = 0;
+        i__1 = n;
+        for (i__ = 1; i__ <= i__1; ++i__) {
+            xopt[i__] = xnew[i__];
+            /* Computing 2nd power */
+            d__1 = xopt[i__];
+            xoptsq += d__1 * d__1;
+        }
+    }
+    ksave = knew;
+    if (knew > 0) goto L410;
+    /* Pick the next value of DELTA after a trust region step. */
+    if (vquad >= 0) {
+        fprintf(stderr, "++ Return from NEWUOA because a trust region step has failed to reduce Q.\n");
+        goto L530;
+    }
+    ratio = (f - fsave) / vquad;
+    if (ratio <= 0.1) {
+        delta = .5 * dnorm;
+    } else if (ratio <= .7) {
+        /* Computing MAX */
+        d__1 = .5 * delta;
+        delta = std::max(d__1, dnorm);
+    } else {
+        /* Computing MAX */
+        d__1 = .5 * delta, d__2 = dnorm + dnorm;
+        delta = std::max(d__1, d__2);
+    }
+    if (delta <= rho * 1.5) delta = rho;
+    /* Set KNEW to the index of the next interpolation point to be
+     * deleted. */
+    /* Computing MAX */
+    d__2 = 0.1 * delta;
+    /* Computing 2nd power */
+    d__1 = std::max(d__2, rho);
+    rhosq = d__1 * d__1;
+    ktemp = detrat = 0;
+    if (f >= fsave) {
+        ktemp = kopt;
+        detrat = 1.0;
+    }
+    i__1 = npt;
+    for (k = 1; k <= i__1; ++k) {
+        hdiag = 0;
+        i__2 = nptm;
+        for (j = 1; j <= i__2; ++j) {
+            temp = 1.0;
+            if (j < idz) temp = -1.0;
+            /* Computing 2nd power */
+            d__1 = zmat[k + j * zmat_dim1];
+            hdiag += temp * (d__1 * d__1);
+        }
+        /* Computing 2nd power */
+        d__2 = vlag[k];
+        temp = (d__1 = beta * hdiag + d__2 * d__2, fabs(d__1));
+        distsq = 0;
+        i__2 = n;
+        for (j = 1; j <= i__2; ++j) {
+            /* Computing 2nd power */
+            d__1 = xpt[k + j * xpt_dim1] - xopt[j];
+            distsq += d__1 * d__1;
+        }
+        if (distsq > rhosq) {
+            /* Computing 3rd power */
+            d__1 = distsq / rhosq;
+            temp *= d__1 * (d__1 * d__1);
+        }
+        if (temp > detrat && k != ktemp) {
+            detrat = temp;
+            knew = k;
+        }
+    }
+    if (knew == 0) goto L460;
+    /* Update BMAT, ZMAT and IDZ, so that the KNEW-th interpolation
+     * point can be moved. Begin the updating of the quadratic model,
+     * starting with the explicit second derivative term. */
+L410:
+    update_(n, npt, &bmat[bmat_offset], &zmat[zmat_offset], &idz, ndim, &vlag[1], &beta, &knew, &w[1]);
+    fval[knew] = f;
+    ih = 0;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        temp = pq[knew] * xpt[knew + i__ * xpt_dim1];
+        i__2 = i__;
+        for (j = 1; j <= i__2; ++j) {
+            ++ih;
+            hq[ih] += temp * xpt[knew + j * xpt_dim1];
+        }
+    }
+    pq[knew] = 0;
+    /* Update the other second derivative parameters, and then the
+     * gradient vector of the model. Also include the new interpolation
+     * point. */
+    i__2 = nptm;
+    for (j = 1; j <= i__2; ++j) {
+        temp = diff * zmat[knew + j * zmat_dim1];
+        if (j < idz) temp = -temp;
+        i__1 = npt;
+        for (k = 1; k <= i__1; ++k) {
+            pq[k] += temp * zmat[k + j * zmat_dim1];
+        }
+    }
+    gqsq = 0;
+    i__1 = n;
+    for (i__ = 1; i__ <= i__1; ++i__) {
+        gq[i__] += diff * bmat[knew + i__ * bmat_dim1];
+        /* Computing 2nd power */
+        d__1 = gq[i__];
+        gqsq += d__1 * d__1;
+        xpt[knew + i__ * xpt_dim1] = xnew[i__];
+    }
+    /* If a trust region step makes a small change to the objective
+     * function, then calculate the gradient of the least Frobenius norm
+     * interpolant at XBASE, and store it in W, using VLAG for a vector
+     * of right hand sides. */
+    if (ksave == 0 && delta == rho) {
+        if (fabs(ratio) > .01) {
+            itest = 0;
+        } else {
+            i__1 = npt;
+            for (k = 1; k <= i__1; ++k)
+                vlag[k] = fval[k] - fval[kopt];
+            gisq = 0;
+            i__1 = n;
+            for (i__ = 1; i__ <= i__1; ++i__) {
+                sum = 0;
+                i__2 = npt;
+                for (k = 1; k <= i__2; ++k)
+                    sum += bmat[k + i__ * bmat_dim1] * vlag[k];
+                gisq += sum * sum;
+                w[i__] = sum;
+            }
+            /* Test whether to replace the new quadratic model by the
+             * least Frobenius norm interpolant, making the replacement
+             * if the test is satisfied. */
+            ++itest;
+            if (gqsq < gisq * 100.) itest = 0;
+            if (itest >= 3) {
+                i__1 = n;
+                for (i__ = 1; i__ <= i__1; ++i__) gq[i__] = w[i__];
+                i__1 = nh;
+                for (ih = 1; ih <= i__1; ++ih) hq[ih] = 0;
+                i__1 = nptm;
+                for (j = 1; j <= i__1; ++j) {
+                    w[j] = 0;
+                    i__2 = npt;
+                    for (k = 1; k <= i__2; ++k)
+                        w[j] += vlag[k] * zmat[k + j * zmat_dim1];
+                    if (j < idz) w[j] = -w[j];
+                }
+                i__1 = npt;
+                for (k = 1; k <= i__1; ++k) {
+                    pq[k] = 0;
+                    i__2 = nptm;
+                    for (j = 1; j <= i__2; ++j)
+                        pq[k] += zmat[k + j * zmat_dim1] * w[j];
+                }
+                itest = 0;
+            }
+        }
+    }
+    if (f < fsave) kopt = knew;
+    /* If a trust region step has provided a sufficient decrease in F,
+     * then branch for another trust region calculation. The case
+     * KSAVE>0 occurs when the new function value was calculated by a
+     * model step. */
+    if (f <= fsave + 0.1 * vquad) goto L100;
+    if (ksave > 0) goto L100;
+    /* Alternatively, find out if the interpolation points are close
+     * enough to the best point so far. */
+    knew = 0;
+L460:
+    distsq = delta * 4. * delta;
+    i__2 = npt;
+    for (k = 1; k <= i__2; ++k) {
+        sum = 0;
+        i__1 = n;
+        for (j = 1; j <= i__1; ++j) {
+            /* Computing 2nd power */
+            d__1 = xpt[k + j * xpt_dim1] - xopt[j];
+            sum += d__1 * d__1;
+        }
+        if (sum > distsq) {
+            knew = k;
+            distsq = sum;
+        }
+    }
+    /* If KNEW is positive, then set DSTEP, and branch back for the next
+     * iteration, which will generate a "model step". */
+    if (knew > 0) {
+        /* Computing MAX and MIN*/
+        d__2 = 0.1 * sqrt(distsq), d__3 = .5 * delta;
+        d__1 = std::min(d__2, d__3);
+        dstep = std::max(d__1, rho);
+        dsq = dstep * dstep;
+        goto L120;
+    }
+    if (ratio > 0) goto L100;
+    if (std::max(delta, dnorm) > rho) goto L100;
+    /* The calculations with the current value of RHO are complete. Pick
+     * the next values of RHO and DELTA. */
+L490:
+    if (rho > rhoend) {
+        delta = .5 * rho;
+        ratio = rho / rhoend;
+        if (ratio <= 16.) rho = rhoend;
+        else if (ratio <= 250.) rho = sqrt(ratio) * rhoend;
+        else rho = RHO_DECREASE * rho;
+        delta = std::max(delta, rho);
+        goto L90;
+    }
+    /* Return from the calculation, after another Newton-Raphson step,
+     * if it is too short to have been tried before. */
+    if (knew == -1) goto L290;
+L530:
+    if (fopt <= f) {
+        i__2 = n;
+        for (i__ = 1; i__ <= i__2; ++i__)
+            x[i__] = xbase[i__] + xopt[i__];
+        f = fopt;
+    }
+    *ret_nf = nf;
+    return f;
+}
+
+template<class TYPE, class Func>
+static TYPE newuoa_(int n, int npt, TYPE *x, TYPE rhobeg, TYPE rhoend, int *ret_nf, int maxfun, TYPE *w, Func &func)
+{
+    /* This subroutine seeks the least value of a function of many
+     * variables, by a trust region method that forms quadratic models
+     * by interpolation. There can be some freedom in the interpolation
+     * conditions, which is taken up by minimizing the Frobenius norm of
+     * the change to the second derivative of the quadratic model,
+     * beginning with a zero matrix. The arguments of the subroutine are
+     * as follows. */
+
+    /* N must be set to the number of variables and must be at least
+     * two. NPT is the number of interpolation conditions. Its value
+     * must be in the interval [N+2,(N+1)(N+2)/2]. Initial values of the
+     * variables must be set in X(1),X(2),...,X(N). They will be changed
+     * to the values that give the least calculated F. RHOBEG and RHOEND
+     * must be set to the initial and final values of a trust region
+     * radius, so both must be positive with RHOEND<=RHOBEG. Typically
+     * RHOBEG should be about one tenth of the greatest expected change
+     * to a variable, and RHOEND should indicate the accuracy that is
+     * required in the final values of the variables. MAXFUN must be set
+     * to an upper bound on the number of calls of CALFUN.  The array W
+     * will be used for working space. Its length must be at least
+     * (NPT+13)*(NPT+N)+3*N*(N+3)/2. */
+
+    /* SUBROUTINE CALFUN (N,X,F) must be provided by the user. It must
+     * set F to the value of the objective function for the variables
+     * X(1),X(2),...,X(N). Partition the working space array, so that
+     * different parts of it can be treated separately by the subroutine
+     * that performs the main calculation. */
+
+    int id, np, iw, igq, ihq, ixb, ifv, ipq, ivl, ixn,
+        ixo, ixp, ndim, nptm, ibmat, izmat;
+
+    /* Parameter adjustments */
+    --w; --x;
+    /* Function Body */
+    np = n + 1;
+    nptm = npt - np;
+    if (npt < n + 2 || npt > (n + 2) * np / 2) {
+        fprintf(stderr, "** Return from NEWUOA because NPT is not in the required interval.\n");
+        return 1;
+    }
+    ndim = npt + n;
+    ixb = 1;
+    ixo = ixb + n;
+    ixn = ixo + n;
+    ixp = ixn + n;
+    ifv = ixp + n * npt;
+    igq = ifv + npt;
+    ihq = igq + n;
+    ipq = ihq + n * np / 2;
+    ibmat = ipq + npt;
+    izmat = ibmat + ndim * n;
+    id = izmat + npt * nptm;
+    ivl = id + n;
+    iw = ivl + ndim;
+    /* The above settings provide a partition of W for subroutine
+     * NEWUOB. The partition requires the first NPT*(NPT+N)+5*N*(N+3)/2
+     * elements of W plus the space that is needed by the last array of
+     * NEWUOB. */
+    return newuob_(n, npt, &x[1], rhobeg, rhoend, ret_nf, maxfun, &w[ixb], &w[ixo], &w[ixn],
+                   &w[ixp], &w[ifv], &w[igq], &w[ihq], &w[ipq], &w[ibmat], &w[izmat],
+                   &ndim, &w[id], &w[ivl], &w[iw], func);
+}
+
+template<class TYPE, class Func>
+TYPE min_newuoa(int n, TYPE *x, Func &func, TYPE rb, TYPE tol, int max_iter)
+{
+    int npt = 2 * n + 1, rnf;
+    TYPE ret;
+    TYPE *w = (TYPE*)calloc((npt+13)*(npt+n) + 3*n*(n+3)/2 + 11, sizeof(TYPE));
+    ret = newuoa_(n, 2*n+1, x, rb, tol, &rnf, max_iter, w, func);
+    free(w);
+    return ret;
+}
+
+#endif
diff --git a/wrap/openfbx/.clang-format b/wrap/openfbx/.clang-format
new file mode 100755
index 00000000..2950cfd3
--- /dev/null
+++ b/wrap/openfbx/.clang-format
@@ -0,0 +1,42 @@
+BasedOnStyle: LLVM
+
+AlignAfterOpenBracket : false
+AlignEscapedNewlinesLeft : true
+AlignConsecutiveAssignments : false
+AllowAllParametersOfDeclarationOnNextLine  : false
+AccessModifierOffset : -4
+AllowShortCaseLabelsOnASingleLine : true
+AllowShortFunctionsOnASingleLine : Inline
+AllowShortIfStatementsOnASingleLine : true
+AllowShortLoopsOnASingleLine : true
+AlwaysBreakAfterDefinitionReturnType : None
+BinPackArguments : false
+BinPackParameters : false
+BreakBeforeBraces : Allman
+BreakConstructorInitializersBeforeComma  : true
+ColumnLimit  : 120
+ConstructorInitializerIndentWidth : 4
+ConstructorInitializerAllOnOneLineOrOnePerLine : false
+ContinuationIndentWidth : 4
+IndentCaseLabels : true
+IndentWidth : 4
+KeepEmptyLinesAtTheStartOfBlocks  : true
+MaxEmptyLinesToKeep : 2
+NamespaceIndentation : None
+PenaltyBreakBeforeFirstCallParameter : 0
+PenaltyReturnTypeOnItsOwnLine  : 1000
+PointerAlignment : Left
+SpaceAfterCStyleCast  : false
+SpaceBeforeAssignmentOperators : true
+SpaceBeforeParens : true
+SpaceInEmptyParentheses : false
+SpacesBeforeTrailingComments : 1
+SpacesInAngles : false
+SpacesInCStyleCastParentheses : false
+SpacesInParentheses : false
+SpacesInSquareBrackets : false
+Standard : Cpp11
+TabWidth : 4
+UseTab : true
+
+
diff --git a/wrap/openfbx/.gitignore b/wrap/openfbx/.gitignore
new file mode 100755
index 00000000..3e303e9b
--- /dev/null
+++ b/wrap/openfbx/.gitignore
@@ -0,0 +1,35 @@
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+projects/tmp/*
+
+# Executables
+*.out
+*.app
+
+runtime/imgui.ini
\ No newline at end of file
diff --git a/wrap/openfbx/LICENSE b/wrap/openfbx/LICENSE
new file mode 100755
index 00000000..45cc0d22
--- /dev/null
+++ b/wrap/openfbx/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2017 Mikulas Florek
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/wrap/openfbx/README.md b/wrap/openfbx/README.md
new file mode 100755
index 00000000..8a34e9ad
--- /dev/null
+++ b/wrap/openfbx/README.md
@@ -0,0 +1,29 @@
+[![Gitter](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/nem0/LumixEngine?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge)
+[![License](http://img.shields.io/:license-mit-blue.svg)](http://doge.mit-license.org)
+
+# OpenFBX
+
+Lightweight open source FBX importer. Used in [Lumix Engine](https://github.com/nem0/lumixengine). It's not a full-featured importer, but it suits all my needs. It can load geometry (with uvs, normals, tangents, colors), skeletons, animations, materials and textures. 
+
+Feel free to request new features. I will eventually try to add all missing fbx features.
+
+## Use the library in your own project
+
+Note: It's recommended to be familiar with fbx format to use this library, you can read about it more [here](http://help.autodesk.com/view/FBX/2017/ENU/?guid=__files_GUID_F194000D_5AD4_49C1_86CC_5DAC2CE64E97_htm).
+
+1. add files from src to your project
+2. use
+
+See [demo](https://github.com/nem0/OpenFBX/blob/master/demo/main.cpp#L203) as an example how to use the library.
+See [Lumix Engine](https://github.com/nem0/LumixEngine/blob/master/src/renderer/editor/import_asset_dialog.cpp#L504) as more advanced use case.
+
+## Compile demo project
+
+1. download source code
+2. execute [projects/genie_vs15.bat](https://github.com/nem0/OpenFBX/blob/master/projects/genie_vs15.bat)
+3. open projects/tmp/vs2015/OpenFBX.sln in Visual Studio 2015
+4. compile and run
+
+Demo is windows only. Library is multiplatform.
+
+![ofbx](https://user-images.githubusercontent.com/153526/27876079-eea3c872-61b5-11e7-9fce-3a7c558fb0d2.png)
diff --git a/wrap/openfbx/src/miniz.c b/wrap/openfbx/src/miniz.c
new file mode 100755
index 00000000..c25d0fda
--- /dev/null
+++ b/wrap/openfbx/src/miniz.c
@@ -0,0 +1,7241 @@
+/**************************************************************************
+ *
+ * Copyright 2013-2014 RAD Game Tools and Valve Software
+ * Copyright 2010-2014 Rich Geldreich and Tenacious Software LLC
+ * All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ **************************************************************************/
+
+#include  "miniz.h"
+
+typedef unsigned char mz_validate_uint16[sizeof(mz_uint16) == 2 ? 1 : -1];
+typedef unsigned char mz_validate_uint32[sizeof(mz_uint32) == 4 ? 1 : -1];
+typedef unsigned char mz_validate_uint64[sizeof(mz_uint64) == 8 ? 1 : -1];
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ------------------- zlib-style API's */
+
+mz_ulong mz_adler32(mz_ulong adler, const unsigned char *ptr, size_t buf_len)
+{
+    mz_uint32 i, s1 = (mz_uint32)(adler & 0xffff), s2 = (mz_uint32)(adler >> 16);
+    size_t block_len = buf_len % 5552;
+    if (!ptr)
+        return MZ_ADLER32_INIT;
+    while (buf_len)
+    {
+        for (i = 0; i + 7 < block_len; i += 8, ptr += 8)
+        {
+            s1 += ptr[0], s2 += s1;
+            s1 += ptr[1], s2 += s1;
+            s1 += ptr[2], s2 += s1;
+            s1 += ptr[3], s2 += s1;
+            s1 += ptr[4], s2 += s1;
+            s1 += ptr[5], s2 += s1;
+            s1 += ptr[6], s2 += s1;
+            s1 += ptr[7], s2 += s1;
+        }
+        for (; i < block_len; ++i)
+            s1 += *ptr++, s2 += s1;
+        s1 %= 65521U, s2 %= 65521U;
+        buf_len -= block_len;
+        block_len = 5552;
+    }
+    return (s2 << 16) + s1;
+}
+
+/* Karl Malbrain's compact CRC-32. See "A compact CCITT crc16 and crc32 C implementation that balances processor cache usage against speed": http://www.geocities.com/malbrain/ */
+#if 0
+    mz_ulong mz_crc32(mz_ulong crc, const mz_uint8 *ptr, size_t buf_len)
+    {
+        static const mz_uint32 s_crc32[16] = { 0, 0x1db71064, 0x3b6e20c8, 0x26d930ac, 0x76dc4190, 0x6b6b51f4, 0x4db26158, 0x5005713c,
+                                               0xedb88320, 0xf00f9344, 0xd6d6a3e8, 0xcb61b38c, 0x9b64c2b0, 0x86d3d2d4, 0xa00ae278, 0xbdbdf21c };
+        mz_uint32 crcu32 = (mz_uint32)crc;
+        if (!ptr)
+            return MZ_CRC32_INIT;
+        crcu32 = ~crcu32;
+        while (buf_len--)
+        {
+            mz_uint8 b = *ptr++;
+            crcu32 = (crcu32 >> 4) ^ s_crc32[(crcu32 & 0xF) ^ (b & 0xF)];
+            crcu32 = (crcu32 >> 4) ^ s_crc32[(crcu32 & 0xF) ^ (b >> 4)];
+        }
+        return ~crcu32;
+    }
+#else
+/* Faster, but larger CPU cache footprint.
+ */
+mz_ulong mz_crc32(mz_ulong crc, const mz_uint8 *ptr, size_t buf_len)
+{
+    static const mz_uint32 s_crc_table[256] =
+        {
+            0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, 0xE963A535,
+            0x9E6495A3, 0x0EDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, 0x09B64C2B, 0x7EB17CBD,
+            0xE7B82D07, 0x90BF1D91, 0x1DB71064, 0x6AB020F2, 0xF3B97148, 0x84BE41DE, 0x1ADAD47D,
+            0x6DDDE4EB, 0xF4D4B551, 0x83D385C7, 0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC,
+            0x14015C4F, 0x63066CD9, 0xFA0F3D63, 0x8D080DF5, 0x3B6E20C8, 0x4C69105E, 0xD56041E4,
+            0xA2677172, 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B, 0x35B5A8FA, 0x42B2986C,
+            0xDBBBC9D6, 0xACBCF940, 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59, 0x26D930AC,
+            0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, 0xCFBA9599, 0xB8BDA50F,
+            0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, 0x2F6F7C87, 0x58684C11, 0xC1611DAB,
+            0xB6662D3D, 0x76DC4190, 0x01DB7106, 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F,
+            0x9FBFE4A5, 0xE8B8D433, 0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB,
+            0x086D3D2D, 0x91646C97, 0xE6635C01, 0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E,
+            0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457, 0x65B0D9C6, 0x12B7E950, 0x8BBEB8EA,
+            0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65, 0x4DB26158, 0x3AB551CE,
+            0xA3BC0074, 0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, 0xA4D1C46D, 0xD3D6F4FB, 0x4369E96A,
+            0x346ED9FC, 0xAD678846, 0xDA60B8D0, 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9,
+            0x5005713C, 0x270241AA, 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3, 0xB966D409,
+            0xCE61E49F, 0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81,
+            0xB7BD5C3B, 0xC0BA6CAD, 0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, 0xEAD54739,
+            0x9DD277AF, 0x04DB2615, 0x73DC1683, 0xE3630B12, 0x94643B84, 0x0D6D6A3E, 0x7A6A5AA8,
+            0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1, 0xF00F9344, 0x8708A3D2, 0x1E01F268,
+            0x6906C2FE, 0xF762575D, 0x806567CB, 0x196C3671, 0x6E6B06E7, 0xFED41B76, 0x89D32BE0,
+            0x10DA7A5A, 0x67DD4ACC, 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5, 0xD6D6A3E8,
+            0xA1D1937E, 0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B,
+            0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, 0x316E8EEF,
+            0x4669BE79, 0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, 0xCC0C7795, 0xBB0B4703,
+            0x220216B9, 0x5505262F, 0xC5BA3BBE, 0xB2BD0B28, 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7,
+            0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D, 0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A,
+            0x9C0906A9, 0xEB0E363F, 0x72076785, 0x05005713, 0x95BF4A82, 0xE2B87A14, 0x7BB12BAE,
+            0x0CB61B38, 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21, 0x86D3D2D4, 0xF1D4E242,
+            0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777, 0x88085AE6,
+            0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, 0x616BFFD3, 0x166CCF45,
+            0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, 0xA7672661, 0xD06016F7, 0x4969474D,
+            0x3E6E77DB, 0xAED16A4A, 0xD9D65ADC, 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5,
+            0x47B2CF7F, 0x30B5FFE9, 0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605,
+            0xCDD70693, 0x54DE5729, 0x23D967BF, 0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94,
+            0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D
+        };
+
+    mz_uint32 crc32 = (mz_uint32)crc ^ 0xFFFFFFFF;
+    const mz_uint8 *pByte_buf = (const mz_uint8 *)ptr;
+
+    while (buf_len >= 4)
+    {
+        crc32 = (crc32 >> 8) ^ s_crc_table[(crc32 ^ pByte_buf[0]) & 0xFF];
+        crc32 = (crc32 >> 8) ^ s_crc_table[(crc32 ^ pByte_buf[1]) & 0xFF];
+        crc32 = (crc32 >> 8) ^ s_crc_table[(crc32 ^ pByte_buf[2]) & 0xFF];
+        crc32 = (crc32 >> 8) ^ s_crc_table[(crc32 ^ pByte_buf[3]) & 0xFF];
+        pByte_buf += 4;
+        buf_len -= 4;
+    }
+
+    while (buf_len)
+    {
+        crc32 = (crc32 >> 8) ^ s_crc_table[(crc32 ^ pByte_buf[0]) & 0xFF];
+        ++pByte_buf;
+        --buf_len;
+    }
+
+    return ~crc32;
+}
+#endif
+
+void mz_free(void *p)
+{
+    MZ_FREE(p);
+}
+
+void *miniz_def_alloc_func(void *opaque, size_t items, size_t size)
+{
+    (void)opaque, (void)items, (void)size;
+    return MZ_MALLOC(items * size);
+}
+void miniz_def_free_func(void *opaque, void *address)
+{
+    (void)opaque, (void)address;
+    MZ_FREE(address);
+}
+void *miniz_def_realloc_func(void *opaque, void *address, size_t items, size_t size)
+{
+    (void)opaque, (void)address, (void)items, (void)size;
+    return MZ_REALLOC(address, items * size);
+}
+
+const char *mz_version(void)
+{
+    return MZ_VERSION;
+}
+
+#ifndef MINIZ_NO_ZLIB_APIS
+
+int mz_deflateInit(mz_streamp pStream, int level)
+{
+    return mz_deflateInit2(pStream, level, MZ_DEFLATED, MZ_DEFAULT_WINDOW_BITS, 9, MZ_DEFAULT_STRATEGY);
+}
+
+int mz_deflateInit2(mz_streamp pStream, int level, int method, int window_bits, int mem_level, int strategy)
+{
+    tdefl_compressor *pComp;
+    mz_uint comp_flags = TDEFL_COMPUTE_ADLER32 | tdefl_create_comp_flags_from_zip_params(level, window_bits, strategy);
+
+    if (!pStream)
+        return MZ_STREAM_ERROR;
+    if ((method != MZ_DEFLATED) || ((mem_level < 1) || (mem_level > 9)) || ((window_bits != MZ_DEFAULT_WINDOW_BITS) && (-window_bits != MZ_DEFAULT_WINDOW_BITS)))
+        return MZ_PARAM_ERROR;
+
+    pStream->data_type = 0;
+    pStream->adler = MZ_ADLER32_INIT;
+    pStream->msg = NULL;
+    pStream->reserved = 0;
+    pStream->total_in = 0;
+    pStream->total_out = 0;
+    if (!pStream->zalloc)
+        pStream->zalloc = miniz_def_alloc_func;
+    if (!pStream->zfree)
+        pStream->zfree = miniz_def_free_func;
+
+    pComp = (tdefl_compressor *)pStream->zalloc(pStream->opaque, 1, sizeof(tdefl_compressor));
+    if (!pComp)
+        return MZ_MEM_ERROR;
+
+    pStream->state = (struct mz_internal_state *)pComp;
+
+    if (tdefl_init(pComp, NULL, NULL, comp_flags) != TDEFL_STATUS_OKAY)
+    {
+        mz_deflateEnd(pStream);
+        return MZ_PARAM_ERROR;
+    }
+
+    return MZ_OK;
+}
+
+int mz_deflateReset(mz_streamp pStream)
+{
+    if ((!pStream) || (!pStream->state) || (!pStream->zalloc) || (!pStream->zfree))
+        return MZ_STREAM_ERROR;
+    pStream->total_in = pStream->total_out = 0;
+    tdefl_init((tdefl_compressor *)pStream->state, NULL, NULL, ((tdefl_compressor *)pStream->state)->m_flags);
+    return MZ_OK;
+}
+
+int mz_deflate(mz_streamp pStream, int flush)
+{
+    size_t in_bytes, out_bytes;
+    mz_ulong orig_total_in, orig_total_out;
+    int mz_status = MZ_OK;
+
+    if ((!pStream) || (!pStream->state) || (flush < 0) || (flush > MZ_FINISH) || (!pStream->next_out))
+        return MZ_STREAM_ERROR;
+    if (!pStream->avail_out)
+        return MZ_BUF_ERROR;
+
+    if (flush == MZ_PARTIAL_FLUSH)
+        flush = MZ_SYNC_FLUSH;
+
+    if (((tdefl_compressor *)pStream->state)->m_prev_return_status == TDEFL_STATUS_DONE)
+        return (flush == MZ_FINISH) ? MZ_STREAM_END : MZ_BUF_ERROR;
+
+    orig_total_in = pStream->total_in;
+    orig_total_out = pStream->total_out;
+    for (;;)
+    {
+        tdefl_status defl_status;
+        in_bytes = pStream->avail_in;
+        out_bytes = pStream->avail_out;
+
+        defl_status = tdefl_compress((tdefl_compressor *)pStream->state, pStream->next_in, &in_bytes, pStream->next_out, &out_bytes, (tdefl_flush)flush);
+        pStream->next_in += (mz_uint)in_bytes;
+        pStream->avail_in -= (mz_uint)in_bytes;
+        pStream->total_in += (mz_uint)in_bytes;
+        pStream->adler = tdefl_get_adler32((tdefl_compressor *)pStream->state);
+
+        pStream->next_out += (mz_uint)out_bytes;
+        pStream->avail_out -= (mz_uint)out_bytes;
+        pStream->total_out += (mz_uint)out_bytes;
+
+        if (defl_status < 0)
+        {
+            mz_status = MZ_STREAM_ERROR;
+            break;
+        }
+        else if (defl_status == TDEFL_STATUS_DONE)
+        {
+            mz_status = MZ_STREAM_END;
+            break;
+        }
+        else if (!pStream->avail_out)
+            break;
+        else if ((!pStream->avail_in) && (flush != MZ_FINISH))
+        {
+            if ((flush) || (pStream->total_in != orig_total_in) || (pStream->total_out != orig_total_out))
+                break;
+            return MZ_BUF_ERROR; /* Can't make forward progress without some input.
+ */
+        }
+    }
+    return mz_status;
+}
+
+int mz_deflateEnd(mz_streamp pStream)
+{
+    if (!pStream)
+        return MZ_STREAM_ERROR;
+    if (pStream->state)
+    {
+        pStream->zfree(pStream->opaque, pStream->state);
+        pStream->state = NULL;
+    }
+    return MZ_OK;
+}
+
+mz_ulong mz_deflateBound(mz_streamp pStream, mz_ulong source_len)
+{
+    (void)pStream;
+    /* This is really over conservative. (And lame, but it's actually pretty tricky to compute a true upper bound given the way tdefl's blocking works.) */
+    return MZ_MAX(128 + (source_len * 110) / 100, 128 + source_len + ((source_len / (31 * 1024)) + 1) * 5);
+}
+
+int mz_compress2(unsigned char *pDest, mz_ulong *pDest_len, const unsigned char *pSource, mz_ulong source_len, int level)
+{
+    int status;
+    mz_stream stream;
+    memset(&stream, 0, sizeof(stream));
+
+    /* In case mz_ulong is 64-bits (argh I hate longs). */
+    if ((source_len | *pDest_len) > 0xFFFFFFFFU)
+        return MZ_PARAM_ERROR;
+
+    stream.next_in = pSource;
+    stream.avail_in = (mz_uint32)source_len;
+    stream.next_out = pDest;
+    stream.avail_out = (mz_uint32) * pDest_len;
+
+    status = mz_deflateInit(&stream, level);
+    if (status != MZ_OK)
+        return status;
+
+    status = mz_deflate(&stream, MZ_FINISH);
+    if (status != MZ_STREAM_END)
+    {
+        mz_deflateEnd(&stream);
+        return (status == MZ_OK) ? MZ_BUF_ERROR : status;
+    }
+
+    *pDest_len = stream.total_out;
+    return mz_deflateEnd(&stream);
+}
+
+int mz_compress(unsigned char *pDest, mz_ulong *pDest_len, const unsigned char *pSource, mz_ulong source_len)
+{
+    return mz_compress2(pDest, pDest_len, pSource, source_len, MZ_DEFAULT_COMPRESSION);
+}
+
+mz_ulong mz_compressBound(mz_ulong source_len)
+{
+    return mz_deflateBound(NULL, source_len);
+}
+
+typedef struct
+{
+    tinfl_decompressor m_decomp;
+    mz_uint m_dict_ofs, m_dict_avail, m_first_call, m_has_flushed;
+    int m_window_bits;
+    mz_uint8 m_dict[TINFL_LZ_DICT_SIZE];
+    tinfl_status m_last_status;
+} inflate_state;
+
+int mz_inflateInit2(mz_streamp pStream, int window_bits)
+{
+    inflate_state *pDecomp;
+    if (!pStream)
+        return MZ_STREAM_ERROR;
+    if ((window_bits != MZ_DEFAULT_WINDOW_BITS) && (-window_bits != MZ_DEFAULT_WINDOW_BITS))
+        return MZ_PARAM_ERROR;
+
+    pStream->data_type = 0;
+    pStream->adler = 0;
+    pStream->msg = NULL;
+    pStream->total_in = 0;
+    pStream->total_out = 0;
+    pStream->reserved = 0;
+    if (!pStream->zalloc)
+        pStream->zalloc = miniz_def_alloc_func;
+    if (!pStream->zfree)
+        pStream->zfree = miniz_def_free_func;
+
+    pDecomp = (inflate_state *)pStream->zalloc(pStream->opaque, 1, sizeof(inflate_state));
+    if (!pDecomp)
+        return MZ_MEM_ERROR;
+
+    pStream->state = (struct mz_internal_state *)pDecomp;
+
+    tinfl_init(&pDecomp->m_decomp);
+    pDecomp->m_dict_ofs = 0;
+    pDecomp->m_dict_avail = 0;
+    pDecomp->m_last_status = TINFL_STATUS_NEEDS_MORE_INPUT;
+    pDecomp->m_first_call = 1;
+    pDecomp->m_has_flushed = 0;
+    pDecomp->m_window_bits = window_bits;
+
+    return MZ_OK;
+}
+
+int mz_inflateInit(mz_streamp pStream)
+{
+    return mz_inflateInit2(pStream, MZ_DEFAULT_WINDOW_BITS);
+}
+
+int mz_inflate(mz_streamp pStream, int flush)
+{
+    inflate_state *pState;
+    mz_uint n, first_call, decomp_flags = TINFL_FLAG_COMPUTE_ADLER32;
+    size_t in_bytes, out_bytes, orig_avail_in;
+    tinfl_status status;
+
+    if ((!pStream) || (!pStream->state))
+        return MZ_STREAM_ERROR;
+    if (flush == MZ_PARTIAL_FLUSH)
+        flush = MZ_SYNC_FLUSH;
+    if ((flush) && (flush != MZ_SYNC_FLUSH) && (flush != MZ_FINISH))
+        return MZ_STREAM_ERROR;
+
+    pState = (inflate_state *)pStream->state;
+    if (pState->m_window_bits > 0)
+        decomp_flags |= TINFL_FLAG_PARSE_ZLIB_HEADER;
+    orig_avail_in = pStream->avail_in;
+
+    first_call = pState->m_first_call;
+    pState->m_first_call = 0;
+    if (pState->m_last_status < 0)
+        return MZ_DATA_ERROR;
+
+    if (pState->m_has_flushed && (flush != MZ_FINISH))
+        return MZ_STREAM_ERROR;
+    pState->m_has_flushed |= (flush == MZ_FINISH);
+
+    if ((flush == MZ_FINISH) && (first_call))
+    {
+        /* MZ_FINISH on the first call implies that the input and output buffers are large enough to hold the entire compressed/decompressed file. */
+        decomp_flags |= TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF;
+        in_bytes = pStream->avail_in;
+        out_bytes = pStream->avail_out;
+        status = tinfl_decompress(&pState->m_decomp, pStream->next_in, &in_bytes, pStream->next_out, pStream->next_out, &out_bytes, decomp_flags);
+        pState->m_last_status = status;
+        pStream->next_in += (mz_uint)in_bytes;
+        pStream->avail_in -= (mz_uint)in_bytes;
+        pStream->total_in += (mz_uint)in_bytes;
+        pStream->adler = tinfl_get_adler32(&pState->m_decomp);
+        pStream->next_out += (mz_uint)out_bytes;
+        pStream->avail_out -= (mz_uint)out_bytes;
+        pStream->total_out += (mz_uint)out_bytes;
+
+        if (status < 0)
+            return MZ_DATA_ERROR;
+        else if (status != TINFL_STATUS_DONE)
+        {
+            pState->m_last_status = TINFL_STATUS_FAILED;
+            return MZ_BUF_ERROR;
+        }
+        return MZ_STREAM_END;
+    }
+    /* flush != MZ_FINISH then we must assume there's more input. */
+    if (flush != MZ_FINISH)
+        decomp_flags |= TINFL_FLAG_HAS_MORE_INPUT;
+
+    if (pState->m_dict_avail)
+    {
+        n = MZ_MIN(pState->m_dict_avail, pStream->avail_out);
+        memcpy(pStream->next_out, pState->m_dict + pState->m_dict_ofs, n);
+        pStream->next_out += n;
+        pStream->avail_out -= n;
+        pStream->total_out += n;
+        pState->m_dict_avail -= n;
+        pState->m_dict_ofs = (pState->m_dict_ofs + n) & (TINFL_LZ_DICT_SIZE - 1);
+        return ((pState->m_last_status == TINFL_STATUS_DONE) && (!pState->m_dict_avail)) ? MZ_STREAM_END : MZ_OK;
+    }
+
+    for (;;)
+    {
+        in_bytes = pStream->avail_in;
+        out_bytes = TINFL_LZ_DICT_SIZE - pState->m_dict_ofs;
+
+        status = tinfl_decompress(&pState->m_decomp, pStream->next_in, &in_bytes, pState->m_dict, pState->m_dict + pState->m_dict_ofs, &out_bytes, decomp_flags);
+        pState->m_last_status = status;
+
+        pStream->next_in += (mz_uint)in_bytes;
+        pStream->avail_in -= (mz_uint)in_bytes;
+        pStream->total_in += (mz_uint)in_bytes;
+        pStream->adler = tinfl_get_adler32(&pState->m_decomp);
+
+        pState->m_dict_avail = (mz_uint)out_bytes;
+
+        n = MZ_MIN(pState->m_dict_avail, pStream->avail_out);
+        memcpy(pStream->next_out, pState->m_dict + pState->m_dict_ofs, n);
+        pStream->next_out += n;
+        pStream->avail_out -= n;
+        pStream->total_out += n;
+        pState->m_dict_avail -= n;
+        pState->m_dict_ofs = (pState->m_dict_ofs + n) & (TINFL_LZ_DICT_SIZE - 1);
+
+        if (status < 0)
+            return MZ_DATA_ERROR; /* Stream is corrupted (there could be some uncompressed data left in the output dictionary - oh well). */
+        else if ((status == TINFL_STATUS_NEEDS_MORE_INPUT) && (!orig_avail_in))
+            return MZ_BUF_ERROR; /* Signal caller that we can't make forward progress without supplying more input or by setting flush to MZ_FINISH. */
+        else if (flush == MZ_FINISH)
+        {
+            /* The output buffer MUST be large to hold the remaining uncompressed data when flush==MZ_FINISH. */
+            if (status == TINFL_STATUS_DONE)
+                return pState->m_dict_avail ? MZ_BUF_ERROR : MZ_STREAM_END;
+            /* status here must be TINFL_STATUS_HAS_MORE_OUTPUT, which means there's at least 1 more byte on the way. If there's no more room left in the output buffer then something is wrong. */
+            else if (!pStream->avail_out)
+                return MZ_BUF_ERROR;
+        }
+        else if ((status == TINFL_STATUS_DONE) || (!pStream->avail_in) || (!pStream->avail_out) || (pState->m_dict_avail))
+            break;
+    }
+
+    return ((status == TINFL_STATUS_DONE) && (!pState->m_dict_avail)) ? MZ_STREAM_END : MZ_OK;
+}
+
+int mz_inflateEnd(mz_streamp pStream)
+{
+    if (!pStream)
+        return MZ_STREAM_ERROR;
+    if (pStream->state)
+    {
+        pStream->zfree(pStream->opaque, pStream->state);
+        pStream->state = NULL;
+    }
+    return MZ_OK;
+}
+
+int mz_uncompress(unsigned char *pDest, mz_ulong *pDest_len, const unsigned char *pSource, mz_ulong source_len)
+{
+    mz_stream stream;
+    int status;
+    memset(&stream, 0, sizeof(stream));
+
+    /* In case mz_ulong is 64-bits (argh I hate longs). */
+    if ((source_len | *pDest_len) > 0xFFFFFFFFU)
+        return MZ_PARAM_ERROR;
+
+    stream.next_in = pSource;
+    stream.avail_in = (mz_uint32)source_len;
+    stream.next_out = pDest;
+    stream.avail_out = (mz_uint32) * pDest_len;
+
+    status = mz_inflateInit(&stream);
+    if (status != MZ_OK)
+        return status;
+
+    status = mz_inflate(&stream, MZ_FINISH);
+    if (status != MZ_STREAM_END)
+    {
+        mz_inflateEnd(&stream);
+        return ((status == MZ_BUF_ERROR) && (!stream.avail_in)) ? MZ_DATA_ERROR : status;
+    }
+    *pDest_len = stream.total_out;
+
+    return mz_inflateEnd(&stream);
+}
+
+const char *mz_error(int err)
+{
+    static struct
+    {
+        int m_err;
+        const char *m_pDesc;
+    } s_error_descs[] =
+          {
+              { MZ_OK, "" }, { MZ_STREAM_END, "stream end" }, { MZ_NEED_DICT, "need dictionary" }, { MZ_ERRNO, "file error" }, { MZ_STREAM_ERROR, "stream error" },
+              { MZ_DATA_ERROR, "data error" }, { MZ_MEM_ERROR, "out of memory" }, { MZ_BUF_ERROR, "buf error" }, { MZ_VERSION_ERROR, "version error" }, { MZ_PARAM_ERROR, "parameter error" }
+          };
+    mz_uint i;
+    for (i = 0; i < sizeof(s_error_descs) / sizeof(s_error_descs[0]); ++i)
+        if (s_error_descs[i].m_err == err)
+            return s_error_descs[i].m_pDesc;
+    return NULL;
+}
+
+#endif /*MINIZ_NO_ZLIB_APIS */
+
+#ifdef __cplusplus
+}
+#endif
+
+/*
+  This is free and unencumbered software released into the public domain.
+
+  Anyone is free to copy, modify, publish, use, compile, sell, or
+  distribute this software, either in source code form or as a compiled
+  binary, for any purpose, commercial or non-commercial, and by any
+  means.
+
+  In jurisdictions that recognize copyright laws, the author or authors
+  of this software dedicate any and all copyright interest in the
+  software to the public domain. We make this dedication for the benefit
+  of the public at large and to the detriment of our heirs and
+  successors. We intend this dedication to be an overt act of
+  relinquishment in perpetuity of all present and future rights to this
+  software under copyright law.
+
+  THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+  EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+  MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+  IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+  OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+  ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+  OTHER DEALINGS IN THE SOFTWARE.
+
+  For more information, please refer to <http://unlicense.org/>
+*/
+/**************************************************************************
+ *
+ * Copyright 2013-2014 RAD Game Tools and Valve Software
+ * Copyright 2010-2014 Rich Geldreich and Tenacious Software LLC
+ * All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ **************************************************************************/
+
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ------------------- Low-level Compression (independent from all decompression API's) */
+
+/* Purposely making these tables static for faster init and thread safety. */
+static const mz_uint16 s_tdefl_len_sym[256] =
+    {
+        257, 258, 259, 260, 261, 262, 263, 264, 265, 265, 266, 266, 267, 267, 268, 268, 269, 269, 269, 269, 270, 270, 270, 270, 271, 271, 271, 271, 272, 272, 272, 272,
+        273, 273, 273, 273, 273, 273, 273, 273, 274, 274, 274, 274, 274, 274, 274, 274, 275, 275, 275, 275, 275, 275, 275, 275, 276, 276, 276, 276, 276, 276, 276, 276,
+        277, 277, 277, 277, 277, 277, 277, 277, 277, 277, 277, 277, 277, 277, 277, 277, 278, 278, 278, 278, 278, 278, 278, 278, 278, 278, 278, 278, 278, 278, 278, 278,
+        279, 279, 279, 279, 279, 279, 279, 279, 279, 279, 279, 279, 279, 279, 279, 279, 280, 280, 280, 280, 280, 280, 280, 280, 280, 280, 280, 280, 280, 280, 280, 280,
+        281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281, 281,
+        282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282, 282,
+        283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283, 283,
+        284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 284, 285
+    };
+
+static const mz_uint8 s_tdefl_len_extra[256] =
+    {
+        0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3,
+        4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4,
+        5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5,
+        5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 0
+    };
+
+static const mz_uint8 s_tdefl_small_dist_sym[512] =
+    {
+        0, 1, 2, 3, 4, 4, 5, 5, 6, 6, 6, 6, 7, 7, 7, 7, 8, 8, 8, 8, 8, 8, 8, 8, 9, 9, 9, 9, 9, 9, 9, 9, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 11, 11, 11, 11, 11, 11,
+        11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 13,
+        13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
+        14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14, 14,
+        14, 14, 14, 14, 14, 14, 14, 14, 14, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15,
+        15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 15, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16,
+        16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16,
+        16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16,
+        16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17,
+        17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17,
+        17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17,
+        17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17, 17
+    };
+
+static const mz_uint8 s_tdefl_small_dist_extra[512] =
+    {
+        0, 0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 5, 5, 5, 5, 5, 5, 5, 5,
+        5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 5, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6,
+        6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6,
+        6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 6, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7,
+        7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7,
+        7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7,
+        7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7, 7,
+        7, 7, 7, 7, 7, 7, 7, 7
+    };
+
+static const mz_uint8 s_tdefl_large_dist_sym[128] =
+    {
+        0, 0, 18, 19, 20, 20, 21, 21, 22, 22, 22, 22, 23, 23, 23, 23, 24, 24, 24, 24, 24, 24, 24, 24, 25, 25, 25, 25, 25, 25, 25, 25, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26, 26,
+        26, 26, 26, 26, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 27, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28, 28,
+        28, 28, 28, 28, 28, 28, 28, 28, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29, 29
+    };
+
+static const mz_uint8 s_tdefl_large_dist_extra[128] =
+    {
+        0, 0, 8, 8, 9, 9, 9, 9, 10, 10, 10, 10, 10, 10, 10, 10, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 11, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12,
+        12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 12, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13,
+        13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13, 13
+    };
+
+/* Radix sorts tdefl_sym_freq[] array by 16-bit key m_key. Returns ptr to sorted values. */
+typedef struct
+{
+    mz_uint16 m_key, m_sym_index;
+} tdefl_sym_freq;
+static tdefl_sym_freq *tdefl_radix_sort_syms(mz_uint num_syms, tdefl_sym_freq *pSyms0, tdefl_sym_freq *pSyms1)
+{
+    mz_uint32 total_passes = 2, pass_shift, pass, i, hist[256 * 2];
+    tdefl_sym_freq *pCur_syms = pSyms0, *pNew_syms = pSyms1;
+    MZ_CLEAR_OBJ(hist);
+    for (i = 0; i < num_syms; i++)
+    {
+        mz_uint freq = pSyms0[i].m_key;
+        hist[freq & 0xFF]++;
+        hist[256 + ((freq >> 8) & 0xFF)]++;
+    }
+    while ((total_passes > 1) && (num_syms == hist[(total_passes - 1) * 256]))
+        total_passes--;
+    for (pass_shift = 0, pass = 0; pass < total_passes; pass++, pass_shift += 8)
+    {
+        const mz_uint32 *pHist = &hist[pass << 8];
+        mz_uint offsets[256], cur_ofs = 0;
+        for (i = 0; i < 256; i++)
+        {
+            offsets[i] = cur_ofs;
+            cur_ofs += pHist[i];
+        }
+        for (i = 0; i < num_syms; i++)
+            pNew_syms[offsets[(pCur_syms[i].m_key >> pass_shift) & 0xFF]++] = pCur_syms[i];
+        {
+            tdefl_sym_freq *t = pCur_syms;
+            pCur_syms = pNew_syms;
+            pNew_syms = t;
+        }
+    }
+    return pCur_syms;
+}
+
+/* tdefl_calculate_minimum_redundancy() originally written by: Alistair Moffat, alistair@cs.mu.oz.au, Jyrki Katajainen, jyrki@diku.dk, November 1996. */
+static void tdefl_calculate_minimum_redundancy(tdefl_sym_freq *A, int n)
+{
+    int root, leaf, next, avbl, used, dpth;
+    if (n == 0)
+        return;
+    else if (n == 1)
+    {
+        A[0].m_key = 1;
+        return;
+    }
+    A[0].m_key += A[1].m_key;
+    root = 0;
+    leaf = 2;
+    for (next = 1; next < n - 1; next++)
+    {
+        if (leaf >= n || A[root].m_key < A[leaf].m_key)
+        {
+            A[next].m_key = A[root].m_key;
+            A[root++].m_key = (mz_uint16)next;
+        }
+        else
+            A[next].m_key = A[leaf++].m_key;
+        if (leaf >= n || (root < next && A[root].m_key < A[leaf].m_key))
+        {
+            A[next].m_key = (mz_uint16)(A[next].m_key + A[root].m_key);
+            A[root++].m_key = (mz_uint16)next;
+        }
+        else
+            A[next].m_key = (mz_uint16)(A[next].m_key + A[leaf++].m_key);
+    }
+    A[n - 2].m_key = 0;
+    for (next = n - 3; next >= 0; next--)
+        A[next].m_key = A[A[next].m_key].m_key + 1;
+    avbl = 1;
+    used = dpth = 0;
+    root = n - 2;
+    next = n - 1;
+    while (avbl > 0)
+    {
+        while (root >= 0 && (int)A[root].m_key == dpth)
+        {
+            used++;
+            root--;
+        }
+        while (avbl > used)
+        {
+            A[next--].m_key = (mz_uint16)(dpth);
+            avbl--;
+        }
+        avbl = 2 * used;
+        dpth++;
+        used = 0;
+    }
+}
+
+/* Limits canonical Huffman code table's max code size. */
+enum
+{
+    TDEFL_MAX_SUPPORTED_HUFF_CODESIZE = 32
+};
+static void tdefl_huffman_enforce_max_code_size(int *pNum_codes, int code_list_len, int max_code_size)
+{
+    int i;
+    mz_uint32 total = 0;
+    if (code_list_len <= 1)
+        return;
+    for (i = max_code_size + 1; i <= TDEFL_MAX_SUPPORTED_HUFF_CODESIZE; i++)
+        pNum_codes[max_code_size] += pNum_codes[i];
+    for (i = max_code_size; i > 0; i--)
+        total += (((mz_uint32)pNum_codes[i]) << (max_code_size - i));
+    while (total != (1UL << max_code_size))
+    {
+        pNum_codes[max_code_size]--;
+        for (i = max_code_size - 1; i > 0; i--)
+            if (pNum_codes[i])
+            {
+                pNum_codes[i]--;
+                pNum_codes[i + 1] += 2;
+                break;
+            }
+        total--;
+    }
+}
+
+static void tdefl_optimize_huffman_table(tdefl_compressor *d, int table_num, int table_len, int code_size_limit, int static_table)
+{
+    int i, j, l, num_codes[1 + TDEFL_MAX_SUPPORTED_HUFF_CODESIZE];
+    mz_uint next_code[TDEFL_MAX_SUPPORTED_HUFF_CODESIZE + 1];
+    MZ_CLEAR_OBJ(num_codes);
+    if (static_table)
+    {
+        for (i = 0; i < table_len; i++)
+            num_codes[d->m_huff_code_sizes[table_num][i]]++;
+    }
+    else
+    {
+        tdefl_sym_freq syms0[TDEFL_MAX_HUFF_SYMBOLS], syms1[TDEFL_MAX_HUFF_SYMBOLS], *pSyms;
+        int num_used_syms = 0;
+        const mz_uint16 *pSym_count = &d->m_huff_count[table_num][0];
+        for (i = 0; i < table_len; i++)
+            if (pSym_count[i])
+            {
+                syms0[num_used_syms].m_key = (mz_uint16)pSym_count[i];
+                syms0[num_used_syms++].m_sym_index = (mz_uint16)i;
+            }
+
+        pSyms = tdefl_radix_sort_syms(num_used_syms, syms0, syms1);
+        tdefl_calculate_minimum_redundancy(pSyms, num_used_syms);
+
+        for (i = 0; i < num_used_syms; i++)
+            num_codes[pSyms[i].m_key]++;
+
+        tdefl_huffman_enforce_max_code_size(num_codes, num_used_syms, code_size_limit);
+
+        MZ_CLEAR_OBJ(d->m_huff_code_sizes[table_num]);
+        MZ_CLEAR_OBJ(d->m_huff_codes[table_num]);
+        for (i = 1, j = num_used_syms; i <= code_size_limit; i++)
+            for (l = num_codes[i]; l > 0; l--)
+                d->m_huff_code_sizes[table_num][pSyms[--j].m_sym_index] = (mz_uint8)(i);
+    }
+
+    next_code[1] = 0;
+    for (j = 0, i = 2; i <= code_size_limit; i++)
+        next_code[i] = j = ((j + num_codes[i - 1]) << 1);
+
+    for (i = 0; i < table_len; i++)
+    {
+        mz_uint rev_code = 0, code, code_size;
+        if ((code_size = d->m_huff_code_sizes[table_num][i]) == 0)
+            continue;
+        code = next_code[code_size]++;
+        for (l = code_size; l > 0; l--, code >>= 1)
+            rev_code = (rev_code << 1) | (code & 1);
+        d->m_huff_codes[table_num][i] = (mz_uint16)rev_code;
+    }
+}
+
+#define TDEFL_PUT_BITS(b, l)                                       \
+    do                                                             \
+    {                                                              \
+        mz_uint bits = b;                                          \
+        mz_uint len = l;                                           \
+        MZ_ASSERT(bits <= ((1U << len) - 1U));                     \
+        d->m_bit_buffer |= (bits << d->m_bits_in);                 \
+        d->m_bits_in += len;                                       \
+        while (d->m_bits_in >= 8)                                  \
+        {                                                          \
+            if (d->m_pOutput_buf < d->m_pOutput_buf_end)           \
+                *d->m_pOutput_buf++ = (mz_uint8)(d->m_bit_buffer); \
+            d->m_bit_buffer >>= 8;                                 \
+            d->m_bits_in -= 8;                                     \
+        }                                                          \
+    }                                                              \
+    MZ_MACRO_END
+
+#define TDEFL_RLE_PREV_CODE_SIZE()                                                                                       \
+    {                                                                                                                    \
+        if (rle_repeat_count)                                                                                            \
+        {                                                                                                                \
+            if (rle_repeat_count < 3)                                                                                    \
+            {                                                                                                            \
+                d->m_huff_count[2][prev_code_size] = (mz_uint16)(d->m_huff_count[2][prev_code_size] + rle_repeat_count); \
+                while (rle_repeat_count--)                                                                               \
+                    packed_code_sizes[num_packed_code_sizes++] = prev_code_size;                                         \
+            }                                                                                                            \
+            else                                                                                                         \
+            {                                                                                                            \
+                d->m_huff_count[2][16] = (mz_uint16)(d->m_huff_count[2][16] + 1);                                        \
+                packed_code_sizes[num_packed_code_sizes++] = 16;                                                         \
+                packed_code_sizes[num_packed_code_sizes++] = (mz_uint8)(rle_repeat_count - 3);                           \
+            }                                                                                                            \
+            rle_repeat_count = 0;                                                                                        \
+        }                                                                                                                \
+    }
+
+#define TDEFL_RLE_ZERO_CODE_SIZE()                                                         \
+    {                                                                                      \
+        if (rle_z_count)                                                                   \
+        {                                                                                  \
+            if (rle_z_count < 3)                                                           \
+            {                                                                              \
+                d->m_huff_count[2][0] = (mz_uint16)(d->m_huff_count[2][0] + rle_z_count);  \
+                while (rle_z_count--)                                                      \
+                    packed_code_sizes[num_packed_code_sizes++] = 0;                        \
+            }                                                                              \
+            else if (rle_z_count <= 10)                                                    \
+            {                                                                              \
+                d->m_huff_count[2][17] = (mz_uint16)(d->m_huff_count[2][17] + 1);          \
+                packed_code_sizes[num_packed_code_sizes++] = 17;                           \
+                packed_code_sizes[num_packed_code_sizes++] = (mz_uint8)(rle_z_count - 3);  \
+            }                                                                              \
+            else                                                                           \
+            {                                                                              \
+                d->m_huff_count[2][18] = (mz_uint16)(d->m_huff_count[2][18] + 1);          \
+                packed_code_sizes[num_packed_code_sizes++] = 18;                           \
+                packed_code_sizes[num_packed_code_sizes++] = (mz_uint8)(rle_z_count - 11); \
+            }                                                                              \
+            rle_z_count = 0;                                                               \
+        }                                                                                  \
+    }
+
+static mz_uint8 s_tdefl_packed_code_size_syms_swizzle[] = { 16, 17, 18, 0, 8, 7, 9, 6, 10, 5, 11, 4, 12, 3, 13, 2, 14, 1, 15 };
+
+static void tdefl_start_dynamic_block(tdefl_compressor *d)
+{
+    int num_lit_codes, num_dist_codes, num_bit_lengths;
+    mz_uint i, total_code_sizes_to_pack, num_packed_code_sizes, rle_z_count, rle_repeat_count, packed_code_sizes_index;
+    mz_uint8 code_sizes_to_pack[TDEFL_MAX_HUFF_SYMBOLS_0 + TDEFL_MAX_HUFF_SYMBOLS_1], packed_code_sizes[TDEFL_MAX_HUFF_SYMBOLS_0 + TDEFL_MAX_HUFF_SYMBOLS_1], prev_code_size = 0xFF;
+
+    d->m_huff_count[0][256] = 1;
+
+    tdefl_optimize_huffman_table(d, 0, TDEFL_MAX_HUFF_SYMBOLS_0, 15, MZ_FALSE);
+    tdefl_optimize_huffman_table(d, 1, TDEFL_MAX_HUFF_SYMBOLS_1, 15, MZ_FALSE);
+
+    for (num_lit_codes = 286; num_lit_codes > 257; num_lit_codes--)
+        if (d->m_huff_code_sizes[0][num_lit_codes - 1])
+            break;
+    for (num_dist_codes = 30; num_dist_codes > 1; num_dist_codes--)
+        if (d->m_huff_code_sizes[1][num_dist_codes - 1])
+            break;
+
+    memcpy(code_sizes_to_pack, &d->m_huff_code_sizes[0][0], num_lit_codes);
+    memcpy(code_sizes_to_pack + num_lit_codes, &d->m_huff_code_sizes[1][0], num_dist_codes);
+    total_code_sizes_to_pack = num_lit_codes + num_dist_codes;
+    num_packed_code_sizes = 0;
+    rle_z_count = 0;
+    rle_repeat_count = 0;
+
+    memset(&d->m_huff_count[2][0], 0, sizeof(d->m_huff_count[2][0]) * TDEFL_MAX_HUFF_SYMBOLS_2);
+    for (i = 0; i < total_code_sizes_to_pack; i++)
+    {
+        mz_uint8 code_size = code_sizes_to_pack[i];
+        if (!code_size)
+        {
+            TDEFL_RLE_PREV_CODE_SIZE();
+            if (++rle_z_count == 138)
+            {
+                TDEFL_RLE_ZERO_CODE_SIZE();
+            }
+        }
+        else
+        {
+            TDEFL_RLE_ZERO_CODE_SIZE();
+            if (code_size != prev_code_size)
+            {
+                TDEFL_RLE_PREV_CODE_SIZE();
+                d->m_huff_count[2][code_size] = (mz_uint16)(d->m_huff_count[2][code_size] + 1);
+                packed_code_sizes[num_packed_code_sizes++] = code_size;
+            }
+            else if (++rle_repeat_count == 6)
+            {
+                TDEFL_RLE_PREV_CODE_SIZE();
+            }
+        }
+        prev_code_size = code_size;
+    }
+    if (rle_repeat_count)
+    {
+        TDEFL_RLE_PREV_CODE_SIZE();
+    }
+    else
+    {
+        TDEFL_RLE_ZERO_CODE_SIZE();
+    }
+
+    tdefl_optimize_huffman_table(d, 2, TDEFL_MAX_HUFF_SYMBOLS_2, 7, MZ_FALSE);
+
+    TDEFL_PUT_BITS(2, 2);
+
+    TDEFL_PUT_BITS(num_lit_codes - 257, 5);
+    TDEFL_PUT_BITS(num_dist_codes - 1, 5);
+
+    for (num_bit_lengths = 18; num_bit_lengths >= 0; num_bit_lengths--)
+        if (d->m_huff_code_sizes[2][s_tdefl_packed_code_size_syms_swizzle[num_bit_lengths]])
+            break;
+    num_bit_lengths = MZ_MAX(4, (num_bit_lengths + 1));
+    TDEFL_PUT_BITS(num_bit_lengths - 4, 4);
+    for (i = 0; (int)i < num_bit_lengths; i++)
+        TDEFL_PUT_BITS(d->m_huff_code_sizes[2][s_tdefl_packed_code_size_syms_swizzle[i]], 3);
+
+    for (packed_code_sizes_index = 0; packed_code_sizes_index < num_packed_code_sizes;)
+    {
+        mz_uint code = packed_code_sizes[packed_code_sizes_index++];
+        MZ_ASSERT(code < TDEFL_MAX_HUFF_SYMBOLS_2);
+        TDEFL_PUT_BITS(d->m_huff_codes[2][code], d->m_huff_code_sizes[2][code]);
+        if (code >= 16)
+            TDEFL_PUT_BITS(packed_code_sizes[packed_code_sizes_index++], "\02\03\07"[code - 16]);
+    }
+}
+
+static void tdefl_start_static_block(tdefl_compressor *d)
+{
+    mz_uint i;
+    mz_uint8 *p = &d->m_huff_code_sizes[0][0];
+
+    for (i = 0; i <= 143; ++i)
+        *p++ = 8;
+    for (; i <= 255; ++i)
+        *p++ = 9;
+    for (; i <= 279; ++i)
+        *p++ = 7;
+    for (; i <= 287; ++i)
+        *p++ = 8;
+
+    memset(d->m_huff_code_sizes[1], 5, 32);
+
+    tdefl_optimize_huffman_table(d, 0, 288, 15, MZ_TRUE);
+    tdefl_optimize_huffman_table(d, 1, 32, 15, MZ_TRUE);
+
+    TDEFL_PUT_BITS(1, 2);
+}
+
+static const mz_uint mz_bitmasks[17] = { 0x0000, 0x0001, 0x0003, 0x0007, 0x000F, 0x001F, 0x003F, 0x007F, 0x00FF, 0x01FF, 0x03FF, 0x07FF, 0x0FFF, 0x1FFF, 0x3FFF, 0x7FFF, 0xFFFF };
+
+#if MINIZ_USE_UNALIGNED_LOADS_AND_STORES &&MINIZ_LITTLE_ENDIAN &&MINIZ_HAS_64BIT_REGISTERS
+static mz_bool tdefl_compress_lz_codes(tdefl_compressor *d)
+{
+    mz_uint flags;
+    mz_uint8 *pLZ_codes;
+    mz_uint8 *pOutput_buf = d->m_pOutput_buf;
+    mz_uint8 *pLZ_code_buf_end = d->m_pLZ_code_buf;
+    mz_uint64 bit_buffer = d->m_bit_buffer;
+    mz_uint bits_in = d->m_bits_in;
+
+#define TDEFL_PUT_BITS_FAST(b, l)                    \
+    {                                                \
+        bit_buffer |= (((mz_uint64)(b)) << bits_in); \
+        bits_in += (l);                              \
+    }
+
+    flags = 1;
+    for (pLZ_codes = d->m_lz_code_buf; pLZ_codes < pLZ_code_buf_end; flags >>= 1)
+    {
+        if (flags == 1)
+            flags = *pLZ_codes++ | 0x100;
+
+        if (flags & 1)
+        {
+            mz_uint s0, s1, n0, n1, sym, num_extra_bits;
+            mz_uint match_len = pLZ_codes[0], match_dist = *(const mz_uint16 *)(pLZ_codes + 1);
+            pLZ_codes += 3;
+
+            MZ_ASSERT(d->m_huff_code_sizes[0][s_tdefl_len_sym[match_len]]);
+            TDEFL_PUT_BITS_FAST(d->m_huff_codes[0][s_tdefl_len_sym[match_len]], d->m_huff_code_sizes[0][s_tdefl_len_sym[match_len]]);
+            TDEFL_PUT_BITS_FAST(match_len & mz_bitmasks[s_tdefl_len_extra[match_len]], s_tdefl_len_extra[match_len]);
+
+            /* This sequence coaxes MSVC into using cmov's vs. jmp's. */
+            s0 = s_tdefl_small_dist_sym[match_dist & 511];
+            n0 = s_tdefl_small_dist_extra[match_dist & 511];
+            s1 = s_tdefl_large_dist_sym[match_dist >> 8];
+            n1 = s_tdefl_large_dist_extra[match_dist >> 8];
+            sym = (match_dist < 512) ? s0 : s1;
+            num_extra_bits = (match_dist < 512) ? n0 : n1;
+
+            MZ_ASSERT(d->m_huff_code_sizes[1][sym]);
+            TDEFL_PUT_BITS_FAST(d->m_huff_codes[1][sym], d->m_huff_code_sizes[1][sym]);
+            TDEFL_PUT_BITS_FAST(match_dist & mz_bitmasks[num_extra_bits], num_extra_bits);
+        }
+        else
+        {
+            mz_uint lit = *pLZ_codes++;
+            MZ_ASSERT(d->m_huff_code_sizes[0][lit]);
+            TDEFL_PUT_BITS_FAST(d->m_huff_codes[0][lit], d->m_huff_code_sizes[0][lit]);
+
+            if (((flags & 2) == 0) && (pLZ_codes < pLZ_code_buf_end))
+            {
+                flags >>= 1;
+                lit = *pLZ_codes++;
+                MZ_ASSERT(d->m_huff_code_sizes[0][lit]);
+                TDEFL_PUT_BITS_FAST(d->m_huff_codes[0][lit], d->m_huff_code_sizes[0][lit]);
+
+                if (((flags & 2) == 0) && (pLZ_codes < pLZ_code_buf_end))
+                {
+                    flags >>= 1;
+                    lit = *pLZ_codes++;
+                    MZ_ASSERT(d->m_huff_code_sizes[0][lit]);
+                    TDEFL_PUT_BITS_FAST(d->m_huff_codes[0][lit], d->m_huff_code_sizes[0][lit]);
+                }
+            }
+        }
+
+        if (pOutput_buf >= d->m_pOutput_buf_end)
+            return MZ_FALSE;
+
+        *(mz_uint64 *)pOutput_buf = bit_buffer;
+        pOutput_buf += (bits_in >> 3);
+        bit_buffer >>= (bits_in & ~7);
+        bits_in &= 7;
+    }
+
+#undef TDEFL_PUT_BITS_FAST
+
+    d->m_pOutput_buf = pOutput_buf;
+    d->m_bits_in = 0;
+    d->m_bit_buffer = 0;
+
+    while (bits_in)
+    {
+        mz_uint32 n = MZ_MIN(bits_in, 16);
+        TDEFL_PUT_BITS((mz_uint)bit_buffer & mz_bitmasks[n], n);
+        bit_buffer >>= n;
+        bits_in -= n;
+    }
+
+    TDEFL_PUT_BITS(d->m_huff_codes[0][256], d->m_huff_code_sizes[0][256]);
+
+    return (d->m_pOutput_buf < d->m_pOutput_buf_end);
+}
+#else
+static mz_bool tdefl_compress_lz_codes(tdefl_compressor *d)
+{
+    mz_uint flags;
+    mz_uint8 *pLZ_codes;
+
+    flags = 1;
+    for (pLZ_codes = d->m_lz_code_buf; pLZ_codes < d->m_pLZ_code_buf; flags >>= 1)
+    {
+        if (flags == 1)
+            flags = *pLZ_codes++ | 0x100;
+        if (flags & 1)
+        {
+            mz_uint sym, num_extra_bits;
+            mz_uint match_len = pLZ_codes[0], match_dist = (pLZ_codes[1] | (pLZ_codes[2] << 8));
+            pLZ_codes += 3;
+
+            MZ_ASSERT(d->m_huff_code_sizes[0][s_tdefl_len_sym[match_len]]);
+            TDEFL_PUT_BITS(d->m_huff_codes[0][s_tdefl_len_sym[match_len]], d->m_huff_code_sizes[0][s_tdefl_len_sym[match_len]]);
+            TDEFL_PUT_BITS(match_len & mz_bitmasks[s_tdefl_len_extra[match_len]], s_tdefl_len_extra[match_len]);
+
+            if (match_dist < 512)
+            {
+                sym = s_tdefl_small_dist_sym[match_dist];
+                num_extra_bits = s_tdefl_small_dist_extra[match_dist];
+            }
+            else
+            {
+                sym = s_tdefl_large_dist_sym[match_dist >> 8];
+                num_extra_bits = s_tdefl_large_dist_extra[match_dist >> 8];
+            }
+            MZ_ASSERT(d->m_huff_code_sizes[1][sym]);
+            TDEFL_PUT_BITS(d->m_huff_codes[1][sym], d->m_huff_code_sizes[1][sym]);
+            TDEFL_PUT_BITS(match_dist & mz_bitmasks[num_extra_bits], num_extra_bits);
+        }
+        else
+        {
+            mz_uint lit = *pLZ_codes++;
+            MZ_ASSERT(d->m_huff_code_sizes[0][lit]);
+            TDEFL_PUT_BITS(d->m_huff_codes[0][lit], d->m_huff_code_sizes[0][lit]);
+        }
+    }
+
+    TDEFL_PUT_BITS(d->m_huff_codes[0][256], d->m_huff_code_sizes[0][256]);
+
+    return (d->m_pOutput_buf < d->m_pOutput_buf_end);
+}
+#endif /* MINIZ_USE_UNALIGNED_LOADS_AND_STORES && MINIZ_LITTLE_ENDIAN && MINIZ_HAS_64BIT_REGISTERS */
+
+static mz_bool tdefl_compress_block(tdefl_compressor *d, mz_bool static_block)
+{
+    if (static_block)
+        tdefl_start_static_block(d);
+    else
+        tdefl_start_dynamic_block(d);
+    return tdefl_compress_lz_codes(d);
+}
+
+static int tdefl_flush_block(tdefl_compressor *d, int flush)
+{
+    mz_uint saved_bit_buf, saved_bits_in;
+    mz_uint8 *pSaved_output_buf;
+    mz_bool comp_block_succeeded = MZ_FALSE;
+    int n, use_raw_block = ((d->m_flags & TDEFL_FORCE_ALL_RAW_BLOCKS) != 0) && (d->m_lookahead_pos - d->m_lz_code_buf_dict_pos) <= d->m_dict_size;
+    mz_uint8 *pOutput_buf_start = ((d->m_pPut_buf_func == NULL) && ((*d->m_pOut_buf_size - d->m_out_buf_ofs) >= TDEFL_OUT_BUF_SIZE)) ? ((mz_uint8 *)d->m_pOut_buf + d->m_out_buf_ofs) : d->m_output_buf;
+
+    d->m_pOutput_buf = pOutput_buf_start;
+    d->m_pOutput_buf_end = d->m_pOutput_buf + TDEFL_OUT_BUF_SIZE - 16;
+
+    MZ_ASSERT(!d->m_output_flush_remaining);
+    d->m_output_flush_ofs = 0;
+    d->m_output_flush_remaining = 0;
+
+    *d->m_pLZ_flags = (mz_uint8)(*d->m_pLZ_flags >> d->m_num_flags_left);
+    d->m_pLZ_code_buf -= (d->m_num_flags_left == 8);
+
+    if ((d->m_flags & TDEFL_WRITE_ZLIB_HEADER) && (!d->m_block_index))
+    {
+        TDEFL_PUT_BITS(0x78, 8);
+        TDEFL_PUT_BITS(0x01, 8);
+    }
+
+    TDEFL_PUT_BITS(flush == TDEFL_FINISH, 1);
+
+    pSaved_output_buf = d->m_pOutput_buf;
+    saved_bit_buf = d->m_bit_buffer;
+    saved_bits_in = d->m_bits_in;
+
+    if (!use_raw_block)
+        comp_block_succeeded = tdefl_compress_block(d, (d->m_flags & TDEFL_FORCE_ALL_STATIC_BLOCKS) || (d->m_total_lz_bytes < 48));
+
+    /* If the block gets expanded, forget the current contents of the output buffer and send a raw block instead. */
+    if (((use_raw_block) || ((d->m_total_lz_bytes) && ((d->m_pOutput_buf - pSaved_output_buf + 1U) >= d->m_total_lz_bytes))) &&
+        ((d->m_lookahead_pos - d->m_lz_code_buf_dict_pos) <= d->m_dict_size))
+    {
+        mz_uint i;
+        d->m_pOutput_buf = pSaved_output_buf;
+        d->m_bit_buffer = saved_bit_buf, d->m_bits_in = saved_bits_in;
+        TDEFL_PUT_BITS(0, 2);
+        if (d->m_bits_in)
+        {
+            TDEFL_PUT_BITS(0, 8 - d->m_bits_in);
+        }
+        for (i = 2; i; --i, d->m_total_lz_bytes ^= 0xFFFF)
+        {
+            TDEFL_PUT_BITS(d->m_total_lz_bytes & 0xFFFF, 16);
+        }
+        for (i = 0; i < d->m_total_lz_bytes; ++i)
+        {
+            TDEFL_PUT_BITS(d->m_dict[(d->m_lz_code_buf_dict_pos + i) & TDEFL_LZ_DICT_SIZE_MASK], 8);
+        }
+    }
+    /* Check for the extremely unlikely (if not impossible) case of the compressed block not fitting into the output buffer when using dynamic codes. */
+    else if (!comp_block_succeeded)
+    {
+        d->m_pOutput_buf = pSaved_output_buf;
+        d->m_bit_buffer = saved_bit_buf, d->m_bits_in = saved_bits_in;
+        tdefl_compress_block(d, MZ_TRUE);
+    }
+
+    if (flush)
+    {
+        if (flush == TDEFL_FINISH)
+        {
+            if (d->m_bits_in)
+            {
+                TDEFL_PUT_BITS(0, 8 - d->m_bits_in);
+            }
+            if (d->m_flags & TDEFL_WRITE_ZLIB_HEADER)
+            {
+                mz_uint i, a = d->m_adler32;
+                for (i = 0; i < 4; i++)
+                {
+                    TDEFL_PUT_BITS((a >> 24) & 0xFF, 8);
+                    a <<= 8;
+                }
+            }
+        }
+        else
+        {
+            mz_uint i, z = 0;
+            TDEFL_PUT_BITS(0, 3);
+            if (d->m_bits_in)
+            {
+                TDEFL_PUT_BITS(0, 8 - d->m_bits_in);
+            }
+            for (i = 2; i; --i, z ^= 0xFFFF)
+            {
+                TDEFL_PUT_BITS(z & 0xFFFF, 16);
+            }
+        }
+    }
+
+    MZ_ASSERT(d->m_pOutput_buf < d->m_pOutput_buf_end);
+
+    memset(&d->m_huff_count[0][0], 0, sizeof(d->m_huff_count[0][0]) * TDEFL_MAX_HUFF_SYMBOLS_0);
+    memset(&d->m_huff_count[1][0], 0, sizeof(d->m_huff_count[1][0]) * TDEFL_MAX_HUFF_SYMBOLS_1);
+
+    d->m_pLZ_code_buf = d->m_lz_code_buf + 1;
+    d->m_pLZ_flags = d->m_lz_code_buf;
+    d->m_num_flags_left = 8;
+    d->m_lz_code_buf_dict_pos += d->m_total_lz_bytes;
+    d->m_total_lz_bytes = 0;
+    d->m_block_index++;
+
+    if ((n = (int)(d->m_pOutput_buf - pOutput_buf_start)) != 0)
+    {
+        if (d->m_pPut_buf_func)
+        {
+            *d->m_pIn_buf_size = d->m_pSrc - (const mz_uint8 *)d->m_pIn_buf;
+            if (!(*d->m_pPut_buf_func)(d->m_output_buf, n, d->m_pPut_buf_user))
+                return (d->m_prev_return_status = TDEFL_STATUS_PUT_BUF_FAILED);
+        }
+        else if (pOutput_buf_start == d->m_output_buf)
+        {
+            int bytes_to_copy = (int)MZ_MIN((size_t)n, (size_t)(*d->m_pOut_buf_size - d->m_out_buf_ofs));
+            memcpy((mz_uint8 *)d->m_pOut_buf + d->m_out_buf_ofs, d->m_output_buf, bytes_to_copy);
+            d->m_out_buf_ofs += bytes_to_copy;
+            if ((n -= bytes_to_copy) != 0)
+            {
+                d->m_output_flush_ofs = bytes_to_copy;
+                d->m_output_flush_remaining = n;
+            }
+        }
+        else
+        {
+            d->m_out_buf_ofs += n;
+        }
+    }
+
+    return d->m_output_flush_remaining;
+}
+
+#if MINIZ_USE_UNALIGNED_LOADS_AND_STORES
+#define TDEFL_READ_UNALIGNED_WORD(p) *(const mz_uint16 *)(p)
+static MZ_FORCEINLINE void tdefl_find_match(tdefl_compressor *d, mz_uint lookahead_pos, mz_uint max_dist, mz_uint max_match_len, mz_uint *pMatch_dist, mz_uint *pMatch_len)
+{
+    mz_uint dist, pos = lookahead_pos & TDEFL_LZ_DICT_SIZE_MASK, match_len = *pMatch_len, probe_pos = pos, next_probe_pos, probe_len;
+    mz_uint num_probes_left = d->m_max_probes[match_len >= 32];
+    const mz_uint16 *s = (const mz_uint16 *)(d->m_dict + pos), *p, *q;
+    mz_uint16 c01 = TDEFL_READ_UNALIGNED_WORD(&d->m_dict[pos + match_len - 1]), s01 = TDEFL_READ_UNALIGNED_WORD(s);
+    MZ_ASSERT(max_match_len <= TDEFL_MAX_MATCH_LEN);
+    if (max_match_len <= match_len)
+        return;
+    for (;;)
+    {
+        for (;;)
+        {
+            if (--num_probes_left == 0)
+                return;
+#define TDEFL_PROBE                                                                             \
+    next_probe_pos = d->m_next[probe_pos];                                                      \
+    if ((!next_probe_pos) || ((dist = (mz_uint16)(lookahead_pos - next_probe_pos)) > max_dist)) \
+        return;                                                                                 \
+    probe_pos = next_probe_pos & TDEFL_LZ_DICT_SIZE_MASK;                                       \
+    if (TDEFL_READ_UNALIGNED_WORD(&d->m_dict[probe_pos + match_len - 1]) == c01)                \
+        break;
+            TDEFL_PROBE;
+            TDEFL_PROBE;
+            TDEFL_PROBE;
+        }
+        if (!dist)
+            break;
+        q = (const mz_uint16 *)(d->m_dict + probe_pos);
+        if (TDEFL_READ_UNALIGNED_WORD(q) != s01)
+            continue;
+        p = s;
+        probe_len = 32;
+        do
+        {
+        } while ((TDEFL_READ_UNALIGNED_WORD(++p) == TDEFL_READ_UNALIGNED_WORD(++q)) && (TDEFL_READ_UNALIGNED_WORD(++p) == TDEFL_READ_UNALIGNED_WORD(++q)) &&
+                 (TDEFL_READ_UNALIGNED_WORD(++p) == TDEFL_READ_UNALIGNED_WORD(++q)) && (TDEFL_READ_UNALIGNED_WORD(++p) == TDEFL_READ_UNALIGNED_WORD(++q)) && (--probe_len > 0));
+        if (!probe_len)
+        {
+            *pMatch_dist = dist;
+            *pMatch_len = MZ_MIN(max_match_len, (mz_uint)TDEFL_MAX_MATCH_LEN);
+            break;
+        }
+        else if ((probe_len = ((mz_uint)(p - s) * 2) + (mz_uint)(*(const mz_uint8 *)p == *(const mz_uint8 *)q)) > match_len)
+        {
+            *pMatch_dist = dist;
+            if ((*pMatch_len = match_len = MZ_MIN(max_match_len, probe_len)) == max_match_len)
+                break;
+            c01 = TDEFL_READ_UNALIGNED_WORD(&d->m_dict[pos + match_len - 1]);
+        }
+    }
+}
+#else
+static MZ_FORCEINLINE void tdefl_find_match(tdefl_compressor *d, mz_uint lookahead_pos, mz_uint max_dist, mz_uint max_match_len, mz_uint *pMatch_dist, mz_uint *pMatch_len)
+{
+    mz_uint dist, pos = lookahead_pos & TDEFL_LZ_DICT_SIZE_MASK, match_len = *pMatch_len, probe_pos = pos, next_probe_pos, probe_len;
+    mz_uint num_probes_left = d->m_max_probes[match_len >= 32];
+    const mz_uint8 *s = d->m_dict + pos, *p, *q;
+    mz_uint8 c0 = d->m_dict[pos + match_len], c1 = d->m_dict[pos + match_len - 1];
+    MZ_ASSERT(max_match_len <= TDEFL_MAX_MATCH_LEN);
+    if (max_match_len <= match_len)
+        return;
+    for (;;)
+    {
+        for (;;)
+        {
+            if (--num_probes_left == 0)
+                return;
+#define TDEFL_PROBE                                                                               \
+    next_probe_pos = d->m_next[probe_pos];                                                        \
+    if ((!next_probe_pos) || ((dist = (mz_uint16)(lookahead_pos - next_probe_pos)) > max_dist))   \
+        return;                                                                                   \
+    probe_pos = next_probe_pos & TDEFL_LZ_DICT_SIZE_MASK;                                         \
+    if ((d->m_dict[probe_pos + match_len] == c0) && (d->m_dict[probe_pos + match_len - 1] == c1)) \
+        break;
+            TDEFL_PROBE;
+            TDEFL_PROBE;
+            TDEFL_PROBE;
+        }
+        if (!dist)
+            break;
+        p = s;
+        q = d->m_dict + probe_pos;
+        for (probe_len = 0; probe_len < max_match_len; probe_len++)
+            if (*p++ != *q++)
+                break;
+        if (probe_len > match_len)
+        {
+            *pMatch_dist = dist;
+            if ((*pMatch_len = match_len = probe_len) == max_match_len)
+                return;
+            c0 = d->m_dict[pos + match_len];
+            c1 = d->m_dict[pos + match_len - 1];
+        }
+    }
+}
+#endif /* #if MINIZ_USE_UNALIGNED_LOADS_AND_STORES */
+
+#if MINIZ_USE_UNALIGNED_LOADS_AND_STORES &&MINIZ_LITTLE_ENDIAN
+static mz_bool tdefl_compress_fast(tdefl_compressor *d)
+{
+    /* Faster, minimally featured LZRW1-style match+parse loop with better register utilization. Intended for applications where raw throughput is valued more highly than ratio. */
+    mz_uint lookahead_pos = d->m_lookahead_pos, lookahead_size = d->m_lookahead_size, dict_size = d->m_dict_size, total_lz_bytes = d->m_total_lz_bytes, num_flags_left = d->m_num_flags_left;
+    mz_uint8 *pLZ_code_buf = d->m_pLZ_code_buf, *pLZ_flags = d->m_pLZ_flags;
+    mz_uint cur_pos = lookahead_pos & TDEFL_LZ_DICT_SIZE_MASK;
+
+    while ((d->m_src_buf_left) || ((d->m_flush) && (lookahead_size)))
+    {
+        const mz_uint TDEFL_COMP_FAST_LOOKAHEAD_SIZE = 4096;
+        mz_uint dst_pos = (lookahead_pos + lookahead_size) & TDEFL_LZ_DICT_SIZE_MASK;
+        mz_uint num_bytes_to_process = (mz_uint)MZ_MIN(d->m_src_buf_left, TDEFL_COMP_FAST_LOOKAHEAD_SIZE - lookahead_size);
+        d->m_src_buf_left -= num_bytes_to_process;
+        lookahead_size += num_bytes_to_process;
+
+        while (num_bytes_to_process)
+        {
+            mz_uint32 n = MZ_MIN(TDEFL_LZ_DICT_SIZE - dst_pos, num_bytes_to_process);
+            memcpy(d->m_dict + dst_pos, d->m_pSrc, n);
+            if (dst_pos < (TDEFL_MAX_MATCH_LEN - 1))
+                memcpy(d->m_dict + TDEFL_LZ_DICT_SIZE + dst_pos, d->m_pSrc, MZ_MIN(n, (TDEFL_MAX_MATCH_LEN - 1) - dst_pos));
+            d->m_pSrc += n;
+            dst_pos = (dst_pos + n) & TDEFL_LZ_DICT_SIZE_MASK;
+            num_bytes_to_process -= n;
+        }
+
+        dict_size = MZ_MIN(TDEFL_LZ_DICT_SIZE - lookahead_size, dict_size);
+        if ((!d->m_flush) && (lookahead_size < TDEFL_COMP_FAST_LOOKAHEAD_SIZE))
+            break;
+
+        while (lookahead_size >= 4)
+        {
+            mz_uint cur_match_dist, cur_match_len = 1;
+            mz_uint8 *pCur_dict = d->m_dict + cur_pos;
+            mz_uint first_trigram = (*(const mz_uint32 *)pCur_dict) & 0xFFFFFF;
+            mz_uint hash = (first_trigram ^ (first_trigram >> (24 - (TDEFL_LZ_HASH_BITS - 8)))) & TDEFL_LEVEL1_HASH_SIZE_MASK;
+            mz_uint probe_pos = d->m_hash[hash];
+            d->m_hash[hash] = (mz_uint16)lookahead_pos;
+
+            if (((cur_match_dist = (mz_uint16)(lookahead_pos - probe_pos)) <= dict_size) && ((*(const mz_uint32 *)(d->m_dict + (probe_pos &= TDEFL_LZ_DICT_SIZE_MASK)) & 0xFFFFFF) == first_trigram))
+            {
+                const mz_uint16 *p = (const mz_uint16 *)pCur_dict;
+                const mz_uint16 *q = (const mz_uint16 *)(d->m_dict + probe_pos);
+                mz_uint32 probe_len = 32;
+                do
+                {
+                } while ((TDEFL_READ_UNALIGNED_WORD(++p) == TDEFL_READ_UNALIGNED_WORD(++q)) && (TDEFL_READ_UNALIGNED_WORD(++p) == TDEFL_READ_UNALIGNED_WORD(++q)) &&
+                         (TDEFL_READ_UNALIGNED_WORD(++p) == TDEFL_READ_UNALIGNED_WORD(++q)) && (TDEFL_READ_UNALIGNED_WORD(++p) == TDEFL_READ_UNALIGNED_WORD(++q)) && (--probe_len > 0));
+                cur_match_len = ((mz_uint)(p - (const mz_uint16 *)pCur_dict) * 2) + (mz_uint)(*(const mz_uint8 *)p == *(const mz_uint8 *)q);
+                if (!probe_len)
+                    cur_match_len = cur_match_dist ? TDEFL_MAX_MATCH_LEN : 0;
+
+                if ((cur_match_len < TDEFL_MIN_MATCH_LEN) || ((cur_match_len == TDEFL_MIN_MATCH_LEN) && (cur_match_dist >= 8U * 1024U)))
+                {
+                    cur_match_len = 1;
+                    *pLZ_code_buf++ = (mz_uint8)first_trigram;
+                    *pLZ_flags = (mz_uint8)(*pLZ_flags >> 1);
+                    d->m_huff_count[0][(mz_uint8)first_trigram]++;
+                }
+                else
+                {
+                    mz_uint32 s0, s1;
+                    cur_match_len = MZ_MIN(cur_match_len, lookahead_size);
+
+                    MZ_ASSERT((cur_match_len >= TDEFL_MIN_MATCH_LEN) && (cur_match_dist >= 1) && (cur_match_dist <= TDEFL_LZ_DICT_SIZE));
+
+                    cur_match_dist--;
+
+                    pLZ_code_buf[0] = (mz_uint8)(cur_match_len - TDEFL_MIN_MATCH_LEN);
+                    *(mz_uint16 *)(&pLZ_code_buf[1]) = (mz_uint16)cur_match_dist;
+                    pLZ_code_buf += 3;
+                    *pLZ_flags = (mz_uint8)((*pLZ_flags >> 1) | 0x80);
+
+                    s0 = s_tdefl_small_dist_sym[cur_match_dist & 511];
+                    s1 = s_tdefl_large_dist_sym[cur_match_dist >> 8];
+                    d->m_huff_count[1][(cur_match_dist < 512) ? s0 : s1]++;
+
+                    d->m_huff_count[0][s_tdefl_len_sym[cur_match_len - TDEFL_MIN_MATCH_LEN]]++;
+                }
+            }
+            else
+            {
+                *pLZ_code_buf++ = (mz_uint8)first_trigram;
+                *pLZ_flags = (mz_uint8)(*pLZ_flags >> 1);
+                d->m_huff_count[0][(mz_uint8)first_trigram]++;
+            }
+
+            if (--num_flags_left == 0)
+            {
+                num_flags_left = 8;
+                pLZ_flags = pLZ_code_buf++;
+            }
+
+            total_lz_bytes += cur_match_len;
+            lookahead_pos += cur_match_len;
+            dict_size = MZ_MIN(dict_size + cur_match_len, (mz_uint)TDEFL_LZ_DICT_SIZE);
+            cur_pos = (cur_pos + cur_match_len) & TDEFL_LZ_DICT_SIZE_MASK;
+            MZ_ASSERT(lookahead_size >= cur_match_len);
+            lookahead_size -= cur_match_len;
+
+            if (pLZ_code_buf > &d->m_lz_code_buf[TDEFL_LZ_CODE_BUF_SIZE - 8])
+            {
+                int n;
+                d->m_lookahead_pos = lookahead_pos;
+                d->m_lookahead_size = lookahead_size;
+                d->m_dict_size = dict_size;
+                d->m_total_lz_bytes = total_lz_bytes;
+                d->m_pLZ_code_buf = pLZ_code_buf;
+                d->m_pLZ_flags = pLZ_flags;
+                d->m_num_flags_left = num_flags_left;
+                if ((n = tdefl_flush_block(d, 0)) != 0)
+                    return (n < 0) ? MZ_FALSE : MZ_TRUE;
+                total_lz_bytes = d->m_total_lz_bytes;
+                pLZ_code_buf = d->m_pLZ_code_buf;
+                pLZ_flags = d->m_pLZ_flags;
+                num_flags_left = d->m_num_flags_left;
+            }
+        }
+
+        while (lookahead_size)
+        {
+            mz_uint8 lit = d->m_dict[cur_pos];
+
+            total_lz_bytes++;
+            *pLZ_code_buf++ = lit;
+            *pLZ_flags = (mz_uint8)(*pLZ_flags >> 1);
+            if (--num_flags_left == 0)
+            {
+                num_flags_left = 8;
+                pLZ_flags = pLZ_code_buf++;
+            }
+
+            d->m_huff_count[0][lit]++;
+
+            lookahead_pos++;
+            dict_size = MZ_MIN(dict_size + 1, (mz_uint)TDEFL_LZ_DICT_SIZE);
+            cur_pos = (cur_pos + 1) & TDEFL_LZ_DICT_SIZE_MASK;
+            lookahead_size--;
+
+            if (pLZ_code_buf > &d->m_lz_code_buf[TDEFL_LZ_CODE_BUF_SIZE - 8])
+            {
+                int n;
+                d->m_lookahead_pos = lookahead_pos;
+                d->m_lookahead_size = lookahead_size;
+                d->m_dict_size = dict_size;
+                d->m_total_lz_bytes = total_lz_bytes;
+                d->m_pLZ_code_buf = pLZ_code_buf;
+                d->m_pLZ_flags = pLZ_flags;
+                d->m_num_flags_left = num_flags_left;
+                if ((n = tdefl_flush_block(d, 0)) != 0)
+                    return (n < 0) ? MZ_FALSE : MZ_TRUE;
+                total_lz_bytes = d->m_total_lz_bytes;
+                pLZ_code_buf = d->m_pLZ_code_buf;
+                pLZ_flags = d->m_pLZ_flags;
+                num_flags_left = d->m_num_flags_left;
+            }
+        }
+    }
+
+    d->m_lookahead_pos = lookahead_pos;
+    d->m_lookahead_size = lookahead_size;
+    d->m_dict_size = dict_size;
+    d->m_total_lz_bytes = total_lz_bytes;
+    d->m_pLZ_code_buf = pLZ_code_buf;
+    d->m_pLZ_flags = pLZ_flags;
+    d->m_num_flags_left = num_flags_left;
+    return MZ_TRUE;
+}
+#endif /* MINIZ_USE_UNALIGNED_LOADS_AND_STORES && MINIZ_LITTLE_ENDIAN */
+
+static MZ_FORCEINLINE void tdefl_record_literal(tdefl_compressor *d, mz_uint8 lit)
+{
+    d->m_total_lz_bytes++;
+    *d->m_pLZ_code_buf++ = lit;
+    *d->m_pLZ_flags = (mz_uint8)(*d->m_pLZ_flags >> 1);
+    if (--d->m_num_flags_left == 0)
+    {
+        d->m_num_flags_left = 8;
+        d->m_pLZ_flags = d->m_pLZ_code_buf++;
+    }
+    d->m_huff_count[0][lit]++;
+}
+
+static MZ_FORCEINLINE void tdefl_record_match(tdefl_compressor *d, mz_uint match_len, mz_uint match_dist)
+{
+    mz_uint32 s0, s1;
+
+    MZ_ASSERT((match_len >= TDEFL_MIN_MATCH_LEN) && (match_dist >= 1) && (match_dist <= TDEFL_LZ_DICT_SIZE));
+
+    d->m_total_lz_bytes += match_len;
+
+    d->m_pLZ_code_buf[0] = (mz_uint8)(match_len - TDEFL_MIN_MATCH_LEN);
+
+    match_dist -= 1;
+    d->m_pLZ_code_buf[1] = (mz_uint8)(match_dist & 0xFF);
+    d->m_pLZ_code_buf[2] = (mz_uint8)(match_dist >> 8);
+    d->m_pLZ_code_buf += 3;
+
+    *d->m_pLZ_flags = (mz_uint8)((*d->m_pLZ_flags >> 1) | 0x80);
+    if (--d->m_num_flags_left == 0)
+    {
+        d->m_num_flags_left = 8;
+        d->m_pLZ_flags = d->m_pLZ_code_buf++;
+    }
+
+    s0 = s_tdefl_small_dist_sym[match_dist & 511];
+    s1 = s_tdefl_large_dist_sym[(match_dist >> 8) & 127];
+    d->m_huff_count[1][(match_dist < 512) ? s0 : s1]++;
+
+    if (match_len >= TDEFL_MIN_MATCH_LEN)
+        d->m_huff_count[0][s_tdefl_len_sym[match_len - TDEFL_MIN_MATCH_LEN]]++;
+}
+
+static mz_bool tdefl_compress_normal(tdefl_compressor *d)
+{
+    const mz_uint8 *pSrc = d->m_pSrc;
+    size_t src_buf_left = d->m_src_buf_left;
+    tdefl_flush flush = d->m_flush;
+
+    while ((src_buf_left) || ((flush) && (d->m_lookahead_size)))
+    {
+        mz_uint len_to_move, cur_match_dist, cur_match_len, cur_pos;
+        /* Update dictionary and hash chains. Keeps the lookahead size equal to TDEFL_MAX_MATCH_LEN. */
+        if ((d->m_lookahead_size + d->m_dict_size) >= (TDEFL_MIN_MATCH_LEN - 1))
+        {
+            mz_uint dst_pos = (d->m_lookahead_pos + d->m_lookahead_size) & TDEFL_LZ_DICT_SIZE_MASK, ins_pos = d->m_lookahead_pos + d->m_lookahead_size - 2;
+            mz_uint hash = (d->m_dict[ins_pos & TDEFL_LZ_DICT_SIZE_MASK] << TDEFL_LZ_HASH_SHIFT) ^ d->m_dict[(ins_pos + 1) & TDEFL_LZ_DICT_SIZE_MASK];
+            mz_uint num_bytes_to_process = (mz_uint)MZ_MIN(src_buf_left, TDEFL_MAX_MATCH_LEN - d->m_lookahead_size);
+            const mz_uint8 *pSrc_end = pSrc + num_bytes_to_process;
+            src_buf_left -= num_bytes_to_process;
+            d->m_lookahead_size += num_bytes_to_process;
+            while (pSrc != pSrc_end)
+            {
+                mz_uint8 c = *pSrc++;
+                d->m_dict[dst_pos] = c;
+                if (dst_pos < (TDEFL_MAX_MATCH_LEN - 1))
+                    d->m_dict[TDEFL_LZ_DICT_SIZE + dst_pos] = c;
+                hash = ((hash << TDEFL_LZ_HASH_SHIFT) ^ c) & (TDEFL_LZ_HASH_SIZE - 1);
+                d->m_next[ins_pos & TDEFL_LZ_DICT_SIZE_MASK] = d->m_hash[hash];
+                d->m_hash[hash] = (mz_uint16)(ins_pos);
+                dst_pos = (dst_pos + 1) & TDEFL_LZ_DICT_SIZE_MASK;
+                ins_pos++;
+            }
+        }
+        else
+        {
+            while ((src_buf_left) && (d->m_lookahead_size < TDEFL_MAX_MATCH_LEN))
+            {
+                mz_uint8 c = *pSrc++;
+                mz_uint dst_pos = (d->m_lookahead_pos + d->m_lookahead_size) & TDEFL_LZ_DICT_SIZE_MASK;
+                src_buf_left--;
+                d->m_dict[dst_pos] = c;
+                if (dst_pos < (TDEFL_MAX_MATCH_LEN - 1))
+                    d->m_dict[TDEFL_LZ_DICT_SIZE + dst_pos] = c;
+                if ((++d->m_lookahead_size + d->m_dict_size) >= TDEFL_MIN_MATCH_LEN)
+                {
+                    mz_uint ins_pos = d->m_lookahead_pos + (d->m_lookahead_size - 1) - 2;
+                    mz_uint hash = ((d->m_dict[ins_pos & TDEFL_LZ_DICT_SIZE_MASK] << (TDEFL_LZ_HASH_SHIFT * 2)) ^ (d->m_dict[(ins_pos + 1) & TDEFL_LZ_DICT_SIZE_MASK] << TDEFL_LZ_HASH_SHIFT) ^ c) & (TDEFL_LZ_HASH_SIZE - 1);
+                    d->m_next[ins_pos & TDEFL_LZ_DICT_SIZE_MASK] = d->m_hash[hash];
+                    d->m_hash[hash] = (mz_uint16)(ins_pos);
+                }
+            }
+        }
+        d->m_dict_size = MZ_MIN(TDEFL_LZ_DICT_SIZE - d->m_lookahead_size, d->m_dict_size);
+        if ((!flush) && (d->m_lookahead_size < TDEFL_MAX_MATCH_LEN))
+            break;
+
+        /* Simple lazy/greedy parsing state machine. */
+        len_to_move = 1;
+        cur_match_dist = 0;
+        cur_match_len = d->m_saved_match_len ? d->m_saved_match_len : (TDEFL_MIN_MATCH_LEN - 1);
+        cur_pos = d->m_lookahead_pos & TDEFL_LZ_DICT_SIZE_MASK;
+        if (d->m_flags & (TDEFL_RLE_MATCHES | TDEFL_FORCE_ALL_RAW_BLOCKS))
+        {
+            if ((d->m_dict_size) && (!(d->m_flags & TDEFL_FORCE_ALL_RAW_BLOCKS)))
+            {
+                mz_uint8 c = d->m_dict[(cur_pos - 1) & TDEFL_LZ_DICT_SIZE_MASK];
+                cur_match_len = 0;
+                while (cur_match_len < d->m_lookahead_size)
+                {
+                    if (d->m_dict[cur_pos + cur_match_len] != c)
+                        break;
+                    cur_match_len++;
+                }
+                if (cur_match_len < TDEFL_MIN_MATCH_LEN)
+                    cur_match_len = 0;
+                else
+                    cur_match_dist = 1;
+            }
+        }
+        else
+        {
+            tdefl_find_match(d, d->m_lookahead_pos, d->m_dict_size, d->m_lookahead_size, &cur_match_dist, &cur_match_len);
+        }
+        if (((cur_match_len == TDEFL_MIN_MATCH_LEN) && (cur_match_dist >= 8U * 1024U)) || (cur_pos == cur_match_dist) || ((d->m_flags & TDEFL_FILTER_MATCHES) && (cur_match_len <= 5)))
+        {
+            cur_match_dist = cur_match_len = 0;
+        }
+        if (d->m_saved_match_len)
+        {
+            if (cur_match_len > d->m_saved_match_len)
+            {
+                tdefl_record_literal(d, (mz_uint8)d->m_saved_lit);
+                if (cur_match_len >= 128)
+                {
+                    tdefl_record_match(d, cur_match_len, cur_match_dist);
+                    d->m_saved_match_len = 0;
+                    len_to_move = cur_match_len;
+                }
+                else
+                {
+                    d->m_saved_lit = d->m_dict[cur_pos];
+                    d->m_saved_match_dist = cur_match_dist;
+                    d->m_saved_match_len = cur_match_len;
+                }
+            }
+            else
+            {
+                tdefl_record_match(d, d->m_saved_match_len, d->m_saved_match_dist);
+                len_to_move = d->m_saved_match_len - 1;
+                d->m_saved_match_len = 0;
+            }
+        }
+        else if (!cur_match_dist)
+            tdefl_record_literal(d, d->m_dict[MZ_MIN(cur_pos, sizeof(d->m_dict) - 1)]);
+        else if ((d->m_greedy_parsing) || (d->m_flags & TDEFL_RLE_MATCHES) || (cur_match_len >= 128))
+        {
+            tdefl_record_match(d, cur_match_len, cur_match_dist);
+            len_to_move = cur_match_len;
+        }
+        else
+        {
+            d->m_saved_lit = d->m_dict[MZ_MIN(cur_pos, sizeof(d->m_dict) - 1)];
+            d->m_saved_match_dist = cur_match_dist;
+            d->m_saved_match_len = cur_match_len;
+        }
+        /* Move the lookahead forward by len_to_move bytes. */
+        d->m_lookahead_pos += len_to_move;
+        MZ_ASSERT(d->m_lookahead_size >= len_to_move);
+        d->m_lookahead_size -= len_to_move;
+        d->m_dict_size = MZ_MIN(d->m_dict_size + len_to_move, (mz_uint)TDEFL_LZ_DICT_SIZE);
+        /* Check if it's time to flush the current LZ codes to the internal output buffer. */
+        if ((d->m_pLZ_code_buf > &d->m_lz_code_buf[TDEFL_LZ_CODE_BUF_SIZE - 8]) ||
+            ((d->m_total_lz_bytes > 31 * 1024) && (((((mz_uint)(d->m_pLZ_code_buf - d->m_lz_code_buf) * 115) >> 7) >= d->m_total_lz_bytes) || (d->m_flags & TDEFL_FORCE_ALL_RAW_BLOCKS))))
+        {
+            int n;
+            d->m_pSrc = pSrc;
+            d->m_src_buf_left = src_buf_left;
+            if ((n = tdefl_flush_block(d, 0)) != 0)
+                return (n < 0) ? MZ_FALSE : MZ_TRUE;
+        }
+    }
+
+    d->m_pSrc = pSrc;
+    d->m_src_buf_left = src_buf_left;
+    return MZ_TRUE;
+}
+
+static tdefl_status tdefl_flush_output_buffer(tdefl_compressor *d)
+{
+    if (d->m_pIn_buf_size)
+    {
+        *d->m_pIn_buf_size = d->m_pSrc - (const mz_uint8 *)d->m_pIn_buf;
+    }
+
+    if (d->m_pOut_buf_size)
+    {
+        size_t n = MZ_MIN(*d->m_pOut_buf_size - d->m_out_buf_ofs, d->m_output_flush_remaining);
+        memcpy((mz_uint8 *)d->m_pOut_buf + d->m_out_buf_ofs, d->m_output_buf + d->m_output_flush_ofs, n);
+        d->m_output_flush_ofs += (mz_uint)n;
+        d->m_output_flush_remaining -= (mz_uint)n;
+        d->m_out_buf_ofs += n;
+
+        *d->m_pOut_buf_size = d->m_out_buf_ofs;
+    }
+
+    return (d->m_finished && !d->m_output_flush_remaining) ? TDEFL_STATUS_DONE : TDEFL_STATUS_OKAY;
+}
+
+tdefl_status tdefl_compress(tdefl_compressor *d, const void *pIn_buf, size_t *pIn_buf_size, void *pOut_buf, size_t *pOut_buf_size, tdefl_flush flush)
+{
+    if (!d)
+    {
+        if (pIn_buf_size)
+            *pIn_buf_size = 0;
+        if (pOut_buf_size)
+            *pOut_buf_size = 0;
+        return TDEFL_STATUS_BAD_PARAM;
+    }
+
+    d->m_pIn_buf = pIn_buf;
+    d->m_pIn_buf_size = pIn_buf_size;
+    d->m_pOut_buf = pOut_buf;
+    d->m_pOut_buf_size = pOut_buf_size;
+    d->m_pSrc = (const mz_uint8 *)(pIn_buf);
+    d->m_src_buf_left = pIn_buf_size ? *pIn_buf_size : 0;
+    d->m_out_buf_ofs = 0;
+    d->m_flush = flush;
+
+    if (((d->m_pPut_buf_func != NULL) == ((pOut_buf != NULL) || (pOut_buf_size != NULL))) || (d->m_prev_return_status != TDEFL_STATUS_OKAY) ||
+        (d->m_wants_to_finish && (flush != TDEFL_FINISH)) || (pIn_buf_size && *pIn_buf_size && !pIn_buf) || (pOut_buf_size && *pOut_buf_size && !pOut_buf))
+    {
+        if (pIn_buf_size)
+            *pIn_buf_size = 0;
+        if (pOut_buf_size)
+            *pOut_buf_size = 0;
+        return (d->m_prev_return_status = TDEFL_STATUS_BAD_PARAM);
+    }
+    d->m_wants_to_finish |= (flush == TDEFL_FINISH);
+
+    if ((d->m_output_flush_remaining) || (d->m_finished))
+        return (d->m_prev_return_status = tdefl_flush_output_buffer(d));
+
+#if MINIZ_USE_UNALIGNED_LOADS_AND_STORES &&MINIZ_LITTLE_ENDIAN
+    if (((d->m_flags & TDEFL_MAX_PROBES_MASK) == 1) &&
+        ((d->m_flags & TDEFL_GREEDY_PARSING_FLAG) != 0) &&
+        ((d->m_flags & (TDEFL_FILTER_MATCHES | TDEFL_FORCE_ALL_RAW_BLOCKS | TDEFL_RLE_MATCHES)) == 0))
+    {
+        if (!tdefl_compress_fast(d))
+            return d->m_prev_return_status;
+    }
+    else
+#endif /* #if MINIZ_USE_UNALIGNED_LOADS_AND_STORES && MINIZ_LITTLE_ENDIAN */
+    {
+        if (!tdefl_compress_normal(d))
+            return d->m_prev_return_status;
+    }
+
+    if ((d->m_flags & (TDEFL_WRITE_ZLIB_HEADER | TDEFL_COMPUTE_ADLER32)) && (pIn_buf))
+        d->m_adler32 = (mz_uint32)mz_adler32(d->m_adler32, (const mz_uint8 *)pIn_buf, d->m_pSrc - (const mz_uint8 *)pIn_buf);
+
+    if ((flush) && (!d->m_lookahead_size) && (!d->m_src_buf_left) && (!d->m_output_flush_remaining))
+    {
+        if (tdefl_flush_block(d, flush) < 0)
+            return d->m_prev_return_status;
+        d->m_finished = (flush == TDEFL_FINISH);
+        if (flush == TDEFL_FULL_FLUSH)
+        {
+            MZ_CLEAR_OBJ(d->m_hash);
+            MZ_CLEAR_OBJ(d->m_next);
+            d->m_dict_size = 0;
+        }
+    }
+
+    return (d->m_prev_return_status = tdefl_flush_output_buffer(d));
+}
+
+tdefl_status tdefl_compress_buffer(tdefl_compressor *d, const void *pIn_buf, size_t in_buf_size, tdefl_flush flush)
+{
+    MZ_ASSERT(d->m_pPut_buf_func);
+    return tdefl_compress(d, pIn_buf, &in_buf_size, NULL, NULL, flush);
+}
+
+tdefl_status tdefl_init(tdefl_compressor *d, tdefl_put_buf_func_ptr pPut_buf_func, void *pPut_buf_user, int flags)
+{
+    d->m_pPut_buf_func = pPut_buf_func;
+    d->m_pPut_buf_user = pPut_buf_user;
+    d->m_flags = (mz_uint)(flags);
+    d->m_max_probes[0] = 1 + ((flags & 0xFFF) + 2) / 3;
+    d->m_greedy_parsing = (flags & TDEFL_GREEDY_PARSING_FLAG) != 0;
+    d->m_max_probes[1] = 1 + (((flags & 0xFFF) >> 2) + 2) / 3;
+    if (!(flags & TDEFL_NONDETERMINISTIC_PARSING_FLAG))
+        MZ_CLEAR_OBJ(d->m_hash);
+    d->m_lookahead_pos = d->m_lookahead_size = d->m_dict_size = d->m_total_lz_bytes = d->m_lz_code_buf_dict_pos = d->m_bits_in = 0;
+    d->m_output_flush_ofs = d->m_output_flush_remaining = d->m_finished = d->m_block_index = d->m_bit_buffer = d->m_wants_to_finish = 0;
+    d->m_pLZ_code_buf = d->m_lz_code_buf + 1;
+    d->m_pLZ_flags = d->m_lz_code_buf;
+    d->m_num_flags_left = 8;
+    d->m_pOutput_buf = d->m_output_buf;
+    d->m_pOutput_buf_end = d->m_output_buf;
+    d->m_prev_return_status = TDEFL_STATUS_OKAY;
+    d->m_saved_match_dist = d->m_saved_match_len = d->m_saved_lit = 0;
+    d->m_adler32 = 1;
+    d->m_pIn_buf = NULL;
+    d->m_pOut_buf = NULL;
+    d->m_pIn_buf_size = NULL;
+    d->m_pOut_buf_size = NULL;
+    d->m_flush = TDEFL_NO_FLUSH;
+    d->m_pSrc = NULL;
+    d->m_src_buf_left = 0;
+    d->m_out_buf_ofs = 0;
+    memset(&d->m_huff_count[0][0], 0, sizeof(d->m_huff_count[0][0]) * TDEFL_MAX_HUFF_SYMBOLS_0);
+    memset(&d->m_huff_count[1][0], 0, sizeof(d->m_huff_count[1][0]) * TDEFL_MAX_HUFF_SYMBOLS_1);
+    return TDEFL_STATUS_OKAY;
+}
+
+tdefl_status tdefl_get_prev_return_status(tdefl_compressor *d)
+{
+    return d->m_prev_return_status;
+}
+
+mz_uint32 tdefl_get_adler32(tdefl_compressor *d)
+{
+    return d->m_adler32;
+}
+
+mz_bool tdefl_compress_mem_to_output(const void *pBuf, size_t buf_len, tdefl_put_buf_func_ptr pPut_buf_func, void *pPut_buf_user, int flags)
+{
+    tdefl_compressor *pComp;
+    mz_bool succeeded;
+    if (((buf_len) && (!pBuf)) || (!pPut_buf_func))
+        return MZ_FALSE;
+    pComp = (tdefl_compressor *)MZ_MALLOC(sizeof(tdefl_compressor));
+    if (!pComp)
+        return MZ_FALSE;
+    succeeded = (tdefl_init(pComp, pPut_buf_func, pPut_buf_user, flags) == TDEFL_STATUS_OKAY);
+    succeeded = succeeded && (tdefl_compress_buffer(pComp, pBuf, buf_len, TDEFL_FINISH) == TDEFL_STATUS_DONE);
+    MZ_FREE(pComp);
+    return succeeded;
+}
+
+typedef struct
+{
+    size_t m_size, m_capacity;
+    mz_uint8 *m_pBuf;
+    mz_bool m_expandable;
+} tdefl_output_buffer;
+
+static mz_bool tdefl_output_buffer_putter(const void *pBuf, int len, void *pUser)
+{
+    tdefl_output_buffer *p = (tdefl_output_buffer *)pUser;
+    size_t new_size = p->m_size + len;
+    if (new_size > p->m_capacity)
+    {
+        size_t new_capacity = p->m_capacity;
+        mz_uint8 *pNew_buf;
+        if (!p->m_expandable)
+            return MZ_FALSE;
+        do
+        {
+            new_capacity = MZ_MAX(128U, new_capacity << 1U);
+        } while (new_size > new_capacity);
+        pNew_buf = (mz_uint8 *)MZ_REALLOC(p->m_pBuf, new_capacity);
+        if (!pNew_buf)
+            return MZ_FALSE;
+        p->m_pBuf = pNew_buf;
+        p->m_capacity = new_capacity;
+    }
+    memcpy((mz_uint8 *)p->m_pBuf + p->m_size, pBuf, len);
+    p->m_size = new_size;
+    return MZ_TRUE;
+}
+
+void *tdefl_compress_mem_to_heap(const void *pSrc_buf, size_t src_buf_len, size_t *pOut_len, int flags)
+{
+    tdefl_output_buffer out_buf;
+    MZ_CLEAR_OBJ(out_buf);
+    if (!pOut_len)
+        return MZ_FALSE;
+    else
+        *pOut_len = 0;
+    out_buf.m_expandable = MZ_TRUE;
+    if (!tdefl_compress_mem_to_output(pSrc_buf, src_buf_len, tdefl_output_buffer_putter, &out_buf, flags))
+        return NULL;
+    *pOut_len = out_buf.m_size;
+    return out_buf.m_pBuf;
+}
+
+size_t tdefl_compress_mem_to_mem(void *pOut_buf, size_t out_buf_len, const void *pSrc_buf, size_t src_buf_len, int flags)
+{
+    tdefl_output_buffer out_buf;
+    MZ_CLEAR_OBJ(out_buf);
+    if (!pOut_buf)
+        return 0;
+    out_buf.m_pBuf = (mz_uint8 *)pOut_buf;
+    out_buf.m_capacity = out_buf_len;
+    if (!tdefl_compress_mem_to_output(pSrc_buf, src_buf_len, tdefl_output_buffer_putter, &out_buf, flags))
+        return 0;
+    return out_buf.m_size;
+}
+
+static const mz_uint s_tdefl_num_probes[11] = { 0, 1, 6, 32, 16, 32, 128, 256, 512, 768, 1500 };
+
+/* level may actually range from [0,10] (10 is a "hidden" max level, where we want a bit more compression and it's fine if throughput to fall off a cliff on some files). */
+mz_uint tdefl_create_comp_flags_from_zip_params(int level, int window_bits, int strategy)
+{
+    mz_uint comp_flags = s_tdefl_num_probes[(level >= 0) ? MZ_MIN(10, level) : MZ_DEFAULT_LEVEL] | ((level <= 3) ? TDEFL_GREEDY_PARSING_FLAG : 0);
+    if (window_bits > 0)
+        comp_flags |= TDEFL_WRITE_ZLIB_HEADER;
+
+    if (!level)
+        comp_flags |= TDEFL_FORCE_ALL_RAW_BLOCKS;
+    else if (strategy == MZ_FILTERED)
+        comp_flags |= TDEFL_FILTER_MATCHES;
+    else if (strategy == MZ_HUFFMAN_ONLY)
+        comp_flags &= ~TDEFL_MAX_PROBES_MASK;
+    else if (strategy == MZ_FIXED)
+        comp_flags |= TDEFL_FORCE_ALL_STATIC_BLOCKS;
+    else if (strategy == MZ_RLE)
+        comp_flags |= TDEFL_RLE_MATCHES;
+
+    return comp_flags;
+}
+
+#ifdef _MSC_VER
+#pragma warning(push)
+#pragma warning(disable : 4204) /* nonstandard extension used : non-constant aggregate initializer (also supported by GNU C and C99, so no big deal) */
+#endif
+
+/* Simple PNG writer function by Alex Evans, 2011. Released into the public domain: https://gist.github.com/908299, more context at
+ http://altdevblogaday.org/2011/04/06/a-smaller-jpg-encoder/.
+ This is actually a modification of Alex's original code so PNG files generated by this function pass pngcheck. */
+void *tdefl_write_image_to_png_file_in_memory_ex(const void *pImage, int w, int h, int num_chans, size_t *pLen_out, mz_uint level, mz_bool flip)
+{
+    /* Using a local copy of this array here in case MINIZ_NO_ZLIB_APIS was defined. */
+    static const mz_uint s_tdefl_png_num_probes[11] = { 0, 1, 6, 32, 16, 32, 128, 256, 512, 768, 1500 };
+    tdefl_compressor *pComp = (tdefl_compressor *)MZ_MALLOC(sizeof(tdefl_compressor));
+    tdefl_output_buffer out_buf;
+    int i, bpl = w * num_chans, y, z;
+    mz_uint32 c;
+    *pLen_out = 0;
+    if (!pComp)
+        return NULL;
+    MZ_CLEAR_OBJ(out_buf);
+    out_buf.m_expandable = MZ_TRUE;
+    out_buf.m_capacity = 57 + MZ_MAX(64, (1 + bpl) * h);
+    if (NULL == (out_buf.m_pBuf = (mz_uint8 *)MZ_MALLOC(out_buf.m_capacity)))
+    {
+        MZ_FREE(pComp);
+        return NULL;
+    }
+    /* write dummy header */
+    for (z = 41; z; --z)
+        tdefl_output_buffer_putter(&z, 1, &out_buf);
+    /* compress image data */
+    tdefl_init(pComp, tdefl_output_buffer_putter, &out_buf, s_tdefl_png_num_probes[MZ_MIN(10, level)] | TDEFL_WRITE_ZLIB_HEADER);
+    for (y = 0; y < h; ++y)
+    {
+        tdefl_compress_buffer(pComp, &z, 1, TDEFL_NO_FLUSH);
+        tdefl_compress_buffer(pComp, (mz_uint8 *)pImage + (flip ? (h - 1 - y) : y) * bpl, bpl, TDEFL_NO_FLUSH);
+    }
+    if (tdefl_compress_buffer(pComp, NULL, 0, TDEFL_FINISH) != TDEFL_STATUS_DONE)
+    {
+        MZ_FREE(pComp);
+        MZ_FREE(out_buf.m_pBuf);
+        return NULL;
+    }
+    /* write real header */
+    *pLen_out = out_buf.m_size - 41;
+    {
+        static const mz_uint8 chans[] = { 0x00, 0x00, 0x04, 0x02, 0x06 };
+        mz_uint8 pnghdr[41] = { 0x89, 0x50, 0x4e, 0x47, 0x0d, 
+								0x0a, 0x1a, 0x0a, 0x00, 0x00, 
+								0x00, 0x0d, 0x49, 0x48, 0x44, 
+								0x52, 0x00, 0x00, 0x00, 0x00, 
+								0x00, 0x00, 0x00, 0x00, 0x08, 
+								0x00, 0x00, 0x00, 0x00, 0x00, 
+								0x00, 0x00, 0x00, 0x00, 0x00, 
+								0x00, 0x00, 0x49, 0x44, 0x41, 
+								0x54 };
+		pnghdr[18] = (mz_uint8)(w >> 8);
+		pnghdr[19] = (mz_uint8)w;
+		pnghdr[22] = (mz_uint8)(h >> 8);
+		pnghdr[22] = (mz_uint8)h;
+		pnghdr[25] = chans[num_chans];
+		pnghdr[33] = (mz_uint8)(*pLen_out >> 24);
+		pnghdr[34] = (mz_uint8)(*pLen_out >> 16);
+		pnghdr[35] = (mz_uint8)(*pLen_out >> 8);
+		pnghdr[36] = (mz_uint8)*pLen_out;
+        c = (mz_uint32)mz_crc32(MZ_CRC32_INIT, pnghdr + 12, 17);
+        for (i = 0; i < 4; ++i, c <<= 8)
+            ((mz_uint8 *)(pnghdr + 29))[i] = (mz_uint8)(c >> 24);
+        memcpy(out_buf.m_pBuf, pnghdr, 41);
+    }
+    /* write footer (IDAT CRC-32, followed by IEND chunk) */
+    if (!tdefl_output_buffer_putter("\0\0\0\0\0\0\0\0\x49\x45\x4e\x44\xae\x42\x60\x82", 16, &out_buf))
+    {
+        *pLen_out = 0;
+        MZ_FREE(pComp);
+        MZ_FREE(out_buf.m_pBuf);
+        return NULL;
+    }
+    c = (mz_uint32)mz_crc32(MZ_CRC32_INIT, out_buf.m_pBuf + 41 - 4, *pLen_out + 4);
+    for (i = 0; i < 4; ++i, c <<= 8)
+        (out_buf.m_pBuf + out_buf.m_size - 16)[i] = (mz_uint8)(c >> 24);
+    /* compute final size of file, grab compressed data buffer and return */
+    *pLen_out += 57;
+    MZ_FREE(pComp);
+    return out_buf.m_pBuf;
+}
+void *tdefl_write_image_to_png_file_in_memory(const void *pImage, int w, int h, int num_chans, size_t *pLen_out)
+{
+    /* Level 6 corresponds to TDEFL_DEFAULT_MAX_PROBES or MZ_DEFAULT_LEVEL (but we can't depend on MZ_DEFAULT_LEVEL being available in case the zlib API's where #defined out) */
+    return tdefl_write_image_to_png_file_in_memory_ex(pImage, w, h, num_chans, pLen_out, 6, MZ_FALSE);
+}
+
+/* Allocate the tdefl_compressor and tinfl_decompressor structures in C so that */
+/* non-C language bindings to tdefL_ and tinfl_ API don't need to worry about */
+/* structure size and allocation mechanism. */
+tdefl_compressor *tdefl_compressor_alloc()
+{
+    return (tdefl_compressor *)MZ_MALLOC(sizeof(tdefl_compressor));
+}
+
+void tdefl_compressor_free(tdefl_compressor *pComp)
+{
+    MZ_FREE(pComp);
+}
+
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+/**************************************************************************
+ *
+ * Copyright 2013-2014 RAD Game Tools and Valve Software
+ * Copyright 2010-2014 Rich Geldreich and Tenacious Software LLC
+ * All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ **************************************************************************/
+
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ------------------- Low-level Decompression (completely independent from all compression API's) */
+
+#define TINFL_MEMCPY(d, s, l) memcpy(d, s, l)
+#define TINFL_MEMSET(p, c, l) memset(p, c, l)
+
+#define TINFL_CR_BEGIN  \
+    switch (r->m_state) \
+    {                   \
+        case 0:
+#define TINFL_CR_RETURN(state_index, result) \
+    do                                       \
+    {                                        \
+        status = result;                     \
+        r->m_state = state_index;            \
+        goto common_exit;                    \
+        case state_index:                    \
+            ;                                \
+    }                                        \
+    MZ_MACRO_END
+#define TINFL_CR_RETURN_FOREVER(state_index, result) \
+    do                                               \
+    {                                                \
+        for (;;)                                     \
+        {                                            \
+            TINFL_CR_RETURN(state_index, result);    \
+        }                                            \
+    }                                                \
+    MZ_MACRO_END
+#define TINFL_CR_FINISH }
+
+#define TINFL_GET_BYTE(state_index, c)                                                                                                                          \
+    do                                                                                                                                                          \
+    {                                                                                                                                                           \
+        while (pIn_buf_cur >= pIn_buf_end)                                                                                                                      \
+        {                                                                                                                                                       \
+            TINFL_CR_RETURN(state_index, (decomp_flags &TINFL_FLAG_HAS_MORE_INPUT) ? TINFL_STATUS_NEEDS_MORE_INPUT : TINFL_STATUS_FAILED_CANNOT_MAKE_PROGRESS); \
+        }                                                                                                                                                       \
+        c = *pIn_buf_cur++;                                                                                                                                     \
+    }                                                                                                                                                           \
+    MZ_MACRO_END
+
+#define TINFL_NEED_BITS(state_index, n)                \
+    do                                                 \
+    {                                                  \
+        mz_uint c;                                     \
+        TINFL_GET_BYTE(state_index, c);                \
+        bit_buf |= (((tinfl_bit_buf_t)c) << num_bits); \
+        num_bits += 8;                                 \
+    } while (num_bits < (mz_uint)(n))
+#define TINFL_SKIP_BITS(state_index, n)      \
+    do                                       \
+    {                                        \
+        if (num_bits < (mz_uint)(n))         \
+        {                                    \
+            TINFL_NEED_BITS(state_index, n); \
+        }                                    \
+        bit_buf >>= (n);                     \
+        num_bits -= (n);                     \
+    }                                        \
+    MZ_MACRO_END
+#define TINFL_GET_BITS(state_index, b, n)    \
+    do                                       \
+    {                                        \
+        if (num_bits < (mz_uint)(n))         \
+        {                                    \
+            TINFL_NEED_BITS(state_index, n); \
+        }                                    \
+        b = bit_buf & ((1 << (n)) - 1);      \
+        bit_buf >>= (n);                     \
+        num_bits -= (n);                     \
+    }                                        \
+    MZ_MACRO_END
+
+/* TINFL_HUFF_BITBUF_FILL() is only used rarely, when the number of bytes remaining in the input buffer falls below 2. */
+/* It reads just enough bytes from the input stream that are needed to decode the next Huffman code (and absolutely no more). It works by trying to fully decode a */
+/* Huffman code by using whatever bits are currently present in the bit buffer. If this fails, it reads another byte, and tries again until it succeeds or until the */
+/* bit buffer contains >=15 bits (deflate's max. Huffman code size). */
+#define TINFL_HUFF_BITBUF_FILL(state_index, pHuff)                             \
+    do                                                                         \
+    {                                                                          \
+        temp = (pHuff)->m_look_up[bit_buf & (TINFL_FAST_LOOKUP_SIZE - 1)];     \
+        if (temp >= 0)                                                         \
+        {                                                                      \
+            code_len = temp >> 9;                                              \
+            if ((code_len) && (num_bits >= code_len))                          \
+                break;                                                         \
+        }                                                                      \
+        else if (num_bits > TINFL_FAST_LOOKUP_BITS)                            \
+        {                                                                      \
+            code_len = TINFL_FAST_LOOKUP_BITS;                                 \
+            do                                                                 \
+            {                                                                  \
+                temp = (pHuff)->m_tree[~temp + ((bit_buf >> code_len++) & 1)]; \
+            } while ((temp < 0) && (num_bits >= (code_len + 1)));              \
+            if (temp >= 0)                                                     \
+                break;                                                         \
+        }                                                                      \
+        TINFL_GET_BYTE(state_index, c);                                        \
+        bit_buf |= (((tinfl_bit_buf_t)c) << num_bits);                         \
+        num_bits += 8;                                                         \
+    } while (num_bits < 15);
+
+/* TINFL_HUFF_DECODE() decodes the next Huffman coded symbol. It's more complex than you would initially expect because the zlib API expects the decompressor to never read */
+/* beyond the final byte of the deflate stream. (In other words, when this macro wants to read another byte from the input, it REALLY needs another byte in order to fully */
+/* decode the next Huffman code.) Handling this properly is particularly important on raw deflate (non-zlib) streams, which aren't followed by a byte aligned adler-32. */
+/* The slow path is only executed at the very end of the input buffer. */
+/* v1.16: The original macro handled the case at the very end of the passed-in input buffer, but we also need to handle the case where the user passes in 1+zillion bytes */
+/* following the deflate data and our non-conservative read-ahead path won't kick in here on this code. This is much trickier. */
+#define TINFL_HUFF_DECODE(state_index, sym, pHuff)                                                                                  \
+    do                                                                                                                              \
+    {                                                                                                                               \
+        int temp;                                                                                                                   \
+        mz_uint code_len, c;                                                                                                        \
+        if (num_bits < 15)                                                                                                          \
+        {                                                                                                                           \
+            if ((pIn_buf_end - pIn_buf_cur) < 2)                                                                                    \
+            {                                                                                                                       \
+                TINFL_HUFF_BITBUF_FILL(state_index, pHuff);                                                                         \
+            }                                                                                                                       \
+            else                                                                                                                    \
+            {                                                                                                                       \
+                bit_buf |= (((tinfl_bit_buf_t)pIn_buf_cur[0]) << num_bits) | (((tinfl_bit_buf_t)pIn_buf_cur[1]) << (num_bits + 8)); \
+                pIn_buf_cur += 2;                                                                                                   \
+                num_bits += 16;                                                                                                     \
+            }                                                                                                                       \
+        }                                                                                                                           \
+        if ((temp = (pHuff)->m_look_up[bit_buf & (TINFL_FAST_LOOKUP_SIZE - 1)]) >= 0)                                               \
+            code_len = temp >> 9, temp &= 511;                                                                                      \
+        else                                                                                                                        \
+        {                                                                                                                           \
+            code_len = TINFL_FAST_LOOKUP_BITS;                                                                                      \
+            do                                                                                                                      \
+            {                                                                                                                       \
+                temp = (pHuff)->m_tree[~temp + ((bit_buf >> code_len++) & 1)];                                                      \
+            } while (temp < 0);                                                                                                     \
+        }                                                                                                                           \
+        sym = temp;                                                                                                                 \
+        bit_buf >>= code_len;                                                                                                       \
+        num_bits -= code_len;                                                                                                       \
+    }                                                                                                                               \
+    MZ_MACRO_END
+
+tinfl_status tinfl_decompress(tinfl_decompressor *r, const mz_uint8 *pIn_buf_next, size_t *pIn_buf_size, mz_uint8 *pOut_buf_start, mz_uint8 *pOut_buf_next, size_t *pOut_buf_size, const mz_uint32 decomp_flags)
+{
+    static const int s_length_base[31] = { 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 15, 17, 19, 23, 27, 31, 35, 43, 51, 59, 67, 83, 99, 115, 131, 163, 195, 227, 258, 0, 0 };
+    static const int s_length_extra[31] = { 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 2, 2, 2, 2, 3, 3, 3, 3, 4, 4, 4, 4, 5, 5, 5, 5, 0, 0, 0 };
+    static const int s_dist_base[32] = { 1, 2, 3, 4, 5, 7, 9, 13, 17, 25, 33, 49, 65, 97, 129, 193, 257, 385, 513, 769, 1025, 1537, 2049, 3073, 4097, 6145, 8193, 12289, 16385, 24577, 0, 0 };
+    static const int s_dist_extra[32] = { 0, 0, 0, 0, 1, 1, 2, 2, 3, 3, 4, 4, 5, 5, 6, 6, 7, 7, 8, 8, 9, 9, 10, 10, 11, 11, 12, 12, 13, 13 };
+    static const mz_uint8 s_length_dezigzag[19] = { 16, 17, 18, 0, 8, 7, 9, 6, 10, 5, 11, 4, 12, 3, 13, 2, 14, 1, 15 };
+    static const int s_min_table_sizes[3] = { 257, 1, 4 };
+
+    tinfl_status status = TINFL_STATUS_FAILED;
+    mz_uint32 num_bits, dist, counter, num_extra;
+    tinfl_bit_buf_t bit_buf;
+    const mz_uint8 *pIn_buf_cur = pIn_buf_next, *const pIn_buf_end = pIn_buf_next + *pIn_buf_size;
+    mz_uint8 *pOut_buf_cur = pOut_buf_next, *const pOut_buf_end = pOut_buf_next + *pOut_buf_size;
+    size_t out_buf_size_mask = (decomp_flags & TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF) ? (size_t) - 1 : ((pOut_buf_next - pOut_buf_start) + *pOut_buf_size) - 1, dist_from_out_buf_start;
+
+    /* Ensure the output buffer's size is a power of 2, unless the output buffer is large enough to hold the entire output file (in which case it doesn't matter). */
+    if (((out_buf_size_mask + 1) & out_buf_size_mask) || (pOut_buf_next < pOut_buf_start))
+    {
+        *pIn_buf_size = *pOut_buf_size = 0;
+        return TINFL_STATUS_BAD_PARAM;
+    }
+
+    num_bits = r->m_num_bits;
+    bit_buf = r->m_bit_buf;
+    dist = r->m_dist;
+    counter = r->m_counter;
+    num_extra = r->m_num_extra;
+    dist_from_out_buf_start = r->m_dist_from_out_buf_start;
+    TINFL_CR_BEGIN
+
+    bit_buf = num_bits = dist = counter = num_extra = r->m_zhdr0 = r->m_zhdr1 = 0;
+    r->m_z_adler32 = r->m_check_adler32 = 1;
+    if (decomp_flags & TINFL_FLAG_PARSE_ZLIB_HEADER)
+    {
+        TINFL_GET_BYTE(1, r->m_zhdr0);
+        TINFL_GET_BYTE(2, r->m_zhdr1);
+        counter = (((r->m_zhdr0 * 256 + r->m_zhdr1) % 31 != 0) || (r->m_zhdr1 & 32) || ((r->m_zhdr0 & 15) != 8));
+        if (!(decomp_flags & TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF))
+            counter |= (((1U << (8U + (r->m_zhdr0 >> 4))) > 32768U) || ((out_buf_size_mask + 1) < (size_t)(1U << (8U + (r->m_zhdr0 >> 4)))));
+        if (counter)
+        {
+            TINFL_CR_RETURN_FOREVER(36, TINFL_STATUS_FAILED);
+        }
+    }
+
+    do
+    {
+        TINFL_GET_BITS(3, r->m_final, 3);
+        r->m_type = r->m_final >> 1;
+        if (r->m_type == 0)
+        {
+            TINFL_SKIP_BITS(5, num_bits & 7);
+            for (counter = 0; counter < 4; ++counter)
+            {
+                if (num_bits)
+                    TINFL_GET_BITS(6, r->m_raw_header[counter], 8);
+                else
+                    TINFL_GET_BYTE(7, r->m_raw_header[counter]);
+            }
+            if ((counter = (r->m_raw_header[0] | (r->m_raw_header[1] << 8))) != (mz_uint)(0xFFFF ^ (r->m_raw_header[2] | (r->m_raw_header[3] << 8))))
+            {
+                TINFL_CR_RETURN_FOREVER(39, TINFL_STATUS_FAILED);
+            }
+            while ((counter) && (num_bits))
+            {
+                TINFL_GET_BITS(51, dist, 8);
+                while (pOut_buf_cur >= pOut_buf_end)
+                {
+                    TINFL_CR_RETURN(52, TINFL_STATUS_HAS_MORE_OUTPUT);
+                }
+                *pOut_buf_cur++ = (mz_uint8)dist;
+                counter--;
+            }
+            while (counter)
+            {
+                size_t n;
+                while (pOut_buf_cur >= pOut_buf_end)
+                {
+                    TINFL_CR_RETURN(9, TINFL_STATUS_HAS_MORE_OUTPUT);
+                }
+                while (pIn_buf_cur >= pIn_buf_end)
+                {
+                    TINFL_CR_RETURN(38, (decomp_flags & TINFL_FLAG_HAS_MORE_INPUT) ? TINFL_STATUS_NEEDS_MORE_INPUT : TINFL_STATUS_FAILED_CANNOT_MAKE_PROGRESS);
+                }
+                n = MZ_MIN(MZ_MIN((size_t)(pOut_buf_end - pOut_buf_cur), (size_t)(pIn_buf_end - pIn_buf_cur)), counter);
+                TINFL_MEMCPY(pOut_buf_cur, pIn_buf_cur, n);
+                pIn_buf_cur += n;
+                pOut_buf_cur += n;
+                counter -= (mz_uint)n;
+            }
+        }
+        else if (r->m_type == 3)
+        {
+            TINFL_CR_RETURN_FOREVER(10, TINFL_STATUS_FAILED);
+        }
+        else
+        {
+            if (r->m_type == 1)
+            {
+                mz_uint8 *p = r->m_tables[0].m_code_size;
+                mz_uint i;
+                r->m_table_sizes[0] = 288;
+                r->m_table_sizes[1] = 32;
+                TINFL_MEMSET(r->m_tables[1].m_code_size, 5, 32);
+                for (i = 0; i <= 143; ++i)
+                    *p++ = 8;
+                for (; i <= 255; ++i)
+                    *p++ = 9;
+                for (; i <= 279; ++i)
+                    *p++ = 7;
+                for (; i <= 287; ++i)
+                    *p++ = 8;
+            }
+            else
+            {
+                for (counter = 0; counter < 3; counter++)
+                {
+                    TINFL_GET_BITS(11, r->m_table_sizes[counter], "\05\05\04"[counter]);
+                    r->m_table_sizes[counter] += s_min_table_sizes[counter];
+                }
+                MZ_CLEAR_OBJ(r->m_tables[2].m_code_size);
+                for (counter = 0; counter < r->m_table_sizes[2]; counter++)
+                {
+                    mz_uint s;
+                    TINFL_GET_BITS(14, s, 3);
+                    r->m_tables[2].m_code_size[s_length_dezigzag[counter]] = (mz_uint8)s;
+                }
+                r->m_table_sizes[2] = 19;
+            }
+            for (; (int)r->m_type >= 0; r->m_type--)
+            {
+                int tree_next, tree_cur;
+                tinfl_huff_table *pTable;
+                mz_uint i, j, used_syms, total, sym_index, next_code[17], total_syms[16];
+                pTable = &r->m_tables[r->m_type];
+                MZ_CLEAR_OBJ(total_syms);
+                MZ_CLEAR_OBJ(pTable->m_look_up);
+                MZ_CLEAR_OBJ(pTable->m_tree);
+                for (i = 0; i < r->m_table_sizes[r->m_type]; ++i)
+                    total_syms[pTable->m_code_size[i]]++;
+                used_syms = 0, total = 0;
+                next_code[0] = next_code[1] = 0;
+                for (i = 1; i <= 15; ++i)
+                {
+                    used_syms += total_syms[i];
+                    next_code[i + 1] = (total = ((total + total_syms[i]) << 1));
+                }
+                if ((65536 != total) && (used_syms > 1))
+                {
+                    TINFL_CR_RETURN_FOREVER(35, TINFL_STATUS_FAILED);
+                }
+                for (tree_next = -1, sym_index = 0; sym_index < r->m_table_sizes[r->m_type]; ++sym_index)
+                {
+                    mz_uint rev_code = 0, l, cur_code, code_size = pTable->m_code_size[sym_index];
+                    if (!code_size)
+                        continue;
+                    cur_code = next_code[code_size]++;
+                    for (l = code_size; l > 0; l--, cur_code >>= 1)
+                        rev_code = (rev_code << 1) | (cur_code & 1);
+                    if (code_size <= TINFL_FAST_LOOKUP_BITS)
+                    {
+                        mz_int16 k = (mz_int16)((code_size << 9) | sym_index);
+                        while (rev_code < TINFL_FAST_LOOKUP_SIZE)
+                        {
+                            pTable->m_look_up[rev_code] = k;
+                            rev_code += (1 << code_size);
+                        }
+                        continue;
+                    }
+                    if (0 == (tree_cur = pTable->m_look_up[rev_code & (TINFL_FAST_LOOKUP_SIZE - 1)]))
+                    {
+                        pTable->m_look_up[rev_code & (TINFL_FAST_LOOKUP_SIZE - 1)] = (mz_int16)tree_next;
+                        tree_cur = tree_next;
+                        tree_next -= 2;
+                    }
+                    rev_code >>= (TINFL_FAST_LOOKUP_BITS - 1);
+                    for (j = code_size; j > (TINFL_FAST_LOOKUP_BITS + 1); j--)
+                    {
+                        tree_cur -= ((rev_code >>= 1) & 1);
+                        if (!pTable->m_tree[-tree_cur - 1])
+                        {
+                            pTable->m_tree[-tree_cur - 1] = (mz_int16)tree_next;
+                            tree_cur = tree_next;
+                            tree_next -= 2;
+                        }
+                        else
+                            tree_cur = pTable->m_tree[-tree_cur - 1];
+                    }
+                    tree_cur -= ((rev_code >>= 1) & 1);
+                    pTable->m_tree[-tree_cur - 1] = (mz_int16)sym_index;
+                }
+                if (r->m_type == 2)
+                {
+                    for (counter = 0; counter < (r->m_table_sizes[0] + r->m_table_sizes[1]);)
+                    {
+                        mz_uint s;
+                        TINFL_HUFF_DECODE(16, dist, &r->m_tables[2]);
+                        if (dist < 16)
+                        {
+                            r->m_len_codes[counter++] = (mz_uint8)dist;
+                            continue;
+                        }
+                        if ((dist == 16) && (!counter))
+                        {
+                            TINFL_CR_RETURN_FOREVER(17, TINFL_STATUS_FAILED);
+                        }
+                        num_extra = "\02\03\07"[dist - 16];
+                        TINFL_GET_BITS(18, s, num_extra);
+                        s += "\03\03\013"[dist - 16];
+                        TINFL_MEMSET(r->m_len_codes + counter, (dist == 16) ? r->m_len_codes[counter - 1] : 0, s);
+                        counter += s;
+                    }
+                    if ((r->m_table_sizes[0] + r->m_table_sizes[1]) != counter)
+                    {
+                        TINFL_CR_RETURN_FOREVER(21, TINFL_STATUS_FAILED);
+                    }
+                    TINFL_MEMCPY(r->m_tables[0].m_code_size, r->m_len_codes, r->m_table_sizes[0]);
+                    TINFL_MEMCPY(r->m_tables[1].m_code_size, r->m_len_codes + r->m_table_sizes[0], r->m_table_sizes[1]);
+                }
+            }
+            for (;;)
+            {
+                mz_uint8 *pSrc;
+                for (;;)
+                {
+                    if (((pIn_buf_end - pIn_buf_cur) < 4) || ((pOut_buf_end - pOut_buf_cur) < 2))
+                    {
+                        TINFL_HUFF_DECODE(23, counter, &r->m_tables[0]);
+                        if (counter >= 256)
+                            break;
+                        while (pOut_buf_cur >= pOut_buf_end)
+                        {
+                            TINFL_CR_RETURN(24, TINFL_STATUS_HAS_MORE_OUTPUT);
+                        }
+                        *pOut_buf_cur++ = (mz_uint8)counter;
+                    }
+                    else
+                    {
+                        int sym2;
+                        mz_uint code_len;
+#if TINFL_USE_64BIT_BITBUF
+                        if (num_bits < 30)
+                        {
+                            bit_buf |= (((tinfl_bit_buf_t)MZ_READ_LE32(pIn_buf_cur)) << num_bits);
+                            pIn_buf_cur += 4;
+                            num_bits += 32;
+                        }
+#else
+                        if (num_bits < 15)
+                        {
+                            bit_buf |= (((tinfl_bit_buf_t)MZ_READ_LE16(pIn_buf_cur)) << num_bits);
+                            pIn_buf_cur += 2;
+                            num_bits += 16;
+                        }
+#endif
+                        if ((sym2 = r->m_tables[0].m_look_up[bit_buf & (TINFL_FAST_LOOKUP_SIZE - 1)]) >= 0)
+                            code_len = sym2 >> 9;
+                        else
+                        {
+                            code_len = TINFL_FAST_LOOKUP_BITS;
+                            do
+                            {
+                                sym2 = r->m_tables[0].m_tree[~sym2 + ((bit_buf >> code_len++) & 1)];
+                            } while (sym2 < 0);
+                        }
+                        counter = sym2;
+                        bit_buf >>= code_len;
+                        num_bits -= code_len;
+                        if (counter & 256)
+                            break;
+
+#if !TINFL_USE_64BIT_BITBUF
+                        if (num_bits < 15)
+                        {
+                            bit_buf |= (((tinfl_bit_buf_t)MZ_READ_LE16(pIn_buf_cur)) << num_bits);
+                            pIn_buf_cur += 2;
+                            num_bits += 16;
+                        }
+#endif
+                        if ((sym2 = r->m_tables[0].m_look_up[bit_buf & (TINFL_FAST_LOOKUP_SIZE - 1)]) >= 0)
+                            code_len = sym2 >> 9;
+                        else
+                        {
+                            code_len = TINFL_FAST_LOOKUP_BITS;
+                            do
+                            {
+                                sym2 = r->m_tables[0].m_tree[~sym2 + ((bit_buf >> code_len++) & 1)];
+                            } while (sym2 < 0);
+                        }
+                        bit_buf >>= code_len;
+                        num_bits -= code_len;
+
+                        pOut_buf_cur[0] = (mz_uint8)counter;
+                        if (sym2 & 256)
+                        {
+                            pOut_buf_cur++;
+                            counter = sym2;
+                            break;
+                        }
+                        pOut_buf_cur[1] = (mz_uint8)sym2;
+                        pOut_buf_cur += 2;
+                    }
+                }
+                if ((counter &= 511) == 256)
+                    break;
+
+                num_extra = s_length_extra[counter - 257];
+                counter = s_length_base[counter - 257];
+                if (num_extra)
+                {
+                    mz_uint extra_bits;
+                    TINFL_GET_BITS(25, extra_bits, num_extra);
+                    counter += extra_bits;
+                }
+
+                TINFL_HUFF_DECODE(26, dist, &r->m_tables[1]);
+                num_extra = s_dist_extra[dist];
+                dist = s_dist_base[dist];
+                if (num_extra)
+                {
+                    mz_uint extra_bits;
+                    TINFL_GET_BITS(27, extra_bits, num_extra);
+                    dist += extra_bits;
+                }
+
+                dist_from_out_buf_start = pOut_buf_cur - pOut_buf_start;
+                if ((dist > dist_from_out_buf_start) && (decomp_flags & TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF))
+                {
+                    TINFL_CR_RETURN_FOREVER(37, TINFL_STATUS_FAILED);
+                }
+
+                pSrc = pOut_buf_start + ((dist_from_out_buf_start - dist) & out_buf_size_mask);
+
+                if ((MZ_MAX(pOut_buf_cur, pSrc) + counter) > pOut_buf_end)
+                {
+                    while (counter--)
+                    {
+                        while (pOut_buf_cur >= pOut_buf_end)
+                        {
+                            TINFL_CR_RETURN(53, TINFL_STATUS_HAS_MORE_OUTPUT);
+                        }
+                        *pOut_buf_cur++ = pOut_buf_start[(dist_from_out_buf_start++ - dist) & out_buf_size_mask];
+                    }
+                    continue;
+                }
+#if MINIZ_USE_UNALIGNED_LOADS_AND_STORES
+                else if ((counter >= 9) && (counter <= dist))
+                {
+                    const mz_uint8 *pSrc_end = pSrc + (counter & ~7);
+                    do
+                    {
+                        ((mz_uint32 *)pOut_buf_cur)[0] = ((const mz_uint32 *)pSrc)[0];
+                        ((mz_uint32 *)pOut_buf_cur)[1] = ((const mz_uint32 *)pSrc)[1];
+                        pOut_buf_cur += 8;
+                    } while ((pSrc += 8) < pSrc_end);
+                    if ((counter &= 7) < 3)
+                    {
+                        if (counter)
+                        {
+                            pOut_buf_cur[0] = pSrc[0];
+                            if (counter > 1)
+                                pOut_buf_cur[1] = pSrc[1];
+                            pOut_buf_cur += counter;
+                        }
+                        continue;
+                    }
+                }
+#endif
+                do
+                {
+                    pOut_buf_cur[0] = pSrc[0];
+                    pOut_buf_cur[1] = pSrc[1];
+                    pOut_buf_cur[2] = pSrc[2];
+                    pOut_buf_cur += 3;
+                    pSrc += 3;
+                } while ((int)(counter -= 3) > 2);
+                if ((int)counter > 0)
+                {
+                    pOut_buf_cur[0] = pSrc[0];
+                    if ((int)counter > 1)
+                        pOut_buf_cur[1] = pSrc[1];
+                    pOut_buf_cur += counter;
+                }
+            }
+        }
+    } while (!(r->m_final & 1));
+
+    /* Ensure byte alignment and put back any bytes from the bitbuf if we've looked ahead too far on gzip, or other Deflate streams followed by arbitrary data. */
+    /* I'm being super conservative here. A number of simplifications can be made to the byte alignment part, and the Adler32 check shouldn't ever need to worry about reading from the bitbuf now. */
+    TINFL_SKIP_BITS(32, num_bits & 7);
+    while ((pIn_buf_cur > pIn_buf_next) && (num_bits >= 8))
+    {
+        --pIn_buf_cur;
+        num_bits -= 8;
+    }
+    bit_buf &= (tinfl_bit_buf_t)(( ((mz_uint64)1) << num_bits) - (mz_uint64)1);
+    MZ_ASSERT(!num_bits); /* if this assert fires then we've read beyond the end of non-deflate/zlib streams with following data (such as gzip streams). */
+
+    if (decomp_flags & TINFL_FLAG_PARSE_ZLIB_HEADER)
+    {
+        for (counter = 0; counter < 4; ++counter)
+        {
+            mz_uint s;
+            if (num_bits)
+                TINFL_GET_BITS(41, s, 8);
+            else
+                TINFL_GET_BYTE(42, s);
+            r->m_z_adler32 = (r->m_z_adler32 << 8) | s;
+        }
+    }
+    TINFL_CR_RETURN_FOREVER(34, TINFL_STATUS_DONE);
+
+    TINFL_CR_FINISH
+
+common_exit:
+    /* As long as we aren't telling the caller that we NEED more input to make forward progress: */
+    /* Put back any bytes from the bitbuf in case we've looked ahead too far on gzip, or other Deflate streams followed by arbitrary data. */
+    /* We need to be very careful here to NOT push back any bytes we definitely know we need to make forward progress, though, or we'll lock the caller up into an inf loop. */
+    if ((status != TINFL_STATUS_NEEDS_MORE_INPUT) && (status != TINFL_STATUS_FAILED_CANNOT_MAKE_PROGRESS))
+    {
+        while ((pIn_buf_cur > pIn_buf_next) && (num_bits >= 8))
+        {
+            --pIn_buf_cur;
+            num_bits -= 8;
+        }
+    }
+    r->m_num_bits = num_bits;
+    r->m_bit_buf = bit_buf & (tinfl_bit_buf_t)(( ((mz_uint64)1) << num_bits) - (mz_uint64)1);
+    r->m_dist = dist;
+    r->m_counter = counter;
+    r->m_num_extra = num_extra;
+    r->m_dist_from_out_buf_start = dist_from_out_buf_start;
+    *pIn_buf_size = pIn_buf_cur - pIn_buf_next;
+    *pOut_buf_size = pOut_buf_cur - pOut_buf_next;
+    if ((decomp_flags & (TINFL_FLAG_PARSE_ZLIB_HEADER | TINFL_FLAG_COMPUTE_ADLER32)) && (status >= 0))
+    {
+        const mz_uint8 *ptr = pOut_buf_next;
+        size_t buf_len = *pOut_buf_size;
+        mz_uint32 i, s1 = r->m_check_adler32 & 0xffff, s2 = r->m_check_adler32 >> 16;
+        size_t block_len = buf_len % 5552;
+        while (buf_len)
+        {
+            for (i = 0; i + 7 < block_len; i += 8, ptr += 8)
+            {
+                s1 += ptr[0], s2 += s1;
+                s1 += ptr[1], s2 += s1;
+                s1 += ptr[2], s2 += s1;
+                s1 += ptr[3], s2 += s1;
+                s1 += ptr[4], s2 += s1;
+                s1 += ptr[5], s2 += s1;
+                s1 += ptr[6], s2 += s1;
+                s1 += ptr[7], s2 += s1;
+            }
+            for (; i < block_len; ++i)
+                s1 += *ptr++, s2 += s1;
+            s1 %= 65521U, s2 %= 65521U;
+            buf_len -= block_len;
+            block_len = 5552;
+        }
+        r->m_check_adler32 = (s2 << 16) + s1;
+        if ((status == TINFL_STATUS_DONE) && (decomp_flags & TINFL_FLAG_PARSE_ZLIB_HEADER) && (r->m_check_adler32 != r->m_z_adler32))
+            status = TINFL_STATUS_ADLER32_MISMATCH;
+    }
+    return status;
+}
+
+/* Higher level helper functions. */
+void *tinfl_decompress_mem_to_heap(const void *pSrc_buf, size_t src_buf_len, size_t *pOut_len, int flags)
+{
+    tinfl_decompressor decomp;
+    void *pBuf = NULL, *pNew_buf;
+    size_t src_buf_ofs = 0, out_buf_capacity = 0;
+    *pOut_len = 0;
+    tinfl_init(&decomp);
+    for (;;)
+    {
+        size_t src_buf_size = src_buf_len - src_buf_ofs, dst_buf_size = out_buf_capacity - *pOut_len, new_out_buf_capacity;
+        tinfl_status status = tinfl_decompress(&decomp, (const mz_uint8 *)pSrc_buf + src_buf_ofs, &src_buf_size, (mz_uint8 *)pBuf, pBuf ? (mz_uint8 *)pBuf + *pOut_len : NULL, &dst_buf_size,
+                                               (flags & ~TINFL_FLAG_HAS_MORE_INPUT) | TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF);
+        if ((status < 0) || (status == TINFL_STATUS_NEEDS_MORE_INPUT))
+        {
+            MZ_FREE(pBuf);
+            *pOut_len = 0;
+            return NULL;
+        }
+        src_buf_ofs += src_buf_size;
+        *pOut_len += dst_buf_size;
+        if (status == TINFL_STATUS_DONE)
+            break;
+        new_out_buf_capacity = out_buf_capacity * 2;
+        if (new_out_buf_capacity < 128)
+            new_out_buf_capacity = 128;
+        pNew_buf = MZ_REALLOC(pBuf, new_out_buf_capacity);
+        if (!pNew_buf)
+        {
+            MZ_FREE(pBuf);
+            *pOut_len = 0;
+            return NULL;
+        }
+        pBuf = pNew_buf;
+        out_buf_capacity = new_out_buf_capacity;
+    }
+    return pBuf;
+}
+
+size_t tinfl_decompress_mem_to_mem(void *pOut_buf, size_t out_buf_len, const void *pSrc_buf, size_t src_buf_len, int flags)
+{
+    tinfl_decompressor decomp;
+    tinfl_status status;
+    tinfl_init(&decomp);
+    status = tinfl_decompress(&decomp, (const mz_uint8 *)pSrc_buf, &src_buf_len, (mz_uint8 *)pOut_buf, (mz_uint8 *)pOut_buf, &out_buf_len, (flags & ~TINFL_FLAG_HAS_MORE_INPUT) | TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF);
+    return (status != TINFL_STATUS_DONE) ? TINFL_DECOMPRESS_MEM_TO_MEM_FAILED : out_buf_len;
+}
+
+int tinfl_decompress_mem_to_callback(const void *pIn_buf, size_t *pIn_buf_size, tinfl_put_buf_func_ptr pPut_buf_func, void *pPut_buf_user, int flags)
+{
+    int result = 0;
+    tinfl_decompressor decomp;
+    mz_uint8 *pDict = (mz_uint8 *)MZ_MALLOC(TINFL_LZ_DICT_SIZE);
+    size_t in_buf_ofs = 0, dict_ofs = 0;
+    if (!pDict)
+        return TINFL_STATUS_FAILED;
+    tinfl_init(&decomp);
+    for (;;)
+    {
+        size_t in_buf_size = *pIn_buf_size - in_buf_ofs, dst_buf_size = TINFL_LZ_DICT_SIZE - dict_ofs;
+        tinfl_status status = tinfl_decompress(&decomp, (const mz_uint8 *)pIn_buf + in_buf_ofs, &in_buf_size, pDict, pDict + dict_ofs, &dst_buf_size,
+                                               (flags & ~(TINFL_FLAG_HAS_MORE_INPUT | TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF)));
+        in_buf_ofs += in_buf_size;
+        if ((dst_buf_size) && (!(*pPut_buf_func)(pDict + dict_ofs, (int)dst_buf_size, pPut_buf_user)))
+            break;
+        if (status != TINFL_STATUS_HAS_MORE_OUTPUT)
+        {
+            result = (status == TINFL_STATUS_DONE);
+            break;
+        }
+        dict_ofs = (dict_ofs + dst_buf_size) & (TINFL_LZ_DICT_SIZE - 1);
+    }
+    MZ_FREE(pDict);
+    *pIn_buf_size = in_buf_ofs;
+    return result;
+}
+
+tinfl_decompressor *tinfl_decompressor_alloc()
+{
+    tinfl_decompressor *pDecomp = (tinfl_decompressor *)MZ_MALLOC(sizeof(tinfl_decompressor));
+    if (pDecomp)
+        tinfl_init(pDecomp);
+    return pDecomp;
+}
+
+void tinfl_decompressor_free(tinfl_decompressor *pDecomp)
+{
+    MZ_FREE(pDecomp);
+}
+
+#ifdef __cplusplus
+}
+#endif
+/**************************************************************************
+ *
+ * Copyright 2013-2014 RAD Game Tools and Valve Software
+ * Copyright 2010-2014 Rich Geldreich and Tenacious Software LLC
+ * Copyright 2016 Martin Raiber
+ * All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *
+ **************************************************************************/
+
+
+#ifndef MINIZ_NO_ARCHIVE_APIS
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ------------------- .ZIP archive reading */
+
+#ifdef MINIZ_NO_STDIO
+#define MZ_FILE void *
+#else
+#include <sys/stat.h>
+
+#if defined(_MSC_VER) || defined(__MINGW64__)
+static FILE *mz_fopen(const char *pFilename, const char *pMode)
+{
+    FILE *pFile = NULL;
+    fopen_s(&pFile, pFilename, pMode);
+    return pFile;
+}
+static FILE *mz_freopen(const char *pPath, const char *pMode, FILE *pStream)
+{
+    FILE *pFile = NULL;
+    if (freopen_s(&pFile, pPath, pMode, pStream))
+        return NULL;
+    return pFile;
+}
+#ifndef MINIZ_NO_TIME
+#include <sys/utime.h>
+#endif
+#define MZ_FOPEN mz_fopen
+#define MZ_FCLOSE fclose
+#define MZ_FREAD fread
+#define MZ_FWRITE fwrite
+#define MZ_FTELL64 _ftelli64
+#define MZ_FSEEK64 _fseeki64
+#define MZ_FILE_STAT_STRUCT _stat
+#define MZ_FILE_STAT _stat
+#define MZ_FFLUSH fflush
+#define MZ_FREOPEN mz_freopen
+#define MZ_DELETE_FILE remove
+#elif defined(__MINGW32__)
+#ifndef MINIZ_NO_TIME
+#include <sys/utime.h>
+#endif
+#define MZ_FOPEN(f, m) fopen(f, m)
+#define MZ_FCLOSE fclose
+#define MZ_FREAD fread
+#define MZ_FWRITE fwrite
+#define MZ_FTELL64 ftello64
+#define MZ_FSEEK64 fseeko64
+#define MZ_FILE_STAT_STRUCT _stat
+#define MZ_FILE_STAT _stat
+#define MZ_FFLUSH fflush
+#define MZ_FREOPEN(f, m, s) freopen(f, m, s)
+#define MZ_DELETE_FILE remove
+#elif defined(__TINYC__)
+#ifndef MINIZ_NO_TIME
+#include <sys/utime.h>
+#endif
+#define MZ_FOPEN(f, m) fopen(f, m)
+#define MZ_FCLOSE fclose
+#define MZ_FREAD fread
+#define MZ_FWRITE fwrite
+#define MZ_FTELL64 ftell
+#define MZ_FSEEK64 fseek
+#define MZ_FILE_STAT_STRUCT stat
+#define MZ_FILE_STAT stat
+#define MZ_FFLUSH fflush
+#define MZ_FREOPEN(f, m, s) freopen(f, m, s)
+#define MZ_DELETE_FILE remove
+#elif defined(__GNUC__) && _LARGEFILE64_SOURCE
+#ifndef MINIZ_NO_TIME
+#include <utime.h>
+#endif
+#define MZ_FOPEN(f, m) fopen64(f, m)
+#define MZ_FCLOSE fclose
+#define MZ_FREAD fread
+#define MZ_FWRITE fwrite
+#define MZ_FTELL64 ftello64
+#define MZ_FSEEK64 fseeko64
+#define MZ_FILE_STAT_STRUCT stat64
+#define MZ_FILE_STAT stat64
+#define MZ_FFLUSH fflush
+#define MZ_FREOPEN(p, m, s) freopen64(p, m, s)
+#define MZ_DELETE_FILE remove
+#elif defined(__APPLE__) && _LARGEFILE64_SOURCE
+#ifndef MINIZ_NO_TIME
+#include <utime.h>
+#endif
+#define MZ_FOPEN(f, m) fopen(f, m)
+#define MZ_FCLOSE fclose
+#define MZ_FREAD fread
+#define MZ_FWRITE fwrite
+#define MZ_FTELL64 ftello
+#define MZ_FSEEK64 fseeko
+#define MZ_FILE_STAT_STRUCT stat
+#define MZ_FILE_STAT stat
+#define MZ_FFLUSH fflush
+#define MZ_FREOPEN(p, m, s) freopen(p, m, s)
+#define MZ_DELETE_FILE remove
+
+#else
+#pragma message("Using fopen, ftello, fseeko, stat() etc. path for file I/O - this path may not support large files.")
+#ifndef MINIZ_NO_TIME
+#include <utime.h>
+#endif
+#define MZ_FOPEN(f, m) fopen(f, m)
+#define MZ_FCLOSE fclose
+#define MZ_FREAD fread
+#define MZ_FWRITE fwrite
+#ifdef __STRICT_ANSI__
+#define MZ_FTELL64 ftell
+#define MZ_FSEEK64 fseek
+#else
+#define MZ_FTELL64 ftello
+#define MZ_FSEEK64 fseeko
+#endif
+#define MZ_FILE_STAT_STRUCT stat
+#define MZ_FILE_STAT stat
+#define MZ_FFLUSH fflush
+#define MZ_FREOPEN(f, m, s) freopen(f, m, s)
+#define MZ_DELETE_FILE remove
+#endif /* #ifdef _MSC_VER */
+#endif /* #ifdef MINIZ_NO_STDIO */
+
+#define MZ_TOLOWER(c) ((((c) >= 'A') && ((c) <= 'Z')) ? ((c) - 'A' + 'a') : (c))
+
+/* Various ZIP archive enums. To completely avoid cross platform compiler alignment and platform endian issues, miniz.c doesn't use structs for any of this stuff. */
+enum
+{
+    /* ZIP archive identifiers and record sizes */
+    MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIG = 0x06054b50,
+    MZ_ZIP_CENTRAL_DIR_HEADER_SIG = 0x02014b50,
+    MZ_ZIP_LOCAL_DIR_HEADER_SIG = 0x04034b50,
+    MZ_ZIP_LOCAL_DIR_HEADER_SIZE = 30,
+    MZ_ZIP_CENTRAL_DIR_HEADER_SIZE = 46,
+    MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE = 22,
+
+    /* ZIP64 archive identifier and record sizes */
+    MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIG = 0x06064b50,
+    MZ_ZIP64_END_OF_CENTRAL_DIR_LOCATOR_SIG = 0x07064b50,
+    MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIZE = 56,
+    MZ_ZIP64_END_OF_CENTRAL_DIR_LOCATOR_SIZE = 20,
+    MZ_ZIP64_EXTENDED_INFORMATION_FIELD_HEADER_ID = 0x0001,
+    MZ_ZIP_DATA_DESCRIPTOR_ID = 0x08074b50,
+    MZ_ZIP_DATA_DESCRIPTER_SIZE64 = 24,
+    MZ_ZIP_DATA_DESCRIPTER_SIZE32 = 16,
+
+    /* Central directory header record offsets */
+    MZ_ZIP_CDH_SIG_OFS = 0,
+    MZ_ZIP_CDH_VERSION_MADE_BY_OFS = 4,
+    MZ_ZIP_CDH_VERSION_NEEDED_OFS = 6,
+    MZ_ZIP_CDH_BIT_FLAG_OFS = 8,
+    MZ_ZIP_CDH_METHOD_OFS = 10,
+    MZ_ZIP_CDH_FILE_TIME_OFS = 12,
+    MZ_ZIP_CDH_FILE_DATE_OFS = 14,
+    MZ_ZIP_CDH_CRC32_OFS = 16,
+    MZ_ZIP_CDH_COMPRESSED_SIZE_OFS = 20,
+    MZ_ZIP_CDH_DECOMPRESSED_SIZE_OFS = 24,
+    MZ_ZIP_CDH_FILENAME_LEN_OFS = 28,
+    MZ_ZIP_CDH_EXTRA_LEN_OFS = 30,
+    MZ_ZIP_CDH_COMMENT_LEN_OFS = 32,
+    MZ_ZIP_CDH_DISK_START_OFS = 34,
+    MZ_ZIP_CDH_INTERNAL_ATTR_OFS = 36,
+    MZ_ZIP_CDH_EXTERNAL_ATTR_OFS = 38,
+    MZ_ZIP_CDH_LOCAL_HEADER_OFS = 42,
+
+    /* Local directory header offsets */
+    MZ_ZIP_LDH_SIG_OFS = 0,
+    MZ_ZIP_LDH_VERSION_NEEDED_OFS = 4,
+    MZ_ZIP_LDH_BIT_FLAG_OFS = 6,
+    MZ_ZIP_LDH_METHOD_OFS = 8,
+    MZ_ZIP_LDH_FILE_TIME_OFS = 10,
+    MZ_ZIP_LDH_FILE_DATE_OFS = 12,
+    MZ_ZIP_LDH_CRC32_OFS = 14,
+    MZ_ZIP_LDH_COMPRESSED_SIZE_OFS = 18,
+    MZ_ZIP_LDH_DECOMPRESSED_SIZE_OFS = 22,
+    MZ_ZIP_LDH_FILENAME_LEN_OFS = 26,
+    MZ_ZIP_LDH_EXTRA_LEN_OFS = 28,
+    MZ_ZIP_LDH_BIT_FLAG_HAS_LOCATOR = 1 << 3,
+
+    /* End of central directory offsets */
+    MZ_ZIP_ECDH_SIG_OFS = 0,
+    MZ_ZIP_ECDH_NUM_THIS_DISK_OFS = 4,
+    MZ_ZIP_ECDH_NUM_DISK_CDIR_OFS = 6,
+    MZ_ZIP_ECDH_CDIR_NUM_ENTRIES_ON_DISK_OFS = 8,
+    MZ_ZIP_ECDH_CDIR_TOTAL_ENTRIES_OFS = 10,
+    MZ_ZIP_ECDH_CDIR_SIZE_OFS = 12,
+    MZ_ZIP_ECDH_CDIR_OFS_OFS = 16,
+    MZ_ZIP_ECDH_COMMENT_SIZE_OFS = 20,
+
+    /* ZIP64 End of central directory locator offsets */
+    MZ_ZIP64_ECDL_SIG_OFS = 0,                    /* 4 bytes */
+    MZ_ZIP64_ECDL_NUM_DISK_CDIR_OFS = 4,          /* 4 bytes */
+    MZ_ZIP64_ECDL_REL_OFS_TO_ZIP64_ECDR_OFS = 8,  /* 8 bytes */
+    MZ_ZIP64_ECDL_TOTAL_NUMBER_OF_DISKS_OFS = 16, /* 4 bytes */
+
+    /* ZIP64 End of central directory header offsets */
+    MZ_ZIP64_ECDH_SIG_OFS = 0,                       /* 4 bytes */
+    MZ_ZIP64_ECDH_SIZE_OF_RECORD_OFS = 4,            /* 8 bytes */
+    MZ_ZIP64_ECDH_VERSION_MADE_BY_OFS = 12,          /* 2 bytes */
+    MZ_ZIP64_ECDH_VERSION_NEEDED_OFS = 14,           /* 2 bytes */
+    MZ_ZIP64_ECDH_NUM_THIS_DISK_OFS = 16,            /* 4 bytes */
+    MZ_ZIP64_ECDH_NUM_DISK_CDIR_OFS = 20,            /* 4 bytes */
+    MZ_ZIP64_ECDH_CDIR_NUM_ENTRIES_ON_DISK_OFS = 24, /* 8 bytes */
+    MZ_ZIP64_ECDH_CDIR_TOTAL_ENTRIES_OFS = 32,       /* 8 bytes */
+    MZ_ZIP64_ECDH_CDIR_SIZE_OFS = 40,                /* 8 bytes */
+    MZ_ZIP64_ECDH_CDIR_OFS_OFS = 48,                 /* 8 bytes */
+    MZ_ZIP_VERSION_MADE_BY_DOS_FILESYSTEM_ID = 0,
+    MZ_ZIP_DOS_DIR_ATTRIBUTE_BITFLAG = 0x10,
+    MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_IS_ENCRYPTED = 1,
+    MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_COMPRESSED_PATCH_FLAG = 32,
+    MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_USES_STRONG_ENCRYPTION = 64,
+    MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_LOCAL_DIR_IS_MASKED = 8192,
+    MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_UTF8 = 1 << 11
+};
+
+typedef struct
+{
+    void *m_p;
+    size_t m_size, m_capacity;
+    mz_uint m_element_size;
+} mz_zip_array;
+
+struct mz_zip_internal_state_tag
+{
+    mz_zip_array m_central_dir;
+    mz_zip_array m_central_dir_offsets;
+    mz_zip_array m_sorted_central_dir_offsets;
+
+    /* The flags passed in when the archive is initially opened. */
+    uint32_t m_init_flags;
+
+    /* MZ_TRUE if the archive has a zip64 end of central directory headers, etc. */
+    mz_bool m_zip64;
+
+    /* MZ_TRUE if we found zip64 extended info in the central directory (m_zip64 will also be slammed to true too, even if we didn't find a zip64 end of central dir header, etc.) */
+    mz_bool m_zip64_has_extended_info_fields;
+
+    /* These fields are used by the file, FILE, memory, and memory/heap read/write helpers. */
+    MZ_FILE *m_pFile;
+    mz_uint64 m_file_archive_start_ofs;
+
+    void *m_pMem;
+    size_t m_mem_size;
+    size_t m_mem_capacity;
+};
+
+#define MZ_ZIP_ARRAY_SET_ELEMENT_SIZE(array_ptr, element_size) (array_ptr)->m_element_size = element_size
+
+#if defined(DEBUG) || defined(_DEBUG) || defined(NDEBUG)
+static MZ_FORCEINLINE mz_uint mz_zip_array_range_check(const mz_zip_array *pArray, mz_uint index)
+{
+    MZ_ASSERT(index < pArray->m_size);
+    return index;
+}
+#define MZ_ZIP_ARRAY_ELEMENT(array_ptr, element_type, index) ((element_type *)((array_ptr)->m_p))[mz_zip_array_range_check(array_ptr, index)]
+#else
+#define MZ_ZIP_ARRAY_ELEMENT(array_ptr, element_type, index) ((element_type *)((array_ptr)->m_p))[index]
+#endif
+
+static MZ_FORCEINLINE void mz_zip_array_init(mz_zip_array *pArray, mz_uint32 element_size)
+{
+    memset(pArray, 0, sizeof(mz_zip_array));
+    pArray->m_element_size = element_size;
+}
+
+static MZ_FORCEINLINE void mz_zip_array_clear(mz_zip_archive *pZip, mz_zip_array *pArray)
+{
+    pZip->m_pFree(pZip->m_pAlloc_opaque, pArray->m_p);
+    memset(pArray, 0, sizeof(mz_zip_array));
+}
+
+static mz_bool mz_zip_array_ensure_capacity(mz_zip_archive *pZip, mz_zip_array *pArray, size_t min_new_capacity, mz_uint growing)
+{
+    void *pNew_p;
+    size_t new_capacity = min_new_capacity;
+    MZ_ASSERT(pArray->m_element_size);
+    if (pArray->m_capacity >= min_new_capacity)
+        return MZ_TRUE;
+    if (growing)
+    {
+        new_capacity = MZ_MAX(1, pArray->m_capacity);
+        while (new_capacity < min_new_capacity)
+            new_capacity *= 2;
+    }
+    if (NULL == (pNew_p = pZip->m_pRealloc(pZip->m_pAlloc_opaque, pArray->m_p, pArray->m_element_size, new_capacity)))
+        return MZ_FALSE;
+    pArray->m_p = pNew_p;
+    pArray->m_capacity = new_capacity;
+    return MZ_TRUE;
+}
+
+static MZ_FORCEINLINE mz_bool mz_zip_array_reserve(mz_zip_archive *pZip, mz_zip_array *pArray, size_t new_capacity, mz_uint growing)
+{
+    if (new_capacity > pArray->m_capacity)
+    {
+        if (!mz_zip_array_ensure_capacity(pZip, pArray, new_capacity, growing))
+            return MZ_FALSE;
+    }
+    return MZ_TRUE;
+}
+
+static MZ_FORCEINLINE mz_bool mz_zip_array_resize(mz_zip_archive *pZip, mz_zip_array *pArray, size_t new_size, mz_uint growing)
+{
+    if (new_size > pArray->m_capacity)
+    {
+        if (!mz_zip_array_ensure_capacity(pZip, pArray, new_size, growing))
+            return MZ_FALSE;
+    }
+    pArray->m_size = new_size;
+    return MZ_TRUE;
+}
+
+static MZ_FORCEINLINE mz_bool mz_zip_array_ensure_room(mz_zip_archive *pZip, mz_zip_array *pArray, size_t n)
+{
+    return mz_zip_array_reserve(pZip, pArray, pArray->m_size + n, MZ_TRUE);
+}
+
+static MZ_FORCEINLINE mz_bool mz_zip_array_push_back(mz_zip_archive *pZip, mz_zip_array *pArray, const void *pElements, size_t n)
+{
+    size_t orig_size = pArray->m_size;
+    if (!mz_zip_array_resize(pZip, pArray, orig_size + n, MZ_TRUE))
+        return MZ_FALSE;
+    memcpy((mz_uint8 *)pArray->m_p + orig_size * pArray->m_element_size, pElements, n * pArray->m_element_size);
+    return MZ_TRUE;
+}
+
+#ifndef MINIZ_NO_TIME
+static MZ_TIME_T mz_zip_dos_to_time_t(int dos_time, int dos_date)
+{
+    struct tm tm;
+    memset(&tm, 0, sizeof(tm));
+    tm.tm_isdst = -1;
+    tm.tm_year = ((dos_date >> 9) & 127) + 1980 - 1900;
+    tm.tm_mon = ((dos_date >> 5) & 15) - 1;
+    tm.tm_mday = dos_date & 31;
+    tm.tm_hour = (dos_time >> 11) & 31;
+    tm.tm_min = (dos_time >> 5) & 63;
+    tm.tm_sec = (dos_time << 1) & 62;
+    return mktime(&tm);
+}
+
+#ifndef MINIZ_NO_ARCHIVE_WRITING_APIS
+static void mz_zip_time_t_to_dos_time(MZ_TIME_T time, mz_uint16 *pDOS_time, mz_uint16 *pDOS_date)
+{
+#ifdef _MSC_VER
+    struct tm tm_struct;
+    struct tm *tm = &tm_struct;
+    errno_t err = localtime_s(tm, &time);
+    if (err)
+    {
+        *pDOS_date = 0;
+        *pDOS_time = 0;
+        return;
+    }
+#else
+    struct tm *tm = localtime(&time);
+#endif /* #ifdef _MSC_VER */
+
+    *pDOS_time = (mz_uint16)(((tm->tm_hour) << 11) + ((tm->tm_min) << 5) + ((tm->tm_sec) >> 1));
+    *pDOS_date = (mz_uint16)(((tm->tm_year + 1900 - 1980) << 9) + ((tm->tm_mon + 1) << 5) + tm->tm_mday);
+}
+#endif /* MINIZ_NO_ARCHIVE_WRITING_APIS */
+
+#ifndef MINIZ_NO_STDIO
+#ifndef MINIZ_NO_ARCHIVE_WRITING_APIS
+static mz_bool mz_zip_get_file_modified_time(const char *pFilename, MZ_TIME_T *pTime)
+{
+    struct MZ_FILE_STAT_STRUCT file_stat;
+
+    /* On Linux with x86 glibc, this call will fail on large files (I think >= 0x80000000 bytes) unless you compiled with _LARGEFILE64_SOURCE. Argh. */
+    if (MZ_FILE_STAT(pFilename, &file_stat) != 0)
+        return MZ_FALSE;
+
+    *pTime = file_stat.st_mtime;
+
+    return MZ_TRUE;
+}
+#endif /* #ifndef MINIZ_NO_ARCHIVE_WRITING_APIS*/
+
+static mz_bool mz_zip_set_file_times(const char *pFilename, MZ_TIME_T access_time, MZ_TIME_T modified_time)
+{
+    struct utimbuf t;
+
+    memset(&t, 0, sizeof(t));
+    t.actime = access_time;
+    t.modtime = modified_time;
+
+    return !utime(pFilename, &t);
+}
+#endif /* #ifndef MINIZ_NO_STDIO */
+#endif /* #ifndef MINIZ_NO_TIME */
+
+static MZ_FORCEINLINE mz_bool mz_zip_set_error(mz_zip_archive *pZip, mz_zip_error err_num)
+{
+    if (pZip)
+        pZip->m_last_error = err_num;
+    return MZ_FALSE;
+}
+
+static mz_bool mz_zip_reader_init_internal(mz_zip_archive *pZip, mz_uint flags)
+{
+    (void)flags;
+    if ((!pZip) || (pZip->m_pState) || (pZip->m_zip_mode != MZ_ZIP_MODE_INVALID))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    if (!pZip->m_pAlloc)
+        pZip->m_pAlloc = miniz_def_alloc_func;
+    if (!pZip->m_pFree)
+        pZip->m_pFree = miniz_def_free_func;
+    if (!pZip->m_pRealloc)
+        pZip->m_pRealloc = miniz_def_realloc_func;
+
+    pZip->m_archive_size = 0;
+    pZip->m_central_directory_file_ofs = 0;
+    pZip->m_total_files = 0;
+    pZip->m_last_error = MZ_ZIP_NO_ERROR;
+
+    if (NULL == (pZip->m_pState = (mz_zip_internal_state *)pZip->m_pAlloc(pZip->m_pAlloc_opaque, 1, sizeof(mz_zip_internal_state))))
+        return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+
+    memset(pZip->m_pState, 0, sizeof(mz_zip_internal_state));
+    MZ_ZIP_ARRAY_SET_ELEMENT_SIZE(&pZip->m_pState->m_central_dir, sizeof(mz_uint8));
+    MZ_ZIP_ARRAY_SET_ELEMENT_SIZE(&pZip->m_pState->m_central_dir_offsets, sizeof(mz_uint32));
+    MZ_ZIP_ARRAY_SET_ELEMENT_SIZE(&pZip->m_pState->m_sorted_central_dir_offsets, sizeof(mz_uint32));
+    pZip->m_pState->m_init_flags = flags;
+    pZip->m_pState->m_zip64 = MZ_FALSE;
+    pZip->m_pState->m_zip64_has_extended_info_fields = MZ_FALSE;
+
+    pZip->m_zip_mode = MZ_ZIP_MODE_READING;
+
+    return MZ_TRUE;
+}
+
+static MZ_FORCEINLINE mz_bool mz_zip_reader_filename_less(const mz_zip_array *pCentral_dir_array, const mz_zip_array *pCentral_dir_offsets, mz_uint l_index, mz_uint r_index)
+{
+    const mz_uint8 *pL = &MZ_ZIP_ARRAY_ELEMENT(pCentral_dir_array, mz_uint8, MZ_ZIP_ARRAY_ELEMENT(pCentral_dir_offsets, mz_uint32, l_index)), *pE;
+    const mz_uint8 *pR = &MZ_ZIP_ARRAY_ELEMENT(pCentral_dir_array, mz_uint8, MZ_ZIP_ARRAY_ELEMENT(pCentral_dir_offsets, mz_uint32, r_index));
+    mz_uint l_len = MZ_READ_LE16(pL + MZ_ZIP_CDH_FILENAME_LEN_OFS), r_len = MZ_READ_LE16(pR + MZ_ZIP_CDH_FILENAME_LEN_OFS);
+    mz_uint8 l = 0, r = 0;
+    pL += MZ_ZIP_CENTRAL_DIR_HEADER_SIZE;
+    pR += MZ_ZIP_CENTRAL_DIR_HEADER_SIZE;
+    pE = pL + MZ_MIN(l_len, r_len);
+    while (pL < pE)
+    {
+        if ((l = MZ_TOLOWER(*pL)) != (r = MZ_TOLOWER(*pR)))
+            break;
+        pL++;
+        pR++;
+    }
+    return (pL == pE) ? (l_len < r_len) : (l < r);
+}
+
+#define MZ_SWAP_UINT32(a, b) \
+    do                       \
+    {                        \
+        mz_uint32 t = a;     \
+        a = b;               \
+        b = t;               \
+    }                        \
+    MZ_MACRO_END
+
+/* Heap sort of lowercased filenames, used to help accelerate plain central directory searches by mz_zip_reader_locate_file(). (Could also use qsort(), but it could allocate memory.) */
+static void mz_zip_reader_sort_central_dir_offsets_by_filename(mz_zip_archive *pZip)
+{
+    mz_zip_internal_state *pState = pZip->m_pState;
+    const mz_zip_array *pCentral_dir_offsets = &pState->m_central_dir_offsets;
+    const mz_zip_array *pCentral_dir = &pState->m_central_dir;
+    mz_uint32 *pIndices;
+    mz_uint32 start, end;
+    const mz_uint32 size = pZip->m_total_files;
+
+    if (size <= 1U)
+        return;
+
+    pIndices = &MZ_ZIP_ARRAY_ELEMENT(&pState->m_sorted_central_dir_offsets, mz_uint32, 0);
+
+    start = (size - 2U) >> 1U;
+    for (;;)
+    {
+        mz_uint64 child, root = start;
+        for (;;)
+        {
+            if ((child = (root << 1U) + 1U) >= size)
+                break;
+            child += (((child + 1U) < size) && (mz_zip_reader_filename_less(pCentral_dir, pCentral_dir_offsets, pIndices[child], pIndices[child + 1U])));
+            if (!mz_zip_reader_filename_less(pCentral_dir, pCentral_dir_offsets, pIndices[root], pIndices[child]))
+                break;
+            MZ_SWAP_UINT32(pIndices[root], pIndices[child]);
+            root = child;
+        }
+        if (!start)
+            break;
+        start--;
+    }
+
+    end = size - 1;
+    while (end > 0)
+    {
+        mz_uint64 child, root = 0;
+        MZ_SWAP_UINT32(pIndices[end], pIndices[0]);
+        for (;;)
+        {
+            if ((child = (root << 1U) + 1U) >= end)
+                break;
+            child += (((child + 1U) < end) && mz_zip_reader_filename_less(pCentral_dir, pCentral_dir_offsets, pIndices[child], pIndices[child + 1U]));
+            if (!mz_zip_reader_filename_less(pCentral_dir, pCentral_dir_offsets, pIndices[root], pIndices[child]))
+                break;
+            MZ_SWAP_UINT32(pIndices[root], pIndices[child]);
+            root = child;
+        }
+        end--;
+    }
+}
+
+static mz_bool mz_zip_reader_locate_header_sig(mz_zip_archive *pZip, mz_uint32 record_sig, mz_uint32 record_size, mz_int64 *pOfs)
+{
+    mz_int64 cur_file_ofs;
+    mz_uint32 buf_u32[4096 / sizeof(mz_uint32)];
+    mz_uint8 *pBuf = (mz_uint8 *)buf_u32;
+
+    /* Basic sanity checks - reject files which are too small */
+    if (pZip->m_archive_size < record_size)
+        return MZ_FALSE;
+
+    /* Find the record by scanning the file from the end towards the beginning. */
+    cur_file_ofs = MZ_MAX((mz_int64)pZip->m_archive_size - (mz_int64)sizeof(buf_u32), 0);
+    for (;;)
+    {
+        int i, n = (int)MZ_MIN(sizeof(buf_u32), pZip->m_archive_size - cur_file_ofs);
+
+        if (pZip->m_pRead(pZip->m_pIO_opaque, cur_file_ofs, pBuf, n) != (mz_uint)n)
+            return MZ_FALSE;
+
+        for (i = n - 4; i >= 0; --i)
+        {
+            mz_uint s = MZ_READ_LE32(pBuf + i);
+            if (s == record_sig)
+            {
+                if ((pZip->m_archive_size - (cur_file_ofs + i)) >= record_size)
+                    break;
+            }
+        }
+
+        if (i >= 0)
+        {
+            cur_file_ofs += i;
+            break;
+        }
+
+        /* Give up if we've searched the entire file, or we've gone back "too far" (~64kb) */
+        if ((!cur_file_ofs) || ((pZip->m_archive_size - cur_file_ofs) >= (MZ_UINT16_MAX + record_size)))
+            return MZ_FALSE;
+
+        cur_file_ofs = MZ_MAX(cur_file_ofs - (sizeof(buf_u32) - 3), 0);
+    }
+
+    *pOfs = cur_file_ofs;
+    return MZ_TRUE;
+}
+
+static mz_bool mz_zip_reader_read_central_dir(mz_zip_archive *pZip, mz_uint flags)
+{
+    mz_uint cdir_size = 0, cdir_entries_on_this_disk = 0, num_this_disk = 0, cdir_disk_index = 0;
+    mz_uint64 cdir_ofs = 0;
+    mz_int64 cur_file_ofs = 0;
+    const mz_uint8 *p;
+
+    mz_uint32 buf_u32[4096 / sizeof(mz_uint32)];
+    mz_uint8 *pBuf = (mz_uint8 *)buf_u32;
+    mz_bool sort_central_dir = ((flags & MZ_ZIP_FLAG_DO_NOT_SORT_CENTRAL_DIRECTORY) == 0);
+    mz_uint32 zip64_end_of_central_dir_locator_u32[(MZ_ZIP64_END_OF_CENTRAL_DIR_LOCATOR_SIZE + sizeof(mz_uint32) - 1) / sizeof(mz_uint32)];
+    mz_uint8 *pZip64_locator = (mz_uint8 *)zip64_end_of_central_dir_locator_u32;
+
+    mz_uint32 zip64_end_of_central_dir_header_u32[(MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIZE + sizeof(mz_uint32) - 1) / sizeof(mz_uint32)];
+    mz_uint8 *pZip64_end_of_central_dir = (mz_uint8 *)zip64_end_of_central_dir_header_u32;
+
+    mz_uint64 zip64_end_of_central_dir_ofs = 0;
+
+    /* Basic sanity checks - reject files which are too small, and check the first 4 bytes of the file to make sure a local header is there. */
+    if (pZip->m_archive_size < MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE)
+        return mz_zip_set_error(pZip, MZ_ZIP_NOT_AN_ARCHIVE);
+
+    if (!mz_zip_reader_locate_header_sig(pZip, MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIG, MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE, &cur_file_ofs))
+        return mz_zip_set_error(pZip, MZ_ZIP_FAILED_FINDING_CENTRAL_DIR);
+
+    /* Read and verify the end of central directory record. */
+    if (pZip->m_pRead(pZip->m_pIO_opaque, cur_file_ofs, pBuf, MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE) != MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE)
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+
+    if (MZ_READ_LE32(pBuf + MZ_ZIP_ECDH_SIG_OFS) != MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIG)
+        return mz_zip_set_error(pZip, MZ_ZIP_NOT_AN_ARCHIVE);
+
+    if (cur_file_ofs >= (MZ_ZIP64_END_OF_CENTRAL_DIR_LOCATOR_SIZE + MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIZE))
+    {
+        if (pZip->m_pRead(pZip->m_pIO_opaque, cur_file_ofs - MZ_ZIP64_END_OF_CENTRAL_DIR_LOCATOR_SIZE, pZip64_locator, MZ_ZIP64_END_OF_CENTRAL_DIR_LOCATOR_SIZE) == MZ_ZIP64_END_OF_CENTRAL_DIR_LOCATOR_SIZE)
+        {
+            if (MZ_READ_LE32(pZip64_locator + MZ_ZIP64_ECDL_SIG_OFS) == MZ_ZIP64_END_OF_CENTRAL_DIR_LOCATOR_SIG)
+            {
+                zip64_end_of_central_dir_ofs = MZ_READ_LE64(pZip64_locator + MZ_ZIP64_ECDL_REL_OFS_TO_ZIP64_ECDR_OFS);
+                if (zip64_end_of_central_dir_ofs > (pZip->m_archive_size - MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIZE))
+                    return mz_zip_set_error(pZip, MZ_ZIP_NOT_AN_ARCHIVE);
+
+                if (pZip->m_pRead(pZip->m_pIO_opaque, zip64_end_of_central_dir_ofs, pZip64_end_of_central_dir, MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIZE) == MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIZE)
+                {
+                    if (MZ_READ_LE32(pZip64_end_of_central_dir + MZ_ZIP64_ECDH_SIG_OFS) == MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIG)
+                    {
+                        pZip->m_pState->m_zip64 = MZ_TRUE;
+                    }
+                }
+            }
+        }
+    }
+
+    pZip->m_total_files = MZ_READ_LE16(pBuf + MZ_ZIP_ECDH_CDIR_TOTAL_ENTRIES_OFS);
+    cdir_entries_on_this_disk = MZ_READ_LE16(pBuf + MZ_ZIP_ECDH_CDIR_NUM_ENTRIES_ON_DISK_OFS);
+    num_this_disk = MZ_READ_LE16(pBuf + MZ_ZIP_ECDH_NUM_THIS_DISK_OFS);
+    cdir_disk_index = MZ_READ_LE16(pBuf + MZ_ZIP_ECDH_NUM_DISK_CDIR_OFS);
+    cdir_size = MZ_READ_LE32(pBuf + MZ_ZIP_ECDH_CDIR_SIZE_OFS);
+    cdir_ofs = MZ_READ_LE32(pBuf + MZ_ZIP_ECDH_CDIR_OFS_OFS);
+
+    if (pZip->m_pState->m_zip64)
+    {
+        mz_uint32 zip64_total_num_of_disks = MZ_READ_LE32(pZip64_locator + MZ_ZIP64_ECDL_TOTAL_NUMBER_OF_DISKS_OFS);
+        mz_uint64 zip64_cdir_total_entries = MZ_READ_LE64(pZip64_end_of_central_dir + MZ_ZIP64_ECDH_CDIR_TOTAL_ENTRIES_OFS);
+        mz_uint64 zip64_cdir_total_entries_on_this_disk = MZ_READ_LE64(pZip64_end_of_central_dir + MZ_ZIP64_ECDH_CDIR_NUM_ENTRIES_ON_DISK_OFS);
+        mz_uint64 zip64_size_of_end_of_central_dir_record = MZ_READ_LE64(pZip64_end_of_central_dir + MZ_ZIP64_ECDH_SIZE_OF_RECORD_OFS);
+        mz_uint64 zip64_size_of_central_directory = MZ_READ_LE64(pZip64_end_of_central_dir + MZ_ZIP64_ECDH_CDIR_SIZE_OFS);
+
+        if (zip64_size_of_end_of_central_dir_record < (MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIZE - 12))
+            return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+        if (zip64_total_num_of_disks != 1U)
+            return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_MULTIDISK);
+
+        /* Check for miniz's practical limits */
+        if (zip64_cdir_total_entries > MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_TOO_MANY_FILES);
+
+        pZip->m_total_files = (mz_uint32)zip64_cdir_total_entries;
+
+        if (zip64_cdir_total_entries_on_this_disk > MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_TOO_MANY_FILES);
+
+        cdir_entries_on_this_disk = (mz_uint32)zip64_cdir_total_entries_on_this_disk;
+
+        /* Check for miniz's current practical limits (sorry, this should be enough for millions of files) */
+        if (zip64_size_of_central_directory > MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_CDIR_SIZE);
+
+        cdir_size = (mz_uint32)zip64_size_of_central_directory;
+
+        num_this_disk = MZ_READ_LE32(pZip64_end_of_central_dir + MZ_ZIP64_ECDH_NUM_THIS_DISK_OFS);
+
+        cdir_disk_index = MZ_READ_LE32(pZip64_end_of_central_dir + MZ_ZIP64_ECDH_NUM_DISK_CDIR_OFS);
+
+        cdir_ofs = MZ_READ_LE64(pZip64_end_of_central_dir + MZ_ZIP64_ECDH_CDIR_OFS_OFS);
+    }
+
+    if (pZip->m_total_files != cdir_entries_on_this_disk)
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_MULTIDISK);
+
+    if (((num_this_disk | cdir_disk_index) != 0) && ((num_this_disk != 1) || (cdir_disk_index != 1)))
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_MULTIDISK);
+
+    if (cdir_size < pZip->m_total_files * MZ_ZIP_CENTRAL_DIR_HEADER_SIZE)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+    if ((cdir_ofs + (mz_uint64)cdir_size) > pZip->m_archive_size)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+    pZip->m_central_directory_file_ofs = cdir_ofs;
+
+    if (pZip->m_total_files)
+    {
+        mz_uint i, n;
+        /* Read the entire central directory into a heap block, and allocate another heap block to hold the unsorted central dir file record offsets, and possibly another to hold the sorted indices. */
+        if ((!mz_zip_array_resize(pZip, &pZip->m_pState->m_central_dir, cdir_size, MZ_FALSE)) ||
+            (!mz_zip_array_resize(pZip, &pZip->m_pState->m_central_dir_offsets, pZip->m_total_files, MZ_FALSE)))
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+
+        if (sort_central_dir)
+        {
+            if (!mz_zip_array_resize(pZip, &pZip->m_pState->m_sorted_central_dir_offsets, pZip->m_total_files, MZ_FALSE))
+                return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+        }
+
+        if (pZip->m_pRead(pZip->m_pIO_opaque, cdir_ofs, pZip->m_pState->m_central_dir.m_p, cdir_size) != cdir_size)
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+
+        /* Now create an index into the central directory file records, do some basic sanity checking on each record */
+        p = (const mz_uint8 *)pZip->m_pState->m_central_dir.m_p;
+        for (n = cdir_size, i = 0; i < pZip->m_total_files; ++i)
+        {
+            mz_uint total_header_size, disk_index, bit_flags, filename_size, ext_data_size;
+            mz_uint64 comp_size, decomp_size, local_header_ofs;
+
+            if ((n < MZ_ZIP_CENTRAL_DIR_HEADER_SIZE) || (MZ_READ_LE32(p) != MZ_ZIP_CENTRAL_DIR_HEADER_SIG))
+                return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+            MZ_ZIP_ARRAY_ELEMENT(&pZip->m_pState->m_central_dir_offsets, mz_uint32, i) = (mz_uint32)(p - (const mz_uint8 *)pZip->m_pState->m_central_dir.m_p);
+
+            if (sort_central_dir)
+                MZ_ZIP_ARRAY_ELEMENT(&pZip->m_pState->m_sorted_central_dir_offsets, mz_uint32, i) = i;
+
+            comp_size = MZ_READ_LE32(p + MZ_ZIP_CDH_COMPRESSED_SIZE_OFS);
+            decomp_size = MZ_READ_LE32(p + MZ_ZIP_CDH_DECOMPRESSED_SIZE_OFS);
+            local_header_ofs = MZ_READ_LE32(p + MZ_ZIP_CDH_LOCAL_HEADER_OFS);
+            filename_size = MZ_READ_LE16(p + MZ_ZIP_CDH_FILENAME_LEN_OFS);
+            ext_data_size = MZ_READ_LE16(p + MZ_ZIP_CDH_EXTRA_LEN_OFS);
+
+            if ((!pZip->m_pState->m_zip64_has_extended_info_fields) &&
+                (ext_data_size) &&
+                (MZ_MAX(MZ_MAX(comp_size, decomp_size), local_header_ofs) == MZ_UINT32_MAX))
+            {
+                /* Attempt to find zip64 extended information field in the entry's extra data */
+                mz_uint32 extra_size_remaining = ext_data_size;
+
+                if (extra_size_remaining)
+                {
+                    const mz_uint8 *pExtra_data = p + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + filename_size;
+
+                    do
+                    {
+						mz_uint32 field_id;
+						mz_uint32 field_data_size;
+
+                        if (extra_size_remaining < (sizeof(mz_uint16) * 2))
+                            return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+                        field_id = MZ_READ_LE16(pExtra_data);
+                        field_data_size = MZ_READ_LE16(pExtra_data + sizeof(mz_uint16));
+
+                        if ((field_data_size + sizeof(mz_uint16) * 2) > extra_size_remaining)
+                            return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+                        if (field_id == MZ_ZIP64_EXTENDED_INFORMATION_FIELD_HEADER_ID)
+                        {
+                            /* Ok, the archive didn't have any zip64 headers but it uses a zip64 extended information field so mark it as zip64 anyway (this can occur with infozip's zip util when it reads compresses files from stdin). */
+                            pZip->m_pState->m_zip64 = MZ_TRUE;
+                            pZip->m_pState->m_zip64_has_extended_info_fields = MZ_TRUE;
+                            break;
+                        }
+
+                        pExtra_data += sizeof(mz_uint16) * 2 + field_data_size;
+                        extra_size_remaining = extra_size_remaining - sizeof(mz_uint16) * 2 - field_data_size;
+                    } while (extra_size_remaining);
+                }
+            }
+
+            /* I've seen archives that aren't marked as zip64 that uses zip64 ext data, argh */
+            if ((comp_size != MZ_UINT32_MAX) && (decomp_size != MZ_UINT32_MAX))
+            {
+                if (((!MZ_READ_LE32(p + MZ_ZIP_CDH_METHOD_OFS)) && (decomp_size != comp_size)) || (decomp_size && !comp_size))
+                    return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+            }
+
+            disk_index = MZ_READ_LE16(p + MZ_ZIP_CDH_DISK_START_OFS);
+            if ((disk_index == MZ_UINT16_MAX) || ((disk_index != num_this_disk) && (disk_index != 1)))
+                return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_MULTIDISK);
+
+            if (comp_size != MZ_UINT32_MAX)
+            {
+                if (((mz_uint64)MZ_READ_LE32(p + MZ_ZIP_CDH_LOCAL_HEADER_OFS) + MZ_ZIP_LOCAL_DIR_HEADER_SIZE + comp_size) > pZip->m_archive_size)
+                    return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+            }
+
+            bit_flags = MZ_READ_LE16(p + MZ_ZIP_CDH_BIT_FLAG_OFS);
+            if (bit_flags & MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_LOCAL_DIR_IS_MASKED)
+                return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_ENCRYPTION);
+
+            if ((total_header_size = MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + MZ_READ_LE16(p + MZ_ZIP_CDH_FILENAME_LEN_OFS) + MZ_READ_LE16(p + MZ_ZIP_CDH_EXTRA_LEN_OFS) + MZ_READ_LE16(p + MZ_ZIP_CDH_COMMENT_LEN_OFS)) > n)
+                return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+            n -= total_header_size;
+            p += total_header_size;
+        }
+    }
+
+    if (sort_central_dir)
+        mz_zip_reader_sort_central_dir_offsets_by_filename(pZip);
+
+    return MZ_TRUE;
+}
+
+void mz_zip_zero_struct(mz_zip_archive *pZip)
+{
+    if (pZip)
+        MZ_CLEAR_OBJ(*pZip);
+}
+
+static mz_bool mz_zip_reader_end_internal(mz_zip_archive *pZip, mz_bool set_last_error)
+{
+    mz_bool status = MZ_TRUE;
+
+    if (!pZip)
+        return MZ_FALSE;
+
+    if ((!pZip->m_pState) || (!pZip->m_pAlloc) || (!pZip->m_pFree) || (pZip->m_zip_mode != MZ_ZIP_MODE_READING))
+    {
+        if (set_last_error)
+            pZip->m_last_error = MZ_ZIP_INVALID_PARAMETER;
+
+        return MZ_FALSE;
+    }
+
+    if (pZip->m_pState)
+    {
+        mz_zip_internal_state *pState = pZip->m_pState;
+        pZip->m_pState = NULL;
+
+        mz_zip_array_clear(pZip, &pState->m_central_dir);
+        mz_zip_array_clear(pZip, &pState->m_central_dir_offsets);
+        mz_zip_array_clear(pZip, &pState->m_sorted_central_dir_offsets);
+
+#ifndef MINIZ_NO_STDIO
+        if (pState->m_pFile)
+        {
+            if (pZip->m_zip_type == MZ_ZIP_TYPE_FILE)
+            {
+                if (MZ_FCLOSE(pState->m_pFile) == EOF)
+                {
+                    if (set_last_error)
+                        pZip->m_last_error = MZ_ZIP_FILE_CLOSE_FAILED;
+                    status = MZ_FALSE;
+                }
+            }
+            pState->m_pFile = NULL;
+        }
+#endif /* #ifndef MINIZ_NO_STDIO */
+
+        pZip->m_pFree(pZip->m_pAlloc_opaque, pState);
+    }
+    pZip->m_zip_mode = MZ_ZIP_MODE_INVALID;
+
+    return status;
+}
+
+mz_bool mz_zip_reader_end(mz_zip_archive *pZip)
+{
+    return mz_zip_reader_end_internal(pZip, MZ_TRUE);
+}
+mz_bool mz_zip_reader_init(mz_zip_archive *pZip, mz_uint64 size, mz_uint flags)
+{
+    if ((!pZip) || (!pZip->m_pRead))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    if (!mz_zip_reader_init_internal(pZip, flags))
+        return MZ_FALSE;
+
+    pZip->m_zip_type = MZ_ZIP_TYPE_USER;
+    pZip->m_archive_size = size;
+
+    if (!mz_zip_reader_read_central_dir(pZip, flags))
+    {
+        mz_zip_reader_end_internal(pZip, MZ_FALSE);
+        return MZ_FALSE;
+    }
+
+    return MZ_TRUE;
+}
+
+static size_t mz_zip_mem_read_func(void *pOpaque, mz_uint64 file_ofs, void *pBuf, size_t n)
+{
+    mz_zip_archive *pZip = (mz_zip_archive *)pOpaque;
+    size_t s = (file_ofs >= pZip->m_archive_size) ? 0 : (size_t)MZ_MIN(pZip->m_archive_size - file_ofs, n);
+    memcpy(pBuf, (const mz_uint8 *)pZip->m_pState->m_pMem + file_ofs, s);
+    return s;
+}
+
+mz_bool mz_zip_reader_init_mem(mz_zip_archive *pZip, const void *pMem, size_t size, mz_uint flags)
+{
+    if (!pMem)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    if (size < MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE)
+        return mz_zip_set_error(pZip, MZ_ZIP_NOT_AN_ARCHIVE);
+
+    if (!mz_zip_reader_init_internal(pZip, flags))
+        return MZ_FALSE;
+
+    pZip->m_zip_type = MZ_ZIP_TYPE_MEMORY;
+    pZip->m_archive_size = size;
+    pZip->m_pRead = mz_zip_mem_read_func;
+    pZip->m_pIO_opaque = pZip;
+	pZip->m_pNeeds_keepalive = NULL;
+
+#ifdef __cplusplus
+    pZip->m_pState->m_pMem = const_cast<void *>(pMem);
+#else
+    pZip->m_pState->m_pMem = (void *)pMem;
+#endif
+
+    pZip->m_pState->m_mem_size = size;
+
+    if (!mz_zip_reader_read_central_dir(pZip, flags))
+    {
+        mz_zip_reader_end_internal(pZip, MZ_FALSE);
+        return MZ_FALSE;
+    }
+
+    return MZ_TRUE;
+}
+
+#ifndef MINIZ_NO_STDIO
+static size_t mz_zip_file_read_func(void *pOpaque, mz_uint64 file_ofs, void *pBuf, size_t n)
+{
+    mz_zip_archive *pZip = (mz_zip_archive *)pOpaque;
+    mz_int64 cur_ofs = MZ_FTELL64(pZip->m_pState->m_pFile);
+
+    file_ofs += pZip->m_pState->m_file_archive_start_ofs;
+
+    if (((mz_int64)file_ofs < 0) || (((cur_ofs != (mz_int64)file_ofs)) && (MZ_FSEEK64(pZip->m_pState->m_pFile, (mz_int64)file_ofs, SEEK_SET))))
+        return 0;
+
+    return MZ_FREAD(pBuf, 1, n, pZip->m_pState->m_pFile);
+}
+
+mz_bool mz_zip_reader_init_file(mz_zip_archive *pZip, const char *pFilename, mz_uint32 flags)
+{
+    return mz_zip_reader_init_file_v2(pZip, pFilename, flags, 0, 0);
+}
+
+mz_bool mz_zip_reader_init_file_v2(mz_zip_archive *pZip, const char *pFilename, mz_uint flags, mz_uint64 file_start_ofs, mz_uint64 archive_size)
+{
+	mz_uint64 file_size;
+	MZ_FILE *pFile;
+
+    if ((!pZip) || (!pFilename) || ((archive_size) && (archive_size < MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE)))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+	pFile = MZ_FOPEN(pFilename, "rb");
+    if (!pFile)
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_OPEN_FAILED);
+
+    file_size = archive_size;
+    if (!file_size)
+    {
+        if (MZ_FSEEK64(pFile, 0, SEEK_END))
+        {
+            MZ_FCLOSE(pFile);
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_SEEK_FAILED);
+        }
+
+        file_size = MZ_FTELL64(pFile);
+    }
+
+    /* TODO: Better sanity check archive_size and the # of actual remaining bytes */
+
+    if (file_size < MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE)
+        return mz_zip_set_error(pZip, MZ_ZIP_NOT_AN_ARCHIVE);
+
+    if (!mz_zip_reader_init_internal(pZip, flags))
+    {
+        MZ_FCLOSE(pFile);
+        return MZ_FALSE;
+    }
+
+    pZip->m_zip_type = MZ_ZIP_TYPE_FILE;
+    pZip->m_pRead = mz_zip_file_read_func;
+    pZip->m_pIO_opaque = pZip;
+    pZip->m_pState->m_pFile = pFile;
+    pZip->m_archive_size = file_size;
+    pZip->m_pState->m_file_archive_start_ofs = file_start_ofs;
+
+    if (!mz_zip_reader_read_central_dir(pZip, flags))
+    {
+        mz_zip_reader_end_internal(pZip, MZ_FALSE);
+        return MZ_FALSE;
+    }
+
+    return MZ_TRUE;
+}
+
+mz_bool mz_zip_reader_init_cfile(mz_zip_archive *pZip, MZ_FILE *pFile, mz_uint64 archive_size, mz_uint flags)
+{
+    mz_uint64 cur_file_ofs;
+
+    if ((!pZip) || (!pFile))
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_OPEN_FAILED);
+
+    cur_file_ofs = MZ_FTELL64(pFile);
+
+    if (!archive_size)
+    {
+        if (MZ_FSEEK64(pFile, 0, SEEK_END))
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_SEEK_FAILED);
+
+        archive_size = MZ_FTELL64(pFile) - cur_file_ofs;
+
+        if (archive_size < MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE)
+            return mz_zip_set_error(pZip, MZ_ZIP_NOT_AN_ARCHIVE);
+    }
+
+    if (!mz_zip_reader_init_internal(pZip, flags))
+        return MZ_FALSE;
+
+    pZip->m_zip_type = MZ_ZIP_TYPE_CFILE;
+    pZip->m_pRead = mz_zip_file_read_func;
+
+    pZip->m_pIO_opaque = pZip;
+    pZip->m_pState->m_pFile = pFile;
+    pZip->m_archive_size = archive_size;
+    pZip->m_pState->m_file_archive_start_ofs = cur_file_ofs;
+
+    if (!mz_zip_reader_read_central_dir(pZip, flags))
+    {
+        mz_zip_reader_end_internal(pZip, MZ_FALSE);
+        return MZ_FALSE;
+    }
+
+    return MZ_TRUE;
+}
+
+#endif /* #ifndef MINIZ_NO_STDIO */
+
+static MZ_FORCEINLINE const mz_uint8 *mz_zip_get_cdh(mz_zip_archive *pZip, mz_uint file_index)
+{
+    if ((!pZip) || (!pZip->m_pState) || (file_index >= pZip->m_total_files))
+        return NULL;
+    return &MZ_ZIP_ARRAY_ELEMENT(&pZip->m_pState->m_central_dir, mz_uint8, MZ_ZIP_ARRAY_ELEMENT(&pZip->m_pState->m_central_dir_offsets, mz_uint32, file_index));
+}
+
+mz_bool mz_zip_reader_is_file_encrypted(mz_zip_archive *pZip, mz_uint file_index)
+{
+    mz_uint m_bit_flag;
+    const mz_uint8 *p = mz_zip_get_cdh(pZip, file_index);
+    if (!p)
+    {
+        mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+        return MZ_FALSE;
+    }
+
+    m_bit_flag = MZ_READ_LE16(p + MZ_ZIP_CDH_BIT_FLAG_OFS);
+    return (m_bit_flag & (MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_IS_ENCRYPTED | MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_USES_STRONG_ENCRYPTION)) != 0;
+}
+
+mz_bool mz_zip_reader_is_file_supported(mz_zip_archive *pZip, mz_uint file_index)
+{
+    mz_uint bit_flag;
+    mz_uint method;
+
+    const mz_uint8 *p = mz_zip_get_cdh(pZip, file_index);
+    if (!p)
+    {
+        mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+        return MZ_FALSE;
+    }
+
+    method = MZ_READ_LE16(p + MZ_ZIP_CDH_METHOD_OFS);
+    bit_flag = MZ_READ_LE16(p + MZ_ZIP_CDH_BIT_FLAG_OFS);
+
+    if ((method != 0) && (method != MZ_DEFLATED))
+    {
+        mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_METHOD);
+        return MZ_FALSE;
+    }
+
+    if (bit_flag & (MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_IS_ENCRYPTED | MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_USES_STRONG_ENCRYPTION))
+    {
+        mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_ENCRYPTION);
+        return MZ_FALSE;
+    }
+
+    if (bit_flag & MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_COMPRESSED_PATCH_FLAG)
+    {
+        mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_FEATURE);
+        return MZ_FALSE;
+    }
+
+    return MZ_TRUE;
+}
+
+mz_bool mz_zip_reader_is_file_a_directory(mz_zip_archive *pZip, mz_uint file_index)
+{
+    mz_uint filename_len, attribute_mapping_id, external_attr;
+    const mz_uint8 *p = mz_zip_get_cdh(pZip, file_index);
+    if (!p)
+    {
+        mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+        return MZ_FALSE;
+    }
+
+    filename_len = MZ_READ_LE16(p + MZ_ZIP_CDH_FILENAME_LEN_OFS);
+    if (filename_len)
+    {
+        if (*(p + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + filename_len - 1) == '/')
+            return MZ_TRUE;
+    }
+
+    /* Bugfix: This code was also checking if the internal attribute was non-zero, which wasn't correct. */
+    /* Most/all zip writers (hopefully) set DOS file/directory attributes in the low 16-bits, so check for the DOS directory flag and ignore the source OS ID in the created by field. */
+    /* FIXME: Remove this check? Is it necessary - we already check the filename. */
+    attribute_mapping_id = MZ_READ_LE16(p + MZ_ZIP_CDH_VERSION_MADE_BY_OFS) >> 8;
+    (void)attribute_mapping_id;
+
+    external_attr = MZ_READ_LE32(p + MZ_ZIP_CDH_EXTERNAL_ATTR_OFS);
+    if ((external_attr & MZ_ZIP_DOS_DIR_ATTRIBUTE_BITFLAG) != 0)
+    {
+        return MZ_TRUE;
+    }
+
+    return MZ_FALSE;
+}
+
+static mz_bool mz_zip_file_stat_internal(mz_zip_archive *pZip, mz_uint file_index, const mz_uint8 *pCentral_dir_header, mz_zip_archive_file_stat *pStat, mz_bool *pFound_zip64_extra_data)
+{
+    mz_uint n;
+    const mz_uint8 *p = pCentral_dir_header;
+
+    if (pFound_zip64_extra_data)
+        *pFound_zip64_extra_data = MZ_FALSE;
+
+    if ((!p) || (!pStat))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    /* Extract fields from the central directory record. */
+    pStat->m_file_index = file_index;
+    pStat->m_central_dir_ofs = MZ_ZIP_ARRAY_ELEMENT(&pZip->m_pState->m_central_dir_offsets, mz_uint32, file_index);
+    pStat->m_version_made_by = MZ_READ_LE16(p + MZ_ZIP_CDH_VERSION_MADE_BY_OFS);
+    pStat->m_version_needed = MZ_READ_LE16(p + MZ_ZIP_CDH_VERSION_NEEDED_OFS);
+    pStat->m_bit_flag = MZ_READ_LE16(p + MZ_ZIP_CDH_BIT_FLAG_OFS);
+    pStat->m_method = MZ_READ_LE16(p + MZ_ZIP_CDH_METHOD_OFS);
+#ifndef MINIZ_NO_TIME
+    pStat->m_time = mz_zip_dos_to_time_t(MZ_READ_LE16(p + MZ_ZIP_CDH_FILE_TIME_OFS), MZ_READ_LE16(p + MZ_ZIP_CDH_FILE_DATE_OFS));
+#endif
+    pStat->m_crc32 = MZ_READ_LE32(p + MZ_ZIP_CDH_CRC32_OFS);
+    pStat->m_comp_size = MZ_READ_LE32(p + MZ_ZIP_CDH_COMPRESSED_SIZE_OFS);
+    pStat->m_uncomp_size = MZ_READ_LE32(p + MZ_ZIP_CDH_DECOMPRESSED_SIZE_OFS);
+    pStat->m_internal_attr = MZ_READ_LE16(p + MZ_ZIP_CDH_INTERNAL_ATTR_OFS);
+    pStat->m_external_attr = MZ_READ_LE32(p + MZ_ZIP_CDH_EXTERNAL_ATTR_OFS);
+    pStat->m_local_header_ofs = MZ_READ_LE32(p + MZ_ZIP_CDH_LOCAL_HEADER_OFS);
+
+    /* Copy as much of the filename and comment as possible. */
+    n = MZ_READ_LE16(p + MZ_ZIP_CDH_FILENAME_LEN_OFS);
+    n = MZ_MIN(n, MZ_ZIP_MAX_ARCHIVE_FILENAME_SIZE - 1);
+    memcpy(pStat->m_filename, p + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE, n);
+    pStat->m_filename[n] = '\0';
+
+    n = MZ_READ_LE16(p + MZ_ZIP_CDH_COMMENT_LEN_OFS);
+    n = MZ_MIN(n, MZ_ZIP_MAX_ARCHIVE_FILE_COMMENT_SIZE - 1);
+    pStat->m_comment_size = n;
+    memcpy(pStat->m_comment, p + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + MZ_READ_LE16(p + MZ_ZIP_CDH_FILENAME_LEN_OFS) + MZ_READ_LE16(p + MZ_ZIP_CDH_EXTRA_LEN_OFS), n);
+    pStat->m_comment[n] = '\0';
+
+    /* Set some flags for convienance */
+    pStat->m_is_directory = mz_zip_reader_is_file_a_directory(pZip, file_index);
+    pStat->m_is_encrypted = mz_zip_reader_is_file_encrypted(pZip, file_index);
+    pStat->m_is_supported = mz_zip_reader_is_file_supported(pZip, file_index);
+
+    /* See if we need to read any zip64 extended information fields. */
+    /* Confusingly, these zip64 fields can be present even on non-zip64 archives (Debian zip on a huge files from stdin piped to stdout creates them). */
+    if (MZ_MAX(MZ_MAX(pStat->m_comp_size, pStat->m_uncomp_size), pStat->m_local_header_ofs) == MZ_UINT32_MAX)
+    {
+        /* Attempt to find zip64 extended information field in the entry's extra data */
+        mz_uint32 extra_size_remaining = MZ_READ_LE16(p + MZ_ZIP_CDH_EXTRA_LEN_OFS);
+
+        if (extra_size_remaining)
+        {
+            const mz_uint8 *pExtra_data = p + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + MZ_READ_LE16(p + MZ_ZIP_CDH_FILENAME_LEN_OFS);
+
+            do
+            {
+				mz_uint32 field_id;
+				mz_uint32 field_data_size;
+
+                if (extra_size_remaining < (sizeof(mz_uint16) * 2))
+                    return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+                field_id = MZ_READ_LE16(pExtra_data);
+                field_data_size = MZ_READ_LE16(pExtra_data + sizeof(mz_uint16));
+
+                if ((field_data_size + sizeof(mz_uint16) * 2) > extra_size_remaining)
+                    return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+                if (field_id == MZ_ZIP64_EXTENDED_INFORMATION_FIELD_HEADER_ID)
+                {
+                    const mz_uint8 *pField_data = pExtra_data + sizeof(mz_uint16) * 2;
+                    mz_uint32 field_data_remaining = field_data_size;
+
+                    if (pFound_zip64_extra_data)
+                        *pFound_zip64_extra_data = MZ_TRUE;
+
+                    if (pStat->m_uncomp_size == MZ_UINT32_MAX)
+                    {
+                        if (field_data_remaining < sizeof(mz_uint64))
+                            return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+                        pStat->m_uncomp_size = MZ_READ_LE64(pField_data);
+                        pField_data += sizeof(mz_uint64);
+                        field_data_remaining -= sizeof(mz_uint64);
+                    }
+
+                    if (pStat->m_comp_size == MZ_UINT32_MAX)
+                    {
+                        if (field_data_remaining < sizeof(mz_uint64))
+                            return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+                        pStat->m_comp_size = MZ_READ_LE64(pField_data);
+                        pField_data += sizeof(mz_uint64);
+                        field_data_remaining -= sizeof(mz_uint64);
+                    }
+
+                    if (pStat->m_local_header_ofs == MZ_UINT32_MAX)
+                    {
+                        if (field_data_remaining < sizeof(mz_uint64))
+                            return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+                        pStat->m_local_header_ofs = MZ_READ_LE64(pField_data);
+                        pField_data += sizeof(mz_uint64);
+                        field_data_remaining -= sizeof(mz_uint64);
+                    }
+
+                    break;
+                }
+
+                pExtra_data += sizeof(mz_uint16) * 2 + field_data_size;
+                extra_size_remaining = extra_size_remaining - sizeof(mz_uint16) * 2 - field_data_size;
+            } while (extra_size_remaining);
+        }
+    }
+
+    return MZ_TRUE;
+}
+
+static MZ_FORCEINLINE mz_bool mz_zip_string_equal(const char *pA, const char *pB, mz_uint len, mz_uint flags)
+{
+    mz_uint i;
+    if (flags & MZ_ZIP_FLAG_CASE_SENSITIVE)
+        return 0 == memcmp(pA, pB, len);
+    for (i = 0; i < len; ++i)
+        if (MZ_TOLOWER(pA[i]) != MZ_TOLOWER(pB[i]))
+            return MZ_FALSE;
+    return MZ_TRUE;
+}
+
+static MZ_FORCEINLINE int mz_zip_filename_compare(const mz_zip_array *pCentral_dir_array, const mz_zip_array *pCentral_dir_offsets, mz_uint l_index, const char *pR, mz_uint r_len)
+{
+    const mz_uint8 *pL = &MZ_ZIP_ARRAY_ELEMENT(pCentral_dir_array, mz_uint8, MZ_ZIP_ARRAY_ELEMENT(pCentral_dir_offsets, mz_uint32, l_index)), *pE;
+    mz_uint l_len = MZ_READ_LE16(pL + MZ_ZIP_CDH_FILENAME_LEN_OFS);
+    mz_uint8 l = 0, r = 0;
+    pL += MZ_ZIP_CENTRAL_DIR_HEADER_SIZE;
+    pE = pL + MZ_MIN(l_len, r_len);
+    while (pL < pE)
+    {
+        if ((l = MZ_TOLOWER(*pL)) != (r = MZ_TOLOWER(*pR)))
+            break;
+        pL++;
+        pR++;
+    }
+    return (pL == pE) ? (int)(l_len - r_len) : (l - r);
+}
+
+static mz_bool mz_zip_locate_file_binary_search(mz_zip_archive *pZip, const char *pFilename, mz_uint32 *pIndex)
+{
+    mz_zip_internal_state *pState = pZip->m_pState;
+    const mz_zip_array *pCentral_dir_offsets = &pState->m_central_dir_offsets;
+    const mz_zip_array *pCentral_dir = &pState->m_central_dir;
+    mz_uint32 *pIndices = &MZ_ZIP_ARRAY_ELEMENT(&pState->m_sorted_central_dir_offsets, mz_uint32, 0);
+    const uint32_t size = pZip->m_total_files;
+    const mz_uint filename_len = (mz_uint)strlen(pFilename);
+
+    if (pIndex)
+        *pIndex = 0;
+
+    if (size)
+    {
+        /* yes I could use uint32_t's, but then we would have to add some special case checks in the loop, argh, and */
+        /* honestly the major expense here on 32-bit CPU's will still be the filename compare */
+        mz_int64 l = 0, h = (mz_int64)size - 1;
+
+        while (l <= h)
+        {
+            mz_int64 m = l + ((h - l) >> 1);
+            uint32_t file_index = pIndices[(uint32_t)m];
+
+            int comp = mz_zip_filename_compare(pCentral_dir, pCentral_dir_offsets, file_index, pFilename, filename_len);
+            if (!comp)
+            {
+                if (pIndex)
+                    *pIndex = file_index;
+                return MZ_TRUE;
+            }
+            else if (comp < 0)
+                l = m + 1;
+            else
+                h = m - 1;
+        }
+    }
+
+    return mz_zip_set_error(pZip, MZ_ZIP_FILE_NOT_FOUND);
+}
+
+int mz_zip_reader_locate_file(mz_zip_archive *pZip, const char *pName, const char *pComment, mz_uint flags)
+{
+    mz_uint32 index;
+    if (!mz_zip_reader_locate_file_v2(pZip, pName, pComment, flags, &index))
+        return -1;
+    else
+        return (int)index;
+}
+
+mz_bool mz_zip_reader_locate_file_v2(mz_zip_archive *pZip, const char *pName, const char *pComment, mz_uint flags, mz_uint32 *pIndex)
+{
+    mz_uint file_index;
+    size_t name_len, comment_len;
+
+    if (pIndex)
+        *pIndex = 0;
+
+    if ((!pZip) || (!pZip->m_pState) || (!pName))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    /* See if we can use a binary search */
+    if (((pZip->m_pState->m_init_flags & MZ_ZIP_FLAG_DO_NOT_SORT_CENTRAL_DIRECTORY) == 0) &&
+        (pZip->m_zip_mode == MZ_ZIP_MODE_READING) &&
+        ((flags & (MZ_ZIP_FLAG_IGNORE_PATH | MZ_ZIP_FLAG_CASE_SENSITIVE)) == 0) && (!pComment) && (pZip->m_pState->m_sorted_central_dir_offsets.m_size))
+    {
+        return mz_zip_locate_file_binary_search(pZip, pName, pIndex);
+    }
+
+    /* Locate the entry by scanning the entire central directory */
+    name_len = strlen(pName);
+    if (name_len > MZ_UINT16_MAX)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    comment_len = pComment ? strlen(pComment) : 0;
+    if (comment_len > MZ_UINT16_MAX)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    for (file_index = 0; file_index < pZip->m_total_files; file_index++)
+    {
+        const mz_uint8 *pHeader = &MZ_ZIP_ARRAY_ELEMENT(&pZip->m_pState->m_central_dir, mz_uint8, MZ_ZIP_ARRAY_ELEMENT(&pZip->m_pState->m_central_dir_offsets, mz_uint32, file_index));
+        mz_uint filename_len = MZ_READ_LE16(pHeader + MZ_ZIP_CDH_FILENAME_LEN_OFS);
+        const char *pFilename = (const char *)pHeader + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE;
+        if (filename_len < name_len)
+            continue;
+        if (comment_len)
+        {
+            mz_uint file_extra_len = MZ_READ_LE16(pHeader + MZ_ZIP_CDH_EXTRA_LEN_OFS), file_comment_len = MZ_READ_LE16(pHeader + MZ_ZIP_CDH_COMMENT_LEN_OFS);
+            const char *pFile_comment = pFilename + filename_len + file_extra_len;
+            if ((file_comment_len != comment_len) || (!mz_zip_string_equal(pComment, pFile_comment, file_comment_len, flags)))
+                continue;
+        }
+        if ((flags & MZ_ZIP_FLAG_IGNORE_PATH) && (filename_len))
+        {
+            int ofs = filename_len - 1;
+            do
+            {
+                if ((pFilename[ofs] == '/') || (pFilename[ofs] == '\\') || (pFilename[ofs] == ':'))
+                    break;
+            } while (--ofs >= 0);
+            ofs++;
+            pFilename += ofs;
+            filename_len -= ofs;
+        }
+        if ((filename_len == name_len) && (mz_zip_string_equal(pName, pFilename, filename_len, flags)))
+        {
+            if (pIndex)
+                *pIndex = file_index;
+            return MZ_TRUE;
+        }
+    }
+
+    return mz_zip_set_error(pZip, MZ_ZIP_FILE_NOT_FOUND);
+}
+
+mz_bool mz_zip_reader_extract_to_mem_no_alloc(mz_zip_archive *pZip, mz_uint file_index, void *pBuf, size_t buf_size, mz_uint flags, void *pUser_read_buf, size_t user_read_buf_size)
+{
+    int status = TINFL_STATUS_DONE;
+    mz_uint64 needed_size, cur_file_ofs, comp_remaining, out_buf_ofs = 0, read_buf_size, read_buf_ofs = 0, read_buf_avail;
+    mz_zip_archive_file_stat file_stat;
+    void *pRead_buf;
+    mz_uint32 local_header_u32[(MZ_ZIP_LOCAL_DIR_HEADER_SIZE + sizeof(mz_uint32) - 1) / sizeof(mz_uint32)];
+    mz_uint8 *pLocal_header = (mz_uint8 *)local_header_u32;
+    tinfl_decompressor inflator;
+
+    if ((!pZip) || (!pZip->m_pState) || ((buf_size) && (!pBuf)) || ((user_read_buf_size) && (!pUser_read_buf)) || (!pZip->m_pRead))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    if (!mz_zip_reader_file_stat(pZip, file_index, &file_stat))
+        return MZ_FALSE;
+
+    /* A directory or zero length file */
+    if ((file_stat.m_is_directory) || (!file_stat.m_comp_size))
+        return MZ_TRUE;
+
+    /* Encryption and patch files are not supported. */
+    if (file_stat.m_bit_flag & (MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_IS_ENCRYPTED | MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_USES_STRONG_ENCRYPTION | MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_COMPRESSED_PATCH_FLAG))
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_ENCRYPTION);
+
+    /* This function only supports decompressing stored and deflate. */
+    if ((!(flags & MZ_ZIP_FLAG_COMPRESSED_DATA)) && (file_stat.m_method != 0) && (file_stat.m_method != MZ_DEFLATED))
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_METHOD);
+
+    /* Ensure supplied output buffer is large enough. */
+    needed_size = (flags & MZ_ZIP_FLAG_COMPRESSED_DATA) ? file_stat.m_comp_size : file_stat.m_uncomp_size;
+    if (buf_size < needed_size)
+        return mz_zip_set_error(pZip, MZ_ZIP_BUF_TOO_SMALL);
+
+    /* Read and parse the local directory entry. */
+    cur_file_ofs = file_stat.m_local_header_ofs;
+    if (pZip->m_pRead(pZip->m_pIO_opaque, cur_file_ofs, pLocal_header, MZ_ZIP_LOCAL_DIR_HEADER_SIZE) != MZ_ZIP_LOCAL_DIR_HEADER_SIZE)
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+
+    if (MZ_READ_LE32(pLocal_header) != MZ_ZIP_LOCAL_DIR_HEADER_SIG)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+    cur_file_ofs += MZ_ZIP_LOCAL_DIR_HEADER_SIZE + MZ_READ_LE16(pLocal_header + MZ_ZIP_LDH_FILENAME_LEN_OFS) + MZ_READ_LE16(pLocal_header + MZ_ZIP_LDH_EXTRA_LEN_OFS);
+    if ((cur_file_ofs + file_stat.m_comp_size) > pZip->m_archive_size)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+    if ((flags & MZ_ZIP_FLAG_COMPRESSED_DATA) || (!file_stat.m_method))
+    {
+        /* The file is stored or the caller has requested the compressed data. */
+        if (pZip->m_pRead(pZip->m_pIO_opaque, cur_file_ofs, pBuf, (size_t)needed_size) != needed_size)
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+
+#ifndef MINIZ_DISABLE_ZIP_READER_CRC32_CHECKS
+        if ((flags & MZ_ZIP_FLAG_COMPRESSED_DATA) == 0)
+        {
+            if (mz_crc32(MZ_CRC32_INIT, (const mz_uint8 *)pBuf, (size_t)file_stat.m_uncomp_size) != file_stat.m_crc32)
+                return mz_zip_set_error(pZip, MZ_ZIP_CRC_CHECK_FAILED);
+        }
+#endif
+
+        return MZ_TRUE;
+    }
+
+    /* Decompress the file either directly from memory or from a file input buffer. */
+    tinfl_init(&inflator);
+
+    if (pZip->m_pState->m_pMem)
+    {
+        /* Read directly from the archive in memory. */
+        pRead_buf = (mz_uint8 *)pZip->m_pState->m_pMem + cur_file_ofs;
+        read_buf_size = read_buf_avail = file_stat.m_comp_size;
+        comp_remaining = 0;
+    }
+    else if (pUser_read_buf)
+    {
+        /* Use a user provided read buffer. */
+        if (!user_read_buf_size)
+            return MZ_FALSE;
+        pRead_buf = (mz_uint8 *)pUser_read_buf;
+        read_buf_size = user_read_buf_size;
+        read_buf_avail = 0;
+        comp_remaining = file_stat.m_comp_size;
+    }
+    else
+    {
+        /* Temporarily allocate a read buffer. */
+        read_buf_size = MZ_MIN(file_stat.m_comp_size, (mz_uint64)MZ_ZIP_MAX_IO_BUF_SIZE);
+        if (((sizeof(size_t) == sizeof(mz_uint32))) && (read_buf_size > 0x7FFFFFFF))
+            return mz_zip_set_error(pZip, MZ_ZIP_INTERNAL_ERROR);
+
+        if (NULL == (pRead_buf = pZip->m_pAlloc(pZip->m_pAlloc_opaque, 1, (size_t)read_buf_size)))
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+
+        read_buf_avail = 0;
+        comp_remaining = file_stat.m_comp_size;
+    }
+
+    do
+    {
+        /* The size_t cast here should be OK because we've verified that the output buffer is >= file_stat.m_uncomp_size above */
+        size_t in_buf_size, out_buf_size = (size_t)(file_stat.m_uncomp_size - out_buf_ofs);
+        if ((!read_buf_avail) && (!pZip->m_pState->m_pMem))
+        {
+            read_buf_avail = MZ_MIN(read_buf_size, comp_remaining);
+            if (pZip->m_pRead(pZip->m_pIO_opaque, cur_file_ofs, pRead_buf, (size_t)read_buf_avail) != read_buf_avail)
+            {
+                status = TINFL_STATUS_FAILED;
+                mz_zip_set_error(pZip, MZ_ZIP_DECOMPRESSION_FAILED);
+                break;
+            }
+            cur_file_ofs += read_buf_avail;
+            comp_remaining -= read_buf_avail;
+            read_buf_ofs = 0;
+        }
+        in_buf_size = (size_t)read_buf_avail;
+        status = tinfl_decompress(&inflator, (mz_uint8 *)pRead_buf + read_buf_ofs, &in_buf_size, (mz_uint8 *)pBuf, (mz_uint8 *)pBuf + out_buf_ofs, &out_buf_size, TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF | (comp_remaining ? TINFL_FLAG_HAS_MORE_INPUT : 0));
+        read_buf_avail -= in_buf_size;
+        read_buf_ofs += in_buf_size;
+        out_buf_ofs += out_buf_size;
+    } while (status == TINFL_STATUS_NEEDS_MORE_INPUT);
+
+    if (status == TINFL_STATUS_DONE)
+    {
+        /* Make sure the entire file was decompressed, and check its CRC. */
+        if (out_buf_ofs != file_stat.m_uncomp_size)
+        {
+            mz_zip_set_error(pZip, MZ_ZIP_UNEXPECTED_DECOMPRESSED_SIZE);
+            status = TINFL_STATUS_FAILED;
+        }
+#ifndef MINIZ_DISABLE_ZIP_READER_CRC32_CHECKS
+        else if (mz_crc32(MZ_CRC32_INIT, (const mz_uint8 *)pBuf, (size_t)file_stat.m_uncomp_size) != file_stat.m_crc32)
+        {
+            mz_zip_set_error(pZip, MZ_ZIP_CRC_CHECK_FAILED);
+            status = TINFL_STATUS_FAILED;
+        }
+#endif
+    }
+
+    if ((!pZip->m_pState->m_pMem) && (!pUser_read_buf))
+        pZip->m_pFree(pZip->m_pAlloc_opaque, pRead_buf);
+
+    return status == TINFL_STATUS_DONE;
+}
+
+mz_bool mz_zip_reader_extract_file_to_mem_no_alloc(mz_zip_archive *pZip, const char *pFilename, void *pBuf, size_t buf_size, mz_uint flags, void *pUser_read_buf, size_t user_read_buf_size)
+{
+    mz_uint32 file_index;
+    if (!mz_zip_reader_locate_file_v2(pZip, pFilename, NULL, flags, &file_index))
+        return MZ_FALSE;
+    return mz_zip_reader_extract_to_mem_no_alloc(pZip, file_index, pBuf, buf_size, flags, pUser_read_buf, user_read_buf_size);
+}
+
+mz_bool mz_zip_reader_extract_to_mem(mz_zip_archive *pZip, mz_uint file_index, void *pBuf, size_t buf_size, mz_uint flags)
+{
+    return mz_zip_reader_extract_to_mem_no_alloc(pZip, file_index, pBuf, buf_size, flags, NULL, 0);
+}
+
+mz_bool mz_zip_reader_extract_file_to_mem(mz_zip_archive *pZip, const char *pFilename, void *pBuf, size_t buf_size, mz_uint flags)
+{
+    return mz_zip_reader_extract_file_to_mem_no_alloc(pZip, pFilename, pBuf, buf_size, flags, NULL, 0);
+}
+
+void *mz_zip_reader_extract_to_heap(mz_zip_archive *pZip, mz_uint file_index, size_t *pSize, mz_uint flags)
+{
+    mz_uint64 comp_size, uncomp_size, alloc_size;
+    const mz_uint8 *p = mz_zip_get_cdh(pZip, file_index);
+    void *pBuf;
+
+    if (pSize)
+        *pSize = 0;
+
+    if (!p)
+    {
+        mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+        return NULL;
+    }
+
+    comp_size = MZ_READ_LE32(p + MZ_ZIP_CDH_COMPRESSED_SIZE_OFS);
+    uncomp_size = MZ_READ_LE32(p + MZ_ZIP_CDH_DECOMPRESSED_SIZE_OFS);
+
+    alloc_size = (flags & MZ_ZIP_FLAG_COMPRESSED_DATA) ? comp_size : uncomp_size;
+    if (((sizeof(size_t) == sizeof(mz_uint32))) && (alloc_size > 0x7FFFFFFF))
+    {
+        mz_zip_set_error(pZip, MZ_ZIP_INTERNAL_ERROR);
+        return NULL;
+    }
+
+    if (NULL == (pBuf = pZip->m_pAlloc(pZip->m_pAlloc_opaque, 1, (size_t)alloc_size)))
+    {
+        mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+        return NULL;
+    }
+
+    if (!mz_zip_reader_extract_to_mem(pZip, file_index, pBuf, (size_t)alloc_size, flags))
+    {
+        pZip->m_pFree(pZip->m_pAlloc_opaque, pBuf);
+        return NULL;
+    }
+
+    if (pSize)
+        *pSize = (size_t)alloc_size;
+    return pBuf;
+}
+
+void *mz_zip_reader_extract_file_to_heap(mz_zip_archive *pZip, const char *pFilename, size_t *pSize, mz_uint flags)
+{
+    mz_uint32 file_index;
+    if (!mz_zip_reader_locate_file_v2(pZip, pFilename, NULL, flags, &file_index))
+    {
+        if (pSize)
+            *pSize = 0;
+        return MZ_FALSE;
+    }
+    return mz_zip_reader_extract_to_heap(pZip, file_index, pSize, flags);
+}
+
+mz_bool mz_zip_reader_extract_to_callback(mz_zip_archive *pZip, mz_uint file_index, mz_file_write_func pCallback, void *pOpaque, mz_uint flags)
+{
+    int status = TINFL_STATUS_DONE;
+    mz_uint file_crc32 = MZ_CRC32_INIT;
+    mz_uint64 read_buf_size, read_buf_ofs = 0, read_buf_avail, comp_remaining, out_buf_ofs = 0, cur_file_ofs;
+    mz_zip_archive_file_stat file_stat;
+    void *pRead_buf = NULL;
+    void *pWrite_buf = NULL;
+    mz_uint32 local_header_u32[(MZ_ZIP_LOCAL_DIR_HEADER_SIZE + sizeof(mz_uint32) - 1) / sizeof(mz_uint32)];
+    mz_uint8 *pLocal_header = (mz_uint8 *)local_header_u32;
+
+    if ((!pZip) || (!pZip->m_pState) || (!pCallback) || (!pZip->m_pRead))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    if (!mz_zip_reader_file_stat(pZip, file_index, &file_stat))
+        return MZ_FALSE;
+
+    /* A directory or zero length file */
+    if ((file_stat.m_is_directory) || (!file_stat.m_comp_size))
+        return MZ_TRUE;
+
+    /* Encryption and patch files are not supported. */
+    if (file_stat.m_bit_flag & (MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_IS_ENCRYPTED | MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_USES_STRONG_ENCRYPTION | MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_COMPRESSED_PATCH_FLAG))
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_ENCRYPTION);
+
+    /* This function only supports decompressing stored and deflate. */
+    if ((!(flags & MZ_ZIP_FLAG_COMPRESSED_DATA)) && (file_stat.m_method != 0) && (file_stat.m_method != MZ_DEFLATED))
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_METHOD);
+
+    /* Read and do some minimal validation of the local directory entry (this doesn't crack the zip64 stuff, which we already have from the central dir) */
+    cur_file_ofs = file_stat.m_local_header_ofs;
+    if (pZip->m_pRead(pZip->m_pIO_opaque, cur_file_ofs, pLocal_header, MZ_ZIP_LOCAL_DIR_HEADER_SIZE) != MZ_ZIP_LOCAL_DIR_HEADER_SIZE)
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+
+    if (MZ_READ_LE32(pLocal_header) != MZ_ZIP_LOCAL_DIR_HEADER_SIG)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+    cur_file_ofs += MZ_ZIP_LOCAL_DIR_HEADER_SIZE + MZ_READ_LE16(pLocal_header + MZ_ZIP_LDH_FILENAME_LEN_OFS) + MZ_READ_LE16(pLocal_header + MZ_ZIP_LDH_EXTRA_LEN_OFS);
+    if ((cur_file_ofs + file_stat.m_comp_size) > pZip->m_archive_size)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+    /* Decompress the file either directly from memory or from a file input buffer. */
+    if (pZip->m_pState->m_pMem)
+    {
+        pRead_buf = (mz_uint8 *)pZip->m_pState->m_pMem + cur_file_ofs;
+        read_buf_size = read_buf_avail = file_stat.m_comp_size;
+        comp_remaining = 0;
+    }
+    else
+    {
+        read_buf_size = MZ_MIN(file_stat.m_comp_size, (mz_uint64)MZ_ZIP_MAX_IO_BUF_SIZE);
+        if (NULL == (pRead_buf = pZip->m_pAlloc(pZip->m_pAlloc_opaque, 1, (size_t)read_buf_size)))
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+
+        read_buf_avail = 0;
+        comp_remaining = file_stat.m_comp_size;
+    }
+
+    if ((flags & MZ_ZIP_FLAG_COMPRESSED_DATA) || (!file_stat.m_method))
+    {
+        /* The file is stored or the caller has requested the compressed data. */
+        if (pZip->m_pState->m_pMem)
+        {
+            if (((sizeof(size_t) == sizeof(mz_uint32))) && (file_stat.m_comp_size > MZ_UINT32_MAX))
+                return mz_zip_set_error(pZip, MZ_ZIP_INTERNAL_ERROR);
+
+            if (pCallback(pOpaque, out_buf_ofs, pRead_buf, (size_t)file_stat.m_comp_size) != file_stat.m_comp_size)
+            {
+                mz_zip_set_error(pZip, MZ_ZIP_WRITE_CALLBACK_FAILED);
+                status = TINFL_STATUS_FAILED;
+            }
+            else if (!(flags & MZ_ZIP_FLAG_COMPRESSED_DATA))
+            {
+#ifndef MINIZ_DISABLE_ZIP_READER_CRC32_CHECKS
+                file_crc32 = (mz_uint32)mz_crc32(file_crc32, (const mz_uint8 *)pRead_buf, (size_t)file_stat.m_comp_size);
+#endif
+            }
+
+            cur_file_ofs += file_stat.m_comp_size;
+            out_buf_ofs += file_stat.m_comp_size;
+            comp_remaining = 0;
+        }
+        else
+        {
+            while (comp_remaining)
+            {
+                read_buf_avail = MZ_MIN(read_buf_size, comp_remaining);
+                if (pZip->m_pRead(pZip->m_pIO_opaque, cur_file_ofs, pRead_buf, (size_t)read_buf_avail) != read_buf_avail)
+                {
+                    mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+                    status = TINFL_STATUS_FAILED;
+                    break;
+                }
+
+#ifndef MINIZ_DISABLE_ZIP_READER_CRC32_CHECKS
+                if (!(flags & MZ_ZIP_FLAG_COMPRESSED_DATA))
+                {
+                    file_crc32 = (mz_uint32)mz_crc32(file_crc32, (const mz_uint8 *)pRead_buf, (size_t)read_buf_avail);
+                }
+#endif
+
+                if (pCallback(pOpaque, out_buf_ofs, pRead_buf, (size_t)read_buf_avail) != read_buf_avail)
+                {
+                    mz_zip_set_error(pZip, MZ_ZIP_WRITE_CALLBACK_FAILED);
+                    status = TINFL_STATUS_FAILED;
+                    break;
+                }
+
+                cur_file_ofs += read_buf_avail;
+                out_buf_ofs += read_buf_avail;
+                comp_remaining -= read_buf_avail;
+            }
+        }
+    }
+    else
+    {
+        tinfl_decompressor inflator;
+        tinfl_init(&inflator);
+
+        if (NULL == (pWrite_buf = pZip->m_pAlloc(pZip->m_pAlloc_opaque, 1, TINFL_LZ_DICT_SIZE)))
+        {
+            mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+            status = TINFL_STATUS_FAILED;
+        }
+        else
+        {
+            do
+            {
+                mz_uint8 *pWrite_buf_cur = (mz_uint8 *)pWrite_buf + (out_buf_ofs & (TINFL_LZ_DICT_SIZE - 1));
+                size_t in_buf_size, out_buf_size = TINFL_LZ_DICT_SIZE - (out_buf_ofs & (TINFL_LZ_DICT_SIZE - 1));
+                if ((!read_buf_avail) && (!pZip->m_pState->m_pMem))
+                {
+                    read_buf_avail = MZ_MIN(read_buf_size, comp_remaining);
+                    if (pZip->m_pRead(pZip->m_pIO_opaque, cur_file_ofs, pRead_buf, (size_t)read_buf_avail) != read_buf_avail)
+                    {
+                        mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+                        status = TINFL_STATUS_FAILED;
+                        break;
+                    }
+                    cur_file_ofs += read_buf_avail;
+                    comp_remaining -= read_buf_avail;
+                    read_buf_ofs = 0;
+                }
+
+                in_buf_size = (size_t)read_buf_avail;
+                status = tinfl_decompress(&inflator, (const mz_uint8 *)pRead_buf + read_buf_ofs, &in_buf_size, (mz_uint8 *)pWrite_buf, pWrite_buf_cur, &out_buf_size, comp_remaining ? TINFL_FLAG_HAS_MORE_INPUT : 0);
+                read_buf_avail -= in_buf_size;
+                read_buf_ofs += in_buf_size;
+
+                if (out_buf_size)
+                {
+                    if (pCallback(pOpaque, out_buf_ofs, pWrite_buf_cur, out_buf_size) != out_buf_size)
+                    {
+                        mz_zip_set_error(pZip, MZ_ZIP_WRITE_CALLBACK_FAILED);
+                        status = TINFL_STATUS_FAILED;
+                        break;
+                    }
+
+#ifndef MINIZ_DISABLE_ZIP_READER_CRC32_CHECKS
+                    file_crc32 = (mz_uint32)mz_crc32(file_crc32, pWrite_buf_cur, out_buf_size);
+#endif
+                    if ((out_buf_ofs += out_buf_size) > file_stat.m_uncomp_size)
+                    {
+                        mz_zip_set_error(pZip, MZ_ZIP_DECOMPRESSION_FAILED);
+                        status = TINFL_STATUS_FAILED;
+                        break;
+                    }
+                }
+            } while ((status == TINFL_STATUS_NEEDS_MORE_INPUT) || (status == TINFL_STATUS_HAS_MORE_OUTPUT));
+        }
+    }
+
+    if ((status == TINFL_STATUS_DONE) && (!(flags & MZ_ZIP_FLAG_COMPRESSED_DATA)))
+    {
+        /* Make sure the entire file was decompressed, and check its CRC. */
+        if (out_buf_ofs != file_stat.m_uncomp_size)
+        {
+            mz_zip_set_error(pZip, MZ_ZIP_UNEXPECTED_DECOMPRESSED_SIZE);
+            status = TINFL_STATUS_FAILED;
+        }
+#ifndef MINIZ_DISABLE_ZIP_READER_CRC32_CHECKS
+        else if (file_crc32 != file_stat.m_crc32)
+        {
+            mz_zip_set_error(pZip, MZ_ZIP_DECOMPRESSION_FAILED);
+            status = TINFL_STATUS_FAILED;
+        }
+#endif
+    }
+
+    if (!pZip->m_pState->m_pMem)
+        pZip->m_pFree(pZip->m_pAlloc_opaque, pRead_buf);
+
+    if (pWrite_buf)
+        pZip->m_pFree(pZip->m_pAlloc_opaque, pWrite_buf);
+
+    return status == TINFL_STATUS_DONE;
+}
+
+mz_bool mz_zip_reader_extract_file_to_callback(mz_zip_archive *pZip, const char *pFilename, mz_file_write_func pCallback, void *pOpaque, mz_uint flags)
+{
+    mz_uint32 file_index;
+    if (!mz_zip_reader_locate_file_v2(pZip, pFilename, NULL, flags, &file_index))
+        return MZ_FALSE;
+
+    return mz_zip_reader_extract_to_callback(pZip, file_index, pCallback, pOpaque, flags);
+}
+
+#ifndef MINIZ_NO_STDIO
+static size_t mz_zip_file_write_callback(void *pOpaque, mz_uint64 ofs, const void *pBuf, size_t n)
+{
+    (void)ofs;
+
+    return MZ_FWRITE(pBuf, 1, n, (MZ_FILE *)pOpaque);
+}
+
+mz_bool mz_zip_reader_extract_to_file(mz_zip_archive *pZip, mz_uint file_index, const char *pDst_filename, mz_uint flags)
+{
+    mz_bool status;
+    mz_zip_archive_file_stat file_stat;
+    MZ_FILE *pFile;
+
+    if (!mz_zip_reader_file_stat(pZip, file_index, &file_stat))
+        return MZ_FALSE;
+
+    if ((file_stat.m_is_directory) || (!file_stat.m_is_supported))
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_FEATURE);
+
+    pFile = MZ_FOPEN(pDst_filename, "wb");
+    if (!pFile)
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_OPEN_FAILED);
+
+    status = mz_zip_reader_extract_to_callback(pZip, file_index, mz_zip_file_write_callback, pFile, flags);
+
+    if (MZ_FCLOSE(pFile) == EOF)
+    {
+        if (status)
+            mz_zip_set_error(pZip, MZ_ZIP_FILE_CLOSE_FAILED);
+
+        status = MZ_FALSE;
+    }
+
+#if !defined(MINIZ_NO_TIME) && !defined(MINIZ_NO_STDIO)
+    if (status)
+        mz_zip_set_file_times(pDst_filename, file_stat.m_time, file_stat.m_time);
+#endif
+
+    return status;
+}
+
+mz_bool mz_zip_reader_extract_file_to_file(mz_zip_archive *pZip, const char *pArchive_filename, const char *pDst_filename, mz_uint flags)
+{
+    mz_uint32 file_index;
+    if (!mz_zip_reader_locate_file_v2(pZip, pArchive_filename, NULL, flags, &file_index))
+        return MZ_FALSE;
+
+    return mz_zip_reader_extract_to_file(pZip, file_index, pDst_filename, flags);
+}
+
+mz_bool mz_zip_reader_extract_to_cfile(mz_zip_archive *pZip, mz_uint file_index, MZ_FILE *pFile, mz_uint flags)
+{
+    mz_zip_archive_file_stat file_stat;
+
+    if (!mz_zip_reader_file_stat(pZip, file_index, &file_stat))
+        return MZ_FALSE;
+
+    if ((file_stat.m_is_directory) || (!file_stat.m_is_supported))
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_FEATURE);
+
+    return mz_zip_reader_extract_to_callback(pZip, file_index, mz_zip_file_write_callback, pFile, flags);
+}
+
+mz_bool mz_zip_reader_extract_file_to_cfile(mz_zip_archive *pZip, const char *pArchive_filename, MZ_FILE *pFile, mz_uint flags)
+{
+    mz_uint32 file_index;
+    if (!mz_zip_reader_locate_file_v2(pZip, pArchive_filename, NULL, flags, &file_index))
+        return MZ_FALSE;
+
+    return mz_zip_reader_extract_to_cfile(pZip, file_index, pFile, flags);
+}
+#endif /* #ifndef MINIZ_NO_STDIO */
+
+static size_t mz_zip_compute_crc32_callback(void *pOpaque, mz_uint64 file_ofs, const void *pBuf, size_t n)
+{
+    mz_uint32 *p = (mz_uint32 *)pOpaque;
+    (void)file_ofs;
+    *p = (mz_uint32)mz_crc32(*p, (const mz_uint8 *)pBuf, n);
+    return n;
+}
+
+mz_bool mz_zip_validate_file(mz_zip_archive *pZip, mz_uint file_index, mz_uint flags)
+{
+    mz_zip_archive_file_stat file_stat;
+    mz_zip_internal_state *pState;
+    const mz_uint8 *pCentral_dir_header;
+    mz_bool found_zip64_ext_data_in_cdir = MZ_FALSE;
+    mz_bool found_zip64_ext_data_in_ldir = MZ_FALSE;
+    mz_uint32 local_header_u32[(MZ_ZIP_LOCAL_DIR_HEADER_SIZE + sizeof(mz_uint32) - 1) / sizeof(mz_uint32)];
+    mz_uint8 *pLocal_header = (mz_uint8 *)local_header_u32;
+    mz_uint64 local_header_ofs = 0;
+    mz_uint32 local_header_filename_len, local_header_extra_len, local_header_crc32;
+    mz_uint64 local_header_comp_size, local_header_uncomp_size;
+    mz_uint32 uncomp_crc32 = MZ_CRC32_INIT;
+    mz_bool has_data_descriptor;
+    mz_uint32 local_header_bit_flags;
+
+    mz_zip_array file_data_array;
+    mz_zip_array_init(&file_data_array, 1);
+
+    if ((!pZip) || (!pZip->m_pState) || (!pZip->m_pAlloc) || (!pZip->m_pFree) || (!pZip->m_pRead))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    if (file_index > pZip->m_total_files)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    pState = pZip->m_pState;
+
+    pCentral_dir_header = mz_zip_get_cdh(pZip, file_index);
+
+    if (!mz_zip_file_stat_internal(pZip, file_index, pCentral_dir_header, &file_stat, &found_zip64_ext_data_in_cdir))
+        return MZ_FALSE;
+
+    /* A directory or zero length file */
+    if ((file_stat.m_is_directory) || (!file_stat.m_uncomp_size))
+        return MZ_TRUE;
+
+    /* Encryption and patch files are not supported. */
+    if (file_stat.m_is_encrypted)
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_ENCRYPTION);
+
+    /* This function only supports stored and deflate. */
+    if ((file_stat.m_method != 0) && (file_stat.m_method != MZ_DEFLATED))
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_METHOD);
+
+    if (!file_stat.m_is_supported)
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_FEATURE);
+
+    /* Read and parse the local directory entry. */
+    local_header_ofs = file_stat.m_local_header_ofs;
+    if (pZip->m_pRead(pZip->m_pIO_opaque, local_header_ofs, pLocal_header, MZ_ZIP_LOCAL_DIR_HEADER_SIZE) != MZ_ZIP_LOCAL_DIR_HEADER_SIZE)
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+
+    if (MZ_READ_LE32(pLocal_header) != MZ_ZIP_LOCAL_DIR_HEADER_SIG)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+    local_header_filename_len = MZ_READ_LE16(pLocal_header + MZ_ZIP_LDH_FILENAME_LEN_OFS);
+    local_header_extra_len = MZ_READ_LE16(pLocal_header + MZ_ZIP_LDH_EXTRA_LEN_OFS);
+    local_header_comp_size = MZ_READ_LE32(pLocal_header + MZ_ZIP_LDH_COMPRESSED_SIZE_OFS);
+    local_header_uncomp_size = MZ_READ_LE32(pLocal_header + MZ_ZIP_LDH_DECOMPRESSED_SIZE_OFS);
+    local_header_crc32 = MZ_READ_LE32(pLocal_header + MZ_ZIP_LDH_CRC32_OFS);
+    local_header_bit_flags = MZ_READ_LE16(pLocal_header + MZ_ZIP_LDH_BIT_FLAG_OFS);
+    has_data_descriptor = (local_header_bit_flags & 8) != 0;
+
+    if (local_header_filename_len != strlen(file_stat.m_filename))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+    if ((local_header_ofs + MZ_ZIP_LOCAL_DIR_HEADER_SIZE + local_header_filename_len + local_header_extra_len + file_stat.m_comp_size) > pZip->m_archive_size)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+    if (!mz_zip_array_resize(pZip, &file_data_array, MZ_MAX(local_header_filename_len, local_header_extra_len), MZ_FALSE))
+        return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+
+    if (local_header_filename_len)
+    {
+        if (pZip->m_pRead(pZip->m_pIO_opaque, local_header_ofs + MZ_ZIP_LOCAL_DIR_HEADER_SIZE, file_data_array.m_p, local_header_filename_len) != local_header_filename_len)
+        {
+            mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+            goto handle_failure;
+        }
+
+        /* I've seen 1 archive that had the same pathname, but used backslashes in the local dir and forward slashes in the central dir. Do we care about this? For now, this case will fail validation. */
+        if (memcmp(file_stat.m_filename, file_data_array.m_p, local_header_filename_len) != 0)
+        {
+            mz_zip_set_error(pZip, MZ_ZIP_VALIDATION_FAILED);
+            goto handle_failure;
+        }
+    }
+
+    if ((local_header_extra_len) && ((local_header_comp_size == MZ_UINT32_MAX) || (local_header_uncomp_size == MZ_UINT32_MAX)))
+    {
+		mz_uint32 extra_size_remaining = local_header_extra_len;
+		const mz_uint8 *pExtra_data = (const mz_uint8 *)file_data_array.m_p;
+
+        if (pZip->m_pRead(pZip->m_pIO_opaque, local_header_ofs + MZ_ZIP_LOCAL_DIR_HEADER_SIZE + local_header_filename_len, file_data_array.m_p, local_header_extra_len) != local_header_extra_len)
+        {
+            mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+            goto handle_failure;
+        }
+
+        do
+        {
+            mz_uint32 field_id, field_data_size, field_total_size;
+
+            if (extra_size_remaining < (sizeof(mz_uint16) * 2))
+                return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+            field_id = MZ_READ_LE16(pExtra_data);
+            field_data_size = MZ_READ_LE16(pExtra_data + sizeof(mz_uint16));
+            field_total_size = field_data_size + sizeof(mz_uint16) * 2;
+
+            if (field_total_size > extra_size_remaining)
+                return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+            if (field_id == MZ_ZIP64_EXTENDED_INFORMATION_FIELD_HEADER_ID)
+            {
+                const mz_uint8 *pSrc_field_data = pExtra_data + sizeof(mz_uint32);
+
+                if (field_data_size < sizeof(mz_uint64) * 2)
+                {
+                    mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+                    goto handle_failure;
+                }
+
+                local_header_uncomp_size = MZ_READ_LE64(pSrc_field_data);
+                local_header_comp_size = MZ_READ_LE64(pSrc_field_data + sizeof(mz_uint64));
+
+                found_zip64_ext_data_in_ldir = MZ_TRUE;
+                break;
+            }
+
+            pExtra_data += field_total_size;
+            extra_size_remaining -= field_total_size;
+        } while (extra_size_remaining);
+    }
+
+    /* TODO: parse local header extra data when local_header_comp_size is 0xFFFFFFFF! (big_descriptor.zip) */
+    /* I've seen zips in the wild with the data descriptor bit set, but proper local header values and bogus data descriptors */
+    if ((has_data_descriptor) && (!local_header_comp_size) && (!local_header_crc32))
+    {
+        mz_uint8 descriptor_buf[32];
+		mz_bool has_id;
+		const mz_uint8 *pSrc;
+		mz_uint32 file_crc32;
+		mz_uint64 comp_size = 0, uncomp_size = 0;
+
+        mz_uint32 num_descriptor_uint32s = ((pState->m_zip64) || (found_zip64_ext_data_in_ldir)) ? 6 : 4;
+
+        if (pZip->m_pRead(pZip->m_pIO_opaque, local_header_ofs + MZ_ZIP_LOCAL_DIR_HEADER_SIZE + local_header_filename_len + local_header_extra_len + file_stat.m_comp_size, descriptor_buf, sizeof(mz_uint32) * num_descriptor_uint32s) != (sizeof(mz_uint32) * num_descriptor_uint32s))
+        {
+            mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+            goto handle_failure;
+        }
+
+        has_id = (MZ_READ_LE32(descriptor_buf) == MZ_ZIP_DATA_DESCRIPTOR_ID);
+		pSrc = has_id ? (descriptor_buf + sizeof(mz_uint32)) : descriptor_buf;
+
+        file_crc32 = MZ_READ_LE32(pSrc);        
+
+        if ((pState->m_zip64) || (found_zip64_ext_data_in_ldir))
+        {
+            comp_size = MZ_READ_LE64(pSrc + sizeof(mz_uint32));
+            uncomp_size = MZ_READ_LE64(pSrc + sizeof(mz_uint32) + sizeof(mz_uint64));
+        }
+        else
+        {
+            comp_size = MZ_READ_LE32(pSrc + sizeof(mz_uint32));
+            uncomp_size = MZ_READ_LE32(pSrc + sizeof(mz_uint32) + sizeof(mz_uint32));
+        }
+
+        if ((file_crc32 != file_stat.m_crc32) || (comp_size != file_stat.m_comp_size) || (uncomp_size != file_stat.m_uncomp_size))
+        {
+            mz_zip_set_error(pZip, MZ_ZIP_VALIDATION_FAILED);
+            goto handle_failure;
+        }
+    }
+    else
+    {
+        if ((local_header_crc32 != file_stat.m_crc32) || (local_header_comp_size != file_stat.m_comp_size) || (local_header_uncomp_size != file_stat.m_uncomp_size))
+        {
+            mz_zip_set_error(pZip, MZ_ZIP_VALIDATION_FAILED);
+            goto handle_failure;
+        }
+    }
+
+    mz_zip_array_clear(pZip, &file_data_array);
+
+    if ((flags & MZ_ZIP_FLAG_VALIDATE_HEADERS_ONLY) == 0)
+    {
+        if (!mz_zip_reader_extract_to_callback(pZip, file_index, mz_zip_compute_crc32_callback, &uncomp_crc32, 0))
+            return MZ_FALSE;
+
+        /* 1 more check to be sure, although the extract checks too. */
+        if (uncomp_crc32 != file_stat.m_crc32)
+        {
+            mz_zip_set_error(pZip, MZ_ZIP_VALIDATION_FAILED);
+            return MZ_FALSE;
+        }
+    }
+
+    return MZ_TRUE;
+
+handle_failure:
+    mz_zip_array_clear(pZip, &file_data_array);
+    return MZ_FALSE;
+}
+
+mz_bool mz_zip_validate_archive(mz_zip_archive *pZip, mz_uint flags)
+{
+    mz_zip_internal_state *pState;
+    uint32_t i;
+
+    if ((!pZip) || (!pZip->m_pState) || (!pZip->m_pAlloc) || (!pZip->m_pFree) || (!pZip->m_pRead))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    pState = pZip->m_pState;
+
+    /* Basic sanity checks */
+    if (!pState->m_zip64)
+    {
+        if (pZip->m_total_files > MZ_UINT16_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE);
+
+        if (pZip->m_archive_size > MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE);
+    }
+    else
+    {
+        if (pZip->m_total_files >= MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE);
+
+        if (pState->m_central_dir.m_size >= MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE);
+    }
+
+    for (i = 0; i < pZip->m_total_files; i++)
+    {
+        if (MZ_ZIP_FLAG_VALIDATE_LOCATE_FILE_FLAG & flags)
+        {
+            mz_uint32 found_index;
+            mz_zip_archive_file_stat stat;
+
+            if (!mz_zip_reader_file_stat(pZip, i, &stat))
+                return MZ_FALSE;
+
+            if (!mz_zip_reader_locate_file_v2(pZip, stat.m_filename, NULL, 0, &found_index))
+                return MZ_FALSE;
+
+            /* This check can fail if there are duplicate filenames in the archive (which we don't check for when writing - that's up to the user) */
+            if (found_index != i)
+                return mz_zip_set_error(pZip, MZ_ZIP_VALIDATION_FAILED);
+        }
+
+        if (!mz_zip_validate_file(pZip, i, flags))
+            return MZ_FALSE;
+    }
+
+    return MZ_TRUE;
+}
+
+mz_bool mz_zip_validate_mem_archive(const void *pMem, size_t size, mz_uint flags, mz_zip_error *pErr)
+{
+    mz_bool success = MZ_TRUE;
+    mz_zip_archive zip;
+    mz_zip_error actual_err = MZ_ZIP_NO_ERROR;
+
+    if ((!pMem) || (!size))
+    {
+        if (pErr)
+            *pErr = MZ_ZIP_INVALID_PARAMETER;
+        return MZ_FALSE;
+    }
+
+    mz_zip_zero_struct(&zip);
+
+    if (!mz_zip_reader_init_mem(&zip, pMem, size, flags))
+    {
+        if (pErr)
+            *pErr = zip.m_last_error;
+        return MZ_FALSE;
+    }
+
+    if (!mz_zip_validate_archive(&zip, flags))
+    {
+        actual_err = zip.m_last_error;
+        success = MZ_FALSE;
+    }
+
+    if (!mz_zip_reader_end_internal(&zip, success))
+    {
+        if (!actual_err)
+            actual_err = zip.m_last_error;
+        success = MZ_FALSE;
+    }
+
+    if (pErr)
+        *pErr = actual_err;
+
+    return success;
+}
+
+#ifndef MINIZ_NO_STDIO
+mz_bool mz_zip_validate_file_archive(const char *pFilename, mz_uint flags, mz_zip_error *pErr)
+{
+    mz_bool success = MZ_TRUE;
+    mz_zip_archive zip;
+    mz_zip_error actual_err = MZ_ZIP_NO_ERROR;
+
+    if (!pFilename)
+    {
+        if (pErr)
+            *pErr = MZ_ZIP_INVALID_PARAMETER;
+        return MZ_FALSE;
+    }
+
+    mz_zip_zero_struct(&zip);
+
+    if (!mz_zip_reader_init_file_v2(&zip, pFilename, flags, 0, 0))
+    {
+        if (pErr)
+            *pErr = zip.m_last_error;
+        return MZ_FALSE;
+    }
+
+    if (!mz_zip_validate_archive(&zip, flags))
+    {
+        actual_err = zip.m_last_error;
+        success = MZ_FALSE;
+    }
+
+    if (!mz_zip_reader_end_internal(&zip, success))
+    {
+        if (!actual_err)
+            actual_err = zip.m_last_error;
+        success = MZ_FALSE;
+    }
+
+    if (pErr)
+        *pErr = actual_err;
+
+    return success;
+}
+#endif /* #ifndef MINIZ_NO_STDIO */
+
+/* ------------------- .ZIP archive writing */
+
+#ifndef MINIZ_NO_ARCHIVE_WRITING_APIS
+
+static MZ_FORCEINLINE void mz_write_le16(mz_uint8 *p, mz_uint16 v)
+{
+    p[0] = (mz_uint8)v;
+    p[1] = (mz_uint8)(v >> 8);
+}
+static MZ_FORCEINLINE void mz_write_le32(mz_uint8 *p, mz_uint32 v)
+{
+    p[0] = (mz_uint8)v;
+    p[1] = (mz_uint8)(v >> 8);
+    p[2] = (mz_uint8)(v >> 16);
+    p[3] = (mz_uint8)(v >> 24);
+}
+static MZ_FORCEINLINE void mz_write_le64(mz_uint8 *p, mz_uint64 v)
+{
+    mz_write_le32(p, (mz_uint32)v);
+    mz_write_le32(p + sizeof(mz_uint32), (mz_uint32)(v >> 32));
+}
+
+#define MZ_WRITE_LE16(p, v) mz_write_le16((mz_uint8 *)(p), (mz_uint16)(v))
+#define MZ_WRITE_LE32(p, v) mz_write_le32((mz_uint8 *)(p), (mz_uint32)(v))
+#define MZ_WRITE_LE64(p, v) mz_write_le64((mz_uint8 *)(p), (mz_uint64)(v))
+
+static size_t mz_zip_heap_write_func(void *pOpaque, mz_uint64 file_ofs, const void *pBuf, size_t n)
+{
+    mz_zip_archive *pZip = (mz_zip_archive *)pOpaque;
+    mz_zip_internal_state *pState = pZip->m_pState;
+    mz_uint64 new_size = MZ_MAX(file_ofs + n, pState->m_mem_size);
+
+    if (!n)
+        return 0;
+
+    /* An allocation this big is likely to just fail on 32-bit systems, so don't even go there. */
+    if ((sizeof(size_t) == sizeof(mz_uint32)) && (new_size > 0x7FFFFFFF))
+    {
+        mz_zip_set_error(pZip, MZ_ZIP_FILE_TOO_LARGE);
+        return 0;
+    }
+
+    if (new_size > pState->m_mem_capacity)
+    {
+        void *pNew_block;
+        size_t new_capacity = MZ_MAX(64, pState->m_mem_capacity);
+
+        while (new_capacity < new_size)
+            new_capacity *= 2;
+
+        if (NULL == (pNew_block = pZip->m_pRealloc(pZip->m_pAlloc_opaque, pState->m_pMem, 1, new_capacity)))
+        {
+            mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+            return 0;
+        }
+
+        pState->m_pMem = pNew_block;
+        pState->m_mem_capacity = new_capacity;
+    }
+    memcpy((mz_uint8 *)pState->m_pMem + file_ofs, pBuf, n);
+    pState->m_mem_size = (size_t)new_size;
+    return n;
+}
+
+static mz_bool mz_zip_writer_end_internal(mz_zip_archive *pZip, mz_bool set_last_error)
+{
+    mz_zip_internal_state *pState;
+    mz_bool status = MZ_TRUE;
+
+    if ((!pZip) || (!pZip->m_pState) || (!pZip->m_pAlloc) || (!pZip->m_pFree) || ((pZip->m_zip_mode != MZ_ZIP_MODE_WRITING) && (pZip->m_zip_mode != MZ_ZIP_MODE_WRITING_HAS_BEEN_FINALIZED)))
+    {
+        if (set_last_error)
+            mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+        return MZ_FALSE;
+    }
+
+    pState = pZip->m_pState;
+    pZip->m_pState = NULL;
+    mz_zip_array_clear(pZip, &pState->m_central_dir);
+    mz_zip_array_clear(pZip, &pState->m_central_dir_offsets);
+    mz_zip_array_clear(pZip, &pState->m_sorted_central_dir_offsets);
+
+#ifndef MINIZ_NO_STDIO
+    if (pState->m_pFile)
+    {
+        if (pZip->m_zip_type == MZ_ZIP_TYPE_FILE)
+        {
+            if (MZ_FCLOSE(pState->m_pFile) == EOF)
+            {
+                if (set_last_error)
+                    mz_zip_set_error(pZip, MZ_ZIP_FILE_CLOSE_FAILED);
+                status = MZ_FALSE;
+            }
+        }
+
+        pState->m_pFile = NULL;
+    }
+#endif /* #ifndef MINIZ_NO_STDIO */
+
+    if ((pZip->m_pWrite == mz_zip_heap_write_func) && (pState->m_pMem))
+    {
+        pZip->m_pFree(pZip->m_pAlloc_opaque, pState->m_pMem);
+        pState->m_pMem = NULL;
+    }
+
+    pZip->m_pFree(pZip->m_pAlloc_opaque, pState);
+    pZip->m_zip_mode = MZ_ZIP_MODE_INVALID;
+    return status;
+}
+
+mz_bool mz_zip_writer_init_v2(mz_zip_archive *pZip, mz_uint64 existing_size, mz_uint flags)
+{
+    mz_bool zip64 = (flags & MZ_ZIP_FLAG_WRITE_ZIP64) != 0;
+
+    if ((!pZip) || (pZip->m_pState) || (!pZip->m_pWrite) || (pZip->m_zip_mode != MZ_ZIP_MODE_INVALID))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    if (flags & MZ_ZIP_FLAG_WRITE_ALLOW_READING)
+    {
+        if (!pZip->m_pRead)
+            return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+    }
+
+    if (pZip->m_file_offset_alignment)
+    {
+        /* Ensure user specified file offset alignment is a power of 2. */
+        if (pZip->m_file_offset_alignment & (pZip->m_file_offset_alignment - 1))
+            return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+    }
+
+    if (!pZip->m_pAlloc)
+        pZip->m_pAlloc = miniz_def_alloc_func;
+    if (!pZip->m_pFree)
+        pZip->m_pFree = miniz_def_free_func;
+    if (!pZip->m_pRealloc)
+        pZip->m_pRealloc = miniz_def_realloc_func;
+
+    pZip->m_archive_size = existing_size;
+    pZip->m_central_directory_file_ofs = 0;
+    pZip->m_total_files = 0;
+
+    if (NULL == (pZip->m_pState = (mz_zip_internal_state *)pZip->m_pAlloc(pZip->m_pAlloc_opaque, 1, sizeof(mz_zip_internal_state))))
+        return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+
+    memset(pZip->m_pState, 0, sizeof(mz_zip_internal_state));
+
+    MZ_ZIP_ARRAY_SET_ELEMENT_SIZE(&pZip->m_pState->m_central_dir, sizeof(mz_uint8));
+    MZ_ZIP_ARRAY_SET_ELEMENT_SIZE(&pZip->m_pState->m_central_dir_offsets, sizeof(mz_uint32));
+    MZ_ZIP_ARRAY_SET_ELEMENT_SIZE(&pZip->m_pState->m_sorted_central_dir_offsets, sizeof(mz_uint32));
+
+    pZip->m_pState->m_zip64 = zip64;
+    pZip->m_pState->m_zip64_has_extended_info_fields = zip64;
+
+    pZip->m_zip_type = MZ_ZIP_TYPE_USER;
+    pZip->m_zip_mode = MZ_ZIP_MODE_WRITING;
+
+    return MZ_TRUE;
+}
+
+mz_bool mz_zip_writer_init(mz_zip_archive *pZip, mz_uint64 existing_size)
+{
+    return mz_zip_writer_init_v2(pZip, existing_size, 0);
+}
+
+mz_bool mz_zip_writer_init_heap_v2(mz_zip_archive *pZip, size_t size_to_reserve_at_beginning, size_t initial_allocation_size, mz_uint flags)
+{
+    pZip->m_pWrite = mz_zip_heap_write_func;
+	pZip->m_pNeeds_keepalive = NULL;
+
+    if (flags & MZ_ZIP_FLAG_WRITE_ALLOW_READING)
+        pZip->m_pRead = mz_zip_mem_read_func;
+
+    pZip->m_pIO_opaque = pZip;
+
+    if (!mz_zip_writer_init_v2(pZip, size_to_reserve_at_beginning, flags))
+        return MZ_FALSE;
+
+    pZip->m_zip_type = MZ_ZIP_TYPE_HEAP;
+
+    if (0 != (initial_allocation_size = MZ_MAX(initial_allocation_size, size_to_reserve_at_beginning)))
+    {
+        if (NULL == (pZip->m_pState->m_pMem = pZip->m_pAlloc(pZip->m_pAlloc_opaque, 1, initial_allocation_size)))
+        {
+            mz_zip_writer_end_internal(pZip, MZ_FALSE);
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+        }
+        pZip->m_pState->m_mem_capacity = initial_allocation_size;
+    }
+
+    return MZ_TRUE;
+}
+
+mz_bool mz_zip_writer_init_heap(mz_zip_archive *pZip, size_t size_to_reserve_at_beginning, size_t initial_allocation_size)
+{
+    return mz_zip_writer_init_heap_v2(pZip, size_to_reserve_at_beginning, initial_allocation_size, 0);
+}
+
+#ifndef MINIZ_NO_STDIO
+static size_t mz_zip_file_write_func(void *pOpaque, mz_uint64 file_ofs, const void *pBuf, size_t n)
+{
+    mz_zip_archive *pZip = (mz_zip_archive *)pOpaque;
+    mz_int64 cur_ofs = MZ_FTELL64(pZip->m_pState->m_pFile);
+
+    file_ofs += pZip->m_pState->m_file_archive_start_ofs;
+
+    if (((mz_int64)file_ofs < 0) || (((cur_ofs != (mz_int64)file_ofs)) && (MZ_FSEEK64(pZip->m_pState->m_pFile, (mz_int64)file_ofs, SEEK_SET))))
+    {
+        mz_zip_set_error(pZip, MZ_ZIP_FILE_SEEK_FAILED);
+        return 0;
+    }
+
+    return MZ_FWRITE(pBuf, 1, n, pZip->m_pState->m_pFile);
+}
+
+mz_bool mz_zip_writer_init_file(mz_zip_archive *pZip, const char *pFilename, mz_uint64 size_to_reserve_at_beginning)
+{
+    return mz_zip_writer_init_file_v2(pZip, pFilename, size_to_reserve_at_beginning, 0);
+}
+
+mz_bool mz_zip_writer_init_file_v2(mz_zip_archive *pZip, const char *pFilename, mz_uint64 size_to_reserve_at_beginning, mz_uint flags)
+{
+    MZ_FILE *pFile;
+
+    pZip->m_pWrite = mz_zip_file_write_func;
+	pZip->m_pNeeds_keepalive = NULL;
+
+    if (flags & MZ_ZIP_FLAG_WRITE_ALLOW_READING)
+        pZip->m_pRead = mz_zip_file_read_func;
+
+    pZip->m_pIO_opaque = pZip;
+
+    if (!mz_zip_writer_init_v2(pZip, size_to_reserve_at_beginning, flags))
+        return MZ_FALSE;
+
+    if (NULL == (pFile = MZ_FOPEN(pFilename, (flags & MZ_ZIP_FLAG_WRITE_ALLOW_READING) ? "w+b" : "wb")))
+    {
+        mz_zip_writer_end(pZip);
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_OPEN_FAILED);
+    }
+
+    pZip->m_pState->m_pFile = pFile;
+    pZip->m_zip_type = MZ_ZIP_TYPE_FILE;
+
+    if (size_to_reserve_at_beginning)
+    {
+        mz_uint64 cur_ofs = 0;
+        char buf[4096];
+
+        MZ_CLEAR_OBJ(buf);
+
+        do
+        {
+            size_t n = (size_t)MZ_MIN(sizeof(buf), size_to_reserve_at_beginning);
+            if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_ofs, buf, n) != n)
+            {
+                mz_zip_writer_end(pZip);
+                return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+            }
+            cur_ofs += n;
+            size_to_reserve_at_beginning -= n;
+        } while (size_to_reserve_at_beginning);
+    }
+
+    return MZ_TRUE;
+}
+
+mz_bool mz_zip_writer_init_cfile(mz_zip_archive *pZip, MZ_FILE *pFile, mz_uint flags)
+{
+    pZip->m_pWrite = mz_zip_file_write_func;
+	pZip->m_pNeeds_keepalive = NULL;
+
+    if (flags & MZ_ZIP_FLAG_WRITE_ALLOW_READING)
+        pZip->m_pRead = mz_zip_file_read_func;
+
+    pZip->m_pIO_opaque = pZip;
+
+    if (!mz_zip_writer_init_v2(pZip, 0, flags))
+        return MZ_FALSE;
+
+    pZip->m_pState->m_pFile = pFile;
+    pZip->m_pState->m_file_archive_start_ofs = MZ_FTELL64(pZip->m_pState->m_pFile);
+    pZip->m_zip_type = MZ_ZIP_TYPE_CFILE;
+
+    return MZ_TRUE;
+}
+#endif /* #ifndef MINIZ_NO_STDIO */
+
+mz_bool mz_zip_writer_init_from_reader_v2(mz_zip_archive *pZip, const char *pFilename, mz_uint flags)
+{
+    mz_zip_internal_state *pState;
+
+    if ((!pZip) || (!pZip->m_pState) || (pZip->m_zip_mode != MZ_ZIP_MODE_READING))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    if (flags & MZ_ZIP_FLAG_WRITE_ZIP64)
+    {
+        /* We don't support converting a non-zip64 file to zip64 - this seems like more trouble than it's worth. (What about the existing 32-bit data descriptors that could follow the compressed data?) */
+        if (!pZip->m_pState->m_zip64)
+            return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+    }
+
+    /* No sense in trying to write to an archive that's already at the support max size */
+    if (pZip->m_pState->m_zip64)
+    {
+        if (pZip->m_total_files == MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_TOO_MANY_FILES);
+    }
+    else
+    {
+        if (pZip->m_total_files == MZ_UINT16_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_TOO_MANY_FILES);
+
+        if ((pZip->m_archive_size + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + MZ_ZIP_LOCAL_DIR_HEADER_SIZE) > MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_TOO_LARGE);
+    }
+
+    pState = pZip->m_pState;
+
+    if (pState->m_pFile)
+    {
+#ifdef MINIZ_NO_STDIO
+        (void)pFilename;
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+#else
+        if (pZip->m_pIO_opaque != pZip)
+            return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+        if (pZip->m_zip_type == MZ_ZIP_TYPE_FILE)
+        {
+            if (!pFilename)
+                return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+            /* Archive is being read from stdio and was originally opened only for reading. Try to reopen as writable. */
+            if (NULL == (pState->m_pFile = MZ_FREOPEN(pFilename, "r+b", pState->m_pFile)))
+            {
+                /* The mz_zip_archive is now in a bogus state because pState->m_pFile is NULL, so just close it. */
+                mz_zip_reader_end_internal(pZip, MZ_FALSE);
+                return mz_zip_set_error(pZip, MZ_ZIP_FILE_OPEN_FAILED);
+            }
+        }
+
+        pZip->m_pWrite = mz_zip_file_write_func;
+		pZip->m_pNeeds_keepalive = NULL;
+#endif /* #ifdef MINIZ_NO_STDIO */
+    }
+    else if (pState->m_pMem)
+    {
+        /* Archive lives in a memory block. Assume it's from the heap that we can resize using the realloc callback. */
+        if (pZip->m_pIO_opaque != pZip)
+            return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+        pState->m_mem_capacity = pState->m_mem_size;
+        pZip->m_pWrite = mz_zip_heap_write_func;
+		pZip->m_pNeeds_keepalive = NULL;
+    }
+    /* Archive is being read via a user provided read function - make sure the user has specified a write function too. */
+    else if (!pZip->m_pWrite)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    /* Start writing new files at the archive's current central directory location. */
+    /* TODO: We could add a flag that lets the user start writing immediately AFTER the existing central dir - this would be safer. */
+    pZip->m_archive_size = pZip->m_central_directory_file_ofs;
+    pZip->m_central_directory_file_ofs = 0;
+
+    /* Clear the sorted central dir offsets, they aren't useful or maintained now. */
+    /* Even though we're now in write mode, files can still be extracted and verified, but file locates will be slow. */
+    /* TODO: We could easily maintain the sorted central directory offsets. */
+    mz_zip_array_clear(pZip, &pZip->m_pState->m_sorted_central_dir_offsets);
+
+    pZip->m_zip_mode = MZ_ZIP_MODE_WRITING;
+
+    return MZ_TRUE;
+}
+
+mz_bool mz_zip_writer_init_from_reader(mz_zip_archive *pZip, const char *pFilename)
+{
+    return mz_zip_writer_init_from_reader_v2(pZip, pFilename, 0);
+}
+
+/* TODO: pArchive_name is a terrible name here! */
+mz_bool mz_zip_writer_add_mem(mz_zip_archive *pZip, const char *pArchive_name, const void *pBuf, size_t buf_size, mz_uint level_and_flags)
+{
+    return mz_zip_writer_add_mem_ex(pZip, pArchive_name, pBuf, buf_size, NULL, 0, level_and_flags, 0, 0);
+}
+
+typedef struct
+{
+    mz_zip_archive *m_pZip;
+    mz_uint64 m_cur_archive_file_ofs;
+    mz_uint64 m_comp_size;
+} mz_zip_writer_add_state;
+
+static mz_bool mz_zip_writer_add_put_buf_callback(const void *pBuf, int len, void *pUser)
+{
+    mz_zip_writer_add_state *pState = (mz_zip_writer_add_state *)pUser;
+    if ((int)pState->m_pZip->m_pWrite(pState->m_pZip->m_pIO_opaque, pState->m_cur_archive_file_ofs, pBuf, len) != len)
+        return MZ_FALSE;
+
+    pState->m_cur_archive_file_ofs += len;
+    pState->m_comp_size += len;
+    return MZ_TRUE;
+}
+
+#define MZ_ZIP64_MAX_LOCAL_EXTRA_FIELD_SIZE (sizeof(mz_uint16) * 2 + sizeof(mz_uint64) * 2)
+#define MZ_ZIP64_MAX_CENTRAL_EXTRA_FIELD_SIZE (sizeof(mz_uint16) * 2 + sizeof(mz_uint64) * 3)
+static mz_uint32 mz_zip_writer_create_zip64_extra_data(mz_uint8 *pBuf, mz_uint64 *pUncomp_size, mz_uint64 *pComp_size, mz_uint64 *pLocal_header_ofs)
+{
+    mz_uint8 *pDst = pBuf;
+	mz_uint32 field_size = 0;
+
+    MZ_WRITE_LE16(pDst + 0, MZ_ZIP64_EXTENDED_INFORMATION_FIELD_HEADER_ID);
+    MZ_WRITE_LE16(pDst + 2, 0);
+    pDst += sizeof(mz_uint16) * 2;
+
+    if (pUncomp_size)
+    {
+        MZ_WRITE_LE64(pDst, *pUncomp_size);
+        pDst += sizeof(mz_uint64);
+        field_size += sizeof(mz_uint64);
+    }
+
+    if (pComp_size)
+    {
+        MZ_WRITE_LE64(pDst, *pComp_size);
+        pDst += sizeof(mz_uint64);
+        field_size += sizeof(mz_uint64);
+    }
+
+    if (pLocal_header_ofs)
+    {
+        MZ_WRITE_LE64(pDst, *pLocal_header_ofs);
+        pDst += sizeof(mz_uint64);
+        field_size += sizeof(mz_uint64);
+    }
+
+    MZ_WRITE_LE16(pBuf + 2, field_size);
+
+    return (mz_uint32)(pDst - pBuf);
+}
+
+static mz_bool mz_zip_writer_create_local_dir_header(mz_zip_archive *pZip, mz_uint8 *pDst, mz_uint16 filename_size, mz_uint16 extra_size, mz_uint64 uncomp_size, mz_uint64 comp_size, mz_uint32 uncomp_crc32, mz_uint16 method, mz_uint16 bit_flags, mz_uint16 dos_time, mz_uint16 dos_date)
+{
+    (void)pZip;
+    memset(pDst, 0, MZ_ZIP_LOCAL_DIR_HEADER_SIZE);
+    MZ_WRITE_LE32(pDst + MZ_ZIP_LDH_SIG_OFS, MZ_ZIP_LOCAL_DIR_HEADER_SIG);
+    MZ_WRITE_LE16(pDst + MZ_ZIP_LDH_VERSION_NEEDED_OFS, method ? 20 : 0);
+    MZ_WRITE_LE16(pDst + MZ_ZIP_LDH_BIT_FLAG_OFS, bit_flags);
+    MZ_WRITE_LE16(pDst + MZ_ZIP_LDH_METHOD_OFS, method);
+    MZ_WRITE_LE16(pDst + MZ_ZIP_LDH_FILE_TIME_OFS, dos_time);
+    MZ_WRITE_LE16(pDst + MZ_ZIP_LDH_FILE_DATE_OFS, dos_date);
+    MZ_WRITE_LE32(pDst + MZ_ZIP_LDH_CRC32_OFS, uncomp_crc32);
+    MZ_WRITE_LE32(pDst + MZ_ZIP_LDH_COMPRESSED_SIZE_OFS, MZ_MIN(comp_size, MZ_UINT32_MAX));
+    MZ_WRITE_LE32(pDst + MZ_ZIP_LDH_DECOMPRESSED_SIZE_OFS, MZ_MIN(uncomp_size, MZ_UINT32_MAX));
+    MZ_WRITE_LE16(pDst + MZ_ZIP_LDH_FILENAME_LEN_OFS, filename_size);
+    MZ_WRITE_LE16(pDst + MZ_ZIP_LDH_EXTRA_LEN_OFS, extra_size);
+    return MZ_TRUE;
+}
+
+static mz_bool mz_zip_writer_create_central_dir_header(mz_zip_archive *pZip, mz_uint8 *pDst,
+                                                       mz_uint16 filename_size, mz_uint16 extra_size, mz_uint16 comment_size,
+                                                       mz_uint64 uncomp_size, mz_uint64 comp_size, mz_uint32 uncomp_crc32,
+                                                       mz_uint16 method, mz_uint16 bit_flags, mz_uint16 dos_time, mz_uint16 dos_date,
+                                                       mz_uint64 local_header_ofs, mz_uint32 ext_attributes)
+{
+    (void)pZip;
+    memset(pDst, 0, MZ_ZIP_CENTRAL_DIR_HEADER_SIZE);
+    MZ_WRITE_LE32(pDst + MZ_ZIP_CDH_SIG_OFS, MZ_ZIP_CENTRAL_DIR_HEADER_SIG);
+    MZ_WRITE_LE16(pDst + MZ_ZIP_CDH_VERSION_NEEDED_OFS, method ? 20 : 0);
+    MZ_WRITE_LE16(pDst + MZ_ZIP_CDH_BIT_FLAG_OFS, bit_flags);
+    MZ_WRITE_LE16(pDst + MZ_ZIP_CDH_METHOD_OFS, method);
+    MZ_WRITE_LE16(pDst + MZ_ZIP_CDH_FILE_TIME_OFS, dos_time);
+    MZ_WRITE_LE16(pDst + MZ_ZIP_CDH_FILE_DATE_OFS, dos_date);
+    MZ_WRITE_LE32(pDst + MZ_ZIP_CDH_CRC32_OFS, uncomp_crc32);
+    MZ_WRITE_LE32(pDst + MZ_ZIP_CDH_COMPRESSED_SIZE_OFS, MZ_MIN(comp_size, MZ_UINT32_MAX));
+    MZ_WRITE_LE32(pDst + MZ_ZIP_CDH_DECOMPRESSED_SIZE_OFS, MZ_MIN(uncomp_size, MZ_UINT32_MAX));
+    MZ_WRITE_LE16(pDst + MZ_ZIP_CDH_FILENAME_LEN_OFS, filename_size);
+    MZ_WRITE_LE16(pDst + MZ_ZIP_CDH_EXTRA_LEN_OFS, extra_size);
+    MZ_WRITE_LE16(pDst + MZ_ZIP_CDH_COMMENT_LEN_OFS, comment_size);
+    MZ_WRITE_LE32(pDst + MZ_ZIP_CDH_EXTERNAL_ATTR_OFS, ext_attributes);
+    MZ_WRITE_LE32(pDst + MZ_ZIP_CDH_LOCAL_HEADER_OFS, MZ_MIN(local_header_ofs, MZ_UINT32_MAX));
+    return MZ_TRUE;
+}
+
+static mz_bool mz_zip_writer_add_to_central_dir(mz_zip_archive *pZip, const char *pFilename, mz_uint16 filename_size,
+                                                const void *pExtra, mz_uint16 extra_size, const void *pComment, mz_uint16 comment_size,
+                                                mz_uint64 uncomp_size, mz_uint64 comp_size, mz_uint32 uncomp_crc32,
+                                                mz_uint16 method, mz_uint16 bit_flags, mz_uint16 dos_time, mz_uint16 dos_date,
+                                                mz_uint64 local_header_ofs, mz_uint32 ext_attributes,
+                                                const char *user_extra_data, mz_uint user_extra_data_len)
+{
+    mz_zip_internal_state *pState = pZip->m_pState;
+    mz_uint32 central_dir_ofs = (mz_uint32)pState->m_central_dir.m_size;
+    size_t orig_central_dir_size = pState->m_central_dir.m_size;
+    mz_uint8 central_dir_header[MZ_ZIP_CENTRAL_DIR_HEADER_SIZE];
+
+    if (!pZip->m_pState->m_zip64)
+    {
+        if (local_header_ofs > 0xFFFFFFFF)
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_TOO_LARGE);
+    }
+
+    /* miniz doesn't support central dirs >= MZ_UINT32_MAX bytes yet */
+    if (((mz_uint64)pState->m_central_dir.m_size + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + filename_size + extra_size + user_extra_data_len + comment_size) >= MZ_UINT32_MAX)
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_CDIR_SIZE);
+
+    if (!mz_zip_writer_create_central_dir_header(pZip, central_dir_header, filename_size, extra_size + user_extra_data_len, comment_size, uncomp_size, comp_size, uncomp_crc32, method, bit_flags, dos_time, dos_date, local_header_ofs, ext_attributes))
+        return mz_zip_set_error(pZip, MZ_ZIP_INTERNAL_ERROR);
+
+    if ((!mz_zip_array_push_back(pZip, &pState->m_central_dir, central_dir_header, MZ_ZIP_CENTRAL_DIR_HEADER_SIZE)) ||
+        (!mz_zip_array_push_back(pZip, &pState->m_central_dir, pFilename, filename_size)) ||
+        (!mz_zip_array_push_back(pZip, &pState->m_central_dir, pExtra, extra_size)) ||
+        (!mz_zip_array_push_back(pZip, &pState->m_central_dir, user_extra_data, user_extra_data_len)) ||
+        (!mz_zip_array_push_back(pZip, &pState->m_central_dir, pComment, comment_size)) ||
+        (!mz_zip_array_push_back(pZip, &pState->m_central_dir_offsets, &central_dir_ofs, 1)))
+    {
+        /* Try to resize the central directory array back into its original state. */
+        mz_zip_array_resize(pZip, &pState->m_central_dir, orig_central_dir_size, MZ_FALSE);
+        return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+    }
+
+    return MZ_TRUE;
+}
+
+static mz_bool mz_zip_writer_validate_archive_name(const char *pArchive_name)
+{
+    /* Basic ZIP archive filename validity checks: Valid filenames cannot start with a forward slash, cannot contain a drive letter, and cannot use DOS-style backward slashes. */
+    if (*pArchive_name == '/')
+        return MZ_FALSE;
+
+    while (*pArchive_name)
+    {
+        if ((*pArchive_name == '\\') || (*pArchive_name == ':'))
+            return MZ_FALSE;
+
+        pArchive_name++;
+    }
+
+    return MZ_TRUE;
+}
+
+static mz_uint mz_zip_writer_compute_padding_needed_for_file_alignment(mz_zip_archive *pZip)
+{
+    mz_uint32 n;
+    if (!pZip->m_file_offset_alignment)
+        return 0;
+    n = (mz_uint32)(pZip->m_archive_size & (pZip->m_file_offset_alignment - 1));
+    return (mz_uint)((pZip->m_file_offset_alignment - n) & (pZip->m_file_offset_alignment - 1));
+}
+
+static mz_bool mz_zip_writer_write_zeros(mz_zip_archive *pZip, mz_uint64 cur_file_ofs, mz_uint32 n)
+{
+    char buf[4096];
+    memset(buf, 0, MZ_MIN(sizeof(buf), n));
+    while (n)
+    {
+        mz_uint32 s = MZ_MIN(sizeof(buf), n);
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_file_ofs, buf, s) != s)
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+        cur_file_ofs += s;
+        n -= s;
+    }
+    return MZ_TRUE;
+}
+
+mz_bool mz_zip_writer_add_mem_ex(mz_zip_archive *pZip, const char *pArchive_name, const void *pBuf, size_t buf_size, const void *pComment, mz_uint16 comment_size, mz_uint level_and_flags,
+                                 mz_uint64 uncomp_size, mz_uint32 uncomp_crc32)
+{
+    return mz_zip_writer_add_mem_ex_v2(pZip, pArchive_name, pBuf, buf_size, pComment, comment_size, level_and_flags, uncomp_size, uncomp_crc32, NULL, NULL, 0, NULL, 0);
+}
+
+mz_bool mz_zip_writer_add_mem_ex_v2(mz_zip_archive *pZip, const char *pArchive_name, const void *pBuf, size_t buf_size, const void *pComment, mz_uint16 comment_size,
+                                    mz_uint level_and_flags, mz_uint64 uncomp_size, mz_uint32 uncomp_crc32, MZ_TIME_T *last_modified,
+                                    const char *user_extra_data, mz_uint user_extra_data_len, const char *user_extra_data_central, mz_uint user_extra_data_central_len)
+{
+    mz_uint16 method = 0, dos_time = 0, dos_date = 0;
+    mz_uint level, ext_attributes = 0, num_alignment_padding_bytes;
+    mz_uint64 local_dir_header_ofs = pZip->m_archive_size, cur_archive_file_ofs = pZip->m_archive_size, comp_size = 0;
+    size_t archive_name_size;
+    mz_uint8 local_dir_header[MZ_ZIP_LOCAL_DIR_HEADER_SIZE];
+    tdefl_compressor *pComp = NULL;
+    mz_bool store_data_uncompressed;
+    mz_zip_internal_state *pState;
+    mz_uint8 *pExtra_data = NULL;
+    mz_uint32 extra_size = 0;
+    mz_uint8 extra_data[MZ_ZIP64_MAX_CENTRAL_EXTRA_FIELD_SIZE];
+    mz_uint16 bit_flags = 0;
+
+    if (uncomp_size || (buf_size && !(level_and_flags & MZ_ZIP_FLAG_COMPRESSED_DATA)))
+        bit_flags |= MZ_ZIP_LDH_BIT_FLAG_HAS_LOCATOR;
+
+    if (!(level_and_flags & MZ_ZIP_FLAG_ASCII_FILENAME))
+        bit_flags |= MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_UTF8;
+
+    if ((int)level_and_flags < 0)
+        level_and_flags = MZ_DEFAULT_LEVEL;
+    level = level_and_flags & 0xF;
+    store_data_uncompressed = ((!level) || (level_and_flags & MZ_ZIP_FLAG_COMPRESSED_DATA));
+
+    if ((!pZip) || (!pZip->m_pState) || (pZip->m_zip_mode != MZ_ZIP_MODE_WRITING) || ((buf_size) && (!pBuf)) || (!pArchive_name) || ((comment_size) && (!pComment)) || (level > MZ_UBER_COMPRESSION))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    pState = pZip->m_pState;
+
+    if (pState->m_zip64)
+    {
+        if (pZip->m_total_files == MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_TOO_MANY_FILES);
+    }
+    else
+    {
+        if (pZip->m_total_files == MZ_UINT16_MAX)
+        {
+            pState->m_zip64 = MZ_TRUE;
+            /*return mz_zip_set_error(pZip, MZ_ZIP_TOO_MANY_FILES); */
+        }
+        if ((buf_size > 0xFFFFFFFF) || (uncomp_size > 0xFFFFFFFF))
+        {
+            pState->m_zip64 = MZ_TRUE;
+            /*return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE); */
+        }
+    }
+
+    if ((!(level_and_flags & MZ_ZIP_FLAG_COMPRESSED_DATA)) && (uncomp_size))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    if (!mz_zip_writer_validate_archive_name(pArchive_name))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_FILENAME);
+
+#ifndef MINIZ_NO_TIME
+    if (last_modified != NULL)
+    {
+        mz_zip_time_t_to_dos_time(*last_modified, &dos_time, &dos_date);
+    }
+    else
+    {
+		MZ_TIME_T cur_time;
+		time(&cur_time);
+		mz_zip_time_t_to_dos_time(cur_time, &dos_time, &dos_date);
+    }
+#endif /* #ifndef MINIZ_NO_TIME */
+
+    archive_name_size = strlen(pArchive_name);
+    if (archive_name_size > MZ_UINT16_MAX)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_FILENAME);
+
+    num_alignment_padding_bytes = mz_zip_writer_compute_padding_needed_for_file_alignment(pZip);
+
+    /* miniz doesn't support central dirs >= MZ_UINT32_MAX bytes yet */
+    if (((mz_uint64)pState->m_central_dir.m_size + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + archive_name_size + MZ_ZIP64_MAX_CENTRAL_EXTRA_FIELD_SIZE + comment_size) >= MZ_UINT32_MAX)
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_CDIR_SIZE);
+
+    if (!pState->m_zip64)
+    {
+        /* Bail early if the archive would obviously become too large */
+        if ((pZip->m_archive_size + num_alignment_padding_bytes + MZ_ZIP_LOCAL_DIR_HEADER_SIZE + archive_name_size + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + archive_name_size + comment_size + pState->m_central_dir.m_size + MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE) > 0xFFFFFFFF)
+        {
+            pState->m_zip64 = MZ_TRUE;
+            /*return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE); */
+        }
+    }
+
+    if ((archive_name_size) && (pArchive_name[archive_name_size - 1] == '/'))
+    {
+        /* Set DOS Subdirectory attribute bit. */
+        ext_attributes |= MZ_ZIP_DOS_DIR_ATTRIBUTE_BITFLAG;
+
+        /* Subdirectories cannot contain data. */
+        if ((buf_size) || (uncomp_size))
+            return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+    }
+
+    /* Try to do any allocations before writing to the archive, so if an allocation fails the file remains unmodified. (A good idea if we're doing an in-place modification.) */
+    if ((!mz_zip_array_ensure_room(pZip, &pState->m_central_dir, MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + archive_name_size + comment_size + (pState->m_zip64 ? MZ_ZIP64_MAX_CENTRAL_EXTRA_FIELD_SIZE : 0))) || (!mz_zip_array_ensure_room(pZip, &pState->m_central_dir_offsets, 1)))
+        return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+
+    if ((!store_data_uncompressed) && (buf_size))
+    {
+        if (NULL == (pComp = (tdefl_compressor *)pZip->m_pAlloc(pZip->m_pAlloc_opaque, 1, sizeof(tdefl_compressor))))
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+    }
+
+    if (!mz_zip_writer_write_zeros(pZip, cur_archive_file_ofs, num_alignment_padding_bytes))
+    {
+        pZip->m_pFree(pZip->m_pAlloc_opaque, pComp);
+        return MZ_FALSE;
+    }
+
+    local_dir_header_ofs += num_alignment_padding_bytes;
+    if (pZip->m_file_offset_alignment)
+    {
+        MZ_ASSERT((local_dir_header_ofs & (pZip->m_file_offset_alignment - 1)) == 0);
+    }
+    cur_archive_file_ofs += num_alignment_padding_bytes;
+
+    MZ_CLEAR_OBJ(local_dir_header);
+
+    if (!store_data_uncompressed || (level_and_flags & MZ_ZIP_FLAG_COMPRESSED_DATA))
+    {
+        method = MZ_DEFLATED;
+    }
+
+    if (pState->m_zip64)
+    {
+        if (uncomp_size >= MZ_UINT32_MAX || local_dir_header_ofs >= MZ_UINT32_MAX)
+        {
+            pExtra_data = extra_data;
+            extra_size = mz_zip_writer_create_zip64_extra_data(extra_data, (uncomp_size >= MZ_UINT32_MAX) ? &uncomp_size : NULL,
+                                                               (uncomp_size >= MZ_UINT32_MAX) ? &comp_size : NULL, (local_dir_header_ofs >= MZ_UINT32_MAX) ? &local_dir_header_ofs : NULL);
+        }
+
+        if (!mz_zip_writer_create_local_dir_header(pZip, local_dir_header, (mz_uint16)archive_name_size, extra_size + user_extra_data_len, 0, 0, 0, method, bit_flags, dos_time, dos_date))
+            return mz_zip_set_error(pZip, MZ_ZIP_INTERNAL_ERROR);
+
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, local_dir_header_ofs, local_dir_header, sizeof(local_dir_header)) != sizeof(local_dir_header))
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+        cur_archive_file_ofs += sizeof(local_dir_header);
+
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, pArchive_name, archive_name_size) != archive_name_size)
+        {
+            pZip->m_pFree(pZip->m_pAlloc_opaque, pComp);
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+        }
+        cur_archive_file_ofs += archive_name_size;
+
+        if (pExtra_data != NULL)
+        {
+            if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, extra_data, extra_size) != extra_size)
+                return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+            cur_archive_file_ofs += extra_size;
+        }
+    }
+    else
+    {
+        if ((comp_size > MZ_UINT32_MAX) || (cur_archive_file_ofs > MZ_UINT32_MAX))
+            return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE);
+        if (!mz_zip_writer_create_local_dir_header(pZip, local_dir_header, (mz_uint16)archive_name_size, user_extra_data_len, 0, 0, 0, method, bit_flags, dos_time, dos_date))
+            return mz_zip_set_error(pZip, MZ_ZIP_INTERNAL_ERROR);
+
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, local_dir_header_ofs, local_dir_header, sizeof(local_dir_header)) != sizeof(local_dir_header))
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+        cur_archive_file_ofs += sizeof(local_dir_header);
+
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, pArchive_name, archive_name_size) != archive_name_size)
+        {
+            pZip->m_pFree(pZip->m_pAlloc_opaque, pComp);
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+        }
+        cur_archive_file_ofs += archive_name_size;
+    }
+
+    if (user_extra_data_len > 0)
+    {
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, user_extra_data, user_extra_data_len) != user_extra_data_len)
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+        cur_archive_file_ofs += user_extra_data_len;
+    }
+
+    if (!(level_and_flags & MZ_ZIP_FLAG_COMPRESSED_DATA))
+    {
+        uncomp_crc32 = (mz_uint32)mz_crc32(MZ_CRC32_INIT, (const mz_uint8 *)pBuf, buf_size);
+        uncomp_size = buf_size;
+        if (uncomp_size <= 3)
+        {
+            level = 0;
+            store_data_uncompressed = MZ_TRUE;
+        }
+    }
+
+    if (store_data_uncompressed)
+    {
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, pBuf, buf_size) != buf_size)
+        {
+            pZip->m_pFree(pZip->m_pAlloc_opaque, pComp);
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+        }
+
+        cur_archive_file_ofs += buf_size;
+        comp_size = buf_size;
+    }
+    else if (buf_size)
+    {
+        mz_zip_writer_add_state state;
+
+        state.m_pZip = pZip;
+        state.m_cur_archive_file_ofs = cur_archive_file_ofs;
+        state.m_comp_size = 0;
+
+        if ((tdefl_init(pComp, mz_zip_writer_add_put_buf_callback, &state, tdefl_create_comp_flags_from_zip_params(level, -15, MZ_DEFAULT_STRATEGY)) != TDEFL_STATUS_OKAY) ||
+            (tdefl_compress_buffer(pComp, pBuf, buf_size, TDEFL_FINISH) != TDEFL_STATUS_DONE))
+        {
+            pZip->m_pFree(pZip->m_pAlloc_opaque, pComp);
+            return mz_zip_set_error(pZip, MZ_ZIP_COMPRESSION_FAILED);
+        }
+
+        comp_size = state.m_comp_size;
+        cur_archive_file_ofs = state.m_cur_archive_file_ofs;
+    }
+
+    pZip->m_pFree(pZip->m_pAlloc_opaque, pComp);
+    pComp = NULL;
+
+    if (uncomp_size)
+    {
+		mz_uint8 local_dir_footer[MZ_ZIP_DATA_DESCRIPTER_SIZE64];
+		mz_uint32 local_dir_footer_size = MZ_ZIP_DATA_DESCRIPTER_SIZE32;
+
+        MZ_ASSERT(bit_flags & MZ_ZIP_LDH_BIT_FLAG_HAS_LOCATOR);
+
+        MZ_WRITE_LE32(local_dir_footer + 0, MZ_ZIP_DATA_DESCRIPTOR_ID);
+        MZ_WRITE_LE32(local_dir_footer + 4, uncomp_crc32);
+        if (pExtra_data == NULL)
+        {
+            if ((comp_size > MZ_UINT32_MAX) || (cur_archive_file_ofs > MZ_UINT32_MAX))
+                return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE);
+
+            MZ_WRITE_LE32(local_dir_footer + 8, comp_size);
+            MZ_WRITE_LE32(local_dir_footer + 12, uncomp_size);
+        }
+        else
+        {
+            MZ_WRITE_LE64(local_dir_footer + 8, comp_size);
+            MZ_WRITE_LE64(local_dir_footer + 16, uncomp_size);
+            local_dir_footer_size = MZ_ZIP_DATA_DESCRIPTER_SIZE64;
+        }
+
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, local_dir_footer, local_dir_footer_size) != local_dir_footer_size)
+            return MZ_FALSE;
+
+        cur_archive_file_ofs += local_dir_footer_size;
+    }
+
+    if (pExtra_data != NULL)
+    {
+        extra_size = mz_zip_writer_create_zip64_extra_data(extra_data, (uncomp_size >= MZ_UINT32_MAX) ? &uncomp_size : NULL,
+                                                           (uncomp_size >= MZ_UINT32_MAX) ? &comp_size : NULL, (local_dir_header_ofs >= MZ_UINT32_MAX) ? &local_dir_header_ofs : NULL);
+    }
+
+    if (!mz_zip_writer_add_to_central_dir(pZip, pArchive_name, (mz_uint16)archive_name_size, pExtra_data, extra_size, pComment,
+                                          comment_size, uncomp_size, comp_size, uncomp_crc32, method, bit_flags, dos_time, dos_date, local_dir_header_ofs, ext_attributes,
+                                          user_extra_data_central, user_extra_data_central_len))
+        return MZ_FALSE;
+
+    pZip->m_total_files++;
+    pZip->m_archive_size = cur_archive_file_ofs;
+
+    return MZ_TRUE;
+}
+
+#ifndef MINIZ_NO_STDIO
+mz_bool mz_zip_writer_add_cfile(mz_zip_archive *pZip, const char *pArchive_name, MZ_FILE *pSrc_file, mz_uint64 size_to_add, const MZ_TIME_T *pFile_time, const void *pComment, mz_uint16 comment_size, mz_uint level_and_flags,
+                                const char *user_extra_data, mz_uint user_extra_data_len, const char *user_extra_data_central, mz_uint user_extra_data_central_len)
+{
+    mz_uint16 gen_flags = MZ_ZIP_LDH_BIT_FLAG_HAS_LOCATOR;
+    mz_uint uncomp_crc32 = MZ_CRC32_INIT, level, num_alignment_padding_bytes;
+    mz_uint16 method = 0, dos_time = 0, dos_date = 0, ext_attributes = 0;
+    mz_uint64 local_dir_header_ofs, cur_archive_file_ofs = pZip->m_archive_size, uncomp_size = size_to_add, comp_size = 0;
+    size_t archive_name_size;
+    mz_uint8 local_dir_header[MZ_ZIP_LOCAL_DIR_HEADER_SIZE];
+    mz_uint8 *pExtra_data = NULL;
+    mz_uint32 extra_size = 0;
+    mz_uint8 extra_data[MZ_ZIP64_MAX_CENTRAL_EXTRA_FIELD_SIZE];
+    mz_zip_internal_state *pState;
+
+    if (!(level_and_flags & MZ_ZIP_FLAG_ASCII_FILENAME))
+        gen_flags |= MZ_ZIP_GENERAL_PURPOSE_BIT_FLAG_UTF8;
+
+    if ((int)level_and_flags < 0)
+        level_and_flags = MZ_DEFAULT_LEVEL;
+    level = level_and_flags & 0xF;
+
+    /* Sanity checks */
+    if ((!pZip) || (!pZip->m_pState) || (pZip->m_zip_mode != MZ_ZIP_MODE_WRITING) || (!pArchive_name) || ((comment_size) && (!pComment)) || (level > MZ_UBER_COMPRESSION))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    pState = pZip->m_pState;
+
+    if ((!pState->m_zip64) && (uncomp_size > MZ_UINT32_MAX))
+    {
+        /* Source file is too large for non-zip64 */
+        /*return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE); */
+        pState->m_zip64 = MZ_TRUE;
+    }
+
+    /* We could support this, but why? */
+    if (level_and_flags & MZ_ZIP_FLAG_COMPRESSED_DATA)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    if (!mz_zip_writer_validate_archive_name(pArchive_name))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_FILENAME);
+
+    if (pState->m_zip64)
+    {
+        if (pZip->m_total_files == MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_TOO_MANY_FILES);
+    }
+    else
+    {
+        if (pZip->m_total_files == MZ_UINT16_MAX)
+        {
+            pState->m_zip64 = MZ_TRUE;
+            /*return mz_zip_set_error(pZip, MZ_ZIP_TOO_MANY_FILES); */
+        }
+    }
+
+    archive_name_size = strlen(pArchive_name);
+    if (archive_name_size > MZ_UINT16_MAX)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_FILENAME);
+
+    num_alignment_padding_bytes = mz_zip_writer_compute_padding_needed_for_file_alignment(pZip);
+
+    /* miniz doesn't support central dirs >= MZ_UINT32_MAX bytes yet */
+    if (((mz_uint64)pState->m_central_dir.m_size + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + archive_name_size + MZ_ZIP64_MAX_CENTRAL_EXTRA_FIELD_SIZE + comment_size) >= MZ_UINT32_MAX)
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_CDIR_SIZE);
+
+    if (!pState->m_zip64)
+    {
+        /* Bail early if the archive would obviously become too large */
+        if ((pZip->m_archive_size + num_alignment_padding_bytes + MZ_ZIP_LOCAL_DIR_HEADER_SIZE + archive_name_size + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + archive_name_size + comment_size + pState->m_central_dir.m_size + MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE + 1024) > 0xFFFFFFFF)
+        {
+            pState->m_zip64 = MZ_TRUE;
+            /*return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE); */
+        }
+    }
+
+#ifndef MINIZ_NO_TIME
+    if (pFile_time)
+    {
+        mz_zip_time_t_to_dos_time(*pFile_time, &dos_time, &dos_date);
+    }
+#endif
+
+    if (uncomp_size <= 3)
+        level = 0;
+
+    if (!mz_zip_writer_write_zeros(pZip, cur_archive_file_ofs, num_alignment_padding_bytes))
+    {
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+    }
+
+    cur_archive_file_ofs += num_alignment_padding_bytes;
+    local_dir_header_ofs = cur_archive_file_ofs;
+
+    if (pZip->m_file_offset_alignment)
+    {
+        MZ_ASSERT((cur_archive_file_ofs & (pZip->m_file_offset_alignment - 1)) == 0);
+    }
+
+    if (uncomp_size && level)
+    {
+        method = MZ_DEFLATED;
+    }
+
+    MZ_CLEAR_OBJ(local_dir_header);
+    if (pState->m_zip64)
+    {
+        if (uncomp_size >= MZ_UINT32_MAX || local_dir_header_ofs >= MZ_UINT32_MAX)
+        {
+            pExtra_data = extra_data;
+            extra_size = mz_zip_writer_create_zip64_extra_data(extra_data, (uncomp_size >= MZ_UINT32_MAX) ? &uncomp_size : NULL,
+                                                               (uncomp_size >= MZ_UINT32_MAX) ? &comp_size : NULL, (local_dir_header_ofs >= MZ_UINT32_MAX) ? &local_dir_header_ofs : NULL);
+        }
+
+        if (!mz_zip_writer_create_local_dir_header(pZip, local_dir_header, (mz_uint16)archive_name_size, extra_size + user_extra_data_len, 0, 0, 0, method, gen_flags, dos_time, dos_date))
+            return mz_zip_set_error(pZip, MZ_ZIP_INTERNAL_ERROR);
+
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, local_dir_header, sizeof(local_dir_header)) != sizeof(local_dir_header))
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+        cur_archive_file_ofs += sizeof(local_dir_header);
+
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, pArchive_name, archive_name_size) != archive_name_size)
+        {
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+        }
+
+        cur_archive_file_ofs += archive_name_size;
+
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, extra_data, extra_size) != extra_size)
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+        cur_archive_file_ofs += extra_size;
+    }
+    else
+    {
+        if ((comp_size > MZ_UINT32_MAX) || (cur_archive_file_ofs > MZ_UINT32_MAX))
+            return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE);
+        if (!mz_zip_writer_create_local_dir_header(pZip, local_dir_header, (mz_uint16)archive_name_size, user_extra_data_len, 0, 0, 0, method, gen_flags, dos_time, dos_date))
+            return mz_zip_set_error(pZip, MZ_ZIP_INTERNAL_ERROR);
+
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, local_dir_header, sizeof(local_dir_header)) != sizeof(local_dir_header))
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+        cur_archive_file_ofs += sizeof(local_dir_header);
+
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, pArchive_name, archive_name_size) != archive_name_size)
+        {
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+        }
+
+        cur_archive_file_ofs += archive_name_size;
+    }
+
+    if (user_extra_data_len > 0)
+    {
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, user_extra_data, user_extra_data_len) != user_extra_data_len)
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+        cur_archive_file_ofs += user_extra_data_len;
+    }
+
+    if (uncomp_size)
+    {
+        mz_uint64 uncomp_remaining = uncomp_size;
+        void *pRead_buf = pZip->m_pAlloc(pZip->m_pAlloc_opaque, 1, MZ_ZIP_MAX_IO_BUF_SIZE);
+        if (!pRead_buf)
+        {
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+        }
+
+        if (!level)
+        {
+            while (uncomp_remaining)
+            {
+                mz_uint n = (mz_uint)MZ_MIN((mz_uint64)MZ_ZIP_MAX_IO_BUF_SIZE, uncomp_remaining);
+                if ((MZ_FREAD(pRead_buf, 1, n, pSrc_file) != n) || (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, pRead_buf, n) != n))
+                {
+                    pZip->m_pFree(pZip->m_pAlloc_opaque, pRead_buf);
+                    return mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+                }
+                uncomp_crc32 = (mz_uint32)mz_crc32(uncomp_crc32, (const mz_uint8 *)pRead_buf, n);
+                uncomp_remaining -= n;
+                cur_archive_file_ofs += n;
+            }
+            comp_size = uncomp_size;
+        }
+        else
+        {
+            mz_bool result = MZ_FALSE;
+            mz_zip_writer_add_state state;
+            tdefl_compressor *pComp = (tdefl_compressor *)pZip->m_pAlloc(pZip->m_pAlloc_opaque, 1, sizeof(tdefl_compressor));
+            if (!pComp)
+            {
+                pZip->m_pFree(pZip->m_pAlloc_opaque, pRead_buf);
+                return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+            }
+
+            state.m_pZip = pZip;
+            state.m_cur_archive_file_ofs = cur_archive_file_ofs;
+            state.m_comp_size = 0;
+
+            if (tdefl_init(pComp, mz_zip_writer_add_put_buf_callback, &state, tdefl_create_comp_flags_from_zip_params(level, -15, MZ_DEFAULT_STRATEGY)) != TDEFL_STATUS_OKAY)
+            {
+                pZip->m_pFree(pZip->m_pAlloc_opaque, pComp);
+                pZip->m_pFree(pZip->m_pAlloc_opaque, pRead_buf);
+                return mz_zip_set_error(pZip, MZ_ZIP_INTERNAL_ERROR);
+            }
+
+            for (;;)
+            {
+                size_t in_buf_size = (mz_uint32)MZ_MIN(uncomp_remaining, (mz_uint64)MZ_ZIP_MAX_IO_BUF_SIZE);
+                tdefl_status status;
+				tdefl_flush flush = TDEFL_NO_FLUSH;
+
+                if (MZ_FREAD(pRead_buf, 1, in_buf_size, pSrc_file) != in_buf_size)
+                {
+                    mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+                    break;
+                }
+
+                uncomp_crc32 = (mz_uint32)mz_crc32(uncomp_crc32, (const mz_uint8 *)pRead_buf, in_buf_size);
+                uncomp_remaining -= in_buf_size;
+
+				if (pZip->m_pNeeds_keepalive != NULL && pZip->m_pNeeds_keepalive(pZip->m_pIO_opaque))
+					flush = TDEFL_FULL_FLUSH;
+
+                status = tdefl_compress_buffer(pComp, pRead_buf, in_buf_size, uncomp_remaining ? flush : TDEFL_FINISH);
+                if (status == TDEFL_STATUS_DONE)
+                {
+                    result = MZ_TRUE;
+                    break;
+                }
+                else if (status != TDEFL_STATUS_OKAY)
+                {
+                    mz_zip_set_error(pZip, MZ_ZIP_COMPRESSION_FAILED);
+                    break;
+                }
+            }
+
+            pZip->m_pFree(pZip->m_pAlloc_opaque, pComp);
+
+            if (!result)
+            {
+                pZip->m_pFree(pZip->m_pAlloc_opaque, pRead_buf);
+                return MZ_FALSE;
+            }
+
+            comp_size = state.m_comp_size;
+            cur_archive_file_ofs = state.m_cur_archive_file_ofs;
+        }
+
+        pZip->m_pFree(pZip->m_pAlloc_opaque, pRead_buf);
+    }
+
+	{
+		mz_uint8 local_dir_footer[MZ_ZIP_DATA_DESCRIPTER_SIZE64];
+		mz_uint32 local_dir_footer_size = MZ_ZIP_DATA_DESCRIPTER_SIZE32;
+
+		MZ_WRITE_LE32(local_dir_footer + 0, MZ_ZIP_DATA_DESCRIPTOR_ID);
+		MZ_WRITE_LE32(local_dir_footer + 4, uncomp_crc32);
+		if (pExtra_data == NULL)
+		{
+			if (comp_size > MZ_UINT32_MAX)
+				return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE);
+
+			MZ_WRITE_LE32(local_dir_footer + 8, comp_size);
+			MZ_WRITE_LE32(local_dir_footer + 12, uncomp_size);
+		}
+		else
+		{
+			MZ_WRITE_LE64(local_dir_footer + 8, comp_size);
+			MZ_WRITE_LE64(local_dir_footer + 16, uncomp_size);
+			local_dir_footer_size = MZ_ZIP_DATA_DESCRIPTER_SIZE64;
+		}
+
+		if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_archive_file_ofs, local_dir_footer, local_dir_footer_size) != local_dir_footer_size)
+			return MZ_FALSE;
+
+		cur_archive_file_ofs += local_dir_footer_size;
+	}
+
+    if (pExtra_data != NULL)
+    {
+        extra_size = mz_zip_writer_create_zip64_extra_data(extra_data, (uncomp_size >= MZ_UINT32_MAX) ? &uncomp_size : NULL,
+                                                           (uncomp_size >= MZ_UINT32_MAX) ? &comp_size : NULL, (local_dir_header_ofs >= MZ_UINT32_MAX) ? &local_dir_header_ofs : NULL);
+    }
+
+    if (!mz_zip_writer_add_to_central_dir(pZip, pArchive_name, (mz_uint16)archive_name_size, pExtra_data, extra_size, pComment, comment_size,
+                                          uncomp_size, comp_size, uncomp_crc32, method, gen_flags, dos_time, dos_date, local_dir_header_ofs, ext_attributes,
+                                          user_extra_data_central, user_extra_data_central_len))
+        return MZ_FALSE;
+
+    pZip->m_total_files++;
+    pZip->m_archive_size = cur_archive_file_ofs;
+
+    return MZ_TRUE;
+}
+
+mz_bool mz_zip_writer_add_file(mz_zip_archive *pZip, const char *pArchive_name, const char *pSrc_filename, const void *pComment, mz_uint16 comment_size, mz_uint level_and_flags)
+{
+    MZ_FILE *pSrc_file = NULL;
+    mz_uint64 uncomp_size = 0;
+    MZ_TIME_T file_modified_time;
+    MZ_TIME_T *pFile_time = NULL;
+	mz_bool status;
+
+    memset(&file_modified_time, 0, sizeof(file_modified_time));
+
+#if !defined(MINIZ_NO_TIME) && !defined(MINIZ_NO_STDIO)
+    pFile_time = &file_modified_time;
+    if (!mz_zip_get_file_modified_time(pSrc_filename, &file_modified_time))
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_STAT_FAILED);
+#endif
+
+    pSrc_file = MZ_FOPEN(pSrc_filename, "rb");
+    if (!pSrc_file)
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_OPEN_FAILED);
+
+    MZ_FSEEK64(pSrc_file, 0, SEEK_END);
+    uncomp_size = MZ_FTELL64(pSrc_file);
+    MZ_FSEEK64(pSrc_file, 0, SEEK_SET);
+
+    status = mz_zip_writer_add_cfile(pZip, pArchive_name, pSrc_file, uncomp_size, pFile_time, pComment, comment_size, level_and_flags, NULL, 0, NULL, 0);
+
+    MZ_FCLOSE(pSrc_file);
+
+    return status;
+}
+#endif /* #ifndef MINIZ_NO_STDIO */
+
+static mz_bool mz_zip_writer_update_zip64_extension_block(mz_zip_array *pNew_ext, mz_zip_archive *pZip, const mz_uint8 *pExt, uint32_t ext_len, mz_uint64 *pComp_size, mz_uint64 *pUncomp_size, mz_uint64 *pLocal_header_ofs, mz_uint32 *pDisk_start)
+{
+    /* + 64 should be enough for any new zip64 data */
+    if (!mz_zip_array_reserve(pZip, pNew_ext, ext_len + 64, MZ_FALSE))
+        return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+
+    mz_zip_array_resize(pZip, pNew_ext, 0, MZ_FALSE);
+
+    if ((pUncomp_size) || (pComp_size) || (pLocal_header_ofs) || (pDisk_start))
+    {
+        mz_uint8 new_ext_block[64];
+        mz_uint8 *pDst = new_ext_block;
+        mz_write_le16(pDst, MZ_ZIP64_EXTENDED_INFORMATION_FIELD_HEADER_ID);
+        mz_write_le16(pDst + sizeof(mz_uint16), 0);
+        pDst += sizeof(mz_uint16) * 2;
+
+        if (pUncomp_size)
+        {
+            mz_write_le64(pDst, *pUncomp_size);
+            pDst += sizeof(mz_uint64);
+        }
+
+        if (pComp_size)
+        {
+            mz_write_le64(pDst, *pComp_size);
+            pDst += sizeof(mz_uint64);
+        }
+
+        if (pLocal_header_ofs)
+        {
+            mz_write_le64(pDst, *pLocal_header_ofs);
+            pDst += sizeof(mz_uint64);
+        }
+
+        if (pDisk_start)
+        {
+            mz_write_le32(pDst, *pDisk_start);
+            pDst += sizeof(mz_uint32);
+        }
+
+        mz_write_le16(new_ext_block + sizeof(mz_uint16), (mz_uint16)((pDst - new_ext_block) - sizeof(mz_uint16) * 2));
+
+        if (!mz_zip_array_push_back(pZip, pNew_ext, new_ext_block, pDst - new_ext_block))
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+    }
+
+    if ((pExt) && (ext_len))
+    {
+        mz_uint32 extra_size_remaining = ext_len;
+        const mz_uint8 *pExtra_data = pExt;
+
+        do
+        {
+            mz_uint32 field_id, field_data_size, field_total_size;
+
+            if (extra_size_remaining < (sizeof(mz_uint16) * 2))
+                return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+            field_id = MZ_READ_LE16(pExtra_data);
+            field_data_size = MZ_READ_LE16(pExtra_data + sizeof(mz_uint16));
+            field_total_size = field_data_size + sizeof(mz_uint16) * 2;
+
+            if (field_total_size > extra_size_remaining)
+                return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+            if (field_id != MZ_ZIP64_EXTENDED_INFORMATION_FIELD_HEADER_ID)
+            {
+                if (!mz_zip_array_push_back(pZip, pNew_ext, pExtra_data, field_total_size))
+                    return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+            }
+
+            pExtra_data += field_total_size;
+            extra_size_remaining -= field_total_size;
+        } while (extra_size_remaining);
+    }
+
+    return MZ_TRUE;
+}
+
+/* TODO: This func is now pretty freakin complex due to zip64, split it up? */
+mz_bool mz_zip_writer_add_from_zip_reader(mz_zip_archive *pZip, mz_zip_archive *pSource_zip, mz_uint src_file_index)
+{
+    mz_uint n, bit_flags, num_alignment_padding_bytes, src_central_dir_following_data_size;
+    mz_uint64 src_archive_bytes_remaining, local_dir_header_ofs;
+    mz_uint64 cur_src_file_ofs, cur_dst_file_ofs;
+    mz_uint32 local_header_u32[(MZ_ZIP_LOCAL_DIR_HEADER_SIZE + sizeof(mz_uint32) - 1) / sizeof(mz_uint32)];
+    mz_uint8 *pLocal_header = (mz_uint8 *)local_header_u32;
+    mz_uint8 new_central_header[MZ_ZIP_CENTRAL_DIR_HEADER_SIZE];
+    size_t orig_central_dir_size;
+    mz_zip_internal_state *pState;
+    void *pBuf;
+    const mz_uint8 *pSrc_central_header;
+    mz_zip_archive_file_stat src_file_stat;
+    mz_uint32 src_filename_len, src_comment_len, src_ext_len;
+    mz_uint32 local_header_filename_size, local_header_extra_len;
+    mz_uint64 local_header_comp_size, local_header_uncomp_size;
+    mz_bool found_zip64_ext_data_in_ldir = MZ_FALSE;
+
+    /* Sanity checks */
+    if ((!pZip) || (!pZip->m_pState) || (pZip->m_zip_mode != MZ_ZIP_MODE_WRITING) || (!pSource_zip->m_pRead))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    pState = pZip->m_pState;
+
+    /* Don't support copying files from zip64 archives to non-zip64, even though in some cases this is possible */
+    if ((pSource_zip->m_pState->m_zip64) && (!pZip->m_pState->m_zip64))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    /* Get pointer to the source central dir header and crack it */
+    if (NULL == (pSrc_central_header = mz_zip_get_cdh(pSource_zip, src_file_index)))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    if (MZ_READ_LE32(pSrc_central_header + MZ_ZIP_CDH_SIG_OFS) != MZ_ZIP_CENTRAL_DIR_HEADER_SIG)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+    src_filename_len = MZ_READ_LE16(pSrc_central_header + MZ_ZIP_CDH_FILENAME_LEN_OFS);
+    src_comment_len = MZ_READ_LE16(pSrc_central_header + MZ_ZIP_CDH_COMMENT_LEN_OFS);
+    src_ext_len = MZ_READ_LE16(pSrc_central_header + MZ_ZIP_CDH_EXTRA_LEN_OFS);
+    src_central_dir_following_data_size = src_filename_len + src_ext_len + src_comment_len;
+
+    /* TODO: We don't support central dir's >= MZ_UINT32_MAX bytes right now (+32 fudge factor in case we need to add more extra data) */
+    if ((pState->m_central_dir.m_size + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + src_central_dir_following_data_size + 32) >= MZ_UINT32_MAX)
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_CDIR_SIZE);
+
+    num_alignment_padding_bytes = mz_zip_writer_compute_padding_needed_for_file_alignment(pZip);
+
+    if (!pState->m_zip64)
+    {
+        if (pZip->m_total_files == MZ_UINT16_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_TOO_MANY_FILES);
+    }
+    else
+    {
+        /* TODO: Our zip64 support still has some 32-bit limits that may not be worth fixing. */
+        if (pZip->m_total_files == MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_TOO_MANY_FILES);
+    }
+
+    if (!mz_zip_file_stat_internal(pSource_zip, src_file_index, pSrc_central_header, &src_file_stat, NULL))
+        return MZ_FALSE;
+
+    cur_src_file_ofs = src_file_stat.m_local_header_ofs;
+    cur_dst_file_ofs = pZip->m_archive_size;
+
+    /* Read the source archive's local dir header */
+    if (pSource_zip->m_pRead(pSource_zip->m_pIO_opaque, cur_src_file_ofs, pLocal_header, MZ_ZIP_LOCAL_DIR_HEADER_SIZE) != MZ_ZIP_LOCAL_DIR_HEADER_SIZE)
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+
+    if (MZ_READ_LE32(pLocal_header) != MZ_ZIP_LOCAL_DIR_HEADER_SIG)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+
+    cur_src_file_ofs += MZ_ZIP_LOCAL_DIR_HEADER_SIZE;
+
+    /* Compute the total size we need to copy (filename+extra data+compressed data) */
+    local_header_filename_size = MZ_READ_LE16(pLocal_header + MZ_ZIP_LDH_FILENAME_LEN_OFS);
+    local_header_extra_len = MZ_READ_LE16(pLocal_header + MZ_ZIP_LDH_EXTRA_LEN_OFS);
+    local_header_comp_size = MZ_READ_LE32(pLocal_header + MZ_ZIP_LDH_COMPRESSED_SIZE_OFS);
+    local_header_uncomp_size = MZ_READ_LE32(pLocal_header + MZ_ZIP_LDH_DECOMPRESSED_SIZE_OFS);
+    src_archive_bytes_remaining = local_header_filename_size + local_header_extra_len + src_file_stat.m_comp_size;
+
+    /* Try to find a zip64 extended information field */
+    if ((local_header_extra_len) && ((local_header_comp_size == MZ_UINT32_MAX) || (local_header_uncomp_size == MZ_UINT32_MAX)))
+    {
+        mz_zip_array file_data_array;
+		const mz_uint8 *pExtra_data;
+		mz_uint32 extra_size_remaining = local_header_extra_len;
+
+        mz_zip_array_init(&file_data_array, 1);
+        if (!mz_zip_array_resize(pZip, &file_data_array, local_header_extra_len, MZ_FALSE))
+        {
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+        }
+
+        if (pSource_zip->m_pRead(pSource_zip->m_pIO_opaque, src_file_stat.m_local_header_ofs + MZ_ZIP_LOCAL_DIR_HEADER_SIZE + local_header_filename_size, file_data_array.m_p, local_header_extra_len) != local_header_extra_len)
+        {
+            mz_zip_array_clear(pZip, &file_data_array);
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+        }
+
+        pExtra_data = (const mz_uint8 *)file_data_array.m_p;
+
+        do
+        {
+            mz_uint32 field_id, field_data_size, field_total_size;
+
+            if (extra_size_remaining < (sizeof(mz_uint16) * 2))
+            {
+                mz_zip_array_clear(pZip, &file_data_array);
+                return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+            }
+
+            field_id = MZ_READ_LE16(pExtra_data);
+            field_data_size = MZ_READ_LE16(pExtra_data + sizeof(mz_uint16));
+            field_total_size = field_data_size + sizeof(mz_uint16) * 2;
+
+            if (field_total_size > extra_size_remaining)
+            {
+                mz_zip_array_clear(pZip, &file_data_array);
+                return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+            }
+
+            if (field_id == MZ_ZIP64_EXTENDED_INFORMATION_FIELD_HEADER_ID)
+            {
+                const mz_uint8 *pSrc_field_data = pExtra_data + sizeof(mz_uint32);
+
+                if (field_data_size < sizeof(mz_uint64) * 2)
+                {
+                    mz_zip_array_clear(pZip, &file_data_array);
+                    return mz_zip_set_error(pZip, MZ_ZIP_INVALID_HEADER_OR_CORRUPTED);
+                }
+
+                local_header_uncomp_size = MZ_READ_LE64(pSrc_field_data);
+                local_header_comp_size = MZ_READ_LE64(pSrc_field_data + sizeof(mz_uint64)); /* may be 0 if there's a descriptor */
+
+                found_zip64_ext_data_in_ldir = MZ_TRUE;
+                break;
+            }
+
+            pExtra_data += field_total_size;
+            extra_size_remaining -= field_total_size;
+        } while (extra_size_remaining);
+
+        mz_zip_array_clear(pZip, &file_data_array);
+    }
+
+    if (!pState->m_zip64)
+    {
+        /* Try to detect if the new archive will most likely wind up too big and bail early (+(sizeof(mz_uint32) * 4) is for the optional descriptor which could be present, +64 is a fudge factor). */
+        /* We also check when the archive is finalized so this doesn't need to be perfect. */
+        mz_uint64 approx_new_archive_size = cur_dst_file_ofs + num_alignment_padding_bytes + MZ_ZIP_LOCAL_DIR_HEADER_SIZE + src_archive_bytes_remaining + (sizeof(mz_uint32) * 4) +
+                                            pState->m_central_dir.m_size + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + src_central_dir_following_data_size + MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE + 64;
+
+        if (approx_new_archive_size >= MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE);
+    }
+
+    /* Write dest archive padding */
+    if (!mz_zip_writer_write_zeros(pZip, cur_dst_file_ofs, num_alignment_padding_bytes))
+        return MZ_FALSE;
+
+    cur_dst_file_ofs += num_alignment_padding_bytes;
+
+    local_dir_header_ofs = cur_dst_file_ofs;
+    if (pZip->m_file_offset_alignment)
+    {
+        MZ_ASSERT((local_dir_header_ofs & (pZip->m_file_offset_alignment - 1)) == 0);
+    }
+
+    /* The original zip's local header+ext block doesn't change, even with zip64, so we can just copy it over to the dest zip */
+    if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_dst_file_ofs, pLocal_header, MZ_ZIP_LOCAL_DIR_HEADER_SIZE) != MZ_ZIP_LOCAL_DIR_HEADER_SIZE)
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+    cur_dst_file_ofs += MZ_ZIP_LOCAL_DIR_HEADER_SIZE;
+
+    /* Copy over the source archive bytes to the dest archive, also ensure we have enough buf space to handle optional data descriptor */
+    if (NULL == (pBuf = pZip->m_pAlloc(pZip->m_pAlloc_opaque, 1, (size_t)MZ_MAX(32U, MZ_MIN((mz_uint64)MZ_ZIP_MAX_IO_BUF_SIZE, src_archive_bytes_remaining)))))
+        return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+
+    while (src_archive_bytes_remaining)
+    {
+        n = (mz_uint)MZ_MIN((mz_uint64)MZ_ZIP_MAX_IO_BUF_SIZE, src_archive_bytes_remaining);
+        if (pSource_zip->m_pRead(pSource_zip->m_pIO_opaque, cur_src_file_ofs, pBuf, n) != n)
+        {
+            pZip->m_pFree(pZip->m_pAlloc_opaque, pBuf);
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+        }
+        cur_src_file_ofs += n;
+
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_dst_file_ofs, pBuf, n) != n)
+        {
+            pZip->m_pFree(pZip->m_pAlloc_opaque, pBuf);
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+        }
+        cur_dst_file_ofs += n;
+
+        src_archive_bytes_remaining -= n;
+    }
+
+    /* Now deal with the optional data descriptor */
+    bit_flags = MZ_READ_LE16(pLocal_header + MZ_ZIP_LDH_BIT_FLAG_OFS);
+    if (bit_flags & 8)
+    {
+        /* Copy data descriptor */
+        if ((pSource_zip->m_pState->m_zip64) || (found_zip64_ext_data_in_ldir))
+        {
+            /* src is zip64, dest must be zip64 */
+
+            /* name			uint32_t's */
+            /* id				1 (optional in zip64?) */
+            /* crc			1 */
+            /* comp_size	2 */
+            /* uncomp_size 2 */
+            if (pSource_zip->m_pRead(pSource_zip->m_pIO_opaque, cur_src_file_ofs, pBuf, (sizeof(mz_uint32) * 6)) != (sizeof(mz_uint32) * 6))
+            {
+                pZip->m_pFree(pZip->m_pAlloc_opaque, pBuf);
+                return mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+            }
+
+            n = sizeof(mz_uint32) * ((MZ_READ_LE32(pBuf) == MZ_ZIP_DATA_DESCRIPTOR_ID) ? 6 : 5);
+        }
+        else
+        {
+            /* src is NOT zip64 */
+            mz_bool has_id;
+
+            if (pSource_zip->m_pRead(pSource_zip->m_pIO_opaque, cur_src_file_ofs, pBuf, sizeof(mz_uint32) * 4) != sizeof(mz_uint32) * 4)
+            {
+                pZip->m_pFree(pZip->m_pAlloc_opaque, pBuf);
+                return mz_zip_set_error(pZip, MZ_ZIP_FILE_READ_FAILED);
+            }
+
+            has_id = (MZ_READ_LE32(pBuf) == MZ_ZIP_DATA_DESCRIPTOR_ID);
+
+            if (pZip->m_pState->m_zip64)
+            {
+                /* dest is zip64, so upgrade the data descriptor */
+                const mz_uint32 *pSrc_descriptor = (const mz_uint32 *)((const mz_uint8 *)pBuf + (has_id ? sizeof(mz_uint32) : 0));
+                const mz_uint32 src_crc32 = pSrc_descriptor[0];
+                const mz_uint64 src_comp_size = pSrc_descriptor[1];
+                const mz_uint64 src_uncomp_size = pSrc_descriptor[2];
+
+                mz_write_le32((mz_uint8 *)pBuf, MZ_ZIP_DATA_DESCRIPTOR_ID);
+                mz_write_le32((mz_uint8 *)pBuf + sizeof(mz_uint32) * 1, src_crc32);
+                mz_write_le64((mz_uint8 *)pBuf + sizeof(mz_uint32) * 2, src_comp_size);
+                mz_write_le64((mz_uint8 *)pBuf + sizeof(mz_uint32) * 4, src_uncomp_size);
+
+                n = sizeof(mz_uint32) * 6;
+            }
+            else
+            {
+                /* dest is NOT zip64, just copy it as-is */
+                n = sizeof(mz_uint32) * (has_id ? 4 : 3);
+            }
+        }
+
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, cur_dst_file_ofs, pBuf, n) != n)
+        {
+            pZip->m_pFree(pZip->m_pAlloc_opaque, pBuf);
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+        }
+
+        cur_src_file_ofs += n;
+        cur_dst_file_ofs += n;
+    }
+    pZip->m_pFree(pZip->m_pAlloc_opaque, pBuf);
+
+    /* Finally, add the new central dir header */
+    orig_central_dir_size = pState->m_central_dir.m_size;
+
+    memcpy(new_central_header, pSrc_central_header, MZ_ZIP_CENTRAL_DIR_HEADER_SIZE);
+
+    if (pState->m_zip64)
+    {
+        /* This is the painful part: We need to write a new central dir header + ext block with updated zip64 fields, and ensure the old fields (if any) are not included. */
+        const mz_uint8 *pSrc_ext = pSrc_central_header + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + src_filename_len;
+        mz_zip_array new_ext_block;
+
+        mz_zip_array_init(&new_ext_block, sizeof(mz_uint8));
+
+        MZ_WRITE_LE32(new_central_header + MZ_ZIP_CDH_COMPRESSED_SIZE_OFS, MZ_UINT32_MAX);
+        MZ_WRITE_LE32(new_central_header + MZ_ZIP_CDH_DECOMPRESSED_SIZE_OFS, MZ_UINT32_MAX);
+        MZ_WRITE_LE32(new_central_header + MZ_ZIP_CDH_LOCAL_HEADER_OFS, MZ_UINT32_MAX);
+
+        if (!mz_zip_writer_update_zip64_extension_block(&new_ext_block, pZip, pSrc_ext, src_ext_len, &src_file_stat.m_comp_size, &src_file_stat.m_uncomp_size, &local_dir_header_ofs, NULL))
+        {
+            mz_zip_array_clear(pZip, &new_ext_block);
+            return MZ_FALSE;
+        }
+
+        MZ_WRITE_LE16(new_central_header + MZ_ZIP_CDH_EXTRA_LEN_OFS, new_ext_block.m_size);
+
+        if (!mz_zip_array_push_back(pZip, &pState->m_central_dir, new_central_header, MZ_ZIP_CENTRAL_DIR_HEADER_SIZE))
+        {
+            mz_zip_array_clear(pZip, &new_ext_block);
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+        }
+
+        if (!mz_zip_array_push_back(pZip, &pState->m_central_dir, pSrc_central_header + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE, src_filename_len))
+        {
+            mz_zip_array_clear(pZip, &new_ext_block);
+            mz_zip_array_resize(pZip, &pState->m_central_dir, orig_central_dir_size, MZ_FALSE);
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+        }
+
+        if (!mz_zip_array_push_back(pZip, &pState->m_central_dir, new_ext_block.m_p, new_ext_block.m_size))
+        {
+            mz_zip_array_clear(pZip, &new_ext_block);
+            mz_zip_array_resize(pZip, &pState->m_central_dir, orig_central_dir_size, MZ_FALSE);
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+        }
+
+        if (!mz_zip_array_push_back(pZip, &pState->m_central_dir, pSrc_central_header + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE + src_filename_len + src_ext_len, src_comment_len))
+        {
+            mz_zip_array_clear(pZip, &new_ext_block);
+            mz_zip_array_resize(pZip, &pState->m_central_dir, orig_central_dir_size, MZ_FALSE);
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+        }
+
+        mz_zip_array_clear(pZip, &new_ext_block);
+    }
+    else
+    {
+        /* sanity checks */
+        if (cur_dst_file_ofs > MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE);
+
+        if (local_dir_header_ofs >= MZ_UINT32_MAX)
+            return mz_zip_set_error(pZip, MZ_ZIP_ARCHIVE_TOO_LARGE);
+
+        MZ_WRITE_LE32(new_central_header + MZ_ZIP_CDH_LOCAL_HEADER_OFS, local_dir_header_ofs);
+
+        if (!mz_zip_array_push_back(pZip, &pState->m_central_dir, new_central_header, MZ_ZIP_CENTRAL_DIR_HEADER_SIZE))
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+
+        if (!mz_zip_array_push_back(pZip, &pState->m_central_dir, pSrc_central_header + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE, src_central_dir_following_data_size))
+        {
+            mz_zip_array_resize(pZip, &pState->m_central_dir, orig_central_dir_size, MZ_FALSE);
+            return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+        }
+    }
+
+    /* This shouldn't trigger unless we screwed up during the initial sanity checks */
+    if (pState->m_central_dir.m_size >= MZ_UINT32_MAX)
+    {
+        /* TODO: Support central dirs >= 32-bits in size */
+        mz_zip_array_resize(pZip, &pState->m_central_dir, orig_central_dir_size, MZ_FALSE);
+        return mz_zip_set_error(pZip, MZ_ZIP_UNSUPPORTED_CDIR_SIZE);
+    }
+
+    n = (mz_uint32)orig_central_dir_size;
+    if (!mz_zip_array_push_back(pZip, &pState->m_central_dir_offsets, &n, 1))
+    {
+        mz_zip_array_resize(pZip, &pState->m_central_dir, orig_central_dir_size, MZ_FALSE);
+        return mz_zip_set_error(pZip, MZ_ZIP_ALLOC_FAILED);
+    }
+
+    pZip->m_total_files++;
+    pZip->m_archive_size = cur_dst_file_ofs;
+
+    return MZ_TRUE;
+}
+
+mz_bool mz_zip_writer_finalize_archive(mz_zip_archive *pZip)
+{
+    mz_zip_internal_state *pState;
+    mz_uint64 central_dir_ofs, central_dir_size;
+    mz_uint8 hdr[256];
+
+    if ((!pZip) || (!pZip->m_pState) || (pZip->m_zip_mode != MZ_ZIP_MODE_WRITING))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    pState = pZip->m_pState;
+
+    if (pState->m_zip64)
+    {
+        if ((pZip->m_total_files > MZ_UINT32_MAX) || (pState->m_central_dir.m_size >= MZ_UINT32_MAX))
+            return mz_zip_set_error(pZip, MZ_ZIP_TOO_MANY_FILES);
+    }
+    else
+    {
+        if ((pZip->m_total_files > MZ_UINT16_MAX) || ((pZip->m_archive_size + pState->m_central_dir.m_size + MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE) > MZ_UINT32_MAX))
+            return mz_zip_set_error(pZip, MZ_ZIP_TOO_MANY_FILES);
+    }
+
+    central_dir_ofs = 0;
+    central_dir_size = 0;
+    if (pZip->m_total_files)
+    {
+        /* Write central directory */
+        central_dir_ofs = pZip->m_archive_size;
+        central_dir_size = pState->m_central_dir.m_size;
+        pZip->m_central_directory_file_ofs = central_dir_ofs;
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, central_dir_ofs, pState->m_central_dir.m_p, (size_t)central_dir_size) != central_dir_size)
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+        pZip->m_archive_size += central_dir_size;
+    }
+
+    if (pState->m_zip64)
+    {
+        /* Write zip64 end of central directory header */
+        mz_uint64 rel_ofs_to_zip64_ecdr = pZip->m_archive_size;
+
+        MZ_CLEAR_OBJ(hdr);
+        MZ_WRITE_LE32(hdr + MZ_ZIP64_ECDH_SIG_OFS, MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIG);
+        MZ_WRITE_LE64(hdr + MZ_ZIP64_ECDH_SIZE_OF_RECORD_OFS, MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIZE - sizeof(mz_uint32) - sizeof(mz_uint64));
+        MZ_WRITE_LE16(hdr + MZ_ZIP64_ECDH_VERSION_MADE_BY_OFS, 0x031E); /* TODO: always Unix */
+        MZ_WRITE_LE16(hdr + MZ_ZIP64_ECDH_VERSION_NEEDED_OFS, 0x002D);
+        MZ_WRITE_LE64(hdr + MZ_ZIP64_ECDH_CDIR_NUM_ENTRIES_ON_DISK_OFS, pZip->m_total_files);
+        MZ_WRITE_LE64(hdr + MZ_ZIP64_ECDH_CDIR_TOTAL_ENTRIES_OFS, pZip->m_total_files);
+        MZ_WRITE_LE64(hdr + MZ_ZIP64_ECDH_CDIR_SIZE_OFS, central_dir_size);
+        MZ_WRITE_LE64(hdr + MZ_ZIP64_ECDH_CDIR_OFS_OFS, central_dir_ofs);
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, pZip->m_archive_size, hdr, MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIZE) != MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIZE)
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+        pZip->m_archive_size += MZ_ZIP64_END_OF_CENTRAL_DIR_HEADER_SIZE;
+
+        /* Write zip64 end of central directory locator */
+        MZ_CLEAR_OBJ(hdr);
+        MZ_WRITE_LE32(hdr + MZ_ZIP64_ECDL_SIG_OFS, MZ_ZIP64_END_OF_CENTRAL_DIR_LOCATOR_SIG);
+        MZ_WRITE_LE64(hdr + MZ_ZIP64_ECDL_REL_OFS_TO_ZIP64_ECDR_OFS, rel_ofs_to_zip64_ecdr);
+        MZ_WRITE_LE32(hdr + MZ_ZIP64_ECDL_TOTAL_NUMBER_OF_DISKS_OFS, 1);
+        if (pZip->m_pWrite(pZip->m_pIO_opaque, pZip->m_archive_size, hdr, MZ_ZIP64_END_OF_CENTRAL_DIR_LOCATOR_SIZE) != MZ_ZIP64_END_OF_CENTRAL_DIR_LOCATOR_SIZE)
+            return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+        pZip->m_archive_size += MZ_ZIP64_END_OF_CENTRAL_DIR_LOCATOR_SIZE;
+    }
+
+    /* Write end of central directory record */
+    MZ_CLEAR_OBJ(hdr);
+    MZ_WRITE_LE32(hdr + MZ_ZIP_ECDH_SIG_OFS, MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIG);
+    MZ_WRITE_LE16(hdr + MZ_ZIP_ECDH_CDIR_NUM_ENTRIES_ON_DISK_OFS, MZ_MIN(MZ_UINT16_MAX, pZip->m_total_files));
+    MZ_WRITE_LE16(hdr + MZ_ZIP_ECDH_CDIR_TOTAL_ENTRIES_OFS, MZ_MIN(MZ_UINT16_MAX, pZip->m_total_files));
+    MZ_WRITE_LE32(hdr + MZ_ZIP_ECDH_CDIR_SIZE_OFS, MZ_MIN(MZ_UINT32_MAX, central_dir_size));
+    MZ_WRITE_LE32(hdr + MZ_ZIP_ECDH_CDIR_OFS_OFS, MZ_MIN(MZ_UINT32_MAX, central_dir_ofs));
+
+    if (pZip->m_pWrite(pZip->m_pIO_opaque, pZip->m_archive_size, hdr, MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE) != MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE)
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_WRITE_FAILED);
+
+#ifndef MINIZ_NO_STDIO
+    if ((pState->m_pFile) && (MZ_FFLUSH(pState->m_pFile) == EOF))
+        return mz_zip_set_error(pZip, MZ_ZIP_FILE_CLOSE_FAILED);
+#endif /* #ifndef MINIZ_NO_STDIO */
+
+    pZip->m_archive_size += MZ_ZIP_END_OF_CENTRAL_DIR_HEADER_SIZE;
+
+    pZip->m_zip_mode = MZ_ZIP_MODE_WRITING_HAS_BEEN_FINALIZED;
+    return MZ_TRUE;
+}
+
+mz_bool mz_zip_writer_finalize_heap_archive(mz_zip_archive *pZip, void **ppBuf, size_t *pSize)
+{
+    if ((!ppBuf) || (!pSize))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    *ppBuf = NULL;
+    *pSize = 0;
+
+    if ((!pZip) || (!pZip->m_pState))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    if (pZip->m_pWrite != mz_zip_heap_write_func)
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    if (!mz_zip_writer_finalize_archive(pZip))
+        return MZ_FALSE;
+
+    *ppBuf = pZip->m_pState->m_pMem;
+    *pSize = pZip->m_pState->m_mem_size;
+    pZip->m_pState->m_pMem = NULL;
+    pZip->m_pState->m_mem_size = pZip->m_pState->m_mem_capacity = 0;
+
+    return MZ_TRUE;
+}
+
+mz_bool mz_zip_writer_end(mz_zip_archive *pZip)
+{
+    return mz_zip_writer_end_internal(pZip, MZ_TRUE);
+}
+
+#ifndef MINIZ_NO_STDIO
+mz_bool mz_zip_add_mem_to_archive_file_in_place(const char *pZip_filename, const char *pArchive_name, const void *pBuf, size_t buf_size, const void *pComment, mz_uint16 comment_size, mz_uint level_and_flags)
+{
+    return mz_zip_add_mem_to_archive_file_in_place_v2(pZip_filename, pArchive_name, pBuf, buf_size, pComment, comment_size, level_and_flags, NULL);
+}
+
+mz_bool mz_zip_add_mem_to_archive_file_in_place_v2(const char *pZip_filename, const char *pArchive_name, const void *pBuf, size_t buf_size, const void *pComment, mz_uint16 comment_size, mz_uint level_and_flags, mz_zip_error *pErr)
+{
+    mz_bool status, created_new_archive = MZ_FALSE;
+    mz_zip_archive zip_archive;
+    struct MZ_FILE_STAT_STRUCT file_stat;
+    mz_zip_error actual_err = MZ_ZIP_NO_ERROR;
+
+    mz_zip_zero_struct(&zip_archive);
+    if ((int)level_and_flags < 0)
+        level_and_flags = MZ_DEFAULT_LEVEL;
+
+    if ((!pZip_filename) || (!pArchive_name) || ((buf_size) && (!pBuf)) || ((comment_size) && (!pComment)) || ((level_and_flags & 0xF) > MZ_UBER_COMPRESSION))
+    {
+        if (pErr)
+            *pErr = MZ_ZIP_INVALID_PARAMETER;
+        return MZ_FALSE;
+    }
+
+    if (!mz_zip_writer_validate_archive_name(pArchive_name))
+    {
+        if (pErr)
+            *pErr = MZ_ZIP_INVALID_FILENAME;
+        return MZ_FALSE;
+    }
+
+    /* Important: The regular non-64 bit version of stat() can fail here if the file is very large, which could cause the archive to be overwritten. */
+    /* So be sure to compile with _LARGEFILE64_SOURCE 1 */
+    if (MZ_FILE_STAT(pZip_filename, &file_stat) != 0)
+    {
+        /* Create a new archive. */
+        if (!mz_zip_writer_init_file_v2(&zip_archive, pZip_filename, 0, level_and_flags))
+        {
+            if (pErr)
+                *pErr = zip_archive.m_last_error;
+            return MZ_FALSE;
+        }
+
+        created_new_archive = MZ_TRUE;
+    }
+    else
+    {
+        /* Append to an existing archive. */
+        if (!mz_zip_reader_init_file_v2(&zip_archive, pZip_filename, level_and_flags | MZ_ZIP_FLAG_DO_NOT_SORT_CENTRAL_DIRECTORY, 0, 0))
+        {
+            if (pErr)
+                *pErr = zip_archive.m_last_error;
+            return MZ_FALSE;
+        }
+
+        if (!mz_zip_writer_init_from_reader_v2(&zip_archive, pZip_filename, level_and_flags))
+        {
+            if (pErr)
+                *pErr = zip_archive.m_last_error;
+
+            mz_zip_reader_end_internal(&zip_archive, MZ_FALSE);
+
+            return MZ_FALSE;
+        }
+    }
+
+    status = mz_zip_writer_add_mem_ex(&zip_archive, pArchive_name, pBuf, buf_size, pComment, comment_size, level_and_flags, 0, 0);
+    actual_err = zip_archive.m_last_error;
+
+    /* Always finalize, even if adding failed for some reason, so we have a valid central directory. (This may not always succeed, but we can try.) */
+    if (!mz_zip_writer_finalize_archive(&zip_archive))
+    {
+        if (!actual_err)
+            actual_err = zip_archive.m_last_error;
+
+        status = MZ_FALSE;
+    }
+
+    if (!mz_zip_writer_end_internal(&zip_archive, status))
+    {
+        if (!actual_err)
+            actual_err = zip_archive.m_last_error;
+
+        status = MZ_FALSE;
+    }
+
+    if ((!status) && (created_new_archive))
+    {
+        /* It's a new archive and something went wrong, so just delete it. */
+        int ignoredStatus = MZ_DELETE_FILE(pZip_filename);
+        (void)ignoredStatus;
+    }
+
+    if (pErr)
+        *pErr = actual_err;
+
+    return status;
+}
+
+void *mz_zip_extract_archive_file_to_heap_v2(const char *pZip_filename, const char *pArchive_name, const char *pComment, size_t *pSize, mz_uint flags, mz_zip_error *pErr)
+{
+    mz_uint32 file_index;
+    mz_zip_archive zip_archive;
+    void *p = NULL;
+
+    if (pSize)
+        *pSize = 0;
+
+    if ((!pZip_filename) || (!pArchive_name))
+    {
+        if (pErr)
+            *pErr = MZ_ZIP_INVALID_PARAMETER;
+
+        return NULL;
+    }
+
+    mz_zip_zero_struct(&zip_archive);
+    if (!mz_zip_reader_init_file_v2(&zip_archive, pZip_filename, flags | MZ_ZIP_FLAG_DO_NOT_SORT_CENTRAL_DIRECTORY, 0, 0))
+    {
+        if (pErr)
+            *pErr = zip_archive.m_last_error;
+
+        return NULL;
+    }
+
+    if (mz_zip_reader_locate_file_v2(&zip_archive, pArchive_name, pComment, flags, &file_index))
+    {
+        p = mz_zip_reader_extract_to_heap(&zip_archive, file_index, pSize, flags);
+    }
+
+    mz_zip_reader_end_internal(&zip_archive, p != NULL);
+
+    if (pErr)
+        *pErr = zip_archive.m_last_error;
+
+    return p;
+}
+
+void *mz_zip_extract_archive_file_to_heap(const char *pZip_filename, const char *pArchive_name, size_t *pSize, mz_uint flags)
+{
+    return mz_zip_extract_archive_file_to_heap_v2(pZip_filename, pArchive_name, NULL, pSize, flags, NULL);
+}
+
+#endif /* #ifndef MINIZ_NO_STDIO */
+
+#endif /* #ifndef MINIZ_NO_ARCHIVE_WRITING_APIS */
+
+/* ------------------- Misc utils */
+
+mz_zip_mode mz_zip_get_mode(mz_zip_archive *pZip)
+{
+    return pZip ? pZip->m_zip_mode : MZ_ZIP_MODE_INVALID;
+}
+
+mz_zip_type mz_zip_get_type(mz_zip_archive *pZip)
+{
+    return pZip ? pZip->m_zip_type : MZ_ZIP_TYPE_INVALID;
+}
+
+mz_zip_error mz_zip_set_last_error(mz_zip_archive *pZip, mz_zip_error err_num)
+{
+    mz_zip_error prev_err;
+
+    if (!pZip)
+        return MZ_ZIP_INVALID_PARAMETER;
+
+    prev_err = pZip->m_last_error;
+
+    pZip->m_last_error = err_num;
+    return prev_err;
+}
+
+mz_zip_error mz_zip_peek_last_error(mz_zip_archive *pZip)
+{
+    if (!pZip)
+        return MZ_ZIP_INVALID_PARAMETER;
+
+    return pZip->m_last_error;
+}
+
+mz_zip_error mz_zip_clear_last_error(mz_zip_archive *pZip)
+{
+    return mz_zip_set_last_error(pZip, MZ_ZIP_NO_ERROR);
+}
+
+mz_zip_error mz_zip_get_last_error(mz_zip_archive *pZip)
+{
+    mz_zip_error prev_err;
+
+    if (!pZip)
+        return MZ_ZIP_INVALID_PARAMETER;
+
+    prev_err = pZip->m_last_error;
+
+    pZip->m_last_error = MZ_ZIP_NO_ERROR;
+    return prev_err;
+}
+
+const char *mz_zip_get_error_string(mz_zip_error mz_err)
+{
+    switch (mz_err)
+    {
+        case MZ_ZIP_NO_ERROR:
+            return "no error";
+        case MZ_ZIP_UNDEFINED_ERROR:
+            return "undefined error";
+        case MZ_ZIP_TOO_MANY_FILES:
+            return "too many files";
+        case MZ_ZIP_FILE_TOO_LARGE:
+            return "file too large";
+        case MZ_ZIP_UNSUPPORTED_METHOD:
+            return "unsupported method";
+        case MZ_ZIP_UNSUPPORTED_ENCRYPTION:
+            return "unsupported encryption";
+        case MZ_ZIP_UNSUPPORTED_FEATURE:
+            return "unsupported feature";
+        case MZ_ZIP_FAILED_FINDING_CENTRAL_DIR:
+            return "failed finding central directory";
+        case MZ_ZIP_NOT_AN_ARCHIVE:
+            return "not a ZIP archive";
+        case MZ_ZIP_INVALID_HEADER_OR_CORRUPTED:
+            return "invalid header or archive is corrupted";
+        case MZ_ZIP_UNSUPPORTED_MULTIDISK:
+            return "unsupported multidisk archive";
+        case MZ_ZIP_DECOMPRESSION_FAILED:
+            return "decompression failed or archive is corrupted";
+        case MZ_ZIP_COMPRESSION_FAILED:
+            return "compression failed";
+        case MZ_ZIP_UNEXPECTED_DECOMPRESSED_SIZE:
+            return "unexpected decompressed size";
+        case MZ_ZIP_CRC_CHECK_FAILED:
+            return "CRC-32 check failed";
+        case MZ_ZIP_UNSUPPORTED_CDIR_SIZE:
+            return "unsupported central directory size";
+        case MZ_ZIP_ALLOC_FAILED:
+            return "allocation failed";
+        case MZ_ZIP_FILE_OPEN_FAILED:
+            return "file open failed";
+        case MZ_ZIP_FILE_CREATE_FAILED:
+            return "file create failed";
+        case MZ_ZIP_FILE_WRITE_FAILED:
+            return "file write failed";
+        case MZ_ZIP_FILE_READ_FAILED:
+            return "file read failed";
+        case MZ_ZIP_FILE_CLOSE_FAILED:
+            return "file close failed";
+        case MZ_ZIP_FILE_SEEK_FAILED:
+            return "file seek failed";
+        case MZ_ZIP_FILE_STAT_FAILED:
+            return "file stat failed";
+        case MZ_ZIP_INVALID_PARAMETER:
+            return "invalid parameter";
+        case MZ_ZIP_INVALID_FILENAME:
+            return "invalid filename";
+        case MZ_ZIP_BUF_TOO_SMALL:
+            return "buffer too small";
+        case MZ_ZIP_INTERNAL_ERROR:
+            return "internal error";
+        case MZ_ZIP_FILE_NOT_FOUND:
+            return "file not found";
+        case MZ_ZIP_ARCHIVE_TOO_LARGE:
+            return "archive is too large";
+        case MZ_ZIP_VALIDATION_FAILED:
+            return "validation failed";
+        case MZ_ZIP_WRITE_CALLBACK_FAILED:
+            return "write calledback failed";
+        default:
+            break;
+    }
+
+    return "unknown error";
+}
+
+/* Note: Just because the archive is not zip64 doesn't necessarily mean it doesn't have Zip64 extended information extra field, argh. */
+mz_bool mz_zip_is_zip64(mz_zip_archive *pZip)
+{
+    if ((!pZip) || (!pZip->m_pState))
+        return MZ_FALSE;
+
+    return pZip->m_pState->m_zip64;
+}
+
+size_t mz_zip_get_central_dir_size(mz_zip_archive *pZip)
+{
+    if ((!pZip) || (!pZip->m_pState))
+        return 0;
+
+    return pZip->m_pState->m_central_dir.m_size;
+}
+
+mz_uint mz_zip_reader_get_num_files(mz_zip_archive *pZip)
+{
+    return pZip ? pZip->m_total_files : 0;
+}
+
+mz_uint64 mz_zip_get_archive_size(mz_zip_archive *pZip)
+{
+    if (!pZip)
+        return 0;
+    return pZip->m_archive_size;
+}
+
+mz_uint64 mz_zip_get_archive_file_start_offset(mz_zip_archive *pZip)
+{
+    if ((!pZip) || (!pZip->m_pState))
+        return 0;
+    return pZip->m_pState->m_file_archive_start_ofs;
+}
+
+MZ_FILE *mz_zip_get_cfile(mz_zip_archive *pZip)
+{
+    if ((!pZip) || (!pZip->m_pState))
+        return 0;
+    return pZip->m_pState->m_pFile;
+}
+
+size_t mz_zip_read_archive_data(mz_zip_archive *pZip, mz_uint64 file_ofs, void *pBuf, size_t n)
+{
+    if ((!pZip) || (!pZip->m_pState) || (!pBuf) || (!pZip->m_pRead))
+        return mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+
+    return pZip->m_pRead(pZip->m_pIO_opaque, file_ofs, pBuf, n);
+}
+
+mz_uint mz_zip_reader_get_filename(mz_zip_archive *pZip, mz_uint file_index, char *pFilename, mz_uint filename_buf_size)
+{
+    mz_uint n;
+    const mz_uint8 *p = mz_zip_get_cdh(pZip, file_index);
+    if (!p)
+    {
+        if (filename_buf_size)
+            pFilename[0] = '\0';
+        mz_zip_set_error(pZip, MZ_ZIP_INVALID_PARAMETER);
+        return 0;
+    }
+    n = MZ_READ_LE16(p + MZ_ZIP_CDH_FILENAME_LEN_OFS);
+    if (filename_buf_size)
+    {
+        n = MZ_MIN(n, filename_buf_size - 1);
+        memcpy(pFilename, p + MZ_ZIP_CENTRAL_DIR_HEADER_SIZE, n);
+        pFilename[n] = '\0';
+    }
+    return n + 1;
+}
+
+mz_bool mz_zip_reader_file_stat(mz_zip_archive *pZip, mz_uint file_index, mz_zip_archive_file_stat *pStat)
+{
+    return mz_zip_file_stat_internal(pZip, file_index, mz_zip_get_cdh(pZip, file_index), pStat, NULL);
+}
+
+mz_bool mz_zip_end(mz_zip_archive *pZip)
+{
+    if (!pZip)
+        return MZ_FALSE;
+
+    if (pZip->m_zip_mode == MZ_ZIP_MODE_READING)
+        return mz_zip_reader_end(pZip);
+#ifndef MINIZ_NO_ARCHIVE_WRITING_APIS
+    else if ((pZip->m_zip_mode == MZ_ZIP_MODE_WRITING) || (pZip->m_zip_mode == MZ_ZIP_MODE_WRITING_HAS_BEEN_FINALIZED))
+        return mz_zip_writer_end(pZip);
+#endif
+
+    return MZ_FALSE;
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*#ifndef MINIZ_NO_ARCHIVE_APIS*/
+
diff --git a/wrap/openfbx/src/miniz.h b/wrap/openfbx/src/miniz.h
new file mode 100755
index 00000000..ba253ac2
--- /dev/null
+++ b/wrap/openfbx/src/miniz.h
@@ -0,0 +1,1296 @@
+/* miniz.c v1.16 beta r1 - public domain deflate/inflate, zlib-subset, ZIP reading/writing/appending, PNG writing
+   See "unlicense" statement at the end of this file.
+   Rich Geldreich <richgel99@gmail.com>, last updated Oct. 13, 2013
+   Implements RFC 1950: http://www.ietf.org/rfc/rfc1950.txt and RFC 1951: http://www.ietf.org/rfc/rfc1951.txt
+
+   Most API's defined in miniz.c are optional. For example, to disable the archive related functions just define
+   MINIZ_NO_ARCHIVE_APIS, or to get rid of all stdio usage define MINIZ_NO_STDIO (see the list below for more macros).
+
+   * Low-level Deflate/Inflate implementation notes:
+
+     Compression: Use the "tdefl" API's. The compressor supports raw, static, and dynamic blocks, lazy or
+     greedy parsing, match length filtering, RLE-only, and Huffman-only streams. It performs and compresses
+     approximately as well as zlib.
+
+     Decompression: Use the "tinfl" API's. The entire decompressor is implemented as a single function
+     coroutine: see tinfl_decompress(). It supports decompression into a 32KB (or larger power of 2) wrapping buffer, or into a memory
+     block large enough to hold the entire file.
+
+     The low-level tdefl/tinfl API's do not make any use of dynamic memory allocation.
+
+   * zlib-style API notes:
+
+     miniz.c implements a fairly large subset of zlib. There's enough functionality present for it to be a drop-in
+     zlib replacement in many apps:
+        The z_stream struct, optional memory allocation callbacks
+        deflateInit/deflateInit2/deflate/deflateReset/deflateEnd/deflateBound
+        inflateInit/inflateInit2/inflate/inflateEnd
+        compress, compress2, compressBound, uncompress
+        CRC-32, Adler-32 - Using modern, minimal code size, CPU cache friendly routines.
+        Supports raw deflate streams or standard zlib streams with adler-32 checking.
+
+     Limitations:
+      The callback API's are not implemented yet. No support for gzip headers or zlib static dictionaries.
+      I've tried to closely emulate zlib's various flavors of stream flushing and return status codes, but
+      there are no guarantees that miniz.c pulls this off perfectly.
+
+   * PNG writing: See the tdefl_write_image_to_png_file_in_memory() function, originally written by
+     Alex Evans. Supports 1-4 bytes/pixel images.
+
+   * ZIP archive API notes:
+
+     The ZIP archive API's where designed with simplicity and efficiency in mind, with just enough abstraction to
+     get the job done with minimal fuss. There are simple API's to retrieve file information, read files from
+     existing archives, create new archives, append new files to existing archives, or clone archive data from
+     one archive to another. It supports archives located in memory or the heap, on disk (using stdio.h),
+     or you can specify custom file read/write callbacks.
+
+     - Archive reading: Just call this function to read a single file from a disk archive:
+
+      void *mz_zip_extract_archive_file_to_heap(const char *pZip_filename, const char *pArchive_name,
+        size_t *pSize, mz_uint zip_flags);
+
+     For more complex cases, use the "mz_zip_reader" functions. Upon opening an archive, the entire central
+     directory is located and read as-is into memory, and subsequent file access only occurs when reading individual files.
+
+     - Archives file scanning: The simple way is to use this function to scan a loaded archive for a specific file:
+
+     int mz_zip_reader_locate_file(mz_zip_archive *pZip, const char *pName, const char *pComment, mz_uint flags);
+
+     The locate operation can optionally check file comments too, which (as one example) can be used to identify
+     multiple versions of the same file in an archive. This function uses a simple linear search through the central
+     directory, so it's not very fast.
+
+     Alternately, you can iterate through all the files in an archive (using mz_zip_reader_get_num_files()) and
+     retrieve detailed info on each file by calling mz_zip_reader_file_stat().
+
+     - Archive creation: Use the "mz_zip_writer" functions. The ZIP writer immediately writes compressed file data
+     to disk and builds an exact image of the central directory in memory. The central directory image is written
+     all at once at the end of the archive file when the archive is finalized.
+
+     The archive writer can optionally align each file's local header and file data to any power of 2 alignment,
+     which can be useful when the archive will be read from optical media. Also, the writer supports placing
+     arbitrary data blobs at the very beginning of ZIP archives. Archives written using either feature are still
+     readable by any ZIP tool.
+
+     - Archive appending: The simple way to add a single file to an archive is to call this function:
+
+      mz_bool mz_zip_add_mem_to_archive_file_in_place(const char *pZip_filename, const char *pArchive_name,
+        const void *pBuf, size_t buf_size, const void *pComment, mz_uint16 comment_size, mz_uint level_and_flags);
+
+     The archive will be created if it doesn't already exist, otherwise it'll be appended to.
+     Note the appending is done in-place and is not an atomic operation, so if something goes wrong
+     during the operation it's possible the archive could be left without a central directory (although the local
+     file headers and file data will be fine, so the archive will be recoverable).
+
+     For more complex archive modification scenarios:
+     1. The safest way is to use a mz_zip_reader to read the existing archive, cloning only those bits you want to
+     preserve into a new archive using using the mz_zip_writer_add_from_zip_reader() function (which compiles the
+     compressed file data as-is). When you're done, delete the old archive and rename the newly written archive, and
+     you're done. This is safe but requires a bunch of temporary disk space or heap memory.
+
+     2. Or, you can convert an mz_zip_reader in-place to an mz_zip_writer using mz_zip_writer_init_from_reader(),
+     append new files as needed, then finalize the archive which will write an updated central directory to the
+     original archive. (This is basically what mz_zip_add_mem_to_archive_file_in_place() does.) There's a
+     possibility that the archive's central directory could be lost with this method if anything goes wrong, though.
+
+     - ZIP archive support limitations:
+     No zip64 or spanning support. Extraction functions can only handle unencrypted, stored or deflated files.
+     Requires streams capable of seeking.
+
+   * This is a header file library, like stb_image.c. To get only a header file, either cut and paste the
+     below header, or create miniz.h, #define MINIZ_HEADER_FILE_ONLY, and then include miniz.c from it.
+
+   * Important: For best perf. be sure to customize the below macros for your target platform:
+     #define MINIZ_USE_UNALIGNED_LOADS_AND_STORES 1
+     #define MINIZ_LITTLE_ENDIAN 1
+     #define MINIZ_HAS_64BIT_REGISTERS 1
+
+   * On platforms using glibc, Be sure to "#define _LARGEFILE64_SOURCE 1" before including miniz.c to ensure miniz
+     uses the 64-bit variants: fopen64(), stat64(), etc. Otherwise you won't be able to process large files
+     (i.e. 32-bit stat() fails for me on files > 0x7FFFFFFF bytes).
+*/
+#pragma once
+
+
+
+
+
+/* Defines to completely disable specific portions of miniz.c: 
+   If all macros here are defined the only functionality remaining will be CRC-32, adler-32, tinfl, and tdefl. */
+
+/* Define MINIZ_NO_STDIO to disable all usage and any functions which rely on stdio for file I/O. */
+/*#define MINIZ_NO_STDIO */
+
+/* If MINIZ_NO_TIME is specified then the ZIP archive functions will not be able to get the current time, or */
+/* get/set file times, and the C run-time funcs that get/set times won't be called. */
+/* The current downside is the times written to your archives will be from 1979. */
+/*#define MINIZ_NO_TIME */
+
+/* Define MINIZ_NO_ARCHIVE_APIS to disable all ZIP archive API's. */
+/*#define MINIZ_NO_ARCHIVE_APIS */
+
+/* Define MINIZ_NO_ARCHIVE_WRITING_APIS to disable all writing related ZIP archive API's. */
+/*#define MINIZ_NO_ARCHIVE_WRITING_APIS */
+
+/* Define MINIZ_NO_ZLIB_APIS to remove all ZLIB-style compression/decompression API's. */
+/*#define MINIZ_NO_ZLIB_APIS */
+
+/* Define MINIZ_NO_ZLIB_COMPATIBLE_NAME to disable zlib names, to prevent conflicts against stock zlib. */
+/*#define MINIZ_NO_ZLIB_COMPATIBLE_NAMES */
+
+/* Define MINIZ_NO_MALLOC to disable all calls to malloc, free, and realloc. 
+   Note if MINIZ_NO_MALLOC is defined then the user must always provide custom user alloc/free/realloc
+   callbacks to the zlib and archive API's, and a few stand-alone helper API's which don't provide custom user
+   functions (such as tdefl_compress_mem_to_heap() and tinfl_decompress_mem_to_heap()) won't work. */
+/*#define MINIZ_NO_MALLOC */
+
+#if defined(__TINYC__) && (defined(__linux) || defined(__linux__))
+/* TODO: Work around "error: include file 'sys\utime.h' when compiling with tcc on Linux */
+#define MINIZ_NO_TIME
+#endif
+
+#include <stddef.h>
+
+#if !defined(MINIZ_NO_TIME) && !defined(MINIZ_NO_ARCHIVE_APIS)
+#include <time.h>
+#endif
+
+#if defined(_M_IX86) || defined(_M_X64) || defined(__i386__) || defined(__i386) || defined(__i486__) || defined(__i486) || defined(i386) || defined(__ia64__) || defined(__x86_64__)
+/* MINIZ_X86_OR_X64_CPU is only used to help set the below macros. */
+#define MINIZ_X86_OR_X64_CPU 1
+#endif
+
+#if (__BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__) || MINIZ_X86_OR_X64_CPU
+/* Set MINIZ_LITTLE_ENDIAN to 1 if the processor is little endian. */
+#define MINIZ_LITTLE_ENDIAN 1
+#endif
+
+#if MINIZ_X86_OR_X64_CPU
+/* Set MINIZ_USE_UNALIGNED_LOADS_AND_STORES to 1 on CPU's that permit efficient integer loads and stores from unaligned addresses. */
+#define MINIZ_USE_UNALIGNED_LOADS_AND_STORES 1
+#endif
+
+#if defined(_M_X64) || defined(_WIN64) || defined(__MINGW64__) || defined(_LP64) || defined(__LP64__) || defined(__ia64__) || defined(__x86_64__)
+/* Set MINIZ_HAS_64BIT_REGISTERS to 1 if operations on 64-bit integers are reasonably fast (and don't involve compiler generated calls to helper functions). */
+#define MINIZ_HAS_64BIT_REGISTERS 1
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ------------------- zlib-style API Definitions. */
+
+/* For more compatibility with zlib, miniz.c uses unsigned long for some parameters/struct members. Beware: mz_ulong can be either 32 or 64-bits! */
+typedef unsigned long mz_ulong;
+
+/* mz_free() internally uses the MZ_FREE() macro (which by default calls free() unless you've modified the MZ_MALLOC macro) to release a block allocated from the heap. */
+void mz_free(void *p);
+
+#define MZ_ADLER32_INIT (1)
+/* mz_adler32() returns the initial adler-32 value to use when called with ptr==NULL. */
+mz_ulong mz_adler32(mz_ulong adler, const unsigned char *ptr, size_t buf_len);
+
+#define MZ_CRC32_INIT (0)
+/* mz_crc32() returns the initial CRC-32 value to use when called with ptr==NULL. */
+mz_ulong mz_crc32(mz_ulong crc, const unsigned char *ptr, size_t buf_len);
+
+/* Compression strategies. */
+enum
+{
+    MZ_DEFAULT_STRATEGY = 0,
+    MZ_FILTERED = 1,
+    MZ_HUFFMAN_ONLY = 2,
+    MZ_RLE = 3,
+    MZ_FIXED = 4
+};
+
+/* Method */
+#define MZ_DEFLATED 8
+
+/* Heap allocation callbacks.
+Note that mz_alloc_func parameter types purpsosely differ from zlib's: items/size is size_t, not unsigned long. */
+typedef void *(*mz_alloc_func)(void *opaque, size_t items, size_t size);
+typedef void(*mz_free_func)(void *opaque, void *address);
+typedef void *(*mz_realloc_func)(void *opaque, void *address, size_t items, size_t size);
+
+/* Compression levels: 0-9 are the standard zlib-style levels, 10 is best possible compression (not zlib compatible, and may be very slow), MZ_DEFAULT_COMPRESSION=MZ_DEFAULT_LEVEL. */
+enum
+{
+	MZ_NO_COMPRESSION = 0,
+	MZ_BEST_SPEED = 1,
+	MZ_BEST_COMPRESSION = 9,
+	MZ_UBER_COMPRESSION = 10,
+	MZ_DEFAULT_LEVEL = 6,
+	MZ_DEFAULT_COMPRESSION = -1
+};
+
+#define MZ_VERSION "10.0.0"
+#define MZ_VERNUM 0xA000
+#define MZ_VER_MAJOR 10
+#define MZ_VER_MINOR 0
+#define MZ_VER_REVISION 0
+#define MZ_VER_SUBREVISION 0
+
+#ifndef MINIZ_NO_ZLIB_APIS
+
+/* Flush values. For typical usage you only need MZ_NO_FLUSH and MZ_FINISH. The other values are for advanced use (refer to the zlib docs). */
+enum
+{
+    MZ_NO_FLUSH = 0,
+    MZ_PARTIAL_FLUSH = 1,
+    MZ_SYNC_FLUSH = 2,
+    MZ_FULL_FLUSH = 3,
+    MZ_FINISH = 4,
+    MZ_BLOCK = 5
+};
+
+/* Return status codes. MZ_PARAM_ERROR is non-standard. */
+enum
+{
+    MZ_OK = 0,
+    MZ_STREAM_END = 1,
+    MZ_NEED_DICT = 2,
+    MZ_ERRNO = -1,
+    MZ_STREAM_ERROR = -2,
+    MZ_DATA_ERROR = -3,
+    MZ_MEM_ERROR = -4,
+    MZ_BUF_ERROR = -5,
+    MZ_VERSION_ERROR = -6,
+    MZ_PARAM_ERROR = -10000
+};
+
+/* Window bits */
+#define MZ_DEFAULT_WINDOW_BITS 15
+
+struct mz_internal_state;
+
+/* Compression/decompression stream struct. */
+typedef struct mz_stream_s
+{
+    const unsigned char *next_in; /* pointer to next byte to read */
+    unsigned int avail_in;        /* number of bytes available at next_in */
+    mz_ulong total_in;            /* total number of bytes consumed so far */
+
+    unsigned char *next_out; /* pointer to next byte to write */
+    unsigned int avail_out;  /* number of bytes that can be written to next_out */
+    mz_ulong total_out;      /* total number of bytes produced so far */
+
+    char *msg;                       /* error msg (unused) */
+    struct mz_internal_state *state; /* internal state, allocated by zalloc/zfree */
+
+    mz_alloc_func zalloc; /* optional heap allocation function (defaults to malloc) */
+    mz_free_func zfree;   /* optional heap free function (defaults to free) */
+    void *opaque;         /* heap alloc function user pointer */
+
+    int data_type;     /* data_type (unused) */
+    mz_ulong adler;    /* adler32 of the source or uncompressed data */
+    mz_ulong reserved; /* not used */
+} mz_stream;
+
+typedef mz_stream *mz_streamp;
+
+/* Returns the version string of miniz.c. */
+const char *mz_version(void);
+
+/* mz_deflateInit() initializes a compressor with default options: */
+/* Parameters: */
+/*  pStream must point to an initialized mz_stream struct. */
+/*  level must be between [MZ_NO_COMPRESSION, MZ_BEST_COMPRESSION]. */
+/*  level 1 enables a specially optimized compression function that's been optimized purely for performance, not ratio. */
+/*  (This special func. is currently only enabled when MINIZ_USE_UNALIGNED_LOADS_AND_STORES and MINIZ_LITTLE_ENDIAN are defined.) */
+/* Return values: */
+/*  MZ_OK on success. */
+/*  MZ_STREAM_ERROR if the stream is bogus. */
+/*  MZ_PARAM_ERROR if the input parameters are bogus. */
+/*  MZ_MEM_ERROR on out of memory. */
+int mz_deflateInit(mz_streamp pStream, int level);
+
+/* mz_deflateInit2() is like mz_deflate(), except with more control: */
+/* Additional parameters: */
+/*   method must be MZ_DEFLATED */
+/*   window_bits must be MZ_DEFAULT_WINDOW_BITS (to wrap the deflate stream with zlib header/adler-32 footer) or -MZ_DEFAULT_WINDOW_BITS (raw deflate/no header or footer) */
+/*   mem_level must be between [1, 9] (it's checked but ignored by miniz.c) */
+int mz_deflateInit2(mz_streamp pStream, int level, int method, int window_bits, int mem_level, int strategy);
+
+/* Quickly resets a compressor without having to reallocate anything. Same as calling mz_deflateEnd() followed by mz_deflateInit()/mz_deflateInit2(). */
+int mz_deflateReset(mz_streamp pStream);
+
+/* mz_deflate() compresses the input to output, consuming as much of the input and producing as much output as possible. */
+/* Parameters: */
+/*   pStream is the stream to read from and write to. You must initialize/update the next_in, avail_in, next_out, and avail_out members. */
+/*   flush may be MZ_NO_FLUSH, MZ_PARTIAL_FLUSH/MZ_SYNC_FLUSH, MZ_FULL_FLUSH, or MZ_FINISH. */
+/* Return values: */
+/*   MZ_OK on success (when flushing, or if more input is needed but not available, and/or there's more output to be written but the output buffer is full). */
+/*   MZ_STREAM_END if all input has been consumed and all output bytes have been written. Don't call mz_deflate() on the stream anymore. */
+/*   MZ_STREAM_ERROR if the stream is bogus. */
+/*   MZ_PARAM_ERROR if one of the parameters is invalid. */
+/*   MZ_BUF_ERROR if no forward progress is possible because the input and/or output buffers are empty. (Fill up the input buffer or free up some output space and try again.) */
+int mz_deflate(mz_streamp pStream, int flush);
+
+/* mz_deflateEnd() deinitializes a compressor: */
+/* Return values: */
+/*  MZ_OK on success. */
+/*  MZ_STREAM_ERROR if the stream is bogus. */
+int mz_deflateEnd(mz_streamp pStream);
+
+/* mz_deflateBound() returns a (very) conservative upper bound on the amount of data that could be generated by deflate(), assuming flush is set to only MZ_NO_FLUSH or MZ_FINISH. */
+mz_ulong mz_deflateBound(mz_streamp pStream, mz_ulong source_len);
+
+/* Single-call compression functions mz_compress() and mz_compress2(): */
+/* Returns MZ_OK on success, or one of the error codes from mz_deflate() on failure. */
+int mz_compress(unsigned char *pDest, mz_ulong *pDest_len, const unsigned char *pSource, mz_ulong source_len);
+int mz_compress2(unsigned char *pDest, mz_ulong *pDest_len, const unsigned char *pSource, mz_ulong source_len, int level);
+
+/* mz_compressBound() returns a (very) conservative upper bound on the amount of data that could be generated by calling mz_compress(). */
+mz_ulong mz_compressBound(mz_ulong source_len);
+
+/* Initializes a decompressor. */
+int mz_inflateInit(mz_streamp pStream);
+
+/* mz_inflateInit2() is like mz_inflateInit() with an additional option that controls the window size and whether or not the stream has been wrapped with a zlib header/footer: */
+/* window_bits must be MZ_DEFAULT_WINDOW_BITS (to parse zlib header/footer) or -MZ_DEFAULT_WINDOW_BITS (raw deflate). */
+int mz_inflateInit2(mz_streamp pStream, int window_bits);
+
+/* Decompresses the input stream to the output, consuming only as much of the input as needed, and writing as much to the output as possible. */
+/* Parameters: */
+/*   pStream is the stream to read from and write to. You must initialize/update the next_in, avail_in, next_out, and avail_out members. */
+/*   flush may be MZ_NO_FLUSH, MZ_SYNC_FLUSH, or MZ_FINISH. */
+/*   On the first call, if flush is MZ_FINISH it's assumed the input and output buffers are both sized large enough to decompress the entire stream in a single call (this is slightly faster). */
+/*   MZ_FINISH implies that there are no more source bytes available beside what's already in the input buffer, and that the output buffer is large enough to hold the rest of the decompressed data. */
+/* Return values: */
+/*   MZ_OK on success. Either more input is needed but not available, and/or there's more output to be written but the output buffer is full. */
+/*   MZ_STREAM_END if all needed input has been consumed and all output bytes have been written. For zlib streams, the adler-32 of the decompressed data has also been verified. */
+/*   MZ_STREAM_ERROR if the stream is bogus. */
+/*   MZ_DATA_ERROR if the deflate stream is invalid. */
+/*   MZ_PARAM_ERROR if one of the parameters is invalid. */
+/*   MZ_BUF_ERROR if no forward progress is possible because the input buffer is empty but the inflater needs more input to continue, or if the output buffer is not large enough. Call mz_inflate() again */
+/*   with more input data, or with more room in the output buffer (except when using single call decompression, described above). */
+int mz_inflate(mz_streamp pStream, int flush);
+
+/* Deinitializes a decompressor. */
+int mz_inflateEnd(mz_streamp pStream);
+
+/* Single-call decompression. */
+/* Returns MZ_OK on success, or one of the error codes from mz_inflate() on failure. */
+int mz_uncompress(unsigned char *pDest, mz_ulong *pDest_len, const unsigned char *pSource, mz_ulong source_len);
+
+/* Returns a string description of the specified error code, or NULL if the error code is invalid. */
+const char *mz_error(int err);
+
+/* Redefine zlib-compatible names to miniz equivalents, so miniz.c can be used as a drop-in replacement for the subset of zlib that miniz.c supports. */
+/* Define MINIZ_NO_ZLIB_COMPATIBLE_NAMES to disable zlib-compatibility if you use zlib in the same project. */
+#ifndef MINIZ_NO_ZLIB_COMPATIBLE_NAMES
+typedef unsigned char Byte;
+typedef unsigned int uInt;
+typedef mz_ulong uLong;
+typedef Byte Bytef;
+typedef uInt uIntf;
+typedef char charf;
+typedef int intf;
+typedef void *voidpf;
+typedef uLong uLongf;
+typedef void *voidp;
+typedef void *const voidpc;
+#define Z_NULL 0
+#define Z_NO_FLUSH MZ_NO_FLUSH
+#define Z_PARTIAL_FLUSH MZ_PARTIAL_FLUSH
+#define Z_SYNC_FLUSH MZ_SYNC_FLUSH
+#define Z_FULL_FLUSH MZ_FULL_FLUSH
+#define Z_FINISH MZ_FINISH
+#define Z_BLOCK MZ_BLOCK
+#define Z_OK MZ_OK
+#define Z_STREAM_END MZ_STREAM_END
+#define Z_NEED_DICT MZ_NEED_DICT
+#define Z_ERRNO MZ_ERRNO
+#define Z_STREAM_ERROR MZ_STREAM_ERROR
+#define Z_DATA_ERROR MZ_DATA_ERROR
+#define Z_MEM_ERROR MZ_MEM_ERROR
+#define Z_BUF_ERROR MZ_BUF_ERROR
+#define Z_VERSION_ERROR MZ_VERSION_ERROR
+#define Z_PARAM_ERROR MZ_PARAM_ERROR
+#define Z_NO_COMPRESSION MZ_NO_COMPRESSION
+#define Z_BEST_SPEED MZ_BEST_SPEED
+#define Z_BEST_COMPRESSION MZ_BEST_COMPRESSION
+#define Z_DEFAULT_COMPRESSION MZ_DEFAULT_COMPRESSION
+#define Z_DEFAULT_STRATEGY MZ_DEFAULT_STRATEGY
+#define Z_FILTERED MZ_FILTERED
+#define Z_HUFFMAN_ONLY MZ_HUFFMAN_ONLY
+#define Z_RLE MZ_RLE
+#define Z_FIXED MZ_FIXED
+#define Z_DEFLATED MZ_DEFLATED
+#define Z_DEFAULT_WINDOW_BITS MZ_DEFAULT_WINDOW_BITS
+#define alloc_func mz_alloc_func
+#define free_func mz_free_func
+#define internal_state mz_internal_state
+#define z_stream mz_stream
+#define deflateInit mz_deflateInit
+#define deflateInit2 mz_deflateInit2
+#define deflateReset mz_deflateReset
+#define deflate mz_deflate
+#define deflateEnd mz_deflateEnd
+#define deflateBound mz_deflateBound
+#define compress mz_compress
+#define compress2 mz_compress2
+#define compressBound mz_compressBound
+#define inflateInit mz_inflateInit
+#define inflateInit2 mz_inflateInit2
+#define inflate mz_inflate
+#define inflateEnd mz_inflateEnd
+#define uncompress mz_uncompress
+#define crc32 mz_crc32
+#define adler32 mz_adler32
+#define MAX_WBITS 15
+#define MAX_MEM_LEVEL 9
+#define zError mz_error
+#define ZLIB_VERSION MZ_VERSION
+#define ZLIB_VERNUM MZ_VERNUM
+#define ZLIB_VER_MAJOR MZ_VER_MAJOR
+#define ZLIB_VER_MINOR MZ_VER_MINOR
+#define ZLIB_VER_REVISION MZ_VER_REVISION
+#define ZLIB_VER_SUBREVISION MZ_VER_SUBREVISION
+#define zlibVersion mz_version
+#define zlib_version mz_version()
+#endif /* #ifndef MINIZ_NO_ZLIB_COMPATIBLE_NAMES */
+
+#endif /* MINIZ_NO_ZLIB_APIS */
+
+#ifdef __cplusplus
+}
+#endif
+#pragma once
+#include <assert.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdint.h>
+
+/* ------------------- Types and macros */
+typedef unsigned char mz_uint8;
+typedef signed short mz_int16;
+typedef unsigned short mz_uint16;
+typedef unsigned int mz_uint32;
+typedef unsigned int mz_uint;
+typedef int64_t mz_int64;
+typedef uint64_t mz_uint64;
+typedef int mz_bool;
+
+#define MZ_FALSE (0)
+#define MZ_TRUE (1)
+
+/* Works around MSVC's spammy "warning C4127: conditional expression is constant" message. */
+#ifdef _MSC_VER
+#define MZ_MACRO_END while (0, 0)
+#else
+#define MZ_MACRO_END while (0)
+#endif
+
+#ifdef MINIZ_NO_STDIO
+#define MZ_FILE void *
+#else
+#include <stdio.h>
+#define MZ_FILE FILE
+#endif /* #ifdef MINIZ_NO_STDIO */
+
+#ifdef MINIZ_NO_TIME
+typedef struct mz_dummy_time_t_tag
+{
+    int m_dummy;
+} mz_dummy_time_t;
+#define MZ_TIME_T mz_dummy_time_t
+#else
+#define MZ_TIME_T time_t
+#endif
+
+#define MZ_ASSERT(x) assert(x)
+
+#ifdef MINIZ_NO_MALLOC
+#define MZ_MALLOC(x) NULL
+#define MZ_FREE(x) (void) x, ((void)0)
+#define MZ_REALLOC(p, x) NULL
+#else
+#define MZ_MALLOC(x) malloc(x)
+#define MZ_FREE(x) free(x)
+#define MZ_REALLOC(p, x) realloc(p, x)
+#endif
+
+#define MZ_MAX(a, b) (((a) > (b)) ? (a) : (b))
+#define MZ_MIN(a, b) (((a) < (b)) ? (a) : (b))
+#define MZ_CLEAR_OBJ(obj) memset(&(obj), 0, sizeof(obj))
+
+#if MINIZ_USE_UNALIGNED_LOADS_AND_STORES &&MINIZ_LITTLE_ENDIAN
+#define MZ_READ_LE16(p) *((const mz_uint16 *)(p))
+#define MZ_READ_LE32(p) *((const mz_uint32 *)(p))
+#else
+#define MZ_READ_LE16(p) ((mz_uint32)(((const mz_uint8 *)(p))[0]) | ((mz_uint32)(((const mz_uint8 *)(p))[1]) << 8U))
+#define MZ_READ_LE32(p) ((mz_uint32)(((const mz_uint8 *)(p))[0]) | ((mz_uint32)(((const mz_uint8 *)(p))[1]) << 8U) | ((mz_uint32)(((const mz_uint8 *)(p))[2]) << 16U) | ((mz_uint32)(((const mz_uint8 *)(p))[3]) << 24U))
+#endif
+
+#define MZ_READ_LE64(p) (((mz_uint64)MZ_READ_LE32(p)) | (((mz_uint64)MZ_READ_LE32((const mz_uint8 *)(p) + sizeof(mz_uint32))) << 32U))
+
+#ifdef _MSC_VER
+#define MZ_FORCEINLINE __forceinline
+#elif defined(__GNUC__)
+#define MZ_FORCEINLINE __inline__ __attribute__((__always_inline__))
+#else
+#define MZ_FORCEINLINE inline
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern void *miniz_def_alloc_func(void *opaque, size_t items, size_t size);
+extern void miniz_def_free_func(void *opaque, void *address);
+extern void *miniz_def_realloc_func(void *opaque, void *address, size_t items, size_t size);
+
+#define MZ_UINT16_MAX (0xFFFFU)
+#define MZ_UINT32_MAX (0xFFFFFFFFU)
+
+#ifdef __cplusplus
+}
+#endif
+#pragma once
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+/* ------------------- Low-level Compression API Definitions */
+
+/* Set TDEFL_LESS_MEMORY to 1 to use less memory (compression will be slightly slower, and raw/dynamic blocks will be output more frequently). */
+#define TDEFL_LESS_MEMORY 0
+
+/* tdefl_init() compression flags logically OR'd together (low 12 bits contain the max. number of probes per dictionary search): */
+/* TDEFL_DEFAULT_MAX_PROBES: The compressor defaults to 128 dictionary probes per dictionary search. 0=Huffman only, 1=Huffman+LZ (fastest/crap compression), 4095=Huffman+LZ (slowest/best compression). */
+enum
+{
+    TDEFL_HUFFMAN_ONLY = 0,
+    TDEFL_DEFAULT_MAX_PROBES = 128,
+    TDEFL_MAX_PROBES_MASK = 0xFFF
+};
+
+/* TDEFL_WRITE_ZLIB_HEADER: If set, the compressor outputs a zlib header before the deflate data, and the Adler-32 of the source data at the end. Otherwise, you'll get raw deflate data. */
+/* TDEFL_COMPUTE_ADLER32: Always compute the adler-32 of the input data (even when not writing zlib headers). */
+/* TDEFL_GREEDY_PARSING_FLAG: Set to use faster greedy parsing, instead of more efficient lazy parsing. */
+/* TDEFL_NONDETERMINISTIC_PARSING_FLAG: Enable to decrease the compressor's initialization time to the minimum, but the output may vary from run to run given the same input (depending on the contents of memory). */
+/* TDEFL_RLE_MATCHES: Only look for RLE matches (matches with a distance of 1) */
+/* TDEFL_FILTER_MATCHES: Discards matches <= 5 chars if enabled. */
+/* TDEFL_FORCE_ALL_STATIC_BLOCKS: Disable usage of optimized Huffman tables. */
+/* TDEFL_FORCE_ALL_RAW_BLOCKS: Only use raw (uncompressed) deflate blocks. */
+/* The low 12 bits are reserved to control the max # of hash probes per dictionary lookup (see TDEFL_MAX_PROBES_MASK). */
+enum
+{
+    TDEFL_WRITE_ZLIB_HEADER = 0x01000,
+    TDEFL_COMPUTE_ADLER32 = 0x02000,
+    TDEFL_GREEDY_PARSING_FLAG = 0x04000,
+    TDEFL_NONDETERMINISTIC_PARSING_FLAG = 0x08000,
+    TDEFL_RLE_MATCHES = 0x10000,
+    TDEFL_FILTER_MATCHES = 0x20000,
+    TDEFL_FORCE_ALL_STATIC_BLOCKS = 0x40000,
+    TDEFL_FORCE_ALL_RAW_BLOCKS = 0x80000
+};
+
+/* High level compression functions: */
+/* tdefl_compress_mem_to_heap() compresses a block in memory to a heap block allocated via malloc(). */
+/* On entry: */
+/*  pSrc_buf, src_buf_len: Pointer and size of source block to compress. */
+/*  flags: The max match finder probes (default is 128) logically OR'd against the above flags. Higher probes are slower but improve compression. */
+/* On return: */
+/*  Function returns a pointer to the compressed data, or NULL on failure. */
+/*  *pOut_len will be set to the compressed data's size, which could be larger than src_buf_len on uncompressible data. */
+/*  The caller must free() the returned block when it's no longer needed. */
+void *tdefl_compress_mem_to_heap(const void *pSrc_buf, size_t src_buf_len, size_t *pOut_len, int flags);
+
+/* tdefl_compress_mem_to_mem() compresses a block in memory to another block in memory. */
+/* Returns 0 on failure. */
+size_t tdefl_compress_mem_to_mem(void *pOut_buf, size_t out_buf_len, const void *pSrc_buf, size_t src_buf_len, int flags);
+
+/* Compresses an image to a compressed PNG file in memory. */
+/* On entry: */
+/*  pImage, w, h, and num_chans describe the image to compress. num_chans may be 1, 2, 3, or 4. */
+/*  The image pitch in bytes per scanline will be w*num_chans. The leftmost pixel on the top scanline is stored first in memory. */
+/*  level may range from [0,10], use MZ_NO_COMPRESSION, MZ_BEST_SPEED, MZ_BEST_COMPRESSION, etc. or a decent default is MZ_DEFAULT_LEVEL */
+/*  If flip is true, the image will be flipped on the Y axis (useful for OpenGL apps). */
+/* On return: */
+/*  Function returns a pointer to the compressed data, or NULL on failure. */
+/*  *pLen_out will be set to the size of the PNG image file. */
+/*  The caller must mz_free() the returned heap block (which will typically be larger than *pLen_out) when it's no longer needed. */
+void *tdefl_write_image_to_png_file_in_memory_ex(const void *pImage, int w, int h, int num_chans, size_t *pLen_out, mz_uint level, mz_bool flip);
+void *tdefl_write_image_to_png_file_in_memory(const void *pImage, int w, int h, int num_chans, size_t *pLen_out);
+
+/* Output stream interface. The compressor uses this interface to write compressed data. It'll typically be called TDEFL_OUT_BUF_SIZE at a time. */
+typedef mz_bool (*tdefl_put_buf_func_ptr)(const void *pBuf, int len, void *pUser);
+
+/* tdefl_compress_mem_to_output() compresses a block to an output stream. The above helpers use this function internally. */
+mz_bool tdefl_compress_mem_to_output(const void *pBuf, size_t buf_len, tdefl_put_buf_func_ptr pPut_buf_func, void *pPut_buf_user, int flags);
+
+enum
+{
+    TDEFL_MAX_HUFF_TABLES = 3,
+    TDEFL_MAX_HUFF_SYMBOLS_0 = 288,
+    TDEFL_MAX_HUFF_SYMBOLS_1 = 32,
+    TDEFL_MAX_HUFF_SYMBOLS_2 = 19,
+    TDEFL_LZ_DICT_SIZE = 32768,
+    TDEFL_LZ_DICT_SIZE_MASK = TDEFL_LZ_DICT_SIZE - 1,
+    TDEFL_MIN_MATCH_LEN = 3,
+    TDEFL_MAX_MATCH_LEN = 258
+};
+
+/* TDEFL_OUT_BUF_SIZE MUST be large enough to hold a single entire compressed output block (using static/fixed Huffman codes). */
+#if TDEFL_LESS_MEMORY
+enum
+{
+    TDEFL_LZ_CODE_BUF_SIZE = 24 * 1024,
+    TDEFL_OUT_BUF_SIZE = (TDEFL_LZ_CODE_BUF_SIZE * 13) / 10,
+    TDEFL_MAX_HUFF_SYMBOLS = 288,
+    TDEFL_LZ_HASH_BITS = 12,
+    TDEFL_LEVEL1_HASH_SIZE_MASK = 4095,
+    TDEFL_LZ_HASH_SHIFT = (TDEFL_LZ_HASH_BITS + 2) / 3,
+    TDEFL_LZ_HASH_SIZE = 1 << TDEFL_LZ_HASH_BITS
+};
+#else
+enum
+{
+    TDEFL_LZ_CODE_BUF_SIZE = 64 * 1024,
+    TDEFL_OUT_BUF_SIZE = (TDEFL_LZ_CODE_BUF_SIZE * 13) / 10,
+    TDEFL_MAX_HUFF_SYMBOLS = 288,
+    TDEFL_LZ_HASH_BITS = 15,
+    TDEFL_LEVEL1_HASH_SIZE_MASK = 4095,
+    TDEFL_LZ_HASH_SHIFT = (TDEFL_LZ_HASH_BITS + 2) / 3,
+    TDEFL_LZ_HASH_SIZE = 1 << TDEFL_LZ_HASH_BITS
+};
+#endif
+
+/* The low-level tdefl functions below may be used directly if the above helper functions aren't flexible enough. The low-level functions don't make any heap allocations, unlike the above helper functions. */
+typedef enum
+{
+    TDEFL_STATUS_BAD_PARAM = -2,
+    TDEFL_STATUS_PUT_BUF_FAILED = -1,
+    TDEFL_STATUS_OKAY = 0,
+    TDEFL_STATUS_DONE = 1
+} tdefl_status;
+
+/* Must map to MZ_NO_FLUSH, MZ_SYNC_FLUSH, etc. enums */
+typedef enum
+{
+    TDEFL_NO_FLUSH = 0,
+    TDEFL_SYNC_FLUSH = 2,
+    TDEFL_FULL_FLUSH = 3,
+    TDEFL_FINISH = 4
+} tdefl_flush;
+
+/* tdefl's compression state structure. */
+typedef struct
+{
+    tdefl_put_buf_func_ptr m_pPut_buf_func;
+    void *m_pPut_buf_user;
+    mz_uint m_flags, m_max_probes[2];
+    int m_greedy_parsing;
+    mz_uint m_adler32, m_lookahead_pos, m_lookahead_size, m_dict_size;
+    mz_uint8 *m_pLZ_code_buf, *m_pLZ_flags, *m_pOutput_buf, *m_pOutput_buf_end;
+    mz_uint m_num_flags_left, m_total_lz_bytes, m_lz_code_buf_dict_pos, m_bits_in, m_bit_buffer;
+    mz_uint m_saved_match_dist, m_saved_match_len, m_saved_lit, m_output_flush_ofs, m_output_flush_remaining, m_finished, m_block_index, m_wants_to_finish;
+    tdefl_status m_prev_return_status;
+    const void *m_pIn_buf;
+    void *m_pOut_buf;
+    size_t *m_pIn_buf_size, *m_pOut_buf_size;
+    tdefl_flush m_flush;
+    const mz_uint8 *m_pSrc;
+    size_t m_src_buf_left, m_out_buf_ofs;
+    mz_uint8 m_dict[TDEFL_LZ_DICT_SIZE + TDEFL_MAX_MATCH_LEN - 1];
+    mz_uint16 m_huff_count[TDEFL_MAX_HUFF_TABLES][TDEFL_MAX_HUFF_SYMBOLS];
+    mz_uint16 m_huff_codes[TDEFL_MAX_HUFF_TABLES][TDEFL_MAX_HUFF_SYMBOLS];
+    mz_uint8 m_huff_code_sizes[TDEFL_MAX_HUFF_TABLES][TDEFL_MAX_HUFF_SYMBOLS];
+    mz_uint8 m_lz_code_buf[TDEFL_LZ_CODE_BUF_SIZE];
+    mz_uint16 m_next[TDEFL_LZ_DICT_SIZE];
+    mz_uint16 m_hash[TDEFL_LZ_HASH_SIZE];
+    mz_uint8 m_output_buf[TDEFL_OUT_BUF_SIZE];
+} tdefl_compressor;
+
+/* Initializes the compressor. */
+/* There is no corresponding deinit() function because the tdefl API's do not dynamically allocate memory. */
+/* pBut_buf_func: If NULL, output data will be supplied to the specified callback. In this case, the user should call the tdefl_compress_buffer() API for compression. */
+/* If pBut_buf_func is NULL the user should always call the tdefl_compress() API. */
+/* flags: See the above enums (TDEFL_HUFFMAN_ONLY, TDEFL_WRITE_ZLIB_HEADER, etc.) */
+tdefl_status tdefl_init(tdefl_compressor *d, tdefl_put_buf_func_ptr pPut_buf_func, void *pPut_buf_user, int flags);
+
+/* Compresses a block of data, consuming as much of the specified input buffer as possible, and writing as much compressed data to the specified output buffer as possible. */
+tdefl_status tdefl_compress(tdefl_compressor *d, const void *pIn_buf, size_t *pIn_buf_size, void *pOut_buf, size_t *pOut_buf_size, tdefl_flush flush);
+
+/* tdefl_compress_buffer() is only usable when the tdefl_init() is called with a non-NULL tdefl_put_buf_func_ptr. */
+/* tdefl_compress_buffer() always consumes the entire input buffer. */
+tdefl_status tdefl_compress_buffer(tdefl_compressor *d, const void *pIn_buf, size_t in_buf_size, tdefl_flush flush);
+
+tdefl_status tdefl_get_prev_return_status(tdefl_compressor *d);
+mz_uint32 tdefl_get_adler32(tdefl_compressor *d);
+
+/* Create tdefl_compress() flags given zlib-style compression parameters. */
+/* level may range from [0,10] (where 10 is absolute max compression, but may be much slower on some files) */
+/* window_bits may be -15 (raw deflate) or 15 (zlib) */
+/* strategy may be either MZ_DEFAULT_STRATEGY, MZ_FILTERED, MZ_HUFFMAN_ONLY, MZ_RLE, or MZ_FIXED */
+mz_uint tdefl_create_comp_flags_from_zip_params(int level, int window_bits, int strategy);
+
+/* Allocate the tdefl_compressor structure in C so that */
+/* non-C language bindings to tdefl_ API don't need to worry about */
+/* structure size and allocation mechanism. */
+tdefl_compressor *tdefl_compressor_alloc();
+void tdefl_compressor_free(tdefl_compressor *pComp);
+
+#ifdef __cplusplus
+}
+#endif
+#pragma once
+
+/* ------------------- Low-level Decompression API Definitions */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+/* Decompression flags used by tinfl_decompress(). */
+/* TINFL_FLAG_PARSE_ZLIB_HEADER: If set, the input has a valid zlib header and ends with an adler32 checksum (it's a valid zlib stream). Otherwise, the input is a raw deflate stream. */
+/* TINFL_FLAG_HAS_MORE_INPUT: If set, there are more input bytes available beyond the end of the supplied input buffer. If clear, the input buffer contains all remaining input. */
+/* TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF: If set, the output buffer is large enough to hold the entire decompressed stream. If clear, the output buffer is at least the size of the dictionary (typically 32KB). */
+/* TINFL_FLAG_COMPUTE_ADLER32: Force adler-32 checksum computation of the decompressed bytes. */
+enum
+{
+    TINFL_FLAG_PARSE_ZLIB_HEADER = 1,
+    TINFL_FLAG_HAS_MORE_INPUT = 2,
+    TINFL_FLAG_USING_NON_WRAPPING_OUTPUT_BUF = 4,
+    TINFL_FLAG_COMPUTE_ADLER32 = 8
+};
+
+/* High level decompression functions: */
+/* tinfl_decompress_mem_to_heap() decompresses a block in memory to a heap block allocated via malloc(). */
+/* On entry: */
+/*  pSrc_buf, src_buf_len: Pointer and size of the Deflate or zlib source data to decompress. */
+/* On return: */
+/*  Function returns a pointer to the decompressed data, or NULL on failure. */
+/*  *pOut_len will be set to the decompressed data's size, which could be larger than src_buf_len on uncompressible data. */
+/*  The caller must call mz_free() on the returned block when it's no longer needed. */
+void *tinfl_decompress_mem_to_heap(const void *pSrc_buf, size_t src_buf_len, size_t *pOut_len, int flags);
+
+/* tinfl_decompress_mem_to_mem() decompresses a block in memory to another block in memory. */
+/* Returns TINFL_DECOMPRESS_MEM_TO_MEM_FAILED on failure, or the number of bytes written on success. */
+#define TINFL_DECOMPRESS_MEM_TO_MEM_FAILED ((size_t)(-1))
+size_t tinfl_decompress_mem_to_mem(void *pOut_buf, size_t out_buf_len, const void *pSrc_buf, size_t src_buf_len, int flags);
+
+/* tinfl_decompress_mem_to_callback() decompresses a block in memory to an internal 32KB buffer, and a user provided callback function will be called to flush the buffer. */
+/* Returns 1 on success or 0 on failure. */
+typedef int (*tinfl_put_buf_func_ptr)(const void *pBuf, int len, void *pUser);
+int tinfl_decompress_mem_to_callback(const void *pIn_buf, size_t *pIn_buf_size, tinfl_put_buf_func_ptr pPut_buf_func, void *pPut_buf_user, int flags);
+
+struct tinfl_decompressor_tag;
+typedef struct tinfl_decompressor_tag tinfl_decompressor;
+
+/* Allocate the tinfl_decompressor structure in C so that */
+/* non-C language bindings to tinfl_ API don't need to worry about */
+/* structure size and allocation mechanism. */
+
+tinfl_decompressor *tinfl_decompressor_alloc();
+void tinfl_decompressor_free(tinfl_decompressor *pDecomp);
+
+/* Max size of LZ dictionary. */
+#define TINFL_LZ_DICT_SIZE 32768
+
+/* Return status. */
+typedef enum
+{
+    /* This flags indicates the inflator needs 1 or more input bytes to make forward progress, but the caller is indicating that no more are available. The compressed data */
+    /* is probably corrupted. If you call the inflator again with more bytes it'll try to continue processing the input but this is a BAD sign (either the data is corrupted or you called it incorrectly). */
+    /* If you call it again with no input you'll just get TINFL_STATUS_FAILED_CANNOT_MAKE_PROGRESS again. */
+    TINFL_STATUS_FAILED_CANNOT_MAKE_PROGRESS = -4,
+
+    /* This flag indicates that one or more of the input parameters was obviously bogus. (You can try calling it again, but if you get this error the calling code is wrong.) */
+    TINFL_STATUS_BAD_PARAM = -3,
+
+    /* This flags indicate the inflator is finished but the adler32 check of the uncompressed data didn't match. If you call it again it'll return TINFL_STATUS_DONE. */
+    TINFL_STATUS_ADLER32_MISMATCH = -2,
+
+    /* This flags indicate the inflator has somehow failed (bad code, corrupted input, etc.). If you call it again without resetting via tinfl_init() it it'll just keep on returning the same status failure code. */
+    TINFL_STATUS_FAILED = -1,
+
+    /* Any status code less than TINFL_STATUS_DONE must indicate a failure. */
+
+    /* This flag indicates the inflator has returned every byte of uncompressed data that it can, has consumed every byte that it needed, has successfully reached the end of the deflate stream, and */
+    /* if zlib headers and adler32 checking enabled that it has successfully checked the uncompressed data's adler32. If you call it again you'll just get TINFL_STATUS_DONE over and over again. */
+    TINFL_STATUS_DONE = 0,
+
+    /* This flag indicates the inflator MUST have more input data (even 1 byte) before it can make any more forward progress, or you need to clear the TINFL_FLAG_HAS_MORE_INPUT */
+    /* flag on the next call if you don't have any more source data. If the source data was somehow corrupted it's also possible (but unlikely) for the inflator to keep on demanding input to */
+    /* proceed, so be sure to properly set the TINFL_FLAG_HAS_MORE_INPUT flag. */
+    TINFL_STATUS_NEEDS_MORE_INPUT = 1,
+
+    /* This flag indicates the inflator definitely has 1 or more bytes of uncompressed data available, but it cannot write this data into the output buffer. */
+    /* Note if the source compressed data was corrupted it's possible for the inflator to return a lot of uncompressed data to the caller. I've been assuming you know how much uncompressed data to expect */
+    /* (either exact or worst case) and will stop calling the inflator and fail after receiving too much. In pure streaming scenarios where you have no idea how many bytes to expect this may not be possible */
+    /* so I may need to add some code to address this. */
+    TINFL_STATUS_HAS_MORE_OUTPUT = 2
+} tinfl_status;
+
+/* Initializes the decompressor to its initial state. */
+#define tinfl_init(r)     \
+    do                    \
+    {                     \
+        (r)->m_state = 0; \
+    }                     \
+    MZ_MACRO_END
+#define tinfl_get_adler32(r) (r)->m_check_adler32
+
+/* Main low-level decompressor coroutine function. This is the only function actually needed for decompression. All the other functions are just high-level helpers for improved usability. */
+/* This is a universal API, i.e. it can be used as a building block to build any desired higher level decompression API. In the limit case, it can be called once per every byte input or output. */
+tinfl_status tinfl_decompress(tinfl_decompressor *r, const mz_uint8 *pIn_buf_next, size_t *pIn_buf_size, mz_uint8 *pOut_buf_start, mz_uint8 *pOut_buf_next, size_t *pOut_buf_size, const mz_uint32 decomp_flags);
+
+/* Internal/private bits follow. */
+enum
+{
+    TINFL_MAX_HUFF_TABLES = 3,
+    TINFL_MAX_HUFF_SYMBOLS_0 = 288,
+    TINFL_MAX_HUFF_SYMBOLS_1 = 32,
+    TINFL_MAX_HUFF_SYMBOLS_2 = 19,
+    TINFL_FAST_LOOKUP_BITS = 10,
+    TINFL_FAST_LOOKUP_SIZE = 1 << TINFL_FAST_LOOKUP_BITS
+};
+
+typedef struct
+{
+    mz_uint8 m_code_size[TINFL_MAX_HUFF_SYMBOLS_0];
+    mz_int16 m_look_up[TINFL_FAST_LOOKUP_SIZE], m_tree[TINFL_MAX_HUFF_SYMBOLS_0 * 2];
+} tinfl_huff_table;
+
+#if MINIZ_HAS_64BIT_REGISTERS
+#define TINFL_USE_64BIT_BITBUF 1
+#endif
+
+#if TINFL_USE_64BIT_BITBUF
+typedef mz_uint64 tinfl_bit_buf_t;
+#define TINFL_BITBUF_SIZE (64)
+#else
+typedef mz_uint32 tinfl_bit_buf_t;
+#define TINFL_BITBUF_SIZE (32)
+#endif
+
+struct tinfl_decompressor_tag
+{
+    mz_uint32 m_state, m_num_bits, m_zhdr0, m_zhdr1, m_z_adler32, m_final, m_type, m_check_adler32, m_dist, m_counter, m_num_extra, m_table_sizes[TINFL_MAX_HUFF_TABLES];
+    tinfl_bit_buf_t m_bit_buf;
+    size_t m_dist_from_out_buf_start;
+    tinfl_huff_table m_tables[TINFL_MAX_HUFF_TABLES];
+    mz_uint8 m_raw_header[4], m_len_codes[TINFL_MAX_HUFF_SYMBOLS_0 + TINFL_MAX_HUFF_SYMBOLS_1 + 137];
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#pragma once
+
+
+/* ------------------- ZIP archive reading/writing */
+
+#ifndef MINIZ_NO_ARCHIVE_APIS
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+enum
+{
+    /* Note: These enums can be reduced as needed to save memory or stack space - they are pretty conservative. */
+    MZ_ZIP_MAX_IO_BUF_SIZE = 64 * 1024,
+    MZ_ZIP_MAX_ARCHIVE_FILENAME_SIZE = 512,
+    MZ_ZIP_MAX_ARCHIVE_FILE_COMMENT_SIZE = 512
+};
+
+typedef struct
+{
+    /* Central directory file index. */
+    mz_uint32 m_file_index;
+
+    /* Byte offset of this entry in the archive's central directory. Note we currently only support up to UINT_MAX or less bytes in the central dir. */
+    mz_uint64 m_central_dir_ofs;
+
+    /* These fields are copied directly from the zip's central dir. */
+    mz_uint16 m_version_made_by;
+    mz_uint16 m_version_needed;
+    mz_uint16 m_bit_flag;
+    mz_uint16 m_method;
+
+#ifndef MINIZ_NO_TIME
+    MZ_TIME_T m_time;
+#endif
+
+    /* CRC-32 of uncompressed data. */
+    mz_uint32 m_crc32;
+
+    /* File's compressed size. */
+    mz_uint64 m_comp_size;
+
+    /* File's uncompressed size. Note, I've seen some old archives where directory entries had 512 bytes for their uncompressed sizes, but when you try to unpack them you actually get 0 bytes. */
+    mz_uint64 m_uncomp_size;
+
+    /* Zip internal and external file attributes. */
+    mz_uint16 m_internal_attr;
+    mz_uint32 m_external_attr;
+
+    /* Entry's local header file offset in bytes. */
+    mz_uint64 m_local_header_ofs;
+
+    /* Size of comment in bytes. */
+    mz_uint32 m_comment_size;
+
+    /* MZ_TRUE if the entry appears to be a directory. */
+    mz_bool m_is_directory;
+
+    /* MZ_TRUE if the entry uses encryption/strong encryption (which miniz_zip doesn't support) */
+    mz_bool m_is_encrypted;
+
+    /* MZ_TRUE if the file is not encrypted, a patch file, and if it uses a compression method we support. */
+    mz_bool m_is_supported;
+
+    /* Filename. If string ends in '/' it's a subdirectory entry. */
+    /* Guaranteed to be zero terminated, may be truncated to fit. */
+    char m_filename[MZ_ZIP_MAX_ARCHIVE_FILENAME_SIZE];
+
+    /* Comment field. */
+    /* Guaranteed to be zero terminated, may be truncated to fit. */
+    char m_comment[MZ_ZIP_MAX_ARCHIVE_FILE_COMMENT_SIZE];
+
+} mz_zip_archive_file_stat;
+
+typedef size_t (*mz_file_read_func)(void *pOpaque, mz_uint64 file_ofs, void *pBuf, size_t n);
+typedef size_t (*mz_file_write_func)(void *pOpaque, mz_uint64 file_ofs, const void *pBuf, size_t n);
+typedef mz_bool (*mz_file_needs_keepalive)(void *pOpaque);
+
+struct mz_zip_internal_state_tag;
+typedef struct mz_zip_internal_state_tag mz_zip_internal_state;
+
+typedef enum
+{
+    MZ_ZIP_MODE_INVALID = 0,
+    MZ_ZIP_MODE_READING = 1,
+    MZ_ZIP_MODE_WRITING = 2,
+    MZ_ZIP_MODE_WRITING_HAS_BEEN_FINALIZED = 3
+} mz_zip_mode;
+
+typedef enum
+{
+    MZ_ZIP_FLAG_CASE_SENSITIVE = 0x0100,
+    MZ_ZIP_FLAG_IGNORE_PATH = 0x0200,
+    MZ_ZIP_FLAG_COMPRESSED_DATA = 0x0400,
+    MZ_ZIP_FLAG_DO_NOT_SORT_CENTRAL_DIRECTORY = 0x0800,
+    MZ_ZIP_FLAG_VALIDATE_LOCATE_FILE_FLAG = 0x1000, /* if enabled, mz_zip_reader_locate_file() will be called on each file as its validated to ensure the func finds the file in the central dir (intended for testing) */
+    MZ_ZIP_FLAG_VALIDATE_HEADERS_ONLY = 0x2000,     /* validate the local headers, but don't decompress the entire file and check the crc32 */
+    MZ_ZIP_FLAG_WRITE_ZIP64 = 0x4000,               /* use the zip64 file format, instead of the original zip file format */
+    MZ_ZIP_FLAG_WRITE_ALLOW_READING = 0x8000,
+    MZ_ZIP_FLAG_ASCII_FILENAME = 0x10000
+} mz_zip_flags;
+
+typedef enum
+{
+    MZ_ZIP_TYPE_INVALID = 0,
+    MZ_ZIP_TYPE_USER,
+    MZ_ZIP_TYPE_MEMORY,
+    MZ_ZIP_TYPE_HEAP,
+    MZ_ZIP_TYPE_FILE,
+    MZ_ZIP_TYPE_CFILE,
+    MZ_ZIP_TOTAL_TYPES
+} mz_zip_type;
+
+/* miniz error codes. Be sure to update mz_zip_get_error_string() if you add or modify this enum. */
+typedef enum
+{
+    MZ_ZIP_NO_ERROR = 0,
+    MZ_ZIP_UNDEFINED_ERROR,
+    MZ_ZIP_TOO_MANY_FILES,
+    MZ_ZIP_FILE_TOO_LARGE,
+    MZ_ZIP_UNSUPPORTED_METHOD,
+    MZ_ZIP_UNSUPPORTED_ENCRYPTION,
+    MZ_ZIP_UNSUPPORTED_FEATURE,
+    MZ_ZIP_FAILED_FINDING_CENTRAL_DIR,
+    MZ_ZIP_NOT_AN_ARCHIVE,
+    MZ_ZIP_INVALID_HEADER_OR_CORRUPTED,
+    MZ_ZIP_UNSUPPORTED_MULTIDISK,
+    MZ_ZIP_DECOMPRESSION_FAILED,
+    MZ_ZIP_COMPRESSION_FAILED,
+    MZ_ZIP_UNEXPECTED_DECOMPRESSED_SIZE,
+    MZ_ZIP_CRC_CHECK_FAILED,
+    MZ_ZIP_UNSUPPORTED_CDIR_SIZE,
+    MZ_ZIP_ALLOC_FAILED,
+    MZ_ZIP_FILE_OPEN_FAILED,
+    MZ_ZIP_FILE_CREATE_FAILED,
+    MZ_ZIP_FILE_WRITE_FAILED,
+    MZ_ZIP_FILE_READ_FAILED,
+    MZ_ZIP_FILE_CLOSE_FAILED,
+    MZ_ZIP_FILE_SEEK_FAILED,
+    MZ_ZIP_FILE_STAT_FAILED,
+    MZ_ZIP_INVALID_PARAMETER,
+    MZ_ZIP_INVALID_FILENAME,
+    MZ_ZIP_BUF_TOO_SMALL,
+    MZ_ZIP_INTERNAL_ERROR,
+    MZ_ZIP_FILE_NOT_FOUND,
+    MZ_ZIP_ARCHIVE_TOO_LARGE,
+    MZ_ZIP_VALIDATION_FAILED,
+    MZ_ZIP_WRITE_CALLBACK_FAILED,
+    MZ_ZIP_TOTAL_ERRORS
+} mz_zip_error;
+
+typedef struct
+{
+    mz_uint64 m_archive_size;
+    mz_uint64 m_central_directory_file_ofs;
+
+    /* We only support up to UINT32_MAX files in zip64 mode. */
+    mz_uint32 m_total_files;
+    mz_zip_mode m_zip_mode;
+    mz_zip_type m_zip_type;
+    mz_zip_error m_last_error;
+
+    mz_uint64 m_file_offset_alignment;
+
+    mz_alloc_func m_pAlloc;
+    mz_free_func m_pFree;
+    mz_realloc_func m_pRealloc;
+    void *m_pAlloc_opaque;
+
+    mz_file_read_func m_pRead;
+    mz_file_write_func m_pWrite;
+	mz_file_needs_keepalive m_pNeeds_keepalive;
+    void *m_pIO_opaque;
+
+    mz_zip_internal_state *m_pState;
+
+} mz_zip_archive;
+
+/* -------- ZIP reading */
+
+/* Inits a ZIP archive reader. */
+/* These functions read and validate the archive's central directory. */
+mz_bool mz_zip_reader_init(mz_zip_archive *pZip, mz_uint64 size, mz_uint flags);
+
+mz_bool mz_zip_reader_init_mem(mz_zip_archive *pZip, const void *pMem, size_t size, mz_uint flags);
+
+#ifndef MINIZ_NO_STDIO
+/* Read a archive from a disk file. */
+/* file_start_ofs is the file offset where the archive actually begins, or 0. */
+/* actual_archive_size is the true total size of the archive, which may be smaller than the file's actual size on disk. If zero the entire file is treated as the archive. */
+mz_bool mz_zip_reader_init_file(mz_zip_archive *pZip, const char *pFilename, mz_uint32 flags);
+mz_bool mz_zip_reader_init_file_v2(mz_zip_archive *pZip, const char *pFilename, mz_uint flags, mz_uint64 file_start_ofs, mz_uint64 archive_size);
+
+/* Read an archive from an already opened FILE, beginning at the current file position. */
+/* The archive is assumed to be archive_size bytes long. If archive_size is < 0, then the entire rest of the file is assumed to contain the archive. */
+/* The FILE will NOT be closed when mz_zip_reader_end() is called. */
+mz_bool mz_zip_reader_init_cfile(mz_zip_archive *pZip, MZ_FILE *pFile, mz_uint64 archive_size, mz_uint flags);
+#endif
+
+/* Ends archive reading, freeing all allocations, and closing the input archive file if mz_zip_reader_init_file() was used. */
+mz_bool mz_zip_reader_end(mz_zip_archive *pZip);
+
+/* -------- ZIP reading or writing */
+
+/* Clears a mz_zip_archive struct to all zeros. */
+/* Important: This must be done before passing the struct to any mz_zip functions. */
+void mz_zip_zero_struct(mz_zip_archive *pZip);
+
+mz_zip_mode mz_zip_get_mode(mz_zip_archive *pZip);
+mz_zip_type mz_zip_get_type(mz_zip_archive *pZip);
+
+/* Returns the total number of files in the archive. */
+mz_uint mz_zip_reader_get_num_files(mz_zip_archive *pZip);
+
+mz_uint64 mz_zip_get_archive_size(mz_zip_archive *pZip);
+mz_uint64 mz_zip_get_archive_file_start_offset(mz_zip_archive *pZip);
+MZ_FILE *mz_zip_get_cfile(mz_zip_archive *pZip);
+
+/* Reads n bytes of raw archive data, starting at file offset file_ofs, to pBuf. */
+size_t mz_zip_read_archive_data(mz_zip_archive *pZip, mz_uint64 file_ofs, void *pBuf, size_t n);
+
+/* Attempts to locates a file in the archive's central directory. */
+/* Valid flags: MZ_ZIP_FLAG_CASE_SENSITIVE, MZ_ZIP_FLAG_IGNORE_PATH */
+/* Returns -1 if the file cannot be found. */
+int mz_zip_locate_file(mz_zip_archive *pZip, const char *pName, const char *pComment, mz_uint flags);
+/* Returns MZ_FALSE if the file cannot be found. */
+mz_bool mz_zip_locate_file_v2(mz_zip_archive *pZip, const char *pName, const char *pComment, mz_uint flags, mz_uint32 *pIndex);
+
+/* All mz_zip funcs set the m_last_error field in the mz_zip_archive struct. These functions retrieve/manipulate this field. */
+/* Note that the m_last_error functionality is not thread safe. */
+mz_zip_error mz_zip_set_last_error(mz_zip_archive *pZip, mz_zip_error err_num);
+mz_zip_error mz_zip_peek_last_error(mz_zip_archive *pZip);
+mz_zip_error mz_zip_clear_last_error(mz_zip_archive *pZip);
+mz_zip_error mz_zip_get_last_error(mz_zip_archive *pZip);
+const char *mz_zip_get_error_string(mz_zip_error mz_err);
+
+/* MZ_TRUE if the archive file entry is a directory entry. */
+mz_bool mz_zip_reader_is_file_a_directory(mz_zip_archive *pZip, mz_uint file_index);
+
+/* MZ_TRUE if the file is encrypted/strong encrypted. */
+mz_bool mz_zip_reader_is_file_encrypted(mz_zip_archive *pZip, mz_uint file_index);
+
+/* MZ_TRUE if the compression method is supported, and the file is not encrypted, and the file is not a compressed patch file. */
+mz_bool mz_zip_reader_is_file_supported(mz_zip_archive *pZip, mz_uint file_index);
+
+/* Retrieves the filename of an archive file entry. */
+/* Returns the number of bytes written to pFilename, or if filename_buf_size is 0 this function returns the number of bytes needed to fully store the filename. */
+mz_uint mz_zip_reader_get_filename(mz_zip_archive *pZip, mz_uint file_index, char *pFilename, mz_uint filename_buf_size);
+
+/* Attempts to locates a file in the archive's central directory. */
+/* Valid flags: MZ_ZIP_FLAG_CASE_SENSITIVE, MZ_ZIP_FLAG_IGNORE_PATH */
+/* Returns -1 if the file cannot be found. */
+int mz_zip_reader_locate_file(mz_zip_archive *pZip, const char *pName, const char *pComment, mz_uint flags);
+int mz_zip_reader_locate_file_v2(mz_zip_archive *pZip, const char *pName, const char *pComment, mz_uint flags, mz_uint32 *file_index);
+
+/* Returns detailed information about an archive file entry. */
+mz_bool mz_zip_reader_file_stat(mz_zip_archive *pZip, mz_uint file_index, mz_zip_archive_file_stat *pStat);
+
+/* MZ_TRUE if the file is in zip64 format. */
+/* A file is considered zip64 if it contained a zip64 end of central directory marker, or if it contained any zip64 extended file information fields in the central directory. */
+mz_bool mz_zip_is_zip64(mz_zip_archive *pZip);
+
+/* Returns the total central directory size in bytes. */
+/* The current max supported size is <= MZ_UINT32_MAX. */
+size_t mz_zip_get_central_dir_size(mz_zip_archive *pZip);
+
+/* Extracts a archive file to a memory buffer using no memory allocation. */
+/* There must be at least enough room on the stack to store the inflator's state (~34KB or so). */
+mz_bool mz_zip_reader_extract_to_mem_no_alloc(mz_zip_archive *pZip, mz_uint file_index, void *pBuf, size_t buf_size, mz_uint flags, void *pUser_read_buf, size_t user_read_buf_size);
+mz_bool mz_zip_reader_extract_file_to_mem_no_alloc(mz_zip_archive *pZip, const char *pFilename, void *pBuf, size_t buf_size, mz_uint flags, void *pUser_read_buf, size_t user_read_buf_size);
+
+/* Extracts a archive file to a memory buffer. */
+mz_bool mz_zip_reader_extract_to_mem(mz_zip_archive *pZip, mz_uint file_index, void *pBuf, size_t buf_size, mz_uint flags);
+mz_bool mz_zip_reader_extract_file_to_mem(mz_zip_archive *pZip, const char *pFilename, void *pBuf, size_t buf_size, mz_uint flags);
+
+/* Extracts a archive file to a dynamically allocated heap buffer. */
+/* The memory will be allocated via the mz_zip_archive's alloc/realloc functions. */
+/* Returns NULL and sets the last error on failure. */
+void *mz_zip_reader_extract_to_heap(mz_zip_archive *pZip, mz_uint file_index, size_t *pSize, mz_uint flags);
+void *mz_zip_reader_extract_file_to_heap(mz_zip_archive *pZip, const char *pFilename, size_t *pSize, mz_uint flags);
+
+/* Extracts a archive file using a callback function to output the file's data. */
+mz_bool mz_zip_reader_extract_to_callback(mz_zip_archive *pZip, mz_uint file_index, mz_file_write_func pCallback, void *pOpaque, mz_uint flags);
+mz_bool mz_zip_reader_extract_file_to_callback(mz_zip_archive *pZip, const char *pFilename, mz_file_write_func pCallback, void *pOpaque, mz_uint flags);
+
+#ifndef MINIZ_NO_STDIO
+/* Extracts a archive file to a disk file and sets its last accessed and modified times. */
+/* This function only extracts files, not archive directory records. */
+mz_bool mz_zip_reader_extract_to_file(mz_zip_archive *pZip, mz_uint file_index, const char *pDst_filename, mz_uint flags);
+mz_bool mz_zip_reader_extract_file_to_file(mz_zip_archive *pZip, const char *pArchive_filename, const char *pDst_filename, mz_uint flags);
+
+/* Extracts a archive file starting at the current position in the destination FILE stream. */
+mz_bool mz_zip_reader_extract_to_cfile(mz_zip_archive *pZip, mz_uint file_index, MZ_FILE *File, mz_uint flags);
+mz_bool mz_zip_reader_extract_file_to_cfile(mz_zip_archive *pZip, const char *pArchive_filename, MZ_FILE *pFile, mz_uint flags);
+#endif
+
+#if 0
+/* TODO */
+	typedef void *mz_zip_streaming_extract_state_ptr;
+	mz_zip_streaming_extract_state_ptr mz_zip_streaming_extract_begin(mz_zip_archive *pZip, mz_uint file_index, mz_uint flags);
+	uint64_t mz_zip_streaming_extract_get_size(mz_zip_archive *pZip, mz_zip_streaming_extract_state_ptr pState);
+	uint64_t mz_zip_streaming_extract_get_cur_ofs(mz_zip_archive *pZip, mz_zip_streaming_extract_state_ptr pState);
+	mz_bool mz_zip_streaming_extract_seek(mz_zip_archive *pZip, mz_zip_streaming_extract_state_ptr pState, uint64_t new_ofs);
+	size_t mz_zip_streaming_extract_read(mz_zip_archive *pZip, mz_zip_streaming_extract_state_ptr pState, void *pBuf, size_t buf_size);
+	mz_bool mz_zip_streaming_extract_end(mz_zip_archive *pZip, mz_zip_streaming_extract_state_ptr pState);
+#endif
+
+/* This function compares the archive's local headers, the optional local zip64 extended information block, and the optional descriptor following the compressed data vs. the data in the central directory. */
+/* It also validates that each file can be successfully uncompressed unless the MZ_ZIP_FLAG_VALIDATE_HEADERS_ONLY is specified. */
+mz_bool mz_zip_validate_file(mz_zip_archive *pZip, mz_uint file_index, mz_uint flags);
+
+/* Validates an entire archive by calling mz_zip_validate_file() on each file. */
+mz_bool mz_zip_validate_archive(mz_zip_archive *pZip, mz_uint flags);
+
+/* Misc utils/helpers, valid for ZIP reading or writing */
+mz_bool mz_zip_validate_mem_archive(const void *pMem, size_t size, mz_uint flags, mz_zip_error *pErr);
+mz_bool mz_zip_validate_file_archive(const char *pFilename, mz_uint flags, mz_zip_error *pErr);
+
+/* Universal end function - calls either mz_zip_reader_end() or mz_zip_writer_end(). */
+mz_bool mz_zip_end(mz_zip_archive *pZip);
+
+/* -------- ZIP writing */
+
+#ifndef MINIZ_NO_ARCHIVE_WRITING_APIS
+
+/* Inits a ZIP archive writer. */
+mz_bool mz_zip_writer_init(mz_zip_archive *pZip, mz_uint64 existing_size);
+mz_bool mz_zip_writer_init_v2(mz_zip_archive *pZip, mz_uint64 existing_size, mz_uint flags);
+mz_bool mz_zip_writer_init_heap(mz_zip_archive *pZip, size_t size_to_reserve_at_beginning, size_t initial_allocation_size);
+mz_bool mz_zip_writer_init_heap_v2(mz_zip_archive *pZip, size_t size_to_reserve_at_beginning, size_t initial_allocation_size, mz_uint flags);
+
+#ifndef MINIZ_NO_STDIO
+mz_bool mz_zip_writer_init_file(mz_zip_archive *pZip, const char *pFilename, mz_uint64 size_to_reserve_at_beginning);
+mz_bool mz_zip_writer_init_file_v2(mz_zip_archive *pZip, const char *pFilename, mz_uint64 size_to_reserve_at_beginning, mz_uint flags);
+mz_bool mz_zip_writer_init_cfile(mz_zip_archive *pZip, MZ_FILE *pFile, mz_uint flags);
+#endif
+
+/* Converts a ZIP archive reader object into a writer object, to allow efficient in-place file appends to occur on an existing archive. */
+/* For archives opened using mz_zip_reader_init_file, pFilename must be the archive's filename so it can be reopened for writing. If the file can't be reopened, mz_zip_reader_end() will be called. */
+/* For archives opened using mz_zip_reader_init_mem, the memory block must be growable using the realloc callback (which defaults to realloc unless you've overridden it). */
+/* Finally, for archives opened using mz_zip_reader_init, the mz_zip_archive's user provided m_pWrite function cannot be NULL. */
+/* Note: In-place archive modification is not recommended unless you know what you're doing, because if execution stops or something goes wrong before */
+/* the archive is finalized the file's central directory will be hosed. */
+mz_bool mz_zip_writer_init_from_reader(mz_zip_archive *pZip, const char *pFilename);
+mz_bool mz_zip_writer_init_from_reader_v2(mz_zip_archive *pZip, const char *pFilename, mz_uint flags);
+
+/* Adds the contents of a memory buffer to an archive. These functions record the current local time into the archive. */
+/* To add a directory entry, call this method with an archive name ending in a forwardslash with an empty buffer. */
+/* level_and_flags - compression level (0-10, see MZ_BEST_SPEED, MZ_BEST_COMPRESSION, etc.) logically OR'd with zero or more mz_zip_flags, or just set to MZ_DEFAULT_COMPRESSION. */
+mz_bool mz_zip_writer_add_mem(mz_zip_archive *pZip, const char *pArchive_name, const void *pBuf, size_t buf_size, mz_uint level_and_flags);
+
+/* Like mz_zip_writer_add_mem(), except you can specify a file comment field, and optionally supply the function with already compressed data. */
+/* uncomp_size/uncomp_crc32 are only used if the MZ_ZIP_FLAG_COMPRESSED_DATA flag is specified. */
+mz_bool mz_zip_writer_add_mem_ex(mz_zip_archive *pZip, const char *pArchive_name, const void *pBuf, size_t buf_size, const void *pComment, mz_uint16 comment_size, mz_uint level_and_flags,
+                                 mz_uint64 uncomp_size, mz_uint32 uncomp_crc32);
+
+mz_bool mz_zip_writer_add_mem_ex_v2(mz_zip_archive *pZip, const char *pArchive_name, const void *pBuf, size_t buf_size, const void *pComment, mz_uint16 comment_size, mz_uint level_and_flags,
+                                    mz_uint64 uncomp_size, mz_uint32 uncomp_crc32, MZ_TIME_T *last_modified, const char *user_extra_data_local, mz_uint user_extra_data_local_len,
+                                    const char *user_extra_data_central, mz_uint user_extra_data_central_len);
+
+#ifndef MINIZ_NO_STDIO
+/* Adds the contents of a disk file to an archive. This function also records the disk file's modified time into the archive. */
+/* level_and_flags - compression level (0-10, see MZ_BEST_SPEED, MZ_BEST_COMPRESSION, etc.) logically OR'd with zero or more mz_zip_flags, or just set to MZ_DEFAULT_COMPRESSION. */
+mz_bool mz_zip_writer_add_file(mz_zip_archive *pZip, const char *pArchive_name, const char *pSrc_filename, const void *pComment, mz_uint16 comment_size, mz_uint level_and_flags);
+
+/* Like mz_zip_writer_add_file(), except the file data is read from the specified FILE stream. */
+mz_bool mz_zip_writer_add_cfile(mz_zip_archive *pZip, const char *pArchive_name, MZ_FILE *pSrc_file, mz_uint64 size_to_add,
+                                const MZ_TIME_T *pFile_time, const void *pComment, mz_uint16 comment_size, mz_uint level_and_flags, const char *user_extra_data_local, mz_uint user_extra_data_local_len,
+                                const char *user_extra_data_central, mz_uint user_extra_data_central_len);
+#endif
+
+/* Adds a file to an archive by fully cloning the data from another archive. */
+/* This function fully clones the source file's compressed data (no recompression), along with its full filename, extra data (it may add or modify the zip64 local header extra data field), and the optional descriptor following the compressed data. */
+mz_bool mz_zip_writer_add_from_zip_reader(mz_zip_archive *pZip, mz_zip_archive *pSource_zip, mz_uint src_file_index);
+
+/* Finalizes the archive by writing the central directory records followed by the end of central directory record. */
+/* After an archive is finalized, the only valid call on the mz_zip_archive struct is mz_zip_writer_end(). */
+/* An archive must be manually finalized by calling this function for it to be valid. */
+mz_bool mz_zip_writer_finalize_archive(mz_zip_archive *pZip);
+
+/* Finalizes a heap archive, returning a poiner to the heap block and its size. */
+/* The heap block will be allocated using the mz_zip_archive's alloc/realloc callbacks. */
+mz_bool mz_zip_writer_finalize_heap_archive(mz_zip_archive *pZip, void **ppBuf, size_t *pSize);
+
+/* Ends archive writing, freeing all allocations, and closing the output file if mz_zip_writer_init_file() was used. */
+/* Note for the archive to be valid, it *must* have been finalized before ending (this function will not do it for you). */
+mz_bool mz_zip_writer_end(mz_zip_archive *pZip);
+
+/* -------- Misc. high-level helper functions: */
+
+/* mz_zip_add_mem_to_archive_file_in_place() efficiently (but not atomically) appends a memory blob to a ZIP archive. */
+/* Note this is NOT a fully safe operation. If it crashes or dies in some way your archive can be left in a screwed up state (without a central directory). */
+/* level_and_flags - compression level (0-10, see MZ_BEST_SPEED, MZ_BEST_COMPRESSION, etc.) logically OR'd with zero or more mz_zip_flags, or just set to MZ_DEFAULT_COMPRESSION. */
+/* TODO: Perhaps add an option to leave the existing central dir in place in case the add dies? We could then truncate the file (so the old central dir would be at the end) if something goes wrong. */
+mz_bool mz_zip_add_mem_to_archive_file_in_place(const char *pZip_filename, const char *pArchive_name, const void *pBuf, size_t buf_size, const void *pComment, mz_uint16 comment_size, mz_uint level_and_flags);
+mz_bool mz_zip_add_mem_to_archive_file_in_place_v2(const char *pZip_filename, const char *pArchive_name, const void *pBuf, size_t buf_size, const void *pComment, mz_uint16 comment_size, mz_uint level_and_flags, mz_zip_error *pErr);
+
+/* Reads a single file from an archive into a heap block. */
+/* If pComment is not NULL, only the file with the specified comment will be extracted. */
+/* Returns NULL on failure. */
+void *mz_zip_extract_archive_file_to_heap(const char *pZip_filename, const char *pArchive_name, size_t *pSize, mz_uint flags);
+void *mz_zip_extract_archive_file_to_heap_v2(const char *pZip_filename, const char *pArchive_name, const char *pComment, size_t *pSize, mz_uint flags, mz_zip_error *pErr);
+
+#endif /* #ifndef MINIZ_NO_ARCHIVE_WRITING_APIS */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* MINIZ_NO_ARCHIVE_APIS */
diff --git a/wrap/openfbx/src/ofbx.cpp b/wrap/openfbx/src/ofbx.cpp
new file mode 100644
index 00000000..8679bd6d
--- /dev/null
+++ b/wrap/openfbx/src/ofbx.cpp
@@ -0,0 +1,2951 @@
+#include "ofbx.h"
+#include "miniz.h"
+#include <cassert>
+#include <cmath>
+#include <ctype.h>
+#include <memory>
+#include <unordered_map>
+#include <vector>
+#include <string>
+
+
+namespace ofbx
+{
+
+
+struct Error
+{
+	Error() {}
+	Error(const char* msg) { s_message = msg; }
+
+	static const char* s_message;
+};
+
+
+const char* Error::s_message = "";
+
+
+template <typename T> struct OptionalError
+{
+	OptionalError(Error error)
+		: is_error(true)
+	{
+	}
+
+
+	OptionalError(T _value)
+		: value(_value)
+		, is_error(false)
+	{
+	}
+
+
+	T getValue() const
+	{
+#ifdef _DEBUG
+		assert(error_checked);
+#endif
+		return value;
+	}
+
+
+	bool isError()
+	{
+#ifdef _DEBUG
+		error_checked = true;
+#endif
+		return is_error;
+	}
+
+
+private:
+	T value;
+	bool is_error;
+#ifdef _DEBUG
+	bool error_checked = false;
+#endif
+};
+
+
+#pragma pack(1)
+struct Header
+{
+	u8 magic[21];
+	u8 reserved[2];
+	u32 version;
+};
+#pragma pack()
+
+
+struct Cursor
+{
+	const u8* current;
+	const u8* begin;
+	const u8* end;
+};
+
+
+static void setTranslation(const Vec3& t, Matrix* mtx)
+{
+	mtx->m[12] = t.x;
+	mtx->m[13] = t.y;
+	mtx->m[14] = t.z;
+}
+
+
+static Vec3 operator-(const Vec3& v)
+{
+	return {-v.x, -v.y, -v.z};
+}
+
+
+static Matrix operator*(const Matrix& lhs, const Matrix& rhs)
+{
+	Matrix res;
+	for (int j = 0; j < 4; ++j)
+	{
+		for (int i = 0; i < 4; ++i)
+		{
+			double tmp = 0;
+			for (int k = 0; k < 4; ++k)
+			{
+				tmp += lhs.m[i + k * 4] * rhs.m[k + j * 4];
+			}
+			res.m[i + j * 4] = tmp;
+		}
+	}
+	return res;
+}
+
+
+static Matrix makeIdentity()
+{
+	return {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1};
+}
+
+
+static Matrix rotationX(double angle)
+{
+	Matrix m = makeIdentity();
+	double c = cos(angle);
+	double s = sin(angle);
+
+	m.m[5] = m.m[10] = c;
+	m.m[9] = -s;
+	m.m[6] = s;
+
+	return m;
+}
+
+
+static Matrix rotationY(double angle)
+{
+	Matrix m = makeIdentity();
+	double c = cos(angle);
+	double s = sin(angle);
+
+	m.m[0] = m.m[10] = c;
+	m.m[8] = s;
+	m.m[2] = -s;
+
+	return m;
+}
+
+
+static Matrix rotationZ(double angle)
+{
+	Matrix m = makeIdentity();
+	double c = cos(angle);
+	double s = sin(angle);
+
+	m.m[0] = m.m[5] = c;
+	m.m[4] = -s;
+	m.m[1] = s;
+
+	return m;
+}
+
+
+static Matrix getRotationMatrix(const Vec3& euler, RotationOrder order)
+{
+	const double TO_RAD = 3.1415926535897932384626433832795028 / 180.0;
+	Matrix rx = rotationX(euler.x * TO_RAD);
+	Matrix ry = rotationY(euler.y * TO_RAD);
+	Matrix rz = rotationZ(euler.z * TO_RAD);
+	switch (order) {
+		default:
+		case RotationOrder::SPHERIC_XYZ:
+			assert(false);
+		case RotationOrder::EULER_XYZ:
+			return rz * ry * rx;
+		case RotationOrder::EULER_XZY:
+			return ry * rz * rx;
+		case RotationOrder::EULER_YXZ:
+			return rz * rx * ry;
+		case RotationOrder::EULER_YZX:
+			return rx * rz * ry;
+		case RotationOrder::EULER_ZXY:
+			return ry * rx * rz;
+		case RotationOrder::EULER_ZYX:
+			return rx * ry * rz;
+	}
+}
+
+
+static double fbxTimeToSeconds(i64 value)
+{
+	return double(value) / 46186158000L;
+}
+
+
+static i64 secondsToFbxTime(double value)
+{
+	return i64(value * 46186158000L);
+}
+
+
+static Vec3 operator*(const Vec3& v, float f)
+{
+	return {v.x * f, v.y * f, v.z * f};
+}
+
+
+static Vec3 operator+(const Vec3& a, const Vec3& b)
+{
+	return {a.x + b.x, a.y + b.y, a.z + b.z};
+}
+
+
+template <int SIZE> static bool copyString(char (&destination)[SIZE], const char* source)
+{
+	const char* src = source;
+	char* dest = destination;
+	int length = SIZE;
+	if (!src) return false;
+
+	while (*src && length > 1)
+	{
+		*dest = *src;
+		--length;
+		++dest;
+		++src;
+	}
+	*dest = 0;
+	return *src == '\0';
+}
+
+
+u64 DataView::toU64() const
+{
+	if (is_binary)
+	{
+		assert(end - begin == sizeof(u64));
+		return *(u64*)begin;
+	}
+	static_assert(sizeof(unsigned long long) >= sizeof(u64), "can't use strtoull");
+	return strtoull((const char*)begin, nullptr, 10);
+}
+
+
+i64 DataView::toI64() const
+{
+	if (is_binary)
+	{
+		assert(end - begin == sizeof(i64));
+		return *(i64*)begin;
+	}
+	static_assert(sizeof(long long) >= sizeof(i64), "can't use atoll");
+	return atoll((const char*)begin);
+}
+
+
+int DataView::toInt() const
+{
+	if (is_binary)
+	{
+		assert(end - begin == sizeof(int));
+		return *(int*)begin;
+	}
+	return atoi((const char*)begin);
+}
+
+
+u32 DataView::toU32() const
+{
+	if (is_binary)
+	{
+		assert(end - begin == sizeof(u32));
+		return *(u32*)begin;
+	}
+	return (u32)atoll((const char*)begin);
+}
+
+
+double DataView::toDouble() const
+{
+	if (is_binary)
+	{
+		assert(end - begin == sizeof(double));
+		return *(double*)begin;
+	}
+	return atof((const char*)begin);
+}
+
+
+float DataView::toFloat() const
+{
+	if (is_binary)
+	{
+		assert(end - begin == sizeof(float));
+		return *(float*)begin;
+	}
+	return (float)atof((const char*)begin);
+}
+
+
+bool DataView::operator==(const char* rhs) const
+{
+	const char* c = rhs;
+	const char* c2 = (const char*)begin;
+	while (*c && c2 != (const char*)end)
+	{
+		if (*c != *c2) return 0;
+		++c;
+		++c2;
+	}
+	return c2 == (const char*)end && *c == '\0';
+}
+
+
+struct Property;
+template <typename T> static bool parseArrayRaw(const Property& property, T* out, int max_size);
+template <typename T> static bool parseBinaryArray(const Property& property, std::vector<T>* out);
+
+
+struct Property : IElementProperty
+{
+	~Property() { delete next; }
+	Type getType() const override { return (Type)type; }
+	IElementProperty* getNext() const override { return next; }
+	DataView getValue() const override { return value; }
+	int getCount() const override
+	{
+		assert(type == ARRAY_DOUBLE || type == ARRAY_INT || type == ARRAY_FLOAT || type == ARRAY_LONG);
+		if (value.is_binary)
+		{
+			return int(*(u32*)value.begin);
+		}
+		return count;
+	}
+
+	bool getValues(double* values, int max_size) const override { return parseArrayRaw(*this, values, max_size); }
+
+	bool getValues(float* values, int max_size) const override { return parseArrayRaw(*this, values, max_size); }
+
+	bool getValues(u64* values, int max_size) const override { return parseArrayRaw(*this, values, max_size); }
+	
+	bool getValues(i64* values, int max_size) const override { return parseArrayRaw(*this, values, max_size); }
+
+	bool getValues(int* values, int max_size) const override { return parseArrayRaw(*this, values, max_size); }
+
+	int count;
+	u8 type;
+	DataView value;
+	Property* next = nullptr;
+};
+
+
+struct Element final : IElement
+{
+	IElement* getFirstChild() const override { return child; }
+	IElement* getSibling() const override { return sibling; }
+	DataView getID() const override { return id; }
+	IElementProperty* getFirstProperty() const override { return first_property; }
+	IElementProperty* getProperty(int idx) const
+	{
+		IElementProperty* prop = first_property;
+		for (int i = 0; i < idx; ++i)
+		{
+			if (prop == nullptr) return nullptr;
+			prop = prop->getNext();
+		}
+		return prop;
+	}
+
+	DataView id;
+	Element* child = nullptr;
+	Element* sibling = nullptr;
+	Property* first_property = nullptr;
+};
+
+
+static const Element* findChild(const Element& element, const char* id)
+{
+	Element* const* iter = &element.child;
+	while (*iter)
+	{
+		if ((*iter)->id == id) return *iter;
+		iter = &(*iter)->sibling;
+	}
+	return nullptr;
+}
+
+
+static IElement* resolveProperty(const Object& obj, const char* name)
+{
+	const Element* props = findChild((const Element&)obj.element, "Properties70");
+	if (!props) return nullptr;
+
+	Element* prop = props->child;
+	while (prop)
+	{
+		if (prop->first_property && prop->first_property->value == name)
+		{
+			return prop;
+		}
+		prop = prop->sibling;
+	}
+	return nullptr;
+}
+
+
+static int resolveEnumProperty(const Object& object, const char* name, int default_value)
+{
+	Element* element = (Element*)resolveProperty(object, name);
+	if (!element) return default_value;
+	Property* x = (Property*)element->getProperty(4);
+	if (!x) return default_value;
+
+	return x->value.toInt();
+}
+
+
+static Vec3 resolveVec3Property(const Object& object, const char* name, const Vec3& default_value)
+{
+	Element* element = (Element*)resolveProperty(object, name);
+	if (!element) return default_value;
+	Property* x = (Property*)element->getProperty(4);
+	if (!x || !x->next || !x->next->next) return default_value;
+
+	return {x->value.toDouble(), x->next->value.toDouble(), x->next->next->value.toDouble()};
+}
+
+
+Object::Object(const Scene& _scene, const IElement& _element)
+	: scene(_scene)
+	, element(_element)
+	, is_node(false)
+	, node_attribute(nullptr)
+{
+	auto& e = (Element&)_element;
+	if (e.first_property && e.first_property->next)
+	{
+		e.first_property->next->value.toString(name);
+	}
+	else
+	{
+		name[0] = '\0';
+	}
+}
+
+
+static bool decompress(const u8* in, size_t in_size, u8* out, size_t out_size)
+{
+	mz_stream stream = {};
+	mz_inflateInit(&stream);
+
+	stream.avail_in = (int)in_size;
+	stream.next_in = in;
+	stream.avail_out = (int)out_size;
+	stream.next_out = out;
+
+	int status = mz_inflate(&stream, Z_SYNC_FLUSH);
+
+	if (status != Z_STREAM_END) return false;
+
+	return mz_inflateEnd(&stream) == Z_OK;
+}
+
+
+template <typename T> static OptionalError<T> read(Cursor* cursor)
+{
+	if (cursor->current + sizeof(T) > cursor->end) return Error("Reading past the end");
+	T value = *(const T*)cursor->current;
+	cursor->current += sizeof(T);
+	return value;
+}
+
+
+static OptionalError<DataView> readShortString(Cursor* cursor)
+{
+	DataView value;
+	OptionalError<u8> length = read<u8>(cursor);
+	if (length.isError()) return Error();
+
+	if (cursor->current + length.getValue() > cursor->end) return Error("Reading past the end");
+	value.begin = cursor->current;
+	cursor->current += length.getValue();
+
+	value.end = cursor->current;
+
+	return value;
+}
+
+
+static OptionalError<DataView> readLongString(Cursor* cursor)
+{
+	DataView value;
+	OptionalError<u32> length = read<u32>(cursor);
+	if (length.isError()) return Error();
+
+	if (cursor->current + length.getValue() > cursor->end) return Error("Reading past the end");
+	value.begin = cursor->current;
+	cursor->current += length.getValue();
+
+	value.end = cursor->current;
+
+	return value;
+}
+
+
+static OptionalError<Property*> readProperty(Cursor* cursor)
+{
+	if (cursor->current == cursor->end) return Error("Reading past the end");
+
+	std::unique_ptr<Property> prop(new Property());
+	prop->next = nullptr;
+	prop->type = *cursor->current;
+	++cursor->current;
+	prop->value.begin = cursor->current;
+
+	switch (prop->type)
+	{
+		case 'S':
+		{
+			OptionalError<DataView> val = readLongString(cursor);
+			if (val.isError()) return Error();
+			prop->value = val.getValue();
+			break;
+		}
+		case 'Y': cursor->current += 2; break;
+		case 'C': cursor->current += 1; break;
+		case 'I': cursor->current += 4; break;
+		case 'F': cursor->current += 4; break;
+		case 'D': cursor->current += 8; break;
+		case 'L': cursor->current += 8; break;
+		case 'R':
+		{
+			OptionalError<u32> len = read<u32>(cursor);
+			if (len.isError()) return Error();
+			if (cursor->current + len.getValue() > cursor->end) return Error("Reading past the end");
+			cursor->current += len.getValue();
+			break;
+		}
+		case 'b':
+		case 'f':
+		case 'd':
+		case 'l':
+		case 'i':
+		{
+			OptionalError<u32> length = read<u32>(cursor);
+			OptionalError<u32> encoding = read<u32>(cursor);
+			OptionalError<u32> comp_len = read<u32>(cursor);
+			if (length.isError() | encoding.isError() | comp_len.isError()) return Error();
+			if (cursor->current + comp_len.getValue() > cursor->end) return Error("Reading past the end");
+			cursor->current += comp_len.getValue();
+			break;
+		}
+		default: return Error("Unknown property type");
+	}
+	prop->value.end = cursor->current;
+	return prop.release();
+}
+
+
+static void deleteElement(Element* el)
+{
+	if (!el) return;
+
+	Element* iter = el;
+	// do not use recursion to delete siblings to avoid stack overflow
+	do
+	{
+		Element* next = iter->sibling;
+		delete iter->first_property;
+		deleteElement(iter->child);
+		delete iter;
+		iter = next;
+	} while (iter);
+}
+
+
+
+static OptionalError<u64> readElementOffset(Cursor* cursor, u16 version)
+{
+	if (version >= 7500)
+	{
+		OptionalError<u64> tmp = read<u64>(cursor);
+		if (tmp.isError()) return Error();
+		return tmp.getValue();
+	}
+
+	OptionalError<u32> tmp = read<u32>(cursor);
+	if (tmp.isError()) return Error();
+	return tmp.getValue();
+}
+
+
+static OptionalError<Element*> readElement(Cursor* cursor, u32 version)
+{
+	OptionalError<u64> end_offset = readElementOffset(cursor, version);
+	if (end_offset.isError()) return Error();
+	if (end_offset.getValue() == 0) return nullptr;
+
+	OptionalError<u64> prop_count = readElementOffset(cursor, version);
+	OptionalError<u64> prop_length = readElementOffset(cursor, version);
+	if (prop_count.isError() || prop_length.isError()) return Error();
+
+	const char* sbeg = 0;
+	const char* send = 0;
+	OptionalError<DataView> id = readShortString(cursor);
+	if (id.isError()) return Error();
+
+	Element* element = new Element();
+	element->first_property = nullptr;
+	element->id = id.getValue();
+
+	element->child = nullptr;
+	element->sibling = nullptr;
+
+	Property** prop_link = &element->first_property;
+	for (u32 i = 0; i < prop_count.getValue(); ++i)
+	{
+		OptionalError<Property*> prop = readProperty(cursor);
+		if (prop.isError())
+		{
+			deleteElement(element);
+			return Error();
+		}
+
+		*prop_link = prop.getValue();
+		prop_link = &(*prop_link)->next;
+	}
+
+	if (cursor->current - cursor->begin >= (ptrdiff_t)end_offset.getValue()) return element;
+
+	int BLOCK_SENTINEL_LENGTH = version >= 7500 ? 25 : 13;
+
+	Element** link = &element->child;
+	while (cursor->current - cursor->begin < ((ptrdiff_t)end_offset.getValue() - BLOCK_SENTINEL_LENGTH))
+	{
+		OptionalError<Element*> child = readElement(cursor, version);
+		if (child.isError())
+		{
+			deleteElement(element);
+			return Error();
+		}
+
+		*link = child.getValue();
+		link = &(*link)->sibling;
+	}
+
+	if (cursor->current + BLOCK_SENTINEL_LENGTH > cursor->end)
+	{
+		deleteElement(element); 
+		return Error("Reading past the end");
+	}
+
+	cursor->current += BLOCK_SENTINEL_LENGTH;
+	return element;
+}
+
+
+static bool isEndLine(const Cursor& cursor)
+{
+	return *cursor.current == '\n';
+}
+
+
+static void skipInsignificantWhitespaces(Cursor* cursor)
+{
+	while (cursor->current < cursor->end && isspace(*cursor->current) && *cursor->current != '\n')
+	{
+		++cursor->current;
+	}
+}
+
+
+static void skipLine(Cursor* cursor)
+{
+	while (cursor->current < cursor->end && !isEndLine(*cursor))
+	{
+		++cursor->current;
+	}
+	if (cursor->current < cursor->end) ++cursor->current;
+	skipInsignificantWhitespaces(cursor);
+}
+
+
+static void skipWhitespaces(Cursor* cursor)
+{
+	while (cursor->current < cursor->end && isspace(*cursor->current))
+	{
+		++cursor->current;
+	}
+	while (cursor->current < cursor->end && *cursor->current == ';') skipLine(cursor);
+}
+
+
+static bool isTextTokenChar(char c)
+{
+	return isalnum(c) || c == '_';
+}
+
+
+static DataView readTextToken(Cursor* cursor)
+{
+	DataView ret;
+	ret.begin = cursor->current;
+	while (cursor->current < cursor->end && isTextTokenChar(*cursor->current))
+	{
+		++cursor->current;
+	}
+	ret.end = cursor->current;
+	return ret;
+}
+
+
+static OptionalError<Property*> readTextProperty(Cursor* cursor)
+{
+	std::unique_ptr<Property> prop(new Property());
+	prop->value.is_binary = false;
+	prop->next = nullptr;
+	if (*cursor->current == '"')
+	{
+		prop->type = 'S';
+		++cursor->current;
+		prop->value.begin = cursor->current;
+		while (cursor->current < cursor->end && *cursor->current != '"')
+		{
+			++cursor->current;
+		}
+		prop->value.end = cursor->current;
+		if (cursor->current < cursor->end) ++cursor->current; // skip '"'
+		return prop.release();
+	}
+	
+	if (isdigit(*cursor->current) || *cursor->current == '-')
+	{
+		prop->type = 'L';
+		prop->value.begin = cursor->current;
+		if (*cursor->current == '-') ++cursor->current;
+		while (cursor->current < cursor->end && isdigit(*cursor->current))
+		{
+			++cursor->current;
+		}
+		prop->value.end = cursor->current;
+
+		if (cursor->current < cursor->end && *cursor->current == '.')
+		{
+			prop->type = 'D';
+			++cursor->current;
+			while (cursor->current < cursor->end && isdigit(*cursor->current))
+			{
+				++cursor->current;
+			}
+			if (cursor->current < cursor->end && (*cursor->current == 'e' || *cursor->current == 'E'))
+			{
+				// 10.5e-013
+				++cursor->current;
+				if (cursor->current < cursor->end && *cursor->current == '-') ++cursor->current;
+				while (cursor->current < cursor->end && isdigit(*cursor->current)) ++cursor->current;
+			}
+
+
+			prop->value.end = cursor->current;
+		}
+		return prop.release();
+	}
+	
+	if (*cursor->current == 'T' || *cursor->current == 'Y')
+	{
+		// WTF is this
+		prop->type = *cursor->current;
+		prop->value.begin = cursor->current;
+		++cursor->current;
+		prop->value.end = cursor->current;
+		return prop.release();
+	}
+
+	if (*cursor->current == '*')
+	{
+		prop->type = 'l';
+		++cursor->current;
+		// Vertices: *10740 { a: 14.2760353088379,... }
+		while (cursor->current < cursor->end && *cursor->current != ':')
+		{
+			++cursor->current;
+		}
+		if (cursor->current < cursor->end) ++cursor->current; // skip ':'
+		skipInsignificantWhitespaces(cursor);
+		prop->value.begin = cursor->current;
+		prop->count = 0;
+		bool is_any = false;
+		while (cursor->current < cursor->end && *cursor->current != '}')
+		{
+			if (*cursor->current == ',')
+			{
+				if (is_any) ++prop->count;
+				is_any = false;
+			}
+			else if (!isspace(*cursor->current) && *cursor->current != '\n') is_any = true;
+			if (*cursor->current == '.') prop->type = 'd';
+			++cursor->current;
+		}
+		if (is_any) ++prop->count;
+		prop->value.end = cursor->current;
+		if (cursor->current < cursor->end) ++cursor->current; // skip '}'
+		return prop.release();
+	}
+
+	assert(false);
+	return Error("TODO");
+}
+
+
+static OptionalError<Element*> readTextElement(Cursor* cursor)
+{
+	DataView id = readTextToken(cursor);
+	if (cursor->current == cursor->end) return Error("Unexpected end of file");
+	if(*cursor->current != ':') return Error("Unexpected end of file");
+	++cursor->current;
+
+	skipWhitespaces(cursor);
+	if (cursor->current == cursor->end) return Error("Unexpected end of file");
+
+	Element* element = new Element;
+	element->id = id;
+
+	Property** prop_link = &element->first_property;
+	while (cursor->current < cursor->end && *cursor->current != '\n' && *cursor->current != '{')
+	{
+		OptionalError<Property*> prop = readTextProperty(cursor);
+		if (prop.isError())
+		{
+			deleteElement(element);
+			return Error();
+		}
+		if (cursor->current < cursor->end && *cursor->current == ',')
+		{
+			++cursor->current;
+			skipWhitespaces(cursor);
+		}
+		skipInsignificantWhitespaces(cursor);
+
+		*prop_link = prop.getValue();
+		prop_link = &(*prop_link)->next;
+	}
+	
+	Element** link = &element->child;
+	if (*cursor->current == '{')
+	{
+		++cursor->current;
+		skipWhitespaces(cursor);
+		while (cursor->current < cursor->end && *cursor->current != '}')
+		{
+			OptionalError<Element*> child = readTextElement(cursor);
+			if (child.isError())
+			{
+				deleteElement(element);
+				return Error();
+			}
+			skipWhitespaces(cursor);
+
+			*link = child.getValue();
+			link = &(*link)->sibling;
+		}
+		if (cursor->current < cursor->end) ++cursor->current; // skip '}'
+	}
+	return element;
+}
+
+
+static OptionalError<Element*> tokenizeText(const u8* data, size_t size)
+{
+	Cursor cursor;
+	cursor.begin = data;
+	cursor.current = data;
+	cursor.end = data + size;
+
+	Element* root = new Element();
+	root->first_property = nullptr;
+	root->id.begin = nullptr;
+	root->id.end = nullptr;
+	root->child = nullptr;
+	root->sibling = nullptr;
+
+	Element** element = &root->child;
+	while (cursor.current < cursor.end)
+	{
+		if (*cursor.current == ';' || *cursor.current == '\r' || *cursor.current == '\n')
+		{
+			skipLine(&cursor);
+		}
+		else
+		{
+			OptionalError<Element*> child = readTextElement(&cursor);
+			if (child.isError())
+			{
+				deleteElement(root);
+				return Error();
+			}
+			*element = child.getValue();
+			if (!*element) return root;
+			element = &(*element)->sibling;
+		}
+	}
+
+	return root;
+}
+
+
+static OptionalError<Element*> tokenize(const u8* data, size_t size)
+{
+	Cursor cursor;
+	cursor.begin = data;
+	cursor.current = data;
+	cursor.end = data + size;
+
+	const Header* header = (const Header*)cursor.current;
+	cursor.current += sizeof(*header);
+
+	Element* root = new Element();
+	root->first_property = nullptr;
+	root->id.begin = nullptr;
+	root->id.end = nullptr;
+	root->child = nullptr;
+	root->sibling = nullptr;
+
+	Element** element = &root->child;
+	for (;;)
+	{
+		OptionalError<Element*> child = readElement(&cursor, header->version);
+		if (child.isError())
+		{
+			deleteElement(root);
+			return Error();
+		}
+		*element = child.getValue();
+		if (!*element) return root;
+		element = &(*element)->sibling;
+	}
+}
+
+
+static void parseTemplates(const Element& root)
+{
+	const Element* defs = findChild(root, "Definitions");
+	if (!defs) return;
+
+	std::unordered_map<std::string, Element*> templates;
+	Element* def = defs->child;
+	while (def)
+	{
+		if (def->id == "ObjectType")
+		{
+			Element* subdef = def->child;
+			while (subdef)
+			{
+				if (subdef->id == "PropertyTemplate")
+				{
+					DataView prop1 = def->first_property->value;
+					DataView prop2 = subdef->first_property->value;
+					std::string key((const char*)prop1.begin, prop1.end - prop1.begin);
+					key += std::string((const char*)prop1.begin, prop1.end - prop1.begin);
+					templates[key] = subdef;
+				}
+				subdef = subdef->sibling;
+			}
+		}
+		def = def->sibling;
+	}
+	// TODO
+}
+
+
+struct Scene;
+
+
+Mesh::Mesh(const Scene& _scene, const IElement& _element)
+	: Object(_scene, _element)
+{
+}
+
+
+struct MeshImpl : Mesh
+{
+	MeshImpl(const Scene& _scene, const IElement& _element)
+		: Mesh(_scene, _element)
+		, scene(_scene)
+	{
+		is_node = true;
+	}
+
+
+	Matrix getGeometricMatrix() const override
+	{
+		Vec3 translation = resolveVec3Property(*this, "GeometricTranslation", {0, 0, 0});
+		Vec3 rotation = resolveVec3Property(*this, "GeometricRotation", {0, 0, 0});
+		Vec3 scale = resolveVec3Property(*this, "GeometricScaling", {1, 1, 1});
+
+		Matrix scale_mtx = makeIdentity();
+		scale_mtx.m[0] = (float)scale.x;
+		scale_mtx.m[5] = (float)scale.y;
+		scale_mtx.m[10] = (float)scale.z;
+		Matrix mtx = getRotationMatrix(rotation, RotationOrder::EULER_XYZ);
+		setTranslation(translation, &mtx);
+
+		return scale_mtx * mtx;
+	}
+
+
+	Type getType() const override { return Type::MESH; }
+
+
+	const Geometry* getGeometry() const override { return geometry; }
+	const Material* getMaterial(int index) const override { return materials[index]; }
+	int getMaterialCount() const override { return (int)materials.size(); }
+
+
+	const Geometry* geometry = nullptr;
+	const Scene& scene;
+	std::vector<const Material*> materials;
+};
+
+
+Material::Material(const Scene& _scene, const IElement& _element)
+	: Object(_scene, _element)
+{
+}
+
+
+struct MaterialImpl : Material
+{
+	MaterialImpl(const Scene& _scene, const IElement& _element)
+		: Material(_scene, _element)
+	{
+		for (const Texture*& tex : textures) tex = nullptr;
+	}
+
+	Type getType() const override { return Type::MATERIAL; }
+
+
+	const Texture* getTexture(Texture::TextureType type) const override { return textures[type]; }
+	Color getDiffuseColor() const override { return diffuse_color; }
+
+	const Texture* textures[Texture::TextureType::COUNT];
+	Color diffuse_color;
+};
+
+
+struct LimbNodeImpl : Object
+{
+	LimbNodeImpl(const Scene& _scene, const IElement& _element)
+		: Object(_scene, _element)
+	{
+		is_node = true;
+	}
+	Type getType() const override { return Type::LIMB_NODE; }
+};
+
+
+struct NullImpl : Object
+{
+	NullImpl(const Scene& _scene, const IElement& _element)
+		: Object(_scene, _element)
+	{
+		is_node = true;
+	}
+	Type getType() const override { return Type::NULL_NODE; }
+};
+
+
+NodeAttribute::NodeAttribute(const Scene& _scene, const IElement& _element)
+	: Object(_scene, _element)
+{
+}
+
+
+struct NodeAttributeImpl : NodeAttribute
+{
+	NodeAttributeImpl(const Scene& _scene, const IElement& _element)
+		: NodeAttribute(_scene, _element)
+	{
+	}
+	Type getType() const override { return Type::NODE_ATTRIBUTE; }
+	DataView getAttributeType() const override { return attribute_type; }
+
+
+	DataView attribute_type;
+};
+
+
+Geometry::Geometry(const Scene& _scene, const IElement& _element)
+	: Object(_scene, _element)
+{
+}
+
+
+struct GeometryImpl : Geometry
+{
+	enum VertexDataMapping
+	{
+		BY_POLYGON_VERTEX,
+		BY_POLYGON,
+		BY_VERTEX
+	};
+
+	struct NewVertex
+	{
+		~NewVertex() { delete next; }
+
+		int index = -1;
+		NewVertex* next = nullptr;
+	};
+
+	std::vector<Vec3> vertices;
+	std::vector<Vec3> normals;
+	std::vector<Vec2> uvs[s_uvs_max];
+	std::vector<Vec4> colors;
+	std::vector<Vec3> tangents;
+	std::vector<int> materials;
+
+	const Skin* skin = nullptr;
+
+	std::vector<int> to_old_vertices;
+	std::vector<NewVertex> to_new_vertices;
+
+	GeometryImpl(const Scene& _scene, const IElement& _element)
+		: Geometry(_scene, _element)
+	{
+	}
+
+
+	Type getType() const override { return Type::GEOMETRY; }
+	int getVertexCount() const override { return (int)vertices.size(); }
+	const Vec3* getVertices() const override { return &vertices[0]; }
+	const Vec3* getNormals() const override { return normals.empty() ? nullptr : &normals[0]; }
+	const Vec2* getUVs(int index = 0) const override { return index < 0 || index >= s_uvs_max || uvs[index].empty() ? nullptr : &uvs[index][0]; }
+	const Vec4* getColors() const override { return colors.empty() ? nullptr : &colors[0]; }
+	const Vec3* getTangents() const override { return tangents.empty() ? nullptr : &tangents[0]; }
+	const Skin* getSkin() const override { return skin; }
+	const int* getMaterials() const override { return materials.empty() ? nullptr : &materials[0]; }
+
+
+	void triangulate(const std::vector<int>& old_indices, std::vector<int>* indices, std::vector<int>* to_old)
+	{
+		assert(indices);
+		assert(to_old);
+
+		auto getIdx = [&old_indices](int i) -> int {
+			int idx = old_indices[i];
+			return idx < 0 ? -idx - 1 : idx;
+		};
+
+		int in_polygon_idx = 0;
+		for (int i = 0; i < old_indices.size(); ++i)
+		{
+			int idx = getIdx(i);
+			if (in_polygon_idx <= 2)
+			{
+				indices->push_back(idx);
+				to_old->push_back(i);
+			}
+			else
+			{
+				indices->push_back(old_indices[i - in_polygon_idx]);
+				to_old->push_back(i - in_polygon_idx);
+				indices->push_back(old_indices[i - 1]);
+				to_old->push_back(i - 1);
+				indices->push_back(idx);
+				to_old->push_back(i);
+			}
+			++in_polygon_idx;
+			if (old_indices[i] < 0)
+			{
+				in_polygon_idx = 0;
+			}
+		}
+	}
+};
+
+
+Cluster::Cluster(const Scene& _scene, const IElement& _element)
+	: Object(_scene, _element)
+{
+}
+
+
+struct ClusterImpl : Cluster
+{
+	ClusterImpl(const Scene& _scene, const IElement& _element)
+		: Cluster(_scene, _element)
+	{
+	}
+
+	const int* getIndices() const override { return &indices[0]; }
+	int getIndicesCount() const override { return (int)indices.size(); }
+	const double* getWeights() const override { return &weights[0]; }
+	int getWeightsCount() const override { return (int)weights.size(); }
+	Matrix getTransformMatrix() const override { return transform_matrix; }
+	Matrix getTransformLinkMatrix() const override { return transform_link_matrix; }
+	Object* getLink() const override { return link; }
+
+
+	bool postprocess()
+	{
+		assert(skin);
+
+		GeometryImpl* geom = (GeometryImpl*)skin->resolveObjectLinkReverse(Object::Type::GEOMETRY);
+		if (!geom) return false;
+
+		std::vector<int> old_indices;
+		const Element* indexes = findChild((const Element&)element, "Indexes");
+		if (indexes && indexes->first_property)
+		{
+			if (!parseBinaryArray(*indexes->first_property, &old_indices)) return false;
+		}
+
+		std::vector<double> old_weights;
+		const Element* weights_el = findChild((const Element&)element, "Weights");
+		if (weights_el && weights_el->first_property)
+		{
+			if (!parseBinaryArray(*weights_el->first_property, &old_weights)) return false;
+		}
+
+		if (old_indices.size() != old_weights.size()) return false;
+
+		indices.reserve(old_indices.size());
+		weights.reserve(old_indices.size());
+		int* ir = old_indices.empty() ? nullptr : &old_indices[0];
+		double* wr = old_weights.empty() ? nullptr : &old_weights[0];
+		for (int i = 0, c = (int)old_indices.size(); i < c; ++i)
+		{
+			int old_idx = ir[i];
+			double w = wr[i];
+			GeometryImpl::NewVertex* n = &geom->to_new_vertices[old_idx];
+			if (n->index == -1) continue; // skip vertices which aren't indexed.
+			while (n)
+			{
+				indices.push_back(n->index);
+				weights.push_back(w);
+				n = n->next;
+			}
+		}
+
+		return true;
+	}
+
+
+	Object* link = nullptr;
+	Skin* skin = nullptr;
+	std::vector<int> indices;
+	std::vector<double> weights;
+	Matrix transform_matrix;
+	Matrix transform_link_matrix;
+	Type getType() const override { return Type::CLUSTER; }
+};
+
+
+AnimationStack::AnimationStack(const Scene& _scene, const IElement& _element)
+	: Object(_scene, _element)
+{
+}
+
+
+AnimationLayer::AnimationLayer(const Scene& _scene, const IElement& _element)
+	: Object(_scene, _element)
+{
+}
+
+
+AnimationCurve::AnimationCurve(const Scene& _scene, const IElement& _element)
+	: Object(_scene, _element)
+{
+}
+
+
+AnimationCurveNode::AnimationCurveNode(const Scene& _scene, const IElement& _element)
+	: Object(_scene, _element)
+{
+}
+
+
+struct AnimationStackImpl : AnimationStack
+{
+	AnimationStackImpl(const Scene& _scene, const IElement& _element)
+		: AnimationStack(_scene, _element)
+	{
+	}
+
+
+	const AnimationLayer* getLayer(int index) const override
+	{
+		return resolveObjectLink<AnimationLayer>(index);
+	}
+
+
+	Type getType() const override { return Type::ANIMATION_STACK; }
+};
+
+
+struct AnimationCurveImpl : AnimationCurve
+{
+	AnimationCurveImpl(const Scene& _scene, const IElement& _element)
+		: AnimationCurve(_scene, _element)
+	{
+	}
+
+	int getKeyCount() const override { return (int)times.size(); }
+	const i64* getKeyTime() const override { return &times[0]; }
+	const float* getKeyValue() const override { return &values[0]; }
+
+	std::vector<i64> times;
+	std::vector<float> values;
+	Type getType() const override { return Type::ANIMATION_CURVE; }
+};
+
+
+Skin::Skin(const Scene& _scene, const IElement& _element)
+	: Object(_scene, _element)
+{
+}
+
+
+struct SkinImpl : Skin
+{
+	SkinImpl(const Scene& _scene, const IElement& _element)
+		: Skin(_scene, _element)
+	{
+	}
+
+	int getClusterCount() const override { return (int)clusters.size(); }
+	const Cluster* getCluster(int idx) const override { return clusters[idx]; }
+
+	Type getType() const override { return Type::SKIN; }
+
+	std::vector<Cluster*> clusters;
+};
+
+
+Texture::Texture(const Scene& _scene, const IElement& _element)
+	: Object(_scene, _element)
+{
+}
+
+
+struct TextureImpl : Texture
+{
+	TextureImpl(const Scene& _scene, const IElement& _element)
+		: Texture(_scene, _element)
+	{
+	}
+
+	DataView getRelativeFileName() const override { return relative_filename; }
+	DataView getFileName() const override { return filename; }
+
+	DataView filename;
+	DataView relative_filename;
+	Type getType() const override { return Type::TEXTURE; }
+};
+
+
+struct Root : Object
+{
+	Root(const Scene& _scene, const IElement& _element)
+		: Object(_scene, _element)
+	{
+		copyString(name, "RootNode");
+		is_node = true;
+	}
+	Type getType() const override { return Type::ROOT; }
+};
+
+
+struct Scene : IScene
+{
+	struct Connection
+	{
+		enum Type
+		{
+			OBJECT_OBJECT,
+			OBJECT_PROPERTY
+		};
+
+		Type type;
+		u64 from;
+		u64 to;
+		DataView property;
+	};
+
+	struct ObjectPair
+	{
+		const Element* element;
+		Object* object;
+	};
+
+
+	int getAnimationStackCount() const override { return (int)m_animation_stacks.size(); }
+	int getMeshCount() const override { return (int)m_meshes.size(); }
+	float getSceneFrameRate() const override { return m_scene_frame_rate; }
+	const GlobalSettings* getGlobalSettings() const override { return &m_settings; }
+
+	const Object* const* getAllObjects() const override { return m_all_objects.empty() ? nullptr : &m_all_objects[0]; }
+
+
+	int getAllObjectCount() const override { return (int)m_all_objects.size(); }
+
+
+	const AnimationStack* getAnimationStack(int index) const override
+	{
+		assert(index >= 0);
+		assert(index < m_animation_stacks.size());
+		return m_animation_stacks[index];
+	}
+
+
+	const Mesh* getMesh(int index) const override
+	{
+		assert(index >= 0);
+		assert(index < m_meshes.size());
+		return m_meshes[index];
+	}
+
+
+	const TakeInfo* getTakeInfo(const char* name) const override
+	{
+		for (const TakeInfo& info : m_take_infos)
+		{
+			if (info.name == name) return &info;
+		}
+		return nullptr;
+	}
+
+
+	const IElement* getRootElement() const override { return m_root_element; }
+	const Object* getRoot() const override { return m_root; }
+
+
+	void destroy() override { delete this; }
+
+
+	~Scene()
+	{
+		for (auto iter : m_object_map)
+		{
+			delete iter.second.object;
+		}
+		
+		deleteElement(m_root_element);
+	}
+
+
+	Element* m_root_element = nullptr;
+	Root* m_root = nullptr;
+	float m_scene_frame_rate = -1;
+	GlobalSettings m_settings;
+	std::unordered_map<u64, ObjectPair> m_object_map;
+	std::vector<Object*> m_all_objects;
+	std::vector<Mesh*> m_meshes;
+	std::vector<AnimationStack*> m_animation_stacks;
+	std::vector<Connection> m_connections;
+	std::vector<u8> m_data;
+	std::vector<TakeInfo> m_take_infos;
+};
+
+
+struct AnimationCurveNodeImpl : AnimationCurveNode
+{
+	AnimationCurveNodeImpl(const Scene& _scene, const IElement& _element)
+		: AnimationCurveNode(_scene, _element)
+	{
+	}
+
+
+	const Object* getBone() const override
+	{
+		return bone;
+	}
+
+
+	Vec3 getNodeLocalTransform(double time) const override
+	{
+		i64 fbx_time = secondsToFbxTime(time);
+
+		auto getCoord = [](const Curve& curve, i64 fbx_time) {
+			if (!curve.curve) return 0.0f;
+
+			const i64* times = curve.curve->getKeyTime();
+			const float* values = curve.curve->getKeyValue();
+			int count = curve.curve->getKeyCount();
+
+			if (fbx_time < times[0]) fbx_time = times[0];
+			if (fbx_time > times[count - 1]) fbx_time = times[count - 1];
+			for (int i = 1; i < count; ++i)
+			{
+				if (times[i] >= fbx_time)
+				{
+					float t = float(double(fbx_time - times[i - 1]) / double(times[i] - times[i - 1]));
+					return values[i - 1] * (1 - t) + values[i] * t;
+				}
+			}
+			return values[0];
+		};
+
+		return {getCoord(curves[0], fbx_time), getCoord(curves[1], fbx_time), getCoord(curves[2], fbx_time)};
+	}
+
+
+	struct Curve
+	{
+		const AnimationCurve* curve = nullptr;
+		const Scene::Connection* connection = nullptr;
+	};
+
+
+	Curve curves[3];
+	Object* bone = nullptr;
+	DataView bone_link_property;
+	Type getType() const override { return Type::ANIMATION_CURVE_NODE; }
+	enum Mode
+	{
+		TRANSLATION,
+		ROTATION,
+		SCALE
+	} mode = TRANSLATION;
+};
+
+
+struct AnimationLayerImpl : AnimationLayer
+{
+	AnimationLayerImpl(const Scene& _scene, const IElement& _element)
+		: AnimationLayer(_scene, _element)
+	{
+	}
+
+
+	Type getType() const override { return Type::ANIMATION_LAYER; }
+
+
+	const AnimationCurveNode* getCurveNode(int index) const override
+	{
+		if (index >= curve_nodes.size() || index < 0) return nullptr;
+		return curve_nodes[index];
+	}
+
+
+	const AnimationCurveNode* getCurveNode(const Object& bone, const char* prop) const override
+	{
+		for (const AnimationCurveNodeImpl* node : curve_nodes)
+		{
+			if (node->bone_link_property == prop && node->bone == &bone) return node;
+		}
+		return nullptr;
+	}
+
+
+	std::vector<AnimationCurveNodeImpl*> curve_nodes;
+};
+
+
+struct OptionalError<Object*> parseTexture(const Scene& scene, const Element& element)
+{
+	TextureImpl* texture = new TextureImpl(scene, element);
+	const Element* texture_filename = findChild(element, "FileName");
+	if (texture_filename && texture_filename->first_property)
+	{
+		texture->filename = texture_filename->first_property->value;
+	}
+	const Element* texture_relative_filename = findChild(element, "RelativeFilename");
+	if (texture_relative_filename && texture_relative_filename->first_property)
+	{
+		texture->relative_filename = texture_relative_filename->first_property->value;
+	}
+	return texture;
+}
+
+
+template <typename T> static OptionalError<Object*> parse(const Scene& scene, const Element& element)
+{
+	T* obj = new T(scene, element);
+	return obj;
+}
+
+
+static OptionalError<Object*> parseCluster(const Scene& scene, const Element& element)
+{
+	std::unique_ptr<ClusterImpl> obj(new ClusterImpl(scene, element));
+
+	const Element* transform_link = findChild(element, "TransformLink");
+	if (transform_link && transform_link->first_property)
+	{
+		if (!parseArrayRaw(
+				*transform_link->first_property, &obj->transform_link_matrix, sizeof(obj->transform_link_matrix)))
+		{
+			return Error("Failed to parse TransformLink");
+		}
+	}
+	const Element* transform = findChild(element, "Transform");
+	if (transform && transform->first_property)
+	{
+		if (!parseArrayRaw(*transform->first_property, &obj->transform_matrix, sizeof(obj->transform_matrix)))
+		{
+			return Error("Failed to parse Transform");
+
+		}
+	}
+
+	return obj.release();
+}
+
+
+static OptionalError<Object*> parseNodeAttribute(const Scene& scene, const Element& element)
+{
+	NodeAttributeImpl* obj = new NodeAttributeImpl(scene, element);
+	const Element* type_flags = findChild(element, "TypeFlags");
+	if (type_flags && type_flags->first_property)
+	{
+		obj->attribute_type = type_flags->first_property->value;
+	}
+	return obj;
+}
+
+
+static OptionalError<Object*> parseLimbNode(const Scene& scene, const Element& element)
+{
+	if (!element.first_property
+		|| !element.first_property->next
+		|| !element.first_property->next->next
+		|| element.first_property->next->next->value != "LimbNode")
+	{
+		return Error("Invalid limb node");
+	}
+
+	LimbNodeImpl* obj = new LimbNodeImpl(scene, element);
+	return obj;
+}
+
+
+static OptionalError<Object*> parseMesh(const Scene& scene, const Element& element)
+{
+	if (!element.first_property
+		|| !element.first_property->next
+		|| !element.first_property->next->next
+		|| element.first_property->next->next->value != "Mesh")
+	{
+		return Error("Invalid mesh");
+	}
+
+	return new MeshImpl(scene, element);
+}
+
+
+static OptionalError<Object*> parseMaterial(const Scene& scene, const Element& element)
+{
+	MaterialImpl* material = new MaterialImpl(scene, element);
+	const Element* prop = findChild(element, "Properties70");
+	material->diffuse_color = { 1, 1, 1 };
+	if (prop) prop = prop->child;
+	while (prop)
+	{
+		if (prop->id == "P" && prop->first_property)
+		{
+			if (prop->first_property->value == "DiffuseColor")
+			{
+				material->diffuse_color.r = (float)prop->getProperty(4)->getValue().toDouble();
+				material->diffuse_color.g = (float)prop->getProperty(5)->getValue().toDouble();
+				material->diffuse_color.b = (float)prop->getProperty(6)->getValue().toDouble();
+			}
+		}
+		prop = prop->sibling;
+	}
+	return material;
+}
+
+
+template<typename T> static bool parseTextArrayRaw(const Property& property, T* out, int max_size);
+
+template <typename T> static bool parseArrayRaw(const Property& property, T* out, int max_size)
+{
+	if (property.value.is_binary)
+	{
+		assert(out);
+
+		int elem_size = 1;
+		switch (property.type)
+		{
+			case 'l': elem_size = 8; break;
+			case 'd': elem_size = 8; break;
+			case 'f': elem_size = 4; break;
+			case 'i': elem_size = 4; break;
+			default: return false;
+		}
+
+		const u8* data = property.value.begin + sizeof(u32) * 3;
+		if (data > property.value.end) return false;
+
+		u32 count = property.getCount();
+		u32 enc = *(const u32*)(property.value.begin + 4);
+		u32 len = *(const u32*)(property.value.begin + 8);
+
+		if (enc == 0)
+		{
+			if ((int)len > max_size) return false;
+			if (data + len > property.value.end) return false;
+			memcpy(out, data, len);
+			return true;
+		}
+		else if (enc == 1)
+		{
+			if (int(elem_size * count) > max_size) return false;
+			return decompress(data, len, (u8*)out, elem_size * count);
+		}
+
+		return false;
+	}
+
+	return parseTextArrayRaw(property, out, max_size);
+}
+
+
+template <typename T> const char* fromString(const char* str, const char* end, T* val);
+template <> const char* fromString<int>(const char* str, const char* end, int* val)
+{
+	*val = atoi(str);
+	const char* iter = str;
+	while (iter < end && *iter != ',') ++iter;
+	if (iter < end) ++iter; // skip ','
+	return (const char*)iter;
+}
+
+
+template <> const char* fromString<u64>(const char* str, const char* end, u64* val)
+{
+	*val = strtoull(str, nullptr, 10);
+	const char* iter = str;
+	while (iter < end && *iter != ',') ++iter;
+	if (iter < end) ++iter; // skip ','
+	return (const char*)iter;
+}
+
+
+template <> const char* fromString<i64>(const char* str, const char* end, i64* val)
+{
+	*val = atoll(str);
+	const char* iter = str;
+	while (iter < end && *iter != ',') ++iter;
+	if (iter < end) ++iter; // skip ','
+	return (const char*)iter;
+}
+
+
+template <> const char* fromString<double>(const char* str, const char* end, double* val)
+{
+	*val = atof(str);
+	const char* iter = str;
+	while (iter < end && *iter != ',') ++iter;
+	if (iter < end) ++iter; // skip ','
+	return (const char*)iter;
+}
+
+
+template <> const char* fromString<float>(const char* str, const char* end, float* val)
+{
+	*val = (float)atof(str);
+	const char* iter = str;
+	while (iter < end && *iter != ',') ++iter;
+	if (iter < end) ++iter; // skip ','
+	return (const char*)iter;
+}
+
+
+const char* fromString(const char* str, const char* end, double* val, int count)
+{
+	const char* iter = str;
+	for (int i = 0; i < count; ++i)
+	{
+		*val = atof(iter);
+		++val;
+		while (iter < end && *iter != ',') ++iter;
+		if (iter < end) ++iter; // skip ','
+
+		if (iter == end) return iter;
+
+	}
+	return (const char*)iter;
+}
+
+
+template <> const char* fromString<Vec2>(const char* str, const char* end, Vec2* val)
+{
+	return fromString(str, end, &val->x, 2);
+}
+
+
+template <> const char* fromString<Vec3>(const char* str, const char* end, Vec3* val)
+{
+	return fromString(str, end, &val->x, 3);
+}
+
+
+template <> const char* fromString<Vec4>(const char* str, const char* end, Vec4* val)
+{
+	return fromString(str, end, &val->x, 4);
+}
+
+
+template <> const char* fromString<Matrix>(const char* str, const char* end, Matrix* val)
+{
+	return fromString(str, end, &val->m[0], 16);
+}
+
+
+template<typename T> static void parseTextArray(const Property& property, std::vector<T>* out)
+{
+	const u8* iter = property.value.begin;
+	for(int i = 0; i < property.count; ++i)
+	{
+		T val;
+		iter = (const u8*)fromString<T>((const char*)iter, (const char*)property.value.end, &val);
+		out->push_back(val);
+	}
+}
+
+
+template<typename T> static bool parseTextArrayRaw(const Property& property, T* out_raw, int max_size)
+{
+	const u8* iter = property.value.begin;
+	
+	T* out = out_raw;
+	while (iter < property.value.end)
+	{
+		iter = (const u8*)fromString<T>((const char*)iter, (const char*)property.value.end, out);
+		++out;
+		if (out - out_raw == max_size / sizeof(T)) return true;
+	}
+	return out - out_raw == max_size / sizeof(T);
+}
+
+
+template <typename T> static bool parseBinaryArray(const Property& property, std::vector<T>* out)
+{
+	assert(out);
+	if (property.value.is_binary)
+	{
+		u32 count = property.getCount();
+		int elem_size = 1;
+		switch (property.type)
+		{
+			case 'd': elem_size = 8; break;
+			case 'f': elem_size = 4; break;
+			case 'i': elem_size = 4; break;
+			default: return false;
+		}
+		int elem_count = sizeof(T) / elem_size;
+		out->resize(count / elem_count);
+
+		if (count == 0) return true;
+		return parseArrayRaw(property, &(*out)[0], int(sizeof((*out)[0]) * out->size()));
+	}
+	else
+	{
+		parseTextArray(property, out);
+		return true;
+	}
+}
+
+
+template <typename T> static bool parseDoubleVecData(Property& property, std::vector<T>* out_vec)
+{
+	assert(out_vec);
+	if (!property.value.is_binary)
+	{
+		parseTextArray(property, out_vec);
+		return true;
+	}
+
+	if (property.type == 'd')
+	{
+		return parseBinaryArray(property, out_vec);
+	}
+
+	assert(property.type == 'f');
+	assert(sizeof((*out_vec)[0].x) == sizeof(double));
+	std::vector<float> tmp;
+	if (!parseBinaryArray(property, &tmp)) return false;
+	int elem_count = sizeof((*out_vec)[0]) / sizeof((*out_vec)[0].x);
+	out_vec->resize(tmp.size() / elem_count);
+	double* out = &(*out_vec)[0].x;
+	for (int i = 0, c = (int)tmp.size(); i < c; ++i)
+	{
+		out[i] = tmp[i];
+	}
+	return true;
+}
+
+
+template <typename T>
+static bool parseVertexData(const Element& element,
+	const char* name,
+	const char* index_name,
+	std::vector<T>* out,
+	std::vector<int>* out_indices,
+	GeometryImpl::VertexDataMapping* mapping)
+{
+	assert(out);
+	assert(mapping);
+	const Element* data_element = findChild(element, name);
+	if (!data_element || !data_element->first_property) 	return false;
+
+	const Element* mapping_element = findChild(element, "MappingInformationType");
+	const Element* reference_element = findChild(element, "ReferenceInformationType");
+
+	if (mapping_element && mapping_element->first_property)
+	{
+		if (mapping_element->first_property->value == "ByPolygonVertex")
+		{
+			*mapping = GeometryImpl::BY_POLYGON_VERTEX;
+		}
+		else if (mapping_element->first_property->value == "ByPolygon")
+		{
+			*mapping = GeometryImpl::BY_POLYGON;
+		}
+		else if (mapping_element->first_property->value == "ByVertice" ||
+					mapping_element->first_property->value == "ByVertex")
+		{
+			*mapping = GeometryImpl::BY_VERTEX;
+		}
+		else
+		{
+			return false;
+		}
+	}
+	if (reference_element && reference_element->first_property)
+	{
+		if (reference_element->first_property->value == "IndexToDirect")
+		{
+			const Element* indices_element = findChild(element, index_name);
+			if (indices_element && indices_element->first_property)
+			{
+				if (!parseBinaryArray(*indices_element->first_property, out_indices)) return false;
+			}
+		}
+		else if (reference_element->first_property->value != "Direct")
+		{
+			return false;
+		}
+	}
+	return parseDoubleVecData(*data_element->first_property, out);
+}
+
+
+template <typename T>
+static void splat(std::vector<T>* out,
+	GeometryImpl::VertexDataMapping mapping,
+	const std::vector<T>& data,
+	const std::vector<int>& indices,
+	const std::vector<int>& original_indices)
+{
+	assert(out);
+	assert(!data.empty());
+
+	if (mapping == GeometryImpl::BY_POLYGON_VERTEX)
+	{
+		if (indices.empty())
+		{
+			out->resize(data.size());
+			memcpy(&(*out)[0], &data[0], sizeof(data[0]) * data.size());
+		}
+		else
+		{
+			out->resize(indices.size());
+			int data_size = (int)data.size();
+			for (int i = 0, c = (int)indices.size(); i < c; ++i)
+			{
+				if(indices[i] < data_size) (*out)[i] = data[indices[i]];
+				else (*out)[i] = T();
+			}
+		}
+	}
+	else if (mapping == GeometryImpl::BY_VERTEX)
+	{
+		//  v0  v1 ...
+		// uv0 uv1 ...
+		assert(indices.empty());
+
+		out->resize(original_indices.size());
+
+		int data_size = (int)data.size();
+		for (int i = 0, c = (int)original_indices.size(); i < c; ++i)
+		{
+			int idx = original_indices[i];
+			if (idx < 0) idx = -idx - 1;
+			if(idx < data_size) (*out)[i] = data[idx];
+			else (*out)[i] = T();
+		}
+	}
+	else
+	{
+		assert(false);
+	}
+}
+
+
+template <typename T> static void remap(std::vector<T>* out, const std::vector<int>& map)
+{
+	if (out->empty()) return;
+
+	std::vector<T> old;
+	old.swap(*out);
+	int old_size = (int)old.size();
+	for (int i = 0, c = (int)map.size(); i < c; ++i)
+	{
+		if(map[i] < old_size) out->push_back(old[map[i]]);
+		else out->push_back(T());
+	}
+}
+
+
+static OptionalError<Object*> parseAnimationCurve(const Scene& scene, const Element& element)
+{
+	std::unique_ptr<AnimationCurveImpl> curve(new AnimationCurveImpl(scene, element));
+
+	const Element* times = findChild(element, "KeyTime");
+	const Element* values = findChild(element, "KeyValueFloat");
+
+	if (times && times->first_property)
+	{
+		curve->times.resize(times->first_property->getCount());
+		if (!times->first_property->getValues(&curve->times[0], (int)curve->times.size() * sizeof(curve->times[0])))
+		{
+			return Error("Invalid animation curve");
+		}
+	}
+
+	if (values && values->first_property)
+	{
+		curve->values.resize(values->first_property->getCount());
+		if (!values->first_property->getValues(&curve->values[0], (int)curve->values.size() * sizeof(curve->values[0])))
+		{
+			return Error("Invalid animation curve");
+		}
+	}
+
+	if (curve->times.size() != curve->values.size()) return Error("Invalid animation curve");
+
+	return curve.release();
+}
+
+
+static int getTriCountFromPoly(const std::vector<int>& indices, int* idx)
+{
+	int count = 1;
+	while (indices[*idx + 1 + count] >= 0)
+	{
+		++count;
+	}
+
+	*idx = *idx + 2 + count;
+	return count;
+}
+
+
+static void add(GeometryImpl::NewVertex& vtx, int index)
+{
+	if (vtx.index == -1)
+	{
+		vtx.index = index;
+	}
+	else if (vtx.next)
+	{
+		add(*vtx.next, index);
+	}
+	else
+	{
+		vtx.next = new GeometryImpl::NewVertex;
+		vtx.next->index = index;
+	}
+}
+
+
+static OptionalError<Object*> parseGeometry(const Scene& scene, const Element& element)
+{
+	assert(element.first_property);
+
+	const Element* vertices_element = findChild(element, "Vertices");
+	if (!vertices_element || !vertices_element->first_property) return Error("Vertices missing");
+
+	const Element* polys_element = findChild(element, "PolygonVertexIndex");
+	if (!polys_element || !polys_element->first_property) return Error("Indices missing");
+
+	std::unique_ptr<GeometryImpl> geom(new GeometryImpl(scene, element));
+
+	std::vector<Vec3> vertices;
+	if (!parseDoubleVecData(*vertices_element->first_property, &vertices)) return Error("Failed to parse vertices");
+	std::vector<int> original_indices;
+	if (!parseBinaryArray(*polys_element->first_property, &original_indices)) return Error("Failed to parse indices");
+
+	std::vector<int> to_old_indices;
+	geom->triangulate(original_indices, &geom->to_old_vertices, &to_old_indices);
+	geom->vertices.resize(geom->to_old_vertices.size());
+
+	for (int i = 0, c = (int)geom->to_old_vertices.size(); i < c; ++i)
+	{
+		geom->vertices[i] = vertices[geom->to_old_vertices[i]];
+	}
+
+	geom->to_new_vertices.resize(vertices.size()); // some vertices can be unused, so this isn't necessarily the same size as to_old_vertices.
+	const int* to_old_vertices = geom->to_old_vertices.empty() ? nullptr : &geom->to_old_vertices[0];
+	for (int i = 0, c = (int)geom->to_old_vertices.size(); i < c; ++i)
+	{
+		int old = to_old_vertices[i];
+		add(geom->to_new_vertices[old], i);
+	}
+
+	const Element* layer_material_element = findChild(element, "LayerElementMaterial");
+	if (layer_material_element)
+	{
+		const Element* mapping_element = findChild(*layer_material_element, "MappingInformationType");
+		const Element* reference_element = findChild(*layer_material_element, "ReferenceInformationType");
+
+		std::vector<int> tmp;
+
+		if (!mapping_element || !reference_element) return Error("Invalid LayerElementMaterial");
+
+		if (mapping_element->first_property->value == "ByPolygon" &&
+			reference_element->first_property->value == "IndexToDirect")
+		{
+			geom->materials.reserve(geom->vertices.size() / 3);
+			for (int& i : geom->materials) i = -1;
+
+			const Element* indices_element = findChild(*layer_material_element, "Materials");
+			if (!indices_element || !indices_element->first_property) return Error("Invalid LayerElementMaterial");
+
+			if (!parseBinaryArray(*indices_element->first_property, &tmp)) return Error("Failed to parse material indices");
+
+			int tmp_i = 0;
+			for (int poly = 0, c = (int)tmp.size(); poly < c; ++poly)
+			{
+				int tri_count = getTriCountFromPoly(original_indices, &tmp_i);
+				for (int i = 0; i < tri_count; ++i)
+				{
+					geom->materials.push_back(tmp[poly]);
+				}
+			}
+		}
+		else
+		{
+			if (mapping_element->first_property->value != "AllSame") return Error("Mapping not supported");
+		}
+	}
+
+	const Element* layer_uv_element = findChild(element, "LayerElementUV");
+    while (layer_uv_element)
+    {
+        const int uv_index = layer_uv_element->first_property ? layer_uv_element->first_property->getValue().toInt() : 0;
+        if (uv_index >= 0 && uv_index < Geometry::s_uvs_max)
+        {
+            std::vector<Vec2>& uvs = geom->uvs[uv_index];
+
+            std::vector<Vec2> tmp;
+            std::vector<int> tmp_indices;
+            GeometryImpl::VertexDataMapping mapping;
+            if (!parseVertexData(*layer_uv_element, "UV", "UVIndex", &tmp, &tmp_indices, &mapping)) return Error("Invalid UVs");
+            if (!tmp.empty())
+            {
+                uvs.resize(tmp_indices.empty() ? tmp.size() : tmp_indices.size());
+                splat(&uvs, mapping, tmp, tmp_indices, original_indices);
+                remap(&uvs, to_old_indices);
+            }
+        }
+
+        do
+        {
+            layer_uv_element = layer_uv_element->sibling;
+        } while (layer_uv_element && layer_uv_element->id != "LayerElementUV");
+    }
+
+	const Element* layer_tangent_element = findChild(element, "LayerElementTangents");
+	if (layer_tangent_element)
+	{
+		std::vector<Vec3> tmp;
+		std::vector<int> tmp_indices;
+		GeometryImpl::VertexDataMapping mapping;
+		if (findChild(*layer_tangent_element, "Tangents"))
+		{
+			if (!parseVertexData(*layer_tangent_element, "Tangents", "TangentsIndex", &tmp, &tmp_indices, &mapping)) return Error("Invalid tangets");
+		}
+		else
+		{
+			if (!parseVertexData(*layer_tangent_element, "Tangent", "TangentIndex", &tmp, &tmp_indices, &mapping))  return Error("Invalid tangets");
+		}
+		if (!tmp.empty())
+		{
+			splat(&geom->tangents, mapping, tmp, tmp_indices, original_indices);
+			remap(&geom->tangents, to_old_indices);
+		}
+	}
+
+	const Element* layer_color_element = findChild(element, "LayerElementColor");
+	if (layer_color_element)
+	{
+		std::vector<Vec4> tmp;
+		std::vector<int> tmp_indices;
+		GeometryImpl::VertexDataMapping mapping;
+		if (!parseVertexData(*layer_color_element, "Colors", "ColorIndex", &tmp, &tmp_indices, &mapping)) return Error("Invalid colors");
+		if (!tmp.empty())
+		{
+			splat(&geom->colors, mapping, tmp, tmp_indices, original_indices);
+			remap(&geom->colors, to_old_indices);
+		}
+	}
+
+	const Element* layer_normal_element = findChild(element, "LayerElementNormal");
+	if (layer_normal_element)
+	{
+		std::vector<Vec3> tmp;
+		std::vector<int> tmp_indices;
+		GeometryImpl::VertexDataMapping mapping;
+		if (!parseVertexData(*layer_normal_element, "Normals", "NormalsIndex", &tmp, &tmp_indices, &mapping)) return Error("Invalid normals");
+		if (!tmp.empty())
+		{
+			splat(&geom->normals, mapping, tmp, tmp_indices, original_indices);
+			remap(&geom->normals, to_old_indices);
+		}
+	}
+
+	return geom.release();
+}
+
+
+static bool isString(const Property* prop)
+{
+	if (!prop) return false;
+	return prop->getType() == Property::STRING;
+}
+
+
+static bool isLong(const Property* prop)
+{
+	if (!prop) return false;
+	return prop->getType() == Property::LONG;
+}
+
+
+static bool parseConnections(const Element& root, Scene* scene)
+{
+	assert(scene);
+
+	const Element* connections = findChild(root, "Connections");
+	if (!connections) return true;
+
+	const Element* connection = connections->child;
+	while (connection)
+	{
+		if (!isString(connection->first_property)
+			|| !isLong(connection->first_property->next)
+			|| !isLong(connection->first_property->next->next))
+		{
+			Error::s_message = "Invalid connection";
+			return false;
+		}
+
+		Scene::Connection c;
+		c.from = connection->first_property->next->value.toU64();
+		c.to = connection->first_property->next->next->value.toU64();
+		if (connection->first_property->value == "OO")
+		{
+			c.type = Scene::Connection::OBJECT_OBJECT;
+		}
+		else if (connection->first_property->value == "OP")
+		{
+			c.type = Scene::Connection::OBJECT_PROPERTY;
+			if (!connection->first_property->next->next->next)
+			{
+				Error::s_message = "Invalid connection";
+				return false;
+			}
+			c.property = connection->first_property->next->next->next->value;
+		}
+		else
+		{
+			assert(false);
+			Error::s_message = "Not supported";
+			return false;
+		}
+		scene->m_connections.push_back(c);
+
+		connection = connection->sibling;
+	}
+	return true;
+}
+
+
+static bool parseTakes(Scene* scene)
+{
+	const Element* takes = findChild((const Element&)*scene->getRootElement(), "Takes");
+	if (!takes) return true;
+
+	const Element* object = takes->child;
+	while (object)
+	{
+		if (object->id == "Take")
+		{
+			if (!isString(object->first_property))
+			{
+				Error::s_message = "Invalid name in take";
+				return false;
+			}
+
+			TakeInfo take;
+			take.name = object->first_property->value;
+			const Element* filename = findChild(*object, "FileName");
+			if (filename)
+			{
+				if (!isString(filename->first_property))
+				{
+					Error::s_message = "Invalid filename in take";
+					return false;
+				}
+				take.filename = filename->first_property->value;
+			}
+			const Element* local_time = findChild(*object, "LocalTime");
+			if (local_time)
+			{
+				if (!isLong(local_time->first_property) || !isLong(local_time->first_property->next))
+				{
+					Error::s_message = "Invalid local time in take";
+					return false;
+				}
+
+				take.local_time_from = fbxTimeToSeconds(local_time->first_property->value.toI64());
+				take.local_time_to = fbxTimeToSeconds(local_time->first_property->next->value.toI64());
+			}
+			const Element* reference_time = findChild(*object, "ReferenceTime");
+			if (reference_time)
+			{
+				if (!isLong(reference_time->first_property) || !isLong(reference_time->first_property->next))
+				{
+					Error::s_message = "Invalid reference time in take";
+					return false;
+				}
+
+				take.reference_time_from = fbxTimeToSeconds(reference_time->first_property->value.toI64());
+				take.reference_time_to = fbxTimeToSeconds(reference_time->first_property->next->value.toI64());
+			}
+
+			scene->m_take_infos.push_back(take);
+		}
+
+		object = object->sibling;
+	}
+
+	return true;
+}
+
+
+static float getFramerateFromTimeMode(FrameRate time_mode, float custom_frame_rate)
+{
+	switch (time_mode)
+	{
+		case FrameRate_DEFAULT: return 1;
+		case FrameRate_120: return 120;
+		case FrameRate_100: return 100;
+		case FrameRate_60: return 60;
+		case FrameRate_50: return 50;
+		case FrameRate_48: return 48;
+		case FrameRate_30: return 30;
+		case FrameRate_30_DROP: return 30;
+		case FrameRate_NTSC_DROP_FRAME: return 29.9700262f;
+		case FrameRate_NTSC_FULL_FRAME: return 29.9700262f;
+		case FrameRate_PAL: return 25;
+		case FrameRate_CINEMA: return 24;
+		case FrameRate_1000: return 1000;
+		case FrameRate_CINEMA_ND: return 23.976f;
+		case FrameRate_CUSTOM: return custom_frame_rate;
+	}
+	return -1;
+}
+
+
+static void parseGlobalSettings(const Element& root, Scene* scene)
+{
+	for (ofbx::Element* settings = root.child; settings; settings = settings->sibling)
+	{
+		if (settings->id == "GlobalSettings")
+		{
+			for (ofbx::Element* props70 = settings->child; props70; props70 = props70->sibling)
+			{
+				if (props70->id == "Properties70")
+				{
+					for (ofbx::Element* node = props70->child; node; node = node->sibling)
+					{
+						if (!node->first_property)
+							continue;
+
+#define get_property(name, field, type) if(node->first_property->value == name) \
+						{ \
+							ofbx::IElementProperty* prop = node->getProperty(4); \
+							if (prop) \
+							{ \
+								ofbx::DataView value = prop->getValue(); \
+								scene->m_settings.field = *(type*)value.begin; \
+							} \
+						}
+
+						get_property("UpAxis", UpAxis, UpVector);
+						get_property("UpAxisSign", UpAxisSign, int);
+						get_property("FrontAxis", FrontAxis, FrontVector);
+						get_property("FrontAxisSign", FrontAxisSign, int);
+						get_property("CoordAxis", CoordAxis, CoordSystem);
+						get_property("CoordAxisSign", CoordAxisSign, int);
+						get_property("OriginalUpAxis", OriginalUpAxis, int);
+						get_property("OriginalUpAxisSign", OriginalUpAxisSign, int);
+						get_property("UnitScaleFactor", UnitScaleFactor, float);
+						get_property("OriginalUnitScaleFactor", OriginalUnitScaleFactor, float);
+						get_property("TimeSpanStart", TimeSpanStart, u64);
+						get_property("TimeSpanStop", TimeSpanStop, u64);
+						get_property("TimeMode", TimeMode, FrameRate);
+						get_property("CustomFrameRate", CustomFrameRate, float);
+
+#undef get_property
+
+						scene->m_scene_frame_rate = getFramerateFromTimeMode(scene->m_settings.TimeMode, scene->m_settings.CustomFrameRate);
+					}
+					break;
+				}
+			}
+			break;
+		}
+	}
+}
+
+
+static bool parseObjects(const Element& root, Scene* scene)
+{
+	const Element* objs = findChild(root, "Objects");
+	if (!objs) return true;
+
+	scene->m_root = new Root(*scene, root);
+	scene->m_root->id = 0;
+	scene->m_object_map[0] = {&root, scene->m_root};
+
+	const Element* object = objs->child;
+	while (object)
+	{
+		if (!isLong(object->first_property))
+		{
+			Error::s_message = "Invalid";
+			return false;
+		}
+
+		u64 id = object->first_property->value.toU64();
+		scene->m_object_map[id] = {object, nullptr};
+		object = object->sibling;
+	}
+
+	for (auto iter : scene->m_object_map)
+	{
+		OptionalError<Object*> obj = nullptr;
+
+		if (iter.second.object == scene->m_root) continue;
+
+		if (iter.second.element->id == "Geometry")
+		{
+			Property* last_prop = iter.second.element->first_property;
+			while (last_prop->next) last_prop = last_prop->next;
+			if (last_prop && last_prop->value == "Mesh")
+			{
+				obj = parseGeometry(*scene, *iter.second.element);
+			}
+		}
+		else if (iter.second.element->id == "Material")
+		{
+			obj = parseMaterial(*scene, *iter.second.element);
+		}
+		else if (iter.second.element->id == "AnimationStack")
+		{
+			obj = parse<AnimationStackImpl>(*scene, *iter.second.element);
+			if (!obj.isError())
+			{
+				AnimationStackImpl* stack = (AnimationStackImpl*)obj.getValue();
+				scene->m_animation_stacks.push_back(stack);
+			}
+		}
+		else if (iter.second.element->id == "AnimationLayer")
+		{
+			obj = parse<AnimationLayerImpl>(*scene, *iter.second.element);
+		}
+		else if (iter.second.element->id == "AnimationCurve")
+		{
+			obj = parseAnimationCurve(*scene, *iter.second.element);
+		}
+		else if (iter.second.element->id == "AnimationCurveNode")
+		{
+			obj = parse<AnimationCurveNodeImpl>(*scene, *iter.second.element);
+		}
+		else if (iter.second.element->id == "Deformer")
+		{
+			IElementProperty* class_prop = iter.second.element->getProperty(2);
+
+			if (class_prop)
+			{
+				if (class_prop->getValue() == "Cluster")
+					obj = parseCluster(*scene, *iter.second.element);
+				else if (class_prop->getValue() == "Skin")
+					obj = parse<SkinImpl>(*scene, *iter.second.element);
+			}
+		}
+		else if (iter.second.element->id == "NodeAttribute")
+		{
+			obj = parseNodeAttribute(*scene, *iter.second.element);
+		}
+		else if (iter.second.element->id == "Model")
+		{
+			IElementProperty* class_prop = iter.second.element->getProperty(2);
+
+			if (class_prop)
+			{
+				if (class_prop->getValue() == "Mesh")
+				{
+					obj = parseMesh(*scene, *iter.second.element);
+					if (!obj.isError())
+					{
+						Mesh* mesh = (Mesh*)obj.getValue();
+						scene->m_meshes.push_back(mesh);
+						obj = mesh;
+					}
+				}
+				else if (class_prop->getValue() == "LimbNode")
+					obj = parseLimbNode(*scene, *iter.second.element);
+				else if (class_prop->getValue() == "Null")
+					obj = parse<NullImpl>(*scene, *iter.second.element);
+				else if (class_prop->getValue() == "Root")
+					obj = parse<NullImpl>(*scene, *iter.second.element);
+			}
+		}
+		else if (iter.second.element->id == "Texture")
+		{
+			obj = parseTexture(*scene, *iter.second.element);
+		}
+
+		if (obj.isError()) return false;
+
+		scene->m_object_map[iter.first].object = obj.getValue();
+		if (obj.getValue())
+		{
+			scene->m_all_objects.push_back(obj.getValue());
+			obj.getValue()->id = iter.first;
+		}
+	}
+
+	for (const Scene::Connection& con : scene->m_connections)
+	{
+		Object* parent = scene->m_object_map[con.to].object;
+		Object* child = scene->m_object_map[con.from].object;
+		if (!child) continue;
+		if (!parent) continue;
+
+		switch (child->getType())
+		{
+			case Object::Type::NODE_ATTRIBUTE:
+				if (parent->node_attribute)
+				{
+					Error::s_message = "Invalid node attribute";
+					return false;
+				}
+				parent->node_attribute = (NodeAttribute*)child;
+				break;
+			case Object::Type::ANIMATION_CURVE_NODE:
+				if (parent->isNode())
+				{
+					AnimationCurveNodeImpl* node = (AnimationCurveNodeImpl*)child;
+					node->bone = parent;
+					node->bone_link_property = con.property;
+				}
+				break;
+		}
+
+		switch (parent->getType())
+		{
+			case Object::Type::MESH:
+			{
+				MeshImpl* mesh = (MeshImpl*)parent;
+				switch (child->getType())
+				{
+					case Object::Type::GEOMETRY:
+						if (mesh->geometry)
+						{
+							Error::s_message = "Invalid mesh";
+							return false;
+						}
+						mesh->geometry = (Geometry*)child;
+						break;
+					case Object::Type::MATERIAL: mesh->materials.push_back((Material*)child); break;
+				}
+				break;
+			}
+			case Object::Type::SKIN:
+			{
+				SkinImpl* skin = (SkinImpl*)parent;
+				if (child->getType() == Object::Type::CLUSTER)
+				{
+					ClusterImpl* cluster = (ClusterImpl*)child;
+					skin->clusters.push_back(cluster);
+					if (cluster->skin)
+					{
+						Error::s_message = "Invalid cluster";
+						return false;
+					}
+					cluster->skin = skin;
+				}
+				break;
+			}
+			case Object::Type::MATERIAL:
+			{
+				MaterialImpl* mat = (MaterialImpl*)parent;
+				if (child->getType() == Object::Type::TEXTURE)
+				{
+					Texture::TextureType type = Texture::COUNT;
+					if (con.property == "NormalMap")
+						type = Texture::NORMAL;
+					else if (con.property == "DiffuseColor")
+						type = Texture::DIFFUSE;
+					if (type == Texture::COUNT) break;
+
+					if (mat->textures[type])
+					{
+						break;// This may happen for some models (eg. 2 normal maps in use)
+						Error::s_message = "Invalid material";
+						return false;
+					}
+
+					mat->textures[type] = (Texture*)child;
+				}
+				break;
+			}
+			case Object::Type::GEOMETRY:
+			{
+				GeometryImpl* geom = (GeometryImpl*)parent;
+				if (child->getType() == Object::Type::SKIN) geom->skin = (Skin*)child;
+				break;
+			}
+			case Object::Type::CLUSTER:
+			{
+				ClusterImpl* cluster = (ClusterImpl*)parent;
+				if (child->getType() == Object::Type::LIMB_NODE || child->getType() == Object::Type::MESH || child->getType() == Object::Type::NULL_NODE)
+				{
+					if (cluster->link)
+					{
+						Error::s_message = "Invalid cluster";
+						return false;
+					}
+
+					cluster->link = child;
+				}
+				break;
+			}
+			case Object::Type::ANIMATION_LAYER:
+			{
+				if (child->getType() == Object::Type::ANIMATION_CURVE_NODE)
+				{
+					((AnimationLayerImpl*)parent)->curve_nodes.push_back((AnimationCurveNodeImpl*)child);
+				}
+			}
+			break;
+			case Object::Type::ANIMATION_CURVE_NODE:
+			{
+				AnimationCurveNodeImpl* node = (AnimationCurveNodeImpl*)parent;
+				if (child->getType() == Object::Type::ANIMATION_CURVE)
+				{
+					if (!node->curves[0].curve)
+					{
+						node->curves[0].connection = &con;
+						node->curves[0].curve = (AnimationCurve*)child;
+					}
+					else if (!node->curves[1].curve)
+					{
+						node->curves[1].connection = &con;
+						node->curves[1].curve = (AnimationCurve*)child;
+					}
+					else if (!node->curves[2].curve)
+					{
+						node->curves[2].connection = &con;
+						node->curves[2].curve = (AnimationCurve*)child;
+					}
+					else
+					{
+						Error::s_message = "Invalid animation node";
+						return false;
+					}
+				}
+				break;
+			}
+		}
+	}
+
+	for (auto iter : scene->m_object_map)
+	{
+		Object* obj = iter.second.object;
+		if (!obj) continue;
+		if(obj->getType() == Object::Type::CLUSTER)
+		{
+			if (!((ClusterImpl*)iter.second.object)->postprocess())
+			{
+				Error::s_message = "Failed to postprocess cluster";
+				return false;
+			}
+		}
+	}
+
+	return true;
+}
+
+
+RotationOrder Object::getRotationOrder() const
+{
+	// This assumes that the default rotation order is EULER_XYZ.
+	return (RotationOrder) resolveEnumProperty(*this, "RotationOrder", (int) RotationOrder::EULER_XYZ);
+}
+
+
+Vec3 Object::getRotationOffset() const
+{
+	return resolveVec3Property(*this, "RotationOffset", {0, 0, 0});
+}
+
+
+Vec3 Object::getRotationPivot() const
+{
+	return resolveVec3Property(*this, "RotationPivot", {0, 0, 0});
+}
+
+
+Vec3 Object::getPostRotation() const
+{
+	return resolveVec3Property(*this, "PostRotation", {0, 0, 0});
+}
+
+
+Vec3 Object::getScalingOffset() const
+{
+	return resolveVec3Property(*this, "ScalingOffset", {0, 0, 0});
+}
+
+
+Vec3 Object::getScalingPivot() const
+{
+	return resolveVec3Property(*this, "ScalingPivot", {0, 0, 0});
+}
+
+
+Matrix Object::evalLocal(const Vec3& translation, const Vec3& rotation) const
+{
+	return evalLocal(translation, rotation, getLocalScaling());
+}
+
+
+Matrix Object::evalLocal(const Vec3& translation, const Vec3& rotation, const Vec3& scaling) const
+{
+	Vec3 rotation_pivot = getRotationPivot();
+	Vec3 scaling_pivot = getScalingPivot();
+	RotationOrder rotation_order = getRotationOrder();
+
+	Matrix s = makeIdentity();
+	s.m[0] = scaling.x;
+	s.m[5] = scaling.y;
+	s.m[10] = scaling.z;
+
+	Matrix t = makeIdentity();
+	setTranslation(translation, &t);
+
+	Matrix r = getRotationMatrix(rotation, rotation_order);
+	Matrix r_pre = getRotationMatrix(getPreRotation(), RotationOrder::EULER_XYZ);
+	Matrix r_post_inv = getRotationMatrix(-getPostRotation(), RotationOrder::EULER_ZYX);
+
+	Matrix r_off = makeIdentity();
+	setTranslation(getRotationOffset(), &r_off);
+
+	Matrix r_p = makeIdentity();
+	setTranslation(rotation_pivot, &r_p);
+
+	Matrix r_p_inv = makeIdentity();
+	setTranslation(-rotation_pivot, &r_p_inv);
+
+	Matrix s_off = makeIdentity();
+	setTranslation(getScalingOffset(), &s_off);
+
+	Matrix s_p = makeIdentity();
+	setTranslation(scaling_pivot, &s_p);
+
+	Matrix s_p_inv = makeIdentity();
+	setTranslation(-scaling_pivot, &s_p_inv);
+
+	// http://help.autodesk.com/view/FBX/2017/ENU/?guid=__files_GUID_10CDD63C_79C1_4F2D_BB28_AD2BE65A02ED_htm
+	return t * r_off * r_p * r_pre * r * r_post_inv * r_p_inv * s_off * s_p * s * s_p_inv;
+}
+
+
+Vec3 Object::getLocalTranslation() const
+{
+	return resolveVec3Property(*this, "Lcl Translation", {0, 0, 0});
+}
+
+
+Vec3 Object::getPreRotation() const
+{
+	return resolveVec3Property(*this, "PreRotation", {0, 0, 0});
+}
+
+
+Vec3 Object::getLocalRotation() const
+{
+	return resolveVec3Property(*this, "Lcl Rotation", {0, 0, 0});
+}
+
+
+Vec3 Object::getLocalScaling() const
+{
+	return resolveVec3Property(*this, "Lcl Scaling", {1, 1, 1});
+}
+
+
+Matrix Object::getGlobalTransform() const
+{
+	const Object* parent = getParent();
+	if (!parent) return evalLocal(getLocalTranslation(), getLocalRotation());
+
+	return parent->getGlobalTransform() * evalLocal(getLocalTranslation(), getLocalRotation());
+}
+
+
+Matrix Object::getLocalTransform() const
+{
+    return evalLocal(getLocalTranslation(), getLocalRotation(), getLocalScaling());
+}
+
+
+Object* Object::resolveObjectLinkReverse(Object::Type type) const
+{
+	u64 id = element.getFirstProperty() ? element.getFirstProperty()->getValue().toU64() : 0;
+	for (auto& connection : scene.m_connections)
+	{
+		if (connection.from == id && connection.to != 0)
+		{
+			Object* obj = scene.m_object_map.find(connection.to)->second.object;
+			if (obj && obj->getType() == type) return obj;
+		}
+	}
+	return nullptr;
+}
+
+
+const IScene& Object::getScene() const
+{
+	return scene;
+}
+
+
+Object* Object::resolveObjectLink(int idx) const
+{
+	u64 id = element.getFirstProperty() ? element.getFirstProperty()->getValue().toU64() : 0;
+	for (auto& connection : scene.m_connections)
+	{
+		if (connection.to == id && connection.from != 0)
+		{
+			Object* obj = scene.m_object_map.find(connection.from)->second.object;
+			if (obj)
+			{
+				if (idx == 0) return obj;
+				--idx;
+			}
+		}
+	}
+	return nullptr;
+}
+
+
+Object* Object::resolveObjectLink(Object::Type type, const char* property, int idx) const
+{
+	u64 id = element.getFirstProperty() ? element.getFirstProperty()->getValue().toU64() : 0;
+	for (auto& connection : scene.m_connections)
+	{
+		if (connection.to == id && connection.from != 0)
+		{
+			Object* obj = scene.m_object_map.find(connection.from)->second.object;
+			if (obj && obj->getType() == type)
+			{
+				if (property == nullptr || connection.property == property)
+				{
+					if (idx == 0) return obj;
+					--idx;
+				}
+			}
+		}
+	}
+	return nullptr;
+}
+
+
+Object* Object::getParent() const
+{
+	Object* parent = nullptr;
+	for (auto& connection : scene.m_connections)
+	{
+		if (connection.from == id)
+		{
+			Object* obj = scene.m_object_map.find(connection.to)->second.object;
+			if (obj && obj->is_node)
+			{
+				assert(parent == nullptr);
+				parent = obj;
+			}
+		}
+	}
+	return parent;
+}
+
+
+IScene* load(const u8* data, int size)
+{
+	std::unique_ptr<Scene> scene(new Scene());
+	scene->m_data.resize(size);
+	memcpy(&scene->m_data[0], data, size);
+	OptionalError<Element*> root = tokenize(&scene->m_data[0], size);
+	if (root.isError())
+	{
+		Error::s_message = "";
+		root = tokenizeText(&scene->m_data[0], size);
+		if (root.isError()) return nullptr;
+	}
+
+	scene->m_root_element = root.getValue();
+	assert(scene->m_root_element);
+
+	//if (parseTemplates(*root.getValue()).isError()) return nullptr;
+	if(!parseConnections(*root.getValue(), scene.get())) return nullptr;
+	if(!parseTakes(scene.get())) return nullptr;
+	if(!parseObjects(*root.getValue(), scene.get())) return nullptr;
+	parseGlobalSettings(*root.getValue(), scene.get());
+
+	return scene.release();
+}
+
+
+const char* getError()
+{
+	return Error::s_message;
+}
+
+
+} // namespace ofbx
diff --git a/wrap/openfbx/src/ofbx.h b/wrap/openfbx/src/ofbx.h
new file mode 100755
index 00000000..cc55ff69
--- /dev/null
+++ b/wrap/openfbx/src/ofbx.h
@@ -0,0 +1,446 @@
+#pragma once
+
+
+namespace ofbx
+{
+
+
+typedef unsigned char u8;
+typedef unsigned short u16;
+typedef unsigned int u32;
+typedef unsigned long long u64;
+typedef long long i64;
+
+static_assert(sizeof(u8) == 1, "u8 is not 1 byte");
+static_assert(sizeof(u32) == 4, "u32 is not 4 bytes");
+static_assert(sizeof(u64) == 8, "u64 is not 8 bytes");
+static_assert(sizeof(i64) == 8, "i64 is not 8 bytes");
+
+
+struct Vec2
+{
+	double x, y;
+};
+
+
+struct Vec3
+{
+	double x, y, z;
+};
+
+
+struct Vec4
+{
+	double x, y, z, w;
+};
+
+
+struct Matrix
+{
+	double m[16]; // last 4 are translation
+};
+
+
+struct Quat
+{
+	double x, y, z, w;
+};
+
+
+struct Color
+{
+	float r, g, b;
+};
+
+
+struct DataView
+{
+	const u8* begin = nullptr;
+	const u8* end = nullptr;
+	bool is_binary = true;
+
+	bool operator!=(const char* rhs) const { return !(*this == rhs); }
+	bool operator==(const char* rhs) const;
+
+	u64 toU64() const;
+	i64 toI64() const;
+	int toInt() const;
+	u32 toU32() const;
+	double toDouble() const;
+	float toFloat() const;
+	
+	template <int N>
+	void toString(char(&out)[N]) const
+	{
+		char* cout = out;
+		const u8* cin = begin;
+		while (cin != end && cout - out < N - 1)
+		{
+			*cout = (char)*cin;
+			++cin;
+			++cout;
+		}
+		*cout = '\0';
+	}
+};
+
+
+struct IElementProperty
+{
+	enum Type : unsigned char
+	{
+		LONG = 'L',
+		INTEGER = 'I',
+		STRING = 'S',
+		FLOAT = 'F',
+		DOUBLE = 'D',
+		ARRAY_DOUBLE = 'd',
+		ARRAY_INT = 'i',
+		ARRAY_LONG = 'l',
+		ARRAY_FLOAT = 'f'
+	};
+	virtual ~IElementProperty() {}
+	virtual Type getType() const = 0;
+	virtual IElementProperty* getNext() const = 0;
+	virtual DataView getValue() const = 0;
+	virtual int getCount() const = 0;
+	virtual bool getValues(double* values, int max_size) const = 0;
+	virtual bool getValues(int* values, int max_size) const = 0;
+	virtual bool getValues(float* values, int max_size) const = 0;
+	virtual bool getValues(u64* values, int max_size) const = 0;
+	virtual bool getValues(i64* values, int max_size) const = 0;
+};
+
+
+struct IElement
+{
+	virtual IElement* getFirstChild() const = 0;
+	virtual IElement* getSibling() const = 0;
+	virtual DataView getID() const = 0;
+	virtual IElementProperty* getFirstProperty() const = 0;
+};
+
+
+enum class RotationOrder {
+	EULER_XYZ,
+	EULER_XZY,
+	EULER_YZX,
+	EULER_YXZ,
+	EULER_ZXY,
+	EULER_ZYX,
+    SPHERIC_XYZ // Currently unsupported. Treated as EULER_XYZ.
+};
+
+
+struct AnimationCurveNode;
+struct AnimationLayer;
+struct Scene;
+struct IScene;
+
+
+struct Object
+{
+	enum class Type
+	{
+		ROOT,
+		GEOMETRY,
+		MATERIAL,
+		MESH,
+		TEXTURE,
+		LIMB_NODE,
+		NULL_NODE,
+		NODE_ATTRIBUTE,
+		CLUSTER,
+		SKIN,
+		ANIMATION_STACK,
+		ANIMATION_LAYER,
+		ANIMATION_CURVE,
+		ANIMATION_CURVE_NODE
+	};
+
+	Object(const Scene& _scene, const IElement& _element);
+
+	virtual ~Object() {}
+	virtual Type getType() const = 0;
+	
+	const IScene& getScene() const;
+	Object* resolveObjectLink(int idx) const;
+	Object* resolveObjectLink(Type type, const char* property, int idx) const;
+	Object* resolveObjectLinkReverse(Type type) const;
+	Object* getParent() const;
+
+    RotationOrder getRotationOrder() const;
+	Vec3 getRotationOffset() const;
+	Vec3 getRotationPivot() const;
+	Vec3 getPostRotation() const;
+	Vec3 getScalingOffset() const;
+	Vec3 getScalingPivot() const;
+	Vec3 getPreRotation() const;
+	Vec3 getLocalTranslation() const;
+	Vec3 getLocalRotation() const;
+	Vec3 getLocalScaling() const;
+	Matrix getGlobalTransform() const;
+	Matrix getLocalTransform() const;
+	Matrix evalLocal(const Vec3& translation, const Vec3& rotation) const;
+	Matrix evalLocal(const Vec3& translation, const Vec3& rotation, const Vec3& scaling) const;
+	bool isNode() const { return is_node; }
+
+
+	template <typename T> T* resolveObjectLink(int idx) const
+	{
+		return static_cast<T*>(resolveObjectLink(T::s_type, nullptr, idx));
+	}
+
+	u64 id;
+	char name[128];
+	const IElement& element;
+	const Object* node_attribute;
+
+protected:
+	bool is_node;
+	const Scene& scene;
+};
+
+
+struct Texture : Object
+{
+	enum TextureType
+	{
+		DIFFUSE,
+		NORMAL,
+
+		COUNT
+	};
+
+	static const Type s_type = Type::TEXTURE;
+
+	Texture(const Scene& _scene, const IElement& _element);
+	virtual DataView getFileName() const = 0;
+	virtual DataView getRelativeFileName() const = 0;
+};
+
+
+struct Material : Object
+{
+	static const Type s_type = Type::MATERIAL;
+
+	Material(const Scene& _scene, const IElement& _element);
+
+	virtual Color getDiffuseColor() const = 0;
+	virtual const Texture* getTexture(Texture::TextureType type) const = 0;
+};
+
+
+struct Cluster : Object
+{
+	static const Type s_type = Type::CLUSTER;
+
+	Cluster(const Scene& _scene, const IElement& _element);
+
+	virtual const int* getIndices() const = 0;
+	virtual int getIndicesCount() const = 0;
+	virtual const double* getWeights() const = 0;
+	virtual int getWeightsCount() const = 0;
+	virtual Matrix getTransformMatrix() const = 0;
+	virtual Matrix getTransformLinkMatrix() const = 0;
+	virtual const Object* getLink() const = 0;
+};
+
+
+struct Skin : Object
+{
+	static const Type s_type = Type::SKIN;
+
+	Skin(const Scene& _scene, const IElement& _element);
+
+	virtual int getClusterCount() const = 0;
+	virtual const Cluster* getCluster(int idx) const = 0;
+};
+
+
+struct NodeAttribute : Object
+{
+	static const Type s_type = Type::NODE_ATTRIBUTE;
+
+	NodeAttribute(const Scene& _scene, const IElement& _element);
+
+	virtual DataView getAttributeType() const = 0;
+};
+
+
+struct Geometry : Object
+{
+	static const Type s_type = Type::GEOMETRY;
+    static const int s_uvs_max = 4;
+
+	Geometry(const Scene& _scene, const IElement& _element);
+
+	virtual const Vec3* getVertices() const = 0;
+	virtual int getVertexCount() const = 0;
+
+	virtual const Vec3* getNormals() const = 0;
+	virtual const Vec2* getUVs(int index = 0) const = 0;
+	virtual const Vec4* getColors() const = 0;
+	virtual const Vec3* getTangents() const = 0;
+	virtual const Skin* getSkin() const = 0;
+	virtual const int* getMaterials() const = 0;
+};
+
+
+struct Mesh : Object
+{
+	static const Type s_type = Type::MESH;
+
+	Mesh(const Scene& _scene, const IElement& _element);
+
+	virtual const Geometry* getGeometry() const = 0;
+	virtual Matrix getGeometricMatrix() const = 0;
+	virtual const Material* getMaterial(int idx) const = 0;
+	virtual int getMaterialCount() const = 0;
+};
+
+
+struct AnimationStack : Object
+{
+	static const Type s_type = Type::ANIMATION_STACK;
+
+	AnimationStack(const Scene& _scene, const IElement& _element);
+	virtual const AnimationLayer* getLayer(int index) const = 0;
+};
+
+
+struct AnimationLayer : Object
+{
+	static const Type s_type = Type::ANIMATION_LAYER;
+
+	AnimationLayer(const Scene& _scene, const IElement& _element);
+
+	virtual const AnimationCurveNode* getCurveNode(int index) const = 0;
+	virtual const AnimationCurveNode* getCurveNode(const Object& bone, const char* property) const = 0;
+};
+
+
+struct AnimationCurve : Object
+{
+	static const Type s_type = Type::ANIMATION_CURVE;
+
+	AnimationCurve(const Scene& _scene, const IElement& _element);
+
+	virtual int getKeyCount() const = 0;
+	virtual const i64* getKeyTime() const = 0;
+	virtual const float* getKeyValue() const = 0;
+};
+
+
+struct AnimationCurveNode : Object
+{
+	static const Type s_type = Type::ANIMATION_CURVE_NODE;
+
+	AnimationCurveNode(const Scene& _scene, const IElement& _element);
+
+	virtual Vec3 getNodeLocalTransform(double time) const = 0;
+	virtual const Object* getBone() const = 0;
+};
+
+
+struct TakeInfo
+{
+	DataView name;
+	DataView filename;
+	double local_time_from;
+	double local_time_to;
+	double reference_time_from;
+	double reference_time_to;
+};
+
+
+// Specifies which canonical axis represents up in the system (typically Y or Z).
+enum UpVector
+{
+	UpVector_AxisX = 1,
+	UpVector_AxisY = 2,
+	UpVector_AxisZ = 3
+};
+
+
+// Vector with origin at the screen pointing toward the camera.
+enum FrontVector
+{
+	FrontVector_ParityEven = 1,
+	FrontVector_ParityOdd = 2
+};
+
+
+// Specifies the third vector of the system.
+enum CoordSystem
+{
+	CoordSystem_RightHanded = 0,
+	CoordSystem_LeftHanded = 1
+};
+
+
+// http://docs.autodesk.com/FBX/2014/ENU/FBX-SDK-Documentation/index.html?url=cpp_ref/class_fbx_time.html,topicNumber=cpp_ref_class_fbx_time_html29087af6-8c2c-4e9d-aede-7dc5a1c2436c,hash=a837590fd5310ff5df56ffcf7c394787e
+enum FrameRate
+{
+	FrameRate_DEFAULT = 0,
+	FrameRate_120 = 1,
+	FrameRate_100 = 2,
+	FrameRate_60 = 3,
+	FrameRate_50 = 4,
+	FrameRate_48 = 5,
+	FrameRate_30 = 6,
+	FrameRate_30_DROP = 7,
+	FrameRate_NTSC_DROP_FRAME = 8,
+	FrameRate_NTSC_FULL_FRAME = 9,
+	FrameRate_PAL = 10,
+	FrameRate_CINEMA = 11,
+	FrameRate_1000 = 12,
+	FrameRate_CINEMA_ND = 13,
+	FrameRate_CUSTOM = 14,
+};
+
+
+struct GlobalSettings
+{
+	UpVector UpAxis = UpVector_AxisX;
+	int UpAxisSign = 1;
+	FrontVector FrontAxis = FrontVector_ParityOdd;
+	int FrontAxisSign = 1;
+	CoordSystem CoordAxis = CoordSystem_RightHanded;
+	int CoordAxisSign = 1;
+	int OriginalUpAxis = 0;
+	int OriginalUpAxisSign = 1;
+	float UnitScaleFactor = 1;
+	float OriginalUnitScaleFactor = 1;
+	u64 TimeSpanStart = 0L;
+	u64 TimeSpanStop = 0L;
+	FrameRate TimeMode = FrameRate_DEFAULT;
+	float CustomFrameRate = -1.0f;
+};
+
+
+struct IScene
+{
+	virtual void destroy() = 0;
+	virtual const IElement* getRootElement() const = 0;
+	virtual const Object* getRoot() const = 0;
+	virtual const TakeInfo* getTakeInfo(const char* name) const = 0;
+	virtual int getMeshCount() const = 0;
+	virtual float getSceneFrameRate() const = 0;
+	virtual const GlobalSettings* getGlobalSettings() const = 0;
+	virtual const Mesh* getMesh(int index) const = 0;
+	virtual int getAnimationStackCount() const = 0;
+	virtual const AnimationStack* getAnimationStack(int index) const = 0;
+	virtual const Object *const * getAllObjects() const = 0;
+	virtual int getAllObjectCount() const = 0;
+
+protected:
+	virtual ~IScene() {}
+};
+
+
+IScene* load(const u8* data, int size);
+const char* getError();
+
+
+} // namespace ofbx
diff --git a/wrap/ply/plylib.cpp b/wrap/ply/plylib.cpp
index d7af2f4c..8530349f 100644
--- a/wrap/ply/plylib.cpp
+++ b/wrap/ply/plylib.cpp
@@ -1052,6 +1052,24 @@ int PlyFile::OpenRead( const char * filename )
 		error = E_UNESPECTEDEOF;
 		goto error;
 	}
+	
+	while (!strcmp(token, COMMENT))
+	{
+		comments.push_back(string(token + strlen(token) + 1));
+		if (pb_fgets(buf, MAXB - 1, gzfp) == 0)
+		{
+			error = E_UNESPECTEDEOF;
+			goto error;
+		}
+		header.append(buf);
+
+#ifdef __MINGW32__
+		token = strtok(buf, SEP);
+#else
+		token = strtok_r(buf, SEP, &tokenPtr);
+#endif
+	}
+
 	if( strcmp(token,FORMAT) )
 	{
 		error = E_NOFORMAT;
diff --git a/wrap/ply/plylib.h b/wrap/ply/plylib.h
index afdc6443..59e5eddd 100644
--- a/wrap/ply/plylib.h
+++ b/wrap/ply/plylib.h
@@ -91,6 +91,8 @@ enum PlyError {
 	E_BADTYPE,				// 10
 	E_INCOMPATIBLETYPE,		// 11
 	E_BADCAST,				// 12
+		//saving error
+	E_STREAMERROR,          // 13
 	E_MAXPLYERRORS
 };
 
diff --git a/wrap/qt/Outline2ToQImage.cpp b/wrap/qt/Outline2ToQImage.cpp
index a5262c7a..1e6b9cf2 100644
--- a/wrap/qt/Outline2ToQImage.cpp
+++ b/wrap/qt/Outline2ToQImage.cpp
@@ -171,7 +171,7 @@ int Outline2Dumper::getMaxMaskRadius(int x,int y,QImage &img)
 	int Max_radius=std::min(Max_radiusX,Max_radiusY);
 	int val=qGray(img.pixel(x,y));
 	///if is outside
-	assert(val!=255);
+	assert(val!=255); (void)val;
 
 	int curr_radius=1;
 	while (curr_radius<Max_radius)
diff --git a/wrap/qt/outline2_rasterizer.cpp b/wrap/qt/outline2_rasterizer.cpp
index 1cac3aec..95ef7d76 100644
--- a/wrap/qt/outline2_rasterizer.cpp
+++ b/wrap/qt/outline2_rasterizer.cpp
@@ -1,10 +1,10 @@
 #include <wrap/qt/outline2_rasterizer.h>
 #include <wrap/qt/col_qt_convert.h>
-#include "stdio.h"
-#include "math.h"
 #include <vcg/space/color4.h>
 #include <wrap/qt/col_qt_convert.h>
 
+#include <fstream>
+
 using namespace vcg;
 using namespace std;
 
@@ -12,9 +12,11 @@ void QtOutline2Rasterizer::rasterize(RasterizedOutline2 &poly,
                                  float scale,
                                  int rast_i,
                                  int rotationNum,
-                                 int cellSize)
+                                 int gutterWidth)
 {
 
+    gutterWidth *= 2; // since the brush is centered on the outline multiply the given value by 2
+
     float rotRad = M_PI*2.0f*float(rast_i) / float(rotationNum);
 
     //get polygon's BB, rotated according to the input parameter
@@ -26,20 +28,20 @@ void QtOutline2Rasterizer::rasterize(RasterizedOutline2 &poly,
         bb.Add(pp);
     }
 
-    ///CREATE ITS GRID. The grid has to be a multiple of CELLSIZE because this grid's cells have size CELLSIZE
-    //we'll make so that sizeX and sizeY are multiples of CELLSIZE:
-    //1) we round it to the next integer
-    //2) add the number which makes it a multiple of CELLSIZE (only if it's not multiple already)
+    //create the polygon to print it
+    QVector<QPointF> points;
+    vector<Point2f> newpoints = poly.getPoints();
+    for (size_t i = 0; i < newpoints.size(); i++) {
+        points.push_back(QPointF(newpoints[i].X(), newpoints[i].Y()));
+    }
+
+    // Compute the raster space size by rounding up the scaled bounding box size
+    // and adding the gutter width.
     int sizeX = (int)ceil(bb.DimX()*scale);
     int sizeY = (int)ceil(bb.DimY()*scale);
-    if (sizeX % cellSize != 0) sizeX += (cellSize - ((int)ceil(bb.DimX()*scale) % cellSize));
-    if (sizeY % cellSize != 0) sizeY += (cellSize - ((int)ceil(bb.DimY()*scale) % cellSize));
-
-    //security measure: add a dummy column/row thus making the image bigger, and crop it afterwards
-    //(if it hasn't been filled with anything)
-    //this is due to the fact that if we have a rectangle which has bb 39.xxx wide, then it won't fit in a 40px wide QImage!! The right side will go outside of the image!! :/
-    sizeX+=cellSize;
-    sizeY+=cellSize;
+    int safetyBuffer = 2;
+    sizeX += (gutterWidth + safetyBuffer);
+    sizeY += (gutterWidth + safetyBuffer);
 
     QImage img(sizeX,sizeY,QImage::Format_RGB32);
     QColor backgroundColor(Qt::transparent);
@@ -48,99 +50,155 @@ void QtOutline2Rasterizer::rasterize(RasterizedOutline2 &poly,
     ///SETUP OF DRAWING PROCEDURE
     QPainter painter;
     painter.begin(&img);
-    QBrush br;
-    br.setStyle(Qt::SolidPattern);
-    QPen qp;
-    qp.setWidthF(0);
-    qp.setColor(Qt::yellow);
-    painter.setBrush(br);
-    painter.setPen(qp);
+    {
+        QBrush br;
+        br.setStyle(Qt::SolidPattern);
+        br.setColor(Qt::yellow);
 
-    painter.resetTransform();
-    painter.translate(QPointF(-(bb.min.X()*scale) , -(bb.min.Y()*scale) ));
-    painter.rotate(math::ToDeg(rotRad));
-    painter.scale(scale,scale);
+        QPen qp;
+        qp.setWidthF(0);
+        qp.setWidth(gutterWidth);
+        qp.setCosmetic(true);
+        qp.setColor(Qt::yellow);
+        qp.setJoinStyle(Qt::MiterJoin);
+        qp.setMiterLimit(0);
 
-    //create the polygon to print it
-    QVector<QPointF> points;
-    vector<Point2f> newpoints = poly.getPoints();
-    for (size_t i = 0; i < newpoints.size(); i++) {
-        points.push_back(QPointF(newpoints[i].X(), newpoints[i].Y()));
+        painter.setBrush(br);
+        painter.setPen(qp);
+
+        painter.resetTransform();
+        painter.translate(QPointF(-(bb.min.X()*scale) + (gutterWidth + safetyBuffer)/2.0f, -(bb.min.Y()*scale) + (gutterWidth + safetyBuffer)/2.0f));
+        painter.rotate(math::ToDeg(rotRad));
+        painter.scale(scale,scale);
+
+        painter.drawPolygon(QPolygonF(points));
     }
-    painter.drawPolygon(QPolygonF(points));
+    painter.end();
 
+    // workaround/hack to avoid ``disappearing'' primitives: use a cosmetic pen to
+    // draw the poly boundary.
+    // The proper way to do this would be to use conservative reasterization, which
+    // Qt doesn't seem to support
+    std::vector<QPointF> lines;
+    for (int i = 1; i < points.size(); ++i) {
+        lines.push_back(points[i-1]);
+        lines.push_back(points[i]);
+    }
+    lines.push_back(points.back());
+    lines.push_back(points.front());
 
-    //CROPPING: it is enough to check for the (end - cellSize - 1)th row/col of pixels, if they're all black we can eliminate the last 8columns/rows of pixels
-    bool cropX = true;
-    bool cropY = true;
-    for (int j=0; j<img.height(); j++) {
-        const uchar* line = img.scanLine(j);
-        if (j == img.height() - (cellSize - 1) - 1  ) {
-            for (int x=0; x<img.width(); x++) {
-                if (((QRgb*)line)[x] != backgroundColor.rgb()) {
-                    cropY = false;
-                    break;
-                }
+    painter.begin(&img);
+    {
+        QBrush br;
+        br.setStyle(Qt::SolidPattern);
+        br.setColor(Qt::yellow);
+
+        QPen qp;
+        qp.setWidthF(0);
+        qp.setWidth(std::max(1, gutterWidth));
+        qp.setCosmetic(true);
+        qp.setColor(Qt::yellow);
+
+        painter.setBrush(br);
+        painter.setPen(qp);
+
+        painter.resetTransform();
+        painter.translate(QPointF(-(bb.min.X()*scale) + (gutterWidth + safetyBuffer)/2.0f, -(bb.min.Y()*scale) + (gutterWidth + safetyBuffer)/2.0f));
+        painter.rotate(math::ToDeg(rotRad));
+        painter.scale(scale,scale);
+
+        //painter.drawPoints(QPolygonF(points));
+        painter.drawLines(lines.data(), lines.size()/2);
+    }
+    painter.end();
+
+    // Cropping
+
+    /*
+    // Slower version
+    int minX = img.width();
+    int minY = img.height();
+    int maxX = -1;
+    int maxY = -1;
+
+    for (int i = 0; i < img.height(); ++i) {
+        const QRgb *line = reinterpret_cast<const QRgb*>(img.scanLine(i));
+        for (int j = 0; j < img.width(); ++j) {
+            if (line[j] != backgroundColor.rgb()) {
+                if (j < minX) minX = j;
+                if (j > maxX) maxX = j;
+                if (i < minY) minY = i;
+                if (i > maxY) maxY = i;
             }
         }
-        else {
-            if (((QRgb*)line)[img.width() - (cellSize - 1) - 1] != backgroundColor.rgb()) {
-                cropX = false;
+    }
+    */
+
+    int minX = img.width();
+    int minY = img.height();
+    int maxX = 0;
+    int maxY = 0;
+
+    for (int i = 0; i < img.height(); ++i) {
+        const QRgb *line = reinterpret_cast<const QRgb*>(img.scanLine(i));
+        for (int j = 0; j < img.width(); ++j) {
+            if (line[j] != backgroundColor.rgb()) {
+                minY = i;
                 break;
             }
         }
-        if (!cropY) break;
+        if (minY < img.height()) break;
     }
 
-
-    if (cropX || cropY) {
-        painter.end();
-        img = img.copy(0, 0, img.width() - cellSize * cropX, img.height() - cellSize * cropY);
-        painter.begin(&img);
-        painter.setBrush(br);
-        painter.setPen(qp);
+    for (int i = img.height() - 1; i >= 0; --i) {
+        const QRgb *line = reinterpret_cast<const QRgb*>(img.scanLine(i));
+        for (int j = 0; j < img.width(); ++j) {
+            if (line[j] != backgroundColor.rgb()) {
+                maxY = i;
+                break;
+            }
+        }
+        if (maxY > 0) break;
     }
 
-
-    //draw the poly for the second time, this time it is centered to the image
-    img.fill(backgroundColor);
-
-    painter.resetTransform();
-    painter.translate(QPointF(-(bb.min.X()*scale) + (img.width() - ceil(bb.DimX()*scale))/2.0, -(bb.min.Y()*scale) + (img.height() - ceil(bb.DimY()*scale))/2.0));
-    painter.rotate(math::ToDeg(rotRad));
-    painter.scale(scale,scale);
-    //create the polygon to print it
-    QVector<QPointF> points2;
-    vector<Point2f> newpoints2 = poly.getPoints();
-    for (size_t i = 0; i < newpoints2.size(); i++) {
-        points2.push_back(QPointF(newpoints2[i].X(), newpoints2[i].Y()));
+    for (int i = minY; i <= maxY; ++i) {
+        const QRgb *line = reinterpret_cast<const QRgb*>(img.scanLine(i));
+        for (int j = 0; j < minX; ++j)
+            if (line[j] != backgroundColor.rgb() && j < minX) {
+                minX = j;
+                break;
+            }
+        for (int j = img.width() - 1; j >= maxX; --j)
+            if (line[j] != backgroundColor.rgb() && j > maxX) {
+                maxX = j;
+                break;
+            }
+    }
+
+    assert (minX <= maxX && minY <= maxY);
+
+    int imgW = (maxX - minX) + 1;
+    int imgH = (maxY - minY) + 1;
+
+    {
+        QImage imgcp = img.copy(0, 0, img.width(), img.height());
+        img = imgcp.copy(minX, minY, imgW, imgH);
     }
-    painter.drawPolygon(QPolygonF(points2));
 
     //create the first grid, which will then be rotated 3 times.
     //we will reuse this grid to create the rasterizations corresponding to this one rotated by 90/180/270°
     vector<vector<int> > tetrisGrid;
     QRgb yellow = QColor(Qt::yellow).rgb();
-    int gridWidth = img.width() / cellSize;
-    int gridHeight = img.height() / cellSize;
-    int x = 0;
-    tetrisGrid.resize(gridHeight);
-    for (int k = 0; k < gridHeight; k++) {
-        tetrisGrid[k].resize(gridWidth, 0);
+    tetrisGrid.resize(img.height());
+    for (int k = 0; k < img.height(); k++) {
+        tetrisGrid[k].resize(img.width(), 0);
     }
     for (int y = 0; y < img.height(); y++) {
-        int gridY = y / cellSize;
         const uchar* line = img.scanLine(y);
-        x = 0;
-        int gridX = 0;
-        while(x < img.width()) {
-            gridX = x/cellSize;
-            if (tetrisGrid[gridY][gridX] == 1) {
-                x+= cellSize - (x % cellSize); //align with the next x
-                continue;
+        for(int x = 0; x < img.width(); ++x) {
+            if (((QRgb*)line)[x] == yellow) {
+                tetrisGrid[y][x] = 1;
             }
-            if (((QRgb*)line)[x] == yellow) tetrisGrid[gridY][gridX] = 1;
-            ++x;
         }
     }
 
@@ -156,8 +214,6 @@ void QtOutline2Rasterizer::rasterize(RasterizedOutline2 &poly,
         //initializes bottom/left/deltaX/deltaY vectors of the poly, for the current rasterization
         poly.initFromGrid(rast_i + rotationOffset*j);
     }
-
-    painter.end();
 }
 
 // rotates the grid 90 degree clockwise (by simple swap)
diff --git a/wrap/qt/outline2_rasterizer.h b/wrap/qt/outline2_rasterizer.h
index 6345c31d..68e01578 100644
--- a/wrap/qt/outline2_rasterizer.h
+++ b/wrap/qt/outline2_rasterizer.h
@@ -16,9 +16,8 @@ class QtOutline2Rasterizer
 public:
     static void rasterize(vcg::RasterizedOutline2 &poly,
                           float scaleFactor,
-                          int rast_i, int rotationNum, int cellSize);
+                          int rast_i, int rotationNum, int gutterWidth);
 
     static std::vector<std::vector<int> > rotateGridCWise(std::vector< std::vector<int> >& inGrid);
-
 };
 #endif // QTPOLYRASTERIZER_H
diff --git a/wrap/qt/shot_qt.h b/wrap/qt/shot_qt.h
index cf0bd586..e2dc32e4 100644
--- a/wrap/qt/shot_qt.h
+++ b/wrap/qt/shot_qt.h
@@ -16,31 +16,55 @@ template <class ShotType>
   if(QString::compare(node.nodeName(),"VCGCamera")==0)
   {
     QDomNamedNodeMap attr = node.attributes();
-    Point3x tra;
-    tra[0] = attr.namedItem("TranslationVector").nodeValue().section(' ',0,0).toDouble();
-    tra[1] = attr.namedItem("TranslationVector").nodeValue().section(' ',1,1).toDouble();
-    tra[2] = attr.namedItem("TranslationVector").nodeValue().section(' ',2,2).toDouble();
-    shot.Extrinsics.SetTra(-tra);
+    if (attr.contains("BinaryData") && attr.namedItem("BinaryData").nodeValue().toInt() == 1)
+    {
+      Point3x tra;
+      QString str = attr.namedItem("TranslationVector").nodeValue();
+      QByteArray value = QByteArray::fromBase64(str.toLocal8Bit());
+      memcpy(tra.V(), value.data(), sizeof(ScalarType) * 3);
+      shot.Extrinsics.SetTra(-tra);
 
-    vcg::Matrix44<ScalarType> rot;
-    QStringList values =  attr.namedItem("RotationMatrix").nodeValue().split(" ", QString::SkipEmptyParts);
-    for(int y = 0; y < 4; y++)
-      for(int x = 0; x < 4; x++)
-        rot[y][x] = values[x + 4*y].toDouble();
-    shot.Extrinsics.SetRot(rot);
+      vcg::Matrix44<ScalarType> rot;
+      str = attr.namedItem("RotationMatrix").nodeValue();
+      value = QByteArray::fromBase64(str.toLocal8Bit());
+      memcpy(rot.V(), value.data(), sizeof(ScalarType) * 16);
+      shot.Extrinsics.SetRot(rot);
 
-    vcg::Camera<ScalarType> &cam = shot.Intrinsics;
-	if(attr.contains("CameraType")) cam.cameraType = attr.namedItem("CameraType").nodeValue().toInt();
-    cam.FocalMm = attr.namedItem("FocalMm").nodeValue().toDouble();
-    cam.ViewportPx.X() = attr.namedItem("ViewportPx").nodeValue().section(' ',0,0).toInt();
-    cam.ViewportPx.Y() = attr.namedItem("ViewportPx").nodeValue().section(' ',1,1).toInt();
-    cam.CenterPx[0] = attr.namedItem("CenterPx").nodeValue().section(' ',0,0).toInt();
-    cam.CenterPx[1] = attr.namedItem("CenterPx").nodeValue().section(' ',1,1).toInt();
-    cam.PixelSizeMm[0] = attr.namedItem("PixelSizeMm").nodeValue().section(' ',0,0).toDouble();
-    cam.PixelSizeMm[1] = attr.namedItem("PixelSizeMm").nodeValue().section(' ',1,1).toDouble();
-    cam.k[0] = attr.namedItem("LensDistortion").nodeValue().section(' ',0,0).toDouble();
-    cam.k[1] = attr.namedItem("LensDistortion").nodeValue().section(' ',1,1).toDouble();
+      vcg::Camera<ScalarType> &cam = shot.Intrinsics;
+      if (attr.contains("CameraType")) cam.cameraType = attr.namedItem("CameraType").nodeValue().toInt();
+      memcpy(&cam.FocalMm, QByteArray::fromBase64(attr.namedItem("FocalMm").nodeValue().toLocal8Bit()).data(), sizeof(ScalarType));
+      memcpy(&cam.ViewportPx, QByteArray::fromBase64(attr.namedItem("ViewportPx").nodeValue().toLocal8Bit()).data(), sizeof(int) * 2);
+      memcpy(&cam.CenterPx, QByteArray::fromBase64(attr.namedItem("CenterPx").nodeValue().toLocal8Bit()).data(), sizeof(ScalarType)*2);
+      memcpy(&cam.PixelSizeMm, QByteArray::fromBase64(attr.namedItem("PixelSizeMm").nodeValue().toLocal8Bit()).data(), sizeof(ScalarType) * 2);
+      memcpy(&cam.k, QByteArray::fromBase64(attr.namedItem("LensDistortion").nodeValue().toLocal8Bit()).data(), sizeof(ScalarType) * 2);
+    }
+    else
+    {
+      Point3x tra;
+      tra[0] = attr.namedItem("TranslationVector").nodeValue().section(' ', 0, 0).toDouble();
+      tra[1] = attr.namedItem("TranslationVector").nodeValue().section(' ', 1, 1).toDouble();
+      tra[2] = attr.namedItem("TranslationVector").nodeValue().section(' ', 2, 2).toDouble();
+      shot.Extrinsics.SetTra(-tra);
 
+      vcg::Matrix44<ScalarType> rot;
+      QStringList values = attr.namedItem("RotationMatrix").nodeValue().split(" ", QString::SkipEmptyParts);
+      for (int y = 0; y < 4; y++)
+        for (int x = 0; x < 4; x++)
+          rot[y][x] = values[x + 4 * y].toDouble();
+      shot.Extrinsics.SetRot(rot);
+
+      vcg::Camera<ScalarType> &cam = shot.Intrinsics;
+      if (attr.contains("CameraType")) cam.cameraType = attr.namedItem("CameraType").nodeValue().toInt();
+      cam.FocalMm = attr.namedItem("FocalMm").nodeValue().toDouble();
+      cam.ViewportPx.X() = attr.namedItem("ViewportPx").nodeValue().section(' ', 0, 0).toInt();
+      cam.ViewportPx.Y() = attr.namedItem("ViewportPx").nodeValue().section(' ', 1, 1).toInt();
+      cam.CenterPx[0] = attr.namedItem("CenterPx").nodeValue().section(' ', 0, 0).toDouble();
+      cam.CenterPx[1] = attr.namedItem("CenterPx").nodeValue().section(' ', 1, 1).toDouble();
+      cam.PixelSizeMm[0] = attr.namedItem("PixelSizeMm").nodeValue().section(' ', 0, 0).toDouble();
+      cam.PixelSizeMm[1] = attr.namedItem("PixelSizeMm").nodeValue().section(' ', 1, 1).toDouble();
+      cam.k[0] = attr.namedItem("LensDistortion").nodeValue().section(' ', 0, 0).toDouble();
+      cam.k[1] = attr.namedItem("LensDistortion").nodeValue().section(' ', 1, 1).toDouble();
+    }
     // scale correction should no more exist !!!
     //    float scorr = attr.namedItem("ScaleCorr").nodeValue().toDouble();
     //    if(scorr != 0.0) {
@@ -120,6 +144,7 @@ template <class ShotType>
   const vcg::Camera<ScalarType> &cam = shot.Intrinsics;
 
   shotElem.setAttribute("CameraType", cam.cameraType);
+  shotElem.setAttribute("BinaryData", 0);
 
   shotElem.setAttribute( "FocalMm", cam.FocalMm);
 
@@ -132,7 +157,7 @@ template <class ShotType>
   str = QString("%1 %2").arg(cam.ViewportPx[0]).arg(cam.ViewportPx[1]);
   shotElem.setAttribute( "ViewportPx", str);
 
-  str = QString("%1 %2").arg((int)(cam.CenterPx[0])).arg((int)(cam.CenterPx[1]));
+  str = QString("%1 %2").arg(cam.CenterPx[0]).arg(cam.CenterPx[1]);
   shotElem.setAttribute( "CenterPx", str);
 
   //scale correction should no more exist !!!
@@ -142,4 +167,50 @@ template <class ShotType>
 }
 
 
+template <class ShotType>
+QDomElement WriteShotToQDomNodeBinary(
+  const ShotType &shot, /// the shot to be written node
+  QDomDocument &doc) /// The XML node to be read
+{
+  typedef typename ShotType::ScalarType ScalarType;
+
+  QDomElement shotElem = doc.createElement("VCGCamera");
+  vcg::Point3<ScalarType> tra = -(shot.Extrinsics.Tra());
+
+  QByteArray value = QByteArray::fromRawData((char *)tra.V(), sizeof(ScalarType) * 3).toBase64();
+  shotElem.setAttribute("TranslationVector", QString(value));
+  
+  vcg::Matrix44<ScalarType> rot = shot.Extrinsics.Rot();
+  value = QByteArray::fromRawData((char *)rot.V(), sizeof(ScalarType) * 16).toBase64();
+  shotElem.setAttribute("RotationMatrix", QString(value));
+
+  const vcg::Camera<ScalarType> &cam = shot.Intrinsics;
+
+  shotElem.setAttribute("CameraType", cam.cameraType);
+
+  shotElem.setAttribute("BinaryData", 1);
+
+  value = QByteArray::fromRawData((char *)&cam.FocalMm, sizeof(ScalarType)).toBase64();
+  shotElem.setAttribute("FocalMm", QString(value));
+
+  value = QByteArray::fromRawData((char *)&cam.k, sizeof(ScalarType) * 2).toBase64();
+  shotElem.setAttribute("LensDistortion", QString(value));
+
+  value = QByteArray::fromRawData((char *)&cam.PixelSizeMm, sizeof(ScalarType) * 2).toBase64();
+  shotElem.setAttribute("PixelSizeMm", QString(value));
+
+  value = QByteArray::fromRawData((char *)&cam.ViewportPx, sizeof(int) * 2).toBase64();
+  shotElem.setAttribute("ViewportPx", QString(value));
+
+  //str = QString("%1 %2").arg(cam.CenterPx[0]).arg(cam.CenterPx[1]);
+  value = QByteArray::fromRawData((char *)&cam.CenterPx, sizeof(ScalarType) * 2).toBase64();
+  shotElem.setAttribute("CenterPx", QString(value));
+
+  //scale correction should no more exist !!!
+  //str = QString("%1").arg((double) 1);
+  //shotElem.setAttribute( "ScaleCorr", str);
+  return shotElem;
+}
+
+
 #endif // SHOT_QT_H
diff --git a/wrap/system/qgetopt.cpp b/wrap/system/qgetopt.cpp
index 1e5c2892..13229982 100644
--- a/wrap/system/qgetopt.cpp
+++ b/wrap/system/qgetopt.cpp
@@ -173,6 +173,11 @@ QString GetOpt::usage() {
     }
     u += "]";
   }
+
+  if(unlimitedArgs) {
+	u += " [ARGS]";
+  }
+
   if(has_options) {
     u += " [-";
     for(int i = 0; i < options.size(); i++) {
@@ -182,6 +187,8 @@ QString GetOpt::usage() {
     u += "]";
   }
   u += "\n\n";
+  u += help;
+  u += "\n\n";
   //compute maxlen:
   int maxlen = 0;
   for(int i = 0; i < options.size(); i++) {
@@ -252,7 +259,7 @@ bool GetOpt::parse(QString &error) {
   for(int i = 0; i < args.size(); i++) {
     QString arg = args[i];
     if(args[i] == "-h" || args[i] == "--help") {
-      cout << qPrintable(usage()) << endl << qPrintable(help) << endl;
+	  cout << qPrintable(usage()) << endl;
       exit(0);
     }
     //long option
diff --git a/wrap/system/qgetopt.h b/wrap/system/qgetopt.h
index e4260fd5..9cb6c5d0 100644
--- a/wrap/system/qgetopt.h
+++ b/wrap/system/qgetopt.h
@@ -105,7 +105,7 @@ class GetOpt {
   void allowUnlimitedArguments(bool allow) { unlimitedArgs = allow; }
 
   //set help if someone uses -h or --help option
-  void setHelp(QString &_help) { help = _help; }
+  void setHelp(const QString &_help) { help = _help; }
 
   //parses the command line and fill variables or print an error message and exits
   void parse();